Raven RGL 600 User Manual Download

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RGL 600

SMARTBAR

SWATH PATH GUIDANCE SYSTEM

OPERATION MANUAL

Summary of Contents for RGL 600

Page 1: ...RGL 600 SMARTBAR SWATH PATH GUIDANCE SYSTEM OPERATION MANUAL ...

Page 2: ...Use with firmware version ____ ...

Page 3: ...This equipment has been tested and found to comply with the limits for a Class B digital device pursuant to Part 15 of the FCC Rules These limits are designed to provide reasonable protection against harmful interference in a residential installation This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instructions may cause harm...

Page 4: ...to his distributor or to Raven for final approval WHAT WILL RAVEN INDUSTRIES DO When our inspection proves the warranty claim we will at our option repair or replace the defective part and pay for return freight WHAT DOES THIS WARRANTY NOT COVER Raven Industries will not assume any expense or liability for repairs made outside our plant without written consent We are not responsible for damage to ...

Page 5: ... DIVISION 205 East Sixth Street P O Box 5107 Sioux Falls South Dakota 57117 5107 E mail fcdinfo ravenind com www ravenprecision com Toll free 800 243 5435 Fax 605 331 0426 RGL 600 Smartbar Operation Manual 016 0159 936 Rev a 10 03 ...

Page 6: ...ity 20 ANG Angle Indicators 20 HDL Headlands Mode 21 ATO Along Track Offset Distance 21 XTO Cross Track Offset Distance 21 SYS System Configuration includes BAUD rate 22 BPS BAUD Rate Setting 22 UTS Feet Feet Fine or Metric Units 22 MSG Outgoing Transmit Message Control 22 TAP Tape Measurement Control 22 DSP Display Settings 22 GPS GPS Settings 23 DSP Display Settings 23 GPS Optional DGPS Status C...

Page 7: ...uration Setting 45 Configuration Steps for Contour Swathing 46 Using Contour Swathing 47 SEED SWATHING 48 RACETRACK SWATHING 49 SQUEEZE SWATHING 50 ONE BUTTON SWATHING 51 SMARTBAR TILT UPGRADE OPTION 52 Tilt Sensor Upgrade Option Installation 52 IAS Configuration 53 TLT Tilt Control Mode 53 AHT Antenna Height 54 ANG Tilt Angle Readout and Calibration 54 SWATH CALIBRATION 55 SPECIAL OFFSET AND ANGL...

Page 8: ... the machine s swath alignment Smartbar features include Remote button box provides operator control and selection of the Smartbar options Bright LED s ensure easy viewing even in direct sunlight Housing designed to operate outdoors in all weather conditions Data displayed on Smartbar includes DGPS receiver status display Swath Guidance Indication Ground Speed Course Over Ground User configurable ...

Page 9: ...e top and bottom LED s are on it is okay to spray The top and bottom LED s are described in Saving Your Present Position and Headlands E Right Offset distance error turn right to correct 8 horizontal bright red LED s G Right alphanumeric display showing offset distance 3 bright red digits characters The left digit shown displays a General Direction to Target Indicator The display shown is pointing...

Page 10: ...ng the MENU button displays main menu and sub menu items in sequence When showing a main menu i e it has a sub menu under it pressing the DOWN button will display the first item in that sub menu Then pressing the MENU button displays this sub menu s items in sequence Pressing the MENU button at the last sub menu item displays this sub menu s main menu item again The DOWN button may now be pressed ...

Page 11: ...ceiver to output only GPRMC messages Note that your GPS receiver documentation may drop GP from the message names and refer to them as GGA VTG and RMC Set the GPS receiver communications BAUD rate and message output rate as high as possible The Smartbar works with standard BAUD rates from 4800 to 38400 and message output rates up to 10 position solutions per second hertz The Smartbar responds best...

Page 12: ...play large numeric values The following notations are used for menu navigation diagrams SWA SWT SWA SWT main menu item Left alphanumeric display shows SWA sub menu item Left alphanumeric display shows SWT At the Swath SWA main menu press the DOWN button to move to the Swath Type SWT sub menu Execute an action For this example Set the Tape Reference Point Set Tape Refernce point MENU Button pressed...

