0x43 Report Packet | Trimble Outdoors Part Number 45005-00-ENG

Trimble Standard Interface Protocol

A

0x43 Report Packet 43

Velocity Fix, XYZ ECEF Report

This packet provides current GPS velocity fix in XYZ ECEF coordinates. If the I/O "velocity" option (Packet 35) is set to "XYZ ECEF ", and the packet is masked for output by packet 8E-4D, then the GPS receiver sends this packet each time a fix is computed if selected by the I/O "timing" option. The data format is shown below.

Table A-33 Report Packet 43

Byte	Item	Type	Units

0-3	X velocity	SINGLE	meters/second

4-7	Y velocity	SINGLE	meters/second

8-11	Z velocity	SINGLE	meters/second

12-15	bias rate	SINGLE	meters/second

16-19	time-of-fix	SINGLE	seconds

The time-of-fix is in GPS time or UTC as selected by the I/O "timing" option.

A-44	Acutime 2000 Synchronization Kit User Guide

Image 150

Trimble Outdoors Part Number 45005-00-ENG Velocity Fix, XYZ Ecef Report, Table A-33 Report Packet, 0x43 Report Packet

Contents

Acutime 2000 Synchronization Kit Timing and Synchronization Group Software and Firmware License, Limited Warranty Limitation of Liability Contents Acutime 2000 Installation NTP Software Installation and Configuration Trimble Standard Interface Protocol Timing Receiver Monitor Glossary Index List of Figures Page List of Tables List of Tables List of Tables Xvi Acutime 2000 Synchronization Kit User Guide Acutime 2000 Synchronization Kit User Guide Xvii Page About This Manual Scope and Audience Organization Reader Feedback Update Notes Related InformationWorld Wide Web WWW Site Abbreviations Document ConventionsTechnical Assistance Page Introduction Overview Acutime 2000 GPS Smart Antenna Features Acutime 2000 GPS Smart Antenna Enclosure Starter Kit Getting Started Connecting the Smart Antenna Connecting the Computer and Power Source Connection Diagram Communicating with the Acutime Acutime 2000 Installation Choosing a Location Mounted Antenna Acutime 2000 Installation Mounting the Smart Antenna Routing and Securing the Interface Cable Connecting the Host System Acutime 2000 Connections Interface and Power Connections Acutime 2000 Interface Connector Acutime 2000 12-pin Connector format Interface Cables and Connectors Mating ConnectorsAntenna Mating Manufacturer Description Connector Signal Description Wire Color Protocol Acutime Connector Pin-OutsAcutime 2000 RS-422 Cable Pin-Out Acutime 2000 RS-232 Cable Pin-Out Power Connection Red and Black Wires Connection InstructionsTiming Pulse Connections Serial Port Connections Port B Event Input Port aPage System Operation Start-Up Automatic Operation Default Satellite Mask SettingsMask Setting Satellite Masks SNR Mask Pdop Mask Self-Survey Mode Tracking Modes Overdetermined Clock Mode PPS Output Options PPS Quantization Error PPS Quantization Error Removing the Quantization Error from the PPS Output Cable Delay Compensation External Event Input Serial Data Communication Port BPort a Timing System Operation GPS Timing Timing Operation Timing Pulse Output PPS Using the Acutime 2000 in Mobile Applications Customizing Acutime 2000 Operations Receiver Configuration segment OEM Configuration segmentParameter Factory default Set Request Report Port a and B Configuration segment PPS Configuration segmentPosition Information segment Nmea Configuration segment Parameter Factory default Set Request Report HaveutcUTC Information segment System Operation Acutime 2000 Synchronization Kit User Guide NTP Software Installation and Configuration Network