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OM-20000041 Rev 1
GPSCard
Products NovAtel Inc.
OM-20000041 REV 1
MiLLennium GPSCard
Software Version 4.50
Command Descriptions Manual
2 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
MiLLennium Command Descriptions Manual
Publication Number: OM-20000041
Revision Level: 1 98/11/03
This manual reflects Software Version 4.50
Proprietary Notice
Information in this document is subject to change without notice and does not represent a commitment on the part
of NovAtel Inc.. The software described in this document is furnished under a licence agreement or non-disclosure
agreement. The software may be used or copied only in accordance with the terms of the agreement. It is against
the law to copy the software on any medium except as specifically allowed in the license or non-disclosure
agreement.
No part of this manual may be reproduced or transmitted in any form or by any means, electronic or mechanical,
including photocopying and recording, for any purpose without the express written permission of a duly authorized
representative of NovAtel Inc.
The information contained within this manual is believed to be true and correct at the time of publication.
MiLLennium, NovAtel, Narrow Correlator and RT-2 are registered trademarks of NovAtel Inc.
GPSCard, GPSAntenna, GPSolution, and RT-20 are trademarks of NovAtel Inc.
All other brand names are trademarks of their respective holders.
© Copyright 1998 Novatel Inc. All rights reserved.
Unpublished rights reserved under International copyright laws.
Printed in Canada on recycled paper. Recyclable.
GPSCard
Table of Contents
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 3
TABLE OF CONTENTS
Software License 9
Software Support 10
Foreword 11
Congratulations! .......................................................................................................................................11
Scope ........................................................................................................................................................11
Prerequisites .............................................................................................................................................11
What’s New Since Software Version 4.47? .............................................................................................11
1Quick Start 12
1.1 Installation ..........................................................................................................................................12
Graphical Interface ......................................................................................................................12
1.2 Data Logging ......................................................................................................................................13
1.3 Differential Operation ........................................................................................................................15
Establish a Data Link ...................................................................................................................15
Initialization - Reference Station .................................................................................................16
1.4 RTK Mode .......................................................................................................................................17
Data Communications Link ......................................................................................................... 17
System Initialization ....................................................................................................................18
Monitoring Your RTK Output Data ............................................................................................20
Options for Logging Differential Corrections .............................................................................20
Initialization - Rover Station .......................................................................................................21
2 Command Descriptions 23
2.1 General ...............................................................................................................................................23
Optional calculation of the checksum .......................................................................................... 24
2.2 Standard Command Tables ................................................................................................................ 25
2.3 WAAS .............................................................................................................................................29
2.3.1 WAAS GPSCard ................................................................................................................30
2.4 Special Data Input Commands ........................................................................................................30
2.4.1 Almanac Data .....................................................................................................................30
2.4.2 Differential Corrections Data ............................................................................................. 32
3 Data Logs 34
3.1 Output Logging ..................................................................................................................................34
3.2 NovAtel Format Data Logs ................................................................................................................35
General..........................................................................................................................................35
ASCII Log Structure .................................................................................................................... 35
Binary Log Structure ...................................................................................................................35
3.3 RTK ....................................................................................................................................................36
3.4 NMEA format data Logs ....................................................................................................................37
General .........................................................................................................................................37
3.5 GPS Time vs. Local Receiver Time ...................................................................................................37
3.6 Standard Log Tables ...........................................................................................................................38
3.7 WAAS .............................................................................................................................................42
3.7.1 WAAS GPSCard Logs ....................................................................................................42
3.8 Pass-Through Logs ..........................................................................................................................42
3.8.1 Command Syntax ............................................................................................................43
3.8.2 ASCII Log Structure ........................................................................................................ 43
3.8.3 Binary Log Structure ....................................................................................................... 44
4 Message Formats 45
4.1 RTCA-Format Messages ....................................................................................................................45
RTCA Standard Logs ..................................................................................................................46
4.2 RTCM-format Messages ....................................................................................................................47
TABLE OF CONTENTS
Table of Contents
4 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
RTCM General Message Format..................................................................................................48
RTCM Standard Commands ........................................................................................................49
RTCM Standard Logs ..................................................................................................................49
4.3 CMR Format Messaging .....................................................................................................................55
Using RT-2 or RT-20 with CMR Format Messages ....................................................................56
4.4 RINEX Format .................................................................................................................................56
4.4.1 Commands ...........................................................................................................................57
4.4.2 Logs .....................................................................................................................................58
A GPS Overview 62
A.1 GPS System Design ...........................................................................................................................62
The Space Segment ......................................................................................................................62
The Control Segment ...................................................................................................................63
The User Segment ........................................................................................................................63
A.2 Height Relationships ..........................................................................................................................63
A.3 GPS Positioning .................................................................................................................................64
A.3.1 Differential Positioning ......................................................................................................66
A.3.2 Pseudorange Algorithms ....................................................................................................67
A.4 Carrier-Phase Algorithms ..................................................................................................................71
B Multipath Elimination Technology 73
B.1 Multipath ............................................................................................................................................73
Why Does Multipath Occur? .......................................................................................................73
Consequences of Multipath Reception .........................................................................................74
B.2 Hardware Solutions For Multipath Reduction ...................................................................................74
Antenna Site Selection .................................................................................................................74
Antenna Designs ..........................................................................................................................75
Antenna Ground Planes ................................................................................................................76
NovAtel’s Internal Receiver Solutions for Multipath Reduction ................................................76
C Commands Summary 79
ACCEPT ......................................................................................................................................79
ANTENNAPOWER ....................................................................................................................81
ASSIGN .......................................................................................................................................82
CLOCKADJUST .........................................................................................................................83
COMn ...........................................................................................................................................84
COMn_DTR .................................................................................................................................84
COMn_RTS ..................................................................................................................................85
CONFIG .......................................................................................................................................86
CRESET .......................................................................................................................................87
CSMOOTH ..................................................................................................................................88
DATUM .......................................................................................................................................89
DGPSTIMEOUT ..........................................................................................................................90
DIFF_PROTOCOL ......................................................................................................................91
DYNAMICS ................................................................................................................................92
ECUTOFF ....................................................................................................................................93
EXTERNALCLOCK ...................................................................................................................94
EXTERNALCLOCK FREQUENCY ..........................................................................................96
FIX HEIGHT ...............................................................................................................................97
FIX POSITION.............................................................................................................................98
FIX VELOCITY ..........................................................................................................................99
FREQUENCY_OUT ....................................................................................................................100
FRESET .......................................................................................................................................101
HELP ............................................................................................................................................102
IONOMODEL WAAS ................................................................................................................103
LOCKOUT ...................................................................................................................................104
LOG ..............................................................................................................................................105
MAGVAR ....................................................................................................................................106
MESSAGES .................................................................................................................................108
POSAVE ......................................................................................................................................109
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MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 5
RESET..........................................................................................................................................110
RESETHEALTH .........................................................................................................................111
RESETHEALTHALL .................................................................................................................111
RINEX.......................................................................................................................................... 112
RTCM16T ...................................................................................................................................113
RTCMRULE ...............................................................................................................................114
RTKMODE ..................................................................................................................................115
SAVEALMA ...............................................................................................................................119
SAVECONFIG ............................................................................................................................120
SEND ...........................................................................................................................................121
SENDHEX ...................................................................................................................................122
SETDGPSID ................................................................................................................................123
SETHEALTH ..............................................................................................................................124
SETL1OFFSET ...........................................................................................................................125
SETNAV ......................................................................................................................................126
SETTIMESYNC...........................................................................................................................128
UNASSIGN .................................................................................................................................129
UNASSIGNALL .........................................................................................................................129
UNDULATION ...........................................................................................................................130
UNFIX .........................................................................................................................................131
UNLOCKOUT ............................................................................................................................131
UNLOCKOUTALL .....................................................................................................................131
UNLOG .......................................................................................................................................132
UNLOGALL ................................................................................................................................132
USERDATUM ............................................................................................................................133
VERSION.....................................................................................................................................134
WAASCORRECTION WAAS ...................................................................................................135
D Logs Summary 136
ALMA/B ......................................................................................................................................136
BSLA/B RTK .............................................................................................................................141
CDSA/B .......................................................................................................................................144
CLKA/B .......................................................................................................................................147
CLMA/B.......................................................................................................................................149
CMR ............................................................................................................................................151
COM1A/B and COM2A/B ..........................................................................................................152
DOPA/B .......................................................................................................................................153
ETSA/B .......................................................................................................................................155
FRMA/B .......................................................................................................................................157
GGAB...........................................................................................................................................158
GPALM .......................................................................................................................................159
GPGGA ........................................................................................................................................160
GPGLL ........................................................................................................................................161
GPGRS ........................................................................................................................................162
GPGSA ........................................................................................................................................163
GPGST .........................................................................................................................................164
GPGSV ........................................................................................................................................165
GPRMB .......................................................................................................................................166
GPRMC .......................................................................................................................................167
GPVTG ........................................................................................................................................168
GPZDA ........................................................................................................................................169
GPZTG ........................................................................................................................................170
MKPA/B ......................................................................................................................................171
MKTA/B.......................................................................................................................................172
NAVA/B.......................................................................................................................................173
PAVA/B .......................................................................................................................................176
POSA/B .......................................................................................................................................178
PRTKA/B RTK ...........................................................................................................................179
PVAA/B .......................................................................................................................................181
PXYA/B .......................................................................................................................................183
Table of Contents
6 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
RALA/B .......................................................................................................................................186
RASA/B .......................................................................................................................................187
RBTA/B .......................................................................................................................................189
RCCA ...........................................................................................................................................190
RCSA/B .......................................................................................................................................191
REPA/B ........................................................................................................................................192
RGEA/B/D ...................................................................................................................................193
RINEX ..........................................................................................................................................202
RPSA/B ........................................................................................................................................203
RTCA ...........................................................................................................................................204
RTCM ..........................................................................................................................................204
RTKA/B RTK .............................................................................................................................205
RTKOA/B RTK .........................................................................................................................207
RVSA/B .......................................................................................................................................210
SATA/B ........................................................................................................................................212
SPHA/B.........................................................................................................................................215
SVDA/B .......................................................................................................................................216
TM1A/B .......................................................................................................................................218
VERA/B........................................................................................................................................219
VLHA/B .......................................................................................................................................220
WALA/B WAAS .........................................................................................................................222
WRCA/B ......................................................................................................................................224
E Comparison Of RT-2 And RT-20 225
E.1 RT-2 & RT-20 Performance ..............................................................................................................225
RT-2 Performance ........................................................................................................................226
RT-20 Performance ......................................................................................................................228
E.2 Performance Considerations ..............................................................................................................231
Performance Degradation .............................................................................................................231
F Standards and References 233
G Geodetic Datums 234
H Some Common Unit Conversions 236
H.1 Distance ...........................................................................................................................................236
H.2 Volume.............................................................................................................................................236
H.3 Temperature.....................................................................................................................................236
H.4 Weight .............................................................................................................................................236
H.5 Hexadecimal And Binary Equivalents ............................................................................................236
H.6 GPS Time of Week to Calendar Day (example) .............................................................................237
H.6.1 Calendar Date to GPS Time ...............................................................................................237
I Information Messages 238
Type 1 Information Messages ..................................................................................................................238
!ERRA ..........................................................................................................................................238
!MSGA .........................................................................................................................................238
Type 2 Information Messages ..................................................................................................................239
JListing Of Tables 242
K GPS Glossary of Terms 260
L GPS Glossary of Acronyms 268
M Index 270
Table of Contents
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 7
FIGURES
2-1 The WAAS Concept .................................................................................................................................29
3-1 Pass-Through Log Data ............................................................................................................................43
A-1 NAVSTAR Satellite Orbit Arrangement .................................................................................................62
A-2 Illustration of GPSCard Height Measurements ........................................................................................64
A-3 Accuracy Versus Precision .......................................................................................................................65
A-4 Example of Differential Positioning ........................................................................................................66
A-5 Single Point Averaging ............................................................................................................................69
A-6 Typical Differential Configuration ...........................................................................................................70
B-1 Illustration of GPS Signal Multipath ........................................................................................................73
B-2 Illustration of GPS Signal Multipath vs. Increased Antenna Height .......................................................75
B-3 Illustration of Quadrifilar vs. Microstrip Patch Antennae ........................................................................76
B-4 Comparison of Multipath Envelopes ........................................................................................................78
C-1 HELP Command Screen Display .............................................................................................................102
C-2 Appended Command Screen Display ......................................................................................................102
C-3 Illustration of Magnetic Variation & Correction ......................................................................................107
C-4 Using SEND Command ............................................................................................................................121
C-5 Illustration of SETNAV Parameters ........................................................................................................127
C-6 Illustration of Undulation .........................................................................................................................130
D-1 Example of Navigation Parameters ..........................................................................................................175
D-2 The WGS84 ECEF Coordinate System ...................................................................................................185
E-1 Typical RT-2 Horizontal Convergence - Static Mode .............................................................................227
E-2 Typical RT-2 Horizontal Convergence - Kinematic Mode ......................................................................227
E-3 RT-2 Accuracy Convergence ...................................................................................................................228
E-4 Illustration of RT-2 Steady State Performance ........................................................................................228
E-5 Typical RT-20 Convergence - Static Mode .............................................................................................229
E-6 Typical RT-20 Convergence - Kinematic Mode ...................................................................................... 230
E-7 RT-20 Steady State Performance .............................................................................................................230
E-8 RT-20 Re-initialization Process ...............................................................................................................232
Table of Contents
8 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
TABLES
1-1 GPSCard Pseudorange Differential Initialization Summary .....................................................................16
1-2 Latency-Induced Extrapolation Error .......................................................................................................17
2-1 Commands By Function Table .................................................................................................................25
2-2 GPSCard Command Summary .................................................................................................................27
3-1 Logs By Function Table ...........................................................................................................................38
3-2 GPSCard Log Summary ...........................................................................................................................41
4-1 Positioning Modes ....................................................................................................................................45
C-1 Antenna LNA Power Configuration .........................................................................................................81
C-2 Default Values of Process Noise Elements ..............................................................................................95
D-1 GPSCard Solution Status ..........................................................................................................................143
D-2 Position Type ............................................................................................................................................143
D-3 RTK Status for Position Type 3 (RT-20) ................................................................................................143
D-4 RTK Status for Position Type 4 (RT-2) ...............................................................................................143
D-5 Receiver Self-Test Status Codes ...............................................................................................................196
D-6 Range Record Format (RGED only) ........................................................................................................199
D-7 Channel Tracking Status ...........................................................................................................................201
D-8 Ambiguity Types ......................................................................................................................................209
D-9 Searcher Status ..........................................................................................................................................209
D-10 RTK Status ................................................................................................................................................209
D-11 GPSCard Range Reject Codes ..................................................................................................................213
D-12 GPSCard Velocity Status ..........................................................................................................................221
D-13 Health and Status Bits ...............................................................................................................................223
D-14 Data ID Type ............................................................................................................................................223
E-1 Comparison of RT-2 and RT-20 ...............................................................................................................225
E-2 RTK Messages Vs. Accuracy ...................................................................................................................225
E-3 RT-2 Performance: Static Mode ...............................................................................................................226
E-4 RT-2 Performance: Kinematic Mode .......................................................................................................226
E-5 RT-2 Degradation With Respect To Data Delay ......................................................................................226
E-6 RT-20 Performance ..................................................................................................................................229
G-1 Reference Ellipsoid Constants ..................................................................................................................234
G-2 Transformation Parameters (Local Geodetic to WGS84) ........................................................................234
I-1 Type 1 !ERRA Types ...............................................................................................................................238
I-2 Type 1 !MSGA Types ..............................................................................................................................239
For you convenience these tables, up to and including Appendix E, are also listed in Appendix J, Page 242.
Software License
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 9
SOFTWARE LICENSE
BY OPENING THE SEALED DISK PACKAGE YOU ARE AGREEING TO BE BOUND BY THE TERMS OF THIS
AGREEMENT. IF YOU DO NOT AGREE TO THE TERMS OF THIS AGREEMENT PROMPTLY RETURN THE
UNOPENED DISK PACKAGE AND THE ACCOMPANYING ITEMS TO NOVATEL INC.
1. License: NovAtel Inc. (“NovAtel”) grants you a non-exclusive license (not a sale) to use one copy of the enclosed NovAtel
software on a single computer, and only with the product whose model number and serial number appear on the envelope.
2. Copyright: NovAtel owns, or has the right to sublicense, all copyright, trade secret, patent and other proprietary rights in the
software and the software is protected by national copyright laws, international treaty provisions and all other applicable
national laws. You must treat the software like any other copyrighted material except that you may either (a) make one copy
of the software solely for backup or archival purposes, or (b) transfer the software to a single hard disk provided you keep the
original solely for backup or archival purposes. You may not copy the product manual or written materials accompanying the
software.
3. Restrictions: You may not: (1) copy (other than as provided for in paragraph 2), distribute, rent, lease or sublicense all or
any portion of the software; (2) modify or prepare derivative works of the software; (3) use the software in connection with
computer-based services business or publicly display visual output of the software; (4) transmit the software over a network, by
telephone or electronically using any means; or (5) reverse engineer, decompile or disassemble the software. You agree to keep
confidential and use your best efforts to prevent and protect the contents of the software from unauthorized disclosure or use.
4. Term and Termination: This Agreement is effective until terminated. You may terminate it at any time by destroying the
software, including all computer programs and documentation, and erasing any copies residing on computer equipment. If you
do so, you should inform NovAtel in writing immediately. This Agreement also will terminate if you do not comply with any
of its terms or conditions. Upon such termination you are obligated to destroy the software and erase all copies residing on
computer equipment. NovAtel reserves the right to terminate this Agreement for reason of misuse or abuse of this software.
5. Warranty: For 90 days from the date of shipment, NovAtel warrants that the media (for example, diskette) on which the
software is contained will be free from defects in materials and workmanship. This warranty does not cover damage caused by
improper use or neglect. NovAtel does not warrant the contents of the software or that it will be error free. The software is
furnished "AS IS" and without warranty as to the performance or results you may obtain by using the software. The entire risk
as to the results and performance of the software is assumed by you.
6. For software UPDATES and UPGRADES, and regular customer support, contact the NovAtel GPS Hotline at
1-800-NOVATEL (Canada and the U.S.A. only), or directly for International Customers 1-403-295-4900, Fax 1-403-295-
4901, e-mail to support@novatel.ca, visit out world wide web site at http://www.novatel.ca, or write to:
NovAtel Inc.
Customer Service Dept.
1120 - 68th Avenue NE
Calgary, Alberta,
Canada
T2E 8S5
7. Disclaimer of Warranty and Limitation of Liability:
a. THE WARRANTIES IN THIS AGREEMENT REPLACE ALL OTHER WARRANTIES, EXPRESS OR
IMPLIED, INCLUDING ANY WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE.
NOVATEL DISCLAIMS AND EXCLUDES ALL OTHER WARRANTIES. IN NO EVENT WILL NOVATEL'S
LIABILITY OF ANY KIND INCLUDE ANY SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES, INCLUDING
LOST PROFITS, EVEN IF NOVATEL HAS KNOWLEDGE OF THE POTENTIAL LOSS OR DAMAGE.
b. NovAtel will not be liable for any loss or damage caused by delay in furnishing the software or any other performance
under this Agreement.
c. NovAtel's entire liability and your exclusive remedies for our liability of any kind (including liability for negligence)
for the software covered by this Agreement and all other performance or nonperformance by NovAtel under or related to this
Agreement are limited to the remedies specified by this Agreement.
This Agreement is governed by the laws of the Province of Alberta, Canada. Each of the parties hereto irrevocably
attorns to the jurisdiction of the courts of the Province of Alberta.
SOFTWARE LICENSE
Software Support
10 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
SOFTWARE SUPPORT
Software updates are software revisions to an existing model which improves (but does not increase) basic
functionality of the GPS receiver. During the one year warranty coverage following initial purchase, software
updates are supplied free of charge. After the warranty has expired, software updates and updated manuals may be
subject to a nominal charge.
Software upgrades are software releases which increase basic functionality of the receiver from one model to a
higher level model type. When available, upgrades can be purchased at a price which is the difference between the
two model types on the current NovAtel GPS Price List plus a nominal service charge.
Software updates and upgrades are obtained through NovAtel authorized dealers or NovAtel Customer Support.
Contact your local NovAtel dealer for more information.
To locate a dealer in your area, contact NovAtel in any of the following ways:
• GPS Hotline at 1-800-NOVATEL (1-800-668-2835)
(U.S.A. and Canada only; 8 a.m. - 4:30 p.m. Mountain Standard Time)
• telephone: 1-403-295-4900 (8 a.m. - 4:30 p.m. Mountain Standard Time)
•fax: 1-403-295-4901
•e-mail: support@novatel.ca
• web site: http://www.novatel.ca
• postal address:
NovAtel Inc.
Customer Service Dept.
1120 - 68th Avenue NE
Calgary, Alberta
Canada
T2E 8S5
SOFTWARE SUPPORT
Foreword
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 11
FOREWORD
Congratulations!
Thank you for purchasing a NovAtel GPSCard product.
Whether you have bought a stand alone GPSCard or a packaged receiver you will have also received companion
documents to this manual. They will help you get the hardware operational. Afterwards, this text will be your
primary MiLLennium GPSCard command and logging reference source.
Scope
The MiLLennium Command Descriptions Manual describes each command and log that the MiLLennium
GPSCard is capable of accepting or outputting. Sufficient detail is provided so that you can understand the
purpose, syntax, and structure of each command or log and be able to effectively communicate with the GPSCard,
thus enabling the developer to effectively use and write custom interfacing software for specific needs and
applications. The manual is organized into chapters which allow easy access to appropriate information about the
GPSCard.
This manual does not address in detail any of the GPSCard hardware attributes or installation information. Please
consult the appropriate companion manual for hardware or system technical specifications information.
Furthermore, should you encounter any functional, operational, or interfacing difficulties with the GPSCard,
consult the appropriate hardware manual for NovAtel warranty and customer support information.
Prerequisites
As this reference manual is focused on the GPSCard commands and logging protocol, it is necessary to ensure that
the GPSCard has been properly installed and powered up according to the instructions outlined in the companion
hardware manual before proceeding.
To use your NovAtel GPS receiver effectively, you should be familiar with the Global Positioning System (GPS)
as it applies to positioning, navigation, and surveying applications. For your reference Appendix A of this manual
provides an overview of the Global Positioning System.
This manual covers the full performance capabilities of all MiLLennium GPSCards. Every MiLLennium can be
upgraded through a family of firmware models, each having unique features. Therefore, depending on the software
configuration of your MiLLennium, certain commands and logs may not be accessible. Feature-tagging symbols
have been created to help clarify which commands and logs are only available with a certain option:
RTK Features available only with MiLLennium GPSCards equipped with the RT-20 or RT-2 option
WAAS Features available only on MiLLennium GPSCards equipped with the WAAS option
What’s New In Version 4.50?
1. RTCM Types 18 & 19, or RTCM Type 22, are now supported with Type 3 for reference position.
2. It is also possible to send and receive CMR messages.
3. Two new Wide Area Augmentation System (WAAS) commands, WAASCORRECTION and
IONOMODEL, enable the use of the WAAS corrections in the position filter. By default these features
are disabled.
4. A new WAAS log, WALA/B, provides WAAS satellite-specific data.
1 Quick Start
12 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
1 QUICK START
This chapter will help you get started quickly regardless of whether you wish to carry out real-time kinematic
(RTK) positioning, operate in differential modes or simply log data. Each section references additional sources of
information.
1.1 INSTALLATION
For more detailed instructions on the installation and set up of your GPSCard please refer to the accompanying
MiLLennium GPSCard Guide to Installation and Operation.
The MiLLennium receiver is designed for flexibility of integration and configuration. You are free to select an
appropriate data and signal interface, power supply system and mounting structure. This concept allows OEM
purchasers to custom-design their own GPS-based positioning system around the MiLLennium GPSCard.
Installing the MiLLennium GPSCard typically consists of the following:
• Mount the GPSCard in a secure enclosure to reduce environmental exposure, RF
interference and vibration effects
• Pre-wire the I/O harness and the 64-pin DIN female connector for power and
communications, then connecting them to the OEM series GPSCard
• Install the GPSAntenna, then connect to the GPSCard
•(Optional) Install an external oscillator if additional precision and stability is required
OPERATION
Once the hardware and software installations have been completed, you are now ready to begin initial operation of
the GPSCard receiver.
Communication with the MiLLennium GPSCard consists of issuing commands through the COM1 or COM2 port
from an external serial communications device. This could be either a terminal or an IBM-compatible PC that is
directly connected to a MiLLennium GPSCard COM port using a null modem cable.
TURNING ON
The initial operating software and firmware of the MiLLennium GPSCard resides in its read-only memory. As
such, the unit “self-boots” upon power-up. The green LED indicator should blink about once per second if the unit
is operating normally. The red one lights up if an error is detected during a self-test. The self-test status word can
be viewed in the RGEA/B/D and RVSA/B data output logs.
If a persistent error develops please contact the NovAtel GPS Customer Service Department for further assistance
COMMUNICATION DEFAULT SETTINGS
COM1 and COM2 for the MiLLennium GPSCards are defaulted to the following RS232 protocol:
• 9600 bps, no parity, 8 data bits, 1stop bit, no handshake, echo off
Graphical Interface
Your GPSCard comes with a disk containing NovAtel’s graphical interface software GPSolution, a Microsoft
Windows-based program, enabling you to use your GPSCard without struggling with communications protocol or
writing make-do software.
1QUICK START
1 Quick Start
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 13
The View menu options allow you to select or de-select various visual aids and display screens. Take a look at all
of the options and keep open those you wish to display. To send commands and log data the Command Console
screen should be visible. ASCII format logs can be monitored on the ASCII Record screen.
e.g. On the command line of the Command Console screen type:log com1 posa once
After you hit the <Enter> key the ASCII Record screen will display the output for your current position. The POSA/
B log is described on Page 178.
1.2 DATA LOGGING
The GPSCard has four major logging formats:
• NovAtel Format Data Logs (ASCII/Binary)
•NMEA Standard Format Data Logs (ASCII)
•RTCM Standard Format Data Logs (Binary)
•RTCA Standard Format Data Logs (Binary)
All data types can be logged using several methods of triggering each log event. Each log is initiated using the LOG
command. The LOG command and syntax are listed following.
1 Quick Start
14 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
Syntax: log [port],datatype,[trigger],[period],[offset],{hold}
The syntax for a command can contain optional parameters (OPT1, OPT2, ...). OPT2 may only be used if it
is preceded by OPT1. OPT3 may only be used if it is preceded by OPT2 and so on. Parameters after and
including OPT1 will be surrounded by square brackets.
An optional parameter such as {hold} surrounded by braces may be used with the log command without any
preceding optional parameters. Example:log com1 posa 60 1 hold
log com1 posa hold
Example:
log com1,posa,ontime,60,1
If the LOG syntax does not include a trigger type, it will be output only once following execution of the LOG
command. If trigger type is specified in the LOG syntax, the log will continue to be output based on the trigger
specification. Specific logs can be disabled using the UNLOG command, whereas all enabled logs will be disabled
by using the UNLOGALL command (see Chapter 2, Page 23 and Appendix C, Page 79). All activated logs will be
listed in the receiver configuration status log (RCCA), Page 190.
The [port] parameter is optional. If [port] is not specified, [port] is defaulted to the port that the command was
received on.
Syntax Description Example
LOG LOG
port COM1 or COM2 Defaults to the port that the command was entered on. COM1
datatype Enter one of the valid ASCII or Binary Data Logs (see Chapter 4, Page 34 and Appendix D, Page 136)POSA
trigger Enter one of the following triggers.ONTIME
ONCE Immediately logs the selected data to the selected port once. Default if trigger field is left
blank.
ONMARK Logs the selected data when a MARKIN electrical event is detected. Outputs internal buffers
at time of mark - does not extrapolate to mark time. Use MKPA/B for extrapolated position
at time of mark.
ONNEW Logs the selected data each time the data is new even if the data is unchanged.
ONCHANGED Logs the selected data only when the data has changed.
ONTIME
[period], [offset]Immediately logs the selected data and then periodically logs the selected data at a
frequency determined by the period and offset parameters. The logging will continue until
an UNLOG command pertaining to the selected data item is received (see UNLOG
Command, Page 132).
CONTINUOUSLY Will log the data all the time. The GPSCard will generate a new log when the output buffer
associated with the chosen port becomes empty. The continuously option was designed for
use with differential corrections over low bit rate data links. This will provide optimal record
generation rates. The next record will not be generated until the last byte of the previous
record is loaded into the output buffer of the UART.
period Use only with the
ONTIME
trigger. Units for this parameter are seconds. The selected period may be any of the
following values: 0.05, 0.10, 0.20, 0.25, 0.50, 1, 2, 3, ... , 3600 seconds but may be limited by the GPSCard model
and previously requested logs. Selected data is logged immediately and then periodic logging of the data will start
at the next even multiple of the period. If a period of 0.20 sec is chosen, then data will be logged when the receiver
time is at the 0.20, 0.40, 0.60 and the next (0.80) second marks. If the period is 15 seconds, then the logger will
log the data when the receiver time is at even 1/4 minute marks. The same rule applies even if the chosen period
is not divisible into its next second or minute marks. If a period of 7 seconds is chosen, then the logger will log at
the multiples of 7 seconds less than 60, that is, 7, 14, 21, 28, 35, 42, 49, 56 and every 7 seconds thereafter.
60
offset Use only with the
ONTIME
trigger. Units for this parameter are seconds. It provides the ability to offset the
logging events from the above startup rule. If you wished to log data at 1 second after every minute you would set
the period to 60 seconds and the offset to 1 second (Default is 0).
1
hold Will prevent a log from being removed when the UNLOGALL command is issued HOLD
Range Value Default
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COMMONLY USED LOGS
Other useful logs are
• RCCA to list the default command settings
• ETSA to monitor the channel tracking status
• SATA to observe the satellite specific data
• DOPA to monitor the dilution of precision of the current satellite constellation
• RVSA to monitor the receiver status
For further information on output logging see Chapter 4, Page 34 and the individual logs listed alphabetically in
Appendix D, Page 136.
Use the HELP command to list all available commands. For more information on sending commands see Chapter
2, Page 23 and the individual commands listed alphabetically in Appendix C, Page 79.
1.3 DIFFERENTIAL OPERATION
The MiLLennium GPSCard is ideal for design into DGPS systems because it is capable of operating as either a
reference station or a rover station. .
The GPSCard is capable of utilizing various formats of differential corrections. These formats are divided into two
primary groups RTCM and RTCA.
For detailed data structure concerning these logs, please see:
Chapter 3, Page 34
Chapter 4, Page 45
Appendix D, Page 136
Establish a Data Link
Operating the GPSCard with a DGPS system requires that the reference station broadcast differential correction
data messages to one or more rover receivers. As there are many methods by which this can be achieved, it is up
to you to establish an appropriate data link that best suits your user requirements.
Whatever data link is chosen, the operator of the reference station will want to ensure that the bit rate of data
transmission is suitable for the anticipated data link and remote users. Use the GPSCard COMn command to the
COM port default bit rate (default is 9600 bps, no parity, 8 data bits, 1 stop bit, no handshake, echo off).
Note that the GPSCard COMn_DTR and COMn_RTS commands are available for remote device keying (such as
a radio transmitter). These commands allow for flexible control of the DTR and RTS lines to be precisely timed
with log transmissions.
Further information may be found in Appendix A.
Table 1-1, following, is a GPSCard pseudorange differential initialization summary.
Type Logs Trigger
Positioning PRTKA/B
POSA/B ontime or onmark
Post Processing RGEA/B/D
REPA/B, ALMA/B ontime
onchanged
NMEA Position GPGLL
GPGGA ontime or onmark
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16 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
Table 1-1 GPSCard Pseudorange Differential Initialization Summary
Initialization - Reference Station
Differential mode of operation is established at the reference station through a two step process: fix position and
logging observation and correction data.
FIX POSITION
The reference station must initialize the precise position of its reference antenna phase centre (lat/lon/hgt). This is
accomplished by utilizing the GPSCard FIX POSITION command. The syntax is as follows:
Syntax:
Example:
fix position 51.3455323,-114.2895345,1201.123,555,0
Reference Station Remote Station
Required:
FIX POSITION lat lon hgt id (health)
LOG port DATATYPE ontime 5
Recommended Options:
LOG DATATYPES (binary): RTCMB
RTCAB
RTCM
RTCA
LOG DATATYPES (acii): RTCMA
RTCAA
Related Commands/Logs:
RTCMRULE
DATUM
Required:
ACCEPT port DATATYPE
Recommended Options:
ACCEPT DATATYPES (binary): RTCM
RTCA
ACCEPT COMMANDS (ascii): RTCMA
RTCAA
Related Commands/Logs:
RTCMRULE
DATUM
POSA/B
VLHA/B
CDSA/B
GPGGA
Example 1:
fix position 51.3455323 -114.2895345 1201.123 555 0
log com 1 RTCM ontime 2
Example 2:
fix position 51.3455323 -114.2895345 1201.123 555 0
log com2 rtcaa ontime 2
Example 1:
accept com2 rtcm
log com1 posa ontime 1
Example 2:
accept com2 commands
log com1 posa ontime 0.2
log com1 vlha ontime 0.2
Note:Italicized entries indicate user definable.
FIX POSITION lat lon height station id health
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NOTE 1: Entry of the station ID and health are optional. For a CMR correction type the station ID must be < 31.
NOTE 2: The accuracy of the reference station’s FIX POSITION setting will directly affect the accuracy of its
computed differential corrections. Good results at the rover station are dependent on the reference
station’s combined position errors being kept to a minimum (e.g., fix position error + multipath errors).
NOTE 3: The GPSCard performs all computations based on WGS84 and is defaulted as such, regardless of
DATUM command setting. The datum in which you choose to operate is converted from WGS84;
therefore, all differential corrections are based on WGS84. Ensure that any change in your operating
datum is set prior to FIX POSITION.
NOTE 4: When transmitting RTCM type data, the GPSCard has various options for assigning the number of data
bits per byte. Please see the GPSCard command RTCMRULE, Page 114 for further information
concerning RTCM data bit rule settings.
NOTE 5: The FIX POSITION “health” field entered will be reported in word 2 of the RTCM message frame header.
Once the GPSCard has its position data fixed and is tracking three or more satellites, it is now ready to transmit
differential correction and observation data to the rover stations.
LOG BROADCAST DATA
Assuming that a data link has been established, use the GPSCard log command to send observation and differential
corrections data for broadcast to the rover stations.
Syntax:
Example:
log com1 rtcm ontime 5
REMINDER: Ensure that the bit rate of the data link is suitable for the differential type, logging rate and
maximum message length of the data type being logged.
1.4 RTK MODE
NovAtel’s RTK system utilizes proprietary messaging as well as RTCM Types 18 and 19, and can also receive
CMR messages from a non-NovAtel base station. For more information on specific message formats please see
Chapter 4, Page 45.
NOTE: No guarantee is made that the MiLLennium will meet its performance specifications if non-NovAtel
accessories (e.g. antenns, RF cable) are used.
Data Communications Link
It is the user’s responsibility to provide a data communications link between the reference station and remote
station. The data transfer rate must be high enough to ensure that sufficient reference station messages reach the
remote station to keep extrapolation errors from growing too large; see Table 1-2.
Table 1-2 Latency-Induced Extrapolation Error
LOG port data ontime seconds
Time since last reference station observation Typical extrapolation error (CEP)
0-2 seconds 1 cm/sec
2-7 seconds 2 cm/sec
7-30 seconds 5 cm/sec
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18 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
Generally, a communications link capable of data throughput at a rate of 4800 bits per second or higher is
sufficient. However, it is possible to satisfactorily use a lower rate (e.g. 2400 bps) with the RTCA, RTCM59 and
CMR formats. RTCM Types 18 and 19 may require a higher rate; see Chapter 4, Message Formats, Page 45 for
additional information. The minimum data transfer rate is based on the following:
1. RT-2 requires that the reference station periodically transmit two RTCA Standard Type 7 messages:
• An RTCAOBS message contains reference station satellite observation information, and
should be sent once every 1 or 2 seconds.
• An RTCAREF message contains reference station position information, and should be
sent once every 10 seconds.
OR periodically transmit an RTCM Type 18 and RTCM Type 19 (RTCM1819) message together with an
RTCM Type 3 message:
• A Type 3 message contains reference station position information, and should be sent
once every 10 seconds (although it is possible to send it as infrequently as once every 30
seconds).
• RTCM1819 gives raw measurement information (Type 18 provides carrier phase
measurements, while Type 19 provides pseudorange measurements) and should be sent
once every 1 or 2 seconds.
Note: This message can be sent in RTCM Version 2.1 or Version 2.2 format, controlled with the RTKMODE
command.
and, optionally, also periodically transmit an RTCM Type 22 message together with an RTCM Type 3
message:
• A Type 3 message contains reference station position information, and should be sent
once every 10 seconds (although it is possible to send it as infrequently as once every 30
seconds).
• A Type 22 message gives extended reference station parameters and should be sent once
every 10 seconds.
OR periodically transmit two CMR messages where the station ID, see Page 98, must be ≤ 31 when
transmitting CMR corrections:
• A CMROBS message contains reference station satellite observation information, and
should be sent once every 1 or 2 seconds.
• A CMRREF message contains reference station position information, and should be sent
once every 10 seconds.
2. RT-20 requires that the reference station periodically transmit either the RTCA messages listed above (the
recommended option), or RTCM 1819 or CMR messages or the RTCM SC-104 Type 3 & 59N messages:
• A Type 3 message contains reference station position information, and should be sent
once every 10 seconds (although it is possible to send it as infrequently as once every 30
seconds).
• A Type 59N message contains reference station satellite observation information, and
should be sent once every 2 seconds.
Further information on RTCA, RTCM and CMR message formats is contained in Chapter 6.
System Initialization
The RTK system is designed for ease of use: you set up the remote station, enter a command so that it accepts RT-
2 or RT-20 messages from the reference station, and are ready to go. There are options, however, which can be
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MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 19
used to adapt the system to a specific application. Some options apply only to the reference station, while others
apply only to the remote station. Detailed descriptions can be found in Appendix C, Commands Summary.
In the following sections, keep the following in mind:
• Dynamics modes. For reliable performance the antenna should not move more than 1-2
cm when in static mode. See the RTKMODE commands in Chapter 2, Page 23 and
Appendix C, Page 115 for more information.
• When using the FIX POSITION command, the height entered must be in metres above mean
sea level; it will be converted to ellipsoidal height inside the receiver. You can enter an
undulation value, if desired, using the UNDULATION command; if none is entered, the
receiver estimates an undulation with its internal table. The format of the optional station
ID field depends on whether RTCM or RTCA messages are being used: if RTCM, any
number from 0 - 1023 is valid, while if RTCA, any 4-character string of numbers and
upper-case letters, enclosed in quotation marks, is valid. See Appendix C, Page 98 for
additional information on the station id field.
• The COMn field refers to the serial port (either COM1 or COM2) to which data
communications equipment is connected. The serial port assignment at the reference and
remote stations need not be the same; e.g. a radio transmitter might be connected to
COM1 at the reference station, and a radio receiver to COM2 at the remote station.
INITIALIZATION FOR RTCA-FORMAT MESSAGING (RT-2 OR RT-20)
The following commands will enable RTCA-format messaging and allow RT-2 or RT-20 to operate with the
remote station either at rest or in motion. Note that the optional station health field in the existing FIX POSITION
command is not currently implemented in NovAtel’s RTCA messages, though it will be in the future.
1. At the reference station:
fix position lat,lon,height,
station id
log com
n
,rtcaref,ontime,interval
log com
n
,rtcaobs,ontime,interval
Example:
fix position 51.11358042,-114.04358013,1059.4105,”RW34”
log com1,rtcaref,ontime,10
log com1,rtcaobs,ontime,2
2. At the remote station:
accept com
n
,rtca
Example: accept com2,rtca
Congratulations! Your RTK system is now in operation!
INITIALIZATION FOR RTCM59-FORMAT MESSAGING (RT-20 ONLY)
Although RT-20 can operate with either RTCA or RTCM-format messaging, the use of RTCA-format messages is
recommended (see Chapter 4, Page 45 for further information on this topic). Nevertheless, the following
commands will enable RTCM59-format messaging and allow RT-20 to operate with the remote station either at
rest or in motion:
1. At the reference station:
fix position lat,lon,height,
station id,station health
log com
n
,rtcm3,ontime,interval
log com
n
,rtcm59,ontime,interval
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20 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
Example: fix position 51.11358042,-114.04358013,1059.4105,119,0
log com1,rtcm3,ontime,10
log com1,rtcm59,ontime,2
2. At the remote station:
accept com
n
,rtcm
Example: accept com2,rtcm
Congratulations! Your RT-20 system is now in operation!
Monitoring Your RTK Output Data
At the remote station, you could now select any or all of these output logs for positioning information:
• BSLA/B Baseline Measurement
• NMEA-format logs
• POSA/B Computed Position
• PRTKA/B Best Position
• RPSA/B Reference Station Position & Health
• RTKA/B RTK Output - Time Matched Positions
The POSA/B, PRTKA/B and NMEA-format logs contain the low-latency position; the RTKA/B logs contain the
matched position. The low-latency solution is the recommended one for kinematic users, while the matched
solution is the one recommended for stationary users. For a discussion on low-latency and matched positions, see
the Differential Positioning section of Appendix A, Page 66.
Options for Logging Differential Corrections
SET DGPSTIMEOUT
The DGPSTIMEOUT command allows the reference station to set the delay by which it will inhibit utilization of new
ephemeris data in its differential corrections. This delay ensures that the remote receivers have had sufficient time
to collect updated ephemeris data as well.
A delay of 120 to 130 seconds will typically ensure that the rover stations have collected updated ephemeris. After
the delay period is passed, the reference station will begin using new ephemeris data. To enter an ephemeris delay
value, you must first enter a numeric placeholder in the DGPS delay field (e.g., 2). When operating as a reference
station, DGPS delay will be ignored (see the DGPSTIMEOUT command found in Chapter 2, Page 23 and Appendix
C, Page 90 for further information on using this command at rover stations.)
Syntax:
Example:
dgpstimeout 2,300
USING RTCM SC-104 LOG TYPES
DGPSTIMEOUT dgps delay ephem delay
Command Option Description Default
DGPSTIMEOUT Command
dgps delay min. 2
max. 1000 Maximum age in seconds 60
ephem delay min. 0
max. 600 Minimum time delay in seconds 120
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RTCM SC-104 is a standard for transmitting differential corrections between equipment from different
manufacturers. The NovAtel GPSCard is capable of transmitting or receiving RTCM data.
To facilitate transmitting the RTCM data over shared data links, the GPSCard is also capable of sending the RTCM
log in NovAtel ASCII format (RTCMA) or with the NovAtel binary header (RTCMB) added to allow synchronous
transmission and reception along with other data types.
REMEMBER: When sending or receiving RTCM log types, it is important to ensure that all connected
equipment are using the same RTCMRULE for compatibility.
The easiest method to send RTCM standard logs is from the COM1 or COM2 ports of the reference GPSCard. The
easiest method to receive the RTCM data is through the COM1 or COM2 port of the rover GPSCard. The rover
GPSCard must issue the “ACCEPT port RTCM” command to dedicate a port before it will accept the RTCM data
into that port.
The RTCMA log can be intermixed with other NovAtel ASCII data over a common communication port. It will be
directly interpreted by a rover GPSCard as a special data input command ($RTCM). “ACCEPT port
COMMANDS” must be used with this input command. A non-NovAtel rover station will need to strip off the
header ($RTCM) and terminator (*xx), then convert the hexadecimal data to binary before the RTCM standard data
can be retrieved.
The RTCMB log can be intermixed with other NovAtel binary data over a common communication port.
REMEMBER: Use the CDSA/B logs to monitor the COM port activity, success, and decoding errors.
USING RTCA LOG TYPES
The RTCA (Radio Technical Commission for Aviation Services) Standard is being designed to support
Differential Global Navigation Satellite System (DGNSS) aviation applications. The perceived advantage to using
RTCA type messages for transmitting and receiving differential corrections versus using RTCM type messages is that
RTCM transmits 30-bit words, and the data is difficult to decode and process because of the parity algorithm and
irregular word sizes used. RTCA is transmitted in 8-bit words, which are easier to generate, process and decode. The
RTCA messages are therefore smaller, they have a 24 bit CRC that is much more robust than RTCM messages, and
they permit the use of a four-alpha-character station ID.
RTCA standard logs can be received through the COM1 or COM2 port of the rover GPSCard. The remote
GPSCard must issue the “ACCEPT port RTCA” command to dedicate a port before it will accept the RTCA data
input to that port. The RTCA logs cannot be intermixed with other logs.
The RTCAA log can be intermixed with other NovAtel ASCII data over a common communications port. It will
be directly interpreted by a rover GPSCard as a special data input command ($RTCA). “ACCEPT port commands”
must be used with this input command. A non-NovAtel rover station will need to strip off the header ($RTCA) and
terminator (*xx), then convert the hexadecimal data to binary before the RTCA standard can be retrieved.
The RTCAB log can be intermixed with other NovAtel binary data. The remote GPSCard identifies the RTCAB log
by the message block identifier contained in the message, and will interpret only the RTCA data portion of the log.
NOTE: The CDSA/B logs may be used to monitor the COM port activity and differential data decode success.
Initialization - Rover Station
It is necessary to initialize the rover receiver to accept observation data from the reference station. If the receiver
is not correctly initialized, it will proceed to compute solutions in single point positioning mode.
Before initializing, ensure that the data link with the reference station has been properly set up. As well, ensure that
the COM port which is to receive the differential data is set up to match the bit rate and protocol settings of the
reference station broadcast data.
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22 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
Establishing differential mode of operation at the rover receiver is primarily a one-step process whereby the accept
command is used to enable reception of observation data from the reference station.
ACCEPT COMMAND
The accept command is primarily used to set the GPSCard’s COM port command interpreter for acceptance of
various data formats (see the ACCEPT command in Chapter 2, Page 23 and Appendix C, Page 79).
Syntax
Example:
accept com2 rtcm
Once intitialized, the rover GPSCard receiver will operate in single point mode until the differential messages are
received. If the data messages are lost, the GPSCard will revert to single point positioning until the pseudorange
correction messages are restored.
NOTE: Ensure that the GPSCard RTCMRULE settings agree with the bit rule being transmitted by the RTCM
reference station. Unless otherwise set, all GPSCards default to 6CR.
LOG POSITION DATA AND OTHER USEFUL DATA
The GPSCard remote receiver has many options for information data logging. To monitor position status, the user
may find the PRTKA/B logs to be the most informative. Other options exist, such as POSA/B and GPGGA. As well,
velocity data can be found in the VLHA/B, SPHA/B and GPVTG logs. It is really up to your specific applications as to
the full range of logs you require.
ACCEPT port mode
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2 COMMAND DESCRIPTIONS
2.1 GENERAL
This section describes all commands accepted by the GPSCard with the exception of the "Special Data Input
Commands". They are listed in alphabetical order. For descriptions of output logs using the LOG command, see
Chapter 3.
The GPSCard is capable of responding to over 50 different input commands. You will find that once you become
familiar with these commands, the GPSCard offers a wide range in operational flexibility. All commands are
accepted through the COM1 and COM2 serial ports. See Table 2-1, Page 25 for a complete command listing.
NOTE: You will find the HELP command a useful tool for inquiring about the various commands available.
The following rules apply when entering commands from a terminal keyboard:
• The commands are not case sensitive (COMMAND or command).
e.g. HELP or help
e.g. FIX POSITION or fix position
• All commands and required entries can be separated by a space or a comma
(command,variable OR command variable).
e.g. datum,tokyo
e.g. datum tokyo
e.g. fix,position,51.3455323,-117.289534,1002
e.g. fix position 51.3455323 -117.289534 1002
e.g. com1,9600,n,8,1,n,off
e.g. com1 9600 n 8 1 n off
e.g. log,com1,posa,onchanged
e.g. log com1 posa unchanged
• At the end of a command or command string, press the <CR> key. A carriage return is what
the card is looking for and is usually the same as pressing the <Enter> key.
• Most command entries do not provide a response to the entered command. Exceptions to
this statement are the VERSION and HELP commands. Otherwise, successful entry of a
command is verified by receipt of the COM port prompt (i.e. COM1> or COM2>).
The syntax for a command can contain optional parameters (OPT1, OPT2, ...). OPT2 may only be used if it
is preceded by OPT1. OPT3 may only be used if it is preceded by OPT2 and so on. Parameters after and
including OPT1 will be surrounded by square brackets.
An optional parameter such as {hold} surrounded by braces may be used with the log without any preceding
optional parameters
Example: log com1 posa 60 1 hold
log com1 posa hold
When the GPSCard is first powered up, or after a FRESET command, all commands will revert to the factory default
settings. An example is shown below. The SAVECONFIG command can be used to modify the power-on defaults.
Use the RCCA log to reference station command and log settings.
2COMMAND DESCRIPTIONS
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24 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
NOTE: All previously stored configurations that were saved to non-volatile memory are erased (including
Saved Config, Saved Almanac, and Channel Config).
Example:
Optional calculation of the checksum
When an input command is followed by an optional checksum, the checksum will be verified before the command
is executed. The checksum is the result of the logical exclusive-OR operation on all the bits in the message. So,
the checksum of a command with parameters will change if the parameters are modified.
NOTE: The command must be typed in uppercase for the proper checksum to be calculated.
As an example, it may be essential to ensure that a receiver has received and executed the correct command from
a host computer. If the checksum were calculated by the sender and attached to the command, the receiver would
be able to recognize if errors had been introduced and if so, alert the sender to this with an “Invalid Command
CRC” message.
Example:
FIX HEIGHT 4.567[CR][LF]
FIX HEIGHT 4.567*66[CR][LF]
Both are acceptable, but only the second one would trigger the verification function.
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MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 25
2.2 STANDARD COMMAND TABLES
Table 2-1 lists the commands by function while Table 2-2 is an alphabetical listing of commands. Please see
Appendix C, Page 79 for a more detailed description of individual commands which are listed alphabetically.
Table 2-1 Commands By Function Table
COMMUNICATIONS, CONTROL AND STATUS
Commands Descriptions
ANTENNAPOWER Power to the low-noise amplifier of an active antenna
COMn COMn port configuration control
COMn_DTR DTR handshaking control
COMn_RTS RTS handshaking control
DIFF_PROTOCOL 1Differential Protocol Control
FREQUENCY_OUT Variable frequency output (programmable)
LOG Logging control
MESSAGES Disable error reporting from command interpreter
RINEX Configure the user defined fields in the file header
RTCMRULE Sets up RTCM bit rule
RTCM16T Enters an ASCII message
SEND Sends ASCII message to COM port
SENDHEX Sends non-printable characters
SETL1OFFSET 1Add an offset to the L1 pseudorange to compensate for
signal delays
1 Intended for advanced users of GPS only
GENERAL RECEIVER CONTROL AND STATUS
Commands Descriptions
$ALMA Download almanac data file
CRESET Reset receiver to factory default
DYNAMICS Set correlator tracking bandwidth
HELP On-line command help
RESET Performs a hardware reset (OEM only)
SAVEALMA Saves the latest almanac in NVM
SAVECONFIG Saves current configuration (OEM only)
$TM1A Injects receiver time of 1PPS
VERSION Software/hardware information
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26 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
Table 2-1 Commands By Function Table (continued)
1 Intended for advanced users of GPS only.
POSITION, PARAMETERS, AND SOLUTION FILTERING CONTROL
Commands Descriptions
CSMOOTH 1Sets amount of carrier smoothing
DATUM Choose a DATUM name type
ECUTOFF Satellite elevation cut-off for solutions
FIX HEIGHT Constrains to fixed height (2D mode)
FIX POSITION Constrains to fixed lat, lon, height
FRESET Clears all data which is stored in NVM
$IONA Download ionospheric correction data
IONOMODEL What ionospheric correction to use (MiLLennium with the
WAAS option)
LOCKOUT Deweights a satellite in solutions
$PVAA 1Position, velocity and acceleration in ECEF coordinates
RTKMODE Setup the RTK mode
UNDULATION Ellipsoid-geoid separation
USERDATUM User-customized datum
WAASCORRECTION Controls handling of WAAS corrections.
SATELLITE TRACKING AND CHANNEL CONTROL
Commands Descriptions
$ALMA Download almanac data file
ASSIGN Satellite channel assignment
CONFIG Switches the channel configuration of the GPSCard
DYNAMICS Sets correlator tracking bandwidth
FIX VELOCITY Aids high velocity reacquisition
RESETHEALTH Reset PRN health
SETHEALTH Overrides broadcast satellite health
WAYPOINT NAVIGATION
Commands Descriptions
MAGVAR Magnetic variation correction
SETNAV Waypoint input
DIFFERENTIAL REFERENCE STATION
Commands Descriptions
DGPSTIMEOUT Sets ephemeris delay
FIX POSITION Constrain to fixed (reference)
LOG Selects required differential-output log
POSAVE Implements position averaging for reference station
RTCMRULE Selects RTCM bit rule
SETDGPSID Set reference station ID
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MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 27
Table 2-1 Commands By Function Table (continued)
Table 2-2 GPSCard Command Summary
DIFFERENTIAL REMOTE STATION
Commands Descriptions
ACCEPT Accepts RTCM1, RTCA or RTCAB differential inputs
$ALMA Input almanac data
DGPSTIMEOUT Set maximum age of differential data accepted
RESET Performs a hardware reset
$RTCA RTCA differential correction input (ASCII)
$RTCM RTCM differential correction input (ASCII)
RTCMRULE Selects RTCM bit rule
SETDGPSID Select differential reference station ID to receive
CLOCK INFORMATION, STATUS, AND TIME
Commands Descriptions
CLOCKADJUST Enable clock modelling & 1PPS adjust
DIFF_PROTOCOL 1Differential protocol control
EXTERNALCLOCK Sets default parameters of an optional external oscillator
EXTERNALCLOCK FREQUENCY Sets clock rate
SETTIMESYNC 1Enable or disable time synchronization
$UTCA Download UTC data
1 Intended for advanced users of GPS only
Command Description Syntax
$ALMA Injects almanac (follows NovAtel ASCII log format)
$IONA Injects ionospheric refraction corrections (follows NovAtel ASCII log format)
$PVAA Injects latest computed position, velocity and acceleration (follows NovAtel ASCII log format)
$REPA Injects raw GPS ephemeris data (follows NovAtel ASCII log format)
$RTCA Injects RTCA format DGPS corrections in ASCII (Type 1) (follows NovAtel ASCII log format)
$RTCM Injects RTCM format differential corrections in ASCII (Type 1) (follows NovAtel ASCII log format)
$TM1A Injects receiver time of 1 PPS (follows NovAtel ASCII log format)
$UTCA Injects UTC information (follows NovAtel ASCII log format)
ACCEPT Port input control (set command interpreter) accept port,option
ANTENNAPOWER Power to the low-noise amplifier of an active antenna antennapower flag
ASSIGN Assign a prn to a channel # assign channel,prn,doppler, search window
UNASSIGN Un-assign a channel unassign channel
UNASSIGNALL Un-assign all channels unassignall
CLOCKADJUST Disable clock steering mechanism clockadjust switch
COMn Initialize Serial Port (1 or 2) comn bps,parity,databits,stopbits, handshake,echo
COMn_DTR Programmable DTR lead/tail time comn_dtr control,active,lead,tail
COMn_RTS Programmable RTS lead/tail time comn_rts control,active,lead,tail
CONFIG Switches the channel configuration of the GPSCard config cfgtype
CRESET Configuration reset to factory default creset
CSMOOTH Sets carrier smoothing csmooth value
DATUM Choose a DATUM name type datum option
USERDATUM User defined DATUM userdatum semi-major,flattening,dx,dy,dz, rx,ry,rz,
scale
DGPSTIMEOUT Sets maximum age of differential data to be accepted and ephemeris
delay dgpstimeout value value
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28 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
DIFF_PROTOCOL Differential correction message encoding and decoding for
implementation in the GPS card firmware diff_protocol type key
or diff_protocol disable
or diff_protocol
DYNAMICS Set receiver dynamics dynamics option [user_dynamics]
ECUTOFF Set elevation cutoff angle ecutoff angle
EXTERNALCLOCK Sets default parameters of an optional external oscillator externalclock option
EXTERNALCLOCK
FREQUENCY Sets clock rate external frequency clock rate
FIX HEIGHT Sets height for 2D navigation fix height height [auto]
FIX POSITION Set antenna coordinates for reference station fix position lat,lon,height [station id] [health]
FIX VELOCITY Accepts INS xyz (ECEF) input to aid in high velocity reacquisition of
SVs fix velocity vx,vy,vz
UNFIX Remove all receiver FIX constraints unfix
FREQUENCY_OUT Variable frequency output (programmable) frequency_out n,k
FRESET Clears all data which is stored in non-volatile memory freset
HELP or ? On-line command help help option or ? option
LOCKOUT Lock out satellite lockout prn
UNLOCKOUT Restore satellite unlockout prn
UNLOCKOUTALL Restore all satellites unlockoutall
LOG Choose data logging type log [port],datatype,[trigger],[period],[offset],{hold}
UNLOG Disable a data log unlog [port],data type
UNLOGALL Disable all data logs unlogall [port]
MAGVAR Set magnetic variation correction magvar value
MESSAGES Disable error reporting from command interpreter messages port,option
POSAVE Implements position averaging for reference station posave maxtime, maxhorstd, maxverstd
RESET Performs a hardware reset (OEM only) reset
RINEX Configure the user defined fields in the file headers rinex cfgtype
RTCM16T Enter an ASCII text message to be sent out in the RTCM data stream rtcm16t ascii message
RTCMRULE Set variations of the RTCM bit rule rtcmrule rule
RTKMODE Set up the RTK mode rrtkmode argument, data range
SAVEALMA Save the latest almanac in non-volatile memory savealma option
SAVECONFIG Save current configuration in non-volatile memory (OEM only) saveconfig
SEND Send an ASCII message to any of the communications ports send port ascii-message
SENDHEX Sends non-printable characters in hexadecimal pairs sendhex port data
SETDGPSID Enter in a reference station ID setdgpsid option
SETHEALTH Override PRN health sethealth prn,health
RESETHEALTH Reset PRN health resethealth prn
RESETHEALTHALL Reset all PRN health resethealthall
SETL1OFFSET Add an offset to the L1 pseudorange to compensate for signal delays setL1offset distance
SETNAV Set a destination waypoint setnav from lat,from lon,to lat, to lon,track offset, from
port,to port
SETTIMESYNC Enable or disable time synchronization settimesync flag
UNDULATION Choose undulation undulation separation
VERSION Current software and hardware information version
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MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 29
2.3 WAAS
The Wide Area Augmentation System (WAAS) is a safety-critical system that provides a quality of positioning
information previously unavailable. The WAAS improves the accuracy, integrity, and availability of the basic GPS
signals. In the future, the wide area of coverage for this system will include the entire United States and some
outlying areas. At the time of publication, there is one test satellite over the Pacific Ocean and therefore there is
only coverage for the western half of the United States.
The primary functions of WAAS include:
• data collection
• determining ionospheric corrections
• determining satellite orbits
• determining satellite clock corrections
• determining satellite integrity
• independent data verification
• WAAS message broadcast and ranging
• system operations & maintenance
As shown in Figure 2-2, the WAAS is made up of a series of Wide Area Reference Stations, Wide Area Master
Stations, Ground Uplink Stations and Geostationary Satellites (GEOs). The Wide Area Reference Stations, which
are geographically distributed, pick up GPS satellite data and route it to the Wide Area Master Stations where wide
area corrections are generated. These corrections are sent to the Ground Uplink Stations which up-link them to the
GEOs for re-transmission on the GPS L1 frequency. These GEOs transmit signals which carry accuracy and
integrity messages, and which also provide additional ranging signals for added availability, continuity and
accuracy. These GEO signals are available over a wide area and can be received and processed by ordinary GPS
receivers. GPS user receivers are thus able to receive WAAS data in-band and use not only differential corrections,
but also integrity, residual errors and ionospheric information for each monitored satellite.
Figure 2-2 The WAAS Concept
Wide-area
Reference Station
(WRS)
Master Station
(WMS)
G
round Uplink
Station
(GUS)
Wide-area
I
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e
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Geostationary
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GPS User
G
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S
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Wide-area Reference
S
t
a
t
i
o
n
(WR
S
)
Wide-a
r
e
a
L1 & C-band
2 Command Descriptions
30 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
The signal broadcast via the WAAS GEOs to the WAAS users is designed to minimize modifications to standard
GPS receivers. As such, the GPS L1 frequency (1575.42 MHz) is used, together with GPS-type modulation - e.g.
a Coarse/Acquisition (C/A) pseudorandom (PRN) code. In addition, the code phase timing is maintained close to
GPS time to provide a ranging capability.
2.3.1 WAAS GPSCard
NovAtel has developed several models of WAAS-capable MiLLennium GPSCards that process WAAS signals.
These models can output the WAAS data in log format (FRMA/B, WALA/B), and can incorporate these
corrections to generate differential-quality position solutions. It permits two user-configurable options: 12 GPS (10
Hz position and raw data output rate) or 10 GPS and 1 WAAS L1 channels (2 Hz output). The first configuration
is the default. The second is invoked with the CONFIG command (see Page 86) and resets the card. Standard
WAAS data messages are analysed based on RTCA standard DO-229 Change 1 Minimum Operational
Performance Standards for GPS/WAAS airborne equipment.
A WAAS-capable MiLLennium GPSCard will permit anyone within the area of coverage to take advantage of its
benefits. In addition, it has all the features of a MiLLennium GPSCard.
WAAS COMMANDS
Two commands, WAASCORRECTION and IONOMODEL (see their descriptions on Page 135 and Page 103
respectively), enable the use of the WAAS corrections in the position filter. By default they are disabled. In order
to use these commands, first issue the following command to put the GPSCard in WAAS mode:
config waascorr
2.4 SPECIAL DATA INPUT COMMANDS
These entries are data messages that are generated by one GPSCard and sent to another. For example, consider a
special configuration in which a GPSCard #1 is able to send these data messages to a GPSCard #2 via a serial port.
For GPSCard #1, this is no different than sending these data messages to a file or a screen. Each of these data
messages has a special header which is interpreted by GPSCard #2 to mean that the data in that message is to be
used as an update of its own GPS parameters such as time, position, velocity, acceleration or knowledge of satellite
ephemeris.
