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SEPTENTRIO PolaRx5TR, Reference Manual

Introducing the SEPTENTRIO PolaRx5TR - a groundbreaking positioning and navigation system. Ensure a smooth setup and optimal performance with our Quick Start Manual. Experience seamless product integration and unlock its full potential by accessing the detailed manual available for free download on manualshive.com.

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3 Command Line Reference

ssbc

gsbc

setSBASCorrections

getSBASCorrections

Satellite

SISMode

NavMode

DO229Version

auto

EGNOS

WAAS

MSAS

GAGAN

SDCM

S120 ... S158

Test

Operational

EnRoute

PrecApp

MixedSystems

auto

DO229C

RxControl: Navigation > Positioning Mode > SBAS Corrections

Use these commands to define/inquire the details on the usage of SBAS data in the PVT
computation. This command does not define whether SBAS corrections are to be used or not
in the PVT (this is done by the

setPVTMode

command), but it specifies how these corrections

should be used.

The

Satellite

argument defines the provider of SBAS corrections, being either an individual

satellite or a satellite system. If

EGNOS

,

WAAS

,

MSAS

,

GAGAN

or

SDCM

is selected, the receiver

restricts the automatic selection of a satellite to those that are part of the EGNOS, WAAS,
MSAS, GAGAN or SDCM system. When

auto

is selected for the

Satellite

argument, the receiver

will automatically select a satellite on the basis of the location of the receiver and on the
availability of SBAS corrections.

The

SISMode

argument defines the interpretation of a "Do Not Use for Safety Applications"

message. It depends on the SBAS service selection with the

setSBASService

command.

For the DO229 service: When set to

Operational

, the receiver will discard all SBAS correc-

tions received from a satellite upon reception of a MT00 from that satellite. Note that MT02
content encoded in a MT00 message will be interpreted by the receiver as a MT02 message:
only MT00 with all ’0’ symbols will be interpreted as a true "Do Not Use for Safety Applica-
tions". When the argument

SISMode

is set to

Test

, the receiver will ignore the reception of

a "Do Not Use for Safety Applications" message. This provides the possibility to use a signal
from a SBAS system in test mode.

For the DFMC service: When set to

Operational

, the receiver will discard all SBAS cor-

rections received from a satellite upon reception of a MT00 from that satellite. When the
argument

SISMode

is set to

Test

, the receiver will ignore the reception of a "Do Not Use for

Safety Applications" message. This provides the possibility to use a signal from a SBAS sys-
tem in test mode. In this case the MT00 message content will be interpreted by the receiver
as integrity data (MT34, MT35 or MT36).

The SBAS standards, which have their origin in aviation, make a distinction between two posi-
tioning applications: en-route and precision approach. The choice between both applications
influences the length of the interval during which the SBAS corrections are valid. During a
precision approach the validity of the data is much shorter. The receiver can operate in both
modes, which is controlled by the

NavMode

argument.

In

EnRoute

or in

PrecApp

mode, the receiver only uses the satellite systems for which SBAS

corrections are available. For best positioning accuracy, it is typically preferable to include all
satellites in the position computation, even if they are not corrected by SBAS. This is achieved
by the

MixedSystems

mode.

The

DO229Version

argument can be used to specify which version of the DO 229 standard to

conform to.

142

Summary of Contents for PolaRx5TR

Page 1: ...PolaRx5TR Reference Guide Applicable to version 5 5 0 of the Firmware ...

Page 2: ...ble to version 5 5 0 of the Firmware Copyright 2000 2022 08 19 Septentrio NV SA All rights reserved Septentrio NV Greenhill Campus Interleuvenlaan 15i 3001 Leuven Belgium http www septentrio com Phone 32 16 300 800 Fax 32 16 221 640 Septentrio 2 ...

Page 3: ... the Receiver 18 1 2 1 Proprietary Binary Output SBF 18 1 2 2 BINEX 18 1 2 3 NMEA 18 1 2 4 RTCM and CMR 19 1 3 Define an SBF Output Stream 20 1 4 Define a BINEX Output Stream 21 1 5 Save the Configuration in Non Volatile Memory 22 1 6 Configure the Receiver in DGPS RTK Base Mode 23 1 6 1 Static Base Station Mode 23 1 7 Configure the Receiver in DGPS RTK Rover Mode 25 1 8 Use the SECORX Services 26 1 9 ...

Page 4: ...guration of CloudIt 45 1 24 4 File Upload 45 1 25 FTP Push Log files 47 1 26 Communicate with External Equipment 48 1 27 Generate a Pulse Per Second Signal 49 1 28 Time Tag External Events 50 1 29 Monitor the RF Spectrum 51 1 30 Use Galileo OSNMA 52 1 31 Manage Users 53 1 32 Upgrade the Receiver 54 1 33 Check the Capabilities of your Receiver 55 1 34 Check or Change the Permission File 56 2 Operati...

Page 5: ...mand Line Reference 73 3 1 Command Line Interface Outline 74 3 1 1 Command Types 74 3 1 2 Command Line Syntax 74 3 1 3 Command Replies 75 3 1 4 Command Syntax Tables 76 3 2 Command Definitions 79 3 2 1 Receiver Administration 79 3 2 2 Standby and Sleep Configuration 97 3 2 3 User Management 102 3 2 4 Tracking and Measurement Generation 107 3 2 5 Frontend and Interference Mitigation 119 3 2 6 Navigat...

Page 6: ...S Decoded Message Blocks 344 4 2 5 Galileo Decoded Message Blocks 347 4 2 6 BeiDou Decoded Message Blocks 355 4 2 7 QZSS Decoded Message Blocks 362 4 2 8 NavIC IRNSS Decoded Message Blocks 365 4 2 9 SBAS L1 Decoded Message Blocks 367 4 2 10 GNSS Position Velocity and Time Blocks 381 4 2 11 Receiver Time Blocks 423 4 2 12 External Event Blocks 425 4 2 13 Differential Correction Blocks 436 4 2 14 L ...

Page 7: ... C 1 8 TFM Used RTCM Coordinate Transformation Messages 494 D List of CMR and RTCM Messages 495 D 1 CMR Messages 495 D 2 RTCM v2 x Messages 495 D 3 RTCM v3 x Messages 495 Index of Commands 498 Index of SBF Blocks 510 7 ...

Page 8: ... running in the receiver and on the way to configure them Chapter 3 contains the complete description of the user command interface Chapter 4 contains the complete description of the SBF format Typographical Conventions abc User command name Clicking a command name redirects to the full command description abc Command argument name abc Command replies SBF block name or SBF field name Clicking an SBF...

Page 9: ...up Delay CA Coarse Acquisition CGGTTS Common GPS GLONASS Time Transfer Standard CMR Compact Measurement Record COG Course Over Ground CPU Central Processing Unit CRC Cyclic Redundancy Check DGPS Differential GPS DHCP Dynamic Host Configuration Protocol DLL Dynamically Linked Library DNS Domain Name Server DOP Dilution Of Precision DVS Data Validity Status ECEF Earth Centered Earth Fixed EGNOS Europ...

Page 10: ...face Control Document IEEE Institute of Electrical and Electronics Engineers IERS International Earth Rotation Service IF Intermediate Frequency IGP Ionospheric Grid Point IGS International GPS Service IMU Inertial Measurement Unit INS Inertial Navigation System IODC Issue of Data Clock IODE Issue Of Data Ephemeris IP Internet Protocol IRNSS Indian Regional Navigational Satellite System ITRF Inter...

Page 11: ...PLL Phase Locked Loop PPP Precise Point Positioning PPS Pulse Per Second PRC Pseudorange Correction PRN Pseudo Random Noise PVT Position Velocity and Time QZSS Quasi Zenith Satellite System RAIM Receiver Autonomous Integrity Monitoring RINEX Receiver Independent Exchange Format RTCA Radio Technical Commission for Aeronautics RTCM Radio Technical Commission for Maritime Services RTK Real Time Kinem...

Page 12: ...B Universal Serial Bus UTC Coordinated Universal Time VDOP Vertical DOP VERL Vertical External Reliability Level VPL Vertical Protection Level VRS Virtual Reference Station WAAS Wide Area Augmentation System WGS84 World Geodetic System 1984 WN Week Number WNc Week number XERL External Reliability Levels XOR Exclusive OR XPL Horizontal or Vertical Protection Level 12 ...

Page 13: ... 1 4 Using the Data Link program provided in the RxTools suite or any suitable terminal em ulation program you can enter commands manually through one of the receiver input ports see section 1 1 In this chapter user commands are referred to by their full name for readability When typing the command you can always use the short mnemonic equivalent to save typing effort For instance instead of typin...

Page 14: ...ation programs will make no distinction between virtual and native COM ports Note that the port settings baud rate etc for virtual serial ports are not relevant and can be left in their default configuration in the terminal emulation program When connecting the USB cable to a Windows PC a new drive appears in the file manager This drive contains an installer for the USB driver Running this installer...

Page 15: ...local instead WiFi can be turned on and off with the setWiFiMode command and the access point parameters SSID encryption channel number can be adjusted with the setWiFiAccessPoint command 1 1 3 2 2 Receiver as WiFi Client It is possible to configure the receiver in WiFi client mode with the setWiFiMode com mand In client mode the receiver will attempt to connect to a reachable access point The acce...

Page 16: ...r COM1 192 168 60 2 192 168 60 1 CHAP mypwd CR If the client is a Linux computer make sure the password is set in the etc ppp chap secrets file For example the contents of that file could be as follows Assuming that the serial cable is connected to the first serial port of your PC and that the receiver s COM1 port is left in its default configuration 115200 baud and no hardware flow control the client ...

Page 17: ...567 lite 1 1 5 Connection Descriptors Receiver connections are identified by their connection descriptor CD The different con nection descriptors are shown in the table below The three rightmost columns indicate the direction input or output or both and whether the connection can accept user command input CD Description In Out Cmd COMx one of the serial ports USBx one of the USB device serial ports...

Page 18: ... SBF identifier Please refer to section 4 for a description of the SBF format The benefit of SBF is completeness This format should be your first choice if you wish to receive detailed information from the receiver The list of supported SBF messages can be found in appendix A SBF Converter provided in the RxTools package is an intuitive GUI which allows SBF conver sion into e g RINEX KML GPX or ASCII...

Page 19: ...MEA version 3 01 or 4 10 is selected with the setNMEAVersion command The list of supported NMEA sentences can be found in appendix C 1 2 4 RTCM and CMR The receiver can operate as DGPS and or RTK base station and output the corresponding RTCM or CMR messages The instructions to set the receiver in base station mode can be found in section 1 6 The list of supported RTCM and CMR messages can be foun...

Page 20: ...x A The GPSNav block does not support flexible rate it is always output at its On Change rate regardless of the stream rate For this reason in the above example we could equally have enabled GPSNav in Stream2 3 To stop outputting SBF on a given connection you can either redefine or empty the corresponding streams setSBFOutput Stream1 USB2 none CR setSBFOutput Stream2 USB2 none CR A second possibilit...

Page 21: ...INEX records for output is done by defining so called BINEX streams Up to 16 BINEX streams can be defined by the user A stream consists of a set of BINEX records that need to be output at a given rate through a given connection By default all streams are empty and no BINEX records are output For our example we can use a single stream defined as follows setBINEXOutput Stream1 USB2 Rec7F05 Rec01Nav sec...

Page 22: ... for each argument of each command in section 3 2 The current receiver configuration can be checked with the lstConfigFile command lstConfigFile Current CR At any time it is possible to save the current configuration into non volatile memory in order to force the receiver to always start up in that configuration To do so the following command should be entered exeCopyConfigFile Current Boot CR To rev...

Page 23: ...sage types 1007 1008 and 1033 can be specified using the setAntennaOffset command with the serial number as sixth argument and the antenna type called antenna descriptor in RTCM as fifth argument see also section 2 5 For instance setAntennaOffset Main AT2775 54SW 5684 CR 3 Use the commands setRTCMv2Interval setRTCMv2IntervalObs setRTCM v3Interval or setCMRv2Interval to specify the message interval d...

Page 24: ...sending differential corrections over a serial port do not forget to specify the baud rate For instance if the differential correction stream needs to be output on COM2 at 9600 baud use setCOMSettings COM2 baud9600 CR To stop transmitting RTCM messages enter the following command setDataInOut COM2 none CR Note that even in static mode the receiver computes a PVT solution to estimate the clock bias...

Page 25: ...nnection listed in section 1 1 5 is suitable When using a serial connection make sure to configure the baud rate to match the baud rate of the incoming RTCM stream For instance if the incoming RTCM stream is received through COM2 at a baud rate of 9600 baud use setCOMSettings COM2 baud9600 CR 2 The receiver automatically detects the format of the differential corrections RTCM or CMR and switches be...

Page 26: ...odes are enabled in your receiver This is the default but in case the receiver is not in its default configuration you can enable RTK and PPP by issuing the following command setPVTMode Rover RTK PPP CR 2 RTK positions are typically expressed in a regional datum which depends on your local RTK provider Instead SECORX D PPP positions relate to a recent version of the global ITRF reference frame To a...

Page 27: ...1 Server ntrip example com 2101 USER PASSWD LEUV1 CR 2 To enable TLS for NTR1 use setNtripTlsSettings NTR1 on CR 3 By default for RTCM 3 x the receiver is configured to send message types 1004 1006 1012 ans 1033 at an interval of one second This can be changed by using the setRTCMv3Output and setRTCMv3Interval commands For instance to change the interval of RTCM1033 to 10 seconds use setRTCMv3Inter...

Page 28: ...IP connections see section 1 1 5 for communication with the NTRIP caster in client mode Here we assume that the first NTRIP connection NTR1 is free and can be used for that purpose setNTRIPSettings NTR1 Client ntrip example com 2101 USER PASSWD LEUV1 CR 2 To enable TLS for NTR1 use setNtripTlsSettings NTR1 on CR 3 The receiver will automatically receive and decode the RTK corrections from the NTRIP...

Page 29: ...and below enables an NTRIP client connecting as user u1 and with password p1 to receive data from the first mount point setNtripCasterUsers User1 u1 p1 MP1 CR 4 Configure the local NTRIP server to send data to the mount point as explained in sec tion 1 9 To have the local NTRIP server send data to the built in caster the hostname has to be set to localhost For example to send data to the mount point...

Page 30: ...below enables an NTRIP client connecting as user u1 and with password p1 to receive data from the first mount point setNtripCasterUsers User1 u1 p1 MP1 CR 4 Enable the built in NTRIP caster setNtripCasterSettings on CR From now on the NTRIP caster is ready to receive a data stream from a remote NTRIP server and to distribute it to NTRIP clients 30 ...

Page 31: ...s default configuration you should invoke setDataInOut IPS1 NMEA CR A way to check the IP server functionality is to enter the URL http polarx5tr xxxxxxx 28785 in your preferred web browser replace polarx5tr xxxxxxx by the hostname of your particular receiver You should see the NMEA GGA message coming every second Note that up to eight clients can concurrently connect to the same IP server port The...

Page 32: ...CMR or RTCM format the receiver will automatically decode them and use them in the PVT processing 3 To close the connection enter the following command setIPReceiveSettings IPR1 0 CR The TCP connection initiated by the receiver is bidirectional Once the connection is estab lished the receiver accepts input data from the server as shown above but it can also send data to the server or process user ...

Page 33: ...nto sleep mode after about 30 seconds for a new period of time For example to configure the receiver to sleep for one hour when the external supply voltage drops below 11 6V use the following commands setStandbyMonitoring 3600 CR setPowerThresholds 11 6 CR exeCopyConfigFile Current Boot CR The last command makes sure to save the configuration in non volatile memory see sec tion 1 5 so that power mon...

Page 34: ...e receiver will either stop logging or attempt to remove old files according to the set tings of the setDiskFullAction command When attempting to remove old files the receiver will first consider the log sessions with low priority Refer to the description of the setDiskFullAction command for details It is possible to prevent auto deletion of important files covering an event of interest e g an Earthqu...

Page 35: ...eady exists the receiver will append new data at the end of the existing file 2 Use the command setSBFOutput to define which SBF blocks need to be logged and at which interval see also section 1 3 For instance to log all SBF blocks necessary to build RINEX files in the LOG2 session with a data interval of 10 seconds use setSBFOutput Stream1 LOG1 rinex sec10 CR 3 Make sure that the log session is defin...

Page 36: ...the RefPos argument of setPVTMode with the marker to ARP offset being defined with setAntennaOffset For example assuming the WGS84 position of the ARP is 50 5oN 4oE and its altitude above the WGS84 ellipsoid is 100m and the ARP is 1 5 meters above the marker use setStaticPosGeodetic Geodetic1 50 5 4 100 CR setPVTMode Geodetic1 CR setAntennaOffset Main 0 0 1 5 CR 4 Use the setRINEXLogging command to...

Page 37: ...n in message type 1006 is defined with the RefPos argument of setPVTMode For example assuming the WGS84 position of the ARP is 50 5oN 4oE and its altitude above the WGS84 ellipsoid is 100m use setStaticPosGeodetic Geodetic1 50 5 4 100 CR setPVTMode Geodetic1 CR 4 Use the setRTCMMSMLogging command to configure the RTCM MSM logging op tions the file duration the observation interval etc This is done in...

Page 38: ...ntly for each log session For example to log daily BINEX files in the LOG1 log session use setBINEXLoggingParameters LOG1 Hour24 CR 3 Use the setBINEXOutput command to define which BINEX records need to be logged and at which interval see also section 1 4 For instance to log observation records 0x7F 05 at 10 second interval together with all decoded navigation records and metadata 0x00 at the beginn...

Page 39: ... name you selected already exists the receiver will append new data at the end of the existing file 2 Use the command setNMEAOutput to define which NMEA sentences need to be logged and at which interval For instance to log the GGA sentences at an interval of 10 seconds in the LOG2 session use setNMEAOutput Stream1 LOG1 GGA sec10 CR 3 Make sure that the log session is defined and enabled setLogSession...

Page 40: ...epending on the location and will also increase as more satellites are launched but the table gives a good idea of the relative size between the different logging options Data format File Size File Size uncompressed gzip compressed SBF Rinex group 261 MB 186 MB SBF RinexMeas3 group 70 MB 64 MB RINEX v3 638 MB 64 MB Hatanaka gzip BINEX 7F 05 143 MB 118 MB RTCM MSM MSM4 132 MB 96 MB As can be seen t...

Page 41: ...vant electrical delays with the setTimeLabParameters setCGGTTSTrackParameters setINTDLY setCABDLY and setREFDLY commands For example if the antenna receiver electrical delay INTDLY at the GPSL1 frequency has been calibrated to be 30 2ns use setINTDLY GPSL1 30 2 CR 3 Enable CGGTTS logging For example to enable CGGTTS logging for the GPS and Galileo constellations in the LOG1 log session use setCGGT...

Page 42: ...ser ftp polarx5tr 1234567 User authentication for SFTP access can be done by entering a password or us ing an ssh public key as defined with the setUserAccessLevel command By default anonymous users can download and delete files This can be changed as explained in section 1 31 3 Using rsync If an rsync client is available on your computer you can use rsync to download files or directories from the re...

Page 43: ... the Logging tab 5 Using a standard file browser and accessing the receiver as a removable drive USB mass storage device This requires the USB cable to be connected to your computer and the internal disk to be unmounted by the receiver so that it can be accessed by your computer s operating system This is done using the exeManageDisk command For example to see the internal disk DSK1 as a removable ...

Page 44: ...eycloack is recommended as an Identity and Access Management platform for the authenti cation server as CloudIt has been tested and validated using this tool Keycloack 4 5 0 Other Access Management platforms were not tested but can offer similar possibilities However since most other tools offer more specific and or proprietary implementations of the OAuth2 protocol CloudIt might not yet be compati...

Page 45: ...parameter defines the upload endpoint accepting the uploaded files This parameter is required to configure the CloudIt server using the setCloudItConfig command 1 24 3 Receiver Configuration of CloudIt When the CloudIt authentication and resource servers are up and running the PolaRx5TR can be configured following the steps below 1 Set the CloudIt server parameters using setCloudItConfig command 2 Use...

Page 46: ...upload request is mydata rin LOG2 19141 If the file transfer fails the receiver will retry at a user defined interval See the description of the setSBFCloudIt setBINEXCloudIt setNMEACloudIt setRTCMMSMCloudIt and setRINEXCloudIt commands for details Note Within one log session and file type it is possible to configure CloudIt and FTPPush section 1 25 at the same time However if the user enables both fe...

Page 47: ...y j myname mypwd CR FTP push will create the folder on the remote server if it does not exist yet If the file transfer fails the receiver will retry at a user defined interval See the description of the setSBFFTP setBINEXFTP setNMEAFTP setRTCMMSMFTP and setRINEXFTP com mands for details Note Within one log session and file type it is possible to configure CloudIt section 1 24 and FTPPush at the same t...

Page 48: ...ueries the meteo data Assuming you want to get meteo data at a 10 second interval enter the following command setPeriodicEcho com2 A 0100P9 CR LF sec10 CR 2 Enable unformatted ASCII input on COM2 to receive the replies from the meteo sensor setDataInOut COM2 ASCIIIn CR The replies from the meteo sensor containing the temperature pressure and humidity are available in the ASCIIIn SBF block and in B...

Page 49: ...nerated at the nearest tick of the internal receiver digital clock as illustrated in the figure above This leaves an offset noted D in the figure between the true xPPS pulse and the one actually generated by the receiver This offset can reach a few nanoseconds It is available in real time in the xPPSOffset SBF block To be able to align its xPPS output with the GNSS system time the receiver needs a f...

Page 50: ...event see for example the ExtEvent SBF block The following constraints must be observed to ensure proper event detection There must be no more than 20 events in any interval of 100 milliseconds all event pins considered The minimum time between two events on the same EventX input must be at least 5ms Missed events are flagged by the MISSEDEVENT bit in the ReceiverStatus SBF block The external event...

Page 51: ...u This allows to detect the presence of interferences in the GNSS bands In the example shown below a narrowband interference at 1180 MHz is clearly visible Figure 1 4 Spectral Analyser functionality of RxControl The spectrum is computed from baseband samples taken at the output of the receiver s ana log to digital converters These samples are available to the users in the BBSamples SBF block 51 ...

Page 52: ...ervice status After enabling OSNMA in loose or strict mode it typically takes a few tens of seconds to a few minutes to authenticate messages In strict mode no PVT is computed during that time OSNMA is configured as follows 1 Use the setGalOSNMAUsage command to enable OSNMA authentication For exam ple to enable OSNMA in loose mode use setGalOSNMAUsage loose CR 2 In strict mode OSNMA authentication ...

Page 53: ...The following explains how to add or delete a user 1 Check the current user list by entering the following command getUserAccessLevel CR The reply to this command looks like UserAccessLevel User1 admin R46NCG User UserAccessLevel User2 Viewer UserAccessLevel User3 Viewer 2 In the example shown above only one user is defined User1 with user name admin For security reasons the password shown here R46...

Page 54: ...y manually downloading upgrade files to the receiver This upgrade procedure is ex plained below To manually upgrade the receiver follow this procedure 1 Reset the receiver into upgrade mode by entering the following command exeResetReceiver Upgrade none CR 2 Wait till the receiver outputs the string Ready for SUF download From that moment on the receiver is waiting for an upgrade file to be download...

Page 55: ...t firmware version and the current set of permissions Permissions are further explained in section 1 34 The command getReceiverCapabilities lists the capabilities You can also check them using the web interface go to Admin About Permitted Capabilities or RxControl go to Help Receiver Interface and select the Permitted Capabilites tab Figure 1 5 Example of receiver capabilities 55 ...

Page 56: ...ecked with the command lstInternalFile Permissions or with RxControl by clicking Help Re ceiver Permissions Note that for a given feature to be enabled in the receiver it must be permitted and the hardware and firmware version must support it See also section 1 33 Each receiver is delivered with a permission file applicable to that receiver only To enable new options the user can order a new permiss...

Page 57: ...ommand enables the GPSL1CA GPSL2PY and GLOL1CA signals GPS satellites will be tracked in dual frequency mode GPSL1CA and GPSL2PY and GLONASS satellites will be tracked in single frequency mode GLOL1CA only It is a good practice to only enable those signal types that are needed for your application to avoid wasting tracking channels 2 2 Generation of Measurements For each tracked GNSS signal the re...

Page 58: ...Among other things this block reports the multipath correction applied to the pseudorange allowing one to recom pute the original pseudorange and the observable variances 2 2 1 Pilot vs Data Component Most modern GNSS signals consist of two components a so called pilot component and a data component For such signals the measurements are based on the pilot component for optimal performance In parti...