Time Protocol NTP Time Servers NTP Time Server Requirements Software Sources and Compatibility Pre-Installation Check List Installation Support GPS Preparation Host System Preparation Operating System Specific Information Time Transfer Connection Diagram Time Transfer Cable Connection Optional Connections NTP Software Installation NTP Configuration File NTP Configuration File Acutime Configuration Unit Number Network Server Selection Additional Configuration Information Windows NT Installation Automatic Installation Manual Installation Create the Configuration File NTP Software Installation and Configuration Copying Executable Files Copy NTPQ.EXE, NTPDATE.EXE, NTPDC.EXE, NTPTRACE.EXE Installing the Service Type instsrv c\winnt\system32\ntpd.exePage Starting the Service Unix Installation Create the Configuration File Set Up Device Links Cd /dev Ln -s ttyS0 /dev/Acutime0 System Serial Ports and Symbolic Link Names Hpux Hardware Configuration Disabling Serial Port Services Using an Administrative Tool Copying Executable Files System Initialization Monitoring NTP Start NTP NTP Events on Windows NT Event Log Entries NTP Software Installation and Configuration Unix System Log Files Sample Unix Log Entries Ntpq The NTP Query Utility NTP is Communicating with the Acutime NTP Reference Clock Acutime NTP reference clock is identified in the list as NTP is not Running No Response from the Acutime NTP Reference Clock NTP Software Installation and Configuration Trimble Standard Interface Protocol Interface Scope Packet Structure Physical Interface Characteristics Table A-1 Ace UTC Port Translation Table NomenclatureProtocol Capabilities Table A-2 Table A-3 Secondary Port Features Acutime Primary Port FeaturesSecondary Port Features Acutime Event Input Table A-4 Secondary Port Features Ace UTC Packets Output at Power-UpSecondary Port Features Ace UTC Event Reporting Table A-5 Event Packets Receiver Warm Start Table A-6 Packets Output at Power-UpTable A-7 Receiver Warm Start Commands Output ID Description Default Background Packets for Acutime Table A-8 Background Packets Default Automatic Position and Velocity Reports for Acutime Table A-9 Automatic position and Velocity Reports Low-Latency Timing Packets Table A-10 Low-Latency Timing PacketsLltp Packet ID Description Request Packet ID Table A-11 Satellite Data Packets Event PacketsSatellite Data Packets Input ID Description Output ID Customizing Receiver Operations Table A-12 Customizing Receiver Operations Table A-13 Advanced Packets Command Packets Sent to the Receiver Table A-14 Command Packets Sent to the ReceiverInput Packet Description Output ID 8E-AB Report Packets Sent by the GPS Receiver to the User Table A-15 Report Packets Sent by GPS Receiver to UserOutput ID Packet Description Input ATrimble Standard Interface Protocol 8F-AD Packet Structure DLE id data string bytes DLE ETX Packet Descriptions Table A-16 Command Packet 1D Clear Oscillator OffsetTable A-17 Command Packet 1D Set Oscillator Offset Oscillator Offset 0x1E Command Packet 1E Initiate Cold or Factory ResetTable A-18 Command Packet 1E 0x1F Command Packet 1F 0x20 0x21 0x23 Initial Position XYZ Cartesian Ecef CommandTable A-19 Command Packet Almanac Request 0x24 0x25 GPS Receiver Position Fix Mode RequestInitiate Soft Reset / Self Test Command Health Request 0x27 0x28 0x29 0x2A Signal Levels RequestAltitude for 2-D Mode Command GPS System Message Request Trimble Standard Interface Protocol 0x2B 0x2D Initial Position Latitude, Longitude, Altitude