In this general category also belong the RTCM data messages ($RTCM1A, $RTCM3A, $RTCM9A, $RTCM16A,
and $RTCM59A). These are described in further detail in Chapter 4, Message Formats.
The injection of special command data can take place via COM1 or COM2. Remember, the source of these special
data commands are valid NovAtel ASCII data logs.
The special data commands fall into two categories: Almanac Data and Differential Corrections.
2.4.1 Almanac Data
The GPSCard’s standard features include almanac data collection. Following a cold-start boot-up or system reset,
the GPSCard will begin a sky search. Once a valid satellite is acquired, the GPSCard will begin almanac
downloading and decoding. This process will take at least 12.5 minutes following the cold-start (assuming there
are no problems with satellite visibility or the antenna system). It is noted that Ionospheric Correction Data and
UTC data are also collected at the same time as almanac data and will also be available following the 12.5 minutes
collection period mentioned above.
12 channel OEM cards with the SAVECONFIG option will automatically save almanacs in their non-volatile
memory. They will also automatically load the last saved almanac following a cold start or a reset. The card will
save an almanac and ionospheric and UTC data received from a satellite if there is no current data in non-volatile
memory (NVM), or if the GPS week number of the received data is newer than the week number of the data in
NVM. The save will not occur until between 12.5 and 25 minutes have elapsed since the last reset. To check if
almanac data is saved in the NVM of the OEM card, check the "almanac data saved" bit in the receiver status word.
See the description of the RCSA/B logs, Appendix D, Page 191 for details.
2 Command Descriptions
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 31
The GPSCard is capable of logging almanac data utilizing the NovAtel-format ASCII log command option ALMA.
Once logged, the data records will precede the header with the $ character (e.g., $ALMA).
There are no specific NovAtel log option commands to independently specify output of ionospheric or UTC
parameters. These parameters will always output following the $ALMA log (identifiable by the headers $IONA and
$UTCA respectively). See Chapter 3 and Appendix D, Page 136 for more information on the ALMA output log
command option.
The GPSCard has the capability to accept injection of previously logged NovAtel-format ASCII almanac data
($ALMA, $IONA, and $UTCA). The GPSCard will interpret this log data as special data input commands. This
provides the user with the advantage of being able to inject recent almanac data following a cold-start or RESET
without having to wait the 12.5 minutes described in above paragraphs.
There are various ways by which this can be accomplished.
• By connecting the COM1 or COM2 port from one GPSCard (reference) directly to the COM1 or
COM2 port of another GPSCard (remote). The reference card is assumed to be tracking
satellites for some time and can be commanded by the ALMA log command option to output
almanac records to the remote card. The remote card can be assumed to be just powered-up
or RESET and will recognize the $ALMA, $IONA, and $UTCA data as special input commands
and update its almanac tables with this new data.
REMEMBER: When connecting two GPSCard COM ports together, the MESSAGES command option should be
set to "OFF" to prevent inter-card "chatter".
• The MiLLennium GPSCard can log current almanac data to a PC connected to its COM1 or
COM2 port. Assuming the PC is correctly configured using terminal emulator
communications software, then the PC can redirect the GPSCard almanac log to its disk
storage device. At a later time following a system restart, the GPSCard can have this
almanac.dat file (containing $ALMA, $IONA, and $UTCA records) immediately downloaded
as a special input command for immediate use. Refer to the MiLLEnnium GPSCard Guide
to Installation and Operating manual for more information about interfacing with the OEM
card with a PC. [Note: this procedure will generally not be required with OEM cards as all
12 channel cards now have an almanac save feature built in using non-volatile memory.]
$ALMA...
Use this special data input command to quickly update the GPSCard almanac tables following a system restart. It
is generated from a GPSCard ALMA log and is accepted as the following format:
$ALMA,1,3.55148E-003,552960,744,-7.8174E-009,6.10457691E-002,-1.1820041E+000,
1.90436112E+000,-1.8119E-005,-3.6379E-012,1.45854758E-004,2.65602532E+007,
9.55600E-001,1,0,0*0C
...
(one record for each valid satellite)
...
$ALMA,31,4.90379E-003,552960,744,-7.9660E-009,-3.1044479E+000,6.13853346E-001,
1.92552900E+000,6.67572E-006,3.63797E-012,1.45861764E-004,2.65594027E+007,
9.61670E-001,1,0,0*3F
$IONA...
Use this special data input command to quickly update the GPSCard ionospheric corrections tables following a
system restart (always appended to $ALMA records unless intentionally stripped). This data will ensure that the
initial position solutions computed by the GPSCard are as accurate as possible. It is generated from a GPSCard
ALMA log and is accepted by any GPSCard as the following format:
$IONA,1.0244548320770265E-008,1.4901161193847656E-008,-5.960464477539061E-008,
-1.192092895507812E-007,8.8064000000000017E+004,3.2768000000000010E+004, -
1.966080000000001E+005,-1.966080000000001E+005*02
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32 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
$UTCA...
Use this special data input command to quickly update the GPSCard Universal Time Coordinated (UTC) parameters
following a system restart (always appended to $ALMA records unless intentionally stripped). The UTC data is
required before the GPSCard can accurately compute UTC time. If not input with $UTCA, it may take up to 12.5
minutes after a reset for the GPSCard to receive current UTCA data. In order to comply with NMEA standards, the
GPSCard will null NMEA log data fields until valid UTC parameters are collected or injected by the $UTCA input
command. This command is generated from a GPSCard ALMA log and is accepted as the following format:
$UTCA,-1.769512891769409E-008,-1.776356839400250E-015,552960,744,755,9,10,5*03
2.4.2 Differential Corrections Data
NovAtel MiLLennium cards can utilize the special data input commands $RTCA and $RTCM. These special data
input commands are utilized by a GPSCard operating as a remote station to accept NovAtel ASCII format
differential corrections. The data is generated by a GPSCard operating as a reference station with intent to be
received by remote stations. To correctly interpret these commands, the remote GPSCard must have its ACCEPT
command option set to "COMMANDS" (default). See Appendix A, Page 66 for further information on differential
positioning.
$PVAA/B XYZ POSITION, VELOCITY AND ACCELERATION
The $PVAA and PVAB data messages contain the receiver’s latest computed position, velocity and acceleration.
These quantities are in rectangular ECEF coordinates based on the centre of the WGS 84 ellipsoid.
When a GPSCard receives this data message, it uses the information to update its own position, velocity and
acceleration parameters. This would only be needed if the GPSCard could not compute its own position, velocity
and acceleration due to signal blockage. This data message helps the receiver reacquire satellites after loss of lock.
The data would aid the receiver channels in the re-acquisition process; thus, the receiver would “follow” the
blocked satellites and re-acquire them much more quickly when they become visible again.
The position, velocity and acceleration status fields indicate whether or not the corresponding data are valid. Only
those messages containing valid data are used by the GPSCard.
NOTE 1: This command is intended for applications involving very high dynamics - where significant position,
velocity and acceleration changes can occur during a signal blockage. This data message helps the
receiver reacquire satellites after loss of lock.
NOTE 2: This is a highly complex function, to be used only by advanced users.
The ASCII $PVAA data message is generated from a PVAA log, and the binary PVAB data message is generated from
a PVAB log. For descriptions of these data messages, please see the description of the PVAA/B logs in Chapter 4,
Page 34 and Appendix D, Page 181. An example of a $PVAA data message is as follows:
$PVAA,845,344559.00,-1634953.141,-3664681.855,4942249.361,-0.025,0.140,
0.078,0.000,-0.000,0.000,1,1,1*02
$REPA/B RAW GPS EPHEMERIS DATA
In cases where the receiver does not have an ephemeris for a newly-viewed satellite, these data messages can be
used to reduce the time required to incorporate this satellite into the position solution
The $REPA and REPB data messages contain the raw binary information for subframes one, two and three from the
satellite with the parity information removed. Each subframe is 240 bits long (10 words - 25 bits each) and the log
contains a total 720 bits (90 bytes) of information (240 bits x 3 subframes). This information is preceded by the
PRN number of the satellite from which it originated. This message will not be generated unless all 10 words from
all 3 frames have passed parity.
The ASCII $REPA data message is generated from a REPA log, and the binary REPB data message is generated from
a REPB log. For descriptions of these data messages, please see the description of the REPA/B logs in Chapter 3 and
2 Command Descriptions
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 33
Appendix D, Page 192. An example of a $REPA data message is as follows:
$REPA,14,8B09DC17B9079DD7007D5DE404A9B2D04CF671C6036612560000021804FD,
8B09DC17B98A66FF713092F12B359DFF7A0254088E1656A10BE2FF125655,
8B09DC17B78F0027192056EAFFDF2724C9FE159675A8B468FFA8D066F743*57[CR][LF]
$RTCA... (RTCAA)
Use this special data input command to directly input NovAtel RTCAA differential corrections data, ASCII format.
The data can be accepted using COM1 or COM2. The differential corrections will be accepted and applied upon
receipt of this special data input command.
The data is generated from a GPSCard RTCAA log and is accepted by a GPSCard remote station as in the following
format:
$RTCA,990000000447520607BE7C92FA0B82423E9FE507DF5F3FC9FD071AFC7FA0D207D090808C0E
045BACC055E9075271FFB0200413F43FF810049C9DFF8FFD074FCF3C940504052DFB*20
$RTCM... (RTCMA, $RTCM1A, $RTCM3A, $RTCM9A, $RTCM16A,$RTCM59A)
Use this special data input command to directly input RTCMA differential correction data, ASCII format (RTCM data
converted to ASCII hexadecimal, with NovAtel header added). The data can be accepted using COM1 or COM2.
The differential corrections will be accepted and applied upon receipt of this special data input command. See
“RTCA STANDARD LOGS” on page 46 for further information on RTCM related topics.
The data is generated from a GPSCard RTCMA log and is accepted by a GPSCard remote station as in the following
format
$RTCM,664142404E7257585C6E7F424E757D7A467C47414F6378635552427F73577261624278777F
5B5A525C7354527C4060777B4843637C7F555F6A784155597D7F6763507B77496E7F7A6A426F555C
4C604F4E7F467F5A787F6B5F69506C6D6A4C*2B
NOTE : The $RTCAA and $RTCMA commands allow the user to intermix differential corrections along with other
ASCII commands or logs over a single port. (You must, however, ensure that the ACCEPT command
option is set to “COMMANDS”.)
TIP : The decoding success and status of $RTCA and $RTCM records can be monitored using the CDSA/B data
log. These commands will not generate any reply response from the command interpreter. They will
simply be processed for valid format and checksum and used internally. If there is any problem with
the data, characters missing or checksum fail, the data will be discarded with no warning message.
$TM1A/B RECEIVER TIME OF 1PPS
The $TM1A and TM1B data messages can be used to time-synchronize multiple receivers which are all referencing
the same external oscillator. First, ensure that SETTIMESYNC is enabled. Next, the primary unit must be sending
its 1PPS signal to the MARKIN input of the secondary unit. Third, the two units must be communicating via a COM
port. In this configuration, the user can send the $TM1A log from a primary to a secondary unit, in a manner similar
to that for $ALMA or $UTCA. The secondary unit is then able to compare the time information contained in the log
with that of the 1PPS signal, and set its clock even though it may not be tracking any satellites.
The ASCII $TM1A data message is generated from a TM1A log, and the binary TM1B data message is generated from
a TM1B log. For descriptions of these data messages, please see the description of the TM1A/B logs in Chapter 4,
Page 34 and Appendix D, Page 218. An example of a $TM1A data message is as follows:
$TM1A,794,414634.999999966,-0.000000078,0.000000021,-.999999998,0*57[CR][LF]
The $TM1A/B message refers to the 1PPS pulse which has just occurred. In other words TM1A comes after a 1PPS
pulse. The length of the pulse for the 24 channel L1/L2 MiLLennium GPSCard is a normally high, active low pulse
(1 millisecond), where falling edge is reference.
3 Data Logs
34 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
3 DATA LOGS
3.1 OUTPUT LOGGING
The GPSCard provides versatility in your logging requirements. You can direct your logs to either COM1 or COM2,
or both ports, as well as combine data types. The GPSCard has four major logging formats:
• NovAtel Format Data Logs (ASCII/Binary)
•NMEA Standard Format Data Logs (ASCII)
•RTCM Standard Format Data Logs (Binary)
•RTCA Standard Format Data Logs (Binary)
All data types can be logged using several methods of triggering each log event. Each log is initiated using the LOG
command. The LOG command and syntax are listed below.
Syntax:
log [port],datatype,[trigger],[period],[offset],{hold}
Example: log com1,posa,ontime,60,1
If the LOG syntax does not include a trigger type, it will be output only once following execution of the LOG
Syntax Description Example
LOG LOG
port COM1 or COM2 COM1
datatype Enter one of the valid ASCII or Binary Data Logs (see later in this chapter and Appendix D, Page 136)POSA
trigger Enter one of the following triggers.ONTIME
ONCE Immediately logs the selected data to the selected port once. Default if trigger field is left blank.
ONMARK Logs the selected data when a MARKIN electrical event is detected. Outputs internal buffers
at time of mark - does not extrapolate to mark time. Use MKBA/B for extrapolated position at
time of mark.
ONNEW Logs the selected data each time the data is new even if the data is unchanged.
ONCHANGED Logs the selected data only when the data has changed.
ONTIME
[period], [offset]Immediately logs the selected data and then periodically logs the selected data at a frequency
determined by the period and offset parameters. The logging will continue until an UNLOG
command pertaining to the selected data item is received (see UNLOG Command, Page 132).
CONTINUOUSLY Will log the data all the time. The GPSCard will generate a new log when the output buffer
associated with the chosen port becomes empty. The continuously option was designed for
use with differential corrections over low bit rate data links. This will provide optimal record
generation rates. The next record will not be generated until the last byte of the previous record
is loaded into the output buffer of the UART.
period Use only with the
ONTIME
trigger. Units for this parameter are seconds. The selected period may be any of the
following values: 0.05, 0.10, 0.20, 0.25, 0.50, 1, 2, 3, ... , 3600 seconds but may be limited by the GPSCard model
and previously requested logs. Selected data is logged immediately and then periodic logging of the data will start at
the next even multiple of the period. If a period of 0.20 sec is chosen, then data will be logged when the receiver time
is at the 0.20, 0.40, 0.60 and the next (0.80) second marks. If the period is 15 seconds, then the logger will log the
data when the receiver time is at even 1/4 minute marks. The same rule applies even if the chosen period is not
divisible into its next second or minute marks. If a period of 7 seconds is chosen, then the logger will log at the
multiples of 7 seconds less than 60, that is, 7, 14, 21, 28, 35, 42, 49, 56 and every 7 seconds thereafter.
60
offset Use only with the
ONTIME
trigger. Units for this parameter are seconds. It provides the ability to offset the logging
events from the above startup rule. If you wished to log data at 1 second after every minute you would set the period
to 60 seconds and the offset to 1 second (Default is 0).
1
hold Will prevent a log from being removed when the UNLOGALL command is issued HOLD
3 DATA LOGS
3 Data Logs
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 35
command. If trigger type is specified in the LOG syntax, the log will continue to be output based on the trigger
specification. Specific logs can be disabled using the UNLOG command, whereas all enabled logs will be disabled
by using the UNLOGALL command (see Chapter 2, Page 23 and Appendix C, Page 132). All activated logs will be
listed in the receiver configuration status log (RCCA).
3.2 NOVATEL FORMAT DATA LOGS
General
The GPSCard is capable of executing more than 40 NovAtel format log commands. Each log is selectable in ASCII
and Binary formats. The one exception to this rule is the RGE log, which can be logged as RGED. The “D” indicates
a compressed binary format to allow higher speed logging. Any format can be selected individually or
simultaneously over the same COMn ports.
All of the log descriptions are listed in alphabetical order in Appendix D. Each log first lists the ASCII format,
followed by the Binary format description.
ASCII Log Structure
Log types ending with the letter A (or a) will be output in ASCII format (e.g., POSA). The structures of all ASCII
logs follow the general conventions as noted here:
1. The lead code identifier for each record is '$'.
2. Each log is of variable length depending on amount of data and formats.
3. All data fields are delimited by a comma ',' with the exception of the last data field, which is followed by
a * to indicate end of message data.
4. Each log ends with a hexadecimal number preceded by an asterisk and followed by a line termination us-
ing the carriage return and line feed characters, e.g., *xx[CR][LF]. This 8-bit value is an exclusive OR
(XOR) of all bytes in the log, excluding the '$' identifier and the asterisk preceding the two checksum digits.
Structure:
Binary Log Structure
Log types ending with the letter B (or b) will be output in Binary format (e.g., POSB). The structures of all Binary
logs follow the general conventions as noted here:
1. Basic format of: Sync 3 bytes
Checksum 1 byte
Message ID 4 bytes unsigned integer
Message byte count 4 bytes unsigned integer
Data x
2. The Sync bytes will always be:
3. The Checksum is an XOR of all the bytes (including the 12 header bytes) and is initially set to 00.
4. The Message ID identifies the type of log to follow.
5. The Message byte count equals the total length of the data block including the header.
NOTE: Maximum flexibility for logging data is provided to the user by these logs. The user is cautioned,
however, to recognize that each log requested requires additional CPU time and memory buffer space.
Too many logs may result in lost data and degraded CPU performance. CPU overload can be monitored
using the idle-time and buffer overload bits from the RCSA/B log. See Table D-5, Page 196 (GPSCard
Receiver Self-test Status Codes).
$xxxx, data field..., data field..., data field... *xx [CR][LF]
Byte Hex Decimal
First AA 170
Second 44 68
Third 11 17
3 Data Logs
36 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
The following table describes the format types used in the description of binary logs.
Each byte within an int has its own address, and the smallest of the addresses is the address of the int. The byte at
this lowest address contains the eight least significant bits of the doubleword, while the byte at the highest address
contains the eight most significant bits. The following illustration shows the arrangement of bytes within words
and doublewords. Similarly the bits of a "double" type are stored least significant byte first. This is the same data
format used by IBM PC computers.
3.3 RTK
After setting up your system and initializing the positioning algorithms, as described in the RTK section of Chapter
1. You can use the logs listed in this section to record the data collected. The low-latency-solution logs (e.g.
PRTKA/B) are recommended for kinematic users, while the matched-solution logs (e.g. RTKA/B) are
recommended for stationary users. For a discussion on low-latency and matched solutions, see the Differential
Positioning section in Appendix A, Page 66.
A matched solution is always a carrier-phase differential solution, and consequently offers the greatest possible
accuracy. A low-latency solution, on the other hand, is the best one that is currently available; the possibilities are
categorized as follows, starting with the one offering the greatest accuracy and precision:
1. Carrier-phase differential solution
2. Pseudorange differential solution
3. Single-point solution
Therefore, if an RTK solution is not available, then a low-latency-solution log will contain a pseudorange
differential solution if it exists. If neither an RTK nor a pseudorange differential solution is available, then a low-
latency-solution log will contain a single-point solution.
Type Size (bytes) Size (bits) Description
char 1 8 The char type is used to store the integer value of a member of the representable character
set. That integer value is the ASCII code corresponding to the specified character.
int 432 The size of a signed or unsigned int item is the standard size of an integer on a particular
machine. On a 32-bit processor (such as the NovAtel GPSCard), the int type is 32 bits, or 4
bytes. The int types all represent signed values unless specified otherwise. Signed integers
are represented in two’s-complement form. The most-significant bit holds the sign: 1 for
negative, 0 for positive and zero.
double 864 The double type contains 64 bits: 1 for sign, 11 for the exponent, and 52 for the mantissa.
Its range is ±1.7E308 with at least 15 digits of precision.
float 432 The float type contains 32 bits: 1 for the sign, 8 for the exponent, and 23 for the mantissa.
Its range is ±3.4E38 with at least 7 digits of precision.
70
address n
31 23 15 7 0
62 55 4751 39 31 23 15 7
n+3 n+2 n+1 address n complement
63 52
n+7 n+6 n+5 n+4 n+3 n+2 n+1
30
n+3 23
22 15 7 0
n+2 n+1 address n
23-bits mantissa
52-bits mantissa
two’s
address n
S
S
char
int
31
Biased
Exponent
Biased
Exponent
double
float
0
0
3 Data Logs
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 37
3.4 NMEA FORMAT DATA LOGS
General
The NMEA log structures follow format standards as adopted by the National Marine Electronics Association. The
reference document used is "Standard For Interfacing Marine Electronic Devices NMEA 0183 Version 2.00". For
further information, see Appendix F, Standards and References, Page 233. The following table contains excerpts
from Table 6 of the NMEA Standard which defines the variables for the NMEA logs. The actual format for each
parameter is indicated after its description.
3.5 GPS TIME VS. LOCAL RECEIVER TIME
All logs report GPS time expressed in GPS weeks and seconds into the week. The time reported is not corrected for
local receiver clock error. To derive the closest GPS time, one must subtract the clock offset shown in the CLKA log
(field 4) from GPS time reported.
Field Type Symbol Definition
Special Format Fields
Status ASingle character field:
A = Yes, Data Valid, Warning Flag Clear
V = No, Data Invalid, Warning Flag Set
Latitude llll.ll Fixed/Variable length field:
degrees|minutes.decimal - 2 fixed digits of degrees, 2 fixed digits of minutes and a variable number of
digits for decimal-fraction of minutes. Leading zeros always included for degrees and minutes to
maintain fixed length. The decimal point and associated decimal-fraction are optional if full resolution
is not required.
Longitude yyyyy.yy Fixed/Variable length field:
degrees|minutes.decimal - 3 fixed digits of degrees, 2 fixed digits of minutes and a variable number of
digits for decimal-fraction of minutes. Leading zeros always included for degrees and minutes to
maintain fixed length. The decimal point and associated decimal-fraction are optional if full resolution
is not required
Time hhmmss.ss Fixed/Variable length field:
hours|minutes|seconds.decimal - 2 fixed digits of hours, 2 fixed digits of minutes, 2 fixed digits of
seconds and variable number of digits for decimal-fraction of seconds. Leading zeros always included
for hours, minutes and seconds to maintain fixed length. The decimal point and associated decimal-
fraction are optional if full resolution is not required.
Defined field Some fields are specified to contain pre-defined constants, most often alpha characters. Such a field is
indicated in this standard by the presence of one or more valid characters. Excluded from the list of
allowable characters are the following which are used to indicate field types within this standard:
"A", "a", "c", "hh", "hhmmss.ss", "llll.ll", "x", "yyyyy.yy"
Numeric Value Fields
Variable
numbers x.x Variable length integer or floating numeric field. Optional leading and trailing zeros. The decimal point
and associated decimal-fraction are optional if full resolution is not required (example: 73.10 = 73.1 =
073.1 = 73)
Fixed HEX field hh___ Fixed length HEX numbers only, MSB on the left
Information Fields
Variable text c--c Variable length valid character field.
Fixed alpha field aa___ Fixed length field of uppercase or lowercase alpha characters
Fixed number xx___ Fixed length field of numeric characters
Fixed text field cc___ Fixed length field of valid characters
NOTES:
1. Spaces may only be used in variable text fields.
2. A negative sign "-" (HEX 2D) is the first character in a Field if the value is negative. The sign is omitted if value is positive.
3. All data fields are delimited by a comma (,).
4. Null fields are indicated by no data between two commas (,,). Null fields indicate invalid or no data available.
5. The NMEA Standard requires that message lengths be limited to 82 characters.
3 Data Logs
38 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
GPS time is based on an atomic time scale. Universal Time Coordinated (UTC) time (reported in NMEA logs) is also
based on an atomic time scale, with an offset of seconds applied to coordinate Universal Time to GPS time. GPS
time is designated as being coincident with UTC at the start date of January 6, 1980 (00 hours). GPS time does not
count leap seconds, and therefore an offset exists between UTC and GPS time. The GPS week consists of 604800
seconds, where 000000 seconds is at Saturday midnight. Each week at this time, the week number increments by
one, and the seconds into the week resets to 0. (See Appendix H, Some Common Unit Conversions, Page 236 for
an example)
3.6 STANDARD LOG TABLES
Table 3-1 lists the logs by function while Table 3-2 is an alphabetical listing of logs. Please see Appendix D, Page
136 for a more detailed description of individual NovAtel and NMEA format logs which are listed alphabetically.
RTCM and RTCA format data logs and receiver-independent RINEX logs will be found in Chapter 4. Special
Pass-Through logs are found in Section 3.8.
Table 3-1 Logs By Function Table
COMMUNICATIONS, CONTROL AND STATUS
Logs Descriptions
CDSA/B COM port communications status
COM1A/B Log data from COM1
COM2A/B Log data from COM2
COMnA/B Pass-through data logs
RCSA/B Receiver self-test status
RTCM16T NovAtel ASCII format special message
RTCM16 RTCM format special message
GENERAL RECEIVER CONTROL AND STATUS
Logs Descriptions
PVAA/B Receiver’s latest computed position, velocity and acceleration in ECEF coordinates
RCCA Receiver configuration status
RCSA/B Version and self-test status
RVSA/B Receiver status
VERA/B Receiver hardware and software version numbers
POSITION, PARAMETERS, AND SOLUTION FILTERING CONTROL
Logs Descriptions
DOPA/B DOP of SVs currently tracking
GGAB GPS fix data
GPGGA NMEA, position data
GPGLL NMEA, position data
GPGRS NMEA, range residuals
GPGSA NMEA, DOP information
GPGST NMEA, measurement noise statistics
MKPA/B Position at time of mark
POSA/B Position data
PRTKA/B Computed position
PVAA/B Computed position, velocity and acceleration in ECEF coordinates
PXYA/B Position (Cartesian x,y,z coordinates)
RTKA/B Computed position
SPHA/B Speed and direction over ground
3 Data Logs
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 39
Table 3-1 Logs By Function Table (continued)
SATELLITE TRACKING AND CHANNEL CONTROL
Logs Descriptions
ALMA/B Current decoded almanac data
DOPA/B DOP of SVs currently tracking
ETSA/B Provides channel tracking status information for each of the GPSCard parallel channels
GPALM NMEA, almanac data
GPGSA NMEA, SV DOP information
GPGSV NMEA, satellite-in-view information
RALA/B Raw almanac
RASA/B Raw GPS almanac set
RGEA/B/D Satellite range measurements
SATA/B Satellite specific information
SBTA/B Satellite broadcast data (raw symbols)
SVDA/B SV position (ECEF xyz)
WRCA/B Wide band range correction data (grouped format)
WAYPOINT NAVIGATION
Logs Descriptions
GPRMB NMEA, waypoint status
GPRMC NMEA, navigation information
GPVTG NMEA, track made good and speed
GPZTG NMEA, time to destination
MKPA/B Position at time of mark input
NAVA/B Navigation waypoint status
POSA/B Position data
SPHA/B Speed and course over ground
VLHA/B Velocity, latency & direction over ground
DIFFERENTIAL REFERENCE STATION
Logs Descriptions
ALMA/B Current almanac information
CDSA/B COM port data transmission status
CMR Pseudorange and carrier phase data
PAVA/B Parameters being used in the position averaging process
RGEA/B/D Channel range measurements
RPSA/B Reference station position and health
RTCAA/B Transmits RTCA differential corrections in NovAtel ASCII or Binary
RTCM1 Transmits RTCM SC104 standard corrections
RTCM3 Reference position
RTCM1819 Uncorrected carrier phase and pseudorange measurements
RTCM22 Extended reference station parameters
RTCM59 NovAtel format RT-20 observation data
RTCMA/B Transmits RTCM information in NovAtel ASCII/binary
SATA/B Satellite specific information
3 Data Logs
40 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
Table 3-1 Logs By Function Table (continued)
DIFFERENTIAL REMOTE STATION
Logs Descriptions
CDSA/B Communication and differential decode status
GPGGA NMEA, position fix data
GGAB NovAtel binary version of GPGGA
POSA/B Position information
PRTKA/B Computed Position – best available
RTKA/B Computed Position – Time Matched
RTKOA/B RTK Output
SATA/B Satellite specific information
SVDA/B SV position in ECEF XYZ with corrections
VLHA/B Velocity, latency & direction over ground
POST PROCESSING DATA
Logs Descriptions
BSLA/B Most recent matched baseline expressed in ECEF coords.
CLKA/B Receiver clock offset information
REPA/B Raw ephemeris information
RGEA/B/D Satellite and ranging information
SATA/B Satellite specific information
SVDA/B SV position in ECEF XYZ with corrections
CLOCK INFORMATION, STATUS, AND TIME
Logs Descriptions
CLKA/B Receiver clock offset information
CLMA/B 1Current clock-model matrices of the GPSCard
GPZDA NMEA, UTC time and date
GPZTG NMEA, UTC and time to waypoint
MKTA/B Time of mark input
TM1A/B Time of 1PPS
1 Intended for advanced users of GPS only.
NAVIGATION DATA
Logs Descriptions
FRMA/B Framed raw navigation data
RALA/B Raw almanac and health data
RASA/B Raw almanac set
RBTA/B Satellite broadcast data in raw bits
REPA/B Raw ephemeris data
3 Data Logs
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 41
Table 3-2 GPSCard Log Summary
Note: A/B/D:
A refers to GPSCard output logs in ASCII format.
B refers to GPSCard output logs in Binary format.
D refers to GPSCard output logs in compressed binary format.
Syntax: log port,datatype,[trigger],[period],[offset],{hold}
NovAtel Format Logs
Datatype Description Datatype Description
ALMA/B Decoded Almanac RASA/B Raw GPS Almanac Set
BSLA/B Baseline Measurement RCCA Receiver Configuration
CDSA/B Communication and Differential Decode Status REPA/B Raw Ephemeris
CLKA/B Receiver Clock Offset Data RGEA/B/D Channel Range Measurements
CLMA/B Receiver Clock Model RPSA/B Reference Station Position and Health
COM1A/B Log data from COM1 RTCAA/B RTCA format Differential Corrections with NovAtel
headers
COM2A/B Log data from COM2 RTKA/B Computed Position - Time Matched
DOPA/B Dilution of Precision RTKOA/B RTK Solution Parameters
ETSA/B Extended Tracking Status RTCMA/B RTCM Type 1 Differential Corrections with NovAtel
headers
GGAB Global Position System Fix Data - Binary Format RTCM16T Special Message
MKPA/B Mark Position RVSA/B Receiver Status
MKTA/B Time of Mark Input SATA/B Satellite Specific Data
NAVA/B Navigation Data SBTA/B Satellite Broadcast Data (Raw Symbols)
PAVA/B Positioning Averaging Status SPHA/B Speed and Direction Over Ground
POSA/B Computed Position SVDA/B SV Position in ECEF XYZ Coordinates with
Corrections
PRTKA/B Computed Position TM1A/B Time of 1PPS
PVAA/B XYZ Position, Velocity and Acceleration VERA/B Receiver Hardware and Software Version Numbers
PXYA/B Computed Cartesian Coordinate Position VLHA/B Velocity, Latency, and Direction over Ground
RALA/B Raw Almanac WRCA/B Wide Band Range Correcion (Grouped)
NMEA Format Logs
GPALM Almanac Data GPGSV GPS Satellites in View
GPGGA Global Position System Fix Data GPRMB Generic Navigation Information
GPGLL Geographic Position - lat/lon GPRMC GPS Specific Information
GPGRS GPS Range Residuals for Each Satellite GPVTG Track Made Good and Ground Speed
GPGSA GPS DOP and Active Satellites GPZDA UTC Time and Date
GPGST Pseudorange Measurement Noise Statistics GPZTG UTC & Time to Destination Waypoint
RTCA Format
RTCA RTCA Differential Corrections: Type 1 and Type 7
RTCM Format
RTCM1 Type 1 Differential GPS Corrections
RTCM3 Type 3 Reference Station Parameters
RTCM9 Type 9 Partial Satellite Set Differential Corrections
RTCM16 Type 16 Special Message
RTCM1819 Type 18 and Type 19 Uncorrected Carrier Phase and Pseudorange Corrections
RTCM22 Type 22 Extended Reference Station Parameters
RTCM59 Type 59N-0 NovAtel Proprietary Message: RT20 Differential Observations
3 Data Logs
42 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
3.7 WAAS
The Wide Area Augmentation System (WAAS) is a safety-critical system that provides a quality of positioning
information previously unavailable. The WAAS improves the accuracy, integrity, and availability of the basic GPS
signals.
3.7.1 WAAS GPSCard Logs
The log WALA/B (see its descriptions on Page 222), provide WAAS satellite-specific data. For more information
on MiLLennium GPSCards with the WAAS option, see Page 29.
3.8 PASS-THROUGH LOGS
The pass-through logging feature enables the GPSCard to redirect any ASCII or binary data that is input at a
specified port (COM1 or COM2) to any specified GPSCard port (COM1 or COM2). This capability, in conjunction with
the SEND command, can allow the GPSCard to perform bi-directional communications with other devices such as
a modem, terminal, or another GPSCard.
There are two pass-through logs COM1A/B and COM2A/B, available on MiLLennium GPSCards.
Pass-through is initiated the same as any other log, i.e., LOG [to-port] [data-type-A/B] [trigger]. However, pass-
through can be more clearly specified as: LOG [to-port] [from-port-A/B] [onchanged]. Now, the [from-port-A/B]
field designates the port which accepts data (i.e., COM1or COM2) as well as the format in which the data will be
logged by the [to-port] — (A for ASCII or B for Binary).
When the [from-port-A/B] field is designated with an [A], all data received by that port will be redirected to the
[to-port] in ASCII format and will log according to standard NovAtel ASCII format. Therefore, all incoming
ASCII data will be redirected and output as ASCII data. However, any binary data received will be converted to a
form of ASCII hexadecimal before it is logged.
When the [from-port-A/B] field is designated with a [B], all data received by that port will be redirected to the [to-
port] exactly as it is received. The log header and time-tag adhere to standard NovAtel Binary Format followed by
the pass-through data as it was received (ASCII or binary).
Pass-through logs are best utilized by setting the [trigger] field as onchanged or onnew. Either of these two
triggers will cause the incoming data to log when any one of the following conditions is met:
• Upon receipt of a <CR> character
• Upon receipt of a <LF> character
• Upon receipt of 80 characters
• 1/2 second timeout following receipt of last character
Each pass-through record transmitted by the GPSCard is time tagged by the GPSCard clock in GPS weeks and
seconds.
For illustration purposes, you could connect two GPSCards together via their COM1 ports such as in a reference
station, labelled as reference station in Figure 5-1, to remote station scenario. If the reference station were logging
PVAA data to the remote station, it would be possible to use the pass-through logs to pass through the received PVAA
differential correction data to a disk file (let's call it DISKFILE.log) at the remote station host PC hard disk.
3 Data Logs
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 43
Figure 3-1 Pass-Through Log Data
When pass-through logs are being used, the GPSCard’s command interpreter continues to monitor the port for valid
input commands and replies with error messages when the data is not recognized as such. If you do not want the
pass-through input port to respond with error messages during unrecognized data input, see the MESSAGES
command, Appendix C, Page 108 for details on how to inhibit the port’s error message responses. As well, if you
do not want the reference station to accept any input from the remote device, use the ACCEPT NONE command to
disable the port’s command interpreter.
3.8.1 Command Syntax
Syntax:
Example 1:
log com2 com1a onchanged
3.8.2 ASCII Log Structure
log to-port from-port-A/B trigger
Syntax Range Value Description Default
log —Log command unlogall
to-port COM1, COM2 Port that will output the pass-through log data —
from-port-[A/B] COM1A/B, COM2A/B Port that will accept input data;
[A] option logs data as ASCII,
[B] option logs data with binary header
—
trigger onchanged or onnew log will output upon receipt of:
<CR>, <LF>, 80 characters, or 1/2 sec. timeout —
$port ID week seconds pass-through data *xx [CR][LF]
Field # Field type Data Description Example
1$port ID Log header:
Identifies port accepting input data $COM1
2week GPS week number 747
3seconds GPS seconds into the week at time of log 347131.23
4pass-through data Data accepted into COM1
(up to 80 characters) $TM1A,747,347131.000000000,
0.000000058,0.000000024,
-9.000000009,0*78<CR>
5*xx Checksum *2E
6[CR][LF] Sentence terminator [CR][LF]
Serial Cable
Host PC
(Reference Station)
fix position (lat,lon,ht,id)
accept com1 none
log com1 pvaa ontime 5 messages com1 off
log console com1a onchanged
Host PC
(Rover Station)
To COM1
$
P
V
A
A
dat
al
og
To COM1
Data Link
Serial Cable
To COM2 To COM2
3 Data Logs
44 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
Example 1: $COM1,747,347131.23,$TM1A,747,347131.000000000,0.000000058,0.00000
0024, -9.000000009,0*78<CR>*2E[CR][LF]
$COM1,747,347131.31,<LF>*4F[CR][LF]
$COM1,747,347131.40,Invalid Command Option<LF>*7C[CR][LF]
$COM1,747,347131.42,Com1>Invalid Command Option<LF>*30[CR][LF]
$COM1,747,347131.45,Com1>*0A[CR][LF]
Example 1, above, shows what would result if a GPSCard logged TM1A data into the COM1 port of another
GPSCard, where the accepting card is redirecting this input data as a pass-through log to its COM2 port (log com2
com1a onchanged). Under default conditions the two cards will "chatter" back and forth with the Invalid
Command Option message (due to the command interpreter in each card not recognizing the command prompts
of the other card). This chattering will in turn cause the accepting card to transmit new pass-through logs with the
response data from the other card. To avoid this chattering problem, use the GPSCard MESSAGES command on the
accepting port to disable error reporting from the receiving port command interpreter or if the incoming data is of
no use to the GPSCard, then disable the command interpreter with the ACCEPT NONE command.
If the accepting port’s error reporting is disabled by MESSAGES OFF, the $TM1A data record would pass through
creating two records as follows:
Example 1a:$COM1,747,347204.80,$TM1A,747,347203.999999957,-
0.000000015,0.000000024,
-9.000000009,0*55<CR>*00[CR][LF]
$COM1,747,347204.88,<LF>*48[CR][LF]
The reason that two records are logged from the accepting card is because the first record was initiated by receipt
of the $TM1A log’s first terminator <CR>. Then the second record followed in response to the $TM1A log’s second
terminator <LF>.
Note that the time interval between the first character received ($) and the terminating <LF> can be calculated by
differencing the two GPS time tags (0.08 seconds). This pass-through feature is useful for time tagging the arrival
of external messages. These messages could be any user-related data. If the user is using this feature for tagging
external events then it is recommended that the command interpreter be disabled so that the GPSCard does not
respond to the messages. See the ACCEPT command in Chapter 2, Page 23 and Appendix C, Page 79.
Example 1b illustrates what would result if $TM1B binary log data were input to the accepting port
(i.e., log com2 com1a onchanged).
Example 1b:
$COM1,747,349005.18,<AA>D<DC1>k<ETX><NUL><NUL><NUL>4<NUL><NUL><NUL>
<EB><STX><NUL><NUL><FE>3M<NAK>A<VT><83><D6>o<82><C3>Z<BE><FC><97>I
<91><C5>iV><7F><8F>O<NUL><NUL><NUL>"<C0><NUL><NUL><NUL><NUL>*6A
As can be seen, the $TM1B binary data at the accepting port was converted to a variation of ASCII hexadecimal
before it was passed through to COM2 port for logging (MESSAGES command set to OFF).
3.8.3 Binary Log Structure
Format: Message ID = 30 for COM1B; 31 for COM2B
Message byte count = 24 + (length of pass-through data string received (80 maximum))
Field # Data Bytes Format Units Offset
1Sync 3char 0
(header) Checksum 1char 3
Message ID 4integer 4
Message byte count 4integer 8
2Week number 4integer weeks 12
3Seconds of week 8double seconds 16
4Pass-through data as
received variable char 24 + (variable data)
4 Message Formats
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 45
4 MESSAGE FORMATS
In a NovAtel RTK positioning system, the observations transmitted by a NovAtel reference station to a NovAtel
remote station can be in either a proprietary RTCA Type 7 or a proprietary RTCM Type 59N message format. A
NovAtel Rover station is also able to receive CMR-format messages, Section 4.3, from a non-NovAtel base station.
Table 4-1 illustrates the various combinations of hardware and message formats, together with the positioning
mode (RT-20 or RT-2) which will result when using all-NovAtel devices:
Table 4-1 Positioning Modes
The following information can be used to calculate the minimum data throughput required of the communications
data link. Keep in mind that manufacturers of communication equipment add extra bits to each message (e.g. for
error detection), forming an “overhead” that must be taken into account; also, radio transmitting equipment may
have a duty cycle which must also be factored into the calculations. Thus, a “4800 bits per second” radio modem
might actually sustain only 2000 bits per second. Consult the documentation supplied by the manufacturer of your
communications equipment.
4.1 RTCA-FORMAT MESSAGES
NovAtel has defined two proprietary RTCA Standard Type 71 binary-format messages RTCAOBS and
RTCAREF, for reference station transmissions. These can be used with either single or dual-frequency NovAtel
receivers; existing users of RT-20 wishing to switch from RTCM to RTCA message formats will require a software
upgrade. The RTCA message format outperforms the RTCM format in the following ways, among others:
• a more efficient data structure (lower overhead)
• better error detection
• allowance for a longer message, if necessary
RTCAREF and RTCAOBS, respectively, correspond to the RTCM Type 3 and Type 59 logs used in single-
frequency-only measurements. Both are NovAtel-proprietary RTCA Standard Type 7 messages with an ‘N’
primary sub-label.
RTCAOBS TYPE 7
An RTCAOBS (RTCA Reference-Station Satellite Observations) message contains reference station satellite
observation information. It is used to provide range observations to the remote receiver, and should be sent every
1 or 2 seconds. This log is made up of variable-length messages up to 255 bytes long. The maximum number of
bits in this message is [140 + (92 x N)], where N is the maximum number of satellite record entries transmitted.
Using the RTKMODE command, you can define N to be anywhere from 4 to 20; the default value is 12.
Reference station:
L1
RTCM Type 59N
Reference station:
L1
RTCA Type 7
Reference station:
L1 & L2
RTCM Type 59N
Reference station:
L1 & L2
RTCA Type 7
Remote station:
L1 RT-20 RT-20 RT-20 RT-20
Remote station:
L1 & L2 RT-20 RT-20 RT-20 RT-2
1. For further information on RTCA Standard Type 7 messages, you may wish to refer to:
Minnimum Aviation System Performance Standards - DGNSS Instrument Approach System: Special
Category I (SCAT-I), Document No. RTCA/DO-217 (April 19,1995); Appendix A, Page 21.
4MESSAGE FORMATS
4 Message Formats
46 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
RTCAREF TYPE 7
An RTCAREF (RTCA Reference Station Position Information) message contains reference station position
information, and should be sent once every 10 seconds. Each message is 24 bytes (192 bits) long.
If RTCA-format messaging is being used, the optional station id field that is entered using the FIX POSITION
command can be any 4-character string combining numbers and upper-case letters, and enclosed in quotation
marks (e.g. “RW34”). Note that the representation of this string in the log message would be a number within the
range of 266,305 to 15,179,385 as per RTCA notation. The lower bound of 266,305 represents “AAAA” and the
upper bound of 15,179,385 represents “9999”.
RTCA STANDARD LOGS
The RTCA (Radio Technical Commission for Aviation Services) Standard is being designed to support Differential
Global Navigation Satellite System (DGNSS) Special Category I (SCAT-I) precision instrument approaches. The
RTCA Standard is in a preliminary state. Described below is NovAtel’s current support for this Standard. It is based
on "Minimum Aviation System Performance Standards DGNSS Instrument Approach System: Special Category I
(SCAT-I)" dated August 27, 1993 (RTCA/DO-217).
RTCA
This log enables transmission of RTCA Standard format Type 1 messages from the GPSCard when operating as a
reference station. Before this message can be transmitted, the GPSCard FIX POSITION command must be set. The
RTCA log will be accepted by a GPSCard operating as a remote station over a COM port after an ACCEPT port RTCA
command is issued.
The RTCA Standard for SCAT-I stipulates that the maximum age of differential correction (Type 1) messages
accepted by the remote station cannot be greater than 22 seconds. See the DGPSTIMEOUT command in Chapter 2,
Page 23 and Appendix C, Page 90 for information regarding DGPS delay settings.
The RTCA Standard also stipulates that a reference station shall wait five minutes after receiving a new ephemeris
before transmitting differential corrections. See the DGPSTIMEOUT command for information regarding ephemeris
delay settings.
The basic SCAT-I Type 1 differential correction message is as follows:
Format: Message length = 11 + (6*obs): (83 bytes maximum)
1The pseudorange correction and range rate correction fields have a range of ±655.34 meters and ±4.049 m/s respec-
tively. Any satellite which exceeds these limits will not be included.
RTCAA
This log contains the same data available in the RTCA SCAT-I message, but has been modified to allow flexibility
in using the RTCA data. The RTCA data has been reformatted to be available in ASCII hexadecimal, utilizing a
Field Type Data Bits Bytes
SCAT-I header – Message block identifier
– Reference station ID
– Message type
(this field will always report 00000001)
– Message length
8
24
8
8
6
Type 1 header – Modified z-count
– Acceleration error bound
(In the GPSCard, this field will report
000)
13
3 2
Type 1 data – Satellite ID
– Pseudorange correction 1
– Issue of data
– Range rate correction 1
–UDRE
6
16
8
12
6
6 *obs
CRC Cyclic redundancy check 3
4 Message Formats
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 47
NovAtel header and terminates with a checksum.
This message was designed so that RTCA data can be intermixed with other NovAtel ASCII data over a common
communications port. The log is not in pure RTCA format. The header ($RTCA) and terminator (*xx) must be
stripped off at the receiving end, then the data will need to be converted from hexadecimal to binary before the
RTCA information is retrieved.
The RTCAA log can be directly decoded by other NovAtel GPSCard receivers operating as remote stations. They
will recognize the $RTCA header as a special data input command and the differential corrections data will be
directly applied. The GPSCard remote station receiving this log must have the ACCEPT command set to "ACCEPT
port COMMANDS".
Structure:
Example: $RTCA,990000000447520607BE7C92FA0B82423E9FE507DF5F3FC9FD071AFC7FA0
D207D090808C0E045BACC055E9075271FFB0200413F43FF810049C9DFF8FFD074F
CF3C940504052DFB*20[CR][LF]
RTCAB
The RTCAB log contains the SCAT-I differential corrections message with the standard NovAtel binary log preamble
(header) added. The RTCAB log will be accepted by the GPSCard over a COM port after an "ACCEPT port RTCA"
command is issued.
Format: Message ID = 38 Message byte count = 12 + (11+(6*obs)): 95 bytes maximum
4.2 RTCM-FORMAT MESSAGES
The Radio Technical Commission for Maritime Services (RTCM) was established to facilitate the establishment of
various radio navigation standards, which includes recommended GPS differential standard formats.
$RTCA data *xx [CR][LF]
Field # Field Type Data Description Example
1$RTCA Log header $RTCA
2data SCAT-I type 1 differential
corrections 990000000447520607BE7C92FA0B82423E9FE507DF5F3FC9
FD071AFC7FA0D207D090808C0E045BACC055E9075271FFB
0200413F43FF810049C9DFF8FFD074FCF3C940504052DFB
3*xx Checksum *20
4[CR][LF] [CR][LF]
Field # Data Bytes Format Offset
1Sync 3char 0
(header) Checksum 1char 3
Message ID 4integer 4
Message byte count 4integer 8
2– Message block identifier
– Reference station ID
– Message type
– Message length
612
3– Modified z-count
– Acceleration error bound 218
4– Satellite ID
– Pseudorange correction
– Issue of data
– Range rate correction
–UDRE
620
5Next PRN offset = 26 + (6*obs) where obs varies from 0 to (obs-1)
6CRC 3
4 Message Formats
48 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
The standards recommended by the Radio Technical Commission for Maritime Services Special Committee 104,
Differential GPS Service (RTCM SC-104,Washington, D.C.), have been adopted by NovAtel for implementation
into the GPSCard. Because the GPSCard is capable of utilizing RTCM formats, it can easily be integrated into
positioning systems around the globe.
As it is beyond the scope of this manual to provide in-depth descriptions of the RTCM data formats, it is
recommended that anyone requiring explicit descriptions of such, should obtain a copy of the published RTCM
specifications. See Appendix F, Page 233 for reference information.
RTCM SC-1042 Type 3 & 59 messages can be used for reference station transmissions in differential systems.
However, since these messages do not include information on the L2 component of the GPS signal, they cannot be
used with RT-2 positioning. Regardless of whether single or dual-frequency receivers are used, the RT-20
positioning algorithm would be used. This is for a system in which both the reference and remote stations utilize
NovAtel receivers.
Note that the error-detection capability of an RTCM-format message is less than that of an RTCA-format message.
The communications equipment that you use may have an error-detection capability of its own to supplement that
of the RTCM message, although at a penalty of a higher overhead (see the discussion at the beginning of this
chapter, Page 45). Consult the vendor’s documentation for further information.
• RTCM Type 3 Reference Station Position
A Type 3 message contains reference station position information. This message must be sent at least once every
30 seconds, although it is recommended that it be sent once every 10 seconds. It uses four RTCM data words
following the two-word header, for a total frame length of six 30-bit words (180 bits).
• RTCM Type 59 NovAtel Proprietary (RT-20)
A Type 59N message contains reference station satellite observation information, and should be sent once every 2
seconds. It is variable in size, and can be up to thirty three 30-bit words (990 bits) long.
If RTCM-format messaging is being used, the optional station id field that is entered using the FIX POSITION
command can be any number within the range of 0 - 1023 (e.g. 119). The representation in the log message would
be identical to what was entered.
RTCM General Message Format
All GPSCard RTCM standard format logs adhere to the structure recommended by RTCM SC-104. Thus, all RTCM
message are composed of 30 bit words. Each word contains 24 data bits and 6 parity bits. All RTCM messages
contain a 2-word header followed by 0 to 31 data words for a maximum of 33 words (990 bits) per message
The remainder of this section will provide further information concerning GPSCard commands and logs that utilize
the RTCM data formats.
2. For further information on RTCM SC-104 messages, you may wish to refer to:
RTCM Recommended Standards for Differential Navstar GPS Service, Version 2.1, RTCM Paper 194-
93/SC104-STD (January 3, 1994)
Message Frame Header Data Bits
Word 1 – Message frame preamble for synchronization
– Frame/message type ID
– reference station ID
–Parity
8
6
10
6
Word 2 – Modified z-count (time tag)
– Sequence number
– Length of message frame
– reference station health
–Parity
13
3
5
3
6
4 Message Formats
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 49
RTCM Standard Commands
RTCMRULE
The RTCM standard states that all equipment shall support the use of the "6 of 8" format (data bits a1 through a6
where bits a1 through a6 are valid data bits and bit a7 is set to mark and bit a8 is set to space).
The GPSCard RTCMRULE command allows for flexibility in the use of the bit rule to accommodate compatibility
with equipment that does not strictly adhere to the RTCM stated rule.
Syntax:
Example:
rtcmrule 6cr
RTCM16T
This is a NovAtel GPSCard command which relates to the RTCM Type 16
This command allows the GPSCard user to set an ASCII text string. Once set, the text string can be transmitted as
standard format RTCM Type 16 data (see the RTCM16 log, Page 53). The text string entered is limited to a maximum
of 90 ASCII characters. This message is useful for a reference station wanting to transmit special messages to
remote users.
The text string set here can be verified by observing the RCCA command configuration log. As well, the message
text can be transmitted as a NovAtel Format ASCII log by utilizing the "LOG port RTCM16T" command.
Syntax:
Example:
rtcm16t This is a test of the RTCM16T Special Message.
RTCM Standard Logs
The NovAtel logs which implement the RTCM Standard Format for Type 1, 3, 9, and 16, 18, 19 and 22 messages
are known as the RTCM1 (or RTCM), RTCM3, RTCM9, RTCM16, RTCM1819 and RTCM22 logs, respectively,
while Type 59N-0 messages are listed in the RTCM59 log.
NovAtel has created ASCII and binary versions of each of these logs so that RTCM data can be sent or received
along with other NovAtel ASCII and binary data over a common communications port. As per the usual
RTCMRULE rule
Syntax Range Value Description Default
RTCMRULE -Command
rule 6CR 6CR is for 6 bits of valid data per byte. Each frame is followed by a <CR> character. 6CR
6SP 6SP (6 bit special); the RTCM decoder of the remote receiver will ignore the two MSB of the
data and hence all 6 bit data will be accepted. This allows users with non-conforming 6 bit rule
data to use the NovAtel receiver to accept their RTCM data. The user will not be allowed to
enter extra control data such as CR/LF, as this will be treated as RTCM data and cause the
parity to fail. This option does not affect RTCM generation. The output will be exactly the same
as if the RTCMRULE 6 option was chosen. The upper two bits are always encoded as per
RTCM specification.
66 is for 6 bits of valid data per byte
88 is for 8 bits of valid data per byte
RTCM16T message
Syntax Range Value Description
RTCM16T -Command
message up to 90 characters ASCII text message
4 Message Formats
50 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
convention, an “A” at the end of the log name denotes the NovAtel ASCII version (e.g. RTCM1A), and a “B”
denotes the NovAtel binary version (e.g. RTCM1B). These logs contain the same data that is available in the
corresponding RTCM Standard Format messages; however, the data has been “packaged” into NovAtel-format
messages.
These NovAtel-format logs are not in pure RTCM SC-104 format and are not directly usable as such. There are
two scenarios which affect how these logs are processed:
Case 1: ASCII messages (RTCMxA)
• The NovAtel header ($RTCMx) and checksum terminator (*yz) must be stripped off at the
receiving end; then, the data will need to be converted from hexadecimal to binary before
the RTCM information can be retrieved.
• Provided that the GPSCard that is acting as a remote station has its ACCEPT command set
to “ACCEPT port COMMANDS” (which is the default setting), the receiving GPSCard will
recognize the NovAtel header ($RTCMxA) as a special data input command, and apply the
differential corrections data directly. No extra processing is required.
Case 2: Binary messages (RTCMxB)
• The 12-byte NovAtel header must be stripped off before the RTCM information can be
retrieved.
• These binary messages are not presently decoded directly by GPSCards, unlike the ASCII
messages.
ASCII
The format of the NovAtel ASCII version of an RTCM log is as follows:
Structure:
Example:
$RTCM3,597E7C7F7B76537A66406F49487F797B627A7A5978634E6E7C515544494
6*68[CR][LF]
BINARY
The format of the NovAtel binary version of an RTCM log is as follows:
RTCM OR RTCM1
This is the primary RTCM log used for pseudorange differential corrections. This log follows RTCM Standard Format
for Type 1 messages. It contains the pseudorange differential correction data computed by the reference station
header rtcm data *xx [CR][LF]
Field # Field Type Data Description Example
1header NovAtel format ASCII header $RTCM3
2rtcm data hexadecimal representation of binary-
format RTCM SC104 data 597E7C7F7B76537A66406F49487F79
7B627A7A5978634E6E7C5155444946
3*xx Checksum *68
4[CR][LF] Sentence terminator [CR][LF]
Field # Data Bytes Format Offset
1 Sync 3 char 0
(header) Checksum 1 char 3
Message ID 4 integer 4
Message byte count 4 integer 8
2 RTCM SC104 data variable 12
4 Message Formats
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 51
generating this Type 1 log. The log is of variable length, depending on the number of satellites visible and
pseudoranges corrected by the reference station. Satellite specific data begins at word 3 of the message.
Structure:
(Follows RTCM Standard for Type 1 message)
Type 1 messages contain the following information for each satellite in view at the reference station:
• Satellite ID
• Pseudorange correction
• Range-rate correction
• Issue of Data (IOD)
When operating as a reference station, the GPSCard must be in FIX POSITION mode before the data can be correctly
logged.
When operating as a remote station, the GPSCard COM port receiving the RTCM data must have its ACCEPT
command set to "ACCEPT port RTCM".
REMEMBER: Upon a change in ephemeris, GPSCard reference stations will transmit Type 1 messages based
on the old ephemeris for a period of time defined by the DGPSTIMEOUT command. After the
timeout, the reference station will begin to transmit the Type 1 messages based on new
ephemeris.
RTCMA or RTCM1A
This log contains the same data available in the RTCM Standard Format Type 1 messages, but has been modified to
allow flexibility in using the RTCM data. The RTCM data has been reformatted to be available in ASCII hexadecimal,
utilizing a NovAtel header and terminates with a checksum.
This message was designed so that RTCM data can be intermixed with other NovAtel ASCII data over a common
communications port. The log is not in pure RTCM SC104 format. The header ($RTCM) and terminator (*xx) must
be stripped off at the receiving end, then the data will need to be converted from hexadecimal to binary before the
RTCM information is retrieved. The RTCM data is further defined by the RTCM rule (see the RTCMRULE command,
Page 114).
The RTCMA log can be directly decoded by other NovAtel GPSCard receivers operating as remote stations. They
will recognize the $RTCM header as a special data input command and the differential corrections data will be
directly applied. The GPSCard remote station receiving this log must have the ACCEPT command set to "ACCEPT
port COMMANDS".
Structure:
Example:
$RTCM,664142406B61455F565F7140607E5D526A5366C7C7F6F5A5B766D587D7F535C4B697F54594
060685652625842707F77555B766558767F715B7746656B*54[CR][LF]
RTCMB or RTCM1B
This log contains the same data available in the RTCM Standard Format Type 1 messages, but has been modified to
allow flexibility in using the RTCM data. The RTCM data has been reformatted to be available in NovAtel Binary
Format, utilizing a NovAtel binary header.
$RTCM rtcm data *xx [CR][LF]
Field # Field Type Data Description Example
1$RTCM NovAtel format ASCII header $RTCM
2rtcm data hexadecimal representation of binary
format RTCM SC104 data 664142406B61455F565F7140607E5D526A5366C7
C7F6F5A5B766D587D7F535C4B697F54594060685
652625842707F77555B766558767F715B7746656B
3*xx Checksum *54
4[CR][LF] Sentence terminator [CR][LF]
4 Message Formats
52 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
This message was designed so that RTCM data can be transmitted intermixed with other NovAtel binary data over
a common communications port. The log is not in pure RTCM SC104 format and is not directly usable as such.
GPSCard remote receivers cannot decode or interpret the RTCMB data (however, the GPSCard can directly interpret
RTCM and RTCMA). The 12 byte NovAtel binary header must be stripped off before the RTCM information can be
retrieved. The RTCM data is further defined by the RTCM rule (see the RTCMRULE command).
REMEMBER: Ensure that the RTCM rule is the same between all equipment.
Format: Message ID = 10 Message byte count = variable
RTCM1A
Example: $RTCM,597E7D7F716F745A647D7E42405273505276777C7F736C514E7D477A7F7F
5A7E6E62675F406C567F6753725B675F7B436A646A7D787F675D4A505056687C6B
567C7F5B69796F40547F73595557555546*51[CR][LF]
RTCM1B
Message ID = 10 Message byte count = variable
RTCM3 REFERENCE STATION PARAMETERS RTK
This log contains the GPS position of the reference station expressed in rectangular ECEF coordinates based on
the center of the WGS84 ellipsoid. This log uses four RTCM data words following the two-word header, for a total
frame length of six 30 bit words (180 bits maximum).
Structure:
(Follows the RTCM SC-104 Standard for a Type 3 message)
Type 3 messages contain the following information:
•Scale factor
•ECEF X-coordinate
•ECEF Y-coordinate
•ECEF Z-coordinate
The GPSCard only transmits the RTCM Type 3 message (RTCM3) when operating as a reference station paired
with GPSCard remote receivers operating in RT-20 Carrier Phase Mode (see Appendix A, Page 62 for more
information) or for RT-2, periodically transmitting an RTCM Type 18 and RTCM Type 19 (RTCM1819), or
RTCM Type 22 message, together with an RTCM Type 3 (see Page 18).
NOTE: This log is intended for use when operating in RT-20 mode.
Example:
$RTCM3,597E7C7F7B76537A66406F49487F797B627A7A5978634E6E7C5155444946*68[CR][LF]
RTCM3B
Message ID = 41 Message byte count = 35 if RTCMRULE = 8 (12 bytes header, 23 bytes data)
= 42 if RTCMRULE = 6 (12 bytes header, 30 bytes data)
Field # Data Bytes Format Offset
1Sync 3char 0
(header) Checksum 1char 3
Message ID 4integer 4
Message byte count 4integer 8
2RTCM SC104 data variable 12
4 Message Formats
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 53
RTCM9 PARTIAL SATELLITE SET DIFFERENTIAL CORRECTIONS
RTCM Type 9 messages follow the same format as Type 1 messages. However, unlike Type 1 messages, Type
9’s do not require a complete satellite set. This allows for much faster differential correction data updates to the
remote stations, thus improving performance and reducing latency.
Type 9 messages should give better performance when SA rate correction variations are high, or with slow or noisy
data links.
NOTE: The reference station transmitting the Type 9 corrections must be operating with a high-stability
clock to prevent degradation of navigation accuracy due to the unmodeled clock drift that can occur
between Type 9 messages.
NovAtel recommends a high-stability clock such as the PIEZO Model 2900082 whose 2-sample (Allan)
variance meets the following stability requirements:
3.24 x 10-24 s2/s2 between 0.5 - 2.0 seconds, and
1.69 x 10-22 T s2/s2 between 2.0 - 100.0 seconds
An external clock such as an OCXO requires approximately 10 minutes to warm up and become fully
stabilized after power is applied; do not broadcast RTCM Type 9 corrections during this warm-up period.
Structure: (Follows the RTCM Standard SC-104 for a Type 1 message)
Type 9 messages contain the following information for a group of three satellites in view at the reference station:
• Scale factor
• User Differential Range Error
• Satellite ID
• Pseudorange correction
• Range-rate correction
• Issue of Data (IOD)
RTCM9A
Example: $RTCM9,66516277547C71435D797760704260596876655F7743585D547562716D7
57E686C5258*6D[CR][LF]
RTCM9B
Message ID = 42 Message byte count = variable
RTCM16 SPECIAL MESSAGE
This log contains a special ASCII message that can be displayed on a printer or cathode ray tube. The GPSCard
reference station wishing to log this message out to remote stations must use the RTCM16T command to set the
required ASCII text message. Once set, the message can then be issued at the required intervals with the “LOG
port RTCM16 interval” command. If it is desired that only updated text messages be transmitted, then the GPSCard
log interval must be either “onnew” or “onchanged”. The Special Message setting can be verified in the RCCA
configuration log.
