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ProMark 800 Reference Manual, February 2013

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1. Parameters Parameter Description Range Occupation type 0 Static 1 Quasi static al 2 Dynamic a 3 Event 4 On kinematic bar 20 cm long Occupation event d2 0 Begin 0 1 1 End s3 Occupation name 255 characters max s4 Occupation description 255 characters max cc Optional checksum 00 FF Examples Starting a static occupation on point SITEO1 PASHS OCC 0 0 SITE01 Park_Entrance 63 Ending the static occupation on point SITEO1 PASHS OCC 0 1 SITE01 Park_Entrance 62 Relevant Query PASHQ OCC Command See also PASHS REC PASHS ATM 208 Set Command Library OPTION Receiver Firmware Options Function This command is used to install the receiver firmware options that have been purchased after the initial receiver purchase Options purchased at the time of receiver purchase are factory pre loaded Command Format Syntax PASHS OPTION c1 h2 cc Parameters Parameter Description Range K F Z S P M L N O Option 1D ana A h2 Hexadecimal unlock code 13 characters max cc Optional checksum 00 FF Option ID Label Description Depends on the firmware version installed REGISTRATION ae is a mandatory code If absent all options CODE ae become invalid Enables RTK processing Corrections gener K RTK ated in RTCM2 3 RTCM3 0 CMR or CMR format F FASTOUTPUT Enables data output at
2. Parameters Parameter Description Range GPGSA Only GPS satellites are used GSA GLGSA Only GLONASS sats are used GPGSA GLGSA Header GNGSA Several constellations GPS GNGSA SBAS GLONASS are used Output mode c1 M Manual M A A Automatic Position indicator 1 No position available d2 22D ee 13 3 3D position GPS 1 32 GLONASS 65 96 d3 d14 Satellites used in the position solution SBAS 33 64 blank fields for unused channels GALILEO 97 126 GIOVE A B 127 128 QZSS 193 197 f15 PDOP 0 9 9 f16 HDOP 0 9 9 f17 VDOP 0 9 9 cc Checksum 00 FF Example PASHQ GSA GNGSA A 3 20 11 13 23 17 04 31 1 6 0 9 1 3 21 310 Query Command Library GNGSA A 3 81 83 68 1 6 0 9 1 3 2C See also PASHS NME Automatic Output This is a reminder on how to output GSA messages at regular of GSA Messages intervals of time Use the PASHS NME command with the syntax below PASHS NME GSA lt port_ID gt ON lt Rate gt For more details on the PASHS NME command refer to the Set Command Library Chapter As an example the command below will output GSA messages on port A at a rate of 0 5 second PASHS NME GSA A ON 0 5 311 Query Command Library GST GNSS Pseudo Range Error Statistics Function Command Format Response Format Example See also Automatic Output of GST Messages 312 This command is used to output a GST message containing sta
3. Parameter Description Range m2 Latitude of position 0 90 ddmm mmmmmm 0 59 999999 c3 Direction of latitude N S n Longitude of position 0 180 dddmm mmmmmm 0 59 999999 c5 Direction of longitude E W Mode indicator 1 character by con stellation e N No fix s6 A Autonomous position N A D R F D Differential R RTK Fixed F RTK Float Number of GNSS satellites being d7 _ 3 26 used in the position computation f8 HDOP 0 99 9 f9 Altitude above mean sea level 99999 999 f10 Geoidal separation in meters 999 999 f11 Age of differential corrections in s 0 999 d12 Base station ID RTCM only 0 4095 cc Checksum PASHQ GNS GNGNS 131745 00 4717 960847 N 00130 499476 W RR 10 0 8 35 655 47 290 3 0 1000 61 PASHS NME This is a reminder on how to output GNS messages at regular intervals of time Use the PASHS NME command with the syntax below PASHS NME GNS lt port_ID gt ON lt Rate gt For more details on the PASHS NME command refer to the Set Command Library Chapter As an example the command below will output GNS messages on port A at a rate of 10 seconds PASHS NME GNS A ON 10 307 Query Command Library GPS GPS Tracking Status Function This command queries the receiver for the current GPS tracking status Command Format Syntax PASHQ GPS cc Response Format Syntax PASHR GPS s1 s2 s3 s4 ccc Parameters Parameter Description Range GPS tr
4. Parameter Description Default 0 Disables all RTCM 2 3 messages 1 Differential GPS corrections 0 3 GPS reference station parameters 0 9 GPS partial correction set 0 16 GPS special message 0 18 RTK uncorrected carrier phase 18 1 RTK uncorrected pseudoranges 19 RTK carrier phase correction 20 20 RTK high accuracy pseudorange corrections 0 21 22 Extended reference station parameter 0 23 Antenna type definition record 31s 24 Antenna reference point 13s 31 Differential GLONASS corrections 0 32 Differential GLONASS reference station 0 parameters 34 GLONASS partial correction set 0 36 GLONASS special message 0 RTCM 3 0 amp 3 1 messages Parameter Description Default 1000 Disables all RTCM 3 0 messages 237 Set Command Library Parameter Description Default 1001 L1 only GPS RTK observables 0 1002 Extended L1 only GPS RTK observables 0 1003 L1 amp L2 GPS RTK observables 0 1004 Extended L1 amp L2 GPS RTK observables 1s 1005 Stationary RTK reference station ARP 0 1006 Stationary RTK reference station ARP with antenna 13s height 1007 Antenna descriptor 0 1008 Antenna descriptor amp serial number 0 1009 L1 only GLONASS RTK observables 0 1010 Extended L1 only GLONASS RTK observables 0 1011 L1 amp L2 GLONASS RTK observables 0 1012 Extended L1 amp L2 GLONASS RTK observables 1s 1013 System parameter 0 1019 GPS ephemeris data
5. Parameters Parameter Description Range Default Power mode AUT PWR s1 e AUT Automatic M AN MAN e MAN Manual PIN s2 PIN code 4 8 digits Empty BND d3 Irrelevant to ProMark 800 PTC d4 Not supported in ProMark 800 1 1 CBS d5 Not supported in ProMark 800 APN 6 Access Point Name GPRS Se Empty 32 char LGN s7 Login GPRS Ma Empty PWD s8 Password GPRS 32 char I Empty max Internet Protocol IPT d9 0 TCP 0 1 0 e 1 UDP PHN s10 Not supported in ProMark 800 197 Set Command Library Parameter Description Range Default Auto dial mode When this parameter is set to Yes Y the receiver will do the following when next turned on if d4 0 the phone number that the receiver was last communicating with will be re dialed automatically e ifd4 1 a connection to the mount point or IP server to which the receiver was last connected will be initiated automatically ADL c11 Y N Y RNO d12 Maximum number of re dials 0 15 2 2G 3G selection NET d13 0 Automatic 2G or 3G 0 1 0 1 Forced to 2G cc Optional checksum 00 FF Example Setting GPRS Configuration PASHS MDM PAR PWR AUT PIN 1234 APN orange fr LGN orange PWD orange PT 0 ADL Y NET 1 68 Relevant Query PASHQ MDM Command See also PASHS DIP PASHS NTR PASHS MWD MDP Setting Port A to RS232 or RS422 Function This command is used to set port A as an RS23
6. Example Defining site name ECC1 239 Set Command Library PASHS SIT ECC1 63 Relevant Query PASHQ SIT Command See also PASHS REC SNM Signal To Noise Ratio Mask Function This command is used to mask the signal observations that do not meet the minimum C A code signal to noise ratio you specify This means that only the observations meeting this requirement will be used in the PVT computation all the others will be rejected Command Format Syntax PASHS SNM d1 cc Parameters Parameter Description Range Default d1 SNR mask in dB Hz 0 60 0 cc Optional checksum 00 FF Example Setting the SNR mask to 45 dB Hz PASHS SNM 45 08 Relevant Query PASHQ SNM Command SOM Masking Signal Observations Function The SOM command is used to apply masks on the following data e Cumulative tracking time CTT in seconds e Navigation data NAV e Signal to Noise Ratio SNR in dBHz 240 Command Format Relevant Query Command See Also Set Command Library e Channel warnings WRN As a result of the presence of these masks only the signal observations meeting the required level of quality will be made available by the receiver through the relevant output messages Syntax PASHS SOM d cc Parameters Parameter Description Range Default d Observation mask index See table below 4 cc Optional checksu
7. Parameter Description Range Port ID A Serial portC Bluetooth port ACEM U E Modem M U Memory cc Optional checksum 00 FF Example Disabling all NMEA and NMEA like messages on port A PASHS NME ALL A OFF 50 NME PER Setting Unique Output Rate for all NMEA Messages Function Command Format Relevant Query Command See also This command is used to set the same output rate for all NMEA and NMEA like messages This command will overwrite all the output rates set individually for each message type using PASHS NME xxx Syntax PASHS NME PER f cc Parameters Parameter Description Range Default Output rate 0 05 s or 0 1 0 4 s with f Setting PASHS POP to 20 F option activated 13 is a prior condition to operat 0 5 0 9 s ing at 0 05 s 20 Hz 1 999 s cc Optional checksum 00 FF Example Setting the output rate to 1 second PASHS NME PER 1 45 PASHQ NMO PASHS NME PASHS POP 203 Set Command Library NPT Tagging SBAS Differential Positions in NMEA amp NMEA Like Messages Function This command allows you to define the code the receiver will insert in each of its NMEA like or NMEA messages to tell that the position solution inserted in the message is of the SBAS Differential type Command Format Syntax PASHS NPT d1 d2 cc Parameters Parameter Description Range Default Code assigned to SBAS differential p
8. 007FF Example PASHQ MDP PASHR MDP A RS232 5E PASHS MDP Query Command Library See also PASHQ CTS MEM Selected Memory Device Function This command is used to query the memory device used by the receiver Command Format Syntax PASHQ MEM cc Response Format Syntax PASHR MEM d cc Parameters Parameter Description Range Memory used d 0 Internal memory NAND Flash 0 2 2 USB mass storage key cc Checksum 00 FF Example PASHQ MEM PASHR MEM 0 2D Relevant Set PASHS MEM Command See also PASHQ FLS MWD Modem Watchdog Timeout Function This command is used to query the current setting for the modem watchdog timeout If no data is received or sent through its port over a period of time equal to this timeout the modem will automatically hang up Command Format Syntax PASHQ MWD cc 323 Query Command Library Response Format 324 Relevant Set Command See also Syntax PASHR MWD d1 d2 cc Parameters Parameter Description Range Default d1 Current timeout setting 1 99 Modem timeout in minutes 0 No timeout 0 99 d2 Current idle time for modem in minutes 0 99 cc Checksum 00 FF Example PASHQ MWD PASHR MWD 0 36 PASHS MWD PASHQ MDM NMO NMEA Message Output Settings Query Command Library Function Command Format Response Format
9. Function Command Format 178 This command is used to terminate the current IP connection to a server Syntax PASHS DIP OFF c1 cc Parameters None Relevant Query Command See also Set Command Library Examples Terminating the current connection PASHS DIP OFF 4B PASHQ MDM PASHS DIP PASHS DIP PAR PASHS DIP ON DIP ON Establishing the Programmed Direct IP Connection Function Command Format Relevant Query Command See also This command is used to establish the programmed Direct IP connection Syntax PASHS DIP ON c1 cc Parameters None Examples Establishing the programmed Direct IP connection PASHS DIP ON 05 PASHQ MDM PASHS DIP PASHS DIP PAR PASHS DIP OFF DIP PAR Setting Direct IP Parameters Function This command is used to set the different parameters allowing the receiver to perform a Direct IP connection to an external server typically a base 179 Set Command Library Command Format Relevant Query Commands See Also Syntax PASHS DIP PAR ADD s1 PRT d2 LGN s3 PWD s4 cc Parameters Parameter Description Range Default ADD s1 IP address or host name of harade ay external server PRT d2 IP port of external server 0 65535 LGN s3 User name optional 32 characters max PWD s4 Password optional 32 characters max cc Optional checksum 00 FF Comments When connecting to the speci
10. cccccececeeeeeeeeeeeeeeeeeee LOG Editing a Log File ricana cae deadecaeadssacaeicdeaaiisncnedaseneas LOG EST Listing Log Files t inseerer iea e Rea LOG PAR Log File SettingS neiaie an aiaia MDM Modem Status and Parameters MDM LVL Modem Signal Level ccccccccseeeeeeeeeeeeeeeeeseeeenees MDM STS Modem Status cccccecccecseeceeceeeeeeeeseeeeeeeeeeeeenes MDP Port A Setting iiine an oeae A a Ee haan aE MEM Selected Memory DeVICEC ccccsececnsceeeeceeeeeseeeeeeeeaees MWD Modem Watchdog Timeout ccceeceeeeeeeeseeeeeeeaeeeeneee NMO NMEA Message Output Settings ccccccseseeseeeeeeeeeaees NPT Tagging of SBAS Differential Positions in NMEA amp NMEA Like Messages cccccececeeeeeseeeeaeeeeueeeeueeeeseeesneeesaeeeaees NTRS NTRIP Settings iacens petites ahi A a i NTR MTP Connection to Mount POint cccccceeeseeeeeeeeeeeeeeee NTR TBL Source Tabler nnn n eerie a OCC Ocupation State and ParameterS ccccsececeseeeeeeeeeeens OPTION Installed Receiver Firmware Options ccsscceeeeeeeee PAR Receiver ParameterS cccccseeeeeeeneeeeeeaeeeeeeeeaeeeeeeaaes PEM Position Elevation Mask c sceeeeeeeeeeeeeeeaeeeeeesaaeeeeees POP Reading Internal Update Rate cccceecceseeeeeeeeseeeeeeeees POS Computed Position Data ccccsecccseeeeeeseeeeeeeeeeesaeeenens PPS PPS SettingSwicssc cieccssiacde aa e a raa Eaa E naaa PRT B
11. used to interrogate the receiver Standard NMEA messages will all be output with the standard ASCII NMEA preamble e g GPGGA and not with the PASHR preamble The few conventions used to describe the serial commands in this manual are summarized in the table below String or sign PASHS Header for set commands Whole line shown in bold characters PASHQ Header for query commands Whole line shown in bold characters PASHR Receiver response line in normal characters GP Header in standard NMEA output messages for results provided by Description GPS GL Header in standard NMEA output messages for results provided by GLONASS GA Header in standard NMEA output messages for results provided by GALILEO GN Header in standard NMEA output messages for results provided by GNSS combination of several constellations Header prefix for all standard NMEA messages delivered by the receiver 133 Using Serial Commands String or x Description sign Optional field or parameter Field delimiter Decimal point used in f type fields One character string Integer Real number with decimal places a e p Parameter in hexadecimal notation Denotes specific data format used such as angles e g ddmm mmm or time e g hhmmss sss Used in the syntax of responses to query commands to indicate that a sequence of paramet
12. Function Command Format This command is used to initialize the modem Syntax PASHS MDM INI cc Parameters None Example Initializing the modem PASHS MDM INI If modem initialization is successful you will get the following answer PASHR MDM INI OK 7A If modem initialization failed you will get the following answer PASHR MDM INI FAIL 7C 195 Set Command Library Relevant Query PASHQ MDM Command See also PASHS MDM PAR MDM OFF Powering Off the Internal Modem Function This command is used to power off the internal modem By default the modem is off Command Format Syntax PASHS MDM OFF cc Parameters None Example Turning off the internal modem PASHS MDM OFF 52 Relevant Query PASHQ MDM Command See also PASHS MDM ON MDM ON Powering On the Internal Modem Function This command is used to power on the internal modem By default the modem is off Command Format Syntax PASHS MDM ON cc Parameters None Example Turning on the internal modem 196 PASHS MDM ON 1C Relevant Query PASHQ MDM Command See also PASHS MDM OFF MDM PAR Setting the Modem Parameters Set Command Library Function Command Format This command is used to set the modem parameters Syntax PASHS MDM PAR PWR s 1 PIN s2 BND d3 PTC d4 CBS d5 LAPN s6 LGN s7 PWD s8 PT d9 PHN s10 ADL c11 LRNO d12 NET d13 cc
13. Parameters Parameter Description Range Warning message label See Listor s1 Alarms on NONE No warning message page 93 Status e Pending Alarm acknowledged PENDING s2 Current Alarm not acknowledged yet CURRENT Occurred An error condition was detected OCCURRED earlier but has vanished since then cc Checksum 00 FF Example PASHQ WARN PASHR WARN connect to GPRS failed PENDING 7F See also PASHS WAK ZDA Time amp Date Function This command returns the receiver date amp time Command Format Syntax PASHQ ZDA cc Response Format Syntax GPZDA ZDA m1 d2 d3 d4 d5 d6 cc 386 Query Command Library Parameters Parameter Description Range 000000 00 m1 UTC time hhmmss ss 235959 99 d2 Current day 01 31 d3 Current month 01 12 d4 Current year 0000 9999 d5 Local zone offset from UTC time hour 13 to 13 d Local zone offset from UTC time minutes 00 59 cc Checksum 00 FF Example PASHQ ZDA GPZDA 162256 27 25 02 2008 00 00 43 NOTE The time offset is always reported as null d5 d6 0 Automatic Output This is a reminder on how to output ZDA messages at regular of ZDA Messages intervals of time Use the PASHS NME command with the syntax below PASHS NME ZDA lt port_ID gt ON lt Rate gt For more details on the PASHS NME command refer to the Set Command Library Chapter As an example the command below will output ZDA messages
14. RTDS for Real Time Data Server 121 Miscellaneous Software Requirements amp Features Configuration Modes Getting Started 122 With RTDS The computer used to run the RTDS software is Internet accessible through a static IP address and one or two port numbers Several instances of the RTDS software can be run on the same computer meaning the same computer can serve as data relay for several bases Up to 100 rovers can receive data from a single instance of the RTDS software All rovers communicate with a given instance of RTDS through the same port number The diagram below summarizes the possible two cases of use for the RTDS software with your system GPRS to GPRS Mode RTDS Software Rovers Internet Serial to GPRS Mode r Base RTDS Software Rovers eae B RS Port A Static IP Address Hex One Port Number Direct IP In Serial to GPRS mode the base and the computer running RTDS are at the same location since a conventional RS232 serial line is used to connect one to the other The implementation procedure can be outlined as follows Miscellaneous You first need to know which IP address should be entered in your surveying system to establish a Direct IP connection to the RTDS software Unless you already have a static IP address or if you don t know whether you have one or not call your Internet Serv
15. cccccceeccceeeeeceeeeeeeeseeeeaeeeeesaeaes 170 CPD MOD Base Rover Backup Mode 0ccccsceceeeeeseeeeeeeeeaeeees 170 CPD NET Network Corrections ccccccceeeseeseeeeeeeeeeeeeeeeeeeenees 172 CPD REM Differential Data Port ccccccecceeeeeeeeeeeeeeaeeeeeenees 173 CPD RST RTK Process ReS t cceccseeseeeeeseeeeeeeeeeeeaseeeeenees 174 CPD VRS VRS Assumption Mode cccccecececeeeeeeeeeeeeeeeeeneeees T75 CTSnHandshakingic icvutica thine iin a ner a E aei eet 176 DBN TYP DBEN Message Type amp Output Rate cccceeeeeeee 176 DIP Server Connectionis onanio ae 177 DIP OFF Terminating Direct IP Connection ccccceeeeeeeeeeees 178 DIP ON Establishing the Programmed Direct IP Connection 179 DIP PAR Setting Direct IP Parameters cccccecccseseeeeeeeeeeees 179 DRD Data Recording Duration DRI Raw Data Recording Rate DSY Daisy Chain ccceccceeeeeeeee DYN Receiver DyNamMics cccceccceeecsneeeeeeeeseeeeseeeeseeeeaeeeeaeeeens 1 ELM Setting the Elevation Mask for Raw Data Output 184 FIL D Deleting FileS ccccccseccesseeeseeeeeeeeeseeeeeeeesaeeeeeeeeeeeeeaes 185 FIL DEL Deleting Files and Directories ccccccsseeeeeeeeeeeeeees 186 GAL Galileo Tracking ssi tsvacwecane eetevecanscacteeieyd a weteeveueuevtedaes te care 187 GLO GLONASS Tracking ccna ia Bite 188 GPS GPSsTrackin sv cs kere N ae eee Lis 189 INI Receiv
16. ce Checksum 00 FF Example PASHQ PEM PASHR PEM 9 39 PASHS PEM PASHQ ELM POP Reading Internal Update Rate Function Command Format Response format 336 This command is used to read the internal update rate currently used for measurements and PVT process Syntax PASHQ POP cc Parameters None Syntax PASHR POP d cc Relevant Set Command Query Command Library Parameters Parameter Description Range d Current update rate in Hz Default is 20 Hz 10 20 cc Optional checksum 00 FF Example PASHQ POP 38 PASHR POP 10 16 PASHS POP 337 Query Command Library POS Computed Position Da ta Function This command allows you to query the computed position Command Format Syntax PASHQ POS cc Response Format Syntax PASHR POS d1 d2 m3 m4 c5 m6 c7 f8 f9 f10 f11 f12 f13 f14 f15 f16 s17 cc Parameters Parameter Description Range Position mode 0 Autonomous e 1 RTCM code differential or SBAS differen d1 tial 0 3 9 2 RTK float 3 RTK fixed 9 SBAS Differential See comment d2 Count of satellites used in position computation 3 27 7 000000 00 m3 Current UTC time of position hhmmss ss 235959 99 0 90 m4 Latitude of position ddmm mmmmmm 00 59 999999 minutes c5 North N or South S N S 0 180 m6 Longitude of position ddmm mmmmmm 00 59
17. m1 m3 0 180 places ddmm mmmmmmm c4 West W or East E W E f5 Height in meters 0 9999 9999 cc Optional checksum 00 FF Example Setting the antenna position to 37 22 2912135 N 121 59 7998217 W and 15 25 m PASHS POS 3722 2912135 N 12159 7998217 W 15 25 1F Comments The PASHS POS command will be NAKed if the entered position is too distant from the computed one Relevant Query PASHQ CPD POS Command See also PASHS CPD MOD BAS PASHS ANH PASHS ANR PPS Setting PPS Pulse Properties Function This command is used to set the period offset and GPS synchronized edge rising or falling of the PPS pulse Command Format Syntax PASHS PPS f1 f2 c3 cc 215 Set Command Library Parameters Parameter Description Range Default PPS time period a multiple or rien NA fi fraction of 1 second 1 to 60 with 1 sec 0 1 PPS disabled s increments f2 Time offset in milliseconds 999 9999 0 GPS synchronized edge code c3 R for rising edge R F R F for falling edge cc Optional checksum 00 FF Example Setting the PPS signal to a period of 2 seconds with an offset of 500 ms and a GPS synchronized rising edge PASHS PPS 2 500 R 74 Relevant Query PASHQ PPS Command See Also PASHS NME PTT PRT Setting Baud Rates Function ports used in the receiver This command is used to set the baud rate of any of th
18. 0 otherwise The data that foll ow are repeated for each satellite presented in the satellite mask Unsigned char 1 Satellite health 0 means Sat is unhealthy Unsigned char 7 1 degree Satellite elevation Unsigned char 1 RAIM status always zero Unsigned char 7 1 dBHz SNR of L1CA observation L1 Data Block L1CA in all cases Double 31 0 1 nsec Raw range in 0 1 nsec range is smoothed by carrier 0 means bad raw range data Unsigned char 1 Warning flag 1 means bad carrier phase with possible cycle slips Unsigned char 1 Sign of total carrier phase 1 negative O positive Double 28 1 cycle Integer part of total carrier phase in cycles Double 11 0 0005 cycles Fractional part of phase in 0 0005 cycles Double 24 0 002 Hz Doppler in units of 0 002 Hz L2 Data Block L2P for CFG 28 amp 4 and L2C for CFG 38 amp 5 Content and data packing scheme is the same as for L1 Data CHECKSUM Unsigned short 16 Cumulative unsigned short sum of the lt packed data gt after lt message length gt and before lt checksum gt The data in this message are packed in bits rather than bytes So the presented types of fields are just for the sake of giving a meaningful description of the original data packing NOTES 393 Output Message Library Reminder on How to Output DPC Messages e Most of the fields f
19. 116 High Option N has expired The use of the N firmware option was granted to you for a limited period of time which has now expired Please contact to renew the use of this option 117 High Option C has expired The use of the C firmware option was granted to you for a limited period of time which has now expired Please contact to renew the use of this option 118 High Option R has expired The use of the R firmware option was granted to you for a limited period of time which has now expired Please contact to renew the use of this option 192 edium Baseline Out of Range The receiver won t use the received corrections data because the dis tance to the base station is greater than 3 kilometers Work with a closer station or buy the K firmware option full RTK 193 ledium Extend Memory not avail able Trying to power on the extended memory but found missing or unde tected 194 ledium Option O has expired The use of the O firmware option was granted to you for a limited period of time which has now expired Please contact to renew the use of this option 195 ledium Option Q has expired The use of the Q firmware option was granted to you for a limited period of time which has now expired Please contact to renew the use of this option 196 ledium Current Power not allowed You are trying to assign a value of radiated power
20. Benefits The position output rate is less sensitive to the rate at which the rover receives RTK correction data The latency is shorter than in time tagged mode thanks to the extrapolation process The rover will continue to compute positions even if there is a minor interruption in the RTK correction data Under good conditions centimeter level accuracy can be maintained in the rover even if no RTK correction data is received for several seconds Drawback Accuracy is slightly degraded with extrapolated solutions because the corrections slowly deviate from the true correction Insensitivity of the Fast RTK Mode to Missing Base Epochs The diagram below shows how the two output modes react when an epoch of RTK correction data is missing 89 RTK Implementation Epoch Epoc Epoch3 Base Data Availability RTK Position Pos Pos2 Output Rover No position output In Fast RTK Epoch1 Epoc Epoch3 Base Data Availability RTK Position f Pos1 Pos2 Pos3 Pos4 Pos5 Pos6 Output Rover l i Extrapolated All extrapolated Extrapolated from EpochO from Epoch1 from Epoch3 In the above Fast RTK mode example the output rate has been set to twice the base data output rate Whereas the Time Tagged mode can only stick to the base data output rate the Fast RTK mode on the other hand can continue to deliver its positions at an unaffected output rate The only difference when a base data epoch is missing is that
21. Command Format Syntax PASHQ MDM LVL cc Response Format Syntax PASHR MDM LVL d cc Parameters Parameter Description Range Current signal level e 0 100 Signal level The higher the number the 0 to 100 d higher the signal level 1 e _ 1 No signal available cc Checksum 00 FF Example PASHQ MDM PASHR MDM LVL 1 7A See also PASHQ MDM MDM STS Modem Status Function This command queries the receiver for the current status of the internal modem Command Format Syntax PASHQ MDM STS cc Response Format Syntax PASHR MDM STSs1 s2 s3 d4 cc 321 Query Command Library Example See Also Parameters Parameter Description Range Modem status s1 NONE means that the Z option EN A MODEM is not valid s2 Name of the network currently used 3 Network type currently used 2G or 26 3G 3G Signal level d4 1 means the indication of signal 1 0 100 level is not available cc Optional checksum 00 FF PASHQ MDM STS PASHR MDM STS INIT Orange F 2G 60 77 PASHQ MDM MDP Port A Setting Function Command Format Response Format Relevant Set Command 322 This command is used to read the current setting of port A Syntax PASHQ MDP cc Syntax PASHR MDP A s cc Parameters Parameter Description Range S Current port setting RS232 or RS422 232 422 cc Checksum
22. PASHQ ATM BAS Differential Data Type Function This command is used to list the message types generated and sent by a base Command Format Syntax PASHQ BAS cc 269 Query Command Library Response Format 270 Examples Relevant Set Command See also Syntax PASHR BAS c1 s2 c3 s4 cc Parameters Parameter Description Range First port ID A Serial port e C Bluetooth port c1 lt E Modem A C E M N U M U Memory N Undefined port Differential data type e RT2 RTCM 2 3 messages e RT3 RTCM 3 0 amp 3 1 messages default RT2 RT3 CMR s2 e CMR CMR messages CMP ATM DBN e CMP CMR messages NONE ATM ATOM messages DBN DBEN messages NONE Undefined 63 Second port ID same as c1 above A C E M U RT2 RT3 CMR s4 Differential data type same as s2 above CMP ATM DBN NONE cc Checksum 00 FF The response line below reports RTCM 3 x messages sent on port A PASHQ BAS PASHR BAS A RT3 50 The response line below reports RTCM 2 3 messages sent on port A and CMR messages on port E PASHQ BAS PASHR BAS A RT2 E CMP 4A PASHS BAS PASHQ CPD MOD PASHQ RTC PASHQ ATD MSI PASHQ CMR MSI PASHQ RTC MSI Query Command Library BEEP Beeper State Function This command is used to read the current state of the internal beeper Command Format Syntax PASHQ BEEP cc Response Format Syntax PASHR BEEPs1 d2 cc P
23. PASHS BTH PIN d cc Parameters Parameter Description Range d1 Bluetooth PIN code Piao cc Optional checksum 00 FF Example Assigning PIN code 02 to the Bluetooth device PASHS BTH PIN 02 7E Relevant Query PASHQ BTH Command See also PASHS BTH NAME 163 Set Command Library CFG GNSS Tracking Configuration Function Command Format 164 This command is used to set the GNSS tracking configuration in the receiver Syntax PASHS CFG s1 cc Parameters Parameter Description Range GNSS tracking configuration SSL Single signal tracking 3 DSL Dual signal tracking poles et TSL Triple signal tracking cc Optional checksum 00 FF The possible GNSS tracking configurations are detailed in the table below Single Signal Dual Signal Triple Signal 14 GPS similar to See PASHS GPS See PASHS GPS GPS Tracking c gt ASHS GNS CFG command command 0 or 1 GLONASS Tracking 14 GLO L1 only 14 GLO L1 L2 10 GLO L1 L2 GALILEO 8 GAL E1 only 8 GAL E1 E5a 8 GAL E1 E5a Tracking Si Track 3 spas 2 SBAS 2 SBAS Default Settings They depend on the presence or not of firmware options P option for L2 Q option for L5 See tables below the PASHS commands detailed in some of the cells below describe the resulting default settings as if you had run these commands at start up ahi Q Option Enabled No Q Optio
24. PASHS NME This is a reminder on how to output SGP messages at regular intervals of time Use the PASHS NME command with the syntax below PASHS NME SGP lt port_ID gt ON lt Rate gt For more details on the PASHS NME command refer to the Set Command Library Chapter As an example the command below will output SGP messages on port A at a rate of 10 seconds PASHS NME SGP A ON 10 SIT Site Name Query Command Library Function Command Format Response Format Relevant Set Command See also This command is used to read the name of the site on which data is currently being logged Syntax PASHQ SIT cc Syntax PASHR SIT s cc Parameters Parameter Description Range s Site name 4 characters max cc Checksum 00 FF Example PASHQ SIT PASHR SIT SITE 1D PASHS SIT PASHQ FLS SNM Signal to Noise Ratio Mask Function Command Format Response Format This command returns the current value assigned to the signal to noise ratio SNR mask Any satellite received with an SNR value for the C A code signal less than this mask will be rejected from the PVT computation Syntax PASHQ SNM cc Parameters None Syntax PASHR SNM d1 cc 371 Query Command Library Parameters Parameter Description Range d1 Signal to Noise ratio mask in dB Hz 0 60 cc Checksum 00 FF Example PASHQ SNM PASHR SNM 45 09 Relevant Set
25. cccccccssceeseeeeeeeeeeeeeeeeeeeeeeeseeees 364 SGA GALILEO Satellites Status ccccceeeeeeeeceeeeeeeeeeeeeeeeeeeees 365 SGL GLONASS Satellites Status ccccccceeeeeeeeeeeeeeeeeeeeaeeeeees 367 SGP GPS amp SBAS Satellites Status 0 2 ceeeecceeeeeeeeeeeeeeeeeeees 369 SUTESite Names xserver havin aie e E E aes 371 SNM Signal to Noise Ratio Mask cccccsesesseeeeeeeeeeeeeaeeeneeees 371 SOM Signal Observations Masking ccscccsseeceeeeeeeeeeaeeeeueeees 372 SOM CTT Cumulative Tracking Time Mask cccseceeseeeeeeeees 373 SOM NAV Navigation Data Mask cccccscseesseeeeeeeeeeeeneeeeaeeees 373 SOM SNR Signal to Noise Ratio Mask ccccccsesceseeeeaeeeeneeees 374 SOM WRN Channel Warnings Mask ccccccsecceeseeseeeeeeeeeeeeees 375 ST Station Diaxvisiessi reae eni a e a E a a Aea 376 SVM Satellite Use Mask ccccecccseceseeeeeeeeeeeeeeseeeeneeesaesenanees 376 UDP User Defined Dynamic Model cccccccceecesneeeeeeeeaeeeeaes 377 UNT Distance Unit Used on Display Screen cccceseeeeneeeeees 378 USR POS Reading Position Defined for User Message Type GGA eataa e a aE a EA vthaanaueea Gives 379 USR TYP Reading Currently Defined User Message Type 380 USR TXT Reading Text Defined for User Message Type TXT 380 UTS GPS Time Synchronization Status ccccccesseeeeeeeeeeeeeees 381 VEC Vector amp Accuracy Data ccccccccccseceseeee
26. 399 Output Message Library PASHR SNG lt structure gt The message s binary structure is described in the table below Type Name Size Contents Start time of 30 second frame in satellite time Long 4 scale tk from which the ephemeris data is derived time modulo one day seconds Day number of 30 second frame modulo four year period counting from beginning of last leap year which corresponds to parame Short 2 ter tb tb is set within this day number This parameter varies within the range 1 to 1461 If day number 0 the day number is unknown absent in navigation frame Ephemeris data reference time within the day Long 4 expressed in GLONASS system time scale UTC 3 hours seconds Float 4 Frequency offset gh of the on board fre quency standard at tb dimensionless Float 4 Bias tn between satellite time scale and GLONASS system time scale at tb seconds Double 38 Satellite ECEF PZ 90 X Y Z coordinates km Float 34 Satellite ECEF PZ 90 velocity X Y Z km sec x Satellite perturbation acceleration X Y Z Float 3 4 due to moon and sun km sec sec Double 8 Bias between GLONASS system time scale and UTC 3 hours time scale tc seconds Age of ephemeris parameter En interval from Char 1 moment when ephemeris data was last uploaded to tb Char 1 Combined 3 bit flag contains 11 2 3 Char 1 Satellite health status flag 0 good 1 bad
27. Baseline Rover x Reference Point Kinematic OTF Rover Static OTF Yo ed A Rover No static occupation moving Known Point X Static Occupation on unknown point xX Static Occupation on known point Kinematic OTF For both post processing and RTK real time this method does not make initialization faster but is the less constraining method in the field although it does not release you from being careful on the operating conditions Kinematic OTF should be used by default when there is no reference in the working area that can help secure the initialization Static OTF An initialization method usable in RTK surveying only The rover asks you to stay still on an unknown point until initialization is achieved i e RTK position fixed The declared static occupation time helps the rover initialize more quickly Known Point In RTK surveying the rover asks you to stay still on a known point until initialization is achieved i e RTK position fixed The declared static occupation time helps the rover initialize more quickly This is a statistically faster initialization method than Static OTF for a given baseline length in the same reception conditions 52 Precise Surveying Field Applications amp Concepts In post processed surveying the rover asks you to stay still on the known point for a preset occupation time This particular event in the logged raw da
28. RTK Correction Data Reference Point Trajectory Line Lines t1 t2 Start t1 Stop t2 Log renal Initialization Stop t1 Start t2 Key Points Make sure the rover delivers RTK positions before starting the job Initialization must be achieved and maintained Hold the antenna pole vertical all along the line Points are automatically logged at regular intervals of time or distance You set the log interval before starting the survey Because you will be steadily moving along the surveyed trajectory all logged points will necessarily be one shot points i e the first position solution available at the time Staking Out Precise Surveying Field Applications amp Concepts of point logging will be saved no position averaging is possible in this case Typical Use Going to the field to accurately locate points marking them with appropriate means and logging their positions as determined by the rover Stakeout points are typically a project s input data Baseline Correction Data Rover Reference Point Stakeout Point j 7 U East West Deviation l8 A gt Sen e So Your Current North South Deviation Location Heading Wee Key Points e Make sure the rover delivers RTK positions before starting the job Initialization must be achieved and maintained e You choose the point you want to g
29. Range Default d1 Memory where the PAR file can be found 0 Internal memory NAND Flash 2 USB key If d1 is omitted the receiver will assume that the PAR file is on the USB key 0 2 s2 File name PM_SSSSS_dddhhmmss par where e SSSSS Last 5 digits from serial number ddd Day number 1 366 hhmmss Time If s2 is omitted the receiver checks that only one PAR file is found in the specified memory If that is the case the receiver will be configured according to this file If several PAR files are found then PASHR NAK will be returned and the receiver will keep its current configuration cc Optional checksum 00 FF Examples Changing the receiver configuration by loading the PAR file saved on the USB memory PASHS PAR LOD 5D Changing the receiver configuration by loading the PAR file named PM_95685_145084518 par located in the internal memory PASHS PAR LOD 0 PM_95685_145084518 par 1A Relevant Query None Command See also PAR SAV Saving the Receiver Configuration To a PAR File PASHS PAR SAV Function configuration to a PAR file This command is used to save the current receiver 211 Set Command Library Command Format Relevant Query 212 Command See also Syntax PASHS PAR SAV d1 cc Parameters Parameter Description Range Default Memory where the PAR file will be written
30. d2 Constellations currently used if the receiver is defined as a base 0 GPS GLONASS SBAS default mode 1 Only GPS and SBAS 2 Only GPS and GLONASS 3 Only GPS 0 3 d3 Position mode f BAS is the selected operating mode 0 Static position 1 Moving position f ROV is the selected operating mode 0 means rover works with a static base e 1 means rover works with a moving base 0 1 nput port for backup mode A Serial port C Bluetooth port D Radio E Modem A C D E cC Checksum 007 FF Example The response line below indicates that the receiver is configured as a base uses the GPS and GLONASS constellations and the base has a static position PASHQ CPD MOD PASHR CPD MOD BAS 2 0 A 5A PASHS CPD MOD PASHQ CPD Query Command Library CPD NET RTK Network Operation Mode Function This command is used to read the current setting of the RTK network operation mode Command Format Syntax PASHQ CPD NET cc Response Format Syntax PASHR CPD NET d1 d2 cc Parameters Parameter Description Range RTK network operating mode relative to GPS correc tions default 1 d1 0 GPS corrections from network are not used 0 1 1 FKP MAC GPS corrections from network are used when available and healthy otherwise they are rejected RTK network operating mode relative to GLONASS corrections default 1 0 GLONASS co
31. 1 Server cc Checksum 00 FF Example PASHQ NTR PASHR NTR ADD 192 34 76 1 PRT 2100 LGN Ashtech PWD u6huz8 TYP 0 2D PASHS NTR PAR PASHQ NTR TBL NTR MTP Connection to Mount Point Command Format Response Format 328 This command is used to read the current NTRIP mount point to which the specified Internet port is connected Syntax PASHQ NTR MTP cc Parameters None Syntax PASHR NTR MTPs1 cc Parameters Parameter Description Range NTRIP mount point name s1 If OFF the port is not connected to any NTRIP caster mount point 100 characters max or OFF cc Checksum 00 FF Example PASHQ NTR MTP Relevant Set Command Query Command Library PASHR NTR MTP NAN2 06 PASHS NTR MTP NTR TBL Source Table Function Command Format Response Format This command is used to read the source table stored in the receiver Syntax PASHQ NTR TBL cc Syntax PASHR NTR TBL SOURCETABLE 200 OK lt source table as specified in the RTCM standard gt ENDSOURCETABLE Parameters Source table as defined in the NTRIP standard Example PASHQ NTR TBL PASHR NTR TBL SOURCETABLE 200 OK Content Type text plain Content Length 7864 CAS 129 217 182 51 80 ICD BKG 0 GER 51 5 7 5 Trial Broadcaster NET GREF BKG B Nhitp igs ifag deGREF htm none denise dettmering bkg bund de none NET IGSIGLOS BKG B N http igscb jpl nasa gov project
32. 6 TXD Transmit Data 7 PPS 1PPS output RS422 Configuration Pin Signal Name Description 1 NC 2 GND Ground 3 RXD Receive Data 4 TXD Transmit Data 5 RXD Receive Data 6 TXD Transmit Data 7 PPS 1PPS output USB Port USB 2 0 full speed 9 C Connector Type Fischer DBPU 102 A059 139 Q Pin Signal Name 22 Introduction Pin Signal Name GND Device D Device D Host VBus Host D Host D Device Detection CO CO N BD A YV N NC 23 Introduction 24 Chapter 2 RTK Surveying Preliminary Steps Introduction ProMark 800 can be used in conjunction with two different Spectra Precision field software applications running on your field terminal FAST Survey Survey Pro This chapter describes the preliminary steps required before starting using your RTK surveying equipment Two different setups are presented RTK Base setup If you are using your own base and a radio link you need to set up your base first If you are working in a third party network or using corrections from a third party reference station you don t need to set up a base Once you are finished with the base setup refer to the documentation corresponding to the field software used for more information on how to complete the base configuration and let the base operate on its ow
33. 62 oo Satellite Pseudo range for Real Antenna Pseudo range for Virtual Antenna Real Phase Center lt Ss ES E S Virtual Phase Center The receiver has to correct the collected data most notably pseudo ranges so that they appear as if they had been collected for each frequency at the virtual phase center not at the real phase center This implies for the receiver to be informed of the dimensional parameters of the real antenna used and the necessity for it to perform the correction automatically on the raw data being collected after the Virtual antenna function has been enabled Note that in the data conversion the virtual ARP is maintained at the same location as the real ARP When GNSS antennas are embedded in the receiver active antennas such as ProMark 500 or ProMark 800 users don t have to enter their characteristics because they are hard coded in the receiver On the other hand when an external antenna is used with the ProFlex series or with ProMark 100 or 200 for example users have to specify which external antenna is used so the receiver can perform the appropriate correction Precise Surveying Field Applications amp Concepts About The Different There exists different virtual antennas with different names Virtual Antennas and specifications However behind all these antennas is the Existing Today same function assigned to the receiver which is to correct the
34. 9600 GMSK or 4FSK modulation 19200 4FSK modulation MDL 4800 e 7600 9600 4800 7600 8000 d 9600 16000 ADL or XDL 12 5 kHz 19200 4800 GMSK modulation 8000 GMSK modulation 9600 4FSK modulation ADL or XDL 25 kHz 4800 GMSK modulation 9600 GMSK modulation 16000 GMSK modulation 19200 4FSK modulation s7 Radio sensitivity PDL ADL XDL and MDL Bete MED HIG Scrambler PDL ADL and XDL c8 0 Off 0 1 e 1 0n Forward Error Correction PDL ADL and XDL a 0 FEC Off 0 1 1 Hamming FEC On Transmission power for ADL Vantage 0 100 mw 1 500 mw e 2 1W 3 2W 44W 510 Transmission power for ADL Vantage Pro 0 4 0 Level 1 e 1 Level 2 e 2 Level 3 e 3 Level 4 4 Level 5 See PASHQ RDP PWR to set the power in Watts cc Optional checksum 00 FF Comments Set Command Library e The command will be NAKed if the receiver has not been told on which port the radio is connected Use command PASHS RDP TYP to declare the port used e Ifa PDL radio is used depending on its channel spacing the air link speed you select may force the use of a particular type of modulation and protocol as well as a particular FEC setting The different possible combinations are summarized in the table below Channel You Then Protocol cah Spacing setc6 modulation FEC Setting only be is to can only be May be se
35. CTT 240 Cumulative tracking time mask 373 Cumulative tracking time masks 242 D Daisy chain 182 292 Data formats 18 Data link 35 73 101 Data link monitoring 81 Data link icon 10 Data logging 100 Data transfer screen 15 31 Date amp time 256 Datum Reference 293 DBEN 18 83 DBEN message status 285 DBEN messages generating 176 DBN MSI 285 DBN TYP 176 DC power input 6 DCR 286 DDS 287 Debug data 152 Debug data recording 265 QOO0000000 Default settings 124 Defining user message type 253 Deleting files 185 Deleting files and directories 186 Deleting log files 193 Deleting user defined receiver name 223 Delta position 290 Device cable USB 2 31 ifferential data port 173 281 Differential data type 157 269 Differential decoder status 287 DIP 177 288 D D gJ IP OFF 178 IP ON 179 DIP PAR 179 Direct IP 73 78 81 288 Direct IP connection 178 179 Direct IP parameters 179 Disabling all ATOM messages 155 Disabling all raw data messages 221 Disabling satellite tracking 250 Display screen 4 Distance mode 46 Distance unit on display screen 378 381 Distance unit used on display screen 249 DOP 49 107 DPC 393 DPO 290 DRD 180 291 DRI 181 291 DSY 182 292 DTM 293 Duration of data recording in G file 291 Duty cycle 76 DYN 183 295 Dynamics 183 249 E ECEF 64 ECEF coordinates 283 EDGE 20 Editing a log file 316 Elevation 64 Elevation mask 184 213
36. as the name of the base antenna PASHS ANP REF MAG990596 3A PASHQ ANP PASHQ ANP REF PASHS ANP OWN ANR Antenna Reduction Mode Function Command Format 148 This command allows you to set the antenna reduction mode The default value is ON Syntax PASHS ANR s cc Set Command Library Parameters Parameter Description Range Antenna reduction mode OFF No antenna reduction The receiver ignores the antenna parameters entered via PASHS ANH or PASHS ANT The computed position is that of the antenna s L1 phase center This implies that the entered position for the base should also be that of its antenna s L1 phase cen ter ON Antenna reduction is active default From the parameters entered through the PASHS s1 ANH or PASHS ANT command the position computed for the L1 phase center is projected to the ground thus making this point ground mark the real location of the rover This implies that the entered position for the base should also be that of its ground mark ARP The receiver ignores the antenna parame ters entered via PASHS ANH or PASHS ANT The computed position represents the location of the ARP This implies that the entered position for the base should also be that of its antenna s ARP cc Optional checksum 00 FF OFF ON ARP Example Setting the antenna reduction mode to ON PASHS ANR ON 05 Relevant Query PASHQ ANR Command See al
37. cc Checksum 00 FF Fields f5 and f6 are empty is the corresponding signal is not tracked Satellite Usage Status Status Description 0 Satellite not tracked 1 Code and carrier Doppler data used 2 Code only data used 3 Carrier Doppler only data used 4 14 Reserved 367 Query Command Library Example See also Automatic Output of SGL Messages 368 Status Description 15 Unknown usage status 16 No navigation data for this satellite 17 Satellite below elevation mask 18 Satellite declared as unhealthy in ephemeris 19 Computed coordinates of satellite are invalid 20 Satellite has been disabled by a PASH command 21 URA in ephemeris is not acceptable 22 SV is unhealthy according to almanac 23 Too low SNR 24 Suspected of being a ghost satellite 25 Because of too many Satellites used in the PVT this satellite has been deselected 26 30 Reserved for future causes of rejection 31 Other cause Satellite Correcting Status Status 0 Satellite is not tracked 1 Satellite is not corrected 2 SBAS is corrected 3 DGPS is corrected 4 L1 RTK is corrected 5 L1 amp L2 RTK is corrected 6 14 Reserved 15 Unknown correcting status PASHQ SGL PASHR SGL 08 65 316 38 49 0 38 0 01 15 71 122 32 47 0 39 0 01 15 72 0 66 77 53 0 48 0 01 15 73 036 31 48 0 43 0 01 15 74 100 75 52 0 41 0 01 1 5 75 192 34 45 0
38. gt gt lt Latency Latency Rover positions at times t0 are delivered at times t1 t0 Position request times t1 Position delivery times The time when position is requested is tO and the time when the rover starts providing the position for time tO is t1 Times tO in the base and the rover are synchronous because they originate from the same clock which is the GPS System time Here the latency t1 tO is caused by data processing times in both the base and the rover as well as the base rover propagation time the latter being negligible compared to the former In this configuration a typical latency time in Spectra Precision receivers is about 100 ms Use Context Time tagged RTK should be used when consistent accuracy is more important than the position output rate and when a relatively long latency is acceptable Benefit RTK positions are consistently accurate Drawback Time tagged RTK can be inconsistent in its output because any interruption in the flow of RTK correction data will cause the rover to cease outputting positions An interruption could be caused by a problem at the base or 87 RTK Implementation RTK Correction Data Base interference in the data link between the base and the rover Regardless of the cause the rover will only provide an RTK position when it receives data from the base Fast RTK Output Mode Principle In Fast RTK the rover uses the RTK correction data f
39. port E is the input port and port A the output port PASHS BRD ON 0 E A Tap on the Send button The RTC Bridge function is activated once the receiver has executed the command and the PASHR ACK 3D line has been returned to FAST Survey PASHS BRD ON 0 E A 7 Send Sent PASHS BRD ON 0 E A Received PASHR ACK 3D Tap twice to close the GPS Utilities window and return to the FAST Survey menu NOTE As for the configuration of the rovers supposed to receive the RTK corrections from this receiver there is nothing else to be done apart from configuring the licence free radio connected to each of them Setting this radio can be done using FAST Survey from the RTK tab of the GPS Rover window select the appropriate radio model in the Device field BTH NAME Bluetooth Device Name Function Command Format 162 This command is used to name the Bluetooth device Syntax PASHS BTH NAME s1 cc Parameters Set Command Library Parameter Description Range s1 Bluetooth device name 64 characters max cc Optional checksum 007 FF Example Naming the Bluetooth device as My Surveying Unit PASHS BTH NAME My Surveying Unit 60 Relevant Query PASHQ BTH Command See also PASHS BTH PIN BTH PIN Bluetooth Device Pin Code Function This command is used to assign a PIN code to the Bluetooth device Command Format Syntax
40. 0 means the 0 95 0 99 0 or receiver will not try to fix 99 9 ambiguities but instead will stay indefinitely in Float fi 99 0 mode cc Optional checksum 00 FF Example Setting the confidence level to 99 9 PASHS CPD AFP 99 9 62 Relevant Query PASHQ CPD AFP Commands PASHQ CP2 AFP PASHQ CPD 169 Set Command Library CPD FST RTK Output Mode Function Command Format Relevant Query Command This command enables or disables the fast RTK output mode Fast CPD mode Syntax PASHS CPD FST s1 cc Parameters Parameter Description Range Default Enables ON or disables OFF the fast RTK output mode toc Optional checksum 00 FF s1 ON OFF ON Example Enabling the fast RTK output mode PASHS CPD FST ON PASHQ CPD FST CPD MOD Base Rover Backup Mode Function Command Format 170 This command is used to set the addressed receiver as a base or a rover thus defining the operating mode for the receiver In addition the command allows you to specify the satellite constellations that will be used if the receiver is defined as a base Additionally this command allows a rover to be set to deliver two independent RTK position solutions This can be done by activating the backup mode Syntax PASHS CPD MOD s1 d2 d3 c4 cc Comments Parameters Set Command Library Parameter Description Range Default s1 C
41. ATOM Message Output SettingS cccccsecesseeeeseeeeeeeeees 268 BAS Differential Data Type ccccccececseeceseeeeeeeeeaeeeeeeeeseeenees 269 BEEP Beeper State ccccccccecccseeeeeeeeeeeceseeeeeeeeeseeeeaeeeeaeeeees 271 BRD sRTG Bridge ee een eet iia ees 272 BTH Bluetooth Settings ccccccecccsseeeeeeceseeeeeeeesaeeeeeeeeeeeeeees 273 CFG GNSS Tracking Configuration cccccssccceeeceeeeeeeeeeneeees 273 CMR MSI CMR Message Status cccccsesceseeeeeeeeseeeeeeeseneeees 274 CPD AFP Ambiguity Fixing Parameter cccsseceeeeeeeeeeaeeees 275 CPD ANT Base Antenna Height cccccscscsseeeeeeeeseeeeeeeeeneeees 275 CPD FST Fast RTK Output Mode cccccceecceceseeeseeeeeeeeeeseeees 277 CPD MOD Base Rover Backup Mode ccccsccceeeeeeeeeeeeeeeaeeees 277 CPD NET RTK Network Operation Mode ccsecceeeeeeteeeeeeeees 279 CPD POS Base Position iene hie i ieee T aie 280 CPD REM Differential Data Port cccccccecseeeeeeeeeeeeeeeeeeeenees 281 CPD VRS VRS Assumption Mode ccccsceeseseeeeeeeeeeeeeeeeneeees 282 CRT Cartesian Coordinates of Position cccseeceeeeeeeeeeeaeeees 283 CTS Handshaking cccccccseccceseeeeeeeeeeeeaeeeeeeeeeeeeeeneeeeaeeeseeees 284 DBN MSI DBEN Message StatuS cccsccceseeeeeceeaeeeeeeeeeeeeeeas 285 DCR Cartesian Coordinates of BaSeline ccccccecseeeeseeeeeeeeens 286 DDS Differential Decoder St
42. Char Satellite frequency channel number 7 6 Short 2 Satellite system number satellite number 1 24 The checksum is computed by breaking the Unsigned Check 2 structure into 40 unsigned shorts adding short sum them together and taking the least significant 16 bits of the result Total 82 400 Output Message Library Reminder on How Use the PASHS RAW command with the syntax below to Output SNG PASHS RAW SNG lt port_ID gt ON lt Rate gt Messages l For more details on the PASHS RAW command refer to the Set Command Library Chapter As an example the command below will output SNG messages on port A at a rate of 15 seconds PASHS RAW SNG A ON 15 SNV GPS Ephemeris Data This message contains the GPS ephemeris data for one satellite The message is as follows PASHR SNV lt structure gt The message s binary structure is described in the table below Type Name Size Contents Short Wn 2 GPS week number Long Two 4 Seconds in GPS week Float Tgd 4 Group delay sec Long Aodc 4 Clock data issue Long Toc 4 Clock data reference time sec Float af2 4 Clock correction sec sec2 Float af1 4 Clock correction sec sec Float afo 4 Clock correction sec Long Aode 4 Orbit data issue Float Dn 4 Mean anomaly correction semicircles sec Double M0 8 Mean anomaly at reference time semicircles Double e 8 Eccentrici
43. Code Baud Rate 0 300 8 57600 1 600 9 115200 2 1200 10 230400 3 2400 11 480600 4 4800 12 921600 5 9600 13 1428571 6 19200 14 2500000 7 38400 15 5000000 PASHS ATM PASHQ ATM PASHQ ATO ATO ATOM Message Output Settings Command Format 268 This command allows you to read the different parameters of the ATOM message as currently set on the specified port or memory The receiver will return the response on the port through which the query command is sent Syntax PASHQ ATO c cc Parameters Query Command Library Parameter Description Range Port ID for which you need to know the ATOM message settings A Serial port Cc e C Bluetooth port A C E M U E Modem M Internal memory U External memory USB cc Optional checksum 00 FF Response Format Syntax PASHR ATO c1 d2 f3 d4 7 s5 f6 cc Parameters Parameter Description Range The port ID mentioned in the query com i mand is replicated in this field AOE MU d2 Baud rate code 0 if not available 0 15 f3 PER setting 0 999 0 d4 Number of ATOM messages 7 MES PVT ATR s5 ATOM message type NAV DAT EVT RNX 6 Output rate 0 if message disabled 0 999 0 cc Checksum 00 FF Example A PASHQ ATO A PASHR ATO A 7 001 00 7 MES 0 00 PVT 0 00 ATR 0 00 NAV 0 00 DAT 0 00 EVT 0 00 RNX 0 00 07 Querying ATOM message parameters as currently set on port See also PASHS ATM
44. E Modem Input port 2 A Serial port c3 C Bluetooth port A C D E D Radio E Modem cc Optional checksum 00 FF Examples Setting the receiver to receive and process differential data in Automatic mode PASHS CPD REM AUT 38 Setting the receiver to receive and process differential data in Manual mode with the data received on port D PASHS CPD REM MAN D 52 PASHQ CPD REM PASHS CPD MOD CPD RST RTK Process Reset Function Command Format 174 This command resets the RTK processing Syntax PASHS CPD RST cc Parameters None Relevant Query Command Example Resetting the RTK processing PASHS CPD RST 5B None CPD VRS VRS Assumption Mode Set Command Library Function Command Format Comment Relevant Query Command This command is used specifically to set the receiver a rover to operate in the so called compulsory VRS mode through which it is forced to consider that the differential corrections it receives are always VRS corrections this impacts the way corrections are processed internally When not operated in this mode the receiver will automatically detect whether the received corrections are or are not VRS corrections Automatic detection Syntax PASHS CPD VRS d cc Parameters Parameter Description Range Default VRS assumption mode 0 Automatic detection e 1 Compulsory VRS mode 2
45. Enables the reception of the L2 frequency Yes RTK computation with proprietary mes M RTK2 sages ATOM DBEN LRK Generates Yes proprietary messages ATOM L RTK3 Limits RTK range to 3 km N ISTA Enables a base receiver to generate RTCM CMR or ATOM corrections data O GALILEO Enables Galileo tracking amp raw data output Yes Q GNSSL5 Enables L5 tracking amp raw data output Yes Enabling a firmware option purchased separately from the system relies on the use of the PASHS OPTION serial command For more information on how to enable an option refer to OPTION Receiver Firmware Options on page 209 IMPORTANT After enabling firmware option F to enable fast position output the PASHS POP 20 command must be run to make the fast output effective Power NOTE All illustrations below show connectors seen from outside the receiver case 3 C Connector Type Fischer DBPU 102 A052 139 Pin Signal Name Description 1 GND External Power Ground 2 PWR External Power Input 10 28 V DC 3 Mandatory Leave this pin unconnected 21 Introduction RS Port Port A 7 C Connector Type Fischer DBPU 102 A056 139 d RS232 Configuration Pin Signal Name Description 1 NC 2 GND Ground 3 CTS Clear To Send 4 RTS Request To Send 5 RXD Receive Data
46. GSM module built in 27 GSM status 11 GST 201 312 GSV 201 314 H Handshaking 176 284 Header 133 Height mark 8 Helmert 71 HI measurement tape 2 8 Hopping frequency hopping 76 Host cable USB 2 l IGS antenna source table 148 Implementation rules 35 41 INI 191 Initialization strategies for 51 Initializer bar 51 Initializing 50 Inosphere model 390 Insert wait times while a command file is executed 167 Instant RTK 18 Integer ambiguity 50 Internal radio 125 Internal radio power off 225 Internal radio power on 226 ION 220 389 IP address 122 ITRFOO 64 J Jamming 103 K Key combinations 8 112 Kinematic survey PP 45 Kinematic vs Static 50 410 Klobuchar 390 Known point 51 L L1 phase center 8 L2 phase center 8 LAN 123 Latency 86 87 88 LCS 116 192 315 LED status battery charger 17 Li ion battery 2 Line of sight 102 Lines 38 45 Listing files stored in receiver memory or USB key 297 Listing log files 318 Load Config 114 Local antenna 261 Local coordinate system 116 315 Local grid 69 Local time 194 Localization 69 LOG 316 Log button 5 Log data for troubleshooting 109 Log file settings 318 Log interval 40 46 LOG DEL 193 LOG LST 318 LOG PAR 194 318 Logging points RTK 37 Logging points in continuous mode RTK 38 Long range radio link 26 Low battery alarm 217 LRK 18 LTZ 194 M M memory 124 MAC 18 19 80 Magnetic table 385 Mas
47. One is used at the base and the other at the rover The data link operates like a phone link the rover being the caller This 77 RTK Implementation configuration is well suited to surveying systems used in base rover configuration Antenna CSD Important ProMark 800 CANNOT operate in CSD mode e One modem or cell phone operating in GPRS mode The modem is used on the rover side to establish a connection to the Internet either in Direct IP or NTRIP mode The rover will then receive RTK correction data from the selected base This type of data link is well suited to surveying systems used in rover only configuration Antenna i Modem or H Cell Phone Internet ah cea Internal vs External Modems Depending on the model of Spectra Precision receiver used modems can be e Incorporated into the Spectra Precision receiver Only the antenna is visible from outside e External to the Spectra Precision receiver and connected to it via a power serial data cable or a Bluetooth connection e External to the Spectra Precision receiver and available as cell phones Features GSM e Based on TDMA technology TDMA Time Division Multiple Access The frequency band is divided into multiple channels which are then stacked together into a single stream e Frequency bands used 900MHz and 1 800 MHz in Europe and Asia 850 MHz and 1 900 MHz in North America and Latin America 78 RTK Implem
