Novatel OM-20000041

OM-20000041 Rev 1 98/11/03

Contents

Main GPSCard 2 MiLLennium GPSCard Software Version 4.50 Command Descripti ons Manual Rev 1 MiLLennium Command Descriptions Manual Proprietary Notice TABLE OF CONTENTS Software License 9 Software Support 10 Foreword 11 1Quick Start 12 2 Command Descriptions 23 3 Data Logs 34 4 MiLLennium GPSCard Software Version 4.50 Command Descrip tions Manual Rev 1 A GPS Overview 62 B Multipath Elimination Technology 73 C Commands Summary 79 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 5 D Logs Summary 136 6 MiLLennium GPSCard Software Version 4.50 Command Descrip tions Manual Rev 1 E Comparison Of RT-2 And RT-20 225 F Standards and References 233 G Geodetic Datums 234 H Some Common Unit Conversions 236 I Information Messages 238 JListing Of Tables 242 K GPS Glossary of Terms 260 L GPS Glossary of Acronyms 268 M Index 270 FIGURES 8 MiLLennium GPSCard Software Version 4.50 Command Descrip tions Manual Rev 1 TABLES Software License SOFTWARE LICENSE MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 9 Software Support SOFTWARE SUPPORT 10 MiLLennium GPSCard Software Version 4.50 Command Descr iptions Manual Rev 1 Foreword MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 11 FOREWORD Congratulations! Scope Prerequisites Whats New In Version 4.50? 1QUICK START 1.1 INSTALLATION Graphical Interface 1.2 DATA LOGGING Page COMMONLY USED LOGS 1.3 DIFFERENTIAL OPERATION Establish a Data Link 16 MiLLennium GPSCard Software Version 4.50 Command Descr iptions Manual Rev 1 Table 1-1 GPSCard Pseudorange Differential Initialization Summary FIX POSITION lat lon height station id health Initialization - Reference Station FIX POSITION Reference Station Remote Station MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 17 LOG BROADCAST DATA 1.4 RTK MODE Data Communications Link System Initialization MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 19 INITIALIZATION FOR RTCA-FORMAT MESSAGING (RT-2 OR RT-20) 1. At the reference station: station id 2. At the remote station: INITIALIZATION FOR RTCM59-FORMAT MESSAGING (RT-20 ONLY) Monitoring Your RTK Output Data Options for Logging Differential Corrections SET DGPSTIMEOUT USING RTCM SC-104 LOG TYPES USING RTCA LOG TYPES Initialization - Rover Station ACCEPT COMMAND LOG POSITION DATA AND OTHER USEFUL DATA 2COMMAND DESCRIPTIONS 2.1 GENERAL Optional calculation of the checksum MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 25 2.2 STANDARD COMMAND TABLES Table 2-1 Commands By Function Table 26 MiLLennium GPSCard Software Version 4.50 Command Descr iptions Manual Rev 1 Table 2-1 Commands By Function Table (continued) MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 27 Table 2-1 Commands By Function Table (continued) Table 2-2 GPSCard Command Summary DIFFERENTIAL REMOTE STATION CLOCK INFORMATION, STATUS, AND TIME Page MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 29 2.3 WAAS Figure 2-2 The WAAS Concept 2.3.1 WAAS GPSCard WAAS COMMANDS 2.4 SPECIAL DATA INPUT COMMANDS 2.4.1 Almanac Data $ALMA... $IONA... $UTCA... 2.4.2 Differential Corrections Data $PVAA/B XYZ POSITION, VELOCITY AND ACCELERATION $REPA/B RAW GPS EPHEMERIS DATA $RTCA... (RTCAA) $RTCM... (RTCMA, $RTCM1A, $RTCM3A, $RTCM9A, $RTCM16A,$RTCM59A) $TM1A/B RECEIVER TIME OF 1PPS 3 DATA LOGS 3.1 OUTPUT LOGGING ONTIME 3.2 NOVATEL FORMAT DATA