The RTCM16 data log follows the RTCM Standard Format. Words 1 and 2 contain RTCM header information
followed by words 3 to n (where n is variable from 3 to 32) which contain the special message ASCII text. Up to
90 ASCII characters can be sent with each RTCM Type 16 message frame.
Structure: (Follows the RTCM Standard SC-104 for a Type 16 message)
RTCM16A
This message is the hexadecimal code equivalent of the special message entered using the RTCM16T command.
Example:
4 Message Formats
54 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
$RTCM16,6649404045495E5A5C406A58696D76596D5F665F765869694D4E53604D
70696552567E7B675762747B67576C574E596F59697146555A75516F5F667D4967
5656574E53604D55565A6D69647B67777E454659685D56465A67616E4B7E7F7F7D
*52[CR][LF]
RTCM16B
This message is the binary code equivalent of the special message entered using the RTCM16T command.
Message ID = 43 Message byte count = variable
RTCM16T
This message is used at the remote station to report the contents of a Type 16 message that was received from the
reference station.
Structure:
Example:
$RTCM16T,Time flies like an arrow; fruit flies like a banana.*1F[CR][LF]
RTCM1819 UNCORRECTED CARRIER PHASE AND PSEUDORANGE
MEASUREMENTS RTK
This log contains the raw carrier phase raw pseudorange measurement information. The measurements are not
corrected by the ephemerides contained in the satellite message. Word 3, the first data word after the header,
contains a GPS TIME OF MEASUREMENT field which is used to increase the resolution of the MODIFIED Z-
COUNT in the header. Word 3 is followed by pairs of words containing the data for each satellite observed.
Appropriate flags are provided to indicate L1, L2, ionospheric free pseudorange or ionospheric diffeerence carrier
phase data, C/A or P-code, and half or full-wave L2 carrier phase measuurements. The carrier smoothing interval
for pseudoranges and pseudorange corrections is also furnished, for a total frame length of six 30 bit words (180
bits maximum).
Structure:
(Follows the RTCM SC-104 Standard for a Type 18 and Type 19 message)
For RT-2, you may periodically transmit an RTCM Type 18 and RTCM Type 19 (RTCM1819) together with an
RTCM Type 3 message (see Page 18).
RTCM22 RTCM EXTENDED REFERENCE STATION PARAMETERS RTK
Message Type 22 provides firstly, a means of achieving sub-millimeter precision for base station coordinates in a
kinematic application, and secondly, base station antenna height above a base, which enables mobile units to
reference measured position to the base directly in real time.
The first data word of message Type 22 provides the corrections to be added to each ECEF coordinate. Note that
the corrections may be positive or negative.
The second data word, which may not be transmitted, provides the antenna L1 phase center height expressed in
integer and fractional centimeters, and is always positive. It has the same resolutions as the corrections. The range
is about 10 meters. The spare bits can be used if more height range is required.
RTCM59 TYPE 59N-0 NOVATEL PROPRIETARY MESSAGE RTK
RTCM Type 59 messages are reserved for proprietary use by RTCM reference station operators.
Each message is variable in length, limited only by the RTCM maximum of 990 data bits (33 words maximum).
The first eight bits in the third word (the word immediately following the header) serve as the message
identification code, in the event that the reference station operator wishes to have multiple Type 59 messages.
NovAtel has defined only a Type 59N-0 message to date; it is to be used for operation in GPSCard receivers
$RTCM16T ASCII Special Message of up to 90 characters *xx [CR][LF]
4 Message Formats
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 55
capable of operating in RT-20 Carrier Phase Differential Positioning Mode. This log is primarily used by a
GPSCard reference station to broadcast its RT-20 observation data (delta pseudorange and accumulated Doppler
range) to remote RT-20 – capable GPSCard receivers.
NOTE 1: The CDSA/B log is very useful for monitoring the serial data link, as well as differential data decode
success.
NOTE 2: This log is intended for use when operating in RT-20 mode.
RTCM59A
Example: $RTCM59,665D43406E76576561674D7E7748775843757D4E646B545365647B7F48
657F504D4D6D425B657D5858606B617A737F7F7F464440727D7156577C65494F4D
4A60497F414D7E4272786D55534362406144705D764D596A7340654B6D5B464375
5848597C52705779466C*57[CR][LF]
RTCM59B
Message ID = 44 Message byte count = variable
RTCM RECEIVE ONLY DATA
The following RTCM data types can be received and decoded by the GPSCard, however these log types are no
longer transmitted.
RTCM TYPE 2
Quite often a reference station may have new ephemeris data before remote stations have collected the newer
ephemeris. The purpose of Type 2 messages is to act as a bridge between old and new ephemeris data. A reference
station will transmit this Type 2 bridge data concurrently with Type 1’s for a few minutes following receipt of a
new ephemeris. The remote station adds the Type 2 data (delta of old ephemeris minus new ephemeris) to the Type
1 message data (new ephemeris) to calculate the correct pseudorange corrections (based on the old ephemeris).
Once the remote receiver has collected its own updated ephemeris, it will no longer utilize the Type 2 messages.
The GPSCard will accept and decode RTCM Standard Type 2 messages, when available and if required. However,
the GPSCard no longer transmits Type 2 messages.
Type 2 messages are variable in length, depending on the number of satellites being tracked by the reference
station.
4.3 CMR FORMAT MESSAGING
The Compact Measurement Record (CMR) message format was developed by Trimble Navigation Ltd. as a
proprietary data transmission standard for use in real-time kinematic applications. In 1996 Trimble publicly
disclosed this standard and allowed its use by all manufacturers in the GPS industry3.
The NovAtel implementation allows a NovAtel rover receiver to operate in either RT-2 or RT-20 mode while
receiving pseudorange and carrier phase data via CMR messages (version 3.0) from a non-NovAtel base-station
receiver. The MiLLennium can also transmit CMR messages (versions 1.0, 2.0 or 3.0). The station ID, see Page
98, must be ≤ 31 when transmitting CMR corrections
NOTE: No guarantee is made that the MiLLennium will meet its performance specifications if non-NovAtel
equipment is used.
3. Talbot, N.C. (1996), “Compact Data Transmission Standard for High-Precision GPS”. Proceeding of
the ION GPS-96 Conference, Kansas City, MO, September 1996, Vol. I, pp. 861-871
4 Message Formats
56 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
Using RT-2 or RT-20 with CMR Format Messages
To enable receiving CMR messages, follow these steps:
1. Issue the COMn command to the rover receiver to set its serial port parameters to the proper bit rate, parity,
etc. This command is described in detail on Page 84.
2. Issue the “ACCEPT COMn CMR” command to the rover receiver, where “COMn” refers to either the COM1 or
COM2 serial port that is connected to the data link.
Assuming that the base station is transmitting valid data, your rover receiver will now begin to operate in RT-2 or
RT-20 mode. To send CMR messages, do the following:
Periodically transmit two CMR messages at the reference station (the station ID, see Page 98, must be ≤ 31):-
• A CMROBS message contains reference station satellite observation information, and
should be sent once every 1 or 2 seconds.
• A CMRREF message contains reference station position information, and should be sent
once every 10 seconds.
In addition to the logs which you can use to output the rover’s position (e.g. POSA/B, PRTKA/B, RTKA/B), the
baseline (BSLA/B), and the reference station’s position and health (RPSA/B), you can also monitor the status of
the incoming CMR messages using the CDSA/B (Communication and Differential Decode Status) log. See Page
144 for a complete description of the CDSA/B log and its arguments.
4.4 RINEX FORMAT
The Receiver-Independent Exchange (RINEX) format is a broadly-accepted, receiver-independent format for
storing GPS data. It features a non-proprietary ASCII file format that can be used to combine or process data
generated by receivers made by different manufacturers. RINEX was originally developed at the Astronomical
Institute of the University of Berne. Version 2, containing the latest major changes, appeared in 1990;
subsequently, minor refinements were added in 1993. To date, there are three different RINEX file types. Each
of the file types consists of a header section and a data section, and includes the following information4:
• observation files (carrier-phase measurements; pseudorange / code measurements; times
of observations)
• broadcast navigation message files (orbit data for the satellites tracked; satellite clock
parameters; satellite health condition; expected accuracy of pseudorange measurements;
parameters of single-frequency ionospheric delay model; correction terms relating GPS
time to UTC)
• meteorological data files (barometric pressure; dry air temperature; relative humidity;
zenith wet tropospheric path delay; time tags)
NOTE: Although RINEX is intended to be a receiver-independent format, there are many optional records and
fields. Please keep this in mind when combining NovAtel and non-NovAtel RINEX data.
In support of the first two file types, NovAtel has created six ASCII log types that contain data records in RINEX
format (XOBS, XOHD, XNAV, XNHD, XKIN, and XSTA). A seventh pseudo-log type (RINEX) can be used
instead to simplify data collection. These logs produce multiple lines of output; each line ends with a NovAtel
checksum. Once collected these logs should be processed into the 2 standard RINEX files using NovAtel’s Convert
utility.
A sample session, illustrating the use of the commands and logs, would be as follows:
4. For further information on RINEX Version 2 file descriptions, you may wish to consult relevant articles
in scientific journal such as:
Gurtner, W.G. Mader (1990): “Receiver Independent Exchange Format Version 2.” CSTG GPS
Bulletin Vol. 3 No. 3, Sept/Oct 1990, National Geodetic Survey, Rockville.
4 Message Formats
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 57
COM1> log com2 rinex ontime 30
(some time later - move to a new site)
COM1> log com2 xkin
COM1> rinex markernum 980.1.35
COM1> rinex antdh 3.1
(at new site)
COM1> log com2 xsta
(some time later - logging complete)
COM1> unlogall
It should be noted that the first line of this example is equivalent to these two lines:
COM1> log com2 xobs ontime 30
COM1> log com2 xnav onchanged
The use of the pseudo-log RINEX is for convenience only.
After the UNLOGALL command, the XNHD and XOHD logs are automatically generated if XNAV and XOBS,
respectively, were active.
4.4.1 COMMANDS
RINEX
This command is used to configure the user-defined fields in the file headers.
The settings of all these fields are visible in the RCCA log. All settings can be saved to non-volatile memory on a
MiLLennium card by the SAVECONFIG command. A CRESET command will empty all text fields and reduce to
zero the antenna offsets.
Syntax:
RINEX cfgtype
Command Range Values Description
RINEX -Command
cfgtype AGENCY Define agency name in observation log header
ANTDE Define antenna delta east (offset to marker) in observation log and static event log
ANTDH Define antenna delta height (offset to marker) in observation log and static event log
ANTDN Define antenna delta north (offset to marker) in observation log and static event log
ANTNUM Define antenna number in observation log header
ANTTYPE Define antenna type in observation log header
COMMENT Add comment to navigation and observation log headers (optional)
MARKNAME Define marker name in observation log and static event log
MARKERNUM Define marker number in observation log (optional) and static event log
OBSERVER Define observer name in observation log header
RECNUM Define receiver number in observation log header
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58 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
Command example:
COM1> rinex agency NovAtel Surveying Service Ltd.
COM1> rinex antde -0.05
COM1> rinex antdh 2.7
COM1> rinex antdn 0.1
COM1> rinex antnum Field #1
COM1> rinex anttype NovAtel 501
COM1> rinex comment Field trial of new receiver
COM1> rinex markname A980
COM1> rinex markernum 980.1.34
COM1> rinex observer S.C. Lewis
COM1> rinex recnum LGN94100019
COM1> log com1 rcca
Log example:
$RCCA,COM1,9600,N,8,1,N,OFF,OFF*65
... etc....
$RCCA,RINEX,COMMENT,Field trial of new receiver*68
$RCCA,RINEX,AGENCY,NovAtel Surveying Service Ltd.*5A
$RCCA,RINEX,MARKNAME,A980*15
$RCCA,RINEX,MARKERNUM,980.1.34*24
$RCCA,RINEX,OBSERVER,S.C. Lewis*0B
$RCCA,RINEX,RECNUM,LGN94100019*34
$RCCA,RINEX,ANTNUM,Field #1*0A
$RCCA,RINEX,ANTTYPE,NovAtel 501*4B
$RCCA,RINEX,ANTDN,0.100*09
$RCCA,RINEX,ANTDE,-0.050*2B
$RCCA,RINEX,ANTDH,2.700*0B
Note that the RCCA log shows any non-default RINEX settings.
4.4.2 LOGS
RINEX OBSERVATION AND NAVIGATION LOGS AND HEADERS
This pseudo - log type exists to simplify the commands for the user. For example, at the command
COM1> log com2 rinex ontime 30
the XOBS and XNAV logs are both started. When it is time to cease data collection, the command
COM1> unlog com2 rinex
or
COM1> unlogall
will stop the XOBS and XNAV logs, and the XNHD and XOHD logs will be generated once.
XKIN OBSERVATION KINEMATIC EVENT
This log generates a time tag and flag to indicate when antenna motion begins.
Command example:
COM1> log com2 xkin
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MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 59
Log example:
$XOBS, 96 04 10 17 25 19.5000000 2*00
$XOBS, 4 1*2F
$XOBS, *** KINEMATIC DATA FOLLOWS *** COMMENT*50
XNAV NAVIGATION DATA RECORD
This log type contains broadcast navigation message records for each satellite being used. Each set of records
consists of:
• orbit data for the satellites tracked
• satellite clock parameters
• satellite health condition
• expected accuracy of pseudorange measurements
• parameters of single-frequency ionospheric delay model
• correction terms relating GPS time to UTC
Command example:
COM1> log com2 xnav onchanged
Log example:
$XNAV,22 96 04 10 18 00 0.0 .2988767810166D-03 .2842170943040D-11 .0000000000000D+00*77
$XNAV,.1570000000000D+03 .5162500000000D+02 .4851987819054D-08 -.307153354042D+01*10
$XNAV,.2656131982803D-05.8917320519686D-02.9054318070412D-05 .5153725172043D+04*01
$XNAV, .3240000000000D+06 -.149011611938D-06 .1649994199967D+01 .1117587089539D-07*1E
$XNAV,.9465553285374D+00 .1992812500000D+03 .4627841719040D-01 -.806355016494D-08*17
$XNAV,-.175721605224D-09 .1000000000000D+01 .8480000000000D+03 .0000000000000D+00*18
$XNAV,.7000000000000D+01 .0000000000000D+00 .1396983861923D-08 .4130000000000D+03*08
$XNAV,.3170760000000D+06*5E
XNHD NAVIGATION HEADER
This log consists of a RINEX-format header for broadcast navigation message files. It can be generated at any
point, using a command such as
COM1> log com2 xnhd
or it will be generated automatically when logging is complete, using a command such as
COM1> unlogall
Log example:
$XNHD, 2 NAVIGATION DATA RINEX VERSION / TYPE*3B
$XNHD, NovAtel GPSCard NATIVE 96-04-10 16:13 PGM / RUN BY / DATE*05
$XNHD,Field trial of new receiver COMMENT*29
$XNHD,.10245D-07 .14901D-07 -.5960D-07 -.1192D-06 ION ALPHA*05
$XNHD,.88064D+05 .32768D+05 -.1966D+06 -.1966D+06 ION BETA*46
$XNHD, .9313225746155D-09 -.799360577730D-14 503808 848 DELTA-UTC: A0,A1,T,W*3C
$XNHD, 11 LEAP SECONDS*4D
$XNHD, END OF HEADER*6F
XOBS OBSERVATION DATA RECORD
This log contains observation records, which include the following information:
• Times of observations
• Carrier-phase measurements
• Pseudorange (code) measurements
• Doppler measurements
A set of observation records is generated at the end of every time interval specified.
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60 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
Command example:
COM1> log com2 xobs ontime 5
Log example:
$XOBS, 96 04 10 16 12 45.0000000 0 10G22G29G 3G28G16G27G 2G18G31G19*2B
$XOBS, 25589487.514 1 134473357.195 11 3689.020 1*20
$XOBS, 24031521.036 7 126285967.262 7 3673.582 7*3E
$XOBS, 22439789.377 9 117921029.600 9 270.081 9*2A
$XOBS, 22766999.777 9 119640447.360 9 924.831 9*28
$XOBS, 23387648.507 6 122901958.756 6 -640.482 6*2F
$XOBS, 21889019.606 8 115027300.270 8 -2682.420 8*3D
$XOBS, 24678340.269 7 129684455.444 7 -3295.920 7*3D
$XOBS, 21218703.216 9 111503905.438 9 2528.269 9*30
$XOBS, 21855014.913 9 114847991.342 9 -1951.670 9*33
$XOBS, 20157467.672 9 105927196.398 9 -688.169 9*2B
XOHD OBSERVATION HEADER
This log consists of a RINEX-format header for observation message files. It can be generated at any point, using
a command such as
COM1> log com2 xohd
or it will be generated automatically when logging is complete, using a command such as
COM1> unlogall
Log example:
$XOHD, 2 OBSERVATION DATA G (GPS) RINEX VERSION / TYPE*50
$XOHD,NovAtel GPSCard NATIVE 96-04-10 16:04 PGM / RUN BY / DATE*02
$XOHD,Field trial of new receiver COMMENT*08
$XOHD,A980 MARKER NAME*62
$XOHD,980.1.34 MARKER number*11
$XOHD,S.C. Lewis NovAtel Surveying Service Ltd. OBSERVER / AGENCY*49
$XOHD,LGN94100019 GPSCard-2 FRASER 3.41RC12 REC # / TYPE / VERS*5F
$XOHD,Field #1 NovAtel 501 ANT # / TYPE*77
$XOHD, -1634937.3828 -3664677.1214 4942285.1723 APPROX POSITION XYZ*67
$XOHD, 2.7000 0.0500 0.1000 ANTENNA: DELTA H/E/N*56
$XOHD, 1 0 7 G 2 G 3 G16 G18 G19 G22 G27 WAVELENGTH FACT L1/2*2D
$XOHD, 1 0 3 G28 G29 G31 WAVELENGTH FACT L1/2*28
$XOHD, 3 C1 L1 D1 # / TYPES OF OBSERV*0F
$XOHD, 5 INTERVAL*3D
$XOHD, 1996 4 10 16 4 43.150000 TIME OF FIRST OBS*03
$XOHD, 1996 4 10 16 13 0.000000 TIME OF LAST OBS*56
$XOHD, 10 # OF SATELLITES*14
$XOHD, G 2 101 101 101 PRN / # OF OBS*45
$XOHD, G 3 101 101 101 PRN / # OF OBS*44
$XOHD, G16 101 101 101 PRN / # OF OBS*50
$XOHD, G18 101 101 101 PRN / # OF OBS*5E
$XOHD, G19 101 101 101 PRN / # OF OBS*5F
$XOHD, G22 101 101 101 PRN / # OF OBS*57
$XOHD, G27 101 101 101 PRN / # OF OBS*52
$XOHD, G28 101 101 101 PRN / # OF OBS*5D
$XOHD, G29 101 101 101 PRN / # OF OBS*5C
$XOHD, G31 101 101 101 PRN / # OF OBS*55
$XOHD, END OF HEADER*6E
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MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 61
XSTA OBSERVATION STATIC EVENT
This log generates a time tag and flag when a new site occupation begins.
Command example:
COM1> log com2 xsta
Log example:
$XOBS, 96 04 10 17 25 45.0000000 3 4*39
$XOBS,A980 MARKER NAME*7F
$XOBS,980.1.35 MARKER number*0D
$XOBS, 3.1000 0.0500 0.1000 ANTENNA: DELTA H/E/N*4C
$XOBS, *** NEW SITE OCCUPATION *** COMMENT*19
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62 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
A GPS OVERVIEW
The Global Positioning System (GPS) is a satellite navigation system capable of providing a highly accurate,
continuous global navigation service independent of other positioning aids. GPS provides 24-hour, all-weather,
worldwide coverage with position, velocity and timing information.
The system uses the NAVSTAR (NAVigation Satellite Timing And Ranging) satellites which consists of 24
operational satellites to provide a GPS receiver with a six to twelve-satellite coverage at all times depending on the
model. A minimum of four satellites in view allows the GPSCard to compute its current latitude, longitude, altitude
with reference to mean sea level and the GPS system time.
Figure A-1 NAVSTAR Satellite Orbit Arrangement
A.1 GPS SYSTEM DESIGN
The GPS system design consists of three parts:
• The Space segment
• The Control segment
• The User segment
All these parts operate together to provide accurate three dimensional positioning, timing and velocity data to users
worldwide.
The Space Segment
The space segment is composed of the NAVSTAR GPS satellites. The final constellation of the system consists of 24
satellites in six 55° orbital planes, with four satellites in each plane. The orbit period of each satellite is
approximately 12 hours at an altitude of 10,898 nautical miles. This provides a GPS receiver with six to twelve
satellites in view from any point on earth, at any particular time.
The GPS satellite signal identifies the satellite and provides the positioning, timing, ranging data, satellite status and
the corrected ephemerides (orbit parameters) of the satellite to the users. The satellites can be identified either by
AGPS OVERVIEW
A GPS Overview
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 63
the Space Vehicle Number (SVN) or the Pseudorandom Code Number (PRN). The PRN is used by the NovAtel
GPSCard.
The GPS satellites transmit on two L-band frequencies; one centered at 1575.42 MHz (L1) and the other at 1227.60
MHz (L2). The L1 carrier is modulated by the C/A code (Coarse/Acquisition) and the P code (Precision) which
is encrypted for military and other authorized users. The L2 carrier is modulated only with the P code.
The Control Segment
The control segment consists of a master control station, five reference stations and three data up-loading stations
in locations all around the globe.
The reference stations track and monitor the satellites via their broadcast signals. The broadcast signals contain the
ephemeris data of the satellites, the ranging signals, the clock data and the almanac data. These signals are passed
to the master control station where the ephemerides are re-computed. The resulting ephemerides corrections and
timing corrections are transmitted back to the satellites via the data up-loading stations.
The User Segment
The user segment, such as the NovAtel GPSCard receiver, consists of equipment which tracks and receives the
satellite signals. The user equipment must be capable of simultaneously processing the signals from a minimum of
four satellites to obtain accurate position, velocity and timing measurements. A user can also use the data provided
by the satellite signals to accomplish specific application requirements.
A.2 HEIGHT RELATIONSHIPS
What is a geoid?
The equipotential surface which best represents mean sea-level where an equipotential surface is any surface where
gravity is constant. This surface not only covers the water but is projected throughout the continents. Most surfaces
in North America use this surface as its zero value, i.e. all heights are referenced to this surface.
What is an ellipsoid?
An ellipsoid, also known as a spheroid, is a mathematical surface which is sometimes used to represent the earth.
Whenever you see latitudes and longitudes describing the location, this coordinate is being referenced to a specific
ellipsoid. GPS positions are referred to an ellipsoid known as WGS84 (World Geodetic System of 1984).
What is the relationship between a geoid and an ellipsoid?
The relationship between a geoid and an ellipsoid is shown in Figure A-2.
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64 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
Figure A-2 Illustration of GPSCard Height Measurements
From the above diagram, and the formula h = H + N, to convert heights between the ellipsoid and geoid we require
the geoid-ellipsoid separation value. This value is not easy to determine. A world-wide model is generally used to
provide these values. NovAtel GPS receivers store this value internally. This model can also be augmented with
local height and gravity information. A more precise geoid model is available from government survey agencies
e.g. U.S. National Geodetic Survey or Geodetic Survey of Canada (refer to Appendix F, Standards and References).
Why is this important for GPS users?
The above formula is critical for GPS users as they typically obtain ellipsoid heights and need to convert these into
mean sea-level heights. Once this conversion is complete, users can relate their GPS derived heights to more
“usable” mean sea-level heights.
A.3 GPS POSITIONING
GPS positioning can be categorized as follows:
1. single-point or relative
2. static or kinematic
3. real-time or post-mission data processing
A distinction should be made between accuracy and precision. Accuracy refers to how close an estimate or
measurement is to the true but unknown value; precision refers to how close an estimate is to the mean (average)
estimate. Figure A-3 illustrates various relationships between these two parameters: the true value is "located" at
the intersection of the cross-hairs, the centre of the shaded area is the "location" of the mean estimate, and the radius
of the shaded area is a measure of the uncertainty contained in the estimate.
Notes: References:
h = H + N 1 Topography
N = h - H 2 Geoid (mean sea level)
H = GPSCard computed height above/below geoid
N = Geoidal Height (undulation)
3 Spheroid (ellipsoid)
h = GPS system computed height above the spheroid
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MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 65
Figure A-3 Accuracy versus Precision
5
Single-point vs. Relative Positioning
In single-point positioning, coordinates of a GPS receiver at an unknown location are sought with respect to the
earth’s reference frame by using the known positions of GPS satellites being tracked. The position solution
generated by the receiver is initially developed in earth-centered coordinates which can subsequently be converted
to any other coordinate system. With as few as four GPS satellites in view, the absolute position of the receiver in
three-dimensional space can be determined. Only one receiver is needed. With Selective Availability (SA) active,
the typical horizontal accuracy obtainable using single-point positioning is of the order of 100 m (95% of the time).
In relative positioning, also known as differential positioning, the coordinates of a GPS receiver at an unknown
point (the “remote” station) are sought with respect to a GPS receiver at a known point (the “reference” station).
The concept is illustrated in Figure A-4. The relative-position accuracy of two receivers locked on the same
satellites and not far removed from each other - up to tens of kilometers - is extremely high. The largest error
contributors in single-point positioning are those associated with SA and atmospheric-induced effects. These
errors, however, are highly correlated for adjacent receivers and hence cancel out in relative measurements. Since
the position of the reference station can be determined to a high degree of accuracy using conventional surveying
techniques, any differences between its known position and the position computed using GPS techniques can be
attributed to various components of error as well as the receiver’s clock bias. Once the estimated clock bias is
removed, the remaining error on each pseudorange can be determined. The reference station sends information
about each satellite to the remote station, which in turn can determine its position much more exactly than would
be possible otherwise.
The advantage of relative positioning is that much greater precision (presently as low as 2 mm, depending on the
method and environment) can be achieved than by single-point positioning. In order for the observations of the
reference station to be integrated with those of the remote station, relative positioning requires either a data link
between the two stations (if the positioning is to be achieved in real-time) or else post-processing of the data
collected by the remote station. At least four GPS satellites in view are still required. The absolute accuracy of the
remote station’s computed position will depend on the accuracy of the reference station’s position.
5. Environment Canada, 1993, Guideline for the Application of GPS Positioning, p. 22.
Minister of Supply and Services Canada
High accuracy,
high precision
High accuracy,
low precision Low accuracy,
low precision
Low accuracy,
high precision
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66 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
Figure A-4 Example of Differential Positioning
Static vs. Kinematic Positioning
Static and kinematic positioning refer to whether a GPS receiver is stationary or in motion while collecting GPS
data.
Real-time vs. Post-mission Data Processing
Real-time or post-mission data processing refer to whether the GPS data collected by the receiver is processed as
it is received or after the entire data-collection session is complete.
A.3.1 DIFFERENTIAL POSITIONING
There are two types of differential positioning algorithms: pseudorange and carrier phase. In both of these
approaches, the “quality” of the positioning solution generally increases with the number of satellites which can be
simultaneously viewed by both the reference and remote station receivers. As well, the quality of the positioning
solution increases if the distribution of satellites in the sky is favorable; this distribution is quantified by a figure
of merit, the Position Dilution of Precision (PDOP), which is defined in such a way that the lower the PDOP, the
better the solution.
Due to the many different applications for differential positioning systems, two types of position solutions are
possible. NovAtel’s carrier-phase algorithms can generate both matched and low-latency position solutions, while
NovAtel’s pseudorange algorithms generate only low-latency solutions. These are described below:
Remote station
GPS antenna
Reference station
Radio
TX
GPS
RX
Radio
RX
GPS
RX
Differential
data
GPS satellites
GPS antenna
(shown with
choke-ring ground plane)
User with hand-held
computer
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MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 67
1. The matched position solution is computed at the remote station when the observation information for
a given epoch has arrived from the reference station via the data link. Matched observation set pairs are
observations by both the reference and remote stations which are matched by time epoch, and contain
the same satellites. The matched position solution is the most accurate one available to the operator of
the remote station, but it has an inherent latency – the sum of time delays between the moment that the
reference station makes an observation and the moment that the differential information is processed at
the remote station. This latency depends on the computing speed of the reference station receiver, the
rates at which data is transmitted through the various links, and the computing speed of the remote sta-
tion; the overall delay is of the order of one second. Furthermore, this position cannot be computed any
more often than the observations are sent from the reference station. Typically, the update rate is one
solution every two seconds.
2. The low latency (or extrapolated) position solution is based on a prediction. Instead of waiting for the
observations to arrive from the reference station, a model (based on previous reference station observa-
tions) is used to estimate what the observations will be at a given time epoch. These estimated reference
station observations are combined with actual measurements taken at the remote station to provide the
position solution. Because only the reference station observations are predicted, the remote station’s dy-
namics will be accurately reflected. The latency in this case (the time delay between the moment that a
measurement is made by the remote station and the moment that a position is made available) is deter-
mined only by the remote processor’s computational capacity; the overall delay is of the order of 100
ms. Low-latency position solutions can be computed more often than matched position solutions; the
update rate can reach 4 solutions per second. The low-latency positions will be provided for data gaps
between matched positions of up to 30 seconds (for a carrier-phase solution) or 60 seconds (for a pseu-
dorange solution, unless adjusted using the DGPSTIMEOUT command). A general guideline for the
additional error incurred due to the extrapolation process is shown in Table 1-2.
A.3.2 PSEUDORANGE ALGORITHMS
Pseudorange algorithms correlate the pseudorandom code on the GPS signal received from a particular satellite,
with a version generated within the reference station receiver itself. The time delay between the two versions,
multiplied by the speed of light, yields the pseudorange (so called because it contains several errors) between the
reference station and that particular satellite. The availability of four pseudoranges allows the reference station
receiver to compute its position (in three dimensions) and the offset required to synchronize its clock with GPS
system time. The discrepancy between the reference station receiver’s computed position and its known position
is due to errors and biases on each pseudorange. The reference station receiver sums these errors and biases for
each pseudorange, and then broadcasts these corrections to the remote station. The remote receiver applies the
corrections to its own measurements; its corrected pseudoranges are then processed in a least-squares algorithm to
obtain a position solution.
The “wide correlator” receiver design that predominates in the GPS industry yields accuracies of 3-5 m (SEP).
NovAtel’s patented Narrow Correlator tracking technology reduces noise and multipath interference errors,
yielding accuracies of 1 m (SEP).
Pseudorange Differential Positioning
GPS SYSTEM ERRORS
In general, GPS SPS C/A code single point pseudorange positioning systems are capable of absolute position
accuracies of about 100 meters or less. This level of accuracy is really only an estimation, and may vary widely
depending on numerous GPS system biases, environmental conditions, as well as the GPS receiver design and
engineering quality.
There are numerous factors which influence the single point position accuracies of any GPS C/A code receiving
system. As the following list will show, a receiver’s performance can vary widely when under the influences of
these combined system and environmental biases.
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68 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
•Ionospheric Group Delays – The earth’s ionospheric layers cause varying degrees of GPS
signal propagation delay. Ionization levels tend to be highest during daylight hours causing
propagation delay errors of up to 30 meters, whereas night time levels are much lower and
may be up to 6 meters.
•Tropospheric Refraction Delays – The earth’s tropospheric layer causes GPS signal
propagation delays which bias the range measurements. The amount of delay is at the
minimum (about three metres) for satellite signals arriving from 90 degrees above the
horizon (overhead), and progressively increases as the angle above the horizon is reduced to
zero where delay errors may be as much as 50 metres at the horizon.
•Ephemeris Errors – Some degree of error always exists between the broadcast ephemeris’
predicted satellite position and the actual orbit position of the satellites. These errors will
directly affect the accuracy of the range measurement.
•Satellite Clock Errors – Some degree of error also exists between the actual satellite clock
time and the clock time predicted by the broadcast data. This broadcast time error will cause
some bias to the pseudorange measurements.
•Receiver Clock Errors – Receiver clock error is the time difference between GPS receiver
time and true GPS time. All GPS receivers have differing clock offsets from GPS time that
vary from receiver to receiver by an unknown amount depending on the oscillator type and
quality (TCXO vs. OCXO, etc.). However, because a receiver makes all of its single point
pseudorange measurements using the same common clock oscillator, all measurements will
be equally offset, and this offset can generally be modeled or quite accurately estimated to
effectively cancel the receiver clock offset bias. Thus, in single point positioning, receiver
clock offset is not a significant problem. However, in pseudorange differential operation,
between-receiver clock offset is a source of uncorrelated bias.
•Selective Availability (SA) – Selective availability is when the GPS Control Segment
intentionally corrupts satellite clock timing and broadcast orbit data to cause reduced
positioning accuracy for general purpose GPS SPS users (non-military). When SA is active,
range measurements may be biased by as much as 30 metres.
•Multipath Signal Reception – Multipath signal reception can potentially cause large
pseudorange and carrier phase measurement biases. Multipath conditions are very much a
function of specific antenna site location versus local geography and man-made structural
influences. Severe multipath conditions could skew range measurements by as much as 100
meters or more. See Appendix B, Multipath Elimination Technology, Page 73 for more
information.
The NovAtel GPSCard receivers are capable of absolute single point positioning accuracies of 15 meters CEP
(GDOP < 2; no multipath) when SA is off and 40 meters CEP while AS is on. (As the status of selective availability
is generally unknown by the real-time GPS user, the positioning accuracy should be considered to be that of when
AS is on).
The general level of accuracy available from single point operation may be suitable for many types of positioning
such as ocean going vessels, general aviation, and recreational vessels that do not require position accuracies of
better than 100 meters CEP. However, increasingly more and more applications desire and require a much higher
degree of accuracy and position confidence than is possible with single point pseudorange positioning. This is
where differential GPS (DGPS) plays a dominant role in higher accuracy real-time positioning systems.
SINGLE POINT AVERAGING WITH THE GPSCARD
By averaging many GPS measurement epochs over several hours, it is possible to achieve an absolute position
based on the WGS 84 datum to better than five meters. This section attempts to explain how the position averaging
function operates and to provide an indication of the level of accuracy that can be expected versus total averaging
time.
The POSAVE command implements position averaging for reference stations. Position averaging will continue for
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MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 69
a specified number of hours or until the averaged position is within specified accuracy limits. Averaging will stop
when the time limit or the horizontal standard deviation limit or the vertical standard deviation limit is achieved.
When averaging is complete, the FIX POSITION command will automatically be invoked.
If the maximum time is set to 1 hour or larger, positions will be averaged every 10 minutes and the standard
deviations reported in the PAVA/B log should be correct. If the maximum time is set to less than 1 hour, positions
will be averaged once per minute and the standard deviations reported in the log will likely not be accurate; also,
the optional horizontal and vertical standard deviation limits cannot be used.
If the maximum time that positions are to be measured is set to 24, for example, you can then log PAVA with the
trigger ‘onchanged’ to see the averaging status. i.e.,
posave 24
log com1 pava onchanged
You could initiate differential logging, then issue the POSAVE command followed by the SAVECONFIG command.
This will cause the GPSCard to average positions after every power-on or reset, then invoke the FIX POSITION
command to enable it to send differential corrections.
The position accuracy that may be achieved by these methods will be dependent on many factors: average satellite
geometry, sky visibility at antenna location, satellite health, time of day, etc. The following graph summarizes the
results of several examples of position averaging over different time periods. The intent is to provide an idea of the
relationship between averaging time and position accuracy. All experiments were performed using a single
frequency receiver with an ideal antenna location, see Figure A-5.
This function is useful for obtaining the WGS84 position of a point to a reasonable accuracy without having to
implement differential GPS. It is interesting to note that even a six hour occupation can improve single point GPS
accuracy from over fifty meters to better than five meters. This improved accuracy is primarily due to the
reductions of the multipath and selective availability errors in the GPS signal.
Again, it is necessary to keep in mind that the resulting standard deviations of the position averaging can vary quite
a bit, especially over relatively short averaging times. To illustrate, the position averaging function was run for a
period of one hour at three different times during the day. The resulting standard deviation in latitude varied from
4.7 to 7.0 meters. Similarly, the variation in longitude and height were 4.9 to 6.7 meters and 10.9 to 12.5 meters
respectively. This degree of variation is common for averaging periods of less than 12 hours due to changes in the
Figure A-5 Single Point Averaging
NOTE: This graph represents typical results using position averaging.
0
5
10
15
20
25
30
35
0 4 8 12162024283236404448
Time (hours)
Standard Deviation (meters)
Latitude Longtitude Height
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70 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
satellite constellation. The graph, however, should at least provide some indication of the accuracy one may expect
from single point position averaging.
Dual Station Differential Positioning
It is the objective of operating in differential mode to either eliminate or greatly reduce most of the errors
introduced by the above types of system biases. Pseudorange differential positioning is quite effective in largely
removing most of the biases caused by satellite clock error, ionospheric and tropospheric delays (for baselines less
than 50 km), ephemeris prediction errors, and SA. However, the biases caused by multipath reception and receiver
clock offset are uncorrelated between receivers and thus cannot be cancelled by "between receiver single
differencing" operation.
Differential operation requires that stations operate in pairs. Each pair consists of a reference station (or control
station) and a remote station. A differential network could also be established when there is more than one remote
station linked to a single reference station.
In order for the differential pair to be effective, differential positioning requires that both reference and remote
station receivers track and collect satellite data simultaneously from common satellites. When the two stations are
in relatively close proximity (< 50 km), the pseudorange bias errors are considered to be nearly the same and can
be effectively cancelled by the differential corrections. However, if the baseline becomes excessively long, the
bias errors begin to decorrelate, thus reducing the accuracy or effectiveness of the differential corrections.
Figure A-6 Typical Differential Configuration
Remote Station
Reference Station
Modem
Radio Data Link
Differential
Corrections
Output
Differential
Corrections
Input
GPS Receiver
GPSAntenna
With Chokering
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MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 71
THE REFERENCE STATION
The nucleus of the differential network is the reference station. To function as a base station, the GPS receiver
antenna must be positioned at a control point whose position is precisely known in the GPS reference frame.
Typically, the fixed position will be that of a geodetic marker or a pre-surveyed point of known accuracy.
The reference receiver must then be initialized to fix its position to agree with the latitude, longitude, and height
of the phase centre of the reference station GPS receiver antenna. Of course, the antenna offset position from the
marker must be accurately accounted for.
Because the reference station’s position is fixed at a known location, it can now compute the range of its known
position to the satellite. The reference station now has two range measurements with which to work: computed
pseudoranges based on its known position relative to the satellite, and measured pseudoranges which assumes the
receiver position is unknown. Now, the reference station’s measured pseudorange (unknown position) is
differenced against the computed range (based on known position) to derive the differential correction which
represents the difference between known and unknown solutions for the same antenna. This difference between the
two ranges represents the combined pseudorange measurement errors resulting from receiver clock errors,
atmospheric delays, satellite clock error, orbital errors, and SA.
The reference station will derive pseudorange corrections for each satellite being tracked. These corrections can
now be transmitted over a data link to one or more remote stations. It is important to ensure that the reference
station’s FIX POSITION setting be as accurate as possible, as any errors here will directly bias the pseudorange
corrections computed, and can cause unpredictable results depending on the application and the size of the base
station position errors. As well, the reference station’s pseudorange measurements may be biased by multipath
reception.
THE REMOTE STATION
A remote station is generally any receiver whose position is of unknown accuracy, but has ties to a reference station
through an established data link. If the remote station is not receiving differential corrections from the reference
station, it is essentially utilizing single point positioning measurements for its position solutions, thus is subject to
the various GPS system biases. However, when the remote GPS receiver is receiving a pseudorange correction from
the reference station, this correction is algebraically summed against the local receiver’s measured pseudorange,
thus effectively cancelling the effects of orbital and atmospheric errors (assuming baselines < 50 km), as well as
eliminating satellite clock error.
The remote must be tracking the same satellites as the reference in order for the corrections to take effect. Thus,
only common satellites will utilize the differential corrections. When the remote is able to compute its positions
based on pseudorange corrections from the reference station, its position accuracies will approach that of the
reference station. Remember, the computed position solutions are always that of the GPS receiving antenna phase
centre.
A.4 CARRIER-PHASE ALGORITHMS
Carrier-phase algorithms monitor the actual carrier wave itself. These algorithms are the ones used in real-time
kinematic (RTK) positioning solutions - differential systems in which the remote station, possibly in motion,
requires reference-station observation data in real-time. Compared to pseudorange algorithms, much more
accurate position solutions can be achieved: carrier-based algorithms can achieve accuracies of 1-2 cm (CEP).
A carrier-phase measurement is also referred to as an accumulated delta range (ADR). At the L1 frequency, the
wavelength is 19 cm; at L2, it is 24 cm. The instantaneous distance between a GPS satellite and a receiver can be
thought of in terms of a number of wavelengths through which the signal has propagated. In general, this number
has a fractional component and an integer component (such as 124 567 967.330 cycles), and can be viewed as a
pseudorange measurement (in cycles) with an initially unknown constant integer offset. Tracking loops can
compute the fractional component and the change in the integer component with relative ease; however, the
determination of the initial integer portion is less straight-forward and, in fact, is termed the ambiguity.
In contrast to pseudorange algorithms where only corrections are broadcast by the reference station, carrier-phase
algorithms typically “double difference” the actual observations of the reference and remote station receivers.
Double-differenced observations are those formed by subtracting measurements between identical satellite pairs
on two receivers:
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72 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
ADRdouble difference = (ADRrx A,sat i - ADRrx A,sat j) - (ADRrx B,sat i - ADRrx B,sat j)
An ambiguity value is estimated for each double-difference observation. One satellite is common to every satellite
pair; it is called the reference satellite, and it is generally the one with the highest elevation. In this way, if there
are n satellites in view by both receivers, then there will be n-1 satellite pairs. The difference between receivers A
and B removes the correlated noise effects, and the difference between the different satellites removes each
receiver’s clock bias from the solution.
In the NovAtel RTK system, a floating (or “continuous-valued”) ambiguity solution is continuously generated
from a Kalman filter. When possible, fixed-integer ambiguity solutions are also computed because they are more
accurate, and produce more robust standard-deviation estimates. Each possible discrete ambiguity value for an
observation defines one lane; that is, each lane corresponds to a possible pseudorange value. There are a large
number of possible lane combinations, and a receiver has to analyze each possibility in order to select the correct
one. For single-frequency receivers, there is no alternative to this brute-force approach. However, one advantage
of being able to make both L1 and L2 measurements is that linear combinations of the measurements made at both
frequencies lead to additional values with either “wider” or “narrower” lanes. Fewer and wider lanes make it easier
for the software to choose the correct lane, having used the floating solution for initialization. Once the correct
wide lane has been selected, the software searches for the correct narrow lane. Thus, the searching process can
more rapidly and accurately home in on the correct lane when dual-frequency measurements are available.
Changes in the geometry of the satellites aids in ambiguity resolution; this is especially noticeable in L1-only
solutions. In summary, NovAtel’s RTK system permits L1/L2 receivers to choose integer lanes while forcing L1-
only receivers to rely exclusively on the floating ambiguity solution.
Once the ambiguities are known, it is possible to solve for the vector from the reference station to the remote
station. This baseline vector, when added to the position of the reference station, yields the position of the remote
station.
In the NovAtel RTK system, the floating ambiguity and the integer position solutions (when both are available) are
continuously compared for integrity purposes. The better one is chosen and output in the receiver’s matched-
position logs. The “best” ambiguities determined are used with the remote station’s local observations and a
reference station observation model to generate the remote station’s low-latency observations.
NovAtel’s RTK product line consists of RT-2 and RT-20 software. Performance characteristics of each are
described in Appendix E.
B Multipath Elimination Technology
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 73
B MULTIPATH ELIMINATION TECHNOLOGY
Multipath signal reception is one of the most plaguing problems that detracts from the accuracy potential of GPS
pseudorange differential positioning systems. This section will provide a brief look at the problems of multipath
reception and some solutions developed by NovAtel.
B.1 MULTIPATH
Multipath occurs when an RF signal arrives at the receiving antenna from more than one propagation route
(multiple propagation paths).
Figure B-1 Illustration of GPS Signal Multipath
Why Does Multipath Occur?
When the GPS signal is emitted from the satellite antenna, the RF signal propagates away from the antenna in many
directions. Because the RF signal is emitted in many directions simultaneously and is traveling different paths,
these signals encounter various and differing natural and man-made objects along the various propagation routes.
Whenever a change in medium is encountered, the signal is either absorbed, attenuated, refracted, or reflected.
Refraction and reflection cause the signals to change direction of propagation. This change in path directions often
results in a convergence of the direct path signal with one or more of the reflected signals. When the receiving
antenna is the point of convergence for these multipath signals, the consequences are generally not favorable.
Whenever the signal is refracted, some signal polarity shifting takes place; and when full reflection occurs, full
polarity reversal results in the propagating wave. The consequences of signal polarity shifting and reversal at the
receiving antenna vary from minor to significant. As well, refracted and reflected signals generally sustain some
degree of signal amplitude attenuation.
It is generally understood that, in multipath conditions, both the direct and reflected signals are present at the
antenna and the multipath signals are lower in amplitude than the direct signal. However, in some situations, the
direct signal may be obstructed or greatly attenuated to a level well below that of the received multipath signal.
Obstruction of direct path signals is very common in city environments where many tall buildings block the line
of sight to the satellites. As buildings generally contain an abundance of metallic materials, GPS signal reflections
are abundant (if not overwhelming) in these settings. Obstructions of direct path signals can occur in wilderness
BMultipath Elimination Technology
B Multipath Elimination Technology
74 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
settings as well. If the GPS receiver is in a valley with nearby hills, mountains and heavy vegetation, signal
obstruction and attenuation are also very common.
Consequences of Multipath Reception
Because GPS is a radio ranging and positioning system, it is imperative that ground station signal reception from
each satellite be of direct line of sight. This is critical to the accuracy of the ranging measurements. Obviously,
anything other than direct line of sight reception will skew and bias the range measurements and thus the
positioning triangulation (or more correctly, trilateration). Unfortunately, multipath is almost always present to
some degree, due to real world conditions.
When a GPS multipath signal converges at the GPS antenna, there are two primary problems that occur:
1. a multiple signal with amplitude and phase shifting, and
2. a multiple signal with differing ranges.
When a direct signal and multipath signal are intercepted by the GPS antenna, the two signals will sum according
to the phase and amplitude of each. This summation of signals causes the composite to vary greatly in amplitude,
depending on the degree of phase shift between the direct signal versus the multipath signal. If the multipath signal
lags the direct path signal by less than 90° the composite signal will increase in amplitude (relative to the direct
signal, depending on the degree of phase shift between 0° and 90°). As well, if the multipath signal lags the direct
path signal by greater than 90° but less than 270° the composite signal will decrease in amplitude. Depending on
the relative amplitude of the multipath signal (or signals), the composite signal being processed by the receiver
correlator may experience substantial amplitude variations, which can play havoc with the receiver’s automatic
gain control circuitry (AGC) as it struggles to maintain constant signal levels for the receiver correlator. A worst
case scenario is when the multipath signal experiences a lag of 180° and is near the same strength as the direct path
signal – this will cause the multipath signal to almost completely cancel out the direct path signal, resulting in loss
of satellite phase lock or even code lock.
Because a multipath signal travels a greater distance to arrive at the GPS antenna, the two C/A code correlations are,
by varying degrees, displaced in time, which in turn causes distortion in the correlation peak and thus ambiguity
errors in the pseudorange (and carrier phase, if applicable) measurements.
As mentioned in previous paragraphs, it is possible that the received multipath signal has greater amplitude than
the direct path signal. In such a situation the multipath signal becomes the dominant signal and receiver
pseudorange errors become significant due to dominant multipath biases and may exceed 150 meters. For single
point pseudorange positioning, these occasional levels of error may be tolerable, as the accuracy expectations are
at the 40 meter CEP level (using standard correlator). However, for pseudorange single differencing DGPS users,
the accuracy expectations are at the one to five mere CEP level (with no multipath). Obviously, multipath biases
now become a major consideration in trying to achieve the best possible pseudorange measurements and position
accuracy.
If a differential reference station is subject to significant multipath conditions, this in turn will bias the range
corrections transmitted to the differential remote receiver. And in turn, if the remote receiver also experiences a
high level of multipath, the remote receiver position solutions will be significantly biased by multipath from both
stations. Thus, when the best possible position solutions are required, multipath is certainly a phenomenon that
requires serious consideration.
B.2 HARDWARE SOLUTIONS FOR MULTIPATH REDUCTION
A few options exist by which GPS users may reduce the level of multipath reception. Among these include: antenna
site selection, special antenna design, and ground plane options.
Antenna Site Selection
Multipath reception is basically a condition caused by environmental circumstances. Some of these conditions you
may have a choice about and some you may not.
Many GPS reception problems can be reduced, to some degree, by careful antenna site selection. Of primary
importance is to place the antenna so that unobstructed line-of-sight reception is possible from horizon to horizon
B Multipath Elimination Technology
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 75
and at all bearings and elevation angles from the antenna. This is, of course, the ideal situation, which may not be
possible under actual operating conditions.
Try to place the antenna as far as possible from obvious reflective objects, especially reflective objects that are
above the antenna’s radiation pattern horizon. Another solution would be to install an RF fence pointing toward
the reflector which is causing the multipath. When installed close to the antenna, it effectively attenuates the
unwanted multipath signal. Close-in reflections will be stronger, and typically have a shorter propagation delay
allowing for autocorrelation of signals with a propagation delay of less than one C/A code chip (300 meters).
Figure B-2 Illustration of GPS Signal Multipath vs. Increased Antenna Height
When the antenna is in an environment with obstructions and reflective surfaces in the vicinity, it is advantageous
to mount the antenna as high as possible to reduce the obstructions, as well as reception from reflective surfaces,
as much as possible.
Water bodies are extremely good reflectors of GPS signals. Because of the short wavelengths at GPS frequencies,
even small ponds and water puddles can be a strong source of multipath reception, especially for low angle
satellites. Thus, it can be concluded that water bodies such as lakes and oceans are among the most troublesome
multipath environments for low angle signal reception. Obviously, water body reflections are a constant problem
for ocean going vessels.
Antenna Designs
Low angle reflections, such as from water bodies, can be reduced by careful selection of antenna design. For
example, flat plate microstrip patch antennas have relatively poor reception properties at low elevation angles near
their radiation pattern horizon.
Quadrifilar helix antennas and other similar vertically high profile antennas tend to have high radiation gain
patterns at the horizon. These antennas, in general, are more susceptible to the problems resulting from low angle
multipath reception. So, for marine vessels, this type of antenna encourages multipath reception. However, the
advantages of good low angle reception also means that satellites can be acquired more easily while rising in the
horizon. As well, vessels subject to pitch and roll conditions will experience fewer occurrences of satellite loss of
lock.
A good antenna design will also incorporate some form of left hand circular polarization (LHCP) rejection.
Multipath signals change polarization during the refraction and reflection process. This means that generally,
multipath signals may be LHCP oriented. This property can be used to advantage by GPS antenna designers. If a
GPS antenna is well designed for RHCP polarization, then LHCP multipath signals will automatically be attenuated
somewhat during the induction into the antenna. To further enhance performance, antennas can be designed to
increase the rejection of LHCP signals. NovAtel’s GPSAntenna model 501 is an example of an antenna optimized
to further reject LHCP signals by more than 10 dB.
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76 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
Figure B-3 Illustration of Quadrifilar vs. Microstrip Patch Antennae
Antenna Ground Planes
Nearby objects can influence the radiation pattern of an antenna. Thus, one of the roles of the antenna ground plane
is to create a stabilizing artificial environment on which the antenna rests and which becomes a part of the antenna
structure and its resultant radiation pattern.
A small ground plane (relative to one wavelength at the operating frequency) may have minimal stabilizing effect,
whereas a large ground plane (multiple wavelengths in size) will have a highly stabilizing effect.
Large ground planes also exhibit a shielding effect against RF signal reflections originating below the antenna’s
radiation pattern horizon. This can be a very effective low angle shield when the antenna is elevated on a hill or
other structure above other reflecting surfaces such as vehicles, railway tracks, soil with high moisture content,
water bodies, etc.
One of the drawbacks of a "flat plate" ground plane is that it gives a “hard boundary condition”, ie. allowing
electromagnetic waves to propagate along the ground plane and diffract strongly from its edge. The “soft
boundary” condition, on the other hand, will prevent the wave from propagating along the surface of the ground
plane and thereby reducing the edge diffraction effects. As a result the antenna will exhibit a completely different
radiation pattern. The “soft boundary” condition is typically achieved by a quarter wavelength deep, transversely
corrugated ground plane surface (denoted as “choke ring ground plane”). When the depth of the corrugation (choke
rings) is equal to a quarter wavelength, the surface wave vanishes, and the surface impedance becomes infinite and
hence provides the “soft boundary” condition for the electromagnetic field. This results in modifications to the
antenna radiation pattern that is characterized by low back lobe levels, no ripples in the main lobe, sharper
amplitude, roll-off near the horizon and better phase center stability (there are smaller variations in 2 axes). This is
what makes NovAtel's GPS antennas so successful when used with the NovAtel GPSAntenna choke ring ground
plane.
NovAtel’s Internal Receiver Solutions for Multipath Reduction
The multipath antenna hardware solutions described in the previous paragraphs are capable of achieving varying
degrees of multipath reception reduction. These options, however, require specific conscious efforts on the part of
the GPS user. In many situations, especially kinematic, few (if any) of the above solutions may be effective or even
possible to incorporate. By far, the best solutions are those which require little or no special efforts in the field on
Quadrifilar Elements
Radome Antenna Patch
Dielectric
Patch Ground Plane
Quadrifilar Helix Antenna Microstrip Patch Antenna
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MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 77
the part of the GPS user. This is what makes NovAtel’s internal receiver solutions so desirable and practical.
NovAtel has placed long term concerted effort into the development of internal receiver solutions and techniques
that achieve multipath reduction, all of which are transparent to the GPSCard user. These achievements have led
to Narrow Correlator tracking technology.
It utilizes innovative patented correlator delay lock loop (DLL) techniques. As it is beyond the scope of this manual
to describe in detail how the correlator techniques achieve the various levels of performance, the following
paragraphs will provide highlights of the advantages of this technology.
NARROW CORRELATOR TRACKING TECHNOLOGY
NovAtel’s MiLLennium GPSCard receivers achieve a higher level of pseudorange positioning "performance" vs.
standard (wide) correlator, by virtue of its celebrated Narrow Correlator tracking technology. By utilizing Narrow
Correlator tracking techniques, the MiLLennium GPSCard is capable of pseudorange measurement improvements
better than 2:1 when compared to standard correlation techniques. As well, the Narrow Correlator tracking
technology inherently reduces multipath reception (approaching a factor of eight compared to standard correlator)
by virtue of its narrower autocorrelation function.
Figure B-4, Page 78 illustrates relative multipath-induced tracking errors encountered by standard correlators vs.
NovAtel’s Narrow Correlator tracking technology. As can be seen, standard correlators are susceptible to
substantial multipath biases for C/A code chip delays of up to 1.5 chip, with the most significant C/A code multipath
bias errors occurring at about 0.25 and 0.75 chip (approaching 80 m error). On the other hand, the Narrow
Correlator tracking technology multipath susceptibility peaks at about 0.2 chip (about 10 m error) and remains
relatively constant out to 0.95 chip, where it rapidly declines to negligible errors after 1.1 chip.
While positioning in single point mode, the multipath and ranging improvement benefits of a Narrow Correlator
tracking technology receiver vs. standard correlator are overridden by a multitude of GPS system biases and errors
(with or without an antenna choke ring ground plane). In either case, positioning accuracy will be in the order of
40 meters CEP (SA on, no multipath). However, the benefits of the Narrow Correlator tracking technology become
most significant during pseudorange DGPS operation, where the GPS systematic biases are largely cancelled.
Receivers operating DGPS with standard correlator technology typically achieve positioning accuracies in the two
to five meter CEP range (low multipath environment and using choke ring ground plane), while NovAtel’s Narrow
Correlator tracking technology receivers are able to achieve positioning accuracies in the order of 0.75 meter CEP
(low multipath environment and using choke ring ground plane). The Narrow Correlator tracking technology
achieves this higher accuracy through a combination of lower noise ranging measurements combined with its
improved multipath resistance when compared to the standard correlator.
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78 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
Figure B-4 Comparison of Multipath Envelopes
SUMMARY
Any localized propagation delays or multipath signal reception cause biases to the GPS ranging measurements that
cannot be differenced by traditional DGPS single or double differencing techniques. Generally speaking, single
point positioning systems are not too concerned with multipath reception, as the system errors are quite large to
begin with. However, multipath is recognized as the greatest source of errors encountered by a system operating
in differential mode. It has been discussed that careful site selection and good antenna design combined with a
choke ring ground plane are fairly effective means of reducing multipath reception.
Internal receiver solutions for multipath elimination are achieved through various types of correlation techniques,
where the "standard correlator" is the reference by which all other techniques can be compared.
The Narrow Correlator tracking technology has a two fold advantage over standard correlators: improved ranging
measurements due to a sharper, less noisy correlation peak, and reduced susceptibility to multipath due to rejection
of C/A code delays of greater than 1.0 chip. When used with a choke ring ground plane, the Narrow Correlator
tracking technology provides substantial performance gains over standard correlator receivers operating in
differential mode.
C Commands Summary
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C COMMANDS SUMMARY
ACCEPT
The ACCEPT command controls the processing of input data and is primarily used to set the GPSCard’s COM port
command interpreter for acceptance of various data formats. Each port can be controlled to allow ASCII command
processing (default), binary differential data processing, or the command interpreter can be turned off.
The command interpreter automatically distinguishes between ASCII commands and certain NovAtel-format
ASCII and binary logs without receiving an ACCEPT command.
MiLLennium GPSCards will by default interpret $RTCM59A corrections, and will interpret RTCM59 if ACCEPT
RTCM has been entered.
On certain GPSCards the ACCEPT port COMMANDS mode will by default accept, interpret, and process these
data messages: $PVAA, PVAB, $REPA, REPB, $RTCM1A, $RTCAA, $RTCM3A, $RTCM9A, $RTCM16A,
$TM1A and TM1B, without any other initialization required.
The command interpreter can process some NovAtel-format binary logs (which have a proprietary header) or
ASCII logs without receiving an ACCEPT command. Therefore, the ACCEPT command is needed only for the
RTCA, RTCM and CMR logs. When using ACCEPT RTCM, the interpretation of the RTCM data will follow the
rules defined by the RTCMRULE command (see Chapter 4, Message Formats, Page 45). In the default processing
mode (ACCEPT port COMMANDS), input ASCII data received by the specified port will be interpreted and
processed as a valid GPSCard command. If the input data cannot be interpreted as a valid GPSCard command, an
error message will be echoed from that port (if the command MESSAGES is “ON”). When valid data is accepted
and interpreted by the port, it will be processed and acknowledged by echoing the port prompt (with the exception
of VERSION and HELP commands, which reply with data before the prompt).
In the binary differential data processing modes, (ACCEPT port RTCA/RTCM/CMR), only the applicable data
types specified will be interpreted and processed by the specified COM port; no other data will be interpreted. It
is important to note that only one out of two COM ports can be specified to accept binary differential correction
data. Both ports cannot be set to accept differential data at the same time.
When ACCEPT port NONE is set, the specified port will be disabled from interpreting any input data. Therefore,
no commands or differential corrections will be decoded by the specified port. However, data can still be logged
out from the port, and data can be input to the port for formatting into Pass-Through logs (see Chapter 5, Page
45). If the GPSCard operator wants to time-tag non-GPS messages as a Pass-Through log, it is recommended that
the port accepting the Pass-Through data be set to “NONE”. This will prevent the accepting GPSCard COM port
from echoing error messages in response to receipt of unrecognized data. If you do not wish to disable the
command interpreter, and do want to disable message error reporting, see the MESSAGES command, Appendix C,
Page 108.
The GPSCard user can monitor the differential data link as well as the data decoding process by utilizing the
CDSA/B logs. See the CDSA/B log, Appendix D, Page 144 for more information on data link monitoring.
CCOMMANDS SUMMARY
C Commands Summary
80 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
Syntax:
Example:
accept com1 rtcm
ACCEPT port option
Syntax Range Value Description Default
ACCEPT -Command
port COM1 or COM2 Specifies the COM port to be controlled
option NONE Turn off Command Interpreter commands
(GPSCard
model
dependent)
COMMANDS
RTCA
RTCM
CMR
Command Interpreter attempts to interpret all incoming data. Will also interpret certain
ASCII and NovAtel format binary logs.
Interprets RTCAB or raw binary RTCA data only (Types 1,7)
Interprets raw binary RTCM data only (Types 1,2,3,9,16,18,19 and 59N)
Receives CMR messages
C Commands Summary
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ANTENNAPOWER
On MiLLennium GPSCards this command enables or disables the supply of electrical power from the internal
power source of the card to the low-noise amplifier (LNA) of an active antenna. Jumper P301 allows the user to
power the LNA either by an internal power source (plug connects pins 1&2) or an optional external power source
(plug connects pins 2&3); or, the user can cut off all power to the antenna (plug removed). For more information
on these jumper settings, please refer to Chapter 3 of the MiLLennium Guide to Installation and Operation. The
ANTENNAPOWER command, which is only relevant when Jumper P301 is set to connect pins 1&2, determines
whether or not internal power is applied to pin 1 of Jumper P301. Table C-1 summarizes the combinations:
Table C-1 Antenna LNA Power Configuration
The setting of this command will affect the way the MiLLennium’s self-test diagnostics (see Table D-5, Page 196)
report the antenna’s status.
Syntax:
Example:
antennapower off
P301: plug connects
pins 1&2 P301: plug connects
pins 2&3 P301: no plug
ANTENNAPOWER = ON
internal power connected
to LNA no external effect no external effect
ANTENNAPOWER = OFF internal power cut off from
LNA no external effect no external effect
ANTENNAPOWER flag
Command Range Value Description Default
ANTENNAPOWER Command on
flag (none) Displays status of the internal antenna-power supply.
ON If plug on P301 joins pins 1&2, connects internal power to the LNA. Antenna status
will be reported as “GOOD” unless a fault is detected, in which case the status will
change to “BAD” and the internal power cut off from pin 1.
