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ZXW Operation & Reference Manual Rev B

1. Command Description Page GENERAL SET COMMANDS PASHS CPD MOD Set CPD mode 291 PASHS CPD CMR ON OFF Enable disable detection of CMR messages 284 GENERAL QUERY COMMANDS PASHQ CPD Query CPD related setting 279 PASHQ CPD CMR Query status of CMR received mode internal use only 284 PASHQ CPD DLK Query data link status 285 PASHQ CPD INF Query CPD SV information 289 PASHQ CPD MOD Query CPD mode settings 292 ROVER ONLY COMMAND PASHS CPD AFP Set ambiguity fixing confidence parameter 282 PASHS CPD ANT Set base antenna parameters from rover 283 PASHQ CPD ANT Query base station antenna settings from rover 283 PASHS RTC AUT Set auto differential mode 269 PASHS CPD DYN Set Rover dynamics 287 PASHS CPD FST Enable disable fast CPD mode 289 PASHS CPD MAX Max Age for CPD Correction 291 PASHS CPD MTP Set multipath parameter 292 PASHQ OBN Vector solution information 293 PASHS CPD OUT Select solution to output 296 PASHS CPD PER Set CPD update interval 298 PASHS CPD POS Set reference position of the base receiver from 298 PASHQ CPD POS Query base position from rover 299 PASHS RTC REM Set to receive RTCM type 18 19 or 20 21 272 PASHS CPD RST Reset the PNAV processing Kalman filter reset 300 PASHQ CPD STS Query CPD Solution Status 300 PASHS CPD UBP Select base position to use in rover mode 301 278 ZXW Receivers Operation and Reference Manual
2. Parameter Description Range c1 Mode M manual A automatic Mor A d2 Number of SVs used in the position computation 3to 12 m3 UTC time hhmmss ss 00 to 23 59 59 99 4 Northing coordinate difference in meters xxxxxxx xxx 9999999 999 c5 North N N f6 Easting coordinate difference in meters XXXXXXX XXX 9999999 999 c7 East E E f8 Ellipsoid height difference in meters xxxxx xxx 99999 999 c9 Reserved f10 COG course over ground in degrees xxx x 0 to 360 f11 SOG speed over ground in meters sec XXX X 0 to 999 9 f12 Vertical velocity in meters sec xxx x 999 9 f13 PDOP position dilution of precision 0 to 99 9 f14 HDOP horizontal dilution of precision 0 to 99 9 f15 VDOP vertical dilution of precision 0 to 99 9 f16 TDOP time dilution of precision 0 to 99 9 s17 Firmware version ID 4 character string cc Checksum 216 ZXW Receivers Operation and Reference Manual GDC User Grid Coordinate PASHS NME GDC c s f This command enables disables the output of grid coordinates on port c where c is either A B C or D s is ON or OFF and f is the optional output rate parameter in seconds If the output rate is not set the command is output at the rate set by the PASHS NME PER command If no position is being computed or GRD is not set to UDG this message is not output PASHQ GDC c Query grid coordinates where c is the optional output serial port The message is not outpu
3. Field Description Range Units si Map projection type EMER n a d2 Number of parameters for the selected projection 3 n a f3 Longitude for the central meridian 1800000 0000 dddmmss ssss f4 False northing 10 000 000 meters f5 False easting 10 000 000 meters Table 8 174 UDG Structure for Transverse Mercator Field Description Range Units si Map projection type TM83 n a d2 Number of parameters for the selected 5 n a projection f3 Longitude for central meridian 1800000 0000 dddmmss ssss f4 Scale factor at central meridian 0 5 1 5 n a f5 Latitude of the grid origin of the projection 900000 0000 ddmmss ssss f6 False easting 10 000 000 meters f7 False northing 10 000 000 meters 308 ZXW Receivers Operation and Reference Manual Table 8 175 UDG Structure for Oblique Mercator Field Description Range Units si Map projection type OM83 n a d2 Number of parameters for selected projection 6 n a f3 Azimuth of the skew axis 1800000 0000 ddmmss ssss f4 Scale factor at center of projection 0 5 1 5 n a f5 Longitude of the grid origin of projection 1800000 0000 ddmmss ssss f6 Latitude of the grid origin of projection 900000 0000 ddmmss ssss f7 False easting 10 000 000 meters f8 False northing 10 000 000 meters Table 8 176 UDG Structure for Stereographic Polar and Oblique Field Description Range Units si Map projection type S
4. Table 5 9 and Table 5 10 list the minimum baud rates assuming no other data is sent on the data link If other messages are transmitted then the minimum standard baud rate may increase The recommended optimal setting is to transmit type 18 and 19 messages once every second on a high speed link If a high speed data link is not available you have indirect control over the number of satellites used by setting elevation mask angles The elevation angle for any particular satellite changes by 1 for every 100 km of baseline length For baselines of less than 100 km you should set the base station elevation mask at 1 less than the remote receiver elevations masks to make sure the base station sends data for all satellites the remote might use while not sending data for low elevation satellites that the remote does not use Recommended mask angle settings for RTK Remote 10 Default Base 9 Use the Magellan Mission Planning software to determine the maximum number of satellites visible above a given mask angle Table 5 11 shows the maximum number of satellites above a 4 mask angle with the constellations available August 11 1997 25 GPS satellites using a 24 hour simulation at 0 longitude GPS geometry is primarily a function of latitude and varies only slightly with longitude for a constant latitude Table 5 11 Maximum Number of Satellites Above a 4 Mask Angle Maximum Number SCHEER of GPS
5. Parameter Description Range Units f1 Antenna height measured from the point to the antenna edge 0 64 000 meter Survey mark to edge of antenna f2 Antenna radius from antenna edge to antenna phase center 0 9 9999 meter f3 Vertical offset phase center to ground plane 0 99 9999 meter m4 Horizontal azimuth in degrees and decimal minutes 0 35959 59 degree dddmm mm Measured from survey mark to antenna phase decimal center with respect to WGS84 north minutes f5 Horizontal distance distance from survey mark to a point directly 0 999 999 meter below the antenna phase center Example Set antenna parameters of base station PASHS CPD ANT 6 4 0 13 0 02 3 5 1 0 lt Enter gt PASHQ CPD ANT c Query antenna parameters where c is the optional output port Example Query antenna parameters to present port PASHQ CPD ANT lt Enter gt Commands 283 SPUBUIWO0J PASHR CPD ANT The return message is in the form shown below and defined in Table 8 152 PASHR CPD ANT f1 f2 f3 m4 f5 cc lt Enter gt Table 8 152 CPD ANT Message Structure Field Description Range Units f1 Antenna height 0 64 000 meter f2 Antenna radius 0 9 9999 meter f3 Vertical offset 0 99 9999 meter md Horizontal azimuth dddmm mm 0 35959 99 degree decimal minutes f5 Horizontal distance 0 999 9999 meter cc checksum CMR CMR Received Mode PASHS CPD CMR ON OFF This command enables dis
6. Item Significance GPGRS Header 203227 50 UTC time of GGA position 1 Residuals computed after GGA position was computed 007 916 Range residuals of the first satellite 051 921 Range residuals of the second satellite 048 804 Range residuals of the third satellite 026 612 Range residuals of the fourth satellite 002 717 Range residuals of the fifth satellite 021 150 Range residuals of the sixth satellite 63 checksum GSA DOP and Active Satellite Messages PASHS NME GSA c s f This command enables disables the DOP and active satellite message to be sent out to serial port c where c is port A B C or D s is ON or OFF and f is the optional output rate parameter in seconds If the output rate is not set the command is output at the rate set by the PASHS NME PER command Example Enable GSA message on port B PASHS NME GSA B ON lt Enter gt PASHQ GSA c Query DOP and active satellites where c is the optional output serial port Example Query GSA message to the current port PASHQ GSA lt Enter gt 226 ZXW Receivers Operation and Reference Manual GPGSA The response message is in the form GPGSA c1 d1 d2 d3 d4 d5 d6 d7 d8 d9 d10 d11 d12 d13 f1 f2 f3 cc lt Enter gt where the parameters are as defined in Table 8 105 Table 8 105 GSA Message Structure Parameter Description Range ci Mode M manual A automatic Mor A di Mode 1 3 1 fix not a
7. Table 8 117 lists the remaining message for type 3 Table 8 117 Remainder of Type 3 Message Parameter Description Range f8 Station X component 9999999 99 f9 Station Y component 9999999 99 f10 Station Z component 9999999 99 cc checksum Table 8 118 lists the remaining message for type 16 Table 8 118 Remainder of Type 16 Message Parameter Description Range s8 text message send from base receiver Up to 80 alpha numeric characters cc checksum 238 ZXW Receivers Operation and Reference Manual Table 8 119 lists the remainder for message type 18 20 RTK carrier phase corrections size for type 18 20 total number of svs for L1 and L2 frequency 2 10 byte freq GNSS 3 byte chksum 2 byte lt Enter gt Table 8 119 Remainder of Type 18 and 20 Messages Parameter Description Range d8 L1 or L2 frequency 00 01 d9 GPS time of measurement 0 599999 usec d10 Half full L2 wavelength 0 full 1 half indicator di1 CA code P code indicator 0 CA 1 P d12 SV prn 1 32 d13 Data quality 0 7 refer to RTCM spec for table of phase errors d14 Cumulative loss of continuity 0 31 indicator d15 Type 18 carrier phase 8388608 full cycles with resolution of 1 256 Type 20 carrier phase correction full cycle 16777216 half cycles with resolution of 1 128 half cycle 32768 full wavelengths with resolutio
8. 97 PASHS NME GGA 220 242 PASHS NME GLL 223 PASHS NME GRS 224 PASHS NME GSA 226 PASHS NME GSN 229 PASHS NME GSV 231 PASHS NME GXP 234 PASHS NME MSG 68 235 PASHS NME PER 90 242 PASHS NME POS 27 119 140 141 PASHS NME RMC 247 PASHS NME RRE 249 PASHS NME SAT 26 251 PASHS NME TTT 41 254 PASHS NME UTM 97 255 PASHS NME VTG 258 PASHS NME XDR 260 PASHS NME ZDA 262 PASHS OUT 2 83 192 PASHS PDP 140 PASHS PEM 37 66 77 90 140 PASHS PHE 41 141 143 PASHS PIT reim kem eie 142 ZPAGHS PMD 121 142 PASHS POS 62 143 PASHS POW 144 PASHS PPO 04 6 145 PASHS PPS 0 145 PASHS PWR 147 PASHS RCI 83 90 104 117 118 148 PAUS HE 148 Index PASHS RNG 34 150 PASHS RST 69 70 71 78 150 PASHS RTC AUT 269 PASHS RTC AUT Y 78 PASHS RTC BAS 269 PASHS RTC EOT 269 PASHS RTC INI 2 0 270 PASHS RTC MAX 78 270 PASHS RTC MSG 271 PASHS RTC OFF 272 PASHS RTC Q
9. 62 RTCM 104 Version 33 6 RTK 15 aei eneore EE 1 RTK dase station setup 57 RTK remote station setup 69 S SAM harer mers 316 LR naka w eet ih de eit de 26 satellite in view 231 residual and position error 249 status 251 satellites being tracked 26 SAV 27 59 69 70 71 128 130 318 save changed settings 27 SBA Tracking Mode 316 second azimuth 36 SEM sitat gla dake see esken 36 session NAME 125 session programming 38 setup differential amp RTK base station 58 differential base station 56 differential remote station 69 RTK base station 57 RTK remote station 69 shutter timing 4 42 signal strength 229 signal to noise 116 six of eight format 79 SMB user AES En 12 SMB to SMA adapter 12 SNR visast ee dad MENTE 52 SOG Auen Een teke Ern A e 259 SPD Ze ese 62 68 69 70 71 speed over ground 244 el 221 STER haster gala Ree hoes lake ag 94 H UE 67 surveyed point 53 surveys static 0 163 ENEE EE 2 synchronization 4 45 synchronized RTK mode 63 T technical specifications 3 temperature 125 time and date message 260 262 329 tmet g sassi elses i kee d 118 time tag latency 2 246 TM27 coste
10. 299 PASHR CPD STS 301 PASHR CTS 0 00 0 117 PASHR DPO 00 215 PASHR DTM 00 304 PASHR EPB 187 PASHR FIL BUSY 122 PASHR FLS 0 122 PASHR INF 00 000 125 PASHR ION 02 0008 129 PASHR LPS 00 130 PASHR MDM 132 133 PASHR MPC varen 188 ZPAGHD ON 293 PASHR PBN 0 194 PASHR PHE 0 141 PASHR POS 00 243 PASHR PPS 00 146 PASHR PRT 2 000 146 PASHR RID 0 149 PASHR RPC 2 000 182 PASHR RTR 0 0 0 151 PASHR SAT 0 00 8 252 PASHR SNV 020000 200 PASHR TMP 005 161 PASHR TTT 4 246 255 SPAGHR UDD 308 PASHR UDG 0 312 ZPAGHRUTM raven 256 PASHR WARN 0 163 PASHR WKN 2 000 167 PASHS ALT 004 110 111 PASHS ANA 0 0002 111 Index PASHS ANH f 2 006 111 PASHS ANR 53 112 PASHS ANR OFF 67 PASHS ANR ON 0 5 67 PASHS ANT 53 112 113 PASHS BEEP 114 PASHS CPD 2 62 PASHS CPD AFP 86 87 282 PASHS CPD ANT 67 283 PASHS CPD DYN 86 88 287 293 P
11. Parameter Description Default DOI Data output interval 20 DRI Data recording interval 20 MSV Minimum Number of SV s for Raw Data Output 03 ELM Elevation Mask for Raw Data Output 10 ZEN_ELM Zenith elevation mask 90 REC Record Data Flag N A E MST Minimum Number of SV s for Kinematic Operation ANH Antenna Height before session 00 0000 ANA Antenna Height after session 00 0000 SIT Site ID Name 2222 EPG Kinematic Epoch Counter 000 RNG Ranger Mode Selection N A 0 RAW data Raw Data Output Status OFF in all ports Raw data Raw Data Output Format ASCII in all ports format Serial Port Serial Ports Baud Rate Selection 9600 in all ports Baud Rate RTCM MODE RTCM Differential Mode Selection OFF RTCM PORT RTCM Differential Mode Port Selection A AUT Automatic differential autonomous switching N when RTCM differential mode enabled RTCM SPD RTCM differential bps speed setting 0300 STI RTCM base or remote station id setting 0000 STH RTCM base station health setting 0 MAX Maximum age for old RTCM corrections to be 0060 used QAF RTCM communication quality setting 100 SEQ Use sequence number of RTCM correction in N remote station TYPE RTCM differential messages enabled and output 1 01 6 OFF remaining frequency of the enabled messages messages 00 RTCM EOT End of character selection for RTCM corrections CRLF MSG Text for RTCM type 16 message empty IOD IODE update rate 30 CPD MODE CPD mode selection Disabled ZXW Receivers
12. PASHQ CBN lt Enter gt PASHR CBN The CBN response message is either ASCII format or binary format depending upon the setting of the output port The format of the ASCII response message is in the form PASHR CBN m1 s2 d3 f4 m5 c6 m7 c8 f9 f10 f11 f12 f13 f14 f15 s16 f17 f18 f19 f20 f21 f22 cc lt Enter gt Table 8 63 defines the response structure Table 8 63 CBN Message Structure ASCII Format Parameter Description Range mi Receiver time UTC hhmmss ss 0 235959 99 s2 Four character site identification d3 Number of satellites used in position computation 0 12 f4 PDOP 0 999 9 m5 Latitude in degrees and decimal minutes 0 90 0 ddmm mmmmmmm c6 Latitude direction N S m7 Longitude in degrees and decimal minutes 0 180 ddmm mmmmmmm 0 59 9999999 c8 Longitude direction E IW f9 Ellipsoid Height meters 1000 000 to 18000 000 f10 Standard Deviation of latitude component meters 0 99 999 m f11 Standard Deviation of longitude component 0 99 999 m meters f12 Standard Deviation of ellipsoid height meters 0 99 999 m f13 Cross correlation of XY 30 000 m f14 Cross correlation of XZ 30 000 m f15 Cross correlation of YZ 30 000 m 172 ZXW Receivers Operation and Reference Manual Table 8 63 CBN Message Structure ASCII Format continued Parameter Description Range s16 Solution type flag containing 6 Parameters
13. Cannot get the CPD solution output in real time e Make sure the communication BAUD rate is correct In RTCM operation the receiver port is not being set to RTCM base or REMOTE e Verify the output selection using PASHQ RAW and PASHQ PAR commands System Performance Optimization Table 6 2 lists the commands that can be used to optimize CPD operations Table 6 2 CPD optimization commands Command Description PASHS CPD AFP Selects the ambiguity fixing parameters PASHS CPD DYN Changes the Rover dynamics PASHS CPD FST Turns on off fast CPD operation PASHS CPD MTP Changes the expected multipath in the system PASHS CPD PED Changes the DBN output interval PASHS CPD PER Changes the CPD update interval PASHS CPD RST Reinitializes the CPD operation PASHS CPD UBS Selects which base station coordinates to use 86 ZXW Receivers Operation and Reference Manual Ambiguity Fix PASHS CPD AFP The ambiguity fixing parameter can be set to different confidence levels between 90 0 and 99 9 Higher confidence levels result in longer search times but increase the reliability of the ambiguity fixed solution The ambiguity fix mode can be set from 90 0 to 99 9 The default setting of 99 0 is recommended for most static and kinematic surveying applications Setting the mode to 99 9 results in the highest reliability that the ambiguities are fixed correctly but also results in a
14. Choosing the right mode for your application is a decision based upon a trade off between frequency of position output and accuracy of position Synchronized RTK Synchronized RTK also called matched time tag RTK means that the remote receiver will compute and output an RTK position for each DBEN RTCM 18 19 or 20 21 or CMR message it receives from the base receiver In normal synchronized RTK the maximum transmission rate from the base receiver is 1 Hz Therefore the maximum position output rate at the remote receiver is also 1 Hz If there is an Differential and RTK Operations 73 g st bi bi 3 2 D 3 Q H A interruption at the base receiver or interference in the data link that blocks transmission of data from the base receiver this frequency may decrease The rover will only provide an RTK position when it receives data from the base receiver Therefore with synchronized RTK the latency of the rover position is approximately equal to the latency of the base remote data link However because the time tags of the base and rover observables are matched and because the data latency is low the positions are consistently very accurate The accuracy of synchronized data is typically 0 5 cm 1ppm Fast RTK In Fast RTK also known as Fast CPD mode the rover receiver can output centimeter level RTK positions at rates up to 10 Hz Fast CPD works by using a single base station carrier phase message to compute ad
15. PRN number for the third SV Range residual for the third SV PRN number for the fourth SV Range residual for the fourth SV 34 4 49 7 Horizontal position error Vertical position error OA checksum SAT Satellite Status PASHS NME SAT c s f This command enables disables the satellite status message to port c where c is A B C or D s is ON or OFF and f is the optional output rate parameter in seconds If the output rate is not set the command is output at the rate set by the PASHS NME PER command Example Enable SAT message on port B PASHS NME SAT B ON lt Enter gt PASHQ SAT c Query satellite status where c is the optional output serial port Example Send SAT message to port D PASHQ SAT D lt Enter gt Commands SPUBUIWO0J 251 PASHR SAT The response message is in the form shown below and detailed in Table 8 130 PASHR SAT d1 n d2 d3 d4 f5 c cc lt Enter gt where n the number of SVs tracked Table 8 130 SAT Message Structure Parameter Description Range d1 Number of SVs locked 1 12 d2 SV PRN number 1 32 for GPS 33 64 for SBAS d3 SV azimuth angle in degrees 0 359 d4 SV elevation angle in degrees 0 90 f5 SV signal noise ratio in dB Hz 30 0 60 0 c SV used in position computation U used not used U cc checksum The elevation azimuth prior to the first comput
16. The receiver is set as a base station which transmits RTCM messages types 20 and 21 every second and types 3 and 22 every minute Following a power cycle it will automatically start transmitting these messages again because you have saved the settings with the PASHS SAV Y command To change the message type or rate use the PASHS RTC TYP command 58 ZXW Receivers Operation and Reference Manual Magellan DBEN Format You must have the K option installed on the receiver Send the commands listed in Table 5 4 to the receiver to generate the Magellan DBN message Table 5 4 RTK Base Station Commands DBEN Command Description PASHS RST Reset the receiver to factory defaults PASHS ELM 9 Set the RTK Base mask to nine degrees PASHS POS ddmm mmm d Enter the phase center of the antenna if ANR is OFF or the ground dddmm mmm d saaaaa aa mark if ANR is ON or CPD Enter the latitude longitude and height of the survey mark NOTE If this is the position of the antenna phase center set PASHS ANR to OFF PASHS CPD MOD BAS Set the receiver as an RTK base station with Magellan DBN message generated once per second PASHS CPD PRT B Send DBN message through port B PASHS SAV Y Save settings The receiver is set as a base station which transmits DBN messages every second Following a power cycle it will automatically start transmitting these messages again because you have saved the settings with the
17. Type ne ee Contents float 4 a0 lonspheric parameter seconds float 4 al lonspheric parameter sec per semicircle float 4 a2 lonspheric parameter sec per semicircle float 4 a3 lonspheric parameter sec per semicircle float 4 BO lonspheric parameter seconds float 4 B1 lonspheric parameter sec per semicircle float 4 62 lonspheric parameter sec per semicircle float 4 B3 lonspheric parameter sec per semicircle double 8 A1 First order terms of polynomial double 8 AO Constant terms of polynomial unsigned long 4 tot Reference time for UTC data short 2 Wnt UTC reference week number short 2 AtLS GPS UTC differences at reference time short 2 WNLSF week number when leap second became effective short 2 DN day number when leap second became effective short 2 AtLSF Delta time between GPS and UTC after correction short 2 WN GPS week number unsigned long 4 tow Time of the week in seconds short 2 bulwn GPS week number when message was read unsigned long 4 bultow Time of the week when message was read short 2 Word checksum total 76 Commands 129 SPUBUIWO0J LPS Loop Tracking PASHS LPS Sets user selectable third order loop tracking parameters The structure is PASHS LPS d1 d2 d3 where di is the 3rd order ratio of the carrier loop d2 is the carrier loop parameter and d3 is the code loop parameter see PASHR LPS below for more information Loop setting allows the user to select the tracking l
18. Battery backed Ram Perform a receiver initialization If problem persists contact Technical Support tMemory Test Error ROM ROM i e Flash Perform a receiver initialization If problem persists contact Technical Support tMemory Test Error BOOT Boot section of the flash Perform a receiver initialization If problem persists contact Technical Support No Data Card Detected There is no card in the PCMCIA drive or it cannot be detected no recording Insert or reinsert data card in slot Data Card Full No space left on the PC card therefore data recording is stopped Replace current data card with a card containing available memory or delete some older sessions Data Card Full lt 5 min Not enough space on the PC card to record more than five minutes of data under current conditions satellite number recording period output information Replace data card with one containing available memory or delete older sessions Data Card Error Access Can t read or write to the PC card Power cycle the receiver If problem persists issue command PASHS CLM card will be reformatted and all data erased so download data prior to issuing the CLM command If problem persists replace the PC card ZXW Receivers Operation and Reference Manual Table 8 59 Receiver Warning Messages continued Warning tData Card Error Update Definition
19. Klee etic e al 120 FIX Altitude Fix Mode eieiei aeaa ae aaia a AAE EEE RETEG 121 FLS Receiver File Information srenrnnrnnnnnvnnnvrrrnnnnrnnnnnrrnnnnnrnnennrenrnnnnnnenne 121 FSS File System Giatus Auen 123 HBP HDOP Mekka eee en dE 124 INF Set Session Information 125 INI Receiver Initialization 2 eee eee eecne cette eenneee eee eeaeeeeeeeeaeeeeeeeaaeeeeeneaa 127 ION Set lonospheric Model 128 ION Query lonospheric Parameters rrnrnnonnrnnnnnrrnnnnvrnnnnrrvnnnnnnnrnrrnnnnnnnernnn 128 EPS Loop Tracking anir a e aae EE annie 130 LTZ Set Local Time Zone 131 MDM Set Modem Parameter 131 MDM INI Initialize Modem Communication rrrrrrrnnrrnnnnnnnnnnnnrnvrrnvennnrnnennnnnn 133 MET Meteorological Meters Setup ccceecceeeeteeeeeeeeesecaeeeeeeeeessaeeeteneees 134 MET CMD Meteorological Meters Trigger Girimg 134 MET INIT Meteorological Meters Initialization ssarnrrrnnnnnnvrrnnnnnnnrrrnnnnnnn 135 MET INTVL Meteorological Meters Internal 135 MST Minimum SVs for Kinematic Gurvey 136 MSV Minimum SVs for Data Recording ccceeseeeeeeeeeeeteeseeeeeeeeeaeeneeeees 136 OUT MET Start Meteorological Meters Process rmnrrrsnnnrnrrrnrnnrnnrrrrnnnnnnnr 136 OUT TLT Start Tiltmeter Process 137 PAR Query Receiver Parameter 137 SN RISEGT le 140 PEM Position Elevation Mask 140 PHE Photogrammetry Edge Event Marker doe 141 PIT Log Project Data EE 142 PMD P
20. PASHS NME PER Set output interval of NMEA response messages 242 PPS PHOTOGRAMMETRY PASHS NME PTT Enable disable PPS pulse time tag message 246 PASHS NME TTT Enable disable event marker photogrammetry time tag message 254 POSITION INFORMATION PASHS NME GDC Enable disable GPS positions in grid coordinates 217 PASHS NME GGA Enable disable GPS position response message 220 PASHS NME GLL Enable disable lat lon message 223 PASHS NME GXP Enable disable position computation with time of fix 234 PASHS NME POS Enable disable position message 243 PASHS NME RMC Enable disable recommended minimum GPS data 247 PASHS NME UTM Enable disable UTM coordinates message 255 PASHS NME CRT Enable disable Cartesian coordinates message 209 PASHS NME DPO Enable disable delta position message 215 PASHS NME DCR Enable disable delta cartesian message 213 RESIDUAL INFORMATION PASHS NME GRS Enable disable satellite range residual information 224 Commands 205 spuewwoy Table 8 89 NMEA Data Message Commands continued Command Description Page PASHS NME RRE Enable disable satellite residual and position error 249 SATELLITE INFORMATION PASHS NME ALM Enable disable almanac data 206 PASHS NME DAL Enable disable decimal almanac data 211 PASHS NME GSA Enable disable SVs used message 226 PASHS NME GSN Enable disable signal strength satellite number 229 PASHS NME GSV Enable disable satellit
21. Cant update the FAT file allocation table Action Power cycle the receiver If problem persists issue command PASHS CLM card will be reformatted and all data erased so download data prior to issuing the CLM command If problem persists replace the PC card tData Card Error Create Can t create the files for new session so we can t record data Power cycle the receiver If problem persists issue command PASHS CLM card will be reformatted and all data erased so download data prior to issuing the CLM command If problem persists replace the PC card Data Card Error Rename Can t rename the files of session Power cycle the receiver If problem persists issue command PASHS CLM card will be reformatted and all data erased so download data prior to issuing the CLM command If problem persists replace the PC card tData Card Error Corrupted FAT Not Receiving Base Data File Allocation Table on PCMCIA card has been corrupted and could not be recovered by the receiver Not receiving RTK carrier phase measurements from the base receiver Issue command PASHS CLM to reformat the card If critical data is on the PC card call Customer Support before issuing the CLM comnmand to recover data Check serial radio link with the base Verify that base is computing a position Ensure a valid position was entered into the base Not Receiving RTCM Base Data Not receiving
22. Example Enable GSN message on port C PASHS NME GSN C ON lt Enter gt PASHQ GSN c Query signal strength message where c is the optional output serial port Example Query GSN message on port A PASHQ GSN A lt Enter gt GPGSN The response message contains the GPS PRN number and corresponding signal strength for each locked satellite The response message is in the form GPGSN d1 n d2 f3 d4 cc lt Enter gt where n is the number of locked satellites Table 8 107 defines the GSN structure Table 8 107 GSN Message Structure Field Significance Range d1 Number of SVs locked 0 12 d2 PRN number 1 32 for GPS 33 64 for SBAS f3 Signal strength in dB Hz 30 0 60 0 d4 999 to end the message or RTCM age of corrections if available 999 cc Checksum Example Query PASHQ GSN lt Enter gt Typical GSN response message GPGSN 08 05 46 0 30 43 4 06 37 3 04 44 5 17 46 2 09 42 4 24 46 6 35 34 5 999 70 lt Enter gt Commands 229 SPUBUIWO0JI Table 8 108 describes each item in a typical GSN message Table 8 108 Typical GSN Message Item Significance GPGSN Header 04 Number of SVs locked 02 PRN number of the first SV 46 5 Signal to noise of the first SV 04 PRN number of the second SV 48 4 Signal to noise ratio of the second SV 07 PRN number of the third SV 50 8 Signal to noise ratio of the third SV 09 PRN number of the fourth
23. Figure 2 5 ZXW Sensor Table 2 2 describes the front panel components of the ZXW Sensor Table 2 2 ZXW Sensor Front Panel Description Component Function RADIO connector Not Available GPS ANT connector The GPS ANT connector is a standard TNC female receptacle wired for connection via 50 ohm coax to a GPS antenna with an integral LNA The connector shell is connected to the ZXW Sensor common ground The TNC center pin provides 5Vdc to power the LNA and accepts 1227 and 1575 MHz RF input from the antenna RF and DC signals share the same path ON OFF switch Turns the unit on and off PWR SATS LED Flashing red indicates power is applied to the receiver Number of green flashes indicates number of satellites the receiver is locked to SERIAL PORTS The multi function 25 pin connector serves as the three RS 232 serial A B C PWR input output ports A B and C the power input event marker input the STROBES 1PPS output and LED connectors Equipment 15 Mounting Dimensions Figure 2 6 shows the mounting dimensions for the ZXW Sensor 6 75 17 15 1 75 4 45 f 3 25 8 26 Sp ze 10 31 26 19 GEN Dimensions inches centimeters tolerance 0 016 0 05 93156 1 75 4 45 3 25 8 26 1 75 4 45 Figure 2 6 ZXW Sensor Mounting Dimensions 16 ZXW Receivers Operation and Reference Manual Power Input Output Connector Figure 2 7 shows the p
24. Item Significance PASHR POS Header 0 Raw Position 06 Number of SVs used in position fix 214619 50 UTC time of position fix 3722 385158 Latitude N North latitude 121159 833768 Longitude Ww West longitude 00043 110 Altitude meters empty field Reserved 331 0 Course over ground degrees 000 7 Speed over ground knots 000 0 Vertical velocity dm sec 02 7 PDOP 01 2 HDOP 02 4 VDOP 01 6 TDOP UCO0O Firmware version ID GC checksum SPUBUIWO0J Commands 245 PTT Pulse Time Tag Message PASHS NME PTT c s f Enable disable output of PPS pulse time tag message where c is the output port sis ON or OFF and f is the optional output rate parameter in seconds If the output rate is not set the command is output at the rate set by the PASHS NME PER command The reponse message is output as soon as possible after the PPS pulse is generated with minimum latency lt 50 ms if PPS offset is 0 otherwise lt 150 ms and contains the GPS time at which the latest PPS was sent including the offset if an offset was set when the PPS pulse was enabled The period of the PTT message is independent of the NMEA period It is only linked to the PPS period Example Enable PTT message on port A PASHS NME PTT A ON lt Enter gt PASHQ PTT c Query the time tag of the next PPS pulse where c is the optional output port If c is not specified the reply i
25. SPUBUIWO0J This command sets the output format of the CPD message transmitted from the base receiver where s is a 3 character string as defined in Table 8 168 The parameter can be set to either DBN Magellan proprietary format or CMR compact measurement record This command is relevant only for the base receiver and is not relevant when outputting RTCM 18 19 or 20 21 messages The default is DBN Table 8 168 CPD PRO Parameter Parameter Description S 3 character string DBN DBEN output format CMR CMR compact measurement record output format PRT Port Output Setting PASHS CPD PRT c This command sets the port to output DBEN and BPS messages where c is the desired port This is only relevant to BASE or RVP ROVER mode Default port is B Example Output DBEN and BPS messages to port C PASHS CPD PRT C lt Enter gt RST Reset CPD PASHS CPD RST Reset the PNAV processing Kalman filter reset This command is relevant for ROVER mode or RVP BASE mode only Example Reset the PNAV Kalman Filter PASHS CPD RST lt Enter gt STS CPD Solution Status PASHQ CPD STS c This command queries the CPD Solution Status message where c is the optional output port This message contains information about the current CPD PNAV Processing status Example Query solution status to port D PASHQ CPD STS D lt Enter gt 300 ZXW Receivers Operation and Reference Manual PASHR CPD STS The response
26. There is one exception when configuring the receiver to compute and output grid coordinates If you are interested in computing and outputting WGS 84 based UTM coordinates there is no need to define the grid system in the receiver The parameters for WGS84 UTM are pre set in the receiver To use them set the receiver to output grid coordinates using either the PASHQ UTM command to query for one output of the current coordinates or the PASHS NME UTM command to set the receiver to continuously output the current coordinates Check the GDC message for the currently assigned datum Coordinate Transformation 97 4 D 3 V E e 3 Di e 3 o Projection Types The following graphics represent the different types of projections available for the receiver Equator tangent to cylinder surface 10087 Figure 7 2 Mercator 98 ZXW Receivers Operation and Reference Manual Figure 7 3 Transverse Mercator Transformations S ch XS Figure 7 4 Oblique Mercator 99 Coordinate Transformation Plane Pts of projection ASE BSS EDEN BETA YZ Equator Point of projection 10090 Two standard parallels selected by mapmaker A Figure 7 6 Lambert Conformal Conic Elevation Modeling In addition to computing and outputting geodetic and cartesian coordinates in different systems the receiver can compute and output elev
27. gps to send the base station setting commands for you The Magellan Receiver Communication Software can be used as well To monitor the corrections from a PC turn on the MSG message PASHS NME MSG port ON This generates an ASCII echo of the RTCM messages being transmitted by the base station Use different receiver serial ports for MSG and the actual transmitted RTCM messages Using a Handheld Interface If you are using Magellan software on a handheld computer differential set up is controlled via a series of menus designed to free you from knowing or entering commands Handheld software allows you to monitor and control most receiver functionality 68 ZXW Receivers Operation and Reference Manual Remote Stations Setting Up a Differential Remote Station You must have the Differential remote option U installed on your receiver You must have a source of differential corrections usually a radio receiving a transmission from a base station Connect this radio to one of the receiver serial ports Send the following commands to the receiver The receiver will accept RTCM differential corrections in message types 1 or 9 You do not have to tell the receiver which message types to expect it will automatically use whatever it receives on serial port c Table 5 12 Differential Remote Station Commands Command Description PASHS RST Reset the receiver to factory defaults PASHS RTC REM c_ Set the receiver as a rem
28. see Table 8 64 f17 Velocity of East Direction 500 000 m s f18 Velocity of North Direction 500 000 m s f19 Velocity of Upper Direction 500 000 m s f20 Standard Deviation of East Velocity 0 99 999 m s f21 Standard Deviation of North Velocity 0 99 999 m s f22 Standard Deviation of Upper Velocity 0 99 999 m s cc Checksum Table 8 64 describes the solution type flag Table 8 64 Solution Type Flag Table ASCII Format Symbol Value Description A 0 No solution is available least significant bit 1 2D solution 2 3D solution 3 Reserved B 0 Autonomous solution 1 RTCM solution CPD solution 2 3 Reserved 0 C Float solution ER E 1 Fixed solution D 0 Updated solution with measurement update meaningtul it Baa 1 Projected solution with time update E 0 Normal CPD solution S meaningful if B 2 E 1 RVP CPD solution S F 0 Usual CPD solution S e 1 Fast CPD solution Commands 173 The format of the binary message is in the form PASHR CBN lt binary data gt lt CheckSum gt lt Enter gt where the message structure is as defined in Table 8 65 For the sign bit 1 means 0 means Table 8 65 CBN Message Structure Binary Format 3 Compress Description Data Type Symbol Range Resolution Num Bits double revtime 0 604800000 1 msec 30 Receiver time in GPS
29. 0899 GPS week number 51 Checksum DCR Delta Cartesian Message PASHS NME DCR c s f This command enables disables the output of the delta Cartesian message where s is the port c is ON or OFF and f is an optional output rate parameter in seconds If the output rate parameter is not set the command is output at the rate set by the PASHS NME PER command Example Enable DCR message on port D PASHS NME DCR D ON lt Enter gt PASHQ DCR c Query the DCR message where c is the optional output serial port Example Query DCR message output to port A PASHQ DCR A lt Enter gt PASHR DCR The DCR response message is in the form PASHR DCR c1 d2 m3 f4 c5 f6 c7 f8 c9 f10 f11 f12 f13 f14 f15 f16 s17 cc where the parameters are as defined in Table 8 95 Commands 213 SPUBUIWO0J Table 8 95 DCR Message Structure Parameter Description Range ci Mode M manual A automatic MorA d2 Number of SVs used in position computation 3 to 12 m3 UTC time hhmmss ss 00 to 23 59 59 99 f4 Delta antenna position ECEF X coordinate in meters x xxx 9 999 f5 Delta antenna position ECEF Y coordinate in meters x xxx 9 999 f6 Delta antenna position ECEF X coordinate in meters x xxx 9 999 f7 Receiver clock offset in meters x xxx 9 999 f8 Velocity vector X component in meters sec xxx 0 999 f9 Velocity vector Y component in meters sec
30. 11 851 5 Kertau 1948 West Malayzia Singapore LIB Clarke 1880 90 40 88 Liberia 1964 LUZ Clarke 1866 133 77 51 Luzon Philippines excluding Mindanoa Is MAS Bessel 1841 639 405 60 Massawa Eritrea Ethiopia MER Clarke 1880 31 146 47 Merchich Morocco MIN Clarke 1880 92 93 122 Minna Nigeria NAC Clarke 1866 8 160 176 NAD27 N American CONUS 1927 North America NAD Clarke 1866 5 135 172 AK27 N American Alaska 1927 Alaska NAE Clarke 1866 10 158 187 CAN27 N American Canada 1927 Canada incl Newfoundland Island NAH Clarke 1880 231 196 482 Nahrwan Saudi Arabia NAN Clarke 1866 6 127 192 Central America Belize Costa Rica El Salvador Guatemala Honduras Nicaragua Mexico NAR GRS1980 0 0 0 GRS80 North American 1983 OEG Helmert 1906 130 110 13 Old Egyptian 320 ZXW Receivers Operation and Reference Manual Table A 1 Available Geodetic Datums continued Reference Offset in meters deng Datum ID Ellipsoid dX dY dZ Datum Description OGB Airy 1830 375 111 431 OSG Ordnance Survey of Great Britain 1936 England Isle of Man Scotland Shetland Islands Wales OHA Clarke 1866 61 285 181 OLDHW Old Hawaiian PIT International 1924 185 165 42 Pitcairn Astro 1967 Pitcairn Island QAT International 1924 128 283 22 Qatar National Qatar DI QUO International 1924 164 138 189 Qornoq South Greenland SAN South American 57 1
31. 16 16 1528 191 12 17 8 ceil 94 72 2 12 16 16 1960 245 ceil 3 1 4 Required Radio Rate For RS232 communications 1 start bit and 1 stop bit is required for each byte The required number of bits is 10 8 times the number of message bits For RTCM the data is packed in 6 8 format The required number of bits is 8 6 times the number of bits in the message For RTCM data on an RS232 link the required number of bits is 8 6 10 8 times the number of bits in the message Table 5 9 lists the minimum baud rates for a receiver sending RTCM 18 amp 19 or 20 amp 21 messages only Table 5 9 Minimum Baud Rates for RTCM Messages 18 amp 19 or 20 amp 21 Number of Minimum baud rate Minimum standard Minimum standard Satellites message period T baud rate T 5 sec baud rate T 1 sec 7 20 30 2 8 6 10 8 1 T 600 bps 2400 bps 9 24 30 2 8 6 10 8 1 T 600 bps 2400 bps 12 30 30 2 8 6 10 8 1 T 600 bps 4800 bps 64 ZXW Receivers Operation and Reference Manual For Magellan DBN messages the required minimum baud rate is the DBN rate multiplied by 10 8 Table 5 10 lists the required baud rates Table 5 10 Minimum Baud Rates for Magellan DBN Messages Number of Minimum baud rate Minimum standard Minimum standard Satellites message period T baud rate T 5 sec baud rate T 1 sec 74 1240 10 8 1 T 600 baud 2400 baud 9 1528 10 8 1 T 600 baud 2400 baud 12 1960 10 8 1 T 600 baud 4800 baud
32. Example Enable GRS message on port C PASHS NME GRS C ON lt Enter gt 224 ZXW Receivers Operation and Reference Manual PASHQ GRS c Query satellite range residual where c is the optional output serial port The message is not output unless position is being computed Example PASHQ GRS lt Enter gt GPGRS The GRS response message is in the form GPGRS m1 d2 n f3 cc lt Enter gt where n is the number of satellites used in the position solution Table 8 103 defines the GRS message structure Table 8 103 GRS Message Structure Parameter Description Range m1 Current UTC time of GGA position in hours minutes seconds hhmmss ss 00 235959 90 d2 Mode used to compute range residuals 0 1 0 Residuals used to calculate position given in matching GGA line 1 Residuals re computed after GGA position computed or post fit residuals f3 Range residuals for satellite used in position computation Order of residuals 999 999 matches order of satellites in GSV message cc checksum The range residuals are re computed after the GGA position is computed therefore the mode is always 1 Example Query PASHQ GRS lt Enter gt Typical response GPGRS 203227 50 1 007 916 051 921 048 804 026 612 002 717 021 150 63 lt Enter gt Table 8 104 describes each item in a typical GRS message Commands 225 Oo e 3 3 D 3 2 a Table 8 104 Typical GRS Message
33. Figure 2 1 ZXW Eurocard Dimensions Equipment 9 Figure 2 2 shows the 64 pin DIN male power input output interface connector this board is also available with a 64 pin straight header B32 B1 9737 A32 Figure 2 2 ZXW Eurocard Interface Connector 0 33 Figure 2 3 64 Pin Straight Header Option Table 2 1 defines the pinout and signal designations of the 64 pin connector Table 2 1 ZXW Eurocard Interface Connector Pin Code Pin Code A1 GND B1 GND A2 5 Vdc input B2 5 Vdc input A3 B3 SSR 12 V A4 LNA GND B4 LNA powert A5 B5 LED red A6 B6 LED green A7 Serial GND B7 Serial A DCD A8 Serial A DTR B8 Serial A DSR A9 Serial A TXD B9 Serial A CTS 10 ZXW Receivers Operation and Reference Manual Table 2 1 ZXW Eurocard Interface Connector continued Pin Code Pin Code A10 Serial A RXD B10 Serial ARTS At1 Serial C TXD B11 Serial C CTS A12 Serial C RXD B12 Serial C RTS A13 Serial D TXD B13 Serial D CTS A14 Serial D RXD B14 Serial D RTS A15 Serial GND B15 A16 B16 A17 Serial B TXD B17 Serial B CTS A18 Serial B RXD B18 Serial B RTS A19 B19 Radio LED red A20 B20 Radio LED green A21 GND B21 A22 GND B22 1 PPS output A23 GND B23 A24 GND B24 Photo input A25 GND B25 A26 GND B26 A27 GND B27 A28 GND B28 Manual reset inputt
34. Figure 2 10 ZXW Sensor Development Kit BI 21 Figure 2 11 Board amp Cable Pinouts for ZXW Eurocard Development Kit A 22 Figure 2 12 ZXW Eurocard Development Kit DI 23 Figure 4 1 Secondary Elevation Mask SEM Zone annnvnnnnvrnnnnnvnnrnnrrvnnnnrnnrnnr 36 Figure 4 2 ZEN Zenith Elevation Mask Zone sssssssssssesrrssrsrrrrssrrrnsssnns 37 Figure 4 3 Event Marker Time Measuremenmt cc cceeeeeeeeceeeeeeeeeeeeeeteeeeeeees 41 Figure 4 4 Closed Loop Technique rrnnrnnnnnvnnnnnvrnnnnrrnnnnnnnnnnnrnennnnnnerrrrnennnnnnrenn 42 Figure 4 5 Relative Performance of Multipath Mitigation Techniques 51 Figure 4 6 Detailed View of Multipath Mitigation Performance eseeseen 52 Figure 5 1 Combined Differential RTK Base Station and Remote Operation 72 Figure 5 2 DGPS Accuracy eccceeeeseeeeeeeeeeeeeeceeeeeesaaeeseeeeesaaeeseeeeeesiaaeenennees 73 Figure 6 1 Ambiguity Fix Test Results rrrarnnvrnnnnnnnvvrrnnnrnnnnnrnnnrnrnnrnnnnrrnnnnnn 88 Figure 7 1 Rotation and Translation Between Coordinate Gystems 96 Se CN E EE 98 Figure 7 3 Transverse Mercator rrarnrrrnnnnnnnvrrnnnnnnnrrrnnnnnnnrrnnnnennnrrnnnnernnrrnnnnenn 99 Figure 7 4 Oblique Mercator miopa aa aaa iaiia 99 Figure 7 5 Stereographic rrrrnnrrnnnnnvnnnnrrrnnnnnvnnnrnrnnnnnrnnnnnnrensnnrnnnennenennrnnnnnnne 100 Figure 7 6 Lambert Conformal Conte 100 XVI LIST OF TABLES Table 1 1 Technical Specifications mrrnrrnnnnnvn
35. Table 8 59 Receiver Warning Messages Warning Definition Action Int Battery Error The SMBus controller Remove battery and reinsert it If problem SMBus for internal battery persists insert a different battery If problem communication is not still persists contact Technical Support working Int Battery Error Can not access the Remove battery and reinsert it If problem Access internal battery persists insert a different battery If problem still persists contact Technical Support ei Battery Conditioning Internal battery Perform battery reconditioning depends on S Required efficiency is down it the battery but typically means full charge 3 requires a conditioning full discharge and full charge again 5 cycle 7 Low Int Battery Internal battery Replace battery with a charged one lt 10 min remaining life is lt 10 min the battery needs to be changed Commands 163 Table 8 59 Receiver Warning Messages continued Warning Low Ext Battery lt 30 min Definition External battery remaining life is lt 30 min the battery needs to be changed This is only available if the user has entered the parameters of the external battery via the PASHS POW command Action Replace battery with a charged one tMemory Test Error RAM RAM error Perform a receiver initialization If problem persists contact Technical Support tMemory Test Error BBRAM
36. The default communications parameters of the receiver are e 9600 baud 8 data bits e no parity one stop bit When first establishing communication your interface must use this protocol Having established communication you may send commands All the default data output commands are set to NO The receiver will not output any data until you send a message commanding it to do so If you have typed in and sent the command correctly you should receive a response To become familiar with receiver messages send a few common commands and observe the responses Monitoring The receiver provides the capability of monitoring receiver activity while data collection is occurring The following is a step by step instruction of how to access important receiver status information such as e Satellite Tracking e Position e Remaining Memory Satellite Tracking If you wish to monitor the satellites the receiver is tracking and using for position solutions perform the following steps 1 Send the NMEA command PASHS NME SAT x ON x port designation ON turns port on 2 SAT messages will be output every second through the designated port 3 The response message contains the number of tracked satellites as well as whether individual satellites are used in the position solution ZXW Receivers Operation and Reference Manual Position To view the current position of the Z receiver perform the following steps 1 Send the NME
37. cceeceeeseeeeeeeeeeeteeeeteeeees 219 Table 8 99 GGA Message Structure cccceecceccesseseceeeseeseeeeeeseeeeeeeeseeesaaees 220 Table 8 100 Typical GGA Message rrrrnnnnnnnvvvnnrrnnnvrrnnrrnnrrrnnnrrrsrrrrnrrrssrnsnnsernnn 222 Table 8 101 GLL Message Structure rnaannvnnnnrrrnnnnrnnnrrrvnnnnrnnnrnrennrnrnnnnnnnneenn 223 Table 8 102 Typical GLL Message rrrrrnnrnrnrrrrarrrnnrrrarnnrnrrrrrnnnrnrrrrrnnrnnrsrsnnnnsen 224 Table 8 103 GRS Message Structure mrrrrrrannnvnnrrrrrnnnnnvnnrnrrrrnnrnnrrrrerernrnntennn 225 Table 8 104 Typical GRS Message rrrrnnnnnnvvrrnnrrnnvrrrnnrrnnnrrrnnrrrnrrnnnnrrsssrsnnsssenn 226 Table 8 105 GSA Message Structure muannvnnrrrrrnannrnnnrnrrnnnrnnnrnrenrrrrrnnrnnnneenn 227 Table 8 106 Typical GSA Message mrrrrrrrnnnrnnvvrrnnrrnnvvrnnrrrsrnrrnnrrssrrrnnssssnrsnnnenn 227 Table 8 107 GSN Message Structure urrrrrnnnnvvnrrrrrnnnnnnnnrrrrennnnnnerrr reserverer 229 Table 8 108 Typical GSN Message rrrrrrrrnnvvvrrrrnnnvvrrnrrnnnvnrrrrrnnnrnveerrrnsrnreerrrnnn 230 Table 8 109 GST Message Structure mmrrrrrannnvnnrerrrvnnnnrnnrrrrennnnnnerrrrrenennnnnennn 231 Table 8 110 GSV Message Structure rrmaannrnnrrrrrnnnnrnnnrnrrnnnnrnnnrnrenrrrrrernnnnneenn 232 Table 8 111 Typical GSV Message rrrrrrrrnnrrnarvrrnnrrnarrvnnrrrsrnrrnnrrrsrrrnnsrrssrnnnnene 232 Table 8 112 GXP Message Structure rrmmannvnnrvrrrnnnnrnnrrrrrnnnnrnnnrnrenerrrrnnnnnnnernn 234 Table 8 113 Typical GXP Messag
38. compresses data to reduce the bandwidth required to transmit RTK data from base to rover In other words the amount of data transmitted on the datalink to perform RTK operations is less with CMR than with other formats Because the CMR format requires half the bandwidth of equivalent RTCM messages you can use relatively slow data links 9600 and still produce accurate results Faster datalinks may experience smaller latency times Setting Up Your Receivers to Use CMR Format Base Receiver Set the base receiver to output in CMR format by entering the serial command PASHS CPD PRO CMR lt enter gt Set the base receiver to output in CMR Plus format by entering the serial command PASHS CPD PRO CMP Rover Receiver Once setup in RTK Rover mode the rover is setup to detect CMR or CMR Plus format messages by default No additional setup parameters are necessary 92 ZXW Receivers Operation and Reference Manual Coordinate Transformation This chapter discusses the coordinate transformation features of your receiver Background GPS determines the three dimensional positions of surveyed points based on the WGS84 datum These coordinates are either presented as geocentric Cartesian coordinates X Y Z values or geodetic coordinates latitude longitude ellipsoidal height There are circumstances where it would be desirable to have positions represented in a different reference frame or format i e based on a different datum
39. message contains base and rover satellite status information Example Query the CPD satellite information message to the current port PASHQ CPD INF lt Enter gt PASHR CPD INF The response message is in the form PASHR CPD INF s1 d2 n d3 c4 d5 m d6 c7 d8 d9 d10 cc lt Enter gt n number of SVs in the base m number of SVs in the rover Table 8 158 INF Message Structure Field Description Range Units s1 CPD mode OFF BAS ROV RBR RBB d2 Number of Svs in base station This determines how 0 12 many fields to be followed d3 SVPRN for the Svs in base receiver 1 32 c4 Warning field description no warnings s C warning in L1 measurements C P warning in L2 measurements P warning in both measurements spuewwog repeats for other SVs in base station d5 Number of Svs in the rover station This determines 0 12 the number of fields to follow d6 SVPRN for the Svs in the rover receiver 1 32 Commands 289 Table 8 158 INF Message Structure continued c7 Field Description Warning field description no warnings C warning in L1 measurements P warning in L2 measurements warning in both measurements TE uke Range Units repeats for other SVs in rover station d8 Last BPS message time empty for RBB ms d9 Last DBEN message time ms d10 BPS message warning see PASHR BPS for coding scheme
40. shows the satellite information in CPD operation e PASHQ CPD STS shows the current ambiguities fixing status e PASHQ RRE shows the post fit carrier phase residual in CPD solution Positions can be also monitored from GGA message or CBN message Understanding RTK CPD 81 How to Tell If the Integer Ambiguities are Fixed The ambiguities fixing status can be determined through the following messages e STS e GGA e CBN e CPD In PASHR CPD STS message if the second field gt 1 0 it means that the ambiguities are fixed For example PASHR CPD STS 0 005 0124 72 5C In GPGGA message a solution type of 3 in the sixth field indicates that ambiguities are fixed GPGGA 212349 00 3722 378424 N 12159 841801 W 3 08 01 0 00005 078 M 032 121 M 014 82 In ASCII PASHR CBN message a 1 in the third digit of the solution type field indicates the ambiguities are fixed PASHR CBN 212501 00 08 001 2 3722 3784261 N 12159 8417992 W 00005 0847 00 011 00 011 00 012 00 000 00 000 00 000 221001 000 000 000 001 000 001 00 000 00 000 00 000 6C In a CBN message the solution RMS values represent one sigma solution accuracy A fixed ambiguity solution should have all three RMS values lt 0 03 meters with PDOP lt 4 0 You can also look at the PASHR CPD message for ambiguities fixing status Refer to CPD RTK Status on page 279 Data Link Monitor The Data Link Status can be monitored via PASHQ CPD DLK me
41. 0 90 d7 Session min SV 1 9 d8 Session data type 0 2 0r4 Example Set a session starting at 0100 that will run for 2 hours PASHS SES SET A Y 010000 030000 10 0 10 3 0 lt Enter gt If sleep mode is enabled the receiver will automatically power on 2 minutes prior to session time to ensure all available satellites are tracked by the time recording starts PASHS SES DEL Clear all session programming parameters and reset to default values Example Clear all session programming parameters PASHS SES DEL lt Enter gt PASHQ SES c Query session programming parameters where c is optional output serial port Example Query session programming parameters PASHQ SES lt Enter gt Commands SPUBUIWO0J 153 Typical SES return message A N 00 00 00 00 020 0 3 0 B N 00 00 00 00 020 0 3 0 cC N 00 00 00 00 020 0 3 0 D N 00 00 00 00 020 0 3 0 E N 00 00 00 00 020 0 3 0 2 N 00 00 00 00 020 0 10 3 0 INUSE N REF 000 OFFSET 00 00 TODAY 000 Table 8 49 lists the SES parameters in alphabetic order 154 Table 8 49 SES Message Structure Paes Description Range 1st column Session Name A Z 2nd column Session enabled flag Y N 3rd column Session start time hours minutes seconds hh mm ss 4th column Session end time hours minutes seconds hh mm ss 5th column Session recording interval seconds 0 1 999 6th column Session elevation mask 0 90 7th column Ses
42. 47 uoneiado Table 4 4 Default Values continued Parameter Description Default Page REC Record data flag Y 148 MST Minimum number of satellites for 136 kinematic operation ANH Antenna height before session 00 0000 111 ANA Antenna height after session 00 0000 111 SIT Site ID name 2222 156 EPG Kinematic epoch counter 000 120 RNG Ranger mode selection 0 150 RAW data Raw data output status OFF in all ports 168 Raw data Raw data output format ASCII in all ports 168 format Serial port Serial port baud rate selection 9600 in all ports ter baud rate RTCM RTCM differential mode selection OFF 264 MODE RTCM PORT RTCM differential mode port selection 264 AUT Automatic differential autonomous 269 switching when RTCM differential mode enabled RTCM SPD RTCM differential BPS speed setting 0300 273 STI RTCM base or remote station ID 0000 274 setting STH RTCM base station health setting 0 274 MAX Maximum age for old RTCM 0060 270 corrections to be used QAF RTCM communication quality setting 100 272 SEQ Use sequence number of RTCM N 273 correction in remote station TYPE RTCM differential messages enabled 1 01 6 OFF 275 and output frequency of the enabled Remaining messages 00 messages RTCM EOT End of character selection for rtcm CRLF 269 corrections MSG Text for RTCM type 16 message empty 271 48 ZXW Receivers Operation and Referenc
