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DG16 Board & Sensor Reference Manual

Copyright Notice

Copyright © 2001 Thales Navigation. All rights reserved.
No part of this publication or the computer programs described in it may be repro-
duced, translated, stored in a retrieval system, or transmitted in any form or by any
means, electronic, mechanical photocopying, recording, or otherwise, without prior
written permission of Thales Navigation. Your rights with regard to this publication and
the computer programs are subject to the restrictions and limitations imposed by the
copyright laws of the united States of America (“U.S.A”) and/or the jurisdiction in
which you are located.

Printed in the United States of America.
Part Number: 630851, Revision A
December, 2001

Trademarks

Ashtech, the Ashtech logo, DG16, DG14, Evaluate, Edge Correlator, Strobe
Correlator, SSRadio, Sensor II, Receiver Communication Software, and the Thales
Navigation logo are trademarks of Thales Navigation. All other product and brand
names are trademarks or registered trademarks of their respective holders.

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Summary of Contents for DG14

Page 1: ...408 615 5200 Sales US 1 800 922 2401 International 1 408 615 3970 Fax 1 408 615 5200 Europe France Voice 33 2 28 09 38 00 Fax 33 2 28 09 39 39 South America Voice 56 2 234 56 43 Fax 56 2 234 56 47 Sup...

Page 2: ...egard to this publication and the computer programs are subject to the restrictions and limitations imposed by the copyright laws of the united States of America U S A and or the jurisdiction in which...

Page 3: ...sumption in Sleep Mode 8 Power Connections 9 Backup Power 11 Interfaces to External Equipment 12 DG 16 Board Interfaces 12 DG16 Sensor Interfaces 13 Radio Interference 13 Environmental Specifications...

Page 4: ...and Navigation Modes 36 Position Modes Least Squares Algorithm 36 Position Modes Kalman Filter Algorithm 37 Navigation Solutions 39 Dynamic Modes 39 Fixed Altitude Modes 40 Point Positioning 41 Geoid...

Page 5: ...odes of Operation 65 Single Automatic Mode 65 Dual Automatic Mode 66 Manual Modes of Operation 66 Single Manual Mode 66 Dual Manual Mode 67 DGPS Positioning Using SBAS Corrections 67 Utilizing SBAS Ch...

Page 6: ...ling 86 Chapter 6 Receiver Commands 87 Receiver Commands 89 AJM In Band Jam Immunity 96 ALT Ellipsoidal Height 96 ANH Antenna Height 96 ANT Set Antenna Offsets 97 BIT Operational Diagnostic Tests 99 C...

Page 7: ...meters 143 PPS Pulse Per Second 144 PRT Serial Port Baud Rate 145 PWR Receiver Power 146 RID Receiver Identification Parameters Format 1 146 RIO Receiver Identification Parameters Format 2 149 RST Res...

Page 8: ...6 Checksum 186 CMB Channel Measure Block 187 CT1 Combined Measurement Position Data Format 1 188 CT2 Combined Measurement Position Data Format 2 190 CT3 Combined Measurement Position Data Format 3 192...

Page 9: ...ential Remote Station Status 275 TTT Photogrammetry Event Marker 277 UKO UKOOA Message 278 UTM Universal Transverse Mercator UTM Coordinates 279 VTG Course and Speed Over the Ground 282 XMG Exception...

Page 10: ...RTCM Interface 311 SAM Single Automatic Mode 312 SSO SBAS Satellite Search Order 312 USE SBAS Satellites for Acquisition 313 USP SBAS Satellites Used in Position Computation 313 Beacon Commands 314 AD...

Page 11: ...g a Custom Message 330 Editing Message 331 Defining Message Parameters 331 Uploading Messages to a Receiver 332 Appendix B Floating Point Data Representation 333 Sign Bit Field 333 Exponent Field 333...

Page 12: ...xii DG16 Board Sensor Reference Manual...

Page 13: ...ics 48 Figure 3 4 Relationship of GPS Time in PRN Record to Output of 1PPS Pulse 48 Figure 3 5 Rotation and Translation Between Coordinate Systems 51 Figure 4 1 RTCM Base Station System 58 Figure 4 2...

Page 14: ...xiv G12 GPS OEM Board Sensor Reference Manual...

Page 15: ...50 Table 4 1 RTCM Format 56 Table 4 2 Differential Base Station Commands 58 Table 4 3 Differential Remote Station Commands 63 Table 4 4 Auto Differential Modes and Position Output 65 Table 4 5 PASHS B...

Page 16: ...3 Table 6 25 Serial Port Baud Rate Codes 124 Table 6 26 Memory Reset Codes 124 Table 6 27 PASHR ION Format 126 Table 6 28 KFP Message Structure 128 Table 6 29 PASHS KPI Parameters 129 Table 6 30 PASHR...

Page 17: ...cator 174 Table 6 70 UDG Structure for Oblique Mercator 174 Table 6 71 UDG Structure for Stereographic Polar and Oblique 175 Table 6 72 UDG Structure for Lambert Conformal Conic for SPC83 Two Standard...

Page 18: ...e Format 239 Table 8 12 GPGRS Message Format 240 Table 8 13 Typical GRS Message 241 Table 8 14 GPGSA Message Format 242 Table 8 15 Typical GPGSA Message 242 Table 8 16 GPGSN Message Format 244 Table 8...

Page 19: ...Response Structure 282 Table 8 56 Typical VTG Message 283 Table 8 57 PASHR XMG Exception Number Descriptions 284 Table 8 58 GPZDA Message Format 286 Table 8 59 Typical ZDA Message 286 Table 9 1 RTCM...

Page 20: ...Sensor Reference Manual Table 9 20 Restarting the Beacon Receiver 322 Table A 1 Message Parameter Pane 329 Table B 1 Single Precision Format 334 Table B 2 Double Precision Format 335 Table C 1 GPS Pr...

Page 21: ...GPS GPS SBAS 12 channels of GPS 2 channels of SBAS The Y option must be loaded for SBAS channels GPS Beacon 14 GPS channels 2 Beacon channels you can limit to 12 channels of GPS The N option must be l...

Page 22: ...1 DG16 Performance Specifications Position Accuracy DGPS Horizontal CEP 40 cm Horizontal 95 90 cm Vertical 95 1 6 m Time to First Fix TTFF Re acquisition 3 seconds Hot Start 11 seconds Warm Start 35...

Page 23: ...notes the time and collects almanac and ephemeris data for each orbiting satellite and stores this information in battery backed memory When tracking one satellite the DG16 gets a time reference from...

Page 24: ...llite based augmentation systems are developed to provide differential corrections and integrity data for satellite based aviation their signals are available free of charge to all other non aviation...

Page 25: ...ternal battery to the appropriate pins on the J301 connector The physical dimensions of the DG16 GPS board are shown in Figure 1 1 The twelve pin connector J101 on the side of the board is intended fo...

Page 26: ...cates the status of the receiver Upon power up the status LED flashes red until a position has been computed After computing a position the status LED flashes yellow or green in between the red power...

Page 27: ...e red power status flash to indicate the status for each visible satellite You can count the number of yellow or green flashes between the red flash to know the number of satellites visible in the sky...

Page 28: ...o most laptop computers While in sleep mode the board consumes significantly less power Power consumption in sleep mode does not exceed 7 for both 5 VDC and 3 3 VDC The sleep mode is particularly bene...

Page 29: ...on for battery backup for RAM maintenance an input for manual hardware reset an output for a TTL level timing pulse a photogrammetry time tag input and a measurement strobe output Figure 1 3 lists the...

Page 30: ...AN_RES is used it can be pulled to ground GND using a switch or driven to ground with an open collector gate Table 1 5 J301 Pin Assignments Pin Code Description 01 GND Ground for serial Port A 02 CTSA...

Page 31: ...gh 100 W 17 MAN_RES Connect to ground for manual hardware reset 18 1PPS_OUT 1PPS TTL output synchronized to GPS time 19 GND Chassis common ground 20 GND Chassis common ground 21 GPS_LED_RED External L...

Page 32: ...tor Figure 1 4 Note 1 Manual reset MAN_RES should be left unconnected if unused Manual reset should be activated by a switch or open collector gate External LEDs support the same features as the on bo...

Page 33: ...nsmitters and receivers such as FM radios can interfere with the operation of GPS receivers Thales Navigation recommends that you verify that nearby hand held or mobile communications devices do not i...

Page 34: ...20 and 30 dB Hardware Options The DG16 has several options The DG14 Board has GPS WAAS EGNOS and MSAS functionality The DG14 Sensor has GPS WAAS EGNOS and MSAS functionality The DG14 GPS Beacon Board...

Page 35: ...eceiver s serial identification number The response is output in the format PASHR RIO f1 f2 f3 f4 f5 cc where Table 1 6 outlines the parameters The DG16 has 18 available options Each option is represe...

Page 36: ...5 Hz 2 2 Hz 1 1 Hz Position update rate W 20 Hz T 10 Hz 5 5 Hz 2 2 Hz 1 1 Hz Raw measurement update rate O Raw Data Output P Carrier Phase Tracking U Differential RTCM Remote Station B Differential R...

Page 37: ...DG16 Receiver type DG16 GM00 Receiver firmware version empty field Channel firmware not available 1OPUBKLE_C NYXDR Options available 1 1 Hz position update rate O Raw data output P Carrier phase U RTC...

Page 38: ...tom message feature to set the receiver to output only the information you need in a single message This can save you from sending several receiver commands See Appendix A UDM Utility for more informa...

Page 39: ...DG16 An important difference between the DG16 board and the DG16 Sensor is the presence of a back up battery for internal memory The DG16 Sensor has a back up battery installed The DG16 Board Evaluati...

Page 40: ...an antenna hardware accessories for power and interfacing and software to communicate with the receiver and monitor its performance The power and interface cable supplied with the Sensor Development K...

Page 41: ...ding performance power requirements and commands This chapter discusses the following topics Connecting the DG16 to power and the antenna Default parameters Communicating with the DG16 using standard...