OFF If plug on P301 joins pins 1&2, cuts off internal power from the LNA. Antenna status
will always be reported as “GOOD”.
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ASSIGN
This command may be used to aid in the initial acquisition of a satellite by allowing you to override the automatic
satellite/channel assignment and reacquisition processes with manual instructions. The command specifies that the
indicated tracking channel search for a specified satellite at a specified Doppler frequency within a specified
Doppler window. The instruction will remain in effect for the specified channel and PRN, even if the assigned
satellite subsequently sets. If the satellite Doppler offset of the assigned channel exceeds that specified by the
Search-Window parameter of the ASSIGN command, the satellite may never be acquired or re-acquired. To cancel
the effects of ASSIGN, you must issue the UNASSIGN or UNASSIGNALL command, or reboot the GPSCard.
When using this command, NovAtel recommends that you monitor the channel tracking status (ETSA/B) of the
assigned channel and then use the UNASSIGN or UNASSIGNALL commands to cancel the command once the channel
has reached channel state 4, the Phase Lock Loop (PLL) state. See Appendix D, Page 155, the ETSA/B ASCII log
structure and Table D-7, Page 201 for an explanation of the various channel tracking states.
NOTE: Assigning a PRN to a channel does not remove the PRN from the search space of the automatic
searcher; only the channel is removed. By default, the automatic searcher only searches for the GPS
satellites (PRNs 1-32).
There are two syntactical forms of this command, as shown below.
Syntax #1:
Example 1: assign 0,29,0,2000
In example 1, the first channel will try to acquire satellite PRN 29 in a range from -2000 Hz to 2000 Hz until the
satellite signal has been detected.
Example 2: assign 11,28,-250,0
The twelfth channel will try to acquire satellite PRN 28 at -250 Hz only.
Syntax #2:
Example 3: assign 11,idle
In Example 3, Channel 11 will be idled and will not attempt to search for satellites.
ASSIGN channel prn doppler search-window
Syntax Range Value Description Default Example
ASSIGN -Command unassignall assign
channel 0 - 11 Desired channel number from 0 to 11 inclusive (channel 0
represents first channel, channel 11 represents twelfth
channel)
0
prn 1 - 32 A satellite PRN integer number from 1 to 32 inclusive 29
doppler -100,000 to 100,000 Hz Current Doppler offset of the satellite
Note: Satellite motion, receiver antenna motion and
receiver clock frequency error must be included in the
calculation for Doppler frequency.
0
search-window 0 - 10,000 Error or uncertainty in the Doppler estimate above in Hz
Note: Any positive value from 0 to 10000 will be
accepted. Example: 500 implies ± 500 Hz.
2000
ASSIGN channel keyword
Syntax Range Value Description Default Example
ASSIGN -Command unassignall assign
channel 0 - highest channel
number Desired channel number from maximum channel number
inclusive 0
keyword IDLE Idles channel (not case sensitive) idle
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CLOCKADJUST
All oscillators have some inherent drift. On the MiLLennium GPSCard, the clock and the PPS strobe have a 50 ns
jitter due to the receiver’s attempts to keep the clock as close as possible to GPS time. This option is disabled by
entering CLOCKADJUST DISABLE. The jitter will vanish, but the unsteered and free-running clock will drift
relative to GPS time. CLOCKADJUST must also be disabled if the user wishes to measure the drift rate of the
oscillator using the CLKA/B data logs.
NOTE 1: Please note that, when disabled, the range measurement bias errors will continue to accumulate with
clock drift.
NOTE 2: This feature is to be used by advanced users only.
NOTE 3: Pseudorange, carrier phase and Doppler measurements may jump if CLOCKADJUST DISABLE is
issued while the receiver is tracking.
Syntax:
Example:
clockadjust disable
CLOCKADJUST switch
Syntax Range Value Description Default
CLOCKADJUST -Command
switch enable or disable Allows or disallows adjustment to the internal clock enable
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COMn
This command permits you to configure the GPSCard COM port’s asynchronous drivers.
Syntax:
Examples:
com2 19200,e,7,1,n,on,off
com1 1200,e,8,1,n,on,off
NOTE: Your GPSCard comes configured this way. If you have different parameters you should reconfigure the
communication protocol as per requirements.
COMn_DTR
This command enables versatile control of the DTR handshake line for use with output data logging in conjunction
with external devices such as a radio transmitter. The default state for the COM1 or COM2 DTR line is always high.
Syntax:
Examples:
com1_dtr toggle,high,300,150
com2_dtr toggle,low,200,110
COMn bps parity databits stopbits handshake echo FIFO
Syntax Value Description Default Example
COMn n = 1 or 2 Specify COM port com2
bps 300, 600, 1200, 2400, 4800, 9600, 19200,
38400, 57600 or 115,200 Specify bit rate 9600 19200
parity N (none), O (odd) or E (even) Specify parity N E
databits 7 or 8 Specify number of data bits 8 7
stopbits 1 or 2 Specify number of stop bits 1 1
handshake N (none), XON (Xon/Xoff) or CTS (CTS/RTS) Specify handshaking N N
echo ON or OFF Specify echo OFF ON
FIFO ON or OFF Transmit the First In First Out queue of the
GPSCard’s serial port UART. ON OFF
COMn_DTR control
active [lead] [tail]
Syntax Option Description Default Example
COMn_DTR n = 1 or 2 Selects COM1 or COM2 port com1_dtr
control high control is always high high toggle
low control is always low
toggle control toggles between high and low
(active, lead, and tail fields are TOGGLE options only)
active high data available during high n/a high
low data available during low
lead variable lead time before data transmission (milliseconds) n/a 300
tail variable tail time after data transmission (milliseconds) n/a 150
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COMn_RTS
This command enables versatile control of the RTS handshake line for use with output data logging in conjunction
with external devices such as a radio transmitter. The default state for the COM1 or COM2 RTS line is always high.
COMn_RTS will not influence the COMn command handshake control of incoming commands.
Syntax:
Example:
com1_rts toggle,high,200,100
com2_rts toggle,low,250,125
COMn_RTS control
active [lead] [tail]
Syntax Option Description Default Example
COMn_RTS n = 1 or 2 Selects COM1 or COM2 port com1_rts
control high control is always high high toggle
low control is always low
toggle control toggles between high and low
(active, lead, and tail fields are TOGGLE options only)
active high data available during high n/a high
low data available during low
lead variable lead time before data transmission (milliseconds) n/a 200
tail variable tail time after data transmission (milliseconds) n/a 100
OUTPUT DATA
DTR 300 ms
lead tail
control
150 ms
Data
OUTPUT DATA
RTS 200 ms
lead tail
control
100 ms
Data
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CONFIG
This command switches the channel configuration of the GPSCard between pre-defined configurations. When
invoked, this command loads a new satellite channel-configuration and forces the GPSCard to reset. The types of
configurations possible are listed by entering this command:
HELP CONFIG
In some applications, only the standard (default) configuration will be listed in response. The standard
configuration of a MiLLennium GPSCard consists of 12 L1/L2 channel pairs.
Syntax:
CONFIG cfgtype
Command Option Description Default
CONFIG Command
cfgtype (none) Displays present channel configuration standard
configuration name Loads new configuration, resets GPSCard
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CRESET
Configuration Reset. Resets user configuration to the factory default. After a reset, non volatile memory (NVM) is
read for user configuration. This command does not reset the hardware. See the Factory Default Settings .
Syntax:
See also the FRESET and RESET commands. These three commands differ in the following way:
RESET - Resets the hardware. Similar to powering the card off and on again.
CRESET - Resets user configuration to the factory default. This command does not reset the hardware.
FRESET - Completely resets the receiver to a factory state. Anything that was saved to NVM is erased
(including Saved Config, Saved Almanac and Channel Config). The hardware is also reset.
CRESET
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CSMOOTH
This command sets the amount of carrier smoothing to be performed on the pseudorange measurements carrier.
An input value of 100 corresponds to approximately 100 seconds of smoothing. Upon issuing the command, the
locktime for all tracking satellites is reset to zero. From this point each pseudorange smoothing filter is restarted.
The user must wait for at least the length of smoothing time for the new smoothing constant to take full effect. 20
seconds is the default smoothing constant used in the GPSCard. The optimum setting for this command is
dependent on the user’s application and thus cannot be specified.
Syntax:
Example:
csmooth 500
NOTE: The CSMOOTH command should only be used by advanced users of GPS.
It may not be suitable for every GPS application. When using CSMOOTH in a differential mode, the same
setting should be used at both the reference and remote station. The shorter the carrier smoothing the
more noise there will be. If you are at all unsure please call NovAtel Customer Service Department, see
Software Support at the start of this manual.
CSMOOTH L1 time
[L2 time]
Syntax Range Value Description Default
CSMOOTH -Command
L1 time 2 to 1000 L1 carrier smoothing time constant.
Value in seconds 20
[L2 time] 2 to 1000 L2 carrier smoothing time constant.
Value in seconds
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DATUM
This command permits you to select the geodetic datum for operation of the receiver. If not set, the value is
defaulted to WGS84. See Table G-2 in Appendix G for a complete listing of all available predefined datums. See
the USERDATUM command for user definable datums. The datum you select will cause all position solutions to be
based on that datum (except PXYA/B which is always based on WGS84).
Syntax:
Example:
datum tokyo Sets the system datum to Tokyo
NOTE: The actual datum name must be entered in this command as listed in the NAME column of Table G-2.
Also note that references to datum in the following logs use the GPSCard Datum ID #: MKPA/B, PRTKA/
B, POSA/B and RTKA/B.
DATUM option
Syntax Datum Option Description Default
DATUM any one of 62 predefined
datums For a complete list of all 62 predefined datums, see Table G-2 in Appendix G.WGS84
USER User defined datum with parameters specified by the USERDATUM
command (Default WGS84)
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DGPSTIMEOUT
This command has a two-fold function:
(1) to set the maximum age of differential data that will be accepted when operating as a remote station. Dif-
ferential data received that is older than the specified time will be ignored. When entering DGPS delay,
you can ignore the ephemeris delay field.
(2) to set the ephemeris delay when operating as a reference station. The ephemeris delay sets a time value
by which the reference station will continue to use the old ephemeris data. A delay of 120 to 300 seconds
will typically ensure that the remote stations have collected updated ephemeris. After the delay period is
passed, the reference station will begin using new ephemeris data. To enter an ephemeris delay value,
you must first enter a numeric placeholder in the DGPS delay field (e.g., 2). When operating as a reference
station, DGPS delay will be ignored.
Syntax:
Example 1 (remote):
dgpstimeout 15
Example 2 (reference):
dgpstimeout 2,300
NOTE 1: The RTCA Standard for SCAT-I stipulates that the maximum age of differential correction messages
cannot be greater than 22 seconds. Therefore, for RTCA logs, the recommended DGPS delay setting is 22.
NOTE 2: The RTCA Standard also stipulates that a reference station shall wait five minutes after receiving a new
ephemeris before transmitting differential corrections. This time interval ensures that the remote
stations will have received the new ephemeris, and will compute differential positioning based upon the
same ephemeris. Therefore, for RTCA logs, the recommended ephemeris delay is 300 seconds.
DGPSTIMEOUT dgps delay
ephem delay
Command Option Description Default
DGPSTIMEOUT Command
dgps delay min. 2
max. 1000 Maximum age in seconds 60
ephem delay min. 0
max. 600 Minimum time delay in seconds 120
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DIFF_PROTOCOL Differential Protocol Control
NOTE: The DIFF_PROTOCOL command should only be used by advanced users of GPS.
Features:
1. A user definable key such that many different types of encoding may be used in the same area without cross
talk between the various “channels”.
2. Encodes all correction data following any header specific to the message type.
3. Non-volatile. When the base station card is restarted, the previously selected encoding key is used for all sub-
sequent differential data.
4. The encoding key is not visible by any method of interrogation.
Syntax:
NOTE: If no parameters are given to the command, the encoding type value will be reported. The key value is
not visible at anytime.
The only supported type of encoding is “Type 1”, which will only encode RTCM data with the algorithm described
below.
The non-volatility of the command is acquired via the SAVECONFIG command. This command stores the current
settings in non-volatile memory.
All header information necessary for parsing the incoming data stream remains unencoded.
RTCM/A/B LOGS
The NovAtel log format wrapping of the RTCMA and RTCMB logs remains unencoded and only the raw RTCM
data is encoded beginning after the second word of the message. This will leave the entire header unencoded:
DIFF_PROTOCOL Type Key
or DIFF_PROTOCOL DISABLE
or DIFF_PROTOCOL
Syntax Range Value Description Default
DIFF_PROTOCOL -Command
type 1, DISABLE Encoding Algorithm
key 0 - FFFFFFFF 32 Bit Encoding key
WORD 1 Preamble Message Type (Frame ID) Station ID Parity
WORD 2 Modified Z-Count Sequence No. Length of Frame Parity
REMAINING... Encoded data...
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DYNAMICS
This command informs the receiver of user dynamics. It is used to optimally tune receiver parameters.
Syntax:
Example:
dynamics foot
DYNAMICS user_dynamics
Command Description Default
DYNAMICS Command dynamics
user_dynamics air receiver is an aircraft
land receiver is in a land vehicle with velocity less than
110 km/h (30m/s)
foot receiver is being carried by a person with velocity less than
11 km/h (3m/s)
air
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ECUTOFF
This command sets the elevation cut-off angle for usable satellites. The GPSCard will not start tracking a satellite
until it rises above the cutoff angle. If there are six or less satellites being tracked and one drops below this angle,
it will continue to be tracked until the signal is lost. However, if there are more than six satellites being tracked,
any that are below the cutoff angle will be dropped completely.
In either case, satellites below the ECUTOFF angle will be eliminated from the internal position and clock offset
solution computations only.
This command permits a negative cut-off angle; it could be used in these situations:
• the antenna is at a high altitude, and thus can look below the local horizon
• satellites are visible below the horizon due to atmospheric refraction
Syntax:
Example:
ecutoff 5
NOTE 1: When ECUTOFF is set to zero (0), the receiver will track all SVs in view including some within a few
degrees below the horizon.
NOTE 2: Care must be taken when using ECUTOFF because the information you are tracking from lower elevation
satellite signals are going through more atmosphere, for example ionospheric and tropospheric, and
therefore being degraded.
ECUTOFF angle
Syntax Range Value Description Default
ECUTOFF -Command
angle -90° to +90° Value in degrees (relative to the horizon). 0
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EXTERNALCLOCK
Overview
The EXTERNALCLOCK and EXTERNALCLOCK FREQUENCY commands allows the MiLLennium GPSCard to operate
with an optional external oscillator. The user is able to optimally adjust the clock model parameters of the GPSCard
for various types of external clocks. The three-state clock model on GPSCards having access to this command is
different from that used on the other GPSCards.
NOTE: The EXTERNALCLOCK command will affect the interpretation of the CLKA/B log.
There are three steps involved in using an external oscillator:
1. Follow the procedure outlined in your GPSCard’s installation/operation manual for connecting an
external oscillator to your GPSCard.
2. For the chosen oscillator type, use the EXTERNALCLOCK FREQUENCY command to select the operating
frequency – either 5 MHz or 10 MHz.
3. Using the EXTERNALCLOCK command, select a standard oscillator or define a new one; the effect is to
define h0, h-1, and h-2 in the expression for Sy(f) given below.
Steps #2 and #3 define certain parameters used in the clock model for the external oscillator
Theory
An unsteered oscillator can be approximated by a three-state clock model, with two states representing the range
bias and range bias rate, and a third state assumed to be a Gauss-Markov (GM) process representing the range bias
error generated from satellite clock dither. The third state is included because the Kalman filter assumes an
(unmodeled) white input error. The significant correlated errors produced by SA clock dither are obviously not
white and the Markov process is an attempt to handle this kind of short-term variation.
The internal units of the new clock model’s three states (offset, drift and GM state) are meters, meters per second,
and meters. When scaled to time units for the output log, these become seconds, seconds per second, and seconds,
respectively. Note that the old units of the third clock state (drift rate) were meters per second per second.
The user has control over 3 process noise elements of the linear portion of the clock model. These are the h0, h-1,
and h-2 elements of the power law spectral density model used to describe the frequency noise characteristics of
oscillators:
where f is the sampling frequency and Sy(f) is the clock’s power spectrum. Typically only h0, h-1, and h-2 affect the
clock’s Allan variance and the clock model’s process noise elements.
Usage
Before using an optional external oscillator, several clock model parameters must be set. There are default settings
for a voltage-controlled temperature-compensated crystal oscillator (VCTCXO), ovenized crystal oscillator
(OCXO), Rubidium and Cesium standard; or, the user may choose to supply customized settings.
Syf() h2–
f2
------- h1–
f
------- h0h1fh
2f2
++++=
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Syntax:
Example:
externalclock user 1.0e-20 1.0e-24 1.0e-28
Table C-2 Default Values of Process Noise Elements
EXTERNALCLOCK option
Command Option Description Default
EXTERNALCLOCK disable Revert to the on-board oscillator
MiLLennium = VCTCXO see Table C-2
ocxo Set defaults for ovenized crystal oscillator
rubidium Set defaults for rubidium oscillator
cesium Set defaults for cesium oscillator
user h0 h-1 h-2 Define custom values for process noise elements
Timing Standard h0h-1 h-2
VCTCXO 1.0 e-21 1.0 e-20 2.0 e-20
OCXO 2.51 e-26 2.51 e-23 2.51 e-22
rubidium 1.0 e-23 1.0 e-22 1.3 e-26
cesium 2.0 e-20 7.0 e-23 4.0 e-29
user (min / max) 1.0 e-31 ≤ h0 ≤ 1.0 e-18 1.0 e-31 ≤ h-1 ≤ 1.0 e-18 1.0 e-31 ≤ h-2 ≤ 1.0 e-18
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EXTERNALCLOCK FREQUENCY
Please see the Overview and Theory sub-sections under the EXTERNALCLOCK command to understand the steps
involved in using an optional external oscillator with a MiLLennium GPSCard.
For the chosen oscillator, one must select the clock rate using the EXTERNALCLOCK FREQUENCY command. The
MiLLennium GPSCard only accepts a 5 MHz or 10 MHz external input. An internal frequency synthesizer
converts this input to 20 MHz, the actual clock rate required by the MiLLennium GPSCard (and that which is
generated by its on-board VCTCXO).
Syntax:
Example:
externalclock frequency 5
EXTERNALCLOCK FREQUENCY clock rate
Command Range Description Default
EXTERNALCLOCK FREQUENCY -
clock rate 5 or 10 Set clock rate to 5 MHz or 10 MHz (Will
not allow values other than 5 or 10) 10
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FIX HEIGHT
This command configures the GPSCard in 2D mode with its height constrained to a given value. The command
would be used mainly in marine applications where height in relation to mean sea level may be considered to be
approximately constant. The height entered using this command is always referenced to the geoid (mean sea level,
see the PRTKA/B log in Chapter 4 and Appendix D) and uses units of meters. The FIX HEIGHT command will override
any previous FIX HEIGHT or FIX POSITION command and disables the output of differential corrections. The receiver
is capable of receiving and applying differential corrections from a reference station while FIX HEIGHT is in effect.
Use the UNFIX command to disable the current FIX command. No special solution status is reported in the POSA/B
or PRTKA/B logs for a 2 dimensional solution. This mode is detected by the standard deviation of the height being
0.001m.
Syntax:
Example:
fix height 4.567
or
fix height auto
REMEMBER: Any error in the height estimate will cause an error in the position computed of the same order
of magnitude or higher. For example, if the user fixed height to zero and the antenna was installed
on a 20 meter mast, the position can be expected to be in error by 10 to 60 meters, depending on
the geometry of the satellites. This command should only be used when absolutely necessary, i.e.,
when only three satellites are visible.
NOTE: This command only affects pseudorange corrections and solutions, and so has no meaning within the
context of RT-2 and RT-20.
FIX HEIGHT value
Syntax Range Value Description Default
FIX HEIGHT -Command unfix
value height -1,000.0 to 20,000,000.0
Height in metres above mean sea level
auto The receiver will automatically fix the height at the last calculated value if the
number of satellites available is insufficient for a 3-D solution, to provide a 2-D
solution. Height calculation will resume when the number of satellites available
returns to 4 or more. The use of the UNFIX command, or a different FIX
command will disable the automatic fix height mode. It is disabled by default.
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FIX POSITION
Invoking this command will result in the GPSCard position being held fixed. A computation will be done to solve
local clock offset, pseudorange, and pseudorange differential corrections. This mode of operation can be used for
time transfer applications where the position is fixed and accurate GPS time output is required (see the CLKA/B and
TM1A/B logs, Appendix D for time data).
As well, this command must be properly initialized before the GPSCard can operate as a GPS pseudorange reference
station. Once initialized, the receiver will compute pseudorange differential corrections for each satellite being
tracked. The computed differential corrections can then be output to remote stations by utilizing any of the
following GPSCard differential corrections data log formats: RTCM, RTCMA, RTCMB, CMR, RTCA, RTCAA or RTCAB.
The reference station servicing RT-20 remote receivers must log RTCM3 and RTCM59(N) pseudorange and carrier
phase observation data in order for the RT-20 remote receiver to compute double difference carrier phase solutions.
The values entered into the FIX POSITION command should reflect the precise position of the reference station
antenna phase centre. Any errors in the FIX POSITION coordinates will directly bias the pseudorange corrections
calculated by the reference receiver.
The GPSCard performs all internal computations based on WGS84 and the datum command is defaulted as such.
The datum in which you choose to operate (by changing the DATUM command) will internally be converted to and
from WGS84. Therefore, all differential corrections are based on WGS84, regardless of your operating datum.
The GPSCard will begin logging differential data while tracking as few as three healthy satellites. See Appendix A
for further discussions on differential positioning.
The FIX POSITION command will override any previous FIX HEIGHT or FIX POSITION command settings. Use the
UNFIX command to disable the FIX POSITION setting.
Syntax:
Example: fix position 51.3455323,-114.289534,1201.123,1002,0
The above example configures the receiver as a reference station with fixed coordinates of:
Latitude N 51º 20' 43.9163" (WGS84 or local datum)
Longitude W 114º 17' 22.3224"
Height above sea level 1201.123 meters
Station ID 1002
RTCM health 0
FIX POSITION lat lon height
station id [
RTCM
stn health]
Syntax Range Value Description Default Example
FIX POSITION -Command unfix fix position
lat 0 to ± 90.0
(Up to 8 decimal places are shown in the RCCA
log but more precision is determined internally)
Latitude (in degrees/decimal degrees)
of fixed reference station antenna in
current datum. A negative sign implies
South latitude.
51.3455323
lon 0 to ± 360.0
(Up to 8 decimal places are shown in the RCCA
log but more precision is determined internally)
Longitude (in degrees) of fixed
reference station antenna in current
datum. A negative sign implies West
longitude.
-114.289534
height -1,000 to 20,000,000 Height (in metres) above the geoid of
reference station in current datum. 1201.123
station id 0 to 1023 (10 bits) for RTCM output
“xxxx” for RTCA output
where ”xxxx” are four alphanumeric characters,
entered between double quotes. For CMR, the
station ID should be < 31.
Specify a reference Station
identification number (optional entry)
(see SETDGPSID)
1002
RTCM
reference
station health
0-7
where 0-5 Specified by user
6 Reference station
transmission not monitored
7 Reference station not working
Specify RTCM reference station health
(optional)
(This field will only be reported in
RTCM message header - word 2.)
6 0
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FIX VELOCITY
This command supports INS (Inertial Navigation System) integration. It accepts ECEF XYZ velocity values in units
of meters per second (m/s). This information is only used by the tracking loops of the receiver to aid in reacquisition
of satellites after loss of lock, otherwise it is ignored. It is not used in the position solution and velocity calculations.
This command is only useful for very high dynamics where expected velocity changes during the signal blockage
of more than 100 meters per second can occur. See Figure D-2 for ECEF definitions. The UNFIX command is used
to clear the effects of the FIX VELOCITY command. The FIX VELOCITY command will override any previous FIX
HEIGHT or FIX POSITION command. Use the UNFIX command to disable the current FIX command.
Syntax:
Example:
fix velocity 315,212,150
FIX VELOCITY vx vy vz
Syntax Range Value Description Default Example
FIX VELOCITY -Command unfix fix velocity
vx ±999.99 X = Antenna Velocity (ECEF) in the X direction [m/s]. 315
vy ±999.99 Y = Antenna Velocity (ECEF) in the Y direction [m/s]. 212
vz ±999.99 Z = Antenna Velocity (ECEF) in the Z direction [m/s]. 150
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FREQUENCY_OUT
This command allows the user to specify the frequency of the output pulse train available at the variable frequency
(VARF) pin of the I/O strobe connector. This command has no effect on the operation of the GPSCard; it is only
provided for user-determined applications.
The frequency (in Hertz) is calculated according to formulas which require two input parameters (k and p), such
that:
if k =1 or p =1: VARF = 0
if k ≠ 1, p ≠ 1: VARF =
Where:
Fs is the TCXO frequency = 20.000 MHz
k is an integer from 2 to 65536
p is an integer from 2 to 1024
The possible range of output frequencies is 0 - 5 MHz.
The resultant waveform is composed of active-high pulses with a repetition rate as defined above, and a jitter of 50
ns unless k equals 19 999, see the table below for Syntax 1.
The pulse width (seconds) =
The command has two syntactical forms. One is to define a frequency, and the other is to disable this function.
Syntax 1:
Example:
frequency_out 4,8
Syntax 2:
FREQUENCY_OUT K P
Command Range Values For Jitter Free
Operation Description
FREQUENCY_OUT - - Command
K1 - 65 536 19 999 Variable integer
P1 - 1 024 2 - 1 024 Variable integer
FREQUENCY_OUT keyword
Command Range Values Description
FREQUENCY_OUT -Command
keyword disable The keyword “DISABLE” is the only one defined at this time.
Fs 19 999,×
20 000,kp××
------------------------------------
1Fs 19999×()20000 k×()⁄[]⁄
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FRESET
This command clears all data which is stored in non-volatile memory. Such data includes the almanac, satellite
channel configuration, and any user-specific configurations. The GPSCard is forced to reset and will start up with
factory defaults.
See also the CRESET, where the differences between these three commands are explained, and RESET commands.
Syntax: FRESET
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HELP
This command provides you with on-line help. The command, with no options, gives a complete list of the valid
system commands. For detailed help on any command, append the optional command name to the HELP command.
Syntax:
OR:
Example: help dynamics
Figure C-1 shows the screen display of the HELP command as it would be seen if you were using NovAtel’s
graphical interface program GPSolution. Figure C-2 shows a specific example of the ASSIGN command appended
to the HELP command.
Figure C-1 HELP Command Screen Display
Com1> help
?-Online Command Help ACCEPT -Accept Datatypes
ANTENNAPOWER -Antenna Power Control ASSIGN -Assign PRN To a Chan.
CLOCKADJUST -Adjust 1pps COM1 -Initialize Port 1
COM2 -Initialize Port 2 COM1_DTR -DTR Control on Port 1
COM2_DTR -DTR Control on Port 2 COM1_RTS -RTS Control on Port 1
C0M2_RTS -RTS Control on Port 2 CONFIG -Configure Satellites
CRESET -Factory Config Reset CSMOOTH -Carrier Smoothing
DATUM -Choose a DATUM Type DGPSTIMEOUT -Max. aye of DGPS data
DIFF_PROTOCOL -Diff.. protocol control DYNAMICS -Set Dynamics
ECUTOFF -Elevation Cutoff Angle EXTERNALCLOCK -Specify Clock type
FIX -Set Antenna Coord.. RESET -Factory Card Reset
FREQUENCY OUT -Variable Freq. Output HELP -Online Command Help
LOCKOUT -Lock Out Satellite LOG -Choose Date Logging
MAGVAR -Set Magnetic Variation.on MESSAGES -Error Messages On/Off
POSAVE -Position Averaging RESET -Hardware Reset
RESETHEALTH -Reset PRN Health RESETHEALTHALL -Reset All PRE Health
RESETRT20 -Reset RT20 algorithm RTKMODE -Set RTK parameters
RINEX -RINEX( Configuration RTCM16T -Input Type l6 Message
RTCMRULE -RTCM Bit Rule SAVEALMA -Save Almanac & ION/UTC
SAVECONFIG -Save User Config. SEND -Send string to a port
SENDHEX-Send hex to a port SETDGPSID -Set the Station ID
SETHEALTH -Overr.ide PRN Health SETL10FFSET -Set Ll PSR Offset
SETNAV -Set a Destination SETTIMESYNC -Enable/Disable Timesync
UNASSIGN -Un-Assign a Channel UNASSIGNALL -Un-Assign All Channels
UNDULATION-Choose Undulation UNFIX -Remove Recvr. FIX(ed)
UNLOCKOUT -Restore Satellite UNLOCKOUTALL -Select All Satellites
UNLOG -Kill a Data Log UNLOGALL -Kill all Data Logs
USERDATUM -User Defined DATUM VERSION -Current Software Vet.
Com1>
Figure C-2 Appended Command Screen Display
COM2> help assign
ASSIGN Channel_no, PRN, Doppler, Dop_window
Assign a prn to a channel
where: Channel_no = A channel number from 0-23
PRN = A satellite PRN number from 1-32
Doppler = Current satellite doppler offset (-100000 to +100000 Hz)
Dop_window = Uncertainty in doppler estimate (0 to 10000 Hz)
COM2>
HELP
option
?
option
Syntax Range Value Description
HELP (or ?) -Entering HELP without an option will list all valid command options.
option See Figure C-1 Can be any valid system command. Information about the command entered will be displayed.
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IONOMODEL
WAAS
This command allows the user to decide what ionospheric corrections the card uses. This command currently does
not effect the ionospheric model that is used when the card is operating in RTK mode. Additional range values are
reserved for future use.
The MiLLennium by default computes ionospheric corrections using L1 & L2 signals; to use the ionospheric
corrections issued by the WAAS GEO satellite, you need to issue the IONOMODEL WAAS command.
Syntax:
Note: You cannot change GPSCard modes on the fly as the once a CONFIG command is issued the card resets
itself and start the new mode requested.
IONOMODEL keyword
Syntax Range Value Description
IONOMODEL - Command
keyword WAAS
CALCULATED
- Card will use Ionospheric corrections from WAAS broadcast messages.
You must first issue the following commands for this command to work:.
config waascorr
waascorrection enable
- Card will calculate its own Ionospheric corrections.
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LOCKOUT
This command will prevent the GPSCard from using a satellite by de-weighting its range in the solution
computations. Note that the LOCKOUT command does not prevent the GPSCard from tracking an undesirable
satellite. This command must be repeated for each satellite to be locked out.
See also the UNLOCKOUT and UNLOCKOUTALL commands.
Syntax:
Example:
lockout 8
LOCKOUT prn
Syntax Range Value Description Default
LOCKOUT -Command unlockoutall
prn 1 - 32 A single satellite PRN integer number to be locked out
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LOG
Many different types of data can be logged using several different methods of triggering the log events. Every log
element can be directed to either the COM1 or COM2 ports. If a selected log element is to be directed to all the ports,
then separate LOG commands are required to control them. The ONTIME trigger option requires the addition of the
period parameter and optionally allows input of the offset parameter. See Chapter 3 and Appendix D for further
information and a complete list of ASCII and Binary data log structures.
The optional parameter {hold} will prevent a log from being removed when the UNLOGALL command is issued. To
remove a log which was invoked using the {hold} parameter requires the specific use of the UNLOG command.
The [port] parameter is optional. If [port] is not specified, [port] is defaulted to the port that the command was
received on.
Syntax:
Example: log com1,posa,ontime,60,1,hold
The above example will cause the POSA log to be logged to COM port 1, recurring every 60 seconds, offset by one
second, and with the {hold} parameter set so that logging would not be disrupted by the UNLOGALL command.
To send a log only one time, the trigger option can be ignored.
Example: log com1 posa
log posa
LOG
[port]
datatype [
trigger
]
[period] [offset] {hold}
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MAGVAR
The GPSCard computes directions referenced to True North. Use this command (magnetic variation correction) if
you intend to navigate in agreement with magnetic compass bearings. The correction value entered here will cause
the "bearing" field of the NAVA/B and GPVTG logs to report bearing in degrees Magnetic. The magnetic variation
correction is also reported in the GPRMC log. The GPSCard will compute the magnetic variation correction if you
use the auto option.
Syntax:
Example:
magvar +15.0
MAGVAR correction
[std_dev]
OR
MAGVAR auto
Syntax Range Value Description Default
MAGVAR -Command
correction ± 0 - 180 The magnetic variation correction for the area of navigation in units of degrees.
Magnetic bearing = True bearing + Magnetic Variation Correction
See Figure C-3.
0.0
std_dev ± 0 - 180 Option: the estimated accuracy of the magnetic correction entered(in degrees).
This option is currently not applicable to this product.
auto The GPSCard calculates values of magnetic variation for given values of latitude,
longitude and time using the International Geomagnetic Reference Field (IGRF)
95 spherical harmonic coefficients, and IGRF time corrections to the harmonic
coefficients.
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Figure C-3 Illustration of Magnetic Variation & Correction
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MESSAGES
The MESSAGES command is used to disable the port prompt and error message reporting from a specified port. This
feature can be useful if the port is connected to a modem or other device that responds with data the GPSCard does
not recognize. See Chapter 3 for further information on using this command with Special Pass-Through Logs.
Syntax:
Example:
messages com1,off
MESSAGES port option
Syntax Range Value Description Default
MESSAGES - Command MESSAGES
port COM1, COM2 or all Specifies the port being controlled -
option ON or OFF Enable or disable port prompt and error message reporting ON
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POSAVE
This command implements position averaging for reference stations. Position averaging will continue for a
specified number of hours or until the averaged position is within specified accuracy limits. Averaging will stop
when the time limit or the horizontal standard deviation limit or the vertical standard deviation limit is achieved.
When averaging is complete, the FIX POSITION command will automatically be invoked.
If the maximum time is set to 1 hour or larger, positions will be averaged every 10 minutes and the standard
deviations reported in the PAVA/B log should be correct. If the maximum time is set to less than 1 hour, positions
will be averaged once per minute and the standard deviations reported in the log will likely not be accurate; also,
the optional horizontal and vertical standard deviation limits cannot be used.
One could initiate differential logging, then issue the POSAVE command followed by the SAVECONFIG command.
This will cause the GPSCard to average positions after every power-on or reset, then invoke the FIX POSITION
command to enable it to send differential corrections.
Syntax:
Example:
posave 2,3,4
POSAVE maxtime maxhorstd maxverstd
Command Range Values Description
POSAVE - Command
maxtime 0.025 - 100 Maximum amount of time that positions are to be
averaged (hours). 1.5 to 60 minutes
mashorstd 0.1 - 100 Option: desired horizontal standard deviation (m)
maxverstd 0.1 - 100 Option: desired vertical standard deviation (m)
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RESET
This command performs a hardware reset. Following a RESET command, the GPSCard will initiate a cold-start
bootup. Therefore, the receiver configuration will revert to the factory default if no user configuration was saved
or the last SAVECONFIG settings.
Syntax:
See also the CRESET, where the differences between these three commands are explained, and FRESET commands.
RESET
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RESETHEALTH
This command cancels the SETHEALTH command and restores the health of a satellite to the broadcast value
contained in the almanac and ephemeris data.
Syntax:
Example:
resethealth 4
RESETHEALTHALL
This command resets the health of all satellites to the broadcast values contained in the almanac and ephemeris
data.
Syntax: RESETHEALTHALL
RESETHEALTH prn
Syntax Range Value Description
RESETHEALTH -Command
prn 1 - 32 The PRN integer number of the satellite to be restored.
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RINEX Receiver-Independent Exchange Format
The RINEX format is a broadly-accepted, receiver-independent format for storing GPS data. It features a non-
proprietary ASCII file format that can be used to combine or process data generated by receivers made by different
manufacturers. RINEX was originally developed at the Astronomical Institute of the University of Berne. Version
2, containing the latest major changes, appeared in 1990; subsequently, minor refinements were added in 1993. To
date, there are three different RINEX file types observation files, broadcast navigation message files and
meteorological data files.
Please see Chapter 4 for further details.
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RTCM16T
This is a NovAtel command relating to the RTCM Standard ASCII message that can be sent out in RTCM Type 16
format. Once created, the RTCM16T message can be viewed in the RCCA command settings list. The text message
can also be logged using the RTCM16 or RTCM16T log option. This command will limit the input message length to
a maximum of 90 ASCII characters.
See Chapter 4, for related topics.
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RTCMRULE
This command allows the user flexibility in the usage of the RTCM Standard "bit rule".
See Chapter 4, for further information.
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RTKMODE
This command sets up the RTK (RT-2 or RT-20) mode. Invoking this command allows you to set different
parameters and control the operation of the RTK system. The RTKMODE command is actually a family of
commands; a description of the various arguments and options is as follows. Some arguments require data input,
while others do not.
Certain arguments can be used only at the reference station, and others only at the remote station. The structure of
the syntax is shown below, followed by a detailed description of each argument.
Syntax - Reference Station
For RTCA-format messaging only:
For RTCM-format messaging only:
Syntax - Remote Station (for RTCA, RTCM or CMR-format messaging):
RTKMODE sv_entries 4
to
20
RTKMODE elev_mask 0
to
90
Command Argument Data Range Default
RTKMODE sv_entries 4 to 20 12
elev_mask 0 to 90 2
RTKMODE rtcmver 2.1
or
2.2
Command Argument Data Range Default
RTKMODE rtcmver 2.1 or 2.2 2.2
RTKMODE default
RTKMODE enable
RTKMODE disable
RTKMODE reset
RTKMODE auto
RTKMODE static
RTKMODE kinematic
RTKMODE fixed
RTKMODE float
RTKMODE unknown_baselines
RTKMODE known_llh_position lat lon hgt [2σ][m/e]
RTKMODE know_ecef_baseline ∆x∆y∆z[2σ]
RTKMODE elev_mask 0
to
90
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Below is additional information for each argument:
Command Argument Default Argument Data Range
RTKMODE default default
enable or disable enable
reset
auto, static or kinematic auto
fixed or float fixed
unknown_baseline, unknown_baseline
known_llh_position lat,lon,hgt,[2σ],[m/e] or lat: 0 to ± 90
lon: 0 to ± 360
hgt: -1000 to +20 000 000
2σ: 0 to 0.03
m/e: m or e (m = default)
known_ecef_baseline ∆x, ∆y,∆z,[2σ]
(∆x)2 + (∆y)2 +(∆z)2
≤ (1 000 000)2
2σ: 0 to 0.03
Station Command Argument Data
Reference rtkmode elev_mask elevation (range 0 to 90, default = 2)
RTKMODE ELEV_MASK ELEVATION causes transmission of observations for satellites above this elevation
angle only. The elevation angle has units of degrees, and can be a decimal fraction value. At this time, this com-
mand affects RTCAOBS (RTCA Type 7) messages but not RTCM or CMR messages; if RTCM-format messag-
ing is being used, then observations for a certain satellite are transmitted as soon as it becomes visible.
Example:
rtkmode elev_mask 10.5
Remote rtkmode elev_mask elevation (range 0 to 90)
When RTKMODE ELEV_MASK ELEVATION is issued at the remote, it controls the elevation angle above which satellites
will be fully weighted. A value less than 5° will be ignored. This command can be used at the remote regardless of the type of inter-receiver
messages use.
Station Command Argument
Remote rtkmode default
RTKMODE DEFAULT, when issued at the remote station, all RTK parameters are returned to their default values.
Station Command Argument
Remote rtkmode enable (default)
disable
RTKMODE ENABLE, when issued at the remote station, turns on its ability to receive and process RTCA or RTCM messages. RTKMODE
DISABLE exits the RTK positioning mode.
Station Command Argument Data
Reference rtkmode rtcmver 2.1
2.2 (default)
For RTCM-format messaging only, at the reference station, when issued determines what RTCM version to use.
Note: The remote station can use either version 2.1 or 2.2 without the use of this command.
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Station Command Argument Data
Remote rtkmode unknown_baseline (default)
known_llh_position lat,lon,height,[2σ],[m/e]
known_ecef_baseline ∆x, ∆y, ∆z,[2σ]
RTKMODE UNKNOWN_BASELINE prevents the RTK system from using any baseline information in the initial
calculation of ambiguities. It cancels the effect of the RTKMODE KNOWN_LLH_POSITION or RTKMODE
KNOWN_ECEF_BASELINE command. It indicates to the RT-2 software that the previously entered baseline can no
longer be considered valid, usually because the antenna is starting to move.
RTKMODE KNOWN_LLH_POSITION LAT,LON,HEIGHT,[2σ],[M/E] requires the latitude, longitude and
height of the initial remote station antenna location. It can be used to initialize the RT–2 algorithms from a known
antenna position. It speeds up ambiguity resolution by indicating to the RT-2 software the exact length of the vector
between the remote and reference station antennas. It only affects the operation of an RT-2 system on baselines not
exceeding 30 km. LAT requires a decimal fraction format; a negative sign implies South latitude. LON requires a
decimal fraction format; a negative sign implies West longitude. HEIGHT (in meters) can refer either to mean sea level
(default) or to an ellipsoid. The optional 2σ defines the accuracy (2 sigma, 3 dimensional) of the input position, in
meters; it must be 0.03 m or less to cause the RT-2 algorithms to undergo a forced initialization to fixed integer
ambiguities. If no value is entered, a default value of 0.30 m is assumed; this will not cause an initialization to occur.
The optional M or E refers to the height: if “M” is entered, the height will be assumed to be above mean sea level (MSL).
Note that when an MSL height is entered, it will be converted to ellipsoidal height using the NovAtel internal undulation
table or the last value entered with the “UNDULATION” command. You may directly indicate an ellipsoidal height by
using the optional “E” flag.
Example:
rtkmode known_llh_position 51.113618,-114.04358,1059.15,0.01,e
RTKMODE KNOWN_ECEF_BASELINE ∆X,∆Y,∆Z,[2σ] can be used to initialize the RT–2 algorithms from a
known ECEF baseline. The RT-2 system uses this to initialize its ambiguities. It only affects the operation of an RT-2
system on baselines not exceeding 30 km. The ∆X,∆Y,∆Z values represent the remote station’s position minus the ref-
erence position, along each axis, in meters. The optional 2σ defines the accuracy (2 sigma, 3 dimensional) of the input
baseline, in meters; it must be 0.03 m or less to cause the RT-2 algorithms to do a forced initialization to fixed integer
ambiguities. If no value is entered, a default value of 0.30 m is assumed; this will not cause an initialization to occur.
Example:
rtkmode known_ecef_baseline 3583,2165,567,0.02
NOTE: You must be very careful when using these last two commands; erroneous input will cause poor performance
and/or erroneous output. It is also very important to follow these command with an RTKMODE
UNKNOWN_BASELINE command before any motion begins.
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Station Command Argument
Remote rtkmode auto (default)
static
kinematic
RTKMODE AUTO configures the RTK system to automatically detect motion. It is the default mode. It will
reliably detect motion of 2.5 cm/sec or greater. If you are undergoing motion slower than this which covers more
than 2 cm, you should use the manual mode selection commands (static and kinematic).
RTKMODE STATIC forces the RTK software to treat the remote station as though it were stationary, regardless
of the output of the motion detector.
Note: For reliable performance the antenna should not move more than 1 - 2 cm when in static mode.
RTKMODE KINEMATIC forces the RTK software to treat the remote station as though it were in motion,
regardless of the output of the motion detector. If the remote station is undergoing very slow steady motion (<
2.5 cm/sec for more than 5 seconds), you should declare KINEMATIC mode to prevent inaccurate results and
possible resets.
Station Command Argument
Remote rtkmode fixed (default)
float
RTKMODE FIXED tells the RTK system to use fixed discrete ambiguities whenever the system is capable and
can do so reliably; it may never do so for long baselines or poor geometries. Only RT-2 systems are capable of
fixing ambiguities, so issuing this command on an RT-20 system will have no effect.
RTKMODE FLOAT causes the system to compute only a floating ambiguity solution. L2 data will be used
along with L1 data if the system is capable of generating L2 data.
You can force the RT-2 software to not fix ambiguities when it normally would, but you cannot force it to fix
ambiguities when it normally wouldn’t.
Station Command Argument
Remote rtkmode reset
RTKMODE RESET causes the RTK algorithm (RT-20 or RT-2, whichever is active) to undergo a complete reset, forcing the system to
restart the ambiguity resolution calculations.
Station Command Argument Data
Reference rtkmode sv_entries number (range 4 to 20, default = 12)
RTKMODE SV_ENTRIES NUMBER causes the number of satellite measurements to be limited to the number
indicated. NUMBER refers to the number of PRNs transmitted by the reference station; each PRN can have either
an L1-only measurement or an L1/L2 pair of measurements. At this time, this command affects RTCAOBS
(RTCA Type 7) messages but not RTCM or CMR messages; if RTCM-format messaging is being used, then
observations for all visible satellites are transmitted.
Example:
rtkmode sv_entries 8
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SAVEALMA
This command saves the latest almanac in non-volatile memory.
The option ONNEW is the default; if a different setting is used, a SAVECONFIG command must be issued or else
ONNEW will resume after a reset.
Bit 21 in the receiver self-test status word (see Table D-5, Page 196) indicates whether the latest almanac received
by the GPS receiver is newer than the almanac saved in non-volatile memory (NVM).
Syntax:
➀The disable option must be followed by the SAVECONFIG command to have an effect.
SAVEALMA option
Command Range Values Description Default
SAVEALMA -Command
option onnew Each almanac is saved in NVM upon reception if it is newer than the one already
stored. This will occur continuously. onnew
stop Stops auto saving.
disable ➀Stops auto saving and prevents the use of the almanac, saved in NVM, on startup.
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SAVECONFIG
This command saves the user’s present configuration in non-volatile memory.
Syntax:
SAVECONFIG
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SEND
This command is used to send ASCII printable data from the COM1 or COM2 or disk file to a specified
communications port. This is a one-time command, therefore the data message must be preceded by the SEND
command followed by the <Enter> key (<CR><LF>) each time you wish to send data. (Remember to use the
MESSAGES command to disable error reporting whenever two GPSCards are connected together via the COM ports.)
Syntax:
Scenario: Assume that you are operating GPSCards as reference and remote stations. It could also be assumed
that the reference station is unattended but operational and you wish to control it from the remote station. From the
remote station, you could establish the data link and command the reference station GPSCard to send differential
corrections.
Figure C-4 Using SEND Command
SEND to-port data
Syntax Range Value Description
SEND Command
to-port COM1, COM2 Port option
data up to 100 characters ASCII data
COM 1
COM1
$PVAA data log...
sen
d
c
o
m1
lo
g
co
m
1
p
v
a
a
on
tim
e5
Host PC - Reference
(Operational with position fixed)
Host PC - Rover
Rover station is commanding Reference
to send PVAA differential logs
Serial Cables
messages com1 off
send com1 log com1 pvaa ontime 5
COM 2
COM 2
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SENDHEX
This command is like the SEND command but is used to send non-printable characters expressed as hexadecimal
pairs.
Syntax:
SENDHEX to-port data
Syntax Range Value Description
SENDHEX Command
to-port COM1, COM2 Port option
data • even number of ASCII characters from set of 0-9, A-F
• spaces allowed between pairs of characters
• carriage return & line feed provided by entering
ODOA at end of string
• maximum number of characters limited to about 1400
characters by command interpreter buffer (2800
ASCII characters pairs)
ASCII data
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SETDGPSID
This command is used to enter a station ID. Once set, the receiver will only accept differential corrections from a
station whose ID matches the set station ID. It is typically used when a station has data links containing RTCM or
RTCA messages from several stations. By entering a specific station ID, the operator can select which station to
listen to. Having set a station ID, incoming, RTCM, RTCMA, RTCA, RTCAA, and RTCAB messages will be received
from only that station. When a valid station ID is entered, an improved data synchronization algorithm will be used.
It is recommended to always set the station ID. This command can also be used to set the station ID for a GPSCard
reference station. See FIX POSITION 4th parameter (station ID).
Syntax:
Example 1: SETDGPSID 1023
Example 2: SETDGPSID “abcd”
SETDGPSID station ID #
SETDGPSID all
Syntax Range Value Description Default
SETDGPSID Command
station ID # 0 - 1023
or
“xxxx”
or
0 - 31
or
all
Reference station ID number for RTCM
Reference station name for RTCA where ”xxxx” are four
alphanumeric characters, entered between double quotes
Reference station ID number for CMR
Accepts differential corrections from any station
all
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SETHEALTH
This command permits you the flexibility to override the broadcast health of a satellite. Under certain conditions
and applications, it may be desirable to track and use information from a GPS satellite even though its health has
been set bad by the GPS control segment. To SETHEALTH for more than one satellite, the command must be re-issued
for each satellite.
IMPORTANT: There is usually a reason when the GPS Control Segment sets a satellite to bad health
condition. If you decide to ignore the health warnings and use the satellite information, UNPREDICTABLE
ERRORS MAY OCCUR.
Syntax:
Example:
sethealth 4,good
SETHEALTH prn health
Syntax Range Value Description Default
SETHEALTH -Command resethealthall
prn 1 - 32 A satellite PRN integer number
health good or bad Desired health;
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SETL1OFFSET
The characteristic signal delays introduced by the antenna, coaxial cable and GPSCard RF section will vary from
one system configuration to another. These delays are measurable using external test equipment. For applications
which involve very precise time transfer, or where ranges are used from multiple receivers, it may be necessary to
add an offset to the L1 pseudorange to compensate for these delays. This is equivalent to a system calibration in
that it corrects for inter-receiver range bias.
It does not affect the output position, and it is unrelated to data latencies.
NOTE: This feature is to be used by advanced users only.
Its intended application is for use in multi-card systems, in which case the clocks on the different
GPSCards must be synchronized. The command is not necessary for most applications.
Syntax:
Example:
setl1offset 1.348693
SETL1OFFSET distance
Command Range Values Description
SETL1OFFSET -
distance -10 to +10 Pseudorange offset (m)
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SETNAV
This command permits entry of one set of navigation waypoints (see Figure C-5). The origin (FROM) and
destination (TO) waypoint coordinates entered are considered on the ellipsoidal surface of the current datum
(default
WGS84). Once SETNAV has been set, you can monitor the navigation calculations and progress by observing
the NAVA/B, GPRMB, and GPZTG log messages.
Track offset is the perpendicular distance from the great circle line drawn between the FROM lat-lon and TO lat-lon
waypoints. It establishes the desired navigation path, or track, that runs parallel to the great circle line, which now
becomes the offset track, and is set by entering the track offset value in meters. A negative track offset value
indicates that the offset track is to the left of the great circle line track. A positive track offset value (no sign
required) indicates the offset track is to the right of the great circle line track (looking from origin to destination).
See Figure C-5 for clarification.
Syntax:
Example:
setnav 51.1516,-114.16263,51.16263,-114.1516,-125.23,from,to
SETNAV from-lat from-lon to-lat to-lon
track offset from-port to-port
SETNAV disable
Syntax Range Value Description Default Example
SETNAV -Command setnav
from-lat 0± 90 Origin latitude in units of degrees/decimal degrees. A negative
sign implies South latitude. No sign implies North latitude. disable 51.1516
from-lon 0± 360 Origin longitude in units of degrees/decimal degrees. A
negative sign implies West longitude. No sign implies East
longitude.
-114.16263
to-lat 0± 90 Destination latitude in units of degrees/decimal degrees 51.16263
to-lon 0± 360 Destination longitude in units of degrees/decimal degrees -114.1516
track offset 0± 1000 Waypoint great circle line offset (in kilometers); establishes
offset track; positive indicates right of great circle line; negative
indicates left of great circle line
-125.23
from-port 1 to 5 characters Optional ASCII station name from
to-port 1 to 5 characters Optional ASCII station name to
C Commands Summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 127
Figure C-5 Illustration of SETNAV Parameters
Reference Description
1TO, lat-lon
2 X-Track perpendicular reference point
3 Current GPS position
4 A-Track perpendicular reference point
5 X-Track (cross-track)
6 A-Track (along track)
7 Distance and bearing from 3 to 1
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128 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
SETTIMESYNC
This command enables or disables time synchronization, which permits two GPSCards in a master/slave
relationship to be synchronized to a common external clock for range comparisons. By default, this function is
disabled.
With SETTIMESYNC enabled, a slave unit is able to interpret injected ($)TM1A/B data messages; for more
information, please refer to the comments relating to the ($)TM1A/B special data messages, and the 1PPS signal.
Syntax:
Example: settimesync enable
NOTE: This command is intended for advanced users of GPS only.
SETTIMESYNC flag
Command Range of Values Description Default
SETTIMESYNC -
flag enable or disable Enable or disable time synchronization disable
C Commands Summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 129
UNASSIGN
This command cancels a previously issued ASSIGN command and the channel reverts to automatic control. If a
channel has reached state 4 (PLL), the satellite being tracked will not be dropped when the UNASSIGN command is
issued, unless it is below the elevation cutoff angle, and there are healthy satellites above the ecutoff that are not
already assigned to other channels.
Syntax:
Example: unassign 11
UNASSIGNALL
This command cancels all previously issued ASSIGN commands for all channels. Tracking and control for each
channel reverts to automatic mode. If any of the channels have reached state 4 (PLL), the satellites being tracked
will not be dropped when the UNASSIGNALL command is issued, unless they are below the elevation cutoff angle,
and there are healthy satellites above the ecutoff that are not already assigned to other channels.
Syntax: UNASSIGNALL
UNASSIGN channel
Syntax Range Value Description Default
UNASSIGN -Command unassignall
channel 0 - 11 Reset channel to automatic search and acquisition mode
7
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130 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
UNDULATION
This command permits you to either enter a specific geoidal undulation value or use the internal table of geoidal
undulations. The separation values only refer to the separation between the WGS84 ellipsoid and the geoid,
regardless of the datum chosen, see the PRTKA/B log in Chapter 3 and Appendix D.
Syntax:
Example 1:
undulation table
Example 2:
undulation -5.6
Please see Appendix A, A.2 Height Relationships for a description of the relationships in Figure C-6.
Figure C-6 Illustration of Undulation
UNDULATION separation
Syntax Range Value Description Default
UNDULATION -Command
separation table
or
enter a value
Selects the internal table of undulations and ignores any previously entered value. The
internal table utilizes OSU - 89B 1.5º x ~1.5º.
A numeric entry that overrides the internal table with a value in meters.
table
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UNFIX
This command removes all position constraints invoked with any of the FIX commands (FIX POSITION, FIX HEIGHT,
or FIX VELOCITY).
Syntax: UNFIX
UNLOCKOUT
This command allows a satellite which has been previously locked out (LOCKOUT command) to be reinstated in the
solution computation. If more than one satellite is to be reinstated, this command must be reissued for each satellite
reinstatement.
Syntax:
Example:
unlockout 8
UNLOCKOUTALL
This command allows all satellites which have been previously locked out (LOCKOUT command) to be reinstated
in the solution computation.
Syntax: UNLOCKOUTALL
UNLOCKOUT prn
Syntax Range Value Description Default
UNLOCKOUT -Command unlockoutall
prn 1 - 32 A single satellite PRN to be reinstated
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132 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
UNLOG
This command permits you to remove a specific log request from the system.
The [port] parameter is optional. If [port] is not specified, it is defaulted to the port that the command was received
on. This feature eliminates the need for you to know which port you are communicating on if you want logs to
come back on the same port you are sending commands on.
Syntax:
Example: unlog com1,posa
unlog posa
UNLOGALL
If [port] is specified (COM1 or COM2) this command disables all logs on the specified port only. All other ports
are unaffected. If [port] is not specified this command disables all logs on all ports.
Syntax: UNLOGALL [
port
]
NOTE: This command does not disable logs that have the HOLD attribute (see description for LOG command).
To disable logs with the HOLD attribute, use the UNLOG command.
UNLOG [
port
]datatype
Syntax Range Value Description Default
UNLOG -Command unlogall
[port] COM1, COM2 COMn port from which log originated
datatype any valid log The name of the log to be disabled
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USERDATUM
This command permits entry of customized ellipsoidal datum parameters. Use this command in conjunction with
the DATUM command. The default setting is WGS84.
Syntax:
Example:
userdatum 6378206.4,294.9786982,-12,147,192,0,0,0,0
USERDATUM semi-major flattening dx dy dz rx ry rz scale
Syntax Range Value Description Default Example
USERDATUM -Command userdatum
semi-major min.
6300000.0
max.
6400000.0
Datum Semi-major Axis (a) in metres 6378137.000 6378206.4
flattening min. 290.0
max. 305.0 Reciprocal Flattening, 1/f = a/(a-b) 298.257223563 294.9786982
dx,dy,dz min. - 2000.0
max. 2000.0 Datum offsets from WGS84 in meters:
These will be the translation values between your datum
and WGS84 (internal reference)
0.000,0.000,0.000 -12,147,192
rx,ry,rz min. -10
max. 10 Datum Rotation Angle about X, Y and Z axis (sec of arc):
These values will be the rotation between your datum
and WGS84
0.000,0.000,0.000 0,0,0
scale min. -10
max. 10 Scale value is the difference in ppm between your datum
and WGS84 0.000 0
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134 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
VERSION
Use this command to determine the current software version of the GPSCard. The response to the VERSION
command is logged to the port from which the command originated.
Syntax: VERSION
Example:
version
OEM-3 MILLENRT2 ESN251448497 HW 3-1 SW 4.433/2.03 Feb 18/97
com1>
Command Response Syntax
VERSION Card type Model # S/N HW Rev SW Rev Date
C Commands Summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 135
WAASCORRECTION
WAAS
This command allows you to have an affect on how the card handles WAAS corrections. The card will switch
automatically to Pseudorange Differential (RTCM or RTCA) or RTK if the appropriate corrections are being
received, regardless of the current setting.
The ability to incorporate the WAAS corrections into the position solution is not the default mode. First enter the
following command to put the card in WAAS mode:
config waascorr
Note: You cannot change GPSCard modes on the fly as the once a CONFIG command is issued the card resets
itself and start the new mode requested.
To enable the position solution corrections, you must issue the WAASCORRECTION ENABLE command.
Syntax:
WAASCORRECTION keyword
Syntax Range Value Description
WAASCORRECTION - Command
keyword ENABLE
DISABLE - Card will use the WAAS corrections it receives.
- Card will not use the WAAS corrections that it receives.
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136 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
D LOGS SUMMARY
LOG DESCRIPTIONS
ALMA/B Decoded Almanac
This log contains the decoded almanac parameters from subframes four and five as received from the satellite with
the parity information removed and appropriate scaling applied. Multiple messages are transmitted, one for each
SV almanac collected. The Ionospheric Model parameters (IONA) and the UTC Time parameters (UTCA) are also
provided, following the last almanac records. For more information on Almanac data, refer to the GPS SPS Signal
Specification. (See Appendix F of this manual for References.)
MiLLennium cards will automatically save almanacs in their non-volatile memory (NVM), therefore creating an
almanac boot file would not be necessary.
ALMA
Structure:
ALMA FORMAT
$ALMA prn ecc seconds week rate-ra
ra wMoaf0 af1 cor-mean-motion
Aincl-angle health-4 health-5 health-alm *xx [CR][LF]
Field # Field type Data Description Example
1$ALMA Log header $ALMA
2prn Satellite PRN number for current message, dimensionless 1
3ecc Eccentricity, dimensionless 3.55577E-003
4seconds Almanac reference time, seconds into the week 32768
5week Almanac reference week (GPS week number) 745
6rate-ra Rate of right ascension, radians -7.8860E-009
7ra Right ascension, radians -6.0052951E-002
8 w Argument of perigee, radians -1.1824254E+000
9 MoMean anomaly, radians 1.67892137E+000
10 af0 Clock aging parameter, seconds -1.8119E-005
11 af1 Clock aging parameter, seconds/second -3.6379E-012
12 cor-mean-motion Corrected mean motion, radians/second 1.45854965E-004
13 ASemi-major axis, metres 2.65602281E+007
14 incl-angle Angle of inclination, radians 9.55576E-001
15 health-4 Anti-spoofing and SV config (subframe 4, page 25) 1
16 health-5 SV health, 6 bits/SV (subframe 4 or 5, page 25) 0
17 health-alm SV health, 8 bits (almanac) 0
18 *xx Checksum *20
19 [CR][LF] Sentence terminator [CR][LF]
1 - 19 $ALMA Next satellite PRN almanac message
1 - 19 $ALMA Last satellite PRN almanac message
1 - 11 $IONA Ionospheric Model Parameters
1 - 11 $UTCA UTC Time Parameters
DLOGS SUMMARY
D Logs summary
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Example:
$ALMA,1,3.55577E-003,32768,745,-7.8860E-009,-6.0052951E-002,-1.1824254E+000,
1.67892137E+000,-1.8119E-005,-3.6379E-012,1.45854965E-004,2.65602281E+007,
9.55576E-001,1,0,0*20[CR][LF]
...