48. PASHS LOG DEL 999 45 Relevant Query PASHQ LOG LST Command 193 Set Command Library See Also PASHQ LOG LOG PAR Log File Settings Function Command Format Relevant Query Command See Also LTZ Time Zone This command is used to set the log file A log file keeps track of the different connections performed in a day one file created per day Syntax PASHS LOG PAR s1 d2 d3 cc Parameters Parameter Description Range Default Enabling disabling the log file s1 ON Enable ON OFF ON OFF Disable d2 Maximum size in Mbytes allowed 1 90 1 for a log file Number of days during which log files are kept in memory After this a delay they are automatically 1100 L deleted cc Optional checksum 00 FF Example Enabling the log file with a maximum size of 2 Mbytes and 10 days of backup PASHS LOG PAR ON 2 10 40 PASHQ LOG PASHS LOG DEL PASHS LOG LST Function 194 This command is used to set the local time zone Command Format Relevant Query Command See also Syntax PASHS LTZ d1 d2 cc Parameters Set Command Library Parameter Description Range Default d1 Local time zone hours 13 to 13 0 d2 Local time zone minutes 0 59 cc Optional checksum 00 FF Example Setting local time to UTC 2 PASHS LTZ 2 0 35 PASHQ ZDA PASHQ LTZ PASHS ZDA MDM INI Initializing the Modem
49. Response Format Syntax PASHR BTH s1 s2 83 S4 cc Parameters Parameter Description Range s1 Bluetooth address Xxx XX XX XX XX XX 17 characters s2 Bluetooth name 64 characters max 0 to 12 digits max s3 Bluetooth PIN code 1 no PIN code s4 Bluetooth status ON OFF cc Checksum 00 FF Example PASHQ BTH PASHR BTH 00 07 80 83 91 86 PM_743109 1 ON 68 See also PASHS BTH NAME PASHS BTH PIN CFG GNSS Tracking Configuration Function This command queries the receiver for the type of GNSS tracking currently enabled Command Format Syntax PASHQ CFG cc Response Format Syntax PASHR CFG s1 cc 273 Query Command Library Parameters Parameter Description Range GNSS tracking currently enabled SSL Single signal tracking e DSL Dual signal tracking TSL Triple signal tracking s1 SSL DSL TSL cc Checksum Example PASHQ CFG PASHR CFG DSL 1D See Also PASHS CFG CMR MSI CMR Message Status Function This command is used in a base receiver to read the current settings of the CMR messages the base currently generates and outputs Command Format Syntax PASHQ CMR MSI cc Response Format Syntax PASHR CMR MSI d1 d2 d3 d4 d5 d6 d7 d8 d9 cc Parameters Parameter Description Range d1 Number of CMR messages currently output 4 d2 Message type 0 label 0 d3 Message type 0 output rate in seconds 0
50. Should be visible Refer to Radio Data Link Fails to Provide Base Corrections to Rover on page 101 if you need to fix this problem and then come back to this procedure Step 2 Is the Use either the front panel of the receiver or the field software Receiver Tracking running on your field terminal to determine if the rover is satellites tracking satellites e If the receiver is not tracking satellites refer to Receiver is Not Tracking Satellites on page 98 and then come back to this procedure e If the receiver is tracking satellites go to step 3 below Step 3 Are The In order for the rover to compute an RTK position the base Base and Rover and rover must observe data from at least 5 common healthy Tracking at least 5 satellites simultaneously Without this common data the Common rover cannot compute an RTK position Satellites Use the receiver front panel or the field terminal to determine if the base and rover are indeed tracking at least 5 common healthy satellites 1 If the base and rover are not tracking at least 5 common satellites e Check satellite availability Use GNSS Planning http www spectraprecision com support gnss planning to check satellite availability for your current location and time Look for the number of satellites available higher 105 Troubleshooting than 5 above the horizon Ensure at least 5 healthy satellites are available If not you will need to perform your survey at another t
51. Syntax PASHQ SVM cc Parameters None Syntax PASHR SVM d1 cc Parameters Parameter Description Range Default d1 Maximum number of code Doppler obser vations used in PVT cc Checksum 00 FF 00 FF 0 26 14 Example PASHQ SVM PASHR SVM 25 17 PASHS SVM UDP User Defined Dynamic Model Function Command Format Response Format This command is used to query the parameters of the user defined dynamic model Syntax PASHQ UDP cc Syntax PASHR UDP ft 2 3 f4 cc 377 Query Command Library Parameters Parameter Description Range Default P Maximum expected horizontal veloc 0 100000 1100000 ity in m s 2 Maximum expected horizontal accel 0 100 100 eration in m s 3 Maximum expected vertical velocity 0 100000 1100000 in m s fA Maximum expected vertical accelera 0 100 100 tion in m s cc Checksum 00 FF Example PASHQ UDP PASHR UDP 100000 00 100 00 100000 00 100 00 35 Relevant Set PASHS UDP Command See Also PASHS DYN UNT Distance Unit Used on Display Screen Function This command allows you to know which distance unit is currently used on the receiver display screen to express the coordinates of the computed position Command Format Syntax PASHQ UNT cc Response Format Syntax PASHR UNTs cc 378 Parameters Query Command Library Parameter Description Range
52. Vertical Height Ground The real height of the antenna is therefore the sum of the vertical height and the phase center offset Measuring the vertical height only consists in measuring the length of the range pole used to support the GNSS antenna and the rover unit As most range poles are height adjustable and have a graduation to set this height measuring the vertical height only consists in reading the graduation on the pole If a Spectra Precision antenna is used the system will automatically determine the true antenna height because it has got all the antenna parameters in its memory to perform the conversion For another antenna however you will first have to create a new antenna type in the system and enter its parameters see GNSS Antenna Features on page 56 in order to be sure the system can accurately convert the vertical measurement into real height Precise Surveying Field Applications amp Concepts Using a Virtual Antenna What is the Problem What the Receiver Has to Do to Support a Virtual Antenna Not all the GNSS antennas available on the market are known to all hardware manufacturers and software editors Now when post processing raw data files this is a problem because these files hold the names of the GNSS antennas that were used for data collection From these names the software is supposed to retrieve the essential dimensional parameters of these antennas phase center offsets S
53. ZDA Time and date NMEA like messages Data Description CRT Cartesian coordinates DCR Delta Cartesian DDS Differential decoder status DPO Delta position 201 Set Command Library Data Description LTN Latency POS Position PTT 1 PPS time tag RRE Residual error SAT Satellite status SGA Galileo satellite status SGL GLONASS satellite status SGP GPS and SBAS satellite status USR User message see PASHS USR TYP VEC Baseline vector Example Setting GGA message on Bluetooth port at 1 second output rate PASHS NME GGA C ON 1 01 Comments For ALM messages the f4 parameter can only take an integer value of seconds by default 3600 and refers to the interval between messages related to the same satellite and with the same content e For a given satellite the ALM messages are therefore renewed every x seconds x f4 or following a change in the message content on change whichever occurs first e ALM messages cannot be output more than once over a given period of 1 second Relevant Query Command See also PASHQ NMO PASHS NME PER NME ALL Disabling All NMEA and NMEA Like Messages Function This command is used to disable all NMEA messages and NMEA like messages currently enabled on the specified port Command Format Syntax PASHS NME ALL c1 OFF cc 202 Set Command Library Parameters
54. are working on a UHF system can function with tens of miles System of separation Unfortunately these are ideal situations seldom found In most situations the range of UHF radio will be between 5 and 10 miles 1 If you are not within range specifications move within range Either move closer to the base or move the base closer to you If the problem is not yet resolved go to step 6 2 If you are within range specifications move closer to the base to test the system Since radio range is difficult to predict due the varying effects of local conditions try moving closer to the base in an attempt to resolve the problem If by moving closer you find that the rover radio begins to receive data the previous location is out of range of the radio system You will need to elevate the base radio antenna or move the base to a location closer to you to solve the problem If the problem is not yet resolved go to step 6 Your Radio Step 6 Is the When working with UHF radios it is possible that the Radio Being frequency you are using is being shared with other people in Jammed Your vicinity Traffic on this frequency can interfere with the rover s ability to receive data from the base The effect may be no reception of base data or intermittent reception of data Both are detrimental to proper operation of the RTK system Interference can be a problem with UHF radios There are two methods to determine if there is traffic on the freque
55. e NTRIP network based e Direct IP network based Age of Corrections The age of corrections is measured as the time elapsed between the time corrections are generated in a base and the time when they are effectively used to yield an RTK position in a rover Generally speaking the quality of corrections decreases as their age increases CDMA A standard for mobile communications based on CDMA Code Division Multiple Access technology CDMA is mostly found in the United States Canada and North and South Korea 73 RTK Implementation 74 CSD Circuit Switched Data CSD is the original form of data transmission developed for the Time Division Multiple Access TDMA based mobile phone systems like GSM Direct IP P Internet Protocol A way of acquiring base data from the Internet via a network connection to a static IP address GPRS General Packet Radio Service A mobile data service available to GSM modem users such as cell phone users GPRS data transfer is typically charged per megabyte of transferred data while data communication via traditional circuit switching is billed per minute of connection time independent of whether the user has actually transferred data or has been in an idle state GSM Global System for Mobile communications A widespread standard for mobile communications based on TDMA Time Division Multiple Access technology Modem A device that modulates an analog carrier signal to encode digital in
56. raw data for the point s of data collection defined for the virtual antenna One of the most widely used virtual antennas is the ADVNULLANTENNA antenna Most Spectra Precision products implicitly select this antenna when the virtual antenna function is enabled However other virtual antennas may be selected requiring the use of a few proprietary serial commands PASH NOTE You are right if you think only one virtual antenna should have been defined worldwide Unfortunately this is not the case Probably several initiatives were started at the same time for the same purpose giving rise to several antenna names and specifications Cases of Use As seen above using a virtual antenna makes sense when having to collect raw data It also makes sense in RTK surveying because rovers need to know the type of GNSS antenna the base uses to generate its corrections Using a virtual antenna is recommended in the following cases e You are working with surveying equipment and software from different manufacturers e You are producing raw data files that you share with a lot of other people from other companies e You are providing base raw data or RTK corrections to a large number of users who do not necessarily use surveying equipment from the same manufacturer Ellipsoidal Height and Elevation The vertical coordinate measured by GNSS systems is worth an explanation Behind this coordinate in fact lies the specificity of GNSS sy
57. semi cir cles Float wdot 4 Rate of right ascension semi circles sec Double A1 2 8 Square root of semi major axis meters1 2 Double w0 8 Longitude of ascending node semicircles Double w 8 Argument of perigee semicircles Double MO 8 Mean anomaly at reference time semi circle Float Afo 4 Clock correction sec 396 Output Message Library Type Name Size Contents Float Aft 4 Clock correction sec sec Short wna 2 Almanac week number Short wn 2 GPS week number Long 4 Seconds of GPS week The checksum is computed by breaking the Unsigned Check 2 structure into 34 unsigned shorts adding them short sum together and taking the least significant 16 bits of the result Total 70 Reminder on How Use the PASHS RAW command with the syntax below to Output SAL PASHS RAW SAL lt port_ID gt ON lt Rate gt Messages l For more details on the PASHS RAW command refer to the Set Command Library Chapter As an example the command below will output SAL messages on port A at a rate of 15 seconds PASHS RAW SAL A ON 15 SAG GLONASS Almanac Data This message contains almanac data for one GLONASS satellite The message is as follows PASHR SAG lt structure gt The message s binary structure is described in the table below Type Name Size Contents Short prn 2 Satellite number 1 24 Short frq 2 Satellite GLONASS frequency numbe
58. 0 1020 GLONASS ephemeris data 0 1029 Unicode text string 0 1033 Receiver and antenna descriptors 31s Examples Setting RTCM message types 18 and 19 output rate 1 s PASHS RTC TYP 18 1 Disabling all RTCM 3 x messages PASHS RTC TYP 1000 6C Comments e RTCM2 3 and RTCM 3 x messages can coexist The PASHS BAS command will finally determine which of the existing messages should be broadcast e PASHS RTC TYP O will disable all enabled RTCM2 3 messages e PASHS RTC TYP 1000 will disable all enabled RTCM3 x messages Relevant Query PASHQ RTC MSI Command See also PASHS BAS PASHS CPD MOD BAS 238 Set Command Library SBA Enabling Disabling SBAS Tracking Function This command is used to enable or disable SBAS tracking Command Format Syntax PASHS SBA s cc Parameters Parameter Description Range Default Enables ON or disables OFF SBAS tracking ON OFE QN cc Optional checksum 00 FF Example Enabling SBAS tracking PASHS SBA ON 08 Relevant Query PASHQ SBA Command See also PASHS GLO SIT Defining a Site Name Function This command is used to define a site name that will be used in the naming of the next logged raw data file Command Format Syntax PASHS SIT s cc Parameters Parameter Description Range Site name or site ID a 4 character string where P and V are not allowed cc Optional checksum 00 FF S
59. 0 Internal battery g3 1 External battery ie 2 External DC source f4 Battery DC output voltage in volts 0 0 12 0 d5 Percentage of remaining battery energy 0 100 f6 DC input voltage from external power in volts 0 0 30 0 Battery charging status 0 Charging af 1 Discharging ea 2 Fully charged d8 Internal temperature in Celsius cc Checksum 00 FF Comments With no internal battery in fields f4 d5 and d7 are all empty With no external power source applied field f6 is empty Example PASHQ PWR PASHR PWR 6 8 9 1 2 11 6 44 0D Relevant Set PASHS PWR PAR Command QZS QZSS Tracking Status Function This command is used to read the current status of QZSS tracking Command Format Syntax PASHQ QZS cc Parameters None 343 Query Command Library Response Format Relevant Set Command Syntax PASHR QZS Parameters s cc Parameter Description Range QZSS tracking status ON QZSS satellites tracked and used OFF QZSS satellites not tracked ON or OFF cc Optional checksum 007 FF Example Reading QZSS tracking PASHQ QZS PASHR QZS PASHS QZS OFF xx RAW Raw Data Logging Settings Function Command Format Response Format 344 This command is used to query the raw data recording parameters Syntax PASHQ RAW cc Syntax Through an example PER 020 00 ELM 10 RAW MPC DPC PBN SNV SNG SNW SAL
60. 0 Internal memory NAND Flash If d1 is omitted the receiver will assume that the PAR file should be saved to the USB key cc Optional checksum 00 FF Comments The command will create a PAR file named as follows PM_SSSSS_dddhhmmss par Where e SSSSS Last 5 digits from receiver serial number e ddd Day number 1 366 e hhmmss Current time The command will be rejected 6PASHR NAK in the following cases e No USB key detected and d1 2 or is omitted e Not enough space available on the specified memory e The PAR file already exists Example Saving the receiver configuration to the USB key PASHS PAR SAV 5E None PASHS PAR LOD Set Command Library PEM Setting the Position Elevation Mask Function This command is used to set the elevation mask used in the position processing Command Format Syntax PASHS PEM d1 cc Parameters Parameter Description Range Default d1 Elevation mask angle in degrees 0 90 5 cc Optional checksum 00 FF Example Setting the elevation mask for position processing to 15 degrees PASHS PEM 15 05 Relevant Query PASHQ PEM Command See also PASHS ELM POP Setting Internal Update Rate for Measurements and PVT Function This command allows you to set the updates rate used internally in the measurements and position processing Command Format Syntax PASHS POP d cc 213 Set Command Library Relevant Query C
61. 0 f4 L1 phase center offset in mm in the vertical direction 0 1000 0 f5 L2 phase center offset in mm in the North direction 0 1000 0 f6 L2 phase center offset in mm in the East direction 0 1000 0 7 L2 phase center offset in mm in the vertical up 0 1000 0 direction cc Optional checksum 00 FF ANP EDx EDx for L1 and L2 Elevation Dependent delays Parameter Description Range s1 Antenna name ohare ters max Elevation dependant delays in mm for elevations em from 90 to 0 degrees in 5 degree steps 20 1000 cc Optional checksum 00 FF Examples Setting the PCO parameters for antenna ASH8987 PASHS ANP PCO ASH8987 0 0 110 0 0 128 29 Setting the L1 delays for antenna MYANTENNA PASHS ANP ED1 MYANTENNA 0 2 0 1 5 1 1 2 0 0 0 0 1 1 1 0 1 2 1 2 0 1 0 49 Relevant Query PASHQ ANP Command See also PASHS ANP DEL 145 Set Command Library ANP DEL Delete User Defined Antenna Function Command Format Relevant Query Command See Also This command allows you to delete the definition of a user defined antenna Syntax PASHS ANP DEL s1 cc Parameters Parameter Description Range s1 User defined antenna name case sensitive 31 characters max cc Optional checksum 00 FF Example Deleting RZ510A antenna definition PASHS ANP DEL RZ510A 1A PASHQ ANP PASHS ANP PCO PASHS ANP ED1 PASHS ANP ED2 ANP OUT De
62. 157 269 BASE 9 Base antenna naming 147 Base data 35 Base location 46 Base position 48 280 Base settings 127 Base rover configuration 34 Base rover mode 170 277 Baseline 34 40 286 Battery 20 Battery external 26 Battery insert 17 Battery remove 15 Battery charger 2 Battery icon 10 Battery kit 20 Battery model 6 Baud rate 340 BEEP 159 271 Beeper setup 159 Biases 222 LADE 1 34 uetooth 7 125 uetooth device name 162 uetooth identifier 12 uetooth pin code 163 uetooth settings 273 Bluetooth status 11 BRD 159 272 BTH 273 BTH NAME 162 BTH PIN 163 Buzzer 5 Cc Can t fix 104 Carrier 33 Carrier cycle 66 Carrier phase measurements 33 Cartesian coordinates 286 Caster IP address 207 CDMA 73 79 Cell phone 73 77 Centimeter level accuracy 89 CEP 69 CFG 164 273 Channel spacing 76 Channel warnings mask 375 Channel warnings masks 246 Channels 17 Charging battery 16 B B B B B B 408 MD LOD 166 MD WTI 167 MR 18 84 184 MR message type and rate 168 MR CMR 157 MR MSI 274 MR TYP 168 MR 84 184 Command window 136 Computed position 338 Confidence level 169 Configuring the receiver from a PAR file 210 Constellation 35 Copy user data to USB key 115 Course over ground 384 CPD 34 CPD AFP 169 275 CPD ANT 275 CPD FST 277 CPD MOD 170 277 CPD NET 172 279 CPD POS 280 CPD REM 173 281 CPD RST 174 CPD VRS 175 282 CRT 283 CSD 73 79 CTS 176 284
63. 255 PASHS ZDA 256 A Absolute positioning 48 Absolute centimeter accurate positioning 48 AC DC power supply kit 2 Accuracy 18 66 ACK 134 Acknowledge alarms 255 Acknowlege alarm 93 Acquisition re acquisition of GNSS signals 18 Adaptive 183 295 Adjusting GLONASS biases 143 AGB 143 257 Age of corrections 73 82 Alarm status 10 Alarms 5 93 255 ALM 201 258 Almanac 258 Ambiguity 275 Ambiguity fixing process 169 ANH 144 259 ANP 260 ANP DEL 146 ANP EDx 144 ANP OUT 146 261 ANP OWN 261 ANP PCO 144 ANP RCV 262 ANP REF 147 263 ANR 148 263 ANT 149 264 Antenna characteristics 8 ntenna definitions 144 Antenna extension 2 Antenna height 144 259 264 Antenna height base 275 Antenna name and status of received base 262 A A A gt ntenna parameters 127 260 ntenna reduction 263 ntenna reduction mode 148 ntenna used at the base 263 ARP 57 148 149 Ashtech legacy format 219 TL 109 265 TL command 152 TL file 152 TM 153 184 267 TM ALL 155 TM PER 156 TM VER 156 TO 268 TOM 18 TOM data parameters 267 TOM files 111 TOM format 83 TOM message parameters 268 TOM messages 153 TOM messages output rate 156 TOM messages version 156 ATOM RNX differential message 234 358 ATOM version 111 AUTO 9 Auto Dial 79 autoconfig cmd file 136 autoconfig log file 137 B Backlight 5 Backup mode 172 Backup RTK 172 gt rPrrrrrrrrrrrrrrey 407 BAS
64. 300 d4 Message type 1 label 1 d5 Message type 1 output rate in seconds 0 300 d Message type 2 label 2 d7 Message type 2 output rate in seconds 0 300 d8 Message type 3 label 3 d9 Message type 3 output rate in seconds 0 300 cc Checksum 00 FF 274 Query Command Library Example The response line below reports four enabled CMR messages type O and 3 at 1 second and types 1 and 2 at 30 seconds PASHQ CMR MSI PASHR CMR MSI 4 0 1 0 1 30 0 2 30 0 3 1 0 50 See also PASHS CMR TYP PASHQ BAS PASHQ CPD MOD CPD AFP Ambiguity Fixing Parameter Function This command is used to read the current setting for the ambiguity fixing parameter Command Format Syntax PASHQ CPD AFP cc Response Format Syntax PASHR CPD AFPf cc Parameters Parameter Description Range Ambiguity fixing value 0 means the 0 95 0 99 0 99 9 receiver will stay in Float mode cc Checksum 00 FF Example PASHQ CPD AFP PASHR CPD AFP 99 0 6A See also PASHS CPD AFP CPD ANT Base Antenna Height Function This command is used to read the current parameters of the base antenna height as received by the rover 275 Query Command Library Command Format Syntax PASHQ CPD ANT cc Response Format Syntax PASHR CPD ANT ft f2 3 m4 f5 cc Parameters Parameter Description Range ff Ante
65. 5 0 9 s 1 999 operating at 0 05 s 20 Hz s cc Optional checksum 00 FF Raw data message types Data Description MPC GPS GLONASS SBAS measurements DPC Compact GPS raw data PBN Position information SNV GPS ephemeris data SNG GLONASS ephemeris data 219 Set Command Library Data Description SNW SBAS ephemeris data SAL GPS almanac data SAG GLONASS almanac data SAW SBAS almanac data ION lonospheric parameters SBD SBAS data message Examples Enabling output of MPC message type on port A to 1 second PASHS RAW MPC A ON 1 1E Enabling output of SNV message type on port A to 300 seconds PASHS RAW SNV A ON 300 09 Comments e For each of the SNV SNG SNW SAL SAG SAW and ION messages the f4 parameter can only take an integer value of seconds and refers to the interval between messages related to the same satellite and with the same content For a given satellite each of these messages is therefore renewed every x seconds where x f4 or following a change in the message content on change whichever occurs first Each of these messages cannot be output more than once over a given period of 1 second e By default f4 is set as follows Output message f4 Default Value SNV SNG ION 900 SAL SAG 3600 SNW 120 SAW 300 e The SBD message output rate is always 1 second as decoded Parameter f4 is ignored Relevant Query PASHQ
66. 9 V PASHS PWR PAR 7 9 41 PASHQ PWR QZS Enabling Disabling QZSS Tracking Function Command Format Relevant Query 218 Command This command is used to enable or disable QZSS tracking The QZSS constellation tracking function is off by default Syntax PASHS QZS s cc Parameters Parameter Description Range Default S Programmable pin ID ON QZSS satellites tracked and used OFF QZSS satellites not tracked ON or OFF OFF cc Optional checksum 00 FF Example Enabling QZSS tracking PASHS QZS ON PASHQ QZS PASHQ PAR See Also PASHS CFG PASHS SBA PASHS GPS PASHS GLO PASHS GAL RAW Enabling Disabling Raw Data Messages in Legacy Ashtech Format Set Command Library Function Command Format This command is used to enable or disable the standard continuous output of raw data in legacy Ashtech format Syntax PASHS RAW s1 c2 s3 f4 cc Parameters Parameter Description Range Default s1 Raw data message type See table below Port routing the raw data mes sage A Serial port c2 C Bluetooth port AGM U M Internal memory U External memory USB Enables ON or disables 3 OFF the raw data message ONOFF OFF Output rate in seconds 0 05 s or 0 1 0 4 s Mi Keeping PASHS POP at 20 with F option acti 1 is the necessary condition to vated 0
67. 99 9 s17 Firmware version ID 4 character string cc Checksum 00 FF Example PASHQ DPO PASHR DPO 3 09 131143 50 40 910 N 54 072 E 13 363 0 0 0 0 0 0 1 9 1 0 1 6 1 2 6010 5B 290 See also Query Command Library Comment The code allotted to a position solution of the SBAS differential type is either 1 or 9 depending on the last PASHS NPT command run PASHS NME PASHS NPT DRD Data Recording Duration Function Command Format Response Format Example Relevant Set Command This command returns the duration that was last set for all the G files that the receiver will be recording Syntax PASHQ DRD cc Parameters None Syntax PASHR DRD d1 cc Parameters Parameter Description Range d1 Duration of data recording held in one G file in seconds 15 1440 cc Checksum 00 FF PASHQ DRD PASHR DRD 60 0C PASHS DRD DRI Raw Data Recording Rate Function This command queries the current recording rate for all raw data logged in the internal or external memory 291 Query Command Library Command Format Response Format Relevant Set Command See also Syntax PASHQ DRI cc Syntax PASHR DRI f1 cc Parameters Parameter Description Range 0 05 s fi Current raw data recording rate 0 1 0 9 s 1 999 s cc Checksum 00 FF Example PASHQ DRI PASHR DRI 1 00 18 PASHS DRI PASHQ ATM PASHQ REC DSY
68. 999999 minutes c7 East E or West W E W 8 Altitude above the WGS84 ellipsoid 9999 000 9 Age of differential corrections in seconds 0 999 10 True Track Course Over Ground in degrees 0 0 359 9 11 Speed Over Ground in knots 0 0 999 9 f12 Vertical velocity in dm s 999 9 13 PDOP 0 99 9 f14 HDOP 0 99 9 15 VDOP 0 99 9 f16 TDOP 0 99 9 s17 Firmware version ID 4 char string cc Checksum 00 FF Example PASHQ POS 338 Query Command Library PASHR POS 3 10 151858 00 4717 960848 N 00130 499487 W 82 972 0 0 0 0 0 0 2 0 1 1 1 7 1 3 G010 49 Comment The code allotted to a position solution of the SBAS differential type is either 1 or 9 depending on the last PASHS NPT command run Relevant Set PASHS POS Command See also PASHS NME PASHS NPT Automatic Output This is a reminder on how to output POS messages at regular of POS Messages intervals of time Use the PASHS NME command with the syntax below PASHS NME POS lt port_ID gt ON lt Rate gt For more details on the PASHS NME command refer to the Set Command Library Chapter As an example the command below will output POS messages on port A at a rate of 0 2 second PASHS NME POS A ON 0 2 PPS PPS Settings Function This command is used to read the current settings signal period offset and valid edge of the PPS signal Command Format Syntax PASHQ PPS cc Response Format Syntax PASHR PPS ft f2 c3 cc 339 Query Command Libr
69. Antenna Name amp Offsets of Received Base PASHS ANP REF Reference antenna PASHQ ANP REF Reference antenna PASHS ANR Antenna reduction mode PASHQ ANR Antenna reduction mode PASHS ANT Antenna height PASHQ ANT Antenna height PASHS ATL Debug data recording PASHQ ATL Debug data recording PASHS ATM ATOM messages PASHQ ATM ATOM data parameters PASHS ATM ALL Disable ATOM messages PASHS ATM PER ATOM output rate PASHS ATM VER Set Version of ATOM Messages PASHQ ATO ATOM message parameters PASHS BAS Differential data type PASHQ BAS Differential data type PASHS BEEP Beeper PASHQ BEEP Beeper PASHS BRD RTC Bridge PASHQ BRD RTC Bridge PASHQ BTH Bluetooth settings PASHS BTH NAME_ Bluetooth device name PASHS BTH PIN Bluetooth device pin code PASHS CFG GNSS tracking configuration PASHQ CFG GNSS tracking configuration PASHS CMD LOD Run command file PASHS CMD WTI Insert wait time in command file PASHQ CMR MSI CMR message status PASHS CMR TYP CMR message type amp rate PASHS CPD AFP Set confidence level PASHQ CPD AFP Ambiguity fixing parameter PASHS CPD FST RTK output mode PASHQ CPD FST RTK output mode PASHS CPD MOD Base rover mode PASHQ CPD MOD Base rover mode PASHS CPD NET Network corrections PASHQ CPD NET Network operation mode PASHS CPD REM _ Differential data port PASHQ CPD REM Differential data port PASHS CPD RST _ RTK process reset PASHS CPD VRS VRS assumption mode PASHQ
70. D baud rate 300 to 115200 38400 Parameter Range Default Device name 64 characters max Serial number PIN code 8 digits max 1 no PIN code Parameter Range Default Power management Manual Automatic Manual PIN code 8 digits max Protocol GPRS GPRS Network type 2G 3G auto or 2G Auto GPRS access point name 32 characters max GPRS login 32 characters max GPRS password 32 characters max Internet protocol TCP UDP TCP Auto dial mode Yes No Yes Number of re dials 0 15 2 Watch dog 0 99 0 NTRIP IP address XXX XXX XXX XXX NTRIP host name 32 characters max NTRIP port number 0 65535 2100 NTRIP login 32 characters max NTRIP password 32 characters max NTRIP type Client Server Client Direct IP address or host name XXX XXX XXX XXX 0 0 0 0 Direct IP port number 0 65535 2100 Parameter Range Default Radio type UNKNOWN NONE ADL Power management Manual Automatic Automatic 125 Miscellaneous NMEA Messages Computed Data NMEA Messages Raw Data Raw Data Logging 126 Parameter Range Default Output rate 0 05 s 999 s 1s Port A xxx ON OFF OFF Port A xxx rate 0 05 s 999 s 1s Port C xxx ON OFF OFF Port C xxx rate 0 05 s 999 s 1s Port E xxx ON OFF OFF Port E xxx rate 0 05 s 999 s 1s Port M xxx ON OFF OFF Port M xxx rate 0 05 s 999 s 1s Port U xxx ON OFF OFF Port U xxx rate 0 05 s 999 s 1s xxx NMEA message ty
71. Daisy Chain Status Function Command Format Response Format 292 This command queries the receiver for the status of the daisy chain function Syntax PASHQ DSY cc Parameters None Syntax PASHR DSY OFF 59 or PASHR DSY c1 c2 d3 cc Relevant Set Command Query Command Library Parameters Parameter Description Range Source port A Serial port c1 C Bluetooth port D Radio E Modem A C D E Destination port A Serial port c2 C Bluetooth port D Radio E Modem A C D E Mode d3 0 Raw default 0 1 1 Block cc Checksum 00 FF Example Command reporting data on port A forwarded to port C PASHQ DSY PASHR DSY A C 38 PASHS DSY DTM Datum Reference Function Command Format Response Format This command asks the receiver to output the content of the NMEA DTM message Syntax PASHQ DTM cc Parameters None Syntax GPDTM s1 f2 c3 f4 c5 f6 s7 cc 293 Query Command Library See Also Automatic Output of DTM Messages 294 Parameters Parameter Description Range Local datum code W84 WGS84 used as local datum s1 999 Local datum computed using the W84 999 parameters provided by the RTCM3 1 data stream f2 Latitude offset in meters 0 59 999999 c3 Direction of latitude N S f4 Longitude offset in meters 0 59 999999 c5 Direction of long
72. Distance unit used M Meters F US Survey Feet IF International Feet M F IF cc Checksum 00 FF Example PASHQ UNT PASHR UNT M 5A Relevant Set PASHS UNT Command USR POS Reading Position Defined for User Message Type GGA Function This command is used to query the position entered to be inserted into the user message of the GGA type Command Format Syntax PASHQ USR POS cc Response Format Syntax PASHR USR POS m1 c2 m3 c4 fo cc Parameters Parameter Description Range Latitude in degrees and minutes with 7 decimal m1 0 90 places ddmm mmmmmmm c2 North N or South S N S m3 Longitude in degrees minutes with 7 decimal 0 180 places ddmm mmmmmmm c4 West W or East E W E f5 Height in meters 0 9999 9999 cc Checksum 00 FF Example PASHQ USR POS PASHR USR POS GGA4717 959483 N 00130 500968 W 70 229 xx 379 Query Command Library Relevant Set PASHS USR POS Command USR TYP Reading Currently Defined User Message Type Function This command is used to query the type of user message currently set in the receiver Command Format Syntax PASHQ USR TYP cc Response Format Syntax PASHR USR TYP s cc Parameters Parameter Description Range User message type currently set TXT text message type The inserted text is the one you define using command PASHS USR TXT GG
73. Elevation mask position 336 Ellipsoidal height 64 ELM 184 296 Enable disable Galileo 187 Enable disable GPS 189 Entering text for use in TXT user message 253 Epoch 86 89 External event 19 Extrapolation 86 F Factory settings 8 121 124 Fast RTK 86 88 277 FAST RTK mode 112 Fast RTK Output mode 170 FEC 76 Field bag 3 Field delimiter 134 Field terminal 27 FIL CUR 296 FIL D 185 FIL DEL 186 FIL LST 297 Firmware options 21 209 332 Firmware update 8 Firmware upgrade 117 Firmware version 12 383 FIXED 9 Fixed solution 34 FKP 18 19 80 172 FLOAT 9 Float mode 169 FLS 299 Forward Correction Error 76 Frequency band UHF radio 76 FSK 76 G GAL 187 300 GALILEO 34 Galileo enable disable 187 GALILEO satellites status 365 GALILEO tracking status 300 General Status screen 9 31 Geographic coordinates 63 Geoid 64 71 Geoid model 301 305 G file being recorded 296 GGA 201 300 GLL 201 302 GLO 188 304 GLONASS 1 17 GLONASS biases 143 257 GLONASS carrier phase biases 222 GLONASS satellites status 367 GLONASS tracking 188 GMP 304 GMSK 76 GNS 306 GNSS 34 409 GNSS centric 18 GNSS Fix Data 306 GNSS reception 127 GNSS tracking configuration 164 273 Golden receiver 143 GPRS 27 74 GPS 17 189 308 GPS enable disable 189 GPS amp SBAS satellites status 369 GPS tracking status 308 Ground speed 384 GRS 201 309 GSA 201 GSM 73 77 78 GSM antenna 3 7 27
74. GNSS Antennas and Antenna Heights ccccseeceseeeeeeeeeeeeeeaes 56 Using a Virtual Antenna nicit da a a i 61 Ellipsoidal Height and Elevation s ssssssssssrsersssrerrerrrsrrrerresree 63 General Considerations Regarding ACCUraCy ccccseeeeaeeeeaeeeeees 66 LOCalizatlonicsivgis sete edited Maelo aid 69 Chapter 5 RTK Implementation c ccsccsseessssecssessseesseesseeeees 73 Datalink ite ain eck ve ie ee en ett ie ere ls 73 RTK Correction Data Formats ccccseeeeeeeeeeeeeeaneeeeeeaeeeeeeees 83 RTK Position OUtDUt sci cee ciccevesseeeadsaceneneetaascevteceraesceaeeeeaeneed 86 Chapter 6 Troubleshooting c ccsssecsssecsseesseesseeesseesseeessseecaes 93 List of Alarms sess ssevirwied eit ahi SL eA ads 93 Receiver is Not Tracking Satellites cccccececsseceeseeeaeeeeneeeeeeees 98 Receiver is Not Logging Data ccccccseccceeeeeeeeceseeeseeeeaeeeeaes 100 Radio Data Link Fails to Provide Base Corrections to Rover 101 Data Link Okay but No Fixed Position Computed 0cce00s 104 Rover is Computing Positions with High Uncertainties 106 Logging Data for RTK Troubleshooting Purposes Reporting a Problem to Tech Support c ccccsececeeeeseeeeeeeeens 109 Ii Chapter 7 Miscellaneous ccscccsssesssseessseessseesseeesseesseeseeeees 111 ATOM File Naming ConventionS ssssssssssrsssrerrrsrierrsrreeren 111 Reverting to
75. Horizontal 3 mm 0 009 ft 0 5 ppm e Vertical 5 mm 0 016 ft 0 5 ppm High Precision Static 6 e Horizontal 3 mm 0 009 ft 0 1 ppm e Vertical 3 5 mm 0 011 ft 0 4 ppm Post Processed Kinematic e Horizontal 10 mm 0 033 ft 1 0 ppm e Vertical 20 mm 0 065 ft 1 0 ppm Recording Interval e 0 05 to 999 seconds Size 22 8 x 18 8 x 8 4 cm 9 x 7 4 x 3 3 e Weight 1 4 kg 3 1 Ib e Graphic OLED display e RS232 RS422 USB Bluetooth e 1PPS output e 128 MByte internal memory expandable through USB e Up to 400 hours of 15 s GNSS raw data from 18 satellites e RTK rover base post processing e RTK network rover VRS FKP MAC e Point to Point through Real time Data Server RTDS Software e RTC Bridge e NTRIP protocol e Rover can decode RTCM messages 1021 1022 1023 and 1025 so that its position may be computed in the same local coordinate system and same local projection with message 1025 as the one used at the base station 4 Accuracy and TTFF specifications may be affected by atmospheric conditions signal multipath satellite geometry and corrections availability and quality Position accuracy specifications are for horizontal positioning Vertical error is typically less than twice the horizontal error 5 Performance values assume minimum of five satellites following the procedures recommended in the product manual High multipath areas high PDOP values and periods of severe atmospheric conditions
76. LRK e NMEA 0183 messages output e RTK networks VRS FKP MAC See footnotes 2 and 3 SBAS WAAS EGNOS MSAS e Horizontal lt 50 cm 1 64 ft Real Time DGPS Position e Horizontal 25 cm 0 82 ft 1 0 ppm in typical conditions Real Time Kinematic Position Fine Mode e Horizontal 10 mm 0 033 ft 1 0 ppm e Vertical 20 mm 0 065 ft 1 0 ppm Instant RTK Initialization e Independent of GPS availability when other GNSS signals are available 1 e Typically 2 second initialization for baselines lt 20 km e 99 9 reliability RTK initialization range e gt 40km See footnotes 4 and 5 Static amp Fast Static 1 Z Blade GNSS centric technology uses all available GNSS signals equally without any constellation preference to deliver fast and stable positioning solution 2 Accuracy and TTFF specifications may be affected by atmospheric conditions signal multipath satellite geometry and corrections availability and quality Position accuracy specifications are for horizontal positioning Vertical error is typically less than twice the horizontal error 3 Performance values assume minimum of five satellites following the procedures recommended in the product manual High multipath areas high PDOP values and periods of severe atmospheric conditions may degrade performance Data Logging Characteristics Physical Characteristics User Interface 1 0 Interface Memory Operation Introduction e
77. MTP OCC Ocupation State and Parameters Function Command Format Response Format 330 This command is used to read the current occupation settings Syntax PASHQ OCC cc Syntax PASHR OCC d1 d2 s3 s4 cc Relevant Set Command Query Command Library Parameters Parameter Description Range Occupation type 0 Static d1 1 Quasi static 0 2 4 2 Dynamic 4 On kinematic bar 20 cm long Occupation state d2 0 Occupation in progress 0 1 e 1 No occupation in progress 3 Occupation name 255 characters max s4 Occupation description 255 characters max cc Checksum 00 FF Examples PASHQ OCC PASHR OCC 2 1 38 PASHS OCC 331 Query Command Library OPTION Installed Receiver Firmware Options Command Format Response Format 332 This command is used to list the firmware options currently installed in the receiver The returned message includes one response line per installed option Syntax PASHQ OPTION cc Syntax PASHR OPTION c1 s2 h3 cc Parameters Parameter Description Range c1 Option ID See table below s2 Option label h3 Hexadecimal unlock code 13 characters max cc Checksum 00 FF Option ID Label Description Registration code depends on the firmware REGISTRATION version required to activate the options With CODE out this code all the options below become
78. Noise Ratio Mask 244 Function This command is used to mask the signal observations that do not meet the minimum signal to noise ratio you specify This means that only the observations meeting this requirement will be output all the others will be rejected This mask is enabled only after the User defined option 9 has been selected with the PASHS SOM command Command Format Relevant Query Command See Also Set Command Library Syntax PASHS SOM SNR f1 f2 cc Parameters Parameter Description Range Default fi Differential data mask 0 means no mask 0 60 dBHz 28 Raw data mask If s2 is omitted then the f2 receiver will assume s2 s1 0 means no 0 60 dBHz 28 mask cc Optional checksum 00 FF Raw Data Masked by f2 Differential Data Masked by f1 MPC DPC ATM MES All other messages ATM RNX SCN O Comments e The PASHS SOM SNR command can only mask particular signal data for which the SNR does not meet your requirement If however at the same time the LICA data are disabled then all the satellite observations will also be masked e The PASHS SOM SNR command equally affects all GNSS systems and their signals except GPS L1P Y and L2P Y For these two signals a hard coded SNR threshold is applied Examples Setting SNR masks for both differential and raw data to 30 dBHz PASHS SOM SNR 30 68 Enabling all signal observations to
79. OFF OFF OFF OFF avr SAL OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF DAT OFF OFF OFF OFF are Ion OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF EV RNX OFF OFF OFF OFF OFF OFF OFF OFF avr ave SBD ON OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF su 00l OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF beppe SAW OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF SNG 00l OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF SAG OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF Query Command Library The parameters returned by PASHQ PAR OUT should be interpreted as follows OFF means the message is currently not output ON means it is currently output with the default output rate A specified output rate means this rate has been user set through the appropriate command 335 Query Command Library PEM Position Elevation Mask Function Command Format Response Format Relevant Set Command See also This command is used to read the current value of the elevation mask used in the position processing Syntax PASHQ PEM cc Syntax PASHR PEM d1 cc Parameters Parameter Description Range d1 Elevation mask angle 0 90
80. PASHS SNM Command SOM Signal Observations Masking Function Command Format Response Format Relevant Set Command 372 This command is used to read the type of mask currently applied to signal observations Syntax PASHQ SOM cc Parameters None Syntax PASHR SOM d cc Parameters Parameter Description Range Mask type 0 No masking 1 Reference station s 2 Static base 3 Moving base 4 Rover 9 User defined 0 4 9 cc Checksum 007 FF Example PASHQ SOM PASHR SOM 4 3D PASHS SOM Query Command Library SOM CTT Cumulative Tracking Time Mask Function Command Format Response Format Relevant Set Command See Also This command is used to read the current setting of the cumulative tracking time mask applied to signal observations This mask is active only when applying masks to signal observations has been set to be user defined see PASHS SOM Syntax PASHQ SOM CTT cc Parameters None Syntax PASHR SOM CTT d1 d2 cc Parameters Parameter Description Range Default d1 Mask applied to differential data in seconds 0 255 10 d2 Mask applied to raw data in seconds 0 255 10 cc Checksum 00 FF Example PASHQ SOM CTT PASHR SOM CTT 10 67 PASHS SOM CTT PASHS SOM SOM NAV Navigation Data Mask Function This command is used to read the current setting of the
81. Range Name of the virtual antenna ai characters s1 If OFF is returned this means no virtual max antenna is selected Cc Checksum 00 FF Example PASHQ ANP OUT PASHR ANP OUT ADVNULLANTENNA 72 Relevant Set PASHS ANPOUT Command ANP OWN Local Antenna Used Function This command returns the name of the GNSS antenna currently used by the receiver Command Format Syntax PASHQ ANP OWN cc 261 Query Command Library Parameters None Response Format Syntax PASHR ANP OWN s1 82 s3 cc Parameters Parameter Description Range s1 Name of the local antenna 31 characters max s2 Antenna serial number 31 characters max Antenna setup ID 0 255 cc Checksum 00 FF Example PASHQ ANP OWN PASHR ANP OWN ASH802147 201143125 30 Relevant Set PASHS ANPOWN Command ANP RCV Antenna Name and Offsets of Received Base Function This command queries the receiver for the antenna name and offsets of Command Format Syntax the received base PASHQ ANP RCV cc Response Format Syntax PASHR ANP RCV 81 f2 f3 f4 f5 16 f7 cc Parameters Parameter Description s1 Antenna name NONE if non name received for the base antenna f2 L1 North offset in mm 3 L1 East offset in mm f4 L1 Up offset in mm f5 L2 North offset in mm f6 L2 East offset in mm f7 L2 Up offset in mm cc Checksum Example PASHQ A
82. SAG SAW ION SBD BAUD PRTA ON OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF 6 PRTC OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF 1 MEMM OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF 1 MEMU OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF 0 Query Command Library Parameters Parameter Description Range PER Output rate in seconds 0 00 999 00 ELM Elevation mask used in data recording amp 0 90 data output MPC DPC PBN SNV SNG SNW RAW Raw data type SAL SAG SAW ION SBD PRTA Serial port ON OFF PRTC Bluetooth ON OFF MEMM Labels for memories M MEMM internal ON OFE MEMU memory and U MEMU USB key For serial port Baud rate code BAUD For other devices 0 if not available else 9519 1966 tanig yn below Code Baud Rate Code Baud Rate 0 300 T7 38400 1 600 8 57600 2 1200 9 115200 3 2400 10 230400 4 4800 11 460800 5 9600 12 921600 6 19200 13 1428571 Relevant Set PASHS RAW Command RCP Receiver Parameters Function Command Format Syntax 345 Query Command Library Parameters Parameter Description Range Name of the receiver case sensitive ne s1 If s1 is omitted the parameters for all the receiv ma ers described in the database are listed cc Checksum 00 FF Response Format The response is in user readable form RCP OWN Receiver Name Function This command is used to read the name assign
83. This command is used to query the types of NMEA messages currently enabled on the specified port Syntax PASHQ NMO c cc Parameters Parameter Description Range Queried port ID A Serial port C C Bluetooth port A C E M U E Modem M U Memory cc Optional checksum 00 FF Syntax PASHR NMO c1 d2 f3 d4 n s5 f6 cc n 18 Parameters Parameter Description Range Queried port ID A Serial port c1 C Bluetooth port A C E M U E Modem M U Memory 0 15 A E d2 Baud rate code 0 1 C M U Output rate as defined by the last iS PASHS NME PER command run Ee d4 Number of NMEA messages listed in the 28 response line ALM DTM GGA GLL GMP GNS GRS GSA GST GSV HDT RMC VTG ZDA ATT s5 NMEA message type CRT DCR DDS DPO LTN POS RRE SAT SGA SGL SGP USR VEC XDR PTT 325 Query Command Library Parameter Description Range Output rate 6 0 05 or 0 1 to 0 9 or 1 999 Output rate in 0 999 00 s seconds 0 Message disabled cc Checksum 00 FF Example PASHQ NMO A PASHR NMO A 6 001 00 28 ALM 0 00 DTM 0 00 GGA 0 00 GLL 0 00 GNS 0 00 GRS 0 00 GSA 0 00 GST 0 00 GSV 0 00 HDT 0 00 RMC 0 00 VTG 0 00 XDR 0 00 ZDA 0 00 ATT 0 00 CRT 0 00 DCR 0 00 DDS 0 00 DPO 0 00 LTN 0 00 POS 0 00 PTT 0 00 RRE 0 00 SAT 0 00 SGA 0 00 SGL 0 00 SGP 0 00 VE C 0 00 04 See also PASHS NME NPT Tagging of SBAS Differe
84. V1 for All ATOM Messages Generated by the Receiver111 Time tagged RTK vs FAST RTK Position Output essecsecseeceeen 112 Special Button Combinations Summary 112 Reset ProGeduire _ sera tang E rE eaa EA Eia 113 Using a USB key to Save Upload Receiver Configurations or Copy User Data ear ert raea ea aae E Ra ea aa raia i h aars 113 Asking a Rover to Use the Same Local Coordinate System as the Base wire eee ie ace etd EEN 116 Firmware Upgrade Procedure ccccccseccesececneceeeeeeeeeseeeeneeeeaeee 117 Enabling a Firmware Option ccccscccceeceeeeeeseeeeaeeeeaeeeeaeeesnees 119 Configuring Serial Port A 1 Installing a SIM Card ccccccccccccssecseeeeseeeeaeeeeseeeeeeeesaeeeeaeeenaes Changing the Radio Module or Using One for the First Time 120 Direct IP Connection To Your Own Base Through GPRS Modem and RT DS Sofware veces gecxesidsasa ies ea civdsdiaadicestssncnctavsiedicsteasdiasaiy 121 Appendix A Using Serial Commands cscccssecssessseessseessseeees 133 Introduction to Serial Commands ccceeeeeeeeeeeeeaeeeeeeeaaeeeeees 133 Applying Commands Through Bluetooth or a Serial Port 134 Running Serial Commands from a USB Key List of Commands cccch echt lui aasar eaa Eaa aea ina anani 1 Appendix B Set Command Library ccccssccssesssesssessseessseeees AGB Enabling Disabling GLONASS Bias Adjustments a ANH Antenna Height cccccccseeccseeceeeee
85. also PASHS RDP PAR PASHS RDP ON PASHQ RDP OFF REC Enable Disable Start Stop Raw Data Recording Function This command allows you to enable disable start or stop raw data recording Raw data is recorded in the memory you selected with the PASHS MEM command 232 Command Format Relevant Query Command See also Syntax PASHS REC c cc Parameters Set Command Library Parameter Description Range Control character Y Yes The receiver will immediately start recording data This option also enables data recording at receiver power up i e recording will start every time you turn the receiver on even if you stopped recording before the end of the pre vious session N No The receiver will immediately stop record ing data This option also disables data recording at receiver power up i e the receiver won t resume data recording when you next turn it on This is the default mode S Stop The receiver will immediately stop recording raw data This option does not affect the way the receiver operates at power up R Restart The receiver will immediately start recording raw data This option does not affect the way the receiver operates at power up Y N S R cc Optional checksum 00 FF Examples Starting raw data recording PASHS REC Y 54 Stopping raw data recording PASHS REC N 43 PASHQ REC PASHS MEM PASHS ATM PASHS NME PAS
86. amp accuracy data PASHQ VTG COG and ground speed PASHQ ZDA Time and date 142 Appendix B Set Command Library AGB Enabling Disabling GLONASS Bias Adjustments Function Command Format This command is used to enable or disable the adjustment of L1 amp L2 GLONASS carrier biases in the receiver so that the GLONASS Double Difference carrier residuals between the receiver and the golden Ashtech receiver are equal to zero noise errors MB 500 is considered as the golden Ashtech receiver After activating the adjustment function the receiver name provided by any message supposed to deliver that name e g RTCM 3 MT 1033 will appear in the form ASHTECH lt space gt lt name gt Where lt space gt is a space character between the two words and lt name gt is the receiver name entered through the PASHS RCP OWN command Syntax PASHS AGB s1 cc Parameters Parameter Description Range Default Enabling ON or disabling OFF s adjustment of GLONASS biases ON OFF OFF cc Optional checksum 00 FF Example Enabling adjustment of GLONASS biases PASHS AGB ON 1C 143 Set Command Library ANH Antenna Height Function Command Format Relevant Query Command See also This command allows you to enter the antenna height If not specified the height measurement type is set to Vertical Syntax PASHS AN
87. and antenna A depends on scenario height chosen Receiver and antenna attributes 31 seconds 0 05 to 1800 seconds DBEN DBEN is an older Ashtech proprietary format not recommended for use anymore It is a compressed format that includes pseudo range and carrier phase measurements The DBEN format consists of two different messages as described in the table below Transfer Rate Message Type default Range Less than 1 second up to 300 seconds 1 to 300 seconds Code and phase measurements 1 second Base position 30 seconds 83 RTK Implementation Standard Formats 84 CMR CMR CMR for Compact Measurement Record is a non proprietary RTK format that uses data compression techniques to reduce the bandwidth required to transmit the RTK data In other words the amount of data to be transmitted on the data link is less with CMR than with many other formats There is also an enhanced version of this format called CMR Transfer Rate Message Type default Range Less than 1 second up Observables 1 second to 300 seconds Coordinates of base position 30 seconds 1 to 300 seconds Base description 30 seconds 1 to 300 seconds RTCM RTCM for Radio Technical Commission for Maritime Services is the most widespread standard format for transporting RTK correction data As listed below there are several versions of the RTCM format available in Spectra
88. and the Receiver Port Used Function Command Format This command is used to set manually the type of radio connected to the specified port Normally the type of internal radio typically connected to port D is detected automatically If you change physically the internal radio of the receiver you may send command PASHS RDP TYP D UNKNOWN or reset the receiver configuration so that the receiver can detect automatically the new internal radio Syntax PASHS RDP TYP c1 s2 cc 231 Set Command Library Parameters Parameter Description Range c1 ID of the port connected to the radio you want to set s2 Radio Model UNKNOWN Auto detection port D only NONE No radio PDL Pacific Crest radio Internal port D PDL RXO External port A PDL HPB LPB ADL Pacific Crest radio Internal port D ADL RXO External port A ADL Vantage or ADL Vantage Pro XDL Pacific Crest XDL Rover MGL Radio transmitter P N 800986 MDL U Link LFE License free radio Europe ARF7474B LFA License free radio North America ARF7474A Port A NONE PDL MGL MDL LFE LFA ADL XDL Port D UNKNOWN NONE PDL MDL or ADL cc Optional checksum 00 FF Examples Auto detecting the internal radio receiver PASHS RDP TYP D UNKNOWN 4E Setting the external radio as a Pacific Crest ADL Vantage PASHS RDP TYP A ADL Relevant Query PASHQ RDP TYP Command See
89. be output regardless of the signal to noise ratio PASHS SOM SNR 0 5B PASHQ PAR PASHQ SOM SNR PASHS SOM PASHS SOM NAV PASHS SOM CTT 245 Set Command Library PASHS SOMM WRN SOM WRN Channel Warnings Mask Function Command Format 246 This command is used to mask the signal observations for those signals flagged with channel warnings MPC warning bits are counted from 1 to 8 This means that only the observations from non flagged signals will be output all the others will be rejected This mask is enabled only after the User defined option 9 has been selected with the PASHS SOM command Syntax PASHS SOM WRN s s2 cc Parameters Parameter Description Range Default s1 Differential data mask ON OFF ON Raw data mask If s2 is omitted then the s2 p receiver will assume s2 s1 ON OFF OFF cc Optional checksum 00 FF Raw Data Masked by s2 Differential Data Masked by s1 MPC DPC ATM MES ATM RNX SCN 0 All other messages Comments e A signal is considered as flagged in at least one of the following cases Carrier phase tracking is not stable Bit 3 of MPC MCA warning is set Pseudo range data quality is bad Bit 5 of MPC MCA warning is set Polarity is not resolved MPC MCA Phase Tracking Polarity flag is set to 0 e The PASHS SOM WRN command will mask only some particular signal data e g LLICA or L2P
90. be run with the receiver powered from both a fully charged internal battery and the AC DC power supply kit You also need a USB key to make the upgrade files available to the receiver Follow the instructions below to complete the upgrade of your receiver 1 Check that the USB key used for the upgrade is not write protected and then connect it to your computer 2 Using Windows Explorer copy the tar bz2 file s to the root directory of the USB key 3 Check that there is at least 10 Mbytes of free memory left on the USB key The free memory will be used during the upgrade for decompressing data 4 Disconnect the USB key from the computer after taking the usual safety precautions related to the USB standard 5 Make sure the receiver you want to upgrade is OFF and ready for upgrade i e internal battery present and external AC DC power supply connected and on 117 Miscellaneous 118 Fully charged battery inside ProMark 800 l To Power Line Cable P N 702104 DC Power Input AC DC Power Supply Kit P N 802064 Connect the USB key now containing the upgrade files to the receiver s USB connector through cable P N 702104 provided Hold down the Scroll button and then press the Power button for about 10 seconds After about 30 seconds the Ashtech logo on the screen is replaced with the Upgrade in progress message meaning that the upgrade proc
91. between base and rover plus the absolute difference between the computed base position and the real base position For example assume that the coordinates assigned to the base point are 30 meters off the true base position This 30 meter offset from truth will produce 2 ppm 0 002 m per kilometer or 0 010 ft per mile of error in the vector between base and rover If the rover is 5 kilometers 3 miles from the base this will produce 0 010 m 0 030 ft of error in the vector In most cases the base receiver will estimate its position to Initialization Precise Surveying Field Applications amp Concepts better than 30 meters probably closer to 10 20 meters but an error of 50 meters is possible If you plan to use an estimated position for the base keep the vector lengths between the base and rover short and ensure the added error is not significant for the survey you are performing Preamble Importance of Baseline Length Key Terms and Expressions mee Initialization also known as ambiguity fixing integer fixing or just fixing is the process through which your real time receiver or post processing software can solve the integer ambiguity inherent in the carrier phase processing Solving for the integer ambiguities is a prerequisite for the receiver or software to be able to deliver centimeter accurate positions For this reason initialization is a requirement you should constantly keep in mi
92. by the PASHS DYN 9 command Note that when the adaptive dynamic mode DYN 8 is selected the user defined model is automatically excluded from the possible models that could best describe the current receiver dynamics PASHQ UDP PASHS DYN UNT Distance Unit Used on Display Screen Function This function is used to choose the distance unit you want the receiver to use when providing coordinates on its display screen 249 Set Command Library Command Format Relevant Query Command Syntax PASHS UNT s1 cc Parameters Parameter Description Range Default s1 Desired distance unit e M Meters F US Survey Feet IF International Feet M F IF cc Optional checksum 00 FF Example Choosing US Survey Feet PASHS UNT F 50 PASHQ UNT USE Enabling or Disabling the Tracking of a GNSS Satellite Function Command Format 250 This function is used to enable or disable the tracking of a particular GNSS satellite Syntax PASHS s1 USE d2 s3 cc Set Command Library Parameters Parameter Description Range Default GNSS type GPS GPS A e GLO GLONASS N GAL GALILEO azs anh SBA SBAS QZS QZSS Satellite PRN e For GPS 1 32 e For GLONASS 1 24 For GALILEO 1 30 d2 For SBAS 1 19 4 32 For QZSS 1 5 d2 omitted in the command line combined with s3 ON Re enables all the satellites you previously dis
93. c3 Input port ID port from which RTK correc tions are available in the receiver c4 Output port ID serial port to which the licence free radio transmitter is con nected cc Optional checksum 00FF Examples Enabling RTC Bridge in the receiver by forwarding RTK corrections from the modem to its port A to which the license free radio transmitter is connected PASHS BRD ON 0 E A 14 Disabling RTC Bridge by preventing RTK corrections from being forwarded to the output port PASHS BRD OFF 42 e To receive data the PASHS NTR and PASHS DIP commands should be used e lf the data needs to be sent to an external UHF transmitter the PASHS RDP command should be used to configure the transmitter e The d2 parameter is taken into account only if the Automatic mode is selected for the choice of differential data inputs see PASHS CPD REM PASHQ BRD PASHS NTR PASHS DIP PASHS RDP TYP PASHS RDP PAR Using RTC Bridge Set Command Library PASHS CPD REM The RTC Bridge function is typically used to allow a rover to forward the RTK corrections it receives from an RTK network through its built in modem to other rovers operated in the vicinity using a license free radio transmitter connected to its serial port Being a low power unit lt 500 mW the license free radio can be powered directly from the receiver without the need for another external battery St
94. can be routed to your computer through its local IP address and port Install the RTDS software on your computer This is an easy step during which you just have to run the Ashtech Real Time Data Server x x x setup exe file provided then follow the instructions to complete the installation phase Determine whether you need to use the GPRS to GPRS or Serial to GPRS mode see above depending on your application Choose the base location and computer location accordingly On the computer launch RTDS and make the appropriate settings plus make the serial connection if the Serial to 123 Miscellaneous Default Settings GPRS mode is selected See RTDS on line help for more details 7 Start the RTDS server and let the software run throughout your field survey or permanently if you wish to set up a community base station 8 Set the base in Direct IP mode so that it sends its corrections to the RTDS software When defining the Direct IP connection you need to enter e The static IP address of the computer running the RTDS software e The port number assigned to the base connection in the RTDS software as entered in RTDS Software s RTDS Config gt Port Config gt Base Port field The RTDS operator will see the base to server arrow blink when corrections are received from the base The IP address of the base will appear under the base icon The incoming data throughput will be indicated just underneath the blin