LOGS General ASCII Log Structure Binary Log Structure 3.3 RTK 3.4 NMEA FORMAT DATA LOGS General 3.5 GPS TIME VS. LOCAL RECEIVER TIME 38 MiLLennium GPSCard Software Version 4.50 Command Descr iptions Manual Rev 1 3.6 STANDARD LOG TABLES Table 3-1 Logs By Function Table MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 39 Table 3-1 Logs By Function Table (continued) SATELLITE TRACKING AND CHANNEL CONTROL WAYPOINT NAVIGATION DIFFERENTIAL REFERENCE STATION 40 MiLLennium GPSCard Software Version 4.50 Command Descr iptions Manual Rev 1 Table 3-1 Logs By Function Table (continued) MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 41 Table 3-2 GPSCard Log Summary 3.7 WAAS 3.7.1 WAAS GPSCard Logs 3.8 PASS-THROUGH LOGS MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 43 Figure 3-1 Pass-Through Log Data 3.8.1 Command Syntax Example 1: log com2 com1a onchanged 3.8.2 ASCII Log Structure log to-port from-port-A/B trigger $port ID week seconds pass-through data *xx [CR][LF] 3.8.3 Binary Log Structure 4MESSAGE FORMATS MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 45 Table 4-1 Positioning Modes 4.1 RTCA-FORMAT MESSAGES RTCA STANDARD LOGS RTCA 4.2 RTCM-FORMAT MESSAGES RTCM General Message Format RTCM Standard Commands RTCMRULE RTCM16T RTCM Standard Logs 50 MiLLennium GPSCard Software Version 4.50 Command Descr iptions Manual Rev 1 ASCII BINARY RTCM OR RTCM1 Page RTCM3 REFERENCE STATION PARAMETERS RTK RTCM9 PARTIAL SATELLITE SET DIFFERENTIAL CORRECTIONS RTCM16 SPECIAL MESSAGE RTCM1819 UNCORRECTED CARRIER PHASE AND PSEUDORANGE MEASUREMENTS RTK RTCM22 RTCM EXTENDED REFERENCE STATION PARAMETERS RTK RTCM59 TYPE 59N-0 NOVATEL PROPRIETARY MESSAGE RTK RTCM RECEIVE ONLY DATA 4.3 CMR FORMAT MESSAGING Using RT-2 or RT-20 with CMR Format Messages 4.4 RINEX FORMAT 4.4.1 COMMANDS RINEX 4.4.2 LOGS RINEX OBSERVATION AND NAVIGATION LOGS AND HEADERS XKIN OBSERVATION KINEMATIC EVENT XNAV NAVIGATION DATA RECORD XNHD NAVIGATION HEADER XOBS OBSERVATION DATA RECORD Command example: Log example: XOHD OBSERVATION HEADER or it will be generated automatically when logging is complete, using a command such as Log example: XSTA OBSERVATION STATIC EVENT AGPS OVERVIEW 62 MiLLennium GPSCard Software Version 4.50 Command Descr iptions Manual Rev 1 Figure A-1 NAVSTAR Satellite Orbit Arra ngement A.1 GPS SYSTEM DESIGN The Space Segment A.2 HEIGHT RELATIONSHIPS What is a geoid? What is an ellipsoid? What is the relationship between a geoid and an ellipsoid? 64 MiLLennium GPSCard Software Version 4.50 Command Descr iptions Manual Rev 1 A.3 GPS POSITIONING MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 65 Figure A-3 Accuracy versus Precision Single-point vs. Relative Positioning 66 MiLLennium GPSCard Software Version 4.50 Command Descr iptions Manual Rev 1 Figure A-4 Example of Differential Positioning Static vs. Kinematic Positioning Real-time vs. Post-mission Data Processing A.3.1 DIFFERENTIAL POSITIONING A.3.2 PSEUDORANGE ALGORITHMS Pseudorange Differential Positioning GPS SYSTEM ERRORS Page MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 69 Figure A-5 Single Point Averaging 70 MiLLennium GPSCard Software Version 4.50 Command Descr iptions Manual Rev 1 Dual Station Differential Positioning Figure A-6 Typical Differential Configuration THE REFERENCE STATION THE REMOTE STATION A.4 CARRIER-PHASE ALGORITHMS Page BMultipath