$ALMA,31,4.90665E-003,32768,745,-8.0460E-009,3.05762855E+000,6.14527459E-001,
1.69958217E+000,6.67572E-006,3.63797E-012,1.45861888E-004,2.65593876E+007,
9.61664E-001,1,0,0*13[CR][LF]
IONA FORMAT
Structure:
Example:
$IONA,1.0244548320770265E-008,1.4901161193847656E-008,-5.960464477539061E-008,
-1.192092895507812E-007,8.8064000000000017E+004,3.2768000000000010E+004,
-1.966080000000001E+005,-1.966080000000001E+005*02[CR][LF]
$IONA act a1ot a2ot a3ot
bct b1ot b2ot b3ot *xx [CR][LF]
Field # Field type Data Description Example
1$IONA Log header $IONA
2act Alpha constant term, seconds 1.0244548320770265E-008
3a1ot Alpha 1st order term, sec/semicircle 1.4901161193847656E-008
4a2ot Alpha 2nd order term, sec/(semic.)2-5.960464477539061E-008
5a3ot Alpha 3rd order term, sec/(semic.)3-1.192092895507812E-007
6bct Beta constant term, seconds 8.8064000000000017E+004
7b1ot Beta 1st order term, sec/semicircle 3.2768000000000010E+004
8b2ot Beta 2nd order term, sec/(semic.)2-1.966080000000001E+005
9b3ot Beta 3rd order term, sec/(semic.)3-1.966080000000001E+005
10 *xx Checksum *02
11 [CR][LF] Sentence terminator [CR][LF]
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138 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
UTCA FORMAT
Structure:
Example:
$UTCA,-2.235174179077148E-008,-1.243449787580175E-014,32768,745,755,9,10,5*37
[CR][LF]
$UTCA pct p1ot data-ref wk#-utc wk#-lset
delta-time lsop day #-lset *xx [CR][LF]
Field # Field type Data Description Example
1$UTCA Log header $UTCA
2pct Polynomial constant term, seconds -2.235174179077148E-008
3p1ot Polynomial 1st order term, seconds/second -1.243449787580175E-014
4data-ref UTC data reference time, seconds 32768
5wk #-utc Week number of UTC reference, weeks 745
6wk #-lset Week number for leap sec effect time, weeks 755
7delta-time Delta time due to leap sec, seconds 9
8lsop For use when leap sec on past, seconds 10
9day #-lset Day number for leap sec effect time, days 5
10 *xx Checksum *37
11 [CR][LF] Sentence terminator [CR][LF]
D Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 139
ALMB
ALMB FORMAT:
Message ID = 18 Message byte count = 120
IONB FORMAT:
Message ID = 16 Message byte count = 76
Field # Field Type Bytes Format Units Offset
1Sync 3 0
(header) Checksum 1 3
Message ID 4 4
Message byte count 4 8
2Satellite PRN number 4integer 12
3Eccentricity 8double 16
4Almanac ref. time 8double seconds 24
5Almanac ref. week 4integer weeks 32
6Omegadot - rate of right ascension 8double radians/second 36
7Right ascension 8double radians 44
8Argument of perigee w 8double radians 52
9Mean anomaly Mo 8double radians 60
10 Clock aging parameter af0 8double seconds 68
11 Clock aging parameter af1 8double seconds/second 76
12 Corrected mean motion 8double radians/second 84
13 Semi-major axis A 8double meters 92
14 Angle of inclination 8double radians 100
15 Sv health from subframe 4, discrete 4integer 108
16 Sv health from subframe 5, discrete 4integer 112
17 Sv health from almanac, discrete 4integer 116
Field # Field Type Bytes Format Units Offset
1Sync 3char 0
(header) Checksum 1char 3
Message ID 4integer 4
Message byte count 4integer 8
2Alpha constant term 8double seconds 12
3Alpha 1st order term 8double sec/semicircle 20
4Alpha 2nd order term 8double sec/(semic.)228
5Alpha 3rd order term 8double sec/(semic.)336
6Beta constant term 8double seconds 44
7Beta 1st order term 8double sec/semic 52
8Beta 2nd order term 8double sec/(semic.)260
9Beta 3rd order term 8double sec/(semic.)368
D Logs summary
140 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
UTCB FORMAT:
Message ID = 17 Message Byte Count = 52
Field # Field Type Bytes Format Units Offset
1Sync 3char 0
(header) Checksum 1char 3
Message ID 4integer 4
Message byte count 4integer 8
2Polynomial constant term 8double seconds 12
3Polynomial 1st order term 8double seconds/second 20
4UTC data reference time 4integer seconds 28
5Week number UTC reference 4integer weeks 32
6Week number for leap sec effect time 4integer weeks 36
7Delta time due to leap sec 4integer seconds 40
8For use when leap sec on past 4integer seconds 44
9Day number for leap sec effect time 4integer days 48
D Logs summary
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BSLA/B Baseline Measurement
RTK
This log contains the most recent matched baseline representing the vector from the reference station receiver to
the remote station receiver. It is expressed in ECEF coordinates with corresponding uncertainties along each axis,
and a time tag. The estimated variance of the baseline in ECEF XYZ coordinates is the same as the XYZ position
variance.
It is recommended that you use the trigger ‘on changed’ which will log the selected data only when the data has
changed.
BSLA
Structure:
Example:
$BSLA,872,174962.00,8,7,7,-1.346,-3.114,
-2.517,0.005,0.004,0.005,0,0,4,119*36[CR][LF]
$BSLA week seconds #sv #high L1L2 #high
∆x∆y∆z∆x σ∆y σ∆z σsoln status
rtk status posn type stn ID *xx [CR][LF]
Field # Field type Data Description Example
1$BSLA Log header $BSLA
2week GPS week number 872
3seconds GPS time into the week (in seconds) 174962.00
4#sv Number of matched satellites; may differ from the number in view. 8
5#high Number of matched satellites above RTK mask angle; observations from satellites
below mask are heavily de-weighted. 7
6L1L2 # high Number of matched satellites above RTK mask angle with both L1 and L2 available 7
7∆x ECEF X baseline component (remote stn. - reference stn.); in meters -1.346
8∆y ECEF Y baseline component (remote stn. - reference stn.); in meters -3.114
9∆zECEF Z baseline component (remote stn. - reference stn.); in meters -2.517
10 ∆x σStandard deviation of ∆x solution element; in meters 0.005
11 ∆y σStandard deviation of ∆y solution element; in meters 0.004
12 ∆z σStandard deviation of ∆z solution element; in meters 0.005
13 soln status Solution status (see Table D-1) 0
14 rtk status RTK status (see Tables D-3, D-4) 0
15 posn type Position type (see Table D-2) 4
16 stn ID Reference station identification (RTCM: 0 - 1023, or RTCA: 266305 - 15179385) 119
17 *xx Checksum *36
18 [CR][LF] Sentence terminator [CR][LF]
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142 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
BSLB
Format: Message ID = 59
Message byte count = 100
Field # Data Bytes Format Units Offset
1Sync 3char 0
(header) Checksum 1char 3
Message ID 4integer 4
Message byte count 4integer 8
2Week number 4integer weeks 12
3GPS time into the week 8double seconds 16
4Number of matched satellites (00-12) 4integer 24
5Number of matched satellites above RTK mask
angle 4integer 28
6Number of matched satellites above RTK mask
angle with both L1 and L2 available 4integer 32
7ECEF X baseline 8double meters 36
8ECEF Y baseline 8double meters 44
9ECEF Z baseline 8double meters 52
10 Standard deviation of X baseline 8double meters 60
11 Standard deviation of Y baseline 8double meters 68
12 Standard deviation of Z baseline 8double meters 76
13 Solution status (see Table D-1) 4integer 84
14 RTK status (see Tables D-3, D-4) 4integer 88
15 Position type (see Table D-2) 4 integer 92
16 Reference station identification (RTCM: 0 - 1023, or
RTCA: 266305 - 15179385) 4integer 96
D Logs summary
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Table D-1 GPSCard Solution Status
Table D-2 Position Type
Table D-3 RTK Status for Position Type 3 (RT-20)
Table D-4 RTK Status for Position Type 4 (RT-2)
Value Description
0 Solution computed
1 Insufficient observations
2 No convergence
3Singular ATPA Matrix
4 Covariance trace exceeds maximum (trace > 1000 m)
5 Test distance exceeded (maximum of 3 rejections if distance > 10 km)
6 Not yet converged from cold start
7 Height or velocity limit exceeded. (In accordance with COCOM export
licensing restrictions)
Higher numbers are reserved for future use
Type Definition
0No position
1Single point position
2Differential pseudorange position
3RT-20 position
4RT-2 position
5WAAS position solution
Higher numbers are reserved for future use
Status Definition
0Floating ambiguity solution (converged)
1Floating ambiguity solution (not yet converged)
2Modeling reference phase
3Insufficient observations
4Variance exceeds limit
5Residuals too big
6Delta position too big
7Negative variance
8RTK position not computed
Higher numbers are reserved for future use
Status Definition
0Narrow lane solution
1Wide lane derived solution
2Floating ambiguity solution (converged)
3Floating ambiguity solution (not yet converged)
4Modeling reference phase
5Insufficient observations
6Variance exceeds limit
7Residuals too big
8Delta position too big
9Negative variance
10 RTK position not computed
Higher numbers are reserved for future use
D Logs summary
144 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
CDSA/B Communication and Differential Decode Status
The GPSCard maintains a running count of a variety of status indicators of the data link. This log outputs a report
of those indicators.
Parity and framing errors will occur if poor transmission lines are encountered or if there is an incompatibility in
the data protocol. If errors occur, you may need to confirm the bit rate, number of data bits, number of stop bits and
parity of both the transmit and receiving ends. Overrun errors will occur if more characters are sent to the UART
than can be removed by the on-board microprocessor.
CDSA
Structure
$cdsa week seconds xon1 csts1 parity1 overrun1 framing1
rx1 tx1 xon2 cts2 parity2 overrun2 framing2 rx2 tx2
rtca
crc
rtcaa
fail
rtca
good
rtcm
par
rtcma
fail
rtcm
good
dcsa
fail
dsca
good
dcsb
fail dcsb
good
cmr
fail cmr
good res’d *xx [CR][LF]
Field # Field type Data Description Example
1$CDSA Log header $CDSA
2week GPS week number 787
3seconds GPS seconds into the week 500227
4xon1 Flag to indicate that the com1 is using XON/XOFF handshaking protocol and port has received
an xoff and will wait for an xon before sending any more data. 0
5cts1 Flag to indicate that com1 is using CTS/RTS handshake protocol and cts line port has been
asserted. The port will wait for the line to de-assert before sending any more data. 0
6parity1 The number of character parity errors from the UART of COM1 0
7overrun1 The number of UART buffer overrun errors of COM1 0
8framing1 The number of character framing errors from the UART of COM1 0
9rx1 The number of the characters received from COM1 0
10 tx1 The number of the characters sent out to COM1 9
11 xon2 Flag to indicate that COM2 is using XON/XOFF handshaking protocol and port has received an
xoff and will wait for an xon before sending any more data. 0
12 cts2 Flag to indicate that COM2 is using CTS/RTS handshake protocol and cts line port has been
asserted. The Port will wait for the line to de-assert before sending any more data. 0
13 parity2 The number of character parity errors from the UART of COM2 0
14 overrun2 The number of UART buffer overrun errors of COM2 0
15 framing2 The number of character framing errors from the UART of COM2 0
16 rx2 The number of characters received from COM2 0
17 tx2 The number of characters sent out to COM2 9
18 rtcacrc The number of RTCA CRC failures 0
19 rtcaafail The number of invalid ASCII $RTCA,....,*xx records indicating that the ASCII checksum “xx”
failed. 0
20 rtcagood The number of RTCA records that pass error checking 0
21 rtcmpar The number of 30 bit RTCM parity failures 0
22 rtcmafail The number of invalid ASCII $RTCM,....,*xx records indicating that the ASCII checksum “xx”
failed. 0
23 rtcmgood The number of RTCM records that pass error checking 0
24 dcsafail DCSA is now obsolete. 0
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Example:
$CDSA,787,500227,0,0,0,0,0,0,9,0,0,0,0,0,0,9,0,0,0,0,0,0,0,0,0,0,0,0,0*33[CR][LF]
25 dcsagood DCSA is now obsolete. 0
26 dcsbfail DCSB is now obsolete. 0
27 dcsbgood DCSB is now obsolete. 0
28 cmrfail The number of CMR messages which have failed error checking 0
29 cmrgood The number of good CMR messages received 0
30 res’d Reserved for future use 0
31 *xx Checksum *33
32 [CR][LF] Sentence terminator [CR][LF]
Field # Field type Data Description Example
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146 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
CDSB
Format: Message ID = 39 Message byte count = 128
Field # Data Bytes Format Units Offset
1Sync 3char 0
(header) Checksum 1char 3
Message ID 4integer 4
Message byte count 4integer 8
2Week number 4integer weeks 12
3Time of week 4integer seconds 16
4Xon COM1 4integer 20
5CTS COM1 4integer 24
6Parity errors COM1 4integer 28
7Overrun errors COM1 4integer 32
8Framing error COM1 4integer 36
9Bytes received in COM1 4integer 40
10 Bytes sent out COM1 4integer 44
11 Xon COM2 4integer 48
12 CTS COM2 4integer 52
13 Parity errors COM2 4integer 56
14 Overrun errors COM2 4integer 60
15 Framing error COM2 4integer 64
16 Bytes received in COM2 4integer 68
17 Bytes sent out COM2 4integer 72
18 RTCA CRC fails 4integer 76
19 RTCAA checksum fails 4integer 80
20 RTCA records passed 4integer 84
21 RTCM parity fails 4integer 88
22 RTCMA checksum fails 4integer 92
23 RTCM records passed 4integer 96
24 DCSA checksum 4integer 100
25 DCSA records passed 4integer 104
26 DCSB checksum fails 4integer 108
27 DCSB records passed 4integer 112
28 Reserved 4integer 116
29 Reserved 4integer 120
30 Reserved 4integer 124
D Logs summary
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CLKA/B Receiver Clock Offset Data
This record is used to monitor the state of the receiver time. Its value will depend on the CLOCKADJUST command.
If CLOCKADJUST is enabled, then the offset and drift times will approach zero. If not enabled, then the offset will
grow at the oscillator drift rate. Disabling CLOCKADJUST and monitoring the CLKA/B log will allow you to
determine the error in your GPSCard receiver reference oscillator as compared to the GPS satellite reference.
All logs report GPS time not corrected for local receiver clock error. To derive the closest GPS time one must subtract
the clock offset shown in the CLKA log (field 4) from GPS time reported.
The internal units of the new clock model’s three states (offset, drift and GM state) are meters, meters per second,
and meters. When scaled to time units for the output log, these become seconds, seconds per second, and seconds,
respectively. Note that the old units of the third clock state (drift rate) are seconds per second per second.
CLKA
Structure:
Example
$CLKA,841,499296.00,9.521895494E-008,-2.69065747E-008,2.061788299E-006,
9.642598169E-008,8.685638908E-010,0*4F
$CLKA week seconds offset drift SA G-M state offset std
drift std cm status *xx [CR][LF]
Field # Field type Data Description Example
1$CLKA Log header $CLKA
2week GPS week number 637
3seconds GPS seconds into the week 511323.00
4offset Receiver clock offset, in seconds. A positive offset implies that the
receiver clock is ahead of GPS Time. To derive GPS time, use the
following formula: GPS time = receiver time - (offset)
-4.628358547E-003
5drift Receiver clock drift, in seconds per second. A positive drift implies that
the receiver clock is running faster than GPS Time. -2.239751396E-007
6SA G-M state This field contains the output value of the Gauss-Markov Selective
Availability clock dither estimator, in units of seconds. The value reflects
both the collective SA-induced short-term drift of the satellite clocks as
well as any range bias discontinuities that would normally affect the clock
model’s offset and drift states.
2.061788299E-006
7offset std Standard deviation of receiver clock offset, in seconds 5.369997167E-008
8drift std Standard deviation of receiver drift, in seconds per second 4.449097711E-009
9cm status Receiver Clock Model Status where 0 is valid and values from -20 to -1
imply that the model is in the process of stabilization 0
10 *xx Checksum *7F
11 [CR][LF] Sentence terminator [CR][LF]
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148 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
CLKB
Format: Message ID = 02 Message byte count = 68
Field # Field Type Bytes Format Units Offset
1Sync 3char 0
(header) Checksum 1char 3
Message ID 4integer 4
Message byte count 4integer 8
2Week number 4integer weeks 12
3Seconds of week 8double seconds 16
4Clock offset 8double seconds 24
5Clock drift 8double seconds per second 32
6SA Gauss-Markov state 8double seconds 40
7StdDev clock offset 8double seconds 48
8StdDev clock drift 8double seconds per second 56
9Clock model status 4integer 64
D Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 149
CLMA/B Receiver Clock Model
The CLMA and CLMB logs contain the current clock-model matrices of the GPSCard. These logs can be both
generated and received by a GPSCard.
NOTE: Only advanced users should seek to alter the clock model parameters of a GPSCard.
Throughout the following, these symbols are used:
B = range bias (m)
BR = range bias rate (m/s)
SAB = Gauss-Markov process representing range bias error due to SA clock dither (m)
For further information, please refer to the documentation given for the clka/b log.
The standard clock model now used is as follows:
clock parameters array = [ B BR SAB]
covariance matrix =
CLMA
Structure:
$CLMA status reject noise time update
parameters covariance *xx [CR][LF]
Field # Field type Data Description Example
1$CLMA Log header $CLMA
2status Status of clock model (0 = good;
-1 to -20 = bad) 0
3reject Number of rejected range bias
measurements (max. = 5) 0
4noise time GPS time of last estimate
(seconds)
- since Jan. 3, 1980 -
5.113140990E+010
5update GPS time of last update
(seconds)
- since Jan. 3, 1980 -
5.113140990E+010
6 - 8 parameters Parameters array (1 x 3 = 3
elements) 5.810550069E+003, -1.07377180E+002, -1.41936974E+002
9 - 17 covariance Covariance matrix (3x3 = 9
elements), listed left-to-right by
rows
9.744136534E+004, 1.676933050E+003, -8.98776739E+004,
1.676933050E+003, 4.750666170E+002, -7.06077622E+002,
-8.98776739E+004, -7.06077622E+002, 8.996728013E+004
18 *xx Checksum *00
19 [CR][LF] Sentence terminator [CR][LF]
σ2
Bσ
Bσ
BR σ
Bσ
SAB
σ
BR σ
Bσ
BR
2σ
BR σ
SAB
σ
SAB σ
Bσ
SAB σ
BR σ
SAB
2
D Logs summary
150 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
Example:
$CLMA,0,0,5.113140990E+010,5.113140990E+010,5.810550069E+003,
-1.07377180E+002,-1.41936974E+002,9.744136534E+004,
1.676933050E+003,-8.98776739E+004,1.676933050E+003,
4.750666170E+002,-7.06077622E+002,-8.98776739E+004,
-7.06077622E+002,8.996728013E+004*00[CR][LF]
CLMB
Format: Message ID = 51 Message byte count = 132
Field # Field Type Bytes Format Units Offset
1Sync 3char 0
(header) Checksum 1char 3
Message ID 4integer 4
Message byte count 4integer bytes 8
2Status of clock model (figure of quality) 4integer 0 = good; -1 to -20 = bad 12
3Number of rejected observations 4integer observations 16
4GPS time of last estimate 8double seconds 20
5GPS time of last update 8double seconds 28
6 - 8 Parameters array (1x3 = 3 elements) 3 x 8 double [m m/s m] 36
9 - 17 Covariance matrix (3x3 = 9 elements),
listed left-to-right by rows 9 x 8 double [ m2 m2/s m2
m2/s m2/s2 m2/s
m2 m2/s m2 ]
60
D Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 151
CMR Standard Logs
The Compact Measurement Record (CMR) Format, a standard communications protocol used in Real-Time
Kinematic (RTK) systems to transfer GPS carrier phase and code observations from a reference station to one or
more rover stations.
See Chapter 4 for more information on CMR standard logs.
D Logs summary
152 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
COM1A/B and COM2A/B Pass-Through Logs
There are two pass-through logs COM1A/B and COM2A/B, available on MiLLennium GPSCards.
The pass-through logging feature enables the GPSCard to redirect any ASCII or binary data that is input at a
specified port (COM1 or COM2) to any specified GPSCard port (COM1 or COM2). This capability, in conjunction with
the SEND command, can allow the GPSCard to perform bi-directional communications with other devices such as
a modem, terminal, or another GPSCard.
Please see Chapter 3 for more information.
D Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 153
DOPA/B Dilution of Precision
The dilution of precision data is calculated using the geometry of only those satellites that are currently being
tracked and used in the position solution by the GPSCard and updated once every 60 seconds or whenever a change
in the constellation occurs. Therefore, the total number of data fields output by the log is variable, depending on
the number of SVs tracking. Twelve is the maximum number of SV PRNs contained in the list.
NOTE: If a satellite is locked out using the LOCKOUT command, it will still be shown in the PRN list, but is
significantly deweighted in the DOP calculation.
DOPA
Structure:
Example:
$DOPA,637,512473.00,2.9644,2.5639,2.0200,1.3662,1.4880,6,18,6,11,2,16,19
*29[CR][LF]
$DOPA week seconds gdop pdop htdop hdop tdop # sats
prn list *xx [CR][LF]
Field # Field type Data Description Example
1$DOPA Log header $DOPA
2week GPS week number 637
3seconds GPS seconds into the week 512473.00
4gdop Geometric dilution of precision - assumes 3-D position and receiver clock offset (all
4 parameters) are unknown 2.9644
5pdop Position dilution of precision - assumes 3-D position is unknown and receiver clock
offset is known 2.5639
6htdop Horizontal position and time dilution of precision. 2.0200
7hdop Horizontal dilution of precision. 1.3662
8tdop Time dilution of precision - assumes 3-D position is known and only receiver clock
offset is unknown 1.4880
9# sats Number of satellites used in position solution (0-12) 6
10... prn list PRN list of SV PRNs tracking (1-32), null field until first position solution available 18,6,11,2,16,
19
variable *xx Checksum *29
variable [CR][LF] Sentence terminator [CR][LF]
D Logs summary
154 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
DOPB
Format: Message ID = 07 Message byte count = 68+(sats*4)
Field # Data Bytes Format Units Offset
1Sync 3char 0
(header) Checksum 1char 3
Message ID 4integer 4
Message byte count 4integer 8
2Week number 4integer weeks 12
3Seconds of week 8double seconds 16
4gdop 8double 24
5pdop 8double 32
6htdop 8double 40
7hdop 8double 48
8tdop 8double 56
9Number of satellites used 4integer 64
10 1st PRN 4integer 68
11... Next satellite PRN
Offset = 68 + (sats*4) where sats = 0 to (number of sats-1)
D Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 155
ETSA/B Extended Tracking Status
These logs provide channel tracking status information for each of the GPSCard parallel channels.
NOTE: This log is intended for status display only; since some of the data elements are not synchronized
together, they are not to be used for measurement data. Please use the RGEA/B/D, SATA/B, and
SVDA/B logs to obtain synchronized data for post processing analysis.
If both the L1 and L2 signals are being tracked for a given PRN, two entries with the same PRN will appear in the
tracking status logs. As shown in Table D-5 Receiver Self Test Status Codes these entries can be differentiated by
bit 19, which is set if there are multiple observables for a given PRN, and bit 20, which denotes whether the
observation is for L1 or L2. This is to aid in parsing the data.
ETSA
Structure:
$ETSA week seconds sol status # obs
prn ch-tr-status dopp C/No residual locktime psr reject code
:
prn ch-tr-status dopp C/No residual locktime psr reject code
*xx [CR][LF]
Field # Field type Data Description Example
1$ETSA Log header $ETSA
2week GPS week number 850
3seconds GPS seconds into the week (receiver time, not corrected for clock
error, CLOCKADJUST enabled) 332087.00
4sol status Solution status (see Table D-1, , Page 143) 0
5# obs Number of observations to follow 24
6prn Satellite PRN number (1-32) (channel 0) 7
7ch-tr-status Hexadecimal number indicating channel tracking status (See Table
D-7, Page 201)00082E04
8dopp Instantaneous carrier Doppler frequency (Hz) -613.5
9C/No Carrier to noise density ratio (dB-Hz) 54.682
10 residual Residual from position filter (m) 27.617
11 locktime Number of seconds of continuous tracking (no cycle slips) 12301.4
12 psr Pseudorange measurement (m) 20257359.5
7
13 reject code Indicates whether the range is valid (code = 0) or not (see Table D-
11, Page 213) 0
14-21
..
94-101
..
..
..
Next PRN #,ch-tr-status,dopp,C/No,residual,locktime,psr,reject code
..
Last PRN #,ch-tr-status,dopp,C/No,residual,locktime,psr,reject code
102 *xx Checksum *19
103 [CR][LF] Sentence terminator [CR][LF]
.
D Logs summary
156 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
Example (carriage returns have been added between observations for clarity):
$ETSA,850,332087.00,0,24,
7,00082E04,-613.5,54.682,27.617,12301.4,20257359.57,0,
7,00582E0B,-478.1,46.388,0.000,11892.0,20257351.96,13,
5,00082E14,3311.2,35.915,1.037,1224.4,24412632.47,0,
5,00582E1B,2580.4,39.563,0.000,1186.7,24412629.40,13,
9,00082E24,1183.1,53.294,-29.857,7283.8,21498303.67,0,
9,00582E2B,921.9,44.422,0.000,7250.2,21498297.13,13,
2,00082E34,-2405.2,50.824,-20.985,19223.6,22047005.47,0,
2,00582E3B,-1874.1,41.918,0.000,19186.7,22046999.44,13,
4,00082E44,3302.8,47.287,7.522,3648.1,22696783.36,0,
4,00582E4B,2573.6,37.341,0.000,3191.2,22696778.15,13,
14,00082E54,2132.7,41.786,-22.388,541.3,25117182.07,0,
14,00582E5B,1661.7,33.903,0.000,500.7,25117179.63,13,
26,00082E64,-3004.3,43.223,2.928,14536.2,25074382.19,0,
26,00582E6B,-2340.9,33.019,0.000,14491.7,25074378.01,13,
15,00082E74,-3037.7,43.669,0.508,12011.5,24104788.88,0,
15,00582E7B,-2367.0,34.765,0.000,11842.4,24104781.53,13,
24,00082E84,3814.0,37.081,7.511,95.7,25360032.49,0,
24,00582E8B,2972.0,24.148,0.000,5.2,25360030.13,13,
28,00082A90,-9800.9,0.000,0.000,0.0,0.00,9,
28,00382A90,-7637.0,0.000,0.000,0.0,0.00,9,
3,000822A0,-3328.3,0.000,0.000,0.0,0.00,9,
3,005828A0,-2593.5,0.000,0.000,0.0,0.00,9,
27,000822B0,-3851.7,0.000,0.000,0.0,0.00,9,
27,005828B0,-3001.7,0.000,0.000,0.0,0.00,9,*41[CR][LF]
ETSB
Format: Message ID = 48 Message byte count = 32 + (n x 52) where n is number of observations
Field # Data Bytes Format Units Offset
1Sync 3char 0
(header) Checksum 1char 3
Message ID 4integer 4
Message byte count 4integer 8
2Week number 4integer weeks 12
3Time of week 8double seconds 16
4Solution status (see Table D-1, Page 143) 4integer 24
5Number of observations 4integer 28
6PRN number (first observation) 4integer 32
7Channel tracking status (See Table D-7,
Page 201) 4integer 36
8Doppler 8double Hz 40
9C/N08double dB-Hz 48
10 Residual 8double meters 56
11 Locktime 8double seconds 64
12 Pseudorange 8double meters 72
13 Rejection code (see Table D-11, Page 213) 4integer 80
14 ... Offset = 32 + (#obs x 52) where #obs varies from 0 - 23
D Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 157
FRMA/B Framed Raw Navigation Data
This message contains the raw framed navigation data. An individual message is sent for each PRN being tracked.
The message is updated with each new frame, therefore it is best to log the data with the ‘onnew’ trigger activated.
FRMA
Structure:
FRMB
Format: Message ID = 54 Message byte count = variable
$FRMA week seconds prn cstatus # of bits framed raw data
*xx [CR][LF]
Field # Field type Data Description Example
1$FRMA Log header $FRMA
2week GPS week number 845
3seconds GPS seconds into the week 238623.412
4prn PRN of satellite from which data originated 120
5cstatus Channel Tracking Status (see Table D-7, Page 201)80811F14
6# of bits Number of bits transmitted in the message. 250 for
WAAS, 300 for GPS and 85 for GLONASS. 250
7framed raw data One field of raw framed navigation data. 9AFE5354656C2053796E636
8726F6E69636974792020202
020202020B0029E40*3F
8*xx Checksum *42
9[CR][LF] Sentence terminator [CR][LF]
Field # Data Bytes Format Units Offset
1Sync 3char 0
(header) Checksum 1char 3
Message ID 4integer 4
Message byte count 4integer bytes 8
2Week number 4integer weeks 12
3Seconds of week 8double seconds 16
4PRN number 4integer 1-999 24
5Channel Tracking Status (see Table D-7, Page 201) 4 integer n/a 28
6Number of Bits 4integer 250 for WAAS
300 for GPS
85 for GLONASS
32
7Data Sub-frame variable char N/A 36
D Logs summary
158 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
GGAB Global Position System Fix Data (Binary Format Only)
Time, position and fix-related data of the GPS receiver. This binary log is a replica of the NMEA GPGGA ASCII log
expressed in binary format with NovAtel header added.
Format: Message ID = 27 Message byte count = 80
Note: 1 The maximum age reported here is limited to 99 seconds.
2 An indicator of 9 has been temporarily set for WAAS. Then NMEA standard for WAAS has not been decided yet.
Field # Data Bytes Format Units Offset
1Sync 3char 0
(header) Checksum 1char 3
Message ID 4integer 4
Message byte count 4integer 8
2UTC time of position 8double hhmmss.ss 12
3Latitude (DDmm.mm)
(+ is North, - is South) 8double degrees 20
4Longitude (DDDmm.mm)
(+ is East, - is West) 8double degrees 28
5Fix status
0 = fix not available or invalid
1 = GPS fix
2 = Differential GPS fix
4 = RTK fixed ambiguity solution
5 = RTK floating ambiguity solution
9 = WAAS 2
4integer 36
6Number of satellites in use. May be different to the number in view 4integer 40
7Horizontal dilution of precision 8double 44
8Antenna altitude above/below mean-sea-level (geoid) 8double meters 52
9Geoidal separation (see Figure C-6, Page 130) 8 double meters 60
10 Age of Differential GPS data 18double seconds 68
11 Differential reference station ID, 0000-1023 4integer 76
D Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 159
GPALM Almanac Data
This log outputs raw almanac data for each satellite PRN contained in the broadcast message. A separate record is
logged for each PRN, up to a maximum of 32 records. Following a GPSCard reboot, no records will be output until
new broadcast message data is received from a satellite. It takes a minimum of 12.5 minutes to collect a complete
almanac following GPSCard boot-up. (The almanac reported here has no relationship to the NovAtel $ALMA
almanac injection command. Following a cold start, the log will output null fields until a new almanac is collected
from a satellite.)
Structure:
Example:
$GPALM,17,17,28,653,00,3EAF,87,0D68,FD30,A10CAB,6EE732,525880,6DC5A8,009,
005*37[CR][LF]
1 Variable length integer, 4-digits maximum from (2) most significant binary bits of Subframe 1, Word 3
reference Table 20-I, ICD-GPS-200, Rev. B, and (8) least significant bits from subframe 5, page 25, word 3
reference Table 20-I, ICD-GPS-200, Rev. B, paragraph 20.3.3.5.1.7
2 Reference paragraph 20.3.3.5.1.3, Table 20-VII and Table 20-VIII, ICD-GPS-200, Rev. B
3 Reference Table 20-VI, ICD-GPS-200, Rev. B for scaling factors and units.
To obtain copies of ICD-GPS- 200, see Appendix F, Standards and References, Page 233, for address information.
$GPALM # msg msg # PRN GPS wk SV hlth ecc
alm ref time incl angle omegadot rt axis
omega long asc node Moaf1 *xx [CR][LF]
Field Structure Field Description Symbol Exam-
ple
1$GPALM Log header $GPALM
2# msg Total number of messages logged x.x 17
3msg # Current message number x.x 17
4 PRN Satellite PRN number, 01 to 32 xx 28
5GPS wk GPS reference week number 1x.x 653
6SV hlth SV health, bits 17-24 of each almanac page 2hh 00
7ecc e, eccentricity 3hhhh 3EAF
8alm ref time toa, almanac reference time 3hh 87
9incl angle (sigma)i, inclination angle 3hhhh OD68
10 omegadot OMEGADOT, rate of right ascension 3hhhh FD30
11 rt axis (A)1/2, root of semi-major axis 3hhhhhh A10CAB
12 omega omega, argument of perigee 3hhhhhh 6EE732
13 long asc node (OMEGA)o,longitude of ascension node 3hhhhhh 525880
14 MoMo, mean anomaly 3hhhhhh 6DC5A8
15 af0 af0, clock parameter 3hhh 009
16 af1 af1, clock parameter 3hhh 005
17 *xx Checksum *hh *37
18 [CR][LF] Sentence terminator [CR][LF]
D Logs summary
160 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
GPGGA Global Position System Fix Data
Time, position and fix-related data of the GPS receiver. The information contained in this log is also available in
the NovAtel GGAB log in binary format. This log will output all null data fields until the GPSCard has achieved
first fix.
Structure:
1 The maximum age reported here is limited to 99 seconds.
2 An indicator of 9 has been temporarily set for WAAS. Then NMEA standard for WAAS has not been decided yet.
Example:
$GPGGA,220147.50,5106.7194489,N,11402.3589020,W,1,08,0.9,1080.406,M,,,,
*48[CR][LF]
$GPGGA utc lat lat dir lon lon dir GPS qual # sats hdop
alt units null null age stn ID *xx [CR][LF]
Field Structure Field Description Symbol Example
1$GPGGA Log header $GPGGA
2utc UTC time of position (hours/minutes/seconds/ decimal seconds) hhmmss.ss 220147.50
3lat Latitude (DDmm.mm) llll.ll 5106.7194489
4lat dir Latitude direction (N = North, S = South) a N
5lon Longitude (DDDmm.mm) yyyyy.yy 11402.3589020
6lon dir Longitude direction (E = East, W = West) a W
7GPS qual GPS Quality indicator
0 = fix not available or invalid
1 = GPS fix
2 = Differential GPS fix
4 = RTK fixed ambiguity solution
5 = RTK floating ambiguity solution
9 = WAAS 2
x 1
8# sats Number of satellites in use (00-12). May be different to the number in view xx 08
9hdop Horizontal dilution of precision x.x 0.9
10 alt Antenna altitude above/below mean sea level (geoid) x.x 1080.406
11 units Units of antenna altitude (M = meters) M M
12 null (This field not available on GPSCards) ,,
13 null (This field not available on GPSCards) ,,
14 age Age of Differential GPS data (in seconds) 1 xx ,,
15 stn ID Differential reference station ID, 0000-1023 xxxx ,,
16 *xx Checksum *hh *48
17 [CR][LF] Sentence terminator [CR][LF]
D Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 161
GPGLL Geographic Position
Latitude and longitude of present vessel position, time of position fix, and status. This log will output all null data
fields until the GPSCard has achieved first fix.
Structure:
Example:
$GPGLL,5106.7198674,N,11402.3587526,W,220152.50,A*1B[CR][LF]
$GPGLL lat lat dir lon lon dir utc data status *xx [CR][LF]
Field Structure Field Description Symbol Example
1$GPGLL Log header $GPGLL
2lat Latitude (DDmm.mm) llll.ll 5106.7198674
3lat dir Latitude direction (N = North, S = South) a N
4lon Longitude (DDDmm.mm) yyyyy.yy 11402.3587526
5lon dir Longitude direction (E = East, W = West) a W
6utc UTC time of position (hours/minutes/seconds/decimal
seconds) hhmmss.ss 220152.50
7data status Data status: A = Data valid, V = Data invalid A A
8*xx Checksum *hh *1B
9[CR][LF] Sentence terminator [CR][LF]
D Logs summary
162 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
GPGRS GPS Range Residuals for Each Satellite
Range residuals can be computed in two ways, and this log reports those residuals. Under mode 0, residuals output
in this log are used to update the position solution output in the GPGGA message. Under mode 1, the residuals are
re-computed after the position solution in the GPGGA message is computed. The GPSCard computes range residuals
in mode 1. An integrity process using GPGRS would also require GPGGA (for position fix data), GPGSA (for DOP
figures), and GPGSV (for PRN numbers) for comparative purposes.
Structure:
Example:
$GPGRS,192911.0,1,-13.8,-1.9,11.4,-33.6,0.9,6.9,-12.6,0.3,0.6,-22.3,,
*65[CR][LF]
NOTE: If the range residual exceeds ± 99.9, then the decimal part will be dropped. Maximum value for this
field is ± 999. The sign of the range residual is determined by the order of parameters used in the
calculation as follows:
range residual = calculated range - measured range
$GPGRS utc mode
res res res res res res res res res res res res
*xx [CR][LF]
Field Structure Field Description Symbol Example
1 $GPGRS Log header $GPGRS
2utc UTC time of position (hours/minutes/seconds/ decimal seconds) hhmmss.ss 192911.0
3mode Mode 0 =residuals were used to calculate the position given in
the matching GGA line (apriori) (not used by GPSCard)
Mode 1 =residuals were recomputed after the GGA position was
computed (preferred mode)
x 1
4 - 15 res Range residuals for satellites used in the navigation solution.
Order matches order of PRN numbers in GPGSA. x.x,x.x,..... -13.8,-1.9,11.4,-33.6,0.9,
6.9,-12.6,0.3,0.6, -22.3
16 *xx Checksum *hh *65
17 [CR][LF] Sentence terminator [CR][LF]
D Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 163
GPGSA GPS DOP and Active Satellites
GPS receiver operating mode, satellites used for navigation and DOP values.
Structure:
Example:
$GPGSA,M,3,18,03,13,25,16,24,12,20,,,,,1.5,0.9,1.2*3F[CR][LF]
$GPGSA mode MA mode 123
prn prn prn prn prn prn prn prn prn prn prn prn
pdop hdop vdop *xx [CR][LF]
Field Structure Field Description Symbol Example
1 $GPGSA Log header $GPGSA
2mode MA A = Automatic 2D/3D (not used by GPSCard) M = Manual, forced to
operate in 2D or 3D M M
3mode 123 Mode: 1 = Fix not available; 2 = 2D; 3 = 3D x 3
4 - 15 prn PRN numbers of satellites used in solution (null for unused fields), total
of 12 fields xx,xx,..... 18,03,13,25,16,
24,12,20,,,,
16 pdop Position dilution of precision x.x 1.5
17 hdop Horizontal position and time dilution of precision x.x 0.9
18 vdop Vertical dilution of precision x.x 1.2
19 *xx Checksum *hh *3F
20 [CR][LF] Sentence terminator [CR][LF]
D Logs summary
164 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
GPGST Pseudorange Measurement Noise Statistics
Pseudorange measurement noise statistics are translated in the position domain in order to give statistical measures
of the quality of the position solution.
Structure:
Example:
$GPGST,192911.0,28.7,21.6,12.0,20.4,20.7,13.6,11.9*51[CR][LF]
$GPGST utc rms smjr std smnr std
orient lat std lon std alt std *xx [CR][LF]
Field Structure Field Description Symbol Example
1 $GPGST Log header $GPGST
2utc UTC time of position (hours/minutes/seconds/ decimal seconds) hhmmss.ss 192911.0
3rms RMS value of the standard deviation of the range inputs to the
navigation process. Range inputs include pseudoranges and DGPS
corrections.
x.x 28.7
4smjr std Standard deviation of semi-major axis of error ellipse (meters) x.x 21.6
5smnr std Standard deviation of semi-minor axis of error ellipse (meters) x.x 12.0
6orient Orientation of semi-major axis of error ellipse (degrees from true north) x.x 20.4
7lat std Standard deviation of latitude error (meters) x.x 20.7
8lon std Standard deviation of longitude error (meters) x.x 13.6
9alt std Standard deviation of altitude error (meters) x.x 11.9
10 *xx Checksum *hh *51
11 [CR][LF] Sentence terminator [CR][LF]
D Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 165
GPGSV GPS Satellites in View
Number of SVs in view, PRN numbers, elevation, azimuth and SNR value. Four satellites maximum per message.
When required, additional satellite data sent in second or third message. Total number of messages being
transmitted and the current message being transmitted are indicated in the first two fields.
NOTE 1: Satellite information may require the transmission of multiple messages. The first field specifies the
total number of messages, minimum value 1. The second field identifies the order of this message
(message number), minimum value 1.
NOTE 2: A variable number of ’
PRN-Elevation-Azimuth-SNR’ sets are allowed up to a maximum of four sets per
message. Null fields are not required for unused sets when less than four sets are transmitted.
NOTE 3: GPGSV logs will not output until time of first fix.
Structure:
Example:
$GPGSV,3,1,09,03,51,140,42,16,02,056,40,17,78,080,42,21,25,234,00*72[CR][LF]
$GPGSV,3,2,09,22,19,260,00,23,59,226,00,26,45,084,39,27,07,017,39*78[CR][LF]
$GPGSV,3,3,09,28,29,311,44*42[CR][LF]
$GPGSV # msg msg # # sats
prn elev azimuth SNR
:
prn elev azimuth SNR
*xx [CR][LF]
Field Structure Field Description Symbol Example
1 $GPGSV Log header $GPGSV
2# msg Total number of messages, 1 to 3 x 3
3msg # Message number, 1 to 3 x 1
4# sats Total number of satellites in view xx 09
5prn Satellite PRN number xx 03
6elev Elevation, degrees, 90¡ maximum xx 51
7azimuth Azimuth, degrees True, 000 to 359 xxx 140
8SNR SNR (C/N0) 00-99 dB, null when not tracking xx 42
...
...
...
...
...
...
Next satellite PRN number, elev, azimuth, SNR,
...
Last satellite PRN number, elev, azimuth, SNr,
variable *xx Checksum *hh *72
variable [CR][LF] Sentence terminator [CR][LF]
D Logs summary
166 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
GPRMB Navigation Information
Navigation data from present position to a destination waypoint. The destination is set active by the GPSCard
SETNAV command. If SETNAV has been set, a command to log either GPRMB or GPRMC will cause both logs to output
data.
Structure:
Example:
$GPRMB,V,0.011,L,START,END,5106.7074000,N,11402.3490000,W,0.0127611,153093,
0.3591502,V*13[CR][LF]
1- If cross track error exceeds 9.99 NM, display 9.99
- Represents track error from intended course
- one nautical mile = 1,852 meters
2Direction to steer is based on the sign of the crosstrack error,
i.e., L = xtrack error (+); R = xtrack error (–)
3Fields 5, 6, 7, 8, 9, and 10 are tagged from the GPSCard SETNAV command.
4If range to destination exceeds 999.9 NM, display 999.9
$GPRMB data status xtrack dir origin ID
dest ID dest lat lat dir dest lon lon dir
range bearing vel arr status *xx [CR][LF]
Field Structure Field Description Symbol Example
1$GPRMB Log header $GPRMB
2data status Data status: A = data valid; V = navigation receiver warning A V
3xtrack Cross track error 1x.x 0.011
4dir Direction to steer to get back on track (L/R) 2a L
5origin ID Origin waypoint ID 3c--c START
6dest ID Destination waypoint ID 3c--c END
7dest lat Destination waypoint latitude (DDmm.mm 3llll.ll 5106.7074
000
8lat dir Latitude direction (N = North, S = South) 3a N
9dest lon Destination waypoint longitude (DDDmm.mm) 3yyyyy.yy 11402.349
10 lon dir Longitude direction (E = East, W = West) 3a E
11 range Range to destination, nautical miles 4x.x 0.0127611
12 bearing Bearing to destination, degrees True x.x 153.093
13 vel Destination closing velocity, knots x.x 0.3591502
14 arr status Arrival status: A = perpendicular passed
V = destination not reached or passed A V
15 *xx Checksum *hh *13
16 [CR][LF] Sentence terminator [CR][LF]
D Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 167
GPRMC GPS Specific Information
Time, date, position, track made good and speed data provided by the GPS navigation receiver. RMC and RMB are
the recommended minimum navigation data to be provided by a GPS receiver. This log will output all null data
fields until the GPSCard has achieved first fix.
Structure:
Example:
$GPRMC,220216.50,A,5106.7187663,N,11402.3581636,W,0.3886308,130.632,150792,
0.000,E*4B[CR][LF]
1Easterly variation (E) subtracts from True course
Westerly variation (W) adds to True course
2 Note that this field is the actual magnetic variation East or West and is the inverse sign of the value entered into
the MAGVAR command. See MAGVAR in Appendix C, Page 106 for more information.
$GPRMC utc pos status lat lat dir
lon lon dir speed Kn track true date
mag var var dir *xx [CR][LF]
Field Structure Field Description Symbol Example
1$GPRMC Log header $GPRMC
2utc UTC of position hhmmss.ss 220216.50
3pos status Position status: A = data valid
V = data invalid A A
4lat Latitude (DDmm.mm) llll.ll 5106.7187663
5lat dir Latitude direction (N = North, S = South) a N
6lon Longitude (DDDmm.mm) yyyyy.yy 11402.3581636
7lon dir Longitude direction (E = East, W = West) a W
8speed Kn Speed over ground, knots x.x 0.3886308
9track true Track made good, degrees True x.x 130.632
10 date Date: dd/mm/yy xxxxxx 150792
11 mag var Magnetic variation, degrees 2x.x 0.000
12 var dir Magnetic variation direction E/W 1a E
13 *xx Checksum *hh *4B
14 [CR][LF] Sentence terminator [CR][LF]
D Logs summary
168 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
GPVTG Track Made Good And Ground Speed
The track made good and speed relative to the ground.
Structure:
Example:
$GPVTG,24.168,T,24.168,M,0.4220347,N,0.781608,K*7A[CR][LF]
$GPVTG track true T track mag M speed Km
Nspeed km K*xx [CR][LF]
Field Structure Field Description Symbol Example
1 $GPVTG Log header $GPVTG
2track true Track made good, degrees True x.x 24.168
3 T True track indicator T T
4track mag Track made good, degrees Magnetic;
Track mag = Track true + (MAGVAR correction)
See the MAGVAR command, Page 106.
x.x 24.168
5 M Magnetic track indicator M M
6speed Kn Speed over ground, knots x.x 0.4220347
7 N Nautical speed indicator (N = Knots) N N
8speed Km Speed, kilometers/hour x.x 0.781608
9 K Speed indicator (K = km/hr) K K
10 *xx Checksum *hh *7A
11 [CR][LF] Sentence terminator [CR][LF]
D Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 169
GPZDA UTC Time and Date
This log will output all null data fields until the GPSCard has achieved first fix.
Structure:
Example:
$GPZDA,220238.00,15,07,1992,00,00*6F[CR][LF]
1Local time zones are not supported by the GPSCard. Fields 6 and 7 will always be null.
$GPZDA utc day month year
NULL NULL *xx [CR][LF]
Field Structure Field Description Symbol Example
1$GPZDA Log header $GPZDA
2utc UTC time hhmmss.ss 220238.00
3day Day, 01 to 31 xx 15
4month Month, 01 to 12 xx 07
5year Year xxxx 1992
6null Local zone description - not available xx , ,
7null Local zone minutes description - not available 1xx , ,
8*xx Checksum *hh *6F
9[CR][LF] Sentence terminator [CR][LF]
D Logs summary
170 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
GPZTG UTC & Time to Destination Waypoint
This log reports time to destination waypoint. Waypoint is set using the GPSCard SETNAV command. If destination
waypoint has not been set with SETNAV, time-to-go and destination waypoint ID will be null. This log will output
all null data fields until the GPSCard has achieved first fix.
Structure:
Example:
$GPZTG,220245.00,994639.00,END*36[CR][LF]
$GPZTG utc time dest ID *xx [CR][LF]
Field Structure Field Description Symbol Example
1$GPZTG Log header $GPZTG
2utc UTC of position hhmmss.ss 220245.00
3time Time to go (995959.00 maximum reported) hhmmss.ss 994639.00
4dest ID Destination waypoint ID c--c END
5*xx Checksum *hh *36
6[CR][LF] Sentence terminator [CR][LF]
D Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 171
MKPA/B Mark Position
This log contains the estimated position of the antenna at detected mark impulse. It uses the last valid position and
velocities to extrapolate the position at time of mark. Refer to the GPSCard Installation and Operating Manual
Appendix for Mark Input pulse specifications. The latched time of mark impulse is in GPS weeks and seconds into
the week. The resolution of the latched time is 49 ns.
MKPA
Structure:
Example:
$MKPA,653,338214.773382376,51.11227014,-114.03907552,1003.799,-16.199,61,
7.793,3.223,34.509,0*3C[CR][LF]
MKPB
Format: Message ID = 05 Message byte count = 88
$MKPA week seconds lat lon hgt undulation datum ID
lat std lon std hgt std sol status *xx [CR][LF]
Field # Field type Data Description Example
1 $MKPA Log header $MKPA
2week GPS week number 653
3seconds GPS seconds into the week measured from the receiver clock, coincident with the
time of electrical closure on the Mark Input port. 338214.773382
376
4lat Latitude of position in current datum, in degrees/decimal degrees
(DD.dddddddd), where a negative sign implies South latitude 51.11227014
5lon Longitude of position in current datum, in degrees/decimal degrees
(DDD.dddddddd), where a negative sign implies West longitude -114.03907552
6hgt Height of position in current datum, in meters with respect to MSL 1003.799
7undulation Geoid undulation, in meters (see Figure C-6, Page 130) -16.199
8datum ID Current datum (see Table G-2 in Appendix G, Page 234) I.D. # 61
9lat std Standard deviation of latitude solution element, in meters 7.793
10 lon std Standard deviation of longitude solution element, in meters 3.223
11 hgt std Standard deviation of height solution element, in meters 34.509
12 sol status Solution status as listed in Table D-1 0
13 *xx Checksum *3C
14 [CR][LF] Sentence terminator [CR][LF]
Field # Data Bytes Format Units Offset
1Sync 3char 0
(header) Checksum 1char 3
Message ID 4integer 4
Message byte count 4integer 8
2Week number 4integer weeks 12
3Seconds of week 8double seconds 16
4Latitude 8double degrees (+ is North, - is South) 24
5Longitude 8double degrees (+ is East, - is West) 32
6Height 8double meters with respect to MSL 40
7Undulation 8double meters 48
8Datum ID 4integer 56
9StdDev of latitude 8double meters 60
10 StdDev of longitude 8double meters 68
11 StdDev of height 8double meters 76
12 Solution status 4integer 84
D Logs summary
172 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
MKTA/B Time of Mark Input
This log contains the time of the detected Mark Input pulse leading edge as detected at the Mark Input I/O port.
The resolution of this measurement is 49ns. Refer to the GPSCard Installation and Operating Manual Appendix
for the Mark Input pulse specifications.
MKTA
Structure:
Example:
$MKTA,653,338214.773382376,0.000504070,0.000000013,-8.000000000,0 *05[CR][LF]
MKTB
Format: Message ID = 04 Message byte count = 52
$MKTA week seconds offset offset std
utc offset cm status *xx [CR][LF]
Field # Field type Data Description Example
1$MKTA Log header $MKTA
2week GPS week number 653
3seconds Seconds into the week as measured from the receiver clock, coincident with the
time of electrical closure on the Mark Input port. 338214.773382376
4offset Receiver clock offset, in seconds. A positive offset implies that the receiver clock
is ahead of GPS Time. To derive GPS time, use the following formula:
GPS time = receiver time - (offset)
0.000504070
5offset std Standard deviation of receiver clock offset, in seconds 0.000000013
6utc offset This field represents the offset of GPS time from UTC time, computed using
almanac parameters. To reconstruct UTC time, algebraically subtract this
correction from field 3 above (GPS seconds).
UTC time = GPS time - (utc offset)
-8.000000000
7cm status Receiver Clock Model Status where 0 is valid and values from -20 to -1 imply that
the model is in the process of stabilization 0
8*xx Checksum *05
9[CR][LF] Sentence terminator [CR][LF]
Field # Data Bytes Format Units Offset
1Sync 3char 0
(header) Checksum 1char 3
Message ID 4integer 4
Message byte count 4integer 8
2Week number 4integer weeks 12
3Seconds of week 8double seconds 16
4Clock offset 8double seconds 24
5StdDev clock offset 8double seconds 32
6UTC offset 8double seconds 40
7Clock model status 4integer 48
D Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 173
NAVA/B Waypoint Navigation Data
This log reports the status of your waypoint navigation progress. It is used in conjunction with the SETNAV
command.
REMEMBER: The SETNAV command must be enabled before valid data will be reported from this log.
NAVA
Structure:
Example:
$NAVA,640,333115.00,6399.6305,88.017,6396.9734,184.3929,657,51514.000,0,1
*11[CR][LF]
NOTE: All distances and angles are calculated using Vincenty’s long line geodetic equations that operate on the
currently selected user datum.
See Figure D-1, Page 175 for an illustration of navigation parameters.
$NAVA week seconds distance bearing along track xtrack etaw
etas nav status sol status *xx [CR][LF]
Field # Field type Data Description Example
1$NAVA Log header $NAVA
2week GPS week number 640
3seconds GPS seconds into the week 333115.00
4distance Straight line horizontal distance from current position to the destination waypoint, in meters
(see Figure C-5, Page 127). This value is positive when approaching the waypoint and
becomes negative on passing the waypoint.
6399.6305
5bearing Direction from the current position to the destination waypoint in degrees with respect to True
North (or Magnetic if corrected for magnetic variation by MAGVAR command) 88.017
6along track Horizontal track distance from the current position to the closest point on the waypoint arrival
perpendicular; expressed in meters. This value is positive when approaching the waypoint
and becomes negative on passing the waypoint.
6396.9734
7xtrack The horizontal distance (perpendicular track-error) from the vessel’s present position to the
closest point on the great circle line that joins the FROM and TO waypoints. If a "track offset"
has been entered in the SETNAV command, xtrack will be the perpendicular error from the
"offset track". Xtrack is expressed in meters. Positive values indicate the current position is
right of the Track, while negative offset values indicate left.
184.3929
8etaw Estimated GPS week number at time of arrival at the "TO" waypoint along-track arrival
perpendicular based on current position and speed, in units of GPS weeks. If the receiving
antenna is moving at a speed of less than 0.1 m/sec in the direction of the destination, the
value in this field will be"9999".
657
9etas Estimated GPS seconds into week at time of arrival at destination waypoint along-track arrival
perpendicular, based on current position and speed, in units of GPS seconds into the week.
If the receiving antenna is moving at a speed of less than 0.1 m/sec in the direction of the
destination, the value in this field will be"0.000".
51514.000
10 nav status Navigation data status, where 0 = good, 1 = no velocity, and 2 = bad navigation calculation 0
11 sol status Solution status as listed in Table D-1, Page 143 1
12 *xx Checksum *11
13 [CR][LF] Sentence terminator [CR][LF]
D Logs summary
174 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
NAVB
Format: Message ID = 08 Message byte count = 76
Field # Data Bytes Format Units Offset
1Sync 3char 0
(header) Checksum 1char 3
Message ID 4integer 4
Message byte count 4integer 8
2Week number 4integer weeks 12
3Seconds of week 8double seconds 16
4Distance 8double meters 24
5Bearing 8double degrees 32
6Along track 8double meters 40
7Xtrack 8double meters 48
8ETA week 4integer weeks 56
9ETA seconds 8double seconds 60
10 NAV status where
0 = good
1 = no velocity
2 = bad navigation
4integer 68
11 Solution status 4integer 72
D Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 175
Figure D-1 Example of Navigation Parameters
A = FROM lat-lon
B = TO lat-lon
AB = Great circle line drawn between FROM A lat-lon and TO B lat-lon
AC = Track offset from A to C
BD = Track offset from B to D
CD = Offset track to steer (parallel to AB)
F = Current GPS position
E = Xtrack perpendicular reference point
FD = Current distance and bearing from F to D
EF = Xtrack error from E to F (perpendicular to CD)
FG = Along track from F to G (perpendicular to BD)
AB - True bearing = 70°
AB - Magnetic bearing = True + (MAGVAR correction)
= 70° + (-20)
= 50°
D Logs summary
176 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
PAVA/B Position Averaging Status
These logs are meant to be used in conjunction with the POSAVE command. If the POSAVE command has not been
issued, all fields in the PAVA/B logs except week and seconds will be zero. However, when position averaging is
underway, the various fields contain the parameters being used in the position averaging process. The log trigger
ONCHANGED is recommended, but ONTIME can also be used.
See the description of the POSAVE command, Page 109.
See also Section A.3.2 Pseudorange Algorithms, Page 67.
NOTE: All quantities are referenced to the WGS84 ellipsoid, regardless of the use of the DATUM or USERDATUM
commands, except for the height parameter (field 6). The relation between the geoid and the WGS84
ellipsoid is the geoidal undulation, and can be obtained from the POSA/B logs.
PAVA
Structure :
Example:
$PAVA,846,145872.00,51.11381167,-114.04356455,1068.100,26.2,12.1,54.9,7,1*0C [CR][LF]
$PAVA week seconds lat
lng hgt sdlat sdlng
sdhgt time samples *xx [CR][LF]
Field # Field type Data Description Example
1$PAVA Log header $PAVA
2week GPS week number 846
3seconds GPS seconds into the week 145872.00
4lat Average WGS84 latitude (degrees) 51.11381167
5lng Average WGS84 longitude (degrees) -114.04356455
6hgt Average height above sea level, or geoid (m) 1068.100
7sdlat Estimated standard deviation of the average latitude (m) 26.2
8sdlng Estimated standard deviation of the average longitude (m) 12.1
9sdhgt Estimated standard deviation of the average height (m) 54.9
10 time Elapsed time of averaging (s) 7
11 samples Number of samples in the average 1
12 *xx Checksum *0C
13 [CR][LF] Sentence terminator [CR][LF]
D Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 177
PAVB
Format: Message ID = 50 Message byte count = 80
Field # Data Bytes Format Units Offset
1Sync 3char 0
(header) Checksum 1char 3
Message ID 4integer 4
Message byte count 4integer 8
2GPS week number 4integer weeks 12
3GPS seconds into the week 8double seconds 16
4Average WGS84 latitude 8double degrees 24
5Average WGS84 longitude 8double degrees 32
6Average height above sea level 8double meters 40
7Estimated standard deviation of the
average latitude 8double meters 48
8Estimated standard deviation of the
average longitude 8double meters 56
9Estimated standard deviation of the
average height 8double meters 64
10 Elapsed time of averaging 4integer seconds 72
11 Number of samples in the average 4integer 76
D Logs summary
178 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
POSA/B Computed Position
This log will contain the last valid position and time calculated referenced to the GPSAntenna phase centre. The
position is in geographic coordinates in degrees based on your specified datum (default is WGS84). The height is
referenced to mean sea level. The receiver time is in GPS weeks and seconds into the week. The estimated standard
deviations of the solution and current filter status are also included. See also Section A.3.2 Pseudorange
Algorithms, Page 67.
POSA
Structure:
Example:$POSA,637,511251.00,51.11161847,-114.03922149,1072.436,-16.198,61,26.636,
6.758,78.459,0*12[CR][LF]
POSB
Format: Message ID = 01 Message byte count = 88
$POSA week seconds lat lon hgt undulation datum ID
lat std lon std hgt std sol status *xx [CR][LF]
Field # Type Data Description Example
1 $POSA Log header $POSA
2week GPS week number 637
3seconds GPS seconds into the week 511251.00
4lat Latitude of position in current datum, in degrees (DD.dddddddd). A - implies South latitude 51.11161847
5lon Longitude of position in current datum, in degrees (DDD.dddddddd). A + implies West longitude -114.03922149
6hgt Height of position in current datum, in meters with respect to mean sea level (see Figure D-2, Page
185) 1072.436
7undulation Geoidal separation, in meters, where + is above spheroid and - is below spheroid (see Figure C-
6, Page 130)-16.198
8datum ID Current datum ID # (see Table G-2, Page 234 )61
9lat std Standard deviation of latitude solution element, in meters 26.636
10 lon std Standard deviation of longitude solution element, in meters 6.758
11 hgt std Standard deviation of height solution element, in meters 78.459
12 sol status Solution status as listed in Table D-1 0
13 *xx Checksum *12
14 [CR][LF] Sentence terminator [CR][LF]
Field # Data Bytes Format Units Offset
1Sync 3char 0
(header) Checksum 1char 3
Message ID 4integer 4
Message byte count 4integer 8
2Week number 4integer weeks 12
3Seconds of week 8double seconds 16
4Latitude 8double degrees (+ is North, - is South) 24
5Longitude 8double degrees (+ is East, - is West) 32
6Height 8double meters with respect to MSL 40
7Undulation 8double meters 48
8Datum ID 4integer 56
9StdDev of latitude 8double meters 60
10 StdDev of longitude 8double meters 68
11 StdDev of height 8double meters 76
12 Solution status 4integer 84
D Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 179
PRTKA/B Computed Position
(RTK)
This log contains the best available position computed by the receiver, along with three status flags. In addition, it
reports other status indicators, including differential lag, which is useful in predicting anomalous behavior brought
about by outages in differential corrections.
This log replaces the P20A log; it is similar, but adds extended status information. With the system operating in an
RTK mode, this log will reflect the latest low-latency solution for up to 30 seconds after reception of the last
reference station observations. After this 30 second period, the position reverts to the best solution available; the
degradation in accuracy is reflected in the standard deviation fields, and is summarized in Table 1-2, Page 17. If
the system is not operating in an RTK mode, pseudorange differential solutions continue for 60 seconds after loss
of the data link, though a different value can be set using the DGPSTIMEOUT command.
PRTKA
Structure:
$PRTKA week sec lag #sv #high
L1L2 #high lat lon hgt undulation datum ID
lat σlon σhgt σsoln status rtk status
posn type idle stn ID *xx [CR][LF]
Field # Field type Data Description Example
1 $PRTKA Log header $PRTKA
2 week GPS week number 872
3 sec GPS time into the week (in seconds) 174963.00
4 lag Differential lag in seconds 1.000
5 #sv Number of matched satellites; may differ from the number in view. 8
6 #high Number of matched satellites above RTK mask angle; observations from satellites
below mask are heavily de-weighted 7
7 L1L2 #high Number of matched satellites above RTK mask angle with both L1 and L2 available 7
8 lat Latitude of position in current datum, in decimal fraction format. A negative sign implies
South latitude 51.11358042429
9 lon Longitude of position in current datum, in decimal fraction format. A negative sign
implies West longitude -114.04358006710
10 hgt Height of position in current datum, in meters above mean sea level 1059.4105
11 undulation Geoidal separation, in meters, where(+ve) is above ellipsoid and (-ve) is below ellipsoid -16.2617
12 datum ID Current datum (see Appendix G, Page 234)61
13 lat σ Standard deviation of latitude solution element, in meters 0.0096
14 lon σStandard deviation of longitude solution element, in meters 0.0100
15 hgt σStandard deviation of height solution element, in meters 0.0112
16 soln status Solution status (see Table D-1, Page 143) 0
17 rtk status RTK status (see Tables D-3, D-4, Page 143) 0
18 posn type Position type (see Table D-2, Page 143) 4
19 idle Percent idle time, percentage 42
20 stn ID Reference station identification (RTCM: 0 - 1023, or RTCA: 266305 - 15179385) 119
21 *xx Checksum *51
22 [CR][LF] Sentence terminator [CR][LF]
D Logs summary
180 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
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
Field # Data Bytes Format Units Offset
1 Sync 3 char 0
(header) Checksum 1 char 3
Message ID 4 integer 4
Message byte count 4 integer 8
2 Week number 4 integer weeks 12
3 GPS time into the week 8 double seconds 16
4 Differential lag 8 seconds 24
5 Number of matched satellites (00-12) 4 integer 32
6 Number of matched satellites above RTK mask
angle 4 integer 36
7 Number of matched satellites above RTK mask
angle with both L1 and L2 available 4 integer 40
8 Latitude 8 double degrees 44
9 Longitude 8 double degrees 52
10 Height above mean sea level 8 double meters 60
11 Undulation 8 double meters 68
12 Datum ID 4 integer 76
13 Standard deviation of latitude 8 double meters 80
14 Standard deviation of longitude 8 double meters 88
15 Standard deviation of height 8 double meters 96
16 Solution status (see Table D-1, Page 143) 4 integer 104
17 RTK status (see Tables D-3, D-4, Page 143) 4 integer 108
18 Position type (see Table D-2, Page 143) 4 integer 112
19 Idle 4 integer 116
20 Reference station identification (RTCM: 0 - 1023,
or RTCA: 266305 - 15179385) 4 integer 120
D Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 181
PVAA/B XYZ Position, Velocity and Acceleration
The PVAA/B logs contain the receiver’s latest computed position, velocity and acceleration in ECEF coordinates.