95. cc Or if the channel table does not exist PASHR RDP CHT s1 0 Here n d2 347 Query Command Library 348 See also Parameters Parameter Description Range Radio Model e UNKNOWN Auto detection e NONE No radio e PDL Pacific Crest Internal port D PDL RXO External port A PDL HPB LPB e ADL Pacific Crest UNKNOWN PDL ADL MGL XDL s1 Internal port D ADL RXO MDL LFE LFA External port A ADL Vantage NONE External port A ADL Vantage Pro e MGL Radio transmitter P N 800986 e XDL Pacific Crest XDL Rover port A MDL U Link LFE License free radio Europe LFA License free radio North America 0 16 d2 Total number of available channels 0 32 for ADL A 0 15 d3 Channel index 1 32 for ADL f4 Receive frequency 410 470 MHz f5 Transmit frequency 410 470 MHz cc Checksum 00 FF Comments e Running this command should always be preceded by the execution of the PASHQ RDP PAR command otherwise the receiver will not respond properly e The number of d3 f4 f5 data sets n in the response line is equal to the number of channels d2 Examples PASHQ RDP CHT D PASHR RDP CHT PDL 7 0 446 7750 446 7750 1 444 1000 444 1000 2 445 1000 445 1000 3 446 1000 446 1000 4 447 1000 447 1000 5 448 1000 448 1 000 6 449 1000 449 1000 35 PASHQ RDP CHT A PASHR RDP CHT NONE 0 7B PASHS RDP TYP PASHQ RDP PAR Query Command Library RDP LVL Readin
96. data used N e oO Code only data used Carrier Doppler only data used 4 14 Reserved 15 Unknown usage status No navigation data for this satellite 17 Satellite below elevation mask 18 Satellite declared as unhealthy in ephemeris 369 Query Command Library Example See also Automatic Output of SGP Messages 370 Status Description 19 Computed coordinates of satellite are invalid 20 Satellite has been disabled by a PASH command 21 URA in ephemeris is not acceptable 22 SV is unhealthy according to almanac 23 Too low SNR 24 Suspected of being a ghost satellite 25 Because of too many Satellites used in the PVT this satellite has been deselected 26 30 Reserved for future causes of rejection 31 Other cause Satellite Correcting Status Status Satellite is not tracked Satellite is not corrected SBAS is corrected DGPS is corrected L1 RTK is corrected L1 amp L2 RTK is corrected Reserved Unknown correcting status PASHQ SGP PASHR SGP 13 02 216 22 42 0 25 0 01 15 04 188 03 34 0 0 0 17 15 05 28 4 71 51 0 44 0 01 15 07 058 50 50 0 39 0 01 15 08 116 77 51 0 41 0 01 15 10 148 53 50 0 38 0 01 15 13 080 13 38 0 15 0 25 15 15 272 03 37 0 0 0 1 7 15 21 332 04 37 0 0 0 17 15 26 276 39 47 0 33 0 01 15 28 142 20 41 0 20 0 01 15 33 200 34 41 0 16 15 39 146 32 41 0 16 15 16
97. e 2W Tracking L2P signal for all GPS SVs 2L 2W s2 e 2LW Tracking L2CS signal for L2CS capable 2LW 5Q or GPS SVs and L2P for others blank 5Q Tracking L5 signal for all GPS SVs Blank No second signal to be tracked Third Signal 33 2L Tracking L2CS signal for all GPS SVs 2L 5Q or 5Q Tracking L5 signal for all GPS SVs blank Blank No third signal to be tracked cc Optional checksum 00 FF Remember the settings you make with PASHS CFG have priority over those made with PASHS GPS The table below summarizes the interaction between these two commands Its content should be interpreted as follows If you run one of the PASHS GPS commands mentioned in the left hand column and you earlier chose to enable the single dual or triple signal tracking using PASHS CFG headers of 2nd 3rd Ath columns then the resulting tracking will be the one specified in the corresponding cell NAK means the command will be rejected NAKed If You Run PASHS GPS Single Signal Dual Signal Triple Signal ON 14 GPS Similar to See PASHS GPS command See PASHS GPS com PASHS GNS CFG 0 or 1 Common Defaults table mand TSL Defaults table ON1C 14 GPS similar to Same as Single Signal Second A tera S PASHS GNS CFG 0 or 1 Signal not tracked 9 not tracked p 12 GPS C A P Similar to Same as Dual Signal Third ON ee NA
98. female connector Fischer type Depending on how it is configured the USB port can be used in two different ways 1 For a USB host such as a mass storage device In this case you should use the special adaptor cable provided P N 702103 to attach the USB key to the ProMark 800 This configuration can be used to log raw data on the USB key or upgrade the ProMark 800 firmware from the files stored on the key 2 For a USB device allowing ProMark 800 to be seen as a disk from the computer connected to this port In this configuration files can be transferred between the ProMark 800 s internal memory and the computer using the USB cable provided P N 702104 RS232 422 Serial Port A seven contact female connector Fischer type allowing you to connect the ProMark 800 to an external device via an RS232 or RS422 serial line default RS232 Changing the configuration of the port can be done from the field terminal using the PASHS MDP serial command See MDP Setting Port A to RS232 or RS422 on page 198 Bluetooth Device An integrated Bluetooth module allowing the ProMark 800 to communicate with a Bluetooth enabled field terminal through a wireless connection Introduction Antenna Characteristics Special Button Combinations The diagram below gives the dimensional parameters of the ProMark 800 antenna required for the system to determine the true height of the antenna from the measured value obtained using one of the standa
99. into an outlet on a cir cuit different from that to which the receiver is connected Consult the dealer or an experienced radio TV technician for help When ProMark 800 is used with an external power supply or connected to an external device using the USB port it complies with the limits for a Class A digital device pursuant to the Part 15 of the FCC rules See Note below related to Class A device Class A digital devices NOTE This equipment has been tested and found to comply with the limits for a Class A digital device pursuant to Part 15 of the FCC Rules These limits are designed to provide rea sonable protection against harmful interference when the equipment is operated in a commercial en vironment This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instruction manual may cause harmful interference to radio communica tions Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interfer ence at his own expense Remark Any changes or modifications not expressly approved by Ashtech could void the right for user to operate the equipment RF Safety Exposure To Radio Frequency Energy SAR Radio transmitting devices radiate Radio Frequency RF energy during its operation RF energy can be absorbed into the human body and potentially c
100. is requested and the time t1 when the rover starts delivering that position More precisely tl represents the time when the rover outputs the position data s first character Caution At time t1 the rover will start delivering the position it occupied at time tO and not the position it is occupying at time t1 This is true for the two output modes presented in this section Epoch Relevant to a particular time at which a full set of RTK correction data is generated by the base As this time of data availability is cyclical each occurrence of this particular time is called an epoch Extrapolation A process through which the rover can continue to compute accurate positions by extrapolating the RTK correction data last received from the base Generally speaking in an extrapolation process the rover tries to predict with the best possible accuracy the most likely value of a quantity in a very near future RTK Implementation Time Tagged RTK Output Mode Principle In Time tagged RTK the rover will compute and output a single RTK position for each epoch of RTK correction data it receives RTK Correction Data Base Internal Processes nnn i i in Rover pa RTK Position Output 1 Rover saves GNSS raw data received at t0 2 RTK correction data computed at t0 arrives in rover l 3 Rover computes RTK position from its raw data and the base s correction data Pos1 Pos2 Pos3 Rover tOa tla t0b tlb t0c tic
101. is used by the GNSS system to interpolate the separation between this surface and the surface of the reference ellipsoid for the point surveyed 65 Precise Surveying Field Applications amp Concepts Surveyed Point Reference Ellipsoid To Fenter of ellipsoid 1 Elevation above geoid 2 Interpolated geoidal separation From this interpolation the system can derive elevation from ellipsoidal height using the following formula Elevation 1 Ellipsoidal Height Interpolated geoidal separation General Considerations Regarding Accuracy What Accuracy Mainly Depends On 66 In precise surveying accuracy is primarily tied to the capacity of a system to detect the finest variation in the portion of carrier wavelength arriving at the surveyed point assuming the number of complete carrier cycles has been determined successfully cf integer ambiguity in nitialization on page 49 Knowing that the carrier wavelength of the L1 signal used in the processing is equal to 19 cm this gives an idea of the processing step the system has to go through to achieve centimeter accuracy Satellite O In practice accuracy will first depend on the following parameters e Quality of the carrier phase measurements i e quality of the receiver noise level and environmental conditions number of received satellites presence or absence of multipaths e Intrinsic quality of the processing algorithms use
102. key 0 2 Path name RCC Optional checksum 00 FF Response format Syntax PASHR FIL LST d1 d2 s3 d4 s5 s6 c7 cc Parameters Parameter Description Range d1 Number of files 297 Query Command Library 298 See Also Parameter Description Range d2 File index 3 File name or directory name 255 characters max d4 Size in bytes 0 134217728 s5 Date ddmmyyyy s6 Time hhmmss 000000 235959 c7 D when s3 is a directory name D cc Optional checksum 00 FF Example PASHQ FIL LST 53 PASHR FIL LST 4 0 GazerA09 123 1769897 14032009 130850 74 PASHR FIL LST 4 1 GazerB09 123 1769876 10032009 110952 7C PASHR FIL LST 4 2 GazerC09 123 1769787 01032009 181856 72 PASHR FIL LST 4 3 GazerD09 123 1769787 01032009 181856 74 PASHS REC PASHS PASHQ MEM FLS Query Command Library FLS List of Raw Data Files Function This command is used to list the raw data files stored in the selected memory cf PASHS MEM An index number is used in the command fomat to limit the number of listed files Files are listed in blocks of 10 files Command Format Syntax PASHQ FLS d cc Parameters Parameter Description Range File index number 0 for 1st file 1 for 2nd file etc d All files with index number equal to or greater than this 0 999 number will be listed I
103. logging data press the Log button to stop data logging e Connect the USB key to the receiver Wait until the USB logo appears on the receiver screen and a message is prompted Upload Script e Accept the request by pressing the Log button The receiver will then run the script from the text file and then will start logging the data as indicated by the blinking diskette icon on the receiver screen e After enough data has been recorded firmly press the Log button once then wait until the diskette icon on the screen stops blinking When this happens this means data recording has been stopped e Turn off the receiver e Remove the USB key and read the content of the USB key on your computer e Send the collected data file ATL_yymmdd_hhmmss log to Spectra Precision for further diagnosis When reporting a problem to Technical Support please attach to your email the response of your receiver to the following commands PASHQ RID 109 Troubleshooting PASHQ VERSION PASHQ OPTION PASHQ PAR Log these responses in Terminal mode with Hyperterminal for example at a speed of 19600 Bd in a text file txt 110 Chapter 7 Miscellaneous ATOM File Naming Conventions Raw data files in ATOM format are named using the following syntax G lt Site gt lt Index gt lt Year gt lt Day gt Where Item in Filename G Header indicative of a file containing ATOM data A 4 character string recalling the name
104. lost Precise Surveying Field Applications amp Concepts e Stopping recording sessions before enough data has been collected to guarantee initialization For this reason you should be aware of the initialization issue and so take all the necessary steps to make sure initialization will not only be achieved but also preserved until the end of your kinematic surveys Single Frequency vs Multi Frequency GNSS multi frequency receivers need less data and time to get initialized However recent developments have allowed single frequency receivers to significantly improve their performance on that particular point and so to reduce the gap that separates them from multi frequency systems Strategies for When starting a survey you will sometimes be asked to Securing choose an initialization method more particularly if you are Initialization using a single frequency receiver The selected method tells the system how it should deal with initialization Some of these methods can make initialization easier and faster resulting in the following e Reduction of the observation time in post processing e Reduction of the TTFF in RTK This section describes the different initialization methods available with Spectra Precision receivers e Kinematic OTF Static OTF for RTK surveying only e Known Point Initializer Bar 51 Precise Surveying Field Applications amp Concepts OTF and Known Point Methods Baseline
105. m s 2000 000 12 PDOP 0 0 99 9 f13 HDOP 0 0 99 9 14 VDOP 0 0 99 9 f15 TDOP 0 0 99 9 s16 Firmware version ID GNSS board fw 4 char string cc Checksum 00 FF Example PASHQ DCR PASHR DCR 3 09 130924 00 37 683 55 081 17 925 0 109 0 001 0 002 0 001 0 047 1 9 1 0 1 6 1 1 G010 71 See also Query Command Library Comment The code allotted to a position solution of the SBAS differential type is either 1 or 9 depending on the last PASHS NPT command run PASHS NME PASHS NPT DDS Differential Decoder Status Function Command Format Response Format This command allows you to output a message providing status data on the corrections received Syntax PASHQ DDS cc Syntax PASHR DDS d1 m2 d3 c4 s5 c6 d7 d8 d9 d10 d11 f12 f13 d14 n d15 f16 f17 cc Parameters Parameter Description Range d1 Differential decoder number 1 3 m2 GNSS output time tag 000000 00 235959 99 d3 Cumulative counter of stream change 0 255 t ID of port from which corrections are A C D E received 5 Protocol detected empty means no RT2 RT3 CMR DBN data TPZ ATM Time window in seconds d P not defined or just initialized 0 255 255 means equal to or greater than 255 Percentage of estimated overall data d7 link quality availability Empty if not 0 100 defined Percentage of deselected informa d8 tion Empty if not defined 0199 d9 CRC percentage Em
106. may degrade performance 6 Long baselines long occupations precise ephemeris used 19 Introduction Environmental Characteristics Power Characteristics Optional System Components Firmware Options Operating temperature 30 to 60 C 22 to 140 F Storage temperature 40 to 70 C 40 to 158 F Humidity 100 condensing Waterproof sealed against sand and dust Shock ETS300 0 19 Vibration EN60945 Li ion battery 4600 mAh Battery life time 8 hrs GSM and UHF off 6 28 VDC input Communication Modules Pacific Crest UHF Rx GSM GPRS EDGE 3 5G quad band Transmitter Kits Pacific Crest ADL radios Rechargeable battery kit Data collectors ProMark 120 Ranger 3 Nomad MM10 T41 20 The pre installed and optional firmware modules are listed in the table below er Pre ID Label Description P N installed Allows a base to generate and send RTK Unlimited correction data K RTK Allows a rover to compute RTK position 680502 Yes solutions using corrections received from a base F FASTOUT Allows position output at a rate of up to 20 680527 Yes PUT Hz Enables the use of the internal GSM Z MODEM GPRS modem 680528 Yes Port Pinouts Introduction aa Pre ID Label Description P N installed Enables the use of signals from the S GLONASS SLONASS constellation 900500 YGS P GNSSL2_
107. new module The default settings can also be restored using the PASHS INI command With this command you can ask more than a simple restore default settings See N Receiver Initialization on page 191 Using a USB key to Save Upload Receiver Configurations or Copy User Data ProMark 800 USB Key Cable P N 702104 Generally speaking after connecting a USB key to the receiver the USB logo will appear on the screen after a while Then three different screens or less depending on the content of the USB key will be shown in succession at a rate of 10 seconds provided no button is pressed in the meantime These three possible screens are shown below 113 Miscellaneous Load Config 114 Procedure vie pa e Load Config will first show up if a PAR file is stored on the USB key e Upload Script will show up after 10 seconds of displaying Load Config if the USB key also contains a text file named autoconfig cmd containing a list of PASH commands e Symbols representing two storage media will show up after 10 seconds of displaying Upload Script inviting you to copy the user data raw data files log files from the internal memory to the USB key Note that the first two screens will be skipped if the required files are not found on the USB key While either of these three screens is displayed you can either accept the corresponding request by pressing the L
108. of differential corrections in seconds 0 999 9 d12 Base station ID 0 4095 cc Checksum 00 FF PASHQ GMP 305 Query Command Library GPGMP 131745 00 LOC 45215 125 14587 298 R 11 1 5 125 221 5 214 1 5 454 xx See also PASHS NME Automatic Output This is a reminder on how to output GMP messages at regular of GMP Messages intervals of time Use the PASHS NME command with the syntax below PASHS NME GMP lt port_ID gt ON lt Rate gt For more details on the PASHS NME command refer to the Set Command Library Chapter As an example the command below will output GMP messages on port A at a rate of 0 5 second PASHS NME GMP A ON 0 5 GNS GNSS Fix Data Function This command allows you to output the standard NMEA GNS message If there is no computed position available when you request the message the message will nonetheless be output but with all the position related fields left blank Command Format Syntax PASHQ GNS cc Response Format Syntax GNS m1 m2 c3 m4 c5 s6 d7 f8 f9 f10 f11 d12 cc If the receiver is configured in GPS mode only then the message header is GPGNS If it s configured in GPS GLONASS mode then the message header is GNGNS Parameters Parameter Description Range mi Current UTC time of position 000000 00 235959 99 hhmmss ss 306 Example See Also Automatic Output of GNS Messages Query Command Library
109. of the site where data was collected a point name in static a trajectory name in kinematic or name of last surveyed point in stop amp go The default string is four underscores __ Order number of file being recorded in the form A to Z for the first 26 files logged in the same day then AA to ZZ for the next ones recorded in the same day starting from the 27th file Last two figures of current year e g 08 for 2008 for up lt Year gt to26 files recorded in the same day then only the last figure of current year for the 27th and next files File extension a three figure number representing the cur rent day number in year 1 365 Description lt Site gt lt Index gt lt Day gt Example of first file logged on May 6th 2008 on point 584V G584VAA8 127 Reverting to V1 for All ATOM Messages Generated by the Receiver The current version of ATOM is V2 October 2011 Your receiver is by default configured to generate ATOM V2 messages 111 Miscellaneous For some reason for example you are using your receiver in conjunction with older equipment you may need to revert to V1 This is possible using the PASHS ATM VER command see ATM VER Setting the Version of ATOM Messages on page 156 The history of the ATOM format can be summarized as follows e 2009 First official release of ATOM V1 version e 2011 Second offcicial release of ATO
110. output GST messages on port A at a rate of 0 5 second PASHS NME GST A ON 0 5 313 Query Command Library GSV GNSS Satellites in View Function Command Format Response Format 314 This command is used to output a GSV message containing information on the satellites in view Syntax PASHQ GSV cc Syntax GSV d1 d2 d3 n d4 d5 d6 f7 cc The set of parameters d4 d5 d6 f7 can be repeated up to 4 times in a single response line corresponding to the description of 4 different satellites The number of response lines is therefore dependent on the number of satellites in view e g three response lines if between 9 and 12 satellites are visible Parameters Parameter Description Range _GSV GPGSV GPS and SBAS satellites GPGSV Header GLGSV GLONASS satellites GLGSV GAGSV GALILEO satellites GAGSV d1 Total number of messages 1 4 d2 Message number 1 4 d3 Total number of satellites in view 1 15 GPS 1 32 GLONASS 65 96 SBAS 33 64 d4 Satellite PRN GALILEO 97 126 GIOVE A B 127 128 QZSS 193 197 d5 Elevation in degrees 0 90 d6 Azimuth in degrees 0 359 f7 SNR in dB Hz 30 0 60 0 cc Checksum 00 FF GPS PRN number is d4 SBAS PRN number is d4 87 GLONASS slot number is d4 64 GALILEO PRN number is d4 96 QZSS PRN number is d4 192 Example See also Automatic Output of GSV Messages Query Command Library PASHQ GSV GPGSV 2 1 07 20 61 066 50 11 3
111. possibility for you to use the Known Point initialization method or if your receiver is a ProMark3 the Initializer Bar method Typical Initialization Times TTFF The charts below show the variations of the TTFF obtained with Spectra Precision receivers as a function of baseline length initialization method and receiver type for normal operating conditions open sky 8 satellites PDOP lt 3 TTFF Charts Initialization time Initialization time Dual Frequency Single Frequency Receivers Receivers point Baseline length Baseline length 0km 10 km 20 km 0km 10 km 20 km For single frequency receivers using the initializer bar baseline length 20 cm the TTFF is less than 60 seconds when one or more SBAS satellites are in view and their collection data are available Initialization in Field Approach Post Processed In post processed surveys determining if the collected data Surveys will result in successful initialization when later post processing the raw data is not as easy as in RTK Below area few recommendations to help you perform successful initializations e The observation time is an important factor for successful initialization The longer the baseline length the larger the required amount of data and so the longer the required observation time Such indicators as the Observation Timer or Observation Range available on some S
112. receiver 0 900 d2 File index 0 900 s3 Filename 255 characters max d4 Size in bytes 0 134217728 cc Optional checksum 00 FF Example PASHQ LOG LST 54 PASHR LOG LST 4 0 20090408 log 1769897 01 PASHR LOG LST 4 1 20090407 log 1769876 00 PASHR LOG LST 4 2 20090406 log 1769787 03 PASHR LOG LST 4 3 20090405 log 1769787 01 PASHS LOG PAR PASHS LOG DEL PASHQ LOG LOG PAR Log File Settings Function Command Format 318 This command is used to read the settings of any new log file created in the receiver Syntax PASHQ LOG PAR cc Response format Relevant Set Command Query Command Library Parameters None Syntax PASHR LOG PAR 1 d2 d3 cc Parameters Parameter Description Range Log file control parameter s1 ON Generation of log files enabled ON OFF OFF Generation of log files disabled d2 Maximum size in Mbytes 1 90 43 Number of days during which a log file is kept in mem 4 100 ory cc Optional checksum 00 FF Example PASHQ LOG PAR 5C PASHR LOG PAR OFF 1 20 OF PASHS LOG PAR MDM Modem Status and Parameters Function Command Format Response Format This command is used to query the modem parameters Syntax PASHQ MDM cc Syntax PASHR MDM c1 d2 s3 PWR s4 PIN s5 BND d6 PTC d7 CBS d8 APN s9 LGN s10 PWD s11 IPT d12 PHN s13 ADL c14 RNO d15 MOD s16 N ET d17 cc Parame
113. surveying Purchasing the right tools for a professional job is essential in today s competitive business environment Learning to put these tools to work quickly and efficiently will be the focus of the present manual Compared to ProMark 500 ProMark 800 integrates the so called GNSS centric new technology known as Z Blade By allowing the receiver to better combine all the signals available from the different visible GNSS constellations Z Blade will allow you to improve your field productivity In addition because it s easy to use you will be able to focus on your job and forget almost everything about the technical aspects of your equipment No more cables no more clip on modules ProMark 800 will be the reliable tool you are expecting for all your GNSS survey operations System Components Overview The tables below provide an overview of the different key items composing the ProMark 800 Depending on your purchase and based on the type of survey you wish to perform you may only have some of the listed items Please refer to the packing list for an accurate description of the equipment that has been delivered to you NOTE Spectra Precision reserves the right to make changes to the list of items provided below without prior notice Introduction Basic Supply Standard Accessories Item Part Number Picture ProMark 800 GNSS receiver with stan dard accessories 1x Li ion rechargeable battery p
114. 0 146 36 13 41 200 50 23 73 134 52 7C GPGSV 2 2 07 33 34 198 42 17 40 242 50 04 37 304 48 47 GLGSV 1 1 04 77 29 098 46 84 19 332 46 83 49 276 52 68 57 300 52 67 PASHS NME This is a reminder on how to output GSV messages at regular intervals of time Use the PASHS NME command with the syntax below PASHS NME GSV lt port_ID gt ON lt Rate gt For more details on the PASHS NME command refer to the Set Command Library Chapter As an example the command below will output GSV messages on port A at a rate of 10 seconds PASHS NME GSV A ON 10 LCS Local Coordinate System Status Function Command Format Response Format This command asks the receiver to indicate the coordinate system it currently uses to deliver its position solution A local coordinate system may be used provided its characteristics are received through the appropriate RTCM 3 1 message 1021 1022 1023 or 1025 from the base used Syntax PASHQ LCS cc Parameters None Syntax PASHR LCS s cc 315 Query Command Library Relevant Set Command Parameters Parameter Description Range Status e ON Local coordinate system used when avail s able ON OFF OFF Coordinate system used is WGS84 neces sarily cc Checksum 00 FF Example PASHQ LCS PASHR LCS ON 05 PASHS LCS LOG Editing a Log File Function Command Format Response format 316 This command is used to edit the
115. 0 4800 MED 444 5500 446 7750 12 5 4 30 450 V02 58 0 0 03 The command will be NAKed if the receiver has not been told on which port the radio is connected Defining the port may be done using command PASHS RDP TYP PASHS RDP PAR PASHS RDP TYP RDP TYP Radio Type Used Query Command Library Function This command is used to query the type of radio used on the specified port Command Format Syntax PASHQ RDP TYP c1 cc Parameters Parameter Description Range c1 Serial port used to communicate with the radio A D cc Optional checksum 00 FF Response Format Syntax PASHR RDP TYP c1 s2 cc Parameters Parameter Description Range a The port ID you specified in the command is AD replicated in this field Radio type UNKNOWN Auto detection e NONE No radio e PDL Pacific Crest Internal port D PDL RXO External port A PDL HPB LPB ADL Pacific Crest UNKNOWN FDL ADL XDL MGL s2 Internal port D ADL RXO MDL LFE LFA External port A ADL Vantage NONE External port A ADL Vantage Pro e MGL Radio transmitter P N 800986 e XDL Pacific Crest XDL Rover MDL U Link e LFE License free radio Europe e LFA License free radio North America cc Checksum 00 FF Example If an internal PDL radio receiver is used PASHQ RDP TYP D PASHR RDP TYP D PDL 5F 353 Query Command Library Relevant Set PASHS RDP TYP Command 354 REC
116. 00 to 255 255 255 255 name or host name PRT d2 Port number 0 65535 LGN s3 User name optional 20 char max PWD s4 Password optional 20 chars max cc Checksum 00 FF Examples PASHQ DIP PASHR DIPRIP 192 65 54 1 PRT 80 xx PASHQ DIP PASHR DIP RIP www ashtech com PRT 8080 xx PASHS DIP PASHQ MDM 289 Query Command Library DPO Delta Position Function This command is used to output a DPO message containing the components of the last computed vector baseline as well as other information about the position solution Command Format Syntax PASHQ DPO cc Response Format Syntax PASHR DPO d1 d2 m3 f4 c5 6 c7 f8 c9 f10 11 f12 f13 14 15 f16 s17 cc Parameters Parameter Description Range Position mode 0 Autonomous e 1 RTCM or SBAS differential a 2 RTK Ae a 3 RTK fixed 9 SBAS Differential See comment d2 Count of SVs used in position computation 3 27 000000 00 m3 UTC time hhmmss ss 235959 99 f4 Northing coordinate difference in meters 9999999 999 c5 North label N 6 Easting coordinate difference in meters 9999999 999 c7 East label E 8 Ellipsoid height difference in meters 99999 999 c9 Reserved 9 999 f10 COG Course Over Ground in degrees 0 359 9 11 SOG Speed Over Ground in m s 0 9 999 12 Vertical velocity in m s 999 9 13 PDOP 0 0 99 9 f14 HDOP 0 0 99 9 15 VDOP 0 0 99 9 f16 TDOP 0 0
117. 04 Medium par y g which one to use Make sure there s only one file available and it is the P one you want the receiver to use 3 Invalid registration code gt No registration code entered for the receiver Contact Technical Sup 205 Medium Veg No registration code port 7 Invalid registration code gt The receiver detects an incorrect registration code Contact Technical 206 Medium ae Bad registration code Support 207 Medium Invalid Position gt Position The receiver detects an incorrect position assigned to its location Use from PASHS POS PASHS POS to enter the right position You are trying to assign a function to the modem while it s already 208 Medium GSM already in FTP mode used in a network connection using the FTP protocol See what you want the modem to do and then take the necessary steps to use it as desired The receiver detects that the radiated power level set in the radio used ADL Radio Power is f oe ie 209 Medium was intentionally lowered This is because the radio is powered from reduced the internal battery not from an external power source 3 Radio Protocol not sup You are trying to set a protocol that does not match the type of radio 210 Medium a f ported used Choose a suitable protocol and try again Bad Base Rosttion gt l I The receiver detects a bad base position received from the base 213 Medium Rover mode base position ee Check base position and correct it at t
118. 130 500805 W 0 0 0 0 250208 1 9 W A 3D See also PASHS NME Automatic Output This is a reminder on how to output RMC messages at regular of RMC Messages intervals of time Use the PASHS NME command with the syntax below PASHS NME RMC lt port_ID gt ON lt Rate gt For more details on the PASHS NME command refer to the Set Command Library Chapter As an example the command below will output RMC messages on port A at a rate of 0 5 second PASHS NME RMC A ON 0 5 357 Query Command Library RNX MSI ATOM RNX Differential Message Function Command Format Response Format Relevant Set Command This command allows you to read the current settings of the ATOM RNX message Syntax PASHQ RNX MSI cc Parameters None Syntax PASHR RNX MSI d1 d2 d3 cc Parameters Parameter Description Range d1 Scenario number 0 4 101 201 204 300 Output rate for observations in sec 0 1 0 4if TE option activated d2 hds 0 5 0 9 i 1 1800 d3 Output rate for attributes receiver 0 Disabled and antenna names in seconds 1 1800 cc Checksum 00 FF Example PASHQ RNX MSI PASHR RNX MSI 4 1 0 31 7E PASHS RNX TYP RRE Residual Error Function Command Format 358 This command is used to output a range residual message The message is not output until a position solution is computed Syntax PASHQ RRE cc Response Format Example See also RTC RTCM Status
119. 2 d3 s4 c5 d6 s7 c8 c9 s10 cc Parameters Parameter Description Range cl ID of the port connected to the radio you want to set Set Command Library Parameter Description Range s2 Radio Model PDL Pacific Crest PDL RXO internal port D PDL HPB LPB external port A ADL Pacific Crest ADL RXO internal port D ADL Vantage external port A ADL Vantage Pro external port A XDL Pacific Crest XDL rover external port A MGL Radio transmitter P N 800986 MDL U Link LFE License free radio Europe ARF7474B LFA License free radio North America ARF7474A PDL MGL MDL LFE LFA ADL XDL port A PDL MDL ADL port D d3 Channel number 0 15 PDL MDL MGL 1 32 ADL XDL 0 2 LFE 0 49 LFA 0 49 s4 Power management if port D is used e AUT Automatic MAN Manual AUT MAN c5 Protocol used PDL 0 Transparent e 1 TRIMTALK 2 DSNP MDL e 0 Transparent 1 Not used 2 DSNP ADL XDL 0 Transparent w EOT time out 1 TRIMTALK 450S e 2 Not used e 3 SATEL 4 TrimMarkll Ile 5 TT450S HW 6 TRIMMARK3 7 Transparent FST e 8 ADL only U Link available only with specific radio firmware 0 7 227 Set Command Library 228 Parameter Description Range Air link speed in baud PDL 4800 GMSK modulation
120. 2 or RS422 serial port Command Format Syntax PASHS MDP A c cc 198 Relevant Query Command See also Set Command Library Parameters Parameter Description Range Default c Port setting RS232 or RS422 232 422 232 cc Optional checksum 00 FF Example Setting port A to RS422 PASHS MDP A 422 PASHQ MDP PASHS PRT PASHS CTS MEM Selecting Memory Device Used Function Command Format Relevant Query Command This command is used to select the memory used by the receiver for data storage Syntax PASHS MEM d cc Parameters Parameter Description Range Default Memory used d 0 Internal memory NAND Flash 0 2 0 2 USB mass storage key cc Optional checksum 00 FF Example Selecting internal memory as the memory used by the receiver PASHS MEM 0 2C PASHQ MEM 199 Set Command Library See also PASHS FIL D PASHQ FLS PASHQ FIL LST MWD Setting the Modem Timeout Function Command Format Relevant Query Command See also This command is used to set the modem watchdog timeout This parameter refers to the time during which the modem connection is active but no data is sent or received through the modem port In case of timeout the modem will hang up automatically Syntax PASHS MWD d cc Parameters Parameter Description Range Default Timeout setting d 1 99 Modem timeout in minute
121. 20 Hz Z MODEM Enables the GSM GPRS modem S GLONASS Enables GLONASS P GNSSL2 Enables L2 tracking Enables RTK using proprietary data formats M RI ATOM DBEN or eK d L RTK3 Enables limited RTK range N STA Enables RTK base 0 GALILEO Enables Galileo tracking Q GNSSL5 Enables L5 tracking NOTE Options K M and L are also relevant to a base Comments e When activating GLONASS or GNSSL2 it is essential that you modify the receiver configuration using PASHS GPS and PASHS GLO to enable the tracking of the new 209 Set Command Library Relevant Query Command See also signals Alternatively you can run PASHS RST to update the default configuration taking into account all the activated firmware options e Firmware options may be activated for limited periods of time depending on the type of unlock code generated for each of them Several validity times are possible Permanent 6 months 3 months 1 month 30 days 15 days 8 days Example Enabling the RTK option PASHS OPTION K 878A8874 48 PASHQ OPTION PASHQ RID PAR LOD Configuring the Receiver From a PAR File Function Command Format 210 This command configures the receiver in one step using the data stored in the specified PAR file The PAR file may have been saved previously to the receiver s internal memory or on a USB key Syntax PASHS PAR LODJ d1 s2 cc Parameters Set Command Library Parameter Description
122. 36 0 01 15 81 332 13 40 0 33 0 01 15 88 282 08 37 0 32 0 25 15 0D PASHS NME This is a reminder on how to output SGL messages at regular intervals of time Use the PASHS NME command with the syntax below PASHS NME SGL lt port_ID gt ON lt Rate gt For more details on the PASHS NME command refer to the Set Command Library Chapter As an example the command below will output SGL messages on port A at a rate of 10 seconds Query Command Library PASHS NME SGL A ON 10 SGP GPS amp SBAS Satellites Status Function This command is used to read the status of each GPS and SBAS satellite received Command Format Syntax PASHQ SGP cc Response Format Syntax PASHR SGP d1 n d2 d3 d4 f9 f6 f7 d8 d9 cc Parameters Parameter Description Range d1 Number of satellites locked 1 27 GPS 1 32 d2 SV PRN number 64 satellite slot number SBAS 33 64 QZSS 193 197 d3 SV azimuth in degrees 0 359 d4 SV elevation angle in degrees 0 90 f5 SV L1 signal noise in dB Hz 30 0 60 0 6 SV L2 signal noise in dB Hz 30 0 60 0 7 SV L5 signal noise in dB Hz 30 0 60 0 d8 Satellite usage status see table below 0 31 d9 Satellite correcting status see table below 0 15 cc Checksum 00 FF Fields f5 f7 are empty is the corresponding signal is not tracked Satellite Usage Status Status Description Satellite not tracked Code and carrier Doppler
123. 385 Warning messages 385 Weight 19 WGS84 64 WinComm 134 WMM 2005 World Magnetic Model 385 WRN 241 414 ProMark 800 Reference Manual Contact Information SPECTRA PRECISION DIVISION Rue Thomas Edison 10355 Westmoor Drive ZAC de la Fleuriaye BP 60433 Suite 100 44474 Carquefou Cedex FRANCE Westminster CO 80021 USA www spectraprecision com 2011 2013 Trimble Navigation Limited All rights reserved Spectra Precision is a Division of Trimble Navigation Limited Spectra Precision and the Spectra Precision logo are trademarks of Trimble Navigation Limited or its subsidiaries P N 631668 B
124. 5 seconds PASHS RAW SNV A ON 15 SNW SBAS Ephemeris Data 402 This message contains the SBAS ephemeris data for one satellite The message is as follows PASHR SNW lt structure gt The message s binary structure is described in the table below Type Name Size Contents char 1 Spare field char accuracy 1 Accuracy Ephemeris data reference time within the long TO 4 day expressed in the SBAS time scale sec onds double 3 8 Satellite ECEF X Y Z coordinates meters Output Message Library Type Name Size Contents float 34 Satellite ECEF velocity X Y Z coordinates m s float 3 4 Satellite ECEF acceleration X Y Z m s2 float ato 4 Time offset between satellite time scale and SBAS system time scale seconds Time drift between satellite time scale and oat aon i SBAS system time scale seconds long tow 4 Time within week in GPS time scale when SBAS ephemeris was received char WA 1 Week number in GPS time scale when SBAS ephemeris was received char prn 1 Satellite number 33 to 51 The checksum is computed by breaking the Unsigned Checksum 2 structure into 34 unsigned shorts adding short them together and taking the least signifi cant 16 bits of the result Total 70 Reminder on How Use the PASHS RAW command with the syntax below to Output SNW PASHS RAW SNW lt port_ID gt ON lt Rate gt Mess
125. 70 406 PASHS CPD NET 172 PASHS CPD REM 173 PASHS CPD RST 174 PASHS CPD VRS 175 PASHS CTS 176 PASHS DBN TYP 176 PASHS DIP 177 PASHS DIP OFF 178 PASHS DIP ON 179 PASHS DIP PAR 179 PASHS DRD 180 PASHS DRI 181 PASHS DSY 182 PASHS DYN 183 PASHS ELM 184 PASHS FIL D 185 PASHS FIL DEL 186 PASHS GAL 187 PASHS GLO 188 PASHS GPS 189 PASHS INI 191 PASHS LCS 116 192 PASHS LOG DEL 193 PASHS LOG PAR 194 PASHS LTZ 194 PASHS MDM INI 195 PASHS MDM OFF 196 PASHS MDM ON 196 PASHS MDM PAR 197 PASHS MDP 198 PASHS MEM 199 PASHS MWD 200 PASHS NME 200 PASHS NME ALL 202 PASHS NME PER 203 PASHS NPT 204 PASHS NTR LOD 204 PASHS NTR MTP 206 PASHS NTR PAR 207 PASHS OCC 208 PASHS OPTION 209 PASHS PAR LOD 210 PASHS PAR SAV 211 PASHS PEM 213 PASHS POP 213 PASHS PPS 215 PASHS PRT 216 PASHS PWR OFF 217 PASHS PWR PAR 217 PASHS QZS 218 PASHS RAW 219 PASHS RAW ALL 221 PASHS RAW PER 221 PASHS RCP DEL 223 PASHS RCP GBx 222 PASHS RCP REF 224 PASHS RDP OFF 225 PASHS RDP ON 226 PASHS RDP PAR 226 PASHS RDP TYP 231 PASHS REC 232 PASHS RNX TYP 234 PASHS RST 235 PASHS RTC MSG 236 PASHS RTC TYP 237 PASHS SBA 239 PASHS SIT 239 PASHS SNM 240 PASHS SOM 240 PASHS SOM CTT 242 PASHS SOM NAV 243 PASHS SOM SNR 244 PASHS SOM WRN 246 PASHS STI 247 PASHS UDP 249 PASHS UNT 249 PASHS USE 250 PASHS USR POS 252 PASHS USR TXT 253 PASHS USR TYP 253 PASHS UTS 254 PASHS WAK
126. 99476 W 4 10 0 8 35 655 M 47 290 M 3 0 1000 61 The code allotted to a position solution of the SBAS differential type is either 2 or 9 depending on the last PASHS NPT command run This is a reminder on how to output GGA messages at regular intervals of time Use the PASHS NME command with the syntax below PASHS NME GGA lt port_ID gt ON lt Rate gt For more details on the PASHS NME command refer to the Set Command Library Chapter 301 Query Command Library As an example the command below will output GGA messages on port A at a rate of 0 5 second PASHS NME GGA A ON 0 5 GLL Geographic Position Latitude Longitude Function This command is used to output a GLL message containing the last computed position The message is output on the port on which the query is made If no position is computed the message will be output anyway but all position related fields will be blank Command Format Syntax PASHQ GLL cc Response Format Syntax GPGLL m1 c2 m3 c4 m5 c6 c7 cc Parameters Parameter Description Range 0 90 m1 Latitude of position ddmm mmmmmm 0 59 999999 c2 Direction of latitude N S m3 Longitude of position dddmm mmmmmm 0 180 gitude of position 0 59 999999 c4 Direction of longitude E W 000000 00 m5 Current UTC time of position hhmmss ss 235959 99 Status c A Data valid A V e V Data not valid Mode indicator A Auto
127. A ADLVantage or ADL Vantage Pro Transmitter Pacific Crest Data Power Cable A00630 Cable Kit P N 802143 External 9 16 V I DC Power Source RTK Rover Setup RTK Surveying Preliminary Steps Prerequisites GSM GPRS Connection e Use a range pole fitted with a 5 8 male adaptor at the upper end not provided e If aradio link is used with the base your rover should normally have been fitted with the radio module that matches the reception band covered by the radio transmitter used at the base e faGPRS connection is used your rover should normally have been fitted with the SIM card that will allow it to perform a network connection To connect the SIM card first use a flat screwdriver to loosen the two quarter turn screws securing the radio module Remove the module This gives access to an electronic card on which you can insert the SIM card as shown on the picture Mount the different items as shown on the picture including the ProMark 800 1 the radio antenna 2 the range pole 3 and the field terminal with its mounting bracket 4 Caution Use of a non metal range pole is recommended to maintain the performance level of the radio antenna As a standard feature the ProMark 800 incorporates a built in GSM modem which means you only have to connect the GSM antenna if you have paid for activation of the hardware Mount the different items as shown on the picture including the Pro
128. A GGA message type The inserted position is the one you define using command PASHS USR POS TXT GGA cc Optional checksum 00 FF Example PASHQ USR TYP PASHR USR TYP GGA xx Relevant Set PASHS USR TYP Command USR TXT Reading Text Defined for User Message Type TXT Function This command is used to query the text entered to be inserted into the user message of the TXT type Command Format Syntax PASHQ USR TXT cc 380 Query Command Library Response Format Syntax PASHR USR TXT s cc Parameters Parameter Description Range s User message text Up to 80 characters between double quotes cc Optional checksum 00 FF Example PASHQ USR TXT PASHR USR TXT this is the text of the user message xx Relevant Set PASHS USR TXT Command UTS GPS Time Synchronization Status Function This command gives the status of the GPS time synchronization process When enabled this process allows all measurements and coordinates to be synchronized with GPS time and not with the local clock Command Format Syntax PASHQ UTS cc Response Format Syntax PASHR UTS s cc Parameters Parameter Description Range s GPS time synchronization status ON OFF cc Checksum 00 FF Example PASHQ UTS PASHR UTS ON 0B Relevant Set PASHS UTS Command 381 Query Command Library VEC Vector amp Accuracy Data Function Com
129. AR file 210 211 PAR LOD 210 PAR SAV 211 PBN 394 PEM 213 336 Phase center 57 Phase center offset 57 PIN code 197 Pinouts 21 Plane similarity 70 POP 213 336 Port A 198 Port A settings 322 Port number 123 POS 202 Position averaging 35 Position computation 127 Position computation screen 12 Position defined in user message type GGA 379 Post processed surveying 33 Power transmitted 76 Power button 4 Power LED 4 Power management 217 Power on 99 Power settings 128 Power status 10 342 Power on screen 9 PPS 215 339 PPS 1 PPS 19 PPS time tag 341 Primary RTK 172 411 PRT 216 Pseudo range error statistics 312 PTT 202 341 PWR 342 PWR OFF 217 PWR PAR 217 Q Query commands 133 QZS 218 343 QZSS tracking 218 343 R Radio 73 75 Radio license free 75 Radio antenna 7 27 102 Radio channel settings 347 Radio data rate 76 Radio module 7 27 102 113 120 Radio modules 20 Radio parameters 349 Radio range 103 Radio receiver kit 3 Radio settings 226 Radio transmitter 800986 26 Radio type 231 353 Radius antenna radius 57 Range pole 27 RAW 219 344 Raw data 5 40 Raw data icon 10 Raw data logging 126 Raw data logging settings 344 Raw data messages 219 Raw data output rate 221 Raw data output settings 362 Raw data recording 232 Raw data recording duration 180 Raw data recording rate 41 181 291 Raw data recording status 355 RAW ALL 221 RAW PER 221 RCP D
130. B777FE 935A86 C 994BE 0C6 001 73 GPALM 31 2 02 65535 00 4830 4E 00D9 FD49 A10D24 64A66D 3B6857 E 6F2A3 0BA 001 7A GPALM 31 3 03 65535 00 552B 4E F572 FD3B A10CE1 20E624 0CD7E1 D 10 32 0CA 001 0D 258 Query Command Library GPALM 31 4 04 65535 00 4298 4E 0069 FD46 A10D5C 0EE3DC 3C2E3E 5 1DDF9 FFO FFF 0A Automatic Output This is a reminder on how to output ALM messages at regular of ALM Messages intervals of time Use the PASHS NME command with the syntax below PASHS NME ALM lt port_ID gt ON lt Rate gt For more details on the PASHS NME command refer to the Set Command Library Chapter As an example the command below will output ALM messages on port A at a rate of 15 seconds PASHS NME ALM A ON 15 ANH Antenna Height Function This command allows you to read the entered antenna height as well as the measurement type used Command Format Syntax PASHQ ANH cc Response Format Syntax PASHR ANH ft c2 cc Parameters Parameter Description Range 0 6 553 m ff Antenna height 6 553 100 m Antenna height measurement type c2 V Vertical measurement V S S Slant measurement cc Checksum 00 FF Example PASHQ ANH PASHR ANH 1 568 S 44 slant measurement H 1 568 m Relevant Set PASHS ANH Command 259 Query Command Library See also PASHQ ANR ANP Antenna Parameters Function Command Format Response Formats 260 This command allows yo
131. CPD VRS VRS assumption mode 138 Using Serial Commands Table 1 Receiver Configuration Commands Continued Set Command Description Query Command Description PASHS CTS Handshaking PASHQ CTS Handshaking PASHQ DBN MSI DBEN message type amp rate PASHS DBN TYP DBEN message type amp rate PASHS DIP PASHQ DIP Direct IP parameters PASHS DIP OFF Direct IP connection PASHS DIP ON Direct IP connection PASHS DIP PAR Direct IP parameters PASHS DRD Data Recording Duration PASHQ DRD Data Recording Duration PASHS DRI Raw data recording rate PASHQ DRI Raw data recording rate PASHS DSY Daisy chain mode PASHQ DSY Daisy chain mode PASHS DYN Receiver dynamics PASHQ DYN Receiver dynamics PASHS ELM Elevation mask PASHQ ELM Elevation mask PASHQ FIL CUR _ G File information PASHS FIL D Deleting files PASHS FIL DEL Deleting files and directories PASHQ FIL LST List of files PASHQ FLS List of raw data files PASHS GAL GALILEO Tracking PASHQ GAL GALILEO Tracking PASHS GLO GLONASS tracking PASHQ GLO GLONASS tracking PASHS GPS GPS tracking PASHQ GPS GPS tracking PASHS INI Receiver initialization PASHS LCS Enable disable local datum PASHQ LCS Local datum PASHQ LOG Editing a log file PASHS LOG DEL Deleting log files PASHQ LOG LST Listing log files PASHS LOG PAR Log file sett
132. CPD VRS d cc Parameters Parameter Description Range VRS assumption mode d 0 Automatic detection e 1 Compulsory VRS mode 2 Never switches to VRS mode 0 2 cc Optional checksum 007FF Example PASHQ CPD VRS PASHR CPD VRS 1 45 Relevant Set PASHS CPD VRS Command 282 CRT Cartesian Coordinates of Position Query Command Library Function Command Format Response Format This command allows you to get the message containing the absolute ECEF coordinates of the last computed position as well as other information on the position solution Syntax PASHQ CRT cc Syntax PASHR CRT d1 d2 m3 f4 5 6 7 8 f9 f1 0 f11 f12 f13 f14 f15 516 cc Parameters Parameter Description Range Position mode 0 Autonomous 1 RTCM or SBAS differential A 2 RTK a oe 3 RTK fixed 9 SBAS Differential See comment d2 Count of SVs used in position computation 3 27 000000 00 m3 UTC time hhmmss ss 235959 99 f4 ECEF X coordinate in meters 9999999 999 f5 ECEF Y coordinate in meters 9999999 999 f6 ECEF Z coordinate in meters 9999999 999 f7 Receiver clock offset in meters 300000 f8 Velocity vector X component in m s 9 999 f9 Velocity vector Y component in m s 9 999 f10 Velocity vector Z component in m s 9 999 11 Receiver clock drift in m s 2000 f12 PDOP 0 0 99 9 f13 HDOP 0 0 99 9 f14 V
133. DOP 0 0 99 9 f15 TDOP 0 0 99 9 s16 Firmware version ID GNSS board fw 4 char string cc Checksum 00 FF Example PASHQ CRT PASHR CRT 3 07 130452 50 4331844 177 114063 156 4664458 677 0 023 0 002 0 002 0 001 0 023 2 1 1 2 1 7 1 3 G010 6C 283 Query Command Library Comment The code allotted to a position solution of the SBAS differential type is either 1 or 9 depending on the last PASHS NPT command run See also PASHS NME PASHS NPT CTS Handshaking Function This command allows you to query the handshaking RTS CTS protocol status for port A If no port is specified in the command the response message is sent back to the port that issued the query command Command Format Syntax PASHQ CTS s1 cc Response Format Syntax PASHR CTS s1 s2 cc Parameters Parameter Description Range s1 Queried port A s2 Current status of RTS CTS handshaking protocol ON OFF cc Checksum 00 FF Example PASHQ CTS PASHR CTS ON 1D Relevant Set PASHS CTS Command See also PASHQ PRT PASHQ MDP 284 Query Command Library DBN MSI DBEN Message Status Function This command is used in a base receiver to read the current settings of the DBEN messages the base currently generates and outputs Command Format Syntax PASHQ DBN MSII cc Response Format Syntax PASHR DBN MSI d1 RPC d2 BPS d3 cc Parameters Parameter Description R
134. Distance Unit Used on Display Screen sssesceerceeeee 249 USE Enabling or Disabling the Tracking of a GNSS Satellite 250 USR POS Setting Position for User Message Type GGA 252 USR TYP Defining User Message Type ccccseccceeseeseeeeeeeeaees 253 USR TXT Entering text for User Message Type TXT 000 253 UTS Synchronizing Onto GPS Time cceccesececeeeeeeeeeeneeeeaeee 254 WAK Acknowledging Alarms ZDA Setting Date amp TiMe ccccccccccsccceeeceseeeeeeeeeneeeeseeeeeeeeens Appendix C Query Command Library cccsccsseesseeseesseseeeeeeee AGB Reading GLONASS Bias Setting ALM Almanac Messagen aenn iai 258 ANH Antenna Height cccccecceseceeeeeeeseeseeeeeeeeeeeseeaeeeeaeeeens 259 ANP Antenna Parameters ccccccecccseeceeeeeseeeeeeeesaeeeseeeeseeenees 260 ANP OUT Virtual Antenna s snsnnsnennsrsnsnnsrenrrrennererrnrrrrenserens 261 ANP OWN Local Antenna USe d ccccccceccseceeeceseeeeeeeeeeeeneees 261 ANP RCV Antenna Name and Offsets of Received Base 262 ANP REF Antenna Used at the Base cccsccceeceeeeeeeeeeeeeeneees 263 ANR Antenna Reduction Mode cccccseceeseeceeeeeeaeeeeeeeeeeeeeens 263 ANT Antenna Heights ain eaea daa ala 264 ATL Debug Data Recording cccccececseeeeseeeeeeeesaeeeeeeeeeeeenees 265 ATM ATOM Data Parameters ccccsccccseceseeeeseeeeeeseeaeeeeaeeeens 267 ATO
135. E Requirements and the worst output power configuration Do NOT use the device in a manner such that it is in direct contact with the body e g on the lap Such use will likely exceed FCC RF safety exposure limits See www fcc gov oet rfsafety for more information on RF exposure safety To comply with CE and FCC electrical safety regula ions ProMark 800 should only be powered from a 6 to 28 V DC external source with 20 W power limi ation or the recommended battery P N 111374 The battery should be charged only with the supplied attery charger P N 802064 NOTICE The FCC Federal Communications Commission re quests that equipment manufacturers take every step o increase user awareness about the responsibilities inherent in being an FCC licensee on shared chan nels Users are indeed requested to obtain a FCC license efore operating their RTK equipment on the US ter ritory Once a license has been granted users should observe all the FCC regulations see http wire ess fcc gov Licensees are encouraged to avoid any use of voice frequencies in the 450 470 MHz band How To Use this Documentation Please read this section to understand the or ganization of the present manual This will help you navigate more easily through the pages and find more quickly the information you are looking for Chapter 1 provides a full description of the ProMark 800 front panel display screen
136. EL 223 RCP GBx 222 RCP OWN 346 RCP REF 224 346 RDP CHT 347 RDP LVL 349 RDP OFF 225 RDP ON 226 RDP PAR 226 349 RDP TYP 231 353 Reading current setting for VRS assumption 412 282 Reading GLONASS bias setting 257 Reading RTC Bridge settings 272 Reading the internal update rate 336 Reading the radio reception level 349 Reading the receiver name 346 Reading the reference receiver name 346 REC 232 355 Receiver configuration upload save 113 Receiver dynamics 295 Receiver identification 355 Receiver identification screen 12 Receiver initialization 191 Receiver name 223 Receiver parameters 333 Receiver serial number 12 Recording interval 19 Reference receiver name 224 Relative positioning 48 Relative centimeter accurate positioning 48 Relaying device 81 121 Reset Procedure 113 Reset receiver memory 191 Reset receiver parameters 235 Reset RTK 174 Residual error 358 Rigid body 71 RMC 201 rms 68 RNX MSI 358 RNX TYP 234 Rover only configuration 35 RRE 358 RS232 from to RS422 119 RS232 RS422 198 RS422 from to RS232 119 RST 235 RT2 184 RT3 184 RTC 359 RTC Bridge 159 RTC MSG 236 RTC MSI 361 RTC TYP 237 RTCM 18 84 RTCM message status 361 RTCM message type 237 RTCM messages 1021 1023 116 RTCM status 359 RTCM2 3 157 RTCM3 0 3 1 157 RTDS Software 81 121 RTDS Software configuration 122 RTK correction data 35 83 RTK network 279 RTK output rate 91 RTK
137. Example Setting the duration to 15 minutes PASHS DRD 15 0F PASHQ DRD PASHS REC to start stop data recording DRI Raw Data Recording Rate Function Command Format This command sets the recording rate for all raw data logged in the internal or external memory This rate can be independent of the data output rate on a serial port Syntax PASHS DRI f cc 181 Set Command Library Relevant Query Command See also DSY Daisy Chain Parameters Parameter Description Range Default 0 05 sec or 0 1 0 4 sec Raw data recording rate if the F option is acti Setting PASHS POP to 20 s a vated 1s is a prior condition to operat 0 5 0 9 5 ing at 0 05 s 20 Hz 1 999 s cc Optional checksum 00 FF Example Setting the recording rate to 5 seconds PASHS DRI 5 33 PASHQ DRI PASHS ATM PASHS RAW PASHS REC PASHS POP Function Command Format 182 This command is used to redirect all the characters flowing through a given serial port source port to another destination port without interpreting the flow of redirected data Once the daisy chain mode is on only the command used to discontinue this mode can be interpreted on the source port Redirection can be in both directions in which case two DSY commands instead of one are required to allow bidirectional data flow Syntax Redirecting data from a source port to a destination port PASH
138. General Status screen read the remaining percentage of free memory second line last number in the line 1 If 0 is displayed then the memory used is full Do one of the following e Change the storage medium e Using your field terminal empty the memory or delete the files you don t need anymore If neither of these two actions resolves your problem you may have a malfunctioning receiver Contact your local dealer or email Technical Support for assistance 2 If the memory is not full gt 0 you may have a malfunctioning receiver Contact your local dealer or email Technical Support for assistance Radio Data Link Fails to Provide Base Corrections to Rover RTK Base RTK Rover PP Base PP Rover Relevant to The Data Link icon is displayed on the rover s General Status screen when base corrections are received and a float or fixed solution is available Next to it is the age of corrections a value which should not normally exceed a few seconds when the data link operates smoothly After examining the General Status screen you determine that the rover is not receiving data Follow the outline below to troubleshoot this problem 101 Troubleshooting Step 1 Is the Receiver Fitted with the Appropriate Radio Module Step 2 Is the Radio Antenna Connected to the Radio Module Step 3 Are the Rover Radio Settings Compatible with those of the Base Radio Step 4 Is
139. H f1 c2 cc Parameters Parameter Description Range 0 6 553 m f1 Antenna height 6553 100 m Antenna height measurement type c2 e V Vertical measurement V S S Slant measurement cc Optional checksum 00 FF Examples Entering the vertical measurement 2 m of a rover antenna PASHS ANH 2 000 Entering the slant measurement 1 543 m of a base antenna PASHS ANH 1 543 S Comments When you enter an antenna height greater than 6 553 m be aware this will NOT be the value of antenna height broadcast through RTCM messages and the one saved to the G file Instead a fixed value of 6 553 meters will be provided PASHQ ANH PASHS ANR ANP PCO amp ANP EDx Creating Editing Antenna Definitions Function 144 These commands allow you to create or modify antenna definitions The definition of an antenna includes a name for Set Command Library the antenna all its phase center offsets as well as the elevation dependent delays in 5 degree steps Command Format Syntax PASHS ANP PCO s 1 f2 f3 f4 f5 f6 f7 cc PASHS ANP ED1 s1 f2 f3 4 f5 f6 f7 f8 f9 f10 f19 f20 cc PASHS ANP ED2 s1 f2 f3 4 f5 f6 f7 f8 f9 f10 f19 f20 cc Parameters ANP PCO PCO for Phase Center Offsets Parameter Description Range s1 Antenna name ol alae ters max f2 L1 phase center offset in mm in the North direction 0 1000 0 f3 L1 phase center offset in mm in the East direction 0 1000
140. HMP offset radius ARP These dimensions are essential if you want the post processing to deliver the best possible accuracy for all your points Something goes wrong in the post processing when the header of a raw data file refers to what is an unknown antenna name for your software And what if instead a universal antenna name was mentioned in the file that would prevent your software from being stalled That s where the concept of virtual antenna comes into play A virtual antenna is an antenna whose characteristics are known to a maximum of actors in the surveying community So the purpose of substituting the name of the real antenna for the name of a virtual antenna is to make sure the raw data file will always be recognizable and processable whatever the post processing software used Using a virtual antenna is like making your raw data files virtually universal by disconnecting them from the surveying equipment that collected them But this is no minor change for the receiver as explained below Using a virtual antenna means moving the spatial point for which data collection actually takes place from the real antenna phase center to the virtual antenna phase center and there are as many phase centers as there are frequencies that the antenna can receive The diagram below shows an example of real and virtual phase centers for one of these frequencies 61 Precise Surveying Field Applications amp Concepts
141. HQ ANH ATL Debug Data Recording Function This command queries the receiver for the current status of the data recording function used for debugging Command Format Syntax PASHQ ATL cc Response Format Syntax PASHR ATL s1 d2 03 f4 d5 cc 265 Query Command Library Parameters Parameter Description Range s1 ON OFF AUT status e ON Debug data recording is enabled but will not re start after a power cycle OFF Debug data recording is disabled AUT Debug data recording is enabled and will re start after a power cycle ON OFF AUT d2 Indicates which data are recorded 0 Only data from GNSS board to sys tem board are recorded 1 Only data from system board to GNSS board are recorded 2 Data flowing in both directions are recorded 0 2 c3 Recording status e R The receiver is currently recording data for debugging S No debug data currently recorded R S 4 Output rate in seconds default 1 sec 0 05 0 1 0 2 0 5 1 d5 Configuration index 0 1 cc Checksum 007FF Examples Data recording disabled PASHQ ATL 2E PASHR ATL OFF 0 S 1 0 2C Data recording enabled and in progress PASHQ ATL 2E PASHR ATL ON 0 R 0 5 0 79 Data recording is enabled but for some reason no SD card etc no data is being recorded PASHQ ATL 2E PASHR ATL ON 0 S 0 5 0 78 266 ATM ATOM Data Parameters Que