43. 6 9 1516 1819 2021 EOT FRQ 0100 00 00 OFF 00 00 00 00 OO CRLF Table 8 142 describes the RTC response parameters Table 8 142 RTC Response Parameters Return SE Defaul Parameter Description Range efault STATUS SYNC status that denotes sync to last received in sync RTCM message between Base and Remote stations Remote only Set to if no corrections received for max age TYPE RTCM message type being sent Base or 1 2 3 6 9 15 16 18 19 received Remote 20 21 22 STID Station ID received from the Base station 0 any station to 1023 STHE Station health received from the Base station 0 7 266 ZXW Receivers Operation and Reference Manual Table 8 142 RTC Response Parameters continued Return is Parameter Description Range Default AGE In Base mode displays the elapsed time in 0 999 seconds between the beginning of the transmission of Type 1 18 19 messages In Remote mode displays the age of the received messages in seconds QA Displays the communication quality factor 0 100 between Base and Remote Defined as of good measurements QAF 100 Remote only OFFSET Displays the number of bits from the beginning of the RTCM byte in case of a bit slippage SETUP MODE RTCM mode BAS REM OFF OFF PORT Communication port A B C or D A AUT Automatic differential mode N Y N CODE Indicated the code type used in dif
44. 60 lt Enter gt To disable the secondary elevation mask enter the command PASHS SEM OFF lt Enter gt SES Session Programming PASHS SES PAR c1 d2 d3 Set session programming parameters where c1 sets the session mode d2 and d3 set the reference day and daily offset Table 8 47 The reference day must be equal to or less than the current day for session programming to operate Issue the PASHS SES SET command to program individual sessions Table 8 47 SES PAR Message Structure Setting Parameter Description Range c1 Session in use YorNorS Y Yes N No S Sleep Mode d2 Session reference day 1 366 d3 Session offset mm ss 0 59 Example Enable session programming parameters with 4 minute daily offset to keep track of the daily change of the GPS satellite configuration PASHS SES PAR Y 121 0400 lt Enter gt PASHS SES SET c1 c2 d3 d4 f5 d6 d7 d8 152 ZXW Receivers Operation and Reference Manual Set the individual sessions for session programming This command will set a single session Up to 10 sessions may be programmed Table 8 48 This command must be used with PASHS SES PAR Table 8 48 SES SET Message Structure Parameter Description Range ci Session name A Z c2 Session flag Y Yes N No d3 Session start time hhmmss hh 0 23 mm ss 0 59 d4 Session end time hhmmss hh 0 23 mm ss 0 59 f5 Session record interval 0 1 999 d6 Session elevation Mask
45. 6378160 0 298 25 0 003352891 86924 World Geodetic System 1972 6378135 0 298 26 0 00335277945417 WGS 72 World Geodetic System 1984 6378137 0 298 257223563 0 00335281066475 WGS 84 322 ZXW Receivers Operation and Reference Manual Index INDEX Symbols GPALM tae cts cuttin eid 207 Ed EEN 82 220 GPGLL EEN 223 EE 225 SGP EE 227 SGPGSN EE 229 EE E 232 POP ae 234 er EE 236 GPRMC mn 247 GPRRE EN 250 PT 258 SGPROR NE EN 260 GPZDA EE 262 PASHQ ALH ese e eg 110 PASHQ ALH C vis ce es Peeve bes x 110 ERAGINN gn 207 PASHQ ANT 2 0 0 0 0 0 cece eens 113 PASHQ BEEP 114 PASHQ CBN Darren 172 EE 279 PASHQ CPD ANT 0 0055 283 PASHQ CPD DLK 82 85 86 284 PASHQ CPD INF 85 86 289 PASHQ CPD MOD 86 291 PASHQ CPD OUT fees ecb cee e 86 PASHQ CPD POS 85 299 PASHQ CPD STS e dE ete 300 PASHQ CTS meets 114 PASHQ DAL E 211 PASHQ DBN ege 182 PASHQ DPO beet 215 PASHQ DTM 0000 eee ee 304 PASHQ EPB sundene Arnside 186 PASHQ FLS armer ret 121 PASHQ GGA EEN 220 SPASHOGLLS ee ae 223 PASHQ GRS su ten ee 225 PASHQ GSA ENEE 226 PASHQ GSN 00 00 00 na 229 PASHQ GSV 0 0002 231 PASHQ GXP 0 00 eee 234 SPAGHOINE 2 00 02 eee 125 PASHQ ION 02 008 128 PASHQ LPS 130 131 133 PASHQ MBN 2 05 188 PASHQ MDM 132 PASHQ MET 0
46. 76 CEET din tile ai ai than ee eis 76 Monitoring Keele 77 Required Number of Satellites ecccccesceceeeeeeeeneeeeeeeeeseaaeseeeeeeseaeenennees 77 MEG CE EE 77 Auto Differential Mode eerannnvnnnnnnnnnvnnnnnnnnnvnnnvnannnennnennnnennseennnnneneeennnnnenee 77 RTCM Messages 78 RTCM 104 Format Version 23 79 Chapter 6 Understanding RTK CPD rrnsnvvnnnnnnnnnnnnnnvnnnnnnnnnnen 81 Monitoring the CPD Rover Solution 81 How to Tell If the Integer Ambiguities are Five 82 Data Link Monitor uventet itj a ea a aaa TT aari 82 CPD Solution Output and Giorage eesse rtrteesennnsnnnsrrnessrnssrns 82 Real time Solution Output 83 Vector Sol tion CDEN eiiiai ei gii ieii ai i iaa 83 Solution Storage EEN 84 Troubleshooting ee KENE deh ve eee fbi dialled 85 System Performance Optimization ccccceeeeeeeeeceeeeeeeeececaeeeeeneeeseneeeenaeeeeeas 86 Ambiguity Fix ZSPAGHSG CDD AFP 87 Dynamics BPAGHSG CD DN 88 Fast CPD PASHS CPD FSTuirskisavstknamigelnn teltet aa ENET 89 Multipath SPAGHS CPDMTP 89 DBN Message Interval PASHS CPD PED and CPD Update Rate PA SHS CPD PER uhindret riene red 89 Initialization ZSDAGHG CPDReT 90 Base Position Coordinates Selection SPAGHSG CPD UD 90 Base Station Elevation Mask PASHS ELM rervrvvrnvnnrnrnrnsnnsvvrrrvrenvverersnnnnnrnr 90 Universal RTCM Base Gtaiton 91 Instant RTK EE 91 GMR lun EE 92 Setting Up Your Receivers to Use CMR Format rrnnrannnnnvnnrnnrrnnrn
47. 8 N Reserved for Future Options ccccccceeseceeeceeeeseeeseceeeeeaeesseeeeeseaaeeeeaees 8 Option d EE TEE 8 rn ea ae ve en De 8 Chapter 2 Equipment u u uu serunsisissss msnsmssssssossenvinnnninndn 9 Hardware Description 9 ZANEUTOCOTO EE 9 el eet EE EN 12 Loun 12 Power Requirements aasarin rra ea A TAE AA 12 Environmental Specifications cc cccccceeeeeneeeeeeeeeeeeeeseeeeeeeneeeseeeeeeaeeees 12 Mounting Requirements rrnrrnnnnannnvrnnnnnnnnvrnnnnnnnnrrnnnnnnsrrrnnnsrnsrrrnnnsersrrrnetennn 12 Heat Sink Heouiremerts 13 Modem Supports cian ieee ee eee ide 14 SENNENG ee Ae 14 Mounting Dimensions erernnnnvrnnnnnnnnvrrnnnennnrrrnnnennnrrnnnnnnnnrrnnnssnsrrrnnnnersrrrnesennn 16 Power Input Qutput Connector marrvrrrvrrvnnnnvnnrerrennnnnrnnnrrrennnnrnnnerrresnnnnnsennr 17 Power Requirements AANEREN 18 Environmental Specifications cccccccccceeeeeeeeececeeeeeeeeeeseaaeeeeneeeesaeeeeeeees 18 RE Connector eege id ne inet bated eet atte eas lected at 18 Serial Power Cable arnnnnnrnnnnnvnnnnnnrnnnnrnnnnnnnennnnrnnnnnnnnnnnrrnnannnnenenrrnennnnnneennee 19 VII DES Hee eebe esker 19 On Board Battes ek ee heii aia kasta aes 19 ss 19 Development Kiaora s T ee oll ovale iedanteets Beete 20 Chapter 3 Getting Started rrnnnnnnnnnvnnnnnnnnnnvvnnnnnnnnnnnnnnvvnnnnnnnnnen 25 Hardware Setups sis csi artone aia ecvacdsetaraptesid tesiedecsudapantehenvee fatt 25 Applying ie EE 25 Receiver Ini
48. B PASHS SAV Y Save settings to memory The receiver is now set as a base station which transmits CMR messages every second Following a power cycle the receiver will automatically start transmitting these messages again because you saved the settings with the PASHS SAV Y command The receiver also transmits a CMR base position message every 30 seconds by default This rate can be changed with the PASHS CPD PEB command 60 ZXW Receivers Operation and Reference Manual Setting Up a Combined Differential amp RTK Base Station You must have both the B and K installed in your receiver Send the commands listed in Table 5 6 to the receiver Table 5 6 Base Station Commands Combined Differential and RTK Command PASHS RST Description Reset the receiver to factory defaults PASHS PEM 4 Set the Base differential mask to four degrees PASHS ELM 9 Set the RTK base elevation mask to nine degrees PASHS POS ddmm mmm d dddmm mmm d saaaaa aa Enter the phase center of the antenna if ANR is OFF or the ground mark if ANR is ON Do not set ANR to CPD in this case Enter the latitude longitude and height of the survey mark NOTE If this is the position of the antenna phase center set PASHS ANR to OFF PASHS RTC BAS x Turn on RTCM corrections on port x PASHS RTC SPD 9 PASHS RTC TYP 1 5 PASHS RTC TYP 3 1 PASHS RTC TYP 22 1 PASHS RTC TYP 18 1 Set internal bit ra
49. Before setting up your project Magellan recommends you verify that nearby handheld or mobile communications devices do not interfere with the ZXW receivers 19 Development Kits Figure 2 9 through Figure 2 12 illustrate the items you should have received with your purchase of either the ZXW Eurocard or ZXW Sensor These items are listed below This document Evaluate Software and Manual Mission Planning Software amp Manual Antenna and Cable Power Supply and Interface Cables PINOUT FOR 730124 pass CONNECTOR owe MALE MALE 630063 630203 01 02 9807 Figure 2 9 ZXW SensorZXW Sensor Development Kit A 20 ZXW Receivers Operation and Reference Manual Marine ll moen Si e E sa 4 CS Ke DB9 Null Modem Cable trom 730124 to PC Figure 2 10 ZXW Sensor Development Kit B Equipment 21 GND 5V INPUT SSR 12v LNA POWER LED RED LED GREEN SERIAL A DCD SERIAL A DSR SERIAL A CTS SERIAL A RTS SERIAL C CTS SERIAL C RTS SERIAL D CTS SERIAL D RTS NC NC SERIAL B CTS SERIAL B RTS RADIO LED RED RADIO LED GREEN NC 1 PPS OUTPUT NC PHOTO INPUT NC NC NC MANUAL RESET INPUT NC NC NC NC BOARD PINOUT B1 A B2 A2 B3 A3 B4 A4 B5 A5 B6 A6 B7 A7 B8 A8 B9 A9 B10 A10 B11 A11 B12 A12 B13 A13 B14 A14 B15 A15 B16 A16 B17 A17 B18 A18 B19 A19 B20
50. D 5 lt Enter gt Command PASHS FIL D 999 not only deletes all files but also reformats the PCMCIA card by clearing the FAT and directory structure 120 ZXW Receivers Operation and Reference Manual FIX Altitude Fix Mode PASHS FIX d Set altitude hold position fix mode for the altitude used for 2 D position determination where d is 0 or 1 as detailed in 1 The default is 0 This command must be used with the PASHS PMD command Table 8 10 FIX Parameter Settings Parameter Description d 0 default the most recent antenna altitude is used in altitude hold position fix The altitude is taken from either the altitude entered by the PASHS ALT command or the last one computed when VDOP is less than VDOP mask d 1 always use the altitude entered by PASHS ALT command Example Fix altitude to always use the entered altitude PASHS FIX 1 lt Enter gt FLS Receiver File Information PASHQ FLS d This command requests file information from the memory card where d is the beginning file index number and can range from 0 99 The file index number is a sequence number where the first file has a file index 0 the second file has a file index 1 continuing through to the 100th file which has a file index number of 99 The output displays files in blocks of up to 10 files If d is greater than the highest file index number then the command will not be acknowledged NAK is returned Examples Displa
51. Grid Transformation Selection Map Projection 305 HGT Height Model Selection arenrnnrnnannvnnnnnrvnnnnnvnnnnvrnnannrnnnnnvenennrnnnnnnnee 306 UDD User Defined Datum rrrarannorornnrnnnnnrvernnnnnnsvennvnnnnsnrnernnnnnesnennnnnesserr 307 UDG User Defined Datum to Grid Transformation rnnnrorrorrennrrnnernrnn 308 Chapter 9 SBAS CommandS rrrnnnnnnvnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 313 SBABSBAS RAW D ta usanne deeg E ss 314 OUT WAAS Almanac Data 315 SBA Tracking Mode eredagt edikC deeg EedeEEN gie adera doan deeg EEEE EE 316 Automatic Mod EE 316 SSO Set SBAS Satellite Search Order 318 Appendix A Reference Datums amp Ellipsoids 0 319 LIST OF FIGURES Figure 2 1 ZXW Eurocard Dmensions innne iaiuna iienaa 9 Figure 2 2 ZXW Eurocard Interface Connector urrrrnnrnvrnnrnrrrnnnnrvnrrrrrnnnnnnnnnr 10 Figure 2 3 64 Pin Straight Header Option srnnronrnnnnnrnnnrnvrrnnnrrnnnnnrnnrnnrnnnnnnnnnnn 10 Figure 2 4 ZXW Eurocard Mounted with Heat Sink eesseeeeeseesseeeseserreere 13 Figur 2 5 ZXW S nsorusruussmenasselnembremdretteterkimuheln 15 Figure 2 6 ZXW Sensor Mounting Dimensions esesseeeeseeesreesrrerereeerreesre 16 Figure 2 7 DB25 Connector iinis iiaea eae nna a aaaea a anana u Eiaha adinari 17 Figure 2 8 ZXW Sensor Serial Power Cable rrrrnannrnnnnnrvnnnnrrnnrnrvnnnnrrnnnnnnnnnr 19 Figure 2 9 ZXW SensorZXW Sensor Development Kit A 20
52. Message Structure rnrrrrrnnnnrnnnorrrnrnnrnnnrnrenrrnrrenrnnnneenn 271 Table 8 145 Available Bit Rate Codes rrrrrnnnnnvnnnnrrrnnnnvnnnerrrennnnrnnnrrrrennnrnntennn 273 Table 8 146 RTC STH Health of Base Station rrrrnnrrnrrrrnnrrrnnnrvnrrnrrnnrnnnnnenn 274 Table 8 147 RTC TYP Message Types mrnrrrnnnnrnnnrnrrvnnnnvnnnrrrrennnnrnnrrrrreennrnntennn 275 Table 8 148 CPD Commands eernrrnnnnnvvnrnrrrnnnnnnnnrnrrennnnnnnrrrrnrsnnnnerrnrresnnnnenennne 278 Table 8 149 CPD Status Message Structure rrrrrrrnnnnnvnnrrrrrnnnnrnnnrrrrnnnnnnnnennn 280 Table 8 150 CPD AFP Parameter Table mmrnrrnnonrrnnnnnvrnnerrrrnnnnrnnrrrrrernnrnntennn 282 Table 8 151 CPD ANT Parameter Table uurnnrnnonrrnnnnnvnnnrnrrrnnnnrnnrrrrrrrnnnnenennr 283 Table 8 152 CPD ANT Message Structure rrrrnnrrrrrnannnvnnrrrrennnnrnnrrrrrenennnnnennn 284 Table 8 153 CPD DLK Message Structure mrrrrrnannvnnnrrrrnnnnrnnnrnrenrrrrrnnrnnnneenn 285 Table 8 154 CPD DLK Response Message Example Rover Station 286 Table 8 155 CPD DLK Response Message Example Base Station 287 Table 8 156 CPD DYN Parameter Table cccccceeeceeeeeeeeeeeeeeeseeeeeeeeneeeees 288 Table 8 157 CPD EOT Parameter Table rrrrrnnnrnnnnnvnnnnnrnnnnnrnnnrnrnnnnnrrnnnnnnnnenn 288 Table 8 158 INF Message Structure rrrrrnrrnnnnnvnnrnnvrvnnnnvnnrrrrnrnnnnnnnrrrrennnnnnernnn 289 Table 8 159 CPD MOD Parameter Table uurnrnnnonrrnnnnnrnnnr
53. Message Structure rrrrrrrrrrrnnnnvnnrnrrrvnnnnvnnrrrrrrnnnnnnnrrrrenennnnernnn 112 Table 8 5 Antenna Offsets Settings mmorrrnnnnnrnnnnrrrrnnnnvnnrnrrennnnrnnrrrrenarnrnnnennn 113 Table 8 6 ANT Message Structure rrmrrrrrrnnnnvnnrerrvrnnnnvnnerrrennnnnnnrrrrreennrnntennn 114 Table 8 7 CLM Message Structure rrrrnrrrrnnnnnvnnrrnrrnnnnnvnnrrrrrnrnnnnnnrrrrenannnnernnn 116 XVII Table 8 8 CSN Message Structure 0 cecccceeeeeeceeeeeeeeeeeeaeeeeeeeeeseaeeeeeeeeeees 116 Table 8 9 DSY Parameter Table cccccceceeeeeeeeeeeeeeeeeeeeeeeeseaaeeseeeeeeeaeetees 118 Table 8 10 FIX Parameter Settings cccccccsseeeeeeeeeeeeneeseeeeeeeeeaeeseeeeeseaeetees 121 Table 8 11 FLS Message Structure rrnrrrrrrnannnvnnrrrrrnannvnnrrrrenannvnenrrrreennnnenennne 122 Table 8 12 Typical FLS Message rrrnnnnnrrnnnnnvnnnnrrnnnnnrnnnonrnnnnnrnnnrnnenernrnennnnnnnenn 123 Table 8 13 FSS Message Structure cecccceseeceeeeeeeeseeeeeeeeeeeseneeseeeeeeeeeeeees 124 Table 8 14 INF Parameter Table rrrnnnrrnnnnnnnrrrnnnnnnnrrnnnnnnnrrrnnnnennrrrnnsensnrrnnnen 125 Table 8 15 INF Message Structure ccccceeceeeeeeseeeeeeeeeeaeeseeeeeeseaeeeseneeess 126 Table 8 16 INI Parameter Description Table eeceeeeeeeeeeeeeeeeeeeeeeeeeees 127 Table 8 17 Baud Rate Codes c ccceccceeeeeeeeseeeeeeeeeeseaaececeeeesaaeeseneeeseeeeeeeaeees 127 Table 8 18 Reset Memory Codes mannnvnnnnrrnnnnnvnnnnrrrnnnnnvnnrnrrennnnrnnre
54. OBN message The OBN message contains information about the vector solution accumulated during the static site occupation To output an OBN message the following receiver parameters must be set e The receiver must be in CPD Rover mode PASHS CPD MOD ROV e The CPD dynamics must be set to static GSPASHS CPD DYN 0 e The 4 character site field must be set to a valid site name PASHS SIT Example Query OBN message send response to current port PASHQ OBN lt Enter gt PASHR OBN Commands 293 O e 3 3 D 3 2 a The response message is in binary as shown below and defined in Table 8 162 294 PASHR OBN lt OBEN structure gt lt Enter gt Table 8 162 OBEN Message Structure Binary Format Type Description Units int Number of channels in receiver Base site int site ID 4 character information float slant height meters float antenna radius meters float vertical offset meters float north offset meters float east offset meters float temperature degrees C float humidity percent float air pressure millibars double WGS 84 X component of position meters double WGS 84 Y component of position meters double WGS 84 Z component of position meters ZXW Receivers Operation and Reference Manual Table 8 162 OBEN Message Structure Binary Format continued Type Description Units Baseline i
55. Operation and Reference Manual Table 3 1 Default Values continued Parameter Description Default PED DBEN output transmission period 001 0 DBEN PORT Output port for DBEN messages in the base B CPD EOT End of character selection for CPD corrections CRLF AFP Setting of ambiguity fixing confidence level 099 0 MAX AGE Maximum age of corrections for CPD 30 DYN CPD rover mode dynamic operation WALKING POS Output CPD MTP Level of multipath selection MEDIUM CPD POS Reference position of the other receiver RECEIVED FST Fast CPD Mode Selection ON CPD PER CPD Update Interval 01 CKR Reserved ON IAF Reserved ON ANT radius Radius of the Antenna 0 0000 ANT offset Distance from Antenna Phase Center to Antenna 00 0000 Edge ANT Azimuth measured from Reference Point to 00000 00 horizontal Antenna Phase Center azimuth ANT Distance from Reference Point to Antenna Phase 00 0000 horizontal Center distance SBAS mode SBAS mode on or off Off Getting Started 31 Q 2 2 5 e Ka 4 5D a E 32 ZXW Receivers Operation and Reference Manual Operation This chapter describes receiver operations other than those available through the front panel Receiver Initialization It is good practice to reset your receiver prior to operating it for the first time or when a system malfunction occurs A reset of the internal memory clears the memory and restor
56. RTCM code phase corrections from the base receiver Check serial radio link with the base Verify that base is computing a position Ensure a valid position was entered into the base Bad Base Coordinates The position entered in the base receiver for CPD operation is not correct too far from computed position Base position was entered wrong on the rover side Reenter it The mode in the base receiver was set to not send BPS set base to send BPS PASHS CPD UBP 1 If rover is in entered base station PASH CPD UBP 0 Enter the base position in the rover via PASHS BPS POS If rover is in receiver base position mode default or PASHS CPD UBP 1 check link with base Make sure the base sends base coordinates SPASHS BPS PER O Commands 165 O e 3 3 D 3 2 a Table 8 59 Receiver Warning Messages continued Warning Bad RTCM Base Position Definition The position entered in the base receiver for RTCM code operation is not correct too far from computed position Action Enter correct base position t Not Enough Satellites Tracking fewer than the minimum number of satellites required for kinematic survey The kinematic survey must be reinitialized on last point Low Backup Battery The battery powering the non volatile memory and the real time clock is low and needs to be changed Contact Customer Support Back up batt
57. SAL Almanac Data PASHQ SAL c Request for almanac data in Magellan format where c is the optional serial port Example Query receiver for almanac data on current port PASHQ SAL lt Enter gt PASHR ALM The response is a binary message in the form PASHR ALM almanac structure lt Enter gt This message only exists in binary format If ASCII format is requested default only the header will be sent PASHR ALM The almanac message structure is defined in Table 8 87 198 ZXW Receivers Operation and Reference Manual Table 8 87 ALM Message Structure Type Size Contents short 2 Satellite PRN 1 short 2 Health see ICD 200 for description float 4 e Eccentricity long 4 toe Reference time for orbit sec float 4 10 Inclination angle at reference time semi circles float 4 OMEGADOT Rate of right Asc semi circles per sec double 8 A Square root of semi major axis meters double 8 OMEGA O Lon of Asc node semi circles double 8 Argument of Perigee semi circles double 8 MO Mean anomaly at reference time semi circle float 4 af0 sec float 4 af1 sec sec short 2 almanac week number short 2 GPS week number long 4 Seconds of GPS week unsigned short 2 Word checksum Total bytes70 SNV Ephemeris Data PASHQ SNV c Request ephemeris data from receiver where c is either the optional output serial or the specific PRN number If
58. SV 51 2 Signal to noise ratio of the fourth SV 999 Message termination 7C checksum GST Pseudo range Error Statistic Message PASHS NME GST c s f This command enables disables the output of the pseudo range error statistic message where c is the port s is ON or OFF and f is the optional output rate parameter in seconds If the output rate parameter is not set the command is output at the rate set by the PASHS NME PER command Example Enable GST message on port A PASHS NME GST A ON lt Enter gt PASHQ GST c Query the GST message where c is the optional output serial port Example Query GST message output to the current port PASHQ GST lt Enter gt 230 ZXW Receivers Operation and Reference Manual PASHR GST The GST response message is in the form PASHR GST m1 f2 f3 f4 15 16 f7 f8 cc where the parameters are as defined in Table 8 109 Table 8 109 GST Message Structure Field Description Range PASHR GST Header m1 UTC time hhmmss ss 00 to 23 59 59 99 f2 RMS value of standard deviation of range inputs 0 00 to 99 999 f3 Standard deviation of semi major axis of error ellipse meters 0 00 to 99 999 f4 Standard deviation of semi minor axis of error ellipse meters 0 00 to 99 999 f5 Orientation of semi major axis of error ellipse degrees from true north 0 to 180 f6 Standard deviation of latitude error meters 0 00 to 99 999 f7 Standard deviation of longitude e
59. SVs 0 11 10 12 Differential and RTK Operations 65 Ey bi bi 3 2 D 3 Q I A Table 5 11 Maximum Number of Satellites Above a 4 Mask Angle continued Latitude de me ber 20 11 30 11 40 11 50 10 60 11 70 12 80 11 90 12 Mask Angle The base station mask angle for RTK messages 18 19 20 amp 21 is controlled by PASHS ELM The base station mask angle for differential corrections type 1 is controlled by PASHS PEM If your data link bandwidth is large enough then you can set both mask angles to zero degrees for base stations This ensures that the base station will send data for all satellites that it can see above the horizon If your bandwidth limits the number of satellites for which you can transmit base station data then you may raise the mask angle On baselines less than 100 km the remote station sees satellites at approximately the same elevation angles as the base station sees them the base station mask angle should be set one degree lower than the remote mask angle On long baselines the elevation angle changes by approximately 1 for every 100 km So for baselines of x 100 km the base station should not have a mask angle higher than the remote station mask minus vin The two different controls allow you for a combined RTK Differential base station to set the mask angles higher for RTK which typically operates on shor
60. Table 8 175 UDG Structure for Oblique Mercator urrrrrrrrrrnnnnvnnrrrrrnnnnnnnrnnr 309 Table 8 176 UDG Structure for Stereographic Polar and Oblique 309 Table 8 177 UDG Structure for Lambert CC SPC83 2 std parallels 309 Table 8 178 UDG Structure for Lambert Conic Conformal for SPC27 310 Table 8 179 UDG Structure for Transverse Mercator for SPC27 rrrnnnrnnnnnr 311 Table 8 180 UDG Structure for Transverse Mercator SPC27 Alaska Zone 2 9 311 Table 9 1 Summary of WAAS Commands mrnnvnnrrrornnnnnvnnrnrrennnnrnnrrrrrerrnrnntennr 313 Table 9 2 SBA DAT Parameters mmmmmmmmmmmeeeeeeeerererervrvrrrraravnnnnnnnnenenssresene 314 Table 9 3 WAAS Almanac Structure cccccccecccesseeseeeeeeeseecsseeceeeeeeeeeeeeeeeees 315 Table A 1 Available Geodetic Datums 319 Table A 2 Reference Ellipsoids rrrrrnnrornnnnnannnvrnnnannvnnnrnannnvnnnnnannnnnnnsannnnnnn 321 XXII Introduction Overview This manual provides operation and reference information for the ZXW Sensor and the ZXW Eurocard These two receivers are intended specifically for real time industrial applications such as machine control in construction mining and precision agriculture as well as precision navigation applications such as docking and dredging Both configurations are built to withstand the extremely high vibration requirements in their target application The receivers also provide positions at the very hig
61. The higher the reliability the longer it takes to fix integers The receiver offers three modes for ambiguity fixing a Fixed solution formal reliability 90 b Fixed solution formal reliability 95 c Fixed solution formal reliability 99 default d Fixed solution formal reliability 99 9 The command PASHS CPD AFP controls the ambiguity fix parameter The four choices of formal reliability for fixed solution are provided to allow you to trade off speed with reliability The AFP setting controls the internal thresholds of the receiver so that the expected statistical reliability of getting correctly fixed integers is 90 95 99 or 99 9 respectively The receiver fixes integers faster with AFP 99 than with AFP 99 9 While the receiver is busy fixing integers it gives a float solution Operation under trees or in other areas with frequent blockage of satellites signals will lead to significantly degraded results 76 ZXW Receivers Operation and Reference Manual Monitoring Accuracy Besides fixed float status position accuracy is the most important consideration when using the receiver for real time carrier phase positioning The primary means of monitoring CPD fixed and CPD float accuracy is the RRE message see NMEA section for full description The RRE gives an indication of the overall quality precision of the CPD position by displaying the RMS value of the error of all the range inputs to the position
62. ZX receiver commands If using a modem other than US Robotics refer to modem command MDM in the user manual for more detailed information 1 Select an appropriate baud rate for Port A and modem the baud rate should be identical for Port A and the modem You may have to refer to the user manual if selecting a baud rate other than the default 2 Set Port A for modem use with the command PASHS MDM ON A O baud rate The baud rate field in the command is optional as indicated by the brackets The above command can be sent through serial ports B C or D The receiver acknowledges with the response message PASHR ACK 3 Use the query command PASHQ MDM to verify the setting in step 2 4 Send command PASHS MDM INI to initialize the modem The receiver should respond with the message PASHR MDM INI OK 5 The modem connected to Port A of the receiver is now initialized and ready for communication 6 To establish a communication link the modem on the other end has to dial the modem connected to the receiver ZXW Sensor The sensor version of the receiver Figure 2 5 has three RS 232 input output I O ports embedded in a DB25 connector ports A B and C are available to the user an L1 L2 band RF port and an optional radio RF port The ZXW ZXW Receivers Operation and Reference Manual Sensor also supports an optional PCMCIA card internal for data recording purposes On SERAL PORT SA BC Pym STROBES rind e I
63. accuracy Convergence time is a function of baseline length and number of satellites Differential and RTK Operations 75 Ey bi bi 3 D D 3 Q Kal A in view When the receiver fixes integers accuracy makes a quantum change to centimeter level The POS and GGA messages have fields which indicate whether the receiver is in float or fixed mode Carrier Phase Initialization The time required for carrier phase initialization is a function of base remote baseline length number of satellites in view satellite geometry and required reliability With a large number of satellites in view S7 initialization time can be as low as a few seconds With fewer satellites in view the receiver takes as long as necessary to obtain the required reliability Reliability The process of carrier phase initialization has a non zero probability of error If an error is made the receiver will fix the integers to the wrong value This will result in floating point accuracy typically between 10cm and 1m After an error in fixing integers the receiver automatically detects and corrects the error when the satellite geometry changes This may be as soon as a new Satellite comes into view or in the worst case when the satellites move by a few degrees in the sky which can take from one to more than 10 minutes You can control the reliability that the receiver provides this indirectly controls the speed of carrier phase initialization
64. an individual message enter a value for the send interval as described above when enabling a particular message For example to output the SAT message on port A at 2 second intervals issue the command PASHS NME SAT A ON 2 Note that if you send a PASHS NME PER command after setting the rate for an individual command the PER command will override the rate set for the individual command on all ports When a set command is sent correctly the receiver returns a PASHR ACK command acknowledge message If the command is sent incorrectly or the syntax is wrong the receiver returns a PASHS NAK command not acknowledged message Once acknowledged the receiver outputs the corresponding NMEA data message at the interval defined by the PASHS NME PER command unless a necessary condition for the message to be output is not present For example the GRS message will not be output unless a position is being computed To disable all set NMEA messages issue the PASHS NME ALL command To see what NMEA messages have been enabled and at what interval issue the PASHQ PAR command Example Enable the POS and GGA messages on port A at 5 second intervals and enable the SAT message on port B at 10 second intervals PASHS NME POS A ON lt Enter gt PASHS NME GGA A ON lt Enter gt PASHS NME PER 5 lt Enter gt PASHS NME SAT B ON 10 lt Enter gt Query Commands The general structure of the NMEA query commands is PASHQ s c lt Enter gt wher
65. and the event marker option E is available in the receiver This message is therefore independent of the NMEA period can be output faster or slower than the NMEA period depending on the period of the event Example Enable TTT message on port A PASHS NME TTT A ON lt Enter gt There is no query command for TTT PASHR TTT The response message is in the form shown below and detailed in Table 8 133 PASHR TTT d1 m2 cc lt Enter gt Table 8 133 PASHR TTT Message Structure Parameter Description Range d1 Day of the week 1 Sunday 7 Saturdayt 1 7 m2 GPS time tag in hours minutes and seconds hh mm ss sssssss 0 23 59 59 9999999 cc checksum Example PASHR TTT 3 18 01 33 1200417 AG lt Enter gt UTM UTM Coordinates PASHS NME UTM c s f This command enables disables the output of the UTM coordinates on port c where c is either A B C or D s is ON or OFF and f is the optional output rate parameter in seconds If the output rate is not set the command is output at the rate set by the PASHS NME PER command If no position is being computed this message is not output PASHQ UTM c Query UTM coordinates where c is the optional output serial port The message is not output unless position is being computed Example Send UTM message to the current port PASHQ UTM lt Enter gt Commands 255 O e 3 3 D 3 2 a PASHR UTM The response message is in the form PSHR U
66. as type 1 22 Same as type 3 time and 18 19 and 20 21 cannot be turned on at the same time E All messages can be tuned on simultaneously except Type 1 and 9 cannot be turned on at the same Example Enable type 1 sent out every second PASHS RTC TYP 1 1 lt Enter gt Commands SPUBUIWO0J 275 CPD Commands The CPD commands allow you to control and monitor CPD Carrier Phase Differential operations The commands are either general parameter or query commands base set commands or rover set commands The base set commands are available only if the CPD base option K is installed and the rover set commands are only available if the CPD Rover option J is installed in the receiver In addition using the base to output RTCM type 18 19 or 20 21 requires the B option RTCM Diff Base and using the RTCM types in the rover requires the U option RTCM Diff Rover When these options are enabled the CMR format can also be used Fora more detailed discussion of CPD differential refer to Chapter 4 Understanding RTK CPD Set Commands Through the set commands you can modify and enable a variety of CPD operating parameters Certain set commands are applicable only to the base station and certain set commands only apply to the remote station The general format of the set commands is PASHS CPD s c lt Enter gt where s is the 3 character command identifier and c is the parameter to be set The only exce
67. base station is not tracking satellites properly need more careful definition of not tracking satellite properly 6 7 8 Not used EPB Raw Ephemeris PASHQ EPB d Query for raw ephemeris data output where d is the PRN number If no PRN number is specified data for all available SVs will be output Example Query for raw ephemeris for all available satellites PASHQ EPB lt Enter gt Query ephemeris data for PRN 25 PASHQ EPB 25 lt ENTER gt 186 ZXW Receivers Operation and Reference Manual PASHR EPB The response is the broadcast ephemeris data See the ICD GPS 200 for definition of the Parameters Each subframe word is right justified in a 32 bit long integer The response is in the form PASHR EPB d lt ephemeris structure gt lt Enter gt This message only exists in a binary format if ASCII format is requested default only the header will be sent SPASHR EPB Table 8 77 defines the response format Table 8 77 EPB Response Format Type Size Contents d 2 PRN number struct long 4 Subframe 1 word 1 long 4 Subframe 1 word 2 long 4 Subframe 1 word 3 long 4 Subframe 1 word 4 long 4 Subframe 1 word 5 long 4 Subframe 1 word 6 long 4 Subframe 1 word 7 long 4 Subframe 1 word 8 long 4 Subframe 1 word 9 long 4 Subframe 1 word 10 long 4 Subframe 2 word 1 long 4 Subframe 2 word 2 long 4 Subframe 2 word 3 long
68. base to compute differentially corrected positions This option requires the observables option to be 3 For RTCM messages type 18 19 20 and 21 the U option is required in addition to the J option m 2 ke 3 D E U D Ei Q 3 E 3 Option K RTK Base The K option allows the receiver to act as an RTK base station which outputs carrier phase differential data This option requires the observables option to be 3 For RTCM 18 19 or 21 22 the B option is also required I Instant RTK The I option an extension of the J option allows the receiver to use the RTK system Instant RTK which uses a data processing strategy for integer ambiguity initialization The initialization time using Instant RTK typically requires a single epoch of data if there are 6 or more satellites available with reasonable open sky and low multipath The baseline length should be 7 km or less G Reserved for Future Options Equipment Description 7 H 5 Hz Synchronized RTK The H option enables the receiver to output synchronized or matched time tag RTK positions at a rate up to 5 Hz 5 positions per second 5 Hz synchronized RTK lets you attain the better accuracy of matched time tag RTK with nearly the same productivity as Fast CPD This feature is available only when using DBEN or CMR format data N Reserved for Future Options Option Y SBAS The Y option allows SBAS raw data messages SBAS almanac messages
69. be sent to port B The format of the response message may either be in a comma delimited format or in a free form table format depending upon the query command Note that not every set command has a corresponding query command The most useful query command to check the general status of most receiver parameters is PASHQ PAR lt Enter gt Table 8 2 lists the receiver commands alphabetically by function and then alphabetically within each function Each command is described in detail in alphabetical order in the pages following the table Table 8 2 Receiver Commands Command Description Page ANTENNA POSITION PASHS ALT Set ellipsoidal height of antenna 111 PASHS POS Set position of antenna 143 DATA RECORDING PASHS DOI Sets raw data output interval 117 PASHS DRI Sets PCMCIA card data recording interval 118 PASHS DSC Store event or attribute string 118 PASHS ELM Set recording satellite elevation angle mask PASHS EPG Sets the epoch counter for kinematic survey PASHS MSV Sets minimum number of Svs for recording PASHS RCI Set data recording interval PASHS REC Enable disable data recording raw data output interval PASHS RNG Set data recording type DILUTION OF PRECISION DOP PASHS HDP Set HDOP mask for position computation PASHS PDP Set PDOP mask for position computation PASHS VDP Set VDOP mask for position computation PCMCIA CARD FILE MANAGEMENT PASHS C
70. can be mixed to meet the system accuracy requirements and the radio bandwidth requirements Table 6 3 lists the recommended message schedules Table 6 3 Default RTCM Message Schedules Message Type Interval seconds 1 5 2 0 off 3 60 1 minute 6 Off 5 z 16 Off v 18 19 1 U 20 21 1 22 60 1 minute For CPD RTK application only you can turn on type 3 and or 22 and type 18 19 or 20 21 only Instant RTK When the Instant RTK firmware is installed you can choose the I option which significantly improves the ambiguity fix performance The integer ambiguities can be initialized instantaneously most of the time if 6 or more satellites are used with reasonable open sky Three reliability levels can be chosen 95 99 default and 99 9 A reliability setting other than these three levels will automatically go to the Understanding RTK CPD 91 default option Table 6 4 shows the percentage of ambiguity initialization using a single epoch based on over 100 000 ambiguity fix tests at various baseline lengths up to eight kilometers Table 6 4 Percentage of Ambiguity Initialization Using a Single Epoch Six Satellites Seven Satellites Eight Satellites or More or More or More Reliability Level 95 0 92 06 95 46 98 92 99 0 87 22 92 01 97 27 99 9 80 65 87 09 95 51 CMR Format Compact Measurement Record or CMR format is a non proprietary RTK format that
71. cc checksum The altitude is either ellipsoidal default or geoidal mean sea level depending upon the selection made with PASHS HGT The geoidal separation subtracted from the ellipsoidal altitude gives the geoidal altitude 218 ZXW Receivers Operation and Reference Manual Example PASHR GDC 015151 00 EMER 588757 623 4136720 056 2 04 03 8 00012 123 M 031 711 M 14 1010 W84 2A lt Enter gt where the message parameters are as described in Table 8 98 Table 8 98 Typical GDC Response Message Item Description 015151 00 UTM time EMER Equatorial Mercator map projection 588757 623 User Grid easting coordinate x 4136720 056 User Grid northing coordinate y 2 RTCM differential position 04 Number of SVs used to compute position 03 8 HDOP 00012 123 Altitude of position M Altitude units M meters 031 711 Geoidal separation w r t selected datum M geoidal separation units M meters 014 age of corrections 1010 Differential Station ID W84 Datum is WGS 84 2A checksum Commands 219 SPUBUIWO0J GGA GPS Position Message PASHS NME GGA c s f This command enables disables the GPS position message on port c where c is either A B C or D s is ON or OFF and f is the optional output rate parameter in seconds If the output rate is not set the command is output at the rate set by the PASHS NME PER command If no position is computed the
72. fix 3 12 m3 Current UTC time of position fix hhmmss ss 00 235959 90 m4 Latitude component of position in degrees and decimal 0 90 minutes ddmm mmmmmm c5 Latitude sector N North S South NorS m6 Longitude component of position in degrees and decimal minutes dddmm mmmmmm 0 180 c7 Longitude sector E East W West WorE f8 Altitude above selected datum in meters For 2 D position 1000 000 to computation this item contains the altitude held fixed 18000 000 fo reserved f10 True track course over ground in degrees 0 359 9 f11 Speed over ground in knots 0 999 9 f12 Vertical velocity in meters per second 999 9 f13 PDOP position dilution of precision 0 99 9 f14 HDOP horizontal dilution of precision 0 99 9 f15 VDOP vertical dilution of precision 0 99 9 f16 TDOP time dilution of precision 0 99 9 s17 Firmware version ID 4 char string Kee checksum The altitude is either ellipsoidal default or geoidal mean sea level depending on the selection made with PASHS HGT The geoidal separation when subtracted from the ellipsoidal altitude gives the geoidal altitude 244 ZXW Receivers Operation and Reference Manual Example Query PASHQ POS lt Enter gt Typical POS response message PASHR POS 0 06 214619 50 3722 385158 N 12159 833768 W 00043 110 331 0 000 7 000 0 02 7 01 2 02 4 01 6 UC00 6C lt Enter gt Table 8 123 describes each item in a typical POS message Table 8 123 Typical POS Message
73. i0 inclination angle at reference time semicircles 0 9 9999999E 99 f6 omegadot the rate of right ascension semicircles sec 9 9999999E 99 f7 roota the square root of semi major axis meters 1 2 0 9 9999999E 99 f8 omega0 the longitude of the ascension node semicircle 9 9999999E 99 f9 the argument of perigee semicircle 9 9999999E 99 f10 MO the mean anomaly at reference time semicircle 9 9999999E 99 f11 afo clock parameter in seconds 9 9999999E 99 f12 afi clock parameter sec sec 0 9 9999999E 99 d13 wn GPS almanac week number 4 digits cc checksum in hex hex Example Query PASHQ DAL lt Enter gt Typical DAL response message PASHR DAL 01 00 3 7240982E03 061440 3 0392534E 01 2 5465852E 09 5 1536646E03 1 6172159E 01 5 0029719E 01 2 7568674E 01 1 6212463E 05 0 0000000E00 0899 51 lt Enter gt Table 8 94 describes the typical DAL response message 212 ZXW Receivers Operation and Reference Manual Table 8 94 Typical DAL Message Item Significance PASHR DAL Header 01 Satellite PRN number 00 Satellite health 3 7240982E03 Eccentricity 061440 Reference time for orbit 3 0392534E 01 Inclination angle 2 5465852E 09 Rate of right ascension 5 1536646E03 Square root of semi major axis 1 6172159E 01 Argument of perigree 5 0029719E 01 Longitude of ascension mode 2 7568674E 01 Mean anomaly 1 6212463E 05 Clock parameter 0 0000000E00 Clock parameter
74. in it is in complete or illegible or if the serial number is altered or removed Magellan Navigation will not be re sponsible for any losses or damage to the product incurred while the product is in transit or is being shipped for repair Insurance is recommended Ma gellan Navigation suggests using a trackable ship ping method such as UPS or FedEx when returning a product for service EXCEPT AS SET FORTH IN THIS LIMITED WAR RANTY ALL OTHER EXPRESSED OR IMPLIED WARRANTIES INCLUDING THOSE OF FITNESS FOR ANY PARTICULAR PURPOSE MERCHANT ABILITY OR NON INFRINGEMENT ARE HERE BY DISCLAIMED AND IF APPLICABLE IMPLIED WARRANTIES UNDER ARTICLE 35 OF THE UNITED NATIONS CONVENTION ON CON TRACTS FOR THE INTERNATIONAL SALE OF GOODS Some national state or local laws do not allow limitations on implied warranty or how long an implied warranty lasts so the above limitation may not apply to you The following are excluded from the warranty cov erage 1 periodic maintenance and repair or re placement of parts due to normal wear and tear 2 batteries and finishes 3 installations or defects re sulting from installation 4 any damage caused by i shipping misuse abuse negligence tampering or improper use ii disasters such as fire flood wind and lightning iii unauthorized attachments or modification 5 service performed or attempted by anyone other than an authorized Magellan Nav igations Service Center 6 any pro
75. in the form PASHR PPS d1 f2 c3 cc lt Enter gt where Table 8 40 defines the structure Table 8 40 PPS Response Structure Parameter Description di Period Range from 0 to 60 0 f2 Offset Range from 999 9999 to 999 9999 c3 Edge R rising edge or F falling edge cc Checksum PRT Port Setting PASHQ PRT c Display the baud rate setting for the connected communication port where c is the optional output port Note that to direct the response message to the current communication port c is not required Example Query the baud rate of the current port PASHQ PRT lt Enter gt PASHR PRT 146 ZXW Receivers Operation and Reference Manual The response is a message in the format PASHR PRT c1 d2 cc lt Enter gt Table 8 41 PRT Response Structure Parameter Description Range ci Serial port A D d2 Baud rate code 0 9 See table below cc Checksum n a Table 8 42 Baud Rate Codes Code Baud Rate Code aud Rate 0 300 5 9600 1 600 6 19200 2 1200 7 38400 3 2400 8 56800 4 4800 9 115200 PWR Sleep Mode PASHS PWR off Direct the receiver to immediately go into sleep mode Once a receiver is in sleep mode any character issued through any port will restore normal operation Example Put receiver into sleep mode PASHS PWR OFF lt Enter gt This command doesn t apply to ZXW Eurocard since the power supply is external to
76. is transmitted every 30 seconds The response message is in the form shown below and defined in Table 8 75 PASHR BPS m1 c2 m3 c4 f5 f6 f7 f8 m3 f9 s10 cc lt CR gt lt LF gt Table 8 75 BPS Message Structure Field Description Range m1 Latitude degrees decimal minutes 0 89 9999999 c2 Latitude direction N S m2 Latitude degrees decimal minutes 0 179 9999999 c5 Longitude direction EW f5 Altitude meters 99999 9999 f6 Antenna slant height meters 0 6 400 f7 Antenna radius in meters 0 6 400 f8 Antenna vertical offset in meters 99 9999 99 9999 m3 Antenna horizontal offset azimuth degree decimal minutes 0 359 99 f9 Antenna horizontal offset meters 0 99 9999 s10 Status byte in HEX LL cc checksum SPUBUIWO0J Commands 185 The s10 parameter is a hex coded one byte of status flag where the meaning is as shown in Table 8 76 Table 8 76 BPS Status Byte Definition Bit Description 1 LSB Base station coordinate is not entered 2 Base station antenna offset is not entered This is questionable In some cases the user will choose to enter the antenna phase center coordinates then the antenna offsets are all zeros 3 The base station is not computing position with raw pseudo ranges 4 The entered coordinates are more than 500 meters different in each direction from the computed position based on the raw pseudo ranges 5 The
77. it uses the carrier phase measurement to generate the range measurements to centimeter accuracy The receiver can measure the fractional part of the carrier phase to centimeter accuracy it derives the integer number of full carrier phase wavelengths by processing both the carrier and code phase measurements This process of deriving the integer numbers is known as integer ambiguity resolution or carrier phase initialization This carrier phase initialization is only necessary following power on or after the receiver has lost lock on the satellites e g after passing under a bridge The receiver performs carrier phase initialization automatically The receiver does not have to be stationary while initializing Once the receiver is initialized it will provide centimeter level accuracy while moving in real time The time for carrier phase initialization is a few seconds up to several minutes depending on baseline length number of satellites in view and required reliability these are discussed in the next section During the carrier phase initialization the receiver is said to be in float mode once initialization is complete the receiver is said to be in fixed mode This terminology derives from computer terminology floating point numbers real numbers and fixed numbers integers When in float mode the accuracy will range from Differential accuracy 1m down to sub decimeter The longer the receiver has been in float mode the higher the
78. mean sea level M Units of altitude M meters 032 121 Geoidal separation M Units of geoidal separation M meters 014 Age of correction 0000 Base station ID 775 checksum ZXW Receivers Operation and Reference Manual GLL Latitude Longitude Message PASHS NME GLL c s f This command enables disables the latitude longitude response message where c is port A B C or D s is ON or OFF and f is the optional output rate parameter in seconds If the output rate is not set the command is output at the rate set by the PASHS NME PER command If no position is computed the message is output with the position related fields empty Example Enable GLL message on port A PASHS NME GLL A ON lt Enter gt PASHQ GLL c Query GLL where c is the optional output serial port Example PASHQ GLL lt Enter gt GPGLL The GLL response message is in the form shown below and defined in Table 8 101 GPGLL m1 c2 m3 c4 m5 c6 cc lt Enter gt Table 8 101 GLL Message Structure Parameters Description Range mi Position latitude in degrees and decimal minutes ddmm mmmmmm 0 90 c2 Direction of latitude N North S South N S m3 Position longitude in degrees and decimal minutes dddmm mmmmmm _ 0 180 c4 Direction of longitude W West E East W E m5 UTC time of position in hours minutes and seconds hhmmss ss 00 235959 90 c6 Status A valid V invalid A V cc Checksum If th
79. message For each NMEA message type there is a set command a query command and a response message The set command is used to continuously output the NMEA response message The period of the output is set by the PASHS NME PER command or by adding a period value at the end of the set command for the individual message See Set Commands below for more details The query command outputs an NMEA response only once Set Commands The general structure of the NMEA set commands is PASHS NME str c s f lt Enter gt where str is a 3 character strings that identifies the NMEA message to be output The available strings are ALM CRT DAL DCR DPO GDG GGA GLL GRS GSA GSN GST GSV GXP MSG POS PTT RMC RRE SAT TTT UTM VTG XDR and ZDA c is the serial port to which response message should be sent A B C or D and s is either ON or OFF ON starts the message output OFF disables the message f is an optional parameter that sets the send interval of the message in seconds The range is 0 1 to 999 seconds 202 ZXW Receivers Operation and Reference Manual The output rate of NMEA messages can be set individually for each message in each port or as a single rate that will govern the output rate of all enabled messages To set the output of all NMEA messages to the same send interval issue the command PASHS NME PER f where f is the send interval in seconds with a range of 0 1 to 999 seconds To set the output rate for
80. message will be output but the position related fields will be empty Example Enable GGA on port A PASHS NME GGA A ON lt Enter gt PASHQ GGA c Query the GPS position message where c is the receiver port where the message will be output If no position is computed the message will be output but the position related fields will be empty Example PASHQ GGA lt Enter gt GPGGA The GGA response message is in the form GPGGA m1 m2 c3 m4 c5 d6 d7 f8 f9 M f10 M f11 d12 cc lt Enter gt Table 8 99 GGA Message Structure Parameter Description Range m1 Current UTC time of position fix in hours minutes and seconds 00 235959 90 hhmmss ss m2 Latitude component of position in degrees and decimal minutes 0 90 ddmm mmmmmm c3 Direction of latitude N North S South N S m4 Longitudinal component of position in degrees and decimal minutes 0 180 dddmm mmmmmm Ch Direction of longitude E East W West E W d6 Position type 0 1 2 3 0 Position not available or invalid 1 Autonomous position 2 RTCM differential corrected position or CPD float position 3 CPD fixed position d7 Number of GPS satellites being used in the position computation 3 12 f8 Horizontal dilution of precision HDOP 0 99 9 220 ZXW Receivers Operation and Reference Manual Table 8 99 GGA Message Structure continued Parameter Description Range f9 Geoidal Height Altit
81. messages are UBN and OBN The UBN message gives CPD position velocity and statistical information in binary format The OBN message gives CPD vector and site information in binary format Vector Solution Output This capability allows you to log vector solutions containing the same information as post processed vector output files O file allowing the position solutions to be imported into an adjustment program Your RTK solutions may then be included as part of a least squares network adjustment To use this option a valid site name must be entered check by using the PASHQ RAW command and the rover s GPS antenna must remain stationary until the site name has been changed to If the GPS antenna is moving with a site name entered the vector solution will not be valid If no site name is entered the vector solution will not be created Note that a site name must be entered at the base station as well Understanding RTK CPD 83 D 4 Fa 9 a D Solution Storage The CPD solution can be stored in receiver memory in Ranger mode 2 or Ranger mode 4 If your receiver has a PC data card you can store the raw measurements and the solution information into the receiver s PC data card These data can then be downloaded to a PC into B C E and S file format via Magellan s Download program at a later time e To create delete files use PASHS FIL command e To select file storage type use PASHS RNG command e To ch
82. milliseconds of week char 4 Site_ID 32 Receiver site ID char Num_Svs 0 12 4 Number of satellites used in CPD position computation unsigned PDOP 0 100 0 1 10 PDOP short double Lat_N sign e 9 deg e 4 m 1 Rover position deg 0 90 7 latitude north frac 0 1 30 double Lon E deg 0 360 e 9 deg e 4 m 9 Rover position frac 0 1 30 longitude east double EH sign 1 0 0001 m 1 Rover position data 29 ellipsoid height in 1km 18km meters float Position 0 100 m 0 001 m 17 Standard deviation of RMS position error float Sigma N 0 1 0 1 8 Standard deviation of RMS latitude componeny position RMS float Sigma E 0 1 0 1 8 Standard deviation of RMS longitude component position RMS float Sigma U 0 1 0 1 8 Standard deviation of RMS ellipsoid height component position RMS float Cor EN 0 5 0 5 1 8 Cross correlation of RMS lat and lon RMS 174 ZXW Receivers Operation and Reference Manual Table 8 65 CBN Message Siructure Binary Format continued gt Compress Description Data Type Symbol Range Resolution Num Bits float Corr EU 0 5 0 5 1 8 Cross correlation of RMS lon and height RMS2 float Corr NU 0 5 0 5 1 8 Cross correlation of RMS lat and height RMS char FLAG 0 256 8 Solution type bitwise flag Total bytes for the first part 32 float Vel E sign 0 001 m s 1 Velocity of east data 500 m s 20 direction float Vel_N sign 10 001 m s 1 Velocity
