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GNSS Receiver External Interface Specification

1. 004 106 Pulse Per Second PPS Parameters 107 External Event Parameters 000000 110 Current TIME i sessi ise eade o eee oce 112 3 4 8 Code Differential DGPS Parameters 115 Generic DGPS Parameters 000 0000 115 SBAS WAAS EGNOS Parameters 118 3 4 9 Phase Differential RTK Parameters 122 Generic RTK Parameters 0 0 0 0 00 eee 122 RTK Heading Parameters 0 134 TDMA Multiple Reference Stations 135 Attitude Parameters 0 0 c eee eee 137 Ambiguity Fixing Statistics 00 140 3 4 10 Reference Parameters 0 0 00 cee eee ee 143 Reference Station Coordinates 000 143 Reference Position Averaging 149 Reference Antenna Parameters 150 3 4 11 Reference Station Data on Rover 153 Data Received Got From Reference Station 154 Data Entered Fixed For Reference Station 158 Source of Data For Reference Station on Rover 160 www javad com OF CONTENTS Reference Station Data for RTK 161 3 4 12 Antenna Database 0 0 00 164 3 4 13 Base and Rover Modes llllll els 168 3 4 14 RTCM 2 x Parameters 00000 eee 172 RTCM 2 x Reference Station Parameters 172 RTCM 2 x Rover Parameters 0005 176 3 4 15 RTCM 3 x Parameters
2. 62 Almost Fixed Input Format for Angles 63 3 4 Objects Reference 0 0 0 0 cece eee 64 3 4 1 Power Management 0 000 e eee eee 64 3 4 2 Receiver Information 0 0 005 66 3 4 3 Version Information 0 002 c eee eee 67 3 4 4 Measurements Parameters 005 68 Satellites Locking Parameters 68 Generic Measurements Parameters 72 Multipath Reduction Parameters 75 Tracking Loops Parameters 00 5 75 4 www javad com GREIS GREIS TABLE OF CON Common Loops Parameters 00000005 TI Anti jamming Parameters 000000 79 Oscillator Parameters seere rere 0 c cece eee eee 80 Antenna Input Parameters 0005 81 Frequency Source Parameters 81 3 4 5 Almanac Status eens 82 3 4 6 Positioning Parameters 0 0 00 e eee 83 Generic Positioning Parameters 83 JOatutus c 1ase dose oet tapete o aum e s RR RE 89 Grid Systems i c cede su pre pe Rr e ds 93 Local Coordinates sorsero kira ccc ees 94 Generic Single Point Parameters 95 Positioning With Reduced State Vector 97 KEK Parameters 00 0000 cece cece nee 102 RAIM Parameters 0 0 0 0 ccc eens 104 Filtering Position Estimates 105 3 4 7 Timing Parameters 106 Improved Timing Mode
3. Note Note GREIS RECEIVER MESS Predefined Foreign Mess Approved NMEA sen Format Description 10 2X OD OA Checksum see General Format of Approved NMEA Sentences on page 345 ROT Rate of Turn Format Description 1 3F Rate of turn degrees minute If negative bow turns to port else bow turns to starboard 2 2 C A data valid V data invalid 3 2X 0D OA Checksum see General Format of Approved NMEA Sentences on page 345 This message is available if heading mode is turned on i e par pos pd hd mode is set to on ZDA UTC Time and Date Format Description 1 6 0 2 F UTC time first two digits designate hours next two dig its designate minutes and the rest designates seconds 2 2D Day varies between 01 31 3 2D Month varies between 01 12 46 4 4D Year 5 2D Local zone hours varies from 13 to 13 6 2D Local zone minutes varies from 00 to 59 7 2X 0D 0A Checksum see General Format of Approved NMEA Sentences on page 345 Local time zone is the magnitude of hours plus the magnitude of minutes added with the sign of local zone hours to local time to obtain UTC To specify values of local zone hours and local zone minutes use the command set par pos 1tz H M see Positioning Parameters on page 83 www javad com 355 IVE
4. 000 298 AZ Satellite Azimuths 0 00000 298 RC R1 R2 R3 R5 Pseudoranges 298 rc r1 r2 r3 r5 Short Pseudoranges 298 1R 2R 3R SR Relative Pseudoranges 299 1r 2r 3r 5r Short Relative Pseudoranges 299 CC C1 C2 C3 C5 Smoothing Corrections 299 cc c1 c2 c3 c5 Short Smoothing Corrections300 PC P1 P2 P3 P5 Carrier Phases 300 pc p1 p2 p3 p5 Short Carrier Phases 300 CP 1P 2P 3P 5P Short Relative Carrier Phases301 cp 1p 2p 3p 5p Short Relative Carrier Phases301 DC D1 D2 D3 D5 Doppler 302 1d 2d 3d Sd Short Relative Doppler 302 EC E1 E2 E3 E5 Carrier to Noise Ratio 302 CE 1E 2E 3E 5E Carrier to Noise Ratio x 4303 FC F1 F2 F3 F5 Signal Lock Loop Flags 303 TC CA L1 Continuous Tracking Time 304 SS Satellite Navigation Status 304 ID Ionospheric Delays 0 0 00 0005 305 4 4 7 Almanacs and Ephemeris 0 4 306 GA GPS Almanac 0 0 ccc eee 306 EA GALILEO Almanac 00 306 NA GLONASS Almanac esses 307 WA WAAS Almanac 0 000005 307 GE GPS Ephemeris 000000 eee 308 NE GLONASS Ephemeris 309 WE
5. 00000 e eee 180 RTCM 3 x Reference Station Parameters 180 RTCM 3 x Rover Parameters 0 00 181 3 4 16 CMR Parameters 0 00 eee ees 181 CMR Reference Station Parameters 181 CMR Rover Parameters 0 0 00 0c ee eee 184 3 4 17 Parameters of Generic GREIS Messages 184 Masks and Counters 0 0 0 0 00 ccc ee ees 184 Logging History lese 186 3 4 18 Parameters of Integrated GREIS Messages 186 3 4 19 Parameters of NMEA messages 188 3 4 20 Parameters of BINEX Messages 192 3 4 21 File Management lssese esee 193 Existing Files 200 002 0404 ee ioe ua ba Re 193 Current Log files 2 0 0 0 eee eee eee 194 Automatic File Rotation Mode AFRM 195 Internal Disk Parameters 000005 200 File system Parameters 0 00005 200 3 4 22 Session programming 0 ee eee 203 OVervIeW us vi earned hth pe EE Sees e 203 Parameters 151299 ofr drei E fe bt 205 Examples ici Ac deca ERES chia cha CER Wes 209 3 4 23 Notebook 0 0 ccc eee 212 3 4 24 Generic Communication Parameters 213 Current Terminal 0 20 0 0 00 e ees 213 Basic Operation Modes 0 0 seanna 214 Echo Parameters 0 0 0 0 00 c cc eee nes 215 Advanced Input Mode 00 000 218 3 4 25 Serial Port Parameters 0000000 223 Har
6. IVER OBJECTS ts Reference ining Parameters Using a priori time offset will allow the receiver to get a position fix in critical situations when there are few satellites in sight and when it is impossible to derive the point solution using the current measurements only E g if there are only three GPS satellites and one GLONASS satellite in view the receiver won t be able to get a position fix unless the user enters a GLONASS vs GPS time offset or some other a priori data thus reducing the number of unknowns in the corresponding set of equations Using precise a priori time offset will allow you to have more precise position fixes Use Fixed GPS to GLONASS Time Offset Name par pos fix gpsglo Access rw Type boolean Values on off Default off on receiver will use constant time offset specified by par pos gpsglo in position computation off receiver will calculate inter system time offset Fixed GPS to GALILEO Time Offset Positioning Fixed GPS to GALILEO Time Offset Name par pos gpsgal Access rw Type float meters Values 300000 300000 or string last Default 0 This parameter determines the a priori known constant time offset between the GALI LEO and GPS time scales Note that this offset is entered in meters not in time units just divide this value by the speed of light to get the offset in seconds The string last entered instead of numerical value will assign the numberical v
7. m s 2 ul solType Solution type ul cs Checksum BL Base Line struct BaseLine 34 8 x y Zz Calculated baseline vector coordinates m f4 sigma Baseline Spherical Error Probable SEP m ul solType Solution type i4 time receiver time of the baseline estimate s ul cs Checksum 294 www javad com GREIS GREIS RECEIVER MESS Standard Predefined Mess Position Velocity Me PS Position Statistics struct PosStat 9 ul solType Solution type ul gpsLocked Number of GPS SVs locked ul gloLocked Number of GLONASS SVs locked ul gpsAvail Number of GPS SVs available for positioning ul gloAvail A Number of GLONASS SVs available for positioning G G ul gpsUsed Number of GPS SVs used in positioning ul gloUsed Number of GLONASS SVs used in positioning ul fixProg Ambiguity fixing progress indicator controllable by RTK engine Checksum ul cs J The fixProg field may vary from 0 to 100 though in practice if raw measurements are good enough the fixProg field rarely takes values other than zero Just occasionally you can see fixProg to be 100 This means that the engine has just finished fixing all available ambiguities The fixProg will be dropped to zero immediately after it has reached 100 If the fixProg field keeps varying between 0 and 100 exclusive this means that not all of the ambiguities have been fixed H
8. 31 12 carrier phase refrange 219 219 1 0 0005 meters 11 9 slot ID 0 C A L1 1 Pl 2 P2 3 C A L2 www javad com 317 318 IVER MESSAGES ted Messages u2 flags u2 lock u4 word2 y ard Predefined Messages 4 L5 5 6 7 reserved 8 reserved 7 signal lock loop flags are available 6 lock time is available 5 0 Signal to noise ratio dB Hz Signal lock loop flags see FC message Packed data 2 bitfield 15 12 fractional part of Signal to noise ratio 0 1 dB Hz 11 10 reserved 9 0 lock time 0 1 second Tracking time since last loss of lock Varies between 0 and 102 3 seconds Gets stuck at 102 3s after the actual tracking time exceeds this value until another loss of lock occurs Packed data 3 Only present for version 0 bitfield 31 7 Doppler 224 224 1 0 001 Hz 6 0 reserved MR RR RR RR RR RR RR M MMC MR RR RR RR RR RR RR RR S When handling rM message the following rules must be observed 1 The user should retrieve from the message its version number and the lengths of the structures Header and SlotRec These fields are necessary to maintain com patibility with older software in case the message structure is modified in the future At present there are three versions 0 1 and 2 Versions 1 and 2 are intended for RTK applications In version 1 the field word2 is removed from the structure SlotRec altogether which results in a more
9. 00 cece eee eee eee 362 Appendices inkoakahebssasus bed awake RE es 365 A 1 Computing Checksums 0 000 cee eee eee 365 A 1 1 Computing 8 bit Checksum 365 A 1 2 Computing CRCI6 1 2 eee eee 365 A 2 Data Transfer Protocol 0 0 0 0 eee ee eee 366 A 2 1 Protocol Description 0 0000 e eee 367 A 2 2 Checksum Calculation 000000 369 A 3 Compensating for Phase Rollovers 369 A 4 Obsolete Receiver Objects 0 00 c eee eee 370 12 www javad com GREIS PREFACE Thank you for purchasing your JAVAD GNSS receiver The materials available in this Reference Guide the Guide have been prepared by JAVAD GNSS Inc for owners of JAVAD GNSS products It is designed to assist owners with the use of the receiver and its use is subject to these terms and conditions the Terms and Conditions Terms and Conditions GREIS PROFESSIONAL USE JAVAD GNSS receivers are designed to be used by a profes sional The user is expected to have a good knowledge and understanding of the user and safety instructions before operating inspecting or adjusting Always wear the required protectors safety shoes helmet etc when operating the receiver DISCLAIMER OF WARRANTY EXCEPT FOR ANY WARRANTIES IN THIS GUIDE OR A WARRANTY CARD ACCOMPANYING THE PRODUCT THIS GUIDE AND THE RECEIVER ARE PROVIDED AS IS THERE ARE NO OTHER WARRANTIES JAVAD GNSS
10. GREIS www javad com 349 IVER MESSAGES fined Foreign Messages ed NMEA sentences Float RTK Satellite system used in real time kinematic mode with floating integers Estimated dead reckoning mode Manual input mode nm Z mj M Simulator mode GRS GNSS Range Residuals This message contains range residuals These kinds of data are used to support Receiver Autonomous Integrity Monitoring RAIM Format Description 1 266 0 2 F UTC time the first two digits designate hours the next two digits designate minutes and the rest designates seconds 2 1D Mode 0 residuals were used to calculate the position given in the matching GGA or GNS sentence 1 residuals were recomputed after the GGA or GNS position was computed Currently the receiver uses only the first mode Mode 0 3 3F or A sequence of range residuals in meters Sequence length 0F depends on the number of satellites used in the position solution Order must match order of satellite ID numbers in GSA When GRS is used GSA and GSV are generally required If the range residual exceeds 99 9 meters then the decimal part is discarded resulting in an integer 103 7 becomes 103 The maximum value for this field is 999 4 2X 0D Checksum see General Format of Approved NMEA Sentences 0A on page 345 Note The NMEA standard states the following If eit
11. Note that in dynamic applications the measured carrier phase will also depend on antenna rotation around its axis Abrupt antenna rotation can bring about significant additional carrier phase dynamics which may result in poor L2 phase tracking www javad com GREIS GREIS Common PLL Order Name Access Type Values Default par raw clp pll order rw integer 2 3 3 Measurements Extrapolation Time Name Access Type Values Default par raw clp wait rw integer seconds 1 100 10 RECEIVER OB Objects Refer Measurements Para This parameter specifies time interval during which receiver will extrapolate satellite measurements should the loss of lock on the signal occur Anti jamming Parameters Anti jamming Mode Name Access Type Values Default par ajm mode rw enumerated on off on on anti jamming is turned on in the mode specified by the rest of parameters in this section off anti jamming is turned off Enable Anti jamming Bands Name Access Type Values Default on enable anti jamming on corresponding band off disable anti jamming on corresponding band par ajm band rw list gpsl gps2 gps5 glol glo2 of boolean on off on off on off on off on off on on on on on www javad com 79 IVER OBJECTS ts Reference rements Parameters Enable Anti jamming on Band B Name par ajm band B B gpsl1 gps2 gps5 glol glo2 Ac
12. To deal with the possibility of losing synchronization between the transmitter and receiver receiver should keep track of the expected block number Only if actual block number of successfully received block is equal to the expected block number receiver should send the ACK request If successfully received block has the number that is less than those expected receiver should silently ignore the block as it s just another copy of previously received block If received block number is greater than those expected receiver should stop the protocol by sending the ABORT request due to unrecoverable loss of synchronization The protocol can be terminated by the following events 1 Transmitter sends a block of type LAST with a positive count field This is a normal end of transfer In this case the last count bytes of data are in the data field of the block The rest of the bytes of the data field are filled with zeroes 2 Transmitter sends a block of type LAST with a count field equal to 1 minus one This means that an error on the transmitter end has occurred The data field of the block contains a zero terminated ASCII string describing the error 3 Transmitter sends a block of type ABORT i e sends instead of SOB or EOT This means that the receiver should immediately terminate its operation 4 Receiver sends the ABORT request instead of ACK or NACK request This means that an error on the
13. Example Note 92 IVER OBJECTS ts Reference ining Parameters User Defined Datum Name par pos datum USER Access rw Type list ell par Default U 6378137 0000 298 257223563 USER 0 0 0000 0 0000 0 0000 0 00000 0 00000 0 00000 0 00000 ell user defined ellipsoid parameters for this datum This should conform to the format of the type ell params The ell id field of the format should be set to the string U the letter U in the upper case and the minus sign or alternatively could be omitted note that the delimiting comma should still exist par user defined set of parameters for 7 parameters coordinates transformation This should conform to the format of type datum params The datum id field of the format should be set to the string USER or alternatively could be omitted note that the delimiting comma should still exist Set parameters of user defined datum then print them gt set par pos datum USER U 6378136 298 USER 0 0 0 1 0 0 0 2 0 gt print par pos datum USER RE021 U 6378136 0000 298 000000000 RE046 USER 0 0 0000 0 0000 1 0000 0 00000 0 00000 0 20000 0 00000 7 parameters Transformation for PE 90 Name par pos datum P90 par Access rw Type datum params Default P90 0 0 0000 0 0000 1 0000 0 00000 0 00000 0 20626 0 00000 The datum_id field of the format should be set to the string P90 or alternatively coul
14. NAME load min max where NAME thread name load computed processor load in percents associated with this thread in computed minimum time in milliseconds per thread execution cycle ax computed maximum time in milliseconds per thread execution cycle The last element of the list is of special interest to the user It has the following format load soft err hard err where load average processor load in percents soft_err number of detected soft real time errors hard err number of detected hard real time errors The average processor load is supposed to be less than 90 and the number of detected hard real time errors must be zero Enter Exception Mode on Errors Name par except Access rw Type boolean Values on off Default on on receiver will enter exception mode if an unrecoverable error in program exe cution is detected off receiver will reset itself and continue running when an unrecoverable error in program execution is detected Here reset means a hardware reset similar to power cycle FLASH Memory Waitstates Name par rcv flash waitstates Access r Type integer Values 0 9 www javad com GREIS GREIS RECEIVER OB Objects Refer Miscellaneous para This parameter indicates how fast installed FLASH memory chip used to store firm ware is The smaller the returned value the faster the flash memory For most JAVAD GNSS receivers this parameter is either 1
15. This parameter affects RTCM 2 x message types 1 9 20 21 31 and 34 The RTCM 2 x standard recommends using WGS 84 and PE 90 for referencing GPS and GLONASS differential corrections respectively In some cases however it can be desirable to transmit corrections referenced to a local datum For example in code differential coordinates of the base station can be given in a local datum In this case corrections referenced to this local datum may be transmitted to the rover At the rover side provided that the same local datum is chosen a user can obtain the position expressed in the same local datum Thus it is possible to obtain the coordi nates expressed in a local datum without any transformations from local datum to say WGS 84 datum prior to transmitting the corrections Thus this procedure provides a comfortable method for obtaining coordinates expressed in a local datum However some limitations of this procedure should be mentioned 1 The rover should know that differential corrections are referenced to a local datum If a base station serves as a reference for many rovers each of those rov ers should use the local datum specified at the base station otherwise the rover coordinates can be distorted 2 On long baselines referencing the differential corrections to a local datum may introduce an additional error in the coordinates 9 See RTCM recommended standards for differential GNSS Global Navigation Sat
16. means that UTC time is not valid 3 6 2F UTC time of position the first two digits designate hours the next two digits designate minutes and the rest of the digits designate sec onds 334 www javad com GREIS GREIS RECEIVER MESS Standard Predefined Mess Text Me Format Description 4 1D Position computation indicator If it equals 0 this message con tains more meaningful information see the following data fields If this indicator is non zero this data field is followed by the check sum Position is valid only if the position computation indicator is equal to 0 For how to interpret other values see Table 4 9 on page 336 5 CH C Position first symbol and velocity second symbol computation mode See Table 4 10 on page 336 6 2D 2D Number of GPS and GLONASS satellites used in position compu tation 7 S Reference geodetic datum identifier 8 C 2D0 2D Latitude hemisphere N northern S southern degrees 962 6F minutes and seconds 9 C 3D0 2D_ Longitude hemisphere E eastern W western degrees 962 6F minutes and seconds 10 5 4F Altitude above ellipsoid meters 11 C Geoidal separation indicator V means geoidal separation is valid N means geoidal separation is not valid 12 4F Geoidal separation the difference between the earth ellipsoid and geoid
17. 7 See Data Transfer Protocol on page 366 48 www javad com GREIS Note GREIS RECEIVER INPUT LANG Comm Description This command starts retrieving of a file into the host computer using the Data Transfer Protocol DTP No response is generated unless there is an error or response is forced by the statement identifier After the get command succeeds the DTP transmitter is started on the receiver and waits for DTP receiver to be run on the host Therefore to actually retrieve any data one needs DTP receiver implementation on the host The essential difference between the get and print commands is that the former is based on the data transfer protocol that provides error detection and correction whereas the latter just blindly outputs data into an output stream The optional offset argument allows host to implement support for resuming of inter rupted data transfer Note that seeking to a large offset may require rather long time to perform in the receiver To correctly implement resumption in the host software force receiver response to the get command using statement identifier and wait for the reply from the receiver before running DTP on the host This method takes advantage of the fact that receiver replies to the get command after the seek is performed When the attempts option is set to 1 the DTP transmitter will be put into so called streaming mode In this mode after receiving the first NACK from the DTP rece
18. Chapter A APPENDICES A 1 Computing Checksums For messages the checksum is computed starting with the first byte of the message iden tifier and ending with the byte immediately preceding the checksum field inclusive For commands the checksum is computed starting with the command s first non blank byte and ending with the character inclusive A 1 1 Computing 8 bit Checksum Provided count bytes of data are put into a buffer src the 8 bit checksum could be computed according to the following algorithm typedef unsigned char ul enum bits 8 lShift 2 rShift bits lShift m define ROT LEFT val val lt lt lShift val gt gt rShift ul cs ul const src int count ul res 0 while count res ROT LEFT res srct return ROT LEFT res A 1 2 Computing CRC16 Provided count bytes of data are put into a buffer src the CRC16 checksum could be computed according to the following algorithm typedef unsigned short Crcl6 enum WIDTH 16 Width of poly POLY 0x1021 Poly Bit 16 is set and hidden BYTE BITS 8 Number of bits in byte GREIS www javad com 365 366 NDICES Transfer Protocol ting CRC16 TABLE SIZE 1 lt lt BYTE BITS Size of table MSB MASK 1 WIDTH 1 Mask for high order bit in a word y Table generated by crcl6init static Crcl6 table TABLE SIZE Initializes the table Should be
19. Default automatically generated unique value This parameter specifies receiver s unique hardware number on a network High part of the MAC address is fixed and is equal to 00 18 D7 Low part is generated automatically from the receiver ID The user usually does not need to change the MAC address GPRS DIALUP PPP Configuration These parameters aid in establishing of either GPRS or dialup connection to a provider of Internet services using point to point protocol PPP To create PPP link through internal or external modem connected to receiver serial port the user should set the mode of corresponding modem port par dev modem X mode X a d to either gprs for GSM modem or dialup for GSM or analog modem depending on the kind of required connection GPRS or dialup Receiver scans modem mode parameters for each port from a to d in order and selects the first one with the mode equal to gprs or dialup It then creates PPP link over the selected modem port www javad com GREIS Example Example GREIS RECEIVER OB Objects Refer Network Para Should the mode parameter of the modem port on which PPP link is active be set to a value that differs from the current setting the PPP connection for this port will be termi nated and the firmware will repeat search for modem mode equal to gprs or dialup among modem ports starting from dev modem a Examples Establish GPRS link through GSM modem connected to receiver se
20. Default 0 Height Offset of L2 APC for RTK Name par pos pd ref ant 12 ll height Access rw Type float meters Values 0 1 0 1 Default 0 3 4 12 Antenna Database JAVAD GNSS receivers contain embedded antenna data base This database provides identification and measurement information for more than 200 antennas More precisely for each antenna in this database the following entries are given Antenna identifier used in RTCM standard version 3 0 This identifier or ID as denoted below is a string comprising up to 20 characters Antenna identifier used in CMR standard This identifier or CMR ID as denoted below is an integer value in the range of 0 255 Vector offset between the ARP and L1 phase center Vector offset between L1 and L2 phase centers The following parameters are supported by all receiver boards except for HE GG and HE GD JNS100 JNS100GG Antenna Type Definitions Name par antdb Access r Type list ver id cmr ids Antenna Database Version Name par antdb ver Access r Type string The antenna database version in the M N K format where www javad com GREIS GREIS RECEIVER OB Objects Refer Antenna Da M database major version as decimal N database minor version as decimal K patch level as decimal Antenna Database Entries Name par antdb Access r Type list id cmr ids id parameters for antennas by ID cmr parameters for antennas by CMR ID i
21. Default on on setting this parameter to on is silently ignored off Setting this parameter to off turns the receiver off There is no way to turn the receiver on after that using GREIS commands and after receiver is turned on by other means e g using a power button this parameter returns back to on Sleep Mode Name par sleep Access rw Type boolean Values on off Default off Options wakeup time timespec on put receiver to sleep mode off ignored When in sleep mode receiver could be woken up by one of the methods supported by particular receiver model For example some or all receiver serial ports may be able to wake up receiver whenever some character is received Pushing the power button will wake up receiver from the sleep mode as well If wakeup time option is specified receiver will be woken up on specified date and time unless it s woken up earlier by other means Put receiver into sleep mode so that it will wake up on Monday 2d at 23h3m55s GPS time set par sleep on 2d23h3m55s Low Power Mode Name par lpm Access rw Type boolean Values on off Default on on enable processor to enter low power mode when idling off disable processor to enter low power mode when idling www javad com 65 IVER OBJECTS ts Reference er Information 3 4 2 Receiver Information Receiver Serial Number Name par rcv sn Access r Type string 0 31 This parameter cont
22. Enable Tracking of GPS Satellites by Their Numbers Name par lock gps sat Access rw Type array 1 32 of boolean Values y n y n Default y y Enables disables the receiver to track GPS satellites by their PRN Enable Tracking of GPS Satellite Number N Name par lock gps sat N N 1 32 Access rw Type boolean Values y n Default y y enable tracking of GPS satellite number N n disable tracking of GPS satellite number N Enable Tracking of GPS Pseudolites by Their Numbers Name par lock gpsext sat Access rw Type array 33 37 of boolean Values y n y n Default n n Enables disables the receiver to track GPS pseudolites by their PRN Enable Tracking of GPS Pseudolite Number N Name par lock gpsext sat N N 33 37 Access rw Type boolean Values y n Default n y enable tracking of GPS pseudolite number N n disable tracking of GPS pseudolite number N www javad com GREIS GREIS RECEIVER OB Objects Refer Measurements Para Enable Tracking of GALILEO Satellites by Their Numbers Name par lock gal sat Access rw Type array 1 32 of boolean Values yln yln Default y y Enables disables the receiver to track GALILEO satellites by their PRN Enable Tracking of GALILEO Satellite Number N Name par lock gal sat N N 1 32 Access rw Type boolean Values y n Default y y enable tracking of GALILEO satellite
23. Examples Empty reply for listing of a non list object list par rcv ver main RE000 Error reply for listing of non existing object gt list does not exist ER018 2 wrong 1st parameter www javad com 31 32 Example Example Example IVER INPUT LANGUAGE Obtain a list of existing log files Either of gt list log gt list will produce the same output e g RE013 1log1127a 1log1127b List all standard GREIS messages supported by the receiver gt list msg jps lt REO3D JP MF PM EV XA XB ZA ZB YA YB RT RD ST LT BP TO DO 00 UO GT RE040 NT GO NO TT PT SI NN EL AZ SS FC RC rc PC pc CP cp DC CC cc EC RE040 CE TC R1 P1 1R 1P rl pl lr lp D1 Cl cl E1 1E F1 R2 P2 2R 2P r2 RE040 p2 2r 2p D2 C2 c2 E2 2E F2 ID PV PO PG VE VG DP SG BI SE SM PS G R RE040 GE NE GA NA WE WA WO GS NS rE rM rV rT TM MP TR MS DL TX SP SV lt RE031 RP R BL AP AB re ha GD LD RM R IO NP LH EE ET List all the messages in the default set of messages gt list msg def lt amp RE0401 3ps JP jps MF jps PM jps EV jps XA jps XB jps RT jps RD jps SI RE040 jps NN jps EL jps FC jps RC jps DC jps EC jps TC jps CP jps 1R RE040 jps 1P jps 2R jps 2P jps E1 jps D2 jps E2 jps SS jps SE jps PV lt RE040 jps ST jps DP jps TO jps DO jps UO jps 10 jps GE
24. _FRO Enable 20 MHz stable frequency output RS_A Maximum allowed baud rate for serial port A in kilo baud If this option is not loaded the current value of this option will be set to 115 thus enabling the port and limiting its speed by 115200 baud RS_B Maximum allowed baud rate for serial port B in kilo baud RS_C Maximum allowed baud rate for serial port C in kilo baud RS_D Maximum allowed baud rate for serial port D in kilo baud INFR Enable the infrared port _PAR Enable the parallel port _FRH Enable frequency hopping mode of the internal modem _DSS Enable spread spectrum mode of the internal modem RAIM Enable RAIM _DTM Enable datums other than WGS84 and PE90 MAGN Enable magnetic declination _GEO Enable geoid model WPT unsupported WAAS Enable WAAS EGNOS satellites OMNI unsupported GREIS www javad com 273 274 IVER OBJECTS ts Reference er Options Table 3 2 Receiver Options Name Description RTMO Enable RTCM messages This is a bit field option If bit 0 is set RTCM mes sages relating to code differential are enabled If bit 1 is set RTCM messages relating to carrier phase differential are enabled Other bits are reserved RTMI Maximum number of ports that could be simultaneously set to the rtcm input mode 0 5 CMRO Enable CMR messages This is a bit field option If bit 0 is set the whole rang
25. battery charging is turned off a charging battery A b charging battery B auto receiver will automatically control the course of battery charging Receiver automatically detects all of the batteries attached to the receiver A B or both and if both are mounted charges them one after the other beginning with battery A Once batteries are fully charged the receiver stops charging You can start battery charging only after the par pwr mode parameter has been set to ext or auto Some of receiver models must be turned on for the battery to receive a charge If this parameter is set to either a or b the receiver will keep charging corresponding battery Care should be taken not to overcharge the battery Currently Charging Battery Name par pwr charge curbat Access r Values off a b The battery currently being charged Mostly useful when par pwr charge mode is set to auto www javad com 257 Note 258 IVER OBJECTS ts Reference ed Power Management Battery Charging Speed Name par pwr charge speed Access rw Values normal fast Default normal This parameter toggles the battery charge speed between normal and high The normal mode is preferable When auto is used to charge the battery the actual battery charge speed may differ from the value of this parameter Current Battery Charging Speed Name par pwr charge curspeed Access r Values normal fast Current battery charging spe
26. cp scp 1024 0 CP 1P 2P 3P 5P Short Relative Carrier Phases struct RCP_RC 4 nSats 1 4 rep nSats cp Fian prRC s ul cs Checksum he Thise messages contain differences between the full corresponding carrier phases and the matching RC pseudoranges for all the satellites specified in the latest SI message The CP 1P 2P 3P and 5P messages contain CA L1 P L1 P L2 CA L2 and L5 carrier phases respectively Use the following formula to compute true carrier phases in cycles cp rcp prRC Fin where prRC is the value taken from corresponding RC message Fin is nominal Ln carrier frequency for corresponding satellite e g nominal L2 frequency for 2P and 3P messages and nominal L1 frequency for CP and 1P messages cp 1p 2p 3p bp Short Relative Carrier Phases struct RCP rc 4 nSats41 i4 rep nSats cp Fin pr rc s 2740 ul cs Checksum N These messages contain the differences between the full corresponding carrier phases and the matching rc pseudoranges for all the satellites specified in the latest SI mes sage The cp 1p 2p 3p and 5p messages contain CA L1 P L1 P L2 CA L2 and L5 carrier phases respectively Use the following formula to retrieve true carrier phases in cycles cp rcp 240 pr rc Fin where pr rc is the value taken from corresponding rc message and converted to sec
27. if present and the object is of type list initialize all the contained objects instead of the object itself Options None Description This command initializes specified objects No response is generated unless there is an error or response is forced by the statement identifier The exact semantics of initialization depends on the object being initialized but in gen eral could be considered as turning an object to its default or clean state For exam ple for parameters it means setting their values to corresponding defaults for the file storage device it means re formatting the underlying medium etc Initializing some of objects will result in receiver reboot This is currently the case for initializa tion of receiver non volatile memory dev nvm a Though it may change in the future current implementation of this generic command in the receivers is rather limited In fact only initialization of objects that are found in the examples below is currently supported Examples Clear NVRAM and reboot receiver All the data stored in the NVRAM almanacs ephe merides etc will be lost all the parameters will be set to their default values after reboot gt init dev nvm a Set all the receiver parameters to their default values gt init par www javad com 39 IVER INPUT LANGUAGE ands Example Initialize the file system i e reformat the underlying medium All files stored in the receiver will be l
28. nal Interface Specification rmware Version 3 0 0 ised February 27 2009 All contents in this manual are copyrighted by JAVAD GNSS All rights reserved The information contained herein may not be used accessed copied stored displayed sold modified published or distributed or otherwise reproduced without express written consent from JAVAD GNSS GREIS TABLE OF CONTENTS liio METUIT 13 Terms and Conditions 2 0 0c cece eee eee ees 13 Chapter 1 Introduction 15 LT Whatis GREIS 1s sd eicere esp etai n 15 1 2 How is GREIS Used 00 0 eee 15 IK Lists PP ET 15 IE 20 u MP oe EE dowd Bldg ou eee he 16 1 4 1 Object Identifiers llle 17 1 4 2 Object Types 0 0 cee IA 18 1 5 Periodic Output rensei es Rr be ded RR 18 1 5 1 Output Period and Phase 4 19 1 5 2 Output Count oso ke REY 20 1 5 3 Output Flags socks re tee ed ete xe ee 21 Chapter 2 Receiver Input Language 23 2 1 Language Examples oere cccreccu correre trenen Denie 23 2 2 Language Syntax 0 eee eee eee eee 24 2 3 COMMANAS sss WN Boe Re ee ERREUR heeds 27 Di Dik E ce oe aia cise Pisa se weeks a nes eet ace an Waele A Sete ah asada 28 2 3 2 pit p34 bias etd addhhy e ge DEP kia UE bea eee 29 pESRSNII PC 31 2 3 4em amp OUL eee eens 33 2 3D OM sa iene loa hin ae BO bee ak Sad 37 2 3 0 Ilt c oo reed Doe ee hate ba ee ea due bad pu 39 2 3
29. onds 4 1D Position computation indicator If it equals 0 this message con tains more meaningful information see the following data fields If this indicator is non zero this data field is followed by the check sum Position is valid only if the position computation indicator is equal to 0 For how to interpret other values see Table 4 9 on page 336 5 C Position computation mode See Table 4 10 on page 336 6 2D 2D Number of GPS and GLONASS satellites used in position compu tation 7 C GPS time fields indicator V means that GPS time fields are valid N means that GPS time fields are not valid 8 o 4F GPS system time Receiver time meters 9 o 4F Derivative of GPS system time Receiver time meters sec ond 10 C GLONASS time fields indicator V means that GLONASS time fields are valid N means that GLONASS time fields are not valid 11 4F GLONASS system time Receiver time meters 12 o AF Derivative of GLONASS system time Receiver time meters second 13 9o 2F Time dilution of the precision TDOP 14 9o 3F Clock offsets RMS error meters 15 9o 3F RMS of the derivatives of clock offsets meters second 16 1D The Improved Timing mode indicator If it equals 0 this means the Improved Timing mode is turned off If this field is 1 the mode is turned on 17 2X Checksum RP Reference Station Parameters This messa
30. 31 Default 0 This parameter specifies the mean throughput class for Quality of Service Profile Requested for AT CGQREQ command GPRS QoS Minimum Precedence Class Name par net ppp gprs at cgqmin prcd Access rw Type integer Values 0 3 Default 0 This parameter specifies the precedence class for Quality of Service Profile Minimum acceptable for AT CGQMIN command GPRS QoS Minimum Delay Class Name par net ppp gprs at cgqmin delay Access rw Type integer Values 0 4 Default 0 This parameter specifies the delay class for Quality of Service Profile Minimum accept able for AT CGQMIN command GPRS QoS Minimum Reliability Class Name par net ppp gprs at cgqmin relb Access rw Type integer Values 0 5 Default 0 This parameter specifies the reliability class for Quality of Service Profile Minimum acceptable for AT CGQMIN command 236 www javad com GREIS GREIS RECEIVER OB Objects Refer Network Para GPRS QoS Minimum Peak Throughput Class Name par net ppp gprs at cgqmin peak Access rw Type integer Values 0 9 Default 0 This parameter specifies the peak throughput class for Quality of Service Profile Mini mum acceptable for AT CGQMIN command GPRS QoS Minimum Mean Throughput Class Name par net ppp gprs at cgqmin mean Access rw Type integer Values 0 31 Default 0 This parameter specifies the mean throughput class for Quality of Service Profile M
31. Address field The first two characters identify Talker The last three char acters identify the sentence type HEX 2C Field delimiter c c Data sentence block HEX 2A Checksum delimiter hh Checksum field This value is computed by exclusive OR ing the eight data bits of each character in the sentence between but excluding and The hexadecimal value of the most significant and least significant four bits of the result are converted into two ASCII characters 0 9 A F for transmission The most significant character is transmitted first lt CR gt lt LF gt HEX 0D 0A sentence terminators Approved NMEA sentences are allowed to contain the so called null fields Null fields are used when one or more val ues in the message are unreliable or unavailable A null field may be delimited by two commas or by a comma and a multiplication sign depending on its posi tion in the sentence JAVAD GNSS receivers support the following talker identifiers GP Global Positioning Systems GPS GL GLONASS GN Global Navigation Satellite System GNSS Generally speaking talker identifier is supposed to inform Listener whether the posi tioning information contained in the message is GPS only GLONASS only or combined GPS plus GLONASS In reality this is not always true there are sentences whose talker identifier
32. CMR ID to ID Map Name par antdb ids cmr Access r Type list CMR ID For every antenna with known CMR ID contains its corresponding antenna ID and CMR ID CMR ID to ID Map Element Name par antdb ids cmr CMR ID Access r Type string www javad com 167 168 Example IVER OBJECTS ts Reference nd Rover Modes For specified CMR antenna ID contains antenna ID together with the corresponding CMR ID in the format ID CMR_ID 3 4 13 Base and Rover Modes Traditionally many GNSS receivers support the notion of base mode and rover mode For example when receiver is used as RTCM DGPS reference station it s not unusual to say that receiver works in RTCM DGPS base mode and when receiver is computing DGPS position it works in so called RTCM DGPS rover mode However such model is too simplistic to be used to exactly specify the required behavior of JAVAD GNSS receivers For example using this terminology a JAVAD GNSS receiver is capable to work as say CMR RTK base DGPS RTCM base and RTCM3 RTK rover simulta neously Due to their flexibility JAVAD GNSS receivers have no notion of base or rover modes internally We can say that they are modeless in this sense On one hand this allows applications to decide exact meaning of base and rover modes themselves if they wish to On the other hand this makes it somewhat more difficult to design such applications To simplify development of applications utilizing notio
33. Format Description 1 6 0 2 F UTC time of position fix first two digits designate hours the next two designate minutes and the rest digits designate seconds 2 4 1 7 F Latitude in selected datum first two digits designate degrees and the rest designates minutes of arc 3 C Latitude hemisphere N northern S southern 4 265 1 7 F Longitude in selected datum first three digits designate degrees and the rest digits designate minutes of arc 5 C Longitude hemisphere E eastern W western 6 1D GPS quality indicator see below for details 7 2D Number of satellites used for position computation 8 2F Horizontal dilution of precision HDOP 9 5 1 4 F Altitude above geoid in selected datum meters 10 C Symbol M denote that altitude is in meters 11 1 4 F Geoidal separation the difference between the earth ellipsoid and geoid defined by the reference datum meters 12 C Symbol M denotes that geoidal separation is in meters 13 AF Age of differential GPS data seconds 346 www javad com GREIS Note GREIS RECEIVER MESS Predefined Foreign Mess Approved NMEA sen Format Description 14 4D Differential reference station ID an integer between 0000 and 1023 15 2X 0D 0A Checksum see General Format of Approved NMEA Sen tences on page 345 The GGA message talker identifier uses the following JAVAD GNSS convention w
34. Format Description 1 RTCMST Message title 2 3D Time in seconds elapsed since last message was received maxi mum value 999 Estimated with an accuracy of 1 second 3 4D Number of received messages between 0001 9999 If no mes sage has been received this data field contains zero 4 4D Number of corrupt messages between 0001 9999 If there are no corrupt messages detected this data field is set to zero 5 2F Data link quality in percent 0 100 6 2X Checksum Note The MS is considered obsolete We recommend that you use DL instead 332 www javad com GREIS GREIS RECEIVER MESS Standard Predefined Mess Text Me TX RTCM CMR Text Message This message allows the user to view text information derived on the rover end from messages RTCM 2 x Type 16 36 23 24 RTCM 3 0 and CMR Type 2 Format Description 1 TEXT Message title 2 1D Total number of the messages 0 2 The rest of the message is available only if this number is non zero Otherwise the total num ber of the messages value is immediately followed by the check sum 3 02D 02D 9602D 9602D 2002D 96S 96 C 96C 96S Group of fields associated with the given text message note that the total number of such groups is determined by the previous field These fields are Date of receiving of the message MM DD month day UTC time of receiving of the message HH MM SS S
35. Initial Dynamic Mode Name par button dyn Access rw Type enumerated Values static dynamic Default static When par button action is set to dyn this parameter will specify the initial dynamic mode for all of the new files opened through TriPad Toggle Automatic File Rotation Mode AFRM via TriPad Name par button rot Access rw Type boolean Values on off Default off off TriPad FN button will turn data logging on and off on TriPad EN button will turn AFRM on and off Turn Data Recording On at Startup Name par button auto Access rw Type enumerated Values on off always Default off on should a power failure occur in the course of data recording the receiver will then automatically open a new file and resume data recording when power is on again From a functional point of view this is equivalent to pushing the FN but ton to start data logging once the receiver is powered on again 16 Press the button and release it in less than one second www javad com GREIS RECEIVER OB Objects Refer CAN Ports Para always this case is similar to the previous one except that the auto start mecha nism will be launched at receiver start time irrespective of whether the power fail ure occurred while data recording or not off receiver will not resume data logging after power failure Note Setting this parameter to either on or always will not make the receiver itself a
36. Name par net wlan ap rssi Access r Type integer Values 0 255 Default 0 Access point Received Signal Strength Indication RSSI Indicates the amount of power present in a received radio signal WLAN Keys Name par net wlan ap keyN N 1 4 Access w Type string 0 32 Values any string Default The N th key string for the access point To increase security these parameters are write only and can t be read back WLAN Receiver IP Address Name par net wlan ip addr Access rw Type ip address Values any valid IP address Default 192 168 2 2 This parameter identifies the receiver on a TCP IP network WLAN Network mask Name par net wlan ip mask Access rw Type ip address Values any valid IP address Default 255 255 255 192 www javad com 229 230 IVER OBJECTS ts Reference k Parameters This parameter specifies the network mask of the wireless network the receiver is con nected to WLAN Default Gateway Name par net wlan ip gw Access rw Type string Values any valid IP address Default 192 168 2 1 The default gateway to use for packets that don t belong to the wireless network WLAN Maximum Transmission Unit MTU Name par net wlan ip mtu Access rw Type integer Values 128 16384 Default 1500 The MTU for the interface WLAN MAC Address Name par net wlan mac addr Access rw Type string Values any valid MAC address
37. S southern www javad com 347 IVER MESSAGES fined Foreign Messages ed NMEA sentences Format Description 3 265 1 7 F Longitude in selected datum first three digits designate degrees and the rest designates minutes of arc 4 C Longitude hemisphere E eastern W western 5 6 0 2 F UTC time of position first two digits designate hours the next two digits designate minutes and the rest designates seconds 6 C Status field shall be set V Invalid for all values of position ing system mode indicator see next field except for A Autonomous D Differential P Precise R RTK with fixed integers and F RTK with floating integers 7 C Positioning system mode indicator see below 8 2X 0D 0A Checksum see General Format of Approved NMEA Sentences on page 345 Mode indicator A Autonomous Satellite system used in non differential mode in position fix Differential Satellite system used in differential mode in position fix Estimated dead reckoning mode Manual input mode Simulator mode z e zim o Data not valid GNS GNSS Fix Data This message intended for combined navigation systems GNSS It comprises time position status fix data Format Description 1 6 0 2 F UTC time of position fix first two digits designate hours the next two digits designate minutes
38. Suppose also that the controller is capable to wrap CMR data into the gt gt messages and uses the id field of the gt gt message as part of CMR data and we wish to pass these CMR data to the receiver as if they were received from serial C port Suppose also that the controller is capable to send GREIS commands to the receiver prepending them by the character The receiver could be then configured using the following commands gt set par dev ser a jps 0 nscmd 33 y gt set par dev ser a jps 1 cmr 1 n dev ser c gt set par dev ser a jps 2 mode none gt set par dev ser a imode jps gt set par dev ser c imode cmr In the first command 33 is decimal value of the ASCII code of the character that our example controller will be prepending to GREIS commands after the port is configured as shown Note that in the last command the port dev ser c in our example should match those one spec ified in the second command as a virtual source of CMR data Suppose that unlike previous example the controller always sends GREIS commands prepended by command identifier containing any string surrounded by characters Then we would instead wish to configure the 0 th specification as follows gt set par dev ser a jps 0 nscmd 37 n www javad com GREIS Example GREIS RECEIVER OB Objects Refer Serial Port Para where 37 is ASCII code of the character and we ve changed the
39. Trr Tr s s ul cs Checksum E BP Rough Accuracy of Time Approximation struct RcvTimeAccuracy 5 f4 acc Accuracy s ul cs Checksum he If the value of accuracy is greater than 10 3 s it means that receiver clock may not be properly synchronized to receiver reference time Trr NT GLONASS Time struct GLOTime 7 u4 tod time of day ms u2 dn GLONASS day number modulo 4 years starting from 1996 ul cs Checksum he NO GLONASS to Receiver Time Offset struct RcvGLOTimeOffset 6 il sec Tn Tr s i4 ns Tn Tr modulo 1 second ns ul cs Checksum H 290 www javad com GREIS RECEIVER MESS Standard Predefined Mess Time Me GO GPS to Receiver Time Offset struct RcvGPSTimeOffset 6 il sec Tg Tr s i4 ns Tg Tr modulo 1 second ns ul cs Checksum UO GPS UTC Time Parameters struct GpsUtcParam 24 UtcOffs utc GPS UTC time offset parameters ul cs Checksum I struct UtcOffs 23 f8 a0 Constant term of polynomial s f4 al First order term of polynomial s s u4 tot Reference time of week s u2 wnt Reference week number il dtls Delta time due to leap seconds s ul dn Future reference day number 1 7 u2 wnlsf Future reference week number il dtlsf Future delta time due to leap seconds s Nu This message describes the relationship between UTC
40. enable using of GLONASS satellite with orbit number N for position computa tion n disable using of GLONASS satellite with orbit number N for position computa tion If given satellite is enabled by this parameter has frequency code number M and is dis abled by parameter par pos glo fcn M the satellite will be still disabled Enable GLONASS Satellites by FCN Name par pos glo fen Access rw Type array 7 12 of boolean Values y n y n Default y y Enable GLONASS Satellite with FCN N Name par pos glo fcn N N 7 12 Access rw Type boolean Values y n Default y y enable using of GLONASS satellite with frequency code number N for position computation n disable using of GLONASS satellite with frequency code number N for position computation If given satellite is enabled by this parameter has orbit number M and is disabled by parameter par pos glo sat M the satellite will be still disabled Enable GALILEO Satellites by Their Numbers Name par pos gal sat Access rw Type array 1 32 of boolean Values yln yln Default y y Enable GALILEO Satellite Number N Name par pos gal sat N N 1 32 Access rw Type boolean Values y n Default y 88 www javad com GREIS Note GREIS RECEIVER OB Objects Refer Positioning Para y enable using of GALILEO satellite number N for position computation n disable using of GALILEO satellite number N fo
41. manual npa ter enr Default manual This parameter defines the mode of use of SBAS corrections for DGPS solution manual receiver will apply SBAS corrections according to other parameters defined in this section npa ter enr receiver will apply SBAS corrections according to the DO 229C D specification Enable SBAS Mode for Non safety Applications Name par pos wd nsa Access rw Type boolean Values on off Default on on receiver will apply SBAS corrections as for non safety application Currently receiver will interpret non empty message type 0 as message type 2 in accordance with DO 229C D Note that this mode is used only when parameter par pos wd mode is set to manual off receiver will apply SBAS corrections as for safety applications SBAS Elevation Mask Name par pos wd elm Access rw Type integer Values 90 90 Default 5 SBAS corrections from satellites with elevations lower than this mask will be excluded from position computation Enable SBAS Corrections by Satellite Numbers Name par pos wd sat Access rw Type array 120 138 of boolean Values yln yln Default y y www javad com 119 IVER OBJECTS ts Reference ifferential DGPS Parameters Enable SBAS Corrections from Satellite Number N Name par pos wd sat N N 120 138 Access rw Type boolean Values y n Default y y enable using of SBAS satellite number N as source of corrections
42. mean sea level defined by the reference datum meters 13 9o 2F Horizontal dilution of precision HDOP 14 9o 2F Vertical dilution of precision VDOP 15 9o 3F Horizontal position RMS error meters 16 9o 3F Vertical position RMS error meters 17 AF Horizontal velocity kilometers hour 18 4F Vertical velocity kilometers hour 19 3 3F True heading degrees 20 C Magnetic heading indicator V means magnetic heading is valid N means magnetic heading is not valid 21 3 3F Magnetic heading degrees 22 3F Horizontal velocity RMS error meters second 23 9o 3F Vertical velocity RMS error meters second www javad com 335 IVER MESSAGES ard Predefined Messages essages Format Description 24 2F Data link quality in percent 0 100 25 3D Time in seconds elapsed since last RTCM CMR or JPS message was received maximum value 999 Estimated with an accuracy of 1 second 26 2X Checksum Table 4 9 Position Computation Indicator 0 Position is valid 1 Too many iterations have been made position is not valid 2 Singular matrix position is not valid 3 Not enough data for position computation position is not valid 4 Either or both altitude and speed exceed specified threshold values position is not valid 5 PDOP exceeds specified threshold value position is not valid See the paramet
43. off single differenced ionosphere model is disabled Threshold for RTK lonosphere Model Name par pos pd ionr Access rw Type float meters Values 0 106 Default 4000 The ionospheric delay will be modeled by RTK engine only if the estimated baseline length is greater or equal to the specified value Memory Factor For the Float Ambiguity Filter Name par pos pd mem Access rw Type float Values 0 5 1 0 Default 0 99970 The smaller the filter memory factor the less important are the older ambiguity esti mates for the RTK engine estimating the current ambiguities On shorter vectors up to 8 km it is recommended to set the memory factor to 0 998 when running the receiver under tree canopy Half integer Ambiguity Fixing on L1 and L2 Name par pos pd si Access rw Type list L1 L2 of boolean Values on off on off Default off off This is a technology specialist parameter It is mostly used for internal JAVAD GNSS purposes when testing debugging new firmware versions www javad com 127 IVER OBJECTS ts Reference Differential RTK Parameters Interval of Verification of Fixed Ambiguities Name par pos pd check Access rw Type integer Values 1 32767 Default 17 This parameter specifies the periodicity N of the engine checking fixed ambiguities for errors The engine will be forced to recompute check the ambiguity vector every N epochs Thus estimated forced ambig
44. or in any other advertisements or JAVAD GNSS literature or made by an employee or independent contractor of JAVAD GNSS modifies these Terms and Conditions including the Software license warranty and limitation of liabil ity SAFETY Improper use of the receiver can lead to injury to persons or property and or malfunction of the product The receiver should only be repaired by authorized JAVAD GNSS warranty service centers MISCELLANEOUS The above Terms and Conditions may be amended modified superseded or canceled at any time by JAVAD GNSS The above Terms and Conditions will be governed by and construed in accordance with the laws of the State of Califor nia without reference to conflict of laws www javad com GREIS GREIS Chapter 1 INTRODUCTION 1 1 What is GREIS GREIS is an interfacing language enabling the user to effectively communicate with GNSS receivers by accessing all of their capabilities and functions GREIS represents a generic receiver language structure for the entire range of JAVAD GNSS hardware This language structure is receiver independent and open to future modification or expansion GREIS is based on a unified approach allowing the user to control a JAVAD GNSS receiver using an appropriate set of named objects Communi cation with these objects is achieved through predefined commands and messages There are no specific constraints on the number or type of the receiver objects used 1 2 How is GREIS
45. set par net tcpcl ntrip user abc set par net tcpcl ntrip passwd abc set par net tcpcl ntrip nmea 10 send GGA every 10 seconds gt set par dev tcpcl a imode rtcm mountpoint sends RTCM gt set par net tcpcl mode ntrip IP Address of NTRIP Caster Name par net tcpcl ntrip addr Access rw Type string Values any valid IP address Default 0 0 0 0 The value of this parameter should match the IP address of the NTRIP caster to use IP Port of NTRIP Caster Name par net tcpcl ntrip port Access rw Type integer Values 0 65535 Default 0 The value of this parameter should match the IP port the NTRIP caster is listenning on for connections www javad com GREIS Note GREIS RECEIVER OB Objects Refer Network Para NTRIP Mount Point Name par net tcpcl ntrip mountpt Access rw Type string 0 15 Values arbitrary string Default empty string This parameter specifies the mount point of the NTRIP caster to get data from NTRIP User Name Name par net tcpcl ntrip user Access rw Type string 0 32 Values arbitrary string Default empty string This parameter specifies user ID for the protected space of the requested mount point Only basic authentication scheme is supported If empty no user or password values will be sent to the NTRIP caster NTRIP Password Name par net tcpcl ntrip passwd Access rw Type string 0 32 Values arbitrary strin
46. time receiver time ms py f hj angles deg sp sr sh angles RMS values deg solType 3 base lines solution types flag quality flag CS Checksum 10 See Table 4 3 Solution Types on page 286 312 www javad com GREIS GREIS RECEIVER MESS Standard Predefined Mess Event Marker and PPS Me 4 4 10 Event Marker and PPS Messages The event marker and PPS have their own reference time settings governed by corre sponding parameters As a consequence some of the event marker and PPS messages described below utilize the time scale field of the following format Table 4 7 Event Marker and PPS time scale Value Description 0 GPS system time 1 UTC USNO Universal Coordinated Time supported by the U S Naval Observatory 2 GLONASS system time 3 UTC SU Universal Coordinated Time supported by the State Time and Frequency Service Russia 2 25 Reserved XA XB External Event struct ExtEvent 10 i4 ms ms part of event time tag i4 ns ns part of event time tag ul timeScale time scale ul cs Checksum Nu The event time tag is the time in corresponding time scale modulo one day To make your receiver generate these messages you additionally need to turn on exter nal event processing on corresponding external event input using par dev event a b 1n parameters ZA ZB PPS Offset struct PPSOffset 5 f4 offs
47. 1 2 Default 1 Parity Name par sport parity Access rw Type enumerated Values N odd even fodd feven Default N N no parity odd odd parity even even parity fodd forced odd parity logical 1 feven forced even parity logical 0 www javad com GREIS GREIS RECEIVER OB Objects Refer Serial Port Para Infrared Mode Name par sport ir Access rw Type boolean Values on off Default off Note that the JAVAD GNSS receiver may have either one infrared port which is always port D or no infrared port Output Time frames Overview This feature allows to use the receiver in a time sharing network where every receiver in a network is only allowed to send its data during specific time intervals Output time frame is a periodic time interval of a specified length Time frames are entirely specified by three parameters period length and delay By definition a time frame begins the delay seconds after the receiver time modulo period becomes zero and lasts for the length seconds While no time frame is active the data to be output to the port is buffered inside the receiver As soon as next time frame begins receiver starts to output data to the port and keeps output allowed till the end of the time frame At the end of the time frame receiver clears its internal buffers not to allow the data that reminded buffered to be output at the subsequent time frame Time frame Mode Name
48. 10 4 meters bit combination 0x20000000 means the clock offset is unavailable or exceeds 536870911 u4 word2 bitfield 31 29 reserved 28 26 navigation system 0 GPS 1 GIN 25 0 derivative of clock offset 10 4 m s bit combination 0x2000000 means that clock offset is unavailable or exceeds 33554431 he 4 4 13 Interactive Messages Commands sent to the receiver may generate reply messages from the receiver These human readable text messages are output immediately as a response to corresponding commands Interactive applications are the target for this class of messages RE Reply struct RE var al reply Reply The contents of a reply message depends on what particular command has invoked this reply message see Chapter 2 for more information about GREIS receiver commands and possible replies www javad com GREIS GREIS RECEIVER MESS Standard Predefined Mess Miscellaneous Me ER Error struct ER var al error Error description Nu If receiver gets a command that for some reason can t be executed or produce an error during execution then an error message is generated The contents of the error message specifies what is wrong with the issued command 4 4 14 Miscellaneous Messages IO lonospheric Parameters struct IonoParams 39 u4 tot Time of week s u2 wn Week number taken from the first subframe The coefficients of a cubic equ
49. 11 leap second status 0 no leap second epoch 1 positive leap second 2 negative leap second 3 leap second status is unknown this flag shows whether a leap second milliseconds of UTC day 16 bit CRC occurred at the current epoch 10 0 week day representation a if time scale ID is GPS week number 0 1023 1024 indicates unknown week number b if time scale ID is GLONASS day number within 4 year period 1 1461 0 indicates unknown day number c if time scale ID is UTC day number within the year 1 366 0 indicates unknown day number u4 reftime Milliseconds part of epoch representation ms a if time scale ID is GPS milliseconds of GPS week b if time scale ID is GLONASS milliseconds of GLONASS day c if time scale ID is UTC u2 crcl6 316 www javad com GREIS RECEIVER MESS Standard Predefined Mess Integrated Me rM Raw Measurements st H st H st st 12 15 13 message version 0 7 12 8 total number of svd records N 7 5 this value plus 6 makes the length of the structure Header in bytes this value plus 10 for version 0 and 1 or 6 for version 2 7 makes the length of the structure SlotRec in bytes SvData svd N SVs data see below u2 crcl6 16 bit CRC 4 0 ruct RawMeas N 14 10 6 M 6 14 u2 sample Sample numbe
50. 110 Check Sequence Number From the RTCM 2 x Messages Name par rtcm rover seqnum Access rw Type boolean Values on off Default on on use message sequence numbers in calculation of data link quality off do not use message sequence numbers in calculation of data link quality An RTCM 2 x message has a data field called sequence number Sequence numbers allow the receiver to check whether any messages have been lost when receiving RTCM 2 x data Such checking is enabled by default If the receiver detects that a message is lost i e the difference between the current and the previous sequence numbers is not equal to unity the bad message counter will be incremented The data link quality is available in GREIS DL message described on page 328 RTCM 2 x Version to Assume at the Rover Name par rtcm rover ver Access rw Type enumerated Values v2 1 v2 2 v2 3 Default v2 3 This parameter allows you to use JAVAD GNSS receivers together with reference sta tions that transmit messages in the format specified by older versions of RTCM 2 x stan dard Note that only RTK messages are affected www javad com 177 178 IVER OBJECTS ts Reference 2 x Parameters Note Multiple Message Indicator Mode Name par rtcm rover mmi Access rw Type enumerated Values def on off Default off RTCM 2 x message types 18 19 and 20 21 have a flag called Multiple Message Indica tor This flag ser
51. 4 anti spoof A S flag from HOW 5 Alert flag from HOW 6 ephemeris was retrieved from non volatile memory 7 reserved Clock data Subframe 1 i2 iodc Issue of data clock i4 toc Clock data reference time s il ura User range accuracy ul healthS Satellite health i2 wn Week number f4 tgd Estimated group delay differential s f4 af2 Polynomial coefficient s s 2 f4 afl Polynomial coefficient s s f4 af0 Polynomial coefficient s Ephemeris data Subframes 2 and 3 i4 toe Ephemeris reference time s i2 iode Issue of data ephemeris Keplerian orbital parameters F8 rootA Square root of the semi major axis m 0 5 F8 ecc Eccentricity 8 m0 Mean Anomaly at reference time wn toe semi circles F8 omega0 Longitude of ascending node of orbit plane at the start of week wn semi circles F8 inc0 Inclination angle at reference time semi circles F8 argPer Argument of perigee semi circles Corrections to orbital parameters f4 deln Mean motion difference from computed value semi circle s f4 omegaDot Rate of right ascension semi circle s f4 incDot Rate of inclination angle semi circle s f4 crc Amplitude of the cosine harmonic correction term to the orbit radius m f4 crs Amplitude of the