142. HS DRD 233 Set Command Library RNX TYP ATOM RNX Differential Message Function Command Format 234 This command is used in a receiver used as a base to define the type and output rate of the ATOM RNX message generated by the base This command is now used as a replacement to the PASHS ATD TYP command which was made obsolete in May 2010 Syntax PASHS RNX TYP d1 d2 d3 cc Parameters Parameter Description Range Default d1 Scenario number See table below 4 Output rate for observa 0 1 0 4 if F option activated gz tions in seconds 0703 1 1 1800 Output rate for attributes 0 Disabled d3 receiver and antenna 31 names in seconds 809 cc Optional checksum 00 FF Scenario Description Number All available raw data in full presentation full computed reference 0 position follows at each epoch This scenario is not recommended for use as differential protocol 1 L1 pseudo range and carrier phase in full presentation extended fixed position follows each 12 epochs 2 L1 SNR pseudo range and carrier phase in full presentation extended fixed position follows each 12 epochs 3 L1 amp L2 pseudo range and carrier phase in full presentation extended fixed position follows each 12 epochs 4 L1 amp L2 SNR pseudo range and carrier phase in full presentation extended fixed position follows each 12 epochs L1 amp L2 compact pseudo range and full carrier phase extende
143. K PASHS GNS CFG 2 or 4 Signal not tracked A 12 GPS C A L2CS Similar to Same as Dual Signal Third ON 10 2L NAK PASHS GNS CFG 3 or 5 Signal not tracked ON 1C 2LW NAK 12 GPS CIAH P or L2csy Same as Dual Signal Third Signal not tracked ON 1C 5Q NAK 12 GPS C A L5 Same as Dual Signal Third Signal not tracked 190 Set Command Library If You Run PASHS GPS Single Signal Dual Signal Triple Signal ON 1C 2W 2L NAK NAK 12 GPS C A P L2CS ON1C 2W 5Q NAK NAK 12 GPS C A P L5 ON 1C 2L 5Q NAK NAK 12 GPS C A tL2CS L5 ON 1C 5Q 2L NAK NAK 12 GPS C A L5 L2CS 12 GPS C A P or ON 1C 2LW 5Q NAK NAK L2CS L5 Example Enabling GPS reception PASHS GPS ON 1C 2W 0B Relevant Query PASHQ GPS Command PASHQ PAR See also PASHS CFG PASHS SBA PASHS GLO PASHS GAL INI Receiver Initialization Function This command resets the receiver memory and then restarts the receiver Command Format Syntax PASHS INI d1 cc 191 Set Command Library Relevant Query Command See also Parameters Parameter Description Range Init code 0 Restarts the receiver without memory reset e 1 Resets user settings clears ephemeris alma nac and latest position time data and re starts the receiver a e 2 Resets user settings formats internal mem 0 1 2 3 ory and re starts the receiver 3 Resets user settings formats internal mem ory cl
144. M V2 version ProMark 800 is the first commercial receiver to benefit from this new format version For more information on the ATOM format please refer to the ATOM Reference Manual P N 631648 Time tagged RTK vs FAST RTK Position Output Your receiver can deliver RTK positions either in Time Tagged or Fast RTK mode The default mode is Fast RTK If you wish your receiver to operate in Time Tagged mode use the appropriate serial command to switch into that mode see CPD FST RTK Output Mode on page 170 In its standard version the receiver features a Fast RTK mode with an output rate of 2 Hz With the FASTOUTPUT firmware option the output rate is 20 Hz After purchasing this option use the PASHS OPTION command to install it See OPTION Receiver Firmware Options on page 209 Special Button Combinations Summary 112 Button Receiver Function Combination State Power LogtScroll OFF Restores Factory Settings PowertScroll OFF Initiates firmware update from USB key Refer to Special Button Combinations on page 8 for more information Miscellaneous Reset Procedure The receiver may be reset to the default settings using the Log Scroll Power button combination Release the three buttons only after the logo is displayed The reset procedure is also used to poll the radio module If a new module is detected the receiver will update its database so it can successfully communicate with the
145. Mark 800 1 the GSM antenna 2 the range pole 3 and the field terminal with its mounting bracket 4 Caution Use of a non metal range pole is recommended to maintain the performance level of the GSM antenna 27 RTK Surveying Preliminary Steps 28 Chapter 3 Post Processed Surveying Introduction ProMark 800 can be used either as a base or a rover for collecting raw data in post processed surveys Post processed surveys with ProMark 800 can be performed either with a standalone ProMark 800 or with a ProMark 800 used in conjunction with a field terminal running a field software application The standalone configuration is enough for both static and continuous kinematic surveys but for stop amp go kinematic surveys you need the field terminal and its field software to mark the static occupations Generally speaking using a field terminal and its field software is also more convenient in static and continuous kinematic than using a standalone ProMark 800 The following field software applications can be used to perform post processed surveys with ProMark 800 e FAST Survey e Survey Pro For more information on how to use these applications in post processed surveys refer to their respective documentation The present chapter deals with the following three topics e Receiver setup for static base rover and kinematic rover post processed surveys with or without a field terminal e Collecting raw data
146. NASS 12 characters P GNSSL2 M RTK2 RTK using proprietary formats L RTK3 Limited RTK range N STA RTK base O GALILEO Q GNSSL5 s5 Not used s Serial number 9 characters cc Checksum 00 FF Example PASHQ RID 28 PASHR RID PM 30 S020G010 KFZS 200751223 14 See also PASHQ VERSION PASHQ OPTION RMC Recommended Minimum Specific GNSS Data Function This command is used to output an RMC message containing the last computed position as well as navigation related data Command Format Syntax PASHQ RMC cc 356 Query Command Library Response Format Syntax GPRMC m1 c2 m3 c4 m5 c6 f7 f8 d9 f10 c11 c12 cc Parameters Parameter Description Range a 000000 00 m1 Current UTC time of position hhmmss ss 235959 99 Status c2 A Data valid A V e V Navigation receiver warning se 0 90 m3 Latitude of position ddmm mmmmmm 0 59 999999 c4 Direction of latitude N S m5 Longitude of position dddmm mmmmmm 0 180 0 59 999999 c Direction of longitude E W f7 Speed Over Ground in knots 000 0 999 9 f8 Course Over Ground in degrees true 000 0 359 9 d9 Date ddmmyy 010100 311299 f10 Magnetic variation in degrees 0 00 99 9 c11 Direction of variation E W Mode indicator A Autonomous mode ele D Differential mode ADN N Data not valid cc Checksum 00 FF Example PASHQ RMC GPRMC 160324 50 A 4717 959275 N 00
147. NM 240 371 SNR 240 SNV 219 401 SNW 220 402 SOM 240 372 SOM CTT 242 373 SOM NAV 243 373 SOM SNR 244 374 SOM SVM 376 SOM WRN 246 375 Source table 74 329 Staking out RTK 39 Standalone raw data logging 30 Static IP address 122 123 Static survey PP 42 Station ID 247 376 Status position 9 STI 247 376 Stop amp Go survey PP 43 SVM 248 Synchronization with GPS time 254 381 T TCP IP Direct 74 TDMA 74 78 Text defined for use in user message type TXT 380 Time amp date 386 Time mode 46 Time out 79 Time tagged RTK 86 87 413 Time tagged RTK mode 112 Z Too few satellites 99 Z BLADE 18 34 Trajectories 38 45 ZDA 201 256 386 Transfer rate 74 Tribrach 26 Tripod 26 TTFF 35 51 54 Turning receiver on 217 U U memory 124 UDP 249 377 UDP IP Direct 74 U Link 26 UNT 249 378 Upgrade procedure firmware 117 Upload receiver configuration from USB key 114 Upload Script 109 114 137 USB port 7 USB status 11 USE 250 User message 236 User message type curren tly defined 380 User defined antenna delete 146 User defined dynamic model 249 377 USR POS 252 379 USR TXT 253 380 USR TYP 253 380 UTC 194 UTS 254 V VEC 202 382 Vector components 382 VERSION 383 Vertical height measurement 59 Vertical measurement 144 Virtual antenna 61 261 Virtual antenna specify name 146 VRS 18 19 80 VRS assumption mode 175 VTG 201 384 WwW WAK 255 WARN
148. NP RCV 262 Query Command Library PASHR ANP RCV ASH802147 2 00 0 70 103 00 3 4 2 2 103 80 09 ANP REF Antenna Used at the Base Function This command returns the name of the GNSS antenna assumed to be used by the base currently sending data to the interrogated receiver a rover Command Format Syntax PASHQ ANP REF cc Parameters None Response Format Syntax PASHR ANP REF s1 d2 cc Parameters Parameter Description Range s1 Name of the antenna used at the base 31 characters max Antenna name preference 0 s1 is ignored if incoming reference d2 data include base antenna name 0 1 e 1 s1 is always used decoded base antenna name is ignored cc Checksum 00 FF Example PASHQ ANP REF PASHR ANP REF ASH111661 1 3D Relevant Set PASHS ANP REF Command ANR Antenna Reduction Mode Function This command is used to read the current setting for the antenna reduction mode This setting defines the physical location on the system for which the position is computed 263 Query Command Library Command Format Response Format Example Relevant Set Command See also Syntax PASHQ ANR cc Syntax PASHR ANR s1 cc Parameters Parameter Description Range Antenna reduction mode OFF The computed position is assumed to be the location of the antenna s L1 phase center s1 e ON The computed position is assumed to be the location of the ground
149. Never switches to VRS mode 0 1 2 cc Optional checksum 00 FF Example Enabling the compulsory VRS mode PASHS CPD VRS 1 44 Users working in VRS using the CMR or RT2 format should activate the compulsory VRS mode d 1 PASHQ CPD VRS 175 Set Command Library CTS Handshaking Function This command enables or disables the RTS CTS handshaking protocol for the specified port If no port is specified the command applies to the port through which the command is routed Command Format Syntax PASHS CTS c1 s2 cc Parameters Parameter Description Range Default cl Port ID A s2 RTS CTS control ON OFF ON cc Optional checksum 00 FF Example Disabling RTS CTS on port A PASHS CTS A OFF 3F Relevant Query PASHQ CTS Command See also PASHS PRT PASHS MDP DBN TYP DBEN Message Type amp Output Rate Function This command is used in a base to define the type of DBEN message the base should generate type and rate Enabling or disabling the output of the DBEN message is made through PASHS BAS or PASHS BDS Command Format Syntax PASHS DBN TYP s1 d2 cc 176 Parameters Set Command Library Parameter Description Range s1 Message type See table below d2 Output rate in seconds See table below cc Optional checksum 00 FF Type Description Range Pete RPC Code amp phase measureme
150. ON 332 PASHQ PAR 333 PASHQ POP 336 PASHQ POS 338 PASHQ PPS 339 PASHQ PRT 340 PASHQ PTT 341 PASHQ PWR 342 PASHQ QZS 343 PASHQ RAW 344 PASHQ RCP OWN 346 PASHQ RCP REF 346 PASHQ RDP CHT 347 PASHQ RDP LVL 349 PASHQ RDP PAR 349 PASHQ RDP TYP 353 PASHQ REC 355 PASHQ RID 355 PASHQ RNX MSI 358 PASHQ RRE 358 PASHQ RTC 359 PASHQ RTC MSI 361 PASHQ RWO 362 PASHQ SAT 363 PASHQ SBA 364 PASHQ SGA 365 PASHQ SGL 367 PASHQ SGP 369 PASHQ SIT 371 PASHQ SNM 371 PASHQ SOM 372 PASHQ SOM CTT 373 Index 405 PASHQ SOM NAV 373 PASHQ SOM SNR 374 PASHQ SOM SVM 376 PASHQ SOM WRN 375 PASHQ STI 376 PASHQ UDP 377 PASHQ UNT 378 PASHQ USR POS 379 PASHQ USR TXT 380 PASHQ USR TYP 380 PASHQ UTS 381 PASHQ VEC 382 PASHQ VERSION 383 PASHQ VTG 384 PASHQ WARN 385 PASHQ ZDA 386 PASHR DPC 393 PASHR ION 389 PASHR MPC 390 PASHR PBN 394 PASHR SAG 397 PASHR SAL 396 PASHR SAW 398 PASHR SNG 399 PASHR SNV 401 PASHR SNW 402 PASHS AGB 143 PASHS ANH 144 PASHS ANP DEL 146 PASHS ANP EDx 144 PASHS ANP OUT 146 PASHS ANP PCO 144 PASHS ANP REF 147 PASHS ANR 148 PASHS ANT 149 PASHS ATL 152 PASHS ATM 153 PASHS ATM ALL 155 PASHS ATM PER 156 PASHS ATM VER 156 PASHS BAS 157 PASHS BEEP 159 PASHS BRD 159 PASHS BTH NAME 162 PASHS BTH PIN 163 PASHS CFG 164 PASHS CMD LOD 136 166 PASHS CMD WTI 167 PASHS CMR TYP 168 PASHS CPD AFP 169 PASHS CPD FST 170 PASHS CPD MOD 1
151. PASHS BAS PASHS MOD BAS SVM Setting the Maximum Number of Observations in the PVT Function Command Format Comments Relevant Query Command 248 This function is used to set the maximum number of code and doppler observations used in the PVT calculation Syntax PASHS SVM d1 cc Parameters Parameter Description Range Default d1 Maximum number of observations 0 26 14 cc Optional checksum 00 FF Example Setting the number of observations to 25 PASHS SVM 25 16 This setting affects all the positioning modes except for the time tagged RTK mode for which this limit is hardware coded and set to 14 satellites PASHQ SVM PASHQ PAR Set Command Library UDP User Defined Dynamic Model Parameters Function Command Format Relevant Query Command See Also This command is used to set the upper limits of the dynamic model velocity acceleration Syntax PASHS UDP 1 f2 f3 f4 cc Parameters Parameter Description Range Default P eiA expected horizontal velocity in 0 100 000 100 000 2 Maximum expected horizontal accelera 0 100 100 tion in m s s Maximum expected vertical velocity in m f3 H 0 100 000 100 000 A Maximum expected vertical acceleration 0 100 100 in m s s cc Optional checksum 00 FF Example Setting the dynamic model PASHS UDP 10 1 2 0 5 1D Comments The user defined dynamic model is activated
152. PD mode BAS Base ROV Rover BKP Backup Hot Standby RTK BAS ROV BKP ROV d2 Constellations used in the base 0 GPS GLONASS SBAS default 1 Only GPS and SBAS 2 Only GPS and GLONASS 3 Only GPS 0 3 d3 Position mode If s1 BAS 0 Base position is a static position as set through PASHS POS 1 Base position is a moving position e 2 Current position the command allocates the currently computed position to the base The base posi tion is then kept unchanged If s1 ROV 0 Rover operates with static base e 1 Rover operates with moving base Input port for backup mode A Serial port C Bluetooth port D Radio E Modem A C D E cc Optional checksum 00FF Examples Setting the receiver as a base using all constellations PASHS CPD MOD BAS 0 28 Setting the receiver as a rover PASHS CPD MOD ROV 2F Setting the receiver to operate as a rover in which the backup mode is activated and port A is used for that purpose PASHS CPD MOD BKP A 50 e With s1 BAS Base mode and d3 2 Current position once the current position has been defined as the base position then the position mode is automatically switched to O The base position can then be read using the PASHQ CPD POS command 171 Set Command Library Relevant Query Command See also In Hot Standby RTK s1 BKP the
153. PDL and ADL only 410 430 430 450 450 470 13 Firmware version f14 Central frequency setting MDL only 410 470 MHz c15 Scrambler status PDL and ADL only 0 Off e 1 0n 0 1 c16 Forward Error Correction status PDL ADL and XDL 0 FEC Off e 1 Hamming FEC On 0 1 S17 RF output level ADL and licence free radios only LFE LFA 100 200 or 500 mW 1 2 or 4 W ADL 100 or 500 mW 1 2 or 4 W 100 200 or 500 mW 1 20r4W 351 Query Command Library Comments Relevant Set Command See also 352 Parameter Description Range s18 Maximum output power ADL only 100 or 500 mW 1 20r4W s19 Modulation format PDL and ADL only 4FSK GMSK d20 Model ID for ADL radios 0 ADL RXO e 1 ADL Foundation e 2 ADL Vantage e 3 ADL Vantage Pro 4 XDL ADL Micro d21 Current output power index ADL only Output power for ADL Foundation 0 100 mw 1 500 mw e 2 1W Output power for ADL Vantage 0 100 mw 1 500 mw e 2 1W 3 2W 44W Output power for ADL Vantage Pro 0 Level 1 2 W e 1 Level 2 e 2 Level 3 3 Level 4 4 Level 5 See command PASHSQ RDP PWR to read current power value in W XDL not supported 0 4 cc Checksum 00 FF Example If an internal PDL radio receiver is used PASHQ RDP PAR D PASHR RDP PAR D PDL ON 0 AUT
154. Position Message Function Command Format Response Format 300 This command is used to output a GGA message containing the last computed position If no position is computed the message will be output anyway but with some blank fields Syntax PASHQ GGAI cc Syntax GPGGA m1 m2 c3 m4 c5 d6 d7 f8 f9 M f10 M f11 d12 cc Example Comment Automatic Output of GGA Messages Query Command Library Parameters Parameter Description Range F 000000 00 m1 Current UTC time of position hhmmss ss 235959 99 m2 Latitude of position ddmm mmmmmm R 0 59 999999 c3 Direction of latitude N S m4 Longitude of position dddmm mmmmmm 9 180 0 59 999999 c5 Direction of longitude E W Position type 0 Position not available or invalid e 1 Autonomous position d 2 RTCM Differential or SBAS Differential 0 5 9 3 Not used 4 RTK fixed 5 RTK float 9 SBAS Differential See comment a Number of GNSS Satellites being used in the position computation f8 HDOP 0 99 9 OM Altitude in meters above mean seal level 99999 999 M M for meters Geoidal separation in meters M for meters f10 M Based on the official NATO s standard mean 999 999 M sea level algorithm 5 degree grid of height f11 Age of differential corrections in seconds 0 d12 Base station ID RTCM only 0 4095 cc Checksum 00 FF PASHQ GGA GPGGA 131745 00 4717 960847 N 00130 4
155. Precision receivers RTCM2 3 The message types that exist in this version are numbered from 1 to 34 The most important ones are listed below Message Description Default Transfer Type Rate 1 9 Differential GPS Corrections 3 ECEF XYZ base coordinates 16 36 GPS special message 18 Uncorrected carrier phase 1 second 19 Uncorrected pseudo ranges 1 second 20 RTK carrier phase corrections 21 RTK high accuracy pseudo range correc tions 22 Extended base parameter 23 Antenna type definition 31 seconds 24 Antenna reference point 13 seconds 31 34 Differential GLONASS corrections 32 a Reference Stations Parame ers RTK Implementation RTCM3 0 and 3 1 The message types that exist in these versions are numbered from 1001 to 1029 The most important ones are listed below ar Default Message Type Description Transfer Rale 1001 L1 only GPS RTK observables 1002 Extended L1 only GPS RTK observables 1003 L1 amp L2 GPS RTK observables 1004 Extended L1 amp L2 GPS observables 1 second 1005 Stationary RTK reference station ARP 1006 Base ARP with antenna height 13 seconds 1007 Antenna descriptor 1008 Antenna descriptor and serial number 1009 L1 only GLONASS RTK observables Extended L1 only GLONASS RTK observ 1010 ables 1011 L1 amp L2 GLONASS observables 1012 Extended L1 amp L2 GLONASS observables 1 second 1013 Sy
156. ProMark 800 ashtech Copyright Notice Copyright 2011 2013 Trimble Navigation Limited All rights reserved P N 631668 B January 2013 Trademarks All product and brand names mentioned in this pub ication are trademarks of their respective holders FCC Notice ProMark 800 Receiver complies with the limits for a Class B digital device pursuant to the Part 15 of the ul CC rules when it is used in Portable Mode See Note elow related to Class B device log e ass B digital devices NOTE This equipment has been tested and found to comply with the limits for a Class B digital device pursuant to Part 15 of the FCC Rules These limits are designed to provide rea sonable protection against harmful interference in a residential installation This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the in structions may cause harmful interference to radio communications However there is no guarantee that interference will not occur in a particular installation If this equipment does cause harmful interference to radio or television reception which can be deter mined by turning the equipment off and on the user is encouraged to try and correct the interference by one or more of the following measures Reorient or locate the receiving antenna Increase the separation between the equipment and receiver Connect the equipment
157. Q ELM cc Syntax PASHR ELM d1 cc Parameters Parameter Description Range d1 Current value of elevation mask in degrees 0 90 cc Checksum 00 FF PASHQ ELM PASHR ELM 5 29 PASHS ELM PASHQ PEM FIL CUR Information On G File Being Recorded Function Command Format Response Format 296 This command allows you to read information about the G file currently being recorded Syntax PASHQ FIL CUR cc Syntax General form PASHR FIL CUR s1 d2 s3 s4 d5 cc If no G file recording is in progress PASHR FIL CUR NONE 79 Query Command Library Parameters Parameter Description Range s1 Filename including path 255 characters max d2 Size in bytes 0 134217728 3 Date ddmmyyyy s4 Time hhmmss 000000 235959 Memory location d5 0 Internal memory 0 2 2 USB key cc Checksum 00 FF Example PASHQ FIL CUR PASHR FIL CUR GazerA09 123 1769897 14032009 130850 0 63 See Also PASHS REC PASHS MEM FIL LST Listing Files in Receiver Memory or USB Key Function This command allows you to list the names of the files stored in the receiver s internal memory or on the USB key connected to the receiver Command Format Syntax PASHQ FIL LST c s cc Parameters Parameter Description Range Memory type c 0 or c omitted Internal memory comitted Memory is as defined with PASHS MEM c 2 USB
158. Query Command Library Syntax PASHR RRE 1 n d2 f3 f4 f5 cc Parameters Parameter Description Range d1 Number of satellites used to compute the 3 27 position GPS 1 32 d2 Satellite number SBAS 33 64 GLONASS 65 96 13 Range residual 999 9 m f4 RMS horizontal position error 0 9999 9 m f5 RMS vertical position error 0 9999 9 m cc Checksum 00 FF PASHQ RRE PASHR RRE 12 20 0 5 13 0 4 23 0 4 17 0 6 25 0 3 04 0 1 02 0 5 77 0 0 84 0 0 83 0 0 78 0 0 68 0 1 1 2 2 3 34 PASHS NME Function Command Format Response Format This command queries the current status of the RTCM The return message is in free form format Syntax PASHQ RTC cc Syntax Through an example STATUS SYNC VER V2 3 STID 0000 STHE 0 AGE 0000 TYPE 18 19 MSG SETUP MODE BAS PORT A E VER V3 V2 3 STI 0000 TYP 1 3 9 16 18 19 20 21 22 FRQ 0 30 0 1 1 0 0 30 TYP 23 24 31 32 34 36 FRQ 0 0 0 0 0 TYP 1001 1002 1003 1004 1005 1006 1007 1008 359 Query Command Library 360 FRQ 00 1 0 30 0 0 TYP 1009 1010 1011 1012 1013 1019 1020 1029 1033 FRQ 0 0 0 1 30 0 0 0 31 MSG MSG No User Message Parameters Status Parameter Description Range RTCM status e Corrections from base received in rover in due time P SYNC lt space gt No corrections are received that a lt spacez would be compatible with the maximum age of correctio
159. R TYP CMR Message Type and Rate Function Command Format 168 This command is used in a base to set the type and rate of CMR message the base will generate and output Syntax PASHS CMR TYP d1 d2 cc Parameters Parameter Description Range d1 Message type 0 1 2 3 See table below d2 Output rate in seconds 0 0 5 or 1 300 See table below cc Optional checksum 00 FF Message Pare Output Rate Type Description Output Rate Range Default 0 Observables 0 0 5 s or 1 300 s 1s 1 Base coordinates 0 300 s 30 s 2 Base description 0 300 s 30 s 3 GLONASS observables 0 0 5 s or 1 300 s 1s Examples Setting a CMR message type O observables at a 1 second output rate PASHS CMR TYP 0 1 59 Setting a CMR message type 1 base coordinates at a 30 second output rate PASHS CMR TYP 1 30 6A Set Command Library Relevant Query PASHQ CMR MSI Command See also PASHS BAS PASHS CPD MOD BAS CPD AFP Setting the Confidence Level of Ambiguity Fixing Function This command is used to set the confidence level required of the ambiguity fixing process The higher the confidence level the more likely the ambiguities are fixed correctly but the longer the time it takes to fix them Command Format Syntax PASHS CPD AFP f1 cc Parameters Parameter Description Range Default Confidence level in per cent required of ambiguity fixing process Choosing
160. RAW 220 Command PA SHQ RWO Set Command Library See also PASHS RAW PER PASHS RAW ALL PASHS POP RAW ALL Disabling All Raw Data Messages Function This command is used to disable all the currently active raw data messages on the specified port Command Format Syntax PASHS RAW ALL c1 OFF cc Parameters Parameter Description Range Port ID c1 Serial port ABluetooth port C e Memory M U cc Optional checksum 00 FF Example Disabling all raw data messages on port A PASHS RAW ALL A OFF 52 Relevant Query None Command See Also PASHS RAW RAW PER Setting Unique Output Rate for Raw Data Function This command is used to set the same output rate for raw data messages MPC DPC and PBN This command will overwrite the output rates set individually for each of these message types using PASHS RAW xxx Setting this rate does not affect the data recording rate set with PASHS DRI 221 Set Command Library Command Format Relevant Query Command See also Syntax PASHS RAW PER f cc Parameters Parameter Description Range Default Output rate in seconds 0 05 s or 0 1 0 4 s with f Setting PASHS POP to 20 F option activated is is a prior condition to operat 0 5 0 9 s ing at 0 05 s 20 Hz 1 999 s cc Optional checksum 00 FF Example Setting the data output rate to 2 seconds PASHS RAW PER 2 44 PASHQ RAW PASH
161. Raw Data Recording Status Query Command Library Function recording status This command allows you to read the current raw data Command Format Syntax PASHQ REC cc Response Format Syntax PASHR REC c cc Parameters Parameter Description Range Control character Y Yes Data recording in progress Receiver will start recording data automatically when you next turn it on N No No data recording in progress Receiver will not start recording data automatically when c you next turn it on Y N S R S Stop No data recording in progress but the receiver will start recording data automatically when you next turn it on R Record Data recording in progress but the receiver will not start recording data automati cally when you next turn it on cc Checksum 00 FF Example PASHQ REC PASHR REC N 42 Relevant Set PASHS REC Command RID Receiver Identification Function parameters This command allows you to read the receiver identification 355 Query Command Library Command Format Syntax PASHQ RID cc Response Format Syntax PASHR RID s1 d2 s3 84 85 s6 cc Parameters Parameter Description Range s1 Receiver type PM for ProMark 800 d2 Not used 30 3 Firmware version 8 characters Receiver option When an option is valid a letter is displayed else a dash is displayed The options are K RTK Unlimited RTK F FASTOUTPUT Z MODEM s4 S GLO
162. S DSY c1 c2 d3 cc Discontinuing the daisy chain mode from a specified source port PASHS DSY c1 OFF cc Set Command Library Discontinuing the daisy chain mode for all source ports PASHS DSY OFF cc Parameters Parameter Description Range c1 Source port ID A C D E c2 Destination port ID A C D E Mode 0 Raw default Data are sent to the desti nation port as and when they arrive 1 Block Data are sent to the destination port only after a complete message has arrived cc Optional checksum 00 FF d3 Examples Redirecting port D to port A PASHS DSY D A 3E Redirecting port D to port A and port A to port D PASHS DSY D A 3E PASHS DSY A D 3E Discontinuing the daisy chain mode from port A PASHS DSY A OFF 35 Discontinuing the daisy chain mode from all source ports PASHS DSY OFF 58 DYN Receiver Dynamics Function This command allows you to define the receiver dynamics The chosen number best represents the receiver motion Command Format Syntax PASHS DYN d1 cc 183 Set Command Library Relevant Query Command See Also Parameters Parameter Description Range Default Receiver dynamics e 1 Static 2 Quasi static e 3 Walking e 4 Ship d1 e 5 Automobile 1 9 8 6 Aircraft e 7 Unlimited 8 Adaptive 9 User defined see also PASHS UDP cc Optional checksum 00 FF Example Setti
163. S RAW PASHS RAW ALL PASHS POP RCP GBx GLONASS Carrier Phase Biases for User Defined Receiver Function Command Format 222 This set of two commands is used to define GLONASS carrier phase biases for a given receiver One command deals with the GLONASS L1 band and the other with the GLONASS L2 band Syntax For the L1 band PASHS RCP GB1 s1 f2 f3 4 f5 f6 f7 f8 f9 f10 f11 f12 f13 f14 f15 f16 f17 c c For the L2 band PASHS RCP GB2 s1 f2 f3 f4 f5 f6 f7 f8 f9 f10 f11 f12 f13 f14 f15 f16 cc Comments Relevant Query Command See Also Set Command Library Parameters Parameter Description Range s1 Name of user defined receiver for which GLON 31 characters ASS biases must be defined case sensitive max When a linear pattern is assumed for GLONASS Full range of f2 biases f2 represents the delta bias between two Real variables adjacent GLONASS frequency numbers allowed When an arbitrary pattern is assumed for GLON Full range of 13 f16 ASS biases f3 f16 represent biases for GLON Real variables ASS frequency numbers from 7 to 6 allowed 17 Pseudo range bias in meters between GPS and GLONASS constellations cc Optional checksum 00 FF e Only fractional parts of GLONASS carrier phase biases are of practical importance e Running one of these commands on a receiver already stored in the list of user defined receivers will save all the submitted parameters to backup mem
164. SHS RTC TYP RTCM message type 140 Using Serial Commands Table 1 Receiver Configuration Commands Continued Set Command Description Query Command Description PASHQ RWO Raw data output settings PASHS SBA SBAS tracking ON OFF PASHQ SBA SBAS tracking status PASHS SIT Site name PASHQ SIT Site name PASHS SNM Signal noise ratio mask PVT PASHQ SNM Signal noise ratio mask PVT PASHS SOM Masking signal observations PASHQ SOM Masking signal observations PASHS SOM CTT Cumulative tracking time mask PASHQ SOM CTT Cumulative tracking time mask PASHS SOM NAV Navigation data mask PASHQ SOM NAV Navigation data mask PASHS SOM SNR _ Signal to Noise ratio mask PASHQ SOM SNR Signal to Noise ratio mask PASHS SOM WRN_ Channel warnings mask PASHQ SOM WRN Channel warnings mask PASHS STI Station ID PASHQ STI Station ID PASHS SVM No of observations in PVT PASHQ SVM No of observations in PVT PASHS UDP User defined dynamic model PASHQ UDP User defined dynamic model PASHS UNT Distance unit on display screen PASHQ UNT Distance unit on display screen PASHS USE GNSS satellite tracking control PASHS UsR Pos Seting position for use in user fe PASHO USR POS Position inserted in GGA message GGA message PASHS USR TYP User message type PASHQ USR TYP User message type PASHS USR TXT User message text PASHQ USR TXT Use
165. Scroll button from the Position Computation screen or from the Radio Settings screen if there is a radio used will take you to the ATL Recording screen which looks like one of the following depending on whether a USB key is connected to the receiver below right or not below left You don t normally have to record ATL data but if for troubleshooting purposes the Technical Support asks you to do so then proceed as follows e Press the Log button left hand button This will cause the receiver to start recording ATL data on the specified storage medium The screen will then look like this You can then freely use the Scroll button to access other receiver screens without affecting the ATL data collection in progress pressing the Scroll button from this screen will take you back to the General Status screen e When enough ATL data have been recorded Tech Support will usually indicate the duration of ATL data collection needed for troubleshooting then come back to the ATL Recording screen and simply press on the Log button again to stop the recording NOTE 1 ATL data recording is totally independent of raw data recording controlling ATL recording is done exclusively from the ATL recording screen and raw data recording from any other screen NOTE 2 Before connecting a USB key to record ATL data make sure there is no par files saved on the key as the presence of this type of file would initiate some other func
166. Spectra Precision receivers as a function of baseline length initialization method and receiver type for normal operating conditions open sky 8 satellites received PDOP lt 3 and 1 second raw data recording rate 55 Precise Surveying Field Applications amp Concepts Observation Time Charts Minimum observation time Dual Frequency Receivers point 0km 10 km Baseline length 20 km Minimum observation time Single Frequency Receivers 0km 20 km Baseline length Not surprisingly the minimum observation times in post processed surveys are roughly equal to the TTFF s in real time surveys for the same type of equipment baseline and initialization methods For single frequency receivers using the initializer bar baseline length 20 cm the minimum observation time is about 60 seconds when one or more SBAS satellites are in view and their collection data are available GNSS Antennas and Antenna Heights GNSS Antenna Features The figure below represents a generic GNSS antenna showing the features that are critical to precise surveying 5 rae p E zi 56 Why is GNSS Antenna Height so Important Precise Surveying Field Applications amp Concepts Phase Center Location 1 This is a virtual point that represents the spatio temporal origin of the antenna It is usually inside the antenna an
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168. Through the data link the rov er receives the data it needs to operate in this mode Chapter 5 also introduces the two po sition output modes available in RTK and helps surveyors choose the one that s best for their applications Chapter 6 is a collection of first level mainte nance instructions you may have to refer to should you encounter problems with your equipment The list of possible alarms and remedies is also provided in this chapter Chapter 7 is an appendix gathering various procedures and memo pages file naming conventions button combinations etc As a supplement to the ProMark 800 Refer ence Manual four additional appendices are provided describing all serial commands and data outputs pertaining to the receiver Appendix A is an introduction to the PASH proprietary commands It introduces the two categories of commands tells you how to ap ply them describes the conventions used in their description and provides an alphabeti cal list combining set and query commands in a single table Appendix B provides a full description of all the set commands Appendix C provides a full description of all the query commands Appendix D provides a full description of all the output messages Table of Contents Chapter 1 Introduction ccccccssscsssessseessseessseesseessseeesseessseeessaees 1 What is ProMark 800 ceccceceeeeeeeeee eee eeeee ena eeeesaaeeeeeeaeeeeeeaaee 1
169. Type Name _ Size Contents Double navy 8 Station position ECEF Y m Double navz 8 Station position ECEF Z m Float navt 4 Clock offset m Float navxdot 4 Velocity in ECEF X m s Float navydot 4 Velocity in ECEF Y m s Float navzdot 4 Velocity in ECEF Z m s Float navidot 4 Clock drift m s Unsigned short pdop 2 PDOP multiplied by 100 The checksum is computed by breaking the structure into 27 unsigned shorts add ing them together and taking the least sig nificant 16 bits of the result Unsigned short checksum 2 Total of bytes 56 When for example after a cold start the receiver has no correct time tag the PBN message is output with a fixed zero time tag Unlike all the other position messages the position provided in a PBN message cannot be an RTK position It can only be a standalone SBAS or DGNSS position NOTE GPS time is used when GPS is defined as the primary system and GLONASS time is used when GLONASS is defined as the primary system Reminder on How Use the PASHS RAW command with the syntax below to Output PBN PASHS RAW PBN lt port_ID gt ON lt Rate gt Messages For more details on the PASHS RAW command refer to the Set Command Library Chapter As an example the command below will output PBN messages on port A at a rate of 1 second PASHS RAW PBN A ON 1 SBA DAT SBAS Data Message Provided the command below has been run
170. a parameter called maximum age of corrections defining an upper limit for the age of corrections If for any reason the age of corrections reaches this limit a warning message will alert you RTK Implementation RTK Correction Data Formats Key Terms and Expressions Proprietary Formats This section describes the different data formats that can be used by Spectra Precision receivers to transport RTK correction data from a base to a rover One of the preliminary settings you will have to do before using your equipment is to choose one these data formats and set the output rate This choice should be done in conjunction with that of the data link see the Data Link section Observable Is another name for the data being collected observed by a receiver ATOM ATOM is an Ashtech proprietary format Being much more compact and modern i e supporting new GNSS constellations and signals than DBEN it has replaced it gradually in all the latest Spectra Precision products The table below lists the most commonly used ATOM scenarios to generate RTK corrections not an exhaustive list For more details see ATOM Reference Manual or RTC TYP RTCM Message Type on page 237 Transfer Rate Message Type default Range Standard observations 1 second 0 05 to 1800 seconds Compact observations 0 0 05 to 1800 seconds Super compact observations 0 0 05 to 1800 seconds re Non user settable Reference position
171. abled 3 Tracking status ON OFF JON cc Optional checksum 00 FF Comments e Use the command as many times as the number of satellites you want to disable from tracking e The tracking of a given satellite is suspended immediately after disabling it The satellite is also excluded from the list of searched tracked satellites e Conversely re enabling a previously disabled satellite consists of re inserting it into the list of searched tracked satellites e Be aware that re enabling the tracking of a satellite shortly after having disabled it does not mean that the receiver will be able to quickly restore the tracking of this satellite Examples Disabling GLONASS satellite PRN 5 PASHS GLO USE 5 OFF Disabling all GLONASS satellites PASHS GLO USE OFF Enabling all GPS satellites PASHS GPS USE ON 251 Set Command Library Relevant Query Command PASHQ PAR USR POS Setting Position for User Message Type GGA Function Command Format Relevant Query Command See Also 252 This function is used to define the position that will be inserted into the GGA user message as defined through PASHS NME command run with s1 USR and PASHS USR TYP command run with s GGA Syntax PASHS USR POS m1 c2 m3 c4 f5 cc Parameters Parameter Description Range Latitude in degrees and minutes with 7 decimal places ddmm mmmmmmm 130 m1 c2 North N or Sou
172. ack AC DC power supply kit HI measurement tool USB cable host USB cable device GSM antenna GPS antenna extension Transport bag GNSS Solutions RTK L1 post pro cessing Firmware options Unlimited RTK GLONASS GALILEO L5 GSM Modem 20 Hz Fast Output 990657 99 Can be ordered separately as spare parts Item Part Number Picture USB Device to PC Cable long 702103 USB Host to Device Cable short 702104 7 4 V 4 4 Ah Li ion Battery Pack 411374 rechargeable AC DC Power Supply Kit includes exter nal AC adapter battery charger and 802064 cable extension for powering ProMark 800 directly from the AC adapter Vertical Antenna Extension 103717 HI Measurement Tool 111146 1 _HTane SS Communication Modules and Associated Antennas Base Accessories Introduction Item Part Number Picture Field bag 206490 ASH Item Part Number Picture ADL Vantage 87330 00 ADL Vantage Kit 430 470 MHz 4 W 87330 20 Accessory kit 430 450 MHz 87330 10 Accessory kit 450 470 MHz Each accessory kit includes a unity gain antenna a range pole mount a tripod mount system a battery accessory kit without the battery and a Vantage Van tage Pro programming cable Transmitter alone ADL Vantage Pro 87400 00 ADL Vantage Pro Kit 430 470 MHz 35 W 87400 20 Accessory kit 430 450 MHz 87400 10 Accesso
173. acking status s1 ON GPS satellites currently tracked and used ON OFF OFF GPS satellites not currently tracked First Signal 1C Tracking GPS L1 C A signal Second Signal 2L Tracking L2CS signal for all GPS SVs 2W Tracking L2P signal for all GPS SVs 2L 2W s3 2LW Tracking L2CS signal for L2CS capable 2LW 5Q or GPS SVs and L2P for others blank 5Q Tracking L5 signal for all GPS SVs Blank No second signal to be tracked Third Signal 2L Tracking L2CS signal for all GPS SVs 2L 5Q or 5Q Tracking L5 signal for all GPS SVs blank Blank No third signal to be tracked s4 cc Optional checksum 00 FF Example PASHQ GPS PASHR GPS ON 1C 2W 1D Relevant Set PASHS GPS Command 308 Query Command Library GRS GNSS Range Residuals Function This command is used to output a GRS message containing the satellite range residuals The message is output on the port on which the query is made No message will be output until a position is computed Command Format Syntax PASHQ GRS cc Response Format Syntax GRS m1 d2 n f3 cc Parameters Parameter Description Range GPGRS Only GPS satellites are used GPGRS GRS GLGRS Only GLONASS satellites are used GLGRS Header GNGRS Several constellations GPS SBAS SGN GRS GLONASS are used a 000000 00 m1 Current UTC time of position hhmmss ss 235959 99 d2 Mo
174. age medium used 8 Ca Battery icon 9 with visual indication of remaining charge If an external power source is used AC adapter or external battery the battery icon will be animated to indicate battery charging in progress Ed is displayed when there is no battery in the compartment and the receiver is operated from an external power source Power status 10 Icon Definition Percentage of remaining battery This indication will flash when Percent the remaining energy drops below 5 When an internal battery is value used with external power applied this icon alternates between the plug and the percentage of charge on the battery Replaces percentage when an external power source is used Alarm status 11 Icon Definition Alarm detected Press the Scroll button to view the alarm type Press it again to acknowledge the alarm which then disappears a from the list Unless there is another alarm in the queue in which case you will have to resume the acknowledge sequence the screen then displays the memory screen None No alarm detected Memory Screens e GSM module modem status 12 This may be one of the following icons Introduction Icon Definition Blank Modem turned off Blinking icon Modem turned on but not initialized yet Indicates signal strength at modem antenna input Fixed icon Modem turned on and initialized ready for a connec tio
175. ages For more details on the PASHS RAW command refer to the Set Command Library Chapter As an example the command below will output SNW messages on port A at a rate of 15 seconds PASHS RAW SNW A ON 15 403 Output Message Library 404 Symbols PASHQ AGB 257 PASHG ALM 258 PASHQG ANH 259 PASHG ANP 260 PASHQG ANP OUT 261 PASHG ANP OWN 261 PASHQG ANP RCV 262 PASHQ ANP REF 263 PASHQG ANR 263 PASHQG ANT 264 PASHQG ATL 265 PASHQ ATM 267 PASHQ ATO 268 PASHQ BAS 269 PASHQ BEEP 271 PASHQ BRD 272 PASHQ BTH 273 PASHQ CFG 273 PASHQ CMR MSI 274 PASHQ CPD AFP 275 PASHQ CPD ANT 275 PASHQ CPD FST 277 PASHQ CPD MOD 277 PASHQ CPD NET 279 PASHQ CPD POS 280 PASHQ CPD REM 281 PASHQ CPD VRS 282 PASHQ CRT 283 PASHQ CTS 284 PASHQ DBN MSI 285 PASHQ DCR 286 PASHQ DDS 287 PASHQ DIP 288 PASHQ DPO 290 PASHQ DRD 291 PASHQ DRI 291 PASHQ DSY 292 PASHQ DTM 293 PASHQ DYN 295 PASHQ ELM 296 PASHQ FIL CUR 296 PASHQ FIL LST 297 PASHQ FLS 299 PASHQ GAL 300 PASHQ GGA 300 PASHQ GLL 302 PASHQ GLO 304 PASHQ GMP 304 PASHQ GNS 306 PASHQ GPS 308 PASHQ GRS 309 PASHQ GSA 310 PASHQ GST 312 PASHQ GSV 314 PASHQ LCS 315 PASHQ LOG 316 PASHQ LOG LST 318 PASHQ LOG PAR 318 PASHQ MDM 319 PASHQ MDM LVL 321 PASHQ MDM STS 321 PASHQ MDP 322 PASHQ MEM 323 PASHQ MWD 323 PASHQ NMO 325 PASHQ NPT 326 PASHQ NTR 327 PASHQ NTR MTP 328 PASHQ NTR TBL 329 PASHQ OCC 330 PASHQ OPTI
176. al dealer or email technical support for assistance e f the precision is beyond capability your precision requirements are not attainable through RTK surveying You will need to find some other measurement system to perform your survey This concludes the troubleshooting section If the tips given here did not help you to resolve your problem with your system please call your local dealer or email Technical Support for assistance Troubleshooting Logging Data for RTK Troubleshooting Purposes Reporting a Problem to Tech Support Logging the data received processed and output by the receiver may help Spectra Precision isolate RTK malfunction when none of the available troubleshooting procedures has allowed you to solve the problem This procedure is based on the capability of the receiver to execute serial commands from a text file stored on a USB key You can create by yourself the text file required to launch this process Create the text file with the following content making sure the four commands are typed in that order PASHS MEM 2 PASHS ATL ON Press the ENTER key after typing the last command This is mandatory Save the file as autoconfig cmd and copy it to the USB key By naming the file that way the receiver will automatically prompt you to run the script when you connect the USB key to the receiver Then follow the instructions below e Check that the receiver is not currently logging data If it is
177. an cause adverse health effects if excessive levels are absorbed The unit of measurement for human expo sure to RF energy is Specific Absorption Rate SAR The Federal Communications Commission FCC In dustrie Canada IC and other agencies around the world have established limits that incorporate a sub stantial safety margin designed to assure the safety of all persons using this equipment In order to certi y this unit for sale in the US Canada and Europe his unit has been tested for RF exposure compliance at a qualified test laboratory and found to comply with the regulations regarding exposure to RF Energy SAR was measured with the unit GSM Module ransmitting at its maximum certified RF power Of en however during normal operation the unit GSM Module will transmit much less than maximum pow er Transmit power is controlled automatically and in general is reduced as you get closer to a cellular base station This reduction in transmit power will result in a lower RF energy exposure and resulting SAR val ue FCC and CE UHF Safety Statement The different versions of the UHF Transmitters are FCC and CE compliant In order to comply with FCC and CE RF exposure safety guidelines as body worn normal use of unit he following must be followed A distance of AT LEAST 10 feet 3 m of separation etween the users body and the unit UHF Transmit er This distance has been defined taken into ac count the FCC and C
178. an be applied to the receiver in different ways from the field terminal running your field software or from a PC s terminal window through a serial connection Rank Alarm Label Symptoms amp Remedies 0 Medium Software error Receiver detected an internal error due to software If persisting 2nd level maintenance is required for the receiver 1 Medium Unknown command Unknown serial command received Correct syntax and re send com mand 2 Medium Bad parameter Not well formatted parameter in the command sent Correct syntax and re send command 3 Medium Bad command checksum Serial command received with bad checksum Correct checksum and re send command 4 Medium File open error Receiver failed to open the raw data file Restart the receiver an try again If error persists and selected storage medium is USB change USB key and try again If error persists and selected storage medium is internal memory re format internal memory using command PASHS INI 2 configuration will be lost 93 Troubleshooting Rank Alarm Label Symptoms amp Remedies Medium File close error Receiver failed to close the raw data file Try again If still unsuccess ful turn off the receiver and try again Medium File write error Receiver failed to write data into the raw data file If the alarm persists close the file and resume data logging If error
179. ancing the succession of O s and 1 s in the radio transmission channel This is to avoid some malfunctioning that might appear when too many O s or 1 s are supposed to be transmitted in a row As a rover user you should make sure this function is also activated at the base before activating it in your radio receiver otherwise the radio link won t work at all If you are using heterogeneous sets of radios i e radio transmitters and receivers from different manufacturers make sure this function is disabled in the radio receiver or transmitter where it is made available Activating a Radio Data Link Some radios are plug and play units some others need a few preliminary settings channel number data rate internal port settings Pros and Cons With radios you are usually independent of any third party data provider Your base can on its own generate and transfer RTK correction data via the radio This is possible any time from any place In addition several rovers can work in RTK from the same base multi point mode However wave propagation in the UHF band is sometimes difficult The radio range can dramatically be reduced if obstructions exist between the base and the rover As a general rule radio antennas should be raised as high as possible Implementation Cellular modems or cell phones can be used for the data link in one of the following two configurations e A pair of modems operating in CSD mode
180. and the display will show the logo followed by the message Starting 2 If the receiver does not power up check the power source The receiver supports both internal battery and external power sources If using the internal power source make sure the internal battery has been fully charged before it was inserted in the receiver A too low battery will prevent the receiver from powering up If using external power check to ensure the power cable is properly connected to both the external battery and the receiver e f the cable is properly connected check the power level of the external power source If low replace the battery with a charged battery and turn on the receiver e f the external power source is good and the cable is connected to both the receiver and the power source there may be a problem with the cable If available try a different power cable If the new cable works the old cable is malfunctioning Call your local dealer or email technical support to have the cable repaired 3 If the receiver is now powered up go to step 2 1 Check the information displayed on the receiver front panel In the upper line starting from the left the first number displayed should gradually rise from O to 8 or more This information represents the number of tracked satellites In the same time the last number in the same line should increase as well in the same proportion This information represents the number of
181. andalone mode In this respect this solution resembles that of the radio link but without its radio coverage limitation as long as there is a cellular coverage in the working area Monitoring the Making sure the data link is operational at all times is Data Link essential to successful field operations A good indicator to monitor the data link is the age of corrections This parameter is clearly highlighted on the display screens of all Spectra Precision receivers or field terminals When the data link operates normally the age of corrections is continuously equal to the transfer rate set at the base for transmitting RTK correction data If for any reason a correction data set is not received or the rover fails to decode and use it then the age of corrections will start increasing 81 RTK Implementation 82 If the increase is only temporary then you should not care too much about the data link as long as the rover continues to provide fixed positions But if the age of corrections keeps on increasing then the problem is more serious as it can only result in a rover losing the fixed status for all the positions it delivers In this case you should figure out why the data link fails and take the necessary steps to bring it back to work So the recommendation is to constantly keep an eye on the age of corrections as you progress in your field operations In some of the available Spectra Precision receivers you can set
182. ange d1 Number of DBEN messages currently output always 2 2 RPC d2 RPC message type output rate in seconds 0 300 BPS d3 BPS message type output rate in seconds 0 300 cc Checksum 00 FF Example PASHQ DBN MSI PASHR DBN MSI 2 RPC 1 0 BPS 30 0 6B See also PASHS DBN TYP PASHQ BAS PASHQ CPD MOD 285 Query Command Library DCR Cartesian Coordinates of Baseline Function Command Format Response Format 286 This command allows you to output the DCR message containing the ECEF components of the baseline for the last computed position as well as other information on the position solution Syntax PASHQ DCR cc Syntax PASHR DCR d1 d2 m3 f4 f5 f6 f7 f8 f9 40 f11 f12 f13 f14 f15 s16 cc Parameters Parameter Description Range Position mode 0 Autonomous e 1 RTCM or SBAS differential a 2 RTK ie i pace 3 RTK fixed 9 SBAS Differential See comment d2 Count of SVs used in position computation 3 27 3 000000 00 m3 UTC time hhmmss ss 235959 99 f4 ECEF X component of baseline in meters 99999 999 5 ECEF Y component of baseline in meters 99999 999 f6 ECEF Z component of baseline in meters 9999 999 f7 Receiver clock offset in meters 300000 000 8 Velocity vector X component in m s 9 999 f9 Velocity vector Y component in m s 9 999 10 Velocity vector Z component in m s 9 999 11 Receiver clock drift in
183. arameters Parameter Description Range s1 Beeper enabled ON or disabled OFF ON OFF Timeout in seconds e 0 No timeout d2 e gt 0Q Buzzer will go out after thespecified timeout 0 99 if the alarm has not been acknowledged at the end of that time cc Checksum 00 FF Example PASHQ BEEP PASHR BEEP OFF 05 Relevant Set PASHS BEEP Command 271 Query Command Library BRD RTC Bridge Function This command allows you to list the current settings of the RTC Bridge function Command Format Syntax PASHQ BRD cc Response format Syntax PASHR BRD s1 d2 c3 c4 cc Parameters Parameter Description Range Availability of RTK corrections on the specified out put port s1 ni No RTK corrections forwarded to the output ON OFF ON RTK corrections forwarded to the output port Use of RTK corrections in the receiver s position computation a2 0 RTK corrections used 0 1 1 RTK corrections not used 3 Input port ID port from which RTK corrections are E modem available in the receiver Output port ID serial port to which the licence free c4 TO A radio transmitter is connected cc Checksum 00 FF Example PASHQ BRD PASHR BRD ON 0 E A 15 Relevant Set PASHS BRD Command 272 Query Command Library BTH Bluetooth Settings Function This command is used to read the current Bluetooth settings Command Format Syntax PASHQ BTH cc
184. arent protocol parent FST FEC2 for the other two TRIMTALK 25 kHz 4800 GMSK A09 174905 Forced to OFF HW or Trim Mark II lle 25kHz 8000 Command NAKed May be set to ON for Transparent Transparent protocol 25kHz 9600 GMSK TrimTalk 450S FEC1 or TT450S HW Forced to OFF for the other two TrimTalk 450S 25kHz 16000 GMSK or TT450S HW Forced to OFF GMSK TrimMark3 Forced to OFF Transparent May be set to ON FEC 1 25kHz 19200 4FSK SATEL or Trans for Transparent protocol parent FST FEC2 for the other two Conversely the choice of a protocol or modulation may force the use of a particular air link speed If an MDL radio is used and the DSNP protocol is selected only the 4800 Bd baud rate can be used If an LFE radio is used the relationship between its channel number and frequency is given in the table below Channel Number Frequency MHz 0 869 450 manufacturer s channel 19 1 869 525 manufacturer s channel 84 2 869 600 manufacturer s channel 85 Relevant Query Command See also Set Command Library Examples Setting the internal Pac Crest radio receiver PASHS RDP PAR D PDL 2 AUT 0 9600 LOW 0 0 75 Setting the internal U Link Rx PASHS RDP PAR D MDL 0 AUT 0 9600 LOW 6A Setting the external U Link TRx PASHS RDP PAR A MDL 1 45 PASHQ RDP PAR PASHS RDP ON PASHS RDP OFF PASHS RDP TYP PASHQ RDP CHT RDP TYP Defining the Type of Radio
185. arting RTC Bridge is a three step procedure e Mounting the license free radio onto the range pole and connecting it toport A using the Y shaped cable supplied USB connection is for powering the radio the other connection to the serial port is for the data e Setting the license free radio then the GPRS modem using FAST Survey e Activating RTC Bridge through a serial command PASHS BRD sent from FAST Survey This procedure is detailed below Mounting and Connecting the License Free Radio The following setup is recommended for both the transmitting rover and the receiving rover s a ee USB Port Radio cable P N 802103 US P N 802104 EU Setting the License Free Radio Follow the instructions below Each step should be executed in the specified order 1 Establish a connection with the receiver from FAST Survey 2 Select Equip gt GPS Rover and then tap on the RTK tab 161 Set Command Library 6 7 In the Device field select ARF7474 corresponding to the license free radio used Tap on R and complete the license free radio settings Still on the RTK tab and in the same Device field select Internal GSM Tap on R and and complete the GSM settings Tap to complete the receiver setting Activating RTC Bridge In FAST Survey select Equip gt GPS Utilities and then tap on the Send Command button In the combo box type the following command assuming
186. ary Parameters Parameter Description Default Range ff Period in seconds 0 0 0 0 9 1 60 f2 Offset in milliseconds 0 999 9999 Active edge c3 e R Rising R R F F Falling cc Checksum 00 FF Example PASHQ PPS PASHR PPS 1 500 R 5D Relevant Set PASHS PPS Command PRT Baud Rate Settings Function This command is used to query the baud rate setting for any of the serial ports used in the receiver Command Format Syntax PASHQ PRT c1 cc Parameters Parameter Description Range c1 Port ID A C D E cc Optional checksum 00 FF Response Format Syntax PASHR PRT c1 d2 cc 340 Query Command Library Parameters Parameter Description Range h1 ID of port for which baud rate A C D E setting is returned d2 Baud rate code 0 15 see table below cc Checksum 00 FF Code Baud Rate Code Baud Rate 0 300 7 38400 1 600 8 57600 2 1200 9 115200 3 2400 10 230400 4 4800 11 460800 5 9600 12 921600 6 19200 13 1428571 Example PASHQ PRT A PASHR PRT A 6 55 Relevant Set PASHS PRT Command See also PASHQ CTS PASHQ MDP PTT PPS Time Tag Function This command asks for the PPS time tag message to be output on the specified port or on the port on which the query is made if no port is specified Command Format Syntax PASHQ PTT c1 cc Parameters Parameter Descrip
187. at Syntax PASHR SGA d1 n d2 d3 d4 f5 f7 d8 d9 cc Parameters Parameter Description Range d1 Number of satellites locked 1 27 97 126 d2 SV PRN number 96 satellite slot number 127 128 GIOVE AIB d3 SV azimuth in degrees 0 359 d4 SV elevation angle in degrees 0 90 f5 SV E1 signal noise in dB Hz 30 0 60 0 f6 Not used f7 SV E5a signal noise in dB Hz 30 0 60 0 d8 Satellite usage status see table below 0 31 d9 Satellite correcting status see table below 0 15 cc Checksum 00 FF Fields f5 and f7 are empty is the corresponding signal is not tracked 365 Query Command Library Example See also Automatic Output of SGA Messages 366 Satellite Usage Status Status Description 0 Satellite not tracked 1 Code and carrier Doppler data used 2 Code only data used 3 Carrier Doppler only data used 4 14 Reserved 15 Unknown usage status 16 No navigation data for this satellite 17 Satellite below elevation mask 18 Satellite declared as unhealthy in ephemeris 19 Computed coordinates of satellite are invalid 20 Satellite has been disabled by a PASH command 21 URA in ephemeris is not acceptable 22 SV is unhealthy according to almanac 23 Too low SNR 24 Suspected of being a ghost satellite 25 Because of too many Satellites used in the PVT this satellite has been deselected 26 30 Reserved for future cause
188. ate with the external or internal radio F device or radio does not respond to your command 26 dium No radio detected Check to see if radio is present internal radio or connected and pow ered on external radio Then send your command again 27 edum Radio sattinds c rtusted Receiver failed to interpret data received from Pacific Crest receiver or 9 P transmitter Check baud rate and retry z Receiver failed to interpret data received from transmitter Check baud 28 edium Bad radio response rate and retry Bad PASHS RDP PAR command received contains invalid channel number Consider the following 29 edium Bad radio channel Submitted channel number may be absent from channel table Submitted channel number rejected by radio Check channel table and send the command again 30 edium No GNSS detected GNSS board found missing Restart receiver If error persists call your local dealer or email technical support for assistance 34 Low Bad PVT received Bad position data delivered by GNSS board If error persists call your local dealer or email technical support for assistance 32 Low Bad PVT decoded Bad position data delivered by GNSS board If error persists call your local dealer or email technical support for assistance 33 Low PVT multiflag If error persists call your local dealer or email technical support for assistance OPTION command received includes invalid option code Check com 34 ledium Unknown option code mand
189. atus DIP Direct IP Parameters sve cs c seve dec coatetesevieeaasarstervnevecsous Os DPO Delta Positi n cic eine nnGanie E E S DRD Data Recording Duration DRI Raw Data Recording Rate DSY Daisy Chain Status DTM Datum Reference ccccccccseeceeeeeeeeceseeeeeeeeeaeseeseeeeaeeeees DYN Receiver DYNamMics cccceccceeecseeeeeeeceeeeeseeeeeeeeeseeeeaeeeens ELM Elevation Mask cccccsecceneeeceeeeeeeeseseeseeeeeeeeeseeeeaeeeens FIL CUR Information On G File Being Recorded cc eeeeeee 296 FIL LST Listing Files in Receiver Memory or USB Key 4 297 FLS List of Raw Data Files cccccecccsseceseeeeeeeesaeeeeeeeeeeeenaes 299 GAL GALILEO Tracking Status ccccccsscseccccesseeeeeeeueeeeeeeeees 300 GGA GNSS Position MeSSag cccceseceeaeeeeaeeeeeeeeseeeaeeeeneeees 300 GLL Geographic Position Latitude Longitude ccccceeeeeee 302 GLO GLONASS Tracking Status ccccccsesesseeeseeceseeeseeeaeeees 304 GMP GNSS Map Projection Fix Data cccscccseeceeneeeeeeeeneeees 304 vi GNS GNSS AX Dala Sivas cial eal ain AG GPS GPS Tracking StatUS sansin innser n wei a tones GRS GNSS Range ReSiduals cccccseccceeeceeeeeeeeeaeeeeaeeeeeeeeeas GSA GNSS DOP and Active Satellites GST GNSS Pseudo Range Error Statistics cccccseseeseeeeeeeeees GSV GNSS Satellites in View neeese LCS Local Coordinate System Status
