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GPS+ Reference Manual

1. Data Logs Chapter 3 Field Field type Data Description Format a Binary Bytes Offset 1 MATCHEDPOS Log header H 0 header 2 sol status Solution status see Table 45 on Page 221 Enum 4 H 3 pos type Position type see Table 44 on Page 220 Enum 4 H 4 4 lat Latitude Double 8 H 8 5 lon Longitude Double 8 H 16 6 hgt Height above mean sea level Double 8 H 24 7 undulation Undulation the relationship between the geoid Float 4 H 32 and the WGS84 ellipsoid m 8 datum id Datum ID number see Chapter 2 Table 20 Enum 4 H 36 Datum Transformation Parameters on Page 86 9 lat o Latitude standard deviation Float 4 H 40 10 lon o Longitude standard deviation Float 4 H 44 11 hot o Height standard deviation Float 4 H 48 12 stn id Base station ID Char 4 4 H 52 13 Reserved Float 4 H 56 14 Float 4 H 60 15 obs Number of observations tracked Uchar 1 H 64 16 GPSL1 Number of GPS L1 ranges used in computation Uchar 1 H 65 17 L1 Number of GPS L1 ranges above the RTK Uchar 1 H 66 mask angle 18 L2 Number of GPS L2 ranges above the RTK Uchar 1 H 67 mask angle 19 Reserved Uchar 1 H 68 20 Uchar 1 H 69 21 Uchar 1 H 70 22 Uchar 1 H 71 23 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 72 24 CR LF Sentence terminator ASCII only OEMV Family Firmware Version 3 000 Reference Manual Rev 2 a When using a datum other than WGS84
2. S O G 2 O O G OG O 2 amp 2 NW Cf co GO 2 O 2 2 n OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 RTCM Message Types 20 and 21 contain the same data as Types 18 and 19 except that the values of Types 20 and 21 are corrected by the ephemerides contained in the satellite message See also the usage box for Types 18 and 19 on Page 391 Table 70 RTCM2021 Data Quality Indicator 0 lt 0 1m 1 lt 0 25 m lt 0 5m lt 1 0m lt 2 0m lt 3 5m lt 5m gt 5 NI OJJ AJOJN Table 71 RTCM2021 Multipath Indicator 0 lt 0 1m 1 lt 0 25m lt 0 5m lt 1 0m lt 2 5m lt 5m gt 5m NN OO aye oy p Undetermined multipath OEMV Family Firmware Version 3 000 Reference Manual Rev 2 397 Chapter 3 DataLogs Binary Binary Field Field type Data Description Format Bytes Offset 1 RTCMDATA2021 Log header z H 0 header 2 RTCM header RTCM message type Ulong 4 H for RTCM20 3 Base station ID Ulong 4 H 4 4 Modified Z count where the Z count week Ulong 4 H 8 number is the week number from subframe 1 of the ephemeris 5 Sequence number Ulong 4 H 12 6 Length of frame Ulong 4 H 16 7 Base station health see REFSTATION on Ulong 4 H 20 Page 365 8 fr
3. Chapter 3 DataLogs Field Field type Data Description Format Binary Binary yP p Bytes Offset 1 RTCMDATA1002 Log header H 0 header 2 RTCMV3 Message number Ushort 2 H observations 3 header see the Base station ID Ushort 2 H 2 RTCM 4 DATA1001 logon GPS epoch time ms Ulong 4 H 4 Page 407 f 5 Nec i GNSS message flag Uchar 1 H 8 6 Number of GPS satellite signals Uchar 1 H 9 processed 0 31 7 Smoothing indicator Uchar 1 H 10 8 Smoothing interval see Table 72 on Uchar 1 H 11 Page 408 9 prns Number of PRNs with information to Ulong 4 H 12 follow 10 prn Satellite PRN number Uchar 1 H 16 11 code ind GPS L1 code indicator Uchar 1 H 17 0 C A code 1 P Y code direct 12 psr GPS L1 pseudorange m Ulong 4 H 18 13 phase pseudo GPS L1 phaserange pseudorange Long 4 H 22 Range 262 1435 to 262 1435 m 14 locktime ind GPS L1 continuous tracking lock time Uchar 1 H 26 indicator see Table 73 on Page 408 15 amb GPS L1 PSR modulus ambiguity m The Uchar 1 H 27 integer number of full pseudorange modulus divisions 299 792 458 m of the raw L1 pseudorange measurement 16 CNR GPS L1 carrier to noise ratio dBHz The Uchar 4a H 28 reference station s estimate of the satellite s signal A value of 0 indicates that the CNR measurement is not computed 17 Next PRN offset H 16 prns x 16 variable Xxxx 32 bit CRC ASCII and Binary only Hex 4 variable variable
4. SS EE 6 When operating in differential mode you require at least four common satellites at the base and rover The number of common satellites being tracked at large distances is less than at short distances This is important because the accuracy of GPS and DGPS positions depend a great deal on how many satellites are being used in the solution redundancy and the geometry of the satellites being used DOP DOP stands for dilution of precision and refers to the geometry of the satellites A good DOP occurs when the satellites being tracked and used are evenly distributed throughout the sky A bad DOP occurs when the satellites being tracked and used are not evenly distributed throughout the sky or grouped together in one part of the sky 334 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Binary Binary Field Field type Data Description Format Bytes Offset 1 PSRDOP Log header H 0 header 2 gdop Geometric dilution of precision assumes 3 D Float 4 H position and receiver clock offset all 4 parameters are unknown 3 pdop Position dilution of precision assumes 3 D Float 4 H 4 position is unknown and receiver clock offset is known 4 hdop Horizontal dilution of precision Float 4 H 8 5 htdop Horizontal position and time dilution of Float 4 H 12 precision 6 tdop Time dilution
5. SBASCONTROL 652 Set SBAS test mode and sbascontrol keyword system prn PRN testmode SEND 177 Send an ASCII message send port data to any of the communications ports SENDHEX 178 Send non printable sendhex port length data characters in hexadecimal pairs SETAPPROXPOS 377 Set an approximate setapproxpos lat lon height position SETAPPROXTIME 102 Set an approximate GPS setapproxtime week sec time SETNAV 162 Set start and destination setnav fromlat fromlon tolat tolon waypoints track offset from point to point SETRTCM16 131 Enter an ASCII text setricm16 text message to be sent out in the RTCM data stream STATUSCONFIG 95 Configure various status statusconfig type word mask mask fields in RXSTATUSEVENT log UNASSIGN 29 Unassign a previously unassign channel ASSIGNed channel UNASSIGNALL 30 Unassign all previously unassignall system ASSIGNed channels UNDULATION 214 Choose undulation undulation option separation UNLOCKOUT 138 Reinstate a satellite in the unlockout prn solution computation UNLOCKOUTALL 139 Reinstate all previously unlockoutall locked out satellites UNLOG 36 Remove log from logging unlog port datatype control UNLOGALL 38 Remove all logs from unlogall port logging control Continued on Page 41 40 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 USERDATUM 78 Set user customized userdatum semimajor flattening dx datum dy dz rx ry rz sc
6. 1 Sync Char Sync character The ASCII message is always N preceded by a single symbol 2 Message Char This is the ASCII name of the log see a list of all the N logs in Table 40 Logs By Function on Page 196 3 Port Char This is the name of the port from which the log was Y generated The string is made up of the port name followed by an _x where x is a number from 1 to 31 denoting the virtual address of the port If no virtual address is indicated it is assumed to be address 0 4 Sequence Long This is used for multiple related logs It is a number N that counts down from N 1 to 0 where 0 means it is the last one of the set Most logs only come out one at a time in which case this number is 0 5 Idle Time Float The minimum percentage of time that the processor Y is idle between successive logs with the same Message ID 6 GPS Time Enum This value indicates the quality of the GPS time see Y Status Table 7 GPS Time Status on Page 26 7 Week Ulong GPS week number Y 8 Seconds GPSec Seconds from the beginning of the GPS week Y accurate to the millisecond level 9 Receiver Ulong This is an eight digit hexadecimal number Y Status representing the status of various hardware and software components of the receiver between successive logs with the same Message ID see Table 79 Receiver Status on Page 440 10 Reserved Ulong Reserved for internal use Y 11 Receiver Ulong This is a value 0 65535 that repres
7. Chapter 3 DataLogs Field Field type Data Description Format Binary Binary yP P Bytes Offset 1 RTCMDATAQY Log header S H 0 header 2 RTCM header RTCM message type Ulong 4 H 3 Base station ID Ulong 4 H 4 4 Modified Z count where the Z count Ulong 4 H 8 week number is the week number from subframe 1 of the ephemeris 5 Sequence number Ulong 4 H 12 6 Length of frame Ulong 4 H 16 7 Base station health see Ulong 4 H 20 REFSTATION on Page 365 8 prn Number of PRNs with information to Ulong 4 H 24 follow maximum of 3 9 scale Scale where Ulong 4 H 28 0 0 02 m and 0 002 m s 1 0 32 m and 0 032 m s 10 UDRE User differential range error Ulong 4 H 32 11 PRN slot Satellite PRN number of range Ulong 4 H 36 measurement GPS 1 32 and SBAS 120 to 138 For GLONASS see Section 1 3 on Page 25 12 psr corr Scaled pseudorange correction m Long 4 H 40 13 rate corr Scaled range rate correction Long 4 H 44 14 IOD Issue of data Long 4 H 48 15 Next PRN offset H 28 prns x 24 variable XXXX 32 bit CRC ASCII and Binary only Hex 4 variable variable CR LF Sentence terminator ASCII only 384 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 74 RTCMDATA15 lonospheric Corrections V123_DGPS See Section 3 3 70 starting on Page 375 for information on RTCM standard logs RTCM15 lonospheric Corrections RTCM Type 15 messages are designed to support the broadcast o
8. ASCII Binary PE Binary Binary Binary Value Value Descnipian Format Bytes Offset 1 STATUSCONFIG This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 type See Table 36 Type of mask to replace Enum 4 H 3 word STATUS 1 Receiver Status word Enum 4 H 4 AUX1 2 Auxiliary 1 Status word 4 mask 8 digit hexadecimal The hexadecimal bit mask Ulong 4 H 8 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 177 Chapter 2 Commands 2 5 60 UNASSIGN Unassign a previously assigned channel V123 This command cancels a previously issued ASSIGN command and the SV channel reverts to automatic control the same as ASSIGN AUTO Abbreviated ASCII Syntax Message ID 29 UNASSIGN channel Input Example unassign 11 JET 6 Issuing the UNASSIGN command to a channel that was not previously assigned by the ASSIGN command will have no effect ASCII Binary Binary Binary Binary Value Value Description Format Bytes Offset 1 UNASSIGN This field contains the command H 0 header name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 channel 0 11 Reset SV channel to automatic ULong 4 H search and acquisition mode 3 state See Table 11 Set the SV channel state Enum 4 H 4 Channel State on currently ignored
9. Data Logs Chapter 3 Field Field type Data Description Format Binary pinay Bytes Offset 1 WAAS12 Log header H 0 header 2 prn Source PRN of message Ulong 4 H 3 Ay Time drift s s Double 8 H 4 4 Ao Time offset s Double 8 H 12 5 seconds Seconds into the week s Ulong 4 H 20 6 week Week number Ushort 4 H 24 7 dtl Delta time due to leap seconds Short 2 H 28 8 WNict Week number leap second future Ushort 2 H 30 9 dn Day of the week the range is 1 to 7 where Ushort 2 H 32 Sunday 1 and Saturday 7 10 tise Delta time leap second future Short 2 H 34 11 utc id UTC type identifier Ushort 2 H 36 12 gpstow GPS time of the week Ulong 2 H 38 13 gpswn GPS de modulo week number Ulong 2 H 40 14 glo Is GLONASS information present Enum 4 H 42 indicator 0 FALSE 1 TRUE 15 Reserved array of hexabytes for GLONASS Char 10 422 H 46 16 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 58 17 CR LF Sentence terminator ASCII only a Inthe binary log case an additional 2 bytes of padding are added to maintain 4 byte alignment OEMV Family Firmware Version 3 000 Reference Manual Rev 2 491 Chapter 3 Data Logs 3 3 114 WAAS17 GEO Almanac Message V123_SBAS Almanacs for all GEOs are broadcast periodically to alert you of their existence location the general service provided status and health lt Unused almanacs have a PRN number of 0 and should be ignored see Example below Message ID 294 Log Type
10. 59 WAK60 101 52 39 This datum has been updated Hough 1960 see ID 67 60 WGS72 0 0 4 5 World Geodetic System 72 WGS72 61 WGS84 0 0 0 World Geodetic System 84 WGS84 62 ZANDE 265 120 358 Zanderidj Surinam International 1924 63 USER 0 0 0 User Defined Datum Defaults User 64 CSRS 0 9833 1 9082 0 4878 Canadian Spatial Ref System GRS 80 epoch 2005 0 65 ADIM 166 15 204 Adindan Ethiopia Mali Clarke 1880 Senegal amp Sudan 66 ARSM 160 6 302 ARC 1960 Kenya Tanzania Clarke 1880 b 67 ENW 102 52 38 Wake Eniwetok Marshall Hough 1960 Islands P 68 HTN 637 549 203 Hu Tzu Shan Taiwan b International 1924 71 IRL 506 122 611 Ireland 1965 Modified Airy 72 LUZA 133 77 51 Luzon Philippines excluding Clarke 1866 Mindanoa Is 73 LUZB 133 79 72 Mindanoa Island b Clarke 1866 75 NASP 3 142 183 N American Caribbean b Clarke 1866 76 OGBM 375 111 431 Great Britain 1936 Ordinance Airy 1830 Survey 77 OHAA 89 279 183 Hawaiian Hawaii c Clarke 1866 79 OHAC 65 290 190 Hawaiian Maui c Clarke 1866 Continued on Page 90 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 89 Chapter 2 Commands 80 OHAD 58 283 182 Hawaiian Oahu c Clarke 1866 1924 82 OHIB 185 233 337 Hawaiian Kauai International 1924 83 OHIC 205 233 355 Hawaiian Maui c International 1924 84 OHID 198 226 347 Hawaiian Oahu International 1924 85 TIL 67
11. 314 3 3 43 MATCHEDPOS Matched RTK Position VI23 RT20 V23 RT2 f V3 HP eainssasiuciivasscsssvasisavstdanbinssaontilataageiuissiagucaiis 316 3 3 44 MATCHEDXYZ Matched RTK Cartesian Position V123 RT20 V23 _RI2 OF V3 HP vivivwsitzasinnsicrssvesinctseevinadascsviagiaaiaendenis 318 3 3 45 NAVIGATE User Navigation Data V123 ececccccccteseeeeeseeteeteeeeeeees 320 3 3 46 NMEA Standard Logs VI23_NMEA cccccccccccccsccsccssccscseessesseeseenes 324 3 3 47 OMNIHPPOS OmniSTAR HP XP Position V3_HP cccccccccceccseeees 326 3 3 48 PASSCOM PASSXCOM PASSAUX PASSUSB Redirect Data 1A e E basa en dena daa aa uhezca can alea E Aa esau E 328 3 3 49 PORTSTATS Port Statistics V123 sistadisscadsnsicarncsaniantaccumiussandtancacnsardana 332 3 3 50 PSRDOP Pseudorange DOP V123 0 ececccccsccsseseeeeesteseeseseeeaeeseeeaees 334 3 3 51 PSRPOS Pseudorange Position V123 ccccececeeceeeeseeeeeeeeeteeeeeeeeees 336 3 3 52 PSRVEL Pseudorange Velocity V123 cccccccescscsesseseeeeseeneeseeenees 338 3 3 53 PSRXYZ Pseudorange Cartesian Position and Velocity V123 340 3 3 54 RANGE Satellite Range Information V123 cececcceeseeseeeeeneeseeees 343 3 3 55 RANGECMP Compressed Version of the RANGE Log V 23 348 3 3 56 RANGEGPSL1 L1 Version of the RANGE Log V123 c cceseeeee 351 3 3 57 RAWALM Raw Almanac Data V123 ecccececcseseeeeeteeeeeneeteeseeeeeeees 353 3 3 58 RAWEPHEM Raw Ephemeris V123
12. N5 20 0x00100000 Remote loading has begun No Yes 21 0x00200000 Export restriction OK Error 22 0x00400000 Reserved 23 0x00800000 N6 24 0x01000000 25 0x02000000 26 0x04000000 27 0x08000000 N7 28 0x10000000 29 0x20000000 30 0x40000000 31 0x80000000 Component hardware failure OK Error a RAM failure on an OEMV card may also be indicated by a flashing red LED Table 79 Receiver Status 0 0x00000001 Error flag see Table 78 No error Error Receiver Error on Page NO 439 1 0x00000002 Temperature status Within Warning specifications 2 0x00000004 Voltage supply status OK Warning 3 0x00000008 Antenna power status Powered Not powered See ANTENNAPOWER on Page 55 4 0x00000010 Reserved N1 5 0x00000020 Antenna open flag OK Open 6 0x00000040 Antenna shorted flag a OK Shorted 7 0x00000080 CPU overload flag No overload Overload 8 0x00000100 COM1 buffer overrun flag No overrun Overrun N2 9 0x00000200 COM2 buffer overrun flag No overrun Overrun 10 0x00000400 COMS buffer overrun flag No overrun Overrun 11 0x00000800 USB buffer overrun flag b No overrun Overrun Continued on Page 441 440 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 12 0x00001000 Reserved N3 13 0x00002000 14 0x00004000 15 0x00008000 RF1 AGC status OK Bad 16 0x00010000 Reserved N4 17 0x0
13. Field Field type Data Description Format Bytes Offset 24 Reserved Char 1 H 106 25 Char 1 H 107 26 Char 1 H 108 27 Char 1 H 109 28 Char 1 H 110 29 Char 1 H 111 30 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 112 31 CR LF Sentence terminator ASCII only 342 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 54 RANGE Satellite Range Information V123 RANGE contains the channel measurements for the currently tracked satellites When using this log please keep in mind the constraints noted along with the description It is important to ensure that the receiver clock has been set This can be monitored by the bits in the Receiver Status field of the log header Large jumps in pseudorange as well as accumulated Doppler range ADR occur as the clock is being adjusted If the ADR measurement is being used in precise phase processing it is important not to use the ADR if the parity known flag in the ch tr status field is not set as there may exist a half 1 2 cycle ambiguity on the measurement The tracking error estimate of the pseudorange and carrier phase ADR is the thermal noise of the receiver tracking loops only It does not account for possible multipath errors or atmospheric delays If both the L1 and L2 signals are being tracked for a given PRN two entries with the same PRN appear in the range logs As shown in Table 63 Channel Tracking Status on Page 346
14. i ia Binary Binary Field Field type Data Description Format Bytes Offset 23 pos acc Position accuracy relative to WGS84 Ulong 4 H 96 see Table 49 Position Accuracy on Page 248 24 Reserved Ulong 4 H 100 25 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 104 26 CR LF Sentence terminator ASCII only 250 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 14 CMRPLUS CMR Output Message V123_RT20 or V23_RT2 The CMRPLUS message distributes the reference station information over 14 updates For example if you log CMRPLUS ontime 1 the receiver outputs the complete reference station information in 14 seconds Refer to the chapter on Message Formats in the OEMV Family Installation and Operation User Manual for information on CMR standard logs Message ID 717 Log Type Asynch Recommended Input log cmrplusa ontime 1 ASCII Example CMRPLUSA COM1 0 83 0 FINESTEERING 1317 318534 915 00180040 30aa 1855 2 0 148 10 0 4 14 1b 00 00 00 00 62 61 64e0c9ea See Saal i The CMRPLUS log can be used in place of the CMRREF log The advantage of the CMRPLUS log is that it requires less transmission bandwidth because of the way the information is spread over 14 separate updates This may be especially useful in difficult communication environments for example when a radio repeater is required OEMV Family Firmware Version 3 000 Reference Manual R
15. 6 track offset 1000 km Waypoint great circle line offset in Double 8 H 32 kilometers establishes offset track positive indicates right of great circle line negative indicates left of great circle line 7 from point 6 characters ASCII station name String Vari Vari maximum max 6 able able 8 to point 6 characters ASCII station name String Vari Vari maximum max 6 able 2 able a Inthe binary log case additional bytes of padding are added to maintain 4 byte alignment 174 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 2 5 58 SETRTCM16 Enter ASCII text for RTCM data stream V123_DGPS The RTCM type 16 message allows ASCII text to be transferred from a GPS base station to rover GPS receivers The SETRTCM16 command is used to define the ASCII text at the base station The text defined by the SETRTCM16 command can be verified in the RKCONFIG log Once the ASCII text is defined it can be broadcast periodically by the base station with the command log port RTCM16 ONTIME interval The received ASCII text can be displayed at the rover by logging RTCMI6T This command limits the input message length to a maximum of 90 ASCII characters If the message string contains any delimiters that is spaces commas tabs and so on the entire string must be contained in double quotation marks Abbreviated ASCII Syntax Message ID 131 SETRTCM 16 text Input
16. The speed at which the receiver locates and locks onto new satellites is improved if the receiver has approximate time and position as well as an almanac This allows the receiver to compute the elevation of each satellite so it can tell which satellites are visible and their Doppler offsets improving time to first fix TTFF 214 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Field Field type Data Description Format Binary Binary yp p Bytes Offset 1 ALMANAC header Log header H 0 2 messages The number of satellite PRN Long 4 H almanac messages to follow Set to zero until almanac data is available 3 PRN Satellite PRN number for current Ulong 4 H 4 message dimensionless 4 week Almanac reference week GPS Ulong 4 H 8 week number 5 seconds Almanac reference time seconds Double 8 H 12 into the week 6 ecc Eccentricity dimensionless Double 8 H 20 defined for a conic section where e Ois acircle e 1 is an ellipse O lt e lt 1 is a parabola and e gt 1 is a hyperbola 7 amp Rate of right ascension radians Double 8 H 28 second 8 oo Right ascension radians Double 8 H 36 9 o Argument of perigee radians Double 8 H 44 measurement along the orbital path from the ascending node to the point where the SV is closest to the Earth in the direction of the SV s motion 10 Mo Mean
17. 510 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Field Field type Data Description Format Bye t PA Scaling 1 WAAS34 Log header H 0 header 2 prn Source PRN of message Ulong 4 H 3 iodp Issue of PRN mask data Ulong 4 H 4 4 prc22 pre i Long 4 H 8 5 prc23 Fast corrections 2048 to 2047 Long 4 H 12 3 R pro24 for the prn in slot i i 22 32 T j TET j 7 prc25 Long 4 H 20 8 prc26 Long 4 H 24 3 9 prc27 Long 4 H 28 10 prc28 Long 4 H 32 11 prc29 Long 4 H 36 12 prc30 Long 4 H 40 13 prc31 Long 4 H 44 14 prc32 Long 4 H 48 7 15 udre22 udre i Ulong 4 H 52 See Table 16 udre23 User differential range error Ulong 4 H 56 EA 17 udre24 pe Depron Ulong 4 H 60 etre 18 udre25 Ulong 4 ear eens 19 udre26 Ulong 4 H 68 20 udre27 Ulong 4 H 72 21 udre28 Ulong 4 H 76 22 udre29 Ulong 4 H 80 23 udre30 Ulong 4 H 84 24 udre31 Ulong 4 H 88 25 udre32 Ulong 4 H 92 26 XXXX 32 bit CRC ASCII and Binary Hex 4 H 96 only 27 CR LF Sentence terminator ASCII only OEMV Family Firmware Version 3 000 Reference Manual Rev 2 511 Chapter 3 DataLogs 3 3 123 WAAS35 CDGPS Fast Correction Slots 33 43 V13_CDGPS WAAS35 are fast corrections for slots 33 43 in the mask of WAAS1 for CDGPS see Page 464 Message ID 699 Log Type
18. OEMV Family Firmware Version 3 000 Reference Manual Rev 2 355 Chapter 3 DataLogs Binary Binary Field Field type Data Description Format Bytes Offset 1 RAWEPHEM Log header H 0 header 2 prn Satellite PRN number Ulong 4 H 3 ref week Ephemeris reference week number Ulong 4 H 4 4 ref secs Ephemeris reference time s Ulong 4 H 8 5 subframe1 Subframe 1 data Hex 30 H 12 6 subframe2 Subframe 2 data Hex 30 H 42 7 subframe3 Subframe 3 data Hex 30 H 72 8 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 102 9 CR LF Sentence terminator ASCII only 356 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 59 RAWGPSSUBFRAME Raw Subframe Data V123 This log contains the raw GPS subframe data A raw GPS subframe is 300 bits in total This includes the parity bits which are interspersed with the raw data ten times in six bit chunks for a total of 60 parity bits Note that in Field 5 the data field below we have stripped out these 60 parity bits and only the raw subframe data remains for a total of 240 bits There are two bytes added onto the end of this 30 byte packed binary array to pad out the entire data structure to 32 bytes in order to maintain 4 byte alignment Message ID 25 Log Type Asynch Recommended Input log rawgpssubframea onnew ASCII Example RAWGPSSUBFRAMEA COM1 59 62 5 SATTIME 1337 405348 000 00000000 690
19. a Contact OmniSTAR for subscription support All other status values are updated by collecting the OmniSTAR data for 20 35 minutes OEMV Family Firmware Version 3 000 Reference Manual Rev 2 307 Chapter 3 DataLogs Field A ke Binary Binary Field Type Data Description Format Bytes Offset 1 LBANDSTAT Log header H 0 header 2 freq Measured frequency of L Band signal Hz Ulong 4 H 3 C No Carrier to noise density ratio Float 4 H 4 C Ng 10 log 0 S No dB Hz 4 locktime Number of seconds of continuous tracking no Float 4 H 8 cycle slipping 5 Reserved Float 4 H 12 6 tracking Tracking status of L Band signal see Table 550n Hex 2 H 16 Page 304 7 VBS status Status word for OmniSTAR VBS see Table 560n Hex 2 H 18 Page 305 8 bytes Number of bytes fed to the standard process Ulong 4 H 20 9 good dgps Number of standard updates Ulong 4 H 24 10 bad data Number of missing standard updates Ulong 4 H 28 11 Reserved the hp status 7 field is obsolete and has been replaced by Hex 2 H 32 the longer OmniSTAR HP Status field The shorter legacy status here is maintained for backward compatibility 12 hp status 2 Additional status pertaining to the HP or XP Hex 2 H 34 process see Table 57 on Page 306 13 bytes hp Number of bytes fed to the HP or XP process Ulong 4 H 36 14 hp status Status from the HP or XP process see Table 58 Hex 4 H 40 on Page 307 15 Reserved H
20. cccecesecseseeseeseeeeeseeseeeeeeeeeees 355 3 3 59 RAWGPSSUBFRAME Raw Subframe Data V123 cccceeeeeeeeees 357 3 3 60 RAWGPSWORD Raw Navigation Word V123 ccccceeeeeeeeeseeneeees 359 3 3 61 RAWLBANDFRAME Raw L Band Frame Data VI3_CDGPB 360 3 3 62 RAWLBANDPACKET Raw L Band Data Packet VI3 VBS 0f V3HP sisacrwiasteicapiatincinvis iurar a a A EA 362 3 3 63 RAWWAASFRAME Raw SBAS Frame Data V 23_SBAS 363 3 3 64 REFSTATION Base Station Position and Health VI23 RT20 OF V23 RIZ eienenn rid 365 3 3 65 RTCA Standard Logs V123_DGPS sis isasisiicsssscicsiradaccrnrrranncsncaannndccned 367 3 3 66 RTCADATA1 Differential GPS Corrections VI23_DGPS 368 3 3 67 RTCADATAEPHEM Ephemeris and Time Information V123_DGPS 371 3 3 68 RTCADATAOBS Base Station Observations VI23 RT20 r V23 RI2 p ccceccccccccccceseccccescccsseececesssceeesceeesscsaesussseesssasensenes 372 3 3 69 RTCADATAREF Base Station Parameters VI23 RT200r V23 RT2 eniron aao aa anaa eaaa a aa ian 374 3 3 70 RTOM Standard Logs DGPS csiscicssicscsctibiasalicardransatarivnciatcareanacdciaas 375 3 3 71 RTCMDATA1 Differential GPS Corrections V123_DGPS 0 000 377 3 3 72 RTCMDATA3 Base Station Parameters V123_RT20 or V23_RT2 380 6 OEMV Family Firmware Version 3 000 Reference Manual Rev 1A Table of Contents 3 3 73 RTCMDATAY Partial Differential GPS Corrections V23_DGP S 382 3 3 74 RTCMDATA15 lonospheric Corrections V123
21. 11 Reserved Bit7 Response bit see Section 1 2 Page 24 0 Original Message 1 Response Message 7 Port Address Uchar See Table 5 on Page 22 1 7 N decimal values greater than 16 may be used lower 8 bits only 8 Message Ushort The length in bytes of the 2 8 N Length body of the message This does not include the header nor the CRC Continued on Page 21 20 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Messages Chapter 1 9 Sequence Ushort This is used for multiple 2 10 N related logs It is a number that counts down from N 1 to 0 where N is the number of related logs and 0 means itis the last one of the set Most logs only come out one ata time in which case this number is 0 10 Idle Time Uchar The time that the processor 1 12 Y is idle in the last second between successive logs with the same Message ID Take the time 0 200 and divide by two to give the percentage of time 0 100 11 Time Status Enum Indicates the quality of the 4c 13 Nd GPS time see Table 7 GPS Time Status on Page 26 12 Week Ushort GPS week number 2 14 Nd 13 ms GPSec Milliseconds from the 4 16 Nd beginning of the GPS week 14 Receiver Ulong 32 bits representing the 4 20 Y Status status of various hardware and software components of the receiver between successive logs with the same Message ID see Table 79 Receiver Status on Page 440 15 Re
22. Chapter 2 Binary Format Offset 1 USEREXPDATUM This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 semimajor 6300000 0 Datum semi major axis a in Double 8 H 6400000 0 m meters 3 flattening 290 0 305 0 Reciprocal Flattening 1 f Double 8 H 8 a a b 4 dx 2000 0 m Datum offsets from WGS84 Double 8 H 16 5 dy 2000 0 m These are the translation Double 8 H 24 values between the user 6 dz 2000 0 m datum and WGS84 internal Double 8 H 32 reference 7 rx 10 0 radians Datum rotation angle about Double 8 H 40 8 r 10 0 radians_ X Y and Z These values are Double 8 H 48 9 y 10 0 radi the rotation from WGS84 to Double 8 H456 re TNC radians your datum A positive sign rs t for clockwise rotation and a negative sign for counter clockwise rotation 10 scale 10 0 ppm Scale value is the difference Double 8 H 64 in ppm between the user datum and WGS84 11 xvel 2000 0 m yr Velocity vector along X axis Double 8 H 72 12 yvel 2000 0 m yr Velocity vector along Y axis Double 8 H 80 13 zvel 2000 0 m yr Velocity vector along Z axis Double 8 H 88 14 xrvel 10 0 radians Change inthe rotation about Double 8 H 96 yr X over time 15 yrvel 10 0 radians Change in the rotation about Double 8 H
23. Chapter 2 Commands FREQUENCYOUT 232 Sets the output pulse train frequencyout switch pulsewidth available on VARF period FRESET 20 Clear almanac model or freset target user configuration data which is stored in NVM and followed by a receiver reset GGAQUALITY 691 Customize the GPGGA ggaquality entries pos GPS quality indicator type1 qual1 pos type2 qual2 GLOECUTOFF 735 Set the GLONASS gloecutoff angle satellite elevation cut off angle GLOCSMOOTH 830 Carrier smoothing for glocsmooth L1time L2time GLONASS channels HPSEED 782 Specify the initial position hpseed mode lat lon hgt lats lons for OmniSTAR HP XP hgts datum undulation HPSTATICINIT 780 Set static initialization of hpstaticinit switch OmniSTAR HP XP INTERFACEMODE 3 Set interface type interfacemode port rxtype txtype Receive Rx Transmit responses Tx for ports LOCKOUT 137 Prevent the receiver from lockout prn using a satellite by specifying its PRN LOG 1 Request logs from log port message trigger period receiver offset hold MAGVAR 180 Set magnetic variation magvar type correction stddev correction MARKCONTROL 614 Control the processing of markcontrol signal switch polarity the mark inputs timebias timeguard MODEL 22 Switch to a previously model model AUTHed model MOVINGBASE 763 Set ability to use a moving movingbasestation switch STATION base station position Continued on P
24. Table 22 Clock Type DISABLE 0 Turns the external clock input off reverts back to the on board VCTCXO TCXO 1 Sets the pre defined values for a VCTCXO OCXO 2 Sets the pre defined values for an OCXO RUBIDIUM 3 Sets the pre defined values for a rubidium oscillator CESIUM 4 Sets the pre defined values for a cesium oscillator USER 5 Defines custom process noise elements Table 23 Pre Defined Values for Oscillators VCTCXO 1 0 e 21 1 0 e 20 1 0 e 20 OCXO 2 51 e 26 2 51 e 23 2 51 e 22 Rubidium 1 0 e 23 1 0 e 22 1 3 e 26 Cesium 2 0 e 20 7 0 e 23 4 0 e 29 Field ASCII Binary carr Binary Binary Binary Type Value Value Description Format Bytes Offset 1 EXTERNALCLOCK This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 clocktype See Table 22 on Clock type Enum 4 H Page 102 3 freq 5MHz 0 Optional frequency If a Enum 4 H 4 gt value is not specified the 10MHz 1 default is 5 MHz 4 ho 1 0 e 31 to Optional timing standards Double 8 H 8 1 0 e 18 These fields are only valid when the USER clocktype 5 h 1 0 e 31 to is selected Double 8 H 16 1 0 e 18 6 h 2 1 0 e 31 to Double 8 H 24 1 0 e 18 102 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 2 5 20 FIX Constrain to fixed heig
25. cccceeeeeeeeeeeeeeaeeeeeeeeaaeeeeeeeaaaeeeeeeeaeeeeeeseaaes 86 21 User Dynamit seeria T T S S 96 22 GCIOCK TYPE iirrainn a ea Eaa E E Eaa e a aaea Eaa 102 23 Pre Defined Values for Oscillators cccccceceeeeeeeeeeeeeeeeeeeeeeeaaeeseeeeeeeeaaeeeeeeeeeeaeetees 102 24 FIX Parameters sessin iisi iina inan a NA a RA E AARETE AEE E 104 25 E TYPOS e E E a a 104 26 L2 Code TYPO serg racssiiisneniii aaa a lander aA ENEE a aSa 107 27 FRESET Targetes a a e N aa EE ENa 112 28 Seeding Modeen nananana aenean niae a aaa aaa a a aaa Aaa aE Aaaa 118 29 Serial Port Interface Modes cccecccceeeeeeeeceeeeeeeaeeeeeeeeseaaeeseeeeeesaeeeseaeeeseaeeeenaeeeeaes 122 30 DGPS TY o1 E A A T E anette tes 150 31 Baseline Parameters cenno dechexdag dehes ss tautecoeddvaacteeeviwawigeoduayd deena 153 32 BaSeline Ty PO cesna innn suahedicestuaccncuesiieaa coneve ARANEA A RS 155 33 Dynamics MOC Circe sec sexs yidevectiesec chcneyvaceetenvasied gssinak Gescasvixs enctvia eda inascapesv sree eee 157 34 Type of Carrier Phase AMDIQUItY 0 ccececceeeeeeeeeeeeeeceaeeeeeeeeeseaaeeeeeneeeeeaeeeeaeeeeaas 160 35 System TV OSS ngrupa a saponin iebagtevvatastiesanessanscesueseds 165 36 Mask TYPOS sirrien annann EARS A TAEAE REA 177 37 UTM Zone Commands 2 cccccceeeeeeeeeeeeaeseeeeeeeeaaeeseeneeeseaaeseeaaeeesaeesseaeeesecaeeeeaeees 191 38 SUPPOrted ANTONNAS esines aiaiai ananitania aaan Eaa aa 192 39 LOG Type TJO nn SR 195 40 Logs By FUNCHON sc tecdeoianec
26. eee SSS SS i Scenario Assume that you are operating receivers as base and rover stations It could also be assumed that the base station is unattended but operational and you wish to control it from the rover station From the rover station you could establish the data link and command the base station receiver to send differential corrections gt RITCAOBS data log _ a COM1 log com 1 tcaobs onime 5 COM 1 Preset base with interfacemode Send an RTCA interfacemode command interfacemode com1 novatel rtca interfacemode com1 rtca novatel send com1 log com1 rtcaobs ontime 5 _ Serial Cables _ Host PC Rover Rover station is commanding Base station to send RTCAOBS log Host PC Base Operational with position fixed Figure 5 Using the SEND Command OEMV Family Firmware Version 3 000 Reference Manual Rev 2 167 Chapter 2 Commands ASCII Binary Description Binary Binary Binary Value Value p Format Bytes Offset 1 SEND This field contains the command H 0 header name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 port See Table 15 Output port Enum 4 H COM Serial Port Identifiers on Page 75 3 message Max 100 ASCII data to send String Vari Vari character string max able 2 able 99 typed visible 100 chars and a null char added by the firmware autom
27. scale correction to UTC SU given at beginning of day NA in seconds 10 b1 Beta parameter 1st order term Double 8 H 44 11 b2 Beta parameter 2nd order term Double 8 H 52 12 Kp The Kp scale summarizes the global level of Uchar 1 H 60 geomagnetic activity A Kp of 0 to 4 is below storm levels 5 to 9 13 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 61 14 CR LF Sentence terminator ASCII only a Inthe binary log case an additional 2 bytes of padding are added to maintain 4 byte alignment 258 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 18 GLOEPHEMERIS GLONASS Ephemeris Data V23_G GLONASS ephemeris information is available through the GLOEPHEMERIS log GLONASS ephemerides are referenced to the SGS 90 geodetic datum and GLONASS coordinates are reconciled internally through a position filter and output to WGS84 lt GLONASS measurements can be used for post processed positioning solutions or in user designed programs NovAtel plans to offer GLONASS positioning in the future In the meantime OEMV based output is compatible with post processing software from the Waypoint Products Group NovAtel Inc See also www novatel com for details Message ID 723 Log Type Asynch Recommended Input log gloephemerisa onchanged Example GLOEPHEMERISA COM1 3 49 0 SATTIME 1364 413624 000 00000000 6b64 2310 43 8 1 0 1364 4131
28. 2 5 16 DGPSTXID DGPS transmit ID V123_DGPS This command sets the station ID value for the receiver when it is transmitting corrections This allows for the easy identification of which base station was the source of the data Abbreviated ASCII Syntax Message ID 144 DGPSTXID type ID Factory Default dgpstxid auto any ASCII Examples dgpstxid rtcm 2 using an rtcm type and id dgpstxid cmr 30 using a cmr type and id dgpstxid cmr any using the default cmr id dgpstxid rtca d36 using an rtca type and id dgpstxid rtcmv3 2050 using an rtcmv3 type and id eee EE ae i For example if you want to compare RTCM and RTCMV3 corrections you would be easily able to identify their base stations by first setting their respective DGPSTXID values 94 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands header ASCII Binary Value Value Description Binary Format DGPSTXID This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively Chapter 2 Binary Offset The following range values are in affect 0 lt CMRID lt 31 0 lt RTCM ID lt 1023 0 lt RTCMV3 ID lt 4095 RTCA any four character string containing only alpha a z or numerical characters 0 9 2 type See Table 30 ID Type Enum 4 H DGPS Type on Page 150 3 ID String max 5 ID string String Vari Va
29. 322 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 ae Field Type Data Description Format Binary Binary Bytes Offset 11 eta secs Estimated GPS seconds into week at time of arrival Double 8 H 52 at destination waypoint along track arrival perpendicular based on current position and speed in units of GPS seconds into the week If the receiving antenna is moving at a speed of less than 0 1 m s in the direction of the destination the value in this field is 0 000 12 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 60 13 CR LF Sentence terminator ASCII only OEMV Family Firmware Version 3 000 Reference Manual Rev 2 323 Chapter 3 Data Logs 3 3 46 NMEA Standard Logs V123_NMEA GPALM GPGGA GPGGALONG GPGGARTK GPGLL GPGRS GPGSA GPGST GPGSV GPRMB GPRMC GPVTG GPZDA ALMANAC DATA GLOBAL POSITION SYSTEM FIX DATA AND UNDULATION GPS FIX DATA EXTRA PRECISION AND UNDULATION GPS FIX DATA GEOGRAPHIC POSITION GPS RANGE RESIDUALS FOR EACH SATELLITE GPS DOP AN ACTIVE SATELLITES PSEUDORANGE MEASUREMENT NOISE STATISTICS GPS SATELLITES IN VIEW NAVIGATION INFORMATION GPS SPECIFIC INFORMATION TRACK MADE GOOD AND GROUND SPEED UTC TIME AND DATE The NMEA log structures follow format standards as adopted by the National Marine Electronics Association The reference document used is Standard For Interfacing Marine Elect
30. 38 9 0 1340 398653 080 4 0148d88460fcll5dbdaf78 0 0218e0033667aec83af2a5 0 038000b9031e14439c75ee 0 0404 22660000000000065 0 17 3dd17 GLORAWEPHEMA COM1 0 47 0 SATTIME 1340 398653 000 00000000 332d 2020 41 13 0 1340 398653 078 4 0108d812532805bfalcd2c 0 0208e0a36e8e0952b111da 0 03c02023b68c9a32410958 0 0401 da44000000000002a 0 0b6237405 _ a a N Refer to the GLONASS Overview section in the GPS Reference Manual available on our website at http www novatel ca support docupdates htm OEMV Family Firmware Version 3 000 Reference Manual Rev 2 265 Chapter 3 DataLogs Binary Binary Field Field type Data Description Format Bytes Offset 1 GLORAWEPHEM Log header H 0 header 2 sloto Slot information offset PRN Ushort 2 H identification Slot 37 Ephemeris relates to this slot and is also called SLOTO in CDU 3 freqo Frequency channel offset in the range Ushort 2 H 2 0 to 20 4 sigchan Signal channel number Ulong 4 H 4 5 week GPS Week in weeks Ulong 4 8 6 ms GPS Time in milliseconds Ulong 4 12 7 recs Number of GLONASS ephemeris Ulong 4 H 16 record numbers to follow 8 string GLONASS data string Uchar variable H 20 string size 9 Reserved Uchar 1 variable 10 Next record offset H 20 recs x string size 1 variable Xxxxx 32 bit CRC ASCII and Binary only Hex 4 H 20 recs x string size 1 va
31. 5 Zz ECEF Z value Double 8 H 20 6 health Base station health see the 2nd Ulong 4 H 28 paragraph on the previous page T stn type Base station type see Table 66 Base Enum 4 H 32 Station Type 0n Page 365 8 stn ID Base station ID Char 5 ga H 36 9 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 44 10 CR LF Sentence terminator ASCII only a Inthe binary log case an additional 3 bytes of padding are added to maintain 4 byte alignment 366 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 65 RTCA Standard Logs V123_DGPS RTCA1 DIFFERENTIAL GPS CORRECTIONS Message ID 10 RTCAEPHEM EPHEMERIS AND TIME INFORMATION Message ID 347 RTCAOBS BASE STATION OBSERVATIONS V123_RT20 or V23_RT2 Message ID 6 RTCAREF BASE STATION PARAMETERS V123_RT20 or V23_RT2 Message ID 11 lt 1 The above messages can be logged with an A or B suffix for an ASCII or Binary output with a NovAtel header followed by Hex or Binary raw data respectively 2 RTCADATA logs output the details of the above logs if they have been sent The RTCA Radio Technical Commission for Aviation Services Standard is being designed to support Differential Global Navigation Satellite System DGNSS Special Category I SCAT D precision instrument approaches The RTCA Standard is in a preliminary state Described below is NovAtel s current support for this standard It is based on Minimum Aviation System Perf
32. CR LF Sentence terminator ASCII only a Inthe binary log case an additional 3 bytes of padding are added to maintain 4 byte alignment 412 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 83 RTCMDATA1003 L1 L2 GPS RTK Observables V123_RT20 V23_RT2 This log is available at the base station See Section 3 3 80 starting on Page 405 for information on RTCM Version 3 0 standard logs Message ID 786 Log Type Synch Recommended Input log rtemdata1003a ontime 7 ASCII Example RTCMDATA1003A COM1 0 79 0 FINESTEERING 1317 239386 000 00180040 a38c 1855 0 0 239386000 0 9 0 0 9 21 0 10569576 8901 127 0 176 7752 127 2 0 8831714 3717 127 0 163 7068 127 16 0 4189573 1118 127 0 108 1273 127 29 0 1181151 10116 127 0 61 11354 127 26 0 12256552 15107 109 0 24 18232 109 6 0 9442835 1961 127 0 116 2536 127 18 0 7145333 3326 54 0 17 304 54 1070 1125215 13933 127 0 148 12353 127 30 0 8737848 20418 127 0 48 19592 127 2286a5ab E 6 Message Type 1003 provides minimum data for L1 L2 operation while Message Type 1004 provides the full data content The longer observation messages do not change very often and can be sent less often OEMV Family Firmware Version 3 000 Reference Manual Rev 2 413 Chapter 3 DataLogs Field Fiel
33. H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 week 0 9999 GPS week number Ulong 4 H 3 sec 0 604801 Number of seconds into Double 8 H 4 GPS week 172 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 2 5 57 SETNAV Set start and destination waypoints V123 This command permits entry of one set of navigation waypoints see Figure 6 on Page 173 The origin FROM and destination TO waypoint coordinates entered are considered on the ellipsoidal surface of the current datum default WGS84 Once SETNAV has been set you can monitor the navigation calculations and progress by observing the NAVIGATE log messages Track offset is the perpendicular distance from the great circle line drawn between the FROM lat lon and TO lat lon waypoints It establishes the desired navigation path or track that runs parallel to the great circle line which now becomes the offset track and is set by entering the track offset value in meters A negative track offset value indicates that the offset track is to the left of the great circle line track A positive track offset value no sign required indicates the offset track is to the right of the great circle line track looking from origin to destination See Figure 6 on Page 173 for clarification Abbreviated ASCII Syntax Message ID 162 SETNA V fromlat f
34. RTCMDATA1819A COM1 1 73 5 FINESTEERING 1117 161114 000 00100020 b077 399 0 0 4523 0 0 6 2 0 200000 11 1 0 3 0 1 324771431 1 0 15 0 1 64534978 1 0 18 0 1 198055064 1 0 21 0 1 426607534 1 0 17 0 1 101227879 1 0 6 0 7 70480075 1 0 26 0 1 205262773 1 0 23 0 1 46251638 1 0 28 0 1 167164502 1 0 31 0 1 77539005 1 0 22 0 3 19 0 0 4523 0 0 6 2 0 200000 11 1 0 3 2 3 1114597101 1 0 15 2 3 999274497 1 0 18 2 3 1022282623 1 0 21 2 3 1151773907 390 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 1 0 17 2 3 1015290815 1 0 6 2 3 1207662688 1 0 26 2 3 1085620069 1 0 23 2 3 1029707897 1 0 28 2 3 1240811844 1 0 31 2 3 1242647691 1 0 22 4 3 1241415667 820e5a7b ae eee SSS i RTCMDATA1819 and RTCM2021 logs contain data useful for surveying and highly accurate positioning and or navigation This data provides support for RTK applications using real time interferometric techniques to resolve integer ambiguities An interferometer is in aerospace for example an instrument that utilizes the interference of waves for precise determinations RTCM Message Type 18 provides carrier phase measurements while RTCM Message Type 19 provides pseudorange measurements RTCM Message Types 20 and 21 contain the same data as Types 18 and 19 except that the values of Types 20 and 21 are corrected by the ephemerides contained in the satellite mes
35. position 199 203 raw 516 solution 104 218 tracking status 456 velocity 203 338 PSRDIFFSOURCE command 149 PSRPOS log 336 PSRVEL log 338 PSRXYZ log 340 pulse 108 312 314 quality NMEA 113 277 284 quotation mark 17 167 175 R radio 163 251 336 427 429 range bias 27 238 compressed 350 corrections 344 errors 234 measurement 67 343 351 reject code 456 residual 280 satellite information 125 Vision correlator 193 RANGE log 343 RANGECMP log 348 RANGEGPSL1I log 351 rapid static 219 rate of right ascension 215 raw almanac 270 RAWALM log 351 RAWEPHEM log 355 RAWGPSSUBFRAME log 357 RAWGPSWORD log 359 RAWLBANDFRAME log 360 RAWWAASFRAME log 363 reacquisition 57 60 345 receiver character 333 clock offset 216 components 458 dual frequency 218 errors 438 independent exchange RINEX 298 interface 32 35 121 set up 434 status 126 438 440 time 53 recent satellite information 146 reference station see base station references and standards 214 353 REFSTATION log 365 reinstate satellite 182 remote station see rover station reset after error 445 average positions after 144 complete 156 hardware 33 111 152 RESET command 152 residual 280 426 456 resolution 153 156 response 24 121 124 518 RF delay 73 RINEX see receiver independent exchange root mean square RMS 285 route 321 rover station basic 234 carrier phase
36. reg x 20 variable to Time of applicability Ulong 4 H 32 16 reg x 20 variable XxXxX 32 bit CRC ASCII and Binary Hex 4 H 36 only reg x 20 variable CR LF Sentence terminator ASCII only 504 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 120 WAAS32 CDGPS Fast Correction Slots 0 10 V13_CDGPS WAAS32 are fast corrections for slots 0 10 in the mask of WAAS1 for CDGPS see Page 464 Message ID 696 Log Type Asynch Recommended Input log WAAS32a onchanged ASCII Example WAAS32A COM2 0 70 5 F INE 1295 153284 000 00000240 18e9 34461 209 0 0 8097 0 0 0 0 947 0 2128 0 2570 14 0 14 14 14 14 0 14 0 14 0 58778ae5 SS SSS SSS 6 The CDGPS data signal is structured to perform well in difficult or foliated conditions so the service is available more consistently The network has a high degree of service reliability The corrections signal has been structured around an open broadcast protocol so that additional hardware and software developers can easily extend the value of the data The service is available on a cost free basis For example when tree harvesting a boom operator can know exactly where he is in the forest at any given time of the day or night In one application the position of the antenna is shown on a screen and has a buffer ring around it which corresponds to the reach of the boom The operator knows how close he can go to the boundary without cr
37. 1 L Band Channel with CDGPS VBS and or HP capability 12 L1 or 12 L1 L2 GLONASS channels frequencies to match GPS configuration Receive RT2 and or RT20 corrections Vision correlator Synchronized Position Attitude Navigation SPAN Reduces positions and measurement rates to 5 Hz disables VARF and EVENT signals S O 7 1 lt D O Application Program Interface API 458 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Table 87 Component Types 0 UNKNOWN Unknown component 1 GPSCARD OEMV family component 2 CONTROLLER Data collector 3 ENCLOSURE OEM card enclosure 4 6 Reserved 7 IMUCARD IMU card 981073920 0x3A7A0000 DB_HEIGHTMODEL Height track model data 981073921 0x3A7A0001 DB_USERAPP User application firmware 981073925 0x3A7A0005 DB_USERAPPAUTO Auto starting user application firmware a Please refer to the Acronyms section in the GPS Reference Manual available from our website at htto www novatel com support docupdates htm Table 88 VERSION Log Field Formats hw version P RS CCC P hardware platform for example OEMV R hardware revision for example 3 00 S processor revision for example A CCC COM port configuration for example 22T sw version VV RRR Xxxx VV major revision number boot RRR minor revision number version X Special S Beta B Internal Development D A XX
38. 14 L2 Number of GPS L2 ranges above the RTK mask Uchar 1 H 51 angle 15 Reserved Uchar 1 H 52 16 Uchar 1 H 53 17 Uchar 1 H 54 18 Uchar 1 H 55 30 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 56 31 CR LF Sentence terminator ASCII only OEMV Family Firmware Version 3 000 Reference Manual Rev 2 235 Chapter 3 DataLogs 3 3 8 CLOCKMODEL Current Clock Model Status V123 The CLOCKMODEL log contains the current clock model status of the receiver Monitoring the CLOCKMODEL log allows you to determine the error in your receiver reference oscillator as compared to the GPS satellite reference All logs report GPS time not corrected for local receiver clock error To derive the closest GPS time subtract the clock offset from the GPS time reported The clock offset can be calculated by dividing the value of the range bias given in field 6 of the CLOCKMODEL log by the speed of light c The following symbols are used throughout this section B range bias m BR range bias rate m s SAB Gauss Markov process representing range bias error due to satellite clock dither m The standard clock model now used is as follows clock parameters array B BR SAB covariance matrix 6 o o B B BR B SAB 2 o o o o g BR B BR BR SAB g o g o o SAB B SAB BR SAB Table 46 Clock Model Status 0 VALID The clock model is valid 1 CONVERGING The clock model is near validity 2 ITERATI
39. 22 Uchar 1 H 71 23 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 72 24 CR LF Sentence terminator ASCII only a When using a datum other than WGS84 the undulation value also includes the vertical shift due to differences between the datum in use and WGS84 222 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 4 BESTUTM Best Available UTM Data V123 This log contains the best available position computed by the receiver in UTM coordinates See also the UTMZONE command on Pages 190 and the BESTPOS log on Page 218 Message ID 726 Log Type Synch lt The latitude limits of the UTM System are 80 S to 84 N If your position is outside this range the BESTUTM log outputs a northing easting and height of 0 0 along with a zone letter of and a zone number of 0 so that it is obvious that the data in the log is unusable Recommended Input log bestutma ontime 1 ASCII Example BESTUTMA COM1 0 78 0 FINESTEERING 1317 400258 000 00000000 ef8c 1855 SOL_COMPUTED NARROW_INT 11 U 5666613 8767 706904 8008 1059 3900 16 2613 WGS84 0 0122 0 0109 0 0129 AAAA 2 000 0 000 8 6 6 6 0 0 0 0 73db7bac eT Please refer to http earth info nga mil GandG coordsys grids grid1 htm for more information and a world map of UTM zone numbers OEMV Family Firmware Version 3 000 Reference Manual Rev 2 223 Chapter 3 Field Field type Data
40. 9 utc hour UTC hour 0 23 Uchar 1 H 34 10 utc min UTC minute 0 59 Uchar 1 H 35 11 utc ms UTC millisecond 0 60999 Ulong 4 H 36 12 utc status UTC status Enum 4 H 40 0 Invalid 1 Valid 13 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 44 14 CR LF Sentence terminator ASCII only a If UTC time is unknown the values for month and day are 0 b Maximum of 60999 when leap second is applied 452 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 98 TIMESYNC Synchronize Time Between GPS Receivers V3 The TIMES YNC log is used in conjunction with the ADJUSTIPPS command see Page 49 to synchronize the time between GPS receivers Refer also to the Transfer Time Between Receivers section in the OEMV Family Installation and Operation User Manual Message ID 492 Log Type Synch Recommended Input log timesynca ontime 1 ASCII Example TIMESYNCA COM1 0 46 0 FINESTEERING 1337 410095 000 00000000 bd3f 1984 1337 410095000 FINESTEERING aa2025db E 6 The time data embedded in this log represents the time of the most recent 1PPS signal This log should be issued from a communications port within 200 ms of the last 1PPS event See Figure 1 1PPS Alignment on Page 50 for an illustration Binary Binary Field Field type Data Description Format Bytes Offset 1 TIMESYNC Log header H 0 header 2 week GPS week number Ulong 4
41. 99 BESTVEL Velocity data 100 PSRVEL Pseudorange velocity information 101 TIME Receiver time information 128 RXCONFIG Receiver configuration status 140 RANGECMP Compressed version of the RANGE log 141 RTKPOS RTK low latency position data 161 NAVIGATE Navigation waypoint status 172 AVEPOS Position averaging 174 PSRDOP DOP of SVs currently tracking 175 REFSTATION Base station position and health 181 MARKPOS Position at time of mark input event 195 RXHWLEVELS Receiver hardware levels 206 VALIDMODELS Model and expiry date information for receiver Continued on Page 210 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 209 Chapter 3 DataLogs 215 RTKDATA RTK specific information 216 RTKVEL RTK velocity 231 MARKTIME Time of mark input event 233 234 235 PASSCOM1 Pass through logs PASSCOM2 PASSCOM3 241 BESTXYZ Cartesian coordinate position data 242 MATCHEDXYZ RTK Time Matched cartesian coordinate position data 243 PSRXYZ Pseudorange cartesian coordinate position 244 RTKXYZ RTK cartesian coordinate position data 270 SATXYZ SV position in ECEF Cartesian coordinates 287 RAWWAASFRAME Raw SBAS frame data 290 WAASO Remove PRN from the solution 291 WAAS1 PRN mask assignments 292 WAAS10 Degradation factor 293 WAAS12 SBAS network time and UTC 294 WAAS17 GEO almanac message 295 WAAS18 IGP mask 296 WAAS2 Fast correction slots 0 12 297 W
42. Asynch Recommended Input log WAAS17a onchanged ASCII Example WAAS17A COM1 0 33 5 SATTIME 1337 416653 000 00000000 896c 1984 12253 0 134 0 42138200 1448200 26000 0 0 0 0 122 0 24801400 34088600 26000 0 0 0 0 0 0 0 0 0 0 0 0 70848 22d9a0eb Ty Each raw WAAS frame gives data for a specific frame decoder number The WAAS17 message can be logged to view the data breakdown of WAAS frame 17 which contains GEO almanacs 492 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Field Field type Data Description Format ie a par Scaling 1 WAAS17 Log header H 0 header 2 prn Source PRN of message Ulong 4 H 3 ents Number of almanac entries Ulong 4 H 4 with information to follow 4 data id Data ID type Ushort 2 H 8 5 entry prn PRN for this entry Ushort 2 H 10 6 health Health bits Ushort 4a H 12 3 7 X ECEF x coordinate Long 4 H 16 8 y ECEF y coordinate Long 4 H 20 9 Zz ECEF z coordinate Long 4 H 24 10 x vel X rate of change Long 4 H 28 11 y vel Y rate of change Long 4 H 32 S 12 z vel Z rate of change Long 4 H 36 13 Next entry H 8 ents x 32 variable tO Time of day in seconds 0 to Ulong 4 H 8 64 86336 ents x 32 variable XXxx 32 bit CRC ASCII and Binary Hex 4 H 12 only ents x 32 variable CR LF a terminator ASCII only a Inthe binary log case an add
43. Asynch Recommended Input log WAAS35a onchanged ASCII Example This message is not being broadcast by CDGPS at the time of publication 1E 6 Each raw CDGPS mask frame gives data for a specific frame decoder number The WAAS35 message can be logged to view the data breakdown of WAAS frame 35 which contains information on CDGPS fast correction slots 33 43 512 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Field Field type Data Description Format Bye t PA Scaling 1 WAAS35 Log header H 0 header 2 prn Source PRN of message Ulong 4 H 3 iodp Issue of PRN mask data Ulong 4 H 4 z 4 prc33 pre i Long 4 H 8 5 pro34 Fast corrections 2048 to 2047 Long 4 H 12 R pro35 for the prn in slot i i 33 43 tong 4 TET j 7 prc36 Long 4 H 20 8 prc37 Long 4 H 24 9 prc38 Long 4 H 28 10 prc39 Long 4 H 32 11 prc40 Long 4 H 36 12 prc41 Long 4 H 40 13 prc42 Long 4 H 44 14 prce43 Long 4 H 48 15 udre33 udre i Ulong 4 H 52 See Table 16 udre34 User differential range error Ulong 4 H 56 EA iz vereas titesterferthepminstoti Foong Ja moo PSPS 18 udre36 Ulong 4 ear eens 19 udre37 Ulong 4 H 68 20 udre38 Ulong 4 H 72 21 udre39 Ulong 4 H 76 22 udre40 Ulong 4 H 80 23 udre41 Ulong 4 H 84 24 udre42 Ulong 4 H 8
44. DGPS refers to using one base receiver at a known location and one or more rover receivers at unknown locations As the position of the base receiver is accurately known we can determine the extent of the error that is present in GPS at any given instant This can be performed by either of the two methods previously described We counter the effects of a number of biases present in GPS including ionospheric and tropospheric errors ephemeris errors and receiver and satellite clock errors OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 You could choose either method depending on your application and the accuracy required Table 60 Tracking State 0 L1 Idle 7 L1 Frequency lock loop 1 L1 Sky search 8 L2 Idle 2 L1 Wide frequency band pull in 9 L2 P code alignment 3 L1 Narrow frequency band pull in 10 L2 Search 4 L1 Phase lock loop 11 L2 Phase lock loop 5 L1 Reacquisition 19 L2 Steering 6 L1 Steering Table 61 Correlator Type 0 N A 1 Standard correlator spacing 1 chip Narrow Correlator spacing lt 1 chip Reserved Reserved 2 3 4 Pulse Aperture Correlator PAC 5 6 Vision Correlator Table 62 Channel Tracking Example N6 26 f 2s 24 23 22 21 20 all7 e sPalls 2 4 o de Phase Pninaly Signal Type Grouping T o ock Channel Number Tracking State Primary L1 C A Grouped Locked f Known ff Locked Channe
45. MARK2POS 181 615 Position at time of mark input event MARKTIME MARK2TIME 231 616 Time of mark input event MATCHEDPOS 96 RTK Computed Position Time Matched MATCHEDXYZ 242 RTK Time Matched cartesian coordinate position NAVIGATE 161 Navigation waypoint status OMNIHPPOS 495 OmniSTAR HP XP position data LBANDINFO 730 L Band configuration information LBANDSTAT 731 L Band status information Continued on Page 205 204 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 PASSCOM1 PASSCOM2 233 234 Pass through logs PASSCOMS3 235 PASSXCOM1 405 PASSXCOM2 406 PASSXCOM3 795 PASSAUX PASSUSB1 690 607 PASSUSB2 PASSUSB3 608 609 PORTSTATS 72 COM or USB port statistics PSRDOP 174 DOP of SVs currently tracking PSRPOS 47 Pseudorange position information PSRVEL 100 Pseudorange velocity information PSRXYZ 243 Pseudorange cartesian coordinate position RANGE 43 Satellite range information RANGECMP 140 Compressed version of the RANGE log RANGEGPSL1 631 L1 version of the RANGE log RAWALM 74 Raw almanac RAWEPHEM 41 Raw ephemeris RAWGPSSUBFRAME 25 Raw subframe data RAWGPSWORD 407 Raw navigation word RAWLBANDFRAME 732 Raw L Band frame data RAWLBANDPACKET 733 Raw L Band data packet RAWWAASFRAME 287 Raw SBAS frame data REFSTATION 175 Base station position and health RTCADATA1 392 Type 1 Differentia
46. PSRVEL Pseudorange velocity Synch PSRXYZ Pseudorange cartesian coordinate Synch position CLOCKMODEL Range bias information Synch CLOCKSTEERING Clock steering status Asynch GLOCLOCK GLONASS clock information Asynch GPZDA NMEA UTC time and data Synch TIME Receiver time information Synch TIMESYNC Synchronize time between receivers Synch GPSEPHEM Decoded GPS ephemeris information Asynch IONUTC lonospheric and UTC model Asynch information Continued on Page 200 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 199 Chapter 3 200 Data Logs RAWEPHEM Raw ephemeris Asynch RANGE Satellite range information Synch RANGECMP ener version of the RANGE Synch og RANGEGPSL1 L1 version of the RANGE log Synch RTKDATA RTK related data such as baselines Asynch and satellite counts TIME Receiver clock offset information Synch ALMANAC Current decoded almanac data Asynch GLOALMANAC GLONASS almanac data Asynch GLOEPHEMERIS GLONASS ephemeris data Asynch GLORAWALM Raw GLONASS almanac data Asynch GLORAWEPHEM Raw GLONASS ephemeris data Asynch GLORAWFRAME Raw GLONASS frame data Asynch GLORAWSTRING Raw GLONASS string data Asynch GPALM NMEA almanac data Synch GPGSA NMEA SV DOP information Synch GPGSV NMEA satellite in view information Synch GPSEPHEM Decoded GPS ephemeris information Asynch PSRDOP DOP of SVs currently tracking Asynch RANGE Satellite range information Synch RANGE
47. Page 57 178 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 2 5 61 UNASSIGNALL Unassign all previously assigned channels V123 This command cancels all previously issued ASSIGN commands for all SV channels same as ASSIGNALL AUTO Tracking and control for each SV channel reverts to automatic mode See ASSIGN AUTO for more details Abbreviated ASCII Syntax Message ID 30 UNASSIGNALL system Input Example unassignall gpsll i Issuing the UNASSIGNALL command has no effect on channels that were not previously assigned using the ASSIGN command ASCII Binary Description Binary Binary Binary Value Value p Format Bytes Offset 1 UNASSIGNALL This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 system See Table 13 System that the SV channelis Enum 4 H Channel System tracking on Page 60 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 179 Chapter 2 Commands 2 5 62 UNDULATION Choose undulation V123 180 This command permits you to either enter a specific geoidal undulation value or use the internal table of geoidal undulations In the option field the EGM96 table provides ellipsoid heights at a 0 25 by 0 25 spacing while the OSU89B is implemented at a 2 by 3 spacing In areas of rapidly changing
48. Reference Manual available on our website at http www novatel com support docupdates htm The amount of time that the base station observations are extrapolated is provided in the differential age field of the velocity log The Low Latency RTK system extrapolates for 60 seconds The RTKVEL log contains the Low Latency RTK velocity when valid and an invalid status when a low latency RTK solution could not be computed The standard deviation fields in the BESTPOS and RTKPOS logs are compared The BESTVEL log contains the low latency RTK velocity when it is valid and as long as the RTK standard deviations are better Otherwise it contains the pseudorange based position Ina BESTVEL PSRVEL or RTKVEL log the actual speed and direction of the receiver antenna over ground is provided The receiver does not determine the direction a vessel craft or vehicle is pointed heading but rather the direction of motion of the GPS antenna relative to ground Continued on Page 199 Data Logs OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 BESTPOS Best position data Synch BESTVEL Velocity data Synch GPRMB NMEA waypoint status Synch GPRMC NMEA navigation information Synch GPVTG NMEA track made good and speed Synch NAVIGATE Navigation waypoint status Synch OMNIHPPOS OmniSTAR HP position data Synch PSRPOS Pseudorange position Synch
49. See also the TIMES YNC log on Page 453 and the Transfer Time Between Receivers section in the OEMV Family Installation and Operation User Manual OEMV Family Firmware Version 3 000 Reference Manual Rev 2 49 Chapter 2 Commands i TIMESYNC log The next haai time TIMESYNC idependant iodi ion baud rate wee triggered ie tei aai RS232 next PPS COM Input On Warm Clock Receiver 1PPS on Fine Receiver Connected m to MK11 on Warm Clock k Receiver 10 ms 1PPS IN 1 ms Figure 1 1PPS Alignment The IPPS is obtained from different receivers in different ways If you are using a Bare Card The 1PPS output strobe is on pin 7 of the OEMV 2 or pin 4 of the OEMV 1 ProPak V3 A DB9F connector on the back of the enclosure provides external access to various I O strobes to the internal card This includes the 1PPS output signal which is accessible on pin 2 of the DB9F connector Alternatively the 1PPS signal can be set up to be output on the RTS signal of COM1 COM2 or COM3 or the DTR signal of COM2 using the COMCONTROL command see Page 77 The accuracy of the 1PPS is less using this method but may be more convenient in some circumstances gt lt COM3 is not available on the OEMV 1 card To find out the time of the last PPS output signal use the TIMEA B output message see Page 451 which can be output serially on any available COM port for example LOG COM1 TIMEA ONTIME 1 Abbreviated ASCII Syntax Message I
50. Sentence terminator CR LF OEMV Family Firmware Version 3 000 Reference Manual Rev 2 a Local time zones are not supported by OEMV family receivers Fields 6 and 7 are always null 297 Chapter 3 Data Logs 3 3 37 IONUTC lonospheric and UTC Data V123 The Ionospheric Model parameters ION and the Universal Time Coordinated parameters UTC are provided Message ID 8 Log Type Asynch Recommended Input log ionutca onchanged ASCII Example IONUTCA COM1 0 58 5 FINESTEERING 1337 397740 107 00000000 ec21 1984 1 210719347000122e 08 2 235174179077148e 08 5 960464477539062e 08 1 192092895507812e 07 1 003520000000000e 05 1 146880000000000e 05 6 553600000000000e 04 3 276800000000000e 05 1337 589824 1 2107193470001221e 08 3 907985047e 14 1355 7 13 14 0 cldfd456 1 The Receiver Independent Exchange RINEX1 format is a broadly accepted receiver independent format for storing GPS data It features a non proprietary ASCII file format that can be used to combine or process data generated by receivers made by different manufacturers The Convert4 utility can be used to produce RINEX files from NovAtel receiver data files For best results the NovAtel receiver input data file should contain the logs as specified in the PC Software and Firmware chapter of the OEMV Family Installation and Operation User Manual including IONUTC 1 Refer to the U S National Geodetic Su
51. and system identification bits are reserved for them Message Types 1005 and 1006 avoid any phase center problems by utilizing the ARP which is used throughout the International GPS Service IGS They contain the coordinates of the installed antenna s ARP in Earth Center Earth Fixed ECEF coordinates datum definitions are not yet supported The coordinates always refer to a physical point on the antenna typically the bottom of the antenna mounting surface 3 3 81 RTCMDATA1001 L1 Only GPS RTK Observables V123_RT20 V23_RT2 This log is available at the base station See Section 3 3 80 starting on Page 405 for information on RTCM Version 3 0 standard logs Message ID 784 Log Type Synch Recommended Input log rtemdata1001a ontime 10 3 ASCII Example RTCMDATA1001A COM1 0 82 0 FINESTEERING 1317 239228 000 00180040 c279 1855 0 0 239228000 0 8 0 0 8 21 0 14513926 8707 127 2 0 3705361 5040 127 16 0 7573721 3555 124 29 0 5573605 11078 127 26 0 2996771 17399 99 6 0 9341652 329 127 10 0 13274623 2408 127 30 0 3355111 18860 127 ec698c2a k 5 Message Type 1001 contains the shortest version of a message for GPS observations namely L1 only observables Message Type 1002 contains additional information that enhances performance If throughput is not limited and the additional information is available it is recommended to use the longer version of messages OEMV Family Firmware Version 3 000 Reference Man
52. for this field is 999 The sign of the range residual is determined by the order of parameters used in the calculation as follows range residual calculated range measured range 2 There is no residual information available from the OmniSTAR HP XP service so the GPGRS contains the pseudorange position values when using it For the OmniSTAR VBS or CDGPS service residual information is available Message ID 220 Log Type Synch Recommended Input log gpgrs ontime 1 Example SGPGRS 141059 00 1 0 1 0 4 0 2 0 3 0 4 0 5 0 0 0 0 0 8 65 peU UUU MIOU I i Please see the GPGGA usage box that applies to all NMEA logs on Page 272 280 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Field Structure Field Description Symbol Example 1 GPGRS Log header GPGRS 2 utc UTC time of position hours minutes hhmmss ss 192911 0 seconds decimal seconds 3 mode Mode 0 residuals were used to x 1 calculate the position given in the matching GGA line apriori not used by OEMV family receiver Mode 1 residuals were recomputed after the GGA position was computed preferred mode 4 res Range residuals for satellites used in the X X X X 13 8 1 9 11 4 33 6 0 9 15 navigation solution Order matches order 6 9 12 6 0 3 0 6 22 3 of PRN numbers in GPGSA 16 XX Checksum hh 65 17 CR LF Sentence terminator CR LF OEMV Family Firmware Version 3
53. or USER then the clock steering process takes over the VARF output pins and may conflict with a previously entered FREQUENCYOUT command see Page 108 Message ID 26 Log Type Asynch Recommended Input log clocksteeringa onchanged ASCII Example CLOCKSTEERINGA COM1 0 56 5 FINESTEERING 1337 394857 051 00000000 0f61 1984 INTERNAL SECOND_ORDER 4400 1707 554687500 0 029999999 2 000000000 0 224 0 060 0e218bbc 6 To configure the receiver to use an external reference oscillator see the EXTERNALCLOCK command on Page 100 Table 47 Clock Source 0 INTERNAL The receiver is currently steering its internal VCTCXO using an internal VARF signal 1 EXTERNAL The receiver is currently steering an external oscillator using the external VARF signal OEMV Family Firmware Version 3 000 Reference Manual Rev 2 239 Chapter 3 Data Logs Table 48 Steering State 0 FIRST_ORDER Upon start up the clock steering task adjusts the VARF pulse width to reduce the receiver clock drift rate to below 1 ms using a 1st order control loop This is the normal start up state of the clock steering loop 1 SECOND_ORDER 2 CALIBRATE_HIGH Once the receiver has reduced the clock drift to below 1 m s it enters a second order control loop and attempts to reduce the receiver clock offset to zero This is the normal runtime state of the clock steering process This state corresponds to when the calibration pro
54. prn channels to a PRN Doppler Doppler window 29 UNASSIGN Unassign a previously unassign channel ASSIGNed channel 30 UNASSIGNALL Unassign all previously unassignall system ASSIGNed channels 36 UNLOG Remove log from logging unlog port datatype control 38 UNLOGALL Remove all logs from unlogall port logging control 44 FIX Constrain to fixed height fix type param1 param2 param3 or position 49 AUTH Add authorization code for auth state part1 part2 part3 part4 new model part5 model date 50 ECUTOFF Set satellite elevation cut ecutoff angle off 78 USERDATUM Set user customized userdatum semimajor flattening dx datum dy dz rx ry rz scale 91 RTKELEVMASK Set the RTK mask angle rtkelevmask type angle 92 RTKSVENTRIES Set the number of rtksventries number satellites to use in corrections 95 STATUSCONFIG Configure various status statusconfig type word mask mask fields in RXSTATUSEVENT log 97 RTKCOMMAND Reset the RTK filter or set rtkcommand action the filter to default settings Continued on Page 43 42 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 98 ANTENNAPOWER Control power to low antennapower flag noise amplifier of an active antenna 102 SETAPPROXTIME Set an approximate GPS setapproxtime week sec time 127 DGPSTIMEOUT Set maximum age of dgpstimeout delay differential data accepted 131 SETRTCM16 Enter an ASCII text
55. section 3 6 part4 4 digit hexadecimal Authorization code ULong 4 H 16 O FFFF section 4 7 part5 4 digit hexadecimal Authorization code ULong 4 H 20 0 FFFF section 5 8 model Alpha Null Model name of the String Vari Vari numeric terminated receiver max 16 able able 9 date Numeric Null Expiry date entered as String Vari Vari terminated yymmdd in decimal max 7 ablea able a Inthe binary log case additional bytes of padding are added to maintain 4 byte alignment 66 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 2 5 7 CLOCKADJUST Enable clock adjustments V123 All oscillators have some inherent drift By default the receiver attempts to steer the receiver s clock to accurately match GPS time If for some reason this is not desired this behavior can be disabled using the CLOCKADJUST command The TIME log can then be used to monitor clock drift lt 1 The CLOCKADJUST command should only be used by advanced users 2 If the CLOCKADJUST command is ENABLED and the receiver is configured to use an external reference frequency set in the EXTERNALCLOCK command see Page 100 for an external clock TCXO OCXO RUBIDIUM CESIUM or USER then the clock steering process takes over the VARF output pins and may conflict with a previously entered FREQUENCYOUT command see Page 108 3 When disabled the range measurement bias errors continue to accumulate with clock d
56. see Figure on Page 320 This value is positive when approaching the waypoint and becomes negative on passing the waypoint Double H 16 bearing Direction from the current position to the destination waypoint in degrees with respect to True North or Magnetic if corrected for magnetic variation by MAGVAR command Double H 24 along track Horizontal track distance from the current position to the closest point on the waypoint arrival perpendicular expressed in meters This value is positive when approaching the waypoint and becomes negative on passing the waypoint Double H 32 xtrack The horizontal distance perpendicular track error from the vessel s present position to the closest point on the great circle line that joins the FROM and TO waypoints If a track offset has been entered in the SETNAV command xtrack is the perpendicular error from the offset track Xtrack is expressed in meters Positive values indicate the current position is right of the Track while negative offset values indicate left Double H 40 10 eta week Estimated GPS week number at time of arrival at the TO waypoint along track arrival perpendicular based on current position and speed in units of GPS weeks If the receiving antenna is moving at a speed of less than 0 1 m s in the direction of the destination the value in this field is 9999 Ulong H 48 Continued on Page 323
57. these entries can be differentiated by bit 20 which is set if there are multiple observables for a given PRN and bits 21 22 which denotes whether the observation is for L1 or L2 This is to aid in parsing the data Message ID 43 Log Type Synch Recommended Input log rangea ontime 30 ASCII Example RANGEA COM1 0 54 0 FFINESTEERING 1337 403704 000 00000000 5103 1984 20 14 0 21316545 723 0 040 112019665 540381 0 007 2104 043 49 2 13901 280 18109c04 14 0 21316546 515 0 073 87288031 539445 0 008 1639 515 43 9 13901 280 11309c0b 22 0 24141142 182 0 060 126862988 731942 0 012 3299 537 45 6 21250 971 08109c24 22 0 24141142 481 0 138 98854267 144333 0 015 2571 070 38 3 21250 961 01309c2b 30 0 23500885 742 0 045 123497948 867356 0 007 1474 077 48 0 3480 270 08109d04 30 0 23500889 047 0 128 96232225 161482 0 009 1148 631 39 0 3473 460 01309d0b 7 0 25451105 944 0 096 133746434 783276 0 017 113 671 41 5 1047 422 18109d24 7 0 25451109 221 0 149 104218024 740989 0 059 88 552 37 7 1041 960 11309d2b 9flcfa3a OEMV Family Firmware Version 3 000 Reference Manual Rev 2 343 Chapter 3 DataLogs 344 1E Consider the case where you have a computer to record data at a fixed location and another laptop in the field also recording data as you travel Can you take the difference between the recorded location and the known location of the fixed point and use that as an error
58. 0 609 GOOD 0 514 14 0 11309dab 24747288 764 2522 270 35 557 1116 380 0 000 O0BSL2 0 000 0 0 0c0221c0 0 000 0 000 0 047 0 000 0 000 NA 0 000 0 0 0c0221e0 0 000 0 000 0 047 0 000 0 000 NA 0 000 255a732e SSS SSS ee The OEMV 3 with L band and HP XP requires the following minimum number of satellites for the following operations e single point 4 GPS satellites e RTK including HP XP 5 GPS satellites Extra satellites provide additional redundancy which is good to have Note that the default cut off angle is 5 degrees and single point positioning utilizes all available GPS satellites in the position solution RTK solutions including HP XP only use GPS satellites that are above the RTK elevation angle usually 12 5 degrees So although there could be more than 5 GPS satellites in view if there are not at least 5 GPS satellites above 12 5 degrees then an RTK solution may not be possible OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Table 85 Range Reject Code 0 GOOD Observation is good 1 BADHEALTH Bad satellite health is indicated by ephemeris data 2 OLDEPHEMERIS Old ephemeris due not being updated during the last 3 hours 3 ECCENTRICANOMALY Eccentric anomaly error during computation of the satellite s position 4 TRUEANOMALY True anomaly error during computation of the satellite s position 5 SATCOORDINATE Satellite coo
59. 000 Reference Manual Rev 2 281 Chapter 3 DataLogs 3 3 29 GPGSA GPS DOP and Active Satellites V123 NMEA GPS receiver operating mode satellites used for navigation and DOP values This log outputs null data in all fields until a valid almanac is obtained lt If the DOP values exceed 9999 0 or there is an insufficient number of satellites to calculate a DOP value 9999 0 is reported for PDOP and HDOP VDOP is reported as 0 0 in this case Message ID 221 Log Type Synch Recommended Input log gpgsa ontime 1 Example GPGSA M 3 14 22 01 19 11 03 15 18 09 0 0 0 0 0 0 35 ae 6 The DOPs provide a simple characterization of the user satellite geometry DOP is related to the volume formed by the intersection points of the user satellite vectors with the unit sphere centered on the user Larger volumes give smaller DOPs Lower DOP values generally represent better position accuracy The role of DOP in GPS positioning however is often misunderstood A lower DOP value does not automatically mean a low position error The quality of a GPS derived position estimate depends upon both the measurement geometry as represented by DOP values and range errors caused by signal strength ionospheric effects multipath and so on Please see also the GPGGA usage box that applies to all NMEA logs on Page 272 282 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs
60. 064 PAC Correlator 6 243 409 B1 Dual Frequency GPS 5 736 961 Anti Jamming Technology 5 734 674 Position for Velocity Kalman Filter 6 664 923 B1 Vision Correlator 6 370 207 6 031 881 10 823 030 Pending 60 718 052 Pending Q Copyright 2006 NovAtel Inc All rights reserved Unpublished rights reserved amp 9 amp under International copyright laws Printed in Canada on recycled paper Recyclable 2 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Foreword 12 1 Messages 15 VeW MOSSAGS TYPOS i xa ai ce Sccc es cacecec pap ceedetaebe ct thee A E 15 TM Pi Glee tassel a a a necan sete a E A 17 1 1 2 Abbreviated ASCII eecccecceeeeceececceeeeeeaeeeeeeeeeaaaeeeeeeeesaaaeseeneeessaeeseeaneeeaas 19 Veli BIMANY E E A A Hic caved Secebtin E E 19 1 2 RESPONSES iiss iicsein isis Secca a wcsecseens dasa PEREA ATENE AE a NEARE EAEAN ERSA AARNE 24 1 3 GLONASS Slot and Frequency NUMbEIS ccccceceeeeeeeeeeeceeeeeeeeeeeeeeeeaeeeeaes 25 1 4 GPS Time Status pisciaie aoira iaia 26 1 5 Message Time Stamps ccccceeeeeceeeeeeeeeeeeecaaeeeeneeecaaeeeseaeeesaeeeeeaaeesceeeseaeeesaes 27 1 6 Decoding of the GPS Week Number cceceeeeeeeeeeceeeeeeee esas eeeeeeeetaeeeeeaeeeeaas 28 R32 Bite IAG pinta ea ot ace Ress genecn a seat a a bosses os saeene 28 2 Commands 31 2 1 Command Formats residuis feats ctv ashes gesthaeealiea eadair idaresi iieiea 31 2 2 Command Settings ievcet dsceese cte
61. 1 2 3 4 5 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Spaces may only be used in variable text fields A negative sign HEX 2D is the first character in a Field if the value is negative The sign is omitted if the value is positive All data fields are delimited by a comma Null fields are indicated by no data between two commas Null fields indicate invalid data or no data available The NMEA Standard requires that message lengths be limited to 82 characters 325 Chapter 3 Data Logs 3 3 47 OMNIHPPOS OmniSTAR HP XP Position V3_HP Outputs L Band Extra Performance XP or High Performance HP position information lt In addition to a NovAtel receiver with L Band capability a subscription to the OmniSTAR service is required Contact NovAtel for details Contact information may be found on the back of this manual or you can refer to the Customer Service section in the OEMV Installation and Operation Manual Message ID 495 Log Type Synch Recommended Input log omnihpposa ontime 1 ASCII Example OMNIHPPOSA COM1 0 72 0 F INESTEERING 1161 321910 000 00000000 ad26 683 SOL_COMPUTED OMNISTAR_HP 51 11635244839 114 03819232612 1064 1015 16 2713 WGS84 0 1371 0 1390 0 2741 5 000 0 000 7 6 6 6 0 0 0 0 66c318 b i OmniSTAR HP XP service is particularly useful for agricultural machine guidance and many surveying tasks It operates in real time and without the n
62. 1 0 000000000 0 000000000 0 000000000 0 000000000 0 000000000 0 000000000 0 000000000 0 000000000 4dc981c7 a AA Refer to the GLONASS Overview section in the GPS Reference Manual available on our website at http www novatel ca support docupdates htm OEMV Family Firmware Version 3 000 Reference Manual Rev 2 255 Chapter 3 DataLogs Field Field type Data Description Format Binary Binary Bytes Offset 1 GLOALMANAC Log header H 0 header 2 recs The number of GLONASS almanac Long 4 H records to follow Set to zero until almanac data is available 3 week GPS Week in weeks Ulong 4 H 4 4 ms GPS Time in milliseconds Ulong 4 H 8 5 slot Slot number for satellite ordinal Uchar 1 H 12 6 frequency Frequency for satellite ordinal Char 1 H 13 frequency channels are in the range 7 to 13 7 sat type Satellite type where Uchar 1 H 14 0 GLO_SAT 1 GLO_SAT_M new M type 8 health Almanac health where Uchar 1 H 15 0 GOOD 1 BAD 9 TlambdaN GLONASS Time of ascending node Double 8 H 16 equator crossing in seconds 10 lambdaN Longitude of ascending node Double 8 H 24 equator crossing PZ90 in radians 11 deltal Correction to nominal inclination in Double 8 H 32 radians 12 ecc Eccentricity Double 8 H 40 13 ArgPerig Argument of perigee PZ90 in Double 8 H 48 radians 14 deltaT Correction to the mean value of the Double 8 H 56 Draco
63. 100 100 DATUM WGS84 DGPSEPHEMDELAY 120 DGPSTIMEOUT 300 DGPSTXID AUTO ANY DYNAMICS AIR ECUTOFF 5 0 EXTERNALCLOCK DISABLI FIX NONE FIXPOSDATUM NON FORCEGPSL2CODE DEFAULT m KA 1S EJ Fl FREQUENCYOUT DISABLE GLOCSMOOTH 100 100 GLOECUTOFF 5 0 HPSEED RESET HPSTATICINIT DISABLE INTERFACEMODE COM1 NOVATEL NOVATEL ON INTERFACEMODE COM2 NOVATEL NOVATEL ON INTERFACEMODE COM3 NOVATEL NOVATEL ON INTERFACEMODE AUX NOVATEL NOVATEL ON INTERFACEMODE USB1 NOVATEL NOVATEL ON INTERFACEMODE USB2 NOVATEL NOVATEL ON INTERFACEMODE USB3 NOVATEL NOVATEL ON OEMV Family Firmware Version 3 000 Reference Manual Rev 2 47 Chapter 2 48 LOG COM1 RXSTATUSEVENTA ONNEW 0 0 HOLD LOG COM2 RXSTATUSEVENTA ONNEW 0 0 HOLD LOG COM3 RXSTATUSEVENTA ONNEW 0 0 HOLD LOG AUX RXSTATUSEVENTA ONNEW 0 0 HOLD LOG USB1 RXSTATUSEVENTA ONNEW 0 0 HOLD LOG USB2 RXSTATUSEVENTA ONNEW 0 0 HOLD LOG USB3 RXSTATUSEVENTA ONNEW 0 0 HOLD MAGVAR CORRECTION 0 0 MARKCONTROL MARK1 ENABLE NEGATIVE 0 0 MARKCONTROL MARK2 ENABLE NEGATIVE 0 0 PP PS RT
64. 103 104 limit 221 mean sea level 153 155 position 222 337 mark 313 match 317 OmniSTAR HP XP 118 327 RTK 428 RTK baseline 155 Helmert transformation 84 hexadecimal 13 16 17 20 169 177 hibernate mode PC 127 hiking 227 229 hold 126 129 130 310 311 horizon 99 116 194 hot position 371 HP XP seed 119 120 HP XP OmniSTAR 326 454 expiration date 302 position or velocity type 220 status 306 308 tracking state 304 HPSEED command 117 HPSTATICINIT command 119 hydrographic survey 139 I identifier ascii message 17 serial port 22 124 254 333 inclination angle 215 initialization 153 154 instantaneous Doppler 340 integer ambiguities 391 integrity 431 interface 32 35 124 INTERFACEMODE command 121 interferometric techniques 391 interrupt 333 ionosphere 82 carrier smoothing 82 delay 501 errors 219 grid points 494 log 298 positive integers 449 remove 386 IONUTC log 298 island 188 K kinematic 401 L L1 only observables 407 L2C 13 107 lane combination 425 laptop 127 330 344 latched time 312 latency data link 316 318 low 431 position 198 218 431 reduction 382 velocity 230 340 341 431 432 latitude longitude approximate 170 fix data 273 275 277 GPS specific 291 position 222 337 mark 313 match 317 NMEA 278 OmniSTAR HP XP 118 327 RTK 428 RTK baseline 155 set navigation waypoint 174 sign 153 L Band 62 149 300 303
65. 104 yr Y over time 16 zrvel 10 0 radians Change inthe rotation about Double 8 H 112 yr Z over time 17 scalev 10 0 ppm yr Change in scale from Double 8 H 120 WGS84 over time 18 refdate 0 0 year Reference date of Double 8 H 128 parameters Example 2005 00 Jan 1 2005 2005 19 Mar 11 2005 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 189 Chapter 2 Commands 2 5 69 UTMZONE Set UTM parameters V123 This command sets the UTM persistence zone number or meridian Please refer to http earth info nga mil GandG coordsys grids grid1 htm for more information and a world map of UTM zone numbers lt 1 The latitude limits of the UTM System are 80 S to 84 N so if your position is outside this range the BESTUTM log outputs a northing easting and height of 0 0 along with a zone letter of and a zone number of 0 so that it is obvious that the data in the log is dummy data 2 Ifthe latitude band is X then the Zone number should not be set to 32 34 or 36 These zones were incorporated into other zone numbers and do not exist Abbreviated ASCII Syntax Message ID 749 UTMZONE command parameter Factory Default utmzone auto 0 ASCII Example 1 UTMZONE SET 10 ASCII Example 2 UTMZONE CURRENT 1E i The UTM grid system is displayed on all National Topographic Series NTS of Canada maps and United States Geological Survey USGS maps On USGS 7 5 minute quadrangle maps
66. 108 It is expected that the VARF signal is used to provide a stable reference voltage by the use of a filtered charge pump type circuit not supplied OEMV Family Firmware Version 3 000 Reference Manual Rev 2 69 Chapter 2 Commands Field ASCII Binary Type Value Value Binary Binary Binary Field Format Bytes Offset Description 1 CLOCKCALIBRATE This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 mode SET 0 Sets the period Enum 4 H pulsewidth slope and bandwidth values into NVM for the currently selected steered oscillator INTERNAL or EXTERNAL AUTO 1 Forces the receiver to do a clock steering calibration to measure the slope change in clock drift rate with a 1 bit change in pulse width and required pulsewidth to zero the clock drift rate After the calibration these values along with the period and bandwidth are entered into NVM and are then used from this point forward on the selected oscillator OFF 2 Terminates a calibration process currently underway 3 period 0 to 262144 Signal period in 25 ns Ulong 4 H 4 steps Frequency Output 40 000 000 Period default 4400 Continued on Page 71 70 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 Field ASCII Binary Binary Binary Binary
67. 173 174 Waypoint Products Group 116 259 348 427 week decoding 28 future 299 GPS 294 322 reference 356 weighting pseudorange filter 456 WGS84 base station 380 default datum 84 186 differential corrections 105 229 waypoint navigation 173 wide laning 219 word error 141 raw ephemeris 355 status 438 446 week number 271 X xyz coordinates 229 340 365 Y year 452 459 Z zone number UTM 190 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 535 Nolte Recyclable Printed in Canada on recycled paper OM 20000094 Rev 2 2006 08 08