52. 40 5 aircraft 100 100 500 100 satellite 10 10 20000 20000 lunlim 10000 10000 5000 5000 User Defined KFK Dynamics Name Access Type Values Default par pos kfk dynamic user rw list VarVh float VarVv float MaxVh float MaxVv float 0 0001 10000 0 0001 10000 0 5000 0 5000 1 0 1 0 5 0 5 0 Using this parameter the user can set KFK dynamics parameters according to his spe cific requirements The values from this parameter take effect only when parameter par pos kfk dynamic mode is set to the value user www javad com 103 IVER OBJECTS ts Reference ining Parameters RAIM Parameters RAIM Mode Name par pos raim mode Access rw Type boolean Values on off Default on on RAIM is active off RAIM is turned off Alarm Limit Mode Name par pos raim al mode Access rw Type enumerated Values manual npa ter enr Default npa In the description of this parameter nmi stands for International Nautical Mile that is equal to 1852 meters npa non precision approach Limit is equal to 0 3nmi ter terminal Limit is equal to 1 0nmi enr enroute Limit is equal to 2 0nmi manual RAIM will use the contents of the parameter par pos raim al manual as the alarm limit Alarm Limit for Manual Mode Name par pos raim al manual Access rw Type float meters Values 10 10000 Default 555 6 it corresponds to npa m
53. Access rw Type integer seconds Values 0 900 Default 300 0 receiver will not use carrier phases to smooth pseudoranges Therefore in this case the pseudorange noise error will depend only on the corresponding DLL bandwidth see the parameter par raw gdl band on page 76 www javad com 73 74 IVER OBJECTS ts Reference rements Parameters 1 900 receiver will smooth pseudoranges based on a Kalman filter whose time constant is set to the value of this parameter Doppler Smoothing Interval Name par raw dopp smi Access rw Type integer Values 0 2 Default 2 0 receiver outputs raw non smoothed doppler that is instantaneous yet rather noisy 1 doppler is computed using two consecutive carrier phase measurements Such Doppler measurements are less noisy than in the first case 2 doppler is computed using three consecutive carrier phase measurements Dop pler measurements obtained in this mode are least noisy lonosphere Corrections Smoothing Interval Name par raw iono smi Access rw Type integer seconds Values 0 900 Default 60 This parameter specifies the nominal interval Thom over which raw ionospheric correc tions are smoothed assuming the receiver has been working for some time and has already obtained enough raw ionospheric corrections to perform such smoothing Note that the current ionosphere smoothing interval will vary in time After you switch receiver on t
54. Antenna Setup ID Name par ref ant setup Access rw Type integer Values 0 255 Default 0 This parameter is typically used by the differential service provider to inform the user about any change at the reference station that affects the antenna phase center variations Antenna Serial Number Name par ref ant sernum Access rw Type string 0 31 Values up to 31 alphanumeric characters Default empty string With this parameter the user specifies the individual antenna serial number 3 4 11 Reference Station Data on Rover Parameters described in this section represent information about reference station being used on rover receiver They are mostly useful for RTK operation and serve two main purposes 1 Allow the user of the rover receiver to get information that is received from the reference station 2 Allow the user to enter information about reference station on rover and force the rover to use entered information instead of those received from reference station Many of these parameters could be considered to be a reflection on the rover side of the parameters described in Reference Parameters on page 143 In this section the data received from reference station is called got data The data about reference station entered by the user on the rover is called fixed data Receiver will select which data to actually use for RTK according to the values specified by the user for parameters that are descr
55. DGPS positioning most of these parameters will affect DGPS positioning as well Measurements Type to Use Name par pos sp meas Access rw Type enumerated Values ca p1 p2 12c 15 ionofree all Default ca This parameter specifies which measurements receiver will use for single point position computation ca use CA L1 code measurements pl use P L1 code measurements p2 use P L2 code measurements 12c use CA L2 code measurements 15 use L5 code measurements ionofree use ionosphere free combination of code measurements all use all the available signals In this case optimal combination of signals is used for every SV Enable lonospheric Corrections Name par pos sp iono Access rw Type boolean Values on off Default on www javad com 95 96 Note Note IVER OBJECTS ts Reference ining Parameters on receiver will correct the measured pseudoranges for ionospheric delay errors before computing the point position For the ionospheric model used please refer to ICD GPS 200C Revision IRN 200C 004 April 12 2000 off receiver will not use ionospheric corrections Ionospheric corrections are used in the receiver exclusively for computing single point position Receiver messages will contain raw pseudoranges Enable Tropospheric Corrections Name Access Type Values Default par pos sp tropo rw boolean on off on on receiver will correct the measured pseudora
56. DGPS corrections Configure receiver to connect to the reference receiver s raw TCP port B and receive RTCM corrections from the reference receiver set par net tcpcl rcv addr 172 17 0 34 gt set par net tcpcl rcv port 8002 gt set par net tcpcl rcv login b login to TCP port B gt set par net tcpcl rcv passwd abc gt set par dev tcpcl a imode rtcm expect RTCM corrections set par net tcpcl mode rcv For this example to work the reference receiver should be configured something like set par net ip addr 172 17 0 34 set par net ip mask 255 255 255 0 set par net ip gw 172 17 0 1 set par net tcp port 8002 set par net passwd abc em dev tcp b msg rtcm 18 19 22 3 set par reset y for network changes to take effect www javad com GREIS Note GREIS RECEIVER OB Objects Refer Network Para IP Address of Raw TCP Server Name par net tcpcl rcv addr Access rw Type string Values any valid IP address Default 0 0 0 0 The value of this parameter should match the IP address of the remote receiver IP Port of Raw TCP Server Name par net tcpcl rcv port Access rw Type integer Values 0 65535 Default 0 The value of this parameter should match the value of the parameter par net tcp port of the remote receiver Login Name for Raw TCP Server Name par net tcpcl rcv login Access rw Type enumerated Values a b c d e empty
57. DISCLAIMS ANY IMPLIED WARRANTY OF MER CHANTABILITY OR FITNESS FOR ANY PARTICULAR USE OR PURPOSE JAVAD GNSS AND ITS DISTRIBUTORS SHALL NOT BE LIABLE FOR TECHNI CAL OR EDITORIAL ERRORS OR OMISSIONS CONTAINED HEREIN NOR FOR INCIDENTAL OR CONSEQUENTIAL DAMAGES RESULTING FROM THE FUR NISHING PERFORMANCE OR USE OF THIS MATERIAL OR THE RECEIVER SUCH DISCLAIMED DAMAGES INCLUDE BUT ARE NOT LIMITED TO LOSS OF TIME LOSS OR DESTRUCTION OF DATA LOSS OF PROFIT SAVINGS OR REVENUE OR LOSS OF THE PRODUCT S USE IN ADDITION JAVAD GNSS IS NOT RESPONSIBLE OR LIABLE FOR DAMAGES OR COSTS INCURRED IN CONNECTION WITH OBTAINING SUBSTITUTE PRODUCTS OR SOFTWARE CLAIMS BY OTHERS INCONVENIENCE OR ANY OTHER COSTS IN ANY EVENT JAVAD GNSS SHALL HAVE NO LIABILITY FOR DAMAGES OR OTH ERWISE TO YOU OR ANY OTHER PERSON OR ENTITY IN EXCESS OF THE PURCHASE PRICE FOR THE RECEIVER LICENSE AGREEMENT Use of any computer programs or software supplied by JAVAD GNSS or downloaded from a JAVAD GNSS website the Software in connec tion with the receiver constitutes acceptance of these Terms and Conditions in this Guide and an agreement to abide by these Terms and Conditions The user is granted a per sonal non exclusive non transferable license to use such Software under the terms www javad com 13 14 ACE s and Conditions stated herein and in any case only with a single receiver or single computer You may not assign or transfer the Software or thi
58. IODE Issue Of Data Ephemeris For GLONASS satel lites this field includes Ephemeris reference time tj 7 LSB and the indicator MSB which is set to 1 if the ephemeris has been updated without a change in tb Note The interpretation of this field for GLONASS satellites is subject to change in the future 6 2X Checksum 1 System time means GPS and GLONASS system time for GPS and GLONASS satellites respectively 2 Assuming that the satellite clock has already been corrected to the corresponding system time either GPS or GLONASS time by applying the broadcast frequency time corrections The reader will notice that these satellite specific time residuals first of all describe such effects as SA multipath and atmospheric delay which are all satellite specific TM Clock Offsets and Time Derivatives The message contains clock offsets the difference between receiver time scale and GPS GLONASS system time and their derivatives Format Description 1 TIMING Message title 2 C UTC time indicator V means that UTC time is valid N means that UTC time is not valid GREIS www javad com 339 340 IVER MESSAGES ard Predefined Messages essages Format Description 3 6 2F UTC time of position the first two digits designate hours the next two digits designate minutes and the rest of the digits designate sec
59. No data from reference station are available for given satellite RTK mode only 32 50 Reserved 51 CA LI slot is used in RTK processing 52 P L1 slot is used in RTK processing 53 P L2 slot is used in RTK processing 54 P L1 and P L2 measurements are used in RTK processing 55 CA LI and P L2 measurements are used in RTK processing 56 62 Reserved 63 Satellite navigation status is undefined 1 GLONASS only 2 GPS only www javad com 287 288 IVER MESSAGES Note Note Note ard Predefined Messages Purpose Messages 4 4 3 General Purpose Messages JP File Identifier struct FileId 85 al id 5 File type identifier al description 80 Human readable stream description he This message that is intended to be put at the beginning of the file serves two purposes First it enables the processing program to easily identify the file type Second this mes sage usually contains some additional information about the origin of the corresponding file e g what particular hardware was used to collect data this file contains Both the id and the description fields are padded to the required size with spaces if necessary For JAVAD GNSS receivers the JP message always contains the following informa tion id RLOGF and description JPS NAME Receiver log file blanks are omitted here where the sub string NAME stands for the specific receiver name The siz
60. PPS offset in nanoseconds ul cs Checksum Due to a hardware limitation PPS signals are discrete with a resolution of 25 ns JAVAD GNSS receiver allows you to compensate for this discreteness error by means of utiliz ing this message It contains the offset between the scheduled PPS time and the actual pulse edge s arrival time When the pulse edge is earlier than the scheduled time the off set is positive When the pulse edge is delayed relative to the scheduled time the offset is negative 11 par dev event a b time and par dev pps a b time www javad com 313 IVER MESSAGES ard Predefined Messages g and Pitch Messages YA YB Time Offset at PPS Generation Time struct RcvTimeOffsAtPPS 10 8 offs Tpps Tr offset s ul timeScale time scale ul cs Checksum E This message contains PPS reference time to receiver time offset at the moment of PPS generation 4 4 11 Heading and Pitch Messages ha Heading and Pitch struct f4 heading Heading of the baseline between the base and the rover receiver radians f4 pitch Pitch of the baseline between the base and the rover receiver radians Checksum ul cs k This message contains heading and pitch calculated by the RTK engine RO Lever Arm Cartesian Position This message contains the position of the master antenna corrected by the rotated lever arm vector It has exactly the same format as the PO message des
61. TR TR FRR FR TR RR RR RR RR RR RR RR RR RR RR RRR RR RR RR RR MR TR FR BR MR TR FR TR MRT FR TR FRR FRR RT TR TR TR TR RR RR RR RR RR RR RR Sample number bitfield 15 5 Difference between the raw measurement time available from either rM or rE message and the position time tag 1024 1023 5 ms 4 0 reserved 32 MSB of Position X component bitfield 31 24 8 LSB of Position ECEF X component 1074 m or Latitude 10 14 radians or Grid Local X component 1074 m 23 1 indicates that Position is valid 22 21 0 Position is given in ECEF system 1 Position is given in geodetic coordinates latitude longitude height above ellipsoid 2 Position is given in grid or local coordinates 3 reserved 20 16 Number of GPS SVs used in computation 15 1 indicates that Velocity is valid 14 13 reserved 12 8 Number of GLONASS SVs used in computation 7 4 Position computation mode see Table 4 3 on page 286 3 0 Velocity computation mode see Table 4 3 on page 286 31 0 32 MSB of Position Y component 31 24 8 LSB of Position ECEF Y component 10 4 m or Longitude 10711 radians or Grid Local Y component 10 4 m 23 15 PDOP 10 14 0 RMS velocity error 0 001 meters 32 MSB of 40 bit ECEF position Z component bitfield 31 24 8 LSB of 40 bit position ECEF Z component or Height above ellipsoid 10 4 m 23 20 reserved 19 0 RMS Position error 0 001 m bitfield 31 4 velocity X component 1
62. Timing mode you need to specify reference coordinates of the receiver antenna L1 phase center as precise as possible Refer to Reference Parameters on page 143 for details Note that 1 meter of error in reference position will result in about 3 3 nanoseconds error in time offset 106 www javad com GREIS GREIS RECEIVER OB Objects Refer Timing Paral Enable Improved Timing Mode Name par pos clk fixpos Access rw Type boolean Values on off Default off on receiver will use the a priori known coordinates from the par ref syspos gps and par ref syspos glo parameters to solve for the unknown time offsets between corresponding system time scale and receiver time off receiver will calculate the time offsets as part of usual position computation Pulse Per Second PPS Parameters Overview JAVAD GNSS receivers can generate precise Pulse Per Second PPS signals with pro grammable reference time system period and offset PPS signals are available via the corresponding output connector pins for this information please see the JAVAD GNSS receiver pinout description at the JAVAD GNSS website These trigger signals may be synchronized to the reference time grid in two ways You can either synchronize the falling edge of the PPS signal with the specified refer ence time or synchronize the rising edge of this signal with the reference time The PPS time grid is defined by the PPS period as follows reference time
63. True Heading will be cal culated The direction is defined as specified number of degrees clockwise from the True North Use GP as Talker ID in NMEA Messages Name Access Type Values Default par nmea gp rw boolean on off off 12 NMEA 0183 Standard For Interfacing Marine Electronic Devices v 3 0 July 1 2000 www javad com GREIS GREIS RECEIVER OB Objects Refer Parameters of NMEA me on always use GP as talker ID off use GP GN or GL as talker ID according to the NMEA standard This parameter instructs the receiver to use GP as Talker ID in NMEA messages This mode is implemented for compatibility with legacy equipment that may not be capable of recognizing GN or GL as Talker IDs Limit the Total Number of Satellites in GGA by 12 Name par nmea ggalim Access rw Type boolean Values on off Default off on no more than 12 satellites will be reported in GGA message off actual number of satellites will be reported in GGA even when it exceeds 12 In accordance with the NMEA 0183 standard the total number of satellites in a GGA sentence is limited to 12 In practice however there may be more than 12 GPS satellites in sight This parameter serves for compatibility with any software that strictly follows the NMEA 0183 standard Output Mode for HDT and ROT Messages Name par nmea head fixed Access rw Type boolean Values on
64. USNO and GPS time as speci fied by GPS subframe 4 page 18 For how to convert GPS time into UTC USNO see ICD GPS 200C Revision IRN 200C 004 April 12 2000 WU WAAS UTC Time Parameters struct WaasUtcParam 31 UtcOffs utc WAAS to UTC time offset parameters il utcsi UTC Standard Identifier u4 tow Reference time of week s u2 wn Reference week number ul cs Checksum Nu This message has much in common with the UO message The utcsi field may have one of the following values Table 4 5 UTC Standard Identifier Value Meaning 0 UTC as operated by the Communications Research Laboratory CRL Tokyo Japan 1 UTC as operated by the National Institute of Standards and Technology NIST 2 UTC as operated by the U S Naval Observatory USNO GREIS www javad com 291 IVER MESSAGES ard Predefined Messages n Velocity Messages Table 4 5 UTC Standard Identifier Value Meaning 3 UTC as operated by the International Bureau of Weights and Measures BIPM 4 7 Reserved EU GALILEO UTC and GPS Time Parameters struct GalUtcGpsParam xxx UtcOffs utc GALILEO to UTC time offset parameters GALILEO to GPS time offset parameters f4 alg Constant term of time offset s f4 alg Rate of time offset s s u4 t0g Reference time of week u2 wn0g Reference week number ul cs Checksum he 4 4 5 Position Velocity Messages
65. WAAS Ephemeris 0 00005 310 GREIS www javad com 9 10 OF CONTENTS EN GALILEO Ephemeris 310 4 4 8 Raw Navigation Data 0 0 0 eene 310 GD GPS Raw Navigation Data 310 LD GLONASS Raw Navigation Data 311 WD WAAS Raw Navigation Data 311 ED GALILEO Raw Navigation Data 311 4 4 9 ADU Messages 312 MR Rotation Matrix lllsleeeesns 312 mr Rotation Matrix and Vectors 312 AR Rotation Angles 0 000000 eee 312 4 4 10 Event Marker and PPS Messages 313 XA XB External Event 313 ZA ZB PPS Offset 0 0 0 0 00000 313 YA YB Time Offset at PPS Generation Time 314 4 4 11 Heading and Pitch Messages 314 ha Heading and Pitch 00 0 314 RO Lever Arm Cartesian Position 314 RG Lever Arm Geodetic Position 314 4 4 12 Integrated Messages 0 0 0 eee eee 314 rE Reference Epoch 000000 e eee 316 rM Raw Measurements 000055 317 rV Receiver s Position and Velocity 319 rT Receiver Clock Offsets 0 000005 320 4 4 13 Interactive Messages 0 00s eae 320 JRE Reply ica ciatiae Re a 320 ER EITO obest ree ero ase Ses 321 4 4 14 Miscellaneous Messages 0 0005 321 IO Ionos
66. a few primary field types and then use notation close to those used in the C program ming language to build definitions of more complex formats struct NAME LENGTH TYPE FIELD COUNT DESCRIPTION TYPE FIELD COUNT DESCRIPTION where NAME the name assigned to this format It could be used in other format definitions as the TYPE of a field LENGTH the length in bytes of entire sequence For a fixed length format it is a number for a variable length message it may be either an arithmetic expression depending on some other variable parameters or just the string var TYPE FIELD COUNT field descriptor It describes a sequence of COUNT elements of the same TYPE which is assigned the name FIELD The TYPE could be either one of the primary field types described below or a NAME of another format When COUNT is absent the field consists of exactly one element When COUNT is absent i e there are only empty square brackets it means that the field consists of unspecified number of elements 1 In the context of this chapter byte means 8 bit entity Least significant bit of a byte has index zero GREIS www javad com 277 278 entions IVER MESSAGES Specifications DESCRIPTION description of the field along with its measurement units and allowed range of values where appropriate Measurement units are surrounded by square brackets The following primary field types are defined Ta
67. and the rest designate seconds 2 264 1 7 F Latitude in selected datum first two digits designate degrees and the rest designates minutes of arc 3 C Latitude hemisphere N northern S southern 4 265 1 7 F Longitude in selected datum first three digits designate degrees and the rest designates minutes of arc 5 C Longitude hemisphere E eastern W western 348 www javad com GREIS RECEIVER MESS Predefined Foreign Mess Approved NMEA sen Format Description 6 PC PC Mode indicator see below variable length valid character field type with the first two characters currently defined The first charac ter indicates the use of GPS satellites the second character indicates the use of GLONASS satellites 7 2D Total number of satellites used for position computation 8 9o 2F Horizontal dilution of precision HDOP 5 1 4 F Altitude above geoid in selected datum meters 1 4 F Geoidal separation the difference between the earth ellipsoid and geoid defined by the reference datum meters 11 9o 1F Age of differential data seconds see the note below 12 4D Differential reference station ID this is an integer between 0000 and 1023 see the note below 13 2X 0D Checksum see General Format of Approved NMEA Sentences 0A on page 345 Note If your JAVAD GNSS receiver runs in pure GPS or pure GLONASS RTK or DGPS it out puts one GNS me
68. ee eee ee 272 Chapter 4 Receiver Messages 277 4 1 Conventions i osse hea dai Rea Rhe ed 277 4 1 1 Format Specifications llle esee 2T 4 1 2 Special Values eder eer ges 279 4 2 Standard Message Stream 0 0000 eese 279 4 3 General Format of Messages lel esee 280 4 3 1 Standard Messages llle eese 280 4 3 2 Non standard Text Messages 281 www javad com OF CONTENTS 4 3 3 Parsing Message Stream 0 004 281 Synchronization 0 0 0 ce eee eee eee 282 Skipping to the Next Message 24 282 4 4 Standard Predefined Messages 0 005 283 4 4 1 Parsing Message Bodies 0 005 283 Allowed Format Extensions 0005 283 CHECKSUMS 22e Ao d RA tke da wate dese 284 4 4 2 General Notes 0 00 0 c cece es 284 Tame Scales estes ere AREE Gh ae 284 Ielitmitetsnuesiu eig eris E xcci eis 285 Solution Types 2 0 0 0 0c eee eee eee eee 286 Satellite Navigation Status 0 0005 286 4 4 3 General Purpose Messages esee sss 288 JP File Identifier 0 0 00 0 0 288 MF Messages Format 2000 ee eae 288 4 4 4 Time Messages 0 0 0 eee eee eee 289 RT Receiver Time 00 0000 289 GET Epoch Time 20 0 0 00 cece ee eee 289 RD Receiver Date 289 GT GPS Time 0 0 eee 290 TO Refere
69. every time you use TriPad to start data recording Note that this automatically created file name will depend on both the file creation time month and day and some additional letter suffices The latter are used to avoid con fusion between files created on the same day Alternatively suppose you have specified a non empty file name say NAME If there is no log file with this name in the receiver memory pushing the FN key will instruct the receiver to create a new file named 1og NAME Otherwise the receiver will be using the existing file log NAME for appending new data TriPad FN Button Action Name par button action Access rw Type enumerated Values led dyn Default led This allows the user to toggle the lt FN gt button functionality between LED blink mode and toggling of receiver dynamic model led FN button short click 6 will change the receiver s LED blink mode www javad com 259 260 IVER OBJECTS ts Reference Parameters dyn FEN button click will toggle between the static and dynamic receiver modes provided data recording is active Every time you change the receiver dynamic model through TriPad the receiver will output an appropriate free form event to the current log file When data recording is active you can easily distinguish between static and dynamic visually If the lt REC gt LED blinks green the current mode is dynamic if it blinks yel low the mode is static
70. from any reference station Threshold for Switching of Nearest Reference Station Name par pos pd nrs lim Access rw Type float meters Values 1 0 10000 0 Default 25 0 Switching to the new reference station will occur only if the difference between the dis tance to the new reference station and the distance to the current reference station exceeds the specified limit Maximum counter of attempts to stay the nearest reference station Name par pos pd nrs cnt Access rw Type integer Values 1 30000 Default 10 The parameter defines the counter that serves for setting up a total number of attempts during which a nearest reference station must remain the nearest one for this station to be selected as the new nearest reference station If during those attempts at least one of the other reference stations is detected as the nearest one the counter will be reset and started again The rover estimates the distances to the reference stations and makes attempts to select the nearest one each time when it receives CMR message Type 0 Attitude Parameters Attitude Mode Name par att mode Access rw Type integer Values 0 1 Default 0 0 attitude mode is set off 1 attitude mode is on www javad com 137 138 IVER OBJECTS ts Reference Differential RTK Parameters Number of Epochs to Use for Self calibration Name par att naver Access rw Type integer Values 1 2000000 De
71. is a current log file and no messages are specified all the output to the file is disabled the file is closed and corresponding current log file is set to none If a message is specified in the messages list that is not currently enabled to be output to the given target no corresponding error is generated by the dm command Though this condition doesn t disable other possible errors from being reported Examples Example Disable all of the messages being output into the current log file A and close the file gt dm cur file a GREIS www javad com 37 38 Example Example Example Example IVER INPUT LANGUAGE Disable all the periodic output into the current terminal Either of gt dn gt dn cur term Disable output of GREIS message RT into the serial port B gt dn dev ser b msg jps RT Disable output of the GREIS message into the current log file B gt dn cur file b msg jps RT Disable output of the NMEA messages GGA and ZDA into the current terminal Either of dm cur term msg nmea GGA msg nmea ZDA gt dm msg nmea GGA msg nmea ZDA gt dm nmea GGA nmea ZDA gt dm nmea GGA ZDA www javad com GREIS Note Note Example Example GREIS RECEIVER INPUT LANG Comm 2 3 6 init Name init initialize objects Synopsis Format init object Options none Arguments object the object to be initialized
72. is followed by the checksum 5 C Position computation mode See Table 4 10 on page 336 6 9o 3E Cov 1 1 7 9o 3E Cov 2 2 8 9o 3E Cov 3 3 9 3E Cov 4 4 10 3E Cov 1 2 11 9o 3E Cov 1 3 12 9o 3E Cov 1 4 13 3E Cov 2 3 14 9o 3E Cov 2 4 15 3E Cov 3 4 16 2X Checksum AB Baseline Length This message contains the length and coordinates of the reference station minus rover baseline Format Description 1 BASLIN Message title 2 C UTC time indicator V means UTC time is valid N means UTC time is not valid www javad com IVER MESSAGES fined Foreign Messages ed NMEA sentences Format Description 3 6 2F UTC time of the position fix the first two digits designate hours the next two digits designate minutes and the rest of the digits des ignate seconds 4 RC Baseline length indicator V means that baseline length is avail able N means that baseline length is not available If this indicator is N the indicator is followed by the checksum 5 C Position computation mode See Table 4 10 on page 336 6 AF X ref X rover meters 7 AF Y ref Y rover meters 8 AF Z ref Z rover meters 9 AF Position SEP meters 10 2X Checksum 4 5 Predefined Foreign Messages 4 5 1 Approved NMEA sentences The NMEA 0183 National Marine Electronic Association standard v 2 30 4 is a spec ificati
73. is meaningless as well as explicit setting the port parameter to the port matching those the parameter is being set for as the contents would pass to the same decoder the initial message came from This in turn would break the decoder logic so the receiver will protect itself by just throwing away the contents of the message cmd nscmd the receiver will pass the contents to the command interpreter as if the command has been received through the port port The empty value of port denotes the current port echo nsecho the receiver will either send the contents to the output port specified in the port field of the matched specification Parameters Description Input Specifications Name par port jps Access rw Type array 0 2 of input specification Input Specification Name par port jps N N 0 2 Access rw Type list mode id skip port Matching Execution Mode Name par port jps N mode N 0 2 Access rw Type enumerated Values none cmd echo jps rtcm rtcm3 cmr nscmd nsecho Default none In the matching stage the values have the following meaning none the specification will never match any message cmd echo jps rtcm rtcm3 cmr the specification may possibly match the gt gt message The matching criterion is the product of comparison between the id field of the gt gt message and the id field of the specification nscmd nsecho the specification may possibly ma
74. it outputs these angles As the name of this format implies this is a very flexible format enabling you to specify latitude and longitude in a number of different ways You can use various angular units specifically degrees minutes seconds and radians and their combinations Angle representation may comprise one or more floating point numbers Every float number in the angle representation except the right most one must have a delimiter after it Allowed delimiters are q m s or r which denote degrees minutes seconds and radians respectively Using a delimiter after the right most float number in the angle representation is optional If you omit the delimiter after the right most float number the 62 www javad com GREIS Example Example Example Example Example GREIS RECEIVER OB Primary Object p receiver will first identify the preceding delimiter and then retrieve the omitted one by using the following decision rule Preceding Delimiter Assumed Omitted Delimiter none d d m m S s s r r An angle representation may or may not have a direction sign Direction signs are E and W to denote Eastern and Western longitude N and S to denote Northern and Southern latitude respectively A direction sign may be placed either at the very begin ning or at the very end of the angle representation see the examples below
75. least one of receiver ports off indicates that there are no RTCM 2 x messages enabled for output CMR Base Mode Name par base mode cmr Access rw Type boolean Values on off Default off Setting this parameter to off will disable output of all the CMR messages to all of the receiver ports Receiver returns error if you try to set this parameter to on on indicates that there is at least one CMR message enabled to be output to at least one of receiver ports off indicates that there are no CMR messages enabled for output GREIS Base Mode Name par base mode jps Access rw Type boolean Values on off Default off Setting this parameter to off will disable output of all the GREIS messages to all of the receiver ports to which GREIS BI is enabled Receiver returns error if you try to set this parameter to on www javad com 169 IVER OBJECTS ts Reference nd Rover Modes on indicates that GREIS BI message is enabled to be output to at least one of receiver ports off indicates that GREIS BI message is not enabled for output RTCM 3 x Base Mode Name par base mode rtcm3 Access rw Type boolean Values on off Default off Setting this parameter to off will disable output of all the RTCM 3 x messages to all of the receiver ports Receiver returns error if you try to set this parameter to on on indicates that there is at least one RTCM 3 x message enabled to be output to
76. log file while AFRM is on and there is not enough free space for files to continue data logging It doesn t enable auto matic removal when AFRM is not active off disable automatic removal of files File Rotation Mode Name par log rot mode Access rw Type boolean Values on off Default off on enable AFRM off disable AFRM Turning this parameter from off to on starts data logging to the log files enabled by the par log imp parameter and copies the value of the par log rot sc count parameter to par log rot count The names of the created files are generated automatically as if the create command without arguments has been issued The default set of messages msg def is enabled to be output to the file s with the period specified by corresponding par 10og a b sc period parameter When on every time the receiver time matches the equation T mod period phase where period and phase are the values of par log rot sc period and par log rot sc phase respectively the rotation event is generated The rotation event causes current log file s to be closed and new log file s to be created More precisely new log file s is opened immediately before the scheduled epoch so that all of the data tagged with this epoch will be recorded into the new log file s www javad com 197 198 IVER OBJECTS nagement ts Reference In addition every rotation event will decrement the value of the par log r
77. measured in millimeters stands for the expected standard deviation of the specified baseline length If the baseline length is a priori known with an accuracy of 1mm or better the user is recommended to set the parameter to the maximum value 10 Memory Factor for Smoothing of Heading Angles Name par pos pd hd mem Access rw Type float Values 0 1 Default 0 The bigger the memory factor value the more conservative is smoothing TDMA Multiple Reference Stations JAVAD GNSS receivers support Multi base mode in which the rover receiver is able to obtain RTK data from more than one reference station Running in this mode the refer ence stations broadcast their RTK data using TDMA Time Division Multiple Access method This method allows the reference stations to use a single frequency for trans 8 Currently this mode allows the rover to use up to four reference stations www javad com 135 136 IVER OBJECTS ts Reference Differential RTK Parameters mitting their data It is achieved by setting a transmission delay for each station This mode is currently supported for CMR Plus messages only Timeout for Data From Multiple Reference Stations Name par pos pd mbtimeout Access rw Type integer Values 1 6 Default 3 In RTK with multiple reference stations this parameter specifies how many epochs the RTK engine will wait for a complete data set for example from three reference stations before
78. message identifier exactly matches the value of the id field of specification 2 The value of the message identifier doesn t matter if the value id field of the specification has a special value 1 Execution stage Once the message passes the matching stage i e there is a specification that matches the message the contents of the message is executed according to the first matching specification as follows If the skip field is set to y the first byte of the message is skipped before executing the message contents Otherwise the first byte is considered as the part of the message con tents Note that for gt gt message the contents never includes its generic header i e the contents is its body After optional skipping of the first byte the message contents is executed according to the value of the mode field in the matched specification as follows jps rtcm rtcm3 cmr the receiver will pass the contents to the corresponding type of decoder as if the message has been received through the port specified in the port field of the specification The input mode of the corresponding port par port 1imode should be set accordingly for execution to actually take place The empty value of the port field denotes the current port i e the port the initial message is received through Bear in mind that the empty value of the port field www javad com 219 IVER OBJECTS ts Reference Communication Parameters for jps mode
79. mismatches then its current value is set to O and the receiver will not compute its position and output raw data measurements within corre sponding rectangle LAT3 Specifies the latitude of the upper left corner of the second rectangle area within which the receiver can produce the position information and output measurement data Measured in degrees from 0 to x90 where x 0 stands for N North hemisphere positive numbers x 1 stands for S South hemisphere negative numbers LON3 Specifies the longitude of the upper left corner of the second rectangle area within which the receiver can produce the position information and output measurement data Measured in degrees from 0 to 360 LAT4 Specifies the latitude of the lower right corner of the second rectangle area within which the receiver can produce the position information and output measurement data Measured in degrees from 0 to x90 where x 0 stands for N North hemisphere positive numbers x 1 stands for S South hemisphere negative numbers GREIS www javad com 275 276 IVER OBJECTS ts Reference er Options Table 3 2 Receiver Options Name Description LON4 LCS2 Specifies the longitude of the upper left corner of the rectangle area within which the receiver can produce the position information and output measure ment data Measured in degrees from 0 to 360 Checksum of the LAT3 LON3 LAT4 LON4
80. mod period 0 In addition PPS offset allows you to generate PPS shifted with respect to the PPS time grid Positive values of offset means shift to the future There could be up to two PPS outputs in JAVAD GNSS receivers a PPSA and b PPSB It is possible to use both PPS outputs concurrently Due to a hardware limitation PPS signals are discrete with a resolution of 25 ns JAVAD GNSS receivers however allow compensation for this discreteness error You can force the receiver to generate for each PPS pulse a message containing the offset between the scheduled PPS time and the actual pulse edge s arrival time Refer to ZA ZB PPS Offset on page 313 for details Parameters In this section the notation a b denotes either PPSA or PPSB The user should substi tute either a or b www javad com 107 108 IVER OBJECTS ts Reference Parameters Enable PPS Generation Name par dev pps a b out Access rw Type boolean Values on off Default on on corresponding PPS will be generated off corresponding PPS is disabled PPS Reference Time Name par dev pps a b time Access rw Type enumerated Values gps glo utcusno utcsu Default utcusno gps GPS system time glo GLONASS system time utcusno UTC USNO time scale utcsu UTC SU time scale When this parameter is set to gps or utcusno there should be at least one GPS satellite being locked for receiver to be
81. mode In this mode receiver is capable to recognize both stan dard and non standard GREIS messages rtcm RTCM 2 x input mode rtcm3 RTCM 3 x input mode In this mode the receiver recognizes and decodes the RTCM 3 x messages received through the corresponding port cmr CMR CMR input mode For more information on CMR format please refer to ftp ftp trimble com pub survey cmr omni unsupported none means that the port will ignore any incoming data dtp the port is currently attached to the Data Transfer Protocol DTP so all the input goes there This mode could be set only by the get GREIS command The mode will return to cmd as soon as DTP terminates term the PPP data link is currently established over this port so all the input goes there This mode could be set only implicitly by the PPP stack When parameter is implicitly set to this mode attempts to change the mode will fail Output Mode Name par port omode Access r Values std dtp term Default std std standard output mode 214 www javad com GREIS GREIS RECEIVER OB Objects Refer Generic Communication Para dtp GREIS Data Transfer Protocol DTP is active on the port This mode could be set only by the get GREIS command The mode will return to std as soon as DTP terminates In this mode all the usual messages output to the given port is temporarily suppressed term the PPP data link is currently established over this port T
82. multiple log files Automatic File Rotation Mode AFRM The JAVAD GNSS receiver has capability to rotate log files automatically The term file rotation means that the receiver closes the previous current file and opens a new one according to the user defined schedule The rotation schedule is specified by the two parameters called file rotation period and file rotation phase www javad com 195 196 IVER OBJECTS nagement ts Reference File rotation is launched when the receiver time modulo period is equal to phase More precisely a new log file is opened immediately before the scheduled epoch so that all of the data tagged with this epoch will be recorded into the new log file In addition AFRM uses a counter that is decremented on every file rotation event until its value becomes zero Once the counter is zero file rotation automatically stops This feature allows to create as many log files as necessary and then stop data logging The counter is initialized simultaneously with AFRM and its initial value is set through the parameter par log rot sc count see below Note that a log file is opened right after turning AFRM on The opening of such a star tup file however is not considered a file rotation event and therefore the AFRM counter will not be decremented When opening a new log file the receiver enables the default set of messages outputted with the default output period Both the default s
83. n disable using of SBAS satellite number N as source of corrections Source of SBAS Corrections Name par pos wd src mode Access rw Type enumerated Values user best any Default any user enable using of SBAS satellite with PRN specified by the parameter par pos wd src usersrc best receiver will choose SBAS satellite with minimal estimated RMS of naviga tion solution as source Navigation satellites which don t have corrections from this source are not used in position solution any receiver will choose SBAS satellite with minimal estimated RMS of naviga tion solution as source Navigation satellites which don t have corrections from this source will get corrections from another source with larger estimated RMS if pos sible Note This parameter takes effect only when par pos wd mode is set to manual Fixed SBAS Satellite Name par pos wd src usersrc Access rw Type integer Values 120 138 Default 120 Specify SBAS satellite number as user defined source of corrections This parameter is active only when par pos wd src mode parameter is set to user Note The SVs specified by this parameter should also be enabled by the par pos wd sat parameter in order to be used as source of corrections 120 www javad com GREIS Note Note Note GREIS RECEIVER OB Objects Refer Code Differential DGPS Para Enable SBAS lonosphere Corrections Name par pos wd ionofree Access rw Ty
84. not to output some of the messages from the default set of messages when the user changes out put period on the fly without first disabling the output F FIX PERIOD F FIX PHASE F FIX COUNT F FIX PERIOD Being set to lina scheduling parameters prevent changes to corresponding field s of this schedul ing parameters through em and out commands F DISABLED Is not explicitly programmable by the user When one enables a mes sage with a positive count then after this message has been output count times the message scheduler sets this flag to 1 This flag is cleared to 0 when the message is re enabled unless F NOTENA flag is set for this message 1 Currently only two GREIS messages JP and MF honour this flag 22 www javad com GREIS Example Example Example Example Note GREIS Chapter 2 RECEIVER INPUT LANGUAGE This chapter describes the syntax and semantics of the receiver input language We begin with some examples to give the reader a feeling of the language then turn to detailed syntax definition and then describe all the defined commands along with their semantics 2 1 Language Examples Here are a few examples of real statements receiver understands along with receiver replies You will find more examples of using particular commands in corresponding subsections The input to the receiver is marked with the character while receiver output is marked with the character Ask receiver
85. of error ellipse degrees from true north 6 3F RMS latitude error meters 7 9o 3F RMS longitude error meters 8 3F RMS altitude error meters 9 2X 0D 0A Checksum see General Format of Approved NMEA Sentences on page 345 In case the solution computed by the receiver is not RTK fixed or RTK float fields 3 4 and 5 are null fields GSV GNSS Satellites in View Number of satellites in view satellite ID numbers elevation azimuth and SNR value Format Meaning 1 D Total number of messages to 3 2 D Message number to 3 3 2D Total number of satellites in view 4 2D 2D 3D 2D Satellite ID number see GSA for ID numbers elevation in degrees azimuth in degrees and C A signal to noise ratio SNR in dB Hz 5 2X 0D 0A Checksum see General Format of Approved NMEA Sentences on page 345 www javad com GREIS Note GREIS RECEIVER MESS Predefined Foreign Mess Approved NMEA sen A variable number of Satellite ID Elevation Azimuth SNR sets are allowed up to a maximum of four sets per message In case the number of visible SVs exceeds 4 multiple messages are transmitted The first field specifies the total number of messages minimum value 1 whereas the second field identifies the order of this message i e message number minimum value 1 Messages for GPS and GLONASS are generated separately GPS messages will hav
86. of position the first two digits designate hours the next two digits designate minutes and the rest digits designate seconds www javad com 331 IVER MESSAGES ard Predefined Messages essages Format Description 4 C C C Checking reference station location C the first field relates to the reference station APC coordinates used for referencing GPS data see par ref pos gps parameters the second field relates to the reference station APC coordinates used for referencing GLONASS data see par ref pos glo parameters the third field relates to the reference station ARP coordinates used for referencing GPS data see par ref arp gps parameters the fourth field relates to the reference station ARP coordinates used for referencing GLONASS data see par ref arp glo parameters V means that the difference between the current receiver coor dinates and the user defined reference coordinates does not exceed the specified limit N means that the difference between the current receiver coor dinates and the user defined reference coordinates is greater than the specified limit see Maximum Allowed Error in Reference Position on page 147 5 2X Checksum 1 Parameters mentioned above are described in the section Reference Station Coordinates on page 143 MS RTCM 2 x Status This message describes the status of RTCM rover station
87. onds as specified in the description of the rc message Fin is nominal Ln carrier frequency for corresponding satellite e g nominal L2 frequency for 2p and 3p messages and nominal L1 frequency for cp and 1p messages GREIS www javad com 301 IVER MESSAGES ard Predefined Messages e Measurements DC D1 D2 D3 D5 Doppler struct DP 4 nSats 1l i4 dp nSats DP Hz 10 4 ul cs Checksum H These messages contain corresponding doppler estimates for all the satellites specified in the latest SI message The DC D1 D2 D3 and D5 messages contain CA L1 P L1 P L2 CA L2 and L5 doppler respectively Use the following formula to compute true doppler doppler dp 10 4 1d 2d 3d 5d Short Relative Doppler struct SRDP 2 nSatstl i2 srdp nSats dp dpCAl Hz 10 4 ul cs Checksum H These messages contain corresponding short doppler relative to CA L1 doppler for all the satellites specified in the latest SI message The 1d 2d 3d and 5d messages contain P L1 P L2 CA L2 and L5 short relative doppler respectively Use the following formula to compute true doppler doppler srdp dpDC Fj Fy 104 where dpDC is the value dp taken from the DC message for given SV Fi is the nominal L1 frequency of the corresponding satellite Fin is the nominal Ln frequency of the corresponding satellite e g nominal L2 fre
88. options This checksum is com puted according to the following algorithm LCS2 LAT3 LON3 LAT4 LON4 if LCS2 0 LCS2 1 If the checksum mismatches then its current value is set to O and the receiver will not compute its position and output raw data measurements within corre sponding rectangle RM3I Maximum number of ports that could be simultaneously set to the rtcm3 input mode 0 5 RM30 Enable RTCM3 messages This is a bit field option If bit 0 is set RTCM3 messages relating to code differential are enabled If bit 1 is set RTCM3 mes sages relating to carrier phase differential are enabled Other bits are reserved _PPP Enable point to point protocol PPP support TCCL Enable TCP clients This is a bit field option bit 0 enable RCV client bit l enable NTRIP client bit 2 enable JSRV client UDPO Enable messages output support over UDP IP www javad com GREIS Chapter 4 RECEIVER MESSAGES This chapter describes general format of GREIS standard messages as well as particular formats of all the predefined messages Besides the GREIS standard messages receiver supports quite a few messages of different formats such as NMEA or BINEX The for mats of those foreign messages are described at the end of this chapter 4 1 Conventions 4 1 1 Format Specifications To describe some format as a sequence of bytes in a compact form we define formats for
89. or 3 Receiver Board Temperature Name par dev thermo out Access r Type float Celsius degrees ASIC Frequency Name par asic curfrq Access r Type enumerated Values low high Free Space in the Receiver s NVRAM Name par dev nvm a free Access r Type integer bytes Time From the Receiver s Battery Backed RTC Name par dev rtc time Access r Type sec min hour day month year Memory Allocation Statistics Name par stat mem Access r Type list sz sf min bf max bu su ac fc ls ms This parameter describes memory allocation statistics for the main memory pool This parameter is intended for the JAVAD GNSS s firmware developers and is subject to change at any time sz pool size in bytes sf free memory min minimum free memory bf number of free blocks max maximum number of free blocks b u number of blocks used su memory currently in use www javad com 269 270 IVER OBJECTS ts Reference number of allocations ac fc ls number of iterations in the longest block search number of de allocations frees ms mean number of block search iterations 3 4 34 Receiver Options Options Overview Among the many capabilities of your JAVAD GNSS receiver there is a special class of capabilities which are referred to as receiver options By default receiver options are disabled so you have to take special measures to activate them It can be done by upload ing a
90. parameters is currently sup ported i e there is no support for DHCP Note that all these parameters are sticky and are not reset to their default values when receiver NVRAM is cleared or parameters are initialized by the init command www javad com GREIS GREIS RECEIVER OB Objects Refer Network Para Receiver IP Address Name Access Type Values Default par net ip addr rw ip address any valid IP address 192 168 2 2 This parameter identifies the receiver on a TCP IP network Network mask Name Access Type Values Default par net ip mask rw ip address any valid IP address 255 255 255 192 This parameter specifies the network mask of the local network the receiver is connected to Default Gateway Name Access Type Values Default par net ip gw rw string any valid IP address 192 168 2 1 The default gateway to use for packets that don t belong to the local network Maximum Transmission Unit MTU Name Access Type Values Default par net ip mtu rw integer 128 16384 1500 The MTU for the interface MAC Address Name par net mac addr Access rw Type string Values any valid MAC address Default automatically generated unique value www javad com 227 228 IVER OBJECTS Note Note ts Reference k Parameters This parameter specifies receiver s unique hardware number on a network High part of the MAC a
91. pos pd maxitf Access rw Type integer Values 0 10 Default 1 This parameter specifies maximum number of iterations RTK will make when estimat ing residuals of fixed ambiguity Use FKP Data From RTCM 2 x Message 59 Name par pos pd fkp Access rw Type boolean Values on off Default off on instructs the rover receiver to use ionospheric and geometric corrections from RTCM 2 x messages type 59 FKP when computing position off RTK engine will ignore FKP data Maximum Number of Satellites to Use in RTK Name par pos pd maxsat Access rw Type integer Values 4 20 Default 20 With this parameter the user specifies maximum number of satellites that are used in RTK position computation If the actual number of satellites in sight exceeds the current parameter s value the RTK engine will utilize data only from the satellites with the highest CA L1 SNRs and the number of satellites used will not be greater than that spec ified by the parameter Period of Base Measurements for Extrapolation Name par pos pd experiod Access rw Type float seconds Values 0 25 Default 0 1 The RTK engine will extrapolate the received reference station s carrier phase measure ments if the time to which these carrier phase measurements correspond is divisible by the value of this parameter www javad com 131 IVER OBJECTS ts Reference Differential RTK Parameters Use Base Doppler in RTK Name
92. pseudoranges carrier phases and other measure ments as well as defines the base time grid for periodic messages output Effective Measurements Update Rate Name par raw curmsint Access r Type integer milliseconds Although the user can formally set par raw msint to arbitrary allowed value the receiver may need to adjust this user setting in order to make it consistent with the receiver options The adjusted setting is stored to this read only parameter and defines effective internal time grid The formula used to calculate curmsint is as follows curmsint max msint 1000 max 1 RAW POS PDIF where RAW POS and PDIF are current values of corresponding receiver options and msint is the value of par raw msint parameter The actual period at which receiver will allow user to get measurements depends on the value of par raw curmsint parameter and the current value of receiver RAW option Actual measurements update period is calculated as follows meas period max 1 1000 RAW curmsint x curmsint where RAWis the current value of corresponding receiver option and x denotes integer part of x While the formulas seem rather complex what they basically mean in practice is that if you set par raw msint to a value that is multiple of 1000 RAW then both the par raw curmsint and actual allowed measurements output period will be equal to the specified value Pseudorange Smoothing Interval Name par raw smi
93. raw msint and par pos msint are set to 1000 www javad com 141 IVER OBJECTS ts Reference Differential RTK Parameters Erase the Current Statistics Name par hist reset Access w Values on Before you start collecting new statistics you need to delete the previous ones Setting this parameter to on will do this Estimated Probability of Ambiguities Fixing Name par pos pd hist out Access r Output data will look as follows p l float probability of fixing ambiguities in 2 lt float gt probability of fixing ambiguities in 2 s 120 float probability of fixing ambiguities in 120 s Total Number of Fixed Solutions Name par pos pd hist num Access r Output data will look as follows khist lt integer gt Percentage of Wrong Fixed Solutions Name par pos pd hist bad Access r Output data will look as follows bad lt float gt Note that if you have no a priori baseline coordinates then this estimate is of no avail Ambiguity Fixing Statistics Using RTK Engine Resets Name par rtk dbi rest Access w Type integer Values 0 1 2 Default 0 This parameter is intended to enable the second ambiguity fixing time mode 142 www javad com GREIS Example GREIS RECEIVER OB Objects Refer Reference Para 0 turn the mode off 1 RTK engine will be reset on fixing the current set of ambiguities 2 firmware will immediately output obtained statistics hi
94. receiver Therefore if session scheduler is active and receiver is in sleep mode the next job to be executed will first wake up receiver and only then corresponding commands will be executed This feature also makes it useful to have empty command string as a job specification Such specifi cation will just wake up receiver without execution of any commands When session scheduler is being turned on or is being restarted the scheduler makes a copy of activity flag and count field of every job Let s call these copies stat active and stat count respectively Every time the job is executed and stat count is non zero the stat count is decremented Should stat count become zero as a result of decrement the stat active flag is turned off The job is thus deactivated and stays inactive until scheduler mode is changed or scheduler is restarted This allows to limit number of executions of a job by setting its count field to a non zero value The stat mode and stat count fields of every job could be read from the receiver for refer ence but couldn t be directly changed by user Time specification spec is a template containing four fields namely day of week day hour of day hour minute of hour minute and second of minute second Each field can either be set to an integer value in corresponding range or to a special value that serves as a wild card that matches any value In order for a job to be executed at given time T job s spec should match given
95. receiver end has occurred In this case the particular value sent denotes the error code 1 Including the case when no data is received in reasonable time after previous ACK or NACK request 2 Though unlikely this could still happen should NACK sent by the receiver be received as ACK by the transmitter due to transmission error 368 www javad com GREIS GREIS APPEN Compensating for Phase Roll Checksum Calc A 2 2 Checksum Calculation The CRC16 checksum is calculated from the bytes of blocks starting from the field type up to but not including the field cs The initial value of cs is set to zero 0 at the beginning of the transfer session Each additional block uses the initial value for cs obtained from the previous successfully sent and received block Assuming the received block is stored into the buffer named block the checksum val idation could be done as follows see Computing CRC16 on page 365 for implemen tation of the crc16 function unsigned char block 1 2 512 2 1 Crcl6 cre 0 n NOTE crc isn t reset to 0 at each block crc crcl6 crc block 1 2 512 if crc crcReceived Checksum is correct else Checksum is wrong To achieve this result the transmitter calculates the cs field as follows unsigned char block 1 2 512 2 1 Crcl6 cre 0 NOTE cre isn t reset to 0 at each block crc crcl6 crc block 1 2 512 Resulti
96. rtcm base zrate gps Access rw Type boolean Values on off Default off on receiver will set the rate of change of the pseudorange corrections to zero for GPS satellites in RTCM 2 x message types 1 9 31 and 34 In some cases it may improve DGPS accuracy off receiver will put computed values into the messages Zero the Rate of Change of Pseudorange Corrections for GLONASS Name par rtcm base zrate glo Access rw Type boolean Values on off Default off on receiver will set the rate of change of the pseudorange corrections to zero for GLONASS satellites in RTCM 2 x message types 1 9 31 and 34 In some cases it may improve DGPS accuracy off receiver will put computed values into the messages www javad com GREIS Note GREIS RECEIVER OB Objects Refer RTCM 2 x Para Use Local Datum for Referencing Differential Corrections Name par rtcm base locdtm Access rw Type boolean Values on off Default off on the datum specified by the par pos datum cur parameter will be used for refer encing GPS and GLONASS differential corrections off receiver will use WGS 84 and PE 90 datums for referencing GPS and GLO NASS corrections respectively Ensure that rover uses the same setting for its par rtcm rover locdtm parameter If use of local datum is enabled the same local datum should be specified at both the base station and the rover see par pos datum cur parameter on page 91
97. scans the output lists only at internal receiver epochs so that no output could be generated more frequently than that Taking into account the internal time grid the period and phase variables define the time moments of the output of a message as follows receiver will output the message only at the receiver times T simultaneously satisfying the following two equations T N step 2 out e period phase 1 where N is integer number taking the values 0 1 2 86400 step 1 The first equation defines the basic rule of messages output and the second one imposes additional constraints related to the internal receiver epochs Note that in the most usual www javad com 19 20 DUCTION Count Example Example Example Note dic Output case when both period and phase are multiples of step the second equation is satisfied automatically whenever the first equation is satisfied Also note that if 86400 mod period 0 the actual interval between the last message sent before the day rollover and the first message after the day rollover will be different from the value of period Consider a couple of examples illustrating this mechanism Suppose period is 10s phase is 2 2s and step is 0 2s As T according to the second equation can take only values that are multiple of step the left part of the first equation will take the following values 0 0 2 0 4 9 8 0 from which only
98. station not working unknown health status is reference station transmission not monitored 174 www javad com GREIS GREIS RECEIVER OB Objects Refer RTCM 2 x Para RTCM 2 x Base Station Identifier Name par rtcm base stid Access rw Type integer Values 0 1023 Default 0 Text for RTCM 2 x Message Types 16 and 36 GPS Name par rtcm base text gps Access rw Type string 0 90 Default empty string Text for RTCM 2 x Message Types 16 and 36 GLONASS Name par rtcm base text glo Access rw Type string 0 90 Default empty string Enable CA L1 in RTCM 2 x Message Types 18 through 21 Name par rtcm base meas ca Access rw Type boolean Values on off Default on Enable P L1 in RTCM 2 x Message Types 18 three 21 Name par rtcm base meas pl Access rw Type boolean Values on off Default off Enable P L2 in RTCM 2 x Message Types 18 three 21 Name par rtcm base meas p2 Access rw Type boolean Values on off Default on www javad com 175 176 IVER OBJECTS ts Reference 2 x Parameters Use Smoothed Pseudoranges in RTCM 2 x Message Types 19 three 21 Name par rtcm base smooth Access rw Type boolean Values on off Default off Enable Delimiting Characters for RTCM 2 x Messages Name par rtcm base end Access rw Type boolean Values on off Default off on receiver will insert up to two delimiting characters at the end
99. synchronization is lost due to an error in the data stream In fact to simplify the algorithm you may consider that you are already synchronized when you start to parse the data stream If it happens that it s not indeed the case the parsing error should occur You then skip one character from the input stream and pre tend you are synchronized again Such approach effectively eliminates synchronization task as a separate part of the parsing algorithm Due to the fact that the errors rate in a reasonably useful data stream should be rather low the synchronization shouldn t be a frequent task In addition the GREIS data stream typically con sists of rather short messages so the distance to the nearest message boundary is typically small Taking into account these considerations there is no requirement for synchronization algorithm to be very fast Skipping to the Next Message Having the length in the general format of the standard GREIS messages allows you to easily ignore messages without knowing the format of their body We indeed strongly recommend writing parsers so that they do skip unknown messages To go from the current message to the next one take the following steps 1 Assume the current message starts at position N Determine the current mes sage length decode characters N 2 N 3 N 4 Assume the message length is equal to L Skip the first L 5 characters starting from position N 2 Skip all of CR
100. taken from predefined set of value The set of possible values is defined for each object of this type individually 3 3 6 boolean An object of type boolean may posses the following values y yes on stand for true n no off stand for false The print command will use variant specified in the parameter description 3 3 7 string The type string denotes possibly empty sequence of characters When upper and lower number of characters in the string is defined the notation string N M is used where N is the minimum and M is the maximum allowed number of characters in the string www javad com 59 60 IVER OBJECTS params ry Object Types 3 3 8 sched_params The type sched params denotes message scheduling parameters The supported format is as follows period phase count flags where period field of type float denoting message output period in seconds within the range 0 86400 phase field of type float denoting message output phase or forced output period in seconds within the range 0 86400 count message output count of type integer in the range 256 32767 flags message scheduling flags of type integer formatted as hexadecimal For detailed description of the message scheduling parameters refer to Periodic Out put on page 18 3 3 9 timespec The timespec type is used to define time specifications The canonical form of timespec is as follows DdHHhMMmSSs where D
