D Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 207
RTKOA/B RTK Solution Parameters
RTK

This is the “RTK output” log, and it contains miscellaneous information regardin g the RTK solution. It is based on

the matched update. Note that the length of the log messages will vary depending on the number of matched

satellites in the solution, a quantity represented by #sv in the field numbers.

RTKOA

Structure:

$RTKOA week sec status #sat #high L1L2 #high #sv

dyn search combn σxx σxy σxz σyx σyy σyz
σzx σzy σzz ∆x∆y∆zσ∆xσ∆yσ∆z

rsrv rsrv ref id #res

sat id amb res

:

sat id amb res

*xx [CR][LF]
Field# Field type Data Description Example
1$RTKOA Log header $RTKOA
2week GPS week number 929
3sec GPS time into the week (in seconds) 237639.00
4status RTK status (see Table D-10, Page 209) 1
5#sat Total number of matched satellites available to both receivers 8
6#high Number of matched satellites above RTK mask angle;
observations from satellites below mask are heavily
deweighted
8
7L1L2 #high Number of matched satellites above R TK mask angle with
both L1 and L2 available 8
8#sv Number of matched satellites in solution; may differ from the
number in view. 8
9dyn Dynamics mode (0=static, 1=kinematic) 0
10 search Searcher status (see Table D-9, Page 209). 4
11 combn Number of possible lane combinations remaining 1
12-20 [σ]The σxx,σxy,σxz,σyx,σyy,σyz,σzx,σzy, and σzz components,
in (meters)2, of the ECEF position covariance matrix (3 x 3)
0.000006136,0.000003797,-0.000003287,
0.000003797,0.000013211,-0.000007043,
-0.000006287,-0.000007043,0.000018575
21-23 ∆x,∆y,∆zECEF x.y,z of baseline from float solution in meters 3.2209,-3.0537,-1.2024
24-26 σ∆x,σ∆y,σ∆zx,y,z standard deviations of float solution baseline in meters 0.0183,0.0138,0.0124
27 rsrv Reserved for future use 0
28 rsrv Reserved for future use 0.0000
29 ref id Reference PRN 1
30 #res Number of residual sets to follow 7
31 sat id PRN number 21
32 amb Ambiguity type (see Table D-8 , Page 209) 6
33 res Residual in metres -0.001199
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Next PRN number, amb, res
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Last PRN number, amb, res
variable *xx Checksum *60
variable [CR][LF] Sentence terminator [CR][LF]