83. of messages e RTCM standard 18 amp 19 plus 3 amp 22 e RTCM standard 20 amp 21 plus 3 amp 22 e Magellan standard DBN RTCM 18 amp 19 You must have both B and K options installed on the receiver Send the commands listed in Table 5 2 to the receiver to generate RTCM RTK message types 3 18 19 and 22 Table 5 2 RTK Base Station Commands Types 18 and 19 Command Description PASHS RST Reset the receiver to factory defaults PASHS ELM 9 Set the RTK Base mask to nine degrees PASHS POS ddmm mmm d Enter the phase center of the antenna if ANR is OFF or the ground dddmm mmm d saaaaa aa mark if ANR is ON or CPD Enter the latitude longitude and height of the survey mark NOTE If this is the position of the antenna phase center set PASHS ANR to OFF PASHS RTC BAS B Turn on RTCM corrections on port B When this command is sent a base station automatically sends RTCM message type 1 continuously PASHS RTC TYP 1 0 Turn off RTCM message type 1 PASHS RTC TYP 3 1 Turn on RTCM message type 3 PASHS RTC TYP 18 1 Turn on RTCM message type 18 amp 19 PASHS RTC TYP 22 1 Turn on RTCM message type 22 PASHS RTC SPD 9 Set internal bit rate for corrections to burst mode PASHS SAV Y Save settings The receiver is set as a base station which transmits RTCM messages types 18 and 19 every second and types 3 and 22 every minute Following a power cycle the receiver automaticall
84. of the receiver serial ports into any directory on the computer e Load the PCMCIA card into a PCMCIA drive and download the data to any directory on the computer e Load the PCMCIA card into a PCMCIA drive in your computer and copy the file MICRO_Z BIN to your hard disk Then use Download to convert the file into usable data files The U file is a compressed file format and is not usable until converted using Download A Standalone version of Download is available in the Software GPS Toolkit folder on our ftp site at ftp ftp magellangps com 44 ZXW Receivers Operation and Reference Manual Synchronization to GPS Time All GPS receivers contain internal clocks These clocks are of varying quality and for cost reasons are not generally accurate enough to be precisely synchronized to GPS system time or true GPS time The effect of receiver clock error shows up in two places First it affects the instant in time when measurement snapshots are taken and second it introduces errors in the values of the measurements themselves This means that two receivers at the same location zero baseline but with different clock errors will among other things provide different position measurements Similarly if two receivers are moving together their position measurements would be different because each receiver will report a position for a snapshot taken at a different time Fortunately if a receiver obtains measurements from four or
85. one coverage area to another Automatic operation is achieved by using two independent WAAS channels Channel 1 tracks the best available WAAS signal and channel 2 scans for other available WAAS satellite signals maintaining a WAAS satellite directory in battery backed memory The quality signal strength elevation etc of the WAAS satellite tracked on channel 1 is compared to a set quality threshold When the quality of the signal on channel 1 is determined to be less than the set qualiity threshold the receiver checks the quality if any on channel 2 If channel 2 is determined to have a better signal the receiver switches to that channel If however the signal on channel 1 drops below the desired threshold and channel 2 is not tracking a better for any other WAAS signal the receiver continues to use the current WAAS satellite NOTE Best WAAS satellite is based collectively on satellite SNR elevation angle continuity of reception etc Dual Automatic Mode In Dual Automatic mode the receiver automatically detects all available WAAS signals and selects the best two Channel 1 tracks the best signal after which channel 2 tracks the second best signal Since there is no other WAAS channel the receiver has no capability to scan for other better WAAS signals Therefore the receiver continues to track these two WAAS signals as long as it is able If the signal on one of the channels is lost this channel scans the available frequencies
86. solution The RRE message also gives a real time estimate of the actual error in the CPD position in horizontal error and vertical error The actual position error of the system will be less than the standard deviations displayed in the RRE approximately 68 of the time If you multiply the standard deviations by 2 the result is a conservative estimate of actual accuracy about 95 of the time The quality of the RRE estimates improve with increasing number of satellites The RRE estimates may be very unreliable with only 5 satellites in view The horizontal estimates are derived from LatError LonError GST estimates of latitude longitude and altitude accuracy automatically account for DOP SNR and many other factors These parameters are built into the GST estimate already and do not have to be recomputed by the user Required Number of Satellites The receiver requires five or more satellites to fix integers following power on or obstruction and re acquisition H the solution is fixed with five or more satellites and the number of satellites falls below five but stays above three the solution stays fixed and accuracy remains at the centimeter level Positions are always three dimensional when in RTK mode Two dimensional positions using previously calculated altitudes are not possible Mask Angles At the remote station the position elevation mask is always controlled by PASHS PEM whether the receiver is in Differenti
87. the serial port where f1 is any value between 0 1 and 999 seconds The default is 20 0 seconds Values between 1 second and 999 seconds can only increment in 1 second intervals For example 20 1 seconds is not a valid value Example Set the data output interval to 5 seconds PASHS DOI 5 lt Enter gt The PASHS RCI command overrides this command See also the commands PASHS DRI and PASHS RCI Commands 117 al e 3 3 D 3 2 a DRI Data Recording Interval PASHS DRI f1 Sets the recording interval of data to the PCMCIA card where f1 is any value between 0 1 and 999 seconds The default is 20 0 seconds Values between 1 second and 999 seconds can only increment in 1 second intervals For example 20 1 seconds is not a valid value Example Set the data recording interval to 5 seconds PASHS DRI 5 lt Enter gt The PASHS RCI command overrides this command DSC Store Event String PASHS DSC s Store a string as event datum to current open session in receiver where s is a character string up to 80 characters The string is stored in the D file with a time tag Example Set the string LightPole to the receiver PASHS DSC LIGHTPOLE lt Enter gt DSY Daisy Chain PASHS DSY c1 c2 or PASHS DSY OFF Redirects all characters from one serial port to another without interpreting them where c1 is the source port and c2 is the destination port Any combination may be chosen This command is used pri
88. thereto Magellan Navigation s sole obligation shall be the correction or replacement of the media or the software so that it will substantially conform to the then current user documentation Magellan Navi gation does not warrant the software will meet pur chaser s requirements or that its operation will be uninterrupted error free or virus free Purchaser assumes the entire risk of using the software 2 PURCHASER S REMEDY PURCHASER S EXCLUSIVE REMEDY UNDER THIS WRITTEN WARRANTY OR ANY IMPLIED WARRANTY SHALL BE LIMITED TO THE REPAIR OR REPLACEMENT AT MAGELLAN NAVIGA TION S OPTION OF ANY DEFECTIVE PART OF THE RECEIVER OR ACCESSORIES WHICH ARE COVERED BY THIS WARRANTY REPAIRS UN DER THIS WARRANTY SHALL ONLY BE MADE AT AN AUTHORIZED MAGELLAN NAVIGATION SERVICE CENTER ANY REPAIRS BY A SER VICE CENTER NOT AUTHORIZED BY MAGEL LAN NAVIGATION WILL VOID THIS WARRANTY 3 PURCHASER S DUTIES To obtain service contact and return the product with a copy of the original sales receipt to the dealer from whom you purchased the product Magellan Navigation reserves the right to refuse to provide service free of charge if the sales receipt is not provided or if the information contained in it is in complete or illegible or if the serial number is altered or removed Magellan Navigation will not be re sponsible for any losses or damage to the product incurred while the product is in transit or is being shipped for repair Insurance
89. to determine the best signal available for tracking Demodulated data from both channels is available for output Manual Mode In Manual mode the receiver searches for and tracks the user selected WAAS satellite comprising either one Single mode or two Dual mode satellites Single Manual mode is selected by the PASHS SBA MAN xx command Dual Manual mode is selected by the PASHS SBA MAN xx yy command where xx and yy are two digit WAAS satellite PRN numbers In Single Manual mode only one channel is reserved for WAAS satellite tracking The receiver searches for and tracks the specified WAAS satellite PRN xx on channel 1 In Dual Manual mode the receiver searches for and tracks two user specified satellites PRN xx and PRN yy on channel 1 and channel 2 respectively SBAS Commands 317 spuewwod SygS In Single Manual mode demodulated WAAS data from channel 1 is available for output whereas in Dual Manual mode the demodulated WAAS data from both channels is available for output SSO Set SBAS Satellite Search Order PASHS SBA SSO This command changes the satellite search order The structure is PASHS SBA SSO s1 s2 where s1 s2 are the satellite ID numbers ranging from 33 to 64 which are searched first The numbers 33 to 64 are in accordance with NMEA standard The SBAS system PRN numbers range from 120 to 138 The offset from SBAS SV ID to SBAS PRN number is 87 Add 87 to the SV ID to derive the SBAS PRN nu
90. xxx 0 999 f10 Velocity vector X component in meters sec xxx 0 999 f11 Receiver clock drift in meters x xxx 9 999 f12 PDOP Position Dilution of Precision 0 99 9 f13 HDOP Horizontal Dilution of Precision 0 99 9 f14 VDOP Vertical Dilution of Precision 0 99 9 f15 TDOP Time Dilution of Precision 0 99 9 s16 Firmware version ID 4 character string cc Checksum 214 ZXW Receivers Operation and Reference Manual DPO Delta Position Message PASHS NME DPO c s f This command enables disables the output of the delta position message where c is the port s is ON or OFF and f is an optional output rate parameter in seconds If the output rate parameter is not set the command is output at the rate set by the PASHS NME PER command The DPO message outputs the computed vector solution in northing easting and up coordinates If no position is computed the message is output with the position related fields empty Example Enable DPO message on port A PASHS NME DPO A ON lt Enter gt PASHQ DPO c Query the DPO message where c is the optional output serial port Example Query the DPO message output to port A PASHQ CRT A lt Enter gt PASHR DPO The DPO response message is in the form PASHR DPO c1 d2 m3 f4 c5 f6 c7 f8 c9 f10 f11 f12 f13 f14 f15 f16 sI7 cc where the message parameters are as defined in Table 8 96 Commands 215 O e 3 3 D E 2 a Table 8 96 DPO Message Structure
91. 1 external communication 2 F fast RTK mode 00 63 FAT tee hoa ess 115 128 HIE tte lth ste oe bk ae aaa 120 Index file index number 121 file name 00 eee eee ee 122 ME SZE sree Chee ne BY ate ee BA 122 firmware iosi oree 0 cece eee ee eee 19 firmware version 244 FIX une 121 PES 8 steker 121 forced air cooling 14 ESS iset ske gb 123 G GAIN 2x 5 bek ee bok bn eo Mains 8 12 GEO rense se 306 geodetic coordinates 93 geoidal separation 244 EIE i EE 69 70 EIB DEE 69 70 GES sista das Ana 41 246 GbGoUTCG 2 00 00 129 grid coordinates 93 ground plane 04 283 ground plate 53 EIS ise ee Rats baleen theese hes 224 GSN WEE 229 GSV EE 231 GXP h n ea kb as 234 H handshaking 114 117 Il KEE ER 124 HGT ra cad eee e eine 306 humidity a esp hk ate Ps Wee FSS 125 l ICD GPS 200 0005 129 IEEE opreegen 83 IN t iere hide ace Seet 25 27 127 initialization 33 initialization time 7 integer ambiguity resolution 75 IODE prai eiee E o Ea EE A 237 ION WEE 128 327 Kalman eet bode estere es 300 L EE E NREN 1 116 REKT EE 2 LLP ase og erect EE 14 L1 L2 band juss eee bed wae 2 EY nn benkene ei end 1 116 L21227 MHZ Ee Ee de date 2 lateney see dE ee ae 72 92 latitude error 2 2 eee eee eee 231 e 94 LOBE WEE 94 LN
92. 1 Ez ry X Ay 1 mx10 By 1 Be Z 5 AZ Er 1 Z where e e expressed in radians similarly for e and erz Example Define local datum as the WGS 72 datum Send the following commands to the receiver PASHS UDD 0 6378135 0 298 26 0 0 4 5 0 0 0 554 0 23 PASHS DTM UDD This implements the transformations listed in Table 7 2 and below Table 7 2 Ellipsoid Parameters for WGS 72 and WGS 84 Reference Datum Ellipsoid a m 1 f WGS 72 WGS 72 6378135 0 298 26 WGS 84 WGS 84 6378137 0 298 257223563 Ax Ay 0 Az 4 5 meters m 0 23 x 10 6 er amp x 8y 0 amp 7 2 686 x 10 6 radians 07554 5 in the following equation g D x 0 i 1 2 686x10 0 x d 1 0 23x10 y 0 0 686x10 1 ou ZIWGS84 4 5 0 0 1 LZ 1wGs72 After issuing the PASHS DTM UDD command the receiver internally transforms positions from the reference datum WGS 84 to the user defined datum In standard text books however the datum transformations are given from local datums to WGS 84 To simplify entering the transformation parameters the translation rotation and scale parameters are defined from the local datum to WGS 84 Coordinate Transformation 95 Figure 7 1 illustrates the change in the coordinate systems Ywass4 Ywes72 Xwes72 927864 Figure 7 1 Rotation and Translation Between Coordinate Systems After transforming the datum the receiver computes geodetic coordinates in the defined sy
93. 1209 6 5 0 036 23200 008 THIS IS A MESSAGE SENT FROM BASE cc lt Enter gt NMO NMEA Message Output Settings PASHQ NMO c This command queries the NMEA message settings of port c where c can be A B C or D The output will be sent to the current port Example Query the receiver for the NEMA message settings of port B PASHQ NMO B lt Enter gt PASHR NMO The NMO response message is in the form PASHR NMO c1 d2 f3 d4 25 s5 f6 cc where parameters s5 and f6 are repeated 25 times once for each NMEA message type O e 3 3 D 3 2 a Commands 241 Table 8 121 defines the parameters in an NMO message Table 8 121 NMO Message Structure Parameter Description ci port d2 Baud rate code see Table 8 42 page 147 for codes f3 PER setting 0 0 999 0 d4 Number of NMEA messages settings to report 25 s5 NMEA message type GLL GXP GGA VTG GSN ALM MSG DAL GSA GSV TTT RRE GRS UTM POS SAT XDR GDC RMC PTT ZDA DPO DCR CRT GST f6 Output rate seconds 0 message is not enabled 0 1 to 999 0 PER Set NMEA Send Interval PASHS NME PER f Set send interval of the NMEA response messages in seconds where f is a value between 0 1 and 999 Values between 0 1 and 1 can be set at 0 1 second increments Values between 1 and 999 can be set at 1 second intervals Value 0 7 is not available Example Output NMEA messages every 5 seconds PASHS NME PER 5 lt Enter gt If the f
94. 121 PASHS PEM Set elevation mask for position computation 140 PASHS SEM Set secondary elevation mask 152 PASHS PMD Set position computation mode 142 PASHS PPO Set point positioning mode 145 Commands 107 O e 3 3 D 3 2 a Table 8 2 Receiver Commands continued Command Description Page PASHS UNH Omit include unhealthy satellites for position computation 162 POWER BATTERY PARAMETERS PASHS POW Set battery parameters 144 PASHQ POW Query battery parameters 144 PASHS PWR Put receiver to sleep 147 RECEIVER CONFIGURATION PASHS BEEP Enable Disable LED and warning beep 114 PASHQ BEEP Query LED and Warning beep setting 114 PASHS CTS Enable disable hardware handshake 117 PASHQ CTS Query hardware handshake status Walks PASHS DSY Configure serial ports as daisy chain 118 PASHS LPS Set loop parameters 130 PASHQ LPS Query loop parameter settings 130 PASHS LTZ Set local time zone 131 PASHS MDM Set modem parameters 131 PASHS MDM INI Initialize modem communication 133 PASHQ MDM Query modem parameters 132 PASHQ PAR Request current settings of receiver parameters 137 PASHQ PRT Query port setting 146 PASHQ RAW Request port baud rate 195 PASHQ RID Request receiver data recording settings 149 PASHQ SID Request receiver identification 156 PASHS SPD Query receiver serial number 156 PASHS TST Set baud rate of serial port 161 SATELLITE IN
95. 15 cc lt Enter gt Table 8 90 ALM Response Message Parameter Description Range di 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 Eccentricity In ASCII Hex 4 bytes h7 toe Almanac reference time seconds In ASCII Hex 2 bytes h8 lo Inclination angle semicircles In ASCII Hex 4 bytes h9 OMEGADOT Rate of ascension semicircles sec In ASCII Hex 4 bytes h10 A Square Root of semi major axis Meters amp 1 2 In ASCII Hex 6 bytes h11 Om Argument of perigee semicircle In ASCII Hex 6 bytes h12 OMEGA0 Longitude of ascension mode semicircle In ASCII Hex 6 bytes h13 Mo Mean anomaly semicircle In ASCII Hex 6 bytes h14 afo Clock parameter seconds In ASCII Hex 3 bytes h15 af1 Clock parameter sec sec In ASCII Hex 3 bytes cc Checksum Example Query PASHQ ALM lt Enter gt Commands 207 SPUBUIWO0J Response GPALM 26 01 01 0899 00 1E8C 24 080B FD49 A10D58 EB4562 BFEF85 227A5B 011 000 0B lt Enter gt Table 8 91 describes a typical ALM response message Table 8 91 Typical ALM Response Message Item Significance GPALM Header 26 Total number of messages 01 Number of this message 01 Satellite PRN Number 0899 GPS week number 00 Satellite Health 1E8C Eccentricity 24 Alma
96. 269 PASHS RTC EOT Controls end of message characters 269 PASHS RTC MSG Defines RTCM type 16 message 271 PASHS RTC IOD Set ephemeris data update for RTCM base 270 PASHQ RTC MSI Query RTCM message status 271 PASHS RTC SPD Sets bit rate of base station 274 PASHS RTC STH Sets health of base station 275 PASHS RTC TYP Sets message type and message period 269 REMOTE PASHS RTC AUT Turns auto differential mode on or off 269 PASHS RTC MAX Sets maximum age of RTCM differential corrections 270 PASHS RTC QAF Sets communication quality threshold 272 PASHS RTC REM Sets receiver to operate as differential remote station 272 PASHS RTC SEQ Checks sequence number of received messages 273 GENERAL PASHS RTC INI Resets RTCM internal operation 270 PASHS RTC OFF Disables differential mode 272 PASHS RTC STI Sets station identification of base or remote 274 PASHQ RTC Requests differential mode parameters and status 266 Commands 265 al e 3 3 D 3 2 a Query RTCM Status PASHQ RTC c Query RTCM differential status where c is the optional serial port Example Query receiver for RTCM status PASHQ RTC lt Enter gt The return message is a free form format A typical response is shown below STATUS SYNC TYPE 00 STID 0000 STHE 0 AGE 000 QA 100 00 OFFSET 00 SETUP MODE OFF PORT A AUT N CODE C A SPD 0300 ST1 0000 STH 0 10D 030 MAX 0060 QAF 100 SEQ N TYPE 123 2 UNITS 1 60 60 60 110 1 1 MSG
97. 27 d28 d29 d30 d31 182 f83 f84 f85 d36 ccc lt Enter gt Table 8 79 defines the parameters Table 8 79 MPC Message Structure ASCII Format Parameter Significance Units Range di Sequence tag This is the time tag used to 50 ms 0 36000 associate all structures with one epoch It is in units of 50 ms and modulo 30 minutes d2 Number of remaining structures 0 11 d3 SV PRN number 1 32 d4 Satellite elevation degrees 0 90 d5 Satellite azimuth degrees 0 360 d6 Channel index 1 12 C A Code Data Block d7 Warning flag see Table 8 80 0 255 d8 Good bad flag see Table 8 81 22 24 d9 5 for backwards compatibility 5 d10 signal to noise indicator dB Hz 30 60 d11 spare 0 f12 Full carrier phase cycles 999999999 9 f13 Code transmit time ms 0 999999999 9 f14 Doppler measurement 10 4 Hz 99999 99999 f15 Range smoothing correction Raw range minus meters 0 99 99 smoothed range d16 Range smoothing quality 0 200 PL1 Code Data Block di7 Warning flag see Table 8 80 0 255 d18 Good bad flag see Table 8 81 22 24 d19 5 for backward compatibility 5 d20 Signal to noise indicator dB Hz 30 60 d21 spare f22 Full carrier phase cycles 0 999999999 999 190 ZXW Receivers Operation and Reference Manual Table 8 79 MPC Message Structure ASCII Format continued Para
98. 3 battery voltage 10 0 28 0 Example Set the POW parameters of a 12 volt battery with a capacity of 5000 mAh that is 100 charged PASHS POW 5000 100 12 0 lt Enter gt PASHQ POW c The POW query command requests current available battery power data where c is the optional port to which the response will be sent For external battery the available battery power displayed in the response is computed from the battery parameters entered and the amount of time the receiver has been on after they were entered For internal battery it is read from the smart battery no PASHS POW is required in that case PASHR POW d1 d2 d3 f4 cc lt Enter gt Table 8 37 POW Message Structure Parameter Description Unit di Battery capacity time minutes d2 Capacity remaining minutes d3 Battery capacity power mAh f4 Battery voltage volts cc Checksum n a The data shown for the external battery is estimated based on user entered parameters The user should re enter the battery parameters after clearing the receiver s internal memory The data displayed for the internal battery is the direct reading from the smart battery 144 ZXW Receivers Operation and Reference Manual PPO Point Positioning PASHS PPO c Enable disable point positioning mode where c is either Y enable or N disable Point positioning is an averaging algorithm that will improve the stand alone accuracy of a static point after about 4 h
99. 312 43 3 06 17 276 38 6 04 32 045 44 5 7A lt Enter gt where each item is as described in Table 8 111 Table 8 111 Typical GSV Message Item Significance 2 Total number of messages 1 3 1 Message number 1 3 8 Number of SVs in view 1 12 16 PRN of first satellite 1 32 232 ZXW Receivers Operation and Reference Manual Table 8 111 Typical GSV Message continued Item Significance 23 Elevation of first satellite 0 90 293 Azimuth of first satellite 0 359 50 3 Signal to noise ratio of first satellite 19 PRN of second satellite 63 Elevation of second satellite 050 Azimuth of second satellite 52 1 Signal to noise ratio of second satellite 28 PRN of third satellite 11 Elevation of third satellite 038 Azimuth of third satellite 51 5 Signal to noise ratio of third satellite 29 PRN of fourth satellite 14 Elevation of fourth satellite 145 Azimuth of fourth satellite 50 9 Signal to noise of fourth satellite 78 Checksum in hexadecimal SPUBUIWO0J Commands 233 GXP Horizontal Position Message PASHS NME GXP c s f This command enables disables the horizontal position message where c is either A B C or D s is ON or OFF and f is the optional output rate parameter in seconds If the output rate is not set the command is output at the rate set by the PASHS NME PER command If no position is computed this message is output but the posito
100. 4 File index of current active file 999 no file active 0 099 999 d5 Total number of files on the PC card 001 100 d6 File system mounting status complete 0 100 cc Checksum HDP HDOP Mask PASHS HDP d Set value of HDOP mask where d is a number between 0 and 99 default 4 Example Set HDOP mask to 6 PASHS HDP 6 lt Enter gt 124 ZXW Receivers Operation and Reference Manual INF Set Session Information Sets a variety of session information parameters The structure is shown below and defined in Table 8 14 PASHS INF c1 s2 s3 s4 s5 s6 f7 d8 d9 d10 d11 Table 8 14 INF Parameter Table Parameter Description Range ci Session name 1 alphanumeric char s2 Receiver serial number 3 alphanumeric char s3 Antenna serial number 3 alphanumeric char s4 Month and day of the session mmdd 01 12 month 01 31 day s5 Operator identification 3 alphanumeric characters s6 User comment up to 9 alphanumeric characters f7 Antenna height in meters 0 0000 64 0000 d8 Dry temperature in degrees Celsius 99 99 d9 Wet temperature in degrees Celsius 99 99 d10 Relative humidity in percent 0 99 d11 Barometric pressure in millibars 0 9999 Example Set session parameters PASHS INF A 325 401 0313 DWK Test Proj 1 456 65 60 65 1010 lt Enter gt PASHQ INF c Query the survey session parameters where c is the optional output port Example Query session parameters to the curr
101. 4 Subframe 2 word 4 g long 4 Subframe 2 word 5 3 long 4 Subframe 2 word 6 a long 4 Subframe 2 word 7 long 4 Subframe 2 word 8 Commands 187 Table 8 77 EPB Response Format continued Type Size Contents long 4 Subframe 2 word 9 long 4 Subframe 2 word 10 long 4 Subframe 3 word 1 long 4 Subframe 3 word 2 long 4 Subframe 3 word 3 long 4 Subframe 3 word 4 long 4 Subframe 3 word 5 long 4 Subframe 3 word 6 long 4 Subframe 3 word 7 long 4 Subframe 3 word 8 long 4 Subframe 3 word 9 long 4 Subframe 3 word 10 short 2 Word checksum begin with header P total 122 struct size MBN MBN Message PASHQ MBN c Requests one epoch of MBN data where c is the optional output port Example Query MBN message to the current port PASHQ MBN lt Enter gt PASHR MPC The response can be in either ASCII or binary format There will be a return message for each tracked satellite above the elevation mask The MBN response message in binary format is in the form PASHR MPC lt structure gt lt Enter gt 188 ZXW Receivers Operation and Reference Manual where the measurement structure is as defined in Table 8 78 The checksum is computed after the MPC header and includes the last comma Table 8 78 MPC Measurement Structure Binary Format Type Size Contents unsigned short 2 sequence tag unit 50 ms modulo 30 minutes unsigned char 1 num
102. 41 SAMER69 S American 1969 Argentina Bolivia 3 1969 Brazil Chile Colombia Ecuador Guyan D Paraguay Peru Venezuela Trinidad Tobago S E SCK Bessel 1841 616 97 251 Schwarzeck Namibia 3 Namibia TIL Everest 689 691 46 Timbalai 1948 Brunei East Malaysia Sarawak Sabah TOY Bessel 1841 128 481 664 Tokyo Japan Korea Okinawa UDD User Defined user defined User defined W72 WGS72 0 0 4 5 WGS72 World Geodetic System 72 W84 WGS84 0 0 0 WGS84 World Geodetic System 84 ZAN International 1924 265 120 358 Zanderij Surinam Table A 2 Reference Ellipsoids Ellipsoid a metres 1 f f Airy 1830 6377563 396 299 3249647 0 00334085064038 Modified Airy 6377340 189 299 3249647 0 00334085064038 Australian National 6378160 0 298 25 0 003352891 86924 Bessel 1841 6377397 155 299 1528128 0 00334277318217 Clarke 1866 6378206 4 294 9786982 0 00339007530409 Clarke 1880 6378249 145 293 465 0 00340756137870 Everest India 1830 6377276 345 300 8017 0 00332444929666 Everest W Malaysia and 6377304 063 300 8017 0 00332444929666 Singapore Reference Datums amp Ellipsoids 321 Table A 2 Reference Ellipsoids continued Ellipsoid a metres 1 f f Geodetic Reference System 6378137 0 298 257222101 0 00335281068118 1980 Helmert 1906 6378200 0 298 30 0 00335232986926 International 1924 6378388 0 297 00 0 00336700336700 South American 1969
103. 5 134 PASHQ MSG 005 235 PASHQ OBN 2 0 2 0 293 PASHQ PAR 137 PASHQ PBN 0 0 193 PASHQ PHE 0 141 PASHQ POW 0 00 144 PASHQ PPS ces ches ege 146 PASHQ PRT 2 200 146 PASHQ RAW 83 86 195 PASHQ RID 149 150 PASHQ RMC 06 247 PASHQ RRE 005 250 ZPAGHODTC 85 266 PASHQ SAL 00 008 198 PASHQ SAT 00 eee ee eee 251 PASHQ SBA DAT 0 314 PASHQ SES 153 PASHQ SID 00020005 156 PASHQ SNV 0 00 e ee eee 199 PASHQ STA 02 eee eee 157 PASHQ TMP 0006 161 SPASHQTTT see ee 246 PASHQ UDD 307 PASHQ UDG 005 312 SPAGHOUTM 97 255 PASHO VIG a eed eee ea eine ee 258 PASHQ WARN 85 163 PASHQ WKN 167 PASHQ XDR c 002 260 PASHQ ZDA 0020 262 PASHR ALH 00 110 PASHR ALM 198 PASHR ANT 00 0002 114 323 PASHR BEEP 114 PASHR BPS 00065 66 PASHR CBN 005 172 PASHR CLM 00 115 PASHR CPD 0065 82 PASHR CPD ANT 284 PASHR CPD DLK 90 285 PASHR CPD INF 289 PASHR CPD MOD 292 PASHR CPD POS
104. 6 108 292 Cape South Africa CGE Clarke 1880 263 6 431 Carthage Tunisia CHI International 1924 175 38 113 Chatham 1971 Chatham New Zeland CHU International 1924 134 229 29 S American Chua Astro Paraguay COA International 1924 206 172 6 S American Corrego Alegre Brazil EUA International 1924 87 96 120 European 1950 Western Europe Austria Denmark France F R of Germany Netherlands Switzerland Reference Datums amp Ellipsoids 319 Table A 1 Available Geodetic Datums continued Datum ID dein ae Datum Description EUE International 1924 104 101 140 European 1950 Cyprus EUF International 1924 130 117 151 European 1950 Egypt EUH International 1924 117 132 164 European 1950 Iran EUJ International 1924 97 88 135 European 1950 Sicily EUS International 1924 86 98 119 European 1979 Austria Finland Netherlands Norway Spain Sweden Switzerland FAH Clarke 1880 346 1 224 Oman GAA International 1924 133 321 50 Gandajika Base Rep of Maldives GEO International 1924 84 22 209 Geodetic Datum 1949 New Zealand HJO International 1924 73 46 86 Hjorsey 195 Iceland INA Everest 214 836 303 Indian 1 Thailand Vietnam INM Everest 289 734 257 Indian 2 India Nepal Bangladesh IRL Modified Airy 506 122 611 Ireland 1965 KEA Modified Everest
105. 623 4136720 056 2 04 03 8 00012 12 3 M 031 711 M 014 1010 3A lt Enter gt Table 8 135 describes a typical UTM response message Table 8 135 Typical UTM Response Message Parameter Description 015454 00 UTC time 105 UTM zone 588757 623 UTM easting coordinate 4136720 056 UTM northing coordinate 2 RTCM code differential position 04 Number of SVs used to compute position 03 8 HDOP 00012 123 Altitude M Altitude units M meters 031 711 Geoidal separation M Geoidal separation units M meters 014 Age of corrections 1010 Differential station ID 3A Checksum SPUBUIWO0J Commands 257 VTG Velocity Course PASHS NME VTG c s f This command enables disables the velocity course message to port c where c is A B Cor D s is ON or OFF and f is the optional output rate parameter in seconds If the output rate is not set the command is output at the rate set by the PASHS NME PER command This message is not output unless position is computed Example Enable VTG message on port B PASHS NME VTGB ON lt Enter gt PASHQ VTG c Query velocity course where c is the optional output serial port The message is not output unless position is being computed Example Send VTG message to port C PASHQ VTGC lt Enter gt GPVTG The response message is in the form shown below and detailed in Table 8 136 GPVTG AN T f2 M f3 N f4 K cc lt Enter gt Table 8 136 VTG Messag
106. 7 Email gnssboardsemea magellangps com www pro magellanGPS com PROFESSIONAL Magellan follows a policy of continuous product improvement specifications and descriptions are thus subject to change without notice Please contact Magellan for the latest product information 2004 2007 Magellan Navigation Inc All rights reserved ZXW Sensor and ZXW Eurocard are trademarks of Magellan Navigation Inc All other product and brand names are trademarks of their respective holders P N 630897 01B
107. 9 SAT Satellite Status Ate sees DEE edel eh uge 251 TAG Set NMEA Version 254 PI Event Marker m e araa raea aaa ata a anrettet 254 UTM UTM CGoordinates nanei a A A rA IAS 255 RER Lee wee 258 XDR Transducer Measurements AAA 260 ZDA Timecand EE 262 RTCM Response Message Commandes 264 Set Gompangle h e NEE NEE e EE ee 264 Query Commande vnr vnr nnrnnnntrn narrer nen ent nnnrnnenrnnnrnnrnnnennnnennnn 264 Query RTGM Statusuniuransanumidredkarkdtanvs it isuurte 266 AUT Auto Differential 0 0 0 ccccccecccecceeececeeceeaeceeeeeeeeeeeeeeeceaaaaaeaeeeeeeeeeeeeess 269 BAS Enable Base Gtaton E era EAEE AERA 269 EOT End of Transmission oaeee oaia a EAR A E 269 ll E Me ET 270 IOD Ephemeris Data Update Rate rrrnnnnnvnnrnrrrnnnnnvnrrrrrnnnnnnnnrrrrnnnnnnnernnn 270 MAXI Max Age eta rede 270 MSG Define Message rrnnnnnrnnnnnnvnnnnvvnnnnnvnnnnnrrnnnnnnnnrnnrenannnnnnennrensnnnnnnennne 271 MSI Query RTCM Message Status 00sneenneeeneeeeeeee rnern neern rren reren nenne 271 OFF Disable RTO Moreirense S A E A bange 272 QAF Quality Faclo nae hareatan ara aeara aer ara a Eae Aa aaa AaS 272 REM Enable Remote RTCM cccccseccceceeessneeeeeeeseneeeesecsueeeeeeesseeeeenees 272 SEQ Check Sequence Number 273 SPD Base Bit Rate uskadde ideer EA 273 STH Staion Healthier norai a a E aaan 274 EHNEN EE 274 TYP Message Type EE 275 CPD Commande 276 Set Gotmpmangle dee eege ee 276 Query Commande vnr eest nrnrnnt
108. A ON lt Enter gt PASHQ DAL c There are 2 formats of the PASHQ DAL query One format outputs the almanac information for all available satellites in the GPS constellation one response message for each satellite The other format allows you to output the almanac for only a single satellite Format 1 Almanac all messages PASHQ DAL c Queries the receiver for almanac information for all available satellites where c is the optional output serial port Example Query all available almanac messages Send output to port D PASHQ DAL D lt Enter gt Format 2 Almanac one satellite PASHQ DAL d Queries the receiver for almanac information from a single satellite where d is the PRN number of the desired satellite The response is sent to the current port Example Query the almanac information for PRN 15 PASHQ DAL 15 lt Enter gt PASHR DAL Depending upon the chosen query format there will be one response message or many but only one response message for each satellite The response message is in the form shown below and described in Table 8 93 GPDAL d1 d2 f3 f4 75 f6 f7 f8 f9 f10 f11 f12 d13 cc lt Enter gt Commands 211 O e 3 3 D 3 2 a Table 8 93 DAL Message Structure Parameter Description Range di Satellite PRN number 1 32 d2 Satellite health 0 255 D e Eccentricity 9 9999999E 99 d4 toe reference time for orbit in seconds 0 999999 f5
109. A command PASHS NME POS x ON x port designation ON turns port on 2 POS messages are output every second through the designated port 3 The response message contains information about the current position of the receiver Setting Receiver Parameters If you do not wish to use the factory default settings you must change each setting individually Refer to the Command Response Formats chapter in this manual Saving Parameter Settings Ordinarily Z receiver parameters that have been changed will return to their default status after a power cycle The Z receiver allows you to save changed settings so they will be saved through a power cycle Perform the following steps to save receiver settings 1 Send the command PASHS SAV c This command enables or disables user parameters in memory where cis Y yes or N no User parameters that were changed prior to issuing the SAV command are saved until commands INI or RST are issued or until SAV is set to No and a power cycle occurs Q 2 2 5 e Ka Et 5D a E Data Recording Recording data directly onto your PC can be done with GBSS Software which can be purchased from your dealer or Regional Sales Manager Alternatively you can use the internal PCMCIA card optional in the ZXW Sensor for recording data See REC Data Recording on page 148 Getting Started 27 28 Default Parameters During the normal course of receiver operation you will often chan
110. A is cs atone aes F es 2 9 12 18 longitude error avwuanavnanraen 231 LIPS ss peen Seg Tre E E 130 ETZ sok oe eat cine 131 134 136 137 159 M machine Control 1 magnetic variation 248 MAN svekker sr choi pate 316 matched time tag RTK 73 MDM Hesse parese dE eh Ac 14 memory reset 128 message rate 62 MAE pms tears lasta 41 MIL STD 810E 3 12 18 Mission Plang 65 MOD per i este 70 71 modem 1 See hage ke sles letes 6 monitoring accuracy TT monitoring receiver activity 26 multipath 7 multipath mitigation 49 N NAD27 4 a2 cSt mete teat hen ete as 94 NGS Publication 62 4 310 NME POS per ste he e 243 NMEA eege ebe ek dee nh 6 NMEA period vnr 255 Index NMEA satellite range residual 224 NMEA Version 2 3 006 254 NMEA Version 3 0 0 254 non volatile memory 2 O OBN ee SE 83 293 MIR eres sive aa meat SI hatt 94 operating temperature range 13 operator identification 125 Options MELEN EEN venice aes 6 OUT eh eg A ae ees EE set e 168 P Pde kaserne trekke e be 1 parameters saving 34 setting 33 PBN eg bake ebe RE 69 70 PCMCIA 33 115 118 120 122 128 PCMCIA ear EEN Oars eae 15 PDOP one eee aktet 82 83 105 BER Eer ee ENEE E 59 PED She EE 59 PEM tte leg ets phar obs ete e
111. A20 B21 A21 B22 A22 B23 A23 B24 A24 B25 A25 B26 A26 B27 A27 B28 A28 B29 A29 B30 A30 B31 A31 B32 A32 GND 5V INPUT NC LNA GND NC NC SERIAL GND SERIAL A DTR SERIAL A TXD SERIAL A RXD SERIAL C TXD SERIAL C RXD SERIAL D TXD SERIAL D RXD SERIAL GND NC SERIAL B TXD SERIAL B RXD NC NC GND GND GND GND GND GND GND GND GND GND GND GND CABLE ASSEMBLY PINOUT DB37 PORT A a2 pen PUR 1 so PIRA au 4 _DODA can SND RED 5 20 CISA crn 7 2 TxA ve oy ATSA BRN 3 Roa Bk 4 case SHIELD CASE ne 9 PORT B 4 GND RED cTsB GRN 23 Z TXDB WHT 5 2 24 ATSB BRN g RXDB BLK 6 3 case SHIELD CASE 1 4 6 wel 9 8 BACKUP BATTERY LOCATED INSIDE DB37 29 10 7 26 POWER CONNECTOR Figure 2 11 Board amp Cable Pinouts for ZXW Eurocard Development Kit A 22 ZXW Receivers Operation and Reference Manual Equipment Figure 2 12 Marine Ill L1 L2 which use this cable H f Tho ZX Eurocard does not make use of this battery L REE ETE SE i Universal AC to 5VDC Power Supply UNIVERSAL 3 Pin PC style socket Pomar caise provided for Nor America zem 9741 ZXW Eurocard Development Kit B 23 24 ZXW Receivers Operation and Reference Manual Getting Started This chapter describes receiv
112. A29 GND B29 A30 GND B30 A31 GND B31 A32 GND B32 means no connection ft Required only if LNA requires greater than 5Vdc Short to ground with a switch closure or open collector transistor Port A can be connected to a modem Refer to Modem Support on page 14 for more details Equipment 11 RF Connector The RF connector is a standard 50 ohm SMB female wired for connection via coaxial cabling to a GPS antenna with integral LNA The SMB connector shell is connected to the ZXW Eurocard common ground The SMB center pin provides 5Vdc to power the LNA maximum 150 mA draw and accepts 1227 and 1575 MHz RF input from the antenna the RF and DC signals share the same path For installations compatible with the GG24 Eurocard an SMB to SMA adapter is available part number 730188 Antenna The ZXW Eurocard provides DC power on the center conductor for an LNA on the antenna cable No external source is required to power a 5 Vdc LNA An LNA requiring greater than 5 Vdc may be used by connecting an external power supply to LNA POWER and LNA GND on the 64 pin connector No jumpering is required as long as the voltage is higher than 5 Vdc The maximum external LNA voltage should not exceed 15Vdc The gain of the LNA less the loss of the cable and connectors should be between 20 and 45 dB Connect the antenna cable directly to the antenna connector on the ZXW Eurocard Antenna cables exceeding 15 dB of loss r
113. AF 272 PASHS RTC REM 272 PASHS RTC REM c 69 70 PASHS RTC SEQ 273 PASHS RTC SPD 62 273 PASHS RTC SPD 9 68 PASHS RTC STH 274 PASHS RTC STI 67 274 PASHS RTC TYP 271 275 PASHS SAV 59 128 130 151 156 318 PASHS SAV Y 05 69 70 71 PASHS SBA DAM 316 PASHS SBA DAT 314 PASHS SBA MAN 316 PASHS SBA OFF 316 PASHS SBA SAM 316 PASHS SEM 05 36 PASHS SES 152 PASHS SES PAR 152 PASHS SES SET 152 PASHS SIT 67 156 293 PASHS SPD 0 156 PASHS SPD c d 69 70 71 PASHS SVS 00 158 PASHS TST 2 006 161 SPASHSJUBP hinder oy ke eee ER 66 PASHS UDD 95 307 PASHS UDG 97 308 PASHS UNH 162 SPASHS USE Aas die eet eee oe 162 PASHS VDP 162 325 SWIXDR EE 260 SYXXDR ENEE ee eee bass 260 LA al A Bee Enpa E Eed E 82 83 120 Numerics IPPS OUE apie hndtnstid itte 43 25 pin connector 2000 15 SE cg ee wee E 111 244 700389 EE 12 e TEE 12 A ACCUIACY EE adle 4 accuracy real time monitoring TT almanac data 00 eee 2 ALT Fix Mode 39 altitude error 231 a
114. ARRANTY EVEN THOUGH CAUSED BY NEG LIGENCE OR OTHER FAULT OFMAGELLAN NAVIGATION OR NEGLIGENT USAGE OF THE PRODUCT IN NO EVENT WILL MAGELLAN NAV IGATION BE RESPONSIBLE FOR SUCH DAM AGES EVEN IF MAGELLAN NAVIGATION HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES This written warranty is the complete final and ex clusive agreement between Magellan Navigation and the purchaser with respect to the quality of per formance of the goods and any and all warranties and representations This warranty sets forth all of Magellan Navigation s responsibilities regarding this product This limited warranty is governed by the laws of the State of California without reference to its conflict of law provisions or the U N Conven tion on Contracts for the International Sale of Goods and shall benefit Magellan Navigation its successors and assigns This warranty gives the purchaser specific rights The purchaser may have other rights which vary from locality to locality including Directive 1999 44 EC in the EC Member States and certain limita tions contained in this warranty including the exclu sion or limitation of incidental or consequential damages may not apply For further information concerning this limited war ranty please call or write Magellan Navigation Inc 960 Overland Court San Dimas CA 91773 Phone 1 909 394 5000 Fax 1 909 394 7050 or Magellan Navigation SAS ZAC La Fleuriaye BP 433 44474 Carquefou Ced
115. ASHS CPD ENT 288 PASHS CPD EOT 288 PASHS CPD FST 86 89 289 PASHS CPD MAX 291 PASHS CPD MOD 291 PASHS CPD MOD ROV 70 71 293 PASHS CPD MTP 86 89 292 PASHS CPD OUT 296 PASHS CPD PEB 297 PASHS CPD PED 59 86 297 PASHS CPD PER 86 90 298 PASHS CPD POS 67 85 90 298 PASHS CPD PRT 300 PASHS CPD RST 86 90 300 PASHS CPD UBP 301 PASHS CPD UBS 86 90 GPASHS CTS EE EE 114 PASHS DRI 117 168 PASHS DSG i cota ee seas 118 PASHS DSY 118 PASHS DTM 119 303 PASHS DTM UDD 95 PASHS ELM 37 66 90 119 SPASHS FIL sieniniai enn beeches 120 PASHS FIX 121 PASHS GRD UDG 97 PASHS HGT 006 256 PASHS INF 125 ZPAGHS IN 25 127 PASHS ION na eent e 128 PASHS LTZ aneneen 131 161 324 PASHS MDM 14 133 PASHS MDM INI 0 14 PASHS MET CMD 134 PASHS MET INIT 135 PASHS MST 00 000 ee 136 PASHS MSV 00 000 136 PASHS NME 006 83 PASHS NME ALL 206 PASHS NME ALM 206 PASHS NME DAL 211 PASHS NME GDC
116. BA DAT The response message is in the form PASHR SBA DAT d1 t2 d3 d4 s5 hh lt Enter gt where the DAT parameters are as defined in Table 9 2 Table 9 2 SBA DAT Parameters Parameter Description Range di WAAS PRN number 33 64 t2 Time tag hhmmss hh 000000 00 to The SBA DAT message contains the time tag of the 235959 00 beginning of WAAS message transmission WAAS message transmission time is 1 second d3 RTCA message ID 0 63 d4 Error flag in hex Bit 0 preamble error bit 1 parity error 0 3 s5 RTCA message 250 bits in 63 hex numbers Data arranged left to right and from high order to low order bits The two low order bits in the 63rd number are not used The output format is ASCII Examples PASHR SBA DAT 33 140420 00 04 0 C61240000000000000000000000000 00000000000003BBB8000000002D0F310 55 PASHR SBA DAT 44 140420 00 00 0 5300400003BFF4018000000000004 003FE400001C003BBBBBBBBBBBB934D094 20 314 ZXW Receivers Operation and Reference Manual OUT WAAS Almanac Data PASHS OUT x SAW This command enables disables WAAS almanac data The structure is PASHS OUT x SAW BIN where x is the output port SAW is constant and BIN specifies binary output format Almanac data is output every 15 minutes with one satellite output at each recording interval RCI PASHQ SAW The associated query is PASHQ SAW x where x is the optional output port PASHR SAW The response message is one bi
117. D DYN 4 lt Enter gt Table 8 156 CPD DYN Parameter Table di Parameter Dynamic One of the following values 0 Static antenna on tripod 1 Quasi static antenna on manual pole 2 Walking default 3 Automobile 4 Aircraft 5 Ship Description ENT Use Current Position PASHS CPD ENT This command sets the current raw position as the BASE position Example Use current raw position as the base position PASHS CPD ENT lt Enter gt EOT End of Transmission PASHS CPD EOT s Selects the type of EOT character s to be sent in the DBEN message where s is a string indicating the characters to be sent as defined in Table 8 157 Used only in the base receiver Table 8 157 CPD EOT Parameter Table Parameter S NONE CR CRLF Range Characters to be sent nothing 0x0D OxOD Ox0A default Example Use CR as EOT characters PASHS CPD EOT CR lt Enter gt 288 ZXW Receivers Operation and Reference Manual FST Fast CPD Mode PASHS CPD FST s Enables disables fast CPD mode where s is either ON or OFF If this mode is set to ON the rover receiver provides a fast CPD position solution This command is relevant for ROVER receiver only The default is ON Example Turn fast CPD OFF PASHS CPD FST OFF lt Enter gt INF CPD Information PASHQ CPD INF c This command queries the INF message where c is the optional output port This
118. EM Position Elevation Mask PASHS PEM d1 d2 Sets elevation mask for position computation where d1 is the primary position elevation mask and d2 is an optional zenith position elevation mask Both d1 and d2 may be set to any value between 0 and 90 degrees although d1 must be less than d2 The default for the primary position elevation mask is 10 degrees The default for the zenith position elevation mask is 90 degrees Example Set primary position elevation mask to 15 degrees PASHS PEM 15 lt Enter gt Example Set primary position elevation mask to 15 degrees and zenith position elevation mask to 80 degrees PASHS PEM 15 80 lt Enter gt 140 ZXW Receivers Operation and Reference Manual PHE Photogrammetry Edge Event Marker Edge PASHS PHE c Sets the photogrammetry time tag to the rising or falling edge of the pulse The Event Marker receiver option E must be installed for this command to work Table 8 31 Table 8 31 PHE Parameter Table Parameter Description Range c Direction of photogrammetry edge R rising default F falling Example Set the photogrammetry edge to the falling edge PASHS PHE F lt Enter gt PASHQ PHE c Query photogrammetry edge setting where c is the output port and is not required to send the output message to the current communication port Example Query photogrammetry edge setting to port C PASHQ PHE C lt Enter gt PASHR PHE The response message is i
119. F OFF OFF OFF OFF OFF OFF ASCII 5 PRIB OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF ASCII 5 PRTC OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF ASCII 5 PRID OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF ASCII 5 Table 8 85 RAW Message Structure Return S Parameter Description Range Default RCI Recording interval 0 1 999 seconds 20 0 MSV Minimum number of Svs for the data to 1 9 3 be sent or recorded ELM Data elevation mask The elevation 0 90 degrees 10 below which measurement data from that satellite will not be output or recorded ZEN_ELM Zenith elevation mask Measurement 0 90 degrees 90 data from satellites above this elevation will not be recorded or output REC Data recording to PCMCIA card Y Yes Y N No does not close file E Error recording is Y but can t write to PC card at this point S Stop recording closes file F Bad FAT D Download in progress MST Minimum satellites required for 0 4 9 0 kinematic survey ANH Antenna height 0 0000 to 64 0000 meters 0 0 ANA Antenna height after survey 0 0000 to 64 0000 meters 0 0 SIT Site ID 4 character alphanumeric 2222 EPG Epoch counter 0 999 0 196 ZXW Receivers Operation and Reference Manual Table 8 85 RAW Message Siructure continued Return SEN Parameter Description Range Default RNG Data mode which controls what data 0 2 4 0 type is stored 0 B files 2 C files 4 B and C fi
120. FF OFF OFF PRTB OFF OFF OFF OFF OFF OFF OFF OFF OFF PRTC OFF OFF OFF OFF OFF OFF OFF OFF OFF PRTD OFF OFF OFF OFF OFF OFF OFF OFF OFF Table 8 30 lists all of the above fields in alphabetic order The description of the field is given along with the set command to modify them Table 8 30 PAR Parameter Table Return Description Related Command Range Unit Parameter ALT Altitude of antenna 0 99999 999 meter PASHS POS or PASHS ALT ANR Antenna reduction mode ON OFF CPD n a PASHS ANR DIF_RTCM RTCM differential mode OFF n a MODE PASHS RTC BAS Base REM Remote FIX Altitude hold fix mode 0 1 n a PASHS FIX FST AZIM First azimuth setting of secondary elevation mask 0 360 degree PASHS SEM FUM Fix UTM zone Y N n a PASHS FUM FZN UTM zone held fixed 1 60 n a PASHS FZN HDP Horizontal Dilution Of Precision mask 0 99 n a PASHS HDP 138 ZXW Receivers Operation and Reference Manual Table 8 30 PAR Parameter Table continued Return Description Related Command Range Unit Parameter ION Enable ionospheric and tropospheric model Y N n a PASHS ION LAT Latitude of the antenna position 0 90N S degree PASHS POS minute LON Longitude of the antenna position 0 180 E W degree PASHS POS minute NMEA NMEA message type for output n a PDP Position Dilution of Precision mask 0 99 n a PASHS PDP PEM Position ele
121. FORMATION PASHQ ALH Query the almanac messages received 110 PASHQ CSN Query satellite signal to noise ratios 116 PASHR CSN Satellite signal to noise response message 116 PASHQ STA Request status of SVs currently locked 157 PASHS SVS Designate satellites to track 158 108 ZXW Receivers Operation and Reference Manual Table 8 2 Receiver Commands continued Command Description Page PASHS USE Designate individual satellites to track 162 SESSION PARAMETERS PASHS INF Set session parameters 125 PASHQ INF Query session parameters 125 PASHS PJT Log project data 142 SESSION PROGRAMMING PASHS SES PAR Set session programming parameters 152 PASHS SES SET Set individual sessions 153 PASHS SES DEL Clear session programming parameters and reset to default 153 PASHQ SES Query session programming parameters 153 SURVEY PASHS ANA Antenna height after survey 111 PASHS ANH Antenna height before survey 111 PASHS ANR Antenna reduction setting 112 PASHS ANT Set antenna offsets 113 PASHQ ANT Query antenna offset parameters 113 PASHS MST Set minimum number of satellites for kinematic survey 136 PASHS SIT Enter site name 156 TILTMETER PASHS TLT CMD Set tiltmeter trigger string 159 PASHS TLT INIT Set tiltmeter initialization string 160 PASHS TLT INTVL Set tiltmeter ouput interval 160 PASHS OUT c TLT Start stop output of tiltmeter data 137 PASH
122. I command controls both the rate of data recorded to the PCMCIA card as well as the output of raw data from the serial port It is possible to set one rate of data recording to the PCMCIA card and a different rate of raw data output to the serial port This is done using the PASHS DRI and the PASHS DOI commands PASHS DRI sets the data recording rate to the PCMCIA card PASHS DOI sets the rate of raw data output to the serial port The default of both these commands is 20 0 seconds Be aware that setting the PASHS RCI command will override any parameter previously set in the DRI or DOI command 168 ZXW Receivers Operation and Reference Manual Raw data messages are disabled by sending the PASHS OUT command with no data strings For example the command PASHS OUT A lt Enter gt will disable the output of all raw data output from port A See the PASHS OUT command in this section for more details To see what raw data messages have been enabled use the PASHQ RAW query In general the parameters that affect raw data output are the same as those that control data recording including recording interval elevation mask and minimum number of SVs See the Raw Data Command table for more details about the commands that control these parameters Query Commands The query commands will output a single raw data message type once The general format of the query commands is PASHQ s c where s is the 3 character string that denotes t
123. ID is used to restrict the use of differential corrections to a particular base station If the STID in the remote station is set to any non zero number then corrections will only be used from a base station with the same STID number For example if a remote station STID is set to 0987 then it will only use the differential corrections from a base station with an STID of 0987 If the remote station STID is set to 0000 the default then the station will use any differential corrections received regardless of the STID of the base station 274 ZXW Receivers Operation and Reference Manual Example Set site identification to 0001 PASHS RTC STI 0001 lt Enter gt TYP Message Type PASHS RTC TYP d1 d2 Enables the type of message to be sent by the base station and the period at which it will be sent where d1 is the type and d2 is the period PASHS RTC TYP is used only in BASE mode Table 8 147 lists the message types available and the period range setting The default is type 1 set to 01 and type 6 is Off Table 8 147 RTC TYP Message Types Type 01 Range 0 99 seconds where 0 is disabled and 99 is generated continuously 02 0 99 minutes where 0 is disabled and 99 is generated continuously 03 0 99 minutes where 0 is disabled and 99 is generated continuously 06 1 ON 0 OFF ON and OFF are also accepted 09 Same as type 1 Same as type 3 18 19 Same as type 1 20 21 Same
124. LLAN NAV IGATION BE RESPONSIBLE FOR SUCH DAM AGES EVEN IF MAGELLAN NAVIGATION HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES Some national state or local laws do not allow the exclusion or limitation of incidental or consequential damages so the above limitation or exclusion may not apply to you 7 COMPLETE AGREEMENT This written warranty is the complete final and ex clusive agreement between Magellan Navigation and the purchaser with respect to the quality of per formance of the goods and any and all warranties and representations THIS WARRANTY SETS FORTH ALL OF MAGELLAN NAVIGATION S RE SPONSIBILITIES REGARDING THIS PRODUCT THIS WARRANTY GIVES YOU SPECIFIC RIGHTS YOU MAY HAVE OTHER RIGHTS WHICH VARY FROM LOCALITY TO LOCALITY including Directive 1999 44 EC in the EC Member States AND CERTAIN LIMITATIONS CONTAINED IN THIS WARRANTY MAY NOT APPLY TO YOU 8 CHOICE OF LAW This limited warranty is governed by the laws of France without reference to its conflict of law pro visions or the U N Convention on Contracts for the International Sale of Goods and shall benefit Ma gellan Navigation its successors and assigns THIS WARRANTY DOES NOT AFFECT THE CUSTOMER S STATUTORY RIGHTS UNDER AP PLICABLE LAWS IN FORCE IN THEIR LOCALITY NOR THE CUSTOMER S RIGHTS AGAINST THE DEALER ARISING FROM THEIR SALES PUR CHASE CONTRACT such as the guarantees in France for latent defects in accordance with Article 1641 et s
125. LM Clear reformat PCMIA Card PASHS FIL C Close current data file 120 PASHS FIL D Delete data files 121 106 ZXW Receivers Operation and Reference Manual Table 8 2 Receiver Commands continued Command Description Page PASHQ FLS Query data file information 121 IONOSPHERE PASHS ION Include exclude ionospheric model 128 PASHQ ION Display ionosphere data information 128 MEMORY PASHS INI Clear internal memory and or PCMIA Card 127 PASHS RST Reset receiver to default parameters 150 PASHS SAV Save parameters in battery backed up memory 151 METEOROLOGICAL METER PASHR MET Query meteorological meter setup 134 PASHS MET CMD Set meteorological meter trigger string 134 PASHS MET INIT Set meteorological meter initialization string 135 PASHS MET INTVL Set meteorological meter output interval 135 PASHS OUT c MET Start Stop output of meteorological meter data 136 MISCELLANEOUS PARAMETERS PASHQ TMP Query receiver temperature 161 PASHS WAK Acknowledge warning messages 162 PASHQ WKN Query GPS week number 167 PASHQ WARN Query warning messages 163 PHOTOGRAMMETRY 1PPS STROBE PASHS PHE Set photogrammetry edge event marker 141 PASHQ PHE Display the photogrammetry parameters 141 PASHS PPS Set period and offset of 1PPS signal 145 PASHQ PPS Display 1PPS parameters 146 POSITION COMPUTATION PASHS FIX Set altitude hold position fix mode