101. three commands em out and dm to allow for efficient manipulation of output lists and sched uling parameters Message scheduling parameters comprise four fields period phase count and flags each of which plays different role in the output schedule definition Below we will describe how exactly their values affect the output but basically the period specifies interval between outputs of the message phase specifies time shift of the moments of output with respect to time moments when current time is multiple of period the count when greater than zero limits the number of times the message will be output whereas flags filed allows for some fine tuning of the output process 1 5 1 Output Period and Phase The period and phase fields of the message scheduling parameters are floating point values in the range 0 86400 seconds Their exact meaning is described below When the F CHANGE bit is set in the flags field of the scheduling parameters the phase field looses its usual role and becomes forced output period instead See description of the F_CHANGE flag below for details The receiver has its internal time grid that is defined by the receiver clock and the value of the par raw curmsint parameter that defines the step of receiver internal epochs Receiver internal epochs occur when receiver time is multiple of the step In turn receiver time is defined as the value of receiver clock modulo one day 86400 seconds Receiver
102. time T Scheduler compares current time against spec by first decomposing current time into the set of corresponding fields then comparing every field of decomposed time against corresponding field of spec Time matches spec if and only if every field of time matches corresponding field of spec Fields of spec having special value match any value of corresponding field of time For example spec ification 2d17h m30s where double underscore is special value matches 2 17 00 30 2 17 01 30 2 17 59 30 It means that job having such spec will be executed at the middle of every minute during one hour starting on Monday 17 00 00 Due to the fact that week number couldn t be specified the job will in fact be executed every Monday at 17 00 30 17 01 30 and 17 59 30 60 times To limit executions of www javad com GREIS GREIS RECEIVER OB Objects Refer Session progra such job to single next Monday job counter should be set to 60 before activation of the session In fact session scheduler doesn t check spec of every active job against current time every second Instead it determines job that should be executed next along with its next execution time whenever scheduler mode is changed scheduler is restarted or job is executed The identifier of the next job to be run and corresponding execution time along with current time could be read from the receiver Parameters Session Mode Name par sess mode Access rw T
103. transmitted in RTCM 2 x and RTCM 3 x www javad com 155 IVER OBJECTS ts Reference nce Station Data on Rover Got Antenna Setup ID Name par rover base ant got setup Access r Type integer Values 0 255 Default 0 This parameter contains antenna setup ID received from reference station The setup ID could be transmitted in RTCM 2 x message 23 and RTCM 3 x Got Antenna Offset Name par rover base ant got m_offs Access r Type list type val This parameter contains reference antenna offset type and value received from reference station Got Antenna Offset Type Name par rover base ant got m offs type Access r Type enumerated Values llpc arp Default llpc This parameter contains reference antenna offset type llpc offset of antenna L1 phase center APC arp Offset of antenna reference point ARP Got Antenna Offset Value Name par rover base ant got m offs val Access r Type list east north height This parameter contains antenna vector offset from the land mark to APC or ARP depending on the offset type used at the reference station east east offset north north offset height height offset 156 www javad com GREIS RECEIVER OB Objects Refer Reference Station Data o Got East Antenna Offset Value Name par rover base ant got m offs val east Access rw Type float meters Values 100 100 Default 0 Got North Antenna Offset Value Name par ro
104. ttp igs bkg bund de index ntrip reg htm none E07A STR ACORO Coruna RTCM 2 3 1 1 3 60 16 18 1 19 1 2 GPS EUREF ESP 43 36 351 60 0 0 LEICA GRX1200PRO none B N 3000 IGNE RE091 STR ALACO Alicante RTCM 2 1 1 1 3 10 16 18 1 19 1 22 10 23 10 24 10 59 2 GPS EUREF ESP 38 34 359 52 0 0 TRIMBLE NETRS none B N 5000 IGNE RE091 STR ALMEO Almeria RTCM 2 3 1 1 3 10 18 1 19 1 22 10 23 10 24 10 59 10 2 GPS EUREF ESP 36 85 357 54 0 0 TRIMBLE NETRS none B N 4000 IGNE eL lt RE010 ENDSOURCETABLE JSRV Client Parameters Note JSRV server support is experimental and is intended for internal JAVAD GNSS use only The parameters below are useful to provide a method to get into connection with Javad Server Example set par net tcpcl jsrv addr 172 17 0 49 set par net tcpcl jsrv port 8003 gt set par dev tcpcl a imode cmd gt set par net tcpcl mode jsrv www javad com GREIS RECEIVER OB Objects Refer Network Para IP Address of Javad Server Name par net tcpcl jsrv addr Access rw Type string Values any valid IP address Default 0 0 0 0 The value of this parameter should match the IP address of the Javad Server to use IP Port of Javad Server Name par net tcpcl jsrv port Access rw Type integer Values 0 65535 Default 8003 The value of this parameter should match the IP port the Javad Server is li
105. used as a start of epoch marker ET Epoch Time struct EpochTime 5 u4 tod Tr modulo 1 day 86400000 ms ms ul cs Checksum N This message is intended to be used as an end of epoch marker Provided the RT message is used as start of epoch marker and ET is used as end of epoch marker one can check that time tags from the messages from given epoch match to increase integrity checking capability of the stream decoding algorithm RD Receiver Date struct RcvDate 6 u2 year Current year 1 65534 ul month Current month 1 12 ul day Current day 1 31 ul base Receiver reference time enumerated 0 GPS 1 UTC USNO 2 GLONASS 3 UTC SU 4 254 Reserved Checksum ul cs H This message contains the date part of the full receiver time representation Tr 4 Use message name msg jps RT to enable disable the message 5 Use message name msg jps ET to enable disable the message www javad com 289 IVER MESSAGES ard Predefined Messages essages GT GPS Time struct GPSTime 7 u4 tow Time of week ms u2 wn GPS week number modulo 1024 ul cs Checksum E TO Reference Time to Receiver Time Offset struct RcvTimeOffset 9 f8 val Trr Tr s ul cs Checksum E DO Derivative of Receiver Time Offset struct RcvTimeOffsetDot 5 f4 val Derivative of
106. 0 4 m s or East component if types 1 and 2 are selected in bits 22 21 of the word2 field 3 2 reserved 1 0 2 MSB of GREIS datum number see note below bitfield 31 4 velocity Y component 1074 m s or North component if types 1 and 2 are selected in bits 22 21 of the word2 field 3 0 bits 7 4 of datum number bitfield 31 4 velocity Z component 10 4 m s or North component if types 1 and 2 are www javad com 319 320 IVER MESSAGES ard Predefined Messages tive Messages selected in bits 22 21 of the word2 field 3 0 4 LSB of GREIS datum number u2 crcl6 16 bit CRC Nu For GREIS datum numbers please refer to Reference Ellipsoids and Local Datums available from http www javad com Currently GREIS datum numbers range between zero and 221 rT Receiver Clock Offsets struct ClockOffsets var u2 sample Sample number u2 reserved Reserved for future extensions ul recSize Size of data block in bytes that corresponds to the given satellite system 8 bytes currently ClkOffs Offs N Clock offsets see below WN can be derived from the following expression N len 7 recSize where len is message body length taken from message header u2 crcl6 16 bit CRC Nu struct ClkOffs u4 wordl bitfield 31 reserved Ef 30 if set improved timing mode is turned on 29 0 clock offset
107. 00 115200 This parameter contains baud rate at which receiver talks to the peer of PPP connection or to the modem PPP Set Default Route Name Access Type Values Default par net ppp route rw boolean on off on on receiver will add default route to the system routing table using the PPP peer as the default gateway Note that if receiver is simultaneously connected to the LAN this will switch routing from the LAN default gateway to the PPP peer off receiver won t add the PPP peer as the default route to the system routing table unless par net tcp addr is set to 0 0 0 0 PPP Debugging Name Access Type Values Default par net ppp debug rw boolean on off off on PPP connection debugging facilities are enabled The debugging information will be output to the receiver serial Port A off PPP connection debugging facilities are disabled www javad com GREIS RECEIVER OB Objects Refer Network Para Enable PAP Authenticaion Name par net ppp auth pap Access rw Type boolean Values on off Default on on enable use of unencrypted password authentication protocol PAP off receiver will refuse to authenticate itself to the peer using PAP Enable CHAP Authentication Name par net ppp auth chap Access rw Type boolean Values on off Default on on enable use of challenge handshake authentication protocol CHAP off receiver will refuse to authen
108. 1 R2 R3 R5 Pseudoranges struct PR 8 nSats 1 f8 pr nSats Pseudorange s ul cs Checksum N These messages contain corresponding pseudoranges for all the satellites specified in the latest SI message The RC R1 R2 R3 and R5 messages contain CA L 1 P L1 P L2 CA L2 and L5 pseudoranges respectively rc r1 r2 r3 r5 Short Pseudoranges struct SPR 4 nSatst l i4 spr nSats PR s 0 075 101 ul cs Checksum W These messages contain corresponding short pseudoranges for all the satellites specified in the latest SI message The rc r1 r2 r3 and r5 messages contain short CA L1 P L1 P L2 CA L2 and L5 pseudoranges respectively Use the following formula to restore true pseudoranges in seconds pr spr 10 11 0 075 298 www javad com GREIS GREIS RECEIVER MESS Standard Predefined Mess Satellite Measur 1R 2R SR BR Relative Pseudoranges struct RPR 4 nSatst l 4 rpr nSats PR CA L1 PR s ul cs Checksum j These messages contain corresponding relative pseudoranges for all the satellites speci fied in the latest SI message The 1R 2R 3R and SR messages contain relative P L1 P L2 CA L2 and L5 pseudoranges respectively Use the following formula to restore true pseudorange in seconds pr rpr prCA1 where prCA1 is corresponding CA L1 pseudorange 1r 2r 3r br Short Relat
109. 215 Note Note Warning 216 IVER OBJECTS ts Reference Communication Parameters oport the incoming data will be sent echoed to specified output port Echo ing the data doesn t prevent interpretation of them according to currently selected input mode unless the input mode is set to echo in which case the data will be oth erwise ignored dev null the incoming data won t be sent to any of output ports Given the above description to achieve just echoing of the data from an input port to an output one pure echo one needs to set the input mode to echo and the echo port to the name of the required output port If the input port that is to be turned into the pure echo mode is the current port the sequence of commands shown in the examples below is rec ommended To program a feature sometimes referred to as daisy chain i e bidirectional virtual channel between two ports it s required to set pure echo mode on both ports participating in the daisy chain Echo off Sequence Name par port eoff Access rw Type string 4 32 Values arbitrary string Default OFF The sequence of characters that will reset par port echo to its default dev null value once it is received through the port Note that receiving of the echo off sequence doesn t change the input mode of the cur rent port Instead to conveniently support turning from pure echo to command mode the echo input mode behave
110. 4 www javad com GREIS GREIS RECEIVER OB Objects Refer Code Differential DGPS Para This parameter reports the current GPS time of week If no time information is available the receiver reports 1 Current GLONASS Time Name par time glo Access r Type list day ms day GLONASS day number ms GLONASS time inside day Current GLONASS Day Number Name par time glo day Access r Type integer Values 1 1 1461 This parameter reports the current GLONASS day number within the 4 year period beginning with the leap year If no time information is available the receiver reports 1 Current GLONASS time of day Name par time glo ms Access r Type integer milliseconds Values 1 86400000 This parameter reports the current time of day in GLONASS system time If no time information is available the receiver reports 1 3 4 8 Code Differential DGPS Parameters Generic DGPS Parameters Source Port of DGPS Corrections Name par pos cd port Access rw Type enumerated Values any port Default any any receiver will use differential corrections from whichever port port receiver will only use differential corrections from corresponding port www javad com 115 116 IVER OBJECTS ts Reference ifferential DGPS Parameters Note that when there are multiple active sources of DGPS correction you either need to choose only one of them through this parameter or t
111. 65 2006Y11M27D13h21m12s gt remove log logl127b gt print log on lt RE032 log log1127a 21465 2006Y11M27D13h21m12s List only the names of all existing files remove all the files list the names again gt list RE013 1log0113a 10g1127a gt remove log gt list RE002 Current Log files In this section the notation a b indicates the log file a or log file b respectively the user should specify either a or b File Name Prefix Name par cmd create pre alb Access rw Type string 0 20 Default log This parameter determines the file name prefix used as part of automatically generated file names File name is generated automatically when one creates a file using create command without arguments or through Automatic File Rotation Mode AFRM or using the TriPad FN button to start data recording see TriPad User s Manual at http www javad com You can set this parameter to a string comprising up to 20 char acters valid for file names For valid characters as well as for description of the algorithm used to automatically generate file names please refer to the description of create command on page 41 par cmd create pre a has a synonym par cmd create prefix that is provided for compatibility with older firmware versions that didn t have support for multiple log files www javad com GREIS Note Note GREIS RECEIVER OB Objects Refer File Mana C
112. 66 66 Each of the separate floats describing degrees minutes seconds and radians is multiplied by an appropriate factor and the resulting products are accumulated Also if there is either W or S in the angle representation the resulting sum s sign is inverted If there is no direction sign in the angle representation such notation is still valid 37 87 and 37 878 are equivalent Either means 37 87 degrees Eastern longitude or 37 87 degrees Northern latitude 37 87W W37 87 37 87dW and W37 87d are all equivalent meaning 37 87 degrees Western longitude 27d37m20 45sE and 27d37m20 45E are equivalent representations meaning 27 degrees 37 minutes and 20 45 seconds Eastern longitude 0 85r means either 0 85 radians Western longitude or 0 85 radians Southern latitude 27 13d 12 6s34dW means 27 13 degrees minus 12 6 seconds plus 34 degrees Western longitude It is equivalent to 61 13 degrees minus 12 6 seconds Western longitude or simply 61 1265 degrees Western longitude Almost Fixed Input Format for Angles This format is modeled after the format used to represent latitudes and longitudes in the NMEA sentences This format comprises the following data fields from left to right 6699 letter x in lower case one or more decimal digits before the decimal point www javad com 63 IVER OBJECTS ts Reference Management ee 99 e optional decimal point zero or more decim
113. Access Type Values Default par pos pd env rw enumerated open forest open open RTK will use normal thresholds when searching for measurement outliers This setting is used if the environment conditions are considered favorable for RTK many satellites in sight few obstructions and low multipath forest RTK will use less rigid thresholds when filtering out measurement outliers This mode is recommended when working under tree canopy or in other cases of high multipath Use Smoothed Pseudorange in RTK Name Access Type Values Default par pos pd smr rw boolean on off off on RTK engine will use smoothed rover pseudorange measurements off RTK engine will use raw rover pseudorange measurements RTK Maximum Extrapolation Time Name Access Type Values Default par pos pd textr rw float 0 60 30 When RTK works in the extrapolation mode and the time gap between the last received correction and the current rover s time exceeds this value RTK stops to produce a posi tion Maximum Number of Iterations for Float Ambiguity Name Access Type Values Default par pos pd maxit rw integer 0 10 This parameter specifies maximum number of iterations RTK will make when estimat ing float ambiguity www javad com GREIS GREIS RECEIVER OB Objects Refer Phase Differential RTK Para Maximum Number of Iterations for Fixed Ambiguity Name par
114. Access rw Type boolean Values y n Default sensible at the moment of firmware release y enable tracking of SBAS satellite number N n disable tracking of SBAS satellite number N Elevation Mask for Tracking Name par lock elm Access rw Type integer degrees Values 90 90 Default 1 Receiver will not track satellites below this elevation mask 70 www javad com GREIS GREIS P code Tracking Name par lock pcode Access rw Type boolean Values always on off Default on always enable P code tracking unconditionally on synonym for always off disable P code tracking L2C Tracking Name par lock 12c Access rw Type boolean Values always on off Default on always enable L2C tracking unconditionally RECEIVER OB Objects Refer Measurements Para on enable L2C tracking provided L2C is available for given SV according to almanach off disable L2C tracking L5 Tracking Name par lock 15 Access rw Type boolean Values always on off Default on always enable L5 tracking unconditionally on enable L5 tracking provided L5 is available for given SV according to alma nach off disable L5 tracking Maximum Velocity Name par lock vmax Access rw Type integer m s Values 1000 10000 Default 1000 www javad com 71 72 IVER OBJECTS Note Note ts Reference rements Parameters This parameter
115. CM or CMR messages in any way If the parameter is set to zero the service word will not be used in data transmission Note To ensure reliable and secure modem communication the parameter par modem X sndtime must be larger then the period of transmitting differential corrections Also care should be taken that the time par modem X rcvtimeout is greater than the service word repeat period by 2 to 3 seconds Network Type Name par modem X type X a d Access rw Type enumerated Values gsm pstn Default gsm This parameter specifies the type of the network to use gsm GSM network for GSM modem pstn Public Switched Telephone Network for analog modem GREIS www javad com 253 IVER OBJECTS ts Reference odem Parameters Cellular Operator Name Name par modem X inf cell oper X a d Access r Type string 0 50 Default unknown GSM GPRS EDGE coverage Name par modem X inf cell cover X a d Access r Type string 0 50 Default none GSM Signal Quality Name par modem X inf cell sq X a d Access r Type string 0 50 Default unknown Modem Vendor Name par modem X inf dev vendor X a d Access r Type string 0 50 Default unknown Modem Model Name par modem X inf dev model X a d Access r Type string 0 50 Default unknown Modem Revision Name par modem X inf dev rev X a d Access r Type string 0 50 Defau
116. ECEIVER OB Objects Refer Session progra Timing Information Name par sess stat time Access r Type list next curr delta Time of Execution of Next Job Name par sess stat time next Access r Type timespec If there is no next job the value willbe d h m s Current Time Name par sess stat time curr Access r Type timespec Current time in timespec format that is running no matter what scheduler mode is Time Left to Next Job Execution Name par sess stat time delta Access r Type timespec If there is no next job the value willbe d h m s Examples Suppose we need to program receiver for a single session that will begin next Wednes day 12 30 00 and end on Thursday 10 00 00 During this time receiver should write file ses log containing the default set of messages into its internal memory at 1Hz and simultaneously output NMEA GGA message to its serial port B at 10Hz Except this time period receiver should be turned off In fact there are multiple ways to achieve this here is one of them Let s define two jobs for the session job 0 Spec 4d12h30m00s cmd create ses log em cur log def 1 em dev ser b nmea GGA 0 1 count 1 job 1 spec 5d10h00m00s cmd dm dev ser b dm cur log set power off count 1 www javad com 209 210 Example IVER OBJECTS ts Reference n programming After programming these two jobs and turning session scheduler on we can put receiver into sle
117. EIS www javad com 33 34 IVER INPUT LANGUAGE ands ut Note one time output of message s We will speak only about em in this description though everything applies to the out as well The description below expects the reader is familiar with the material in the section Periodic Output on page 18 For every output stream there is corresponding output list of messages 2 that are cur rently enabled to be output to the given stream When a message passed as argument to em command is not currently in the output list the em command appends specified mes sage to the end of the list When a message passed to em command is already in the out put list the em command just changes this message s scheduling parameters and doesn t modify message s position inside the list As the em command merges the specified messages to the output list it s often a good idea to use dm command to clear the output list for the given stream before issuing em commands The em command processes the messages list one message at a time from left to right and from the first message of message set to the last message of message set Should it encounter a name that doesn t correspond to any supported receiver message or message set it remembers there was an error during execution but doesn t stop processing of the messages list This way all messages from the messages list that could be enabled will be enabled and only single error will be reported when
118. Geodetic Velocity struct GeoVel 18 f4 lat Northing velocity m s f4 lon Easting velocity m s f4 alt Height velocity m s f4 pSigma Velocity SEP m s ul solType Solution type ul cs Checksum he SG Position and Velocity RMS Errors struct Rms 18 4 hpos Horizontal position RMS error m 4 vpos Vertical position RMS error m 4 hvel Horizontal velocity RMS error m s 4 vvel Vertical velocity RMS error m s ul solType i Solution type ul cs Checksum y www javad com 293 IVER MESSAGES ard Predefined Messages n Velocity Messages DP Dilution of Precision DOP struct Dops 14 f4 hdop Horizontal dilution of precision HDOP 4 vdop Vertical dilution of precision VDOP f4 tdop Time dilution of precision TDOP ul solType Solution type ul cs Checksum H SP Position Covariance Matrix struct PosCov 42 f4 xx m 2 F4 yy m 2 f4 zz m 2 F4 tt m 2 f4 xy m 2 4 xz m 2 4 xt m 2 f4 yz m 2 F4 yt m 2 4 zt m 2 ul solType Solution type ul cs Checksum y SV Velocity Covariance Matrix struct VelCov 42 f4 xx m s 2 4 yy m s 2 4 zz m s 2 F4 tt m s 2 f4 xy m s 2 F4 xz m s 2 E4 t m s 2 4 yz m s 2 f4 yt m s 2 f4 zt
119. HH MM and SS fields are either integer numbers in corresponding range or special value __ serving as wild card D number of day inside a week 1 7 1 Sunday 7 Saturday HH number of hour inside a day 0 23 MM number of minute inside an hour 0 59 SS number of second inside a minute 0 59 Here are two examples of valid timespec 4d17h40m18s d h00m s Receivers print command always outputs timespec in its canonical form Receivers set command however accepts timespec not only in canonical form but also in simplified forms The rules for set command are as follows f some field is omitted it is assumed to be __ e Single underscore is the same as double underscore Any number of integer digits is accepted www javad com GREIS RECEIVER OB Primary Object ip ai Thus for example empty string timespecis taken as d h m s and 8h2s is taken as d08h m02s 3 3 10 ip address The ip address type format is standard Internet IPv4 address in numbers and dots notation 3 3 11 datum id The datum id type is a string of up to 5 upper case characters designating datum identi fier Refer to Datums on page 89 for details 3 3 12 pos xyz The pos xyz type is used to denote Cartesian coordinates It has the following format datum id x y z where datum id field of the type datum id specifying the datum to which coordinates are referenced x y z Cartesian coordinates in
120. However if some of the F FIX PERIOD F FIX PHASE F FIX COUNT or F FIX FLAGS bits are set in the flags field of the next source corre sponding fields of this next source will not be overridden Examples Enable one time output of NMEA GGA message to the current terminal gt em nmea GGA 1 The same as above but using out instead of em gt out nmea GGA Enable the output of the default set of messages to the current log file A using the default output parameters Either of gt em cur file a msg def em cur file a def Enable output of the default set of messages to the current log file A every 10 seconds For the other output parameters their default values will be used gt em cur file a def 10 Enable output of the default set of messages to the current terminal using default output parameters Either of em cur term msg def gt em msg def gt em def Enable output of GREIS messages RT and RD to the current terminal Either of gt em nsg jps RT msg jps RD em jps RT RD Enable output of NMEA messages GGA and ZDA to the current terminal every 20 sec onds gt em nmea GGA ZDA 20 Enable output of messages SI EL and AZ to serial port A Set scheduling parame ters for SI so that interval between any two subsequent SI messages will be equal to 10 seconds if they coincide and 1 second otherwise output only the first fifty SI mes sag
121. IS As a consequence a line could be delimited by any com bination of lt CR gt and or lt LF gt characters It allows GREIS to seamlessly support Win dows Mac and UNIX line ending conventions Receiver input language is case sensitive It means that for example strings GREIS greis and gReIs being different strings are indeed considered as such by the receiver The number sign t ASCII code 35 is the comment introduction character Receiver ignores everything starting from this character up to the end of the line After comment if any is stripped from the line receiver removes leading and trailing spaces and then breaks the line into statements Statements are delimited with semico lon ASCII code 59 or with two ampersands amp amp ASCII codes 38 or with two ver tical bars ASCII codes 124 Statements in a line are then executed in order from left to right If statement that ends in amp amp delimiter produces an error the rest of state ments in the line are not executed If statement that ends in delimiter executes suc cessfully the rest of statements in the line are not executed Statement that ends in semicolon never stops execution of the sequence of statements Note that the end of line is by itself statement terminator so you don t need to put one of explicit statement delimiters at the end of the line The format of a statement is as follows ID COMMAND CS where square brack
122. ONASS in Geodetic coordi nate system Geodetic Reference Position for All Systems Name par ref pos geo Access w Type pos geo Setting this parameter will set both par ref pos gps geo and par ref pos glo geo to the specified value WGS 84 Cartesian Reference Position for GPS Name par ref syspos gps xyz Access r Type pos Xyz Default W84 6378137 0000 0 0000 0 0000 146 www javad com GREIS GREIS RECEIVER OB Objects Refer Reference Para WGS 84 Geodetic Reference Position for GPS Name par ref syspos gps geo Access r Type pos geo Default W84 N00d00m00 000000s E00d00m00 000000s 40 0000 PE 90 Cartesian Reference Position for GLONASS Name par ref syspos glo xyz Access r Type pos Xyz Default P90 6378137 0000 6 3781 1 0000 PE 90 Geodetic Reference Position for GLONASS Name par ref syspos glo geo Access r Type pos geo Default P90 S00d00m00 032557s W000d00m00 206265s 1 0000 Maximum Allowed Error in Reference Position Name par ref limit Access rw Type float meters Values 1 10000 Default 1000 Should the length of the vector connecting the current position calculated by receiver with that specified for the APC by the user exceed the maximum discrepancy level spec ified by this parameter the reference station will stop transmitting any RTK or DGPS messages that depend on the quality of reference position Cartesian ARP Position for G
123. PS Name par ref arp gps xyz Access rw Type pos Xyz Default W84 6378137 0000 0 0000 0 0000 Coordinates of ARP of receiver antenna for GPS in Cartesian coordinate system www javad com 147 IVER OBJECTS ts Reference nce Parameters Cartesian ARP Position for GLONASS Name par ref arp glo xyz Access rw Type pos Xyz Default W84 6378137 0000 0 0000 0 0000 Coordinates of ARP of receiver antenna for GLONASS in Cartesian coordinate system Cartesian ARP Position for All Systems Name par ref arp xyz Access w Type pos Xyz Setting this parameter will set both par ref arp gps xyz and par ref arp glo xyz to the specified value Geodetic ARP Position for GPS Name par ref arp gps geo Access rw Type pos geo Default W84 N00d00m00 000000s E00d00m00 000000s 40 0000 Coordinates of ARP of receiver antenna for GPS in Geodetic coordinate system Geodetic ARP Position for GLONASS Name par ref arp glo geo Access rw Type pos geo Default W84 N00d00m00 000000s E00d00m00 000000s 40 0000 Coordinates of ARP of receiver antenna for GLONASS in Geodetic coordinate system Geodetic ARP Position for All Systems Name par ref arp geo Access w Type pos geo Setting this parameter will set both par ref arp gps geo and par ref arp glo geo to the specified value 148 www javad com GREIS GREIS RECEIVER OB Objects Refer Reference Para WGS 84 Cartesian ARP Positio
124. PS sub frame contents Every 4 bytes word contains 30 LSB of the GPS navigation data E LD GLONASS Raw Navigation Data struct GloNavData N recSizet2 ul recSize Size of satellite data record currently 18 SvData dat N Satellite data N can be derived from the following expression N Message Length 2 recSize ul CS Checksum Nu struct SvData recSize il fenl Frequency Channel Number plus 1 FCN 1 ul cnt Counter which is updated upon receiving a string of a GLONASS sub frame for given FCN i4 data 4 GLONASS string contents Every 4 bytes word contains 25 LSB of the string of GLONASS sub frame h WD WAAS Raw Navigation Data struct WAASRawMessage 40 ul prn SV PRN number within the range 120 138 u4 time Time of receiving of message s u2 reserv Reserved ul data 32 Navigation data block ul cs Checksum he In the data field of the message the most significant bit of the first byte corresponds to the first broadcasted 4 ms data symbol The field contains data strarting from WAAS preamble up to and including WAAS checksum ED GALILEO Raw Navigation Data struct GALRawMessage len 8 ul prn SV PRN number within the range 1 30 u4 time Time of receiving of message s ul type Type of data 0 GALILEO E1B 3 GIOVE E1B ul len Length of the navigation data block data ul data len Navigati
125. Parameters nates thus estimated will then be automatically used as the receiver s reference position off averaging mode is turned off Reference Position Averaging Interval Name par ref avg span Access rw Type integer seconds Values 0 32000 Default 180 Provided par ref avg mode parameter is on this parameter specifies time interval over which single point position calculated by the receiver will be averaged before the result of averaging will be used as receiver reference position Reference Antenna Parameters Marker to Antenna Phase Center APC Offset Name par ref ant offs Access rw Type list east north height This parameter specifies the vector components between a surveyed point land mark and the APC east east offset north north offset height height offset East Offset of APC Name par ref ant offs east Access rw Type float meters Values 100 100 Default 0 North Offset of APC Name par ref ant offs north Access rw Type float meters Values 100 100 Default 0 www javad com GREIS GREIS RECEIVER OB Objects Refer Reference Para Height Offset of APC Name par ref ant offs height Access rw Type float meters Values 100 100 Default 0 Marker to the Antenna Reference Point ARP Offset Name par ref ant arpoffs Access rw Type list east north height This parameter specifies the vector components between a surveyed
126. R MESSAGES fined Foreign Messages oprietary NMEA Sentences GMP GNSS Map Projection Fix Data This message contains fix data for single or combined navigation systems GNSS in grid or local coordinates expressed in the given map projection Format Description 1 6 0 2 F UTC time of position fix first two digits designate hours the next two digits designate minutes and the rest digits designate seconds 2 S Map projection identification 3 S Map zone 4 9o 1 4 F Y Northern component of grid or local cored nates in meters 5 9o 1 4 F X Eastern component of grid or local coordinates in meters 6 TCC Mode indicator see GNS message variable length valid character field type with the first two characters currently defined The first character indicates the use of GPS satellites the second character indicates the use of GLONASS satellites Ei 2D Total number of satellites used for position computation 8 2F Horizontal dilution of precision HDOP 9 5 1 4 F Altitude above geoid in the selected datum meters 10 1 4 F Geoidal separation the difference between the earth ellipsoid and geoid defined by the reference datum meters 11 AF Age of differential data seconds See the note below 12 4D Differential reference station ID this is an integer between 0000 and 1023 See the note below 13 2X OD 0OA Checksum Note All the n
127. RT PHASE FORM CURRENT EPOCH truePhase phase curr prev amp rollovers prev curr OUTPUT PHASE truePhase SEEK TO THE NEX EPOCH A 4 Obsolete Receiver Objects In this section you will find a list of receiver objects that are considered obsolete along with recommended substitutions Some of obsolete objects listed in the table below are not supported anymore Others are still supported for backward compatibility but are subject for removal without notice Obsolete objects that are still supported are only rec ognized when explicitly adressed in the GREIS commands i e they are not output by print and list commands when containing group of objects is being output Table A 1 Obsolete Receiver Objects Obsolete Object Use Instead par version main par rcv ver main par rcvid par rev id par raw elm par out elm cur file a par button period par log sc period par rtcm rover maxage par pos cd maxage par rtcm mode par base mode rtcm par rover mode rtcm par pos meas par pos sp meas par pos iono par pos sp iono www javad com GREIS GREIS Obsolete Receiver Ob Table A 1 Obsolete Receiver Objects Obsolete Object Use Instead par pos tropo par pos sp tropo par hd mode par pos pd hd mode par hd uselen par pos pd hd uselen par hd len O par pos pd hd len O par opts all NAME par opts NAME par opts cur NAME par opts NAME cur par h
128. Reference 3 x Parameters llpc receiver will use the coordinates of the APC extracted from message types 3 or 32 arp receiver will use the coordinates of the ARP extracted from message type 24 Reset the RTCM 2 x Decoders Name par rtcm rover reset Access rw Type boolean Values on off Default off on receiver will reset the RTCM decoders and then will restore the value off of this parameter off ignored For example you may use this parameter to reset the logic associated with the value used in the par rtcm rover refsrc parameter 3 4 15 RTCM 3 x Parameters RTCM 3 x Reference Station Parameters RTCM 3 x Reference Station Identifier Name par rtcm3 base stid Access rw Type integer Values 0 4095 Default 0 This parameter contains the reference station ID that will be part of the RTCM 3 x cor rection messages On the rover side this ID allows easy identification of the reference station whose RTCM 3 x messages are being received by the rover Text for RTCM 3 x Message Name par rtcm3 base text Access rw Type string 0 127 Values arbitrary Default empty string The value of this parameter will be included into proprietary RTCM 3 x text message Message Type 4091 www javad com GREIS GREIS RTCM 3 x Rover Parameters There are currently none 3 4 16 CMR Parameters CMR Reference Station Parameters Receiver Motion State for CMR Name par cmr base motion Acc
129. ST Solution Time Tag struct SolutionTime 6 u4 time Solution time Tr modulo 1 day 86400000 ms ms ul solType Solution type ul cs Checksum N Specifies the receiver time of the current position solution Note that this time tag may differ from the current receiver time if the receiver runs in RTK delay mode In this case the time tag from this message is typically in the past with respect to the time tag of the current epoch PO Cartesian Position struct Pos 30 f8 x y z Cartesian coordinates m f4 sigma Position SEP m ul solType Solution type ul cs Checksum 6 SEP stands for Spherical Error Probable www javad com GREIS GREIS RECEIVER MESS Standard Predefined Mess Position Velocity Me VE Cartesian Velocity struct Vel 18 f4 x y Zz Cartesian velocity vector m s 4 sigma Velocity SEP m s ul solType Solution type ul cs Checksum i PV Cartesian Position and Velocity struct PosVel 46 8 x y 2 Cartesian coordinates m f4 pSigma Position SEP m 4 vx vy vz Cartesian velocities m s 4 vSigma Velocity SEP m s ul solType Solution type ul cs Checksum E PG Geodetic Position struct GeoPos 30 f8 lat Latitude rad f8 lon Longitude rad f8 alt Ellipsoidal height m f4 pSigma Position SEP m ul solType Solution type ul cs Checksum y VG
130. See Computing Checksums on page 365 for details Statement identifier 1D serves the following purposes 1 Forces receiver response to the command 2 Allows to send multiple commands with different identifiers to the receiver without waiting for response for every command then receive the responses and tell which response corresponds to which command 3 Helps to establish synchronization with the receiver by allowing to check that particular receiver response corresponds to particular command and not to some other command issued before or after A list called options could be appended to any element of the COMMAND after the colon ASCII code 58 If options list comprises single element the surrounding braces could be omitted Options list appended to a list propagates to every element of the list though the options explicitly appended to an element of the list take precedence over propagated options For example e1 e2 01 03 e3 04 05 is equivalent to el 04 05 e2 01 05 03 e3 04 05 Note also how missed 02 option allows 05 option to propagate to the list of options for e2 element The number and the meaning of arguments and options in the command depends on par ticular command action and is defined in the description of every receiver command In addition if command description specifies some options but some or all of them are missed in the statement the default values for the missed options ar
131. T CIeale ved esee era E qaa CR Qe ee SR 41 2 3 8 TEMOVE o ouo ae esee gn dhe dana wa be ses bunte 44 DDD VOIE 0 astosetudte nef enit a Qe a TUR Seats tO eth ing 46 2 3 10 Bet i1 ec po OE ete nh Sa eb eet 48 2 3 IT putos i ee eee retener le eos 51 www javad com OF CONTENTS 2 3 12 werd dated Ue gare usd ike wie RERUM eae 53 Chapter 3 Receiver Objects 55 3 1 OYerview i224 224844 LIES eriin tied y ue br LP 55 3 2 CONVENLONS 6108 pe obo is tod ew eee Jta 56 3 2 1 Object Specification 0 0 eee eee eee 56 3 2 2 Input and Output Ports Notations 57 port input output port 57 oport output port 2 eee 57 cur term current terminal 57 3 3 Primary Object Types 57 3 9 1 Uist cece se canoes xm Eder A eer e s 58 9 9 2 ATAY a ose a cob sein oc e PER TUER USES Tete nce og 58 3 3 JD GB T 1 oio o4 de RIA ey OA ee Die dde eed 58 3 34 float ecce ete OR eer do hace qbus 59 3 3 5 enumerated 0 0 1 eee eee 59 3 3 6 boolean Hee oe eR ee rares 59 3 9 SENE oe cente eee e tee genos MER P e edes 59 3 3 8sched params llle 60 3 3 9 TIMESPCO sees dioc tne date pada 60 3 9 TO ip adres Seo Reb netu dote dr teg 61 3 3 11 datum id eed 61 3 9 12 POS KYZ v esee p oe aee e a o E ue S 61 3 3 13 DOS 60 ce heathen ioe wheeled otgadien ugs 61 Output Format for Angles 0 0 62 General Input Format for Angles
132. Used Any system communicating with the JAVAD GNSS receiver through one of its ports serial parallel USB Ethernet etc will use GREIS commands and messages to accomplish the required task A pair of typical applications where GREIS plays a very important role are first using hand held controllers to communicate with the receivers during field operation in survey and RTK projects or second when downloading data from the receivers into desktop systems for further post processing A post processing application itself doesn t use GREIS commands but needs to be aware of GREIS mes sages to extract data from the data files One important feature of GREIS is that it can be effectively used both for the automatic and manual control of JAVAD GNSS receivers For manual control the user will enter necessary GREIS commands into the receiver through a terminal This is easily achiev able as GREIS is designed to be human readable text interface On the other hand GREIS obeys rather strict rules that makes it easy to use by applications 1 3 Lists GREIS heavily utilizes a concept of lists Lists are used both in the receiver input lan guage and in the standard text messages www javad com 15 16 DUCTION ts Example Lists in GREIS are represented by a sequence of elements delimited with commas ASCII code 44 and enclosed into braces ASCII codes 123 and 125 elementl element2 element3 In turn elements of a list ma
133. Value 5 2F Value 00000 35 2 0F 07 0 4F 0 4F 0 1234 964 1 5F 0000039 67432 5 2 D 5 2 3 D 2467 3D 052 3D 964 2X 0A 2D 4F 04 45 8027 PC C PC XYZ www javad com 327 IVER MESSAGES ard Predefined Messages essages S This is a string 4A J 50 P 2 1F 45 8 98 0 04 7 88 3 3E 1 234E 04 96 3E 5 789E 02 DL Data Link Status This message displays the status of the data links associated with the corresponding serial ports modem Description Message title Format 1 DLINK 2 961D Total number of data links 0 5 The rest of the message is avail able only if this number is non zero Otherwise the total number of data links value is immediately followed by the checksum 3 C C S 3D 4D 4 D 2F Group of fields associated with the given data link note that the total number of such groups is determined by the previous field These fields are Data link identifier refer to Table 4 8 below Decoder identifier R RTCM decoder T RTCM 3 0 decoder C CMR decoder J JPS decoder Reference station identifier Time in seconds elapsed since receiving last message maxi mum value 999 Estimated with an accuracy of 1 second Number of received messages between 0001 and 9999 If no message has been received this data field contains zero Number of corrupt messag
134. X record 0x7E 0 msg binex 7F 02 BINEX record 0x7F 0 msg binex 7F 03 BINEX record 0x7F 0 msg binex 7F 04 BINEX record 0x7F 0 For the BINEX record 0x00 00 the following fields are supported Ae WO N O QO Lr Ae WO N O O Lr 0x04 0x0f 0x17 0x19 Oxla Oxlb Oxld Oxlf www javad com GREIS Example GREIS RECEIVER MESS Predefined Foreign Mess BINEX Me It s possible to turn on off the output of each of the above fields using the par binex 00_00 parameter The values for fields 0x04 and 0x0f could be specified using parameters par binex site and par binex data_id respectively Meteorological data for BINEX record 0x7E 00 could be obtained by connecting MET3 compatible sensor to a receiver port setting the imode of the port to jps and enabling output of msg misc MET3 to this port Program receiver to get data from MET3 sensor working at 9600 baud and connected to the serial port B The MET3 data are requested every 60 seconds with offset 2 seconds phase 86400 2 so that the data are ready by the time BINEX record 0x7F 02 is out put Then request output of BINEX record 0x7F 02 every 60 seconds to the serial port A set par dev ser b rate 9600 gt set par dev ser b imode jps gt em dev ser b msg misc MET3 1 60 86398 em dev ser a msg binex 7E 00 60 www javad com 363 IVER MESSAGES fined Foreign Messages Messages 364 www javad com GREIS
135. able for wide range of post processing soft ware This message set is implicitly used when receiver log files are created using TriPad or through AFRM Remember that some of the message types are critical for JAVAD GNSS post processing software to be able to import and process GREIS files correctly Care should be taken when customizing the default set of messages Minimum Set of GREIS Messages for RTK Name msg rtk jps min Access rw Type list sched_params sched_params Default jps RT jps SI jps rc jps cp jps 2r jps 2p jps BI jps ET This parameter contains minimum required set of GREIS messages suitable for RTK Note that the default value indicated above corresponds to a dual frequency receiver Maximum Set of GREIS Messages for RTK Name msg rtk jps max Access rw Type list sched params sched params Default jps RT jps SI jps rc jps cp jps DC jps EC jps 2r jps 2p jps D2 jps E2 jps B1 jps ET This parameter contains maximum set of GREIS messages suitable for RTK Note that the default value indicated above corresponds to a dual frequency receiver Message Output Lists For every output port there is corresponding message output list that holds the messages being enabled to be output to this port along with their current scheduling parameters www javad com GREIS GREIS RECEIVER OB Objects Refer Miscellaneous para Similar to message sets message output lists may contain un
136. able to synchronize to corresponding time scale Simi larly when this parameter is set to g1o or utcusno there should be at least one GLO NASS satellite being locked In static applications where the receiver s precise position is known we recommend that you switch your receiver to the Improved Timing mode Refer to Improved Timing Mode on page 106 for details Tie PPS to its Reference Time Name par dev pps a b tied Access rw Type boolean Values on off Default on There are applications where the user needs to synchronize PPS signals with either the receiver s internal clock or an external frequency not with the selected reference time This parameter allows not to tie PPS to its reference time on PPS pulses are synchronized with the selected reference time which is the common practice www javad com GREIS GREIS RECEIVER OB Objects Refer Timing Para off PPS signals are synchronized either with the receiver s internal clock or pro vided the parameter par frq input has been set to ext with the external fre quency PPS Period Name par dev pps a b per ms Access rw Type integer milliseconds Values 10 10 Default 1000 Milliseconds of PPS Offset Name par dev pps alb offs ms Access rw Type integer milliseconds Values 102 2 109 2 Default 0 Nanoseconds of PPS Offset Name par dev pps alb offs ns Access rw Type integer nanosecond
137. according to the rules described below The first specification that matches will govern the execution of the message contents If no matching specification is found the contents of the message is ignored In the matching stage the receiver uses the mode and id fields In the execution stage the receiver uses mode skip and port fields 14 The number of elements is somewhat arbitrary and can be expanded in the future if required www javad com GREIS GREIS RECEIVER OB Objects Refer Generic Communication Para Matching stage On this stage the receiver compares the mode and id fields with the contents of the received message Depending on the value of the mode field the specification is allowed to match a mes sage as follows none the specification never matches any message cmd echo jps rtcm rtcm3 cmr the specification could match the gt gt mes sage but never matches a non standard message nscmd nsecho the specification could match a non standard message but never matches the gt gt message Once the value in the mode field allows to match given message the receiver will com pare the value in the id field of the specification with the identifier of the message For gt gt message its identifier is the value of its id field For the non standard messages the first byte of the message is taken as its identifier The message matches the specifica tion in two cases 1 The value of the
138. ains serial number assigned to the receiver on the factory Receiver Electronic ID Name par rcv id Access r Type string 11 This parameter contains a piece of text uniquely identifying your receiver Receiver Model Name par rcv model Access r Type string The model of the receiver e g MAXOR Receiver Vendor Name par rcv vendor Access r Type enumerated Values JAVAD UNKNOWN Receiver Up time Name par rcv uptime Access r Type timespec Time elapsed since last receiver reboot Receiver RAM Size Name par rcv mem Access r Type integer kilobytes www javad com GREIS RECEIVER OB Objects Refer Version Infor Receiver Configuration Word Name par rev cfgw Access r Type integer The receiver configuration word formatted as hexadecimal or empty if not available 3 4 3 Version Information Hardware Version Name par rcv ver hw Access r Type integer Boot loader Version Name par rcv ver boot Access r Type integer Firmware Version Name par rcv ver main Access r Type string Board Version Name par rcv ver board Access r Type integer Internal modem board version Name par rcv ver modem Access r Type string If internal modem is not supported the value of this parameter will be none GREIS www javad com 67 68 IVER OBJECTS ts Reference rements Parameters 3 4 4 Measurements Parameters Satellites Locking Parameters
139. al digits after the decimal point e direction sign E or W for longitude N or s for latitude The following rules are used to extract integer degrees integer minutes and fractional minutes from this format Digits after decimal point if any denote fractional part of minutes Up to two decimal digits immediately before the decimal point or immediately before the E W N or S signs provided there is no decimal point denote integer number of minutes The remaining decimal digits the leftmost ones denote integer number of degrees Example x12023 234E means 120 degrees and 23 234 minutes Eastern longitude Example x1202E means 12 degrees and 2 minutes Eastern longitude 3 4 Objects Reference This section contains the complete list of objects used to control the operation and behavior of the receiver 3 4 1 Power Management Reset receiver Name par reset Access w Type boolean Values yes no Default no yes setting this parameters to yes will reset reboot the receiver From a func tional point of view the reset is equivalent to turning the power off and then back on The value of this parameter will be automatically returned back to no after the reset no setting to no is ignored 64 www javad com GREIS Example GREIS RECEIVER OB Objects Refer Power Mana Power Off Name par power Access rw Type boolean Values on off
140. alue of the last computed time offset value to this parameter This parameter serves two purposes Using a priori time offset will allow the receiver to get a position fix in critical situations when there are few satellites in sight and when it is impossible to derive the point solution using the current measurements only E g if there are only three GPS satellites and one GALILEO satellite in view the receiver won t be able to get a position fix unless the user enters a GALILEO vs GPS time off www javad com GREIS GREIS RECEIVER OB Objects Refer Positioning Para set or some other a priori data thus reducing the number of unknowns in the corresponding set of equations Using precise a priori time offset will allow you to have more precise position fixes Use Fixed GPS to GALILEO Time Offset Name par pos fix gpsgal Access rw Type boolean Values on off Default off on receiver will use constant time offset specified by par pos gpsgal in position computation off receiver will calculate inter system time offset Held Parameters Positioning The parameters in this section allow receiver to hold last computed values of some ele ments of the state vector when number of SVs is not enough to perform calculations with all the elements considered as unknown Enable to Hold Altitude Name par pos hold alt Access rw Type boolean Values on off Default on on receiver can hold last co
141. alue to this parameter This parameter serves two purposes e Using an a priori clock drift will allow the receiver to get a position fix in criti cal situations when there are few satellites in sight and when it is impossible to derive the point solution using the current measurements only Using precise a priori clock drift estimate allows to have more precise position fixes Note that using of this parameters makes sence only for operation modes utilizing stable external reference oscillator Use Fixed Clock Drift Name par pos fix clkdft Access rw Type boolean Values off on Default off on enable receiver to use in position computation the fixed clock drift extrapo lated clock offset specified by the par pos clkdft parameter off receiver will calculate clock drift Fixed GPS to GLONASS Time Offset Positioning Fixed GPS to GLONASS Time Offset Name par pos gpsglo Access rw Type float meters Values 300000 4300000 or string last Default 0 This parameter determines the a priori known constant time offset between the GLO NASS and GPS time scales Note that this offset is entered in meters not in time units just divide this value by the speed of light to get the offset in seconds The string last entered instead of numerical value will assign the numberical value of the last computed time offset value to this parameter This parameter serves two purposes www javad com 99 100
142. and lt LF gt characters if any Strictly speaking we do not recommend that you use in your parsing code any a priori information about the sizes and the contents of the message bodies If you respect this recommendation you will not have trouble with the parsing program should some of the messages be changed The rules and hints on parsing of message bodies of the standard predefined GREIS messages are discussed later in Parsing Message Bodies on page 283 www javad com GREIS GREIS RECEIVER MESS Standard Predefined Mess Parsing Message 4 4 Standard Predefined Messages In this section we will familiarize the reader with the predefined set of standard GREIS messages When referring to a message with the identifier XX we use the notation XX While most messages are called by their message identifier in GREIS some of them specifically those that have non alphanumeric identifiers have names that are dif ferent For such messages the notation XX NN is used where XX is message identi fier and NN is message name to be used in the GREIS commands For example the message RT has header and is called msg jps RT in GREIS commands This section defines the formats of the bodies for all the standard predefined messages Bear in mind that in a data stream every message has a standard header defined by the general format as well 4 4 1 Parsing Message Bodies Allowed Format Extensions Formats of binary
143. ant bit of the first element of the array represents most recent bit of the history Least significant bit of the last element of the array represents the oldest bit of the history when there are enough history bits to fill the last u4 element The number of u4 elements in the array is just enough to hold bitsCount bits elemsCount bitsCount 31 32 Exactly svsCount bit arrays are put into the message in the order specified by the uids field BI Base Station Information struct BaseInfo 28 8 x y z ECEF coordinates m u2 id Reference station ID ul solType Solution type ul cs Checksum H SE Security struct Security 6 ul data 5 Opaque data ul cs Checksum I This message is for JAVAD GNSS internal use 324 www javad com GREIS Note GREIS RECEIVER MESS Standard Predefined Mess Miscellaneous Me SM Security for rM struct Security 8 ul data 6 Opaque data u2 crcl6 16 bit CRC he This message is for JAVAD GNSS internal use 8 TT CA L1 Overall Continuous Tracking Time struct TrackingTime 5 u4 tt tracking time s ul cs Checksum This message contains time elapsed since the last loss of lock of all CA L1 signals Time count starts as soon as the first CA L1 signal is locked on Should a loss of lock of the last CA L1 signal occur the time counter is reset to zero OO Oscillator Offset struct RcvOscOffs 5 f4 val Oscillat
144. ap Name Access Type Values Default par pos filt maxdel rw integer seconds 1 3600 10 www javad com 105 IVER OBJECTS ts Reference Parameters This parameter specifies the maximum allowed time gap mask for two successive posi tion estimates If the current position estimate is obtained in more than maximum allowed time gap seconds after the previous one the position filter is reset Reset the Position Filter Name par pos filt reset Access rw Type boolean Values on off on the position filter will be reset Immediately after the reset the parameter will automatically be set back to of f off ignored Position Filter Weighting Mode Name par pos filt weight Access rw Type boolean Values on off Default off off position filter will treat all of the position estimates as uniformly weighted measurements on each position estimate will have its own weight depending on the correspond ing rms error 3 4 7 Timing Parameters Improved Timing Mode Running receiver in the Improved Timing mode serves two main purposes t enables you to synchronize your receiver with the GPS and or GLONASS time scales even when you have only one GPS satellite and or one GLONASS satellite in sight This mode provides better synchronization precision as compared to the general case when the receiver has to solve for both coordinates and time offsets To correctly use the Improved
145. ar dev ser b imode echo S 0 t par dev ser b echo cur term set cur term echo dev ser b set cur term imode echo UVYUUY YU Advanced Input Mode Overview JAVAD GNSS receivers support advanced input mode This mode allows to use single input port being set to jps input mode to feed receiver with data in multiple formats as well as dispatch different data to different decoders In this mode the receiver will decode the gt gt messages and non standard messages and will pass the data decoded from these messages to a specified decoder e g commands interpreter or RTCM decoder or will send the decoded data to a specified output port To provide backward compatibility with the earlier firmware versions advanced input mode is turned off by default In this case the gt gt messages and non standard messages are ignored when the input mode is set to jps Remember that the primary purpose of the jps input mode is to receive and decode those mes sages in GREIS format that carry information suitable for phase differential mode of position computation There is a set of parameters through which advanced input mode can be controlled This set is represented by an array of three 4 elements Each element of the array is a specifi cation that consists of the following fields mode id skip and port When either gt gt or non standard message is received its contents is checked against every specification in turn
146. ar pwr a5v Access r Type float volts Power Source Power Source Mode Name par pwr mode Access rw Values mix ext a b auto Default auto mix receiver will automatically identify and start using the power source with the highest voltage It is not recommended to run the receiver in this mode for a long time unless it is powered by a high capacity external source note that in mix mode power consumption is about 10 higher than in other modes ext receiver will be powered by the external power source a receiver will be powered by the battery A b receiver will be powered by the battery B auto receiver will automatically select the most appropriate power source accord ing to the following algorithm if an external power source is detected the receiver 256 www javad com GREIS Note Note Warning GREIS RECEIVER OB Objects Refer Advanced Power Mana will use this Otherwise the receiver will be powered by one of its batteries If both batteries are mounted the receiver will start with battery A Current Power Source Name par pwr curmode Access r Values mix ext a b This parameter reports actual power source Mostly useful when par pwr mode is set to auto Batteries Status and Charging Battery Charging Mode Name par pwr charge bat Access rw Values off a b auto Default auto This parameter instructs the receiver to charge corresponding battery or batteries off
147. ar ref syspos gps geo par ref syspos glo xyz par ref syspos glo geo With the parameters described hereafter the user specifies the location of the ARP This location is then transmitted using RTCM 2 x message 24 and RTCM 3 x messages and is needed at the rover side in order to compute the RTK solution While the above parameters specify describe the coordinates for L1 Antenna Phase Cen ter APC the RTCM 2 x message 24 as well as RTCM 3 x standard requires that Antenna Reference Point ARP coordinates are to be transmitted from reference station to rover receivers To meet this requirement receiver supports additional set of parame ters specifying ARP coordinates in the same way APC coordinates are specified These parameters are 144 www javad com GREIS GREIS par ref arp gps xyz par ref arp gps geo par ref arp glo xyz par ref arp glo geo and par ref sysarp gps xyz par ref sysarp gps geo par ref sysarp glo xyz par ref sysarp glo geo RECEIVER OB Objects Refer Reference Para The APC and ARP coordinates in the receiver are entirely independent Receiver never calculates ARP coordinates from APC or vice versa It s a duty of the user or corre sponding application program to specify correct and consistent coordinates for ARP and APC Note that receiver doesn t use ARP coordinates except for the purpose of transmitting them in corresponding RTCM messages while APC coordinates are essential to the receive
148. are familiar with In GREIS object groups are represented as lists of corresponding object names The object name is unique inside the list to which the object belongs Globally unique object identifier is defined as all the object names on the path through the object tree from the root list to the object delimited by the forward slash The root list itself is identified by the single forward slash Examples of object identifiers are The root group Receiver electronic ID par rcv id Serial Port A baud rate par dev ser a rate Attributes size and last modification time of the file NAME file attributes are different from object attributes discussed below log NAME NMEA GGA sentence www javad com 17 18 DUCTION Types Example Example Example dic Output msg nmea GGA All the objects have one or more attributes associated with them Object attributes are identified by appending the amp character and the attribute name to the object identifier The primary attribute each object has is value This attribute is always accessed implic itly by GREIS commands Some of objects may have additional attributes for example Serial port A default baud rate par dev ser a rate amp def Contents of the file NAME log NAME amp content Number of files log amp count 1 4 2 Object Types Every object in the receiver has GREIS type associated with it The type of an object defines its
149. ase ant type Access rw Type integer Values 0 255 Default 0 This parameter contains CMR antenna numeric identifier for the type of antenna being used at the reference station To find out relationship between your antenna type and the corresponding CMR antenna ID use for example the par antdb ids parameter CMR Receiver Type Name par cmr base rcv type Access rw Type integer Values 0 255 Default 0 This parameter contains CMR receiver numeric identifier for the type of receiver being used at the reference station CMR Plus Reference Station Compatibility Name par cmr base idxset Access rw Type boolean Values on off Default off This parameter is used to preserve backward compatibility with the JNS firmware ver sion 2 2 when working with CMR Plus messages on instructs receiver to code CMR Plus message in accordance with the firmware version 2 2 thus rover receivers which are uploaded with the version 2 2 can work properly off use standard format for CMR Plus message www javad com 183 IVER OBJECTS ts Reference ters of Generic GREIS Messages CMR Rover Parameters Type of CMR Message to Expect for GLONASS Name par cmr rover glo type Access rw Type integer Values 3 7 Default 3 See par cmr base glo type above for details CMR Plus Rover Compatibility Name par cmr rover idxset Access rw Type boolean Values on off Default off This paramet
150. at least one of receiver ports off indicates that there are no RTCM 3 x messages enabled for output Rover Mode Name par rover mode Access rw Type list rtcm cmr jps rtcm3 Values on off on off on off on off Default off off off off This parameter is a list of boolean values describing the status of input modes of receiver ports You can turn all the receiver ports that are currently in rtcm cmr jps or rtcm3 input modes to cmd mode by using the command set par rover mode off Refer to description of individual parameters below for details RTCM 2 x Rover Mode Name par rover mode rtcm Access rw Type boolean Values on off Default off Setting this parameter to off will switch all of the ports running in rtcm input mode back to cmd mode Receiver returns error if you try to set this parameter to on on indicates that at least one receiver port is set to rtcm input mode off indicates that none of the receiver ports are set to rtcm input mode 170 www javad com GREIS RECEIVER OB Objects Refer Base and Rover CMR Rover Mode Name par rover mode cmr Access rw Type boolean Values on off Default off Setting this parameter to off will switch all of the ports running in cmr input mode back to cmd mode Receiver returns error if you try to set this parameter to on on indicates that at least one receiver port is set to cmr input mode off indicates that none of the receive
