Main
TABLE OF CONTENTS
MiLLennium Command Descriptions Manual iii
1Quick Start
2Command Descriptions
3Special Data Input Commands
APPENDICES
A GPS Overview
B Multipath Elimination Technology
C Commands Summary
MiLLennium Command Descriptions Manual v
DLogs Summary
vi MiLLennium Command Descriptions Manual
MiLLennium Command Descriptions Manual vii
FIGURES
TABLES
1QUICK START
MiLLennium Command Descriptions Manual 1
1.1 INSTALLATION
Graphical Interface
2 MiLLennium Command Descriptions Manual
1.2 DATA LOGGING
MiLLennium Command Descriptions Manual 3
COMMONLY USED LOGS
1.3 DIFFERENTIAL OPERATION
Establish a Data Link
4 MiLLennium Command Descriptions Manual
FIX POSITION lat lon height station id health
Table 1-1 GPSCard Pseudorange Differential Initialization Summary
Initialization - Reference Station
REFERENCE
FIX POSITION
MiLLennium Command Descriptions Manual 5
LOG BROADCAST DATA
1.4 RTK MODE
Data Communications Link
Table 1-2 Latency-Induced Extrapolation Error
6 MiLLennium Command Descriptions Manual
System Initialization
INITIALIZATION FOR RTCA-FORMAT MESSAGING (RT-2 OR RT-20)
1. At the reference station:
station id
MiLLennium Command Descriptions Manual 7
Monitoring Your RTK Output Data
Options for Logging Differential Corrections
SET DGPSTIMEOUT
8 MiLLennium Command Descriptions Manual
USING RTCM SC-104 LOG TYPES
USING RTCA LOG TYPES
MiLLennium Command Descriptions Manual 9
Initialization - Rover Station
ACCEPT COMMAND
LOG POSITION DATA AND OTHER USEFUL DATA
2COMMAND DESCRIPTIONS
10 MiLLennium Command Descriptions Manual
2.1 GENERAL
MiLLennium Command Descriptions Manual 11
2.2 COMMAND TABLES
Table 2-1 Commands By Function Table
12 MiLLennium Command Descriptions Manual
Table 2-1 Commands By Function Table (continued)
MiLLennium Command Descriptions Manual 13
Table 2-2 GPSCard Command Summary
14 MiLLennium Command Descriptions Manual
Table 2-2 GPSCard Command Summary (continued)
Range Value Default
MiLLennium Command Descriptions Manual 15
16 MiLLennium Command Descriptions Manual
All Commands: Optional calculation of the checksum
All Commands: Response to an invalid command input
32SPECIAL DATA INPUT COMMANDS
MiLLennium Command Descriptions Manual 17
3
3.1 ALMANAC DATA
18 MiLLennium Command Descriptions Manual
$ALMA...
$IONA...
MiLLennium Command Descriptions Manual 19
$UTCA...
3.2 DIFFERENTIAL CORRECTIONS DATA
$PVAA/B XYZ Position, Velocity and Acceleration
$REPA/B Raw GPS Ephemeris Data
20 MiLLennium Command Descriptions Manual
$RTCA... (RTCAA)
$RTCM... (RTCMA, $RTCM1A, $RTCM3A, $RTCM9A, $RTCM16A, RTCM59A)
MiLLennium Command Descriptions Manual 21
$TM1A/B Receiver Time of 1PPS
4 DATA LOGS
22 MiLLennium Command Descriptions Manual
4.1 OUTPUT LOGGING
MiLLennium Command Descriptions Manual 23
4.2 NovAtel FORMAT DATA LOGS
General
ASCII Log Structure
Binary Log Structure
24 MiLLennium Command Descriptions Manual
4.3 RTK
MiLLennium Command Descriptions Manual 25
4.4 NMEA FORMAT DATA LOGS
General
26 MiLLennium Command Descriptions Manual
4.5 GPS TIME VS LOCAL RECEIVER TIME
4.6 LOG TABLES
Table 4-1 Logs By Function Table
MiLLennium Command Descriptions Manual 27
SATELLITE TRACKING AND CHANNEL CONTROL
WAYPOINT NAVIGATION
DIFFERENTIAL REFERENCE STATION
DIFFERENTIAL REMOTE STATION
