TERSUS GNSS RTK Board Series Скачать руководство пользователя

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xxxx

32-bit CRC (ASCII and Binary only)

Ulong

H+4+

(#obs

x 24)

[CR][LF]

Sentence terminator (ASCII only)

Table 59 Range Record Format

Data

Bits first to last

Length(bits)

Scale Factory

Units

Channel Tracking Status

0-31

Doppler Frequency

32-59

1/256

Pseudorange (PSR)

60-95

1/128

ADR

96-127

1/256

cycles

StdDev-PSR(1)

128-131

See (2)

StdDev-ADR

132-135

(n+1)/512

cycles

PRN/Slot(3)

136-143

Lock Time(4)

144-164

1/32

C/No(5)

165-169

(20+n)

dB-Hz

Reserved

170-191

ADR (Accumulated Doppler Range) is calculated as follows:

ADR_ROLLS = (RANGECMP_PSR / WAVELENGTH + RANGECMP_ADR) /

MAX_VALUE

Round to the closest integer

IF (ADR_ROLLS <= 0) ADR_ROLLS = ADR_ROLLS - 0.5

ELSE ADR_ROLLS = ADR 0.5

At this point integerise ADR_ROLLS

CORRECTED_ADR = RANGECMP_ADR - (MAX_VALUE*ADR_ROLLS)

where ADR has units of cycles

WAVELENGTH = 0.1902936727984 for GPS L1

WAVELENGTH = 0.2442102134246 for GPS L2

MAX_VALUE = 8388608

Note: GLONASS satellites emit L1 and L2 carrier waves at a satellite-specific frequency, refer to

the GLONASS section of An Introduction to GNSS

Code StdDev-PSR (m)

0.050

1 0.075

0.113

3 0.169

4 0.253

5 0.380

6 0.570

7 0.854

8 1.281

9 2.375

10 4.750

Содержание GNSS RTK Board Series

Страница 1: ...0906 Log Command Reference For Precis BX306 BX306Z BX316 GNSS RTK Board 2017 Tersus GNSS Inc All rights reserved Sales Technical Support sales tersus gnss com support tersus gnss com More details plea...

Страница 2: ...A Sentence 9 1 2 7 GSV Sentence 10 2 Commands 10 2 1 Overview of Command System 10 2 2 Command Reference 11 2 2 1 ANTENNAMODE 11 2 2 2 COM 12 2 2 3 DGPSTXID 12 2 2 4 ECUTOFF 13 2 2 5 FIX 13 2 2 6 FRES...

Страница 3: ...erence 23 3 1 1 BDSEPHEMERIS 23 3 1 2 BESTPOS 24 3 1 3 BESTVEL 25 3 1 4 BESTXYZ 25 3 1 26 CMROBS 26 3 1 27 CMRREF 26 3 1 28 CMRDESC 26 3 1 29 CMRPLUS 26 3 1 5 GPGGA 27 3 1 6 GPGLL 27 3 1 7 GPGSA 28 3...

Страница 4: ...ME 36 3 1 19 PASSCOMx 36 3 1 20 PSRDOP 37 3 1 21 RANGE 37 3 1 22 RANGECMP 40 3 1 23 RTCM messages 42 3 1 24 SATVIS 44 3 1 25 TIME 44 3 1 26 TRACKSTAT 45 3 1 27 VERSION 45 4 RTK Configuration Example 4...

Страница 5: ...ONTROL 17 Table 16 Implements base station position averaging 18 Table 17 PSRDIFFTIMEOUT 18 Table 18 RESET 19 Table 19 Sets the RTK correction source 19 Table 20 Sets the RTK correction source 19 Tabl...

Страница 6: ...DOP 37 Table 53 RANGE 37 Table 54 Tracking status 38 Table 55 Tracking State 39 Table 56 Correlator Type 40 Table 57 RANGECMP 40 Table 58 Range Record Format 41 Table 59 Collection of supported RTCM2...

Страница 7: ...ion NMEA standard defines an electrical interface and data protocol for communications between marine instrumentation The solution output of Tersus GNSS systems follow NMEA0183 format so that it can b...

Страница 8: ...GN GL and BD 1 Time UTC format hhmmss ss 2 Latitude format ddmm mmmm 3 N or S North or South 4 Longitude format ddmm mmmm 5 E or W East or West 6 GPS Quality Indicator 0 unknown 1 single point positi...

Страница 9: ...avigation Information GxRMC 1 2 3 4 5 6 7 8 9 10 11 xx CR LF Gx NMEA taker identifier Different identifier can be applied according to user configuration e g GP GN GL and BD 1 Time UTC format hhmmss s...

Страница 10: ...ed Example GPVTG 89 68 T M 0 00 N 0 0 K 5F 1 2 6 GSA Sentence GSA contains GPS DOP and active satellites information GxGSA 1 2 3 4 14 15 16 17 xx CR LF Gx NMEA taker identifier Different identifier ca...