151. ation representing the amplitude of the vertical delay f4 alpha0 s f4 alphal s semicircles f4 alpha2 s semicircles f4 alpha3 s semicircles The coefficients of a cubic equation representing the period of the model f4 betad s F4 betal s semicircles F4 beta2 s semicircles 4 beta3 s semicircles ul cs Checksum HN This message contains ionospheric correction parameters from GPS subframe 4 page 18 These parameters relate to an ionospheric model mainly used by single frequency GPS receivers For more information about this ionosphere model please see ICD GPS 200C Revision IRN 200C 004 April 12 2000 EV Event struct Event var u4 time Receiver time of event occurrence modulo day ms ul type Event type see below ul data Event contents ul cs Checksum he This message is generated if enabled every time some event occurs in the receiver Currently the following event types are defined www javad com 321 IVER MESSAGES ard Predefined Messages laneous Messages 0 free form event Is generated by the event command see event on page 46 1 firmware warning The data field describes the warning in human readable form LT Message Output Latency struct Latency 2 ul lt output latency ms ul cs Checksum This message contains the difference between the actual output time of
152. ations pseudorange accuracy is of critical importance If bit 4 is set this indicates that the corresponding pseudoranges are generated after the loop having reached the steady state and therefore are considered the least noisy In fact it is not infrequent that raw data are used even if bit 46 is not set In such cases however all responsibility for providing valid results rests with the user Bits 0 3 are used for internal purposes TC CA L1 Continuous Tracking Time struct TrackingTimeCA 2 nSatstl u2 tt nSats tracking time s ul cs Checksum J This message contains time elapsed since the last loss of lock on the CA L1 signal for every satellite specified in the latest SI message TC time is measured in seconds Each satellite is allocated its own TC time counter Count up begins with zero and stops when the counter reaches the maximum value the u2 data type allows Please note that the TC time counters are not subject to rollovers Given a satellite TC time count starts as soon as the C A signal is locked on Should a loss of lock occur when tracking the C A signal the TC time counter is reset to zero SS Satellite Navigation Status struct NavStatus nSats 2 ul ns nSats Navigation Status ul solType Solution type ul cs Checksum J This message contains navigation status for all the satellites specified in the latest SI message In addition this message indicates whic
153. ault got got antenna offsets received from reference station will be used fix antenna offsets entered by the user will be used Both L1 APC to L2 APC offset and Marker to APC offset usage are affected by this parameter Reference Station Data for RTK Reference Position Cartesian for RTK Name par pos pd ref pos xyz Access r Type pos Xyz Default UNDEF 6378137 0000 0 0000 0 0000 This parameter contains the base station s reference position in Cartesian form to be used by RTK The datum name UNDEF indicates that the truth reference coordinates are undefined or unavailable GREIS www javad com 161 IVER OBJECTS ts Reference nce Station Data on Rover Reference Position Geodetic for RTK Name par pos pd ref pos geo Access r Type pos geo Default UNDEF N00d00m00 000000s E00d00m00 000000s 0 0000 This parameter contains the base station s reference position in Geodetic form to be used by RTK The datum name UNDEF indicates that the truth reference coordinates are undefined or unavailable Antenna Offset for RTK Name par pos pd ref ant m_offs Access r Type list type val This parameter contains reference antenna offset type and value to be used for RTK Antenna Offset Type for RTK Name par pos pd ref ant m_offs type Access r Type enumerated Values llpc arp Default lipc This parameter contains reference antenna offset type to be used for RTK llpc of
154. ault fast File system Version Name par dev blk a ver Access r Type integer The version of file system the block device was formatted by www javad com 201 202 IVER OBJECTS nagement Note Note ts Reference Format Time Name par dev blk a tfmt Access r Type integer seconds The time tag of the last initialization format of the file system The time is measured in seconds since 00 00 00 Jan 1 1986 Amount of Data Name par dev blk a data Access r Type integer Number of bytes of data stored on the file system This number is usually less than num ber of used blocks multiplied by block size as every file may waste up to one block of data due to the file system requirement that every file occupies integer number of blocks The value of this parameter is what the MEM option is limiting since firmware version 2 5p2 instead of the old behavior when MEM limited the number of used blocks mul tiplied by block size Show Removed Files Name par dev blk a removed Access rw Type boolean Values on off Default off off receiver file system behaves as usual on receiver file system allows to view only removed files and is in read only mode This parameter allows the user to recover inadvertently deleted files The receiver s file system will be remounted every time this parameter is set to either on or off The alternative way to force the file system to remount is cl
155. behavior with respect to GREIS commands Specifically the type defines which values the object can take and which particular commands are applicable to the object Refer to Primary Object Types on page 57 for detailed description of currently sup ported object types 1 5 Periodic Output An important role in the receiver operation plays its ability to periodically output some information such as different kinds of measurements calculated values etc according to specified schedule GREIS defines a rich set of messages containing different types of information in different formats that are minimal units of output and provides methods to request periodic output of any combination of the messages in any order to any of the supported media suitable for data output Any supported medium suitable for data out put is called output stream in GREIS For every output stream receiver maintains a list of messages that are currently enabled to be output to the stream called output list The order in which messages are output matches the order of messages in the output list In addition every message that is www javad com GREIS Note GREIS INTRODU Periodic 0 Output Period and present in an output list has its own set of scheduling parameters associated with it Scheduling parameters attached to a message in an output list define the schedule of out put of this particular message into this particular output stream GREIS provides
156. bit words s 1 1 Reference station coordi 10 31 nates 2 2 Reference station descrip 10 31 S tion var 3 10 GLONASS measurements 1 6 N 8 FREQ 1 7 GREIS proprietary mes sage t 91 Scrolling Station Informa 1 16 tion 1 This message has been developed for reducing the peak throughput of the CMR format It is used for CMR message types 1 and 2 Data from this message type is transmitted by frames Each frame is 16 bytes in size 7 byte message body plus 9 auxiliary bytes and is transmitted together with CMR Message Types 0 and 10 which allows considerable reduction of the data link peak load For more details about this message see ftp ftp trimble com pub survey bin uconf97 exe 4 5 6 BINEX Messages BINEX for BINary EXchange is an operational binary format standard for GPS GLONASS SBAS research purposes It has been designed to allow encapsulation of all or most of the information currently allowed for in RINEX OBS GPS RINEX NAV GLONASS RINEX NAV RINEX MET IONEX SP3 SINEX and so on plus other GNSS related data and metadata as encountered including next generation GNSS For a detailed information on BINEX specifications refer to UNAVCO s Web site at http www binex unavco org This group comprises the following BINEX messages msg binex 00_00 BINEX record 0x00 00 msg binex 01 01 BINEX record 0x01 0 msg binex 7D 00 BINEX record 0x7D 0 msg binex 7E 00 BINE
157. ble 4 1 Primary Field Types Type Name Meaning Length in Bytes a ASCII character 1 i signed integer 1 i2 signed integer 2 i4 signed integer 4 u unsigned integer 1 u2 unsigned integer 2 u4 unsigned integer 4 f4 IEEE 754 single precision floating point 4 f8 IEEE 754 double precision floating point 8 str zero terminated sequence of ASCH characters variable To entirely define particular format we also have to specify bytes order in the primary non aggregate fields that are multi byte i2 i4 u2 u4 4 8 For GREIS messages this order is defined by the MF message see MF Messages Format on page 288 for details Using the above definitions it s possible to recursively expand any format specification to corresponding sequence of bytes For example the format struct Example 9 ul n1 4 n2 i2 n3 2 I expands to the following sequence of bytes assuming least significant byte first LSB order n1 0 0 n2 0 0 n2 0 1 n2 0 2 n2 0 3 n3 0 0 n3 0 1 n3 1 0 n3 1 1 www javad com GREIS GREIS RECEIVER MESS Standard Message St Special and to the following sequence of bytes assuming most significant byte first MSB order n1 0 0 n2 0 3 n2 0 2 n2 0 1 n2 0 0 n3 0 1 n3 0 0 n3 1 1 n3 1 0 where x i j designates j th byte byte 0 being least significant one of an i th ele ment of
158. cal coordinates depends on the parameter par pos datum cur Ensure that this parameter is specified properly User defined Grid System Name par pos grid USER Access rw Type proj latO 1on0 scale falseN falseE Default TM N00d00m00 000000s E000d00m00 000000s 1 000000000 0 0000 0 0000 proj map projection identifier either TM for Transverse Mercator projection or STER for Stereographic projection lat0 latitude of the origin of the grid projection in latitude format lon0 longitude of the central meridian of the projection in longitude format scale scale factor 0 1 10 falseN false Northing 107 107 meters falseE false Easting 107 107 meters www javad com 93 94 IVER OBJECTS ts Reference ining Parameters Note Specific Map Projection Name par pos grid spc Access rw Type enumerated Values NONE S347 8348 34B Default NONE There are map projections that require additional computations for example with the use of polynomials This parameter allows the user to select such a specific map projec tion Currently the receiver supports three such projections which are used on Denmark maps System 34 Jutland 534J System 34 Seeland 8345 and System 34 Bornholm S34B For correct use of a projection from this list you should set up the parameters of the desired Transverse Mercator projection using the par pos grid USER parameter and specify
159. called once before the first call to crcl6 void crcl6init void Crel6 i for i 0 i lt TABLE SIZE i Crcl6 val i lt lt WIDTH BYTE BITS int j for j 0 j lt BYTE BITS j val val 1 val amp MSB MASK POLY 0 table i val Calculates CRC16 of cnt bytes from src and returns result Initial value of CRC16 is supplied by caller in crc Crcl16 crcel6 Crcl6 crc void const src int cnt unsigned char const s unsigned char const src while cnt cre crc lt lt BYTE BITS table crc gt gt WIDTH BYTE BITS st m return crc When the crc16 function is used to calculate checksum of a receiver message the ini tial value of CRC16 should be set to zero A 2 Data Transfer Protocol The GREIS data transfer protocol DTP is primarily designed for downloading mea surement files from JAVAD GNSS receivers to a host computer and to upload new firm ware to the JAVAD GNSS receivers The process of downloading or uploading should be initiated by corresponding GREIS command s sent to the JAVAD GNSS receiver After a transfer is initiated parties should use the protocol described here In this section the terms transmitter and receiver are used to denote the data source and destination respectively of the data transfer protocol We will call the JAVAD GNSS board JAVAD GNSS receiver to distinguish it from the receiving end of the
160. ceiver maintains synchronization with the time scale governing the external event signals off receiver will not synchronize its clock with external event Status of the Receiver Clock Synchronization Name par dev event a b 1ocked Access r Type boolean Values on off on receiver time has been synchronized with an external event off receiver time is not synchronized with external event Current Time Parameters described in this section hold current time that is updated every millisecond To receive consistent values of multiple parameters use single print command to retrieve multiple values for example Example Get consistent UTC time and date gt print par time utc lt RE019 2006 12 26 14 43 11 269 www javad com GREIS Example GREIS RECEIVER OB Objects Refer Timing Paral Get snapshot of all the times along with their names gt print par time on RE018 par time rcv 53091337 RE02A utc date 2006 12 26 clock 14 44 37 337 RE01D gps week 383 ms 225891337 REO1C glo day 1091 ms 63877337 Current Times Name par time Access r Type list rcev utc gps glo rcv receiver time utc UTC time gps GPS system time glo GLONASS system time Current Receiver Time Name par time rcv Access r Type integer milliseconds Values 0 86400000 This parameter reports the current time in local i e receiver time scale Current UTC Time Na
161. cess rw Type boolean Values on off Default on on enable anti jamming on band B off disable anti jamming on band B Oscillator Parameters Oscillator Frequency Offset Reduction Mode Name par osc mode Access rw Values off locked tied Default off off receiver will not adjust internal oscillator s frequency locked receiver will adjust internal oscillator s frequency until the measured fre quency offset is reduced to about zero By using the incoming satellite signals the receiver will force the internal oscillator to generate a very stable output frequency signal This frequency output is available via the corresponding receiver output pin tied receiver will adjust both the internal oscillator s frequency until the measured frequency offset is reduced to about zero and the internal clock until it gets syn chronized with the reference time scale e g GPS time After switching from off to locked it may take the receiver up to a minute to adjust the internal oscillator frequency to the nominal value This time is even longer for switching to tied mode After switching from locked or tied to off the internal oscillator frequency will be rebound to its quiescent value abruptly which may result in temporary loss of lock to satellites Setting this parameter to locked or tied only guarantees that the receiver s frequency output will have high long term stability not necessarily high short term stabilit
162. cified by the period scheduling parameter F CHANGE If this flag is set the corresponding message will be output only if the message data have changed since the last output of the message to the given output stream Receiver checks whether the message data have changed only at the moments defined by the equations 1 2 where phase variable is set to zero and period variable is set to the value of period field The message scheduling param eter phase which loses its original function in this case now plays the role of a forced output period Forced output means that the corresponding message will be output whether its contents will have changed or not at the time moments www javad com DUCTION dic Output Flags defined by the equations 1 2 where period variable is set to the value of the phase field and phase variable is set to zero If the field phase is zero then the receiver performs no forced output so that the corresponding message will be out put only on condition that its data have changed F OUT ON ADD If this flag is set then the first message will be output immediately after executing the corresponding em or out command This flag is ignored for majority of messages F NOTENA If this flag is set for a message in an output list the F DISABLED flag for this message won t be cleared when the message is enabled and therefore its out put will remain suspended For example this flag is used in order
163. compact data set as com pared against version 0 In version 2 the fields flags lock and word2 are removed from the structure SlotRec Next the user should retrieve the total number of svd records field Although it is possible to decode the message by using the message length from the mes sage s header taking into account the total number of svd records field sim plifies the decoding Field refrange from the structure SvData serves as a reference for all the other code and carrier phase measurements available for the given satellite In other words all the measurements other than the reference pseudo range are repre sented as deltas referenced to a common reference value Such an approach allows the reduction of message length The first field in the structure SlotRec should be handled depending on whether the structure s slot number is zero or not Field num from the structure Header shows the total number of slot records see the structure SlotRec For example if only C A measurements are enabled in the message the field num will be zero www javad com GREIS RECEIVER MESS Standard Predefined Mess Integrated Me rV Receiver s Position and Velocity struct PosVelVector 42 u2 sample u2 u4 u4 u4 u4 u4 u4 u4 u4 u4 GREIS delta wordl word2 word3 word4 word5 word6 word7 words word9 RR RR RR RR RR RR RR RR RR MR TR
164. comprises spec time specification cmds index of the command set to be executed count counter port output port Besides the above mentioned four fields every job has an activity flag Jobs whose activity flags are not set will be ignored by the session scheduler A job with the activity flag set to unity is called active job An active job will be executed by the session sched uler as soon as the current time matches the value of the spec field If two or more jobs www javad com 203 204 IVER OBJECTS ts Reference n programming are programmed to be executed at the same time the jobs will be executed in the order specified in the scheduler e g if the jobs with identifiers 0 and 1 are to be started at the same time job 0 will be executed before job 1 When it s time to execute a job the scheduler takes index from the cmds field of the job specification and executes commands found at this index in the array of command strings Using index to identify command string allows multiple jobs to share the same command string The string found is executed the same way if it were received through input port specified in the port field of the job As a consequence of this rule should command generate some output the output is sent to the port Current input mode of the port doesn t matter though the command is executed as if the port is in the com mand mode anyway Every active job also serves as a wake up point for the
165. cosine harmonic correction tern to the orbit radius m f4 cuc Amplitude of the cosine harmonic correction term to the argument of latitude rad f4 cus Amplitude of the cosine harmonic correction tern to the argument of latitude rad f4 cic Amplitude of the cosine harmonic correction term to the angle of inclination rad f4 cis Amplitude of the sine harmonic correction term to the angle of inclination rad ul cs Checksum H 308 www javad com GREIS NE GLONASS Ephemeris struct GLOEphemeris 80 Standard Predefined Mess RECEIVER MESS Almanacs and Eph ul sv Satellite orbit slot number 1 24 il frqNum Satellite frequency channel number 7 24 i2 dne Day number within 4 year period i4 tk Frame start time within current day s i4 tb Ephemeris reference time for day dne s ul health Satellite health bitfield 0 MSB taken from Bn word which indicates satellite health 1 satellite is unhealthy 0 satellite is healthy 1 If set this flag indicates that params tau and gamma may be wrong Note that receiver performs several internal data consistency checks allowing detection of problem broadcast parameters 2 If set this flag indicates that initial conditions r 3 and v 3 may be wrong 3 SV health Cn word status from almanac 0 sate
166. cribed on page 292 RG Lever Arm Geodetic Position This message contains the position of the master antenna corrected by the rotated lever arm vector It has exactly the same format as the PG message described on page 293 4 4 12 Integrated Messages For the users that prefer to have different yet logically related data in a single message the JAVAD GNSS receiver supports a set of integrated messages For example the mes sage rM may contain all of the code and carrier phase measurements available in the receiver for the given epoch though this is achieved in exchange for much more com plex internal message structure Integrated messages are also somewhat optimized for real time applications so we also sometimes call them real time messages The exact contents of these messages are defined by corresponding receiver parameters that are not local to particular output stream It means that using the integrated messages one 314 www javad com GREIS RECEIVER MESS Standard Predefined Mess Integrated Me can t have different variants of these messages to be enabled to be output to different output streams simultaneously In the integrated messages the field sample serves two main purposes First it allows the user to preserve data integrity since messages referenced to a specific epoch will all have the same sample number Second this field allows the user to keep track of the number of lost messages issued thr
167. ctions Name par pos cd src mode Access rw Type enumerated Values user best nearest any Default nearest user receiver will use corrections with station ID specified by the parameter par pos cd src usersrc nearest receiver will use corrections from the nearest reference station best receiver will use reference station with minimal estimated RMS of naviga tion solution Navigation satellites which don t have corrections from this source won t be used in position solution any receiver will use reference station with minimal estimated RMS of navigation solution Navigation satellites which don t have corrections from this source will get corrections from another source with larger estimated RMS if possible Fixed Reference Station ID Name par pos cd src usersrc Access rw Type integer Values 0 1023 Default 0 This parameter specifies user defined source of corrections by reference station ID Receiver will only use corrections from refernce station with given ID provided par pos cd src mode is set to user Corrections to Reference Stations Coordinates Name par rover base pos par X X a e 7 Access rw Type valid port basedID delNorth delEast delUp valid boolean on off If validis off the parameter is associated with no refer ence station 7 Currently GREIS provides only five parameters for coordinate offsets since only up to five reference stations can be used in multi bas
168. d The cur term will be substituted by the actual port name before the command is executed Therefore for example if you set some parameter to cur term when sending command through dev ser a the value of the parameter once the command is executed will become dev ser a 3 3 Primary Object Types In this section for object types that are frequently used we describe formats that are accepted by the set command and could be used by the print commands Formats for www javad com 57 IVER OBJECTS ry Object Types the object types that are used for single object are described along with corresponding objects 3 3 1 list The list format is a comma separated sequence of fields surrounded by braces and When an object of this type is assigned a value using set command some of the fields could be omitted in which case corresponding fields will retain their previous val ues 3 3 2 array The type array is a kind of type list where all the fields have the same type and have names assigned after the decimal representations of their indexes The notation array N M of lt type gt is used in descriptions of array objects where N is the index of the first element of the array M is the index of the last element of the array type is the name of the type of elements of the array The format for array type is the same as for list type For arrays of boolean in addition to the format of the 1ist type the value
169. d be omitted note that the delimiting comma should still exist The ref field of the format should be set to the value 0 or alternatively could be omit ted note that the delimiting comma should still exist There are no universally accepted Helmert transformation parameters for the PE 90 datum so far This explains why the user is allowed to define his her own version of the transformation using this parameter The default value for this parameter was taken from Parameters of the Earth 1990 PZ 90 KNITs 1998 in Russian Under use of combined GPS GLONASS receivers in DGPS modes be sure that the same trans formation parameters for PE 90 datum is used at both the base station and the rover You may www javad com GREIS GREIS RECEIVER OB Objects Refer Positioning Para relax this requirement provided referencing corrections to local datum is turned on see par rtcm base locdtm parameter on page 173 Grid Systems Current Grid System Name par pos grid cur Access rw Type enumerated Values NONE UTM USER LOC Default UTM NONE receiver will not compute grid coordinates this mode allows some reduction of the processor s computation load UTM Universal Transverse Mercator automatic selection of the right zone 6 degree zones with the scale 0 9996 USER user defined grid system LOC local coordinates as a result of the localization procedure Note that computation of grid and lo
170. d whenever current time matches its time specification __ in time spec ification matches any value Job N Index of Command String Name par sess job N cmds N 0 15 Access rw Type integer Values 0 7 Default 0 This parameter designates index into the array par sess cmds which corresponding ele ment in turn contains the command s to be executed 206 www javad com GREIS RECEIVER OB Objects Refer Session progra Job N Execution Counter Name par sess job N count N 0 15 Access rw Type integer Values 0 2147483647 Default 0 If non zero designates number of times the job should be executed by the scheduler before deactivation If zero execution is not limited The value is copied to the corresponding par sess stat count N parameter every time session scheduler mode is changed or scheduler is restarted Job N Current Terminal Name par sess job N port N 0 15 Access rw Type enumerated Values oport empty string Default empty string The commands assigned to the job are executed as if they were received from the port specified by this parameter Should the commands generate receiver replies they will be sent to corresponding output port Command Strings Name par sess cmds Access rw Type array 0 15 of strings Default Command String N Name par sess cmds N where N 0 15 Access rw Type string 0 64 Default emp
171. data used for position computation 01 P L1 data used for position computation 02 P L2 data used for position computation 03 Ionosphere free combination used for position computation 04 Measurements are not available 05 Ephemeris is not available 06 Unhealthy SV as follows from operational Zephemeris SV health 07 Time Frequency parameters from the ephemeris data set may be wrong 08 Initial conditions position and velocity vectors from the ephemeris data set may be wrong 09 Almanac SV health indicator is not available for this satellite 10 Unhealthy SV as follows from the almanac SV health indicator 11 Alert flag from the word HOW is set 12 URA indicates the absence of accuracy prediction for this SV 13 This SV is excluded from position computation by the user 14 SV with this frequency channel number is excluded from position computation by the user 15 This SV is excluded from solution since its system number is unknown 16 This SV has elevation lower than the specified mask angle 17 Reserved 18 Ephemeris data 1s too old 19 This SV does not belong to the constellation the user has selected 20 No data from reference station are available for given satellite DGPS mode only 21 Reserved 22 Wrong measurements have been detected by RAIM 23 SNR below specified minimum level 24 Reserved 25 Reserved 26 DLL is not settled 21 Ionospheric corrections are not received from base 28 Coarse code outlier has been detected 29 Reserved 30 31
172. ddress is fixed and is equal to 00 18 D7 Low part is generated automatically from the receiver ID The user usually does not need to change the MAC address WLAN WiFi Configuration These parameters aid in configuration of your receiver to be part of a TCP IP wireless local area network WLAN Only static configuration defined by the parameters is cur rently supported i e there is no support for DHCP Note that all these parameters are sticky and are not reset to their default values when receiver NVRAM is cleared or parameters are initialized by the init command The only supported method of identifying of the access point to be used for connection is speci fying its access point ID using par net wlan ap id parameter Support for identification using SSID will be implemented shortly Currently WPA is unsupported WLAN Mode Name par net wlan mode Access rw Type boolean Values on off Default on WLAN Connection State Name par net wlan state Access r Type enumerated Values off on associated error Default on WLAN Error Name par net wlan error Access r Type string 0 128 Default none Human readable error string describing the last error happened www javad com GREIS GREIS RECEIVER OB Objects Refer Network Para WLAN Access Point ID Name par net wlan ap id Access rw Type string Values any valid MAC address Default 00 00 00 00 00 00 WLAN Access Point RSSI
173. ds maps of ID to CMR ID and CMR ID to ID Parameters for Antennas by ID Name par antdb id Access r Type list ID The list of all the antenna IDs included in the database along with their parameters Parameters for Antenna ID Name par antdb id ID Access r Type list cmr ll arp l12 11 cmr corresponding CMR antenna identifier ll arp vector offset between L1 phase center and antenna reference point 12 ll vector offset between L2 and L1 phase centers Antenna CMR ID Name par antdb id ID cmr Access r Type integer Values 0 255 or empty string The CMR antenna identifier for specified antenna ID If the selected antenna ID does not have the corresponding CMR identifier this parameter is set to an empty string L1 to ARP Offset Name X par antdb id ID ll arp Access r Type list east north height of float meters Values 7 100 0 100 0 100 0 100 0 7 100 0 100 0 www javad com 165 IVER OBJECTS ts Reference a Database Vector offset between L1 phase center and ARP L1 to L2 Offset Name par antdb id ID 12 11 Access r Type list east north height of float meters Values 100 0 100 0 100 0 100 0 100 0 100 0 Vector offset between L1 and L2 phase centers Parameters for Antennas by CMR ID Name par antdb cmr Access r Type list CMR ID The list of all antennas with assigned CMR ID along with their parameters Para
174. dware Settings 0 0 cee eee eee ee 223 Output Time frames 00 0 0 e eee eee 225 www javad com GREIS GREIS TABLE OF CON 3 4 26 Network Parameters elles 226 LAN Configuration 0 0 00 eee eee 226 WLAN WiFi Configuration 228 GPRS DIALUP PPP Configuration 230 Network Servers Parameters leues 238 UDP Parameters 0 cee eee eee 240 TCP Client Parameters 241 Network Statistics 2 2 eee eee eee 247 3 4 27 GSM Modem Parameters 004 250 3 4 28 Advanced Power Management 255 Primary Control Points 2000 255 External Antenna Control Points 255 Secondary Control Points 000005 256 Power SOUICE iuis ppp Eee IUe 256 Batteries Status and Charging 257 3 4 29 TriPad Parameters 0 0 cece eee 259 3 4 30 CAN Ports Parameters 00000000 261 3 4 31 IRIG Modulator Parameters 262 3 4 32 MesSageS oi ice cng desea debtor da ewes 263 Message GroupS 0 0 e eee eee eee eee 263 Message Sets 0 66 60 cobs ee es 265 Message Output Lists esee 266 3 4 33 Miscellaneous parameters llus 267 3 4 34 Receiver Options lsleeeleeeeeeee 270 Options Overview 0 0 cece eee eee 270 Options Parameters 00 0 0 0 eee ee eee 271 Supported Options 00 eee
175. e 2 To wrap arbitrary message s during periodic messages output as specified by the em command for corresponding messages In this case the id field is set to be numerically equal to 1 count where count is the field from the message scheduling parameters See Periodic Output on page 18 and em amp out on page 33 for details This message is not subject to enabling disabling using the em and dm commands It is generated and output using its own rules PM Parameters struct Params var al params Parameters description al delim 2 Checksum delimiter al cs 2 Checksum formatted as hexadecimal N This message contains information on most of receiver parameters When enabled it will also be output every time one of the receiver parameters is changed Due to large number of parameters only part of a whole receiver parameter tree is output at every epoch and multiple PM messages are typically output per epoch In addition a few starting PM messages containing values for specific parameters are output at the first receiver epoch after enabling the message The starting messages and messages generated at the time of updating of receiver parameters have the following format NAME VALUE where NAME denotes the parameter name and VALUE denotes the parameter value The other messages have a slightly different format specifically ITEM LITEM where ITEM denotes either the value
176. e par net stat tcpd N dev N 0 4 Access r Type string Values dev tcp X X a e empty string An empty string indicates that the connection has been established but the user has not yet been logged in i e receiver waits for login and or password to be entered by the peer Ethernet Driver Statistics Name par net stat drv Access r Type list rxints txints errints rxskips state rxints number of receive interrupts txints number of transmit interrupts errints number of error interrupts rxskips number of receive packets the driver lost 248 www javad com GREIS GREIS RECEIVER OB Objects Refer Network Para state driver state flags Receive Interrupts Count Name par net stat drv rxints Access r Type integer Transmit Interrupts Count Name par net stat drv txints Access r Type integer Error Interrupts Count Name par net stat drv errints Access r Type integer Lost Packets Count Name par net stat drv rxskips Access r Type integer Driver State Flags Name par net stat drv state Access r Type integer Driver state flags in hexadecimal representation as the logical OR product of the follow ing flags 0x01 waiting for receive event 0x02 waiting for transmit event 0x04 waiting for packet transmit acknowledge 0x08 waiting for transmitter ready 0x10 sleeping Memory Usage for Network Subsystem Name par net stat mem Access r Ty
177. e par rover base ant fix offs Access rw Type list east north height Default 0 0 0 east east offset north north offset height height offset www javad com GREIS GREIS RECEIVER OB Objects Refer Reference Station Data o Fixed East Antenna Offset Name par rover base ant fix offs east Access rw Type float meters Values 100 100 Default 0 Fixed North Antenna Offset Name par rover base ant fix offs north Access rw Type float meters Values 100 100 Default 0 Fixed Height Antenna Offset Name par rover base ant fix offs height Access rw Type float meters Values 100 100 Default 0 Fixed L1 APC to L2 APC Offset Name par rover base ant fix 12 11 Access r Type list east north height east east offset north north offset height height offset Fixed East Offset of L2 APC Name par rover base ant fix 12 ll east Access rw Type float meters Values 0 1 0 1 Default 0 www javad com 159 160 IVER OBJECTS ts Reference nce Station Data on Rover Fixed North Offset of L2 APC Name Access Type Values Default par rover base ant fix 12 ll north rw float meters 70 1 20 1 0 Fixed Height Offset of L2 APC Name Access Type Values Default par rover base ant fix 12 ll height rw float meters 0 1 0 1 0 Source of Data For Reference Station on Rover Clear the Reference Station Coo
178. e A shows that information has been decoded from RTCM mes sages 23 and 24 R shows that information has been decoded from RTCM mes sages 3 22 and 31 T shows that information has been decoded from RTCM 3 0 C CMR decoder J GREIS messages decoder 13 C Data link identifier A D serial ports M modem U by user input 14 S Reference station identifier 15 S Antenna ID Two types of antenna IDs are supported 1 IDs that are approved and standardized by NGS 2 IDs that are used in the Trimble s CMR format CMR antenna IDs will always contain three digits 16 2X Checksum www javad com 341 IVER MESSAGES ard Predefined Messages essages Note By default this message is output only after its contents have changed RK RTK Solution Parameters This message contains some parameters of an RTK solution Format Description 1 RTKPAR Message title 2 C UTC time indicator V means that UTC time is valid N means that UTC time is not valid 3 6 2F UTC time of the position fix the first two digits designate hours the next two digits designate minutes and the rest of the digits des ignate seconds 4 C RTK data availability indicator V means that RTK data are available N means that RTK data are unavailable If this indicator is N the indicator is followed by the checksum 5 D Fixing ambiguity pr
179. e Talker ID GP and GLONASS messages Talker ID GL Note that the number of SVs in view can sometimes exceed 12 Since the NMEA standard allows only three messages to be generated per epoch a max imum of 12 SVs can be output at a given epoch Therefore if the total number of satel lites in sight exceeds 12 there may be visible satellites not included in any of the GSV messages related to the given epoch The following is an example GSV message all of the lines correspond to the same epoch lt SGPGSV 3 1 10 lt CR gt lt LF gt SGPGSV 3 2 10 lt CR gt lt LF gt lt SGPGSV 3 3 10 lt CR gt lt LF gt lt SGLGSV 2 1 7 lt CR gt lt LF gt lt SGLGSV 2 2 7 lt CR gt lt LF gt RMC Recommended Minimum Specific GNSS Data Time date position course and speed data provided by a GNSS navigation receiver Format Description 1 266 0 2 F UTC time of position fix first two digits designate be hours the next two designate minutes and the rest digits designate seconds 2 oC Status A Data valid V Navigation receiver warning 3 264 1 7 F Latitude in selected datum first two digits designate degrees and the rest designates minutes of arc 4 oC Latitude hemisphere N northern S southern 5 5 1 7 F Longitude in selected datum first three digits designate degrees and the rest digits designate minutes of arc 6 C Longitude hemisphere E eastern W we
180. e float seconds Values 60 86400 Default 3600 File Rotation Phase Name par log rot sc phase Access rw Type float seconds Values 0 86400 Default 0 File rotation counter Name par log rot sc count Access rw Type integer Values 0 231 1 Default 0 This parameter specifies the total number of files that will be created before file rotation is turned off 0 meaning unlimited number of files The value of this parameter is copied to par 1og rot count whenever par 1og rot mode is turned from off to on In addition when par log rot mode is on setting this parameter will update the value of par log rot count Enable Implicit Management of Current Log files Name par log imp Access rw Type array 0 1 of boolean Values yln y n Default y n The first element of the array corresponds to the cur file a and the second element to the cur file b Enable Implicit Management of Specific Current Log file Name par log imp N N 0 1 Access rw Type boolean Values y n Default y for N 0 n for N 1 www javad com 199 IVER OBJECTS nagement ts Reference N 0 corresponds to the cur file a and N 1 to the cur file b y corresponding current log file will be controllable via AFRM and TriPad n corresponding current log file will be ignored by AFRM and TriPad Implicit Message Output Period Name par log alb sc period Access rw Type float
181. e when at a given epoch receiver may produce solution referenced to some other epoch in the past To pro vide time tag for such solution special Solution Time Tag ST message is used In fact this message provides the correct time tag for a solution in all modes of operations though in most modes it has exactly the same time as There are some other messages having a time tag data field Those are messages that contain information that appears independently on the receiver epoch grid An example of such a message is Event Delimiters In fact Receiver Time message is supposed to precede all of the other messages gen erated at the current epoch thus delimiting messages corresponding to different epochs From a formal point of view it is up to the user to define the order of messages in the output stream However care should be taken to ensure that the order in which messages are written into the output stream does not break the epoch synchronization which is very essential for post processing the logged data with JAVAD GNSS software pack ages For more details on the default set of messages see Message Sets on page 265 For real time applications it s essential to determine the end of epoch as soon as possi ble For such applications just delimiting epochs by a start of epoch marker is not con venient We suggest to use the Epoch Time ET message as the end of epoch marker This message con
182. e 1s estimated off ifthe attitude is not available the NaN Not a Number values are reported Also NaN values are reported in the messages RO RG NR auto the messages RO RG NR report the position corrected by the rotated lever arm if the attitude is available otherwise they report the position of the mas ter antenna Lever Arm Vector Name par att arm Access rw Type n r d Default 0 0 0 The lever arm vector in the nose right down frame n r d Nose Right Down components of the lever arm vector Float values in the range 10000 10000 meters Ambiguity Fixing Statistics The parameters described in this section are considered as technology parameters and are subject to change without notice Note that they are primarily intended for test pur poses www javad com GREIS GREIS RECEIVER OB Objects Refer Phase Differential RTK Para This group of parameters provides the user with statistical probabilistic information on ambiguity fixing time There are two different modes to obtain such information specif ically 1 Enable full firmware reset once the ambiguities are fixed during the test cycle 2 Enable RTK only reset once the ambiguities are fixed during the test cycle This statistical information is presented as a histogram the i th point of which speci 66599 fies the probability of ambiguity fixing time being less than 1 seconds Prec
183. e available for the satellite n the almanac data are unavailable for the satellite Almanac Status for GLONASS Satellites Name par alm glo Access r Type array 1 24 of boolean Values yln ylin Almanac Status for GLONASS Satellite Number N Name par alm glo N N 1 24 Access r Type boolean Values y n y the almanac data are available for the satellite n the almanac data are unavailable for the satellite 3 4 6 Positioning Parameters Generic Positioning Parameters Position Update Rate Name par pos msint Access rw Type integer milliseconds Values 50 100 150 5000 Default 100 www javad com RECEIVER OB Objects Refer Positioning Para 83 84 IVER OBJECTS ts Reference ining Parameters Note This parameter specifies the required period of the position updates Receiver will calcu late effective period of the position updates using the value of this parameter and the value of the parameter par raw curmsint see par pos curmsint below Effective Position Update Rate Name par pos curmsint Access r Type integer milliseconds Although the user can formally set par pos msint to arbitrary allowed value the receiver may need to adjust this user setting in order to make it consistent with the value of par raw curmsint parameter The adjusted setting is stored to this read only parame ter and defines internal effective position update rate The f
184. e center in the currently used datum When par pos fix alt is set to on this value will be used in posi tion computations decreasing the number of parameters to be calculated This parameter serves two purposes Using an a priori ellipsoidal height will allow the receiver to get a position fix in critical situations when there are few satellites in sight and when it is impossible to derive the point solution using the current measurements only Using precise a priori ellipsoidal height estimate allows to have more precise position fixes Use Fixed Altitude Name par pos fix alt Access rw Type boolean Values on off Default off on enable receiver to use in position computation the fixed ellipsoidal height spec ified by the par pos alt parameter off receiver will calculate altitude Fixed Receiver Clock Drift Positioning Entered Clock Drift Name par pos clkdft Access rw Type float m s Values 10000 10000 or string last Default 0 This parameter allows to enter exact value of clock drift parameter When par pos fix clkdft is set to on this value will be used in position computations for www javad com GREIS GREIS RECEIVER OB Objects Refer Positioning Para extrapolation of last clock offset value decreasing the number of parameters to be cal culated The string last entered instead of numerical value will assign the numberical value of the last computed clock drift v
185. e delayed position is com puted for the time epoch to which the last received base station s carrier phase measurements correspond Accuracies achievable in delay mode are normally on a level with those of post processing kinematic 122 www javad com GREIS RECEIVER OB Objects Refer Phase Differential RTK Para RTK Delay Mode Variant Name par pos pd delay Access rw Type enumerated Values last every Default last This parameter is only active for RTK delay mode last RTK engine will process the last set of carrier phase differential data received from the reference station every RTK engine will attempt to process all sets of carrier phase differential data sequentially received from the reference station Update Interval of RTK Reference Station Name par pos pd period Access rw Type float seconds Values 0 05 100 Default 1 This parameter is effective only in the RTK delay mode Its value should be set to the exact rate at which the base station transmits its differential correction data This param eter will instruct the rover receiver to output the RTK position at the same rate at which differential corrections are updated Extrapolate Missing Carrier Phase Measurements Name par pos pd se Access rw Type boolean Values on off Default on This parameter is only active in RTK delay mode on RTK engine will extrapolate the missing carrier phase measurements for the currently
186. e mode www javad com 117 118 Example IVER OBJECTS ts Reference ifferential DGPS Parameters port this field takes same values as for example the parameter par pos cd port It specifies the port from which the coordinates to be corrected are coming baseID integer 1 1023 It is identification of the reference station for which the offsets are specified If baseID is 1 the offsets are applicable to all reference sta tions used in multi base mode except the stations for which offsets are already specified with the preceding parameters see the example below delNorth delEast delUp float numbers specifying the north east and up components of the vector correction to the reference station position in meters Each specification from a to e in turn is compared to the port and identifier of the refer ence station The first specification that has valid field set to on and which port and baseld match those of the reference station provides offsets for the coordinates of this reference station If no specifications match the offsets are assumed to be zero You can use these parameters to compensate for known coordinate offsets of up to five reference stations used in multi base code differential mode This correction mechanism is especially important when differential corrections from different reference stations are used together to compute the rover position in the mixed solution mode for details see parame
187. e of CMR messages are enabled Other bits are reserved CMRI Maximum number of ports that could be simultaneously set to the cmr input mode 0 1 CDIF Enable code differential positioning mode 0 1 PDIF Maximum allowed RTK position update rate in Hz 0 20 _CPH Enable true carrier phase O integral doppler is output instead of true carrier phase In this case the option PDIF will not be fully available because only float solutions can be obtained when RTK using integral doppler for true carrier phase 1 true carrier phase is output Note In JNS receivers other than JGG20 HE_GG and JNS100 this option is always set to unity ETHR Enable Ethernet 0 1 _TCP Maximum number of simultaneous raw TCP connections 0 5 _FTP Maximum number of simultaneous FTP connections 0 1 _USB Enable USB device interface 0 1 OCTO Enables heading and attitude modes 0 1 2 1 heading mode is enabled 2 both heading and attitude modes are enabled _LIM Always set to zero intended for internal purposes only AUTH Authorization for external programs This is a bit field option with the bits having the following definition TBD bits 0 7 reserved JPSO Enable GREIS messages This is a bit field option If bit 0 is set the whole range of GREIS messages are enabled Other bits are reserved JPSI Maximum number of ports that could b
188. e of this message is not subject to change Therefore the first 5 bytes of this message are always JP055 and specifically for this message generated by receiver the first 10 bytes are always JPOSSRLOGP MF Messages Format struct MsgFmt 9 al id 2 JP JP identifier al majorVer 2 Format major version as decimal e g 01 al minorVer 2 Format minor version as decimal al order Bytes order 0 LSB first o 1 MSB first al crc 2 Checksum formatted as hexadecimal H The size of this message is not subject to change Therefore the first 7 bytes of this message are always MFO009JP The data field order describes how multi byte binary types are stored inside the mes sage bodies For message format version 1 0 order is always set to 0 Receiver always generates data in the least significant bytes first order The message format s major version is updated if and only if some backward incompati ble changes to the existing message format are made Any other changes to the existing messages result in updating only the minor version www javad com GREIS RECEIVER MESS Standard Predefined Mess Time Me 4 4 4 Time Messages RT Receiver Time4 This message contains the time of day part of the full receiver time representation Tr struct RcvTime 5 u4 tod Tr modulo 1 day 86400000 ms ms ul cs Checksum y This message is intended to be
189. e print com mand will use or the text empty string that for objects of type string denotes the string comprising zero characters options spec the specification of options the set command may take for given object in the format op1 typel opN typeN where opX is the description of option and typeX is corresponding option type DESCRIPTION textual description of the object and the meaning of its values www javad com GREIS GREIS RECEIVER OB Primary Object Input and Output Ports No 3 2 2 Input and Output Ports Notations Receiver may support many input output ports To denote receiver ports in the object specifications the notations described in this section are used port input output port The port denotes any of ports suitable both for input and for output It may take one of the following values dev ser X X a d RS232 serial ports dev tcp X X a e raw TCP ports dev usb a USB port dev tcpcl a TCP client port dev can X X a b CAN ports dev prl a parallel port almost obsolete no newer receivers support this oport output port The oport denotes any of ports suitable for output only It may take one of the follow ing values port input output ports cur file X X a b current log files dev udp a UDP port cur term current terminal You can use the string cur term to denote the port the command is issued by wherever port or oport is allowe
190. e simultaneously set to the jps input mode 0 5 www javad com GREIS RECEIVER OB Objects Refer Receiver Table 3 2 Receiver Options Name Description LATI Specifies the latitude of the upper left corner of the rectangle area within which the receiver can produce the position information and output measure ment data Measured in degrees from 0 to x90 where x 0 stands for N North hemisphere positive numbers x 1 stands for S South hemisphere negative numbers LONI Specifies the longitude of the upper left corner of the rectangle area within which the receiver can produce the position information and output measure ment data Measured in degrees from 0 to 360 LAT2 Specifies the latitude of the lower right corner of the rectangle area within which the receiver can produce the position information and output measure ment data Measured in degrees from 0 to x90 where x 0 stands for N North hemisphere positive numbers x 1 stands for S South hemisphere negative numbers LON2 Specifies the longitude of the upper left corner of the rectangle area within which the receiver can produce the position information and output measure ment data Measured in degrees from 0 to 360 L CS Checksum of the LATI LON1 LAT2 LON2 options This checksum is com puted according to the following algorithm L CS LAT1 LON1 LAT2 LON2 if L_CS 0 LC8 1 If the checksum
191. e substituted The default values for options are also defined in the description of every receiver command www javad com 25 26 IVER INPUT LANGUAGE age Syntax For reference below is the table comprising all the character sequences that have special meaning in the receiver input language Table 2 1 Input Language Special Characters Characters Decimal ASCII code Meaning lt LF gt 10 line separator lt CR gt 13 line separator 35 beginning of comment mark 59 statements separator amp amp 38 statements and separator M 124 statements or separator 37 statement identifier mark 64 checksum mark 123 beginning of list mark 125 end of list mark 44 list elements separator 58 options mark d 34 quotation mark 92 escape www javad com GREIS GREIS RECEIVER INPUT LANG Comm 2 3 Commands In this section we describe all the commands defined in GREIS Syntax and semantics specifications of every command are accompanied by explanatory examples For detailed description of objects used as arguments in the examples please refer to Chap ter 3 on page 55 www javad com 27 Example Example IVER INPUT LANGUAGE 2 3 1 set Name set set value of an object Synopsis Format set object value Options none Arguments object the target object identifier If object does not begin with then par pr
192. e up to two external event pins EventA and EventB The measured event times are buffered inside the receiver and could be then output by the corresponding receiver message s please see XA XB External Event on page 313 for details Parameters In this section the notation a b denotes either EventA or EventB The user should substitute either a or b Enable Event Acquisition Name par dev event a b in Access rw Type boolean Values on off Default off on corresponding event input is active and events will be acquired and buffered off corresponding event input will be inactive 5 The internal buffer will hold up to 128 most recent events 110 www javad com GREIS GREIS RECEIVER OB Objects Refer Timing Paral Event Reference Time Name par dev event a b time Access rw Type enumerated Values gps glo utcusno utcsu Default utcusno gps GPS system time glo GLONASS system time utcusno UTC USNO time scale utcsu UTC SU time scale When this parameter is set to gps or utcusno there should be at least one GPS satellite being locked for receiver to be able to synchronize to corresponding time scale Simi larly when this parameter is set to g1o or utcusno there should be at least one GLO NASS satellite being locked In static applications where the receiver s precise position is known we recommend that you switch your receiver to the Improved Timing mode Ref
193. ead only User may change only parameters of USER and P90 datum Ellipsoid parameters have type called e11 params of the following format www javad com 89 IVER OBJECTS ts Reference ining Parameters ell id axis inv flat where ell id ellipsoid identifier String comprising two characters Bids ellipsoid s major semi axis in the range 6300000 6500000 meters inv flat ellipsoid s inverse flattening in the range 280 300 dimensionless Set of parameters for 7 parameters transformation have type called datum params of the following format datum id ref dx dy dz rx ry rz scale where datum id datum identifier see above ref flag indicating whether the datum s transformation parameters are specified with respect to WGS 84 ref 0 or PE 90 ref 1 dx dy dz translations in X Y and Z direction respectively Each component is in the range 10000 10000 meters rx ry rz rotations around X Y and Z axis respectively Each component is in the range 60 60 seconds of arc scale scale in ppm true scale scale x 10 6 ranging within 100 100 The above parameters specify a coordinate transformation from given datum to WGS 84 or PE 90 according to the following equations X AX R Ry x Y JAY t 15 109 R 1 RIY Z ws4poo AZ R R l Zitocat Finally in the descriptions below D denotes either one of the valid datum identifiers or the string INUSE that designates the dat
194. earing the NVRAM but this may be unacceptable in many cases The command init par won t set this parameter to the default off value This parameter is not stored in the receiver s NVRAM so it will always be set to off after the receiver is powered on www javad com GREIS GREIS RECEIVER OB Objects Refer Session progra File system Initialization Progress Name par stat fsinit Access r Type list total processed These two fields allow monitoring of the file system initialization or remount progress When initialization or remount is not in progress these two values are the same total the total number of blocks used for file storage processed the number of blocks that are already processed File System Buffer Allocation Name par stat fsb Access r Type list sz max cnt This parameter is intended for the JAVAD GNSS s firmware developers and is subject to change at any time sz the size of the file system buffer max maximum number of bytes in the file system buffer since the last receiver start up cnt current number of bytes in the file system buffer 3 4 22 Session programming Overview Session programming means specifying one or more jobs for session scheduler Basi cally a job is a set of receiver commands executed at the specified time s The session scheduler can handle a fixed number of jobs Each job has a unique integer identifier counting from zero Each job specification
195. eased value in the format admmyy where dd decimal day of month 01 31 mm decimal month number 01 12 yy decimal year 00 99 Supported Options The following table describes currently supported receiver options Table 3 2 Receiver Options Name Description GPS Allows use of GPS satellites GLO Allows use of GLONASS satellites AL Allows CA L1 measurements l2 Allows P L2 and P L1 measurements _POS Specifies the maximum allowed position update rate for single point and code differential positioning in Hz _RAW Specifies the maximum measurement update rate in Hz _MEM Specifies maximum memory space for raw data files Allows to store at least N bytes of data where N _MEM MEM 0 128 N 128 MEM 128 16 MEM 129 511 COOP Enable common loops 272 www javad com GREIS RECEIVER OB Objects Refer Receiver Table 3 2 Receiver Options Name Description _PPS Enable PPS signals 1 one of the available PPS signals PPS A is enabled 2 both PPS signals are enabled EVNT Enable Event signals 1 one of the available Event signals Event A is enabled 2 both Event signals are enabled _AJM Enable Jamming Suppressor 1 export non US suppressor is enabled 2 US laws compatible weaker suppressor is enabled _MPR Enable Code and Carrier Phase Multipath Suppressors _FRI Enable external frequency input
196. econds to pass between sending the command and receiv ing reply while receiver checks the file for firmware validity gt fld 123456789AB 1og firmware ldp lt RE002 Start firmware uploading from the USB port using block size 16384 bytes and timeout 20 seconds Obtain electronic ID before issuing the command gt print rcev id lt REOOC 8PZFM10IL8G gt fld 8PZFM101IL8G dev usb a 20 16384 11 It is expected that the file containing the firmware is uploaded to the receiver in advance e g using the put command www javad com GREIS GREIS Chapter 3 RECEIVER OBJECTS In this chapter we will describe all the receiver objects in details 3 1 Overview Recall that every object has an unique identifier or name that is used to address the object in GREIS commands and that all the objects are organized into single tree like structure that not only groups related objects together but also allows to apply a com mand to a group of objects The object tree starts at the single root list and ends at the tree leafs As all non leaf objects have the same type list and behave similarly with respect to GREIS commands we mostly describe leaf objects in this chapter Most of the leaf objects could be used both in the print or 1ist and set commands We call such objects read write objects Those objects that can t be used in the set com mand are called read only objects whereas objects that can t be used in the prin
197. ed Mostly useful when par pwer charge mode is set to auto Battery Voltage Name par pwr bat alb Access r Type float volts The voltage of batteries a and b respectively Charger Output Voltage Name par pwr charger Access r Type float volts Provided battery is being charged this parameter contains the voltage of the receiver internal charger Charger Output DC Name par pwr chdc Access r Type float milliamperes Provided battery is being charged this parameter contains the DC drawn from the receiver internal charger www javad com GREIS GREIS RECEIVER OB Objects Refer TriPad Para Converter Voltage Name par pwr conv Access r Type float volts 3 4 29 TriPad Parameters The following parameters allow the user to set query the receiver configuration data responsible for the TriPad FN button s functionality Appending data to a specific file Name par button file Access rw Type string 20 Default empty string This parameter instructs the receiver to append new data to a specific existing file unless the receiver finds no file with this name when starting data recording via the FN button This parameter can be set to a string comprising up to 20 valid characters This string designates the name of the file you have selected for data appending If you have specified an empty name the receiver will assign the current log file an automatically created name
198. eference station www javad com GREIS GREIS RECEIVER OB Objects Refer Reference Station Data o Got Reference Position Cartesian for GLONASS Name par rover base pos got glo xyz Access r Type pos Xyz Default UNDEF 6378137 0000 0 0000 0 0000 This parameter contains the base station s GLONASS reference coordinates received from the base station The datum name UNDEF indicates that the truth reference coordinates are undefined or unavailable Got Reference Position Geodetic for GLONASS Name par rover base pos got glo geo Access r Type pos geo Default UNDEF N00d00m00 000000s E00d00m00 000000s 0 0000 This parameter contains the base station s GLONASS reference coordinates received from the base station The datum name UNDEF indicates that the truth reference coordinates are undefined or unavailable Got Antenna ID Name par rover base ant got id Access r Type string 0 31 Values alphanumeric characters Default empty string This parameter contains antenna ID received from reference station If the antenna ID begins with a non digit character it is an RTCM antenna descriptor Otherwise it is a CMR numerical antenna ID formatted as decimal Got Antenna Serial Number Name par rover base ant got sernum Access r Type string 0 31 Default empty string This parameter contains antenna serial number received from reference station The serial number could be
199. efix is automatically inserted before the object prior to executing the command value the value to be assigned to the target object The range of allowed values as well as semantics of the assignment depends on the type of the object and is speci fied later in this manual for every supported object Options None Description This command assigns value to the object No response is generated unless there is an error or response is forced by the statement identifier Examples Set baud rate of serial port C to 115200 Either of gt set par dev ser c 115200 set dev ser c 115200 Set baud rate of serial port A to 9600 and force reply gt set dev ser a rate 9600 lt RE002 www javad com GREIS RECEIVER INPUT LANG Comm 2 3 2 print Name print print value of an object Synopsis Format print object Options names Arguments object the object identifier of the object to be output If object does not begin with then par prefix is automatically inserted before the object prior to executing the command Options Table 2 2 print options summary Name Type Values Default names boolean on off off names if off output only object values When on output object names in addition to object values in the format NAME VALUE Description This command prints value of the object optionally prefixing the value with the name of corresponding objec