190. atus screen will re appear after the file transfer is complete e To cancel the file transfer press the Scroll button e f you do not press any button within the next 10 seconds the download procedure will be canceled automatically and the screen will come back to the previous display Connect the USB cable provided P N 702103 between the office computer and the receiver s USB port The 31 Post Processed Surveying receiver is then seen as a USB device from the office computer e Using Windows Explorer on your office computer browse the receiver s internal memory for the raw data files e Copy paste the files to your project folder 32 Chapter 4 Precise Surveying Field Applications amp Concepts E Introduction to Precise Surveying Key Terms and Expressions GNSS precise surveying relies on the use of specific algorithms involved in the processing of carrier phase measurements Centimeter precision obtained in precise surveying results from the successful processing of these measurements Carrier phase measurements are derived from the signals the surveying equipment receives and decodes from the visible GNSS constellations There are two different ways of implementing the processing algorithms each of them defining a specific family of surveying methods e RTK real time surveying e Post processed surveying This chapter introduces the basics of the two surveying families Note that Spectra Prec
191. aud Rate SettingS ccccccccsseccsseeeeeeeeseeeeeeeeeeeeesaeeesees PTI PPS Time Tag siacteccices n er a i i PWR Power Statu Sme ea a a T aa QZS QZSS Tracking Stat Si notea aiai eirge reaties RAW Raw Data Logging Settings cccccccssccceeeeeeeeseeeeeaeeenees RCP Receiver ParameterS ccceccceeeeeeeeeeeeeeeeeeeeeeeenaeeeees RCP OWN Receiver Name ccccescseeceeceteeeeeeeeeeseeeeeeeeeeenes RCP REF Reference Receiver Name ccecceecseeeeeeeeeeeeeeeeeees RDP CHT Radio Channel Table cccccccecceeeeeeeeeeeeeeeeeeeeees RDP LVL Reading the Radio Reception Level cccccseeeeeeees RDP PAR Radio Parameters cccccsccsecceeteeeeeeteeeeeeeeeaeeneees RDP TYP Radio Type Used ccccecccseeceseeeeaeeeeseeeeseeeeneeeeneeees REC Raw Data Recording Status ccccsccceseeeeseeeeeeeeseeeeneees RID Receiver Identification ceeceeeeeeceeeeeeeeteeeeeeeaeeeeeeaeeees RMC Recommended Minimum Specific GNSS Data 068 RNX MSI ATOM RNX Differential Message RRE Residual Error sissies diese ee ia aE ita eased RTCA RTCM Status ac aadn au adhe deen aie eee RTC MSI RTCM Message Status cccccecceseceesseesaseeeeeeeeeeeees 361 RWO Raw Data Output Settings ccccecceseceeeeeeaeeeeeeeeeeeeeees 362 SAT Satellites Status c ccceccceeccseeceseeeeeeeeeeeseeeeeeeneeeeaeeeeaeees 363 SBA SBAS Tracking Status
192. beforehand PASHS RAW SBD lt port_ID gt ON the SBA DAT message is output in response to PASHQ SBD lt port_ID gt and is in the form 395 Output Message Library PASHR SBA DAT d1 m2 d3 d4 s5 cc Where Parameter Description Range d1 SBAS SV ID number 33 51 Time tag hhmmss hh The SBA DAT message contains the time tag of 000000 00 the beginning of WAAS message transmission 235959 99 WAAS message transmission time is 1 second m2 d3 RTCA message ID 0 63 Error flags in HEX bit0 preamble error bit1 par d4 ity error 0 2 RTCA message 250 bit in 63 HEX numbers The data lie from left to right and from high order to low order bits The two low order bits in the 63rd number are not used s5 Checksum computed by exclusive ORing all of the bytes in the message between but not includ ing the and the The result is cc where c is a hexadecimal character 00 FF SAL GPS Almanac Data This message contains almanac data for one GPS satellite The message is as follows PASHR SAL lt structure gt The message s binary structure is described in the table below Type Name Size Contents Short prn 2 Satellite PRN number minus 1 0 31 Short health 2 Satellite health Float e 4 Eccentricity Long toe 4 Reference time for orbit sec Float io 4 Inclination angle at reference time
193. bled l OFF Processing disabled ONFOFT cc Checksum 00 FF Example PASHQ AGB 33 PASHR AGB ON 1D Relevant Set PASHS AGB Command 257 Query Command Library ALM Almanac Message Function This command allows you to output the latest GPS almanac data Each response line describes the almanac data from a given GPS satellite Command Format Syntax PASHQ ALM cc Response Format Syntax GPALM d1 d2 d3 d4 h5 h6 h7 h8 h9 h10 h11 h12 h13 h14 h15 cc Parameters Parameter Description Range d1 Total number of messages 01 32 d2 Number of this message 01 32 d3 Satellite PRN number 01 32 d4 GPS week 4 digits h5 SV health in ASCII hex 2 bytes h6 e Excentricity in ASCII hex 4 bytes h7 toe Almanac reference time in seconds ASCII hex 2 bytes h8 lo Inclination angle in semicircles ASCII hex 4 bytes h9 OMEGADOT Rate of ascension in semicircles second 4 bytes ASCII hex A1 2 Square root of semi major axis in meters 1 2 h10 ee ie j 6 bytes h11 OMEGA Argument of perigee in semicircles ASCII 6 bytes hex OMEGAO Longitude of ascension mode in semicircles h12 Ete g 6 bytes h13 Mo Mean anomaly in semi circles ASCII hex 6 bytes h14 af0 Clock parameter in seconds ASCII hex 3 bytes h15 af1 Clock parameter in seconds second ASCII hex 3 bytes cc Checksum 00 FF Example PASHQ ALM GPALM 31 1 01 65535 00 39A8 4E 1FEA FD65 A10C8C
194. cc 384 Query Command Library Parameters Parameter Description Range COG with respect to True North i T for True North COG orientation Ona COG with respect to Magnetic North eM M for Magnetic North COG orientation 000 00 359 99 SOG Speed Over Ground an N for knots SOG unit 000 00 999 99 fk SOG Speed Over Ground 000 00 999 99 K for km hr SOG unit Mode indicator A Autonomous mode as D Differential mode ce N Data not valid cc Checksum 00 FF Comments The magnetic table used is the WMM 2005 published Dec 2004 which is the standard model of the US Department of Defense WMM for World Magnetic Model Example PASHQ VTG GPVTG 128 00 T 129 92 M 0 17 N 0 31 K A 2D Automatic Output This is a reminder on how to output VTG messages at regular of VTG Messages intervals of time Use the PASHS NME command with the syntax below PASHS NME VTG lt port_ID gt ON lt Rate gt For more details on the PASHS NME command refer to the Set Command Library Chapter As an example the command below will output VTG messages on port A at a rate of 0 5 second PASHS NME VTG A ON 0 5 WARN Warning Messages Function This command is used to list the possible warning messages stored in the receiver Command Format Syntax PASHQ WARN cc 385 Query Command Library Response Format Syntax PASHR WARN S1 s2 cc
195. ccuracy reliability availability etc of a GNSS In addition the SBAS satellites carrier phase ranging data are used like any other GNSS satellite in Ashtech s BLADE and more recently Z BLADE processing algorithms 34 Key Terms and Expressions RTK for Real Time Kinematic is a surveying method through which you ask the rover equipment to quasi instantly determine the coordinates of your current location with centimeter precision This section describes the implementation rules common to all surveys performed with the RTK method and presents the three basic field applications e Logging points e Logging points in continuous mode trajectory e Staking out Depending on the software application installed in the field terminal more field functions may be available for example for road construction or civil engineering These additional functions are all enabled by the capability of the system to perform one of the three basic functions described in this section Baseline Distance between the base antenna phase center and the rover antenna phase center see also GNSS Antennas and Antenna Heights on page 56 Fundamentally the surveying system is used to determine all the components of the vector formed by the baseline Base rover configuration Refers to an RTK surveying system consisting of a base and a rover As opposed to a rover only configuration this system is autonomous in the sense that Precise Surveyi
196. corresponding to a given satellite If at the same time the L1CA data are disabled then ALL the satellite observations and not only those masked will be rejected Relevant Query Command See Also Set Command Library e The PASHS SOM WRN command equally affects all GNSS systems Examples Setting WRN masks for both differential and raw data PASHS SOM WRN ON 6E Enabling all signal observations to be output regardless of whether some signals are flagged or not no WRN mask PASHS SOM WRN OFF 20 PASHQ PAR PASHQ SOM WRN PASHS SOM PASHS SOM SNR PASHS SOM CTT PASHS SOM NAV STI Defining a Station ID Function Command Format This command is used to define the station ID the base receiver will broadcast in its differential messages to the rover Syntax PASHS STI d cc Parameters Parameter Description Range 0 1023 RTCM 2 3 d Station ID 0 4095 RTCM 3 x and ATOM 0 31 CMR amp CMR cc Optional checksum 00 FF Examples Defining station ID 150 for use in RTCM messages PASHS STI 150 23 247 Set Command Library Relevant Query Command See also Note If the chosen station ID is beyond the upper limit in the applicable range then the value 31 is chosen instead i e 31 instead of 56 for example if CMR CMR messages are broadcast or 31 instead of 1041 for example if RTCM 2 3 messages are broadcast PASHQ STI
197. ction to the current mount point max or OFF toc Optional checksum 00 FF Example Connecting to mount point MUWFO PASHS NTR MTP MUWF0 4D If the connection is successful the following response line will be returned PASHR NTR OK cc If the connection failed the following response line will be returned PASHR NTR FAIL 12 None PASHQ NTR TBL Set Command Library NTR PAR NTRIP Settings Function This command allows you to set all the NTRIP parameters Command Format Syntax PASHS NTR PARI ADD s1 PRT d2 LGN s3 PWD s4 TYP d5 cc Parameters Parameter Description Range ADD s1 Caster IP address or host 000 000 000 000 255 255 255 255 name or WWW PRT d2 Caster port number 0 65535 LGN s3 Login 32 characters max PWD s4 Password 32 characters max Caster type TYP d5 0 Client 0 1 1 Server cc Optional checksum 00 FF Example Entering NTRIP settings for a client caster by specifying its IP address port number login and password PASHS NTR PAR ADD 192 34 76 1 PRT 2100 LGN Ashtech PWD u6huz8 TYP 0 52 Relevant Query PASHQ NTR Commands PASHQ PAR See Also PASHS NTR MTP PASHS NTR LOD 207 Set Command Library OCC Writing Occupation Data to Raw Data File Function This command is used to write information about the current occupation to the raw data file being logged Command Format Syntax PASHS OCC d1 d2 s3 s4 cc
198. d 389 Output Message Library Reminder on How to Output ION Messages Type Name Size Contents The checksum is computed by breaking the struc 2 ture into 37 unsigned shorts adding them together and taking the least significant 16 bits of the result Unsigned Check short sum Total 76 The GPS broadcast ionosphere model Klobuchar is used Use the PASHS RAW command with the syntax below PASHS RAW ION lt port_ID gt ON lt Rate gt For more details on the PASHS RAW command refer to the Set Command Library Chapter As an example the command below will output ION messages on port A at a rate of 5 seconds PASHS RAW ION A ON 5 MPC GNSS Measurements 390 This message contains the GPS GLONASS SBAS L1 C A L2P data of one satellite for one epoch The message is as follows PASHR MPC lt structure gt The message s binary structure is described in the table below Type Size Contents Sequence tag unit 50 ms modulo 30 minutes See Unsigned short 2 NOTE 1 below gt Number of remaining structure to be sent for current Unsigned char 1 epoch Satellite index number GPS 1 32 Unsigned char 1 SBAS 33 51 GLONASS 65 88 Unsigned char 1 Satellite elevation angle degree Unsigned char 1 Satellite azimuth angle 2 degree increments Unsigned char 1 Channel ID not duplicated for the current epoch 29 C A co
199. d Precise Surveying Field Applications amp Concepts Accuracy will also depend on the RTK correction data received from the base e The further the distance between the surveyed point and the base i e the longer the baseline length the higher the theoretical uncertainty affecting the position result e The lower the reception level of the received RTK correction data the less the data involved in the processing and the higher the measurement uncertainty affecting the position result Accuracy will also depend on whether the survey is run in real time RTK or post processing In post processing because the system processes all the collected raw data accuracies are better than in real time provided the observation times are long enough Expression of For all Spectra Precision precise surveying systems the Accuracy expression of the global accuracy on position is the sum of a constant term and a variable term as expressed in the equation below Accuracy Xcm Yppm Where e X is the constant term in centimeters indicating the global uncertainty on position measurements an rms value see Accuracy Measures on page 68 X qualifies the intrinsic quality of the receiver and its algorithms under nominal receptions conditions i e open sky a minimum number of satellites is received and good GDOP It may be different for the vertical and horizontal components of position e Yisthe variable term expressed in parts per m
200. d often on or close to the vertical axis of the antenna The phase center location is accurately determined by the antenna manufacturer or the United States National Geodetic Survey after a long series of tests The location of the phase center is usually indicated on the antenna itself see also 4 below A dual frequency antenna usually has two different phase centers instead of one In this case the antenna manufacturer should mention the exact locations of the two phase centers Phase Center Offset 2 Vertical distance that separates the phase center from the bottom of the antenna see also ARP below SHMP 3 SHMP Slant Height Measurement Point Point located on the edge of the antenna radome into which a tape measure can be inserted to perform a slant measurement SHMP Offset 4 Vertical distance that separates the SHMP from the base of the antenna This parameter is needed by the system to determine the real height of the antenna over the landmark after a slant measurement has been entered into the system Antenna Radius 5 Horizontal distance from the geometrical center to the edge of the antenna This parameter is needed by the system to determine the real height of the antenna over the landmark after a slant measurement has been entered into the system ARP 6 Antenna Reference Point located at the bottom of the antenna receiving the 5 8 adaptor of the antenna pole The basic measurement giving centi
201. d fixed 100 position follows each 12 epochs all the data are decimated in 5 times compared to L1 carrier phase Set Command Library Scenario Description Number L1 amp L2 compact pseudo range and compact carrier phase extended fixed position follows every 12 epochs all the data are decimated in 5 101 j i times compared to L1 carrier phase This scenario cannot be used with a moving receiver 201 Same as scenario 1 but extended computed reference position fol lows each epoch 202 Same as scenario 2 but extended computed reference position fol lows each epoch 203 Same as scenario 3 but extended computed reference position fol lows each epoch 204 Same as scenario 4 but extended computed reference position fol lows each epoch 300 Same as scenario 100 but extended computed reference position fol lows each epoch Example Choosing scenario 4 with 1 sec and 30 sec for the output rates PASHS RNX TYP 4 1 30 6A Relevant Query PASHQ RNX MSI Command See Also PASHS BAS PASHS CPD MOD BAS RST Default Settings Function This command is used to reset the receiver parameters to their default values Command Format Syntax PASHS RST cc Parameters None Example Resetting the receiver PASHS RST 20 235 Set Command Library Comments Relevant Query Command See also The following GSM parameters are not affected by the PASHS RST com
202. d on the survey point Observation Time 1 Two systems are used one the base is operated on a chosen point while the other the rover is used in the working area for the survey The base may be either a user owned base in which case you need to properly locate your base see Choosing a Location for the Base on page 46 or a third party operated base With a third party base base data for your observation times can be downloaded through the Internet cf CORS for post processing Rover data can also be uploaded to a centralized processing system cf OPUS or AutoGIPSY which will in return provide centimeter accurate position results 2 Data must be collected simultaneously by the base and the rover It is best to use the same raw data recording rate on both units 41 Precise Surveying Field Applications amp Concepts 7 Successful survey requires proper initialization of the system See nitialization on page 49 To maintain initialization throughout the survey and especially in kinematic surveys be careful at all times not to mask the rover s GNSS antenna For most Spectra Precision receivers in case of poor reception or complete loss of satellite signals a message will prompt you to resume initialization The common observation time is determined by the last unit set up start and the first unit turned off end It is advisable to start the base first and turn it off last The required
203. db Hz Unsigned char Always 0 Not used Double foe Full carrier phase measurements in cycles Raw range to SV in seconds Double 8 i e receive time raw range transit time See NOTE 1 below Long 4 Doppler 10 4 Hz Smoothing Bits 0 22 magnitude of smooth correction in centime ters Bit 23 sign of smooth correction Bits 24 31 smooth count unsigned as follows 0 unsmoothed 1 least smoothed 255 most smoothed Long 4 391 Output Message Library Type Size Contents L1 block same format as C A code data block see 29 NOTE 2 below 29 L2 block same format as C A code data block see NOTE 3 below mae Unsigned char Checksum a bytewise exclusive OR XOR Total of bytes 95 NOTES 1 The specifics of the MPC message content in relation to PASHS PGS are detailed in the table below PGS GPS PGS GLO Refers to GPS time for GPS satellites and GLONASS Sequence Tag time for GLONASSS satellites in spite of the setting you make with PASHS PGS Raw Range for GPS Adtualipscudo fahd Actual pseudo range Satellites iis ce al UTC offset Raw Range for Actual pseudo range Actual pseudo range GLONASS Satellites UTC offset 2 In case of GPS L1 L2P tracking mode the L1 block contains L1P data In case of GPS L2CS tracking mode the L1 block contains zero data In case of GLONASS M satellites the L1 bl
204. de data block 29 bytes Output Message Library Type Size Contents Warning flag Bit1 Bit2 0 0 Code and or carrier phase measured but measure ment was not used to compute position 1 0 Code and or carrier phase measured navigation message was obtained and measurement was used to compute position but position wasn t finally computed 0 1 Code and or carrier phase measured navigation message was obtained measurement was used to compute position and position was computed success fully Bit3 Carrier phase questionable Bit4 Code phase range questionable Bit5 Range not precise code phase loop not settled Bit6 Z tracking mode Bit7 Possible cycle slip Bit8 Loss of lock since last epoch Unsigned char Indicates quality of the position measurement good bad 0 Measurement not available and no additional data will be sent Unsigned char 23 Code and or carrier phase measured navigation message was obtained and measurement was used to compute position but position wasn t finally computed 24 Code and or carrier phase measured navigation message was obtained measurement was used to compute position and position was computed success fully Other state measurement was not used to compute position Polarity of the phase tracking 0 Polarity unknown 5 Polarity known Unsigned char Unsigned char Signal to noise ratio for satellite observation
205. de used to compute range residuals Always 1 Range residual for satellite used in position com putation repeated n times where n is the num ber of satellites used in position computation 13 Residuals are listed in the same order as the sat 999 999 ellites in the GSA message so that each residual provided can easily be associated with the right satellite cc Checksum 00 FF Example PASHQ GRS GNGRS 141003 50 1 1 14 0 48 0 26 0 20 0 94 0 28 1 18 61 GNGRS 141003 50 1 0 20 4F Automatic Output This is a reminder on how to output GRS messages at regular of GRS Messages _ intervals of time Use the PASHS NME command with the syntax below PASHS NME GRS lt port_ID gt ON lt Rate gt For more details on the PASHS NME command refer to the Set Command Library Chapter As an example the command below will output GRS messages on port A at a rate of 0 5 second 309 Query Command Library PASHS NME GRS A ON 0 5 GSA GNSS DOP and Active Satellites Function This command is used to output a GSA message containing data related to DOP values and satellites used in the position solution Where applicable one response line per constellation used is returned In this case the returned DOP values are the same in all response lines Command Format Syntax PASHQ GSAI cc Response Format Syntax GSA c1 d2 d3 d4 d5 d6 d7 d8 d9 d10 d11 d12 d13 d14 f15 f16 f17 cc
206. e corrections from the base This means you are supposed to know the currently used base radio settings 1 Check the radio settings in the rover Use the field software running your field terminal to check the frequency protocol and Over the Air baud rate used 2 If the rover radio is set properly go to step 4 Although radios are fairly robust an excessive amount of obstructions can block out the signal 1 If the line of sight is not obstructed go to step 5 below 2 If the line of sight is obstructed e Move to a less obstructed location In order to test if the system is functioning properly move to a location that does not have an obstructed view between the base and rover radio antennas Troubleshooting e lf this is not possible move to higher ground or a location where there is less obstruction e f after moving the rover radio begins to receive data from the base then the previous location is too obstructed from the base You will need to either raise the base radio antenna higher or move the base to a location with less obstruction between the base and rover radio antennas 3 If the problem is not yet resolved go to step 5 Step 5 Are you The range within which your radio system will function varies Within Range greatly with the conditions under which the system is being Specifications of used With clear line of sight between the base and rover radio antennas and no interference on the frequencies you
207. e USB key Note that the procedure will be aborted from the start not a single file copied if the free memory space on the USB key is found less than the total size of files to be copied 115 Miscellaneous Saving a Receiver Saving the whole configuration of a receiver may be done Configuration using the PASHS PAR SAV command The configuration is saved as a PAR file which is a binary file and not an ASCII file that would list all the PASH commands relevant to the receiver configuration The file naming convention used is the following PM_ lt Date gt PAR Typically the configuration will be saved on a USB key so that later on you may possibly upload this configuration to another of your receivers Connect the USB key as shown at the beginning of this section before running the command from your data collector or command terminal The configuration can alternately be saved to the internal memory if necessary For more information on the save command please refer to PAR SAV Saving the Receiver Configuration To a PAR File on page 211 Asking a Rover to Use the Same Local Coordinate System as the Base In some applications you may want your rover to deliver its position in the same local coordinate as the one in which the reference position of the base used is expressed This can be done by selecting the same local coordinate system in the job open on rover side but there is no guarantee that the coordinate system you
208. e of the problem you have to solve and the number of available reference points The most commonly used localization methods are listed below Plane Similarity In this method the user should provide three or more reference points among which at least two of them should be held horizontally A least square transformation is performed to determine the local grid The transformation includes rotation and translation of the plane defined by the standard projection system used as well as scale factor change The use of three reference Precise Surveying Field Applications amp Concepts points or more is highly recommended to achieve accurate localization on the horizontal plane This number should be raised up to four or more to ensure vertical localization e Rigid Body Same as plane similarity except that the scale factor is held fixed throughout the localization process e Helmert With this method the user provides the seven parameters modifying the projection system currently used in the job These parameters dX dY dZ rot X rot Y rot Z and scale factor may be the result of a multi point localization performed earlier e One Point Azimuth This method is used when only one reference point is available to determine the local grid In this case the user should specify the orientation of the North direction of the local grid geographic or true A typical application of this method is to use the point where the base is instal
209. e output Syntax PASHS BAS c1 s2 c3 s4 cc or to disable the differential data output PASHS BAS OFF cc 157 Set Command Library Relevant Query 158 Command See also Parameters Parameter Description Range First port ID A Serial port default c1 C Bluetooth port A C E M U E Modem M U Internal memory M USB key U Differential data type RT2 RTCM 2 3 messages e RT3 RTCM 3 0 amp 3 1 messages default RT2 RT3 CMR s2 CMR CMR messages CMP ATM DBN e CMP CMR messages ATM ATOM messages e DBN DBEN messages c3 Second port ID same as c1 above A C E M U RT2 RT3 CMR s4 Differential data type same as s2 above CMP ATM DBN cc Optional checksum 00 FF Comments When the GLONASS only mode is activated PASHS GPS OFF and or PASHS PGS GLO the following messages are not generated RTCM2 3 CMR CMR and DBEN Examples Sending RTCM 3 0 message to the external UHF transmitter via port A PASHS BAS A RT3 51 Sending RTCM 2 3 messages to the external UHF transmitter via port D and CMR messages to the GSM modem via port E PASHS BAS D RT2 E CMP 4E Disabling the differential data output PASHS BAS OFF 46 PASHQ BAS PASHS CPD MOD PASHS RTC TYP PASHS RNX TYP PASHS CMR TYP Set Command Library BEEP Beeper Setup Function Command Format Relevant Query Command This command enables or disables
210. e serial Command Format Syntax PASHS PRT c1 d2 cc Parameters Parameter Description Range c1 Port ID A D d2 Baud tate Port A 0 15 Port D 0 9 see table below cc Optional checksum 00 FF Code Baud Rate Code Baud Rate 0 300 7 38400 216 Relevant Query Command See also Set Command Library Code Baud Rate Code Baud Rate 1 600 8 57600 2 1200 9 115200 3 2400 10 230400 4 4800 11 480600 5 9600 12 921600 6 19200 13 1428571 Example Setting port A to 19200 Bd PASHS PRT A 6 PASHQ PRT PASHS CTS PASHS MDP PWR OFF Powering Off the Receiver Function Command Format Relevant Query Command This command is used to power off the receiver Syntax PASHS PWR OFF cc Parameters None Example Turning off the receiver PASHS PWR OFF 43 None PWR PAR Power Management Function This command is used to set the voltage thresholds triggering low power alarms 217 Set Command Library Command Format Relevant Query Command Syntax PASHS PWR PAR ft f2 cc Parameters Parameter Description Range Default P Battery voltage threshold in volts trigger 67 84 68 ing a low battery alarm 2 External power voltage threshold in volts 9 0 28 0 191 triggering a low power alarm cc Optional checksum 00 FF Example Setting the thresholds to respectively 7 and
211. e surveyed point SP mea 359 59 99 sured with respect to WGS84 North i Horizontal offset from the ground mark GM 5 to the surveyed point SP 06 353 m cc Optional checksum 00 FF Examples Entering the vertical measurement 2 m of a rover antenna PASHS ANT 0 0 2 000 2E Entering the slant measurement 1 543 m of the ASH802147 antenna used at a base PASHS ANT 1 543 0 0980 0 0400 07 e The vertical height from ARP to ground mark can also be entered through the ANT command which in this case should be used as follows Set f1 and f2 to 0 0 Enter the antenna height from ARP to ground mark as f3 Only when f1 f2 0 0 can you define f3 this way f3 is negative when the ARP is below the SHMP Parameters m4 and f5 are currently NOT processed in the ProMark 800 Using this command is not recommended to enter a slant height in the ProMark 800 for which f2 and f3 are hard coded f2 0 098 m and f3 0 04 m When you enter an antenna height greater than 6 553 m see f1 and f2 above be aware this will NOT be the value of antenna height broadcast through RTCM messages and the one saved to the G file Instead a fixed value of 6 553 meters will be provided 151 Set Command Library Relevant Query Command See Also PASHQ ANT PASHS ANH PASHS ANR ATL Debug Data Recording Function Command Format 152 This command allows you to enable or disable the recording of debug data T
212. e the following displays successively When you power on the receiver the Ashtech logo appears on the screen It is displayed until the receiver has completed its auto test this takes about 30 seconds Then the General Status screen is displayed An example of General Status screen is shown below 1 2 3 4 9 10 01 02 13 This screen displays the following information Fd Satellite icon 1 always displayed e Number of satellites tracked 2 e Position solution status 3 NONE Position not available AUTO Autonomous GPS position DGPS Differential GPS position S DGPS SBAS Differential GPS position FLOAT Float solution FIXED Fixed solution RTK is operational BASE Receiver configured as a base Introduction 10 Number of satellites used 4 Number of satellites used in the position processing regardless of the current position solution status A Data link icon 5 This icon is displayed only when corrections are received Age of corrections 6 in seconds This value is displayed when corrections are received and only after base station information has been received Position status is at least DGPS Raw data logging icon 7 Data recording through front panel Log button Hl Blinking Raw data logging in progress Fixed No raw data logging in progress Al ATL data recording for advanced diagnosis Percentage of free memory in the stor
213. ean sea level was the common zero elevation But this concept has shown some limitations Today a much better model of vertical reference system called geoid is used This model is defined as a surface on which the pull of gravity is constant Precise Surveying Field Applications amp Concepts Surveyed Point Elevation Geoid This surface is irregular depending on the density and distribution of materials on the surface of the Earth which means the geoid may not exactly follow the natural features on the Earth s surface The geoid is a fictitious surface that can t be seen Sorry for being now a bit sarcastic but using the geoid as vertical reference one can be sure water will always flow downhill from lower to higher gravity level which was not always the case when using the too approximative mean sea level So the question is now How can we convert an ellipsoidal height provided by our GNSS system into an elevation In practical terms a geoid model used in a GNSS system is a file containing a more or less dense array of points evenly distributed across the surface of the geoid For each point the file provides the horizontal geographic coordinates and the separation geoidal separation between the reference ellipsoid and the geoid The extent of the geoid file may be worldwide or limited to a particular area Providing an accurate modelling of the undulations of the geoid surface the geoid file
214. ears ephemeris almanac and latest posi tion time data and restarts the receiver cc Optional checksum 00 FF Example Resetting all and restarting the receiver PASHS INI 1 26 None PASHS RST LCS Enabling Disabling Use of Local Coordinate System Function Command Format 192 This command is used to enable or disable the use of the local coordinate system in the receiver Having the receiver using a local coordinate system requires that it receives RTCM 3 1 message type 1021 1022 1023 or 1025 from the base Syntax PASHS LCS s1 cc Set Command Library Parameters Parameter Description Range Default ON Local coordinate system used if RTCM s1 3 1 messages received ON OFF OFF OFF Coordinate system used is WGS84 cc Optional checksum 00 FF Example Enabling the use of the local coordinate system in the receiver PASHS LCS ON 04 Relevant Query PASHQ LCS Commands PASHQ PAR LOG DEL Deleting Log Files Function This command is used to delete log files Command Format Syntax PASHS LOG DEL d cc Parameters Parameter Description Range Index of the log file you want to delete Use the PASHQ LOG LST command to read the index associ 0 to no ated with each existing log file limit Use d 999 to delete all the log files but the current one cc Optional checksum 00 FF Example Deleting all log files
215. ecksum 00 FF Comments e To delete a file or directory located in a subdirectory the full path to this file or directory should be specified in the s2 field You cannot enter a path in the s3 field Set Command Library e The character can be used as a wild card to delete several files at the same time In this case the complete string should be placed between simple or double quotation marks Examples Deleting a G file PASHS FIL DEL GabcdA09 241 69 Deleting three G files PASHS FIL DEL GabcdA09 241 GabcdB09 242 GabcdC09 242 68 Deleting a G file from a subdirectory located on the USB key PASHS FIL DEL 2 2009 241 GabcdA09 241 67 Deleting all the files from the USB key PASHS FIL DEL 2 67 Deleting all the files recorded on the USB key on the 241th day of the year PASHS FIL DEL 2 241 7A Relevant Query None Command See also PASHQ FIL LST PASHS MEM GAL Galileo Tracking Function This command is used to enable or disable Galileo tracking Command Format Syntax PASHS GAL s1 cc 187 Set Command Library Relevant Query Command See also Parameters Parameter Description Range Default Enabling disabling Galileo tracking s1 On Track and use Galileo satellites ON OFF OFF Off Do not track Galileo satellites cc Optional checksum 00 FF Comments The command is NAKed if the O option is not installed or the receiver do
216. ectraprecision com support gnss planning to check satellite availability for your current location and time Look for the number of satellites higher than 5 above the horizon Ensure at least 5 healthy satellites are available If not you will need to perform your survey at another time Go to step 3 below if the problem is not yet resolved e Move the base or rover if sites have satellite obstruction If your base or rover site has any obstructions higher than 5 above the horizon the obstructions may be blocking essential satellites If obstructions exist at the base or rover move the system to an open area Go to step 3 below if the problem is not yet resolved 2 If the base and rover are tracking at least 5 satellites go to step 3 below Dilution of Precision DOP values give a quality indication of the satellite geometry at any given time Satellite geometry is important to the precision of an RTK solution In fact the DOP value is used as a multiplier in the computation of position precision For example in the computation of horizontal RMS HRMS an estimated precision value is multiplied by the HDOP at that given time to produce HRMS The larger the HDOP value the larger the 107 Troubleshooting Step 4 Are Precision Requirements Too Stringent for RTK 108 HRMS value The same relationship holds for VDOP and VRMS Therefore poor satellite geometry will result in poor solution precision The sma
217. ed to the receiver Command Format Syntax PASHQ RCP OWN cc Parameters None Response format Syntax PASHR RCP OWN s1 cc Parameters Parameter Description Range s1 Receiver name ProMark 800 cc Optional checksum 00 FF Example PASHQ RCP OWN 4C PASHR RCP OWN ProMark800 03 RCP REF Reference Receiver Name Function This command is used to query the receiver for the name assigned locally to the base receiver from which the differential stream is received 346 Query Command Library Command Format Syntax PASHQ RCP REF cc Parameters None Response format Syntax PASHR RCP REF s1 d2 cc Parameters Parameter Description Range s1 Reference receiver name Receiver name preference 0 s1 is ignored if the incoming reference d2 data contain the reference receiver name 0 1 e 1 s1 is always used and the decoded ref erence receiver name is ignored cc Optional checksum 00 FF Example PASHQ RCP REF 4B PASHR RCP REF ASHTECH 0 38 RDP CHT Radio Channel Table Function This command is used to read the radio channel settings Command Format Syntax PASHQ RDP CHT c cc Parameters Parameter Description Range Serial port used to communicate with the radio A for c1 s A D external radio D for internal radio cc Optional checksum 00 FF Response Format Syntax PASHR RDP CHT s1 d2 n d3 f4 f5
218. edure has now started Let the receiver proceed with the upgrade Take care not to turn off the receiver while the upgrade is in progress The receiver screen will display successively Upgrade in progress Writing xx ramdisk img gz uboot uimage_pm4_rd Upgrading GNSS Erasing partitions Creating Backing file Creating partition Config Starting 9 Follow the instructions provided in the Release Note to complete the upgrade The receiver is automatically re started at the end of the procedure 10 Disconnect the USB key and its cable from the receiver 11 Check that the new firmware is installed read the second line on the Receiver Identification Screen Miscellaneous Enabling a Firmware Option e Set up your equipment in such a way that it can successfully receive and process a serial command sent from outside the equipment See Applying Commands Through Bluetooth or a Serial Port on page 134 in this manual to know how this can be done e Use the PASHS OPTION serial command to enable the firmware option Refer to OPTION Receiver Firmware Options on page 209 in this manual to learn how to use this command Through this command you will enter the code provided by Spectra Precision after you purchased the option Entering this code into the receiver will unlock the option Configuring Serial Port A e Set up your equipment in such a way that it can successfully receive and process a serial command
219. eeeseeeeee eens 225 RDP ON Powering On the Internal Radio cecceeeeeseeeeeeeees 226 RDP PAR Setting the Radi0 ccccceccssececsseeeeeeeeeeeseeeeneeeeaeee 226 RDP TYP Defining the Type of Radio and the Receiver PortiWSed fruit Scotti h axis dh dM Ae tae ERR 231 REC Enable Disable Start Stop Raw Data Recording 232 RNX TYP ATOM RNX Differential Message cscccseeeeeeeeeeneee 234 RST Default Settings iranienne ie a aana aiaiai rias 235 RTC MSG Defining a User MeSSage ccsecceseeeeeeeeeeeeeneeeeneeees 236 RTC TYP RTCM Message Type ccccsecccseeeeeeeeeeeeeeeeeesaeeenenees 237 SBA Enabling Disabling SBAS Tracking cccecccseseeseeeeeeeeees 239 SIT Defining a Site NaMe cccccecccceccceeeeeeeeeeaeeeeeeeeseeeeaeeeeas 239 SNM Signal To Noise Ratio Mask cc scccseceeseeeeneeeeaeeeeeeeeeas 240 SOM Masking Signal Observations ccccsecccseeeeeeeeeseeeeaeeeeas 240 SOM CTT Cumulative Tracking Time Mask ccccseceeeeeeeeeeeeee 242 SOM NAV Navigation Data Mask cccccccccsecccceeeeeeseeeeeeeaeeeees 243 SOM SNR Signal to Noise Ratio Mask ccccseceeeseeeeeeeeeenes 244 SOM WRN Channel Warnings Mask ccccsccccseeeeaeeeeaeeeeeeeeees 246 STi Defi ing a Station Dorae deleted Aetna 247 SVM Setting the Maximum Number of Observations in the PVT 248 UDP User Defined Dynamic Model Parameters cccseceeeees 249 UNT
220. elevant Query Command See also This command is used to set the same output rate for all ATOM messages This command will overwrite all the output rates set individually for each message type using PASHS ATM RNX and PASHS ATM PVT Syntax PASHS ATM PER f cc Parameters Parameter Description Range Output rate 0 05 sec or 0 1 0 4 sec if the f Setting PASHS POP to 20 is a F option is activated prior condition to operating at 0 5 0 9 sec 0 05 s 20 Hz 1 999 sec cc Optional checksum 00 FF Example Setting the output rate to 1 second PASHS ATM PER 1 5B PASHQ ATM PASHS ATM ATM VER Setting the Version of ATOM Messages Function Command Format 156 This command is used to set the version in which the receiver will generate ATOM messages on all its ports Syntax PASHS ATM VER d cc Relevant Query Command See also Set Command Library Parameters Parameter Description Range Default Index of ATOM version d 1 ATOM V1 1 2 2 e 2 ATOM V2 cc Optional checksum 00 FF Example Setting to ATOM V2 PASHS ATM VER 2 5E PASHQ PAR PASHS ATM BAS Differential Data Type Function Command Format This command is used in a base to select the type of differential data the base should generate and the port or two ports through which this data should be routed The command can also be used with the OFF operator to disable th
221. elo tings one after the other cc Optional checksum 00 FF Type Description STA Status information RCV Receiver settings RTK RTK and ARROW settings PRT _ Port information MEM Memory information SES Session information RXC RINEX converter information RDP Radio information MDM Modem information NET _ Network information XDR External sensor information OUT Output information Response Format Examples PASHQ PAR STA STORED POSITION 5539 380104 N 03731 554854 E 270 416 Computed posit COMPUTED DATE dd mm yyyy 05 09 2008 UTC TIME hhmmss ms 083017 00 GPS TIME SCALE GLO TIME SCALE 1495 462631000 10475 41417000 SOLUTION STATUS 10 SVS TRACKED 18 GPS 10 SBA 2 GLO 6 GAL 0 QZS 0 SVS USED 13 GPS 9 SBA GLO 4 GAL 0 QZS 0 PASHQ POS COORDINATE SYSTEM WGSS4 PASHQ PAR OUT 334 OUTPUT RAW MPC 05 OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF I4 OFF Is OFF I6 OFF I OFF I8 OFF I9 OFF ATM MES OFF B OFF OFF 2 OFF T anr etc INFORMATION DPC OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF PVT OFF OFF OFF OFF avr PBN 05 OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF ATR OFF OFF OFF OFF are suv 00l OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF Nav
222. elow shows a ProMark 800 from which a radio module was removed Insert the new radio module This should be done gently taking care not to damage the 16 pin male connector which connects to the bottom of the receiver When the module is fully inserted tighten the screws Miscellaneous When next turning on the ProMark 800 don t forget to use the Power Log Scroll button combination By restoring the factory settings this procedure will allow the receiver to query and so identify the new radio module Direct IP Connection To Your Own Base Through GPRS Modem and RTDS Software Introduction Until recently Direct IP connections from Spectra Precision rovers were possible only with third party reference stations Today with the RTDS software you can also have your own base transmitting its corrections to your rovers through a Direct IP connection In this configuration the RTDS software serves as the relaying device between the base and the rovers The presence of a relaying device is required because modems are assigned an IP address by the network when they connect to it and this IP address cannot be known ahead of time for both modems The RTDS software solves this problem by providing a fixed IP address through which that base and rover modems can communicate RTDS Software Static IP Address Two Port Numbers Internet gt GPRS Direct IP GPRS Direct IP
223. em for this point How you analyze the scatter of solutions results in a different accuracy figure characterizing the performance of the system The main accuracy measures used by GNSS manufacturers are the following 1 rms root mean square accuracy is obtained by computing the square root of the average of the squared errors a statistical method If error distribution along each axis is Gaussian it is in general i e the mean error converges to zero or close to zero then an error probability may be associated with the rms accuracy This probability is about 68 which means the computed position will be within the announced Localization Precise Surveying Field Applications amp Concepts accuracy about 68 of the time This percentage corresponds to the 1 sigma width on the Gaussian curve 68 1sigma 1sigma 2 Some manufacturers use the 2drms measure which is derived from the rms measure on the horizontal plane using the following formula Accuracy 2drms 2 XAccuracy rms 3 CEP Circular Error Probable accuracy is equal to the circle s radius centered at the true position containing 50 of the points in the horizontal scatter plot see chart below This means the computed position will be within the announced accuracy 50 of the time YO What is Localization Localization also known as calibration or determining the local grid consists of accurately determinin
224. en using the PASHQ FLS command 999 All the files in memory will be deleted except for the following G file in use D file in use ring file buffer ATL file in use all directo ties all log files excluding ATL log files not in use 0 99 999 6C Optional checksum 00 FF Example Deleting the 6th file from memory PASHS FIL D 5 47 185 Set Command Library Relevant Query Command See also Comments If the file you want to delete is the only file present in the selected memory and this file is currently being used the NAK message is returned to inform you that the file cannot be deleted None PASHQ FLS PASHS MEM to select the memory from which to delete files FIL DEL Deleting Files and Directories Function Command Format 186 This command allows you to delete files and directories from the selected internal or external memory Syntax PASHS FIL DEL d1 s2 s3 s4 sn cc Parameters Parameter Description Range Memory from which to delete files or directo ries 0 Internal memory d1 2 USB key 0 2 If d1 is omitted files or directories are deleted from the memory specified by the last run PASHS MEM command s2 Path 255 characters max 3 Name of the file or directory you want to gt 55 characters max delete as Name of the file or directory you want to 255 characters m x delete cc Optional ch
225. enerated when a meteorological unit or tiltmeter is used When the ATOM RNX message is enabled and regardless of the last PASHS ATM ATR command run the following messages are always recorded in the G file e ATOM ATR ANM antenna name e ATOM ATR RNM receiver name e ATOM ATR AOP antenna offset parameter e ATOM ATR OCC occupation Relevant Query Commands See also Set Command Library ATOM PVT messages contain the following sub blocks COO ERR VEL CLK LCY HPR BLN MIS PRR and SVS DAT messages are generated every time a new frame is decoded Example Enabling ATOM message type PVT on serial port A at a 1 second output rate PASHS ATM PVT A ON 1 0E PASHQ ATO PASHQ ATM PASHS ATM PER PASHS ATM ALL ATM ALL Disabling All ATOM Messages Function Command Format Relevant Query Command See also This command disables all ATOM messages currently enabled on the specified port Syntax PASHS ATM ALL c1 OFF cc Parameters Parameter Description Range e Port related to the ATOM message s you want to disable A Serial port c1 C Bluetooth port A C E M U E Modem M U Internal memory M USB key U cc Optional checksum 00 FF Example Disabling all ATOM messages on port A PASHS ATM ALL A OFF 4E None PASHS ATM 155 Set Command Library ATM PER Setting Unique Output Rate for all ATOM Messages Function Command Format R
226. entation CDMA Based on CDMA technology CDMA Code Division Multiple Access spreading data out over the channel after the channel is digitized Multiple calls can then be overlaid on top of one another across the entire channel with each assigned its own sequence code to keep the signal distinct No specific frequency band per country Activating a Data Link in CSD Mode GSM Only In this mode you will have to Make sure the base and its modem or cell phone have been set up properly and are operating For GSM choose the frequency band according to country Dial the phone number of the base If set accordingly the following parameters will facilitate the activation and deactivation of the data link Auto dial The phone number will automatically be dialed right after the rover modem has been initialized Number of re dials In case of unsuccessful connection the rover will automatically re dial the base phone number until the data link is established After x unsuccessful re dials the modem will automatically switch to the idle state Time out The rover modem will automatically hang up if no data is received via the data link for the specified time This parameter can also be set on the base to deactivate its modem if no data is transmitted for the specified time alarm will go off in the following cases No phone number dialed Invalid phone number Line engaged All re dials failed 79 RTK I
227. er ImitialiZation ccc eeeeceeeeeeeeeeeeeaeeeeeeeaeeeeeeeae eres 191 LCS Enabling Disabling Use of Local Coordinate System 192 LOG DEL Deleting Log Files cccccssecceseeeeeeceseeeeaeeeeaeeeeaes 193 LOG PAR Log File SettingS cccccecccsseeeseeeeeeeeseeeeaeeeeaeeeeaes 194 ETZ Time ZONE na a A e aa e aa a ETa chs cerovenees cou ni 194 MDM INI Initializing the MOdeM cccceececeeeceeaeeeeeeeeeeeaes 195 MDM OFF Powering Off the Internal Modem c secceeeeeees 196 MDM ON Powering On the Internal Modem sccccseeeeseeeeees 196 MDM PAR Setting the Modem Parameters c scccceeeesneeeeees 197 MDP Setting Port A to RS232 or RS422 woo eeeeeceeeeeeeeeeeeeeeee eee 198 MEM Selecting Memory Device Used cccceeceeneeeeeeeeeeeeeans 199 MWD Setting the Modem Timeout ccccsccccssceseeeeeeeeeeeeeees 200 NME Enabling Disabling NMEA Messages secceseeeeaeeeeees 200 NME ALL Disabling All NMEA and NMEA Like Messages 202 NME PER Setting Unique Output Rate for all NMEA Messages 203 NPT Tagging SBAS Differential Positions in NMEA amp NMEA Like Messages cccceecceeeeeceeeeeeeceseeeeseeeeeeeeeaeeeeaeeeegs 204 NTR LOD Loading the NTRIP Caster Source Table 0 008 204 NTR MTP Connecting Receiver to NTRIP Caster Mount Point 206 NTR PAR NTRIP Settings cc ccccsceeeeeeeeeeeeeeeeeeaeeeeeeeeeeeeeeeee 207 OCC Writi
228. er failed to power on the modem or action required from modem while it is off If error persists call your local dealer or email technical support for assistance 21 High USB removed while file opened User error USB key should not be removed while data is being logged to this key Data file in progress will be entirely lost 22 High File transfer Error Receiver failed to transfer data from the internal memory to the USB key Change the USB key and try again If error persists restart receiver If error still persists call your local dealer or email technical support for assistance 23 High Transfer to USB failed Receiver failed to transfer data from the internal memory to the USB key because the key is full Empty the key or insert a new one and then try again 24 Low RTC send error Receiver has detected a task not running properly Restart receiver If error still persists call your local dealer or email technical support for assistance 25 Medium Bad radio settings Bad PASHS RDP PAR command received Consider the following Settings may be incompatible with the type of radio used Settings may have been rejected by the radio Correct command syntax and or parameters and re send command 94 Troubleshooting Rank Alarm Label Symptoms amp Remedies Receiver fails to communic
229. ers will be repeated n times in the response n For example n f1 f2 f3 means the response will include the sequence f1 f2 f3 f1 f2 f3 f1 f2 f3 The value of n is specific to each command S Character string cc Checksum In response to a well recognized and properly executed set command the receiver will return the message PASHR ACK 3D A set command is said to be NAKed when it is not accepted or acknowledged The following message is then returned PASHR NAK 30 If this happens check that the command has been typed correctly and the number and format of parameters are correct In some cases the execution of a set command may be contingent upon the prior activation of the corresponding firmware option Checksum Calculation The checksum is computed by exclusive ORing all of the bytes in the message between but not including the and the The result is hh where h is a hexadecimal character Applying Commands Through Bluetooth or a Serial Port From the Office 134 Computer Use GNSS Solutions WinComm utility or any terminal emulation program such as HyperTerminal a standard Windows communication accessory to send serial commands to the receiver From FAST Survey Send C o Receiver x Command to Send Send File PASHO BAS Ty Send Sent PASHO BAS Received PASHR BAS A RT3 5SOC Using Serial Commands Interfacing
230. ervals of time Use the PASHS NME command with the syntax below PASHS NME VEC lt port_ID gt ON lt Rate gt For more details on the PASHS NME command refer to the Set Command Library Chapter As an example the command below will output VEC messages on port A at a rate of 0 2 second PASHS NME VEC A ON 0 2 VERSION Firmware Version Function Command Format Response Format This command is used to list the firmware versions installed in the receiver including those of the modem and internal radio Syntax PASHQ VERSION cc Syntax Through an example PASHQ VERSION PASHQ VERSION RECEIVER VERSION V1 0 S717Kt24 SYS fw 112 GNSS fw Kt24 KERNEL 2 6 19 pm4 204 Fri Apr 3 14 29 24 RESCUE 2 6 19 rescue BOOT LOADER 1 1 5 9 PMU 2 31 0 API 1 222 383 Query Command Library BSP 1 0 200 GNSS SIN 702465A011230172 GNSS Options WJKLEYGSVHCPIQFAOD RFS 717 GSM Q26 Extreme R 7 4 IMEI 351919030190256 stack IP WIP Soft v540 on Open AT OS v634 Internal Radio ADL V03 02 2250 Comments In the GSM information line the GSM version will appear only after the modem has been turned on The stack IP version will appear only after a GPRS connection has been established See also PASHQ RID VTG Course Over Ground and Ground Speed Function This command is used to output a VTG message Command Format Syntax PASHQ VTG cc Response Format Syntax GPVTG f1 T f2 M f3 N f4 K c5
231. es not support Galileo Example Enabling Galileo PASHS GAL ON 12 PASHQ GAL PASHQ PAR PASHS CFG PASHS SBA PASHS GPS PASHS GLO GLO GLONASS Tracking Function Command Format 188 This command is used to enable or disable GLONASS tracking The command is valid only if the GLONASS option has been activated in the receiver Syntax PASHS GLO s1 cc Relevant Query Command See also Set Command Library Parameters Parameter Description Range Default Enables ON or disables OFF GLONASS ON OFF ON 2 tracking cc Optional checksum 00 FF Example Enabling GLONASS PASHS GLO ON 1C PASHQ GLO PASHS SBA PASHS CFG PASHS GPS PASHS GAL GPS GPS Tracking Function Command Format This command is used to enable or disable GPS tracking Enabling GPS tracking will power on the corresponding part in the RF section if not powered on yet Conversely disabling GPS tracking will power off the corresponding part in the RF section unless Galileo and SBAS reception requires that this part be kept in use Important Combined with PASHS CFG this command makes command PASHS GNS CFG obsolete Syntax PASHS GPS ON s1 s2 s3 cc PASHS GPS OFF 52 189 Set Command Library Parameters Parameter Description Range 31 First Signal 1c e 1C Tracking GPS L1 C A signal Second Signal 2L Tracking L2CS signal for all GPS SVs
232. ess 60 ledium i failed ful shut down the receiver 61 edium Connect to DIP failed Receiver failed to connect to the specified DIP address Check DIP parameters and access rights and try again 62 edium CSD dial error Receiver failed to dial the specified phone number 63 ledium CSD hangup error Receiver failed to hang up Shut down the receiver 66 ledium Auto pickup error Receiver failed to set auto pickup in GSM modem Receiver needs SIM card to operate in requested mode Install SIM card or check that the installed SIM card has been inserted correctly If ae dium No SIM card detected still unsuccessful call your GPRS provider to make sure the SIM card holds the information to make it usable 69 High Too many files Up to 96 files index A to Z can be logged per day based on the same site name To log more files on the same day change the site name Battery output voltage below lower limit defined by KO Bits ew pallet PASHS PWR PAR External DC source voltage below lower limit defined by 71 High Low voltage SPASHS PWR PAR 72 Medium Storage overflow is overflow This can be solved by reducing the data recording 90 Medium BTH Name Rejected Bluetooth name rejected Try another one 91 Medium BTH PIN Rejected Bluetooth pin rejected Try another one The use of the K firmware option was granted to you for a limited 108 High Option K has expired period of time which has now expired Please contact to rene
233. eueeeeueeeeeeeesaeeesneeenees 1 ANP PCO amp ANP EDx Creating Editing Antenna Definitions 144 ANP DEL Delete User Defined Antenna ccccecseseeeeeeeeeeeeee 146 ANP OUT Defining a Virtual Antenna ANP REF Naming the Antenna Used at the Base cc00ee 147 ANR Antenna Reduction Mode ceeeeeeeeeeeeeeaeeeeeeseaeeeeees 148 ANTS Antennas Helenin n n it erat ie cda 149 ATL Debug Data ReCOrding ccccccccseeeeeeeeeeeeeeeeeeeeeseeeneeaeees 152 ATM Enabling Disabling ATOM Messages cccsececseeeeaeeeeaees 153 ATM ALL Disabling All ATOM Messages 155 ATM PER Setting Unique Output Rate for all ATOM Messages 156 ATM VER Setting the Version of ATOM Messages s0cceees 156 BAS Differential Data Type cccccececseeceeeeeeeeeesaeeeeeeeeseeeeaeees 157 BEEP Beeper Setup ics incicnceendse eda a aai 159 BRD Enabling Disabling the RTC Bridge Function 006 159 BTH NAME Bluetooth Device Name ccccecceeceeeseeeeeeeeeeenes 162 BTH PIN Bluetooth Device Pin Code cccseeceeeseeeeeeseeeeeenee 163 CFG GNSS Tracking Configuration cccccecccseeeeaeseeeeeeeaeeeens 164 CMD LOD Running a List of PASH Commands 000000eeeee 166 CMD WTI Inserting Wait TIMES cccccsecceseeeeseeeaeseeseeeeeeeeens CMR TYP CMR Message Type and Rate CPD AFP Setting the Confidence Level of Ambiguity Fixing 169 CPD FST RTK Output Mode
234. f d is greater than the highest file index number the command is NAKed cc Optional checksum 00 FF Response Format Syntax PASHR FLS d1 d2 d3 n s4 m5 d6 cc Parameters Parameter Description Range d1 Free memory space in kbytes in the selected 000000 memory 999999 d2 Total number of files currently stored in the 000 999 selected memory Number of files listed corresponding to those d3 a 00 10 matching the command criterion s4 Site name assigned to the file 4 characters File time in the wwwwdhhmm format where wwww GPS week number 0000 9999 m5 d Day in week 1 7 hh Time hours 00 23 mm Time minutes 00 59 d6 File size in kbytes 0 999999 cc Checksum 00 FF Example Listing the files from index number 10 PASHQ FLS 10 PASHR FLS 65240 012 02 sit3 146821321 7 sit3 146821321 4 06 See also PASHS REC PASHS FIL D 299 Query Command Library PASHS MEM GAL GALILEO Tracking Status Function Command Format Response Format Example See Also This command queries the receiver for the current GALILEO tracking status Syntax PASHQ GAL cc Syntax PASHR GAL s1 cc Parameters Parameter Description Range Differential decoder number s1 ON GALILEO satellites currently tracked and used ON OFF OFF default GALILEO satellites not currently tracked cc Checksum PASHQ GAL PASHR GAL ON 1D PASHS GAL GGA GNSS
235. f5 86 d7 8 9 10 f11 d12 cc Example Query Command Library Parameters Parameter Description Range GPGMP Only GPS satellites are used GPGMP GMP GLGMP Only GLONASS satellites are used SGLGMP Header GNGMP Several constellations GPS GNGMP SBAS GLONASS are used m1 Current UTC time of position hhmmss ss pesca oe Map projection identification RTCM3 1 message 1024 LOC Local coordinate system RTCM3 1 message 1025 1026 or 1027 TM Transverse Mercator TMS Transverse Mercator West orien tated LOC TM TMS LCC1SP Lambert Conic Conformal 1SP LCC1SP s2 LCC2SP Lambert Conic Conformal 2SP LCC2SP LCCW LCCW Lambert Conic Conformal West ori CS OM OS entated MC PS DS CS Cassini Soldner OM Oblique Mercator OS Oblique Stereographic MC Mercator e PS Polar Stereographic e DS Double Stereographic 3 Map zone RTCM3 1 empty i4 X Northern component of grid or local coor 4999999999 999 dinate in meters 5 Y Eastern component of grid or local coor 999999999 999 dinate in meters Mode indicator N No fix A Autonomous s D Differential N ADARE R Fixed RTK F Float RTK Number of GNSS Satellites being used in the d7 p 3 26 position computation f8 HDOP 0 99 9 9 Altitude above mean seal level or local alti 99999 999 M tude in meters f10 Geoidal separation in meters 999 999 M f11 Age
