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Command and Log Reference

50

Nibble # Bit # Mask

Description

Range Value

30

0x40000000

Reserved

31

0x80000000

Reserved

Grouping: each channel has other channels associated with it(L1/L2 or B1/B2/B3 are grouped)

6.2.2

OBSVH Oberservation

OBSVM contains measurement informations

of the current receiver’s tracking

satellites. For dual-antenna receivers, the

“OBSVH” are corresponding to the Heading

antenna.

Message ID: 11

Recommend Input:

OBSVH COM1 1

LOG output:

$OBSVH,93,GPS,FINE,1971,280559400,0,0,18,2,0;85,0,2,212465

63.814,-111651450.311282,4,52,-
1813.155,4757,0,496.209,28101c24,0,2,21246557.603,-
87001102.717152,8,78,-
1412.040,4457,0,492.800,21301c2b,0,5,20422151.825,-
107319135.401189,4,50,-
838.619,5010,0,496.209,28101c44,0,5,20422148.083,-
83625284.703105,6,66,-
653.217,4624,0,492.800,21301c4b,0,5,20422148.735,-
83625289.696302,4,50,-
653.478,4848,0,492.000,22301c4b,0,7,24555097.903,-
129037910.067692,8,78,-
532.447,4227,0,496.209,28101c64,0,7,24555095.330,-
100549001.011807,24,253,-
415.050,3409,0,458.400,21301c6b,0,7,24555095.526,-
100548986.047458,14,130,-
415.134,3595,0,492.600,22301c6b,0,13,20788837.832,-
109246085.757039,4,50,1980.700,4848,0,496.209,28101c84,0,13,20
788833.931,-
85126806.818378,8,75,1543.838,4489,0,492.600,21301c8b,0,15,223
34307.904,-
117367584.521957,6,64,3328.780,4501,0,496.209,28101ca4,0,15,22
334305.349,-
91455246.122632,13,116,2594.435,4066,0,492.800,21301cab,0,15,2
2334306.039,-
91455275.123345,8,75,2593.830,4281,0,491.800,22301cab,0,20,213

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Содержание Unicore

Страница 1: ...Unicore Reference Commands Manual for High Precision GNSS Board and Module Command Reference Manual...

Страница 2: ...l is believed to be true and correct at the time of publication Unicorecomm Nebulas II are registered trademarks of Unicore Communications Inc All other brands product names are trademarks or register...

Страница 3: ...4 1 Configure Antenna 16 4 2 Configure Undulation 16 4 3 Configure Serial Port 17 4 4 Configure PPS 18 4 5 Configure DGPS Command 17 4 6 Configure RTK Command 17 4 7 Configure INS Device 17 4 7 1 Con...

Страница 4: ...6 2 5 GLOEPHEM GLONASS Ephemeris 56 6 2 6 GPSEPHEM GPS Ephemeris 60 6 2 7 BDSEPHEM BDS Ephemeris 62 6 2 8 GALEPHEM GALILEO Ephemeris 63 7 TIMING Command 66 7 1 Real time Positioning Timing 66 7 2 Timi...

Страница 5: ...t 115200 baud rate The usable COM port are COM1 COM2 COM3 The baud rate could be 9600 19200 38400 57600 115200 230400 460800bps unlog Disable all outputs of the port in use saveconfig Save the setting...

Страница 6: ...the antenna is placed at a fixed place and won t move The precise coordinates of the known point and the satellite information received are sent to the rover station receiver the undetermined point t...

Страница 7: ...econfig Save configuration 1 2 Rover Station Configuration The RTK Rover Station receives the real time differential correction data sent by the base station Rover receiver can adaptively recognize th...

Страница 8: ...ction Receivers UB482 UM482 supports heading output by default Frequently used commands are as follows MODE HEADING GPHDT COM1 1 SAVECONFIG 1 5 Inertial Navigation High precision boards have built in...

Страница 9: ...e station mode rover station mode moving base mode heading mode TDIF mode ARTK mode high precision timing mode and precision point position PPP working mode The above working modes are mutually exclus...