Page 42: ...connect any controller devices or data logging equipment to the input output ports of the DG16 by way of connector J301 Figure 2 1 DG16 Board Connections CAUTION To avoid damage to the DG16 always tu...

Page 43: ...Connect the power cable to the power supply Once power is connected the LED on the DG16 flashes red Antenna The DG16 is designed to work with an antenna Low Noise Amplifier LNA that requires five vol...

Page 44: ...ED flashes Antenna Gain for Elevation Angle Greater than 15 1 to 2 dB Antenna Gain for Elevation Angle of 90 4 dB Table 2 2 Antenna LNA Requirements Requirement Parameter Impedance of Antenna Output 5...

Page 45: ...tion Software or standard communication programs such a ProComm or Hyperterminal To begin simply connect the standard 9 pin serial cable between port A on the DG16 and COM1 on the computer When you ar...

Page 46: ...response message is PASHR PRT A 5 This message indicates Port A of the DG16 is using its default communications setup 5 9600 baud eight data bits no parity and one stop bit See PRT Serial Port Baud Ra...

Page 47: ...formation through port A at a set rate The response message output rate is 1 Hz default PASHR SAT 03 03 103 56 60 U 23 225 61 39 U 16 045 02 21 U 6E The data string contains the number of satellites l...

Page 48: ...28 DG14 and DG16 Board Sensor Reference Manual...

Page 49: ...d messages from an external control device send response messages to an external control device such as a PC output data to a separate data logging device and send or receive differential corrections...

Page 50: ...by return of the requested information All invalid query and general commands cause the DG16 to return the PASHR NAK 30 not acknowledged response message DG16 Message Output The DG16 can be programmed...

Page 51: ...port can communicate at speeds up to 19 200 baud and can be used as at TTL levels standard or RS 232 levels load option All serial ports can be configured as TTL as an option instead of RS 232 On ini...

Page 52: ...r Sleep If the mode is set to No then session programming is disabled even id an individual session is set If the mode is set to Yes then session programming is enabled and any enabled individual sess...

Page 53: ...llites If no ephemeris data are in memory or if the data are older than ten hours 30 to 60 seconds are needed to collect data The DG16 synchronizes its clock to GPS time within six seconds of locking...

Page 54: ...sponse message for the query command PASHQ PAR general parameters is shown below SPDA 5 SPDB 5 SPDC 5 GPS YYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYY SBAS YYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYY SYS GPS DTM W84 TDP 04...

Page 55: ...D 0000 STHE 0 AGE 999 QA 000 00 OFFSET 00 SETUP MODE OFF PORT A SOURCE SLC EXT AUT N FMT RTCM SPD 0300 STI 0000 STH 0 IOD 20 MAX 0060 QAF 100 SEQ N RTCM V22 TYP 1 2 3 6 7 9 16 18 19 FRQ 99 00 00 OFF 0...

Page 56: ...needed to compute a position Only the latitude and the longitude are computed if three satellites are locked and the altitude is held fixed For more information on fixed altitude modes see Fixed Altit...

Page 57: ...n prediction mode Position fixes obtained during the prediction mode are flagged predicted in GGA and other NMEA messages containing position information regardless if the receiver is in stand alone m...

Page 58: ...ocked for the initial 2D position fix After the initial fix there is no required number of locked satellites The DG16 continues to operate making use of the locked satellites propagating its internal...

Page 59: ...test and w test You can select either a 2s 95 or 3s 99 threshold so that measurements with estimated errors outside this threshold are rejected Upon exceeding such thresholds the measurements are exc...

Page 60: ...ate model for your application choose the Adaptive Dynamic mode If you select Mode 1 through 7 the DG16 will not accommodate the other dynamic modes Adaptive Dynamic mode can never be static under goo...

Page 61: ...the PASHS PPO command See the PPO Point Positioning section on page 143 for more details on this command The Point Positioning option T must be set in the receiver for this command to work The DG16 us...

Page 62: ...eiver is in autonomous mode ionospheric and tropospheric modeling is enabled The ionospheric model used by the DG16 is based on the model defined in ICD GPS 200 Revision B The tropospheric model is ba...

Page 63: ...maximum length of a standard NMEA message is eighty characters but the length of some Ashtech format messages goes beyond eighty characters Both NMEA messages and Ashtech format NMEA style messages be...

Page 64: ...rts at the same time The output interval is determined by the PASHS RCI command and can be set to any rate between 0 05 and 999 seconds depending upon which option has been selected for the raw measur...

Page 65: ...s the period of the 1 PPS signal must be set to a value equal to or less than the period of the event pulse The trigger pulse may be TTL compatible or open collector Minimum pulse duration is 100 nano...

Page 66: ...position of the camera at the time the picture was taken If GPS measurements are recorded at the rate of one per second the average distance an aircraft travels in second is about 100 meters Therefor...

Page 67: ...hronized to GPS time Using the PASHS PPS command the period of the pulse can be changed from 0 05 of a second up to 99 95 seconds depending upon the receiver update rate which in turn is dependent upo...

Page 68: ...e plus one second is the time that the next pulse will occur when the default settings are in effect Figure 3 4 PBN time is already internally rounded to GPS time so it is the actual time to which the...

Page 69: ...able all the time with no special settings required The receiver normally computes and outputs positions in the WGS 84 coordinate reference frame However it is possible to output positions in NMEA mes...

Page 70: ...ormation parameters the translation rotation and scale parameters are defined from the local datum to WGS 84 To use this datum for the position computation and measurements use the PASHS DTM USR comma...

Page 71: ...radians 0 554 Internally the receiver implements the transformation from WGS 84 to WGS 72 Figure 3 5 demonstrates the change in the coordinate systems Figure 3 5 Rotation and Translation Between Coord...

Page 72: ...52 DG14 and DG16 Board Sensor Reference Manual...

Page 73: ...ferential positioning involves a reference base station calculating range corrections for each satellite it is tracking and transmitting them to the remote rover stations through a real time data comm...

Page 74: ...ange measurement RMS noise is reduced over time by the square root of the number of measurements computed by the receiver For example after 100 seconds of locking to a satellite the rms noise in range...

Page 75: ...less of whether the type 2 message has been enabled for output When a DG16 set in differential remote mode receives a type 2 message and the IODE information in type 1 or 9 messages does not match the...

Page 76: ...have been enabled and the ephemeris changes in one or more satellites the base station automatically generates a type 2 message with the delta IODE information This automatic type 2 message generates...

Page 77: ...ock with the Type 9 implementation to prevent degradation of navigation accuracy due to clock drift that can occur between Type 9 messages Since the DG16 does not support an external frequency input b...

Page 78: ...able 4 2 Differential Base Station Commands Command Description PASHS RST Reset the receiver to factory defaults PASHS PEM 4 Set the Base differential mask to four degrees PASHS POS ddmm mmm d dddmm m...

Page 79: ...settings identified in Table 4 2 Antenna Locate the antenna with a clear view of the sky The antenna position entered with the PASHS POS command is the WGS 84 phase center of the antenna If you do no...

Page 80: ...ort this these messages may be generated slower with a corresponding decrease in differential accuracy Base Station Position The RTCM message 3 broadcast the base station position Base Station Antenna...

Page 81: ...hat require continuous transmission of data even if there are no corrections to send Special Message Message 16 This message allows you to transmit an ASCII message from the base station Using a PC In...

Page 82: ...t data and or unused corrections and includes only corrected measurement data in the computation When a navigation solution is computed using the least squares algorithm the measurement data and corre...

Page 83: ...r The receiver will accept RTCM differential corrections in message types 1 or 9 You do not have to tell the receiver which message types to expect it will automatically use whatever it receives on se...

Page 84: ...ud rate of the radios as high as possible and use radios that are optimized for low latency GPS operation such as the Thales SSRadio The actual base remote data latency is given in the GGA message Max...

Page 85: ...S mode is Single Automatic Modes of Operation In Automatic mode the DG16 automatically searches for and tracks the SBAS satellite listed in the available almanac If no SBAS almanac is available the DG...

Page 86: ...gle continuity of signal reception etc Dual Automatic Mode In Dual Automatic SBAS mode the DG16 automatically detects all available SBAS signals and selects the best two satellites Channel 1 tracks th...

Page 87: ...e corresponding error component is set to a NOMINAL VALUE Use the PASHS RTC SLC SBA command to enable the SBAS corrected position with all available SBAS correction components If you do not want a dif...

Page 88: ...104 format for output The RTCM corrections are optimized for the current DG16 location The generated RTCM corrections include RTCM message types 1 2 3 6 and 9 Message Type 3 contains the current Refer...

Page 89: ...mand to enable or disable the integrity information available The default is ON The number of SBAS channels used as a source of integrity information depends on the PASHS SBA CDU setting Ranging signa...

Page 90: ...tory in the receiver is similar to but usually larger than the beacon almanac received in RTCM Type 7 The receiver beacon directory is updated by both RTCM Type 7 and what you add manually with the PA...

Page 91: ...ly detect all available radio beacon signals and select the best station which shall be tracked by Channel 1 After completing a scan of all available frequencies Channel 2 shall track the second best...

Page 92: ...n directory is similar to but usually larger than the beacon almanac received in the RTCM Type 7 message The Type 7 message contains information about a specific network of reference stations and the...

Page 93: ...eed the following information Latitude required Longitude required Range optional Frequency required Health optional Station ID required Bit Rate required Modulation Code optional Sync Type optional B...

Page 94: ...ies on page 75 to have an immediate effect on the locked stations Listing the Current Beacon Directory You can list current directory with the PASHQ BCN DIR command The response message consists of a...

Page 95: ...acon directory Table 4 7 summarizes the commands for saving editing and deleting the beacon directory Working with Never Used Frequencies In Automatic Modes you can mark a frequency to never be used u...

Page 96: ...parameters Table 4 8 Saving and Resetting Beacon Parameters Commands Command or Action Result Power Cycle the DG16 All receiver and Beacon parameters are restored from battery backed up memory PASHS R...