Page 13: ...onfiguration Mode Or press the MENU button to return to the RGL 600 screen For more details see the section Entering and Leaving the Configuration Mode There are four different sets of Menu Navigation Diagrams in this section Basic Swathing w Direction set to Auto Back and Forth Swathing after A B line and direction are setup Combined Headlands Separate Headlands with Tape Measure There are five a...

Page 14: ...et the A Mark Hold 3 sec to CFG Firmware Version 2 8 SELECT increases brightness DOWN decreases brightness A B Line Setup Press SELECT to mark A Turn toward Swath 2 Direction will set Automatically Display Brightness Adjust Screen Turn Left or Right toward field To mark Temp B Press SELECT to mark B Down for temp B SELECT increases Swath Width DOWN decreases Swath Width Hold 3 sec to CFG Firmware ...

Page 15: ...ved Skipped if no Position is Saved Swath Number Clear ALL Clear Saved Position RGL 600 from Menu Navigation Diagram 1 We are 4 feet left of Swath 2 pointing 4 to the right Main Screen RGL 600 Swath Navigation Swath number is Displayed SELECT advances DOWN decrements swath press SELECT to Save current position SELECT Clears A B marks and Saved Position SELECT Clears Saved Position A B instead of A...

Page 16: ...tness Decrease Brightness Main Screen Swath Navigation Area defined by marked Headlands is 2 45 acres We are 8 feet right of Swath 2 and pointing 11 left of it SELECT advances DOWN decrements swath Drive and press Select to mark Headland points 03 07 SELECT Saves Current Position SELECT Clears ABC HDL and Saved Position SELECT Clears Saved Position only if there is a Saved Position Save Current Po...

Page 17: ... A B Clear Saved Position CLR ALL CLR HDL BRT We are 2 feet right and parallel to the swath line Approaching Headlands Main Screen Swath Navigation Headland boundary is 12 ft ahead SELECT advances DOWN decrements swath press SELECT to Save current position SELECT clears A B HDL and Saved Position SELECT clears Saved Position only if there is a Saved Position Save Current Position SELECT clears HDL...

Page 18: ...he MENU button may be released Press the SELECT button to enter the Configuration Mode or press the MENU button to return to the RGL 600 main screen The Configuration Mode GPS main menu is displayed first as shown here Return to the Operational Mode from any Configuration Mode menu by pressing and holding the MENU button for approximately 3 seconds When the TO OPR screen shows see below the MENU b...

Page 19: ...ew the first main menu GPS The SELECT button is not funtional for Configuration Mode main menus Press the DOWN button to go down from a main menu into its sub menus Then press the MENU button to go through the sub menus After the MENU button has been pressed for all of the sub menus the same main menu is displayed again This provides a quick return to a sub menu that may have been passed unintenti...

Page 20: ...CT Vectors GUP Guidance Updates PLT Plot Messages MRK Manual Marks OFF ON SEC OFF ON OFF ON OFF ON OFF ON SEC OFF ON OFF ON DIA Diagnostics IAS Inertial Augmentation System AHT Antenna Height ANG Angle degrees Calibrate Tilt Sensor 1 0 40 0 ft 0 10 9 99 mt 180 to 0 to 179 OFF SLO NRM FST if MSG ON if DSP CFG if Tilt Sensor Option is installed skipped if SWT ROW PVT CON SQ RT if SWT CON if SWT PVT ...

Page 21: ...he GPS Main Menu will display the following screens SNO Receiver Serial display only VER Receiver Firmware display only WAS Waas Satellite PRN allows setting PRN on RPR 110W and RPR 115 Invicta Receivers Press SELECT button SET PRN screen will be displayed Press SELECT button to select PRN s between 120 to 138 or OFF Press MENU to send changes to Invicta Receiver TRK Tracking Status SYN Synchroniz...

Page 22: ...GPS Satellites being used HDOP Accuracy should be less than 2 1 or bottom 2 GPS Status LED s come ON Differential Age of Data is 3 seconds Speed Over Ground Meters Km Hr English Statute miles Hr Course Over Ground in degrees When using a Raven receiver and SYS GPS is set to INV the GPS Main Menu will display the following screens OR Receiver Serial Receiver Firmware WAAS PRN Allows setting PRN on ...