28 MiLLennium Command Descriptions Manual
Table 4-2 GPSCard Log Summary
MiLLennium Command Descriptions Manual 29
Table 4-2 GPSCard Log Summary (continued)
5SPECIAL PASS-THROUGH LOGS
30 MiLLennium Command Descriptions Manual
MiLLennium Command Descriptions Manual 31
Figure 5-1 Pass-Through Log Data
5.1 COMMAND SYNTAX
32 MiLLennium Command Descriptions Manual
5.2 ASCII LOG STRUCTURE
MiLLennium Command Descriptions Manual 33
5.3 BINARY LOG STRUCTURE
6 MESSAGE FORMATS
34 MiLLennium Command Descriptions Manual
Table 6-1 Positioning Modes
6.1 RTCA-FORMAT MESSAGES
MiLLennium Command Descriptions Manual 35
RTCA STANDARD LOGS
RTCA
36 MiLLennium Command Descriptions Manual
6.2 RTCM-FORMAT MESSAGES
MiLLennium Command Descriptions Manual 37
RTCM STANDARD COMMANDS and LOGS
38 MiLLennium Command Descriptions Manual
RTCM General Message Format
RTCM Standard Commands
RTCMRULE
RTCM16T
MiLLennium Command Descriptions Manual 39
RTCM Standard Logs
40 MiLLennium Command Descriptions Manual
ASCII
BINARY
RTCM OR RTCM1
MiLLennium Command Descriptions Manual 41
42 MiLLennium Command Descriptions Manual
RTCM3 REFERENCE STATION PARAMETERS RTK
RTCM9 PARTIAL SATELLITE SET DIFFERENTIAL CORRECTIONS
MiLLennium Command Descriptions Manual 43
RTCM16 SPECIAL MESSAGE
44 MiLLennium Command Descriptions Manual
RTCM59 TYPE 59N-0 NOVATEL PROPRIETARY MESSAGE RTK
RTCM RECEIVE ONLY DATA
7RINEX-STANDARD COMMANDS & LOGS
MiLLennium Command Descriptions Manual 45
46 MiLLennium Command Descriptions Manual
7.1 COMMANDS
RINEX
Command example:
RINEX cfgtype
MiLLennium Command Descriptions Manual 47
7.2 LOGS
RINEX Observation and Navigation Logs and Headers
XKIN Observation Kinematic Event
XNAV Navigation Data Record
48 MiLLennium Command Descriptions Manual
XNHD Navigation Header
XOBS Observation Data Record
XOHD Observation Header
MiLLennium Command Descriptions Manual 49
XSTA Observation Static Event
This log generates a time tag and flag when a new site occupation begins. Command example:
AGPS OVERVIEW
A.1 GPS SYSTEM DESIGN
MiLLennium Command Descriptions Manual 51
The Space Segment
The Control Segment
A.2 HEIGHT RELATIONSHIPS
What is a geoid?
What is an ellipsoid?
What is the relationship between a geoid and an ellipsoid?
52 MiLLennium Command Descriptions Manual
A.3 GPS POSITIONING
MiLLennium Command Descriptions Manual 53
Figure A-3 Accuracy versus Precision
Single-point vs. Relative Positioning
54 MiLLennium Command Descriptions Manual
Figure A-4 Example of Differential Positioning
Static vs. Kinematic Positioning
Real-time vs. Post-mission Data Processing
A.3.1 DIFFERENTIAL POSITIONING
MiLLennium Command Descriptions Manual 55
A.3.2 PSEUDORANGE ALGORITHMS
Pseudorange Differential Positioning
GPS SYSTEM ERRORS
56 MiLLennium Command Descriptions Manual
MiLLennium Command Descriptions Manual 57
Figure A-5 Single Point Averaging
58 MiLLennium Command Descriptions Manual
Dual Station Differential Positioning
Figure A-6 Typical Differential Configuration
MiLLennium Command Descriptions Manual 59
THE REFERENCE STATION
THE REMOTE STATION
A.4 CARRIER-PHASE ALGORITHMS
60 MiLLennium Command Descriptions Manual
BMULTIPATH ELIMINATION TECHNOLOGY
MiLLennium Command Descriptions Manual 61
B.1 MULTIPATH
Why Does Multipath Occur?