Page 97: ...ultiple sources of corrections to be used in the navigation solution you need to specify the method of utilization Multi Base Processing or Primary Secondary Scenario The default is Primary Secondary...

Page 98: ...osition velocity solution The Quality of corrections includes accuracy of corrections latency of corrections frequency of corrections age of corrections baseline length and network coverage etc Multi...

Page 99: ...ed in a different reference frame or format i e based on a different datum or projected onto a plane grid coordinates The DG16 provides the following on board tools to transform WGS 84 coordinates int...

Page 100: ...define a datum and load it on the receiver using the PASHS UDD command along with the PASHS DTM command Prior to using these commands define the required parameters including the length of the semi m...

Page 101: ...0 554 in the following equation After issuing the PASHS DTM UDD command the receiver internally transforms positions from the reference datum WGS 84 to the user defined datum In standard text books h...

Page 102: ...and after defining the transformation parameters with the PASHS UDD command Otherwise the newly entered parameters are not used Use this transformation to generate coordinates in an x y rectangular sy...

Page 103: ...use the PASHS NME GDC command to set the receiver to continuously output the current coordinates There is one exception when configuring the receiver to compute and output grid coordinates If you are...

Page 104: ...14 and DG16 Board Sensor Reference Manual Projection Types The following graphics represent the different types of projections available for the receiver Figure 4 2 Mercator Figure 4 3 Transverse Merc...

Page 105: ...Coordinate Transformation 85 Coordinate Transformation Figure 4 4 Oblique Mercator Figure 4 5 Stereographic...

Page 106: ...orthometric heights use the PASHS HGT GEO command After setting this command the receiver outputs orthometric heights using the internal global geoid model Be aware that the internal geoid model used...

Page 107: ...quest receiver status information All set commands begin with the string PASHS all query commands begin with PASHQ PASHS and PASHQ are the message headers They are required for all set or query comman...

Page 108: ...and an example of how a given command is used are presented for each command These parameters may be either characters or numbers depending upon the command Table 6 1 lists the symbols and the types o...

Page 109: ...message structure is as follows Header Command ID Command Parameters Checksum Enter The header field always contains PASHS The command identifier field contains a three character string and is follow...

Page 110: ...ch function The commands are described in detail in the pages following Table 6 3 Table 6 2 Query Command Structure Field Description NMEA message start character PASHQ Ashtech header for query messag...

Page 111: ...ettings 151 PASHS SAV Save parameters to memory N 151 Photogrammetry 1PPS Strobe PASHS PHE Set photogrammetry edge Rising 137 PASHQ PHE Query photogrammetry parameters 138 PASHS PPS Set period and off...

Page 112: ...be used in position computation All 179 PASHQ STA Query for currently locked satellites 159 PASHQ UTS Query time synchronization 180 PASHQ VIS Query for visible satellites 180 Position Computation PAS...

Page 113: ...ilter initialization 129 Transformations PASHS DTM Select reference datum WGS 84 106 PASHS FUM Select UTM zone to be held fixed N 114 PASHS FZN Enable disable fixed UTM zone mode 115 PASHQ GDC Query p...

Page 114: ...HQ UCT UDH CAL Query the local geoidal surface transformation parameters 165 PASHS UCT UDH EST Estimate a local geoidal surface transformation 167 PASHS UCT UG4 APT Add a point for a grid transformati...

Page 115: ...e receiver commands 120 PASHS LPS Set loop tracking parameters 10 3 1 130 PASHQ LPS Query loop tracking parameter setting 131 PASHS LTZ Set local zone time 00hr 00 min 132 PASHS OOP Set the order of t...

Page 116: ...and sets the ellipsoidal height of the antenna where f1 can be any value from 99999 99 to 99999 99 The DG16 uses the altitude value set through this command when it is computing 2D positions Example E...

Page 117: ...reference point to antenna phase center Table 6 4 outlines the parameters This command affects message type 1 9 and 3 significantly Table 6 4 Antenna Offsets Settings Parameter Description Range Unit...

Page 118: ...HR ANT The response is in the format PASHR ANT f1 f2 f3 m1 x1 cc where Table 6 5 outlines the response format Table 6 5 ANT Message Structure Parameter Description Range Unit f1 antenna height height...

Page 119: ...signator for the output of the response If a port is not specified the receiver sends the response to the current port The time in the CLK command is UTC The response message is output in the format P...

Page 120: ...correlator The selected correlator is applied to all GPS channels and both SBAS channels The Edge Correlator is standard features for the DG16 The Strobe Correlator is available for the DG16 as an opt...

Page 121: ...c1 c2 c3 c4 c5 c6 c7 c8 c9 c10 c11 c12 hh Table 6 8 outlines the parameters Typical CRR response PASHR CRR E E E E E E E E E E E E 37 Table 6 9 outlines the response message Table 6 8 PASHR CRR Forma...

Page 122: ...When handshaking is disabled only three connections are required TXD GND RXD See Figure 1 3 on page 10 for a diagram of the J301 pin configuration Example Enter the following command to disable hands...

Page 123: ...The maximum value is 5 0 maximum position period Example Enter the following command to set the time interval for doppler averaging to 5 seconds PASHS DAP 5 PASHQ DAP c1 This command queries the dopp...

Page 124: ...n Range f1 Doppler averaging interval 0 0 to 5 0 hh Checksum 2 character hex Table 6 13 PASHR DFO Structure Parameter Description Range d1 RTCM differential mode status 0 Not in remote mode do not sen...

Page 125: ...orrection in centimeters per second loops d7 times 3 bytes including hh Checksum 2 character hexidecimal Table 6 14 Daisy Chain Commands Command Effect PASHS DSY A B Redirects data going into port A o...

Page 126: ...llipsoid Offset in meters dX dY dZ Datum Description ARF Clarke 1880 143 90 294 ARC 1950 Botswana Lesotho Malawi Swaziland Zaire Zambia Zimbabwe ARS Clarke 1880 160 8 300 ARC 1960 Kenya Tanzania AUA A...

Page 127: ...UZ Clarke 1866 133 77 51 Luzon Philippines excluding MindanoaIs MAS Bessel 1841 639 405 60 Massawa Eritrea Ethiopia MER Clarke 1880 31 146 47 Merchich Morocco MIN Clarke 1880 92 93 122 Minna Nigeria N...

Page 128: ...tic System 72 W84 WGS 84 0 0 0 WGS 84 World Geodetic System 84 ZAN International 1924 265 120 358 Zanderij Surinam Table 6 16 Predefined Ellipsoids Ellipsoid a metres 1 f f Airy 1830 6377563 396 299 3...

Page 129: ...r sends the response to the current port PASHR DUG The response message is output in the format PASHR DUG Binary Data String Checksum Table 6 17 outlines the binary data string parameters Internationa...

Page 130: ...imeter or two An example would be an antenna on a unsigned short 2 GPS week number when the last leap second was added to GPS time unsigned short 2 Julian day number when the last leap second was adde...

Page 131: ...f you are unsure which is the appropriate model for your application choose the Adaptive Dynamic mode If you select Mode 1 through 7 the DG16 will not accommodate the other dynamic modes EPG Kinematic...

Page 132: ...och to epoch conditions the receiver will use the respective mask parameters based on the corresponding positioning mode of each epoch If the receiver is generating autonomous positions e g due to the...

Page 133: ...itional ERM masking feature To disable the ERM use the default ERM settings or issue the command PASHS ERM ALL 6000 6000 PASHQ ERM c1 This command queries the error mask values for AUT DIF and CPD mod...

Page 134: ...de computed in which the VDOP value is lower than the value entered for the VDOP mask Fixed Altitude Mode 1 Only the most recent altitude value entered through the PASHS ALT command is used Example En...

Page 135: ...ommand PASHS FUM which holds fixed the zone selected by the FZN command Example Enter the following command to select UTM zone 10 as the zone to be held fixed PASHS FZN 10 GDC 3 D Position in User def...

Page 136: ...LC27 Tm27 TA22 f3 Easting x of the user grid coordinate meters 9999999 999 to 9999999 999 f4 Northing y of the user grid coordinate meters 9999999 999 to 9999999 999 d5 Positioning mode Indicator 1 A...

Page 137: ...atum to grid transformation parameters Example Enter the following command to enable the user defined datum to grid transformation PASHS GRD UDG Table 6 21 Typical GDC Response Message Item Significan...

Page 138: ...he height model used in the position output where is a 3 character string defined in Table 6 22 ELG default ellipsoidal height output with worldwide geoidal model used for geoidal separation field mea...

Page 139: ...ght in the position output PASHS HGT GEO PASHQ HGT c This command queries the height model selection where c is the optional output port designator for the output of the response If a port is not spec...

Page 140: ...M RMC GST GNS CRT GDC UTM PTT UKO SUD DTM ALM Format GP message PASHR message To turn ON OFF PASHS NME port ON OFF period For more detail help PASHQ HLP NME Table 6 23 PASHQ HLP Command Parameters Par...

Page 141: ...ERM FIX FPS FUM FZN GGA GPS GRD GTF GTM GTP HDP HGT IDT INI ION KCH KFP KPI LAT LGS LON LPS LTZ MSV NME OOP PDP PEM PFL PHE PMD POP POS POW PPO PPS PWR RAW RCI RST RTC SAV SBA SCM SEM SES SIT SMI SMT...

Page 142: ...HR SBA message To turn ON OFF PASHS SBA port ON OFF period For more detail help PASHQ HLP SBA BCN Periodic responses STA ALM Format PASHR BCN message To turn ON OFF PASHS BCN port ON OFF period For mo...

Page 143: ...tests passed 0 One or more tests failed Bit 2 1 WDI test conducted 0 WDI test not conducted Bit 3 1 WDI test passed 0 WDI test failed Bit 4 1 RTC test conducted 0 RTC test not conducted Bit 5 1 RTC te...