126. MAGELLAN PROFESSIONAL Operation and Reference Manual Part Number 630897 Revision B 2004 2007 Magellan Navigation All rights reserved ZXW Eurocard and ZXW Sensor are trademarks of Magellan Navigation Inc All other product and brand names are trademarks of their respective holders Magellan Professional Products Lim ited Warranty North Central and South America Magellan Navigation warrants their GPS receivers and hardware accessories to be free of defects in material and workmanship and will conform to our published specifications for the product for a period of one year from the date of original purchase THIS WARRANTY APPLIES ONLY TO THE ORIGINAL PURCHASER OF THIS PRODUCT In the event of a defect Magellan Navigation will at its option repair or replace the hardware product with no charge to the purchaser for parts or labor The repaired or replaced product will be warranted for 90 days from the date of return shipment or for the balance of the original warranty whichever is longer Magellan Navigation warrants that software products or software included in hardware products will be free from defects in the media for a period of 30 days from the date of shipment and will substan tially conform to the then current user documenta tion provided with the software including updates thereto Magellan Navigation s sole obligation shall be the correction or replacement of the media or the software so that it will s
127. N 0 12 message d4c5 SVPRN number and warnings SV PRN 1 32 Warning field description no warnings C warning in L1 measurements P warning in L2 measurements SE warning in both measurements 2 s6 Message header sender designator PASH DBEN CMR2 CMR identifications The following message is only available if the receiver is in ROV or RVP base mode 9 3 s7 Message masking sender designator PASH DBEN EI CMR2 CMR 5 S 1819 RTCM 18 19 2012 RTCM 20 21 d8 BPS message age or RTCM type 3 22 sec Commands 285 Table 8 153 CPD DLK Message Structure continued Field Description Range Unit d9 Percentage of good DBEN message reception or RTCM type 18 19 or 20 21 d10 DBEN message age ms c11 Communication port status YS data is in the communication port no data in the communication port Kee Checksum The following examples will illustrate the difference between the PASHR DLK response message from a Rover station receiver and from a base station receiver Table 8 154 Table 8 155 From the Rover station 286 PASHR CPD DLK ROV 02 05 02 03C 10 18 19P PASH PASH 024 100 00 0405 44 lt Enter gt Table 8 154 CPD DLK Response Message Example Rover Station Field Significance ROV Receiver CPD mode rover 02 BPS warning flag base station antenna parameters are all zeros 05 Number of S
128. NO OK all almanacs received OK cc checksum 110 ZXW Receivers Operation and Reference Manual ALT Set Ellipsoid Height PASHS ALT f Sets the ellipsoidal height of the antenna where f 99999 999 meters The receiver uses this data in the position calculation for 2 D position computation and when in differential base mode Examples Set ellipsoidal height of antenna to 100 25 meters PASHS ALT 100 25 lt Enter gt Set ellipsoidal height of antenna to 30 1m PASHS ALT 30 1 lt Enter gt ANA Post Survey Antenna Height PASHS ANA f Sets the antenna height after survey where f is from 0 0 64 0000 meters This command is used to record the antenna height after a survey as a check to verify the original antenna height Example Set after survey antenna height to 3 5343 meters PASHS ANA 3 5343 lt Enter gt ANH Set Antenna Height PASHS ANH f Sets the antenna height where f is from 0 0 64 0000 meters Example Set antenna height to 3 534 meters PASHS ANH 3 534 lt Enter gt SPUBUIWO0J Commands 111 ANR Set Antenna Reduction Mode PASHS ANR S This command sets the antenna reduction mode The mode selection is used to translate between ground mark position and antenna phase center position When turned on this mode applies the antenna parameters entered via PASHS ANT to the computed position to make it the ground mark position This implies that the base position ent
129. Operation and Reference Manual Table 8 72 RPC Message Structure Number of aes Parameter Type bytes Description Packed data unsigned chat Data length See Table 8 73 below ChkSum unsigned short 2 Cumulative unsigned short summation of the lt packed data gt after lt data length gt before lt ChkSum gt lt packed data gt parameter Table 8 73 RPC Packed Parameter Descriptions Se Symbol Range SE Np Description double rcvtime 0 604800000 1 msec 30 Receiver time in GPS milliseconds of week char 4 site ID 32 Receiver s four character site ID long PRN 32 SVPRN for the satellites which have data in this message Itis a bitwise indication Starting from least significant bit bit 1 corresponds toSVPRN 1 bit 2 corresponds to SVPRN 2 and so on Bit value of 1 means that SVPRN has data in this message 0 otherwise For each satellite whose corresponding bit in PRN is 1 the following data will be repeated i e sent once for PL1 data and a second time for PL2 data double PL1 or 1 0e 10 31 Pseudorange in units of 1 0e 10 PL2 seconds seconds or 0 1 nanoseconds Multiply this value by 1 0e 10 to get pseudo range in seconds A zero value indicates bad pseudo range char WN 1 Warning bit 1 bad carrier phase and has possible cycle slips 0 good carrier phase SPUBUIWO0JI Sign 1 1 Carrier phase sign bit 1 negative carrier phase value 0 positi
130. PASHS SAV Y command To change the message rate use the PASHS CPD PED command The receiver also transmits a BPS message base position every 30 seconds by default the periodicity can be set with the PASHS CPD PEB command DBN messages are shorter than their RTCM equivalent so they provide lower latency If the data link is not very reliable use RTCM messages because they can be used partially unlike DBN messages so in that configuration the chances of obtaining a reasonable position solution are higher with RTCM than with DBN Differential and RTK Operations 59 Ey bi bi 3 2 D 3 Q Kal 4 A CMR or CMR Plus Format You must have the K option installed in the receiver Send the commands listed in Table 5 5 to the receiver to generate the CMR compact measurement record format message Table 5 5 RTK Base Station Commands CMR or CMR Plus Format Command Description PASHS RST Reset receiver to factory defaults PASHS ELM 9 Set base elevation mask to 9 degrees PASHS POS ddmm mmmm d Enter the latitude longitude and height of the survey dddmm mmmm d saaaaa aa mark NOTE If this is the position of the antenna phase center set PASHS ANR to OFF PASHS CPD MOD BAS Set receiver as an RTK base station PASHS CPD PRO CMR Set receiver to transmit CMR format data PASHS CPD PRO CMP Set receiver to transmit CMR Plus format data PASHS CPD PRT B Send CMR messages through port
131. Q TLT Query tiltmeter setup 159 SBAS PASHS SBA DAT Enable SBAS raw data output on serial port 314 PASHQ SBA DAT Query SBAS raw data on serial port 314 PASHR SBA DAT SBAS raw data response message 314 PASHS OUT X SAW Enable SBAS almanac data output on serial port 315 PASHQ SAW Query SBAS almanac data on serial port 315 Commands 109 O e 3 3 D 3 2 a Table 8 2 Receiver Commands continued Command Description Page PASHS SBA SSO Set SBAS satellite search order 318 PASHS SBA XXX Set SBAS tacking mode where XXX 316 SAM single automatic mode DAM dual automatic mode MAN xx single manual mode MAN xx yy dual manual mode OFF turn off WAAS operate as GPS only ALH Almanac Messages Received PASHQ ALH c This command queries the receiver for the number of almanac messages that have been received since the last power cycle where c is the optional output port Using this query a user can tell when all of the most recent almanac messages have been received Example Query the current port for the number of received almanac messages PASHQ ALH lt Enter gt PASHR ALH The response message is in the form shown below and described in Table 8 3 PASHR ALH d1 s1 cc lt Enter gt Table 8 3 ALH Parameter Table Parameter Significance Range di Number of almanac messages received since power up 0 32 si All almanac messages received NO not all almanacs have been received
132. R 01 sec IAF ON NESSAGE TYPE DBN PAF OFF AFM 00 RNG 040000 SCL 0060 ION N LC N Table 8 149 CPD Status Message Structure Parameter Description Range Default STATUS MODE CPD differential mode Disabled DISABLED BASE ROVER RVP BASE RVP ROVER VERSION Version number and date of the CPD library BASE STAT status of base station operation in a 5 column array For each column 0 1 00000 ABCDE A 1 if receiver has not tracked L2 observables B 1 if entered position and computed position differ by more that 500 meters in any direction C 1 if base station has not computed position using raw pseudo ranges D 1 if base station antenna parameters are all zero E 1 if base station coordinates are not entered Useful only if Mode Base PRN AGE Lists the satellites PRN ID in the transmitting DBEN 1 32 n a messages or received DBEN message Display the DBEN message age in milliseconds 0 9999 Always zero at the base 280 ZXW Receivers Operation and Reference Manual Table 8 149 CPD Status Message Structure continued Parameter Description Range Default RCVD Display age of received base station coordinates in 0 999 0 COORD seconds from BPS message AMBIGUITY Display ambiguity fix status Rover Fixed float RCV INTVL Interval in se
133. RTC SPD is used only in BASE mode Table 8 145 Available Bit Rate Codes Code E Jo 1 2 3 4 5 6 7 8 19 25 50 100 110 150 200 250 1300 150 O burst 0 mode Example Set bit rate to 110 bits sec PASHS RTC SPD 3 lt Enter gt Commands 273 spuewwog STH Station Health PASHS RTC STH d Set the health of the base station where d is any value between 0 and 7 PASHS RTC STH is used only in BASE mode Default is 0 Table 8 146 defines the codes for the station health Table 8 146 RTC STH Health of Base Station Code Health Indication Base station not working Base station transmission not monitored Specified by service provider UDRE scale factor 0 1 Specified by service provider UDRE scale factor 0 3 7 6 5 4 Specified by service provider UDRE scale factor 0 2 3 2 Specified by service provider UDRE scale factor 0 5 1 Specified by service provider UDRE scale factor 0 75 0 Specified by service provider UDRE scale factor 1 Example Set health to Base station not working PASHS RTC STH 7 lt Enter gt The station health is simply transmitted by the base code 1 to 5 are not valid since the base and rover are using UDRE scale factor of 1 always STI Station ID PASHS RTC STI d This command sets the user station identification user STID where d is any integer value between 0000 and 1023 The ST
134. RTCM PASHS RTC INI Initialize RTCM internal operation This should be issued to the RTCM base or remote station or both if communication link between base and remote is disrupted Example Initialize RTCM internal operation PASHS RTC INI lt Enter gt IOD Ephemeris Data Update Rate PASHS RTC IOD d This command sets the time period before the RTCM base station switches to a new issue of the ephemeris data IODE where d is the update rate and ranges from 0 90 seconsds Default is 30 seconds The current setting of this parameter can be seen in the query command PASHQ RTC This command applicable to RTCM base mode only determines how soon after receiving a new ephemeris update the base receiver will begin to use that data to compute corrections The rover receiver will continue to use the old ephemeris until it receives RTCM corrections on the new IODE Example Set base receiver to use new ephemeris data to compute corrections 20 seconds after the new ephemeris has been received PASHS RTC IOD 20 lt Enter gt MAX Max Age PASHS RTC MAX d Set the maximum age in seconds of an RTCM differential correction above which it will not be used where d is any number between 1 and 1199 Default is 60 PASHS RTC MAX is used only in REMOTE mode Example Set maximum age to 30 seconds PASHS RTC MAX 30 lt Enter gt 270 ZXW Receivers Operation and Reference Manual MSG Define Message PASHS RTC MSG s Define
135. RTCM type 16 message up to 90 characters long that will be sent from the base to the remote SPASHS RTC MSG s is used only at the base station and only if message type 16 is enabled Example Define RTCM message This is a test message PASHS RTC MSG This is a test message lt Enter gt MSI Query RTCM Message Status PASHQ RTC MSI c This command queries the base station for the current RTCM message type settings where c is the optional output serial port This query responds with the RTCM message types and frequencies that are being transmitted Used only with the base receiver Example Query base receiver for RTCM message settings PASHQ RTC MSI lt Enter gt PASHR RTC MSI The response message is in the form shown below and defined in Table 8 144 PASHR RTC MSI d1 n d2 d3 cc n d1 Table 8 144 RTC MSI Message Structure Parameter Description Range d1 Number of RTCM types in message 11 d2 RTCM type 01 02 03 06 09 15 16 18 19 20 21 22 d3 Message frequency 0 99 0 disabled 99 continuous Units depend upon message type See PASHS RTC TYP command on page 275 Commands 271 O e 3 3 D 3 2 a OFF Disable RTCM PASHS RTC OFF Disables base or remote differential mode Example Turn RTCM off PASHS RTC OFF lt Enter gt QAF Quality Factor PASHS RTC QAF d Sets the number of received differential correction frames in RTCM differential mode above which the quali
136. SCII C file Position data ASCII M file Event marker files photogrammetry ASCII D file Site attribute files ASCII ALMyy ddd Almanac data Binary Data Logging through Serial Port An alternative way to record data is to record data directly onto your PC This method is useful if your data card does not have enough space or if you wish to bypass the download process To record data directly onto the PC use the GBSS Software which can be purchased from your dealer or Regional Sales Manager Operation 35 Elevation Masks Because data from GPS satellites near the horizon are often excessively noisy and can degrade position computation and post processing GPS receivers use elevation masks to filter out the unwanted signals The receiver has 2 main elevation masks a data elevation mask and a position elevation mask Data for satellites below the data recording elevation mask will not be recorded or output Satellite data below the position elevation mask will not be used for position computation The default for both the data elevation mask and the position elevation mask is 10 degrees The data elevation mask may be changed using the PASHS ELM command The position elevation mask may be changed using the PASHS PEM command For receivers with an LED display the data elevation mask may also be changed in the Survey Configuration SurvConf menu setting the ELEV MASK parameter Secondary Elevation Mask In some cases noi
137. SHS ANR ON Using Reference Station ID You may monitor which reference or base station the remote receiver uses by setting a reference station ID at the base station For RTCM set the reference station ID using the command PASHS RTC STI For Magellan DBN use PASHS SIT For RTCM you may also control which reference station the remote receiver uses by setting the desired station ID at the remote receiver or the remote receiver to use corrections from any base station Reference Station Health You may set the reference station to unhealthy which causes all remote receivers to ignore the messages they receive from that base station Other RTCM Messages Message 2 These are automatically generated when the base station is transmitting differential corrections and a new ephemeris is downloaded from the satellites Differential and RTK Operations 67 Ey bi bi 3 D 3 Q Kal A Filler Message 6 Null Frame This message is provided for datalinks that require continuous transmission of data even if there are no corrections to send As many Messages 6 are sent as required to fill in the gap between two correction messages Messages 6 are not sent in the burst mode PASHS RTC SPD 9 Special Message Message 16 This message allows you to transmit an ASCII message from the base station Using a PC Interface If you are using Evaluate software to interface to your receiver you may use initialization files
138. TER n a d2 Number of parameters for selected projection 5 n a f3 Latitude of the grid origin of projection 900000 0000 ddmmss ssss f4 Longitude of the grid origin of projection 1800000 0000 ddmmss ssss f5 Scale factor at center of projection 0 5 1 5 n a f6 False easting 10 000 000 meters f7 False northing 10 000 000 meters Table 8 177 UDG Structure for Lambert CC SPC83 2 std parallels Field Description Range Units si Map projection type LC83 n a d2 Number of parameters for selected projection 6 n a f3 Latitude of southern standard parallel 900000 0000 ddmmss ssss f4 Latitude of northern standard parallel 900000 0000 ddmmss ssss 9 f5 Longitude of the grid origin of the projection 1800000 0000 ddmmss ssss E f6 Latitude of the grid origin of the projection 900000 0000 ddmmss sss a f7 False easting 10 000 000 meters f8 False northing 10 000 000 meters Commands 309 The following SPC27 map projections must be used in conjunction with the Clarke 1866 ellipsoid a 6378206 4 m and 1 f 294 978698200 and the following datum Tx 8 0 Ty 160 0 Tz 176 0 rotation and scale 0 which is included in the preset datum list as NAC Publication 62 4 1986 Reprint which also includes discussion and definitions of applied formulas Values are derived from tables which can be obtained from various sources including NGS and parameters Table 8 178 UDG Structure fo
139. TM m1 m2 f3 f4 d5 d6 f7 f8 M f9 M d10 s11 cc lt Enter gt where the structure is as defined in Table 8 134 Table 8 134 UTM Message Structure Parameter Description Range m1 UTC of position in hours minutes and decimal 0 235959 90 seconds hhmmss ss m2 Zone number for coordinates 1 60 99 Zone letter for coordinates N north S south N S f3 East UTM coordinate meters 9999999 999 f4 North UTM coordinate meters 9999999 999 d5 Position indicator 1 2 3 1 Raw position 2 RTCM code differential or CPD float solution 3 Carrier phase differential CPD fixed d6 Number of GPS satellites being used 3 12 f7 Horizontal dilution of precision HDOP 999 9 f8 Altitude in meters 1000 000 to 18000 000 M Altitude units M meters M f9 Geoidal separation in meters 999 999 M Geoidal separation units M meters M d10 Age of differential corrections 0 999 s11 Differential reference station ID 4 character string cc checksum The antenna altitude is either ellipsoidal default or geoidal mean sea level depending on the selection made with PASHS HGT see Table 8 171 UCT Commands on page 303 The geoidal altitude can be also derived by subtracting the geoidal separation from the ellipsoidal altitude 256 ZXW Receivers Operation and Reference Manual Example Query PASHQ UTM lt Enter gt Typical UTM response message PASHR UTM 015454 00 105 588757
140. Table 1 1 lists the technical specifications of the ZXW Receiver Table 1 1 Technical Specifications Specifications Characteristic ZXW Sensor ZXW Eurocard Tracking 12 channels L1 CA PL1 and PL2 a Size 2 30 H x 6 75 W x 10 31 L 0 6 H x 3 9 W x 6 8 L 3 Weight 3 75 Ib 0 5 Ib 5 Operating temperature 30 to 55 C 30 to 70 C g Storage temperature 40 to 85 C 40 to 85 C S Humidity 100 95 non condensing Environment Resistant to wind driven rain N A and dust per MIL STD 810E Power consumption 7 5 watts Power input 10 to 28VDC 5VDC 5 Interface e Three RS 232 ports via a e Four RS 232 ports DB 25 connector One antenna connector one internal RS 232 port e Event marker One antenna connector e 1PPS e Event marker and 1PPS via Optional radio interface DB 25 connector connector e Optional radio antenna connector Measurement Precision C A gt 10 elevation e Pseudo range raw smooth 25cm 3 6cm e Carrier Phase 0 9mm P Code AS off gt 10 elevation L1 Pseudo range raw 15cm 0 9cm smooth 0 9mm L1 Carrier Phase 21cm 1 3cm L2 Pseudo range raw 0 9mm smooth e L2 Carrier Phase Refer to for heat sinking information Equipment Description 3 Performance Specifications One of the most important functions of the ZXW Receiver is providing real time position with accuracy ranging from centimeter level to 100 meter
141. Table 8 148 CPD Commands continued Command Description Page BASE ONLY SET COMMANDS PASHS RTC BAS Set RTCM base mode 269 PASHS CPD PEB Set broadcasting interval for base station position 297 message either BPS DBEN or CMR type 1 PASHS CPD PED Set the DBN or CMR transmission period 297 PASHS CPD ENT Set current raw position as BASE position 288 PASHS CPD EOT Select type of end of transmission message 288 character s to send in DBN message PASHS CPD PRO Select DBN or CMR format 299 PASHS CPD PRT Set port to output DBN and base position messages 300 PASHS RTC TYP Set output of RTCM type message 18 19 or 20 21 275 CPD RTK Status PASHQ CPD c This is the general CPD query command where c is the optional serial port Use this query to monitor CPD settings and status Example Query CPD parameters PASHQ CPD lt Enter gt Commands SPUBUIWO0J 279 The response message is in free form format A typical response appears as follows STATUS VERSION PNAV_UL45 03 23 2002 MODE DISABLED BASE STAT 00000 PRN AGE 0000ms RCVD CORD 000 sec AMBIGUITY N A RCV INTVL 01 0 sec TYP gt D1f 00000ms T 00000 ms DLc 00000 ms Tc 00000 ms SETUP DBEN PER 001 0sec DBEN PORT B EOT CRLF AMBIGUITY FIX MODE 099 0 MAX AGE 0030sec AUT N DYNAMICS WALKING DYNAMIC POS OUTPUT CPD CKR ON MUTLIPATH MEDIUM MULTIPATH BAS POS USED RECEIVED FAST CPD ON CPD PE
142. The receiver provides a means of obtaining the position of the surveyed point rather than the antenna phase center through two commands PASHS ANT and PASHS ANR The ANT command allows the user to specify the antenna parameters Such as the distance between the antenna phase center and the surveyed point Since the antenna phase center cannot be accurately accessed this distance can be entered as antenna radius distance between phase center and the side of the ground plate and antenna slant distance between the side of the ground plate and the surveyed point The receiver will compute antenna height based on these two parameters The antenna radius is usually provided by the antenna manufacturer while the antenna slant can be obtained with a measuring rod Once these parameters are entered the user can select to use them through the PASHS ANR x command with x indicating the following where x is N Antenna reduction is performed The solution provided is the antenna phase center where x is Y Antenna reduction is performed The solution provided is the surveyed point if no antenna parameters were entered the solution will be the antenna phase center where x is CPD Antenna reduction is performed only for the CPD solution not for the stand alone or RTCM code phase differential Operation 53 uoneiado 54 ZXW Receivers Operation and Reference Manual Differential and RTK Operations Real time differential positioning
143. This command is relevant for ROVER mode or RVP BASE mode The default is 1 Table 8 163 CPD OUT Parameter Table Paramete r Description d1 solution output selection 0 raw pseudo range solution autonomous 1 CPD solution if available default Note 1 CPD solution can only be stored on the PC card in a C file data mode 2 or 4 See PASHS RNG d on page 150 Note 2 When the receiver is set to ROVER mode and the CPD solution is not available no solution will be output to the serial port However the raw pseudo range solution will be stored in the data card Note 3 If receiver is in RVP BASE mode the CPD solution will be output via serial ports but will not be stored into receiver s data card B and C files because this solution is the rover s position 2 Same as 1 but in RVP Base Mode the solution WILL BE stored into receiver s C file on the data card 296 ZXW Receivers Operation and Reference Manual Example Set CPD output to raw position output PASHS CPD OUT 0 lt Enter gt PEB Base Broadcast Interval PASHS CPD PEB d1 This command specifies the broadcasting interval for the BPS message where d1 is the interval in seconds The BPS message contains base station s ground mark coordinates if relevant and antenna offset from reference point When using CMR format this command controls the broadcast interval of the reference station coordinates and offset to the antenna phase c
144. Vs in current DBEN message 5 02 SV 02 warning none 03C SV 03 warning L1 measurement warning 10 SV 10 warning none 18 SV 18 warning none 19P SV 19 warning L2 measurement warning PASH DBEN message header PASH _ DBEN message masking 024 BPS message age 100 00 Percentage of good DBEN message reception 0405 DBEN message age Data is in the communication port 44 checksum ZXW Receivers Operation and Reference Manual From the Base station PASHR CPD DLK BAS 02 05 02 03 10 18 19P PASH 12 lt Enter gt Table 8 155 CPD DLK Response Message Example Base Station Field Significance BAS Receiver CPD mode base 02 BPS warning flag base station antenna parameters are all zeros 05 Number of SVs in current DBEN message 5 02 SV 02 warning none 03C SV 03 warning L1 measurement warning 10 SV 10 warning none 18 SV 18 warning none 19P SV 19 warning L2 measurement warning PASHS DBEN message header 12 checksum DYN Rover Dynamics PASHS CPD DYN d1 This command sets rover s dynamic information where d1 is a code number that best represents the motion of the rover receiver This command is relevant only for ROVER or RVP BASE receiver The default is 2 walking dynamics SPUBUIWO0J Commands 287 Example Set rover dynamics to aircraft dynamics PASHS CP
145. a bits a1 through a 6 of an eight bit byte for communication between the reference station and user equipment When the receiver is used as remote equipment and the RTCM and RTK remote options are enabled it can accept any type of RTCM message However it decodes types 1 2 3 6 9 16 18 19 20 21 and 22 uses only types 1 2 and 9 for differential corrections and types 3 18 19 20 21 and 22 for RTK corrections For radio communication the receiver in remote mode can recover bit slippage Differential and RTK Operations 79 S y bd bd s D D 3 Qa H A 80 ZXW Receivers Operation and Reference Manual Understanding RTK CPD This chapter covers CPD operation in more detail by describing CPD solution monitoring solution output and storage trouble shooting and performance optimization RTCM reference station setup is also described briefly For detailed information on the commands and responses that are mentioned in this chapter please refer to Chapter 8 Command Response Formats The following operation procedure applies to RTCM RTK with type 18 amp 19 20 amp 21 or RTK with Magellan DBN message Monitoring the CPD Rover Solution When a receiver is set to CPD rover mode you can monitor the current CPD solution status and positions with the following queries e PASHQ CPD shows the CPD setup in a tabulated format e PASHQ CPD MOD shows the CPD setup in a PASHR format e PASHQ CPD INF
146. able 8 71 CMR Type 0 Message Observables Block L2 continued Parameter Bits Units Range Description L2 carrier L1 20 1 256 L2 219 1 L2 carrier phase measurement is referenced code cycles 256 L2 against L1 code measurement in a fashion cycles similar to L1 carrier phase Units for L2 carrier minus L1 code in terms of 1 256 L2 full cycles For half cycle data units in terms of 1 256 L2 half cycles L2 SNR 4 LSB 2 0 15 L2 signal to noise ratio similar to L1 SNR SNR counts L2 cycle slip 8 n a 0 255 L2 cycle slip count is accumulated sum of count number of cycle slips at transmitting receiver Total 56 DBN DBEN Message PASHQ DBN x Query DBEN message for one epoch where x is the optional output port Example PASHQ DBN lt Enter gt PASHR RPC DBEN is a packed message which contains one epoch of GPS pseudo range and carrier phase measurements It is an essential message which is used for CPD operation This message only exists in binary format If ASCII format is requested default only the header will be sent SPASHR RPC The structure is PASHR RPC lt data length gt lt packed data gt lt ChkSum gt where the parameters are as defined in Table 8 72 and Table 8 73 Table 8 72 RPC Message Structure Number of bytes Description Parameter Type Data length unsigned short 2 Number of bytes in lt packed data gt part 182 ZXW Receivers
147. ables detection of CMR messages Default is ON Example Enable CMR messages PASHS CPD CMR ON lt Enter gt DLK Data Link Status PASHQ CPD DLK c This command queries the data link status message where c is the optional output port If the port is not specified the message is output to the port from which this command was received Example Query the data link status message to port A PASHQ CPD DLK A lt Enter gt 284 ZXW Receivers Operation and Reference Manual PASHR CPD DLK This response message is different for base and rover receiver The response message is in the form PASHR CPD DLK s1 d2 d3 n d4c5 s6 s7 d8 d9 d10 c11 cc lt Enter gt n number of satellites Table 8 153 CPD DLK Message Structure Field Description Range Unit si receiver CPD mode BAS ROV RBB RBR OFF The remainder of the message is only available when receiver is not in OFF mode d2 BPS message warning flag bit4 displays 1 if the receiver has not tracked the L2 observables bit3 displays 1 if the entered position and computed position differ by more than 500 meters in any direction bit2 displays 1 if the base station has not computed position using the raw pseudo ranges bit1 displays 1 if base station antenna parameters are all zeros bitO displays 1 if the base station coordinates are not entered d3 Number of satellites in current DBE
148. acking mode PASHS SBA DAM double automatic tracking mode PASHS SBA MAN xxx single manual mode PASHS SBA MAN xxx yyy dual manual mode PASHS SBA OFF turns off WAAS processing sets receiver to GPS only mode Automatic mode is used to automatically determine which WAAS satellite s to use Manual mode is used to manually specify the WAAS satellite s to use Single mode is used to select one set of WAAS corrections similarly dual mode is used to select two sets of WAAS corrections The WAAS command is a user defined setting that is saved when the PASHS SAV command is issued Default is Off Automatic Mode In the Automatic mode the receiver automatically searches for and tracks the WAAS satellite indicated in the available almanac If there is no WAAS almanac available the receiver searches for and tracks the WAAS satellites in a predetermined programmable order The default order can be 122 120 134 138 121 123 125 126 127 128 129 130 131 133 136 137 The order can be redefined using the PASHS SSO command page 318 The receiver supports two Automatic modes of operation single and dual The PASHS SBA SAM command sets single mode PASHS SBA DAM sets dual mode 316 ZXW Receivers Operation and Reference Manual Single Automatic Mode In Single Automatic mode the receiver automatically detects all available WAAS signals and selects the best single satellite switching automatically as the receiver moves from
149. al mode or RTK mode Auto Differential Mode When a user operates a rover receiver in differential mode either code phase or carrier phase a failure at the base station or in the data link causes the rover receiver to cease outputting differentially corrected positions Auto differential mode allows the user to output an autonomous position at the rover receiver if differential data from the base station is unavailable Auto differential mode is enabled by entering the Differential and RTK Operations 77 Ey bi bi 3 D D 3 Q Kal A command PASHS RTC AUT Y Table 5 15 describes how auto differential mode affects position output at the rover receiver Table 5 15 Auto Differential Modes and Position Output Mode Code differential Auto Differential Off Default code mode Position Output Differential position output if the age of corrections is less than maximum age maximum age as defined in the rover by PASHS RTC MAX No position otherwise Code differential Auto Differential On Differential position is output if the age of corrections is less than maximum age otherwise an autonomous position is output Carrier differential Fast CPD On Auto Differential Off Default carrier mode Once the rover mode has been enabled autonomous position outputs until it has computed the first CPD position A CPD position solution continues to output until the age of corrections is greater than
150. altitude 00000 000 DTM Datum selection W84 ZXW Receivers Operation and Reference Manual Table 3 1 Default Values continued Parameter Description Default UDD Datum user defined parameters Semi major axis 6378137 Inverse flattening 298 257224 Remaining parameters 0 PHE Photogrammetry edge selection R PPS Pulse per second default parameters Period 1 second Offset 000 0000 Edge R POW Power capacity of external battery All OS parameters Session Session Programming Default Parameters INUSE flag N Programming REF day 000 OFFSET 00 00 For all Sessions Session Flag N Start Time 00 00 00 End Time 00 00 00 RCI 20 MSV 3 ELM 10 RNG 0 MDM Modem Parameters MODE OFF TYPE 0 US Robotics PORT B BAUD RATE 38400 BEEP Warning beep Off CTS Clear to send port setting On LPS Loop parameter setting 01 2 3 MET meteorological parameter setting All ports off INIT STR No TRIG CMD 0100P9 INTVL 5 TLT Tilt Meter parameter setting All ports OFF INIT STR No TRIG CMD 0100XY INTVL 1 NMEA NMEA Message Output Status OFF in all ports messages TAG NMEA message format ASH PER NMEA Messages Output Rate 001 0 RCI Raw Data Output Rate 020 0 Getting Started 29 Q 2 2 5 e Ka Et 5D a E 30 Table 3 1 Default Values continued
151. and the commands to enable any of the SBAS tracking modes SBAS Satellite Based Augmentation System includes WAAS EGNOS and MSAS Where appearing WAAS may refer to SBAS EGNOS and MSAS ZXW Receivers Operation and Reference Manual Equipment Hardware Description ZXW Eurocard The ZXW Eurocard has four RS 232 serial ports embedded in a 64 pin connector The RF circuitry receives satellite data from a GPS antenna and LNA via coaxial cable and can supply power to the antenna LNA by means of that cable No separate antenna power is required The LNA power consumption is approximately 150 milliwatts depends on model and manufacturer The board includes a two color LED the LED lights red to indicate the power status and flashes green to indicate the number of satellites locked For example red indicates power on and four green flashes indicate four satellites locked An external two color LED can be connected to the board by connecting the common cathode to ground and the anodes to the LED GRN and LED RED pins 3 146 Bau 3 180 ay 7 991 0 808 0 367 Bea RB 3 500 B 8 890 E RS a 3 937 SS RADIO 10 00 a CONNECTOR D EE CG aa VTT eem men ie p 0 218 LL 0 282 Re 2 0 31 DIA hole 9 each 0 554 0 716 HE GONNECTOR 0 25 0 64 DIA pad 5 each Ti 0 700 De il Ss e 0778 1 07 BI wans KH L 6 88 918 17 48 0 46 Dimensions inches centimeters age
152. andard 50 ohm female TNC wired for connection via coaxial cabling to a GPS antenna with integral LNA The TNC connector shell is connected to the Z Sensor common ground The TNC center pin provides 5 Vdc to power the LNA maximum 150 mA draw and accepts 1227 and 1575 MHz RF input from the antenna the RF and DC signals share the same path ZXW Receivers Operation and Reference Manual Equipment Serial Power Cable The serial power cable Figure 2 8 connects the ZXW Sensor to the power source the PC or handheld unit and any peripherals Figure 2 8 ZXW Sensor Serial Power Cable Antenna The ZXW Sensor provides DC power on the center conductor for the antenna cable to provide power to the LNA Antenna LNA gain minus RF network RF cable and connectors loss should be between 20 and 30 dB On Board Battery Both the ZXW Sensor and ZXW Eurocard contain a 3 6V lithium backup battery to maintain power to the non volatile memory and real time clock when the main power source is not available This battery should last a minimum of 5 years The firmware monitors the battery voltage and detects a failure when it reaches 2 25 volts You can obtain this information via any serial port with the PASHQ WARN command refer to WARN Warning Messages on page 163 for detailed information about this command Radio Interference Some radio transmitters and receivers such as FM radios can interfere with the operation of GPS receivers
153. andard ZXW Eurocard Heat Sink Requirements The ZXW Eurocard has one large quad flat pack IC on the bottom side that requires a heat sink to keep it within its safe operating temperature range If you wish to mount the board inside a metal case use 0 200 standoffs with the adhesive thermal pads provided with the board filling the gap between the two ICs and the metal case If this arrangement is not possible an aluminum heat sink plate is available part number 200541 so you can attach the board on the bottom side again using the thermal pad filling the gap between the ICs and the heat sink Attach the plate using the four plated through holes as shown PLACE THERMAL PADS ON THIS IC ae Zeck SE see 3 200 ES E 8 128 E i 0 369 F 0 937 i Spe weg ad nd 0 920 4 950 2 337 F 12 573 2 A 230 HEATSINK y PLATE K LI c 0 650 1 651 A L_ a TT Dimensions inches centimeters THERMAL PAD Figure 2 4 ZXW Eurocard Mounted with Heat Sink 13 Applications requiring 70 C operation should provide either a substantial heat sink or forced air cooling to limit the temperature rise on the board to less than 10 C above ambient Modem Support The ZXW Eurocard can be interfaced to a modem through Port A Refer to Table 2 1 and the modem user manual before making connections After making connections you can follow the steps below to configure and initialize the modem using
154. arameter ci Description Transducer type Range A Angular deplacement C Temperature D Linear displacement F Frequency G Generic H Humidity Current N Force P Pressure R Flow rate S Switch or valve T Tachometer U Voltage V Volume f2 Transducer value x x variable lt 30 char c3 Transducer units type A D Degress type C C Celsius type D M Meters type F H Hertz type G Null none type H P Percent type l A Amperes type N N Newton type P B Bars type R L Liters type S null none type T R RPM type U V Volts type V M Cubic meters s4 Transducer ID Variable length lt 80 char cc Checksum Commands 261 SPUBUIWO0J ZDA Time and Date PASHS NME ZDA c s f Enable disable the time and date message where c is the output port s is ON or OFF and f is the optional output rate parameter in seconds If the output rate is not set the command is output at the rate set by the PASHS NME PER command This message is output even if a position is not computed Example Disable ZDA message on port A PASHS NME ZDA A OFF lt Enter gt PASHQ ZDA c Query time and date where c is the optional output port and is not required to direct the response to the current port Example Send query of ZDA message on port A PASHQ ZDA A lt Enter gt GPZDA The response message is in the for
155. ase center to antenna edge meter f3 Antenna offset offset from antenna phase center to antenna ground meter plane edge m1 Horizontal azimuth measured from reference point to antenna phase degree and center with respect to WGS84 north dddmm mm decimal minutes 4 Horizontal distance measured from reference point to point below meter above antenna phase center Kee Checksum n a BEEP Beeper Set up PASHS BEEP s This command enables or disables the audible beeper where s is ON or OFF If the beeper is disabled it will not sound when a warning is generated The beeper is OFF by default in ZXW Eurocard and ZXW Sensor The status is saved in battery backed memory if PASHS SAV Y has been issued afterwards Example Disable the beeper PASHS BEEP OFF lt Enter gt PASHQ BEEP c Requests the current state of the beeper where c is the optional output port and is not required to direct the response to the current port PASHR BEEP The response message is in the form PASHR BEEP s where s is the beeper status ON or OFF 114 ZXW Receivers Operation and Reference Manual CLM Clear Reformat PCMCIA Card PASHS CLM The CLM command deletes all files from the data card and reformats all tracks in the data card This includes the File Allocation Table FAT directory structure and data area To avoid fragmentation of the card which can occur over time it is recommended that the CLM command be performed at le
156. ast data option F is installed then PER can be set to 0 1 10 Hz If the fast data option is not installed then PER can be set to 0 2 5Hz minimum 242 ZXW Receivers Operation and Reference Manual POS Position Message PASHS NME POS c s f Enable disable NMEA position response message on port c where c is port A B C or D s is ON or OFF and f is the optional output rate parameter in seconds If the output rate is not set the command is output at the rate set by the PASHS NME PER command If no position is being computed a message will still be output but the corresponding position fields will be empty Example Enable position message on port B PASHS NME POS B ON lt Enter gt PASHQ POS c Query position message where c is the optional output serial port Example Send POS message to current port PASHQ POS lt Enter gt PASHR POS Commands 243 SPUBUIWO0J The POS response message is in the form below and detailed in Table 8 122 PASHR POS d1 d2 m3 m4 c5 m6 c7 f8 f9 f10 f11 f12 f13 f14 f15 f16 s17 cc lt Enter gt Table 8 122 POS Message Structure Parameter Description Range di Raw differential position 0 3 0 Raw position is not differentially corrected 1 Position is differentially corrected with RTCM code 2 Position is differentially corrected with CPD float solution 3 Position is CPD fixed solution d2 Number of SVs used in position
157. ast once a week Example Clear data files from PCMCIA card PASHS CLM lt Enter gt PASHQ CLM c This command queries the status the PCMCIA data card reformatting initiated with either a PASHS CLM command or a PASHS INI command reset memory code 2 or 3 where c is the optional output port Example Check the status of the PC card reformatting PASHQ CLM lt Enter gt PASHR CLM For the CLM command the response message depends upon whether a PASHS CLM command or a PASHQ CLM query has been sent If PASHQ CLM has been sent the response is PASHR CLM d1 cc where d1 is the percent of reformatting completed and ranges from 0 to 100 If the set command PASHS CLM has been sent the response is as follows If the card passes the test the response is in the form PASHR CLM WAIT cc lt Enter gt PASHR CLM SIZE d1KB cc lt Enter gt PASHR CLM PASSED cc lt Enter gt If the card fails the test the response is in the form PASHR CLM FAILED cc lt Enter gt Table 8 7 describes the parameters in the response message Commands 115 O e 3 3 D E 2 a Table 8 7 CLM Message Structure Parameter Significance di Size of the data card in kilobytes cc Checksum The time to complete the CLM dependsup on the data card size approximately 5 seconds per MB CSN Satellite Signal to Noise Ratio PASHQ CSN This command queries the receiver for the signal to noise ratios in dB Hz of all
158. ations in different systems By default the receiver computes and outputs ellipsoidal heights In some messages the geoid separation is included computed from the internal global model relative to WGS 84 100 ZXW Receivers Operation and Reference Manual To set the receiver to compute and output orthometric heights use the PASHS HGT GEO command After setting this command the receiver outputs orthometric heights using the internal global geoid model Be aware that the internal geoid model used in this calculation is very coarse Orthometric heights derived from this model could be in error by a meter or more If separation is included in the message it is calculated by adding the difference between WGS 84 and a user or pre defined datum to the WGS 84 based geoid separation An exception to this is the GGA message which ONLY outputs WGS 84 based geoid heights and separation as per NMEA specifications Coordinate Transformation 101 4 D 3 V E e 3 Di e 3 o 102 ZXW Receivers Operation and Reference Manual Command Response Formats This chapter details the formats and content of the serial port commands through which the receiver is controlled and monitored These serial port commands set receiver parameters and request data and receiver status information Use the RCS or REMOTE exe software or any other standard serial communication software to send and receive messages Note that the baud rate and pro
159. becca EE ee 63 Required Radio Hate cece cccccessssenceeeeeseeeeeeeeeeeneeeeeeeeeeeeseeeseeeeeseeeeeneeeess 64 Mask Angle eege Nee dese ae ol eA EEN 66 Base Station Position snrrrernnvrnnnnvvnrnnrrnnnnnvnnrnrrannnnrnnnenrenennnnnnsnnressnrnnssnnnenn 66 Base Station Antenna Offset 67 Using Reference Station ID 67 Reference Station Health 67 Other RTCM Messages 67 MEET E 67 Filler Message 6 Null Frame 68 Special Message Message 16 68 Using a PC Interface ect snusen di coneensiidteecipeeieeieheebetbneees 68 Using a Handheld Interface AAA 68 REMOLE StallOn Lvarmuasndsisnem naaadekgdvnkaanutnaddedride 69 Setting Up a Differential Remote Giation eeeeenneerrresnneene 69 Setting Up an RTK Remote Station rraassrnnnonvvnnnnrrnnnnnnnnnnrrrnnnnvnnrrrrennnnnnernnn 69 Using RTCM Messages 69 Using Magellan DBN or CMR Messages rrrnrrnnnnrrnnnnnvnnrnnrnvnnnnnnnrrrrnnnnnnnerenn 70 Advanced Remote Station Operation 71 Base Station Datas ierann anna deeg idet avn ier 71 Base Data Latency sv apassaonssn Gera ea graset Eege 72 Differential Accuracy vs Base Data Latency 73 Chosing Between Fast RTK and Synchronized RTR 73 neues NEE Me RR EE 73 FaStRI geet NT 74 5 Hz Synehronized RT Kaeser aaan a aeaa aa a aeea ia aaae 74 Position e Era E E A AAA 75 Float and Fixed Solutions a aiina agea tan araa aar anA aae G 75 Carrier Phase Initialization eesonrrnnnnrrnnonnrvnnrnrrnnnnnnrnrnrrannnnnnnnnrrrnnnnnnnnnennn
160. ber of remaining struct to be sent for current epoch unsigned char 1 satellite PRN number 1 to 32 for GPS and 33 to 64 for SBAS unsigned char 1 satellite elevation angle degree unsigned char 1 satellite azimuth angle two degree increments unsigned char 1 channel ID 1 12 C A code data block 29 bytes unsigned char 1 Warning flag unsigned char 1 Indicates quality of the position measurement good bad char 1 set to 5 for backward compatibility unsigned char 1 Signal to noise of satellite observation db Hz unsigned char 1 Spare double 8 Full carrier phase measurements in cycles double 8 Raw range to SV in seconds i e receive time raw range transmit time long 4 Doppler 10 Hz long 4 bits 0 23 Smooth correction bit 0 22 magnitude of correction in cms bit 23 sign bits 24 31 Smooth count unsigned as follows 0 unsmoothed 1 least smoothed 200 most smoothed 29 P code on L1 block same format as C A code data block 29 P code on L2 block same format as the C A code data block unsigned char 1 Checksum a bytewise exclusive OR XOR total bytes 95 SPUBUIWO0J For details on warning flag and good bad flag see MBN data struct in ASCII The MBN response message in ASCII is in the form Commands 189 PASHR MPC d1 d2 d3 d4 d5 d6 d7 d8 d9 d10 d11 f12 f13 f14 f15 d16 d17 d18 d19 d20 d21 f22 f23 f24 f25 d26 d
161. ble 5 13 RTK Remote Station Command Command Description PASHS RST Reset the receiver to factory defaults PASHS RTC REM c Set the receiver as a remote station receiving corrections on serial port c PASHS SPD c d Set the baud rate of serial port c to the same as the radio providing the corrections PASHS CPD MOD ROV Set the receiver as an RTK remote PASHS SAV Y Save settings Make sure to issue command PASHS RTC REM c before the PASHS CPD MOD ROV command Doing so in reverse order disables the CPD mode The receiver is set up as a RTK remote station Turn on the GGA GLL or POS message to obtain position PBN does not provide RTK position only stand alone or code differential RTK Real Time Kinematic and CPD Carrier Phase Differential are synonyms Using Magellan DBN or CMR Messages You must have the J option installed in your receiver Send the commands listed in Table 5 14 70 ZXW Receivers Operation and Reference Manual Table 5 14 RTK Remote Station Commands Command Description PASHS RST Reset the receiver to factory defaults PASHS SPD c d Set the baud rate of serial port c to the same as the radio providing corrections PASHS CPD MOD ROV Set the receiver as an RTK remote PASHS SAV Y Save settings The receiver automatically detects which port is receiving the DBEN or CMR messages and uses them in the RTK solution Advanced Remote Station Operati
162. cc Checksum 290 ZXW Receivers Operation and Reference Manual MAX Max Age for CPD Correction PASHS CPD MAX d Set the maximum age in seconds of CPD differential correction above which it will not be used in the position solution where d is any number between 1 and 30 Default is 30 The max age is used only in REMOTE ROVER mode The max setting can be checked through the PASHQ CPD command Example Set maximum age to 10 seconds PASHS CPD MAX 10 lt Enter gt MOD CPD Mode PASHS CPD MOD s This command enables disables CPD mode where s is a string that defines the mode Example Set receiver to Base CPD mode PASHS CPD MOD BAS lt Enter gt Table 8 159 CPD MOD Parameter Table Parameter Character Description String s BAS CPD BASE mode ROV CPD ROVER mode RBR RVP reverse vector processing ROVER mode outputs DBEN message only RVP BASE mode it computes the RVP ROVERSs position RBB Disable CPD mode OFF PASHQ CPD MOD c Queries the current CPD setting where c is the optional output port This message contains information about current CPD mode If the port is not specified the message is output to the port from which this command was received Example Query the receiver for CPD mode information PASHQ CPD MOD lt Enter gt Commands 291 O e 3 3 D 3 2 a PASHR CPD MOD The response is in the form PASHR CPD MOD s1 s2 c3 f4 d5 d6 Ss7 S8 f9 S10 d11 s12 f13 cc lt Enter g
163. ccssceeeeeeeeseeeees 174 Table 8 66 Solution Type Flag Structure Binary Format cecceeeeeees 175 Table 8 67 Compact Measurement Record Structure c cccccseeeseeeeseeteees 178 Table 8 68 Compact Measurement Record Packet Definition rrrrnnrnrnnrnns 179 Table 8 69 CMR Type 0 Message Header mrnnrnnonrrnnnnnvnnnrrrrrnnnnrnnnrrrernrnrnntennr 179 Table 8 70 CMR Type 0 Message Observables Block rrnrrrnnnnnvnnrnrrrnnnnrnnrnnr 180 Table 8 71 CMR Type 0 Message Observables Block 31 181 Table 8 72 RPC Message Structure ccccceceececeeeeeeeeneeeeeeeeeeeeeesecaeeeseeeesaas 182 Table 8 73 RPC Packed Parameter Descriptions 183 Table 8 74 DBEN Message Sizes ccccecceeeeeeeeeeeeeeeeeeeseeeeeseaaeeeeeeeeesaeetees 184 Table 8 75 BPS Message Structure mmrrrrnannnvnnrrrrennnnrnnrrrrernrrrnnnnnreerrrrnnennnnernnn 185 Table 8 76 BPS Status Byte Definition srrrrnrrnnnnnrnnrnrrrnnnnrrnnnnrvnrrrrnnnnnnnernnr 186 Table 8 77 EPB Response Format 00 ccccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeneates 187 Table 8 78 MPC Measurement Structure Binary Format arrnrrrrrrennnrnnennr 189 Table 8 79 MPC Message Structure ASCII Format mrrrrrrnnnrrnnnrrrnnnnnrnnnennr 190 Table 8 80 Warning Flag Settings rrrnrnrrrnnnnvnnrnrrrnnnnnrnnrnrrennnnrnnrerrreennrnntennn 191 Table 8 82 OUT Message Structure rrnrnrrnnannvvnrnrrrnnnnnnnnnrrrennnnnnnrnrrnennnnnnnennn 192 Table 8 81 Measu
164. ceiver s temperature is still going up it will automatically switch to the sleep mode in reduced power consumption mode as a safety measure To recover cycle the Power after having eliminated the source of overheating temperature is gt 55 degrees Celsius Download in Progress Receiver is currently downloading data from the PCMCIA card to a PC No front panel operations can be conducted at this time Wait for Download to complete operation before performing the command If Download is not running run Download again perform proper shutdown routine Do not disconnect serial link to PC before exiting Download t Indicates warning is permanent the warning will NOT go away if the condition disappears but only if it is acknowledged Indicates error will only display if antenna is present WKN GPS Week Number PASHQ WKN c This command queries the current GPS week number where c is the optional output serial port Example Query receiver for GPS week number PASHQ WKN lt Enter gt PASHR WKN Returns current GPS week number where the message is in the form PASHR WKN d1 cc lt Enter gt s Table 8 60 WKN Message Structure a Parameter Description d1 Current GPS week number Commands 167 Raw Data Commands The raw data commands cover all query and set commands related to measurement ephemeris and almanac data Set Commands There is only one set command tha
165. conds of DBEN message received 01 0 Rover TYP Displays the message type received by the rover PASH CMR2 1819 n a PASH DBEN CMR2 CMR 1819 RTCM 18 19 2021 2021 RTCM20 21 Dif Time delay to start fast CPD task milliseconds N A Tf Time to execute fast CPD task Rover milliseconds N A Dic Time delay to start CPD Rover milliseconds N A Tc Time to execute CPD Rover milliseconds N A SETUP DBEN PER DBEN output period Base 0 5 0 1 0 DBEN PORT DBEN output port Base or receiving port Rover A D B EOT End of Transmission characters Base CR CRLF NONE CRLF AMBIGUITY Confidence level of the ambiguity fix mode 99 0 FIX MODE 90 0 95 0 99 0 99 9 MAX AGE Maximum age of base data will be used sec 0 30 30 DYNAMICS _ Rover WALKING DYNAMIC STATIC DYNAMIC WALKING Q STATIC DYNAMIC AUTOMOBILE DYNAMIC DYNAMIC AIRCRAFT DYNAMIC SHIP DYNAMIC AUT Auto differential mode If Y rover will output code Y N N differential position if available or stand alone if not once the MAX AGE has been received POS Type of position for output Rover CPD RAW CPD OUTPUT MULTIPATH Rover MEDIUM MULTIPATH NO MULTIPATH MEDIUM LOW MULTIPATH HIGH MULTIPATH SEVERE MULTI MULTIPATH PATH BAS POS Base position used Rover RECEIVEDENTERED RECEIVED USED FAST CPD Fast CPD algorithm Rover ON OFF ON CPD PER CPD update period in seconds Rover 0 5 0 1 0 Only relevant for fast CPD OFF Commands 281 spue
166. cts bi oe Baek Meet tt 316 PATNA d 314 data output 43 recording 34 transferring 44 data analysis 25 data collection 0 26 DB25 ee ke RE 14 17 DBEN ag dine ertet Justad adel 7 71 D NG e kid A 59 61 dead reckoning 221 default data output commands 26 default parameters 26 28 45 delete allfiles 120 326 RUE 118 differential correction 78 GPS 55 differential amp RTK base station setup 58 differential base mode 111 143 differential dase station setup 56 differential remote station setup 69 DIN user ge e knert 10 DING 4 facials ke Rd 2 directory structure 128 disable differential mode 272 DOW Lutsk cornea Miah Oe 117 168 Ri EE 226 DRI fase rann ene oer benet 117 118 168 DSC itive EE 118 IRC EE 118 DIM ue Ne de ba eddie Gas 303 dynamics ey ra fide wes ae AE 130 E edge selection 000 29 EES eben oboe oe ee EE 306 ellipsoidal altitude 244 ellipsoidal height 111 ELM nese t E 37 66 119 EMERY Zeche Gerbe wees 94 Enable Type of Message 275 encryption see Anti Spoofing 1 ENT mare 62 EOT ek Peek bs at eae 288 ephemeris data 2 event marker 0000 41 254 event marker message 246 event marker option E 255 event time 0 2 cee ee eee 4