Страница 10: ...ODE BASE auto default pos time parameter B L H und id Input Example MODE BASE MODE BASE ID Set fixed coordinate Base Station MODE BASE 40 45628476579 116 2859754968 58 0984 MODE BASE 2 40 45628476579...

Страница 11: ...1 2160489 0276 4383620 1006 4084738 1110 Table 3 3 Base Station Mode with Fixed Coordinates 3 1 3 Base Station Mode without parameters The base station mode without parameters MODE BASE when the BASE...

Страница 12: ...ly fix the final coordinates as the base station coordinates The position optimization will last a set length of time or until the optimized position errors are less than the thresholds That is when t...

Страница 13: ...n precise cooridinates while the moving base station is at moving status the received satellite information is sent to the rover station receiver the undetermined point in RTCM protocol While receivin...

Страница 14: ...tion is under dynamic mode The receiver will automatically start RTK positioning when RTCM differential correction data are received by any serial port Command Format MODE ROVER parameter Input Exampl...

Страница 15: ...ase station and heading receiver are in static status VARIABLENGTH Between two antennas of moving base station and heading receiver the relative positions or distance dynamic changes 4 CONFIG Command...

Страница 16: ...RTK configuration RTK solution maximum age of RTK data 10 DGPS DGPS configuration maximum age of DGPS data 4 1 Configure Antenna This command is used to configure the power switch of antenna The rece...

Страница 17: ...x CONFIG RTK 60 Table 4 4 RTK Solution Configuration Comma nd Device Field Parameter Parameters Description CONFIG RTK 1 TIMEOUT 0 Disable RTK solution 1 1000 Option for maximum age of RTK data defaul...

Страница 18: ...cription 1 PPS 2 Switch DISABLE default Disable PPS output once disable is set all other parameters are ignored ENABLE Enable PPS output 3 Timeref GPST or BDST Option for reference time system now sup...

Страница 19: ...arameter Command Format CONFIG COMX parameter Abbreviated ASCII Syntax CONFIG COM1 115200 CONFIG COM1 115200 8 n 1 Table 4 7 Serial Port Parameters List Command Device Fiel d parameters Supported Para...

Страница 20: ...avigation device is initialized successfully the receiver will enter the GNSS and INS integrated navigation positioning mode Command Format CONFIG INS parameter Abbreviated ASCII Syntax CONFIG INS ENA...

Страница 21: ...guration Command Device Angle Number Parameter Parameters Description CONFIG INS ANGLE 1 ANGLEX Rotation angle from vehicle X axis to INS module X axis 2 ANGLEY Rotation angle from vehicle Y axis to I...

Страница 22: ...ation of the INS device when the vehicle reaches the specified velocity Command Format CONFIG INS ALIGNMENTVEL velocity Abbreviated ASCII Syntax CONFIG INS ALIGNMENTVEL 5 0 Table 4 13 INS Velocity Thr...

Страница 23: ...y Description 1 GPS L1 L2 L5 Three frequencies of GPS satellites L1 L2 L5 2 BDS B1 B2 B3 Three frequencies of BDS satellites B1 B2 B3 3 GLO L1 L2 Two frequencies of Glonass satellites L1 L2 4 GAL E1 E...

Страница 24: ...er Description 1 GNGGA COM1 COM2 COM3 0 05 0 1 0 2 0 5 1 5 10 Set the port output the multiple system joint positioning results begins with GNGGA 2 GPSGGA COM1 COM2 COM3 0 05 0 1 0 2 0 5 1 5 10 Set th...

Страница 25: ...e data position track mode and speed data 11 GPRMC COM1 COM2 COM3 0 05 0 1 0 2 0 5 1 5 10 Information of receiver time data position track mode and speed data 12 GPSRMC COM1 COM2 COM3 0 05 0 1 0 2 0 5...

Страница 26: ...1 5 10 NMEA0183 21 GPTRA COM1 COM2 COM3 0 05 0 1 0 2 0 5 1 5 10 NMEA0183 22 RTCM1 COM1 COM2 COM3 0 05 0 1 0 2 0 5 1 5 10 RTCM 23 RTCM1004 COM1 COM2 COM3 0 05 0 1 0 2 0 5 1 5 10 RTCM 24 RTCM1005 COM1...

