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GG Surveyor GPS+GLONASS Reference Manual

Antenna

The GG Surveyor is designed to work with an antenna-preamplifier that requires five
volts and is isolated from DC ground. The gain of the antenna/preamplifier minus the
loss of the cable should be between 20 and 30 dB. Connect the antenna cable directly
to the antenna connector on the GG Surveyor. Antenna cables exceeding 30 meters
require a line amplifier. A Line Amp is available for longer cable length or cable with
higher loss. The Line Amp has N-type connectors to connect to the antenna cable.

Radio Interference

Some radio transmitters and receivers, such as FM radios, can interfere with the
operation of GPS receivers. Ashtech recommends that you verify that nearby
handheld or mobile communications devices do not interfere with the receivers before
setting up your project.

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Summary of Contents for GG Surveyor

Page 1: ...8 524 1400 Fax 408 524 1500 Sales US 800 922 2401 International 408 524 1670 Fax 408 524 1500 Europe Voice 44 993 883 533 Fax 44 993 883 977 Support US 800 229 2400 International 408 524 1680 Fax 408...

Page 2: ...copyright laws of the United States of America U S A and or the jurisdiction in which you are located For information on translations and distribution outside the U S A please contact Ashtech Printed...

Page 3: ...t installed and used in accordance with the instruction manual may cause harmful interference to radio and television reception Operation of this equipment in a residential area is likely to cause har...

Page 4: ...ing from claims based in warranty contract tort including negligence strict liability or otherwise even if LICENSOR or its third party suppliers have been advised of the possibility of such claim or d...

Page 5: ...M Availability 5 L Pulse Per Second 1PPS 5 E Event Marker 6 G Geoid Height 6 M Magnetic Variation 6 J Phase Differential Mode 6 C Strobe Correlator 6 S GLONASS 6 Chapter 2 Equipment 7 Hardware Descrip...

Page 6: ...s 22 Default Parameters 25 Data Recording 27 File Types 27 File Naming Convention 28 DATALOGR 29 Position Mode ALT Fix Mode 29 Altitude Definition 30 Time Shift Hold Definition 30 Daisy Chain Mode 31...

Page 7: ...g Up a Differential Remote Station 54 Setting Up an RTK Remote Station 54 Advanced Remote Station Operation 55 Recommended Advanced Parameter Settings for Differential Remote Stations 55 Recommended A...

Page 8: ...ONASS Time Shift 85 GTM GLONASS Time Shift Relative or Fixed 86 GTP Set Priority of GLONASS Time Shift 86 HDP Horizontal Dilution of Precision 86 INF Set Session Information 87 INI Receiver Initializa...

Page 9: ...Dilution of Precision 109 TSC Set Type of Time Scale 110 UDD Set User Defined Datum 110 USE Use Satellites 112 USP Select Satellite to Use in Position Computation 113 UTS Synchronize with GPS Time 113...

Page 10: ...sage 172 ZDA Time and Date Message 174 RTCM Response Message Commands 176 Set Commands 176 Query Commands 176 AUT Enable Disable Auto Differential Mode 177 BAS Set Receiver as Differential Base Statio...

Page 11: ...Geoid Model A 4 Magnetic Model A 5 Comparison of GPS and GLONASS A 5 GPS and GLONASS System Time A 6 GPS GLONASS Standards A 6 RTCM SC 104 A 6 NMEA 0183 A 7 Navigation Modes Availability Accuracy A 8...

Page 12: ...xii GG Surveyor GPS GLONASS Reference Manual Ashtech Bulletin Board E 3 General E 3 Supported Protocols E 4 Training Courses E 4 Repair Centers E 5 Index Index 1...

Page 13: ...S Characteristics 32 Figure 4 8 Photogrammetry Timing 34 Figure 4 9 Closed Loop Technique 35 Figure 4 10 Rotation and Translation Between Coordinate Systems 42 Figure 4 11 Point Positioning Mode Posit...

Page 14: ...xiv GG Surveyor GPS GLONASS Reference Manual...

Page 15: ...Minimum Baud Rates for RTCM Messages 18 and 19 50 Table 5 6 Maximum Number of Satellites Above a 4 Mask Angle 51 Table 5 7 Differential Remote Station Commands 54 Table 5 8 RTK Remote Station Command...

Page 16: ...e 6 34 MCA Structure 117 Table 6 35 PBN Structure 120 Table 6 36 PASHQ RAW Response Parameters 121 Table 6 37 SAG GLONASS Almanac Structure 122 Table 6 38 SAL Almanac Structure 123 Table 6 39 SNG GLON...

Page 17: ...e 22 161 Table 6 74 PER NMEA Output Rate Range Options 162 Table 6 75 POS Response Structure 163 Table 6 76 Typical POS Response Message 164 Table 6 77 RMC Response Structure 165 Table 6 78 RRE Respon...

Page 18: ...Message Structure 195 Table 6 106 CPD POS Parameter Table 196 Table 6 107 CPD UBP Parameter Table 198 Table A 1 Comparison of GPS and GLONASS A 5 Table A 2 RTCM SC 104 Messages for GPS and GLONASS A...

Page 19: ...tellation contains 26 usable satellites As of December 1997 the GLONASS constellation has 13 usable satellites of the planned 24 satellites full constellation The GG Surveyor provides the capability t...

Page 20: ...antenna Technical Specifications Table 1 1 lists the technical specifications of the GG Surveyor Table 1 1 Technical Specifications Characteristic GG Surveyor Specifications Tracking 12 channels L1 GP...

Page 21: ...ccuracy as Function of Mode Positioning Mode GPS GLONASS GPS Only GLONASS Only Real Time Position Autonomous 7 meters CEP 50 16 meters 95 25 meters CEP 50 100 meters 95 8 meters CEP 50 20 meters 95 Re...

Page 22: ...or PC as described in Chapter 6 Command Response Formats The response displays the options as a 14 character alphanumeric string at the end of the response message For example PASHR RID G2 GE00 55OPUB...

Page 23: ...odes RTCM 104 Version 2 2 format message types 1 2 3 6 9 16 22 31 32 and 34 If the J option is also enabled the receiver can also decode and use the RTCM RTK messages 18 and 19 B RTCM Base The B optio...

Page 24: ...option uses magnetic variation table J Phase Differential Mode The J option allows the receiver to use the carrier phase differential RTCM message 18 and 19 data for RTK Both the B and J options must...

Page 25: ...O ports A D D is not available to the user and an L1 band radio frequency RF antenna port All RS 232 serial ports are capable of two way communication with external equipment Table 2 1 describes the f...

Page 26: ...t indicates power is applied to the receiver Number of green flashes indicates number of satellites the receiver is locked onto A yellow flash separates the count between the number of GPS and GLONASS...