Page 23: ... applications RT Racetrack pattern A special swath number sequence is used for aviation crop applications ONE One button swathing One button setting is the same as Snap To Swath operation with no need to set point A and B PMR Pivot Minimum Radius This configuration setting will only be present if SWT PVT Pivot Swathing The PMR setting controls the smallest circle to be sprayed Press SELECT button ...

Page 24: ...lt is AUT and should be used in most applications to eliminate a button press after marking the A B line The Swath Direction determines on which side of the A B line swath numbers are positive Generally this is the direction you will work the field When DIR is set to AUT the Swath Direction is set automatically as the machine turns past 75 degrees from the Course Over Ground COG when the B point w...

Page 25: ...g Offset LED s illuminate indicating which Offset value is displayed When Enable Scales Display is ON only the SELECT button may be used for selecting Swath Scales This is be cause the DOWN button is used to display the Scale settings ANG Angle Indicators Press SELECT button to turn Angle Indicator LEDs OFF ON or FIN The angle LED s indicate the difference between your Course Over Ground COG and t...

Page 26: ...set distance XTO Cross Track Offset distance The Cross Track Offset distance adjusts the antenna position across the direction of machine movement COG This adjustment moves the DGPS antenna position rela tive to the desired Cross Track guidance point Positive settings move the antenna to the right of the guidance point for example XTO set to 2 ft aligns the guidance point with the boom center if t...

Page 27: ... Offset ATO and Cross Track Offset XTO distances are set to 0 If the new UTS setting is MT Swath Width SWW is set to 18 3 meters 183 decimeters If the new UTS setting is FT or FTF SWW is set to 60 feet MSG Outgoing Transmit Message Control Press SELECT button to turn outgoing Messages ON or OFF For operation without data logging or other ancillary Light Bar Data monitoring equipment Messages shoul...

Page 28: ... Press SELECT button to set DSP GUI to NRM or OVR Normal or Overlay The default DSP GUI setting is NRM Swath offset error distance is shown in the right hand Smartbar alphanumeric display If the offset error distance display uses less than two digits a General Direction to Target Indicator digit is shown in the third digit This indicator points toward the guidance target See the section General Di...

Page 29: ...e headland area into the field This happens after making an end of row turn and requires the spray control to be turned ON by the operator at the headland boundary The Headland Approach Display indicates distance to the headland boundary as the machine is approaching it This is an aid to help the operator control the spray at the proper point The Headland Approach Display is shown to the operator ...

Page 30: ... the Config uration Menu under SWA Swath LSC Limit Swath Cal Press SELECT button to set Settings LSC Limit Swath Calibration to ON or OFF The default setting is ON When LSC ON is selected the Swath Calibration is limited to 1 4 of the current swath width setting When LSC OFF is selected the Swath Calibration limit is bypassed See the section Swath Calibration for more details IAS Inertial Augmenta...

Page 31: ...SELECT button to reset all Smartbar configuration settings to default values When the SELECT button is pressed the Smartbar will restart to the home screen with default values for all configuration settings SER NUM Smartbar 6 digit Unit Serial Number This Serial Number matches the Model Serial Number tag on the back of your Smartbar It is important to supply this Serial Number when requesting prod...

Page 32: ...set distance LED s are all off when you are on swath and come on sequentially as you leave the swath The offset angle LED s are all off when you are parallel to the current swath and come on sequentially as your angle to the current swath increases IMPORTANT When traveling perpendicular to the current swath line the direction you should turn to correct is indeterminate If the current Course Over G...

Page 33: ...hat must be parallel to the remaining swath paths Ensure that no alarms are present while setting the A and B marks Snap to Swath Swathing SNP When using SNP the Smartbar will find the swath nearest to the current position and set the swath number accordingly Swath lines are numbered as in BF swath type The SELECT UP button and DOWN button do not control the swath number as in Back and Forth Swath...

Page 34: ...can also select a lower numbered swath by using the DOWN button With the SNP swath type selected the swath number is automatically advanced or decreased as you become closer to a given swath than any other swath 7 The red offset distance LED s indicate the direction you must steer to reach the swath number you have selected Simply steer in the direction of the LED s That is if the LED s to the rig...

Page 35: ... steering LED s change rapidly This is because the GPS antenna is moving from side to side and with 10 updates per second the receiver sees this as a change in position This problem shows up more at lower speeds For better accuracy do not chase the LED s but try to center them across the display Clearing the A B line From the CLR A B menu screen press the SELECT button to clear the A B line You wi...