68. 180 environmental parameter 436 ephemeris change in 377 collect 172 decoded 199 delay 91 92 368 GLONASS 259 health 455 log 200 raw data 200 355 RTK 371 time status 26 27 error averaged position 144 clock 67 100 236 common from base and rover 234 extrapolation 316 318 fatal 445 flag 438 framing 332 in fixed coordinates 105 messages 438 multipath 343 non volatile memory 141 parity 332 333 proportional to baseline 233 range reject code 455 response message 518 Statistics 217 284 status 176 text description 446 tracking 343 event fatal 445 message 176 438 446 text description 446 type 446 expiry date 457 external oscillator 100 382 reference frequency 49 EXTERNALCLOCK command 100 extrapolation error 316 318 F factory default datum 84 ephemeris delay 91 modify 164 reset 33 46 152 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 setting 47 74 fallback to SBAS 161 field type 15 field upgrade 65 filter control 33 pseudorange 456 RTK 33 156 solution log 196 update 340 431 fine time 27 fix command 103 data 272 274 276 position 278 save setting 164 solution 34 36 156 FIX command 103 FIXPOSDATUM command 106 flag antenna 56 error 438 parity 343 status 336 438 flattening 189 fleet 163 flight controls 429 float solution 34 36 156 160 floating ambiguity 431 foliage 360 505 FORCEGPSL2CO
69. 1984 2 22 4 8b04e483f3b17ece037a3732fe0fc8ccf074303ebdf2f6505f5aaaaaaaaad 2 41e768e4 RAWGPSSUBFRAMEA COM1 35 62 5 SATTIME 1337 405576 000 00000000 690 1984 4 25 2 8b04e48406a8b9fe8b364d7 8 6ee827FF2 062258840ea4a10E20b964327e 4 52d460a7 RAWGPSSUBFRAMEA COM1 0 62 5 SATTIME 1337 400632 000 00000000 690 1984 20 9 3 8b04e482 6aadf 3557257871000a26fc34a31d7a300bededffa3de7e0b6af 20 55d16a4a 6 The RAWGPSSUBFRAME log can be used to receive the data bits with the parity bits stripped out Alternately you can use the RAWGPSWORD log to receive the parity bits in addition to the data bits OEMV Family Firmware Version 3 000 Reference Manual Rev 2 357 Chapter 3 DataLogs Binary Binary Field Field type Data Description Format Bytes Offset 1 RAWGPSSUBFRAME header Log header H 0 2 decode Frame decoder number Ulong 4 H 3 PRN Satellite PRN number Ulong 4 H 4 4 subfr id Subframe ID Ulong 4 H 8 5 data Raw subframe data Hex 30 32a H 12 6 chan Signal channel number that Ulong 4 H 44 the frame was decoded on 7 XXXX 32 bit CRC ASCIl and Binary Hex 4 H 48 only 8 CR LF Sentence terminator ASCII only a Inthe binary log case an additional 2 bytes of padding are added to maintain 4 byte alignment 358 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 60 RAWGPSWORD Raw Navigation Word V123 This mes
70. 2 14 14 14 14 11 14 2 2 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 76 954b NNA i Each raw WAAS frame gives data for a specific frame decoder number The WAAS24 message can be logged to view the data breakdown of WAAS frame 24 which contains mixed fast slow corrections OEMV Family Firmware Version 3 000 Reference Manual Rev 2 495 Chapter 3 DataLogs Binary Binary Field Field type Data Description Format Bytes Offset Scaling 1 WAAS24 Log header H 0 header 2 prn Source PRN of message Ulong 4 H 3 prcO prc i Long 4 H 4 4 pret Fast corrections 2048 to 2047 Long 4 H 8 for the prn in slot i 5 prc2 i 0 5 Long 4 H 12 6 prc3 Long 4 H 16 7 prc4 Long 4 H 20 8 prc5 Long 4 H 24 9 udre0 udre i Ulong 4 H 28 See Table 89 on Page 10 udre1 User differential range error Ulong 4 H 32 466 indicator for the prn in slot i 11 udre2 i 0 5 Ulong 4 H 36 12 udre3 Ulong 4 H 40 13 udre4 Ulong 4 H 44 14 udre5 Ulong 4 H 48 15 iodp Issue of PRN mask data Ulong 4 H 52 z 16 block id Associated message type Ulong 4 H 56 17 iodf Issue of fast corrections data Ulong 4 H 60 18 spare Spare value Ulong 4 H 64 19 vel Velocity code flag Ulong 4 H 68 20 mask1 Index into PRN mask Type 1 Ulong 4 H 72 3 21 iode1 Issue of ephemeris data Ulong 4 H 76 22 dx1 Delta x E
71. 282 RTK 153 218 static 157 158 model active 457 authorization 32 65 66 137 card 137 clock 236 238 315 expiry date 196 457 ionospheric 298 log 197 lost 141 switch 137 valid 457 version 457 MODEL command 137 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 527 Index 528 modem 328 month 452 459 monument height 401 motion detector 157 island 188 mean 215 295 moving base stations 139 MOVINGBASESTATION command 139 MSAS Japanese SBAS 165 MSB 17 multipath carrier smoothing 81 example 82 336 indicator 393 397 NMEA 282 parameters 192 RTK 395 399 Vision correlator 461 N National Topographic Series NTS 190 NAVIGATE log 320 navigation accuracy 382 command 35 data 282 290 information 288 log 320 321 magnetic compass 131 path 173 satellite system 367 standard 375 status 289 322 waypoint 173 199 word 359 NGS see US National Geodetic Survey NMEA DOP 282 fix data 277 generic format 122 log list 324 position 279 pseudorange measurement noise statis tics 284 satellite range residuals 280 281 standards 272 node 271 noise oscillator 100 Statistic 284 thermal 343 time of 238 non printable character 32 169 non volatile memory NVM 46 automatic 353 reset 111 restore 141 save almanac 214 configuration 164 north pole 132 note antenna motion 157 authorization code 65 channel assig
72. 3 000 Reference Manual Rev 2 Data Logs 3 1 Log Types Refer to the LOG command see Page 126 for details on requesting logs The receiver is capable of generating many different logs These logs are divided into the following three types Synchronous asynchronous and polled The data for synchronous logs is generated on a regular schedule Asynchronous data is generated at irregular intervals If asynchronous logs were collected on a regular schedule they would not output the most current data as soon as it was available The data in polled logs is generated on demand An example would be RKCONHIG It would be polled because it changes only when commanded to do so Therefore it would not make sense to log this kind of data ONCHANGED or ONNEW See Section 1 5 Message Time Stamps on Page 27 for information on how the message time stamp is set for each type of log The following table outlines the log types and the valid triggers to use Table 39 Log Type Triggers Synch ONTIME ONNEW ONCHANGED Asynch ONCHANGED Polled ONCE or ONTIME 2 ONNEW ONCHANGED a Polled log types do not allow fractional offsets and cannot do ontime rates faster than 1Hz lt 1 The OEMV family of receivers can handle 30 logs at a time If you attempt to log more than 30 logs at a time the receiver responds with an Insufficient Resources error 2 The following logs do not support the ONNEXT trigger GPSEPHEM RAWEPHEM R
73. 3664604 5642 4942482 9765 0 0094 0 0148 0 0157 SOL_COMPUTED NARROW_INT 0 0014 0 0014 0 0075 0 0187 0 0295 0 0314 AAAA 0 250 1 000 0 000 12 9 9 9 0 0 0 0 9d757cfa EE i In the NovAtel RTK system the floating ambiguity and the integer position solutions when both are available are continuously compared for integrity purposes The better one is chosen and output in the receiver s matched position logs The best ambiguities determined are used with the rover station s local observations and a base station observation model to generate the rover s low latency observations OEMV Family Firmware Version 3 000 Reference Manual Rev 2 431 Chapter 3 DataLogs Field Field type Data Description Format Binary Binary Bytes Offset 1 RTKXYZ Log header H 0 header 2 P sol status Solution status see Table 45 Solution Status on Enum 4 H Page 221 3 pos type Position type see Table 44 Position or Velocity Enum 4 H 4 Type on Page 220 4 P X Position X coordinate m Double 8 H 8 5 P Y Position Y coordinate m Double 8 H 16 6 P Z Position Z coordinate m Double 8 H 24 T P Xo Standard deviation of P X m Float 4 H 32 8 P Yo Standard deviation of P Y m Float 4 H 36 9 P Z o Standard deviation of P Z m Float 4 H 40 10 V sol status Solution status see Table 45 Solution Status on Enum 4 H 44 Page 221 11 vel type Velocity
74. 40 CARIBB 7 152 178 This datum has been updated Clarke 1866 see ID 75 41 MEXICO 12 130 190 N American Mexico Clarke 1866 42 CAMER 0 125 194 N American Central America Clarke 1866 43 MINNA 92 93 122 Nigeria Minna Clarke 1880 44 OMAN 346 1 224 Oman Clarke 1880 45 PUERTO 11 72 101 Puerto Rica and Virgin Islands Clarke 1866 46 QORNO 164 138 189 Qornoq South Greenland International 1924 47 ROME 255 65 9 Rome 1940 Sardinia Island International 1924 48 CHUA 134 229 29 South American Chua Astro International Paraguay 1924 49 SAM56 288 175 376 South American Provisional International 1956 1924 50 SAM69 57 1 41 South American 1969 S American 1969 51 CAMPO 148 136 90 S American Campo International Inchauspe Argentina 1924 52 SACOR 206 172 6 South American Corrego International Alegre Brazil 1924 53 YACAR 155 171 37 South American Yacare International Uruguay 1924 54 TANAN 189 242 91 Tananarive Observatory 1925 International Madagascar 1924 55 TIMBA 689 691 46 This datum has been updated Everest EB see ID 85 56 TOKYO 128 481 664 This datum has been updated Bessel 1841 see ID 86 57 TRIST 632 438 609 Tristan Astro 1968 Tristan du International Cunha 1924 58 VITI 51 391 36 Viti Levu 1916 Fiji Islands Clarke 1880 Continued on Page 89 88 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2
75. 457 Chapter 3 Data Logs 3 3 101 VERSION Version Information V123 This log contains the version information for all components of a system When using a standard receiver there is only one component in the log A component may be hardware for example a receiver or data collector or firmware in the form of applications or data for example data blocks for height models or user applications See Table 88 VERSION Log Field Formats on Page 459 for details on the format of key fields See also the VALIDMODELS log on Page 457 Message ID 37 Log Type Polled Recommended Input log versiona once ASCII Example VERSIONA COM1 0 71 5 FINESTEERING 1362 340308 478 00000008 3681 2291 1 GPSCARD L12RV DZZ06040010 OEMV2G 2 00 2T 3 000A19 3 000A9 2006 Feb 9 17 14 33 5e8d 6e0 lt Unlike the OEM4 family there is no need for an extra OmniSTAR Interface Board I Board on L Band capable OEMV receivers If you have an OmniSTAR subscription and the receiver is tracking an OmniSTAR satellite the OmniSTAR serial number can be found in the LBANDINFO log see Page 300 SS SSS SSS The VERSION log is a useful log as a first communication with your receiver When you connect to your receiver using CDU or HyperTerminal log the VERSION log and check that the output makes sense Also ensure that you have the receiver components you expected Table 86 Model Designators
76. 50 0 230 9661 13 150 0 2078 695 14 Not Monitored Not Monitored 15 Do Not Use Do Not Use The o UDRE broadcast in WAAS2 WAAS3 WAAS4 WAAS5 WAAS6 and WAAS24 applies at a time prior to or at the time of applicability of the associated corrections ba 466 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Field Field type Data Description Format Binary Offset Chapter 3 1 WAAS2 header Log header H 0 2 prn Source PRN of message Ulong 4 H 3 iodf Issue of fast corrections Ulong 4 H 4 data 4 iodp Issue of PRN mask data Ulong 4 H 8 5 prcO pre i Long 4 H 12 6 pret Fast corrections Long 4 H 16 2048 to 2047 for the prn 7 pre2 in slot i i 0 12 Long 4 H 20 8 prc3 Long 4 H 24 9 prc4 Long 4 H 28 10 prc5 Long 4 H 32 11 prc6 Long 4 H 36 12 prc7 Long 4 H 40 13 prc8 Long 4 H 44 14 prc9 Long 4 H 48 15 prc10 Long 4 H 52 16 prc11 Long 4 H 56 17 prc12 Long 4 H 60 Continued on Page 468 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 467 Chapter 3 DataLogs Binary Binary Field Field type Data Description Format Bytes Offset Scaling 18 udreO udre i Ulong 4 H 64 See Table 89 Evaluation of 19 udre1 User differential range error Ulong 4 H 68 UDREI on indicator for the prn in s
77. 9c 9d c2 d4 ea 95 68 86 Of 0a 9d 2d 36 52 68 65 b8 a2 0b 00 21 80 64 8a 72 f 59 b7 79 609 49 fd 5 3c 48 1c 2f 77 f1 o2 9e 58 0a 81 05 1f 00 7b 00 1e 68 c9 a3 12 56 b8 2a 32 df d9 ea 03 9b 16 c 6 17 2f 33 b3 5f c4 9 d2 97 75 64 06 52 a1 b2 3a 4b 69 e7 eb 0f 97 d3 e6 bf d at 37 c6 10 13 9b dc c9 63 22 80 78 3 78 90 d5 9f d3 5 af LE Ja 75 ef 77 8e de ac 00 32 2e 79 fb 3f 65 f3 4f 28 77 b4 6d 2 6 31 24 b2 40 76 37 27 b c 95 33 15 01 76 da5 f1 c4 75 16 e6 c6 ab 2 fe 34 09 c3 55 85 61 49 e6 a4 4e 8b 2a 60 57 8a e5 77 02 fc 9c 7d d4 40 4c 1d 11 3c 9b 8e c3 73 d3 3c 0d 18 7a 21 05 cb 12 6 dd c3 df 69 62 5 70 3791693b TE i The data signal is structured to perform well in difficult or foliated conditions so the service is available more consistently and has a higher degree of service reliability 360 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Field Field type Data Description Format Binary 4 Binary yP p Bytes Offset 1 RAWLBANDFRAME Log header H 0 header 2 frame Frame number Ushort 2 H 2 maximum 9 3 channelcode 10 bit channel code word Ushort 2 H 4 4 data Raw L Band frame data Uchar 1200 1200 H 6 5 XXXX 32 bit CRC ASCII and Hex 4 H 1206 Binary only 6 CR LF Sentence terminator ASCII only OEMV Family Firmware
78. A suffix for ascii and a B suffix for binary 5 trigger ONNEW Enum ONCHANGED ONTIME ONNEXT ONCE ONMARK 6 period Log period for ONTIME Double 7 offset Offset for period ONTIME trigger Double 8 hold NOHOLD Enum HOLD io Pee Next port variable XXXX 32 bit CRC Hex variable CR LF Sentence terminator OEMV Family Firmware Version 3 000 Reference Manual Rev 2 311 Chapter 3 Data Logs 312 3 3 41 MARKPOS MARK2POS Position at Time of Mark Input Event V123 This log contains the estimated position of the antenna when a pulse is detected at a mark input MARKPOS is a result of a pulse on the MKII input and MARK2POS is generated when a pulse occurs on a MK2I input Refer to the Technical Specifications appendix in the OEMV Family Installation and Operation User Manual for mark input pulse specifications and the location of the mark input pins The position at the mark input pulse is extrapolated using the last valid position and velocities The latched time of mark impulse is in GPS weeks and seconds into the week The resolution of the latched time is 49 ns See also the notes on MARKPOS in the MARKTIME log on Page 314 Message ID 181 MARKPOS and 615 MARK2POS Log Type Asynch Recommended Input log markposa onnew lt Use the ONNEW trigger with the MARKTIME or MARKPOS logs Example MARKPOSA COM1 0 82 0 FINESTEERING 1358 418904 000 00000000 729b 2214 SOL_COMPUTED SINGLE 51 11636965556 11
79. Band data packet Uchar 128 128 H 3 XXXX 32 bit CRC ASCII and Binary Hex 4 H 128 only 4 CR LF Sentence terminator ASCII only 362 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 63 RAWWAASFRAME Raw SBAS Frame Data V123_SBAS This log contains the raw SBAS frame data of 226 bits 8 bit preamble 6 bit message type and 212 bits of data but without a 24 bit CRC Only frame data with a valid preamble and CRC are reported Message ID 287 Log Type Asynch Recommended Input log rawwaasframea onnew ASCII Example RAWWAASFRAMEA COM1 0 39 0 SATTIME 1337 405963 000 00000000 58e4 1984 29 122 0 5328360984c80130644dc53800c004b124400000000000000000000000 29 7b398c7a RAWWAASFRAMEA COM1 0 43 0 SATTIME 1337 405964 000 00000000 58e4 1984 29 122 3 9a0e9ffc035fffff5ffc00dffc008044004005ffdfffabbb9b96217b80 29 f2139bad RAWWAASFRAMEA COM1 0 43 0 SATTIME 1337 405965 000 00000000 58e4 1984 29 122 2 c608bff9ffdffffec00bfa4019ffdffdfffffc04c0097bb9f27bb97940 29 364848b7 RAWWAASFRAMEA COM1 0 44 5 SATTIME 1337 405983 000 00000000 58e4 1984 29 122 2 c608bff5ffdffffec00ffa8015ffdffdfffff804c0017bb9f27bb97940 29 a5dc4590 a U U I U 6 The RAWWAASFRAME log output contains all the raw data required for an application to compute its own SBAS correction parameters OEMV Family Firmware Version 3 000 Reference Manual Rev 2
80. Channel State 0 IDLE Set the SV channel to not track any satellites 1 ACTIVE Set the SV channel active default 2 AUTO Tell the receiver to automatically assign PRN codes to channels 3 NODATA Tell the receiver to track without navigation data 4 OUTPUT Assign a channel to output the signal Abbreviated ASCII Syntax Message ID 27 ASSIGN channel state prn Doppler Doppler window OEMV Family Firmware Version 3 000 Reference Manual Rev 2 57 Chapter 2 Commands 58 ASCII Example 1 assign 0 active 29 0 2000 In example 1 the first SV channel is acquiring satellite PRN 29 in a range from 2000 Hz to 2000 Hz until the satellite signal has been detected ASCII Example 2 assign 11 28 250 0 SV channel 11 is acquiring satellite PRN 28 at an offset of 250 Hz only ASCII Example 3 assign 11 idle SV channel 11 is idled and does not attempt to search for satellites ey 6 OEMV cards have 2 assigned channels for SBAS They automatically use the WAAS GEO satellites with the highest elevations You can use the ASSIGN command to enter a GEO PRN manually Table 12 OEMV Channel Configurations GPS SBAS OEMV 1 OEMV 2 and OEMV 3 0 to 13 for GPS 14 to 15 for SBAS GPS SBAS L Band OEMV 1 and OEMV 3 0 to 13 for GPS 14 for SBAS 15 for L Band GPS SBAS GLONASS OEMV 2 and OEMV 3 0 to 13 for GPS 14 to 15 for SBAS 16 to 27 for GLONASS GPS SBAS GLONASSI L OEMV 3 0 to 13 for GPS Band 14 to 1
81. Chapter 3 Field Structure Field Description Symbol Example 1 GPGSA Log header GPGSA 2 mode MA A Automatic 2D 3D M M M Manual forced to operate in 2D or 3D 3 mode 123 Mode 1 Fix not available 2 2D 3 3D x 3 4 15 prn PRN numbers of satellites used in solution null for XX XX eee 18 03 13 unused fields total of 12 fields 25 16 GPS 1to32 24 12 SBAS 33 to 64 add 87 for PRN number 20 16 pdop Position dilution of precision X X 1 5 17 hdop Horizontal dilution of precision X X 0 9 18 vdop Vertical dilution of precision X X 1 2 19 XX Checksum hh 3F 20 CR LF Sentence terminator CR LF OEMV Family Firmware Version 3 000 Reference Manual Rev 2 283 Chapter 3 DataLogs 3 3 30 GPGST Pseudorange Measurement Noise Statistics V123_NMEA Pseudorange measurement noise statistics are translated in the position domain in order to give statistical measures of the quality of the position solution This log reflects the accuracy of the solution type used in the BESTPOS see Page 218 and GPGGA see Page 272 logs except for the RMS field The RMS field since it specifically relates to pseudorange inputs does not represent carrier phase based positions Instead it reflects the accuracy of the pseudorange position which is given in the PSRPOS log see Page 336 This log outputs null data in all fields until a valid almanac is obtained Message ID 222 Log Type Synch Recommended Input log gpgst ontime 1 Example S
82. Configuration V123 This log is used to output a list of all current command settings When requested an RXCONFIG log is output for each setting See also the LOGLIST log on Page 309 for a list of currently active logs Message ID 128 Log Type Polled Recommended Input log rxconfiga once ASCII Example RXCONFIGA COM1 71 47 5 APPROXIMATE 1337 333963 260 00000000 702 1984 ADJUSTI1PPSA COM1 71 47 5 APPROXIMATE 1337 333963 260 00000000 702 1984 OFF ONCE 0 ba85a20b 91 89b07 RXCONFIGA COM1 70 47 5 APPROXIMATE 1337 333963 398 00000000 702 1984 ANTENNAPOWERA COM1 70 47 5 APPROXIMATE 1337 333963 398 00000000 702 1984 ON d12 6135 8 8741be RXCONFIGA COM1 69 47 5 APPROXIMATE 1337 333963 455 00000000 702 1984 CLOCKADJUSTA COM1 69 47 5 APPROXIMATE 1337 333963 455 00000000 702 1984 ENABLE 0af36d92 b13280 2 RXCONFIGA COM1 7 47 5 APPROXIMATE 1337 333966 781 00000000 702 1984 STATUSCONFIGA COM1 7 47 5 APPROXIMATE 1337 333966 781 00000000 702 1984 CLEAR AUX2 0 a6141e28 d0bba9f2 RXCONFIGA COM1 2 47 5 APPROXIMATE 1337 333967 002 00000000 702 1984 WAASECUTOFFA COM1 2 47 5 APPROXIMATE 1337 333967 002 00000000 702 1984 5 000000000 b9b11096 2e8b77cf RXCONFIGA COM1 1 47 5 FINESTEERING 1337 398382 787 00000000 702 1984 LOGA COM1 1 47 5 F INESTEERING 1337 398382 787 00000000 702 1984 COM1 MARKPOSA ONN
83. GPS Range Residuals for Each Satellite GPGSA 221 GPS DOP and Active Satellites GPGST 222 Pseudorange Measurement Noise Statistics GPGSV 223 GPS Satellites in View GPRMB 224 Generic Navigation Information GPRMC 225 GPS Specific Information GPVTG 226 Track Made Good and Ground Speed GPZDA 227 UTC Time and Date a CMR RTCA and RTCM logs may be logged with an A or B extension to give an ASCII or Binary output with a NovAtel header followed by Hex or Binary data respectively 208 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Table 42 OEMV Family Logs in Order of their Message IDs 5 LOGLIST A list of system logs GPSEPHEM GPS ephemeris data IONUTC lonospheric and UTC model information 16 CLOCKMODEL Current clock model matrices 25 RAWGPSSUBFRAME Raw subframe data 26 CLOCKSTEERING Clock steering status 37 VERSION Receiver hardware and software version numbers 41 RAWEPHEM Raw ephemeris 42 BESTPOS Best position data 43 RANGE Satellite range information 47 PSRPOS Pseudorange position information 48 SATVIS Satellite visibility 72 PORTSTATS COM or USB port statistics 73 ALMANAC Current almanac information 74 RAWALM Raw almanac 83 TRACKSTAT Satellite tracking status 93 RXSTATUS Self test status 94 RXSTATUSEVENT Status event indicator 96 MATCHEDPOS RTK Computed Position Time Matched
84. HANDOFF_COMPLETE 1 7 8989e 05 5 2684e 05 6 3217e 05 5 2684e 05 1 5872e 04 9 0928e 05 6 3217e 05 9 0928e 05 3 4505e 04 8 9074 4 2139 0 3290 0 1966 0 0817 0 0515 Pe 9 NARROW_INT 0 002745881 30 NARROW_INT 0 000855902 17 NARROW_INT 0 001878776 4 NARROW_INT 0 002401770 5 NARROW_INT 0 001621658 7 NARROW_INT 0 005145249 24 NARROW_INT 0 003541277 28b5c253 ra a ay 6 Consider the appropriate observation times when using dual frequency receivers One primary advantage of dual frequency equipment is the ability to observe baselines using much shorter occupation times It is difficult to state exactly what this occupation time should be since every observation session is different It is important OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 to keep the following factors in mind when trying to determine how long a station should be occupied occupation time refers to the simultaneous observation time at both base and rover e The distance between rover and base station As the distance between the base and rover receivers increases the occupation times should also increase e Sky visibility at each of the base and rover receiver The accuracy and reliability of differential GPS is proportional to the number of common satellites that are visible at the base and rover Therefore if the sky visibility at either station is poor you might consider increasing the oc
85. International Geomagnetic Reference Field IGRF 95 spherical harmonic coefficients and IGRF time corrections to the harmonic coefficients Abbreviated ASCII Syntax Message ID 180 MAGVAR type correction std dev Factory Default magvar correction 0 0 ASCII Example 1 magvar auto ASCII Example 2 magvar correction 15 0 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 131 Chapter 2 Commands mad Figure 3 Illustration of Magnetic Variation amp Correction Reference Description a True Bearing b Local Magnetic Variation c Local Magnetic Variation Correction inverse of magnetic variation a c Magnetic Bearing d Heading 50 True 60 Magnetic e True North f Local Magnetic North 1 6 How does the GPS determine what Magnetic North is Do the satellites transmit a database or some kind of look up chart to determine the declination for your given latitude and longitude How accurate is it Magnetic North refers to the location of the Earth s Magnetic North Pole Its position is constantly changing in various cycles over centuries years and days These rates of change vary and are not well understood However we are able to monitor these changes 132 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 True North refers to the earth s celestial pole that is at 90 north latitude or the location where the lines of longitude converge This position is always th
86. NovAtel product Whether you have bought a stand alone OEM card or a packaged receiver you will have also received companion documents to this manual They will help you get the hardware operational Afterwards this text will be your primary OEMV family command and logging reference Scope This manual describes each command and log that the OEMV family of receivers are capable of accepting or generating Sufficient detail is provided so that you should understand the purpose syntax and structure of each command or log and be able to effectively communicate with the receiver thus enabling you to effectively use and write custom interfacing software for specific needs and applications The manual is organized into chapters which allow easy access to appropriate information about the receiver There is Satellite Based Augmentation System SBAS signal functionality on OEMV 1 OEMV 2 and OEMV 3 products Also OEMV 2 and OEMV 3 products support GLONASS measurements while OEMV 1 and OEMV 3 cards are L Band capable Please refer to the SBAS Overview and the Real Time Kinematic RTK sections in the OEMV Family Installation and Operation User Manual the GLONASS Overview section in the GPS Reference Manual and the Conventions section below for more information All three also support NMEA DGPS and RTK If you have any of these options and wish to learn more about them please refer to the GPS Reference Manual available on our website at http www
87. Page 220 4 latency A measure of the latency in the velocity time tag in Float 4 H 8 seconds It should be subtracted from the time to give improved results 5 age Differential age in seconds Float 4 H 12 6 hor spd Horizontal speed over ground in meters per second Double 8 H 16 7 trk gnd Actual direction of motion over ground track over Double 8 H 24 ground with respect to True North in degrees 8 vert spd Vertical speed in meters per second where positive Double 8 H 32 values indicate increasing altitude up and negative values indicate decreasing altitude down 9 Reserved Float 4 H 40 10 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 44 11 CR LF Sentence terminator ASCII only 430 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 90 RTKXYZ RTK Cartesian Position and Velocity V123_RT20 V23_RT2 This log contains the receiver s low latency position and velocity in ECEF coordinates The position and velocity status field s indicate whether or not the corresponding data is valid See Figure 8 Page 232 for a definition of the ECEF coordinates The velocity measurements sometimes have a latency associated with them The time of validity is the time tag in the log minus the latency value With the system operating in an RTK mode this log reflects if the solution is a good RTK Low Latency solution from extrapolated base station measurements or invalid A valid RTK Low Latency
88. RT MOVINGBASES PASSTOPASSMODI POSAVE OFF POSTIMEOUT TATION DISABLE Ea 600 SCONTROL ENABLE NEGATIVE 1 0 0 KCOMMAND KSOLUTION RT KBASELINE KDYNAMICS KELEVMASK RT RDIFFSOURCE AUTO ANY USE_DEFAULTS AUTO UNKNOWN 0 0 0 0 DYNAMIC AUTO KSVENTRIES 12 KSOURCE AUTO ANY BASCONTROL DISABLE AUTO 0 NONE ETNAV 90 0 0 0 90 0 0 0 0 0 from to ATUSCONFIG PRIORITY STATUS 0 USCONFIG PRIORITY AUX1 0x00000008 USCONFIG PRIORITY AUX2 0 USCONFIG ET STATUS 0x00000000 SCONFIG ET AUX1 0 USCONFIG ET AUX2 0 USCONFIG EAR STATUS 0x00000000 gt PP PP PP eS USCONFIG EAR AUX1 0 ANNNNNNNNN NH zZ US US 0 UT VI USCONFIG I 3 OUr U NWN EAR AUX2 0 DULATION 0 0 0 0 0 WAASECUTOFF TABLE 0 0 0 0 0 0 0 0 0 0 0 0 0 ZONE AUTO 0 SION DISABLE 5 000000000 DISABLE OFF OFF DEFAULT 1 0 Commands ERDATUM 6378137 0 298 2572235628 0 0 0 0 0 0 0 0 0 0 0 0 0 0 EREXPDATUM 6378137 0 298 25722356280 0 0 0 0 0 0 0 0 0 0 0 0 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 2 5 Command Reference When you use a command without specifying its optional parameters it may have a differ
89. RTKVEL RTK Velocity V123_RT20 V23_RT2 This log contains the RTK velocity information computed by the receiver In addition it reports a velocity status indicator which is useful in indicating whether or not the corresponding data is valid and differential age which is useful in predicting anomalous behavior brought about by outages in differential corrections The velocity measurements sometimes have a latency associated with them The time of validity is the time tag in the log minus the latency value See also the table footnote for velocity logs on Page 198 With the system operating in an RTK mode this log reflects if the solution is a good RTK Low Latency solution from extrapolated base station measurements or invalid A valid RTK Low Latency solution is computed for up to 60 seconds after reception of the last base station observation The degradation in accuracy due to differential age is reflected in the standard deviation fields and is summarized in the GPS Overview section of the GPS Reference Manual available on our website at http www novatel com support docupdates htm The velocity is computed from consecutive RTK low latency updates As such it is an average velocity based on the time difference between successive position computations and not an instantaneous velocity at the RTK VEL time tag The velocity latency to be subtracted from the time tag is normally 1 2 the time between filter updates Under default operation the RT
90. Resubscribe immediately 16 UNKNOWN Unknown subscription OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 SSS E i What is the real accuracy of the Coast Guard s DGPS as compared to the commercial DGPS The Coast Guard claims a 10 meter accuracy for their DGPS Some commercial DGPS vendors offer 5 m or better accuracy Are the commercial vendors really supplying something more accurate than the Coast Guard signal The real accuracy of the Coast Guard s DGPS signal is likely better than 10 meters However there a number of factors which are involved in determining the accuracy of a DGPS system These include e your proximity to the base station which is transmitting DGPS corrections e the GPS receiver used by the Coast Guard e the GPS receiver used by the commercial DGPS services e your GPS receiver and the statistical qualifier used in conjunction with the stated accuracy If you were to compare the Coast Guard and commercial DGPS services under the same situations for example a base to user proximity of 1 km and stated accuracy at 2drms 95 confidence you would probably find that the Coast Guard s DGPS is at least equivalent to if not better than commercial DGPS services Also of note is that the Coast Guard s DPGS service is available to all users marine land and air similar to a public utility without any charge In addition the Coast Guard s service acts as an integrity
91. TRUE TRUE TRUE 0 368 512 11 1 15 FALSE TRUE TRUE 11936394 129 11 1 TRUE TRUE TRUE TRUE TRUE 0 270 78 12 1 18 FALSE TRUE TRUE 5334926 186 11 1 TRUE TRUE TRUE TRUE TRUE 0 164 164 12 1 21 FALSE TRUE TRUE 10590427 770 10 1 TRUE TRUE TRUE TRUE 366 850 11 1 17 FALSE TRUE TRUE 3262859 32 11 1 TRUE TRUE TRUE TRUE TR 26 FALSE TRUE TRUE 211264 1213 10 1 TRUE TRUE TRUE TRUE T 23 FALSE TRUE TRUE 8098 209 11 1 TRUE TRUE TRUE TRUE TRUE 28 FALSE TRUE TRUE 5090047 160 6 1 TRUE TRUE TRUE TRUE T 31 FALSE TRUE TRUE 1857322 1027 7 1 TRUE TRUE TRUE TRUE 513 1063 8 1 9 FALSE TRUE TRUE 51623 1245 6 1 TRUE TRUE TRUE TRUE TRU 599 1244 9 1 9fe706b0 TRUE 0 UE 0 325 216 12 1 RUE 0 390 1069 10 1 704205 236 12 1 RUE 0 535 227 9 1 TRUE 0 E 0 E i The CMRDATAOBS log is analogous to the RTCADATAOBS logs when using RTCA messages In the CMR format description the CMRDATAOBS log Type 0 is referred to as OEMV Family Firmware Version 3 000 Reference Manual Rev 2 245 Chapter 3 DataLogs Binary Binary Field Field type Data Description Format Bytes Offset 1 CMRDATA Log header H 0 OBS header 2 CMR header Synch character for the message Ulong 4 H 3 Message status Ulong 4 H 4 4 CMR message type Ulong 4 H 8 5 Message body le
92. The first exception is the last header field which is followed by a to denote the start of the data message The other exception is the last data field which is followed by a to indicate end of message data Each log ends with a hexadecimal number preceded by an asterisk and followed by a line termination using the carriage return and line feed characters for example 1234ABCD CR LF This value is a 32 bit CRC of all bytes in the log excluding the identifier and the asterisk preceding the four checksum digits See 7 7 32 Bit CRC on Page 28 for the algorithm used to generate the CRC An ASCII string is one field and is surrounded by double quotation marks for example ASCII string If separators are surrounded by quotation marks then the string is still one field and the separator will be ignored for example xxx xxx is one field Double quotation marks within a string are not allowed If the receiver detects an error parsing an input message it will return an error response message Please see Chapter 4 Responses on Page 518 for a list of response messages from the receiver Message Structure header data field data field data field xxxxxxxx CR LF The ASCII message header is formatted as follows OEMV Family Firmware Version 3 000 Reference Manual Rev 2 17 Chapter 1 Messages Table 3 ASCII Message Header Structure
93. This log outputs null data in all fields until a valid almanac is obtained Message ID 218 Log Type Synch Recommended Input log gpgga ontime 1 Example SGPGGA 134658 00 5106 9792 N 11402 3003 W 2 09 1 0 1048 47 M 16 27 M 08 AAAA 60 SSS SSS EEE The NMEA National Marine Electronics Association has defined standards that specify how electronic equipment for marine users communicate GPS receivers are part of this standard and the NMEA has defined the format for several GPS data logs otherwise known as sentences Each NMEA sentence begins with a followed by the prefix GP followed by a sequence of letters that define the type of information contained in the sentence Data contained within the sentence is separated by commas and the sentence is terminated with a two digit checksum followed by a carriage return line feed Here is an example of an NMEA sentence that describes time position and fix related data SGPGGA 134658 00 5106 9792 N 11402 3003 W 2 09 1 0 1048 47 M 16 27 M 08 AAAA 60 The GPGGA sentence shown above and other NMEA logs are output the same no matter what GPS receiver is used providing a standard way to communicate and process GPS information 272 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Field Structure Field Description Symbol Example 1 GPGGA Log header GPGGA 2 utc UTC time of position hou
94. Ulong 4 H 180 48 al 42 Ulong 4 H 184 49 al 43 Ulong 4 H 188 50 al 44 Ulong 4 H 192 51 al 45 Ulong 4 H 196 52 al 46 Ulong 4 H 200 53 al 47 Ulong 4 H 204 54 al 48 Ulong 4 H 208 Continued on Page 485 484 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Binary Binary Field Field type Data Description Format Bytes Offset 55 al 49 al i Ulong 4 H 212 56 al 50 Stic era gre Aaa for the Ulong 4 H4216 57 al 51 Invalid do not use Ulong 4 H 220 58 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 224 59 CR LF Sentence terminator ASCII only OEMV Family Firmware Version 3 000 Reference Manual Rev 2 485 Chapter 3 DataLogs 3 3 111 WAAS9 GEO Navigation Message V123_SBAS 486 WAASS provides the GEO navigation message representing the position velocity and acceleration of the geostationary satellite in ECEF coordinates and its apparent clock time and frequency offsets Also included is the time of applicability an issue of data IOD and an accuracy exponent URA representing the estimated accuracy of the message The time offset and time drift are with respect to SBAS Network Time Their combined effect is added to the estimate of the satellite s transmit time Message ID 306 Log Type Asynch Recommended Input log WAAS9a onchanged ASCII Example WAAS9A COM1 0 38 0 SATTIME 1337 416426 000 00000000 b580 1984 122 17
95. VI23 RI20 V23 RD ooo csccsinctaccznesdctestcstest snsastassavaceastantedesdastrardalevea vidi datacecs 431 3 3 91 RXCONFIG Receiver Configuration VI23 ccecececeeeseeeseeneeeeeeeeeees 434 3 3 92 RXHWLEVELS Receiver Hardware Levels V3 cccccccssccsccsseeseeeeees 436 3 3 93 RXSTATUS Receiver Status V123 oo cccccccccesecsecessseseessectscsseeneetanens 438 3 3 94 RXSTATUSEVENT Status Event Indicator V123 ccccccccccseeeeteees 445 3 3 95 SATVIS Satellite Visibility VI23 ooo ccccssccseessecseesseesecsseeseesseens 447 3 3 96 SATXYZ SV Position in ECEF Cartesian Coordinates VI23 449 3 3 97 TIME Time Data V123 ouo ccccccccccccccssessecsecsecaecesecseesseecssesaeeaeenaseaeenes 451 3 3 98 TIMESYNC Synchronize Time Between GPS Receivers V3 453 3 3 99 TRACKSTAT Tracking Status V123 0 ccceccsceeeceeteeseseeeneeneeseeeeeees 454 3 3 100 VALIDMODELS Valid Model Information V123 cccccccscsecssecseeeseees 457 3 3 101 VERSION Version Information VI23 ccccccccccessecssessecsecseeteesseens 458 3 3 102 VISIONSOL Computed Vision Solutions V123 eeececeteteeeeees 461 3 3 103 WAASO Remove PRN from Solution VI23_SBAS cccccccseeeeees 463 3 3 104 WAAS1 PRN Mask Assignments VI23_SBAS ccccccccccetcceeeeteees 464 3 3 105 WAAS2 Fast Correction Slots 0 12 VI23_SBAS o cccccccccceeeteees 465 3 3 106 WAAS3 Fast Corrections Slots 13 25 VI23_SBAS ccccccseeee 469 3 3 107 WAAS4 Fast Co
96. Word sesseseeeseeeeesesseeeresssrnsssrnsssrnssrnnsrnnnne 306 58 OmniSTAR HP XP Status Word ernennen aerea a aana a ae aa a raa ainan 307 59 Navigation Data Type aei erie erae ae T a E A EES 320 60 Tracking Statea anio n aaa ana a aea epee a a aaa E A 345 61 Correlator Type eitia boca aa ae a aa a a a eae Aa A a E A a aE 345 62 Channel Tracking Example a ieaie nii aere rekopii aaa aiaa aiaa 345 63 Channel Tracking Status cccccececcececeeeeeeeeeeceeeeeeeeeeseaeeeseaeeeseaeeeseaaeeseceeeeenaeessaes 346 64 Range Record Format RANGECMP only cceecceeeeceeeeeneeeeeeeeeeeeeeseseeeeeeeeees 349 65 Base Station Stat S a rrean ae ea a a aa aa ie a a Ea Rai a 365 66 Base Staton Ty De encase eee a tan Aeterna 365 67 RTCM1819 Data Quality INdiCAtOr cece eeeeeececeeeeeeeee teen eeeeeeeeeeaeeeeeeaeeseeeeeeteaeeeees 392 68 RTCM1819 Smoothing Interval ccceeeeeeeeeeeeeeeeeeeeeeceeaeeeeeeeeesaeeeseaeeseeeeeeeeeeees 392 69 RTCM1819 Multipath Indicator ccecccceecsceeeeeeeeeeeeeeeeaeeeseaeeseeeeeeeaeeseeeeeesnaeeeeaes 393 70 RTCM2021 Data Quality INdiCAtOr cece ceeeceececeeeeeeeee eect eeeeeeeeeeeeeeeaaeeeeeeeeeeeeeeees 397 71 RTCM2021 Multipath Indicator ccecccceceececeeeeeeeeeeeeeeeeeeeeeeeseceeeeesaeesseeeeesnaeeeeaes 397 72 Carrier Smoothing Interval of Code Phase cccscceeceeeceeeeeeeeeneeeeeaeeeeereeeeeeeeeeaees 408 73 Lock Time MACAO eesin a ects igantes teins A AT ERO ete
97. a E e ENAT EEEN 274 3 3 26 GPGGARTK Global Position System Fix Data V123_NMEA 276 3 3 27 GPGLL Geographic Position VI23_NMEA cccccccccesccsscetecseeeteees 278 3 3 28 GPGRS GPS Range Residuals for Each Satellite VJ23_NMEA 280 3 3 29 GPGSA GPS DOP and Active Satellites V123_NMEA 00064 282 3 3 30 GPGST Pseudorange Measurement Noise Statistics VJ23_NMEA 284 3 3 31 GPGSV GPS Satellites in View VI23_NMEA nnonser 286 3 3 32 GPRMB Navigation Information VI23_NMEA c ccccccccceteeeeeeteees 288 OEMV Family Firmware Version 3 000 Reference Manual Rev 1A 5 Table of Contents 3 3 33 GPRMC_ GPS Specific Information VI23_NMEA ccccccccceeeeeees 290 3 3 34 GPSEPHEM Decoded GPS Ephemerides V123 ccccccceeseeeeeeeees 292 3 3 35 GPVTG Track Made Good And Ground Speed V 23_NMEA 296 3 3 36 GPZDA UTC Time and Date VI23_NMEA ceccecccscceceteteeeeeeeeees 297 3 3 37 IONUTC lonospheric and UTC Data VI23 u0 ceccccccesccsccstsssseeseceseenee 298 3 3 38 LBANDINFO L Band Configuration Information VIZ _VBS V3_HP OF VIS CDGPS vicccciisusssccssiaseseatacsristaveretenavanediavinarestnd 300 3 3 39 LBANDSTAT L Band Status Information V13 VBS V3 HP OF VIF CDGPS ecis ea iiai 303 3 3 40 LOGLIST List of System Logs V123 ss cisisisiieisiisniviccstesisdeneciasiee 309 3 3 41 MARKPOS MARK2POS Position at Time of Mark Input Event V123 312 3 3 42 MARKTIME MARK2TIME Time of Mark Input Event V 23
98. added to the pseudorange Ionospheric and tropospheric corrections are not included and should be applied separately Message ID 313 Log Type Synch Recommended Input log waascorra ontime 1 ASCII Example WAASCORRA COM1 0 40 5 FINESTEERING 1337 417485 000 01000000 3b3b 1984 20 3 101 0 0000 0 0000 3 0 0 0000 0 0000 2 133 0 0000 0 0000 2 0 0 0000 0 0000 23 48 0 0000 0 0000 23 0 0 0000 0 0000 4 55 0 0000 0 0000 4 0 0 0000 0 0000 16 197 0 0000 0 0000 16 0 0 0000 0 0000 20 25 0 0000 0 0000 20 0 0 0000 0 0000 27 26 0 0000 0 0000 27 0 0 0000 0 0000 25 186 0 0000 0 0000 25 0 0 0000 0 0000 13 85 0 0000 0 0000 13 0 0 0000 0 0000 122 0 0 0000 0 0000 134 0 0 0000 0 0000 0a 4c14d E 6 The SBAS pseudorange corrections can be added to the raw pseudorange for a more accurate solution in applications that compute their own solutions OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Field Field type Data Description Format Binary Binary Bytes Offset 1 WAASCORR Log header H 0 header 2 sat Number of satellites with Ulong 4 H information to follow 3 prn Satellite PRN Ulong 4 H 4 4 iode Issue of ephemeris data for which Ulong 4 H 8 the corrections apply 5 psr corr SBAS pseudorange correction m Float 4 H 12 6 corr stdv Standard deviation of Float 4 H 16 pseudorange correction m Tee Next sat entry H 4 sat x 16 variable
99. ambiguity resolution 372 command 35 common to base 334 data age 93 data from base 380 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 distance from base 233 faster data update to 382 format messages 376 position solution 431 satellite visibility 447 to base scenario 330 RS 422 78 RTCA age 93 368 base station type 365 DGPS type 150 ephemeris delay 91 interface mode 121 122 log list 367 station ID 374 RTCADATAL log 368 RTCADATAEPHEM log 371 RTCADATAOBS log 372 RTCADATAREF log 374 RTCM base station 365 380 DGPS type 150 ephemeris delay 91 example 377 header 399 interface mode 122 measurement corrections 396 multipath indicator 393 397 P Code 395 proprietary message 403 quality indicator 392 RTCA comparison 367 RTCMDATA log 378 RTCMDATAI log 377 RTCMDATA1001 log 407 RTCMDATA 1002 log 411 RTCMDATA1003 log 413 RTCMDATA1004 log 415 RTCMDATA1005 log 418 RTCMDATA1006 log 420 RTCMDATAIS log 385 RTCMDATA 16 log 388 RTCMDATA1819 log 390 RTCMDATA2021 log 396 RTCMDATAS3 log 380 RTCMDATAS9 log 403 RTCMDATAS log 382 RTCMV3 base station 365 411 413 415 DGPS type 150 example input 406 interface mode 123 locktime 408 station ID 95 RTK baseline 33 35 153 200 command 35 convention 12 correction 163 data 203 422 filter 156 low latency position 197 203 427 mode 218 431 observation 159 position 198
100. an average velocity based on the time difference between successive position computations and not an instantaneous velocity at the BESTVEL time tag The velocity latency to be subtracted from the time tag is normally 1 2 the time between filter updates Under default operation the positioning filters are updated at a rate of 2 Hz This translates into a velocity latency of 0 25 second The latency can be reduced by increasing the update rate of the positioning filter being used by requesting the BESTVEL or BESTPOS messages at a rate higher than 2 Hz For example a logging rate of 10 Hz would reduce the velocity latency to 0 05 seconds For integration purposes the velocity latency should be applied to the record time tag While you are standing still your velocity may jump several centimeters per second Once you start moving your velocity becomes less noisy The latency of the instantaneous doppler velocity is always 0 15 seconds You know that you have an instantaneous doppler velocity solution when you see DOPPLER_VELOCITY in field 3 vel type below BESTVEL uses an instantaneous doppler velocity that has low latency and is not delta position dependent If you change your velocity quickly you can see this in the DOPPLER_VELOCITY solution A valid solution with a latency of 0 0 indicates that the instantaneous Doppler measurement was used to calculate velocity Message ID 99 Log Type Synch Recommended Input log bestvela ontime 1 ASC
101. anomaly of reference time Double 8 H 52 radians 11 afo Clock aging parameter seconds Double 8 H 60 12 ar Clock aging parameter seconds Double 8 H 68 second 13 N Corrected mean motion radians Double 8 H 76 second 14 A Semi major axis meters Double 8 H 84 15 incl angle Angle of inclination relative to 0 3 2 Double 8 H 92 radians 16 SV config Satellite configuration Ulong 4 H 100 17 health prn SV health from Page 25 of subframe Ulong 4 H 104 4o0r5 6 bits 18 health alm SV health from almanac 8 bits Ulong 4 H 108 19 antispoof Anti spoofing on 0 FALSE Enum 4 H 112 1 TRUE 20 Next PRN offset H 4 messages x 112 21 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 4 112x messages 22 CR LF Sentence terminator ASCII only OEMV Family Firmware Version 3 000 Reference Manual Rev 2 215 Chapter 3 DataLogs 3 3 2 AVEPOS Position Averaging V123 216 When position averaging is underway the various fields in the AVEPOS log contain the parameters being used in the position averaging process Table 53 below shows the possible position averaging status values seen in field 8 of the AVEPOS log table on the next page See the description of the POSAVE command on Page 144 Refer also to the Height Relationships and Pseudorange Algorithms sections of the GPS Reference Manual available on our website at http www novatel com support docupdates htm lt 1 All quantities are referenced
102. bit mask Uchar 27 98 4 H 4 4 iodp Issue of PRN mask data Ulong 4 H 32 5 XXXX 32 bit CRC ASCII and Hex 4 H 36 Binary only 6 CR LF Sentence terminator ASCII only a Inthe binary log case an additional 1 byte of padding is added to maintain 4 byte alignment 464 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 105 WAAS2 Fast Correction Slots 0 12 V123_SBAS WAAS2 are fast corrections for slots 0 12 in the mask of WAAS1 This message may or may not come when SBAS is in testing mode see the SBASCONTROL command on Page 164 for details Message ID 296 Log Type Asynch Recommended Input log WAAS2a onchanged ASCII Example WAAS2A COM1 0 29 0 SATTIME 1337 415925 000 00000000 e194 1984 134 2 2 3 3 5 1 2047 2 2047 2047 2047 2047 2047 3 2 5 11 7 8 14 8 14 14 14 14 14 6 12 8d8d2elc re 6 Each raw WAAS frame gives data for a specific frame decoder number The WAAS2 message can be logged to view the data breakdown of WAAS frame 2 which contains information on fast correction slots 0 12 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 465 Chapter 3 DataLogs Table 89 Evaluation of UDREI 0 0 75 0 0520 1 1 0 0 0924 2 1 25 0 1444 3 1 75 0 2830 4 2 25 0 4678 5 3 0 0 8315 6 3 75 1 2992 7 4 5 1 8709 8 5 25 2 5465 9 6 0 3 3260 10 7 5 5 1968 11 15 0 20 7870 12
103. cannot be calculated 140 FINEADJUSTING Time is adjusting to fine precision 160 FINE Time has fine precision 180 FINESTEERING Time is fine set and is being steered 200 SATTIME Time from satellite This is only used in logs containing satellite data such as ephemeris and almanac a See also Section 1 5 Message Time Stamps on Page 27 There are several distinct states that the receiver will go through UNKNOWN COARSE FREEWHEELING FINE FINESTEERING On start up and before any satellites are being tracked the receiver can not possibly know the current time As such the receiver time starts counting at GPS week 0 and second 0 0 The time status flag is set to UNKNOWN If time is input to the receiver using the SETAPPROXTIME command see Page 171 or on receipt of an RTCAEPHEM message see Page 371 the time status will be APPROXIMATE 26 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Messages Chapter 1 1 5 After the first ephemeris is decoded the receiver time is set to a resolution of 10 milliseconds This state is qualified by the COARSE or COARSESTEERING time status flag depending on the state of the CLOCKADJUST switch Once a position is known and range biases are being calculated the internal clock model will begin modelling the position range biases and the receiver clock offset Modelling will continue until the model is a good estimation of the actual receiver clock behavior At th
104. contains the matched RTK solution and can be generated for each processed set of base station observations The RTKDATA log provides additional information about the matched RTK solution The Low Latency RTK position is computed from the latest local observations and extrapolated base station observations This supplies a valid RTK position with the lowest latency possible at the expense of some accuracy The degradation in accuracy is reflected in the standard deviation and is summarized in the GPS Overview section of the GPS Reference Manual available on our website at htto www novatel com support docupdates htm The amount of time that the base station observations are extrapolated is provided in the differential age field of the position log The Low Latency RTK system extrapolates for 60 seconds The RTKPOS log contains the Low Latency RTK position when valid and an invalid status when a low latency RTK solution could not be computed The BESTPOS log contains the low latency RTK position when it is valid and superior to the pseudorange based position Otherwise it contains the pseudorange based position b The RTK velocity is computed from the latest local observations and extrapolated base station observations This supplies a valid RTK velocity with the lowest latency possible at the expense of some accuracy The degradation in accuracy is reflected in the standard deviation and is summarized in the GPS Overview section of the GPS
105. data Synch BESTXYZ Cartesian coordinates position data Synch BSLNXYZ RTK XYZ baseline Synch GPGGA NMEA fix and position data Synch GPGGARTK NMEA global position system fix data Synch GPGLL NMEA position data Synch GPGRS NMEA range residuals Synch Continued on Page 197 196 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 GPGSA NMEA DOP information Synch GPGST NMEA measurement noise statistics Synch IONUTG lonospheric and UTC model information Asynch MATCHEDPOS 2 Computed position Asynch MATCHEDXYZ Cartesian coordinates computed position data Asynch MARKPOS Position at time of mark input event Asynch MARK2POS MARKTIME Time of mark input event Asynch MARK2TIME OMNIHPPOS OmniSTAR HP XP position data Synch PSRDOP DOP of SVs currently tracking Asynch RTKPOS 4 RTK low latency position Synch RTKVEL RTK Velocity Synch RTKXYZ RTK cartesian coordinate position Synch Continued on Page 198 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 197 Chapter 3 198 a The RTK system in the receiver provides two kinds of position solutions The Matched RTK position is computed with buffered observations so there is no error due to the extrapolation of base station measurements This provides the highest accuracy solution possible at the expense of some latency which is affected primarily by the speed of the differential data link The MATCHEDPOS log
106. do not need a firmware change To change frequencies connect your receiver and issue an ASSIGNLBAND command For example the Western Beam frequency as stated on Omnistar s website is 1536 7820 MHz Input into the receiver assignlband omnistar 1536782 1200 pS i A NovAtel receiver with CDGPS has many advantages over other existing wide area correction systems Most importantly it delivers superior correction signal penetration high accuracy and high resolution differential GPS corrections that are critical to many dynamic positioning applications In addition there is no subscription cost for users of this service These features make a NovAtel OEMV with CDGPS an ideal sub meter positioning system for a wide range of applications including agriculture GIS marine and unmanned systems OEMV Family Firmware Version 3 000 Reference Manual Rev 2 63 Chapter 2 Commands Field ASCII Binary a Binary Binary Binary nile Type Value Value Desciiption Format Bytes Offset 1 ASSIGNLBAND This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively see 7 7 Message Types on Page 15 2 mode See Table 14 Set the mode and enter Enum 4 H specific frequency and baud rate values 3 freq 1525000 to L Band service beam Ulong 4 H 4 1560000 frequency of satellite Hz or or kHz See also Beam 152500
107. elevation you could be operating somewhere within the 2 by 3 grid with an erroneous height EGM96 provides a more accurate model of the ellipsoid which results in a denser grid of heights It is more accurate because the accuracy of the grid points themselves has also improved from OSU89B to EGMO96 For example the new grid would be useful where there are underwater canyons steep drop offs or mountains The undulation values reported in the BESTPOS BESTUTM MARKPOS MATCHEDPOS OMNIHPPOS PSRPOS and RTKPOS logs are in reference to the ellipsoid of the chosen datum Abbreviated ASCII Syntax Message ID 214 UNDULATION option separation Factory Default undulation table 0 ASCII Example 1 undulation table ASCII Example 2 undulation user 5 599999905 Refer to the GPS Overview section of the GPS Reference Manual available on our website at http www novatel com support docupdates htm for a description of the relationships in Figure 7 TOPOGRAPHY a GEOID mean sea level SPHEROID ellipsoid N Geoidal height undulation Figure 7 Illustration of Undulation For example offshore in Japan a receiver output a height value of 20 m below sea level The terrain in their area had lots of underwater canyons and steep drop offs which were not getting captured with the OSU89B grid The height output was corrected by issuing the following command OEMV Family Firmware Version 3 000 R
108. ephemeris 4 GLOEPHEM Resets the stored GLONASS ephemeris 5 MODEL Resets the currently selected model 11 CLKCALIBRATION Resets the parameters entered using the CLOCKCALIBRATE command 20 SBASALMANAC Resets the stored SBAS almanac 21 LAST_POSITION Resets the position using the last stored position 31 GLOALMANAC Resets the stored GLONASS almanac Binary ee Binary Binary Binary Value pescrpilon Format Bytes Offset 1 FRESET This field contains the command H 0 header name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 target See Table 27 What data is to be reset by the Enum 4 H receiver 112 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 2 5 25 GGAQUALITY Customize the GPGGA GPS quality indicator V123_NMEA This command allows you to customize the NMEA GPGGA GPS quality indicator See also the GPGGA log on Page 272 Abbreviated ASCII Syntax Message ID 691 GGAQUALITY entries pos type qual1 pos type2 qual2 Input Example 1 ggaquality 1 waas 2 Makes the WAAS solution type show 2 as the quality indicator Input Example 2 ggaquality 2 waas 2 narrow float 3 Makes the WAAS solution type show 2 and the NARROW_FLOAT solution type show 3 as their quality indicators Input Example 3 ggaquality 0 Sets all the quality indicators back to the default a i Some solution types
109. for tagging external events it is recommended that the command interpreter be disabled so that the receiver does not respond to the messages See also the INTERFACEMODE command on Page 121 If the BESTPOSB binary log data is input to the accepting port log com2 passcom1a onchanged the BESTPOSB binary data at the accepting port is converted to a variation of ASCII hexadecimal before it is passed through to COM2 port for logging P Phere Binary Binary Field Field type Data Description Format Bytes Offset 1 PASSCOM Log header H 0 header 2 bytes Number of bytes to follow Ulong 4 H 3 data Message data Char 80 80 H 4 4 XXXX 32 bit CRC ASCII and Hex 4 H 8 bytes Binary only 5 CR LF Sentence terminator ASCII only OEMV Family Firmware Version 3 000 Reference Manual Rev 2 331 Chapter 3 DataLogs 3 3 49 PORTSTATS Port Statistics V123 332 This log conveys various status parameters of the receiver s COM ports and if supported USB ports The receiver maintains a running count of a variety of status indicators of the data link This log outputs a report of those indicators Message ID 72 Log Type Polled Recommended Input log portstatsa once ASCII example PORTSTATSA COM1 0 59 0 FINESTEERING 1337 403086 241 00000000 a872 1984 6 COM1 4450 58494 4450 0 1869 0 0 0 0 COM2 5385946 0 5385941 0 192414 0 0 5 0 COM3 0 1 0 0 0 0 0 0 0 USB1 0
110. header 2 sol status Solution status see Table 45 on Page 221 Enum 4 H 3 pos type Position type see Table 44 on Page 220 Enum 4 H 4 4 lat Latitude Double 8 H 8 5 lon Longitude Double 8 H 16 6 hgt Height above mean sea level Double 8 H 24 7 undulation Undulation the relationship between the geoid and Float 4 H 32 the WGS84 ellipsoid m 8 datum id Datum ID number see Chapter 2 Table 20 Datum Enum 4 H 36 Transformation Parameters on Page 86 9 lat o Latitude standard deviation Float 4 H 40 10 lon o Longitude standard deviation Float 4 H 44 11 hot o Height standard deviation Float 4 H 48 12 stn id Base station ID Char 4 4 H 52 13 diff_age Differential age in seconds Float 4 H 56 14 sol_age Solution age in seconds Float 4 H 60 15 obs Number of observations tracked Uchar 1 H 64 16 GPSL1 Number of GPS L1 ranges used in computation Uchar 1 H 65 17 L1 Number of GPS L1 ranges above the RTK mask Uchar 1 H 66 angle 18 L2 Number of GPS L2 ranges above the RTK mask Uchar 1 H 67 angle 19 Reserved Uchar 1 H 68 20 Uchar 1 H 69 21 Uchar 1 H 70 22 Uchar 1 H 71 23 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 72 24 CR LF Sentence terminator ASCII only 428 a When using a datum other than WGS84 the undulation value also includes the vertical shift due to differences between the datum in use and WGS84 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 89
111. header information followed by words 3 to n where n is variable from 3 to 32 which contain the special message ASCII text Up to 90 ASCII characters can be sent with each RTCM Type 16 message frame Message ID 398 Log Type Synch Recommended Input log rtcmdatal6a once ASCII Example RTCMDATAI1 6A COM1 0 66 0 F INESTEERING 1117 161024 000 00100020 e639 399 161024000 0 4373 2243048 6958196 6 21 Base station will shut down in 1 hour b6202f15 i 6 Message Type 16 is a special ASCII message capable of being displayed on a printer or CRT The message can be up to 90 characters long OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Field Field type Data Description Format Bae pla 1 RTCMDATA16 Log header 2 H 0 header 2 RTCM header RTCM message type Ulong 4 H 3 Base station ID Ulong 4 H 4 4 Modified Z count where the Z count Ulong 4 H 8 week number is the week number from subframe 1 of the ephemeris 5 Sequence number Ulong 4 H 12 6 Length of frame Ulong 4 H 16 7 Base station health see Ulong 4 H 20 REFSTATION on Page 365 8 chars Number of characters to follow Ulong 4 H 24 9 character Character Char 4a H 28 10 Next char offset H 28 chars x 4 variable XXXX 32 bit CRC ASCII and Binary only Hex 4 variable variable CR LF Sentence terminator ASCII only a Inth
112. in real time OEMV Family Firmware Version 3 000 Reference Manual Rev 2 401 Chapter 3 DataLogs Binary Binary Field Field type Data Description Format Bytes Offset 1 RTCMDATA22 Log header E H 0 header 2 RTCM header RTCM message type Ulong 4 H 3 Base station ID Ulong 4 H 4 4 Modified Z count where the Z count week Ulong 4 H 8 number is the week number from subframe 1 of the ephemeris 5 Sequence number Ulong 4 H 12 6 Length of frame Ulong 4 H 16 7 Base station health see REFSTATION on Ulong 4 H 20 Page 365 8 L1 ECEF X L1 ECEF AX correction 1 256 cm Long 4 H 24 9 L1 ECEF Y L1 ECEF AY correction 1 256 cm Long 4 H 28 10 L1 ECEF Z L1 ECEF AZ correction 1 256 cm Long 4 H 32 11 Reserved Ulong 4 H 36 12 height stat No height flag where Enum 4 H 40 0 FALSE 1 TRUE 13 phase center Antenna L1 phase center height 1 256 cm Ulong 4 H 44 14 L2 ECEF X L1 ECEF AX correction 1 256 cm Long 4 H 48 15 L2 ECEF Y L1 ECEF AY correction 1 256 cm Long 4 H 52 16 L2 ECEF Z L1 ECEF AZ correction 1 256 cm Long 4 H 56 17 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 60 18 CR LF Sentence terminator ASCII only 402 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 79 RTCMDATA59 Type 59N 0 NovAtel RT20 V123_RT20 or V23_RT2 See Section 3 3 70 starting on Page 375 for information on RTCM standard
113. just above the horizon Generally a satellite is considered low elevation if it is anywhere between 0 and 15 degrees above the horizon Low elevation satellites are usually setting or rising There is no difference in the data transmitted from a low elevation satellite to that transmitted from a higher elevation satellite However differences in the signal path of a low elevation satellite make their use less desirable Low elevation satellite signals are noisier due to the increased amount of atmosphere they must travel through In addition signals from low elevation satellites don t fit the assumption that a GPS signal travels in air nearly the same as in a vacuum As such using low OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 elevation satellites in the solution results in greater position inaccuracies The elevation cut off angle is specified with ECUTOFF to ensure that noisy low elevation satellite data below the cut off is not used in computing a position If post processing data it is still best to collect all data even that below the cut off angle Experimenting with different cut off angles can then be done to provide the best results In cases where there are not enough satellites visible a low elevation satellite may actually help in providing a useful solution ASCII Binary Description Binary Binary Binary Value Value P Format Bytes Offset 1 ECUTOFF This field contains th
114. log usb1 rxstatuseventa onnew 0 0 hold log usb2 rxstatuseventa onnew 0 0 hold log usb3 rxstatuseventa onnew 0 0 hold Abbreviated ASCII Example 1 log comli bestposa ontime 7 2 5 hold The above example shows the BESTPOSA log is logging to COM port 1 at 7 second intervals and offset by 2 5 seconds output at 2 5 9 5 16 5 seconds and so on The hold parameter is set so that logging is not disrupted by the UNLOGALL command To send a log only one time the trigger option can be ignored Abbreviated ASCII Example 2 log coml bestposa once 0 000000 0 000000 nohold See Section 2 1 Command Formats on Page 31 for additional examples E i In CDU there are two ways to initiate data logging to the receiver s serial ports You can either enter the LOG command in the Console window or use the interface provided in the Logging Control window Ensure the Power Settings on your PC are not set to go into Hibernate or Standby modes Data is lost if one of these modes occurs during a logging session OEMV Family Firmware Version 3 000 Reference Manual Rev 2 127 Chapter 2 Commands Field Binary oar Field Binary Binary Field Name Value Description Type Bytes Offset 1 LOG See Table 4 Binary This field contains the H 0 binary Message Header Structure message header header on Page 20 2 port See Table 15 COM Serial Output port Enum 4 H Port Identifiers on Page 75 3 message Any vali
115. logs RTCM59 Type 59N 0 NovAtel Proprietary Message RTK RTCM Type 59 messages are reserved for proprietary use by RTCM base station operators Each message is variable in length limited only by the RTCM maximum of 990 data bits 33 words maximum The first eight bits in the third word the word immediately following the header serve as the message identification code in the event that the base station operator wishes to have multiple Type 59 messages NovAtel has defined only a Type 59N 0 message to date it is used for operation in receivers capable of operating in RT 20 Carrier Phase Differential Positioning Mode This log is primarily used by a base station to broadcast its RT 20 observation data delta pseudorange and accumulated Doppler range to rover RT 20 capable receivers Type 59N messages should be sent once every 2 seconds lt 1 The PORTSTATS log see Page 332 is very useful for monitoring the serial data link as well as differential data decode success 2 This log is intended for use when operating in RT 20 mode Message ID 403 Log Type Synch Recommended Input log rtcmdata59a ontime 10 ASCII Example RTCMDATAS 9A COM1 0 71 5 FINESTEERING 1117 323592 000 00140000 3d 8 337 67108864 0 5320 67272710 0 6 78 20341249 0 0 10 26 2 42925557 101 203b6b3d PE i RTCM Message Type 59 is a message type reserved for private use by operators who communicate proprietary information
116. matrix 4 COV_TRACE Covariance trace exceeds maximum trace gt 1000 m 5 TEST_DIST Test distance exceeded maximum of 3 rejections if distance gt 10 km 6 COLD_START Not yet converged from cold start 7 V_H_LIMIT Height or velocity limits exceeded in accordance with export licensing restrictions 8 VARIANCE Variance exceeds limits 9 RESIDUALS Residuals are too large 10 DELTA_POS Delta position is too large 11 NEGATIVE_VAR Negative variance 12 Reserved 13 INTEGRITY_WARNING Large residuals make position unreliable 14 17 INS solution status values 18 PENDING When a FIX POSITION command is entered the receiver computes its own position and determines if the fixed position is valid 19 INVALID_FIX The fixed position entered using the FIX POSITION command is not valid 20 UNAUTHORIZED Position type is unauthorized HP or XP on a receiver not authorized for it a Output only when using an inertial navigation system such as NovAtel s SPAN products Please visit our website refer to your SPAN User Manual or contact NovAtel for more information PENDING implies there are not enough satellites being tracked to verify if the FIX POSITION entered into the receiver is valid The receiver needs to be tracking two or more GPS satellites to perform this check Under normal conditions you should only see PENDING for a few seconds on power up before the GPS receiver has locked onto its first few satellites If your antenn
117. message type Ulong 4 variable for RTCM19 Base station ID Ulong 4 Modified Z count where the Z count week Ulong 4 number is the week number from subframe 1 of the ephemeris Sequence number Ulong 4 Length of frame Ulong 4 Base station health see REFSTATION on Ulong 4 Page 365 variable freq Frequency indicator where Ulong 4 variable O L1 2 L2 1 is reserved for future use smooth Smoothing interval see Table 68 Ulong 4 RTCM1819 Smoothing Interval on Page 392 GNSS time GNSS time of measurement us Long 4 obs Number of observations with information to Ulong 4 follow variable multi bit Multiple message indicator Ulong 4 variable code Is code P Code Ulong 4 0 FALSE 1 TRUE sat type Satellite type Ulong 4 0 GPS 1 GLONASS prn Satellite PRN slot number Ulong 4 quality Data quality indicator see Table 67 Ulong 4 RTCM1819 Data Quality Indicator on Page 392 multipath Multipath indicator see Table 69 Ulong 4 RTCM1819 Multipath Indicator on Page 393 range Pseudorange 2 100 m Ulong 4 variable Next RTCM19 observation offset variable variable XXXX 32 bit CRC ASCII and Binary only Hex 4 variable variable CR LF Sentence terminator ASCII only OEMV Family Firmware Version 3 000 Reference Manual Rev 2 395 Chapter 3 DataLogs 3 3 77 RTCMDATA2021 Measurement Corrections V123_RT20 or V23_RT2 396 See Section 3 3 70 starting on P
118. more array elements than EXCEEDS MAX allowed PARAMETER X IS OUT OF 11 Field x of the input message is outside the RANGE acceptable limits TRIGGER X NOT VALID FOR 14 Trigger type x is not valid for this type of log THIS LOG AUTHCODE TABLE FULL 15 Too many authcodes are stored in the RELOAD SOFTWARE receiver The receiver firmware must be reloaded INVALID DATE FORMAT 16 This error is related to the inputting of authcodes It indicates that the date attached to the code is not valid Continued on PAGE 519 518 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Responses Chapter 4 INVALID AUTHCODE 17 The authcode entered is not valid ENTERED NO MATCHING MODEL TO 18 The model requested for removal does not REMOVE exist NOT VALID AUTH CODE FOR 19 The model attached to the authcode is not THAT MODEL valid CHANNEL IS INVALID 20 The selected channel is invalid REQUESTED RATE IS INVALID 21 The requested rate is invalid WORD HAS NO MASK FOR 22 The word has no mask for this type of log THIS TYPE CHANNELS LOCKED DUE TO 23 Channels are locked due to error ERROR INJECTED TIME INVALID 24 Injected time is invalid COM PORT NOT SUPPORTED 25 The COM or USB port is not supported MESSAGE IS INCORRECT 26 The message is invalid INVALID PRN 27 The PRN is invalid PRN NOT LOCKED OUT 28 The PRN is not locked out PRN LOCKOUT LIST IS F
119. of precision assumes 3 D Float 4 H 16 position is known and only the receiver clock offset is unknown 7 cutoff Elevation cut off angle Float 4 H 20 8 PRN Number of satellites PRNs to follow Long 4 H 24 9 PRN PRN of SV PRN tracking null field until Ulong 4 H 28 position solution available 10 Next PRN offset H 28 prn x 4 variable xxxx 32 bit CRC ASCII and Binary only Hex 4 H 28 prn x 4 variable CR LF Sentence terminator ASCII only OEMV Family Firmware Version 3 000 Reference Manual Rev 2 335 Chapter 3 DataLogs 3 3 51 PSRPOS Pseudorange Position V123 This log contains the pseudorange position computed by the receiver along with three status flags In addition it reports other status indicators including differential age which is useful in predicting anomalous behavior brought about by outages in differential corrections Message ID 47 Log Type Synch Recommended Input log psrposa ontime 1 ASCII Example PSRPOSA COM1 0 55 0 FINESTEERING 1337 403240 000 00000000 2174 1984 SOL_COMPUTED PSRDIFF 51 11632196188 114 03833887720 1048 3653 16 2711 WGS84 0 8854 0 6219 0 8896 AAAA 7 000 0 000 10 10 0 0 0 0 0 0 376c6614 SaaS I U 6 There are variations of DGPS which can easily be perceived as using only one receiver For example the US Coast Guard operates a differential correction service which broadcasts GPS differential corrections ove
120. range corrections used 516 raw frame data 363 service message 503 system type 165 SBASCONTROL command 164 scaling almanac 214 factor 349 scope 12 sea 139 180 searcher status 423 self test 126 semi major axis 189 215 send 167 169 SEND command 167 SENDHEX command 169 serial port 122 124 254 333 SETAPPROXPOS command 170 SETAPPROXTIME command 171 SETNAV command 170 setting command 31 shipping lanes 139 signal 1PPS 50 147 CDGPS 63 control 80 DC 110 elevation cut off 98 error 82 149 external 49 mark 136 oscillator 51 path 73 98 period 110 search 103 structure 360 timing 77 weak 107 single point mode 229 sky 447 smoothing carrier phase 81 82 115 indicator 409 interval 392 395 408 pass to pass 142 pseudorange 390 software version 196 solar cars 96 solution status 313 type 113 spatial integrity 84 speed OEMV Family Firmware Version 3 000 Reference Manual Rev 2 current 322 data 198 290 over ground 228 291 296 339 430 standard positioning service SPS 214 353 standards and references 214 353 standby mode PC 127 static mode 119 157 158 318 station ID 94 365 376 stationary 120 157 statistics 217 284 301 326 status arrival 289 base station health 365 channel tracking 346 347 349 352 454 clock model 315 COM port 332 command 32 data 278 event 445 flag 336 438 indicator 218 226 229 340 431 ma
121. s s s Double 8 H 196 31 AS Anti spoofing on 0 FALSE Enum 4 H 204 1 TRUE 32 N Corrected mean motion radians second Double 8 H 208 33 URA User Range Accuracy variance m The ICD 2 Double 8 H 216 specifies that the URA index transmitted in the ephemerides can be converted to a nominal standard deviation value using an algorithm listed there We publish the square of the nominal value variance The correspondence between the original URA index and the value output is shown in Table 53 34 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 224 35 CR LF Sentence terminator ASCII only a To obtain copies of ICD GPS 200 refer to ARINC in the Standards and References section of the GPS Reference Manual available on our website at http www novatel com support docupdates htm OEMV Family Firmware Version 3 000 Reference Manual Rev 2 295 Chapter 3 DataLogs 3 3 35 GPVTG Track Made Good And Ground Speed V123_NMEA The track made good and speed relative to the ground This log outputs null data in all fields until a valid position is obtained Message ID 226 Log Type Synch Recommended Input log gpvtg ontime 1 Example SGPVTG 144 062 T 144 062 M 0 033 N 0 062 K 4A SSS EEE Please see the GPGGA usage box that applies to all NMEA logs on Page 272 Field Structure Field Description Symbol Example 1 GPVTG Log header GPVTG 2 track true Track made
122. satellite observation information CMRREF 105 Base station position information CMRPLUS 717 CMR output message RTCA1 10 Type 1 Differential GPS Corrections RTCAEPHEM 347 Type 7 Ephemeris and Time Information RTCAOBS 6 Type 7 Base Station Observations RTCAREF 11 Type 7 Base Station Parameters RTCM1 107 Type 1 Differential GPS Corrections RTCM3 117 Type 3 Base Station Parameters RTCM9 275 Type 9 Partial Differential GPS Corrections RTCM15 307 Type 15 lonospheric Corrections RTCM16 129 Type16 Special Message RTCM16T 131 Type16T Special Text Message RTCM1819 260 Type18 and Type 19 Raw Measurements RTCM2021 374 Type 20 and Type 21 Measurement Corrections Continued on Page 208 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 207 Chapter 3 DataLogs RTCM22 118 Type 22 Extended Base Station Parameters RTCM59 116 Type 59N 0 NovAtel Proprietary RT20 RTCM1001 772 L1 Only GPS RTK Observables RTCM1002 774 Extended L1 Only GPS RTK Observables RTCM1003 776 L1 L2 GPS RTK Observables RTCM1004 770 Extended L1 L2 GPS RTK Observables RTCM1005 765 RTK Base Station ARP RTCM1006 768 RTK Base Station ARP with Antenna Height GPALM 217 Almanac Data GPGGA 218 GPS Fix Data and Undulation GPGGALONG 521 GPS Fix Data Extra Precision and Undulation GPGGARTK 259 GPS Fix Data with Extra Precision GPGLL 219 Geographic Position latitude longitude GPGRS 220
123. see Table 44 Position or Velocity Type on Page 220 store a quality indicator For example OmniSTAR_HP OmniSTAR_XP and NARROW_FLOAT all share an indicator of 5 This command can be used to customize an application to have unique indicators for each solution type OEMV Family Firmware Version 3 000 Reference Manual Rev 2 113 Chapter 2 Commands ASCII Binary Description Binary Binary Binary Value Value p Format Bytes Offset 1 GGAQUALITY This field contains the command H 0 header name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 entries 0 20 The number of position types that Ulong 4 H 4 are being re mapped 20 max 3 pos type1 See Table 44 The 1st position type thatis being Enum 4 H 8 Position or re mapped Velocity Type on Page 220 4 qual1 See Page 272 The number that appears inthe Ulong 4 H 12 GPGGA log for the 1st position type 5 pos type2 See Table 44 on The 2nd position type that is Enum 4 H 16 Page 220 being re mapped if applicable 6 qual2 See Page 272 The number that appears inthe Ulong 4 H 20 GPGGA log for the 2nd solution type if applicable Next solution type and quality indicator set if applicable Variable 114 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 2 5 26 GLOCSMOOTH GLONASS channel carrier smoothing V23_G This command set
124. that the VBS corrections have started and plenty of satellites are in the solution you can start up with PSRDIFFSOURCE OMNISTAR and RTKSOURCE NONE wait for the condition of the VBS position to be satisfactory and then set RTKSOURCE OMNISTAR as well The HP XP start up will be waiting until you set the RTKSOURCE This may give some minor improvement to the convergence time of HP XP This is somewhat related to the position falling back to VBS when HP XP is lost If both PSRDIFFSOURCE OMNISTAR and RTKSOURCE OMNISTAR is set the BESTPOS log contains the best available of the two There is normally an offset between the HP XP solution and VBS s Field ASCII Binary nui Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 HPSTATICINIT This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 switch DISABLE 0 The receiver is not Enum 4 H stationary ENABLE 1 The receiver is stationary 120 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 2 5 30 INTERFACEMODE Set receive or transmit modes for ports V123 This command allows the user to specify what type of data a particular port on the receiver can transmit and receive The receive type tells the receiver what type of data to accept on the specified port The transmit type tells the receive
125. the MOVINGBASESTATION mode is enabled 2 Do not use this command with RTCM messaging 3 The MOVINGBASESTATION mode is functional if any of the following RTK message formats are in use RTCAOBS CMROBS RTCAREF or CMRREF Abbreviated ASCII Syntax Message ID 763 MOVINGBASESTATION switch Factory Default movingbasestation disable ASCII Example movingbasestation enable E 6 This command is useful for moving base stations For example when doing RTK positioning at sea A rover station is used to map out local areas for marking shipping lanes Hydrographic surveying and so on while the base station resides on the control ship While the control ship may not move much essentially parked at sea there is a certain amount of movement due to the fact that it is floating in the OEMV Family Firmware Version 3 000 Reference Manual Rev 2 139 Chapter 2 Commands ocean By using the MOVINGBASESTATION command the control ship is able to use RT2 level RTK positioning and move to new survey sites piee SS U U U 6 How long do need to sit on a 10 km baseline How long you need to occupy stations for a 10 km baseline depends on the system you are using and what type of accuracies you require There are three major categories we can look at for a DGPS system using only L1 C A code data all you require is a single epoch of common data Typically you would log a few minutes worth of data The type of accur
126. the solution V123 00 182 2 5 64 UNLOCKOUTALL Reinstate all previously locked out satellites V723 182 2 5 65 UNLOG Remove a log from logging control VI23 ccceeeeeeeenees 183 2 5 66 UNLOGALL Remove all logs from logging control V123 cceee 185 2 5 67 USERDATUM Set user customized datum V123 cccccceseeeseneees 186 2 5 68 USEREXPDATUM Set custom expanded datum V123 cceeee 188 2 5 69 UTMZONE Set UTM parameters V123 o eccceeccececsceeteeeceeesteeteeeeaes 190 2 5 70 VISION Enable Disable Vision Processing VI23 c cccccseeeeeeeee 192 2 5 71 WAASECUTOFF _ Set SBAS satellite elevation cut off VJ23_SBAS 194 3 Data Logs 195 S1 Log TYPOS sereia o i Ea E E RE a E ATERA a S 195 ga Logs By FUNCHON urnana ar iia iivibelinite nate aot 195 3 3 LOG RETEFONCE esserengreeereer ride ieodnia derre orr iea SA EAE EAA EN NE a eaha 214 3 3 1 ALMANAC Decoded Almanac V123 0 ccccccescscseesseseeeeseeeeneesseeeeneeees 214 3 3 2 AVEPOS Position Averaging V123 cccccceseseseesecteesesersereneeseseeeees 216 3 3 3 BESTPOS Best Position Vio FP iacisincesncaxscicasecaisissnesataneiunssncanpasaonsanpecsants 218 3 3 4 BESTUTM Best Available UTM Data V123 ccceccccceeceeseeseeeeeseeneeees 223 3 3 5 BESTVEL Best Available Velocity Data V123 ooo cccecceeteteeeeeeenees 226 3 3 6 BESTXYZ Best Available Cartesian Position and Velocity V123 229 3 3 7 BSLNXYZ RTK XYZ Baseline V123_RT20 V23_RT2 or V3_HP 233 3
127. the undulation value also includes the vertical shift due to differences between the datum in use and WGS84 317 Chapter 3 Data Logs 3 3 44 MATCHEDXYZ Matched RTK Cartesian Position V123_RT20 V23_RT2 or V3_HP This log contains the receiver s matched position in ECEF coordinates It represents positions that have been computed from time matched base and rover observations There is no base station extrapolation error on these positions because they are based on buffered measurements they lag real time by some amount depending on the latency of the data link If the rover receiver has not been enabled to accept RTK differential data or is not actually receiving data leading to a valid solution this is reflected by the code shown in field 2 solution status and 3 position type See Figure Page 232 for a definition of the ECEF coordinates This log provides the best accuracy in static operation For lower latency in kinematic operation see the BESTXYZ or RTKXYZ logs on Pages 229 and 431 respectively The data in the logs changes only when a base observation RTCM RTCMV3 RTCA or CMR changes The time stamp in the header is the time of the matched observations that the computed position is based on not the current time Message ID 242 Log Type Asynch Recommended Input log matchedxyza onchanged lt Asynchronous logs such as MATCHEDXYZ should only be logged ONCHANGED Otherwise the most current data is not output
128. time interval ONNEXT Output only the next message ONCE Output only the current message default ONMARK Output when a pulse is detected on the mark 1 input MK1I see Footnote aon Page 129 5 period Any positive double Log period for ONTIME trigger in seconds Double value larger than the default 0 receiver s minimum see Footnote b on Page 129 raw measurement period 6 offset Any positive double Offset for period ONTIME trigger in seconds Double value smaller than the If you wished to log data at 1 second after period every minute you would set the period to 60 and the offset to 1 default 0 7 hold NOHOLD Allow log to be removed by the UNLOGALL Enum command default HOLD Prevent log from being removed by the UNLOGALL command 130 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 2 5 33 MAGVAR_ Set a magnetic variation correction V123 The receiver computes directions referenced to True North Use this command magnetic variation correction if you intend to navigate in agreement with magnetic compass bearings The correction value entered here causes the bearing field of the NAVIGATE log to report bearing in degrees Magnetic The receiver computes the magnetic variation correction if you use the auto option See Figure 3 Illustration of Magnetic Variation amp Correction on Page 132 The receiver calculates values of magnetic variation for given values of latitude longitude and time using the
129. to the geoid average height above sea level regardless of the use of the DATUM or USERDATUM commands except for the height parameter field 4 in the AVEPOS log table on the next page The relation between the geoid and WGS 84 ellipsoid is the geoidal undulation and can be obtained from the PSRPOS log see Page 336 2 Asynchronous logs should only be logged ONCHANGED Otherwise the most current data is not output when it is available This is especially true of the ONTIME trigger which may cause inaccurate time tags to result Message ID 172 Log Type Asynch Recommended Input log aveposa onchanged ASCII Example AVEPOSA COM1 0 48 5 FINESTEERING 1364 492100 000 80000000 3b4 2310 51 11635589900 114 03833558937 1062 216134356 1 7561 0 7856 1 7236 INPROGRESS 2400 2 72a550c1 Table 43 Position Averaging Status 0 OFF Receiver is not averaging 1 INPROGRESS Averaging is in progress 2 COMPLETE Averaging is complete JE When a GPS position is computed there are four unknowns being solved latitude longitude height and receiver clock offset often just called time The solutions for each of the four unknowns are correlated to satellite positions in a complex way Since satellites are above the antenna none are below it there is a geometric bias OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Therefore geometric biases are present in the solutio
130. tractor hasn t moved since shutting down When HP XP is converged and the vehicle is stopped enter HRSEED STORE to save the current HP XP position to NVM When the vehicle is restarted enter HRSEED RESTORE to feed the previously known position into the HP XP process so it can start from the previous accuracy 2 Seed HP XP from an externally generated known position and accuracy Consider the case of survey customers who enter the known antenna location with HPSEED SET lt latitude gt lt longitude gt lt msl height gt lt lat stdev gt lt long stdev gt lt height stdev gt OEMV Family Firmware Version 3 000 Reference Manual Rev 2 119 Chapter 2 Commands If the source of the position is in a different datum than the native datum of HP XP or if a different undulation has been used the transformation can be specified after lt height stdev gt with lt datum id gt lt undulation type gt Note Initial position estimate for HP XP and fallback when HP XP is lost When HP XP starts up it requests the current position to get itself started In the start up timeline that we have implemented this is the first valid position available when the task running HP XP receives its first L band data This may or may not be a VBS position when VBS is also enabled It depends on how things start up whatever pseudorange filter position is available is used If you want to hold off on HP XP using the position estimate until you ve confirmed
131. transmitting CMR corrections The CMRPLUS output message distributes the reference station information over 14 updates see Page 251 The message lengths of the four CMR messages are as follows CMROBS 6 frame 6 header 8 L1 channels 7 L2 channels 192 bytes max CMRREF 6 frame 6 header 19 31 bytes CMRDESC 6 frame 6 header variable 26 to 75 38 bytes minimum 88 bytes max CMRPLUS 6 frame 3 header 7 16 bytes 1 Talbot N C 1996 Compact Data Transmission Standard for High Precision GPS ION GPS 96 Conference Proceedings Kansas MO Sept 1996 Vol I pp 861 871 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Using RT 2 or RT 20 with CMR Format Messages To enable receiving CMR messages follow these steps 1 Issue the COM command see Page 74 to the rover receiver to set its serial port parameters to the proper bit rate parity and so on 2 Issue the INTERFACEMODE COMn CMR command to the rover receiver where COMn refers to the communication port that is connected to the data link See also Page 121 Assuming that the base station is transmitting valid data your rover receiver begins to operate in RT 2 or RT 20 mode To send CMR messages periodically transmit the three following CMR messages at the base station A CMROBS message that contains base station satellite observation information and should be sent on
132. up or after an FRESET command all commands revert to their factory default settings The SAVECONFIG command can be used to modify the power on defaults Use the RXCONFIG log to determine command and log settings Ensure that all windows other than the Console window are closed in NovAtel s Control and Display Unit CDU user interface before you issue the SAVECONFIG command lt FRESET STANDARD causes all previously stored user configurations saved to non volatile memory to be erased including Saved Config Saved Almanac Saved Ephemeris and L Band related data excluding subscription information 46 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 2 4 Factory Defaults When the receiver is first powered up or after a FRESET command see Page 108 all commands revert to their factory default settings When you use a command without specifying its optional parameters it may have a different command default than the factory default The SAVECONFIG command see Page 164 can be used to save these defaults Use the RKCONFIG log see Page 434 to reference many command and log settings The factory defaults are ADJUSTIPPS OFF ANTENNAPOWER ON ASSIGNLBAND IDLE CLOCKADJUST ENABLI CLOCKOFFSET 0 COM COM1 9600 N 8 1 N OFF ON COM COM2 9600 N 8 1 N OFF ON COM COM3 9600 N 8 1 N OFF ON COM AUX 9600 N 8 1 N OFF ON COMCONTROL COM1 RTS DEFAULT COMCONTROL COM2 RTS DEFAUL COMCONTROL COM3 RTS DEFAUL CSMOOTH