Page 59: ...lt X 0 5ms This initial clock synchronization leads to a simultaneous jump in all the pseudorange and carrier phase measurements Note that in cases when the satellite visibility is obstructed the receiver can also set its time from NMEA GPRMC or GPZDG sentences received on one of its serial ports The time in the NMEA sentences must refer to the GPS time scale and not to UTC and the serial port rec...

Page 60: ...cumulated clock jumps since the last reset of the receiver is reported in the CumClkJumps field of the MeasEpoch SBF block As can be seen in Figure 2 1 the initial clock bias is not necessarily zero but it can take any value within 0 5ms and 0 5ms This is the default configuration You can use the second argument of the setClockSyncThreshold command to force the clock bias to be close to zero typical...

Page 61: ...n of Position Velocity and Time PVT Solution The receiver computes the position velocity and time PVT based on the pseudoranges the Doppler measurements and if applicable the differential corrections The availability of the PVT depends on the number of available pseudoranges and Doppler measurements equal to the num ber of tracked satellites or a subset of them as specified by the setSatelliteUsage...

Page 62: ...l and may differ from actual errors due to many external factors most of all multipath 2 4 1 SBAS Positioning SBAS which stands for Space Based Augmentation System enables differential operation over a large area with associated integrity information System errors are computed from a dataset recorded over a continental area and disseminated via a geostationary satellite The operation of SBAS is do...

Page 63: ...seconds and yield an RTK fixed solution with centimeter level accuracy The less accurate pseudorange measurements will not be used As long as no cycle slips or loss of lock events occurs the carrier phase position is readily available RTK with fixed ambiguities is also commonly referred to as phase positioning using On The Fly OTF ambiguity fixing The RTK positioning engine of the receiver uses the L...

Page 64: ...s refer to the regional datum used by your RTK provider To avoid coordinate jumps each time the PVT engine switches between RTK and PPP and to ensure accurate seeding of the PPP engine from RTK the regional datum must be provided with the setGeodeticDatum command Note that local RTK positions obtained after applying the datum transformation parameters transmitted in RTCM v3 x MT1021 1023 are never...

Page 65: ...efer to the datum se lected in setGeodeticDatum The datum can be checked by decoding the Datum field of these blocks 2 4 6 2 Transformation to Local Datum Sometimes it is needed to relate the coordinates to a local datum Some RTK networks pro vide the necessary transformation and projection parameters as part of their RTCM stream in message types 1021 to 1027 The local geodetic coordinates latitude...

Page 66: ...ected in such a way that they all refer to a common and stable point in space That point is referred to as the antenna reference point ARP For convenience it is usually selected at the center of the bottom surface of the antenna PC to ARP calibration tables are available on Internet for a large number of geodetic grade antennas For example the National Geodetic Survey NGS publishes calibration tab...

Page 67: ...mation allows the rover to apply the ap propriate phase center compensation to the base measurements When setting up a base station it is therefore important that the coordinates entered with the setStaticPosGeodetic or the setStaticPosCartesian commands refer to the ARP The coordinates are encoded without change in the relevant differential correction mes sages The antenna type must be provided w...

Page 68: ...rkle Tree root key do not correspond with the live OSNMA keys the following steps are needed to configure the OSNMA engine correctly 1 Determine whether an NTP server linked to the simulator is available If there is one make the receiver aware of it using the setNTPClient command If not disable the NTP server connection using setNTPClient off 2 When Public Key Renewal PKR is not available or to spe...

Page 69: ...nerally increase the continuity of integrity The IntegrityFlag field of the RAIMStatistics SBF block reports an integrity failure if in sufficient measurements remain after outlier removal after several D I A steps or if the overall model statistical test fails while no outliers can be identified In the latter case the sum of squared residuals too large error is reported in the Error field of the PVT r...

Page 70: ...ty Algorithm Two kinds of statistical tests are performed the detection step uses an overall model test to evaluate the integrity of the position solution as a whole and the identification step uses the w test also known as datasnooping to evaluate the integrity of individual measurements Depending on the positioning mode the overall model test is computed for range range rate and or phase measurem...

Page 71: ...l of outliers In this case the too many outliers error is reported in the PVT related SBF blocks For the evaluation of the w test statistic the following inequality is verified k1 2 α wi ei σei k1 2 α where wi is the w test statistic for the ith satellite ei is the residual for the ith satellite σei is the standard deviation of the residual for the ith satellite k 1 2 α is the test threshold yieldi...

Page 72: ...IMLevels command The external reliability is defined as the influence of a model error of size MDB on the user position It is computed by propagating the MDB for each satellite to the position domain taking the satellite geometry into account The receiver computes a distinct external relia bility level XERL for the horizontal and the vertical components referred to as HERL and VERL respectively Thes...

Page 73: ...3 Command Line Reference Chapter 3 Command Line Reference 73 ...

Page 74: ... set commands to change one or more configuration parameters get commands to get the current value of one or more configuration parameters exe commands to initiate some action lst commands to retrieve the contents of internal files or list the commands Each set command has its get counterpart but the opposite is not true For in stance the setNMEAOutput command has a corresponding getNMEAOutput but ge...

Page 75: ...II commands For comment lines user input beginning with or empty commands just pressing Enter the receiver replies with the prompt COM1 This is a comment CR COM1 For invalid commands the reply is an error message always beginning with the key word R followed by an error message For all valid set get and exe commands the first line of the reply is an exact copy of the command as entered by the user ...

Page 76: ...2 S120 S138 SBAS GPS all GUI Navigation Receiver Operation Example The associated set and get commands are always described in pairs and the same holds for the associated exe and get commands The command name and its equivalent 3 5 character mnemonic are printed in the first two columns The list of arguments for the set and get commands is listed in the first and second row respectively In our examp...

Page 77: ...idered part of the string The list of allowed characters in strings is ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789 _ Example Hello World Password is a password argument with a maximum length of 20 characters 40 2 Pass word arguments are always named Password or Key Only half of the total password length is available to the user the other half being reserved by the system Passwor...

Page 78: ...ument to indicate to add the specified value s to the current list If the value none is supported which is the case in this example a sign can be set before the argument to remove the specified value s from the current list It is possible to add or remove multiple values at once by adding or subtracting them with the or operator However and can never be combined in a single argument Examples G01 G02...

Page 79: ...ains whitespaces Using the values Main will return the phase center variation parameters corresponding to the main antenna type as specified in the command setAntennaOffset Examples COM1 lai Overview CR R lai Overview xml version 1 0 encoding ISO 8859 1 AntennaInfo version 0 1 Antenna ID AERAT1675_29 NONE Antenna ID AERAT2775_150 NONE Antenna ID AERAT2775_159 Antenna ID AERAT2775_159 SPKE Antenna I...

Page 80: ...ent The reply to this command is free formatted and subject to change in future versions of the receiver s software This command is designed to be used by human users When building software applications it is recommended to use the formal lstMIBDescription Examples COM1 help Overview CR R help Overview BLOCK 1 0 MENU communication GROUP ioSelection sdio setDataInOut gdio getDataInOut COM1 COM1 hel...

Page 81: ...e File Description Current The current configuration Boot The configuration that is loaded at boot time after a power cy cle or after a hard reset see also the exeResetReceiver com mand RxDefault The default configuration User1 A user defined configuration User2 A user defined configuration See also the related exeCopyConfigFile command to learn how to manage configuration files Example COM1 smp TestMarker...

Page 82: ...onfiguration files With this command the user can copy configurations files into other configuration files For instance copying the Current file into the Boot file makes that the receiver will always boot in the current configuration Examples To save the current configuration in the Boot file use COM1 eccf Current Boot CR R eccf Current Boot CopyConfigFile Current Boot COM1 To load the configuration stored in...

Page 83: ...thernet interface on or off Before turning Ethernet off make sure that the receiver will still be accessible through an other interface serial USB This is especially important for remote receivers It will not be possible to access the receiver over Ethernet after invoking the setEthernetMode off command Example COM1 seth on CR R seth on EthernetMode on COM1 83 ...

Page 84: ...This procedure always resets the receiver even if the upgrade file does not exist Before resetting the receiver broadcasts a TE ResetReceiver message to all active communication ports to inform all users of the imminent reset After a reset the user may have to adapt the communication settings of his her terminal program as they may be reset to their default values Example COM1 efup myftp com tst su...

Page 85: ...ut and none respectively The argument Output sets the electrical level to be applied to the pin specified in GPPin In housed products the number of GPIO pins configurable by this command is larger than the number of GPIO pins available to the user The extra pins are used for internal purposes and their settings should not be modified Please refer to the Hardware Manual or the User Manual of your prod...

Page 86: ... debug certain issues Error Last internal error reports SisError Last detected signal in space anomalies DiffCorrError Last detected anomalies in the incoming differential correction streams SetupError Last detected anomalies in the receiver setup LBAS1Access LBAS1 L Band Augmentation Service 1 Access information LBAS1Subscr LBAS1 L Band Augmentation Service 1 Subscription status IPParameters Host...

Page 87: ...ation Receiver Operation GPIO Use this command to define inquire the blinking mode of the General Purpose LED s The different LED blinking modes are described in the Hardware Manual or in the User Man ual of your receiver Example COM1 slm DIFFCORLED CR R slm DIFFCORLED LEDMode DIFFCORLED COM1 87 ...

Page 88: ...hen the value Overview is used the general syntax of the interface is returned With the value SBFTable the receiver will output the list of supported SBF blocks and whether they can be output at a user selectable rate or not The lstMIBDescription command can also be called with every supported set get or exe command the full name or the mnemonic as argument No formal description of the lst command...

Page 89: ...cted with the setSBFOutput command These values are expressed in milliseconds Each of the above mentioned lists contain one or more of the elements in the tables below Antennas Description Main The receiver s main antenna Signals Description GPSL1CA GPS L1 C A signal GPSL1PY GPS L1 P Y signal GPSL2PY GPS L2 P Y signal GPSL2C GPS L2 C signal GPSL5 GPS L5 signal GPSL1C GPS L1C signal GLOL1CA GLONASS...

Page 90: ...on COM1 Serial port 1 COM2 Serial port 2 COM3 Serial port 3 COM4 Serial port 4 USB1 USB device virtual serial port 1 USB2 USB device virtual serial port 2 IP10 TCP IP port 1 IP11 TCP IP port 2 IP12 TCP IP port 3 IP13 TCP IP port 4 IP14 TCP IP port 5 IP15 TCP IP port 6 IP16 TCP IP port 7 IP17 TCP IP port 8 NTR1 NTRIP port 1 NTR2 NTRIP port 2 NTR3 NTRIP port 3 IPS1 IP Server port 1 IPS2 IP Server po...

Page 91: ...tions TimeSync Internal clock synchronisation to external PPS signal xPPSOutput Generation of xPPS output signal TimedEvent Accurate time mark of event signals InternalLogging Internal logging APME A Posteriori Multipath Estimator RAIM Receiver Autonomous Integrity Monitoring PPPLand PPP through Wide Area Augmentation Service for land based use LBAS1L L Band Augmentation data Service 1 Land only M...

Page 92: ...ersion Use this command to retrieve the version of the receiver command line interface The reply to this command is a subset of the reply returned by the lstInternalFile Identification command Example COM1 gri CR R gri ReceiverInterface RxName AsteRx1 ReceiverInterface SNMPLanguage English ReceiverInterface SNMPVersion 20060308 COM1 92 ...

Page 93: ...n does not affect the receiver operation and is done on a voluntary basis Application registration can be useful to developers of external applications when more than one application is to communicate with the receiver concur rently Whether or not this command is used and the way it is used is up to the developers of external applications Example COM1 era com1 MyApp CR R era com1 MyApp RegisteredA...

Page 94: ...ode After a few seconds the receiver is ready to accept an upgrade file SUF format from any of its connections The second argument specifies which part of the non volatile memory should be erased dur ing the reset The following table contains the possible values for the EraseMemory argument EraseMemory Description Config The receiver s configuration is reset to the factory default with the following ...

Page 95: ...boot SISAuthData Remove stored OSNMA data PKR Public Keys floating KROOT Before resetting the receiver broadcasts a TE ResetReceiver message to all active communication ports to inform all users of the imminent reset After a reset the user may have to adapt the communication settings of his her terminal program as they may be reset to their default values Example COM1 erst soft none CR R erst soft ...

Page 96: ...an IP address via DHCP over the USB connec tion It will then be able to access the Internet through that connection allowing for example to communicate with a NTRIP server Note that this requires that Internet sharing is enabled on the computer attached to the receiver The IP address assigned to the receiver can be retrieved from the lstInternalFile IPParameters command See also section 1 1 3 3 Ex...

Page 97: ...s see the receiver Hardware Manual or User Manual for details With the ScheduledSleep option the receiver automatically sleeps and wakes up at regular intervals This functionality is controlled by the setWakeUpInterval command Upon waking up the receiver applies the configuration that is stored in the boot configuration file see the lstConfigFile command Before entering standby mode the receiver broa...

Page 98: ...n For the receiver to wake up in the current configuration it has to be saved in the boot configuration with the exeCopyConfigFile command When the condition to go to sleep is met at the time the setPowerThresholds command is entered the user has 30 seconds to save the configu ration before the receiver goes to sleep When the ExtPowerSupply argument of this command is zero or when the StandbyPeriod a...

Page 99: ...cient or otherwise returns into sleep after about 30 seconds for a new StandbyPeriod duration This power monitoring and saving feature is enabled if both the StandbyPeriod argument of this command and the ExtPowerSupply argument of the setPowerThresholds command are different from zero Note that power monitoring can be enabled together with the scheduled sleep feature see the exePowerMode command ...

Page 100: ...led Be aware that the receiver must know the time to automatically go into sleep mode if no antenna is connected to the receiver or if not enough satellites could be tracked after boot the receiver will continue operating beyond its prescribed awake duration and only possibly enter sleep mode at the next scheduled go to sleep epoch if any To force the receiver to go into sleep mode immediately use...

Page 101: ...to set up an automatic wake up every day at midnight for 1 hour use COM1 swui 3600 86400 CR R swui 3600 86400 WakeUpInterval 2000 01 01 00 00 00 3600 86400 COM1 eccf Current Boot CR R eccf Current Boot CopyConfigFile Current Boot COM1 101 ...

Page 102: ...se this command to check which user is currently logged in on this port if any See also the login command Example COM1 lcu CR R lstCurrentUser Not logged in COM1 login admin admin CR R LogIn User admin logged in COM1 lcu CR R lstCurrentUser Logged in as admin COM1 102 ...

Page 103: ...figuration with out changing it i e to only issue get commands none prevents anonymous users from viewing or changing the configuration For the FileTransfer argument Viewer means that the anonymous user is allowed to down load log files from the receiver using FTP SFTP or rsync but not to delete them User means that the anonymous user can both download and delete files and none disables anonymous acce...

Page 104: ...UserAccessLevel command Login fails if the provided UserName or Password is not in that list The logout command returns to unauthenticated anonymous access The lstCurrentUser command can be invoked to find out which user is logged in on the current port It is not necessary to log out before logging in as a different user Examples To log in as user admin with password admin use COM1 login admin admi...

Page 105: ...sequence of commands logs in as user admin with password admin recon figures SBF output and logs out again COM1 login admin admin CR R LogIn User admin logged in COM1 sso Stream1 COM1 PVTCartesian sec1 CR R sso Stream1 COM1 PVTCartesian sec1 SBFOutput Stream1 COM1 PVTCartesian sec1 COM1 logout CR R LogOut User admin logged out COM1 105 ...

Page 106: ...nforming to RFC 4716 are supported The number of bits in the key must be such that the corresponding base64 public key does not exceed 232 characters RSA keys need to be at least 1024 bits long Whenever possible ECDSA or Ed25519 keys are recommended for enhanced security When an SSH key is defined with the SSHKey argument a user can download log files using SFTP or rsync without the need for enterin...

Page 107: ...tellite argument to auto brings the channel back in auto allocation mode The user can specify the Doppler window in which the receiver has to search for the satellite This is done by setting the Search argument to manual In that case the Doppler and Window arguments can be provided the receiver will search for the signal within an interval of Window Hz centred on Doppler Hz The value to be provide...

Page 108: ...3 Command Line Reference COM1 gca Ch05 CR R gca Ch05 ChannelAllocation Ch05 G01 auto 0 16000 COM1 108 ...

Page 109: ...n of measurements The receiver does not generate measurements for those signals of which the C N0 is under the specified mask and does not include these signals in the PVT computation However it continues to track these signals and to decode and use the navigation data as long as possible regardless of the C N0 mask The mask can be set independently for each of the signal types supported by the rec...

Page 110: ...iori Multipath Estimator APME for the code and carrier phase measurements respectively APME is a technique by which the receiver continuously estimates the multipath error and corrects the measure ments accordingly This multipath estimation process slightly increases the thermal noise on the pseudoranges However this increase is more than compensated by the dramatic decrease of the multipath noise...

Page 111: ... its signals is enabled in the setSignalTracking command A satellite which is disabled by this command is not considered anymore in the automatic channel allocation mechanism but it can still be forced to a given channel and tracked using the setChannelAllocation command Tracking a satellite does not automatically mean that the satellite will be included in the PVT computation The inclusion of a s...

Page 112: ... To remove SBAS PRN120 from the list of allowed satellites use COM1 sst S120 CR R sst S120 SatelliteTracking G01 G02 G03 G04 G05 G06 G07 G08 G09 G10 G11 G12 G13 G14 G15 G16 G17 G18 G19 G20 G21 G22 G23 G24 G25 G26 G27 COM1 112 ...

Page 113: ... The signals can be addressed individually or all signals from a constellation can be addressed at once For example GALILEO is an alias for all Galileo signals Note that some signals can only be enabled together with other signals enabling GPSL1PY has no effect unless GPSL1CA and GPSL2PY are enabled as well enabling GPSL2PY has no effect unless GPSL1CA is enabled as well enabling GLOL1P has no eff...

Page 114: ...e Reference To configure the receiver in a single frequency L1 GPS SBAS mode use COM1 snt GPSL1CA GEOL1 CR R snt GPSL1CA GEOL1 SignalTracking GPSL1CA GEOL1 COM1 COM1 gnt CR R gnt SignalTracking GPSL1CA GEOL1 COM1 114 ...

Page 115: ...rom 1 to 1000 seconds To prevent transient effect from perturbing the smoothing filter smoothing is disabled during the first ten seconds of tracking i e when the lock time is lower than 10s Likewise the smoothing effectively starts with a delay of 10 seconds after entering the setSmoothingInterval command Code smoothing allows reducing the pseudoranges noise and multipath It has no influence on the ...

Page 116: ...3 Command Line Reference COM1 ssi GPSL1CA 300 CR R ssi GPSL1CA 300 SmoothingInterval GPSL1CA 300 0 COM1 COM1 gsi GPSL1CA CR R gsi GPSL1CA SmoothingInterval GPSL1CA 300 0 COM1 116 ...

Page 117: ...e maximum DLL pre detection time in millisecond The actual pre detection time applied by the receiver TpDLL depends on the presence of a pilot component For signals having a pilot component e g GPS L2C TpDLL MaxTpDLL For signals without pilot component e g GPS L1CA TpDLL is the largest divider of the symbol duration smaller than or equal to MaxTpDLL The MaxTpPLL argument defines the maximal PLL pre...

Page 118: ...rocessor load It is recommended that the product of TpPLL in milliseconds and PLLBandwidth in Hz be kept between 100 and 200 Note that decreasing the pre detection times increases the load on the processor Example COM1 stlp GPSL1CA 0 20 12 off CR R stlp GPSL1CA 0 20 12 off TrackingLoopParameters GPSL1CA 0 20 12 100 10 off COM1 118 ...

Page 119: ...input RF signal to an appropriate level By default Mode is set to auto the AGC automatically adjusts its gain in function of the input signal power In frozen mode the AGC gain is kept constant at its current value after a ten second stabilisation period and does not follow any subsequent variation of the input signal power In manual mode the user can set the gain to a fixed value specified by the Ga...

Page 120: ...les SBF block The following sampling modes are defined Mode Description BeforeIM The samples in the BBSamples SBF block are taken before inter ference mitigation see the setNotchFiltering command All frequency bands are sampled in turn AfterIM The samples in the BBSamples SBF block are taken after inter ference mitigation see the setNotchFiltering command All frequency bands are sampled in turn Exa...

Page 121: ...cified in the first argu ment When set to auto the receiver performs automatic detection of the region of the spectrum affected by interference if any In manual mode the user forces a certain region of the spectrum to be blanked by the notch filter That region must be specified by the ar guments CenterFreq and Bandwidth Bandwidth is the double sided bandwidth centered at CenterFreq Specifying a region...

Page 122: ...is command to enable or disable the mitigation of wideband interferences including swept frequency or pulsed interferences When enabled argument Mode set to on the in terference mitigation is done automatically and can be monitored with the RFStatus SBF block Invoking this command causes all tracking loops to stop and restart Example COM1 swbi on CR R swbi on WBIMitigation on COM1 122 ...

Page 123: ... list returned by lstAntennaInfo Overview the receiver will assume that the phase center variation is zero at all elevations and frequency bands and the position will not be as accurate If the antenna name contains whitespaces it has to be enclosed between double quotes For proper name matching it is important to keep the exact same number of whitespaces and the same case as the name returned by l...

Page 124: ...n correction types The argument DGPSCorr defines the timeout of the range corrections when the PVT is com puted in DGPS mode The argument RTKCorr defines the timeout of the base station code and carrier phase mea surements when the PVT is computed in RTK mode The argument PPPCorr defines the timeout of the wide area satellite clock and orbit correc tions used in PPP mode only applicable if your recei...

Page 125: ...m age of the differential corrections to be consid ered valid MaxAge applies to all types of corrections DGPS RTK satellite orbit etc except for those received from a SBAS satellite See also the command setDiffCorrMaxAge to set different maximum ages for different correction types The BaseSelection argument defines how the receiver should select the base station s to be used If auto is selected and...

Page 126: ...ellites that are manually assigned with the setChannelAllocation command Satellite under the PVT mask are not included in the PVT solution though they still provide measurements and their navigation data is still decoded and used The PVT elevation mask do apply to the SBAS satellites the ranges to SBAS satellites under the elevation mask are not used in the PVT but the SBAS corrections are still d...

Page 127: ... If Mode is set to auto the receiver computes the geoid undulation with respect to the WGS84 ellipsoid using the model defined in Technical Characteristics of the NAVSTAR GPS NATO June 1991 regardless of the datum specified with the setGeodeticDatum command In auto mode the Undulation argument is ignored The geoid undulation is included in the PVTCartesian and the PVTGeodetic SBF blocks and in the N...

Page 128: ...nerated for healthy signals or when the health is unknown Signals flagged unhealthy remain internally tracked and their navigation data is still decoded and processed but the corresponding measure ments are discarded If Mask is on for the PVT engine measurements from unhealthy signals or from signals of which the health is unknown are not included in the PVT Setting this mask to off must be done wi...

Page 129: ...ites in MT18 and MT26 If no such message has been received the Klobuchar model is selected automatically MultiFreq This model uses a combination of measurements on different carriers to accurately estimate ionospheric delays It requires the availability of at least dual frequency measurements KlobucharBeiDou This model uses the parameters as transmitted by the BeiDou satellites to compute the iono...

Page 130: ...3 Command Line Reference COM1 gim CR R gim IonosphereModel off COM1 130 ...

Page 131: ...from which the L6 signal will be tracked and CLAS corrections will be decoded If the Satellite argument is set to auto the receiver automatically selects the optimal QZSS satellite QZSS satellites transmit two message streams on the L6 carrier L6D and L6E The second argument selects the message stream that the receiver needs to decode Example COM1 scls J03 L6D CR R scls J03 L6D L6CLASSource J03 L6...

Page 132: ...ect to the geographic north The variation is positive when the magnetic north is east of the geographic north By default the argument Mode is set to auto the receiver automatically computes the varia tion according to the 12th generation of the International Geomagnetic Reference Field IGRF model using the IGRF2015 coefficients corrected for the secular variation Note that the magnetic variation is ...

Page 133: ...he type of the RTK network providing the differential corrections In most cases it is recommended to leave the Type argument to auto to let the receiver autodetect the network type For some types of VRS networks especially for those having long baselines between the base stations optimal performance is obtained by forcing the type to VRS Example COM1 snrc VRS CR R snrc VRS NetworkRTKConfig VRS COM...

Page 134: ... a seed for the PPP engine If both RTKFixed and DGPS modes are enabled the receiver gives priority to RTKFixed seeding over DGPS seeding In any case a manual seed entered with the command exePPPSetSeedGeod overrules any automatic seeding Before enabling seeding from DGNSS or RTK make sure that the DGNSS RTK datum is spec ified with the setGeodeticDatum command Example COM1 spas RTKFixed CR R spas R...