Page 27: ...ut Output Connections A DB25 power input output connector provides the input power connection an external LED connection one pulse per second TTL output photogrammetry input and RS 232 I O Figure 2 2...

Page 28: ...setup and data CAUTION No power should be applied while connecting or disconnecting cables Table 2 2 J101 Connector Pinout Pin Code Pin Code 1 LED RED Can be used to drive external LED 14 LED GND 2 L...

Page 29: ...e path The RF circuitry receives satellite data from a GPS GLONASS antenna and LNA via a coaxial cable and can supply power to the antenna LNA by means of that cable No separate antenna power cable is...

Page 30: ...nna connector on the GG Surveyor Antenna cables exceeding 30 meters require a line amplifier A Line Amp is available for longer cable length or cable with higher loss The Line Amp has N type connector...

Page 31: ...and battery charger Backpack Antenna Connect the antenna cable from the antenna to the antenna TNC connector on the receiver If the small diameter of the antenna does not allow clearance for connecti...

Page 32: ...r using a personal computer Many communications software packages such as the Ashtech EVALUATE software allow you to interface with the GG Surveyor EVALUATE includes a communications package that auto...

Page 33: ...ntroduction to controlling the receiver For a complete list of commands see Chapter 6 Command Response Formats Satellite Tracking If you wish to monitor the satellites the receiver is tracking 1 Type...

Page 34: ...rvey period the satellites being observed move across the sky changing the satellite geometry The changing of the geometry enables the post processing software to determine carrier phase ambiguities a...

Page 35: ...ror occurs if the antenna is not level The amount of error depends upon the amount of tilt in the antenna This error should not exceed a few millimeters if the antenna is placed with care 1 Locate the...

Page 36: ...ollect data See Default Parameters on page 25 to check the default settings 8 Set up a receiver over each mark for which you need to determine the coordinates Repeat these steps for all GG Surveyor re...

Page 37: ...sfer and processing vector adjustments and a mapping module WinPRISM includes a module named TRANSFER DOWNLOAD This module transfers data from the receiver to a post processing computer this download...

Page 38: ...20 GG Surveyor GPS GLONASS Reference Manual...

Page 39: ...carrier phase differential commands All command messages set or query can be in upper or lower case followed by Enter A valid set command if this command is successfully executed causes the GG Survey...

Page 40: ...d device Parameter Settings and Status Receiver parameters are changed by using one of the set commands found in Chapter 6 Command Response Formats Most parameters are not saved through a power cycle...

Page 41: ...O YYYYYYYYYYYYYYYYYYYYYYYY SYS MIX DTM W84 GTM 0 GTF 0 DTG 000000 0000 TDP 04 GTP Y PMD 1 FIX 0 ALT 00000 00 PDP 40 HDP 04 VDP 04 PEM 05 UNH N ION N SAV N RTC OFF PRT A NMEA LTN AIM POS GLL GXP GGA VT...

Page 42: ...sages for automated applications STATUS SYNC TYPE 00 STID 0000 STHE 0 AGE 999 QA 100 0 OFFSET 00 SETUP MODE OFF PORT A AUT N SPD 0300 STI 0000 STH 0 MAX 0060 QAF 100 SEQ N TYP 1 2 3 6 9 16 31 32 6G 34...

Page 43: ...lt Table 4 1 lists the default values of all user parameters Table 4 1 Default Receiver Parameter Parameter Description Default SVS SV Tracking Selection Y for all PMD Position Mode Selection 1 FIX Al...

Page 44: ...RT RTCM Differential Mode Port Selection B AUT Automatic Differential Autonomous Switch ing when RTCM Differential Mode Enabled N RTCM SPD RTCM Differential BPS Speed Setting 0300 STI RTCM Base or Rem...

Page 45: ...receiver will generate raw data files ephemeris and site information files but can also create position only files event marker files and site attribute files Each file is named for the first letter...

Page 46: ...s the LAST site ID entered during the session The next character indicates the session identifier This field automatically increments from A to Z when a new recording session is started This fields be...

Page 47: ...ites or a 2D position using only 3 satellites The commands are PMD GTM and GTP The GG Surveyor performs a position computation in four different modes 0 1 2 or 3 These modes determine the number of sa...

Page 48: ...ne entered by using the PASHS ALT set command or the one computed when four or more satellites are used in the solution whichever is most recent If the last altitude is the one computed with four or m...

Page 49: ...r is set to use the GPS constellation the 1PPS pulse synchronizes with GPS system time If it is set to use the GLONASS constellation only the 1PPS pulse synchronizes with GLONASS system time If it is...

Page 50: ...istics The PPS occurs when the signal goes high The PPS is generated exactly on the GPS second and the pulse remains high for 1 2 milliseconds The precision of the PPS signal is 70 nsec nanoseconds in...

Page 51: ...be output by using the PASHS NME TTT command At the rising or falling edge selectable of the trigger signal the time is measured and output of TTT NMEA message is enabled The trigger signal can be set...

Page 52: ...Since the time of the picture is not synchronized with the time that the GPS measurement is taken the two position computations before and after the shutter time are interpolated to compute the positi...

Page 53: ...tter time exactly matches the GPS system time for the epoch No interpolation between the shutter time and the GPS position time will be needed Data Output Real time data output is only available throu...

Page 54: ...when this option is set the receiver will update at 2 Hz until command PASHS POP 5 is issued When updating at 5 Hz the receiver will use only 16 satellites in the position solution although it will t...

Page 55: ...ate is determined by the PASHS RCI setting and can be set to any rate between 0 2 and 999 seconds depending upon the raw data update rate option installed 5 2 or 1 Hz See Raw Data Outputs on page 37 f...

Page 56: ...collecting almanac ephemeris data the GG Surveyor computes its first position The GG Surveyor continuously collects in its on board battery backed up memory no external battery is required for memory...

Page 57: ...available If only 4 satellites of the same system or 5 satellites of the two different systems are visible detection is impossible If detection is available then Detection procedure is called Detectio...

Page 58: ...in a user defined datum To set the receiver to output positions in a different datum use the PASHS DTM command Once set to a different datum then all position outputs in NMEA messages such as GGA and...

Page 59: ...ordinate system 1 to coordinate system 2 is as follows where rx x expressed in radians similarly for ry and rz Example Define local datum as the WGS 72 datum PASHS UDD 0 6378135 0 298 26 0 0 4 5 0 0 0...

Page 60: ...ceiver to about 4 meters horizontal over a period of about 4 hours and under 3 meters horizontal over a period of about 12 hours Figure 4 11 Point positioning uses an averaging technique to reduce the...