Страница 11: ...identifier can be applied according to user configuration e g GP GN 1 total number of messages 2 message number 3 satellites in view 4 satellite number 5 elevation in degrees 6 azimuth in degrees to t...

Страница 12: ...to show the ecutoff configure dgpstxid ecutoff fix interfacemode logfile posave rtktimeout rtksource serialconfig undulation 2 2 Command Reference 2 2 1 ANTENNAMODE This command is used to configurat...

Страница 13: ...command is used to change the baud rate of the serial port to adapt its host device requirement Table 4 Configuring serial port baud rate Name Value Command COM port bps Example COM COM1 115200 Functi...

Страница 14: ...as known value when it serves as the base station If the position is unknown please refer to POSAVE command in 0 FIX POSITION This command is to fix the coordinate of base station coordinate Table 7...

Страница 15: ...rd Table 8 Reset to factory mode and freset options Name Value Command FRESET option Example Option NOERASE EPHEM ALMANAC UTC LAST_POSITION CONFIG bitmaskX freset bitmask11 reset the ephemeris almanac...

Страница 16: ...prevents a log from being removed when the UNLOGALL command with its defaults is issued To remove a log which was invoked using the hold parameter requires the specific use of the UNLOG command To re...

Страница 17: ...he board and file saving start 5 Input logfile close when file saving is completed The last step is recommended although it s not mandatory If power is off during the file saving up to 4K data will be...

Страница 18: ...put NMEA0183 format RTCM2 X 3 2 format and its own observation format Table 14 Change the NMEA talker during NMEA output Name Value Command Nmeatalker id Example Nmeatalker GP Function change nmeatalk...

Страница 19: ...he unit of parameter maxtime is hour and is meter for maxhstd desired horizontal standard deviation 0 100m and maxvstd desired vertical standard deviation 0 100m The minimal value of maxtime is 0 01 t...

Страница 20: ...he RTK correction source Name Value Command RTKCOMMAND action Example RTKCOMMAND reset Function Resets or sets the RTK filter to defaults action reset use_defaults 2 2 17RTKSOURCE This command is used...

Страница 21: ...ions to flash The saved configurations are still valid even if the board is rebooted Table 22 Save current configuration Name Value Command saveconfig Example saveconfig Function Save current configur...

Страница 22: ...mmands input etc 2 2 22 UNDULATION This command permits you to enter a specific geoidal undulation value Three options are provided in the option field the EGM96 table provides ellipsoid heights at a...

Страница 23: ...essage Example Unlog COM1 GPGGA Function change input output mode of serial port Parameter description port COM1 COM2 message NMEA message rtcm message observation message 2 2 24 UNLOGALL This command...

Страница 24: ...1 2 7715440174e 10 2 2682361305e 06 3 2796524465e 06 3 0654687500e 02 4 7078125000e 01 4 2840838432e 08 5 6810677052e 08 Function Decoded BDS ephemeris ID Field Description Type Binary Bytes Offset 1...

Страница 25: ...ascension radians second Double 8 H 12 4 22 I0 Inclination angle at reference time radians Double 8 H 13 2 23 IDOT Rate of inclination angle radians second Double 8 H 14 0 24 cuc Amplitude of cosine h...

Страница 26: ...e receiver In addition it reports a velocity status indicator which is useful to indicate whether or not the corresponding data is valid Table 31 BESTVEL Name Value Input log bestvel ontime 1 Example...

Страница 27: ...S ONTIME 1 Function BASE Station Satellite Observation Information 3 1 27CMRREF A proprietary RTK data transmission standard from Trimble Navigation Ltd Table 34 CMRREF Name Value Command LOG COM2 CMR...

Страница 28: ...communicates GNSS receivers are part of this standard and the NMEA has defined the format for several GNSS data logs otherwise known as sentences Each NMEA sentence begins with a followed by the pref...

Страница 29: ...gsa ontime 1 Example GPS only GPGSA A 3 10 12 14 25 26 29 31 32 1 0 0 8 0 6 31 Example Combined GPS GLONASS BDS GPGSA A 3 10 12 14 18 22 25 26 29 31 32 0 9 0 8 0 6 30 GLGSA A 3 6 9 16 15 5 17 4 0 9 0...

Страница 30: ...ue Input log gpzda ontime 1 Example GNZDA 053045 00 07 04 2017 00 78 Function UTC time and date 3 1 11GPRMC This log contains time date position track made good and speed data provided by the GPS navi...

Страница 31: ...1 Example GPS only GPGRS 033854 00 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 47 Example Combined GPS GLONASS BDS GPGRS 033950 00 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 42 GLGRS 033950 00 1 0 0 0 0...

Страница 32: ...from subframe 1 of the ephemeris The toe week field 7 is derived from this to account for rollover Ulong 4 H 28 9 toe Reference time for ephemeris seconds Double 8 H 32 10 A Semi major axis metres Dou...