Page 135: ... American Datum Marianas plate 2011 GDA94 GDA94 2010 Geocentric Datum of Australia 2010 GDA2020 GDA2020 Geocentric Datum of Australia 2020 User1 First user defined datum The corresponding transformation parameters must be specified by the setUserDatum and setUserDatumVel commands while the corresponding ellip soid must be defined by the setUserEllipsoid command User2 Second user defined datum Other Da...

Page 136: ...nt that the command is issued when the receiver is already in PPP mode the PPP filter is reset and re seeded Example COM1 epss 4 5 3 568 0 1 WGS84 CR R epss 4 5 3 568 0 1 WGS84 PPPSetSeedGeod 4 500000000 3 568000000 0 1000 WGS84 COM1 136 ...

Page 137: ...in RoverMode the receiver automatically selects the mode that provides the most accurate solution with the available data The RefPos argument defines the reference position of the antenna ARP This is the position that is encoded in the RINEX header after application of the marker ARP offset specified with the setAntennaOffset command and in the relevant RTCM and CMR differential correction messages ...

Page 138: ...ty argument sets the probability of false alarm of the Overall Model test used in the detection step of the RAIM algorithm The value to be provided in the Pfa Pmd and Reliability arguments are the base 10 logarithms of the desired probabilities For instance if you want a probability of false alarm of 1e 6 you have to set the Pfa argument to 6 Note that this command has no effect when the receiver ...

Page 139: ...filter is disabled and the receiver computes epoch by epoch independent PVT solutions Note that the Max level can lead to a longer latency of the PVT output The Motion argument defines the general characteristics of the receiver motion such as the expected speed rotation and vibration level This can help the receiver to optimize certain parameters for your application For example when selecting the ...

Page 140: ...can reset each navigation filter independently or together with the value all The following values for Level are defined Level Description PVT Reset the whole PVT filter such that all previous positioning in formation is discarded including the RTK ambiguities and the INS GNSS integration filter when applicable AmbRTK Only reset the ambiguities used in RTK positioning to float sta tus Example COM1 ernf...

Page 141: ...e respectively GLONASS satellites must be referenced by their slot number in this command Examples To only use GPS measurements in the PVT computation use COM1 ssu GPS CR R ssu GPS SatelliteUsage G01 G02 G03 G04 G05 G06 G07 G08 G09 G10 G11 G12 G13 G14 G15 G16 G17 G18 G19 G20 G21 G22 G23 G24 G25 G26 G27 G28 G29 G30 G31 G32 COM1 To add the usage of SBAS measurements in the PVT use COM1 ssu SBAS CR R...

Page 142: ...e receiver as a MT02 message only MT00 with all 0 symbols will be interpreted as a true Do Not Use for Safety Applica tions When the argument SISMode is set to Test the receiver will ignore the reception of a Do Not Use for Safety Applications message This provides the possibility to use a signal from a SBAS system in test mode For the DFMC service When set to Operational the receiver will discard...

Page 143: ... Command Line Reference Example To force the receiver to use corrections from PRN 122 and ignore message MT00 COM1 ssbc S122 Test CR R ssbc S122 Test SBASCorrections S122 Test MixedSystems auto COM1 143 ...

Page 144: ...is command to define inquire the SBAS service to be used in the PVT computation If DO229 is selected the SBAS corrections provided on the L1 signal are used only for GPS satellites If DFMC is selected the Dual Frequency Multi Constellation DFMC corrections provided on L5 are used Example COM1 sssc DO229 CR R sssc DO229 SBASService DO229 COM1 144 ...

Page 145: ... define inquire which signal types are used by the receiver The PVT argument lists the signals that can be used by the PVT Removing a signal from the list will disable the usage of the corresponding range phase Doppler measurements in the PVT computation The NavData argument lists the signals for which the receiver is allowed to decode the nav igation message Removing a signal from the list will di...

Page 146: ... the receiver does not apply any datum transformation to the X Y and Z coordinates In partic ular the coordinates are encoded without change into the relevant differential correction messages Datum Description WGS84 WGS84 or ITRFxx the receiver does not make a distinction be tween them ETRS89 European ETRS89 ETRF2000 realization NAD83 NAD83 2011 North American Datum 2011 NAD83_PA NAD83 PA11 North ...

Page 147: ...3 Command Line Reference PVTMode Static StandAlone SBAS DGPS RTKFloat RTKFixed Cartesian1 COM1 147 ...

Page 148: ...TMode command to specify a reference position The geodetic coordinates in the Latitude Longitude and Altitude arguments must refer to the an tenna reference point ARP and not to the marker The argument Datum specifies the datum to which the coordinates refer See the setStaticPosCartesian command for a short description of the supported datums Example To set up a static base station in geodetic coor...

Page 149: ...tandards for Global Posi tioning Wide Area Augmentation System Airborne Equipment RTCA DO 229C November 28 2001 The Saastamoinen model uses user provided values of air temperature total air pressure referenced to the Mean Sea Level and relative humidity see setTroposphereParameters command and estimates actual values adjusted to the receiver height The MOPS model neglects the user provided values ...

Page 150: ...3 Command Line Reference COM1 stm MOPS MOPS CR R stm MOPS MOPS TroposhereModel MOPS MOPS COM1 COM1 gtm CR R gtm TroposhereModel MOPS MOPS COM1 150 ...

Page 151: ...limate parameters to be used when the zenith troposphere is estimated using the Saastamoinen model see the setTroposphereModel command The troposphere model assumes the climate parameters to be valid for a receiver located at the Mean Sea Level MSL If you want to use your receiver with a weather station you have to convert the measured Temperature Pressure and Humidity to MSL Example COM1 stp 25 1...

Page 152: ...provided through the Galileo OSNMA protocol over the air This command is very similar to the command getGalOSNMAPublicKeys the only differ ence being that the latter only reports the list of user defined public keys Example COM1 lstGalOSNMAPublicKeys CR R lstGalOSNMAPublicKeys BLOCK 1 1 GalOSNMAPublicKeys Key0 GalOSNMAPublicKeys Key1 MFkwEwYHKoZIzj0CAQYIKoZIzj0DAQcDQgAE Q2wvmvfdQg1sQF6OmCEy8skCSiu7...

Page 153: ...at of the Key argument is equivalent to PEM Private Mail Enhanced a Base64 en coded certificate but without the BEGIN header and END footer If the keys provided with this command do not correspond to the Galileo keys the receiver will not be able to authenticate live Galileo messages Make sure to delete all user selected keys e g with the setGalOSNMAPublicKeys all command when leaving the simulated...

Page 154: ...cation is not available e g BeiDou satellites or which have not been verified yet are excluded The reported PVT solution is solely based on authenticated satellites Another difference between loose and strict modes is the usage of an NTP time server In loose mode NTP access is optional In strict mode it is mandatory See also the setNTPClient command The MTRoot argument allows users to specify the r...

Page 155: ...must be defined by the setUserEllipsoid command User2 Second user defined datum By default argument TargetDatum set to Default the datum depends on the positioning mode For standalone and SBAS positioning the coordinates refer to a global datum WGS84 or ITRF recent realisations of WGS84 and ITRF are closely aligned and the receiver considers them equivalent When using PPP corrections the coordinates...

Page 156: ...sion the WGS84 value for the TargetDatum argument has no effect but it is kept for backwards compatibility reasons Setting TargetDatum to WGS84 is equivalent to setting it to Default Example COM1 sgd ETRS89 CR R sgd ETRS89 GeodeticDatum ETRS89 COM1 156 ...

Page 157: ...rmula X Y Z User Tx Ty Tz D 1 Rz Ry Rz D 1 Rx Ry Rx D 1 X Y Z WGS84 ITRF where Tx Ty and Tz are the three translation components Rx Ry and Rz are the rotation angles and D is the scale factor Note that the rotation angles are expressed in radians in the above formula but they must be provided in milliarcsecond 1 mas 2π 360 3600000 radians in the arguments of the command The sign convention corresp...

Page 158: ...the time derivative of the seven datum transformation pa rameters defined with the setUserDatum command For instance TxVel is the yearly change of the X translation component At the epoch specified with RefYear in decimal years the X translation component is Tx as defined in setUserDatum One year later the X translation component is Tx TxVel etc Refer to the setUserDatum command for a description of ...

Page 159: ...l Navigation Receiver Operation Position Datum Use these commands to define the ellipsoid associated with the User1 or User2 datum a is the reference ellispoid semi major axis and Invf is the inverse of the flattening See also the setGeodeticDatum and the setUserDatum commands Example COM1 sue User1 6378388 297 CR R sue User1 6378388 297 UserEllipsoid User1 6378388 000 297 000000000 COM1 159 ...

Page 160: ...pecifically when the receiver detects that the time offset is larger than Threshold it initiates a clock jump of an integer number of milliseconds to re synchronise its internal clock with the system time These clock jumps have no influence on the generation of the xPPS pulses the xPPS pulses are always maintained within a few nanoseconds from the requested time regardless of the value of the Thresh...

Page 161: ...lectrical transition at the event pin is not synchronous with the actual event that needs to be timed For example if the electrical transition occurs 100 milliseconds prior to the actual event of interest the Delay argument must be set to 100 Delay is positive when the event of interest occurs after the electrical transition and negative otherwise The event time corrected by the specified delay is ...

Page 162: ...ional except in case of strict OSNMA operation see the setGalOSNMAUsage command If Mode is on the receiver will attempt to get the current time from the NTP server specified with the Server argument The Server argument accepts a host name or a raw IP address If set to default a server is automatically selected by the receiver Accessing the NTP server requires the receiver to have access to the Inte...

Page 163: ...ff on RxControl Navigation Receiver Operation Timing Use this command to enable or disable the built in NTP Network Time Protocol server When enabled the NTP server accepts UDP timestamp requests on port number 123 Example COM1 sntp on CR R sntp on NTPServer on COM1 163 ...

Page 164: ...al delay could be increased by say 20 ns If Delay is left unchanged the xPPS pulse will come 20 ns too late To re synchronize the xPPS pulse Delay has to be increased by 20 ns The xPPS pulses are aligned with the time system set with the TimeScale argument RxClock corresponds to the receiver time scale When setting TimeScale to RxClock the xPPS pulses are synchronous with the internal measurement ...

Page 165: ...ence to GNSS time When enabled the frequency reference at the REF OUT connector is locked to GNSS time scale This locking process can take a few minutes When lock is achieved the REFOUT_LOCKED bit is set in the RxState field of the ReceiverStatus SBF block Instead of locking the frequency to the GNSS time scale a small offset can be forced with the FreqOffset argument In that case the REFOUT_LOCKED...

Page 166: ...ime receiver time and the time of the GNSS system specified with the System argument This offset is reported in the RxClkBias field of the PVTCartesian and PVTGeodetic SBF blocks Note that at least one satellite of the selected system must be visible and tracked by the receiver Otherwise no PVT will be computed When the System argument is set to auto the receiver automatically selects the GNSS syste...

Page 167: ...CGGTTS Parameters This command sets the electrical delay in the cable from the antenna to the receiver This delay is commonly referred to as XC in the time transfer literature The delay provided by this command is only used for the CGGTTS processing and does not otherwise affect the receiver operation Example COM1 scdy 36 411 CR R scdy 36 411 CABDLY 36 411 COM1 167 ...

Page 168: ...trary to other commands dealing with the antenna position the X Y Z coordinates re fer to the mean antenna phase center and not to the ARP If needed if is possible to enter different coordinates for the different GNSS systems The specified coordinates are copied to the CGGTTS file header and are used in the com putation of the various fields of the CGGTTS file They otherwise do not affect the receiver...

Page 169: ... receiver elevation mask is set with the setElevationMask command The scheduling of the 13 minute CGGTTS tracks is defined with the TrackSchedule argument By default the conventional BIPM scheduling is applied 13 minute tracks starting at pre defined epochs with 3 minute idle intervals between tracks In Contiguous mode the CGGTTS parameters are computed every 13 minutes without idle interval startin...

Page 170: ...NTDLY applicable to the receiver and antenna INTDLY is the sum of the delay in the antenna and in the receiver commonly referred to as XS and XR in the literature These delays are frequency dependent and are typically determined through a calibration campaign The delays provided by this command are only used for the CGGTTS processing and do not otherwise affect the receiver operation Example COM1 ...

Page 171: ...nce or in other words that there are exactly 10 millions of cycles of the 10 MHz reference between each PPS IN pulse In some cases this assumption is not valid for example when the PPS IN phase can jump independently of the 10 MHz reference When enabling PPS IN monitoring with the setPPSINMonitor command the receiver continuously monitors the phase of the PPS IN signal In case of jump the receiver...

Page 172: ... the receiver internal time reference This delay is commonly referred to as XO in the literature When delay compensation is enabled the XOCompensation argument is set to auto XO can be considered zero in all time transfer applications When delay compensation is disabled XO is not zero and must be measured by external means Refer to the User Manual for more details on the usage of the PPS IN input ...

Page 173: ...ed to as XP XO in the literature If the PPS IN internal delay compensation is enabled with the setPPSINParameters command this is the delay in the cable from the clock to the PPS IN connector of the receiver XP See also the User Manual for a description of the various delays relevant to time transfer The delay provided by this command is only used for the CGGTTS processing and does not otherwise a...

Page 174: ... RxID is the 2 character receiver identification used in the CGGTTS file name CalID is the calibration ID corresponding to the CAL_ID field of the CGGTTS header CalRevDate is the revision date of the CGGTTS header data corresponding to the REV DATE field of the CGGTTS header TimeRef is the identifier of the time reference corresponding to the REF field of the CGGTTS header Comment is any comment which w...

Page 175: ... when there are multiple monuments at the same station ReceiverIdx can be used to identify the receiver when there are multiple receivers at the same monument A three letter ISO country code can be specified with the CountryCode argument If internal logging is enabled in one of the IGS file naming modes the file name depends on the settings of the setMarkerParameters command Refer to the description ...

Page 176: ...tup Station Settings Use these commands to define inquire the content of the Comment SBF block Examples COM1 soc Data taken with choke ring antenna CR R soc Data taken with choke ring antenna ObserverComment Data taken with choke ring antenna COM1 COM1 goc CR R goc ObserverComment Data taken with choke ring antenna COM1 176 ...

Page 177: ...he observer name or ID and his her agency These parameters are copied in the ReceiverSetup SBF block and in the header of RINEX obser vation files The length of the arguments complies with the RINEX format definition Examples COM1 sop TestObserver TestAgency CR R sop TestObserver TestAgency ObserverParameters TestObserver TestAgency COM1 COM1 gop CR R gop ObserverParameters TestObserver TestAgency C...

Page 178: ...ult all COM ports are set to a baud rate of 115200 baud using 8 data bits no parity 1 stop bit and no flow control Depending on your receiver hardware it may be that not all COM ports support flow control Please refer to the receiver Hardware Manual or User Manual to check which COM ports are equipped with the RTS CTS lines When modifying the settings of the current connection make sure to also modi...

Page 179: ... the CORS specification Cross Origin Resource Sharing Setting the Mode argument to on enables the cross domain access to the receiver web server and as such it allows external client applications e g your own web application to access receiver data via HTTP requests Please contact Septentrio support for additional information on the receiver s JavaScript libraries Example COM1 scda on CR R scda on ...

Page 180: ...etDataInOut command By default Mode is Raw incoming bytes are transferred in small chunks from the input to the output connector In some cases it is preferred to transmit complete ASCII strings at once This can be done by configuring the daisy chain in ASCII mode A string is considered complete when a carriage return and or a line feed character is received Example COM1 sdcm DC1 ASCII CR R sdcm DC1...

Page 181: ...from L Band ASCIIIN is used for connections receiving free formatted ASCII messages e g from an external meteo sensor In auto mode the receiver automatically detects the CMD RTCMv2 RTCMv3 RTCMV or CMRv2 formats The other input formats must be specified explicitly A connection that is not configured in CMD mode or auto mode will be blocked for user commands There are two ways to re enable the command...

Page 182: ...ing depending on whether the connection descriptor is open close or waiting for a connection The Input argument is ignored for output only connections and the Output argument is ig nored for input only connections See section 1 1 5 for details Note that not all input connections can accept user commands check section 1 1 5 for details Examples COM1 sdio COM1 CMD CR R sdio COM1 CMD DataInOut COM1 C...

Page 183: ... Provider to off disabled the DynDNS functionality On receivers with multiple active network interfaces the receiver registers the public IP ad dress of the interface with the highest priority Ethernet first then WiFi unless a specific interface is forced with the Bind argument The receiver checks every 2 minutes if the public IP address has changed and updates the DynDNS server if needed In additio...

Page 184: ...imal values separated by a single whitespace Make sure to enclose the string between double quotes if it contains whitespaces The max imum length of the Message argument including the A or H prefix is 242 characters The EndOfLine argument defines which end of line character should be sent after the mes sage That argument is ignored when the Message argument starts with H To send a message at a regul...

Page 185: ...avigating to the Communication Web Server TLS page of the web interface and up loading a pem file containing the certificate By default if no user provided certificate is available the receiver will use a self signed certificate instead The user provided certificate can be erased with exeResetReceiver hard HTTPSCertificate command revert ing to the self signed certificate Note that the HTTPS certificate ...

Page 186: ...rated list of IP addresses IPv4 allowed to connect to the receiver Only IP addresses are allowed here not hostnames To enable a whole range of IP addresses a netmask can also be specified using the so called slash notation where the IP address is followed by a forward slash and the subnet mask number from 0 to 32 After entering the command existing IP connections are kept active but any new connect...

Page 187: ...argument sets the idle time after which the first KeepAlive is sent If the connection stays idle no response received other KeepAlive messages are sent every Interval until MaxCount KeepAlives have been sent after which the connection is closed KeepAlive messages are only sent when the connection is idle and no data is being transfered Keep in mind that when the Interval is set to a low number on a...

Page 188: ...nds The FTPControl argument defines the FTP control port number The IP port numbers configured by this command keep their value upon a power cycle and even after a reset to factory default see command exeResetReceiver Note that this command is not shown in the output of the lstConfigFile command When selecting a port number make sure to avoid conflicts with other services for example select a differe...

Page 189: ...When Mode is set to UDP the receiver listens for incoming UDP messages on its port identified by the Port argument In UDP mode the TCPAddress argument is ignored Note that contrary to the TCP connection the UDP connection is unidirectional If Port is set to 0 the corresponding IPR connection is disabled This command is the counterpart of the setIPServerSettings command setIPServerSettings configures...

Page 190: ...ed by the Port argument When Mode is set to UDP and UDPAddress contains a whitespace separated list of IP addresses or hostnames the IPS data stream is only delivered to the specified hosts Remember to enclose the UDPAddress argument between double quotes when it contains whitespaces Use the setDataInOut command and the various output setting commands e g setNMEAOutput to define the data stream to b...

Page 191: ...ault MTU In DHCP mode setting MTU to 0 will result in using the MTU supplied by the DHCP server When set to any other value MTU will override the DHCP Server once the link is established The IP settings configured by this command keep their value upon a power cycle and even after a reset to factory default see command exeResetReceiver Note that this command is not shown in the output of the lstConf...

Page 192: ...onsidered a hex adecimal representation of a succession of bytes to be sent to the requested connection In this case the string should be a succession of 2 character hexadecimal values separated by a single whitespace Make sure to enclose the string between double quotes if it contains whitespaces The max imum length of the Message argument including the A or H prefix is 201 characters The Interval...

Page 193: ... the receiver output the string Hello CR LF to COM2 at each reset use the follow ing command sequence COM1 spe COM2 A Hello CR LF once CR R spe COM2 A Hello CR LF once PeriodicEcho COM2 A Hello CR LF once COM1 eccf Current Boot CR R eccf Current Boot CopyConfigFile Current Boot COM1 193 ...

Page 194: ...o the client i e your local computer when a connection is established ServerIP sets the IP address that will be given to the server i e the receiver when a connec tion is established Auth determines whether the client needs to authenticate itself when establishing the con nection PAP will use Password Authentication Protocol and CHAP will use Challenge Hand shake Authentication Protocol When authe...

Page 195: ...ports open WiFi By default all ports open Note that the WiFi settings only ap plies when the receiver is configured as WiFi client see 1 1 3 2 2 The WiFi firewall is disabled when the receiver is the access point It is possible to close all ports OpenPorts is none to open all ports OpenPorts is all or to manually specify a list of ports to open OpenPorts is PortList In the latter case the list of po...

Page 196: ...e to give each enabled mount point a different name The ExtServer argument defines if the mount point is allowed to receive a stream from a remote NTRIP server argument set to Yes or if only local streams are allowed i e streams originating from the receiver s own NTRIP server The UserName and Password arguments are the credentials needed for the remote server to feed data These arguments are ignor...

Page 197: ...ent to manual and by providing the format string with the ManualFt argument The ManualFt argument is ignored when Format is not set to manual The FtDetails argument sets the contents of the format details field of the sourcetable STR records When you need a comma in the ManualFt or FtDetails argument use the CM escape se quence Do not forget to enclose the string between double quotes if it contain...

Page 198: ...ifies on which TLS port the caster can be accessed The TLS certificate is the same as the https certificate See the setHttpsSettings command for details Note that if Port and TlsPort are equal TLS is disabled The Identifier argument is a free text that can be used to describe the caster If Identifier is set to the string default it is replaced by the receiver name and serial number This text will appea...

Page 199: ...ot supported Up to five user accounts can be defined The MounPoints argument defines the list of mount points allowed for a given user account The caster can accept up to 10 concurrent client connections in total The MaxClients argu ment can be used to limit the number of clients that are allowed to concurrently connect using a particular account To delete a user account enter this command with an em...

Page 200: ...ata to the built in NTRIP caster use localhost for the Caster argument Port UserName Password and MountPoint are the IP port number the user name the password and the mount point to be used when connecting to the NTRIP caster The default NTRIP port number is 2101 Note that the receiver encrypts the password so that it cannot be read back with the command getNtripSettings The Version argument speci...

Page 201: ... Caster is the hostname or IP address of the NTRIP caster to connect to and Port is the IP port number The default NTRIP port number is 2101 Example COM1 lnst ntripcaster CR R lnst ntripcaster BLOCK 1 0 C HTTP 1 1 200 OK Ntrip Version Ntrip 2 0 Ntrip Flags st_filter st_auth st_match st_strict Server NTRIP Caster 2 0 15 BLOCK 1 0 C ENDSOURCETABLE COM1 201 ...

Page 202: ...host is present in the trust zone of the receiver and so the Fingerprint argument can be left empty for NTRIP client or server connections to localhost The examples below show different formats for the Fingerprint argument Examples COM1 sntt NTR1 on CR R sntt NTR1 on NtripTlsSettings NTR1 on COM1 Lower and upper case characters are allowed COM1 sntt NTR1 on Aa Bb 56 78 90 12 78 90 12 34 CR R sntt ...

Page 203: ... will check if a known access point is reachable and automatically connect to it By default if multiple WiFi access points are reachable the last one that was added with the exeAddWiFiAccessPoint command has the priority Use the exeManageWiFiAccessPoint to overrule this and manually define the preferred access point The command permanently adds the WiFi access point to the list of known networks Th...

Page 204: ...on argument is Promote the access point identified by the SSID argument is given the highest priority in case multiple known access points are reachable If the Action argument is Remove the access point identified by the SSID argument is removed from the list of known access points This will prevent the receiver from connecting to this access point until it is re enabled with the exeAddWiFiAccessPoi...

Page 205: ...WiFi access point name Using the reserved keyword default reverts to the default SSID By default WiFi encryption is turned off The encryption type and password can be specified with the second and third arguments The Channel argument sets the WiFi frequency channel to be used It is not necessary to change this value unless you notice interference problems with another nearby WiFi device The last ar...

Page 206: ...us Connected Known or Unknown and for known APs the access point priority P1 for highest priority A known AP is an AP that has been defined with the exeAddWiFiAccessPoint command The Type argument defines the contents of the list Type Description Known List of known access points Reachable List of the access points that are currently in reach of the re ceiver Example COM1 lwa all CR R lwa all BLOCK ...

Page 207: ...de off on AccessPoint Client RxControl Communication WiFi Settings General Use this command to turn WiFi on and off and to specify in which WiFi mode the receiver should operate client or access point Example COM1 swfm off CR R swfm off WiFiMode off AccessPoint COM1 207 ...

Page 208: ...iffers from the related setNMEAOutput command in that it instructs the receiver to output the specified messages only once instead of at regular intervals The Cd argument defines the connection descriptor see 1 1 5 on which the message s should be output and the Messages argument defines the list of messages that should be output Refer to appendix C for a short description of the NMEA sentences Pleas...

Page 209: ... set of NMEA messages on a given connection at a regular interval The Cd argument defines the connection descriptor see 1 1 5 on which the mes sage s should be output and the Messages argument defines the list of messages that should be output Refer to appendix C for a short description of the NMEA sentences This command is the counterpart of the setSBFOutput command for NMEA sentences Please refer ...

