Novatel OM-20000053 Rev 2

OM-20000053 Rev 2 2001/01/16

Contents

Main MiLLennium Command Descriptions Manual Proprietary Notice MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 3 Table of Contents Software License 10 Software Support 11 Foreword 12 1 Quick Start 13 2 Command Descriptions 24 3 Data Logs 35 APPENDICES A GPS Overview 63 B Multipath Elimination Technology 75 C Commands Summary 81 MiLLennium GPSCard SW Version 4.52 Command Descriptions Manual Rev 2 5 D Logs Summary 138 6 MiLLennium GPSCard SW Version 4.52 Command Descriptions Manual Rev 2 E Comparison Of RT-2 And RT-20 231 F Standards and References 239 G Geodetic Datums 240 H Some Common Unit Conversions 242 Page Tables Figures Software License SOFTWARE LICENSE 10 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 SOFTWARE SUPPORT FOREWORD Congratulations! Scope Prerequisites Whats New In This Manual? 1QUICK START 1.1 INSTALLATION Graphical Interface 1.2 DATA LOGGING Page COMMONLY USED LOGS 1.3 DIFFERENTIAL OPERATION Establish a Data Link 1 Quick Start MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 17 Table 1-1 GPSCard Pseudorange Differential Initialization Summary Initialization - Reference Station FIX POSITION Reference Station Remote Station Required: Recommended Options: Related Commands/Logs: 1.4 RTK MODE Data Communications Link System Initialization INITIALIZATION FOR RTCA-FORMAT MESSAGING (RT-2 OR RT-20) 1. At the reference station: 2. At the remote station: INITIALIZATION FOR RTCM59-FORMAT MESSAGING (RT-20 ONLY) 1. At the reference station: 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 26 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 2.2 STANDARD COMMAND TABLES Table 2-1 Commands By Function Table MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 27 Table 2-1 Commands By Function Table (continued) 28 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 Table 2-1 Commands By Function Table (continued) Table 2-2 GPSCard Command Summary DIFFERENTIAL REMOTE STATION CLOCK INFORMATION, STATUS, AND TIME Page 30 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 2.3 WAAS The primary functions of WAAS include: Figure 2-1 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 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 3.6 STANDARD LOG TABLES 40 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 Table 3-1 Logs By Function Table (continued) SATELLITE TRACKING AND CHANNEL CONTROL WAYPOINT NAVIGATION DIFFERENTIAL REFERENCE STATION MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 41 Table 3-1 Logs By Function Table (continued) 42 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 Table 3-2 GPSCard Log Summary 3.7 WAAS 3.7.1 WAAS GPSCard Logs 3.8 PASS-THROUGH LOGS 44 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 Figure 3-1 Pass-Through Log Data 3.8.1 Command Syntax Example 1: 3.8.2 ASCII Log Structure log com2 com1a onchanged log to-port from-port-A/B trigger 3.8.3 Binary Log Structure 4MESSAGE FORMATS 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 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 4 Message Formats MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 61 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 A.1 GPS SYSTEM DESIGN The Space Segment The Control Segment The User Segment A.2 HEIGHT RELATIONSHIPS A.3 GPS POSITIONING Single-point vs. Relative Positioning Static vs. Kinematic Positioning Real-time vs. Post-mission Data Processing Differential Positioning Pseudorange Algorithms Pseudorange Differential Positioning GPS SYSTEM ERRORS Page Page Dual Station Differential Positioning Page 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 ANTENNAPOWER ASSIGN CLOCKADJUST COMn COMn_DTR COMn_RTS Data CONFIG CRESET CSMOOTH DATUM DGPSTIMEOUT DIFF_PROTOCOL RTCM/A/B LOGS DYNAMICS ECUTOFF EXTERNALCLOCK Syf() h2 f ------- h f ++++= ------- h0h1fh Page EXTERNALCLOCK FREQUENCY FIX HEIGHT FIX POSITION FIX VELOCITY FREQUENCY_OUT Page C Commands Summary 104 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 HELP OR: Figure C-1 HELP Command Screen Display Figure C-2 Appended Command Screen Display HELP option ?option IONOMODEL LOCKOUT LOG MAGVAR Page MESSAGES POSAVE RESET RESETHEALTH RESETHEALTHALL RINEX Page Page RTKMODE Page Page Page SAVEALMA Page SEND SENDHEX SETDGPSID SETHEALTH SETL1OFFSET SETNAV Reference Description SETTIMESYNC UNASSIGN UNASSIGNALL UNDULATION UNFIX UNLOCKOUT UNLOCKOUTALL UNLOG UNLOGALL C Commands Summary MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 135 USERDATUM userdatum 6378206.4,294.9786982,-12,147,192,0,0,0,0 USERDATUM semi-major flattening dx dy dz rx ry rz scale VERSION WAASCORRECTION 138 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 LOG DESCRIPTIONS ALMA FORMAT ALMA/B Decoded Almanac DLOGS