Page 61: ...Advanced Operation and that the ionospheric model be enabled PASHS ION command Refer to Chapter 6 Command Response Formats for more details about these commands Figure 4 11 Point Positioning Mode Pos...

Page 62: ...44 GG Surveyor GPS GLONASS Reference Manual...

Page 63: ...mote receivers The remote receivers use the RTK data to compute a corrected position As stand alone the GG Surveyor can compute a position to around 15 meters Differential GPS achieves sub meter preci...

Page 64: ...BAS x Turn on RTCM corrections on port x When this command is sent a base station automatically sends RTCM message types 1 and 31 once per second PASHS RTC SPD 9 Set internal bit rate for corrections...

Page 65: ...9 PASHS RTC TYP 22 1 Turn on RTCM messasge type 22 PASHS RTC SPD 9 Set internal bit rate for corrections to burst mode PASHS CPD MOD BAS Set receiver as RTK base station with default settings Type 18...

Page 66: ...ou do not have a surveyed position on which to locate your antenna you may use the command PASHS POS CUR This sets the base station position to the autonomous position calculated by the receiver The r...

Page 67: ...each second of latency example type 18 and 19 generated every 5 seconds fast RTK accuracy of 5cm horizontal 1 Fast RTK update rate is unaffected Synchronized RTK mode accuracy is unaffected Update rat...

Page 68: ...t type 18 and 19 messages once every second on a high speed link If a high speed data link is not available you have indirect control over the number of satellites used by setting elevation mask angle...

Page 69: ...25 GPS satellites 14 GLONASS satellites using a 24 hour simulation at 0 longitude GPS or GLONASS geometry is primarily a function of latitude and varies only slightly with longitude for a constant la...

Page 70: ...dth requirements by obviating the need for messages 3 and 22 Base Station Antenna Offset If you set up the base station antenna over a known surveyed point you may enter the position of the surveyed p...

Page 71: ...from the satellites Filler Message 6 and 34 Null Frame This message is provided for datalinks that require continuous transmission of data even if there are no corrections to send Special Message Mes...

Page 72: ...obtain position Setting Up an RTK Remote Station Operating an RTK remote is almost identical to operating a Differential remote receiver The main differences are 1 The data from the base station is RT...

Page 73: ...te Stations There are many parameters that control the operation of the receiver Most should be left at default values The following settings are recommended for Differential Remote Stations PASHS CRR...

Page 74: ...LPS 10 3 1 for high dynamic or high vibration applications Other parameter settings at factory default Base Station RTCM Data Both Differential remote stations and RTK remote stations automatically e...

Page 75: ...of the Base Remote data link To minimize latency set the baud rate of the radios as high as possible and use radios that are optimized for low latency GPS operation such as the Ashtech SSRadio The act...

Page 76: ...update rates Synchronized RTK 2 Lower accuracy and higher update rates Fast RTK Lower RTK accuracy still means centimeter level accuracy Use the command PASHS CPD FST ON OFF to switch between the two...

Page 77: ...be used when you can afford to wait a few epochs for the highest available accuracy such as in surveying During Fast RTK mode the receiver runs synchronized RTK mode in the background at the same rate...

Page 78: ...mplete the receiver is said to be in fixed mode This terminology derives from computer terminology floating point numbers real numbers and fixed numbers integers When in float mode the accuracy will r...

Page 79: ...d under different conditions in different locations and using two different test techniques Under the first technique the receiver is reset at regular intervals every 10 minutes Under the second techn...

Page 80: ...pproximately ten minutes depending on the baseline length and the number of satellites in view covergance time increases with increasing baseline lengths and decreasing number of satellites Figure 5 3...

Page 81: ...nd altitude The actual position error of the system will be less than the standard deviations displayed in the GST approximately 68 of the time If you multiply the standard deviations by 2 the result...

Page 82: ...fixed and accuracy remains at the centimeter level If the solution is not fixed but the receiver has four five or six satellites in view the solution will be floating point and steadily converges to...

Page 83: ...16 22 32 and 36 provide user information from the Table 5 10 Auto Differential Modes and Position Output Mode Position Output Code differential Auto Differential Off Default code mode Differential po...

Page 84: ...ecified maximum age the GG Surveyor does return the uncorrected raw position RTCM 104 Format Version 2 2 When the GG Surveyor is used as a reference station and the RTCM base option is enabled the GG...

Page 85: ...er equipment When the GG Surveyor is used as remote equipment and the RTCM remote option is enabled the GG Surveyor can accept any type of RTCM message However it decodes types 1 2 3 6 9 16 18 19 22 3...

Page 86: ...68 GG Surveyor GPS GLONASS Reference Manual...

Page 87: ...nd PASHQ are the message start character and message header and are required for all commands All commands must end with a Enter or CR LF keystroke to transmit the command to the receiver If desired a...

Page 88: ...is entered instead the command will be rejected Generally speaking the parameter must be in the specified format to be accepted However most parameters that are real numbers f will also accept an int...

Page 89: ...rectly and that the number and format of the data parameters is correct Query Commands The general structure of the query command is PASHQ str x Enter where str is a 3 character string identifier and...

Page 90: ...c model 89 PASHQ ION Display ionosphere data information 89 Memory PASHS CLM Clear the data files from the data card 77 PASHS INI Clear receiver memory and data 89 PASHS RST Reset User Parameters 105...

Page 91: ...8 PASHQ CTS Query port protocol settings 78 PASHS DSY Configures receiver serial ports in daisy chain mode 78 PASHS DTM Set datum for position computation 79 PASHS LPS Set loop tracking parameters 91...

Page 92: ...formation about current session 87 PASHQ INF Query current session 87 PASHS PRJ Set session parameters 101 PASHS SIT Set site name 105 Data Recording PASHS DSC Store event string 78 PASHS ELM Set data...

Page 93: ...eference point to antenna phase center The implementation of this command affects message type 1 9 31 34 3 and 22 significantly Only vertical offsets are supported by Message 22 thus the horizontal az...

Page 94: ...nse format CLK Clock Status PASHQ CLK Queries the real time clock status PASHR CLK The response is in the format PASHR CLK d1 d2 d d3 d4 d5 d6 d7 d8 cc Table 6 4 ANT Message Structure Return Parameter...

Page 95: ...data card and then reformats and tests the read write capability of the card Example Clear the data files from the data card PASHS CLM Enter PASHR CLM If the card passes the test the response is in t...

Page 96: ...SHR CTS s where s is the RTS CTS handshaking protocol status ON or OFF DSC Store String PASHS DSC This command stores a string as an event marker to the open current session in the receiver where s is...

Page 97: ...r 1997 the time shift value is 1 2 microseconds DTM Datum Selection PASHS DTM str This command selects the geodetic datum used for position computation where str can be W84 WGS 84 E90 PZ 90 USR user d...