62 MiLLennium Command Descriptions Manual
B.2 HARDWARE SOLUTIONS FOR MULTIPATH REDUCTION
Antenna Site Selection
MiLLennium Command Descriptions Manual 63
Antenna Designs
64 MiLLennium Command Descriptions Manual
Antenna Ground Planes
Flat plate Choke Ring
MiLLennium Command Descriptions Manual 65
NovAtels Internal Receiver Solutions for Multipath Reduction
NARROW CORRELATOR TECHNOLOGY
SUMMARY
CCOMMANDS SUMMARY
66 MiLLennium Command Descriptions Manual
ACCEPT
MiLLennium Command Descriptions Manual 67
68 MiLLennium Command Descriptions Manual
ANTENNAPOWER
Table C-1 Antenna LNA Power Configuration
MiLLennium Command Descriptions Manual 69
ASSIGN
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CLOCKADJUST
MiLLennium Command Descriptions Manual 71
COMn
COMn_DTR
active [lead] [tail]
72 MiLLennium Command Descriptions Manual
COMn_RTS
active [lead] [tail]
Data
MiLLennium Command Descriptions Manual 73
CONFIG
74 MiLLennium Command Descriptions Manual
CRESET
MiLLennium Command Descriptions Manual 75
CSMOOTH
[L2 time]
76 MiLLennium Command Descriptions Manual
DATUM
MiLLennium Command Descriptions Manual 77
DGPSTIMEOUT
ephem delay
78 MiLLennium Command Descriptions Manual
DIFF_PROTOCOL Differential Protocol Control
RTCM/A/B LOGS
MiLLennium Command Descriptions Manual 79
DYNAMICS
80 MiLLennium Command Descriptions Manual
ECUTOFF
MiLLennium Command Descriptions Manual 81
EXTERNALCLOCK
Overview
++++=
f
Theory
82 MiLLennium Command Descriptions Manual
externalclock user 1.0e-20 1.0e-24 1.0e-28
Table C-2 Default Values of Process Noise Elements
EXTERNALCLOCK option
MiLLennium Command Descriptions Manual 83
EXTERNALCLOCK FREQUENCY
84 MiLLennium Command Descriptions Manual
FIX HEIGHT
[auto]
FIX POSITION
MiLLennium Command Descriptions Manual 85
(RTK)
station id [
stn health]
FIX VELOCITY
MiLLennium Command Descriptions Manual 87
FREQUENCY_OUT
Table C-3 VARF Range
Page
MiLLennium Command Descriptions Manual 89
HELP
?
HELP
OR:
Figure C-1 HELP Command Screen Display
LOCKOUT
MiLLennium Command Descriptions Manual 91
LOG
[period] [offset] {hold}
trigger
[port]
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MAGVAR
Figure C-3 Illustration of Magnetic Variation & Correction
MiLLennium Command Descriptions Manual 93
MESSAGES
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POSAVE
RESET
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RESETHEALTH
RESETHEALTHALL
RINEX Receiver-Independant Exchange Format
RTCM16T
Page
100 MiLLennium Command Descriptions Manual
RTKMODE
to
MiLLennium Command Descriptions Manual 101
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MiLLennium Command Descriptions Manual 103
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SAVEALMA
Page
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SEND
Figure C-4 Using SEND Command
MiLLennium Command Descriptions Manual 107
SENDHEX
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SETDGPSID
MiLLennium Command Descriptions Manual 109
SETHEALTH
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SETL1OFFSET
MiLLennium Command Descriptions Manual 111
SETNAV
Reference Description
MiLLennium Command Descriptions Manual 113
SETTIMESYNC
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UNASSIGN
UNASSIGNALL
MiLLennium Command Descriptions Manual 115
UNDULATION
Figure C-6 Illustration of Undulation
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UNFIX
UNLOCKOUT
UNLOCKOUTALL
MiLLennium Command Descriptions Manual 117
UNLOG
port
UNLOGALL
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USERDATUM
VERSION
DLOGS SUMMARY
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LOG DESCRIPTIONS
ALMA/B Decoded Almanac