167. cture was taken and the GPS position fixes can be as much as 50 meters To minimize the errors discussed above the closed loop technique is recommended Closed Loop Technique Advanced Trigger The closed loop technique combines PPS synchronization and shutter timing as shown in Figure 4 4 Camera Shutter Trigger Shutter Signal m GPS Receiver PPS Output Event Timer Input 9123A Figure 4 4 Closed Loop Technique In this technique the 1PPS output of the receiver triggers a camera shutter The camera shutter generates a signal that is fed to the receiver for accurate time tagging The delay between the camera receiving the pulse and triggering the photogrammetry port should be calculated This may then be applied so as to advance the 1PPS from the receiver so that the shutter time exactly matches the GPS system time for the epoch No interpolation between the shutter time and the GPS position time will be needed 42 ZXW Receivers Operation and Reference Manual This input is asserted by bringing it to ground with a low impedance driver a contact closure or an open collector transistor The maximum voltage to guarantee assertion is 0 75 volts and the current when grounded will be no more than 350 microampere The input has an internal pull up so it is not necessary to drive it high to make it inactive The signal will be de bounced internally
168. d will set the UTM zone that will be held fixed where d is the UTM zone and ranges from 1 to 60 this command is mostly used when the user is near a UTM boundary and outputing position in UTM coordinates and does not want the UTM coordinates to suddenly shift from one zone to another if the boundary is crossed This command must be used with PASHS FUM Example Select UTM zone 10 to be fixed PASHS FZN 10 lt Enter gt GRD Datum to Grid Transformation Selection Map Projection PASHS GRD s Enable Disable usage of datum to grid transformation where s is a 3 character string NON default none disable datum to grid transformation UDG enable datum to grid transformation Parameters for user defined datum are entered with the PASHS UDG command page 308 Grid coordinates are output in the PASHR GDC on page 217 Example Enable user defined datum to grid transformation PASHS GRD UDG lt Enter gt PASHQ GRD c Associated query command where c is the optional output port Example Query the GRD status to port C PASHQ GRD C lt Enter gt PASHR GRD The response message is in the form PASHR GRD s cc lt Enter gt where s is a 3 character string that denotes current datum to grid setting NON or UDG SPUBUIWO0J Commands 305 HGT Height Model Selection PASHS HGT s Select height used in position output messages where s is a 3 character string ELG default output ellipsoidal heights in position mes
169. dcasts almanac and ephemeris information every 30 seconds and the receiver automatically records this information in its non volatile memory The receiver has an L1 L2 band radio frequency RF port and four RS 232 serial input output I O ports Ports A B and C are capable of two way communication with external equipment On the Sensor port D is not available On the Eurocard port D can be accessed via the DIN64 connector The RF circuitry receives satellite data from a GPS antenna and LNA via a coaxial cable and can supply 5V to the antenna LNA by means of that cable No separate antenna power cable is required Typical power consumption is approximately 7 5 watts even when powering an LNA The receiver incorporates a red green LED which lights red to indicate power status and flashes green to indicate the number of locked satellites The ZXW Receiver collects Coarse Acquisition C A code phase pseudo range and full wavelength carrier phase measurement on L1 frequency 1575 MHz Precise P code phase pseudo range and full wavelength carrier phase on L1 and L2 frequency 1227 MHz The ZXW Receiver permits uninterrupted use even when anti spoofing AS is turned on When AS is on the ZXW Receiver automatically activates Magellan s patented Z tracking mode that mitigates the effects of AS The performance when AS is on is the same as when AS is off ZXW Receivers Operation and Reference Manual Technical Specifications
170. desired data type Table 8 45 Table 8 45 RNG Data Modes Parameter d Description Data recording mode 0 creates B file that includes carrier phase code phase and position data 2 creates a C file with smoothed positions only 4 creates both a B file and a C file Range 0 2 4 Example Set data recording mode to 2 PASHS RNG 2 lt Enter gt RST Reset Receiver to default PASHS RST Reset the receiver parameters to their default values The RST command reset all parameters except the POW MET TLT and MDM command parameters including the baud rate of the modem port For more information on default values see the Operations Section Example Reset receiver parameters PASHS RST lt Enter gt Ensure that 110 millisecond delay occurs before a new set command is issued 150 ZXW Receivers Operation and Reference Manual RTR Real Time Error PASHR RTR This is an unsolicited response message that the receiver sends when a runtime error occurs The response is an unsigned hex long word bitmap with the bit assignment listed in Table 8 46 indicating the position computation did not converge The message is in the form shown below and defined in Table 8 46 PASHR RTR h cc lt Enter gt Table 8 46 RTR Message Structure Bit Description 13 Autonomous position did not converge SAV Save User Parameters PASHS SAV c Enables or disables saving user paramet
171. ditional rover RTK positions In this mode positions are more independent of the rate at which it receives DBEN RTCM 18 19 or 20 21 or CMR messages from the base receiver Fast CPD should be used when regular and high frequency position updates are required Such as in machine control and when consistent position accuracy is not the highest priority The accuracy is a function of the latency The typical accuracy in centimeters is equal to the base remote data latency in seconds 1s horizontal for data latency of up to 10 seconds After 10 seconds the position is no longer centimeter level accuracy Any degradation in position either because of latency or cycle slips can be monitored in the RRE message Because Fast RTK is running synchronized RTK in the background any degradation is usually temporary Cycle slips are typically fixed at the next synchronized epoch 5 Hz Synchronized RTK 5 Hz Synchronized RTK is a new feature that combines the accuracy of synchronized RTK with position output rates that approach those of Fast CPD Data is transmitted at a faster rate from the base receiver allowing the rover to compute more frequent matched time tag RTK positions In this mode the rover is capable of outputting RTK positions up to 5 times per second Assuming that the H option is installed the receivers are set up in 5 Hz synchronized RTK mode by setting the base receiver to transmit data at a 5 Hz rate and the rover to output RTK posi
172. ds 259 XDR Transducer Measurements PASHS NME XDR c s f Enable disable the transducer measurements message where c is the output port s is ON or OFF and fis the optional output rate parameter in seconds If the output rate is not set the command is output at the rate set by the PASHS NME PER command This message transfers the XDR message received from external transducers through WIXDR and YXXDR NMEA message or Magellan format PASHS XDR for use by the control station so that the control station can have access to all measurements GPS data and transducer data through a single communication link Example Enable XDR message on port A PASHS NME XDR A ON lt Enter gt PASHQ XDR c Query transducer measurements where c is the optional output port and is not required to direct the response to the current port Example Send query of XDR message on port A PASHQ XDR A lt Enter gt GPXDR As indicated above the format of the response is the same as the format of the input from the transducer WIXDR and YXXDR The messages are in the form GPXDR c1 f2 c3 s4 c5 f6 c7 s8 cn f n 1 c n 2 s n 3 cc lt Enter gt 260 ZXW Receivers Operation and Reference Manual The data from the transducers have the form c1 f2 c3 s4 as defined in Table 8 138 Several transducer data can be sent in the same message as long as the entire string is not longer than 180 characters Table 8 138 XDR Message Structure P
173. duct compo nents or parts not manufactured by Magellan Navigation 7 that the receiver will be free from any claim for infringement of any patent trademark copyright or other proprietary right including trade secrets and 8 any damage due to accident re sulting from inaccurate satellite transmissions In accurate transmissions can occur due to changes in the position health or geometry of a satellite or modifications to the receiver that may be required due to any change in the GPS Note Magellan Navigation GPS receivers use GPS or GPS GLO NASS to obtain position velocity and time informa tion GPS is operated by the U S Government and GLONASS is the Global Navigation Satellite Sys tem of the Russian Federation which are solely re sponsible for the accuracy and maintenance of their systems Certain conditions can cause inaccu racies which could require modifications to the re ceiver Examples of such conditions include but are not limited to changes in the GPS or GLONASS transmission Opening dismantling or repairing of this product by anyone other than an authorized Magellan Navigation Service Center will void this warranty MAGELLAN NAVIGATION SHALL NOT BE LIA BLE TO PURCHASER OR ANY OTHER PERSON FOR ANY INCIDENTAL OR CONSEQUENTIAL DAMAGES WHATSOEVER INCLUDING BUT NOT LIMITED TO LOST PROFITS DAMAGES RESULTING FROM DELAY OR LOSS OF USE LOSS OF OR DAMAGES ARISING OUT OF BREACH OF THIS WARRANTY OR ANY IMPLIED W
174. e mrrnrrrnnnrnnarvrnnrrrnavrrnnrrrsrrrrnnrrrsrrrrnrrrssrsnnnene 235 Table 8 114 Common Fields of Type 1 2 3 6 16 18 19 20 and 21 237 Table 8 115 Remainder of Type 1 Message ou eee eeeeeeeeeeeeeeeeeteeeeeeeeeeeeeeeeeeees 237 Table 8 116 Remainder of Type 2 Message mmrnrrnnnnannnrrrnnnnrnnrrrnnnrrrrnrrrnnnennn 238 Table 8 117 Remainder of Type 3 Message mmmmvrnnnnensvrrnnnvrnnrrrnnnnvrrnrrrnnnennn 238 Table 8 118 Remainder of Type 16 Message rrrrrnnnnnnnnrrnnnnnnnnrrrnnnnrnnrrrnnnnennn 238 Table 8 119 Remainder of Type 18 and 20 Messages rrrnrrnnnnnrnnrrnnnnnnnnnnnnn 239 Table 8 120 Remainder of Type 19 and 21 Messages rrnrrnnnnnrrnrrnnnnnnnnnnnnn 240 Table 8 121 NMO Message Structure cccecceceeeeeeeeeeeeeeeeeeeaeeseeeeeeeeeeees 242 Table 8 122 POS Message Structure rmmmannvnnrrr renn nrnnnrrrrnnnrnnnrnrenerrrrnnnnnnneenn 244 Table 8 123 Typical POS Message rrrnrrrnnnnrnnvvrnnnrrnnvrrnnrrrsrnrnnnrrssrrrnnrssnsrsnnnene 245 Table 8 124 PTT Message Structure rnaannvnnnnrrnnnnnrnnnnrrrnnnnrnnnrnrennrnrrnnnnnnneenn 246 Table 8 125 Typical PTT Response Message rrrarnrrrnnnnnnnrrrnnnnnnnvrnnnnennrrrnnennn 247 Table 8 126 RMC Message Structure cccecceceeeeeeeeeeseeeeeeeeeeeseeeeeeeeeeees 247 Table 8 127 Typical RMC Response ccescccesseeceeeeseeeeeeeeeessneeeeeessenaaeeess 249 Table 8 128 RRE Message Structure ccccscceeeeeeeeeeseeeeeeeeeeseneeeseee
175. e PASHS NME TAG command is set to V23 or V30 an additional field is added to the GPGLL message at the end of the message before the checksum This field is the Mode Indicator and is defined as follows A Autonomous Mode D Differential Mode E Estimated dead reckoning Mode S Simulator Mode N Data not valid SPUBUIWO0J Commands 223 The Status field parameter c6 will be set to V invalid for all values of the Mode Indicator except A autonomous and D differential Example Query PASHQ GLL lt Enter gt Typical response GPGLL 3722 414292 N 12159 852825 W 202556 00 A 12 lt Enter gt Table 8 102 describes each item in a typical GLL response message Table 8 102 Typical GLL Message Item Significance GPGLL Header 3722 414292 Latitude N North latitude 12159 852825 Longitude WwW West longitude 202556 00 UTC time of position A Status valid 12 checksum GRS Satellite Range Residuals PASHS NME GRS c s f This command enables disables the NMEA satellite range residual response message to port c where c is A B C or D s is ON or OFF and f is the optional output rate parameter in seconds If the output rate is not set the command is output at the rate set by the PASHS NME PER command If only four SVs are used in the position solution residuals are not computed and GRS outputs zeroes in the residual fields With three SVs or fewer the message is not output
176. e CPD solution will be less accurate Use the STATIC dynamics mode only if the antenna will remain on a solid setup such as a tripod If the antenna is on a pole that may have some slight movement select Q STATIC If you are doing stop and go kinematic or rapid static surveys the WALKING default or AUTOMOBILE dynamic should be selected SHIP dynamics assume limited vertical movement AIRCRAFT dynamics assume higher speeds and accelerations 88 ZXW Receivers Operation and Reference Manual Fast CPD PASHS CPD FST Fast CPD off achieves the ultimate in GPS accuracy With Fast CPD off sub centimeter position solution accuracy can be obtained with fixed integer ambiguities However it suffers from solution delay This delay is caused by measurement and radio link delays The measurement delay is about 1 second Typical radio data link delays are about 1 second also DLf and Tf are not shown in PASHR CPD message when Fast CPD is off For surveying application where accuracy has higher concern over the latency fast CPD should be turned off especially when collecting data for static points Turning Fast CPD on default reduces the solution delay to about 50 millisecond Because Fast CPD computes the position as soon as Rover measurement has been collected it does not suffer from radio link delays However the position accuracy is only 2 3 centimeters Turning FAST CPD on also allows the solution to be available when there is a temporary da
177. e Manual Table 4 4 Default Values continued Parameter Description Default Page IOD IODE update rate 30 270 CPD MODE CPD mode selection Disabled 296 PED DBEN output transmission period 001 0 297 DBEN PORT Output port for DBEN messages in base B 182 CPD EOT End of character selection for CPD CRLF 288 corrections AFP Ambiguity fixing confidence level 099 0 282 MAX AGE Maximum age of corrections for CPD 30 291 DYN CPD rover mode dynamic operation WALKING 287 MTP Level of multipath Selection MEDIUM 292 CPD POS Reference position of the other RECEIVED 298 receiver FST Fast CPD Mode Selection ON 289 CPD PER CPD Update Interval 01 298 ANT radius Radius of the Antenna 0 0000 283 ANT offset Distance from Antenna Phase Center 00 0000 283 to Antenna Edge ANT Azimuth measured from Reference 00000 00 283 horizontal Point to Antenna Phase Center azimuth ANT Distance from Reference Point to 00 0000 283 horizontal Antenna Phase Center distance SBAS mode SBAS mode on or off Off 314 Multipath Mitigation Multipath occurs when GPS signals arrive at the receiver after being reflected off some object The reflected signals always travel a longer path length than the direct signal This leads to measurement errors in the receiver which is trying to measure the direct path length to the satellite The techniques for rejecting the reflected signals are known as multipat
178. e Of 37 66 performance conditions 4 PHE Lads rek Ate AA 41 PMD otic scribe eh aie weeks ee 121 PNAV Ee dee Sind Ante aac eso A 300 point positioning 40 point positioning mode 6 port protocol neusen euuau euere 114 POS lte Ad e AE 27 62 69 70 299 POSION waar ce ea ew yeh a 25 horizontal 234 mode 39 position latency 4 75 post fit residuals 225 POW cits E ee BAe beak 144 POWER Se tented wee AE 3 EE eeh 6 328 LN LEE 237 precision navigation docking 1 dredging I protocol for a specified port 117 pseudo range 0 eee eee 2 R raw measurements 82 raw position data 6 RGI troner tt tere norte 117 118 168 315 real time differential 6 receiver serial number 125 receiver status uesuuessunn 26 reference station 55 67 reformat ed a ee ee eal wes 120 reformat datacard 128 reliability ambiguity fixing 76 REM ei ee a 69 70 remote location 6 remote monitoring 40 remote option 79 REMOTE EXE 00005 6 38 REMOTE ee 103 RNG ees 34 REINER ioe Ee tat 70 71 RRG Zebra geb ad seng 237 RS 232 EE seg SST 2 Rb geed eta EN 27 RIG ORE sinca sce sh eee ee san kes 272 RTG TYP eer oe oe ee tee heed 275 RIGM bt hate the tk ae 7 reference 235 RTCM 104 78 79 RTCM message bit rate
179. e Structure Parameter Description Range f1 COG Course Over Ground true north 0 359 99 T COG orientation T true north T f2 COG magnetic north 0 359 99 M COG orientation M magnetic north M f3 SOG Speed Over Ground 0 999 99 N SOG units N knots N H SOG Speed Over Ground 0 999 99 K SOG units K Km hr K cc checksum If the PASHS NME TAG command is set to V23 or V30 an additional field is added to the GPVTG message at the end of the message before the checksum This field is the Mode Indicator and is defined as follows A Autonomous Mode 258 ZXW Receivers Operation and Reference Manual D Differential Mode E Estimated dead reckoning Mode S Simulator Mode N Data not valid The Mode Indicator will not be a null field Example Query PASHQ VTG lt Enter gt Typical VTG response message GPVTG 004 58 T 349 17 M 000 87 N 001 61 K 46 lt Enter gt Table 8 137 describes each item in a typical VTG message Table 8 137 Typical VTG Message Parameter Significance GPVTG Header 004 58 Course over ground COG oriented to true north T True north orientation 349 17 Course over ground COG oriented to magnetic north M Magnetic north orientation 000 87 Speed over ground SOG in knots N SOG units N knots 001 61 Speed over ground SOG in km hr K SOG units K km hr 46 checksum spuewwog Comman
180. e name 4 char string d13 PDOP 0 99 d14 HDOP 0 99 d15 VDOP 0 99 d16 TDOP 0 99 cc Checksum 194 ZXW Receivers Operation and Reference Manual The response message in the binary format is in the form PASHR PBN lt PBN structure gt lt Enter gt Table 8 84 describes the binary structure of the PBEN message Table 8 84 PBN Message Structure Binary Format Parameter Bytes Significance Units long pbentime 4 GPS time when data was 10 3 seconds of received week char sitename 4 Site name 4 character double navx 8 Station position ECEF X meters double navy 8 Station position ECEF Y meters double navz 8 Station position ECEF Z meters float navt 4 clock offset meters float navxdot 4 Velocity in ECEF X m sec float navydot 4 Velocity in ECEF Y m sec float navzdot 4 Velocity in ECEF Z m sec float navtdot 4 Clock drift m sec unsigned short pdop 2 PDOP unsigned short 2 checksum chksum Total bytes 56 RAW Query Raw Data Parameter PASHQ RAW This query will display the settings of all parameters related to raw data Example PASHQ RAW lt Enter gt Return Message SPUBUIWO0J Commands 195 The return message is shown below and described in Table 8 85 RCI 020 0 MSV 03 ELM 10 ZEN ELM 90 REC E MST 0 ANH 00 0000 ANA 00 0000 SIT S8C01 EPG 000 RNG 0 DRI 020 0 DOI 020 0 RAW MBN PBN CBN SNV EPB SAL DBN DPC CMR SNW SAW FORMAT BAUD PRTA OFF OFF OFF OFF OF
181. e reset memory codes 0 and 2 behave like a power cycle Any parameters not saved with the PASHS SAV command are lost Code 1 and 3 reset all parameters to default as well as the ephemeris and almanac i e creates a cold start Code 2 and 3 reformat the data card by clearing the FAT table and directory structure ION Set lonospheric Model PASHS ION c Enable or disable the ionospheric model to compensate for ionospheric and tropospheric delay in the position computation where c is either N disable or Y enable Default is N disable Example Enable ionospheric model PASHS ION Y lt Enter gt ION Query lonospheric Parameters PASHQ ION c Query current ionosphere data information through port c where c is the optional output port and is not required to direct the response message to the current communication port The ionosphere data is not computed by the receiver It is obtained from the frame data transmitted by the satellites Example Query the ionosphere parameters to port C PASHQ ION C lt Enter gt 128 ZXW Receivers Operation and Reference Manual PASHR ION lonosphere and GPS to UTC data conversion parameters See ICD GPS 200 for the definition and the description of the model The format is PASHR ION lt ION Structure gt lt Enter gt where the structure is as defined in Table 8 19 Table 8 19 ION Message Structure
182. e s is one of the 3 character NMEA strings and c is the serial port to which response message should be sent A B C or D The serial port field is optional If a port is not included the receiver will send the response to the current port Unlike the set commands the query command will initiate a single response message Commands 203 O e 3 3 D E 2 a Example Query POS message and send the response to port D PASHQ POS D lt Enter gt Query GSA message and send the response to the current port PASHQ GSA lt Enter gt Table 8 89 lists the NMEA data message commands Only the set command for each NMEA message type is listed in the table as the description for the set query and response message for each NMEA message are grouped together 204 ZXW Receivers Operation and Reference Manual A detailed description of each NMEA command follows Table 8 89 Table 8 89 NMEA Data Message Commands Command Description Page DISABLE OUTPUT PASHS NME ALL Disable all messages 206 CHECK NMEA OUTPUT SETTINGS PASHQ PAR Query receiver parameters 137 PASHQ NMO Query NMEA message settings 241 NMEA VERSION SPASHS NME TAG Set version of NMEA output 254 DIFFERENTIAL INFORMATION PASHS NME MSG Enable disable base station messages 235 EXTERNAL SENSORS PASHS NME XDR Enable disable external sensor information 260 OUTPUT RATE PARAMETER
183. eader 4 bytes Observables header Type 0 includes number of 6 bytes satellites n Satellite 1 L1 observables extended L2 data follows 8 bytes Satellite 1 L2 observables 7 bytes Satellite 2 L1 observables 7 bytes Satellite n L2 observables 7 bytes Satellite n L1 observables 8 bytes Satellite n L2 observables 7 bytes Packet tail 2 bytes observables packets Type 0 9 sats 147 bytes Packet header 4 bytes Reference station coordinates header Type 1 6 bytes Reference station location fields 7 bytes Packet tail 2 bytes Type 1 19 bytes observables packets Packet header 4 bytes Reference station description header Type 2 6 bytes Reference station description fields 75 bytes Packet tail 2 bytes Type 2 87 bytes 178 ZXW Receivers Operation and Reference Manual Compact Measurement Record Packet Each CMR message is sent within a six byte frame Details of the packet structure are given in Table 8 68 Table 8 68 Compact Measurement Record Packet Definition Parameter GE Beret Description ytes STX 1 Start of transmission 02h Status 1 Status byte 00h Type 1 CMR message types 0 observables 1 location 2 description Length 1 Number of bytes in the data block Data Block as per definition Message data as defined below Checksum 1 Data checksum calculated using Status Type Length Data Block mod 256 ETX 1 End of transmission Although a checksum field
184. eaeeseeeeees 154 Table 8 50 SSN Message Structure ccccccceececeeeeeeeeneeeceneeeeeeeeseceeeseneeeeaas 155 Table 8 51 SPD Baud Rate Codes rnnnnvnnrnrrnnnnnnvnnnnrrvnnnnvnnrrrrennnnrnererrresnnnnntennn 156 Table 8 52 STA Message Structure cccccceeseeeeseeeeeeeeseeeeeeeaeeseeeeeesaaetees 158 Table 8 53 TLT CMD Message Structure c cccccccesccecessseeeeeeesseeeeeeesseeaees 159 Table 8 54 TLTINIT Message Structure c ccccccccesscceecsesceeeeessseeeeeesseseeeeess 160 Table 8 55 TLT INTVL Message Structure c ccccccescccecsseseeeeseeseeeeeesseaeees 160 Table 8 56 TMP Message Structure rnrnrrnnannvnnrrr rann nrnnnrrrrrnnnnnerrrrreennnnnnennn 161 Table 8 57 TST Message Structure 0 ccccccceeseeceeeeeeeeeeseeeeeeeeaeeseeeeeesnaaeeees 161 Table 8 58 WARN Message Structure 163 Table 8 59 Receiver Warning Messages rarrrrrnnnnnnnvrnnnnnnnvrrnnnnrnnrrrnnnennnrrnnnenn 163 Table 8 60 WKN Message Structure ccccecesceceeeeeeeeneeeeeneeeeeaeesecaeeeseeeetaas 167 Table 8 61 Raw Data Types and Format rrrrnnnnnnnvrnnnnnnnvrrnnnnnnnrrrnnnennnrrnnnenn 170 Table 8 62 Raw Data Commandes c ccceceeeeeeeeeeeeeeeeeeeeeeseeeeeeaaeeseeeeeeeiaeetees 170 Table 8 63 CBN Message Structure ASCII Format mmmrrrrrnnrrnnrnrrnnrnvrnnnennr 172 Table 8 64 Solution Type Flag Table ASCII Format rrrrrnrrrnnvnrrnnrrnnrnnnnnnnn 173 Table 8 65 CBN Message Structure Binary Format c c
185. eck the memory usage use PASHQ FLS command e To verify the data recording setup use PASHQ RAW When setting up a receiver to store solutions pay special attention to the following items e Recording interval e Minimum number of SVs e Elevation mask e Ranger mode type e Recording is set to Yes e Site name Since CPD is a differential operation a solution may not be available if the differential data link is lost However the receiver will always store the raw measurements whether the CPD solution is available or not When the CPD solution is not available the position computed by the raw pseudo ranges or the autonomous position may be stored instead see Auto Differential Mode on page 77 for more information Information in CBN OBN and UBN cannot be stored in receiver memory 84 ZXW Receivers Operation and Reference Manual Troubleshooting The following problems are sometimes encountered by users new to the receiver If your system isn t working properly please refer to this list If you need further assistance please call a Technical Support representative Table 6 1 Troubleshooting Tips Symptom PC cannot communicate with receiver Action Verify cable connections Verify communication BAUD rate and communication software setting If symptom persists cycle power receiver not in RTK Rover mode Verify the receiver is capable of RTK operation refer to Receiver Options on page 4 for J or U opti
186. ed make sure the base is sending them periodically using PASHQ CPD DLK command or PASHQ RTC command Or you can enter the base station coordinates in the rover side using PASHS CPD POS command Check that there are no warnings SPASHQ WARN Understanding RTK CPD 85 Table 6 1 Troubleshooting Tips Continued Symptom CPD solution is intermittent and the Rover beeps Action e Monitor the data link quality using the PASHQ CPD DLK command The QA number should be 90 or higher e Verify that fast CPD is turned on using PASHQ CPD or PASHQ CPD MOD command e Verify the rover antenna has clear view to the sky and is tracking satellites properly Cannot get fixed CPD solution e Verify using PASHQ CPD INF command that at least 5 SVs are being tracked for P1 and P2 e Verify that the number of satellites common between the base and rover is 5 or more Even if 5 or more satellites are tracked you still may not get a fixed solution at locations with severe multipath Move away from the obstruction if possible Issue PASHS CPD RST command to reinitialize the CPD operation CPD solutions are not being stored in the Rover e Verify that PC card is inserted e Verify that PASHQ CPD OUT is selected to output CPD solution e Verify that REC is set to Y in SPASHR RAW message e Verify there is still memory available Verify the record interval e Verify receiver is in Data Type RNG mode 2 or 4
187. ed again Table 8 27 MST Parameter Parameter Description Range Default d Min number of satellites required for kinematic survey 0 disable alarm 0 4 9 0 Example Set minimum number of satellites to 5 PASHS MST 5 lt Enter gt MSV Minimum SVs for Data Recording PASHS MSV d Sets the minimum number of satellites required for measurement data to be output and or recorded where d is a number between 1 and 9 Default is 3 Example Set minimum satellites to 4 PASHS MSV 4 lt Enter gt OUT MET Start Meteorological Meters Process PASHS OUT c MET s Start stop processing of meteorological meters The receiver first initializes the meters and then regularly queries them at the interval requested where c is the port the meteorological meters is connected to and s is ON or OFF as defined in Table 8 28 Table 8 28 OUT MET Message Structure Parameter Description Range c Serial port connected to meteorological meters A D S Enable disable meteorological meters processing ON OFF 136 ZXW Receivers Operation and Reference Manual Example Start meteorological meter on port B PASHS OUT B MET ON lt Enter gt OUT TLT Start Tiltmeter Process PASHS OUT c TLT s Start stop the processing of the tiltmeters The receiver first initializes the meters and then regularly queries them at the interval requested where c is the port the tiltmeters is connected to a
188. ed from a trigger signal The receiver measures and records event times with high accuracy down to one microsecond The receiver stores an event time at the rising edge of the trigger signal or the falling edge on commana and the time is recorded in the receiver s PC memory card and or output through the TTT NMEA message Option M Remote Monitoring The remote monitoring option allows you to use the REMOTE EXE to access and control the receiver via a modem from a remote location Option F Fast Data Output This option enables the receiver to be programmed to output both raw position data and NMEA messages at user selectable frequencies up to 10Hz Without this option only frequencies up to 5Hz are available Option T Point Positioning The T option allows you to put the receiver into point positioning mode using the PASHS PPO command Point positioning mode improves the accuracy of an autonomous position of a static point ZXW Receivers Operation and Reference Manual Option 3 Observables 1 2 3 This option determines the observables available in the receiver where 1 CA code and P code on L1 L2 no carrier 2 CA code and carrier P code on L1 L2 no carrier 3 CA code and carrier P code on L1 L2 and carrier Option J RTK Rover The J option allows the receiver to act as a rover station that utilizes the carrier phase differential both DBEN and RTCM message 18 19 20 and 21 data transmitted from the
189. ed position may be erroneous if the last position ZS stored in battery back memory is very far from the current point Example Query PASHQ SAT lt Enter gt Typical SAT response message PASHR SAT 08 35 103 08 34 0 05 304 77 45 6 U 30 312 37 43 5 U 06 276 17 38 5 U 04 045 32 44 3 U 17 198 60 46 4 U 09 205 27 42 6 U 24 0 70 76 46 4 U 64 lt Enter gt Table 8 131 describes each item in a typical SAT response message Table 8 131 Typical SAT Message Item Significance PASHR SAT Header 04 Number of SVs locked 03 PRN number of the first SV 103 Azimuth of the first SV in degrees 56 Elevation of the first SV in degrees 252 ZXW Receivers Operation and Reference Manual Table 8 131 Typical SAT Message continued Item Significance 50 5 Signal strength of the first SV U SV used in position computation 23 PRN number of the second SV 225 Azimuth of the second SV in degrees 61 Elevation of the second SV in degrees 52 4 Signal strength of the second SV U SV used in position computation 16 PRN number of the third SV 045 Azimuth of the third SV in degrees 02 Elevation of the third SV in degrees 51 4 Signal Strength of the third SV U SV used in position computation 04 PRN number of fourth SV 160 Azimuth of fourth SV in degrees 46 Elevation of fourth SV in degrees 53 6 Signal strength of fourth SV U SV used in position computation 6E Message chec
190. eeding the baud rate of the serial port Recommended bit rate setting is burst mode 9 which automatically adjusts the bit rate to the fastest possible rate based on the serial port baud rate PASHS RTC SPD 9 e Serial port baud rate This should be as high as possible e RTCM message rate This is the rate at which messages are generated e RTK messages RTCM 18 amp 19 RTCM 20 amp 21 Magellan DBN are the most important They should be generated as fast as possible ideally once per second If they are generated slower then the effect 62 ZXW Receivers Operation and Reference Manual on the remote receiver depends on the mode The slowest allowable setting for type 18 and 19 is once per 5 seconds e Fast RTK mode accuracy will degrade by approximately 1cm for each second of latency example type 18 and 19 generated every 5 seconds fast RTK accuracy of 5cm horizontal 1s Fast RTK update rate is unaffected e Synchronized RTK mode accuracy is unaffected Update rate is limited to the update rate of messages 18 and 19 e Differential messages 1 are next most important ideally once per second If the data rate does not support this these messages may be generated slower with a corresponding decrease in differential accuracy Figure 5 2 to see the accuracy sensitivity to lower update interval e RTK base station position RTCM 3 amp 22 or Magellan BPS are least important They affect the RTK initialization time following pow
191. eeeneeeees 250 Table 8 129 Typical RRE Message ccceeeeeeeeeeeeeeneeeecaeeeeeeeeeeeseseeeseenineaeees 251 Table 8 130 SAT Message Structure cccccccesceceessesceeeeseeeeeeeeeseeeaeeeesseeaaees 252 XX Table 8 131 Typical SAT Message ccccccessceceesseeeeeeecseeseeeeesseeeeeeeessnaeeeess 252 Table 8 132 NMEA Message Format Codes ccccececceeesteeeeeneeeeeteeeteeeeeees 254 Table 8 133 6PASHR TTT Message Structure 255 Table 8 134 UTM Message Structure rrmaannvnnrrrrrvannrnnnrrrrnnnnrnnnrnrenrrnrnnnrnnnneenn 256 Table 8 135 Typical UTM Response Message rrrnnrrrnnnnnnnvrnnnnnnnvrrnnnnnnnrrrnnennn 257 Table 8 136 VTG Message Structure mmarrrrannnvnnrnrrrrnnnrnnnenrrennnnnnnrrrrretnnrnntennn 258 Table 8 137 Typical VTG Message rrrrnnnnnnnvvvnnrrrnnvrrnnrrrnnrrrnnrrrssrrrrnrrsrsrnnnnsennn 259 Table 8 138 XDR Message Structure c cccecceeceeeeeeeeeeeeeeeeeeeeneeeseeeeeeneeeees 261 Table 8 139 ZDA Message Structure mmrrrrnannnvnrrrrrrrnnnnrnnrnrrenrnnrnnrrrrrrennrnnnennn 262 Table 8 140 Typical ZDA Response Message rrrrnnnnannnvrrnnnnnnnrrrnnnnnnnnrrnnneennn 263 Table 8 141 RTCM Commande rurnrvnnrrrrrnnnnnvnnrrrrrnnnnvnnrrrrrrrnnrnenrnrenersrnessnnennenn 265 Table 8 142 RTC Response Parameters mmmmrrrrrrrnrvvvrrrrrrrrrrrrrrrrrrrrrrrrrrsrnnens 266 Table 8 143 EOT Parameters mrrrrnnnnnnvnnorrrnnnnnvnnrerrrnnnnnvnnnrrrennnnrnnnerrresnnnnnnennn 269 Table 8 144 RTC MSI
192. either the port is specified or if this field is left blank the ephemeris structures for all available SVs will be output Example Send out SNAV data for all available SVs to the current port PASHQ SNV lt Enter gt Send out SNAV data for PRN 10 PASHQ SNV 10 lt Enter gt spuewwog Commands 199 PASHR SNV The response is in the form This message only exists in binary format If ASCII format is requested default only the header will be sent SPASHR SNV PASHR SNV lt ephemeris structure gt lt Enter gt Table 8 88 describes the binary structure of the SNAV message 200 Table 8 88 SNV Message Structure Type Size Contents short 2 Wn GPS week number long 4 Seconds of GPS week float 4 Tgd Group delay sec long 4 lodc Clock data issue long 4 toc second float 4 af2 sec sec float 4 af1 sec sec float 4 af0 sec long 4 IODE Orbit data issue float 4 an Mean anomaly correction semi circle sec double 8 MO Mean anomaly at reference time semi circle double 8 e Eccentricity double 8 A 2 Square root of semi major axis meters 2 long 4 toe Reference time for orbit sec float 4 Cic Harmonic correction term radians float 4 Crc Harmonic correction term meters float 4 Cis Harmonic correction term radians float 4 Crs Harmonic correction term meters float 4 Cuc Harmonic correction term radians float 4 Cus Harmonic c
193. ent port PASHQ INF lt Enter gt PASHR INF The response message is in the form shown below and defined in Table 8 15 PASHR INF f1 d2 d3 d4 c5 d6 d7 58 c9 510 511 512 513 514 f15 d16 d17 d18 d19 20 d21 d22 d23 d24 cc lt Enter gt Commands SPUBUIWO0J 125 Table 8 15 INF Message Structure Return Parameter Range fi Data recording interval in seconds 0 1 999 d2 Minimum number of SV for data recording 0 9 d3 Satellite elevation angle mask for data recording 0 90 d4 Data type recorded 0 2 4 c5 Recording data switch YorN d6 Minimum number of SV for kinematic alarm 0 4 9 d7 Number of epochs to go for kinematic survey 0 999 s8 Site name 4 alphanumeric characters c9 Session name 1 alpha numeric character s10 Receiver number 3 alphanumeric character s11 Antenna number 3 alphanumeric character s12 Month and day of the session mmdd 1 12 month 1 31 day s13 Operator identification 3 alpha numeric character s14 User comment 9 alpha numeric character f15 Antenna height before data collection 0 0000 64 0000 d16 Dry temperature before data collection degrees celsius 99 d17 Wet temperature before data collection degrees celsius 99 d18 Relative humidity before data collection percent 0 99 d19 Barometric pressure before data collection millibars 0 9999 f20 Antenna height after data collection meters 0 0000 64 0000 d21 Dr
194. enter CMR type 1 message This command is relevant for BASE mode or RVP ROVER mode Table 8 164 CPD PEB Parameter Table Parameter Description Units Default di Base coordinates broadcast interval Only the following second 30 seconds values are valid 0 10 30 60 120 300 0 for no transmission Example Set BPS broadcast interval to 10 seconds PASHS CPD PEB 10 lt Enter gt PED DBEN CMR Transmission Period PASHS CPD PED d1 This command sets the period of the DBEN or CMR message transmission where d1 is the transmission period in seconds This command is relevant for BASE mode or RVP ROVER mode Table 8 165 CPD PED Parameter Table Parameter Description Range Unit Default di DBEN CMR transmission 0 2 0 3 0 4 0 5 0 7 0 8 and 1 0 to 999 seconds 1 second period 0 no transmission Commands 297 spuewwog Example Set DBEN transmission period to 3 seconds PASHS CPD PED 3 lt Enter gt PER CPD Update Interval PASHS CPD PER d1 This command selects the CPD Kalman filter update interval where d1 is the update interval in seconds This command is relevant for ROVER mode or RVP BASE mode and when fast CPD is set to OFF Table 8 166 CPD PER Parameter Table Parameter Description Range Unit Default di Kalman filter update period 0 2 0 3 0 4 0 5 0 7 0 8 sec 1 second 0 9 1 2 3 4 5 Example Set CPD upda
195. eq of the French Civil Code For further information concerning this limited war ranty please call or write VI Magellan Navigation SAS ZAC La Fleuriaye BP 433 44474 Carquefou Cedex France Phone 33 0 2 28 09 38 00 Fax 33 0 2 28 09 39 39 CONTENTS Chapter 1 Introddetion innisetsesiscninnntostcaninainnaanndivinnaiinadsabianniaabins 1 OVerVleWi smake rie set EE EE eee 1 Functional Description sa ienga e eden a ae ea eii 2 Technical Specifications ccccccceceeeceeeeeeeeeeeeeeeeceaaeeeeaaeeesaeeeseaeeeseeeeesnaeeesaas 3 Performance Specifications cccccceeeccecceceeeeseeeeceaeesseneeeceaeeeeeaeeeseeeeeeeeeesaas 4 Receiver Options rrannrnnnnnnvvnnnnrnnannvonnnnvnnnnnnrennnnrnnnnnrenennrnnsnnnresnnrnnsnenressnnrnnnennn 4 Option B RTCM Base 6 Option U RTCM Remote mnnnnvnnnnvannnnnvnnnnrrnnnnnnnnnenrrnnnnnnnnnrrnennnnnnnnenressnnnnenennee 6 Option E Event Marker A 6 Option M Remote Monttortng 6 Option F Fast Data Output 6 Option T Point Positioning rerrrrrrnnnnnvnnenrrnnnnnvnnnnrrrvnnnrnnnnnnrennnnnnnnrnrensnnnnnnennne 6 Option 3 Observables 1 2 3 H Option J RTK Rover eernnrrnnonnvnnrnvrnnnnnnennnrrnnannnvnnnnrrennnnnnensrrnnennnnenenrnsennnnenennn 7 Option K RTK Base uge EENEG bid eee 7 HI siant RIK anvendte kender nd Ea 7 G Reserved for Future Options rernrrnnnnnvnnnnrrnnnnnrnnnrnnnnnnnrnnnnnnnnersrrennnnnnenennne 7 H 5 Hz Synchronized PHI
196. equire a line amplifier A line amp part number 700389 compensates for 20 dB of cable loss The line amplifier has N type connectors to connect to the antenna cable Power Requirements The ZXW Eurocard requires 5 Vdc regulated 5 at the board connector and consumes 4 0 watts Environmental Specifications The operating temperature range of the ZXW Eurocard is 30 C to 70 C storage temperature is 40 C to 85 C The operating humidity range is 0 to 95 non condensing The ZXW Eurocard is designed to operate while being subjected to random vibration per MIL STD 810E Method 514 4 as well as a machine control vibration test of 5g for 20 hours in each orthogonal axis Mounting Requirements The ZXW Eurocard should be mounted using as a minimum the four 0 110 holes in the corners of the board on standoffs as described under the heat sink requirements refer to Heat Sink Requirements on page 13 In high ZXW Receivers Operation and Reference Manual Equipment vibration applications the two center 0 110 holes should also be used The maximum diameter for the center standoffs is 3 16 This board can also be provided in a true Eurocard format with a 96 pin 3 row connector The center row of pins is not loaded for electrical compatibility and the side edges are milled to 0 062 to allow insertion into a card rack The length of the true Eurocard board is 6 300 all other dimensions are the same as the st
197. er Table rrnnrnrrnnannnvnnonrrnnnnnvnnnnrrnnnnnvnenenrrnennnnenennne 143 Table 8 36 POW Parameter Table mrrnrrnnnnnvnnonrrnnnnrnnnnnnrnnnnnrnnnrnnenrrnrrnsnnnnnnnn 144 Table 8 37 POW Message Structure rrrrrrnnnnnvnnrnrrrnnnnnrnnrrrrennnnrnerrrrneennnnetennn 144 Table 8 38 PPO Parameter Table rnrrrnonrrnnnnnvnnrnrrvnnnnvnnnrnrrennnnrnnnrrrensnnrnntennn 145 Table 8 39 PPS Message Structure mrrrrnannnvnnrrrrvnnnnrnnrnvrrrrrrrnnennrenrrrrneennnnernnn 145 Table 8 40 PPS Response Structure rrmaannrnnrrrrvnnnnrnnrnvrnnnrrrnnrnnrenrrrrnnennnnernnn 146 Table 8 41 PRT Response Structure rraannrnnnvrrrnnnnrnnnrrrvnnnnrnnnrnrennrnrrennnnnneenn 147 Table 8 42 Baud Rate Codes rrrnnnnnvnnrnrrrnnnnvnnnervennnnrnnnennrenrrrrnnsnnnnnsrrressnnnnnnnn 147 Table 8 43 REC Message Structure ccccceccececeeeeeeeeneeeceeeeeeeeesecaeeeseeeesas 148 Table 8 44 RID Message Structure cccececeeeesceeeeneeeeeeeeseceeeeseneeeseeeeeenaeeees 149 Table 8 45 RNG Data Modes rrrnrrnnnnnrvnnnrrrnnnnnnnnnnrrnnnnnnnnerrrrnsnnnnerrrrreennnnenennne 150 Table 8 46 RTR Message Structure mrrrrnvannvnnrrrrernnrnnnrrrrrrnnrnnnrnrenernrnnnnnnnneenn 151 Table 8 47 SES PAR Message Structure rrrrrrrrrrrrrvvrrnrrrnvvrnnrrrnrrrrnrrrrrrrrnnennn 152 Table 8 48 SES SET Message Structure mmmrrrrrrrrrrvvvrrrrrrrrrrnrrrrrrrrrnrrrrrrnrnnrnnn 153 XVIII Table 8 49 SES Message Structure ccecceeeeeeeeeeeeeeeeeeeseaeeeeneees
198. er on of the remote receiver the remote receiver cannot provide an RTK position until it has received messages 3 and 22 once or until receiving the PASHS CPD POS command but the rate at which these messages are generated does not affect RTK accuracy Required Differential Update Rates For RTK operation there is a minimum radio baud rate that is acceptable The required radio rate depends on which messages are being generated at the base station and the message period The slowest rate at which one should send RTK data is once every 5 seconds The remote receivers can fix integers with base station data arriving once every 5 seconds or faster Ey bi bi 3 2 D 3 Q Ka 4 A Message size Table 5 7 lists the message size for RTCM messages 18 amp 19 or 20 amp 21 Table 5 7 Message Size for RTCM Messages 18 amp 19 or 20 amp 21 Number of RTCM Words in Number of RTCM Words in Number of Satellites Message Type 18 20 Message Type 19 21 30 bits word 30 bits word 7 2 1 7 2 20 2 1 7 2 20 9 2 1 9 2 24 2 1 9 2 24 12 2 1 12 2 30 2 1 12 2 30 Differential and RTK Operations 63 Table 5 8 lists the message size for Magellan DBN messages Table 5 8 Message Size For Magellan DBN Messages Number Number of bytes of Number of Bits in DBN Message y d in DBN Messages Satellites 7 17 8 ceil 94 72 2 7 16 16 1240 155 9 17 8 ceil 94 72 2 9
199. er operations Hardware Setup Perform the following steps before turning on the receiver 1 Connect the antenna cable from the GPS antenna to the antenna connector on the receiver 2 Connect supplied power cable to the power connector on the receiver 3 Connect serial port connectors of serial power cable to appropriate connectors on external equipment Applying Power ep D 5 Ei Wa ek S 3 D Apply power after your equipment has been properly cabled Receiver Initialization It is good practice to reset your receiver prior to operating it for the first time or when a system malfunction occurs A reset of the internal memory clears the memory and restores the factory defaults Send the following command PASHS INI 5 5 5 5 1 0 Receiver Communication After you have the receiver powered and running you must send it commands in order to receive data The following procedure describes how to send commands to and receive information from the receiver using an IBM compatible PC Many communication software packages such as the Magellan Evaluate or Receiver Communications Software allow you to interface with the receiver Evaluate includes a communications package that automatically establishes communication with the receiver and allows you to send commands from a predefined menu as well as tools for logging and playback of data graphical display of position and velocity and data analysis Getting Started 25
200. ered should also be the ground mark position of the base When turned off the parameters entered via PASHS ANT are ignored and the position is the position of the phase center of the antenna This implies that the base position entered should also be the one of the phase center of the base antenna Table 8 4 ANR Message Structure Parameter Description Range s Reduction mode ON gt Antenna reduction on ALL position messages for autonomous code differential and RTK OFF gt No antenna reduction in ANY position messages for autonomous code differential and RTK CPD gt No antenna reduction on for position messages for autonomous and code differential but RTK has antenna reduction Example Set antenna reduction mode to CPD only PASHS ANR CPD lt Enter gt Antenna reduction when performed is applied to ALL position messages except for PBN and the position in the B file For more detail on the usage of the antenna reduction mode see Base Station Antenna Offset on page 67l 112 ZXW Receivers Operation and Reference Manual ANT Set Antenna Offsets PASHS ANT f1 f2 f3 m1 f4 Sets the antenna offsets from ground mark to antenna phase center via a reference point Horizontally the reference point is the physical center of the antenna housing Vertically the reference point is the point to which the antenna slant height was measured The antenna phase center is the center of reception of the
201. ers in memory where c is Y yes or N No This command saves any parameters that have been modified from their default values prior to issuing the command User parameters are saved until commands INI or RST are issued or until SAV is set to N and a power cycle occurs POW MET TLT MDM and SES related parameters are saved automatically every time the corresponding set command is issued Example Save modified user parameters PASHS SAV Y lt Enter gt PASHQ SAV c This command queries the receiver to determine if the user parameters have been saved where c is the optional output port Example Query receiver for saved user parameter status Output the response to the current port PASHQ SAV lt Enter gt PASHR SVS The response message is in the form PASHR SAV c1 cc where c1 is either Y parameters saved or N parameters not saved Commands 151 O e 3 3 D 3 2 a SEM Secondary Elevation Mask PASHS SEM d1 d2 d3 Sets the secondary elevation mask for position computation where d1 is the secondary elevation mask angle d2 is the first azimuth defining the secondary sector and d3 is the second azimuth defining the secondary sector The secondary elevation mask only affects position computation and has no effect on data recording or raw data output The default is OFF Example Set secondary elevation mask to a mask angle of 50 degrees between azimuth 30 degrees and 60 degrees PASHS SEM 50 30
202. ery must be replaced Antenna Overload Antenna installation problems i e the set up is drawing more than 150 milliamps short on antenna cable or LNA drawing too much current Check antenna connection for bad cable or bad LNA No Antenna Detected Does not sense any antenna WARNING this will be the case if a DC block is installed somewhere between the receiver and the antenna Check antenna connection for bad cable or bad LNA There may be another receiver connected to the same antenna with no DC block or this receiver is connected to the antenna via a DC block MODEM Communication Error Cannot communicate with the modem Check serial connection to the modem Check power on modem Check baud rate of modem it should match baud rate of receiver Reinitialize modem MODEM Initialization Error Cannot initialize the modem Check serial connection to the modem Check power on modem Check baud rate of modem it should match baud rate of receiver Reinitialize modem ZXW Receivers Operation and Reference Manual Table 8 59 Receiver Warning Messages continued Warning High Receiver Temperature Definition Inside receiver temperature gt 80 deg Celsius the receiver will turn off automatically at 82 deg Celsius this message might be seen when the external ambient Action Cover the receiver from the sun Increase air flow around receiver NOTE If the re
203. es in view message 231 PASHS NME SAT Enable disable satellite status message 251 TIME SYNC PASHS NME ZDA Enable disable time synchronization message 262 TRACK AND SPEED PASHS NME VTG Enable disable velocity course message 258 ERROR STATISTICS PASHS NME GST Enable disable the pseudo range error statistic message 230 ALL Disable All NMEA Messages PASHS NME ALL c OFF Turn off all enabled NMEA messages where c is the specified serial port If the output rate is not set the command is output at the rate set by the PASHS NME PER command Example Turn off all NMEA message currently sent out through port B PASHS NME ALL B OFF lt Enter gt ALM Almanac Message PASHS NME ALM c s f Enable disable the almanac message where c is the receiver serial port s is ON or OFF and f is the optional output rate parameter in seconds If the output rate is not set the command is output at the rate set by the PASHS NME PER command Example Enable ALM message on port C PASHS NME ALM C ON lt Enter gt 206 ZXW Receivers Operation and Reference Manual PASHQ ALM c Query the almanac message where c is the optional output port Example Query almanac data message to receiver port D PASHQ ALM D lt Enter gt GPALM There will be one response message for each satellite in the GPS constellation The response to the set or query command is in the form GPALM d1 d2 d3 d4 h5 h6 h7 h8 h9 h10 h11 h12 h13 h14 h
204. es the factory defaults This reset does not affect data stored on the PCMCIA card Send the following command to execute the initialization PASHS INI 5 5 5 5 1 0 For more information about this command refer to Chapter 8 Command Response Formats Setting Receiver Parameters All user parameters may be set or changed by sending commands to the receiver serial port Refer to Chapter 8 Command Response Formats for more information about these commands Operation 33 Saving Parameter Settings Ordinarily receiver parameters that have been changed will return to their default status after a power cycle The Z Family of receivers allows you to save changed receiver settings so they will be saved through a power cycle Perform the following steps to save receiver settings 1 Send the receiver command PASHS SAV Y 2 This command saves any parameters that have been modified from their default values before the command is issued For more information about this command refer to SAV Save User Parameters on page 151 Data Modes The receiver can record data in three different modes called data modes or data types Each mode records different combination of data records and can only be changed using the serial port command PASHS RNG Table 4 1 describes these modes The default is mode 0 Table 4 1 Recording Modes Greet Typical Application Records Created ee 0 Raw data ful
205. ex France Phone 33 0 2 28 09 38 00 Fax 33 0 2 28 09 39 39 Magellan Professional Products Lim ited Warranty Europe Middle East Africa All Magellan Navigation global positioning system GPS receivers are navigation aids and are not in tended to replace other methods of navigation Pur chaser is advised to perform careful position charting and use good judgment READ THE USER GUIDE CAREFULLY BEFORE USING THE PRODUCT 1 MAGELLAN NAVIGATION WARRANTY Magellan Navigation warrants their GPS receivers and hardware accessories to be free of defects in material and workmanship and will conform to our published specifications for the product for a period of one year from the date of original purchase or such longer period as required by law THIS WAR RANTY APPLIES ONLY TO THE ORIGINAL PUR CHASER OF THIS PRODUCT In the event of a defect Magellan Navigation will at its option repair or replace the hardware product with no charge to the purchaser for parts or labor The repaired or replaced product will be warranted for 90 days from the date of return shipment or for the balance of the original warranty whichever is longer Magellan Navigation warrants that software products or software included in hardware products will be free from defects in the media for a period of 30 days from the date of shipment and will substan tially conform to the then current user documenta tion provided with the software including updates
206. fault minimum of 3 SVs needed with 3 SVs altitude is held 2 D with 4 or more altitude is not held 3 D d 2 Minimum of 3 SVs needed altitude always held always 2 D d 3 Minimum of 3 SVs needed with 3 SVs altitude is always held with 4 SVs altitude is held only if HDOP is greater than HDOP mask 2 D otherwise 3 D Example Set min SVs required for position computation to 4 PASHS PMD 0 lt Enter gt POS Set Antenna Position PASHS POS m1 c2 m3 c4 f5 Sets the position of the antenna used in differential base mode Table 8 35 POS Parameter Table Parameter Description Range m1 Latitude in degrees decimal minutes ddmm mmmmmmm 0 90 0 c2 North N or South S N S m3 Longitude in degrees decimal minutes dddmm mmmmmmm 0 180 0 c4 East E or West W E W f5 Ellipsoidal height in meters 0 99999 999 Example Set antenna position PASHS POS 3722 2912135 N 12159 7998217 W 15 25 lt Enter gt lt Enter gt Commands 143 SPUBUIWO0J POW Battery Parameters PASHS POW d1 d2 f3 The POW command allows you to enter parameters associated with the external battery The query and response will use those parameters to compute the approximate amount of available time left on the battery Table 8 36 POW Parameter Table Parameter Description Range d1 battery capacity in mAh 500 10000 d2 battery capacity in percent percent charged 0 100 f