Page 36: ...hts will FLASH ALTERNATELY until you exit the Leave Zone The Save Lights will FLASH TOGETHER after you have left the Leave Zone The Save Lights will GO OUT when you enter the Approach Zone indicating a correct approach direction i e You are going in the same direction The Save Lights will come ON STEADY when you reach the Arrive Zone The Smartbar is then ready to continue swathing When returning t...

Page 37: ...m adjustments You can select either of three headland modes Separate SEP Combined CMB or Double Headlands C pattern DHC When using the Separate Headlands mode mark the A B line and direction separately from the headland points When using the Combined Headlands mode the first few headland points and the A B line are marked together i e when A is marked H01 is automatically marked Combined has the a...

Page 38: ... is identified by a decimal point in the first display place If you are using metric units ACR is replaced by HET for Hectares 6 Press the MENU button to go mark the A B line and direction if you haven t already done so 7 As you drive each of swaths S1 through S4 the top and bottom Guidance Status LED s will be on when you are not in the headlands area and will be off when you are in the headlands...

Page 39: ...diagrams were used to establish guide lines for new headland segments when the direction changes You can store up to 100 headlands points 7 Press the DOWN button to complete headlands This will cause the total acres in cluding headlands to be displayed on the ACR screen The ACR screen will show whole acres and fractional acres alternately see Separate Headlands Operation step 5 8 Press the MENU bu...

Page 40: ...n so long as the general shape of the letter C is formed Guidance along the inside of DH1 2 and DH3 4 includes ON OFF indicators similar to headland con trols on the center top and bottom RGL 600 green LED s These indicators direct the opera tor to turn the applicator ON or OFF so that the headland swath which is inside of DH1 2 can be the same length and alignment as the DH1 2 line if desired The...

Page 41: ...SET DH1 4 Press the SELECT button to set the DH1 mark Drive along the intended DH1 2 line segment with the applicator ON The display will indicate SET DH2 Press the DOWN button for straight line guidance as required This is called a temp DH2 5 At the end of the DH1 2 line press the SELECT button and turn the applicator OFF The display will read AUT DIR or SET DIR depending on the direction config ...

Page 42: ... 4 inside headland area Turn the applicator ON as required when entering the field Notice the top and bottom green LED s will turn ON when the machine passes the DH4 point 12 Drive along the DH3 4 inside headland path When the machine is aligned with the end of the DH3 4 line the center top and bottom LED s will go OFF This completes the A B line and headlands marking 13 Press the SELECT button to...

Page 43: ...The Headland Approach Display shows the distance to the headland boundary instead of the swath number This prompts the operator to prepare to turn the applicator ON The center top and bottom green LED s will both go ON when the operator crosses the boundary into the parallel swath area When the operator is approaching an upcoming headland area the center top green LED will flash center bottom gree...

Page 44: ...ing outward from the center To determine the center the operator marks points while driving any circular swath These points mark the Pivot Refer ence Circle The Pivot Minimum Radius SWA PMR is a configuration distance used only by the Pivot Pattern The Pivot Reference Circle the Swath Width SWW and PMR determine the position of circular swath 1 Subsequent swaths are numbered outward from swath 1 a...

Page 45: ... DOWN button to accept the current Pivot Reference Circle At this time the resultant circular swath number is displayed along with circular guidance The operator finishes the initial swath and then traverses the field in any order similar to the Snap To Swath procedure in parallel swathing Care should be taken not to re spray the swath number that is the Pivot Reference Circle Note the swath cover...

Page 46: ...marking points while driving around the Pivot Reference Circle There must be at least 17 feet 5 meters distance and 12o change in COG between each pivot reference point When the guidance indicators match the path you are driving the center and radius have been accu rately determined Press the DOWN button to complete the Pivot Reference Circle marking phase After the Pivot Reference Circle is marke...

Page 47: ...o best suite the particular field and equipment Offset and angle indicators are much like they are for parallel swathing When using the pivot pattern a new location on the current circular swath is continously calculated Offset error indicates distance from the target circumference Angle error indicates variance from a line tangent to the circular swath at the current position Saving and Returning...