Page 144: ...ASHS INI d1 d2 d3 d4 This command clears receiver memory and reset serial port baud rates where d1 d2 and d3 are baud rate setting codes for ports A B and C and d4 is the memory reset code Table 6 25...

Page 145: ...enables or disables the use of ionospheric modelling which is used to compensate for delays that occur as the GPS signals travel through the ionosphere where c1 is either N disable or Y enable You can...

Page 146: ...6 27 describes the elements in the binary data string Table 6 27 PASHR ION Format Type Size Contents float 4 a0 ionospheric parameter seconds float 4 a1 ionospheric parameter sec per semicircle float...

Page 147: ...able the Kalman filter PASHS KFP ON PASHQ KFP c1 This command queries the Kalman filter parameter setting ON or OFF where c1 is the optional port designator for the output of the response If a port is...

Page 148: ...P PRI f1 This command sets the Kalman filter maximum prediction interval where f1 is the prediction interval from 0 to 100 seconds The Kalman filter stops outputting the predicted position if the pred...

Page 149: ...u set an s field to 100 m the receiver interprets this as having no a priori information for this direction This command is applied only to Kalman filtered positioning KFP ON If the receiver is set to...

Page 150: ...c application where d1 is the ratio of the carrier loop d2 is the carrier loop parameter and d3 is the code loop parameter The carrier and code loop parameters are set independently The DG16 uses defa...

Page 151: ...es a ratio of 1 0 suitable for high acceleration rates 0 1 10 d2 Carrier loop parameter 1 This setting indicates a noise bandwidth of 0 10 suitable for static very low phase noise conditions 2 This se...

Page 152: ...cal time offset values which are displayed in the last two fields before the checksum See the section in this chapter entitled NMEA Commands Responses for more information on the ZDA message Examples...

Page 153: ...ommand lists all the ASCII and binary messages in the order the receiver outputs them PASHR OOP The response is in the format PASHR OOP s1 s2 s3 where s1 s2 s3 are the message formats in the order the...

Page 154: ...OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF PER 001 00 Table 6 32 describes the items in the PAR response message Table 6 32 PAR Response Format Item Description Range SPDA 5...

Page 155: ...calculated HDOP value exceeds the HDOP mask value Default is 04 00 0 to 99 9 VDP Current VDOP Vertical Dilution Of Precision mask setting The receiver stops computing positions when the calculated VDO...

Page 156: ...PRT Port assignment for sending or receiving differential corrections A B C SBAS Indicates the SBAS modes SAM Single Auto Mode DAM Dual Auto Mode SMM Single Manual Mode DMM Dual Manual Mode NMEA List...

Page 157: ...SHS PEM d1 This command sets elevation mask for position computation where d1 is 0 to 90 degrees Default is 5 degrees A GPS or SBAS satellite with an elevation less than the elevation mask setting is...

Page 158: ...tlines the response message PMD Position Mode PASHS PMD d1 This command sets the position mode The position mode determines the minimum number of satellites required to compute a position whether the...

Page 159: ...a position With three satellites latitude and longitude are computed and altitude is held to a fixed value 2 D positioning With four satellites or more altitude is computed 3 D positioning Position Mo...

Page 160: ...red using this command can still compute very accurate positions relative to the base station This command is not accepted when a position is not computed PASHQ POS c1 This command queries the receive...

Page 161: ...de sector N or S m3 Current longitude measured in degrees minutes and decimal minutes dddmm mmmmm 0 to 180 c2 Longitude sector E or W f1 Current altitude aaaaa aa ellipsoid height in meters In 2 D pos...

Page 162: ...battery parameters after clearing the DG16 s internal memory or connecting to a different battery Using the Dg16 to power external devices such as a radio can reduce the effectiveness of this command...

Page 163: ...he following command to enable point positioning PASHS PPO Y PASHQ PPO This command queries the point position mode PASHR PPO The response is in the format PASHR PPO c where c is Y or N PPR Position P...

Page 164: ...te rate or raw data update options The f2 parameter is the offset from GPS time in milliseconds with 100 ns resolution range between 999 9999 and 999 9999 The c3 parameter determines whether the GPS t...

Page 165: ...or the output of the response If a port is not specified the receiver sends the response to the current port Issue the query command PASHQ PAR to see the baud rate codes for both serial ports PASHR PR...

Page 166: ...various receiver identification parameters where c1 is the optional port designator for the output of the response If a port is not specified the receiver sends the response to the current port Table...

Page 167: ...The presence of a given option is indicated by the presence of the corresponding letter or number A dash indicates that a given option is not installed An underscore _ indicates a reserved option slo...

Page 168: ...only with RTCM Base option L Timing Pulse Output 1PPS includes 1 2 5 and 10 E Photogrammetry Event Marker C Strobe Correlator N Beacon Y SBAS X User defined messaging D Multi base differential R Thir...

Page 169: ...el name a firmware version number a list of installed options and a receiver serial number The response is output in the format PASHR RIO s1 s2 s3 s4 f5 hh TOPUIBJLEJC CYXDRAV Options available 1 1 Hz...

Page 170: ...iption s1 Receiver model name maximum 10 characters s2 Main processor firmware version number maximum 10 characters s3 Channel Firmware version number maximum 10 characters This field is empty for the...

Page 171: ...re c1 is Y save or N don t save If c1 is set to Y user entered parameters are saved until external memory is cleared through the INI command or default settings are restored through the RST command If...

Page 172: ...r parameters most recently saved using the set command PASHS SAV will be used at startup following the reset If parameter settings were not saved the default settings will be used at startup SCM Smoot...

Page 173: ...g the second sector d3 is the second azimuth defining the secondary sector When you send the SEM command it overrides any previously existing values PEM commands issued after the SEM command change th...

Page 174: ...et the reference day and daily offset The reference day must be equal to or less than the current day for session programming to operate Use the PASHS SES SET command to program individual sessions Ex...

Page 175: ...iver automatically powers on 2 minutes prior to session time to ensure all available satellites are tracked by the time recording starts PASHQ SES c1 This command queries session programming parameter...

Page 176: ...EF 000 OFFSET 00 00 TODAY 000 Table 6 50 lists the parameters in alphabetic order Table 6 50 SES Message Structure Return Parameter Description Range 1st Column Session Name A to J 2nd Column Session...

Page 177: ...e smoothing count If the internal smoothing count is greater than 255 then the smoothing count in the MCA MBN is set to 255 Example Enter the following command to set code measurement smoothing to 100...

Page 178: ...d is the SNM mask value from 0 to 50 If the d is set to 35 then satellites with a signal to noise ratio less than 35 dB are not used in the position solution SPD Serial Port Baud Rate PASHS SPD c1 d1...

Page 179: ...he output of the response If a port is not specified the receiver sends the response to the current port The response message has a free form Ashtech format Like the MEM and PAR response messages the...

Page 180: ...atellite NOT used because marked unhealthy in almanac 16 D Satellite NOT used because differential corrections are old or invalid 15 J Satellite NOT used because big code outlier was detected 14 R Sat...

Page 181: ...om the position computation you could enter the following command PASHS SVP YYYYYYYYYNYYYYN This command excludes satellites 10 and 15 from the position computation but does not change the settings fo...

Page 182: ...atellites PRN numbers 1 through 32 It is not necessary to enter a setting for all 32 satellites when using this command Examples To exclude satellites 4 and 7 from the position computation enter the f...

Page 183: ...S message PASHR SVS YYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYY 0E Table 6 57 outlines the response message Table 6 56 PASHR SVS Message Format Field Description Range c1 c32 Indicates whether a satellites is in...

Page 184: ...dd 0 to 90 mm mmmmm 0 to 59 99999 c2 Latitude sector N or S m3 Longitude of the position in WGS 84 dddmm mmmmm dd 0 to 180 mm mmmmm 0 to 59 99999 c4 Longitude sector E or W f5 Ellipsoidal height on WG...

Page 185: ...6 f7 f8 f9 f10 f11 f12 f13 f 14 f15 Table 6 59 outlines the parameters Table 6 59 PASHS UTC UDD CAL Parameters Parameter Description Range f1 Semi major axis of local datum meters 6300000 to 6400000 f...

Page 186: ...rameters You must enter this command for each of the three required data points to compute the 3 D datum transformation parameters f14 Sigma longitude of local datum 0 f15 Sigma altitude of local datu...

Page 187: ...UCT UDH CAL f1 f2 f3 f4 f5 f6 where Table 6 62 outlines the parameters UCT UDH EST Estimating Local Geoidal Surface Transforma tion PASHS UCT UDH EST This commands indicates the start of a sequence o...

Page 188: ...ation parameters for the user defined grid In order to compute the estimated grid transformation parameters you must have entered the four data points with the PASHS UCT UG4 APT command PASHQ UCT UG4...

Page 189: ...f3 f4 This command sets the parameters for a 2 D datum to datum transformation Table 6 65 defines the parameters Table 6 64 PASHR UCT UG4 CAL Response Parameters Parameter Description Range f1 Displa...

Page 190: ...of the PASHS DTM UDD command PASHQ UDD c1 This is the associated query command where c1 is the optional output port If a port is not specified the receiver sends the response to the current port The r...

Page 191: ...ic formula used to translate and rotate from coordinate system 1 to coordinate system 2 erx ex expressed in radians this also applies to ery and erz f3 Inverse flattening 1 f3 f2 f2 b where b is semi...

Page 192: ...ntering the datum parameters enter the following command to activate the new datum PASHS DTM USR The following ellipsoid values are now in effect Dx Dy 0 Dz 4 5 meters m 0 23 x 10 6 ex ey 0 ez 2 686 x...

Page 193: ...to WGS 72 transformation UDG User Defined Datum to Grid Transformation PASHS UDG s1 d2 f3 f4 f5 f6 f7 f8 f9 f10 f11 f12 f13 This command sets parameters to transform geodetic coordinates specified by...

Page 194: ...5 or 7 last 2 optional n a f3 Longitude for Central meridian 1800000 0000 dddmmss ssss f4 Scale factor at Central Meridian 0 5 to 1 5 n a f5 Latitude of the grid origin of the projection 900000 0000 d...