207. fault automatic differential mode is OFF and the default is 60 seconds for the maximum age of an RTCM differential correction above which it will not be used If the automatic mode is not enabled by the PASHS RTC AUT Y set command and the differential correction data is older than the maximum age specified by the PASHS RTC MAX set command the receiver does not return antenna position data 78 ZXW Receivers Operation and Reference Manual In automatic mode if no differential correction data is received and the age of data is older than the specified maximum age the receiver does return the uncorrected raw position RTCM 104 Format Version 2 3 When the receiver is used as a reference station and the RTCM and RTK Base options are enabled it computes differential corrections for up to 12 satellites converts those corrections to RTCM format and transmits the converted messages via its serial ports It can generate message types 1 2 3 6 16 18 19 20 21 22 as detailed in Table 5 16 Table 5 16 RTCM Message Types Contents of Message 1 Differential GPS corrections 2 Delta differential corrections 3 Reference station parameters in WGS 84 6 Null frame 16 Special GPS text message 18 RTK carrier phase 19 RTK pseudo ranges 20 RTK carrier phase corrections 21 RTK code phase pseudo range corrections 22 Extended reference station parameter The receiver uses the six of eight format dat
208. ferential Always C A C A SPD RTCM bit rate Indicate the speed at which 25 50 100 110 150 300 differential collection are transmitted to the 200 250 300 1500 0 serial port burst mode STI Station ID 0 any station to 1023 0 STH Station health 0 7 0 IOD Ephemeris data update rate 0 90 30 MAX Specifies the maximum age in seconds for 0 1199 60 which last corrections are still used when no new corrections are received Remote only QAF Sets the criteria to be applied when evaluating 0 999 100 the quality of communication between Base and Remote Remote only SEQ Check for sequential received message N Y N number for the message to be accepted Remote only TYP RTCM message type that receiver will 1 2 3 6 9 15 16 18 n a generate Base only 19 20 21 22 EOT End of transmission character CRLF CR NONE CRLF Commands 267 SPUBUIWO0J Table 8 142 RTC Response Parameters continued Return Parameter Description Range Default FRQ RTCM message send frequency 99 continuous Type 1 1 The period is in seconds for type 1 18 19 20 00 disabled Type 6 OFF 21 and minutes for all other types Type 6 is either ON or OFF UNITS Units of output line in seconds per the FREQ setting less 99 which is continuous and Type 6 which is filler MSG For Base mode it contains the message up to 90 characters that is sent from the base to the remote when message type 16 is enabled In Remote
209. float solution 3 Position is CPD fixed solution d2 Number of SVs used in position computation 3 to 12 m3 UTC time hhmmss ss 00 to 23 59 59 99 f4 ECEF X coordinate meters xxxxxxx xxx 9999999 999 f5 ECEF Y coordinate meters xxxxxxx xxx 9999999 999 f6 ECEF Z coordinate meters xxxxxxx xxx 9999999 999 f7 Receiver clock offset meters x xxx 9 999 f8 Velocity vector X component meters sec x xxx 9 999 fo Velocity vector Y component meters sec x xxx 9 999 f10 Velocity vector Z component meters sec x xxx 9 999 Commands 209 O e 3 3 D 3 2 a Table 8 92 CRT Message Structure continued Parameter Description Range f11 Receiver clock drift meters x xxx 9 999 f12 PDOP position dilution of position 0 to 99 9 f13 HDOP horizontal dilution of position 0 to 99 9 f14 VDOP vertical dilution of position 0 to99 9 f15 TDOP time dilution of position 0 to 99 9 s16 Firmware version ID 4 character string cc Checksum 210 ZXW Receivers Operation and Reference Manual DAL DAL Format Almanac Message PASHS NME DAL c s f This message displays the NMEA almanac message in decimal format where c is the port s is ON or OFF and f is the optional output rate parameter in seconds If the output rate is not set the command is output at the rate set by the PASHS NME PER command Example Enable DAL message on port A PASHS NME DAL
210. g 42 Closed Loop Technique Advanced Trtoger vnr nnvnnrrrrennnnnnnrnnn 42 US e EE 43 Data Outputs ancien i eee 43 Transferring Data Files ereire a aaa ienaa E e Ea EEA 44 VIII Synchronization to GPS Time 45 Default Parameters lt lt vg arsen rik 45 Multipath Mmtgaton s a aeaa eE rE Raa EA AE EEEE 49 Evaluating Correlator Performance urnnrnnannvnnnnnrnnnnnnnnnnnrrnnnnnvnnrnrrennnnnnnnennne 50 Signal to Noise Ratio cccccccccceeeeeeeseseceeeeeeeeeeeceaeeeseaeesecaeeeseaaeesecaeeeseaeeseeas 52 Antenna Reduetion rris e aa NEEN e R 53 Chapter 5 Differential and RTK Operations ccsssssseee 55 B sse St tions va urett deg deg ideiara a aa aaae eaa Naaa aa tee 56 Setting Up a Differential Base Station rerasnrrnnnnrrnnnnnvnnrnrrrnnnnvnnrnrrennnnnnernnr 56 Setting Up an RTK Base Station esonrrnnnnronnnnvvnnnnrrnnnnnvnnnnrrnnnnnnnnrrrrensnnnnerenn 57 RTCM 18 KEE 57 RICM 20 82 a a dene area dat aaa e anbe 58 Magellan DBEN Format 59 CMR or CMR Plus Format 60 Setting Up a Combined Differential A RTK Base Station rrrrrrnnrrnnnrrnnrrnnrn 61 Advanced Base Station Operation morrrrnannvnnnerrrvnnnvnnnrnrrvnnnnrnnrnnrnnnrrrnnsnnnennn 62 Recommended Advanced Parameter Settings for Base Stations 62 AntennaLusaamssindamamagaknddehnasotdeme kateter 62 EE EE 62 Required Differential Update Rates rrrnnnnnannnvnnnnnonnrnnnnnnennrnnnnnnnnnrnnnnrrnnnnnn 63 Message Size EEE
211. ge one or more receiver parameters such as recording interval port baud rate or elevation mask To save new settings you must save the current setting to memory or else all parameters with a few exceptions will be reset to the default values during a power cycle The exceptions are session programming parameters modem setting parameters MET meteorological and TLT tilt parameters and the POW power parameters Saving parameters can be done by issuing a PASHS SAV Y command to a serial port When parameters are saved to the memory they are maintained until a memory reset or a receiver initialization is performed which resets all parameters to their default Figure 3 1 lists the default values of all user parameters Table 3 1 Default Values Parameter Description Default SVS SV tracking selection Y for all PMD Position mode selection 0 FIX Altitude Hold Fix Mode Selection 0 PEM Position elevation mask 10 ZEN PEM 1 Zenith position elevation mask 90 FUM Use of UTM coordinates N FZN UTM zone selection 01 PDP Position Dilution of Precision mask 40 HPD Horizontal Dilution of Precision mask 04 VDP Vertical Dilution of Precision mask 04 UNH Use of unhealthy SV s N ION Enable ionosphere model N PPO Enable point positioning mode N SAV Save parameters in battery backup memory N ANR Antenna noise reduction CPD LAT Antenna latitude DON LON Antenna longitude 00W ALT Antenna
212. h mitigation The receiver implements the latest advances in Magellan Multipath Rejection Technology the Enhanced Strobe Correlator Operation 49 uoneiado This correlator drastically improves multipath mitigation over the traditional correlator schemes such as standard 1 chip correlator spacing or narrow 1 10 chip correlator spacing The Enhanced Strobe Correlator works well in any kind of multipath environment specular as well as diffuse regardless of the number of multipath signals present its ability to track is not significantly impacted in low SNR environment and it does not give away other receiver performance such as noise performance A detailed description of Enhanced Strobe Correlation performance is given in Enhanced Strobe Correlator Multipath Rejection for Code amp Carrier Lionel Garin Jean Michel Rousseau Proceedings of ION GPS 97 Sept 16 19 1997 Kansas City Missouri Evaluating Correlator Performance Theoretical analysis of the different multipath mitigation techniques is a straightforward analysis of how much error hypothetical multipath signals would cause A plot of multipath mitigation performance is made by assuming a reflected signal with a certain power usually half the power of the direct signal and a certain delay The induced error on the range measurement is then calculated and plotted Figure 4 5 shows the error envelopes induced by a multipath signal half the strength of
213. h updates and low latencies required in control applications The ZXW Receivers can track two SBAS WAAS EGNOS MSAS satellites simultaneously on two channels In addition the ZXW Receivers track all the available signals from GPS satellites both C A and P code both L1 and L2 frequencies whether or not AS Anti Spoofing or encryption is on or off The benefit of a dual frequency receiver is that it is excellent for RTK Real Time Kinematic applications especially on longer baselines RTK is typically used where centimeter position accuracy is required in real time Because this manual describes both the ZXW Sensor and the ZXW Eurocard the term ZXW Receiver is used to refer to both products except where noted otherwise Introduction 1 Functional Description The ZXW Receiver is activated when power is applied to the power connector and in the case of the ZXW Sensor the power switch is ON After self test the receiver initializes its 12x3 channels and begins searching for all GPS space vehicles SV within the field of view of the antenna As the ZXW Receiver acquires locks onto each SV it notes the time and then collects the ephemeris data about the orbit of that SV and almanac data about the orbits of all the SVs in the constellation The ZXW Receiver features 12 parallel channel 12 SV all in view operation each of up to 12 visible SVs can be assigned to a channel and then continuously tracked Each GPS SV broa
214. he output port A B C or D s is ON or OFF and f is the optional output rate parameter in seconds If the output rate is not set the command is output at the rate set by the PASHS NME PER command Unless the unit is sending or receiving differential corrections this command is ignored Example Enable MSG on port A PASHS NME MSG A ON lt Enter gt PASHQ MSG c Query base station message where c is the optional output serial port The message is not output unless differential corrections are being sent or received Example PASHQ MSG C lt Enter gt Commands 235 spuewwog GPMSG The response message will vary depending upon the type of message Message type 1 format GPMSG d1 d2 f3 d4 d5 d6 m7 n d8 d9 f10 f11 d12 cc lt Enter gt Message type 2 format GPMSG d1 d2 f3 d4 d5 d6 m7 n d8 d9 f10 f11 d12 cc lt Enter gt Message type 3 format GPMSG d1 d2 f3 d4 d5 d6 m7 f8 f9 f10 cc lt Enter gt Message type 6 format GPMSG d1 d2 f3 d4 d5 d6 m7 cc lt Enter gt Message type 16 format GPMSG d1 d2 f3 d4 d5 d6 m7 s8 cc lt Enter gt Message type 18 format GPMSG d1 d2 f3 d4 d5 d6 m7 n d8 d9 d10 d11 d12 d13 d14 d15 cc lt Enter gt Message type 19 format GPMSG d1 d2 f3 d4 d5 d6 m7 n d8 d9 d10 d11 d12 d13 d14 f15 cc lt Enter gt 236 ZXW Receivers Operation and Reference Manual Message type 20 format GPMSG d1 d2 f3 d4 d5 d6 m7 n d8 d9 d10 d11 d12 d13 d14 d15 cc lt Enter gt Mes
215. he raw data message type and c is the serial port to which the message will be output The serial port field is optional If the query is sent with the port field left empty then the response will be sent to the current port If the port field contains a valid port A D then the response will be output to that port For example the query PASHQ PBN lt Enter gt will output a single PBEN message to the current port The command PASHQ MBN C lt Enter gt will output a single set of MBEN message to port C It is not possible to change the format ASCII or Binary of the response with a query command If the format of the port is ASCII the response will be in ASCII unless the ASCII format is not available for that message type In this case the receiver will send only the header of the raw data message There are no ACK command acknowledgments for queries If the query has been enter properly and the data is available for example MBEN is not available unless the receiver is tracking enough satellites above the elevation mask then the acknowledgment will be the data response message Commands 169 O e 3 3 D 3 2 a Table 8 61 lists the raw data types the associated 3 character string used in the commands and the format available for each data type Table 8 61 Raw Data Types and Formats Raw Data Type gt eg Description Fr STANDARD RAW DATA MBEN MBN Measurement data ASCI
216. id transformation selection NON 305 PHE Photogrammetry edge selection R 141 PPS Pulse per second default parameters Period 1 second 145 Offset 000 0000 Edge R POW Power capacity of external battery ALL OS 144 parameters 46 ZXW Receivers Operation and Reference Manual Table 4 4 Default Values continued Parameter Description Default Page Session Session programming default INUSE flag N 152 Programming parameters REF day 000 OFFSET 00 00 For all Sessions Session Flag N Start Time 00 00 00 End Time 00 00 00 RCI 20 MSV 3 ELM 10 RNG 0 MDM Modem parameters MODE OFF 131 TYPE 0 US Robotics PORT B BAUD RATE 38400 BEEP LED display and warning beep Off ZXW Sensor 114 CTS Clear to send port setting On 117 LPS Loop parameter setting 01 2 3 130 MET meteorological parameter setting All ports off 134 INIT STR No TRIG CMD 0100P9 INTVL 5 TLT Tilt meter parameter setting All ports OFF 159 INIT STR No TRIG CMD 0100XY INTVL 1 NMEA NMEA message output status OFF in all ports 202 messages TAG NMEA message format ASH 254 PER NMEA messages output rate 001 0 242 RCI Raw data output rate recording rate 020 0 148 DOI Data output interval 20 Ak DRI Data recording interval 20 118 MSV Minimum number of satellites for data 03 136 recording output ELM Elevation mask for data recording 10 119 output ZEN_ELM Zenith elevation mask 90 119 Operation
217. imum number of satellites for recording 0 9 d18 Ranger mode 0 2 Commands 155 SID Serial Number PASHQ SID c Query receiver serial number and firmware timestamp where c is the optional output port Example Query receiver serial number PASHQ SID lt ENTER gt Return message DATE SER 111122223333 The date field is used for backward compatibility SIT Set Site Name PASHS SIT s Sets site name where s is the 4 character site ID Only characters that are DOS compatible are allowed i e excludes f and V will be converted to _ in the file name Example Set site name to ECC1 PASHS SIT ECC1 lt Enter gt SPD Serial Port Baud Rate PASHS SPD c1 d2 Set the baud rate of the receiver serial port c1 where c1 is port A B C or D and d2 is a number between 0 and 9 specifying the baud rate as shown in Table 8 51 Default is 9600 baud Table 8 51 SPD Baud Rate Codes Code Baud Rate 156 ZXW Receivers Operation and Reference Manual Table 8 51 SPD Baud Rate Codes continued Code Baud Rate Code Baud Rate 3 2400 8 56800 4 4800 9 115200 To resume communication with the receiver after changing the baud rate using this command be sure to change the baud rate of the command device Example Set port A to 19200 baud PASHS SPD A 6 lt Enter gt STA Satellite Status PASHQ STA c Show the status of SVs currently loc
218. in arrangement for the DB25 power input output connector J101 LED GROUND 14 1 PPS OUT EVENT IN CTSA 23 EXT POWER 24 EXT POWER2 LED RED LED GREEN GROUND GROUND TXDA GROUND EXT_GROUND1 EXT_GROUND2 9276G3 Figure 2 7 DB25 Connector Table 2 3 lists the signal designations for the DB25 connector Table 2 3 ZXW Sensor DB25 Connector Pinout Pin Code Pin Code 1 LED RED 14 LED GND 2 LED GREEN 15 1PPS OUT 3 GND 16 CTSC clear to send port C 4 RTSC ready to send port C 17 RXDC receive data port C 5 TXDC transmit data port C 18 RXDB receive data port B 6 TXDB transmit data port B 19 EVENT IN Equipment 17 Table 2 3 ZXW Sensor DB25 Connector Pinout continued Pin Code Pin Code 7 GND 20 CTSB clear to send port B 8 RTSB ready to send port B 21 RXDA receive data port A 9 TXDA transmit data port A 22 No connection 10 GND 23 CTSA clear to send 11 RTSA ready to send port A 24 EXT PWR 1 12 GND 25 EXT PWR 2 13 GND Power Requirements The ZXW Sensor requires 10 28 Vdc and consumes 7 5 watts Environmental Specifications The operating temperature range of the Z Sensor is 30 C to 55 C storage temperature range is 40 C to 85 C The ZXW Sensor will work at 100 humidity and is rated to MIL STD 810E for wind driven rain and dust RF Connector The RF connector is a st
219. including trade secrets 9 any damage due to accident resulting from in accurate satellite transmissions Inaccurate trans missions can occur due to changes in the position health or geometry of a satellite or modifications to the receiver that may be required due to any change in the GPS Note Magellan Navigation GPS receivers use GPS or GPS GLONASS to ob tain position velocity and time information GPS is operated by the U S Government and GLONASS is the Global Navigation Satellite System of the Russian Federation which are solely responsible for the accuracy and maintenance of their systems Certain conditions can cause inaccuracies which could require modifications to the receiver Exam ples of such conditions include but are not limited to changes in the GPS or GLONASS transmission Opening dismantling or repairing of this product by anyone other than an authorized Magellan Naviga tion Service Center will void this warranty 6 EXCLUSION OF INCIDENTAL OR CONSE QUENTIAL DAMAGES MAGELLAN NAVIGATION SHALL NOT BE LIA BLE TO PURCHASER OR ANY OTHER PERSON FOR ANY INDIRECT INCIDENTAL OR CONSE QUENTIAL DAMAGES WHATSOEVER INCLUD ING BUT NOT LIMITED TO LOST PROFITS DAMAGES RESULTING FROM DELAY OR LOSS OF USE LOSS OF OR DAMAGES ARISING OUT OF BREACH OF THIS WARRANTY OR ANY IM PLIED WARRANTY EVEN THOUGH CAUSED BY NEGLIGENCE OR OTHER FAULT OFMAGELLAN NAVIGATION OR NEGLIGENT USAGE OF THE PRODUCT IN NO EVENT WILL MAGE
220. involves a reference base station receiver computing the satellite range corrections and transmitting them to the remote stations The reference station transmits the corrections in real time to the remote receivers via a telemetry link Remote receivers apply the corrections to their measured ranges using the corrected ranges to compute their position RTK Real time kinematic positioning can be used in lieu of real time differential positioning RTK uses the carrier signal in addition to the code signal and is much more accurate Although messages transmitted and calculations performed vary RTK is essentially a special form of differential positioning A base station receiver is required to transmit RTK data to remote receivers The remote receivers use the RTK data to compute a corrected position As stand alone the receiver can compute a position to around 100 meters Differential GPS achieves sub meter precision at a remote receiver and RTK positioning achieves centimeter accuracy at a remote receiver A communication link must exist between the base and remote receivers The communication link can be a radio link telephone line cellular phone communications satellite link or any other medium that can transfer digital data RTK is also referred to as Carrier Phase Differential CPD in this manual Differential and RTK Operations 55 Base Stations Setting Up a Differential Base Station You must have the Base option B insta
221. ion XXXXXXX1 1 Fast CPD solution ZXW Receivers Operation and Reference Manual CMR CMR Message PASHQ CMR c Query the CMR message for one epoch where c is the optional output port Example PASHQ CMR lt Enter gt PASHR CMR CMR is a compact measurement record which contains one epoch of GPS pseudo range and carrier phase measurements It is used as an alternative message to DBEN for CPD operations This message only exists in binary format If ASCII format is requested default only the header will be sent SPASHR CMR An overview of the Compact Measurement Record Format is illustrated in Table 8 67 Each CMR message is surrounded by a six byte packet frame Within each message frame is a header and a data section Message types are defined for e Observables L1 and L2 carrier phase and pseudorange measurements e Reference Station Location WGS84 Cartesian coordinates and antenna offsets e Reference Station Description ASCII message for station name and description Commands 177 O e 3 3 D E 2 a The observables message is sent once per second The reference station location and the reference station description messages are sent every ten seconds but are interleaved All of the message types are described in detail below Table 8 67 Compact Measurement Record Structure Transmission Structure Size of Transmission Packet h
222. ious receiver operating parameters such as recording interval antenna position and PDOP mask Commands may be sent through any available serial port Set Commands The general structure of the set commands is PASHS s c lt Enter gt where s is a 3 character command identifier and c is one or more data parameters that will be sent to the receiver For example the set command to change the recording interval to 5 seconds is PASHS RCI 5 lt Enter gt If a set command is accepted an acknowledgment message is returned in the form PASHR ACK 3D If a set command is not accepted a non acknowledgment message is returned in the form PASHR NAK 30 If a command is not accepted check that the command has been typed correctly and that the number and format of the data parameters are correct Query Commands The general structure of the query command is PASHQ s c lt Enter gt where s is a 3 character command identifier and c is the serial port where the response message will be sent The serial port field is optional If the serial port is not included in a query command the response will be sent to the current port For example if you are communicating with the receiver on Port A and send the following query command PASHQ SES lt Enter gt the response will be sent to port A However if from the same port you send the query command PASHQ SES B lt Enter gt Commands 105 O e 3 3 D 3 2 a the response will
223. is recommended Ma gellan Navigation suggests using a trackable ship ping method such as UPS or FedEx when returning a product for service 4 LIMITATION OF IMPLIED WARRANTIES EXCEPT AS SET FORTH IN ITEM 1 ABOVE ALL OTHER EXPRESSED OR IMPLIED WARRAN TIES INCLUDING THOSE OF FITNESS FOR ANY PARTICULAR PURPOSE OR MERCHANTABILI TY ARE HEREBY DISCLAIMED AND IF APPLI CABLE IMPLIED WARRANTIES UNDER ARTICLE 35 OF THE UNITED NATIONS CON VENTION ON CONTRACTS FOR THE INTERNA TIONAL SALE OF GOODS Some national state or local laws do not allow lim itations on implied warranty or how long an implied warranty lasts so the above limitation may not ap ply to you 5 EXCLUSIONS The following are excluded from the warranty cov erage 1 periodic maintenance and repair or replacement of parts due to normal wear and tear 2 batteries 3 finishes 4 installations or defects resulting from installa tion 5 any damage caused by i shipping misuse abuse negligence tampering or improper use ii disasters such as fire flood wind and lightning iii unauthorized attachments or modification 6 service performed or attempted by anyone other than an authorized Magellan Navigations Service Center 7 any product components or parts not manufac tured by Magellan Navigation 8 that the receiver will be free from any claim for infringement of any patent trademark copyright or other proprietary right
224. is used to provide some protection against packet errors it is the responsibility of the datalink to provide additional and sufficient error detection mechanisms to ensure that the message content received at the rover station is valid Observables Message Type 0 The Compact Measurement Record format is divided into a header portion and a data portion The header is sent at each measurement epoch and contains timing and satellite tracking information that is relevant to the observable block The observable block is repeated for each satellite tracked at the reference station The header is shown in Table 8 69 The observables are shown in Table 8 70 and x xxxxx Table 8 69 CMR Type 0 Message Header ER Bits Units Range Description Version 3 n a 0 7 Defines the format version Number Station ID 5 n a 0 31 Reference station ID Commands 179 SPUBUIWO0J Table 8 69 CMR Type 0 Message Header continued eee Bits Units Range Description Message 3 n a 0 7 Describes the information that follows in subsequent data Type blocks The observables message type is 0 zero Number of 5 n a 0 31 Number of satellites contained in the observable blocks SVs that follow Epoch 18 ms 0 Receiver epoch time for GPS measurements modulo 240 Time 240 000 seconds Epoch time is scaled into milliseconds and transmitted as an unsigned 18 bit i
225. jection 312 ZXW Receivers Operation and Reference Manual SBAS Commands This chapter describes the WAAS Wide Area Augmentation System capabilities of the ZXW Receivers These capabilities are available only if the receiver has the Y option installed page 4 The ZXW Receivers can track two SBAS WAAS EGNOS MSAS satellites simultaneously on two different channels The receivers decode and output WAAS raw data and almanac Table 9 1 summarizes the WAAS commands applicable to the above functions Table 9 1 Summary of WAAS Commands Command Description Page PASHS SBA DAT Enable SBAS raw data output on serial port 314 PASHQ SBA DAT Query SBAS raw data on serial port 314 PASHR SBA DAT SBAS raw data response message 314 PASHS OUT X SAW Enable SBAS almanac data output on serial port 315 PASHQ SAW Query SBAS almanac data on serial port 315 PASHS SBA SSO Set SBAS satellite search order 318 PASHS SBA XXX Set SBAS tacking mode where XXX 316 SAM single automatic mode DAM dual automatic mode MAN xx single manual mode MAN xx yy dual manual mode OFF turn off WAAS operate as GPS only SBAS Commands 313 SBA SBAS Raw Data PASHS SBA DAT This command enables SBAS raw data on the serial port The structure is PASHS SBA DAT c1 s1 lt Enter gt where c1 is the receiver port and s1 is ON or OFF PASHQ SBA DAT The corresponding query is PASHQ SBA DAT PASHR S
226. ked where c is the optional output serial port Example Query satellite status to the current port PASHQ STA lt Enter gt The return message is in a free form format A typical response is shown below and described in Table 8 52 IME 22720216 UTC OCKED 28 31 29 07 11 08 27 26 04 09 CA S N 51 49 49 47 43 48 41 48 42 39 P1 S N 49 49 47 48 41 45 40 47 38 38 P2 S N 44 44 42 43 36 40 35 42 34 33 SVELEV 55 76 40 84 15 33 12 41 12 12 Commands 157 O e 3 3 D E 2 a Table 8 52 STA Message Structure Dante Description Range TIME Current UTC time in hours minutes amp seconds or GPS hh mm ss time if GPS is indicated instead of UTC LOCKED PRN number of all locked satellites 1 32 CA S N Signal to noise ratio of the C A observable in dB Hz 30 60 P1 S N Signal to noise ratio of the L1 P code observable in dB Hz 30 60 P2 S N Signal to noise ratio of the L2 P code observable in dB Hz 30 60 SVELEV Satellite elevation in degrees 0 90 After a cold start it can take the recevier up to 12 5 minutes to obtain UTC time during this period GPS time is displayed in the TIME field SVS Satellite Selection PASHS SVS c1c2c3 c32 Select SVs that the receiver attempts to acquire where c Y SV is used default c N SV is not used Up to 32 SVs may be selected They are entered in order of PRN number If fewer than 32 are specified the res
227. ksum in hexadecimal SPUBUIWO0J Commands 253 TAG Set NMEA Version PASHS NME TAG s This command sets the version of the standard NMEA messages where s is a 3 character string identifying the version as listed in Table 8 132 Table 8 132 NMEA Message Format Codes s NMEA Message Format Version ASH Consistent with previous versions default V30 NMEA Version 3 0 V23 NMEA Version 2 3 In order to maintain backward compatibility the ASH format outputs messages in a format consistent with previous versions Example Set NMEA output format to Version 3 0 PASHS NME TAG V30 lt Enter gt PASHQ NME TAG This command queries the current setting of the NMEA output version format The response message is sent to the current port PASHR NME TAG The response message is in the form PASHR NME TAGS where s is the 3 character string listed above in Table 8 132 TTT Event Marker PASHS NME TTT Cc S f This command enables disables the event marker message to port c where cis A B C or D s is ON or OFF and f is the optional output rate parameter in seconds If the output rate is not set the command is output at the rate set by the PASHS NME PER command 254 ZXW Receivers Operation and Reference Manual This message outputs the GPS time within 1 usec when the pulse was received This message is not output unless an event pulse is being input through the appropriate pin of port B
228. l binary PBEN PBN Position data ASCII binary SNAV SVN Ephemeris data Binary only SALM SAL Almanac data Binary only EPB EPB Raw ephemeris Binary only DBEN DBN CPD carrier phase Binary only CBEN CBN CPD position data ASCII binary CMR CMR CPD carrier phase Binary only Table 8 62 lists all the raw data commands A complete description of each command can be found on the pages following the table Table 8 62 Raw Data Commands Command Description Page ALMANAC DATA PASHQ SAL Almanac query 198 CPD PARAMETERS PASHQ CBN CBEN query 172 PASHQ DBN DBEN query 182 EPHEMERIS DATA PASHQ SNV SNAV query 199 PASHQ EPB Raw ephemeris data query 186 MEASUREMENT DATA PASHQ MBN MBEN query 188 POSITION DATA PASHQ PBN PBEN query 193 170 ZXW Receivers Operation and Reference Manual Table 8 62 Raw Data Commands continued Command Description Page ALMANAC DATA RAW DATA OUTPUT PASHS OUT Enable disable raw data output 192 PASHQ RWO Query raw data output settings 197 PASHQ RAW Query raw data parameters 195 PASHS SIT Set site name 156 PASHS ELM Set elevation mask 119 PASHS RCI Set recording interval 148 PASHS MSV Set minimum of SVs 136 Commands 171 al fe 3 3 D 3 2 O CBN CBEN Message PASHQ CBN c Request CBEN data for one epoch where c is the optional output port Example Query CBN message to the current port
229. l code and carrier Raw data B file prase Ephemeris E file Session information S file Almanac ALMyy ddd 2 Position data only Position C file Session S file Almanac ALMyy ddd 4 Raw data full code and carrier Raw data B file phase position data file Position C file Ephemeris E file Session information S file Almanac ALMyy ddd 34 ZXW Receivers Operation and Reference Manual Downloading the Data The data on the PC card can be either downloaded from the receiver via the serial port or read from the PCMCIA drive into the PC In both cases use the Download application Download handles the protocol required to transfer data from the receiver via the serial port into the PC memory When transferring PC data from the receiver or the PCMCIA drive into the PC Download reads the U files records from the PC card and converts them into different data files creating one set of data files per each session Data files are named using the U file name for that session however the first letter corresponds to the file type The one exception are almanac files which are named ALMyy ddd where YY are the last two digits of the year and ddd is the day of the year Table 4 2 lists the file types uoneiado Table 4 2 File Types File Type Generated From Format B file Raw data generally code and carrier phase position and SITE data Binary E file Satellite ephemeris data Binary S file Site information data A
230. le Select user defined datum for position computation PASHS DTM UDD lt Enter gt This does not affect the position output in the B file or in the PBN message which are ECEF and always with respect to WGS 84 PASHQ DTM c Query datum setting where c is the optional output port Example Query the DTM status to port C PASHQ DTM C lt Enter gt PASHR DTM The response message is in the form PASHR DTM s cc lt Enter gt where s is the 3 character string that denotes the current datum setting For the list of available datum see Appendix A Reference Datums amp Ellipsoids Transformation charts including DMA list the datum transformation parameters as from local gt to WGS 84 This format is used for the UDD interface and the parameter signs are automatically inversed before the transformation is executed FUM Fix UTM Zone PASHS FUM c This command will enable disable the fixing of the UTM zone where c is either Y enable or N disable The default is N This command is mostly used when the user is near a UTM boundary and outputing position in UTM coordinates and does not want the UTM coordinates to suddenly shift from one zone to another if the boundary is crossed Use the PASHS FZM command to set the zone that will be fixed Example Select the UTM zone to be fixed PASHS FUM Y lt Enter gt 304 ZXW Receivers Operation and Reference Manual FZN Set UTM Zone to Fix PASHS FZN d This comman
231. les DRI Recording interval to the PCMCIA card 0 1 999 0 seconds 20 0 DOI Output interval of raw data to the serial 0 1 999 0 seconds 20 0 port RAW Raw data type MBN PBN CBN SNV EPB SAL DBN DPC CMR SNW SAW PRTA Serial port ON OFF OFF PRTB PRTC PRTD BAUD Baud rate index at each port 0 9 see Table 8 42 5 Format Format setting of each port ASCII binary ASCII The raw data type DPC is for CGRS users only and is not documented in this manual RWO Raw Data Output Settings PASHQ RWO c This command queries the raw data settings of port c where c is A B C or D The output is sent to the current port Example Query receiver for raw data setting of port C PASHQ RWO C lt Enter gt PASHR RWO The response message is in the form PASHR RWO c1 d2 f3 d4 9 55 d6 c7 cc where parameters s5 d6 and c7 are repeated 9 times once for each raw data message type spuewwog Commands 197 Table 8 86 describes each parameter in an RWO message Table 8 86 RWO Message Structure Parameter Description Range ci Port A B C D d2 Baud rate code see Table 8 42 page 147 for codes 0 9 D RCI setting 0 0 999 0 d4 Number of raw data message settings to report 9 s5 Raw data message type MBN PBN CBN SNV EPB SAL DBN DPC CMR SNW SAW d6 Enabled disabled flag 0 disabled 1 enabled 0 1 c7 ASCll binary setting A ASCII B binary A B
232. llan DBN Messages rrrrrnannnvnnnvrrvnnnnvnnnnnnne 64 Table 5 9 Minimum Baud Rates for RTCM Messages 18 amp 19 or 20 amp 21 64 Table 5 10 Minimum Baud Rates for Magellan DBN Messages ncn 65 Table 5 11 Maximum Number of Satellites Above a 4 Mask Angle 65 Table 5 12 Differential Remote Station Commande rennnnnvnnnnnrnnnnnnrnnrnnrrnnrnnnne 69 Table 5 13 RTK Remote Station Commande 70 Table 5 14 RTK Remote Station Commands ccccecceeeeeeeeeeteeeeeeeessaeeeeeaes 71 Table 5 15 Auto Differential Modes and Position Output 78 Table 5 16 RTCM Message Types ccceceeeeeeseeeeeneeeeeeeeececaeeeseneeeseeeeeeaeeenaas 79 Table 6 1 Troubleshooting Tips arnrrrnnnnonnrrrnnnnennrrrnnnrrnnrnnnnnrnnnrnneserrnnrnnesenennnne 85 Table 6 2 CPD optimization Commande 86 Table 6 3 Default RTCM Message Schedules cccscceccsseeeeseeeeeseteeeeeneeeees 91 Table 6 4 Percentage of Ambiguity Initialization Using a Single Epoch 92 Table 7 1 User Coordinate Transformation Functionalities ccceeee 94 Table 7 2 Ellipsoid Parameters for WGS 72 and WGS 84 rrrnrrrrrrnnvrvererrnnnnn 95 Table 8 1 Command Parameter Symbols ccccceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 104 Table 8 2 Receiver Commande rrnnnnrnnnnnrrnnnnnvnnnrrrnnnnnrnnnenrrennnnrnnrrrressnnrnntennn 106 Table 8 3 ALH Parameter Table rrrrnnnnnnnnvrrnnnnnnnvrrnnnnnnnnvrnnnnnnnnrrnnnnernnrrrnnennn 110 Table 8 4 ANR
233. lled on the receiver Send the commands listed in Table 5 1 to the receiver to generate RTCM differential corrections using message type 1 Table 5 1 Differential Base Station Commands Command Description PASHS RST Reset the receiver to factory defaults PASHS PEM 4 Set the base differential mask to four degrees PASHS POS ddmm mmm d dddmm mmm Enter the phase center of the antenna if ANR is OFF or d saaaaa aa CPD or the ground mark if ANR is ON Enter the latitude longitude and height of the survey mark NOTE If this is the position of the antenna phase center set PASHS ANR to OFF PASHS RTC BAS x Turn on RTCM corrections on port x When this command is sent a base station automatically sends RTCM message type 1 once every second PASHS RTC SPD 9 Set internal bit rate for corrections to burst mode PASHS SAV Y Save settings Do not try to transmit corrections on the same receiver serial port you are using to set up the receiver from your PC The receiver is set as a base station which transmits RTCM message type 1 once per second Following a power cycle the receiver automatically starts transmitting these corrections again because you have saved the settings with the PASHS SAV Y command To change the message type or rate use the PASHS RTC TYP command 56 ZXW Receivers Operation and Reference Manual Setting Up an RTK Base Station An RTK base station supports three different types
234. longer time to resolve the ambiguities and give the fixed solution Setting the mode to 95 0 decreases the time to solve the ambiguities and give the fixed solution but also increases the chances that the ambiguities are fixed incorrectly Setting the mode to 90 results in the shortest time to resolve the ambiguities however mode 90 0 also has the highest chance that the ambiguities are fixed incorrectly Figure 6 1 shows the test results for over 12 000 ambiguity fix test performed by Magellan on a Z 12 RZ receiver at various baseline lengths up to nine kilometers These test results indicate that at the default setting the typical time to resolve the ambiguities is 60 seconds with a reliability of 99 9 At the fastest setting the results indicate that the typical time to resolve the ambiguities is five seconds with a reliability of 97 6 Understanding RTK CPD 87 D 4 Fa 9 a D If the ambiguities are fixed incorrectly the satellite geometry must change appreciably before the ambiguities will again fix correctly For a static rover this will happen within approximately 10 minutes or when a new satellite is acquired 100 Percent Reliability oS DD we wm 0 we o co a N GS e ER a SS Go GE 0 50 100 150 Time Since Lock seconds Figure 6 1 Ambiguity Fix Test Results Dynamics PASHS CPD DYN Select the dynamics for the fastest acceleration you expect to be moving If the dynamics are not set properly th
235. ltitude held fixed 244 ambiguity fixing reliability 76 ANR bet ste ed id 53 62 ANT 1 eten beats 53 185 283 284 289 antenna height 125 antenna offset 22000 67 antenna phase center 53 113 283 antenna radius 000 53 Antenna Reduction 53 antenna serial number 125 antenna slant 00 eee 53 Anti Spoofing 2 ASer 1 AS See Anti Spoofing Auto Differential Mode TT autonomous position 6 available memory 122 B backup baten 19 backward compatibility 254 barometric pressure 125 Base data latency 75 base station 55 baseline length 7 Index battery back up 128 battery backed memory 130 BUSY june LEST RENEE 122 C GA de Bresette Gr 7 Cable loss uns kn sea Aude 12 carrier loop 130 carrier phase 7 carrier phase differential 7 carrier phase initialization 75 G gt AE se Asa Ee Eer 83 CMR a E de 71 code loop sens es a A 130 GOG EE 259 communication link 55 communication protocol 26 communication with receiver 25 constellation 0020 eee 2 GPD ante data 59 62 82 CPD solution 53 CSN WEE 116 CTS EE 117 current position 27 D daisy chain mode 40 DAM ia
236. lue is negative for east longitude and the range is 0 to 13 The setting is displayed by NMEA message ZDA Example Set local time zone to East 7 hours 20 minutes PASHS LTZ 7 20 lt Enter gt MDM Set Modem Parameters PASHS MDM This command sets modem parameters The structure is PASHS MDM s1 c2 d3 d4 CFG s5 MOD s6 NAM s7 D2C s8 C2D s9 where the parameters are as defined in Table 8 21 Table 8 21 MDM Setting Parameters and Descriptions Setting Parameter Description Range Default si Switch to set modem in use flag on or off ON OFF Off c2 Serial port that modem connect to A D B d3 Modem type index 0 4 0 0 US Robotics Sportster 1 Telebit WorldBlazer 2 Telebit TrailBlazer 3 Telebit CellBlazer 4 User defined d4 optional Baud Rate Index Code see Table 8 22 3 8 7 CFG s5 optional Modem configuration initialization string 96 bytes MOD s6 optional Modem configuration mode used 16 bytes NAM s7 optional Modem name 40 bytes D2C s8 optional Data to command mode escape string 16 bytes C2D s9 optional Command to data mode string 16 bytes Commands 131 SPUBUIWO0J Table 8 22 Baud Rate Codes Code Baud Rate Code Baud Rate 0 300 5 9600 1 600 6 19200 2 1200 7 38400 3 2400 8 57600 4 4800 9 115200 All s parameter optional settings are user defined modem settings and can be entered in any order and with any combinatio
237. m shown below and defined in Table 8 139 GPZDA m1 d2 d3 d4 d5 d6 cc lt Enter gt Table 8 139 ZDA Message Structure Parameter Description mi UTC time hhmmss ss hours minutes seconds d2 Current day 01 31 d3 Current month 01 12 d4 Current year 0000 9999 d5 Local zone offset from UTC time where s sign and hh hours Range 00 13 d6 Local zone offset from UTC time where mm minutes with same sign as hh cc Checksum Typical Example GPZDA 1321 23 00 10 03 1998 07 20 22 lt Enter gt 262 ZXW Receivers Operation and Reference Manual Table 8 140 describes a typical ZDA response message Table 8 140 Typical ZDA Response Message Parameter Description GPZDA Message header 123123 00 UTC time 10 Current day 03 Current month 1998 Current year 07 Local zone offset hours 20 Local zone offset min 22 Checksum in hexadecimal spuewwoy Commands 263 RTCM Response Message Commands The RTCM commands allow you to control and monitor RTCM real time differential operations The RTCM commands are only available if the differential options are installed in the receiver If the Base Station option B is installed then only the base parameter and general parameter commands are accessible If the Remote option U is installed then only the remote parameter and general parameter commands are available For a more detailed discus
238. marily to initialize the radio from an external monitor handheld or PC When a port is in daisy chain mode it can only interpret the OFF command all other characters are redirected The OFF command discontinues the daisy chain mode Redirection can also be bi directional i e A to B and B to A at the same time but a second command is necessary to set the other direction Table 8 9 summarizes the source and destination ranges Table 8 9 DSY Parameter Table Parameter Description Range ci Source port A D c2 Destination port A D 118 ZXW Receivers Operation and Reference Manual Examples Redirects A to B Can issue from any port PASHS DSY A B lt Enter gt Redirects B to A Can issue from any port but it cannot be issued from port A if PASH DSY A B lt Enter gt has been sent PASHS DSY B A lt Enter gt Turns off redirection from A Can issue from any port PASHS DSY A OFF lt Enter gt Turns off daisy chain on all ports Can issue from any port PASHS DSY OFF lt Enter gt ELM Recording Elevation Mask PASHS ELM d Sets elevation mask for position computation where d1 is the primary position elevation mask and d2 is an optional zenith position elevation mask Both d1 and d2 may be set to any value between 0 and 90 degrees although d1 must be less than d2 The default for the primary position elevation mask is 10 degrees The default for the zenith position elevation mask is 90 degrees E
239. marine instruments navigation equipment and communications equipment when interconnected via an appropriate system This is data in printable ASCII form and may include information such as position speed depth frequency allocation etc Typical messages might be 20 to a maximum of 79 characters in length and generally require transmission no more often than once per second Operation 43 uoneiado Due to the extra resolution required for RTK operation some NMEA messages are actually longer than the specified 80 characters e Proprietary When specific information was needed and the NMEA standard did not contain a suitable message Magellan created proprietary messages Messages are available in ASCII With the Fast Data output F option installed the highest output rate supported is 10Hz This is valid for every setting except for RTK Differential mode if Fast CPD mode is set to off in which case the highest rate is 1 Hz if Fast CPD mode is on 10 HZ is available Also if the F option is not installed the highest output rate supported is 5Hz Transferring Data Files GPS data stored on the PC Card may be transferred to a computer for post processing by three different methods using Download Download reads the session file U file converts the file into the different data files B C D E M S and almanac files and transfers the converted files to the specified directory e Download data directly through one
240. mber Example The following command sets SBAS PRN 122 and 134 as the first in the search list SBAS satellite 122 has a satellite ID number 35 and SBAS satellite 134 has a satellite ID number 47 PASH SBA SSO 35 47 Default Setting SSO Search order satellites IDs 35 33 47 51 34 36 37 38 39 40 41 42 43 44 45 46 48 49 50 This command affects the SBAS satellites search order in automatic searching mode Current search order is saved in BBU by the PASHS SAV command 318 ZXW Receivers Operation and Reference Manual Reference Datums amp Ellipsoids The following tables list geodetic datums and reference ellipsoid parameters The translation values are in the format From local to WGS84 Table A 1 Available Geodetic Datums Reference Offset in meters d Datum ID Ellipsoid dX dY dZ Datum Description ARF Clarke 1880 143 90 294 ARC 1950 Botswana Lesotho Malawi Swaziland Zaire Zambia Zimbabwe ARS Clarke 1880 160 8 200 ARC 1960 Kenya Tanzania AUA Australian National 133 48 148 ANS66 Australian Geodetic Datum 1966 Australia Tasmania Island AUG Australian National 134 48 149 ANS84 Australian Geodetic Datum 1984 Australia Tasmania Island BOO International 1924 307 304 318 Bogota Bogota Observatory Columbia CAI International 1924 148 136 90 Campo S American Campo Inchauspe Argentina CAP Clarke 1880 13
241. message is in the form PASHR CPD STS f1 f2 cc lt Enter gt Table 8 169 CPD STS Message Structure Field Description Range Units f1 RMS phase residual 0 00 0 100 meter f2 Ambiguity Fixing Contrast Ratio 0 00 99999 99 cc Checksum UBP Use Base Position PASHS CPD UBP d1 This command selects the base position to use in ROVER mode where d1 indicates the desired base position This command is relevant for ROVER mode only Default is 1 Table 8 170 CPD UBP Parameter Table Parameter Description Range Default di Base position to use 0 1 1 0 Use entered base position 1 Use transmitted base position Example Use entered base station position PASHS CPD UBP 0 lt Enter gt Commands 301 spuewwog UCT Commands The User Coordinate Transformation UCT library Table 8 171 includes user defined transformation data e g datums grid systems map projection parameters etc and transformation functions You can define and store 1 set of transformation parameters and do transformation based on these parameters The UCT commands include e Transformation Parameters e Transformation Selection e Coordinate Output 302 ZXW Receivers Operation and Reference Manual Table 8 171 UCT Commands Command Description Page TRANSFORMATION PARAMETERS SETTING PASHS UDD Set datum to datum transformatio
242. meter Significance Units Range f23 Code transmit time ms 0 99 9999999 f24 Doppler measurement 10 4 Hz 99999 99999 f25 Range smoothing correction Raw range minus meters 0 99 99 smoothed range d26 Range smoothing quality 0 200 PL2 Code Data Block d27 Warning flag seeTable 8 80 0 255 d28 Good bad flag see Table 8 81 22 24 d29 5 for backward compatibility 5 d30 Signal to noise indicator dB Hz 30 60 d31 spare f32 Full carrier phase cycles 0 999999999 999 f33 Code transmit time ms 0 99 9999999 34 Doppler measurement 10 4 Hz 99999 99999 f35 Range smoothing correction Raw range minus meters 0 99 99 smoothed range d36 Range smoothing quality 0 200 cc Checksum Displayed in decimal A bytwise exlusive OR XOR on all bytes from the sequence tag to the checksum starts after MPC and includes the last comma before the checksum Table 8 80 Warning Flag Settings Bits Description of Parameter d7 Index 1 2 Combination of bit 1 and bit 2 O 0 0 same as 22 in good bad flag S 0 1 same as 24 in good bad flag 3 1 0 same as 23 in good bad flag 2 Q 3 carrier phase questionable ep A code phase range questionable 5 range not precise code phase loop not settled Commands 191 Table 8 80 Warning Flag Settings continued ee Description of Parameter d7 6 Z tracking mode 7 possible cycle slip 8 loss of lock since last epoch Table 8 81 Measurement Quality Good Bad Flag Value of dg Description 0 Meas
243. mode it displays the message up to 90 characters that is received from the Base 268 ZXW Receivers Operation and Reference Manual AUT Auto Differential PASHS RTC AUT c Turns auto differential mode on or off where c is Y or ON or N or OFF In auto diff mode the receiver generates raw positions automatically if differential corrections are older than the maximum age or are not available This command is also used to set the auto differential mode in CPD operation it is used only in REMOTE mode Default is N OFF Example Turn auto differential mode on PASHS RTC AUT Y lt Enter gt or PASHS RTC AUT ON lt Enter gt BAS Enable Base Station PASHS RTC BAS c Set the receiver to operate as an RTCM differential base station where c is the differential port A B C or D Example Set to differential base mode using port B PASHS RTC BAS B lt Enter gt EOT End of Transmission PASHS RTC EOT s Control which characters to transmit at the end of each RTCM message where s is the end of message parameter as detailed in Table 8 143 Default is CRLF Table 8 143 EOT Parameters Setting Parameter Description Range s nothing NONE carriage return CR carriage return and line feed default CRLF Example Transmit only carriage return at end of every RTCM message PASHS RTC EOT CR lt Enter gt SPUBUIWO0J Commands 269 INI Initialize
244. more satellites it can determine its own internal clock error In order to reduce the effects mentioned previously most receivers use the computed clock error to periodically reset the internal receiver clock to remain close to GPS system time within a millisecond This method does not entirely remove the effects mentioned above and furthermore causes jumps in the raw measurements obtained by the receiver all of which the user must account for when processing the data The receiver offers a GPS Time Sync Mode which almost completely removes the effects of the receiver clock error For example the jumps in the raw measurements do not appear in GPS Time Sync Mode and also in zero baseline tests two Magellan receivers in GPS Time Sync Mode will provide very closely matching pseudo range measurements Default Parameters During the normal course of receiver operation a typical user will often change one or more receiver parameters such as recording interval port baud rate or elevation mask To save new Settings the user must save the current setting to memory or else all parameters with a few exceptions will be reset to the default values during a power cycle The exceptions are session programming parameters modem setting parameters MET meteorological and TLT tilt parameters and the POW power parameters To save parameters to memory issue the PASHS SAV Y command via the serial port When parameters are saved to the memory they a
245. mple PASHR RID UZ 30 ZE24 BUEXMFT3JKI H Y 1A01 5C If the letter or number is displayed in the response message the option is available Conversely if the letter number is not displayed the option is not available Table 1 3 lists the available options Table 1 3 Remote User s Guide Options Option Description B RTCM differential base RTCM differential remote Event Marker m 2 ke 3 D E U D Ei Q 3 E 3 External Frequency z x m c Remote monitor option Fast Data Output Point Positioning lt z oc m g4 m Observables Go RTK Rover RTK Base Station SBAS Option Equipment Description 5 Option B RTCM Base The receiver has the ability to be set as an RTCM differential base station and can output real time differential corrections when this option is enabled The output will be in RTCM 104 Version 2 3 format message types 1 3 6 16 and 22 as well as RTCM Carrier Differential 18 19 20 and 21 For messages 18 19 20 and 21 the J option is also required Option U RTCM Remote Real time differential corrections are available when this option is enabled The receiver will decode the RTCM 104 Version 2 3 format message types 1 3 6 9 16 and 22 as well as types 18 19 20 and 21 For messages 18 19 20 and 21 the J option is also required Option E Event Marker The E option enables the storage of event times creat
246. n 1 256 full wavelength 65536 half wavelengths with resolution of 1 128 half wavelength Commands 239 spuewwog Table 8 120 lists the remainder of the type 19 message uncorrected pseudorange measurements and 21 RTK pseudorange correction size for type 19 21 total number of SVs for L1 and L2 frequency 2 13 byte Freq sm GNSS 3 byte chksum 2 byte lt Enter gt Table 8 120 Remainder of Type 19 and 21 Messages Parameter Description Range d8 L1 or L2 frequency 00 01 d9 Smoothing interval 00 0 1 min 01 1 5 min 10 5 15 min 11 indefinite d10 GPS time of measurement 0 599999 usec di CA code P code indicator 0 CA 1 P d12 SV prn 1 32 d13 data quality 0 7 refer to RTCM spec for table of pseudorange error d14 multipath error 0 15 refer to RTCM spec for table of multipath error f15 type 19 pseudorange 0 85899345 90 meters type 21 pseudorange correction 655 34 0 02 meter when pseudorange scale factor is 0 10485 44 0 32 meter when pseudorange scale factor is 1 default 240 ZXW Receivers Operation and Reference Manual Examples GPMSG 01 0000 2220 0 1 0 127 003702 00 2 12 0081 30 0 026 235 2 13 0022 86 0 006 106 2 26 0053 42 0 070 155 2 02 0003 56 0 040 120 2 27 0047 42 0 004 145 cc lt Enter gt GPMSG 03 0000 1200 0 7 0 038 231958 00 2691561 37 4301271 02 3851650 89 cc lt Enter gt GPMSG 16 0000
247. n of these settings If the baud rate index code in not entered the default baud rate 7 38400 is used Example Send all parameters for user modem PASHS MDM ON B 4 6 CFG ATS111 255545 255551 252558 250 1 amp D2 amp C1X12E0Q0 amp W r n MOD AT amp F1 r n NAM US ROBOTICS D2C AT C2D ATO r n lt Enter gt Example Send only mode and data to command escape string and default baud rates PASHS MDM ON B 4 MOD AT amp F1 r n D2C AT lt Enter gt PASHQ MDM c Query current modem parameter settings where c is the output port and is not required to direct the response message to the current communication port Example Query modem setting to the current port PASHQ MDM lt Enter gt PASHR MDM The return message is in the form shown below and described in Table 8 23 PASHR MDM c1 d2 s3 d4 s5 s6 s7 s8 cc lt Enter gt 132 ZXW Receivers Operation and Reference Manual Table 8 23 MDM Message Structure Geier Description Range ci Receiver port assigned for modem connection A D d2 Baud rate code 3 8 s3 Modem status ON OFF INITOK SYNC ESCAPE d4 Modem type index 0 4 s5 User defined initialization string s6 User defined modem configuration mode s7 User defined data to command escape string s8 User defined command to data string Kee Byte wise XOR checksum begin with P 2 byte hex MDM INI Initialize Modem Communication PASHS MDM INI The PASHS MDM INI command es