Page 48: ...ary purpose of Row Swathing is to aid in locating the target row when turning Row Swathing does not require the rows to be straight As the operator is driving along each swath guidance is given toward a straight path based on the path just behind the current position The operator will be using the row as a primary path Smartbar guidance will aid in following these row patterns Note When using Row ...

Page 49: ...swath Other parallel swathing can be referred to as absolute swathing This is because each swath is an absolute distance swath number multiplied times the swath width from the A B reference line To provide Contour Swathing guidance the Smartbar memorizes each swath path as the operator is driving To simplify the progress through the field each memorized swath is separate from the other swaths See ...

Page 50: ...us swath end mark position of DOWN button press and one swath width away the beginning of the next swath is automatically marked If the field shape is such that the next swath should begin before alignment to the end of the previous swath the operator can press the SELECT button to mark the next swath s beginning early When the Contour Control is set to the zero button mode DSP CON 0BT no button p...

Page 51: ...ale SCL and Angle display ANG as for parallel swathing to control guidance indication displays The Headlands Type HDL is not used for the Contour Swath ing Set Along Track antenna Offset ATO and Across Track Antenna Offset XTO as for parallel swathing Contour Control DSP CON is set to two button 2BT by default To use one button 1BT or no button 0BT Contour Control first navigate to the System SYS ...

Page 52: ... button to begin re cording swath 2 4 After the turn press the SELECT button at the front of swath 2 and follow guidance indicated that is one swath width away from swath one During this time the swath 2 pattern is being recorded and stored The right display shows offset error as for paral lel swathing Press and hold the MENU button to see the percent of available contour storage on the right disp...

Page 53: ...ht line defined by marks A and B must be parallel to the remaining swaths Make sure the GPS antenna has a good view of the sky and the Smartbar shows NO alarm conditions If DIR is set to Automatic AUT the Direction is set automatically when the machine turns past 75o alignment to the A B line If DIR is set to Manual MAN press the SELECT button after marking B and turning to set the direction The S...

Page 54: ... Swath 6 Swath 7 Swath 8 Swath 9 Swath 10 Swath 11 Swath 12 Swath 13 Swath 14 Swath 15 Swath 16 C press SELECT button to Mark the C point Steps used to cover a field using the Racetrack Swathing pattern 1 Mark A and B points by pressing the SELECT button while spraying the first swath 2 Go to the last swath of the field and Mark C by pressing the SELECT button 3 Press the SELECT button when exitin...

Page 55: ... press SELECT button to Mark the C point SQUEEZE SWATHING Squeeze Swathing is a special swath pattern used by aviators when crop dusting Steps used to cover a field using the Squeeze Swathing pattern 1 Mark A and B points by pressing the SELECT button while spraying the first swath 2 Go to the last swath of the field and Mark C by pressing the SELECT button 3 Press the SELECT button when exiting t...

Page 56: ...uidance and offset indicators are shown immediately with ONE showing in the left alphanumeric display 2 Continue driving the reference swath If offset erros are showing press the SELECT button to reset the End mark 3 At the end of the reference swath turn toward the second swath and continue Snap To Swath The swath number now shows in the left alphanumeric display 4 To calibrate the reference swat...

Page 57: ...000000000000000 000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000...

Page 58: ...s degrees indication 179 to 0 to 180 left level right OFF SLO NRM FST or VFS TLT Tilt Mode Inertial Augmentation System Configuration Menu press MENU Button press DOWN Button press SELECT Button Automatic no button press Tilt Control Mode Description Function OFF Off Smartbar tilt sensors have no effect on swath guidance SLO Slow The tilt angle filter has the greatest effect The effective tilt ang...

Page 59: ...Height by 0 1 feet or by 0 01 meter ANG Tilt Angle Readout and Calibration The measure tilt angle is displayed as 179 degrees tilted to the left to 180 degrees tilted to the right 0 degrees is displayed when level The tilt sensors must be cali brated after installation any time the Smartbar firmware is updated To calibrate the tilt sensors 1 Stop the applicator machine on known level ground 2 Pres...

Page 60: ...libra tion is limited to 1 4 of the current swath width setting When LSC Off the Swath Calibration limit is bypassed SPECIAL OFFSET AND ANGLE DISPLAYS Special offset and angle LED display patterns indicate that the Smartbar is nearly perpendicu lar to swath line This display pattern will usually be seen only when turning from one swath to another or when leaving and returning from a Saved Position...