236. fied server requires a user name and password then the receiver will send the serial command GPUID s3 s4 after the IP connection with the server has been established Examples Entering the parameters of the server the receiver has to connect to through an IP address PASHS DIP PAR ADD 192 65 54 1 PRT 2100 74 Entering the parameters of the server the receiver has to connect to through a host name PASHS DIP PAR ADD www MyRec com PRT 2100 05 PASHQ DIP PASHQ MDM PASHS DIP ON PASHS DIP OFF PASHS MDM DRD Data Recording Duration 180 Function This command sets a duration for all the G files that the receiver will log outside of sessions When a duration is set the receiver automatically creates a new G file right after the currently logged G file has reached the specified duration Command Format Relevant Query Command See also Set Command Library Syntax PASHS DRD d cc Parameters Parameter Description Range Default Data recording duration 0 15 20 30 n x 60 d 0 Unlimited duration Where n is an integer 0 Other than 0 Duration in between 1 and 24 minutes cc Optional checksum 00 FF Comments e The command will be NAKed if the ring file buffer is currently active see PASHS RFB e The recording of G files are all started at round hour values of GPS time This means the first file may be shorter in duration than all those that will follow
237. fining a Virtual Antenna Function Command Format 146 This command allows you to specify the name of an antenna that raw data will be adjusted to By specifying the name of a virtual antenna you ask the receiver to correct reduce the raw and differential data it generates from the received GNSS signals to make them available as if they had been received through that antenna Syntax PASHS ANP OUT s1 cc Set Command Library Parameters Parameter Description Range Virtual antenna name case sensitive or OEE S _ 31 characters max s1 OFF to specify that no virtual antenna is or OFF used cc Optional checksum 00 FF Examples Setting the ADVNULLANTENNA as the virtual antenna PASHS ANP OUT ADVNULLANTENNA 73 Disabling the use of the virtual antenna PASHS ANP OUT OFF 2B Comments Raw data reduction will not be performed on data from any satellite located below the elevation mask e When raw data reduction is effective any antenna name messages generated by the receiver will include the name of the virtual antenna and not the antenna serial number or the setup ID e f no reference position has been entered in the receiver raw data reduction is performed in such a way that the location of the L1 phase center is left unchanged e Antenna reduction is performed in such a way that the ARP is unchanged f the reference position is given with respect to the ARP and not
238. formation and also demodulates such a carrier signal to decode the transmitted information NTRIP Networked Transport of RTCM via Internet Protocol A protocol used by GNSS service providers to deliver corrections from their networks of reference stations bases NTRIP Caster A piece of software in charge of collecting data from a network of Internet connected bases using the NTRIP protocol and responding to a rover request by routing RTK correction data from the desired base to the calling rover Rover requests are addressed to the caster via a network connection Source Table Refers to a caster The source table lists the characteristics of all the bases managed by the caster TCP IP Direct Designates a network connection in Direct IP mode that includes secure data exchange mechanism between the different units involved about 90 of the connections available in Direct IP mode Transfer Rate The interval at which a base is set to transmit its RTK correction data Usually expressed in seconds UDP IP Direct Designates a network connection in Direct IP mode in which data exchange only relies on the use of IP addresses and port numbers unlike TCP IP Direct there is no secured data exchange mechanism about 10 of the available connections in Direct IP mode Radio RTK Implementation Implementation Radios are usually operated in pairs one at the base used as a transmitter and the other in the rover used as a receiver but a
239. g a local grid that fits in with the job you want to perform The localization process performs a rotation and translation of the plane defined by the projection system chosen for the job After localization has been run your equipment provides the coordinates of every point including new surveyed points on this local grid 69 Precise Surveying Field Applications amp Concepts 70 When is Localization Needed Localization Methods Typically through localization your equipment determines the new local grid a plane by comparing the known local coordinates of one or more reference points with the corresponding geographic coordinates entered or measured for these points NOTICE Not all the existing field software applications have the capability to run localization in real time Spectra Precision FAST Survey and Survey Pro are two of those applications that allow you to do that Performing localization is required in the following cases Your job requires that a given standard projection be used but you realize that your equipment does not deliver exactly the expected coordinates when placed over existing reference points Your job requires that a local projection be used but none of the parameters of this projection are known The base is operated on a reference point whose position was only determined in autonomous GPS mode Several localization methods exist The choice of a method depends on the natur
240. g integer ambiguity therefore means determining the exact number of entire wavelengths RTK Real Time vs Post Processing In real time surveys system initialization is achieved when the system has been able to fix an RTK solution for any new position it computes You just have to make sure this operating status is maintained until the end of the survey In real time it is therefore quite natural that you make sure the initialization process has been successful Should you lose the RTK position status then the system has lost initialization and you should act to restore it In post processed surveys there is the same need for initialization except that the system is not always able to inform you in real time that this requirement is met Remember that in this type of survey your system is just a raw data collector It is only subsequently when back at the office to post process the raw data that you will see if the complete set of collected data results in successful and sustained initialization Kinematic vs Static In static surveys the risk of unsuccessful initialization is significantly lessened by the fact that the GNSS antenna is motionless and the system is operated for relatively long recording sessions with the best possible view of the sky This may not be true for kinematic surveys during which the rover is moved from place to place with real risks of e Masking the GNSS antenna causing lock on satellites to be
241. g the Radio Reception Level Function This command is used to read the current level of signal at the radio receiver input Only U Link Rx and license free radio receivers can return the current value of this parameter Command Format Syntax PASHQ RDP LVL c cc Parameters Parameter Description Range A Identification of the port to which the internal radio AD receiver is connected A cc Optional checksum 00 FF Response format Syntax PASHR RDP LVL d1 cc Parameters Parameter Description Range d1 Signal level in dBm cc Optional checksum 00 FF Example With U Link Rx as the internal radio connected to port D PASHQ RDP LVL D 23 PASHR RDP LVL D 100 10 See Also PASHS RDP PAR PASHS RDP TYP RDP PAR Radio Parameters Function This command allows you to query the radio settings relevant to the port used to communicate with the radio Command Format Syntax PASHQ RDP PAR c1 cc 349 Query Command Library Response Format 350 Parameters Parameter Description Range c1 Serial port used to communicate with the radio A D cc Optional checksum 00 FF Syntax PASHR RDP PAR c1 S2 83 c4 s5 c6 c7 s8 f9 f10 c11 s12 s13 f14 c15 c16 s17 s18 s19 d20 d21 cc Parameters Parameter Description Range ci The port ID you specified in the command is AD replicated in this field Radio type e UNKNOWN Auto detectio
242. ge 49 Logging Points Precise Surveying Field Applications amp Concepts 5 There can be several rovers working together at the same time receiving RTK correction data from the same base Typical Use Determining and logging the coordinates of points in a chosen coordinate system The points are located within a relatively small area Baseline Correction Data Rover Reference Point Survey Points P1 x1 yl z1 P2 x x2 y2 z2 P7 x7 y7 27 Initialization P3 Occupation x3 y3 z3 Time on each point P6 gt x6 y6 z6 Walking Still Walking A P5 P4 yE z5 x4 y4 z4 Key Points e Make sure the rover delivers RTK positions before starting the job Initialization must be achieved and maintained e Hold the antenna pole still and vertical over each survey point e Occupation time on each point is user presettable A countdown timer tells you when the receiver has finished logging the position of the point e During the countdown the rover averages the successive positions it computes 37 Precise Surveying Field Applications amp Concepts Logging Points in Continuous Mode 38 With single epoch measurements the rover just logs the first position it computes on that point no position averaging Typical Use Determining and logging the coordinates of points along the line trajectory followed by the rover Baseline
243. ge scenario 1 4 100 101 201 204 or 300 Parameter Range Default Minimum battery level 6 7 8 4 V DC 6 8 Minimum external DC level 9 0 28 0 VDC 9 1 Local time zone hours 13 to 13 0 Local time zone minutes 0 59 0 Beeper state ON OFF ON RTC Bridge ON OFF OFF VRS Automatic Compulsory Automatic Miscellaneous Parameter Range Default Enabled 1 Mbyte Generating log files automatically Enabled disabled size limit saved for 10 days Auto dial mode Yes No Yes 1PPS OFF ON OFF Hor amp vert velocity 100000m s 0 100000 m s velocity Hor amp vert acceler 0 100 m s acceleration ation 100 m s2 Dynamic model 129 Miscellaneous 130 ProMark 800 Serial Commands amp Data Outputs Supplement ProMark 800 Serial Commands amp Data Outputs Supplement Appendix A Using Serial Commands z Introduction to Serial Commands Serial commands allow you to communicate directly with the receiver in its proprietary command language Serial commands can be used for various purposes such as e Changing default settings e Monitoring different receiver statuses internal operation constellations etc e Outputting messages on request e Installing firmware options etc Serial commands fall into two categories e Set commands PASHS used to set or modify the receiver s internal parameters e Query commands PASHQ
244. ging session but if not a single satellite is received during this time then your raw data file will be empty 2 If the problem is not yet resolved go to step 2 The receiver logs raw data to the internal memory recommended or to a USB stick With the default settings the selected memory is the internal memory Changing the storage medium can only be made using the field software running your field terminal You can determine which memory is currently selected by reading the memory screens The symbol indicates the currently selected storage medium If the USB stick is the currently selected memory there is no USB stick connected and you are using the receiver in standalone mode no field terminal used then the receiver won t start data logging when you press the Log button 1 If you are using the receiver alone and the currently selected memory is the USB stick do one of the following Troubleshooting e Connect a USB stick to the receiver through the USB device cable provided and press the Log button again e Restore the default settings by pressing the Log Scroll Power buttons simultaneously in order to make the internal memory the active memory Press the Log button again If neither of these two actions resolves your problem go to step 3 Step 3 Is the Data logging will stop automatically or won t start if the Currently Used storage medium used internal memory or USB stick is full Memory Full On the
245. he base received Bad Haso Position n The receiver detects a bad base position assigned to the base Check 214 Medium Base mode base position a s nt base position and correct it 215 Medium GNSS in Boot mode Contact Technical Support 246 Medium ANP forbidden if HDB OFF You are trying to enter a user defined antenna while HDB is off Set HDB to on and try again 217 Medium RCP forbidden if HDB OFF You are trying to enter a user defined antenna while HDB is off Set HDB to on and try again A corrupted directory Found has been detected on the USB The 218 Medium Corrupted USB key can still be used out of this directory Re formatting should be envi sioned 219 Medium USB directory overflow One directory has more than 500 files The USB key is unmounted automatically Receiver is Not Tracking Satellites 98 RTK Base RTK Rover PP Base PP Rover Relevant to Step 1 Has the Receiver Been Powered Up Step 2 Does the Number of Tracked Satellites Stay Abnormally Low Troubleshooting To determine if the receiver is powered up examine the power LED on the front panel of the receiver If the LED is on the receiver is on 1 If the receiver is not powered up turn on the receiver by pressing and holding the power key on the front panel The button must be held for a few seconds since there is a delay in power on You will see the power LED turn on
246. he resulting log file called ATL file is saved to the memory selected through the PASHS MEM command The file is named as follows ATL_yymmdd_hhmmss log Normally you don t have to record debug data However Technical Support may ask you to do so if a problem occurs in your receiver and Technical Support needs to analyze the resulting log file to fix the problem The content of this file can only be analyzed by Technical Support as it uses a proprietary undisclosed data format which in addition is subject to change without notice Syntax PASHS ATL s1 d2 f3 d4 cc Comment Relevant Query Command See Also Set Command Library Parameters Parameter Description Range Default Controls debug data recording ON Enables debug data recording zi OFF Disables debug data recording ON OFF OFF e AUT Automatically starts debug data AUT recording every time the receiver is turned on Recorded data 0 Only ATL messages from GNSS board to system board d2 e 1 Only those from system board to 0 2 0 GNSS board 2 All data exchanged between GNSS board and system board 0 05 0 1 f3 Output interval in seconds 0 2 0 5 1 1 d4 Configuration index 0 1 0 cc Optional checksum 00 FF Example Enabling the ATL message PASHS ATL ON 01 e If the memory selected through PASHS MEM is unavailable then ACK is returned in response to the command enabling reco
247. ice Provider ISP to obtain a static IP address for the computer on which you will install the RTDS software With most ISPs you ll have to pay a fee to get a static IP address option for your computer You then have to choose one or two port numbers depending on whether you will be using the GPRS to GPRS or Serial to GPRS mode In theory port numbers can range from 1 to 65536 but No 1 to No 1024 are considered as reserved numbers There are also conventions recommending the use of specific port numbers for specific applications For example all GNSS related data exchanged on the Internet are usually routed through port 2101 This port number can then be chosen plus others if necessary for example 2102 2103 etc but remember that any numbers greater than 1024 may be chosen provided they are not used on your computer for some other application Take the necessary steps to allow data to flow freely between RTDS and your surveying system through the chosen port number s This means you have to declare the use of this port or these ports in the ADSL modem firewall or gateway and possibly in the computer firewall You may need some advice from your computer specialist to complete this operation If your computer is part of a local network LAN ask the network administrator to perform the required network address translations NAT and declare the port numbers used so the data arriving at the public IP address
248. iguity fixing parameter 95 0 99 0 99 9 99 0 Fast RTK output mode OFF ON ON Rover dynamics 1 8 8 RTK network operation mode 0 1 1 GPS RTK network operation mode 0 1 1 GLONASS Position elevation mask 0 90 5 Incoming differential data Automatic Manual Automatic Incoming differential port 1 A C D E Incoming differential port 2 A C D E Parameter Range Default NONE ATM RT2 Differential data type 1 eeh ae CMR RT3 DBN Differential data port 1 A C E M U A 127 Miscellaneous 128 Other Settings Parameter Range Default NONE ATM RT2 RTCM2 3 RT3 Differential data type 2 RTCM3 0 DBN DBEN NONE CMR CMR Differential data port 2 A C E M U A Type 18 1s Type 19 1s RTCM 2 3 type xxx rate 0 300 s Type 23 31s Type 24 13 s Other 0 Type 1004 1 s RTCM 3 x type xxx rate 0 300 s i a Type 1033 13 s Scenario No 4 ATOM scenario xxx 0 1800 s Observations 1 s Attributes 31 s CMR station ID 0 31 1 RTCM2 3 station ID 0 1023 1 RTCM3 x station ID 0 4095 1 CMR type 0 rate 0 0 5 s 1 300 s 1s CMR type 1 rate 0 300 s 30s CMR type 2 rate 0 300 s 30s CMR type 3 rate 0 0 5 s or 1 300 s 1s Base position lat lon oy height oem Elevation mask 0 90 degrees 5 degrees Message type 1 3 9 16 18 20 22 23 24 31 32 34 or 36 Message type 1001 1002 1013 1019 1020 1029 or 1033 Messa
249. ill be assigned to the point Typical Use Surveying Lines Trajectories Baseline Reference Point Trajectory Line Start Stop Initialization Log Interval ae Data collected at the base Data collected by the rover Observation Time Key Points 1 The rover is moved along the line while raw data is being logged The rover antenna pole should be held continually vertical throughout the observation 45 Precise Surveying Field Applications amp Concepts 2 Contrary to Stop amp Go survey there is no occupation time on a particular point Data logging should be started at the beginning of the line and stopped at the end 3 Log interval With some field software applications such as FAST Survey the log interval can only be equal to the raw data recording rate meaning that the line is necessarily surveyed in time mode With some others more dedicated to post processed surveys such as ProMark Field the log interval is distinct from the raw data recording rate With this field application you can log your lines either in distance or time mode and you set the log interval independently In distance mode a new marker is created every x meters In time mode a new marker is created every x seconds where x is the log interval While you are moving along the line the rover inserts new markers into the logged raw data file according to the ch
250. illion ppm of baseline length For example if Y 1 and the baseline length in your survey is about 8 km then Y brings about an additional and nominal 8 millimeters uncertainty on all positions The value of Y also reflects the quality of the receiver and the algorithms used Like X Y may be different for the vertical and horizontal components of position For your information usual figures of accuracy for fixed RTK positions are given in the table below for nominal reception conditions open sky good GDOP 5 to 7 satellites received But remember these values are specific to each model 67 Precise Surveying Field Applications amp Concepts Accuracy Measures 68 Please refer to the specifications sheet of the model you are using for more information Accuracy rms RTK Post Processing Horizontal 1cm 1 ppm 0 5 cm 1 ppm Vertical 2 cm 1 ppm 1 cm 2 ppm Obviously accuracy figures deteriorate when the system fails to fix the position Errors on coordinates determined with GNSS systems are not constant the solution varies statistically If you plot the horizontal coordinates of a reference point XO YO computed by a GNSS system over a significant period of time static survey you will obtain a scatter plot such as the one below The origin of the XO YO axis system is the true position of the reference point Each dot represents a position solution delivered by the GNSS Syst
251. ime If the problem is not yet resolved and at least 5 satellites are now tracked and used your rover may be malfunctioning Contact your local dealer or email technical support for assistance Move the base or rover if sites have satellite obstructions If your base or rover site has any obstructions 5 above the horizon the obstructions may be blocking essential satellites If obstructions exist at the base or the rover move the system to an open area If the problem is not yet resolved and at least 5 satellites are now tracked and used your rover may be malfunctioning Contact your local dealer or email technical support for assistance 2 If the base and rover are tracking at least 5 common satellites your rover may be malfunctioning Contact your local dealer or email technical support for assistance Rover is Computing Positions with High Uncertainties Step 1 Is the Receiver Set to Function as an RTK Rover 106 RTK Base RTK Rover PP Base PP Rover Relevant to You find that the rover is computing a position but the uncertainties HRMS VRMS assigned to the position are unacceptably high Follow the steps outlined below to troubleshoot this problem The rover must be set to function in RTK rover mode in order for it to compute accurate RTK positions If the rover is not set in RTK rover mode the receiver will compute autonomous positions which could contain about 10 meters or
252. ings PASHQ LOG PAR Log file settings PASHS LTZ Local time zone PASHQ MDM Modem status and parameters PASHS MDM INI Initializing the modem PASHQ MDM LVL Modem signal level PASHS MDM OFF Internal modem power off PASHS MDM ON Internal modem power on PASHS MDM PAR _ Setting modem parameters PASHQ MDM STS Modem status PASHS MDP Port A setting PASHQ MDP Port A setting PASHS MEM Memory device used PASHQ MEM Memory device used PASHS MWD Modem timeout PASHQ MWD Modem timeout PASHS NME NMEA messages ON OFF PASHS NME ALL Disabling all NMEA messages PASHS NME PER NMEA output rate PASHQ NMO NMEA output settings Tag SBAS Diff Positions in ac oe PASHS NPT NMEA and NMEA Like Mes PASHQ NPT TESA OF SBAS Dif P asitonig in sages NMEA and NMEA Like Messages 139 Using Serial Commands Table 1 Receiver Configuration Commands Continued Set Command Description Query Command Description PASHQ NTR NTRIP settings PASHS NTR LOD Loading NTRIP source table PASHS NTR MTP Connect to NTRIP mount point PASHQ NTR MTP Current mount point PASHS NTR PAR NTRIP settings PASHQ NTR TBL Source table PASHS OCC Writing occupation data PASHQ OCC Occupation state and parameters PASHS OPTION Receiver firmware options PASHQ OPTION Receiver firmware options PASHQ PAR Recei
253. invalid RTK processing enabled Corrections gener K RTK ated in RTCM2 3 RTCM3 0 CMR or CMR format F FASTOUTPUT 20 Hz data output rate enabled Z MODEM GSM GPRS modem enabled S GLONASS GLONASS enabled P GNSSL2 L2 tracking enabled RTK using a proprietary data format ATOM DBEN or LRK enabled M RIRA Required for a base only generating data in ATOM proprietary format L RTK3 Limited RTK range enabled for a rover Also gives full RTK capability for a base N STA RTK base enabled 0 GALILEO Galileo tracking enabled Q GNSSL5 L5 tracking enabled Example PASHQ OPTION PASHR OPTION 0 SERIAL NUMBER 200751223 7A Query Command Library APSHR OPTION REGISTRATION CODE 057743D104182 07 PASHR OPTION K RTK 6756975c71766 36 PASHR OPTION S GLONASS 6756945714671 7B If the registration code is incorrect the command returns the following PASHQ OPTION PASHR OPTION 0 SERIAL NUMBER 200751223 7A APSHR OPTION REGISTRATION CODE 07 Relevant Set PASHS OPTION Command PAR Receiver Parameters Function This command lists the currently used parameters for the specified type of receiver settings The response is returned on the port routing the query command Command Format Syntax PASHQ PAR s1 cc 333 Query Command Library Parameters Parameter Description Range Type of receiver settings If s1 is omitted the response lists si the parameters for all types of set 398 lable D
254. ision RTK capable receivers can also be used for post processed surveys either simultaneously with RTK or as post processed only With these receivers post processed surveying can be used either as a backup method or as an excellent source of comparison for checking your real time survey results Carrier Refers to the electromagnetic wave carrying signals transmitted by satellites cf L1 and L2 carriers Carrier phase measurements Refers to measurements performed by a receiver from the received signals to determine the fractional phase of the carrier at the receiver location This fractional phase is then added to the integer number of full carrier cycles between the receiver and the satellite thus converting the carrier phase measurement into an extremely accurate range measurement 33 Precise Surveying Field Applications amp Concepts RTK Surveying CPD Carrier Phase Differential An acronym that refers to the processing of reference carrier phase measurements for precise RTK differential measurements Fixed solution Status of the position solution once RTK operation is initialized and centimeter level precision is achieved GNSS Global Navigation Satellite System GPS GLONASS SBAS QZSS and GALILEO are each a GNSS SBAS Satellite Based Augmentation System A wide area or regional system composed of geostationary satellites providing GNSS augmentation that is a method of improving locally the performance i e a
255. itude E W f Altitude offset in meters 0 99 999 s7 Reference datum code W84 6c Checksum 00 FF Example PASHQ DTM GPDTM 999 2 324525 N 1 499476 W 1 365 W84 37 PASHS NME This is a reminder on how to output DTM messages at regular intervals of time Use the PASHS NME command with the syntax below PASHS NME DTM lt port_ID gt ON lt Rate gt For more details on the PASHS NME command refer to the Set Command Library Chapter As an example the command below will output DTM messages on port A at a rate of 2 seconds PASHS NME DTM A ON 2 Query Command Library DYN Receiver Dynamics Function This command allows you to query the current setting for the receiver dynamics Command Format Syntax PASHQ DYN cc Response Format Syntax PASHR DYN d cc Parameters Parameter Description Range Receiver dynamics 1 Static e 2 Quasi static e 3 Walking 4 Ship d 5 Automobile 6 Aircraft 7 Unlimited 8 Adaptive 9 User defined cc Checksum 00 FF Example PASHQ DYN PASHR DYN 8 33 Relevant Set PASHS DYN Command See also PASHS UDP 295 Query Command Library ELM Elevation Mask Function Command Format Response Format Example Relevant Set Command See also This command is used to read the current value of the elevation mask The elevation mask impacts data recording data output and satellite reception at the base Syntax PASH
256. iver is allowed to execute the command that comes after After typing the last command in the file press the ENTER key to insert a carriage return line feed as the last item in the file This is mandatory Then you just have to copy the file to the USB key s root directory The receiver will always execute the list of commands the script in the given order except for some commands like PASHS REC and PASHS INI which are necessarily run last Starting the execution of the script may be done in two different ways e Automatically The receiver will automatically prompt you to run the script when you connect the USB key to the receiver This is achieved by simply naming the file autoconfig cmd e Manually This is achieved by naming the file differently and using the PASHS CMD LOD command to initiate the execution of the script Described below is the typical procedure to make the receiver run automatically a series of commands stored on a USB key under a file named autoconfig cmd Using Serial Commands e Connect the USB key to the receiver ProMark 800 USB Port USB Key Cable P N 702104 e Wait until the USB logo appears on the receiver screen and a message is prompted Upload Script e Accept the request by pressing the Log button you could reject it by pressing the Scroll button The receiver will then start executing the script of commands This is indicated o
257. k 800 is installed on top of a range pole Used in conjunction with the Scroll button the display screen allows you to view different pages of information See Display Screens on page 9 for a detailed description of the information available from this screen After a few seconds of inactivity i e Scroll button idle screen luminosity turns from high to low level Scroll button Press this button shortly to scroll through the different pages of information viewed on the screen If an alarm is reported on the display screen a short press on the Scroll button will acknowledge the alarm The Scroll button will recover its display scrolling function only after all the alarms have been acknowledged this way Another function of the Scroll button is to re activate the screen backlight after the latter has automatically been turned off The Scroll button is also used in the firmware update procedure Log Button Press this button briefly to start recording raw data on the selected storage medium Another short press on this button will immediately stop raw data recording Buzzer The internal buzzer will sound an alarm whenever a warning message is reported on the screen The buzzer will beep until you acknowledge the warning message by pressing the Scroll button The buzzer can be deactivated permanently using the PASHS BEEP command See BEEP Beeper Setup on page 159 Introduction Introduction Bottom View Battery Con
258. k angle 213 Masks 240 242 243 244 246 Max number of observations used in PVT 248 MCA 184 MDM 319 MDM INI 195 MDM LVL 321 MDM OFF 196 MDM ON 196 MDM PAR 197 MDM STS 321 MDP 198 322 MEM 199 323 Memory 19 Memory device 323 Memory device used 199 Memory Full 101 Memory screens 11 Modem 74 77 125 319 Modem initialize 195 Modem internal 122 Modem power off 196 Modem power on 196 Modem parameters 197 Modem signal level 321 Modem status 321 Modem timeout 200 323 Modulation type 76 Mount point connection to 206 MPC 184 219 390 Multipath mitigation 18 MWD 200 323 N NAK 134 NAT 123 NATO standard mean seal level 301 305 NAV 240 Navigation data mask 373 Navigation data masks 243 Network 122 Networks 18 NME 200 NME ALL 202 NME PER 203 NMEA 0183 18 NMEA messages 325 NMEA messages common output rate 203 NMEA messages computed 126 NMEA NMEA like messages 200 202 NMO 325 NPT 204 326 NTR 327 NTR LOD 204 NTR MTP 206 328 NTR PAR 207 NTR TBL 329 NTRIP 73 78 80 NTRIP caster 74 NTRIP caster source table 204 NTRIP mount point 328 NTRIP settings 207 327 Number of re dials 79 O Observable 83 Observation time 40 51 55 OCC 208 330 Occupation 208 330 Occupation time 35 40 OLED 4 One point azimuth 71 OPTION 209 332 Options 119 OTF 51 Output rate 18 P PacCrest transmitter connection diagram 26 Pages of information 5 PAR 333 P
259. king arrow 9 Set the rover in Direct IP mode in order to receive corrections from the RTDS software e The static IP address of the computer running the RTDS software e The port number assigned to the rover connection in the RTDS software as entered in RTDS Software s RTDS Config gt Port Config gt Rover Port field On the rover side wait until the data link icon appears on the front panel When this happens corrections are received and at least a float solution is available The RTDS operator will see the server to rover arrow start blinking when at least one rover queries the server for corrections The outgoing data throughput is also indicated just underneath the blinking arrow 124 This section describes the factory settings saved in the ProMark 800 s permanent memory These default settings were pre loaded into your receiver by running the appropriate set of serial commands Wherever mentioned in this section M and U ports refer to memories or files M designates the internal memory and U the external memory USB mass storage device Serial Ports Bluetooth Modem Internal Radio Port D Miscellaneous Parameter Range Default Port A baud rate 300 to 115200 Bd 19200 Bd Port A RTS CTS protocol ON or OFF ON Port A mode 232 422 232 Port
260. led at the origin O O 0 or ona singular point e g 100 1000 O of the local grid In this case the geographic coordinates of the base position may feature only several meter accuracy since the surveyor is only interested in collecting local coordinates for the job It will therefore be the surveyor s responsibility to make sure the geographic coordinates of the base typically determined through the autonomous GPS mode can be fed into the localization process A geoid model can be included in the localization process In this case all elevations provided for the reference points used should be orthometric instead of ellipsoidal Typical Localization based on the use of reference points is typically Instructions to achieved through the following steps Complete a 1 Make sure the right projection system is selected in your Localization job What does that mean Here are the two cases to Process consider e Some reference points that you will hold horizontally or vertically fixed in the localization process may have their coordinates expressed in a known projection system We recommend you select this projection as the job s initial projection system e f the local coordinates of your reference points do not refer to any known projection system then we recommend you choose a projection system that is standard in your working area 2 Enter the local coordinates of the first reference point 71 Precise Surveying Field Ap
261. ll assume s2 s1 cc Optional checksum 00 FF Raw Data Masked by s2 Differential Data Masked by s1 MPC DPC ATM MES All other messages ATM RNX SCN 0 Comments e Stating that signal observations are consistent with the corresponding navigation data means the following GNSS time receiver position and receiver clock offsets are available and valid LICA pseudo range for a given satellite is measured and valid 243 Set Command Library Relevant Query Command See Also The corresponding satellite navigation data are available and valid The L1CA pseudo range and computed range are in agreement with each other Elevation and azimuth angles are available and valid If at least one of the above requirements is not met then signal observations are found to be not consistent with navigation data e The PASHS SOM NAV command will mask all signals all observables corresponding to a given satellite even if some other pseudo ranges e g L2C can be consistent with the navigation data e The PASHS SOM NAV command equally affects all GNSS systems Examples Setting NAV masks for both differential and raw data PASHS SOM NAV ON 7C Enabling all signal observations to be output regardless of whether they are consistent with navigation data or not no NAV mask PASHS SOM NAV OFF 32 PASHQ PAR PASHQ SOM NAV PASHS SOM PASHS SOM SNR PASHS SOM CTT PASHS SOM WRN SOM SNR Signal to
262. ller the DOP value the better the geometry and solution precision Your field software allows you to view different DOP values If your precision estimates HRMS VRMS do not meet expected values use this feature to examine the current DOP values 1 If DOP values are too high look for a satellite window with more suitable DOP values to perform the survey Use GNSS Planning http Awww spectraprecision com support gnss planning to examine expected DOP values for periods during which you would like to perform your survey Avoid surveying during periods where DOP values are above 4 For the highest level of accuracy limit surveying to periods where DOP values are between 1 and 2 Remember that obstructions to line of sight between the GPS antenna and the satellites will block out satellite signals Every time a satellite is lost due to obstructions DOP values will be adversely affected An obstructed area may not be suitable to meet your precision needs due to the adverse effect on satellite geometry 2 If DOP values are not too high go to step 4 below If the RTK system is not delivering the precision requirements you need for your specific task it is possible that your precision requirements are too stringent for the RTK system Review your system documentation to determine the precision specifications for the RTK system e f the precision is not beyond capability then the rover may be malfunctioning Contact your loc
263. m 00 FF Observation mask Index d Description 0 _ No masking 1 Reference station 2 Static base 3 Moving base 4 Rover default 9 User defined Comments Masking signal observations therefore means definitively rejecting those observations not meeting the level of quality requested by the different masks set through the SOM command SOM stands for Signal Observations Masks Example Setting masks for a reference station PASHS SOM 1 39 PASHQ PAR PASHQ SOM PASHS SOM SNR PASHS SOM NAV PASHS SOM WRN PASHS SOMM CTT 241 Set Command Library SOM CTT Cumulative Tracking Time Mask Function Command Format 242 This command is used to mask the signal observations that do not meet the minimum continuous tracking time you specify This means that only the observations meeting this requirement will be output all the others will be rejected This mask is enabled only after the User defined option 9 has been selected with the PASHS SOM command Syntax PASHS SOM CTT d4 d2 cc Parameters Parameter Description Range Default d1 Minimum continuous tracking time for differen 0 255 l10 tial data in seconds 0 means no mask Minimum continuous tracking time for raw data d2 in seconds If d2 is omitted then the receiver 0 255 10 will assume d2 d1 0 means no mask cc Optional checksum 00 FF Ra
264. mand e PIN code e Access Point Name GPRS e Login GPRS e Password GPRS e Net automatic 2G 3G or forced to 2G None PASHS INI RTC MSG Defining a User Message Function Command Format Relevant Query 236 Command See also This command is used to input a user message that a base will be able to forward to a rover through RTCM message type 16 36 or 1029 This command can only be applied to a base receiver with message type 16 or 1029 enabled in the receiver Syntax PASHS RTC MSG s cc Parameters Parameter Description Range s User message 90 characters max cc Optional checksum 00 FF Example Submitting a user message PASHS RTC MSG lt user message 90 characters max gt None PASHS RTC TYP PASHS BAS PASHS CPD MOD BAS RTC TYP RTCM Message Type Set Command Library Function Command Format This command is used to choose the RTCM messages type that will be generated and broadcast by a base receiver as well as its output rate This command can only be applied to a base receiver Syntax PASHS RTC TYP d1 d2 cc Parameters Parameter Description Range d1 Message type 0 36 1000 1033 see tables below d2 Output rate in seconds or 0 0 1 0 4 with F option activated 0 for message disabled 0 5 0 9 1 1800 cc Optional checksum 00 FF RTCM 2 3 messages
265. mand Format Response Format 382 This command is used to query the receiver for vector and accuracy data Syntax PASHQ VEC cc Syntax PASHR VEC c1 d2 m3 f4 f5 f6 7 f8 f9 f10 f11 f12 d13 cc Parameters Parameter Description Range Position mode 0 Autonomous e 1 RTCM or SBAS Differential ci 2 RTK float 0 3 3 3 RTK fixed 9 SBAS Differential See comment d2 Number of SVs used in position compu 3 27 tation m3 UTC time hhmmss ss 000000 00 235959 99 4 X component of vector along ECEF X 99999 999 axis in meters 5 Y component of vector along ECEF Y 99999 999 axis in meters 6 Z component of vector along ECEF Z 9999 999 axis in meters f7 X component standard deviation 99 999 8 Y component standard deviation 99 999 9 Z component standard deviation 99 999 f10 XY correlation 9 999999 11 XZ correlation 9 999999 f12 YZ correlation 9 999999 d13 Base station ID RTCM only 0 4095 cc Checksum 00 FF Example PASHQ VEC PASHR VEC 3 09 130924 00 37 683 55 081 17 925 0 016 0 012 0 026 0 234765 0 098765 0 098763 0001 71 See Also Automatic Output of VEC Messages Query Command Library Comment The code allotted to a position solution of the SBAS differential type is either 1 or 9 depending on the last PASHS NPT command run PASHS NME PASHS NPT This is a reminder on how to output VEC messages at regular int
266. mark ARP The computed position is assumed to be the location of the Antenna Reference Plane ARP OFF ON ARP 6 Checksum 00 FF PASHQ ANR PASHR ANR ON 04 PASHS ANR PASHS ANH ANT Antenna Height Function Command Format Response Format 264 This command is used to read the current setting for the antenna height Syntax PASHQ ANT cc Syntax PASHR ANT f1 f2 f3 m4 f5 cc Query Command Library Parameters Parameter Description Range A Slant height measurement from ground mark to 0 6 553 m antenna edge SHMP 6 553 100 m 2 Antenna radius horizontal distance from the 0 6 553 m geometrical center to the antenna edge Antenna vertical offset Offset between SHMP and ARP if both slant height measurement and antenna radius are dif 0 6 553 m ferent from zero 6 553 100 m Offset between ground mark and ARP if either slant height measurement or radius is Zero Horizontal azimuth dddmm mm in degrees for the horizontal line connecting the ground mark to the surveyed point measured with respect to the Geographical North Currently NOT processed Horizontal offset from the ground mark to the sur veyed point Currently NOT processed cc Checksum 00 FF f3 m4 0 35959 99 f5 0 6 553 m Example PASHQ ANT PASHR ANT 0 0 2 000 0 0 49 vertical 2 000 m Relevant Set PASHS ANT Command See also PASHQ ANR PAS
267. meter accuracy is the vector from the phase center of the base antenna to the phase center of the rover antenna Usually the real position of interest is not the phase center of the antenna but the survey mark or other landmark over which the antenna is set up 57 Precise Surveying Field Applications amp Concepts 58 Slant Height Measurement Phase Center Phase Center Measured Vector gt X Rover Rover Antenna Height Reference Point Ground Vector x Survey Point To compute the position of the mark instead of the antenna it is necessary to instruct the rover to perform an antenna reduction In an antenna reduction the antenna heights are taken into account when computing the rover position Whether you are performing an RTK or post processing survey the antenna heights of both the base and the rover should be entered in the system so the correct ground positions can be determined There are two different ways of measuring the antenna height e Slant height measurement e Vertical height measurement Slant measurement is typically performed at the base because the classical vertical measurement is not possible owing to accessories tripod tribrach etc being usually in the way of the vertical path from the antenna to the landmark Rather than performing a bad vertical measurement it is a better idea to use a slant measurement which is much more accurate provided the antenna parame
268. more of error This is probably the problem if HRMS and VRMS values are in the 10s of meters Check that the system is configured as an RTK rover see General status screen If the receiver is not set to function as an RTK rover use the field software running your field terminal to set the different parameters making the receiver an operational rover Step 2 Are the Base and Rover Tracking at least 5 common Satellites Step 3 Are HDOP amp VDOP Values Too High for Precision Requirements Troubleshooting e Ifthe receiver is set to function as an RTK rover go to step 2 Although the rover is capable of computing a position with only 4 common healthy satellites with the base the rover will not attempt to fix ambiguities unless 5 common healthy satellites are observed Fixing ambiguities is a required process for the rover to compute highly precise RTK positions The receiver will inform you if you currently have a fixed ambiguity solution or a float ambiguity solution Your field application software will also inform you which satellites are being tracked by the base and which are being tracked by the rover and whether or not these satellites are healthy If you find that your solution will not fix look to determine if the base and rover are indeed tracking at least 5 common healthy satellites 1 If the base and rover are not tracking at least 5 satellites e Check satellite availability Use GNSS Planning http www sp
269. mplementation 80 Activating a Data Link in NTRIP Mode Mo AON Rover 4 In this mode you will have to Enter the five identification parameters of the caster i e 1 IP address 2 Mount point 3 4 Login 5 Port number Password The caster will return the source table from which you will be able to select the base from the caster with which you would like the rover to work The nearest base will be prompted as the default setting At this stage and only if this choice is available from the selected base you can specify whether you wish the base to send its own RTK correction data or instead RTK correction data computed from the base network VRS MAC or FKP RTK Implementation Activating a Data Link in Direct IP Mode Rover 4 In this mode you will have to e Enter the two identification parameters of the RTK correction data provider i e IP address XXX XXX XXX XXX or host name a URL name and port number e Wait until the data link is active and RTK correction data is received NOTE Introduced late 2008 the RTDS PC software allows rovers to communicate with a user owned base also through the Direct IP mode The software serves as a relaying device between the base and the different rovers used in the field This is an attractive solution for users who want to work in st
270. n NONE No radio PDL Pacific Crest Internal port D PDL RXO External port A PDL HPB LPB ADL Pacific Crest ee s2 Internal port D ADL RXO PDE MGL XDL MDL LFE LFA External port A ADL Vantage NONE External port A ADL Vantage Pro e MGL Radio transmitter P N 800986 e XDL Pacific Crest XDL Rover port A MDL U Link LFE License free radio Europe LFA License free radio North America 3 Radio state if port D is queried ON OFF 0 15 PDL MGL MDL c4 Channel number 1 32 ADL 0 2 LFE 0 49 LFA Power management if port D is queried s5 AUT Automatic AUT MAN e MAN Manual Query Command Library Parameter Description Range c Protocol used PDL 0 Transparent e 1 TRIMTALK 2 DSNP MDL e 0 Transparent 1 Not used e 2 DSNP ADL radios XDL 0 Transparent w EOT time out e 1 TRIMTALK 450S 2 Not used e 3 SATEL 4 TrimMarkll lle 5 TT450S HW 6 TRIMMARK3 7 Transparent FST e 8 U Link ADL radios only 0 7 c7 Air link speed 4800 7600 8000 9600 16000 19200 s8 Radio sensitivity for PDL XDL ADL and MDL LOW MED HIG OFF f9 Receive frequency in MHz 410 470 f10 Transmit frequency in MHz 410 470 c11 Channel spacing in kHz PDL 12 5 or 25 ADL 12 5 or 25 MDL 12 5 only e MGL 12 5 only 12 5 25 s12 RF band in MHz for
271. n RTK Rover setup This is a mandatory step whatever the field software and field terminal used Once you are finished with the rover setup please refer to the documentation corresponding to the field software used for more information on how to complete the rover configuration and learn how to complete an RTK job with this software 25 RTK Surveying Preliminary Steps RTK Base Setup 26 e You will need a tripod and a tribrach not provided to install the base The provided antenna extension pole fitted with a 5 8 male adapter is also required in this configuration e For a long range radio link i e more than 1 mile or 1 6 km for which the radio antenna should be placed as high as possible it is good practice to install the antenna on top of an antenna pole secured on a tripod neither of these items is provided e To power the radio you need an external 9 16 V DC power source Using a standard 12 V DC battery is a convenient choice In this configuration the ProMark 800 can be powered either from the same power source recommended using cable P N 802143 or from its internal battery Powering the ProMark 800 from the external battery offers two advantages 1 Operating sessions can be extended significantly 2 The external battery operates as a trickle charger for the ProMark 800 s internal battery The connection diagram is as follows ProMark 800 Base Radio aD Power RS Port
272. n Indicates signal strength received at modem antenna input The higher the number of bars the better the signal This icon will show four dots at the bottom when the input signal is zero The symbol shown in the upper left corner stands for 2G When the modem detects a 3G network 3G is displayed instead Modem on line e 13 USB status and or Bluetooth status Icon Definition USB port connected to active device Bluetooth active These two icons will appear successively when both the EJ USB port and Bluetooth are active Blank USB port unconnected and Bluetooth inactive From the General Status screen press the Scroll button to access the Memory screens Memory screens appear successively see examples at a display rate of about five seconds Left screen e First line Percentage of free space in the internal memory e Second line Number of files currently stored in the internal memory e Third line Percentage of free space on the USB mass storage device e Fourth line Number of files currently stored on the USB mass storage device 11 Introduction 12 Receiver Identification Screen Position Computation Screen Right screen e First line Total space occupied by the files currently stored in the internal memory e Second line Nominal size of the internal memory e Third line Total space occupied by the files currently stored
273. n P Option Default is DSL Enabled GPS ON 1C 2LW Relevant Query Command See also Set Command Library Common y n Defaults Q Option Enabled No Q Option No P Option Default is DSL Default is SSL p PASHS GPS ON 1C 5Q PASHS CFG DSL is NAKed TSL Defaults Q Option Enabled No Q Option P Option PASHS GPS ON 1C 2LW L5 PASHS GPS ON 1C 2W 2L Enabled No P Option PASHS CFG TSL is NAKed PASHS CFG TSL is NAKed Comments Changing the GNSS tracking configuration will automatically cause the receiver to re start The settings you make by running PASHS CFG have priority over those you make using PASHS GPS for GPS PASHS GLO for GLONASS and PASHS GAL for Galileo After you have run PASHS CFG to change the GNSS tracking configuration GNSS tracking is set to the appropriate defaults depending on the installed firmware options Using PASHS CFG to change the GNSS tracking mode does not affect the output of periodical messages as long as they are compatible with the selected mode For example if SSL is selected and a message is then programmed through PASHS NME POS A ON then changing the GNSS tracking mode to DSL will not affect the message at all The L2C signal has priority over the L2P signal if both signals are available for a given satellite 2LW mode Whenever PASHS CFG is run appropriate defaults are restored Example Setting the
274. n any two PASH commands you can insert a specific command named PASHS CMD WTI between these two commands The PASHS CMD WTI command may be inserted as many times as necessary in the file Naming the command file autoconfig cmd or uploadconfig cmd on the USB key will allow the receiver to automatically start the execution of all the commands stored in the file when you plug the USB key to the receiver 6A6EC3667E000The difference between the two file names is in the need for a user confirmation before running the file autoconfig cmd will require user confirmation not uploadconfig cmd ne PASHS CMD WTI CMD WTI Inserting Wait Times Function Command Format This command can be inserted one or more times in the list of PASH commands run with the CMD LOD command When running this command in fact the receiver inserts a wa it time of the requested value in the execution of the PASH commands Syntax PASHS CMD WTI d cc Parameters Parameter Description Range d Wait time generated by the command in sec 1 3600 onds cc Optional checksum 00 FF Example The command line below inserted in a command file will generate a 10 s wait time when executed PASHS CMD WTI 10 74 167 Set Command Library Comments Relevant Query Command See also This command will be interpreted by the receiver only if found in a command file None PASHS CMD LOD CM
275. n the display screen where you can see the number of commands to be run on the right and the rank of the command being currently run on the left In the example below the receiver is running the 1st command of the 18 ones it has to go through e When all the commands have been run the receiver comes back to the screen it was displaying before e Remove the USB key e You can now have a check on how the receiver ran each of the commands Connect the USB key to a computer and edit the autoconfig log file created on the USB key by the receiver while executing the commands Each correctly executed command is followed by PASHR ACK 3D 137 Using Serial Commands List of Commands The two categories of commands set query are combined in a single table Commands appear in alphabetical order All pairs of related set and query commands e g PASHS ANH and PASHQ ANH always appear in the same row Table 1 Receiver Configuration Commands Set Command Description Query Command Description PASHS AGB Adjusting GLONASS biases PASHQ AGB GLONASS biases PASHS ANH Antenna height PASHQ ANH Antenna height PASHS ANP Antenna definitions PASHQ ANP Antenna parameters PASHS ANP DEL Deleting user defined antennas PASHS ANP OUT Virtual antenna PASHQ ANP OUT Virtual antenna PASHQ ANP OWN Local antenna name PASHQ ANP RCV
276. n unlimited number of rovers can receive RTK correction data from the same base Radio eae See Radio Antenna Radio se Line An important factor is the radio range It should be equal to or greater than the maximum baseline length you need to survey Internal vs External Radios Depending on the model of Spectra Precision receiver used the pair of radios can be e Incorporated into the Spectra Precision receiver Only the radio antenna is visible from outside The modem is connected to the system via a serial line e External to the Spectra Precision receiver and connected to it via a power serial data cable License Free vs Non License Free Radios In almost all countries radio systems are subject to laws regulating their use Regulations are more especially about transmission power frequency band and channel bandwidth They may differ from one country to the other In most countries however radios used under a certain level of radiated power in dedicated frequency bands do not require a certification or license to be operated freely For this reason Spectra Precision offers two types of radios e License free low power radios short range available for some models of Spectra Precision receivers e Licensed medium power radios longer range For this type of equipment Spectra Precision will help you get the certification required for use of the radio in your country But remember
277. navigation data mask applied to signal observations This mask is active only when applying masks to signal 373 Query Command Library Command Format Response Format Relevant Set Command See Also observations has been set to be user defined see PASHS SOM Syntax PASHQ SOM NAV cc Parameters None Syntax PASHR SOM NAV s1 s2 cc Parameters Parameter Description Range Default s1 Mask applied to differential data ON OFF ON s2 Mask applied to raw data ON OFF OFF cc Checksum 00 FF Example PASHQ SOM NAV PASHR SOM NAV ON ON 50 PASHS SOM NAV PASHS SOM SOM SNR Signal to Noise Ratio Mask Function Command Format 374 This command is used to read the current setting of the signal to noise ratio mask applied to signal observations This mask is active only when applying masks to signal observations has been set to be user defined see PASHS SOM Syntax PASHQ SOM SNR cc Parameters None Query Command Library Response Format Syntax PASHR SOM SNR d1 d2 cc Parameters Parameter Description Range Default d1 Mask applied to differential data in dBHz 0 60 28 d2 Mask applied to raw data in dBHz 0 60 28 cc Checksum 00 FF Example PASHQ SOM SNR PASHR SOM SNR 28 28 46 Relevant Set PASHS SOM SNR Command See Also PASHS SOM SOM WRN Channel Warnings Mask Function Thi
278. ncies you wish to use The best method is to acquire a handheld scanner and to listen for traffic on the frequency you plan to use The second method is to observe the Data 103 Troubleshooting Link icon the rover s General Status screen The base and rover radio will receive any traffic on the frequency they are set to causing this icon to appear This is best done before setting up the base to transmit data Any appearance of the Data Link icon indicates some traffic on your frequency 1 If there is no jamming your radio module or radio antenna may be malfunctioning There is no way to further isolate this problem unless you have spares for these components Call your local dealer or email technical support for assistance 2 If there is jamming Lower the sensitivity of the rover radio using the field software running your field terminal The software lets you change the sensitivity of the rover radio and you can also lower the sensitivity of the PDL radio via the front panel display Lower the sensitivity of the rover to medium or low If the traffic on your frequency is not strong in power lowering the sensitivity of the rover radio may cause the radio to ignore the traffic This will not help if the traffic is caused by a nearby or very high powered radio The disadvantage of lowering the sensitivity is a reduction in the range of your radio system A lower sensitivity at the rover may cause the rover to not hear the base t
279. nd NOTE This initialization process should not be confused with the initialization of a GNSS receiver corresponding to the start sequence during which the receiver searches for the visible satellites in order to be able to compute its first standalone 5 to 10 meter accurate position The amount of data required to fix ambiguities in the software post processing or the rover RTK real time is proportional to the baseline length In other words the longer the baseline length the longer the time required to achieve initialization DOP Dilution of Precision A factor computed by the equipment that describes satellite distribution in space The lower the DOP the better the distribution in space and the better the probability of a successful survey Several DOP values exist such as the GDOP HDOP VDOP TDOP but the most frequently used one is the PDOP for Position Dilution of Precision 49 Precise Surveying Field Applications amp Concepts 50 Other General Considerations gt 1 lt Your GNSS antenna gt 1 Good distribution Poor distribution of satellites in space of satellites in space Excellent GDOP Poor GDOP 0 lt PDOP lt 5 PDOP gt 5 Integer Ambiguity Integer refers to the number of entire wavelengths of signal carrier separating a satellite from a receiver Ambiguity refers to the fact that this number is unknown at the beginning of a survey Solvin
280. ndard deviations relevant to the position solution Syntax PASHQ GST cc Syntax GST m1 f2 f3 f4 5 6 f7 f8 cc Parameters Parameter Description Range GPGST Only GPS satellites are used GPGST GST GLGST Only GLONASS satellites are used GLGST Header GNGST Several constellations GPS SBAS SGN GST GLONASS are used y 000000 00 m1 Current UTC time of position hhmmss ss 235959 99 RMS value of standard deviation of range inputs f2 DGNSS corrections included in meters 0 000 99 999 8 Standard deviation of semi major axis of error 0 000 99 999 ellipse in meters fA Standard deviation of semi minor axis of error 0 000 99 999 ellipse in meters Orientation of semi major axis of error ellipse in degrees from true North 0 000 99 399 f6 Standard deviation of latitude error in meters 0 000 99 999 f7 Standard deviation of longitude error in meters 0 000 99 999 f8 Standard deviation of altitude error in meters 0 000 99 999 cc Checksum 00 FF PASHQ GST GNGST 154013 80 0 642 1 746 1 303 27 197 1 663 1 407 2 456 79 PASHS NME This is a reminder on how to output GST messages at regular intervals of time Use the PASHS NME command with the syntax below PASHS NME GST lt port_ID gt ON lt Rate gt Query Command Library For more details on the PASHS NME command refer to the Set Command Library Chapter As an example the command below will