Elimination Technology B.1 MULTIPATH Why Does Multipath Occur? Consequences of Multipath Reception B.2 HARDWARE SOLUTIONS FOR MULTIPATH REDUCTION Antenna Site Selection Antenna Designs Antenna Ground Planes NovAtels Internal Receiver Solutions for Multipath Reduction NARROW CORRELATOR TRACKING TECHNOLOGY SUMMARY CCOMMANDS SUMMARY ACCEPT Page MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 81 ANTENNAPOWER Table C-1 Antenna LNA Power Configuration ASSIGN CLOCKADJUST 84 MiLLennium GPSCard Software Version 4.50 Command Descr iptions Manual Rev 1 COMn COMn_DTR active [lead] [tail] MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 85 COMn_RTS active [lead] [tail] Data CONFIG CRESET 88 MiLLennium GPSCard Software Version 4.50 Command Descr iptions Manual Rev 1 CSMOOTH [L2 time] DATUM 90 MiLLennium GPSCard Software Version 4.50 Command Descr iptions Manual Rev 1 DGPSTIMEOUT ephem delay DIFF_PROTOCOL Differential Protocol Control RTCM/A/B LOGS DYNAMICS ECUTOFF 94 MiLLennium GPSCard Software Version 4.50 Command Descr iptions Manual Rev 1 EXTERNALCLOCK Overview ++++= Theory Usage MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 95 externalclock user 1.0e-20 1.0e-24 1.0e-28 Table C-2 Default Values of Process Noise Elements EXTERNALCLOCK option EXTERNALCLOCK FREQUENCY FIX HEIGHT 98 MiLLennium GPSCard Software Version 4.50 Command Descr iptions Manual Rev 1 FIX POSITION station id [ stn health] FIX VELOCITY FREQUENCY_OUT FRESET 102 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 HELP ? HELP OR: Figure C-1 HELP Command Screen Display IONOMODEL LOCKOUT MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 105 LOG [period] [offset] {hold} trigger [port] 106 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 MAGVAR [std_dev] Page MESSAGES POSAVE RESET RESETHEALTH RESETHEALTHALL RINEX Receiver-Independent Exchange Format RTCM16T Page MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 115 RTKMODE or Page Page Page SAVEALMA Page MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 121 SEND Figure C-4 Using SEND Command SENDHEX SETDGPSID SETHEALTH SETL1OFFSET SETNAV Reference Description SETTIMESYNC UNASSIGN UNASSIGNALL 130 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 UNDULATION Figure C-6 Illustration of Undulation UNFIX UNLOCKOUT UNLOCKOUTALL 132 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 UNLOG port UNLOGALL USERDATUM VERSION WAASCORRECTION DLOGS SUMMARY LOG DESCRIPTIONS ALMA/B Decoded Almanac ALMA Page Page MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 139 ALMB Message ID = 16 Message byte count = 76 IONB FORMAT: ALMB FORMAT: Message ID = 18 Message byte count = 120 Page BSLA/B Baseline Measurement BSLA BSLB Format: Message ID = 59 Message byte count = 100 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 143 Table D-1 GPSCard Solution Status Table D-4 RTK Status for Position Type 4 (RT-2) Table D-2 Position Type Table D-3 RTK Status for Position Type 3 (RT-20) CDSA/B Communication and Differential Decode Status CDSA Page CDSB Format: Mess age ID = 39 Message byte count = 128 CLKA/B Receiver Clock Offset Data CLKA CLKB Format: Message ID = 02 Message byte count = 68 CLMA/B Receiver Clock Model 150 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 CLMB Page COM1A/B and COM2A/B Pass-Through Logs DOPA/B Dilution of Precision DOPA DOPB Format: Message ID = 07 Message byte count = 68+(sats*4) ETSA/B Extended Tracking Status ETSA Example (carriage returns have been added between observations for clarity): ETSB Format: Message ID = 48 Message byte count = 32 + (n x 52) where n is number of observations FRMA/B Framed Raw Navigation Data Format: Message ID = 54 Message byte count = variable FRMA FRMB $FRMA week seconds prn cstatus # of bits framed raw data GGAB Global Position System Fix Data (Binary Format Only) GPALM Almanac Data 1 2 3 Reference Table 20-VI, ICD-GPS-200, Rev. B for scaling factors and units. GPGGA Global Position System Fix Data $GPGGA utc lat lat dir lon lon dir GPS qual # sats hdop alt units null null age stn ID *xx [CR][LF] GPGLL Geographic Position GPGRS GPS Range Residuals for Each Satellite GPGSA GPS DOP and Active Satellites GPGST Pseudorange Measurement Noise Statistics GPGSV GPS Satellites in View GPRMB Navigation Information GPRMC GPS Specific Information GPVTG Track Made Good And Ground Speed GPZDA UTC Time and Date GPZTG UTC & Time to Destination Waypoint MKPA/B Mark Position Format: Message ID = 05 Message byte count = 88 MKPA MKPB MKTA/B Time of Mark Input Format: Message ID = 04 Message byte count = 52 MKTA MKTB $MKTA week seconds offset offset std utc offset cm status *xx [CR][LF] NAV A/B Waypoint Navigation Data NAVA NAVB Format: Message ID = 08 Message byte count = 76 Page PAVA/B Position Averaging Status PAVA PAVB Format: Message ID = 50 Message byte count = 80 POSA/B Com puted Position POSA POSB PRTKA/B Computed Position (RTK) PRTKA Example: $PRTKA,872,174963.00,1.000,8,7,7,51.11358042429, -114.04358006710,1059.4105, -16.2617,61,0.0096,0.0100,0.0112,0,0,4,42,119*51[CR][LF] PRTKB Format: Message ID = 63 Message byte count = 124 PVAA/B XYZ Position, Velocity and Acceleration PVAA PVAB Format: Message ID = 49 Message byte count = 108 PXYA/B Computed Cartesian Coordinate Position PXYA PXYB Format: Message ID = 26 Message byte count = 88 Page RALA/B Raw Almanac RALA RALB RASA/B Raw Almanac Set RASA $RASA RxWeek RxSec AlmWeek Toa RxPrn # subframes subframe# page # subframe subframe# page # subframe RASB Format: Message ID = 66 Message byte count = 40 + (n * 32) RBTA/B Satellite Broadcast Data: Raw Bits RBTA RBTB Page RCSA/B Receiver Status RCSA RCSB REPA/B Raw Ephemeris REPA REPB RGEA/B/D Channel Range Measurements RGEA Example (carriage returns have been added between observations for clarity): $RGEA week seconds # obs rec status prn psr psr std adr adr std dopp C/No locktime ch-tr-status prn psr psr std adr adr std dopp C/No locktime ch-tr-status RGEB Format: Message ID = 32 Message byte count = 32 + (obs x 44) Format: Message ID = 65 Message byte count =24 + (20 x number of obs) RGED 196 MiLLennium GP SCard Software Version 4.50 Command Descriptions Manual Rev 1 Table D-5 Receiver Self-Test Status Codes N7 N 6 N 5 N 4 N 3 N 2 N 1 N 0 <- <- Nibble Number Page Page MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 199 Table D-6 Range Record Format (RGED only) Page MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 201 Table D-7 Channel Tracking Status Table D-7, Bits 12-14: Correlator Spaci ng Higher numbers are reserved for future use Higher numbers are reserved for future use RINEX RPSA/B Reference Station Position and Health Format: Message ID = 60 Message byte count = 56 RPSA RPSB $RPSA week seconds X Y Z health