MiLLennium Command Descriptions Manual 121
ALMA
ALMA FORMAT
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MiLLennium Command Descriptions Manual 123
ALMB
Message ID = 16 Message byte count = 76
IONB FORMAT:
ALMB FORMAT: Message ID = 18 Message byte count = 120
Page
BSLA/B Baseline Measurement
MiLLennium Command Descriptions Manual 125
RTK
BSLA
126 MiLLennium Command Descriptions Manual
BSLB
Format: Message ID = 59 Message byte count = 100
MiLLennium Command Descriptions Manual 127
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
MiLLennium Command Descriptions Manual 129
130 MiLLennium Command Descriptions Manual
CDSB
Format: Message ID = 39 Message byte count = 128
MiLLennium Command Descriptions Manual 131
CLKA/B Receiver Clock Offset Data
CLKA
132 MiLLennium Command Descriptions Manual
CLKB
Format: Message ID = 02 Message byte count = 68
CLMA/B Receiver Clock Model
134 MiLLennium Command Descriptions Manual
CLMB
COM1A/B and COM2A/B Pass-Through Logs
136 MiLLennium Command Descriptions Manual
DOPA/B Dilution of Precision
DOPA
MiLLennium Command Descriptions Manual 137
DOPB
Format: Message ID = 07 Message byte count = 68+(sats*4)
138 MiLLennium Command Descriptions Manual
ETSA/B Extended Tracking Status
ETSA
MiLLennium Command Descriptions Manual 139
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
140 MiLLennium Command Descriptions Manual
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)
Note: The maximum age reported here is limited to 99 seconds.
142 MiLLennium Command Descriptions Manual
GPALM Almanac Data
Reference Table 20-VI, ICD-GPS-200, Rev. B for scalingfactors and units.
MiLLennium Command Descriptions Manual 143
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]
144 MiLLennium Command Descriptions Manual
GPGLL Geographic Position
MiLLennium Command Descriptions Manual 145
GPGRS GPS Range Residuals for Each Satellite
146 MiLLennium Command Descriptions Manual
GPGSA GPS DOP and Active Satellites
MiLLennium Command Descriptions Manual 147
GPGST Pseudorange Measurement Noise Statistics
148 MiLLennium Command Descriptions Manual
GPGSV GPS Satellites in View
MiLLennium Command Descriptions Manual 149
GPRMB Navigation Information
150 MiLLennium Command Descriptions Manual
GPRMC GPS Specific Information
MiLLennium Command Descriptions Manual 151
GPVTG Track Made Good And Ground Speed
152 MiLLennium Command Descriptions Manual
GPZDA UTC Time and Date
MiLLennium Command Descriptions Manual 153
GPZTG UTC & Time to Destination Waypoint
154 MiLLennium Command Descriptions Manual
MKPA/B Mark Position
Format: Message ID = 05 Message byte count = 88
MKPA
MKPB
MiLLennium Command Descriptions Manual 155
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
MiLLennium Command Descriptions Manual 157
NAVB
Format: Message ID = 08 Message byte count = 76
Page
MiLLennium Command Descriptions Manual 159
PAVA/B Position Averaging Status
PAVA
160 MiLLennium Command Descriptions Manual
PAVB
Format: Message ID = 50 Message byte count = 80
MiLLennium Command Descriptions Manual 161
POSA/B Computed Position
POSA
POSB
PRTKA/B Computed Position
162 MiLLennium Command Descriptions Manual
(RTK)
PRTKA
MiLLennium Command Descriptions Manual 163
PRTKB
Format: Message ID = 63 Message byte count = 124
164 MiLLennium Command Descriptions Manual
PVAA/B XYZ Position, Velocity and Acceleration
PVAA
MiLLennium Command Descriptions Manual 165
PVAB
Format: Message ID = 49 Message byte count = 108
166 MiLLennium Command Descriptions Manual
PXYA/B Computed Cartesian Coordinate Position
PXYA
$PXYA week seconds x y z x std y std z std sol status fix status diff lag *xx [CR][LF]
MiLLennium Command Descriptions Manual 167
PXYB