Page 61: ...h the machine operator can use these special angle and offset distance displays to determine the approximate location and orientation of the previous and or next swath line This aids in smoothly setting up for alignment at the beginning the new swath When returning from a Saved Position and driving down the side of the field two elements of the along track offset pattern will begin to move toward ...

Page 62: ...ow 10 angle to Swath 3 5 70 11 110 Special Display Region 9 95 6 80 7 85 8 90 10 100 Past half way to Swath 4 SNP switches to Swath 4 5 70 12 135 13 170 14 180 Angle LED s show 10 angle to swath 4 prepare to turn spray nozzles On Turn spray nozzles On and continue on straight line of swath 4 11 110 Entering Special Display Area Leaving Special Display Area An Ideal Turn UTS FT SWT SNP SWW 100ft SC...

Page 63: ... mode At least four 4 usable satellites five 5 or more is preferable must be commun icating with the receiver along with a valid correction signal in order to operate in 3 dimensional DGPS mode Accuracy The Horizontal Dilution of Precision HDOP is greater than two 2 0 HDOP is a fancy term for approximating the error in your position solution caused by poor satellite geometry Simply stated it usual...

Page 64: ...ed LED s are sequencing then GPGGA messages are being received The GPGGA message contains position and GPS status information If the right red LED s are sequencing then GPVTG messages are being received The GPVTG message contains course and speed information If the Smartbar is receiving GPRMC messages the left and right LED s will sequence The GPRMC message contains position GPS status course and ...

Page 65: ...ver You can set the BAUD rate to AUT which causes the Smartbar to automatically synchronize its BAUD rate with the BAUD rate of the GPS receiver 4 If using a Raven receiver the RGL 600 may be used to auto configure the receiver In the SYS configuration menu set GPS to INV Erratic Swathing Patterns Make sure the straight line formed by the A and B marks is parallel to your desired swath paths Ensur...

Page 66: ...61 RGL 600 MAIN UNIT CONNECTOR CABLE OPTIONS ...

Page 67: ...to the wired version refer to page 5 of this manual however no additional cables are necessary for operation This product has been tested to comply with FCC Standards The EUT has been evaluated and found compliant with the requirements as set forth in CFR 47 sections 15 203 15 205 15 209 and 15 231 NOTICE Any changes or modifications not expressly approved by Raven Industries would voil authority ...

Page 68: ...63 CABLE WIRING DIAGRAMS ...

Page 69: ...64 CABLE WIRING DIAGRAMS continued ...

Page 70: ...65 CABLE WIRING DIAGRAMS continued ...

Page 71: ...IFICATIONS Specification Description Voltage 10 32 VDC Current 650 milli amps at max brightness 100 milli amps at min brightness 12 VDC Weight 4 5 lbs Environmental 40 degrees to 70 degrees C Humidity 95 non condensing ...

Page 72: ... the right Two angle LED s showing on the right side indicate a 3o correc tion is needed to the right Using this method an operator can drive a very straight line that has minimal offset error from the swath line In the diagram shown to the left the machine is 2 feet right of the swath line and has the same angle alignment as previously The two offset LED s on the left are telling the operator to ...

Page 73: ...ARROW enter key again to make your selection final To configure the NMEA message output for use with the RGL600 lightbar press the DOWN ARROW once to move from the Baud Rate menu screen to the MSGOUTPUT menu screen for the chosen port A or B Press the RIGHTARROW key once to enter the message type selection screen Press the UP or DOWN ARROW key until GGA is displayed at the message type Press the L...

Page 74: ...t developed it still can exhibit significant errors GPS receivers determine position by calculating the time it takes for the radio signals transmitted from each satellite to reach earth It s that old Distance Rate x Time equation Radio waves travel at the speed of light Rate Time is determined and the fact that the satellite s position is reported in each coded navigation message by using a littl...

Page 75: ...or data for each tracked satellite is formatted into a correction message and transmitted to GPS users The correction message format follows the standard established by the Radio Technical Commission for Maritime Services Special Committee 104 RTCM SC104 These differential corrections are then applied to the GPS calculations thus re moving most of the satellite signal error and improving accuracy ...

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