200. eign Mess RECEIVER MESS RTCM 2 x Me Type ID Title is Length in 30 bit words 16 16 GPS special message 30 2 14 S 1 3 18 18 RTK uncorrected carrier phases 1 3 N 2 for C A or P L1 data 2 3 N 2 for LI L2 data 19 19 RTK uncorrected pseudoranges 1 3 N 2 for C A or P L1 data 2 3 N 2 for LI L2 data 20 20 RTK carrier phase corrections 1 3 N 2 for C A or P L1 data 2 3 N 2 for LI L2 data 21 21 RTK High accuracy pseudorange corrections 1 3 N 2 for C A or P L1 data 2 3 N 2 for L1 L2 data 22 22 Extended reference station parameters 10 2 1 to 2 3 23 23 Antenna Type Definition Record 10 2 1 Nant Nser Nant the number of characters used for antenna descriptor Nser the number of charac ters used for serial number 24 24 Reference Station Antenna Reference Point 10 5 if the antenna height is not Parameter which provides the exact location included in the message or of the reference station and the antenna 6 if the antenna height is height as the distance to the Antenna Refer included in the message ence Point ARP 31 31 Differential GLONASS corrections 1 2 N 2 N 3 32 32 GLONASS reference station parameters 10 2 4 34 34 GLONASS partial correction set 1 2 N 2 N 3 34 65 GLONASS null frame 34th message with 30 2 N 0 36 36 GLONASS special message 30 2 1 S 1 3 Unless you want to provide backward compatibility with earlier versions
201. ellite System service version 2 3 August 20 2001 RTCM PAPER 136 2001 SC104 STD www javad com 173 IVER OBJECTS ts Reference 2 x Parameters Satellite Constellation for RTCM 2 x Messages Name par rtcm base sys Access rw Type array 0 2 of boolean Values on off on off Default on on This parameter instructs the base receiver to include in RTCM 2 x message types 18 19 20 and 21 only data associated with the specified satellite constellation The first and the second values correspond to GPS and GLONASS respectively By default all of avail able GPS and GLONASS satellites will be taken into account when generating these message types Maximum Number of Satellites for RTCM 2 x Messages Name par rtcm base svm Access rw Type integer Values 0 127 Default 0 This parameter affects message types 18 19 20 and 21 It allows to save bandwidth of slow communication channels 0 all of the available satellites will be included in corresponding messages 1 127 not more than the specified number of satellites will be included in corre sponding messages The satellites that will be excluded are those with lowest ele vations RTCM 2 x Base Station Health Name par rtcm base health Access rw Type enumerated Values good bad unknown Default good The values correspond to the following terms of the RTCM 2 x standard good normal performance bad health status is reference
202. elow contains a list of RTCM messages currently supported by JAVAD GNSS receivers The column type indicates the message type number as specified in the RTCM standard The second column shows the message s GREIS specific identifier or simply ID When the user enables a particular RTCM message with an appropriate command he she specifies the message ID not the message type The third column title describes the message contents 203The fourth column period specifies the default periods of the corresponding RTCM messages The last column explains how to calculate an RTCM message s length in 30 bit words Note that according to the RTCM standard it takes the receiver five bytes52 to transmit a 30 bit word This is because the two MSB in each of these five bytes are reserved more precisely set to some pre defined values Thus the following formula to compute the actual length of an RTCM message in bits Length in bits Length in 30 bit words x 5 x 8 N designates the total number of satellites and S designates the length in characters of the user specified text Type ID Title i d Length in 30 bit words 1 1 Differential GPS corrections 1 2 N 2 N 3 3 3 GPS reference station parameters 10 2 4 6 6 GPS null frame 30 2 9 9 GPS partial correction set 1 2 N 2 N 3 15 15 Ionospheric delay message 60 2 N 2 N 2 www javad com GREIS Note GREIS Predefined For
203. ence odulator Parameters First SID for Input CAN Messages Name par cport sid in first Access rw Type integer Values 0x000 0x7FF Default 0x700 The Number of SIDs for Input CAN Messages Name par cport sid in cnt Access rw Type integer Values 1 8 Default 8 First SID for Output CAN Messages Name par cport sid out first Name rw Type integer Values 0x000 0x7FF Default 0x700 The Number of SIDs for Output CAN Messages Name par cport sid out cnt Access rw Type integer Values 1 8 Default 8 3 4 31 IRIG Modulator Parameters Enable IRIG Signal Output Name par dev irig out Access rw Type boolean Values on off Default off www javad com GREIS Example Example GREIS RECEIVER OB Objects Refer Me IRIG Refernece Time Name par dev irig time Access rw Type enumerated Values utcusno gps Default utcusno IRIG Signal Offset Name par dev irig offs Access rw Type integer ns Values 500000 500000 Default 0 This parameter specifies IRIG signal offset in nanoseconds Positive value will delay the signal with respect to the reference time IRIG Signal Amplitude Name par dev irig ampl Access rw Type integer Values 0 255 Default 170 3 4 32 Messages Message Groups There are several message groups supported by the receiver Each group comprises sev eral related messages Each
204. ence Coordinates Name par pos pd ref keep Access rw Type boolean Values on off Default off on receiver will use reference coordinates retrieved from NVRAM at receiver star tup for RTK off receiver will not begin RTK processing prior to receiving reference coordi nates from base station even if the rover has already received all the other neces sary data measurements from the base Note that reference coordinates are normally transmitted much rarer than measurements and such delays may well be unacceptable for many applications Care should be taken when setting this parameter to on Imagine for a moment that the rover has moved to a different location and started a new RTK session with a different reference station Should this parameter be set to on the rover receiver will be misusing the old reference coordinates for some time which will most likely result in position blunders until the rover receives a first message with the correct reference coordinates Factor for Residual lonosphere Standard Deviation Name par pos pd ionf Access rw Type float Values 0 106 Default 4 RTK uses the following equation for the residual ionosphere standard deviation mea sured in meters stdev iono delay ionf 10 6 base line length where ionf is the value of this parameter www javad com 129 130 IVER OBJECTS ts Reference Differential RTK Parameters Environmental Condition Factor Name
205. enial GPRS registration denied The modem control will attempt to automatically fix a detected error in case the parameter par modem X state takes a value other than err or off No user intervention is needed unless the parameter par modem X state turns out equal to err which means that the modem control has not been able to fix the problem on its own Receiver Port the Modem is Connected to Name par modem X port X a d Access r Type string Values dev ser x This parameter is used to get the name of the serial port that the modem is connected to www javad com GREIS RECEIVER OB Objects Refer GSM Modem Paral Data Wait Timeout Name par modem X rcvtimeout X a d Access rw Type integer seconds Values 0 1000 Default 5 If the receiver has not received any data from the modem for rcvtimeout seconds the modem will be disconnected and then re initialized If the parameter is set to 0 such control will be disabled Service Word Repeat Period Name par modem X sndtime X a d Access rw Type integer seconds Values 0 1000 Default 2 This parameter which specifies a time interval is used to ensure reliable communication between the pair of modems master slave and avoid unnecessary modem reinitializa tion The transmit modem will send the service word to the receive modem every snd time seconds Note that the service word will not affect the differential corrections RT
206. ential position even though there are enough data amp 3 Also known as absolute positioning stand alone positioning or simply point positioning www javad com 85 IVER OBJECTS ts Reference ining Parameters Enable Single Point Position Name par pos mode sp Access rw Type boolean Values on off Default on on when receiver is running in pd pf or cd mode and is unable to output pd pf or cd solution it will output sp solution if available off receiver will not output sp solution unless it runs in sp mode This parameter doesn t affect behavior of receiver running in sp modes Enable Code Differential Position Name par pos mode cd Access rw Type boolean Values on off Default off on when receiver is running in pd or pf mode and is unable to output pd or pf solu tion it will output cd solution if available off receiver will not output cd solution unless it runs in cd mode This parameter doesn t affect behavior of receiver running in cd or sp modes Note Code differential mode requires broadcasting the corresponding DGPS not RTK messages from the reference receiver and accepting them on the rover receiver If any of these requirements are not met then enabling this parameter will not have any effect Enable RTK Solution with Float Ambiguities Name par pos mode pf Access rw Type boolean Values on off Default on on when receiver is runnin
207. entry in a group specifies default scheduling parameters for corresponding message In addition to using message groups and message names in the list and print commands individual message names could be used in the em out and dm commands List the names of all the supported NMEA messages gt list msg nmea lt REO3F GGA GBS GLL GMP GNS GRS GSA GST GSV HDT RMC ROT VTG ZDA P_ATT Print default scheduling parameters of the GREIS GA message gt print msg jps GA RE011 0 00 0 00 0 0x2 www javad com 263 264 ges Example IVER OBJECTS ts Reference Enable output of the NMEA GGA message into the current terminal using default scheduling parameters em cur term msg nmea GGA GREIS Message NAME Name msg jps NAME Access r Type sched params This parameter contains default scheduling parameters for GREIS message NAME In general message NAME matches the two letter message identifier see Standard Mes sages on page 280 However for messages that have non alphanumeric identifiers the names used differ from their identifiers see Standard Predefined Messages on page 283 NMEA Message NAME Name msg nmea NAME Access r Type sched params This parameter contains default scheduling parameters for NMEA message NAME Stan dard NMEA messages are called after their three letters identifiers e g GGA Propri etary NMEA messages are called by their three l
208. ep mode using MINTER or set sleep on command Receiver will wake up at the time specified by the job a and execute corresponding commands When the time for the job b comes receiver will execute corresponding commands turning receiver off as a result Note that we turn power off in the job b as opposed to putting receiver into sleep mode This way we don t need to set counters for jobs because once receiver is turned off it can t wake up anymore This however has a side effect that both jobs will remain active and thus may trigger corresponding actions next time we turn receiver power on If we don t want that we will need to set count field for both jobs to 1 while program ming Note also that if we activate such session after Wednesday 12 30 00 but before Thurs day 10 00 00 the receiver will not do what we meant The first job that will be run in this case is job b not job a so job a won t be executed at all Here are actual commands to program the above jobs recall that is comment charac ter gt Turn off scheduler and deactivate all jobs t par sess mode off set par sess active n Define spec omds count and port fields for jobs 0 and 1 t par sess job 0 4d12h30m0s 0 1 dev null set par sess job 1 5d10h0m0s 1 1 dev null Define commands 0 and 1 set par sess cmds 0 create ses 10g em cur 1log def 1 em dev ser b nmea GA 0 1 set par sess cmds 1 dm dev ser b dm cur l
209. equals 0 this message con tains more meaningful information see the following data fields If this indicator is non zero this data field is followed by the check sum Position is valid only if the position computation indicator is equal to 0 For how to interpret other values see Table 4 9 on page 336 5 CHC Position first symbol and velocity second symbol computation mode below See Table 4 10 on page 336 6 2D 2D Number of GPS and GLONASS satellites used in position compu tation 7 PS Reference geodetic datum identifier 8 C 2D0 2D Latitude hemisphere N northern S southern degrees 962 6F minutes and seconds 9 76C963Do962D Longitude hemisphere E eastern W western degrees 962 6F minutes and seconds 10 5 4F Altitude above ellipsoid meters 11 9o 3F Horizontal position RMS error meters 12 9o 3F Vertical position RMS error meters 13 2X Checksum TR Time Residuals This message is intended for various time transfer applications It contains information allowing the user to match an external clock to a specific GPS GLONASS satellite s time scale Format Description 1 TIMERES Message title 2 C UTC time indicator V means that UTC time is valid N means that UTC time is not valid www javad com GREIS RECEIVER MESS Standard Predefined Mess Text Me Format Descripti
210. equence of ASCII characters except CR decimal code 13 and lt LF gt decimal code 10 characters No limitation on the body length is imposed by the format The end of message marker is either CR or lt LF gt character Note that the format allows for non standard messages comprising only CR or LF char acters This feature allows to make standard GREIS message streams look more human readable when outputting data to a general purpose terminal or viewing with generic text viewer or editor One of the non standard text message identifiers the character is already reserved as the identifier for standard NMEA messages No other non standard text messages should use the as identifier 4 3 3 Parsing Message Stream In this section you will find some hints and tips on how to write code intended to parse a GREIS receiver s message streams Although we are not going to discuss this subject in detail in this reference manual we d like to emphasize here that the standard message www javad com 281 282 IVER MESSAGES ral Format of Messages Note Note Message Stream format will allow you to effectively process parse nearly any GREIS message stream you may encounter in practice Synchronization When parsing a message stream you first need to find nearest message boundary This is what is usually called synchronization Message synchronization is carried out when parsing is started or when
211. er par pos pdop in Positioning Parameters on page 83 6 Wrong position Calculated position is outside of sensible margins Position was computed but the output of given type of solution is disabled by the user e g stand alone position is not output due to par pos mode sp parameter is set to of f Table 4 10 Position Velocity Computation Mode A Autonomous mode D Code differential mode C RTK positioning with codes F RTK positioning with float integers R RTK positioning with fixed integers P Fixed position i e entered by user not computed MP Position in Map Projection The message describes receiver position in the specified map projection or local coordi nate system Format Description 1 MAPRJ Message title 336 www javad com GREIS GREIS RECEIVER MESS Standard Predefined Mess Text Me Format Description 2 C UTC time indicator V means that UTC time is valid N means that UTC time is not valid 3 6 2F UTC time of position the first two digits designate hours the next two digits designate minutes and the rest digits designate seconds 4 1D Position computation indicator If it equals 0 this message con tains meaningful information see the following data fields If this indicator is non zero this data field is followed by the checksum Position is valid only if the position computation
212. er is used to preserve compatibility with the JNS firmware version 2 2 when working with CMR Plus message on receiver will decode CMR Plus message in accordance with the firmware ver sion 2 2 thus rover receivers can work with the reference receiver which is uploaded with the firmware version 2 2 and newer off receiver will decode CMR Plus messages in a standard way 3 4 17 Parameters of Generic GREIS Messages Masks and Counters Elevation Mask for Measurements Output Name par out elm oport Access rw Type integer degrees Values 90 90 Default 5 Measurements for satellites whose elevation angles are less than the specified mask won t be output to the oport 184 www javad com GREIS Note Note GREIS RECEIVER OB Objects Refer Parameters of Generic GREIS Me Satellites Number Mask for Measurements Output Name par out minsvs oport Access rw Type integer Values 0 255 Default 0 The receiver will not output measurements into the given oport as long as the number of satellites whose elevations exceed current elevation mask for measurements output is fewer than this parameter Output Epochs Counters Name par out epochs oport Access r Type integer Default 0 This counter is incremented every time a new RT message is output to the port oport It is cleared every time the RT message is being enabled to be output to the port provided it is not a
213. er to Improved Timing Mode on page 106 for details Tie Measured Event Time to its Reference Time Name par dev event a b tied Access rw Type enumerated Values on off Default on With this parameter the receiver is instructed to measure the event reception time in the selected reference time with or without consideration for the computed receiver clock offset off the event time is measured in the receiver time scale that will differ from the selected reference time by the computed clock offset on the event time is measured in the selected reference time properly Thus the name of the parameter tied figuratively speaking we tie up event signals rigidly with the selected reference time www javad com 111 112 Parameters IVER OBJECTS ts Reference Event Reference Edge Name par dev event a b edge Access rw Type enumerated Values rise fall Default rise rise the time of the rising edge of the event signal will be measured fall the time of the falling edge of the event signal will be measured Synchronize Receiver Clock with External Event Name par dev event a b 1ock Access rw Type enumerated Values on off Default off on receiver will synchronize its one millisecond cycle grid with the corresponding edge of the next event signal arrived after the setting this parameter to on You may need to set this parameter to on repeatedly to ensure that the re
214. ere are possible reasons for such behavior e You have just launched the RTK engine and it is trying to get a first fixed solu tion There is one or more problem satellites whose measurements prevent the engine from fixing all available ambiguities in batch The receiver has just started tracking one or more new satellites It will take the RTK engine some time to fix these new ambiguities Also note that if the solution type is RTK fixed the number of SVs with float ambigu ities is gpsAvail gloAvail gpsUsed gloUsed PT Time of Continuous Position Computation struct PosCompTime 5 u4 pt Continuous position computation time s ul cs Checksum N Specifies the time interval over which continuous position computation has been possi ble If the receiver is unable to compute any position at the current epoch the Time of Continuous Position Computation counter is zeroed www javad com 295 296 IVER MESSAGES Note ard Predefined Messages e Measurements 4 4 6 Satellite Measurements In this section we will focus on messages containing satellite specific information These kinds of messages include satellite measurements code and carrier phase mea surements elevations azimuths etc Different applications may utilize different sets of measurements It is almost impossible to select a fixed set of combinations of satellite measurements that would be enough uni versal yet c
215. erefore the original format definition needs to be expanded to include GLONASS For a detailed description of the CMR format see ftp ftp trimble com pub survey cmr Supported CMR Messages Table below lists CMR messages currently supported by JAVAD GNSS receivers The column type indicates the message type as specified in the CMR standard except the message type var 3 GREIS defined this type to overcome some limitations existing in the CMR protocol The second column shows what GREIS specific identifiers IDs are assigned to differ ent CMR messages When enabling a CMR message with an appropriate GREIS com mand the user specifies its ID not type The third column title describes what kind of data each CMR message contains The fourth column period defines default periods for CMR messages The last column explains how to calculate the length of a CMR message in bytes The following notations are used N designates the total number of satellites S is the length in characters of Long Station ID FREQ takes 1 and 2 for single and dual frequency measurements respectively Var indicates that the type is subject to change Period Type ID Title second Length in 30 bit words s 0 0 GPS measurements 1 6 N 8 FREQ 1 7 GREIS www javad com 361 362 IVER MESSAGES fined Foreign Messages Messages Period Type ID Title second Length in 30
216. erential RTK Para on RTK engine will use the rover s precise position for ambiguities resolution This allows the engine to fix ambiguities much faster The precise coordinates of the L1 phase center of the rover antenna must be specified as described in Refer ence Parameters on page 143 Care should be taken that this parameter is set back to off once the RTK initialization is over and the antenna starts moving Otherwise the rover s position will be computed incorrectly off RTK engine won t use rover precise position RTK Penalty Parameter Name Access Type Values Default par pos pd pen rw float 0 1000 20 The penalty parameter is used for the known point initialization function Use CA L1 Measurements for RTK Name Access Type Values Default par pos pd meas ca rw boolean on off on Use P L1 Measurements for RTK Name Access Type Values Default par pos pd meas p1 rw boolean o off on Use P L2 Measurements for RTK Name Access Type Values Default par pos pd meas p2 rw boolean on off on www javad com 125 IVER OBJECTS ts Reference Differential RTK Parameters Use L1 Only for RTK Name par pos pd lionly Access rw Type boolean Values on off Default off This parameter allows the receiver to stabilize the fixed position in case of poor L2 phase tracking on RTK engine will calculate the final position using
217. ero Expect rather long time to pass between the command and the reply gt get log NAME 3870034 lt RE002 Start retrieving the contents of the file my_logfile starting from byte 3000 using time out 50 seconds and block size of 8192 bytes gt get my logfile 50 8192 3000 Start retrieving the contents of the file NAME filtering out epochs so that the resulting retrieved file would be 0 1Hz data gt get NAME 10 Start retrieving the contents of the file NAME using streaming mode attempts option set to 1 gt get NAME 1 www javad com GREIS GREIS RECEIVER INPUT LANG Comm 2 3 11 put Name put start file uploading using DTP Synopsis Format put object offset Options timeout block size Arguments object object identifier of the file to write data to If object does not begin with 7 then log prefix is automatically inserted before the object prior to exe cuting the command offset offset in bytes from the beginning of the file at which to start writing If omitted 0 is assumed Options Table 2 6 put options summary Name Type Values Default timeout integer 0 86400 seconds 10 block size integer 1 163841 512 1 2048 for receivers that don t support TCP or USB timeout the timeout for DTP block size thesize of a DTP data block Description This command starts uploading of data from h
218. es In addition the receiver set output interval to 2 seconds for EL and AZ mes sages em dev ser a jps SI 1 10 50 0x2 EL AZ 2 www javad com 35 IVER INPUT LANGUAGE ands ut Example Enable output of RTCM 2 x message types 1 and 31 to serial port B with output interval 3 seconds and RTCM 2 x message types 18 19 3 22 to port C with output interval 1 second for types 18 and 19 and 10 seconds for types 3 and 22 gt em dev ser b rtcm 1 31 3 em dev ser c rtcm 18 1 19 1 22 3 10 36 www javad com GREIS RECEIVER INPUT LANG Comm 2 3 5 dm Name dm disable periodic output of messages Synopsis Format dm target messages Options none Arguments target any output stream If no target is specified the current terminal cur term is assumed If some of the specified names do not begin with then msg prefix is automatically inserted before such names prior to executing the command messages the list of messages to be disabled either with or without surrounding braces If no messages are specified all periodic output to the target is disabled Options None Description This command disables periodic output of the specified messages into the object tar get No response is generated unless there is an error or response is forced by the state ment identifier If no messages are specified all the periodic output to the target is disabled If the target
219. es between 0001 and 9999 If no cor rupt messages have been detected this data field is set to zero Data link quality in percent 0 100 4 2X Checksum Table 4 8 Data Link Identifiers Id Corresponding Stream D serial ports A D dev ser a dev ser d T TCP ports A E dev tcp a dev tcp d TCP client port dev tcpcl a USB port A dev usb a Bluetooth port A dev bit a 328 CAN port A dev can a www javad com GREIS GREIS RECEIVER MESS Standard Predefined Mess Text Me GS GPS SVs Status This message describes the status of GPS satellites Format Description 1 GPSVST Message title 2 2D Total number of GPS SVs being track 3 2D 2D 3D This 5 field section comprises 2D 2D 2D 1 GPS PRN number 2 Elevation in degrees 3 Azimuth in degrees 4 Signal to noise ratios in dB Hz This is a list of variable number of elements where elements are always in the following order 1 CA L1 signal to noise ratio 2 P L1 signal to noise ratio 3 P L2 signal to noise ratio 4 L2C signal to noise ratio 5 L5 signal to noise ratio 5 Channel navigation status see Table 4 4 on page 287 The total number of such 5 field sections will match the number of SVs being track 4 2X Checksum ES GALILEO SVs Status This message describes the status of GALILEO satellites Fo
220. es are valid The rest of the bytes are filled with zeroes CRC16 checksum of bytes starting from the type field up to but not including cs field It is calculated through all blocks starting from block 0 End Of Block marker EOB 0x03 u2 CS ul eob E The transmitter sends blocks of this format in response to the receiver s requests Requests are single byte values There are three types of requests 1 NACK negative acknowledge code 0x15 Request to re send the current block 2 ACK positive acknowledge code 0x06 Request to send the next block 3 ABORT abort transfer One of the characters in the range ASCII codes 0x21 0x2F Particular value sent could be used to denote the kind of error occurred www javad com 367 NDICES Transfer Protocol Description Any other value received when request is expected is ignored by the transmitter The NACK request is sent in the following cases After the transfer protocol is initiated to ask the transmitter to send the first block block number zero When receiving error occurs to ask the transmitter to re send the last block The ACK request is sent after the block with matching block number is successfully received and passed the test for data integrity to ask the transmitter to send the next block The ABORT request could be sent by the receiver instead of ACK or NACK request to terminate the transfer protocol
221. ess rw Type enumerated Values unknown static kinematic Default unknown RECEIVER OB Objects Refer CMR Para unknown motion state is undefined Corresponding CMR messages will contain reference coordinates entered by the user static motion state is static i e not moving Corresponding CMR messages will contain reference coordinates entered by the user kinematic motion state is moving Corresponding CMR messages will use the current position estimate computed by the receiver it can be an RTK DGPS or single point position estimate depending on which positioning mode is on for ref erence station coordinates Data for CMR Message Type 2 Name par cmr base desc Access rw Type string 0 8 string 0 16 string 0 50 Values arbitrary arbitrary arbitrary Default nn n F we This parameter contains three strings specifying short station ID COGO code and long station ID in this order CMR Reference Station Identifier Name par cmr base stid Access rw Type integer Values 0 31 Default 0 www javad com 181 182 IVER OBJECTS arameters ts Reference Maximum Number of Satellites for CMR Messages Name par cmr base svm Access rw Type integer Values 0 127 Default 0 This parameter affects CMR messages containing per satellite data It allows to save bandwidth of slow communication channels 0 all of the available
222. essages with messages of some other formats in the standard GREIS data stream An example of such a format are NMEA messages Non standard text messages of a special case the messages that contain only ASCH lt CR gt and or lt LF gt characters are inserted by the message formatting engine in the receiver between the GREIS standard messages to make the resulting message stream more human readable when it is sent to a terminal or generic text viewer or editor appli cation Besides GREIS standard messages and non standard text messages JAVAD GNSS receivers typically support plenty of other formats e g RTCM BINEX CMR How ever those formats are incompatible with the format of standard GREIS message stream Should a stream contain messages of those formats it can t be called GREIS standard message stream anymore and can t be parsed by the same rules as the standard stream 4 3 General Format of Messages 4 3 1 Standard Messages The format of every standard message is as follows struct StdMessage var al id 2 Identifier al length 3 Hexadecimal body length 000 FFF ul body length Body Nu Each standard message begins with the unique message identifier comprising two ASCII characters Any characters from the subset 0 through i e decimal ASCII codes in the range of 48 126 are allowed in identifier 2 In fact the format of GREIS standard messages is so flexible that it can
223. et of messages and the default output period are programmable The JAVAD GNSS receiver is capable of removing the oldest log files if there is no free memory left to continue data logging This feature is off by default Even if you turn it on your receiver will not delete the files with the earliest file creation times unless AFRM is also on The latter condition is essential since it allows you to minimize the risk of inadvertent file deletion Log files Management Parameters Name par log Access r Type list rot imp a b This set of parameters defines the rules for automatic and implicit management of the receiver log files The automatic and implicit management is performed by automatic file rotation mode AFRM and by TriPad interface Implicit in this context means that file management in these cases is performed not through regular GREIS commands but by internal receiver algorithms rot automatic log files rotation mode AFRM parameters imp enable implicit management of current log files a implicit output parameters for cur file a b implicit output parameters for cur file b www javad com GREIS GREIS RECEIVER OB Objects Refer File Mana File Rotation Parameters Name par log rot Access r Type list rmold mode force count sc Enable Oldest Log file Removal Name par log rot rmold Access rw Type boolean Values on off Default off on enable automatic removal of the oldest
224. ets denote optional fields and any number of whitespaces is allowed before and after every field Such whitespaces are ignored except for the purpose of checksum calculation see below The fields are ID statement identifier where ID denotes arbitrary string possibly empty The identifier if present is copied unchanged by the receiver into the response message for the statement Any statement with an identifier will always generate a response from the receiver A statement that contains only an identifier is also allowed in such a case the receiver will just generate a response message COMMAND a possibly empty list where the first element is called command name It denotes the action to be performed The rest of elements if any are command 1 Current GREIS implementation in the receivers supports lines of up to 256 characters in length 24 www javad com GREIS GREIS RECEIVER INPUT LANG Language S arguments Braces that surround command list could be omitted Refer to Lists on page 15 for the syntax of lists QCS checksum where CS is 8 bit checksum formatted as 2 byte hexadecimal num ber Before executing a statement with checksum the receiver will compare the input checksum CS against that computed by the firmware and will refuse to exe cute the statement should these checksums mismatch Checksum is computed starting with the statement s first non blank character until and including the character
225. etters identifiers and using P_ prefix e g P_ATT RTCM 2 x Message NAME Name msg rtcm NAME Access r Type sched params This parameter contains default scheduling parameters for RTCM 2 x message NAME RTCM messages are called after their decimal identifiers RTCM 3 x Message NAME Name msg rtcm3 NAME Access r Type sched params This parameter contains default scheduling parameters for RTCM 3 x message NAME RTCM 3 x messages are called after their decimal identifiers www javad com GREIS Example Example Example Example Example GREIS RECEIVER OB Objects Refer Me CMR Message NAME Name msg cmr NAMI Access r Type sched_params E This parameter contains default scheduling parameters for CMR message NAME CMR messages are called after their decimal identifiers Message Sets The main purpose of supporting message sets is to provide ability to enable output of multiple messages and specify their scheduling parameters using single object name the name of a message set Unlike message groups message sets may contain unrelated messages i e messages taken from different message groups To avoid name clashes the entries in the message sets have names comprising both message group name and message name inside its group Also unlike message groups message sets are customizable You may add and remove messages to from message sets and you may change scheduling parameters o
226. f the mes sages in the message sets Note that the contents of a message set is only relevant at the moment of enabling the output of the message s from the message set and has no impact on the currently enabled messages Currently 49 is the maximum allowed number of messages in each message set Below are some examples of using the message sets Refer to description of correspond ing commands for details and more examples Remove GREIS EL message from the default set of messages gt remove msg def jps EL Remove all the messages from the default set of messages remove msg Add NMEA GGA message to the default set of messages gt create msg def nmea GGA Change scheduling parameters for GREIS SI message in the default set of messages gt set msg de 3jps SI 1 0 0 0x2 Enable all the messages currently in the default set of messages to be output to the cur rent terminal using scheduling parameters specified for the messages in the default set em cur term msg def www javad com 265 ges Example Warning 266 IVER OBJECTS ts Reference Restore the default value for the default set of messages gt init msg def Default Set of Messages Name msg def Access rw Type list sched_params sched_params Default receiver dependent This parameter contains the default set of messages The default value of this parameter is designed to contain GREIS messages suit
227. f4 agf0 WAAS SV clock offset factor ao s f4 agfl WAAS SV clock offset factor al s s u4 tow Time of GPS week this ephemeris was received at u2 wn GPS week this ephemeris was received at Checksum ul cs J EN GALILEO Ephemeris struct GALEphemeris 144 GPS alike data GPSEphemeris gps Without cs field gps sv within the range 1 30 GALILEO specific data f4 bgdElE5a broacast group delay El E5A s f4 bgdE1E5b broacast group delay El E5B s f4 aid Effective ionisation level 1 st order parameter f4 ail Effective ionisation level 2 nd order parameter f4 ai2 Effective ionisation level 3 rd order parameter ul sfi lonospheric disturbance flags bitfield Checksum l cs H 4 4 8 Raw Navigation Data GD GPS Raw Navigation Data struct GpsNavData N recSize 2 ul recSize Size of satellite data record currently 42 SvData dat N Satellite data N can be derived from the following expression N Message Length 2 recSize ul CS Checksum he 9 For details see ICD GPS 200C Revision IRN 200C 004 April 12 2000 310 www javad com GREIS GREIS RECEIVER MESS Standard Predefined Mess Raw Navigatio struct SvData recSize il fen Pseudo Range Number PRN ul cnt Counter which is updated upon receiving a new sub frame for given satellite i4 data 10 G
228. fault 60 The number of measurement epochs must be set taking into consideration the following 1 Minimum self calibration time is 1 hour 2 Recommended self calibration time is greater than 1 hour 3 Maximum self calibration time is 2 hours According to the above the number of measurement epochs can be determined as N Toa ipration Tinterval where Toalibration Self calibration time Tinterval differential corrections update period For example if differential correction update period is 0 05 s 1 20 Hz and Toalibration is 1 hour then N 3600 0 05 72000 Start Self calibration Name par att tune Access rw Type boolean Values on off Default off on the self calibration process will begin The value of this parameter is immedi ately restored to off off ignored Base Line Vectors of the Body Frame Name par att bl N N 0 1 2 Access rw Type n r b Default 0 0 0 n r b Nose Right Belly components of the corresponding vector Float val ues in the range 100000 100000 meters www javad com GREIS GREIS RECEIVER OB Objects Refer Phase Differential RTK Para Pitch Roll and Heading Offsets Name par att aoff Access rw Typ p rh Default 0 0 0 p r Pitch and Roll offsets Float values in the range 90 90 degrees h Heading offset Float values in the range 180 180 degrees Master Input Mode Name par att remo
229. fault 8004 This parameter specifies destination port for UDP packets Output Size Margin for UDP Packets Name par dev udp a omargin Access rw Type integer bytes Values 0 1200 This parameter specifies output size margin for UDP packets As soon as number of bytes to be output exceeds the value of this parameter UDP packet containing the data www javad com GREIS Note Note GREIS RECEIVER OB Objects Refer Network Para will be sent Note that receiver will never split single GREIS message between multiple UDP packets so typical sizes of UDP packets will be greater than the value of this parameter The end of epoch will cause sending of UDP packet provided the number of bytes remaining to be output is greater than zero therefore the last packet in an epoch will be typically shorter than the value of this parameter TCP Client Parameters Receiver is capable to operate as TCP client for different kinds of TCP servers Connec tion to only one server at any given time is supported TCP Client Mode Name par net tcpcl mode Access rw Type enumerated Values off rcv ntrip jsrv Default off off TCP client is inactive rcv use raw TCP connection to another receiver RCV server ntrip connect to NTRIP server jsrv connect to JSRV server JSRV server support is experimental and is intended for internal JAVAD GNSS use only When using rcv or ntrip mode the TCP client port of the receive
230. for the set command could be given as an integer number where the bits of the number correspond to elements of the array Least significant bit bit 0 corresponds to the first element of the array and bit K where K M N corresponds to the last element of the array If bit is set to 1 corresponding element will have true value if bit is set to 0 corresponding ele ment will have false value 3 3 3 integer Integer values could be specified in one of the following formats decimal optional plus or minus sign then one or more digits in the range 0 9 where the first digit is not 0 For example 493 octal optional plus or minus sign then the digit 0 followed by one or more digits in the range 0 7 For example 0371 58 www javad com GREIS GREIS RECEIVER OB Primary Object hexadecimal optional plus or minus sign then the string 0x followed by one or more characters in the range 0 9 a A F For example 0x03 0 or 0xCAF Decimal representation is the default one for print command 3 3 4 float Float values could be specified in the following format An optional plus or minus sign or A nonempty sequence of digits optionally containing a decimal point character An optional exponent part consisting of a character e or E an optional sign and a sequence of digits For example 3 24e 10 or 0 001 3 3 5 enumerated An object of type enumerated may posses one of the values
231. frac min GNS Access rw Type integer Values 1 7 Default 7 This parameter specifies the length of mantissa for representation of factional minutes of latitude and longitude for GNS message www javad com GREIS GREIS RECEIVER OB Objects Refer Parameters of NMEA me Mantissa Length of Geoidal Separation and Orthometric Height Name par nmea frac alt Access rw Type integer Values 1 4 Default 4 This parameter specifies the number of digits in the fractional meters for both geoidal separation and orthometric height altitude above the geoid Mantissa Length of Fractional Degrees for VTG Message Name par nmea frac deg VTG Access rw Type integer Values 15 3 Default 3 Mantissa Length of Fractional Speed for VTG Message Name par nmea frac speed VTG Access rw Type integer Values 1 4 Default 4 Mantissa Length of Fractional Residuals for GRS Message Name par nmea frac res GRS Access rw Type integer Values 0 4 Default 3 Mantissa Length of Fractional Degrees for HDT and ROT Messages Name par nmea frac deg HDT Access rw Type integer Values 1 3 Default 3 www javad com 191 192 IVER OBJECTS Note ts Reference ters of BINEX Messages 3 4 20 Parameters of BINEX Messages BINEX Site Name Name par binex site Access rw Type string 0 127 Values arbitrary string Default empty string The value of this paramete
232. fset of antenna L1 phase center APC arp Offset of antenna reference point ARP Antenna Offset Value for RTK Name par pos pd ref ant m offs val Access r Type list east north height This parameter contains antenna vector offset from the land mark to APC or ARP depending on the offset type to be used for RTK east east offset north north offset height height offset 162 www javad com GREIS GREIS RECEIVER OB Objects Refer Reference Station Data o East Antenna Offset Value for RTK Name par pos pd ref ant m_offs val east Access rw Type float meters Values 100 100 Default 0 North Antenna Offset Value for RTK Name par pos pd ref ant m_offs val north Access rw Type float meters Values 100 100 Default 0 Height Antenna Offset Value for RTK Name par pos pd ref ant m_offs val height Access rw Type float meters Values 100 100 Default 0 L1 APC to L2 APC Offset for RTK Name par pos pd ref ant 12 11 Access r Type list east north height east east offset north north offset height height offset East Offset of L2 APC for RTK Name par pos pd ref ant 12 ll east Access rw Type float meters Values 0 1 0 1 Default 0 www javad com 163 164 IVER OBJECTS Note ts Reference a Database North Offset of L2 APC for RTK Name par pos pd ref ant 12_11 north Access rw Type float meters Values 0 1 0 1
233. g Default empty string This parameter specifies the password for the protected space of the requested mount point Only basic authentication scheme is supported This parameter is never printed implicitly NMEA GGA Period for NTRIP Name par net tcpcl ntrip nmea Access rw Type integer Values 1 86400 seconds Default 0 1 receiver will not send NMEA GGA messages to NTRIP caster 0 receiver will send NMEA GGA message to NTRIP caster only once after con nection to the caster is established 1 86400 receiver will send NMEA GGA messages to the NTRIP caster periodi cally every specified number of seconds www javad com 245 246 IVER OBJECTS ts Reference k Parameters NTRIP Source Table Name par net tcpcl ntrip table Access r Type string Printing this parameter forces receiver to request NTRIP source table from the NTRIP caster and output the table in the reply Every line of the NTRIP source table will be out put in a separate RE message Example print par net tcpcl ntrip table RE014 SOURCETABLE 200 OK RE020 Server NTRIP Caster 1 5 8 1 0 gt lt lt lt RE01A Content Type text plain lt lt lt RE017 Content Length 11366 RE002 RE056 CAS www euref ip net 2101 EUREF IP BKG 0 DEU 50 12 8 69 http www euref ip net hom RE092 NET EUREF EUREF B N http www epncb oma be euref IP http www epncb oma be 80 stations log skl h R ft
234. g in pd mode and is unable to output pd solution it will output pf solution if available off receiver will not output pf solution unless it is running in pf mode This parameter doesn t affect behavior of receiver running in pf cd or sp modes 86 www javad com GREIS GREIS RECEIVER OB Objects Refer Positioning Para Enable Satellite System Name par pos sys Access rw Type list gps boolean glo boolean gal boolean Values on off on off on off Default on on on This parameter allows you to select satellite constellation s used for position computa tion The first and the second fields correspond to GPS GLONASS and GALILEO respectively Enable GPS Satellites by Their Numbers Name par pos gps sat Access rw Type array 1 32 of boolean Values y n y n Default y y Enable GPS Satellite Number N Name par pos gps sat N N 1 32 Access rw Type boolean Values y n Default y y enable using of GPS satellite number N for position computation n disable using of GPS satellite number N for position computation Enable GLONASS Satellites by Their Numbers Name par pos glo sat Access rw Type array 1 24 of boolean Values yln yln Default y y Enable GLONASS Satellite Number N Name par pos glo sat N N 1 24 Access rw Type boolean Values y n Default y www javad com 87 IVER OBJECTS ts Reference ning Parameters y
235. g messages Position Velocity messages PO VE PV Solution time tag ST 12 See Parameters of Integrated GREIS Messages on page 186 GREIS www javad com 315 IVER MESSAGES ard Predefined Messages ited Messages rE can be used in place of the following messages Receiver Date and Receiver Time RD You can govern the structure of your rM message by means of parameters from section Parameters of Integrated GREIS Messages on page 186 Also note that the format of rM allows addition of new fields to the structure if necessary In the event of new fields showing up in the message its version number is incremented of course Note that lengths of the structures Header and SlotRec are specified in the message explicitly which makes it possible to maintain backward compatibility with any older software using the message The message rE which was conceived as a time tag for any other message type is reserved for future use The field sample which will exist in any integrated message is intended to maintain data integrity i e all messages associated with a given epoch must have identical sample numbers rE Reference Epoch struct RefEpoch 10 u2 sample Sample number dimensionless u2 scale Time scale ID leap second status and week day part of epoch representation bitfield 15 13 time scale ID 0 GPS 1 GLONASS 2 UTC 12
236. ge contains the reference station parameters such as the station s coordinates antenna offsets station ID etc These parameters are used in RTK on the rover side www javad com GREIS GREIS RECEIVER MESS Standard Predefined Mess Text Me These parameters are available via RTCM Messages Types 3 22 23 24 or 31 RTCM 3 0 CMR Message Type 1 or JPS Message BI Format Description 1 REFPAR Message title 2 1D Total number of groups containing the reference station fields In the current version of the message this field can be set to 0 or 1 0 means that the reference station fields are not valid 1 means that this message contains valid information 3 S Reference geodetic datum identifier 4 C 2Dd 2D Latitude hemisphere N northern S southern degrees m 2 6Fs minutes and seconds 5 C 3Dd 2D_ Longitude hemisphere E eastern W western degrees m 2 6Fs minutes and seconds 6 AF Altitude above ellipsoid meters 7 C Antenna height indicator V means antenna height is valid N means antenna height is not valid 8 AF Antenna height meters 9 C Antenna East North offsets indicator V means East North off sets are valid N means East North offsets are not valid 10 AF Antenna North offset meters 11 4F Antenna Fast offset meters 12 oC Decoder identifier R T C J wher
237. h receiver positioning mode the status belongs to For detailed information on the navigation status see Table 4 4 Satellite Navigation Status on page 287 8 Say at a level of unmodeled pseudorange errors 304 www javad com GREIS GREIS RECEIVER MESS Standard Predefined Mess Satellite Measur ID lonospheric Delays struct IonoDelay 4 nSats 1 4 delay nSats Ionospheric delay s ul cs Checksum Nu This message contains estimated ionospheric delays as computed by using the L1 minus L2 frequency combination www javad com 305 IVER MESSAGES ard Predefined Messages cs and Ephemeris 4 4 7 Almanacs and Ephemeris GA GPS Almanac st y ruct GPSAlm 47 ul sv SV PRN number within the range 1 37 i2 wna Almanac reference week i4 toa Almanac reference time of week s 47 ul healthA Health summary from almanac bitfield 0 4 code for health of SV signal components 5 7 navigation data health indicators ul healths Satellite health page 25 of subframe 5 ul config Satellite configuration page 25 of subframe 4 bitfield 0 2 satellite configuration 3 anti spoofing flag 4 7 reserved Clock data f4 afl Polynomial coefficient s s f4 af0 Polynomial coefficient s Ephemeris data Keplerian orbital parameters f4 roo
238. hatever constellation is used for position computation GPS only GLONASS only or GPS plus GLO NASS the talker identifier is always set to GP If your receiver uses combined GPS GLONASS data for position computation in RTK or DGPS age of differential GPS data and differential reference station ID from GGA message will relate to GPS data On the other hand if the receiver uses pure GLONASS data when computing the position in RTK or DGPS the fields age of differential GPS data and differential reference station ID will relate to GLONASS data Generally speaking it is not recommended to use GGA message when operating a full func tionality GPS GLONASS receiver Note that GGA is mainly intended for pure GPS receivers For combined receivers we recommend using GNS for GGA GPS quality indicator Estimated dead reckoning mode Manual input mode 0 Fix not available or invalid 1 GPS SPS Mode single point mode fix valid 2 Differential GPS SPS Mode fix valid 3 GPS PPS Mode single point mode fix valid 4 RTK fixed 5 RTK float 6 7 8 Simulator mode GLL Geographic Position Latitude Longitude Current latitude longitude time and status of position fix Format Description 1 4 1 7 F Latitude in selected datum first two digits designate degrees and the rest designates minutes of arc 2 C Latitude hemisphere N northern
239. he base receiver outputs RTCM version 2 3 Otherwise selecting this mode may cause malfunction of the rover receiver in RTK Enable Complete Epoch Received Logic Name par rtcm rover full Access rw Type enumerated Values def on off Default def This parameter specifies if the complete epoch received logic is applied while the receiver decoding RTCM data for RTK The term complete epoch received means the 10 RTCM PAPER 136 2001 SC104 STD 11 Though this could be sometimes compensated by the complete epoch received logic described later www javad com GREIS Note GREIS RECEIVER OB Objects Refer RTCM 2 x Para receiver obtained all the data necessary for the given epoch For example for a GPS GLONASS dual frequency receiver the term means the receiver has acquired the code and phase measurements on both frequencies for at least one satellite for either constellation def the logic is either turned on or off depending on the parameter par rtcm rover ver it is turned off for the RTCM versions v2 1 and v2 2 and is turned on for version v2 3 on the logic is turned on off the logic is turned off In RTCM versions earlier than 2 3 due to different interpretation of the RTCM 2 x stan dard by different manufacturers it is not always possible to identify the end of epoch based on the RTCM format itself In this case the receiver can either wait when an RTCM 2 x message with a different time arrive
240. he current smoothing interval will be growing from zero to the nominal value as new raw ionospheric corrections are computed Once the nominal value is reached this smoothing interval will be fixed Smoothing filter is a simple n point run ning average Minimum lonosphere Corrections Smoothing Interval Name par raw iono minsmi Access rw Type integer seconds Values 0 900 Default 30 The parameter specifies the minimum smoothing interval Tmin for the receiver to filter raw ionospheric corrections before they can be used in position computation www javad com GREIS GREIS Multipath Reduction Parameters CA L1 Code Multipath Reduction Name Access Type Values Default normal CA L1 code multipath reduction is off mpnew CA LI code multipath reduction is on par raw corr ca code rw enumerated normal mpnew normal CA L1 Carrier Phase Multipath Reduction Name Access Type Values Default normal CA L carrier phase multipath reduction is off mpnew CA LI carrier phase multipath reduction is on par raw corr ca carrier rw enumerated normal mpnew normal Tracking Loops Parameters The user should distinguish between guiding and guided loops In JAVAD GNSS receivers C A PLLs are referred to as guiding loops whereas the other lock loops specifically C A DLLs P L1 PLLs P L1 DLLs P L2 PLLs P L2 DLLs are called guided loops C A PLL Bandwidth Name Acces
241. he mode will return to std as soon as PPP terminates In this mode all the usual messages output to the given port is temporarily suppressed Output Duplication Name par port dup Access rw Type enumerated Values oport dev null Default dev null This parameter specifies an output port to which all the data being output to the port should be sent duplicated oport the outgoing data will be sent duplicated to specified output port The outgoing data that will be duplicated include regular message output the data ech oed see Echo Parameters below from another port and the data duplicated from another port if any dev null no data duplication will be performed Besides troubleshooting this feature is useful if you need to request the output of exactly the same messages into multiple ports Instead of programming each port output individually the messages could be enabled to one of the ports and then duplicated to another one and then duplicated from those one to yet another one etc Not only it s simpler to program but it will also reduce processor load as CPU won t spend time to re generate the same messages multiple times Echo Parameters Echo Port Name par port echo Access rw Type enumerated Values oport dev null Default dev null This parameter specifies an output port to which all the incoming data being received from the port should be sent www javad com
242. hem to existing file NAME Use default DTP time out and DTP block size 4096 bytes Get the size of the file before starting the upload note that the file size is required on host anyway so that it can skip this number of bytes from its source data file gt print log NAME amp size lt RE008 3870034 gt put log NAME 4096 3870034 Start data uploading to a fresh file my logfile using timeout 50 seconds and block size of 8192 bytes gt put my logfile 50 8192 www javad com GREIS RECEIVER INPUT LANG Comm 2 3 12 fld Name fld firmware loading Synopsis Format fld id object Options timeout block size Arguments id string containing the receiver electronic ID If specified ID does not corre spond to the actual electronic ID of the receiver the command will fail and pro duce error message object object identifier of the source of the firmware to be loaded Either the name of receiver file or the name of an input port 0 Options Table 2 7 1d options summary Name Type Values Default timeout integer 0 86400 seconds 10 block size integer 1 163841 512 1 2048 for receivers that don t support TCP or USB timeout the timeout for DTP block size thesize of a DTP data block Description This command loads firmware from specified object into receiver and then resets the receiver No response is generated unless there is an error or respon
243. hem to multiple clients It can request wrapping of arbitrary messages into the gt gt messages with different identifiers unwrap the received messages and dispatch the data to particular client s based on the received id Utilizing this feature such an application doesn t www javad com GREIS Note GREIS need to be aware of any other data formats but the format of the gt gt message and can use single channel of communication with the receiver to get and dispatch messages in different formats 1 5 3 Output Flags The flags field of the message scheduling parameters is a 16 bit wide bitfield Each bit of this bitfield is a separate flag and serves different purpose The following is a list of the message scheduling flags Table 1 1 Message Scheduling Flags Bit HEX Name 0 0x0001 F_OUT 1 0x0002 F CHANGE 2 0x0004 F OUT ON ADD 3 0x0008 F NOTENA 4 0x0010 F FIX PERIOD 5 0x0020 F_FIX_PHASE 6 0x0040 F_FIX_COUNT 7 0x0080 F_FIX_FLAGS 8 0x0100 reserved 9 0x0200 reserved 10 0x0400 reserved 11 0x0800 F_DISABLED 12 15 OxF000 reserved Field names are introduced here only for the purpose of referring to them in this manual There is no way to use them in the GREIS commands F OUT If this flag is set the first messages after invocation of the corresponding command will be output at the internal receiver epoch closest to the command exe cution time no matter what is spe
244. her Cartesian www javad com 143 IVER OBJECTS ts Reference nce Parameters or Geodetic system that is also supported by means of separate parameters Therefore total of four customizable parameters are supported par ref pos gps xyz par ref pos gps geo par ref pos glo xyz par ref pos glo geo All these parameters should contain the coordinates of the L1 phase center of the receiver antenna While it s possible to specify GPS and GLONASS reference positions independently it is recommended to use one reference position estimate for both GPS and GLONASS in most cases To simplify this common case receiver supports simultaneous entry of both GPS and GLONASS reference coordinates through par ref pos xyz and par ref pos geo write only parameters note duplicated slashes in the parameter names Note that xyz and geo variants of the position for the same satellite system are mutually dependant When one of the parameters is changed another one is automati cally re calculated so that their values are always on the same datum and are consistent with each other While coordinates could be entered in any supported datum receiver will need them in the datum used by particular satellite system WGS 84 for GPS and PE 90 for GLO NASS so it calculates those coordinates and makes them accessible for reading by the user in both Cartesian and Geodetic form through another four parameters par ref syspos gps xyz p
245. her GPS or GLONASS is used for position computation the talker ID is set to GP or GL respectively If GPS and GLONASS are used together the receiver will generate two GRS messages at one time The first of these messages will describe the GPS range residuals whereas the other will describe the GLONASS range residuals Either message will have the same talker ID GN which indicates that the range residuals actually relate to GNSS 350 www javad com GREIS RECEIVER MESS Predefined Foreign Mess Approved NMEA sen GSA GNSS DOP and Active Satellites This message describes GNSS receiver operating mode satellites used in the position solution reported by the GGA or GNS sentence and DOP values Format Description 1 PC Mode M Manual forced to operate in 2D or 3D mode A Automatic allowed to automatically switch 2D 3D 2 D Mode 1 Fix not available 2 2D 3 3D 3 2D A sequence of satellite ID numbers Sequence length is variable depends on the amount of satellites used in solution For more details on satellite ID numbers see below 4 9o 2F Position dilution of precision PDOP 5 9o 2F Horizontal dilution of precision HDOP 6 9o 2F Vertical dilution of precision VDOP 7 962XN0DNDA Checksum see General Format of Approved NMEA Sentences on page 345 The NMEA standard states the following If either GPS or GLONASS is used for positi
246. ibed in the Source of Data For Reference Station on Rover below The result of selection procedure is available through the parameters described in the Reference Station Data for RTK at the end of this section www javad com 153 154 IVER OBJECTS ts Reference nce Station Data on Rover Data Received Got From Reference Station Validity of Got Reference Position for GPS Name par rover base pos got gps valid Access r Type boolean Values on off Default off on rover has got valid GPS reference position from reference station off rover didn t receive GPS reference position from reference station Got Reference Position Cartesian for GPS Name par rover base pos got gps xyz Access r Type pos Xyz Default UNDEF 6378137 0000 0 0000 0 0000 This parameter contains the base station s GPS reference coordinates received from the base station Got Reference Position Geodetic for GPS Name par rover base pos got gps geo Access r Type pos geo Default UNDEF N00d00m00 000000s E00d00m00 000000s 40 0000 This parameter contains the base station s GPS reference coordinates received from the base station Validity of Got Reference Position for GLONASS Name par rover base pos got glo valid Access r Type boolean Values on off Default off on rover has got valid GLONASS reference position from reference station off rover didn t receive GLONASS reference position from r
247. idal model if this model is enabled in the receiver Use Fixed Geoidal Separation Name par pos fix geoidh Access rw Type boolean Values on off Default off JAVAD GNSS receivers incorporate the global geoid model from Technical character istics of the NAVSTAR GPS June 1991 which is available if the receiver option GEO is enabled If the receiver option _GEO is enabled setting the parameter par pos fix geoidh to on will instruct the receiver to use an alternative geoidal separation from the parameter par pos geoidh for the geoidal separation value computed through the built in model Positioning With Reduced State Vector The parameters described in this section provide positioning modes with fixed values of some state vector entries These modes are useful when the values of some states are known from some external source or from previous positioning epoch The conven tional example of that kind is 2D positioning with fixed altitude These modes of posi tioning sometimes can improve position accuracy decrease required number of SVs and or increase SVs redundancy 4 Asarule this is only applicable to static receivers www javad com 97 98 IVER OBJECTS ts Reference ining Parameters Fixed Altitude Positioning Entered Altitude Name par pos alt Access rw Type float meters Values 1000 10000 Default 0 This parameter allows to enter exact ellipsoidal height of the antenna phas
248. iers USI Allocation USI Range Assigned Satellites 0 Unused Ignore satellites with this USI 1 37 GPS PRNs 1 37 38 69 GLONASS FCNs 7 24 70 GLONASS satellite with unknown FCN 71 119 GALILEO 1 49 120 138 WAAS PRNs 120 138 139 254 Reserved www javad com GREIS GREIS RECEIVER MESS Standard Predefined Mess Satellite Measur Table 4 6 Universal Satellite Identifiers USI Allocation USI Range Assigned Satellites 255 Unused Ignore satellites with this USI 1 Could be useful when converting third party GLONASS measurement file into GREIS format SI Satellite Indices struct SatIndex nSats 41 ul usi nSats USI array ul cs Checksum J The SI message contains an array of USIs indicating the currently tracked satellites that are above elevation angle selected for given output stream The number of satellites in the SI message nSats should be calculated as the length of message body taken from the message header minus one The SI message serves as a reference map for other measurement message types since it establishes the one to one correspondence between the satellite identifier and the array index allocated to this satellite Bear in mind that this correspondence holds true until the next SI message is issued note that the new SI message may or may not dif fer from the previous one AN A
249. if a message has the correct checksum yet one of the identifier char acters is then it would be safer to treat this message as a corrupted message In this case skip to the next message Solution Types The field solType used in many of the predefined messages designates the type of cor responding solution and may have the following values Table 4 3 Solution Types Value Meaning 1 stand alone solution 2 code differential DGPS solution 3 phase differential RTK solution with float ambiguities 4 phase differential RTK solution with fixed ambiguities 5 fixed Le the value was entered not calculated Satellite Navigation Status Fields containing navigation status are used in a few of the predefined messages Such fields designate the status of particular satellite with respect to position computation The table below describes assigned values and their meanings Codes 0 3 and 45 62 indicate that given satellite is used in position computation and show which measurements are used The rest of codes indicate that satellite is not used in position computation and indicate why this satellite is excluded from position computation www javad com GREIS GREIS RECEIVER MESS Standard Predefined Mess Genera Table 4 4 Satellite Navigation Status Value Meaning 00 CA LI