Page 98: ...des Type Size bytes Content Units Example Actual Number Interpretation unsigned short 2 GPS week of current GPS UTC time correction week numbers 897 week 897 unsigned short 2 GPS system time of curren...

Page 99: ...station output of RTCM messages Type 1 9 31 34 EPG Set Kinematic Epoch Counter PASHS EPG d Sets the initial value of the counter of epochs for recording at a site where d is the number of epochs and...

Page 100: ...e is in the form PASHR EXF s where s is FIL Close or Delete File PASHS FIL x y Closes the current file or deletes a designated file where x is C for close or D for delete and y is the file index numbe...

Page 101: ...ination where x is 0 or 1 x 0 default the most recent antenna altitude is used in altitude hold position fix The altitude is taken from either the altitude entered by the PASHS POS command or the last...

Page 102: ...l response port Example Query the file system status directing the response to Port B PASHQ FSS B PASHR FSS The associated response message is PASHR FSS f d1 d2 d3 d4 d5 Table 6 11 FLS Response Struct...

Page 103: ...TF Set GLONASS Time Shift PASHS GTF d This command sets the GLONASS system time shift hold position fixed mode where d is 0 or 1 d 0 Use the most recent computed GLONASS system time shift d 1 Always u...

Page 104: ...ude computation if the number of used satellites is 4 where c sets the priority If c Y time shift has priority over altitude If c N altitude has priority over time shift Default is Y Y sets the receiv...

Page 105: ...ge is in the form PASHR INF f1 d2 d3 d4 c5 d6 d7 s8 c9 s10 s11 d12 s13 s14 f15 d16 d17 d18 d19 f20 d21 d22 d23 d24 Table 6 13 INF Command Structure Field Description Range c1 session name 1 alphanumer...

Page 106: ...r s10 Receiver number 3 alphanumeric characters s11 Antenna number 3 alphanumeric characters d12 Month and day of session mmdd 0101 to 1231 s13 Operator identification 3 alphanumeric characters s14 Us...

Page 107: ...nd tropospheric models from the position computation where x N exclude or Y include Default is N exclude Example Include ionospheric and tropospheric models PASHS ION Y PASHQ ION x Query current ionos...

Page 108: ...circle2 double 8 b3 ionospheric parameter sec per semicircle3 double 8 A0 constant zero order terms of GPS UTC polynomial sec double 8 A1 constant first order terms of GPS UTC polynomial sec sec unsig...

Page 109: ...ses default values until you select another setting The user settings are saved in battery backed memory and are used until a new setting is selected or the memory is cleared The default is 10 3 1 Exa...

Page 110: ...1 indicates noise bandwidth of 0 1 0 fast range availability 5 sec medium range noise z 2 indicates noise bandwidth of 0 0 5 medium range availability 10 sec low range noise z 3 indicates noise bandwi...

Page 111: ...Set Minimum Satellites PASHS MSV x Set the minimum number of satellites required for MBN or MCA messages to be output where x is a number between 1 and 9 Default is 3 Table 6 17 MRX PZ 90 to WGS 84 S...

Page 112: ...GSA SAT GRS RRE TTT ZDA TCM RMC GST PRTA OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF PRTB OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF PRTC OFF...

Page 113: ...t antenna altitude is used ALT 00000 00 Height of the antenna position in meters Default is 0 PDP 40 Position Dilution Of Precision Mask default is 40 HDP 04 Horizontal Dilution Of Precision Mask defa...

Page 114: ...rols the elevation angle for satellites used for positions and Base station output of RTCM messages Type 1 9 31 34 PHE Photogrammetry Edge PASHS PHE c This command allows you to set the edge rising or...

Page 115: ...mputed 2 or 5 times per second depending upon the setting the default is 2 Hz The 2 or 5 Hz rates are available only if the corresponding option has been installed in the receiver When POP is set to 5...

Page 116: ...sition is stored If the receiver has not computed a position the command is ignored POW Battery Parameters PASHS POW d1 d2 f1 The POW command allows you to enter parameters associated with the externa...

Page 117: ...c The POW query command requests current available battery power data where c is the optional port to which the response will be sent PASHR POW The available battery power displayed in the response is...

Page 118: ...ere Table 6 23 outlines the parameters The precision of the PPS signal is 70 nano seconds in stand alone mode with SA active and 45 nano seconds in differential mode Example Set 1PPS to a period of 2...

Page 119: ...SHS PRJ A 004 121 0412 DWK Test_CASE Enter PRT Port Setting PASHQ PRT c This command displays the baud rate setting for the connected port where c is the optional output port Table 6 24 PPS Response S...

Page 120: ...ue of the interval at which raw data messages will be recorded or output where f is any number between 0 2 and 999 in seconds depending upon the raw data update rate option installed Table 6 27 Defaul...

Page 121: ...l to 5 seconds PASHS RCI 5 Enter REC Turn Data Recording On Off PASHS REC c Turn data recording on or off where c is Y yes or N no The Default is Y RID Receiver ID PASHQ RID c This query command allow...

Page 122: ...sponse PASHR RIO GG24 1R49 1E53 U 1 M Q L AD00109JMEWG 35 RNG Set Data Type PASHS RNG d Set type of data to be recorded where d is 0 or 2 0 geodetic data B file 2 position data C file Default is 0 If...

Page 123: ...before issuing the SAV command are saved until commands INI or RST or SAV N are issued The default is N All parameters are saved in the battery backup memory except the POP parameter Set commands issu...

Page 124: ...al of 0 seconds indicates no filtering SNR Set Signal to Noise Ratio PASHS SNR s Sets the algorithm used for computing signal to noise ratio where s is a 3 character algorithm identifier algorithm ide...

Page 125: ...PASHQ STA c Show the status of satellites currently locked where c is the optional output port Example Query STA to the current port PASHQ STA Enter The response is a free format table that shows the...

Page 126: ...re x is the optional output port PASHR STB The receiver response message is in the form PASHR STB d1 f1 c1 cc where the parameters are described in Table 6 30 SVP Select Satellite to Use in Position C...

Page 127: ...1 to 32 correspond to GPS satellites and 33 to 56 to GLONASS satellites If fewer than 56 are specified the rest are left as they are Only the characters Y and N are accepted Example Use 1 9 12 13 33 3...

Page 128: ...data time tag dependent upon TSC setting 1 PPS measurement strobe time tag dependent upon TSC setting Photo pulse time tag dependent upon TSC setting PASHQ TSC x The associated query command is PASHQ...

Page 129: ...in the following equation f5 Rotation in x axis rotation is counter clockwise and rotation is clockwise rotation radians 0 0 f6 Rotation in y axis radians 0 0 f7 Rotation in Z axis radians 0 0 f8 Sca...

