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
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2.2 STANDARD COMMAND TABLES
Table 2-1 Commands By Function Table
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Table 2-1 Commands By Function Table (continued)
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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
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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
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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
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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
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LOG DESCRIPTIONS
ALMA FORMAT
ALMA/B Decoded Almanac
DLOGS SUMMARY 7
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IONA FORMAT
$IONA act a1ot a2ot a3ot bct b1ot b2ot b3ot *xx [CR][LF]
Page
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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
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BSLB
Table D-1 GPSCard Solution Status
Format: Message ID = 59 Message byte count = 100
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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
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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
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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.
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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.
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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
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MKPA/B Mark Position
Format: Message ID = 05 Message byte count = 88
MKPA
MKPB
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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
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POSA/B Computed Position
Format: Message ID = 01 Message byte count = 88
POSA
Example:
POSB
PRTKA/B Computed Position
PRTKA
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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
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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
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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)
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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
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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
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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
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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
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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
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RTKOA/B RTK Solution Parameters
RTKOA
sat id amb res
RTKOB
Format: Message ID = 62 Message byte count = 196 + (#res)*16
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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
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SATB
Table D-11 GPSCard Range Reject Codes
Format: Message ID =12 Message byte count = 32 + (obs*32)
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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)
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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
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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
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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
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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
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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)
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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
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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
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Table 1-1 GPSCard Pseudorange Differential Initialization Summary
Table 1-2 Latency-Induced Extrapolation Error
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Table 2-1 Commands By Function Table
POSITION, PARAMETERS, AND SOLUTION FILTERING CONTROL
Page
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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)
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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
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Table D-9 Searcher Status
Table D-7,
Table D-8 Ambiguity Types
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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
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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