stn ID *xx [CR][LF] RTCA Standard Logs RTCM Standard Logs RTKA/B Computed Position - Time Matched RTKA RTKB Format: Message ID = 61 Message byte count = 116 RTKOA/B RTK Solution Parameters RTKOA sat id amb res RTKOB Format: Message ID = 62 Message byte count = 196 + (#res)*16 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 209 Table D-8 Ambiguity Types Table D-10 RTK Status Table D-9 Searcher Status RVSA/B Receiver Status RVSA RVSB Format: Message ID = 56 Message byte count = 28 + (8 x number of cards) SATA/B Satellite Specific Data SATA MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 213 SATB Table D-11 GPSCard Range Reject Codes Format: Message ID =12 Message byte count = 32 + (obs*32) SBTA/B SATELLITE BROADCAST DATA: RAW SYMBOLS Format: Message ID = 53 Message byte count = 168 SBTA SBTB $SBTA week seconds prn cstatus message # # of symbols raw symbols *xx [CR][LF] SPHA/B Speed and Direction Over Ground SPHA SPHB SVDA/B SV Position in ECEF XYZ Coordinates with Corrections SVDA SVDB Format: Message ID = 36 Message byte count = 36 +(obs*68) TM1A/B Time of 1PPS TM1A TM1B VERA/B Receiver Hardware and Software Version Numbers VERA VERB VLHA/B Velocity, Latency, and Direction over Ground VLHA MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 221 VLHB Table D-12 GPSCard Velocity Status Format: Message ID = 34 Message byte count = 72 WALA/B WAAS Almanac MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 223 WALB Table D-14 Data ID Type Format: Message ID = 81 Message byte count = 92 Table D-13 Health and Status Bits Data ID Type (Service Provider) WRCA/B Wide Band Range Correction (Grouped Format) WRCA WRCB ECOMPARISON OF RT-2 AND RT-20 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 225 E COMPARISON OF RT-2 AND RT-20 E.1 RT-2 & RT-20 PERFORMANCE Table E-1 Comparison of RT-2 and RT-20 RT-2 Performance Table E-5 RT-2 Degradation With Respect To Data Delay Table E-3 RT-2 Performance: Static Mode Table E-4 RT-2 Performance: Kinematic Mode MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 227 Figure E-1 Typical RT-2 Horizontal Conver gence - Static Mode Figure E-2 Typical RT-2 Horizontal Convergence - Kinematic Mode RT-20 Performance Single-point solution Floating ambiguity solution Narrow lane solution MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 229 Table E-6 RT-20 Performance Figure E-5 Typical RT-20 Convergence - Static Mode Page E.2 PERFORMANCE CONSIDERATIONS Performance Degradation REMOTE TRACKING LOSS DIFFERENTIAL LINK BREAKDOWN E Comparison Of R T-2 And RT-20 232 MiLLennium GP SCard Software Version 4.50 Command Descriptions Manual Rev 1 Figure E-8 RT-20 Re-initialization Process F Standards and R eferences FSTANDARDS AND REFERENCES MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 233 G Geodetic Datums GGEODETIC DATUMS 234 MiLLennium GP SCard Software Version 4.50 Command Descriptions Manual Rev 1 Table G-1 Reference Ellipsoid Constants Table G-2 Transformation Parameters (Local Geodetic to WGS84) G Geodetic Datums Table G-2 Transformation Parameters (Local Geodetic to WGS84) MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 235 H Some Common U nit Conversions HSOME COMMON UNIT CONVERSIONS 236 MiLLennium GP SCard Software Version 4.50 Command Descriptions Manual Rev 1 H SOME COMMON UNIT CONVERSIONS H.3 TEMPERATURE H.4 WEIGHT H.5 HEXADECIMAL AND BINARY