The position, velocity and acceleration status fields indicate whether or not the corresponding data are valid.
This command supports INS (Inertial Navigation System) integration. PVA logs can be injected into the receiver
from an INS. This information is only used by the tracking loops of the receiver to aid in reacquisition of satellites
after loss of lock, otherwise it is ignored. This command is only useful for very high dynamics where expected
velocity changes during the signal blockage of more than 100 meters per second can occur.
NOTE: These quantities are always referenced to the WGS84 ellipsoid, regardless of the use of the DATUM or
USERDATUM commands.
PVAA
Structure:
Example:
$PVAA,845,344559.00,-1634953.141,-3664681.855,4942249.361,-0.025,0.140,
0.078,0.000,-0.000,0.000,1,1,1*02
$PVAA week seconds P-x P-y P-z V-x V-y V-z
A-x A-y A-z P-status V-status A-status *xx [CR][LF]
Field # Field type Data Description Example
1 $PVAA Log header $PVAA
2week GPS week number 845
3seconds GPS time of week (s) 344559.00
4 P-x Position’s X-coordinate (m) -1634953.141
5 P-y Position’s Y-coordinate (m) -3664681.855
6 P-z Position’s Z-coordinate (m) 4942249.361
7 V-x Velocity vector along X-axis (m/s) -0.025
8 V-y Velocity vector along Y-axis (m/s) 0.140
9 V-z Velocity vector along Z-axis (m/s) 0.078
10 A-x Acceleration vector along X-axis (m/s2)0.000
11 A-y Acceleration vector along Y-axis (m/s2)-0.000
12 A-z Acceleration vector along Z-axis (m/s2)0.000
13 P-status Position status (0 = bad; 1 = good) 1
14 V-status Velocity status (0 = bad; 1 = good) 1
15 A-status Acceleration status (0 = bad; 1 = good) 1
16 *xx Checksum *02
17 [CR][LF] Sentence terminator [CR][LF]
D Logs summary
182 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
PVAB
Format: Message ID = 49 Message byte count = 108
Field # Field Type Bytes Format Units Offset
1Sync 3char 0
(header) Checksum 1 char 3
Message ID 4 integer 4
Message byte count 4 integer 8
2 GPS week number 4 integer weeks 12
3 GPS time of week 8 double seconds 16
4 Position vector along X-axis 8 double meters 24
5 Position vector along Y-axis 8 double meters 32
6 Position vector along Z-axis 8 double meters 40
7 Velocity vector along X-axis 8 double m/s 48
8 Velocity vector along Y-axis 8 double m/s 56
9 Velocity vector along Z-axis 8 double m/s 64
10 Acceleration vector along X-axis 8 double m/s272
11 Acceleration vector along Y-axis 8 double m/s280
12 Acceleration vector along Z-axis 8 double m/s288
13 Position status 14 integer 96
14 Velocity status 14 integer 100
15 Acceleration status 14 integer 104
1Only the least-significant bit is used for this flag; the others are reserved for future use.
D Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 183
PXYA/B Computed Cartesian Coordinate Position
This log contains the last valid position, expressed in Cartesian x-y-z space coordinates, relative to the center of
the Earth. The positions expressed in this log are always relative to WGS84, regardless of the setting of the DATUM
or USERDATUM command. See Figure D-2, Page 185 for a definition of the coordinates.
PXYA
Structure:
1This log provides differential fix and lag status.
Example:
$PXYA,713,488150.00,-1634756.995,-3664965.028,4942151.391,2.335,3.464,
4.156,0,2,0.4*08[CR][LF]
$PXYA week seconds x y z x std y std z std sol status
fix status diff lag *xx [CR][LF]
Field # Field type Data Description Example
1$PXYA Log header $PXYA
2week GPS week number 713
3seconds GPS seconds into the week 488150.00
4 x Position x coordinate, in meters -1634756.995
5 y Position y coordinate, in meters -3664965.028
6 z Position z coordinate, in meters 4942151.391
7x std Standard deviation of x, in meters 2.335
8y std Standard deviation of y, in meters 3.464
9z std Standard deviation of z, in meters 4.156
10 sol status Solution status as listed in Table D-1 0
11 fix status 0 = fix not available or invalid
1 = Single point stand-alone fix
2 = Differential fix
2
12 diff lag 1 Age of differential correction (seconds) (= 0 if fix status ≠ 2) 0.4
13 *xx Checksum *08
14 [CR][LF] Sentence terminator [CR][LF]
D Logs summary
184 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
PXYB
Format: Message ID = 26 Message byte count = 88
1This log provides differential fix and lag status.
Field # Data Bytes Format Units Offset
1Sync 3char 0
(header) Checksum 1char 3
Message ID 4integer 4
Message byte count 4integer 8
2Week number 4integer weeks 12
3Seconds of week 8double seconds 16
4 x 8 double meters 24
5 y 8 double meters 32
6 z 8 double meters 40
7StdDev of x 8double meters 48
8StdDev of y 8double meters 56
9StdDev of z 8double meters 64
10 Solution status 4integer 72
11 Fix status 14integer 76
12 Differential lag, age of differential corrections 18double seconds 80
D Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 185
Figure D-2 The WGS84 ECEF Coordinate System
D Logs summary
186 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
RALA/B Raw Almanac
Almanac and health data are contained in subframes four and five of the satellite broadcast message. Subframe four
contains information for SVs 25-32, as well as ionospheric, UTC and SV configuration data. Subframe five contains
information for SVS 1-24.
Subframes four and five each contain 25 pages of data, and each page contains ten 30-bit words of information as
transmitted from the satellite. The RALA/B log outputs this information with parity bits checked and removed (ten
words - 24 bits each). The log will not be generated unless all ten words pass parity.
This log will alternately report each page from subframes four and five as they are collected. Logging this log
onnew would be the optimal logging rate to capture data from pages in subframes four and five as they are received.
RALA logs contain a hex representation of the raw almanac data (one of the possible 25 pages of either subframe 4
or 5). RALB contains the raw binary information.
RALA
Structure:
Example:
$RALA,7,16,8B0A54852C964C661F086366FDBE00A10D53DA6565F2503DD7C2AACBFED3
*05[CR][LF]
RALB
Format: Message ID = 15 Message byte count = 52
$RALA chan # prn subframe *xx [CR][LF]
Field # Field type Data Description Example
1$RALA Log header $RALA
2chan # Channel number collecting almanac data (0-11) 7
3prn PRN of satellite from which data originated 16
4subframe Subframe 4 or 5 of almanac data
(60 hex characters) 8B0A54852C964C661F086366FDBE00A
10D53DA6565F2503DD7C2AACBFED3
5*xx Checksum *05
6[CR][LF] Sentence terminator [CR][LF]
Field # Data Bytes Format Units Offset
1Sync 3char 0
(header) Checksum 1char 3
Message ID 4integer 4
Message byte count 4integer 8
2Channel number, 0-11 4integer 12
3PRN number, 1-32 4integer 16
4Almanac data, data [30] 30 char 20
5Filler bytes 2char 50
D Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 187
RASA/B Raw Almanac Set
This is a single log for the entire Almanac data set. Only a complete log will be set so you do not have to worry
about ephemeris data imitating an Almanac.
RASA
Example:
$RASA,926,246000,926,319488,1,30,4,2,8B0E784FDA315936EC4EFCAEFD3600A10C5C896ECE9412862BD1AEFF
0006,4,3,8B0E784FDCB05A51184E0A26FD4C00A10DB2609586F2BE804B917BFCFFFB,4,4,8B0E784FDF315B65654
EFF68FD3A00A10CF78A21497D29E4D4504D000013,4,7,8B0E784FE6B15D2D014E07D2FD4800A10ADF5F8CDBAF9F5
720A25C22FF95,4,8,8B0E784FE9315E28E84E057AFD4600A10D1EB58EE4421223816DB8FFFFF7,4,9,8B0E784FEB
B35F3D354E0BD6FD3C00A10D55E000EB1D3D371F95C8000001,4,17,8B0E784FFFB0773246204E524B414D4F444C3
54E204E38342F5A563822A8,4,18,8B0E78500232780C00FF002C00FD00000000000000034E9E0C90020CAAA9,4,2
5,8B0E785013B27F9999999099009999999099999990999080000FC0000FE8,5,1,8B0E784FD835411ED34E0835FD
4900A10C1A615B4ABE261433AAC3040001,5,2,8B0E784FDAB7428CFE4EFECDFD4000A10CF6B3DFACA157B083EBA2
CAFFE4,5,3,8B0E784FDD354314234E060EFD3600A10CD5DFDCCC69CB36EB45F407003C,5,4,8B0E784FDFB744236
74E15B4FD4800A10C850BB1F6DB53D7E65BA6060034,5,5,8B0E784FE2344509CB4E00A7FD3F00A10BEFB48EACD93
58704D58E0F000A,5,6,8B0E784FE4B54637BD4E0AB8FD3B00A10CF5E1492D95D0B001BEF6000000,5,7,8B0E784F
E734474DE04E0C34FD3F00A10C57DFEF88A2B87952974463000A,5,9,8B0E784FEC344936594E0150FD3C00A10C5D
8AC38E0990CA01A8D3FE0004,5,10,8B0E784FEEB64A127F4E0E0BFD5100A10C72359FC2F5A04887F78A01001B,5,
13,8B0E784FF6374D0F544E0AA8FD4CFFA10EF2604E7FB038A9C9152201FFDB,5,14,8B0E784FF8B44E0C634E119F
FD5800A10DBD37674077E0355E13D7030002,5,15,8B0E784FFB354F39E64E1902FD4D00A10D6F0D3E5342A05AC4A
F843E0030,5,16,8B0E784FFDB45012294E0F48FD5400A10CA537A8C902C525BD198A040006,5,17,8B0E78500036
514FC34E19C3FD5100A10CCC0EC06367883FFB1622EA0018,5,18,8B0E785002B45238A44E0107FD3E00A10C455F0
43F43BCBA529078000018,5,19,8B0E78500536531AF54EF68FFD2D00A10D2D88F669888C38E202CA2100BD,5,21,
8B0E78500A355570FE4E0D99FD5200A10D0835E0458927E898247B0B0028,5,22,8B0E78500CB45653134EFEC6FD3
D00A10C1AB4776508EC2C7C0DFB02003D,5,23,8B0E78500F355763534E0FAAFD5400A10CF8376A23AA2FFC8D65B2
000017,5,24,8B0E785011B6583FB74E1C1EFD5200A10D8D0BCB65B2EAD8F641D8650050,5,25,8B0E78501435734
E9E00000000003F000FFFFC000000003F000000AAAAAB*39
Structure:
$RASA RxWeek RxSec AlmWeek Toa RxPrn # subframes
subframe# page # subframe
:
subframe# page # subframe
*xx [CR][LF]
Field # Field type Data Description Example
1$RASA Log header $RASA
2RxWeek GPS week data received 926
3RxSec Approximate GPS seconds into week data received 246000
4AlmWeek Almanac reference week 926
5Toa Almanac reference seconds 319488
6 RxPrn PRN of satellite from which data originated 1
7# subframes Number of subframes to follow 30
8subframe # Subframe Number 4
9page # Page Number 2
10 subframe Subframe of almanac data (60 hex characters, variable
length up to 50 lines of subframe data ≅ 3300 bytes) 8B0E784FDA315936EC4EF
CAEFD3600A10C5C896ECE
9412862BD1AEFF0006
...
...
...
...
...
...
Next subframe #, page # and subframe ...
...
Last subframe #, page # and subframe
variable *xx Checksum *32
variable [CR][LF] Sentence terminator [CR][LF]
D Logs summary
188 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
RASB
Format: Message ID = 66 Message byte count = 40 + (n * 32)
Note: Variable Length = 40 + (n * 32). Maximum = 40 + (50 * 32) = 1640. Typical size (31 subframes) = 1032 bytes.
Field # Data Bytes Format Units Offset
1Sync 3char 0
Checksum 1char 3
Message ID 4integer 4
Message byte count 4integer 8
2Week data received 4integer weeks 12
3Approximate seconds into week data received 8double seconds 16
4Almanac reference week 4integer weeks 24
5Almanac reference seconds 4integer seconds 28
6PRN of satellite from which data originated 4integer 32
7Number of subframes to follow 4integer 36
8Subframe number 1char 40
9Page number 1char 41
10... Next PRN offset = 40 + (obs *32)
D Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 189
RBTA/B Satellite Broadcast Data: Raw Bits
This message contains the satellite broadcast data in raw bits before FEC (forward error correction) decoding or
any other processing. An individual message is sent for each PRN being tracked. For a given satellite, the message
number increments by one each time a new message is generated. This data matches the SBTA/B data if the
message numbers are equal. The data must be logged with the ’onnew’ trigger activated to prevent loss of data.
RBTA
Structure:
RBTB
Format: Message ID = 52 Message byte count = 72
$RBTA week seconds prn cstatus message # # of bits
raw bits *xx [CR][LF]
Field # Field type Data Description Example
1$RBTA Log header $RBTA
2week GPS week number 883
3seconds GPS seconds into the week 413908.000
4prn PRN of satellite from which data originated 115
5 cstatus Channel Tracking Status 80812F14
6message # Message sequence number 119300
7# of bits Number of bits transmitted in the message. At present,
always equals 256 bits. 256
8raw bits 256 bits compressed into a 32 bytes. Hence, 64 hex
characters are output. 30FB30FB30FB30F878DA621
94000F18322931B9EBDBC1C
BC9324B68FBDAEBE8A
9*xx Checksum *42
10 [CR][LF] Sentence terminator [CR][LF]
Field # Data Bytes Format Units Offset
1Sync 3char 0
(header) Checksum 1char 3
Message ID 4integer 4
Message byte count 4integer bytes 8
2Week number 4integer weeks 12
3Seconds of week 8double seconds 16
4PRN number 4integer 1-999 24
5Channel Status 4integer n/a 28
6Message # 4integer n/a 32
7# of Bits 4integer n/a 36
8Raw Bits 32 char n/a 40
D Logs summary
190 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
RCCA Receiver Configuration
This log outputs a list of all current GPSCard command settings. Observing this log is a good way to monitor the
GPSCard configuration settings. See Chapter 2, Page 24 for the RCCA default list.
D Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 191
RCSA/B Receiver Status
The RCSA log will always output four records: one for VERSION, one for receiver CHANNELS, one for receiver CPU
IDLE time, and one indicating receiver self-test STATUS. However, RCSB will embed the same information in a single
record.
Together, the RVSA/B and VERA/B logs supersede the RCSA/B logs. In other word this log is soon to be obsolete and
eventually will be no longer supported. It is recommended then that you use the RVSA/B and VERA/B logs.
RCSA
Structure:
Example:
$RCSA,VERSION,GPSCard-2 3951R LGR94160001 HW 16 SW 3.15 Mar 31/94*16
$RCSA,CHANNELS,10*12
$RCSA,IDLE,40*03
$RCSA,STATUS,000007F6*60
The status code is a hexadecimal number representing the results of the GPSCard BIST test and software status. As
an example, the status code ’000000F6’ indicates that the GPSAntenna is not working properly or is disconnected
and the GPSCard is good, while ’000000F7’ indicates that the GPSAntenna and the GPSCard are both functioning
properly. See Table D-5, Page 196 for a detailed description of the status code. Bit 0 is the least significant bit of
the status code and Bit 16 is the most significant bit.
RCSB
Format: Message ID = 13 Message byte count = 100
NOTE 1: See Table D-5 for a detailed GPSCard Receiver Self-test Status Code table and bit descriptions.
NOTE 2: Self test bits 2, 3, 4, 6, 7 are set only once when the GPSCard is first powered up. All other bits are set
by internal test processes each time the RCSA/B log is output.
$RCSA VERSION sw ver *xx [CR][LF]
$RCSA CHANNELS # chans *xx [CR][LF]
$RCSA IDLE idle time *xx [CR][LF]
$RCSA STATUS rec status *xx [CR][LF]
Log Data Identifier Data Description Checksum String End
$RCSA VERSION sw ver: Software information indicating model, S/N, S/W
version and S/W version date *xx [CR][LF]
$RCSA CHANNELS # chans: Indicates number of parallel channels on GPSCard *xx [CR][LF]
$RCSA IDLE idle time: An integer number representing percent idle time
for the CPU, with a valid range of 0 to 99 *xx [CR][LF]
$RCSA STATUS rec status: Indicates result of hardware self-test and software
status as shown in Table D-5, Page 196 *xx [CR][LF]
Field # Data Bytes Format Offset
1Sync 3char 0
(header) Checksum 1char 3
Message ID 4integer 4
Message byte count 4integer 8
2Software version #, ASCII 80 char 12
3Number of receiver channels 1char 92
4CPU idle time, percent 1char 93
5Filler 2bytes 94
6Self-test status 4integer 96
D Logs summary
192 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
REPA/B Raw Ephemeris
REPA
This log contains the raw Binary information for subframes one, two and three from the satellite with the parity
information removed. Each subframe is 240 bits long (10 words - 24 bits each) and the log contains a total 720 bits
(90 bytes) of information (240 bits x 3 subframes). This information is preceded by the PRN number of the satellite
from which it originated. This message will not be generated unless all 10 words from all 3 frames have passed
parity.
Ephemeris data whose toe (time of ephemeris) is older than six hours will not be shown.
Structure:
Example:
$REPA,14,8B09DC17B9079DD7007D5DE404A9B2D04CF671C6036612560000021804FD,
8B09DC17B98A66FF713092F12B359DFF7A0254088E1656A10BE2FF125655,
8B09DC17B78F0027192056EAFFDF2724C9FE159675A8B468FFA8D066F743*57[CR][LF]
REPB
Format: Message ID = 14 Message byte count = 108
$REPA prn subframe1 subframe2 subframe3 *xx [CR][LF]
Field # Field type Data Description Example
1 $REPA Log header $REPA
2prn PRN of satellite from which data originated 14
3subframe1 Subframe 1 of ephemeris data (60 hex characters) 8B09DC17B9079DD7007D5D
E404A9B2D
04CF671C6036612560000021
804FD
4subframe2 Subframe 2 of ephemeris data (60 hex characters) 8B09DC17B98A66FF713092F
12B359D
FF7A0254088E1656A10BE2F
F125655
5subframe3 Subframe 3 of ephemeris data (60 hex characters) 8B09DC17B78F0027192056E
AFFDF2724C
9FE159675A8B468FFA8D066
F743
6*xx Checksum *57
7[CR][LF] Sentence terminator [CR][LF]
Field # Data Bytes Format Offset
1Sync 3char 0
(header) Checksum 1char 3
Message ID 4integer 4
Message byte count 4integer 8
2PRN number, 1-32 4integer 12
3-4-5 Ephemeris data, data [90] 90 char 16
Filler bytes 2char 106
D Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 193
RGEA/B/D Channel Range Measurements
RGEA/B/D contain the channel range measurements for the currently observed satellites. The RGED message is
a compressed form of the RGEB message. When using these logs, please keep in mind the constraints noted along
with the description.
It is important to ensure that the receiver clock has been set and can be monitored by the bits in the rec-status field.
Large jumps in range as well as ADR will occur as the clock is being adjusted. If the ADR measurement is being
used in precise phase processing it is important not to use the ADR if the "parity known" flag in the ch-tr-status
field is not set as there may exist a half (1/2) cycle ambiguity on the measurement. The tracking error estimate of
the pseudorange and carrier phase (ADR) is the thermal noise of the receiver tracking loops only. It does not
account for possible multipath errors or atmospheric delays.
RGEA and RGEB contain all of the new extended channel tracking status bits (see Table D-7, Page 201), while
RGED contains only the lowest 24 bits. The receiver self-test status word (see Table D-5, Page 196) now also
indicates L2, OCXO and new almanac status.
If both the L1 and L2 signals are being tracked for a given PRN, two entries with the same PRN will appear in the
range logs. As shown in Table D-7 (Channel Tracking Status), these entries can be differentiated by bit 19, which
is set if there are multiple observables for a given PRN, and bit 20, which denotes whether the observation is for
L1 or L2. This is to aid in parsing the data.
D Logs summary
194 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
RGEA
Structure:
1This output will always be a hexadecimal representation which must be converted to binary format. In this example, the conversion gives
00000000000010110010000011111111 in binary format, see Appendix H, Page 236 for a complete conversion list. Reading from right to left
you can look to see what each bit represents in Table D-5, following.
Example (carriage returns have been added between observations for clarity):
$RGEA,845,511089.00,14,000B20FF
4,23907330.296,0.119,-125633783.992,0.010,3714.037,44.8,1928.850,82E04,
4,23907329.623,1.648,-97896180.284,0.013,2894.285,35.0,1746.760,582E0B,
2,21298444.942,0.040,-111954153.747,0.006,-1734.838,54.2,17466.670,82E14,
2,21298444.466,0.637,-87236867.557,0.006,-1351.607,43.3,17557.260,582E1B,
9,22048754.383,0.063,-115874135.450,0.006,2174.006,50.4,5489.100,82E24,
9,22048754.424,0.641,-90291443.071,0.006,1694.238,43.2,5489.100,582E2B,
15,23191384.847,0.261,-121887295.980,0.017,-2069.744,38.0,9924.740,82E34,
15,23191384.663,0.596,-94977002.452,0.010,-1612.587,43.8,9881.830,582E3B,
26,24063897.737,0.199,-126477739.189,0.014,-2654.682,40.3,12821.640,82E54,
26,24063898.913,1.043,-98553986.239,0.013,-2068.380,39.0,12793.280,582E5B,
7,20213352.139,0.037,-106237901.461,0.005,439.943,55.0,10313.040,82E74,
7,20213351.196,0.498,-82782498.454,0.007,343.020,45.4,9977.400,582E7B,
27,24393726.829,0.123,-128229016.323,0.012,-4047.338,44.5,22354.119,82E94,
27,24393728.057,1.805,-99918535.513,0.013,-3153.559,34.2,22301.830,582E9B
*30
$RGEA week seconds # obs rec status
prn psr psr std adr adr std dopp C/No locktime ch-tr-status
:
prn psr psr std adr adr std dopp C/No locktime ch-tr-status
*xx [CR][LF]
Field # Field type Data Description Example
1$RGEA Log header $RGEA
2week GPS week number 845
3seconds GPS seconds into the week 511089.00
4# obs Number of satellite observations with information to follow 14
5rec status Receiver self-test status, see Table D-5,, Page 196. 000B20FF 1
6prn Satellite PRN number (1-32) of range measurement 4
7psr Pseudorange measurement (m) 23907330.296
8psr std Pseudorange measurement standard deviation (m) 0.119
9adr Carrier phase, in cycles (accumulated Doppler range) -125633783.992
10 adr std Estimated carrier phase standard deviation (cycles) 0.010
11 dopp Instantaneous carrier Doppler frequency (Hz) 3714.037
12 C/N0Signal to noise density ratio C/N0 = 10[log10(S/N0)] (dB-Hz) 44.8
13 locktime Number of seconds of continuous tracking (no cycle slipping) 1928.850
14 ch-tr-status Hexadecimal number indicating phase lock, channel number and channel
tracking state, as shown in Table D-7.82E04
...
...
...
...
...
...
Next PRN #, psr, psr std, adr, adr std, dopp, C/No, locktime,ch-tr-status
...
Last PRN #, psr, psr std, adr, adr std, dopp, C/No, locktime, ch-tr-status
variable *xx Checksum *30
variable [CR][LF] Sentence terminator [CR][LF]
D Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 195
RGEB
Format: Message ID = 32 Message byte count = 32 + (obs x 44)
RGED
Format: Message ID = 65 Message byte count =24 + (20 x number of obs)
Field # Data Bytes Format Units Offset
1Sync 3char 0
(header) Checksum 1char 3
Message ID 4integer 4
Message byte count 4integer 8
2Week number 4integer weeks 12
3Seconds of week 8double seconds 16
4Number of observations (obs) 4integer 24
5Receiver self-test status 4integer 28
6 PRN 4 integer 32
7Pseudorange 8double meters 36
8StdDev pseudorange 4float meters 44
9Carrier phase - accumulated Doppler range, cycles 8double 48
10 StdDev - accumulated Doppler range, cycles 4float 56
11 Doppler frequency 4float Hz 60
12 C/N04float dB-Hz 64
13 Locktime 4float seconds 68
14 Tracking status 4integer 72
15... Next PRN offset = 32 + (obs x 44)
Field # Data Bytes Format Scale Offset
1Sync 3char 0
(header) Checksum 1char 3
Message ID 4integer 4
Message byte count 4integer 8
2Number of obs 2 1 12
3Week number 2 1 14
4Seconds of week 4integer 1/100 16
5Receiver status 4integer 120
6First PRN range record 20 See Table D-6, Page 199 24
Next PRN offset = 24 + (20 x number of obs)
D Logs summary
196 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
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
27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9876543210Bit Description Range Values Hex Val ue
lsb
=
0
ANTENNA 1 = good, 0 = bad 00000001
1L1 PLL 1 = good, 0 = bad 00000002
2RAM 1 = good, 0 = bad 00000004
3ROM 1 = good, 0 = bad 00000008
4DSP 1 = good, 0 = bad 00000010
5L1 AGC 1 = good, 0 = bad 00000020
6COM 1 1 = good, 0 = bad 00000040
7COM 2 1 = good, 0 = bad 00000080
8WEEK 1 = not set, 0 = set 00000100
9NO
COARSETIME 1 = not set, 0 = set 00000200
10 NO FINETIME 1 = not set, 0 = set 00000400
11 L1 JAMMER 1 = present, 0 = normal 00000800
12 BUFFER COM 1 1 = overrun, 0 = normal 00001000
13 BUFFER COM 2 1 = overrun, 0 = normal 00002000
14 BUFFER
CONSOLE 1 = overrun, 0 = normal 00004000
15 CPU OVERLOAD 1 = overload, 0 = normal 00008000
16 ALMANAC
SAVED IN NVM 1 = yes, 0 = no 00010000
17 L2 AGC 1 = good, 0 = bad 00020000
18 L2 JAMMER 1 = present, 0 = normal 00040000
19 L2 PLL 1 = good, 0 = bad 00080000
20 OCXO PLL 1 = good, 0 = bad 00100000
21 SAVED ALMA.
NEEDS UPDATE 1 = yes, 0 = no 00200000
22 ALMANAC
INVALID 1 = invalid, 0 = valid 00400000
23 POSITION
SOLUTION
INVALID
1 = invalid, 0 = valid 00800000
24 POSITION FIXED 1 = yes, 0 = no 01000000
25 CLOCK MODEL
INVALID 1 = invalid, 0 = valid 02000000
26 CLOCK
STEERING
DISABLED
1 = disabled, 0 = enabled 04000000
27 RESERVED
28-
31 RESERVED
D Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 197
Notes on Table D-5:
1. Bit 3: On OEM GPSCards, “ROM” includes all forms of non-volatile memory.
2. Bits 12-15: Flag is reset to 0 five minutes after the last overrun/overload condition has occurred.
GPSCard example: All OK = 0000 0000 0000 1010 0000 0000 1111 1111 (binary) = 000A00FF (hexadecimal); using a VCTCXO oscillator.
RECEIVER STATUS - DETAILED BIT DESCRIPTIONS OF SELF-TEST
Bit 0 Antenna
1 This bit will be set to 1 if the antenna connection is not drawing excessive current.
0 If the antenna connections are shorted together then this bit will be clear (0) indicating a possible antenna
port problem.
Bit 1 L1 PLL
1 When the L1 RF downconverter passes self-test, the bit will be set to 1.
0 If a fault is detected in the L1 RF downconverter, this bit is set to 0.
Bit 2 RAM
1 When this bit is set to 1, the receiver RAM has passed the self-test requirements.
0 If the bit has been set to 0, then RAM test has failed; please contact NovAtel Customer Service.
Bit 3 ROM (Note: “ROM” includes all forms of nov-volatile memory (NVM))
1 When this bit is set to 1, the receiver ROM test has passed the self test requirements.
0 A zero bit indicates the receiver has failed the ROM test.
Bit 4 DSP
1 This bit will be set to 1 when the digital signal processors (DSP) have passed the self-test requirements.
0 0 indicates one or both of the DSP chips has failed self-test; please contact NovAtel Customer Service.
Bit 5 L1 AGC
1 When set to 1, the L1AGC circuits are operating within normal range of control.
0 This bit will be set clear if the L1 AGC is operating out of normal range. Intermittent setting of the AGC bit
indicates that the card is experiencing some electro-magnetic interference of a very short duration.
Continuous setting of the AGC bit may indicate that the card is receiving too much signal power from the
antenna or that a more serious problem with the card may exist. Failure of this test could be the result of
various possibilities, such as: bad antenna LNA, excessive loss in the antenna cable, faulty RF
downconverter, or a pulsating or high power jamming signal causing interference. If this bit is
continuously set clear, and you cannot identify an external cause for the failed test, please contact
NovAtel Customer Service.
Bit 6 COM1
1 When set to 1, the COM1 UART has passed the self-test requirements.
0 If set to 0, the COM1 UART has failed self-test and cannot be used for reliable communications.
Bit 7 COM2
1 When set to 1, the COM2 UART has passed the self-test requirements.
0 If set to 0, the COM2 UART has failed self-test and cannot be used for reliable communications.
Bits 8, 9, 10 Week / No Coarsetime / No Finetime
0 These bits indicate the state of the receiver time and are set only once, generally in the first few minutes
of operation, in the presence of adequate numbers of satellite signals to compute position and time.
1 If these bits are not all set to zero, then the observation data, pseudorange measurement, carrier phase, and
Doppler measurements may jump as the clock adjusts itself.
Bit 11 L1 Jammer Detection
0 Normal operation is indicated when this bit is 0.
D Logs summary
198 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
1 If set to 1, the receiver has detected a high power signal causing interference. When this happens, the
receiver goes into a special anti-jamming mode where it re-maps the A/D decode values as well as special
L1AGC feedback control. These adjustments help to minimize the loss that will occur in the presence of a
jamming signal. You should monitor this bit, and if set to 1, do your best to remedy the cause of the
jamming signal. Nearby transmitters or other electronic equipment could be the cause of interference;
you may find it necessary to relocate your antenna position if the problem persists.
Bits 12, 13, 14 Buffer COM 1 / COM 2
0 Normal operation is indicated by a 0 value.
1 These bits are set to 1 to inform the user when any of the 8-Kilobyte output buffers have reached an over-
run condition (COM1 or COM2). Over-run is caused by requesting more log data than can be taken off the
GPSCard because of bit rate limitations or slow communications equipment. If this happens, the new data
attempting to be loaded into the buffer will be discarded. The receiver will not load a partial data record
into an output buffer. The flag resets to 0 five minutes after the last overrun occurred.
Bit 15 CPU Overload
0 Normal operation is indicated by a 0 value.
1 A value of 1 indicates that the CPU is being over-taxed. This may be caused by requesting an excessive
amount of information from the GPSCard. If this condition is occurring, limit redundant data logging or
change to using binary data output formats, or both. You should attempt to tune the logging requirements
to keep the idle time above 20% for best operation. If the average idle % drops below 10% for prolonged
periods of time (2-5 seconds), critical errors may result in internal data loss and the over-load bit will be
set to 1. You can monitor the CPU % idle time by using the RvSA log message. The flag resets to 0 five
minutes after the first overload occurred.
NOTE: As the amount of CPU power becomes limited, the software will begin to slow down the position
calculation rate. If the CPU becomes further limited, the software will begin to skip range measurement
processing. Priority processing goes to the tracking loops.
Bit 16 Almanac Saved
0 Almanac not saved in non-volatile memory.
1 Almanac saved in non-volatile memory (12 channel OEM cards only).
Bit 17 L2 AGC
1 When set to 1, the L2 AGC circuits are operating within normal range of control.
0 This bit will be set clear if the L2 AGC is operating out of normal range. Intermittent setting of the AGC bit
indicates that the card is experiencing some electro-magnetic interference of a very short duration.
Continuous setting of the AGC bit may indicate that the card is receiving too much signal power from the
antenna or that a more serious problem with the card may exist. Failure of this test could be the result of
various possibilities, such as: bad antenna LNA, excessive loss in the antenna cable, faulty RF
downconverter, or a pulsating or high power jamming signal causing interference. If this bit is
continuously set clear, and you cannot identify an external cause for the failed test, please contact NovAtel
Customer Service.
Bit 18 L2 Jammer Detection
0 Normal operation is indicated when this bit is 0.
1 If set to 1, the receiver has detected a high power signal causing interference. When this happens, the
receiver goes into a special anti-jamming mode where it re-maps the A/D decode values as well as special
L2AGC feedback control. These adjustments help to minimize the loss that will occur in the presence of a
jamming signal. You should monitor this bit, and if set to 1, do your best to remedy the cause of the
jamming signal. Nearby transmitters or other electronic equipment could be the cause of interference; you
may find it necessary to relocate your antenna position if the problem persists.
Bit 19 L2 PLL
1 When the L2 RF downconverter passes self-test, the bit will be set to 1.
0 If a fault is detected in the L2 RF downconverter, this bit is set to 0.
D Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 199
Bit 20 OCXOPLL
1 When an external oscillator is connected and the OCXOPLL bit passes self-test, the bit will be set to 1.
0 If no external oscillator is detected or a fault is detected in the OCXOPLL bit, this bit is set to 0.
Bit 21 Saved Almanac Needs Update
1 When the almanac received is newer than the one currently stored in NVM (non-volatile memory), the
bit will be set to 1.
0 This bit will be set to 0 if an almanac has not been received that is newer than the one stored in memory.
Bit 22 Almanac Invalid
1 No almanac in use
0 Valid almanac in use
Bit 23 Position Solution Invalid
1 Position solution is not valid
0 Valid position computed
Bit 24 Position Fixed
1 A fix position command has been accepted
0 Position has not been fixed
Bit 25 Clock Model Invalid
1 Clock model has not stabilized
0 Clock model is valid
Bit 26 Clock Steering Disabled
1 Clockadjust disable command has been accepted
0 Clockadjust is enabled
Table D-6 Range Record Format (RGED only)
Notes on Table D-6:
1A Only PRNs 1 - 63 are reported correctly (Note: while there are only 32 PRNs in the basic GPS scheme,
situations exist which require the use of additional PRNs)
1B The prn offsets for WAAS have been mapped to the same range as GPS, ie. 1 - 19, while the prn offsets
for GLONASS are 1 - 29.
2C/No is constrained to a value between 20 - 51 dB-Hz. Thus, if it is reported that C/No = 20 dB-Hz, the
actual value could be less. Likewise, if it is reported that C/No = 51 dB-Hz, the true value could be greater.
3Lock time rolls over after 2,097,151 seconds.
Data Bit(s) from first to last Length (bits) Format Scale Factor
PRN
1A, 1B 0..5 6integer 1
C/No 26..10 5integer (20+n) dB-Hz
Lock time 311.31 21 integer 1/32 s
ADR
4 32..63 32 integer 2’s comp. 1/256 cycles
Doppler frequency 68..95 28 integer 2’s comp. 1/256 Hz
Pseudorange 64..67 msn; 96..127 lsw 36 integer 2’s comp. 1/128 m
StdDev - ADR 128..131 4integer (n+1) / 512 cyc
StdDev - pseudorange 132..135 4see 5
Channel Tracking status 6136..159 24 integer see Table D-7, Page 201
D Logs summary
200 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
4ADR (Accumulated Doppler Range) is calculated as follows:
ADR_ROLLS = ( -RGED_PSR / WAVELENGTH - RGED_ADR) / MAX_VALUE
Round to the closest integer
IF (ADR_ROLLS ≤ -0.5)
ADR_ROLLS = ADR_ROLLS - 0.5
ELSE ADR_ROLLS = ADR_ROLLS + 0.5
At this point integerise ADR_ROLLS
CORRECTED_ADR = RGED_ADR + (MAX_VALUE * ADR_ROLLS)
where:
ADR has units of cycles
WAVELENGTH = 0.1902936727984 for L1
WAVELENGTH = 0.2442102134246 for L2
MAX_VALUE = 8388608
5
6Only bits 0 - 23 are represented in the RGED log
Code RGED
00.000 to 0.050
10.051 to 0.075
20.076 to 0.113
30.114 to 0.169
40.170 to 0.253
50.254 to 0.380
60.381 to 0.570
70.571 to 0.854
80.855 to 1.281
91.282 to 2.375
10 2.376 to 4.750
11 4.751 to 9.500
12 9.501 to 19.000
13 19.001 to 38.000
14 38.001 to 76.000
15 76.001 to 152.000
D Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 201
Table D-7 Channel Tracking Status
Table D-7 is referenced by the ETSA/B, FRMA/B, RGEA/B/D and WRCA/B logs.
Table D-7, Bits 0 - 3: Channel Tracking State
Table D-7, Bits 12-14: Correlator Spacing
State Description State Description
0L1 Idle 6L1 Steering
1L1 Sky search 7L1 Frequency-lock loop
2L1 Wide frequency band pull-in 8L2 Idle
3L1 Narrow frequency band pull-in 9L2 P-code alignment
4L1 Phase-lock loop 10 L2 Search
5L1 Re-acquisition 11 L2 Phase-lock loop
Higher numbers are reserved for future use
State Description
0Unknown: this only appears in versions of software previous to x.45, which didn’t use this field
1Standard correlator: spacing = 1 chip
2Narrow Correlator tracking technology: spacing < 1 chip
Higher numbers are reserved for future use
N 7 N 6 N 5 N 4 N 3 N 2 N 1 N 0 <- <- Nibble Number
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9876543210 Bit Description Range Values Hex.
lsb = 0 1
1Tracking state 0 - 11 See below 2
2 4
3 8
410
50 - n (0 = first, n =
last) 20
6Channel number (n depends on GPSCard) 40
780
8100
9Phase lock flag 1 = Lock, 0 = Not locked 200
10 Parity known flag 1 = Known, 0 = Not
known 400
11 Code locked flag 1 = Lock, 0 = Not locked 800
12 1000
13 Correlator spacing 0 - 7 See below 2000
14 4000
15 0=GPS 3= Pseudolite
GPS 8000
16 Satellite system 1=GLONASS 4-7
Reserved 10000
17 2=WAAS 20000
18 Reserved 40000
19 Grouping 1 = Grouped, 0 = Not
grouped 80000
20 Frequency 1 = L2, 0 = L1 100000
21 Code type 0 = C/A 2 = P-
codeless 200000
22 1 = P 3 = Reserved 400000
23 Forward error correction 1 = FEC enabled, 0 = no
FEC 800000
24
:Reserved
29
30 External range 1 = Ext. range, 0 = Int.
range
31 Channel assignment 1 = Forced, 0 =
Automatic
D Logs summary
202 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
RINEX
The Receiver-Independent Exchange (RINEX) format is a broadly-accepted, receiver-independent format for
storing GPS data. It features a non-proprietary ASCII file format that can be used to combine or process data
generated by receivers made by different manufacturers. RINEX was originally developed at the Astronomical
Institute of the University of Berne. Version 2, containing the latest major changes, appeared in 1990;
subsequently, minor refinements were added in 1993. To date, there are three different RINEX file types
observation files, broadcast navigation message files and meteorological data files.
Please see Rinex Format, Page 56 for further details.
D Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 203
RPSA/B Reference Station Position and Health
This log contains the ECEF XYZ position of the reference station as received through the RTCA Type 7 or RTCM
Type 3 message. It also features a time tag, the health status of the reference station, and the station ID. This
information is set at the reference station using the FIX POSITION command.
RPSA
Structure:
Note: 1 If (X, Y, Z) = (0,0,0) then a reference station position has not yet been determined.
Example:
$RPSA,872,174962.00,-1634962.8660,-3664682.4140,4942301.3110,0,119*32[CR][LF]
RPSB
Format: Message ID = 60 Message byte count = 56
$RPSA week seconds X Y Z health stn ID *xx [CR][LF]
Field # Field type Data Description Example
1 $RPSA Log header $RPSA
2 week GPS week number 872
3 seconds GPS time into the week (seconds) 174962.00
4X1ECEF X value (meters) -1634962.8660
5Y1ECEF y value (meters) -3664682.4140
6Z1ECEF z value (meters) 4942301.3110
7 health Reference Station Health 0
8 stn ID Reference station identification (RTCM: 0 - 1023, or
RTCA: 266305 - 15179385) 119
9 *xx Checksum *32
10 [CR][LF] Sentence terminator [CR][LF]
Field # Data Bytes Format Units Offset
1 Sync 3 char 0
(header) Checksum 1 char 3
Message ID 4 integer 4
Message byte count 4 integer 8
2 GPS week number 4 integer weeks 12
3 GPS time into the week 8 double seconds 16
4 ECEF X value 8 double meters 24
5 ECEF Y value 8 double meters 32
6 ECEF Z value 8 double meters 40
7 Reference station health 4 integer 48
8 Reference station identification (RTCM: 0 - 1023,
or RTCA: 266305 - 15179385) 4 integer 52
D Logs summary
204 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
RTCA Standard Logs
The RTCA (Radio Technical Commission for Aviation Services) Standard is being designed to support Differential
Global Navigation Satellite System (DGNSS) Special Category I (SCAT-I) precision instrument approaches. The
RTCA Standard is in a preliminary state. NovAtel’s current support for this Standard is based on "Minimum
Aviation System Performance Standards DGNSS Instrument Approach System: Special Category I (SCAT-I)" dated
August 27, 1993 (RTCA/DO-217).
See RTCA Format Messages, Page 45 for more detailed information on RTCA standard logs.
RTCM Standard Logs
The Radio Technical Commission for Maritime Services (RTCM) was established to facilitate the establishment of
various radio navigation standards, which includes recommended GPS differential standard formats.
The standards recommended by the Radio Technical Commission for Maritime Services Special Committee 104,
Differential GPS Service (RTCM SC-104,Washington, D.C.), have been adopted by NovAtel for implementation
into the GPSCard. Because the GPSCard is capable of utilizing RTCM formats, it can easily be integrated into
positioning systems around the globe.
See RTCM Format Messages, Page 47 for more detailed information on RTCM standard logs.
D Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 205
RTKA/B Computed Position - Time Matched
RTK
This log represents positions that have been computed from time matched reference and remote observations.
There is no reference station extrapolation error on these positions but because they are based on buffered
measurements, they lag real time by some amount depending on the latency of the data link. If the remote receiver
has not been enabled to accept RTK differential data, or is not actually receiving data leading to a valid solution,
this will be reflected by the code shown in field #16 (RTK status) and #17 (position type).
The data in the logs will change only when a reference observation (RTCM Type 59 or the corresponding RTCA
Type 7) changes. If the log is being output at a fixed rate and the differential data is interrupted, then the RTKA/B
logs will continue to be output at the same rate but the position and time will not change.
A good message trigger for this log is "ONCHANGED". Then, only positions related to unique reference station
messages will be produced, and the existence of this log will indicate a successful link to the reference station.
RTKA
Structure:
Example:
$RTKA,872,174962.00,8,7,7,51.11358039754,-114.04358003164,1059.4105,
-16.2617,61,0.0036,0.0039,0.0066,0,0,4,0,119*33[CR][LF]
$RTKA week seconds #sv #high L1L2 #high
lat lon hgt undulation datum ID
lat σlon σhgt σsoln status rtk status
posn type dyn mode stn ID *xx [CR][LF]
Field # Field type Data Description Example
1$RTKA Log header $RTKA
2week GPS week number 872
3seconds GPS time into the week (in seconds) 174962.00
4#sv Number of matched satellites; may differ from the number in view. 8
5 #high Number of matched satellites above RTK mask angle; observations from satellites
below mask are heavily de-weighted 7
6 L1L2 #high Number of matched satellites above RTK mask angle with both L1 and L2 available 7
7 lat Latitude of position in current datum, in decimal fraction format. A negative sign
implies South latitude 51.11358039754
8 lon Longitude of position in current datum, in decimal fraction format. A negative sign
implies West longitude -114.04358003164
9 hgt Height of position in current datum, in meters above mean sea level 1059.4105
10 undulation Geoidal separation, in meters, where positive is above ellipsoid and negative is
below ellipsoid -16.2617
11 datum ID Current datum (see Appendix G, Page 234)61
12 lat σStandard deviation of latitude solution element, in meters 0.0036
13 lon σStandard deviation of longitude solution element, in meters 0.0039
14 hgt σStandard deviation of height solution element, in meters 0.0066
15 soln status Solution status (seeTable D-1, Page 143)0
16 rtk status RTK status (see Tables D-3, D-4, Page 143) 0
17 posn type Position type (see Table D-2, Page 143)4
18 dyn mode Dynamics mode (0= static, 1= kinematic) 0
19 stn ID Reference station identification (RTCM: 0 - 1023, or RTCA: 266305 - 15179385) 119
20 *xx Checksum *33
21 [CR][LF] Sentence terminator [CR][LF]
D Logs summary
206 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
RTKB
Format: Message ID = 61 Message byte count = 116
Field # Data Bytes Format Units Offset
1Sync 3char 0
(header) Checksum 1char 3
Message ID 4integer 4
Message byte count 4integer 8
2Week number 4integer weeks 12
3GPS time into the week 8double seconds 16
4Number of matched satellites (00-12) 4integer 24
5Number of matched satellites above RTK mask angle 4integer 28
6Number of matched satellites above RTK mask angle with both L1 and
L2 available 4integer 32
7Latitude 8double degrees 36
8Longitude 8double degrees 44
9Height above mean sea level 8double meters 52
10 Undulation 8double meters 60
11 Datum ID 4integer 68
12 Standard deviation of latitude 8double meters 72
13 Standard deviation of longitude 8double meters 80
14 Standard deviation of height 8double meters 88
15 Solution status 4integer 96
16 RTK status 4integer 100
17 Position type 4integer 104
18 Dynamics mode 4integer 108
19 Reference station identification (RTCM: 0 - 1023, or RTCA: 266305 -
15179385) 4integer 112
D Logs summary
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RTKOA/B RTK Solution Parameters
RTK
This is the “RTK output” log, and it contains miscellaneous information regarding the RTK solution. It is based on
the matched update. Note that the length of the log messages will vary depending on the number of matched
satellites in the solution, a quantity represented by #sv in the field numbers.
RTKOA
Structure:
$RTKOA week sec status #sat #high L1L2 #high #sv
dyn search combn σxx σxy σxz σyx σyy σyz
σzx σzy σzz ∆x∆y∆zσ∆xσ∆yσ∆z
rsrv rsrv ref id #res
sat id amb res
:
sat id amb res
*xx [CR][LF]
Field# Field type Data Description Example
1$RTKOA Log header $RTKOA
2week GPS week number 929
3sec GPS time into the week (in seconds) 237639.00
4status RTK status (see Table D-10, Page 209) 1
5#sat Total number of matched satellites available to both receivers 8
6#high Number of matched satellites above RTK mask angle;
observations from satellites below mask are heavily
deweighted
8
7L1L2 #high Number of matched satellites above RTK mask angle with
both L1 and L2 available 8
8#sv Number of matched satellites in solution; may differ from the
number in view. 8
9dyn Dynamics mode (0=static, 1=kinematic) 0
10 search Searcher status (see Table D-9, Page 209). 4
11 combn Number of possible lane combinations remaining 1
12-20 [σ]The σxx,σxy,σxz,σyx,σyy,σyz,σzx,σzy, and σzz components,
in (meters)2, of the ECEF position covariance matrix (3 x 3) 0.000006136,0.000003797,-0.000003287,
0.000003797,0.000013211,-0.000007043,
-0.000006287,-0.000007043,0.000018575
21-23 ∆x,∆y,∆zECEF x.y,z of baseline from float solution in meters 3.2209,-3.0537,-1.2024
24-26 σ∆x,σ∆y,σ∆zx,y,z standard deviations of float solution baseline in meters 0.0183,0.0138,0.0124
27 rsrv Reserved for future use 0
28 rsrv Reserved for future use 0.0000
29 ref id Reference PRN 1
30 #res Number of residual sets to follow 7
31 sat id PRN number 21
32 amb Ambiguity type (see Table D-8, Page 209) 6
33 res Residual in metres -0.001199
...
...
...
...
...
...
Next PRN number, amb, res
...
Last PRN number, amb, res
variable *xx Checksum *60
variable [CR][LF] Sentence terminator [CR][LF]
D Logs summary
208 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
Example:
$RTKOA,929,237639.00,1,8,8,8,8,0,4,1,0.000006136,0.000003797,
-0.000006287,0.000003797,0.000013211,-0.000007043,-0.000006287,
-0.000007043,0.000018575,3.2209,-3.0537,
-1.2024,0.0183,0.0138,0.0124,0,0.0000,1,7,
21,6,-0.001199,23,6,0.005461,31,6,0.009608,9,6,0.001963,
15,6,0.000208,29,6,-0.005643,25,6,-0.004366*60[CR][LF]
RTKOB
Format: Message ID = 62
Message byte count = 196 + (#res)*16
Field # Data Bytes Format Units Offset
1Sync 3char 0
(header) Checksum 1char 3
Message ID 4integer 4
Message byte count 4integer 8
2GPS week number 4integer weeks 12
3GPS time into the week 8double s16
4RTK status (see Table D-10, Page 209) 4 integer 24
5Total number of matched satellites available to both
receivers. 4integer 28
6Number of matched satellites above RTK mask
angle 4integer 32
7Number of matched satellites above RTK mask
angle with both L1 and L2 available 4integer 36
8Number of matched satellites in solution 4integer 40
9Dynamics mode (0=static, 1=kinematic) 4integer 44
10 Searcher status (see Table D-9, Page 209). 4integer 48
11 Number of possible lane combinations remaining 4integer 52
12-20 Position covariance matrix 72 double m256
21-23 Baseline in ECEF x,y,z from float filter 24 double m128
24-26 Standard deviations of x,y,z from float filter 24 double m152
27 Reserved for future use 4integer 176
28 Reserved for future use 8double 180
29 Reference PRN 4integer 188
30 Number of residual sets to follow 4integer 192
31 PRN number 4integer 196
32 Ambiguity type (see Table D-8, Page 209) 4 integer
33 Residual 8double m
34 Next PRN offset = 196 + (#res)*16
D Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 209
Table D-8 Ambiguity Types
Table D-9 Searcher Status
Table D-10 RTK Status
Ambiguity Type Definition
0L1 only floating
1Wide lane fixed integer
2Reserved
3Narrow lane floating
4Iono–free floating
5Reserved
6Narrow lane fixed integer
7Iono–free fixed discrete
8L1 only fixed integer
9Reserved
10 Undefined type
Higher numbers are reserved for future use
Searcher Status Definition
0No search requested
1Searcher buffering measurements
2Currently searching
3Search decision made
4Hand-off to L1 and L2 complete
Higher numbers are reserved for future use
RTK Status Definition
1Good narrowlane solution
2Good widelane solution
4Good L1/L2 converged float solution
8Good L1/L2 unconverged float solution
16 Good L1 converged solution
32 Good L1 unconverged solution
64 Reserved for future use
128 Insufficient observations
256 Variance exceeds limit
512 Residuals exceed limit
1024 Delta position too large
2048 Negative variance
4096 Undefined
8192 RTK initialize
D Logs summary
210 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
RVSA/B Receiver Status
This log conveys various status parameters of the receiver system. If the system is a multiple-GPSCard unit with
a master card, certain parameters are repeated for each individual GPSCard. If the system is composed of only one
GPSCard, then only the parameters for that unit are listed. Together, the RVSA/B and VERA/B logs supersede
the RCSA/B logs.
Note that the number of satellite channels (the number of satellites the receiver is capable of tracking) is not
necessarily the same as the number of signal channels. This is because one L1/L2 satellite channel requires two
signal channels. Therefore the 12-channel MiLLennium GPSCard will report 24 signal channels in this field. This
number represents the maximum number of channels reporting information in logs such as ETSA/B and RGEA/
B/D.
RVSA
Structure:
Example:
$RVSA,847,318923.00,12,24,1,,16.00,000B00FF*42[CR][LF]
$RVSA week seconds sat_chan sig_chan num reserve
idle status
:
idle status
*xx [CR][LF]
Field # Field type Data Description Example
1 $RVSA Log header $RVSA
2 week GPS week number 847
3 seconds GPS seconds into the week. 318923.00
4 sat_chan Number of satellite channels 12
5 sig_chan Number of signal channels 24
6 num Number of cards 1
7 reserve Reserved field
8 idle First GPSCard: CPU idle time (percent) 16.00
9 status First GPSCard: Self-test status (see Table D-5, Page 196) 000B00FF
...
...
...
...
...
...
Next GPSCard: CPU idle time & self-test status
...
Last GPSCard: CPU idle time & self-test status
variable *xx Checksum *42
variable [CR][LF] Sentence terminator [CR][LF]
D Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 211
RVSB
Format: Message ID = 56 Message byte count = 28 + (8 x number of cards)
NOTE: For Field 9, self-test bits 2, 3, 4, 6, & 7 are set only once (when the GPSCard is first powered up). All
other bits are set by internal test processes each time the RVSB log is output.
Field # Data Bytes Format Units Offset
1Sync 3char 0
(header) Checksum 1char 3
Message ID 4integer 4
Message byte count 4integer 8
2Week number 4integer weeks 12
3Seconds of week 8double seconds 16
4Number of satellite channels 1char 24
5Number of signal channels 1char 25
6Number of cards 1char 26
7Reserved 1byte 27
8CPU idle time, percent 4float 28
9Self-test status 4integer 32
8 & 9 are repeated
for each card Next Card offset = 28 + (8 x card number)
D Logs summary
212 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
SATA/B Satellite Specific Data
This log provides satellite specific data for satellites actually being tracked. The record length is variable and
depends on the number of satellites.
Each satellite being tracked has a reject code indicating whether it is used in the solution, or the reason for its
rejection from the solution. The reject value of 0 indicates the observation is being used in the position solution.
Values of 1 through 11 indicate the observation has been rejected for the reasons specified in Table D-11. A range
reject code of 8 only occurs when operating in differential mode and an interruption of corrections has occurred or
the DGPSTIMEOUT has been exceeded.
SATA
Structure:
Example:
$SATA,637,513902.00,0,7,18,168.92,5.52,9.582,0,6,308.12,55.48,0.737,0,
15,110.36,5.87,16.010,0,11,49.63,40.29,-0.391,0,
2,250.05,58.89,-12.153,0,16,258.55,8.19,-20.237,0,
19,118.10,49.46,-14.803,0*1F[CR][LF]
$SATA week seconds sol status # obs
prn azimuth elevation residual reject code
:
prn azimuth elevation residual reject code
*xx [CR][LF]
Field # Field type Data Description Example
1$SATA Log header $SATA
2week GPS week number 637
3seconds GPS seconds into the week 513902.00
4sol status Solution status as listed in Table D-1 0
5# obs Number of satellite observations with information to follow: 7
6prn Satellite PRN number (1-32) 18
7azimuth Satellite azimuth from user position with respect to True North, in
degrees 168.92
8elevation Satellite elevation from user position with respect to the horizon, in
degrees 5.52
9residual Satellite range residual from position solution for each satellite, in
metres 9.582
10 reject code Indicates that the range is being used in the solution (code 0) or that
it was rejected (code 1-11), as shown in Table D-11 0
...
...
...
...
...
...
Next PRN number, azimuth, elevation, residual, reject code
...
Last PRN number, azimuth, elevation, residual, reject code
variable *xx Checksum *1F
variable [CR][LF] Sentence terminator [CR][LF]
D Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 213
SATB
Format: Message ID =12 Message byte count = 32 + (obs*32)
Table D-11 GPSCard Range Reject Codes
Field # Data Bytes Format Units Offset
1Sync 3char 0
(header) Checksum 1char 3
Message ID 4integer 4
Message byte count 4integer 8
2Week number 4integer weeks 12
3Seconds of week 8double seconds 16
4Solution status 4integer 24
5Number of
observations (obs) 4integer 28
6PRN 4integer 32
7Azimuth 8double degrees 36
8Elevation 8double degrees 44
9Residual 8double metres 52
10 Reject Code 4integer 60
11... Next PRN offset = 32 + (obs*32) where obs varies form 0 to (obs-1)
Value Description
0Observations are good
1Bad satellite health is indicated by ephemeris data
2Old ephemeris due to data not being updated during last 3 hours
3Eccentric anomaly error during computation of the satellite’s position
4True anomaly error during computation of the satellite’s position
5Satellite coordinate error during computation of the satellite’s position
6Elevation error due to the satellite being below the cutoff angle
7Misclosure too large due to excessive gap between estimated and actual positions
8No differential correction is available for this particular satellite
9Ephemeris data for this satellite has not yet been received
10 Invalid IODE due to mismatch between differential stations
11 Locked Out: satellite is excluded by user (LOCKOUT command)
12 Low Power: satellite rejected due to low signal/noise ratio
13 L2 measurements are not currently used in the filter
D Logs summary
214 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
SBTA/B SATELLITE BROADCAST DATA: RAW SYMBOLS
This message contains the satellite broadcast data in raw symbols before FEC decoding or any other processing.
An individual message is sent for each PRN being tracked. For a given satellite, the message number increments
by one each time a new message is generated. This data matches the RBTA/B data if the message numbers are
equal. The data must be logged with the ’onnew’ trigger activated to prevent loss of data.
SBTA
Structure:
SBTB
Format: Message ID = 53 Message byte count = 168
$SBTA week seconds prn cstatus message # # of symbols
raw symbols *xx [CR][LF]
Field # Field type Data Description Example
1$SBTA Log header $SBTA
2week GPS week number 883
3seconds GPS seconds into the week 413908.000
4prn PRN of satellite from which data originated 120
5 cstatus Channel Tracking Status 80812F14
6message # Message sequence number 119300
7# of symbols Number of symbols transmitted in the message. At present,
always equals 256 symbols. 256
8raw symbols 256 symbols compressed into a 128 bytes, i.e. 4 bits/symbol.
Hence, 256 hex characters are output. If FEC decoding is
enabled, soft symbols are output with values ranging from E
to 3 where 3’s represent binary 1 and E’s represent binary 0
output.
EE33EEEE33333E33EE33EEEE33
333E33EE33EEEE33333E33EE33E
EEE33333EEEE3333EEE33E33E3
EE33EEE3EEEE33EE3E3EEEEEE
EEEEEEEE3333EEE33EEEEE33E
E3EEE3E3EE3EE33EEE33E333EE
3333E3E3333E33E3333EEEEE333
EE3E3333EE3EE3EE33EE3EE3EE
3E33E33E3EEE33333E3333E33E3
E333E3E33333E3EEE3E3E
9*xx Checksum *4C
10 [CR][LF] Sentence terminator [CR][LF]
Field # Data Bytes Format Units Offset
1Sync 3char 0
(header) Checksum 1char 3
Message ID 4integer 4
Message byte count 4integer bytes 8
2Week number 4integer weeks 12
3Seconds of week 8double seconds 16
4PRN number 4integer 1-999 24
5Channel Status 4integer n/a 28
6Message # 4integer n/a 32
7# of Symbols 4integer n/a 36
8Raw Symbols 128 char n/a 40
D Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 215
SPHA/B Speed and Direction Over Ground
This log provides the actual speed and direction of motion of the GPSCard antenna over ground, at the time of
measurement, and is updated up to 10 times per second. It should be noted that the GPSCard does not determine
the direction a vessel, craft, or vehicle is pointed (heading), but rather the direction of motion of the GPS antenna
relative to ground.
SPHA
Structure:
Example:
$SPHA,640,333111.00,0.438,325.034,2.141,0*02[CR][LF]
SPHB
Format: Message ID = 06 Message byte count = 52
$SPHA week seconds hor spd trk gnd
vert spd sol status *xx [CR][LF]
Field # Field type Data Description Example
1$SPHA Log header $SPHA
2week GPS week number 640
3seconds GPS seconds into the week 333111.00
4hor spd Horizontal speed over ground, in meters per second 0.438
5trk gnd Actual direction of motion over ground (track over ground)
with respect to True North, in degrees 325.034
6vert spd Vertical speed, in metres per second, where positive
values indicate increasing altitude (up) and negative
values indicate decreasing altitude (down)
2.141
7sol status Solution status as listed in Table D-1 0
8*xx Checksum *02
9[CR][LF] Sentence terminator [CR][LF]
Field # Data Bytes Format Units Offset
1Sync 3char 0
(header) Checksum 1char 3
Message ID 4integer 4
Message byte count 4integer 8
2Week number 4integer weeks 12
3Seconds of week 8double seconds 16
4Horizontal speed 8double metres per second 24
5Track over ground (TOG) 8double degrees 32
6Vertical speed 8double metres per second 40
7Solution status 4integer 48
D Logs summary
216 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
SVDA/B SV Position in ECEF XYZ Coordinates with Corrections
When combined with a RGEA/B/D log, this data set contains all of the decoded satellite information necessary to
compute the solution: satellite coordinates (ECEF WGS84), satellite clock correction, ionospheric corrections (from
broadcast model), tropospheric corrections (Hopfield model), decoded differential correction used and range
weight standard deviation. The corrections are to be added to the pseudoranges. Only those satellites that are
healthy are reported here. Also see Figure D-2, Page 185.