248. n parameters 307 PASHQ UDD Query 7 parameters of datum to datum transformation 307 PASHS UDG Set datum to grid projection parameters 308 PASHQ UDG Query parameters of datum to grid projection variable parameters 312 TRANSFORMATION SELECTION PASHS DTM Select datum to use preset or user defined 303 PASHQ DTM Query datum used 304 PASHS GRD Select grid map projection mode 305 PASHQ GRD Query grid map projection mode 305 PASHS HGT Select height model 306 PASHQ HGT Query height model 306 COORDINATES OUTPUT PASHS NME GGA Enable disable geographic position output 220 PASHS NME GLL Enable disable latitude longitude response message 223 PASHS NME POS Enable disable NMEA postion response message 243 PASHS NME GXP Enable disable the horizontal position message 234 PASHS NME GDC Enable disable user defined grid coordinates output 217 PASHQ GDC Query user defined grid coordinates 217 PASHS NME UTM Enable disable UTM grid coordinates output 255 PASHQ UTM Query UTM grid coordinates 255 DTM Datum Selection PASHS DTM s Select the geodetic datum used for position computation and measurements where s is a 3 character string that defines a pre defined datum or UDD User Defined Datum Parameters for a user defined datum are entered with the PASHS UDD command page 307 W84 is the default For a list of available predefined datums see Appendix A Reference Datums amp Ellipsoids SPUBUIWO0J Commands 303 Examp
249. n related fields will be empty Example Output GXP message on port C PASHS NME GXP C ON lt Enter gt PASHQ GXP c Query horizontal position where c is the optional output serial port Example PASHQ GXP A lt Enter gt GPGXP The GXP response message is in the form GPGXP m1 m2 c3 m4 c5 cc lt Enter gt where the message structure is as defined in Table 8 112 Table 8 112 GXP Message Structure Parameter Description Range mi UTC of fix in hours minutes and seconds hhmmss ss 00 235959 90 m2 Latitude in degrees and decimal minutes ddmm mmmmmm 0 90 00 c3 Direction of latitude N North S South N S m4 Longitude in degrees and decimal minutes dddmm mmmmmm 0 180 00 c5 Direction of longitude E East W West W E cc checksum Example Query PASHQ GXP lt Enter gt Typical GXP response message GPGXP 212958 00 3722 396956 N 12159 849225 W 7A lt Enter gt 234 ZXW Receivers Operation and Reference Manual Table 8 113 describes each item in a typical GXP message Table 8 113 Typical GXP Message Item Significance GPGXP Header 212958 00 UTC time of position 3722 396956 Latitude N North Latitude 12159 849225 Longitude Ww West Longitude 7A checksum MSG Base Station Message PASHS NME MSG c s f This command enables disables the message containing RTCM reference base station message types 1 2 3 6 and 16 18 19 where cis t
250. n the form shown below and defined in Table 8 32 PASHR PHE c cc lt Enter gt Table 8 32 PHE Message Structure Return Parameter Description Range c Photogrammetry edge R rising F falling Kee Checksum N A Commands 141 SPUBUIWO0J PJT Log Project Data PASHS PJ T c1s2s3s4s5s6 This command allows you to enter project data related to station occupation This information appears in the S file and the PASHQ INF query as defined in Table 8 33 Table 8 33 PUT Parameter Table Parameter Description Range ci Session 1 character alphanumeric s2 Receiver ID 3 character alphanumeric s3 Antenna ID 3 character alphanumeric s4 Month and Day mmdd mm 01 12 dd 01 31 s5 Operator Initials 3 character alphanumeric s6 Comment 9 character alphanumeric There are no commas between parameters Example Set project data with the following settings PASHS PJT A1234560712DWRTESTPROJ Session A Receiver ID 123 Antenna ID 456 Month and Day July 12th 0712 Operator Initials DWR Comment TESTPROJ PMD Position Mode PASHS PMD d Set position mode for minimum number of SVs required to compute a position fix where d 0 1 2 or 3 as described in Table 8 34 The default is 0 142 ZXW Receivers Operation and Reference Manual Table 8 34 PMD Parameter Table Parameter Description d 0 Minimum of 4 SVs needed e g for 3 D d 1 De
251. n the range 0 15 signifi where the least significant bit is equal to 2 SNR counts cant bit 2 SNR counts Cycle slip 8 n a 0 255 Incremented every time there is a cycle slip on this count satellite The rover should assume that a cycle slip has occurred if the cycle slip count increments between measurement epochs Total 64 L2 Data L2 data is appended directly to L1 observable data for each satellite Table 8 71 Table 8 71 CMR Type 0 Message Observables Block L2 Parameter Bits Units Range Description L2 code 1 n a 0 1 Receivers capable of tracking L2 code during available encryption should set this flag to indicate that A L2 code data is available 0 no code available 1 code available P code 1 n a 0 1 Indicates the type of code data collected on L2 X correlation This bit is ignored if no code information is B present 0 P code 1 cross correlation Code Valid 1 n a 0 1 Indicates the validity of the L2 code information C 0 False 1 True Phase Valid 1 n a 0 1 Indicates validity of the L2 phase information D 0 false 1 true Phase Full 1 n a 0 1 Full cycle L2 receivers should set this flag ei E 0 half wave 1 full wave S 3 Reserved 3 Reserved Reserved Reserved 2 Q L2 range L1 16 0 01 m 215 m The L2 range measurement is referenced g range against the L1 range measurement and broadcast in terms of integer centimeters Commands 181 T
252. nac Reference Time 080B Inclination angle FD49 Rate of ascension A10D58 Root of semi major axis EB4562 Argument of perigree BFEF85 Longitude of ascension mode 227A5B Mean anomaly 011 Clock parameter 000 Clock parameter 0B checksum 208 ZXW Receivers Operation and Reference Manual CRT Cartesian Coordinates Message PASHS NME CRT c s f This command enables disables the output of the cartesian coordinates message where c is the port s is ON or OFF and f is an optional output rate parameter in seconds If the output rate parameter is not set the command will be output at the rate set by the PASHS NME PER command If no position is computed the message will be output with the position related fields empty Example Enable CRT message on port B PASHS NME CRT B ON lt Enter gt PASHQ CRT c Query the CRT message where c is the optional output serial port Example Query receiver for Cartesian coordinate message to current port PASHQ CRT lt Enter gt PASHR CRT The response message is in the form PASHR CRT d1 d2 m3 f4 f5 f6 f7 f8 f9 f10 f11 f12 f13 f14 f15 s16 cc where the fields are as defined in Table 8 92 Table 8 92 CRT Message Structure Parameter Description Range di Raw differential position 0 3 0 Raw position is not differentially corrected 1 Position is differentially corrected with RTCM code 2 Position is differentially corrected with CPD
253. nary message per satellite in the form PASHR SAW almanac structure where the WAAS almanac structure is as defined in Table 9 3 Table 9 3 WAAS Almanac Structure Parameter Bytes Content char 1 Data ID two LSB of byte In current signal specification format is 00 char 1 Health where Bit 0 Ranging on 0 or Off 1 Bit 1 Corrections On 0 or Off 1 Bit 2 Broadcast integrity On 0 or Off 1 Bit 3 Reserved Bits 4 7 Filled by zero long 4 10 Almanac data reference time within the day expressed in WAAS system time scale seconds float 3 4 Satellite ECEF X Y Z coordinates meters float q3 4 Satellite velocity X Y Z meters second long 4 TOW time of week in GPS time scale when WAAS almanac was received seconds char 1 WN week number in GPS time scale when WAAS almanac was receiver char 1 Satellite number 33 64 unsigned 2 Checksum computed by breaking structure into 40 unsigned shorts adding short them together and taking leastt significant 16 bits of result SBAS Commands 315 spuewwod SVES Table 9 3 WAAS Almanac Structure continued Parameter Bytes Content Total 38 51 for structure plus header and lt CR gt lt LF gt SBA Tracking Mode PASHS SBA Xxx The PASHS SBA tracking mode command sets the tracking mode for WAAS operation The command structure is as follows PASHS SBA SAM single automatic tr
254. nd s is ON or OFF as defined in Table 8 29 Table 8 29 OUT TLT Message Structure Parameter Description Range c Serial port connected to the tiltmeter A D s Enable disable tiltmeter processing ON OFF Example Start tiltmeter on port B PASHS OUT B TLT ON lt Enter gt PAR Query Receiver Parameters PASHQ PAR c Query general receiver parameters where c is the optional output port and is not required to direct the response message to the current communication port This query shows the status of most of the general receiver parameters Example Query the receiver parameters PASHQ PAR lt Enter gt spuewwog Commands 137 The response message is in a table format A typical response message might be SVS YYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYY PMD 0 FIX 0 ION N UNH N PDP 40 HDP 04 VDP 04 FUM N FZN 01 TAG ASH DIF_RTCM MODE OFF PRT A NMEA PER 001 0 PEM 10 PPO N SAV N ANR CPD SEM_STA OFF SEM FST_AZIM SND AZIM ZEN DEM 90 LAT 00 00 0000000N LON 000 00 0000000W ALT 00000 000 NMEA GLL GXP GGA VTG GSN ALM MSG DAL GSA GSV TTT RRE GRS UTM POS SAT PRTA OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF PRTB OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF PRTC OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF PRTD OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF NMEA XDR GDC RMC PTT ZDA DPO DCR CRT GST PRTA OFF OFF OFF OFF OFF OFF O
255. nnnnvvrnnnnrnnnnnrrnnnnrnnnnnnresrnrnnnsennenn 3 Table 1 2 Accuracy as Function of Mode 2 ceceeceeceeeeeeeeeeeeeeeeeestaeeaees 4 Table 1 3 Remote User s Guide Options rrnrnrnrnnnnnrrnnnnnvnnrnrrrnnnnrnnnrnrennnnrnnnennene 5 Table 2 1 ZXW Eurocard Interface Connector rrrrrrrrrnnrnvrnnnnrrnnnrrrrnnnnrrnnnrnnn 10 Table 2 2 ZXW Sensor Front Panel Description rrnenrvnnrnrrnnnnnvnnrrnrrnnnnnnnnennn 15 Table 2 3 ZXW Sensor DB25 Connector Pinout rrnrrnnnnnvnnnnnrrnnnnnrnnnnrrnnnnnnene 17 Table 3 1 Default Values e i a a a aa aae aa aaa aa aaa AEEA 28 Table 4 1 Recording Modes AAA 34 T ble 4 2 File Types aee neran o AAEEen E EEE 35 Table 4 3 Position Modes c ce eceeceeeeeeeeeeeeeeeeeeaaeaaeaaeeeeeeeeeeseeeeeeeenaeaaeess 39 Table 4 4 Default Values rrrrnnnnnrvvrrvnrvnrnnrarnnnrn nn nr nr nnnnennontanannnnnnnrnnnnennnenenn 46 Table 5 1 Differential Base Station Commands rmrnnrrnnnnnvnnnnnrrnnennrnnrnnrrnnnnnnn 56 Table 5 2 RTK Base Station Commands Types 18 and 19 57 Table 5 3 RTK Base Station Commands Types 20 and 271 58 Table 5 4 RTK Base Station Commands DBEN rernnrrnnnrnvvnnnnrrnnnerrvnnrnrrnnernnne 59 Table 5 5 RTK Base Station Commands CMR or CMR Plus Format 60 Table 5 6 Base Station Commands Combined Differential and RTK 61 Table 5 7 Message Size for RTCM Messages 18 amp 19 or 20 amp 21 oo 63 Table 5 8 Message Size For Mage
256. nrrnnnnnrnnnrrrenennrnnnennn 291 Table 8 160 CPD MOD Message Structure cccccceeceeeeeeeeeeeeeeeeeeeeeneeeees 292 Table 8 161 MTP Parameter Table ee ceecceeeeeeeeceeeeeeeeeeeeeeeseneeeeeeeeneneeeeees 293 Table 8 162 OBEN Message Structure Binary Format 0 ccceeeeeeseeeees 294 Table 8 163 CPD OUT Parameter Table cccccccsesceeeeeeeeeeeeeeeeeneeeeeeneeess 296 Table 8 164 CPD PEB Parameter Table rrrrrnrrnnnnnvnnonvrnnnnrrnnnnnrenrrrrnrrnnnnnrnnn 297 Table 8 165 CPD PED Parameter Table rrrrrnnrrnnnnnvnnnnrrrnnnnrnnnrnrennnnrrnnnnnnnernn 297 Table 8 166 CPD PER Parameter Table rrrnrnnnrnnnnnrnnnnnrnnnnnrnnnrnrnnnrnrnnnnnnnneenn 298 Table 8 167 CPD POS Parameter Table rurnrnnnonrrnnnnnvnnnonrrrnnnnrnnnrrrrnrnnrnnnennn 299 Table 8 168 CPD PRO Parameter rarnnnnnnnnrnnnnrrnnnnrnrvnvnrereversrravnrurnnnnnnsneneen 300 Table 8 169 CPD STS Message Structure mrrrrrnnnnvnnnrrrrnnnnrnnnrnrennrrrrnnrnneneenn 301 Table 8 170 CPD UBP Parameter Table rrurvrvnrnrnrnrerervrvrrrrnrnnnnnnnnenenennsrsrveser 301 Table 8 171 UCT Commands rrrnnrrnnnnnvnnrnrrrnnnnvnnrnrrrrnnnnnenenrrensnnrnnrrrresnnnrnntennn 303 XXI Table 8 172 UDD Message Structure c ccceeceeeeeseeeeeeeeeeeeaeeseeeeeeenaeeeneeeeess 307 Table 8 173 UDG Structure for Equatorial Mercator mmrrrrrrennnrnnrrrrrnnnnnnnrnnr 308 Table 8 174 UDG Structure for Transverse Mercator rrrrrarararannnnnnnannnnrrenene 308
257. nrrnnrnennnrrenrrrnnnn 206 ALM Almanac MeSSage cescccccceeeeecceeeeeeseeceeeenesseaeeeeneneaeeeeeneeeaeeeeennees 206 CRT Cartesian Coordinates Message 209 DAL DAL Format Almanac Message 211 DCR Delta Cartesian Message annrnnnnrrnnnnnvvnrnnrrnnnnnnnnnnnrnnnnnnennrnrrrnennnenenn 213 DPO Delta Position Message mannvnnnnnrnnnnnvnnrnnrrnnnnnvnnnnrrennnnnenrrrrnnennnnerenn 215 GDC User Grid CGoordimaie resen reer teertsenttrnntertnesrnensrnnnnt 217 GGA GPS Position Message 220 GLL Latitude Longitude Message 223 GRS Satellite Range Hesiduals nesre renerne rennesrressrrssrne 224 GSA DOP and Active Satellite Messages eeeeeeeeee eerren 226 GSN Signal Strength Satellite Number 229 GST Pseudo range Error Statistic Message urrnrnnnrnrrnnnnnvnnnrnrrnnnnnnnnnennn 230 XIII GSV Satellites in View Message mrrrrrnnnnnvnnnnnrvnnnnrnnnrnvrnnnnnrnnnrnvenennrnnnennnne 231 GXP Horizontal Position Message rrrvnnnvvnnnnrrrnnnnvnnrnrrrnnnnnnnnnnrrennnnnnnnennne 234 MSG Base Station Message arnnrnnnnrvnnnnnvnnnorrrnnnnnrnnrnrrennnnrnnnrnrenernrnnnnnnnne 235 NMO NMEA Message Output Settings rrrrrrnnnnnvnnrnrrvnannrnnnrnrrrnnnrnnnnennn 241 PER Set NMEA Send Internal 242 POS Position Meseage aana e aa aa aea a enai Eas 243 PTT Pulse Time Tag Message ccceeeeeeceeteeeeeeeeeeeeteeeeeeeeeeeeeeeeeeseeeeaeees 246 RMC Recommended Minimum GbG Tranent 247 RRE Residual Error 24
258. nrrrrrnnnnnn 92 eer ee Ier Mee e 92 Chapter 7 Coordinate Transformation svvvnnnnnnnnnnnnvvvvnnnnnnnn 93 Background esoo Rohe a i E degen eatin 93 S EWilube We Lu i eee a a a E e a eea T RAN 94 Datumto Grid EE 96 Projection TYPOS ee Oaa aAa tect See EE dees dr 98 Elevation Modeling ecccccccecseccccceeeeeecceceeeneeeeeeeessneaeeeeesseeceeeeeenneaeeeeeeniaes 100 Chapter 8 Command Response Formats rnnnnnnnnnnvvvnnnnnnnnn 103 Receiver Gommandsu augusti eee aa ide 105 Set Gommands EE 105 Query Commands ua EE 105 ALH Almanac Messages Received rrvnnnannnvvnnnnnnnvvvrnnvnrnnvnrnnnrnrnnnnnenrrrnnnnnn 110 ALT Set Ellipsoid Heights irei inania cots techesevtsteedea tune bavian 111 ANA Post Survey Antenna Heabt 111 ANH Set Antenna Heioht A 111 ANR Set Antenna Reduction Mode 112 ANT Set Antenna Offsets AA 113 BEEP Beeper Gei up 114 CLM Clear Reformat PCMCIA Card 115 CSN Satellite Signal to Noise Ratio rnnnnnnnnnnrrnnnnnrvnrnnrnnnnnnnnnnnrrennnnrnnnennne 116 CTS Port Protocol Setting maannvnnnnnrrnannvnnnnnr renn nvnnnrnvonannrnnnnnnennnnnrnsnnnnenen 117 DOI Data Output Interval uassrnnaannrnnrnrrrnnonnvnnrnnrrnnnnnrnennrrvnnnnrenrrrrnessnnnerenn 117 DRI Data Recording Internal 118 DSC Store Event Gring 118 DSY Daisy Chain sive ii okie oe h iia il Qe ee i 118 ELM Recording Elevation Mask A 119 EPG Epoch Gouinte tis cnn uric eege EEN 120 PIL GP GlOS6 Ee 120 FIL De Delete
259. nt Number of epochs available DESEN int Number of epochs used in solution int Number of satellites used for solution int Reference SV PRN number int PRNs of used satellites long L1 ambiguity 0 01 cycles int Number of epochs for each satellite float Standard deviation of L1 ambiguity cycles long L2 ambiguity 0 01 cycles float Standard deviation of L2 ambiguity cycles float Standard deviation of vector x meters component float Standard deviation of vector y meters component float Standard deviation of vector Z meters component float Cross correlation XY meters float Cross correlation XZ meters float Cross correlation YZ meters double Baseline component delta X meters double Baseline component delta Y meters double Baseline component delta Z meters float Lowest contrast ratio for fixing ambiguities int Number of fixed ambiguities float RMS residual meters float chi squared Commands 295 SPUBUIWO0J Table 8 162 OBEN Message Structure Binary Format continued Type Description Units Time Tag int Week number of static site occupation beginning int Week number of last epoch long Week millisecond of static site millisecond occupation beginning s long Week millisecond of last epoch millisecond s checksum Total Bytes 446 OUT Solution Output PASHS CPD OUT d1 This command selects which position solution to output to the serial port and or the data card
260. nteger Clock Bias 2 n a 0 3 Indicates that the reference receiver clock offset is valid or Validity invalid O invalid 3 valid Clock 12 500 ns 0 5 The clock offset is given in the range 0 5 to 0 5 Offset ms milliseconds Receivers that drive their clock onto GPS time should set the clock offset parameter to zero Total 48 Table 8 70 CMR Type 0 Message Observables Block Parameter Bits Units Range Description SV PRN 5 n a 0 31 Satellite PRN identifier P code CA 1 n a 0 1 Indicates the type of code data being tracked on the L1 or code flag L2 band 0 CA code 1 P code L1 phase 1 n a 0 1 Indicates the validity of the phase data Only use phase data valid when the validity flag is set 0 Invalid 1 Valid Extended 1 n a 0 1 L2 data follows the L1 data if this flag is set L2 data 0 L1 only 1 L1 amp L2 follows CA code 24 1 8 L1 0 221 The L1 pseudorange is transmitted modulo 1 light pseudo cycles L1 millisecond 299792 458m in units of 1 8 L1 cycles range cycles Carrier 20 1 256 219 The carrier phase data is referenced against the code Code L1 1 256 measurement field The carrier phase is quantised in 1 cycles L4 256 L1 cycles and broadcast in the range 219 cycles 180 ZXW Receivers Operation and Reference Manual Table 8 70 CMR Type 0 Message Observables Block continued Parameter Bits Units Range Description SNR 4 least 0 15 The Signal to Noise Ratio value is given i
261. ntral meridian T2 Degree minute portion of rectifying latitude wo for o latitude of origin T3 Remainder of mo TA Scale along central meridian T5 1 6 Rm Nm T5 2 10415 T6 Rm radius of curvature in meridian plane Nm radius of curvature in prime vertical Both calculated for the mean latitude of the area in the zone Table 8 180 UDG Structure for Transverse Mercator SPC27 Alaska Zone 2 9 Parameter Description Range Name si Map projection type TMA7 d2 Number of parameters for selected projection 2 f3 False easting or x coordinate of central meridian C f4 Longitude of central meridian CM PASHS UDG LC83 6 360000 0 371500 0 1190000 0 352000 0 2000000 500000 lt Enter gt Example Set datum to grid transformation parameters Example Set datum to grid transformation for Lambert Conformal CA zone 4 PASHS UDG LC83 637 8240 297 323 121 4 18 9 0 0 0 1 5 lt Enter gt Commands 311 SPUBUIWO0J PASHQ UDG c The associated query command where c is the optional output port and is not required to direct the response message to the current communication port Example Query datum to grid transformation parameters to port C PASHQ UDG C lt Enter gt PASHR UDG The response is in the format PASHR UDGs1 d2 f3 f4 f5 f6 f7 f8 f9 f10 f11 f12 f13 cc lt Enter gt where the fields and the number of them are defined in the above tables and depend upon the selected map pro
262. of north data 500 m s 20 direction float Vel_U sign 0 001 m s 1 Velocity of upper data 500 m s 19 direction float Sigma VE 0 16 0 m s 0 001 m s 14 Standard deviation of east velocity float Sigma VN 0 16 0 m s 0 001 m s 14 Standard deviation of north velocity float Sigma VU 0 16 0 m s 0 001 m s 14 Standard deviation of upper velocity 8 To make modular of 16 Total bytes for the second part 14 short lt checksum n a n a 16 Checksum sum of all short in the data The solution type flag has the structure defined in Table 8 66 Table 8 66 Solution Type Flag Structure Binary Format Symbol and Bits Values Meaning A bits 1 and 2 most significant bits OOXXXXXXX No solution is available O1 XXXXXXX 2D solution 1 OXXXXXXX 3D solution 11XXXXXXX Reserved Commands 175 spuewwog 176 Table 8 66 Solution Type Flag Structure Binary Format continued Symbol and Bits Values Meaning B bits 3 and 4 XXOOXXXX 0 Autonomous solution XXO 1 NNN 1 RTCM solution XX 1 OXXXX 2 CPD solution XX 11 XXXX 3 Reserved C bit 5 XXXXOXXX 0 Float solution XXXX1 XXX 1 Fixed solution D bit 6 XXXXXOXX 0 Updated solution with measurement update XXXXX 1 XX 1 Projected solution with time update E bit 7 XXXXXXOX 0 Normal CPD solution XXXXXX 1X 1 RVP CPD solution F bit 8 least significant bit XXXXXXXO 0 Usual CPD solut
263. of which method is used you will need to enable the individual sessions and set session parameters such as the desired start stop time the recording interval elevation mask minimum number of satellites and the data type for each session to be recorded In addition you will need to set the mode session in use switch the session reference day and any desired session offset The mode is either Yes No or Sleep If the mode is NO then session programming is not enabled even if individual session are set If the mode is Yes then session programming is enabled and any enabled individual sessions will be activated If the mode is Sleep then the receiver will go into sleep mode once an activated session is completed and will wake up just prior to the next session The session reference day is a mandatory parameter that both determines the start day of session programming data collection and is used in conjunction with the Offset to determine the session start and end times The reference day must be set to equal to or earlier than the current day or else the sessions will not run If the reference day is later than the current day then the session start and end times will decrement by the Offset multiplied by the numbers of days between the current day and the reference day For example suppose you wish to collect data every day for 7 days observing the identical satellite window on each day Since the GPS window moves backwards 4 minutes pe
264. omputed and RRE outputs zeroes in the residual and position error fields If 3 or less SVs are used then no RRE message is output Example Enable RRE message on port A PASHS NME RRE A ON lt Enter gt Commands 249 SPUBUIWO0J PASHQ RRE c Query range residual message where c is the optional output serial port The message is not output unless position is being computed Example Send RRE message to Port A PASHQ RRE A lt Enter gt GPRRE The response message is in the form GPRRE d1 n d2 f3 f4 f5 cc lt Enter gt where n number of satellites used to compute a position Table 8 128 RRE Message Structure Parameter Description Range Units di Number of satellites used to compute position 3 12 n a d2 Satellite number PRN Number 1 32 n a f3 Range residual 999 9 meter H RMS Horizontal position error 0 9999 9 meter f5 RMS Vertical position error 0 9999 9 meter cc Checksum Example Query PASHQ RRE lt Enter gt Typical RRE response message GPRRE 04 23 8 4 28 9 2 11 2 2 17 3 2 34 4 49 7 0A lt Enter gt 250 ZXW Receivers Operation and Reference Manual Table 8 129 describes a typical RRE response message Table 8 129 Typical RRE Message Item Significance Number of SVs used to compute a position PRN number of the first SV Range residual for the first SV PRN number of the second SV Range residual for the second SV
265. on The receiver must have the Remote Monitor M option enabled Use the REMOTE exe software to perform remote monitoring 40 ZXW Receivers Operation and Reference Manual Event Marker When the Event Marker E option is installed the receiver can measure and record event times with high accuracy In order to store an event time in the receiver s memory a trigger signal must be applied to the appropriate connector located on the rear panel of the receiver refer to your individual receiver manual for pinout information The event marker feature allows the event time to be stored in memory and downloaded using the DOWNLOAD program as an M file or output by using the PASHS NME TTT command At the rising or falling edge selectable of the trigger signal the time is recorded in the receiver s PC card The trigger signal can be set to the falling edge using the PASHS PHE command The measured time is accurate down to 1 microsecond This is GPS time UTC 13 seconds as of 1 January 1999 and is recorded as the time since the start of the GPS week 00 00 a m Sunday The output includes day number hours minutes seconds and fractional seconds up to seven digits With each event time the receiver also records the site name One example of the record is TEXA 4 21 30 19 4309643 uoneiado The event time is measured relative to the receiver s GPS time It measures only the first event during the period between 2 GPS epochs 1m
266. on Base Station Data Both differential remote stations and RTK stations automatically extract the messages needed from the data coming in to the designated serial port So you can set up a combined Differential RTK base station see Setting up a Combined Differential and RTK Base Station on page 61 and operate DGKPS remote receivers and RTK remote receivers You can also send RTCM messages from one serial port while sending Magellan DBN messages from another port You cannot send RTCM and DBN from the same port g bi bd 3 2 D 3 Q D A Any combination of RTCM messages can be sent out of the serial port designated by PASHS RTC BAS c One radio can then be used to support both RTK and differential operation as illustrated in Figure 5 1 Differential and RTK Operations 71 Centimeter Accuracy Uses 3 22 amp 18 19 or 20 21 Ignores 1 RTCM Messages 1 3 22 amp 18 19 or 20 21 1 Z RTK Remote Sub meter Accuracy Radio Antenna ors Uses 1 v pi Ignores 18 19 20 21 3 22 Rado DG14 DG14 DGPS Remote Z BASE 9780 Figure 5 1 Combined Differential RTK Base Station and Remote Operation Magellan remote receivers both Differential and RTK operate with any base station that generates the industry standard RTCM messages Base Data Latency Both Differential and RTK operation are better the lower the latency of the Base Remote data link To minimize latency set the ba
267. on Verify the receiver is in rover mode using PASHQ CPD and PASHQ RTC PASHQ CPD DLK has no information Verify that the receiver is in CPD base mode or in CPD rover mode Verify that the antenna connection is connected to the GPS antenna The GPS antenna must be mounted outdoors with a clear view of the sky Nearby buildings and vegetation can block the GPS signals or introduce multipath by reflecting the GPS signals Verify the receiver is computing autonomous position properly In the base receiver Verify the entered base station coordinates as well as described in next trouble shooting In the rover receiver verify the data link between the base and rover remote In case of hardwired data link between receivers from different vendors check the hardware handshaking in the RS 232 connection Base beeps Kal 4 Fa el a D The entered coordinates differ from the computed coordinates by more than 500 meters Verify the receiver is computing autonomous position properly Verify and re enter the coordinates or enter the raw position as the base coordinates as described in Base Position Coordinates Selection PASHS CPD UBS on page 90 No CPD solution Verify that there are at least four common satellites between the base and the rover using PASHQ CPD INF command Verify that base station coordinates have been received in the rover side using PASHQ CPD POS command If the coordinates are not being receiv
268. oop parameters based on the application The receiver uses default values until another setting is selected The user settings are saved in battery backed memory if the PASHS SAV Y command is issued afterwards and are used until a new setting is selected or the memory is cleared The default is 1 2 3 Table 8 20 LPS Message Structure Parameter Description Range d1 3rd order loop ratio 00 10 0 2nd order only 1 ratio of 0 1 low acceleration 10 ratio of 1 high acceleration d2 Carrier loop parameter related to 1 m0 10 Hz static the noise bandwidth of the loop 2 m0 25 Hz low dynamics 3 m0 50 Hz high dynamics d3 Code loop parameter related to 1 0 0 05 Hz the noise bandwidth of the loop 2 0 0 1 Hz 3 0 0 2 Hz Example Change loop parameters to ratio 0 2 and carrier bandwidth 10 Hz PASHS LPS 2 1 3 lt Enter gt PASHQ LPS c Query tracking loop setting where c is the optional output port and is not required to direct the response to the current port PASHR LPS The response is in the form PASHR LPS d1 d2 d3 cc lt Enter gt where d1 d3 are as described in Table 8 20 130 ZXW Receivers Operation and Reference Manual LTZ Set Local Time Zone PASHS LTZ d1 d2 Set local time zone value where d1 is the number of hours that should be added to the local time to match GMT time and d2 is the number of minutes minutes have the same sign as d1 The d1 va
269. or projected onto a plane grid coordinates The ZXW Receivers provide the following on board tools to transform WGS84 coordinates into various formats and reference frames 1 Datum to Datum Transformation Using this feature WGS84 coordinates can be transformed into coordinates based on another datum 2 Datum to Grid Conversion With this tool a grid system can be defined to convert geodetic coordinates into grid coordinates 3 Elevation Modeling Using an on board geoid model ellipsoidal heights can be transformed into orthometric heights using this capability Coordinate Transformation 93 Table 7 1 provides an overview of user coordinate transformation functions for your receiver Table 7 1 User Coordinate Transformation Functionalities Transformation Description Datum to Datum 3D 7 parameter datum transformation between two Cartesian XYZ systems associated with the WGS84 datum and local datum defined by the user Datum to Grid Data projected from a geodetic system associated with WGS 84 or a user defined datum and a specified grid system Map Projections Supported e Mercator EMER Transverse Mercator TM83 Oblique Mercator OM83 Sterographic Polar and Oblique STER Lambert Conformal Conic 2 standard parallels LC83 Special Map Projections Specific to NAD27 Transverse Mercator 27 TM27 and TMA7 Oblique Mercator 27 OM83 Lambert Conformal Conic 27 LC27 Ele
270. orrection term radians double 8 OMEGA O Lon of asc node semi circles double 8 o Argument of perigee semi circles ZXW Receivers Operation and Reference Manual Table 8 88 SNV Message Structure continued Type Size Contents double 8 10 Inclination angle at reference time semi circles float 4 OMEGADOT Rate of right Asc semi circles per sec float 4 IDOT Rate of inclination semi circles per sec short 2 Accuracy short 2 Health short 2 Curve fit interval coded char 1 SV PRN number 1 char 1 Reserved byte unsigned short 2 Word checksum Total 132 bytes spuewwoy Commands 201 NMEA Message Commands The NMEA message commands control all query and set commands related to NMEA format messages and miscellaneous messages in an NMEA style format All standard NMEA message are a string of ASCII characters delimited by commas All messages are in compliance with NMEA 0183 Standards version 3 0 although they can also be output in both version 2 3 or in the format they historically have been in Magellan receivers The version can be set using the PASHS NME TAG command All non standard NMEA messages are a string of ASCII characters delimited by commas in the Magellan proprietary format Any combination of these messages can be output through different ports at the same time In addition you can set the output rate and the serial port independently for each
271. osition M de i e uypi uvedan cexeeante kassene date are eden b de 142 POS Set Antenna Position kA 143 POW Battery Parameters murnrrnnnnnvnnnnrrrnnnnnvnnnnnrnnnnnnnnnnnrnnnnnnrenrrrrnensnnnnrenn 144 PPO Point POSIIOMING ME 145 PPS Pulse Per Second 145 PRT Port Setinggi any ea ana knekken 146 PWR Sleep Mode rrnnnrnnnannvnnnnnrnnnnnnennnnvnnnannvnnnnnrnnnnnnensnnrnnsannnnennrrnssnnnnennnn 147 REI Recording lt 148 REC Data Recording ceccceceeeeceeeeeeeaeeeeeeeeeeeaeeeeeeeeesaeeedeneeeseaeeseiaeeens 148 RIDE Receiver ID u r ndash ein sane ate ee boas eis an 149 ANG Data RK EEN 150 RST Reset Receiver to detauht AAA 150 RTR Real Time Emor aaia E ARDA 151 SAV Save User Parameters ccccccssceceeceeseeeeeeeneeeeaeeseeneeseeeeeeeeeeeneaees 151 SEM Secondary Elevation Mask 152 SES Session Programming ek 152 SID Serial Number 156 SIT Set Site Namet aer e alec ete aan eet alee 156 SPD Serial Port Baud Rate 0 c cccccceeeeeseeeeecneeeeeeeeeseeeeeeaaeesesaeeeenaaeeesaees 156 STA Satellit Status ais reoaine inar anaa aa NSL ee destined 157 SVS Satellite Selection 0 2 cceeeeeeceeeeeeeeeeeeeeeeeeeaeeeeeeeeesaaeeeeeaeeseeaeeeeeeeeeeaees 158 TET Tiltmeter Set Up t riii aai Ae eeschte de 159 TLT CMD Tiltmeter Trigger Ging 159 TLT INIT Tiltmeter InitialiZation cc cccccccccesecesaseeeeseseseeseeeeeeeeeseseseeeees 160 TLT INTVL Tiltmeter Internal 160 XII TMP Receiver Inte
272. ote station receiving corrections on serial port c PASHS SPD c d Set the baud rate of serial port c to the same as the radio providing the corrections PASHS SAV Y Save settings You have now set up the remote station Turn on the GGA GLL POS or PBN message to obtain position Setting Up an RTK Remote Station The receiver can operate in RTK remote mode using any one of the following three modes e RICH Standard 18 19 3 and 22 e RICH Standard 20 21 3 and 22 e Magellan Standard DBN Using RTCM Messages Operating an RTK remote using RTCM messages is almost identical to operating a Differential remote receiver The main differences are Differential and RTK Operations 69 Ey bi bi 3 2 D 3 Q Kal 4 A 1 The data from the base station is RTCM Types 18 amp 19 or 20 amp 21 and 3 amp 22 instead of 1 or 9 2 The accuracy is approximately 100 times better You must have both the Differential remote option U and the Phase differential option J installed in your receiver You must have a source of RTK data usually a radio receiving a transmission from an RTK base station Connect this radio to one of the receiver s serial ports Send the following commands to the receiver The receiver accepts RTCM RTK data in message types 18 carrier phase data and 19 Code phase data 20 carrier phase corrections and 21 code phase corrections 3 and 22 base station position Ta
273. ou should wait until the ambiguities are fixed again before expecting centimeter accuracy Base Position Coordinates Selection PASHS CPD UBS If the transmitted base position were entered incorrectly at the base you may change this field at the rover to USE ENTERED BASE POS with PASHS CPD UBS and then enter the correct base coordinates via PASHS CPD POS command The CPD data link status on response of PASHQ CPD or PASHR CPD DLK message will display the RCVD CORD age as 999 SEC when the entered page position is used If you are using the transmitted coordinates which is the recommended method you can verify the transmitted position by sending PASHQ CPD POS command Base Station Elevation Mask PASHS ELM In the base station set the elevation mask angle to 5 degrees to ensure the maximum coverage In the rover you can set a different elevation mask angle for position computation using PASHS PEM command 90 ZXW Receivers Operation and Reference Manual Universal RTCM Base Station With the addition of RTCM type 18 amp 19 or 20 amp 21 message a single receiver RTCM base station can e Generate type 1 or type 2 message for code differential operation for receivers with RTCM differential options such as DG14 DG16 A12 G 12 GG24 receiver etc e Generate type 18 amp 19 or 20 amp 21 message for CPD RTK operation in receiver This makes the receiver a universal RTCM reference station All types of messages
274. ours Table 8 38 PPO Parameter Table Parameter Description Range c Enable disable point position mode Y N Example Enable point positioning PASHS PPO Y PPS Pulse Per Second PASHS PPS d1 f2 c3 The receiver generates PPS pulse with programmable period and offset with respect to GPS time The PPS set command allows the user to change the period and the offset of the pulse and to either synchronize the rising edge of the pulse with GPS time or synchronize the falling edge of the pulse with GPS time PPS is generated by default once every second with its rising edge synchronized to GPS time and no offset Table 8 39 PPS Message Structure Parameter Description Range Units d1 period 0 60 Second f2 offset 999 9999 Milliseconds c3 rising edge or falling R F n a edge The period set to 0 will disable the PPS output Between 0 and 1 the period can be set in increments ZS of 0 1 Between 1 and 60 the period can be set in increments of 1 SPUBUIWO0J Commands 145 Example Set PPS to a period of 2 seconds a offset of 500ms and synchronize the rising edge of the pulse with GPS time PASHS PPS 2 500 R lt Enter gt PASHQ PPS c Query PPS parameter where c is the output port Note that c is not required to direct the response message to the current communication port Example Query PPS parameters to port A PASHQ PPS A lt Enter gt PASHR PPS The response is
275. port C PASHS NME RMC C ON lt Enter gt PASHQ RMC c Query recommended minumum GPS transit message where c is the optional output port GPRMC The return message is in the form GPRMC m1 c2 m3 c4 m5 c6 f7 f8 d9 f10 c11 cc lt Enter gt Table 3 6 defines the response message structure Table 8 126 RMC Message Structure Parameter Description Range m1 UTC time of the position fix hhmmss ss 000000 00 235959 90 c2 Status A data valid V navigation receiver warning m3 Latitude ddmm mmmmmm 0000 000000 8959 999999 c4 Latitude direction N North S South m5 Longitude dddmm mmmmmm 00000 000000 17959 999999 c6 Longitude direction E East W West Commands 247 spuewwog Table 8 126 RMC Message Structure continued Parameter Description Range f7 Speed over ground knots 000 0 999 9 f8 Course over ground degrees true 000 0 359 9 d9 Date ddmmyy 010100 311299 f10 Magnetic variation degrees 0 0 99 9 c11 Direction of variation E East Easterly variation E subtracts from true course W West Westerly variation W adds to true course cc Hexadecimal checksum If the PASHS NME TAG command is set to V23 or V30 an additional field is added to the GPRMC message at the end of the message before the checksum This field is the Mode Indicator and is defined as follows A Autonomous Mode D Differential Mode E Estimated dead
276. ption the range and default and an example of how it is used are presented for each command The syntax includes the number and type of parameters that are used or required by the command these parameters may be characters or numbers depending upon the particular command The parameter type is indicated by the symbol that is a part of the syntax Table 8 1 describes parameter symbology Table 8 1 Command Parameter Symbols Symbol Parameter Type Example d Numeric integer no decimal 3 f Numeric real with decimal 2 45 c 1 character ASCII N s Character string OFF m Mixed parameter integer and real for lat lon or time 3729 12345 h Hexadecimal digit FD2C cc Hexadecimal checksum which is always preceded by a AR lt Enter gt Combination of lt CR gt lt LF gt carriage return line feed in that order For example for the receiver command PASHS RCI f lt Enter gt the parameter f indicates that the RCI command accepts a single parameter that is a real number such as 0 5 or 10 0 If a character is entered instead the command will be rejected Generally speaking the parameter must be in the specified format to be accepted However most parameters that are real numbers f will also accept an integer For example in the case of the RCI command the receiver accepts both 10 and 10 0 104 ZXW Receivers Operation and Reference Manual Receiver Commands Receiver commands change or display var
277. ption is command PASHS RTC AUT N Y which will be used to set the auto differential mode in both RTCM and CPD operation If the set command is sent correctly the receiver will respond with the PASHR ACK acknowledgment If a parameter is out of range or the syntax is incorrect then the receiver will respond with a PASHR NAK to indicate that the command was not accepted To use RTCM type 18 19 or 20 21 PASHS RTC commands are also used See RTCM Response Message Commands on page 264 Query Commands The query commands are used to monitor the setting of individual parameters and the status of CPD operations The general format of the query command is PASHQ CPD s c lt Enter gt 276 ZXW Receivers Operation and Reference Manual where s is the 3 character command identifier and c is the port to which the response message will be output The port field is optional If the query is sent with the port field left empty then the response will be sent to the current port If the port field contains a valid port A D then the response will be output to that port For example the query PASHQ CPD lt Enter gt will output a CPD status message to the current port The query PASHQ CPD C lt Enter gt will output a CPD status message to port C SPUBUIWO0J Commands 277 To use RTCM type 18 19 or 20 21 PASHS RTC commands are also used See RTCM Response Message Commands on page 264 Table 8 148 CPD Commands
278. r Lambert Conic Conformal for SPC27 Description Range Name Map projection type LC27 Number of parameters for selected projection 11 False easting or x coordinate of central meridian Li Longitude of central meridian L2 Map radius of central parallel Po L3 Map radius of lowest parallel of projection table plus y value on central meridian L4 at this parallel y 0 in most cases Scale m of projection along central parallel Po L5 Sine of latitude of central parallel bo computed from basic equations for L6 Lambert projection with 2 standard parallel Degree minute portion of the rectifying latitude wo for o latitude of origin L7 Remainder of wo L8 1 6 Ro No 1046 L9 tano 24 Ro No 43 2 10124 L10 5 3 tan 2 amp 0 120 Ro NO 3 10132 L11 Number of parameters for selected projection 11 f9 w F 1052 893882 4 483344 0 002352 cos 2F cos 2 F sin F cos F f11 f12 f13 Ro a 1 e 2 1 e 2 sin 2 Fo 3 2 radius of curvature in meridian plane at Fo 310 ZXW Receivers Operation and Reference Manual No a 1 612 sin 2 Fo 1 2 radius of curvature in prime vertical at Fo Table 8 179 UDG Structure for Transverse Mercator for SPC27 Range Name in Description Table Map projection type TM27 Number of parameters for selected projection 6 False Easting or x coordinate of central meridian T1 Longitude of Ce
279. r day you would set the Offset to 0400 and set the reference day equal to the current day For each subsequent day of data collection all sessions will start and end 4 minutes earlier than the previous day By the seventh day the sessions will start and end 28 minutes earlier than on day 1 If a file name with the same name and session ID as the current session programming session ID exists new data will be appended to the end of this file 38 ZXW Receivers Operation and Reference Manual Position Mode The receiver performs a position fix computation in four modes The PASHS PMD command is used to select the mode Table 4 3 describes these four modes Table 4 3 Position Modes Mode Description 0 At least four satellites with elevation equal to or above elevation mask are needed to compute a position All three polar coordinates are computed in this mode 1 At least three satellites with elevation equal to or above position elevation mask are needed to compute a position Only latitude and longitude are computed if three satellites are locked and altitude is held If more than three satellites are locked this mode is similar to mode 0 2 At least three satellites with elevation equal to or above position elevation mask are needed to compute a position Only latitude and longitude are computed and altitude is always held regardless of number of satellites uoneiado 3 At least three satellites with elevation eq
280. r temperature and output response to port A PASHQ TMP A lt Enter gt PASHR TMP The response message is in the form shown below and described in Table 8 56 PASHR TMP f1 f2 cc lt Enter gt Table 8 56 TMP Message Structure Return Description Parameter fi Receiver internal temperature in degrees Celsius f2 Default receiver shut off temperature in degrees Celsius cc checksum Example PASHR TMP 046 50 082 00 1B lt Enter gt TST Output RTK Latency PASHS TST d Enable Disable the output of the RTK fast CPD latency as decimal part of the age of correction in the GGA message There is no query to check this setting since it is visible in the GGA message age of correction is an integer number when disabled listed in Table 8 57 as This setting will revert to default at power on unless saved in battery backed memory through the PASHS SAV Y command issued after setting the desired mode Table 8 57 TST Message Structure Parameter Description d 220 enable RTK latency output 221 disable RTK latency output default Commands 161 spuewwog Example Enable Fast CPD latency output PASHS TST 220 lt Enter gt UNH Unhealthy Satellites PASHS UNH c Include unhealthy satellitess for position computation where c is Y yes or N no default Example Include unhealthy satellitess in position computation PASHS UNH Y lt Enter gt USE Use Satellite
281. re maintained until a memory reset or a receiver initialization is performed which will reset all parameters back to their default Only the parameters modified prior to issuing the SAV command are saved in memory Any parameter modified after SAV is issued reverts to default after power cycle Operation 45 uoneiado The following table lists the default values of all user parameters Table 4 4 Default Values Parameter Description Default Page SVS Satellite Tracking Selection Y for all 151 PMD Position Mode selection 0 142 FIX Altitude Hold Fix Mode selection 0 121 PEM Position Elevation Mask 10 140 ZEN PEM Zenith position elevation mask 90 140 FUM Use of UTM coordinates N 304 FZN UTM Zone selection 01 305 PDP Position Dilution of Precision mask 40 140 HPD Horizontal Dilution of Precision mask 04 124 VDP Vertical Dilution of Precision mask 04 162 UNH Use of Unhealthy satellite s N 162 ION Enable lonosphere model N 128 PPO Enable Point Positioning mode N 145 SAV Save parameters in battery backup N 151 memory ANR Antenna noise reduction CPD 112 LAT Antenna latitude DON 142 LON Antenna longitude OOW 143 ALT Antenna altitude 00000 000 PO DTM Datum selection W84 303 UDD Datum user defined parameters Semi major Axis 6378137 000 307 Inverse flattening 298 257224 Remaining parameters 0 HGT Height model selection ELG 306 GRD Datum to gr
282. reckoning Mode S Simulator Mode N Data not valid The Status field parameter c2 of the GPRMC message will be set to V navigation receiver warning for all values of the Mode Indicator except A autonomous and D differential The Mode Indicator field will not be a null field Typical RMC response GPRMC 213357 20 A 3722 410857 N 12159 773686 W 000 3 102 4 290498 15 4 W 43 lt Enter gt Table 8 127 describes a typical RMC response message 248 ZXW Receivers Operation and Reference Manual Table 8 127 Typical RMC Response Parameter Description 213357 20 UTC time of the position fix hhmmss ss A Valid position 3722 410857 Latitude ddmm mmmmmm N North latitude 12159 773686 Longitude dddmm mmmmmm Ww West longitude 000 3 Speed over ground knots 102 4 Course over ground degrees True 290498 Date 29 April 1998 15 4 Magnetic variation degrees WwW Westerly variation W adds to True course 43 Hexadecimal checksum RRE Residual Error PASHS NME RRE c s f This command enables disables the satellite residual and position error message to port c where c is A B C or D s is ON or OFF and f is the optional output rate parameter in seconds If the output rate is not set the command is output at the rate set by the PASHS NME PER command This message is not output unless a position is computed If only 4 SVs are used in the position solution residuals are not c
283. rement Quality Good Bad Flag rrrrrrrnrrrnnnnnrnnrrrrrnnnnnnnennr 192 Table 8 83 PBN Message Structure ASCII Format ernrrrnnnnnvnnorrrnnnnnrnnrnnr 194 Table 8 84 PBN Message Structure Binary Format rrrrrnnnnnvnnrnrrnnnnnnnnrnnr 195 Table 8 85 RAW Message Structure rrrrrrnnannvvnnrrrrnnnnnnnnrrrrennnnnnererrrernnnnnnennne 196 Table 8 86 RWO Message Structure 198 Table 8 87 ALM Message Structure mrrnarnrnnrrrrrrnnnrnnrrrrrnnnrnnnrnrenernrnnnnnnnneenn 199 Table 8 88 SNV Message Structure 200 Table 8 89 NMEA Data Message Commands rrrnnnnvnnnnrrvnnnnrnnnnnvennrnrrenrnnnnernn 205 XIX Table 8 90 ALM Response Message mmmrrnnrrrnnnnnnnnrrnnnnnnnnrrnnnnernnrrnnnnennnrrnnnennn 207 Table 8 91 Typical ALM Response Message cceceeeecceeeeeeeeeeeeeeeeeeeneeeees 208 Table 8 92 CRT Message Structure 0 cceccceeceeeeeeeeeeeeeeeeesaeeseeeeeeseaeeeseneeess 209 Table 8 93 DAL Message Structure mmmrrmvrrrrvrmrrmererrerrrrerrrrrererrrretennr 212 Table 8 94 Typical DAL Message cccccceeeeeeeeeeeeeeeneeeeceeeeeeeeeseeeeenaeaaeeaeeees 213 Table 8 95 DCR Message Structure rrrrrrrrrnnnnnvnnrnrrrvnnnnvnnrnrrnnnnnrnnrrnrenennrnntennn 214 Table 8 96 DPO Message Structure rrrrrrrrnnnnnvnnrnnvrnnnnnvnnrrrrennnnnnnnerrreennnnetennn 216 Table 8 97 GDC Message Structure ccccccceeeceeceeeeeeeeeeeseneeeeseneeseeeeeeeeeeeee 217 Table 8 98 Typical GDC Response Message
284. rn narrer nen nnnnnnnrnnnenrnnnrnnrnnnennnnennnn 276 EDERT STUS arire E E EE RAEES AIEEE AR 279 AFP AMDIQUITY FIXING BEE 282 XIV ANT Antenna Parameters rrmnrnnnnnrvnnnnnrannnnnnnnnvvnnnnerrnnnnnnnnenvvnnnevrnnnnevnnnevenn 283 CMR CMR Received Mode 284 DLK Data Link ok UEA TE AA A 284 DYN Rover RE 287 ENT Use Current Position 288 EOT End of Transmission r rarannnrnnnnrnnnnnnvnnnenrererernrvrnunnnnnnnnnsnsnssrssvevevevener 288 FST Fast CPD Mode EEE AE EEA 289 INF e 7 gl utel tee 289 MAX Max Age for CPD Correction mursvnnanvrvnnnnrnnnrnvvnnnnrrnnenrenerrrrnernnnennn 291 MOD CPO Modena NEEN SEENEN dude bek ai 291 MTP dru EE 292 OBN Vector Solution Information cccccccccccececeeeeeceeeseeeeaeaeeeuaeeeeseeeeees 293 OUT Solution Output 296 PEB Base Broadcast Interval rrrrnnnnnnnnnnnornrrnnnnnnnnevnrrnnnnnsvnrnnrnnnsnevnennnen 297 PED DBEN CMR Transmission Period c c0eceseeeeceeeeeeeeeeeeeeeeeeeanaes 297 PER CPD Update Interval arisen aaae aaaea 298 POS SetB se POSION an i e a dadd EES 298 PRO Select RTK Formats r Tea ar ae a eenaa aaaea REENEN ara iaaii 299 PRT Port Output Geittng 300 Een E E CRD WEE 300 STS CPD Solution Gtatus aiaa atia aaa ea aa niaaa 300 UBP Use Base Position oein NENNEN EA ENEE a a a Andes 301 UCT GOMMand EN 302 DTM Datum Selection E 303 FUM Fix UTM ZONe e a aaa a a aAa AE A 304 FZN S6tUIM Zone tO Fix a a E aiea aa vink 305 GRD Datum to
285. rnal Temperature uorrnnrrnnnnnrnnrnnnnnnonnrrnnnnnnnnrnnnnrnrnnnnnn 161 Ts T Output ATK Latency EE 161 UNH Unhealthy Satellites 2 0 2 2 eeceeeceeeeeceeceeneeeeeeeeeseeeeesaaaeseeeeeessaaeeneneees 162 USE Use Satelliten euni gCerode eee serende elie 162 VDP VD P MaS Kozini eani naiiai gaano E ESA ee ege 162 WAK Warning Ackrnowiecdoment 162 WARN Warning Messages 163 WKN GPS Week Number 167 Raw Data Commande sssesesseeeeresrrrsstrtstrttttenttintstisstnnasstnnstnnsrn unnn nunun nnt 168 erun e 168 Query Commande vnr nrnrnnnrn narrer tkana ntn nnne noten nnrnnnrnnnenn nesen 169 GBN GBEN Message EE 172 CMR CMR Message 177 Compact Measurement Record Packet enn 179 Observables Message Type 0 rrrrnnannvnnnenrrvnnnnrnnnrnvnnnnnrnnnennrnnrrrrnensnnenrenn 179 RE 181 PBN DBEN Message rriaro E TEET AAR 182 EPB Raw Eplemerte eebe a aE S thins tee 186 MBN MBN Message reo akian aee EE AE ERATES EASO AERAN 188 OUT Enable Disable Raw Data Output 192 PBN Postion Data EE 193 RAW Query Raw Data Parameter 195 RWO Raw Data Output Settings rrernnrrnnnnvvnnnnrrrnnnnrnnnnnrnnnnnrennrrrrennnnnnnnn 197 SAL ene EE 198 SNV Ephemeris Data 199 NMEA Message Commands rannrrnnnnnvvnnnnrrnnnnnrnnrrrrnnnnnnnnrnrnrnnnnnnnernrrresnnnnnernnn 202 Set Gommands ege seis eased vag ee ee E 202 Query Gommands vunne a a anaa ae aTa eara aa AEA aAA 203 ALL Disable All NMEA Messages mrrnnnrrnnnnnnnrrrnnnnrnnrrrnnrrnn
286. rressnnrnntennn 128 Table 8 19 ION Message Structure ccecececeeceeceeeeeeeeeeesaeeeeeeeeeseeeeeeeeeees 129 Table 8 20 LPS Message Structure rrrrrrnrrnnnnnvnnrnrrnnnnnnvnnrnrrennnnrnnrrrrenennrnntennn 130 Table 8 21 MDM Setting Parameters and Descriptions 131 Table 8 22 Baud Rate Codes rrrnnnnnvnnrnrrvnnnnvnnnrnvennnnrnnnnnnrenrrrrnnsnnnnnrrrrenennnnnnnn 132 Table 8 23 MDM Message Structure rrrnr rann nvnnrnnrrnnnnnnnnrrrrennnnnnnrrrrretnnrnntennn 133 Table 8 24 MET CMD Message Structure rrrrrrnvrvrrnrrrrnrvrnnrrrnnrrrrnrrrrsrrnnnrennn 134 Table 8 25 MET INIT Message Structure c cccccceesccecessesseeeeseeeeeeeesseaaees 135 Table 8 26 MET INTVL Message Structure rrrrrrrrrrrnrrrrnrvrrnrrrrnrrrrnnrrrrrrnnnnren 135 Table 8 27 MST Parameter mses tondur anaana a aaee DEE EE Eege Ai 136 Table 8 28 OUT MET Message Structure cccccccccesscecesseeceeeeeseeeeeeeeesseeaaees 136 Table 8 29 OUT TLT Message Structure mrmrrrrnnvvrrrrrrrrrrrrrrrrrrrrrrrnrrrrsrrnnnsennn 137 Table 8 30 PAR Parameter Table 138 Table 8 31 PHE Parameter Table rrnnnnnnnnvnnnnnnnnnvnnnnnnannvnnnnnnannnnnnensnnnnnnene 141 Table 8 32 PHE Message Structure rrmrrrrrrannnvnnrrrrrrnnnvnnnrnrrerrnrnnnrerrenrnnrnntennn 141 Table 8 33 PJT Parameter Table ariran snesen rena eran RNN ri aA enaka 142 Table 8 34 PMD Parameter Table rrrnnnnnnnnvrnnnnnnnnvrnnnnnnnnvrnnnnennnrrnnnnensnrrnnnsennn 143 Table 8 35 POS Paramet
287. rror meters 0 00 to 99 999 f8 Standard deviation of altitude error meters 0 00 to 99 999 cc Checksum GSV Satellites in View Message PASHS NME GSV c s f This command enables disables the satellites in view message to send out of serial port where c is port A B C or D s is ON or OFF and f is the optional output rate parameter in seconds If the output rate is not set the command is output at the rate set by the PASHS NME PER command Example Output GSV message on port A PASHS NME GSV A ON lt Enter gt PASHQ GSV c Query satellites in view where c is the optional output serial port Example Query the GSV message on port A PASHQ GSV A lt Enter gt Commands 231 spuewwog GPGSV The GSV response message is in the form GPGSV d1 d2 d3 n d4 d5 d6 f7 cc lt Enter gt where n is maximum 4 If more than 4 satellites are tracked a second message is sent then a 3rd if more than 8 SVs are tracked Table 8 110 defines the message structure Table 8 110 GSV Message Structure Field Description Range di Total number of messages 1 3 d2 Message number 1 3 d3 Total number of satellites in view 1 12 d4 Satellite PRN 1 32 for GPS 33 64 for SBAS d5 Elevation in degrees 0 90 d6 Azimuth in degrees 0 359 f7 SNR in dB Hz 30 0 60 0 cc checksum Example Query PASHQ GSV lt Enter gt Typical GSV response message GPGSV 2 1 08 05 77 304 45 7 30 37