EQUIVALENTS H.6 GPS TIME OF WEEK TO CALENDAR DAY (EXAMPLE) H.6.1 Calendar Date to GPS Time (e.g. 11:30 hours, January 22, 1995) I Information Messages INFORMATION MESSAGES I 238 MiLLennium GP SCard Software Version 4.50 Command Descriptions Manual Rev 1 INFORMATION MESSAGES Table TYPE 2 INFORMATION MESSAGES I Information Messages 240 MiLLennium GP SCard Software Version 4.50 Command Descriptions Manual Rev 1 I Information Message s MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 241 J JLISTING OF TABLES 242 MiLLennium GP SCard Software Version 4.50 Command Descriptions Manual Rev 1 LISTING OF TABLES MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 243 Table 1-1 GPSCard Pseudorange Differential Initialization Summary Table 2-1 Commands By Function Table Table 1-2 Latency-Induced Extrapolation Error Reference Station Remote Station POSITION, PARAMETERS, AND SOLUTION FILTERING CONTROL Page 246 MiLLennium GP SCard Software Version 4.50 Command Descriptions Manual Rev 1 Table 2-2 GPSCard Command Summary Command Description Syntax Page 248 MiLLennium GP SCard Software Version 4.50 Command Descriptions Manual Rev 1 Table 3-1 Logs By Function Table POSITION, PARAMETERS, AND SOLUTION FILTERING CONTROL SATELLITE TRACKING AND CHANNEL CONTROL WAYPOINT NAVIGATION DIFFERENTIAL REFERENCE STATION DIFFERENTIAL REMOTE STATION POST PROCESSING DATA 250 MiLLennium GP SCard Software Version 4.50 Command Descriptions Manual Rev 1 Table 3-2 GPSCard Log Summary CLOCK INFORMATION, STATUS, AND TIME NAVIGATION DATA Syntax: log port,datatype,[trigger],[period],[offset],{hold} MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 251 Table 4-1 Positioning Modes Remote station: Table C-3 VARF Range (Software Version 4.42 or higher) Table C-1 Antenna LNA Power Configuration 252 MiLLennium GP SCard Software Version 4.50 Command Descriptions Manual Rev 1 Table D-1 GPSCard Solution Status Table D-3 RTK Status for Position Type 3 (RT-20) Table D-2 Position Type MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 253 Table D-4 RTK Status for Position Type 4 (RT-2) Table D-5 Receiver Self-Test Status Codes Higher numbers are reserved for future use N7 N 6 N 5 N 4 N 3 N 2 N 1 N 0 <- <- Nibble 254 MiLLennium GP SCard Software Version 4.50 Command Descriptions Manual Rev 1 Table D-6 Range Record Format (RGED only) MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 255 5 Table D-7 Channel Tracking Status Page MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 257 Table D-8 Ambiguity Types Table D-10 RTK Status Table D-9 Searcher Status Ambiguity Type Definition 258 MiLLennium GP SCard Software Version 4.50 Command Descriptions Manual Rev 1 Table D-11 GPSCard Range Reject Codes . Table D-12 GPSCard Velocity Status Table E-1 Comparison of RT-2 and RT-20 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 259 Table E-3 RT-2 Performance: Static Mode Table E-6 RT-20 Performance Table E-5 RT-2 Degradation With Respect To Data Delay Table E-4 RT-2 Performance: Kinematic Mode KGPS GLOSSARY OF TERMS Page Page Page Page Page Page Page L GPS Glossary of Acronyms LGPS GLOSSARY OF ACRONYMS 268 MiLLennium GP SCard Software Version 4.50 Command Descriptions Manual Rev 1 L GPS GLOSSARY OF ACRONYMS L GPS Glossary of Acronyms MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 269 MINDEX Numerics A B C D E F G H I K L M N O R S T U V W