250. incorporate any data stream into the standard GREIS data stream but then the original incompatible stream should be wrapped into a sequence of special GREIS messages The predefined message with identifier gt gt serves this pur pose www javad com GREIS GREIS RECEIVER MESS General Format of Mess Non standard Text Me Message identifier is followed by the length of message body field This field which comprises three upper case hexadecimal digits specifies the length of the message body in bytes Thus the maximum message body length is 4095 OxFFF bytes Message body follows immediately after the length field and contains exactly the num ber of bytes specified by the length field There are no restrictions on the contents of the message body implied by the general format The format of the message body in a mes sage is implicitly defined by the message identifier Formats of message bodies of all the predefined messages 4 3 2 Non standard Text Messages The format of non standard text messages is as follows struct NonStdTextMessage var al id Identifier al body Body of arbitrary length 0 al eom End of message lt CR gt or lt LF gt Nu Message identifier is any character in the range decimal ASCII codes in the range 33 47 Message identifier is optional If absent the message body should have length zero i e should be absent as well Message body is a s
251. indicator is equal to 0 For how to interpret other values see Table 4 9 on page 336 5 C Grid or local coordinates indicator V means that Grid or local coordinates are valid N means that Grid or local coordi nates are not valid 6 S Grid system ID see Table below 7 2D Zone of the grid system 00 if not available 8 4F Northern component of grid coordinates or X component of local coordinates meters 9 4F Eastern component of grid coordinates or Y component of local coordinates meters 10 5 4F Altitude above ellipsoid or local horizon for local coordinates meters 11 2X Checksum Grid system IDs UTM Universal Transversal Mercator TM User defined Transversal Mercator projection STER User defined Stereographic projection LOC Local coordinates NR Lever Arm Position This message contains the position of the master antenna corrected by the rotated lever arm vector Format Description ARMPOS Message title www javad com 337 338 IVER MESSAGES ard Predefined Messages essages Format Description 2 C UTC time indicator V means that UTC time is valid N means that UTC time is not valid 3 6 2F UTC time of position the first two digits designate hours the next two digits designate minutes and the rest of the digits designate sec onds 4 1D Position computation indicator If it
252. ing 4 Values four decimal digits Default 0000 This parameter specifies the SIM card s PIN code for a GSM modem www javad com GREIS RECEIVER OB Objects Refer GSM Modem Paral Dial Number Name par modem X dial X a d Access rw Type string 0 32 Values up to 32 decimal digits Default empty string This parameter specifies the phone number that the GSM modem will dial when in mas ter mode Modem Control State Name par modem X state X a d Access r Type enumerated Values off detect detected registration gregistration ready ring dialling connect discon err This parameter shows the current modem control state off modem control is turned off detect searching for a modem on the corresponding port detected modem has been detected Modem initialization is in progress registration modem is being registered in the network gregistration modem is being registered in the GPRS network ready modem has been initialized and registered in the GSM network If the modem is in slave mode it is ready to receive an incoming call If the modem is in master mode it is ready to dial in to the slave modem dialing modem is dialing the selected phone number as specified by the parame ter par modem X dial in master mode only ring an incoming call is being received in slave mode only connect connection has been established discon connection has been broken discon
253. ing filter Zero value stops the smoothing Note This parameter takes effect only when par pos wd mode is set to manual Smoothing Interval of SBAS lonosphere Corrections Name par pos wd iono smi Access rw Type integer seconds Values 0 3600 Default 60 Receiver will smooth SBAS ionosphere corrections before their use for DGPS solution This parameter defines the value of time constant of the smoothing filter Zero value stops the smoothing Note This parameter takes effect only when par pos wd mode is set to manual 3 4 9 Phase Differential RTK Parameters Generic RTK Parameters RTK Position Computation Mode Name par pos pd mode Access rw Type enumerated Values extrap delay Default delay extrap in this mode the RTK engine will extrapolate the latest carrier phases received from reference station to the current time The final positioning accuracy may be somewhat lower due to additional extrapolation errors which may be up to a few millimeters vertical and horizontal for a one second extrapolation time Note that this mode could be used only when reference station is static 1 e not mov ing delay in this mode the RTK engine does not extrapolate the base station s carrier phases in position computation Instead the engine will either compute a delayed position or simply output the current stand alone position while waiting for new differential messages from the base station Note that th
254. ini mum acceptable for AT CGQMIN command DIALUP Configuration DIALUP Dial Number Name par net ppp dialup dial Access rw Type string 0 32 Values arbitrary string Default empty string This parameter specifies dial number for dialup Internet provider DIALUP User Name Name par net ppp dialup user Access rw Type string 0 32 Values arbitrary string Default empty string This parameter specifies user login name for dialup Internet provider www javad com 237 238 IVER OBJECTS Note Note ts Reference k Parameters DIALUP Password Name par net ppp dialup passwd Access rw Type string 0 32 Values arbitrary string Default empty string This parameter specifies password for dialup Internet provider This parameter is never printed implicitly DIALUP Modem Initialization Script Name par net ppp dialup init Access rw Type string 0 64 Values arbitrary string Default AT OK ATI OK ATT OKG This parameter contains chat script to initialize dialup modem The chat script defines a conversational exchange between the receiver and the modem The syntax and semantics of the chat script used by the receiver matches those of the widely used chat program see e g http docs freebsd org info uucp uucp info Chat_Scripts html for documenta tion except the character is used instead of cartridge return to separate chat com mands Ne
255. ise Test Baseline Name par pos pd hist pr C C xly z Type float meters Values 1000000 1000000 Default 0 These three related parameters specify a priori precise coordinates of the test baseline in WGS 84 X Y and Z coordinates respectively The baseline vector s components estimated in the current iteration are compared against the a priori precise coordinates Ambiguities are considered fixed correctly if the difference between the a priori and a posteriori coordinates does not exceed R cm in each axis note that R may be different in different firmware versions it normally lies between 4 cm and 6 cm Ambiguity Fixing Statistics Using Full Firmware Resets Name par pos pd hist mode Access rw Values on off Default off on turn the mode on off turn the mode off In this mode the receiver firmware is fully reset every time the integer ambiguities are re fixed after the previous iteration Although the actual time to ambiguity fix in the cur rent iteration may well be less than one minute and this time is correctly logged in the receiver memory yet the new firmware reset is executed no sooner than in a minute after the previous one occurs It is done in order for the receiver to be able to timely update ephemerides used Should the current ambiguity fixing time exceed one minute the firmware will fully reset immediately after the ambiguities are fixed This mode is available only when both par
256. ist out par pos pd hist out par pos pd hist num par pos pd hist bad par out elm cur log par out elm cur file a par out minsvs cur log par out minsvs cur file a par out epochs cur log par out epochs cur file a cur log cur file a par out cur log par out cur file a par log sc period par log a sc period par cmd create prefix par cmd create pre a par rover base ant got offs log amp name size time par rover base ant got m_offs log i e print log on www javad com APPEN Checksum Calc 371 NDICES lete Receiver Objects um Calculation 372 www javad com GREIS an Jose CA 95110 USA 8 573 8100 08 573 9100 lavad com GREIS GNSS Receiver External Interface Specification Copyright e JAVAD GNSS Inc 2008 All rights reserved No unauthorized duplication
257. ive Pseudoranges struct SRPR 2 nSatstl i2 srpr nSats PR s CA L1 PR s 277 1011 ul cs Checksum N These messages are the most compact pseudorange format They contain corresponding short relative pseudoranges for all the satellites specified in the latest SI message The 1r 2r 3r and 5r messages contain short relative P L1 P L2 CA L2 and L5 pseu doranges respectively Use the following formula to restore true pseudorange in seconds pr srpr 10 11 2 10 7 prCAI where prCA1 is corresponding CA L1 pseudorange CC C1 C2 C3 C5 Smoothing Corrections struct SC 6 nSats l Smooth smooth nSats PR smoothing ul cs Checksum Nu where Smooth format is defined as follows struct Smooth 6 4 value Smoothing correction s u2 interval Smoothing interval s These messages contain corresponding pseudorange smoothing corrections and corre sponding smoothing intervals for all the satellites specified in the latest SI message www javad com 299 300 IVER MESSAGES Note ard Predefined Messages e Measurements The CC C1 C2 C3 and C5 messages contain CA L1 P L1 P L2 CA L2 and L5 smoothing corrections respectively Use the following formula to compute smoothed pseudoranges in seconds pr sm pr smooth value cc c1 c2 c3 c5 Short Smoothing Corrections struct SS 2 nSats 1 i2 smooth nSa
258. iver the DTP transmitter will stream data blocks without waiting for ACKs from the DTP receiver and the transmitter will immediately abort data transfer should NACK be received This approach allows significantly faster data transfer over reliable connec tions having high latencies such as TCP or relatively high direction switch overhead such as USB Correctly implemented receiving part of the protocol does not require any special care to support this method When the period option is non zero special filtering mode is activated For example it allows to download 1Hz data from a file that was written using 10Hz update rate Specif ically the receiver will send the data only for the epochs where receiver time modulo one day T satisfies the following equation T mod period phase To achieve this receiver parses the contents of the file and filters out some of the mes sages Note that implementation of resumption of interrupted download is very hard if not impossible in this case due to the fact that the host has no idea at what offset of the receiver file the download has been interrupted www javad com 49 50 Example Example Example Example Example IVER INPUT LANGUAGE Examples Start retrieving the contents of the file NAME using DTP Either of gt get log NAME gt get NAME Start retrieving the contents of the file NAME starting from byte number 3870034 counting bytes from z
259. jps NE jps GA lt REO1D jps NA jps WE jps WA jps WO www javad com GREIS RECEIVER INPUT LANG Comm e 2 3 4 em amp out Name em out enable periodic output of messages Synopsis Format em target messages Format out target messages Options period phase count flags Arguments target any output stream If no target is specified the current terminal cur term is assumed messages the list either with or without surrounding braces of message names and or message set names to be enabled If some of the specified names do not begin with then msg prefix is automatically inserted before such names prior to executing the command Options Table 2 3 em and out options summary Name Type Values Default period float 0 86400 phase float 0 86400 zi count integer 256 32767 0 forem 1 for out flags integer 0 0XFFFF z period phase count flags message scheduling parameters Description These commands enable periodic output of the specified messages into the target enforcing the message scheduling parameters to be those specified by options No response is generated unless there is an error or response is forced by the statement identifier The em and out commands are the same except the default value of the count option is set to 0 for em and 1 for out The out command is just a more convenient way to request GR
260. lean Values on off Default on on use KFK engine for stand alone and code differential positioning modes off use conventional least squares LMS based engine for stand alone and code differential positioning modes This parameter has no effect when receiver is in one of RTK positioning modes i e when par pos mode cur parameter is set to either pf or pd In this case the LMS engine is used to compute stand alone or code differential solution KFK Reset Name par pos kfk reset Access w Type boolean Values on www javad com GREIS GREIS RECEIVER OB Objects Refer Positioning Para Setting this pseudo parameter to on will initialize the KFK engine from conventional least squares based positioning engine KFK Dynamics Mode Name Access Type Values Default par pos kfk dynamic mode rw enumerated static walk car ship aircraft unlim satellite user adapt car The dynamic mode for KFK is defined by the values of horizontal and vertical compo nents of dynamic noise variance and maximum velocity static walk car ship aircraft satellite unlim use one of preset dynamic modes from the table below user use the mode specified by the par pos kfk dynamic user parameter adapt use adaptive mode for dynamic parameters Table 3 1 Preset KFK Dynamic Modes var V var V max V max V Ms is in x an P static 0 0001 0 0001 O 0 walk 1 1 5 5 car 10 1 70 20 ship 50 5
261. lements that make up the corrections the status messages the station parameters and ancillary data are defined in some details 2 User interface A standard interface is defined which enables a receiver to be used in concert with a variety of different data links The formats both GPS GLONASS RTK data and GPS GLONASS differential correc tions are defined as well as the formats of the messages which includes e g reference station parameters special message etc 16 See for details RTCM recommended standards for differential GNSS Global Navigation Satellite Sys tem service version 2 3 August 20 2001 RTCM PAPER 136 2001 SC104 STD GREIS www javad com 357 358 IVER MESSAGES fined Foreign Messages 2 x Messages Note This standard is used for example for broadcasting the differential corrections by the radio beacon based differential services located near coastal waters all over the world Every RTCM message consists of a variable number of 30 bit words the reader will notice some resemblance to the structure of the GPS Navigation Message The first two words in any RTCM message serve as the message header The header comprises the following data fields preamble message type reference station ID modified Z count sequence number length of frame and station health The contents of the other words will depend on the type of the message see 9 for more details Supported RTCM 2 x Messages Table b
262. llite is unhealthy 1 satellite is healthy 4 If set this flag indicates that SV health status from almanac is available 5 7 reserved Ephemeris data ul age Age of operational information En days ul flags Flags for details on the flags see GLONASS ICD bitfield 0 1 pl word 2 p2 word 3 p3 word 4 5 2 LSB taken from Bn word 6 ephemeris was retrieved from non volatile memory 7 reserved f8 r 3 Satellite PE 90 coordinates km 4 v 3 Satellite PE 90 velocities km s 4 w 3 Satellite PE 90 accelerations due to Luni Solar gravitational perturbations km s 2 Clock data f8 tauSys Time correction to GLONASS time scale vs UTC SU tauSys TUTC SU TGLN s f4 tau Correction to satellite clock vs GLONASS time tau TGLN TSV s f4 gamma Rate of satellite clock offset s s ul cs Checksum GREIS www javad com 309 IVER MESSAGES ard Predefined Messages avigation Data WE WAAS Ephemeris struct WAASEhemeris 39 ul waasPrn WAAS SV PRN number within 120 138 ul gpsPrn GPS SV PRN associated with WAAS SV ul iod Issue of data ul acc WAAS SV accuracy u4 tod Reference time seconds of the day s F8 xg yg Zg ECEF coordinates m f4 vxg Vyg VZg ECEF velocity m s f4 vvxg vvyg vvzg ECEF acceleration m s 2
263. lready enabled Antenna Output Masks Name par out ant oport Access rw Type array 1 4 of boolean Values yln yln yln yln Default y n n n Each element of the array enables output of observables taken from corresponding antenna to the port oport This parameter is only available for multi antenna receivers Antenna N Output Mask Name par out ant oport N N 1 4 Access rw Type boolean Values y n Default y N 0 n N gt 0 This parameter enables output of observables taken from antenna N to the port oport This parameter is only available for multi antenna receivers www javad com 185 IVER OBJECTS ts Reference ters of Integrated GREIS Messages Logging History History logging provides statistical information on the raw data receiver measurements being logged to a selected stream After history logger is associated with a specific out put stream and data logging to this stream is enabled history logger will start to collect and record corresponding information It will record one bit of information per satellite every N seconds This bit is set to unity if and only if at least some of the measurements have been stored in the last N seconds and there have been no loss of lock events for the given satellite in the last N seconds If either or both of these conditions are not met a zero bit is recorded to the logging history The logging history has a limited capacity a maximu
264. lt unknown Modem Serial Number Name par modem X inf dev sn X a d Access r Type string 0 50 Default unknown 254 www javad com GREIS GREIS RECEIVER OB Objects Refer Advanced Power Mana 3 4 28 Advanced Power Management Primary Control Points External Power Voltage Name par pwr ext Access r Type float volts Receiver Board Voltage Name par pwr board Access r Type float volts This voltage is measured directly on the board excluding the voltage drop across the power switching circuitry Backup Battery Voltage Name par pwr backup Access r Type float volts External Antenna Control Points External Antenna Voltage Name par pwr extant Access r Type float volts Provided par ant curinp parameter s value is ext this parameter contains the voltage of the antenna power supply External Antenna Current Name par pwr extantdc Access r Type float milliamperes Provided par ant curinp parameter s value is ext this parameter contains the DC the antenna draws from the antenna power supply www javad com 255 IVER OBJECTS ts Reference ed Power Management Secondary Control Points Digital Part 3 Volt Power Name par pwr d3v Access r Type float volts RF Part 3 Volt Power Name par pwr a3v Access r Type float volts Digital Part 5 Volt Power Name par pwr d5v Access r Type float volts RF Part 5 Volt Power Name p
265. ludes an entry called after the name of the file contain ing the file attributes File attributes have the format size mtime where size the size of the file in bytes mtime the time of the last modification of the file in the format YYYY YMMMDDDhhhmmmsss where YYYY is year MMis month DD is day hh is hours mm is minutes and ss is sec onds Attributes of the File NAME Name log NAME Access r Type size mtime For an existing file NAME this parameter contains its attributes see description of the 1og parameter In addition to print and list you can use remove commands with this parameter to remove the file NAME Size of the File NAME Name log NAME amp size Access r Type integer bytes Contents of the File NAME Name log NAME amp content Access r When you print this parameter receiver will output raw contents of the file i e not wrapped into RE messages You can terminate the output any time by sending character to the receiver If you use command identifier receiver will output RE mes sage containing the identifier before the contents of the file www javad com 193 194 nagement Example Example Note IVER OBJECTS ts Reference Examples Print list of all the file attributes along with their names remove one of the files then print the list again gt print log on lt RE032 log log1127b 12910 2006Y11M27D13h21m25s RE02D logl127a 214
266. m of 32 satellites 128 bits per sat ellite Satellites for which all the bits are zero are not included in the logging history The information gathered by the logger could be obtained by means of the LH receiver message For information about LH message see LH Logging History on page 323 Logging Period Name par out logh period Access rw Type integer seconds Values 0 86400 Default 30 The history logging period One bit per satellite is recorded every period seconds Output Stream to be Monitored Name par out logh stream Access rw Type enumerated Values oport dev null Default dev null The name of the output stream the history logger should gather information for If the parameter is set to dev nul11 history logging will be disabled 3 4 18 Parameters of Integrated GREIS Messages These parameters allow you to tailor the integrated messages to your particular needs For more information about the integrated messages please see Integrated Messages on page 314 186 www javad com GREIS GREIS RECEIVER OB Objects Refer Parameters of Integrated GREIS Me Include CA L1 Measurements into rM Message Name par raw rtm meas ca Access rw Type boolean Values on off Default on Include P1 L1 Measurements into rM Message Name par raw rtm meas pl Access rw Type boolean Values on off Default on Include P2 L2 Measurements into rM Message Name
267. me par time utc Access r Type list date clock date UTC date clock UTC clock time of day Current UTC Date Name par time utc date Access r Type string This parameter reports the current UTC date and this date is represented as YYYY MM DD where YYYY the year in the Gregorian calendar between 0001 and 9999 www javad com 113 IVER OBJECTS ts Reference Parameters MM the month of the year between 01 January and 12 December DD the day of the month between 01 and 31 If no time information is available the receiver reports an empty string Current UTC Time of Day Name par time utc clock Access r Type string This parameter reports the current time of day in UTC as a value in the HH MM SS SSS or empty string format depending on whether the time information is available or not HH hours 00 23 MM minutes 00 59 SS seconds 00 60 6 SSS milliseconds 000 999 Current GPS Time Name par time gps Access r Type list week ms week GPS week number ms GPS time inside week Current GPS Week Name par time gps week Access r Type integer Values 71 1023 This parameter reports the current GPS week number If no time information is avail able the receiver reports 1 Current GPS Time of Week Name par time gps ms Access r Type integer milliseconds Values 1 604800000 6 It could be equal to 60 only when UTC leap second happens 11
268. ments Noise Name par pos pd rmsc Access rw Type float meters Values 0 001 100 0 Default 5 0 RMS for Carrier Phase Measurements Noise Name par pos pd rmsp Access rw Type float cycles Values 0 001 1 0 Default 0 05 Maximum Distance Between Base and Rover Name par pos pd range Access rw Type float meters Values 0 0 1000000 0 Default 1000000 0 With this parameter the user specifies the maximum allowed distance between the refer ence and rover stations If this distance exceeds the specified limit the rover receiver will stop to provide the RTK position www javad com 133 134 IVER OBJECTS ts Reference Differential RTK Parameters Minimum Number of Satellites for Fixing Integer Ambiguities Name par pos pd minsat Access rw Type integer Values 4 20 Default 5 RTK Heading Parameters Heading Mode Name par pos pd hd mode Access rw Type boolean Values on off Default off on this value indicates that the mutual distance between the base and the rover antennas remain fixed during the RTK session This restriction allows the RTK engine to fix ambiguities faster and more accurately Use Fixed Baseline Length Name par pos pd hd uselen Access rw Type boolean Values on off Default off on RTK engine will use in the heading mode the a priori baseline length from the parameter par pos pd hd 1en 0 unless its value is equal to zero
269. messages having fixed message size allow to add more data fields in the future New fields are allowed to be inserted only at the end of message body just before the checksum field if any Such modifications to the message bodies are consid ered to be format extensions not incompatible changes Though standard GREIS text messages aren t messages with fixed message size new fields may still appear in these messages in the future New fields can be either inserted at the end of an existing text message just before the checksum field or immediately before any right hand brace For example a message that is currently read as wl 21 22 3 CS can be later extended to wl 2 1 2 2 2 3 3 4 CS where two additional fields 2 3 and 4 were added Implement your parsing algorithms taking into account the following rules to make them work even with future format extensions 1 Don t assume that the size of message body of the received message should exactly match specific size defined in this document Only if the message is too short does it mean you can t use its contents If the message is longer than expected just ignore the excess data 2 Address the checksum field relative to the end of the message body www javad com 283 284 IVER MESSAGES Notes ard Predefined Messages 3 Address other data fields relative to the beginning of the message body 4 Take into consideration the above rule for ex
270. meters Allowed range is 10000000 10000000 3 3 13 pos geo The pos geo type is used to denote Geodetic coordinates It has the following format datum id lat lon alt where lat latitude see below for accepted formats Allowed range is 90 90 degrees Negative latitude corresponds to the Southern hemisphere lon longitude see below for accepted formats Allowed range is 180 180 degrees Negative longitude corresponds to the Western hemisphere alt altitude in meters Allowed range is 20000 20000 GREIS www javad com 61 IVER OBJECTS ry Object Types 0 Output Format for Angles For latitude and longitude the print command uses the following formats N S DDdMMmSS SSSSSSs for latitude E W DDDdMMmSS SSSSSSs for longitude where N S E and W designate Northern Southern Eastern and Western hemi sphere respectively DD DDD integer degrees MM integer minutes SS SSSSSS integer and fractional seconds d m s delimiters For example N83d42m47 556000s means 83 degrees 42 minutes and 47 556 seconds Northern latitude E083d42m47 556000s means 83 degrees 42 minutes and 47 556 seconds Eastern longitude The set command supports two different formats for latitude and longitude These are the general format and the almost fixed format General Input Format for Angles General format for entering latitudes and longitudes is an extended version of the format that receiver uses when
271. meters for Antenna CMR ID Name par antdb cmr CMR ID Access r Type list id ll arp l2 11 id corresponding antenna ID ll arp vector offset between L1 phase center and antenna reference point 12 11 vector offset between L2 and L1 phase centers Antenna ID for Specific CMR ID Name par antdb cmr CMR_ID id Access r Type string Antenna ID for the specified CMR ID L1 to ARP Offset for CMR ID Name par antdb cmr CMR ID ll arp Access r Type list east north height of float meters Values 100 0 100 0 100 0 100 0 100 0 100 0 Vector offset between L1 phase center and ARP 166 www javad com GREIS GREIS RECEIVER OB Objects Refer Antenna Da L1 to L2 Offset for CMR ID Name par antdb cmr CMR_ID 12 11 Access r Type list east north height of float meters Values 100 0 100 0 100 0 100 0 7 100 0 100 0 Vector offset between L1 and L2 phase centers IDs Maps Name par antdb ids Access r Type list id cmr id map from antenna ID to CMR antenna ID cmr map from CMR antenna ID to antenna ID ID to CMR ID Map Name par antdb ids id Access r Type list ID For every antenna ID contains its corresponding antenna ID and CMR ID ID to CMR ID Map Element Name par antdb ids id ID Access r Type string For specified antenna ID contains antenna ID together with the corresponding CMR ID in the format ID CMR ID
272. mmon Loops Parameters Common Loops Mode Name par raw clp loops Access rw Type boolean Values on off Default off on common loops mode is turned on off common loops mode is turned off When common loops mode is turned on you may want to change either or both of the common loops bandwidth and individual loops bandwidth For more information about the common loops mode refer to JAVAD GNSS website at http www javad com www javad com 77 IVER OBJECTS ts Reference rements Parameters Individual Loops Bandwidth Name par raw clp indband Access rw Type float Hz Values 2 20 Default 5 Common Loops Bandwidth Name par raw clp comband Access rw Type float Hz Values 2 50 Default 25 Receiver Dynamics for Common Loops Name par raw clp static Access rw Type boolean Values on off Default off on assume receiver doesn t move Receiver will be able to acquire satellites with lower signal to noise ratios This is achieved by reducing the number of unknowns estimated specifically from 4 down to 1 which is possible only for a static receiver off don t assume receiver is static for the purposes of common loops Additional L2 specific Common Loop Name par raw clp2 loop Access rw Type boolean Values on off Default on on receiver will use common loop to tracks L2 carrier phases off receiver won t use common loop to track L2 carrier phases
273. mputed altitude for position computation in the case when SVs number is not enough for conventional position computation off receiver is not allowed to hold last computed altitude Enable to Hold Clock Drift Name par pos hold clkdft Access rw Type boolean Values off on Default off on receiver can hold last computed clock drift extrapolate last computed clock Offset for position computation in the case when SVs number is not enough for conventional position computation www javad com 101 102 IVER OBJECTS ts Reference ining Parameters off receiver is not allowed to hold last computed clock drift Enable to Hold Intersystem Time Offsets Name par pos hold systime Access rw Type boolean Values on off Default on on receiver can hold last computed intersystem time scales offsets for position computation in the case when SVs number is not enough for conventional position computation off receiver is not allowed to hold last computed time offsets KFK Parameters KFK is positioning engine based on Kalman filter It could be used in standalone or code differential positioning modes with or without WAAS EGNOS KFK provides sufficient increase of positioning accuracy availability continuity and integrity especially for mobile dynamic user in case of unfavorable environment conditions dense canopy city canyon etc KFK Mode Name par pos kfk mode Access rw Type boo
274. msg def jps ET Add NMEA GGA message to the default set of messages and force its period and phase to be always 10 and 5 respectively no matter what values for them will be speci fied in a em or out command gt create msg def nmea GGA gt set msg def nmea GGA 10 5 0x30 www javad com 43 44 Example Example IVER INPUT LANGUAGE 2 3 8 remove Name remove remove an object Synopsis Format remove object Options none Arguments object object identifier of the object to be removed If object does not begin with 7 then log prefix is automatically inserted before the object prior to exe cuting the command if present and the object is of type list remove all the object contents instead of the object itself Options None Description This command removes deletes an existing object No response is generated unless there is an error or response is forced by the statement identifier If there is no object specified by object or if the object can t be removed an error is generated Two kinds of objects could be removed 1 Files If the file is one of current log files the command will fail and error mes sage will be generated 2 Message specifiers from message sets Examples Remove the log file with the name NAME Either of gt remove log NAME gt remove NAME Remove all log files gt remove log www javad com GREIS Example E
275. mware supports either one or two simultaneous log files depending on particular receiver GREIS www javad com 41 42 IVER INPUT LANGUAGE Creating Files When creating files the object argument is either omitted or has a format log NAME where NAME is the name of the file to be created and 109 is optional In the former case receiver will automatically select an unique name for the file In the latter case the NAME specified should be a string of up to 31 characters and should contain neither spaces nor the following characters amp amp V If the file log NAME already exists the create command will fail and produce an error message As a consequence there is no way to clobber some of existing files with the create command After a new file is successfully created it s assigned to one of the current log files depending on the value of the log_ file option If corresponding log file already points to another file when create is executed the old log file will be closed and the output will continue into the new file without any interruption An automatically generated file name has the following format P PMMDDS S where P P is prefix specified by the value of the receiver parameter par cmd cre ate pre X X log MM is the month number DD is day of month number and S S is a suffix to make unique names for the files created on the same day The suffix begins with empty value then the letters a to z a
276. n for GPS Name par ref sysarp gps xyz Access r Type pos Xyz Default W84 6378137 0000 0 0000 0 0000 WGS 84 Geodetic ARP Position for GPS Name par ref sysarp gps geo Access r Type pos geo Default W84 N00d00m00 000000s E00d00m00 000000s 40 0000 PE 90 Cartesian ARP Position for GLONASS Name par ref sysarp glo xyz Access r Type pos Xyz Default P90 6378137 0000 6 3781 1 0000 PE 90 Geodetic ARP Position for GLONASS Name par ref sysarp glo geo Access r Type pos geo Default P90 S00d00m00 032557s W000d00m00 206265s 1 0000 Reference Position Averaging All the features depending on the receiver reference position work best when specified reference position is known in advance with high precision However when precise position is unknown there are still some applications that will tolerate even not that pre cise reference position Reference Position Averaging feature allows receiver to auto matically calculate and set its reference position Reference Position Averaging Mode Name par ref avg mode Access rw Type boolean Values on off Default off on receiver will compute its smoothed coordinates by averaging stand alone posi tion estimates over the specified interval after receiver reset or restart The interval is defined by the par ref avg span parameter see below The absolute coordi www javad com 149 150 IVER OBJECTS ts Reference nce
277. n Option Authorization File OAF to the receiver using desktop receiver control software Each option is characterized by the following descriptors Option name Purchased value Leased value Expiration date of leased value Current value A receiver option can be purchased leased or purchased and leased at the same time A leased option is characterized by the leased value and the expiration date A purchased option is characterized only by the purchased value because such an option has no expiration date Since any option can be purchased and leased at the same time we should take into account all of the purchased and leased descriptors as a whole It is the numerical descriptor current that serves this purpose This descriptor indicates the value currently effective for the given option Note that current will either coincide with the larger of the purchased and leased val ues or be set to 1 f current equals 1 this means that the corresponding receiver option is not supported by the firmware version you use f current equals zero the corresponding receiver option is disabled f current equals a positive integer the option is enabled www javad com GREIS GREIS RECEIVER OB Objects Refer Receiver Options Parameters With the following read only parameters you can retrieve information about the receiver options Complete Information About the Receiver O
278. n of base rover modes JAVAD GNSS receivers support a set of parameters that 1 Allow to check if some feature that could be considered to belong to either base or rover mode is active 2 Allow to turn off some features that could be considered to belong to either base or rover mode Note that these parameters can t be used to turn base or rover mode on because JAVAD GNSS receivers have no idea what exactly those modes are from the point of view of given application Turn off base and rover mode gt set par base mode off gt set par rover mode off gt set par pos mode cur sp Base Modes Name par base mode Access rw Type list rtcm cmr jps rtcm3 Values on off on off on off on off Default off off off off www javad com GREIS GREIS RECEIVER OB Objects Refer Base and Rover This parameter is a list of boolean values describing the status of output of messages of corresponding formats You can turn off all of these formats by using the command set par base mode off Refer to description of individual parameters below for details RTCM 2 x Base Mode Name par base mode rtcm Access rw Type boolean Values on off Default off Setting this parameter to off will disable output of all the RTCM 2 x messages to all of the receiver ports Receiver returns error if you try to set this parameter to on on indicates that there is at least one RTCM 2 x message enabled to be output to at
279. nce Time to Receiver Time Offset 290 DO Derivative of Receiver Time Offset 290 BP Rough Accuracy of Time Approximation 290 NT GLONASS Time 0 00 00 00000 eee 290 NO GLONASS to Receiver Time Offset 290 GO GPS to Receiver Time Offset 291 UO GPS UTC Time Parameters 291 WU WAAS UTC Time Parameters 291 EU GALILEO UTC and GPS Time Parameters 292 4 4 5 Position Velocity Messages 4 292 ST Solution Time Tag 2 0000 292 PO Cartesian Position 0000055 292 VE Cartesian Velocity 0 000 e eee 293 PV Cartesian Position and Velocity 293 PG Geodetic Position lille 293 VG Geodetic Velocity 00020 293 SG Position and Velocity RMS Errors 293 8 www javad com GREIS TABLE OF CON DP Dilution of Precision DOP 294 SP Position Covariance Matrix 294 SV Velocity Covariance Matrix 294 BL Base Line 294 PS Position Statistics 0 0 0 0 00 eee eee 295 PT Time of Continuous Position Computation 295 4 4 6 Satellite Measurements 0 000000 0 0s 296 SI Satellite Indices 0 0 0 0 0 00 0 c eee eee 297 AN Antenna Names 00 0000 c eee ee 297 NN GLONASS Satellite System Numbers 297 EL Satellite Elevations
280. necting err fatalerror has occurred In this case the user will need to change the parameter par modem X mode to off fix the problem and then retry setting the required modem mode See the parameter par modem X err for what specifically might have caused the error GREIS www javad com 251 252 IVER OBJECTS Note ts Reference odem Parameters Last Detected Modem Error Name par modem X err X a d Access r Type enumerated Values none detect init pin net busy no carrier no answer gnet gservice gdenial Default none This parameter shows the last of the errors identified by the modem driver provided the value of par modem X state is err none no errors have been detected detect cannot find a modem on the port init an initialization error has occurred pin wrong PIN code net a network error has occurred busy the phone number is busy To rectify this temporary problem just call again at a later time no carrier cannot detect the carrier signal This temporary error can occur if the second modem at the other end of the radio link has not been initialized or if there are some problems with the GSM network The given GSM modem will con tinue to dial in to the modem on the other side of the radio link until the carrier sig nal is detected no answer no hang up is detected after a fixed network time out gnet GPRS network error gservice error attaching to GPRS service gd
281. ng crc is output by transmitter LSB first A 3 Compensating for Phase Rollovers Carrier phases from receiver messages pc p1 and p2 will have discontinuities due to the periodic rollovers of the 32 bit word used to represent the carrier phase in these messages Such rollovers don t occur very frequently approximately once every 15 min utes or more If you wish to use these messages and want to remove this kind of discon tinuities from the carrier phases use the following correction technique The C function phase below recovers full phase typedef unisgned long u32 Return full carrier phase in cycles provided prev contains short carrier phase from previous epoch cur contains short carrier phase at current epoch and rollovers points to the variable containing number of detected rollovers so far Updates the number of detected rollovers www javad com 369 NDICES lete Receiver Objects um Calculation double phase u32 curr u32 prev u32 rollovers if curr lt 1 lt lt 30 amp amp prev gt 1 lt lt 30 3 rollovers if curr gt 1 lt lt 30 3 amp amp prev lt 1 lt lt 30 rollovers return 1 lt lt 16 double rollovers 1 lt lt 16 curr 1024 Pseudo code for a program utilizing the above function is u32 rollovers 0 u32 curr u32 prev SEEK TO THE FIRST EPOCH prev GET SHORT PHASE FORM CURRENT EPOCH loop ae GET SHO
282. nges for tropospheric delay errors when computing the point position For the tropospheric model applied please refer to Technical characteristics of the NAVSTAR GPS June 1991 off receiver will not use tropospheric corrections Tropospheric corrections are used in the receiver exclusively for computing single point position Receiver messages will contain raw pseudoranges PDOP Mask Name Access Type Values Default par pos pdop rw float 0 500 30 If the current PDOP value exceeds the specified mask the receiver will not compute the single point or code differential position Local Time Zone Name Access Type Values Default par pos ltz rw list integer integer 713 413 0 459 0 00 The first parameter in the list describes the local zone hour offset from the UTC time The second parameter in the list describes the local zone minute offset from the UTC time These local zone hour and minute offsets will be used in NMEA ZDA message www javad com GREIS GREIS RECEIVER OB Objects Refer Positioning Para Fixed Geoidal Separation Name par pos geoidh Access rw Type float meters Values 1000 1000 Default 0 This parameter allows to enter user defined geoidal separation If the parameter par pos fix geoidh is set to on the user defined geoidal separation value is used for orthometric height computation overriding its counterpart from the in built geo
283. nr Access rw Type integer dB Hz Values 0 50 Default 30 Satellites whose signal to noise ratios are lower than this value will be excluded from position computation Position Computation Mode Name par pos mode cur Access rw Type enumerated Values pd pf cd wd sp Default sp pd carrier phase differential RTK with fixed ambiguities pf carrier phase differential RTK with float ambiguities cd code differential DGPS mode wd wide area code differential mode WDGPS using SBAS corrections sp single point positioning mode These computation modes are arranged in the order of increasing of their typical accu racy sp being the lowest and pd being the highest accuracy mode Receiver will try to compute position according to the mode specified by this parameter If for whatever rea son it fails to compute corresponding position it will try to use the next mode below the current one provided the mode is enabled by corresponding parameter see below This process continues down the list of modes until either some position is enabled and could be computed or all the modes are exhausted In fact receiver will still compute single point position for its internal purposes though it will not make it available for output if disabled Current implementation of code differential mode has a limitation There are cases when receiver will not try to compute single point position when it failed to compute code differ
284. nt Name Name par net ppp gprs pdp apn Access rw Type string 0 32 Values arbitrary string Default empty string This parameter specifies Packet Data Protocol PDP access point name www javad com GREIS GREIS RECEIVER OB Objects Refer Network Para GPRS QoS Requested Precedence Class Name par net ppp gprs at cgqreq prcd Access rw Type integer Values 0 3 Default 0 This parameter specifies the precedence class for Quality of Service Profile Requested for AT CGQREQ command GPRS QoS Requested Delay Class Name par net ppp gprs at cgqreq delay Access rw Type integer Values 0 4 Default 0 This parameter specifies the delay class for Quality of Service Profile Requested for AT CGQREQ command GPRS QoS Requested Reliability Class Name par net ppp gprs at cgqreq relb Access rw Type integer Values 0 5 Default 0 This parameter specifies the reliability class for Quality of Service Profile Requested for AT CGQREQ command GPRS QoS Requested Peak Throughput Class Name par net ppp gprs at cgqreq peak Access rw Type integer Values 0 9 Default 0 This parameter specifies the peak throughput class for Quality of Service Profile Requested for AT CGQREQ command www javad com 235 IVER OBJECTS ts Reference k Parameters GPRS QoS Requested Mean Throughput Class Name par net ppp gprs at cgqreq mean Access rw Type integer Values 0
285. ntenna Names struct AntName nSats 1 al name nSats Antenna names a z ul cs Checksum N This message contains antenna name ASCII character in the range a z for every sat ellite from the latest SI message This message is only available for muli antenna receivers NN GLONASS Satellite System Numbers struct SatNumbers nGloSats 1 ul osn nGloSats GLONASS SV orbit slot number ul cs Checksum y The NN message contains the orbit slot number for every GLONASS satellite from the latest SI message Here nGloSats designates the number of GLONASS satellites in the 7 As specified by par out elm port parameter www javad com 297 IVER MESSAGES ard Predefined Messages e Measurements corresponding SI message remember that GLONASS satellites have USI lying within the range 38 70 EL Satellite Elevations struct SatElevation nSats 1 il elev nSats Elevation angle degrees 90 90 ul cs Checksum he This message contains elevations for all the satellites specified in the latest SI message AZ Satellite Azimuths struct SatAzimuth nSats 1 ul azim nSats Azimuth angle degrees 2 0 180 ul cs Checksum J This message contains azimuths for all the satellites specified in the latest SI message The notation degrees 2 means that the values from the message must be multiplied by 2 to restore actual azimuths in degrees RC R
286. nto the command to be able to identify the reply got from the job Here are actual commands gt Turn off scheduler and deactivate all jobs t par sess mode off set par sess active n Define spec omds count and port fields for job 0 set par sess job 0 0 0 dev ser a Define command 0 set par sess cmds 0 job a size print cur file a amp size Activate job 0 set par sess active 0 y Turn scheduler on set par sess mode on n D This example demonstrates one use of the port field of job specification Another one would be monitoring of execution of session commands By setting port to one of receiver ports it is possi ble e g to see if any errors occur as a result of job execution 3 4 23 Notebook Notebook allows the user to store arbitrary information into the receiver and retrieve it later if necessary In addition as this information is output in the PM message along with other parameters it could be used to pass arbitrary text data from controller appli cation to a post processing one 3 Notes Name par note Access r Type list str nv 13 See also event on page 46 for another way to communicate to post processing applications www javad com GREIS GREIS RECEIVER OB Objects Refer Generic Communication Para Note Strings Name par note str Access r Type array 0 7 of strings Note String N Name par note str N N 0 7 Access rw Ty
287. number N n disable tracking of GALILEO satellite number N Types of GALILEO Satellites by Their Numbers Name par lock gal giove Access rw Type array 1 32 of boolean Values yln yIn Default y y Specifies types of GALILEO satellites by their PRN Type of GALILEO Satellite Number N Name par lock gal giove N N 1 32 Access rw Type boolean Values y n Default y y satellite number N is Giove satellite n satellite number N is true GALILEO satellite Enable Tracking of GLONASS Satellites by FCN Name par lock glo fen Access rw Type array 7 6 of boolean Values y n y n Default n n n n y y www javad com 69 IVER OBJECTS ts Reference rements Parameters Enables disables the receiver to track GLONASS satellites by their FCN Enable Tracking of GLONASS Satellite FCN N Name par lock glo fcn N N 7 6 Access rw Type boolean Values y n Default n N 7 4 y N 3 6 y enable tracking of GLONASS satellite with FCN N n disable tracking of GLONASS satellite with FCN N Enable Tracking of SBAS Satellites by Their Numbers Name par lock sbas sat Access rw Type array 120 138 of boolean Values y n y n Default sensible at the moment of firmware release Enables disables the receiver to track SBAS satellites by their PRN Enable Tracking of SBAS Satellite Number N Name par lock sbas sat N N 120 138
288. ode This parameter specifies alarm limit value for the manual alarm limit mode The default value of this parameter numerically corresponds to the value used in npa mode 104 www javad com GREIS GREIS Filtering Position Estimates Position Filter Mode Name Access Type Values Default par pos filt mode rw boolean on off off Position Filter Type Name Access Type Values par pos filt type je enumerated stat RECEIVER OB Objects Refer Positioning Para stat simple N point weighted moving average is used to smooth the current posi tion Note that this type of position filter normally applies only to static or nearly static receivers in sp or cd mode It is especially useful when the number of tracked satellites changes abruptly in this case the position accuracy may temporarily drop dramatically unless the position filter is on For moving receivers using this type of position filter may adversely affect the receiver trajectory s accuracy Position Filter Width Name Access Type Values Default par pos filt num rw integer 1 10000 30 This parameter designates the number of the preceding pre filtered position measure ments used by the least squares estimator to obtain the current smooth position Pro vided par pos filt type is stat the only one currently supported this estimator is just an N point weighted running average Maximum Allowed Time G
289. of a parameter or a comma separated list of ITEMs surrounded by braces LH Logging History struct LoggingHistory var ul svsCount Number of SVs ul targetStream Stream ID u2 issue Issue of the history u2 bitsCount Number of bits u4 lastBitTime Time since the last history shift ms ul uids svsCount SVs UIDs ul pad padCount Padding u4 hist elemsCount svsCount History bits he www javad com 323 IVER MESSAGES ard Predefined Messages laneous Messages This message contains history of logging of satellites data into particular stream For a description of how logging history works and parameters governing logging history see Logging History on page 186 Fields description svsCount Number of SVs in this history targetStream The stream ID the history is gathered for see description of the gt gt message for details issue The issue of the history It is incremented every time the history is changed bitsCount Number of bits in this history This history contains this number of bits for every SV specified in the uids field lastBitTime Time in milliseconds since the last history shift uids svsCount Array of SVs UIDs pad padCount Padding with zeroes to align the next field on 4 bytes boundary fillCount 4 svsCount 4 4 hist elemsCount svsCount History bits For every SV the bits are packed into array of u4 values Most signific
290. of every RTCM 2 x message these characters are specified by the value of par rtcm base es parameter see below Delimiting Character s for RTCM 2 x Messages Name par rtcm base es Access rw Type list integer integer Values 1 127 71 127 Default 13 10 This parameter determines up to two delimiting characters that will be added to the end of every RTCM 2 x message The value 1 disables corresponding character other val ues specify ASCII code of the character RTCM 2 x Rover Parameters Use Local Datum for Referencing Differential Corrections on Rover Name par rtcm rover locdtm Access rw Type boolean Values on off Default off The value of this parameter should match those of the par rtcm base locdtm parameter on the reference station Refer to the description of the aforementioned parameter on page 173 for details www javad com GREIS GREIS RECEIVER OB Objects Refer RTCM 2 x Para Use Not Monitored Reference Station Name par rtcm rover usenm Access rw Type boolean Values on off Default on This parameter enables disables use of data received from a reference station whose health status code is set to 110 According to the RTCM 2 x standard this code indicates that data transmitted by this station is not monitored on use data from a reference station even when its status code is 110 off do not use data from a reference station which status code is
291. of the RTCM format JAVAD GNSS recommends that you use messages 23 and 24 instead of messages 3 and 22 To retain backward compatibility with previous versions of RTCM format it is recommended to transmit both pairs of the messages in the same RTK data stream This table indicates how many 30 bit words each specific RTCM message takes For information on the total amount of data in bytes transmitted by the reference station in RTK or DGPS see GREIS User s Manual available from http www javad com www javad com 359 360 Example Example Example IVER MESSAGES fined Foreign Messages 3 0 Messages 4 5 4 RTCM 3 0 Messages RTCM Radio Technical Commission For Maritime Services SC 104 Special Commit tee 104 has developed a standard for differential GNSS Global Navigation Satellite Systems service 7 The following RTCM 3 0 messages are supported e 1003 GPS Basic RTK L1 and L2 1004 GPS Extended RTK L1 and L2 e 1005 Stationary Antenna Reference Point without Height Information e 1006 Stationary Antenna Reference Point with Height Information 1007 Antenna Descriptor e 1008 Antenna Descriptor and Serial Number 1011 GLONASS Basic RTK L1 and L2 1012 GLONASS Extended RTK L1 and L2 1019 GPS ephemeris include GPS ephemeris in accordance with current RTCM documents e 1020 GLONASS ephemeris include GLONASS ephemeris in accordance with current RTCM documen
292. off Default off on HDT and ROT messages will be output in RTK with fixed ambiguities position computation mode only off HDT and ROT messages will be output with any position computation mode where corresponding values are calculated Enable GRS and GSA to Contain More Than 12 Satellites Name par nmea grsgsa Access rw Type boolean Values on off Default off on GRS and GSA messages may contain more than 12 GNSS satellites off GRS and GSA messages will never contain more than 12 satellites www javad com 189 190 IVER OBJECTS ts Reference ters of NMEA messages Mantissa Length for Fractional Seconds of UTC Time Name par nmea frac sec Access rw Type integer Values 0 2 Default 2 This parameter specifies the number of digits in the fractional part of the seconds of UTC time Mantissa Length of Fractional Minutes for GGA Message Name par nmea frac min GGA Access rw Type integer Values 1 7 Default 7 This parameter specifies the length of mantissa for representation of factional minutes of latitude and longitude for GGA message Mantissa Length of Fractional Minutes for GLL Message Name par nmea frac min GLL Access rw Type integer Values 1 7 Default 7 This parameter specifies the length of mantissa for representation of factional minutes of latitude and longitude for GLL message Mantissa Length of Fractional Minutes for GNS Message Name par nmea
293. off RTK engine will compute its own baseline length estimate which is obtained by averaging instantaneous baseline estimates over a 30 second interval after the first ambiguity fix Thus a derived empirical estimate is then used by the RTK engine to improve ambiguity fixing Also note that this empirical estimate is con stantly refined by the receiver as new measurements arrive Fixed Baseline Length Name par pos pd hd len N N 0 2 Access rw Type float meters Values 0 10000 Default 0 www javad com GREIS GREIS RECEIVER OB Objects Refer Phase Differential RTK Para Currently only parameter with N 0 is used by RTK engine Unless the value of this parameter is zero it will be used by RTK engine in the heading mode provided par pos pd hd uselen is set to on Penalty Factor for Baseline Length Term Name par pos pd hd pen Access rw Type float Values 0 10 Default 0 25 The larger this weight the more critical for correct ambiguity resolution is the a priori baseline length specified by the parameter par pos pd hd len The penalty factor must be consistent with the actual accuracy of the specified a priori baseline length It it is not the case the RTK engine may not be able to fix ambiguities correctly In most scenarios it will be sufficient to use the default value of the penalty factor The heuristic formula for the penalty factor is the following pf 6 sigma2 where sigma
294. og set power off Activate jobs 0 and 1 set par sess active y y Turn scheduler on set par sess mode on n D n D Suppose we need to setup a permanent station that will work from 8 00 00 to 20 00 00 every day from Monday to Friday and will be turned off during weekend Saturday and Sunday During work time the station should transmit differential correction through one of its serial ports and write measurement files to its internal memory The files should be automatically rotated every hour and oldest file should be deleted when there is not enough memory to write latest data To achieve this we first program receiver to be base station to send corrections and con figure AFRM mode to handle logging stuff not shown in this example www javad com GREIS Example GREIS RECEIVER OB Objects Refer Session progra Then program the following 4 jobs job 0 spec d08h00m00s cmd job 1 spec d20h00m00s cmd set sleep on job 2 spec 7d08h00m00s cmd set sleep on job 3 spec 0d08h00m00s cmd set sleep on Jobs a and b will turn receiver on and off at specified times every day But that is not exactly what we want as receiver then will work on Saturday and Sunday as well To prevent this we configure jobs c and d that will put receiver into sleep mode immedi ately after wake up on Saturday and Sunday respectively There will be short periods of time when receiver is turned
295. ogress in percentage 6 AF Estimated probability of fixing ambiguities correctly 7 2F X for the position fix 8 4F Time shift between the rover and base receiver times multiplied by the speed of light and presented in meters 9 4F Derivative of time offset between the rover and the base meters second 10 2F Root mean squared single differenced ionosphere error as esti mated by the RTK enginem meters 11 9o 2F Corrections age seconds When RTK works in extrap mode this field contains extrapolation time of data from reference station When RTK works in delay mode this field is zero 12 2X Checksum AP Position Covariance Matrix This message is a text version of the message SP Format Description 1 POSCOV Message title 342 www javad com GREIS GREIS RECEIVER MESS Standard Predefined Mess Text Me Format Description 2 C UTC time indicator V means UTC time is valid N means UTC time is not valid 3 6 2F UTC time of the position fix the first two digits designate hours the next two digits designate minutes and the rest of the digits des ignate seconds 4 C Position covariance matrix indicator V means that Position covariance matrix is available N means that Position covariance matrix is not available If this indicator is N the indicator
296. ompact Instead receiver provides dedicated message for each particular measurement type Every individual measurement message contains some specific homogeneous data for the satellites tracked For any given epoch data for particular satellite is put at the same position index in all the messages Special Satellite Indices SI message establishes the mapping between Universal Satellite Identifier USI and the index for this particular satellite The number of satellites an epoch has data for nSats should also be obtained from the SI message This approach allows the minimization of the data transfer overheads note that the gain increases as the number of satellites grows For multi antenna receivers given USI typically appears multiple times in every SI message indexing observables obtained from different antennas The AN message should then be used to determine which antenna the observables are obtained from Most of the measurements messages may contain special values of corresponding types to indi cate lack of data for particular satellite s Refer to Table 4 2 Special Values for Fields on page 279 for details Universal Satellite Identifier USI To make it possible to handle data corresponding to satellites of different systems in a universal manner we assign each satellite its Universal Satellite Identifier USI The following table describes USI allocation Table 4 6 Universal Satellite Identif
297. on 3 6 2F UTC time of position the first two digits designate hours the next two digits designate minutes and the rest digits designate seconds 4 2D Total number of satellites used in position computation 5 C 2D 2 Group of fields associated with the given satellite note that the F D total number of such groups is determined by the previous field These fields are Navigation system identifier G designates GPS satellites R or F both designate GLONASS satellites F is used for R until the receiver has determined the satellite s slot number Satellite system number or for GLONASS satellite frequency channel number GPS SV PRN follows after the G flag GLO NASS SV slot number follows after the R flag or GLONASS SV frequency channel number follows after the F flag Time residual in nanoseconds for the given satellite This satel lite specific time correction is defined as V1 V2 where V1 is the system time to the receiver time offset as estimated using this particular satellite i e the difference between the satel lite s own clock and the receiver clock V2 is the system time to the receiver time offset as estimated using all of the satellites belonging to this navigation system Note that it is V2 that governs PPS signals generated in the receiver Issue of data for satellite ephemeris For GPS satellites this field includes
298. on Parameters 342 AP Position Covariance Matrix 342 AB Baseline Length 2 0000 343 4 5 Predefined Foreign Messages 0 00 ees 344 4 5 1 Approved NMEA sentences 4 344 GGA Global Positioning System Fix Data 346 GLL Geographic Position Latitude Longitude 347 GNS GNSS Fix Data 0 00 0000000 sees 348 GRS GNSS Range Residuals 350 GSA GNSS DOP and Active Satellites 351 GST GNSS Pseudorange Error Statistics 352 GSV GNSS Satellites in View 352 RMC Recommended Minimum Specific 353 HDT Heading True 04 354 VTG Course Over Ground and Ground Speed 354 ROT Rate of Tum 0 eee 355 ZDA UTC Time and Date 0 355 GMP GNSS Map Projection Fix Data 356 4 5 2 JNS Proprietary NMEA Sentences 356 ATT Attitude Parameters 0 00 357 GREIS www javad com 11 OF CONTENTS 4 5 3 RTCM 2 x Messages 0 0c cece eee 357 Introduction to RTCM 2 x Messages 357 Supported RTCM 2 x Messages 2 358 4 5 4 RTCM 3 0 Messages 0 000 e eee ee eee 360 4 5 5 CMR Messages 0 0 ee eee eee 361 Introduction to CMR Messages lle sess 361 Supported CMR Messages sls 00 ee eee 361 4 5 6 BINEX Messages
299. on Saturday and Sunday but who cares Note that we don t need jobs similar to c and d to be run at 20 00 00 on Saturday and Sunday as job b will put receiver into sleep mode anyway Here are the commands base station configuration and AFRM programming not shown gt Turn off scheduler and deactivate all jobs set par sess mode off set par sess active n Define spec cmds count and port fields for jobs 0 3 set par sess job 0 8h0m0s 0 0 dev null set par sess job 1 20h0m0s 1 0 dev null set par sess job 2 7d8h0m0s 1 0 dev null set par sess job 3 0d8h0m0s 1 0 dev null Define commands 0 and 1 set par sess cmds 0 set par sess cmds 1 set sleep on Activate jobs set par sess active y y Y y Turn scheduler on set par sess mode on AA kiy ATA ACRI Suppose we need to output the size of current log file to receiver port A every second There is no predefined message that contains this information but there is correspond ing parameter that we can print so we program single job to achieve the required result job a spec dhms cmd Sjob a size print cur file a size port dev ser a www javad com 211 212 IVER OBJECTS ok Note ts Reference When this job is active receiver will output RE message to the port A every second in the form REXXX job a size SIZE cco where SIZE is current file size We ve put Sjob_a size i
