C Commands Summary
118 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2
Below is additional information for each argument:
Command Argument Default Argument Data Range
RTKMODE
default default
enable or disable enable
reset
auto, static or kinematic auto
fixed or float fixed
unknown_baseline, unknown_baseline
known_llh_position lat,lon,hgt,[2σ],[m/e] or
lat: 0 to ± 90
lon: 0 to ± 360
hgt: -1000 to +20 000 000
2σ: 0 to 0.03
m/e: m or e (m = default)
known_ecef_baseline ∆x, ∆y,∆z,[2σ]
(∆x)2 + (∆y)2 +(∆z)2
≤ (1 000 000)2
2σ: 0 to 0.03
Station Command Argument Data
Reference rtkmode elev_mask elevation (range 0 to 90, default = 2)
RTKMODE ELEV_MASK ELEVATION causes transmission of observations for satellites above this elevation
angle only. The elevation angle has units of degrees, and can be a decimal fraction value. At this time, this com-
mand affects RTCAOBS (RTCA Type 7) messages but not RTCM or CMR messages; if RTCM-format messag-
ing is being used, then observations for a certain satellite are transmitted as soon as it becomes visible.
Example: rtkmode elev_mask 10.5
Remote rtkmode elev_mask elevation (range 5 to 90, default = 12)
When RTKMODE ELEV_MASK ELEVATION is issued at the remote, it controls the elevation angle above which satellites
will be fully weighted. A value of 5° or less will be ignored. If you want the RTK unit to use low elevation satellites, you can enter a value
greater than 5° but less than 12° to override the default of 12°. Also, if there is low satellite coverage, the RTK mask angle will automatically
drop to as low as 9.5° in an attempt to pick up more satellites. This command can be used at the remote regardless of the type of
inter-receiver messages used.
Station Command Argument
Remote rtkmode default
RTKMODE DEFAULT, when issued at the remote station, all RTK parameters are returned to their default values.
Station Command Argument
Remote rtkmode enable (default)
disable
RTKMODE ENABLE, when issued at the remote station, turns on its ability to receive and process RTCA or RTCM messages. RTKMODE
DISABLE exits the RTK positioning mode.
Station Command Argument Data
Reference rtkmode rtcmver 2.1
2.2 (default)
For RTCM-format messaging only, at the reference station, when issued determines what RTCM version to use.
Note: The remote station can use either version 2.1 or 2.2 without the use of this command.