SUMMARY 7 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 139 IONA FORMAT $IONA act a1ot a2ot a3ot bct b1ot b2ot b3ot *xx [CR][LF] Page MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 141 ALMB IONB FORMAT: Message ID = 16 Message byte count = 76 ALMB FORMAT: Message ID = 18 Message byte count = 120 Page BSLA/B Baseline Measurement BSLA 144 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 BSLB Table D-1 GPSCard Solution Status Format: Message ID = 59 Message byte count = 100 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 145 Table D-2 Position Type Table D-4 RTK Status for Position Type 4 (RT-2) Table D-3 RTK Status for Position Type 3 (RT-20) CDSA/B Communication and Differential Decode Status CDSA Structure Page CDSB Format: Message ID = 39 Message byte count = 128 CLKA/B Receiver Clock Offset Data CLKA CLKB Format: Message ID = 02 Message byte count = 68 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 151 CLMA/B Receiver Clock Model CLMA CLMB Format: Message ID = 51 Message byte count = 156 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 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 159 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. 162 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 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 GPS receiver operating mode, satellites used for navigation and DOP values. 166 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 GPGST Pseudorange Measurement Noise Statistics $GPGST utc rms smjr std smnr std orient lat std lon std alt std *xx [CR][LF] GPGSV GPS Satellites in View GPRMB Navigation Information GPRMC GPS Specific Information GPVTG Track Made Good And Ground Speed The track made good and speed relative to the ground. GPZDA UTC Time and Date GPZTG UTC & Time to Destination Waypoint MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 173 MKPA/B Mark Position Format: Message ID = 05 Message byte count = 88 MKPA MKPB 174 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 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] NAVA/B Waypoint Navigation Data NAVA $NAVA week seconds distance bearing along track xtrack etaw etas nav status sol status *xx [CR][LF] NAVB Format: Message ID = 08 Message byte count = 76 Page PAVA/B Position Averaging Status PAVA PAVB Format: Message ID = 50 Message byte count = 80 180 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 POSA/B Computed Position Format: Message ID = 01 Message byte count = 88 POSA Example: POSB PRTKA/B Computed Position PRTKA 182 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 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 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 185 PXYA/B Computed Cartesian Coordinate Position PXYA $PXYA week seconds x y z x std y std z std sol status fix status diff age *xx [CR][LF] PXYB Format: Message ID = 26 Message byte count = 88 Page RALA/B Raw Almanac RALA RALB MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 189 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) MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 191 RBTA/B Satellite Broadcast Data: Raw Bits Format: Message ID = 52 Message byte count = 72 RBTA RBTB $RBTA week seconds prn cstatus message # # of bits raw bits *xx [CR][LF] Page RCSA/B Receiver Status RCSA RCSB REPA/B Raw Ephemeris REPA REPB RGEA/B/D Channel Range Measurements 196 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 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 198 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 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 Page Page MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 203 Table D-7 Channel Tracking Status Table D-7, Bits 12-14: Correlator Spacing Higher numbers are reserved for future use Higher numbers are reserved for future use RINEX Receiver-Independent Exchange Format MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 205 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 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 209 RTKOA/B RTK Solution Parameters RTKOA sat id amb res RTKOB Format: Message ID = 62 Message byte count = 196 + (#res)*16 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 211 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 SW Version 4.503/4.52 Command Descriptions Manual Rev 2 215 SATB Table D-11 GPSCard Range Reject Codes Format: Message ID =12 Message byte count = 32 + (obs*32) 216 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 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 Format: Message ID = 06 Message byte count = 52 SPHA SPHB $SPHA week seconds hor spd trk gnd vert spd sol status *xx [CR][LF] SVDA/B SV Position in ECEF XYZ Coordinates with Corrections SVDA $SVDA week seconds rec clk