300. on computation the talker ID is set to GP or GL respectively If GPS and GLONASS are used together two GSA messages are generated at one time The first and second messages relate to the GPS and GLONASS satel lites respectively Both the messages however will have the same talker ID GN and the same DOP values the latter are actually computed for the com bined constellation The talker ID GN indicates that this pair of messages relate to the one and the same GNSS solution Table 4 11 Satellite ID Numbers NMEA Satellite ID Numbers System Numbers 1 32 GPS PRN numbers 1 32 65 88 GLONASS slot numbers 1 24 GREIS www javad com 351 352 IVER MESSAGES Note fined Foreign Messages ed NMEA sentences GST GNSS Pseudorange Error Statistics This message is used to support Receiver Autonomous Integrity Monitoring RAIM Format Meaning 1 6 0 2 F UTC time of position the first two digits designate hours the next two digits designate minutes and the rest designate seconds 2 3F Estimated standard deviation of the range input s error SV Range input which is used in the navigation process includes this satel lite s pseudo range and the corresponding DGNSS correction meters 3 3F Semi major axis of error ellipse meters 4 9o 3F Semi minor axis of error ellipse meters 5 3F Orientation of semi major axis
301. on data block ul cs Checksum www javad com 311 IVER MESSAGES essages ard Predefined Messages In the data field of the message the most significant bit of the first byte corresponds to the first broadcasted symbol For GIOVE E1B the data field of the message contains navigation data starting from the Res 1 field up to and including the Tail field 4 4 9 ADU Messages MR Rotation Matrix struct RotationMatrix 37 u4 4 4 ul ul ul H time receiver time ms q00 q01 q02 q12 components of the rotation matrix Q rms 3 estimated accuracy for three baseline vectors m solType 3 solution type for three baseline vectors flag 0 components of matrix Q are invalid 1 valid CS Checksum mr Rotation Matrix and Vectors struct RotationMatrixAndVectors 73 4 mh e cH Fh 4 4 1 1 F4 4 4 1 y time receiver time ms q00 q01 q02 q12 components of the rotation matrix Q rms 3 estimated accuracy for three baseline vectors m solType 3 solution type for three baseline vectors flag 0 components of matrix Q are invalid 1 valid b10 3 baseline vector M S0 in the current epoch m bll 3 baseline vector M S1 in the current epoch m b12 3 baseline vector M S2 in the current epoch m CS Checksum AR Rotation Angles struct RotationAngles 33 u4 4 4 ul ul ul
302. on intended to facilitate interconnection and interchangeability of equipment pro duced by different manufacturers The standard defines data transmission specifications message types and a data exchange protocol between Talker and Listener It is widely used not only in marine applications but in many other applications too The NMEA 0183 standard provides together with other information the description of the approved sentences Approved sentences are those having predefined formats Every approved sentence has talker identifier and sentence identifier and is uniquely characterized by the corresponding predefined set of fields There is a whole variety of devices that may serve as talkers in NMEA applications e g marine sounders and weather instruments A specific talker however may handle only a particular set of approved messages For example a combined GPS GLONASS receiver utilizes only a limited number of the existing approved sentences specifically sentences containing GNSS related naviga tional positioning information 14 NMEA 0183 Standard For Interfacing Marine Electronic Devices v 3 0 July 1 2000 344 www javad com GREIS GREIS RECEIVER MESS Predefined Foreign Mess Approved NMEA sen General Format of Approved NMEA Sentences Each approved NMEA sentence has the following format AACCC c c hh lt CR gt lt LF gt where HEX 24 Start of sentence AACCC
303. one or more of the specified messages can t be enabled When the em command processes a message at hand the final operating message sched uling parameters in the corresponding output list of messages are calculated taking into account multiple sources of information about scheduling parameters specifically 1 Values explicitly specified in the options of the em command 2 The default values of options of em command 3 Scheduling parameters specified for the given message as part of the corre sponding message set These are taken into account only when enabling a mes sage by specifying message set not an individual message 4 Current scheduling parameters of the message in the corresponding output list Gf any 5 Default scheduling parameters specified for the given message as part of the corresponding message group The above sources of parameters are listed in the order of their precedence the first one having the highest precedence and are applied individually to each of the four schedul ing parameters Therefore values from 1 override values from 2 the resulting value 2 Fora stream NAME corresponding output list is called par out NAME 3 Current firmware has arbitrary limit for maximum number of messages in an output list set to 49 www javad com GREIS Example Example Example Example Example Example Example GREIS RECEIVER INPUT LANG Comm e overrides value from 3 etc
304. only L1 measurements even if the ambiguities have been resolved for L2 as well off RTK will use L2 if possible RTK Weighting Scheme Name par pos pd scale Access rw Type integer Values 0 1 2 Default 1 This parameter specifies the weights that the engine will apply to single differenced SD carrier phase measurements 0 the simplest weighting scheme will be used Specifically all SD carrier phases will be used with the a priori weight 1 sigma2 where sigma is 0 05 cycles This scheme which is recommended when running RTK in favorable environment con ditions allows a shorter ambiguity fixing time than the other two see below 1 the first adaptive weighting scheme will be used Specifically SD carrier phases for the given satellite will be used with the a priori weight max 0 2 sin elev sigma est2 where elev designates the satellite s elevation angle and sigma est designates the RMS single differenced carrier phase error 2 the second adaptive weighting scheme will be used This is similar to scheme 1 but different estimator to get sigma est is used This scheme is strongly recom mended in scenarios where strong multipath is expected 126 www javad com GREIS GREIS RECEIVER OB Objects Refer Phase Differential RTK Para Enable RTK lonosphere Model Name par pos pd ion Access rw Type boolean Values on off Default on on single differenced ionosphere model is enabled
305. or offset s s ul cs Checksum The offset is the difference between oscillator frequency when oscillator control voltage has nominal value and the nominal frequency of the oscillator normalized to the nomi nal frequency of the oscillator Fi F Fh The contents of this message are not suitable as a parameter for calculations based on receiver measurements Use DO message instead II EE Epoch End struct EpochEnd 1 ul cs Checksum J This message carries no information It is intended as an end of epoch marker useful for real time applications This message is not recommended We suggest to use the ET message instead see ET Epoch Time on page 289 www javad com 325 326 essages IVER MESSAGES ard Predefined Messages 4 4 15 Text Messages GREIS Format for Text Messages All the text messages have the following format struct Text var al text y General format of the text field of GREIS predefined text messages as well as format notation used to specify particular text messages is described in this section The format of the text field is as follows TITLE ITEM ITEM CS where square brackets designate optional parts TITLE the title of particular message ITEM either a field of particular type described below or an item list surrounded by braces ITEM ITEM CS checksum formatted as two hexadecimal uppercase digits A GREIS
306. ormula used to calculate curmsint is as follows curmsint max 1 msint raw x raw where msint is the value of par pos msint raw is the value of par raw curmsint and x denotes integer part of x The actual period at which receiver will allow user to get position depends on the value of par pos curmsint parameter and the current value of corresponding receiver option POS for single point and code differential position and PDIF for carrier phase differ ential position Actual position update period is calculated as follows pos period max 1 1000 opt curmsint x curmsint where opt is the current value of corresponding receiver option and x denotes integer part of x While the formulas seem rather complex what they basically mean in practice is that if you set par pos msint to a value that is multiple of both par raw curmsint and 1000 opt then both the par pos curmsint and actual allowed position output period will be equal to the specified value Elevation Mask for Position Computation Name par pos elm Access rw Type integer degrees Values 90 90 Default 5 Satellites with elevations lower than this mask will be excluded from position computa tion 2 Code differential position will be available only if CDIF option is enabled www javad com GREIS Note Note GREIS RECEIVER OB Objects Refer Positioning Para SNR Mask for Position Computation Name par pos mins
307. ost gt init dev blk a Example Initialize all the message sets to their default values gt init msg 40 www javad com GREIS 2 3 create Name create create a new object Synopsis Format create object Options log Arguments RECEIVER INPUT LANG Comm object object identifier of the object to be created If object does not begin with 7 then log prefix is automatically inserted before the object prior to exe cuting the command If omitted then creation of a file is assumed and an unique file name is automatically generated Options Table 2 4 create options summary Name Type Values Default log string a b a log the log file the created file is to be assigned to The log file selected is cur 1og X where X is the value of the options Description This command creates a new object No response is generated unless there is an error or response is forced by the statement identifier Both the location in the tree and the type of the created object are defined by the object argument Two kinds of objects could be created 1 Files A new file is created whenever the object identifier specifies an object in a log sub tree or when the object argument is omitted 2 Message specifiers A new message specifier is created whenever the object identifier specifies an object in a message set e g msg def 4 Current fir
308. ost computer into a file in the receiver using the Data Transfer Protocol DTP No response is generated unless there is an error or response is forced by the statement identifier After the put command succeeds the DTP receiver is started on the receiver and waits for DTP transmitter to be run on the host Therefore to actually upload any data one needs DTP transmitter implementation on the host 8 See Data Transfer Protocol on page 366 www javad com 51 52 Example Example Example IVER INPUT LANGUAGE The optional offset argument allows host to implement support for resuming of inter rupted data transfer A non zero offset value allows host to request appending data to the end of an existing file of matching size If offset is O and the file object doesn t exist receiver will try to create and open for writing a new file with the name defined by object In this case the command will fail if there already exist a file with given name If offset is greater than 0 and there is a file object and the file size is equal to the value of offset then the put command will open the file object for append In this case the command will fail if there is no existing file with given name or if the size of the existing file doesn t match those specified by offset Examples Start data uploading to a fresh file NAME using DTP Either of gt put log NAME gt put NAME Start uploading data and append t
309. ot count parameter provided its value is greater than zero Should the count drop to zero the AFRM is automatically turned off The initial creation of file s when AFRM is being turned on is not considered to be a rotation event Turning this parameter from on to off closes the log files enabled by the par log imp parameter Force File Rotation Name par log rot force Access rw Type boolean Values on off Default off on provided AFRM is turned on will force the rotation event to be generated at the closest internal receiver epoch off has no effect File Rotation Running Counter Name par log rot count Access r Type integer Values 0 231 1 This parameter indicates how many rotation events remains to happen before the file rotation stops Zero means an unlimited number of files Refer to par log rot sc count below for the method of changing this parameter File Rotation Scheduling Parameters Name par log rot sc Access r Type list period phase count When AFRM is on every time the receiver time matches the equation T mod period phase the rotation event is generated Every rotation event will decrement the value of the count field provided its value is greater than zero Should the count drop to zero the AFRM is automatically turned off www javad com GREIS GREIS RECEIVER OB Objects Refer File Mana File Rotation Period Name par log rot sc period Access rw Typ
310. otes applicable to the NMEA GNS sentence are valid for GMP message as well 4 5 2 JNS Proprietary NMEA Sentences All JNS proprietary NMEA sentences should have the following format PTPSR MsgID c c hh lt CR gt lt LF gt 356 www javad com GREIS RECEIVER MESS Predefined Foreign Mess RTCM 2 x Me ATT Attitude Parameters Format Description 1 C UTC time indicator V means that UTC time is valid N means that UTC time is not valid 2 6 2F UTC time of position the first two digits designate hours the next two digits designate minutes and the rest of the digits desig nate seconds 3 3F True Heading in degrees 4 3F Pitch in degrees 5 C Base position type N not available A autonomous D code differential FP float R fixed This field can be useful provided JPS messages are used for broadcasting RTK data 6 2X 0D 0A Checksum see General Format of Approved NMEA Sen tences on page 345 Note To enable ATT message use the message name msg nmea P ATT 4 5 3 RTCM 2 x Messages Introduction to RTCM 2 x Messages RTCM Radio Technical Commission For Maritime Services SC 104 Special Commit tee 104 has developed a standard for differential GNSS Global Navigation Satellite Systems service 6 The standard formulates recommendations in the following areas 1 Data message and format The message e
311. ough a given port since the sample number is incre mented when the next epoch starts Integrated messages can be received by the user in an arbitrary order of precedence Before decoding a message its CRC 16 checksum must be checked Remember that the checksum is computed for all the bytes starting from the header of the message up to the checksum positions exclusive for more information about CRC 16 please refer to Computing CRC16 on page 365 The following tables which are given for user reference will explain the relationships between the integrated messages rE rM rV and the basic JPS messages rM can be used in place of the following messages Pseudorange measurements RC re R1 rl 1R 1r R2 12 2R 2r Carrier Phase measurements PC pc CP cp P1 pl 1P 1p P2 p2 2P 2p Doppler DC D1 D2 Signal Lock Loop Flags FC F1 F2 Carrier to Noise ratio EC E1 E2 Satellite navigation status SS Satellite Indices SI GLONASS Satellite System Numbers NN Receiver Date and Receiver Time RD Time since Last Loss of Lock TC Receiver Reference Time to Receiver Time Offset TO 1 Note that there is a limitation on the maximum tracking time reported in rM 102 3 seconds 2 Remember that there is a limitation on the clock offset resolution 125 ns rV can be used in place of the followin
312. owing flags are defined bit Hex Mask Description 0 0x0001 PLL is in phase lock 1 0x0002 Satellite signal strength is sufficient 2 0x0004 Satellite uses guiding data from the common loop 3 0x0008 Satellite data are used in the common loop which in turn controls this sat ellite s loops 0x0010 DLL is in steady state phase lock 0x0020 Loss of lock occurred in PLL between the previous and the current epochs 0x0040 Integral indicator all data are good 0x0080 Not Used 0x0100 Preamble detected 15 OxFEO0 Reserved vo col A a wm gt bit 5 is not suitable for loss of lock detection in applications use TC message for this pur pose instead www javad com 303 IVER MESSAGES ard Predefined Messages e Measurements The simplest approach to data validation is keeping track of only bit 6 As long as this bit remains set for a particular satellite all of this satellite s measurements for corre sponding signal type are considered good Note that the receiver normally utilizes very narrow DLL bandwidths thus quite a long settling down time tens of seconds In fact it is not worth waiting until the pseudorange noise error reaches its steady state level Note that bit 6 is set as soon as the measured pseudoranges become accurate enough 8 i e irrespective of whether the formal settling down period is over or not On the other hand for code differential applic
313. par sport oframe mode Access rw Type boolean Values on off Default off on corresponding port will output data only at the specified time frames off data output to corresponding port will be enabled all the time Time frame Period Name par sport oframe period Access rw Type float seconds Values 0 86400 Default 1 www javad com 225 IVER OBJECTS Note ts Reference k Parameters This parameter specifies the frequency at which output time frames will occur Time frames will be scheduled to be started at the moments when the receiver time modulo period is equal to zero Note however that a time frame is actually started the delay sec onds later Time frame Length Name par sport oframe length Access rw Type float seconds Values 0 86400 Default 1 This parameter specifies how long output will be enabled once a time frame has been started Time frame Delay Name par sport oframe delay Access rw Type float seconds Values 0 86400 Default 0 This parameter specifies how much time passes between the moment the output time frame is scheduled and when the time frame actually begins 3 4 26 Network Parameters Changes to some of these parameters may take effect only after receiver reboot LAN Configuration These parameters aid in configuration of your receiver to be part of a TCP IP local area network LAN Only static configuration defined by the
314. par pos pd usebasedop Access rw Type boolean Values on off Default on on enable receiver to use the doppler measurements either received from the base station or obtained by the base measurements extrapolator in RTK processing off disable the use of doppler measurements Period of Ambiguities Estimation Name par pos pd afperiod Access rw Type float seconds Values 0 05 5 Default 1 Enable Measurements Quality Indicators Name par pos pd qcheck Access rw Type boolean Values on off Default on on RTK engine will take into account measurements quality indicators off RTK will ignore measurements quality indicators RTK VRS Mode Name par pos pd vrs Access rw Type boolean Values on off Default off on RTK will assume that the reference station in use is Virtual Reference Station VRS off RTK will assume that the reference station is real one 132 www javad com GREIS GREIS RECEIVER OB Objects Refer Phase Differential RTK Para Correlation Time for Estimating the Residual lonosphere Name par pos pd iont Access rw Type float seconds Values 0 0 1800 0 Default 0 0 Minimum CA L1 SNR Name par pos pd minpot Access rw Type integer dB Hz Values 1 60 Default 31 Only those satellites will be used in RTK position computation whose CA L1 signal to noise ratios exceed the specified threshold value RMS for Pseudorange Measure
315. par raw rtm meas p2 Access rw Type boolean Values on off Default on Version of Format of rM Message Name par raw rtm ver Access rw Type integer Values 0 1 2 Default 0 0 the format is the default one 1 the field word2 doppler is excluded from the contents of the rM message 2 the fields flags lock and word2 are excluded from the contents of the rM message In addition clock field is reserved and contains zeroes Time Scale for Integrated Messages Name par raw rtm tscale Access rw Type enumerated Values gps glo utc Default gps www javad com 187 188 IVER OBJECTS ts Reference ters of NMEA messages Type of Coordinates for rV Message Name Access Type Values Default par raw rtm coord rw enumerated xyz geo grid XYZ xyz use Cartesian coordinates in rV message geo use geodetic coordinates in rV message grid use grid coordinates in rV message 3 4 19 Parameters of NMEA messages NMEA Standard Version Name Access Type Values Default par nmea ver rw enumerated v3 0 v2 3 v2 2 v3 0 This parameter instructs the receiver to generate NMEA messages according to the spec ified NMEA 0183 standard P2 Offset for True Heading from HDT message Name Access Type Values Default par nmea head offset rw float degrees 360 360 0 This parameter defines the direction with respect to which the
316. pe boolean Values off on Default off on receiver will use both ionosphere corrections and satellite fast and long term corrections from SBAS satellites for DGPS solution off receiver will not use ionosphere corrections from SBAS satellites for DGPS solution Maximum Age of SBAS Satellite Corrections Name par pos wd maxage Access rw Type integer seconds Values 1 3600 Default 360 Receiver will stop using SBAS satellite corrections for DGPS solution when their age exceeds specified limit This limit is active for SBAS fast corrections as well as for SBAS long term corrections This parameter takes effect only when par pos wd mode is set to manual Maximum Age of SBAS lonosphere Corrections Name par pos wd iono maxage Access rw Type integer seconds Values 1 3600 Default 1200 Receiver will stop using SBAS ionosphere corrections for DGPS solution when their age exceeds specified limit This parameter takes effect only when par pos wd mode is set to manual Smoothing Interval of SBAS Satellite Corrections Name par pos wd smi Access rw Type integer seconds Values 0 3600 Default 60 www javad com 121 IVER OBJECTS ts Reference Differential RTK Parameters Receiver will smooth SBAS satellite corrections the sum of SBAS fast corrections and SBAS long term corrections before their use for DGPS solution This parameter defines the value of time constant of the smooth
317. pe integer seconds Values 1 0x7FFFFFFF Default 600 The period of TCP connection inactivity after which the connection will be terminated FTP Server Configuration FTP Port Name par net ftp port Access rw Type integer Values 1 65535 Default 21 TCP port the receiver is listening on for incoming FTP connections Only 1 simulta neous connection is supported GREIS www javad com 239 240 IVER OBJECTS ts Reference k Parameters FTP Connection Timeout Name par net ftp timeout Access rw Type integer seconds Values 1 Ox7FFFFFFF Default 600 The period of FTP connection inactivity after which the connection will be terminated UDP Parameters Receiver supports data output using UDP packets You will use receiver port name dev udp a with em or out commands to request UDP output Parameters described in this section specify destination of UDP packets generated by the receiver as well as the rules of splitting of output data stream of bytes into stream of UDP packets UDP Destination Address Name par dev udp a addr Access rw Type string Values any valid IP address Default 255 255 255 255 This parameter specifies destination address for UDP packets 255 255 255 255 is con sidered to be LAN broadcast address Other kinds of broadcast and multicast addresses are also supported UDP Destination Port Name par dev udp a port Access rw Type integer Values 1 65535 De
318. pe list sz sf min bf max bu su ac fc ls ms Refer to the par stat mem parameter on page 269 for the description of fields www javad com 249 250 IVER OBJECTS Note Note ts Reference odem Parameters 3 4 27 GSM Modem Parameters Currently receivers support up to four GSM modems called a b c and d In JAVAD GNSS receivers the internal GSM modem is usually hardware wise connected to Port C As for external GSM radio modems it is common practice to connect such modems to the receiver s Port D if available Modem Mode Name par modem X mode X a d Access rw Type enumerated Values off master slave Default off This parameter specifies the mode to be used by the GSM modem connected to the cor responding receiver port to communicate with the remote GSM modem at the other end of the radio link off modem is off master receiver will try to dial in to the remote slave modem using the number specified by the parameter par modem X dial to call slave modem will wait for incoming calls from a master modem gprs receiver will try to establish GPRS connection over GSM modem dialup receiver will try to establish dialup connection over GSM or analog modem In the current firmware implementation the master mode should be used for the rover receiver only and the slave mode should be used for the base receiver only PIN Code Name par modem X pin X a d Access rw Type str
319. pe string 0 64 When setting a string for index N the corresponding flag par note nv N is cleared set to n to indicate that this string is set by the user not read from the NVRAM Change Indicators Name par note nv Access r Type array 0 7 of boolean When receiver starts up it reads all the note strings from its NVRAM and sets all the values in this array to y When user sets some of strings corresponding NVRAM flag is cleared set to n 3 4 24 Generic Communication Parameters The parameters described in this section are common for all the supported ports Current Terminal Current Terminal Name cur term Access r Type string Values port The name of the current terminal i e the name of the input stream the command requesting the value was received through www javad com 213 IVER OBJECTS ts Reference Communication Parameters Basic Operation Modes Input Mode Name par port imode Access rw Values cmd echo jps rtcm rtcm3 cmr omni none dtp term Default cmd With this parameter the user specifies what type of incoming data to accept on the selected receiver port cmd command mode Being in this mode the receiver s port recognizes GREIS commands sent by the user echo echo mode This mode is the same as cmd mode unless par port echo is set to a value different from dev null see par port echo parameter description below for details jps GREIS input
320. phemeris data f4 ecc Eccentricity at reference time tlam f4 lambda Longitude of ascending node at reference time tlam semi circles f4 argPer Argument of perigee at reference time tlam semi circles f4 delT Correction to mean Draconic period at reference time tlam s period f4 delTdt Rate of change of Draconic period s period 2 f4 deli Correction to inclination at reference time tlam semi circles ul cs Checksum he WA WAAS Almanac struct WAASAlmanac 23 ul waasPrn WAAS SV PRN number within 120 138 ul gpsPrn GPS SV PRN associated with WAAS SV ul id Data ID ul healths Satellite health bitfield 0 0 Ranging on 1 off 1 0 Corrections on 1 off 2 0 Broadcast Integrity on l off 3 reserved 4 are set to zero u4 tod Time of the day s i4 xg yg zg ECEF coordinates m f4 vxg vyg VZg ECEF velocity m s u4 tow time of GPS week almanac was received at u2 wn GPS week this almanac was received at ul cs Checksum GREIS www javad com 307 IVER MESSAGES ard Predefined Messages cs and Ephemeris GE GPS Ephemeris struct GPSEphemeris 123 ul sv SV PRN number within the range 1 37 u4 tow Time of week s ul flags Flags see GPS ICD for details bitfield 0 curve fit interval 1 data flag for L2 P code 2 3 code on 12 channel
321. pheric Parameters 0 321 EV Event 0 0 cece eee 321 LT Message Output Latency 322 gt gt Wrapper ee mmm mmn 322 PM Parameters 0 cc ccc eee 323 LH Logging History eese esee 323 BI Base Station Information 324 SE Security 2 0 0 cece ee nee 324 SM Security for rM 0 0 20 e eee 325 TT CA L1 Overall Continuous Tracking Time 325 OO Oscillator Offset llle 325 www javad com GREIS TABLE OF CON EE Epoch End 2L eekRRr TIERE een RE 325 4 4 15 Text Messages 0 0 cece eee 326 GREIS Format for Text Messages 326 DL Data Link Status 0 0000 328 GS GPS SVs Status 0 0 0 ees 329 ES GALILEO SVs Status 0 20000 329 WS SBAS WAAS EGNOS SVs Status 330 NS GLONASS SVs Status 0 00 330 RS Reference Station Status 0 331 MS RTCM 2 x Status llle 332 TX RTCM CMR Text Message 333 RM Results of RAIM Processing 333 NP Navigation Position 0000 334 MP Position in Map Projection 336 NR Lever Arm Position 0 000005 337 TR Time Residuals 0 0 00 000 ee 338 TM Clock Offsets and Time Derivatives 339 RP Reference Station Parameters 340 RK RTK Soluti
322. point land mark and the ARP east east offset north north offset height height offset East Offset of ARP Name par ref ant arpoffs east Access rw Type float meters Values 7100 0 100 0 Default 0 North Offset of ARP Name par ref ant arpoffs north Access rw Type float meters Values 100 0 100 0 Default 0 Height Offset of ARP Name par ref ant arpoffs height Access rw Type float meters Values 7100 0 100 0 Default 0 www javad com 151 152 IVER OBJECTS ts Reference nce Parameters L1 APC to L2 APC Offset Name par ref ant 12_11 Access rw Type list east north height This parameter specifies the vector components between L1 Antenna Phase Center APC and L2 APC east east offset north north offset height height offset East Offset of L2 APC Name par ref ant 12 ll east Access rw Type float meters Values 0 1 0 1 Default 0 North Offset of L2 APC Name par ref ant 12_11 north Access rw Type float meters Values 0 1 0 1 Default 0 Height Offset of L2 APC Name par ref ant 12_11 height Access rw Type float meters Values 0 1 0 1 Default 0 Antenna type descriptor for RTCM 2 x and 3 0 Name par ref ant id Access rw Type string 0 31 Values up to 31 alphanumeric characters Default empty string www javad com GREIS GREIS RECEIVER OB Objects Refer Reference Station Data o
323. processed epoch provided that the code phase measurements have been successfully received for this epoch off RTK won t extrapolate missing carrier phase measurements GREIS www javad com 123 124 IVER OBJECTS ts Reference Differential RTK Parameters Maximum Time Gap in Reference Data Name par pos pd timegap Access rw Type integer seconds Values 71 3600 Default 1 0 3600 RTK will be reset as soon as duration of time gap in the data being received from reference station exceeds specified value 1 RTK is never reset due to time gaps Source Port of Differential Data Name par pos pd port Access rw Type enumerated Values any port Default any any RTK engine will use differential data from whichever port port RTK engine will only use differential data received on the corresponding port Confidence Level for Ambiguity Fixing Name par pos pd aflevel Access rw Type enumerated Values 1ow medium high Default medium low 95 confidence level medium 99 5 confidence level high 99 996 confidence level The higher the confidence level specified the longer the integer ambiguity search time and the higher the reliability of the ambiguity fixed solution Known Point Initialization Name par pos pd fixpos Access rw Type boolean Values on off Default off www javad com GREIS GREIS RECEIVER OB Objects Refer Phase Diff
324. processing for example the data from only two of them Reference Station ID to Use Name par pos pd inuse Access rw Type integer Values 71 31 Default 1 This parameter allows the user to identify the reference station by specifying its CMR reference station ID he she wants to use in order to compute the RTK position rover receiver will use RTK corrections from whichever station 0 31 receiver will use RTK corrections only from the reference station having the specified ID Data from all the other reference stations will be ignored Thereby it guarantees that the rover will work properly if there are two or more ref erence stations transmitting RTK data on the same frequency Setting the parameter to 1 whereas two or more sources of RTK data are available simultaneously and automatic selection of the nearest reference station is turned off may result in inability to get the RTK solution since RTK data received from several ref erence stations may be mixed with each other Enable Automatic Selection of the Nearest Reference Station Name par pos pd nrs mode Access rw Type boolean Values on off Default off on rover receiver will use RTK data broadcast by the nearest reference station The receiver will use this parameter only if par pos pd inuse is set to 1 www javad com GREIS GREIS RECEIVER OB Objects Refer Phase Differential RTK Para off rover receiver will use RTK data
325. protocol www javad com GREIS GREIS APPEN Data Transfer Pro Protocol Des A 2 1 Protocol Description The protocol is a fixed size block protocol with checksum and the ability to re send a block multiple times should a transmission error occur For the purposes of transmission the stream of bytes to be transferred is divided into stream of blocks of fixed size except the size of the last block that could be smaller The size of data blocks is negotiated between parties in advance before the protocol starts Each block of data is assigned its number starting from zero for the first block The blocks of data are then transferred from transmitter to receiver using the following for mats and procedures The format of a single block of transmission could be represented by the following C structure where all multi byte fields are sent in the least significant byte first LSB order struct Block ul type Block type ORDINAL SOB 0x02 LAST EOT 0x04 ABORT 0x23 The following fields do not exist for block of type ABORT union u2 number Block number for block of type ORDINAL 0 based i2 count Number of bytes of data in the block of type LAST Value 1 indicates transfer error In this case data field of the block contains a zero terminated string describing the error type ul data size Data block In the block of type LAST only the first count byt
326. ptions Name par opts Access r Type list cind GPS GLO The first entry in this list is the par opts cind parameter described above The rest are entries for every existing JAVAD GNSS option Refer to Supported Options on page 2772 for the list of options Complete Information About the Option NAME Name par opts NAME Access r Type list cur purchased leased date Current Value of the Option NAME Name par opts NAME cur Access r Type integer Values 71 511 This parameter contains currently effective option value It will either be set according to the larger of the par opts NAME purchased and par opts NAME 1eased values or will be set to 1 1 the option NAME is not supported either by the firmware version you use or by the receiver hardware 0 the option NAME is disabled 1 511 option NAME is enabled Refer to Supported Options on page 272 for the meaning of particular values for given option Purchased Value of the Option NAME Name par opts NAME purchased Access r Type integer Values 0 511 www javad com 271 IVER OBJECTS ts Reference er Options Leased Value of the Option NAME Name par opts NAME leased Access r Type integer Values 0 511 Expiration Date of the Option NAME Name par opts NAME date Access r Type string Default 0 This parameter contains either 0 if no leased value is loaded or expiration date of the l
327. ptor may be omitted which means that the integer part of the output value is allowed to be as long as necessary Note that the delimiting dot before the corresponding fractional part descriptor will still exist If an integer field format has no integer part descriptor before its data type specifier either X or D the receiver will output all the significant digits Leading zeroes will be added if the actual length of the integer part is shorter than specified by the descriptor If a format notation includes the plus symbol receiver will output signed values as usual characters hex 2B and hex 2D are used to denote positive and negative values respectively If a field format is surrounded by round brackets it means that this format applies to a batch of homogeneous fields note that the number of fields in such a batch may vary A back slash followed by two hexadecimal digits designates that the text character with corresponding ASCII code will be put into the message in this specific place In addi tion the reader will notice that various non reserved symbols lower and upper case English letters arithmetic operation signs braces etc are used together with the above described field formats Here are some examples illustrating the format notation as defined above Format Output data representation 5 2F 00027 89 5 2F 4 2F 67283 67 5678 22
328. quency for 2d and 3d messages EC E1 E2 E3 E5 Carrier to Noise Ratio struct CNR nSats l ul cnr nSats C NO dB Hz ul cs Checksum he Thise messages contain corresponding channel carrier to noise ratios for all the satellites specified in the latest SI message The EC E1 E2 E3 and E5 messages con tain CA L1 P L1 P L2 CA L2 and L5 carrier to noise ratio respectively 302 www javad com GREIS RECEIVER MESS Standard Predefined Mess Satellite Measur CE 1E 2E SE BE Carrier to Noise Ratio x 4 struct CNR 4 nSats 1 ul enrX4 nSats C NO 0 25 dB Hz ul cs Checksum he Thise messages contain corresponding channel carrier to noise ratios for all the satellites specified in the latest SI message The CE 1E 2E 3E and SE messages con tain CA L1 P L1 P L2 CA L2 and L5 carrier to noise ratio multiplied by 4 respec tively Use the following formula to compute true carrier to noise ratio in dB Hz cnr cnrX4 0 25 FC F1 F2 F3 F5 Signal Lock Loop Flags struct Flags 2 nSatst 1 u2 flags nSats Lock Loop Flags bitfield ul cs Checksum J Thise messages contain an array of corresponding signal lock loop flags for all the satel lites specified in the latest SI message The FC F1 F2 F3 and F5 messages contain CA L1 P L1 P L2 CA L2 and L5 signal lock loop flags respectively The foll
329. r u2 scale See rE for description u4 reftime See rE for description i2 clock Clock offset 15 2 Clock offset 213 213 1 125 nanoseconds 1 0 Clock offset ID 0 clock offset is unavailable 1 GPS Receiver time 2 GLONASS Receiver time 3 reserved u2 flags Flags bitfield ruct SvData 14 10 6 M 6 Header header Header see below SlotRec slot M Slot records see below ruct Header 6 u4 refrange Reference pseudo range 0 02 meters ul usi USI see SI message ul num Number of slot records M bitfield 7 3 reserved 2 0 number of slot records minus one M ruct SlotRec 14 10 6 Note The zeroth element of the array Slot i i 0 M 1 unlike the other elements does not contain corrections to the reference pseudo range from the Header structure To provide the user with additional information the flag svst is used for delrange in the zeroth slot i2 svstOrDelrange SV status bitfield or Delta pseudo range 0 02 meters SV status bitfield 15 11 GLONASS slot number for GPS SV the field is undefined 0 24 0 unknown 10 6 Channel number 0 31 31 unavailable 5 0 SV navigation status or Delta pseudo range 0 02 meters full pseudo range for given slot refrange u4 wordl Packed data 1 bitfield
330. r MHz Values 2 40 Default 10 The frequency of the external oscillator The receiver will not lock on satellites if this parameter is set to a wrong value while par frq input is set to ext External Frequency Status Name par frq stat Access r Type enumerated Values off wait locked off the receiver is using the internal oscillator wait the receiver is waiting for the external frequency lock The receiver will return this value if after the user has set par frq input to ext the external fre quency oscillator is disconnected its amplitude is too low or the actual external source frequency is different from that specified via par frq ext parameter locked external frequency source is being used External Frequency Amplitude Name par frq amp Access r Type enumerated Values off low ok off the internal oscillator is used the amplitude can t be measured low external frequency signal s amplitude is lower than required ok external frequency signal s amplitude meets the required specifications 3 4 5 Almanac Status Almanac Status Name par alm Access r Type list gps glo 82 www javad com GREIS GREIS Almanac Status for GPS Satellites Name par alm gps Access r Type array 1 32 of boolean Values y n y n Almanac Status for GPS Satellite Number N Name par alm gps N N 1 32 Access r Type boolean Values y n y the almanac data ar
331. r dev tcpcl a should be configured to receive corresponding type of corrections but setting the port input mode accordingly When using jsrv mode the TCP client port should be set to the com mand input mode Refer to Input Mode on page 214 for instructions on setting input mode of a port We recommend to use extrap RTK mode refer to RTK Position Computation Mode on page 122 due to potentially large delays on the Internet GPRS TCP Client Connection State Name par net tcpcl state Access r Type enumerated Values off connecting connected disconnecting error off TCP client is inactive connecting TCP client is connecting to the server connected TCP client is connected to the server www javad com 241 242 Example IVER OBJECTS ts Reference k Parameters disconnecting TCP client is disconnecting from the server error TCP client was unable to connect to the server In this case the parameter par net tcpcl error will contain the reason of the error TCP Client Error Name par net tcpcl error Access r Type string 0 64 Values arbitrary string Default none This parameter will contain human readable description of the reason of TCP client fail ure if any RCV Mode Parameters The parameters below are useful to provide a method to establish raw TCP connection to another remote JAVAD GNSS receiver request data from the remote receiver and then use the data as RTK
332. r itself Therefore APC coordinates should always be entered for a reference sta tion while ARP coordinates may have arbitrary values unless you are going to transmit RTCM messages that carry ARP coordinates Parameters Cartesian Reference Position for GPS Name par ref pos gps xyz Access rw Type pos xyz Default W84 6378137 0000 0 0000 0 0000 Coordinates of L1 phase center of receiver antenna for GPS in Cartesian coordinate sys tem Cartesian Reference Position for GLONASS Name par ref pos glo xyz Access rw Type pos Xyz Default W84 6378137 0000 0 0000 0 0000 Coordinates of L1 phase center of receiver antenna for GLONASS in Cartesian coordi nate system www javad com 145 IVER OBJECTS ts Reference nce Parameters Cartesian Reference Position for All Systems Name par ref pos xyz Access w Type pos Xyz Setting this parameter will set both par ref pos gps xyz and par ref pos glo xyz to the specified value Geodetic Reference Position for GPS Name par ref pos gps geo Access rw Type pos geo Default W84 N00d00m00 000000s 00d00m00 0000005 40 0000 Coordinates of L1 phase center of receiver antenna for GPS in Geodetic coordinate sys tem Geodetic Reference Position for GLONASS Name par ref pos glo geo Access rw Type pos geo Default W84 N00d00m00 0000005 00d00m00 0000005 40 0000 Coordinates of L1 phase center of receiver antenna for GL
333. r output to serial port B along with their scheduling parameters gt print out dev ser b on RE02D par out dev ser b jps RT 1 00 0 00 0 0x0 REO1A jps SI 1 00 0 00 0 0x0 REOIA jps rc 1 00 0 00 0 0x0 REO1A jps ET 1 00 0 00 0 0x0 REO1D nmea GGA 10 00 5 00 0 0x0 www javad com GREIS Example Example GREIS RECEIVER INPUT LANG Comm 2 3 3 list Name list list contents of an object Synopsis Format list object Options none Arguments object the object identifier of the object to be output If object is omitted 10g is assumed If object does not begin with then log prefix is automatically inserted before the object prior to executing the command Options None Description This command outputs names of every member of the object The response is always generated and more than one RE message could be generated in response to a single list command If the object specified is not of type list empty RE message is generated If the object specified is a list the list of names of every object in the list is printed This is applied recursively until leaf objects are reached so listing an object of non leaf type effectively outputs entire sub tree starting from the specified object In case of printing of lists multiple RE messages could be generated However splitting of the output may occur only immediately after list separator characters
334. r ports are set to cmr input mode GREIS Rover Mode Name par rover mode jps Access rw Type boolean Values on off Default off Setting this parameter to off will switch all of the ports running in jps input mode back to cmd mode Receiver returns error if you try to set this parameter to on on indicates that at least one receiver port is set to jps input mode off indicates that none of the receiver ports are set to jps input mode RTCM 3 x Rover Mode Name par rover mode rtcm3 Access rw Type boolean Values on off Default off Setting this parameter to off will switch all of the ports running in rtcm3 input mode back to cmd mode Receiver returns error if you try to set this parameter to on on indicates that at least one receiver port is set to rtcm3 input mode off indicates that none of the receiver ports are set to rtcm3 input mode GREIS www javad com 171 172 IVER OBJECTS ts Reference 2 x Parameters 3 4 14 RTCM 2 x Parameters RTCM 2 x Reference Station Parameters RTCM 2 x Version to Use for RTCM 2 x Messages Name par rtcm base ver Access rw Type enumerated Values v2 1 v2 2 v2 3 Default v2 3 This parameter allows you to use JAVAD GNSS receivers together with legacy third party rover receivers that don t support higher versions of RTCM 2 x standard Note that only RTK messages are affected Zero the Rate of Change of Pseudorange Corrections for GPS Name par
335. r position computation Reference Time Scale Name par pos reftime Access rw Type enumerated Values gps glo gal Default gps The time scale of corresponding system becomes the reference time scale for position computation purposes i e receiver time offset and other systems time offsets are com puted relative to that reference system time gps use GPS system time as reference time scale glo use GLONASS system time as reference time scale gal use GALILEO system time as reference time scale Datums Notations Each datum supported by the receiver has unique datum identifier assigned Datum iden tifier is a string of up to 5 upper case characters We will use the type datum id to refer datum identifiers Though the set of supported datums may vary from receiver to receiver and from one firmware version to another the following datums are always sup ported W84 WGS 84 datum GPS system datum P90 PE 90 datum GLONASS system datum W72 WGS 72 datum USER user defined datum In addition receiver may support a subset of datums described in the Reference Ellip soids and Local Datums supported by JAVAD GNSS Receivers guide You can get the list of supported datums along with their parameters from receiver itself using print par pos datum on command Every datum has corresponding ellipsoid parameters as well as a set of parameters for standard 7 parameters transformation For most datums these parameters are r
336. r will be output into the field 0x04 of the BINEX record 0x00 00 BINEX Data Identifier Name par binex data_id Access rw Type string 0 4 Values arbitrary string Default empty string The value of this parameter will be output into the field OxOf of the BINEX record 0x00 00 If the length of the string is less than 4 characters the value to be output to the field OxOf will be padded on the right to 4 characters The padding is performed using spaces Enable Fields of BINEX Record 0x00 00 Name par binex 00 00 Type list 04 0f 17 19 1a 1b 1d 1f of boolean Values on of on off Default 0on on Each element of this parameter enables output of corresponding field of BINEX record 0x00 00 When an element is on the output of corresponding field is enabled when an element is off the output of corresponding field is disabled To turn all the fields on or off use set par binex 00 00 on or set par binex 00 00 off com mand respectively Use separate field parameters described below to control separate fields Enable Field F of BINEX Record 0x00 00 Name par binex 00 00 F F 04 0 17 19 1a 1b 1d 1f Access rw Type boolean Values on off Default on www javad com GREIS GREIS RECEIVER OB Objects Refer File Mana 3 4 21 File Management Existing Files List of Existing Files Name log Access r Type list Default For each existing file this list inc
337. rdinates Name Access Type Values Default par pos pd ref clean rw boolean on off on This parameter is used to clear the currently effective coordinates of the reference sta tion on RTK engine will assume there are no reference coordinates and therefore will disable differential positioning until next reference coordinates are received or entered by the user The value of the parameter is immediately reset to of f off ignored Reference Position Source Name Access Type Values Default par rover base pos cur rw enumerated got fix got got reference position received from reference station will be used fix reference position entered for reference station by the user will be used www javad com GREIS RECEIVER OB Objects Refer Reference Station Data o Reference Position Set Source Name par ref src Access rw Values gps glo any Default any This parameter instructs the rover which of the reference position sets received from the base to select for use by RTK gps GPS reference position will be selected for use by RTK GLONASS reference position will be ignored glo GLONASS reference position will be selected for use by RTK GPS reference position will be ignored any any reference position received from base station will be selected for use by RTK Antenna Offset Source Name par rover base ant cur Access rw Type enumerated Values got fix Def
338. re assigned for every next file created on the same day then yet another letter is appended to the suffix etc Overall the suffixes go in sequence like this empty a b z za zb zz Zza Zzb For example an automat ically generated file name may look like this 1090917zzy Creating Message Specifiers When adding messages to a message set the object argument has a format msg SET GROUP MSG where SET is the name of the message set where new message should be created GROUP is the name of the group the message belongs to and MSG is the name of the message itself e g msg def nmea GGA or msg jps rtk min jps ET The message scheduling parameters will be copied from those defined for given mes sage in the message group Use set command to customize the scheduling parameters if required www javad com GREIS Example Example Example Example Example GREIS RECEIVER INPUT LANG Comm Examples Creating Files Create a new file with an automatically generated name and assign it to the current log file A cur file a Either of gt create gt create a Create a new log file with the name my_file Either of create log my file a create my file Create files file1 and file2 and assign them to cur file a and cur file b gt create filel a create file2 b Creating Message Specifiers Add msg jps ET messages to the default set of messages gt create
339. related messages i e messages taken from different message groups To avoid name clashes the entries in the message output lists have names comprising both message group name and message name inside its group The contents of these output lists are implicitly modified by the em out and dm com mands Currently 49 is the maximum allowed number of messages in each message output list Message Output List for a Port Name par out oport Access r Type list sched params sched params Default This parameter contains the list of messages enabled for output to the oport along with their scheduling parameters Messages are output in the same order in which they appear in the message output list Number of Messages Enabled for Output to a Port Name par out oport amp count Access r Type integer Values 0 49 Default 0 This parameter contains number of messages currently being enabled to be output to the oport 3 4 33 Miscellaneous parameters Processor s Clock Frequency Name par cpu frq Access r Type integer MHz Returns the processor s clock frequency Processor Load Statistics Name par load Access r Type list www javad com 267 268 IVER OBJECTS ts Reference laneous parameters This parameter contains statistics of processor load gathered since last request of the value of this parameter All the elements of the list but the last one have the format
340. rial port C The example assumes BEELINE cellular operator and PIN code 1234 gt gt VUUUUY set par net ppp gprs pdp apn internet beeline ru set par net ppp gprs pdp id 1 set par net ppp aprs passwd beeline set par net ppp gprs user beeline set par net ppp gprs dial 99 4 set par modem c type gsm set par modem c pin 1234 set par modem c mode gprs Establish dialup PPP link over PSTN modem connected to receiver serial port C gt gt gt gt gt set par net ppp dialup dial 96007000 set par net ppp dialup user mtd0633877 dlp set par net ppp dialup passwd abc set par modem c type pstn set par modem c mode dialup PPP Configuration Parameters PPP Connection State Name par net ppp state Access r Type enumerated Values off connecting connected disconnecting Default off off PPP conection is inactive connecting receiver tries to establish PPP connection connected PPP connection is up and running disconnecting receiver is disconnecting from PPP peer www javad com 231 232 IVER OBJECTS ts Reference k Parameters PPP Error Name Access Type Values Default par net ppp error r string 0 256 none arbitrary string none This parameter contains PPP error message s or none if there are no errors PPP Baud Rate Name Access Type Values par net ppp speed r enumerated 9600 19200 38400 576
341. rmat Description 1 ESSVST Message title 2 2D Total number of GALILEO SVs being track 3 2D 2D 3D This 5 field section comprises 2D 2D 2D 1 GALILEO PRN number 2 Elevation in degrees 3 Azimuth in degrees 4 Signal to noise ratios in dB Hz This is a list of variable number of elements where elements are always in the following order 1 CA L1 signal to noise ratio 2 Missed reserved 3 Missed reserved 4 Missed reserved 5 E5A signal to noise ratio 5 Channel navigation status see Table 4 4 on page 287 The total number of such 5 field sections will match the number of SVs being track www javad com 329 IVER MESSAGES ard Predefined Messages essages Format Description 4 2X Checksum WS SBAS WAAS EGNOS SVs Status This message describes the status of SBAS satellites Format Description WSSVST Message title 2D 2D 2D 3D Total number of SBAS SVs being track This 5 field section comprises 2D 2D 2D 1 SBAS PRN number 2 Elevation in degrees 3 Azimuth in degrees 4 Signal to noise ratios in dB Hz This is a list of variable number of elements where elements are always in the following order 1 CA L1 signal to noise ratio 2 Missed reserved 3 Missed reserved 4 Missed reserved 5 L5 signal to noise ratio 5 Channel navigation status see Table 4 4 on page 287 The total number of
342. s will not indicate the true constellation used in position compu tation please see notes to specific sentences listed in the section below NMEA Specific Format Limitations The NMEA standard forbids the use of character inside approved NMEA sentences Note that this limitation overrides the general format conventions described in GREIS Format for Text Messages on page 326 www javad com 345 IVER MESSAGES fined Foreign Messages ed NMEA sentences In other words in approved NMEA sentences is omitted before non negative num bers even if the corresponding field formats contain the plus sign e g 7 5F It should be noted that the NMEA standard as a rule does not specify exact mantissa lengths for the sentence fields The user is free to allocate to every field as many digits as necessary to ensure required accuracy For example since JAVAD GNSS receivers pro vide millimeter level positioning accuracy in differential modes receiver geodesic coor dinates latitude longitude ellipsoidal height should have mantissas long enough to enable coordinate presentation with sub millimeter accuracy For the format conventions for the following sentences please see section GREIS Format for Text Messages on page 326 GGA Global Positioning System Fix Data This message comprises time position and other fix related data for JAVAD GNSS receiver
343. s Type Values Default par raw pll band rw float Hz 20 50 25 C A Delay Loop Bandwidth Name Access Type Values Default par raw cagdl band rw float Hz 0 1 50 0 8 www javad com RECEIVER OB Objects Refer Measurements Para 75 76 IVER OBJECTS ts Reference rements Parameters Care should be taken that the setting used doesn t result in receiver malfunction Values in the range 0 2 5 Hz are usually safe What can prevent you from using more narrow bandwidths in guided loops The main limitation here is ionosphere fluctuations and quick multipath Alternatively what may prevent you from using a bandwidth larger than 5 Hz The answer is GPS anti spoofing which results in much lower signal to noise ratios as com pared to C A measurements Although GLONASS has no mechanism similar to GPS anti spoofing GLONASS channels are however also formally subject to these limita tions since there are no separate settings for GPS and GLONASS loops in the receiver P L1 and P L2 Guided Loops Bandwidth Name par raw gdl band Access rw Type float Hz Values 0 1 10 Default 0 5 This parameter governs all of the guided loops but the C A DLLs specifically P L1 PLLs P L1 DLLs P L2 PLLs and P L2 DLLs Care should be taken when using values other than the default see notes to the previous parameter Guiding and Common Lock Loops Order Name par raw pll order Acce
344. s Values 109 2 109 2 Default 0 PPS Reference Edge Name par dev pps a b edge Access rw Type enumerated Values rise fall Default rise rise rising edge of the PPS pulse will be tied to the reference time fall falling edge of the PPS pulse will be tied to the reference time Period of Marked PPS Pulses Name par dev pps a b mper Access rw Type integer milliseconds Values 0 20 10 Default 0 www javad com 109 IVER OBJECTS ts Reference Parameters The JAVAD GNSS receiver can generate either or both normal and marked PPS pulses This parameter specifies the period of the marked PPS signal Note that the width of marked pulse is about 1 5 times greater than the width of normal PPS pulse 0 receiver will generate no marked pulses NM 20 10 provided the parameter governing the period of normal pulses is set to NN then the receiver will generate both normal and marked pulses but marked pulses will be output only every N milliseconds where N is equal to the least com mon multiple of NN and NM External Event Parameters Overview JAVAD GNSS receivers have the event marking function allowing the user to mea sure record event times in the specified reference time system with high accuracy You may have your JAVAD GNSS receiver measure the time of either the rising edge or fall ing edge of the input event signal Most of the JAVAD GNSS receivers may accommo dat
345. s 2 RAIM has detected and excluded anomalous measurements position is valid Note Generally speaking if more than one bad measurement is detected there is no guarantee that the RAIM has excluded all bad measurements with the specified probability However in most cases RAIM runs prop erly even if more than one bad measurement has been detected If the RAIM indicator is other than 2 this data field is followed by the checksum 3 RAIM is turned off position may be badly affected by poor measurements 5 PD Total number of excluded bad measurements 6 C 2D IDs of the satellites with bad measurements Note that the total number of such satellites is determined by the previous field Navigation system identifier G designates GPS satellites R or F both designate GLONASS satellites F is used for R until the receiver has determined the satellite s slot number Satellite system number or for GLONASS satellite frequency channel number GPS SV PRN follows after the G flag GLO NASS SV slot number follows after the R flag or GLONASS SV frequency channel number follows after the F flag 7 2X Checksum NP Navigation Position This message includes the receiver s navigational and positioning parameters Format Description 1 NAVPOS Message title 2 oC UTC time indicator V means that UTC time is valid N
346. s thus increasing latency or apply the complete epoch received logic The latter can decrease the RTK corrections latency by eliminating the delay required for receiving the first message referenced to the next epoch typically 1 second Source of Antenna Reference Position Name par rtcm rover refsrc Access rw Type enumerated Values auto llpc arp Default auto This parameter allows to maintain compatibility between various ways of expressing the reference antenna position JAVAD GNSS recommends that you use this parameter s default value unless you are completely sure of the message set being transmitted by the reference station The RTCM standard version 2 3 supports new message type 24 which provides the exact location of the reference station and the antenna height as the distance to the Antenna Reference Point ARP Remember that the previous versions of the standard use the message types 3 and 32 to broadcast the coordinates of the reference antenna and these messages contain the coordinates of the Antenna L1 Phase Center APC auto if both message sets 3 31 22 and 23 24 are transmitted in the same data stream the rover receiver will use ARP coordinates message type 24 If only one of the message sets is transmitted the rover receiver will automatically extract the antenna coordinates available in the given data stream and applies them to the RTK engine www javad com 179 180 IVER OBJECTS ts
347. s always available in your receiver i e the other time grids from the above list may or may not be currently available In fact JAVAD GNSS receiver always synchronizes its local time aka receiver time with one of the four global time scales GPS time UTC USNO GLONASS time or www javad com GREIS GREIS RECEIVER MESS Standard Predefined Mess Genera UTC SU The time grid thus selected is referred to as receiver reference time Trr hereafter in this section Different time systems may have different time notations formats associated with them e g for GPS time we use such terms as week number time of week etc Note however that the receiver time representation will not depend on the selected receiver reference time and is always represented as receiver date and time of day Most of the predefined messages don t contain reference time information inside In our view it would be excessive to use one and the same time tag with all of the many mes sages the receiver generates at the current epoch When outputting receiver information available for the current epoch you usually get various messages Instead of supplying each of them with an individual time tag data field we use a special message that carries receiver time information common for these messages This message is called Receiver Time and has the identifier There is however a mode of operation called RTK delayed mod
348. s equal to the value of the field For the gt gt message its first byte is its id field For non standard message the first byte is the message is its first character lying between and in ASCII Skip the First Byte Name par port jps N skip N 0 2 Access rw Type boolean Values y n Default y y the first byte of the message is skipped before executing the message contents n the first byte of the message is not skipped www javad com 221 222 Example Note Note Example IVER OBJECTS ts Reference Communication Parameters Source Destination Port Name par port jps N port N 0 2 Access rw Type enumerated Values oport empty string Default empty string If the value of the mode field is set to either echo or nsecho see the parameter par port jps N mode on page 220 this parameter specifies the output port to which the message contents should be sent For all other values of the mode field this parameter specifies the input port so that the message contents is executed as if the data have been received through the specified port The default value empty string designates the current port i e the port through which the initial message has been received Examples Suppose we have a controller connected to the serial A port of the receiver and we need to send both commands and CMR differential messages to the receiver using this port
349. s exactly like cmd input mode when par port echo param eter is set to dev null The default value for this parameter is intentionally chosen so that it will be considered to be just a comment by the GREIS language parser It makes it safe to send the default echo off sequence even when corresponding port is currently in command mode The echo off sequence will be echoed to the current echo port before the current echo port is turned to dev null If you setup a daisy chain between your controller and some device connected to receiver port make sure to first program echo off sequence to a value that will do no harm to the device On the other hand don t change the echo off sequence from its default value without necessity as other applications trying to estab lish communication with the receive will likely to fail provided your leave the port in the pure echo mode www javad com GREIS Example GREIS RECEIVER OB Objects Refer Generic Communication Para Enable Wrapped Echo Name par port ewrap Access rw Type boolean Values on off Default off on when this parameter is on and par port echo is other than dev null data echoing is carried out in the wrapped mode i e all of the characters received from port are combined into a corresponding gt gt message see gt gt Wrap per on page 322 before being output to the output port off no wrapping of the data will occur For the purpo