133. use the stored HP XP position as the seed HPSEED RESTORE To use a known position in the native datum of OmniSTAR HP XP as the seed HPSEED SET 51 11633810554 114 03839550586 1048 2343 0 0086 0 0090 0 0191 e To use a known position from a datum other than the native OmniSTAR HP XP datum as the seed HPSEED SET 51 11633810554 114 03839550586 1048 2343 0 0086 0 0090 0 0191 CANADA EGM96 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 117 Chapter 2 Table 28 Seeding Mode Commands 0 RESET Clear current seed and restart HP XP 1 SET Specify a position and inject it into HP XP as seed 2 STORE Store current HP XP position in NVM for use as a future seed 3 RESTORE Inject NVM stored position into HP XP as seed a No further parameters are needed in the syntax ASCII Binary Destilpiion Binary Value Value p Offset 1 HPSEED This field contains the command H 0 header name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 mode See Table 28 on Seeding mode Enum 4 H Page 118 3 lat 90 to 90 Latitude degrees Double 8 H 4 4 lon 360 to 360 Longitude degrees Double 8 H 12 5 hgt 1000 to 20000000 Height above mean sea level m Double 8 H 20 6 lato Latitude standard deviation m Float 4 H 28 7 lonc Longitude standard deviation m Float 4 H 32 8 hgto Height standard devia
134. website at http www novatel ca support docupdates htm Binary Binary Binary ASCII Binary Value Value Descr puon Format Bytes Offset 1 GLO This field contains the command H 0 ECUTOFF name or the message header header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 angle 90 0 degrees Elevation cut off angle relative to Float 4 H horizon 116 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 2 5 28 HPSEED Specify the initial OmniSTAR HP XP position V3_HP This OmniSTAR HP XP command allows you to specify the initial position for OmniSTAR HP XP It allows you to specify the datum and undulation for the position entered Position is then transformed into the datum currently set in the receiver You can use STORE or RESTORE as a variable lt The HPSEED command does not get saved when you use the SAVECONFIG command Rather if STORE is issued with the HPSEED command it stores in it NVM The RESTORE variable re sends the stored HPSEED command Abbreviated ASCII Syntax Message ID 782 HPSEED mode lat lon hgt lato lono hgto datum undulation Factory Default hpseed reset ee eS EI i There is more information on HP XP seeding in the usage box starting on Page 119 Here are some ASCII Examples e To store the current HP XP position so that it can be used as the seed in the future HPSEED STORE e To
135. where e 0 is a circle e 1 is an ellipse 0 lt e lt 1 is a parabola and e gt 1 is a hyperbola 14 o Argument of perigee radians measurement Double 8 H 72 along the orbital path from the ascending node to the point where the SV is closest to the Earth in the direction of the SV s motion 15 cuc Argument of latitude amplitude of cosine Double 8 H 80 radians 16 cus Argument of latitude amplitude of sine Double 8 H 88 radians 17 crc Orbit radius amplitude of cosine meters Double 8 H 96 18 crs Orbit radius amplitude of sine meters Double 8 H 104 19 cic Inclination amplitude of cosine radians Double 8 H 112 20 cis Inclination amplitude of sine radians Double 8 H 120 21 lo Inclination angle at reference time radians Double 8 H 128 Continued on Page 295 294 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Binary Binary Field Field type Data Description Format Bytes Offset 22 i Rate of inclination angle radians second Double 8 H 136 23 p Right ascension radians Double 8 H 144 24 D Rate of right ascension radians second Double 8 H 152 25 iodc Issue of data clock Ulong 4 H 160 26 toc SV clock correction term seconds Double 8 H 164 27 tgd Estimated group delay difference seconds Double 8 H 172 28 afo Clock aging parameter seconds s Double 8 H 180 29 ary Clock aging parameter s s Double 8 H 188 30 ayo Clock aging parameter
136. where the Z count week Ulong 4 H 8 number is the week number from subframe 1 of the ephemeris 5 Sequence number Ulong 4 H 12 6 Length of frame Ulong 4 H 16 7 Base station health see REFSTATION on Ulong 4 H 20 Page 365 8 freq Frequency indicator where Ulong 4 H 24 O L1 2 L2 1 is reserved for future use 9 Reserved Ulong 4 H 28 10 GNSS time Global Navigation Satellite System GNSS Long 4 H 32 time of measurement microseconds 11 obs Number of observations with information to Long 4 H 36 follow 12 multi bit Multiple message indicator Ulong 4 H 40 13 code Is code P Code Ulong 4 H 44 0 FALSE 1 TRUE 14 sat type Satellite type Ulong 4 H 48 0 GPS 1 GLONASS 15 PRN slot PRN number for GPS satellites satellite Ulong 4 H 52 number 32 is indicated by 0 slot number for GLONASS satellites see also Section 1 3 on Page 25 16 quality Data quality indicator see Table 67 Ulong 4 H 56 RTCM1819 Data Quality Indicator on Page 392 17 continuity Cumulative loss of continuity indicator with a Ulong 4 H 60 loss of lock counter 18 phase Carrier phase 1 256 cycles Long 4 H 64 Continued on Page 395 394 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Binary Binary Field Field type Data Description Format Bytes Offset 19 Next RTCM18 observation offset H 40 obs x 28 variable RTCM header RTCM
137. which of the 11 IGP bands the data belongs to 5 iodi Issue of ionospheric data Ulong 4 H 12 6 igp mask IGP mask Uchar 26 28a H 16 7 spare bit One spare bit Ulong 4 H 44 8 XXXX 32 bit CRC ASCII and Binary Hex 4 H 48 only 9 CR LF Sentence terminator ASCII only a Inthe binary log case an additional 2 bytes of padding are added to maintain 4 byte alignment OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 116 WAAS24 Mixed Fast Slow Corrections V123_ SBAS If there are 6 or fewer satellites in a block they may be placed in this mixed correction message There is a fast data set for each satellite and a UDRE indicator Each message also contains an IODP indicating the associated PRN mask The fast correction PRC has a valid range of 2048 to 2047 If the range is exceeded a don t use indication is inserted into the user differential range error indicator UDRED field see Table 89 on Page 466 You should ignore extra data sets not represented in the PRN mask The time of applicability TO of the PRC is the start of the epoch of the WNT second that is coincident with the transmission at the GEO satellite of the first bit of the message block Message ID 297 Log Type Asynch Recommended Input log WAAS24a onchanged ASCII Example WAAS24A COM1 0 34 0 SATTIME 1337 417108 000 00000000 0a33 1984 134 2047 2047 2047 2047 1
138. without specifying any parameters the command defaults to WGS84 If you enter a USERDATUM command see Page 186 the USEREXPDATUM command is then issued internally with the USERDATUM command values It is the USEREXPDATUM command that appears in the RXCONFIG log If the USEREXPDATUM or the USERDATUM command are used their newest values overwrite the internal USEREXPDATUM values Abbreviated ASCII Syntax Message ID 783 USEREXPDATUM semimajor flattening dx dy dz rx ry rz scale xvel yvel zvel xrvel yrvel zrvel scalev refdate Factory Default userexpdatum 6378137 0 298 25722356280 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ASCII Example USEREXPDATUM 6378137 000 298 25722356280 0 000000000 0 000000000 0 000000000 0 00000000 0 0 000000000 0 000000000 0 000000000 0 000000000 0 000000000 0 000000000 0 0000 00000 0 000000000 0 000000000 0 000000000 0 000000000 rl You can use the USEREXPDATUM command in a survey to fix the position with values from another known datum so that the GPS calculated positions are reported in the known datum rather than WGS84 For example it is useful for places like Australia where the island is moving several centimeters a year relative to WGS84 With USEREXPDATUM you can also input the velocity of the movement to account for drift over the years 188 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands ASCII Value Binary Value Description Binary
139. x ECEF Long 4 H 12 0 125 6 dy1 Delta y ECEF Long 4 H 16 0 125 7 dz1 Delta z ECEF Long 4 H 20 0 125 8 ddx Delta delta x ECEF Long 4 H 24 2 11 9 ddy Delta delta y ECEF Long 4 H 28 2 11 10 ddz Delta delta z ECEF Long 4 H 32 2 11 11 daf 1 Delta af clock offset Long 4 H 36 9 31 12 tol Applicable time of day Ulong 4 H 40 16 13 mask2 Second index into PRN mask Ulong 4 H 44 Type 1 14 iode2 Second issue of ephemeris data Ulong 4 H 48 15 dx1 Delta x ECEF Long 4 H 52 0 125 16 dy1 Delta y ECEF Long 4 H 56 0 125 17 dz1 Delta z ECEF Long 4 H 60 0 125 18 ddx Delta delta x ECEF Long 4 H 64 ol 19 ddy Delta delta y ECEF Long 4 H 68 ol 20 ddz Delta delta z ECEF Long 4 H 72 2 11 21 dao Delta af clock offset Long 4 H 76 9 31 22 to2 Applicable time of day Ulong 4 H 80 16 23 iodp Issue of PRN mask data Ulong 4 H 84 24 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 88 25 CR LF Sentence terminator ASCII only OEMV Family Firmware Version 3 000 Reference Manual Rev 2 515 Chapter 3 DataLogs 3 3 125 WAASCORR SBAS Range Corrections Used V123_SBAS 516 The information is updated with each pseudorange position calculation It has an entry for each tracked satellite Satellites that are not included in an SBAS corrected solution have 0 0 in both the psr corr and corr stdv fields The psr corr is the combined fast and slow corrections and is to be
140. xxxx 32 bit CRC ASCII and Binary Hex 4 H 4 only sat x 16 variable CR LF Sentence terminator ASCII only OEMV Family Firmware Version 3 000 Reference Manual Rev 2 517 Responses The receiver is capable of outputting several responses for various conditions Most of these responses are error messages to indicate when something is not correct The output format of the messages is dependant on the format of the input command If the command is input as abbreviated ASCII the output will be abbreviated ASCII Likewise for ASCII and binary formats Table 91 outlines the various responses Table 91 Response Messages OK 1 Command was received correctly REQUESTED LOG DOES NOT 2 The log requested does not exist EXIST NOT ENOUGH RESOURCES IN 3 The request has exceeded a limit for SYSTEM example the maximum number of logs are being generated DATA PACKET DOESN T 4 Data packet is not verified VERIFY COMMAND FAILED ON 5 Command did not succeed in accomplishing RECEIVER requested task INVALID MESSAGE ID 6 The input message ID is not valid INVALID MESSAGE FIELD X 7 Field x of the input message is not correct INVALID CHECKSUM 8 The checksum of the input message is not correct This only applies to ASCII and binary format messages MESSAGE MISSING FIELD 9 A field is missing from the input message ARRAY SIZE FOR FIELD X 10 Field x contains
141. 0 keyword DISABLE 0 Receiver does not use the SBAS corrections it receives ENABLE 1 Receiver uses the SBAS corrections it receives Enum system See Table 35 on Page 165 Choose the SBAS the receiver will use Enum H 4 prn 0 Receiver uses any PRN default 120 138 Receiver uses SBAS corrections only from this PRN ULong H 8 testmode NONE 0 Receiver interprets Type 0 messages as they are intended as do not use default ZEROTOTWO 1 Receiver interprets Type 0 messages as Type 2 messages IGNOREZERO 2 Receiver ignores the usual interpretation of Type 0 messages as do not use and continues Enum H 12 166 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 2 5 53 SEND Send an ASCII message to a COM port V123 This command is used to send ASCII printable data from any of the COM or USB ports to a specified communications port This is a one time command therefore the data message must be preceded by the SEND command and followed by lt CR gt each time you wish to send data If the data string contains delimiters that is spaces commas tabs and so on the entire string must be contained within double quotation marks Carriage return and line feed characters for example 0xOD 0x0A are appended to the sent ASCII data Abbreviated ASCII Syntax Message ID 177 SEND port data
142. 0 Signal type Dependant on satellite system above GPS GLONASS a ae 0 L1 C A 0 L1 C A 5 L2P 4 L1P 23 0x00800000 9 L2 P codeless 5 L2P 24 0x01000000 I7 ARC SBAS Other N6 25 0x02000000 0 L1 C A 19 OmniSTAR 23 CDGPS 26 0x04000000 Forward Error Correction 0 Not FEC 1 FEC 27 0x08000000 Primary L1 channel 0 Not primary 1 Primary Continued on Page 347 346 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs N7 Chapter 3 28 0x10000000 Carrier phase 0 Half Cycle Not Added measurement P 1 Half Cycle Added 29 Reserved 30 0x40000000 PRN lock flag 0 PRN Not Locked Out 31 0x80000000 Channel assignment 0 Automatic 1 Forced a Grouped Channel has an associated channel L1 L2 pairs b This bit is zero until the parity is known and the parity known flag bit 11 is set to 1 c APRN can be locked out using the LOCKOUT command see also Page 125 Field Field Data Description Format Binary Binary type Bytes Offset 1 RANGE Log header H 0 header 2 obs Number of observations with information to follow Long 4 H 3 PRN Satellite PRN number of range measurement UShort 2 H 4 slot GPS 1 to 32 SBAS 120 to 138 and GLONASS 38 to 61 see Section 1 3 on Page 25 4 glofreq GLONASS Frequency 7 see Section 1 30n Page UShort 2 H 6 25 5 psr Pseudo
143. 0 0 0 0 0 0 ade521cc a U M M U i According to classic GPS theory one civilian receiver operating in single point mode no assistance from other sources will have an accuracy of 20 to 30 meters horizontally This allows hikers and recreational users to place themselves on a map with some degree of certainty but in terms of surveying this is not considered accurate If Selective Availability SA were to return which may be employed by the US military to intentionally degrade the user s position the accuracy would degrade to 100 meters Logging data and averaging for 24 hours may yield results in the order of 1 to 5 meters horizontally OEMV Family Firmware Version 3 000 Reference Manual Rev 2 229 Chapter 3 Field Field type Data Description Format Data Logs Binary Binary Bytes Offset 1 BESTXYZ Log header H 0 header 2 P sol status Solution status see Table 45 Solution Status Enum 4 H on Page 221 3 pos type Position type see Table 44 Position or Velocity Enum 4 H 4 Type on Page 220 4 P X Position X coordinate m Double 8 H 8 5 P Y Position Y coordinate m Double 8 H 16 6 P Z Position Z coordinate m Double 8 H 24 7 P X Standard deviation of P X m Float 4 H 32 8 P Y Standard deviation of P Y m Float 4 H 36 9 P Z o Standard deviation of P Z m Float 4 H 40 10 V sol status Solution sta
144. 0 0 0 0 0 0 0 0 0 0 0 0 0 81685317 dy Each raw WAAS frame gives data for a specific frame decoder number The WAAS25 message can be logged to view the data breakdown of WAAS frame 25 which contains long term slow satellite corrections 498 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Binary Binary Chapter 3 Field Field type Data Description Format Bytes Offset Scaling 1 WAAS25 Log header H 0 5 header 2 prn Source PRN of message Ulong 4 H 3 1st half vel Velocity code flag 0 or 1 Ulong 4 H 4 4 1st half Index into PRN mask Type 1 Ulong 4 H 8 5 mask1 5 1st half Issue of ephemeris data Ulong 4 H 12 iode1 6 1st half dx1 Delta x ECEF Long 4 H 16 0 125 7 1st half dy1 Delta y ECEF Long 4 H 20 0 125 8 1st half dz1 Delta z ECEF Long 4 H 24 0 125 9 1st half a Delta af clock offset Long 4 H 28 oF 10 1st half Second index into PRN mask Ulong 4 H 32 mask2 Type 1 Dummy value when velocity code 1 11 1st half Second issue of ephemeris data Ulong 4 H 36 iode2 Dummy value when velocity code 1 12 1st half ddx Delta delta x ECEF when velocity Long 4 H 40 ol code 1 Delta x dx when velocity code 0 13 1st half ddy Delta delta y ECEF when velocity Long 4 H 44 oll code 1 Delta y dy when velocity code 0 14 1st half ddz Delta delta z ECEF when velocity Long 4 H 48 oll c
145. 0 0 0 0 0 0 0 0 USB2 0 0 0 0 0 0 0 0 0 USB3 0 0 0 0 0 0 0 0 0 7 6ea50 el 6 Parity and framing errors occur for COM ports if poor transmission lines are encountered or if there is an incompatibility in the data protocol If errors occur you may need to confirm the bit rate number of data bits number of stop bits and parity of both the transmit and receiving ends Characters may be dropped when the CPU is overloaded OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Field Field type Data Description Format Binary Binary yP p Bytes Offset 1 PORTSTATS Log header H 0 header 2 port Number of ports with information to follow Long 4 H 3 port Serial port identifier see Table 15 COM Enum 4 H 4 Serial Port Identifiers on Page 75 4 rx chars Total number of characters received through Ulong 4 H 8 this port 5 tx chars Total number of characters transmitted Ulong 4 H 12 through this port 6 acc rx chars Total number of accepted characters Ulong 4 H 16 received through this port 7 dropped chars Number of software overruns Ulong 4 H 20 8 interrupts Number of interrupts on this port Ulong 4 H 24 9 breaks Number of breaks Ulong 4 H 28 This field does not apply for a USB port and is always set to 0 for USB 10 par err Number of parity errors Ulong 4 H 32 This field does not apply for a USB port and is always set to 0 for USB 11 fra
146. 0 33 5 FINESTEERING 1364 496040 000 00100000 7e24 2310 SOL_COMPUTED NARROW_INT 51 11634202784 114 03853660437 1048 2394 16 2709 WGS84 0 0115 0 0102 0 0184 AAAA 2 000 0 000 12 9 9 9 0 0 0 0 45e9b10d I M ll ee 6 Consider the case of a racing car on a closed circuit requiring RT 2 operation In this situation you would have to send live data to the pits using a radio link RTK operation enables live cm level position accuracy When answers are required right in the field the base station must transmit its information to the rover in real time For RTK operation extra equipment such as radios are required to be able to transmit and receive this information The base station has a corresponding base radio and the rover station has a corresponding rover radio Post processing can provide post mission position and velocity data using raw GPS collected from the car The logs necessary for post processing include RANGECMPB ONTIME 1 RAWEPHEMB ONNEW lt Above we describe and give examples of data collection for post processing and real time operation OEMV based output is compatible with post processing software from the Waypoint Products Group NovAtel Inc See also www novatel com OEMV Family Firmware Version 3 000 Reference Manual Rev 2 427 Chapter 3 DataLogs RER Field type Data Description Format pe H pobel 1 RTKPOS Log header H 0
147. 0 Reference Manual Rev 2 183 Chapter 2 Commands Field Binary git Field Binary Binary Field Name Value peseription Type Bytes Offset 1 UNLOG See Table 4 Binary Message This field contains the H 0 binary Header Structure on Page 20 message header header 2 port See Table 5 on Page 22 Port to which log is Enum 4 H decimal values greater than being sent 16 may be used default THISPORT 3 message Any valid message ID Message ID of log to UShort 2 H 4 output 4 message Bits 0 4 Reserved Message type of log Char 1 H 6 type Bits 5 6 Format 00 Binary 01 ASCII 10 Abbreviated ASCII NMEA 11 Reserved Bit7 Response Bit see Section 1 2 on Page 24 0 Original Message 1 Response Message 5 Reserved Char 1 H 7 3 Field ASCII Binary wee Binary Binary Binary nee Type Value Value Description Format Bytes Offset 1 UNLOG This field contains the H 0 ASCII command name or the header message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 port See Table 5 on Page 22 Port to which log is Enum 4 H decimal values greater than being sent 16 may be used default THISPORT 3 message Message N A Message Name of log ULong 4 H 4 Name to be disabled 184 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 2 5 66 UNLOGALL Remove all logs from logging
148. 0 starting on Page 375 for information on RTCM standard logs This log is the same as the RTCMDATAI log but there are only corrections for a maximum of 3 satellites RTCM9 Partial Satellite Set Differential Corrections RTCM Type 9 messages follow the same format as Type 1 messages However unlike a Type 1 message Type 9 does not require a complete satellite set This allows for much faster differential correction data updates to the rover stations thus improving performance and reducing latency Type 9 messages should give better performance with slow or noisy data links lt The base station transmitting the Type 9 corrections must be operating with a high stability clock to prevent degradation of navigation accuracy due to the unmodeled clock drift that can occur between Type 9 messages For this reason only OEMV 2 or OEMV 3 receivers with an external oscillator can generate Type 9 messages All OEMV family receivers can accept Type 9 messages NovAtel recommends a high stability clock such as the PIEZO Model 2900082 whose 2 sample Allan variance meets the following stability requirements 3 24 x 10 24 s s between 0 5 2 0 seconds and 1 69 x 10 22 T s7 s between 2 0 100 0 seconds An external clock such as an OCXO requires approximately 10 minutes to warm up and become fully stabilized after power is applied Do not broadcast RTCM Type 9 corrections during this warm up period Structure Type 9 messages contain the
149. 0 to 10 000 Hz Error or uncertainty inthe ULong 4 H 16 window Doppler estimate above This is a value for example 500 for 500 Hz default 4500 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 61 Chapter 2 Commands 2 5 5 ASSIGNLBAND Set L Band satellite communication parameters V3_HP V13_VBS or V13_CDGPS You must use this command to ensure that the receiver searches for a specified L Band satellite at a specified frequency with a specified baud rate The factory parameter default is ASSIGNLBAND IDLE lt 1 In addition to a NovAtel receiver with L Band capability a subscription to the OmniSTAR or use of the free CDGPS service is required Contact NovAtel for details Contact information may be found on the back of this manual or you can refer to the Customer Service section in the OEMV Family Installation and Operation User Manual 2 The frequency assignment field 3 below can be made in kHz or Hz For example ASSIGNLBAND OMNISTAR 1536782 1200 A value entered in Hz is rounded to the nearest 500 Hz 3 The NAD83 CSRS datum is available to CDGPS users The receiver automatically transforms the CDGPS computed coordinates into WGS84 the default datum of the receiver Alternatively select any datum including CSRS for a specified coordinate system output See also Table 20 Datum Transformation Parameters on Page 86 Abbreviated ASCII Syntax Message ID 729 ASSIGNLBAND m
150. 0000 to Frequencies on Page 63 1560000000 default 1536782 if the mode is OMNISTAR 4 baud 300 600 1200 Data rate for communication Ulong 4 H 8 2400 or 4800 with L Band satellite default 1200 64 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 2 5 6 AUTH Add authorization code for new model V123 This command is used to add or remove authorization codes from the receiver Authorization codes are used to authorize models of software for a receiver The receiver is capable of keeping track of five authorization codes at one time The MODEL command can then be used to switch between authorized models The VALIDMODELS log lists the current available models in the receiver This simplifies the use of multiple software models on the same receiver If there is more than one valid model in the receiver the receiver either uses the model of the last auth code entered via the AUTH command or the model that was selected by the MODEL command whichever was done last Both the AUTH and MODEL commands cause a reset automatically lt Authorization codes are firmware version specific If the receiver firmware is updated it is necessary to acquire new authorization codes for the required models If you wish to update the firmware in the receiver please contact NovAtel Customer Service WARNING Removing an authorization code will cause the receiver to permanently lose this information Abbreviated ASCII Sy
151. 001 L1 Only GPS RTK Observables 785 RTCMDATA1002 Extended L1 Only GPS RTK Observables 786 RTCMDATA1003 L1 L2 GPS RTK Observables 787 RTCMDATA1004 Extended L1 L2 GPS RTK Observables 788 RTCMDATA1005 RTK Base Station ARP 789 RTCMDATA1006 RTK Base Station ARP with Antenna Height 792 GLORAWEPHEM Raw GLONASS ephemeris data 795 PASSXCOM3 Pass through log 103 CMROBS Base station satellite observation information 105 CMRREF Base station position information 310 CMRDESC Base station description information 717 CMRPLUS CMR output message 6 RTCAOBS Type 7 Base Station Observations 10 RTCA1 Type 1 Differential GPS Corrections 11 RTCAREF Type 7 Base Station Parameters 347 RTCAEPHEM Type 7 Ephemeris and Time Information OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 107 RTCM1 Type 1 Differential GPS Corrections 116 RTCM59 Type 59N 0 NovAtel Proprietary RT20 Differential 117 RTCM3 Type 3 Base Station Parameters 118 RTCM22 Type 22 Extended Base Station Parameters 129 RTCM16 Type16 Special Message 131 RTCM16T Type16T Special Text Message 260 RTCM1819 Type18 and Type 19 Raw Measurements 275 RTCM9 Type 9 Partial Differential GPS Corrections 307 RTCM15 Type 15 lonospheric Corrections 374 RTCM2021 Type 20 and Type 21 Measurement Corrections SS eS 765 RTCM1005 RTK Base Station ARP 768 RTCM1006 RTK Base Stat
152. 0020000 RF2 AGC status OK Bad 18 0x00040000 Almanac flag UTC known Valid Invalid 19 0x00080000 Position solution flag Valid Invalid 20 0x00100000 Position fixed flag see Not fixed Fixed FIX on Page 103 a 21 0x00200000 Clock steering status Enabled Disabled 22 0x00400000 Clock model flag Valid Invalid 23 0x00800000 OEMV card external Disabled Enabled oscillator flag 24 0x01000000 Software resource OK Warning N6 25 0x02000000 Reserved 26 0x04000000 27 0x08000000 28 0x10000000 N7 29 0x20000000 AUX3 status event flag No event Event 30 0x40000000 AUX2 status event flag No event Event 31 0x80000000 AUX1 status event flag No event Event a This flag is only available on OEMV 3 based products not on OEMV 1 or OEMV 2 b This flag indicates if any of the three USB ports USB1 USB2 or USB3 are overrun See the auxiliary status word for the specific port for which the buffer is overrun OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Chapter 3 DataLogs Table 80 Auxiliary 1 Status NO 0 0x00000001 Reserved 1 0x00000002 2 0x00000004 3 0x00000008 Position averaging Off On N1 4 0x00000010 Reserved 5 0x00000020 6 0x00000040 7 0x00000080 USB connection status Connected Not connected N2 8 0x00000100 USB1 buffer overrun flag No overrun Overrun 9 0x00000200 USB2 buffer overrun flag No overrun Overrun 10 0x00000400 USB3 buffer overrun flag No overrun Overrun 11 0x00000800 Res
153. 07 2 d5300a10da5562da3adc0966488dd01001a 4 8b04e483a1b44439979006e2Fd4f00al0d15d96b3b021leb6cb6c5f23feff3c 28 8b04e483a3b05c5509900b7cfd5800a10cc483e2bfald2613003bd050017 5 8b04e483a43745351c90fcb0fd4500a10d8a800f0328067e5d 8b6100031 57 8b04e483a6337964e036d74017509F38e13112df8dd92d040605eeaaaaaa 6 8b04e483a6b54633e390fa8bfd3f00al0d4fachc80b322528f62146800ba 29 8b04e483a8b05d47 7901b20 d5700a10ce02d570ed40a0a2216412400chb 7 8b04e483a93547 6dee90fb94Fd4300a10d93aba327b7794ae853c02700ba 1 8b04e483d8b641305a901b9dfd5a00al0ce92f48f1lba0a5dcccb7500003b 25 8b04e483dab25962259004fcfd4c00al0dc154eee5c555d7a2a5010d000d 2 8b04e483db37424aa6900720fd4f00a10c5ad8 9baaddcl460790b6FcO000F 26 8b04e483dd305a878c901d32fd5b00al10c9I02Zeb7ES51db b6ce95c701LEFL4A 83cae97a SSS SSS SSS SSS IEE i The OEMV family of receivers automatically saves almanacs in their non volatile memory NVM therefore creating an almanac boot file is not necessary OEMV Family Firmware Version 3 000 Reference Manual Rev 2 353 Chapter 3 DataLogs Field Field type Data Description Format Binary Binary Bytes Offset 1 RAWALM Log header H 0 header 2 ref week Almanac reference week number Ulong 4 H 3 ref secs Almanac reference time s Ulong 4 H 4 4 subframes Number of subframes to follow Ulong 4 H 8 5 svid SV ID satellite vehicle ID UShort 2 H 12 6 data Subframe page data Hex 30 H 14 7 Next subfr
154. 0912 3664616 874355976 4942495 215668959 0 646a495c eS SS EE i The rover receiver automatically sets an approximate position from the RTCADATAREF message if it does not already have a position Therefore this message can be used in conjunction with an approximate time to improve TTFF Refer to the Time to First Fix and Satellite Acquisition section of the GPS Reference Manual for more information on TTFF 374 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 70 RTCM Standard Logs DGPS RTCM1 DIFFERENTIAL GPS CORRECTIONS V123_DGPS Message ID 107 RTCM3 BASE STATION PARAMETERS V123_RT20 or V23_RT2 Message ID 117 RTCM9 PARTIAL DIFFERENTIAL GPS CORRECTIONS V23_DGPS MESSAGE ID 275 OEMV 2 or OEMV 3 with external oscillator only RTCM15 IONOSPHERIC CORRECTIONS V123_DGPS Message ID 307 RTCM16 SPECIAL MESSAGE V123_DGPS Message ID 129 RTCM16T SPECIAL TEXT MESSAGE see also Page 175 V123_DGPS Message ID 131 RTCM1819 RAW MEASUREMENTS V123_RT20 or V23_RT2 Message ID 260 RTCM2021 MEASUREMENT CORRECTIONS V123_RT20 or V23_RT2 Message ID 374 RTCM22 EXTENDED BASE STATION V123_RT20 or V23_RT2 Message ID 118 RTCM59 TYPE 59N 0 NOVATEL PROPRIETARY RT20 DIFFERENTIAL V123_RT20 or V23_RT2 Message ID 116 lt 1 The RTCM messages can be logged with an A or B suffix for an ASCII or Binary output with a NovAtel header followed by Hex or Binary raw d
155. 0x00 0x88 Oxf5 0x42 0x8d Below is a demonstration of how to generate the CRC from both ASCII and BINARY messages using the function described above lt When you pass the data into the code below exclude the checksum shown in bold italics above OEMV Family Firmware Version 3 000 Reference Manual Rev 2 29 Chapter 1 30 ASCII Messages include lt iostream h gt include lt string h gt void main char i BESTPOSA COM2 0 77 5 FINESTEERING 1285 160578 000 00000020 5941 11 64 SOL_COMPUTED SINGLE 51 11640941570 114 03830951024 1062 6963 16 2712 WGS84 1 6890 1 2564 2 7826 0 000 0 000 10 10 0 0 0 0 0 0 unsigned long iLen strlen i unsigned long CRC CalculateBlockCRC32 iLen unsigned char i cout lt lt hex lt lt CRC lt lt endl BINARY include lt iostream h gt include lt string h gt int main unsigned char buffer 0xAA 0x44 0x12 Ox1C 0x2A 0x 00 0x02 0x42 0x48 0x00 0x00 0x00 0x96 OxB4 0x05 0x05 0x90 0x32 Ox8E 0x09 0x20 0x00 0x00 0x00 0x41 0x59 Ox8C 0x04 0x00 0x00 0x00 0x00 0x10 0x00 0x00 0x00 0x03 0x9A Ox8A 0x8A OxE6 0x8E 0x49 0x40 OxEB 0xD8 0xE7 OxB2 0x73 0x82 0x5C 0xC0 0x00 OxBO OxDD 0XA2 0x37 0x 9B 0x90 0x40 0x80 Ox2B 0x82 OxCl O0x3D 0x00 0x00 0x00 O0x9D OxDA Ox3F OxF7 0x58 OxAl Ox3F Ox3F OxF4 0x32 0x89 0x40 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00
156. 1 24 000 scale 15 minute quadrangle maps 1 50 000 1 62 500 and standard edition 1 63 360 scales and Canadian 1 50 000 maps the UTM grid lines are drawn at intervals of 1 000 meters and are shown either with blue ticks at the edge of the map or by full blue grid lines On USGS maps at 1 100 000 and 1 250 000 scale and Canadian 1 250 000 scale maps a full UTM grid is shown at intervals of 10 000 meters 190 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 Table 37 UTM Zone Commands 0 AUTO UTM zone default that automatically sets the central meridian and does not switch zones until it overlaps by the set persistence This a spherical approximation to the earth unless you are at the equator default 0 m 1 CURRENT Same as UTMZONE AUTO with infinite persistence of the current zone The parameter field is not used 2 SET Sets the central meridian based on the specified UTM zone A zone includes its western boundary but not its eastern boundary Meridian For example zone 12 includes 108 W 114 W where 108 lt longitude lt 114 3 MERIDIAN Sets the central meridian as specified in the parameter field In BESTUTM the zone number is output as 61 to indicate the manual setting zones are set by pre defined central meridians not user set ones Binary Binary Binary Field ASCII Binary Keg Type Value Value Description Format Bytes Offset 1 UTMZONE This fiel
157. 1 Number of GPS L1 ranges above the RTK Uchar 1 H 50 mask angle 25 L2 Number of GPS L2 ranges above the RTK Uchar 1 H 51 mask angle 26 Reserved Char 1 H 52 27 Char 1 H 53 28 Char 1 H 54 29 Char 1 H 55 30 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 56 31 CR LF Sentence terminator ASCII only OEMV Family Firmware Version 3 000 Reference Manual Rev 2 319 Chapter 3 DataLogs 3 3 45 NAVIGATE User Navigation Data V123 This log reports the status of the waypoint navigation progress It is used in conjunction with the SETNAV command see Page 170 See Figure 9 below for an illustration of navigation parameters lt The SETNAV command must be enabled before valid data will be reported from this log Message ID 161 Log Type Synch Reference Description TO lat lon X Track perpendicular reference point Current GPS position A Track perpendicular reference point X Track cross track A Track along track Distance and bearing from 3 to 1 Figure 9 Navigation Parameters NOOR WD Table 59 Navigation Data Type 0 GOOD Navigation is good 1 NOVELOCITY Navigation has no velocity 2 BADNAV Navigation calculation failed for an unknown reason 3 FROM_TO_ SAME From is too close to To for computation 4 TOO_CLOSE_TO_TO Position is too close to To for computation 5 ANTIPODAL_WAYPTS Waypoints are antipodal on surface 320 OEMV Fa
158. 11 rt axis A 2 root of semi major axis hhhhhh A10CAB 12 omega omega argument of perigee hhhhhh 6EE732 13 long asc node OMEGA o longitude of ascension node hhhhhh 525880 14 Mo Mo mean anomaly hhhhhh 6DC5A8 15 afo af0 clock parameter hhh 009 16 aft af1 clock parameter hhh 005 17 XX Checksum hh 37 18 CR LF Sentence terminator CR LF a Variable length integer 4 digits maximum from 2 most significant binary bits of Subframe 1 Word 3 reference Table 20 1 CD GPS 200 Rev B and 8 least significant bits from subframe 5 page 25 word 3 reference Table 20 1 ICD GPS 200 Reference paragraph 20 3 3 5 1 3 Table 20 VII and Table 20 VIII CD GPS 200 Rev B Reference Table 20 VI ICD GPS 200 Rev B for scaling factors and units d A quantity defined for a conic section where e 0 is a circle e 1 is an ellipse 0 lt e lt 1 isa parabola and e gt 1 is a hyperbola e A measurement along the orbital path from the ascending node to the point where the SV is closest to the Earth in the direction of the SV s motion OEMV Family Firmware Version 3 000 Reference Manual Rev 2 271 Chapter 3 DataLogs 3 3 24 GPGGA_ GPS Fix Data and Undulation V123_NMEA Time position and fix related data of the GPS receiver For greater precision but with the loss of the undulation fields use the GPGGARTK log see Page 274 See also Table 52 Position Precision of NMEA Logs on Page 278
159. 14000 10786 792 0 0 87 0 9 0260864257812500e 06 6 1145468750000000e 06 2 2926090820312500e 07 1 4208841323852539e 03 2 8421249389648438e 03 1 9398689270019531e 02 0 00000000000000000 2 79396772384643555e 06 2 79396772384643555e 06 2 12404876947402954e 04 1 396983862e 08 3 63797880709171295e 12 78810 3 15 0 12 a02cel8b GLOEPHEMERISA COM1 2 49 0 SATTIME 1364 413626 000 00000000 6b64 2310 44 11 1 0 1364 413116000 10784 792 0 0 87 13 1 2882617187500000e 06 1 9318657714843750e 07 1 6598909179687500e 07 9 5813846588134766e 02 2 0675134658813477e 03 2 4769935607910156e 03 2 79396772384643555e 06 3 72529029846191406e 06 1 86264514923095703e 06 6 48368149995803833e 05 4 656612873e 09 3 63797880709171295e 12 78810 3 15 3 28 e2d5ef15 GLOEPHEMERISA COM1 1 49 0 SATTIME 1364 413624 000 00000000 6664 2310 45 13 0 0 1364 413114000 10786 0 0 0 87 0 1 1672664062500000e 07 2 2678505371093750e 07 4 8702343750000000e 05 1 1733341217041016e 02 1 3844585418701172e 02 3 5714883804321289e 03 2 79396772384643555e 06 2 79396772384643555e 06 0 00000000000000000 4 53162938356399536e 05 5 587935448e 09 2 36468622460961342e 11 78810 0 0 0 8 cl5abfeb GLOEPHEMERISA COM1 0 49 0 SATTIME 1364 413624 000 00000000 6b64 2310 59 17 0 0 1364 413114000 10786 0 0 0 87 0 2 3824853515625000e 05 1 6590188964843750e 07 1 9363733398437500e 07 1 3517074584960938e 03 2 2859592437744141e 03 1 9414072036743164e 03 1 8626451
160. 1480 000 00040020 3104 209 122 1 3 7 2047 2047 2047 4 2047 2047 2047 9 2047 2047 3 2 11 14 14 14 4 14 14 14 5 14 14 4 2 2b 0109b JE 6 Each raw WAAS frame gives data for a specific frame decoder number The WAAS5 message can be logged to view the data breakdown of WAAS frame 5 which contains information on fast correction slots 39 50 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 475 Chapter 3 DataLogs Binary Binary Field Field type Data Description Format Bytes Offset Scaling 1 WAAS5 Log header H 0 header 2 prn Source PRN of message Ulong 4 H 3 iodf Issue of fast corrections data Ulong 4 H 4 4 iodp Issue of PRN mask data Ulong 4 H 8 5 prc39 pre i Long 4 H 12 6 prc40 Fast corrections 2048 to 2047 Long 4 H 16 z 7 piedi for the prn in slot i i 39 50 ia i HD0 j 8 prc42 Long 4 H 24 9 prc43 Long 4 H 28 10 prc44 Long 4 H 32 7 11 prc45 Long 4 H 36 12 prc46 Long 4 H 40 13 prc47 Long 4 H 44 e 14 prc48 Long 4 H 48 15 prc49 Long 4 H 52 16 prc50 Long 4 H 56 17 prc51 Invalid do not use Long 4 H 60 Continued on Page 477 476 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Binary Field Field type Data Description Format Offset Scaling 1
161. 180 4 3 3 1897221 200000000 0 750000000 0 361999989 1 179000020 TRUE 180 6 3 3 2883369 000000000 0 500000000 0 751999974 1 922999978 TRUE 180 10 3 3 2860119 800000000 0 250000000 0 546000004 1 944000006 TRUE 180 25 3 3 4734110 200000000 0 750000000 0 474000007 2 013000011 TRUE 180 dd9699 5 _ e eT SSS EEE SS SaaS 6 Transmission of the base station observations is necessary for the highest precision applications The base station observations are used by the rover for carrier phase ambiguity resolution 372 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Field Field type Data Description Format Binary Binary yp p Bytes Offset 1 RTCADATAOBS Log header H 0 header 2 des NovAtel designator Uchar 1 H 3 subtype RTCA message subtype Uchar 3a H 1 4 min psr Minimum pseudorange Double 8 H 4 5 sec Seconds into the GPS week Float 4 H 12 6 Reserved Long 4 H 16 7 ids Number of Transmitter IDs with Ulong 4 H 20 information to follow 8 trans ID Transmitter ID Uchar 1 H 24 9 L1 lock L1 lock flag Uchar 1 H 25 10 L2 lock L2 lock flag Uchar 2b H 26 11 L1 psr L1 pseudorange offset 2 10 m Double 8 H 28 12 L2 psr L2 pseudorange offset 1 4 m Double 8 H 36 13 L1 ADR L1 carrier phase offset accumulated Float 4 H 44 Doppler range 2 1000 m 14 L2 ADR L2 carrier phase offset accumulated Float 4 H 48 Doppler ran
162. 1984 49 2 2862 0 000 0 000 9 9 0 0 0 0 0 0 20b24878 x0d x0a 3eef4220 PASSCOM1A COM1 0 53 5 FINESTEERING 1337 400922 463 00000000 13ff 1984 7 unlog passcom2a x0d x0a ef8d2508 ASCII Example 2 PASSCOM2A COM1 0 53 0 FINESTEERING 1337 400040 151 00000000 2b46 1984 80 x99A x10 x04 x07yN amp xc6 xea xf10 x00 x01 xde x00 x00 x10 xfe xbf xfel xfe x9c xf4 x03 xe2 xef x9f x1lf xf3 xff xd6 xff xc3_A z xaa xfe xbf xf9 xd3 xf8 xd4 xf4 xe8kHo xe2 x00 gt xe0QO0C gt xc3 x9c x11 xf x7 xf4 xal xf3t xf4 xf4xvo xe6 x00 x9d dcd2e989 In the example note that is a printable character OEMV Family Firmware Version 3 000 Reference Manual Rev 2 329 Chapter 3 DataLogs 1E 6 For example you could connect two OEMV family receivers together via their COM1 ports such as in the figure below a rover station to base station scenario If the rover station is logging BESTPOSA data to the base station it is possible to use the pass through logs to pass through the received BESTPOSA data to a disk file let s call it diskfile log at the base station host PC hard disk BESTPOSA data log 2 FIX POSTION lat long ht INTERFACEMODE com generic rtca off LOG com2 PASSCOM1A onnew LOG com1 RTCAOBS ontime 1 LOG com1 RTCAREF ontime 10 INTERFACEMODE com rtca novatel off LOG com1 BESTPOSA ontime 5 N N Reference Description Reference Descr
163. 2 See Section 3 3 10 CMR Standard Logs starting on Page 242 for information on CMR standard logs Message ID 389 Log Type Synch Recommended Input log cmrdatadesca ontime 10 5 ASCII Example CMRDATADESCA COM1 0 76 5 F INESTEERING 1117 162906 461 00100020 b467 399 2 0 147 39 3 0 2 FALSE FALSE 0 TRUE 0 180000 1 0 33 32 32 32 32 99 114 101 102 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 8 85 78 75 78 79 87 78 0 482add29 where the bolded 33 in the example above represents the total length of the records that follow Short ID 32 32 32 32 99 114 101 102 8 bytes COGO Code 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 16 bytes ID Length 8 1 byte Long ID 85 78 75 78 79 87 78 0 8 bytes JE 6 Here are some CMR terminology facts e Inthe CMR format description the reference station description log is referred to as Type 2 e COGO is an acronym for coordinate geometry COordinate GeOmetry 244 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 12 CMRDATAOBS Base Station Satellite Observations V123_RT20 or V23_RT2 See Section 3 3 10 CMR Standard Logs starting on Page 242 for information on CMR standard logs Message ID 390 Log Type Synch Recommended Input log cmrdataobsa ontime 2 ASCII Example CMRDATAOBSA COM1 0 74 0 F INESTEERING 1117 162981 000 001 2 0 147 93 3 0 0 10 21000 3 0 10 00020 b222 399 3 FALSE TRUE TRUE 8684073 505 10 1 TRUE TRUE
164. 21 Asynch WAAS34 CDGPS fast correction slots 22 32 Asynch WAAS35 CDGPS fast correction slots 39 50 Asynch WAAS45 CDGPS slow corrections Asynch WAASCORR SBAS range corrections used Synch ALMANAC Current almanac information Asynch BESTPOS Best position data Synch BESTVEL Velocity data Synch BSLNXYZ RTK XYZ baseline Asynch CMRDATADESC Base station description Synch CMRDATAOBS Base station satellite observations Synch CMRDATAREF Base station position Synch GPGGA NMEA position fix data Synch GPGGARTK NMEA global position system fix data Synch LBANDINFO L Band configuration information Synch LBANDSTAT L Band status information Synch Continued on Page 203 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 MATCHEDPOS Computed Position Time Matched Asynch OMNIHPPOS OmniSTAR HP XP position data Synch PSRPOS Pseudorange position Synch PSRVEL Pseudorange velocity Synch RANGE Satellite range information Synch RANGECMP m version of the RANGE Synch og RAWLBANDFRAME Raw L Band frame data Asynch RAWLBANDPACKET Raw L Band data packet Asynch REFSTATION Base station position and health Asynch RTCADATA1 Differential GPS corrections Synch RTCADATAEPHEM Ephemeris and time information Synch RTCADATAOBS Base station observations Synch RTCADATAREF Base station parameters Synch RTKDATA RTK related data such as baselines Asyn
165. 218 316 318 427 processing 160 satellite count 200 solution 160 422 transfer 242 velocity 429 RTKBASELINE command 153 RTKCOMMAND command 156 RTKDATA log 401 RTKDYNAMICS command 157 RTKELEVMASK command 159 RTKPOS log 427 RTKSOLUTION command 160 RTKSOURCE command 161 RTKSVENTRIES command 163 RTKVEL log 429 RTKXYZ log 431 RXCONFIG log 434 RXHWLEVELS log 436 RXSTATUS log 438 RXSTATUSEVENT log 445 S satellite acquisition 57 171 214 active 282 almanac 214 availability 104 286 channel 60 clock dither 100 command 34 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Index 531 Index 532 common 422 count 200 203 DGNSS 367 elevation 98 194 214 error 455 geometry 234 334 GLONASS 116 good visibility 142 group 334 ID 377 382 in view 286 lock 125 334 low 82 98 motion 340 number of 335 350 range 280 raw 353 355 358 359 recent 146 record number of 372 redundancy 234 454 reinstate 182 RTK 35 159 163 422 SBAS 194 search 60 tracking 200 202 343 unassign 178 unlock 182 visibility 171 201 447 Vision correlator 461 SATVIS log 447 SATXYZ log 449 SAVECOMFIG command 164 SBAS channel 60 control 164 degradation factor 485 differential 149 fallback 161 fast correction slots 465 integrity message 478 481 mixed fast slow corrections 495 navigation 486 PRN 59 61 463 464
166. 228 339 430 tracking assign 57 automatic 179 channel 343 454 continuous 308 347 352 456 cut off angle 98 disabled 445 fix position 105 GLONASS 116 loop 343 satellite 34 200 202 334 status 454 undesirable 125 TRACKSTAT log 454 transfer ASCII text 175 RTK 242 time 49 transformation parameter 84 transit 163 transmit 32 35 76 121 333 travel 344 trigger error 438 event message 176 log 126 195 310 311 316 317 option 127 troposphere 449 true north direction of motion 228 339 magnetic variation 131 132 pseudorange error orientation 285 to waypoint 322 track over ground 430 TTFF see time to first fix tunnel serial port 123 type field 15 U UNASSIGN command 178 UNASSIGNALL command 178 undulation best position 222 224 327 command 153 180 height 153 illustration 180 position 216 313 317 337 428 type 118 UNDULATION command 180 United States Geological Survey USGS 133 190 UNLOCKOUT command 182 UNLOCKOUTALL command 182 UNLOG command 183 UNLOGALL command 185 upgrade 65 137 US National Geodetic Survey NGS 355 USB port 13 75 user point device 134 147 314 USERDATUM command 186 USEREXPDATUM command 188 USGS see United States Geological Survey UTM coordinates 223 UTMZONE command 190 V validity base station 365 431 clock model 236 receiver model 457 458 time tag 340 431 VALIDMODELS log 457 VBS OmniSTAR DGPS typ
167. 272 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Field Structure Field Description Symbol Example 1 GPGLL Log header GPGLL 2 lat Latitude DDmm mm IILI 5106 7198674 3 lat dir Latitude direction a N N North S South 4 lon Longitude DDDmm mm yyyyy yy 11402 3587526 5 lon dir Longitude direction a W E East W West 6 utc UTC time of position hours minutes hhmmss ss 220152 50 seconds decimal seconds 7 data status Data status A A A Data valid V Data invalid 8 XX Checksum hh 1B 9 CR LF Sentence terminator CR LF OEMV Family Firmware Version 3 000 Reference Manual Rev 2 279 Chapter 3 Data Logs 3 3 28 GPGRS GPS Range Residuals for Each Satellite V123_NMEA Range residuals can be computed in two ways and this log reports those residuals Under mode 0 residuals output in this log are used to update the position solution output in the GPGGA message Under mode 1 the residuals are re computed after the position solution in the GPGGA message is computed The receiver computes range residuals in mode 1 An integrity process using GPGRS would also require GPGGA for position fix data GPGSA for DOP figures and GPGSV for PRN numbers for comparative purposes This log outputs null data in all fields until a valid almanac is obtained lt 1 If the range residual exceeds 99 9 then the decimal part is dropped Maximum value
168. 3 8 CLOCKMODEL Current Clock Model Status V123 ccccccceseteeeeees 236 3 3 9 CLOCKSTEERING Clock Steering Status V123 0 ceccecceeseeeteeneeee 239 3 3 10 CMR Standard Logs V123_RT20 or V23_RT2 00 cccccccccccccccetecssceteees 242 3 3 11 CMRDATADESC Base Station Description V3 RIQO OF V23 BRED oi coischviees canierveanas dee a N eens ease 244 3 3 12 CMRDATAOBS Base Station Satellite Observations V123_RT20 OF V23_RT2 oie ccccccccccccccccscccsccsscesscssessscsseceescsesssecssecsecnsesneeseeases 245 3 3 13 CMRDATAREF Base Station Position V123_RT20 or V23_RT2 248 3 3 14 CMRPLUS CMR Output Message V123_RT20 or V23_RT2 251 3 3 15 COMCONFIG Current COM Port Configuration V123 cceceeeeeeeee 253 3 3 16 GLOALMANAC Decoded Almanac V23_G u ccccccccecccscesecsecneeeenseens 255 3 3 17 GLOCLOCK GLONASS Clock Information V23_G cecccceeeeeteees 257 3 3 18 GLOEPHEMERIS GLONASS Ephemeris Data V23_G ccceee 259 3 3 19 GLORAWALM Raw GLONASS Almanac Data V23_G cccceeee 263 3 3 20 GLORAWEPHEM Raw GLONASS Ephemeris Data V23_G 265 3 3 21 GLORAWFRAME Raw GLONASS Frame Data V23_G c000 267 3 3 22 GLORAWSTRING Raw GLONASS String V23_G ccccceeeeeeeeees 269 3 3 23 GPALM Almanac Data VI23_ NMEA W000 ccceccceccccete cece eee eeeeeeeeees 270 3 3 24 GPGGA_ GPS Fix Data and Undulation VI23_NMEA cccccccee 272 3 3 25 GPGGALONG Fix Data Extra Precision and Undulation V23 NMEA ienne ae
169. 35 11 0 0000 0001 7762 04000000 0 O3 7d2af S N i In binary the receiver outputs 48 bytes without the checksum when the LBANDSTATB log is requested OEMV Family Firmware Version 3 000 Reference Manual Rev 2 303 Chapter 3 DataLogs Table 55 L Band Signal Tracking Status 0 0x0001 Tracking State 0 Searching 1 Pull in 2 Tracking NO 1 0x0002 2 0x0004 3 0x0008 Reserved 4 0x0010 N1 5 0x0020 6 0x0040 Bit Timing Lock 0 Not Locked 1 Locked 7 0x0080 Phase Locked 0 Not Locked 1 Locked 8 0x0100 DC Offset Unlocked 0 Good 1 Warning N2 9 0x0200 AGC Unlocked 0 Good 1 Warning 10 0x0400 11 0x0800 Reserved 12 0x1000 N3 13 0x2000 14 0x4000 15 0x8000 Error 0 Good 1 Error 304 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Table 56 OmniSTAR VBS Status Word Chapter 3 0 0x0001 Subscription Expired False True NO 1 0x0002 Out of Region 2 False True 2 0x0004 Wet Error False True 3 0x0008 Link Error False True 4 0x0010 No Remote Sites False True N1 5 0x0020 No Almanac False True 6 0x0040 No Position False True 7 0x0080 No Time False True 8 0x0100 Reserved N2 9 0x0200 10 0x0400 11 0x0800 12 0x1000 N3 13 0x2000 14 0x4000 15 0x8000 Updating Data False True a Contact OmniSTAR for subscription support All other status values a
170. 363 Chapter 3 DataLogs Binary Binary Field Field type Data Description Format Bytes Offset 1 RAAWWAASFRAME Log header H 0 header 2 decode Frame decoder number Ulong 4 H 3 PRN SBAS satellite PRN number Ulong 4 H 4 4 WAASmszg id SBAS frame ID Ulong 4 H 8 5 data Raw SBAS frame data There are Uchar 29 32a H 12 226 bits of data and 6 bits of padding 6 chan Signal channel number that the Ulong 4 H 44 frame was decoded on 7 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 48 8 CR LF Sentence terminator ASCII only a Inthe binary log case an additional 3 bytes of padding are added to maintain 4 byte alignment 364 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 64 REFSTATION Base Station Position and Health V123_RT20 or V23_RT2 This log contains the ECEF Cartesian position of the base station as received through the RTCM RTCMV3 RTCA or CMR message It also features a time tag the health status of the base station and the station ID This information is set at the base station using the FIX POSITION command and the DGPSTXID command See Figure 8 Page 232 for a definition of the ECEF coordinates The base station health Field 6 may be one of 8 values 0 to 7 Values 0 through 5 indicate the scale factor that multiply satellite UDRE one sigma differential error values Below are values 0 to 5 and their corresponding UDRE scale fac
171. 374 radio 429 satellite visibility 447 send data 167 429 standard corrections 369 status 365 unique messages 318 baseline command 153 155 dual frequency 422 float solution 425 length 159 218 219 233 resolution time 423 RTK 33 200 203 365 static 35 baud rate see bps Index beam frequency 63 bearing 131 132 289 320 322 BESTPOS log 218 BESTUTM log 223 BESTVEL log 223 BESTXYZ log 229 bias 67 bi directional communication 328 binary overview 19 raw ephemeris 355 redirect 328 response 24 RTCA 367 bit rate see bps boom operator 505 bps 76 141 break 74 76 77 123 333 broadcast almanac 270 correction 382 observation data 403 BSLNXYZ log 233 buffer 126 423 Built In Status Test BIT 438 Bursa Wolf transformation 84 byte 16 20 C C NO see carrier to noise density ratio cable delay 73 external device 135 312 integrity 111 null modem 51 serial 330 canyons 180 car 427 carrier phase 340 352 jump 67 RTK 242 373 391 403 carrier to noise density ratio C NO 287 308 347 352 456 CDGPS assign 62 63 configure 300 datum 84 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 521 Index 522 fast corrections 505 508 513 frame data 360 network 505 NMEA 280 prn mask 464 slow corrections 514 status 303 304 CDU see Control and Display Unit celestial pole 133 channel 260 assign 57 59 60 control 34 200 202 dedicat
172. 3_RT2 See Section 3 3 70 starting on Page 375 for information on RTCM standard logs RTCM22 RTCM Extended Base Station Parameters RTK Message Type 22 provides firstly a means of achieving sub millimeter precision for base station coordinates and secondly base station antenna height above a base which enables mobile units to reference measured position to the base directly in real time The first data word of message Type 22 provides the corrections to be added to each ECEF coordinate Note that the corrections may be positive or negative The second data word which may not be transmitted provides the antenna L1 phase center height expressed in integer and fractional centimeters and is always positive It has the same resolutions as the corrections The range is about 10 meters The spare bits can be used if more height range is required Message ID 401 Log Type Synch Recommended Input log rtcmdata22a ontime 10 ASCII Example RTCMDATA22A COM1 0 70 0 FINESTEERING 1117 161590 000 00100020 990f 399 1730644 0 5316 2324476 8451556 6 61 64 120 0 TRUE 0 0 0 0 b86ebf12 SSS SSS Se RTCM Message Type 22 can be used to achieve sub millimeter precision for base station coordinates in kinematic applications Further if a base station antenna is for example above a monument it can be used to provide height This enables mobile units rovers to reference measured positions to the monument directly
173. 4 03819916299 1061 0032 16 2714 WGS84 2 3645 1 5689 4 2226 0 000 0 000 6 6 0 0 0 0 0 0 ed438435 pE I a Se 6 Consider the case where you have a user point device such as video equipment Connect the device to the receiver s I O port using a cable that is compatible to both the receiver and the device Refer to your device s documentation for information on its connectors and cables The arrow along the cable in the figure below indicates a MARKIN pulse from the user device on the right to the receiver I O port OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Pog Field type Data Description Format ave 7 Bae 1 MARKPOS Log header H 0 MARK2POS header 2 sol status Solution status see Table 45 on Page 221 Enum 4 H 3 pos type Position type see Table 44 on Page 220 Enum 4 H 4 4 lat Latitude Double 8 H 8 5 lon Longitude Double 8 H 16 6 hgt Height above mean sea level Double 8 H 24 74 undulation Undulation the relationship between the geoid and Float 4 H 32 the WGS84 ellipsoid m 8 datum id Datum ID number see Chapter 2 Table 20 Datum Enum 4 H 36 Transformation Parameters on Page 86 9 lat o Latitude standard deviation Float 4 H 40 10 lon c Longitude standard deviation Float 4 H 44 11 hot o Height standard deviation Float 4 H 48 12 stn id Base
174. 427 429 positioning 91 satellite visibility 447 send 144 167 set 382 station 104 149 161 202 203 455 transmit RTCA 91 dilution of precision DOP 273 277 differential 234 NMEA 282 position averaging 217 pseudorange 334 volume 282 direction accuracy 226 bearing 322 of motion 340 over ground 338 referenced to True North 131 report 338 static position 227 dispatcher 163 distance exceeded 221 straight line 322 track offset 173 dither 236 DOP see dilution of precision Doppler 347 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 523 Index 524 accumulated 343 349 352 373 403 404 assign 57 59 60 instantaneous 340 347 352 jump 67 offsets 214 range record 349 satellite visibility 448 tracking status 456 velocity computation 340 drift 67 drop offs 180 dual frequency 218 422 dynamic 34 96 146 157 DYNAMICS command 96 E earth centered earth fixed ECEF 153 155 229 365 380 eccentricity 215 294 ECEF see earth centered earth fixed echo 76 ECUTOFF command 98 192 EGNOS European SBAS 165 electronic distance measuring instrument EDM 233 elevation cut off 98 99 194 335 error 455 GLONASS 116 highest 163 mask 159 RTK 35 satellite visibility 286 448 set 33 tracking status 456 ellipsoid 380 constants 85 customized 186 height 153 155 navigation 173 parameter 84 86 90 188 surface 173 undulation 34
175. 45 1984 3 397560 0 0 99 99 1337 1337 403184 0 2 656004220e 07 4 971635660e 09 2 752651501e 00 7 1111434372e 03 6 0071892571e 01 2 428889275e 06 1 024827361le 05 1 64250000e 02 4 81562500e 01 1 117587090e 08 7 078051567e 08 9 2668266314e 01 1 385772009e 10 2 098534041e 00 8 08319384e 09 99 403184 0 4 190951586e 09 2 88095e 05 3 06954e 12 0 00000 TRUE 1 458614684e 04 4 00000000e 00 0 875b12 GPSEPHEMA COM1 11 59 0 SATTIME 1337 397560 000 00000000 9145 1984 25 397560 0 0 184 184 1337 1337 403200 0 2 656128681e 07 4 89734685le 09 1 905797220e 00 1 1981436634e 02 1 440195331e 00 1 084059477e 06 6 748363376e 06 2 37812500e 02 1 74687500e 01 1 825392246e 07 1 210719347e 07 9 5008501632e 01 2 171519024e 10 2 086083072e 00 8 06140722e 09 184 403200 0 7 450580597e 09 1 01652e 04 9 09495e 13 0 00000 TRUE 1 458511425e 04 4 00000000e 00 18080p24 GPSEPHEMA COM1 0 59 0 SATTIME 1337 397560 000 00000000 9145 1984 1 397560 0 0 224 224 1337 1337 403200 0 2 656022490e 07 3 881233098e 09 2 938005195e 00 5 8911956148e 03 1 716723741e 00 2 723187208e 06 9 417533875e 06 2 08687500e 02 5 25625000e 01 9 126961231e 08 7 636845112e 08 9 8482911735e 01 1 325055194e 10 1 162012787e 00 7 64138972e 09 480 403200 0 3 259629011e 09 5 06872e 06 2 04636e 12 0 00000 TRUE 1 458588731le 04 4 00000000e 00 97058299 JE 6 The GPSEPHEM log can be used to monitor changes in the orbits of GPS satel
176. 4923095703e 06 3 72529029846191406e 06 1 86264514923095703e 06 7 92574137449264526e 05 4 656612873e 09 2 72848410531878471le 12 78810 0 0 0 12 ed7675 5 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 259 Chapter 3 DataLogs Refer to the GLONASS Overview section in the GPS Reference Manual available on our website at http www novatel ca support docupdates htm Table 50 GLONASS Ephemeris Flags Coding xo a Nbbk Number See Tabk below emer odd hamm O for l fre 000008 RESERVED N 1 through N 7 Table 51 Bits 0 1 P1 Flag Range Values 00 0 minutes 01 30 minutes 10 45 minutes 11 60 minutes 260 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 z A Di Binar Binar Field Field type Data Description Format Bytes Ofise 1 GLO Log header H 0 EPHEMERIS header 2 sloto Slot information offset PRN identification Ushort 2 H Slot 37 This is also called SLOTO in CDU 3 freqo Frequency channel offset for satellite in the Ushort 2 H 2 range 0 to 20 4 sat type Satellite type where Uchar 1 H 4 0 GLO_SAT 1 GLO_SAT_M new M type 5 Reserved 1 H 5 6 e week Reference week of ephemeris in GPS time Ushort 2 H 6 7 e time Reference time of ephemeris in GPS time Ulong 4 H 8 8 t offset Integer seconds between GPS and GLONASS Ulong 4 H 12 time A positive value implies GLON
177. 5 70848 2 24802064 1600 34087313 9200 33823 2000 1 591250000 0 107500000 0 6080000 0 0000750 0 0001125 0 000187500 2 235174179e 08 9 094947018e 12 636051d2 Each raw WAAS frame gives data for a specific frame decoder number The WAAS9 message can be logged to view the data breakdown of WAAS frame 9 which contains the GEO navigation message OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Field Field type Data Description Format Binary Bytes Chapter 3 Binary Offset 1 WAAS9 header Log header H 0 2 prn Source PRN of message Ulong 4 H 3 iodn Issue of GEO navigation data Ulong 4 H 4 4 to Time of applicability Ulong 4 H 8 5 ura URA value Ulong 4 H 12 6 x ECEF x coordinate Double 8 H 16 7 y ECEF y coordinate Double 8 H 24 8 Z ECEF z coordinate Double 8 H 32 9 xvel X rate of change Double 8 H 40 10 yvel Y rate of change Double 8 H 48 11 zvel Z rate of change Double 8 H 56 12 xaccel X rate of rate change Double 8 H 64 13 yaccel Y rate of rate change Double 8 H 72 14 zaccel Z rate of rate change Double 8 H 80 15 aro Time offset Double 8 H 88 16 ar Time drift Double 8 H 96 17 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 104 18 CR LF Sentence terminator ASCII only OEMV Family Firmware Version 3 000 Reference Manual Rev 2 487 Chapter 3 DataLogs 3 3 112 W
178. 5 for SBAS 16 to 26 for GLONASS 27 for L Band OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Fiela Field Type 1 ASSIGN header ASCII Value Binary EUTG Description This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively see 1 1 Message Types on Page 15 Chapter 2 Binary Binary Binary Format Bytes Offset H 0 2 channel See Table 12 OEMV Channel Configurations on Page 58 Desired SV channel number where channel 0 is the first SV channel The last channel depends on your model configuration ULong 3 state See Table 11 Channel State on Page 57 Set the SV channel state Enum 4 H 4 4 prn GPS 1 37 SBAS 120 138 GLONASS see Section 1 3 on Page 25 Optional satellite PRN code from 1 to 32 for GPS channels 38 to 61 for GLONASS and 120 to 138 for SBAS channels If not included in the command line the state parameter must be set to IDLE Long 4 H 8 5 Doppler 100 000 to 100 000 Hz Current Doppler offset of the satellite Note Satellite motion receiver antenna motion and receiver clock frequency error must be included in the calculation of Doppler frequency default 0 Long 4 H 12 6 Doppler window 0 to 10 000 Hz Error or uncertainty in the Doppler estimate abov
179. 50 9 000 0 0698 26 582692 0 0172 0 0 a94e5d48 PEE Consider the case where vehicles are leaving a control centre The control centre s coordinates are known but the vehicles are on the move Using the control centre s position as a reference the vehicles are able to report where they are with PSRPOS and their speed and direction with PSRVEL at any time 338 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Field Field Chapter 3 Binary Binary type Data Description Format Bytes Offset 1 header Log header H 0 2 sol Solution status see Table 45 Solution Status on Page Enum 4 H status 221 3 vel type Velocity type see Table 44 Position or Velocity Type on Enum 4 H 4 Page 220 4 latency A measure of the latency in the velocity time tag in Float 4 H 8 seconds It should be subtracted from the time to give improved results 5 age Differential age in seconds Float 4 H 12 6 hor spd Horizontal speed over ground in meters per second Double 8 H 16 7 trk gnd Actual direction of motion over ground track over Double 8 H 24 ground with respect to True North in degrees 8 vert spd Vertical speed in meters per second where positive Double 8 H 32 values indicate increasing altitude up and negative values indicate decreasing altitude down 9 Reserved Float 4 H 40 10 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 44 11 CR LF Sentence terminator ASCII
180. 6 RTCADATA1 Differential GPS Corrections V123_DGPS 368 See Section 3 3 65 starting on Page 367 for information on RTCA standard logs RTCA1 This log enables transmission of RTCA Standard format Type 1 messages from the receiver when operating as a base station Before this message can be transmitted the receiver FIX POSITION command must be set see Page 103 The RTCA log is accepted by a receiver operating as a rover station over a COM port after an INTERFACEMODE port RTCA command is issued see Page 121 The RTCA Standard for SCAT I stipulates that the maximum age of differential correction Type 1 messages accepted by the rover station cannot be greater than 22 seconds See the DGPSTIMEOUT command on Page 93 for information regarding DGPS delay settings The RTCA Standard also stipulates that a base station shall wait five minutes after receiving a new ephemeris before transmitting differential corrections Refer to the DGPSEPHEMDELAY command on Page 91 for information regarding ephemeris delay settings The basic SCAT I Type 1 differential correction message is as follows Format Message length 11 6 obs 83 bytes maximum Field Type PENG Scaling Bits Bytes SCAT I header Message block identifier 8 6 Base station ID 5 24 Message type 8 Message length 8 Type 1 header Modified z count 0 2s 13 2 Acceleration error bound 5 3 Type 1 data Satellite ID 6 6 obs Pseudoran
181. 60 CR LF Sentence terminator ASCII only OEMV Family Firmware Version 3 000 Reference Manual Rev 2 481 Chapter 3 DataLogs 3 3 110 WAAS7 Fast Correction Degradation V123_SBAS The WAAS7 message specifies the applicable IODP system latency time and fast degradation factor indicator for computing the degradation of fast and long term corrections Message ID 305 Log Type Asynch Recommended Input log WAAS7a onchanged ASCII Example WAAS7A COM1 0 36 5 SATTIME 1337 416367 000 00000000 12e3 1984 122 1 2 0 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 827a7364 ey 6 Each raw WAAS frame gives data for a specific frame decoder number The WAAS7 message can be logged to view the data breakdown of WAAS frame 7 which contains information on fast correction degradation 482 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Field Field type Data Description Format Binary Binary Bytes Offset 1 WAAS7 header Log header H 0 2 prn Source PRN of message Ulong 4 H 3 latency System latency Ulong 4 H 4 4 iodp Issue of PRN mask data Ulong 4 H 8 5 spare bits Unused spare bits Ulong 4 H 12 6 al 0 al i Ulong 4 H 16
182. 65 0 53331548 0 360636 10 415567 0 24835415 0 735743 0 00173807 4 21 TRUE 4 415565 0 32504180 0 564410 12 0 505992 0 00066042 8 10 TRUE 4 315565 0 42407912 0 499421 12 315565 0 36244702 0 570733 0 00103307 20 29 TRUE 4 415565 0 22238569 0 609877 13 0 414821 0 00063479 22 22 TRUE 4 215567 0 45852667 0 489669 10 0 622886 0 00192451 6 7c1597 ws 5567 0 36445588 Ne 5567 0 32349172 ol 99 67 0 35326752 E 6 The VISIONSOL log can be used to measure the amount of multipath at a survey site By reading the multipath parameters the size and strength of the multipath can be analyzed on a per satellite basis over the length of a survey OEMV Family Firmware Version 3 000 Reference Manual Rev 2 461 Chapter 3 462 Data Logs Field Field type Data Description Format Binary Binary Bytes Offset 1 VISIONSOL Log header H 0 header 2 vision Number of Vision solutions with Ulong 4 H information to follow 3 channel Channel tracking number Ushort 2 H 4 4 PRN slot Satellite PRN number of range Ushort 2 H 6 measurement GPS 1 32 and SBAS 120 to 138 For GLONASS see Section 1 3 on Page 25 5 multipath Is multipath detected Enum 4 H 8 0 FALSE 1 TRUE 6 sig delay Direct signal delay Float 4 H 12 7 sig phase Direct signal phase angle Float 4 H 16 8 sig amplitude Direct signal amplitude Float 4 H 20 9 mp delay Multipath
183. 7 199 297 offset 315 position 273 275 277 285 status 452 copyright 2 correction accuracy 103 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 bias 105 magnetic 132 magnitude of 133 mean motion 215 RTCA 122 RTK 163 CPU 126 332 437 CRC see cyclic redundancy check cross track 227 320 322 CSMOOTH command 81 Customer Service 111 137 309 cut off angle command 99 DOP 335 GLONASS 116 negative 194 range reject code 455 RTK 159 SBAS 194 cyclic redundancy check CRC 17 19 20 28 D data link 167 datum 86 90 best position 222 command 33 81 91 105 115 current 173 customized 186 expanded 188 fix position 106 mark position 313 matched position 317 OmniSTAR HP 327 pseudorange position 337 RTK 428 transformation parameters 86 90 UTM 224 DATUM command 81 115 declination 133 default command tables 14 factory 33 47 84 91 152 delay antenna 73 destination 173 322 device user point 134 147 314 de weighting 125 159 334 Index DGPS command 91 93 94 121 285 DGPSEPHEMDELAY command 91 DGPSTIMEOUT command 93 DGPSTXID command 94 differential correction accept 121 age 228 230 DGPS 93 OmniSTAR HP XP 327 position 218 222 313 pseudorange 336 339 pseudorange position 341 RTK 198 427 428 430 432 UTM 224 DGPS 301 error reduction 336 fix position 103 105 method 149 none available 455 outage 161 218 336
184. 8 25 udre43 Ulong 4 H 92 26 XXXX 32 bit CRC ASCII and Binary Hex 4 H 96 only 27 CR LF Sentence terminator ASCII only OEMV Family Firmware Version 3 000 Reference Manual Rev 2 513 Chapter 3 DataLogs 3 3 124 WAAS45 CDGPS Slow Corrections V13_CDGPS Each WAAS45 message contains a 2 bit IODP indicating the associated PRN mask The time of applicability TO of the PRC is the start of the epoch of the WNT second that is coincident with the transmission at the CDGPS satellite PRN 209 of the first bit of the message block Message ID 700 Log Type Asynch Recommended Input log WAAS45a onchanged ASCII Example WAAS45A COM2 0 73 0 FINE 1295 228498 000 00000040 c730 34461 209 23 32 197 116 206 1 6 3 5546 3488 25 148 262 312 867 4 3 0 2513 3488 0 02d6e0d5 SSS 6 Each raw CDGPS mask frame gives data for a specific frame decoder number The WAAS45 message can be logged to view the data breakdown of WAAS frame 45 which contains information on CDGPS slow corrections 514 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Binary Field Field type Data Description Format Offset Scaling 1 WAAS45 Log header H 0 header 2 prn Source PRN of message Ulong 4 H 3 mask1 Index into PRN mask Type 1 Ulong 4 H 4 4 iode1 Issue of ephemeris data Ulong 4 H 8 5 dx1 Delta
185. 8 0 No further GNSS observables referenced to the same epoch time The receiver begins to process data immediately after decoding the message 1 The next message contains observables from another GNSS source referenced to the same epoch time 6 Number of GPS satellite signals processed Uchar 1 H 9 the number of satellites in the message and not necessarily equal to the number of satellites visible to the base station 7 Smoothing indicator Uchar 1 H 10 0 Divergence free smoothing not used 1 Divergence free smoothing used 8 Smoothing interval see Table 72 on Page Uchar 1 H 11 408 This is the integration period over which reference station pseudorange code phase measurements are averaged using carrier phase information Divergence free smoothing may be continuous over the entire period that the satellite is visible 9 prns Number of PRNs with information to follow Ulong 4 H 12 10 PRN PRN number Uchar 1 H 16 11 code ind GPS L1 code indicator Uchar 1 H 17 0 C A code 1 P Y code direct 12 psr GPS L1 pseudorange m Ulong 4 H 18 Continued on Page 410 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 409 Chapter 3 DataLogs Field Field type Data Description Format Binary Binary yP p Bytes Offset 13 phase pseudo GPS L1 phaserange pseudorange Long 4 H 22 Range 262 1435 to 262 1435 m 14 locktime ind GPS L1 continuos tracking lock time indicator Uchar 2a H 26
186. 8 4 Binary Message Header Structure ccccccececeeeeeeeeeeceeeeeeaeeeeeaeeeesaeeseeeeeesaaeeseenees 20 5 Detailed Serial Port Identifiers cccecceeeeeceeeeeeeeeeeeeeeeeeeeeeeaeeseeaeeeeseaeeseeeeeeeaeeeee 22 6 Binary Message SCQUENCE c ccceeeeeeeneeeecesaeeeseneeceeaeeeeenaeeseaeeeseaaeeseaneeesaaeeneneees 25 7 GPS Time Status seseina cad epdavera duces fbatasieavieh sac ccdlies aaa aiaa aR 26 8 Commands By FUNCTION seccccteivccdccudesfecevas siescedevnaneeatiesvestecdecete anaE aE E a a ARa KRAER 32 9 OEMV Family Commands in Alphabetical Order ccccceeceeeceeeeeeeeeeeeeeeseeeeeeneees 36 10 OEMV Commands in Numerical Order 2 cccccceeeeeeeeeeeeeeeeeeeeeaeeeeeeeeeeeaeeeeeeeees 41 11 Channel Stateira a aE a E a E A aE EnS 57 12 OEMV Channel Configurations ccceceeceeeeeeceeeeeeeeeeceaeeeeeaeeeeeeaeeesaaeeseeeeeessaaeessenees 58 13 Channel Syste Misiista iinet Rataa aa Ea eE aaa EENE SaNa 60 14 L Band MOOG csssen i E tabbeceetstiades 62 15 COM Serial Port Identifiers cccccceeseeeeeseeeceeeeeeeeaeeeeceeeeeeaaeeeeeeeeesaaeseeeeeeessaeeeeeaeees 75 16 E E NE R EE E E E E E E AA T A 75 17 HandsnakiNng iena T S rreererrerr ere 75 18 TX DTR a d RTS Availability cccscscsieeccccsseaseceueesteeesteeeessaeecectnee ia RAE 78 19 Reference Ellipsoid Constants c cccccecceeeeceececeeeeeeeeceaeeeseneeesaeeeseaeeseceeesenaeeeeaes 85 20 Datum Transformation Parameters 00
187. 8 1m 9 50 cm 10 10 cm 11 5 cm 12 1 cm 13 5 mm 14 1mm 15 Exact OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Field Field type Data Description Format Binary Binary yP p Bytes Offset 1 CMRDATAREF Log header H 0 header 2 CMR header Synch character for the message Ulong 4 H 3 Message status Ulong 4 H 4 4 CMR message type Ulong 4 H 8 5 Message body length Ulong 4 H 12 6 Version Ulong 4 H 16 7 Station ID Ulong 4 H 20 8 Message Type Ulong 4 H 24 9 battery Is the battery low Enum 4 H 28 0 FALSE 1 TRUE 10 memory Is memory low Enum 4 H 32 0 FALSE 1 TRUE 11 Reserved Ulong 4 H 36 12 L2 Is L2 enabled Enum 4 H 40 0 FALSE 1 TRUE 13 Reserved Ulong 4 H 44 14 epoch Epoch time milliseconds Ulong 4 H 48 15 motion Motion state Ulong 4 H 52 0 UNKNOWN 1 STATIC 2 KINEMATIC 16 Reserved Ulong 4 H 56 17 ECEF X Reference ECEF X position millimeters Double 8 H 60 18 ant hgt Antenna height millimeters Ulong 4 H 68 19 ECEF Y Reference ECEF Y position millimeters Double 8 H 72 20 e offset Easting offset millimeters Ulong 4 H 80 21 ECEF Z Reference ECEF Z position millimeters Double 8 H 84 22 n offset Northing offset millimeters Ulong 4 H 92 Continued on Page 250 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 249 Chapter 3 DataLogs
188. 8 udre39 udre i Ulong 4 H 64 See Table 89 Evaluation of 19 udre40 User differential range error Ulong 4 H 68 UDREI on indicator for the prn in slot i i 39 Page 466 20 udre41 50 Ulong 4 H 72 21 udre42 Ulong 4 H 76 22 udre43 Ulong 4 H 80 23 udre44 Ulong 4 H 84 24 udre45 Ulong 4 H 88 25 udre46 Ulong 4 H 92 26 udre47 Ulong 4 H 96 27 udre48 Ulong 4 H 100 28 udre49 Ulong 4 H 104 29 udre50 Ulong 4 H 108 30 udre51 Invalid do not use Ulong 4 H 112 31 XXXX 32 bit CRC ASCII and Binary Hex 4 H 116 only 32 CR LF Sentence terminator ASCII only OEMV Family Firmware Version 3 000 Reference Manual Rev 2 477 Chapter 3 DataLogs 3 3 109 WAAS6 Integrity Message V123_SBAS WAAS6 is the integrity information message Each message includes an IODF for each fast corrections message The Om information for each block of satellites applies to the fast corrections with the corresponding IODF Message ID 304 Log Type Asynch Recommended Input log WAAS6a onchanged ASCII Example WAAS6A COM1 0 57 5 SATTIME 1093 273317 000 00000020 526a 209 122 3 3 3 3 9 14 14 2 3 10 2 14 14 3 14 14 5 14 14 7 14 14 14 14 14 14 3 3 14 14 14 14 3 15 11 11 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 925a2a9b eee eee 6 Each raw WAAS frame gives data for a specific frame decoder number The WAAS6 message can be logged to view the data breakdown of WAAS frame 6 which contains information on
189. 8109c64 24 0 23988223 932 0 074 126058964 619453 0 013 2519 418 43 8 493 550 8109c84 1 0 22154466 593 0 043 116423014 826717 0 007 1661 273 48 4 11020 952 08109ca4 5 0 24322401 516 0 067 127815012 260616 0 012 1363 596 44 6 6360 282 8109cc4 20 0 22294469 347 0 043 117158267 467388 0 008 2896 813 48 5 4635 968 08109ce4 30 0 23267589 649 0 051 122271969 418761 0 009 822 194 47 0 4542 270 08109d04 23 0 24975654 673 0 058 131247903 805678 0 009 3395 097 45 9 406 762 18109d24 be4b7d70 el i Since the RANGEGPSL1 log includes only L1 GPS observations it is smaller in size than the RANGE log which contain entries for both L1 and L2 Use the RANGEGPSL1 log when data throughput is limited and you are only interested in GPS L1 range data For L1 only models RANGE and RANGEGPSL1 logs are identical OEMV Family Firmware Version 3 000 Reference Manual Rev 2 351 Chapter 3 DataLogs Field Field type Data Description Format Binary Binary Bytes Offset 1 RANGEGPSL1 Log header H 0 header 2 obs Number of L1 observations with information to Long 4 H follow 3 PRN slot Satellite PRN number of range measurement UShort 2 H 4 GPS 1 to 32 SBAS 120 to 138 and GLONASS 38 to 61 see Section 1 3 on Page 25 4 glofreq GLONASS Frequency 7 see Section 1 3 UShort 2 H 6 on Page 25 5 psr Pseudorange measurement m Double 8 H 8 6 psr
190. 82 see Field 6 in Table 4 Binary Message Header Structure on Page 20 e ENUM response ID see Table 91 Response Messages on Page 518 e String containing the ASCII response to match the ENUM response ID above for example 0x4F4B OK Table 6 Binary Message Sequence on Page 25 is an example of the sequence for requesting and then receiving BESTPOSB The example is in hex format When you enter a hex command you may need to add a x or Ox before each hex pair depending on your code for example OxAA0x440x 120x1C0x010x000x02 and so on OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Messages Chapter 1 Table 6 Binary Message Sequence To LOG Command AA44121C 01000240 20000000 1D1D0000 29160000 Receiver Header 00004C00 55525A80 LOG Parameters 20000000 2A000000 02000000 00000000 0000F03F 00000000 00000000 00000000 Checksum 2304B3F1 From LOG Response AA44121C 01008220 06000000 FFB4EE04 605A0513 Receiver Header 00004C00 FFFF5A80 Log Response Data 01000000 4F4B Checksum DA8688EC From BESTPOSB Header AA44121C 2A000220 48000000 A5B4EE04 888F2013 Receiver 00000000 A64CF205 BESTPOSB Data 00000000 10000000 2A11CF8F E68E4940 ED818CFE 73825CC0 00F0A903 A19A9040 732B82C1 3D000000 6F7DF33F BACFC33F 9DE58940 00000000 00000000 00000000 07070000 00000000 Checksum 0C0458B7 1 3 GLONASS Slot and Frequency Numbers The OEMV 2 and OEMV 3 can track GLONASS satellites Up to 12 chan
191. 9 almanac complete 448 data 171 270 GEO 492 GLONASS 255 log 200 202 214 lost 141 raw data 353 reset 111 stored 112 time status 26 ALMANAC log 214 along track 320 322 ambiguity half cycle 343 resolution speed 153 type 160 426 anomaly 215 455 antenna active 55 altitude 98 273 275 277 baseline 153 delay 73 high altitude 194 low profile 192 motion 59 61 157 340 phase center 105 position 312 receiver status 438 reference point ARP 406 418 speed 322 supported 192 193 ANTENNAPOWER command 55 anti spoofing AS 215 ascii display 388 message 17 32 overview 17 printable data 167 redirect 328 response 24 send 167 text message 175 transfer 175 assign cancel 178 channel 34 57 cut off angle 98 116 194 ASSIGN command 57 ASSIGNALL command 60 ASSIGNLBAND command 62 asterisk 17 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 asynchronous log 195 atmospheric delay 343 errors 219 noise 98 refraction 98 194 AUTH command 65 authorization 32 65 66 AUX port break condition 77 identifier 22 23 75 interface mode 123 pass through log 211 328 RS 232 port control 79 AVEPOS log 216 averaging position 35 144 216 azimuth 286 448 B bandwidth 163 base station aiding 171 basic 234 command 35 common to rover 330 334 distance from rover 233 ephemeris 91 height 401 log 202 203 moving 139 parameter 380 position
192. 9 669 48 Timbalai Brunei and East Everest EB Malaysia 1948 86 TOYM 148 507 685 Tokyo Japan Korea and Bessel 1841 Okinawa a The default user datum is WGS84 See also the USERDATUM and USEREXPDATUM commands starting on Page 186 The following logs report the datum used according to the OEM card Datum ID column BESTPOS BESTUTM MATCHEDPOS and PSRPOS b The updated datum have the new x y and z translation values updated to the latest numbers The old datum values can still be used for backwards compatibility c Use the corrected datum only with the higher ID as the old datum is incorrect d The original LUZON values are the same as for LUZA but the original has an error in the code 90 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 2 5 14 DGPSEPHEMDELAY DGPS ephemeris delay V123_DGPS The DGPSEPHEMDELAY command is used to set the ephemeris delay when operating as a base station The ephemeris delay sets a time value by which the base station continues to use the old ephemeris data A delay of 120 to 300 seconds typically ensures that the rover stations have collected updated ephemeris After the delay period is passed the base station begins using new ephemeris data The factory default of 120 seconds matches the RTCM standard lt The RTCA Standard stipulates that a base station shall wait five minutes after receiving a new ephemeris before transmitting differential corrections to rover statio
193. AAS10 Degradation Factor V123_SBAS The fast corrections long term corrections and ionospheric corrections are all provided in the WAAS10 message Message ID 292 Log Type Asynch Recommended Input log WAAS 10a onchanged ASCII Example WAAS10A COM1 0 35 5 SATTIME 1337 416469 000 00000000 c305 1984 122 54 38 76 256 152 100 311 83 256 6 0 300 292 0 1 0000000000000000000000 8884d248 ee 6 Each raw WAAS frame gives data for a specific frame decoder number The WAAS10 message can be logged to view the data breakdown of WAAS frame 10 which contains information on degradation factors 488 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 P ae Binary Binary s Field Field type Data Description Format Bytes Offset Scaling 1 WAAS10 Log header H 0 header 2 prn Source PRN of message Ulong 4 H 3 bree Estimated noise and round off Ulong 4 H 4 0 002 error parameter 4 Cite Isb Maximum round off due to the Ulong 4 H 8 0 002 z least significant bit Isb of the orbital clock 5 Cite vi Velocity error bound Ulong 4 H 12 0 00005 6 ite vi Update interval for v 1 long term Ulong 4 H 16 z 7 Citc_vo Bound on update delta Ulong 4 H 20 0 002 8 ite v4 Minimum update interval v 0 Ulong 4 H 24 9 Cgeo Isb Maximum round off due to the Isb Ulong 4 H 28 0 0005 E of the orbital clock 10 Cgeo_v Velocity er
194. AAS24 Mixed fast slow corrections 298 WAAS25 Long term slow satellite corrections 299 WAAS26 lonospheric delay corrections 300 WAAS27 SBAS service message 301 WAAS3 Fast correction slots 13 25 302 WAAS4 Fast correction slots 26 38 303 WAAS5 Fast correction slots 39 50 304 WAAS6 Integrity message 305 WAAS7 Fast correction degradation 306 WAAS9 GEO navigation message 313 WAASCORR SBAS range corrections used 317 COMCONFIG Current COM port configuration 389 CMRDATADESC Base station description information 390 CMRDATAOBS Base station satellite observation information 391 CMRDATAREF Base station position information Continued on Page 211 210 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 392 RTCADATA1 Type 1 Differential GPS Corrections 393 RTCADATAEPHEM Type 7 Ephemeris and Time Information 394 RTCADATAOBS Type 7 Base Station Observations 395 RTCADATAREF Type 7 Base Station Parameters 396 RTCMDATA1 Type 1 Differential GPS Corrections 397 RTCMDATA15 Type 15 lonospheric Corrections 398 RTCMDATA16 Type 16 Special Message 399 RTCMDATA1819 Type18 and Type 19 Raw Measurements 400 RTCMDATA2021 Type 20 and Type 21 Measurement Corrections 401 RTCMDATA22 Type 22 Extended Base Station Parameters 402 RTCMDATA3 Type 3 Base Station Parameters 403 RTCMDATA59 Type 59N 0 NovAtel Proprietary RT20 Differential 404 RTCMDA
195. AEPHEM Type 7 An RTCAEPHEM RTCA Satellite Ephemeris Information message contains raw satellite ephemeris information It can be used to provide a rover receiver with a set of GPS ephemerides Each message contains a complete ephemeris for one satellite and the GPS time of transmission from the base The message is 102 bytes 816 bits long This message should be sent once every 5 10 seconds The faster this message is sent the quicker the rover station receives a complete set of ephemerides Also the rover receiver automatically sets an approximate system time from this message if time is still unknown Therefore this message can be used in conjunction with an approximate position to improve time to first fix TTFF refer also to the Time to First Fix and Satellite Acquisition section of the GPS Reference Manual Message ID 393 Log Type Synch Recommended Input log rtcadataephema ontime 10 7 ASCII Example RTCADATAEPHEMA COM1 0 49 0 FINESTEERING 1364 494422 391 00100000 d869 2310 78 2 340 494422 4 0 8b0550a0f 0a455100175e6a0 9382232523a9dc04 307794a00006415c8a98b0550a0f12a070b1 2394e4f991F8d09e903cd1e4b0825a10e669c794aT7e8b0550a0flacffe54f81e9c0004826b947 d725ae063beb05ffal7c07067d c9dc4f88 Ma S IIUI I I I U A hot position is when the receiver has a saved almanac saved recent ephemeris data and an approximate position A hot position aids the time to first fix TTFF The TTFF is the actual time requi
196. ASS is ahead of GPS time 9 Nt Current data number This field is only output for Ushort 2 H 16 the new M type satellites See example output from both satellite types field 4 on Page 259 10 Reserved 1 H 18 11 Reserved 1 H 19 12 issue 15 minute interval number corresponding to Ulong 4 H 20 ephemeris reference time 13 health Ephemeris health where Ulong 4 H 24 0 GOOD 1 BAD 14 pos x X coordinate for satellite at reference time Double 8 H 28 PZ90 in meters 15 pos y Y coordinate for satellite at reference time Double 8 H 36 PZ90 in meters 16 pos z Z coordinate for satellite at reference time Double 8 H 44 PZ90 in meters 17 vel x X coordinate for satellite velocity at reference Double 8 H 52 time PZ90 in meters s 18 vel y Y coordinate for satellite velocity at reference Double 8 H 60 time PZ90 in meters s Continued on Page 262 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 261 Chapter 3 DataLogs To Binary Binary Field Field type Data Description Format Bytes Offset 19 velz Z coordinate for satellite velocity at reference Double 8 H 68 time PZ90 in meters s 20 LS acc x X coordinate for lunisolar acceleration at Double 8 H 76 reference time PZ90 in meters s s 21 LS acc y Y coordinate for lunisolar acceleration at Double 8 H 84 reference time PZ90 in meters s s 22 LS acc z Z coordinate for lunisolar acceleration at Double 8 H 92 reference tim
197. AWGPSSUBFRAME RAWWAASFRAME RXSTATUSEVENT and WAAS9 3 Asynchronous logs such as MATCHEDPOS should only be logged ONCHANGED Otherwise the most current data is not output when it is available This is especially true of the ONTIME trigger which may cause inaccurate time tags to result 4 Use the ONNEW trigger with the MARKTIME or MARKPOS logs 3 2 Logs By Function Table 40 starting on the following page lists the logs by function while Table 41 starting on Page 204 is an alphabetical listing of logs repeated in Table 42 starting on Page 209 with the logs in the order of their message IDs 195 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Chapter 3 DataLogs Table 40 Logs By Function COMCONFIG Current COM port configuration Polled LOGLIST List of system logs Polled PASSCOM1 Pass through log also PASSCOM2 PASSCOMS3 Asynch PASSXCOM1 PASSXCOM2 PASSXCOM3 PASSUSB2 and PASSAUX PASSUSB3 PASSUSB1 PORTSTATS COM and if applicable USB port statistics Polled RXCONFIG Receiver configuration status Polled RXHWLEVELS Receiver hardware levels Polled RXSTATUS Self test status Asynch RXSTATUSEVENT Status event indicator Asynch VALIDMODELS Model and expiry date information for receiver Asynch VERSION Receiver hardware and software version numbers Polled AVEPOS Position averaging log Asynch BESTPOS 2 Best position data Synch BESTUTM Best available UTM
198. Binary pele Type Value Value neuen Format Bytes Offset 1 UNLOCKOUT This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 prn GPS 1 37 A single satellite PRN Ulong 4 H SBAS 120 138 number to be reinstated GLONASS see Section 1 3 on Page 25 182 This command allows all satellites which have been previously locked out LOCKOUT command to be reinstated in the solution computation Abbreviated ASCII Syntax Message ID 139 UNLOCKOUTALL Input Example unlockoutall OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 6 The UNLOCKOUTALL command allows you to reinstate all satellites currently locked out 2 5 65 UNLOG Remove a log from logging control V123 This command permits you to remove a specific log request from the system The port parameter is optional If port is not specified it is defaulted to the port on which the command was received This feature eliminates the need for you to know which port you are communicating on if you want logs to be removed on the same port as this command Abbreviated ASCII Syntax Message ID 36 UNLOG port datatype Input Example unlog coml bestposa unlog bestposa i The UNLOG command allows you to remove one or more logs while leaving other logs unchanged OEMV Family Firmware Version 3 00
199. Bit 0 is set in the receiver status word to show that an error occurred the error strobe is driven high and the LED flashes red and yellow showing an error code An RXSTATUSEVENT log is generated on all ports to show the cause of the error Receiver tracking is disabled at this point but command and log processing continues to allow you to diagnose the error Even if the source of the error is corrected at this point the receiver must be reset to resume normal operation OEMV Family Firmware Version 3 000 Reference Manual Rev 2 445 Chapter 3 DataLogs Table 83 Status Word 0 ERROR Receiver Error word see Table 78 on Page 439 1 STATUS Receiver Status word see Table 79 on Page 440 2 AUX1 Auxiliary 1 Status word see Table 80 on Page 442 3 AUX2 Auxiliary 2 Status word see Table 81 on Page 442 4 AUX3 Auxiliary 3 Status word see Table 82 on Page 442 Table 84 Event Type 0 CLEAR Bit was cleared 1 SET Bit was set Field Field type Data Description Format Binary Binary Bytes Offset 1 RXSTATUSEVENT Log header H 0 header 2 word The status word that generated the event Enum 4 H message see Table 83 above 3 bit position Location of the bit in the status word see Ulong 4 H 4 Table 79 starting on Page 440 for the receiver status table or the auxiliary status tables on Page 442 4 event Event type see Table 84 above Enum 4 H 8 3 description This is