Page 210: ...MC msec100 NMEAOutput Stream3 none none off NMEAOutput Stream4 none none off NMEAOutput Stream5 none none off NMEAOutput Stream6 none none off NMEAOutput Stream7 none none off NMEAOutput Stream8 none none off NMEAOutput Stream9 none none off NMEAOutput Stream10 none none off COM1 210 ...

Page 211: ...tioning modes the Mode Indicator in GNS sentences is set to D Differential for all non standalone positioning modes and the Course Over Ground in the VTG sentences is not a null field for stationary receivers When setting the argument Compatibility to Mode2 the Course Over Ground in the VTG sen tences is not a null field for stationary receivers The LocalDatum argument specifies whether transformatio...

Page 212: ...t is set to auto the talker will depend on the type of solution that is output For a GNSS solution GN is used if satellites from multiple constellations are used GP for a GPS only solution GA for a Galileo only solution and BD for a BeiDou only solution Note that the command is ignored for the NMEA sentences where it would conflict with the standard For example the GSV sentence reporting the GPS vi...

Page 213: ...d to set the NMEA version the receiver should comply with If v3x is selected the NMEA sentences are formatted according to the 3 01 version of the standard If v4x is selected system ID signal ID and navigational status fields are added in some sentences according to version 4 11 of the NMEA standard Example COM1 snv v4x CR R snv v4x NMEAVersion v4x COM1 213 ...

Page 214: ...Meas3Ranges block for a definition of the reference epochs When generating the Meas3Ranges SBF block the receiver automatically selects an optimal interval between reference epochs This command allows the user to define the maximum interval allowed for his application Setting the MaxIntrvl argument to OnlyRef forces the receiver to only encode reference epochs in Meas3Ranges This will allow to decod...

Page 215: ...oups is to ease the typing effort when the same set of SBF blocks are to be addressed regularly The list of supported SBF blocks SBF List can be found in appendix A A number of predefined groups of SBF blocks are available such as Measurements See the command setSBFOutput for a description of these predefined groups Example To output the messages MeasEpoch PVTCartesian and DOP as one group on COM1 a...

Page 216: ... argument defines the list of messages that should be output The list of SBF blocks SBF List supported by the exeSBFOnce command can be found in appendix A Make sure that the connection specified by Cd is configured to allow SBF output this is the default for all connections See also the setDataInOut command Predefined groups of SBF blocks such as Measurements can be addressed in the Messages argument...

Page 217: ...on GALUtc GALGstGps GEONav BDSNav BDSIon BDSUtc QZSNav ReceiverSetup Com mands Rinex MeasEpoch GPSNav GPSCNav GPSIon GPSUtc GLONav GALNav GALUtc GALGstGps GEONav BDSNav BDSCNav2 QZSNav NavICLNav PVTGeodetic ReceiverSetup Com ment RinexMeas3 Meas3Ranges GPSNav GPSCNav GPSIon GPSUtc GLONav GALNav GALUtc GALGstGps GEONav BDSNav BDSCNav2 QZSNav NavICLNav ReceiverSetup Comment Support MeasEpoch MeasExt...

Page 218: ...3 Command Line Reference COM1 esoc COM1 MeasEpoch CR R esoc COM1 MeasEpoch SBFOnce COM1 MeasEpoch COM1 218 ...

Page 219: ... is defined as a list of messages that should be output with the same interval on one connection descriptor Cd see 1 1 5 In other words one Stream is associated with one Cd and one Interval and contains a list of SBF blocks defined by the Messages argument The list of supported SBF blocks SBF List can be found in appendix A Predefined groups of SBF blocks such as Measurements can be addressed in the ...

Page 220: ...In BaseStation RTCMDatum Status SatVisibility ChannelStatus ReceiverStatus InputLink Out putLink IPStatus NTRIPClientStatus NTRIPServerStatus WiFiAPStatus WiFiClientStatus CosmosStatus PowerStatus QualityInd DiskStatus LogStatus RFStatus DynDNSStatus P2PPStatus GALAuthStatus LBand LBandTrackerStatus LBAS1DecoderStatus LBAS1Messages LBandBeams UserGroups Group1 Group2 Group3 Group4 Advanced SystemI...

Page 221: ...disabled If set to OnChange the SBF blocks are output at their natural renewal rate see section 4 1 8 If a specific interval is spec ified e g sec1 corresponds to an interval of 1 second the SBF blocks are decimated from their renewal rate to the specified interval Some blocks can only be output at their renewal rate e g the GPSNav block For these blocks the receiver ignores the value of the Interval...

Page 222: ...ObsSignals argument specifies the signal types to be encoded in BINEX 0x7f 05 records GPS GLONASS etc are aliases to enable disable all signals from a constellation at once For an observable to be actually encoded in BINEX the corresponding signal type must be enabled with this command and the signal must be enabled for tracking see the setSignalTracking command By default BINEX 0x7f records contai...

Page 223: ...3 Command Line Reference Example COM1 sbfm GPSL1CA GPSL2PY Doppler CR R sbfm GPSL1CA GPSL2PY Doppler BINEXFormatting GPSL1CA GPSL2PY Doppler COM1 223 ...

Page 224: ...ecified BINEX records only once instead of at regular intervals The Cd argument defines the connection descriptor see 1 1 5 on which the records should be output and the Messages argument defines the list of records that should be output Refer to appendix B for a short description of the available BINEX records Rec01Nav is an alias for the set of all decoded ephemeris records Make sure that the conne...

Page 225: ...ec0114 Rec0105 Rec0106 Rec0107 and Rec01Raw is an alias for Rec0141 Rec0142 Rec0147 The Interval argument defines the rate at which the BINEX records specified in the Messages argument are output If set to off the BINEX records are disabled If set to OnChange the BINEX records are output at their OnChange rate defined in appendix B If another interval is specified e g sec1 corresponding to an interval...

Page 226: ...rec tions between the version 2 0 of the RTCM standard and later versions If the base station is sending RTCM Message Type 1 based on version 2 0 the value GroupDelay must be se lected to have a correct usage of incoming corrections The GLOToD argument specifies how to interpret the time of day field in the differential GLONASS correction message MT31 Select Tb to be compatible with RTCM version up ...

Page 227: ... new navigation data sets when generating DGPS correction messages such as MT1 The delay can be set independently for GPS and GLONASS satellites with the TimeGPS and TimeGLO arguments Upon reception of a new navigation data set from GPS GLONASS satellites IOD change the DGPS corrections continue to refer to the previous data set for TimeGPS TimeGLO seconds Example COM1 sr2h 60 60 CR R sr2h 60 60 R...

Page 228: ...n operating in base station mode The reference station ID is transmitted in the first word of each outgoing RTCM v2 x message The argument GLOToD specifies how to encode the time of day field in the differential GLONASS correction message MT31 Select Tb to be compatible with RTCM version up to 2 2 and select Tk to be compatible with RTCM 2 3 and later Examples COM1 sr2f 345 CR R sr2f 345 RTCMv2Format...

Page 229: ...emerides message RTCM17 the ephemerides are sent out one satellite at a time at a rate specified by this command For instance if ZCount is set to 1 and there are 12 ephemerides to send out it takes 0 6 12 7 2 seconds to send the whole ephemerides set The intervals specified with this command are not connection specific all the connections which output a given RTCM v2 x message will output it with the...

Page 230: ...be used to specify the interval of other supported RCTCM v2 x messages The intervals specified with this command are not connection specific all the connections which output a given RTCM v2 x message will output it with the same interval Note that this command only defines the interval of RTCM messages To make the receiver ac tually output these messages use the setRTCMv2Output and setDataInOut comma...

Page 231: ...in up to 90 characters Note that this command only defines the content of message 16 To make the receiver actu ally output this message use the setRTCMv2Output and setDataInOut commands Example To send the string Hello in message 16 over COM2 at the default interval use the following sequence COM1 sr2m Hello CR R sr2m Hello RTCMv2Message16 Hello COM1 sr2o COM2 RTCM16 CR R sr2o COM2 RTCM16 RTCMv2Out...

Page 232: ...ages are always enabled together such as messages 18 and 19 DGPS is an alias for RTCM1 RTCM3 RTCM31 and RTK is an alias for RTCM3 RTCM18 19 RTCM22 RTCM31 Refer to appendix D for an overview of the supported RTCM v2 x messages Please make sure that the connection specified by Cd is configured to allow RTCMv2 output which can be done with the setDataInOut command The interval at which each message is ...

Page 233: ...restrict the list of incoming RTCM v2 x messages that the receiver is allowed to use in its differential PVT computation A short description of the supported RTCM v2 x messages can be found in appendix D Example To only accept RTCM1 and RTCM3 corrections from the base station 1011 use the following sequence COM1 sr2u RTCM1 RTCM3 CR R sr2u RTCM1 RTCM3 RTCMv2Usage RTCM1 RTCM3 COM1 sdcu manual 1011 C...

Page 234: ...rma tion parameters from message types 1021 1023 If your RTK provider sends transformation parameters for more than one target CRS the receiver selects the first transformation pa rameters it receives In manual mode you can force the receiver to only apply the transformation to the tar get CRS specified with the second argument The TargetName argument must exactly match the name used by the RTK prov...

Page 235: ...o transmit their corrections in a time multiplexed way For example base station A would compute and transmit its corrections at every 10 second epoch in the GPS time scale and base station B would compute and transmit its corrections 5 seconds after the 10 second epochs In that case receiver B would be configured with the Delay argument set to 5 See also the setRTCMv3Interval command to configure th...

Page 236: ...the signal types to be encoded in MSM messages For an observable to be actually encoded in MSM the corresponding signal type must be enabled with this command the signal must be enabled for tracking see the setSignalTracking command and a suitable MSM message must be enabled with the setRTCMv3Output com mand The GLOL2 argument applies to message types 1011 and 1012 GLONASS L1 and L2 observ ables I...

Page 237: ...3 Command Line Reference COM1 237 ...

Page 238: ...ge argument sets the interval of all Multiple Signal Messages of type i Refer to appendix D for an overview of the supported RTCM v3 x messages For the ephemerides messages e g RTCM1019 the ephemerides are sent out one satellite at a time at a rate specified by this command For instance if Interval is set to 1 and there are 12 GPS ephemerides to send out it takes 12 seconds to send the whole GPS ep...

Page 239: ...up to 120 characters Note that this command only defines the content of message 1029 To make the receiver actually output this message use the setRTCMv3Output and setDataInOut commands Example To send the string Hello in message 1029 over COM2 at the default interval use the follow ing sequence COM1 sr3m Hello CR R sr3m Hello RTCMv3Message1029 Hello COM1 sr3o COM2 RTCM1029 CR R sr3o COM2 RTCM1029 R...

Page 240: ...ut Settings Differential Corrections RTCMv3 Use these commands to define inquire which RTCM v3 x messages are enabled for output on a given connection descriptor Cd see 1 1 5 The Messages argument specifies the RTCM message types to be enabled A short description of the supported RTCM v3 x message types can be found in appendix D MSMi enables the Multiple Signal Message Type i from all constellation...

Page 241: ...006 on COM2 use the following se quence COM1 sr3o COM2 RTCM1001 RTCM1002 RTCM1005 RTCM1006 CR R sr3o COM2 RTCM1001 RTCM1002 RTCM1005 RTCM1006 RTCMv3Output COM2 RTCM1001 RTCM1002 RTCM1005 RTCM1006 COM1 sdio COM2 RTCMv3 CR R sdio COM2 RTCMv3 DataInOut COM2 auto RTCMv3 COM1 241 ...

Page 242: ...rections RTCMv3 Use this command to restrict the list of incoming RTCM v3 x messages that the receiver is allowed to use in its differential PVT computation A short description of the supported RTCM v3 x messages can be found in appendix D MSMi is an alias to enable the Multiple Signal Message Type i from all constellations at once Example To only accept RTCM1001 and RTCM1002 corrections from the ...

Page 243: ...ings Differential Corrections CMRv2 Use these commands to define inquire the reference station ID assigned to the receiver when operating in base station mode The reference station ID is transmitted in the header of each outgoing CMR v2 0 message Examples COM1 sc2f 12 CR R sc2f 12 CMRv2Formatting 12 COM1 COM1 gc2f CR R gc2f CMRv2Formatting 12 COM1 243 ...

Page 244: ...is command are not connection specific all the connections which output a given CMR v2 0 message will output it with the same interval Note that this command only defines the interval of CMR messages To make the receiver actually output these messages use the setCMRv2Output and setDataInOut commands Refer to appendix D for an overview of the supported CMR v2 0 messages Examples COM1 sc2i CMR0 2 CR R...

Page 245: ... the CMR standard If less than 50 characters are defined the string will be right justified and padded with spaces The argument COGO is the COGO code It can contain up to 16 characters in compliance with the CMR standard If less than 16 characters are defined the string will be right justified and padded with spaces Note that this command only defines the contents of message 2 To make the receiver actu...

Page 246: ...r Cd see 1 1 5 The Messages argument specifies the CMR message types to be enabled Refer to appendix D for an overview of the supported CMR v2 0 messages Please make sure that the connection specified by Cd is configured to allow CMRv2 output which can be done with the setDataInOut command The interval at which each message is output is to be specified with the setCMRv2Interval command Example To enab...

Page 247: ...messages that the receiver is allowed to use in its differential PVT computation CMR0p and CMR0w refer to the CMR and CMR W variants respectively A short description of the supported CMR v2 0 messages can be found in appendix D Example To only accept CMR0 from the base station 12 use the following sequence COM1 sc2u CMR0 CR R sc2u CMR0 CMRv2Usage CMR0 COM1 sdcu manual 12 CR R sdcu manual 12 DiffCo...

Page 248: ...ch Duration interval After compression the original non compressed file is deleted The BINEX file name is ssssdddfmm yy bnx where ssssdddfmm yy follows the RINEX 2 11 definition The 4 character station identifier is the first four letters of the station code as set by the setMarkerParameters command If the station code is empty the first four letters of the marker name are used After compression the gz ...

Page 249: ...ention XFLLmodd ddd with X the constel lation code F the frequency type always set to Z LL the laboratory identifier set with setTimeLabParameters mo the receiver identifier set with setTimeLabParameters and dd ddd the modified Julian date It is recommended to configure all CGGTTS parameters before enabling logging see the setTimeLabParameters setCGGTTSPosition setCGGTTSTrackParameters setINTDLY setCA...

Page 250: ...between 30s before and 30s after etime etime is a Unix timestamp The fields before and after correspond to the applicable value of the TimeBefore and TimeAfter arguments of the setPreserveOnEvent command For the future events the Planned tag is diplayed Example COM1 lde DSK1 LOG1_a_name CR R lde DSK1 LOG1_a_name BLOCK 1 0 xml version 1 0 encoding ISO 8859 1 DiskEvent version 0 1 Disk name DSK1 tota...

Page 251: ...3 Command Line Reference Event type Command etime 1588343730 before 1440 after 1440 Planned Disk DiskEvent COM1 251 ...

Page 252: ... files from the disk that is becom ing full The files in unused or disabled log sessions see the setLogSession command are first to be deleted Then the receiver scans the enabled low priority sessions The old est file in these sessions is identified and deleted If no file could be deleted the receiver scans the medium priority ses sions and finally it will scan the high priority sessions See the setLogSe...

Page 253: ...e disk size and free space in bytes and the list of all recorded files and directories The content of directories is not shown by default To list the content of a directory use the second argument to specify the directory name Example COM1 ldi DSK1 CR R ldi dsk1 BLOCK 1 0 xml version 1 0 encoding ISO 8859 1 DiskInfo version 0 1 gt Disk name DSK1 total 2030927872 free 2030764032 File name log sbf si...

Page 254: ... hours respectively and the file name adheres to the IGS RINEX2 11 naming convention The 4 character station identifier is the first four letters of the station code as set by the setMarkerParameters command If the station code is empty the first four letters of the marker name are used If desired it is also possible to add a log session ID prefix to all file names logged in IGS naming mode This is enab...

Page 255: ...ters setNMEALogging setRTCMMSMLogging setRINEXLogging By setting the BusyTag argument to on a A suffix is added to all files that are currently written to for easy identification The suffix is removed when the file is closed By setting the SessionTag argument to on the log session ID is prefixed to all file names with the exception of the manually specified SBF file names This makes that all file names logged...

Page 256: ...ists on the disk the existing folder is renamed to the new name without loosing its contents If there is no LOGi_ folder yet it is created The log files are automatically deleted after the interval specified in the AutoDelete argument unless they are flagged as to be preserved see the Type argument below If the AutoDelete argument is set to Never files are never deleted automatically except when the d...

Page 257: ...d in one of the IGS naming modes can be preserved When the disk is full and the receiver tries to delete old files to free up space see the setDiskFullAction com mand preserved files will be the last to be deleted starting from the session with lowest priority Example COM1 sls LOG1 Enabled DSK1 MySession After1Year High Continuous CR R sls LOG1 Enabled DSK1 MySession After1Year High Continuous LogSe...

Page 258: ...o 0 the default value the receiver will remain logging indefinitely The RepetitionIntrvl can be used to repeat the logging pattern at regular interval Repetition Intrvl should be at least 5 seconds longer than Duration If RepetitionIntrvl is set to a value smaller than Duration the repetition functionality is disabled Be aware that the receiver must know the time to automatically schedule the loggi...

Page 259: ...he disk respectively Unmounting an internal disk makes it available as a mass storage device when the USB cable is connected to a PC i e it makes the disk appear as a drive on most file browsers When the disk is mounted it cannot be accessed as a mass storage device Internal logging is only possible when the disk is mounted Prior to formatting or unmounting the disk make sure to stop all disk activ...

Page 260: ... the file name adheres to the IGS RINEX2 11 naming convention The 4 character station identifier is the first four letters of the station code as set by the setMarkerParameters command If the station code is empty the first four letters of the marker name are used If desired it is also possible to add a log session ID prefix to all file names logged in IGS naming mode This is enabled with the setGlobalF...

Page 261: ... events also and these can be viewed in the Planned tag using lstDiskEvent command Refer to the lstDiskEvent setLogSession and PreserveOnEvent commands for further details The EventTime argument defines the time of the event that the receiver should preserve The format of the EventTime argument is YYYY MM DD hh mm ss Note the Preserve On Event logic expects events to be marked at half minute time s...

Page 262: ...t log preserving command TimeBefore tells the receiver to preserve all the files that contain data for the last TimeBefore minutes before the event occurred TimeAfter tells the receiver to preserve all the files that contain data until TimeAfter minutes past the occurence of the event Note that only files that are logged under the IGS file naming can be preserved Preserved files are marked as preserve ...

Page 263: ...The download speed is highly influenced by the processor load To speed up the download it is recommended to stop the signal tracking which can be done by typing the following command before starting the download setSatelliteTracking none The file download can be interrupted by sending ten uppercase S characters simply by holding the shift S key pressed to the connection through which the download is...

Page 264: ...eName is the name of a directory the entire directory is deleted except the file currently written to if any If the reserved string all is used for the FileName argument all files are removed from the selected disk except the file currently written to if any If there is no file nor directory named FileName on the disk or if the file is currently written to an error message is returned Examples To remov...

Page 265: ...ould be started every 15 minutes every hour 6 hours or every day When FileDuration is set to none RINEX logging is disabled and all following arguments are ignored ObsInterval specifies the interval of the observation records SignalTypes sets the list of signals to encode in the RINEX observation files The more signals are selected the bigger the RINEX files By default the RINEX files contain the code...

Page 266: ...ng file names used by the receiver for RINEX v3 04 or above are also set with the setMarkerParameters command If desired it is also possible to add a log session ID prefix to all RINEX file names This is enabled with the setGlobalFileNamingOptions command RINEX files are put in daily directories the directory name being of the form yyddd with yy the 2 digit year and ddd the day of year If a RINEX file ...

Page 267: ...trol Logging Internal Logging Settings RTCM MSM Logging and Upload Use this command to configure the logging of RTCM MSM messages in the log session iden tified with the Cd argument The FileDuration argument specifies whether a new RTCM MSM file should be started every 15 minutes every hour 6 hours or every day When FileDuration is set to none RTCM logging is disabled and all following arguments are i...

Page 268: ...nvention with the con tent characters being omitted and the format characters being set to msm e g SEPT00BEL_R_20173260000_06H_60S msm The 4 character station identifier is the first four letters of the station code as set by the setMarkerParameters command If the station code is empty the first four letters of the marker name are used instead The other elements of the file names monument index receiv...

Page 269: ... put in the remote directory specified in the Path argument Special character sequences can be used to encode the file date in the path y is replaced with the 2 digit year Y with the 4 digit year m with the month d with the day of the month j with the day of the year starting with 001 and b with the 3 letter month indication e g Apr for April To put a literal in the path use After expansion Path mus...

Page 270: ...can be used to encode the file date in the path y is replaced with the 2 digit year Y with the 4 digit year m with the month d with the day of the month and j with the day of the year starting with 001 To put a literal in the path use After expansion Path must not be longer than 80 characters If the directory specified in the Path argument does not exist on the remote server it is cre ated If the tr...

Page 271: ...d in the setSBFFTP command Upon receiving this command the receiver tries to connect to the specified FTP server and to write a short file in the directory specified with the Path argument The file is then deleted from the FTP server The process can take several minutes depending on the network latency At the end a report message is posted in the activity log This message can be retrieved with the lst...

Page 272: ...and the compressed files are FTPed The files are put in the remote directory specified in the Path argument Special character sequences can be used to encode the file date in the path y is replaced with the 2 digit year Y with the 4 digit year m with the month d with the day of the month j with the day of the year starting with 001 and b with the 3 letter month indication e g Apr for April To put a li...

Page 273: ...tory specified in the Path argument Special character sequences can be used to encode the file date in the path y is replaced with the 2 digit year Y with the 4 digit year m with the month d with the day of the month and j with the day of the year starting with 001 and b with the 3 letter month indication e g Apr for April To put a literal in the path use After expansion Path must not be longer than...

Page 274: ...tory specified in the Path argument Special character sequences can be used to encode the file date in the path y is replaced with the 2 digit year Y with the 4 digit year m with the month d with the day of the month j with the day of the year starting with 001 and b with the 3 letter month indication e g Apr for April To put a literal in the path use After expansion Path must not be longer than 80 ...

Page 275: ...files are FTPed The files are put in the remote directory specified in the Path argument Special character sequences can be used to encode the file date in the path y is replaced with the 2 digit year Y with the 4 digit year m with the month d with the day of the month j with the day of the year starting with 001 and b with the 3 letter month indication e g Apr for April To put a literal in the path u...

Page 276: ...e After entering your credentials and logging in you should be directed to a consent screen where you give your consent to the receiver to access your storage server you may not get this consent screen if your server administrator has configured the authorization server to skip this step The next page should display a code that you will need to copy back to the receiver using the exeAuthorizeCloudI...

Page 277: ...etBINEXLoggingParameters command If BINEX file compression is enabled with the setBINEXLoggingParameters command the compressed files are uploaded The files are put in the remote directory specified in the Path argument Special character sequences can be used to encode the file date in the path y is replaced with the 2 digit year Y with the 4 digit year m with the month d with the day of the month and ...

Page 278: ...r where the files will be stored The RedirectURI optional is the URI where the user will be redirected to after a successfull authentication to get the authorization code All the endpoints should be valid http s URLs The Scope defines the access scope of the receiver to the resource server For example if SBF files will be uploaded the receiver should have the access to write files to the remote direct...

Page 279: ...3 Command Line Reference COM1 279 ...

Page 280: ...eiver from the resource server defined by the Server argument When the receiver is disconnected it cannot upload files to the server anymore If this com mand is used while a file is being uploaded the upload will continue until it succeeds or fails In case it succeeds no additional files are uploaded In case it fails the next upload attempts for the same file will fail and the file will not be uploaded ...

Page 281: ...rizeCloudIt the authorization will fail If an Authcode has been already used for a successful authorization it cannot be used any more If the server needs to be reauthorized the server will need a new code This new code is generated by revisiting the link provided by the lstAuthorizationLinkCloudIt The process can take several minutes depending on the network latency At the end a report message is...

Page 282: ...dIt to the specified server For example in IGS1H file naming mode files are uploaded every hour If NMEA file compression is enabled with the setFileNaming command the compressed files are uploaded The files are put in the remote directory specified in the Path argument Special character sequences can be used to encode the file date in the path y is replaced with the 2 digit year Y with the 4 digit year m ...

Page 283: ...n the setRinexLogging command If RINEX file compression is enabled with the setRinexLogging command the compressed files are uploaded The files are put in the remote directory specified in the Path argument Special character sequences can be used to encode the file date in the path y is replaced with the 2 digit year Y with the 4 digit year m with the month d with the day of the month and j with the da...