350. s license without the express written consent of JAVAD GNSS This license is effective until terminated You may terminate the license at any time by destroying the Software and Guide JAVAD GNSS may terminate the license if you fail to comply with any of the Terms or Conditions You agree to destroy the Software and Guide upon termination of your use of the receiver All ownership copyright and other intellectual property rights in and to the Software belong to JAVAD GNSS If these license terms are not acceptable return any unused software and guide CONFIDENTIALITY This guide its contents and the Software collectively the Confidential Information are the confidential and proprietary information of JAVAD GNSS You agree to treat JAVAD GNSS Confidential Information with a degree of care no less stringent that the degree of care you would use in safeguarding your own most valuable trade secrets Nothing in this paragraph shall restrict you from disclosing Con fidential Information to your employees as may be necessary or appropriate to operate or care for the receiver Such employees must also keep the Confidentiality Information confidential In the event you become legally compelled to disclose any of the Confiden tial Information you shall give JAVAD GNSS immediate notice so that it may seek a protective order or other appropriate remedy WEBSITE OTHER STATEMENTS No statement contained at the JAVAD GNSS website or any other website
351. satellites will be included in corresponding messages 1 127 not more than the specified number of satellites will be included in corre sponding messages The satellites that will be excluded are those with lowest ele vations Enable P L2 in CMR Messages Name par cmr base meas p2 Access rw Type boolean Values on off Default on Substitute P L1 for CA L1 in CMR Messages Name par cmr base pcode Access rw Type boolean Values on off Default off Type of CMR Message to Use for GLONASS Name par cmr base glo type Access rw Type integer Values 3 7 Default 3 Since the CMR format does not allow for any predefined message type for GLONASS measurements you must specify a message type for GLONASS raw data on your own This is the purpose that this parameter serves Since some new CMR message types may appear in the future be sure that the message type assigned to GLONASS measurements is different from all the other CMR message types Should a conflict due to ambiguous message types occur you may need to re www javad com GREIS Note GREIS RECEIVER OB Objects Refer CMR Para define the message type associated with GLONASS measurements just choose any unused number within a range of 3 7 In addition ensure that both the reference station and the rover receiver use the same message type for GLONASS data see par cmr rover glo type below CMR Antenna Type Name par cmr b
352. score character ASCII Ox5F are reserved for JAVAD GNSS applications Care should be taken that such strings are not used with the event com mands unless you can t accomplish your task otherwise or intend to cooperate with some JAVAD GNSS software In the latter case please refer to detailed description of free form events reserved for JAVAD GNSS applications in the Frame Format for Free Form Events guide available from Attp www javad com Generate a free form event containing the string Infol gt event Infol 5 Recall that if a string contains any of the characters reserved for the receiver input language you should enclose this string in double quotes 6 The current firmware provides a buffer large enough to store up to sixteen 64 byte free form events www javad com GREIS Example Example Example Example GREIS RECEIVER INPUT LANG Comm Generate a free form event containing reserved characters gt event EVENT DATA S ENT Generate free form event reserved for JAVAD GNSS application software this event notifies postprocessing application about change of dynamics gt event DYN STATIC Generate a free form with empty string gt event Generate a few free form events and get back the EV messages in the contents of messages non printable bytes are replaced with dots in the example U em jps EV gt dm jps EV accepted event some
353. se is forced by the statement identifier Warning Should a power failure or interruption of firmware transfer through a port occur during the loading the receiver will go into a non working state where only firmware loading through RS 232 ports using power on capture method is possible 9 TheID could be obtained using print par rcv id command 10 Current firmware supports only dev usb a as an input stream for firmware loading GREIS www javad com 53 54 Example Example IVER INPUT LANGUAGE If the object designates an existing file the receiver will first check whether the file contains valid firmware for the receiver it takes a number of seconds to complete If the check succeeds the receiver will load the firmware and then perform self reset Note that the reply to the command if any will be sent after the check is performed but before firmware loading begins The timeout and block size options are ignored in this case If object designates an input stream the command will send the reply if any and then start DTP receiver that will wait for DTP transmitter to be run on the host Therefore to actually upload the firmware one needs DTP transmitter implementation on the host Self reset reboot will be performed by the receiver after the loading successfully com pletes or is interrupted Examples Load firmware from the file firmware ldp into receiver with electronic ID 123456789AB Expect a few s
354. seconds Values 0 86400 Default 1 This parameter specifies the interval of outputting messages into the log file when data logging is activated with the TriPad or through the AFRM Internal Disk Parameters Blocks Count Name dev blk a amp blocks Access r Type integer Number of blocks on the internal block device The internal block device is used by the receiver file system to store receiver files Block Size Name dev blk a amp block size Access r Type integer bytes The size of a single block on the internal block device File system Parameters Available Memory Name par dev blk a size Access r Type integer bytes www javad com GREIS GREIS RECEIVER OB Objects Refer File Mana Free Memory Name par dev blk a free Access r Type integer bytes Block Size Name par dev blk a block size Access r Type integer bytes Maximum Number of Files Name X par dev blk a max files Access r Type integer The file system will refuse to create a new file if the current number of files on the file system is greater or equal to the value of this parameter Number of Files Name par dev blk a files Access r Type integer Current number of files on the file system Number of Bad Blocks Name par dev blk a bad blocks Access r Type integer bytes Verification of Writing Name par dev blk a verify Access rw Type enumerated Values off fast slow Def
355. ses of wrapping the data are stored in the internal receiver buffer until either timeout in the receiving of data occurs or the amount of data in the buffer exceeds the wrapping threshold The timeout is currently not customizable and set to 100 milli seconds and the threshold could be changed by the par port wsize parameter Wrapping Threshold Name par port wsize Access rw Type integer Values 1 128 bytes Default 128 This parameter specifies the threshold value for wrapping input data when in the wrapped mode Examples Setup pure echo from the current port to the serial port B The commands below will do the job even if current port is already in the echo mode to the same or some other port provided echo off sequence was not changed from its default value The commands also make sure none of them are echoed to the destination port gt OFFH gt set cur term imode cmd gt set cur term echo dev null gt set cur term imode echo gt set cur term echo dev ser b www javad com 217 218 Example Note IVER OBJECTS ts Reference Communication Parameters Setup daisy chain between current port and serial port B The commands below will do the job even if current port is already in the echo mode to the same or some other port provided echo off sequence was not changed from its default value gt OFFH gt set cur term imode cmd set cur term echo dev null set p
356. specifies maximum possible velocity of the receiver antenna for the pur pose of computation of the required SVs search zone Maximum Acceleration Name par lock amax Access rw Type integer m s s Values 10 100 Default 20 This parameter specifies maximum possible acceleration of the receiver antenna for the purpose of computation of the required SVs search zone Antenna Tracking Masks Name par lock ant Access rw Type array 1 4 of boolean Values yln yIn ylIn yla Default y y y y Each element of the array enables tracking of SVs on corresponding antenna This parameter is only available for multi antenna receivers Antenna N Tracking Mask Name par lock ant N N 1 4 Access rw Type boolean Values y n Default y This parameter enables tracking of SVs on antenna N This parameter is only available for multi antenna receivers Generic Measurements Parameters Measurements Update Rate Name par raw msint Access rw Type integer milliseconds Values 50 100 150 5000 Default 100 www javad com GREIS Note GREIS RECEIVER OB Objects Refer Measurements Para This parameter specifies the required period of the internal receiver time grid Receiver will calculate effective period of the time grid using the value of this parameter and val ues of relevant receiver options see par raw curmsint below In turn this time grid defines the rate of receiver generating
357. ss rw Type integer Values 2 3 Default 3 Care should be exercised when changing this parameter from the default value to 2 We don t recommend you to use a 2nd order PLL unless you are certain that the receiver s trajectory is far from being a uniformly accelerated motion and therefore using a lower order PLL might make a difference Imagine you are a field operator car rying a GPS GLONASS receiver in your backpack and you need to collect raw data for your RTK project In this and in similar cases using a 2nd order PLL may pay off Enable Adaptive Guided Loops Name par raw gdl adapt Access rw Type boolean Values on off Default on www javad com GREIS Note Note GREIS RECEIVER OB Objects Refer Measurements Para on receiver will adjust the guided loops bandwidths depending on the actual strengths of the signals tracked The weaker the signals the narrower the band widths off no adaptation will be performed P code Loops Bandwidth Scale Factor Name par raw pcll scale Access rw Type float Values 0 1 100 Default 2 0 This parameter establishes the ratio between P code PLL bandwidth and P code CLL bandwidth P code Loops Adaptation Name par raw ploops adapt Access rw Type float Values 0 1 100 Default 99 0 This parameter specifies the adaptation bandwidth of P code loops Non default values of this parameter must be used for testing purposes only Co
358. ssage per position fix If running in dual system RTK or DGPS i e both GPS and GLONASS differential correction data are used simultaneously the receiver outputs in accordance with the NMEA standard a GNS triplet for every position fix The first message in a GNS triplet plays the most important part carrying the lion s share of information The other two messages provide some GPS specific and GLONASS 66 specific information specifically total number of satellites age of differential data and differential reference station ID I5 The following is the example of a typical GNS triplet SGNGNS 122310 20 3722 425671 N 12258 856215 W DD 14 0 9 1005 543 6 5 74 lt CR gt lt LF gt GPGNS 122310 20 5 71 1115 2 23 4D lt CR gt lt LF gt GLGNS 122310 20 71 3 0 23 55 CR LF Positioning system mode indicator for GNS message N No fix A Autonomous Satellite system used in non differential mode in position fix D Differential Satellite system used in differential mode in position fix P Precise Satellite system used in precision mode Precision mode is defined as no deliberate degradation such as Selective Availability and higher resolution code P code is used to compute position fix R Real time kinematic Satellite system used in RTK mode with fixed integers 15 Not to mention UTC time of position fix which is the same for all three messages in the triple
359. stenning on for connections Network Statistics Note The parameters described below are mostly intended for the use by receiver firmware developers and are subject to change at any time TCP IP Network Statistics Name par net stat Access r Type list tcpd mbuf tcp udp icmp if drv mem tcpd alist of active TCP connections mbuf tcp udp icmp if internal statistics of the TCP IP stack The descrip tion of these fields exceeds the scope of this document 5 drv statistics from low level Ethernet driver mem memory usage statistics for network subsystem memory pool List of Active TCP Connections Name par net stat tcpd Access r Type list 15 Details can be found in the FreeBSD documentation GREIS www javad com 247 IVER OBJECTS ts Reference k Parameters For every active TCP connection this list contains an entry with a name that is a number in the range 0 4 Active TCP Connection Name par net stat tcpd N N 0 4 Access r Type list ip port dev ip IP address of a peer of the selected TCP connection port IP port of a peer of the selected TCP connection dev TCP device allocated for the selected TCP connection TCP Peer IP Address Name par net stat tcpd N ip N 0 4 Access r Type ip address TCP Peer IP Port Name par net stat tcpd N port N 0 4 Access r Type integer Values 0 65635 TCP Device Allocated for TCP Connection Nam
360. stern 7 1 4 F Speed over ground horizontal speed knots 8 263 1 3 F Course over ground true course degrees www javad com 353 IVER MESSAGES fined Foreign Messages ed NMEA sentences 354 Format Description 9 S Date DDMMYY 10 263 1 3 F Magnetic variation degrees 11 oC Magnetic variation direction E eastern W western 12 oC Mode indicator see Positioning system mode indicator in GLL mes sage above 13 2X OD 0A_ Checksum see General Format of Approved NMEA Sentences on page 345 HDT Heading True Format Description 1 3F True Heading in degrees 2 C Symbol T indicates true heading 3 2X 0D Checksum see General Format of Approved NMEA Sentences on 0A page 345 VTG Course Over Ground and Ground Speed The actual course and speed relative to the ground Format Description 1 3 1 3 F True course degrees 2 C Symbol T indicates True course 3 3 1 3 F Magnetic course degrees 4 C Symbol M indicates Magnetic course 5 9o 1 4 F Horizontal speed knots 6 C Symbol N indicates that horizontal speed is given in knots 7 9o 1 4 F Horizontal speed km h 8 C Symbol K indicates that horizontal speed is given in km h 9 C Mode indicator see GGA Global Positioning System Fix Data on page 346 www javad com GREIS
361. stogram to the current terminal and then start collecting data for the next histogram This parameter is not stored in NVRAM therefore switching receiver off then on will turn this mode off The following is an example histogram khist 122 kbad 0 hist 1 0 000000 hist 2 0 991803 hist 3 0 991803 hist 4 1 000000 hist 5 1 000000 hist 120 1 000000 where khist is the number of trials kbad is the number of the wrong fixes Note that if you have no a priori baseline coordinates then this estimate is of no avail hist 120 strings in the format hist n p where p is the estimated probability of fixing ambiguity in no more than n seconds 3 4 10 Reference Parameters Parameters described in this section specify different kinds of reference information that could be used by multiple other receiver sub systems For example reference coordi nates could be sent from the reference station to rovers for RTK applications are used to calculate RTCM corrections by DGPS reference station and are used by the Improved Timing mode reference antenna parameters could be utilized by both RTK base and RTK rover functionality etc Reference Station Coordinates Overview Receiver supports separate reference station coordinates for GPS and GLONASS as these two systems use different reference datums WGS 84 and PE 90 respectively In addition reference station coordinates could be specified by the user int eit
362. string gt RE00A accepted 011 Some string gt 1 event 1 2 event 2 RE003 1 RE003 2 007 1 007 2 www javad com 47 IVER INPUT LANGUAGE ands 2 3 10 get Name get start retrieving of file contents using DTP Synopsis Format get object offset Options timeout block size period phase attempts Arguments object object identifier of the file to be retrieved If object does not begin with 7 then log prefix is automatically inserted before the object prior to exe cuting the command If the object does not exist or can t be retrieved an error message is generated offset offset in bytes from the beginning of the file at which to start retrieving If omitted 0 is assumed Options Table 2 5 get options summary Name Type Values Default timeout integer 0 86400 seconds 10 block size integer 1 163841 512 period float 0 86400 seconds 0 phase float 0 86400 seconds 0 attempts integer 1 100 10 1 2048 for receivers that don t support TCP or USB timeout the timeout for DTP block size thesize of a DTP data block period the output period for filtering see below phase the output phase for filtering see below attempts maximum number of attempts DTP transmitter will take to send single block When set to 1 special streaming mode is activated see below
363. string Default empty string This parameter specifies the login name to be sent to the remote receiver as the reply to the login prompt Refer to the description of the par net tcp port parameter on page 239 for details Login Password for Raw TCP Server Name par net tcpcl rcv passwd Access rw Type string 0 32 Default empty string The value of this parameter should match the value of the parameter par net passwd of the remote receiver This parameter is never printed implicitly www javad com 243 244 Example Note IVER OBJECTS ts Reference k Parameters NTRIP Client Parameters The parameters below are useful to provide a method to establish connection to an NTRIP caster request data from particular mount point and then receive and use the data as RTK DGPS corrections Configure receiver to connect to the NTRIP caster at specific IP address and port to request data from the mountpoint REF1 that we know is sending RTCM corrections and to receive RTCM corrections from the mount point Suppose also that this NTRIP server requires NMEA GGA message to be sent to it periodically You can obtain information about endpoints from the NTRIP table To request NTRIP table use par net tcpcl ntrip table parameter see below set par net tcpcl ntrip addr 87 236 81 134 gt set par net tcpcl ntrip port 80 t t set par net tcpcl ntrip mountpt REF1 t t gt
364. such 5 field sections will match the number of SVs being track 4 2X Checksum NS GLONASS SVs Status This message describes the status of GLONASS satellites Format Description 1 GLSVST Message title 2 2D Total number of GLONASS SVs being track 330 www javad com GREIS GREIS RECEIVER MESS Standard Predefined Mess Text Me Format Description 3 2D 2D 2D 3D This 6 field section comprises 2D 2D 2D 1 GLONASS SV Orbit Slot Number 2 GLONASS SV Frequency Channel Number 3 Elevation in degrees 4 Azimuth in degrees 5 Signal to noise ratios in dB Hz This is a list of variable number of elements where elements are always in the following order 1 CA LI signal to noise ratio 2 P L1 signal to noise ratio 3 P L2 signal to noise ratio 4 CA L2 signal to noise ratio 6 Channel navigation status see Table 4 4 on page 287 SVs being track The total number of such 6 field sections will match the number of 4 2X Checksum 1 If orbit slot number is reported as zero the slot number hasn t yet been determined RS Reference Station Status This message contains parameters related to the reference station status Format Description 1 REFST Message title 2 C UTC time indicator V means that UTC time is valid N means that UTC time is not valid 6 2F UTC time
365. t The response is always generated and more than one RE message could be generated in response to a single print command The value of an object of type list is printed as a list of values for every object in the list This is applied recursively until leaf objects are reached so printing an object of non leaf type effectively outputs entire sub tree starting from the specified object In case of printing of lists multiple RE messages could be generated However splitting of the output may occur only immediately after list separator characters GREIS www javad com 29 Example Example Example Example Example 30 IVER INPUT LANGUAGE Examples Print current period of the internal receiver time grid Either of gt print par raw curmsint RE004 100 print raw curmsint RE004 100 Print current period of the internal receiver time grid along with the object name Either of gt print par raw curmsint on RE015 par raw curmsint 100 print raw curmsint on RE015 par raw curmsint 100 Print receiver version information gt print rcv ver RE028 2 5 Sep 13 2006 p2 0 71 MGGDT 5 none lt RE00D none none Print receiver version information along with corresponding names gt print rcv ver on RE043 par rcev ver main 2 5 Sep 13 2006 p2 boot 0 hw 71 board MGGDT 5 RE00C modem none RE017 pow fw none hw none Print all the messages enabled fo
366. t com mand are called write only objects Description of each object contains the field access that specifies if the object 1s read write or read only If an object could be used as an argument in some other GREIS commands this ability will be explicitly mentioned in the description of the object Each object has a type associated with it Object type defines the formats that are accepted by the set command for this object and the format that the print command will use when it reports the state of the object Note that the set command may accept multiple formats for given type whereas the print command will always use one fixed format from those supported by the set command For example the set command for an integer type will accept values in decimal hexadecimal or octal format while the print command will always use one of these formats for given object The format that is typically used by the print command for a given type is called the default format for this type Should the print command use non default format for an object the format is either explicitly specified in the description of this object or matches those that is used to specify the allowed values and the default value of the object 1 Due to limitations of the current implementation of the set command it doesn t support most of non leaf objects Those non leaf objects that nevertheless are supported by the set command are explic itly described in this chapter www ja
367. tA Square root of the semi major axis m 0 5 f4 ecc Eccentricity F4 m0 Mean Anomaly at reference time semi circles f4 omega0 Longitude of ascending node of orbit plane at the start of week wna semi circles f4 argPer Argument of perigee semi circles Corrections to orbital parameters f4 deli Correction to inclination angle semi circles f4 omegaDot Rate of right ascension semi circle s ul cs Checksum EA GALILEO Almanac struct GALAlm 49 306 GPS alike data GPSAlm gps Without cs field gps sv within the range 1 30 GALILEO Specific data i2 iod Issue of almanac data ul cs Checksum www javad com GREIS RECEIVER MESS Standard Predefined Mess Almanacs and Eph NA GLONASS Almanac struct GLOAlmanac 46 ul sv Satellite orbit slot number within 1 24 il frqNum Satellite frequency channel number 7 24 i2 dna Day number within 4 year period starting with the leap year f4 tlam Time of the first ascending node passage on day dna s ul health Satellite health as specified by Cn bitfield 1 indicates healthy SV 0 unhealthy 1 7 reserved Clock data f4 tauN Coarse time correction to SV clock with respect to GLONASS system time s f8 tauSys Correction to GLONASS system time with respect to UTC SU s E
368. tains the same time of day field that is found in the Receiver Time message that allows for better integrity checking The idea is to compare time tag 3 In the current receiver firmware the receiver reference time is always GPS system time and can t be cus tomized www javad com 285 286 IVER MESSAGES Notes Note ard Predefined Messages from message against the time tag from corresponding message Mismatched tags are an indication of broken epoch You will notice that most of the messages have identifiers comprising only digits and or English letters In fact Receiver Time is the only message whose identifier uses the character It makes sense as the message plays a very important part serving as an epoch delimiter Thus there are special precautions in order to minimize the proba bility of losing this key message Similarly the identifier of the Event message too must be as distinctive as possible since application software may use free form events just as delimiters The idea of using highly distinctive identifiers for the messages that serve as delimit ers is very clear Should a message s checksum be wrong just check its identifier If nei ther of the identifier s characters coincides with then it is very unlikely that this is a corrupted message Therefore you needn t skip to the next message in this case On the other hand
369. tch a non standard message The matching criterion is the product of comparison between the first byte of the non standard message and the id field of the specification In the execution stage the values have the following meaning 220 www javad com GREIS GREIS RECEIVER OB Objects Refer Generic Communication Para none never appears in the execution stage as no message could match this mode cmd execute the message contents as command s received from the port specified in the port field of the input specification echo send the message contents to the port specified in the port field of the input specification jps process the message contents as data in GREIS format received from the port specified in the port field of the input specification rtcm process the message contents as data in RTCM 2 x format received from the port specified in the port field of the input specification rtcm3 process the message contents as data in RTCM 3 0 format received from the port specified in the port field of the input specification cmr process the message contents as data in CMR format received from the port specified in the port field of the input specification nscmd the same as cmd nsecho the same as echo Message Identifier Matcher Name par port jps N id N 0 2 Access rw Type integer Values 71 255 Default 1 1 matches any message 0 255 matches a message which first byte i
370. te imode Access rw Values none rtcm cmr Default none This parameter contains the input mode to use on the Master side Attitude Processing Mode Name par att procmode Access rw Type enumerated Values delay extrap Default delay delay there will be delays between time tags of the position and the attitude extrap the time tags of the position and the attitude are aligned by using the extrapolation filter Additional smoothing is added as a side effect Gain of the Attitude Extrapolation Filter Name par att gain Access rw Type float Values 0 1 10000 Default 1 Correlation Time of the Attitude Extrapolation Filter Name par att tcor Access rw Type float Values 0 001 10000 Default 1 www javad com 139 140 IVER OBJECTS ts Reference Differential RTK Parameters Use Base Line Vectors with Fixed Ambiguities Only Name par att fixed Access rw Type boolean Values on off Default on on the attitude will be calculated with all three base line vectors being fixed only off the attitude will be calculated even with some of base line vectors having float status Lever Arm Calculation Mode Name par att armcalc Access rw Type enumerated Values on off auto Default off on the lever arm position shifted from the antenna position by the lever arm vec tor will be calculated and reported in the messages RO RG and NR pro vided the attitud
371. tending of text messages when writing data extractors for text messages Checksums After a message has been extracted from the data stream using techniques described in the Parsing Message Stream on page 281 and the message identifier appears to be one of those the application is interested in the message body should be parsed to extract the data Before extracting the contents the message checksum should be calculated and compared against the checksum contained in the message Most of predefined messages contain checksum Checksum is computed using both the message header i e message identifier plus the length of message body and the body itself See Computing Checksums on page 365 for more information on check sum computation The checksum is always put at the very end of the message body If a message s structure is modified by adding a new data field s the new data fields will be added before the checksum field This explains why it is recommended to address the checksum field rel ative to the end of the message body 4 4 2 General Notes Time Scales There are five time scales your receiver may handle Tr receiver time Tg GPS system time Tu UTC USNO Universal Coordinated Time supported by the U S Naval Obser vatory Tn GLONASS system time Ts UTC SU Universal Coordinated Time supported by the State Time and Fre quency Service Russia Receiver time is the only time grid that i
372. ter par pos cd src mode on page 117 Should the transmitted reference coordi nates of the base stations be conspicuously different from their truth coordinates in this mode the estimated rover position may prove corrupt unless the user enters appro priate coordinate offsets for these stations on the rover side gt set rover base pos par a on dev ser a any 0 02 0 033 0 05 gt set rover base pos par b on any 101 0 01 0 034 0 22 gt set rover base pos par c on any 102 0 002 0 023 0 011 With these commands the receiver will apply the offset 0 02 0 03 0 05 to the trans mitted coordinates of the reference station whose differential corrections are received on serial port A whatever the station ID It will apply corresponding corrections to refer ence stations with IDs 101 and 102 unless data for them are coming from serial port A in which case the first offsets apply SBAS WAAS EGNOS Parameters SBAS stands for Satellite Based Augmentation System JAVAD GNSS receivers support two implementations of SBAS Wide Area Augmentation System WAAS and Euro pean Geostationary Navigation Overlay Service EGNOS Parameters described in this section define when and how SBAS data will be used by the receiver to increase posi tioning accuracy www javad com GREIS GREIS RECEIVER OB Objects Refer Code Differential DGPS Para SBAS Mode Name par pos wd mode Access rw Type enumerated Values
373. text message s format specifies its structure field types and the number of significant digits for each field Field format notation always starts with symbol hex 25 The following data type characters aka data type specifiers are used to distinguish between different data types D decimal integer hexadecimal integer character string type note that strings may have arbitrary lengths floating point Ej nj nN Qa xX exponential format for floating point Given a numeric field digits preceding the data type specifier designate the number of digits in the format of this field 3 There may be two one or no digits specified before the data type specifier For floating point fields the first digit defines the length of the integer part of the field representation integer part descriptor whereas the second 13 This applies to integer float and double fields only www javad com GREIS GREIS RECEIVER MESS Standard Predefined Mess Text Me digit defines the length of the fractional part fractional part descriptor If there are two digits used in the field format notation these are separated by a dot hex 2E A fields s fractional part descriptor can be variable i e its length is programmable with an appropriate receiver command In this case the fractional part descriptor shows the parameter range which is put inside square brackets e g 0 1 4 F Integer part descri
374. th quotes backslash NN and special characters 1 4 Objects In the context of the model that GREIS is based on a JAVAD GNSS receiver is identi fied with a set of named objects www javad com GREIS Example Example Example Example Example GREIS INTRODU Ob Object Ide Object is defined as a hardware or software entity of the receiver s that can be addressed set or queried Hardware entities are commonly referred to as devices whereas firm ware objects are normally files and parameters Receiver ports and memory modules are all good examples of devices All devices files and parameters are treated in a uniform way by GREIS Every object has an associated set of attributes that can be accessed defined and or changed through GREIS 1 4 1 Object Identifiers It has been already mentioned that a receiver is considered as a set of objects devices files messages parameters etc in the context of the GREIS model For the purposes of addressing the objects in the receiver commands a unique identifier should be assigned to every object Objects in the receiver are logically organized into groups A group itself is also an object and belongs to another group unless it is the root group Thus all objects in the receiver are organized into a tree like hierarchy starting at the single root group This representation resembles the organization of files into directories folders that most computer users
375. the correct datum transformation parameters using the par pos datum USER parameter Local Coordinates Parameters of Transformation to Local Coordinates Name par pos local par Access rw Type 1at0 lon0 scalePrj falseN falseE delN delE scaleLoc rotation Hx Hy Ho Default N00d00m00 000000s E000400m00 000000s 1 0 0 0 0 1 000d00m00 000000s 0 0 0 Stereographic projection parameters lat0 latitude of the origin of the projection in latitude format lon0 longitude of the origin of the projection in longitude format ScalePrj scale factor of the projection 0 1 10 falseN false Northing 107 107 meters falseE false Easting 107 107 meters Parameters obtained from the localization procedure delN offset in North direction 107 107 meters delE offset in East direction 107 107 meters scaleLoc scale factor 0 1 10 rotation rotation angle 0 360 degrees Hx Hy Ho parameters that relate to the height transformation Hx and Hy are dimensionless 1 1 Ho is in range 102 10 meters www javad com GREIS GREIS RECEIVER OB Objects Refer Positioning Para n scale x COSA Y sereo SING AN stereo scale x stereo SNA Y stereo COSA AE h H t H X stereo H stereo Generic Single Point Parameters Parameters described in this section affect single point positioning Please note that due to specific of code differential
376. the field x 4 1 2 Special Values For binary messages some of their integer and floating point fields may contain special values which are used instead of actual data when no data for the field are available Binary fields for which checking for special values is required during data extraction are marked with the exclamation mark in the first column of the field definition The following table defines special values for various data field types Table 4 2 Special Values for Fields Field Type Special Value HEX Representation il 127 TF ul 255 FF i2 32767 7FFF u2 65535 FFFF i4 2147483647 7FFF FFFF u4 4294967295 FFFF FFFF f4 quiet NaN 7FCO 0000 f8 quiet NaN 7FFF8 0000 0000 0000 4 2 Standard Message Stream Standard GREIS message stream is a sequence of at most two kinds of messages GREIS standard messages and non standard text messages Most important and widely used kind of messages is a rich set of GREIS standard mes sages Their general format is carefully designed to allow for both binary and text mes www javad com 279 280 IVER MESSAGES ral Format of Messages rd Messages sages and to make it possible for applications to efficiently skip the messages the application doesn t know about or is not interested in Support for non standard text messages that should still adhere to the format defined for them in this manual makes it possible to mix GREIS standard m
377. the first of the messages sent to the output stream at the given epoch and this epoch s time tag Note that latency for an output stream may depend on the amount of messages requested to a different stream For example the more messages are output to port A the bigger the latency of port B this is because the receiver begins generation of messages for port B only after it has finished generating messages for port A gt gt Wrapper struct Wrapper var ul id Source identifier ul data size Data from the source al cs 2 Checksum formatted as hexadecimal Nu This message is intended to wrap up arbitrary data The size of the wrapped data in bytes is equal to the message length from the header less 3 size L 3 This message is used for two different purposes 1 To wrap data from an input stream that has been set to the wrapped echo mode see par port ewrap and par port echo parameters In this case it is generated whenever some data come to the stream The id field then con tains input stream identifier id Source Stream a d serial ports A D dev ser a dev ser d A E TCP ports A E dev tcp a dev tcp d U USB port A dev usb a mr Bluetooth port A dev blt a N CAN port A dev can a P TCP client port dev tcpcl a tt UDP port www javad com GREIS Note GREIS RECEIVER MESS Standard Predefined Mess Miscellaneous M
378. ticate itself to the peer using CHAP Enable Van Jacobson Compression Name par net ppp comp vj Access rw Type boolean Values on off Default off on Van Jacobson style TCP IP header compression VJ is enabled in both the transmit and receive directions off the VJ compression is disabled Enable Connection ID Compression Name par net ppp comp vjc Access rw Type boolean Values on off Default off on receiver will omit the connection ID byte from VJ compressed headers and will ask the peer to do so off receiver will not omit the connection ID byte nor ask the peer to do so GREIS www javad com 233 Note 234 IVER OBJECTS ts Reference k Parameters GPRS Configuration GPRS Dial Number Name par net ppp gprs dial Access rw Type string 0 32 Default 99 1 This parameter specifies the dial number for GPRS connection GPRS User Name Name par net ppp gprs user Access rw Type string 0 32 Default empty string This parameter specifies GPRS user name GPRS Password Name par net ppp gprs passwd Access rw Type string 0 32 Default empty string This parameter specifies GPRS password This parameter is never printed implicitly GPRS PDP Context Identifier Name par net ppp gprs pdp id Access rw Type integer Values 1 4 Default 1 This parameter specifies Packet Data Protocol PDP context identifier GPRS PDP Access Poi
379. to print its electronic ID Receiver generates the reply message shown gt print par rcv id CR lt REOOC QP01234TR45 lt CR gt lt LF gt Ask receiver to set the baud rate of its serial port A to 9600 Receiver successfully exe cutes the command and doesn t generate any reply gt set par dev ser a rate 9600 lt LF gt Use the same command as in the previous example but force receiver to generate reply by means of using the statement identifier gt set rate set par dev ser a rate 9600 lt LF gt REOQOA set_rate s lt CR gt lt LF gt Try to set too high baud rate Receiver replies with the error message even though we used no statement identifier gt set par dev ser a rate 1000000 lt LF gt ER016 4 value out of range lt CR gt lt LF gt Receiver always puts its normal and error replies into two standard messages RE and ER respectively For more information on the format of GREIS messages refer to General Format of Messages on page 280 The RE and ER messages themselves are described in Interactive Messages on page 320 www javad com 23 IVER INPUT LANGUAGE age Syntax 2 2 Language Syntax GREIS defines lines of ASCII characters of arbitrary length delimited by either car riage return lt CR gt ASCII decimal code 13 or line feed lt LF gt ASCII decimal code 10 characters to be the top level syntax elements of the language Empty lines are allowed and ignored in GRE
380. tring value of up to 90 characters Decoder identifier see below Data link identifier A D serial ports M modem Reference station identifier 4 2X Checksum Decoder identifier A shows that information has been decoded from RTCM messages 23 and 24 R shows that information has been decoded from RTCM messages 16 and 36 T shows that information has been decoded from RTCM 3 0 messages 1007 and 1008 e N shows that information has been decoded from RTCM 3 0 message 4091 Topcon proprietary message msg rtcm3 4091t C CMR decoder J GREIS messages decoder RM Results of RAIM Processing This message contains RAIM output data Format Description 1 RAIM Message title www javad com 333 IVER MESSAGES ard Predefined Messages essages Format Description 2 C UTC time indicator V means that UTC time is valid N means that UTC time is not valid 3 6 2F UTC time of position the first two digits designate hours the next two digits designate minutes and the rest of the digits designate sec onds 4 1D RAIM indication 0 no anomalous measurements have been detected position is valid 1 RAIM is not able to detect anoma lous measurements for example due to poor geometry or limited number of visible satellites position may be badly affected by anomalous measurement
381. ts 4090t Proprietary text message This message provides a possibility to trans mit a text message from the base to the rover receiver It is a proprietary mes sage thus the receivers of other developers cannot use this message To enable the output of message 1004 on serial port C with the period 1 second issue the following command gt em dev ser c msg rtcm3 1004 1 0 To enable the output of messages 1019 and 1020 through e g serial port C use the fol lowing command gt em dev ser c msg rtcm3 1019 1020 The command that enables the output of this message is the following em dev ser c msg rtcm3 4091t 17 See for details RTCM recommended standards for differential GNSS Global Navigation Satellite Sys tem service version 3 0 February 10 2004 RTCM PAPER 30 2004 SC104 STD www javad com GREIS RECEIVER MESS Predefined Foreign Mess CMR Me 4 5 5 CMR Messages Introduction to CMR Messages The Compact Measurement Record CMR format was developed by Trimble Naviga tion Limited and now is approved for public use The format is suitable for communica tion links that have a minimum of 2400 baud throughput assuming that only GPS data is used It provides significant advantages over RTCM messages the latter are at least twice as long as compared against their CMR counterparts It should be noted however that the original version of the CMR format does not allow for GLONASS Th
382. ts Smoothing correction s 10 11 ul cs Checksum N These messages contain corresponding short pseudorange smoothing corrections for all the satellites specified in the latest SI message The cc c1 c2 c3 and c5 mes sages contain short CA L1 P L1 P L2 CA L2 and L5 smoothing corrections respec tively Use the following formula to compute smoothed pseudoranges in seconds pr sm pr smooth 10 PC P1 P2 P3 P5 Carrier Phases struct CP 8 nSats41 f8 cp nSats CP cycles ul cs Checksum i These messages contain corresponding carrier phases for all the satellites specified in the latest SI message The PC P1 P2 P3 and P5 messages contain CA L 1 P L1 P L2 CA L2 and L5 carrier phases respectively pc p1 p2 p3 p5 Short Carrier Phases struct SCP 4 nSatst l u4 scp nSats CP cycles 1024 ul cs Checksum E The scp field will have discontinuities due to rollovers Refer to Compensating for Phase Rollovers on page 369 for details These messages contain corresponding short carrier phases for all the satellites specified in the latest SI message The pc p1 p2 p3 and p5 messages contain short CA L1 P L1 P L2 CA L2 and L5 carrier phases respectively Use the following formula to compute full carrier phases in cycles www javad com GREIS RECEIVER MESS Standard Predefined Mess Satellite Measur
383. twork Servers Parameters Receiver implements FTP server in read only mode and raw TCP server TCP FTP Password Name par net passwd Access rw Type string 0 15 Values arbitrary string Default automatically generated value unique for each receiver By using this parameter the user sets a password for FTP and raw TCP connections This parameter is never printed implicitly www javad com GREIS RECEIVER OB Objects Refer Network Para TCP Server Configuration TCP Port Name par net tcp port Access rw Type integer Values 1 65535 Default 8002 TCP port receiver is listening on for incoming raw TCP connections Up to 5 simulta neous connections are supported After a client connects to this TCP port receiver out puts login prompt Explicit a b e reply followed by new line to the login prompt will make connection to corresponding TCP stream dev tcp a dev tcp e respec tively Entering just new line will make receiver to automatically select the first avail able TCP stream to make connection to After login prompt the receiver will issue the password prompt The string specified in par net passwd followed by new line should be entered by the client in reply to the password prompt If the string entered does not match connection will be denied otherwise connection to the selected raw TCP port will be established TCP Connection Timeout Name par net tcp timeout Access rw Ty
384. ty string Session Scheduler Status Name par sess stat Access r Type list active count job time GREIS www javad com 207 IVER OBJECTS ts Reference n programming Running Activity Flags Name par sess stat active Access r Type array 0 15 of boolean Values yln ylin This parameter is set to the value of par sess active parameter whenever session scheduler mode is changed or session scheduler is restarted Running Activity Flag for Job N Name par sess stat active N N 0 15 Access r Type boolean Values y n Job Execution Down counters Name par sess stat count Access r Type array 0 15 of integer Job N Execution Down counter Name par sess stat count N N 0 15 Access r Type integer Values 0 2147483647 Whenever session scheduler mode is changed or scheduler is restarted the value of cor responding par sess job N count parameter is copied to this variable If the variable is greater than zero it is decremented every time corresponding job is executed Should the variable became zero as a result of decrement corresponding current activity flag 6699 par sess stat active N is set to n thus the job is deactivated Next Job to be Executed Name par sess stat job Access r Type integer Values 71 15 Default 1 1 there are no jobs to be executed 0 15 job index to be executed next 208 www javad com GREIS Example GREIS R
385. uities will be compared against the current ones If the forced ambiguity vector differs from the current ambiguity vector the float solu tion mode will be enabled at once 1 ambiguity verification is off 0 1 RTK engine will verify ambiguities every epoch 2 32767 RTK engine will verify ambiguities every specified number of epochs Rover Dynamics for RTK Name par pos pd dyn Access rw Type float Values 0 1 Default 1 0 1 RTK engine will run in static mode 1 RTK engine will run in kinematic mode When in static mode the engine uses a running average over a few consecutive raw esti mates to decrease the resulting position s noise error Note that the RTK engine also provides a static watchdog mechanism When in static mode the receiver will automatically monitor estimated coordinates X Y Z Should the position change over 4 centimeters in one of the coordinates the receiver will immedi ately switch to kinematic mode and will run in this mode for the next 30 seconds RTK Computational Scheme Version Name par pos pd ver Access r Type integer Values 2 128 www javad com GREIS GREIS RECEIVER OB Objects Refer Phase Differential RTK Para Reset RTK Engine Name par pos pd reset Access w Type boolean Values on off Default off on RTK engine will be reset and the value of this parameter will be set back to off off ignored Enable Use of Kept Refer
386. um that is set as current for position computa tion 90 www javad com GREIS GREIS RECEIVER OB Objects Refer Positioning Para Current Datum for Position Computation Name par pos datum cur Access rw Type datum_id Default W84 This parameter specifies the identifier of the datum that will be used for position compu tation Note that some of the receiver messages always contain position referenced to WGS 84 datum This parameter has no effect on such messages Use Datum Rotations for Position Computation Name par pos datum ft Access rw Type boolean Values on off Default off on receiver will apply the full transformation matrix including rotations off receiver will not apply rotations i e computations are made as if all the rota tions are zero JAVAD GNSS recommends that you set this parameter to on only when the rotation parameters used to relate the orientation of datums are big enough tens seconds of arc or more In all other cases leave the default parameter s value off Parameters of Datum D Name par pos datum D Access r Type list ell datum ell reference ellipsoid parameters for this datum par 7 parameters transformation for this datum Reference Ellipsoid for Datum D Name par pos datum D ell Access r Type ell params 7 parameters Transformation for Datum D Name par pos datum D par Access r Type datum params www javad com 91
387. urn on the multi base DGPS mode otherwise receiver may fail to calculate correct position due to mixing of differential corrections from different sources Maximum Age of DGPS Corrections Name par pos cd maxage Access rw Type integer seconds Values 1 1200 Default 30 Receiver will stop using differential corrections for DGPS solution when their age exceeds specified limit lonosphere free DGPS Mode Name par pos cd ionofree Access rw Type boolean Values on off Default off on receiver will use both ionosphere corrections from RTCM message type 15 and regular differential corrections from RTCM message types 1 and 31 or 9 and 34 when computing position off receiver will not use ionosphere corrections from RTCM message type 15 Maximum Age of lonosphere Corrections Name par pos cd iono maxage Access rw Type integer seconds Values 1 1800 Default 300 Receiver will stop using ionosphere corrections for DGPS solution when their age exceeds specified limit Range Residual Limit Name par pos cd rlim Access rw Type float meters Values 1 0 100 0 Default 5 0 www javad com GREIS GREIS RECEIVER OB Objects Refer Code Differential DGPS Para Satellites whose range residuals are greater than this limit will be discarded from code differential positioning This parameter is used only if the parameter par pos raim mode has been set to on Source of DGPS Corre
388. urrent Log file Name cur file alb Access rw Type string Values any existing file name Default empty string These parameters contain the names of the current log files if such files exist or empty strings otherwise If there is no current log file then setting this parameter to an existing file s name will instruct the receiver to open this file for data appending thus making it the new current file If the current log file exists then changing this parameter will instruct the receiver to close the existing current file and then open a new current file If the command refers to a file that does not exist the receiver will not create a new file and will not change the current log file Please refer to the description of create com mand on page 41 for the way to create new files and to make them the current log files To stop data logging and close current log file use the dm command described on page 37 cur file a has a synonym cur log that is provided for compatibility with older firmware ver sions that didn t have support for multiple log files Current Log file Size Name cur file al b amp size Access r Type integer bytes The size of corresponding log file if any An error message will be reported if there is no current log file cur file a size has a synonym cur 1og amp size that is provided for compatibility with older firmware versions that didn t have support for
389. utomatically start when power is restored after a power failure though recent receivers will remember their on or off status and therefore will turn on when power is restored provided power failure occurred when they were turned on 3 4 30 CAN Ports Parameters In this section cport denotes a CAN port any of dev can X X a b CAN messages that receiver accepts are specified by the two parameters par cport sid in first and par cport sid in cnt To be accepted by the receiver the CAN message Standard Identifiers SIDs of the input CAN messages must be in the range first first cnt 1 In addition receiver will use the received SIDs to establish relative order of received the CAN messages CAN messages that receiver generates have programmable SIDs The SID starts with the value specified by the par cport sid out first parameter and is incremented by one for every CAN message being output until number of SIDs in the sequence exceeds the value of parameter par cport sid out cnt Then the SID is reset to its first value and the process continues For example if first is set to 0x710 and cnt is set to 3 the output CAN messages will have the following SIDs 0x710 0x711 0x712 0x710 0x711 CAN Baud Rate Name par cport rate Access rw Type integer kbit s Values 1000 500 250 125 Default 125 CAN bus baud rate in kilobits per second GREIS www javad com 261 262 IVER OBJECTS ts Refer
390. vad com 55 56 entions Specification IVER OBJECTS When appropriate an object description contains a range or a list of allowed values as well as the default value of the object The allowed values and the default value are always specified in the format that the print command will use for this object 3 2 Conventions 3 2 1 Object Specification Every object specification found in the section Objects Reference on page 64 has the following representation Name name Access access Type type Values allowed values Default default_value Options options spec lt DESCRIPTION gt where name is the full name of the object object identifier access access type rw for read write object r for read only object or w for write only object type the type of the object and the measurement units of the object the latter being taken into square brackets allowed values specification of the range of values allowed for the object For integer or float values the range is specified in the form A B where A and B are the lower and upper bounds of the range inclusive If a bound is excluded then round bracket is used instead of square one e g A B means the range where A is included and B is excluded For a list of allowed values the values listed are delim ited either by comma or by the vertical bar character default value the default value of the object in the format that th
391. value 2 2 matches phase These matches will occur and the message will be output every time T takes one of the following values 2 2s 12 2s 22 2s etc Suppose period is 10s phase is 2 2s and step is 0 5s The receiver will not output the message since the above pair of simultaneous equations is never satisfied Suppose phase gt period The receiver won t output the message at all as the first equa tion will never be satisfied 1 5 2 Output Count The count field of the message scheduling parameters is an integer value in the range 256 32767 and serves two different purposes 1 When the count is 0 unlimited number of messages will be output When the count is greater than 0 it defines how many times the message will be output In this case the counter is decremented by 1 every time the message is output and when it becomes 0 the F DISABLED bit is set in the flags field The message scheduler doesn t output messages with F DISABLED bit set 2 When the count is set to a value in the range 256 1 the output of the mes sage is not suppressed and the count field serves entirely different purpose It enables wrapping of the message into special gt gt message before output see gt gt Wrapper on page 322 The value of count then used to set id field in the generated gt gt message The wrapping feature is useful for example for a server application that gets messages from receiver and forwards t
392. value of skip from y to n Suppose that unlike previous examples the controller sets id field of generated gt gt messages to decimal value 43 and puts CMR data only into the data field of the mes sage Then we will program the 1 th specification as follows gt set par dev ser a jps 1 cmr 43 y dev ser c 3 4 25 Serial Port Parameters In this section sport denotes a serial RS232 port any of dev ser X X a d Hardware Settings Baud Rate Name par sport rate Access rw Type integer Values 460800 230400 153600 115200 57600 38400 19200 9600 4800 2400 1200 600 300 Default amp def The attribute par sport rate amp def specifies the default value for this parameter Name par sport rate amp def Access rw Type enumerated Values 460800 230400 153600 115200 57600 38400 19200 9600 4800 2400 1200 600 300 Default 115200 RTS CTS Handshake Name par sport rtscts Access rw Type boolean Values on off Default off www javad com 223 224 IVER OBJECTS ts Reference ort Parameters RTS State Name Access Type Values Default CTS State Name Access Type Values par sport rts rw boolean on off on par sport cts r boolean off Number of Data Bits Name Access Values Default par sport bits rw 5 6 7 8 Number of Stop Bits Name par sport stops Access rw Type integer Values
393. ver base ant got m offs val north Access rw Type float meters Values 100 100 Default 0 Got Height Antenna Offset Value Name par rover base ant got m_offs val height Access rw Type float meters Values 100 100 Default 0 Got L1 APC to L2 APC Offset Name par rover base ant got 12 11 Access r Type list east north height east east offset north north offset height height offset Got East Offset of L2 APC Name par rover base ant got 12 l1 east Access rw Type float meters Values 70 1 0 1 Default 0 GREIS www javad com 157 158 IVER OBJECTS ts Reference nce Station Data on Rover Note Got North Offset of L2 APC Name par rover base ant got 12 ll north Access rw Type float meters Values 70 1 0 1 Default 0 Got Height Offset of L2 APC Name par rover base ant got 12 ll height Access rw Type float meters Values 0 1 0 1 Default 0 Data Entered Fixed For Reference Station Fixed Cartesian Reference Position Name par rover base pos fix xyz Access rw Type pos Xyz Default W84 6378137 0000 0 0000 0 0000 Fixed Geodetic Reference Position Name par rover base pos fix geo Access rw Type pos geo Default W84 N00d00m00 000000s E00d00m00 000000s 0 0000 Currently only two datums WGS 84 and PE 90 can be specified by means of this parameter Fixed Marker to Antenna Phase Center APC Offset Nam
394. ves to identify the last message in a group of such messages referenced to the same time Unfortunately different manufacturers have interpreted this flag differ ently which resulted in incompatibility between the formats used by different develop ers The version 2 3 of the RTCM 2 x standard 9 unlike the version 2 2 defines this flag explicitly and unambiguously This flag will allow a JAVAD GNSS receiver configured as a rover to be capable of using RTCM 2 3 messages transmitted by other manufactur ers base receivers def this is the same as on when RTCM version as defined by the par rtcm rover ver parameter is set to either v2 1 or v2 2 and is the same as off when RTCM version is set to v2 3 on receiver will always verify the flag This is expected to reduce the latency time since in this case the rover receiver needn t wait for arriving RTCM 2 x messages referenced to the next epoch Note however that this will be possible only on con dition that the Multiple Message Indicator behaves exactly as it is specified in ver sion 2 3 Otherwise the data received may be interpreted incorrectly off receiver will have to wait for RTCM 2 x data corresponding to the next epoch to arrive to accept the data from the current epoch The default value for this parameter allows rover to work reliably with any version of RTCM messages transmitted by the reference station It is recommended to set the mode to on only if it is known that t
395. xample Example GREIS RECEIVER INPUT LANG Comm r Remove GREIS standard GA message from the default set of messages gt remove msg def jps GA Remove all the messages from the default set of messages remove msg def Remove all the messages from the minimal set of standard GREIS messages suitable for RTK gt remove msg rtk jps min www javad com 45 46 Note Example IVER INPUT LANGUAGE 2 3 9 event Name event generate free form event Synopsis Format event string Options none Arguments string an arbitrary string comprising up to 63 characters Options None Description This command generates a free form event No response is generated unless there is an error or response is forced by the statement identifier The given string along with the time of receiving the event command is stored in the receiver in the special event buffer The contents of this buffer is output to all the output streams where the standard GREIS message EV described on page 321 is enabled The free form event mechanism is intended for the control programs to forward arbi trary text information to post processing applications without interpreting this informa tion in the receiver The receiver firmware s core never generates free form events on its own nor does it somehow interpret the information sent through the event commands All of the strings starting with the under
396. y the latter depends on the internal oscillator type However there is a way to guarantee that both of these characteristics are good even when using the internal crystal oscillator It can be achieved by switching the receiver to common loops mode 80 www javad com GREIS GREIS RECEIVER OB Objects Refer Measurements Para Antenna Input Parameters Antenna Input Name par ant inp Access rw Type enumerated Values int ext auto receiver dependent Default receiver dependent Note that allowed parameter values and the default value are receiver dependent Antenna Current Input Name par ant curinp Access r Type enumerated Values int ext This parameter always reflects the actual antenna input that is currently in use This is of primary interest when par ant inp is set to auto Status of External Antenna Name par ant dc Access r Type enumerated Values off normal overload off external antenna does not draw any DC normal external antenna draws normal DC overload external antenna draws too high DC Frequency Source Parameters Frequency Input Name par frg input Access rw Type enumerated Values int ext Default int int use internal oscillator as frequency source ext use external frequency input as frequency source www javad com 81 IVER OBJECTS ts Reference c Status External Frequency Value Name par frq ext Access rw Type intege
397. y themselves be lists el ee21 ee22 e3 Note that the above definition is recursive so that lists of arbitrary nesting depth are allowed Elements that are not lists are called leaf elements or simply leafs Elements of lists could be empty in which case we say the element is omitted For example in the list below second element is omitted el e3 Spaces before and after delimiters are allowed and ignored If elements of a list all have the same substring prefix at the beginning this substring could be moved out of the braces surrounding the list e g elem 1 2 3 is a Shorter form of the eleml elem2 elem3 Elements could be enclosed into double quotes ASCII code 34 that are stripped dur ing parsing Inside quoted element special symbols braces commas etc loose their role and are considered to be regular characters Another use of quotes is to distinguish between element is not specified and empty element specified conditions The former is denoted by simply omitting an element from the list and the latter is denoted by putting pair of double quotes between the commas Quoting is also useful when one needs to have leading or trailing spaces in a string To put double quote into element quote this element and escape the double quote inside with the backslash character V ASCII code 92 To put backslash by itself into quoted string escape it with another backslash for example String wi
398. ype enumerated Values on off susp Default off This parameter specifies the current session scheduler mode off session scheduler is disabled on session scheduler is active susp session scheduler is active and works almost as usual but does not actually execute commands Restart Session Scheduler Name par sess restart Access rw Type boolean Values on off Default off on restarts session scheduler This is similar to setting par sess mode to off then back to on The value of the parameter is returned back to off after scheduler restart off ignored Job Activity Flags Name par sess active Access rw Type array 0 15 of boolean Values y n y n Default n n www javad com 205 IVER OBJECTS ts Reference n programming The value of this parameter is copied to the par sess stat active one whenever session scheduler mode is changed or scheduler is restarted Job N Activity Flag Name par sess active N N 0 15 Access rw Type boolean Values y n Default n y job is enabled n job is disabled Job Specifications Name par sess job Access rw Type array 0 15 of job specification Job N Specification Name par sess job N N 0 15 Access rw Type list spec cmds count port Default d h m s 0 0 J Job N Time Specification Name par sess job N spec N 0 15 Access rw Type timespec Default doh m s Job is execute

GNSS Receiver External Interface Specification

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