200. C gt gt 8 amp OxOOFFFFFFL ulTemp2 CRC32Value int ulCRC ucBuffert amp Oxff ulCRC ulTemp1 ulTemp2 return ulCRC lt The NMEA checksum is an XOR of all the bytes including delimiters such as but excluding the and in the message output It is therefore an 8 bit and not a 32 bit checksum for NMEA logs At the time of writing a log may not yet be available Every effort is made to ensure that examples are correct however a checksum may be created for promptness in publication In this case it will appear as 9999 Example BESTPOSA and BESTPOSB from an OEMV family receiver ASCII BESTPOSA COM2 0 77 5 FINESTEERING 1285 160578 000 00000020 5941 1164 SOL_COMPUTED SINGLE 51 11640941570 114 03830951024 1062 6963 16 2712 WGS84 1 6890 1 2564 2 7826 0 000 0 000 10 10 0 0 0 0 0 0 2212A3C3 BINARY Oxaa 0x44 0x12 Oxlc Ox2a 0x 00 0x02 0x42 0x48 0x00 0x00 0x00 0x96 Oxb4 0x05 0x05 0x90 0x32 Ox8e 0x09 0x20 0x00 0x00 0x00 0x41 0x59 0x8c 0x04 0x00 0x00 0x00 0x00 0x10 0x00 0x00 0x00 0x03 Ox9a 0x8a OX8a Oxe6 0x8e 0x49 0x40 Oxeb 0xd8 0xe7 0xb2 0x73 0x82 Ox5c 0xc0 0x00 0xb0 Oxdd Oxa2 0x37 0x9b 0x90 0x40 0x80 0x2b 0x82 Oxcl 0x3d 0x00 0x00 0x00 Ox9d Oxda Ox3 0xf7 0x58 Oxal 0x3f 0x3f Oxf4 0x32 0x89 0x40 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x0a 0x0a 0x00 0x00 0x00 0x00 0x00
201. CEF Long 4 H 80 0 125 23 dy1 Delta y ECEF Long 4 H 84 0 125 24 dz1 Delta z ECEF Long 4 H 88 0 125 25 daf Delta af clock offset Long 4 H 92 931 26 mask2 Second index into PRN mask Ulong 4 H 96 Type 1 Continued on Page 497 496 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Field Field type Data Description Format kA Scaling 27 iode2 Second issue of ephemeris data Ulong H 100 28 ddx Delta delta x ECEF Long H 104 9 11 29 ddy Delta delta y ECEF Long H 108 9 11 30 ddz Delta delta z ECEF Long H 112 9 11 31 daf Delta af clock offset Long H 116 239 32 to Applicable time of day Ulong H 120 16 33 iodp Issue of PRN mask data Ulong H 124 34 corr spare Spare value when velocity code is Ulong H 128 equal to 0 35 XXXX 32 bit CRC ASCII and Binary only Hex H 132 36 CR LF Sentence terminator ASCII only H 136 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 497 Chapter 3 DataLogs 3 3 117 WAAS25 Long Term Slow Satellite Corrections V123_SBAS WAAS25 provides error estimates for slow varying satellite ephemeris and clock errors with respect to WGS 84 ECEF coordinates Message ID 298 Log Type Asynch Recommended Input log WAAS25a onchanged ASCII Example WAAS25A COM1 0 37 5 SATTIME 1337 417193 000 00000000 b8ff 1984 134 1 19 25 1 3 0 15 0 0 0 1 1 2 4465 2 0 1 0 0
202. CII only a Inthe binary log case an additional byte of padding is added to maintain 4 byte alignment 414 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 84 RTCMDATA1004 Expanded L1 L2 GPS RTK Observables V123_RT20 V23_RT2 This log is available at the base station See Section 3 3 80 starting on Page 405 for information on RTCM Version 3 0 standard logs Message ID Log Type 787 Synch Recommended Input log rtemdata1004a ontime 7 ASCII Example RTCMDAT 0 0 2384 A1004A COM1 0 83 5 FINESTEERING 1317 238497 000 00180040 5500 1855 97000 0 7 0 0 7 21 0 3492634 1536 98 0 202 0 169 1904 96 175 270103 16 0 97 4064 3500 99 0 195 0 192 1385 96 165 3480 7187 65 0 164 0 80 6159 65 148 29 0 11686252 1601 95 0 163 0 24 932 94 164 6 0 105 1647 3261 99 0 206 0 115 3375 96 188 10 0 1964375 2688 99 0 200 0 120 2779 96 178 30 0 9085068 4078 98 0 190 0 50 2990 96 167 91c8cb6d E i Message Type 1004 provides fuller data content than Message Type 1003 see Page 413 The longer observation messages do not change very often and can be sent less often OEMV Family Firmware Version 3 000 Reference Manual Rev 2 415 Chapter 3 DataLogs Field Field type Data Description Format Binary Binary yP p Bytes Offset 1
203. CLOCKADJUST command disable the clocksteering process if external clocksteering is not used Theory An unsteered oscillator can be approximated by a three state clock model with two states representing the range bias and range bias rate and a third state assumed to be a Gauss Markov GM process representing the range bias error generated from satellite clock dither The third state is included because the Kalman filter assumes an unmodeled white input error The significant correlated errors produced by satellite clock dither are obviously not white and the Markov process is an attempt to handle this kind of short term variation The internal units of the new clock model s three states offset drift and GM state are meters meters per second and meters When scaled to time units for the output log these become seconds seconds per second and seconds respectively Note that the old units of the third clock state drift rate were meters per second per second The user has control over 3 process noise elements of the linear portion of the clock model These are the hg h_ _ and h_ elements of the power law spectral density model used to describe the frequency noise characteristics of oscillators E EE ETA E N a e e oth frhof f OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 where fis the sampling frequency and S f is the clock s power spectrum Typically only ho h_ and h_ affect
204. CONHIG log on Page 253 lt I 1 The COMCONTROL command see Page 77 may conflict with handshaking of the selected COM port If handshaking is enabled then unexpected results may occur 2 Baud rates higher than 115 200 bps are not supported by standard PC hardware Special PC hardware may be required for higher rates including 230400 bps 460800 bps and 921600 bps Also some PC s have trouble with baud rates beyond 57600 bps Abbreviated ASCII Syntax Message ID 4 COM port bps parity databits stopbits handshake echo break Factory Default com coml 9600 n 8 1 n off on com com2 9600 n 8 1 n off on com com3 9600 n 8 1 n off on com aux 9600 n 8 1 n off on ASCII Example com com1 57600 n 8 1 n off on SSS EEE ES 6 Watch for situations where the COM ports of two receivers are connected together and the baud rates do not match Data transmitted through a port operating ata slower baud rate may be misinterpreted as break signals by the receiving port if it is operating at a higher baud rate This is because data transmitted at the lower baud rate is stretched relative to the higher baud rate In this case configure the receiving port to have break detection disabled using the COM command OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 Table 15 COM Serial Port Identifiers 1 COM1 COM port 1 2 COM2 COM port 2 3 COM3 COM port 3 6 THISPORT The curr
205. Char 16 16 H 40 Log Field Formats on Page 459 7 sw version Firmware software version see Table 88 Char 16 16 H 56 8 boot version Boot code version see Table 88 Char 16 16 H 72 9 comp date Firmware compile date see Table 88 Char 12 12 H 88 10 comp time Firmware compile time see Table 88 Char 12 12 H 100 11 Next component offset H 4 comp x 108 variable XXXX 32 bit CRC ASCII and Binary only Hex 4 H 4 comp x 108 variable CR LF Sentence terminator ASCII only 460 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 102 VISIONSOL Computed Vision Solutions V123 This log contains the Vision computed multipath parameters for each satellite being tracked The parameters include signal delay amplitude and phase angle for the direct and multipath signals Message ID 760 Log Type Polled Recommended Input log visionsol ontime 1 ASCII Example VISIONSOLA COM1 0 23 5 FINESTEERING 1362 340354 000 00000008 e3f2 2291 10 2 15 TRUE 4 415565 0 50883931 0 570029 10 915567 0 49588993 0 578483 0 00078964 4 26 TRUE 3 915565 0 53295183 0 321123 8 915565 0 21457335 0 750908 0 00068092 6 3 TRUE 4 415565 0 36919367 0 679278 13 915567 0 56887949 0 451271 0 00418663 8 18 TRUE 4 415565 0 29562461 0 635133 13 915567 0 43128899 0 439002 0 00041831 0 6 TRUE 4 215567 0 29323801 0 507908 10 715567 0 27479428 0 528593 0 00119889 2 16 TRUE 3 9155
206. D 402 Log Type Synch Recommended Input log rtcmdata3a ontime 10 ASCII Example RTCMDATA3A COM1 0 74 0 FINESTEERING 1117 160636 477 00100020 2e19 399 111770737277 160636477 180767 163452535 7607752382755280 366461076 2499782443046570 494248361 4689489603042603 f621f163 Use this log to see what base station information is being received by your rover receivers OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Binary Binary Field Field type Data Description Format Bytes Offset 1 RTCMDATAS3 Log header H 0 header 2 RTCM header RTCM message type Ulong 4 H 3 Base station ID Ulong 4 H 4 4 Modified Z count where the Z count week Ulong 4 H 8 number is the week number from subframe 1 of the ephemeris 5 Sequence number Ulong 4 H 12 6 Length of frame Ulong 4 H 16 7 Base station health see REFSTATION on Ulong 4 H 20 Page 365 8 ECEF X Base station ECEF X coordinate 1 100 m Double 8 H 24 9 ECEF Y Base station ECEF Y coordinate 1 100 m Double 8 H 32 10 ECEF Z Base station ECEF Z coordinate 1 100 m Double 8 H 40 11 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 48 12 CR LF Sentence terminator ASCII only OEMV Family Firmware Version 3 000 Reference Manual Rev 2 381 Chapter 3 Data Logs 3 3 73 RTCMDATAY Partial Differential GPS Corrections V23_ DGPS See Section 3 3 7
207. D 429 ADJUSTIPPS mode period offset Factory Default adjustlpps off ASCII Example adjustlpps mark continuous 240 50 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 ee You can use the ADJUST1PPS command to synchronize two OEMV cards in a primary secondary relationship to a common external clock At the Primary Receiver log com2 timea ontime 10 clockadjust disable externalclock ocxo you can choose rubidium cesium or user instead externalclock frequency 10 you can choose 5 instead At the Secondary Receiver accept com2 commands clockadjust disable adjustlpps enable externalclock ocxo you can choose rubidium cesium or user instead externalclock frequency 10 you can choose 5 instead Connections e Null modem cable connected from Primary COM2 to Secondary COM2 e OCXO signal sent through a splitter to feed both the Primary and Secondary external clock inputs e Primary 1PPS pin 2 connected to Secondary MKI Mark Input pin 4 e GPS signal sent through another splitter to feed both the Primary and Secondary RF connector that is both receivers must share the same antenna zero baseline Make sure that you connect everything before you apply power If power is applied and the OEMV receivers have acquired satellites before the OCXO and or 1PPS MKI is set up the times reported by the TIME logs still diverge We noted that after the clock model was stabi
208. D action Factory Default rtkcommand use _ defaults ASCII Example rtkcommand reset Message ID 97 See the descriptions for the above commands in the following pages Field Type ASCII Value Value RTKCOMMAND header Binary Description Binary Binary Binary Format Bytes Offset This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively H 0 type USE_DEFAULTS 0 Reset to defaults RESET 1 Reset RTK algorithm Enum OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 2 5 46 RTKDYNAMICS Set the RTK dynamics mode V123_RT20 or V23_RT2 This command provides the ability to specify how the receiver looks at the data There are three modes STATIC DYNAMIC and AUTO The STATIC mode forces the RTK software to treat the rover station as though it were stationary regardless of the output of the motion detector DYNAMIC forces the software to treat the receiver as though it were in motion If the receiver is undergoing very slow steady motion lt 2 5 cm s for more than 5 seconds you should use DYNAMIC mode as opposed to AUTO to prevent inaccurate results and possible resets On start up the receiver defaults to the DYNAMIC setting lt For reliable performance the antenna should not move more than 1 2 cm when in static mode Abbrevia
209. DE command 107 forest 505 format 17 19 28 31 324 frame decoder number WAAS 464 framing error 332 frequency 108 367 FREQUENCYOUT command 108 FRESET command 111 113 G Galileo and RTCM Version 3 0 418 420 generic data formats 122 298 geodetic datum see datum geoid 34 104 180 216 273 277 geometric bias 216 GLOALMANAC log 255 GLOCLOCK log 257 Index GLOCSMOOTH command 115 GLOECUTOFF command 116 GLOEPHEMERIS log 259 GLONASS almanac 255 antenna 192 elevation cut off 116 logs 255 269 RTCM 399 RTCM V3 398 418 421 SBAS 489 491 GLORAWALM log 263 GLORAWEPHEM log 265 GLORAWFRAME log 267 GLORAWSTRING log 269 GPGGA log 274 GPGGALONG log 274 GPGGARTK log 272 GPGLL log 278 GPGRS log 280 GPGSA log 282 GPGST log 284 GPGSV log 286 GPRMB log 288 GPRMC log 290 GPS overview 26 28 GPS Reference Manual 214 345 GPSEPHEM log 292 GPVTG log 296 GPZDA log 297 graphical display 321 great circle line 173 174 322 H handshaking 75 77 hardware parameter 436 reset 33 152 version 196 460 harvesting 505 HDOP see dilution of precision header ascii 17 18 24 binary 15 24 convention 13 log 343 heading 132 198 227 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 525 Index health almanac 271 base station 203 365 satellite 215 448 455 status 294 height approximate 170 base antenna 401 calculate 104 180 ellipsoid 155 fix 33
210. Degradation factor indicator for the prn in slot i i 0 50 7 al 1 Ulong 4 H 20 8 al 2 Ulong 4 H 24 9 al 3 Ulong 4 H 28 10 al 4 Ulong 4 H 32 11 al 5 Ulong 4 H 36 12 al 6 Ulong 4 H 40 13 al 7 Ulong 4 H 44 14 al 8 Ulong 4 H 48 15 al 9 Ulong 4 H 52 16 al 10 Ulong 4 H 56 17 al 11 Ulong 4 H 60 18 al 12 Ulong 4 H 64 19 al 13 Ulong 4 H 68 20 al 14 Ulong 4 H 72 21 al 15 Ulong 4 H 76 22 al 16 Ulong 4 H 80 23 al 17 Ulong 4 H 84 24 al 18 Ulong 4 H 88 25 al 19 Ulong 4 H 92 26 al 20 Ulong 4 H 96 Continued on Page 484 Oo OEMV Family Firmware Version 3 000 Reference Manual Rev 2 483 Chapter 3 DataLogs Binary Binary Field Field type Data Description Format Bytes Offset 27 al 21 al i Ulong 4 H 100 28 al 22 Degradation factor indicator for the Ulong 4 H 104 29 al 23 Sens hee Ulong 4 H 108 30 al 24 Ulong 4 H 112 31 al 25 Ulong 4 H 116 32 al 26 Ulong 4 H 120 33 al 27 Ulong 4 H 124 34 al 28 Ulong 4 H 128 35 al 29 Ulong 4 H 132 36 al 30 Ulong 4 H 136 37 al 31 Ulong 4 H 140 38 al 32 Ulong 4 H 144 39 al 33 Ulong 4 H 148 40 al 34 Ulong 4 H 152 41 al 35 Ulong 4 H 156 42 al 36 Ulong 4 H 160 43 al 37 Ulong 4 H 164 44 al 38 Ulong 4 H 168 45 al 39 Ulong 4 H 172 46 al 40 Ulong 4 H 176 47 al 41
211. Description Format Data Logs Binary Binary Bytes Offset 1 BESTUTM Log header H 0 header 2 sol status Solution status see Table 45 Solution Status on Enum 4 H Page 221 3 pos type Position type see Table 44 Position or Velocity Enum 4 H 4 Type on Page 220 4 z Longitudinal zone number Ulong 4 H 8 5 zletter Latitudinal zone letter Ulong 4 H 12 6 northing Northing m where the origin is defined as the Double 8 H 16 equator in the northern hemisphere and as a point 10000000 metres south of the equator in the southern hemisphere that is a false northing of 10000000 m 7 easting Easting m where the origin is 500000 m west of Double 8 H 24 the central meridian of each longitudinal zone that is a false easting of 500000 m 8 hgt Height above mean sea level Double 8 H 32 9 undulation Undulation the relationship between the geoid and Float 4 H 40 the ellipsoid m of the chosen datum 10 datum id Datum ID number see Chapter 2 Table 20 Datum Enum 4 H 44 Transformation Parameters on Page 86 11 No Northing standard deviation Float 4 H 48 12 Eo Easting standard deviation Float 4 H 52 13 hgt o Height standard deviation Float 4 H 56 14 stn id Base station ID Char 4 4 H 60 15 diff_age Differential age in seconds Float 4 H 64 16 sol_age Solution age in seconds Float 4 H 68 17 obs Number of satellites tracked Uchar 1 H 72 18
212. EMV Family Firmware Version 3 000 Reference Manual Rev 2 471 Chapter 3 DataLogs 3 3 107 WAAS4_ Fast Correction Slots 26 38 V123_SBAS WAAS4 are fast corrections for slots 26 38 in the mask of WAAS1 This message may or may not come when SBAS is in testing mode see the SBASCONTROL on Page 164 command for details Message ID 302 Log Type Asynch Recommended Input log WAAS4a onchanged ASCII Example WAAS4A COM1 0 58 0 SATTIME 1093 163399 000 00000020 b4b0 209 122 0 3 2047 3 1 2047 2047 2047 3 1 5 3 3 2047 2 14 3 3 14 14 14 6 3 4 5 4 14 3 2e0894b1 ee eel 6 Each raw WAAS frame gives data for a specific frame decoder number The WAAS4 message can be logged to view the data breakdown of WAAS frame 4 which contains information on fast correction slots 26 38 472 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Binary Binary Field Field type Data Description Format Bytes Offset Scaling 1 WAAS4 Log header H 0 header 2 prn Source PRN of message Ulong 4 H 3 iodf Issue of fast corrections data Ulong 4 H 4 4 iodp Issue of PRN mask data Ulong 4 H 8 5 prc26 pre i Long 4 H 12 6 prc27 Fast corrections 2048 to 2047 Long 4 H 16 7 pre28 for the prn in slot i i 26 38 isn i H20 j 8 prc29 Long 4 H 24 9 prc30 Long 4 H 28 10 prc31 Long 4 H 32 11 prc32 L
213. ESTEERING 1337 410010 000 00000000 9924 1984 VALID 1 953377165e 09 7 481712815e 08 12 99999999492 2005 8 25 17 53 17000 VALID e2 c088c E i Consider the case where you used the ADJUST1PPS command see Page 49 to synchronize two receivers in a primary secondary relationship to a common external clock You can use the TIME log after the clock model has stabilized at state 0 to monitor the time difference between the Primary and Secondary receivers OEMV Family Firmware Version 3 000 Reference Manual Rev 2 451 Chapter 3 DataLogs Binary Binary Field Field type Data Description Format Bytes Offset 1 TIME Log header H 0 header 2 clock Clock model status not including current Enum 4 H status measurement data see Table 46 on Page 236 3 offset Receiver clock offset in seconds from GPS time Double 8 H 4 A positive offset implies that the receiver clock is ahead of GPS time To derive GPS time use the following formula GPS time receiver time offset 4 offset std Receiver clock offset standard deviation Double 8 H 12 5 utc offset The offset of GPS time from UTC time computed Double 8 H 20 using almanac parameters UTC time is GPS time plus the current UTC offset plus the receiver clock offset UTC time GPS time offset UTC offset 6 utc year UTC year Ulong 4 H 28 7 utc month UTC month 0 12 Uchar 1 H 32 8 utc day UTC day 0 31 Uchar 1 H 33
214. EW 0 000000 0 000000 NOHOLD a739272d 6692c084 RXCONFIGA COM1 0 47 5 F INESTEERING 1337 400416 370 00000000 702 1984 LOGA COM1 0 47 5 FINESTEERING 1337 400416 370 00000000 702 1984 COM2 PASSCOM2A ONCHANGED 0 000000 0 000000 NOHOLD 55fc0c62 17086d18 a eee 6 The RXCONFIG log can be used to ensure that your receiver is set up correctly for your application 1 The embedded CRCs are flipped to make the embedded messages recognizable to the receiver For example consider the first embedded message above 91 89b07 10010001111110001001101100000111 11100000110110010001111110001001 e0d9 1f89 Its CRC is really e0d91f89 434 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Field Ae Binary Binary Field type Data Description Format Bytes Offset 1 RXCONFIG Log header a H 0 header 2 e header Embedded header h H 3 e msg Embedded message Varied a H h 4 XXXX Embedded inverted 32 bit CRC ASCII and Long 4 H h a Binary only The embedded CRC is inverted so that the receiver does not recognize the embedded messages as messages to be output but continues with the RXCONFIG message If you wish to use the messages output from the RXCONFIG log simply flip the embedded CRC around for individual messages 5 XXXX 32 bit CRC ASCII and Binary only Hex 4 H h a 4 6 CR LF Sentence terminator ASCII only OEMV Family Firmware Ve
215. Enum 4 H 96 0 FALSE 1 TRUE 27 Reserved Ulong 4 H 100 28 L2 r offset L2 range offset 1 100 meters Long 4 H 104 29 L2 c offset L2 carrier offset 1 256 cycles Long 4 H 108 30 L2 S No L2 signal to noise density ratio Ulong 4 H 112 31 L2 slip L2 cycle slip count number of times Ulong 4 H 116 that tracking has not been continuous 32 Next PRN offset H 48 prns x 72 variable XXXX 32 bit CRC ASCII and Binary only Hex 4 variable variable CR LF Sentence terminator ASCII only OEMV Family Firmware Version 3 000 Reference Manual Rev 2 247 Chapter 3 DataLogs 3 3 13 CMRDATAREF Base Station Position V123_RT20 or V23_RT2 248 See Section 3 3 10 CMR Standard Logs starting on Page 242 for information on CMR standard logs See also Figure 8 on Page 232 for a definition of the ECEF coordinates Message ID 391 Log Type Synch Recommended Input log cmrdatarefa ontime 10 ASCII Example CMRDATAREFA COM1 0 70 0 FINESTEERING 1269 147115 000 00100000 5db6 1516 2 0 147 25 3 0 1 FALSE FALSE 0 TRUE 0 234000 1 0 1634529233 1026337146759033 0 3664611941 5660152435302734 0 2054717277 0 15 0 c21a9c26 ey 6 The CMRDATAREF log is analogous to the RTCADATAREF log when using RTCA messages In the CMR format description the CMRDATAREF log is referred to as Type 1 Table 49 Position Accuracy 0 Unknown 1 5 km 2 1 km 3 500 m 4 100 m 5 50 m 6 10m 7 5m
216. Example setrtcml6 base station will shut down in 1 hour Field ASCII Binary Type Value Value Binary Binary Binary Field Format Bytes Offset Description SETRTCM16 header This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 text Maximum 90 The text string String Vari Vari character string max 90 able able a Inthe binary log case additional bytes of padding are added to maintain 4 byte alignment OEMV Family Firmware Version 3 000 Reference Manual Rev 2 175 Chapter 2 Commands 176 2 5 59 STATUSCONFIG Configure RXSTATUSEVENT mask fields V123 This command is used to configure the various status mask fields in the RXSTATUSEVENT log see Page 445 These masks allow you to modify whether various status fields generate errors or event messages when they are set or cleared Receiver Errors automatically generate event messages These event messages are output in RXSTATUSEVENT logs It is also possible to have status conditions trigger event messages to be generated by the receiver This is done by setting clearing the appropriate bits in the event set clear masks The set mask tells the receiver to generate an event message when the bit becomes set Likewise the clear mask causes messages to be generated when a bit is cleared If you wish to disable all the
217. F Sentence terminator ASCII only 254 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 16 GLOALMANAC Decoded Almanac V23_G The GLONASS almanac reference time and week are in GPS time coordinates GLONASS ephemeris information is available through the GLOEPHEMERIS log Nominal orbit parameters of the GLONASS satellites are as follows Draconian period 11 hours 15 minutes 44 seconds see fields 14 and 15 on Page 256 Orbit altitude 19100 km Inclination 64 8 see field 11 Eccentricity 0 see field 12 Message ID 718 Log Type Asynch Recommended Input log gloalmanaca onchanged ASCII Example GLOALMANACA COM1 0 52 5 SATTIME 1364 410744 000 00000000 ba83 2310 24 364 336832 625 1 2 0 0 2018 625000000 2 775537500 0 028834045 0 001000404 2 355427500 2656 076171875 0 000000000 0 000091553 364 341828 437 2 1 0 0 7014 437500000 3 122226146 0 030814438 0 004598618 650371580 2656 160156250 0 000061035 0 000095367 364 347002 500 3 12 0 0 12188 500000000 2 747629236 0 025376596 0 002099991 2 659059822 2656 076171875 0 000061035 0 000198364 364 351887 125 4 6 0 0 17073 125000000 2 427596502 0 030895332 0 004215240 438586358 2656 167968750 0 000061035 0 000007629 1364 364031 187 23 11 0 1 29217 187500000 0 564055522 0 030242192 0 001178741 2 505278248 2655 957031250 0 000366211 0 000019073 1364 334814 000 24 3 0
218. GPGST 141451 00 1 18 0 00 0 00 0 0000 0 00 0 00 0 00 6B JE 6 Please see the GPGGA usage box that applies to all NMEA logs on Page 272 6 Accuracy is based on statistics reliability is measured in percent When a receiver says that it can measure height to one meter this is an accuracy Usually this is a one sigma value one SD A one sigma value for height has a reliability of 68 In other words the error is less than one meter 68 of the time For a more realistic accuracy double the one sigma value one meter and the result is 95 reliability error is less than two meters 95 of the time Generally GPS heights are 1 5 times poorer than horizontal positions As examples of statistics the GPSGST message and NovAtel performance specifications use root mean square RMS Specifications may also be quoted in CEP values e RMS root mean square a probability level of 68 e CEP circular error probable the radius of a circle such that 50 of a set of events occur inside the boundary 284 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Field Structure Field Description Symbol Example 1 GPGST Log header GPGST 2 utc UTC time of position hours minutes seconds hhmmss ss 173653 00 decimal seconds 3 rms RMS value of the standard deviation of the range x x 2 73 inputs to the navigation process Range inputs include pseudor
219. GPSL1 L1 version of the RANGE log Synch Continued on Page 201 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 RAWALM Raw almanac Asynch RAWEPHEM Raw ephemeris Asynch RAWGPSSUBFRAME Raw subframe data Asynch RAWGPSWORD Raw navigation word Asynch RAWWAASFRAME Raw SBAS frame data Asynch SATVIS Satellite visibility Synch SATXYZ SV position in ECEF Cartesian Synch coordinates TRACKSTAT Satellite tracking status Synch VISIONSOL Computed Vision solution Polled WAASO Remove PRN from the solution Asynch WAAS1 PRN mask assignments Asynch WAAS2 Fast correction slots 0 12 Asynch WAAS3 Fast correction slots 13 25 Asynch WAAS4 Fast correction slots 26 38 Asynch WAAS5 Fast correction slots 39 50 Asynch WAAS6 Integrity message Asynch WAAS7 Fast correction degradation Asynch WAAS9 GEO navigation message Asynch WAAS10 Degradation factor Asynch WAAS12 SBAS network time and UTC Asynch WAAS17 GEO almanac message Asynch WAAS18 IGP mask Asynch Continued on Page 202 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 201 Chapter 3 202 Data Logs WAAS24 Mixed fast slow corrections Asynch WAAS25 Long term slow satellite corrections Asynch WAAS26 lonospheric delay corrections Asynch WAAS27 SBAS service message Asynch WAAS32 CDGPS fast correction slots 0 10 Asynch WAAS33 CDGPS fast correction slots 11
220. GPSL1 Number of GPS L1 ranges used in computation Uchar 1 H 73 19 L1 Number of GPS L1 ranges above the RTK mask Uchar 1 H 74 angle 20 L2 Number of GPS L2 ranges above the RTK mask Uchar 1 H 75 angle Continued on Page 224 224 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Binary Binary Field Field type Data Description Format Bytes Offset 21 Reserved Uchar 1 H 76 22 Uchar 1 H 77 23 Uchar 1 H 78 24 Uchar 1 H 79 25 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 80 26 CR LF Sentence terminator ASCII only a When using a datum other than WGS84 the undulation value also includes the vertical shift due to differences between the datum in use and WGS84 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 225 Chapter 3 Data Logs 3 3 5 BESTVEL Best Available Velocity Data V123 226 This log contains the best available velocity information computed by the receiver In addition it reports a velocity status indicator which is useful in indicating whether or not the corresponding data is valid The velocity measurements sometimes have a latency associated with them The time of validity is the time tag in the log minus the latency value See also the table footnote for velocity logs on Page 198 The velocity is typically computed from the average change in pseudorange over the time interval or the RTK Low Latency filter As such it is
221. H 3 ms Number of milliseconds into the GPS week Ulong 4 H 4 4 time status GPS Time Status see Table 7 GPS Time Enum 4 H 8 Status on Page 26 5 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 12 6 CR LF Sentence terminator ASCII only OEMV Family Firmware Version 3 000 Reference Manual Rev 2 453 Chapter 3 Data Logs 3 3 99 TRACKSTAT Tracking Status V123 454 This log provides channel tracking status information for each of the receiver parallel channels If both the L1 and L2 signals are being tracked for a given PRN two entries with the same PRN appear in the tracking status log As shown in Table 63 Channel Tracking Status on Page 346 these entries can be differentiated by bit 20 which is set if there are multiple observables for a given PRN and bits 21 22 which denote whether the observation is for L1 or L2 This is to aid in parsing the data Message ID 83 Log Type Synch Recommended Input log trackstata ontime 1 ASCII Example TRACKSTATA COM1 0 49 5 FINESTEERING 1337 410139 000 00000000 457c 1984 SOL_COMPUTED PSRDIFF 5 0 30 1 0 18109c04 21836080 582 2241 711 50 087 1158 652 0 722 GO00D 0 973 1 0 11309c0b 21836083 168 1746 788 42 616 1141 780 0 000 OBSL2 0 000 30 0 18109c24 24248449 644 2588 133 45 237 939 380 0 493 GOOD 0 519 30 0 11309c2b 24248452 842 2016 730 38 934 939 370 0 000 O0BSL2 0 000 14 0 18109da4 24747286 206 3236 906 46 650 1121 760
222. H 20 on Page 365 8 prn Number of PRNs with information to Ulong 4 H 24 follow 9 Reserved Ulong 4 H 28 10 sat type Satellite type where Ulong 4 H 32 0 GPS 1 GLONASS 11 PRWN slot Satellite PRN number of range Ulong 4 H 36 measurement GPS 1 32 and SBAS 120 to 138 For GLONASS see Section 1 3 on Page 25 12 ion delay lonospheric delay cm Ulong 4 H 40 13 ion rate lonospheric rate 0 05 cm min Long 4 H 44 14 Next PRN offset H 28 prns x 20 variable XXXX 32 bit CRC ASCII and Binary only Hex 4 variable variable CR LF Sentence terminator ASCII only OEMV Family Firmware Version 3 000 Reference Manual Rev 2 387 Chapter 3 DataLogs 3 3 75 RTCMDATA16 Special Message V123_DGPS 388 See Section 3 3 70 starting on Page 375 for information on RTCM standard logs RTCM16 Special Message This log contains a special ASCII message that can be displayed on a printer or cathode ray tube The base station wishing to log this message out to rover stations that are logged onto a computer must use the SETRTCM16T command to set the required ASCII text message Once set the message can then be issued at the required intervals with the LOG port RTCM16 interval command The Special Message setting can be verified in the RXCONFIGA log see Page 434 The received ASCII text can be displayed at the rover by logging RTCM16T ONNEW The RTCM16 data log follows the RTCM Standard Format Words 1 and 2 contain RTCM
223. HOLD Allow log to be removed by Enum 4 H 28 the UNLOGALL command 1 HOLD Prevent log from being removed by the default UNLOGALL command a Refer to the Technical Specifications appendix in the OEMV Family Installation and Operation User Manual for more details on the MK11 pin ONMARK only applies to MK1I Events on MK2l if available do not trigger logs when ONMARK is used Use the ONNEW trigger with the MARKTIME MARK2TIME MARKPOS or MARK2POS logs b See Appendix A in the OEMV Family Installation and Operation User Manual for the maximum raw measurement rate to calculate the minimum period If the value entered is lower than the minimum measurement period the value is ignored and the minimum period is used OEMV Family Firmware Version 3 000 Reference Manual Rev 2 129 Chapter 2 Commands Field ASCII Ba Field Field Name Value Description Type 1 LOG This field contains the command name or the ASCII message header depending on whether the header command is abbreviated ASCII or ASCII respectively 2 port See Table 15 COM Output port Enum Serial Port Identifiers default THISPORT on Page 75 3 message Any valid message Message name of log to output Char name with an optional Aor B suffix 4 trigger ONNEW Output when the message is updated not Enum necessarily changed ONCHANGED Output when the message is changed ONTIME Output on a
224. I O port Use a cable that is compatible to both the receiver and the device A MARKIN pulse can be a trigger from the device to the receiver See also the MARKPOS and MARKTIME logs starting on Page 312 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 135 Chapter 2 Commands Field ASCII Binary Type Value Value Binary Binary Binary Field Format Bytes Offset Description 1 MARKCONTROL This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 signal MARK1 1 Specifies which mark input Enum 4 H the command should be MARK2 2 applied to Set to MARK1 for the MK1I input and MARK2 for MK2l Both mark inputs have 10K pull up resistors to 3 3 V and are leading edge triggered 3 switch DISABLE 0 Disables or enables Enum 4 H 4 processing of the mark ENABLE 1 input signal for the input specified If DISABLE is selected the mark input signal is ignored The factory default is ENABLE 4 polarity NEGATIVE 0 Optional field to specify the Enum 4 H 8 polarity of the pulse to be POSITIVE 1 received on the mark input See Figure 4 for more information If no value is specified the default NEGATIVE is used 5 timebias Any valid long value Optional value to specify Long 4 H 12 an offset in nanoseconds to be applied to the time the mark input pulse occurs If no value is supp
225. I only OEMV Family Firmware Version 3 000 Reference Manual Rev 2 359 Chapter 3 DataLogs 3 3 61 RAWLBANDFRAME Raw L Band Frame Data V13_CDGPS This log contains the raw L Band frame data if you are tracking CDGPS The RAWLBANDPACKET is output for OmniSTAR tracking lt 1 Inaddition to a NovAtel receiver with L Band capability use of the free CDGPS service is required Contact NovAtel for details Contact information may be found on the back of this manual or you can refer to the Customer Service section in the OEMV Family Installation and Operation User Manual 2 Please use the RAWLBANDPACKET log for raw OmniSTAR frame data see Page 362 Message ID 732 Log Type Asynch Recommended Input log rawlbandframea onnew ASCII Example RAWLBANDFRAMEA COM2 0 73 5 F INESTEERING 1295 152802 068 00000040 4 80 34461 9 lale 600 f6 00 62 35 c8 cd 34 e7 6a al 37 44 8f a8 24 71 90 00 5f 94 2d 94 3c 74 9c 0 12 a3 4c a7 30 aa b6 2e 27 dd dc 24 ba d3 76 8d 76 d9 e7 83 1la c8 81 00 62 1c 69 88 23 70 248 06 c0 fc 8 80 2c 72 1 26 6b c2 5b ec 03 70 d3 3 fe ef 37 3d 17 37 1b cf be af d1 02 15 96 da1 6 58 56 ac bd a3 11 12 d0 3d 11 27 8a 87 28 0c 0f 52 70 b3 2f 0c 0c 62 2d b8 69 6c 52 10 df 7d bb 08 d6 ca a9 5e 77 66 96 c2 a0 63 3b 98 34 bc d5 47 64 e0 00 37 10 4a 7 c1 b6 83 8f 0 6 94 21 ff b4 27 15 b0 60 40 02 b4 af
226. II Example BESTVELA COM1 0 61 0 FINESTEERING 1337 334167 000 00000000 827b 1984 SOL_COMPUTED PSRDIFF 0 250 4 000 0 0206 227 712486 0 0493 0 0 0e68bf 05 ea i Velocity vector speed and direction calculations involve a difference operation between successive satellite measurement epochs and the error in comparison to the position calculation is reduced As a result you can expect velocity accuracy approaching plus or minus 0 03 m s 0 07 m p h or 0 06 knots assuming phase measurement capability and a relatively high measurement rate that is 1 Hz or better by the GPS receiver Direction accuracy is derived as a function of the vehicle speed A simple approach OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 would be to assume a worst case 0 03 m s cross track velocity that would yield a direction error function something like d speed tan 0 03 speed For example if you are flying in an airplane at a speed of 120 knots or 62 m s the approximate directional error will be tan 0 03 62 0 03 degrees Consider another example applicable to hiking at an average walking speed of 3 knots or 1 5 m s Using the same error function yields a direction error of about 1 15 degrees You can see from both examples that a faster vehicle speed allows for a more accurate heading indication As the vehicle slows down the velocity information becomes less and less accurate
227. IMEOUT command see Page 93 See also the table footnote for position logs on Page 198 as well as the MATCHEDPOS PSRPOS and RTKPOS logs on Pages 316 336 and 427 respectively Message ID 42 Log Type Synch Recommended Input log bestposa ontime 1 See Section 2 1 Command Formats on Page 31 for more examples of log requests ASCII Example 1 BESTPOSA COM1 0 65 0 FINESTEERING 1337 332686 000 00000000 4ca6 1984 SOL_COMPUTED SINGLE 51 11636226046 114 03820721629 1063 8624 16 2713 WGS84 2 0389 1 5933 3 1363 0 000 0 000 7 7 0 0 0 0 0 0 b1b0a971 ASCII Example 2 BESTPOSA COM1 0 66 5 FINESTEERING 1337 392222 000 00000000 4ca6 1984 SOL_COMPUTED PSRDIFF 51 11632251940 114 03833688023 1047 6784 16 2711 WGS84 1 0685 0 6363 1 3981 AAAA 9 000 0 000 8 8 0 0 0 0 0 0 1 71a508 1 i Dual frequency GPS receivers offer two major advantages over single frequency equipment 1 lonospheric errors that are inherent in all GPS observations can be modelled and significantly reduced by combining satellite observations made on two different frequencies and 2 Observations on two frequencies allow for faster ambiguity resolution times and the use of On The Fly OTF technology The first feature improves differential GPS accuracy over long baselines typically 10 km or more The effects of the ionosphere at two receivers located a short distance apart is essentially the same at each location As a result these er
228. INFORMATION Message ID 103 CMRREF BASE STATION POSITION INFORMATION Message ID 105 CMRDESC BASE STATION DESCRIPTION INFORMATION Message ID 310 CMRPLUS CMR OUTPUT INFORMATION Message ID 717 The Compact Measurement Record CMR Format is a standard communications protocol used in Real Time Kinematic RTK systems to transfer GPS carrier phase and code observations from a base station to one or more rover stations lt 1 The above messages can be logged with an A or B suffix for an ASCII or Binary output with a NovAtel header followed by Hex or Binary raw data respectively 2 CMRDATA logs output the details of the above logs if they have been sent 3 No guarantee is made that the OEMV will meet its performance specifications if non NovAtel equipment is used 4 Trimble rovers must receive CMRDESC messages from a base The Compact Measurement Record CMR message format was developed by Trimble Navigation Ltd as a proprietary data transmission standard for use in RTK applications In 1996 Trimble publicly disclosed this standard and allowed its use by all manufacturers in the GPS industry The NovAtel implementation allows a NovAtel rover receiver to operate in either RT 2 or RT 20 mode while receiving pseudorange and carrier phase data via CMR messages version 3 0 from a non NovAtel base station receiver The NovAtel receiver can also transmit CMR messages version 3 0 The station ID must be lt 31 when
229. If the vehicle is stopped a GPS receiver still outputs some kind of movement at speeds between 0 and 0 5 m s in random and changing directions This represents the random variation of the static position In a navigation capacity the velocity information provided by your GPS receiver is as or more accurate than that indicated by conventional instruments as long as the vehicle is moving at a reasonable rate of speed It is important to set the GPS measurement rate fast enough to keep up with all major changes of the vehicle s speed and direction It is important to keep in mind that although the velocity vector is quite accurate in terms of heading and speed the actual track of the vehicle might be skewed or offset from the true track by plus or minus 0 to 1 8 meters as per the standard positional errors OEMV Family Firmware Version 3 000 Reference Manual Rev 2 227 Chapter 3 DataLogs Binary Binary Field Field type Data Description Format Bytes Offset 1 BESTVEL Log header H 0 header 2 sol status Solution status see Table 45 Solution Status on Enum 4 H Page 221 3 vel type Velocity type see Table 44 Position or Velocity Enum 4 H 4 Type on Page 220 4 latency A measure of the latency in the velocity time tag in Float 4 H 8 seconds It should be subtracted from the time to give improved results 5 age Differential age in seconds Float 4 H 12 6 hor spd Horizontal speed over ground in meters per Dou
230. K low latency filter is updated at a rate of 2 Hz This translates into a velocity latency of 0 25 seconds The latency can be reduced by increasing the update rate of the RTK low latency filter by requesting the BESTVEL RTKVEL BESTPOS or RTKPOS messages at a rate higher than 2 Hz For example a logging rate of 10 Hz would reduce the velocity latency to 0 05 seconds For integration purposes the velocity latency should be applied to the record time tag Message ID 216 Log Type Synch Recommended Input log rtkvela ontime 1 ASCII Example RIKVELA COM1 0 43 5 FINESTEERING 1364 496137 000 00100000 71e2 2310 SOL_COMPUTED NARROW_INT 0 250 1 000 0 0027 207 645811 0 0104 0 0 551cc42 e U U 6 Consider the case of an unmanned aircraft A differential base station must send data to the remote aircraft In this type of application the aircraft s radio may pass differential data for example RTKVEL to the positioning system so it can process it and generate precise position information for the flight controls OEMV Family Firmware Version 3 000 Reference Manual Rev 2 429 Chapter 3 DataLogs Field et Binary Binary Field type Data Description Format Bytes Offset 1 RTKVEL Log header H 0 header 2 sol status Solution status see Table 45 Solution Statuson Page Enum 4 H 221 3 vel type Velocity type see Table 44 Position or Velocity Type Enum 4 H 4 on
231. L Band Configuration Information V13_VBS V3_HP or V13_CDGPS This log outputs configuration information for an L Band service In the case of using the free CDGPS service no subscription is required and therefore the subscription fields report an UNKNOWN subscription status See also the examples below lt In addition to a NovAtel receiver with L Band capability a subscription to the OmniSTAR or use of the free CDGPS service is required Contact NovAtel for details Contact information may be found on the back of this manual or you can refer to the Customer Service section in the OEMV Family Installation and Operation User Manual Message ID 730 Log Type Asynch Recommended Input log lbandinfoa ontime 1 ASCII Example 1 OmniSTAR HP LBANDINFOA COM2 0 81 5 FINESTEERING 1295 152639 184 00000240 c51d 34461 1547547 4800 c685 0 762640 EXPIRED 0 0 FIXEDTIME 1199 259199 0 8cc5e573 Abbreviated ASCII Example 2 CDGPS LBANDINFO COM1 0 45 5 FINESTEERING 1297 498512 389 00000000 c5ld 34486 1547547 4800 0 0 762640 UNKNOWN 0 0 UNKNOWN 0 0 0 Table 54 L Band Subscription Type 0 EXPIRED The L Band subscription has expired or does not exist 1 FIXEDTIME The L Band subscription expires at a fixed date and time 2 COUNTDOWN The L Band subscription expires after the specified amount of running time 3 COUNTDOWNOVERRUN The COUNTDOWN subscription has expired but has entered a brief grace period
232. LBANDINFO log 300 LBANDSTAT log 303 LED 445 link 167 332 LNA see low noise amplifier 526 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 local horizon 98 lock command 125 out 334 455 reinstate 182 time 456 LOCKOUT command 125 locktime current 347 352 L Band 308 reset to zero 81 115 RTK 410 412 414 log list 309 response messages 518 RTCA 367 RTCM 367 376 377 trigger 195 type 195 LOG command 126 LOGLIST log 309 loss of lock 171 low noise amplifier LNA 32 55 437 LSB 17 M machine guidance 326 magnetic variation 35 131 132 291 322 MAGVAR command 131 map 84 139 190 229 494 mark event 53 136 197 input pulse 312 314 MARKCONTROL command 134 MARKPOS log 312 MARKTIME log 314 mask angle 34 159 231 319 event 438 priority 443 444 RTK 35 WAAS PRN 464 matched update 422 MATCHEDPOS log 316 matrix 236 mean sea level fix 104 273 275 277 Index position 222 224 337 mark 313 match 317 OmniSTAR HP XP 118 327 RTK 428 RTK baseline 153 155 memory buffer space 126 non volatile erase 46 111 restore 141 save almanac 214 configuration 164 meridian UTM 190 message almanac 214 ascii 17 base station 365 format 15 19 28 ID 310 311 length 175 navigation 173 response 24 518 send 167 time stamp 27 trigger 128 130 mode 2 D 283 3 D 283 dynamic 157 158 interface 121 124 operating
233. LOAT and L1L2_FLOAT tell the receiver to only use floating point ambiguities L2 data is required for L1L2_FLOAT DISABLE tells the receiver to turn off RTK processing Abbreviated ASCII Syntax Message ID 184 RTKSOLUTION type Factory Default rtksolution auto ASCII Example rtksolution 11 float Table 34 Type of Carrier Phase Ambiguity AUTO 0 Fixed integer ambiguities for RT 2 L1_FLOAT for RT 20 L1_ FLOAT 1 L1 only floating point ambiguities L1L2_ FLOAT 2 Dual frequency floating point ambiguities reverts to L1_FLOAT for RT 20 DISABLE 3 Disable RTK solutions preas U U i The RTKSOLUTION FLOAT command forces the GPS receiver to only use floating point ambiguities ASCII Binary Description Binary Binary Binary Value Value p Format Bytes Offset 1 RTKSOLUTION This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 type See Table 34 Carrier phase ambiguities type Enum 4 H 160 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 2 5 49 RTKSOURCE Set the RTK correction source V123_RT20 V23_RT2 or V3_HP This command lets you identify from which base station to accept RTK RTCM RTCMV3 RTCA CMR and OmniSTAR HP XP differential corrections This is useful when the receiver is receiving corrections from mult
234. Long 4 H 36 clear which can be set using the STATUSCONFIG command see Page 176 12 aux2stat Auxiliary 2 status word see Table 81 ULong 4 H 40 Auxiliary 2 Status on Page 442 13 aux2stat pri Auxiliary 2 status priority mask which ULong 4 H 44 can be set using the STATUSCONFIG command see Page 176 14 aux2stat set Auxiliary 2 status event set mask which ULong 4 H 48 can be set using the STATUSCONFIG command Continued on Page 444 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 443 Chapter 3 DataLogs Field Field type Data Description Format Binary Binary Bytes Offset 15 aux2stat Auxiliary 2 status event clear mask ULong 4 H 52 clear which can be set using the STATUSCONFIG command 16 aux3stat Auxiliary 3 status word see Table 82 ULong 4 H 56 Auxiliary 3 Status on Page 442 17 aux8stat pri Auxiliary 3 status priority mask which ULong 4 H 60 can be set using the STATUSCONFIG command see Page 176 18 aux3stat set Auxiliary 3 status event set mask which ULong 4 H 64 can be set using the STATUSCONFIG command 19 aux3stat Auxiliary 3 status event clear mask ULong 4 H 68 clear which can be set using the STATUSCONFIG command 20 Next status code offset H 8 stats x 16 variable XXXX 32 bit CRC ASCII and Binary only Hex 4 H 8 stats x 64 variable CR LF Sentence terminator ASCII only 444 OEMV Family Firmware Version 3 000 Refer
235. NG The clock model is iterating towards validity 3 INVALID The clock model is not valid 4 ERROR Clock model error 236 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Message ID 16 Log Type Synch Recommended Input log clockmodela ontime 1 ASCII Example CLOCKMODELA COM1 0 52 0 F INESTEERING 1364 489457 000 80000000 98 9 2310 VALID 0 489457 000 489457 000 7 11142843e 00 6 110131956e 03 4 93391151e 00 3 02626565e 01 2 801659017e 02 2 99281529e 01 2 801659017e 02 2 895779736e 02 1 040643538e 02 2 99281529e 01 1 040643538e 02 3 07428979e 01 2 113 2 710235665e 02 FALSE 3d530b9a ee EEE See SS The CLOCKMODEL log can be used to monitor the clock drift of an internal oscillator once the CLOCKADJUST mode has been disabled Watch the CLOCKMODEL log to see the drift rate and adjust the oscillator until the drift stops OEMV Family Firmware Version 3 000 Reference Manual Rev 2 237 Chapter 3 DataLogs a BIN Binary Binary Field Field type Data Description Format Bytes Offset 1 CLOCKMODEL Log header H 0 header 2 clock status Clock model status as computed from Enum 4 H current measurement data see Table 46 Clock Model Status on Page 236 3 reject Number of rejected range bias Ulong 4 H 4 measurements 4 noise time GPS time of last noise add
236. NovAtel receivers make use of this Message Type 59 for RT20 differential positioning The RTCMDATAS9 log can be used to observe data being used by a rover that is performing RT 20 level positioning and RTCM corrections For example the German SAPOS Satellitenpositionierungsdienst der Deutschen Landesvermessung and ASCOS Satelliten Referenzdienst der E ON Ruhrgas AG OEMV Family Firmware Version 3 000 Reference Manual Rev 2 403 Chapter 3 Data Logs correction networks send their FKP RTK correction parameters using their own message format through RTCM message Type 59 FKP is an acronym for Flachen Korrectur Parameter Plane Correction Parameter Binary Binary Field Field type Data Description Format Bytes Offset 1 RTCMDATA Log header z H 0 59 header 2 RTCM RTCM message type Ulong 4 H header 3 Base station ID Ulong 4 H 4 Modified Z count where the Z count week number is Ulong 4 H 8 the week number from subframe 1 of the ephemeris 5 Sequence number Ulong 4 H 12 6 Length of frame Ulong 4 H 16 7 Base station health see REFSTATION Page 365 Ulong 4 H 20 8 subtype Message subtype Char 4a H 24 9 min psr Minimum pseudorange m Long 4 H 28 10 time offset Time difference between the Z count time and the Long 4 H 32 measurement time where Z count time from subframe 1 of the ephemeris 0 1 s Isb 10 Reserved Ulong 4 H 36 11 prn Num
237. ON 2 Set base to lat lon height with Ellipsoidal height ECEF_BASELINE 3 Set base to ECEF Field Type ASCII Value Binary Value Description Binary Bytes Binary Offset 1 RTKBASELINE This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 type See Table 32 Set baseline type Enum 4 H 3 par1 The baseline parameters are dependant on the Double 8 H 4 type see Table 31 Baseline Parameters on 4 par2 Page 153 They are required when the type is not Double 8 H 12 UNKNOWN 5 par3 Double 8 H 20 6 2Sigma Accuracy 2 sigma 3 Float 4 H 28 dimensional in meters default 0 3 m OEMV Family Firmware Version 3 000 Reference Manual Rev 2 155 Chapter 2 Commands 2 5 45 RTKCOMMAND Reset or set the RTK filter to its defaults V123_RT20 or V23_RT2 Field This command provides the ability to reset the RTK filter and clear any set RTK parameters The RESET parameter causes the RTK algorithm RT 20 or RT 2 whichever is active to undergo a complete reset forcing the system to restart the ambiguity resolution calculations The USE_DEFAULTS command executes the following commands RTKBASELINE UNKNOWN RTKDYNAMICS DYNAMIC RTKELEVMASK AUTO RTKSOLUTION AUTO RT 20 RTKSOLUTION AUTO RT 2 R TKSVENTRIES 12 Abbreviated ASCII Syntax RTKCOMMAN
238. Ox0A Ox0A 0x00 0x00 0x00 0x00 0x00 0x00 unsigned long cre CalculateBlockCRC32 60 buffer cout lt lt hex lt lt cre lt lt endl Please note that this hex needs to be reversed due to Big Endian order where the most significant value in the sequence is stored first at the lowest storage address For example the two bytes required for the hex number 4F52 is stored as 524F OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands 2 1 Command Formats The receiver accepts commands in 3 formats as described in Chapter 1 e Abbreviated ASCII e ASCII e Binary Abbreviated ASCII is the easiest to use for your input The other two formats include a CRC for error checking and are intended for use when interfacing with other electronic equipment Here are examples of the same command in each format Abbreviated ASCII Exam ple LOG COM2 BESTPOSB ONTIME 1 CR ASCII Example LOGA COM2 0 66 BESTPOSB ONTIM Binary Example 0 UNKNOWN 0 15 917 004c0000 5255 32858 COMI E 1 000000 0 000000 NOHOLD F95592DD CR AA44121C 01000240 20000000 1D1D0000 29160000 00004C00 55525A80 20000000 2A000000 02000000 00000000 0000F0O3F 00000000 00000000 00000000 2304B3F1 2 2 Command Settin gs There are several ways to determine the current command settings of the receiver 1 Request an RXCONFIG log see Page 434 This log provides a listing of all commands and their para
239. PRN to a SV channel does not remove the PRN from the search space of the automatic searcher only the SV channel is removed that is the searcher may search and lock onto this PRN on another channel The automatic searcher only searches for PRNs 1 to 32 for GPS channels PRNs 38 to 61 for GLONASS where available and PRNs 120 to 138 for SBAS channels This command may be used to aid in the initial acquisition of a satellite by allowing you to override the automatic satellite channel assignment and reacquisition processes with manual instructions The command specifies that the indicated tracking channel search for a specified satellite at a specified Doppler frequency within a specified Doppler window The instruction remains in effect for the specified SV channel and PRN even if the assigned satellite subsequently sets If the satellite Doppler offset of the assigned SV channel exceeds that specified by the window parameter of the ASSIGN command the satellite may never be acquired or re acquired If a PRN has been assigned to a channel and the channel is currently tracking that satellite when the channel is set to AUTO tracking the channel immediately idles and returns to automatic mode To cancel the effects of ASSIGN you must issue one of the following The ASSIGN command with the state set to AUTO The UNASSIGN command e The UNASSIGNALL command These return SV channel control to the automatic search engine immediately Table 11
240. Page 272 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Field Structure Field Description Symbol Example 1 GPRMC Log header GPRMC 2 utc UTC of position hhmmss ss 140437 00 3 pos status Position status A A A data valid V data invalid 4 lat Latitude DDmm mm IILI 5106 9850961 5 lat dir Latitude direction a N N North S South 6 lon Longitude DDDmm mm yyyyy yy 11402 2998978 7 lon dir Longitude direction a W E East W West 8 speed Kn Speed over ground knots X X 0 046 9 track true Track made good degrees True X X 336 8 10 date Date dd mm yy XXXXXX 060504 11 mag var Magnetic variation degrees X X 16 0 12 var dir Magnetic variation direction E W a E 13 XX Checksum hh 71 14 CR LF Sentence terminator CR LF a Note that this field is the actual magnetic variation East or West and is the inverse sign of the value entered into the MAGVAR command see Page 131 for more information b Easterly variation E subtracts from True course and Westerly variation W adds to True course OEMV Family Firmware Version 3 000 Reference Manual Rev 2 291 Chapter 3 DataLogs 3 3 34 GPSEPHEM Decoded GPS Ephemerides V123 A single set of GPS ephemeris parameters Message ID 7 Log Type Asynch Recommended Input log gpsephema onchanged ASCII Example GPSEPHEMA COM1 12 59 0 SATTIME 1337 397560 000 00000000 91
241. Precise KULUL OEMV Family Firmware Reference Manual OM 20000094 Rev 2 Proprietary Notice OEMV Family of Receivers Firmware Reference Manual Publication Number OM 20000094 Revision Level 2 Revision Date 2006 08 08 This manual reflects firmware version 3 000 Proprietary Notice Information in this document is subject to change without notice and does not represent a commitment on the part of NovAtel Inc The software described in this document is furnished under a licence agreement or non disclosure agreement The software may be used or copied only in accordance with the terms of the agreement It is against the law to copy the software on any medium except as specifically allowed in the license or non disclosure agreement No part of this manual may be reproduced or transmitted in any form or by any means electronic or mechanical including photocopying and recording for any purpose without the express written permission of a duly authorized representative of NovAtel Inc The information contained within this manual is believed to be true and correct at the time of publication NovAtel ProPak RT 20 and RT 2 are registered trademarks of NovAtel Inc OEMV CDU Vision Correlator PAC and GPSAntenna are trademarks of NovAtel Inc All other brand names are trademarks of their respective holders Manufactured and protected under U S Patent Narrow Correlator 5 101 416 5 390 207 5 414 729 5 495 499 5 809
242. ROL Control the PPS output ppscontrol switch polarity rate 614 MARKCONTROL Control the processing of markcontrol signal switch polarity the mark inputs timebias timeguard 652 SBASCONTROL Set SBAS test mode and sbascontrol keyword system prn PRN testmode 691 GGAQUALITY Customize the GPGGA entries pos type1 qual1 pos GPS quality indicator type2 qual2 735 GLOECUTOFF Set the GLONASS gloecutoff angle satellite elevation cut off angle 749 UTMZONE Set UTM parameters utmzone command parameter 761 FIXPOSDATUM Set the position through a position datum lat lon height specified datum 763 MOVINGBASE Set ability to use a moving movingbasestation switch STATION base station position 780 HPSTATICINIT Set static initialization of hpstaticinit switch OmniSTAR HP XP 782 HPSEED Specify the initial position hpseed mode lat lon hgt lats lons for OmniSTAR HP XP hgts datum undulation 783 USEREXPDATUM Set custom expanded userexpdatum semimajor flattening datum dx dy dz rx ry rz scale xvel yvel zvel xrvel yrvel zrvel scalev refdate Continued on Page 46 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 45 Chapter 2 Commands 796 FORCEGPSL2CODE Force the receiver to track forcegpsl2code L2type L2C or P code 811 VISION Enable disable Vision vision switch antenna processing 830 GLOCSMOOTH Carrier smoothing for glocsmooth Litime L2time GLONASS channels When the receiver is first powered
243. RTCMDATA1004 Log header H 0 header 2 RTCMV3 Message number Ushort 2 H observations 3 header see the Base station ID Ushort 2 H 2 RTCM 4 DATA1001 log on GPS epoch time ms Ulong 4 H 4 Page 407 for 5 oe GNSS message flag Uchar 1 H 8 6 Number of GPS satellite signals Uchar 1 H 9 processed 0 31 7 Smoothing indicator Uchar 1 H 10 8 Smoothing interval see Table 720n Page Uchar 1 H 11 408 9 prns Number of PRNs with information to follow Ulong 4 H 12 10 prn Satellite PRN number Uchar 1 H 16 11 L1code ind GPS L1 code indicator Uchar 1 H 17 0 C A code 1 P Y code 12 Lipsr GPS L1 pseudorange m Ulong 4 H 18 13 L1 phase pseudo GPS L1 phaserange pseudorange Long 4 H 22 Range 262 1435 to 262 1435 m 14 Lilcktm ind GPS L1 lock time indicator see Table 73 Uchar 1 H 26 on Page 408 15 Liamb GPS L1 PSR modulus ambiguity m The Uchar 1 H 27 integer number of full pseudorange modulus divisions 299 792 458 m of the raw L1 pseudorange 16 L1CNR GPS L1 carrier to noise ratio ABHz The Uchar 1 H 28 reference station s estimate of the satellite s signal A value of 0 indicates that the CNR measurement is not computed 17 L2code ind GPS L2 code indicator Uchar 1 H 29 0 C A or L2C code 1 P Y code direct 2 P Y code cross correlated 3 Correlated P Y 18 L1L2psrdiff GPS L2 L1 pseudorange difference m Short 4a H 30 Continued on Page 417 416 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data L
244. SCII Example RAWEPHEMA COM1 15 60 5 FINESTEERING 1337 405297 175 00000000 97b7 1984 3 1337 403184 8b04e4818da44e50007b0d9c05ee6 64 Ff fbfebI5d 763626 00001b03c6b3 8b04e4818e2b63060536608Ffd8cdaa051803a41261157eal10d2610626 f3d 8b04e4818ead0006aa7f7ef8ffda25c1la69a14881879b9c6ffa79863f9f2 0bb16ac3 RAWEPHEMA COM1 0 60 5 SATTIME 1337 405390 000 00000000 97b7 1984 1 1337 410400 8b04e483 7244e50011d7a6105ee6 64ffbfeb6I5dfIeC1643200001200aag92 8b04e483f7a9elfaab2b16a27c7d41 b5c0304794811f 7a10d40b564327e 8b04e483f82c00252f57a782001b282027a31c0fba0fc525ffac84e10a06 c5834a5b _ a a IA A way to use only one receiver and achieve 1 to 5 meter accuracy is to use precise orbit and clock files Three types of GPS ephemeris clock and earth orientation solutions are compiled by an elaborate network of GPS receivers around the world all monitoring the satellite characteristics IGS rapid orbit data is processed to produce files that correct the satellite clock and orbit parameters Since there is extensive processing involved these files are available on a delayed schedule from the US National Geodetic Survey at http www ngs noaa gov GPS GPS html Precise ephemeris files are available today to correct GPS data which was collected a few days ago All you need is one GPS receiver and a computer to process on Replace the ephemeris data with the precise ephemeris data and post process to correct range values
245. SETRTCM16 text message to be sent out in the RTCM data stream 137 LOCKOUT Prevent the receiver from lockout prn using a Satellite by specifying its PRN 138 UNLOCKOUT Reinstate a satellite in the unlockout prn solution computation 139 UNLOCKOUTALL Reinstate all previously unlockoutall locked out satellites 142 DGPSEPHEMDELAY DGPS ephemeris delay dgpsephemdelay delay 144 DGPSTXID DGPS transmit ID dgpstxid type ID 160 DATUM Choose a DATUM name datum datum type 162 SETNAV Set start and destination setnav fromlat fromlon tolat tolon waypoints track offset from point to point 173 POSAVE Implement position posave state maxtime maxhstd averaging for base station maxvstd 177 SEND Send an ASCII message send port data to any of the communications ports 178 SENDHEX Send non printable sendhex port length data characters in hexadecimal pairs 180 MAGVAR Set magnetic variation magvar type correction stddev correction Continued on Page 44 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 43 Chapter 2 Commands 182 RTKBASELINE Initialize RTK with a static rtkbaseline type pari par2 par3 baseline 2sigmal 183 RTKDYNAMICS Set the RTK dynamics rtkdynamics mode mode 184 RTKSOLUTION Set RTK carrier phase rtksolution type ambiguity type Float or Fixed or disable 197 NVMRESTORE Restore NVM data after a nvmrestore failure in NVM 214 UNDULATION Choose undulation undulati
246. T Floating narrow lane ambiguity solution 48 L1_INT Integer L1 ambiguity solution 49 WIDE_INT Integer wide lane ambiguity solution 50 NARROW_INT Integer narrow lane ambiguity solution 51 RTK DIRECT INS RTK status where the RTK filter is directly initialized from E the INS filter 52 INS INS calculated position corrected for the antenna 53 INS PSRSP P INS pseudorange single point solution no DGPS E corrections 54 INS_PSRDIFF INS pseudorange differential solution 55 INS_RTKFLOAT INS RTK floating point ambiguities solution 56 INS_RTKFIXED INS RTK fixed ambiguities solution 64 OMNISTAR_HP 2 OmniSTAR HP XP position L1 L2 decimeter 65 OMNISTAR_XP 2 OmniSTAR XP position 66 CDGPS 2 Position solution using CDGPS correction a In addition to a NovAtel receiver with L Band capability a subscription to the OmniSTAR or use of the free CDGPS service is required Contact NovAtel for details b Output only by the BESTPOS and BESTVEL logs when using an inertial navigation system such as NovAtel s SPAN products Please visit our website refer to your SPAN User Manual or contact NovAtel for more information 220 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Table 45 Solution Status 0 SOL_COMPUTED Solution computed 1 INSUFFICIENT_OBS Insufficient observations 2 NO_CONVERGENCE No convergence 3 SINGULARITY Singularity at parameters
247. T Prevent the receiver from using a satellite V123 125 2 5 32 LOG Request logs from the receiver V123 o ecccccccccsscescessesseeeseeeee 126 2 5 33 MAGVAR Set a magnetic variation correction VI23 eeeeeeeeees 131 2 5 34 MARKCONTROL Control processing of mark inputs V123 4 134 2 5 35 MODEL Switch to a previously authorized model V123 0c08 137 2 5 36 MOVINGBASESTATION Set ability to use a moving base station V23 RT2 r VI23 RTZ enan ahels eased y aeS 139 2 5 37 NVMRESTORE Restore NVM data after an NVM failure V123 141 2 5 38 PASSTOPASSMODE Enable disable solution smoothing modes V123_DGPS or VI3_VBS sevcccwsiirviccdeovinscrapiisiraveniinacaccesmrrduereuatsiioredonaninntaens 142 2 5 39 POSAVE Implement base station position averaging V123_DGPS 144 2 5 40 POSTIMEOUT Sets the position time out VI23 oo eee 146 2 5 41 PPSCONTROL Control the PPS output V123 ooo ccc ceceeseeeeeeeeees 147 2 5 42 PSRDIFFSOURCE Set the pseudorange correction source 22s ae DGPS cieo cea eee Bec ee eee net ee em EE e EA EERS 149 2 5 43 RESET Perform a hardware reset V123 cceccscceesseseeseeeeeneeseeeeees 152 2 5 44 RTKBASELINE Initialize RTK with a static baseline V23_R72 153 2 5 45 RTKCOMMAND Reset or set the RTK filter to its defaults Fe V23 RI e e A 156 2 5 46 RTKDYNAMICS Set the RTK dynamics mode V123 RT20 or V23 FEI ove cessiewscateacssritaresacatartsaesinvanecssubisdaveasedvacabianenan
248. TAQ Type 9 Partial Differential GPS Corrections 405 PASSXCOM1 Pass through logs 406 PASSXCOM2 407 RAWGPSWORD Raw navigation word 492 TIMESYNG Synchronize time between receivers 495 OMNIHPPOS OmniSTAR HP XP position data 607 608 609 PASSUSB1 PASSUSB2 Pass through logs for receivers that support USB PASSUSB3 615 MARK2P0S Time of mark input event 616 MARK2TIME Position at time of mark input event 631 RANGEGPSL1 L1 version of the RANGE log 686 BSLNXYZ RTK XYZ baseline 690 PASSAUX Pass through log for AUX port 696 WAAS32 CDGPS fast correction slots 0 10 697 WAAS33 CDGPS fast correction slots 11 21 698 WAAS34 CDGPS fast correction slots 22 32 699 WAAS35 CDGPS fast correction slots 39 50 700 WAAS45 CDGPS slow corrections 717 CMRPLUS CMR output message 718 GLOALMANAC GLONASS almanac data Continued on Page 212 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 211 Chapter 3 Data Logs 212 720 GLORAWALM Raw GLONASS almanac data 721 GLORAWFRAME Raw GLONASS frame data 722 GLORAWSTRING Raw GLONASS string data 723 GLOEPHEMERIS GLONASS ephemeris data 726 BESTUTM Best available UTM data 730 LBANDINFO L Band configuration information 731 LBANDSTAT L Band status information 732 RAWLBANDFRAME Raw L Band frame data 733 RAWLBANDPACKET Raw L Band data packet 735 GLOCLOCK GLONASS clock information 760 VISIONSOL Computed Vision solution 784 RTCMDATA1
249. TVIS 48 Satellite visibility SATXYZ 270 SV position in ECEF Cartesian coordinates TIME 101 Receiver time information TIMESYNC 492 Synchronize time between receivers TRACKSTAT 83 Satellite tracking status VALIDMODELS 206 Model and expiry date information for receiver VERSION 37 Receiver hardware and software version numbers VISIONSOL 760 Computed Vision solution WAASO 290 Remove PRN from the solution WAAS1 291 PRN mask assignments WAAS2 296 Fast correction slots 0 12 WAAS3 301 Fast correction slots 13 25 WAAS4 302 Fast correction slots 26 38 WAAS5 303 Fast correction slots 39 50 WAAS6 304 Integrity message WAAS7 305 Fast correction degradation WAAS9 306 GEO navigation message WAAS10 292 Degradation factor Continued on Page 207 206 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 WAAS12 293 SBAS network time and UTC WAAS17 294 GEO almanac message WAAS18 295 IGP mask WAAS24 297 Mixed fast slow corrections WAAS25 298 Long term slow satellite corrections WAAS26 299 lonospheric delay corrections WAAS27 300 SBAS service message WAAS32 696 CDGPS fast correction slots 0 10 WAAS33 697 CDGPS fast correction slots 11 21 WAAS34 698 CDGPS fast correction slots 22 32 WAAS35 699 CDGPS fast correction slots 39 50 WAAS45 700 CDGPS slow corrections WAASCORR 313 SBAS range corrections used CMRDESC 310 Base station description information CMROBS 103 Base station
250. Technical Specifications appendix and the User Selectable Port Configuration section of the OEMV Family Installation and Operation User Manual OEMV Family Firmware Version 3 000 Reference Manual Rev 2 253 Chapter 3 Field Field type Data Description Format Data Logs Binary Binary Bytes Offset 1 COMCOMFIG Log header H 0 header 2 port Number of ports with information to follow Long 4 H 3 port Serial port identifier see Table 15 COM Enum 4 H 4 Serial Port Identifiers on Page 75 4 baud Communication baud rate Ulong 4 H 8 5 parity See Table 16 Parityon Page 75 Enum 4 H 12 6 databits Number of data bits Ulong 4 H 16 7 stopbits Number of stop bits Ulong 4 H 20 8 handshake See Table 17 Handshaking on Page 75 Enum 4 H 24 9 echo When echo is on the port is transmitting any Enum 4 H 28 input characters as they are received 0 OFF 1 ON 10 breaks Breaks are turned on or off Enum 4 H 32 0 OFF 1 ON 11 rx type The status of the receive interface mode see Enum 4 H 36 Table 29 Serial Port Interface Modes on Page 122 12 tx type The status of the transmit interface mode Enum 4 H 40 Table 29 Serial Port Interface Modes on Page 122 13 response Responses are turned on or off Enum 4 H 44 0 OFF 1 ON 14 next port offset H 4 port x 44 15 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 4 port x44 16 CR L
251. Type 1002 Message supports single frequency RTK operation and includes an indication of the satellite carrier to noise CNR as measured by the reference station Since the CNR does not usually change from measurement to measurement this message type can be mixed with the Type 1001 and used primarily when a satellite CNR changes thus saving broadcast link throughput The Type 1003 Message supports dual frequency RTK operation but does not include an indication of the satellite carrier to noise CNR as measured by the reference station The Type 1004 Message supports dual frequency RTK operation and includes an indication of the satellite carrier to noise CNR as measured by the reference station Since the CNR does not usually change from measurement to measurement this message type can be mixed with the Type 1003 and used only when a satellite CNR changes thus saving broadcast link throughput RTCM1005 amp RTCM1006 RTK Base Antenna Reference Point ARP Message Type 1005 provides the earth centered earth fixed ECEF coordinates of the antenna reference point ARP for a stationary reference station No antenna height is provided Message Type 1006 provides all the same information as Message Type 1005 but additionally provides the height of the ARP OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 These messages are designed for GPS operation but are equally applicable to future satellite systems
252. Type Value Value Description Format Bytes Offset 4 pulsewidth The valid range Sets the initial pulse Ulong 4 H 8 for this width that should parameter is provide a near zero drift 10 to 90 of rate from the selected the period oscillator being steered The valid range for this parameter is 10 to 90 of the period The default value is 2200 If this value is not known in the case of a new external oscillator then it should be set to 1 2 the period and the mode should be set to AUTO to force a calibration 5 slope This value should Float 4 H 12 correspond to how much the clock drift changes with a 1 bit change in the pulsewidth m s bit The default values for the slope used for the INTERNAL and EXTERNAL clocks is 2 0 and 0 01 respectively If this value is not known then its value should be set to 1 0 and the mode should be set to AUTO to force a calibration Once the calibration process is complete and using a slope value of 1 0 the receiver should be recalibrated using the measured slope and pulsewidth values Fields 6 and 4 of the CLOCKSTEERING log see Page 239 This process should be repeated until the measured slope value remains constant less than a 5 change Continued on Page 72 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 71 Chapter 2 Commands Field ASCII Binary ee Binary Binary Binary peg Type Value Value posenpuen Format Bytes Offset 6 ban
253. ULL 29 PRN lockout list is full PRN ALREADY LOCKED OUT 30 The PRN is already locked out MESSAGE TIMED OUT 31 Message timed out UNKNOWN COM PORT 33 Unknown COM or USB port requested REQUESTED HEX STRING NOT 34 Hex string not formatted correctly FORMATTED CORRECTLY INVALID BAUD RATE 35 The baud rate is invalid MESSAGE IS INVALID FOR 36 This message is invalid for this model of THIS MODEL receiver COMMAND ONLY VALID IF IN 40 Command is only valid if NVM is in fail mode NVM FAIL MODE INVALID OFFSET 41 The offset is invalid MAXIMUM NUMBER OF USER 78 Maximum number of user messages has MESSAGES REACHED been reached GPS PRECISE TIME IS 84 GPS precise time is already known ALREADY KNOWN OEMV Family Firmware Version 3 000 Reference Manual Rev 2 519 1PPS see one pulse per second 2 D 104 283 3 D 104 283 335 A abbreviated ascii 15 19 absolute coordinates 153 accumulated doppler range ADR 343 403 accuracy correction 103 degradation 218 limit 144 navigation 382 position 103 153 155 RTK solution 198 time 27 acquisition 57 103 178 345 ADJUSTIPPS command 49 ADR see accumulated doppler range age differential RTK 198 427 429 velocity 228 230 339 341 432 xyz coordinates 230 341 432 solution at mark input 313 ECEF coordinates 230 341 432 OmniSTAR HP XP 327 position 222 337 RTK 428 UTM coordinates 224 agriculture 161 326 463 aircraft 96 154 192 227 42
254. UTC offset plus the receiver clock offset UTC time GPS time offset UTC offset 7 status Clock model status see Table 46 Clock Model Enum 4 H 36 Status on Page 236 8 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 40 9 CR LF Sentence terminator ASCII only a 0 indicates that UTC time is unknown because there is no almanac available in order to acquire the UTC offset OEMV Family Firmware Version 3 000 Reference Manual Rev 2 315 Chapter 3 Data Logs 3 3 43 MATCHEDPOS Matched RTK Position V123_RT20 V23_RT2 or V3_HP This log represents positions that have been computed from time matched base and rover observations There is no base extrapolation error on these positions because they are based on buffered measurements they lag real time by some amount depending on the latency of the data link If the rover receiver has not been enabled to accept RTK differential data or is not actually receiving data leading to a valid solution this is shown in fields 2 sol status and 3 pos type This log provides the best accuracy in static operation For lower latency in kinematic operation see the RTKPOS or BESTPOS logs The data in the logs changes only when a base observation RTCM RTCMV3 RTCA CMRPLUS or CMR changes A good message trigger for this log is ONCHANGED Then only positions related to unique base station messages are produced and the existence of this log indicates a successf
255. Version 3 000 Reference Manual Rev 2 361 Chapter 3 Data Logs 3 3 62 RAWLBANDPACKET Raw L Band Data Packet V13_VBS or V3_HP This log contains the raw L Band packet data The RAWLBANDPACKET log is only output for OmniSTAR tracking If you are tracking CDGPS only the RAWLBANDFRAME log is output gt lt In addition to a NovAtel receiver with L Band capability a subscription to the OmniSTAR service is required Contact NovAtel for details Contact information may be found on the back of this manual or you can refer to the Customer Service section in the OEMV Family Installation and Operation User Manual Message ID 733 Log Type Recommended Input Asynch log rawlbandpacketa onnew ASCII Example RAWLBANDPACKETA COM2 0 77 0 FINESTEERING 1295 238642 610 01000040 c5b1 34461 79 07 de 3a 9 df 30 7b 0d cb 7e5205a8 eee SSS SS Sa 6 OmniSTAR currently has several high powered satellites in use around the world They provide coverage for most of the Earth s land areas Subscriptions are sold by geographic area Any regional OmniSTAR service center can sell and activate subscriptions for any area They may be arranged prior to travelling to a new area or after arrival Contact OmniSTAR at www omnistar com for further details z M Binary Binary Field Field type Data Description Format Bytes Offset 1 RAWLBANDPACKET Log header H 0 header 2 data Raw L
256. X number comp date YYYY MM DD YYYY year MM month DD day 1 31 comp time HH MM SS HH hour MM minutes SS seconds a This field may be empty if the revision is not stamped onto the processor b One character for each of the COM ports 1 2 and 3 Characters are 2 for RS 232 4 for RS 422 T for LV TTL and X for user selectable valid for COM1 of the OEMV 2 only Therefore the example is for a receiver that uses RS 232 for COM 1 and COM 2 and LV TTL for COM 3 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 459 Chapter 3 Field Field type Data Description Format Data Logs Binary Binary Bytes Offset 1 VERSION Log header H 0 header 2 comp Number of components cards and so on Long 4 H 3 type Component type see Table 87 Component Enum 4 H 4 Types on Page 459 4 model A base model name plus designators where Char 16 16 H 8 there are 4 possible base names L12 20 Hz positions and measurements RT2 20 base 14 GPS L1 L2 and 2 SBAS channels L1 20 Hz positions and measurements RT20 base 14 GPS L1 and 2 SBAS channels N12 20 Hz positions no measurements 14 GPS L1 L2 and 2 SBAS channels N1 20 Hz positions no measurements 14 GPS L1 and 2 SBAS channels The model designators are shown in Table 86 on Page 458 5 psn Product serial number Char 16 16 H 24 6 hw version Hardware version see Table 88 VERSION
257. XTIME command or RTCAEPHEM message The RTCAEPHEM message contains GPS week and seconds and the receiver uses that GPS time if the time is not yet known Several logs provide base station coordinates and the receiver uses them as an approximate position allowing it to compute satellite visibility Alternately you can set an approximate position by using the SETAPPROXPOS command Approximate time and position must be used in conjunction with a current almanac to aid satellite acquisition See the table below for a summary of the OEMV family commands and logs used to inject an approximated time or position into the receiver Time SETAPPROXTIME RTCAEPHEM Position SETAPPROXPOS RTCAREF or CMRREF or RTCM3 Base station aiding can help in these environments A set of ephemerides can be injected into a rover station by broadcasting the RTCAEPHEM message from a base station This is also useful in environments where there is frequent loss of lock GPS OEMV Family Firmware Version 3 000 Reference Manual Rev 2 171 Chapter 2 Commands ephemeris is three frames long within a sequence of five frames Each frame requires 6 s of continuous lock to collect the ephemeris data This gives a minimum of 18 s and a maximum of 36 s continuous lock time or when no recent ephemerides new or stored are available Field ASCII Binary Binary Binary Binary Type Value Value Description Format Bytes Offset 1 SETAPPROXTIME This field contains the
258. _DGPS 0 cccc0e 385 3 3 75 RTCMDATA16 Special Message VI23_DGPS cccccccccceteteteeees 388 3 3 76 RTCMDATA1819 Raw Measurements V 23_RT20 or V23_RT2Z 390 3 3 77 RTCMDATA2021 Measurement Corrections V123_RT20 or V23_RT2 oo eeecccceccccccccccccsescceesccceseeecusssescueecesssseaeesessseeenneeees 396 3 3 78 RTCMDATA22 Extended Base Station V123_RT20 V23_RT2 401 3 3 79 RTCMDATA59 Type 59N 0 NovAtel RT20 V23 R20 OF V23 RT oeie a aE EE EE ENEE 403 3 3 80 RTCMV3 RTCMV3 Standard Logs V123_RT20 V23_RT2 405 3 3 81 RTCMDATA1001 L1 Only GPS RTK Observables Y SITIO V23 RI eae e A e E 407 3 3 82 RTCMDATA1002 Extended L1 Only GPS RTK Observables VETS RIO V23 RT esra ei e aaa reaR 411 3 3 83 RTCMDATA1003 L1 L2 GPS RTK Observables VI23_RT20 V23 RT2 oocccccccccccccccccscccscssssesccsescsscssecsscsseesscsesesecsaeeseesaseneecaeeases 413 3 3 84 RTCMDATA1004 Expanded L1 L2 GPS RTK Observables VIDS ERT QO V23 RI oreen a N al de ee 415 3 3 85 RTCMDATA1005_ Base Station Antenna Reference Point ARP VI23 RT20 V23 RT o rrie aaae e e aE EE EAEE AEA 418 3 3 86 RTCMDATA1006 Base Station ARP with Antenna Height YI23 RPO V23 RI eeen a a E EEE Eea a EEEE 420 3 3 87 RTKDATA RTK Solution Parameters V123_RT20 V23_RT2 422 3 3 88 RTKPOS RTK Low Latency Position Data V123_RT20 V23_RT2 427 3 3 89 RTKVEL RTK Velocity VI23_RT20 V23_RT2 ccccccccccccccceteeeees 429 3 3 90 RTKXYZ RTK Cartesian Position and Velocity
259. a 0 0c18000000000000000006 0 0d00000000000000000652 0 0e000000000000000000d0 0 b516623b E Refer to the GLONASS Overview section in the GPS Reference Manual available on our website at http www novatel ca support docupdates htm OEMV Family Firmware Version 3 000 Reference Manual Rev 2 263 Chapter 3 DataLogs Binary Binary Field Field type Data Description Format Bytes Offset 1 GLORAWALM Log header H 0 header 2 week GPS Week in weeks Ulong 4 H 3 ms GPS Time in milliseconds Ulong 4 H 4 4 recs Number of GLONASS record numbers Ulong 4 H 8 to follow 5 string GLONASS data string Uchar variable H 12 string size 6 Reserved Uchar 1 variable les Next record offset H 16 recs x string size 1 variable XXxx 32 bit CRC ASCII and Binary only Hex 4 H 12 4 recs x string size 1 variable CR LF Sentence terminator ASCII only a Inthe binary log case additional bytes of padding are added to maintain 4 byte alignment 264 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 20 GLORAWEPHEM Raw GLONASS Ephemeris Data V23_G This log contains the raw ephemeris frame data as received from the GLONASS satellite Message ID 792 Log Type Asynch Recommended Input log glorawephema onchanged Example GLORAWEPHEMA COM1 3 47 0 SATTIME 1340 398653 000 00000000 332d 2020
260. a is obstructed or not plugged in and you have entered a FIX POSITION command then you may see PENDING indefinitely OEMV Family Firmware Version 3 000 Reference Manual Rev 2 221 Chapter 3 DataLogs Binary Binary Field Field type Data Description Format Bytes Offset 1 BESTPOS Log header H 0 header 2 sol status Solution status see Table 45 on Page 221 Enum 4 H 3 pos type Position type see Table 44 on Page 220 Enum 4 H 4 4 lat Latitude Double 8 H 8 5 lon Longitude Double 8 H 16 6 hgt Height above mean sea level Double 8 H 24 7 undulation Undulation the relationship between the geoid and Float 4 H 32 the ellipsoid m of the chosen datum 8 datum id Datum ID number see Chapter 2 Table 20 Datum Enum 4 H 36 Transformation Parameters on Page 86 9 lat o Latitude standard deviation Float 4 H 40 10 lon c Longitude standard deviation Float 4 H 44 11 hot o Height standard deviation Float 4 H 48 12 stn id Base station ID Char 4 4 H 52 13 diff_age Differential age in seconds Float 4 H 56 14 sol_age Solution age in seconds Float 4 H 60 15 obs Number of observations tracked Uchar 1 H 64 16 GPSL1 Number of GPS L1 ranges used in computation Uchar 1 H 65 17 L1 Number of GPS L1 ranges above the RTK mask Uchar 1 H 66 angle 18 L2 Number of GPS L2 ranges above the RTK mask Uchar 1 H 67 angle 19 Reserved Uchar 1 H 68 20 Uchar 1 H 69 21 Uchar 1 H 70
261. a text description of the event or Char 32 32 H 12 error 5 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 44 6 CR LF Sentence terminator ASCII only 446 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 95 SATVIS Satellite Visibility V123 Satellite visibility log with additional satellite information lt The SATVIS log is meant to provide a brief overview The satellite positions and velocities used in the computation of this log are based on Almanac orbital parameters not the higher precision Ephemeris parameters Message ID 48 Log Type Synch Recommended Input log satvisa ontime 60 ASCII Example SATVISA COM1 0 46 5 FINESTEERING 1363 238448 000 00000000 0947 2277 TRUE TRUE 61 7 0 0 86 1 77 4 69 495 69 230 2 0 0 66 3 70 7 1215 777 1215 512 98 7 1 64 7 324 5 1282 673 1282 939 58 12 0 64 7 324 5 1283 808 1284 074 30 0 0 60 8 267 7 299 433 299 699 970 0 98 1 205 5 L783 823 1783 557 42 7 1 53 0 79 0 17 034 17 300 42 9 1 53 0 79 0 20 108 20 373 19 0 0 86 8 219 3 88 108 88 373 a0b7cc0b EE i Consider sky visibility at each of the base and rover receivers in a differential setup The accuracy and reliability of differential messages is proportional to the number of common satellites that are visible at the base and rover Therefore if the sky visibility at either station is poor you might conside
262. a time If you attempt to log more than 30 logs at a time the receiver responds with an Insufficient Resources error 2 Maximum flexibility for logging data is provided to the user by these logs The user is cautioned however to recognize that each log requested requires additional CPU time and memory buffer space Too many logs may result in lost data and degraded CPU performance Receiver overload can be monitored using the idle time field and buffer overload bits of the Receiver Status in any log header 3 Polled log types do not allow fractional offsets or ONTIME rates faster than 1Hz 4 Use the ONNEW trigger with the MARKTIME MARK2TIME MARKPOS or MARK2POS logs 5 Only the MARKPOS MARK2POS MARKTIME or MARK2TIME logs and polled log types are generated on the fly at the exact time of the mark Synchronous and asynchronous logs output the most recently available data 6 If you do use the ONTIME trigger with asynchronous logs the time stamp in the log does not necessarily represent the time the data was generated but rather the time when the log is being transmitted Abbreviated ASCII Syntax Message ID 1 LOG port message trigger period offset hold Factory Default log coml rxstatuseventa onnew 0 0 hold log com2 rxstatuseventa onnew 0 0 hold log com3 rxstatuseventa onnew 0 0 hold log aux rxstatuseventa onnew 0 0 hold OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2
263. able CR LF Sentence terminator ASCII only OEMV Family Firmware Version 3 000 Reference Manual Rev 2 379 Chapter 3 Data Logs 3 3 72 RTCMDATA3 Base Station Parameters V123_RT20 or V23_RT2 380 See Section 3 3 70 starting on Page 375 for information on RTCM standard logs RTCM3 Base Station Parameters RTK This log contains the GPS position of the base station expressed in rectangular ECEF coordinates based on the center of the WGS 84 ellipsoid It follows the RTCM SC 104 Standard for a Type 3 message This log uses four RTCM data words following the two word header for a total frame length of six 30 bit words 180 bits maximum This message must be sent at least once every 30 seconds although it is recommended that it is sent once every 10 seconds Also the rover receiver automatically sets an approximate position from this message if it does not already have a position Therefore this message can be used in conjunction with an approximate time to improve TTFF refer to the Time to First Fix and Satellite Acquisition section of the GPS Reference Manual Structure Type 3 messages contain the following information Scale factor ECEF X coordinate ECEF Y coordinate ECEF Z coordinate The receiver only transmits the RTCM Type 3 when the position is fixed by the FIX POSITION command see Page 103 lt This log is intended for use when operating in RT 20 or RT 2 mode Message I
264. actory defaults for commands are shown in Section 2 4 Factory Defaults on Page 47 Each factory default is also shown after the syntax but before the example of each command description starting on Page 50 e The default values used by the OEMV family for optional fields if you use a command without entering optional parameter values if applicable is given in each command table e The letter H in the Binary Byte or Binary Offset columns of the commands and logs tables represents the header length for that command or log see Section 1 1 3 Binary on Page 19 e The number following Ox is a hexadecimal number OEMV Family Firmware Version 3 000 Reference Manual Rev 2 13 Foreword When default values are shown in command tables they indicate the assumed values when optional parameters have been omitted Default values do not imply the factory default settings see Chapter 2 Page 47 for a list of factory default settings Command descriptions use the bracket symbols to represent the optionality of parameters In tables where values are missing they are assumed to be reserved for future use Status words are output as hexadecimal numbers and must be converted to binary format and in some cases then also to decimal For an example of this type of conversion please see the RANGE log Table 62 Channel Tracking Example on Page 345 Conversions and their binary or decimal results are always read from right to left For a comple