CommandTable A-20 Command Packet 2B Oscillator Offset Request Table A-21 Command Packet 2E GPS Time CommandAccurate Initial Position XYZ Cartesian Ecef Command 0x2E 0x2F 0x31 Trimble Standard Interface Protocol Satellite Number For One-Satellite Mode Command 0x32 0x34 Option Flags Command 0x35 Command Packet Table A-22 Command Packet Bytes Byte Trimble Standard Interface Protocol Byte 0x37 0x38 Last Position and Velocity RequestDownload and UpLoad Satellite System Data Table A-23 Command Packet Byte Type Value Meaning Satellite Attribute Database Command Table A-24 Command Packet0x39 Command Packet Last Raw Measurement Request Table A-25 Command Packet 3ATable A-26 Command Packet 3B Satellite Ephemeris Status Request Table A-27 Command Packet 3C 0x3C Command Packet 3CSatellite Tracking Status Request Table A-28 Command Packet 3F-11 Timing Port Configuration CommandEeprom Segment Commands Almanac Data Page Report Table A-30 Report Packet 0x41GPS Time Report Report Packet Table A-31 Relationship Between Packet 41 and Packet Approximate Time Time Source Sign Packet AccuracyStatus Code Single-Precision Position Fix, XYZ Ecef Report Table A-32 Report Packet0x42 Report Packet Velocity Fix, XYZ Ecef Report Table A-33 Report Packet0x43 Report Packet 0x45 Report Packet Software Version Information ReportTable A-34 Report Packet Byte Type Health of Receiver Report Table A-35 Report Packet0x46 Report Packet Error Code Meaning if bit value = Bit Position Table A-36 Report Packet GPS System Message Report Signal Levels for all Satellites Report0x47 0x48 Table A-37 Report Packet Table A-38 Report Packet 0x49 0x4AAlmanac Health Page Report Table A-39 Report Packet 4A Report Reference Altitude Latitude Machine/Code ID and Additional Status Report Table A-41 Report Packet 4BTable A-42 Byte 1 Bit Encoding Status Table A-43 Report Packet 4C Byte Type, Units Default Value, VelocityOperating Parameters Report 0x4C Report Packet 4C 0x4D 0x4E GPS Time Change AcknowledgmentTable A-44 Report Packet 4E 0x4F Report Packet 4F UTC Parameters ReportTable A-45 Report UTC Parameters Byte Value Type Table A-46 Report Packet Bias and Bias Rate ReportOption Flags Report 0x54 Report Packet Velocity Fix, East-North-Up ENU Report Table A-47 0x56 Velocity Fix, East-North-Up ENU Report0x56 Report Packet 0x57 Report Packet Information About Last Computed Fix ReportTable A-48 Report Packet Byte Type/Units Value Satellite System Data/Acknowledge from Receiver Table A-49 Report Packet0x58 Report Packet Table A-50 Report Packet 58 Almanac Data Report Byte Type Meaning Table A-51 Report Packet 58 Almanac Health Data Report Table A-52 Report Packet 58 Ionosphere Data Report Table A-53 Report Packet 58 UTC Data Report Table A-54 Report Packet 58 Ephemeris Data Report Iode Byte Satellite Attributes Database Report Table A-55 Report Packet0x59 Report Packet Table A-56 Report Packet 5A 0x5ARaw Measurement Data Report Report Packet 5A Signal level CodephaseDoppler Satellite Ephemeris Status Report Time of measurement0x5B Report Packet 5B Table A-57 Report Packet 5B 0x5C Report Packet 5C Satellite Tracking Status ReportTable A-58 Report Packet 5C Byte/Item Type/Units Value/Meaning Approximate elevation of this satellite Table A-59 Report Packet 5F-11 Eeprom Segment Status Report 0x5F-11Eeprom Segment Status Reports Report Packet 5F-11 Table A-60 Report Packet 0x60 Data Formats 0x60 Command PacketType 1 Differential GPS Corrections Byte Bit Type Range Units Byte Bit Type Value Definition SV