281. nectors amp Module USB Port Radio Antenna GSM Antenna Battery Compartment Bluetooth port C DC Power Input Front Panel The battery used in the ProMark 800 is a 7 4 V DC 4600 mAh rechargeable battery It is a standard model used in many camcorders The battery is housed in a battery compartment accessible from underneath the ProMark 800 The compartment door can be removed using a coin to release the two quarter turn screws DC Power Input A three contact female connector Fischer type allowing the ProMark 800 to be powered from either the provided AC adapter connect the cable extension between ProMark 800 and the end of the AC adapter output cable or an external 9 to 28 V DC battery through cable P N 730477 cf base configuration with radio Introduction GSM Antenna A coaxial female connector SMA type allowing you to connect a GSM whip antenna to the ProMark 800 Radio Antenna A coaxial female connector TNC type allowing you to connect a radio whip antenna to the ProMark 800 This connector is available only if the ProMark 800 has been fitted with a radio module Radio Module A module allowing ProMark 800 to receive and process corrections from a base When a radio module is used a radio antenna must be connected see above When no radio receiver kit is delivered a single compartment door is provided instead with no connector on it USB Port A nine contact
282. ng Field Applications amp Concepts the surveyor has full control over the base data sent to the rover Constellation Set of GNSS satellites visible from a given observation point on the Earth Data Link Acommunication means allowing transfer of RTK correction data from a base to a rover Occupation Time Time spent on a survey point without moving static occupation the antenna pole and keeping it vertical Not relevant to logging points in continuous mode where each point recorded is a single epoch measurement Position Averaging Process run in a rover during an occupation consisting of collecting all the position solutions delivered over this period and computing an average position from all these solutions The resulting solution which is statistically more accurate than each of the individual solutions from which it is derived is assigned to the point on which the occupation took place Rover Only Configuration Refers to an RTK surveying system consisting only of a rover which uses data from a third party base or network to deliver centimeter accurate positions RTK Correction Data or base data Carrier phase differential data generated by a base allowing a rover processing this data to deliver centimeter accurate positions TTFF Time To First Fix The time required for an RTK system to get initialized i e the time elapsed since power up before it can deliver a fixed RTK position Implementation Rules 1 Two
283. ng Occupation Data to Raw Data File a se 208 OPTION Receiver Firmware Options ccccsscceseeceseeeeaeeeeneeees 209 PAR LOD Configuring the Receiver From a PAR Fil 6 210 PAR SAV Saving the Receiver Configuration To a PAR File 211 iii PEM Setting the Position Elevation Mask ccsssccsseeeeeeeeneeees 213 POP Setting Internal Update Rate for Measurements and PVT 213 POS Setting the Antenna Position ccecccseceeeeeeneeeneseneeees 214 PPS Setting PPS Pulse Properties cccscccssecceeseeseeeeeeeenees 215 PRT Setting Baud Rates ccccccscceseeeeseeeeeeeeeeeeeeeeeeaeeeeseeees 216 PWR OFF Powering Off the Receiver ccccsececeeeeeeeeeeeeeeenees 217 PWR PAR Power Management cccscccceseceeeeeeneeeaeeeeaeeeeaeees 217 QZS Enabling Disabling QZSS Tracking s e 218 RAW Enabling Disabling Raw Data Messages in Legacy Ashtech Format cccccccsececeseeeeeeeeeeeeeeseeeeeeeeneee 219 RAW ALL Disabling All Raw Data Messages ccceeeeeeeeeeeeee 221 RAW PER Setting Unique Output Rate for Raw Data 00 221 RCP GBx GLONASS Carrier Phase Biases for User Defined Receiver ccccecccesecceeeeseeecaeeeeseeeeeeeeeseeesaeeenens 222 RCP DEL Deleting User Defined Receiver Name secceeeeeee 223 RCP REF Naming Reference Receiver scccceeceeeeeeeeeeaeeees 224 RDP OFF Powering Off the Internal Radio ccccse
284. ng rover dynamics to Walking PASHS DYN 3 39 Comments In the adaptive mode 8 the receiver analyzes its own motion and automatically chooses one of the dynamic models that is the most suitable The possible dynamic models are those corresponding to the other choices in the command i e 2 to 7 but not 1 or 9 Using the adaptive mode rejects the possible use of the user defined dynamic model PASHQ DYN PASHS UDP ELM Setting the Elevation Mask for Raw Data Output Function Command Format 184 This command is used to set the minimum satellite elevation for raw data recording raw data and differential data output Syntax PASHS ELM d cc Set Command Library Parameters Parameter Description Range Default d1 Elevation mask in degrees 0 90 5 cc Optional checksum 00 FF Example Setting the elevation mask to 10 degrees PASHS ELM 10 1C FIL D Deleting Files Function internal or external memory Command Format Syntax PASHS FIL D d cc Parameters This command allows you to delete files from the selected Parameter Description Range File index number In the range 0 99 With file index number n then file n 1 will be deleted Warning If the deleted file is not the last one in memory all the files that follow the deleted file will have their index number re ordered after deletion of the file The index of a file is as listed wh
285. ng side to restore the original not steered observables if needed PASHQ UTS PASHQ PAR WAK Acknowledging Alarms Function Command Format Relevant Query Command This command is used to acknowledge all alarms This will also turn off the beeper if previously set to beep on occurrence of an alarm After sending the command all alarms will switch from the current to the acknowledged pending status Syntax PASHS WAK cc Parameters None Example Acknowledging all alarms PASHS WAK 28 PASHQ WARN 255 Set Command Library ZDA Setting Date amp Time Function This command is used to set the date and time in the receiver Command Format Syntax PASHS ZDA m1 d2 d3 d4 cc Parameters Parameter Description Range m1 UTC time hhmmss ss 000000 00 235959 99 d2 Current day 01 31 d3 Current month 01 12 d4 Current year 0000 9999 cc Optional checksum 00 FF Example PASHS ZDA 151145 00 13 03 2008 0A Relevant Query PASHQ ZDA Command See also PASHS LTZ 256 Appendix C Query Command Library AGB Reading GLONASS Bias Setting Function This command tells you whether L1 amp L2 GLONASS carrier biases are currently processed in the receiver or not Command Format Syntax PASHQ AGB cc Parameters None Response Format Syntax PASHR AGB s1 cc Parameters Parameter Description Range ON Processing ena
286. nna height in meters 0 99 999 f2 Antenna radius in meters 0 9 9999 13 Vertical offset in meters 0 99 999 m4 Horizontal azimuth in degrees minutes dddmm mm 0 35959 99 f5 Horizontal distance in meters 0 99 999 cc Checksum 00 FF Example PASHQ CPD ANT PASHR CPD ANT 1 893 0 0980 0 040 0 0000 0 000 50 See also PASHS ANH PASHS ANR PASHQ CPD POS 276 Query Command Library CPD FST Fast RTK Output Mode Function Command Format Response Format Example Relevant Set Command See also This command is used to read the current setting for fast RTK output mode Syntax PASHQ CPD FST cc Syntax PASHR CPD FST s cc Parameters Parameter Description Range s Fast RTK mode fast CPD ON OFF cc Checksum 00 FF PASHQ CPD FST PASHR CPD FST ON 63 PASHS CPD FST PASHQ CPD CPD MOD Base Rover Backup Mode Function Command Format Response Format This command is used to query the operating mode of the receiver and the satellite constellations used if the receiver is operated as a base Syntax PASHQ CPD MOD cc Syntax PASHR CPD MOD s1 d2 d3 c4 cc 277 Query Command Library 278 Relevant Set Command See also Parameters Parameter Description Range s1 Current operating mode BAS Base ROV Rover BKP Hot Standby RTK also called Backup mode rover computing two RTK positions BAS ROV BKP
287. nomous mode oi D Differential mode A D N e N Data not valid cc Checksum 00 FF Example PASHQ GLL GPGLL 4717 960853 N 00130 499473 W 132331 00 A D 7D 302 Automatic Output of GLL Messages Query Command Library This is a reminder on how to output GLL messages at regular intervals of time Use the PASHS NME command with the syntax below PASHS NME GLL lt port_ID gt ON lt Rate gt For more details on the PASHS NME command refer to the Set Command Library Chapter As an example the command below will output GLL messages on port A at a rate of 0 5 second PASHS NME GLL A ON 0 5 303 Query Command Library GLO GLONASS Tracking Status Function Command Format Response Format Relevant Set Command This command is used to query the GLONASS tracking status Syntax PASHQ GLO cc Syntax PASHR GLO s cc Parameters Parameter Description Range ON GLONASS satellites currently tracked and used ON OFF OFF GLONASS satellites not tracked cc Checksum 00 FF S Example PASHQ GLO PASHR GLO ON 1D PASHS GLO GMP GNSS Map Projection Fix Data Function Command Format Response Format 304 This command is used to output a GMP message containing the last computed position If no position is computed the message will be output anyway but with some blank fields Syntax PASHQ GMP cc Parameters None Syntax GMP m1 s2 83 4
288. ns requirement VER RTCM version V2 3 V3 STID Station ID received from the base 0 4095 STHE Station health index received from the base 0 7 RTCM2 3 AGE Age of last message received 0 999 1 18 19 20 21 31 F 1001 1002 1003 TYPE RTCM message being received or sent 1004 1009 1010 1011 1012 MSG User message received in message type 16 Oo characters miax 36 or 1029 Setup Parameter Description Range RTCM Base Rover mode e ROV If the receiver is a rover MODE e BAS If the receiver is a base and the ROV BAS OFF selected differential data type is RT2 or RT3 Communication port AUT in rover mode when the differential reception mode is AUT see PASHS CPD REM PORT One or two ports in rover mode when the differential reception mode is MAN see PASHS CPD REM One or two ports in base mode see PASHS BAS Only if RT2 or RT3 is used VER RTCM version V2 3 V3 STI Station ID 0 4095 Type of RTCM message the receiver gener TYP i ates base receiver only FRQ Transmit rate of RTCM message in seconds 0 1800 Query Command Library Parameter Description Range MSG User message sent through message type 16 36 or 1029 90 characters max See also PASHS RTC TYP PASHS BAS PASHS CPD REM RTC MSI RTCM Message Status Function This command queries a base receiver for the current RTCM message status Command Format Syntax PASHQ RTC MSI cc Re
289. nt 0 0 1 0 9 s and 1 300s 1 BPS Reference station position 0 300s 30 Examples Selecting DBEN message type RPC at 0 5 second PASHS DBN TYP RPC 0 5 26 Selecting DBEN message type BPS at 60 seconds PASHS DBN TYP BPS 60 0B Relevant Query PASHQ DBN MSI Command See Also PASHS BAS PASHS BDS DIP Server Connection Function This command is used to connect the receiver to a base via the base s IP address or host name Command Format Syntax PASHS DIP RIP s1 PRT d2 LGN s3 PWD s4 cc 177 Set Command Library Relevant Query Commands See also Parameters Parameter Description Range RIP s1 IP address XXxX XXX XXX XXx or hostname 32 char max PRT d2 Port number 0 65535 LGN s3 User name optional 32 char max PWD s4 Password optional 32 char max cc Optional checksum 00 FF Comments Optional fields s3 and s4 need to be specified when the base used requires a user name and password In this case the receiver sends the GPUID s2 s4 command to the base right after the IP connection has been established Examples Connecting the receiver to IP address 134 20 2 100 and port number 6666 PASHS DIP RIP 134 20 2 100 PRT 6666 2C Connecting the receiver to www MyRec com through port 2100 PASHS DIP RIP www MyRec com PRT 2100 60 PASHQ MDM PASHQ DIP PASHS MDM PASHS DIP ON PASHS DIP OFF DIP OFF Terminating Direct IP Connection
290. ntial Positions in NMEA amp NMEA Like Messages Function This command is used to query the receiver for the current tagging of all SBAS differential positions solutions in NMEA like and NMEA messages the receiver generates Command Format Syntax PASHQ NPT cc Response Format Syntax PASHR NPT d1 d2 cc 326 Parameters Query Command Library Parameter Description Range Code assigned to SBAS differential position solution in NMEA like messages CRT DCR DPO POS VEC d1 a 0 1 0 Code 1 1 Code 9 Code assigned to SBAS differential position solution in NMEA messages GGA Me 0 Code 2 a 1 Code 9 cc Optional checksum 00 FF Example PASHQ NPT PASHR NPT 0 0 3E Relevant Set PASHS NPT Command NTR NTRIP Settings Function This command is used to read the current NTRIP settings When c6 is omitted in the query command the returned NTRIP settings are those for the port defined through the PASHS NTR PAR command last run Command Format Syntax PASHQ NTRI c6 cc Response Format Syntax PASHR NTR ADD s1 PRT d2 LGN s3 PWD s4 TYP d5 cc 327 Query Command Library Parameters Parameter Description Range 000 000 000 000 s1 Caster IP address or host name 255 255 255 255 or host name d2 Caster port number 0 65535 s3 Login 32 characters max s4 Password 32 characters max Caster type d5 0 Client 0 1
291. o to from a list of points previously uploaded to your field terminal The terminal screen will then guide you to the point e Hold the antenna pole vertical as you let your system guide you to the point The screen switches to a more 39 Precise Surveying Field Applications amp Concepts accurate view as you approach the point The system tells you when you are over the point e When you are over the point mark its location on the ground You can save the coordinates of the stakeout point with or without a position averaging period e The rover will then automatically prompt you to move to the next point from the list and will guide you to this point Post Processed Surveying 40 Key Terms and Expressions In post processed surveying the field equipment is only used to record GPS GNSS raw data from which the post processing software will be able to output centimeter accurate positions This section describes the implementation rules common to all surveys performed with the post processing method and presents the possible three field applications e Static survey e Stop amp Go Kinematic survey e Continuous Kinematic survey Baseline Distance between the base antenna phase center and the rover antenna phase center see also GNSS Antennas and Antenna Heights on page 56 Fundamentally the surveying system is used to determine all the components of the vector formed by the baseline GPS GNSS Raw Data or Raw Data f
292. observation time mainly depends on the baseline length the reception conditions the number of GNSS constellations and signal frequencies tracked by the receiver and the initialization method used See Initialization on page 49 Remember the rover will always collect data continuously throughout the survey whether you are performing a static continuous kinematic or Stop amp Go kinematic survey That is why you should continually keep the GNSS antenna clear of any obstructions If satellite lock is broken by obstructions you will need to collect additional data after the tracking resumes before continuing This data is used by the post processing software to re determine the ambiguities The amount of data needed for re initialization is the same as for the original initialization as discussed above There can be several rovers logging data at the same time Static Survey Typical Use Surveying a New Control Point 42 Precise Surveying Field Applications amp Concepts Baseline Reference Point Survey Point Data collected at the base Data collected on the survey point Observation Time Key Points 1 Same system setup for the base and the rover 2 The rover is stationary throughout the survey 3 Occupation time Observation time 4 Initialization and masking problems minimized as the rover is stationary Stop amp Go Typical Use Kinematic Su
293. ock contains zero data 3 In case of GPS L1 L2P the L2 block contains L2P data In case of GPS L2CS tracking mode the L2 block contains L2CS data In case of GLONASS M satellites the L2 block contains C A data on the L2 frequency Reminder on How Use the PASHS RAW command with the syntax below to Output MPC PASHS RAW MPC lt port_ID gt ON lt Rate gt Messages For more details on the PASHS RAW command refer to the Set Command Library Chapter As an example the command below will output MPC messages on port A at a rate of 1 second PASHS RAW MPC A ON 1 392 Output Message Library DPC Compact GPS Measurements This message contains the L1 L2 measurements from all tracked GPS satellites for one epoch The message is as follows PASHR DPC lt structure gt The message s binary structure is described in the table below Type in bits Resolution Contents Unsigned short 16 Message length Number of bytes in the lt packed data gt section PACKED DATA Double 32 1 msec Receiver time in GPS milliseconds of week Char 4 32 Receiver s four character ID Mask representing satellites that are contributors to the message content This is a bitwise indication Starting from the least significant bit bit1 cor Unsigned long 32 responds to SV PRN 1 bit2 corresponds to SV PRN 2 and so on Bit value 1 for a given SV PRN means the corresponding satellite is a data contributor to this message
294. of base position accuracy 1 If you want to obtain absolute centimeter accurate positions attached to a particular coordinate system for all your surveyed points then the base position must be known with the same centimeter accuracy in the same coordinate system If the chosen position for the base is unknown whereas you need centimeter accuracy for this point in the coordinate system used you can determine it through a static post processing survey You will however need a reference position to determine this point 2 If you are only interested in performing relative measurements i e positions of points relatively to other points then the base can be installed on an unknown point meeting the reception requirements In this case the position to be entered in the base can be accurate only to within a few meters Caution In this case keep in mind that you will not be able to attach your points to a known coordinate system unless later you accurately determine one of these points in the desired coordinate system With some field software such as FAST Survey you can also use the Localization function to attach your job to a local coordinate system There are some disadvantages that you should be aware of when installing a base on an unknown point For every 15 meters of error between the estimated base coordinates and the true base coordinates one part per million ppm of relative error will be introduced into the computed vector
295. og button left hand button or reject it by pressing the Scroll button right hand button When you reject the request the screen immediately switches to the next screen The receiver will indefinitely continue to browse through the different possible screens at the same rate as long as no action is taken and the USB key remains connected to the receiver When the message below appears on the screen press the Log button to start the upload procedure Upload Script Procedure Copying User Data Miscellaneous The following messages will appear in succession Analyzing File Loading PM_ lt Date gt PAR At the end of the upload procedure the receiver will be re booted automatically Disconnect the USB key from the receiver and let the receiver re boot NOTE There is another way of uploading a configuration to a receiver which is to use the PASHS PAR LOD command whether the configuration file a PAR file is present on the connected USB key or in the receiver s internal memory See PAR LOD Configuring the Receiver From a PAR File on page 210 When the message below appears on the screen press the Log button to start the upload script procedure The receiver will start executing the script of commands For more information on this procedure see Running Serial Commands from a USB Key on page 136 When the message below appears on the screen press the Log button to start copying the files to th
296. ommand See Also Parameters Parameter Description Range Default Internal update rate in Hz for measure ments and PVT ay a cc Optional checksum 00 FF Example Setting the update rate to 10 Hz PASHS POP 20 17 Comments e Outputting data at 20 Hz through PASHS NME PASHS ATM and PASHS RAW requires that the present update rate stays at 20 Hz default value e Changing the update rate causes GNSS reception to be reset the number of received used satellites drops to O straight away and then rapidly comes back to normal PASHQ POP PASHS NME PASHS ATM PASHS RAW POS Setting the Antenna Position Function Command Format 214 This command allows you to enter the geographic coordinates of the GNSS antenna It is usually used to enter the position of a base If there is no computed position available from the receiver when the command is applied then the entered position is used to initialize the receiver position in order to speed up satellite tracking Depending on the last PASHS ANR command applied to the receiver the antenna position you enter will be either that of the phase center the ARP or the ground mark Syntax PASHS POS m1 c2 m3 c4 f5 cc Set Command Library Parameters Parameter Description Range Latitude in degrees and minutes with 7 deci 0 90 mal places ddmm mmmmmmm c2 North N or South S N S Longitude in degrees minutes with 7 decimal
297. on port A at a rate of 60 seconds PASHS NME ZDA A ON 60 387 Query Command Library 388 Chapter D Output Message Library 5 ION lonosphere Parameters This message contains the ionosphere and GPS to UTC data conversion parameters The message is as follows PASHR ION lt structure gt The message s binary structure is described in the table below Type Name Size Contents Float a0 4 lonospheric parameter seconds Float al 4 lonospheric parameter seconds semi circle Float a2 4 lonospheric parameter seconds semi circle Float a3 4 lonospheric parameter seconds semi circle Float bd 4 lonospheric parameter seconds Float b1 4 lonospheric parameter seconds semi circle Float b2 4 lonospheric parameter seconds semi circle Float b3 4 lonospheric parameter seconds semi circle Double A1 8 First order terms of polynomial Double A0 8 Constant terms of polynomial Pi Tot 4 Reference time for UTC data Short Wnt 4 UTC reference week number Short DLS 2 GPS UTC differences at reference time Short WnLSF 2 Week number when leap second became effective Short DN 2 Day number when leap second became effective Short DtLSF 2 Delta time between GPS and UTC after correction Short Wn 2 GPS week number 5 Pigi Tow 4 Time of the week in seconds Short bulwn 2 GPS week number when message was read E a bultow 4 Time of the week when message was rea
298. on the USB mass storage device e Fourth line Nominal size of the USB mass storage device About the symbol e t can only appear at the end of the first or third line e Where placed it indicates that this storage medium is used for data logging What if there is no USB mass storage device connected to the receiver e Parameters relevant to the USB key size and space used and available are void three dots displayed instead e Number of files is forced to O From any of the two Memory screens press the Scroll button to access the Receiver Identification screen See example below e Receiver Serial Number e Firmware Version e Receiver Bluetooth Identifier From the Receiver Identification screen press the Scroll button to access the Position Computation screen This screen displays the receiver position The displayed coordinates will be e either WGS84 coordinates W84 displayed at the beginning of the last line coordinates are latitude longitude and ellipsoidal elevation e or local coordinates LOC displayed at the beginning of the last line coordinates may be either Easting Northing Height or Latitude Longitude Ellipsoidal Elevation Introduction depending on whether or not a projection is defined in the local coordinate system used If the receiver is a rover the displayed position will be the last computed position The coordinates will be local LOC only if the ro
299. or short Data delivered by a GNSS receiver including code and carrier phase measurements and other satellite related data such as almanacs and ephemerides Log Interval Parameter used by some receivers in Continuous Kinematic survey to define the time elapsed in seconds or the distance traveled in feet or meters between any two successive markers inserted into the logged raw data file NOTE Log Interval vs Raw Data Recording Rate The Log Interval should not be less than the Raw Data Recording Rate For example if Raw Data Recording Rate 1 second then Log Interval should be at least 1 second or 2 meters if for example your moving speed is 5 km hr Observation Time Time during which a base and rover simultaneously log GNSS raw data The flow of collected data will be entirely usable if it is continuous from the start to end of the observation time Occupation Time Time spent on a survey point without moving static occupation In static survey Occupation Implementation Rules Precise Surveying Field Applications amp Concepts time Observation time because only one point is surveyed Occupation time is irrelevant to Continuous Kinematic Raw Data Recording Rate Interval expressed in seconds at which the field equipment records the raw data received from the GNSS constellation GNSS Baseline Rover Rover Chosen Point Data collected at the base Data collecte
300. ork Syntax PASHS CPD NET d1 d2 cc Set Command Library Parameters Parameter Description Range Default RTK network operating mode relative to GPS corrections 0 GPS corrections from network are not d1 used 0 1 1 1 FKP MAC GPS corrections from net work are used when available and healthy otherwise they are rejected RTK network operating mode relative to GLONASS corrections 0 GLONASS corrections from network d2 are not used 0 1 1 1 FKP MAC GLONASS corrections from network are used when available and healthy otherwise they are rejected cc Optional checksum 00 FF Example Setting the receiver to process GPS and GLONASS network corrections PASHS CPD NET 1 1 51 Relevant Query PASHQ CPD NET Command CPD REM Differential Data Port Function This command sets the reception mode for all differential data If Automatic is chosen all received differential data is processed whatever the input ports On the contrary if Manual is chosen only the data coming in through the specified ports one or two ports will be processed Command Format Syntax PASHS CPD REM s1 c2 c3 cc 173 Set Command Library Relevant Query Command See also Parameters Parameter Description Range Default Reception mode s1 AUT Automatic default AUT MAN AUT e MAN Manual Input port 1 A Serial port c2 C Bluetooth port A C D E D Radio
301. ory and keep all the others unchanged e You may not run the two commands GB1 and GB2 for a given user defined receiver If you run just one of them then the parameters corresponding to the other command will all be assumed to be invalid i e unknown All user defined receivers created from this receiver will also inherit these invalid parameters e The board will interpret any missing parameter in a command as a parameter for which there is currently no known valid value for this parameter PASHQ RCP PASHS RCP DEL RCP DEL Deleting User Defined Receiver Name Function Command Format This command is used to delete a user defined receiver name Syntax PASHS RCP DEL s cc 223 Set Command Library Relevant Query Command See Also Parameters Parameter Description Range zj Receiver name you want to delete case sensi 31 characters tive max cc Optional checksum 00 FF Example Deleting receiver name MyReceiver PASHS RCP DEL MyReceiver 74 PASHQ RCP PASHS RCP GB1 PASHS RCP GB2 RCP REF Naming Reference Receiver Function Command Format 224 This command is used to enter the reference receiver name Syntax PASHS RCP REF s1 d2 cc Parameters Parameter Description Range Default s1 Receiver name case sensitive ne Empty Receiver name preference 0 s1 is ignored if the incoming refer d2 ence data contain the
302. osen log interval Each marker is named as a point The name includes a numeral suffix that is automatically incremented for each new logged marker You must take care however to use a log interval that is compatible with the raw data recording rate In time mode log interval s gt 2 x raw data recording rate s In distance mode log interval m gt 2 x moving speed m s x raw data recording rate s 4 Number of lines in a single file Some field applications such as FAST Survey allow you to log a single line into a raw data file Some others like ProMark Field allow you to enter several start stop markers in the same file meaning that several lines can be logged in the same file Choosing a Location for the Base 46 The location of the base is fundamental for the success of your survey Whether you are in post processing or real time mode and your receivers are single dual or multi frequency remember the rover position will always be computed relative to the base position Any inaccuracy in the base position will inevitably be transferred to the position computed by the rover When using base data from a third party reference station or from a network of reference stations making sure the base has been properly installed is not your responsibility On the First Criterion GNSS Reception Conditions Precise Surveying Field Applications amp Concepts contrary if you are using your own base it is essential
303. osition solution in NMEA like messages CRT DCR d1 DPO POS VEC 0 1 0 0 Code 1 1 Code 9 Code assigned to SBAS differential position solution in NMEA messages GGA i 0 Code 2 nr lie 1 Code 9 cc Optional checksum 00 FF Example Tagging SBAS Differential position solutions in NMEA like and NMEA messages with code 9 PASHS NPT 1 1 3F Relevant Query PASHQ NPT Commands PASHQ PAR NTR LOD Loading the NTRIP Caster Source Table Function This command is used to load the source table from the NTRIP caster 204 Command Format Relevant Query Command See also Set Command Library Syntax PASHS NTR LOD cc Parameters None Example Loading the source table PASHS NTR LOD If the source table is downloaded successfully the following response line will be returned PASHR NTR OK 14 If the receiver fails to download the source table the following response line will be returned PASHR NTR FAIL 12 None PASHQ NTR TBL PASHS NTR PAR 205 Set Command Library NTR MTP Connecting Receiver to NTRIP Caster Mount Point Function Command Format Relevant Query Command See also 206 This command allows you to connect the receiver to a NTRIP caster mount point Syntax PASHS NTR MTP s cc Parameters Parameter Description Range zi Name of the NTRIP mount point or OFF command 100 characters ending the conne
304. ound in the DPC and DBEN data outputs are similar e DPC will not be generated if the K option RTK Base is missing e DPC data are affected by the last PASHS UTS command run By default this command is set to ON e DPC data are affected by the last PASHS ANP OUT command run e DPC data can be made available on several ports simultaneously e DPC data can be output at a rate of up to 20 Hz but the throughput compared to RTCM 3 CMR and ATOM may be quite higher e DPC pseudo ranges are smoothed by L1 amp L2 carriers e L2 data are always L2P Y data RINEX code W To output complete DPC data the receiver must be configured accordingly see PASHS GPS Use the PASHS RAW command with the syntax below PASHS RAW DPC lt port_ID gt ON lt Rate gt For more details on the PASHS RAW command refer to the Set Command Library Chapter As an example the command below will output DPC messages on port A at a rate of 1 second PASHS RAW DPC A ON 1 PBN Position Information 394 This message contains position information in binary format The message is as follows PASHR PBN lt structure gt The message s binary structure is described in the table below Type Name _ Size Contents Long pbentime 4 GPS or GLONASS time when data was received ms of week See NOTE below Char sitename 4 Site name Double navx 8 Station position ECEF X m Output Message Library
305. pe ALM DTM GGA GLL GMP GNS GRS GSA GST GSV RMC SGA SGL SGP VTG ZDA CRT DCR DPO LTN POS PTT RRE SAT USR or VEC Parameter Range Default Output rate 0 05 s 999 s 1s Port A xxx ON OFF OFF Port A xxx rate 0 05 s 999 s 1s Port C xxx ON OFF OFF Port C xxx rate 0 05 s 999 s 1s Port M xxx ON OFF OFF Port M xxx rate 0 05 s 999s 1s Port U xxx ON OFF OFF Port U xxx rate 0 05 s 999 s 1s xxx NMEA message type MPC DPC PBN SNV SNG SNW SAG SAL SAW SBD or ION Parameter Range Default Memory Storage location Internal External Internal Raw data recording mode Yes No No Raw data recording rate 0 05 s 999 s 1s Site name 4 characters The last four digits of the serial number GNSS Reception Antenna Parameters Position Computation Base Miscellaneous Parameter Range Default SBAS use ON OFF ON GLONASS use ON OFF ON GALILEO use ON OFF OFF QZSS use ON OFF OFF Note Refer to PASHS CFG and PASHS GPS for more information on the frequencies received for each constellation Parameter Range Default Antenna reduction mode OFF ON ARP ON Antenna height 0 100 00 m 0 Type of antenna height Vertical slant Vertical Parameter Range Default Receiver mode Rover Base Backup Rover Amb
306. pectra 54 Precise Surveying Field Applications amp Concepts Precision receivers will help you take a decision on when to stop data collection e The lower the DOP the larger the number of received satellites and the more open the sky the better the chances for successful initialization Such indicators as DOP number of satellites received sky quality presence absence of obstructions will indirectly help you get a good idea of whether initialization will be achieved or not Interpreting these environmental parameters will be easier as you become an experimented operator e In kinematic surveys it is a good practice to deal with initialization at the beginning of a survey and then make sure you won t lose it until the end of the survey However you should be aware that whether you are performing a kinematic or static survey and regardless of the method used to help secure initialization the only thing that counts for a successful initialization is the amount quality and continuity of the collected data This means that all the logged data and not only those logged at the beginning of the survey can contribute to successful initialization e Choose the initialization method that is most appropriate to your survey The Initializer Bar method for ProMark3 users and the Known Point method are preferred whenever possible Required Observation Times The charts below show the minimum observation times required with
307. ped the command line e Tap on the Send button to send the command to the receiver The command line as well as the response line s then appear at the bottom of the screen 135 Using Serial Commands Review File File MyDevice FAST Survey Data cor Results from sending script file Sent 1 PASHQ BEEP Response 1 PASHR BEEP ON 48 0 Sent 2 PASHQ BAS Response 2 PASHR BAS A RT3 50 Sent 3 PASHS BEEP OFF Respe SPAS Running a Series of Commands First of all you need to create a TXT file containing all the commands you want the receiver to run Save the file to the MyDevice FAST Survey Data folder Then do the following e Use the Send File button in the upper part of the window to select the TXT file and send it to the receiver e Once the receiver has executed all the commands included in the file a new window is displayed listing each of the commands run in the receiver as well the resulting receiver response line s e Tapping will take you back to the command window Running Serial Commands from a USB Key 136 Serial commands can also be run from a USB key you connect to the receiver s USB port through the dedicated cable What you have to do is create a text file containing the list of serial commands you would like the receiver to execute In this file can also be inserted the PASHS CMD WTI command which is used to introduce an idle time before the rece
308. persists and selected storage medium is USB check that it s not in read only remove lock Else change USB key and try again If error persists and selected storage medium is internal memory re format internal memory using command PASHS INI 2 configuration will be lost Medium File read error Receiver failed to read the number of files in the selected storage medium If error still occurs change the USB key or re format the inter nal memory see Alarm 4 Medium File system mount error Receiver failed to detect the USB key Remove USB key and re insert it If still unsuccessful use a new USB key Medium GSM connection failed GSM connection has been lost Try again Most of the time the server ends the connection for one of the follow ing reasons User name and or password is incorrect contact your provider Server is faulty contact provider You are outside the area covered by the NTRIP or Direct IP server Medium GSM initialization failed Receiver failed to initialize GSM modem Check the GSM status icon on the display screen should indicate Modem is powered on If error persists contact your GPRS provider for assistance Medium GSM data write error Receiver failed to write data on the GSM port Try again If error per sists restart the receiver If error persists call your local dealer or email technical support for assistance Medium GSM power error Receiv
309. ples PASHQ CPD POS PASHR CPD POS 4717 959483 N 00130 500968 W 70 229 59 PASHQ CPD POS PASHR CPD POS 0000 000000 N 00000 000000 E 00 000 7A PASHS POS PASHQ CPD ANT PASHQ ANR PASHQ ANH Query Command Library CPD REM Differential Data Port Function Command Format Response Format Relevant Set Command This command allows you to read the port IDs that route differential data to a rover as well as the port selection mode Syntax PASHQ CPD REM cc Syntax PASHR CPD REM s1 c2 c3 cc Parameters Parameter Description Range Reception mode s1 e AUT Automatic default AUT MAN MAN Manual Input port 1 A Serial port c2 C Bluetooth port A C D E D Radio E Modem Input port 2 A Serial port c3 e C Bluetooth port A C D E D Radio E Modem cc Checksum 00 FF Examples Automatic selection of the input port PASHQ CPD REM PASHR CPD REM AUT 39 Manual selection port D radio expected to receive the data PASHQ CPD REM PASHR CPD REM MAN D 53 Manual selection ports D and E radio GSM expected to receive the data PASHQ CPD REM PASHR CPD REM MAN D E 3A PASHS CPD REM 281 Query Command Library See also PASHQ CPD MOD CPD VRS VRS Assumption Mode Function This command allows you to read the current setting of the VRS assumption mode Command Format Syntax PASHQ CPD VRS cc Response format Syntax PASHR
310. plications amp Concepts 72 Enter the latitude longitude and ellipsoidal height of the first reference point Set horizontal or and vertical control for the first reference point This means requiring that the local grid pass through respectively the horizontal or and vertical position of the point Resume the previous three steps until all the reference points have been defined Run the localization process and make sure the local grid is now the new projection system used in the job Chapter 5 RTK Implementation Data Link Key Terms and Expressions In an RTK surveying system the data link is used to transfer RTK correction data from the base to the rover The data link may be one of the following two types e Standalone You will have full control over the generation and transmission of RTK correction data Spectra Precision equipment used in base rover configuration e Network based You will be resorting to a third party network based provider for the generation and delivery of RTK correction data Spectra Precision equipment used in rover only configuration This section introduces the two basic transmission means available in Spectra Precision surveying systems for setting up this data link e Radio standalone e Cellular mobile communications cell phone cellular modem For mobile communications this section describes the different operating modes available e CSD standalone
311. position output modes 86 RTK real time surveying 33 RTK vs Post Processing 50 Run a series of commands 166 Run commands from USB key 136 RWO 362 S SAG 220 397 SAL 220 396 SAT 202 Satellite use mask 376 Satellites in use 10 Save receiver configuration to USB key 116 Saving the receiver configuration to a PAR file 211 SAW 220 398 SBA 239 364 SBA DAT message 220 SBAS 1 18 34 SBAS differential position solution tagging 326 SBAS differential positions in NME NMEA like messages tagging 204 SBAS tracking 239 SBAS tracking status 364 SBD 220 SBN 219 Scenario 234 358 Scrambling 77 Screen backlight 15 Script 136 Scroll button 5 9 Semi major axis 312 Semi minor axis 312 Send Command 135 Send File 136 Serial commands 133 138 Serial port 7 Serial Ports 125 Server connection 177 Set commands 133 Set date amp time 256 Set internal update rate for measurements and PVT 213 Setting position in GGA user message 252 Setting the log file 194 Setup PP base 30 Setup PP rover 30 SGA 365 SGL 367 SGP 369 SHMP 57 149 SHMP offset 57 Signal observation masks 240 Signal Observations Masking 372 Signal to noise ratio mask 240 Signal to Noise ratio 371 Signal to noise ratio mask 374 Signal to noise ratio masks 244 SIM card 27 119 Single vs multi frequency 51 SIT 239 371 Site name 239 371 Size 19 Slant height measurement 58 Slant measurement 8 144 SNG 219 399 S
312. pty if not 0 100 defined d10 Standard of latency in milli seconds 0 16383 d11 Mean latency in milli seconds 0 16383 f12 Mean epoch interval in seconds 0 00 163 86 287 Query Command Library Example See Also Parameter Description Range 13 Min epoch interval in seconds 0 00 20 47 d14 Number n of different messages 0 63 detected since last stream change RT2 1 63 RT3 1001 4094 CMR 0 obs 1 loc d15 Message type 2 desc 3 glo 12 cmr DBN 10 RPC 11 BPS TPZ 0 only ATM 0 15 f16 Interval of last message in seconds 0 000 1023 000 f17 Age of last message in seconds 0 000 1023 000 cc Checksum PASHQ DDS PASHR DDS 1 140235 33 A RT3 200 100 0 100 5 50 1 05 1 00 3 1004 1 00 0 0 500 1005 30 000 18 000 1006 30 000 18 000 49 PASHS NME DIP Direct IP Parameters Function Command Format Response Format 288 This command is used to query the parameters used for a Direct IP connection When c6 is omitted in the query command the returned Direct IP settings are those for the port defined through the PASHS DIP PAR or PASHS DIP command last run Syntax PASHQ DIP c6 cc Syntax PASHR DIPRIP s1 PRT d2 LGN s3 PWD s4 cc Relevant Set Command See also Query Command Library Parameters Parameter Description Range IP address IP address RIP s1 XXX XXX XXX XXX or host 000 000 000 0
313. r 7 6 Short health 2 Satellite health 0 bad 1 good Float e 4 Eccentricity Long 4 Reference day number days in range 1 to 1461 Float 4 Correction to inclination semicircles Float wo 4 S of first ascending node semicir 397 Output Message Library Type Name Size Contents Reference time of longitude of first node Float 4 seconds w Float 4 Argument of perigee semicircles Float Af 4 Correction to mean value 43200 s of Draconic period Float Aft 4 Af1 d Af0 dt sec sec Float 4 Satellite clock offset seconds The checksum is computed by breaking the structure into 21 unsigned shorts add ing them together and taking the least sig nificant 16 bits of the result N Unsigned short Checksum Total 44 Reminder on How Use the PASHS RAW command with the syntax below to Output SAG PASHS RAW SAG lt port_ID gt ON lt Rate gt Messages For more details on the PASHS RAW command refer to the Set Command Library Chapter As an example the command below will output SAG messages on port A at a rate of 15 seconds PASHS RAW SAG A ON 15 SAW SBAS Almanac Data This message contains almanac data for one SBAS satellite The message is as follows PASHR SAW lt structure gt The message s binary structure is described in the table below Type Name Size Contents char Id 1 Data ID 398 Output Me
314. r message text PASHS UTS Synchronization with GPS time PASHQ UTS Synchronization with GPS time PASHS VEC Set vector output mode PASHQ VERSION Firmware version PASHS WAK Alarm acknowledgement PASHQ WARN Warning messages PASHS ZDA Time and date Table 2 Data Output Commands Set Command Description Query Command Description PASHQ ALM Almanac message PASHQ CPD ANT Base antenna height PASHQ CPD POS Base position PASHQ CRT Cartesian coordinates of position PASHQ DCR Cartesian coordinates of baseline PASHQ DDS Differential decoder status PASHQ DPO Delta position PASHQ DTM Datum Reference PASHQ GGA GNSS position message PASHQ GLL Geographic position lat long PASHQ GMP GNSS Map Projection Fix Data PASHQ GNS GNSS fix data PASHQ GRS GNSS range residuals PASHQ GSA GNSS DOP amp active satellites PASHQ GST GNSS pseudorange error statistics 141 Using Serial Commands Table 2 Data Output Commands Continued Set Command Description Query Command Description PASHQ GSV GNSS satellites in view PASHQ POS Computed position data PASHQ PTT PPS time tag PASHQ RMC Recomm min specific GNSS data PASHQ RRE Residual error PASHQ SAT Satellites status PASHQ SGA GALILEO Satellites status PASHQ SGL GLONASS Satellites status PASHQ SGP GPS amp SBAS Satellites status PASHQ VEC Vector
315. ransmissions as the rover moves farther away from the base Try another frequency If you are licensed to operate on more than one frequency move to a different frequency in hopes that the new frequency has less traffic If you have a license for only one frequency you may need to find another frequency in your area that is clear of traffic in order for the system to function reliably and acquire a license for this frequency if possible Data Link Okay but No Fixed Position Computed 104 RTK Base RTK Rover PP Base PP Rover Relevant to Troubleshooting Once the receiver is set to function in RTK i e RTK firmware option has been enabled it will compute RTK quality positions In order to accomplish this the rover must collect raw satellite data at its position and also receive RTK correction data transmitted by the base Without these two components the rover will not be able to fix RTK position solutions To determine if the rover is computing a fixed position you can read the General Status screen 2nd parameter in upper line Using either the display screen or your field terminal you have determined that the rover system is not computing a Fixed position Follow the steps outlined below to troubleshoot this problem Step 1 Is the To determine if the rover is receiving base data examine the Radio Receiving 2nd ine on the General Status screen The Data Link icon Base Data
316. rd height measurement methods i e slant or vertical Antenna Radius Height Mark 98mm yL1 XL z E E 5 2 S pe Offset ai mm The height mark allows you to hook the measure tape onto it so you can unroll the tape down to the survey mark and read the slant height measurement directly on the tape e With the ProMark 800 OFF pressing the Power Log and Scroll buttons simultaneously for a few seconds will restore all the factory settings Always use this combination after changing the radio module This allows the receiver to recognize the new module e With the ProMark 800 OFF and a USB key connected pressing the Power and Scroll buttons simultaneously for a few seconds will cause the ProMark 800 to start a firmware upload process If there is no USB key connected or the key does not contain a firmware upgrade then the process will abort after a few seconds Because data has to be decompressed on the USB key during upgrades the USB key must be unlocked with at least 10 MBytes of free memory before starting the upgrade These button combinations are summarized in the table below Button ProMark 800 Function Combination State PowertLogtScroll OFF Restores Factory Settings Power Scroll OFF Initiates firmware update from USB key Display Screens Introduction Power On Screen General Status Screen If you press the Scroll button several times you will se
317. rding ON or AUT prompting you to read the status of the debug data recording using the PASHQ ATL command PASHQ ATL PASHS MEM ATM Enabling Disabling ATOM Messages Function Command Format This command allows you to enable or disable ATOM messages on the specified port Syntax PASHS ATM s1 c2 s3 f4 cc 153 Set Command Library 154 Parameters Parameter Description Range s1 ATOM message type PVT ATR NAW DAT EVT RNX See table below Port routing the ATOM message A Serial portC Bluetooth port c2 E Modem A C E M U M U Internal memory U USB key U Enable ON or disable OFF this s3 ATOM message type re 0 05 or 0 1 0 4 sec with F Output rate in seconds Default option activated f4 he is specific to each message 05 095 ype 1 999 s cc Optional checksum 00 FF ATOM Messages Default Default Output ATOM eo Output Data Description Status on Ports Number Status on M U and R Port A i PVT 4095 3 Positioning results OFF OFF ATR 4095 4 Receiver attributes OFF ON NAV 4095 5 GNSS navigation data OFF ane ae Sei Raw GNSS data OFF Daly 4099 6 DAT FRM OEE no output rate EVT 4095 14 Event OFF OFF 4095 7 RNX_ Sce GNSS raw measuremenst OFF ON at 1 second nario 0 PASHS ATM ATR is used only to enable or disable the recording or output of ATOM ATR XDR messages These are g
318. receiver computes two independent positions from the two independent corrections streams entering the receiver The input port for the correction stream of the primary RTK is defined by the PASHS CPD REM command The input port for the correction stream of the backup RTK position is defined by parameter c4 in PASHS CPD MOD The receiver checks that the submitted value for c4 is compatible with the settings last performed with PASHS CPD REM In Hot Standby RTK the position delivered by the receiver through the chosen output messages ATM PVT GGA etc is the best position between the primary RTK and backup RTK The receiver itself determines which is the best position based on all the available parameters and indicators At any time users can find out which RTK provides the best position by analyzing the Base Station ID field in these messages The backup position is computed only from reference data received at integer seconds of time intervals In Hot Standby RTK the Fast CPD mode must always be ON if you want the receiver to work properly In addition the base is assumed to be static regardless of the current value assigned to parameter d3 in PASHS CPD MOD PASHQ CPD MOD PASHS BAS PASHS CPD REM PASHS CPD FST CPD NET Network Corrections Function Command Format 172 This command sets the behavior of the receiver with relation to network corrections i e RTK correction data delivered by a netw
319. receiver in dual signal configuration PASHS CFG DSL 40 PASHQ CFG PASHQ PAR PASHS GPS PASHS GLO PASHS SBA 165 Set Command Library PASHS GAL CMD LOD Running a List of PASH Commands Function This command is used to run the complete list of PASH commands stored in a file found in the USB key currently connected to the receiver This implies that the file in text editable format should have first been saved to that key before connecting the key to the receiver s USB port Command Format Syntax PASHS CMD LOD s cc Parameters Parameter Description Range Default File name If s is omitted it is 255 characters s assumed that the file to be run autoconfig cmd gu i max is autoconfig cmd cc Optional checksum 00 FF Examples Running the serial commands in autoconfig cmd PASHS CMD LOD 54 Running the serial commands in a file named myconfig cmd PASHS CMD LOD myconfig cmd 02 Comments The file can contain any PASHS or PAHSQ commands e If the file contains the PASHS REC or PASHS INI command this command will always be run last whatever its position in the file e All data lines returned by the receiver in response to the executed commands are written to a log file named as follows lt command_file_name gt log 166 Relevant Query Command See also No Set Command Library To insert an idle wait time of several seconds betwee
320. reference Weed 0 receiver name e 1 s1 is always used and the decoded reference receiver name is ignored cc Optional checksum 00 FF Comment The supported receiver models are listed below these are case sensitive names Relevant Query Commands See Also Set Command Library ASHTECH ProMark500 ProMark800 ProFlex500 ProFlex800 MB500 PM5 BP1 MB800 MMapper100 ProMark100 MB100 NOVATEL TRIMBLE SEPTENTRIO TOPCON JAVAD Example Entering Ashtech as the name of the reference receiver PASHS RCP REF ASHTECH 25 PASHQ RCP REF PASHQ RCP PASHS ANP REF RDP OFF Powering Off the Internal Radio Function Command Format This command is used to power off the internal radio Syntax PASHS RDP OFF cc Parameters None Example Turning off the internal radio PASHS RDP OFF 50 225 Set Command Library Relevant Query PASHQ RDP PAR D Command See also PASHS RDP ON PASHS RDP PAR RDP ON Powering On the Internal Radio Function Command Format Relevant Query Command See also This command is used to power on the internal radio Syntax PASHS RDP ON cc Parameters None Example Turning on the internal radio PASHS RDP ON 1E PASHQ RDP PAR D PASHS RDP OFF PASHS RDP PAR RDP PAR Setting the Radio Function Command Format 226 This command is used to set the radio connected to the specified port Syntax PASHS RDP PAR c1 s
321. regulations exist to maintain this parameter under a certain threshold Operation indicator The ability for a radio to inform users in real time of the quality and strength of the signal transmitted or received Forward Correction Error FEC Made available by some radio manufacturers A function or process through which a radio system gives itself the capability to correct the data bits that are corrupted during the radio transmission This process is based on the use of additional bits encoded at transmitter level calculated from the real data bits that have to be transmitted At receiver level the bit streams are analyzed Isolated bits may be found corrupted in which case they are brought back to their real value 1 instead of O or the other round This process involves interleave techniques on both sides of the radio transmission Cellular Mobile Communications RTK Implementation As a rover user you should make sure this function is also activated at the base before activating it in your radio receiver otherwise the radio link won t work at all If you are using heterogeneous sets of radios i e radio transmitters and receivers from different manufacturers make sure this function is disabled in the radio receiver or transmitter where it is made available e Scrambling Also made available by some radio manufacturers A bit encoding process intended to improve the overall performance of the radio transmission by better bal
322. rom a single epoch to compute multiple RTK positions For example if the base is transmitting RTK correction data every second 1 Hz the rover can output four RTK positions at intervals of 0 25 second 1 Rover saves GNSS raw data received at t0 2 RTK correction data computed at t0 arrives in rover ll ll 3 Rover extrapolates last RTK correction data received for time t0 x 1 and computes estimated RTK position at time t0 from raw data and extrapolated correction data I nN Internal Processes _ in Rover RTK Position Output Rover t0a rrerereeee tob toc tod foe tof tog toh toi toj Rover positions at times t0 are delivered at times t1 t0 Position request times t1 Position delivery times 88 The time when position is requested is tO and the time when the rover starts providing the position for time tO is t1 Times tOa tOe and tOj in the base and the rover are synchronous because they originate from the same clock which is the GNSS time Here the latency t1 tO is caused by the extrapolation and position processing times in the sole rover In this RTK Implementation configuration a typical latency time in Spectra Precision receivers is 15 ms Use Context Fast RTK should be used when consistent and high rate position updates are required such as in machine control or field operator guidance and when consistent position accuracy is not the highest priority
323. ror persists contact GPRS provider to fix the problem 46 edium GSM band error Correct GSM band and try again If error persists call your local dealer or email technical support for assistance 95 Troubleshooting Rank Alarm Label Symptoms amp Remedies 47 edium GSM protocol error Correct protocol used and try again If error persists call your local dealer or email technical support for assistance 48 edium GSM CSD mode error Problem configuring the modem in CSD mode Try again If error per sists call your local dealer or email technical support for assistance 49 edium APN error Problem configuring the APN If error persists contact GPRS provider to fix the problem 51 edium GPRS login error Check GPRS login If error persists contact GPRS provider to fix the problem 53 edium GPRS password error Check GPRS password If error persists contact GPRS provider to fix the problem 54 edium GPRS connection failed Receiver failed to connect to GPRS Check GSM antenna Check GPRS parameters and reception level and try again 56 edium Invalid caster hostname Correct caster hostname and try again 57 edium Invalid caster port Receiver failed to access the caster through the port mentioned Check caster port number gt Disconnect from GPRS Receiver failed to disconnect from GPRS Try again If still unsucc
324. rrections from network are not d2 used 0 1 1 FKP MAC GLONASS corrections from network are used when available and healthy otherwise they are rejected cc Checksum 00 FF Example PASHQ CPD NET PASHR CPD NET 1 0 51 The response line reports that the receiver will process network corrections if available and healthy Relevant Set PASHS CPD NET Command See also PASHQ CPD 279 Query Command Library CPD POS Base Position Function Command Format Response Format 280 See also If applied to a base this command allows you to read the geographic coordinates previously entered for the base position Depending on the last PASHS ANR command applied to the base the position you get will be either that of the phase center the ARP or the ground mark If applied to a rover this command allows you to read the position of the base the rover receives from the base The coordinates will all be O if the rover does not receive the base position Syntax PASHQ CPD POS cc Syntax PASHR CPD POS m1 c2 m3 c4 f5 cc Parameters Parameter Description Range Latitude in degrees and minutes with 7 deci mal places ddmm mmmmmmm nae m1 c2 North N or South S N 5 Longitude in degrees minutes with 7 decimal m3 0 180 places ddmm mmmmmmm c4 West W or East E W E f5 Height in meters 9999 9999 cc Checksum 00 FF Exam
325. rvey Surveying Several Points within a Relatively Small Area 43 Precise Surveying Field Applications amp Concepts lt z gt Baseline i i i Reference Point Survey Points Survey Points Da 0003 XK 0004 Initialization x 0009K 0006 Data collected at the base Data collected by the rover 0001 0002 0003 0004 0005 0006 y Observation Time Occupation time on each survey point Key Points 1 The rover is moved successively onto each of the survey points The rover antenna pole should be kept still and vertical over each survey point for a given occupation time 2 Occupation time on each surveyed point is user preset A countdown timer tells you when to move to the next point 3 In the rover surveying a point in Stop amp Go mode simply consists of inserting start and end markers into the logged raw data file Each point is in fact delimited in the raw data file by a pair of start and end markers 44 Continuous Kinematic Survey Precise Surveying Field Applications amp Concepts 4 Points are automatically named numeral suffix automatically incremented unless you wish to give a particular name for each point 5 Occupation time in fact defines the period of time for which the post processing software will average the successive positions over this period of time The resulting averaged position w
326. ry Command Library Function Command Format Response format This command allows you to read the current settings of the ATOM data related parameters Syntax PASHQ ATM cc Syntax Through an example PASHQ ATM PER 001 00 ELM 5 DRI 001 00 SIT 2007 REC N MEM M ANH 02 132 ANT VERT ANR ON ATOM MES PVT ATR NAV DAT EVT BAUD PRTA OFF OFF OFF OFF OFF OFF 7 PRTC OFF OFF OFF OFF OFF OFF 1 PRTE OFF OFF OFF OFF OFF OFF 1 MEMM OFF OFF OFF OFF OFF OFF 1 MEMU OFF OFF OFF OFF OFF OFF 0 Parameters Parameter Description Range PER ATOM output rate 0 00 999 0 s Elevation mask used in data recording amp ELM data output i re DRI Recording rate 0 00 999 0 s SIT Site ID 4 characters Data recording e Y Data recording enabled REG N Data er disabled nee S Data recording enabled but stopped Selected memory MEM M Internal memory M U U USB memory ANH Antenna height 0 000 99 999 ANT Height measurement type slant vertical SLANT VERT ANR Antenna reduction mode ON OFF ARP PRTA ON OFF PRTC Label for Bluetooth ON OFF PRTE Label for Modem ON OFF a Labels for memories ON OFF 267 Query Command Library Parameter Description Range If serial port used then baud rate 0 15 see table Relevant Set BAUD If memory used 0 if not available else 1 below Code Baud Rate