265. acy you can expect out of this system would be in the 1 meter range for a DGPS system using L1 C A code and carrier data you require approximately 5 minutes of data including the initialization procedure under optimal conditions This type of system provides you with accuracies in the 10 cm range If cm level accuracy is required you need approximately 30 to 40 minutes of data again under optimal conditions for a DGPS system using L1 C A code and carrier data along with L2 P code and carrier data you require approximately 10 to 20 minutes of data under optimal conditions This type of system provides you with accuracies in the cm range The term optimal conditions refers to observing six or more healthy satellites being tracked with a geometric dilution of precision GDOP value of less than 5 and relatively low multi path Note that the above situations apply to both real time and post processed solutions with minor differences Field Type Field 1 MOVING header BASESTATION name or the message header ASCII Binary Value Value Description This field contains the command H 0 depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 switch DISABLE 0 Do not transmit corrections without Enum 4 H a fixed position default ENABLE Transmit corrections without a fixed position 140 OEMV Family Firmware Version 3 000 Refe
266. age 375 for information on RTCM standard logs RTCM20 and RTCM21 Measurement Corrections RTK RTCM20 provides carrier phase corrections and RTCM21 provides pseudorange corrections Types 20 and 21 are corrected by the ephemerides contained in the satellite message and are therefore referred to as corrections Message Type 21 is very similar to the standard Type message but has additional measurement quality information and can be used to support cross correlation receivers Message Type 21 is also useful in non kinematic applications requiring high accuracy and integrity See the section above for the message format of the Type 18 and 19 messages that are similar to the Type 20 and 21 messages Message ID 400 Log Type Synch Recommended Input log rtemdata2021a ontime 10 ASCII Example RTCMDATA2021A COM1 0 72 0 F INESTEERING 1117 161400 000 00100020 fc4d 399 0 0 5000 0 0 6 2 0 0 10 0 1 0 3 0 1 43 324 1 0 15 0 1 96 812 1 0 18 0 1 1 514 1 0 21 0 1 153 997 1 0 6 0 7 88 779 1 0 26 0 1 35 39 1 0 23 0 1 167 229 1 0 28 0 1 22 1738 1 0 31 0 1 125 5194 1 0 22 0 4 27 102 0 5000 0 0 6 0 0 10 1 0 3 0 0 3 43 661 9 1 0 15 0 0 3 96 479 11 1 0 18 0 0 3 1 152 8 1 0 21 0 0 3 153 933 9 1 0 6 0 0 3 88 2151 12 1 0 26 0 0 3 35 630 8 1 0 23 0 0 3 167 259 10 1 0 28 0 0 3 22 1503 7 1 0 31 0 0 3 125 1905 9 1 0 22 0 0 3 27 2281 14 3963d96
267. age 39 38 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 NVMRESTORE 197 Restore NVM data after a nvmrestore failure in NVM PASSTOPASSMODE 601 Enable disable solution passtopassmode switch smoothing modes measmth corsmth dewgt scale POSAVE 173 Implement position posave state maxtime maxhstd averaging for base station maxvstd POSTIMEOUT 612 Sets the position time out postimeout sec PPSCONTROL 613 Control the PPS output ppscontrol switch polarity rate PSRDIFFSOURCE 493 Set the pseudorange psrdiffsource type ID correction source RESET 18 Perform a hardware reset reset delay RTKBASELINE 182 Initialize RTK with a static rtkbaseline type pari par2 par3 baseline 2sigmal RTKCOMMAND 97 Reset the RTK filter or set rtkcommand action the filter to default settings RTKDYNAMICS 183 Set the RTK dynamics rtkdynamics mode mode RTKELEVMASK 91 Set the RTK mask angle rtkelevmask type angle RTKSOLUTION 184 Set RTK carrier phase rtksolution type ambiguity type Float or Fixed or disable RTKSOURCE 494 Set the RTK correction rtksource type ID source RTKSVENTRIES 92 Set the number of rtksventries number satellites to use in corrections SAVECONFIG 19 Save current saveconfig configuration in non volatile memory Continued on Page 40 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 39 Chapter 2 Commands
268. ain the following information for each satellite in view at the base station Satellite ID Pseudorange correction Range rate correction Issue of Data IOD When operating as a base station the receiver must be in FIX POSITION mode and have the INTERFACEMODE command set before the data can be correctly logged When operating as a rover station the receiver COM port receiving the RTCM data must have its INTERFACEMODE command set Refer to the Receiving and Transmitting Corrections section in the OEMV Installation and Operation Manual for more information on using these commands and RTCM message formats REMEMBER Upon a change in ephemeris base stations transmit Type 1 messages based on the old ephemeris for a period of time defined by the DGPSEPHEMDELAY command see Page 9 After the time out the base station begins to transmit the Type 1 messages based on the new ephemeris Message ID 396 Log Type Synch Recommended Input log rtcmdatala ontime 10 3 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 377 Chapter 3 DataLogs ASCII Example RTCMDATAIA COM1 0 73 0 FINESTEERING 1117 160453 000 00100020 5745 399 1117 0 3421 8461020 1730644 6 9 0 0 3 545 46 43 0 0 15 313 44 96 0 0 18 112 41 1 0 0 21 874 43 153 0 0 6 1368 43 88 0 0 26 398 43 35 0 0 23 123 43 167 0 0 28 1302 39 22 0 0 22 1515 48 27 b60b 22f 1E 6 RTCMDATA logs provide you with t
269. al if full resolution is not required Time hhmmss ss Fixed Variable length field hours minutes seconds decimal 2 fixed digits of hours 2 fixed digits of mins 2 fixed digits of seconds and variable number of digits for decimal fraction of seconds Leading zeros always included for hours mins and seconds to maintain fixed length The decimal point and associated decimal fraction are optional if full resolution is not required Defined field Some fields are specified to contain pre defined constants most often alpha characters Such a field is indicated in this standard by the presence of one or more valid characters Excluded from the list of allowable characters are the following which are used to indicate field types within this standard A a on hh hhmmss ss MLH we yyyyy yy Numeric Value Fields Variable X X Variable length integer or floating numeric field Optional leading and trailing numbers zeros The decimal point and associated decimal fraction are optional if full resolution is not required example 73 10 73 1 073 1 73 Fixed HEX hh Fixed length HEX numbers only MSB on the left Information Fields Variable text c c Variable length valid character field Fixed alpha aa___ Fixed length field of uppercase or lowercase alpha characters Fixed xx Fixed length field of numeric characters Fixed text C Fixed length field of valid characters NOTES
270. ale USEREXPDATUM 783 Set custom expanded userexpdatum semimajor datum flattening dx dy dz rx ry rz scale xvel yvel zvel xrvel yrvel zrvel scalev refdate UTMZONE 749 Set UTM parameters utmzone command parameter VISION 811 Enable Disable Vision vision switch antenna Processing WAASECUTOFF 505 Set SBAS satellite waasecutoff angle elevation cut off Table 10 OEMV Commands in Numerical Order 1 LOG Request logs from log port message trigger period receiver offset hold 3 INTERFACEMODE Set interface type interfacemode port rxtype txtype Receive Rx Transmit responses Tx for ports 4 COM COM port configuration com port bps parity databits control stopbits handshake echo break I 15 CLOCKADJUST Enable clock adjustments clockadjust switch 18 RESET Perform a hardware reset reset delay 19 SAVECONFIG Save current saveconftig configuration in non volatile memory 20 FRESET Clear almanac model or freset target user configuration data which is stored in NVM and followed by a receiver reset Continued on Page 42 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Chapter 2 Commands 22 MODEL Switch to a previously model model AUTHed model 27 ASSIGN Assign individual satellite assign channel state prn Doppler channel to a PRN Doppler window 28 ASSIGNALL Assign all satellite assignall system state
271. all gps1112 28 250 0 All L1 and L2 dedicated SV channels are trying to acquire satellite PRN 28 at 250 Hz only ASCII Example 3 assignall gpsll idle All L1 only dedicated SV channels are idled and are not attempting to search for satellites OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 SSS SE ae 6 This command works the same way as ASSIGN except that it affects all SV channels Field ASCII Binary Type Value Value Binary Binary Binary Field Format Bytes Offset Description 1 ASSIGNALL This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 system See Table 13 System that SV channelis Enum 4 H tracking 3 state See Table 11 Channel Set the SV channel state Enum 4 H 4 State on Page 57 4 prn GPS 1 37 Optional satellite PRN Long 4 H 8 SBAS 120 138 code from 1 to 37 for GPS GLONASS see channels 38 to 61 for Section 1 3 on Page GLONASS and 120 to 138 25 for SBAS channels If not included in the command line the state parameter must be set to idle 5 Doppler 100 000 to Current Doppler offset of Long 4 H 12 100 000 Hz the satellite Note Satellite motion receiver antenna motion and receiver clock frequency error must be included in the calculation of Doppler frequency default 0 6 Doppler
272. alues It is the USEREXPDATUM command that appears in the RXCONFIG log If the USEREXPDATUM or the USERDATUM command are used their newest values overwrite the internal USEREXPDATUM values The transformation for the WGS84 to Local used in the OEMV family is the Bursa Wolf transformation or reverse Helmert transformation In the Helmert transformation the rotation of a point is counter clockwise around the axes In the Bursa Wolf transformation the rotation of a point is clockwise Therefore the reverse Helmert transformation is the same as the Bursa Wolf Abbreviated ASCII Syntax Message ID 78 USERDATUM semimajor flattening dx dy dz rx ry rz scale Factory Default userdatum 6378137 0 298 2572235628 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ASCII Example userdatum 6378206 400 294 97869820000 12 0000 147 0000 192 0000 0 0000 0 0000 0 0000 0 000000000 ener SS You can use the USERDATUM command in a survey to fix the position with values from another known datum so that the GPS calculated positions are reported in the known datum rather than WGS84 186 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands ASCII Binary Value Value Description Chapter 2 Binary Offset in ppm between the user datum and WGS84 1 USERDATUM This field contains the 0 header command name or the message header depending on whether the command is ab
273. ame offset H 12 subframe x 32 p EEE eee aeaeaeaeaee eeaeaaqaqqqqqqqq5q5q5q5q5g5 amp Q amp QQg SsSSs_ _ SVaeSeSeSa s a_AS3 090 0 0 0 08000eoOooa aeqeeennea 0ESENESESES SESS SS variabl xxxx 32 bit CRC ASCII and Binary only Hex 4 H 12 e 32 x subframes variabl CR LF Sentence terminator ASCII only e a A value between 1 and 32 for the SV ID indicates the PRN of the satellite Any other values indicate the page ID See section 20 3 3 5 1 1 Data ID and SV ID of ICD GPS 200C for more details To obtain copies of ICD GPS 200 see ARINC in the Standards References appendix in the GPS Reference Manual 354 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 58 RAWEPHEM Raw Ephemeris V123 This log contains the raw binary information for subframes one two and three from the satellite with the parity information removed Each subframe is 240 bits long 10 words 24 bits each and the log contains a total 720 bits 90 bytes of information 240 bits x 3 subframes This information is preceded by the PRN number of the satellite from which it originated This message is not generated unless all 10 words from all 3 frames have passed parity Ephemeris data whose TOE Time Of Ephemeris is older than six hours is not shown Message ID 41 Log Type Asynch Recommended Input log rawephema onchanged A
274. amily Firmware Version 3 000 Reference Manual Rev 2 Foreword V123_DGPS Feature used when operating in differential mode V123_NMEA National Marine Electronics Association format V123_SBAS SBAS messages available when tracking an SBAS satellite refer to the SBAS Overview section of the OEMV Family Installation and Operation User Manual V3_HP OmniSTAR high performance HP extra performance XP and virtual base station VBS available with an OmniSTAR subscription refer to the L Band Positioning section of the OEMV Family Installation and Operation User Manual V13_VBS OmniSTAR VBS available with an OmniSTAR subscription V13_CDGPS The free Canada Wide Differential Global Positioning System CDGPS available without a subscription refer to the L Band Positioning section of the OEMV Family Installation and Operation User Manual V23_G GLONASS measurements available refer to the GLONASS Overview section of the GPS Reference Manual V3_G Available only on OEMV 3 based products with the GLONASS option V23_L2C Capable of receiving the L2C signal refer to the L2C Overview section of the GPS Reference Manual V123_USB Universal Serial Bus USB support is available Other simple conventions are lt This is a notebox that contains important information before you use a command or log E i This is a usage box that contains additional information or examples to help you use your receiver e Command defaults e The f
275. and SBAS 120 to 138 For GLONASS see Section 1 3 on Page 25 5 xX Satellite X coordinates ECEF m Double 8 H 16 6 y Satellite Y coordinates ECEF m Double 8 H 24 7 z Satellite Z coordinates ECEF m Double 8 H 32 8 clk corr Satellite clock correction m Double 8 H 40 9 ion corr lonospheric correction m Double 8 H 48 10 trop corr Tropospheric correction m Double 8 H 56 11 Reserved Double 8 H 64 12 Double 8 H 72 13 Next satellite offset H 12 sat x 68 variable XxXxX 32 bit CRC ASCII and Binary only Hex 4 H 12 sat x 68 variable CR LF Sentence terminator ASCII only OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 97 TIME Time Data V123 This log provides several time related pieces of information including receiver clock offset and UTC time and offset It can also be used to determine any offset in the PPS signal relative to GPS time To find any offset in the PPS signal log the TIME log ontime at the same rate as the PPS output For example if the PPS output is configured to output at a rate of 0 5 seconds see the PPSCONTROL command on Page 147 log the TIME log ontime 0 5 as follows log time ontime 0 5 The TIME log offset field can then be used to determine any offset in PPS output relative to GPS time Message ID 101 Log Type Synch Recommended Input log timea ontime 1 ASCII Example TIMEA COM1 0 50 5 FIN
276. ange and differential corrections this command must be properly initialized before the receiver can operate as a GPS base station Once initialized the receiver computes differential corrections for each satellite being tracked The computed differential corrections can then be output to rover stations by utilizing any of the following receiver differential corrections data log formats RTCM RTCMV3 RTCA or CMR See the OEMV Family Installation and Operation User Manual for information on using the receiver for differential applications The values entered into the FIX POSITION command should reflect the precise position of the base station antenna phase centre Any errors in the FIX POSITION coordinates directly bias the corrections calculated by the base receiver The receiver performs all internal computations based on WGS84 and the datum command is defaulted as such The datum in which you choose to operate by changing the DATUM command is internally converted to and from WGS84 Therefore all differential corrections are based on WGS84 regardless of your operating datum The FIX POSITION command overrides any previous FIX HEIGHT or FIX POSITION command settings PENDING 18 There is not enough measurements available to verify the FIX POSITION entry INVALID_FIX 19 The errors in the FIX POSITION entry are too large ASCII Binary Tu Binary Binary Value Value Description Fo
277. ange from 0 to 255 In ASCII or Abbreviated ASCII this comes out as a number Short 2 The short type is 16 bit integer in the range 32768 to 32767 UShort 2 The same as Short except that it is not signed Values are in the range from 0 to 65535 Long 4 The long type is 32 bit integer in the range 2147483648 to 2147483647 ULong 4 The same as Long except that it is not signed Values are in the range from 0 to 4294967295 Double 8 The double type contains 64 bits 1 for sign 11 for the exponent and 52 for the mantissa Its range is 1 7E308 with at least 15 digits of precision This is IEEE 754 Continued on Page 16 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 15 Chapter 1 Messages Float 4 The float type contains 32 bits 1 for the sign 8 for the exponent and 23 for the mantissa Its range is 3 4E38 with at least 7 digits of precision This is IEEE 754 Enum 4 A 4 byte enumerated type beginning at zero an unsigned long In binary the enumerated value is output In ASCII or Abbreviated ASCII the enumeration label is spelled out GPSec 4 This type has two separate formats that depend on whether you have requested a binary or an ASCII format output For binary the output is in milliseconds and is a long type For ASCII the output is in seconds and is a float type Hex n Hex is a packed fixed length n array of bytes in binary but in ASCII or Abbreviated ASCII is converted into 2 character hexadeci
278. anges and DGPS corrections 4 smjr std Standard deviation of semi major axis of error X X 2 55 ellipse m 5 smnr std Standard deviation of semi minor axis of error X X 1 88 ellipse m 6 orient Orientation of semi major axis of error ellipse X X 15 2525 degrees from true north 7 lat std Standard deviation of latitude error m X X 2 51 8 lon std Standard deviation of longitude error m X X 1 94 9 alt std Standard deviation of altitude error m X X 4 30 10 XX Checksum hh 6E 11 CR LF Sentence terminator CR LF OEMV Family Firmware Version 3 000 Reference Manual Rev 2 285 Chapter 3 DataLogs 3 3 31 GPGSV_ GPS Satellites in View V123_NMEA Number of SVs in view PRN numbers elevation azimuth and SNR value Four satellites maximum per message When required additional satellite data sent in 2 or more messages a maximum of 9 The total number of messages being transmitted and the current message being transmitted are indicated in the first two fields This log outputs null data in all fields until a valid almanac is obtained lt 1 Satellite information may require the transmission of multiple messages The first field specifies the total number of messages minimum value 1 The second field identifies the order of this message message number minimum value 1 2 A variable number of PRN Elevation Azimuth SNR sets are allowed up to a maximum of four sets per message Null fields are not required for unused sets wh
279. annot be used with RT 2 positioning Regardless of whether single or dual frequency receivers are used the RT 20 positioning algorithm is used This is for a system in which both the base and rover stations utilize NovAtel receivers Note that the error detection capability of an RTCM format message is less than that of an RTCA format message The communications equipment that you use may have an error detection capability of its own to supplement that of the RTCM message although at a penalty of a higher overhead Consult the radio vendor s documentation for further information If RTCM format messaging is being used the optional station id field that is entered using the FIX POSITION command can be any number within the range of 0 1023 for example 119 The representation in the log message is identical to what was entered The NovAtel logs which implement the RTCM Standard Format for Type 1 3 9 16 18 19 and 22 messages are known as the RTCM1 RTCM3 RTCM9 RTCM16 RTCM18 RTCM19 and RTCM22 logs respectively while Type 59N 0 messages are listed in the RTCMS9 log All receiver RTCM standard format logs adhere to the structure recommended by RTCM SC 104 Thus all RTCM message are composed of 30 bit words Each word contains 24 data bits and 6 parity bits All RTCM messages contain a 2 word header followed by 0 to 31 data words for a maximum of 33 words 990 bits per message Message Frame Header Data Bits Wor
280. are Version 3 000 Reference Manual Rev 2 273 Chapter 3 DataLogs 3 3 25 GPGGALONG Fix Data Extra Precision and Undulation V123_NMEA Time position undulation and fix related data of the GPS receiver This is output as a GPGGA log but the GPGGALONG log differs from the normal GPGGA log by its extra precision See also Table 52 Position Precision of NMEA Logs on Page 278 This log outputs null data in all fields until a valid almanac is obtained Message ID 521 Log Type Synch Recommended Input log gpggalong ontime 1 Example 1 SGPGGA 224929 00 5106 9824 N 11402 2946 W 1 08 0 9 1058 86 M 16 27 M 6E Example 2 SGPGGA 134658 00 5106 9792 N 11402 3003 W 2 09 1 0 1048 47 M 16 27 M 08 AAAA 60 Please see the GPGGA usage box that applies to all NMEA logs on Page 272 274 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Field Structure Field Description Symbol Example 1 GPGGA Log header GPGGA 2 utc UTC time of position hours minutes seconds hhmmss ss 202126 00 decimal seconds 3 lat Latitude DDmm mm IILI 5106 9847029 4 lat dir Latitude direction N North S South a N 5 lon Longitude DDDmm mm yyyyy yy 11402 2986286 6 lon dir Longitude direction E East W West a W 7 GPS qual GPS Quality indicator Xx 1 0 fix not available or invalid 1 GPS fix 2 C A differential GPS OmniSTAR VBS or CDGPS 4 RTK fix
281. arger the distance the lower the accuracy We also have to take into account the OEMV Family Firmware Version 3 000 Reference Manual Rev 2 233 Chapter 3 DataLogs quality of the data being received Better receivers generally provide cleaner signals and thus better accuracy When operating in differential mode you require at least four common satellites at the base and rover The number of common satellites being tracked at large distances is less than at short distances This is important because the accuracy of GPS and DGPS positions depend a great deal on how many satellites are being used in the solution redundancy and the geometry of the satellites being used DOP DOP stands for dilution of precision and refers to the geometry of the satellites A good DOP occurs when the satellites being tracked and used are evenly distributed throughout the sky A bad DOP occurs when the satellites being tracked and used are not evenly distributed throughout the sky or grouped together in one part of the sky Also the principal of DGPS positioning assumes that there are common errors at the base and rover stations These errors include atmospheric errors satellite clock and ephemeris errors Typically in a differential GPS survey a receiver occupies a Survey control marker at a known location referred to as the base station The base station collects GPS data and computes a position This position is then compared against the published coordi
282. ask for RTK varies on baseline lengths from 0 to 15 km but is between about 11 and 15 degrees Abbreviated ASCII Syntax Message ID 91 RTKELEVMASK type angle Factory Default rtkelevmask auto ASCII Example rtkelevmask user 10 5 pee SSS i If you change from the default ensure that both the base and rover are set to the same RTKELEVMASK angle Field ASCII Binary Type Value Value Binary Binary Binary Field Format Bytes Offset Description 1 RTKELEVMASK This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 type AUTO 0 Base all available satellites Enum 4 H are included Rover elevation mask varies depending on baseline length USER 1 User entered angle 3 angle 0 90 degrees Elevation mask angle required Float 4 H 4 for USER setting OEMV Family Firmware Version 3 000 Reference Manual Rev 2 159 Chapter 2 Commands 2 5 48 RTKSOLUTION Set RTK carrier phase ambiguity type V123_RT20 or V23_RT2 This command instructs the receiver as to what type of carrier phase ambiguity fixed float or disable to use There are four settings AUTO L1_FLOAT L1L2_FLOAT and DISABLE AUTO tells the receiver to use the best ambiguity type available For RT 2 the receiver fixes the ambiguities to discrete values whenever it can safely and reliably do so L1_F
283. ata respectively 2 RTCMDATA logs output the details of the above logs if they have been sent The Radio Technical Commission for Maritime Services RTCM was established to facilitate the establishment of various radio navigation standards which includes recommended GPS differential standard formats Refer to the Receiving and Transmitting Corrections section in the OEMV Installation and Operation Manual for more information on using these message formats for differential operation The standards recommended by the Radio Technical Commission for Maritime Services Special Committee 104 Differential GPS Service RTCM SC 104 Washington D C have been adopted by NovAtel for implementation into the receiver Because the receiver is capable of utilizing RTCM formats it can easily be integrated into positioning systems around the globe OEMV Family Firmware Version 3 000 Reference Manual Rev 2 375 Chapter 3 DataLogs As it is beyond the scope of this manual to provide in depth descriptions of the RTCM data formats it is recommended that anyone requiring explicit descriptions of such should obtain a copy of the published RTCM specifications Refer to the Standards References section of the GPS Reference Manual for reference information RTCM SC 104 Type 3 amp 59 messages can be used for base station transmissions in differential systems However since these messages do not include information on the L2 component of the GPS signal they c
284. atically a Inthe binary log case additional bytes of padding are added to maintain 4 byte alignment 168 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 2 5 54 SENDHEX Send non printable characters in hex pairs V123 This command is like the SEND command except that it is used to send non printable characters expressed as hexadecimal pairs Carriage return and line feed characters for example 0x0D 0x0A will not be appended to the sent data and so must be explicitly added to the data if needed Abbreviated ASCII Syntax Message ID 178 SENDHEX port length data Input Example sendhex coml 6 143ab5910d0a Field ASCII Binary ore Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 SENDHEX This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 port See Table 15 COM Serial Output port Enum 4 H Port Identifiers on Page 75 3 length 0 700 Number of hex pairs ULong 4 H 4 4 message limited to a 700 maximum Data String Vari Vari string 1400 pair hex by max able able command interpreter buffer 700 even number of ASCII characters from set of 0 9 A F no spaces are allowed between pairs of characters a Inthe binary log case additional bytes of padding are added to maintain 4 byte alignme
285. ation and Operation User Manual Abbreviated ASCII Syntax Message ID 493 PSRDIFFSOURCE type ID Factory Default psrdiffsource auto any ASCII Examples 1 Select only SBAS rtksource none psrdiffsource sbas sbascontrol enable auto Enable OmniSTAR VBS and HP or XP rtksource omnistar psrdiffsource omnistar Enable RTK and PSRDIFF from RTCM with a fall back to SBAS rtksource rtcm any psrdiffsource rtcm any sbascontrol enable auto S S o SSS I U i Since several errors affecting the signal transmission are nearly the same for two receivers near each other on the ground a receiver at a point with known coordinates a base can monitor the errors and generate corrections for the remote receiver to use This method is called Differential GPS and is used by surveyors to obtain millimeter accuracy Major factors degrading GPS signals which can be removed or reduced with differential methods are the atmosphere ionosphere satellite orbit errors and OEMV Family Firmware Version 3 000 Reference Manual Rev 2 149 Chapter 2 Commands satellite clock errors Errors that are not removed include receiver noise and multipath Table 30 DGPS Type 0 RTCM 24 RTCM ID 0 lt RTCM ID lt 1023 or ANY 1 RTCA ad RTCA ID A four character string containing only alpha a z or numeric characters 0 9 or ANY 2 CMR 2bd CMR ID 0 lt CMR ID lt 31 or ANY 3 OMNISTAR In the PSRDIFFSOURCE comman
286. ax Message ID 19 SAVECONFIG 2 5 52 SBASCONTROL Set SBAS test mode and PRN V123_SBAS 164 This command allows you to dictate how the receiver handles Satellite Based Augmentation System SBAS corrections The receiver automatically switches to Pseudorange Differential RTCM or RTCA or RTK if the appropriate corrections are received regardless of the current setting To enable the position solution corrections you must issue the SBASCONTROL ENABLE command The GPS receiver does not attempt to track any GEO satellites until you use the SBASCONTROL command to tell it to use either WAAS EGNOS or MSAS corrections When in AUTO mode if the receiver is outside the defined satellite system s corrections grid it reverts to ANY mode and chooses a system based on other criteria Once tracking satellites from one system in ANY or AUTO mode it does not track satellites from other systems This is because systems such as WAAS EGNOS and MSAS do not share broadcast information and have no way of knowing each other are there The testmode parameter in the example is to get around the test mode of these systems EGNOS at one time used the IGNOREZERO test mode At the time of printing ZEROTOTWO is the correct setting for all SBAS including EGNOS running in test mode On a simulator you may want to leave this parameter off or specify NONE explicitly When you use the SBASCONTROL command to direct the GPS receiver to use a specific correc
287. ber of PRNs with information to follow Ulong 4 H 40 12 PRN slot Satellite PRN number of range measurement Ulong 4 H 44 GPS 1 32 and SBAS 120 to 138 For GLONASS see Section 1 3 on Page 25 13 lock Lock time 0 lt 20 seconds Ulong 4 H 48 1 20 40 seconds 2 40 80 seconds 3 gt 80 seconds 14 psr Pseudorange correction 1 10 m Ulong 4 H 52 15 adr Accumulated Doppler ADR correction 1 1000 m Long 4 H 56 16 Next PRN offset H 44 prns x 16 variable Xxxx 32 bit CRC ASCII and Binary only Hex 4 variable variable CR LF Sentence terminator ASCII only a Inthe binary log case an additional 3 bytes of padding are added to maintain 4 byte alignment 404 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 80 RTCMV3 RTCMV3 Standard Logs V123_RT20 V23_RT2 RTCM1001 L1 ONLY GPS RTK OBSERVABLES V123_RT20 V23_RT2 Message ID 772 RTCM1002 EXTENDED L1 ONLY GPS RTK OBSERVABLES V123_RT20 V23_RT2 Message ID 774 RTCM1003 L1 AND L2 GPS RTK OBSERVABLES V123_RT20 V23_RT2 MESSAGE ID 776 RTCM1004 EXTENDED L1 AND L2 GPS RTK OBSERVABLES V123_RT20 V23_RT2 Message ID 770 RTCM1005 STATIONARY RTK BASE STATION ANTENNA REFERENCE POINT ARP V123_RT20 V23_RT2 Message ID 765 RTCM1006 STATIONARY RTK BASE STATION ARP WITH ANTENNA HEIGHT V123_RT20 V23_RT2 Message ID 768 Dx 1 At the base station choose to send either an RTCM1005 or RTCM1006 message to
288. ble 8 H 16 second 7 trk gnd Actual direction of motion over ground track over Double 8 H 24 ground with respect to True North in degrees 8 vert spd Vertical speed in meters per second where Double 8 H 32 positive values indicate increasing altitude up and negative values indicate decreasing altitude down 9 Reserved Float 4 H 40 10 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 44 11 CR LF Sentence terminator ASCII only 228 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 6 BESTXYZ Best Available Cartesian Position and Velocity V123 This log contains the receiver s best available position and velocity in ECEF coordinates The position and velocity status fields indicate whether or not the corresponding data is valid See Figure 8 Page 232 for a definition of the ECEF coordinates See also the BESTPOS and BESTVEL logs on Pages 218 and 223 respectively lt These quantities are always referenced to the WGS84 ellipsoid regardless of the use of the DATUM or USERDATUM commands Message ID 241 Log Type Synch Recommended Input log bestxyza ontime 1 ASCII Example BESTXYZA COM1 0 65 5 FINESTEERING 1337 392394 000 00000000 798 1984 SOL_COMPUTED PSRDIFF 1634528 8979 3664611 1824 4942481 0874 0 8247 1 3811 0 9415 SOL_COMPUTED PSRDIFF 0 0171 0 0033 0 0268 0 0986 0 1651 0 1125 AAAA 0 250 1 000 0 000 8 8
289. breviated ASCII ASCII or binary respectively 2 semimajor 6300000 0 Datum Semi major Axis a Double H 6400000 0 m in meters 3 flattening 290 0 305 0 Reciprocal Flattening Double H 8 1 f a a b 4 dx 2000 0 Datum offsets from WGS84 Double H 16 These are the translation 5 dy 2000 0 values between the user Double H 24 datum and WGS84 internal 6 dz 2000 0 reference Double H 32 7 rx 10 0 radians Datum Rotation Angle about Double H 40 X Y and Z axis These 8 ry 10 0 radians values are the rotation from Double H 48 WGS84 to your datum A 9 rz 10 0 radians positive sign is for clockwise Double H 56 rotation and a negative sign is for counter clockwise rotation 10 scale 10 0 ppm Scale value is the difference Double H 64 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 187 Chapter 2 Commands 2 5 68 USEREXPDATUM Set custom expanded datum V123 Like the USERDATUM command this command allows you to enter customized ellipsoidal datum parameters However USEREXPDATUM literally means user expanded datum allowing you to enter additional datum information such as velocity offsets and time constraints The 7 expanded parameters are rates of change of the initial 7 parameters These rates of change affect the initial 7 parameters over time relative to the Reference Date provided by the user This command is used in conjunction with the datum command see Page 63 If you use this command
290. c30013ba60390cbH90F309eF1403e820194Fc363030000 649c1018189cfe5f34beb8094551309d2001d02ee5030000 6b9c301llaceafe9f3ebeb80950ee1e862001d02e65030000 849c101803210a507bc27a0bb5d696F591189227c0020000 8b9c301188e4077094c27a0b4297c8 9fb318912700020000 a49c100844e2f98f63c4890aabb6fe293300b7e4b85030000 ab9c3001f23bfb9f69C4890a4e96219b310b9F4ae5020000 c49c10187819fbefa3a8 930b9c0d3ce55005e90403030000 cb9c3011722efccfbca8 930ba4080a9392051Ff0443020000 e49c1008c4800ba06980ad0abalb6 bfc30145f2da2030000 eb9c30019ff 608eC07080ad0ada85d88831147f2cc2020000 049d10084fa8039088e51b0b5a42e7b3401ea92162030000 0b9d300197d902a09ee51b0bb6fe356d0531lecf2002020000 249d1018fa4d0d6055c4f60ba5d121a45017b81c00030000 2b9d3011025e0a1052c4f60b16694fe082170f1c40020000 e51ddd85 1E 6 Consider the case where commercial vehicles are leaving a control centre The control centre s coordinates are known but the vehicles are on the move Using the control centre s position as a reference the vehicles are able to report where they are at any time Post processed information gives more accurate comparisons Post processing can provide post mission position and velocity using raw GPS collected from the vehicles The logs necessary for post processing include RANGECMPB ONTIME 1 RAWEPHEMB ONNEW lt Above we describe and give an example of data collection for post processing OEMV based output is compatible with post processing software from t
291. ccomplished by introducing data from the carrier tracking loops into the code tracking system Phase and code data collected at a sampling rate greater than about 3 time constants of the loop are correlated the greater the sampling rate the greater the correlation This correlation is not relevant if only positions are logged from the receiver but is an important consideration if the data is combined in some other process such as post mission carrier smoothing Also a narrow bandwidth in a feedback loop impedes the ability of the loop to track step functions Steps in the pseudorange are encountered during initial lock on of the satellite and when working in an environment conducive to multipath A low CSMOOTH value allows the receiver to effectively adapt to these situations Also increased carrier smoothing may cause problems when satellite signals are strongly affected by the ionosphere The rate of divergence between the pseudoranges and phase derived ranges is greatest when a satellite is low in the sky since the GPS signal must travel through a much thicker ionosphere The tracking error of the receiver is greatest at these times when a lot of carrier smoothing is implemented In addition changing periods of ionospheric activity diurnal changes and the 11 year cycle influences the impact of large CSMOOTH values It is important to realize that the advantages of carrier smoothing do not come without some trade off in receiver perfor
292. ce every 1 or 2 seconds A CMRREF message that contains base station position information and should be sent once every 10 seconds Also the rover receiver automatically sets an approximate position from this message if it does not already have a position Therefore this message can be used in conjunction with an approximate time to improve TTFF refer to the Time to First Fix and Satellite Acquisition section of the GPS Reference Manual A CMRDESC message that contains base station description information and should be sent once every 10 seconds However it should be interlinked with the CMRREF message For CMR the station ID must be less than 31 refer to the DGPSTXID and RTKSOURCE commands on Pages 94 and 161 respectively CMRDESC is logged with an offset of 5 to allow interleaving with CMRREF Note that Trimble rovers must receive CMRDESC messages from a base Novatel CMR Type 2 messages are for compatibility only When received a Type 2 message is discarded For transmission all fields are permanently set as follows Record Length 33 bytes Short Station ID cref COGO Code 7 Long StationID UNKNOWN Example Input interfacemode com2 none CMR fix position 51 113 114 044 1059 4 log com2 cmrobs ontime 1 log com2 cmrref ontime 10 log com2 cmrdesc ontime 10 1 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 243 Chapter 3 DataLogs 3 3 11 CMRDATADESC Base Station Description V123_RT20 or V23_RT
293. cess is measuring at the High pulse width setting 3 CALIBRATE_LOW This state corresponds to when the calibration process is measuring at the Low pulse width setting 4 CALIBRATE_CENTER This state corresponds to the Center calibration process Once the center has been found the modulus pulse width center pulse width loop bandwidth and measured slope values are saved in NVM and are used from now on for the currently selected oscillator INTERNAL or EXTERNAL a These states are only seen if you force the receiver to do a clock steering calibration using the CLOCKCALIBRATE command see Page 69 With the CLOCKCALIBRATE command you can force the receiver to calibrate the slope and center pulse width of the currently selected oscillator to steer The receiver measures the drift rate at several High and Low pulse width settings b After the receiver has measured the High and Low pulse width setting the calibration process enters a Center calibration process where it attempts to find the pulse width required to zero the clock drift rate 240 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Field Field type Data Description Format Chapter 3 Binary Binary Offset Bytes CLOCKSTEERING header Log header H 0 source Clock source see Table 47 Clock Source on Page 239 Enum steeringstate Steering state see Table 48 St
294. ch and satellite counts RTKPOS RTK low latency position Synch RTCA RTCM RTCMV3 or CMR data logs for example CMRDATADESC RTCADATA1 RTCMDATA1 and RTCM1001 See also Table 41 starting on Page 204 for a complete list of logs in alphabetical order OEMV Family Firmware Version 3 000 Reference Manual Rev 2 203 Chapter 3 DataLogs Table 41 OEMV Family Logs in Alphabetical Order ALMANAG 73 Current almanac information AVEPOS 172 Position averaging BESTPOS 42 Best position data BESTUTM 726 Best available UTM data BESTVEL 99 Velocity data BESTXYZ 241 Cartesian coordinate position data BSLNXYZ 686 RTK XYZ baseline CLOCKMODEL 16 Current clock model matrices CLOCKSTEERING 26 Clock steering status CMRDATADESC 389 Base station description information CMRDATAOBS 390 Base station satellite observation information CMRDATAREF 391 Base station position information CMRPLUS 717 CMR output message COMCONFIG 317 Current COM port configuration GLOALMANAC 718 GLONASS almanac data GLOCLOCK 735 GLONASS clock information GLOEPHEMERIS 723 GLONASS ephemeris data GLORAWALM 720 Raw GLONASS almanac data GLORAWEPHEM 792 Raw GLONASS ephemeris data GLORAWFRAME 721 Raw GLONASS frame data GLORAWSTRING 722 Raw GLONASS string data GPSEPHEM 7 GPS ephemeris data IONUTC 8 lonospheric and UTC model information LOGLIST 5 A list of system logs MARKPOS
295. ching 3 COMPLETE Searcher made decision 4 HANDOFF_COMPLETE Hand off to L1 and L2 complete OEMV Family Firmware Version 3 000 Reference Manual Rev 2 423 Chapter 3 DataLogs Table 75 Ambiguity Type 0 UNDEFINED Undefined ambiguity 1 L1_ FLOAT Floating L1 ambiguity 2 IONOFREE_FLOAT Floating ionospheric free ambiguity 3 NARROW_FLOAT Floating narrow lane ambiguity 4 NLF_FROM_WL1 Floating narrow lane ambiguity derived from integer wide lane ambiguity 5 L1_INT Integer L1 ambiguity 6 WIDE_INT Integer wide lane ambiguity 7 NARROW_INT Integer narrow lane ambiguity 8 IONOFREE_DISCRETE Discrete ionospheric free ambiguity Table 76 RTK Information 0 0x00000001 RTK dynamics Static Dynamic 1 0x00000002 RTK dynamics mode Auto Forced 2 0x00000004 Severe differential ionosphere detected No Yes 3 31 OxFFFFFF8 Reserved 424 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 ee Binary Field type Data Description Offset 1 RTKDATA Log header H 0 header 2 sol status Solution status see Table 45 Solution Statuson Enum 4 H Page 221 3 pos type Position type see Table 44 Position or Velocity Enum 4 H 4 Type on Page 220 4 rtk info RTK information see Table 76 RTK Information Ulong 4 H 8 on Page 424 5 obs Number of observa
296. code Compared to codeless and semicodeless techniques L2 tracking with L2C is slightly improved ASCII Binary Value Value Binary Binary Binary Description Format Bytes Offset 1 FORCEGPSL2 This field contains the H 0 CODE header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 L2type See Table 26 above GPS L2 code type Enum 4 H OEMV Family Firmware Version 3 000 Reference Manual Rev 2 107 Chapter 2 Commands 108 2 5 23 FREQUENCYOUT Set output pulse train available on VARF V123 This command sets the output pulse train available on the variable frequency VARF pin The output waveform is coherent with the 1PPS output see the usage note and Figure 2 below lt If the CLOCKADJUST command is ENABLED see Page 67 and the receiver is configured to use an external reference frequency set in the EXTERNALCLOCK command see Page 100 for an external clock TCXO OCXO RUBIDIUM CESIUM or USER then the clock steering process takes over the VARF output pins and may conflict with a previously entered FREQUENCYOUT command Seer EEE SSS SSS i Figure 2 below shows how the chosen pulse width is frequency locked but not necessarily phase locked Abbreviated ASCII Syntax Message ID 232 FREQUENCYOUT switch pulsewidth period Factory Default frequencyout disable ASCII Example frequen
297. control V123 If port is specified this command disables all logs on the specified port only All other ports are unaffected If port is not specified this command defaults to the ALLPORTS setting Abbreviated ASCII Syntax Message ID 38 UNLOGALL port Input Example unlogall com2_15 The UNLOGALL command allows you to remove all log requests currently in use Field ASCII Binary i Binary Binary Binary nee Type Value Value Description Format Bytes Offset 1 UNLOGALL This field contains the command H 0 header name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 port See Table 5 on Port to clear Enum 4 H Page 22 decimal default ALLPORTS values greater than 16 may be used 3 held FALSE 0 Does not remove logs with the Enum 4 H 4 HOLD parameter default TRUE 1 Removes previously held logs even those with the HOLD parameter OEMV Family Firmware Version 3 000 Reference Manual Rev 2 185 Chapter 2 Commands 2 5 67 USERDATUM Set user customized datum V123 This command permits entry of customized ellipsoidal datum parameters This command is used in conjunction with the DATUM command see Page 84 If used the command default setting for USERDATUM is WGS84 When the USERDATUM command is entered the USEREXPDATUM command see Page 188 is then issued internally with the USERDATUM command v
298. correction for the recorded data in the field The simple answer to the question is yes You can take the difference between recorded position and known location and apply this as a position correction to your field data Then what is the difference between pseudorange and position differencing The correct and more standard way of computing this correction is to compute the range error to each GPS satellite being tracked at your fixed location and to apply these range corrections to the observations at your mobile station The position corrections method is seldom used in industry The drawback of this method is that computed corrections vary depending on the location of the fixed station The geometry is not accounted for between the fixed station and the tracked satellites Also position corrections at the fixed site are computed with a certain group of satellites while the field station is tracking a different group of satellites In general when the position correction method is used the farther the fixed and field stations are apart the less accurate the solution The range corrections method is more commonly used in industry The advantage of using this method is that it provides consistent range corrections and hence field positions regardless of the location of your fixed station You are only able to obtain a good differential position if both the fixed and field stations are tracking the same four satellites at a minimum
299. cription Binary Binary Binary Type Value Value p Format Bytes Offset 1 POSTIMEOUT This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 sec 0 86400 Time out in seconds Ulong 4 H Default 600 146 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 2 5 41 PPSCONTROL Control the PPS output V123 This command provides a method for controlling the polarity and rate of the PPS output on the OEMV The PPS output can also be disabled using this command Abbreviated ASCII Syntax Message ID 613 PPSCONTROL switch polarity rate Factory Default ppscontrol enable negative 1 0 0 ASCII Example ppscontrol enable positive 0 5 E i This command is used to setup the PPS signal coming from the receiver Suppose you wanted to take measurements such as temperature or pressure in synch with your GPS data The PPS signal can be used to trigger measurements in other devices OEMV Family Firmware Version 3 000 Reference Manual Rev 2 147 Chapter 2 Commands Field ASCII Binary Type Value Value Binary Binary Binary Field Format Bytes Offset Description 1 PPSCONTROL This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 switch DISABLE 0 Disab
300. ctesscnceevonsunnedededss vaatende AAAS a 196 41 OEMV Family Logs in Alphabetical Order ssssssssseesssesssissssiesrirssrnsssrnnsrnnsennnrnnnne 204 42 OEMV Family Logs in Order of their Message IDS cecceeeeeeeeeeeeeeeeeeeeeteaeeeeenes 209 43 Position Averaging Status cccccceeceeceeeeeeseeeeeeeeeeeeeeeeeceeeeesaaeesecaeeeeeaeeseeeeeeeeaeeeees 216 44 Positionor Velocity Ty Pe vicicccciccdecetizes chedtseveedeeiigtevdeetianeededl AAA 220 45 SOMMIOM Statu Siiran aa a cpadivdag acct NE aa 221 10 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Tables 46 Glock Model StatuS 4tus ceieniaits salad a nae aaa aa ana ein eet as 236 47 CIOCK SOURCE hoi saat EE Nae eases TE slees SY EE E 239 48 Steering Statessa etuaan ae aeaa aaea a ae Tarara aeaa aa aaka 240 49 POSITION ACCUAN ERA 248 50 GLONASS Ephemeris Flags Coding ccccccsceeeeceececeeeeeneeeseneeeeeaeeseeeeessnaneesenees 260 51 Bits 0 1 P1 Flag Range Values isrencrererinririceerniseenrrrieerrininsrananunani na rasniaarneae 260 52 Position Precision of NMEA LOOS errien rainne tanina RE EERE RETER R ERA 278 53 URA Vanantaan eee E ASE AA A AA r AE ARARE R 293 54 L Band Subscription Type sei ie aa ani i aaa a a ae aa anea a ieee 300 55 L Band Signal Tracking Status cccccecesceeeeeeeeeeeeceeeeeeeeeaeeseeeeeesaaeeeeeeeeessaeeseneees 304 56 Omni STAR VBS Stat s Word seison at nenian aan araea ALa aiaa 305 57 OmniSTAR HP XP Additional Status
301. cupation times This condition is best measured by monitoring the number of visible satellites during data collection along with the PDOP value a value less than 3 is ideal See also the SATVIS log on Page 447 e Time of day The location and number of satellites in the sky is constantly changing As a result some periods in the day are slightly better for GPS data collection than others Use the SATVIS log to monitor the satellite constellation at a particular place and time e Station environment It is good practice to observe the site conditions surrounding the station to be occupied Water bodies buildings trees and nearby vehicles can generate noise in the GPS data Any of these conditions may warrant an increased occupation time Although we usually wish to opt for the shortest occupation time possible it is wise to rely on a conservative time for all GPS operations It will end up costing a great deal more in terms of time and resources if a session or survey has to be repeated because of an insufficient occupation time Although NovAtel dual frequency receivers are capable of resolving baselines in less than a minute under ideal conditions we suggest the following conservative rule of thumb 5 minutes for baselines up to 1 kilometer 1 minute per additional kilometer Table 74 Searcher Type 0 NONE_REQUESTED No search requested 1 BUFFERING_MEASUREMENTS Buffering measurements 2 SEARCHING Currently sear
302. cyout enable 2 4 This example generates a 50 duty cycle 10 MHz square wave OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Chapter 2 Commands N I Q O N Il gt VARF 1000 Hz 1PPS 1Hz 109 Figure 2 Pulse Width and 1PPS Coherency OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Chapter 2 Commands ASCII Binary Binary Binary Binary Value Value Description Format Bytes Offset 1 FREQUENCYOUT This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 switch DISABLE 0 Disable causes the Enum 4 H output to be fixed low default ENABLE 1 Enables customized frequency output 3 pulsewidth 0 to 262144 Number of 25 ns steps Ulong 4 H 4 for which the output is high Duty cycle pulsewidth period Must be less than or equal to the period default 0 If pulsewidth is the same as the period the output is a high DC signal If pulsewidth is 1 2 the period then the output is a square wave 4 period 0 to 262144 Signal period in 25 ns Ulong 4 H 8 steps Frequency Output 40 000 000 Period default 0 110 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 2 5 24 FRESET Clear selected data from NVM and reset V123 This command clears data which is stored in non volatile
303. d Only becomes optional if State OFF 4 maxhstd 0 100m Desired horizontal standard Float 4 H 8 deviation default 0 5 maxvstd 0 100m Desired vertical standard Float 4 H 12 deviation default 0 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 145 Chapter 2 Commands 2 5 40 POSTIMEOUT Sets the position time out V123 This commands allows you to set the time out value for the position calculation in seconds In position logs for example BESTPOS or PSRPOS when the position time out expires the Position Type field is set to NONE Other field values in these logs remain populated with the last available position data Also the position is no longer used in conjunction with the almanac to determine what satellites are visible Abbreviated ASCII Syntax Message ID 612 POSTIMEOUT sec Factory Default postimeout 600 ASCII Example postimeout 1200 SS SSS SS In performing RTK data collection in a highly dynamic environment for example urban canyons or in high speed operations you can use POSTIMEOUT to prevent the receiver from using calculated positions that are too old Use POSTIMEOUT to force the receiver position type to NONE This ensures that the position information being used in BESTPOS or PSRPOS logs is based on a recent calculation All position calculations are then re calculated using the most recent satellite information Field ASCII Binary Des
304. d OMNISTAR enables OmniSTAR VBS and disables other DGPS types OmniSTAR VBS produces RTCM type corrections In the RTKSOURCE command OMNISTAR enables OmniSTAR HP XP if allowed and disables other RTK types OmniSTAR HP XP has its own filter which computes corrections in RTK float mode or within about 10 cm accuracy 4 CDGPS 4 In the PSRDIFFSOURCE command CDGPS enables CDGPS and disables other DGPS types CDGPS produces SBAS type corrections Do not set CDGPS in the RTIKSOURCE command as it can not provide carrier phase positioning and disallows all other sources of RTK information 5 SBAS 49 In the PSRDIFFSOURCE command when enabled SBAS such as WAAS EGNOS and MSAS forces the use of SBAS as the pseudorange differential source SBAS is able to simultaneously track two SBAS satellites and incorporate the SBAS corrections into the position to generate differential quality position solutions An SBAS capable receiver permits anyone within the area of coverage to take advantage of its benefits Do not set SBAS in the RTKSOURCE command as it can not provide carrier phase positioning and disallows all other sources of RTK information 10 AUTO In the PSRDIFFSOURCE command AUTO means the first received RTCM or RTCA message has preference over an L Band message In the RTKSOURCE command AUTO means that both the NovAtel RTK filter and the OmniSTAR HP XP filter if authorized are enabled The NovAtel RTK filter selects t
305. d 1 Message frame preamble for synchronization 8 Frame message type ID 6 Base station ID 10 Parity 6 Word 2 Modified z count time tag 13 Sequence number 3 Length of message frame 5 Base health 3 Parity 6 1 For further information on RTCM SC 104 messages you may wish to refer to RTCM Recommended Standards for Differential GNSS Global Navigation Satellite Systems Service Version 2 3 376 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 The remainder of this section provides further information concerning receiver commands and logs that utilize the RTCM data formats Example Input interfacemode com2 none RTCM fix position 51 1136 114 0435 1059 4 log com2 rtcm3 ontime 10 log com2 rtcm22 ontime 10 1 log com2 rtcm1819 ontime 1 log com2 rtcm1 ontime 5 3 3 71 RTCMDATA1 Differential GPS Corrections V123_DGPS See Section 3 3 70 starting on Page 375 for information on RTCM standard logs RTCM1 This is the primary RTCM log used for pseudorange differential corrections This log follows the RTCM Standard Format for a Type 1 message It contains the pseudorange differential correction data computed by the base station generating this Type 1 log The log is of variable length depending on the number of satellites visible and pseudoranges corrected by the base station Satellite specific data begins at word 3 of the message Structure Type 1 messages cont
306. d Uchar 1 H 68 20 Uchar 1 H 69 21 Uchar 1 H 70 22 Uchar 1 H 71 23 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 72 24 CR LF Sentence terminator ASCII only a When using a datum other than WGS84 the undulation value also includes the vertical shift due to differences between the datum in use and WGS84 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 327 Chapter 3 Data Logs 328 3 3 48 PASSCOM PASSXCOM PASSAUX PASSUSB_ Redirect Data V123 The pass through logging feature enables the receiver to redirect any ASCII or binary data that is input at a specified port to any specified receiver port It allows the receiver to perform bi directional communications with other devices such as a modem terminal or another receiver See also the INTERFACEMODE command on Page 121 There are several pass through logs PASSCOM1 PASSCOM2 PASSCOM3 PASSXCOM1 PASSXCOM2 PASSXCOM3 and PASSAUX allow for redirection of data that is arriving at COM1 COM2 COM3 virtual COM1 virtual COM2 or AUX respectively The AUX port is available on OEMV 2 based and OEMV 3 based products PASSUSB1 PASSUSB2 PASSUSB3 are only available on receivers that support USB and can be used to redirect data from USB1 USB2 or USB3 A pass through log is initiated the same as any other log that is LOG to port data type trigger However pass through can be more clearly specified as LOG to port from port AB onchan
307. d contains the command s H 0 header name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 command See Table 37 above Enum 4 H 3 parameter Enum 4 H 4 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 191 Chapter 2 Commands 2 5 70 VISION Enable Disable Vision Processing V123 This command is used to enable or disable the Vision correlator and algorithms in the receiver When enabled the computed multipath parameters for each satellite can be viewed by logging the VISIONSOL log see Page 46 This command requires the input of the antenna type being used See Table 38 below for a list of supported antennas It is important to input the correct antenna type otherwise the performance of the Vision correlator may be degraded WARNING Ensure that you have chosen the correct antenna type when using this command or erroneous output will result For example if you connect your receiver to a 702L antenna but choose 702 using the VISION command your results will not be accurate Abbreviated ASCII Syntax Message ID 811 VISION switch antenna Factory Default vision disable ASCII Example VISION enable GPS 702 Table 38 Supported Antennas GPS 511 L1 only for airborne marine ground vehicle or on foot applications GPS 521 L1 only for ground vehicle or on foot applications GPS 532 L1 and L2 f
308. d eget leet iata haaa aa aaea i a iaai 31 2 3 Commands by Function ceccceeeceeeeeeeeceeeeeeeeeaeeseeeeeesaaeeseceeeesaaeeseneeeesiaeeneneees 32 2 4 Factory Defalis ccnn A E ANEA 47 2 5 Command Reference ccecccceecccececeeeeeeeececeeeeeaaeeseeeeeeaaaesecaeeesaaaeeeseeeessaeenennees 49 2 5 1 ADJUST1PPS Adjust the receiver clock V123 o ecccccccsccscesseeseesseeseeees 49 2 5 2 ANTENNAPOWER_ Control power to the antenna V123 ceeeeeee 55 2 5 3 ASSIGN Assign a channel to a PRN V123 00 ceccccccceeeseeeeeseeneeeeeeeeeeeees 57 2 5 4 ASSIGNALL Assign all channels to a PRN V123 0 0 eceeceeseeteeteeeeeteenees 60 2 5 5 ASSIGNLBAND Set L Band satellite communication parameters VSP VIS _ VBS OF VIS CDGPS seit ccscsdiiinencsavieasiivesseutieintaieiamiaiane 62 2 5 6 AUTH Add authorization code for new model V123 cccceceeseeeeeteeees 65 2 5 7 CLOCKADJUST Enable clock adjustments V123 cceccccceeeseeeeeeeneeees 67 2 5 8 CLOCKCALIBRATE Adjust clock steering parameters V123 04 69 2 5 9 CLOCKOFFSET Adjust for delay in 1PPS output V123 0 ee eee 73 2 5 10 COM COM port configuration control VI23 oo eccceccceeeeeseeseeeeeeeeneeees 74 2 5 11 COMCONTROL Control the RS232 hardware control lines V 23 77 2 5 12 CSMOOTH Set carrier smoothing V123 cccccceseseseeseeseeseeeeseeneeeaees 81 2 5 13 DATUM Choose a datum name type VI23 000 ccececcceceeesseseeeeeneeseeeeees 84 2 5 14 DGPSEPHEMDELAY DGPS
309. d message ID Message ID of log to output UShort 2 H 4 4 message Bits 0 4 Reserved Message type of log Char 1 H 6 type Bits 5 6 Format 00 Binary 01 ASCII 10 Abbreviated ASCII NMEA 11 Reserved Bit7 Response Bit see Section 1 2 on Page 24 0 Original Message 1 Response Message 5 Reserved Char 1 H 7 6 trigger 0 ONNEW Does not output current Enum 4 H 8 message but outputs when the message is updated not necessarily changed 1 ONCHANGED Outputs the current message and then continue to output when the message is changed 2 ONTIME Output on a time interval 3 ONNEXT Output only the next message 4 ONCE Output only the current message 5 ONMARK Output when a pulse is detected on the mark 1 input MK11 7 period Valid values for the high Log period for ONTIME Double 8 H 12 rate logging are 0 05 0 1 trigger in seconds b 0 2 0 25 and 0 5 For logging slower than 1Hz any integer value is accepted Continued on Page 129 128 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 Field Binary na Field Binary Binary Field Name Value Description Type Bytes Offset 8 offset Valid values are 0 1 0 2 Offset for period ONTIME Double 8 H 20 0 25 0 5 and any integer trigger in seconds If you value smaller than the wished to log data at 1 period second after every minute you would set the period to 60 and the offset to 1 9 hold 0 NO
310. d type Data Description Format Binary s7 Binary yP p Bytes Offset 1 RTCMDATA1003 Log header H 0 header 2 RTCMV3 Message number Ushort 2 H observations 3 header see the Base station ID Ushort 2 H 2 RTCM 4 DATA1001 log on GPS epoch time ms Ulong 4 H 4 Page 407 f 5 Seni s GNSS message flag Uchar 1 H 8 6 Number of GPS satellite signals Uchar 1 H 9 processed 0 31 7 Smoothing indicator Uchar 1 H 10 8 Smoothing interval see Table 720n Page Uchar 1 H 11 408 9 prns Number of PRNs with information to follow Ulong 4 H 12 10 prn Satellite PRN number Uchar 1 H 16 11 L1code ind GPS L1 code indicator Uchar 1 H 17 0 C A code 1 P Y code direct 12 Lipsr GPS L1 pseudorange m Ulong 4 H 18 13 L1 phase pseudo GPS L1 phaserange pseudorange Long 4 H 22 Range 262 1435 to 262 1435 m 14 Lilocktime ind GPS L1 lock time indicator see Table 73 Uchar 1 H 26 on Page 408 15 L2code ind GPS L2 code indicator Uchar 1 H 27 0 C A or L2C code 1 P Y code direct 2 P Y code cross correlated 3 Correlated P Y 16 L1L2psrdiff GPS L2 L1 pseudorange difference m Short 2 H 28 17 L2phase GPS L2 phaserange L1 pseudorange Long 4 H 30 L1pseudo Range 262 1435 m to 262 1435 m 18 L1L2 locktime ind GPS L2 continuous tracking lock time Uchar 2a H 34 indicator see Table 73 on Page 408 19 Next PRN offset H 16 prns x 20 variable XXXxXx 32 bit CRC ASCII and Binary only Hex 4 variable variable CR LF Sentence terminator AS
311. delay Float 4 H 24 10 mp phase Multipath phase angle Float 4 H 28 11 mp amplitude Multipath amplitude Float 4 H 32 12 sq residual Sum of the squares residual Float 4 H 36 13 Next vision entry H 4 sat x 36 variable xxxx 32 bit CRC ASCII and Binary Hex 4 H 4 only sat x 36 variable CR LF Sentence terminator ASCII only OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 103 WAASO Remove PRN from Solution V123_SBAS This message tells you when you are using SBAS messages not to use a specific PRN message for a period of time outlined in the SBAS signal specification See how the WAASO message relates to the SBAS testing modes in the SBASCONTROL command on Page 164 Message ID 290 Log Type Asynch Recommended Input log WAASOa onchanged ASCII Example WAASOA COM1 0 68 5 SATTIME 1093 161299 000 00040020 7d6a 209 122 e9a5ab08 i Although the WAAS was designed for aviation users it supports a wide variety of non aviation uses including agriculture surveying recreation and surface transportation just to name a few The WAAS signal has been available for non safety of life applications since August 24 2000 Today there are many non aviation WAAS enabled GPS receivers in use Binary Binary Field Field type Data Description Format Bytes Offset 1 WAASO Log header H 0 header 2 prn Source PRN message also PRN n
312. dwidth This is the value used to Float 4 H 16 control the smoothness of the clock steering process Smaller values result in slower and smoother changes to the receiver clock Larger values result in faster responses to changes in oscillator frequency and faster start up clock pull in The default values are 0 03 and 0 001 Hz respectively for the INTERNAL and EXTERNAL clocks 72 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 2 5 9 CLOCKOFFSET Adjust for delay in 1PPS output V123 This command can be used to remove a delay in the PPS output The PPS signal is delayed from the actual measurement time due to two major factors e A delay in the signal path from the antenna to the receiver e An intrinsic delay through the RF and digital sections of the receiver The second delay is automatically accounted for by the receiver using a nominal value determined for each receiver type However since the delay from the antenna to the receiver cannot be determined by the receiver an adjustment cannot automatically be made The CLOCKOFFSET command can be used to adjust for this delay Abbreviated ASCII Syntax Message ID 569 CLOCKOFFSET offset Factory Default clockoffset 0 ASCII Example clockoffset 15 TE There may be small variances in the delays for each cable or card The CLOCKOFFSET command can be used to characterize each setup For example for a cabl
313. e Note This is a value Example 500 for 500 Hz default 4 500 ULong 4 H 16 a The last channel is currently forced to the L Band signal if available See also Table 12 OEMV Channel Configurations on Page 58 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 59 Chapter 2 Commands 2 5 4 ASSIGNALL Assign all channels to a PRN V123 60 lt The ASSIGNALL command should only be used by advanced users This command allows you to override the automatic satellite channel assignment and reacquisition processes for all receiver channels with manual instructions Abbreviated ASCII Syntax Message ID 28 ASSIGNALL system state prn Doppler Doppler window Table 13 Channel System 0 GPSL1 GPS L1 dedicated SV channels only 1 GPSL1L2 GPS L1 and L2 dedicated SV channels only 2 NONE No dedicated SV channels 3 ALL All channels default 4 WAASL1 SBAS SV channels only 6 GPSL1L2C GPS L1 L2C channels only 7 GPSL1L2AUTO Automatically select GPS L1 or L2 channels 8 GLOL1L2 GLONASS L1 and L2 dedicated SV channels only 9 LBAND L Band channels only 10 GLOL1 GLONASS L1 dedicated SV channels only ASCII Example 1 assignall gpsll active 29 0 2000 In example 1 all GPS L1 dedicated SV channels are set to active and trying to acquire PRN 29 ina range from 2000 Hz to 2000 Hz until the satellite signal has been detected ASCII Example 2 assign
314. e 150 HP XP 120 308 initiate 63 position or velocity type 220 subscription 302 VCTCXO see oscillator VDOP see dilution of precision vehicle 427 antenna 192 application example 139 163 227 348 dynamics 96 HP XP seed 119 moving base station 139 velocity 226 velocity 534 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 accuracy 226 227 average 340 431 best 226 229 closing 289 island 188 latency 340 431 432 limit 221 log 199 offset 188 pseudorange 203 report 338 RTK 429 status 340 vector 226 via radio 427 xyz coordinates 189 230 340 341 432 version 2 65 196 458 VERSION log 458 video camera device 134 virtual address 18 visibility satellite 201 447 VISION command 192 Vision correlator 192 461 VISIONSOL log 461 voltage 437 W WAAS North American SBAS 165 WAASO log 463 WAASI log 464 WAAS1O log 488 WAAS12 log 490 WAAS17 log 492 WAAS18 log 494 WAAS2 log 465 505 WAAS 4 log 495 514 WAAS25 log 498 WAAS26 log 501 WAAS27 log 503 WAAS3 log 469 508 WAAS32 log 505 WAAS33 log 508 WAAS34 log 510 WAASS3S log 512 WAAS4 log 472 510 WAASSS log 514 WAASS log 475 512 Index WAAS6 log 478 WAAS7 log 482 WAASS9 log 486 WAASCORR log 516 WAASCORRECTION command 190 WAASECUTOFF command 192 warning 65 warranty 12 waypoint destination 288 322 navigation 35 173 199 320 321 setting 173 track offset
315. e 60 range measurement 343 raw subframe data 358 364 tracking 260 tracking status 346 349 454 unassign 178 chatter 330 331 checksum 17 19 clock adjust 67 343 age 215 bias 67 calibrate 69 command 36 dither 100 236 drift 67 237 383 error 59 61 67 236 external 51 382 internal 27 model 236 238 offset 98 116 200 315 335 parameter 100 phase 49 precise 355 receiver 452 set 343 shift 49 53 status 199 236 315 steer 67 69 validity 236 CLOCKADJUST command 67 CLOCKCALIBRATE command 69 CLOCKMODEL log 233 CLOCKOFFSET command 73 CLOCKSTEERING log 239 CMR analogous to RTCA 245 248 bandwidth 251 base station 365 dgps type 150 interface mode 122 log 242 CMRDATADESC log 244 CMRDATAOBS log 245 CMRDATAREFF log 248 251 CMRPLUS log 251 Coast Guard 301 336 COM command 74 COM port 127 167 253 332 COMCONHIG log 245 COMCONTROL command 77 command response messages 518 communication 32 403 compass 321 configuration non volatile memory 111 port 32 74 253 receiver 152 196 434 438 reset 46 152 RXCONFIG log 388 save 164 status mask 176 constellation 238 334 constraint 343 control automatic 178 centre 338 348 channel 34 command 32 filtering 196 receiver 32 196 Control and Display Unit CDU 46 127 458 convention 12 Convert4 298 coordinate geometry COGO 244 coordinated universal time UTC log 19
316. e PZ90 in meters s s 23 tau Clock offset from GLONASS time in seconds Double 8 H 100 24 delta tau Correction to the clock offset in seconds Double 8 H 108 25 gamma Frequency correction in seconds second Double 8 H 116 26 Tk Time of frame start since start of GLONASS Ulong 4 H 124 day in seconds 27 P Technological parameter Ulong 4 H 128 28 Ft User range Ulong 4 H 132 29 age Age of data in days Ulong 4 H 136 30 Flags Information flags see Table 50 GLONASS Ulong 4 H 140 Ephemeris Flags Coding on Page 260 31 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 144 32 CR LF Sentence terminator ASCII only 262 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 19 GLORAWALM Raw GLONASS Almanac Data V23_G This log contains the undecoded almanac subframes as received from the GLONASS satellite Message ID 720 Log Type Asynch Recommended Input log glorawalma onchanged Example GLORAWALMA COM1 0 44 5 SATTIME 1364 419924 000 00000000 77bb 2310 1364 419954 069 54 0563100000a4000000006F 0 0681063c457al2cc0419be 0 075f 807e2a69804e0040b 0 0882067fcd80141692d6f2 0 09433e1b6676980a40429b 0 0a838d1lbfcb4108b089a8c 0 Obec572 9c869804f05882 0 06950201e02e13d3819564 0 07939a4al6fe97fe814ad0 0 08960561cecc13b0014613 0 09469a5d70c69802819466 0 0a170165bed413b704d416 0 0b661372213697 d41965
317. e based on a periodic measurement of satellite pseudoranges The time stamp on these logs is the receiver estimate of GPS time at the time of the measurement When setting time in external equipment a small synchronous log with a high baud rate will be accurate to a fraction of a second A synchronous log with trigger ONTIME 1 can be used in conjunction with the 1PPS signal to provide relative accuracy better than 250 ns Other log types asynchronous and polled are triggered by an external event and the time in the header may not be synchronized to the current GPS time Logs that contain satellite broadcast data for example ALMANAC GPSEPHEM have the transmit time of their last subframe in the header In the header of differential time matched logs for example MATCHEDPOS is the time of the matched reference and local observation that they are based on Logs triggered by a mark event for example MARKEDPOS MARKTIME have the estimated GPS time of the mark event in their header In the header of polled logs for example LOGLIST PORTSTATS VERSION is the approximate GPS time when their data was generated However when asynchronous logs are triggered ONTIME the time stamp will represent the time the log was generated not the time given in the data OEMV Family Firmware Version 3 000 Reference Manual Rev 2 27 Chapter 1 Messages 1 6 1 7 28 Decoding of the GPS Week Number The GPS week number provided in the raw satellite data i
318. e binary log case an additional 3 bytes of padding are added to maintain 4 byte alignment OEMV Family Firmware Version 3 000 Reference Manual Rev 2 389 Chapter 3 DataLogs 3 3 76 RTCMDATA1819 Raw Measurements V123_RT20 or V23_RT2 See Section 3 3 70 starting on Page 375 for information on RTCM standard logs RTCM18 and RTCM19 Raw Measuremenis RTK RTCM18 provides uncorrected carrier phase measurements and RTCM19 provides uncorrected pseudorange measurements The measurements are not corrected by the ephemerides contained in the satellite message The messages have similar formats Word 3 the first data word after the header contains a GPS TIME OF MEASUREMENT field which is used to increase the resolution of the MODIFIED Z COUNT in the header Word 3 is followed by pairs of words containing the data for each satellite observed Appropriate flags are provided to indicate L1 C A or P code or L2 cross correlated or P code measurements The carrier smoothing interval for pseudoranges and pseudorange corrections is also furnished for a total frame length of six 30 bit words 180 bits maximum RTCM18 and RTCM19 messages follow the RTCM SC 104 Standard for Type 18 and Type 19 messages For RT 20 or RT 2 you may periodically transmit a set of RTCM Type 18 and RTCM Type 19 together with an RTCM Type 3 message and an RTCM Type 22 message Message ID 399 Log Type Synch Recommended Input log rtcmdata1819a ontime 2 ASCII Example
319. e command H 0 header name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 angle 90 0 degrees Elevation cut off angle relative to Float 4 H horizon OEMV Family Firmware Version 3 000 Reference Manual Rev 2 99 Chapter 2 Commands 2 5 19 EXTERNALCLOCK Set external clock parameters V23 100 Overview The EXTERNALCLOCK command allows the OEMV card to operate with an optional external oscillator You are able to optimally adjust the clock model parameters of these receivers for various types of external clocks lt 1 This command affects the interpretation of the CLOCKMODEL log 2 If the EXTERNALCLOCK command is enabled and set for an external clock TCXO OCXO RUBIDIUM CESIUM or USER and the CLOCKADJUST command see Page 67 is ENABLED then the clock steering process takes over the VARF output pins and may conflict with a previously entered FREQUENCYOUT command see Page 108 If clocksteering is not used with the external oscillator the clocksteering process must be disabled by using the CLOCKADJUST DISABLE command There are three steps involved in using an external oscillator 1 Follow the procedure outlined in the OEMV Family Installation and Operation User Manual to connect an external oscillator to your O0EMV 2 Using the EXTERNALCLOCK command select a standard oscillator and its operating frequency 3 Using the
320. e ee 19 udre4 Ulong 4 H 68 20 udre5 Ulong 4 H 72 21 udre6 Ulong 4 H 76 22 udre7 Ulong 4 H 80 23 udre8 Ulong 4 H 84 24 udre9 Ulong 4 H 88 25 udre10 Ulong 4 H 92 26 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 96 a 27 CR LF Sentence terminator ASCII only OEMV Family Firmware Version 3 000 Reference Manual Rev 2 507 Chapter 3 DataLogs 3 3 121 WAAS33 CDGPS Fast Correction Slots 11 21 V13_CDGPS WAAS33 are fast corrections for slots 11 21 in the mask for CDGPS Message ID 697 Log Type Asynch Recommended Input log WAAS33a onchanged ASCII Example WAAS33A COM2 0 47 5 FINE 1295 158666 000 01000240 b23e 34461 209 0 0 3343 0 0 0 533 0 0 0 0 0 14 0 14 14 14 0 14 14 14 14 14 6d890 5f e eee ee SSS EE U 6 Each raw CDGPS mask frame gives data for a specific frame decoder number The WAAS33 message can be logged to view the data breakdown of WAAS frame 33 which contains information on CDGPS fast correction slots 11 21 508 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Binary Binary Chapter 3 Field Field type Data Description Format Bytes Offset Scaling 1 WAAS33 Log header H 0 header 2 prn Source PRN of message Ulong 4 H 3 iodp Issue of PRN mask data Ulong 4 H 4 4 pre11 prc i Lo
321. e error check passes the solution status changes to SOL_COMPUTED and the fixed position is used internally At the first level of error when the fixed position is off by approximately 25 50 meters the output position log indicates INTEGRITY_WARNING in the solution status field but the fixed position value is still used by the internal computations If the error reaches the second level a few kilometers the receiver does not use the fixed position at all and indicates INVALID_FIX in the solution status Note that a fixed position obtained from the POSAVE function is treated the same way in the error checking as one entered manually Abbreviated ASCII Syntax Message ID 44 FIX type param param2 param3 Factory Default fix none ASCII Example fix height 4 567 p 6 In order to maximize accuracy of an RTK survey you must fix the base station coordinates to their known position using the FIX lat lon hgt command This ensures the accuracy of their corrections OEMV Family Firmware Version 3 000 Reference Manual Rev 2 103 Chapter 2 Commands Table 24 FIX Parameters AUTO Not used Not used Not used HEIGHT Mean Sea Level Not used Not used MSL height 1000 to 20000000 m NONE Not used Not used Not used POSITION Lat 90 to 90 deg Lon 360 to 360 deg Mean sea level MSL height 1000 to 20000000 m a Fora discussion on height refer to the GPS Overview chapter of t
322. e receiver initiates a cold start boot up Therefore the receiver configuration reverts either to the factory default if no user configuration was saved or the last SAVECONFIG settings See also the FRESET and SAVECONFIG commands on Pages 111 and 164 respectively The optional delay field is used to set the number of seconds the receiver is to wait before resetting Abbreviated ASCII Syntax Message ID 18 RESET delay Example reset 120 1E i The RESET command can be used to erase any unsaved changes to the receiver configuration Field ASCII Binary Binary Binary Binary Description Format Bytes Offset Type Value Value RESET header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 delay Seconds to wait before resetting Ulong 4 H default 0 152 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 2 5 44 RTKBASELINE Initialize RTK with a static baseline V23_RT2 lt This command affects RT 2 operation and not RT 20 This command is used in differential RTK mode to set the initial baseline information for the base station and rover station Setting the initial baseline speeds up ambiguity resolution by indicating to the RT 2 software the exact length of the vector between the rover and base station antennas It only affects the operati
323. e same and does not vary The locations of these two poles do not coincide Thus a relationship is required between these two values for users to relate GPS bearings to their compass bearings This value is called the magnetic variation correction or declination GPS does not determine where Magnetic North is nor do the satellites provide magnetic correction or declination values However OEMV receivers store this information internally in look up tables so that when you specify that you want to navigate with respect to Magnetic North this internal information is used These values are also available from various information sources such as the United States Geological Survey USGS The USGS produces maps and has software which enables you to determine these correction values By identifying your location latitude and longitude you can obtain the correction value Refer to the GPS Reference Manual for USGS contact information Field ASCII Binary oe Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 MAGVAR This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 type AUTO 0 Use IGRF corrections Enum 4 H CORRECTION 1 Use the correction supplied 3 correction 180 0 degrees Magnitude of correction Float 4 H 4 Required field if type Correc
324. e using and what type of accuracies you require There are three major categories we can look at e fora DGPS system using only L1 C A code data all you require is a single epoch of common data Typically you would log a few minutes worth of data The type of accuracy you can expect out of this system would be in the 1 meter range e fora DGPS system using L1 C A code and carrier data you require approximately 5 minutes of data including the initialization procedure under optimal conditions This type of system provides you with accuracies in the 10 cm range If cm level accuracy is required you need approximately 30 to 40 minutes of data again under optimal conditions e fora DGPS system using L1 C A code and carrier data along with L2 P code and carrier data you require approximately 10 to 20 minutes of data under optimal conditions This type of system provides you with accuracies in the cm range The term optimal conditions refers to observing six or more healthy satellites being tracked with a geometric dilution of precision GDOP value of less than 5 and relatively low multi path Note that the above situations apply to both real time and post processed solutions with minor differences 154 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Table 32 Baseline Type Chapter 2 UNKNOWN 0 Unknown baseline default LLM_POSITION 1 Set base to lat lon height with MSL height LLE_POSITI
325. e with a delay of 10 ns the offset can be set to 10 to remove the delay from the PPS output Field ASCII Binary Since Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 CLOCKOFFSET This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively see 7 7 Message Types on Page 15 2 offset 200 to 200 Specifies the offset in Long 4 H nanoseconds OEMV Family Firmware Version 3 000 Reference Manual Rev 2 73 Chapter 2 Commands 2 5 10 COM COM port configuration control V123 74 This command permits you to configure the receiver s asynchronous serial port communications drivers The current COM port configuration can be reset to its default state at any time by sending it two hardware break signals of 250 milliseconds each spaced by fifteen hundred milliseconds 1 5 seconds with a pause of at least 250 milliseconds following the second break This will e Stop the logging of data on the current port see UNLOGALL on Page 185 e Clear the transmit and receive buffers on the current port e Return the current port to its default settings see Page 47 for details e Set the interface mode to NovAtel for both input and output see the INTERFACEMODE command on Page 121 See also Section 2 4 Factory Defaults on Page 47 for a description of the factory defaults and the COM
326. ed Example GPALM 28 01 01 1337 00 305a 90 1b9d fd5b al0ce9 baNa5e 2 48f1 cccb76 006 001 27 SGPALM 28 02 02 1337 00 4aa6 90 0720 d50 al0c5a 4dc146 d89bab 0790b6 fe4 000 70 SGPALM 28 24 26 1337 00 878c 90 1032 fd5c al0c90 ldb6b6 2eb7 5 ce95c8 00d 000 23 SGPALM 28 25 27 1337 00 9cde 90 07 2 d54 al0da5 adc097 562da3 6488dd 00e 000 2F GPALM 28 26 28 1337 00 5509 90 0b7c d59 al0cc4 ald262 83e2c0 3003bd 02d 000 ETE SGPALM 28 27 29 1337 00 47 7 90 1620 d58 al0ce0 d40a0b 2d570e 221641 122 006 D SGPALM 28 28 30 1337 00 4490 90 0112 fd4a al0cc1 33d10a 8ldfc5 3bdb0f 178 004 28 1E i Please see the GPGGA usage box that applies to all NMEA logs on Page 272 270 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Field Structure Field Description Symbol Example 1 GPALM Log header GPALM 2 msg Total number of messages logged Set to zero x x 17 until almanac data is available 3 msg Current message number X X 17 4 PRN Satellite PRN number XX 28 GPS 1 to 32 5 GPS wk GPS reference week number 2 X X 653 6 SV hith SV health bits 17 24 of each almanac page hh 00 T ecc e eccentricity d hhhh 3EAF 8 alm ref time toa almanac reference time hh 87 9 incl angle sigma j inclination angle hhhh OD68 10 omegadot OMEGADOT rate of right ascension hhhh FD30
327. ed ambiguity solution RT2 5 RTK floating ambiguity solution RT20 OmniSTAR HP or OmniSTAR XP 6 Dead reckoning mode 7 Manual input mode fixed position 8 Simulator mode 9 WAAS 8 sats Number of satellites in use 00 12 May be XX 10 different to the number in view 9 hdop Horizontal dilution of precision X X 1 0 10 alt Antenna altitude above below mean sea level X X 1062 376 geoid 11 units Units of antenna altitude M meters M M 12 undulation Undulation the relationship between the geoid x x 16 271 and the WGS84 ellipsoid 13 u units Units of undulation M meters M M 14 age Age of Differential GPS data in seconds Xx 10 empty when no differential data is present 15 stn ID Differential base station ID 0000 1023 XXXX AAAA empty when no differential data is present 16 XX Checksum hh 48 17 CR LF Sentence terminator CR LF a An indicator of 9 has been temporarily set for WAAS NMEA standard for WAAS is not decided yet b The maximum age reported here is limited to 99 seconds OEMV Family Firmware Version 3 000 Reference Manual Rev 2 275 Chapter 3 DataLogs 3 3 26 GPGGARTK Global Position System Fix Data V123_NMEA 276 Time position and fix related data of the GPS receiver This is output as a GPGGA log but the GPGGARTK log differs from the normal GPGGA log by its extra precision In order for the position to be output with this extra precision the undulation fields a
328. ed to receive transmit at a baud rate of 115200 bps 14 RTCMV3 The port accepts generates RTCM Version 3 0 corrections 15 NOVATELBINARY The port only accepts generates binary messages If an ASCII command is entered when the mode is set to binary only the command is ignored Only properly formatted binary messages are responded to and the response is a binary message 16 17 Reserved 18 GENERIC The port accepts generates nothing SEND SENDHEX commands from another port generate data on this port Any incoming data on this port can be seen with PASSCOM logs on another port see Page 328 a An output interfacemode of RTCMNOCR is identical to RTCM but with the CR LF appended An input interfacemode of RTCMNOCR is identical to RTCM and functions with or without the CR LF b CDGPS has three options for output of differential corrections NMEA RTCM and GPS C If you have a ProPak V3 receiver you do not need to use the INTERFACEMODE command with CDGPS as the argument The CDGPS argument is for use with obsolete external non NovAtel CDGPS receivers These receivers use GPS C NavCanada s proprietary format differential corrections from the CDGPS service c The AUX port and therefore TAUX mode is only available on OEMV 2 based and OEMV 3 based products OEMV Family Firmware Version 3 000 Reference Manual Rev 2 123 Chapter 2 Commands Field ASCII Binary er Binar
329. eed for local Base Stations or telemetry links It usually has a 2 sigma 95 horizontal error under 10 centimeters and a 99 horizontal error of less than 15 centimeters 326 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Field Field type Data Description Format Binary Binary Bytes Offset 1 OMNIHPPOS Log header H 0 header 2 sol status Solution status see Table 45 on Page 221 Enum 4 H 3 pos type Position type see Table 44 on Page 220 Enum 4 H 4 4 lat Latitude Double 8 H 8 5 lon Longitude Double 8 H 16 6 hgt Height above mean sea level Double 8 H 24 7 undulation Undulation the relationship between the geoid Float 4 H 32 and the WGS84 ellipsoid m 8 datum id Datum ID number see Chapter 2 Table 20 Enum 4 H 36 Datum Transformation Parameters on Page 86 9 lat o Latitude standard deviation Float 4 H 40 10 lono Longitude standard deviation Float 4 H 44 11 hgt o Height standard deviation Float 4 H 48 12 stn id Base station ID Char 4 4 H 52 13 diff_age Differential age in seconds Float 4 H 56 14 sol_age Solution age in seconds Float 4 H 60 15 obs Number of observations tracked Uchar 1 H 64 16 GPSL1 Number of GPS L1 ranges used in computation Uchar 1 H 65 17 L1 Number of GPS L1 ranges above the RTK mask Uchar 1 H 66 angle 18 L2 Number of GPS L2 ranges above the RTK mask Uchar 1 H 67 angle 19 Reserve