Page 284: ...s in the setRTCMMSMLogging command If RTCM MSM file compression is enabled with the setRTCMMSMLogging command the compressed files are uploaded The files are put in the remote directory specified in the Path argument Special character sequences can be used to encode the file date in the path y is replaced with the 2 digit year Y with the 4 digit year m with the month d with the day of the month and j w...

Page 285: ...to the specified server For example in IGS1H file naming mode files are uploaded every hour If SBF file compression is enabled with the setFileNaming command the compressed files are uploaded The files are put in the remote directory specified in the Path argument Special character sequences can be used to encode the file date in the path y is replaced with the 2 digit year Y with the 4 digit year m with ...

Page 286: ...are shown For each beam the list contains the beam carrier frequency in Hz the baud rate the beam name and the region code For service specific beams the satellite longitude in degrees from 180 to 180 positive east of Greenwich and the grant status are also provided The last entry shows the SVID to which the beam is mapped This command is very similar to the command getLBandBeams the only differenc...

Page 287: ...o define inquire the parameters of user defined L Band beams A beam is characterized by its frequency and baud rate the Frequency and Rate arguments Optionally a beam name and region ID can also be associated to each beam for information only A beam can be enabled or disabled as set by the Usage argument Only enabled beams can be locked to Example COM1 slbb User1 1537460000 baud1200 25East E Enabled...

Page 288: ...llite Beam Configuration This command can be used to define the Service ID scrambling vector and Null Data Algorithm NDA usage of the L Band service provider The ServiceID and ScramblingVector are 4 digit hexadecimal numbers This command should only be used for test and maintenance purposes Example COM1 slcs A5A5 0101 on CR R slcs A5A5 0101 on LBandCustomServiceID A5A5 0101 on COM1 288 ...

Page 289: ...P connection NTRi must be configured in client mode with the setNtripSettings command The DC1 and DC2 connections should normally not be used They are reserved for applications where the NTRIP client is running outside the receiver and the L Band cor rections are injected into one of the internal daisy chain pipes see the setDataInOut com mand for details on the daisy chain pipes In that case the N...

Page 290: ...he Mode argument Mode Description auto The demodulator will try to lock to a visible beam preferring beams to which access has been granted The list of beams and their status can be retrieved by the command lstLBandBeams off The demodulator will be disabled and will not attempt to lock to any beam manual The demodulator will attempt to lock to the beams identified in the Beami arguments and ignore ...

Page 291: ...nce station can be granted or not as indicated in the list Example COM1 llrs CR R llrs BLOCK 1 1 LBAS1ReferenceStation 0001 granted LBAS1ReferenceStation 0002 granted LBAS1ReferenceStation 0003 granted LBAS1ReferenceStation 0004 granted LBAS1ReferenceStation 0005 granted LBAS1ReferenceStation 0007 granted LBAS1ReferenceStation 0009 granted LBAS1ReferenceStation 0015 granted LBAS1ReferenceStation 0...

Page 292: ...t reference station IDs separated by the or sign Use the keyword none to empty the selected decoded correction stream and all to include all reference stations in the stream Examples To restrain the decoded differential correction stream to reference stations 1 2 3 and 15 use COM1 slrs RTCMV 0001 0002 0003 0015 CR R slrs RTCMV 0001 0002 0003 0015 LBAS1RefStations RTCMV 0001 0002 0003 0015 COM1 To ...

Page 293: ... Use this command to configure the Cosmos service on the receiver The Enable argument determines whether or not the Cosmos service is executed on the re ceiver The CustomerID argument is used to identify the customer in whose Cosmos dash board the receiver must be included This value is unique per customer and must be obtained from Septentrio Besides the configuration in this command Cosmos certifica...

Page 294: ...4 SBF Reference Chapter 4 SBF Reference 294 ...

Page 295: ...tion Sync c1 2 The Sync field is a 2 byte array always set to 0x24 0x40 The first byte of every SBF block has hexadecimal value 24 decimal 36 ASCII The second byte of every SBF block has hexadecimal value 40 decimal 64 ASCII These two bytes identify the beginning of any SBF block and can be used for synchronization CRC u2 The CRC field is the 16 bit CRC of all the bytes in an SBF block from and inclu...

Page 296: ... time stamps are possible Receiver time stamp this type of time stamp is used for the SBF blocks containing synchronous data i e data generated at a given epoch in the receiver time scale Examples of such blocks are the measurement and PVT blocks MeasEpoch and PVTCartesian The time stamp is always a multiple of the output interval as specified by the setSBFOutput command see also section 4 1 8 As s...

Page 297: ...the block description in chapter 4 2 unless that revision is 0 see the ReceiverSetup block as an example It is guaranteed that if a given field exists in revision N it will also exist in all revisions after N no fields are withdrawn from SBF 4 1 7 Do Not Use Value It might happen that one or more pieces of data in an SBF block are not known at block cre ation time For example when there are insufficie...

Page 298: ...d Type Do Not Use Description RINEX satellite code Value SVID or PRN u1 0 Satellite ID The following ranges are defined 1 37 PRN number of a GPS satellite Gnn nn SVID 38 61 Slot number of a GLONASS satellite with an offset of 37 R01 to R24 Rnn nn SVID 37 62 GLONASS satellite of which the slot number is not known NA 63 68 Slot number of a GLONASS satellite with an offset of 38 R25 to R30 Rnn nn SVID...

Page 299: ...ASS 1202 025 3Q 13 B1C BeiDou 1575 42 1P 14 B2a BeiDou 1176 45 5P 15 L5 NavIC IRNSS 1176 45 5A 16 Reserved 17 E1 Galileo 1575 42 1C 18 Reserved 19 E6 Galileo 1278 75 6C or 6B 20 E5a Galileo 1176 45 5Q 21 E5b Galileo 1207 14 7Q 22 E5 AltBOC Galileo 1191 795 8Q 23 LBand MSS L band beam specific NA 24 L1CA SBAS 1575 42 1C 25 L5 SBAS 1176 45 5I 26 L5 QZSS 1176 45 5Q 27 L6 QZSS 1278 75 28 B1I BeiDou 156...

Page 300: ...he buffer Compute the CRC of the buffer The computed CRC should be equal to the CRC stored at point 2 If not go back to point 1 else a valid SBF block has been detected and can be interpreted by the reading software 6 If the block number bits 0 to 12 of the ID field decoded at point 3 is of interest to your application decode the SBF block 7 Go back to point 1 and search for the new occurrence of t...

Page 301: ...Ranges Pseudorange 1mm 1mm Carrier phase 0 001cycles 0 001cycles C N0 0 25dB Hz 0 03125dB Hz with MeasExtra 1dB Hz 0 0625dB Hz with Meas3CN0HiRes Doppler 0 0001Hz No Doppler in Meas3Ranges 1mm s with Meas3Doppler The main advantage of the Meas3 blocks is their reduced size compared to the MeasEpoch blocks As an illustration the following table shows the disk space required to log the different mea...

Page 302: ...re stored in a MeasEpochChannelType1 sub block The first part of this sub block contains the master measurements encoded as absolute values The second part contains slave measurements for which only the delta values are encoded in smaller MeasEpochChannelType2 sub blocks Every MeasEpochChannelType1 sub block contains a field N2 which gives the number of nested MeasEpochChannelType2 sub blocks If the...

Page 303: ...lockSyncThreshold command Bit 4 Not applicable Bit 5 High dynamics this bit is set when the receiver is in high dynamics mode either on request of the user using the setReceiverDynamics high command or based on the re ceiver s built in high dynamics detection algorithms Bit 6 E6B used this bit is set if the Galileo E6 measurements in this block are obtained using the E6B signal instead of the defa...

Page 304: ...z Doppler 0 0001 CarrierLSB u2 0 001 cycles 0 2 LSB of the carrier phase relative to the pseudorange CarrierMSB i1 65 536 cycles 128 2 MSB of the carrier phase relative to the pseudorange The full carrier phase can be computed by L cycles PRtype1 m λ CarrierMSB 65536 CarrierLSB 0 001 where λ is the carrier wavelength corresponding to the frequency of the signal type in the Type field above λ 299792...

Page 305: ...for main 1 for Aux1 and 2 for Aux2 LockTime u1 1 s 255 See corresponding field in the MeasEpochChannelType1 sub block above except that the value is clipped to 254 instead of 65534 CN0 u1 0 25 dB Hz 255 See corresponding field in the MeasEpochChannelType1 sub block above OffsetsMSB u1 Bit field containing the MSB of the code and of the Doppler offsets with respect to the MeasEpochChannelType1 sub blo...

Page 306: ...4 LSB of the Doppler offset relative to the Doppler in the MeasEpochChannelType1 sub block To compute the Doppler use Dtype2 Hz Dtype1 Hz α DopplerOffsetMSB 65536 DopplerOffsetLSB 1e 4 where α is the ratio of the carrier frequency corresponding to the observable type in this MeasEpochChannelType2 sub block and that of the master observable type in the parent MeasEpochChannelType1 sub block see sec...

Page 307: ...gth u2 1 byte TOW u4 0 001 s 4294967295 Receiver time stamp see 4 1 3 WNc u2 1 week 65535 N u1 Number of sub blocks in this MeasExtra block SBLength u1 1 byte Length of a sub block DopplerVarFactor f4 1 Hz2 cycle2 Factor to be used to compute the Doppler variance from the carrier phase variance More specifically the Doppler variance in mHz2 can be computed by σ2 Doppler mHz2 CarrierVariance Doppler...

Page 308: ...5535 Duration of continuous carrier phase The lock time is reset at the initial lock after a signal re acquisition If the lock time is longer than 65534s it is clipped to 65534s If the carrier phase measurement is not available this field is set to its Do Not Use value CumLossCont u1 Carrier phase cumulative loss of continuity counter modulo 256 for the signal type antenna and satellite this sub bl...

Page 309: ...ve received and stored the applicable reference epoch to be able to decode delta epochs When streaming SBF over an unreliable communication link if the reference epoch is lost subsequent Meas3Ranges blocks cannot be decoded until the next reference epoch is received The interval at which reference epochs are encoded can be controlled with the setMeas3MaxRefInterval command A longer interval genera...

Page 310: ... of the Meas3Ranges block containing the frac tional part of the C N0 values The resolution of the C N0 value in the Meas3Ranges SBF block is 1dB Hz Applications requiring a finer C N0 resolution 0 0625dB Hz must log the Meas3CN0HiRes block together with the Meas3Ranges block The detailed definition of this block is not available in this document 310 ...

Page 311: ...ent The Meas3Doppler block is an extension of the Meas3Ranges block containing the range rate Doppler values Applications requiring range rate or Doppler observables must log the Meas3Doppler block together with the Meas3Ranges block The detailed definition of this block is not available in this document 311 ...

Page 312: ...tension of the Meas3Ranges block containing various Septentrio proprietary flags and values needed for accurate post processing or re processing of the PVT from the measurements in the Meas3Ranges SBF block This block must be logged together with Meas3Ranges The detailed definition of this block is not available in this document 312 ...

Page 313: ...xtension of the Meas3Ranges block containing the multipath correction applied by the receiver It can be used for research purposes to undo the receiver multipath mitigation and revert to unmitigated data This block must be logged together with Meas3Ranges The detailed definition of this block is not available in this document 313 ...

Page 314: ...rks the end of the transmission of all measurement related blocks belonging to a given epoch Parameter Type Units Do Not Use Description Sync1 c1 Block Header see 4 1 1 Sync2 c1 CRC u2 ID u2 Length u2 1 byte TOW u4 0 001 s 4294967295 Receiver time stamp see 4 1 3 WNc u2 1 week 65535 Padding u1 Padding bytes see 4 1 5 314 ...

Page 315: ...rce u1 Bit field Bits 0 4 Signal type from which the bits have been received as de fined in 4 1 10 Bits 5 7 Reserved FreqNr u1 Not applicable RxChannel u1 Receiver channel see 4 1 11 NAVBits u4 10 NAVBits contains the 300 bits of a GPS C A subframe Encoding For easier parsing the bits are stored as a succession of 10 32 bit words Since the actual words in the subframe are 30 bit long two unused bits...

Page 316: ...heck 0 CRC or parity check failed 1 CRC or parity check passed ViterbiCnt u1 Viterbi decoder error count over the subframe Source u1 Bit field Bits 0 4 Signal type from which the bits have been received as defined in 4 1 10 Bits 5 7 Reserved FreqNr u1 Not applicable RxChannel u1 Receiver channel see 4 1 11 NAVBits u4 10 NAVBits contains the 300 bits of a GPS CNAV subframe Encoding NAVBits contains a...

Page 317: ...ck 0 CRC or parity check failed 1 CRC or parity check passed ViterbiCnt u1 Viterbi decoder error count over the subframe Source u1 Bit field Bits 0 4 Signal type from which the bits have been received as defined in 4 1 10 Bits 5 7 Reserved FreqNr u1 Not applicable RxChannel u1 Receiver channel see 4 1 11 NAVBits u4 10 NAVBits contains the 300 bits of a GPS CNAV subframe Encoding NAVBits contains all...

Page 318: ...OW u4 0 001 s 4294967295 SIS time stamp see 4 1 3 WNc u2 1 week 65535 SVID u1 Satellite ID see 4 1 9 CRCSF2 u1 Status of the CRC check of subframe 2 0 failed 1 passed CRCSF3 u1 Status of the CRC check of subframe 3 0 failed 1 passed Source u1 Signal type from which the bits have been received as defined in 4 1 10 Reserved u1 Reserved for future use to be ignored by decoding software RxChannel u1 Re...

Page 319: ... or parity check failed 1 CRC or parity check passed ViterbiCnt u1 Not applicable Source u1 Bit field Bits 0 4 Signal type from which the bits have been received as defined in 4 1 10 Bits 5 7 Reserved FreqNr u1 Frequency number with an offset of 8 See 4 1 9 RxChannel u1 Receiver channel see 4 1 11 NAVBits u4 3 NAVBits contains the first 85 bits of a GLONASS C A string i e all bits of the string with ...

Page 320: ...RC or parity check failed 1 CRC or parity check passed ViterbiCnt u1 Viterbi decoder error count over the page Source u1 Bit field Bits 0 4 Signal type from which the bits have been received as defined in 4 1 10 Bits 5 6 Reserved Bit 7 Reserved FreqNr u1 Not applicable RxChannel u1 Receiver channel see 4 1 11 NAVBits u4 8 NavBits contains the 244 bits of a Galileo F NAV page Encoding NAVBits contain...

Page 321: ...ub page received from L1BC In that case bits 0 4 are set to L1BC Bit 6 Reserved Bit 7 Reserved FreqNr u1 Not applicable RxChannel u1 Receiver channel see 4 1 11 NAVBits u4 8 NAVBits contains the 234 bits of an I NAV navigation page in nominal or alert mode Note that the I NAV page is transmitted as two sub pages the so called even and odd pages of duration 1 second each 120 bits each In this block...

Page 322: ... or parity check failed 1 CRC or parity check passed ViterbiCnt u1 Viterbi decoder error count over the page Source u1 Bit field Bits 0 4 Signal type from which the bits have been received as defined in 4 1 10 Bits 5 6 Reserved Bit 7 Reserved FreqNr u1 Not applicable RxChannel u1 Receiver channel see 4 1 11 NAVBits u4 16 NAVBits contains the 492 bits of a Galileo C NAV page Encoding NAVBits contains...

Page 323: ...C or parity check failed 1 CRC or parity check passed ViterbiCnt u1 Viterbi decoder error count over the navigation frame Source u1 Bit field Bits 0 4 Signal type from which the bits have been received as defined in 4 1 10 Bits 5 7 Reserved FreqNr u1 Not applicable RxChannel u1 Receiver channel see 4 1 11 NAVBits u4 8 NAVBits contains the 250 bits of a SBAS navigation frame Encoding NAVBits contains...

Page 324: ...C or parity check failed 1 CRC or parity check passed ViterbiCnt u1 Viterbi decoder error count over the navigation frame Source u1 Bit field Bits 0 4 Signal type from which the bits have been received as defined in 4 1 10 Bits 5 7 Reserved FreqNr u1 Not applicable RxChannel u1 Receiver channel see 4 1 11 NAVBits u4 8 NAVBits contains the 250 bits of a SBAS navigation frame Encoding NAVBits contains...

Page 325: ... or parity check failed 1 CRC or parity check passed ViterbiCnt u1 Not applicable Source u1 Signal type from which the bits have been received as defined in 4 1 10 Reserved u1 Reserved for future use to be ignored by decoding software RxChannel u1 Receiver channel see 4 1 11 NAVBits u4 10 NAVBits contains the 300 deinterleaved bits of a BeiDou navigation subframe Encoding NAVBits contains all the b...

Page 326: ...th u2 1 byte TOW u4 0 001 s 4294967295 SIS time stamp see 4 1 3 WNc u2 1 week 65535 SVID u1 Satellite ID see 4 1 9 CRCSF2 u1 Status of the CRC check of subframe 2 0 failed 1 passed CRCSF3 u1 Status of the CRC check of subframe 3 0 failed 1 passed Source u1 Signal type from which the bits have been received as defined in 4 1 10 Reserved u1 Reserved for future use to be ignored by decoding software R...

Page 327: ...s 4294967295 SIS time stamp see 4 1 3 WNc u2 1 week 65535 SVID u1 Satellite ID see 4 1 9 CRCPassed u1 Status of the CRC or parity check 0 CRC or parity check failed 1 CRC or parity check passed ViterbiCnt u1 Not applicable Source u1 Signal type from which the bits have been received as defined in 4 1 10 Reserved u1 Reserved for future use to be ignored by decoding software RxChannel u1 Receiver cha...

Page 328: ...eek 65535 SVID u1 Satellite ID see 4 1 9 CRCPassed u1 Status of the CRC check on the 486 bits of the message 0 CRC check failed 1 CRC check passed Reserved1 u1 Reserved for future use to be ignored by decoding software Source u1 Signal type from which the bits have been received as defined in 4 1 10 Reserved2 u1 Reserved for future use to be ignored by decoding software RxChannel u1 Receiver channe...

Page 329: ...1 week 65535 SVID u1 Satellite ID see 4 1 9 CRCPassed u1 Status of the CRC or parity check 0 CRC or parity check failed 1 CRC or parity check passed Reserved u1 Reserved Source u1 Signal type from which the bits have been received as defined in 4 1 10 Reserved2 u1 Reserved for future use to be ignored by decoding software RxChannel u1 Receiver channel see 4 1 11 NAVBits u4 10 NAVBits contains the 3...

Page 330: ... or parity check passed ViterbiCnt u1 Viterbi decoder error count over the subframe Source u1 Bit field Bits 0 4 Signal type from which the bits have been received as defined in 4 1 10 Bits 5 7 Reserved Reserved u1 Reserved for future use to be ignored by decoding software RxChannel u1 Receiver channel see 4 1 11 NAVBits u4 10 NAVBits contains the 300 bits of a QZSS CNAV subframe Encoding NAVBits co...

Page 331: ...or parity check passed ViterbiCnt u1 Viterbi decoder error count over the subframe Source u1 Bit field Bits 0 4 Signal type from which the bits have been received as defined in 4 1 10 Bits 5 7 Reserved Reserved u1 Reserved for future use to be ignored by decoding software RxChannel u1 Receiver channel see 4 1 11 NAVBits u4 10 NAVBits contains the 300 bits of a QZSS CNAV subframe Encoding NAVBits con...

Page 332: ...tatus of the Reed Solomon decoding 0 Failed unrecoverable errors found There is at least one wrong bit in NavBits 1 Passed all bit errors could be recovered or the message was received without bit error RSCnt u1 Number of symbol errors that were successfully corrected by the Reed Solomon decoder Source u1 Source of the message 0 Unknown 1 QZSS L6D 2 QZSS L6E Reserved u1 Reserved RxChannel u1 Recei...

Page 333: ...OW u4 0 001 s 4294967295 SIS time stamp see 4 1 3 WNc u2 1 week 65535 SVID u1 Satellite ID see 4 1 9 CRCSF2 u1 Status of the CRC check of subframe 2 0 failed 1 passed CRCSF3 u1 Status of the CRC check of subframe 3 0 failed 1 passed Source u1 Signal type from which the bits have been received as defined in 4 1 10 Reserved u1 Reserved for future use to be ignored by decoding software RxChannel u1 Re...

Page 334: ...rity check 0 CRC or parity check failed 1 CRC or parity check passed ViterbiCnt u1 Viterbi decoder error count over the navigation message Source u1 Signal type from which the bits have been received as defined in 4 1 10 FreqNr u1 Not applicable RxChannel u1 Receiver channel see 4 1 11 NAVBits u4 8 NAVBits contains the 250 bits of a QZSS L1S navigation message Encoding NAVBits contains all the bits...

Page 335: ...rity check 0 CRC or parity check failed 1 CRC or parity check passed ViterbiCnt u1 Viterbi decoder error count over the navigation message Source u1 Signal type from which the bits have been received as defined in 4 1 10 FreqNr u1 Not applicable RxChannel u1 Receiver channel see 4 1 11 NAVBits u4 8 NAVBits contains the 250 bits of a QZSS L5S navigation message Encoding NAVBits contains all the bits...

Page 336: ...led 1 CRC or parity check passed ViterbiCnt u1 Viterbi decoder error count over the subframe Source u1 Signal type from which the bits have been received as defined in 4 1 10 Reserved u1 Reserved for future use to be ignored by decoding software RxChannel u1 Receiver channel see 4 1 11 NAVBits u4 10 NavBits contains the 292 bits of a NavIC IRNSS subframe Encoding NAVBits contains all the bits of th...

Page 337: ...ubframe 1 word 4 IODC u2 Issue of data clock 10 bits from subframe 1 IODE2 u1 Issue of data ephemeris 8 bits from subframe 2 IODE3 u1 Issue of data ephemeris 8 bits from subframe 3 FitIntFlg u1 Curve Fit Interval 1 bit from subframe 2 word 10 Reserved2 u1 unused to be ignored by decoding software T_gd f4 1 s Estimated group delay differential t_oc u4 1 s clock data reference time a_f2 f4 1 s s2 SV...

Page 338: ...rection term to the orbit radius omega f8 1 semi circle Argument of perigee OMEGADOT f4 1 semi circle s Rate of right ascension IDOT f4 1 semi circle s Rate of inclination angle WNt_oc u2 1 week WN associated with t_oc modulo 1024 WNt_oe u2 1 week WN associated with t_oe modulo 1024 Padding u1 Padding bytes see 4 1 5 338 ...

Page 339: ... ignored by decoding software e f4 Eccentricity t_oa u4 1 s almanac reference time of week delta_i f4 1 semi circle Inclination angle at reference time relative to i0 0 3 semi circles OMEGADOT f4 1 semi circle s Rate of right ascension SQRT_A f4 1 m1 2 Square root of the semi major axis OMEGA_0 f4 1 semi circle Longitude of ascending node of orbit plane at weekly epoch omega f4 1 semi circle Argum...

Page 340: ...001 s 4294967295 SIS time stamp see 4 1 3 WNc u2 1 week 65535 PRN u1 ID of the GPS satellite from which the coefficients have been received see 4 1 9 Reserved u1 Reserved for future use to be ignored by decoding software alpha_0 f4 1 s vertical delay coefficient 0 alpha_1 f4 1 s semi circle vertical delay coefficient 1 alpha_2 f4 1 s semi circle2 vertical delay coefficient 2 alpha_3 f4 1 s semi circle3 ve...

Page 341: ...1 ID of the GPS satellite from which these UTC parameters have been re ceived see 4 1 9 Reserved u1 Reserved for future use to be ignored by decoding software A_1 f4 1 s s first order term of polynomial A_0 f8 1 s constant term of polynomial t_ot u4 1 s reference time for UTC data WN_t u1 1 week UTC reference week number to which t_ot is referenced DEL_t_LS i1 1 s Delta time due to leap seconds whe...

Page 342: ...u1 L1 L2 and L5 signal health 3 bits from MT10 LSB is L5 health URA_ED i1 Elevation Dependant accuracy index URAED 5 bits from MT10 t_op u4 1 s Data predict time of week 300 top 11 bits from MT10 30 t_oe u4 1 s Ephemeris data reference time of week 300 toe 11 bits from MT10 11 A f8 1 m Semi major axis at reference time A 26 bits from MT10 plus Aref A_DOT f8 1 m s Change rate in semi major axis A 2...

Page 343: ...RA_NED2 u1 Non Elevation Dependant accuracy change rate index URANED2 3 bits from MT30 WN_op u1 1 week Week number associated with t_op modulo 256 WNop 8 bits from MT30 a_f2 f4 1 s s2 Clock drift rate correction coefficient af2 n 10 bits from MT30 a_f1 f4 1 s s Clock drift correction coefficient af1 n 20 bits from MT30 a_f0 f8 1 s Clock bias correction coefficient af0 n 26 bits from MT30 T_gd f4 1 s 2 1...