Format: Message ID = 26 Message byte count = 88
Page
MiLLennium Command Descriptions Manual 169
RALA/B Raw Almanac
RALA
RALB
170 MiLLennium Command Descriptions Manual
RASA/B Raw Almanac Set
RASA
$RASA RxWeek RxSec AlmWeek Toa RxPrn # subframes subframe# page # subframe
subframe# page # subframe
MiLLennium Command Descriptions Manual 171
RASB
Format: Message ID = 66 Message byte count = 40 + (n * 32)
172 MiLLennium Command Descriptions Manual
RBTA/B Satellite Broadcast Data: Raw Bits
RBTA
RBTB
MiLLennium Command Descriptions Manual 173
RCCA Receiver Configuration
RCCA
174 MiLLennium Command Descriptions Manual
RCSA/B Receiver Status
RCSA
RCSB
MiLLennium Command Descriptions Manual 175
REPA/B Raw Ephemeris
REPA
REPB
176 MiLLennium Command Descriptions Manual
RGEA/B/D Channel Range Measurements
MiLLennium Command Descriptions Manual 177
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
178 MiLLennium Command Descriptions Manual
RGEB
Format: Message ID = 32 Message byte count = 32 + (obs x 44)
MiLLennium Command Descriptions Manual 179
RGED
Format: Message ID = 65 Message byte count =24 + (20 x number of obs)
180 MiLLennium Command Descriptions Manual
Table D-5 Receiver Self-Test Status Codes
MiLLennium Command Descriptions Manual 181
182 MiLLennium Command Descriptions Manual
MiLLennium Command Descriptions Manual 183
Table D-6 Range Record Format (RGED only)
184 MiLLennium Command Descriptions Manual
Table D-7 Channel Tracking Status
Table D-7, Bits 12-14 : Correlator Spacing
RINEX
186 MiLLennium Command Descriptions Manual
RPSA/B Reference Station Position and Health
RPSA
RPSB
MiLLennium Command Descriptions Manual 187
RTCA Standard Logs
RTCM Standard Logs
RTKA/B Computed Position - Time Matched
188 MiLLennium Command Descriptions Manual
RTK
RTKA
MiLLennium Command Descriptions Manual 189
RTKB
Format: Message ID = 61 Message byte count = 116
190 MiLLennium Command Descriptions Manual
RTKOA/B RTK Solution Parameters
RTKOA
sat id amb res
MiLLennium Command Descriptions Manual 191
RTKOB
Format: Message ID = 62 Message byte count = 196 + (#res)*16
192 MiLLennium Command Descriptions Manual
Table D-8 Ambiguity Types
Table D-10 RTK Status
Table D-9 Searcher Status
MiLLennium Command Descriptions Manual 193
RVSA/B Receiver Status
RVSA
194 MiLLennium Command Descriptions Manual
RVSB
Format: Message ID = 56 Message byte count =28+ (8 x number of cards)
MiLLennium Command Descriptions Manual 195
SATA/B Satellite Specific Data
SATA
196 MiLLennium Command Descriptions Manual
SATB
Table D-11 GPSCard Range Reject Codes
Format: Message ID =12 Message byte count = 32 + (obs*32)
MiLLennium Command Descriptions Manual 197
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
MiLLennium Command Descriptions Manual 199
SVDA/B SV Position in ECEF XYZ Coordinates with Corrections
SVDA
200 MiLLennium Command Descriptions Manual
SVDB
Format: Message ID = 36 Message byte count = 36 +(obs*68)
MiLLennium Command Descriptions Manual 201
TM1A/B Time of 1PPS
TM1A
TM1B
202 MiLLennium Command Descriptions Manual
VERA/B Receiver Hardware and Software Version Numbers
VERA
VERB
VLHA/B Velocity, Latency, and Direction over Ground
MiLLennium Command Descriptions Manual 203
VLHA
204 MiLLennium Command Descriptions Manual
VLHB
Table D-12 GPSCard Velocity Status
Format: Message ID = 34 Message byte count = 72
MiLLennium Command Descriptions Manual 205
WRCA/B Wide Band Range Correction (Grouped Format)
WRCA
WRCB
ECOMPARISON OF RT-2 AND RT-20
206 MiLLennium Command Descriptions Manual
E.1 RT-2 & RT-20 PERFORMANCE
Table E-1 Comparison of RT-2 and RT-20
Table E-2 RTK Messages Vs. Accuracy
RT-2 Performance
Table E-4 RT-2 Performance: Kinematic Mode