Страница 33: ...17 2 28 af0 Clock aging parameter seconds s Double 8 H 18 0 29 af1 Clock aging parameter s s Double 8 H 18 8 30 af2 Clock aging parameter s s s Double 8 H 19 6 31 AS Anti spoofing on 0 FALSE 1 TRUE D...

Страница 34: ...ication Slot 37 This is also called SLOTO in Connect Ushort 2 H 3 freqo Frequency channel offset for satellite in the range 0 to 20 Ushort 2 H 2 4 sat type Satellite type where 0 GLO_SAT 1 GLO_SAT_M M...

Страница 35: ...rdinate for lunisolar acceleration at reference time PZ 90 02 in metres s s Double 8 H 84 22 LS acc z Z coordinate for lunisolar acceleration at reference time PZ 90 02 in metres s s Double 8 H 92 23...

Страница 36: ...74 0 0 0 000000000 0 000000000 0000 18 18 18 18 00 23 30 03 5cb59781 3 1 17IONUTC This log contains the Ionospheric Model parameters ION and the Universal Time Coordinated parameters UTC Table 49 IONU...

Страница 37: ...00000 0 000000 VALID 8a7a5383 Function Event mark Time output 3 1 19PASSCOMx The pass through logging enables the receiver to redirect any ASCII or binary data input at a specified port to any specifi...

Страница 38: ...29 31 32 14 2 22 13 15 5 24 23 3 4 161 162 163 164 166 167 168 169 170 171 Function Pseudorange DOP 3 1 21RANGE The RANGE log contains the raw measurements for the currently tracked satellites Table...

Страница 39: ...Double 8 H 20 8 adrstd Estimated carrier phase standard deviation cycles Float 4 H 28 9 dopp Instantaneous carrier Doppler frequency Hz Float 4 H 32 10 C No Carrier to noise density ratio C No 10 log1...

Страница 40: ...x00200000 Signal type GPS 0 L1C A 5 L2P 9 L2P codeness 14 L5 Q 17 L2C GLONASS 0 L1 C A 5 L2 P BD2 0 B1 17 B2 21 B3 22 0x00400000 23 0x00800000 N6 24 0x01000000 25 0x02000000 26 0x04000000 Reserved 27...

Страница 41: ...0 0 0 FINESTEERING 1943 446408 000 00000000 407 20161214 59 005c1008a0100230d037fb0923a88771f71f806ae1030000 005c3001e59b01c0c437fb09ecea1964f71f806a21030000 205d14187fca02106a72bc110b749674f6aa006e6...

Страница 42: ...0 191 22 1 ADR Accumulated Doppler Range is calculated as follows ADR_ROLLS RANGECMP_PSR WAVELENGTH RANGECMP_ADR MAX_VALUE Round to the closest integer IF ADR_ROLLS 0 ADR_ROLLS ADR_ROLLS 0 5 ELSE ADR_...

Страница 43: ...er side RTCM defined a set of message types to deliver different information 3 1 23 1 RTCM2 messages Below is a list of RTCM version 2 x message types supported by Precis products Table 60 Collection...

Страница 44: ...les 1019 R GPS Ephemerides 1020 R GLONASS Ephemerides 1071 B MSM1 GPS Code Measurements 1072 B MSM2 GPS Phase Measurements 1073 B MSM3 GPS Code and Phase Measurements 1074 R B GPS MSM4 includes pseudo...

Страница 45: ...time 60 Example log satvis SATVIS COM1 2 0 0 FINESTEERING 1943 446505 000 00000000 407 20161214 GPS TRUE TRUE 11 3 0 18 9 302 8 1007 386 1743 990 32 0 52 0 137 4 2125 748 1389 144 GLONASS TRUE TRUE 10...

Страница 46: ...0 0 0 FINESTEERING 1943 447377 000 00000000 407 20161214 SOL_COMPUTED SINGLE 0 0 60 31 0 08105c00 20985668 535 360 714 51 56 3868 998 0 000 UNKNOW 0 000 31 0 01305c00 20985667 785 281 019 46 28 3868...

Страница 47: ...244543 26 130 ECUTOFF 15 0 optional INTERFACEMODE COM2 AUTO AUTO ON optional LOG COM2 RTCM1074 ONTIME 1 LOG COM2 RTCM1084 ONTIME 1 LOG COM2 RTCM1124 ONTIME 1 LOG COM2 RTCM1005 ONTIME 10 SAVECONFIG Exa...

Страница 48: ...ency IMU Inertial Measurement Unit IO Input Output LED Light Emitting Diode LNA Low Noise Amplifier MPU Micro Processing Unit NMEA National Marine Electronics Association PC Personal Computer PPS Puls...

Страница 49: ...t the commitment on Tersus GNSS No part of this manual may be reproduced or transmitted by all means without authorization of Tersus GNSS The software described in this document must be used in terms...

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