330. eee 408 74 Searcher Typehiieniti ith ited sie bere aa ae ee a ook ee 423 75 AE ED TY E wee 25 2 5 E ca cdc sates bude istics A E E TA TEA 424 76 RK Information sirarne ae E fetvins a eh EEEE E eed eid ita 424 77 Receiver Hardware Parameters eesccsccceeeeseneceeeeenneeeeeeenaeeeeeeeeaeeeeeeenaeeeeenenaes 436 78 Receiver Error cs tayaiesied tana wane di eerie anise tee 439 79 FRECCIVER SLALUS cst Ser thee She eter acl E haat ee tea de epted 440 80 Auxiliary Statusi asepi arn nasan rana e a teekbecvbssuvets eE a aa Aaa EEANN Ea 442 81 A xiiany 2 Status fa esn naa a E E a a aa a 442 82 Auxiliary 3 Status n niise ea a aaae en E a a a a Naa Eae aaa a aaia 442 83 SIVERA o ro M IENE ET E A A AT 446 84 Event parene TE n a E e EE R E EE O OR 446 85 Range Reject Codeer aitai iniae cas aena aa oa a Nae Ea a Aaa a aaa 455 86 Model Designators t iss cccni a a aa ashton iat R TN 458 87 Component TYP S ccececeeeeeeeeeeeeeeeceaaeeeeaaeeecaaeeeseaaeesaaeseceaeeeseaeeeeeaaeeseeeeesseaaeeesaes 459 88 VERSION Log Field Formats tescsceccasaveecatavteesa gestiveee sets seehernaeensigh partae iaeaea 459 89 Evaluation of UDREI tices osrin a a ieacdieay E EAA ETRE 466 90 Evaluation of CDGPS UDRE1 0 cccceeeceeceeeeeeeeeeeeeeeeeeeceeeeeeeaeeseceeeeeaeseseeeeeeaeetees 506 91 Response MESSAGES osain E AERE RENAE EER ATES 518 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 11 Congratulations Congratulations on purchasing a
331. eering State on Page 240 Enum 4 H 4 period Period of the FREQUENCYOUT signal used to control the oscillator refer to the FREQUENCYOUT command This value is set using the CLOCKCALIBRATE command Ulong 4 H 8 pulsewidth bandwidth Current pulse width of the FREQUENCYOUT signal The starting point for this value is set using the CLOCKCALIBRATE command The clock steering loop continuously adjusts this value in an attempt to drive the receiver clock offset and drift terms to zero The current band width of the clock steering tracking loop in Hz This value is set using the CLOCKCALIBRATE command Ulong Float 4 H 12 4 H 16 slope The current clock drift change in m s bit for a 1 LSB pulse width This value is set using the CLOCKCALIBRATE command Float 4 H 20 offset The last valid receiver clock offset computed m It is the same as Field 18 of the CLOCKMODEL log see Page 233 Double 8 H 24 driftrate The last valid receiver clock drift rate received m s It is the same as Field 19 of the CLOCKMODEL log Double 8 H 32 10 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 40 11 CR LF Sentence terminator ASCII only OEMV Family Firmware Version 3 000 Reference Manual Rev 2 241 Chapter 3 Data Logs 3 3 10 CMR Standard Logs V123_RT20 or V23_RT2 242 CMROBS BASE STATION SATELLITE OBSERVATION
332. eference Manual Rev 2 Commands Chapter 2 undulation egm96 Field ASCII Binary Type Value Value Binary Binary Binary Format Bytes Offset Field Description 1 UNDULATION This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 option TABLE 0 Use the internal undulation Enum 4 H table default same as OSU89B USER 1 Use the user specified undulation value OSU89B 2 Use the OSU89B undulation table EGM96 3 Use global geoidal height model EGM96 table 3 separation 1000 0 m The undulation value Float 4 H 4 required for the USER option OEMV Family Firmware Version 3 000 Reference Manual Rev 2 181 Chapter 2 Commands 2 5 63 UNLOCKOUT Reinstate a satellite in the solution V123 This command allows a satellite which has been previously locked out LOCKOUT command to be reinstated in the solution computation If more than one satellite is to be reinstated this command must be reissued for each satellite reinstatement Abbreviated ASCII Syntax Message ID 138 UNLOCKOUT prn Input Example unlockout 8 1E 6 The UNLOCKOUT command allows you to reinstate a satellite while leaving other locked out satellites unchanged 2 5 64 UNLOCKOUTALL Reinstate all previously locked out satellites V123 Field ASCII Binary me Binary Binary
333. eld Field type Data Description Format Bytes Offset Scaling 25 udre18 udre i Ulong 4 H 92 See Table 89 Evaluation of 26 udre19 User differential range error Ulong 4 H 96 UDREI on a ideo iar a the prn in slot i Uleng i eon Page 466 28 udre21 Ulong 4 H 104 29 udre22 Ulong 4 H 108 30 udre23 Ulong 4 H 112 31 udre24 Ulong 4 H 116 32 udre25 Ulong 4 H 120 33 udre26 Ulong 4 H 124 34 udre27 Ulong 4 H 128 35 udre28 Ulong 4 H 132 36 udre29 Ulong 4 H 136 37 udre30 Ulong 4 H 140 38 udre31 Ulong 4 H 144 39 udre32 Ulong 4 H 148 40 udre33 Ulong 4 H 152 41 udre34 Ulong 4 H 156 42 udre35 Ulong 4 H 160 43 udre36 Ulong 4 H 164 44 udre37 Ulong 4 H 168 45 udre38 Ulong 4 H 172 46 udre39 Ulong 4 H 176 47 udre40 Ulong 4 H 180 48 udre41 Ulong 4 H 184 49 udre42 Ulong 4 H 188 50 udre43 Ulong 4 H 192 51 udre44 Ulong 4 H 196 52 udre45 Ulong 4 H 200 Continued on Page 481 480 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Binary Binary Field Field type Data Description Format Bytes Offset Scaling 53 udre46 udre i Ulong 4 H 204 See Table 89 Evaluation of 54 udre47 User differential range error Ulong 4 H 208 UDREIon indicator for the prn in slot i Page 466 55 udre48 i 0 50 Ulong 4 H 212 56 udre49 Ulong 4 H 216 58 udre50 Ulong 4 H 220 58 udre51 Invalid do not use Ulong 4 H 224 59 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 228
334. eld type Data Description Format Bytes Offset Scaling 1 WAAS3 Log header H 0 header 2 prn Source PRN of message Ulong 4 H 3 iodf Issue of fast corrections data Ulong 4 H 4 4 iodp Issue of PRN mask data Ulong 4 H 8 5 prc13 pre i Long 4 H 12 6 prc14 Fast corrections 2048 to 2047 Long 4 H 16 7 aris for the prn in slot i i 13 25 p i Hiz j 8 prc16 Long 4 H 24 9 prc17 Long 4 H 28 10 prc18 Long 4 H 32 11 prc19 Long 4 H 36 12 prc20 Long 4 H 40 13 prc21 Long 4 H 44 z 14 prc22 Long 4 H 48 15 prc23 Long 4 H 52 z 16 prc24 Long 4 H 56 17 prc25 Long 4 H 60 Continued on Page 471 OO i 470 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Binary Binary Field Field type Data Description Format Bytes Offset Scaling 18 udre13 udre i Ulong 4 H 64 See Table 89 Evaluation of 19 udre14 User differential range error Ulong 4 H 68 UDREI on indicator for the prn in slot i i 13 Page 466 20 udre15 25 Ulong 4 H 72 21 udre16 Ulong 4 H 76 22 udre17 Ulong 4 H 80 23 udre18 Ulong 4 H 84 24 udre19 Ulong 4 H 88 25 udre20 Ulong 4 H 92 26 udre21 Ulong 4 H 96 27 udre22 Ulong 4 H 100 28 udre23 Ulong 4 H 104 29 udre24 Ulong 4 H 108 30 udre25 Ulong 4 H 112 31 XXXX 32 bit CRC ASCII and Binary Hex 4 H 116 only 32 CR LF Sentence terminator ASCII only O
335. ems SBAS and they have been designed to be interoperable for example WAAS EGNOS MSAS Message types contained in the current Version 3 0 standard have been structured in different groups Transmit at least one message type from each of the following groups OEMV Family Firmware Version 3 000 Reference Manual Rev 2 405 Chapter 3 Data Logs 406 Group 1 Observations RTCM 1001 L1 Only GPS RTK RTCM 1002 Extended L1 Only GPS RTK RTCM 1003 L1 And L2 GPS RTK RTCM 1004 Extended Lland L2 GPS RTK Group 2 Base Station Coordinates RTCM1005 RTK Base Antenna Reference Point ARP RTCM 1006 RTK Base ARP with Antenna Height Example Input interfacemode com2 none RTCMV3 fix position 51 1136 114 0435 1059 4 log com2 rtcm1005 ontime 3 log com2 rtcm1002 ontime 10 RTCM1001 RTCM1004GPS RTK Observables V 23_RT20 V23_RT2 RTCM1001 RTCM1002 RTCM1003 and RTCM1004 are GPS real time kinematic RTK messages which are based on raw data From these data valid RINEX files can be obtained As a result this set of messages offers a high level of interoperability and compatibility with standard surveying practices Refer also to the PC Software and Firmware section of the OEMV Installation and Operation Manual for details on the logs that Convert4 converts to RINEX The Type 1001 Message supports single frequency RTK operation It does not include an indication of the satellite carrier to noise ratio as measured by the reference station The
336. en less than four sets are transmitted Message ID 223 Log Type Synch Recommended Input log gpgsv ontime 1 Example GPGSV 3 1 10 14 73 203 22 61 086 01 37 221 19 27 254 79 SGPGSV 3 2 10 11 24 307 18 24 092 09 24 048 15 24 150 7A SGPGSV 3 3 10 03 11 226 25 05 179 70 arr a The GPGSV log can be used to determine which satellites are currently available to the receiver Comparing the information from this log to that in the GPGSA log shows you if the receiver is tracking all available satellites Please see also the GPGGA usage box that applies to all NMEA logs on Page 272 286 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Field Structure Field Description Symbol Example 1 GPGSV Log header GPGSV 2 msgs Total number of messages 1 9 x 3 3 msg Message number 1 9 x 1 4 sats Total number of satellites in view XX 09 5 prn Satellite PRN number XX 03 GPS 1 to 32 SBAS 33 to 64 add 87 for PRN s elev Elevation degrees 90 maximum XX 51 7 azimuth Azimuth degrees True 000 to 359 XXX 140 8 SNR SNR C N 00 99 GB null when not tracking XX 42 Next satellite PRN number elev azimuth SNR Last satellite PRN number elev azimuth SNR variable xx Checksum hh 72 variable CR LF Sentence terminator CR LF OEMV Family Firmware Version 3 000 Reference Manual Rev 2 287 Chapter 3 DataL
337. ence Manual Rev 2 Data Logs Chapter 3 3 3 94 RXSTATUSEVENT Status Event Indicator V123 This log is used to output event messages as indicated in the RXSTATUS log An event message is automatically generated for all receiver errors which are indicated in the receiver error word In addition event messages can be generated when other conditions which are indicated in the receiver status and auxiliary status words are met Whether or not an event message is generated under these conditions is specified using the STATUSCONFIG command which is detailed starting on Page 176 On start up the receiver is set to log the RXSTATUSEVENTA log ONNEW on all ports You can remove this message by using the UNLOG command see Page 183 lt See also the chapter on Built In Status Tests in the OEMV Family Installation and Operation User Manual Message ID 94 Log Type Asynch Recommended Input log rxstatuseventa onchanged ASCII Example 1 RXSTATUSEVENTA COM1 0 17 0 FREEWHEELING 1337 408334 510 00480000 b967 1984 STATUS 19 SET No Valid Position Calculated 6de945ad ASCII Example 2 RXSTATUSEVENTA COM1 0 41 0 FINESTEERING 1337 408832 031 01000400 b967 1984 STATUS 10 SET COM3 Transmit Buffer Overrun 5b5682a9 a U U 6 When a fatal event occurs for example in the event of a receiver hardware failure a bit is set in the receiver error word part of the RXSTATUS log on Page 438 to indicate the cause of the problem
338. ent command default than the factory default See Section 2 4 starting on Page 47 for the factory default settings and the individual commands in the sections that follow for their command defaults 2 5 1 ADJUST1PPS Adjust the receiver clock V123 This command is used to adjust the receiver clock or as part of the procedure to transfer time between receivers The number of pulses per second PPS is always set to 1 Hz with this command It is typically used when the receiver is not adjusting its own clock and is using an external reference frequency To disable the automatic adjustment of the clock refer to the CLOCKADJUST command on Page 67 To configure the receiver to use an external reference oscillator see the EXTERNALCLOCK command on Page 100 The ADJUST1PPS command can be used to Manually shift the phase of the clock Adjust the phase of the clock so that the output 1PPS signal matches an external signal Set the receiver clock close to that of another GPS receiver pe n S Set the receiver clock exactly in phase of another GPS receiver lt 1 The resolution of the clock synchronization is 50 ns 2 To adjust the 1PPS output when the receiver s internal clock is being used and the CLOCKADJUST command is enabled use the CLOCKOFFSET command on Page 73 3 Ifthe 1PPS rate is adjusted the new rate does not start until the next second begins Figure 1 on Page 50 shows the IPPS alignment between a Fine and a Cold Clock receiver
339. ent COM port 8 ALL All COM ports 9 XCOM1 2 Virtual COM1 port 10 XCOM 2 Virtual COM2 port 13 USB1 USB port 1 14 USB2 USB port 2 15 USB3 USB port 3 16 AUX AUX port 17 XCOM3 2 Virtual COMS port a The XCOM1 XCOM2 and XCOMS3 identifiers are not available with the COM command but may be used with other commands For example INTERFACEMODE on Page 121 and LOG on Page 126 b The only other field that applies when a USB port is selected is the echo field A place holder must be inserted for all other fields to use the echo field in this case c The AUX port is available on OEMV 2 based and OEMV 3 based products Table 16 Parity 0 N No parity default 1 E Even parity 2 O Odd parity Table 17 Handshaking 0 N No handshaking default 1 XON XON XOFF software handshaking 2 CTS CTS RTS hardware handshaking OEMV Family Firmware Version 3 000 Reference Manual Rev 2 75 Chapter 2 Field Type ASCII Value Binary Value Description Binary Format Commands Binary Bytes Binary Offset COM header This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 port See Table 15 Port to configure Enum 4 H COM Serial Port default THISPORT Identifiers on Page 75 3 bps ba
340. ents the Y s w Version receiver software build number 12 Char This character indicates the end of the header N Example Log RAWEPHEMA COM1 0 35 0 SATTIME 1364 496230 000 00100000 97b7 2310 30 1364 496800 8b0550a1892755100275e6a09382232523a9dc04ee6F794a0000090394ee 8b05 50a189aa6ff925386228f97eabf9c8047e34a70ec5a10e486e794a7a 8H0550al 8a2effc2Ff80061c 2fffc267cd09f1d5034d3537affa28b6ff0eb 7a22f279 18 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Messages Chapter 1 1 1 2 Abbreviated ASCII This message format is designed to make the entering and viewing of commands and logs by the user as simple as possible The data is represented as simple ASCII characters separated by spaces or commas and arranged in an easy to understand fashion There is also no 32 bit CRC for error detection because it is meant for viewing by the user Example Command log coml loglist Resultant Log lt LOGLIST COM1 0 69 0 FINE 0 0 000 00240000 206d 0 lt 4 lt COM1 RXSTATUSEVENTA ONNEW 0 000000 0 000000 NOHOLD lt COM2 RXSTATUSEVENTA ONNEW 0 000000 0 000000 NOHOLD lt COM3 RXSTATUSEVENTA ONNEW 0 000000 0 000000 NOHOLD lt COM1 LOGLIST ONCE 0 000000 0 000000 NOHOLD As you can see the array of 4 logs are offset from the left hand side and start with lt 1 1 3 Binary Binary messages are meant strictly as a machine readable format They are also ideal for applications where the amount of data being transmitted is fairly
341. ephemeris delay VJ23_DGPB 91 2 5 15 DGPSTIMEOUT Set maximum age of differential data V123_DGPS 93 2 5 16 DGPSTXID DGPS transmit ID VI23_ DGPS o cceccccccccccetsceeeetseeeeeeee 94 2 5 17 DYNAMICS Tune receiver parameters V123 o eceecceccescsesseeeeseeseeeeens 96 2 5 18 ECUTOFF Set satellite elevation cut off VI23 0 ceccccecseeseeeeseeeeeeeens 98 2 5 19 EXTERNALCLOCK Set external clock parameters V23 c c cce 100 2 5 20 FIX Constrain to fixed height or position VI23 0 0 ceeecectcteeeeeeeeees 103 2 5 21 FIXPOSDATUM Set position through a specified datum V123 106 2 5 22 FORCEGPSL2CODE Force receiver to track L2 P or L2C code Wt Ne acai be EEA E E dah ixnidtbaes eayaird A E A E ET 107 2 5 23 FREQUENCYOUT Set output pulse train available on VARF V123 108 OEMV Family Firmware Version 3 000 Reference Manual Rev 1A Table of Contents 2 5 24 FRESET Clear selected data from NVM and reset VI23 c cc00 111 2 5 25 GGAQUALITY Customize the GPGGA GPS quality indicator VII NMEA oss cchtevs secs a a E a Ea REAR 113 2 5 26 GLOCSMOOTH GLONASS channel carrier smoothing V23_G 115 2 5 27 GLOECUTOFF Set GLONASS satellite elevation cut off V23_G 116 2 5 28 HPSEED Specify the initial OmniSTAR HP XP position V3_HP 117 2 5 29 HPSTATICINIT Set OmniSTAR HP XP static initialization V3_HP 119 2 5 30 INTERFACEMODE Set receive or transmit modes for ports V 23 121 2 5 31 LOCKOU
342. eq Frequency indicator Ulong 4 H 24 0 L1 2 L2 9 Reserved Ulong 4 H 28 10 GNSS time Global Navigation Satellite System GNSS Long 4 H 32 time of measurement us 11 obs Number of observation with information to Long 4 H 36 follow 12 multi bit Multiple message indicator Ulong 4 H 40 13 code Is code P Code Ulong 4 H 44 0 FALSE 1 TRUE 14 sat type Satellite type Ulong 4 H 48 0 GPS 1 GLONASS 15 PRN slot PRN number for GPS satellites satellite Ulong 4 H 52 number 32 is indicated by 0 slot number for GLONASS satellites see also Section 1 3 on Page 25 16 quality Data quality indicator see Table 70 Ulong 4 H 56 RTCM2021 Data Quality Indicator on Page 397 17 continuity Cumulative loss of continuity indicator with a Ulong 4 H 60 loss of lock counter 18 IODE Issue of ephemeris data Ulong 4 H 64 19 phase Carrier phase correction 1 256 cycles Long 4 H 68 Continued on Page 399 398 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Binary Binary Field Field type Data Description Format Bytes Offset 20 Next RTMC20 observation offset H 40 obs x 32 variable RTCM header RTCM message type Ulong 4 vari for RTCM21 able Base station ID Ulong 4 Modified Z count where the Z count week Ulong 4 number is the week number from subframe 1 of the ephemeris Sequence number U
343. erages positions after every power on or reset and then invokes the FIX POSITION command to enable it to send differential corrections De If this command is used its command default state is ON and as such you only need to specify the state if you wish to disable position averaging OFF In Example 1 below POSAVE 24 1 2 is the same as POSAVE ON 24 12 Abbreviated ASCII Syntax Message ID 173 POSAVE state maxtime maxhstd maxvstd Factory Default posave off ASCII Example 1 posave 24 1 2 ASCII Example 2 posave off ees The POSAVE command can be used to establish a new base station in any form of survey or RTK data collection by occupying a site and averaging the position until either a certain amount of time has passed or position accuracy has reached a user specified level User specified requirements can be based on time or horizontal or vertical quality of precision 144 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 Field ASCII Binary Binary Binary Binary miga Type Value Value Desenpilon Format Bytes Offset 1 POSAVE This field contains the command H 0 header name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 state ON 1 Enable or disable position Enum 4 H averaging OFF 0 default ON 3 maxtime 0 01 100 hours Maximum amount of time that Float 4 H 4 positions are to be average
344. eris relates to this slot and is also called SLOTO in CDU 4 freqo Frequency channel offset in the range Ushort 2 H 4 0 to 20 5 week GPS Week in weeks Ulong 4 H 6 6 ms GPS Time in milliseconds Ulong 4 H 10 TA frame decode Frame decoder number Ulong 4 H 14 8 sigchan Signal channel number Ulong 4 H 18 9 recs Number of GLONASS raw data record Ulong 4 H 22 numbers to follow 10 string GLONASS data string Uchar variable H 26 string size 11 Reserved Uchar 1 variable 12 Next record offset H 26 recs x string size 1 variable xxxx 32 bit CRC ASCII and Binary only Hex 4 H 26 recs x string size 1 variable CR LF Sentence terminator ASCII only a Inthe binary log case additional bytes of padding are added to maintain 4 byte alignment 268 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs 3 3 22 GLORAWSTRING Raw GLONASS String V23_G This log contains the raw string data as received from the GLONASS satellite Message ID 722 Log Type Asynch Recommended Input log glorawstringa onchanged Example GLORAWSTRINGA COM1 0 51 0 SATTIME 1340 399113 000 00000000 50ac 2020 4 6 061000000000000000004F 0 5b215fb2 Chapter 3 nee SSS Refer to the GLONASS Overview section in the GPS Reference Manual available on our website at http www novatel ca support docupdates htm
345. ersion 3 000 Reference Manual Rev 2 Messages 1 1 Message Types The receiver handles all incoming and outgoing NovAtel data in three different message formats Abbreviated ASCII ASCII and Binary This allows for a great deal of versatility in the way the OEMV family receivers can be used All NovAtel commands and logs can be entered transmitted output or received in any of the three formats The receiver also supports RTCA RTCMV3 RTCM CMR CMRPLUS and NMEA format messaging see the chapter on Message Formats in the OEMV Family Installation and Operation User Manual When entering an ASCII or abbreviated ASCII command in order to request an output log the message type is indicated by the character appended to the end of the message name A indicates that the message is ASCII and B indicates that it is binary No character means that the message is Abbreviated ASCII When issuing binary commands the output message type is dependant on the bit format in the message s binary header see Binary on Page 19 Table 1 below describes the field types used in the description of messages Table 1 Field Types Char 1 The char type is an 8 bit integer in the range 128 to 127 This integer value may be the ASCII code corresponding to the specified character In ASCII or Abbreviated ASCII this comes out as an actual character UChar 1 The uchar type is an 8 bit unsigned integer Values are in the r
346. ersion 3 000 Reference Manual Rev 2 97 Chapter 2 Commands 2 5 18 ECUTOFF Set satellite elevation cut off V123 98 This command sets the elevation cut off angle for tracked satellites The receiver does not start automatically searching for a satellite until it rises above the cut off angle Tracked satellites that fall below the cut off angle are no longer tracked unless they were manually assigned see the ASSIGN command In either case satellites below the ECUTOFF angle are eliminated from the internal position and clock offset solution computations This command permits a negative cut off angle it could be used in these situations The antenna is at a high altitude and thus can look below the local horizon Satellites are visible below the horizon due to atmospheric refraction lt 1 Care must be taken when using ECUTOFF because the signals from lower elevation satellites are travelling through more atmosphere and are therefore degraded Use of satellites below 5 degrees is not recommended 2 This command does not affect the RTK mode elevation cut off angle It only affects which satellites are tracked See the RTKELEVMASK command on Page 159 3 This command does not affect the tracking of SBAS or GLONASS satellites Abbreviated ASCII Syntax Message ID 50 ECUTOFF angle Factory Default ecutoff 5 0 ASCII Example ecutoff 10 0 SS U i A low elevation satellite is a satellite the receiver is tracking
347. erved Table 81 Auxiliary 2 Status NO 0 0x0000001 Reserved Table 82 Auxiliary 3 Status NO 0 0x0000001 Reserved 442 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Field Field type Data Description Format Binary Binary Bytes Offset 1 RXSTATUS Log header H 0 header 2 error Receiver error see Table 78 Receiver ULong 4 H Error on Page 439 A value of zero indicates no errors 3 stats Number of status codes including ULong 4 H 4 Receiver Status 4 rxstat Receiver status word see Table 79 ULong 4 H 8 Receiver Status on Page 440 5 rxstat pri Receiver status priority mask which can ULong 4 H 12 be set using the STATUSCONFIG command see Page 176 6 rxstat set Receiver status event set mask which ULong 4 H 16 can be set using the STATUSCONFIG command see Page 176 7 rxstat clear Receiver status event clear mask which ULong 4 H 20 can be set using the STATUSCONFIG command see Page 176 8 aux1stat Auxiliary 1 status word see Table 80 ULong 4 H 24 Auxiliary 1 Status on Page 442 9 aux1 stat pri Auxiliary 1 status priority mask which ULong 4 H 28 can be set using the STATUSCONFIG command see Page 176 10 auxistat set Auxiliary 1 status event set mask which ULong 4 H 32 can be set using the STATUSCONFIG command see Page 176 11 aux1 stat Auxiliary 1 status event clear mask U
348. et Description FIXPOSDATUM header This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 datum See Table 20 on Datum ID Enum 4 H Page 86 3 lat 90 to 90 Latitude degrees Double 8 H 4 4 lon 360 to 360 Longitude degrees Double 8 H 12 5 height 1000 to 20000000 Mean sea level MSL Double 8 H 20 height m 2 a For a discussion on height refer to the GPS Overview chapter of the GPS Reference Manual available on our website at http www novatel com support docupdates htm 106 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 2 5 22 FORCEGPSL2CODE Force receiver to track L2 P or L2C code V23_L2C This command allows you to force the receiver to track L2 P code or L2C code AUTO tells the receiver to use the best L2 code type available Abbreviated ASCII Syntax Message ID 796 FORCEGPSL2CODE L2type Factory Default forcegpsl2code default ASCII Example forcegpsl2code p Table 26 L2 Code Type 0 AUTO Receiver uses the best L2 code type available 1 P L2 P code or L2 Precise code 2 C L2C code or L2 Civilian code 3 DEFAULT Set to channel default p S a au U a U In surveying a benefit of choosing to track the L2C code is the ability to track extremely weak L2 signals L2C is just 2 3 dB weaker than L1 C A
349. et uses a 9600 bps connection where AVL data is relayed back to headquarters The limited bandwidth of the radio must be shared amongst the AVL and other systems in multiple cruisers When operating with a low baud rate radio transmitter 9600 or lower especially over a long distance the AVL system could limit the number of satellites for which corrections are sent using the RTKSVENTRIES command ASCII Binary Bescrintion Binary Binary Binary Value Value P Format Bytes Offset 1 RTKSVENTRIES This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 number 4 12 The number of SVs to use in ULong 4 H the solution default 12 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 163 Chapter 2 Commands 2 5 51 SAVECONFIG Save current configuration in NVM V123 This command saves the user s present configuration in non volatile memory The configuration includes the current log settings FIX settings port configurations and so on Its output is in the RXCONFIG log see Page 434 See also the FRESET command Page 111 WARNING If you are using this command in CDU ensure that you have all windows other than the Console window closed Otherwise log commands used for the various windows are saved as well This will result in unnecessary data being logged Abbreviated ASCII Synt
350. etting of 100 seconds The GLOCSMOOTH and CSMOOTH values for the OEMV are best left at their defaults GLOCSMOOTH 100 100 and CSMOOTH 100 100 unless you are certain that your application requires different values OEMV Family Firmware Version 3 000 Reference Manual Rev 2 115 Chapter 2 Commands 2 5 27 GLOECUTOFF Set GLONASS satellite elevation cut off V23_G This command sets the elevation cut off angle for tracked GLONASS satellites The receiver does not start automatically searching for a satellite until it rises above the cut off angle Tracked satellites that fall below the cut off angle are no longer tracked unless they were manually assigned see the ASSIGN command In either case satellites below the GLOECUTOFF angle are eliminated from the internal position and clock offset solution computations See also the ECUTOFF command for more information on elevation cut off commands lt GLONASS measurements can be used for post processed positioning solutions or in user designed programs NovAtel plans to offer GLONASS positioning in the future In the meantime OEMV based output is compatible with post processing software from the Waypoint Products Group NovAtel Inc See also www novatel com for details Abbreviated ASCII Syntax Message ID 735 GLOECUTOFF angle Factory Default gloecutoff 5 0 ASCII Example gloecutoff 0 LE Refer to the GLONASS Overview section in the GPS Reference Manual available on our
351. ev 2 251 Chapter 3 DataLogs Binary Binary Field Field type Data Description Format Bytes Offset 1 CMRPLUS Log header H 0 header 2 CMR header Synch character for the message Ulong 4 H 3 Message status Ulong 4 H 4 4 CMR message type Ulong 4 H 8 5 Message body length Ulong 4 H 12 6 Version Ulong 4 H 16 7 Station ID Ulong 4 H 20 8 Message Type Ulong 4 H 24 9 stnID Station ID Ulong 4 H 28 10 page Current page index Ulong 4 H 32 11 pages Maximum number of page indexes Ulong 4 H 36 12 data Data for this page Uchar 7 ga H 40 13 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 104 14 CR LF Sentence terminator ASCII only g a Inthe binary log case an additional byte of padding is added to maintain 4 byte alignment 252 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 15 COMCONFIG Current COM Port Configuration V123 This log outputs the current COM port configuration for each port on your receiver Message ID 317 Log Type Polled Recommended Input log comconfiga once ASCII example COMCONFIGA COM1 0 57 5 FINESTEERING 1337 394947 236 00000000 85aa 1984 3 COM1 57600 N 8 1 N OFF ON NOVATEL NOVATEL ON COM2 9600 N 8 1 N OFF ON RTCA NONE ON COM3 9600 N 8 1 N OFF ON NOVATEL NOVATEL ON 9d4b21b6 COM1 on the OEMV 3 is user configurable for RS 422 Refer to the
352. ex 4 H 44 16 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 48 17 CR LF Sentence terminator ASCII only 308 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 40 LOGLIST List of System Logs V123 Outputs a list of log entries in the system The following tables show the binary ASCII output See also the RXCONFIG log on Page 434 for a list of current command settings Message ID 5 Log Type Polled Recommended Input log loglista once ASCII Example LOGLISTA COM1 0 60 5 FINESTEERING 1337 398279 996 00000000 c00c 1984 8 COM1 RXSTATUSEVENTA ONNEW 0 000000 0 000000 HOLD COM2 RXSTATUSEVENTA ONNEW 0 000000 0 000000 HOLD COM3 RXSTATUSEVENTA ONNEW 0 000000 0 000000 HOLD USB1 RXSTATUSEVENTA ONNEW 0 000000 0 000000 HOLD USB2 RXSTATUSEVENTA ONNEW 0 000000 0 000000 HOLD USB3 RXSTATUSEVENTA ONNEW 0 000000 0 000000 HOLD COM1 BESTPOSA ONTIME 10 000000 0 000000 NOHOLD COM1 LOGLISTA ONCE 0 000000 0 000000 NOHOLD 5b2 9eed3 pe S S l a O O Ee Before contacting NovAtel Customer Service regarding software concerns we suggest you log the following logs for 30 minutes to a file RXSTATUSB RAWEPHEMB RANGEB BESTPOSB RXCONFIGA and VERSIONB Use the LOGLIST log to see what logs your receiver is outputting OEMV Family Firmware Version 3 000 Reference Manual Rev 2 309 Chapter 3 DataLogs Binary Binary Field F
353. extremely remote however if it should occur it is likely that only a small part of the data is corrupt This command is used to remove the corrupt data and restore the receiver to an operational state The data lost could be the user configuration almanac model or other reserved information OEMV Family Firmware Version 3 000 Reference Manual Rev 2 141 Chapter 2 Commands 142 2 5 38 PASSTOPASSMODE Enable disable solution smoothing modes V123_DGPS or V13_VBS This command allows you to enable or disable different solution smoothing modes The command is disabled by factory default You may decide to use it if you are using DGPS or VBS corrections In this case NovAtel advises that you use the recommendations shown in the example and table that follow lt The PASSTOPASSMODE command should only be used by advanced users Abbreviated ASCII Syntax Message ID 601 PASSTOPASSMODE switch measmth corsmth deweight scale Factory Default passtopassmode disable off off default 1 0 ASCII Example for DGPS and OmniSTAR VBS passtopassmode enable on off k y l yu 6 The PASSTOPASSMODE command can be used to improve position accuracy in cases where satellite visibility is good The best accuracy is achieved when satellite lock times are large OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 Field ASCII Binary Binary Binary Binary Type Value Value Description Format By
354. f ionospheric delay and rate of change measurements for each satellite as determined by the base station receiver This message is used to improve the ionospheric de correlation that would otherwise be experienced by a rover at a long distance from the base station This log is designed to work in conjunction with Type 1 messages using dual frequency receivers Type 15 messages are broadcast every 5 10 minutes and follow the RTCM standard for Type 15 messages Type 15 messages are designed to enable the rover to continuously remove the ionospheric component from received pseudorange corrections The delay and rate terms are added exactly like Type 1 corrections to provide the total ionospheric delay at a given time and the total ionospheric delay is then subtracted from the pseudorange corrections The resulting corrections are then iono free The rover subtracts its measurements or estimates of ionospheric delay from its own pseudorange measurements and applies the iono free corrections Structure Type 15 messages contain the following information for each satellite in view at the base station Satellite ID Ionospheric delay g Iono rate of change When operating as a base station the receiver must be in FIX POSITION mode and have the INTERFACEMODE command set before the data can be correctly logged You must also log the RTCM Type 1 corrections See Pages 103 and 121 respectively When operating as a rover station the receiver COM po
355. following information for a group of three satellites in view at the base station Scale factor User Differential Range Error Satellite ID Pseudorange correction Range rate correction Issue of Data IOD Message ID 404 Log Type Synch Recommended Input log rtcmdata9a ontime 10 382 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 ASCII Example RTCMDATAQA COM1 0 74 0 FINESTEERING 1117 160710 000 00100020 8265 399 160710000 0 3850 0 1117 6 3 0 0 21 866 29 153 0 0 6 1438 29 88 0 0 26 409 30 35 818597db 6 A reference station transmitting RTCM Type 9 corrections must be operating with a high stability clock to prevent degradation of navigation accuracy due to the unmodeled clock drift that can occur between Type 9 messages NovAtel recommends a high stability clock such as a PIEZO model whose 2 sample Allan variance meets the following stability requirements e 3 24 x 10 24 s s between 0 5 2 0 seconds and 1 69 x 1022 T s s between 2 0 100 0 seconds An external clock such as an OCXO requires approximately 10 minutes to warm up and become fully stabilized after power is applied Do not broadcast RTCM Type 9 corrections during this warm up period See also the EXTERNALCLOCK command on Page 100 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 383
356. future Galileo 418 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Field Field type Data Description Format Binary Binary YP p Bytes Offset 1 RTCMDATA1005 Log header H 0 header 2 msg Message number Ushort 2 H 3 ID Base station ID Ushort 2 H 2 4 Reserved Uchar 1 H 4 5 GPSind GPS indicator Uchar 1 H 5 0 No GPS service supported 1 GPS service supported 6 GLOind GLONASS indicator Uchar 1 H 6 0 No GLONASS service supported 1 GLONASS service supported 7 GALind Galileo indicator Uchar 1 H 7 0 No Galileo service supported 1 Galileo service supported 8 Reserved Uchar 1 H 8 9 ECEF X Base station ECEF X coordinate Double 8 H 9 1 10000 m 10 Reserved Uchar 1 H 17 11 ECEF Y Base station ECEF Y coordinate Double 8 H 18 1 10000 m 12 Reserved Uchar 2a H 26 13 ECEF Z Base station ECEF Z coordinate Double 8 H 28 1 10000 m 14 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 36 15 CR LF Sentence terminator ASCII only a Inthe binary log case an additional byte of padding is added to maintain 4 byte alignment OEMV Family Firmware Version 3 000 Reference Manual Rev 2 419 Chapter 3 DataLogs 3 3 86 RTCMDATA1006 Base Station ARP with Antenna Height V123_RT20 V23_RT2 This log is available at the base station See Section 3 3 80 starting on Page 405 for information on RTCM Version 3 0 standard logs Mes
357. g header H 0 header 2 temp Board temperature degrees celsius Float 4 H 3 ant current Approximate internal antenna current A Float 4 H 4 4 core volt CPU core voltage V Float 4 H 8 5 supply volt Receiver supply voltage V Float 4 H 12 6 rf volt 5V RF supply voltage V Float 4 H 16 7 int Ina volt Internal LNA voltage level V Float 4 H 20 8 GPAI General purpose analog input V Float 4 H 24 9 Reserved Float 4 H 28 10 Float 4 H 32 11 Ina volt LNA voltage V at OEM card output Float 4 H 36 12 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 40 13 CR LF Sentence terminator ASCII only OEMV Family Firmware Version 3 000 Reference Manual Rev 2 437 Chapter 3 Data Logs 3 3 93 RXSTATUS Receiver Status V123 438 This log conveys various status parameters of the GPS receiver system These include the Receiver Status and Error words which contain several flags specifying status and error conditions If an error occurs shown in the Receiver Error word the receiver idles all channels turns off the antenna and disables the RF hardware as these conditions are considered to be fatal errors The log contains a variable number of status words to allow for maximum flexibility and future expansion The receiver gives the user the ability to determine the importance of the status bits In the case of the Receiver Status setting a bit in the priority mask causes the condition to trigger an error This causes
358. g types are generated on the fly at the exact time of the mark Synchronous and asynchronous logs output the most recently available data Message ID 231 MARKTIME and 616 MARK2TIME Log Type Asynch Recommended Input log marktimea onnew Example MARKTIMEA COM1 0 77 5 FINESTEERING 1358 422621 000 00000000 292e 2214 1358 422621 000000500 1 398163614e 08 7 812745577e 08 14 000000002 VALID d8502226 6 These logs allow you to measure the time when events are occurring in other devices such as a video recorder See also the MARKCONTROL command on Page 134 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Field Field type Data Description Format Binary Binary Bytes Offset 1 MARKTIME Log header H 0 MARK2TIME header 2 week GPS week number Long 4 H 3 seconds Seconds into the week as measured from the Double 8 H 4 receiver clock coincident with the time of electrical closure on the Mark Input port 4 offset Receiver clock offset in seconds A positive Double 8 H 12 offset implies that the receiver clock is ahead of GPS Time To derive GPS time use the following formula GPS time receiver time offset 5 offset std Standard deviation of receiver clock offset s Double 8 H 20 6 utc offset This field represents the offset of GPS time from Double 8 H 28 UTC time computed using almanac parameters UTC time is GPS time plus the current
359. ge 3 1000 m 15 L2 encrypt L2 not encrypted Enum 4 H 52 0 FALSE 1 TRUE 16 Reserved Long 4 H 56 Iez Next id offset H 24 ids x 36 variable XXXX 32 bit CRC ASCII and Binary only Hex 4 variable variable CR LF Sentence terminator ASCII only a Inthe binary log case an additional 2 bytes of padding are added to maintain 4 byte alignment b Inthe binary log case an additional 1 byte of padding is added to maintain 4 byte alignment OEMV Family Firmware Version 3 000 Reference Manual Rev 2 373 Chapter 3 Data Logs 3 3 69 RTCADATAREF Base Station Parameters V123_RT20 or V23_RT2 See Section 3 3 65 starting on Page 367 for information on RTCA standard logs RTCAREF Type 7 An RTCAREF RTCA Base Station Position Information message contains base station position information and should be sent once every 10 seconds Each message is 24 bytes 192 bits long If RTCA format messaging is being used the optional station id field that is entered using the DGPSTXID command see Page 94 can be any 4 character string combining numbers and upper case letters and enclosed in double quotation marks for example RW34 The station ID is reported at the rover receiver in its position log Message ID 395 Log Type Synch Recommended Input log rtcadatarefa ontime 10 ASCII Example RTCADATAREFA COM1 0 47 5 F INESTEERING 1364 494600 601 00100000 44de 2310 78 0 1634531 40149
360. ge correction 0 02 m 16 Issue of data a 8 Range rate correction 0 002 m s 12 UDRE 0 2m 6 CRC Cyclic redundancy check 3 a The pseudorange correction and range rate correction fields have a range of 655 34 meters and 4 049 m s respectively Any satellite which exceeds these limits are not included OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Message ID 392 Log Type Synch Recommended Input log rtcadatala ontime 10 3 ASCII Example RTCADATAIA COM1 0 60 0 FINESTEERING 1364 493614 000 00100000 606b 2310 414 000000000 0 9 30 6 295701472 111 0 019231669 1 000000000 2 4 720861644 60 0 021460577 1 000000000 6 11 464165041 182 0 015610195 1 000000000 4 6 436236222 7 0 021744921 1 000000000 5 5 556760025 39 0 003675566 1 000000000 10 14 024430156 181 0 013904139 1 000000000 7 5 871886130 48 0 016165427 1 000000000 25 22 473942049 59 0 003024942 1 000000000 9 28 422760762 130 0 048257797 1 000000000 56d5182F a a i At the base station it is possible to log out the contents of the standard corrections in a form that is easier to read or process These larger variants have the correction fields broken out into standard types within the log rather than compressed into bit fields This can be useful if you wish to modify the format of the corrections for a non standard application or if you wish to look at the corrections for
361. ged Now the from port AB field designates the port which accepts data that is COM1 COM2 COM3 AUX USB1 USB2 or USB3 as well as the format in which the data is logged by the to port A for ASCII or B for Binary When the from port AB field is suffixed with an A all data received by that port is redirected to the to port in ASCII format and logs according to standard NovAtel ASCII format Therefore all incoming ASCII data is redirected and output as ASCII data However any binary data received is converted to a form of ASCII hexadecimal before it is logged When the from port AB field is suffixed with a B all data received by that port is redirected to the to port exactly as it is received The log header and time tag adhere to standard NovAtel Binary format followed by the pass through data as it was received ASCII or binary Pass through logs are best utilized by setting the trigger field as onchanged or onnew If the data being injected is ASCII then the data is grouped together with the following rules e blocks of 80 characters e any block of characters ending in a lt CR gt e any block of characters ending in a lt LF gt e any block remaining in the receiver code when a time out occurs 100 ms If the data being injected is binary or the port INTERFACEMODE mode is set to GENERIC then the data is grouped as follows e blocks of 80 bytes e any block remaining in the receiver code when a time out
362. good degrees True X X 24 168 3 T True track indicator T T 4 track mag Track made good degrees Magnetic X X 24 168 Track mag Track true MAGVAR correction See the MAGVAR command Page 131 5 M Magnetic track indicator M M 6 speed Kn Speed over ground knots X X 0 4220347 7 N Nautical speed indicator N Knots N N 8 speed Km Speed kilometers hour X X 0 781608 9 K Speed indicator K km hr K K 10 XX Checksum hh 7A 11 CR LF Sentence terminator CR LF 296 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs 3 3 36 GPZDA UTC Time and Date V123 NMEA This log outputs null data in all fields until a valid almanac is downloaded from a satellite Any alternate almanac already in NVM is not output Message ID Log Type 227 Synch Recommended Input log gpzda ontime 1 Example SGPZDA 143042 00 25 08 2005 6E Chapter 3 av ESS SSS SSS i Please see the GPGGA usage box that applies to all NMEA logs on Page 272 Field Structure Field Description Symbol Example 1 GPZDA Log header GPZDA 2 utc UTC time hhmmss ss 220238 00 3 day Day 01 to 31 XX 15 4 month Month 01 to 12 XX 07 5 year Year XXXX 1992 6 null Local zone description not available XX empty when no data is present 7 null Local zone minutes description not available XX empty when no data is present 8 XX Checksum hh 6F 9 CR LF
363. hapter 2 2 5 8 CLOCKCALIBRATE Adjust clock steering parameters V123 This command is used to adjust the control parameters of the clock steering loop The receiver must be enabled for clock steering before these values can take effect Refer to the CLOCKADJUST command see Page 67 to enable or disable this feature To disable the clock steering process issue the CLOCKADJUST DISABLE command The current values used by the clock steering process are listed in the CLOCKSTEERING log see Page 239 lt The values entered using the CLOCKCALIBRATE command are saved to non volatile memory NVM To restore the values to their defaults the FRESET CLKCALIBRATION command must be used See Section 2 5 24 on Page 111 for more details Abbreviated ASCII Syntax Message ID 430 CLOCKCALIBRATE mode period width slope bandwidth ASCII Example clockcalibrate auto E i The receiver by default steers its INTERNAL VCTCXO but can be commanded to control an EXTERNAL reference oscillator Use the EXTERNALCLOCK command see Page 100 to configure the receiver to use an external reference oscillator If the receiver is configured for an external reference oscillator and configured to adjust its clock then the clock steering loop attempts to steer the external reference oscillator through the use of the VARF signal Note that the clock steering control process conflicts with the manual FREQUENCYOUT command see Page
364. he H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 Lat 90 degrees Approximate latitude Double 8 H 3 Lon 360 degrees Approximate Double 8 H 8 longitude 4 Height 1000 to 20000000 m Approximate geoidal Double 8 H 16 height 170 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 2 5 56 SETAPPROXTIME Set an approximate GPS time V123 This command sets an approximate time in the receiver The receiver uses this time as a system time until a GPS coarse time can be acquired This can be used in conjunction with an approximate position see the SETAPPROXPOS command on Page 170 to improve time to first fix For more information please refer to the TTF F and Satellite Acquisition section of the GPS Reference Manual available on our website at http www novatel com support docupdates htm The time entered should be within 10 minutes of the actual GPS time If the week number entered does not match the broadcast week number the receiver resets See also the SATVIS log on Page 447 Abbreviated ASCII Syntax Message ID 102 SETAPPROXTIME week sec Input Example setapproxtime 1105 425384 I U E Upon power up the receiver does not know its position or time and therefore cannot use almanac information to aid satellite acquisition You can set an approximate GPS time using the SETAPPRO
365. he GPS Reference Manual The OEMV family of receivers automatically save almanacs in their non volatile memory NVM therefore creating an almanac boot file is not necessary Message ID 73 Log Type Asynch Recommended Input log almanaca onchanged ASCII Example ALMANACA COM1 0 54 0 SATTIME 1364 409278 000 00000000 06de 2310 29 1 1364 589824 0 6 289482e 03 7 55460039e 09 2 2193421e 00 1 7064776e 00 7 94268362e 01 4 00543213e 05 3 63797881le 12 1 45856541e 04 2 6560037e 07 4 45154034e 02 1 0 0 FALSE 2 1364 589824 0 9 173393e 03 8 16033991e 09 1 9308788e 00 1 9904300e 00 6 60915023e 01 1 62124634e 05 0 00000000 1 45860023e 04 2 6559614e 07 8 38895743e 03 1 0 0 FALSE 3 1364 589824 0 7 894993e 03 8 04604944e 09 7 95206128e 01 6 63875501le 01 2 00526792e 01 7 91549683e 05 3 63797881le 12 1 45858655e 04 2 6559780e 07 1 59210428e 02 1 0 0 TRUE 28 1364 589824 0 1 113367e 02 7 87461372e 09 1 44364969e 01 2 2781989e 00 1 6546425e 00 3 24249268e 05 0 00000000 1 45859775e 04 2 6559644e 07 1 80122900e 02 1 0 0 FALSE 29 1364 589824 0 9 435177e 03 7 57745849e 09 2 2673888e 00 9 56729511le 01 1 1791713e 00 5 51223755e 04 1 09139364e 11 1 45855297e 04 2 6560188e 07 4 36225787e 02 1 0 0 FALSE 30 1364 589824 0 8 776665e 03 8 09176563e 09 1 97082451e 01 1 2960786e 00 2 0072936e 00 2 76565552e 05 0 00000000 1 45849410e 04 2 6560903e 07 2 14517626e 03 1 0 0 FALSE de7a4e45 JE
366. he GPS Reference Manual available on our website at http www novatel com support docupdates htm Table 25 Fix Types NONE 0 Unfix Clears any previous FIX commands AUTO 1 Configures the receiver to fix the height at the last calculated value if the number of satellites available is insufficient for a 3 D solution This provides a 2 D solution Height calculation resumes when the number of satellites available allows a 3 D solution HEIGHT 2 Configures the receiver in 2 D mode with its height constrained to a given value This command is used mainly in marine applications where height in relation to mean sea level may be considered to be approximately constant The height entered using this command is always referenced to the geoid mean sea level see the BESTPOS log on Page 218 and uses units of meters The receiver is capable of receiving and applying differential corrections from a base station while FIX HEIGHT is in effect The FIX HEIGHT command overrides any previous FIX HEIGHT or FIX POSITION command This command only affects pseudorange corrections and solutions and so has no meaning within the context of RT 2 and RT 20 Continued on Page 105 104 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 POSITION Configures the receiver with its position fixed This command is used when it is necessary to generate differential corrections For both pseudor
367. he Waypoint Products Group NovAtel Inc See also www novatel com for details 348 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Table 64 Range Record Format RANGECMP only Chapter 3 Channel Tracking 0 31 32 see Table 63 Channel Status Tracking Status on Page 346 Doppler Frequency 32 59 28 1 256 Hz Pseudorange PSR 60 95 36 1 128 m ADR 2 96 127 32 1 256 cycles StdDev PSR 128 131 4 see P m StdDev ADR 132 135 4 n 1 512 cycles PRN Slot 136 143 8 1 Lock Time 144 164 21 1 32 s C No 165 169 5 20 n dB Hz Reserved 170 191 22 a ADR Accumulated Doppler Range is calculated as follows ADR_ROLLS RANGECMP_PSR WAVELENGTH RANGECMP_ADR MAX_VALUE Round to the closest integer IF ADR_ROLLS lt 0 ADR_ROLLS ADR_ROLLS 0 5 ELSE ADR_ROLLS ADR_ROLLS 0 5 At this point integerise ADR_ROLLS CORRECTED_ADR RANGECMP_ADR MAX_VALUE ADR_ROLLS where ADR has units of cycles WAVELENGTH 0 1902936727984 for L1 WAVELENGTH 0 2442102134246 for L2 MAX_VALUE 8388608 Code StdDev PSR m 0 0 050 1 0 075 2 0 113 3 0 169 4 0 253 5 0 380 6 0 570 7 0 854 8 1 281 9 2 375 10 4 750 11 9 500 12 19 000 13 38 000 14 76 000 15 152 000 GPS 1 to 32 SBAS 120 to 138 and GLONASS 38 to 61 see Section 1 3 on Page 25 Lock time rolls over after 2 097 151 seconds C No is constrained to a value between 20 51 dB Hz Thus if it i
368. he ability to monitor the RTCM messages being used by the NovAtel receiver in an easier to read format than the RTCM standard format You can also use the RTCMDATA logs as a diagnostic tool to identify when the receivers are operating in the required modes 378 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Field Field type Data Description Format Binary Binary Bytes Offset 1 RTCMDATA1 Log header H 0 header 2 RTCM header RTCM message type Ulong 4 H 3 Base station ID Ulong 4 H 4 Modified Z count where the Z count Ulong 4 H 8 week number is the week number from subframe 1 of the ephemeris 5 Sequence number Ulong 4 H 12 6 Length of frame Ulong 4 H 16 7 Base station health see REFSTATION Ulong 4 H 20 on Page 365 8 prn Number of PRNs with information to Ulong 4 H 24 follow 9 scale Scale where Ulong 4 H 28 0 0 02 m and 0 002 m s 1 0 32 m and 0 032 m s 10 UDRE User differential range error Ulong 4 H 32 11 PRN slot Satellite PRN number of range Ulong 4 H 36 measurement GPS 1 32 and SBAS 120 to 138 For GLONASS see Section 1 3 on Page 25 12 psr corr Scaled pseudorange correction Long 4 H 40 meters 13 rate corr Scaled range rate correction Long 4 H 44 14 IOD Issue of data Long 4 H 48 15 Next PRN offset H 28 prns x 24 variable XXXX 32 bit CRC ASCII and Binary only Hex 4 variable vari
369. he coordinates are output using the CSRS datum Datum ID 64 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 Table 19 Reference Ellipsoid Constants Airy 1830 AW 6377563 396 299 3249646 0 00334085064038 Modified Airy AM 6377340 189 299 3249646 0 00334085064038 Australian National AN 6378160 0 298 25 0 00335289186924 Bessel 1841 BR 6377397 155 299 1528128 0 00334277318217 Clarke 1866 cc 6378206 4 294 9786982 0 00339007530409 Clarke 1880 CD 6378249 145 293 465 0 00340756137870 Everest India 1830 EA 6377276 345 300 8017 0 00332444929666 Everest Brunei amp EB 6377298 556 300 8017 0 00332444929666 E Malaysia Everest W Malaysia amp EE 6377304 063 300 8017 0 00332444929666 Singapore Geodetic Reference RF 6378137 0 298 257222101 0 00335281068118 System 1980 Helmert 1906 HE 6378200 0 298 30 0 00335232986926 Hough 1960 HO 6378270 0 297 00 0 00336700336700 International 1924 IN 6378388 0 297 00 0 00336700336700 Parameters of the Earth PZ90 6378136 298 257839303 0 00335280374302 South American 1969 SA 6378160 0 298 25 0 00335289186924 World Geodetic System WD 6378135 0 298 26 0 00335277945417 1972 Taan Geodetic System WE 6378137 0 298 257223563 0 00335281066475 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 85 Chapter 2 Commands Table 20 Datum Transformation Pa
370. he first received RTCM RTCA RTCMV3 or CMR message The BESTPOS log selects the best solution between NovAtel RTK and OmniSTAR HP XP 11 NONE 9 Disables all the DGPS and OMNISTAR types 12 Reserved 13 RTCMV3 RTCM Version 3 0 ID 0 lt RTCMV3 ID lt 4095 or ANY a Disables L Band Virtual Base Stations VBS 150 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 b Available only with the RTKSOURCE command see Page 161 c ID parameter is ignored d All PSRDIFFSOURCE entries fall back to SBAS even NONE for backwards compatibility Binary Binary Binary Format Bytes Offset Field ASCII Binary Type Value Value Field Description This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively PSRDIFFSOURCE header 2 type See Table 30 ID Type All types may revert Enum 4 H to SBAS if enabled or SINGLE position types See also Table 44 Position or Velocity Type on Page 220 3 ID Char 5 or ID string Char 5 ga H 4 ANY a Inthe binary log case an additional 3 bytes of padding are added to maintain 4 byte alignment OEMV Family Firmware Version 3 000 Reference Manual Rev 2 151 Chapter 2 Commands 2 5 43 RESET Performa hardware reset V123 This command performs a hardware reset Following a RESET command th
371. high Because of the inherent compactness of binary as opposed to ASCII data the messages are much smaller This allows a larger amount of data to be transmitted and received by the receiver s communication ports The structure of all Binary messages follows the general conventions as noted here 1 Basic format of Header 3 Sync bytes plus 25 bytes of header information The header length is variable as fields may be appended in the future Always check the header length Data variable CRC 4 bytes 2 The 3 Sync bytes will always be First AA 170 Second 44 68 Third 12 18 3 The CRC is a 32 bit CRC see 1 7 32 Bit CRC on Page 28 for the CRC algorithm performed on all data including the header 4 The header is in the format shown in Table 4 Binary Message Header Structure on Page 20 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 19 Chapter 1 Messages Table 4 Binary Message Header Structure 1 Sync Char Hexadecimal OxAA 1 0 N 2 Sync Char Hexadecimal 0x44 1 1 N 3 Sync Char Hexadecimal 0x12 1 2 N 4 Header Lgth Uchar Length of the header 1 3 N 5 Message ID Ushort This is the Message ID 2 4 N number of the log see the log descriptions in Table 42 OEMV Family Logs in Order of their Message IDs on Page 209 for the Message ID values of individual logs 6 Message Char Bits 0 4 Reserved 1 6 N Type Bits 5 6 Format 00 Binary 01 ASCII 10 Abbreviated ASCII NMEA
372. ht or position V123 This command fixes various parameters of the receiver such as height or position For various applications fixing these values can assist in improving acquisition times and accuracy of position or corrections For example fixing the position and height is a requirement for differential base stations as it provides a truth position to base the differential corrections from If you enter a FIXPOSDATUM command see Page 106 the FIX command is then issued internally with the FIXPOSDATUM command values translated to WGS84 It is the FIX command that appears in the RXCONHIG log If the FIX or the FXPOSDATUM command are used their newest values overwrite the internal FIX values lt 1 NovAtel strongly recommends that the FIX POSITION entered be good to within a few meters This level of accuracy can be obtained from a receiver using single point positioning once 5 or 6 satellites are being tracked 2 Any setting other than FIX POSITION disables output of differential corrections unless the MOVINGBASESTATION command is set to ENABLE see also Page 139 Error checking is done on the entered fixed position If less than 3 measurements are available the solution status indicates PENDING While the status is PENDING the fixed position value is not used internally for example for updating the clock model or controlling the satellite signal search Once 3 or more measurements are available the error checking is performed If th
373. iated ASCII Syntax Message ID 258 DYNAMICS dynamics Factory Default dynamics air Example dynamics foot Table 21 User Dynamics 0 AIR Receiver is in an aircraft or a land vehicle for example a high speed train with velocity greater than 110 km h 30 m s This is also the most suitable dynamic for a jittery vehicle at any speed See also Note 2 above 1 LAND Receiver is in a stable land vehicle with velocity less than 110 km h 30 m s 2 FOOT Receiver is being carried by a person with velocity less than 11 km h 3 m s 6 Qualifying North American Solar Challenge cars annually weave their way through 1000 s of miles between the US and Canada GPS keeps them on track through many intersections on secondary highways and gives the Calgary team constant intelligence on the competition s every move In this case with average speeds of 46 miles hour and at times a jittery vehicle air is the most suitable dynamic OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 Field ASCII Binary Binary Binary Binary Type Value Value Description Format Bytes Offset 1 DYNAMICS This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 dynamics See Table 21 Receiver dynamics based Enum 4 H on your environment OEMV Family Firmware V
374. idual commands which are listed alphabetically Table 8 Commands By Function ANTENNAPOWER Control power to low noise amplifier LNA of an active antenna COM Set COM port configuration COMCONTROL Control the hardware control lines of the RS232 ports FREQUENCYOUT Set the output pulse train available on VARF INTERFACEMODE Set interface type Receive Rx Transmit Tx for a port LOG Request a log MARKCONTROL Control processing of the mark inputs PPSCONTROL Control the PPS output SEND Send ASCII message to a port SENDHEX Send non printable characters to a port SETRTCM16 Enter ASCII message to be sent in RTCM data stream UNLOG UNLOGALL AUTH Remove one or all logs from logging control Add authorization code for new model Continued on Page 33 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 DYNAMICS Tune receiver parameters RESET Perform a hardware reset FRESET Reset receiver to factory default MODEL Switch receiver to a previously AUTHed model NVMRESTORE Restore NVM data after a failure in NVM SAVECONFIG Save current configuration STATUSCONFIG Configure various status mask fields in RXSTATUSEVENT log ES aes eee aes CSMOOTH Set amount of carrier smoothing DATUM Choose a DATUM name type ECUTOFF Set satellite elevation cut off for solutions FIX Constrain receiver he
375. ield type Data Description Format Bytes Offset 1 LOGLIST Log header H 0 binary header 2 logs Number of messages to follow Long 4 H maximum 20 3 port Output port see Table 5 Detailed Serial Port Enum 4 H 4 Identifiers on Page 22 4 message Message ID of log Ushort 2 H 8 5 message Bits 0 4 Reserved Char 1 H 10 type Bits 5 6 Format 00 Binary 01 ASCII 10 Abbreviated ASCII NMEA 11 Reserved Bit7 Response Bit see Section 1 2 Responses on Page 24 0 Original Message 1 Response Message 6 reserved Char 3a H 11 7 trigger 0 ONNEW Enum 4 H 14 1 ONCHANGED 2 ONTIME 3 ONNEXT 4 ONCE 5 ONMARK 8 period Log period for ONTIME Double 8 H 18 9 offset Offset for period ONTIME trigger Double 8 H 26 10 hold 0 NOHOLD Enum 4 H 34 1 HOLD 11 Next log offset H 4 logs x 34 variable xxxx 32 bit CRC Hex 4 H 4 logs x 34 a Inthe binary log case an additional 2 bytes of padding are added to maintain 4 byte alignment 310 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Field Field type Data Description Format 1 LOGLIST Log header ASCII header 2 port Number of messages to follow maximum 20 Long 3 port Output port see Table 5 Detailed Serial Port Identifiers on Enum Page 22 4 message Message name of log with no suffix for abbreviated ascii an Char
376. ificantly reduce the amount of time required for ambiguity resolution Static surveys can be carried out much faster in a rapid static mode where station occupation times are again significantly reduced In addition in the event of loss of satellite lock in the middle of a kinematic survey carrier ambiguities can be solved while in motion or On The Fly In general dual frequency GPS receivers provide a faster more accurate and more reliable solution than single frequency equipment They do however cost significantly more to purchase thus it is important for potential GPS buyers to carefully consider their current and future needs OEMV Family Firmware Version 3 000 Reference Manual Rev 2 219 Chapter 3 Data Logs Table 44 Position or Velocity Type 0 NONE No solution 1 FIXEDPOS Position has been fixed by the FIX POSITION command 2 FIXEDHEIGHT Position has been fixed by the FIX HEIGHT AUTO command 8 DOPPLER_VELOCITY Velocity computed using instantaneous Doppler 16 SINGLE Single point position 17 PSRDIFF Pseudorange differential solution 18 WAAS Solution calculated using corrections from an SBAS 19 PROPAGATED Propagated by a Kalman filter without new observations 20 OMNISTAR 2 OmniSTAR VBS position L1 sub meter 32 L1_FLOAT Floating L1 ambiguity solution 33 IONOFREE_FLOAT Floating ionospheric free ambiguity solution 34 NARROW_FLOA
377. ight or position FIXPOSDATUM Set the position through a specified datum FORCEGPSL2CODE Force the receiver to track L2C or P code GGAQUALITY Customize the GPGGA GPS quality indicator GLOCSMOOTH Carrier smoothing for GLONASS channels GLOECUTOFF Set the GLONASS satellite elevation cut off angle HPSEED Specify the initial position for OmniSTAR HP XP HPSTATICINIT Set static initialization of OmniSTAR HP XP PASSTOPASSMODE Enable disable solution smoothing modes POSTIMEOUT Set the position time out value RTKBASELINE Initialize RTK with a static baseline RTKCOMMAND Reset the RTK filter or set the filter to default settings Continued on Page 34 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 33 Chapter 2 34 Commands RTKDYNAMICS Setup the RTK dynamics mode RTKELEVMASK Set the minimum elevation mask angle for satellites to include in RTK corrections RTKSOLUTION Set RTK carrier phase ambiguity type Float or Fixed SBASCONTROL Set SBAS test mode and PRN UNDULATION Set ellipsoid geoid separation USERDATUM Set user customized datum USEREXPDATUM Set custom expanded datum UTMZONE Set UTM parameters ASSIGN Assign individual satellite channel ASSIGNALL Assign all satellite channels DYNAMICS Tune receiver parameters ECUTOFF Set satellite tracking elevation cut off GLOECUTOFF Set GLONASS satellite elevation cut off SETAPPROXPOS Set an approximate posi
378. inary Binary Value Value p Format Bytes Offset 1 LOCKOUT This field contains the command H 0 header name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 prn GPS 1 37 A single satellite PRN number to Ulong 4 H OEMV Family Firmware Version 3 000 Reference Manual Rev 2 125 Chapter 2 Commands 2 5 32 LOG Request logs from the receiver V123 126 Many different types of data can be logged using several different methods of triggering the log events Every log element can be directed to any combination of the three COM ports and three USB ports The ONTIME trigger option requires the addition of the period parameter See Chapter 3 Data Logs on Page 195 for further information and a complete list of data log structures The LOG command tables in this section show the binary format followed by the ASCII command format The optional parameter hold prevents a log from being removed when the UNLOGALL command with its defaults is issued To remove a log which was invoked using the hold parameter requires the specific use of the UNLOG command see Page 153 To remove all logs that have the hold parameter use the UNLOGALL command with the held field set to 1 see Page 185 The port parameter is optional If port is not specified port is defaulted to the port that the command was received on lt 1 The OEMV family of receivers can handle 30 logs at
379. into the GPS week of Ulong 4 H 36 OmniSTAR HP or XP expiration date 13 hp sub mode HP or XP subscription mode if the subscription Ulong 4 H 40 is valid 0 HP 1 XP 14 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 44 15 CR LF Sentence terminator ASCII only a Ifthe subscription type is COUNTDOWN see Field 7 above the expiration week and expiration 302 seconds into the GPS week contain the amount of running time remaining in the subscription If the subscription type is COUNTDOWNOVERRUN the expiration week and expiration seconds into GPS week count the amount of the overrun time OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 39 LBANDSTAT L Band Status Information V13_VBS V3_HP or V13_CDGPS This log outputs status information for a standard L Band OmniSTAR XP Extra Precision or OmniSTAR HP High Performance service lt In addition to a NovAtel receiver with L Band capability a subscription to the OmniSTAR or use of the free CDGPS service is required Contact NovAtel for details Contact information may be found on the back of this manual or you can refer to the Customer Service section in the OEMV Family Installation and Operation User Manual Message ID 731 Log Type Asynch Recommended Input log Ibandstata ontime 1 ASCII Example LBANDSTATA COM1 0 73 5 FINESTEERING 1314 494510 000 00000000 c797 1846 1551488896 43 19 62 3 0 00 0082 0000 72
380. ion ARP with Antenna Height 770 RTCM1004 Extended L1 L2 GPS RTK Observables 772 RTCM1001 L1 Only GPS RTK Observables 774 RTCM1002 Extended L1 Only GPS RTK Observables 776 RTCM1003 L1 L2 GPS RTK Observables 217 GPALM Almanac Data 218 GPGGA GPS Fix Data and Undulation 219 GPGLL Geographic Position latitude longitude 220 GPGRS GPS Range Residuals for Each Satellite 221 GPGSA GPS DOP and Active Satellites 222 GPGST Pseudorange Measurement Noise Statistics 223 GPGSV GPS Satellites in View 224 GPRMB Generic Navigation Information 225 GPRMC GPS Specific Information 226 GPVTG Track Made Good and Ground Speed 227 GPZDA UTC Time and Date 259 GPGGARTK GPS Fix Data with Extra Precision 521 GPGGALONG GPS Fix Data Extra Precision and Undulation a CMR RTCA RTCM and RTCMV3 logs may be logged with an A or B extension to give an ASCII or Binary output with a NovAtel header followed by Hex or Binary data respectively OEMV Family Firmware Version 3 000 Reference Manual Rev 2 213 Chapter 3 DataLogs 3 3 Log Reference 3 3 1 ALMANAC Decoded Almanac V123 This log contains the decoded almanac parameters from Subframe four and five as received from the satellite with the parity information removed and appropriate scaling applied Multiple messages are transmitted one for each SV almanac collected For more information on Almanac data refer to the GPS SPS Signal Specification Refer to the appendix on Standards and References in t
381. iple base stations See also the PSRDIFFSOURCE command on Page 149 lt To use OmniSTAR HP XP differential corrections a NovAtel receiver with L Band capability and a subscription to the OmniSTAR service are required Contact NovAtel for details Contact information may be found on the back of this manual or you can refer to the Customer Service section in the OEMV Family Installation and Operation User Manual Abbreviated ASCII Syntax Message ID 494 RTKSOURCE type ID Factory Default rtksource auto any ASCII Examples 1 Select only SBAS rtksource none psrdiffsource none sbascontrol enable auto Enable OmniSTAR HP and VBS rtksource omnistar psrdiffsource omnistar Enable RTK and PSRDIFF from RTCM with a fall back to SBAS rtksource rtcm any psrdiffsource rtcm any sbascontrol enable auto T i Consider an agricultural example where a farmer has his own RTCM base station set up but either due to obstructions or radio problems might occasionally experience a loss of corrections By specifying a fallback to SBAS the farmer could set up his receiver to use transmitted RTCM corrections when available but fall back to SBAS Also if he decided to get an OmniSTAR subscription he could switch to the OEMV Family Firmware Version 3 000 Reference Manual Rev 2 161 Chapter 2 Commands OmniSTAR corrections Field ASCII Binary E Binary Binary Binary Type Value Value Description Format Bytes Offse
382. iption 1 To COM1 5 Data link 2 To COM2 6 Serial cables 3 Rover receiver 7 Pocket PC rover 4 Base receiver 8 Laptop PC base Figure 10 Pass Through Log Data Under default conditions the two receivers chatter back and forth with the Invalid 330 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Command Option message due to the command interpreter in each receiver not recognizing the command prompts of the other receiver This chattering in turn causes the accepting receiver to transmit new pass through logs with the response data from the other receiver To avoid this chattering problem use the INTERFACEMODE command on the accepting port to disable error reporting from the receiving port command interpreter If the accepting port s error reporting is disabled by INTERFACEMODE the BESTPOSA data record passes through and creates two records The reason that two records are logged from the accepting receiver is because the first record was initiated by receipt of the BESTPOSA first terminator lt CR gt Then the second record followed in response to the BESTPOSA second terminator lt LF gt Note that the time interval between the first character received and the terminating lt LF gt can be calculated by differencing the two GPS time tags This pass through feature is useful for time tagging the arrival of external messages These messages can be any user related data If you are using this feature
383. irmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 CLOCKADJUST 15 Enable clock adjustments clockadjust switch CLOCKCALIBRATE 430 Adjust the control clockcalibrate mode period parameters of the clock width slope bandwidth steering loop CLOCKOFFSET 596 Adjust for antenna RF clockoffset offset cable delay in PPS output COMCONTROL 431 Control the hardware comcontrol port signal control control lines of the RS232 ports COM 4 COM port configuration com port bps parity databits control stopbits handshake echo break I CSMOOTH 269 Set carrier smoothing csmooth L1time L2time DATUM 160 Choose a DATUM name datum datum type DGPSEPHEMDELAY 142 DGPS ephemeris delay dgpsephemdelay delay DGPSTIMEOUT 127 Set maximum age of dgpstimeout delay differential data accepted DGPSTXID 144 DGPS transmit ID dgpstxid type ID DYNAMICS 258 Tune receiver parameters dynamics dynamics ECUTOFF 50 Set satellite elevation cut ecutoff angle off EXTERNALCLOCK 230 Set external clock externalclock clocktype freq h0 parameters h1 h2 FIX 44 Constrain to fixed height fix type param1 param2 or position param3 FIXPOSDATUM 761 Set the position through a position datum lat lon height specified datum FORCEGPSL2CODE 796 Force the receiver to track forcegpsl2code L2type L2C or P code Continued on Page 38 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 37
384. irmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 2 5 15 DGPSTIMEOUT Set maximum age of differential data V123_DGPS This command is used to set the maximum age of pseudorange differential data to use when operating as a rover station Pseudorange differential data received that is older than the specified time is ignored RTK differential data is fixed at 60 seconds and cannot be changed See DGPSEPHEMDELAY on Page 91 to set the ephemeris changeover delay for base stations lt The RTCA Standard for SCAT I stipulates that the maximum age of differential correction messages cannot be greater than 22 seconds Therefore for RTCA rover users the recommended DGPS delay setting is 22 Abbreviated ASCII Syntax Message ID 127 DGPSTIMEOUT delay Factory Default dgpstimeout 300 ASCII Example rover dgpstimeout 60 i DGPSTIMEOUT only applies to local pseudorange differential RTCA RTCM and OmniSTAR VBS corrections as if they were from a local base station Field ASCII Binary Binary Binary Binary Type Value Value Description Format Bytes Offset 1 DGPSTIMEOUT This field contains the command H 0 header name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 delay 2to 1000s Maximum pseudorange ULong 4 H differential age OEMV Family Firmware Version 3 000 Reference Manual Rev 2 93 Chapter 2 Commands
385. is time the receiver time will again be adjusted this time to an accuracy of 1 microsecond This state is qualified by the FINE time status flag The final logical time status flag depends on whether CLOCKADJUST is enabled or not see Page 67 If CLOCKADJUST is disabled the time status flag will never improve on FINE The time will only be adjusted again to within 1 microsecond if the range bias gets larger than 250 milliseconds If Clock Adjust is enabled the time status flag will be set to FINESTEERING and the receiver time will be continuously updated steered to minimize the receiver range bias If for some reason position is lost and the range bias cannot be calculated the time status will be degraded to FREEWHEELING Message Time Stamps All NovAtel format messages generated by the OEMV family receivers have a GPS time stamp in their header GPS time is referenced to UTC with zero point defined as midnight on the night of January 5 1980 The time stamp consists of the number of weeks since that zero point and the number of seconds since the last week number change 0 to 604 799 GPS time differs from UTC time since leap seconds are occasionally inserted into UTC but GPS time is continuous In addition a small error less than microsecond can exist in synchronization between UTC and GPS time The TIME log reports both GPS and UTC time and the offset between the two The data in synchronous logs for example RANGE BESTPOS TIME ar
386. itialization to fixed integer ambiguities If no value is entered a default value of 0 30 m is assumed this does not cause an initialization to occur Table 31 Baseline Parameters Unknown N A N A N A LLM Lat Lon MSL Ht LLE Lat Lon Ellipsoidal Ht ECEF AX AY AZ Abbreviated ASCII Syntax Message ID 182 RTKBASELINE type par1 par2 par3 2sigma Factory Default rtkbaseline unknown 0 0 0 0 ASCII Example rtkbaseline ecef baseline 7 54 3 28 2 02 0 25 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 153 Chapter 2 Commands SSeS EE i RTKBASELINE is used in differential GPS situations where specific baseline information is known Enter RTKBASELINE information to enhance the speed in which integer ambiguities are resolved For example at the beginning of an RTK survey where the initial two points are known the faster calculation of initial integer ambiguities allows you to have a shorter initialization period so survey work can begin faster As another example consider two receivers on a fixed baseline such as an aircraft survey between known points Knowing the relative position the relative ECEF vector allows you to achieve higher accuracy and faster RT 2 reacquisition times since the baseline information is already known ee ee ee es 6 How long do need to sit on a 10 km baseline How long you need to occupy stations for a 10 km baseline depends on the system you ar
387. ition GPSec 4 H 8 5 update time GPS time of last update GPSec 4 H 12 6 parameters Clock correction parameters a 1x3 array Double 8 H 16 of length 3 listed left to right 7 8 H 24 8 8 H 32 9 cov data Covariance of the straight line fit a 3x3 Double 8 H 40 array of length 9 listed left to right by 10 rows 8 H 48 11 8 H 56 12 8 H 64 13 8 H 72 14 8 H 80 15 8 H 88 16 8 H 96 17 8 H 104 18 range bias Last instantaneous measurement of the Double 8 H 112 range bias meters 19 range bias rate Last instantaneous measurement of the Double 8 H 120 range bias rate m s 20 change Is there a change in the constellation Enum 4 H 128 0 FALSE 1 TRUE 21 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 132 22 CR LF Sentence terminator ASCII only 238 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 9 CLOCKSTEERING Clock Steering Status V123 The CLOCKSTEERING log is used to monitor the current state of the clock steering process All oscillators have some inherent drift By default the receiver attempts to steer the receiver s clock to accurately match GPS time If for some reason this is not desired this behavior can be disabled using the CLOCKADJUST command see Page 67 lt If the CLOCKADJUST command is ENABLED and the receiver is configured to use an external reference frequency set in the EXTERNALCLOCK command see Page 100 for an external clock TCXO OCXO RUBIDIUM CESIUM
388. itional 2 bytes of padding is added to maintain 4 byte alignment OEMV Family Firmware Version 3 000 Reference Manual Rev 2 493 Chapter 3 Data Logs 3 3 115 WAAS18 IGP Mask V123_SBAS 494 The ionospheric delay corrections are broadcast as vertical delay estimates at specified ionospheric grid points IGPs applicable to a signal on L1 The predefined IGPs are contained in 11 bands numbered 0 to 10 Bands 0 8 are vertical bands on a Mercator projection map and bands 9 10 are horizontal bands on a Mercator projection map Since it is impossible to broadcast IGP delays for all possible locations a mask is broadcast to define the IGP locations providing the most efficient model of the ionosphere at the time Message ID 295 Log Type Asynch Recommended Input log WAAS 18a onchanged ASCII Example WAAS18A COM1 0 33 0 SATTIME 1337 417074 000 00000000 2c0 1984 122 4 2 2 0000ffc0007fc0003ff0000f 80007fe0007fe0003ff0000ff80 0 bled353e Each raw WAAS frame gives data for a specific frame decoder number The WAAS18 message can be logged to view the data breakdown of WAAS frame 18 which contains information on ionospheric grid points Binary Binary Field Field type Data Description Format Bytes Offset 1 WAAS 18 header Log header H 0 2 prn Source PRN of message Ulong 4 H 3 bands Number of bands broadcast Ulong 4 H 4 4 band num Specific band number that Ulong 4 H 8 identifies
389. its MK11 port For example if this value was set to 50 then the Secondary would set its 1PPS 50 ns ahead of the input signal and if this a Only the MK1I input can be used to synchronize the 1PPS signal Synchronization cannot be done using the MK2I input offered on some receivers b It is presumed that the TIMESYNC log see Page 453 was issued by a Primary GPS receiver within 1000 ms but not less than 800 ms of the last 1PPS event see Figure 1 1PPS Alignment on Page 50 Refer also to the Transfer Time Between Receivers section in the OEMV Family Installation and Operation User Manual 54 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 2 5 2 ANTENNAPOWER_ Control power to the antenna V123 This command enables or disables the supply of electrical power from the internal refer to the OEMV Family Installation and Operation User Manual for information on supplying power to the antenna power source of the receiver to the low noise amplifier LNA of an active antenna There are several bits in the Receiver Status see Table 79 Receiver Status on Page 440 that pertain to the antenna These bits indicate whether the antenna is powered internally or externally and whether it is open circuited or short circuited On start up the ANTENNAPOWER is set to ON Abbreviated ASCII Syntax Message ID 98 ANTENNAPOWER flag Factory Default antennapower on ASCII Example antennapowe
390. king of the selected COM port causing unexpected results 2 The PULSEPPSLOW control type cannot be issued for a TX signal Only PULSEPPSHIGH FORCEHIGH and FORCELOW control types can be used for a TX signal Abbreviated ASCII Syntax COMCONTROL port signal control Factory Default comcontrol coml comcontrol com2 comcontrol com3 ASCII Example 1 com coml 9600 n comcontrol comi comcontrol com2 ASCII Example 2 comcontrol comi comcontrol com2 comcontrol com3 ASCII Example 3 OEMV 3 To set a break condition on AUX rts rts rts 8 1 rts dtr rts rts rts Message ID 431 default default default n to disable handshaking forcelow togglepps togglepps togglepps togglepps comcontrol aux tx forcelow A break condition remains in effect until it is cleared OEMV Family Firmware Version 3 000 Reference Manual Rev 2 77 Chapter 2 Commands To clear a break condition on AUX comcontrol coml tx default or comcontrol coml tx forcehigh Table 18 Tx DTR and RTS Availability COM1 and COM2 N A COM1 and COM2 N A COM1 and COM2 COM1 COM3 and AUX COM2 COM1 COM2 and COM3 6 COM1 on the OEMV 3 is user configurable for RS 422 Refer to the Technical Specifications appendix and also the User Selectable Port Configuration section of the OEMV Family Installation and Operation User Manual 78 OEMV Family Firmware Version 3 000 Reference Manual Re
391. l 0 L1 Phase Lock Loop a Foracomplete list of hexadecimal and binary equivalents please refer to the appendix on Unit Conversion in the GPS Reference Manual available on our website at http www novatel com support docupdates htm Bit Oo Binary Correlator Spacing Satellite System Data Assignment Reserved R Val 0 2 Automatic GPS PAC OEMV Family Firmware Version 3 000 Reference Manual Rev 2 345 Chapter 3 Data Logs Table 63 Channel Tracking Status 0 0x00000001 Tracking state 0 11 see Table 60 Tracking State on Page 345 NO 1 0x00000002 2 0x00000004 3 0x00000008 4 0x00000010 N1 5 0x00000020 SV channel number 0 n 0 first n last n depends on the receiver 6 0x00000040 7 0x00000080 8 0x00000100 N2 9 0x00000200 10 0x00000400 Phase lock flag 0 Not locked 1 Locked 11 0x00000800 Parity known flag 0 Not known 1 Known 12 0x00001000 Code locked flag 0 Not locked 1 Locked N3 13 0x00002000 Correlator type 0 7 see Table 61 Correlator Type on Page 345 14 0x00004000 15 0x00008000 16 0x00010000 Satellite system 0 GPS 1 GLONASS N4 17 0x00020000 2 WAAS 3 6 Reserved 18 0x00040000 7 Other 19 0x00080000 Reserved 20 0x00100000 Grouping 0 Not grouped 1 Grouped N5 21 0x0020000
392. l GPS Corrections RTCADATAEPHEM 393 Type 7 Ephemeris and Time Information RTCADATAOBS 394 Type 7 Base Station Observations RTCADATAREF 395 Type 7 Base Station Parameters RTCMDATA1 396 Type 1 Differential GPS Corrections RTCMDATA3 402 Type 3 Base Station Parameters RTCMDATA9 404 Type 9 Partial Differential GPS Corrections RTCMDATA15 397 Type 15 lonospheric Corrections RTCMDATA16 398 Type 16 Special Message RTCMDATA1819 399 Type18 and Type 19 Raw Measurements RTCMDATA2021 400 Type 20 and Type 21 Measurement Corrections RTCMDATA22 401 Type 22 Extended Base Station Parameters Continued on Page 206 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 205 Chapter 3 DataLogs RTCMDATA59 403 Type 59N 0 NovAtel Proprietary RT20 Differential RTCMDATA1001 784 L1 Only GPS RTK Observables RTCMDATA1002 785 Extended L1 Only GPS RTK Observables RTCMDATA1003 786 L1 L2 GPS RTK Observables RTCMDATA1004 787 Extended L1 L2 GPS RTK Observables RTCMDATA1005 788 RTK Base Station ARP RTCMDATA1006 789 RTK Base Station ARP with Antenna Height RTKDATA 215 RTK specific information RTKPOS 141 RTK low latency position data RTKVEL 216 RTK velocity RTKXYZ 244 RTK cartesian coordinate position data RXCONFIG 128 Receiver configuration status RXHWLEVELS 195 Receiver hardware levels RXSTATUS 93 Self test status RXSTATUSEVENT 94 Status event indicator SA
393. l port 31 XCOM3 9a0 2464 Virtual COM3 port virtual port 0 XCOM3_ 31 9bf 2495 Virtual COMS port virtual port 31 a Decimal port values 0 through 16 are only available to the UNLOGALL command see Page 185 and cannot be used in the UNLOG command Page 183 or in the binary message header see Table 4 on Page 20 b The AUX port is available on OEMV 2 based and OEMV 3 based products I COM1_ALL COM2_ALL COM3_ALL THISPORT_ALL ALL_PORTS USB1_ALL USB2_ALL USB3_ALL and AUX_ALL are only valid for the UNLOGALL command OEMV Family Firmware Version 3 000 Reference Manual Rev 2 23 Chapter 1 Messages 1 2 Responses 24 By default if you input a message you will get back a response If desired the INTERFACEMODE command can be used to disable response messages see Page 121 The response will be in the exact format that you entered the message that is binary input binary response Abbreviated Response Just the leading lt followed by the response string for example lt OK ASCII Response Full header with the message name being identical except ending in an R for response The body of the message consists of a 40 character string for the response string for example BESTPOSR COM1 0 67 0 FINE 1028 422060 400 00000000 a3 1b 0 OK b867caad Binary Response Similar to an ASCII response except that it follows the binary protocols e Binary header with message type set to response value for example 0x
394. larke 1866 82 instead 21 MAUI 65 290 190 Do not use Use ID 79 or ID Clarke 1866 83 instead 22 OAHU 56 284 181 Do not use Use ID 80 or ID Clarke 1866 84 instead 23 HERAT 333 222 114 Herat North Afghanistan International 1924 24 HJORS 73 46 86 Hjorsey 1955 Iceland International 1924 25 HONGK 156 271 189 Hong Kong 1963 International 1924 26 HUTZU 634 549 201 This datum has been updated International see ID 68 1924 27 INDIA 289 734 257 Do not use Use ID 69 or ID Everest EA 70 instead 28 IRE65 506 122 611 Do not use Use ID 71 Modified instead Airy 29 KERTA 11 851 5 Kertau 1948 West Malaysia Everest EE and Singapore 30 KANDA 97 787 86 Kandawala Sri Lanka Everest EA 31 LIBER 90 40 88 Liberia 1964 Clarke 1880 32 LUZON 133 77 51 Do not use Use ID 72 Clarke 1866 instead 33 MINDA 133 70 72 This datum has been updated Clarke 1866 see ID 73 34 MERCH 31 146 47 Merchich Morocco Clarke 1880 35 NAHR 231 196 482 This datum has been updated Clarke 1880 see ID 74 36 NAD83 0 0 0 N American 1983 Includes GRS 80 Areas 37 42 37 CANADA 10 158 187 N American Canada 1927 Clarke 1866 38 ALASKA 5 135 172 N American Alaska 1927 Clarke 1866 Continued on Page 88 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 87 Chapter 2 Commands 39 NAD27 8 160 176 N American Conus 1927 Clarke 1866
395. led log 195 Index ascii header 18 communication 19 368 configuration 32 74 76 164 253 identifier 22 75 interrupt 333 log request 127 output 128 130 310 311 pass through 328 RS232 77 RTCM 377 send data 167 serial 121 122 124 332 Statistic 196 status 332 445 unlog 185 PORTSTATS log 332 position 3 D 335 accuracy 103 153 approximate 171 214 374 at time of mark 313 averaging 35 144 216 base station 203 365 best 218 223 229 422 calculation 146 command 33 current 320 322 datum 84 fix 33 105 four unknowns 216 234 334 344 hot 371 log 196 199 matched 316 318 431 precision 276 372 pseudorange 203 336 single point 229 solution 98 116 334 431 static 227 time out 146 type 313 Vision correlator 193 461 xyz coordinates 230 319 340 341 432 POSTIMEOUT command 146 post process application example 348 427 505 carrier smoothing 82 differential 140 154 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 529 Index 530 elevation angle 99 ephemeris data 355 generic software 122 Waypoint a NovAtel Precise Position ing Company 348 power 55 56 455 PPSCONTROL command 147 prerequisite 14 pressure 147 processing 18 21 199 343 proprietary information 403 pseudorange 516 correction 104 377 382 error estimate 343 jump 67 343 measurement 284 347 349 352 391 noise statistic 284
