Table of Contents

MiLLennium Command Descriptions Manual vii

FIGURES
5-1 Pass-Through Log Data ...................................................................................................................................................31
A-1 NAVSTAR Satellite Orbit Arrangement ........................................................................................ .................................50
A-2 Illustration of GPSCard Height Measurements ................................................................................................................52
A-3 Accuracy vs. Precision .....................................................................................................................................................53
A-4 Example of Differential Positioning ................................................................................................................................54
A-5 Single Point Averaging ....................................................................................................................................................57
A-6 Typical Differential Configuration ...................................................................................................................................58
B-1 Illustration of GPS Signal Multipath ................................................................................ ................................................61
B-2 Illustration of GPS Signal Multipath vs. Increased Antenna Heigh t ............................................................................... 63
B-3 Illustration of Quadrifilar vs. Microstrip Patch Antennae . ...............................................................................................64
B-4 Example of GPSAntenna on a Flat Plate vs. Choke Ring Ground Plane .........................................................................64
C-1 HELP Command Screen Display .....................................................................................................................................89
C-2 Appended Command Screen Display ...............................................................................................................................89
C-3 Illustration of Magnetic Variation & Correction ....... .......................................................................................................92
C-4 Using SEND Command ...................................................................................................................................................106
C-5 Illustration of SETNAV Parameters .................................................................................................................................112
C-6 Illustration of Undulation ..................................................................................... ............................................................115
D-1 Example of Navigation Parameters ..................................................................................................................................158
D-2 The WGS84 ECEF Coordinate System ...........................................................................................................................168
E-1 Typical RT-2 Horizontal Convergence - Static Mode ......................................................................................................208
E-2 Typical RT-2 Horizontal Convergence - Kinematic Mode ..............................................................................................208
E-3 RT-2 Accuracy Convergence ...........................................................................................................................................209
E-4 Illustration of RT-2 Steady State Performance ..................................................... ............................................................209
E-5 Typical RT-20 Convergence - Static Mode ................................................................................................. .....................210
E-6 Typical RT-20 Convergence - Kinematic Mode ..............................................................................................................211
E-7 RT-20 Steady State Performance ......................................................................................................................................211
E-8 RT-20 Re-Initialization Process . ......................................................................................................................................213
TABLES
1-1 GPSCard Pseudorange Differential Initialization Summary .............................................................................................4
1-2 Latency-Induced Extrapolation Error ......................................................................................... .......................................5
2-1 Commands By Function Table .........................................................................................................................................11
2-2 GPSCard Command Summary .........................................................................................................................................13
4-1 Logs By Function Table ....................................................................................................................................................26
4-2 GPSCard Log Summary ....................................................................................................................................................28
6-1 Positioning Modes .............................................................................................................................................................34
C-1 Antenna LNA Power Configuration .................................................................................................................................68
C-2 Default Values of Process Noise Elements ......................................................................................................................82
C-3 VARF Range ....................................................................................................................................................................87
D-1 GPSCard Solution Status .................. ...............................................................................................................................127
D-2 Position Type ...................................................................................................................................................................127
D-3 RTK Status for Position Type 3 (RT-20) ................................................................ .........................................................127
D-4 RTK Status for Position Type 4 (RT-2) ........................................................................ ...................................................127
D-5 Receiver Self-Test Status Codes ....... ...............................................................................................................................180
D-6 Range Record Format (RGED only) ......................................................................................... .......................................183
D-7 Channel Tracking Status ..................................................................................................................................................184
D-8 Ambiguity Types ............................................................................................................................................... ...............192
D-9 Searcher Status .................................................................................................................................................................192
D-10 RTK Status........................................................................................................................................................................192
D-11 GPSCard Range Reject Codes .........................................................................................................................................196
D-12 GPSCard Velocity Status .................................................................................................................................................204
E-1 Comparison of RT-2 and RT-20 .......................................................................................................................................206
E-2 RTK Messages vs. Accuracy ......................................................... ...................................................................................206
E-3 RT-2 Performance: Static Mode ................................................. ......................................................................................207
E-4 RT-2 Performance: Kinematic Mode ...............................................................................................................................207
E-5 RT-20 Performance ..........................................................................................................................................................210
G-1 Reference Ellipsoid Constants .........................................................................................................................................215
G-2 Transformation Parameters (Local Geodetic to WGS84) ............................ ... .................................................................215
I-1 Type 1 !ERRA Types .......................................................................................................................................................219
I-2 Type 1 !MSGA Types ......................................................................................................................................................220
For you convenience these tables, up to and including Appendix E, are also listed in Appendix J.