Страница 27: ...2 0 5 1 5 10 RTCM 33 RTCM1124 COM1 COM2 COM3 0 05 0 1 0 2 0 5 1 5 10 RTCM 34 RTCM1125 COM1 COM2 COM3 0 05 0 1 0 2 0 5 1 5 10 RTCM 35 RTCM1819 COM1 COM2 COM3 0 05 0 1 0 2 0 5 1 5 10 RTCM 36 RTCM3 COM1...

Страница 28: ...scription Symbol Example 1 GNGGA Log header GNGGA 2 utc UTC time of the current position hours minutes seconds decimal seconds hhmmss ss 170659 00 3 lat Latitude DDmm mm IIII II 4001 1220 4 lat dir La...

Страница 29: ...hh 3F 17 CR LF Sentence terminator CR LF 6 1 2 GPGGA GNSS Fix Data output by GPGGA This command is used to log time multi system positioning fix data of the receiver Output GNSS fix data using GPGGA...

Страница 30: ...the mean sea level x x 1098 44 11 a units Units of antenna height M meter M M 12 undulation Undulation the vertical separation between the geoid and the WGS84 ellipsoid x x 15 174 13 u units Units of...

Страница 31: ...mm yyyyy yy 11600 3622 6 lon dir Longitude direction E East W West a E 7 GPS quality Quality indicators of positioning results 0 Positioning not available or invalid 1 Single point 2 Pseudorange diffe...

Страница 32: ...SGGA 1 Output 1Hz BDSGGA message from com2 BDSGGA COM2 1 LOG output BDSGGA 025754 00 4004 74102107 N 11614 19532779 E 1 18 0 7 63 3224 M 9 7848 M 00 0000 58 Table 6 5 BDSGGA Message Description ID Fie...

Страница 33: ...ter M M 14 age Age of differential correction data seconds xx This value is set to 00 when no correction data available 15 stn ID Differential base station ID between 0000 and 1023 xxxx This value is...

Страница 34: ...on 5 RTK floating solution 6 INS 7 User fixed position x 1 8 sats Number of satellites in use may not the same as the number in view xx 10 9 hdop Horizontal dilution of precision x x 1 0 10 alt Antenn...

Страница 35: ...mmss ss 170659 00 3 lat UTC time of the current position hours minutes seconds decimal seconds IIII II 4001 1220 4 lat dir Latitude DDmm mm a N 5 lon Latitude direction N North S South yyyyy yy 11600...

Страница 36: ...GPGSA GPS DOP and Active Satellites This command is used to log receiver operating mode satellites in use and DOP values Recommend Input Output 1Hz GPGSA message from current serial port GPGSA 1 Outp...

Страница 37: ...ed to log pseudorange measurement noise statistics these values will be sent to the positioning results to present statistical qualities of the positioning solution This log reflects the positioning a...

Страница 38: ...td Standard deviation of longitude error m x x 1 94 9 alt std Standard deviation of altitude error m x x 4 30 10 xx Checksum hh 6E 11 CR LF Sentence terminator CR LF 6 1 9 GPGSV GNSS Satellites in Vie...

Страница 39: ...racking xx 42 Next satellite PRN number elev azimuth SNR Last satellite PRN number elev azimuth SNR Variable xx Checksum hh 72 variable CR LF Sentence terminator CR LF 6 1 10 GPHDT Heading Log This co...

Страница 40: ...t serial port GPRMC 1 Output 1Hz GPRMC message from com2 GPRMC COM2 1 LOG output GPRMC 094403 00 A 4004 73794422 N 11614 18999462 E 0 037 5 5 260815 6 5 W A 35 Table 6 12 GPRMC Message Description ID...

Страница 41: ...calculate Then the UTC time status is set to VALID Recommend Input Output 1Hz GNRMC message from current serial port GNRMC 1 Output 1Hz GNRMC message from com2 GNRMC COM2 1 LOG output GNRMC 094403 00...