PRN Table A-62 Command Packet 0x61 Data Formats 0x61 Command PacketSet Differential GPS Corrections All-In-View Satellite Selection Report Table A-63 Report Packet 6D0x6D Report Packet 6D Table A-64 Command Packet 7A 0x7A Command Packet 7ASet or Request Nmea Interval and Message Mask Double-precision XYZ Position Fix And Bias Information 0x7B 0x83Nmea Message Output Table A-65 Report Packet Double-precision LLA Position Fix and Bias Information Table A-66 Report Packet0x84 Report Packet 0xBB Command Packet BB Set Primary Receiver ConfigurationTable A-67 Survey State Configurations Survey State Active Configuration Table A-68 Vaild GPS Configuration Settings Dynamics Code Signal Level Mask Table A-69 Pdop Mask and Switch Command Packet BBByte # Type Value Meaning Default Table A-69 Command Packet BB Table A-70 Command Packet BC Report Receiver ConfigurationSet Port Configuration Parameters 0xBC Command Packet BC Request Port Configuration Parameters 0xBC Report Packet BC Custom OEM Packets Tsip Superpackets Request or Configure Super Packet Output Command Packet 8E-0B0x8E-0B 0x8E-14 Table A-71 Command Packet 8E-14Command Packet 8E-14 Set New Datum 0x8E-15 Table A-72 Command Packet 8E-14Command Packet 8E-15 Request Current Datum Values 0x8E-20 0x8E-260x8E-41 0x8E-42 Revert Segments to Default SettingsTable A-74 Command Packet 0x8E-45 0x8E-45 Command Packet 8E-4A Set/Request PPS CharacteristicsTable A-75 Command Packet 8E-4A 0x8E-4A 0x8E-4D Table A-76 Command Packet 8E-4DCommand Packet 8E-4D Automatic Packet Output Mask Table A-77 Command Packet 8E-4D Packets Affected By Bits Bit # Output Default When Meaning Packets Command Packet 8E-4E 0x8E-4ESet PPS Output Option Set PPS Width 0x8E-4F0x8E-A5 Set or Request Packet Broadcast Mask Trimble Standard Interface Protocol Table A-80 Command Packet 8E-A5 Byte Bit Type Default Description 0x8E-A9 Issue Self-Survey Command0x8E-A6 Set Self-Survey Parameters Command Packet 8E-A9 Data Format segment Table A-82Byte Type Value Description 0x8E-AB Table A-83 Command Packet 8E-ABCommand Packet 8E-AB Request Primary Timing Packet 0x8E-AC Table A-84 Command Packet 8E-ACCommand Packet 8E-AC Request Supplemental Timing Packet Command Packet 8E-AD Acutime 2000 only 0x8E-AD Table A-85 Report Packet 8F-0B 0x8F-0BComprehensive Time Report Packet 8F-0B 38-41 Oscillator Drift Table A-86 Report Packet 8F-14 0x8F-14Current Datum Values Report Packet 8F-14 Table A-87 Report Packet 8F-20 00x8F-20Last Fix with Extra Information binary fixed point Report Packet 8F-20 Table A-88 Report Packet 8F-20 Bytes Item/Type Meaning 32-47 Table A-89 Report Packet 0x8F-26 0x8F-26Response to Save Eeprom Segments Report Packet 0x8F-26 Table A-90 Report Packet 8F-41 0x8F-41Manufacturing Parameters Report Packet 8F-41 Table A-91 Report Packet 8F-42 0x8F-420x8F-45 Report Packet 8F-42 Table A-92 Command Packet 8E-AD Command Packet 8E-AD Request 8F-ADByte # Type Value Default Meaning Table A-93 Report Packet 8F-4A PPS Characteristics0x8F-4A Report Packet 8F-4A Table A-94 Report Packet 8F-4D Bit # Output When Output Meaning Packets0x8F-4D Table A-95 Report Packet 8F-4D Report Packet 0x8F-4E 0x8F-4E0x8F-A5 Report Packet 8F-A5 0x8F-A6 0x8F-A90x8F-AB 116 Acutime 2000 Synchronization Kit User Guide Table A-96 Report Packet 0x8F-AB UTC Integer 0x8F-AC Report Packet 8F-AC Acutime 2000 Synchronization Kit User Guide 119 120 Acutime 2000 Synchronization Kit User Guide Table A-97 Report Packet 8F-AC GPS Byte Reserved 16-19 Bias Table A-98 Report Packet 8F-AD 