Page 130: ...response message to the current communication port Example Query datum parameters to port C PASHS UDD c Enter PASHR UDD The response is in the format PASHR UDD d1 d2 f1 f2 f3 f4 f5 f6 f7 f8 where the...

Page 131: ...nd enables s ON or disables s OFF a mechanism that synchronizes measurements and coordinates with GPS system time rather than with local receiver clock This means that the calculated pseudo ranges do...

Page 132: ...114 GG Surveyor GPS GLONASS Reference Manual VDP Vertical Dilution of Precision PASHS VDP d Set value of VDOP mask where d is between 0 99 Default is 4 Example Set VDOP mask to 6 PASHS VDP 6...

Page 133: ...e PASHS RAW command is sent correctly the receiver will respond with PASHR ACK acknowledgment The message will be output to the indicated serial port at the recording interval defined by the PASHS RCI...

Page 134: ...available for example MCA is not available unless the receiver is tracking enough satellites above the elevation mask then the acknowledgment will be the data response message Table 6 33 lists all th...

Page 135: ...outputs one set of MCA measurement data response messages on port x where x is the optional output port PASHR MCA The response is a binary message in the format PASHR MCA measurement structure where...

Page 136: ...surement used to compute position 3 Carrier phase questionable 4 Code phase questionable 5 Code phase integration not stable 6 Not used 7 Possible loss of lock 8 Loss of lock counter reset NOTE More t...

Page 137: ...ase option is installed double 8 Raw_range Raw range to satellite in seconds Computed by formula receiver time transmitted time NOTE If TSC is set to GPS in GLONASS pseudoranges due to 11 sec currentl...

Page 138: ...time a time within a day in all cases This is the time tag for all measurements and position data char sitename 4 Set to user entered string or four question marks if empty double navx 8 Antenna posit...

Page 139: ...Almanac data for all satellites is output once every hour with one satellite output at each recording interval RCI Table 6 36 PASHQ RAW Response Parameters Field Description RCI 020 00 This is the ou...

Page 140: ...mber 7 24 short 2 Satellite health 0 bad 1 good float 4 Eccentricity long 4 Reference day number NA days in range 1 to 1461 float 4 Correction to inclination semicircles float 4 Longitude of first asc...

Page 141: ...port PASHR SAL The response is a binary message in the form PASHR SAL almanac structure where Table 6 38 defines the measurement structure Table 6 38 SAL Almanac Structure Field Bytes Content short p...

Page 142: ...l RCI PASHQ SNG x The associated query command is PASHQ SNG x This command outputs the SNG ephemeris data response message on port x where x is the optional output port PASHR SNG The response is one b...

Page 143: ...wn absent in navigation frame long 4 Ephemeris data reference time within the day expressed in GLONASS system time scale UTC 3 hours seconds float 4 Frequency offset of the on board frequency standard...

Page 144: ...Data PASHS RAW SNV x s Enable disable ephemeris data SNV messages on port x where x is the output port and s is ON or OFF Example Enable SNV on port A PASHS RAW SNV A ON Enter Ephemeris data is outpu...

Page 145: ...erm meters float cuc 4 Harmonic correction term radians float cus 4 Harmonic correction term radians double omega0 8 Longitude of ascending node semicircles double omega 8 Argument of perigee semicirc...

Page 146: ...ved character checksum 2 The checksum is computed by breaking the structure into 65 unsigned shorts adding them together and taking the least significant 16 bits of the result total characters 132 Tab...

Page 147: ...e query will output a NMEA response message only once Set Commands The general structure of the NMEA set commands is PASHS NME str x s Enter where x is the serial port to which response message should...

Page 148: ...the current port Example Query POS message and send the response to port D PASHQ POS D Enter Query GSA message and send the response to the current port PASHQ GSA Enter Response message The response...

Page 149: ...NMEA message type is listed as the description for the set query and response message to each NMEA message are grouped together Table 6 42 GLL Structure Field Description Start of sentence GPGLL GP GP...

Page 150: ...E GXP Enable disable position computation with time of fix information 147 PASHS NME POS Enable disable position message 162 PASHS NME RMC Enable disable declination message RAIM Information PASHS NME...

Page 151: ...n RAIM returns 0 no errors exceed the alarm limit All computed satellite ranges are used in the position velocity calculation Table 6 44 RAIM Response Message Structure Field Description s1 Current RA...

Page 152: ...ata position and velocity does not meet the probability of 0 999 If the value returned is 3 the satellite geometry is poor and detection is unavailable This value is always returned if the number of s...

Page 153: ...degrees minutes and fraction of minutes ddmm mmmmmm 0 to 90 c1 Latitude sector N North S South N or S m3 Longitude component of position in degrees minutes and fraction of minutes dddmm mmmmmm 0 to 1...

Page 154: ...GGA response message structure When no position is available a typical response might look like GPGGA 015454 00 N W 0 2 99 9 M M 6F Table 6 46 Typical GGA Response Message Item Significance GPGGA Head...

Page 155: ...m1 c1 m2 c2 m3 c3 cc Table 6 47 outlines the GLL structure If position is not valid GLL provides time and position flag for example GPGLL 174645 30 V cc Example Query PASHQ GLL B or Set PASHS NME GLL...

Page 156: ...where x is the optional output port This message does not output unless a position is computed Example Output GRS message on port B PASHQ GRS B GPGRS GLGRS The response message for the set and query c...

Page 157: ...e message Table 6 51 outlines a typical GLGRS response message Table 6 49 GRS Structure Field Description m1 Current UTC time hhmmss ss of GGA position fix in hours minutes and seconds hh Hours 00 to...

Page 158: ...Example Output GSA message on port B PASHQ GSA B 00 7 Range residual for fifth GPS satellite 00 8 Range residual for sixth GPS satellite 36 Message checksum in hexadecimal Table 6 51 Typical GLGRS Re...

Page 159: ...satellite PRN displayed in each of the ss fields of the GLGSA message is associated with one of the 12 GLONASS channels in the receiver where the first ss field corresponds to the satellite locked to...

Page 160: ...ite 25 used empty field No locked satellite in this channel or locked satellite not used in position solution empty field No locked satellite in this channel or locked satellite not used in position s...

Page 161: ...SN B 54 Satellite 54 used for position computation empty field No locked satellite in this channel or locked satellite not used empty field No locked satellite in this channel or locked satellite not...

Page 162: ...response message Table 6 55 GSN Structure Field Significance d1 Number of satellites locked number of satellites in message d2 Satellite PRN number 1 to 32 in the GPGSN message 33 to 56 in the GLGSN...