Table E-3 RT-2 Performance: Static Mode
208 MiLLennium Command Descriptions Manual
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
210 MiLLennium Command Descriptions Manual
Table E-5 RT-20 Performance
Figure E-5 Typical RT-20 Convergence - Static Mode
Page
212 MiLLennium Command Descriptions Manual
E.2 PERFORMANCE CONSIDERATIONS
Performance Degradation
REMOTE TRACKING LOSS
DIFFERENTIAL LINK BREAKDOWN
MiLLennium Command Descriptions Manual 213
Figure E-8 RT-20 Re-initialization Process
F Standards and References
FSTANDARDS AND REFERENCES
214 MiLLennium Command Descriptions Manual
GGEODETIC DATUMS
MiLLennium Command Descriptions Manual 215
Table G-1 Reference Ellipsoid Constants
Table G-2 Transformation Parameters (Local Geodetic to WGS84)
216 MiLLennium Command Descriptions Manual
Table G-2 Transformation Parameters (Local Geodetic to WGS84)
MiLLennium Command Descriptions Manual 217
HSOME COMMON UNIT CONVERSIONS
INFORMATION MESSAGES
I
MiLLennium Command Descriptions Manual 219
INFORMATION MESSAGES
Table
TYPE 2 INFORMATION MESSAGES
MiLLennium Command Descriptions Manual 221
222 MiLLennium Command Descriptions Manual
J
JLISTING OF TABLES
MiLLennium Command Descriptions Manual 223
LISTING OF TABLES
224 MiLLennium Command Descriptions Manual
REFERENCE
Table 1-2 Latency-Induced Extrapolation Error
MiLLennium Command Descriptions Manual 225
Table 2-1 Commands By Function Table
226 MiLLennium Command Descriptions Manual
Table 2-1 Commands By Function Table (continued)
MiLLennium Command Descriptions Manual 227
Table 2-2 GPSCard Command Summary
228 MiLLennium Command Descriptions Manual
Table 2-2 GPSCard Command Summary (continued)
MiLLennium Command Descriptions Manual 229
Table 4-1 Logs By Function Table
SATELLITE TRACKING AND CHANNEL CONTROL
230 MiLLennium Command Descriptions Manual
WAYPOINT NAVIGATION
DIFFERENTIAL REFERENCE STATION
DIFFERENTIAL REMOTE STATION
POST PROCESSING DATA
MiLLennium Command Descriptions Manual 231
Table 4-2 GPSCard Log Summary
232 MiLLennium Command Descriptions Manual
Table 6-1 Positioning Modes
Remote station:
Table C-3 VARF Range (Software Version 4.42 or higher)
Table C-1 Antenna LNA Power Configuration
MiLLennium Command Descriptions Manual 233
Table D-1 GPSCard Solution Status
Table D-3 RTK Status for Position Type 3 (RT-20)
Table D-2 Position Type
234 MiLLennium Command Descriptions Manual
Table D-4 RTK Status for Position Type 4 (RT-2)
Table D-5 Receiver Self-Test Status Codes
MiLLennium Command Descriptions Manual 235
Table D-6 Range Record Format (RGED only)
236 MiLLennium Command Descriptions Manual
Table D-7 Channel Tracking Status
Table D-7,
MiLLennium Command Descriptions Manual 237
Table D-8 Ambiguity Types
Table D-10 RTK Status
Table D-9 Searcher Status
Ambiguity Type Definition
238 MiLLennium Command Descriptions Manual
Table D-11 GPSCard Range Reject Codes
Table D-12 GPSCard Velocity Status
Table E-1 Comparison of RT-2 and RT-20
.
MiLLennium Command Descriptions Manual 239
Table E-3 RT-2 Performance: Static Mode
Table E-5 RT-20 Performance
Table E-4 RT-2 Performance: Kinematic Mode
KGPS GLOSSARY OF TERMS
240 MiLLennium Command Descriptions Manual
MiLLennium Command Descriptions Manual 241
242 MiLLennium Command Descriptions Manual
MiLLennium Command Descriptions Manual 243
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MiLLennium Command Descriptions Manual 245
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MiLLennium Command Descriptions Manual 247
L GPS Glossary of Acronyms
LGPS GLOSSARY OF ACRONYMS
248 MiLLennium Command Descriptions Manual
L GPS GLOSSARY OF ACRONYMS
L GPS Glossary of Acronyms
MiLLennium Command Descriptions Manual 249