SVDA
Structure:
Example:
$SVDA,766,143860.00,-4.062,7,
20,-15044774.225,-9666598.520,19499537.398,6676.013,-1.657,-2.662,16.975,0.674
5,-10683387.874,-21566845.644,11221810.349,18322.228,-1.747,-2.819,-8.864,0.790,
6,-20659074.698,-28381.667,16897664619,57962.693,-2.543,4.401,-37.490,1.203,
16,142876.148,-26411452.927,2795075.561,-22644.136,-2.733,-4.904,7.701,1.259,
24,-852160.876,-16138149.057,21257323.813,229594.682,-1.545,-2.451,32.178,0.420,
25,-12349609.643,11102877.199,20644151.935,-4313.339,-3.584,-8.579,
-42.813,1.370,
..,
4,14209626.440,-9259502.647,20544348.215,12811.399,-2.675,-4.741,-10.778,1.239
*23[CR][LF]
$SVDA week seconds rec clk err # obs
prn x y z clk corr ion corr trop corr diff corr rng std
:
prn x y z clk corr ion corr trop corr diff corr rng std
*xx [CR][LF]
Field # Field type Data Description Example
1$SVDA Log header $SVDA
2week GPS week number 766
3seconds GPS seconds into the week (receiver time, not corrected for clock
error, CLOCKADJUST enabled) 143860.00
4rec clk err Solved receiver clock error (metres) -4.062
5# obs Number of satellite observations to follow 7
6prn Satellite PRN number (1-32) 20
7 x Satellite x coordinate (metres) -15044774.225
8 y Satellite y coordinate (metres) -9666598.520
9 z Satellite z coordinate (metres) 19499537.398
10 clk corr Satellite clock correction (metres) 6676.013
11 ion corr Ionospheric correction (metres) -1.657
12 trop corr Tropospheric correction (metres) -2.662
13 diff corr Decoded differential correction used (metres) 16.975
14 rng std Range weight standard deviation (metres) 0.674
...
...
...
...
...
...
Next PRN number, x, y, z, clk corr, ion corr, trop corr, diff corr, mg std
...
Last PRN number, x, y, z, clk corr, ion corr, trop corr, diff corr, mg std
variable *xx Checksum *23
variable [CR][LF] Sentence terminator [CR][LF]
D Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 217
SVDB
Format: Message ID = 36 Message byte count = 36 +(obs*68)
Field # Data Bytes Format Units Offset
1Sync 3char 0
(header) Checksum 1char 3
Message ID 4integer 4
Message byte count 4integer 8
2Week number 4integer weeks 12
3Time in seconds 8double seconds 16
4Receiver clock error 8double metres 24
5Number of observations to follow (obs) 4integer 32
6Satellite PRN number 4integer 36
7x coordinate of satellite 8double metres 40
8y coordinate of satellite 8double metres 48
9z coordinate of satellite 8double metres 56
10 Satellite clock correction 8double metres 64
11 Ionospheric correction 8double metres 72
12 Tropospheric correction 8double metres 80
13 Decoded differential correction used 8double metres 88
14 Range weight standard deviation 8double metres 96
15... Next PRN offset = 36 + (obs*68) where obs varies from 0 to (obs-1)
D Logs summary
218 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
TM1A/B Time of 1PPS
This log provides the time of the GPSCard 1PPS, normally high, active low pulse (1 millisecond), where falling
edge is reference, in GPS week number and seconds into the week. The TM1A/B log follows a 1PPS pulse. It also
includes the receiver clock offset, the standard deviation of the receiver clock offset and clock model status. This
log will output at a maximum rate of 1 Hz.
TM1A
Structure:
Example:
$TM1A,794,414634.999999966,-0.000000078,0.000000021,-9.999999998,0*57[CR][LF]
TM1B
Format: Message ID = 03 Message byte count = 52
$TM1A week seconds offset offset std
utc offset cm status *xx [CR][LF]
Field # Field type Data Description Example
1$TM1A Log header $TM1A
2week GPS week number 794
3seconds GPS seconds into the week at the epoch coincident with the 1PPS
output strobe (receiver time) 414634.99999996
6
4offset Receiver clock offset, in seconds. A positive offset implies that the
receiver clock is ahead of GPS Time. To derive GPS time, use the
following formula:
GPS time = receiver time - (offset)
-0.000000078
5offset std Standard deviation of receiver clock offset, in seconds 0.000000021
6utc offset This field represents the offset of GPS time from UTC time, computed
using almanac parameters. To reconstruct UTC time, algebraically
subtract this correction from field 3 above (GPS seconds).
UTC time = GPS time + (utc offset)
-9.999999998
7cm status Receiver Clock Model Status where 0 is valid and values from -20 to -1
imply that the model is in the process of stabilization 0
8*xx Checksum *57
9[CR][LF] Sentence terminator [CR][LF]
Field # Data Bytes Format Units Offset
1Sync 3char 0
(header) Checksum 1char 3
Message ID 4integer 4
Message byte count 4integer 8
2Week number 4integer weeks 12
3Seconds of week 8double seconds 16
4Clock offset 8double seconds 24
5Stddev clock offset 8double seconds 32
6UTC offset 8double seconds 40
7Clock model status 4integer 48
D Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 219
VERA/B Receiver Hardware and Software Version Numbers
This log contains the current hardware type and software version number for the GPSCard. Together with the
RVSA/B log, it supersedes the RCSA/B log.
VERA
Structure:
Example:
$VERA,853,401364.50,OEM-3 MILLENSTD CGL96170069 HW 3-1 SW 4.42/2.03 May 14/
96*2B[CR][LF]
VERB
Format: Message ID = 58 Message byte count = 104
$VERA week seconds version *xx [CR][LF]
Field # Field type Data Description Example
1$VERA Log header $VERA
2week GPS week number 853
3seconds GPS seconds into the week. 401364.50
4version GPSCard hardware type and software version number OEM-3 MILLENSTD CGL96170069
HW 3-1 SW 4.42/2.03 May 14/96
5*xx Checksum *2B
6[CR][LF] Sentence terminator [CR][LF]
Field # Data Bytes Format Units Offset
1Sync 3char 0
(header) Checksum 1char 3
Message ID 4integer 4
Message byte count 4integer 8
2Week number 4integer weeks 12
3Time into week 8double s16
4Version numbers 80 char 24
D Logs summary
220 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
VLHA/B Velocity, Latency, and Direction over Ground
This log is similar to the SPHA/B message. As in the SPHA/B messages the actual speed and direction of the
GPSCard antenna over ground is provided. The VLHA/B differs in that it provides a measure of the latency in the
velocity time tag and a new velocity status word which gives the user more velocity quality information. The
velocity status indicates varying degrees of velocity quality. To ensure healthy velocity, the position sol-status
must also be checked. If the sol-status is non-zero, the velocity will likely be invalid. Also, it includes the age of
the differential corrections used in the velocity computation. It should be noted that the GPSCard does not
determine the direction a vessel, craft, or vehicle is pointed (heading), but rather the direction of motion of the GPS
antenna relative to ground.
VLHA
Structure:
1Velocity Latency
The velocity is computed using Doppler values derived from differences in consecutive carrier phase
measurements. As such, it is an average velocity based on the time difference between successive
position computations and not an instantaneous velocity at the SPHA/B time tag. Under normal operation
the position’s coordinates are updated at a rate of two times per second. The velocity latency compared
to this time tag will normally be 1/2 the time between position fixes. The default filter rate is 2 Hz, so
this latency is typically 0.25 second, but if, for example, the POSA records were to be logged ontime 0.2,
then the velocity latency would be one half of 0.2, or 0.1 second. The latency can be reduced further by
the user requesting the POSA/B, the SPHA/B, or the VLHA/B messages at rates higher than 2 Hz. For
example, a rate of 10 Hz will reduce the velocity latency to 1/20 of a second. For integration purposes,
the velocity latency should be applied to the record time tag.
Example:
$VLHA,640,333111.00,0.250,3.500,0.438,325.034,2.141,0,0*02[CR][LF]
$VLHA week seconds latency age hor spd trk gnd
vert spd sol status vel status *xx [CR][LF]
Field # Field type Data Description Example
1$VLHA Log header $VLHA
2week GPS week number 640
3seconds GPS seconds into the week 333111.00
4latency 1A measure of the latency in the velocity time tag in seconds. It
should be subtracted from the time to give improved results. 0.250
5age Age of Differential GPS data in seconds 3.500
6hor spd Horizontal speed over ground, in metres per second 0.438
7trk gnd Actual direction of motion over ground (track over ground) with
respect to True North, in degrees 325.034
8vert spd Vertical speed, in metres per second, where positive values
indicate increasing altitude (up) and negative values indicate
decreasing altitude (down)
2.141
9sol status Solution status as listed in Table D-1 0
10 vel status Velocity status as listed in Table D-12 0
11 *xx Checksum *02
12 [CR][LF] Sentence terminator [CR][LF]
D Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 221
VLHB
Format: Message ID = 34 Message byte count = 72
Table D-12 GPSCard Velocity Status
Field # Data Bytes Format Units Offset
1Sync 3char 0
(header) Checksum 1char 3
Message ID 4integer 4
Message byte count 4integer 8
2Week number 4integer weeks 12
3Seconds of week 8double seconds 16
4Latency 8double metres per second 24
5Age 8double seconds 32
6Horizontal speed 8double metres per second 40
7Track over ground (TOG) 8double degrees 48
8Vertical speed 8double metres per second 56
9Solution status 4integer 64
10 Velocity status 4integer 68
Value Description
0 Velocity computed from differentially corrected carrier phase data
1Velocity computed from differentially corrected Doppler data
2 Old velocity from differentially corrected phase or Doppler (higher latency)
3Velocity from single point computations
4Old velocity from single point computations (higher latency)
5Invalid velocity
Higher values reserved for future use
D Logs summary
222 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
WALA/B WAAS Almanac
WAAS
Structure:
*Example:
$WALA,981,447490.88,981,447360,122,0,0,2.57894000E+007,-
3.5479600E+007,2.60000000E+004,0.00000000E+000,0.00000000E+000,0.00000000E+000*32 [CR][LF]
$WALA week seconds WAAS week WAAS seconds
prn data ID health
pos X pos Y pos Z
vel X vel Y vel Z
Field # Field type Data Description Example
1$WALA Log header $WALA
2week GPS week number 981
3seconds GPS seconds into the week 447490.88
4WAAS week WAAS week number 981
5WAAS seconds WAAS seconds into the week at time of application 447360
6prn WAAS GEO satellite PRN number 122
7data ID Version of WAAS signal specification, see Table D-14 0
8health Health and status of the WAAS GEO satellite, see Table D-13 0
9pos X Position x coordinate of WAAS GEO satellite at WAAS seconds (Field #5) 2.5789400E+007
10 pos Y Position y coordinate of WAAS GEO satellite at WAAS seconds (Field #5) -3.5479600E+007
11 pos Z Position z coordinate of WAAS GEO satellite at WAAS seconds (Field #5) 2.60000000E+004
12 vel X Velocity x coordinate of WAAS GEO satellite 0.00000000E+000
13 vel Y Velocity y coordinate of WAAS GEO satellite 0.00000000E+000
14 vel Z Velocity z coordinate of WAAS GEO satellite 0.00000000E+000
15 *xx Checksum *32
16 [CR][LF] Sentence terminator [CR] [LF]
D Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 223
WALB
Format: Message ID = 81 Message byte count = 92
Table D-13 Health and Status Bits
*Note: Read the binary output from the Health field from right to left. The first bit to the right, the least significant bit,
is bit 0 and so on to the left.
Table D-14 Data ID Type
Field # Data Bytes Format Units Offset
1Sync 3char 0
(header) Checksum 1char 3
Message ID 4integer 4
Message byte count 4integer 8
2Week number 4ulong weeks 12
3Seconds of week 8double seconds 16
4WAAS week number 4integer weeks 24
5WAAS seconds of week 4integer seconds 28
6WAAS satellite PRN number 4integer 32
7WAAS signal specification version 4integer 36
8WAAS satellite health 4integer 40
9Position x coordinate of WAAS satellite 8double meters 44
10 Position y coordinate of WAAS satellite 8double meters 52
11 Position z coordinate of WAAS satellite 8double meters 60
12 Velocity x coordinate of WAAS satellite 8double m/s 68
13 Velocity y coordinate of WAAS satellite 8double m/s 76
14 Velocity z coordinate of WAAS satellite 8double m/s 84
Bit Number* Description Range Values
0Ranging 0 = On 1 = Off
1Corrections 0 = On 1 = Off
2Broadcast integrity 0 = On 1 = Off
3Reserved -
4-7 Service Provider ID -
Data ID Type (Service Provider)
0WAAS (Wide Area Augmentation System)
1EGNOS (European Geostationary Navigation Overlay Service)
2MSAS (Multi-Functional Transport Satellite (MTSAT) based Augmentation System)
3-15 Reserved
D Logs summary
224 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
WRCA/B Wide Band Range Correction (Grouped Format)
This message contains the wide band range correction data. A correction is generated for each PRN being tracked
and these group together into a single log. Internally, the correction for each satellite is updated asynchronously
at a 1 Hz rate. Therefore, logging this message at a rate higher than 1 Hz will result in duplicate data being output.
Each range correction is statistically independent and is derived from the previous 1 second of data.
WRCA
Structure:
WRCB
Format: Message ID = 67 Message byte count = 28 + (obs*16)
$WRCA week seconds # obs
prn ch-tr-status tr-bandwidth wide band correction
:
prn ch-tr-status tr-bandwidth wide band correction
*xx [CR][LF]
Field # Field type Data Description Example
1$WRCA Log header $WRCA
2week GPS week number 637
3seconds GPS seconds into the week 513902.00
4# obs Number of satellite observations with information to follow: 7
5prn Satellite PRN number 18
6ch-tr-status Channel Tracking Status: Hexadecimal number indicating phase lock, channel
number and channel tracking state as shown in Table D-7.E04
7tr-bandwidth DLL tracking loop bandwidth in Hz 0.050
8wide band correction Wide band range correction in metres 1.323
...
...
...
...
...
...
Next PRN number, ch-tr-status, tr-bandwidth, wide band correction
...
Last PRN number, ch-tr-status, tr-bandwidth, wide band correction
variable *xx Checksum *1F
variable [CR][LF] Sentence terminator [CR][LF]
Field # Data Bytes Format Units Offset
1Sync 3char 0
(header) Checksum 1char 3
Message ID 4integer 4
Message byte count 4integer bytes 8
2Week number 4integer weeks 12
3Seconds of week 8double seconds 16
4Number of observations (obs) 4integer 24
5PRN 4integer 28
6Channel tracking status 4 - - 32
7DLL tracking loop bandwidth 4float Hz 36
8Wide Band Range Correction 4float metres 40
9... Next PRN offset = 28 + (obs*16)
E Comparison Of RT-2 And RT-20
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 225
E COMPARISON OF RT-2 AND RT-20
E.1 RT-2 & RT-20 PERFORMANCE
RT-2 and RT-20 are real-time kinematic software products developed by NovAtel. They can only be used in
conjunction with NovAtel GPS receivers. A quick comparison of RT-2 and RT-20 is shown in Table E-1:
Table E-1 Comparison of RT-2 and RT-20
NovAtel’s RTK software algorithms utilize both carrier and code phase measurements; thus, the solutions are
robust, reliable, accurate and rapid. While both RT-20 and RT-2 operate along similar principles, RT-2 achieves
its extra accuracy and precision due to its being able to utilize dual-frequency measurements. Dual-frequency GPS
receivers have two main advantages over their single-frequency counterparts when running RTK software:
1. resolution of cycle ambiguity is possible due to the use of wide lane searching
2. longer baselines are possible due to the removal of ionospheric errors
Depending on the transmitting and receiving receivers, various levels of accuracy can be obtained. Please refer to
the particular accuracy as shown in Table E-2.
RT-2 RT-20
GPS Frequencies Utilized L1 & L2 L1
Nominal Accuracy 2 cm (CEP) 20 cm (CEP)
Lane Searching Wide lane and narrow lane None
Table E-2 RTK Messages Vs. Accuracy
Transmitting (Reference) Receiving (Remote) Accuracy Expected
GPSCard transmitting RTCA
(i.e. RTCAOBS and RTCAREF) RT-2 receiver 2 centimetre CEP
RT-20 receiver 20 centimetre CEP
GPSCard transmitting RTCM type 3 and 59 RT-2 receiver 20 centimetre CEP
RT-20 receiver 20 centimetre CEP
GPSCard transmitting RTCM or RTCA type 1 RT-2 receiver 1 metre SEP
RT-20 receiver 1 metre SEP
GPSCard transmitting RTCM type 18 and 19 with type 31RT-2 receiver 20 centimetre CEP
RT-20 receiver 20 centimetre CEP
1 The RTCM1819 message can only be transmitted and received by MiLLennium GPSCards
ECOMPARISON OF RT-2 AND RT-20
E Comparison Of RT-2 And RT-20
226 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
RT-2 Performance
The RT-2 software provides the accuracies shown in Table E-3 & Figure E-1 (static mode) and Table E-4 &
Figure E-2 (kinematic mode) for “typical” multipath, ionospheric, tropospheric, and ephemeris errors, where
“typical” is described as follows:
• A typical multipath environment would provide no carrier-phase double-difference multipath errors
greater than 2 cm or pseudorange double-difference multipath errors greater than 2 m on satellites at 11°
elevation or greater. For environments where there is greater multipath, please consult NovAtel Customer
Service.
• Typical unmodeled ionospheric, tropospheric and ephemeris errors must be within 2σ of their average
values, at a given elevation angle and baseline length. It is assumed that the tropospheric correction is
computed with standard atmospheric parameters. All performance specifications assume that at least 6
satellites above the mask angle (varies between 11 and 14 degrees) are being tracked on both L1 and L2.
In Tables E-3 and E-4, accuracy values refer to horizontal RMS error, and are based on matched positions. There
are no data delays for a matched log and therefore no need to add anything. The level of position accuracy at any
time will be reflected in the standard deviations output with the position.
Table E-3 RT-2 Performance: Static Mode
Table E-4 RT-2 Performance: Kinematic Mode
PRTK logs contain some error due to predictions from base station observations. The expected error of a PRTK
log will be that of the corresponding RTK log plus the appropriate error from Table E-5.
Table E-5 RT-2 Degradation With Respect To Data Delay
➀
See Section A.3, Page 64 for an overview of GPS positioning.
Baseline
length Time since L2 lock-on with at least
6 satellites above mask angle Horizontal accuracy at
the stated time Runs meeting the stated
accuracy at the stated time
< 10 km 70 seconds + 1.5 sec/km 2 cm + 0.5 ppm 75.0%
< 10 km 5 minutes 1 cm + 1 ppm 75.0%
< 15 km 4 minutes 5 cm 66.7%
< 25 km 7 minutes 7 cm 66.7%
< 35 km 10 minutes 35 cm 66.7%
< 35 km 30 minutes 25 cm 66.7%
Baseline
length Time since L2 lock-on with at least
6 satellites above mask angle Horizontal accuracy at
the stated time Runs meeting the stated
accuracy at the stated time
< 10 km 120 seconds + 1.5 sec/km 2 cm + 0.5 ppm 75.0%
< 15 km 8 minutes 8 cm 66.7%
< 25 km 14 minutes 10 cm 66.7%
< 35 km 20 minutes 40 cm 66.7%
< 35 km 60 minutes 25 cm 66.7%
Data Delay (sec) Distance (km) Accuracy (CEP)
0 - 2 1+1 cm/sec
2 - 7 1+2 cm/sec
7 - 30 1+5 cm/sec
>30 1single point or pseudorange differential positioning ➁
➀Mode = Static or Kinematic
➁After 30 seconds reverts to pseudorange positioning (single point or differential depend-
ing on messages previously received from the base station).
E Comparison Of RT-2 And RT-20
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 227
Figure E-1 Typical RT-2 Horizontal Convergence - Static Mode
Figure E-2 Typical RT-2 Horizontal Convergence - Kinematic
Mode
0
0.2
0.4
0.6
0.8
1
1.2
1.4
0 300 600 900 1200 1500 1800 2100 2400 2700 3000 3300
Seconds of Convergence
CEP(meters)
0.1 km 15 km 25 km 50 km
Baselines
0
0.2
0.4
0.6
0.8
1
1.2
1.4
0 300 600 900 1200 1500 1800 2100 2400 2700 3000 3300
Seconds of Convergence
CEP(meters)
0.1 km 15 km 25 km 50 km
Baselines
E Comparison Of RT-2 And RT-20
228 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
For baselines under 30 km long, the RT-2 solution shows two pronounced steps in accuracy convergence; these
correspond to the single-point solution switching to the floating ambiguity solution which in turn switches to the
narrow lane solution. If you were monitoring this using NovAtel’s GPSolution program, the convergence sequence
might look something like what is shown in Figure E-3.
Figure E-4 shows the performance of the RT-2 system running RTCM59 corrections at 1/2 Hz rate.
Figure E-3 RT-2 Accuracy Convergence
Figure E-4 Illustration of RT-2 Steady State Performance
RT-20 Performance
As shown in Table E-6, Figure E-5 and Figure E-6 the RT-20 system provides nominal 20 cm accuracy (CEP)
after 3 minutes of continuous lock in static mode. After an additional period of continuous tracking (from 10 to 20
minutes), the system reaches steady state and position accuracies in the order of 3 to 4 cm are typical. The time to
steady state is about 3 times longer in kinematic mode.
RT-20 double-difference accuracies are based on PDOP < 2 and continuous tracking of at least 5 satellites (6
preferred) at elevations of at least 11.5°.
All accuracy values refer to horizontal RMS error, and are based on low-latency positions. The level of position
accuracy at any time will be reflected in the standard deviations output with the position.
Single-point solution Floating ambiguity solution Narrow lane solution
E Comparison Of RT-2 And RT-20
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 229
Table E-6 RT-20 Performance
Figure E-5 Typical RT-20 Convergence - Static Mode
Tracking Time (sec) Mode 1Data Delay (sec) Distance (km) Accuracy (CEP)
1 - 180 Static 0 1 100 to 25 cm
180 - 3000 Static 0 1 25 to 5 cm
> 3000 Static 0 1 5 cm or less 2
1 - 600 Kinematic 0 1 100 to 25 cm
600 - 3000 Kinematic 0 1 25 to 5 cm
> 3000 Kinematic 0 1 5 cm or less 2
Either 0 - 2 1+1 cm/sec
Either 2 - 7 1+2 cm/sec
Either 7 - 30 1+5 cm/sec
Either > 30 1pseudorange or single point 3
Either 00 - 10 +0.5 cm/km
Either 010 - 20 +0.75 cm/km
Either 020 - 50 +1.0 cm/km
1 Mode = Static or Kinematic (during initial ambiguity resolution)
2 The accuracy specifications refer to the PRTKA/B logs which include about 3 cm extrapolation error. RTKA/B logs are
more accurate but have increased latency associated with them.
3 After 30 seconds reverts to pseudorange positioning (single point or differential depending on messages previously
received from the base station).
0
0.2
0.4
0.6
0.8
1
1.2
1.4
0 300 600 900 1200 1500 1800 2100 2400 2700 3000 3300
Seconds of Convergence
CEP(meters)
0.1 km 15 km 25 km 50 km
Baselines
E Comparison Of RT-2 And RT-20
230 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
Figure E-6 Typical RT-20 Convergence - Kinematic Mode
Figure E-7 shows the performance of the RT-20 system running with RTCM59 corrections received at a 1/2 Hz rate.
Figure E-7 RT-20 Steady State Performance
0
0.2
0.4
0.6
0.8
1
1.2
1.4
0 300 600 900 1200 1500 1800 2100 2400 2700 3000 3300
Seconds of Conver
g
ence
CEP(meters)
0.1 km 15 km 25 km 50 km
Baselines
E Comparison Of RT-2 And RT-20
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 231
E.2 PERFORMANCE CONSIDERATIONS
When referring to the “performance” of RTK software, two factors are introduced:
1. Baseline length: the position estimate becomes less precise as the baseline length increases. Note that the
baseline length is the distance between the phase centres of the two antennas. Identifying the exact position
of your antenna’s phase centre is essential; this information is typically supplied by the antenna’s manufacturer
or vendor.
The RTK software automatically makes the transition between short and longer baselines, but the best
results are obtained for baselines less than 10 km. The following are factors which are related to baseline
length:
• ephemeris errors - these produce typical position errors of 0.75 cm per 10 km of baseline length.
• ionospheric effects - the dominant error for single-frequency GPS receivers on baselines exceeding
10 km. Differential ionospheric effects reach their peak at dusk and dawn, being at a minimum during
hours of darkness. Ionospheric effects can be estimated and removed on dual-frequency GPS
receivers, greatly increasing the permissible baseline length, but at the cost of introducing additional
“noise” to the solution. Therefore, this type of compensation is only used in cases where the
ionospheric error is much larger than the noise and multipath error.
• tropospheric effects - these produce typical position errors of approximately 1 cm per 10 km of base-
line length. This error increases if there is a significant height difference between the reference and
remote stations, as well as if there are significantly different weather conditions between the two sites.
A related issue is that of multipath interference, the dominant error on short differential baselines.
Generally, multipath can be reduced by choosing the antenna’s location with care, and by the use of a
choke-ring antenna ground plane, see Appendix B, Page 73.
2. Convergence time: the position estimate becomes more accurate and more precise with time. However, con-
vergence time is dependent upon baseline length: while good results are available after a minute or so for
short baselines, the time required increases with baseline length. Convergence time is also affected by the
number of satellites which can be used in the solution: the more satellites, the faster the convergence.
Performance Degradation
The performance will degrade if satellites are lost at the remote or if breaks occur in the differential correction
transmission link. The degradations related to these situations are described in the following paragraphs.
Provided lock is maintained on at least 4 SVs and steady state has been achieved, the only degradation will be the
result of a decrease in the geometrical strength of the observed satellite constellation. If steady state has not been
achieved, then the length of time to ambiguity resolution under only 4-satellite coverage will be increased
significantly.
REMOTE TRACKING LOSS
If less than 4 satellites are maintained, then the RTK filter can not produce a position. When this occurs, the POSA/
B and P20A/B logs will be generated with differential (if RTCM Type 1 messages are transmitted with the Type 59
messages) or single point pseudorange solutions if possible. When the satellites are reacquired, the RTK
initialization process described below occurs (see Figure E-8, Page 232).
DIFFERENTIAL LINK BREAKDOWN
1. Provided the system is in steady state, and the loss of observation data is for less than 30 seconds, the RTK
positions will degrade according to the divergence of the reference observation extrapolation filters. This
causes a decrease in accuracy of about an order of magnitude per 10 seconds without a reference station
observation, and this degradation is reflected in the standard deviations of the low latency logs. Once the
data link has been re-established, the accuracy will return to normal after several samples have been
received.
2. If the loss of differential corrections lasts longer than 30 seconds, the RTK filter is reset and all ambiguity
E Comparison Of RT-2 And RT-20
232 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
and reference model information is lost. The timeout threshold for RTK differential corrections is 30
seconds, but for Type 1 pseudorange corrections, the timeout is 60 seconds. Therefore, when the RT-20
can no longer function because of this timeout, the pseudorange filter can produce differential positions
for an additional 30 seconds (provided RTCM Type 1 messages were transmitted along with the Type 59
messages) before the system reverts to single point positioning. Furthermore, once the link is re-
established, the pseudorange filter produces an immediate differential position while the RTK filter takes
an additional 14 seconds to generate its positions. The reference models require 7 reference observations
before they are declared useable, and this will take 14 seconds, based on a 1/2 Hz differential correction
rate. The reference model must be healthy before solutions are logged to the low latency logs, so there is
a delay in the use of real time carrier positioning to the user once the link has been re-established. The
RTK logs (RTCA/B, RTKA/B AND BSLA/B) use matched observations only (no extrapolated observations),
and these will be available after three reference observations are received, but will have about 1.5 seconds
latency associated with them.
Figure E-8 RT-20 Re-initialization Process
The RTK system is based on a time-matched double difference observation filter. This means that observations at
the remote site have to be buffered while the reference station observation is encoded, transmitted, and decoded.
Only two seconds of remote observations are saved, so the reference station observation transmission process has
to take less than 2 seconds if any time matches are to be made. In addition, only remote observations on even
second boundaries are retained, so reference station observations must also be sent on even seconds if time matches
are to be made.
REFERENCE
REMOTE
1234567
Reference
Doppler Start generating
RTKA/B logs
Models
Ready Generate
RTKA/B
logs
RTCM59 messages
required following
RESETRT20 reference phase
models and and
PRTKA/B
F Standards and References
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 233
F S TANDARDS AND REFERENCES
RTCM STANDARDS REFERENCE
For detailed specifications of RTCM, refer to RTCM SC104 Version 2.1 of "RTCM Recommended Standards For
Differential NAVSTAR GPS Service", January 3, 1994
Radio Technical Commission for Maritime Services
655 15th Street NW, Suite 300
Washington, D.C. 20005 U.S.A.
Telephone: 202-639-4006 Fax: 202-347-8540
Website: http://www.navcen.uscg.mil/dgps/dgeninfo/RTCM104.txt
RTCA STANDARDS REFERENCE
For copies of the Minimum Aviation System Performance Standards DGNSS Instrument Approach System:
Special Category-I (SCAT-I), contact:
RTCA, Incorporated
1140 Connecticut Avenue N.W., Suite 1020
Washington, D.C. 20036-4001 U.S.A.
Telephone: 202-833-9339 Fax: 202-833-9434
Website: http://www.rtca.org
GPS SPS SIGNAL SPECIFICATION REFERENCE
For copies of the Interface Control Document (ICD)-GPS-200, contact:
ARINC Research Corporation
2551 Riva Road
Annapolis, MD 21401-7465
Telephone: 410-266-4000 Fax: 410-266-4049
Website: http://www.arinc.com
NMEA REFERENCE
National Marine Electronics Association, NMEA 0183 Standard for Interfacing Marine Electronic Devices,
Version 2.00, January 1, 1992
NMEA Executive Director
P.O. Box 50040
Mobile, Alabama 36605
U.S.A.
Website: http://www4.coastalnet.com/nmea
GEODETIC SURVEY OF CANADA
Geodetic Survey of Canada
615 Boothe Street
Ottawa, Ontario
K1A 0E9
Telephone: (613) 995-4410 Fax: (613)995-3215
Website: http://www.geod.emr.ca
U.S. NATIONAL GEODETIC SURVEY
NGS Information Services
1315 East-West Highway
Station 9244
Silver Springs, MD 20910-3282
Telephone: (301)713-2692 Fax: (301)713-4172
Website: http://www.ngs.noaa.gov
NOTE: Website addresses may be subject to change however they are accurate at the time of publication.
FSTANDARDS AND REFERENCES
G Geodetic Datums
234 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
G GEODETIC DATUMS
The following tables contain the internal ellipsoid parameters and transformation parameters used in the GPSCard.
The values contained in these tables were derived from the following DMA technical reports:
1. TR 8350.2 Department of Defence World Geodetic System 1984 and Relationships with Local
Geodetic Systems - Revised March 1, 1988.
2. TR 8350.2B Supplement to Department of Defence World Geodetic System 1984 Technical Report
- Part II - Parameters, Formulas, and Graphics for the Practical Application of WGS84
- December 1, 1987.
Table G-1 Reference Ellipsoid Constants
ELLIPSOID ID CODE a (metres) 1/f f
Airy 1830 AW 6377563.396 299.3249647 0.00334085064038
Modified Airy AM 6377340.189 299.3249647 0.00334085064038
Australian National AN 6378160.0 298.25 0.00335289186924
Bessel 1841 BR 6377397.155 299.1528128 0.00334277318217
Clarke 1866 CC 6378206.4 294.9786982 0.00339007530409
Clarke 1880 CD 6378249.145 293.465 0.00340756137870
Everest (India 1830) EA 6377276.345 300.8017 0.00332444929666
Everest (Brunei & E.Malaysia) EB 6377298.556 300.8017 0.00332444929666
Everest (W.Malaysia & Singapore) ED 6377304.063 300.8017 0.00332444929666
Geodetic Reference System 1980 RF 6378137.0 298.257222101 0.00335281068118
Helmert 1906 HE 6378200.0 298.30 0.00335232986926
Hough 1960 HO 6378270.0 297.00 0.00336700336700
International 1924 IN 6378388.0 297.00 0.00336700336700
South American 1969 SA 6378160.0 298.25 0.00335289186924
World Geodetic System 1972 WD 6378135.0 298.26 0.00335277945417
World Geodetic System 1984 WE 6378137.0 298.257223563 0.00335281066475
Table G-2 Transformation Parameters (Local Geodetic to WGS84)
GPSCard
Datum ID
number NAME DX DY DZ DATUM DESCRIPTION ELLIPSOID
1ADIND -162 -12 206 Adindan (Ethiopia, Mali, Senegal & Sudan) Clarke 1880
2ARC50 -143 -90 -294 ARC 1950 (SW & SE Africa) Clarke 1880
3ARC60 -160 -8 -300 ARC 1960 (Kenya, Tanzania) Clarke 1880
4AGD66 -133 -48 148 Australian Geodetic Datum 1966 Australian National
5AGD84 -134 -48 149 Australian Geodetic Datum 1984 Australian National
6BUKIT -384 664 -48 Bukit Rimpah (Indonesia) Bessel 1841
7ASTRO -104 -129 239 Camp Area Astro (Antarctica) International 1924
8CHATM 175 -38 113 Chatum 1971 (New Zealand) International 1924
9CARTH -263 6431 Carthage (Tunisia) Clarke 1880
10 CAPE -136 -108 -292 CAPE (South Africa) Clarke 1880
11 DJAKA -377 681 -50 Djakarta (Indonesia) Bessel 1841
12 EGYPT -130 110 -13 Old Egyptian Helmert 1906
13 ED50 -87 -98 -121 European 1950 International 1924
14 ED79 -86 -98 -119 European 1979 International 1924
15 GUNSG -403 684 41 G. Segara (Kalimantan - Indonesia) Bessel 1841
16 GEO49 84 -22 209 Geodetic Datum 1949 (New Zealand) International 1924
GGEODETIC DATUMS
G Geodetic Datums
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 235
17 GRB36 375 -111 431 Great Britain 1936 (Ordinance Survey) Airy 1830
18 GUAM -100 -248 259 Guam 1963 (Guam Island) Clarke 1866
19 HAWAII 89 -279 -183 Hawaiian Hawaii (Old) International 1924
20 KAUAI 45 -290 -172 Hawaiian Kauai (Old) International 1924
21 MAUI 65 -290 -190 Hawaiian Maui (Old) International 1924
22 OAHU 56 -284 -181 Hawaiian Oahu (Old) International 1924
23 HERAT -333 -222 114 Herat North (Afghanistan) International 1924
24 HJORS -73 46 -86 Hjorsey 1955 (Iceland) International 1924
25 HONGK -156 -271 -189 Hong Kong 1963 International 1924
26 HUTZU -634 -549 -201 Hu-Tzu-Shan (Taiwan) International 1924
27 INDIA 289 734 257 Indian (India, Nepal, Bangladesh) Everest (EA)
28 IRE65 506 -122 611 Ireland 1965 Modified Airy
29 KERTA -11 851 5Kertau 1948 (West Malaysia and Singapore) Everest (ED)
30 KANDA -97 787 86 Kandawala (Sri Lanka) Everest (EA)
31 LIBER -90 40 88 Liberia 1964 Clarke 1880
32 LUZON -133 -771 -51 Luzon (Philippines excluding Mindanoa Is.) Clarke 1866
33 MINDA -133 -70 -72 Mindanoa Island Clarke 1866
34 MERCH 31 146 47 Merchich (Morocco) Clarke 1880
35 NAHR -231 -196 482 Nahrwan (Saudi Arabia) Clarke 1880
36 NAD83 000N. American 1983 (Includes Areas 37-42) GRS-80
37 CANADA -10 158 187 N. American Canada 1927 Clarke 1866
38 ALASKA -5 135 172 N. American Alaska 1927 Clarke 1866
39 NAD27 -8 160 176 N. American Conus 1927 Clarke 1866
40 CARIBB -7 152 178 N. American Caribbean Clarke 1866
41 MEXICO -12 130 190 N. American Mexico Clarke 1866
42 CAMER 0125 194 N. American Central America Clarke 1866
43 MINNA -92 -93 122 Nigeria (Minna) Clarke 1880
44 OMAN -346 -1 224 Oman Clarke 1880
45 PUERTO 11 72 -101 Puerto Rica and Virgin Islands Clarke 1866
46 QORNO 164 138 -189 Qornoq (South Greenland) International 1924
47 ROME -255 -65 9Rome 1940 Sardinia Island International 1924
48 CHUA -134 229 -29 South American Chua Astro (Paraguay) International 1924
49 SAM56 -288 175 -376 South American (Provisional 1956) International 1924
50 SAM69 -57 1-41 South American 1969 S. American 1969
51 CAMPO -148 136 90 S. American Campo Inchauspe (Argentina) International 1924
52 SACOR -206 172 -6 South American Corrego Alegre (Brazil) International 1924
53 YACAR -155 171 37 South American Yacare (Uruguay) International 1924
54 TANAN -189 -242 -91 Tananarive Observatory 1925 (Madagascar) International 1924
55 TIMBA -689 691 -46 Timbalai (Brunei and East Malaysia) 1948 Everest (EB)
56 TOKYO -128 481 664 Tokyo (Japan, Korea and Okinawa) Bessel 1841
57 TRIST -632 438 -609 Tristan Astro 1968 (Tristan du Cunha) International 1924
58 VITI 51 391 -36 Viti Levu 1916 (Fiji Islands) Clarke 1880
59 WAK60 101 52 -39 Wake-Eniwetok (Marshall Islands) Hough 1960
60 WGS72 0 0 4.5 World Geodetic System - 72 WGS72
61 WGS84 000World Geodetic System - 84 WGS84
62 ZANDE -265 120 -358 Zanderidj (Surinam) International 1924
63 USER 000User Defined Datum Defaults User *
Notes:
*Default user datum is WGS84.
*Also see the DATUM and USERDATUM commands in Chapter 2 and Appendix C.
*The GPSCard DATUM command sets the Datum value based on the name entered as listed in the "NAME" column in Table G-2 (e.g.,
NAD83).
*These GPSCard logs report Datum used according to the "GPSCard Datum ID" column: POSA/B, PRTKA/B, RTKA/B, and MKPA/B.
Table G-2 Transformation Parameters (Local Geodetic to WGS84)
H Some Common Unit Conversions
236 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
H SOME COMMON UNIT CONVERSIONS
Section H.1 to H.4 list commonly used equivalents between the SI (Système Internationale) units of weights and
measures used in the metric system, and those used in the imperial system. A complete list of hexadecimal values
with their binary equivalents is given in Section H.5 while an example of the conversion from GPS time of week
to calendar day is shown in Section H.6.
H.3 TEMPERATURE H.4 WEIGHT
degrees Celsius = (5/9) x [(degrees Fahrenheit) - 32] 1 kilogram (kg) = 1000 grams
degrees Fahrenheit = [(9/5) x (degrees Celsius)] + 32 1 pound = 0.4536 kilogram (kg)
H.5 HEXADECIMAL AND BINARY EQUIVALENTS
Hexadecimal Binary
0 0000
1 0001
2 0010
3 0011
4 0100
5 0101
6 0110
7 0111
8 1000
9 1001
A 1010
B 1011
C 1100
D 1101
E 1110
F 1111
H.1 DISTANCE H.2 VOLUME
1 meter (m) = 100 centimeters (cm) = 1000 millimeters (mm)
1 kilometer (km) = 1000 meters (m)
1 nautical mile = 1852 meters
1 international foot = 0.3048 meter
1 statute mile = 1609 meters
1 US survey foot = 0.3048006096 meter
1 liter (l) = 1000 cubic centimeters (cc)
1 gallon (Imperial) = 4.546 liters
1 gallon (US) = 3.785 liters
HSOME COMMON UNIT CONVERSIONS
H Some Common Unit Conversions
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 237
H.6 GPS TIME OF WEEK TO CALENDAR DAY (EXAMPLE)
511200 seconds Day 511200 / 86400 seconds per day = 5.916666667 days
Hour .916666667 x 86400 / 3600 seconds per hour = 22.0000 hours
Minute .000 x 3600 / 60 seconds per minute = 0.000 minutes
Second .000 x 60 = 0.00 seconds
Day 5 (Thursday) + 22 hours, 0 minutes, 0 seconds into Friday.
H.6.1 Calendar Date to GPS Time (e.g. 11:30 hours, January 22, 1995)
Days from January 6, 1980 to January 22, 1995 = 15 years x 365 days /year = 5475 days
Add one day for each leap year (a year which is divisible by 4 or 400 but not by 100;
every 100 years a leap year is skipped) 4 days
Days into 1997 (22nd is not finished) 21 days
Total days 5500 days
Deduct 5 days: Jan. 1 through 5, 1980 5495 days
GPS Week: 5495 x 86400 seconds per day = 474768000 seconds/ 604800 sec per week = 785
Seconds into week 22nd day: 11.5 hrs x 3600 sec/hr 41400 seconds
GPS time of week: Week 785, 41400 second
I Information Messages
238 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
I
INFORMATION MESSAGES
TYPE 1 INFORMATION MESSAGES
To date, the only Type 1 messages are the !ERRA and the !MSGA logs.
!ERRA
Example:
!ERRA,1,0,Authorization Code Invalid,*22[CR][LF]
Table
I
-1 Type 1 !ERRA Types
!MSGA
Example:
!MSGA,1001,Authorization Code Is Time Limited, Model 3951R Expires on
960901*6C[CR][LF]
!ERRA type severity error string opt. description *xx [CR][LF]
Field # Field type Data Description
1!ERRA Log header
2type Log type, numbered 0 - 999 (see Table I-1 below)
3severity Only one is defined to date: severity_fatal (number = 0); causes reset
4error string Error message (see Table I-1)
5opt. description Optional description
6*xx Checksum
7[CR][LF] Sentence terminator
Log type Error String
0Unknown ERRA Type
1Authorization Code Invalid
2No Authorization Code Found
3Invalid Expiry In Authorization Code
4Unable To Read ESN
5Reserved For Future Use
6Card Has Stopped Unexpectedly
7+ Reserved For Future Use
!MSGA type message opt. description *xx [CR][LF]
Field # Field type Data Description
1!MSGA Log header
2type Log type, numbered from 1000 (see Table I-2,
Page 239)
3message Message (see Table I-2)
4opt. description Optional description
5*xx Checksum
6[CR][LF] Sentence terminator
I
INFORMATION MESSAGES
I Information Messages
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 239
Table
I
-2 Type 1 !MSGA Types
TYPE 2 INFORMATION MESSAGES
The following is a list of information messages which are generated by the Command Interpreter in response to a
user’s input. This list is not necessarily complete, but it is the most accurate one available at the time of publication.
It is intended to be a trouble-shooting tool.
Log type Message String
1000 Unknown MSGA Type
1001 Authorization Code Is Time Limited
1002+ Reserved For Future Use
Error Message Meaning
All Ok No errors to report.
Argument Must Be Hexadecimal (0-9,A-F) Pairs An argument which is not hexadecimal was entered.
Argument Must Be Numeric An argument which is not numeric was entered.
Authorization Changes Not Available On This Card An attempt has been made to change the Authorization Code on a card which is
not an OEM card.
Authorization Code Entered Incorrectly The checksum is incorrect for the Authorization Code. The Authorization Code
was most likely entered incorrectly.
Authorization Code Is Invalid The existing Authorization Code is invalid. Please contact NovAtel GPS customer
service for a new Authorization Code.
Can’t Change Authorization Code The existing Authorization Code cannot be changed. Please contact NovAtel
GPS customer service for assistance.
Clock Model not set TM1A rejected The clock model status in a $TM1A command is invalid. The $TM1A command
is rejected when the clock model has not been set.
CLOCK_ADJUST Command Not Available On This
Model The CLOCKADJUST command is not available on this model.
Complete Almanac not received yet - try again later The almanac cannot be saved because a complete almanac has not yet been
received. A SAVEALMA command should be performed at a later time when a
complete almanac has been received.
Data Too Large To Save To NVM The configuration data being saved is too large.
Differential Corrections Not Available On This Model This model does not have the ability to send or receive differential corrections.
EXTERNALCLOCK Command Not Available On This
Model The EXTERNALCLOCK command is not available on this model.
FREQUENCY_OUT Command Not Available On
This Model The FREQUENCY_OUT command is not available on this model.
FROM port name too LONG The FROM port name in a SETNAV command is too long.
Invalid $ALMA CheckSum The checksum of a $ALMA command is invalid.
Invalid $DCSA CheckSum The checksum of a $DCSA command is invalid.
Invalid $DEBUG Options An invalid option was entered in the $DEBUG command.
Invalid $IONA CheckSum The checksum of a $IONA command is invalid.
Invalid $PXYA CheckSum The checksum of a $PXYA command is invalid.
Invalid $REPA CheckSum The checksum of a $REPA command is invalid.
Invalid $RTCA CheckSum/CRC The CRC of a $RTCA command is invalid.
Invalid $RTCM CheckSum The checksum of a $RTCA command is invalid.
Invalid $TM1A CheckSum The checksum of a $TM1A command is invalid.
Invalid $UTCA CheckSum The checksum of a $UTCA command is invalid.
Invalid $VXYA CheckSum The checksum of a $VXYA command is invalid.
Invalid ADJUSTCLOCK Option An invalid CLOCKADJUST switch has been entered.
Invalid Baudrate The bit rate in a COMn command is invalid.
Invalid Carrier Smoothing Constant The carrier smoothing constant of the CSMOOTH command is invalid.
I Information Messages
240 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
Invalid Channel Number An invalid channel number has been entered in a command such as ASSIGN.
Invalid Coarse Modulus Field The coarsemod argument of the FREQUENCY_OUT command is invalid.
Invalid Command CRC The received command has an invalid checksum.
Invalid Command Name An invalid command name has been received.
Invalid Command Option One or more arguments of a command are invalid.
Invalid Coordinates Invalid coordinates received in a command such as $PVCA, $PXYA, etc.
Invalid Datatype The data type in an ACCEPT command is invalid.
Invalid Datum Offset The datum offset in a USERDATUM command is invalid.
Invalid DATUM Option An option in a DATUM command is invalid.
Invalid Datum Rotation The datum rotation angle in a USERDATUM command is invalid.
Invalid Degree Field An invalid degree field has been entered in a command such as FIX POSITION
or SETNAV.
Invalid DGPS time-out value An invalid timeout value was entered in the DGPSTIMEOUT command.
Invalid Doppler An invalid Doppler has been entered in an ASSIGN command.
Invalid Doppler Window An invalid Doppler window has been entered in an ASSIGN command.
Invalid DTR choice An invalid option was entered in the COMn_DTR command.
Invalid DTR Toggle Option The active option in the COMn_ DTR command is invalid.
Invalid DTR Toggle Setup Time (0-1000) The lead time option in the COMn_ DTR command is invalid.
Invalid DTR Toggle Terminate Time (0-1000) The tail time option in the COMn_ DTR command is invalid.
Invalid DYNAMICS Option The option in a DYNAMICS command is invalid.
Invalid Echo Option The echo option in a COMn command is invalid.
Invalid Elevation Cutoff Angle The elevation cutoff angle in an ECUTOFF command is invalid.
Invalid ERRMSG Flag The option (on/off) specified in a MESSAGE command is invalid.
Invalid ERRMSG Port The port specified in a MESSAGE command is invalid.
Invalid EXTERNALCLOCK Option An invalid external clock was entered in the EXTERNALCLOCK command.
Invalid EXTERNALCLOCK USER Argument(s) An invalid argument was entered in the EXTERNALCLOCK command.
Invalid Fine Modulus Field The finemod argument of the FREQUENCY_OUT command is invalid.
Invalid FIX Option An option other than height, position or velocity was specified in a FIX command.
Invalid Flattening The flattening in a USERDATUM command is invalid.
Invalid Handshake Option The handshake option in a COMn command is invalid.
Invalid HEALTH Override An invalid health has been entered in a SETHEALTH or FIX command.
Invalid Height The height in a FIX HEIGHT command is invalid.
Invalid Logger Datatype An invalid log has been specified in a LOG/UNLOG command.
Invalid Logger Offset An invalid offset has been specified in a LOG command.
Invalid Logger Period An invalid period has been specified in a LOG command.
Invalid Logger Port Option An invalid port number has been specified in a LOG/UNLOG command.
Invalid Logger Trigger An invalid trigger has been specified in a LOG command.
Invalid Magnetic Variation The magnetic variation in a MAGVAR command is invalid.
Invalid Number of $ALMA Arguments The number of arguments in a $ALMA command is invalid.
Invalid Number of $DCSA Arguments The number of arguments in a $DCSA command is invalid.
Invalid Number of $IONA Arguments The number of arguments in a $IONA command is invalid.
Invalid Number of $PXYA Arguments The number of arguments in a $PXYA command is invalid.
Invalid Number of $REPA Arguments The number of arguments in a $REPA command is invalid.
Invalid Number of $TM1A Arguments The number of arguments in a $TM1A command is invalid.
Invalid Number of $UTCA Arguments The number of arguments in a $UTCA command is invalid.
Invalid Number of $VXYA Arguments The number of arguments in a $VXYA command is invalid.
Invalid Number of Arguments A command has been received which has an invalid number of arguments.
Invalid Number of Databits The number of data bits in a COMn command is invalid.
Invalid Number of StopBits The number of stop bits in a COMn command is invalid.
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MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 241
Invalid Parity Option The parity in a COMn command is invalid.
Invalid Port The port in a SEND command is invalid.
Invalid Port number The port number in an ACCEPT command is invalid.
Invalid PPS Modulus Field The ppsmod argument of the FREQUENCY_OUT command is invalid.
Invalid RINEX Option An option of a RINEX command is invalid.
Invalid RTCA option An invalid RTCA rule has been entered.
Invalid RTCA station Name (\XXXX\) The RTCA station name in a FIX POSITION message is invalid.
Invalid RTCM Bit Rule An invalid RTCM rule has been entered.
Invalid RTCM station Name (0..1023) The RTCM station name in a FIX POSITION message is invalid.
Invalid RTCM16T string length - maximum 90 The RTCM16T string exceeds 90 characters.
Invalid RTS choice An invalid option was entered in the COMn_RTS command.
Invalid RTS Toggle Option The active option in the COMn_RTS command is invalid.
Invalid RTS Toggle Setup Time (0-1000) The lead time option in the COMn_RTS command is invalid.
Invalid RTS Toggle Terminate Time (0-1000) The tail time option in the COMn_RTS command is invalid.
Invalid Satellite Number An invalid satellite number has been entered in an ASSIGN, SETHEALTH,
LOCKOUT or UNLOCKOUT command.
Invalid Scaling The scale value in a USERDATUM command is invalid.
Invalid Seconds Into Week in TM1A The time in a $TM1A command is invalid.
Invalid SemiMajor Axis The semi-major axis in a USERDATUM command is invalid.
Invalid Standard Deviation Limit (0.1-100 m) A standard deviation in a POSSE command is invalid.
Invalid Symbol Period 1,2,4,5,10,20 The symbol period is invalid for an ASSIGN on a pseudolite channel.
Invalid Time Limit (0.1-100 hours) The averaging time in a POSAVE command is invalid.
Invalid Token This error should never occur. If it does, please contact NovAtel GPS customer
service.
Invalid Track Offset The track offset in the SETNAV command is invalid.
Invalid Velocity An invalid velocity has been received, either in a FIX VELOCITY command, or in
a command such as $PVCA, $PVCB.
Invalid Week Number in TM1A The week in a $TM1A command is invalid.
MET Command Not Available On This Model The MET command is not available on this model.
Model Invalid The Authorization Code has an invalid Model. Please contact NovAtel GPS
customer service for assistance.
NVM Error - Unable To Save The SAVE operation did not complete successfully.
RINEX string too LONG Indicates that the entered RINEX command is too long.
RT20 Logs Not Available On This Model This model does not have the ability to send or receive RT20 differential
corrections.
RTCM9 Logs Not Available On This Model This model does not have the ability to send or receive RTCM9 logs.
SAVE Command Not Available On This Model A SAVE operation was attempted which is not available on this model.
Save Complete The SAVE operation completed successfully.
SETCLOCK disabled TM1A rejected The $TM1A command is rejected because the user has not enabled clock
synchronization using the SETCLOCK command.
Standard Deviation not allowed with small time limits In a POSAVE command, a standard deviation cannot be entered with a small
time. Enter a larger averaging time if standard deviations are desired.
TO Portname too LONG The TO port name in a SETNAV command is too long.
User Defined DATUM Not Set This error should not occur. By default the user defined DATUM is set to WGS84.
If you get this error message, please contact NovAtel GPS customer service.
Valid Option but Missing Process This message indicates an error in the software. A command option is valid but
software cannot process it
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242 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
J
LISTING OF TABLES
This section is provided for ease of reference. The tables reproduced are as follows:
1-1 GPSCard Pseudorange Differential Initialization Summary
1-2 Latency - Induced Extrapolation Error
2-1 Commands Table
2-2 GPSCard Command Summary Chart
3-1 Logs Table
3-2 GPSCard Log Summary
4-1 Positioning Modes
C-1 Antenna LNA Power Configuration
C-2 Default Values of Process Noise Elements
C-3 VARF Range
D-1 GPSCard Solution Status
D-2 Position Type
D-3 RTK Status For Position Type 3 (RT-20)
D-4 RTK Status For Position Type 4 (RT-2)
D-5 Receiver Self-Test Status Codes
D-6 Range Record Formats (RGED only)
D-7 Channel Tracking Status
D-8 Ambiguity Types
D-9 Searcher Status
D-10 RTK Status
D-11 GPSCard Range Reject Codes
D-12 GPSCard Velocity Status
E-1 Comparison of RT-2 and RT-20
E-2 RTK Messages Vs. Accuracy
E-3 RT-2 Performance - Static Mode
E-4 RT-2 Performance - Kinematic Mode
E-5 RT-20 Performance
JLISTING OF TABLES
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MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 243
Table 1-1 GPSCard Pseudorange Differential Initialization Summary
Table 1-2 Latency-Induced Extrapolation Error
Table 2-1 Commands By Function Table
Reference Station Remote Station
Required:
FIX POSITION lat lon hgt id (health)
LOG port DATATYPE ontime 5
Recommended Options:
LOG DATATYPES (binary): RTCMB
RTCAB
RTCM
RTCA
LOG DATATYPES (acii): RTCMA
RTCAA
Related Commands/Logs:
RTCMRULE
DATUM
Required:
ACCEPT port DATATYPE
Recommended Options:
ACCEPT DATATYPES (binary): RTCM
RTCA
ACCEPT COMMANDS (ascii): RTCMA
RTCAA
Related Commands/Logs:
RTCMRULE
DATUM
POSA/B
VLHA/B
CDSA/B
GPGGA
Example 1:
fix position 51.3455323 -114.2895345 1201.123 555 0
log com 1 RTCM ontime 2
Example 2:
fix position 51.3455323 -114.2895345 1201.123 555 0
log com2 rtcaa ontime 2
Example 1:
accept com2 rtcm
log com1 posa ontime 1
Example 2:
accept com2 commands
log com1 posa ontime 0.2
log com1 vlha ontime 0.2
Note:Italicized entries indicate user definable.
Time since last reference station observation Typical extrapolation error (CEP)
0-2 seconds 1 cm/sec
2-7 seconds 2 cm/sec
7-30 seconds 5 cm/sec
COMMUNICATIONS, CONTROL AND STATUS
Commands Descriptions
ANTENNAPOWER Power to the low-noise amplifier of an active antenna
COMn COMn port configuration control
COMn_DTR DTR handshaking control
COMn_RTS RTS handshaking control
DIFF_PROTOCOL 1Differential Protocol Control
FREQUENCY_OUT Variable frequency output (programmable)
LOG Logging control
MESSAGES Disable error reporting from command interpreter
RINEX Configure the user defined fields in the file header
RTCMRULE Sets up RTCM bit rule
RTCM16T Enters an ASCII message
SEND Sends ASCII message to COM port
SENDHEX Sends non-printable characters
SETL1OFFSET 1Add an offset to the L1 pseudorange to compensate for
signal delays
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1 Intended for advanced users of GPS only.
1 Intended for advanced users of GPS onl
GENERAL RECEIVER CONTROL AND STATUS
Commands Descriptions
$ALMA Download almanac data file
CRESET Reset receiver to factory default
DYNAMICS Set correlator tracking bandwidth
HELP On-line command help
RESET Performs a hardware reset (OEM only)
SAVEALMA Saves the latest almanac in NVM
SAVECONFIG Saves current configuration (OEM only)
$TM1A Injects receiver time of 1PPS
VERSION Software/hardware information
POSITION, PARAMETERS, AND SOLUTION FILTERING CONTROL
Commands Descriptions
CSMOOTH 1Sets amount of carrier smoothing
DATUM Choose a DATUM name type
ECUTOFF Satellite elevation cut-off for solutions
FIX HEIGHT Constrains to fixed height (2D mode)
FIX POSITION Constrains to fixed lat, lon, height
FRESET Clears all data which is stored in NVM
$IONA Download ionospheric correction data
IONOMODEL What ionospheric correction to use (MiLLennium with the
WAAS option)
LOCKOUT Deweights a satellite in solutions
$PVAA 1Position, velocity and acceleration in ECEF coordinates
RTKMODE Setup the RTK mode
UNDULATION Ellipsoid-geoid separation
USERDATUM User-customized datum
WAASCORRECTION Controls handling of WAAS corrections.
