Table of Contents

MiLLennium Command Descriptions Manual iii

TABLE OF CONTENTS

1Quick Start

1.1 Installation .................................................... ..........................................................................................................1
Graphical Interface .........................................................................................................................................1
1.2 Data Logging .................................................. .................................................... ....................................................2
1.3 Differential Operation ........................................................... .................................................................................3
Establish a Data Link .....................................................................................................................................3
Initialization - Reference Station ...................................................................................................................4
1.4 RTK Mode ...........................................................................................................................................................5
Data Communications Link ...........................................................................................................................5
System Initialization ............................................ ........................................................ ..................................6
Monitoring Your RTK Output Data ...............................................................................................................7
Options For Logging Differential Corrections ..................................................... ..........................................7
Initialization - Rover Station ..........................................................................................................................9

2Command Descriptions

2.1 General .................................................................... ...............................................................................................10
2.2 Command Tables ....................................................... .............................................................................................11
All Commands: ..............................................................................................................................................16

3Special Data Input Commands

3.1 Almanac Data ............................................................ .............................................................................................17
$ALMA...........................................................................................................................................................18
$IONA.............................................................................................................................................................18
$UTCA............................................................................................................................................................19
3.2 Differential Corrections Data ................................................... ..............................................................................19
$PVAA/B............................................................... .........................................................................................19
$REPA/B.........................................................................................................................................................19
$RTCA............................................................................................................................................................20
$RTCM...........................................................................................................................................................20
$TM1A/B........................................................................................................................................................21

4Data Logs

4.1 Output Logging .......................................................... ............................................................................................22
4.2 NovAtel Format Data Logs .............................................. ......................................................................................23
General ...........................................................................................................................................................23
ASCII Log Structure .................................................. .................................................. ..................................23
Binary Log Structure ......................................................................................................................................23
4.3 RTK .......................................................... ........................................................ ......................................................24
4.4 NMEA Format Data Logs ...................................................... ................................................................................25
General ...........................................................................................................................................................25
4.5 GPS Time vs Local Receiver Time ....................................................... .................................................................26
4.6 Log Tables ...................................................... ........................................................ ................................................26

5Special Pass-Through Logs

5.1 Command Syntax ......................................................... ..........................................................................................31
5.2 ASCII Log Structure ....................................................................... .......................................................................32
5.3 Binary Log Structure...................................................... .........................................................................................33

6Message Formats

6.1 RTCA-Format Messages ........................................................ ................................................................................34
RTCA Standard Logs .....................................................................................................................................35
6.2 RTCM-Format Messages ................................................ .................................................. .....................................36
RTCM Standard Commands and Logs ..........................................................................................................37
RTCM General Message Format ............................................................. ......................................................38
RTCM Standard Commands ..........................................................................................................................38
RTCM Standard Logs ................................................... .................................................................................39
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