Page 163: ...satellite 999 Termination with no RTCM information 7D Message checksum in hexadecimal Table 6 57 Typical GLGSN Response Message Item Significance GLGSN Header 04 Number of locked satellites 38 ID num...

Page 164: ...d is related to the other fields in the following way RMS value of standard deviation range inputs 2 HDOP 2 standard deviation of latitude error 2 standard deviation of longitude error 2 RMS value of...

Page 165: ...XP The associated query command is PASHQ GXP x where x is the optional output port This message is not output unless position is computed GPGXP The response message for the set and query commands is i...

Page 166: ...t port and s is ON or OFF Table 6 60 GXP Structure Field Description m1 Current UTC time hhmmss ss of position fix in hours minutes and seconds m2 Latitude component of position ddmm mmmmmmm in degree...

Page 167: ...ependent upon the number of locked satellites This response message is in the form PASHR LTN d cc where d in the latency value in milliseconds Example Query PASHQ LTN A or Set PASHS NME LTN A ON Typic...

Page 168: ...ection information for up to 3 GPS GLONASS satellites per transmission Note that for message types 01 and 09 GPS PRN numbers are between 1 and 32 and for message types 31 and 34 GLONASS ID numbers are...

Page 169: ...TCM message 0000 Station ID 2220 0 Z count in seconds and tenths 1 Sequence number 0 Station health 127 Total number of characters of the time item 003702 00 Current time in hours minutes and seconds...

Page 170: ...ructure 0003 56 PRC for SV 02 0 040 RRC for SV 02 120 IODE for SV 02 2 UDRE for SV 02 27 Satellite PRN number 0047 42 PRC for SV 27 0 005 RRC for SV 27 145 IODE for SV 27 7A Message checksum in hexade...

Page 171: ...e 32 f3 metric z distance from geocenter z component of station using WGS 84 in message type 3 and SGS 90 in message type 32 cc Message checksum in hexadecimal Table 6 65 GPMSG Response for RTCM Messa...

Page 172: ...e GPMSG response message for message type 16 Table 6 66 GPMSG Structure for RTCM Message Types 16 and 36 Field Description d1 RTCM type 6 or 16 d2 station identifier 0000 to 1023 f1 Z count in seconds...

Page 173: ...f1 Z count in seconds and tenths 0000 0 to 3600 0 d3 Sequence number 0 to 7 d4 Station health 0 to 7 d5 Total number of characters after the time item 000 to 999 m1 Current UTC time of position comput...

Page 174: ...le 6 69 GPMSG Response for RTCM Message 18 Item Description GPMSG Header 18 RTCM message 0000 Station ID 1747 8 Z count in seconds and tenths 4 Sequence number 0 Station health 170 Total number of cha...

Page 175: ...for this SV and Time Tag 0 Code indicator 0 C A Code 14 GLONASS slot number ID 4 Data quality indicator phase error 0 03933 cycle 01 Cumulative loss of continuity error cycle slips 0383075 2578 Carrie...

Page 176: ...Sequence number 0 to 7 d4 Station health 0 to 7 d5 Total number of characters after the time item 000 to 999 m1 Current UTC time of position computation in hours minutes and seconds s1 GPS GLONASS Co...

Page 177: ...CM Message 19 Item Description GPMSG Header 19 RTCM message 0000 Station ID 1747 8 Z count in seconds and tenths 6 Sequence number 0 Station health 148 Total number of characters of the time item 2029...

Page 178: ...22933427 40 Uncorrected Pseudorange meters 0 Last message for this SV and Time Tag 14 GLONASS slot number ID 14 Data quality indicator 5 409 meters 15 Pseudorange multipath error indicator quantizatio...

Page 179: ...3600 0 d3 Sequence number 0 to 7 d4 Station health 0 to 7 d5 Total number of characters after the time item 000 to 999 m1 current GPS system time of position computation in hours minutes and seconds...

Page 180: ...OS x c Enable disable NMEA position response message on output port x and c is ON or OFF If no position is computed an empty message outputs Example Enable position message on port B PASHS NME POS B O...

Page 181: ...computation 3 to 12 m1 Current UTC time hhmmss of position computation in hours minutes and seconds 00 to 235959 50 m2 Latitude component of position in degrees minutes and fraction of minutes ddmm m...

Page 182: ...6 outlines a typical POS response message f9 TDOP time dilution of precision 0 to 99 9 s1 Firmware version ID 4 character string Table 6 76 Typical POS Response Message Item Description PASHR POS Head...

Page 183: ...m3 c4 m5 c6 f7 f8 d9 f10 c11 cc Table 6 77 outlines the response structure 03 3 VDOP 01 4 TDOP GA00 Version number cc Message checksum in hexadecimal Table 6 77 RMC Response Structure Parameters Desc...

Page 184: ...output in two messages with different headers The first message contains GPS satellite information in the form GPRRE d1 n d2 f1 f2 f3 The second message contains GLONASS satellite information in the f...

Page 185: ...PRRE message and GLONASS satellite ranging from 33 to 56 in the GLRRE message f1 Range residuals magnitude in meters for each satellite used in position computation GPS satellites in message f2 Horizo...

Page 186: ...in meters 0002 0 Horizontal position error in meters 0001 3 Vertical position error in meters 76 Message checksum in hexadecimal Table 6 80 GLRRE Response Message Item Description GLRRE Header 03 Num...

Page 187: ...Number of satellites locked number of satellites in message range 0 24 d2 Satellite PRN number range 1 to 56 1 to 32 for GPS 33 to 56 for GLONASS d3 Satellite azimuth angle 000 to 359 degrees d4 Satel...

Page 188: ...ellite 225 Azimuth of the second satellite in degrees 61 Elevation of the second satellite in degrees 39 Signal strength of the second satellite U Satellite used in position computation 16 PRN number...

Page 189: ...indicator 0 sync between base and remote has not been established or has been lost 1 sync between base and remote has been established 0 or 1 d2 RTCM message type 1 2 3 6 9 16 d3 Reference station ID...

Page 190: ...Course Message PASHS NME VTG x c Enable disable the velocity course message on port x where x is the output port and c is ON or OFF This message is not output unless position is computed Example Enabl...

Page 191: ...ic course over ground 000 00 to 359 99 degrees Output only if magnetic variation option M is installed in receiver M Magnetic course over ground marker M magnetic course f3 Speed over ground 000 to 99...

Page 192: ...ssage is in the form GPZDA m1 d1 d2 d4 d5 Table 6 88 outlines the ZDA structure Example Query PASHQ ZDA A or Set PASHS NME ZDA A ON Typical Response GPZDA 132123 00 10 03 1996 07 00 ss K Kilometers ho...

Page 193: ...able 6 89 outlines the example ZDA response message Table 6 89 Typical ZDA Response Message Item Description GPZDA Message header 123123 00 UTC time 10 Current day 03 Current month 1996 Current year 0...