Страница 42: ...er are able to transmit or receive more data Binary format is difined as below Basic Format Header 3 Sync bytes plus 24 bytes of header information The header length is variable as fields may be appen...

Страница 43: ...delay time ms 2 22 Table 6 16 ASCII Message Header Structure ID Field Type Description 1 Sync Char Sync character The ASCII message always starts with the character 2 Message Char The ASCII name of th...

Страница 44: ...0 22301c4b 0 7 24548211 750 129001723 217278 9 83 492 474 4131 0 425 609 28101c64 0 7 24548208 940 100520803 516577 25 262 384 232 3368 0 387 800 21301c6b 0 7 24548209 781 100520788 511940 14 130 383...

Страница 45: ...21 000 28111c44 3 39 19373540 876 80407388 032978 4 50 505 675 4992 0 421 000 20b11c4b 4 55 21181385 664 113067681 816258 4 55 3256 230 4692 0 423 000 28111c64 4 55 21 181389 609 87941532 413022 5 59...

Страница 46: ...29 209 2c141c84 0 4 38936234 049 156780081 759398 6 67 17 886 4441 0 427 409 26341c8b 0 4 38936235 116 164751955 098402 9 82 18 862 4152 0 427 609 26a41c80 0 5 39849559 838 207507123 809685 13 120 9 3...

Страница 47: ...08 4 50 138 716 5411 0 426 809 22331c20 0 5 25507209 112 134041287 534354 7 69 2264 297 4417 0 424 209 28331c44 0 5 25507210 183 100095768 136885 6 62 1690 830 4543 0 418 000 21931c4b 0 5 25507207 050...

Страница 48: ...2 H 26 9 dopp Instantaneous carrier Doppler frequency Hz Float 4 H 28 10 C No Carrier to noise density ratio C No 10 log10 S N0 dB Hz UShort 2 H 32 11 Reserved Reserved UShort 2 H 36 12 locktime Conti...

Страница 49: ...0x00001000 Code locked flag 0 Not locked 1 Locked 13 0x00002000 Reserved 14 0x00004000 15 0x00008000 N4 16 0x00010000 Satellite system 0 GPS 1 GLONASS 2 SBAS 3 Galileo 4 BD2 5 QZSS 6 7 Reserved 17 0x...

Страница 50: ...492 800 21301c2b 0 5 20422151 825 107319135 401189 4 50 838 619 5010 0 496 209 28101c44 0 5 20422148 083 83625284 703105 6 66 653 217 4624 0 492 800 21301c4b 0 5 20422148 735 83625289 696302 4 50 653...

Страница 51: ...5 670 104405756 653349 44 388 2298 442 3076 0 17 400 21301d6b 0 47 2 4094588 963 128437714 785108 14 127 524 247 3615 0 215 600 28111c24 0 47 24094597 834 99896050 327367 20 210 407 528 3063 0 491 600...

Страница 52: ...7520658 963 195379919 180620 9 87 27 164 4056 0 499 809 2c141c64 0 3 37520651 428 151080120 448378 4 50 21 044 4797 0 498 209 26341c6b 0 3 37520653 418 158762164 117300 5 62 22 121 4554 0 498 209 26a4...

Страница 53: ...290 159283839 623689 4 55 517 999 4691 0 494 200 22a41d40 0 3 2318 6169 438 121844145 804248 4 50 203 606 4833 0 496 409 28331c24 0 3 23186169 669 90987508 756380 4 50 152 034 5100 0 496 409 21931c2b...

Страница 54: ...Carrier phase accumulated Doppler range cycle Double 8 H 16 7 psr std Pseudorange measurement standard deviation meter UShort 2 H 24 8 adr std Estimated carrier phase standard deviation cycle UShort...

Страница 55: ...Double 8 H 56 10 reserved Reserved Ulong 4 H 64 11 xxxx 32 bit CRC for ASCII and Binary only Hex 4 H 68 12 CR LF Sentence terminator for ASCII only 6 2 4 UTC Coordinated Universal Time This log conta...