396. les or enables Enum 4 H 4 output of the PPS pulse ENABLE 1 The factory default value is ENABLE 4 polarity NEGATIVE 0 Optional field to specify Enum 4 H 8 the polarity of the pulse to POSITIVE 1 be generated on the PPS output See Figure 4 for more information If no value is supplied the default NEGATIVE is used 3 rate 0 05 0 1 0 2 0 25 Optional field to specify Double 8 H 12 0 5 1 0 2 0 the period of the pulse in 3 0 20 0 seconds If no value is supplied the default value of 1 0 is used 4 Reserved set to 0 ULong 4 H 20 148 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 2 5 42 PSRDIFFSOURCE Set the pseudorange correction source V123_DGPS This command lets you identify from which base station to accept differential corrections This is useful when the receiver is receiving corrections from multiple base stations See also the RTKSOURCE command on Page 161 Db 1 When a valid PPRDIFFSOURCE command is received the current correction is removed immediately rather than in the time specified in DGPSTIMEOUT see Page 93 2 To use L Band differential corrections an L Band receiver and a subscription to the OmniSTAR or use of the free CDGPS service are required Contact NovAtel for details Contact information may be found on the back of this manual or you can refer to the Customer Service section in the OEMV Family Install
397. lied the default value of 0 is used 6 timeguard Any valid ulong Optional field to specify a ULong 4 H 16 value larger than the time period in receivers minimum milliseconds during which raw measurement subsequent pulses after an period initial pulse are ignored If no value is supplied the default value of 0 is used a See Appendix A in the OEMV Family Installation and Operation User Manual for the maximum raw measurement rate to determine the minimum period If the value entered is lower than the minimum measurement period the value is ignored and the minimum period is used 136 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 2 5 35 MODEL Switch to a previously authorized model V123 This command is used to switch the receiver between models previously added with the AUTH command When this command is issued the receiver saves this model as the active model The active model is now used on every subsequent start up The MODEL command causes an automatic reset Use the VALIDMODELS log to output a list of available models for your receiver The VALIDMODELS log is described on Page 457 Use the VERSION log to output the active model see Page 458 lt If you switch to an expired model the receiver will reset and enter into an error state You will need to switch to a valid model to continue Abbreviated ASCII Syntax Message ID 22 MODEL model Input Exa
398. lites 292 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Table 53 URA Variance Chapter 3 0 2 0 4 1 2 8 7 84 2 4 0 16 3 5 7 32 49 4 8 56 5 11 3 127 69 6 16 0 256 7 32 0 1024 8 64 0 4096 9 128 0 16384 10 256 0 65536 11 512 0 262144 12 1024 0 1048576 13 2048 0 4194304 14 4096 0 16777216 15 8192 0 67108864 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 293 Chapter 3 DataLogs Binary Binary Field Field type Data Description Format Bytes Offset 1 GPSEPHEM Log header H 0 header 2 PRN Satellite PRN number Ulong 4 H 3 tow Time stamp of subframe 0 seconds Double 8 H 4 4 health Health status a 6 bit health code as defined in Ulong 4 H 12 ICD GPS 200 5 IODE1 Issue of ephemeris data 1 Ulong 4 H 16 6 IODE2 Issue of ephemeris data 2 Ulong 4 H 20 7 week GPS week number Ulong 4 H 24 8 z week Z count week number This is the week number Ulong 4 H 28 from subframe 1 of the ephemeris The toe week field 7 is derived from this to account for rollover 9 toe Reference time for ephemeris seconds Double 8 H 32 10 A Semi major axis meters Double 8 H 40 11 AN Mean motion difference radians second Double 8 H 48 12 Mo Mean anomaly of reference time radians Double 8 H 56 13 ecc Eccentricity dimensionless quantity defined Double 8 H 64 for a conic section
399. lized at state 0 the time difference between the Primary and Secondary reported by the TIME log was less than 10 ns OEMV Family Firmware Version 3 000 Reference Manual Rev 2 51 Chapter 2 Commands Field ASCII Binary Ta Binary Binary Binary Tied Type Value Value Description Format Bytes Offset 1 Ei This field contains the H 0 head command name or the Sader message header depending on whether the command is abbreviated ASCII ASCII or binary respectively Continued on Page 53 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 Field ASCII Binary Binary Binary Binary rele Type WELT EUT Description Format Bytes Offset 2 mode OFF 0 Disables ADJUST1PPS Enum 4 H default MANUAL 1 Immediately shifts the receivers time by the offset field in ns The period field has no effect in this mode This command does not affect the clock state MARK2 2 Shifts the receiver time to align its 1PPS with the signal received in the MK1I port adjusted by the offset field in ns The effective shift range is 0 5 s MARKWITHTIME 3 Shifts the receiver time to align its 1PPS with the signal received in the MK1I port adjusted by the offset field in ns and sets the receiver TOW and week number to that embedded in a received TIMESYNC log see Page 453 It also sets the receiver Time Status to that embedded in the TIMESYNC log which must have arrived bet
400. logged to view the data breakdown of WAAS frame 26 which contains ionospheric delay corrections OEMV Family Firmware Version 3 000 Reference Manual Rev 2 501 Chapter 3 DataLogs Binary Binary Field Field type Data Description Format Bytes Offset Scaling 1 WAAS26 header Log header H 0 2 prn Source PRN of message Ulong 4 H 3 band num Band number Ulong 4 H 4 4 block id Block ID Ulong 4 H 8 5 5 pts Number of grid points with Ulong 4 H 12 information to follow 6 iDPvde IGP vertical delay estimates Ulong 4 H 16 0 125 7 givei Grid ionospheric vertical error Ulong 4 H 20 z indicator 8 Next pts entry H 16 pts x 8 variable iodi Issue of data ionosphere Ulong 4 H 16 pts x 8 variable spare 7 spare bits Ulong 4 H 20 pts x 8 variable xxxx 32 bit CRC ASCII and Binary Hex 4 H 24 only pts x 8 variable CR LF Sentence terminator ASCII only 502 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 119 WAAS27 SBAS Service Message V123_SBAS WAAS27 messages apply only to the service provider transmitting the message The number of service messages indicates the total number of unique WAAS27 messages for the current IODS Each unique message for that IODS includes a sequential message number The IODS is incremented in all messages each time that any parameter in any WAAS27 message i
401. long 4 Length of frame Ulong 4 Base station health see REFSTATION on Ulong 4 Page 365 variable freq Frequency indicator Ulong 4 vari able Reserved Ulong 4 GNSS time GNSS time of measurement Long 4 obs Number of observations to follow Ulong 4 variable multi bit Multiple message indicator var iable code Is code P Code Ulong 4 0 FALSE 1 TRUE sat type Satellite type Ulong 4 0 GPS 1 GLONASS prn Satellite PRN slot number Ulong 4 corr scale Pseudorange correction scale factor Ulong 4 0 0 02 1 0 32 rate scale Pseudorange rate correction scale factor Ulong 4 0 0 002 1 0 032 quality Data quality indicator see Table 70 Page 397 Ulong 4 multipath Multipath indicator see Table 71 Page 397 Ulong 4 IODE Issue of ephemeris data Ulong 4 range corr Pseudorange correction scaled Long 4 range rate Pseudorange range correction rate scaled Long 4 Continued on Page 400 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 399 Chapter 3 DataLogs Binary Binary Field Field type Data Description Format Bytes Offset variable Next RTCM21 observation offset variable variable xxxx 32 bit CRC ASCII and Binary only Hex 4 variab le variable CR LF Sentence terminator ASCII only 400 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 78 RTCMDATA22 Extended Base Station V123_RT20 V2
402. lot i Page 466 20 udre2 i 0 12 Ulong 4 H 72 21 udre3 Ulong 4 H 76 22 udre4 Ulong 4 H 80 23 udre5 Ulong 4 H 84 24 udre6 Ulong 4 H 88 25 udre7 Ulong 4 H 92 26 udre8 Ulong 4 H 96 27 udre9 Ulong 4 H 100 28 udre10 Ulong 4 H 104 29 udre11 Ulong 4 H 108 30 udre12 Ulong 4 H 112 31 XXXX 32 bit CRC ASCII and Hex 4 H 116 Binary only 32 CR LF Sentence terminator ASCII only 468 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 106 WAAS3 Fast Corrections Slots 13 25 V123_SBAS WAAS3 are fast corrections for slots 13 25 in the mask of WAAS1 This message may or may not come when SBAS is in testing mode see the SBASCONTROL command on Page 164 for details Message ID 301 Log Type Asynch Recommended Input log WAAS3a onchanged ASCII Example WAAS3A COM1 0 17 0 SATTIME 1337 415990 000 00000000 b 5 1984 134 1 2 2047 0 2047 2047 21 4 2047 2047 1 0 2 2047 6 14 5 14 14 11 5 14 14 5 7 5 14 8 a25aebe5 JE 6 Each raw WAAS frame gives data for a specific frame decoder number The WAAS3 message can be logged to view the data breakdown of WAAS frame 3 which contains information on fast correction slots 13 25 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 469 Chapter 3 DataLogs Binary Binary Field Fi
403. m Float 4 H 116 35 Next SV offset H 108 obs x 12 variable XXXX 32 bit CRC ASCII and Binary only Hex 4 H 108 12xobs variable CR LF Sentence terminator ASCII only 426 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 88 RTKPOS RTK Low Latency Position Data V123_RT20 V23_RT2 This log contains the low latency RTK position computed by the receiver along with two status flags In addition it reports other status indicators including differential age which is useful in predicting anomalous behavior brought about by outages in differential corrections This log is recommended for kinematic operation Better accuracy can be obtained in static operation with the MATCHEDPOS log With the system operating in an RTK mode this log reflects if the solution is a good RTK low latency solution from extrapolated base station measurements or invalid A valid RTK low latency solution is computed for up to 60 seconds after reception of the last base station observation The degradation in accuracy due to differential age is reflected in the standard deviation fields and is summarized in the GPS Overview section of the GPS Reference Manual available on our website at http www novatel com support docupdates htm See also the DGPSTIMEOUT command on Page 93 Message ID 141 Log Type Synch Recommended Input log rtkposa ontime 1 ASCII Example RTKPOSA COM1
404. m err Number of framing errors Ulong 4 H 36 This field does not apply for a USB port and is always set to 0 for USB 12 overruns Number of hardware overruns Ulong 4 H 40 13 Next port offset H 4 port x 40 14 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 4 port x 40 15 CR LF Sentence terminator ASCII only OEMV Family Firmware Version 3 000 Reference Manual Rev 2 333 Chapter 3 DataLogs 3 3 50 PSRDOP Pseudorange DOP V123 The dilution of precision data is calculated using the geometry of only those satellites that are currently being tracked and used in the position solution by the receiver This log is updated once every 60 seconds or whenever a change in the satellite constellation occurs Therefore the total number of data fields output by the log is variable and depends on the number of SVs that are being tracked Twelve is the maximum number of SV PRNs contained in the list lt 1 Ifa satellite is locked out using the LOCKOUT command it will still be shown in the PRN list but it will be significantly de weighted in the DOP calculation 2 The vertical dilution of precision can be calculated by vdop y pdop hdop Message ID 174 Log Type Asynch Recommended Input log psrdopa onchanged ASCII Example PSRDOPA COM1 0 56 5 FINESTEERING 1337 403100 000 00000000 768 1984 1 9695 1 7613 1 0630 1 3808 0 8812 5 0 10 14 22 25 1 24 11 5 20 30 7 106del10a
405. m transmitting corrections without a fixed position The moving base function allows you to obtain a cm level xyz baseline estimate when the base station and possibly the rover are moving It is very similar to normal RTK that is one base station and potentially more than one rover depending on the data link Communication with each receiver is done in the usual way refer to the Transmitting and Receiving Corrections section of the Operation chapter in the OEMV Family Installation and Operation User Manual The BSLNXYZ log is an asynchronous matched log that can be logged with the onchanged trigger to provide an accurate baseline between the base and rover At the rover it is recommended that you only use the PSRPOS log for position when in moving base station mode PSRPOS has normal accuracy with good standard deviations Other position logs for example BESTPOS can have error levels of 10 s to 100 s of meters and should be considered invalid Also the standard deviation in these logs does not correctly reflect the error level Other rover position logs where accuracy and standard deviations are affected by the moving base station mode are BESTXYX GPGST MARKPOS MARK2POS MATCHEDPOS MATCHEDXYZ RTKPOS and RTKXYZ The MOVINGBASESTATION command must be used to allow the base to transmit messages without a fixed position lt 1 Use the PSRPOS position log at the rover It provides the best accuracy and standard deviations when
406. mal pairs String n String is a variable length array of bytes that is null terminated in the binary case and additional bytes of padding are added to maintain 4 byte alignment The maximum byte length for each String field is shown in their row in the log or command tables Table 2 Byte Arrangements 7 0 char address n 15 7 0 short n 1 address n 31 23 15 7 0 ong CI T T J wos compliment n 3 n 2 n 1 address n 63 62 52 51 0 double n 7 n 6 n 5 n 4 n 3 n 2 n 1 address n 31 30 23 22 0 float n 3 n 2 n 1 address n 16 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Messages Chapter 1 Table 2 shows the arrangement of bytes within each field type when used by IBM PC computers All data sent to or from the OEMV family receiver however is read least significant bit LSB first opposite to what is shown in Table 2 Data is then stored in the receiver LSB first For example in char type data the LSB is bit 0 and the most significant bit MSB is bit 7 See Table 62 Channel Tracking Example on Page 345 for a more detailed example 1 1 1 ASCII ASCII messages are readable by both the user and a computer The structures of all ASCII messages follow the general conventions as noted here 1 2 3 The lead code identifier for each record is Each log or command is of variable length depending on amount of data and formats All data fields are delimited by a comma with two exceptions
407. mance The factory default CSMOOTH value of 100 was selected as an optimal compromise of the above considerations For the majority of applications this default value should be appropriate However the flexibility exists to adjust the parameter for specific applications by users who are familiar with the consequences 82 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands ASCII Value CSMOOTH header Binary Value Description This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively Chapter 2 Binary Binary Binary Format Bytes Offset 2 Litime 2 2000 L1 carrier smoothing time Ulong 4 H constant in seconds 3 L2time 5 2000 L2 carrier smoothing time Ulong 4 H 4 constant in seconds default 100 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 83 Chapter 2 Commands 2 5 13 DATUM Choose a datum name type V123 84 This command permits you to select the geodetic datum for operation of the receiver If not set the factory default value is WGS84 See the USERDATUM command for user definable datums The datum you select causes all position solutions to be based on that datum The NAD83 CSRS datum is available to CDGPS users The receiver automatically transforms the CDGPS computed coordinates into WGS84 the default datum of the receiver Alternativel
408. memory Such data includes the almanac ephemeris and any user specific configurations The commands ephemeris almanac and L Band related data excluding the subscription information can be cleared by using the STANDARD target The model can only be cleared by using the MODEL target The receiver is forced to hardware reset lt FRESET STANDARD which is also the default causes any commands ephemeris GPS almanac and SBAS almanac data COMMAND GPSALMANAC GPSEPHEM and SBASALMANAC in Table 27 previously saved to NVM to be erased Abbreviated ASCII Syntax Message ID 20 FRESET target Input Example freset command ee SS SS EEE SSeS SS If you are receiving no data or random data from your receiver try these before contacting NovAtel e Verify that the receiver is tracking satellites e Check the integrity and connectivity of power and data cables e Verify the baud rate settings of the receiver and terminal device your PC data logger or laptop Switch COM ports Issue a FRESET command OEMV Family Firmware Version 3 000 Reference Manual Rev 2 111 Chapter 2 Commands Table 27 FRESET Target 0 STANDARD Resets commands ephemeris and almanac default Also resets all L Band related data except for the subscription information 1 COMMAND Resets the stored commands saved configuration 2 GPSALMANAC Resets the stored GPS almanac 3 GPSEPHEM Resets the stored GPS
409. ment m 6 lon c Estimated average standard deviation of Float 4 H 28 longitude solution element m 7 hgt o Estimated average standard deviation of height Float 4 H 32 solution element m 8 posave Position averaging status see Table 43 Enum 4 H 36 9 ave time Elapsed time of averaging s Ulong 4 H 40 10 samples Number of samples in the average Ulong 4 H 44 11 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 48 12 CR LF Sentence terminator ASCII only OEMV Family Firmware Version 3 000 Reference Manual Rev 2 217 Chapter 3 Data Logs 3 3 3 BESTPOS Best Position V123 218 This log contains the best available combined GPS and inertial navigation system INS if available position computed by the receiver In addition it reports several status indicators including differential age which is useful in predicting anomalous behavior brought about by outages in differential corrections A differential age of 0 indicates that no differential correction was used With the system operating in an RTK mode this log reflects the latest low latency solution for up to 60 seconds after reception of the last base station observation After this 60 second period the position reverts to the best solution available the degradation in accuracy is reflected in the standard deviation fields If the system is not operating in an RTK mode pseudorange differential solutions continue for the time specified in the DGPST
410. meter settings It also provides the most complete information but the size and format do not make it easy to read 2 For some specific commands logs are available to indicate all their parameter settings The LOGLIST log see Page 309 shows all active logs in the receiver beginning with the LOG command The COMCONFIG log see Page 253 shows both the COM and INTERFACEMODE commands parameter settings for all serial ports 3 Request a log of the specific command of interest to show the parameters last entered for that command The format of the log produced is exactly the same as the format of the specific command with updated header information This is very useful for most commands but for commands that are repeated with different parameters for example COM LOG and INTERFACEMODE this only shows the most recent set of parameters used To see all sets of parameters try method or 2 above OEMV Family Firmware Version 3 000 Reference Manual Rev 2 31 Chapter 2 Abbreviated ASCII Example log fix Commands lt FIX COM1 0 45 0 FINE 1114 151898 288 00200000 dbfd 33123 lt NONE 10000 00000000000 10000 00000000000 10000 0000 2 3 Commands by Function 32 Table 8 lists the commands by function while Table 9 on Page 36 is an alphabetical listing of commands repeated in Table 10 on Page 41 with the commands in the order of their message IDs Please see 2 5 Command Reference on Page 49 for a more detailed description of indiv
411. mily Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Recommended Input log navigatea ontime 1 ASCII Example NAVIGATEA COM1 0 56 0 FINESTEERING 1337 399190 000 00000000 aece 1984 SOL_COMPUTED PSRDIFF SOL_COMPUTED GOOD 9453 6278 303 066741 133 7313 9577 9118 1338 349427 562 643cd4e2 E i Use the NAVIGATE log in conjunction with the SETNAV command to tell you where you currently are with relation to known To and From points You can find a specific latitude longitude or height knowing where you started from A backpacker for example could use these two commands to program a user supplied graphical display on a digital GPS compass to show their progress as they follow a specific route OEMV Family Firmware Version 3 000 Reference Manual Rev 2 321 Chapter 3 Field Field Type NAVIGATE header Data Description Log header Format Data Logs Binary Binary Bytes H Offset 0 sol status Solution status see Table 45 Solution Status on Page 221 Enum pos type Position type see Table 44 Position or Velocity Type on Page 220 Enum H 4 vel type Velocity type see Table 44 Position or Velocity Type on Page 220 Enum H 8 nav type Navigation data type see Table 59 Navigation Data Type on Page 320 Enum H 12 distance Straight line horizontal distance from current position to the destination waypoint in meters
412. monitor which provides an independent check of each GPS satellite s signal and reports whether it is good or bad Commercial DGPS vendors usually have a monthly or yearly subscription fee All of the previous discussions have been dealing with code data Some commercial DGPS services are now also provide high accuracy carrier phase data along with code data With this type of data depending on your equipment you will be able to achieve decimeter and even centimeter level accuracies OEMV Family Firmware Version 3 000 Reference Manual Rev 2 301 Chapter 3 Data Logs Field Bh Binary Binary Field Type Data Description Format Bytes Offset 1 LBANDINFO Log header H 0 header 2 freq Selected frequency for L Band service kHz Ulong 4 H 3 baud Communication baud rate from L Band satellite Ulong 4 H 4 4 ID L Band signal service ID Ushort 2 H 8 5 Reserved Ushort 2 H 10 6 OSN L Band serial number Ulong 4 H 12 7 vbs sub L Band VBS subscription type see Table 54on Enum 4 H 16 Page 300 8 vbs exp week GPS week number of L Band VBS expiration Ulong 4 H 20 date 9 vbs exp secs Number of seconds into the GPS week of L Ulong 4 H 24 Band VBS expiration date 10 hp sub OmniSTAR HP or XP subscription type see Enum 4 H 28 Table 54 on Page 300 11 hp exp week GPS week number of OmniSTAR HP or XP Ulong 4 H 32 expiration date 12 hp exp secs Number of seconds
413. mple model rt2w a SSSSSS Se i NovAtel receivers use the concept of models to enable different levels of functionality in the receiver firmware For example a receiver may be purchased with an L1 only enabled version of firmware and be easily upgraded at a later time to a more feature intensive model All that is required to upgrade is an authorization code for the higher model and the AUTH command see Page 65 Reloading the firmware or returning the receiver for service to upgrade the model is not required Upgrades are available from NovAtel Customer Service at 1 800 NOVATEL OEMV Family Firmware Version 3 000 Reference Manual Rev 2 137 Chapter 2 Commands Field ASCII Binary Dur Binary Binary Binary ne Type Value Value Description Format Bytes Offset 1 MODEL header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 model Max 16 character Model name String Vari Vari null terminated max 16 able able string including the null a Inthe binary log case additional bytes of padding are added to maintain 4 byte alignment 138 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 2 5 36 MOVINGBASESTATION Set ability to use a moving base station V23_RT2 or V123_RT20 This command enables or disables a receiver fro
414. n sol status must also be checked If the sol status is non zero the velocity is likely invalid It should be noted that the receiver does not determine the direction a vessel craft or vehicle is pointed heading but rather the direction of the motion of the GPS antenna relative to the ground The velocity is computed using Doppler values typically derived from differences in consecutive carrier phase measurements As such it is an average velocity based on the average change in pseudorange over the time interval and not an instantaneous velocity at the PSRVEL time tag The velocity latency to be subtracted from the time tag is normally 1 2 the time between filter updates Under default operation the position filter is updated at a rate of 2 Hz This translates into a velocity latency of 0 25 second The latency can be reduced by increasing the update rate of the filter by requesting the BESTVEL PSRVEL BESTPOS or PSRPOS messages at a rate higher than 2 Hz For example a logging rate of 10 Hz would reduce the velocity latency to 0 05 seconds For integration purposes the velocity latency should be applied to the record time tag A valid solution with a latency of 0 0 indicates that the instantaneous Doppler measurement was used to calculate velocity Message ID 100 Log Type Synch Recommended Input log psrvela ontime 1 ASCII Example PSRVELA COM1 0 52 5 FINESTEERING 1337 403362 000 00000000 658b 1984 SOL_COMPUTED PSRDIFF 0 2
415. nates The difference between these two positions in the way of range errors to the satellites are your differential corrections Usually these corrections are then passed to your rover unit s for use in computing the rover s differentially corrected positions However the further apart the base and rover receivers are the less their errors are in common Thus the differential corrections computed at your base are less applicable at your rover s location at large distances 234 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Field Field type Data Description Format Binary lt Binary Bytes Offset 1 BSLNXYZ Log header H 0 header 2 sol status Solution status see Table 45 Solution Status on Enum 4 H Page 221 3 bsin type Baseline type see Table 44 Position or Velocity Enum 4 H 4 Type on Page 220 4 B X Baseline X coordinate m Double 8 H 8 5 B Y Baseline Y coordinate m Double 8 H 16 6 B Z Baseline Z coordinate m Double 8 H 24 7 B Xo Standard deviation of B X m Float 4 H 32 8 B Yo Standard deviation of B Y m Float 4 H 36 9 B Z o Standard deviation of B Z m Float 4 H 40 10 stn ID Base station identification Char 4 4 H 44 11 obs Number of observations tracked Uchar 1 H 48 12 GPSL1 Number of GPS L1 ranges used in computation Uchar 1 H 49 13 L1 Number of GPS L1 ranges above the RTK mask Uchar 1 H 50 angle
416. nd the WGS84 ellipsoid m 8 datum id Datum ID number see Table 20 Datum Enum 4 H 36 Transformation Parameters on Page 86 9 lat o Latitude standard deviation Float 4 H 40 10 lon c Longitude standard deviation Float 4 H 44 11 hot o Height standard deviation Float 4 H 48 12 stn id Base station ID Char 4 4 H 52 13 diff_age Differential age in seconds Float 4 H 56 14 sol_age Solution age in seconds Float 4 H 60 15 obs Number of observations tracked Uchar 1 H 64 16 GPSL1 Number of GPS L1 ranges used in computation Uchar 1 H 65 17 Uchar 1 H 66 18 Uchar 1 H 67 19 meade Uchar 1 H 68 20 Uchar 1 H 69 21 Uchar 1 H 70 22 Uchar 1 H 71 23 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 72 24 CR LF Sentence terminator ASCII only a When using a datum other than WGS84 the undulation value also includes the vertical shift due to differences between the datum in use and WGS84 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 337 Chapter 3 DataLogs 3 3 52 PSRVEL Pseudorange Velocity V123 In the PSRVEL log the actual speed and direction of the receiver antenna over ground is provided The velocity measurements sometimes have a latency associated with them The time of validity is the time tag in the log minus the latency value See also the table footnote for velocity logs on Page 198 The velocity status indicates varying degrees of velocity quality To ensure healthy velocity the positio
417. nels can be configured to track GLONASS signals that can be used in the solution See also Table 12 OEMV Channel Configurations on Page 58 When a PRN in a log is in the range 38 to 61 then that PRN represents a GLONASS Slot where the Slot shown is the actual GLONASS Slot Number plus 37 Similarly the GLONASS Frequency shown in logs is the actual GLONASS Frequency plus 7 For example SATVISA COM1 0 53 5 F INESTEERING 1363 234894 000 00000000 0947 2277 TRUE TRUE 46 2 0 0 73 3 159 8 934 926 934 770 43 8 0 0 4 163 7 4528 085 4527 929 3 0 0 79 9 264 3 716 934 716 778 b94813d3 where 2 and 3 are GPS satellites and 43 is a GLONASS satellite Its actual GLONASS Slot Number is 6 The SATVIS log shows 43 6 37 Its actual GLONASS frequency is 1 The SATVIS log shows 8 1 7 See also the SATVIS log on Page 447 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 25 Chapter 1 1 4 GPS Time Status Messages All reported receiver times are subject to a qualifying time status This status gives you an indication of how well a time is known see Table 7 Table 7 GPS Time Status 20 UNKNOWN Time validity is unknown 60 APPROXIMATE Time is set approximately 80 COARSEADJUSTING Time is approaching coarse precision 100 COARSE This time is valid to coarse precision 120 COARSESTEERING Time is coarse set and is being steered 130 FREEWHEELING Position is lost and the range bias
418. ng 4 H 8 5 prc12 Fast corrections 2048 to 2047 Long 4 H 12 R praia for the prn in slot i i 11 21 T j TET j 7 prc14 Long 4 H 20 8 prc15 Long 4 H 24 9 prc16 Long 4 H 28 10 prc17 Long 4 H 32 11 prc18 Long 4 H 36 12 prc19 Long 4 H 40 13 prc20 Long 4 H 44 14 prc21 Long 4 H 48 15 udre11 udre i Ulong 4 H 52 See Table 16 udre12 User differential range error Ulong 4 H 56 EA 17 udre13 ey Deprun Ulong 4 H 60 etre 18 udre14 Ulong 4 bee ere 19 udre15 Ulong 4 H 68 20 udre16 Ulong 4 H 72 21 udre17 Ulong 4 H 76 22 udre18 Ulong 4 H 80 23 udre19 Ulong 4 H 84 24 udre20 Ulong 4 H 88 25 udre21 Ulong 4 H 92 26 XXXX 32 bit CRC ASCII and Binary Hex 4 H 96 only 27 CR LF Sentence terminator ASCII only OEMV Family Firmware Version 3 000 Reference Manual Rev 2 509 Chapter 3 DataLogs 3 3 122 WAAS34 CDGPS Fast Correction Slots 22 32 V13_CDGPS WAAS34 are fast corrections for slots 22 32 in the mask of WAAS1 for CDGPS see Page 464 Message ID 698 Log Type Asynch Recommended Input log WAAS34a onchanged ASCII Example WAAS34A COM2 0 73 0 FINE 1295 226542 000 00000040 1be8 34461 209 0 5879 0 0 0 0 2687 0 10922 10922 10922 10922 0 14 14 14 14 0 14 15 15 15 15 3aeb74be 6 Each raw CDGPS mask frame gives data for a specific frame decoder number The WAAS34 message can be logged to view the data breakdown of WAAS frame 34 which contains information on CDGPS fast correction slots 22 32
419. ngth Ulong 4 H 12 6 Version Ulong 4 H 16 7 Station ID Ulong 4 H 20 8 Message Type Ulong 4 H 24 9 sv Number of SVs Ulong 4 H 28 10 epoch Epoch time milliseconds Ulong 4 H 32 11 clock bias Is clock bias valid Ulong 4 H 36 0 NOT VALID 3 VALID 12 clock offset Clock offset nanoseconds Long 4 H 40 13 obs Number of satellite observations with Ulong 4 H 44 information to follow 14 prn Satellite PRN number Ulong 4 H 48 15 code flag Is code P Code Enum 4 H 52 0 FALSE 1 TRUE 16 L1 Is L1 phase valid Enum 4 H 56 0 FALSE 1 TRUE 17 L2 Is L2 present Enum 4 H 60 0 FALSE 1 TRUE 18 L1 psr L1 pseudorange 1 8 L1 cycles Ulong 4 H 64 19 L1 carrier L1 carrier code measurement 1 256 L1 Long 4 H 68 cycles 20 L1 S No L1 signal to noise density ratio Ulong 4 H 72 21 L1 slip LI cycle slip count number of times that Ulong 4 H 76 tracking has not been continuous Continued on Page 247 246 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Field Field type Data Description Format Binary Bytes Chapter 3 Binary Offset 22 L2 code Is L2 code available Enum 4 H 80 0 FALSE 1 TRUE 23 Code type Is code X correlation Enum 4 H 84 0 FALSE 1 TRUE 24 L2 c valid Is L2 code valid Enum 4 H 88 0 FALSE 1 TRUE 25 L2 p valid Is L2 phase valid Enum 4 H 92 0 FALSE 1 TRUE 26 phase full Is phase full
420. nian period s orbital period 15 deltaTD Rate of change of orbital period Double 8 H 64 s orbital period 16 tau Clock offset in seconds Double 8 H 72 17 Next message offset H 4 recs x 76 variable Xxxx 32 bit CRC ASCII and Binary only Hex 4 H 4 76 x recs variable CR LF Sentence terminator ASCII only 256 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 17 GLOCLOCK GLONASS Clock Information V23_G This log contains the time difference information between GPS and GLONASS time as well as status flags The status flags are used to indicate the type of time processing used in the least squares adjustment GPS and GLONASS time are both based on the Universal Time Coordinated UTC time scale with some adjustments GPS time is continuous and does not include any of the leap second adjustments to UTC applied since 1980 The result is that GPS time currently leads UTC time by 14 seconds GLONASS time applies leap seconds but is also three hours ahead to represent Moscow time The nominal offset between GPS and GLONASS time is therefore due to the three hour offset minus the leap second offset Currently this value is at 10787 seconds with GLONASS leading As well as the nominal offset there is a residual offset on the order of nanoseconds which must be estimated in the least squares adjustment The GLONASS M satellites broadcasts this difference in the navigation message Thi
421. nment 60 clock adjustment 67 differential correction 91 93 elevation cut off angle 98 ephemeris delay 91 factory default 141 logging 126 navigation 320 range residual 280 reset 46 111 RTK 153 satellite 334 status 445 WGS84 216 NovAtel Inc 2 NTS see National Topographic Series NVMRESTORE command 117 139 141 O observations 422 431 obstacles 505 ocean 140 offset clock 315 Doppler 57 ECUTOFF effect 98 116 oscillator clock 100 receiver clock 335 452 track 173 322 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 OMNIHPPOS log 326 OmniSTAR 300 OmniSTAR subscription 362 one pulse per second 1PPS 36 adjust 49 control 147 delay 73 frequency 108 obtain 50 offset 67 time 67 453 on foot 192 227 229 321 operating mode 282 optionality 14 orbit 355 origin 173 oscillator clock drift 67 237 error 236 external 100 239 383 with an RTCM Type 9 message 382 output pulse 108 overload 126 P parity 75 76 errors 332 flag 343 port 243 333 receive 359 removed 355 357 RTCM word 376 PASSAUX log 328 PASSCOMkx logs 328 pass through log 328 330 331 PASSTOPASSMODE command 142 PASSUSBx logs 328 PC 127 PC or laptop 127 330 344 PDOP see dilution of precision perigee 215 period 126 128 130 310 311 perpendicular distance 173 322 323 persistence UTM 190 phase lock loop PLL 345 439 PLL see phase lock loop pol
422. novatel com support docupdates htm and see their associated sections in this manual Commands and logs are tagged to be easily recognizable for cards and options These tags are shown in more detail in the Conventions section starting below This manual does not address any of the receiver hardware attributes or installation information Please consult the OEMV Family Installation and Operation User Manual for technical information on these topics Furthermore should you encounter any functional operational or interfacing difficulties with the receiver consult the same manual for NovAtel warranty and support information Conventions This manual covers the full performance capabilities of all the OEMV family of receivers Feature tagging symbols have been created to help clarify which commands and logs are only available with certain cards and options The tags are in the title of the command or log and also appear in tables where features are mentioned as footnotes The numbering at the start of the tag indicates V followed by 1 for OEMV 1 2 for OEMV 2 and 3 for OEMV 3 while the lettering suffix is described below V123 Features available on OEMV 1 OEMV 2 or OEMV 3 based products If a feature is not available on a card its number is omitted for example V23 V13 or V3 V123_RT20 Features available only with receivers equipped with the RT 20 option V23_RT2 Features available only with receivers equipped with the RT 2 option 12 OEMV F
423. ns and affect the computation of height These biases are called DOPs Dilution Of Precision Smaller biases are indicated by low DOP values VDOP Vertical DOP pertains to height Most of the time VDOP is higher than HDOP Horizontal DOP and TDOP Time DOP Therefore of the four unknowns height is the most difficult to solve Many GPS receivers output the standard deviations SD of the latitude longitude and height Height often has a larger value than the other two Accuracy is based on statistics reliability is measured in percent When a receiver says that it can measure height to one meter this is an accuracy Usually this is a one sigma value one SD A one sigma value for height has a reliability of 68 In other words the error is less than one meter 68 of the time For a more realistic accuracy double the one sigma value one meter and the result is 95 reliability error is less than two meters 95 of the time Generally GPS heights are 1 5 times poorer than horizontal positions See also Page 284 for CEP and RMS definitions Binary Binary Field Field type Data Description Format Bytes Offset 1 AVEPOS Log header H 0 header 2 lat Average WGS84 latitude degrees Double 8 H 3 lon Average WGS84 longitude degrees Double 8 H 8 4 ht Average height above sea level or geoid m Double 8 H 16 5 lato Estimated average standard deviation of Float 4 H 24 latitude solution ele
424. ns that are using the RTCA standard This time interval ensures that the rover stations have received the new ephemeris and have computed differential positioning based upon the same ephemeris Therefore for RTCA base stations the recommended ephemeris delay is 300 seconds Abbreviated ASCII Syntax Message ID 142 DGPSEPHEMDELAY delay Factory Default dgpsephemdelay 120 ASCII Example reference dgpsephemdelay 120 i M aay i When using differential corrections the rover receiver must use the same set of broadcast ephemeris parameters as the base station generating the corrections The Issue of Ephemeris Data IODE parameter is transmitted as part of the differential correction so that the rover can guarantee that its and the base station ephemerides match The D PSEPHEMDELAY parameter should be large enough to ensure that the base station is not using a new set of ephemerides that has not yet been received at the rover receiver OEMV Family Firmware Version 3 000 Reference Manual Rev 2 91 Chapter 2 Commands Field ASCII Binary Type Value Value Binary Binary Binary Format Bytes Offset Field Description 1 DGPSEPHEMDELAY This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 delay 0 to 600 s Minimum time delay ULong 4 H before new ephemeris is used 92 OEMV Family F
425. nt OEMV Family Firmware Version 3 000 Reference Manual Rev 2 169 Chap ter 2 Commands 2 5 55 SETAPPROXPOS Set an approximate position V123 This command sets an approximate latitude longitude and height in the receiver Estimating these parameters when used in conjunction with an approximate time see the SETAPPROXTIME command on Page 171 can improve satellite acquisition times and time to first fix For more information please refer to the TTF F and Satellite Acquisition section of the GPS Reference Manual available on our website at http www novatel com support docupdates htm The horizontal position entered should be within 200 km of the actual receiver position The approximate height is not critical and can normally be entered as zero If the receiver cannot calculate a valid position within 2 5 minutes of entering an approximate position the approximate position is ignored The approximate position is not visible in any position logs It can be seen by issuing a SETAPPROXPOS log See also the SATVIS log on Page 447 Abbreviated ASCII Syntax Message ID 377 SETAPPROXPOS lat lon height Input Example setapproxpos 51 116 114 038 0 1E i For an example on the use of this command please see the SETAPPROXTIME command on Page 171 3 Field ASCII Binary Tee Binary Binary Binary ee Type Value Value Description Format Bytes Offset 1 SETAPPROXPOS This field contains t
426. ntax Message ID 49 AUTH state part part2 part3 part4 part5 model date Input Examples auth add 1234 5678 9abc def0 1234 oemvl1l2 990131 auth 1234 5678 9abc defO 1234 oemv1l112 Dn y When you want to easily upgrade your receiver without returning it to the factory our unique field upgradeable feature allows you buy the equipment that you need today and upgrade them without facing obsolescence When you are ready to upgrade from one model to another call 1 800 NOVATEL to speak with our Customer Service Sales Personnel who can provide the authorization code that unlocks the additional features of your GPS receiver This procedure can be performed at your work site and takes only a few minutes OEMV Family Firmware Version 3 000 Reference Manual Rev 2 65 Chapter 2 Commands Field ASCII Binary er Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 AUTH This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 state REMOVE 0 Remove the authcode Enum 4 H from the system ADD 1 Add the authcode to the system default 3 part1 4 digit hexadecimal Authorization code ULong 4 H 4 0 FFFF section 1 4 part2 4 digit hexadecimal Authorization code ULong 4 H 8 O FFFF section 2 5 part3 4 digit hexadecimal Authorization code ULong 4 H 12 0 FFFF
427. occurs 100 ms If a binary value is encountered in an ASCII output then the byte is output as a hexadecimal byte preceded by a backslash and an x For example OA is output as xOA An actual V in the data is output as The output counts as one pass through byte although it is four characters The first character of each pass through record is time tagged in GPS weeks and seconds PASSCOM1 Message ID 233 PASSCOM2 Message ID 234 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 PASSCOMS Message ID 235 PASSXCOM1 Message ID 405 PASSXCOM2 Message ID 406 PASSXCOMS3 Message ID 795 PASSUSB1 Message ID 607 PASSUSB2 Message ID 608 PASSUSB3 Message ID 609 PASSAUX Message ID 690 Log Type Asynch Recommended Input log passcom1a onchanged lt Asynchronous logs should only be logged ONCHANGED Otherwise the most current data is not output when it is available This is especially true of the ONTIME trigger which may cause inaccurate time tags to result ASCII Example 1 PASSCOM2A COM1 0 59 5 FINESTEERING 1337 400920 135 00000000 2b46 1984 80 BESTPOSA COM3 0 80 0 FINESTEERING 1337 400920 000 00000000 4ca6 1899 SOL_COMPUT f 9dfab46 PASSCOM2A COM1 0 64 0 FINESTEERING 1337 400920 201 00000000 2b46 1984 80 ED SINGLE 51 11636326036 114 03824210485 1062 6015 16 2713 WGS84 8963 1 0674 807 d3ca PASSCOM2A COM1 0 53 5 F INESTEERING 1337 400920 856 00000000 2b46
428. ode 1 Delta z dz when velocity code 0 15 1st half af Delta af clock offset when velocity Long 4 H 52 239 code 1 Delta af clock offset when velocity code 0 16 1st half to Applicable time of day Ulong 4 H 56 16 Dummy value when velocity code 0 17 1st half Issue of PRN mask data Ulong 4 H 60 iodp 18 1st half Spare value when velocity code 0 Ulong 4 H 64 corr spare Dummy value when velocity code 1 Continued on Page 500 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 499 Chapter 3 DataLogs Binary Binary Field Field type Data Description Format Bytes Offset Scaling 19 2nd half vel Velocity code flag 0 or 1 Ulong 4 H 68 20 2nd half Index into PRN mask Type 1 Ulong 4 H 72 E mask1 21 2nd half Issue of ephemeris data Ulong 4 H 76 7 iode1 22 2nd half Delta x ECEF Long 4 H 80 0 125 dx1 23 2nd half Delta y ECEF Long 4 H 84 0 125 dy1 24 2nd half Delta z ECEF Long 4 H 88 0 125 dz1 25 2nd half a Delta af clock offset Long 4 H 92 pe 26 2nd half Second index into PRN mask Ulong 4 H 96 mask2 Type 1 Dummy value when velocity code 1 27 2nd half Second issue of ephemeris data Ulong 4 H 100 iode2 Dummy value when velocity code 1 28 2nd half Delta delta x ECEF when velocity Long 4 H 104 ol ddx code 1 Delta x dx when velocity code 0 29 2nd half Delta delta y ECEF when velocity Long 4 H 108 2 11 ddy code 1 Delta y dy when
429. ode freq baud Factory Default assignlband idle ASCII Example 1 assignlband cdgps 1547547 4800 ASCII Example 2 assignlband idle Table 14 L Band Mode 0 Reserved 1 OMNISTAR When you select OmniSTAR enter a dedicated frequency and baud rate 2 CDGPS When you select CDGPS enter a dedicated frequency and baud rate 3 IDLE When you select IDLE the receiver is configured to stop tracking any L Band satellites The freq and baud fields are optional so that you may select IDLE without specifying the other fields 62 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 Beam Frequencies You can switch between Omnistar VBS and CDGPS by using the following commands Use CDGPS assignlband cdgps lt freq gt 4800 psrdiffsource cdgps Use OmniStar VBS assignlband omnistar lt freq gt 1200 psrdiffsource omnistar Where lt freq gt is determined for CDGPS or OmniStar as follows 1 CDGPS beam frequency chart East 1547646 or 1547646000 e East Central 1557897 or 1557897000 e West Central 1557571 or 1557571000 e West 1547547 or 1547547000 2 The OmniStar beam frequency chart can be found at http Avww omnistar com chart html For example Eastern US Coverage is Northern Canada to southern Mexico 1530359 or 1530359000 lt OmniSTAR has changed channels frequencies on the AMSC Satellite that broadcasts OmniSTAR corrections for North America NovAtel receivers
430. of satellite the Double 8 H 36 expected Doppler frequency based on a satellite s motion relative to the receiver It is computed using the satellite s coordinates and velocity and the receiver s coordinates and velocity 11 app dop Apparent Doppler for this receiver the Double 8 H 44 same as Theoretical Doppler above but with clock drift correction added 12 Next satellite offset H 12 sat x 40 variable Xxxx 32 bit CRC ASCII and Binary only Hex 4 H 12 sat x 40 variable CR LF Sentence terminator ASCII only a Satellite health values may be found in ICD GPS 200 To obtain copies of ICD GPS 200 refer to ARINC in the Standards and References section of the GPS Reference Manual available on our website at htto www novatel com support docupdates htm 448 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 96 SATXYZ SV Position in ECEF Cartesian Coordinates V123 When combined with a RANGE log this data set contains the decoded satellite information necessary to compute the solution satellite coordinates ECEF WGS84 satellite clock correction ionospheric corrections and tropospheric corrections Hopfield model The corrections are to be added to the pseudoranges Only those satellites that are healthy are reported here See also Figure 8 on Page 232 Message ID 270 Log Type Synch Recommended Input log satxyz
431. ogs 3 3 32 GPRMB_ Navigation Information V123_NMEA 288 Navigation data from present position to a destination waypoint The destination is set active by the receiver SETNAV command If SETNAV has been set a command to log either GPRMB or GPRMC causes both logs to output data This log outputs null data in all fields until a valid almanac is obtained Message ID 224 Log Type Synch Recommended Input log gprmb ontime 1 Example SGPRMB A 5 17 L FROM TO 5109 7578000 N 11409 0960000 W 5 1 303 1 0 0 V 2D ee SSS U 6 Please see the GPGGA usage box that applies to all NMEA logs on Page 272 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Field Structure Field Description Symbol Example 1 GPRMB Log header GPRMB 2 data status Data status A V A data valid V navigation receiver warning 3 xtrack Cross track error XX 0 011 4 dir Direction to steer to get back on track L R a L 5 origin ID Origin waypoint ID c C START 6 dest ID Destination waypoint ID Gre END 7 dest lat Destination waypoint latitude DDmm mm HHI 5106 7074000 8 lat dir Latitude direction N North S South a N 9 dest lon Destination waypoint longitude DDDmm mm Yyyyy yy 11402 349 10 lon dir Longitude direction E East W West a E 11 range Range to destination nautical miles XX 0 0127611 12 bearing Bearing to destination degrees T
432. ogs Chapter 3 Binary Binary Field Field type Data Description Format Bytes Offset 19 L2phase GPS L2 phaserange L1 pseudorange Long 4 H 34 L1pseudo Range 262 1435 m to 262 1435 m 20 L2icktm ind GPS L2 lock time indicator see Table 73 Uchar 1 H 38 on Page 408 21 L2CNR GPS L2 carrier to noise ratio dBHz The Uchar 1 H 39 reference station s estimate of the satellite s signal A value of 0 indicates that the CNR measurement is not computed 22 Next PRN offset H 16 prns x 24 variable xxxx 32 bit CRC ASCII and Binary only Hex 4 variable variable CR LF Sentence terminator ASCII only a Inthe binary log case an additional 2 bytes of padding are added to maintain 4 byte alignment OEMV Family Firmware Version 3 000 Reference Manual Rev 2 417 Chapter 3 DataLogs 3 3 85 RTCMDATA1005 Base Station Antenna Reference Point ARP V123_RT20 V23_RT2 This log is available at the base station See Section 3 3 80 starting on Page 405 for information on RTCM Version 3 0 standard logs Message ID 788 Log Type Synch Recommended Input log rtemdata1005a ontime 3 ASCII Example RTCMDATA1005A COM1 0 84 5 FINESTEERING 1317 238322 885 00180040 0961 1855 0 0 0 1 0 0 0 16349783637 0 36646792121 0 49422987955 7dbd6160 _ ey 6 Message Types 1005 and 1006 are designed for GPS operation but are equally applicable to GLONASS and the
433. on of an RT 2 system on baselines not exceeding 30 km There are two methods of entering the baseline information LLH and ECEF The first method is to use absolute LAT LON HEIGHT coordinates LAT in degrees requires a decimal fraction format a negative sign for South latitude LON in degrees requires a decimal fraction format a negative sign for West longitude HEIGHT in meters can refer either to mean sea level default or to an ellipsoid The optional 2o defines the accuracy 2 sigma 3 dimensional of the input position in meters it must be 0 03 m or less to cause the RT 2 algorithms to undergo a forced initialization to fixed integer ambiguities If no value is entered a default value of 0 30 m is assumed this does not cause an initialization to occur The optional M or E in the type field refers to the height if M the height is assumed to be above mean sea level MSL and if E the height is ellipsoidal Note that when an MSL height is entered it is converted to ellipsoidal height using the NovAtel internal undulation table or the last value entered with the UNDULATION command The other method is to use the relative ECEF vector The AX AY AZ values in meters represent the rover station s position minus the base position along each axis in meters The optional 20 defines the accuracy 2 sigma 3 dimensional of the input baseline in meters it must be 0 03 m or less to cause the RT 2 algorithms to do a forced in
434. on option separation 230 EXTERNALCLOCK Set external clock externalclock clocktype freq h0 parameters h1 h2 232 FREQUENCYOUT Sets the output pulse train frequencyout switch pulsewidth available on VARF period 258 DYNAMICS Tune receiver parameters dynamics dynamics 269 CSMOOTH Set carrier smoothing csmooth L1time L2time 377 SETAPPROXPOS Set an approximate setapproxpos lat lon height position 429 ADJUST1PPS Adjust the receiver clock adjust1pps mode period offset 430 CLOCKCALIBRATE Adjust the control clockcalibrate mode period width parameters of the clock slope bandwidth steering loop 431 COMCONTROL Control the hardware comcontrol port signal control control lines of the RS232 ports 729 ASSIGNLBAND Set L Band satellite assignlband mode freq baud communication parameters 493 PSRDIFFSOURCE Set the pseudorange psrdiffsource type ID correction source Continued on Page 45 44 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 494 RTKSOURCE Set the RTK correction rtksource type ID source 505 WAASECUTOFF Set SBAS satellite waasecutoff angle elevation cut off 596 CLOCKOFFSET Adjust for antenna RF clockoffset offset cable delay 601 PASSTOPASS Enable disable solution passtopassmode switch measmth MODE smoothing modes corsmth deweight scale 612 POSTIMEOUT Sets the position time out postimeout sec 613 PPSCONT
435. ong 4 H 36 2 12 prc33 Long 4 H 40 13 prc34 Long 4 H 44 14 prc35 Long 4 H 48 15 prc36 Long 4 H 52 16 prc37 Long 4 H 56 17 prc38 Long 4 H 60 Continued on Page 474 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 473 Chapter 3 DataLogs Binary Binary Field Field type Data Description Format Bytes Offset Scaling 18 udre26 udre i Ulong 4 H 64 See Table 89 Evaluation of 19 udre27 User differential range error Ulong 4 H 68 UDREI on indicator for the prn in slot i Page 466 20 udre28 i 26 38 Ulong 4 H 72 21 udre29 Ulong 4 H 76 22 udre30 Ulong 4 H 80 23 udre31 Ulong 4 H 84 24 udre32 Ulong 4 H 88 25 udre33 Ulong 4 H 92 26 udre34 Ulong 4 H 96 27 udre35 Ulong 4 H 100 28 udre36 Ulong 4 H 104 29 udre37 Ulong 4 H 108 30 udre38 Ulong 4 H 112 31 XXXX 32 bit CRC ASCII and Binary Hex 4 H 116 only 32 CR LF Sentence terminator ASCII only 474 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 108 WAAS5 Fast Correction Slots 39 50 V123_SBAS WAASS are fast corrections for slots 39 50 in the mask of WAAS1 This message may or may not come when SBAS is in testing mode see the SBASCONTROL command on Page 164 for details Message ID 303 Log Type Asynch Recommended Input log WAAS5a onchanged ASCII Example WAAS5A COM1 0 72 5 SATTIME 1093 16
436. only OEMV Family Firmware Version 3 000 Reference Manual Rev 2 339 Chapter 3 Data Logs 3 3 53 PSRXYZ Pseudorange Cartesian Position and Velocity V123 340 This log contains the receiver s pseudorange position and velocity in ECEF coordinates The position and velocity status field s indicate whether or not the corresponding data is valid See Figure 8 Page 232 for a definition of the ECEF coordinates The velocity measurements sometimes have a latency associated with them The time of validity is the time tag in the log minus the latency value The velocity status indicates varying degrees of velocity quality To ensure healthy velocity the position sol status must also be checked If the sol status is non zero the velocity is likely invalid It should be noted that the receiver does not determine the direction of a vessel craft or vehicle is pointed heading but rather the direction of the motion of the GPS antenna relative to the ground The velocity is computed using Doppler values typically derived from differences in consecutive carrier phase measurements As such it is an average velocity based on the average change in pseudorange over the time interval and not an instantaneous velocity at the PSRVEL time tag The velocity latency to be subtracted from the time tag is normally 1 2 the time between filter updates Under default operation the position filter is updated at a rate of 2 Hz This
437. ontime 1 ASCII Example SATXYZA COM1 0 45 5 FINESTEERING 1337 409729 000 00000000 6f 3c 1984 0 0 11 1 8291339 5258 17434409 5059 18408253 4923 1527 199 2 608578998 3 200779818 0 000000000 0 000000000 14 18951320 4329 16297117 6697 8978403 7764 8190 088 4 139015349 10 937283220 0 000000000 0 000000000 8a943244 gp y l m i The OEMV family use positive numbers for ionospheric and tropospheric corrections A positive clock offset indicates that the clock is running ahead of the reference time Positive ionospheric and tropospheric corrections are added to the geometric ranges or subtracted from the measured pseudoranges For example P p pd c dT dt d ion d trop Ep is equivalent to P c dT dt d ion d trop p pd Ep where P measured pseudorange p geometric range pd orbit error dt satellite clock offset dT receiver clock offset d ion ionospheric delay d trop tropospheric delay c speed of light Ep noise and multipath OEMV Family Firmware Version 3 000 Reference Manual Rev 2 449 Chapter 3 450 Data Logs Field Field type Data Description Format Binary Binary yp p Bytes Offset 1 SATXYZ header Log header H 0 2 Reserved Double 8 H 3 sat Number of satellites with Cartesian Ulong 4 H 8 information to follow 4 PRN slot Satellite PRN number of range Ulong 4 H 12 measurement GPS 1 32
438. or ASCII only a Inthe binary log case an additional byte of padding is added to maintain 4 byte alignment b Inthe binary log case an additional 2 bytes of padding are added to maintain 4 byte alignment OEMV Family Firmware Version 3 000 Reference Manual Rev 2 421 Chapter 3 Data Logs 3 3 87 RTKDATA RTK Solution Parameters V123_RT20 V23_RT2 422 This is the RTK output log and it contains miscellaneous information regarding the RTK solution It is based on the matched update Note that the length of the log messages vary depending on the number of common satellites on both rover and base stations in the solution a quantity represented by sv in the field numbers See also the BESTPOS log the best available position computed by one receiver and the MATCHEDPOS log positions that have been computed from time matched base and rover observations on Pages 218 and 312 respectively See Figure 8 Page 232 for a definition of the ECEF coordinates Message ID 215 Log Type Asynch Recommended Input log rtkdataa onchanged lt Asynchronous logs should only be logged ONCHANGED Otherwise the most current data is not output when it is available This is especially true of the ONTIME trigger which may cause inaccurate time tags to result ASCII Example RTKDATAA COM1 0 57 5 FINESTEERING 1364 490402 000 80000000 3099 2310 SOL_COMPUTED NARROW_INT 00000003 8 8 8 8 0 0 0 0
439. or aerodynamics applications GPS 533 L1 and L2 for high performance base station applications GPS 534 L1 and L2 plus L Band with a low profile that is ideal for airborne applications GPS 701 L1 only part of the 700 family for high accuracy applications GPS 702 L1 and L2 part of the 700 family for high accuracy applications GPS 702GG L1 and L2 plus GLONASS part of the 700 family for high accuracy applications GPS 702L L1 and L2 plus L Band part of the 700 family for high accuracy applications a The GPS 532 C is an ARINC 743A aircraft certified antenna b The GPS 534 C version is aircraft certified for navigation 192 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 _ l N When a supported antenna is used it is recommended that you use Vision to achieve the best possible range and position accuracies Field ASCII Binary Type Value Value Binary Binary Binary Field Format Bytes Offset Description 1 VISION This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 switch DISABLE 0 Enable or disable the Vision Enum 4 H correlator ENABLE 1 recommended ENABLE DATAONLY 2 Enable data only with no tracking feedback 3 antenna See Table 38 on Page Antenna type in use see String variable H 4 192 also the warning on the pre
440. ormance Standards DGNSS Instrument Approach System Special Category I SCAT 1l NovAtel has defined three proprietary RTCA Standard Type 7 binary format messages RTCAOBS RTCAREF and RTCAEPHEM for base station transmissions These can be used with either single or dual frequency NovAtel receivers The RTCA message format outperforms the RTCM format in the following ways among others e amore efficient data structure lower overhead e better error detection e allowance for a longer message if necessary RTCAREF and RTCAOBS respectively correspond to the RTCM Type 3 and Type 59 logs used in single frequency only measurements Both are NovAtel proprietary RTCA Standard Type 7 messages with an N primary sub label Refer to the Receiving and Transmitting Corrections section in the OEMV Installation and Operation Manual for more information on using these message formats for differential operation Input Example interfacemode com2 none RTCA fix position 51 1136 114 0435 1059 4 log com2 rtcaobs ontime 1 1 For further information on RTCA Standard messages you may wish to refer to Minimum Aviation System Performance Standards DGNSS Instrument Approach System Special Category I SCAT I Document No RTCA DO 217 April 19 1995 Appx A Pg 21 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 367 Chapter 3 Data Logs log com2 rtcaref ontime 10 log com2 rtcal ontime 5 log com2 rtcaephem ontime 10 1 3 3 6
441. ossing it As well he is able to flag obstacles or danger points in the harvest area for reference later and by other operators The data is downloadable for post processing and analysis later OEMV Family Firmware Version 3 000 Reference Manual Rev 2 505 Chapter 3 DataLogs Table 90 Evaluation of CDGPS UDREI 0 0 01 0 02 e 0 03 0 05 0 10 0 15 0 20 0 25 0 30 0 35 O OINI OD oj AJOJN o 0 40 0 45 0 50 e k M gt k w 0 60 a A Not Monitored o Do Not Use 506 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Binary Data Description Format Offset Scaling 1 WAAS32 Log header H 0 header 2 prn Source PRN of message Ulong 4 H 3 iodp Issue of PRN mask data Ulong 4 H 4 4 prcO prc i Long 4 H 8 5 pret Fast corrections 2048 to 2047 for Long 4 H 12 5 ree the prn in slot i i 0 10 ina 4 ner j 7 prc3 Long 4 H 20 z 8 prc4 Long 4 H 24 9 pred Long 4 H 28 10 prc6 Long 4 H 32 11 prc7 Long 4 H 36 a 12 prc8 Long 4 H 40 z 13 prc9 Long 4 H 44 14 prc10 Long 4 H 48 E 15 udre0 udre i Ulong 4 H 52 See Table 16 udre1 User differential range error indicator Ulong 4 H 56 n m ae for the prn in slot i i 0 10 Jiang F F ET 18 udre3 Ulong 4 higy rag
442. ot to use Ulong 4 H 3 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 4 4 CR LF Sentence terminator ASCII only OEMV Family Firmware Version 3 000 Reference Manual Rev 2 463 Chapter 3 DataLogs 3 3 104 WAAS1 PRN Mask Assignments V123_SBAS The PRN mask is given in WAAS1 The transition of the PRN mask to a new one which will be infrequent is controlled with the 2 bit IODP which sequences to a number between 0 and 3 The same IODP appears in the applicable WAAS2 WAAS3 WAAS4 WAAS5 WAAS7 WAAS 24 and WAAS25 messages WAAS32 WAAS33 WAAS34 WAAS35 and WAAS45 for CDGPS This transition would probably only occur when a new satellite is launched or when a satellite fails and is taken out of service permanently A degraded satellite may be flagged as a don t use satellite temporarily Message ID 291 Log Type Asynch Recommended Input log WAAS 1a onchanged ASCII Example WAAS1A COM1 0 24 5 SATTIME 1337 415802 000 00000000 5955 1984 134 feff E0000000000000000000000400400000000000000000000 2 3633cETb EEE al i Each raw WAAS frame gives data for a specific frame decoder number The WAAS1 message can be logged to view the data breakdown of WAAS frame 1 which contains information on the PRN mask assignment Binary Binary Field Field type Data Description Format Bytes Offset 1 header Log header H 0 2 prn Source PRN of message Ulong 4 H 3 mask PRN
443. oth the base and rover stations are using the same type of receiver both OEM4 or both OEMV family However if the base and rover stations use different types of receivers OEM4 and OEMV family it is recommended that the CSMOOTH command default value is used at each receiver CSMOOTH 100 100 and GLOCSMOOTH 100 100 PE i There are several considerations when using the CSMOOTH command e The attenuation of low frequency noise multipath in pseudorange measurements e The effect of time constants on the correlation of phase and code observations e The rate of pulling in of the code tracking loop step response The effect of ionospheric divergence on carrier smoothed pseudorange ramp response The primary reason for applying carrier smoothing to the measured pseudoranges is to mitigate the high frequency noise inherent in all code measurements Adding more OEMV Family Firmware Version 3 000 Reference Manual Rev 2 81 Chapter 2 Commands carrier smoothing by increasing the CSMOOTH value filters out lower frequency noise including some multipath frequencies There are also some adverse effects of higher CSMOOTH values on some performance aspects of the receiver Specifically the time constant of the tracking loop is directly proportional to the CSMOOTH value and affects the degree of dependence between the carrier phase and pseudorange information Carrier phase smoothing of the code measurements pseudoranges is a
444. ovatel on interfacemode usbl novatel novatel on interfacemode usb2 novatel novatel on interfacemode usb3 novatel novatel on ASCII Example interfacemode coml rtca novatel on eee Are NovAtel receivers compatible with others on the market All GPS receivers output two solutions position and time The manner in which they output them makes each receiver unique Most geodetic and survey grade receivers output the position in electronic form typically RS 232 which makes them compatible with most computers and data loggers All NovAtel receivers have this OEMV Family Firmware Version 3 000 Reference Manual Rev 2 121 Chapter 2 Commands ability However each manufacturer has a unique way of formatting the messages A NovAtel receiver is not directly compatible with a Trimble or Ashtech receiver which are also incompatible with each other unless everyone uses a generic data format But there are several generic data formats available For position and navigation output there is the NMEA format Real time differential corrections use RTCM or RTCA format Receiver code and phase data use RINEX format NovAtel and all other major manufacturers support these formats and can work together using them You must understand your post processing and real time software requirements Good software supports a generic standard while poor software locks you into one brand of GPS equipment For the most flexibility insist on generic da
445. over observations like the MATCHEDXYZ log on Page 318 lt Asynchronous logs such as BSLNXYZ should only be logged ONCHANGED Otherwise the most current data is not output when it is available This is especially true of the ONTIME trigger which may cause inaccurate time tags to result Message ID 686 Log Type Asynch Recommended Input log bsInxyza onchanged ASCII Example BSLNXYZA COM1 0 40 0 F INESTEERING 1364 496346 000 00100000 dl2a 2310 SOL_COMPUTED NARROW_INT 8 8850 4 3390 0 2682 0 0080 0 0136 0 0181 AAAA 12 9 9 9 0 0 0 0 1903be01 Consider the impact of the base station and the roving GPS receivers being separated by large distances For this discussion we assume that when we talk about large distances we are referring to distances greater than 1000 km 600 miles Typically for this type of baseline length only code data is used in a differential system Carrier phase data is typically used for distances much shorter than 1000 kilometers The advantage of using carrier phase data to produce centimeter level accuracies is greatly reduced when large distances are involved GPS operates in a similar fashion as conventional surveying tools such as electronic distance measuring instruments EDMs This means that there is a constant and a proportional error associated with computed positions The proportional error depends on the distance the base and rover receivers are apart Therefore the l
446. pe on Page 220 4 cutoff Tracking elevation cut off angle Float 4 H 8 5 chans Number of hardware channels with Long 4 H 12 information to follow 6 PRN slot Satellite PRN number of range measurement Short 2 H 16 GPS 1 32 and SBAS 120 to 138 For GLONASS see Section 1 3 on Page 25 7 glofreq GLONASS Frequency 7 see Section 1 3 Short 2 H 18 on Page 25 8 ch tr status Channel tracking status see Table 63 ULong 4 H 20 Channel Tracking Status on Page 346 9 psr Pseudorange m if this field is zero but the Double 8 H 24 channel tracking status in the previous field indicates that the card is phase locked and code locked the pseudorange has not been calculated yet 10 Doppler Doppler frequency Hz Float 4 H 32 11 C No Carrier to noise density ratio dB Hz Float 4 H 36 12 locktime Number of seconds of continuous tracking no Float 4 H 40 cycle slips 13 psr res Pseudorange residual from pseudorange filter Float 4 H 44 m 14 reject Range reject code from pseudorange filter Enum 4 H 48 see Table 85 Range Reject Code on Page 455 15 psr weight Pseudorange filter weighting Float 4 H 52 16 Next PRN offset H 16 chans x 40 variable xxxx 32 bit CRC ASCII and Binary only Hex 4 H 16 chans x 40 variable CR LF Sentence terminator ASCII only 456 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 100 VALIDMODELS Valid Model Information V123 Thi
447. r increasing the occupation times This condition is best measured by monitoring the number of visible satellites during data collection along with the PDOP value a value less than 3 is ideal Also the location and number of satellites in the sky is constantly changing As a result some periods in the day are slightly better for data collection than others Use the SATVIS log to monitor satellite visibility The PSRDOP log see Page 334 can be used to monitor the PDOP values OEMV Family Firmware Version 3 000 Reference Manual Rev 2 447 Chapter 3 DataLogs Site conditions surrounding the station that may affect satellite visibility and can generate noise in the data are water bodies buildings trees and nearby vehicles Binary Binary Field Field type Data Description Format Bytes Offset 1 SATVIS header Log header H 0 2 sat vis Is satellite visibility valid Enum 4 H 1 TRUE 0 FALSE 3 comp alm Was complete GPS almanac used Enum 4 H 4 1 TRUE 0 FALSE 4 sat Number of satellites with information to Ulong 4 H 8 follow 5 PRN slot Satellite PRN number of range Short 2 H 12 measurement GPS 1 32 and SBAS 120 to 138 For GLONASS see Section 1 3 on Page 25 6 glofreq GLONASS Frequency 7 see Short 2 H 14 Section 1 3 on Page 25 7 health Satellite health Ulong 4 H 16 8 elev Elevation degrees Double 8 H 20 9 az Azimuth degrees Double 8 H 28 10 true dop Theoretical Doppler
448. r marine radio beacons As a user all you need is a marine beacon receiver and a GPS receiver to achieve positioning accuracy of 1 to 5 m In this case the Coast Guard owns and operates the base receiver at known coordinates Other examples of users appearing to use only one GPS receiver include FM radio station correction services privately owned radio transmitters and corrections carried by communication satellites Some of the radio receivers have built in GPS receivers and combined antennas so they even appear to look as one self contained unit The major factors degrading GPS signals which can be removed or reduced with differential methods are the atmosphere ionosphere satellite orbit errors and satellite clock errors Some errors which are not removed include receiver noise and multipath 336 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Field Field type Data Description Format Binary Binary Bytes Offset 1 PSRPOS Log header H 0 header 2 sol status Solution status see Table 45 Solution Status on Enum 4 H Page 221 3 pos type Position type see Table 44 Position or Velocity Enum 4 H 4 Type on Page 220 4 lat Latitude Double 8 H 8 5 lon Longitude Double 8 H 16 6 hgt Height above mean sea level Double 8 H 24 7 undulation Undulation the relationship between the geoid Float 4 H 32 a
449. r off ee For the OEMV 1 or OEMV 3 card it is possible to supply power to the LNA of an active antenna either from the antenna port of the OEM card itself or from an external source The internal antenna power supply of the cards can produce 4 75 to 5 10 VDC at up to 100 mA This meets the needs of any of NovAtel s dual frequency GPS antennas so in most cases an additional LNA power supply is not required External LNA power is not possible with an OEMV 2 The internal antenna power supply from the OEMV 2 card can produce 4 75 to 5 10 VDC at up to 100 mA OEMV Family Firmware Version 3 000 Reference Manual Rev 2 55 Chapter 2 Commands Field ASCII Binary Type Value Value Binary Binary Binary Field Format Bytes Offset Description 1 ANTENNAPOWER This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 flag OFF 0 Disables internal Enum 4 H powering of antenna ON 1 Enables internal powering of antenna 56 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 2 5 3 ASSIGN Assign a channel to a PRN V123 lt 1 The ASSIGN command should only be used by advanced users 2 Assigning a SV channel sets the forced assignment bit in the channel tracking status field which is reported in the RANGE and TRACKSTAT logs 3 Assigning a
450. r what kind of data it can generate For example you would set the receive type on a port to RTCA in order to accept RTCA differential corrections It is also possible to disable or enable the generation or transmission of command responses for a particular port Disabling of responses is important for applications where data is required in a specific form and the introduction of extra bytes may cause problems for example RTCA RTCM RTCMV3 or CMR Disabling a port prompt is also useful when the port is connected to a modem or other device that responds with data the receiver does not recognize When INTERFACEMODE port NONE NONE OFF is set the specified port are disabled from interpreting any input or output data Therefore no commands or differential corrections are decoded by the specified port When GENERIC is set for a port it is also disabled but data can be passed through the disabled port and be output from an alternative port using the pass through logs PASSCOM PASSXCOM PASSAUX and PASSUSB See Page 328 for details on these logs and the Operation chapter in the OEMV Family Installation and Operation User Manual for information on pass through logging See also the COMCONFIG log on Page 253 Abbreviated ASCII Syntax Message ID 3 INTERFACEMODE port rxtype txtype responses Factory Default interfacemode coml novatel novatel on interfacemode com2 novatel novatel on interfacemode com3 novatel novatel on interfacemode aux novatel n
451. rameters 1 ADIND 162 12 206 This datum has been updated Clarke 1880 see ID 65 2 ARC50 143 90 294 ARC 1950 SW amp SE Africa Clarke 1880 3 ARC60 160 8 300 This datum has been updated Clarke 1880 see ID 66 4 AGD66 133 48 148 Australian Geodetic Datum Australian 1966 National 5 AGD84 134 48 149 Australian Geodetic Datum Australian 1984 National 6 BUKIT 384 664 48 Bukit Rimpah Indonesia Bessel 1841 7 ASTRO 104 129 239 Camp Area Astro Antarctica International 1924 8 CHATM 175 38 113 Chatham 1971 New Zealand International 1924 9 CARTH 263 6 431 Carthage Tunisia Clarke 1880 10 CAPE 136 108 292 CAPE South Africa Clarke 1880 11 DJAKA 377 681 50 Djakarta Indonesia Bessel 1841 12 EGYPT 130 110 13 Old Egyptian Helmert 1906 13 ED50 87 98 121 European 1950 International 1924 14 ED79 86 98 119 European 1979 International 1924 15 GUNSG 403 684 41 G Segara Kalimantan Bessel 1841 Indonesia 16 GE049 84 22 209 Geodetic Datum 1949 New International Zealand 1924 17 GRB36 375 111 431 Do not use Use ID 76 Airy 1830 instead 18 GUAM 100 248 259 Guam 1963 Guam Island Clarke 1866 19 HAWAII 89 279 183 Do not use Use ID 77 or ID Clarke 1866 81 instead Continued on Page 87 86 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 20 KAUAI 45 290 172 Do not use Use ID 78 or ID C
452. range measurement m Double 8 H 8 6 psr std Pseudorange measurement standard deviation m Float 4 H 16 7 adr Carrier phase in cycles accumulated Doppler range Double 8 H 20 8 adr std Estimated carrier phase standard deviation cycles Float 4 H 28 9 dopp Instantaneous carrier Doppler frequency Hz Float 4 H 32 10 C No Carrier to noise density ratio Float 4 H 36 C No 10 log49 S No dB Hz 11 locktime of seconds of continuous tracking no cycle slipping Float 4 H 40 12 ch tr Tracking status see 63 Channel Tracking Status on ULong 4 H 44 status Page 346 and the example in Table 62 13 Next PRN offset H 4 obs x 44 variable Xxxx 32 bit CRC ASCII and Binary only Hex 4 H 4 obs x 44 variable CR LF Sentence terminator ASCII only a Satellite PRNs may have two lines of observations one for the L1 frequency and the other for L2 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 347 Chapter 3 DataLogs 3 3 55 RANGECMP Compressed Version of the RANGE Log V123 Message ID 140 Log Type Synch Recommended Input log rangecmpa ontime 10 Example RANGECMPA COM1 0 54 5 FINESTEERING 1337 404589 000 00000000 9691 1984 20 049c10183bc7f6af4c15580a9d8885b4300e4938c7030000 0b9c301170d0f85f4f15580ad60690b4410e4938e7020000 249c1008d2a4f2ef 900ac80b8c78d1c24016ffce8a030000 2b9c3001b397f52f 9b0ac80b33e438f85216ffce6a020000 449c1008edae04 F002 90f309b9928cf62019dbc3e3030000 4b9
453. rdinate error during computation of the ERROR satellite s position 6 ELEVATIONERROR Elevation error due to the satellite being below the cut off angle 7 MISCLOSURE Misclosure too large due to excessive gap between estimated and actual positions 8 NODIFFCORR No compatible differential correction is available for this particular satellite 9 NOEPHEMERIS Ephemeris data for this satellite has not yet been received 10 INVALIDIODE Invalid IODE Issue Of Data Ephemeris due to mismatch between differential stations 11 LOCKEDOUT Locked out satellite is excluded by the user LOCKOUT command 12 LOWPOWER Low power satellite is rejected due to low carrier noise ratio 13 OBSL2 L2 observation is ignored and not used in the solution 16 NOIONOCORR No compatible ionospheric correction is available for this particular satellite 17 NOTUSED Observation is ignored and not used in the solution 99 NA No observation a reject code is not applicable 100 BAD_INTEGRITY The integrity of the pseudorange is bad OEMV Family Firmware Version 3 000 Reference Manual Rev 2 455 Chapter 3 DataLogs Field Field Type Data Description Format Blnaty Binary yp p Bytes Offset 1 TRACKSTAT Log header H 0 header 2 sol status Solution status see Table 45 Solution Status Enum 4 H on Page 221 3 pos type Position type see Table 44 Position or Enum 4 H 4 Velocity Ty
454. re updated by collecting OmniSTAR data for 20 35 minutes OEMV Family Firmware Version 3 000 Reference Manual Rev 2 305 Chapter 3 DataLogs 306 Table 57 OmniSTAR HP XP Additional Status Word 0 0x0001 Solution not fully converged False True NO 1 0x0002 Reserved 0x0004 0x0008 0x0010 HP not authorized Authorized Unauthorized N1 0x0020 XP not authorized Authorized Unauthorized 0x0040 Reserved 0x0080 0x0100 O MWINID a FR wo PD N2 0x0200 4 Oo 0x0400 0x0800 4 N 0x1000 4 wo N3 0x2000 ak A 0x4000 4 oOo 0x8000 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Table 58 OmniSTAR HP XP Status Word Chapter 3 0 0x00000001 Subscription Expired False True NO 1 0x00000002 Out of Region 2 False True 2 0x00000004 Wet Error False True 3 0x00000008 Link Error False True 4 0x00000010 No Measurements False True N1 5 0x00000020 No Ephemeris False True 6 0x00000040 No Initial Position False True 7 0x00000080 No Time Set False True 8 0x00000100 Velocity Error False True N2 9 0x00000200 No Reference Stations False True 10 0x00000400 No Mapping Message False True 11 Reserved N3 N5 12 23 24 N6 25 26 0x04000000 Static Initialization Mode False True 27 Reserved N7 28 30 31 0x80000000 Updating Data False True
455. re unavailable see the GPGGA log on Page 272 See also Table 52 Position Precision of NMEA Logs on Page 278 This log outputs null data in all fields until a valid almanac is obtained Message ID 259 Log Type Synch Recommended Input log gpggartk ontime 1 Example SGPGGA 135324 00 5106 9791988 N 11402 3002127 W 2 09 1 0 1047 606 M 04 AAAA 1C 6 The GPGGARTK log is ideal for RT 2 positioning applications where mm level position precision is required See also the GPGGA usage box that applies to all NMEA logs on Page 272 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Field Structure Field Description Symbol Example 1 GPGGA Log header GPGGA 2 utc UTC time of position hours minutes seconds hhmmss ss 220147 50 decimal seconds 3 lat Latitude DDmm mm ILII 5106 7194489 4 lat dir Latitude direction N North S South a N 5 lon Longitude DDDmm mm yyyyy yy 11402 358902 0 6 lon dir Longitude direction E East W West a Ww 7 GPS qual GPS Quality indicator x 1 0 fix not available or invalid 1 GPS fix 2 C A differential GPS OmniSTAR VBS or CDGPS 4 RTK fixed ambiguity solution RT2 5 RTK floating ambiguity solution RT20 OmniSTAR HP or OmniSTAR XP 6 Dead reckoning mode 7 Manual input mode fixed position 8 Simulator mode 9 WAAS 8 sats Number of satellites in use 00 12 May be XX 08 different to the n
456. rections Used V 23_SBAS 516 4 Responses 518 8 OEMV Family Firmware Version 3 000 Reference Manual Rev 1A 1 APPS Almere seeds tetenrs cna nceecie aaa sa uavae deer aaa a odes dees 50 2 Pulse Width and 1PPS Coherency ccccceceeeeeeeceeeeeeeeeeeeeeeeeeeaeeeeeeeesecaeeeeeeees 109 3 Illustration of Magnetic Variation amp Correction eccceeceeeeeeeeeeeeeeeeeeneeeeeieeeeeeeeeees 132 4 TIL Pulse Polarity sivsis csecee descend stsiiccdsatenadnaieeent aa aAa a anaa a a RE ai 134 5 Using the SEND Command cccceceeeeeeeeeeeeeeeeeeeaeeseceeeeeeaaeeseeeeeeseaaeseeeeeeeseaaeeeeaes 167 6 Illustration of SETNAV Parameters cccccececeeeeeeeeeeeeeeaeeeeeeeeesaaeeeeeeeessaeeeeeeeess 173 7 Illustration of Undulation eeeeecceeeeeeeeeeeeeeeeeeeeeaeeeeeeeeeeeaaeseeeeeesaaeeeeeeeeesiaeeneeeeess 180 8 The WGS84 ECEF Coordinate System c cccccceeeeeeeeececeeeeeeeeeeceeeeeeeeeseneeeeeeeeees 232 9 Navigation Parameters cccccccccscceeeceeeeeeneeeceaeeeeeaeeeceaeeeeseneesecaeeeseaaeeseeeeeeseaeseeaees 320 10 Pass Through Log Data ussiisa sanirani asiansa aaaea aaia a a a 330 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 1 Field TY P Sisiccecssavsctcves Nadiabechsinde veges ss Nare iade A EE EEEE AR NEE 15 2 Byte Arrangements es ias a debaveecs Mavceesvsticeeveants 16 3 ASCII Message Header Structure c cccccccceeeeeeceeeeceeeeeeeaaeseeeeeesaeesseeeesseaeeeeeaees 1
457. red by a GPS receiver to achieve a position solution Refer also to the Time to First Fix and Satellite Acquisition section of the GPS Reference Manual OEMV Family Firmware Version 3 000 Reference Manual Rev 2 371 Chapter 3 DataLogs 3 3 68 RTCADATAOBS Base Station Observations V123_RT20 or V23_RT2 See Section 3 3 65 starting on Page 367 for information on RTCA standard logs RTCAOBS Type 7 An RTCAOBS RTCA Base Station Satellite Observations message contains base station satellite observation information It is used to provide range observations to the rover receiver and should be sent every or 2 seconds This log is made up of variable length messages up to 255 bytes long The maximum number of bits in this message is 140 92 x N where N is the maximum number of satellite record entries transmitted Using the RTKSVENTRIES command see Page 163 you can define N to be anywhere from 4 to 12 the default value is 12 Message ID 394 Log Type Synch Recommended Input log rtcadataobsa ontime 2 ASCII Example RTCADATAOBSA COM1 0 47 0 FINESTEERING 1364 494469 000 00100000 9025 2310 78 1 2 027098600000000e 07 69 000000000 0 8 2 3 3 4 000000000 3 500000000 0 241999999 0 207000002 TRUE 180 5 3 3 569234 000000000 1 750000000 0 717999995 1 340999961 TRUE 180 7 3 3 756774 600000000 1 250000000 0 054000001 0 119999997 TRUE 180 30 3 3 445544 200000000 1 250000000 0 140000001 0 344999999 TRUE
458. rence Manual Rev 2 Binary Binary Binary Format Bytes Offset Commands Chapter 2 2 5 37 NVMRESTORE Restore NVM data after an NVM failure V123 This command restores non volatile memory NVM data after a NVM Fail error This failure is indicated by bit 13 of the receiver error word being set see also RXSTATUS Page 438 and RXSTATUSEVENT Page 445 If corrupt NVM data is detected the receiver remains in the error state and continues to flash an error code on the Status LED until the NVMRESTORE command is issued refer to the chapter on Built In Status Tests in the OEMV Family Installation and Operation User Manual for further explanation If you have more than one auth code and the saved model is lost then the model may need to be entered using the MODEL command or it is automatically saved in NVM on the next start up If the almanac was lost a new almanac is automatically saved when the next complete almanac is received after approximately 15 minutes of continuous tracking If the user configuration was lost it has to be re entered by the user This could include communication port settings lt The factory default for the COM ports is 9600 n 8 1 After entering the NVMRESTORE command and resetting the receiver the communications link may have to be re established at a different baud rate from the previous connection Abbreviated ASCII Syntax Message ID 197 NVMRESTORE _ eT The possibility of NVM failure is
459. riabl or ANY ANY type defaults max able e RTCM 0 5 RTCMV3 0 RTCA AAAA CMR 0 a Inthe binary log case additional bytes of padding are added to maintain 4 byte alignment OEMV Family Firmware Version 3 000 Reference Manual Rev 2 95 Chapter 2 Commands 2 5 17 DYNAMICS Tune receiver parameters V123 96 This command adjusts the receiver dynamics to that of your environment It is used to optimally tune receiver parameters The DYNAMICS command adjusts the Tracking State transition time out value of the receiver see Table 60 Tracking State on Page 345 When the receiver loses the position solution see Table 45 Solution Status on Page 221 it attempts to steer the tracking loops for fast reacquisition 5 s time out by default The DYNAMICS command allows you to adjust this time out value effectively increasing the steering time The three states 0 1 and 2 set the time out to 5 10 or 20 s respectively lt 1 The DYNAMICS command should only be used by advanced users The default of AIR should not be changed except under very specific conditions 2 The DYNAMICS command affects satellite reacquisition The constraint of its filter with FOOT is very tight and is appropriate for a user on foot A sudden tilted or up and down movement for example while a tractor is moving slowly along a track may trip the RTK filter to reset and cause the position to jump AIR should be used in this case Abbrev
460. riable CR LF Sentence terminator ASCII only a Inthe binary log case additional bytes of padding are added to maintain 4 byte alignment 266 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 21 GLORAWFRAME Raw GLONASS Frame Data V23_G This log contains the raw GLONASS frame data as received from the GLONASS satellite Message ID 721 Log Type Asynch Recommended Input log glorawframea onchanged Example GLORAWFRAMEA COM1 19 53 0 SATTIME 1340 398773 000 00000000 8792 2020 3 39 8 1340 398773 067 44 44 15 0148dc0b67e9184664cb35 0 0218e09dc8a3ae8cb6bal8d 0 0 00000000000000000000 0 11169f9e GLORAWFRAMEA COM1 0 53 0 SATTIME 1340 398713 000 00000000 8792 2020 1 41 13 1340 398713 077 36 36 15 0108da12532805bfalcded 0 0208e0a36e8e0952b111da 0 03c02023b68c9a32410958 0 Of6efb59474697 d72c4e2 0 0ab6267c8 LE Refer to the GLONASS Overview section in the GPS Reference Manual available on our website at http www novatel ca support docupdates htm OEMV Family Firmware Version 3 000 Reference Manual Rev 2 267 Chapter 3 DataLogs Binary Binary Field Field type Data Description Format Bytes Offset 1 GLORAWFRAME Log header H 0 header 2 frame Frame number Ulong 2 H 3 sloto Slot information offset PRN Ushort 2 H 2 identification Slot 37 Ephem