Page 195: ...of the grid origin of the projection 1800000 0000 ddmmss sss f5 Scale factor at center of projection 0 5 to 1 5 n a f6 False Easting 10 000 000 meters f7 False Northing 10 000 000 meters Table 6 72 U...

Page 196: ...eridian L1 f4 Longitude of Central meridian L2 f5 Map radius of central parallel Fo L3 f6 Map radius of lowest parallel of the projection table plus y value on central meridian at this parallel y 0 in...

Page 197: ...for Fo latitude of origin T3 f6 Remainder of wo T4 f7 Scale along central meridian T5 f8 1 6 Rm Nm T52 1015 Rm radius of curvature in meridian plane Nm radius of curvature in prime vertical Both are...

Page 198: ...are the current grid coordinates PASHQ UDH This command queries the linear parameters entered by the PASHS UDH command PASHR UDH The response is in the format PASHR UDH f1 f2 f3 where f1 f2 and f3 are...

Page 199: ...te PRN number 01 to 32 for GPS and 120 to 137 for SBAS or ALL all satellites simultaneously and c2 is Y include or N exclude Example Enter the following command to exclude PRN 4 from being used in pos...

Page 200: ...ts the value of the VDOP mask where d1 is a number between 0 and 99 If the VDOP value computed by the DG16 is higher than the VDOP mask value the receiver will automatically go into fixed altitude mod...

Page 201: ...99 99 99 99 99 99 99 99 99 99 99 where Table 6 76 outlines the parameters Table 6 76 PASHR VIS Response Format Parameter Description GPS FULLTIME The number of seconds elapsed since the beginning of...

Page 202: ...182 DG14 and DG16 Board Sensor Reference Manual...

Page 203: ...the raw data commands Table 7 1 Raw Data Commands Function Command Description Default Page Almanac Data PASHS RAW SAL Enable disable raw almanac data 215 PASHQ SAL Query GPS raw almanac data 215 PASH...

Page 204: ...arameters PASHS RAW CMB Enable the Channel Measure Block 187 PASHQ CMB Query the Channel Measure Block 187 PASHS ELM Set raw data output elevation mask 5 194 PASHS MSV Set minimum number of satellites...

Page 205: ...iver to output the corresponding response message once only Message output prompted by a query command occurs independently of any related message output settings To enable the output of the MBN messa...

Page 206: ...ommand to enable or disable output of raw data messages is PASHS RAW s1 c1 s2 where s1 is the three character message identifier c1 is the port designator and s2 is ON or OFF The port designator is a...

Page 207: ...7 2 PASHR CMB Data String Binary Type Bytes Content unsigned int 2 The number of bytes remaining in the message This value varies depending on the number of channels reported in the message char 2 2 T...

Page 208: ...hannel long 4 Measured sub 1 ms code phase chips 216 This repeats for each channel int 2 Measure of the quality of code phase absolute value of tracking loop error This repeats for each channel int 2...

Page 209: ...ceived based on the following formula using the rcvtime and navt values from the PBN message adj_rcvtime rcvtime navt speed of light char sv_no 1 The number of satellites in the message 1 6 char remai...

Page 210: ...sage contains an adjusted receive time the time at which the data was received with satellite PRN numbers and channel assignments in association with full carrier phase measurements and smoothed pseud...

Page 211: ...data for a maximum of four satellites if the receiver is tracking eight satellites four are remaining char chn1 1 Channel 1 14 char prn1 1 Satellite PRN number double full_phase1 8 Full carrier measur...

Page 212: ...ains an adjusted receive time the time at which the data was received with satellite PRN numbers and channel assignments in association with full carrier phase measurements smoothed pseudo ranges and...

Page 213: ...smoothing as defined in the MCA message long doppler1 4 Doppler measurement as defined in the MCA message char chn2 1 Channel 1 14 char prn2 1 Satellite PRN number double full_phase2 8 Full carrier me...

Page 214: ...he ELM field The ELM command sets the elevation mask for both GPS and SBAS satellites Examples Enter the following command to set the elevation mask at ten degrees PASHS ELM 10 Enter the following com...

Page 215: ...C optional port s2 is ON or OFF and f1 is the optional numeric output interval setting supporting a range of 0 05 to 999 seconds depending on the measurement update rate option installed Table 7 6 PA...

Page 216: ...asurement information for doppler carrier phase and satellite transmit time as well as satellite PRN number signal strength elevation and azimuth A separate MBN message is output for each satellite be...

Page 217: ...elevation mask ELM and only if the number of locked satellites is equal to or greater than the minimum satellite mask MSV PASHQ MCA c1 This command queries for raw satellite measurement data containe...

Page 218: ...2 Sequence ID number in units of 50 ms modulo 30 minutes unsigned char left 1 Number of remaining MCA messages to be sent for current epoch unsigned char svprn 1 Satellite PRN number 1 to 32 for GPS a...

Page 219: ...al To Noise Ratio is less than Mask 11 Satellite NOT used because it s possibly a ghost satellite 10 Satellite NOT used because computed satellite coordinates are suspicious 09 Satellite NOT used beca...

Page 220: ...e s2 is ON enable or OFF disable and f3 is the optional message interval in seconds ranging from 0 05 to 999 seconds If the command is set without an interval the G12 uses the period set by the PASHS...

Page 221: ...e is variable in length defined by the count field in the header The message begins with a 4 byte sync word 4D 41 43 4D ASCII MACM and ends with a checksum byte The CR LF characters that terminate the...

Page 222: ...te PRN number MCA record svprn 24 j 8 WRN unsigned char 1 Warning flag where Bit 1 set see note below Bit 2 set see note below Bit 3 set carrier phase questionable Bit 4 set code phase questionable Bi...

Page 223: ...for the response If a port is not specified the receiver sends the response to the current port 24 j 6 CN0 unsigned char 1 Signal to noise of satellite observation MCA record ireg 24 j 5 PHASE double...

Page 224: ...in position computation unsigned short NumGloSatsUsed 1 Number of GLONASS satellites used in position computation Always 0 unsigned short NumGpsSatsTrkd 1 Number of GPS satellites tracked unsigned sh...

Page 225: ...is set ref paragraph 2 4 2 2 of GPS SPS Signal Specification Failure of parity on 3 successive words of the navigation data All data bits in subframe 1 2 or 3 are 0 s Default navigation data alternat...

Page 226: ...s to PRN 24 When navigation data is collected from a GLONASS satellite a GLONASS Nav Flag bit is set for any of the following reasons A parity error on three successive lines of the navigation data Ep...

Page 227: ...d in both the base and remote stations and Message Type 1 enabled in the base station c1 is the optional port designator for the response If a port is not specified the receiver sends the response to...

Page 228: ...at Counter of satellites character 1 Base Station ID integer 2 Z Count integer 2 Station Health character 3 1 Sequence Number character 5 UTC Hour character 1 UTC Minute character 1 UTC Second charact...

Page 229: ...haracter 6 LastInd character 1 1 PInd character 1 Reserved character 3 Quality character 3 Satellite ID character 1 Cumulative Loss of Continuity character 1 Checksum integer 2 Table 7 14 PASHR MSB Re...

Page 230: ...ew the current setting for minimum satellites by entering the PASHQ RAW command and checking the MSV field Examples Enter the following command to set the minimum number of satellites to 4 PASHS MSV 4...

Page 231: ...rrent port PASHR PBN The PBN message contains raw position data including the time at which the data was received antenna position antenna velocity receiver clock offset and PDOP The message is output...

Page 232: ...7 16 outlines the response parameters float navydot 4 The antenna y velocity in meters per second float navzdot 4 The antenna z velocity in meters per second float navtdot 4 Receiver clock drift in me...

Page 233: ...ting by entering the PASHQ RAW command and checking the RCI field Example Enter the following command to set the global raw data output interval to 5 seconds PASHS RCI 5 SIT Four character site name E...

Page 234: ...baud rates e g 115 000 you must ensure that your computer has a suitable serial I O capability Most newer computers with Pentium or 486 processors have good enough serial communication to support hig...

Page 235: ...d The SAL message contains information on satellite health the almanac week number and a variety of orbital measurements The response is output in the format PASHR SAL Satellite almanac data string ch...

Page 236: ...binary message per satellite in the format PASHR SAW almanac data Table 7 19 outlines the data string format checksum 2 The checksum is computed by breaking the structure into 34 unsigned shorts addin...

Page 237: ...les Enter the following command to set site name to 0001 PASHS SIT 0001 Enter the following command to set the site name to SQR1 PASHS SIT SQR1 float 3 4 Satellite ECEF velocity X Y Z m s long 4 tow T...

Page 238: ...t is not specified the receiver sends the response to the current port PASHR SNV One SNV message is output for each satellite being tracked This message is not output unless the receiver is locked on...

Page 239: ...s double omega0 8 Longitude of ascending node semicircles double omega 8 Argument of perigee semicircles double i0 8 Inclination angle semicircles float omegadot 4 Rate of right ascension semicircles...

Page 240: ...iver sends the response to the current port PASHR SNW The response is one binary message per locked satellite in the format PASHR SNW SBAS Ephemeris data string checksum Table 7 21 outlines the data s...

Page 241: ...PASHR XYZ In addition to satellite positions the XYZ message also contains the time at which the satellite signals were received and a pseudo range value which has been corrected to eliminate atmosphe...

Page 242: ...nel 1 of the DG16 referenced to WGS 84 double range_1 8 The corrected pseudo range of the satellite referenced in sv_1 These rows are repeated for each channel that is tracking a satellite That is if...

Page 243: ...E ALL Enable or disable all messages 227 PASHS NME Enable or disable one or more NMEA message 132 Latency Information PASHS NME LTN Enable or disable the latency message 251 PASHQ LTN Query position o...

Page 244: ...268 PASHQ RMC Query for minimum position course speed message 268 Receiver Configuration PASHS NME CRT Enable or disable Cartesian coordinates message 229 PASHQ CRT Query Cartesian coordinates messag...