327. ry kit 450 470 MHz Each accessory kit includes a unity gain antenna a range pole mount a tripod mount system a 35 W radio battery bag with 2 x 6 cables without the battery and a Vantage Vantage Pro programming cable Transmitter alone Radio receiver kit PacCrest includes radio 802149 30 430 450 MHz 12 5 kHz or module whip 25 kHz antenna and 802149 50 450 470 MHz 12 5 kHz or small parts 25 kHz Quad band GSM 411397 antenna Item Part Number Picture Power cable kit 802143 Introduction Item Part Number Picture ADL Vantage Pro to ProMark 800 cable PacCrest ref A00630 105659 Equipment Description amp Basic Functions Front Panel View Indicators amp Controls D Display Screen oO yy Button TA ae LED Log Button Power Button Power button To turn on the ProMark 800 hold the Power button pressed until the power LED lights up To turn off the ProMark 800 hold the Power button pressed until the Ashtech screen is displayed Then release the button and wait until the ProMark 800 shuts down Power LED This indicator is on when the ProMark 800 is on and off when it is off Display Screen The display consists of a 128 x 64 pixel 1 5 inch monochrome yellow screen using organic LED technology OLED It is oriented slightly downwards so the screen can easily be read when the ProMar
328. s connectors accessories batteries etc Compared to the Getting Started Guide this chapter provides three additional sections Specifications Firmware Options and Port Pinouts Chapter 2 explains how to set up the equip ment for RTK surveys Chapter 3 gives information on how to set up ProMark 800 for post processed surveys and how to collect raw data with a standalone Pro Mark 800 Chapters 4 and 5 give in depth information on GNSS surveying techniques seen from both the theoretical and practical point of view Key terms and expressions are also in troduced at the beginning of each of the sec tions The purpose is that you not only become familiar with these techniques but also make them yours Note that these chapters refer to GNSS equipment in general including Spectra Pre cision equipment and so are not specific to the ProMark 800 only If in doubt with what the ProMark 800 really does in such or such circumstance please refer to the Specifica tions section in chapter 1 of this manual Chapter 4 gives information on surveying techniques for both real time and post pro cessed surveys It includes separate sections on such particular topics as base position initialization antenna heights virtual anten nas accuracy elevation vs height and local ization Chapter 5 deals more specifically with RTK surveying introducing hardware means and data formats that exist today to implement the data link
329. s 0 99 0 0 No timeout cc Optional checksum 00 FF Example Setting the timeout to 5 minutes PASHS MWD 5 32 PASHQ MWD PASHS MDM PAR PASHQ FLS NME Enabling Disabling NMEA Messages Function 200 This command is used to enable or disable NMEA messages and NMEA like messages Set Command Library Command Format Syntax PASHS NME s1 c2 s3 f4 cc Parameters Parameter Description Range s1 Data message type See tables below Port routing the message A Serial port C Bluetooth c2 E Modem ACE MU M U Internal memory M USB key U Enables ON or disables OFF the mes s3 ON OFF sage Output rate Omitted The message output rate will be 0 05 s or 0 1 0 4 s as defined with PASHS NME PER if F option acti 4 Setting PASHS POP to 20 is a prior vated condition to operating at 0 05 s 20 Hz 9 5 0 9s 1 999 s f4 is not applicable to message PTT cc Optional checksum 00 FF NMEA messages Data Description ALM GPS almanac data DTM Datum Reference GGA GPS fix data GLL Geographic position Latitude Longitude GMP GNSS Map Projection Fix Data GNS GNSS Fix Data GRS GNSS range residual GSA GNSS DOP and active satellites GST GNSS pseudo range error statistics GSV GNSS satellites in view RMC Recommended minimum specific GNSS data VTG Course over ground and ground speed
330. s command is used to read the current setting of the channel warnings mask applied to signal observations This mask is active only when applying masks to signal observations has been set to be user defined see PASHS SOM Command Format Syntax PASHQ SOM WRN cc Parameters None Response Format Syntax PASHR SOM WRN s1 s2 cc Parameters Parameter Description Range Default s1 Mask applied to differential data ON OFF ON s2 Mask applied to raw data ON OFF OFF cc Checksum 00 FF 375 Query Command Library Relevant Set Command See Also STI Station ID Example PASHQ SOM WRN PASHR SOM WRN ON ON 42 PASHS SOM WRN PASHS SOM Function Command Format Response Format Relevant Set Command This command is used to query the receiver for the station ID it transmits to the rover through the corrections message Syntax PASHQ STI cc Syntax PASHR STI d cc Parameters Parameter Description Range 0 1023 RTCM 2 3 d Station ID 0 4095 RTCM 3 x ATOM 0 31 CMR amp CMR cc Checksum 00 FF Example PASHQ STI PASHR STI 817 28 PASHS STI SVM Satellite Use Mask Function 376 This command is used to read the current setting of the satellite use mask defining the maximum number of code or Doppler observations used in the PVT calculation Command Format Response Format Relevant Set Command Query Command Library
331. s of rejection 31 Other cause Satellite Correcting Status Status 0 Satellite is not tracked 1 Satellite is not corrected 2 SBAS is corrected 3 DGPS is corrected 4 L1 RTK is corrected 5 L1 amp L2 RTK is corrected 6 14 Reserved 15 Unknown correcting status PASHQ SGA PASHR SGA 2 128 092 32 44 0 35 0 2 4 PASHS NME This is a reminder on how to output SGA messages at regular intervals of time Use the PASHS NME command with the syntax be PASHS low NME SGA lt port_ID gt ON lt Rate gt Query Command Library For more details on the PASHS NME command refer to the Set Command Library Chapter As an example the command below will output SGA messages on port A at a rate of 10 seconds PASHS NME SGA A ON 10 SGL GLONASS Satellites Status Function Command Format Response Format This command is used to read the status of each GLONASS satellite received Syntax PASHQ SGL cc Syntax PASHR SGL d1 n d2 d3 d4 f5 f6 d8 d9 cc Parameters Parameter Description Range d1 Number of satellites locked 1 27 d2 SV PRN number 64 satellite slot number 65 96 d3 SV azimuth in degrees 0 359 d4 SV elevation angle in degrees 0 90 f5 SV L1 signal noise in dB Hz 30 0 60 0 6 SV L2 signal noise in dB Hz 30 0 60 0 f Not used d8 Satellite usage status see table below 0 31 d9 Satellite correcting status see table below 0 15
332. s rtwg snone denise dettmering bkg bund de none STR FFMJ2 Frankfurt RTCM2 0 1 1 3 19 16 59 0 GPS GREF GER 50 12 8 68 0 1 GPSNetV1 9 none N N 560 DemoSTR FFMJ1 Frankfurt RTCM 2 1 3 19 16 59 18 1 19 1 2 GPS GREF GER 50 09 8 66 0 0 GPSNet V1 9 none N N 2800 Demo STR FFMJO0 Frankfurt RAW Compact 1 2 GPS GLO IGSIGLOS ER 50 09 8 66 0 0 Javad Legacy E none N N 3600 Demo TR LEIJ0 Leipzig RAW Compact 1 2 GPS GLO IGSIGLOS ER 51 33 12 37 0 0 Javad Legacy E none B N 3600 none TR WTZJ0 Wettzell RAW Compact 1 2 GPS GLO IGSIGLOS ER 49 13 12 88 0 0 Javad Legacy E none B N 3600 none TR HELJO Helgoland RAW Compact 1 2 GPS GLO IGSIGLOS ER 54 18 7 88 0 0 Javad Legacy E none B N 3600 none TR TITZO Titz RAW Compact 1 2 GPS GLO IGSIGLOS QDHANDMNAD wn 329 Query Command Library See also GER 51 00 6 42 0 0 Javad Legacy E none B N 3600 none STR HUEGO Huegelheim RAW Compact 1 2 GPS GLO IGSIGLOS GER 47 82 7 62 0 0 Javad Legacy E none B N 3600 none STR DREJO Dresden RAW Compact 1 2 GPS GLO IGSIGLOS GER 51 05 13 73 0 0 Javad Legacy E none B N 3600 none STR SASSO Sassnitz RAW Compact 1 2 GPS GLO IGSIGLOS GER 54 51 13 64 0 0 Javad Legacy E none B N 3600 none STR KARJO Karlsruhe RAW Compact 1 2 GPS GLO IGSIGLOS GER 49 01 8 41 0 0 Javad Legacy E none B N 3600 none STR WILHO Wilhelmshaven RTCM 2 0 1 1 3 19 16 59 0 GPS GREF GER 53 52 8 10 0 1 GPSNet V1 9 none B N 560 VRS ENDSOURCETABLE PASHS NTR LOD PASHS NTR PAR PASHS NTR
333. satellites actually used by the receiver and should be equal to or slightly less than the first number in the line 2 If the receiver fails to track any satellites after a few minutes of operation see if you can improve this by moving the receiver to a better place a more open sky area where there can t be any doubt on the possibility for a receiver to track satellites 99 Troubleshooting 3 If the receiver still fails to track any satellites a component may be malfunctioning Call your local dealer or email technical support for assistance Receiver is Not Logging Data Raw Data Logging Icon Step 1 Has Data Logging Been Started Step 2 Is the Currently Selected Memory Usable 100 RTK Base RTK Rover PP Base PP Rover Relevant to The Raw Data Logging icon on the front panel of the receiver will be animated when data logging is in progress Examining the General Status screen you determine that the receiver is not logging data to memory Follow the procedures below to determine the cause of this problem At receiver power up data logging is disabled in the receiver default setting To start data logging press the Log button on the front panel By default raw data is written to the receiver s internal memory 1 If the Raw Data Logging icon starts blinking animated icon then the problem is solved Warning The Raw Data Logging icon may blink throughout a log
334. seeesaeeeaeeeeneeeeaes 382 VERSION Firmware Version cccscccsscccceeeeseeeeeeeesaeeeseeseeeeeeees 383 VTG Course Over Ground and Ground Speed ccccseeeeeeeeees 384 WARN Warning M SS Q6S 0ccceecccneecceeeeseeeeeeeesaeeeeeeeeeeeeeees 385 ZDA Time amp Dates c1c s bawiecct E a he EE Peete 386 Chapter D Output Message Library cssccsssesseessseessseesseeeee 389 ION lonosphere Parameters cccccccseccceeeceeeeeeeeeseeeeeeeeeneeees 389 MPC GNSS Measurements 0cccsccccseccceeceseeeeeeeeeaeeeeeeeeseeeeaes 390 DPC Compact GPS Measurement ccccsecccseceeaeeeeeeeeeeeeeaes 393 PBN Position Information ccccsccccseeccseceseeceeeeeeseeeeaeeeeaeeeees 394 SBA DAT SBAS Data Message cccccecceeeeceeeeeeeeeseeeeseeeeneeees 395 SALYGPS Almanac DataS nesae e e a 396 SAG GLONASS Almanac Data cccccsececseeeeseeeeeeeeeaeeeeneeees 397 SAW SBAS Almanac Datas mri e e aeei 398 SNG GLONASS Ephemeris Data ccccccccseeeeeeeeeeeeeeeeeneeees 399 SNV GPS Ephemeris Datas nos ee na ET 401 SNW SBAS Ephemeris Data cccccecccseeeceeeeeeeeeseeeeaeeesneeees 402 vii viii Chapter 1 Introduction a What is ProMark 800 Congratulations You have just acquired the latest multi frequency multi constellation ProMark 800 GNSS Surveying System from Spectra Precision GNSS has revolutionized control surveys topographic data collection and construction
335. select in your job uses exactly the same transformation parameters as the one used at the base There is another more efficient and automatic process that guarantees that the same coordinate transformation is used on both sides which is to ask the base to generate RTCM messages 1021 1022 1023 and 1025 and enable the rover to receive decode and use them Using these messages you can be certain that the rover will use exactly the same local coordinate system as the base without any errors or discrepancies Implementing this function in the rover is simply made by using the appropriate PASHS LCS command see LCS Enabling Disabling Use of Local Coordinate System on page 192 Once the function is enabled in the rover and provided the base generates these RTCM messages and the rover actually 116 Miscellaneous receives them then the rover position will automatically be delivered in the requested local coordinate system To output the position solution expressed in the projection received through RTCM message type 1025 enable the GMP NMEA message on the desired port Firmware Upgrade Procedure Firmware upgrades can be downloaded from the Spectra Precision website in the form of one or more compressed tar bz2 files The file s provided as well a the step by step upgrade procedure are given in the relevant Release Note Completing a firmware upgrade procedure may take up to 30 minutes For this reason it must
336. sent from outside the equipment See Applying Commands Through Bluetooth or a Serial Port on page 134 in this manual to know how this can be done e Use the PASHS MDP serial command to configure serial port A as an RS232 or RS422 port Refer to MDP Setting Port A to RS232 or RS422 on page 198 in this manual to learn how to use this command e Use the PASHS CTS command to enable disable hardware handshaking Refer to CTS Handshaking on page 176 NOTE A Bluetooth connection is also possible between a Bluetooth enabled computer and the receiver Installing a SIM Card e Turn the ProMark 800 upside down e Using a flat screwdriver loosen the two quarter turn screws of the radio module or compartment door if your ProMark 800 was purchased without a radio module e Pull the radio module or compartment door out of the ProMark 800 This unveils the printed circuit board 119 Miscellaneous located at the bottom of the case on which you can insert your SIM card Insert the SIM card as shown below Put the radio module or compartment door back in place Tighten the two screws Changing the Radio Module or Using One for the First Time 120 Turn the ProMark 800 upside down Using a flat screw driver loosen the two quarter turn screws of the radio module or compartment door if your ProMark 800 was purchased without a radio module Gently pull the module or compartment door out of the ProMark 800 The picture b
337. shown on the display screen Starting Stopping Raw Data Logging 30 You simply need to use the Log button to start and stop raw data logging Later you will however need to do the following manually 1 Downloading phase if appropriate rename the raw data files collected on each site Downloading Raw Post Processed Surveying 2 Post processing phase Manually correct all computed elevations for the antenna height By default raw data is logged to the receiver s internal memory The Raw Data Logging icon on the General Status screen will start flashing when a raw data file is open for logging Data Using a USB Mass Storage Device Using the USB Cable Provided Use a USB mass storage device as a transit storage medium to download raw data files from the receiver s internal memory to your office computer Important During a download operation files are not deleted from the receiver but simply copied to the USB mass storage device After downloading the files to this device connect the USB device to your computer and use your usual browser to copy the files to the project folder Connect the USB mass storage device to the receiver via the short USB Host to Device cable provided P N 702104 If raw data files are present in the receiver s internal memory the following icons will automatically appear on the display screen e To confirm the file transfer press the Log button The General st
338. so PASHS ANH PASHS ANT ANT Antenna Height Function This command is used to define the antenna height especially when it was determined using the slant measurement method However a vertical measurement can also be entered through this command Using the PASHS ANT command overwrites all previous settings performed with the PASHS ANH command 149 Set Command Library Command Format Syntax PASHS ANT f4 f2 f3 m4 f5 cc Diagrams and Definitions Slant Measurement Vertical Measurement e ARP Antenna Reference Point usually bottom of the antenna e SHMP Slant Height Measurement Point usually at the hedge of the antenna above the ARP e Ground Mark GM above the ARP same horizontal coordinates e Survey Point SP same height as Ground Mark but with a horizontal offset 150 Comments Set Command Library Parameters Parameter Description Range P Slant height measurement from ground 0 6 553 m mark GM to antenna edge SHMP 6 553 100 m 2 Antenna radius horizontal distance from the 0 6 553 m geometrical center to the antenna edge Vertical offset From ARP to SHMP if radius and slant 0 to 46 553 m 13 height are not null 6 553 100 i From Ground Mark to ARP if radius and i slant height are null Horizontal azimuth dddmm mm in degrees for the horizontal line connecting the ground 0735959 93 m4 j from 0 to mark GM to th
339. specified or current log file A log file lists all events related to IP connections with the receiver Syntax PASHQ LOG d cc Parameters Parameter Description Range F Index number of the log file you want to edit 0 900 If d is omitted the current log file is edited cc Optional checksum 00 FF Syntax The response is formatted as follows Date lt Year gt lt Month gt lt Day gt Maximum size x Mb Duration xx days hh mm ss lt message 1 gt hh mm ss lt message 2 gt hh mm ss lt message n gt Parameters See Also Query Command Library e The first line contains the date when the log file was created e The second line indicates the maximum size in Mb permitted for the file as well as the time in days during which it is kept in memory e Each of the lines that follow contains a message that describes a connection event time of event beginning or end of connection type of connection identification of the connected device Example PASHS LOG PAR PASHS LOG DEL PASHQ LOG LST 317 Query Command Library LOG LST Listing Log Files Function Command Format Response format Relevant Set Command This command is used to read the list of log files present in the receiver Syntax PASHQ LOG LST cc Parameters None Syntax PASHR LOG LST d1 d2 83 d4 cc Parameters Parameter Description Range d1 Current number of log files in the
340. sponse Format Syntax PASHR RTC MSI d1 n d2 d3 cc Parameters Parameter Description Range d1 Number of RTCM message types in the 32 RTCM output message 1 3 9 16 18 24 31 32 34 1001 1013 d2 RTCM message type 1019 1020 1029 1033 d3 Message output rate in seconds 0 1800 cc Checksum 00 FF Example PASHQ RTC MSI PASHR RTC MSI 32 1 0 0 3 30 0 9 0 0 16 0 0 18 1 0 19 1 0 20 0 0 21 0 0 22 30 0 23 0 0 24 0 0 31 0 0 32 0 0 34 0 0 36 0 0 1001 0 0 1002 0 0 1003 0 0 1004 1 0 1005 0 0 1006 13 0 1007 0 0 1008 0 0 1009 0 0 1010 0 0 1011 0 0 1012 1 0 1013 0 0 1019 0 0 1020 0 0 1029 0 0 1033 31 0 5C See also PASHS RTC TYP 361 Query Command Library RWO Raw Data Output Sett ings Function This command is used to query the raw data output parameters Command Format Syntax on the specified port PASHQ RWO c cc Parameters Parameter Description Range fo Port ID the command refers to A C M U cc Optional checksum 00 FF Response Format Syntax PASHR RWO c1 d2 f3 d4 n s5 f6 c7 cc Where n 8 Parameters Parameter Description Range The port ID specified in the command is reminded in this field c1 A Serial port A C M U C Bluetooth port M U Memory Baud rate code for serial port 0 9 A See table d2 For other devices 0 if not available else below mle 0 1 C M U Output rate defined by
341. ssage Library Type Name Size Contents Satellite Health amp Status bitwise meaning is Bit0 Ranging On 0 Off 1 Bit1 Corrections On 0 Off 1 Bit2 Broadcast Integrity On 0 Off 1 Bit3 Reserved char Health 1 Bit4 7 SBAS provider ID 0 15 0 WAAS 1 EGNOS 2 MSAS 3 13 Not assigned yet 14 15 Reserved Almanac data reference time within the day long w a expressed in the SBAS time scale seconds float 3 4 Satellite ECEF X Y Z coordinates meters float 34 a ECEF velocity X Y Z coordinates long Tow 4 Time within week in GPS time scale when SBAS almanac was received dhar Wn 1 Week number in GPS time scale modulo 256 when SBAS almanac was received char Prn 1 Satellite number 33 to 51 The checksum is computed by breaking the Unsigned short Check 2 structure into 18 unsigned shorts adding them sum together and taking the least significant 16 bits of the result Total 38 Reminder on How Use the PASHS RAW command with the syntax below to Output SAW PASHS RAW SAW lt port_ID gt ON lt Rate gt Messages For more details on the PASHS RAW command refer to the Set Command Library Chapter As an example the command below will output SAW messages on port A at a rate of 15 seconds PASHS RAW SAW A ON 15 SNG GLONASS Ephemeris Data This message contains the GLONASS ephemeris data for one satellite The message is as follows
342. stem parameter 1019 GPS ephemeris data 1020 GLONASS ephemeris data Helmert Abridged Molodenski Transforma 1021 tion Parameters Molodenski Badekas Transformation 1022 Parameters 1023 Residuals Ellipsoidal Grid Representation 1025 Projection parameters 1029 Unicode text string 1033 Receiver and antenna descriptors 31 seconds When a rover is given the capability to decode RTCM messages 1021 1022 1023 and 1025 the position it computes can be expressed directly in the same local coordinate system as the one used by the base station that provides it with RTK corrections Through these messages you can be sure the rover will automatically use the same transformation parameters as the base to deliver local coordinates The projected position solution can be output through NMEA message GMP 85 RTK Implementation RTK Position Output 86 RTK Position Output Mode Definition Some field applications require the fastest possible position output rate whereas some others can do with a slower output rate provided the position accuracy is maximum Setting the RTK position output mode allows you to choose the position output that is right for your application Spectra Precision receivers offer two different RTK position output modes e Time tagged RTK mode also called Synchronized RTK mode e Fast RTK mode Key Terms and Expressions Latency Delay between the time tO for which an RTK position
343. stems compared to conventional surveying systems Basically all positions delivered by GNSS systems consist of geographic coordinates latitude longitude height referenced to an ellipsoid called reference ellipsoid which is a simple and accurate model to describe the shape and surface of our planet 63 Precise Surveying Field Applications amp Concepts 64 The reference ellipsoid refers to the WGS84 or better the ITRFxx where xx is the year the ITRF was realized e g ITRFOO was realized in the year 2000 The center of this reference ellipsoid coincides with the center of the mass of the Earth which is also the origin point of the Earth Centered Earth Fixed ECEF X Y Z Cartesian coordinate system As far as horizontal coordinates are concerned the reference ellipsoid gives full satisfaction Converting geographic coordinates to any projection system does not raise any particular problem Things are a bit more complicated though when dealing with vertical coordinates because surveyors need to define very precisely which type of vertical coordinates they wish to measure The vertical coordinate provided by GNSS systems basically is the height of the surveyed point over the reference ellipsoid We call it the ellipsoidal height Surveyed Point Ellipsoidal Height Reference Ellipsoid For a long time surveyors have used the concept of mean sea level to measure the e evations of their points The m
344. syntax parameters and send the command again 35 ledium C3 code checksum is bad Option codes are corrupted at power on Re install receiver options At receiver power on all installed firmware options are tested for valid 36 High Option has expired ity This alarm is activated if at least one option has expired Need to purchase option if no longer available Number of tries exceeded Check phone number Resume the connec 37 High All attempts failed tion procedure from the beginning If error persists call your local dealer or email technical support for assistance Data memory full Data logging stopped or impossible You need to 38 High Memory full empty memory partially or entirely before data logging can be resumed 39 Low Spy too long A Debug command Apart from acknowledging the alarm no particular action required 40 edium GSM already in DIP Mode Source table requested whereas GSM already used in DIP mode End DIP connection before requesting the source table 41 edium GSM currently in NTRIP Source table requested whereas GSM already used in NTRIP mode Mode End NTRIP connection before requesting the source table 43 dium Invalid mount point You are trying to connect the receiver to an invalid mount point Cor rect mount point parameters and try again 44 Low Input buffer full If error persists call your local dealer or email technical support for assistance 45 edium GSM Pin code invalid Correct pin code and try again If er
345. systems are used one the base is operated on a chosen point while the other the rover is used in the working area for the survey 2 The base will be either A user owned base fitted with a UHF radio a GSM modem or any other suitable data link To choose a reference location for the base see Choosing a Location for the Base on page 46 A third party operated base Direct IP or base network NTRIP that delivers its data to the rover via a GSM GPRS or CDMA modem 35 Precise Surveying Field Applications amp Concepts 36 User Owned Base GNSS SBAS GNSS SBAS had Radio or Cellular Data Link Radio or GSM Rover Radio or GSM Chosen Point Base Rover Configuration E Connection to Third Party Base Network Via the Internet GNSS SBAS Lli Internet Cellular Modem Rover Only Configuration U Rove 3 A data link must be established to transfer the base s RTK correction data to the rover This data link can be implemented in several ways UHF radio Cellular modem GSM GPRS or CDMA Other external device e g Wi Fi spread spectrum re broadcast 4 Successful surveying requires getting the system to be initialized and preserving initialization or re initialzing if initialization is lost throughout the survey See Initialization on pa
346. t to ON for The 3 proto Transparent protocol 12 5 kHz 4800 GMSK cols are pos FEC sible Forced to OFF for the other two protocols 12 5 kHz 8000 Command NAKed 12 5 kHz 9600 4FSK Transparent ay be set to ON FEC1 25 kHz 4800 GMSK eet Or Forced to OFF 25 kHz 8000 Command NAKed Forced to OFF for TRIM TALK 25kHz 9600 GMSK TRIMTALK or May be set to ON for Transparent Transparent protocol FEC1 25 kHz 16000 Command NAKed 25 kHz 19200 4FSK Transparent May be set to ON FEC1 Conversely the choice of a protocol or modulation may force the use of a particular air link speed e Ifan ADL radio is used depending on its channel spacing the air link speed you select may force the use of a particular type of modulation and protocol as well as a 229 Set Command Library 230 particular FEC setting The different possible combinations are summarized in the table below Then Channel You i gt modulation Protocol can Spacing set c6 FEC Setting ue can only only be is to be Maybe set to ON for Transparent Transparent protocol 12 5 kHz 4800 GMSK TRIMALK 450S FEC1 TT450S HW or Forced to OFF for the TrimMark Il lle other three TRIMALK 450S 12 5 kHz 8000 GMSK or TT450S HW Forced to OFF GMSK TrimMark3 Forced to OFF Transparent May be set to ON FEC 1 12 5 kHz 9600 g 4FSK SATEL or Trans for Transp
347. ta file will help the post processing software initialize more quickly The known point can be a point previously surveyed in post processing static mode Initializer Bar eee 1 2 iz Base Base 1 1 Rover xX Rover xX Reference Point l Reference Point The Initializer Bar method can be used more especially when the survey takes place in the vicinity of the base short baseline It makes use of an initializer bar also called kinematic bar mounted at the base The bar is attached to the antenna base and for a limited time the rover antenna as well The bar in fact defines a 20 centimeter known baseline length After a preset occupation time the rover antenna is moved to the rover pole taking care not to obstruct the antenna during this action Initialization in Field Approach RTK Surveying In real time surveys the position status will at all times inform you of the real status of initialization At power up the time required to get a fixed solution i e the time for the rover to get initialized is called TTFF Time To First Fix Obviously for a given baseline length the better the operating conditions low DOP large number of received satellites open sky conditions the easier the initialization and therefore the shorter the TTFF 53 Precise Surveying Field Applications amp Concepts The initialization can even be faster if there is a
348. ters Parameter Description Range c1 Modem port d2 Modem baud rate 9 Moger state OFF ON INIT DIALING s3 NONE means that the modem ONLINE NONE option Z is not valid 319 Query Command Library 320 Relevant Set Command See also Parameter Description Range Power mode PWR s4 AUT Automatic AUT MAN e MAN Manual PIN s5 PIN code 4 8 digits Band i 0 850 1900 North America BND3d6 1 900 1800 Europe 0 2 2 900 1900 Protocol PTC d7 e 0 CSD 0 1 e 1 GPRS CSD mode CBS d8 0 V 32 9600 bauds 0 1 e 1 V 110 9600 bauds ISDN APN s9 Access Point Name GPRS 32 char max LGN s10 Login GPRS 32 char max PWD s11 Password GPRS 32 char max Internet Protocol IPT d12 0 TCP 0 1 e 1 UDP PHN s13 Phone number CSD 20 digits max ADL c14 Auto dial mode Y N RNO d15 Maximum number of re dials CSD 0 15 MOD s16 _ Modem model empty if unknown Q2687 Q26 Extreme 2G 3G selection mode NET d17 0 Automatic 2G or 3G 0 1 e Forced to operate in 2G cc Checksum 00 FF Example PASHQ MDM PASHR MDM E 9 ONLINE PWR MAN PIN BND 1 PTC 1 CBS 1 APN a2bouygtel com LGN PWD IPT 0 PHN ADL Y RNO 2 MOD Q26 Extreme NET 1 47 PASHS MDM PASHQ MDM LVL PASHQ MWD PASHS NTR PASHS DIP PASHS MDM DAL Query Command Library MDM LVL Modem Signal Level Function This command is used to query the current level of the modem signal
349. ters are also accurately known and the specific Spectra Precision measurement tape is used for this purpose Vertical Height Measurement Precise Surveying Field Applications amp Concepts Read slant height value here Landmark e Position the base system exactly over the landmark e Insert the end of the Spectra Precision measurement tape into the slot representing the SHMP e Unroll the tap toward the landmark and position the tip of the measurement tape onto the landmark e Block the tape and read the value indicated by the measurement tape this is the slant height e Enter this value into the base system as a slant measurement If a Spectra Precision antenna is used the system will automatically determine the true antenna height because it has got all the antenna parameters in its memory to perform the conversion For another antenna however you will first have to create a new antenna type in the system and enter its parameters see GNSS Antenna Features on page 56 in order to be sure the system can accurately convert the slant measurement into real height This is a more straightforward method for measuring the antenna height It is generally used on the rover side The vertical height represents the distance from the bottom of the GNSS antenna to the ground 59 Precise Surveying Field Applications amp Concepts 60 Phase Center Offset Phase Center Ss True Antenna Height
350. th S N S Longitude in degrees minutes with 7 decimal m3 0 180 places ddmm mmmmmmm c4 West W or East E W E f5 Height in meters 0 9999 9999 cc Optional checksum 00 FF Example Setting coordinates of position to 37 22 2912135 N 121 59 7998217 W 15 25 m PASHS USR POS 3722 2912135 N 12159 7998217 W 15 25 PASHQ USR POS PASHS NME PASHS USR TYP Set Command Library USR TYP Defining User Message Type Function Command Format Relevant Query Command See Also This function is used to set the type of user message the receiver will generate after the USR NMEA like message has been enabled Syntax PASHS USR TYP s cc Parameters Parameter Description Range_ Default Requested user message type TXT text message type The inserted text is the one you define using command s PASHS USR TXT TXT GGA TXT GGA GGA message type The inserted position is the one you define using com mand PASHS USR POS cc Optional checksum 00 FF Example Defining a GGA user message type PASHS USR TYP GGA PASHQ USR TYP PASHS NME PASHS USR TXT PASHS USR POS USR TXT Entering text for User Message Type TXT Function This function is used to enter the text that will be inserted into the TXT user message as defined through PASHS NME command run with s1 USR and PASHS USR TYP command run wi
351. th s TXT 253 Set Command Library Command Format Relevant Query Command See Also Syntax PASHS USR TXT s cc Parameters Parameter Description Range s User message text Up to 80 characters between double quotes cc Optional checksum 00 FF Example PASHS USR TXT this the text of the user message PASHQ USR TXT PASHS NME PASHS USR TYP UTS Synchronizing Onto GPS Time Function Command Format 254 This function is used to enable or disable a clock steering mechanism that synchronizes measurements and coordinates with the GPS system time rather than with the local receiver clock Syntax PASHS UTS s1 cc Parameters Parameter Description Range Default Enabling ON or disabling OFF syn al chronization with GPS time ON OFF ON cc Optional checksum 00 FF Example Enabling synchronization PASHS UTS ON 0A Comments Relevant Query Command Set Command Library All output data except for legacy MPC DPC and RPC are always clock steered e Legacy MPC DPC and RPC data appear as steered or not steered depending on the last PASHS UTS command run e The PBN message contains internal clock and clock drift estimates when UTS is OFF and reports zeros for these estimates when UTS is ON e The ATOM RNX message with scenario O contains original clock and clock drift estimates that can be used on decodi
352. that you install it according to the rules This section discusses the two basic criteria to be taken into account when installing your own base 1 GNSS reception conditions 2 Base position known or unknown When a base radio is used there is a third criterion to be taken into account in the choice of the base location which is the ability to install the radio antenna as high as possible with a minimum of obstructions to the working area so that the radio range can be as long as possible Make sure the base is sited in a clear area giving the best possible view of the sky When possible avoid trees buildings or any high obstacles in the vicinity of the base Having a clear view of the sky will allow the base to collect data from a maximum of visible satellites which is highly recommended to perform a successful accurate and fast survey You should pay attention to low level satellite signals coming through trees which may have a more adverse effect upon system performance than those completely masked Avoid multi paths oe ao Properly received satellit s 47 Precise Surveying Field Applications amp Concepts Second Criterion 48 Base Position Known or Unknown In addition to the good reception conditions required at the base you must also think about whether the base position should be known with great precision or not The explanations below will help you understand what you need in terms
353. the Line of Sight Between the Base and the Rover Antennas Obstructed 102 The radio module used should be compatible with the radio transmitter used at the base Several sub bands and channel bandwidths are available for the radio see Communication Modules and Associated Antennas on page 3 1 If you are using the right module go to step 2 2 If you are not using the right module turn off the receiver and replace the module with the right one You then need to restore the default settings in the receiver by pressing the Log Scroll Power buttons simultaneously on the front panel so the receiver can recognize and use the new module If using the right module does resolve the problem go to step 2 NOTE There is no particular action required to power up the radio module other than to power up the receiver This automatically applies power to the radio module The radio module cannot operate properly without an antenna Make sure the antenna is connected to the radio module 1 If the antenna is not connected connect the radio antenna provided in the radio receiver kit to the radio module Ensure that the connection is secure If the problem is not yet resolved go to step 3 2 If the antenna is connected ensure the connection to the radio module is secure If the problem is not yet resolved go to step 3 The rover radio must use settings that are compatible with those of the base radio in order for the rover to receiv
354. the chosen program with the receiver is achieved by establishing a connection through one of the computer s COM port a serial data cable is then required or using Bluetooth if this device is available on the computer For more information on WinComm see GNSS Solutions Reference Manual or WinComm On Line Help When using HyperTerminal perform the following settings after creating a new connection serial ports on Spectra Precision receivers are usually set as follows 19200 Bd 8 data bits 1 stop bit no parity no flow control and before typing your first command e Inthe HyperTerminal menu bar select File gt Properties e Click on the Settings tab e Click on the ASCII Setup button e Enable the following two options Send line ends with line feeds and Echo typed characters locally This will automatically complete all your command lines with lt cr gt lt lf gt characters and allow you to see in real time the commands you are typing e Click OK twice to close the Properties window From the FAST Survey menu tap on the Equip tab then on the GPS Utilities button and then on the Send Command button It is assumed that the communication with the receiver has been established via Bluetooth or a serial cable Running a Single Command at a Time e Tap your command directly in the combo box using FAST Survey s virtual keyboard The keyboard appears automatically when you tap inside the box e Tap after you have ty
355. the internal beeper Syntax PASHS BEEP s1 d2 cc Parameters Parameter Description Range Default s1 Enables ON or disables OFF the beeper ON OFF ON Timeout in seconds 0 No timeout If an alarm is activated the beeper will sound indefinitely until the alarm is acknowledged a gt 0 If an alarm is activated the beeper 0 93 E will sound only for a limited period of time it will go out automatically at the end of the specified timeout cc Optional checksum 00 FF Example Disabling the beeper PASHS BEEP OFF 04 PASHQ BEEP BRD Enabling Disabling the RTC Bridge Function Function Command Format This command is used to control the RTC Bridge function Its use is required only in the receiver in charge of forwarding its RTK corrections to other nearby rovers through its licence free radio transmitter Syntax PASHS BRD s d2 c3 c4 cc 159 Set Command Library Comments Relevant Query 160 Command See also Parameters Parameter Description Range Default s1 Controls the availability of RTK corrections on the specified output port OFF No RTK corrections forwarded to the output port ON RTK corrections forwarded to the output port ON OFF OFF d2 Enables or disables the use of RTK correc tions in the receiver s position computation 0 RTK corrections used 1 RTK corrections not used
356. the last i PASHS RAW PER command run 9 9999 d4 Number of raw data messages 11 MPC DPC PBN s5 Raw data message types SEONG SNW ge yp SAL SAG SAW ION SBD Output rate 8 0 Message disabled 9999 00 c7 ASCII Binary setting Always binary B cc Checksum 00 FF Code Baud Rate Code Baud Rate 0 300 5 9600 1 600 6 19200 2 1200 7 38400 3 2400 8 57600 362 Query Command Library Code Baud Rate Code Baud Rate 4 4800 9 115200 Example PASHQ RWO A PASHR RWO A 9 001 00 11 MPC 0 00 B DPC 0 00 B PBN 0 00 B SNV 0 00 B SNG 0 00 B SNW 0 00 B SAL 0 00 B SAG 0 00 B SAW 0 00 B ION 0 00 B SBD 0 00 B 6D See also PASHQ RAW SAT Satellites Status Function This command allows you to read the status of the different satellite constellations used Command Format Syntax PASHQ SAT cc Response Format Syntax PASHR SAT d1 n d2 d3 d4 f5 c6 cc Parameters Parameter Description Range d1 Number of satellites locked 1 32 GPS 33 64 SBAS 65 96 GLONASS d2 SV PRN number 97 126 GALILEO 127 128 GIOVE A B 193 197 QZSS d3 SV azimuth in degrees 0 359 d4 SV elevation angle in degrees 0 90 f5 SV signal noise ratio in dB Hz 30 0 60 0 SV used in computation or not c U SV used e SV not used cc Checksum 00 FF The GPS PRN number is d2 The EGNOS PRN number is d2 plus 87 The GLONASS slot number is d2 minus 64 363 Quer
357. the last received RTK correction data is extrapolated for a longer time to produce up to four positions instead of two 90 RTK Implementation RTK Position In Time tagged RTK mode clearly the rover s position output Output Rate rate is equal to the RTK correction data output rate set at the base It will also depend on the installed firmware options if applicable to the Spectra Precision equipment used In Fast RTK mode the rover s position output rate can be a multiple of the RTK correction data output rate It is controlled by a specific user settable parameter and will also depend on the installed firmware options if applicable to the Spectra Precision equipment used 91 RTK Implementation 92 Chapter 6 Troubleshooting List of Alarms Alarms are reported on the receiver display screen A blinking warning sign appears on the status screen prompting you to press the Scroll button so you can read the alarm label To acknowledge an alarm message once the alarm label is displayed on the screen press the Scroll button again If several alarm messages are reported press the Scroll button as many times This will acknowledge each message one after the other If the reason for raising an alarm persists you won t be able to acknowledge the alarm until you correct the problem Some of the alarms listed below can only be the result of a bad serial command submitted to the receiver in command mode Serial commands c
358. the right to operate a radio is your responsibility Key Features The main features of a radio are the following 75 RTK Implementation 76 UHF Frequency band Range of UHF frequencies on which the radio transmits or receives data license free radios operate in the 850 930 MHz band other radios in the 410 470 MHz band Channel spacing or channel bandwidth Space occupied by one channel in kHz Radiated power Transmission power in watts W radiated by the radio used at the base Channel number Corresponds to a specific carrier frequency within the band In theory the number of available channels is equal to the ratio between the whole frequency band and the one channel bandwidth Modulation type A parameter that defines the technique used to modulate the carrier with RTK correction data GMSK or FSK Radio data rate Speed at which the carrier frequency is modulated with RTK correction data Expressed in kbits second Not to be confused with the baud rate of the serial line connecting the radio to the rest of the equipment Frequency hopping or Spread Spectrum A process through which the radio regularly changes the carrier frequency The radio usually loops on several preset channel numbers In some countries regulations exist that require the implementation of this technique Duty Cycle Ratio between the time period a radio is on i e is transmitting and a full cycle of radio on off periods In some countries
359. three LEDs are on this means the battery is cons Ni fully charged and can be disconnected from the charger Inserting the With the ProMark 800 upside down insert the battery into Battery in the the compartment making sure the battery has the right ProMark 800 orientation the battery terminals should come into contact with the two sets of connectors located at the bottom of the compartment e Place the battery door over the battery and tighten the two screws using a coin Note that once it is properly secured the battery door pushes the battery against the bottom of the compartment to ensure electrical connection of the battery to the ProMark 800 Specifications GNSS 120 GNSS channels Characteristics GPS L1 C A L1 L2P L2C L5 GLONASS L1 and L2 C A GALILEO E1 and E5 SBAS code and carrier WAAS EGNOS MSAS 17 Introduction Real Time Accuracy RMS Real Time Performance Post Processing Accuracy RMS 18 e New Z Blade technology for optimal GNSS performance New Ashtech GNSS centric algorithm Fully independent GNSS satellites tracking amp processing 1 Enhanced RTK performance Quick signal detection engines for fast acquisition and re acquisition of GNSS signals Advanced multipath mitigation e Up to 20 Hz real time raw data code and carrier and position output e Supported data formats ATOM Ashtech Optimized Messaging RTCM 2 3 RTCM 3 1 CMR CMR DBEN
360. till in its compartment put the ProMark 800 the right way up The battery will then easily slide out of the battery compartment The battery charger comes with a separate universal AC adapter fitted with a 1 5 m output cable The AC adapter includes a choice of four different detachable plug types Follow the instructions below to operate the charger Choose the plug type that is suitable for your country Secure that plug on the AC adapter by giving the plug the right orientation with respect to the adapter then pushing and rotating it by about 10 degrees clockwise until you hear a click Connect the cable from the AC adapter to the battery charger Give the battery the right orientation with respect to the charger 1 the battery terminals should come into contact with the two sets of connectors on the charger then push the battery against the plate and slide it forward 2 until it locks into place Introduction E 2 e Plug the adapter into an AC outlet Battery charging starts immediately For a low battery that s being charged you will first see the MED HI MAX three LEDs switch on and off one after the other followed B Som by a short period of time when none of the LEDs is on see COCCI 3 ed tan wd After about two hours of charging the MED LED will stay 4 on 4 A few minutes later the HI LED 5 and then the eres MAX LED 6 will also stay on 5 om om e When the
361. tion Range c1 Port ID cc Optional checksum 00 FF Response Format Syntax PASHR PTT d1 m2 cc 341 Query Command Library Parameters Parameter Description Range Day of week d1 1 Sunday 1 7 7 Saturday m2 GPS time tag in hours minutes seconds 0 23 59 59 9999999 cc Checksum 00 FF Example Enabling the receiver to output the PTT message on port A PASHS NME PTT A ON Generating the PPS time tag message on port A PASHQ PTT A PASHR PTT 6 20 41 02 0000000 2D Comments e The response to this command will be sent out once right after the next PPS pulse is generated e The response contains the GPS time at which the PPS pulse was sent including the offset if an offset was set when the PPS pulse was enabled e Being set to a periodical output by the PASHS NME PTT command this message is independent of the NMEA period It is only linked to the PPS period PWR Power Status Function Command Format Response Format 342 This command is used to query the power status of the receiver Syntax PASHQ PWR cc Syntax PASHR PWR PAR ft f2 d3 f4 d5 6 d7 d8 cc Query Command Library Parameters Parameter Description Range A Battery voltage threshold in volts triggering a low bat 67 84 tery alarm 2 External power voltage threshold in volts triggering a 9 0 28 low power alarm Power source
362. tions in the receiver Introduction Memory From the ATL Recording screen press the Scroll button to Management access the Memory Management screen The flowchart Screen below summarizes the different tasks you can perform at this point in the management of the receiver memory ATL Recording Screen Scroll button Clean up internal memory No Delete all G files Delete all files Format memory No In progress Back to General Status Screen Screen Backlight The screen backlight is automatically turned off if no key is pressed for 1 minute When the backlight is off a short press on the Scroll button will turn it back on The Scroll button will then recover its usual functions Data Transfer For more information on the screen displayed when Screen downloading files refer to Downloading Raw Data on page 31 Charging Batteries Before Use Make sure the battery is fully charged for each ProMark 800 you will be using in the field Follow the instructions below to charge a battery Removing the Unless the battery has already been taken out do the Battery from the following ProMark 800 Put the ProMark 800 upside down 15 Introduction 16 Charging the Battery Remove the battery door accessible from underneath the ProMark 800 by loosening the two quarter turn screws see picture using a coin Re AEA NEA Keeping one hand on the battery s
363. to the L1 phase center then the receiver computes the position of the ARP using the physical parameters of the antenna and then re computes the position of the L1 phase center according to the ANP OUT antenna parameters This guarantees that the reported reference position the antenna name and the observables are all consistent with one another Relevant Query PASHQ ANP Command ANP REF Naming the Antenna Used at the Base Function This command is used to enter the name of the antenna used by the base with which the receiver is working 147 Set Command Library Command Format Relevant Query Command See Also Syntax PASHS ANP REF s1 d2 cc Parameters Parameter Description Range Default R User defined antenna name case 31 characters UNKNOWN sensitive max Antenna name preference 0 s1 is ignored if a base antenna name is decoded from the incoming reference data d2 1 0 e 1 s1 is always used regardless of whether a base antenna name is decoded from the incoming reference data or not cc Optional checksum 00 FF Comments e Specifying the antenna name allows the receiver to know the antenna offset parameters using the predefined list In the receiver the predefined parameters can be listed using PASHQ ANP New offset parameters can be added using PASHS ANP PCO e The predefined list complies with the IGS antenna source table Example Entering MAG990596
364. ty Double A1 2 8 Square root of semi major axis meters 1 2 Long toe 4 Reference time for orbit sec Float cic 4 Harmonic correction term radians Float crc 4 Harmonic correction term meters Float cis 4 Harmonic correction term radians Float crs 4 Harmonic correction term meters Float cuc 4 Harmonic correction term radians Float cus 4 Harmonic correction term meters Double omegad 8 Longitude of ascending node semicircles Double omega 8 Argument of perigee semicircles 401 Output Message Library Reminder on How to Output SNV Messages Type Name Size Contents Double i0 8 Inclination angle semicircles Float omega dot 4 Rate of right ascension semicircles sec Float dot 4 Rate of inclination semicircles sec Short Accuracy 2 User range accuracy Short Health 2 Satellite health Short fit 2 Curve fit interval Char prn 1 Satellite PRN number minus 1 0 31 Char 1 Reserved byte The checksum is computed by breaking the struc Unsigned Checksum 2 ture into 37 unsigned shorts adding them l short together and taking the least significant 16 bits of the result Total 76 Use the PASHS RAW command with the syntax below PASHS RAW SNV lt port_ID gt ON lt Rate gt For more details on the PASHS RAW command refer to the Set Command Library Chapter As an example the command below will output SNV messages on port A at a rate of 1
365. u to read the antenna parameters of the specified antenna name or of the complete antenna database if no antenna name is specified Syntax PASHQ ANP cc or PASHQ ANP s1 cc Parameters Parameter Description Range s1 Antenna name case sensitive 31 characters max cc Optional checksum 00 FF Through examples PASHQ ANP LIST OF PREDEFINED ANTENNAS d1 ANT1 ANT2 ANT3 ANT4 LIST OF USERDEFINED ANTENNAS d2 ANT10 ANT11 ANT12 ANT13 OWN ANTENNA ASH802147 REFERENCE ANTENNA UNKNOWN OUT ANTENNA NULLANTENNA RECEIVED ANTENNA ASH802147 Where d1 is the number of predefined antennas and d2 is the number of user defined antennas PASHQ ANP ASH802147 ASH802147 L1 N 000 30 E 002 20 U 104 00 L1 PAE 000 0 000 9 001 9 003 1 004 4 005 5 006 4 007 2 007 6 007 7 007 4 006 7 005 5 004 1 002 2 000 0 002 3 000 0 000 0 L2 N 002 10 E 001 00 U 100 10 L2 PAE 000 0 000 3 000 0 000 6 001 5 002 4 003 2 003 9 004 3 004 4 Query Command Library 004 2 003 5 002 5 001 1 000 7 002 8 005 1 000 0 000 0 Relevant Set PASHS ANPOWN Commands PASHS ANP REF PASHS ANP PCO ANP OUT Virtual Antenna Function This command returns the name of the virtual antenna currently selected in the receiver Command Format Syntax PASHQ ANP OUT cc Parameters None Response Format Syntax PASHR ANP OUT s1 cc Parameters Parameter Description
366. ver parameters PASHS PAR LOD ae receiver from PAR PASHS PAR SAV a receiver config to PAR PASHS PEM Position elevation mask PASHQ PEM Position elevation mask PASHS POP Internal update rates PASHQ POP Internal update rates PASHS POS Antenna position PASHS PPS 1 PPS properties PASHQ PPS 1 PPS properties PASHS PRT Baud rates PASHQ PRT Baud rates PASHS PWR OFF Powering off the receiver PASHS PWR PAR Power management PASHQ PWR Power status PASHS QZS QZSS tracking PASHQ QZS QZSS tracking status PASHS RAW Raw data messages ON OFF PASHQ RAW Raw data settings PASHS RAW ALL Disabling all raw data mes sages PASHS RAW PER Raw data output rate PASHS RCP GB GLONASS biases PASHQ RCP Receiver parameters PASHS RCP DEL Delete user defined rec name PASHQ RCP OWN Receiver name PASHS RCP REF Naming reference receiver PASHQ RCP REF Reference receiver name PASHQ RDP CHT Radio channel table PASHQ RDP LVL Radio reception level PASHS RDP OFF Powering off internal radio PASHS RDP ON Powering on internal radio PASHS RDP PAR Setting the radio PASHQ RDP PAR Radio parameters PASHS RDP TYP Radio type used PASHQ RDP TYP Radio type used PASHS REC Raw data recording PASHQ REC Raw data recording PASHQ RID Receiver identification PASHS RNX TYP ATOM RNX message PASHQ RNX MSI ATOM RNX message PASHS RST Default settings PASHQ RTC RTCM status PASHS RTC MSG User message PASHQ RTC MSI RTCM messages status PA
367. ver receives specific RTCM messages from the base describing the local system used by the base If the receiver is a base the displayed coordinates are set ones not computed ones representing the WGS84 or local reference position assigned to the base See screen example below for a rover delivering WGS84 coordinates The upper line contains the same information as in the upper line of the General Status screen A new press on the Scroll button will take you to the ATL Recording screen see below If however the receiver is fitted with a radio receiver or is connected to an external radio transmitter an additional display screen will show up before pressing the Scroll button takes you back to the ATL Recording screen The possible two screens show the current radio settings e First line Serial port used Rx for radio receiver or Tx for radio transmitter radio type ADL Extra parameter for Rx Power status e Second line Channel number carrier frequency e Third line Protocol used Transparent Trimtalk DSNP etc airlink speed e Fourth line Squelch setting medium low high Extra parameters for Rx if a Pacific Crest FEC if forward error correction enabled SCR if scrambling enabled Modulation type GMSK 4FSK The fourth line will be 13 Introduction 14 ATL Recording Screen slowly scrolled to the right if four parameters have to be displayed in the line Pressing the
368. w Data Masked by d2 Differential Data Masked by d1 MPC DPC All other messages ATM MESATM RNX SCN 0 Comments e Continuous tracking means tracking without cycle slips e This command can only mask some particular signal data If however at the same time the L1CA data are disabled then ALL the satellite observations and not only the masked ones will be rejected e This command equally affects all GNSS and their signals Examples Setting CTT masks for differential and raw data to 20 s PASHS SOM CTT 20 65 Enabling all signal observations to be output regardless of the continuous tracking time requirement no CTT mask PASHS SOM CTT 0 57 Relevant Query Command See Also Set Command Library PASHQ PAR PASHQ SOM CTT PASHS SOM PASHS SOM SNR PASHS SOM NAV PASHS SOMM WRN SOM NAV Navigation Data Mask Function Command Format This command is used to mask the signal observations that are not consistent with the relevant navigation data This means that only the observations meeting this requirement will be output all the others will be rejected This mask is enabled only after the User defined option 9 has been selected with the PASHS SOM command Syntax PASHS SOM NAV s1 s2 cc Parameters Parameter Description Range Default s1 Differential data mask ON OFF ON 52 Raw data mask If s2 is omitted then the ON OFF OFF receiver wi
369. w the use of this option The use of the F firmware option was granted to you for a limited 109 High Option F has expired period of time which has now expired Please contact to renew the use of this option The use of the Z firmware option was granted to you for a limited 110 High Option Z has expired period of time which has now expired Please contact to renew the use of this option 96 Troubleshooting Rank Alarm Label Symptoms amp Remedies 111 High Option S has expired The use of the S firmware option was granted to you for a limited period of time which has now expired Please contact to renew the use of this option 112 High Option P has expired The use of the P firmware option was granted to you for a limited period of time which has now expired Please contact to renew the use of this option 113 High Option G has expired The use of the G firmware option was granted to you for a limited period of time which has now expired Please contact to renew the use of this option 114 High Option M has expired The use of the M firmware option was granted to you for a limited period of time which has now expired Please contact to renew the use of this option 115 High Option L has expired The use of the L firmware option was granted to you for a limited period of time which has now expired Please contact to renew the use of this option
370. which the radio is not allowed to transmit Choose a lower value 197 ledium Not enough space left Not enough room to save the configuration file Make room by deleting unnecessary files 198 ledium Config file already exists You are trying to save a configuration file that already exists in mem ory Move the existing file to another location before trying again 199 ledium File not found The receiver could not find the file you specified Make sure the receiver can find the configuration file it is expected to use 200 ledium Incompatible Config File The configuration file you want the receiver to run does not contain the expected data Upload a correct configuration file and delete the bad one 201 ledium Invalid Radio Type You are trying to set a radio type that does not match the radio cur rently used by the receiver Find the right type and try again 97 Troubleshooting Rank Alarm Label Symptoms amp Remedies 202 Medium invalid link speed You are trying to set a baud rate that is not appropriate Find which baud rate should be used and try again 203 Medium Invalid FEC mode You are trying to seta FEC mode that is not appropriate Check that you are asking for a valid one Toe man contiaties The receiver is trying to use a configuration file but does not know 2
371. with a standalone ProMark 800 e Downloading the raw data collected by a standalone ProMark 800 29 Post Processed Surveying System Setup Base Setup Rover Setup This setup should always be used for a base and may also be used for a rover having to run a static survey Prerequisites e You need accessories to install the base such as a tripod a tribrach and an antenna pole e Allow for an external DC power source if this is how you want the base to be powered Connect the power source to the DC Power Input located underneath the unit Step by step Procedure 1 Set up the tripod and tribrach over the point chosen for the base 2 Screw the ProMark 800 on top of the pole 3 Insert the antenna pole into the tribrach 4 Perform a slant height measurement Keep the measured value in your mind or write it down This setup is intended for rovers having to run continuous or stop amp go kinematic surveys Prerequisites e Use a range pole fitted with a 5 8 male adaptor at the upper end not provided Step by step Procedure 1 Screw the ProMark 800 on top of the range pole 2 Perform a vertical height measurement which consists in measuring the length of the range pole or reading the graduation on the pole Keep the measured value in your mind or write it down 3 Fasten the field terminal and its bracket further down on the pole so you can easily use the field terminal and read the information
372. y Command Library See also Automatic Output of SAT Messages The GALILEO PRN number is d2 minus 96 The QZSS PRN number is d2 minus 192 Example PASHQ SAT PASHR SAT 13 20 092 32 44 0 U 13 206 78 50 0 U 23 056 55 48 0 U 33 19 8 34 44 0 17 218 13 42 0 U 25 152 34 38 0 U 04 276 65 50 0 U 02 308 31 48 0 U 77 052 37 48 0 U 84 294 33 48 0 U 83 234 23 48 0 U 78 124 42 46 0 U 68 034 65 48 0 U 35 PASHS NME This is a reminder on how to output SAT messages at regular intervals of time Use the PASHS NME command with the syntax below PASHS NME SAT lt port_ID gt ON lt Rate gt For more details on the PASHS NME command refer to the Set Command Library Chapter As an example the command below will output SAT messages on port A at a rate of 60 seconds PASHS NME SAT A ON 60 SBA SBAS Tracking Status Function Command Format Response Format 364 This command is used to query the SBAS tracking status Syntax PASHQ SBA cc Syntax PASHR SBA s cc Query Command Library Parameters Parameter Description Range ON SBAS satellites are being tracked and used S OFF SBAS satellites not tracked ONORE cc Checksum 00 FF Example PASHQ SBA PASHR SBA ON 09 Relevant Set PASHS SBA Command SGA GALILEO Satellites Status Function This command is used to read the status of each GALILEO satellite received Command Format Syntax PASHQ SGA cc Response Form

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