Configuration
DELTAD Systems Configuration
How to Work with DELTAD-G2/G2D
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set,pos/pd/hd/len/,<value>
sets the known distance between antennas ‘a’ and ‘b’ to <value> in meters.
set,pos/pd/hd/uselen,on
says the unit to use the known distance between antennae. If this set to off, the heading
engine can estimate this value itself. To let the unit to estimate the distance between anten-
nas use the command
set,pos/pd/hd/tune,on
The number of epochs used for averaging the distance is set by the setting
set,pos/pd/hd/naver,<N>
where <N> means number of measurements collected in the ‘fixed’ mode, default value is
60.
2. Setting of the differentially corrected setup. In addition to the listed above commands the
input mode of one of the ports must be set. For example, if CMR corrections are received
through the serial port ‘c’, the setting
set,dev/ser/c/imode,cmr
Angle messages
The heading angle is available in the NMEA string message HDT which is activated by the
command em,,nmea/HDT.
The heading and pitch angles are available in the NMEA string message PTPSR,ATT from the
rover which is activated by the command em,,nmea/P_ATT. It contains not only time, heading,
and pitch, but also the solution status for the between antennas base line. The format of the
message is: $PTPSR,ATT,%C,%6.2F,%.3F, %.3F,%C*%2X where fields mean:
- UTC time indicator, V means valid, N means that UTC time is not valid,
- UTC time,
- True heading [deg],
- Pitch [deg],
- Base line solution status: R for fixed, F for float, empty field means ‘not available’,
- Check sum.
Example:
$PTPSR,ATT,V,173311.00,284.548,0.240,R*39