Page 245: ...range error message 246 Satellite Information PASHQ GNS Query GNSS fix data 238 PASHS NME GSA Enable or disable satellites used message 241 PASHQ GSA Query satellites used message 241 PASHS NME GSN E...

Page 246: ...port B enter the following command PASHS NME GGA B OFF To query for the POS message and designate port B for the output of the response message enter the following command PASHQ POS B As with the oth...

Page 247: ...icate data not available Two successive commas indicate one missing data item three successive commas indicate two missing items See the NMEA 0183 Standard for Interfacing Marine Electronic Navigation...

Page 248: ...0 h11 h12 h13 h14 h15 cc Enter Table 8 2 ALM Response Message Parameter Description Range d1 Total number of messages 01 32 d2 Number of this message 01 32 d3 Satellite PRN number 01 32 d4 GPS week 4...

Page 249: ...omputing a position it outputs an empty message If the command is set without a period the DG16 uses the period set by the PASHS NME PER command If the PASHS NME PER command is issued after this messa...

Page 250: ...escription Range d1 position solution type 0 autonomous 1 position differentially corrected with RTCM code 2 position differentially corrected with CPD float solution 3 position is CPD fixed solution...

Page 251: ...for the output of the response If a port is not specified the receiver sends the response to the current port The response message does not output unless the following three conditions are met 1 The...

Page 252: ...de units M eters f9 Geoidal separation in meters w r t selected datum and Geoid Model 999 999 to 999 999 d10 Age of differential corrections 0 to 999 s11 Differential reference station ID 0000 to 1023...

Page 253: ...to 999 seconds depending on the measurement update rate option installed If the command is set without a period the DG16 uses the period set by the PASHS NME PER command If the PASHS NME PER command...

Page 254: ...gitude altitude the GGA message contains information on the type of position fix i e autonomous or differentially corrected HDOP and current time The DG16 can be set to output the GGA message at regul...

Page 255: ...RTK mode with fixed integers N A for DG16 5 Float RTK Satellite system used in RTK mode floating integers N A for DG16 6 Estimated dead reckoning mode 7 Manual input mode 8 Simulator mode 0 1 2 6 7 o...

Page 256: ...If the PASHS NME PER command is issued after this message period has been set the period resets to the PER setting Example Enter the following command to enable GLL message on port A PASHS NME GLL A...

Page 257: ...n the format GPGLL m1 c2 m3 c4 m5 c6 d7 hh Table 8 9 outlines the message format Typical GLL message GPGLL 3722 36223 N 12159 82741 W 170003 00 A A 7F Table 8 9 GPGLL Message Format Parameter Descript...

Page 258: ...E PER command If the PASHS NME PER command is issued after this message period has been set the period resets to the PER setting Example Enter the following command to enable GNS message on port B PAS...

Page 259: ...on Range m1 UTC hhmmss ss 0 to 235959 99 m2 Latitude ddmm mmmmmm 0 to 9000 000000 c3 Latitude sector N North S South m4 Longitude dddmm mmmmmm 0 to 18000 000000 c5 Longitude sector E East W West d6 Po...

Page 260: ...in the GSA message A minus sign in front of the residual error value indicates a Residual pseudo range error is not calculated until at least five satellites are being used to compute positions The r...

Page 261: ...issued after this message period has been set the period resets to the PER setting Example Enter the following command to enable GSA message on port B PASHS NME GSA B ON PASHQ GSA c1 This command quer...

Page 262: ...GPGSA Message Format Parameter Significance c1 Position mode indicator A Automatic mode M Manual mode A M d1 Position mode indicator 1 Position fix not available 2 2D mode 3 3D mode 1 2 3 d3 d16 These...

Page 263: ...ations 26 DG16 channel 4 locked on satellite 26 satellite 26 used in position computations empty field Indicates that this channel 5 is not locked on a satellite or that the locked satellite is not be...

Page 264: ...GPS Generally speaking the receiver will be able to lock more quickly and will be better able to maintain lock on satellites whose signals register higher signal to noise values The response is outpu...

Page 265: ...N Header 07 Number of satellites currently locked 01 PRN number of the first satellite 048 Signal strength of the first satellite 29 PRN number of the second satellite 046 Signal strength of the secon...

Page 266: ...The response is output in the format GPGST m1 f2 f3 f4 f5 f7 f8 f9 hh Table 8 18 outlines the message format Table 8 18 GPGST Message Format Parameter Description Range m1 UTC time hhmmss ss of the po...

Page 267: ...he period resets to the PER setting f6 Standard deviation of latitude error meters 0 00 to 99 99 f7 Standard deviation of longitude error meters 0 00 to 99 99 f8 Standard deviation of altitude error m...

Page 268: ...GPS satellite information and the second three messages contain GLONASS satellite information The message is output in the format GPGSV d1 d2 d3 d4 d5 d6 f7 d8 d9 d10 f11 d12 d13 d14 f15 d16 d17 d18 f...

Page 269: ...1 to 32 for GPS 33 to 64 for SBAS d17 Elevation degrees 0 to 90 d18 Azimuth degrees 0 to 359 f19 Signal to noise ration dbHz 30 to 60 hh Checksum 2 character hex Table 8 21 Typical GSV Message Field D...

Page 270: ...This command queries horizontal position where c is the optional output serial port GPGXP The response message is in the form GPGXP m1 m2 c3 m4 c5 cc where Table 8 22 outlines the response format 314...

Page 271: ...et without a period the DG16 uses the period set by the PASHS NME PER command If the PASHS NME PER command is issued after this message period has been set the period resets to the PER setting The rec...

Page 272: ...eiver to compute a position from the position fix tag time and prepare data to be output through the serial port The latency range is typically between 20 and 40 milliseconds depending on the number o...

Page 273: ...if the DG16 is not sending or receiving differential corrections GPMSG The MSG messages contain base station status data for incoming or outgoing RTCM messages Fields containing base station ID numbe...

Page 274: ...et commands for differential operation MSG Formats The MSG format for RTCM message type 1 is in the format GPMSG d1 d2 f3 d4 d5 d6 m7 n d8 d9 f10 f11 d12 hh The MSG format for RTCM message type 2 is i...

Page 275: ...to 7 d6 Total number of characters following the time tag including commas and CR LF characters 0 to 999 m7 Current GPS time of position fix hhmmss ss 00 to235959 90 Table 8 27 Remainder of Type 1 Fie...

Page 276: ...Remainder of Type 3 Message Fields Description Range f8 Base station X component 9999999 99 f9 Base station Y component 9999999 99 f10 Base station Z component 9999999 99 hh Checksum 2 character hex...

Page 277: ...rier phase cycles sppppppp pppp hh Checksum 2 character hex Table 8 32 Remainder of Type 19 Message Parameter Description Range d13 GPS GLONASS constellation indicator GPS or GLO d14 Frequency indicat...

Page 278: ...acters of the time item 003702 00 Current time in hours minutes and seconds 2 UDRE for SV 12 12 Satellite PRN number 0081 30 PRC for SV 12 0 026 RRC for SV 12 235 IODE for SV 12 2 UDRE for SV 13 13 Sa...

Page 279: ...MSG message for RTCM Type 2 Field Description GPMSG Header 02 RTCM message type 0000 Station ID 0790 8 Z count in seconds and tenths 5 Sequence number 0 Station health 205 Total number of characters...

Page 280: ...delta pseudo range correction meters 0 000 Current delta range rate correction meters 171 Current IODE 0 Current UDRE 09 Satellite PRN number 0000 04 Current delta pseudo range correction meters 0 00...

Page 281: ...0 033 191436 00 BASE STATION TEXT MESSAGE 71 080 Current IODE 66 Checksum Table 8 35 Typical MSG Message for RTCM Type 3 Field Description 03 RTCM type 0000 Station ID 1200 0 Z count in seconds and te...

Page 282: ...conds and tenths 5 Sequence number 0 Station health 038 Total number of characters following the time tag 232008 00 Current time in hours minutes and seconds TEXT Message content 71 Checksum Table 8 3...

Page 283: ...tag 0 Code indicator 0 C A code 04 GPS slot number ID 4 Data quality indicator phase error 0 03933 cycle 01 Cumulative loss of continuity error cycle slips 5708064 4 Carrier phase cycles 53 Checksum...

Page 284: ...e reset the output interval of both messages to five seconds Example Enter the following command to set the global NMEA output interval to 5 seconds PASHS NME PER 5 200000 GPS system time of measureme...

Page 285: ...esponse message is in the form PASHR POS d1 d2 m1 m2 c1 m3 c2 f1 f2 f3 f4 f5 f6 f7 f8 f9 s cc Table 8 39 defines the POS response structure Table 8 39 POS Response Structure Field Description Range d1...

Page 286: ...99 degrees 0 to 359 9 f4 Speed over ground in knots 0 to 999 9 f5 Vertical velocity in meters per second 999 9 f6 PDOP position dilution of precision 0 to 99 9 f7 HDOP horizontal dilution of precisio...

Page 287: ...the PTT message represents the time at which the most recent PPS pulse was sent out including any offset The latency of the PTT message after the PPS pulse is on the order of 10 to 30 milliseconds Ex...

Page 288: ...is issued after this message period has been set the period resets to the PER setting Example Enter the following command to enable the RMC message on port C PASHS NME RMC C ON PASHQ RMC c1 This comma...

Page 289: ...Speed over the ground knots 000 0 to 999 9 f8 Course over the ground degrees referenced to true north 000 0 to 359 9 d9 Date ddmmyy 010100 to 123199 f10 Magnetic variation degrees 0 0 to 99 9 c11 Dir...

Page 290: ...and is set without a period the DG16 uses the period set by the PASHS NME PER command If the PASHS NME PER command is issued after this message period has been set the period resets to the PER setting...

Page 291: ...nes the message format The data fields for PRN number d2 and residual range error f1 are repeated for each locked satellite with the d1 value acting as a multiplier Typical RRE message GPRRE 05 18 000...