Page 344: ...t of satellite acceleration in PZ 90 Ddy f4 1000 m s2 y component of satellite acceleration in PZ 90 Ddz f4 1000 m s2 z component of satellite acceleration in PZ 90 gamma f4 1 Hz Hz γn tb relative deviation of predicted carrier frequency tau f4 1 s τn tb time correction to GLONASS time dtau f4 1 s τn time difference between L2 and L1 sub band t_oe u4 1 s reference time of week in GPS time frame WN...

Page 345: ...ter in the GLONASS ICD epsilon f4 ϵA n orbit eccentricity t_oa u4 1 s Reference time of week in GPS time frame Delta_i f4 1 semi circle iA n correction to inclination lambda f4 1 semi circle λA n Longitude of first ascending node t_ln f4 1 s tA λ n time of first ascending node passage omega f4 1 semi circle ωA n argument of perigee Delta_T f4 1 s orbit period TA n correction to mean Draconian period...

Page 346: ...me stamp see 4 1 3 WNc u2 1 week 65535 SVID u1 ID of the GLONASS satellite from which the data in this block has been decoded see 4 1 9 FreqNr u1 Frequency number of the GLONASS satellite from which the data in this block has been decoded see 4 1 9 N_4 u1 4 year interval number starting from 1996 KP u1 notification of leap second N u2 1 day calendar day number within 4 year period tau_GPS f4 1 109 ...

Page 347: ...are set to their respective Do Not Use values The following health SISA and BGD values are guaranteed to be available for a given value of the Source field Source Health SISA and BGD availability 2 I NAV At least L1 BDVS L1 BHS E5bDVS E5bHS SISA_L1E5b and BGD_L1E5b are available 16 F NAV At least E5aDVS E5aHS SISA_L1E5a and BGD_L1E5a are available The IODNav field identifies the issue of data All orb...

Page 348: ... indicates which clock model t_oc refers to a_f2 f4 1 s s2 SV clock aging The Source field indicates which clock model a_f2 refers to a_f1 f4 1 s s SV clock drift The Source field indicates which clock model a_f1 refers to a_f0 f8 1 s SV clock bias The Source field indicates which clock model a_f0 refers to WNt_oe u2 1 week WN associated with t_oe in GPS time frame modulo 4096 WNt_oc u2 1 week WN ass...

Page 349: ...4 SBF Reference CNAVenc u1 255 2 bit C NAV encryption status Bit 0 Bit set if E6B is unencrypted Bit 1 Bit set if E6C is unencrypted Bits 2 7 Reserved Padding u1 Padding bytes see 4 1 5 349 ...

Page 350: ...ension SQRT_A f4 1 m1 2 Square root of the semi major axis relative to nominal OMEGA_0 f4 1 semi circle Longitude of ascending node of orbit plane at weekly epoch omega f4 1 semi circle Argument of perigee M_0 f4 1 semi circle Mean anomaly at reference time a_f1 f4 1 s s SV clock drift a_f0 f4 1 s SV clock bias WN_a u1 1 week 2 bit almanac reference week SVID_A u1 SVID of the Galileo satellite of ...

Page 351: ...5 SIS time stamp see 4 1 3 WNc u2 1 week 65535 SVID u1 SVID of the Galileo satellite from which these param eters have been received see 4 1 9 Source u1 Message type from which the data has been de coded 2 I NAV 16 F NAV a_i0 f4 1 10 22 W m2 Hz Effective ionization level ai0 a_i1 f4 1 10 22 W m2 Hz deg Effective ionization level ai1 a_i2 f4 1 10 22 W m2 Hz deg2 Effective ionization level ai2 Storm...

Page 352: ...been re ceived see 4 1 9 Source u1 Message type from which the data has been decoded 2 I NAV 16 F NAV A_1 f4 1 s s 2 1010 first order term of polynomial A_0 f8 1 s 2 1010 constant term of polynomial t_ot u4 1 s reference time of week for UTC data WN_ot u1 1 week UTC reference week number to which t_ot is referenced DEL_t_LS i1 1 s Delta time due to leap seconds whenever the effectivity time is not ...

Page 353: ...nits Do Not Use Description Sync1 c1 Block Header see 4 1 1 Sync2 c1 CRC u2 ID u2 Length u2 1 byte TOW u4 0 001 s 4294967295 SIS time stamp see 4 1 3 WNc u2 1 week 65535 SVID u1 SVID of the Galileo satellite from which these parameters have been received see 4 1 9 Source u1 Message type from which the data has been decoded 2 I NAV 16 F NAV A_1G f4 1 109 ns s Rate of change of the offset A_0G f4 1 ...

Page 354: ...hich this RLM has been received Source u1 Message type from which the data has been decoded 2 I NAV 16 F NAV RLMLength u1 Length of the RLM message in bits RLMLength can be either 80 for a short message or 160 for a long message Reserved u1 3 Reserved for future use to be ignored by decoding software RLMBits u4 N Bits in the RLM message with the first bit being the MSB of RLMBits 0 N is 3 for a sho...

Page 355: ...roup delay differential T_GD2 f4 1 s 2 1010 B2I equipment group delay differential set to the Do Not Use value when unknown t_oc u4 1 s clock data reference time in BeiDou system time lagging GPS time by 14 seconds a_f2 f4 1 s s2 SV clock aging a_f1 f4 1 s s SV clock drift a_f0 f4 1 s SV clock bias C_rs f4 1 m Amplitude of the sine harmonic correction term to the orbit ra dius DEL_N f4 1 semi circ...

Page 356: ...e s Rate of right ascension IDOT f4 1 semi circle s Rate of inclination angle WNt_oc u2 1 week BeiDou week number associated with t_oc modulo 8192 Note that this value relates to the BeiDou system time WNt_oe u2 1 week BeiDou week number associated with t_oe modulo 8192 Note that this values relates to the BeiDou system time Padding u1 Padding bytes see 4 1 5 356 ...

Page 357: ...s2 Rate of mean motion difference from computed value M_0 f8 1 semi circle Mean anomaly e f8 Eccentricity omega f8 1 semi circle Argument of perigee OMEGA_0 f8 1 semi circle Longitude of ascending node OMEGADOT f4 1 semi circle s Rate of right ascension i_0 f8 1 semi circle Inclination angle IDOT f4 1 semi circle s Rate of inclination angle C_is f4 1 rad Amplitude of the sine harmonic correction t...

Page 358: ...ccuracy integrity flag AIF B1C Bit 1 Signal integrity flag SIF B1C Bit 2 Data integrity flag DIF B1C Bit 3 Accuracy integrity flag AIF B2a Bit 4 Signal integrity flag SIF B2a Bit 5 Data integrity flag DIF B2a Bits 6 7 Satellite health status 0 if healthy IODE u1 Issue Of Data Ephemeris IODC u2 Issue Of Data Clock ISC_B2ad f4 1 s 2 1010 Group delay differential between the B2a data and pilot com ponents ...

Page 359: ...1 week Almanac week number t_oa u4 1 s Almanac reference time SQRT_A f4 1 m1 2 Square root of the semi major axis e f4 Eccentricity omega f4 1 semi circle Argument of perigee M_0 f4 1 semi circle Mean anomaly at reference time OMEGA_0 f4 1 semi circle Longitude of ascending node of orbital plane computed accord ing to reference time OMEGADOT f4 1 semi circle s Rate of right ascension delta_i f4 1 ...

Page 360: ... 3 WNc u2 1 week 65535 PRN u1 ID of the BeiDou satellite from which the coefficients have been received see 4 1 9 Reserved u1 Reserved for future use to be ignored by decoding software alpha_0 f4 1 s vertical delay coefficient 0 alpha_1 f4 1 s semi circle vertical delay coefficient 1 alpha_2 f4 1 s semi circle2 vertical delay coefficient 2 alpha_3 f4 1 s semi circle3 vertical delay coefficient 3 beta_0 f4 1...

Page 361: ...u2 ID u2 Length u2 1 byte TOW u4 0 001 s 4294967295 SIS time stamp see 4 1 3 WNc u2 1 week 65535 PRN u1 ID of the BeiDou satellite from which the coefficients have been received see 4 1 9 Reserved u1 Reserved for future use to be ignored by decoding software A_1 f4 1 s s first order term of polynomial A_0 f8 1 s constant term of polynomial DEL_t_LS i1 1 s Delta time due to leap seconds whenever the e...

Page 362: ... L2DataFlag u1 Data flag for L2 P code 1 bit from subframe 1 word 4 Always 1 for QZSS satellites IODC u2 Issue of data clock 10 bits from subframe 1 IODE2 u1 Issue of data ephemeris 8 bits from subframe 2 IODE3 u1 Issue of data ephemeris 8 bits from subframe 3 FitIntFlg u1 Curve Fit Interval 1 bit from subframe 2 word 10 Reserved2 u1 unused to be ignored by decoding software T_gd f4 1 s 2 1010 Esti...

Page 363: ...c f4 1 m Amplitude of the cosine harmonic correction term to the orbit radius omega f8 1 semi circle Argument of perigee OMEGADOT f4 1 semi circle s Rate of right ascension IDOT f4 1 semi circle s Rate of inclination angle WNt_oc u2 1 week WN associated with t_oc modulo 1024 WNt_oe u2 1 week WN associated with t_oe modulo 1024 Padding u1 Padding bytes see 4 1 5 363 ...

Page 364: ...o be ignored by decoding software e f4 Difference from reference eccentricity t_oa u4 1 s almanac reference time of week delta_i f4 1 semi circle Difference from reference angle of inclination OMEGADOT f4 1 semi circle s Rate of right ascension SQRT_A f4 1 m1 2 Square root of the semi major axis OMEGA_0 f4 1 semi circle Longitude of ascending node of orbit plane at weekly epoch omega f4 1 semi cir...

Page 365: ...ed Message Blocks NavICLNav Number 4254 OnChange interval block generated each time a new navigation data set is received from a NavIC satellite The NavICLNav block contains the decoded LNAV navigation data for one NavIC IRNSS satel lite 365 ...

Page 366: ... angle IDOT f4 1 semi circle s Rate of inclination angle C_is f4 1 rad Amplitude of the sine harmonic correction term to the angle of inclination C_ic f4 1 rad Amplitude of the cosine harmonic correction term to the angle of inclination C_rs f4 1 m Amplitude of the sine harmonic correction term to the orbit ra dius C_rc f4 1 m Amplitude of the cosine harmonic correction term to the orbit radius C_...

Page 367: ... receiver checks whether the message is empty it contains only 0 s or whether it contains the message type 2 contents In the former case a GEOMT00 block will be generated In the latter case a GEOFastCorr block will be generated Refer to section A 4 4 1 of the DO 229 standard for further details Parameter Type Units Do Not Use Description Sync1 c1 Block Header see 4 1 1 Sync2 c1 CRC u2 ID u2 Length...

Page 368: ...ync1 c1 Block Header see 4 1 1 Sync2 c1 CRC u2 ID u2 Length u2 1 byte TOW u4 0 001 s 4294967295 SIS time stamp see 4 1 3 WNc u2 1 week 65535 PRN u1 ID of the SBAS satellite from which the message has been re ceived see 4 1 9 IODP u1 Issue of data PRN NbrPRNs u1 Number of PRNs designated in the mask PRNMask u1 NbrPRNs List of the PRNs in the PRN mask PRNMask 0 is the first PRN designated in the PRN ...

Page 369: ...st corrections come either 0 2 3 4 5 or 24 IODP u1 Issue of data PRN IODF u1 Issue of data fast corrections N u1 Number of fast correction sets in this message This is the number of FastCorr sub blocks N depends on the message type as follows Message type N MT00 MT02 MT03 MT04 13 MT05 12 MT24 6 SBLength u1 Length of the FastCorr sub blocks in bytes FastCorr A succession of N FastCorr sub blocks se...

Page 370: ...Use Description Sync1 c1 Block Header see 4 1 1 Sync2 c1 CRC u2 ID u2 Length u2 1 byte TOW u4 0 001 s 4294967295 SIS time stamp see 4 1 3 WNc u2 1 week 65535 PRN u1 ID of the SBAS satellite from which the message has been received see 4 1 9 Reserved u1 Reserved for future use to be ignored by decoding software IODF u1 4 Issue of data fast corrections for MT02 MT03 MT04 and MT05 UDREI u1 51 User Di...

Page 371: ...dard for further details Parameter Type Units Do Not Use Description Sync1 c1 Block Header see 4 1 1 Sync2 c1 CRC u2 ID u2 Length u2 1 byte TOW u4 0 001 s 4294967295 SIS time stamp see 4 1 3 WNc u2 1 week 65535 PRN u1 ID of the SBAS satellite from which the message has been received see 4 1 9 IODP u1 Issue of data PRN t_lat u1 1 s System latency ai u1 51 Degradation factor indicator from 0 to 15 f...

Page 372: ...1 9 Reserved u1 Reserved for future use to be ignored by decoding software IODN u2 Issue of data navigation DO 229 B Spare DO 229 C URA u2 Accuracy exponent t0 u4 1 s Time of applicability time of day Xg f8 1 m X position at time of day t0 Yg f8 1 m Y position at time of day t0 Zg f8 1 m Z position at time of day t0 Xgd f8 1 m s X velocity at time of day t0 Ygd f8 1 m s Y velocity at time of day t...

Page 373: ...date interval for long term corrections when the velocity code is 1 Cltc_v0 f8 1 m Bound on the update delta between successive long term corrections Iltc_v0 u4 1 s Minimum update interval for long term messages when the velocity code is 0 Cgeo_lsb f8 1 m Maximum round off error due to the LSB resolution of the orbit and clock information Cgeo_v f8 1 m s Velocity error bound on the maximum range r...

Page 374: ...ved see 4 1 9 Reserved u1 Reserved for future use to be ignored by decoding software A_1 f4 1 s s first order term of polynomial A_0 f8 1 s constant term of polynomial t_ot u4 1 s reference time for UTC data time of week WN_t u1 1 week UTC reference week number to which t_ot is referenced DEL_t_LS i1 1 s Delta time due to leap seconds whenever the effectivity time is not in the past WN_LSF u1 1 wee...

Page 375: ...ength u2 1 byte TOW u4 0 001 s 4294967295 SIS time stamp see 4 1 3 WNc u2 1 week 65535 PRN u1 ID of the SBAS satellite of which the almanac is provided here see 4 1 9 Reserved0 u1 Reserved for future use to be ignored by decoding software DataID u1 Data ID Reserved1 u1 Reserved for future use to be ignored by decoding software Health u2 Health bits t_oa u4 1 s Time of applicability with the day am...

Page 376: ...1 CRC u2 ID u2 Length u2 1 byte TOW u4 0 001 s 4294967295 SIS time stamp see 4 1 3 WNc u2 1 week 65535 PRN u1 ID of the SBAS satellite from which the message has been received see 4 1 9 NbrBands u1 Number of bands being broadcast BandNbr u1 Band number IODI u1 Issue of data ionosphere NbrIGPs u1 Number of ionospheric grid points IGP designated in the mask IGPMask u1 NbrIGPs List of the IGPs in the...

Page 377: ...ng software LTCorr A succession of N LTCorr sub blocks see definition below Padding u1 Padding bytes see 4 1 5 LTCorr sub block definition Parameter Type Units Description VelocityCode u1 Velocity code 0 or 1 PRNMaskNo u1 Sequence in the PRN mask from 1 to 51 Note that if the PRN mask No from the original message is 0 the corresponding long term corrections are ignored and hence not included in the ...

Page 378: ... BandNbr u1 Band number IODI u1 Issue of data ionosphere N u1 Number of ionospheric delay corrections in this message This is the number of IDC sub blocks N is always 15 SBLength u1 1 byte Length of the IDC sub blocks in bytes Reserved u1 Reserved for future use to be ignored by decoding software IDC A succession of N IDC sub blocks see definition below Padding u1 Padding bytes see 4 1 5 IDC sub bl...

Page 379: ...e messages MT27 from 1 to 8 MessageNR u1 Service message number from 1 to 8 PriorityCode u1 Priority Code from 0 to 3 dUDREI_In u1 δUDRE Indicator for users inside the service region from 0 to 15 dUDREI_Out u1 δUDRE Indicator for users outside the service region from 0 to 15 N u1 Number of Regions in this message This is the number of ServiceRegion sub blocks Ranging from 0 to 7 SBLength u1 1 byte...

Page 380: ...ovMatrix sub blocks N can be 1 or 2 SBLength u1 1 byte Length of the CovMatrix sub blocks in bytes Reserved u1 2 Reserved for future use to be ignored by decoding software CovMatrix A succession of N CovMatrix sub blocks see definition below Padding u1 Padding bytes see 4 1 5 CovMatrix sub block definition Parameter Type Units Description PRNMaskNo u1 Sequence number in the PRN mask from 1 to 51 Not...

Page 381: ...ported in a Cartesian co ordinate system using the datum indicated in the Datum field The position is that of the marker The ARP to marker offset is set through the command setAntennaOffset The PVT solution is also available in ellipsoidal form in the PVTGeodetic block The variance covariance information associated with the reported PVT solution can be found in the PosCovCartesian and VelCovCartesi...

Page 382: ...after outlier rejection 7 Position output prohibited due to export laws 8 Not enough differential corrections available 9 Base station coordinates unavailable 10 Ambiguities not fixed and user requested to only output RTK fixed positions X f8 1 m 2 1010 X coordinate in coordinate frame specified by Datum Y f8 1 m 2 1010 Y coordinate in coordinate frame specified by Datum Z f8 1 m 2 1010 Z coordinate i...

Page 383: ...es the reference ID of the differential information used In case of DGPS or RTK operation this field is to be interpreted as the base station identifier In SBAS operation this field is to be interpreted as the PRN of the geostationary satellite used from 120 to 158 If multi ple base stations or multiple geostationary satellites are used the value is set to 65534 MeanCorrAge u2 0 01 s 65535 In case of...

Page 384: ... to be lower than HAccuracy with a probability of at least 95 The value is clipped to 65534 655 34m VAccuracy u2 0 01 m 65535 2 sigma vertical accuracy The vertical distance between the true position and the computed position is expected to be lower than VAccuracy with a probability of at least 95 The value is clipped to 65534 655 34m Misc u1 Bit field containing miscellaneous flags Bit 0 In DGNSS o...

Page 385: ...eld The velocity vector is expressed relative to the local level Cartesian coordinate frame with north east up unit vectors The position is that of the marker The ARP to marker offset is set through the command setAntennaOffset The PVT solution is also available in Cartesian form in the PVTCartesian block The variance covariance information associated with the reported PVT solution can be found in...

Page 386: ... 7 Position output prohibited due to export laws 8 Not enough differential corrections available 9 Base station coordinates unavailable 10 Ambiguities not fixed and user requested to only output RTK fixed positions Latitude f8 1 rad 2 1010 Latitude from π 2 to π 2 positive North of Equator Longitude f8 1 rad 2 1010 Longitude from π to π positive East of Greenwich Height f8 1 m 2 1010 Ellipsoidal hei...

Page 387: ...es the reference ID of the differential information used In case of DGPS or RTK operation this field is to be interpreted as the base station identifier In SBAS operation this field is to be interpreted as the PRN of the geostationary satellite used from 120 to 158 If multi ple base stations or multiple geostationary satellites are used the value is set to 65534 MeanCorrAge u2 0 01 s 65535 In case of...

Page 388: ... to be lower than HAccuracy with a probability of at least 95 The value is clipped to 65534 655 34m VAccuracy u2 0 01 m 65535 2 sigma vertical accuracy The vertical distance between the true position and the computed position is expected to be lower than VAccuracy with a probability of at least 95 The value is clipped to 65534 655 34m Misc u1 Bit field containing miscellaneous flags Bit 0 In DGNSS o...

Page 389: ... N0 the satellite elevation the pseudor ange type the URA of the broadcast ephemeris and the ionospheric model If the ellipsoidal height is not estimated 2D mode all components of the variance covariance matrix are undefined and set to their Do Not Use value Parameter Type Units Do Not Use Description Sync1 c1 Block Header see 4 1 1 Sync2 c1 CRC u2 ID u2 Length u2 1 byte TOW u4 0 001 s 4294967295 R...

Page 390: ...ut RTK fixed positions Cov_xx f4 1 m2 2 1010 Variance of the x estimate Cov_yy f4 1 m2 2 1010 Variance of the y estimate Cov_zz f4 1 m2 2 1010 Variance of the z estimate Cov_bb f4 1 m2 2 1010 Variance of the clock bias estimate Cov_xy f4 1 m2 2 1010 Covariance between the x and y estimates Cov_xz f4 1 m2 2 1010 Covariance between the x and z estimates Cov_xb f4 1 m2 2 1010 Covariance between the x ...

Page 391: ...σϕh σϕb σλϕ σ2 λ σλh σλb σhϕ σhλ σ2 h σhb σbϕ σbλ σbh σ2 b Please refer to the PosCovCartesian block description for a general explanation of the contents Note that the units of measure for all the variances and covariances for height as well as for latitude and longitude are m2 for ease of interpretation If the ellipsoidal height is not estimated 2D mode all height related components of the varia...

Page 392: ...h measurements 2 Not enough ephemerides available 3 DOP too large larger than 15 4 Sum of squared residuals too large 5 No convergence 6 Not enough measurements after outlier rejection 7 Position output prohibited due to export laws 8 Not enough differential corrections available 9 Base station coordinates unavailable 10 Ambiguities not fixed and user requested to only output RTK fixed positions Cov...

Page 393: ...pe of PVT solution 0 No GNSS PVT available the Error field indicates the cause of the absence of the PVT solution 1 Stand Alone PVT 2 Differential PVT 3 Fixed location 4 RTK with fixed ambiguities 5 RTK with float ambiguities 6 SBAS aided PVT 7 moving base RTK with fixed ambiguities 8 moving base RTK with float ambiguities 10 Precise Point Positioning PPP 12 Reserved Bits 4 5 Reserved Bit 6 Set if the ...

Page 394: ...e between the x and y velocity estimates Cov_VxVz f4 1 m2 s2 2 1010 Covariance between the x and z velocity estimates Cov_VxDt f4 1 m2 s2 2 1010 Covariance between the x velocity and the clock drift estimates Cov_VyVz f4 1 m2 s2 2 1010 Covariance between the y and z velocity estimates Cov_VyDt f4 1 m2 s2 2 1010 Covariance between the y velocity and the clock drift estimates Cov_VzDt f4 1 m2 s2 2 1...

Page 395: ...pe of PVT solution 0 No GNSS PVT available the Error field indicates the cause of the absence of the PVT solution 1 Stand Alone PVT 2 Differential PVT 3 Fixed location 4 RTK with fixed ambiguities 5 RTK with float ambiguities 6 SBAS aided PVT 7 moving base RTK with fixed ambiguities 8 moving base RTK with float ambiguities 10 Precise Point Positioning PPP 12 Reserved Bits 4 5 Reserved Bit 6 Set if the ...

Page 396: ...between the north and east velocity estimates Cov_VnVu f4 1 m2 s2 2 1010 Covariance between the north and up velocity estimates Cov_VnDt f4 1 m2 s2 2 1010 Covariance between the north velocity and clock drift estimates Cov_VeVu f4 1 m2 s2 2 1010 Covariance between the east and up velocity estimates Cov_VeDt f4 1 m2 s2 2 1010 Covariance between the east velocity and clock drift estimates Cov_VuDt f...

Page 397: ...systematic ranging errors A value of six 6 for the PDOP is generally considered as the maximum value allowed for an acceptable position computation The horizontal and vertical protection levels HPL and VPL indicate the integrity of the computed horizontal and vertical position components as per the DO 229 specification In SBAS aided PVT mode see the Mode field of the PVTCartesian SBF block HPL and V...

Page 398: ... marker offset is set through the command setAntennaOffset For highest accuracy the receiver tries to compute the baseline Base2RoverX Base2RoverY Base2RoverZ from rover ARP to base ARP See the description of the BaseVectorCart block for details Accurate ARP to ARP baseline is guaranteed only if both bits 0 and 1 of the Misc field are set Otherwise centimeter level offsets may arise because the rec...

Page 399: ...too large 5 No convergence 6 Not enough measurements after outlier rejection 7 Position output prohibited due to export laws 8 Not enough differential corrections available 9 Base station coordinates unavailable 10 Ambiguities not fixed and user requested to only output RTK fixed positions X f8 1 m 2 1010 X coordinate in coordinate frame specified by Datum Y f8 1 m 2 1010 Y coordinate in coordinate f...