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SATELLITE TRACKING AND CHANNEL CONTROL
Commands Descriptions
$ALMA Download almanac data file
ASSIGN Satellite channel assignment
CONFIG Switches the channel configuration of the GPSCard
DYNAMICS Sets correlator tracking bandwidth
FIX VELOCITY Aids high velocity reacquisition
RESETHEALTH Reset PRN health
SETHEALTH Overrides broadcast satellite health
WAYPOINT NAVIGATION
Commands Descriptions
MAGVAR Magnetic variation correction
SETNAV Waypoint input
DIFFERENTIAL REFERENCE STATION
Commands Descriptions
DGPSTIMEOUT Sets ephemeris delay
FIX POSITION Constrain to fixed (reference)
LOG Selects required differential-output log
POSAVE Implements position averaging for reference station
RTCMRULE Selects RTCM bit rule
SETDGPSID Set reference station ID
DIFFERENTIAL REMOTE STATION
Commands Descriptions
ACCEPT Accepts RTCM1, RTCA or RTCAB differential inputs
$ALMA Input almanac data
DGPSTIMEOUT Set maximum age of differential data accepted
RESET Performs a hardware reset
$RTCA RTCA differential correction input (ASCII)
$RTCM RTCM differential correction input (ASCII)
RTCMRULE Selects RTCM bit rule
SETDGPSID Select differential reference station ID to receive
CLOCK INFORMATION, STATUS, AND TIME
Commands Descriptions
CLOCKADJUST Enable clock modelling & 1PPS adjust
DIFF_PROTOCOL 1Differential protocol control
EXTERNALCLOCK Sets default parameters of an optional external oscillator
EXTERNALCLOCK FREQUENCY Sets clock rate
SETTIMESYNC 1Enable or disable time synchronization
$UTCA Download UTC data
1 Intended for advanced users of GPS only
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Table 2-2 GPSCard Command Summary
Command Description Syntax
$ALMA Injects almanac (follows NovAtel ASCII log format)
$IONA Injects ionospheric refraction corrections (follows NovAtel ASCII log format)
$PVAA Injects latest computed position, velocity and acceleration (follows NovAtel ASCII log format)
$REPA Injects raw GPS ephemeris data (follows NovAtel ASCII log format)
$RTCA Injects RTCA format DGPS corrections in ASCII (Type 1) (follows NovAtel ASCII log format)
$RTCM Injects RTCM format differential corrections in ASCII (Type 1) (follows NovAtel ASCII log format)
$TM1A Injects receiver time of 1 PPS (follows NovAtel ASCII log format)
$UTCA Injects UTC information (follows NovAtel ASCII log format)
ACCEPT Port input control (set command interpreter) accept port,option
ANTENNAPOWER Power to the low-noise amplifier of an active antenna antennapower flag
ASSIGN Assign a prn to a channel # assign channel,prn,doppler, search window
UNASSIGN Un-assign a channel unassign channel
UNASSIGNALL Un-assign all channels unassignall
CLOCKADJUST Disable clock steering mechanism clockadjust switch
COMn Initialize Serial Port (1 or 2) comn bps,parity,databits,stopbits, handshake,echo
COMn_DTR Programmable DTR lead/tail time comn_dtr control,active,lead,tail
COMn_RTS Programmable RTS lead/tail time comn_rts control,active,lead,tail
CONFIG Switches the channel configuration of the GPSCard config cfgtype
CRESET Configuration reset to factory default creset
CSMOOTH Sets carrier smoothing csmooth value
DATUM Choose a DATUM name type datum option
USERDATUM User defined DATUM userdatum semi-major,flattening,dx,dy,dz, rx,ry,rz,
scale
DGPSTIMEOUT Sets maximum age of differential data to be accepted and ephemeris
delay dgpstimeout value value
DIFF_PROTOCOL Differential correction message encoding and decoding for
implementation in the GPS card firmware diff_protocol type key
or diff_protocol disable
or diff_protocol
DYNAMICS Set receiver dynamics dynamics option [user_dynamics]
ECUTOFF Set elevation cutoff angle ecutoff angle
EXTERNALCLOCK Sets default parameters of an optional external oscillator externalclock option
EXTERNALCLOCK
FREQUENCY Sets clock rate external frequency clock rate
FIX HEIGHT Sets height for 2D navigation fix height height [auto]
FIX POSITION Set antenna coordinates for reference station fix position lat,lon,height [station id] [health]
FIX VELOCITY Accepts INS xyz (ECEF) input to aid in high velocity reacquisition of
SVs fix velocity vx,vy,vz
UNFIX Remove all receiver FIX constraints unfix
FREQUENCY_OUT Variable frequency output (programmable) frequency_out n,k
FRESET Clears all data which is stored in non-volatile memory freset
HELP or ? On-line command help help option or ? option
LOCKOUT Lock out satellite lockout prn
UNLOCKOUT Restore satellite unlockout prn
UNLOCKOUTALL Restore all satellites unlockoutall
LOG Choose data logging type log [port],datatype,[trigger],[period],[offset],{hold}
UNLOG Disable a data log unlog [port],data type
UNLOGALL Disable all data logs unlogall [port]
MAGVAR Set magnetic variation correction magvar value
MESSAGES Disable error reporting from command interpreter messages port,option
POSAVE Implements position averaging for reference station posave maxtime, maxhorstd, maxverstd
RESET Performs a hardware reset (OEM only) reset
RINEX Configure the user defined fields in the file headers rinex cfgtype
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RTCM16T Enter an ASCII text message to be sent out in the RTCM data stream rtcm16t ascii message
RTCMRULE Set variations of the RTCM bit rule rtcmrule rule
RTKMODE Set up the RTK mode rrtkmode argument, data range
SAVEALMA Save the latest almanac in non-volatile memory savealma option
SAVECONFIG Save current configuration in non-volatile memory (OEM only) saveconfig
SEND Send an ASCII message to any of the communications ports send port ascii-message
SENDHEX Sends non-printable characters in hexadecimal pairs sendhex port data
SETDGPSID Enter in a reference station ID setdgpsid option
SETHEALTH Override PRN health sethealth prn,health
RESETHEALTH Reset PRN health resethealth prn
RESETHEALTHALL Reset all PRN health resethealthall
SETL1OFFSET Add an offset to the L1 pseudorange to compensate for signal delays setL1offset distance
SETNAV Set a destination waypoint setnav from lat,from lon,to lat, to lon,track offset, from
port,to port
SETTIMESYNC Enable or disable time synchronization settimesync flag
UNDULATION Choose undulation undulation separation
VERSION Current software and hardware information version
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Table 3-1 Logs By Function Table
COMMUNICATIONS, CONTROL AND STATUS
Logs Descriptions
CDSA/B COM port communications status
COM1A/B Log data from COM1
COM2A/B Log data from COM2
COMnA/B Pass-through data logs
RCSA/B Receiver self-test status
RTCM16T NovAtel ASCII format special message
RTCM16 RTCM format special message
GENERAL RECEIVER CONTROL AND STATUS
Logs Descriptions
PVAA/B Receiver’s latest computed position, velocity and acceleration in ECEF coordinates
RCCA Receiver configuration status
RCSA/B Version and self-test status
RVSA/B Receiver status
VERA/B Receiver hardware and software version numbers
POSITION, PARAMETERS, AND SOLUTION FILTERING CONTROL
Logs Descriptions
DOPA/B DOP of SVs currently tracking
GGAB GPS fix data
GPGGA NMEA, position data
GPGLL NMEA, position data
GPGRS NMEA, range residuals
GPGSA NMEA, DOP information
GPGST NMEA, measurement noise statistics
MKPA/B Position at time of mark
POSA/B Position data
PRTKA/B Computed position
PVAA/B Computed position, velocity and acceleration in ECEF coordinates
PXYA/B Position (Cartesian x,y,z coordinates)
RTKA/B Computed position
SPHA/B Speed and direction over ground
SATELLITE TRACKING AND CHANNEL CONTROL
Logs Descriptions
ALMA/B Current decoded almanac data
DOPA/B DOP of SVs currently tracking
ETSA/B Provides channel tracking status information for each of the GPSCard parallel channels
GPALM NMEA, almanac data
GPGSA NMEA, SV DOP information
GPGSV NMEA, satellite-in-view information
RALA/B Raw almanac
RASA/B Raw GPS almanac set
RGEA/B/D Satellite range measurements
SATA/B Satellite specific information
SBTA/B Satellite broadcast data (raw symbols)
SVDA/B SV position (ECEF xyz)
WRCA/B Wide band range correction data (grouped format)
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WAYPOINT NAVIGATION
Logs Descriptions
GPRMB NMEA, waypoint status
GPRMC NMEA, navigation information
GPVTG NMEA, track made good and speed
GPZTG NMEA, time to destination
MKPA/B Position at time of mark input
NAVA/B Navigation waypoint status
POSA/B Position data
SPHA/B Speed and course over ground
VLHA/B Velocity, latency & direction over ground
DIFFERENTIAL REFERENCE STATION
Logs Descriptions
ALMA/B Current almanac information
CDSA/B COM port data transmission status
CMR Pseudorange and carrier phase data
PAVA/B Parameters being used in the position averaging process
RGEA/B/D Channel range measurements
RPSA/B Reference station position and health
RTCAA/B Transmits RTCA differential corrections in NovAtel ASCII or Binary
RTCM1 Transmits RTCM SC104 standard corrections
RTCM3 Reference position
RTCM1819 Uncorrected carrier phase and pseudorange measurements
RTCM22 Extended reference station parameters
RTCM59 NovAtel format RT-20 observation data
RTCMA/B Transmits RTCM information in NovAtel ASCII/binary
SATA/B Satellite specific information
DIFFERENTIAL REMOTE STATION
Logs Descriptions
CDSA/B Communication and differential decode status
GPGGA NMEA, position fix data
GGAB NovAtel binary version of GPGGA
POSA/B Position information
PRTKA/B Computed Position – best available
RTKA/B Computed Position – Time Matched
RTKOA/B RTK Output
SATA/B Satellite specific information
SVDA/B SV position in ECEF XYZ with corrections
VLHA/B Velocity, latency & direction over ground
POST PROCESSING DATA
Logs Descriptions
BSLA/B Most recent matched baseline expressed in ECEF coords.
CLKA/B Receiver clock offset information
REPA/B Raw ephemeris information
RGEA/B/D Satellite and ranging information
SATA/B Satellite specific information
SVDA/B SV position in ECEF XYZ with corrections
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Table 3-2 GPSCard Log Summary
Note A/B/D:
A refers to GPSCard output logs in ASCII format.
B refers to GPSCard output logs in Binary format.
D refers to GPSCard output logs in compressed binary format.
CLOCK INFORMATION, STATUS, AND TIME
Logs Descriptions
CLKA/B Receiver clock offset information
CLMA/B 1Current clock-model matrices of the GPSCard
GPZDA NMEA, UTC time and date
GPZTG NMEA, UTC and time to waypoint
MKTA/B Time of mark input
TM1A/B Time of 1PPS
1 Intended for advanced users of GPS only.
NAVIGATION DATA
Logs Descriptions
FRMA/B Framed raw navigation data
RALA/B Raw almanac and health data
RASA/B Raw almanac set
RBTA/B Satellite broadcast data in raw bits
REPA/B Raw ephemeris data
Syntax: log port,datatype,[trigger],[period],[offset],{hold}
NovAtel Format Logs
Datatype Description Datatype Description
ALMA/B Decoded Almanac RASA/B Raw GPS Almanac Set
BSLA/B Baseline Measurement RCCA Receiver Configuration
CDSA/B Communication and Differential Decode Status REPA/B Raw Ephemeris
CLKA/B Receiver Clock Offset Data RGEA/B/D Channel Range Measurements
CLMA/B Receiver Clock Model RPSA/B Reference Station Position and Health
COM1A/B Log data from COM1 RTCAA/B RTCA format Differential Corrections with NovAtel headers
COM2A/B Log data from COM2 RTKA/B Computed Position - Time Matched
DOPA/B Dilution of Precision RTKOA/B RTK Solution Parameters
ETSA/B Extended Tracking Status RTCMA/B RTCM Type 1 Differential Corrections with NovAtel headers
GGAB Global Position System Fix Data - Binary Format RTCM16T Special Message
MKPA/B Mark Position RVSA/B Receiver Status
MKTA/B Time of Mark Input SATA/B Satellite Specific Data
NAVA/B Navigation Data SBTA/B Satellite Broadcast Data (Raw Symbols)
PAVA/B Positioning Averaging Status SPHA/B Speed and Direction Over Ground
POSA/B Computed Position SVDA/B SV Position in ECEF XYZ Coordinates with Corrections
PRTKA/B Computed Position TM1A/B Time of 1PPS
PVAA/B XYZ Position, Velocity and Acceleration VERA/B Receiver Hardware and Software Version Numbers
PXYA/B Computed Cartesian Coordinate Position VLHA/B Velocity, Latency, and Direction over Ground
RALA/B Raw Almanac WRCA/B Wide Band Range Correcion (Grouped)
NMEA Format Logs
GPALM Almanac Data GPGSV GPS Satellites in View
GPGGA Global Position System Fix Data GPRMB Generic Navigation Information
GPGLL Geographic Position - lat/lon GPRMC GPS Specific Information
GPGRS GPS Range Residuals for Each Satellite GPVTG Track Made Good and Ground Speed
GPGSA GPS DOP and Active Satellites GPZDA UTC Time and Date
GPGST Pseudorange Measurement Noise Statistics GPZTG UTC & Time to Destination Waypoint
RTCA Format
RTCA RTCA Differential Corrections: Type 1 and Type 7 RTCM Format
RTCM1 Type 1 Differential GPS Corrections
RTCM3 Type 3 Reference Station Parameters
RTCM9 Type 9 Partial Satellite Set Differential Corrections
RTCM16 Type 16 Special Message
RTCM1819 Type 18 and Type 19 Uncorrected Carrier Phase and Pseudorange Corrections
RTCM22 Type 22 Extended Reference Station Parameters
RTCM59 Type 59N-0 NovAtel Proprietary Message: RT20 Differential Observations
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Table 4-1 Positioning Modes
Table C-1 Antenna LNA Power Configuration
Table C-2 Default Values of Process Noise Elements
Table C-3 VARF Range (Software Version 4.42 or higher)
Reference station:
L1
RTCM Type 59N
Reference station:
L1
RTCA Type 7
Reference station:
L1 & L2
RTCM Type 59N
Reference station:
L1 & L2
RTCA Type 7
Remote station:
L1 RT-20 RT-20 RT-20 RT-20
Remote station:
L1 & L2 RT-20 RT-20 RT-20 RT-2
P301: plug connects
pins 1&2 P301: plug connects
pins 2&3 P301: no plug
ANTENNAPOWER = ON internal power connected to
LNA no external effect no external effect
ANTENNAPOWER = OFF internal power cut off from
LNA no external effect no external effect
Timing Standard h0h-1 h-2
VCTCXO 1.0 e-21 1.0 e-20 2.0 e-20
OCXO 2.51 e-26 2.51 e-23 2.51 e-22
rubidium 1.0 e-23 1.0 e-22 1.3 e-26
cesium 2.0 e-20 7.0 e-23 4.0 e-29
user (min / max) 1.0 e-31 ≤ h0 ≤ 1.0 e-18 1.0 e-31 ≤ h-1 ≤ 1.0 e-18 1.0 e-31 ≤ h-2 ≤ 1.0 e-18
n k p VARF (Hz)
1 1 1 0 (Minimum)
1024 65 536 65 536 0.004 652 065
165 536 65 536 0.004 656 612
14000 5000 1
2 4 8 312 500
1 2 2 5 000 000 (Maximum)
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Table D-1 GPSCard Solution Status
Table D-2 Position Type
Table D-3 RTK Status for Position Type 3 (RT-20)
Value Description
0 Solution computed
1 Insufficient observations
2 No convergence
3Singular ATPA Matrix
4 Covariance trace exceeds maximum (trace > 1000 m)
5 Test distance exceeded (maximum of 3 rejections if distance > 10 km)
6 Not yet converged from cold start
7 Height or velocity limit exceeded. (In accordance with COCOM export
licensing restrictions)
Higher numbers are reserved for future use
Type Definition
0No position
1Single point position
2Differential pseudorange position
3RT-20 position
4RT-2 position
5WAAS position solution
Higher numbers are reserved for future use
Status Definition
0Floating ambiguity solution (converged)
1Floating ambiguity solution (not yet converged)
2Modelling reference phase
3Insufficient observations
4Variance exceeds limit
5Residuals too big
6Delta position too big
7Negative variance
8RTK position not computed
Higher numbers are reserved for future use
J Listing Of Tables
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 253
Table D-4 RTK Status for Position Type 4 (RT-2)
Table D-5 Receiver Self-Test Status Codes
Status Definition
0Narrow lane solution
1Wide lane derived solution
2Floating ambiguity solution (converged)
3Floating ambiguity solution (not yet converged)
4Modelling reference phase
5Insufficient observations
6Variance exceeds limit
7Residuals too big
8Delta position too big
9Negative variance
10 RTK position not computed
Higher numbers are reserved for future use
N7 N 6 N 5 N 4 N 3 N 2 N 1 N 0 <-
<- Nibble
Number
27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9876543210Bit Description Range Values Hex Val ue
lsb
=
0
ANTENNA 1 = good, 0 = bad 00000001
1L1 PLL 1 = good, 0 = bad 00000002
2RAM 1 = good, 0 = bad 00000004
3ROM 1 = good, 0 = bad 00000008
4DSP 1 = good, 0 = bad 00000010
5L1 AGC 1 = good, 0 = bad 00000020
6COM 1 1 = good, 0 = bad 00000040
7COM 2 1 = good, 0 = bad 00000080
8WEEK 1 = not set, 0 = set 00000100
9NO
COARSETIME 1 = not set, 0 = set 00000200
10 NO FINETIME 1 = not set, 0 = set 00000400
11 L1 JAMMER 1 = present, 0 = normal 00000800
12 BUFFER COM 1 1 = overrun, 0 = normal 00001000
13 BUFFER COM 2 1 = overrun, 0 = normal 00002000
14 BUFFER
CONSOLE 1 = overrun, 0 = normal 00004000
15 CPU OVERLOAD 1 = overload, 0 = normal 00008000
16 ALMANAC
SAVED IN NVM 1 = yes, 0 = no 00010000
17 L2 AGC 1 = good, 0 = bad 00020000
18 L2 JAMMER 1 = present, 0 = normal 00040000
19 L2 PLL 1 = good, 0 = bad 00080000
20 OCXO PLL 1 = good, 0 = bad 00100000
21 SAVED ALMA.
NEEDS UPDATE 1 = yes, 0 = no 00200000
22 ALMANAC
INVALID 1 = invalid, 0 = valid 00400000
23 POSITION
SOLUTION
INVALID
1 = invalid, 0 = valid 00800000
24 POSITION FIXED 1 = yes, 0 = no 01000000
25 CLOCK MODEL
INVALID 1 = invalid, 0 = valid 02000000
26 CLOCK
STEERING
DISABLED
1 = disabled, 0 = enabled 04000000
27 RESERVED
28-
31 RESERVED
J Listing Of Tables
254 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
Notes on Table D-5:
1. Bit 3: On OEM GPSCards, “ROM” includes all forms of non-volatile memory.
2. Bits 12-15: Flag is reset to 0 five minutes after the last overrun/overload condition has occurred.
Table D-6 Range Record Format (RGED only)
Notes on Table D-6:
1A Only PRNs 1 - 63 are reported correctly (Note: while there are only 32 PRNs in the basic GPS scheme,
situations exist which require the use of additional PRNs)
1B The prn offsets for WAAS have been mapped to the same range as GPS, ie. 1 - 19, while the prn offsets
for GLONASS are 1 - 29.
2C/No is constrained to a value between 20 - 51 dB-Hz. Thus, if it is reported that C/No = 20 dB-Hz, the
actual value could be less. Likewise, if it is reported that C/No = 51 dB-Hz, the true value could be greater.
3Lock time rolls over after 2,097,151 seconds.
4ADR (Accumulated Doppler Range) is calculated as follows:
ADR_ROLLS = ( -RGED_PSR / WAVELENGTH - RGED_ADR) / MAX_VALUE
Round to the closest integer
IF (ADR_ROLLS ≤ -0.5)
ADR_ROLLS = ADR_ROLLS - 0.5
ELSE ADR_ROLLS = ADR_ROLLS + 0.5
At this point integerise ADR_ROLLS
CORRECTED_ADR = RGED_ADR + (MAX_VALUE * ADR_ROLLS)
where:
ADR has units of cycles
WAVELENGTH = 0.1902936727984 for L1
WAVELENGTH = 0.2442102134246 for L2
MAX_VALUE = 8388608
Data Bit(s) from first to last Length (bits) Format Scale Factor
PRN
1A, 1B 0..5 6integer 1
C/No 26..10 5integer (20+n) dB-Hz
Lock time 311.31 21 integer 1/32 s
ADR
4 32..63 32 integer 2’s comp. 1/256 cycles
Doppler frequency 68..95 28 integer 2’s comp. 1/256 Hz
Pseudorange 64..67 msn; 96..127 lsw 36 integer 2’s comp. 1/128 m
StdDev - ADR 128..131 4integer (n+1) / 512 cyc
StdDev - pseudorange 132..135 4see 5
Channel Tracking status 6136..159 24 integer see Table D-7, Page 201
J Listing Of Tables
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 255
5
6Only bits 0 - 23 are represented in the RGED log
Table D-7 Channel Tracking Status
Code RGED
00.000 to 0.050
10.051 to 0.075
20.076 to 0.113
30.114 to 0.169
40.170 to 0.253
50.254 to 0.380
60.381 to 0.570
70.571 to 0.854
80.855 to 1.281
91.282 to 2.375
10 2.376 to 4.750
11 4.751 to 9.500
12 9.501 to 19.000
13 19.001 to 38.000
14 38.001 to 76.000
15 76.001 to 152.000
N 7 N 6 N 5 N 4 N 3 N 2 N 1 N 0 <- <- Nibble Number
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9876543210 Bit Description Range Values Hex.
lsb = 0 1
1Tracking state 0 - 11 See below 2
2 4
3 8
410
50 - n (0 = first, n =
last) 20
6Channel number
(
n depends on GPSCard
)
40
780
8100
9Phase lock flag 1 = Lock, 0 = Not locked 200
10 Parity known flag 1 = Known, 0 = Not
known 400
11 Code locked flag 1 = Lock, 0 = Not locked 800
12 1000
13 Correlator spacing 0 - 7 See below 2000
14 4000
15 0=GPS 3= Pseudolite
GPS 8000
16 Satellite system 1=GLONASS 4-7
Reserved 10000
17 2=WAAS 20000
18 Reserved 40000
19 Grouping 1 = Grouped, 0 = Not
grouped 80000
20 Frequency 1 = L2, 0 = L1 100000
21 Code type 0 = C/A 2 = P-
codeless 200000
22 1 = P 3 = Reserved 400000
23 Forward error correction 1 = FEC enabled, 0 = no
FEC 800000
24
:Reserved
29
30 External range 1 = Ext. range, 0 = Int.
range
31 Channel assignment 1 = Forced, 0 =
Automatic
J Listing Of Tables
256 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
Table D-7 is referenced by the ETSA/B, and RGEA/B/D logs.
Table D-7, Bits 0 - 3: Channel Tracking State
Table D-7, Bits 12-14: Correlator Spacing
State Description State Description
0L1 Idle 6L1 Steering
1L1 Sky search 7L1 Frequency-lock loop
2L1 Wide frequency band pull-in 8L2 Idle
3L1 Narrow frequency band pull-in 9L2 P-code alignment
4L1 Phase-lock loop 10 L2 Search
5L1 Re-acquisition 11 L2 Phase-lock loop
Higher numbers are reserved for future use
State Description
0Unknown: this only appears in versions of software previous to x.45, which didn’t use this field
1Standard correlator: spacing = 1 chip
2Narrow Correlator tracking technology: spacing < 1 chip
Higher numbers are reserved for future use
J Listing Of Tables
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 257
Table D-8 Ambiguity Types
Table D-9 Searcher Status
Table D-10 RTK Status
Ambiguity Type Definition
0L1 only floating
1Wide lane fixed integer
2Reserved
3Narrow lane floating
4Iono–free floating
5Reserved
6Narrow lane fixed integer
7Iono–free fixed discrete
8L1 only fixed integer
9Reserved
10 Undefined type
Higher numbers are reserved for future use
Searcher Status Definition
0No search requested
1Searcher buffering measurements
2Currently searching
3Search decision made
4Hand-off to L1 and L2 complete
Higher numbers are reserved for future use
RTK Status Definition
1Good narrowlane solution
2Good widelane solution
4Good L1/L2 converged float solution
8Good L1/L2 unconverged float solution
16 Good L1 converged solution
32 Good L1 unconverged solution
64 Reserved for future use
128 Insufficient observations
256 Variance exceeds limit
512 Residuals exceed limit
1024 Delta position too large
2048 Negative variance
4096 Undefined
8192 RTK initialize
Higher numbers are reserved for future use
J Listing Of Tables
258 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
Table D-11 GPSCard Range Reject Codes
Table D-12 GPSCard Velocity Status
Table E-1 Comparison of RT-2 and RT-20
.
Value Description
0Observations are good
1Bad satellite health is indicated by ephemeris data
2Old ephemeris due to data not being updated during last 3 hours
3Eccentric anomaly error during computation of the satellite’s position
4True anomaly error during computation of the satellite’s position
5Satellite coordinate error during computation of the satellite’s position
6Elevation error due to the satellite being below the cutoff angle
7Misclosure too large due to excessive gap between estimated and actual positions
8No differential correction is available for this particular satellite
9Ephemeris data for this satellite has not yet been received
10 Invalid IODE due to mismatch between differential stations
11 Locked Out: satellite is excluded by user (LOCKOUT command)
12 Low Power: satellite rejected due to low signal/noise ratio
13 L2 measurements are not currently used in the filter
Higher numbers are reserved for future use
Value Description
0 Velocity computed from differentially corrected carrier phase data
1 Velocity computed from differentially corrected Doppler data
2Old velocity from differentially corrected phase or Doppler (higher latency)
3Velocity from single point computations
4Old velocity from single point computations (higher latency)
5Invalid velocity
Higher numbers are reserved for future use
RT-2 RT-20
GPS Frequencies Utilized L1 & L2 L1
Nominal Accuracy 2 cm (CEP) 20 cm (CEP)
Lane Searching Wide lane and narrow lane None
Table E-2 RTK Messages Vs. Accuracy
Transmitting (Reference) Receiving (Remote) Accuracy Expected
Standard GPSCard transmitting RTCA MiLLennium RT-2 receiver 2 centimetre CEP
GPSCard RT-20 receiver 20 centimetre CEP
Standard GPSCard transmitting RTCM type 3 and 59 MiLLennium RT-2 receiver 20 centimetre CEP
GPSCard RT-20 receiver 20 centimetre CEP
RT-20 GPSCard transmitting RTCM type 3 and 59 MiLLennium RT-2 receiver 20 centimetre CEP
GPSCard RT-20 receiver 20 centimetre CEP
RT-20 Standard GPSCard transmitting RTCM or MiLLennium RT-2 receiver 1 metre SEP
GPSCard RT-20 receiver 1 metre SEP
Standard GPSCard transmitting RTCM type 18 and MiLLennium RT-2 receiver 20 centimetre CEP
RT-20 receiver n/a
1 The RTCM1819 message can only be transmitted and received by MiLLennium GPSCards
J Listing Of Tables
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 259
Table E-3 RT-2 Performance: Static Mode
Table E-4 RT-2 Performance: Kinematic Mode
Table E-5 RT-2 Degradation With Respect To Data Delay
1
Table E-6 RT-20 Performance
Baseline
length
Time since L2 lock-on
with at least 6 satellites
above mask angle
Horizontal accuracy at
the stated time
Runs meeting the stat-
ed accuracy at the
stated time
< 10 km 70 seconds + 1.5 sec/km 2 cm + 0.5 ppm 75.0%
< 10 km 5 minutes 1 cm + 1 ppm 75.0%
< 15 km 4 minutes 5 cm 66.7%
< 25 km 7 minutes 7 cm 66.7%
< 35 km 10 minutes 35 cm 66.7%
< 35 km 30 minutes 25 cm 66.7%
Baseline
length
Time since L2 lock-on
with at least 6 satellites
above mask angle
Horizontal accuracy at
the stated time
Runs meeting the
stated accuracy at
the stated time
< 10 km 120 seconds + 1.5 sec/km 2 cm + 0.5 ppm 75.0%
< 15 km 8 minutes 8 cm 66.7%
< 25 km 14 minutes 10 cm 66.7%
< 35 km 20 minutes 40 cm 66.7%
< 35 km 60 minutes 25 cm 66.7%
Data Delay (sec) Distance (km) Accuracy (CEP)
0 - 2 1+1 cm/sec
2 - 7 1+2 cm/sec
7 - 30 1+5 cm/sec
> 30 1 pseudorange or single point 3
Tracking Time (sec) Mode 1Data Delay (sec) Distance (km) Accuracy (CEP)
1 - 180 Static 0 1 100 to 25 cm
180 - 3000 Static 0 1 25 to 5 cm
> 3000 Static 0 1 5 cm or less 2
1 - 600 Kinematic 0 1 100 to 25 cm
600 - 3000 Kinematic 0 1 25 to 5 cm
> 3000 Kinematic 0 1 5 cm or less 2
Either 0 - 2 1+1 cm/sec
Either 2 - 7 1+2 cm/sec
Either 7 - 30 1+5 cm/sec
Either > 30 1pseudorange or single point 3
1 Mode = Static or Kinematic
2 The accuracy specifications refer to the PRTKA/B logs which include about 3 cm extrapolation error. RTKA/B logs are more accurate
but have increased latency associated with them.
3After 30 seconds reverts to pseudorange positioning (single point or differential depending on messages previously
received from the base station).
K GPS Glossary of Terms
260 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
KGPS Glossary of Terms
ASCII — A 7 bit wide serial code describing numbers, upper and lower case characters, special and non-printing
characters.
Address field — for sentences in the NMEA standard, the fixed length field following the beginning sentence
delimiter "$" (HEX 24). For NMEA approved sentences, composed of a two character talker
identifier and a three character sentence formatter. For proprietary sentences, composed of the
character "P" (HEX 50) followed by a three character manufacturer identification code.
Almanac — a set of orbit parameters that allows calculation of approximate GPS satellite positions and
velocities. The almanac is used by a GPS receiver to determine satellite visibility and as an aid
during acquisition of GPS satellite signals.
Almanac data — a set of data which is downloaded from each satellite over the course of 12.5 minutes. It
contains orbital parameter approximations for all satellites, GPS to universal time conversion
parameters, and single-frequency ionospheric model parameters.
Arrival alarm — an alarm signal issued by a voyage tracking unit which indicates arrival at or at a pre-
determined distance from a waypoint [see arrival circle].
Arrival circle — an artificial boundary placed around the destination waypoint of the present navigation leg,
and entering of which will signal an arrival alarm.
Arrival perpendicular — crossing of the line which is perpendicular to the course line and which passes
through the destination waypoint.
Attenuation — reduction of signal strength
Attitude — the position of an aircraft or spacecraft in relation to a given line or plane, as the horizon.
Azimuth — the horizontal direction of a celestial point from a terrestrial point, expressed as the angular
distance from 000° (reference) clockwise through 360°. The reference point is generally True North,
but may be Magnetic North, or Relative (ship's head).
Bearing — the horizontal direction of one terrestrial point from anther terrestrial point, expressed as the
angular distance from a reference direction, usually measured from 000° at the reference direction
clockwise through 360°. The reference point may be True North, Magnetic North, or Relative (ship's
head).
Carrier — the steady transmitted RF signal whose amplitude, frequency, or phase may be modulated to carry
information.
Carrier Phase Ambiguity (or sometimes ambiguity for short) — the number of integer carrier phase cycles
between the user and the satellite at the start of tracking.
Carrier phase measurements — these are “accumulated delta range” measurements. They contain the
instantaneous phase of the signal (modulo 1 cycle) plus some arbitrary number of integer cycles.
Once the receiver is tracking the satellite, the integer number of cycles correctly accumulates the
change in range seen by the receiver. When a “lock break” occurs, this accumulated value can jump
an arbitrary integer number of cycles (this is called a cycle slip).
Checksum — by NMEA standard, a validity check performed on the data contained in the sentences,
calculated by the talker, appended to the message, then recalculated by the listener for comparison
to determine if the message was received correctly. Required for some sentences, optional for all
others.
Circular Error Probable (CEP) — the radius of a circle, centred at the user’s true location, that contains 50
percent of the individual position measurements made using a particular navigation system.
KGPS GLOSSARY OF TERMS
K GPS Glossary of Terms
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 261
Coarse Acquisition (C/A) Code — a spread spectrum direct sequence code that is used primarily by
commercial GPS receivers to determine the range to the transmitting GPS satellite. Uses a chip rate
of 1.023 MHz.
Communication protocol — a method established for message transfer between a talker and a listener which
includes the message format and the sequence in which the messages are to be transferred. Also
includes the signalling requirements such as bit rate, stop bits, parity, and bits per character.
Control segment — the Master Control Station and the globally dispersed reference Stations used to manage
the GPS satellites, determine their precise orbital parameters, and synchronize their clocks.
Course — the horizontal direction in which a vessel is to be steered or is being steered; the direction of travel
through the air or water. Expressed as angular distance from reference North (either true, magnetic,
compass, or grid), usually 000° (north), clockwise through 360°. Strictly, the term applies to
direction through the air or water, not the direction intended to be made good over the ground (see
track). Differs from heading.
Course Made Good (CMG) — the single resultant direction from a given point of departure to a subsequent
position; the direction of the net movement from one point to the other. This often varies from the
track caused by inaccuracies in steering, currents, cross-winds, etc. This term is often considered to
be synonymous with Track Made Good, however, track made good is the more correct term.
Course Over Ground (COG) — the actual path of a vessel with respect to the Earth (a misnomer in that
courses are directions steered or intended to be steered through the water with respect to a reference
meridian); this will not be a straight line if the vessel's heading yaws back and forth across the course.
Cross Track Error (XTE) — the distance from the vessel’s present position to the closest point on a great
circle line connecting the current waypoint coordinates. If a track offset has been specified in the
GPSCard SETNAV command, the cross track error will be relative to the offset track great circle
line.
Cycle Slip — when the carrier phase measurement jumps by an arbitrary number of integer cycles. It is
generally caused by a break in the signal tracking due to shading or some similar occurrence.
Dead Reckoning (DR) — the process of determining a vessel’s approximate position by applying from its last
known position a vector or a series of consecutive vectors representing the run that has since been
made, using only the courses being steered, and the distance run as determined by log, engine rpm,
or calculations from speed measurements.
Destination — the immediate geographic point of interest to which a vessel is navigating. It may be the next
waypoint along a route of waypoints or the final destination of a voyage.
Differential GPS (DGPS) — a technique to improve GPS accuracy that uses pseudorange errors at a known
location to improve the measurements made by other GPS receivers within the same general
geographic area.
Dilution of Precision (DOP) — a numerical value expressing the confidence factor of the position solution
based on current satellite geometry. The lower the value, the greater the confidence in the solution.
DOP can be expressed in the following forms.
GDOP - estimated uncertainty for all parameters (latitude, longitude, height, clock offset)
PDOP - estimated uncertainty for all 3D parameters (latitude, longitude, height)
HTDOP - estimated uncertainty for all time and 2D parameters (latitude, longitude, time)
HDOP - estimated uncertainty for all 2D parameters (latitude, longitude)
VDOP - height is uncertain
TDOP - clock offset is uncertain
Doppler — the change in frequency of sound, light or other wave caused by movement of its source relative
to the observer.
K GPS Glossary of Terms
262 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
Doppler aiding — a signal processing strategy, which uses a measured Doppler shift to help a receiver
smoothly track the GPS signal, to allow more precise velocity and position measurement.
Double-Difference — a position estimation mechanization which uses observations which are differenced
between receiver channels and between the reference and remote receivers.
Double-Difference Carrier Phase Ambiguity (or sometimes double difference ambiguity or ambiguity, for
short) — carrier phase ambiguities which are differenced between receiver channels and between the
reference and remote receivers. They are estimated when a double difference mechanism is used for
carrier phase positioning.
Earth-Centred-Earth-Fixed (ECEF) — a right-hand Cartesian coordinate system with its origin located at
the centre of the Earth. The coordinate system used by GPS to describe three-dimensional location.
ECEF — Earth-Centred-Earth-Fixed. This is a coordinate-ordinate system which has the X-coordinate in the
earth's equatorial plane pointing to the Greenwich prime meridian, the Z-axis pointing to the north
pole, and the Y-axis in the equatorial plane 90° from the X-axis with an orientation which forms a
right-handed XYZ system.
Ellipsoid — a smooth mathematical surface which represents the earth’s shape and very closely approximates
the geoid. It is used as a reference surface for geodetic surveys, see the PRTKA/B log in Appendix D,
Page 179.
Ellipsoidal Height — height above a defined ellipsoid approximating the surface of the earth.
Ephemeris — a set of satellite orbit parameters that is used by a GPS receiver to calculate precise GPS satellite
positions and velocities. The ephemeris is used in the determination of the navigation solution and
is updated periodically by the satellite to maintain the accuracy of GPS receivers.
Ephemeris Data — the data downlinked by a GPS satellite describing its own orbital position with time.
Epoch — same as measurement time epoch. The local time at which a GPSCard takes a measurement.
Field — a character or string of characters immediately preceded by a field delimiter.
Fixed Ambiguity Estimates — carrier phase ambiguity estimates which are set to a given number and held
constant. Usually they are set to integers or values derived from linear combinations of integers.
Fixed Discrete Ambiguity Estimates — carrier phase ambiguities which are set to values which are members
of a predetermined set of discrete possibilities, and then held constant.
Fixed field — a field in which the number of characters is fixed. For data fields, such fields are shown in the
sentence definitions with no decimal point. Other fields which fall into this category are the address
field and the checksum field (if present).
Fixed Integer Ambiguity Estimates — carrier phase ambiguities which are set to integer values and then held
constant.
Flash ROM — Programmable read-only memory.
Floating Ambiguity Estimates — ambiguity estimates which are not held to a constant value, but are allowed
to gradually converge to the correct solution.
GDOP — Geometric Dilution of Precision - A numerical value expressing the confidence factor of the position
solution based on current satellite geometry. Assumes that 3D position (latitude, longitude, height)
and receiver clock offset (time) are variables in the solution. The lower the GDOP value, the greater
the confidence in the solution.
Geoid — the shape of the earth if it were considered as a sea level surface extended continuously through the
continents. The geoid is an equipotential surface coincident with mean sea level to which at every
point the plumb line (direction in which gravity acts) is perpendicular. The geoid, affected by local
gravity disturbances, has an irregular shape. See the PRTKA/B log in Appendix D, Page 179.
Geodetic datum — the reference ellipsoid surface that defines the coordinate system.
K GPS Glossary of Terms
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 263
Geostationary — a satellite orbit along the equator that results in a constant fixed position over a particular
reference point on the earth’s surface. (GPS satellites are not geostationary.)
Global Positioning System (GPS) — full name NAVSTAR Global Positioning System, a space-based radio
positioning system which provides suitably equipped users with accurate position, velocity and time
data. When fully operational, GPS will provide this data free of direct user charge worldwide,
continuously, and under all weather conditions. The GPS constellation will consist of 24 orbiting
satellites, four equally spaced around each of six different orbiter planes. The system is being
developed by the Department of Defence under U.S. Air Force management.
Great circle — the shortest distance between any two points along the surface of a sphere or ellipsoid, and
therefore the shortest navigation distance between any two points on the Earth. Also called Geodesic
Line.
HDOP — Horizontal Dilution of Precision - A numerical value expressing the confidence factor of the
horizontal position solution based on current satellite geometry. Makes no constraint assumptions
about time, and about height only if the FIX HEIGHT command has been invoked. The lower the
HDOP value, the greater the confidence in the solution.
HTDOP — Horizontal position and Time Dilution of Precision - A numerical value expressing the confidence
factor of the position solution based on current satellite geometry. Assumes height is known if the
FIX HEIGHT command has been invoked. If not, it will give the normalized precision of the
horizontal and time parameters given that nothing has been constrained. The lower the HTDOP
value, the greater the confidence factor.
Heading — the direction in which a vessel points or heads at any instant, expressed in degrees 000° clockwise
through 360° and may be referenced to True North, Magnetic North, or Grid North. The heading of
a vessel is also called the ship's head. Heading is a constantly changing value as the vessel oscillates
or yaws across the course due to the effects of the air or sea, cross currents, and steering errors.
Integer Ambiguity Estimates — carrier phase ambiguity estimates which are only allowed to take on integer
values.
Iono-free Carrier Phase Observation — a linear combination of L1 and L2 carrier phase measurements
which provides an estimate of the carrier phase observation on one frequency with the effects of the
ionosphere removed. It provides a different ambiguity value (non-integer) than a simple
measurement on that frequency.
Kinematic — the user’s GPS antenna is moving. In GPS, this term is typically used with precise carrier phase
positioning, and the term dynamic is used with pseudorange positioning.
L1 frequency — the 1575.42 MHz GPS carrier frequency which contains the course acquisition (C/A) code,
as well as encrypted P-code, and navigation messages used by commercial GPS receivers.
L2 frequency — a secondary GPS carrier, containing only encrypted P-code, used primarily to calculate signal
delays caused by the ionosphere. The L2 frequency is 1227.60 MHz.
Lane — a particular discrete ambiguity value on one carrier phase range measurement or double difference
carrier phase observation. The type of measurement is not specified (L1, L2, L1-L2, iono-free)
Local Observation Set — an observation set, as described below, taken by the receiver on which the software
is operating as opposed to an observation taken at another receiver (the reference station) and
transmitted through a radio link.
Local Tangent Plane — a coordinate system based on a plane tangent to the ellipsoid’s surface at the user’s
location. The three coordinates are east, north and up. Latitude, longitude and height positions
operate in this coordinate system.
Low-latency Solution — a position solution which is based on a prediction. A model (based on previous
reference station observations) is used to estimate what the observations will be at a given time
epoch. These estimated reference station observations are combined with actual measurements
taken at the remote station to provide a position solution.
Magnetic bearing — bearing relative to magnetic north; compass bearing corrected for deviation.
K GPS Glossary of Terms
264 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
Magnetic heading — heading relative to magnetic north.
Magnetic variation — the angle between the magnetic and geographic meridians at any place, expressed in
degrees and minutes east or west to indicate the direction of magnetic north from true north.
Mask angle — the minimum GPS satellite elevation angle permitted by a particular receiver design. Satellites
below this angle will not be used in position solution.
Matched Observation Set Pair — it contains observations from both the reference station and the local
receiver which have been matched by time epoch, contain the same satellites, and are corrected for
any known offsets.
Measurement error variance — the square of the standard deviation of a measurement quantity. The standard
deviation is representative of the error typically expected in a measured value of that quantity.
Measurement Time Epoch — the local time at which a GPSCard takes a measurement.
Multipath errors — GPS positioning errors caused by the interaction of the GPS satellite signal and its
reflections.
Nanosecond — 1 × 10-9 second
Nautical mile — any of various units of distance for sea and air navigation; in the U.S. since 1959, an
international unit of linear measure equal to 1 minute of arc of a great circle of the Earth, 1,852
metres (6,076 feet).
Non-Volatile Memory — a type of memory device that retains data in the absence of a power supply.
Null field — by NMEA standard, indicates that data is not available for the field. Indicated by two ASCII
commas, i.e., ",," (HEX 2C2C), or, for the last data field in a sentence, one comma followed by either
the checksum delimiter "*" (HEX 2A) or the sentence delimiters <CR><LF> (HEX 0D0A). [Note:
the ASCII Null character (HEX 00) is not to be used for null fields.]
Obscuration — term used to describe periods of time when a GPS receiver’s line-of-sight to GPS satellites is
blocked by natural or man-made objects.
Observation — an input to an estimation algorithm. The two observations used in NovAtel’s RTK algorithms
are the pseudorange measurement and the carrier phase measurement.
Observation Set — a set of GPSCard measurements taken at a given time which includes one time for all
measurements, and the following for each satellite tracked: PRN number, pseudorange or carrier
phase or both, lock time count, signal strength, and tracking status. Either L1 only or L1 and L2
measurements are included in the set. The observation set is assumed to contain information
indicating how many satellites it contains and which ones have L1-only and which ones have L1/L2
pairs.
Origin waypoint — the starting point of the present navigation leg, expressed in latitude and longitude.
Parallel receiver — a receiver that monitors four or more satellites simultaneously with independent channels.
P-Code (precise or protected) — a spread spectrum direct sequence code that is used primarily by military
GPS receivers to determine the range to the transmitting GPS satellite. Uses a chipping rate of 10.23
MHz.
PDOP — Position Dilution of Precision. This is related to GDOP. It describes the effects of geometry on 3
dimensional positioning accuracy. It is defined to be the square root of the sum of the three diagonals
of a normalized (assume measurement noise = 1) covariance matrix which correspond to position
error.
Pitch — the rising and falling of the bow and stern of a ship in a rough sea or the movement up or down of the
nose and tail of an airplane.
K GPS Glossary of Terms
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 265
Precise Positioning Service (PPS) — the GPS positioning, velocity, and time service which will be available
on a continuous, worldwide basis to users authorized by the U.S. Department of Defence (typically
using P-Code).
PRN number — a number assigned by the GPS system designers to a given set of pseudorandom codes.
Typically, a particular satellite will keep its PRN (and hence its code assignment) indefinitely, or at
least for a long period of time. It is commonly used as a way to label a particular satellite.
Pseudolite — an Earth-based transmitter designed to mimic a satellite. May be used to transmit differential
corrections.
Pseudorange — the calculated range from the GPS receiver to the satellite determined by taking the difference
between the measured satellite transmit time and the receiver time of measurement, and multiplying
by the speed of light. This measurement generally contains a large receiver clock offset error.
Pseudorange Measurements — measurements made using one of the pseudorandom codes on the GPS
signals. They provide an unambiguous measure of the range to the satellite including the effect of
the satellite and user clock biases.
Receiver channels — a GPS receiver specification which indicates the number of independent hardware
signal processing channels included in the receiver design.
Reference Satellite — in a double difference implementation, measurements are differenced between different
satellites on one receiver in order to cancel the clock bias effect. Usually one satellite is chosen as
the “reference”, and all others are differenced with it.
Reference Station — the GPS receiver which is acting as the stationary reference. It has a known position and
transmits messages for the "remote" receiver to use to calculate its position.
Relative bearing — bearing relative to heading or to the vessel.
Remote Receiver — the GPS receiver which does not know its position and needs to receive measurements
from a reference station to calculate differential GPS positions. (The terms remote and rover are
interchangeable.)
Residual — in the context of measurement, the residual is the misclosure between the calculated
measurements, using the position solution and actual measurements.
RMS — root-mean-square, a probability level of 66%.
Roll — to move by turning on an axis or to rotate about its axis lengthwise, as an aircraft in flight.
Route — a planned course of travel, usually composed of more than one navigation leg.
Rover Receiver — the GPS receiver which does not know its position and needs to receive measurements from
a reference station to calculate differential GPS positions. (The terms rover and remote are
interchangeable.)
RT-20 — NovAtel’s Double Differencing Technology for real-time kinematic (RTK) carrier phase floating
ambiguity resolution.
RTCA — Radio Technical Commission for Aeronautics, an organization which developed and defined a
message format for differential positioning. See Appendix F, Page 233 for further information.
RTCM — Radio Technical Commission for Maritime Services, an organization which developed and defined
the SC-104 message format for differential positioning. See Appendix F for further information.
RTK — real-time kinematic, a type of differential positioning based on observations of carrier phase. In this
document it is also used with reference to RT-2 and RT-20.
Satellite elevation — the angle of the satellite above the horizon.
Selected waypoint — the waypoint currently selected to be the point toward which the vessel is travelling.
Also called "to" waypoint, destination or destination waypoint.
K GPS Glossary of Terms
266 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
Selective Availability (SA) — the method used by the United States Department of Defence to control access
to the full accuracy achievable by civilian GPS equipment (generally by introducing timing and
ephemeris errors).
Sequential receiver — a GPS receiver in which the number of satellite signals to be tracked exceeds the
number of available hardware channels. Sequential receivers periodically reassign hardware
channels to particular satellite signals in a predetermined sequence.
Spherical Error Probable (SEP) — the radius of a sphere, centred at the user’s true location, that contains
50 percent of the individual three-dimensional position measurements made using a particular
navigation system.
Spheroid — sometimes known as ellipsoid; a perfect mathematical figure which very closely approximates
the geoid. Used as a surface of reference for geodetic surveys. The geoid, affected by local gravity
disturbances, is irregular.
Standard Positioning Service (SPS) — a positioning service made available by the United States Department
of Defence which will be available to all GPS civilian users on a continuous, worldwide basis
(typically using C/A Code).
SV — Space Vehicle ID, sometimes used as SVID; also used interchangeably with Pseudo-Random Noise
Number (PRN).
Static — the user’s GPS antenna does not move.
TDOP — Time Dilution of Precision - A numerical value expressing the confidence factor of the position
solution based on current satellite geometry. The lower the TDOP value, the greater the confidence
factor.
Three-dimensional coverage (hours) — the number of hours-per-day when four or more satellites are
available with acceptable positioning geometry. Four visible satellites are required to determine
location and altitude.
Three-dimensional (3D) navigation — navigation mode in which altitude and horizontal position are
determined from satellite range measurements.
Time-To-First-Fix (TTFF) — the actual time required by a GPS receiver to achieve a position solution. This
specification will vary with the operating state of the receiver, the length of time since the last
position fix, the location of the last fix, and the specific receiver design.
Track — a planned or intended horizontal path of travel with respect to the Earth rather than the air or water.
The track is expressed in degrees from 000° clockwise through 360° (true, magnetic, or grid).
Track made good — the single resultant direction from a point of departure to a point of arrival or subsequent
position at any given time; may be considered synonymous with Course Made Good.
True bearing — bearing relative to true north; compass bearing corrected for compass error.
True heading — heading relative to true north.
Two-dimensional coverage (hours) — the number of hours-per-day with three or more satellites visible.
Three visible satellites can be used to determine location if the GPS receiver is designed to accept an
external altitude input.
Two-dimensional (2D) navigation — navigation mode in which a fixed value of altitude is used for one or
more position calculations while horizontal (2D) position can vary freely based on satellite range
measurements.
Undulation — the distance of the geoid above (positive) or below (negative) the mathematical reference
ellipsoid (spheroid). Also known as geoidal separation, geoidal undulation, geoidal height.
K GPS Glossary of Terms
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 267
Universal Time Coordinated (UTC) — this time system uses the second-defined true angular rotation of the
Earth measured as if the Earth rotated about its Conventional Terrestrial Pole. However, UTC is
adjusted only in increments of one second. The time zone of UTC is that of Greenwich Mean Time
(GMT).
Update rate — the GPS receiver specification which indicates the solution rate provided by the receiver when
operating normally.
VDOP — Vertical Dilution of Precision. This is related to GDOP. It describes the effects of geometry on
vertical positioning accuracy. It is defined to be the square root of the diagonal of a normalized
(assume measurement noise = 1) covariance matrix which corresponds to vertical position error.
Variable field — by NMEA standards, a data field which may or may not contain a decimal point and which
may vary in precision following the decimal point depending on the requirements and the accuracy
of the measuring device.
WGS84 — World Geodetic System 1984 is an ellipsoid designed to fit the shape of the entire Earth as well as
possible with a single ellipsoid. It is often used as a reference on a worldwide basis, while other
ellipsoids are used locally to provide a better fit to the Earth in a local region. GPS uses the centre
of the WGS84 ellipsoid as the centre of the GPS ECEF reference frame.
Waypoint — a reference point on a track.
Wide Lane — a particular integer ambiguity value on one carrier phase range measurement or double
difference carrier phase observation when the difference of the L1 and L2 measurements is used. It
is a carrier phase observable formed by subtracting L2 from L1 carrier phase data: Φ' = Φ1 - Φ2. The
corresponding wavelength is 86.2 cm
L GPS Glossary of Acronyms
268 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
L GPS GLOSSARY OF ACRONYMS
1PPS One Pulse Per Second
2D Two Dimensional
2DRMS Twice distance RMS
3D Three Dimensional
A/D Analog-to-Digital
ADR Accumulated Doppler Range
AGC Automatic Gain Control
ASCII American Standard Code for Information Interchange
BIH Bureau l’International de l’Heure
BIST Built-In-Self-Test
bps Bits per Second
C/A Code Coarse/Acquisition Code
CEP Circular Error Probable
C/No Carrier to Noise Density Ratio
CPU Central Processing Unit
CR Carriage Return
CRC Cyclic Redundancy Check
CTP Conventional Terrestrial Pole
CTS Conventional Terrestrial System
CTS Clear To Send
dB Decibel
DCE Data Communications Equipment
DGNSS Differential Global Navigation Satellite System
DGPS Differential Global Positioning System
DOP Dilution Of Precision
DSP Digital Signal Processor
DSR Data Set Ready
DTR Data Terminal Ready
ECEF Earth-Centred-Earth-Fixed
EGNOS European Geostationary Navigation Overlay Service
EMC Electromagnetic Compatibility
EMI Electromagnetic Immunity
ESD Electrostatic Discharge
FEC Forward Error Correction
FIA US Federal Aviation Administration
FIFO First In First Out
GDOP Geometric Dilution Of Precision
GMT Greenwich Mean Time
GND Ground
GPS Global Positioning System
HDOP Horizontal Dilution Of Precision
hex Hexadecimal
HTDOP Horizontal position and Time Dilution Of Precision
Hz Hertz
IC Integrated Circuit
IF Intermediate Frequency
IGRF International Geomagnetic Reference Field
I/O Input/Output
IODE Issue of Data (Ephemeris)
IRQ Interrupt Request
LF Line Feed
LGPS GLOSSARY OF ACRONYMS
L GPS Glossary of Acronyms
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 269
LHCP Left Hand Circular Polarization
LNA Low Noise Amplifier
LO Local Oscillator
lsb Least significant bit
MET Multipath Elimination Technology
MEDLL Multipath Estimation Delay Lock Loop
MKI Mark In
MKO Mark Out
MSAS Multi-Functional Transport Satellite (MTSAT) based Augmentation System
msb Most significant bit
msec millisecond
MSL Mean sea level
N. mi. Nautical mile
NAVSTAR NAVigation Satellite Timing And Ranging (synonymous with GPS)
NCO Numerically Controlled Oscillator
NMEA National Marine Electronics Association
ns nanosecond
OCXO Oven Controlled Crystal Oscillator
OEM Original Equipment Manufacturer
PC Personal Computer
P Code Precise Code
PDOP Position Dilution Of Precision
PLL Phase Lock Loop
PPS Precise Positioning Service or Pulse Per Second
PRN PseudoRandom Noise number
RAM Random Access Memory
RF Radio Frequency
RHCP Right Hand Circular Polarization
ROM Read Only Memory
RTCA Radio Technical Commission for Aviation Services
RTCM Radio Technical Commission for Maritime Services
RTK Real Time Kinematic
RTS Request To Send
RXD Received Data
SA Selective Availability
SCAT-I Special Category I
SEP Spherical Error Probable
SNR Signal-to-Noise Ratio
SPS Standard Positioning Service
SV Space Vehicle
SVN Space Vehicle Number
TCXO Temperature Compensated Crystal Oscillator
TDOP Time Dilution Of Precision
TTFF Time-To-First-Fix
TTL Transistor Transistor Logic
TXD Transmitted Data
UART Universal Asynchronous Receiver Transmitter
UDRE User Differential Range Error
UTC Universal Time Coordinated
VARF Variable Frequency
VCTCXO Voltage Controlled Temperature Compensated Crystal Oscillator
VDOP Vertical Dilution of Precision
WAAS Wide Area Augmentation System
WGS World Geodetic System
wpt Waypoint
XTE Crosstrack Error
M Index
270 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
M INDEX
Numerics
1PPS 33, 83, 128, 220
2D 97, 263, 268
2D mode 26, 97, 163, 246
2DRMS 270
3D 263–264, 268, 270
3D mode 163
A
acceptance 79
accumulated Doppler 55, 194, 200, 256
acquisition 82, 262–263, 265
age of differential corrections 183, 222
alarm 262
almanac 136, 187, 193, 198, 241
data 30, 31, 63, 136, 159, 187, 262
tables 31
ambiguity 71, 72, 74, 117–118, 143, 193, 227, 230, 233, 254–255, 262–265, 267
angle 214, 215
antenna 160, 197, 214
altitude 158, 160
baseline length 214
cable 197
design 74–75, 78
LNA power 81, 253
motion 58, 82
position 117, 171, 198
site 68, 74
ascii 31, 32–35, 42, 43–44, 47, 50–51, 53, 56, 79, 105, 113, 121, 136, 158, 266
attitude 262
authorization code 241
azimuth 165, 212, 262
B
bearing 75, 106, 173, 262, 265–268
binary 32–36, 42, 44, 45, 47, 50–52, 54, 79, 105, 152, 158, 160, 186, 192, 197
log header 35
broadcast 53–55, 56, 59, 63, 67–68, 71, 112, 159, 186, 202, 218
health 124
buffer overload 35
C
C/A code 63, 67, 74, 75, 77, 268
C/No 155, 165, 194, 199, 256, 270
carrier phase 52, 55, 66, 74, 98, 193–194, 197, 222, 262–267, 269
carrier smoothing 88, 241
channel 194, 210, 226
MINDEX
M Index
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 271
number 242
state 82, 194, 226
tracking 82, 155, 201, 258
channels 32, 129, 155, 191, 210, 264, 266–268
channels (number of) 191
chatter 31, 44
checksum 24, 33, 35, 47, 50, 51, 56, 191, 214, 215, 241, 262, 264, 266
clock 33, 37, 42, 53, 56, 59, 63, 65, 67–72, 83, 94–98, 128, 147, 193, 197, 218, 220, 241, 263–264, 267
drift 53, 83, 147
rate 83
frequency error 82
model status 147, 220
offset 37, 68, 147, 153, 172, 220, 267
CMR 17, 18, 45, 55, 79, 80, 144, 145
combuffers 198
port 31, 33, 46, 47, 51, 79, 84, 105, 121
command
defaults 23
interpreter 43, 79, 241
communications port 47, 49, 51, 52, 121
configuration 14, 33, 35, 49, 53, 70, 81, 86, 87, 101, 110, 125, 186, 190, 253
constellation 62, 153, 233, 265
control segment 62–63, 68, 124, 263
conversion 64, 194, 238, 262
Course Over Ground 263
CPU 35, 191, 198
overload 35, 198
power 198
cross track 166, 173, 263
D
data injection 31
datum 23, 26, 27, 89, 98, 126, 130, 173, 176, 178, 181, 183, 236, 242, 243, 246, 248
ID 171, 178
delay lock loop 77
de-weighting 104
differential
corrections 14, 30, 33, 34, 47, 50–51, 53, 69, 70, 71, 79, 90, 97, 98, 109, 121, 123, 179, 222, 234, 241, 267
fix 158
lag 183
positioning 70
dilution of precision 15, 41, 66, 153, 158, 160, 163, 252, 263, 264, 265, 266, 269
direction
of motion 217
over ground 222
distance 173, 238, 270
Doppler 55, 82, 194, 197, 200, 222, 242, 256, 263, 264
offset 82
double differencing 78, 267
E
ECEF 32, 52, 99, 117, 141, 181, 203, 214, 218, 264
elevation 72, 75, 116, 165, 212, 226, 228, 230
M Index
272 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
cut-off 88
angle 93
ellipsoid 19, 32, 52, 117, 126, 130, 133, 176, 181, 205, 236, 265, 268, 269
ellipsoidal datum 133
ephemerides 62, 63
ephemeris 32, 46, 51, 55, 63, 68, 70, 90, 187, 192, 228, 233, 268
error message 43, 79, 108
errors 17, 24, 65, 74, 83, 94, 98, 193, 198, 228, 233, 263, 265, 266
external oscillator 33, 94, 96
F
factory default 23, 87, 101, 110
FIFO 84, 270
frequency 25, 27, 28, 34, 45, 48, 56, 69, 71, 72, 76, 82, 94, 96, 100, 155, 194, 195, 199, 201, 227, 233, 241, 242,
243, 245, 247, 248, 256, 258, 262, 263, 265
G
GDOP 153
GEO 30
geodetic datum 89, 236, 264
geographic coordinates 178
geoid 97, 98, 130, 158, 160, 176, 264, 268
undulation 171
geoidal
separation 158, 178, 268
undulation 130
Global Positioning System 62
GPS time 37, 38, 44, 56, 59, 68, 83, 98, 147, 214, 239
GPSCard Range Reject Codes 213, 260
great circle 126, 263, 265, 266
ground plane 74, 76, 233
H
hardware reset 110
HDOP 153, 160, 163, 263, 265
heading 217, 222, 263, 265–268
health 19, 20, 56, 59, 98, 111, 124, 129, 136, 186, 203, 218, 222, 234, 242
height 19, 64, 71, 75, 97, 98, 117, 171, 176, 178, 233, 263, 264, 265
help 23, 102
high power jamming 197
high power signal 198
HTDOP 153
I
idle time 191, 198
IGRF 106, 270
Inertial Navigation System (INS) 99, 181
information messages 240
ionospheric 31, 56, 59, 70, 136, 186, 228, 233, 262
corrections 31, 218
data 30
M Index
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 273
errors 227
K
kinematic 20, 36, 58, 66, 71, 76, 118, 232, 265, 271
L
latched time 171
latency 17, 20, 36, 53, 67, 72, 179, 205, 222, 230, 234, 245, 265
latitude 62, 71, 98, 117, 158, 160, 161, 167, 178, 263–266
L-band 63
LNA 81, 197
lockout satellite 104
locktime 88, 194
longitude 62, 71, 98, 117, 158, 160, 161, 167, 171, 178, 263–266
M
magnetic variation 106, 107, 167, 173, 266
mask angle 141, 142, 179, 180, 205, 214, 215, 228, 261, 266
master control station 63, 263
mean sea level 19, 62, 97, 117, 160, 178, 264, 271
misclosure 267
modem 42, 45, 108, 152
multipath 67, 193, 228, 233, 266, 271
N
Narrow Correlator 67, 77
navigation 11, 46, 47, 53, 56, 59, 62, 99, 112, 126, 163, 166, 167, 173, 175, 181, 202, 204, 262, 264, 266–268
calculations 126
NAVSTAR 62, 265
NMEA 37, 235
node 159
noise 25, 27, 38, 41, 67, 72, 77, 81, 88, 94, 95, 149, 155, 164, 193, 194, 213, 233, 244, 245, 248, 250, 252, 253,
260, 266, 268, 269
non-printable characters 122
non-volatile memory 24, 31, 57, 101, 197, 198, 256, 266
O
offset 14, 34, 38, 67–71, 82, 94, 98, 105, 126, 147, 215
orbit period 62
oscillator 83, 94
output pulse 100
P
pass-through 42–44, 79, 108, 152
PDOP 66, 153, 163, 230, 266
phase lock 74, 194, 226
loop 82
pitch 75, 266
M Index
274 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
polarity 73
poor reception 75
port 242
position constraints 131
processing 50, 63, 64, 66, 79, 155, 193, 198, 264, 267
propagation 68, 73, 75, 78
pseudorange 36, 50, 53–55, 56, 59, 65–74, 77, 88, 97, 98, 125, 164, 179, 193, 197, 218, 228, 233, 267
measurement 59, 68, 71, 164, 197
pulse 33, 100, 171, 172, 220
R
RAM 197
range weight standard deviation 218
raw almanac 159, 186
reacquisition 32, 82, 99, 181
real-time 64, 65, 68, 71, 227, 267
receiver 14, 19, 24, 32, 33, 35, 37, 45, 47, 51–52, 55, 56, 59, 62–63, 65, 74, 77–78, 83, 89, 93, 97–99, 112, 123,
125, 141, 147, 158, 160, 163, 167, 178, 179, 181, 191, 192, 193, 196, 197, 198, 202, 205, 210, 220, 221,
227, 233, 255, 262–268, 269
clock offset 147, 220
self-test 197
status 35, 119, 191, 193, 194, 196, 255
status 30, 191, 192, 198, 210
redirect data 42, 152
reference station 19, 23, 26, 28, 32, 42, 45, 46, 48, 52–55, 68, 72, 74, 90, 97, 98, 109, 115, 118, 121, 123, 141, 179,
203, 205, 247–248, 263–267
reject code 212–213, 260
remote station 19–20, 42, 45, 47, 48, 50, 51, 53, 54, 65, 67, 70–72, 88–90, 98, 115, 116, 118, 121, 141, 233, 265
residual 162, 212, 267
RF downconverter 197
signal 73, 76, 262
RINEX 243
RMS 164, 230, 267
roll 75, 267
RTCA 13, 18, 19, 34, 45, 46, 47, 79, 90, 123, 204, 235, 243, 267
RTCM 13, 34, 45–51, 52, 114, 123, 243, 244
S
satellite 15, 18, 26, 28, 31–33, 45, 46, 48, 51–53, 55, 56, 59, 62, 73–75, 82, 88, 94, 98, 99, 101, 111, 116, 118, 124,
129, 131, 136, 153, 159, 162, 181, 186, 192, 193, 197, 204, 210, 212, 214, 218, 230, 233, 246, 248, 262,
265–268
segment
control 62
space 62
user 62, 63
self-test 194
smoothing 88
software version 134, 221
space segment 62
Space Vehicle Number 63
speed 35, 67, 117, 167, 168, 173, 217, 222, 263, 267
over ground 167, 168, 217, 222
M Index
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1 275
station ID 19, 48, 98, 123, 203
subframes 32, 136, 186, 192
SV health 159
T
tag 11, 42, 44, 56, 58, 61, 79, 141, 166, 179, 203, 222
TCXO 68
TDOP 153, 263, 265, 268
track
made good 167, 168, 263, 268
offset 126, 243
over ground 217, 222
tracking 31, 33, 71, 82, 88, 98, 99, 104, 129, 153, 181, 193, 198, 201, 210, 230, 233, 257, 258, 262, 263, 266
status 193, 194, 266
transformation 236
triangulation 74
trigger 13, 14, 24, 34, 35, 42, 105, 176, 205, 242
trilateration 74
tropospheric corrections 218
true north 106, 164, 173, 212, 217, 222, 262, 266, 268
U
undulation 19, 117, 128, 130, 171, 176, 178, 268
user datum 173
segment 62, 63
UTC 31, 32, 38, 56, 59, 138, 158, 170, 186, 269
data 30
offset 172, 220
parameters 32
time 136, 160–164, 169
V
VARF 253
VCTCXO 94, 96
VDOP 163, 263, 269
velocity 32, 62, 63, 99, 173, 181, 222, 264–267
latency 222
quality 222
status 223, 260
W
WAAS 26, 29, 30, 42, 103, 135, 157, 224, 225, 246
waypoint 126, 166, 170, 173, 262, 263, 266, 267, 269
WGS-84 52, 89, 98, 126, 130, 133, 178, 183, 185, 218, 269
OM-20000041 Rev 1 98/11/03

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