Page 292: ...Example Enable SAT message on port B PASHS NME SAT B ON PASHQ SAT c1 This command queries the SAT message where c1 is the optional port designator for the output of the response If a port is not speci...

Page 293: ...8 46 outlines the response message The data fields for PRN number d2 azimuth d3 elevation d4 signal to noise ratio d5 and the used not used flag c6 are repeated for each satellite using the value in...

Page 294: ...some accuracy problem indicated in navigational data Z Satellite NOT used because marked unhealthy in almanac D Satellite NOT used because differential corrections are old or invalid J Satellite NOT...

Page 295: ...e PER setting Table 8 47 Typical SAT Message Field Description PASHR SAT Header 03 Number of satellites locked 03 PRN number of the first satellite 103 Azimuth of the first satellite in degrees 56 Ele...

Page 296: ...ge Table 8 48 PASHS NME TCM Response Structure Parameter Description Range d1 Message synchronization indicator 0 synchronization between base and remote not established or lost 1 synchronization esta...

Page 297: ...If the command is set without a period the DG16 uses the period set by the PASHS NME PER command If the PASHS NME PER command is issued after this message period has been set the period resets to the...

Page 298: ...d enables or disables UKOOA message on port x where x is the output port and y is ON or OFF and f is the optional message output rate ranging from 0 05 to 999 seconds depending on the measurement upda...

Page 299: ...ranging from 0 05 to 999 seconds depending on the measurement update rate option installed The DG16 does not output this message unless it computes a position Table 8 52 GPUKO Response message format...

Page 300: ...of the position fix i e autonomous or corrected and more The message is output in the format PASHR UTM m1 m2 f3 f4 d5 d6 f7 f8 m f9 m d10 s11 hh Table 8 53 outlines the message format Table 8 53 PASHR...

Page 301: ...eoidal separation units meters M d10 Age of differential corrections 0 to 999 s11 Differential reference station ID 4 character string hh Checksum Table 8 54 Typical UTM Message Item Description 01545...

Page 302: ...age where c1 is the optional port designator for the output of the response If a port is not specified the receiver sends the response to the current port GPVTG This message is not output unless posit...

Page 303: ...nual input mode S Simulator mode N Data not valid A D E M S or N hh Checksum 2 character hex Table 8 56 Typical VTG Message Field Description GPVTG Header 179 00 Course over ground degrees T True cour...

Page 304: ...ption messages where c1 is the optional port designator for the output of the response If a port is not specified the receiver sends the response to the current port PASHR XMG d1 d2 The response is in...

Page 305: ...esignator for the output of the response If a port is not specified the receiver sends the response to the current port GPZDA This message is not output until the receiver has locked on at least one s...

Page 306: ...31 d3 Current month 01 to 12 d4 Current year 0000 to 9999 d5 Local time zone offset from UTC time hours 13 to 13 d6 Local time zone offset from UTC time minutes This value has the same sign as d5 but...

Page 307: ...Differential Commands 287 This chapter contains the receiver commands for the following applications RTCM Commands on page 288 SBAS Commands on page 304 Beacon Commands on page 314...

Page 308: ...RTCM mode is off by default All but one of the RTCM commands are set commands The set commands allow you to enable and modify a variety of parameters affecting differential operation There is only on...

Page 309: ...remote differential stations only You can view the current automatic differential setting by entering the PASHQ RTC command and checking the AUT field Remote station parameters PASHS RTC AUT Turns aut...

Page 310: ...DE field Example Enter the following command to set the receiver as an RTCM base station outputting differential corrections from port B PASHS RTC BAS B FMT Differential Output Format PASHS RTC FMT s1...

Page 311: ...in seconds MAX Maximum Age Threshold for Differential Corrections PASHS RTC MAX d1 This command sets the maximum age for incoming RTCM differential corrections where d1 is any number between 1 and 99...

Page 312: ...disables differential operation whether the receiver is set as a base station or a remote station You can view the current RTCM mode setting by entering the PASHQ RTC command and checking the MODE fi...

Page 313: ...ort for RTCM differential corrections PASHS RTC REM B RPS Rover Parameters PASHQ RTC RPS c1 This command queries RTCM Rover parameters where c1 is the optional port designator for the output of the re...

Page 314: ...0000 00000 E ALT 00000 00 W84 MSG Table 9 3 describes the items in the RTC response message Table 9 3 RTC Response Format Parameter Description Range STATUS This subsection of the RTC response contain...

Page 315: ...eiving or transmitting RTCM corrections A B or C optional SOURCE The source of the RTCM corrections SLC with any combination of EXT BCN or SBA OR WGH AUT Indicates whether automatic differential mode...

Page 316: ...by the DG16 1 2 3 6 9 16 18 19 FRQ Indicates the output interval setting for each RTCM message except for the type 6 message which is either ON or OFF Zero 0 indicates the message is disabled 99 indi...

Page 317: ...L f1 c2 f3 c4 f5 d6 c7 d8 c9 d10 d11 d12 hh where Table 9 4 outlines the response format Table 9 4 PASHR RTL Response Format Parameter Description Range f1 User entered latitude ddmm mmmm c2 Latitude...

Page 318: ...g of differential operation and applies to remote station mode only You can see whether message sequence monitoring is enabled or disabled by entering the PASHQ RTC command and checking the SEQ field...

Page 319: ...ponding codes The default output bit rate is 300 bps This command applies to base station mode only You can view the current output bit rate setting by entering the PASHQ RTC command and checking the...

Page 320: ...ifferential Base Remote Station ID PASHS RTC STI d1 This command sets differential station identification numbers where d1 is any number between 0000 and 1023 A remote station with the ID number 0000...

Page 321: ...l as the message output interval where d1 is the type number and d2 is value of the output interval This command applies to base station mode only Table 9 7 lists the available message types and range...

Page 322: ...error 8 meters are no longer used Type 18 and 19 are available only when option K RTCM Type 18 19 message generation is installed Example Enter the following command to enable the type 1 message once...

Page 323: ...commands sets the UDRE acceptance threshold where d1 is 0 1 2 or 3 All RTCM corrections with UDRE flags equal to or less than the threshold are accepted All incoming RTCM corrections are checked again...

Page 324: ...s In the GPS SBAS mode the DG16 retains all standard functionality including high data output rates raw and navigation The DG16 has several modes of SBAS operation Automatic Mode the receiver determin...

Page 325: ...FF PRTB OFF OFF OFF OFF PRTC OFF OFF OFF OFF SBAS Data and Information PASHQ SBA Query SBAS parameters 305 PASHS SBA CDU Select the SBAS channels to use BTH 306 PASHS SBA DAT Enable the SBAS output me...

Page 326: ...a Utilization BTH both BCP Use channel 1 data when available and Channel 2 data only as backup CH1 use Channel 1 data only PAR Use partial SBAS corrections ON or OFF INT Use SBAS integrity information...

Page 327: ...s to track these two selected SBAS satellites so long it is able If the signal on one of the channels is lost the DG16 scans the available frequencies to find another SBAS satellite The best SBAS sate...

Page 328: ...ters INF SBAS Information Message PASHS SBA INF c1 s1 f1 This command enables or disables the output of the SBAS information message on the specified port c1 is Port A B or C to where the messages out...

Page 329: ...where s1 is ON enable or OFF disable The DG16 will use one or two SBAS channels as a source for integrity information depending on the PASHS SBA CDU setting You must use the PASHS SAV command to save...

Page 330: ...AS satellite you specify for Channel 1 and 2 s1 is the 2 digit SBAS ID number 33 to 64 which will be tracked on Channel 1 s2 s the 2 digit SBAS ID number 33 to 64 which will be tracked on Channel 2 In...

Page 331: ...urrent GPS DGPS position of the receiver if in Stand alone or Remote mode Examples Enter the following command to enable the SBAS based RTCM message 1 from port A at 1Hz PASHS SBA RTC A 1 1 Enter the...

Page 332: ...ignal the DG16 switches to it If on the other hand the signal on Channel 1 drops below the threshold and the signal on Channel 2 is no better or no SBAS satellite The DG16 continues to use and track t...

Page 333: ...ES to included all or NO to exclude all In a case where several satellites were excluded from the position computation with the PASHS USP command this shortcut command once again includes all SBAS sat...

Page 334: ...set the beacon operation mode Automatic Mode the receiver determines which beacon station s to use Single Automatic Mode Dual Automatic Mode Manual Mode you manually set which beacon station s to use...

Page 335: ...e Beacon directory for stations from the default list 318 PASHQ BCN DIR RTC Query Beacon directory for RTCM message Type 7 stations 318 PASHQ BCN DIR USR Query the Beacon directory for user entered st...

Page 336: ...lete the station and add a new station with the new parameters Example Enter the following command to add the Beacon station at Pigeon Point CA to the Beacon directory PASHS BCN DIR ADD 3711 33 N 122...

Page 337: ...sage CHN Assign Beacon Station Channel PASHS BCN CHN d1 f1 d2 d3 This command assigns the specified Beacon station frequency to the DG16 channel You can only use this command when the Beacon receiver...

Page 338: ...pecified frequency p1 is the frequency ranging from 283 5 to 325 KHz Example Enter the following command to clear 287 KHz from the never use frequency mark list PASHS BCN CLR 287 0 DIR Beacon Director...

Page 339: ...the DG16 Beacon directory consists of the default list kept in ROM only The Beacon Directory can also be reset to the default list of stations with the PASHS BCN DIR INI command Table 9 18 PASHR BCN D...

Page 340: ...will not remove the Never Use lock from the station You must use the PASHS BCN CLR to remove the Never Use lock DIR INI Reset Beacon Directory PASHS BCN DIR INI This command restores the Beacon direc...

Page 341: ...Automatic Mode on page 71 NVR Never Use Frequency PASHS BCN NVR f1 This command marks a frequency to never be used in automatic or manual modes f1 is the frequency in KHz ranging from 283 5 to 325 0...