Page 400: ...11 32 NAD83 PA11 North American Datum Pacific plate 2011 33 NAD83 MA11 North American Datum Marianas plate 2011 34 GDA94 2010 Geocentric Datum of Australia 2010 35 GDA2020 Geocentric Datum of Australia 2020 36 JGD2011 Japanese Geodetic Datum 2011 250 First user defined datum 251 Second user defined datum NrSV u1 255 Total number of satellites used in the PVT computation WACorrInfo u1 0 Bit field provi...

Page 401: ...the type of GNSS signals having been used in the PVT computations If a bit i is set the signal type having index i has been used The signal numbers are listed in section 4 1 10 Bit 0 GPS C A is the LSB of SignalInfo Padding u1 Padding bytes see 4 1 5 401 ...

Page 402: ...h the com mand setAntennaOffset If no position is available the Error field indicates the cause of the unavailability and all fields after the Error field are set to their respective Do Not Use values To be able to output a position in the PosLocal block the receiver needs to have re ceived the relevant RTCM transformation messages at least either MT1021 or MT1022 is required If they have not been re...

Page 403: ...sumed constant and not computed Error u1 PVT error code The following values are defined 0 No Error 1 Not enough measurements 2 Not enough ephemerides available 3 DOP too large larger than 15 4 Sum of squared residuals too large 5 No convergence 6 Not enough measurements after outlier rejection 7 Position output prohibited due to export laws 8 Not enough differential corrections available 9 Base st...

Page 404: ...etAntennaOffset If no position is available the Error field indicates the cause of the unavailability and all fields after the Error field are set to their respective Do Not Use values To be able to output a position in the PosProjected block the receiver needs to have received at least one RTCM message in the MT1025 to MT1027 range If none of these messages is sent out by the service provider or if ...

Page 405: ...puted Error u1 PVT error code The following values are defined 0 No Error 1 Not enough measurements 2 Not enough ephemerides available 3 DOP too large larger than 15 4 Sum of squared residuals too large 5 No convergence 6 Not enough measurements after outlier rejection 7 Position output prohibited due to export laws 8 Not enough differential corrections available 9 Base station coordinates unavaila...

Page 406: ...ecified in the respec tive ICDs WGS84 for GPS satellites GTRF for Galileo satellites PZ90 for GLONASS satellites etc Parameter Type Units Do Not Use Description Sync1 c1 Block Header see 4 1 1 Sync2 c1 CRC u2 ID u2 Length u2 1 byte TOW u4 0 001 s 4294967295 Receiver time stamp see 4 1 3 WNc u2 1 week 65535 N u1 Number of satellites for which satellite position is provided in this SBF block i e numb...

Page 407: ...B i2 1 dm 32768 7 Total slant ionospheric delay at the L1 carrier frequency 1575 42MHz with a decimeter resolution TropoMSB i2 1 dm 32768 8 Total slant tropospheric delay with a decimeter resolution IonoLSB u1 1 0 256 0 dm 0 7 Sub decimeter part of the slant ionospheric delay The high resolution ionospheric delay expressed in meters can be com puted as IonoDelay m 0 1 IonoMSB IonoLSB 256 TropoLSB ...

Page 408: ...gnalInfo sub block for each satellite signal type pair used in the PVT or attitude computation Each SatSignalInfo sub block contains a number of ResidualInfo sub blocks each of them containing the residuals of a given observable type The standard deviation of the residual σe for satellite i and the a priori measure ment standard deviation σy can be computed from ei wi and MDB by using the followin...

Page 409: ...ignalInfo sub blocks If N is 0 there are no satellite residuals available for this epoch SB1Length u1 1 byte Length of a SatSignalInfo sub block excluding the nested ResidualInfoCode ResidualInfoPhase and ResidualInfoDoppler sub blocks SB2Length u1 1 byte Length of a ResidualInfoCode ResidualInfoPhase and ResidualInfoDoppler sub block Reserved u1 3 Reserved for future use to be ignored by decoding...

Page 410: ...Bit 2 Set if a ResidualInfoCode sub block containing pseudor ange residuals follows Bit 3 Set if a ResidualInfoPhase sub block containing carrier phase residuals follows Bit 4 Set if a ResidualInfoDoppler sub block containing Doppler residuals follows Bits 5 6 Reserved Bit 7 Set if ambiguity is fixed for the signal type identified by the Type field The number of ResidualInfo sub blocks to follow is e...

Page 411: ...siduals include the double differ ence ambiguity as long as the ambiguity is not fixed i e as long as bit 7 of MeasInfo is not set When the ambiguity is fixed ei does not contain the ambiguity anymore W u2 0 001 65535 Absolute value of the w test statistic based on probability of false alarm set by user MDB u2 0 01 cycles 65535 Minimal detectable bias based on probability of missed detection set by ...

Page 412: ... takes place in a user application and is outside of the receiver scope Please also refer to section 2 7 Parameter Type Units Do Not Use Description Sync1 c1 Block Header see 4 1 1 Sync2 c1 CRC u2 ID u2 Length u2 1 byte TOW u4 0 001 s 4294967295 Receiver time stamp see 4 1 3 WNc u2 1 week 65535 IntegrityFlag u1 RAIM integrity flag 0 Integrity test successful 1 Integrity test failed 2 Integrity not ...

Page 413: ...ription SVID u1 Satellite ID see 4 1 9 IODE u1 Issue of Data Ephemeris related to the orbit and clock corrections Reserved u1 2 Reserved for future use to be ignored by decoding software PRC f4 1 m Applied pseudorange correction based on the fast correction data re ceived in MT02 MT05 or MT24 CorrAgeFC f4 1 s 2 1010 Age of applied fast correction DeltaX f4 1 m X component of applied orbit correcti...

Page 414: ...1010 Variance of ionospheric delay corrections used for XPL computation VarAir f4 1 m2 2 1010 Variance of unmodeled receiver errors such as tracking noise and multi path used for XPL computation VarTropo f4 1 m2 2 1010 Variance of tropospheric delay corrections used for XPL computation Padding u1 Padding bytes see 4 1 5 414 ...

Page 415: ...nds setAntennaOffset and lstAntennaInfo for details Accurate ARP to ARP baseline is guaranteed only if both bits 0 and 1 of the Misc field are set Otherwise centimeter level offsets may arise because the receiver cannot make the distinction between phase center and ARP positions See section 2 5 for a discussion on the phase center and ARP positions The block supports multi base operation It contain...

Page 416: ...P 12 Reserved Bits 4 5 Reserved Bit 6 Set if the user has entered the command setPVTMode Static auto and the receiver is still in the process of determining its fixed position Bit 7 2D 3D flag set in 2D mode height assumed constant and not computed Misc u1 Bit field containing miscellaneous flags Bit 0 Set if the baseline points to the base station ARP Unset if it points to the antenna phase center or...

Page 417: ...erential corrections are available from the base station identified by ReferenceID If bit i is set corrections for the signal type hav ing index i are available The signal numbers are listed in section 4 1 10 Bit 0 GPS C A is the LSB of SignalInfo Padding u1 Padding bytes see 4 1 5 417 ...

Page 418: ...its Do Not Use Description Sync1 c1 Block Header see 4 1 1 Sync2 c1 CRC u2 ID u2 Length u2 1 byte TOW u4 0 001 s 4294967295 Receiver time stamp see 4 1 3 WNc u2 1 week 65535 N u1 Number of baselines for which relative position velocity and direction are provided in this SBF block i e number of VectorInfoGeod sub blocks If N is 0 there are no baseline available for this epoch SBLength u1 1 byte Len...

Page 419: ...P unset if not or unknown Bit 2 Proprietary Bit 3 Proprietary Bits 4 5 Proprietary Bits 6 7 Reserved DeltaEast f8 1 m 2 1010 East baseline component from rover to base DeltaNorth f8 1 m 2 1010 North baseline component from rover to base DeltaUp f8 1 m 2 1010 Up baseline component from rover to base DeltaVe f4 1 m s 2 1010 East velocity of base with respect to rover DeltaVn f4 1 m s 2 1010 North ve...

Page 420: ...mber 4076 OnChange interval default PVT output rate see 4 1 8 This block contains various internal parameters that can be used for maintenance and sup port The detailed definition of this block is not available in this document 420 ...

Page 421: ...umber 4079 OnChange interval default PVT output rate see 4 1 8 This block contains various internal parameters that can be used for maintenance and sup port The detailed definition of this block is not available in this document 421 ...

Page 422: ...the end of transmission of all PVT related blocks belonging to the same epoch Parameter Type Units Do Not Use Description Sync1 c1 Block Header see 4 1 1 Sync2 c1 CRC u2 ID u2 Length u2 1 byte TOW u4 0 001 s 4294967295 Receiver time stamp see 4 1 3 WNc u2 1 week 65535 Padding u1 Padding bytes see 4 1 5 422 ...

Page 423: ...le From 1 to 12 or 128 if not avail able UTCDay i1 1 day 128 Current day in the UTC time scale From 1 to 31 or 128 if not available UTCHour i1 1 hour 128 Current hour in the UTC time scale From 0 to 23 or 128 if not available UTCMin i1 1 minute 128 Current minute in the UTC time scale From 0 to 59 or 128 if not avail able UTCSec i1 1 s 128 Current second in the UTC time scale From 0 to 59 or 128 i...

Page 424: ...nized with system time This field indicates the number of seconds elapsed since the last resynchronization SyncAge is constrained to the 0 255s range If the age is higher than 255s SyncAge is set to 255 If the PPS is synchronized with the internal receiver time Timescale 3 SyncAge is always set to 0 TimeScale u1 Time scale to which the xPPS pulse is referenced as set with the setPPSParameters comma...

Page 425: ...ExtEvent SBF block and the receiver position is reported in the ExtEventPVTCartesian and the ExtEventPVTGeodetic blocks If enabled upon detection of an event these three blocks are output in the following order with no other SBF blocks in between them 1 ExtEvent 2 ExtEventPVTCartesian 3 ExtEventPVTGeodetic All blocks referring to the same event contain the same time stamp in the TOW and WNc fields ...

Page 426: ...and The time of week of the external event is given by text rx s TOW 1000 Offset text rx refers to the receiver system time scale Use the RxClkBias field to convert this time to the GNSS time scale RxClkBias f8 1 s 2 1010 Receiver clock bias at the time of event The clock bias is relative to the time system of the last PVT computation see the TimeSystem field of the PVTCartesian or PVTGeodetic block...

Page 427: ... week 65535 Mode u1 Bit field indicating the GNSS PVT mode as follows Bits 0 3 type of PVT solution 0 No GNSS PVT available the Error field indicates the cause of the absence of the PVT solution 1 Stand Alone PVT 2 Differential PVT 3 Fixed location 4 RTK with fixed ambiguities 5 RTK with float ambiguities 6 SBAS aided PVT 7 moving base RTK with fixed ambiguities 8 moving base RTK with float ambiguities ...

Page 428: ...um Marianas plate 2011 34 GDA94 2010 Geocentric Datum of Australia 2010 35 GDA2020 Geocentric Datum of Australia 2020 36 JGD2011 Japanese Geodetic Datum 2011 250 First user defined datum 251 Second user defined datum NrSV u1 255 Total number of satellites used in the PVT computation WACorrInfo u1 0 Bit field providing information about which wide area corrections have been applied Bit 0 set if orbit ...

Page 429: ...he communication latency HAccuracy u2 0 01 m 65535 2DRMS horizontal accuracy twice the root mean square of the hor izontal distance error The horizontal distance between the true position and the computed position is expected to be lower than HAccuracy with a probability of at least 95 The value is clipped to 65534 655 34m VAccuracy u2 0 01 m 65535 2 sigma vertical accuracy The vertical distance b...

Page 430: ...k 65535 Mode u1 Bit field indicating the GNSS PVT mode as follows Bits 0 3 type of PVT solution 0 No GNSS PVT available the Error field indicates the cause of the absence of the PVT solution 1 Stand Alone PVT 2 Differential PVT 3 Fixed location 4 RTK with fixed ambiguities 5 RTK with float ambiguities 6 SBAS aided PVT 7 moving base RTK with fixed ambiguities 8 moving base RTK with float ambiguities 10 P...

Page 431: ...h American Datum Marianas plate 2011 34 GDA94 2010 Geocentric Datum of Australia 2010 35 GDA2020 Geocentric Datum of Australia 2020 36 JGD2011 Japanese Geodetic Datum 2011 250 First user defined datum 251 Second user defined datum NrSV u1 255 Total number of satellites used in the PVT computation WACorrInfo u1 0 Bit field providing information about which wide area corrections have been applied Bit 0...

Page 432: ...he communication latency HAccuracy u2 0 01 m 65535 2DRMS horizontal accuracy twice the root mean square of the hor izontal distance error The horizontal distance between the true position and the computed position is expected to be lower than HAccuracy with a probability of at least 95 The value is clipped to 65534 655 34m VAccuracy u2 0 01 m 65535 2 sigma vertical accuracy The vertical distance b...

Page 433: ...he setEventParameters command A user needing the sub millisecond part of the event time must refer to the Offset field of the corresponding ExtEvent block The corresponding ExtEvent block is the last of the ExtEvent blocks having been output by the receiver Parameter Type Units Do Not Use Description Sync1 c1 Block Header see 4 1 1 Sync2 c1 CRC u2 ID u2 Length u2 1 byte TOW u4 0 001 s 4294967295 Ex...

Page 434: ...erved Bits 4 5 Reserved Bit 6 Set if the user has entered the command setPVTMode Static auto and the receiver is still in the process of determining its fixed position Bit 7 2D 3D flag set in 2D mode height assumed constant and not computed Misc u1 Bit field containing miscellaneous flags Bit 0 Set if the baseline points to the base station ARP Unset if it points to the antenna phase center or if unkn...

Page 435: ...erential corrections are available from the base station identified by ReferenceID If bit i is set corrections for the signal type hav ing index i are available The signal numbers are listed in section 4 1 10 Bit 0 GPS C A is the LSB of SignalInfo Padding u1 Padding bytes see 4 1 5 435 ...

Page 436: ...r 9 NTRIP 10 OTG1 11 OTG2 12 Bluetooth 15 UHF modem 16 IPR connection 17 Direct call port 18 IPS connection If the Mode field is 0 then this field is available RTCM2Words u4 N 30 bit words of the RTCM2 message The Data Word Length number of 32 bit words is variable and depends on the RTCM2 message contents It can be computed by the following piece of C code N 2 RTCM2Words 1 9 0x1f N can range from 2...

Page 437: ...Reference RTCM3Message u1 N N depends on the RTCM 3 message type If the Mode field is 3 then this field is available RTCMVMessage u1 N N depends on the RTCMV message type Padding u1 Padding bytes see 4 1 5 437 ...

Page 438: ...inate of the L1 phase center 2 or 8 Antenna reference point 9 Proprietary Parameter Type Units Do Not Use Description Sync1 c1 Block Header see 4 1 1 Sync2 c1 CRC u2 ID u2 Length u2 1 byte TOW u4 0 001 s 4294967295 Receiver time stamp see 4 1 3 WNc u2 1 week 65535 BaseStationID u2 The base station ID BaseType u1 Base station type 0 Fixed 1 Moving reserved for future use 255 Unknown Source u1 Sourc...

Page 439: ... blocks Datum is set to 255 if this SourceCRS TargetCRS pair is currently not used by the receiver HeightType u1 Height Indicator field from MT1021 and MT1022 This field indi cates how to interpret the height reported in the PosLocal and the PosProjected SBF blocks 0 Geometrical height 1 Physical height height definition in target CRS 2 Physical height height definition in source CRS QualityInd u1 Bit...

Page 440: ...eam for which data is provided in this sub block Baudrate u2 1 baud 0 Baudrate of the beam ServiceID u2 Service ID of the beam Set to 0 for the LBAS1 beam Set to 1 for the LBAS2 beam when received through an NTRIP connection This field must be ignored if the Status field is set to anything else than 3 Locked FreqOffset f4 1 Hz 2 1010 Frequency offset of the demodulator if available CN0 u2 0 01 dB Hz...

Page 441: ...tingStatus u1 GeoGating status Event u4 Bit field indicating whether an event occurred previously If this field is not equal to zero at least one event has oc curred Bit 0 Beamtable Update Bit 1 Station List Update Bit 2 Access Changed Bit 3 Message Received Bit 4 Subscription Error Bits 5 31 Reserved Rev 1 LeaseTime u4 1 s 4294967295 Allocated lease time LeaseRemaining u4 1 s 4294967295 Remaining l...

Page 442: ... UTC From 0 to 23 PAC c1 20 Product activation code right padded with zeros Rev 1 VelocityLimit u1 1 m s Speed Gating Velocity Limit SpeedGatingStatus u1 Speed Gating status 0 Speed Gating disabled 1 Waiting for velocity 129 User is in speed limit 130 Speed limit exceeded 255 Velocity error Rev 2 Padding u1 Padding bytes see 4 1 5 442 ...

Page 443: ...ssage decoded from LBAS1 Parameter Type Units Do Not Use Description Sync1 c1 Block Header see 4 1 1 Sync2 c1 CRC u2 ID u2 Length u2 1 byte TOW u4 0 001 s 4294967295 Receiver time stamp see 4 1 3 WNc u2 1 week 65535 MessageLength u2 1 byte Length of the message in this block Maximum message length is 512 bytes Message c1 MessageLength Over The Air message Padding u1 Padding bytes see 4 1 5 443 ...

Page 444: ...hich data is provided in this SBF block i e number of BeamInfo sub blocks SBLength u1 1 byte Length of one sub block BeamInfo A succession of N BeamInfo sub blocks see definition below Padding u1 Padding bytes see 4 1 5 BeamInfo sub block definition Parameter Type Units Do Not Use Description SVID u1 SVID associated to the satellite for which information is provided in this sub block SVID ranges fro...

Page 445: ... ChannelStatus block Health tracking and PVT status fields are available for each satellite These status fields consist of a sequence of up to 8 two bit fields Each 2 bit field contains the status of one of the signals transmitted by the satellite The position of the 2 bits corresponding to a given signal is dependent on the constellation but is otherwise fixed It is indicated in the tables below GPS R...

Page 446: ... of 7 to 21 corresponding to an actual frequency number of 13 Otherwise FreqNr is reserved and must be ignored by the decoding software Reserved1 u1 2 Reserved for future use to be ignored by decoding software Azimuth RiseSet u2 bit field 1 degree 511 Bits 0 8 Azimuth 0 359 0 is North and Azimuth increases towards East Bits 9 13 Reserved 3 Bits 14 15 Rise Set Indicator 0 Satellite setting 1 Satelli...

Page 447: ...ecoding software TrackingStatus u2 Sequence of 2 bit tracking status fields each of them taking one of the following values 0 idle or not applicable 1 Search 2 Sync 3 Tracking PVTStatus u2 Sequence of 2 bit PVT status fields each of them taking one of the following values 0 not used 1 waiting for ephemeris 2 used 3 rejected PVTInfo u2 Internal info Padding u1 Padding bytes see 4 1 5 447 ...

Page 448: ...RROR set if a violation of the signal in space ICD has been detected for at least one satellite while that satellite is re ported as healthy Use the command lif SisError for details Bit 1 DIFFCORRERROR set when an anomaly has been detected in an incoming differential correction stream causing the re ceiver to fail to decode the corrections Use the command lif DiffCorrError for details Bit 2 EXTSEN...

Page 449: ...nal disk DSK1 is full A disk is full when it is filled to 95 of its total capacity Bit 9 INTERNALDISK_MOUNTED this bit is set when the internal disk DSK1 is mounted Bit 10 INT_ANT this bit is set when the GNSS RF signal is taken from the internal antenna input and cleared when it comes from the external antenna input only applicable on receiver mod els featuring an internal antenna input Bit 11 REF...

Page 450: ...ssions is invalid or absent Bit 11 OUTOFGEOFENCE set if the receiver is currently out of its per mitted region of operation geofencing Bit 12 Reserved Bit 13 Reserved Bit 14 Reserved Bit 15 Reserved Bit 16 Reserved Rev 1 Bits 17 31 Reserved N u1 Number of AGCState sub blocks this block contains SBLength u1 1 byte Length of a AGCState sub block CmdCount u1 0 Command cyclic counter incremented each ...

Page 451: ...d PLL is not locked SampleVar u1 0 Normalized variance of the IF samples The nominal value for this vari ance is 100 BlankingStat u1 1 Current percentage of samples being blanked by the pulse blanking unit This field is always 0 for receiver without pulse blanking unit Padding u1 Padding bytes see 4 1 5 451 ...

Page 452: ...n below Padding u1 Padding bytes see 4 1 5 SatInfo sub block definition Parameter Type Units Do Not Use Description SVID u1 Satellite ID see 4 1 9 FreqNr u1 0 For GLONASS FDMA signals this is the frequency number with an offset of 8 It ranges from 1 corresponding to an actual frequency number of 7 to 21 corresponding to an actual frequency number of 13 Otherwise FreqNr is reserved and must be ignor...

Page 453: ... message are reset simultaneously on the following events start up of the receiver overflow of one of the counters change of input type deactivation of a connection descriptor e g on disconnection of USB or IP ports There is one sub block per connection descriptor for which statistics is available Parameter Type Units Do Not Use Description Sync1 c1 Block Header see 4 1 1 Sync2 c1 CRC u2 ID u2 Leng...

Page 454: ...4 CAN1 CAN stream interface 215 219 Reserved 220 SPI1 SPI interface 221 255 Reserved Type u1 Type of data 0 none 1 DaisyChain includes echo messages 32 CMD 33 SBF 34 AsciiDisplay see setDataInOut command 35 RINEX 36 CGGTTS 40 BINEX 64 NMEA 96 RTCMv2 97 RTCMv3 98 CMRv2 99 RTCMV a proprietary variant of RTCMv2 100 SPARTN 101 LBMP 110 raw LBAS1 from e g NTRIP 111 raw LBAS2 from e g NTRIP 118 raw LBAN...

Page 455: ...he quality of the communication link NrMsgReceived u4 1 message Total number of messages of type Type received NrMsgAccepted u4 1 message Total number of messages of type Type that were interpreted and used by the receiver The ratio of NrMsgAccepted to NrMsgReceived gives an in dication of the bandwidth usage efficiency Padding u1 Padding bytes see 4 1 5 10 Note that for RTCM 2 x one 8 bit byte cont...

Page 456: ...tor for which statistics is available Each OutputStatsSub sub block contains a number of OutputTypeSub sub blocks These sub blocks indicate which data type has been output through the connection in question during the last second If no output happened during the last second there is no OutputTypeSub sub block Parameter Type Units Do Not Use Description Sync1 c1 Block Header see 4 1 1 Sync2 c1 CRC ...

Page 457: ...ub block AllowedRate u2 1 kbyte s Maximum datarate recommended on this connection NrBytesProduced u4 1 byte Total number of bytes produced by the receiver See also the NrBytesSent field NrBytesSent u4 1 byte Total number of bytes actually sent i e without congestions or transmission errors The ratio of NrBytesSent to NrBytesProduced gives an indication of the amount of bandwidth overload NrBytesSen...

Page 458: ...setDataInOut command 35 RINEX 36 CGGTTS 40 BINEX 64 NMEA 96 RTCMv2 97 RTCMv3 98 CMRv2 99 RTCMV a proprietary variant of RTCMv2 118 raw LBAND data from Beam1 119 raw LBAND data from Beam2 120 raw LBAND data from Beam3 121 raw LBAND data from Beam4 Percentage u1 1 Percentage of the produced bytes that belong to this type during the last second Padding u1 Padding bytes see 4 1 5 458 ...

Page 459: ...tatus u1 NTRIP client status 0 Connection disabled 1 Initializing 2 Running differential corrections are being received and the link statistics is available in the InputLink block 3 Error detected the error code is provided in the next field 4 Retrying client encountered an error we are trying to reconnect The error code is provided in the next field 5 Disabled since the settings are a duplicate of ...

Page 460: ...r NTR1 2 for NTR2 etc for which status is provided in this sub block Status u1 NTRIP server status 0 Connection disabled 1 Initializing 2 Running differential corrections are being sent and the link statistics is avail able in the OutputLink block 3 Error detected the error code is provided in the next field 4 Error detected Currently trying to reconnect The error code is provided in the next field ...

Page 461: ... a 128 bit IPv6 address In the current firmware version the first 12 bytes are always set to 0 and the last 4 bytes contain the IPv4 IP address or are set to zero if the IP address is not known or not applicable Gateway u1 16 All elements set to 0 Gateway address For future upgradability this field can contain a 128 bit IPv6 address In the current firmware version the first 12 bytes are always set to 0...