0x8F-ADPrimary UTC Time Report Packet 8F-AD Table A-99 Tracking Status Flag Definitions Flag Value Status Meaning Table A-100 Leap Second Flag Definitions Leap Second FlagBit # Name Meaning if set to Datums Table A-101 DatumsIndex Axis Eccentricity Description Acutime 2000 Synchronization Kit User Guide 127 128 Acutime 2000 Synchronization Kit User Guide Acutime 2000 Synchronization Kit User Guide 129 130 Acutime 2000 Synchronization Kit User Guide Acutime 2000 Synchronization Kit User Guide 131 132 Acutime 2000 Synchronization Kit User Guide Acutime 2000 Synchronization Kit User Guide 133 Sending out Tsip command packet 0x1F Sample Tsip Routines Acutime 2000 Synchronization Kit User Guide 135 Handling incoming Tsip packet Acutime 2000 Synchronization Kit User Guide 137 Page Timing Receiver Monitor Main screen Nmea Nmea 0183 Communication Interface Table C-1 Nmea 0183 CharacteristicsSignal Characteristic Nmea Standard Nmea 0183 Message Format Each message contains multiple data fields Dn Setting Message Description Nmea 0183 Message OptionsTable C-2 Acutime 2000 Nmea Messages Table C-3 GGA GPS Fix Data Message Parameters Nmea 0183 Message FormatsGGA GPS Fix Data Field Description GLL Geographic Position Latitude/Longitude Field # Description GSA GPS DOP and Active Satellites GSV GPS Satellites in View Table C-6 GSV GPS Satellites in View Message Parameters RMC Recommended Minimum Specific GPS/Transit Data VTG Track Made Good and Ground Speed ZDA Time & Date Table C-9 ZDA Time & Date Message Parameters Nmea Acutime 2000 Synchronization Kit User Guide Dimensions Acutime 2000 GPS Smart Antenna SpecificationsTable D-1 Physical Specifications Weight Table D-2 Environmental Specifications Table D-3 Performance Specifications Table D-4 Electrical Specifications Port Interface Protocols Defaults Table D-5 Serial Protocols Acutime 2000 Standard Interface Cable Diagram Figure D-1 Acutime 2000 Standard Interface Cable Figure D-2 NTP Interface Cable Specifications and Drawings Diagnostics and Debugging System Log Entries Serial Port Acces Report Error Log Entries Configuration File Not Found Acutime 2000 Synchronization Kit User Guide Acutime Configuration Failure COM Port Unavailable System Clock Not Set Running NTP in Debug Mode Debug Mode Not Available NTP Startup and Acutime Poll NTP Diagnostics and Debugging Acutime is not Responding Running NTP with Event Polling Disabled Table E-1 Troubleshooting Acutime is Not RespondingPossible Problem Solution Fudge 127.127.127.x flag2 Palisadepoll unit x polling synchronous packet Table E-2 Troubleshooting Incorrect Port and Bad Data Incorrect Port and Bad Data Serial Port is Unavailable Compiling the NTP Distribution NTP Diagnostics and Debugging NTP Diagnostics and Debugging NTP Diagnostics and Debugging Windows NT Administration Controlling the NTP Service Removing the NTP Service Type instsrv remove Additional Information Page Theory of Operation GPS Satellite Message Satellite Acquisition and Time to First Fix Cold Start Warm Start Garage Search Strategy Hot Start Position Accuracy Selective Availability S/A Coordinate Systems TsipNmea Dynamic Limits Performance CharacteristicsUpdate Rate Re-Acquisition Theory of Operation System Architecture Figure F-2 Figure F-1 Acutime 2000 Block Diagram RS-232 Version Page Glossary Ascii DCE DOP Elevation mask Gdop GPS Iode Pdop ROM SEP SPS Index Index-2 Acutime 2000 Synchronization Kit User Guide Index-3 Index-4 Acutime 2000 Synchronization Kit User Guide Reader Comment Form