Page 342: ...mmand blocks the RTCM message type 7 from overwriting the preceding user entered Beacon stations in the Beacon directory where s1 is Y or N Table 9 20 Restarting the Beacon Receiver Reset Command or A...

Page 343: ...n in the Beacon directory then the station is added to the Beacon directory Example Enter the following command to block RTCM message type 7 from overwriting in the preceding Beacon stations in the Be...

Page 344: ...324 DG14 and DG16 Board Sensor Reference Manual...

Page 345: ...ll the UDM Utility program perform the following steps 1 Insert the UDM Utility installation disk 2 Click on the Windows Start menu and select Run 3 Type in a setup exe where the a is the letter of yo...

Page 346: ...ecific receiver Each receiver type has a unique ash file mdf Message Definition File contains user defined messages uploaded and saved to the receiver prj Project file When you open a project UDM util...

Page 347: ...he project name on the title bar of the main window Opening an Existing Project To open an existing UDM Utility project 1 Select Open Project from the Project menu The New Project dialog box opens 2 D...

Page 348: ...sage Parameters Pane The Message Parameters pane Figure 3 contains information on the variables if the message already exists or allows you to define new variables when you create a new message Figure...

Page 349: ...s with the variable selected Max Digits Before Decimal You can enter the maximum number of digits before decimal point Max Digits After Decimal You can enter the maximum number of digits after decimal...

Page 350: ...the corresponding commands in the Edit menu Description Displays a brief description of the selected variable Request and Response Messages format Displays the messages view Query Command Displays the...

Page 351: ...t your message output in ASCII or binary format 5 Select the Tree radio button to view the available variables by function 6 Click on the message group you want to add to your message such as Communic...

Page 352: ...m message you need to upload the user defined data file to your receiver 1 Verify that your receiver is connected to your PC and that you can communicate with your receiver 2 Open the project file wit...

Page 353: ...onent of a number is multiplied by the fractional value of the number to get a value The exponent field of the number contains a biased form of the exponent The bias is subtracted from the exponent fi...

Page 354: ...bytes will be reversed Single Precision Float The single precision format uses four consecutive bytes with the 32 bits containing a sign bit field an 8 bit biased exponent field and a 23 bit fraction...

Page 355: ...h is equal to 0 5 decimal 3 The fraction field is equal to 1 binary After adding the implicit normalized bit the fraction is equal to 1 1 binary The fraction value is equal to 20 2 1 decimal which is...

Page 356: ...1 0 binary The fraction value is equal to 20 decimal which is equal to 1 decimal 4 The value of the number is positive 1 1 1 0 decimal In 2 the value 0 75 is calculated by the following method 1 The s...

Page 357: ...ed within the documentation and suggestions are offered for solving them Thales Navigation customer support 471 El Camino Real Santa Clara California USA 95050 4300 Toll free Voice Line 1 800 229 2400...

Page 358: ...receiver memory and resets operating parameters to factory default values Verify that batteries including the backup battery for RAM memory have adequate charge Verify that the antenna is oriented sky...

Page 359: ...et web page In addition you can locate additional support areas such as frequently asked questions FAQs Use the internet addresses below http www thalesnavigation com A brief description of the proble...

Page 360: ...countries can assist you with your service needs Thales Navigation 471 El Camino Real Santa Clara California 95050 4300 USA Voice 408 615 3980 or 800 229 2400 Fax 408 615 5200 E mail support ashtech...

Page 361: ...l center in such a way that the tree point terrain triangle and the camera s eye three point triangle within the photographic frame are analogous AFT After AGE Age of Data ALM See Almanac Almanac A se...

Page 362: ...bidium clocks as well as cesium clocks The GPS Master Control Station uses cesium clocks and a hydrogen master clock Argument of latitude The sum of the true anomaly and the argument of perigee Argume...

Page 363: ...na position containing 50 of the points in the horizontal scatter plot Clock offset The difference in time between GPS time and a satellite clock or a sensor clock less accurate COG Course Over Ground...

Page 364: ...s Static differential GPS involves determining baseline vectors between pairs of receivers Dilution of Precision DOP A measure of the receiver satellite s geometry DOP relates the statistical accuracy...

Page 365: ...ematical figure formed by revolving an ellipse about its minor axis It is often used interchangeably with spheroid Two quantities define an ellipsoid the length of the semimajor axis a and the flatten...

Page 366: ...level Geoids currently in use are GEOID84 and GEOID90 Geoidal height geoidal separation undulation The height of a point on the geoid above the ellipsoid measured along a perpendicular to the ellipsoi...

Page 367: ...carrier signals Group delay depends on dispersion in the ionosphere as well and affects signal modulation codes The phase and group delay are of the same magnitude but opposite sign Julian date The n...

Page 368: ...nd or 20 milliseconds per bit Thus one complete sequence is completed in a multiple of 20 milliseconds NMEA National Marine Electronics Association NV Non Volatile Usually refers to a memory device th...

Page 369: ...ites and also permits the satellites to broadcast a low power signal Pseudo range The measured distance between the GPS receiver antenna and the GPS satellite The pseudo range is approximately the geo...

Page 370: ...a single point can be determined Here a receiver antenna is placed over each point and measurements are made by observing the same satellite at the same time This technique allows cancellation during...

Page 371: ...oning Service SPS Uses the C A code to provide a minimum level of dynamic or static positioning capability The accuracy of this service is set at a level consistent with national security Static obser...

Page 372: ...on to the range measurement error from an individual error source apparent clock and ephemeris prediction accuracies converted into range units assuming that the error source is uncorrelated with all...

Page 373: ...DoD Y code tracking civilian Signal squaring now obsolete multiplies the signal by itself thus deleting the carrier s code information and making distance measurement ranging impossible Carrier phase...

Page 374: ...354 DG14 and DG16 Board Sensor Reference Manual...

Page 375: ...Q BCN DIR RTC 318 PASHQ BCN DIR USR 319 PASHQ BCN MOD 320 PASHQ BCN NVR 321 PASHQ CLK 99 PASHQ CMB 187 PASHQ CRR 101 PASHQ CRT 230 PASHQ CT1 188 PASHQ CT2 190 PASHQ CT3 192 PASHQ CTS 102 PASHQ DAP 103...

Page 376: ...W 220 PASHQ STA 159 PASHQ SVP 161 162 PASHQ SVS 162 PASHQ TCM 276 PASHQ UCT UDD CAL 165 PASHQ UCT UDH CAL 167 PASHQ UCT UG4 CAL 168 PASHQ UDD 170 PASHQ UKO 279 PASHQ UTM 280 PASHQ UTS 180 PASHQ VIS 18...

Page 377: ...33 PASHS GRD 117 PASHS GRD UDG 83 PASHS HDP 118 PASHS HGT 118 PASHS INI 124 PASHS ION 125 PASHS KFP 127 PASHS KFP FDE 128 PASHS KFP PRI 128 PASHS KPI 129 PASHS LGS 130 PASHS LPS 130 PASHS LTZ 132 PASH...

Page 378: ...ASHS RTC SPD 299 PASHS RTC STH 300 PASHS RTC STI 300 PASHS RTC TAG 301 PASHS RTC TYP 301 PASHS SAV 35 151 PASHS SBA DAM 307 PASHS SBA DAT 307 PASHS SBA INF 308 PASHS SBA INT 309 PASHS SBA MAN 310 PASH...

Page 379: ...0 set position 43 Ashtech type 2 data structure 195 Ashtech type 3 data structure 197 AUT 289 automatic differential mode 289 overview 64 automatic modes beacon 70 SBAS 65 B BAS 290 base station healt...

Page 380: ...ents 1 cartesian coordinates message 229 CDU 306 CEP 3 changing datums 49 channel measure block 187 checksum 186 CHN 317 circular error probability 3 clear to send 102 CLK 99 clock status 99 closed lo...

Page 381: ...n status 275 station ID 300 differential output format 290 dimensions 5 DIR 318 DIR CLR 319 DIR DEL 320 DIR INI 320 DOP 241 doppler 3 54 averaging interval 103 double precision format 335 DSY 103 105...

Page 382: ...nchronization 179 GPS UTC time difference 109 GRD 117 Greenwich Mean time 132 grid coordinates 79 115 231 grid to grid transformation 130 grid transformation add point 168 calculate parameters 168 est...

Page 383: ...racking parameters 130 low noise amplifier 1 24 LPS 130 LTN 251 LTZ 132 M MACM 201 magnetic variation model 42 MAN 310 320 manual modes 66 beacon 71 map projection 117 MAX 291 maximum age of correctio...

Page 384: ...ag 267 recommended minimum course 268 RTCM message formats 254 satellite range residuals 239 270 satellite tracking data 272 signal strength 243 speed over ground 282 standards 29 time and date 285 UK...

Page 385: ...tag 267 PWR 146 Q QAF 292 quality factor 292 query commands 89 R RAM 3 range measurements 54 RAW 212 raw data commands 183 message structure 186 outputs 44 parameters 34 raw measurements 195 197 raw...

Page 386: ...parameters 293 RTCM messages 301 SBAS to RTCM interface 311 SC 104 tag 301 sources of error 54 station ID 300 Type 16 Message 291 UDRE acceptance threshold 303 user entered position information 297 v...

Page 387: ...BAS to RTCM interface 311 signal utilization 69 single automatic mode 65 312 single manual mode 66 310 SCM 152 secondary elevation mask 153 select fixed UTM zone 115 selective availability 3 53 SEM 15...

Page 388: ...4 EST 169 UD4 169 UDD 170 UDG 173 UDH 178 UDM creating a message 330 defining message parameters 331 editing a message 331 file types 326 Folder list 327 installing 325 Message Parameter pane 328 open...

Page 389: ...369 Index W warm start 2 33 WGS 72 81 WGS 84 4 81 86 X XMG 284 XYZ 221 Z ZDA 285...

Page 390: ...370 DG14 and DG16 Board Sensor Reference Manual...

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