Page 462: ... set to zero if the IP address is not known or not applicable Mode u1 WiFi mode 0 WiFi disabled 1 WiFi enabled in access point mode 2 WiFi enabled in client mode Hotspot u1 WiFi hotspot 0 Hotspot disabled 1 Hotspot enabled and no Internet access 2 Hotspot enabled and Internet access 255 Hotspot not supported Reserved u1 2 Reserved for future use to be ignored by decoding software WiFiClient A succ...

Page 463: ...o 0 and the last 4 bytes contain the IPv4 IP address All bytes are set to zero if the IP address is not applicable or not known yet e g when the receiver is currently obtaining its IP address from the access point APFrequency u1 The frequency of the WIFI access point the receiver is connected to Possible WiFi AP Frequencies 0 Unknown frequency of access point 1 2 4GHz 2 5GHz SigLevel i1 1 dBm 128 ...

Page 464: ... 1 Unspecified error 2 Abusive update 3 User name and password mismatch 4 Not a credited user 5 Hostname is not a fully qualified domain name 6 Hostname does not exist in this user account 7 Hostname blocked for update abuse 8 Bad agent 9 DNS error 10 DynDNS server problem or maintenance 11 DynDNS server not reachable IPAddress u1 16 All elements set to 0 IP address that has been registered at the D...

Page 465: ...der see 4 1 1 Sync2 c1 CRC u2 ID u2 Length u2 1 byte TOW u4 0 001 s 4294967295 Receiver time stamp see 4 1 3 WNc u2 1 week 65535 PowerInfo u2 Bit field Bits 0 3 Current power source 0 Unknown 1 Vin DC supply through the Vin pins 2 PoE Power over Ethernet 3 USB Supply through VBUS 4 Battery Supply from battery 0 025 V 4095 Bits 4 15 Voltage at the Vin pins Padding u1 Padding bytes see 4 1 5 465 ...

Page 466: ...e 0 Overall quality 1 GNSS signals from main antenna 2 GNSS signals from aux1 antenna 11 RF power level from the main antenna 12 RF power level from the aux1 antenna 21 CPU headroom 25 OCXO stability only available on PolaRx5S re ceivers 30 Base station measurements This indicator is only available in RTK mode A low value could for example hint at severe multipath or inter ference at the base stat...

Page 467: ...ten to the disk If the logging rate is larger than 1 Hz set continuously Bit 3 LOGGING_ENABLED bit set when at least one file is open on the disk regardless of the logging rate Bit 4 MOUNTING bit set when disk is being mounted Bit 5 FORMATTING bit set when disk is being formatted Rev 1 Bits 6 7 Reserved DiskUsageMSB u2 65535 11 16 MSB of the total disk usage The disk usage in bytes is given by Disk...

Page 468: ...on sub blocks see definition below Padding u1 Padding bytes see 4 1 5 LogSession sub block definition Parameter Type Units Description SessionID u1 ID of the log session of which the status is provided in this sub block starting at 1 for the LOG1 session SessionStatus u1 Bit field Bit 0 DISK_UNMOUNTED bit set when the disk where the log session is supposed to write is not mounted Bit 1 DISK_FULL bit ...

Page 469: ...FTP Server permissions prohibit folder creation 7 FTP The disk is not accessible This can for example happen when a past FTP transfer did not succeed and the receiver tries it again but the disk has been unmounted in the meantime 8 Unexpected error 11 CloudIt Not authorized to upload files to CloudIt server 12 CloudIt Timeout while trying to reach server 13 CloudIt The redirect_uri does not match t...

Page 470: ... may there fore be misleading This bit is based on a set of built in tests to check the authenticity of the GNSS signals Note that this bit may be set even if no interference is detected i e with no associated RFBand sub blocks Bit 1 Set when spoofing is detected by Galileo OSNMA Bits 2 7 Reserved Reserved u1 3 Reserved for future use to be ignored by decoding software RFBand A succession of N RFBa...

Page 471: ... Padding u1 Padding bytes see 4 1 5 P2PPSession sub block definition Parameter Type Units Description SessionID u1 Index of the P2PP session 1 for P2PP1 2 for P2PP2 etc for which status is provided in this sub block Port u1 Index for the COM port the P2PP session is configured on 1 for COM1 2 for COM2 etc Status u1 Bit field Bit 0 Mode Bit set if the P2PP session is in Server mode and unset if it is ...

Page 472: ...he Cosmos receiver ser vice Parameter Type Units Do Not Use Description Sync1 c1 Block Header see 4 1 1 Sync2 c1 CRC u2 ID u2 Length u2 1 byte TOW u4 0 001 s 4294967295 Receiver time stamp see 4 1 3 WNc u2 1 week 65535 Status u1 The status of Cosmos receiver service 0 Disabled 1 Running Padding u1 Padding bytes see 4 1 5 472 ...

Page 473: ...iver time lags trusted time GalActiveMask u8 Bit field indicating the Galileo satellites for which OSNMA results are available If bit i is set OSNMA authentication is available for Galileo satellite i 1 GalAuthenticMask u8 Bit field indicating the Galileo satellites successfully authenticated by OSNMA If bit i is set the navigation message from Galileo satellite i 1 is authentic If bit i is not set ...

Page 474: ...n c1 20 Receiver firmware version AntSerialNbr c1 20 Serial number of the main antenna set with setAntennaOffset AntType c1 20 Type of the main antenna set with setAntennaOffset deltaH f4 1 m δH offset of the main antenna set with setAntennaOffset deltaE f4 1 m δE offset of the main antenna set with setAntennaOffset deltaN f4 1 m δN offset of the main antenna set with setAntennaOffset MarkerType c1...

Page 475: ...Parameters This index is used to identify the receiver when there are multiple receivers at the same monument CountryCode c1 3 ISO 3 character country code set with the setMarkerParameters command Reserved1 c1 21 Reserved Rev 4 Padding u1 Padding bytes see 4 1 5 475 ...

Page 476: ...nition below Padding u1 Padding bytes see 4 1 5 Component sub block definition Parameter Type Units Do Not Use Description Type u1 Type of component described in this sub block 1 Motherboard 2 GNSS module 3 WiFi module 4 Cellular module 5 Bluetooth module 6 L Band module 7 UHF module 8 Reserved 9 Reserved 10 Library CPULoad u1 1 255 Load on the component CPU if applicable Reserved u1 2 Reserved for...

Page 477: ...967295 Receiver time stamp see 4 1 3 WNc u2 1 week 65535 Type u1 255 Type of message contained in this block 1 Asynchronous command reply 2 Message about internal logging 3 Message about FTP push 4 Message about Receiver Status 5 Message from slave GNSS receiver 6 Message about CloudIt Severity u1 255 Message severity 1 Info 2 Warning 3 Error MessageID u4 0 A unique value associated to each messag...

Page 478: ...very moment when the command starts to take effect Parameter Type Units Do Not Use Description Sync1 c1 Block Header see 4 1 1 Sync2 c1 CRC u2 ID u2 Length u2 1 byte TOW u4 0 001 s 4294967295 Receiver time stamp see 4 1 3 WNc u2 1 week 65535 Reserved u1 2 Reserved for future use to be ignored by decoding software CmdData u1 N Command data this is the command in the SNMP format reserved for mainten...

Page 479: ...e Description Sync1 c1 Block Header see 4 1 1 Sync2 c1 CRC u2 ID u2 Length u2 1 byte TOW u4 0 001 s 4294967295 Receiver time stamp see 4 1 3 WNc u2 1 week 65535 CommentLn u2 Length of the Comment string in characters The maximum length of a comment is 120 characters Comment c1 CommentLn Comment string as entered with the setObserverComment command Note that this string is not terminated by the 0 c...

Page 480: ...al time stamp see 4 1 3 WNc u2 1 week 65535 N u2 Number of complex baseband samples contained in this block Info u1 Bit field as follows Bits 0 2 Antenna ID antenna from which the samples have been taken 0 for main 1 for Aux1 and 2 for Aux2 Bits 3 7 Reserved Reserved u1 3 Reserved for future use to be ignored by decoding software SampleFreq u4 1 Hz Sampling frequency in Hz LOFreq u4 1 Hz Frequency ...

Page 481: ...iver time stamp see 4 1 3 WNc u2 1 week 65535 CD u1 Identifier of the connection from which the data has been re ceived Value of Connection type Example CD 0 31 COMx with x CD 1 COM1 32 47 USBx with x CD 32 33 USB1 48 63 OTGx with x CD 48 49 OTG1 64 95 IPx with x CD 54 64 IP10 128 159 NTRx with x CD 128 NTRIP connections 129 NTR1 192 BT01 Bluetooth connection 193 BT02 Bluetooth connection 196 UHF1 ...

Page 482: ...dvanced Blocks SystemInfo Number 6000 OnChange interval 1s This block contains various system parameters that can be used for maintenance and sup port The detailed definition of this block is not available in this document 482 ...

Page 483: ...he Meas3Ranges Meas3CN0HiRes and Meas3Doppler blocks containing GNSS measurements Mar 1 2017 Renamed CMPNav to BDSNav and CMPRaw to BDSRaw Nov 15 2016 Added the QZSRawL6 block containing raw QZSS L6 navigation bits July 13 2016 Added the SystemInfo block containing advanced information about sys tems Nov 10 2015 Added the RxMessage block containing the receiver activity log Nov 5 2015 Added the Lo...

Page 484: ...PosLocal blocks Oct 19 2012 Added GEORawL5 block Oct 1 2012 Added new signal type for L band and SBAS L5 signals value 23 and 25 Sep 29 2012 Added LBandBeams block and added SVID field to LBandTrackerStatus block Sep 20 2012 Added field PPPInfo to the PVTCartesian and PVTGeodetic blocks Jun 27 2012 Added fields to the LBAS1DecoderStatus block to report various service subscription parameters Feb 28 2...

Page 485: ...ning proprietary flags for data post processing R Meas3MP 4113 Extension of Meas3Ranges containing multipath corrections applied by the receiver R EndOfMeas 5922 Measurement epoch marker R Navigation Page Blocks GPSRawCA 4017 GPS CA navigation subframe S GPSRawL2C 4018 GPS L2C navigation frame S GPSRawL5 4019 GPS L5 navigation frame S GPSRawL1C 4221 GPS L1C navigation frame S GLORawCA 4026 GLONASS ...

Page 486: ...C offset parameters S GEOAlm 5897 MT17 SBAS satellite almanac S GEOIGPMask 5931 MT18 Ionospheric grid point mask S GEOLongTermCorr 5932 MT24 25 Long term satellite error corrections S GEOIonoDelay 5933 MT26 Ionospheric delay corrections S GEOServiceLevel 5917 MT27 SBAS Service Message S GEOClockEphCovMatrix 5934 MT28 Clock Ephemeris Covariance Matrix S GNSS Position Velocity and Time Blocks PVTCar...

Page 487: ...ientStatus 4053 NTRIP client connection status R NTRIPServerStatus 4122 NTRIP server connection status R IPStatus 4058 IP address gateway and MAC address of Ethernet interface R WiFiAPStatus 4054 WiFi status in access point mode R WiFiClientStatus 4096 WiFi status in client mode R DynDNSStatus 4105 DynDNS status R PowerStatus 4101 Power supply source and voltage R QualityInd 4082 Quality indicator...

Page 488: ...S dataset is decoded Rec0103 Decoded SBAS Ephemeris when a new SBAS dataset is decoded Rec0114 Decoded Galileo Ephemeris when a new Galileo dataset is decoded Rec0105 Decoded BeiDou Ephemeris when a new BeiDou dataset is decoded Rec0106 Decoded QZSS Ephemeris when a new QZSS dataset is decoded Rec0107 Decoded NavIC IRNSS Ephemeris when a new NavIC dataset is decoded Rec0141 Raw GPS navigation subf...

Page 489: ...GLL Geographic Position Latitude Longi tude GMP GMP GNSS Map Projection Fix Data GNS GNS GNSS Fix Data GRS GRS GNSS Range Residuals GSA GSA GNSS DOP and Active Satellites GST GST GNSS Pseudorange Error Statistics GSV GSV GNSS Satellites in View HDT HDT Heading True LLK LLK Leica Local Position and GDOP LLQ LLQ Leica Local Position and Quality PUMRD PUMRD Septentrio proprietary Septentrio proprieta...

Page 490: ...m ID 4 BD and satellite ID 1 36 Data for NavIC IRNSS QZSS and SBAS satellites with a PRN 151 are not encoded in NMEA Appendix C 1 Proprietary NMEA Sentences C 1 1 RBD Rover Base Direction Field Description PSSN RBD Start of sentence hhmmss ss UTC of RBD HoursMinutesSeconds DecimalSeconds xxxxxx Date ddmmyy x x Azimuth of the base as seen from rover 0 to 360 increasing towards east degrees True x x...

Page 491: ...tation ID hh Checksum delimiter and checksum field CR LF End of sentence C 1 3 RBV Rover Base Velocity Field Description PSSN RBV Start of sentence hhmmss ss UTC of RBV HoursMinutesSeconds DecimalSeconds xxxxxx Date ddmmyy x x Rate of change of baseline vector rover to base north component m s x x Rate of change of baseline vector rover to base east component m s x x Rate of change of baseline vect...

Page 492: ...tus SBF block x x Error field of the DiskStatus SBF block Example PSSN SDI 1 314558000 1985 1 13 14616641536 15472 90 5 0 77 C 1 5 SNC NTRIP Client Status This proprietary sentence is the NMEA equivalent of the NTRIPClientStatus SBF block Field Description PSSN SNC Start of sentence x message revision xxxxxxxxx time of week milliseconds xxxx week number SNCSub a succession of SNCSub sub messages se...

Page 493: ...d field of the ReceiverStatus SBF block x x ExtError field of the ReceiverStatus SBF block x x UpTime field of the ReceiverStatus SBF block x x RxState field of the ReceiverStatus SBF block x x RxError field of the ReceiverStatus SBF block x x CmdCount field of the ReceiverStatus SBF block x x Temperature field of the ReceiverStatus SBF block in degC SRXSub a succession of SRXSub sub messages see definiti...

Page 494: ...n xxxx Message 1021 1022 usage they are exclusive Possible field values 1021 Message type 1021 used 1022 Message type 1022 used null neither 1021 nor 1022 used xxxx Message 1023 1024 usage they are exclusive Possible field values 1023 Message type 1023 used 1024 Message type 1024 used null neither 1023 nor 1024 used xxxx Message 1025 1026 1027 usage they are exclusive Possible field values 1025 Messa...

Page 495: ...scription RTCM1 Differential GPS Corrections RTCM3 GPS Reference Station Parameters RTCM9 GPS Partial Correction Set RTCM15 Ionospheric Delay RTCM16 GPS Special Message RTCM17 GPS Ephemerides Message RTCM18 RTK Uncorrected Carrier Phases RTCM19 RTK Uncorrected Pseudoranges RTCM20 RTK Carrier Phase Corrections RTCM21 RTK Hi Accuracy Pseudorange Corrections RTCM22 Extended Reference Station Paramete...

Page 496: ...twork RTK MAC GLONASS Geometric Correction Differences RTCM1039 Network RTK MAC GLONASS Combined Geometric and Ionospheric Correction Differences RTCM1041 NavIC IRNSS Satellite Ephemeris Data RTCM1042 BDS Satellite Ephemeris Data RTCM1044 QZSS Satellite Ephemeris Data RTCM1045 Galileo F NAV Satellite Ephemeris Data RTCM1046 Galileo I NAV Satellite Ephemeris Data RTCM1071 GPS MSM1 Compact Pseudoran...

Page 497: ...l Pseudoranges PhaseRanges PhaseRangeRate and CNR high resolution RTCM1121 BeiDou MSM1 Compact Pseudoranges RTCM1122 BeiDou MSM2 Compact PhaseRanges RTCM1123 BeiDou MSM3 Compact Pseudoranges and PhaseRanges RTCM1124 BeiDou MSM4 Full Pseudoranges and PhaseRanges plus CNR RTCM1125 BeiDou MSM5 Full Pseudoranges PhaseRanges PhaseRangeRate and CNR RTCM1126 BeiDou MSM6 Full Pseudoranges and PhaseRanges ...

Page 498: ...tAuthorizationLinkCloudIt lal 276 B BBSamplingMode setBBSamplingMode getBBSamplingMode sbbs gbbs 120 BINEXCloudIt setBINEXCloudIt getBINEXCloudIt sbci gbci 277 BINEXFormatting setBINEXFormatting getBINEXFormatting sbfm gbfm 222 BINEXFTP setBINEXFTP getBINEXFTP sbfp gbfp 269 BINEXLoggingParameters setBINEXLoggingParameters getBINEXLoggingParameters sblp gblp 248 BINEXOnce exeBINEXOnce getBINEXOnce ...

Page 499: ...cThreshold getClockSyncThreshold scst gcst 160 CloudItConfig setCloudItConfig getCloudItConfig scic gcic 278 CMRv2Formatting setCMRv2Formatting getCMRv2Formatting sc2f gc2f 243 CMRv2Interval setCMRv2Interval getCMRv2Interval sc2i gc2i 244 CMRv2Message2 setCMRv2Message2 getCMRv2Message2 sc2m gc2m 245 CMRv2Output setCMRv2Output getCMRv2Output sc2o gc2o 246 CMRv2Usage setCMRv2Usage getCMRv2Usage sc2u gc...

Page 500: ...ltAccessLevel sdal gdal 103 DiffCorrMaxAge setDiffCorrMaxAge getDiffCorrMaxAge sdca gdca 124 DiffCorrUsage setDiffCorrUsage getDiffCorrUsage sdcu gdcu 125 DisconnectCloudIt exeDisconnectCloudIt getDisconnectCloudIt edci gdci 280 DiskEvent lstDiskEvent lde 250 DiskFullAction setDiskFullAction getDiskFullAction sdfa gdfa 252 DiskInfo lstDiskInfo ldi 253 DynamicDNS setDynamicDNS getDynamicDNS sdds gd...

Page 501: ...alOSNMAPublicKeys getGalOSNMAPublicKeys sopk gopk 153 GalOSNMAUsage setGalOSNMAUsage getGalOSNMAUsage sou gou 154 GeodeticDatum setGeodeticDatum getGeodeticDatum sgd ggd 155 GeoidUndulation setGeoidUndulation getGeoidUndulation sgu ggu 127 GlobalFileNamingOptions setGlobalFileNamingOptions getGlobalFileNamingOptions sfno gfno 255 GPIOFunctionality setGPIOFunctionality getGPIOFunctionality sgpf ggp...

Page 502: ...ngs getIPServerSettings siss giss 190 IPSettings setIPSettings getIPSettings sips gips 191 L L6CLASSource setL6CLASSource getL6CLASSource scls gcls 131 LBandBeams lstLBandBeams llbb 286 setLBandBeams getLBandBeams slbb glbb 287 LBandCustomServiceID setLBandCustomServiceID getLBandCustomServiceID slcs glcs 288 LBandNTRIPDelivery setLBandNTRIPDelivery getLBandNTRIPDelivery slnd glnd 289 LBandSelectM...

Page 503: ...sPoint emwa gmwa 204 MarkerParameters setMarkerParameters getMarkerParameters smp gmp 175 Meas3MaxRefInterval setMeas3MaxRefInterval getMeas3MaxRefInterval smrf gmrf 214 MIBDescription lstMIBDescription lmd 88 MultipathMitigation setMultipathMitigation getMultipathMitigation smm gmm 110 N NetworkRTKConfig setNetworkRTKConfig getNetworkRTKConfig snrc gnrc 133 NMEACloudIt setNMEACloudIt getNMEACloudIt ...

Page 504: ...sterMountPoints getNtripCasterMountPoints snmp gnmp 196 NtripCasterMPFormat setNtripCasterMPFormat getNtripCasterMPFormat smpf gmpf 197 NtripCasterSettings setNtripCasterSettings getNtripCasterSettings sncs gncs 198 NtripCasterUsers setNtripCasterUsers getNtripCasterUsers sncu gncu 199 NtripSettings setNtripSettings getNtripSettings snts gnts 200 NTRIPSourceTable lstNTRIPSourceTable lnst 201 Ntrip...

Page 505: ... epss gpss 135 PPSINMonitor setPPSINMonitor getPPSINMonitor spim gpim 171 PPSINParameters setPPSINParameters getPPSINParameters spin gpin 172 PPSParameters setPPSParameters getPPSParameters spps gpps 164 PreserveLogging exePreserveLogging getPreserveLogging epl gpl 261 PreserveOnEvent setPreserveOnEvent getPreserveOnEvent spoe gpoe 262 PVTMode setPVTMode getPVTMode spm gpm 137 R RAIMLevels setRAIM...

Page 506: ...etRINEXCloudIt srci grci 283 RINEXFTP setRINEXFTP getRINEXFTP srfp grfp 273 RINEXLogging setRINEXLogging getRINEXLogging srxl grxl 265 RTCMMSMCloudIt setRTCMMSMCloudIt getRTCMMSMCloudIt srmi grmi 284 RTCMMSMFTP setRTCMMSMFTP getRTCMMSMFTP smfp gmfp 274 RTCMMSMLogging setRTCMMSMLogging getRTCMMSMLogging smsl gmsl 267 RTCMv2Compatibility setRTCMv2Compatibility getRTCMv2Compatibility sr2c gr2c 226 RT...

Page 507: ...matting sr3f gr3f 236 RTCMv3Interval setRTCMv3Interval getRTCMv3Interval sr3i gr3i 238 RTCMv3Message1029 setRTCMv3Message1029 getRTCMv3Message1029 sr3m gr3m 239 RTCMv3Output setRTCMv3Output getRTCMv3Output sr3o gr3o 240 RTCMv3Usage setRTCMv3Usage getRTCMv3Usage sr3u gr3u 242 S SatelliteTracking setSatelliteTracking getSatelliteTracking sst gst 111 SatelliteUsage setSatelliteUsage getSatelliteUsage...

Page 508: ...ticPosCartesian getStaticPosCartesian sspc gspc 146 StaticPosGeodetic setStaticPosGeodetic getStaticPosGeodetic sspg gspg 148 T TimeLabParameters setTimeLabParameters getTimeLabParameters stmp gtmp 174 TimingSystem setTimingSystem getTimingSystem sts gts 166 TrackingLoopParameters setTrackingLoopParameters getTrackingLoopParameters stlp gtlp 117 TroposphereModel setTroposphereModel getTroposphereM...

Page 509: ... setUserEllipsoid getUserEllipsoid sue gue 159 W WakeUpInterval setWakeUpInterval getWakeUpInterval swui gwui 100 WBIMitigation setWBIMitigation getWBIMitigation swbi gwbi 122 WiFiAccessPoint setWiFiAccessPoint getWiFiAccessPoint swfa gwfa 205 WiFiAccessPoints lstWiFiAccessPoints lwa 206 WiFiMode setWiFiMode getWiFiMode swfm gwfm 207 509 ...

Page 510: ...DSRawB2a 327 BDSRawB2b 328 BDSUtc 361 ChannelStatus 445 Commands 478 Comment 479 CosmosStatus 472 DiffCorrIn 436 DiskStatus 467 DOP 397 DynDNSStatus 464 EndOfMeas 314 EndOfPVT 422 ExtEvent 426 ExtEventBaseVectGeod 433 ExtEventPVTCartesian 427 ExtEventPVTGeodetic 430 GALAlm 350 GALAuthStatus 473 GALGstGps 353 GALIon 351 GALNav 347 GALRawCNAV 322 GALRawFNAV 320 GALRawINAV 321 GALSARRLM 354 510 ...

Page 511: ...RawL5 324 GEOServiceLevel 379 GLOAlm 345 GLONav 344 GLORawCA 319 GLOTime 346 GPSAlm 339 GPSCNav 342 GPSIon 340 GPSNav 337 GPSRawCA 315 GPSRawL1C 318 GPSRawL2C 316 GPSRawL5 317 GPSUtc 341 InputLink 453 IPStatus 461 LBandBeams 444 LBandTrackerStatus 440 LBAS1DecoderStatus 441 LBAS1Messages 443 LogStatus 468 Meas3CN0HiRes 310 Meas3Doppler 311 Meas3MP 313 Meas3PP 312 Meas3Ranges 309 MeasEpoch 302 Meas...

Page 512: ...Support 420 PVTSupportA 421 QualityInd 466 QZSAlm 364 QZSNav 362 QZSRawL1C 333 QZSRawL1CA 329 QZSRawL1S 334 QZSRawL2C 330 QZSRawL5 331 QZSRawL5S 335 QZSRawL6 332 RAIMStatistics 412 ReceiverSetup 474 ReceiverStatus 448 ReceiverTime 423 RFStatus 470 RTCMDatum 439 RxComponents 476 RxMessage 477 SatVisibility 452 SystemInfo 482 VelCovCartesian 393 VelCovGeodetic 395 WiFiAPStatus 462 WiFiClientStatus 4...

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