Page 194: ...al parameters Certain set commands are applicable only to the base station and certain commands only apply to the remote station If the set command is sent correctly the receiver will respond with the...

Page 195: ...Function Command Description Page Base Parameters PASHS RTC BAS Set receiver to operate as differential base station 178 PASHQ RTC M36 Defines RTCM type 36 message 178 PASHS RTC MSG Defines RTCM type...

Page 196: ...SHS RTC M36 This is a test message Enter MAX Set Maximum Age of RTCM Differential Corrections PASHS RTC MAX d Set the maximum age in seconds of an RTCM differential correction above which it will not...

Page 197: ...HS RTC QAF 200 Enter REM Set Receiver as Differential Remote PASHS RTC REM x Set the GG Surveyor to operate as a differential remote station using RTCM format where x is port through which corrections...

Page 198: ...of a bit slippage SETUP MODE OFF Displays differential mode either base BAS remote REM or disabled OFF PORT A Displays port used to send or receive RTCM corrections AUT N Displays auto differential m...

Page 199: ...y other number specifies the number of seconds between transmissions for message types 1 9 31 and 34 and the number of minutes between transmissions for all other messages Default for message types 1...

Page 200: ...he reference station where d is any value between 0 and 7 Used only in BASE mode Default is 0 Table 6 93 lists the codes for the station health Example Set health to Reference station not working PASH...

Page 201: ...type of messages available and the period range setting Table 6 94 Base Station Message Types and Period Ranges Type Range 1 0 99 seconds where 0 is disabled and 99 is generated continuously 2 Delta...

Page 202: ...Surveyor GPS GLONASS Reference Manual Example Enable type 1 sent out every second PASHS RTC TYP 1 1 Enter When the command PASHS RTC BAS is sent message types 1 and 31 are generated continuously by d...

Page 203: ...identifier and x is the parameter to be set If the set command is sent correctly the receiver will respond with the PASHR ACK acknowledgment If a parameter is out of range or the syntax is incorrect...

Page 204: ...0 MAXAGE 30 Table 6 96 outlines the response format Table 6 95 CPD Commands Function Command Description Page General Set Commands PASHS CPD MOD Set CPD mode 195 General Query Commands PASHQ CPD PASHQ...

Page 205: ...ers of the satellites for which corrections are being received by the Rover Rover mode only BASE POSITION Part 1 of this field displays the method from which corrections are being received by the rove...

Page 206: ...SHS CPD ANT f1 f2 f3 m1 f4 Sets the antenna parameters of base receiver from the rover receiver Since this is only valid when using a base position entered at the rover set PASHS CPD UBP 0 before ente...

Page 207: ...eters from the Rover It is in the form PASHR CPD ANT f1 f2 f3 m4 f5 cc where Table 6 99 outlines the response format Table 6 98 CPD ANT Parameter Table Parameter Description Range Units f1 Antenna hei...

Page 208: ...sage is output to the port from which this command was received Example Query the data link status message to port A PASHQ CPD DLK A PASHR CPD DLK This response message is different for base and rover...

Page 209: ...tion no warnings C warning in L1 measurements 1 56 C n a s3 Reserved n a The following message is only available if the receiver is in ROV mode n a s4 Reserved n a d4 BPS message age 999 if no base po...

Page 210: ...ing none Reserved Reserved 053 age of base coordinates reception 100 00 Percentage of good correction message reception 00500 correction message age in millisecond Data is in the communication port 37...

Page 211: ...updates plus a delta Accuracy is higher typically about 1 cm horizontal 95 i e 2RMS confidence accuracy Example Turn fast CPD OFF PASHS CPD FST OFF Enter INF CPD Information PASHQ CPD INF c This comma...

Page 212: ...Range Units s1 CPD mode OFF BAS ROV d1 Number of satellites in base station This determines how many fields to be followed 0 24 n Number of satellites in the base receiver d2 Satellite PRN for the sat...

Page 213: ...t This message contains information about current CPD mode If the port is not specified the message is output to the port from which this command was received Example Query the receiver for CPD mode i...

Page 214: ...position A base position MUST be entered before UBP can be used d2 Reserved n a s3 Correction type RTC s4 Reserved n a f2 Reserved n a s5 Which base position to use entered received ETD XIT d3 Reserve...

Page 215: ...sition from the rover receiver PASHQ CPD POS PASHR CPD POS 3722 2432438 N 12350 5438423 W 34 5672 53 If UBP is 0 the returned position will be the base station position entered at the rover If UBP is...

Page 216: ...l base station antenna parameters POS and ANT at the rover using PASHS CPD POS and PASHS CPD ANT If UBP is entered without prior entering of CPD POS information the receiver will return NAK message A...

Page 217: ...lability of a valid and accurate GPS position fix depends strongly on the visibility of enough satellites A GPS receiver needs to see at least four satellites to calculate latitude longitude and altit...

Page 218: ...S Figure A 1 Basic Concepts GPS and GLONASS both work on the principle of triangulation if you know your distance from several known points then you can compute your position The known points for both...

Page 219: ...ite takes the slot number it occupies Differences in Implementation The major difference in implementation between GPS and GLONASS is that GPS has SA on both C A and P codes The codes are deliberately...

Page 220: ...sion almanac they tell the receiver precisely where the satellite is Each satellite both GPS and GLONASS transmits its own ephemerides The GPS satellites provide their positions in terms of the WGS 84...

Page 221: ...RMS In arctic and antarctic regions deviations from model values are frequent and persistent Comparison of GPS and GLONASS Table A 1 compares the operating characteristics of GPS and GLONASS Table A...

Page 222: ...ully for GPS applications These are RTCM Radio Technical Commission for Maritime Services standard for differential corrections NMEA National Marine Electronics Association standard for reporting posi...

Page 223: ...station and a rover NMEA 0183 The National Marine Electronics Association Standard NMEA 0183 defines interfacing standards for marine electronic devices The following messages apply specifically to G...

Page 224: ...s shut down or jammed or if satellites become unhealthy generating incorrect data the GG Surveyor automatically uses the satellites which are operating correctly based on the signal to noise ratio Tab...

Page 225: ...acy improves as GLONASS satellites are added to a mixed system The attained accuracy is proportional to the number of healthy GLONASS satellites above the elevation mask When the number of healthy GLO...

Page 226: ...ASS clock error fixed the GG Surveyor calculates a 3D position with any combination of 4 satellites e g 2 GPS and 2 GLONASS By holding the altitude fixed the GG Surveyor calculates a 2D position with...