Страница 56: ...21080 000 577928 577 938 18 38 8 1 0 1971 121518000 10782 655 0 0 51 0 2 089683984375000e 07 3 919853515625000e 06 1 410376757812500e 07 1 926688194274902e 03 1 610822677612305e 02 2 808049201965332e...

Страница 57: ...121518000 10782 655 0 0 51 0 1 780039746093750e 07 1 643404443359375e 07 7 877607910156250e 06 8 098993301391602e 02 7 367382049560547e 02 3 372859001159668e 03 0 000002793967724 1 862645149230957e 0...

Страница 58: ...k number refer to GPST Ushort 2 H 6 7 e time Reference time of ephemeris in ms refer to GPST Ulong 4 H 8 8 t offset Integer seconds between GPST and Glonass time A positive value indicates Glonass tim...

Страница 59: ...signal between L2 band and L1 band second Double 8 H 108 25 gamma Frequency correction second second Double 8 H 116 26 Tk Time of frame start start from Glonass day second Ulong 4 H 124 27 P Technica...

Страница 60: ...2 7 69062500e 01 1 098960638e 07 2 235174179e 08 9 5812048008e 01 2 842975564e 10 2 941357651e 00 7 82889753e 09 41 302400 0 4 656612873e 10 5 1446445e 04 4 3200998e 12 0 0000000e 00 TRUE 1 458641622e...

Страница 61: ...8 H 128 22 IDOT Rate of inclination angle at TOE time radians second Double 8 H 136 23 0 Right ascension of satellite ascending node radians Double 8 H 144 24 dot Rate of right ascension radians seco...

Страница 62: ...s Binary Offset 1 BDSEPHEM header Log header H 0 2 PRN BDS satellite PRN umber 161 197 Ulong 4 H 3 Tow Time stamp of subframe 1 refer to GPST seconds Double 8 H 4 4 Health Health status a 1 bit health...

Страница 63: ...atellite clock refer to GPST seconds Double 8 H 164 27 tgd1 Equipment group delay of B1signal seconds Double 8 H 172 28 tgd2 Equipment group delay of B2 signal seconds Double 8 H 180 29 af0 Satellite...

Страница 64: ...Indicator of INAV ephemeris data received Bool 4 H 8 5 E1BHealth Health status bits for E1B only valid if INAVReceived is TRUE Uchar 1 H 12 6 E5aHealth Health status bits for E5a only valid if FNAVRe...

Страница 65: ...second Double 8 H 140 30 FNAVToc Reference time for clock correction data from the F NAV message seconds of week only valid if FNAVReceived is TRUE Ulong 4 H 148 31 FNAVAf0 Satellite clock offset par...

Страница 66: ...Real time Positioning Timing Real time positioning timing refers that the receiver receives satellite signals and makes positioning timing solution at the same time outputs the correct PPS second pul...

Страница 67: ...ordinate and the correct PPS second pulse signal is output Abbreviated ASCII Syntax MODE TIMING Surveyin Time param1 param2 Input Example MODE TIMING Surveyin 60 1 5 2 5 8 MISC COMMAND 8 1 Unlog Stop...

Страница 68: ...rs set by NETCONFIG Abbreviated ASCII Syntax FRESET Table 8 2 Freset Command ID Field ASCII Value Description 1 FRESET header Erase all stored data including the ephemeris almanac and any other config...

Страница 69: ...e short circuit of the receiver s RF cable connections or other reasons the receiver is short circuit connected with the antenna resulting in the receiver can not work properly Command format antenna...

Страница 70: ...1 Differential GPS Corrections RTCM3 Base Station parameters RTCM9 Partial Difference GPS Corrections RTCM1819 Raw Measurements Without Corrected RTCM24 Antenna ReferencePoint RTCM31 Differential GLON...

Страница 71: ...Phase CNR and Doppler Measurements RTCM1121 MSM1 BeiDou Code Measurements RTCM1124 MSM4 BeiDou Code Phase and CNR Measurements RTCM1125 MSM5 BeiDou Code Phase CNR and Doppler Measurements Group 2 Base...

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