err # obs prn x y z clk corr ion corr trop corr diff corr rng std prn x y z clk corr ion corr trop corr diff corr rng std SVDB Format: Message ID = 36 Message byte count = 36 +(obs*68) 220 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 TM1A/B Time of 1PPS Format: Message ID = 03 Message byte count = 52 TM1A TM1B $TM1A week seconds offset offset std utc offset cm status *xx [CR][LF] VERA/B Receiver Hardware and Software Version Numbers VERA VERB VLHA/B Velocity, Latency, and Direction Over Ground VLHA MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 223 VLHB Table D-12 GPSCard Velocity Status Format: Message ID = 34 Message byte count = 72 WALA/B WAAS Almanac *Example: MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 225 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) WEPA/B WAAS Ephemeris WEPA $WEPA week seconds wkephem secephem prn IOD acc P-X P-Y P-Z V-X V-Y V-Z A-X A-Y A-Z agf1 agf2 WEPB Format: Message ID = 80 Message byte count = 128 228 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 WRCA/B Wide Band Range Correction (Grouped Format) Format: Message ID = 67 Message byte count = 28 + (obs*16) WRCA WRCB $WRCA week seconds # obs prn ch-tr-status tr-bandwidth wide band correction WUTCA/B UTC Time Parameters This log outputs UTC time parameters and two GLONASS specific fields. WUTCA $ 230 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 WUTCB Table D-15 UTC Standard Identifier Message ID = 82 Message byte count = 82 ECOMPARISON OF RT-2 AND RT-20 E.1 RT-2 & RT-20 PERFORMANCE RT-2 Performance E Comparison Of RT-2 And RT-20 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 233 Figure E-1 Typical RT-2 Horizontal Convergence - Static Mode Figure E-2 Typical RT-2 Horizontal Convergence - Kinematic Mode RT-20 Performance Single-point solution Floating ambiguity solution Narrow lane solution E Comparison Of RT-2 And RT-20 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 235 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 FSTANDARDS AND REFERENCES G Geodetic Datums GGEODETIC DATUMS 240 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 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 SW Version 4.503/4.52 Command Descriptions Manual Rev 2 241 HSOME COMMON UNIT CONVERSIONS H.3 TEMPERATURE H.4 WEIGHT H.5 HEXADECIMAL AND BINARY EQUIVALENTS H.1 DISTANCE H.2 VOLUME H.6 GPS TIME OF WEEK TO CALENDAR DAY (EXAMPLE) H.6.1 Calendar Date to GPS Time (e.g. 13:30 hours, January 28, 2005) IINFORMATION MESSAGES 244 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 I TYPE 1 INFORMATION MESSAGES To date, the only Type 1 messages are the !ERRA and the !MSGA logs. TYPE 2 INFORMATION MESSAGES Page Page J JLISTING OF TABLES MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 249 Table 1-1 GPSCard Pseudorange Differential Initialization Summary Table 1-2 Latency-Induced Extrapolation Error 250 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 Table 2-1 Commands By Function Table POSITION, PARAMETERS, AND SOLUTION FILTERING CONTROL Page 252 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 Table 2-2 GPSCard Command Summary Command Description Syntax Page 254 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 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 Page MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 257 Table 3-2 GPSCard Log Summary Table 4-1 Positioning Modes 258 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 Table C-1 Antenna LNA Power Configuration Table D-1 GPSCard Solution Status Table C-2 Default Values of Process Noise Elements Table C-3 VARF Range (Software Version 4.42 or higher) MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 259 Table D-2 Position Type Table D-4 RTK Status for Position Type 4 (RT-2) Table D-3 RTK Status for Position Type 3 (RT-20) 260 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 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 262 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 5 6Only bits 0 - 23 are represented in the RGED log * Table D-7 Channel Tracking Status MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 263 Table D-9 Searcher Status Table D-7, Table D-8 Ambiguity Types 264 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 Table D-10 RTK Status Table D-12 GPSCard Velocity Status Table D-11 GPSCard Range Reject Codes RTK Status Definition MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 265 Table E-1 Comparison of RT-2 and RT-20 Table E-4 RT-2 Performance: Kinematic Mode . Table E-3 RT-2 Performance: Static Mode 266 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 Table E-5 RT-2 Degradation With Respect To Data Delay Table E-6 RT-20 Performance KGPS GLOSSARY OF TERMS Page Page Page Page Page Page Page LGPS GLOSSARY OF ACRONYMS Page Index