Page 227: ...ustralia Tasmania Island AUG Australian National 134 48 149 Australian Geodetic Datum 1984 Australia Tasmania Island BOO International 1924 307 304 318 Bogota Observatory Columbia BUK Bessel 1841 384...

Page 228: ...1 50 Gandajika Base Rep of Maldives GEO International 1924 84 22 209 Geodetic Datum 1949 New Zealand GUA Clarke 1866 100 248 259 Guam 1963 Guam Island HAW International 1924 89 279 183 Hawaiian Hawaii...

Page 229: ...N American CONUS 1927 North America NAD Clarke 1880 5 135 172 N American Alaska 1927 Alaska NAE Clarke 1880 10 158 187 N American Canada 1927 Canada incl Newfoundland Island NAH Clarke 1880 231 196 48...

Page 230: ...g Segara Kalimantan Indo nesia SRD International 1924 225 65 9 Rome 1940 Sardinia Island TAN International 1924 189 242 91 Tanarive Observatory 1925 Mada gascar TIL Everest 689 691 46 Timbalai 1948 Br...

Page 231: ...4 9786982 0 00339007530409 Clarke 1880 6378249 145 293 465 0 00340756137870 Earth 90 6378136 0 298 257839303 0 00335280374301 Everest india 1830 6377276 345 300 8017 0 00332444929666 Everest W Malaysi...

Page 232: ...B 6 GG Surveyor GPS GLONASS Reference Manual...

Page 233: ...n as good as the best known techniques but without the need for banks of correlators closely associated with high quality multipath mitigation techniques A detailed description of Edge and Strobe Corr...

Page 234: ...bably the best cure for close in multipath Correlator based multipath techniques as shown in Figure C 1 are all bad at rejecting very close in multipath mitigation Very close in multipath causes only...

Page 235: ...lot of far multipath Strobe Correlation will be as good as or better than a choke ring The bottom line on multipath mitigation is that the errors or lack or errors are seen in the position accuracy T...

Page 236: ...C 4 GG Surveyor GPS GLONASS Reference Manual...

Page 237: ...value The exponent field of the number contains a biased form of the exponent The bias is subtracted from the exponent field to get the actual exponent This allows both positive and negative exponent...

Page 238: ...ge 1 18 10 38 to 3 4 10 38 decimal as presented in Table D 1 In Table D 1 the value 1 0 is calculated as shown below 1 The sign of the value is positive because the sign bit field is equal to 0 2 The...

Page 239: ...ining a sign bit field an 11 bit biased exponent field and a 52 bit fraction field The exponent has a bias of 3FF hexadecimal The fraction field is precise to 15 decimal digits The double precision fo...

Page 240: ...low 1 The sign of the value is positive because the sign bit field is equal to 0 2 The exponent field is equal to 3FE hexadecimal The exponent is calculated by subtracting the bias value 3FF from the...

Page 241: ...g them Ashtech customer support Sunnyvale California USA 800 Number 1 800 229 2400 Local Voice Line 408 524 1680 Fax Line 408 524 1500 Email support ashtech com Ashtech Europe Ltd Oxfordshire UK TEL 4...

Page 242: ...lease ensure the following information is available Table E 1 GPS Product Information Information Category Your actual numbers Receiver model Receiver serial Software version Software key serial Firmw...

Page 243: ...he GPS satellites get NANUS Notices Advisory to Navstar Users and look at solar and geomagnetic data from SESC Space Environment Services Center in Boulder Colorado On occasion the BBS has been used t...

Page 244: ...YMODEM Also known as YMODEM Batch passes filename and size eliminating rounding problems Capable of multiple file transfer batch YMODEM G Fast protocol for use only with error free data links Not reco...

Page 245: ...ntact your local Ashtech dealer The Ashtech WWW pages contains information on course dates costs and content Repair Centers In addition to repair centers in California and England authorized distribut...

Page 246: ...E 6 GG Surveyor GPS GLONASS Reference Manual...

Page 247: ...GRS 138 PASHQ GSA 140 PASHQ GSN 143 PASHQ GXP 147 PASHQ INF 87 PASHQ ION 89 PASHQ LPS 91 PASHQ LTN 149 PASHQ MCA 117 PASHQ MRX 93 PASHQ MSG x 149 PASHQ PAR 23 94 PASHQ PBN 119 PASHQ PHE 96 PASHQ POS...

Page 248: ...T 75 PASHS ANT 75 PASHS ANT f1 f2 f3 m1 x1 75 PASHS CLM 77 PASHS CPD AFP 188 PASHS CPD ANT 188 PASHS CPD FST 193 PASHS CPD MAX 194 PASHS CPD MOD 195 PASHS CPD POS 196 PASHS CPD RST 197 PASHS CPD UBP 1...

Page 249: ...81 PASHS RTC SPD 182 PASHS RTC STH 182 PASHS RTC STI 183 PASHS RTC TYP 183 PASHS SAV 105 PASHS SIT 105 PASHS SMI 105 PASHS SNR 106 PASHS SPD 107 PASHS STB 107 PASHS SVP 108 PASHS SVS 109 PASHS SYS 109...

Page 250: ...emory 77 CLK 76 CLM 77 clock correction 123 clock errors A 2 Clock Status 76 close or delete file 82 code measurement smoothing 105 combined differential and RTK base station setup 47 communication li...

Page 251: ...Multiple Access A 3 FIL 82 firmware version 103 104 FIX 83 fixed altitude 86 float Mode 62 fraction field D 1 FSS 84 FST 193 G geodetic data 104 geodetic datum A 6 geoid height 6 geoidal separation 13...

Page 252: ...message 137 LI frequency A 3 LI frequency band A 3 limtations A 1 LNA 11 local receiver clock 113 local time zone 92 Loop 91 loop tracking 91 loop tracking parameters 91 LPS 91 LTN 148 LTZ 92 M magne...

Page 253: ...zontal message 147 position latency 59 position message 162 position mode 30 97 position update rate 5 POW 98 power input output connector 9 PPO 100 PPR 100 PPS 100 precision estimate position GST 145...

Page 254: ...message 178 RTK dase station setup 46 RTK remote station setup 54 S SA 100 SAG 121 SAL 123 SAT 168 Satellite clock A 2 constellation A 2 residual and position error 166 satellite residual and position...

Page 255: ...e 143 signal to noise ratio 37 signal to noise ratio 106 single precision format D 2 SIT 105 six of eight format 67 SMA connector 11 SMI 105 SMV 106 SNG 124 SNR 106 SNV 126 SPD 107 182 speed filtering...

Page 256: ...defined datum 40 user parameters 105 user range accuracy URA 127 USP 113 UTC 80 125 A 6 time 174 UTC SU time 31 UTC time 135 UTC GPS time difference 80 V VDOP 30 114 163 VDP 114 Velocity message 172 v...

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