461. rift 4 Pseudorange carrier phase and Doppler measurements may jump if the CLOCKADJUST mode is altered while the receiver is tracking 5 When disabled the time reported on all logs may be offset from GPS time The 1 PPS output may also be offset The amount of this offset may be determined from the TIME log see Page 449 6 A discussion on GPS time may be found in Section 1 4 GPS Time Status on Page 26 Abbreviated ASCII Syntax Message ID 15 CLOCKADIJUST switch Factory Default clockadjust enable ASCII Example clockadjust disable E The CLOCKADJUST command can be used to calibrate an internal oscillator Disable the CLOCKADJUST mode in order find out what the actual drift is from the internal oscillator Watch the CLOCKMODEL log to see the drift rate and adjust the oscillator until the drift stops OEMV Family Firmware Version 3 000 Reference Manual Rev 2 67 Chapter 2 Field Field Type CLOCKADJUST header ASCII Value Binary Value Description This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively Commands Binary Binary Binary Format Bytes Offset H 0 switch DISABLE Disallow adjustment of internal clock ENABLE Allow adjustment of internal clock Enum 4 H 68 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands C
462. rmat Offset 1 FIX header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 type See Table 25 on Fix type Enum 4 H Page 104 3 param1 See Table 24 Parameter 1 Double 8 H 4 4 param2 Parameter 2 Double 8 H 12 5 param3 Parameter 3 Double 8 H 20 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 105 Chapter 2 Commands 2 5 21 FIXPOSDATUM Set position through a specified datum V123 This command sets the position by referencing the position parameters through a specified datum The position is transformed into the same datum as that in the receiver s current setting The FIX command see Page 103 is then issued internally with the FXPOSDATUM command values It is the FIX command that appears in the RXKCONFIG log If the FIX or the FXXPOSDATUM command are used their newest values overwrite the internal FIX values Abbreviated ASCII Syntax Message ID 761 FIXPOSDATUM datum lat lon height Factory Default fixposdatum none ASCII Example fixposdatum user 51 11633810554 114 03839550586 1048 2343 E eEE UIU 5 You can use the FIXPOSDATUM command in a survey to fix the position with values from another known datum rather than transforming them into WGS84 yourself ASCII Binary Type Value Value Binary Binary Binary Field Format Bytes Offs
463. romlon tolat tolon track offset from point to point Factory Default setnav 90 0 0 0 90 0 0 0 0 0 from to ASCII Example setnav 51 1516 114 16263 51 16263 114 1516 125 23 from to TO lat lon FROM lat lon Figure 6 Illustration of SETNAV Parameters E i Consider the case of setting waypoints in a deformation survey along a dam The surveyor enters the From and To point locations on either side of the dam using the SETNAV command They then use the NAVIGATE log messages to record progress and show them where they are in relation to the From and To points OEMV Family Firmware Version 3 000 Reference Manual Rev 2 173 Chapter 2 Commands a Field ASCII Binary 5 is Binary Binary th Type Value Value Description Format Offset 1 SETNAV This field contains the command H 0 header name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 fromlat 90 degrees Origin latitude in units of degrees Double 8 H decimal degrees A negative sign for South latitude No sign for North latitude 3 fromlon 360 degrees Origin longitude in units of degrees Double 8 H 8 decimal degrees A negative sign for West longitude No sign for East longitude 4 tolat 90 degrees Destination latitude in units of Double 8 H 16 degrees decimal degrees 5 tolon 360 degrees Destination longitude in units of Double 8 H 24 degrees decimal degrees
464. ronic Devices NMEA 0183 Version 3 01 For further information see the appendix on Standards and References in the GPS Reference Manual available on our website at http www novatel com support docupdates htm The following table contains excerpts from Table 6 of the NMEA Standard which defines the variables for the NMEA logs The actual format for each parameter is indicated after its description 1E Please see the GPGGA usage box that applies to all NMEA logs on Page 272 324 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Field Type Symbol Special Format Fields Chapter 3 Definition Status A Single character field A Yes Data Valid Warning Flag Clear V No Data Invalid Warning Flag Set Latitude Fixed Variable length field degrees minutes decimal 2 fixed digits of degrees 2 fixed digits of mins and a variable number of digits for decimal fraction of mins Leading zeros always included for degrees and mins to maintain fixed length The decimal point and associated decimal fraction are optional if full resolution is not required Longitude yyyyy yy Fixed Variable length field degrees minutes decimal 3 fixed digits of degrees 2 fixed digits of mins and a variable number of digits for decimal fraction of mins Leading zeros always included for degrees and mins to maintain fixed length The decimal point and associated decimal fraction are option
465. ror bound Ulong 4 H 32 0 00005 11 igeo Update interval for GEO Ulong 4 H 36 navigation message 12 Cer Degradation parameter Ulong 4 H 40 0 5 13 Ciono_step Bound on ionospheric grid delay Ulong 4 H 44 0 001 E difference 14 liono Minimum ionospheric update Ulong 4 H 48 z interval 15 Ciono_ramp Rate of ionospheric corrections Ulong 4 H 52 0 000005 7 change 16 SSudre User differential range error flag Ulong 4 H 56 17 SSiono Root sum square flag Ulong 4 H 60 18 spare bits Spare 88 bits possibly Ulong 4 H 64 GLONASS 19 XXXX 32 bit CRC ASCII and Binary Hex 4 H 68 only 20 CR LF Sentence terminator ASCII only OEMV Family Firmware Version 3 000 Reference Manual Rev 2 489 Chapter 3 DataLogs 3 3 113 WAAS12 SBAS Network Time and UTC V123_SBAS WAAS12 contains information bits for the UTC parameters and UTC time standard from which an offset is determined The UTC parameters correlate UTC time with the SBAS network time rather than with GPS time Message ID 293 Log Type Asynch Recommended Input log WAAS 12a onchanged ASCII Example Not available at time of print ee SS SSS SSS 6 Each raw WAAS frame gives data for a specific frame decoder number The WAAS12 message can be logged to view the data breakdown of WAAS frame 12 which contains information on time parameters 490 OEMV Family Firmware Version 3 000 Reference Manual Rev 2
466. rors are eliminated in the differential processing of the data In fact an iono free L1 L2 solution where OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 ionospheric errors are reduced eliminated using point 1 above is often discouraged over short baseline observations since combining the data from each frequency introduces extra noise into the solution that exceeds any ionospheric errors that are eliminated in the process As the baseline distance between receivers increases this correlation weakens and the ionospheric errors can become very significant This happens because the atmosphere that the GPS signal passes through is different at each respective station By taking measurements on two frequencies the different effects of the ionosphere on the GPS signal at each station can be modeled and the errors reduced This allows for more accurate baseline measurements over long distances The second feature OTF technology is useful for kinematic surveys and can provide rapid static capabilities In order to provide geodetic level accuracy 1 3 cm the GPS receiver must be able to resolve the cycle ambiguities of the carrier frequency With conventional single frequency receivers this process can take anywhere from 30 to 60 minutes depending upon many factors not the least of which is the length of the baseline Dual frequency equipment allows for an operation called wide laning which can sign
467. rrection Slots 26 38 VI23_SBAS c ccccccceeeeee 472 3 3 108 WAAS5 Fast Correction Slots 39 50 VI23_SBAS cccccccseeeee 475 3 3 109 WAAS6 Integrity Message VI23_SBAS 0 ccccccccccccccssecseceteeteenseees 478 3 3 110 WAAS7 Fast Correction Degradation VI23_SBAS ccceeees 482 3 3 111 WAAS9 GEO Navigation Message VI23_SBAS cccccceeeeeee 486 3 3 112 WAAS10 Degradation Factor VI23_SBAS cccccccccccccccsccesecteeeteees 488 OEMV Family Firmware Version 3 000 Reference Manual Rev 1A 7 Table of Contents 3 3 113 WAAS12 SBAS Network Time and UTC VI23_SBAS 000 490 3 3 114 WAAS17 GEO Almanac Message V123_SBAS ccccccceeceeeeees 492 3 3 115 WAAS18 IGP Mask VI23_SBAS 0 cccccccccccccccesccsccssecsessseeseesseeeseenes 494 3 3 116 WAAS24_ Mixed Fast Slow Corrections VI23_SBAS ccccee 495 3 3 117 WAAS25 Long Term Slow Satellite Corrections VJ23_SBAS 498 3 3 118 WAAS26 lonospheric Delay Corrections VI23_SBAS 0 00 501 3 3 119 WAAS27 SBAS Service Message VI23_SBAS ccccccceseseeeeees 503 3 3 120 WAAS32 CDGPS Fast Correction Slots 0 10 V13_CDGPB 505 3 3 121 WAAS33 CDGPS Fast Correction Slots 11 21 VJ3_CDGP 508 3 3 122 WAAS34 CDGPS Fast Correction Slots 22 32 V13_CDGPB 510 3 3 123 WAAS35 CDGPS Fast Correction Slots 33 43 V13_CDGPB 512 3 3 124 WAAS45 CDGPS Slow Corrections VI3_CDGPS 0 ccceceee 514 3 3 125 WAASCORR_ SBAS Range Cor
468. rs minutes seconds hhmmss ss 202134 00 decimal seconds 3 lat Latitude DDmm mm III 5106 9847 4 lat dir Latitude direction N North S South a N 5 lon Longitude DDDmm mm yyyyy yy 11402 2986 6 lon dir Longitude direction E East W West a Ww 7 GPS qual GPS Quality indicator x 1 0 fix not available or invalid iss GPS fix 2 C A differential GPS OmniSTAR VBS or CDGPS 4 RTK fixed ambiguity solution RT2 5 RTK floating ambiguity solution RT20 OmniSTAR HP or OmniSTAR XP 6 Dead reckoning mode 7 Manual input mode fixed position 8 Simulator mode 9 WAAS 8 sats Number of satellites in use 00 12 May be XX 10 different to the number in view 9 hdop Horizontal dilution of precision X X 1 0 10 alt Antenna altitude above below mean sea level X X 1062 22 geoid 11 a units Units of antenna altitude M meters M M 12 undulation Undulation the relationship between the geoid x x 16 271 and the WGS84 ellipsoid 13 u units Units of undulation M meters M M 14 age Age of Differential GPS data in seconds XX empty when no differential data is present 15 stn ID Differential base station ID 0000 XXXX empty when 1023 no differential data is present 16 XX Checksum hh 48 17 CR LF Sentence terminator CR LF a An indicator of 9 has been temporarily set for WAAS NMEA standard for WAAS not decided yet b The maximum age reported here is limited to 99 seconds OEMV Family Firmw
469. rsion 3 000 Reference Manual Rev 2 435 Chapter 3 DataLogs 3 3 92 RXHWLEVELS Receiver Hardware Levels V3 This log contains the receiver environmental and voltage parameters Table 77 provides some of the minimum maximum and typical parameters of OEMV 3 based products lt This log outputs null fields from OEMV 1 based and OEMV 2 based products Message ID 195 Log Type Polled Recommended Input log rxhwlevelsa ontime 60 ASCII Example RXHWLEVELSA COM1 0 82 5 FINESTEERING 1364 490216 808 00000008 863c 2310 31 563 0 000 1 352 11 763 4 996 0 000 0 000 0 000 0 000 0 000 76927cb1 1E 6 Refer also to the OEMV 3 technical specifications in Appendix A of the OEMV Family Installation and Operation User Manual for comparisons Table 77 Receiver Hardware Parameters 40 0 1 30 4 5 4 55 4 55 0 0 100 P 0 10 1 65 18 5 25 5 25 2 5 30 40 0 04 1 37 12 5 5 0 5 a The shown voltage levels are for OEMV 3 cards b The board temperature is about 15 C higher than the ambient temperature Bit 1 in Table 79 Receiver Status on Page 440 turns on as a warning when the board temperature is above 100 C and a hazardous temperature error message is generated at 110 C 436 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Field Field type Data Description Format Binary Binary Bytes Offset 1 RXHWLEVELS Lo
470. rt receiving the RTCM data must have its INTERFACEMODE command set Message ID 397 Log Type Synch Recommended Input log rtemdata15a ontime 10 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 385 Chapter 3 DataLogs ASCII Example RTCMDATA15A COM1 0 74 5 F INESTEERING 1117 160783 000 00100020 9601 399 15 0 3971 7799968 5163500 6 10 0 0 3 1631 445 0 0 15 1423 222 0 0 18 1275 334 0 0 21 1763 334 0 0 17 1454 556 0 0 6 2063 0 0 0 26 1579 222 0 0 23 1423 111 0 0 28 1874 445 0 0 22 2146 445 19ed193 e eS SS SE SS SSS ea 6 The RTCMDATA15 message provides data that enables you to continually remove the ionosphere components from received pseudorange corrections The jon rate and ion delay fields can be added just like Type 1 corrections to provide an iono free data collection 386 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Field Field type Data Description Format Binary Bytes Chapter 3 Binary Offset 1 RTCMDATA15 Log header H 0 header 2 RTCM header RTCM message type Ulong 4 H 3 Base station ID Ulong 4 H 4 4 Modified Z count where the Z count Ulong 4 H 8 week number is the week number from subframe 1 of the ephemeris 5 Sequence number Ulong 4 H 12 6 Length of frame Ulong 4 H 16 7 Base station health see REFSTATION Ulong 4
471. rue X X 153 093 13 vel Destination closing velocity knots X X 0 3591502 14 arr status Arrival status A V A perpendicular passed V destination not reached or passed 15 XX Checksum hh 13 16 CR LF Sentence terminator CR LF a If cross track error exceeds 9 99 NM display 9 99 Represents track error from intended course One nautical mile 1 852 meters b Direction to steer is based on the sign of the crosstrack error that is L xtrack error R xtrack error c Fields 5 6 7 8 9 and 10 are tagged from the SETNAV command see Page 170 d If range to destination exceeds 999 9 NM display 999 9 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 289 Chapter 3 DataLogs 3 3 33 GPRMC GPS Specific Information V123_NMEA 290 Time date position track made good and speed data provided by the GPS navigation receiver RMC and RMB are the recommended minimum navigation data to be provided by a GPS receiver A comparison of the position precision between this log and other selected NMEA logs can be seen in Table 52 Position Precision of NMEA Logs on Page 278 This log outputs null data in all fields until a valid almanac is obtained Message ID 225 Log Type Synch Recommended Input log gprmc ontime 1 Example SGPRMC 142520 00 A 5106 9792779 N 11402 3004584 W 0 023 173 9 250805 0 0 E 4B ey 6 Please see the GPGGA usage box that applies to all NMEA logs on
472. rvey website at http www ngs noaa gov CORS Rinex2 html 298 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Field Field type Data Description Format Chapter 3 Binary Binary Offset Bytes 1 IONUTC header Log header H 0 2 a0 Alpha parameter constant term Double 8 H 3 al Alpha parameter 1st order term Double 8 H 8 4 a2 Alpha parameter 2nd order term Double 8 H 16 5 a3 Alpha parameter 3rd order term Double 8 H 24 6 bO Beta parameter constant term Double 8 H 32 7 b1 Beta parameter 1st order term Double 8 H 40 8 b2 Beta parameter 2nd order term Double 8 H 48 9 b3 Beta parameter 3rd order term Double 8 H 56 10 utc wn UTC reference week number Ulong 4 H 64 11 tot Reference time of UTC parameters Ulong 4 H 68 12 AO UTC constant term of polynomial Double 8 H 72 13 Al UTC 1st order term of polynomial Double 8 H 80 14 wn Isf Future week number Ulong 4 H 88 15 dn Day number the range is 1 to 7 where Ulong 4 H 92 Sunday 1 and Saturday 7 16 deltat Is Delta time due to leap seconds Long 4 H 96 17 deltat Isf Future delta time due to leap seconds Long 4 H 100 18 deltat utc Time difference Ulong 4 H 104 19 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 108 20 CR LF Sentence terminator ASCII only OEMV Family Firmware Version 3 000 Reference Manual Rev 2 299 Chapter 3 DataLogs 300 3 3 38 LBANDINFO
473. s RTKELEVMASK Set elevation mask to use for RTK positioning Continued on Page 36 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 35 Chapter 2 Commands RTKSOLUTION Set RTK carrier phase ambiguity type Float or Fixed or disable RTKSOURCE Set the RTK correction source SETAPPROXPOS Set an approximate position SETAPPROXTIME Set an approximate GPS time ADJUST1PPS Adjust the receiver clock CLOCKADJUST Enable or disable adjustments to the internal clock and 1PPS output CLOCKCALIBRATE Adjust the control parameters of the clock steering loop CLOCKOFFSET Adjust for antenna RF cable delay in PPS output EXTERNALCLOCK Set the parameters for an external clock SETAPPROXTIME Set an approximate time Table 9 OEMV Family Commands in Alphabetical Order ADJUST1PPS 429 Adjust the receiver clock adjust1pps mode period offset ANTENNAPOWER 98 Control power to low antennapower flag noise amplifier of an active antenna ASSIGN 27 Assign individual satellite assign channel state prn Doppler channel to a PRN Doppler window ASSIGNALL 28 Assign all satellite assignall system state prn channels to a PRN Doppler Doppler window ASSIGNLBAND 729 Set L Band satellite assignlband mode freq baud communication parameters AUTH 49 Add authorization code for auth state part1 part2 part3 part4 new model part5 model date Continued on Page 37 36 OEMV Family F
474. s er Binary Binary Field Field type Data Description Format Bytes Offset 1 GLORAWSTRING Log header H 0 header 2 slot Slot identification Uchar 2 H 3 freq Frequency channel frequency Char 2 H 2 channels are in the range 7 to 13 4 string GLONASS data string Uchar variable H 4 string size 2 5 Reserved Uchar 1 variable 6 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 4 string size 1 7 CR LF Sentence terminator ASCII only a Inthe binary log case additional bytes of padding are added to maintain 4 byte alignment OEMV Family Firmware Version 3 000 Reference Manual Rev 2 269 Chapter 3 DataLogs 3 3 23 GPALM Almanac Data V123 NMEA This log outputs raw almanac data for each satellite PRN contained in the broadcast message A separate record is logged for each PRN up to a maximum of 32 records Following a receiver reboot no records are output until new broadcast message data is received from a satellite It takes a minimum of 12 5 minutes to collect a complete almanac following receiver boot up If an almanac was stored in NVM the stored values are reported in the GPALM log once time is set on the receiver lt To obtain copies of ICD GPS 200 seen in the GPALM table footnotes refer to ARINC in the Standards and References section of the GPS Reference Manual available on our website Refer also to NMEA contact information there Message ID 217 Log Type Asynch Recommended Input log gpalm onchang
475. s changed Message ID 300 Log Type Asynch Recommended Input log WAAS27a onchanged ASCII Example Not available at time of print eee U i Each raw WAAS frame gives data for a specific frame decoder number The WAAS27 message can be logged to view the data breakdown of WAAS frame 27 which contains information on SBAS service messages OEMV Family Firmware Version 3 000 Reference Manual Rev 2 503 Chapter 3 DataLogs A i ee Binary Binary r Field Field type Data Description Format Bytes Offset Scaling 1 WAAS27 Log header H 0 header 2 prn Source PRN of message Ulong 4 H 3 iods Issue of slow corrections data Ulong 4 H 4 4 messages Low by one count of messages Ulong 4 H 8 5 message Low by one message number Ulong 4 H 12 num 6 priority code Priority code Ulong 4 H 16 7 dudre inside Delta user differential range error Ulong 4 H 20 inside 8 dudre Delta user differential range error Ulong 4 H 24 outside outside 9 reg Number of regions with Ulong 4 H 28 information to follow variable latt Coordinate 1 latitude Long 4 H 32 variable lon Coordinate 1 longitude Long 4 H 36 variable lat2 Coordinate 2 latitude Long 4 H 40 variable lon2 Coordinate 2 longitude Long 4 H 44 variable shape Shape where 0 triangle Ulong 4 H 48 1 square variable Next reg entry H 32
476. s log also contains information from the GLONASS navigation data relating GLONASS time to UTC Message ID 719 Log Type Asynch Recommended Input log gloclocka ontime 1 ASCII Example GLOCLOCKA COM1 0 54 5 SATTIME 1364 411884 000 00000000 1d44 2310 0 0 000000000 0 000000000 0 0 0 000000275 792 0 000001207 0 000000000 0 000000000 0 437e9afaft pi SSS SSS SS SSS EEE Refer to the GLONASS Overview section in the GPS Reference Manual available on our website at http www novatel ca support docupdates htm OEMV Family Firmware Version 3 000 Reference Manual Rev 2 257 Chapter 3 DataLogs Binary Binary Field Field type Data Description Format Bytes Offset 1 GLOCLOCK Log header H 0 header 2 nom offset Nominal offset between GPS and GLONASS Ulong 4 H time references in seconds 3 res offset Residual offset estimated in filter in meters Double 8 H 4 4 res offset var Variance of residual offset in meters Double 8 H 12 5 sat type Satellite type where Uchar 1 H 20 0 GLO_SAT 1 GLO_SAT_M new M type 6 N4 GPS calendar day number within a four year Uchar 3a H 21 period beginning since the leap year in days 7 TGPS GPS time scale correction to UTC SU given at Double 8 H 24 beginning of day N4 in seconds 8 NA GLONASS calendar day number within a four Ushort 4a H 32 year period beginning since the leap year in days 9 Te From GLONASS almanac GLONASS time Double 8 H 36
477. s log gives a list of valid authorized models available and expiry date information If a model has no expiry date it reports the year month and day fields as 0 0 and 0 respectively Message ID 206 Log Type Polled Recommended Input log validmodelsa once ASCII Example VALIDMODELSA COM1 0 54 0 FINESTEERING 1337 414753 310 00000000 342 1984 1 ME3 0 0 0 16cObla3 SSS SEES i Use the VALIDMODELS log to output a list of available models for the receiver You can use the AUTH command see Page 65 to add a model and the MODEL command see Page 137 to change the currently active model See the VERSION log on Page 458 for the currently active model f A PE Binary Binary Field Field type Data Description Format Bytes Offset 1 VALIDMODELS Log header H 0 header 2 mod Number of models with information Ulong 4 H to follow 3 model Model name String Variable Variable max 16 4 expyear Expiry year Ulong 4 Variable Max H 20 5 expmonth Expiry month Ulong 4 Variable Max H 24 6 expday Expiry day Ulong 4 Variable Max H 28 Thess Next model offset H 4 mods x variable max 28 variable XXXX 32 bit CRC ASCII and Binary only Hex 4 Variable variable CR LF Sentence terminator ASCII only a Inthe binary log case additional bytes of padding are added to maintain 4 byte alignment OEMV Family Firmware Version 3 000 Reference Manual Rev 2
478. s reported that C No 20 dB Hz the actual value could be less Likewise if it is reported that C No 51 the true value could be greater OEMV Family Firmware Version 3 000 Reference Manual Rev 2 349 Chapter 3 DataLogs Binary Binary Field Field Type Data Description Format Bytes Offset 1 RANGECMP Log header H 0 header 2 obs Number of satellite observations with Long 4 H information to follow 3 1st range Compressed range log in format of Hex 24 H 4 record Table 64 4 Next rangecmp offset H 4 obs x 24 variable xxxx 32 bit CRC ASCII and Binary only Hex 4 H 4 obs x 24 variable CR LF Sentence terminator ASCII only 350 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 56 RANGEGPSL1 L1 Version of the RANGE Log V123 This log is identical to the RANGE log see Page 343 except that it only includes L1 GPS observations Message ID 631 Log Type Synch Recommended Input log rangegpsl1a ontime 30 ASCII Example RANGEGPSL1A COM1 0 57 0 FINESTEERING 1337 404766 000 00000000 5862 1984 10 14 0 21773427 400 0 037 114420590 433332 0 006 2408 171 49 9 14963 280 18109c04 22 0 24822942 668 0 045 130445851 055756 0 009 3440 031 48 0 22312 971 08109c24 25 0 20831000 299 0 033 109468139 214586 0 006 1096 876 50 7 7887 840 08109c44 0 20401022 863 0 032 107208568 887106 0 006 429 690 51 1 10791 500
479. s the 10 least significant bits or 8 least significant bits in the case of the almanac data of the full week number When the receiver processes the satellite data the week number is decoded in the context of the current era and therefore is computed as the full week number starting from week 0 or January 6 1980 Therefore in all log headers and decoded week number fields the full week number is given Only in raw data such as the data field of the RAWALM log or the subframe field of the RAWEPHEM log will the week number remain as the 10 or 8 least significant bits 32 Bit CRC The ASCII and Binary OEMV family message formats all contain a 32 bit CRC for data verification This allows the user to ensure that the data received or transmitted is valid with a high level of certainty This CRC can be generated using the following C algorithm define CRC32_POLYNOMIAL OxEDB88320L unsigned long CRC32Value int i int J unsigned long ulCRC ulCRC i for j 8 3 gt 0 j if ulCRC amp 1 ulCRC ulCRC gt gt 1 CRC32_POLYNOMIAL else ulCRC gt gt 1 return ulCRC unsigned long CalculateBlockCRC32 unsigned long ulCount Number of bytes in the data block unsigned char ucBuffer Data block unsigned long ulTemp1 unsigned long ulTemp2 unsigned long ulCRC 0 while ulCount 0 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Messages Chapter 1 ulTempl ulCR
480. s the amount of carrier smoothing to be performed on the code measurements An input value of 100 corresponds to approximately 100 seconds of smoothing Upon issuing the command the locktime for continuous tracking of all GLONASS satellites is reset to zero From this point each code smoothing filter is restarted The user must wait for at least the length of smoothing time for the new smoothing constant to take full effect The optimum setting for this command is dependent on your application Abbreviated ASCII Syntax Message ID 830 GLOCSMOOTH Litime L2time Factory Default glocsmooth 100 100 Abbreviated ASCII Example glocsmooth 200 X The CSMOOTH command should only be used by advanced GPS users The shorter the carrier smoothing the more noise there will be If you are at all unsure please call NovAtel Customer Service Department see the Customer Service section at the start of the OEMV Family Installation and Operation User Manual 2 It may not be suitable for every GPS application When using CSMOOTH in differential mode the same setting should be used at both the base and rover station if both the base and rover stations are using the same type of receiver both OEMV family However if the base and rover stations use different types of receivers OEM4 and OEMV family it is recommended that the CSMOOTH and GLOCSMOOTH command default value is used at each receiver PE The OEMV family of receivers use the default s
481. sage OEMV Family Firmware Version 3 000 Reference Manual Rev 2 391 Chapter 3 DataLogs Table 67 RTCM1819 Data Quality Indicator 0 lt 0 020 m e lt 0 030 m lt 0 045 m lt 0 066 m lt 0 099 m lt 0 148 m lt 0 220 m lt 0 329 m lt 0 491 m lt 0 732 m lt 1 092 m OlAMAINI oJajJAJUJN ais Oo 11 lt 1 629 m 12 lt 2 430 m 13 lt 3 625 m 14 lt 5 409 m 15 gt 5 409 m Table 68 RTCM1819 Smoothing Interval 0 0 to 1 1 1to5 2 5 to 15 3 Undefined smoothing interval 392 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Table 69 RTCM1819 Multipath Indicator 0 lt 0 100 m lt 0 149 m lt 0 223 m lt 0 332 m lt 0 495 m lt 0 739 m lt 1 102 m lt 1 644 m lt 2 453 m O MOINI DOD a AJOJN lt 3 660 m e oO lt 5 460 m lt 8 145 m M lt 12 151 m wo lt 18 127 m ae A gt 18 127 m ol Undetermined multipath OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Chapter 3 393 Chapter 3 DataLogs Binary Binary Field Field type Data Description Format Bytes Offset 1 RTCMDATA Log header H 0 1819 header 2 RTCM header RTCM message type Ulong 4 H for RTCM18 3 Base station ID Ulong 4 H 4 4 Modified Z count
482. sage ID 789 Log Type Synch Recommended Input log rtemdata1006a ontime 3 ASCII Example RTCMDATA1006A COM1 0 80 5 FINESTEERING 1317 239459 744 00180040 7583 1855 70 0 0 1 0 0 0 16349783637 0 36646792121 0 49422987955 0 5a466fb5 _ ee 6 Message Types 1005 and 1006 are designed for GPS operation but are equally applicable to GLONASS and the future Galileo 420 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Field Field type Data Description Format Binary Binary yp p Bytes Offset 1 RTCMDATA1006 Log header H 0 header 2 msg Message number Ushort 2 H 3 ID Base station ID Ushort 2 H 2 4 Reserved Uchar 1 H 4 5 GPSind GPS indicator Uchar 1 H 5 0 No GPS service supported 1 GPS service supported 6 GLOind GLONASS indicator Uchar 1 H 6 0 No GLONASS service supported 1 GLONASS service supported 7 GALind Galileo indicator Uchar 1 H 7 0 No Galileo service supported 1 Galileo service supported 8 Reserved Uchar 1 H 8 9 ECEF X Base station ECEF X coordinate Double 8 H 9 1 10000 m 10 Reserved Uchar 1 H 17 11 ECEF Y Base station ECEF Y coordinate Double 8 H 18 1 10000 m 12 Reserved Uchar 2a H 26 13 ECEF Z Base station ECEF Z coordinate Double 8 H 28 1 10000 m 14 anthgt Antenna height Ushort 4b H 36 15 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 40 16 CR LF Sentence terminat
483. sage contains the framed raw navigation words Each log contains a new 30 bit navigation word in the least significant 30 bits plus the last 2 bits of the previous word in the most significant 2 bits The 30 bit navigation word contains 24 bits of data plus 6 bits of parity The GPS time stamp in the log header is the time that the first bit of the 30 bit navigation word was received Only navigation data that has passed parity checking appears in this log One log appears for each PRN being tracked every 0 6 seconds if logged ONNEW or ONCHANGED Message ID 407 Log Type Asynch Recommended Input log rawgpsworda onnew ASCII Example RAWGP SWORDA COM1 0 58 5 FINESTEERING 1337 405704 473 00000000 9616 1984 14 7 9 5dc 8e7b8721 RAWGPSWORDA COM1 0 57 0 FINESTEERING 1337 405783 068 00000000 9b16 1984 1 93feff8a 6dd62c81 RAWGP SWORDA COM1 0 55 5 FINESTEERING 1337 405784 882 00000000 9b16 1984 5 8ce a948b4de E 6 The RAWGPSWORD log can be used to receive the parity bits in addition to the data bits Alternately you can use the RAWGPSSUBFRAME log which already has the parity bits stripped out Binary Binary Field Field type Data Description Format Offset 1 RAWGPSWORD header Log header H 0 2 PRN Satellite PRN number Ulong 4 H 3 nav word Raw navigation word Ulong 4 H 4 4 XXXX 32 bit CRC ASCII and Binary Hex 4 H 8 only 5 CR LF Sentence terminator ASCI
484. sdens 157 2 5 47 RTKELEVMASK Set the RTK mask angle VI23 RT20 0r eS ae Se eer eee eee R NE 159 2 5 48 RTKSOLUTION Set RTK carrier phase ambiguity type VPLI RI 20 r V3 RI e en e Stade ems a iad 160 2 5 49 RTKSOURCE Set the RTK correction source V123 RT20 V23 BI 2 OP V3 HP osooni aieia E 161 2 5 50 RTKSVENTRIES Set number of satellites in corrections V123 _RT20 V23 RI2 OF V3 HP sa ihicicrasiusaieiansionsscidennsimeatecasaaiaaaiianderiens 163 2 5 51 SAVECONFIG Save current configuration in NVM V123 c0 164 2 5 52 SBASCONTROL Set SBAS test mode and PRN V 23_SBAS 164 2 5 53 SEND Send an ASCII message to a COM port V123 eects 167 2 5 54 SENDHEX Send non printable characters in hex pairs V 23 169 2 5 55 SETAPPROXPOS Setan approximate position V123 0 0 170 2 5 56 SETAPPROXTIME Set an approximate GPS time V123 00 171 2 5 57 SETNAV Set start and destination waypoints V123 cceeeeeeeees 173 2 5 58 SETRTCM16 Enter ASCII text for RTCM data stream V123_DGPS 175 2 5 59 STATUSCOMFIG Configure RKSTATUSEVENT mask fields V123 176 2 5 60 UNASSIGN Unassign a previously assigned channel V 23 178 2 5 61 UNASSIGNALL Unassign all previously assigned channels V123 179 2 5 62 UNDULATION Choose undulation VI23 cecccceesseseeeeeeeeseeseeeeees 180 4 OEMV Family Firmware Version 3 000 Reference Manual Rev 1A Table of Contents 2 5 63 UNLOCKOUT Reinstate a satellite in
485. se messages without changing the bits simply UNLOG the RXSTATUSEVENT logs on the appropriate ports Refer also to the Built in Status Tests chapter in the OEMV Family Installation and Operation User Manual Abbreviated ASCII Syntax Message ID 95 STATUSCONHIG type word mask Factory Default statusconfig priority status 0 statusconfig priority auxl 0x00000008 statusconfig priority aux2 0 statusconfig set status 0x00000000 statusconfig set auxl 0 statusconfig set aux2 0 statusconfig clear status 0x00000000 statusconfig clear auxil 0 statusconfig clear aux2 0 ASCII Example statusconfig set status 0028a51d p SS SS eee i The receiver gives the user the ability to determine the importance of the status bits In the case of the Receiver Status setting a bit in the priority mask causes the condition to trigger an error This causes the receiver to idle all channels set the ERROR strobe line flash an error code on the status LED turn off the antenna LNA power and disable the RF hardware the same as if a bit in the Receiver Error word is set Setting a bit in an Auxiliary Status priority mask causes that condition to set the OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 bit in the Receiver Status word corresponding to that Auxiliary Status Table 36 Mask Types PRIORITY 0 Replace the Priority mask SET 1 Replace the Set mask CLEAR 2 Replace the Clear mask
486. see Table 73 on Page 408 15 Next PRN offset H 16 prns x 12 variabl xxxx 32 bit CRC ASCII and Binary only Hex 4 variabl e e variabl CR LF Sentence terminator ASCII only e a Inthe binary log case an additional byte of padding is added to maintain 4 byte alignment 410 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 82 RTCMDATA1002 Extended L1 Only GPS RTK Observables V123_RT20 V23_RT2 This log is available at the base station See Section 3 3 80 starting on Page 405 for information on RTCM Version 3 0 standard logs Message ID 785 Log Type Synch Recommended Input log rtemdata1002a ontime 7 ASCII Example RTCMDATA1002A COM1 0 79 0 FINESTEERING 1317 239318 000 00180040 adb2 1855 0 0 239318000 0 9 0 0 9 21 0 12261319 9236 127 0 202 2 0 6623657 4517 127 0 171 16 0 5632627 1876 127 0 179 29 0 3064427 10154 127 0 177 26 0 14721908 21776 105 0 164 6 0 9384778 1113 127 0 205 18 0 9594701 1176 27 0 184 10 0 14876991 8629 127 0 202 30 0 6417059 20243 127 0 195 e7d3c54d 6 Message Type 1002 contains additional information to Message Type 1001 see Page 407 that enhances performance If throughput is not limited and the additional information is available it is recommended to use the longer version of messages OEMV Family Firmware Version 3 000 Reference Manual Rev 2 411
487. served Ushort Reserved for internal use 2 24 Y 16 Receiver Ushort This is a value 0 65535 2 26 Y S W Version that represents the receiver software build number a The 8 bit size means that you will only see OxA0 to OxBF when the top bits are dropped from a port value greater than 8 bits For example ASCII port USB1 will be seen as OxA0 in the binary output Recommended value is THISPORT binary 192 This ENUM is not 4 bytes long but as indicated in the table is only 1 byte d These time fields are ignored if Field 11 Time Status is invalid In this case the current receiver time is used The recommended values for the three time fields are 0 0 0 eo OEMV Family Firmware Version 3 000 Reference Manual Rev 2 21 Chapter 1 Messages Table 5 Detailed Serial Port Identifiers 22 NO_PORTS 0 0 No ports specified COM1_ALL 1 1 All virtual ports for COM port 1 COM2_ALL 2 2 All virtual ports for COM port 2 COM3_ALL 3 3 All virtual ports for COM port 3 THISPORT_ALL 6 6 All virtual ports for the current port ALL_PORTS 8 8 All virtual ports for all ports XCOM1_ALL 9 9 All virtual COM1 ports XCOM2_ALL 10 10 All virtual COM2 ports USB1_ALL d 13 All virtual ports for USB port 1 USB2_ALL e 14 All virtual ports for USB port 2 USB3_ALL f 15 All virtual ports for USB port 3 AUX_ALL 10 16 All virtual ports for the AUX por
488. sk 176 receiver 18 126 196 438 440 self test 196 solution 313 time 18 trigger 438 velocity 229 429 word 446 STATUSCONFIG command 176 steer clock 67 69 time 26 27 67 subframe 201 214 353 355 survey base station 144 control ship 140 datum 106 186 188 grade receivers 121 HP XP seed 119 hydrographic 139 kinematic 219 L2 tracking with L2C 107 maps 84 navigate 173 RTK 154 site 461 WAAS 463 Index synchronize 49 51 451 synchronous log 195 T tag external event 331 Technical Specifications 312 314 temperature 147 terrain 180 text transfer 175 throughput 407 time 1PPS 50 453 acquisition 103 almanac reference 354 anomaly 215 approximate 214 374 clock adjustment 67 coarse fine 26 CPU 126 delay 92 difference 51 451 dilution of precision 335 embedded 453 ephemeris 91 355 event 314 fine 27 GPS 236 331 452 interval 128 130 340 latched 312 limit 144 log 199 matched position 203 318 observation 422 occupation 447 of mark in event 315 of position fix 278 out 93 precision 26 receiver clock offset 216 stamp 27 318 status 18 26 27 steering 26 67 tag 328 340 365 431 to first fix TTFF 171 214 371 374 transfer 49 UTC 273 275 277 297 validity 26 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 533 Index TIME log 449 TIMES YNC log 453 track made good 290 296 over ground
489. solution is computed for up to 60 seconds after reception of the last base station observation The degradation in accuracy due to differential age is reflected in the standard deviation fields and is summarized in the GPS Overview section of the GPS Reference Manual available on our website at http www novatel com support docupdates htm See also the DGPSTIMEOUT command on Page 93 The velocity is computed from consecutive RTK low latency updates As such it is an average velocity based on the time difference between successive position computations and not an instantaneous velocity at the RTKVEL time tag The velocity latency to be subtracted from the time tag is normally 1 2 the time between filter updates Under default operation the RTK low latency filter is updated at a rate of 2 Hz This translates into a velocity latency of 0 25 seconds The latency can be reduced by increasing the update rate of the RTK low latency filter by requesting the BESTXYZ message at a rate higher than 2 Hz For example a logging rate of 10 Hz would reduce the velocity latency to 0 05 seconds For integration purposes the velocity latency should be applied to the record time tag See also the BESTX YZ and MATCHEDXYZ logs on Pages 229 and 318 respectively Message ID 244 Log Type Synch Recommended Input log rtkxyza ontime 1 ASCII Example RIKXYZA COM1 0 36 0 F INESTEERING 1364 496177 000 00100000 9cb9 2310 SOL_COMPUTED NARROW_INT 1634541 3237
490. station ID Char 4 4 H 52 13 diff_age Differential age in seconds Float 4 H 56 14 sol_age Solution age in seconds Float 4 H 60 15 obs Number of observations tracked Uchar 1 H 64 16 GPSL1 Number of GPS L1 ranges used in computation Uchar 1 H 65 17 L1 Number of GPS L1 ranges above the RTK mask Uchar 1 H 66 angle 18 L2 Number of GPS L2 ranges above the RTK mask Uchar 1 H 67 angle 19 Reserved Uchar 1 H 68 20 Uchar 1 H 69 21 Uchar 1 H 70 22 Uchar 1 H 71 23 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 72 24 CR LF Sentence terminator ASCII only a When using a datum other than WGS84 the undulation value also includes the vertical shift due to differences between the datum in use and WGS84 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 313 Chapter 3 Data Logs 3 3 42 MARKTIME MARK2TIME Time of Mark Input Event V123 314 This log contains the time of the leading edge of the detected mark input pulse MARKTIME gives the time when a pulse occurs on the MKII input and MARK2POS is generated when a pulse occurs on a MK2I input Refer to the Technical Specifications appendix in the OEMV Family Installation and Operation User Manual for mark input pulse specifications and the location of the mark input pins The resolution of this measurement is 49 ns bX 1 Use the ONNEW trigger with this or the MARKPOS logs 2 Only the MARKPOS logs the MARKTIME logs and polled lo
491. std Pseudorange measurement standard Float 4 H 16 deviation m 7 adr Carrier phase in cycles accumulated Doppler Double 8 H 20 range 8 adr std Estimated carrier phase standard deviation Float 4 H 28 cycles 9 dopp Instantaneous carrier Doppler frequency Hz Float 4 H 32 10 C No Carrier to noise density ratio Float 4 H 36 C N 10 l0g10 S N dB Hz 11 locktime Number of seconds of continuous tracking no Float 4 H 40 cycle slipping 12 ch tr status Tracking status see 63 Channel Tracking ULong 4 H 44 Status on Page 346 13 Next PRN offset H 4 obs x 44 variable Xxxx 32 bit CRC ASCII and Binary only Hex 4 H 4 obs x 44 variable CR LF Sentence terminator ASCII only 352 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 57 RAWALM Raw Almanac Data V123 This log contains the undecoded almanac subframes as received from the satellite For more information on Almanac data refer to the GPS SPS Signal Specification refer to the Standards and References section of the GPS Reference Manual available on our website at http www novatel com support docupdates htm Message ID 74 Log Type Asynch Recommended Input log rawalma onchanged ASCII Example RAWALMA COM1 0 56 0 SATTIME 1337 405078 000 00000000 cc1b 1984 1337 589824 000 43 3 8b04e4839 35433a5590f5aefd3900al10c9aaab 40187925e50b9F03003F 27 8b04e483a1325b9cde90
492. system debugging purposes These variants have DATA as part of their names for example RTCADATA 1 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 369 Chapter 3 DataLogs Field Field type Data Description Format Binary Binary yp p Bytes Offset 1 RTCADATA1 Log header H 0 header 2 z count Modified Z count where the Z count Double 8 H week number is the week number from subframe 1 of the ephemeris 3 AEB Acceleration Error Bound Uchar 4a H 8 4 prn Number of satellite corrections with Ulong 4 H 12 information to follow 5 PRN slot Satellite PRN number of range Ulong 4 H 16 measurement GPS 1 32 and SBAS 120 to 138 For GLONASS see Section 1 3 on Page 25 6 range Pseudorange correction m Double 8 H 20 7 IODE Issue of ephemeris data Uchar 4a H 28 8 range rate Pseudorange rate correction m s Double 8 H 32 9 UDRE User differential range error Float 4 H 40 10 Next prn offset H 16 prns x 28 variable XXXX 32 bit CRC ASCII and Binary only Hex 4 variable variable CR LF Sentence terminator ASCII only a Inthe binary log case an additional 3 bytes of padding are added to maintain 4 byte alignment 370 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 67 RTCADATAEPHEM Ephemeris and Time Information V123_DGPS See Section 3 3 65 starting on Page 367 for information on RTCA standard logs RTC
493. t XCOM3_ALL 11 17 All virtual COM3 ports COM1 20 32 COM port 1 virtual port 0 COM1_1 21 33 COM port 1 virtual port 1 COM1_31 3f 63 COM port 1 virtual port 31 COM2 40 64 COM port 2 virtual port 0 COM2_31 5f 95 COM port 2 virtual port 31 COM3 60 96 COM port 3 virtual port 0 COM3_ 31 7f 127 COM port 3 virtual port 31 USB 80 128 USB port virtual port 0 USB_ 31 Of 159 USB port virtual port 31 SPECIAL a0 160 Unknown port virtual port 0 SPECIAL_31 bf 191 Unknown port virtual port 31 THISPORT c0 192 Current COM port virtual port 0 Continued on Page 23 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Messages Chapter 1 THISPORT_31 df 223 Current COM port virtual port 31 XCOM1 1a0 416 Virtual COM1 port virtual port 0 XCOM1_1 tal 417 Virtual COM1 port virtual port 1 XCOM1_ 31 1bf 447 Virtual COM1 port virtual port 31 XCOM2 2a0 672 Virtual COM2 port virtual port 0 XCOM2_1 2al 673 Virtual COM2 port virtual port 1 XCOM2_31 2bf 703 Virtual COM2 port virtual port 31 USB1 5a0 1440 USB port 1 virtual port 0 USB1_1 5al 1441 USB port 1 virtual port 1 USB1_31 5bf 1471 USB port 1 virtual port 31 USB2 6a0 1696 USB port 2 virtual port 0 USB2_31 6bf 1727 USB port 2 virtual port 31 USB3 7a0 1952 USB port 3 virtual port 0 USB3_ 31 7bf 1983 USB port 3 virtual port 31 AUX 8a0 2208 AUX port virtual port 0 AUX_31 8bf 2239 AUX port virtua
494. t 1 RTKSOURCE This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 type See Table 30 DGPS ID Type Enum 4 H Type on Page 150 3 ID Char 5 or ANY ID string Char 5 ga H 4 a Inthe binary log case an additional 3 bytes of padding are added to maintain 4 byte alignment 162 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 2 5 50 RTKSVENTRIES Set number of satellites in corrections V123_RT20 V23_RT2 or V3_HP This command sets the number of satellites at the highest elevation that are transmitted in the RTK corrections from a base station receiver Intended for RTCA it works only with RTCAOBS see Page 367 This is useful when the amount of bandwidth available for transmitting corrections is limited Abbreviated ASCII Syntax Message ID 92 RTKSVENTRIES number Factory Default rtksventries 12 ASCII Example rtksventries 7 E 6 GPS devices have enabled many transit and fleet authorities to provide Automatic Vehicle Location AVL AVL systems track the position of individual vehicles and relay that data back to a remote dispatcher location that can store or better utilize the information Consider the implementation of an AVL system within a police department to automatically log and keep track of the location of each cruiser Typically a fle
495. ta format support for all hardware and software solutions Table 29 Serial Port Interface Modes 0 NONE The port accepts generates nothing The port is disabled 1 NOVATEL The port accepts generates NovAtel commands and logs 2 RTCM The port accepts generates RTCM corrections 3 RTCA The port accepts generates RTCA corrections 4 CMR The port accepts generates CMR corrections 5 Reserved 6 7 IMU This port supports communication with a NovAtel supported IMU contact Customer Service or refer to your SPAN Technology User Manual for more information 8 RTCMNOCR RTCM with no CR LF appended 2 9 CDGPS The port accepts GPS C data Continued on Page 123 122 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 10 TCOM1 INTERFACEMODE tunnel modes To configure a full duplex tunnel configure the baud rate on each port Once a tunnel is established the baud rate does not change Special characters such as a BREAK condition do not route across the tunnel transparently and the serial port is 11 TCOM2 altered see the COM command on Page 74 Only serial ports may be in a tunnel configuration COM1 COM2 COM3 or AUX may be used For example configure a tunnel at 115200 bps between 12 TCOM3 COM1 and AUX COM AUX 115200 COM COM1 115200 INTERFACEMODE AUX TCOM1 NONE OFF INTERFACEMODE COM1 TAUX NONE OFF 1 c 3 TAUX The tunnel is fully configur
496. te list of hexadecimal binary and decimal equivalents please refer to the Unit Conversion section of the GPS Reference Manual available on our website at http www novatel com support docupdates htm ASCII log examples may be split over several lines for readability In reality only a single CR LF pair is transmitted at the end of an ASCII log The terms OEMV 1 OEMV 2 and OEMV 3 will not be used in this manual unless a specific detail refers to it alone The term receiver will infer that the text is applicable to an OEMV 1 OEMV 2 or OEMV 3 either stand alone or in an enclosure unless otherwise stated Relevant SBAS commands and logs start with WAAS except for RAWWAASFRAME Generally the PRN field of the WAASx logs is common and indicates the SBAS satellite that the message originated from Please refer to the RTCA document RTCA DO 229B Appendix A Wide Area Augmentation System Signal Specification for details User Manual Updates The most up to date version of this manual and addendums can be downloaded from the support docupdates htm section of the NovAtel website at www novatel com Prerequisites As this reference manual is focused on the OEMV family commands and logging protocol it is necessary to ensure that the receiver has been properly installed and powered up according to the instructions outlined in the companion OEMV Family Installation and Operation User Manual before proceeding 14 OEMV Family Firmware V
497. ted ASCII Syntax Message ID 183 RTKDYNAMICS mode Factory Default rtkdynamics dynamic ASCII Example rtkdynamics static Table 33 Dynamics Mode AUTO 0 Automatically determine dynamics mode STATIC 1 Static mode DYNAMIC 2 Dynamic mode _ Use the static option to decrease the time required to fix ambiguities and reduce the amount of noise in the position solution However if you use STATIC mode when the antenna is not stationary the receiver will have erroneous solutions and unnecessary RTK resets OEMV Family Firmware Version 3 000 Reference Manual Rev 2 157 Chapter 2 Commands Binary Binary Binary Format Bytes Offset Field ASCII Binary meg Type Value Value Description This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively RTKDYNAMICS header 2 mode See Table 33 Set the dynamics mode Enum 4 H 158 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 2 5 47 RTKELEVMASK_ Set the RTK mask angle V123_RT20 or V23_RT2 This command sets the mask angle below which satellites are not included On a base station this limits the satellites that are transmitted in RTK observations On a rover receiver satellites below the mask angle is de weighted in RTK computations The default elevation m
498. tes Offset 1 PASSTO This field contains the H 0 PASSMODE command name or the header message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 switch DISABLE 0 Enable or disable pass to pass Enum 4 H smoothing mode ENABLE 1 recommended ENABLE 3 measmth ON 1 Enable or disable Enum 4 H 4 measurement smoothing mode OFF 0 recommended ON default OFF 4 corrsmth ON 1 Enable or disable correction Enum 4 H 8 smoothing mode OFF 0 recommended OFF default OFF 5 deweight OFF 0 Pass to pass deweight mode Enum 4 H 12 default DEFAULT DEFAULT 1 LOW 2 HIGH 3 6 scale scale gt 0 Deweight scale Double 8 H 16 default 1 0 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 143 Chapter 2 Commands 2 5 39 POSAVE Implement base station position averaging V123_DGPS This command implements position averaging for base stations Position averaging continues for a specified number of hours or until the estimated averaged position error is within specified accuracy limits Averaging stops when the time limit or the horizontal standard deviation limit or the vertical standard deviation limit is achieved When averaging is complete the FIX POSITION command is automatically invoked If you initiate differential logging then issue the POSAVE command followed by the SAVECONFIG command the receiver av
499. the rover station Then select one of the observable messages RTCM1001 RTCM1002 RTCM1003 or RTCM1004 to send from the base 2 The RTCM messages can be logged with an A or B suffix for an ASCII or Binary output with a NovAtel header followed by Hex or Binary raw data respectively 3 RTCMDATA logs output the details of the above logs if they have been sent RTCM SC 104 is a more efficient alternative to the documents entitled RTCM Recommended Standards for Differential NAVSTAR GPS Service Version 2 x Version 3 0 consists primarily of messages designed to support real time kinematic RTK operations The reason for this emphasis is that RTK operation involves broadcasting a lot of information and thus benefits the most from a more efficient data format The RTCM SC 104 standards have been adopted by NovAtel for implementation into the receiver The receiver can easily be integrated into positioning systems around the globe because it is capable of utilizing RTCM Version 3 0 formats The initial Version 3 0 document describes messages and techniques for supporting GPS However the format accommodates modifications to these systems for example new signals and to new satellite systems that are under development In addition augmentation systems that utilize geostationary satellites with transponders operating in the same frequency bands are now in the implementation stages Generically they are called Satellite Based Augmentation Syst
500. the STATUSCONFIG command on Page 176 for details If you wish to disable all these messages without changing the bits simply UNLOG the RXSTATUSEVENT logs on the appropriate ports See also the UNLOG OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs command on Page 183 Chapter 3 Table 78 Receiver Error NO 0 0x00000001 Dynamic Random Access Memory DRAM OK Error status 1 0x00000002 Invalid firmware OK Error 2 0x00000004 ROM status OK Error 3 Reserved N1 4 0x00000010 Electronic Serial Number ESN access OK Error status 5 0x00000020 Authorization code status OK Error 6 0x00000040 Slow ADC status OK Error 7 0x00000080 Supply voltage status OK Error N2 8 0x00000100 Thermometer status OK Error 9 0x00000200 Temperature status as compared against OK Error acceptable limits 10 0x00000400 MINOS5 status OK Error 11 0x00000800 PLL RF1 hardware status L1 OK Error N3 12 0x00001000 PLL RF2 hardware status L2 OK Error 13 0x00002000 RF1 hardware status L1 OK Error 14 0x00004000 RF2 hardware status L2 OK Error 15 0x00008000 NVM status OK Error N4 16 0x00010000 Software resource limit OK Error 17 0x00020000 Model not valid for this receiver OK Error 18 0x00040000 Reserved 19 0x00080000 Continued on Page 440 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 439 Chapter 3 Data Logs
501. the clock s Allan variance and the clock model s process noise elements Usage Before you use an optional external oscillator several clock model parameters must be set There are default settings for a voltage controlled temperature compensated crystal oscillator WCTCXO ovenized crystal oscillator OCXO Rubidium and Cesium standard which are given in Table 23 on Page 102 You may alternatively choose to supply customized settings ay The EXTERNALCLOCK command determines whether the OEMV uses its own internal temperature compensated crystal oscillator or that of an external oscillator as a frequency reference It also sets which clock model is used for an external oscillator The EXTERNALCLOCK DISABLE command forces the OEMV to use the internal oscillator whether or not there is an external oscillator connected to it Do not use the EXTERNALCLOCK OCXO CESIUM RUBIDIUM or USER parameters if there is no external oscillator connected to the OEMV The EXTERNALCLOCK FREQUENCY command sets the OEMV to accept either a 5 MHz or 10 MHz external oscillator frequency For example EXTERNALCLOCK FREQUENCY 5 Abbreviated ASCII Syntax Message ID 230 EXTERNALCLOCK clocktype freq hO h h 2 Factory Default externalclock disable ASCII Examples externalclock user 10mhz 1 0167e 23 6 87621e 25 8 1762e 26 externalclock tcxo 5mhz OEMV Family Firmware Version 3 000 Reference Manual Rev 2 101 Chapter 2 Commands
502. the integrity message 478 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Binary Field Field type Data Description Format Offset Scaling 1 WAAS6 Log header H 0 header 2 prn Source PRN of message Ulong 4 H 3 iodf2 Issue of fast corrections data Ulong 4 H 4 4 iodf3 Issue of fast corrections data Ulong 4 H 8 5 iodf4 Issue of fast corrections data Ulong 4 H 12 6 iodf5 Issue of fast corrections data Ulong 4 H 16 7 udreO udre i Ulong 4 H 20 See Table 89 Evaluation of User differential range error UDREI on indicator for the prn in slot i Page 466 i 0 50 8 udre1 Ulong 4 H 24 9 udre2 Ulong 4 H 28 10 udre3 Ulong 4 H 32 11 udre4 Ulong 4 H 36 12 udre5 Ulong 4 H 40 13 udre6 Ulong 4 H 44 14 udre7 Ulong 4 H 48 15 udre8 Ulong 4 H 52 16 udre9 Ulong 4 H 56 17 udre10 Ulong 4 H 60 18 udre11 Ulong 4 H 64 19 udre12 Ulong 4 H 68 20 udre13 Ulong 4 H 72 21 udre14 Ulong 4 H 76 22 udre15 Ulong 4 H 80 23 udre16 Ulong 4 H 84 24 udre17 Ulong 4 H 88 Continued on Page 480 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 479 Chapter 3 DataLogs Binary Binary Fi
503. the receiver to idle all channels turn off the antenna and disable the RF hardware the same as if a bit in the Receiver Error word is set Setting a bit in an Auxiliary Status priority mask causes that condition to set the bit in the Receiver Status word corresponding to that Auxiliary Status See also the STATUSCONFIG command on Page 176 Db 1 Field 4 the receiver status word as represented in Table 79 is also in Field 8 of the header See the ASCI Example below and Table 79 on Page 440 for clarification 2 Refer also to the chapter on Built In Status Tests in the OEMV Family Installation and Operation User Manual Message ID 93 Log Type Asynch Recommended Input log rxstatusa onchanged ASCII Example RXSTATUSA COM1 0 43 5 FINESTEERING 1337 407250 846 00000000 643c 1984 00000000 4 00000000 00000000 00000000 00000000 00000083 00000008 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 ba27d ae P i Receiver errors automatically generate event messages These event messages are output in RXSTATUSEVENT logs It is also possible to have status conditions trigger event messages to be generated by the receiver This is done by setting clearing the appropriate bits in the event set clear masks The set mask tells the receiver to generate an event message when the bit becomes set Likewise the clear mask causes messages to be generated when a bit is cleared See
504. tion 4 std_dev 180 0 degrees Standard deviation of Float 4 H 8 correction default 0 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 133 Chapter 2 Commands 2 5 34 MARKCONTROL_ Control processing of mark inputs V123 This command provides a means of controlling the processing of the mark 1 MK1J and mark 2 MK2I inputs for the OEMV Using this command the mark inputs can be enabled or disabled the polarity can be changed and a time offset and guard against extraneous pulses can be added The MARKPOS and MARKTIME logs see their descriptions starting on Page 312 have their outputs and extrapolated time tags pushed into the future relative to the MKI event by the amount entered into the time bias field In almost all cases this value is set to 0 which is also the default setting Abbreviated ASCII Syntax Message ID 614 MARKCONTROL signal switch polarity timebias timeguard Factory Default markcontrol marki enable negative 0 0 markcontrol mark2 enable negative 0 0 ASCII Example markcontrol marki enable negative 50 100 3 3 V NEGATIVE Polarity E ee 0 0 V gt 51 ns lt __________ i eee eee 3 3V POSITIVE Polarity 0 0V Figure 4 TTL Pulse Polarity ee i You may have a user point device such as a video camera device Connect the 134 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 device to the receiver s
505. tion SETAPPROXTIME Set an approximate GPS time UNASSIGN Unassign a previously ASSIGNed channel UNASSIGNALL Unassign all previously ASSIGNed channels UNLOCKOUT Reinstate a satellite in the solution UNLOCKOUTALL Reinstate all previously locked out satellites VISION Enable disable Vision processing WAASECUTOFF Set SBAS satellite elevation cut off Continued on Page 35 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 MAGVAR Set magnetic variation correction SETNAV Set waypoints O DGPSEPHEMDELAY DGPS ephemeris delay DGPSTXID DGPS transmit ID FIX Constrain receiver height or position INTERFACEMODE Set interface type Transmit Tx for a port LOG Select required differential output log MOVINGBASESTATION Set ability to use a moving base station position POSAVE Set up position averaging FIXPOSDATUM Fix position through a datum RTKELEVMASK Set the minimum elevation mask angle for satellites to include in RTK corrections RTKSVENTRIES Set the number of satellites to include in RTK corrections E A E ASSIGNLBAND Set L Band satellite communication parameters DGPSTIMEOUT Set maximum age of differential data accepted INTERFACEMODE Set interface type Receive Rx for a COM port PSRDIFFSOURCE Set the pseudorange correction source RTKDYNAMICS Set the RTK dynamics mode RTKBASELINE Initialize RTK with a static baseline RTKCOMMAND Issue RTK specific command
506. tion m Float 4 H 36 9 datum See Table 20 Datum ID Enum 4 H 40 Datum default WGS84 Transformation Parameters on Page 86 10 undulation see the Undulation type Enum 4 H 44 UNDULATION default TABLE command s option field values on Page 180 118 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 2 5 29 HPSTATICINIT Set OmniSTAR HP XP static initialization V3_HP This command enables or disables static initialization of OmniSTAR HP XP If the OmniSTAR HP XP process knows that the receiver is stationary it can converge more quickly lt If the HP XP filter perceives receiver motion it may abort static initialization See the Static Initialization Mode bit in the HP XP Status field of the LBANDSTAT log details starting on Page 303 to confirm that static initialization is in progress Abbreviated ASCII Syntax Message ID 780 HPSTATICINIT switch Factory Default hpstaticinit disable ASCII Example hpstaticinit enable p i HP XP seeding is restarting the HP XP filter from known coordinates with a known accuracy as a starting point such that it is already converged This is implemented by using the HPSEED command see Page 117 There are two ways of using our implementation of HP XP seeding 1 Seed HP XP from a stored HP XP position You can use this method to save the converged HP XP position and feed it back in when your vehicle for example your
507. tion type the GPS receiver begins to search for and track the relevant GEO PRNs for that correction type only You can force the GPS receiver to track a specific PRN using the ASSIGN command You can force the GPS receiver to use the corrections from a specific SBAS PRN using the SBASCONTROL command Disable stops the corrections from being used Abbreviated ASCII Syntax Message ID 652 SBASCONTROL keyword system prn testmode OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 Factory Default sbascontrol disable auto 0 none Abbreviated ASCII Example 1 sbascontrol enable waas 0 zerototwo i NovAtel s OEMV receivers work with SBAS systems including EGNOS Europe MSAS Japan and WAAS North America Table 35 System Types NONE 0 Don t use any SBAS satellites AUTO 1 Automatically determine satellite system to use default ANY 2 Use any and all SBAS satellites found WAAS 3 Use only WAAS satellites EGNOS 4 Use only EGNOS satellites MSAS 5 Use only MSAS satellites OEMV Family Firmware Version 3 000 Reference Manual Rev 2 165 Chapter 2 Field Field Type SBASCONTROL header ASCII Value Value Binary Description This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively Commands Binary Binary Binary Bytes Offset Format H
508. tion type see Table 44 Position or Velocity Enum 4 H 4 Type on Page 220 4 P X Position X coordinate m Double 8 H 8 5 P Y Position Y coordinate m Double 8 H 16 6 P Z Position Z coordinate m Double 8 H 24 7 P X o Standard deviation of P X m Float 4 H 32 8 P Yo Standard deviation of P Y m Float 4 H 36 9 P Z Standard deviation of P Z m Float 4 H 40 10 V sol status Solution status see Table 45 Solution Statuson Enum 4 H 44 Page 221 11 vel type Velocity type see Table 44 Position or Velocity Enum 4 H 48 Type on Page 220 12 V X Velocity vector along X axis m Double 8 H 52 13 V Y Velocity vector along Y axis m Double 8 H 60 14 V Z Velocity vector along Z axis m Double 8 H 68 15 V X o Standard deviation of V X m Float 4 H 76 16 V Yo Standard deviation of V Y m Float 4 H 80 17 V Z o Standard deviation of V Z m Float 4 H 84 18 stn ID Base station ID Char 4 4 H 88 19 V latency A measure of the latency in the velocity time tag Float 4 H 92 in seconds It should be subtracted from the time to give improved results 20 diff_age Differential age in seconds Float 4 H 96 21 sol_age Solution age in seconds Float 4 H 100 22 obs Number of observations tracked Uchar 1 H 104 23 GPSL1 Number of GPS L1 ranges used in computation Uchar 1 H 105 Continued on Page 342 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 341 Chapter 3 DataLogs Binary Binary
509. tions tracked Uchar 1 H 12 6 GPSL1 Number of GPS L1 ranges used in computation Uchar 1 H 13 7 L1 Number of GPS L1 ranges above the RTK mask Uchar 1 H 14 angle 8 L2 Number of GPS L2 ranges above the RTK mask Uchar 1 H 15 angle 9 Reserved Uchar 1 H 16 10 Uchar 1 H 17 11 Uchar 1 H 18 12 Uchar 1 H 19 13 search stat Searcher status see Table 74 Searcher Type Enum 4 H 20 on Page 423 14 lane Number of possible lane combinations Ulong 4 H 24 15 23 C The Cyy Cyy Cxz Cyx Cyy Gyz Czx Gzy and C27 Float 36 H 28 components in meters of the ECEF position covariance matrix 3x3 24 AX Float solution baseline in ECEF x Double 8 H 64 25 Ay Float solution baseline in ECEF y Double 8 H 72 26 Az Float solution baseline in ECEF z Double 8 H 80 27 XO Standard deviation of float solution baseline Float 4 H 88 x m 28 yo Standard deviation of float solution baseline Float 4 H 92 y m 29 Zo Standard deviation of float solution baseline Float 4 H 96 z m Continued on Page 426 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 425 Chapter 3 Data Logs Field Field type Data Description Format riba 30 ref PRN Base PRN Ulong 4 H 100 31 SV Number of SVs to follow Long 4 H 104 32 PRN Satellite PRN number of range measurement Ulong 4 H 108 33 amb Ambiguity type see Table 75 Ambiguity Tyoeon Enum 4 H 112 Page 424 34 res Residual
510. tors 0 1 Health OK 1 0 75 2 0 5 3 0 3 4 0 2 5 0 1 The base station health field only applies to RTCM base stations A value of 6 means that the base station transmission is not monitored and a value of 7 means that the base station is not working Message ID 175 Log Type Asynch Recommended Input log refstationa onchanged ASCII Example REFSTATIONA COM1 0 66 5 FINESTEERING 1364 490401 124 80000000 4e46 2310 00000000 1634532 443 3664608 907 4942482 713 0 RTCA AAAA 1e2a0508 Table 65 Base Station Status 0 0x00000001 Validity of the base station Valid Invalid Table 66 Base Station Type 0 NONE Base station is not used 1 RTCM Base station is RTCM 2 RTCA Base station is RTCA 3 CMR Base station is CMR 4 RTCMV3 Base station is RTCMV3 6 The REFSTATION log can be used for checking the operational status of a remotely located base station You can verify that the base station is operating properly without travelling to it This is especially useful for RTK work on long baselines OEMV Family Firmware Version 3 000 Reference Manual Rev 2 365 Chapter 3 DataLogs Binary Binary Field Field type Data Description Format Bytes Offset 1 REFSTATION Log header H 0 header 2 status Status of the base station information see ULong 4 H Table 65 below 3 x ECEF X value Double 8 H 4 4 y ECEF Y value Double 8 H 12
511. translates into a velocity latency of 0 25 second The latency can be reduced by increasing the update rate of the filter by requesting the BESTXYZ message at a rate higher than 2 Hz For example a logging rate of 10 Hz would reduce the velocity latency to 0 05 seconds For integration purposes the velocity latency should be applied to the record time tag A valid solution with a latency of 0 0 indicates that the instantaneous Doppler measurement was used to calculate velocity Message ID 243 Log Type Synch Recommended Input log psrxyza ontime 1 ASCII Example PSRXYZA COM1 0 49 5 F INESTEERING 1337 403580 000 00000000 c0a5 1984 SOL_COMPUTED PSRDIFF 1634529 3898 3664612 0139 4942481 2285 0 6419 0 6219 1 0197 SOL_COMPUTED PSRDIFF 0 0027 0 0009 0 0040 0 0767 0 0743 0 1219 AAAA 0 250 7 000 0 000 10 10 0 0 0 0 0 0 d4787e54 SSS SS SSS i The instantaneous Doppler is the measured Doppler frequency which consists of the satellite s motion relative to the receiver Satellite Doppler User Doppler and the clock local oscillator drift OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Binary Binary Field Field type Data Description Format Bytes Offset 1 PSRXYZ Log header H 0 header 2 P sol status Solution status see Table 45 Solution Statuson Enum 4 H Page 221 3 pos type Posi
512. tus see Table 45 Solution Status Enum 4 H 44 on Page 221 11 vel type Velocity type see Table 44 Position or Velocity Enum 4 H 48 Type on Page 220 12 V X Velocity vector along X axis m s Double 8 H 52 13 V Y Velocity vector along Y axis m s Double 8 H 60 14 V Z Velocity vector along Z axis m s Double 8 H 68 15 V X o Standard deviation of V X m s Float 4 H 76 16 V Yo Standard deviation of V Y m s Float 4 H 80 17 V Z Standard deviation of V Z m s Float 4 H 84 18 stn ID Base station identification Char 4 4 H 88 19 V latency A measure of the latency in the velocity time tag Float 4 H 92 in seconds It should be subtracted from the time to give improved results 20 diff_age Differential age in seconds Float 4 H 96 21 sol_age Solution age in seconds Float 4 H 100 22 obs Number of observations tracked Uchar 1 H 104 23 GPSL1 Number of GPS L1 ranges used in computation Uchar 1 H 105 Continued on Page 230 230 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Field Field type Data Description Format Chapter 3 Binary Offset Number of GPS L1 ranges above the RTK mask angle 25 L2 Number of GPS L2 ranges above the RTK mask Uchar H 107 angle 26 Reserved Char H 108 27 Char H 109 28 Char H 110 29 Char H 111 30 XXXX 32 bit CRC ASCII and Binary only Hex H 112 31 CR LF Sentence terminator ASCII only OEMV Famil
513. type see Table 44 on Page 220 Enum 4 H 48 12 V X Velocity vector along X axis m Double 8 H 52 13 V Y Velocity vector along Y axis m Double 8 H 60 14 V Z Velocity vector along Z axis m Double 8 H 68 15 V X o Standard deviation of V X m Float 4 H 76 16 V Yo Standard deviation of V Y m Float 4 H 80 17 V Z o Standard deviation of V Z m Float 4 H 84 18 stn ID Base station identification Char 4 4 H 88 19 V latency A measure of the latency in the velocity time tag Float 4 H 92 in seconds It should be subtracted from the time to give improved results 20 diff_age Differential age in seconds Float 4 H 96 21 sol_age Solution age in seconds Float 4 H 100 22 obs Number of observations tracked Uchar 1 H 104 23 GPSL1 Number of GPS L1 ranges used in computation Uchar 1 H 105 24 L1 Number of GPS L1 ranges above the RTK mask Uchar 1 H 106 angle Continued on Page 433 432 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Binary Offset Field Field type Data Description Format Number of GPS L2 ranges above the RTK mask angle 26 Reserved Char 1 H 108 27 Char 1 H 109 28 Char 1 H 110 29 Char 1 H 111 30 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 112 31 CR LF Sentence terminator ASCII only OEMV Family Firmware Version 3 000 Reference Manual Rev 2 433 Chapter 3 DataLogs 3 3 91 RXCONFIG Receiver
514. ual Rev 2 407 Chapter 3 DataLogs Table 72 Carrier Smoothing Interval of Code Phase 0 000 No smoothing 1 001 lt 30s 2 010 30 60 s 3 011 1 2 min 4 100 2 4 min 5 101 4 8 min 6 110 gt 8 min 7 111 Unlimited smoothing interval Table 73 Lock Time Indicator 0 23 i 0 lt lock time lt 24 24 47 i 2 24 24 lt lock time lt 72 48 71 i 4 120 72 lt lock time lt 168 72 95 i 8 408 168 lt lock time lt 360 96 119 i 16 1176 360 lt lock time lt 744 120 126 i 32 3096 744 lt lock time lt 937 127 lock time 937 a Determining Loss of Lock In normal operation a cycle slip is evident when the Minimum Lock Time s has decreased in value For long time gaps between messages such as from a radio outage extra steps should be taken on the rover to safeguard against missed cycle slips 408 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 Field Field type Data Description Format Binary Binary yP p Bytes Offset 1 RTCMDATAV3 Log header H 0 header 2 RTCMV3 Message number Ushort 2 H observations 3 header Base station ID Ushort 2 H 2 4 GPS epoch time in ms from the beginning of Ulong 4 H 4 the GPS week which begins at midnight GMT on Saturday night Sunday morning measured in GPS time as opposed to UTC 5 GNSS message flag Uchar 1 H
515. ud 300 600 900 Communication baud rate ULong 4 H 4 1200 2400 4800 bps 9600 19200 Bauds of 460800 and 921600 38400 57600 are also available on COM1 of 115200 or 230400 OEMV 2 based products 4 parity See Table 16 on Parity Enum 4 H 8 Page 75 5 databits 7ors Number of data bits ULong 4 H 12 default 8 6 stopbits 1or2 Number of stop bits ULong 4 H 16 default 1 7 handshake See Table 17 on Handshaking Enum 4 H 20 Page 75 8 echo OFF 0 No echo Enum 4 H 24 default ON 1 Transmit any input characters as they are received 9 break OFF 0 Disable break detection Enum 4 H 28 ON 1 Enable break detection default 76 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 2 5 11 COMCONTROL Control the RS232 hardware control lines V123 This command is used to control the hardware control lines of the RS232 ports The TOGGLEPPS mode of this command is typically used to supply a timing signal to a host PC computer by using the RTS or DTR lines The accuracy of controlling the COM control signals is better than 900 us The other modes are typically used to control custom peripheral devices Also it is possible to communicate with all three serial ports simultaneously using this command lt 1 If handshaking is disabled any of these modes can be used without affecting regular RS232 communications through the selected COM port However if handshaking is enabled it may conflict with handsha
516. ul link to the base lt Asynchronous logs such as MATCHEDPOS should only be logged ONCHANGED Otherwise the most current data is not output when it is available This is especially true of the ONTIME trigger which may cause inaccurate time tags to result Message ID 96 Log Type Asynch Recommended Input log matchedposa onchanged ASCII Example MATCHEDPOSA COM1 0 57 5 F INESTEERING 1364 490176 000 80000000 b743 2310 SOL_COMPUTED NARROW_INT 51 11634204529 114 03853657570 1048 2428 16 2709 WGS84 0 0113 0 0074 0 0203 AAAA 0 000 0 000 9 8 8 8 0 0 0 0 d119cb59 Dn mmm 6 Measurement precision is different from the position computation precision Measurement precision is a value that shows how accurately the actual code or carrier phase is measured by the GPS receiver Position precision is a value that shows the accuracy of the position computation that is made from the code and or carrier phase measurements The P code L2 measurement precision is not as good as the C A measurement precision because the NovAtel GPS receiver is a civilian grade GPS device and thus does not have direct access to the decrypted military L2 P Y code This means that our semi codeless P code L2 measurements are noisier than the civilian band L1 C A code measurements Refer to the OEMV Installation and Operation Manual for the technical specification of the OEMV card 316 OEMV Family Firmware Version 3 000 Reference Manual Rev 2
517. ulses the line low at a 1PPS event and to high 1 ms after it Not for TX PULSEPPSHIGH 6 Pulses the line high for 1 ms at the time of a 1PPS event 80 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 2 5 12 CSMOOTH Set carrier smoothing V123 This command sets the amount of carrier smoothing to be performed on the code measurements An input value of 100 corresponds to approximately 100 seconds of smoothing Upon issuing the command the locktime amount of continuous tracking in seconds for all tracking satellites is reset to zero From this point each code smoothing filter is restarted The user must wait for at least the length of smoothing time for the new smoothing constant to take full effect The optimum setting for this command is dependent on your application Abbreviated ASCII Syntax Message ID 269 CSMOOTH Litime L2time Factory Default csmooth 100 100 Abbreviated ASCII Example csmooth 500 lt 1 The CSMOOTH command should only be used by advanced GPS users The shorter the carrier smoothing the more noise there will be If you are at all unsure please call NovAtel Customer Service Department see the Customer Service section at the start of the OEMV Family Installation and Operation User Manual 2 It may not be suitable for every GPS application When using CSMOOTH in differential mode the same setting should be used at both the base and rover station if b
518. umber in view 9 hdop Horizontal dilution of precision X X 0 9 10 alt Antenna altitude above below mean sea level X X 1080 406 geoid 11 units Units of antenna altitude M meters M M 12 null This field not available on OEMV family empty when receivers no differential data is 13 null This field not available on OEMV family present receivers 14 age Age of Differential GPS data in seconds XX 15 stn ID Differential base station ID 0000 1023 XXXX 16 XX Checksum hh 48 17 CR LF Sentence terminator CR LF a An indicator of 9 has been temporarily set for WAAS The NMEA standard for WAAS has not been decided yet b The maximum age reported here is limited to 99 seconds OEMV Family Firmware Version 3 000 Reference Manual Rev 2 277 Chapter 3 DataLogs 3 3 27 GPGLL Geographic Position V123_NMEA 278 Latitude and longitude of present vessel position time of position fix and status Table 52 compares the position precision of selected NMEA logs This log outputs null data in all fields until a valid almanac is obtained Message ID 219 Log Type Synch Recommended Input log gpgll ontime 1 Example SGPGLL 5106 9790358 N 11402 3002621 W 140858 00 A 1F Table 52 Position Precision of NMEA Logs GPGGA 4 4 2 GPGGALONG 7 7 3 GPGGARTK 7 7 3 GPGLL 7 7 N A GPRMC 7 T N A eee ee 6 Please see the GPGGA usage box that applies to all NMEA logs on Page
519. v 2 Commands Chapter 2 Field Binary Binary Binary Binary Type Value Description Format Bytes Offset 1 COMCONTROL This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 port COM1 1 RS232 portto control Enum 4 H Valid ports are COM2 2 COM1 COM2 COMBS and AUX The COM3 3 AUX port is only available on OEMV AUX 16 3 based products 3 signal RTS 0 COM signal to Enum 4 H 4 control The DTR 1 controllable COM signals are RTS DTR TX 2 and TX See also Table 18 Tx DTR and RTS Availability on Page 78 Continued on Page 80 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 79 Chapter 2 Commands Field ASCII Binary Type Value Value Binary Binary Binary Field Format Bytes Offset Description 4 control DEFAULT 0 Disables this Enum 4 H 8 command and returns the COM signal to its default state FORCEHIGH 1 Immediately forces the signal high FORCELOW 2 Immediately forces the signal low TOGGLE 3 Immediately toggles the current sate of the signal TOGGLEPPS 4 Toggles the state of the selected signal within 900 us after each 1PPS event The state change of the signal lags the 1PPS by an average value of 450 us The delay of each pulse varies by a uniformly random amount less than 900 us PULSEPPSLOW 5 P
520. velocity code 0 30 2nd half Delta delta z ECEF when velocity Long 4 H 112 ol ddz code 1 Delta z dz when velocity code 0 31 2nd half a Delta af clock offset when velocity Long 4 H 116 BY code 1 Delta af clock offset when velocity code 0 32 2nd half tg Applicable time of day Ulong 4 H 120 16 Dummy value when velocity code 0 33 2nd half Issue of PRN mask data Ulong 4 H 124 iodp 34 2nd half Spare value when velocity code 0 Ulong 4 H 128 corr spare Dummy value when velocity code 1 35 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 132 36 CR LF Sentence terminator ASCII only H 136 500 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 118 WAAS26 lonospheric Delay Corrections V123_SBAS WAAS26 provides vertical delays relative to an L1 signal and their accuracy at geographically defined IGPs identified by the BAND NUMBER and IGP number Each message contains a band number and a block ID which indicates the location of the IGPs in the respective band mask Message ID 299 Log Type Asynch Recommended Input log WAAS26a onchanged ASCII Example WAAS26A COM1 0 38 0 SATTIME 1337 417243 000 00000000 ec70 1984 134 1 2 15 27 11 25 11 23 11 19 11 16 11 16 12 15 13 16 13 29 14 30 13 27 11 27 11 24 11 19 11 16 12 2 0 3b6d6806 E i Each raw WAAS frame gives data for a specific frame decoder number The WAAS26 message can be
521. vious page OEMV Family Firmware Version 3 000 Reference Manual Rev 2 193 Chapter 2 Commands 2 5 71 WAASECUTOFF Set SBAS satellite elevation cut off V123_SBAS This command sets the elevation cut off angle for SBAS satellites The receiver does not start automatically searching for an SBAS satellite until it rises above the cut off angle Tracked SBAS satellites that fall below the WAASECUTOFF angle are no longer tracked unless they are manually assigned see the ASSIGN command lt This command does not affect the tracking of GPS satellites Similarly the ECUTOFF command does not affect SBAS satellites Abbreviated ASCII Syntax Message ID 505 WAASECUTOFF angle Factory Default waasecutoff 5 000000000 ASCII Example waasecutoff 10 0 1 This command permits a negative cut off angle It could be used in these situations e The antenna is at a high altitude and thus can look below the local horizon e Satellites are visible below the horizon due to atmospheric refraction ASCII Binary Value Value Binary Binary Binary Description Format Bytes Offset WAASECUTOFF This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively angle 90 0 degrees Elevation cut off angle Float 4 H relative to horizon default 0 0 194 OEMV Family Firmware Version
522. ween 800 and 1000 ms prior to the MK11 event presumably the 1PPS from the Primary or it is rejected as an invalid message TIME 4 If the receiver clock is not at least COARSE adjusted this command enables the receiver to COARSE adjust its time upon receiving a valid TIMESYNC log in any of the ports The clock state embedded in the TIMESYNC log must be at least FINE or FINESTEERING before it is considered The receiver does not use the MK11 event in this mode Continued on Page 54 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 53 Chapter 2 Commands Field ASCII Binary Type Value Value Binary Binary Binary Field Format Bytes Offset Description 3 period ONCE 0 The time is synchronized Enum 4 H 4 only once default The ADJUST1PPS command must be re issued if another synchronization is required CONTINUOUS 1 The time is continuously monitored and the receiver clock is corrected if an offset of more than 50 ns is detected 4 offset 2147483648 to Allows the operator to shift Long 4 H 8 2147483647 the Secondary clock in 50 ns increments In MANUAL mode this command applies an immediate shift of this offset in ns to the receiver clock In MARK and MARKWITHTIME mode this offset shifts the receiver clock with respect to the time of arrival of the MK1I event If this offset is zero the Secondary aligns its 1PPS to that of the signal received in
523. when it is available This is especially true of the ONTIME trigger which may cause inaccurate time tags to result ASCII Example MATCHEDXYZA COM1 0 56 5 FINESTEERING 1364 490256 000 80000000 98b 2310 SOL_COMPUTED NARROW_INT 1634541 3288 3664604 5734 4942482 9943 0 0089 0 0122 0 0189 AAAA 8 8 8 8 0 0 0 0 60b1b451 aaa aaa a SSS SSS SSS SS SSeS 6 A good message trigger for this log is onchanged Then only positions related to unique base station messages are produced and the existence of this log indicates a successful link to the base station 318 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 ate Field type Data Description Format ae z pata 1 MATCHEDXYZ Log header H 0 header 2 P sol status Solution status see Table 45 Solution Status Enum 4 H on Page 221 3 pos type Position type see Table 44 Position or Enum 4 H 4 Velocity Type on Page 220 4 P X Position X coordinate m Double 8 H 8 5 P Y Position Y coordinate m Double 8 H 16 6 P Z Position Z coordinate m Double 8 H 24 7 P X o Standard deviation of P X m Float 4 H 32 8 P Yo Standard deviation of P Y m Float 4 H 36 9 P Z Standard deviation of P Z m Float 4 H 40 18 stn ID Base station ID to 4 H 44 22 obs Number of observations tracked Uchar 1 H 48 23 GPSL1 Number of GPS L1 ranges used in computation Uchar 1 H 49 24 L
524. y select any datum including CSRS for a specified coordinate system output The transformation for the WGS84 to Local used in the OEMV family is the Bursa Wolf transformation or reverse Helmert transformation In the Helmert transformation the rotation of a point is counter clockwise around the axes In the Bursa Wolf transformation the rotation of a point is clockwise Therefore the reverse Helmert transformation is the same as the Bursa Wolf See Table 20 on Page 86 for a complete listing of all available predefined datums Abbreviated ASCII Syntax Message ID 160 DATUM datum Factory Default datum wgs84 ASCII Example datum csrs Table 19 on Page 85 contain the internal ellipsoid parameters and transformation parameters used in the receiver The values contained in these tables were derived from the following DMA technical reports 1 TR8350 2 Department of Defence World Geodetic System 1984 and Relationships with Local Geodetic Systems Revised March 1 1988 2 TR 8350 2B Supplement to Department of Defence World Geodetic System 1984 Technical Report Part II Parameters Formulas and Graphics for the Practical Application of WGS84 December 1 1987 3 TR8350 2 Department of Defense World Geodetic System 1984 National Imagery and Mapping Agency Technical Report Third Addition Amendment 1 January 3 2000 1E 6 As an example you can achieve spatial integrity with Government of Canada maps and surveys if t
525. y Binary Binary Field Type Value Value Description Format Bytes Offset 1 INTERFACEMODE This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 port See Table 15 Serial port identifier Enum 4 H COM Serial Port default THISPORT Identifiers on Page 75 3 rxtype See Table 29 Receive interface mode Enum 4 H 4 Serial Port 4 txtype Interface Modes Transmit interface mode Enum 4 H 8 on Page 122 5 responses OFF 0 Turn response Enum 4 H 12 generation off ON 1 Turn response generation on default 124 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Commands Chapter 2 2 5 31 LOCKOUT Prevent the receiver from using a satellite V123 This command prevents the receiver from using a satellite by de weighting its range in the solution computations Note that the LOCKOUT command does not prevent the receiver from tracking an undesirable satellite This command must be repeated for each satellite to be locked out See also the UNLOCKOUT and UNLOCKOUTALL commands Abbreviated ASCII Syntax LOCKOUT prn Input Example lockout 8 Message ID 137 The LOCKOUT command allows you to remove one or more satellites from the solution while leaving other satellites available SBAS 120 138 GLONASS see Section 1 3 on Page 25 be locked out ASCII Binary Description Binary B
526. y Firmware Version 3 000 Reference Manual Rev 2 231 Chapter 3 DataLogs Definitions Origin Earth s center of mass Z Axis Parallel to the direction of the Conventional Terrestrial Pole CTP for polar motion as defined by the Bureau International de I Heure BIH on the basis of the coordinates adopted for the BIH stations X Axis Intersection of the WGS 84 Reference Meridian Plane and the plane of the CTP s Equator the Reference Meridian being parallel to the Zero Meridian defined by the BIH on the basis of the coordinates adopted for the BIH stations Y Axis Completes a right handed earth centered earth fixed ECEF orthogonal coordinate system measured in the plane of the CTP Equator 90 East of the X Axis BIH Defined CTP 1984 0 WGS 84 A 4 oO a Earth s Center a of Mass Z BIH Defined Zero Meridian 1984 0 ae lees X WGS 84 Y WGS 84 Analogous to the BIH Defined Conventional Terrestrial System CTS or BTS 1984 0 Figure 8 The WGS84 ECEF Coordinate System 232 OEMV Family Firmware Version 3 000 Reference Manual Rev 2 Data Logs Chapter 3 3 3 7 BSLNXYZ RTK XYZ Baseline V123_RT20 V23_RT2 or V3_HP This log contains the receiver s RTK baseline in ECEF coordinates The position status field indicates whether or not the corresponding data is valid See Figure 8 Page 232 for a definition of the ECEF coordinates The BSLNXYZ log comes from time matched base and r

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