288. s PASHS USE d c Selects satellites to track or not track where d is the PRN number of the satellite range from 1 to 32 or ALL for all satellites and c is Y enable or N disable Example Do not track satellite 14 PASHS USE 14 N lt Enter gt VDP VDOP Mask PASHS VDP d Sets the value of VDOP mask where d is between 0 and 99 The default is 4 Example Set VDOP to 6 PASHS VDP 6 lt Enter gt WAK Warning Acknowledgment PASHS WAK This command acknowledges a warning condition status displayed by WARN will go from CURRENT to PENDING and will stop the receiver beep that accompanies a warning if the beep is set to ON 162 ZXW Receivers Operation and Reference Manual WARN Warning Messages PASHQ WARN c Queries the receiver for any warning messages where c is the optional output port Example Query receiver warning status PASHQ WARN lt Enter gt PASHR WARN The response is in the form shown below and defined in Table 8 58 PASHR WARN s1 s2 cc lt Enter gt Table 8 58 WARN Message Structure Parameter Significance Range si Warning Message For a list of all warning message refer to NONE no warnings Table 8 59 s2 Status PENDING CURRENT OCCURRED Pending has been acknowledged Current has not been acknowledged Occurred error condition has occurred but is no longer current Table 8 59 lists the possible warnings the receiver may issue
289. s 0 00 f6 Translation in z direction 1000 000 meters 0 00 f7 Rotation about x axis 10 000 sec 0 000 rotation is counterclockwise rotation is clockwise about origin f8 Rotation about y axis 10 000 sec 0 000 f9 Rotation about z axis 10 000 sec 0 000 f10 Delta scale factor scale factor 1 delta 25 000 PPM 0 0000 scale factor Translations rotations and scale factors are entered as going FROM local datum TO WGS84 Example Set datum parameters PASHQ UDD c Query the user datum parameters where c is the optional output port and is not required to direct the response message to the current communication port Example Query datum parameters to port C PASHQ UDD C lt Enter gt Commands PASHS UDD 0 637 8240 297 323 34 23 121 4 18 9 0 0 0 0 lt Enter gt spuewwog 307 PASHR UDD The response is in the form where the parameters are as defined in Table 8 172 PASHR UDD d1 f2 f3 f4 f5 16 f7 f8 f9 f10 cc lt Enter gt UDG User Defined Datum to Grid Transformation PASHS UDG s1 d2 f3 f4 f5 f6 f7 f8 f9 f10 f11 f12 f13 Sets the user defined datum to grid transformation parameters in the receiver memory The number of parameters depends on the map projection type selected and must be indicated by the user as parameter d2 Table 8 173 through Table 8 177 define the parameters projection type Table 8 173 UDG Structure for Equatorial Mercator
290. s Refer to Figure 4 3 This allows use of mechanical switches without concern for contact bounces Epoch i Epoch i 1 Epoch i 2 Signal 1 1 1 Recorded Ignored Recorded 9122 Figure 4 3 Event Marker Time Measurement The receiver stores only one event time per nav processing cycle 0 1 sec If more than one event time is measured within a data collection period the receiver records only the first one The trigger pulse may be TTL compatible or open collector Minimum pulse duration is 100 nanoseconds when the signal is not terminated at the receiver input The impedance is approximately 2K ohms Use a coaxial cable with BNC connectors to connect the camera trigger output to the photogrammetry input connector of the sensor Operation 41 Time Tagging the Shutter Signal In this technique the signal generated by the camera shutter is fed to a GPS unit for accurate time tagging which can then be post processed with the GPS observations Since the time of the picture is not synchronized with the time that the GPS measurement is taken the two position computations before and after the shutter time are interpolated to compute the position of the camera at the time the picture was taken For example suppose the GPS measurements are recorded at the rate of one per second while the distance that the aircraft moves in second is about 100 meters The induced error between the position of the camera at the time the pi
291. s Table 1 2 summarizes the positioning modes and expected accuracy Table 1 2 Accuracy as Function of Mode Positioning Mode Typical Horizontal Accuracy 2drms 5 SVs PDOP lt 4 PPO setting Y Maximum Update Rate Maximum Operating Range format or DBEN format T 50 0 63 C 5 5 Hz 10 Hz Autonomous I SS optional Anywhere E 5 95 5 2 3 01 RTCM code differential Several hundred 1 0 meters 10 ppm 5 Hz 10 Hz kilometers optional depending upon datalink Static post processed Several hundred 5mm 1ppm 5 Hz 10 Hz kilometers optional depending upon satellite geometry Real time carrier phase 5 Hz 10 Hz lt 15 kilometers differential in RTCM RTK 1 6cm 2ppm optional depending upon datalink All accuracies were computed from multiple trials of live satellite data collected in the San Francisco Bay area with receivers and survey grade antennas under average multipath conditions Receiver Options Table 1 3 lists the available options Each option is represented by a letter or number presented in a certain order You can verify the installed options by issuing the following command to the receiver using an external handheld controller or PC as described in chapter 6 Command Response Formats PASHQ RID ZXW Receivers Operation and Reference Manual The command will display the options on an external handheld controller or PC For exa
292. s eee eda see ees 94 HMG EE signees lee haste bath es 94 TMA EEN e EE dee A 94 TINGS Ae Ree aan ERA FES 15 18 true course 248 true track course 244 TD Stage eee tn ek ees 6 41 246 D dE 271 U EN Zeg sk rart a ee 83 UDG 2 ft bess ei hee ees 308 URDE de EE Petes el trend 237 user Comment 125 UTG eg eaters sees iene eet 41 262 V NZ ee e 221 254 VID tothe ete ek as 221 254 vector solution avvrrarrrrver 293 Velocity NEEN ENEE et ath years 25 velocity course 20 0 eee ee 258 vertical velocity 244 W WAAS tracking mode 316 WGS 72 eebe d et Ae det 95 WGS 84 2000 95 101 219 X XDR EES ee 260 Z VAD EEN 131 260 zenti es gis els n dene ee 119 Ztracking aes voce Seo wes ee es 2 ZW eege eh ee he 9 Index 330 ZXW Sensor amp ZXW Eurocard Operation and Reference Manual Magellan GNSS Boards Contact Information In USA 1 408 615 3970 Fax 1 408 615 5200 Toll Free Sales in USA Canada 1 800 922 2401 In South America 56 2 273 3214 Fax 56 2 273 3187 Email gnssboards magellangps com In Singapore 65 9838 4229 Fax 65 6777 9881 In China 86 10 6566 9866 Fax 86 10 6566 0246 Email gnssboardsapac magellangps com In France 33 2 28 09 38 00 Fax 33 2 28 09 39 39 In Germany 49 81 6564 7930 Fax 49 81 6564 7950 AG E LLA In Russia 7 495 956 5964 Fax 7 495 956 5965 In the Netherlands 31 78 61 57 988 Fax 31 78 61 52 02
293. s sent to the port on which the query was made The response will be sent out once right after the next PPS pulse is generated and 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 Thus the response may be delayed by one PPS period plus the time tag latency indicated above PASHR PTT The PTT response message is in the form PASHR PTT d1 m2 cc lt Enter gt where the message structure is as defined in Table 8 124 Table 8 124 PTT Message Structure Parameters Description Range di Day of GPS week 1 to 7 Sunday 1 m2 GPS time in hours minutes seconds of the 0 PPS pulse hh mm ss sssssss 23 59 59 9999999 Typical PTT response message PASHR PTT 6 20 41 02 0000000 OD lt Enter gt 246 ZXW Receivers Operation and Reference Manual Table 8 125 describes a typical PTT response message Table 8 125 Typical PTT Response Message Item Description 6 Day of week Friday 20 41 02 0000000 GPS Time 8 41 02 PM OD Message checksum in hexadecimal RMC Recommended Minimum GPS Transit PASHS NME RMC c s f Enables disables the recommended minimum specific GPS Transit message where c is the serial port s is ON or OFF and f is the optional output rate parameter in seconds If the output rate is not set the command is output at the rate set by the PASHS NME PER command Example Enable RMC message on
294. sage type 21 format GPMSG d1 d2 f3 d4 d5 d6 m7 n d8 d9 d10 d11 d12 d13 d14 f15 cc lt Enter gt Table 8 114 lists the common parts of messages 1 2 3 6 16 18 19 20 and 21 Table 8 114 Common Fields of Type 1 2 3 6 16 18 19 20 and 21 Parameter Description Range di RTCM message type 1 2 3 6 16 18 19 20 21 d2 Station identifier 0 1023 f3 Z count 0 9999 9 d4 Sequence number 0 9 d5 Station health 0 7 d6 Total number of characters after the time item 0 999 include the comma and lt Enter gt m7 Current GPS time of position fix hhmmss ss 00 235959 90 Table 8 115 lists the remainder of the type 1 message Table 8 115 Remainder of Type 1 Message Parameter Description Range d8 User differential range error URDE 0 9 d9 Satellite PRN number 1 32 f10 Pseudo range correction PRC in meters 9999 99 f11 Range rate correction RRC in meters sec 9 999 d12 Issue of data ephemeris IODE 0 999 cc checksum SPUBUIWO0J Commands 237 Table 8 116 lists the remainder of message type 2 Table 8 116 Remainder of Type 2 Message Parameter Description Range d8 User differential range error UDRE 0 9 d9 Satellite PRN Number 1 32 f10 Delta Pseudo range correction Delta PRC in 99 99 meters f11 Delta Range rate correction Delta RRC in meters 9 999 sec d12 Issue of data ephemeris IODE 0 999 cc checksum
295. sages GEO output orthometric heights in position messages using worldwide geoidal model This does not affect the position output in the B file or in the PBN message which are ECEF and always with respect to WGS84 To remain NMEA standard the GGA message will always output geoidal height whatever the selection This selection affects height value in other position messages such as POS UTM and GDC Example Select geoidal height in position output PASHS HGT GEO lt Enter gt PASHQ HGT c Query height model selection where c is the optional output port Example Query the HGT status to port C PASHQ HGT C lt Enter gt PASHR HGT The response message is in the form PASHR HGT s cc lt Enter gt where s is 3 character string that denotes current height setting ELG or GEO 306 ZXW Receivers Operation and Reference Manual UDD User Defined Datum PASHS UDD d1 f2 f3 f4 f5 f6 f7 f8 f9 f10 Sets the user defined datum parameters in the receiver memory where the parameters are as defined in Table 8 172 Table 8 172 UDD Message Structure Parameter Description Range Units Default d1 Geodetic datum Always 0 for WGS 84 0 n a 0 f2 Semi major axis 6300000 000 meters 6378137 000 6400000 000 f3 Inverse flattening in meters 290 0000000 meters 298 257223563 301 0000000 4 Translation in x direction 1000 000 meters 0 00 f5 Translation in y direction 1000 000 meter
296. signal Table 8 5 summarizes the various offsets Table 8 5 Antenna Offsets Settings Parameter Description Range Unit fl Antenna slant height height measured from the 0 64 000 Meter reference point to the antenna edge f2 Antenna radius the distance from the reference 0 0 9 9999 Meter point to the antenna edge f3 Antenna vertical offset the offset from the antenna 0 0 99 9999 Meter phase center to the reference point m1 Horizontal azimuth measured from reference 35959 99 Degrees point to antenna phase center with respect to decimal WGS84 north dddmm mm minutes H Horizontal distance measured from reference 999 9999 Meter point to point below above antenna phase center Example Set antenna offsets PASHS ANT 1 678 0 1737 0 5 0 0 lt Enter gt PASHQ ANT c Requests the current antenna offset parameters where c is the output port and is not required to direct the response message to the current communication port Example Query antenna offset on port B PASHQ ANT B lt Enter gt spuewwog Commands 113 PASHR ANT f1 f2 f3 m1 f4 cc The response message returns the receiver antenna parameters where the ANT message structure is as defined in Table 8 6 Table 8 6 ANT Message Structure Parameter Description Unit f1 Antenna height height measured from reference point to antenna meter edge f2 Antenna radius distance from antenna ph
297. sion minimum SVs 1 9 8th column Session data type 0 2 or 4 INUSE Session use YorNors REF Session reference day 0 366 OFFSET Session time offset minutes seconds mm ss TODAY Date of the year 0 366 ZXW Receivers Operation and Reference Manual PASHQ SSN c Query session programming parameters of an individual session where c is the session letter To query the first session set c A To query the last session set c Z Example Query session programming parameters of session D PASHS SSN D lt Enter gt PASHR SSN The SSN response message is in the form shown below and defined in Table 8 50 PASHR SSN c1 d2 d3 d4 d5 d6 c7 c8 d9 d10 d11 d12 d13 d14 f15 d16 d17 d18 lt CR gt lt LF gt Table 8 50 SSN Message Structure Parameter Description Range ci In use flag Y Yes N No A Active YNA d2 Reference day of all programmed sessions 0 365 d3 Offset per day minutes 0 60 d4 Offset per day Seconds 0 60 d5 Total number of programmed sessions 1 26 d6 Session number requested 0 25 c7 Session letter requested A Z d8 Session use flag Y set N session not set Y N d9 Session start time hours 0 23 d10 Session start time minutes 0 60 di Session start time seconds 0 60 d12 Session end time hours 0 23 d13 Session end time minutes 0 60 d14 Session end time seconds 0 60 6 f15 Epoch interval seconds 0 1 999 0 3 d16 Elevation mask degrees 0 89 a d17 Min
298. sion of RTCM differential refer to the RTCM differential section of the Operations chapter Set Commands All RTCM commands but one are set commands Through the set commands you can modify and enable a variety of differential parameters Certain set commands are applicable only to the base station and certain commands only apply to the remote station If the set command is sent correctly the receiver will respond with the PASHR ACK acknowledgment If a parameter is out of range or the syntax is incorrect then the receiver will respond with a PASHR NAK to indicate that the command was not accepted Query Commands There is only one query command PASHQ RTC Use this command to monitor the parameters and status of RTCM differential operations The query command has an optional port field If the query is sent with the port field left empty then the response will be sent to the current port If the port field contains a valid port A D then the response will be output to that port For example the query PASHQRTC lt Enter gt outputs an RTCM status message to the current port The command PASHQ RTC C lt Ente gt outputs an RTCM status message to port C Table 8 141 lists the RTCM commands 264 ZXW Receivers Operation and Reference Manual Table 8 141 RTCM Commands Command Description Page BASE PASHS RTC BAS Sets receiver to operate as differential base station
299. so only the first falling edge ina pulse train of up to 100 milliseconds will be detected 1PPS Out By default the receiver generates a TTL level pulse every second within one microsecond of the GPS time for synchronization of external equipment Refer to your individual receiver manual to determine signal location on the pinouts of the ports This pulse can be offset using the PASHS PPS command refer to PPS Pulse Per Second on page 145 It can also synchronize either the rising edge default or the falling edge to the GPS time The receiver can generate this signal with a different period 0 1 to 60 seconds Setting the period to 0 disables the PPS pulse You may output the time tag of the pulse to a serial port via the PASHS NME PTT c ON where c is the output port This message will be sent within 100ms of the pulse It has been designed to minimize the latency when the offset is 0 0 within 30ms of the pulse when Fast CPD is off This output is driven by a 3 3 volt CMOS gate through a 150 ohm resistor and is intended to drive a high impedance TTL or CMOS input The minimum allowable input resistance to guarantee TTL input levels is 250 ohms Data Output Real time data output is only available through the four RS 232 ports Refer to Chapter 6 for more details There are two types of messages e NMEA NMEA is a standard data transfer format developed to permit ready and satisfactory data communication between electronic
300. ssage Pay special attention to the SV list and QA Refer to PASHQ CPD DLK c on page 284 CPD Solution Output and Storage The raw GPS measurements autonomous position RTCM positions or CPD solutions can be outputted to the serial port for monitoring and logging If a receiver has a PC data card the data can be stored on the PC data card as well as downloaded to a PC 82 ZXW Receivers Operation and Reference Manual Real time Solution Output The CPD rover position velocity and other solution information can be output via the receiver s serial port in CBN message format or NMEA message format The CBN message output rate is controlled via the PASHS RCI command The PBN message will always output autonomous position or code differential position if messages 1 or 9 are available The CBN message can provide more complete information on position velocity solution status position RMS and covariance number of satellites and PDOP The CBN message output can be in ASCII or binary format The binary format is bitwise packed and is not IEEE format compatible To output the CBN message use the PASHS OUT command To output the NMEA messages use the PASHS NME commands If for any reason the CPD solution cannot be computed for an epoch there will be no CPD solution output for that epoch in any real time or NMEA message Other solution messages are also available for query and not to output periodically like CBN messages These
301. stem All coordinates output by the receiver are in this new system parameters with the PASHS UDD command Otherwise the newly entered parameters are not Do not forget to issue the PASHS DTM UDD command after defining the transformation es used Datum to Grid Use this transformation to generate coordinates in an lt x y gt rectangular system based on the user s location and mapping requirements or local standard You can select any projection along with any base datum for output Convert geodetic coordinates into grid coordinates by defining a grid system utilizing one of the supported projection types Figures 7 2 7 6 Although almost any projection or combination of datums and projections is mathematically possible some are inappropriate with respect to the project scope or geographic area 96 ZXW Receivers Operation and Reference Manual To set the receiver to supply grid coordinates 1 Select the projection type that best fits your needs 2 Define the grid system using this projection type with the PASHS UDG command This command defines the grid system to be used 3 Enable the grid system with the PASHS GRD UDG command The receiver computes grid coordinates in the system defined 4 To access the grid coordinates use either the PASHQ GDC command to query for one output of the current coordinates or use the PASHS NME GDC command to set the receiver to continuously output the current coordinates
302. sy Chain mode and allows the user to assign which serial ports to be used A typical example of the use of Daisy Chain mode is communicating with a radio through a handheld The radio and handheld are not directly connected but are both connected to the GPS receiver via separate serial ports By enabling the Daisy Chain mode between the two serial ports used by the handheld and radio the handheld can communicate with the radio through the GPS receiver Refer to DSY Daisy Chain on page 118 Point Positioning The Point Positioning option improves the accuracy of a stand alone absolute position of a stationary receiver from about 50 meters to less than five meters over a period of four hours and can typically get down to a couple meters level after ten hours Point positioning uses an averaging technique to reduce the effects of Selective Availability SA and other fluctuating errors Point positioning mode can be set using the PASHS PPO command Refer to Chapter 8 Command Response Formats for more details about this command The Point Positioning receiver option T must be set in the receiver for this command to work Remote Monitoring Remote monitoring allows a user to control a remotely located receiver through a PC and a modem link You can then e monitor operational status configure receiver parameter settings e download data This function is useful in situations where a receiver is operating in a difficult to access locati
303. sy atmospheric conditions may exist at higher elevations only in a certain sector of the sky interfering with satellite data in that part so that position quality is degraded For example ionospheric activity may be especially active to the north affecting all satellites in that quadrant To correct this problem a secondary elevation mask has been created This secondary elevation mask is set using the command PASHS SEM The parameters for the PASHS SEM include a first and a second azimuth that are used to define the part of the sky to be masked and an elevation mask value that applies only to the area within those azimuth values Figure 4 1 Note that the PASHS SEM command only applies to position computation and does not affect data recording or output Figure 4 1 Secondary Elevation Mask SEM Zone 36 ZXW Receivers Operation and Reference Manual Zenith Elevation Mask Towers or other heavy metal equipment that are directly over the GPS antenna may cause intermittent data collection and areas of extreme multipath at very high elevation angles creating poor quality data from certain satellites and degrading position computation To remove these satellites a zenith elevation mask has been created Whereas the normal elevation mask disregards satellites between the horizon and the mask angle the zenith elevation mask ignores satellites between the mask angle and the zenith 90 0 as shown in Figure 4 2 Rather than create a separa
304. t Table 8 160 CPD MOD Message Structure Parameter Description Range s1 Mode BAS ROV RBB RBR OFF s2 Fast CPD mode OFF FST c3 Port A B C D f4 CPD update period 1 0 5 0 second d5 Rover s dynamics see PASHS CPD DYN 0 5 d6 Multipath information see PASHS CPD MTP 0 4 s7 DBEN type RCA RP1 RP2 RPC s8 DBEN smooth on off SMS UNS f9 DBEN transmission period 0 0 999 0 s10 Which base position to use entered received ETD XIT d11 BPS transmission period or broadcast interval 0 10 30 100 300 s12 Which solution to output CPD RAW RBP f13 Ambiguity fixing confidence level 99 0 95 0 99 0 99 9 MTP Multipath PASHS CPD MTP d1 This command sets the multipath parameter where d1 is a code that describes the multi path environment This command is relevant for ROVER mode or RVP BASE mode only Default is medium 2 292 ZXW Receivers Operation and Reference Manual Example Set multipath parameter to high PASHS CPD MTP 3 lt Enter gt Table 8 161 MTP Parameter Table Parameter Description di Multipath One of the following values no multipath zero baseline Low open field Medium default high water surface buildings Severe forest urban canyon So A OH OBN Vector Solution Information PASHQ OBN This command queries the
305. t 9900XY to the MET CMD field PASHS MET CMD C 9900XY lt Enter gt 134 ZXW Receivers Operation and Reference Manual MET INIT Meteorological Meters Initialization PASHS MET INIT c s This command sets the meteorological meters initialization string as defined in Table 8 25 Table 8 25 MET INIT Message Structure Parameter Description Range CG Serial port connected to meteorological meters A D s Initialization string of meteorological meters excluding the Limited to 20 alphanumeric starting sign characters Example Set 99001D to the INIT STRING_MET field PASHS MET INIT A 9900ID lt Enter gt MET INTVL Meteorological Meters Interval PASHS MET INTVL c d Set the interval for the query of the meteorological meters as defined in Table 8 26 Table 8 26 MET INTVL Message Structure Parameter Description Range c Serial port connected to meteorological meters A D d Sample interval for meteorological meters 5 9999 sec default 5 Example Set 10 to the MET SAMPLE field PASHS MET INTVL D 10 lt Enter gt spuewwog Commands 135 MST Minimum SVs for Kinematic Survey PASHS MST d Sets the minimum number of satellites required for kinematic survey where d is that number Table 8 27 If the number of satellites locked is below that minimum an audible alarm sounds The alarm is disabled only if you acknowledge press any key not if enough satellites are track
306. t ASC or BIN Examples Enable MBN PBN and SNV message in binary format on port C PASHS OUT C MBN PBN SNV BIN lt Enter gt Disable all raw data messages on port A PASHS OUT A lt Enter gt PBN Position Data PASHQ PBN c Request PBEN data for one epoch where c is the output port and is not required to direct the response message to the current communication port Example Request PBN message to the current port PASHQ PBN lt Enter gt SPUBUIWO0J Commands 193 PASHR PBN The response message may be in either ASCII or binary format Position data in ASCII format is in the form PASHR PBN f1 f2 f3 f4 m5 m6 f7 f8 f9 f10 d11 s12 d13 d14 d15 d16 cc lt Enter gt Table 8 83 PBN Message Structure ASCII Format Parameter Description Range fi Receiver time with seconds of the week when 0 604800 00 code is received f2 Station position ECEF X meters 9999999 9 f3 Station position ECEF Y meters 9999999 9 f4 Station position ECEF Z meters 9999999 9 m5 Latitude in degrees and decimal minutes 90 ddmm mmmmmm Positive north m6 Longitude in degrees and decimal minutes 180 dddmm mmmmmm Positive east f7 Altitude meters 1000 000 to 18000 000 f8 Velocity in ECEF X m sec 500 00 f9 Velocity in ECEF Y m sec 500 00 f10 Velocity in ECEF Z m sec 500 00 d11 Number of satellites used for position 3 12 computation 12 Sit
307. t are set to N Only the characters Y and N are accepted Example Attempt to acquire SV 1 9 do not acquire 10 11 acquire 12 13 do not acquire 14 32 PASHS SVS YYYYYYYYYNNY YNNNNNNNNNNNNNNNNNNN lt Enter gt PASHQ SVS c This command queries the receiver for the satellite selection where c is the optional output port Example Query receiver for current satellite selection Output response to port D PASHQ SVS D lt Enter gt 158 ZXW Receivers Operation and Reference Manual PASHR SVS The response message is in the form PASHR SVS YNYYYYYNYYYYYYYYYYYYYYYYYYYYYY YY cc where each slot represents a PRN number from 1 to 32 and the character is either Y satellite selected or N satellite not selected In this example only PRN 2 and 8 have been de selected TLT Tiltmeter Set up PASHQ TLT c Query tiltmeter setup where c is the optional output port and is not required to direct the response to the current port Response message TILTMETER PARAMETERS SETTINGS PRTA OFF INIT_STR NO TRIG_CMD 0100XY INTVL 0001 PRTB OFF INIT_STR NO TRIG CMD 0100XY INTVL 0001 PRTC OFF INIT_STR NO TRIG_CMD 0100XY INTVL 0001 PRTD OFF INIT_STR NO TRIG_CMD 0100XY INTVL 0001 TLT CMD Tiltmeter Trigger String PASHS TLT CMD c s Set tiltmeter trigger string where c is the output port and s is the trigger string Table 8 53 TLT CMD Message Structure Parameter Description Range c Serial port connected to the
308. t baselines than Differential which often operates on longer baselines Base Station Position The RTCM messages 3 and 22 broadcast the base station position to the rover In case DBN is used the position is broadcast via PASHR BPS The base station position may also be entered directly into the remote unit using the PASHS CPD POS and PASHS UBP commands This reduces bandwidth requirements by obviating the need for messages 3 and 22 66 ZXW Receivers Operation and Reference Manual Base Station Antenna Offset If you set up the base station antenna over a known surveyed point you may enter the position of the surveyed point and the offset from this point to the antenna phase center Or you may enter the phase center directly If you are using 3 amp 22 or BPS e At the base station enter the phase center of the antenna directly using PASHS POS and setting PASHS ANR OFF or e At the base station enter the surveyed reference point using PASHS POS and enter the antenna offset using PASHS ANT and PASHS ANR ON or keep it at CPD if running CPD mode only not combined If you are entering the base station position directly at the remote At the remote enter the phase center of the base station antenna directly using PASHS CPD POS and setting PASHS ANR OFF or e At the remote enter the surveyed base station reference point using PASHS CPD POS and enter the base station antenna offset using PASHS CPD ANT and set PA
309. t controls the continuous output of all raw data messages the PASHS OUT command The PASHS OUT command allows you to enable or disable the output of one or more raw data messages simultaneously as well as change the format ASCII or Binary of the messages types where the format is an option The general format of the PASHS OUT command is PASHS OUT c str str S where c is the output serial port A D str is one or more 3 character strings that denote the different raw data output types and s is the optional format of the message and is either ASC ASCII or BIN binary For example the command PASHS OUT A MBN PBN BIN lt Enter gt will output MBEN and PBEN messages in binary format to serial port A If the format field is not included then the message will be sent in ASCII format which is the default The ephemeris and almanac messages are available in binary format only If a user attempts to output a raw data message type in ASCII format when only binary is available the receiver will send the header only with no additional information or data Also be aware that a PASHS OUT command will override anything set in a previous PASHS OUT command If the PASHS OUT command is sent correctly the receiver will respond with the PASHR ACK acknowledgment The messages will be output to the indicated serial port at the recording interval defined by the PASHS RCI command The default output frequency is every 20 seconds The PASHS RC
310. t is expressed in units of dB Hz It is important to realize that the displayed C No includes the degradation caused by many factors before reaching the receiver including antenna gain antenna temperature and LNA noise figure The C No at the output of the antenna element will be degraded by the noise produced by the first amplifier Known as the low noise amplifier LNA which is built into most Magellan antenna assemblies When using 52 ZXW Receivers Operation and Reference Manual different antennas with the receiver it should be noted that differences in C No can be seen as a result of the above mentioned factors If calibrating the C No reading of the receiver with a satellite constellation simulator at room temperature realize that the noise figure of the LNA will degrade the C No reading by the amount equal to the noise figure of the LNA C No reading C No simulator NF where e NF is the preamplifier noise figure in dBs e C No reading is the carrier to noise ratio displayed by the receiver in dB Hz e C No simulator is the carrier to noise ratio at the output of the GPS simulator in dBHz If you select to display C No for the C A code or C No for P1 code the displayed figure relates to the ratio of the power of the C A code only or P1 code only to the noise power in a 1Hz bandwidth Antenna Reduction Unless requested by the user the position solution provided by a receiver is the one of the antenna phase center
311. t unless position is being computed and GRD is set to UDG Example Send GDC message to the current port PASHQ GDC lt Enter gt PASHR GDC This message outputs the current position in the Grid Coordinate system selected by the user The response message is in the form shown below and defined in Table 8 97 PASHR GDC m1 s2 f3 f4 d5 d6 f7 f8 M f9 M d10 s11 s12 cc lt Enter gt Table 8 97 GDC Message Structure Parameter Description Range m1 UTC of position in hours minutes and decimal seconds 0 235959 90 hhmmss ss s2 Map projection type EMER TM83 OM83 LC83 STER LC27 TM27 TMA7 f3 x Easting User Grid coordinate meters 9999999 999 f4 y Northing User Grid coordinate meters 9999999 999 d5 Position Indicator 1 2 3 1 Raw Position 2 RTCM differential or CPD float position 3 Carrier Phase differential CPD fixed d6 Number of GPS satellites being used 3 12 f7 Horizontal Dilution of Position HDOP 999 9 Commands 217 O e 3 3 D 3 2 a Table 8 97 GDC Message Structure continued Parameter Description Range f8 Altitude in meters 1000 000 to 18000 000 M Altitude units M meters M f9 Geoidal separation in meters w r t selected datum and Geoid 999 999 Model M Geoidal separation units M meters M d10 Age of differential corrections 0 999 s11 Differential reference station ID 0 1023 s12 Datum type See Appendix A
312. ta drop out from the base station Multipath PASHS CPD MTP Set this parameter to the expected GPS signal multipath environment according to the list below SEVERE Forest urban canyon HIGH Water surface nearby buildings MEDIUM Cropland occasional tree or building default LOW Flat terrain no nearby objects NONE No multipath for testing purpose only DBN Message Interval PASHS CPD PED and CPD Update Rate PASHS CPD PER In some application where the data link bandwidth is not wide enough to transmit the DBN or RTCM message at 1Hz rate you can slow down the DBN or RTCM output rate in the base side and slow down the CPD update rate in the rover side To change the DBN message interval at the base use PASHS CPD PED command Understanding RTK CPD 89 I 4 Ee 9 U D To change the CPD update rate between 1 and 5 seconds using PASHS CPD PER command This will affect the CPD solution update rate when fast CPD is off but not with the fast CPD on The fast CPD update rate is controlled by PASHS RCI command for recording on a PC data card or raw data output CBN MBN and PASHS NME PER for real time NMEA output It is important to set the rover s update rate to match the base s DBN message output interval Initialization PASHS CPD RST If you wish to reset the carrier phase cycle ambiguities that have been found send PASHS CPD RST command Note that your position accuracy will temporarily degrade and y
313. tablishes communication between the modem and the receiver This command must be run to initiate modem communication after modem parameters have been set using the PASHS MDM command Example Initialize modem communication PASHS MDM INI lt Enter gt PASHR MDM INI If the initialization is successful the response message is in the form PASHR MDM INI OK cc lt Enter gt If the initialization is not successful the response message is in the form PASHR MDM INI FAIL cc lt Enter gt SPUBUIWO0JI Commands 133 MET Meteorological Meters Setup PASHQ MET c Query meteorological meter setup where c is the optional output port and is not required to direct the response to the current port The response message is in the form MET METER PARAMETERS SETTINGS PRTA OFF INIT_STR NO TRIG CMD 0100P9 PRTB OFF INIT_STR NO TRIG_CMD 0100P9 PRTC OFF INIT_STR NO TRIG_CMD 0100P9 PRTD OFF INIT_STR NO TRIG_CMD 0100P9 INTVL 0005 INTVL 0005 INTVL 0005 INTVL 0005 MET CMD Meteorological Meters Trigger String PASHS MET CMD c s Set meteorological meters trigger string where c is the output port and s is the trigger string as defined in Table 8 24 Table 8 24 MET CMD Message Structure Parameter Description Range c Serial port connected to the meteorological meters A D s Trigger string of meteorological meters excluding the starting sign Limited to 20 alphanumeric characters Example Se
314. te command an additional optional zenith elevation mask parameter has been added to the PASHS ELM data elevation mask and the PASHS PEM position elevation mask commands Circular patch of sky masked by zenith mask uoneiado Zenith mask angle 3 Zenith mask angle Zenith 90 dl Horizon Figure 4 2 ZEN Zenith Elevation Mask Zone Operation 37 Session Programming The Session Programming feature allows you to pre set up to 26 observation sessions in the receiver The receiver can then run unattended and will collect data on the data card only during the times that have been preset Once set the sessions will collect data during the preset session times every day Or if desired a session time offset can be programmed in that will shift the session start and end times by a set amount every day Session programming can also be used to put the receiver into sleep mode When the receiver is in sleep mode most of the receiver functions are shut down which will conserve power when data is not being collected Using the session start times that have been preset the receiver will automatically wake up in time to collect data for the next session and go back to sleep when the session is over Session programming is enabled by using either Receiver Communications Software or the REMOTE EXE program with either the lt ALT P gt option or else by sending the PASHS SES commands through the serial port Regardless
315. te for corrections to burst mode Turn on type 1 differential correction message once every 5 seconds Turn on base station position messages 3 amp 22 once each minute Turn on Code and Carrier phase messages once each second PASHS SAV Y Save settings Type 1 is on once per second by default Most radio links cannot keep up with both Type 18 19 and Type 1 at once a second and with SA off there is no need to transmit Type 1 once a second The receiver is set as a base station which transmits RTCM differential corrections type 1 every 5 seconds RTCM messages types 18 and 19 every second and types 3 and 22 every minute Following a power cycle it automatically starts transmitting these messages again because you have saved the settings with the PASHS SAV Y command You can also set up the Base Station to use messages 20 amp 21 instead of 18 amp 19 You can not use DBN and RTCM messages on the same serial port You can generate DBN from one port while generating RTCM from a different port Differential and RTK Operations 61 Ey bi bi 3 I D 3 Q I 4 A Advanced Base Station Operation Recommended Advanced Parameter Settings for Base Stations Many parameters control the operation of the receiver Leave most at the default values except for the settings identified in Table 5 1 through Table 5 6 Antenna Locate the antenna with a clear view of the sky The antenna position entered wi
316. te interval to 3 seconds PASHS CPD PER 3 lt Enter gt POS Set Base Position PASHS CPD POS m1 c2 m3 c4 f5 This command sets the base point position from the rover receiver 298 ZXW Receivers Operation and Reference Manual Table 8 167 CPD POS Parameter Table Parameter Description Range m1 Latitude of base position in degrees and decimal minutes 0 8959 9999999 ddmm mmmmmmm c2 Direction of latitude N North S South S N m3 Longitude of base position in degrees and decimal minutes 0 dddmm mmmmmmm 17959 9999999 c4 Direction of longitude E East W West E W f5 Reference point altitude always have or sign in 9999 9999 meters This requires the receiver configured to use the entered base position by issuing command PASHS UBP 0 Example Set base position from the rover receiver PASHS CPD POS 3722 2432438 N 12350 5438423 W 34 5672 lt Enter gt PASHQ CPD POS c This command queries the base position from the rover where c is the optional serial port If the port is not specified the message is output to port from which this command was received Example Query base position set at the rover receiver PASHQ CPD POS lt Enter gt PASHR CPD POS The response message is in the form PASHR CPD POS m1 c2 m3 c4 f5 lt Enter gt The description of these parameters can be found in Table 8 167 PRO Select RTK Format PASHS CPD PRO s Commands 299
317. tes this parameter can take internally Table 8 43 REC Message Structure Setting Parameter Description Range c Y Record data YIN S R N Do not record data S Stop data recording R Restart data recording Example Disable recording data 148 ZXW Receivers Operation and Reference Manual PASHS REC N lt Enter gt REC N will disable recording but will not close the session Whenever REC Y is issued recording will resume in the same session REC S will close the session and a new session will be created if REC R is used or if the card is reinserted RID Receiver ID PASHQ RID c Request information about the receiver type firmware and available options where c is the optional output port Example Query the current port for receiver identification PASHQ RID lt Enter gt PASHR RID The return message is in the form shown below and defined in Table 8 44 PASHR RID s1 d2 s3 54 s5 cc lt Enter gt Table 8 44 RID Message Structure Return Parameter Description Range s1 Receiver type UZ d2 Channel option 3 C A PL1 P L2 Codeless option 0 s3 nav firmware 4 char string version s4 Receiver options Refer to Table 1 2 s5 boot version 4 char string cc checksum in hex Example PASHR RID UZ 30 ZE24 BUEXMFT3JKI H Y 1A01 5C SPUBUIWO0J Commands 149 RNG Data Type PASHS RNG d Sets data recording mode where d is the
318. th the PASHS POS command is the WGS84 phase center of the antenna if the antenna reduction mode ANR is OFF It is the ground mark position if ANR is ON or CPD if the receiver is set as CPD base Do not use ANR CPD when setting up a combined Differential and RTK base since the position entered is interpreted differently for more information see Antenna Reduction section on page 53 If you do not have a surveyed position on which to locate your antenna you may use the command PASHS CPD ENT along with Magellan DBN messages This sets the base station position to the autonomous position calculated by the receiver The relative accuracy of the remote receiver positions is the same with respect to the base station as if you had entered the true position of the antenna The absolute accuracy translates by the difference between the nominal base station position from PASHS CPD ENT and the true WGS84 position That is if the nominal base station position is one meter north of the true position then all remote positions will be translated north by exactly one meter Message Rate To improve Differential and RTK performance minimize base station data latency by using the highest possible data rates that your data link supports There are three different settings that affect data rates e RTCM message bit rate PASHS RTC SPD This is the internal bit rate used to generate the RTCM messages This should be as high as possible without exc
319. the board spuewwog Commands 147 RCI Recording Interval PASHS RCI fl Set the value of the interval for data recording and raw data output where f1 is any value between 0 1 and 999 Values between 0 1 and 1 can increment in 0 1 secs Values between 1 and 999 can increment in 1 second The default is 20 0 Example Set recording interval to 5 seconds PASHS RCI 5 lt Enter gt If the fast data option F is not installed the setting 0 1 second is not available All other settings 0 2 to 999 are available except 0 7 which is never available When running the receiver in 5Hz RTK mode H option required if the Fast Data option F is installed you will be allowed to set the RCI parameter to 0 1 second but will only receive solution output at 0 2 second intervals REC Data Recording PASHS REC c Data recording switch that turns data recording to either Yes No Stop or Restart Yes and No are used to enable disable data recording The default is Yes Stop is used prior to removing a PCMCIA card from the receiver while the receiver is recording data This will prevent any corruption of the data files on the PCMCIA card When the same or another PCMCIA card is inserted into the receiver the receiver will automatically restart data recording The Restart command is necessary to restart data recording only if the Stop command is used but the PCMCIA card is not actually removed See PASHQ RAW command for the various sta
320. the direct signal for the Standard Correlator the very well known Narrow Correlator and the new Magellan Enhanced Strobe Correlator The x axis shows the multipath delay which is the extra distance that the reflected signal travels compared to the direct signal The y axis shows the induced range error caused by a multipath 50 ZXW Receivers Operation and Reference Manual signal with the indicated delay As the multipath delay increases the error oscillates between the positive and negative error envelope Multipath Code Error Envelopes Generic Standard rrelator Namow Standard AE Correlator Tracking Error meters uoneJ8d0 BW 10 5 MHz 100 20 300 400 500 Multipath Delay meters Figure 4 5 Relative Performance of Multipath Mitigation Techniques In a real situation multipath is usually a combination of many reflections all with different delays and different power Real life multipath is often described as either close in multipath or far multipath Close in multipath occurs when the reflecting surface is close to the satellite antenna direct line and the delay is small usually these reflections come from a surface near the antenna for example an antenna ona tripod on the ground would pick up close in multipath from reflections off the ground below and around the tripod Figure 4 6 is a blow up of Figure 4 5 and shows that Enhanced Strobe Correlation techniques prove much be
321. the maximum age Carrier differential Fast CPD On Auto Differential On Once the rover mode has been enabled autonomous position outputs until it has computed the first CPD position A CPD position solution continues to output until the age of corrections is less than the maximum age otherwise an autonomous position is output Carrier differential Once the rover mode has been enabled autonomous position Fast CPD Off outputs until it has computed the first CPD position A CPD position Auto Differential Off or solution continues to output until corrections stop and no position On outputs unless corrections are available RTCM Messages The receiver accepts RTCM 104 version 2 3 differential formats The receiver is set to differential mode in any of the serial ports with the set command PASHS RTC str c where str is BAS or REM and c is the port Of RTCM message types 1 through 64 the receiver processes only types 3 16 and 22 for Base station location and special information types 1 2 and 9 for RTCM differential corrections null frame type 6 and RTK data message types 18 19 20 and 21 The differential corrections are automatically processed by the receiver For diagnostic purposes the RTCM messages can be output in an ASCII format on the rover side via the MSG command see MSG Base Station Message on page 235 On initial power up or after use of the PASHS RST reset to defaults command the receiver de
322. tialiZation 0 ee ccecceceeeeeceeeeeeeeeeeeeeeeeeeaeeeeeeeeaaeeeeseeeaeeeeeeeenaeeeeeneeaaes 25 Receiver Communication cecccceeeececeeeeeeeeaeceeeeeeeeeaeeseeeeeesaaeeseneeeetiaeeeneneees 25 Cen CE e BEE 26 Satellite Tracking senuis Bl and eee ni ine ee 26 SE le TEE 27 Setting Receiver Parameters rrrnnannnvvnnnnrrnnnnvnnnnnrrnnnnnnnnnnrrnnennrnnrsrressnnnnernnn 27 Saving Parameter Settings cccccccsceceeceeeeeneeeeeceeeeeeeeeceeeseeeeseeeeeeeneeees 27 Data Recording E 27 Default Parameters mrrannnnvnnnnnnnnnvnnnnnnnnvnnnnnnnnnnvnnnnnnnnnnnnannnnnnnneennnnnnneeennnnnenne 28 Chapter 4 Operation m mrrm emnnenseinnnensvseavnvanied 33 Receiver InitialiZation eee ceccceeeeeeeeeeeeeeeneeeeeeeeaeeeeeeeeaaeeeeseeeaeeeeseeenaeeeeeneeaes 33 Setting Receiver Parameter 33 Saving Parameter Settings cccccececeeeeeeeeeeeeeeecaaeeeeeeeeseaeeeseneeeseeeseeaeeeeaas 34 BEIEN EE 34 Downloading the Data 35 Data Logging through Serial Port 35 Elevation Masks onreg ertai aata shot sua tenedb dst det dnne disse 36 Secondary Elevation Mask 36 Zenith Elevation Mask 37 Session Programming iseseisana iaid anini aaia iea aaia aiaia 38 Posto NEE 39 ALT FIX MOG Gcr oe ee GENEE 39 Daisy Chains Mode voren estrani aneri naea eent Fe e akaa eaa dit ee een fania 40 Pont Postionng EE 40 Remote Monitoring e isinasmds aeta edie die A taste deredanedteg 40 Event Marker Eeer ee Gees ee 41 Time Tagging the Shutter Gon
323. tiltmeter A D s trigger string of the tiltmeter excluding the starting sign Limited to 20 alphanumeric characters spuewwog Example Set 9900XY to the TLT CMD field PASHS TLT CMD C 9900XY lt Enter gt Commands 159 TLT INIT Tiltmeter Initialization PASHS TLT INIT CS Set tiltmeter initialization string where parameters are as defined in Table 8 54 Table 8 54 TLT INIT Message Structure Parameter Description Range c Serial port connected to the tiltmeter A D Ss initialization string of the tiltmeter excluding the starting sign Limited to 20 alphanumeric characters Example Set 9900ID to the INIT STRING_ TLT field PASHS TLT TLT INTVL Til INIT A 9900ID lt Enter gt tmeter Interval PASHS TLT INTVL c d Set the interval for the query of the tiltmeters as specified in Table 8 55 Table 8 55 TLT INTVL Message Structure Parameter Description Range c Serial port connected to the tiltmeter A D d sample interval for a tiltmeter 1 86400 sec default 1 Example Set the TLT SAMPLE field to 10 PASHS TLT INTVL D 10 lt Enter gt 160 ZXW Receivers Operation and Reference Manual TMP Receiver Internal Temperature PASHQ TMP c This command queries the receiver s internal temperature and the temperature setting at which the receiver will shut off where c is the optional output serial port Example Query current receive
324. tions at 5 Hz Note that the 5 Hz synchronized RTK only works for DBEN and CMR messages Enable the base station to transmit data at 5 Hz by sending the following command to the base receiver PASHS CPD PED 0 2 lt enter gt 74 ZXW Receivers Operation and Reference Manual Enable the rover to output RTK positions at 5 Hz by sending the following command to the rover receiver PASHS CPD PER 0 2 Even if the PASHS CPD PER or PASHS RCI message is set to 0 1 the rover can only output positions at a maximum interval of 0 2 seconds when 5 Hz synchronized RTK is running Also it is strongly recommended that Fast CPD not be enabled when running 5 Hz RTK Lastly be aware that when CPD is outputting positions higher than 1 Hz the receiver will only use the 10 highest satellites for CPD position computation Position Latency Base data latency discussed above is the delay between when a base station measures the GPS signals and when the remote receiver receives the RTCM or DBN messages Position latency is the delay between when the remote receiver measures the GPS signals and when the position is available at the serial port In other words position latency is the delay in providing the user s actual position to the user Position latency is typically less than 50 milliseconds it varies with the number of satellites in view Float and Fixed Solutions When the receiver is in RTK mode the crucial difference from Differential mode is that
325. tocol of the computer COM port must match the baud rate and protocol of the receiver port for commands and data to be successfully transmitted and received The receiver protocol is 8 data bits 1 stop bit and parity none All commands sent by the user to the receiver are either Set commands or Query commands Set commands generally change receiver parameters and initiate data output Query commands generally request receiver status information All set commands begin with the string PASHS and all query commands begin with the PASHQ string PASHS and PASHQ are the message start character and message header and are required for all commands All commands must end with lt Enter gt to transmit the command to the receiver If desired an optional checksum may precede lt Enter gt All response messages end with lt Enter gt In this manual the serial commands are discussed in six separate groups e Receiver commands general receiver operations page 105 e Raw data commands measurement ephemeris and almanac page 168 e NMEA message commands NMEA message output page 202 e RTCM commands RTCM differential operation page 264 e CPD commands carrier phase differential CPD operation page 276 e UCT commands coordinate transformation map projection page 302 Commands 103 Within each group the commands are listed alphabetically and then described in detail Information about the command including the syntax a descri
326. total on the card 03 3 sessions listed in the message SIT1 Site name of 1st session listed 095641850 GPS week 0956 day 4 Wednesday at 18 50 6 50 pm 001666 1 666 MByte of data on that session SIT2 Site name of the 2nd session listed 095721707 GPS week 0957 day 2 Monday at 17 07 5 07 pm 000187 187 KByte of data on that session SIT3 Site name of 3rd session listed 095721803 GPS week of 0957 day 2 Monday at 18 03 6 03 pm 000051 51 KByte of data on that session 2A checksum FSS File System Status PASHQ FSS c This command queries the status of PCMCIA data card where c is the optional output port This command can be used to check the file system mounting progress when a new data card is inserted in the receiver as well as the number of files on the card and which file is currently active Example Query file system status and direct output to port B PASHQ FSS B lt Enter gt Commands 123 SPUBUIWO0J PASHR FSS The FSS response message returns the number of files on the disk the index number of the currently active file and percent completion of the file system mounting plus some reserved parameters for internal use only The response is in the form PASHR FSS h1 d2 d2 d3 d4 d5 d6 cc where the parameters are as defined in Table 8 13 Table 8 13 FSS Message Structure Parameter Description Range hi Reserved 4 digit hex d2 Reserved 2 digit d3 Reserved 2 digit d
327. tracked satellites Example Query receiver for CSN message PASHQ CSN lt Enter gt PASHR CSN The response message is in the form PASHR CSN m1 d2 d3 n d4 d5 d6 d7 cc where n is equal to d2 and where parameters s5 d6 and c7 are repeated 9 times once for each raw data message type Table 8 8 describes each parameter in the CSN message Table 8 8 CSN Message Structure Parameter Description Range m1 GPS time hhmmss ss 0 235959 50 d2 Number of SVs locked 0 12 d3 Number of ratios per satellite 1 3 d4 PRN number 0 32 d5 C A s n ratio dB Hz d6 L1 s n ratio dB Hz d7 L2 s n ratio dB Hz cc checksum 116 ZXW Receivers Operation and Reference Manual CTS Port Protocol Setting PASHS CTS c s This command enables or disables the RTS CTS handshaking protocol for the specified port where c is the port and s is ON or OFF If the port is not specified i e if c is not included in the command the protocol is enabled or disabled for the port to which the command was sent Example Disable the handshaking protocol for port A PASHS CTS A OFF lt Enter gt PASHQ CTS c Query the RTS CTS handshaking protocol status where c is the optional output port and is not required to direct the response to the current port PASHR CTS s This is the CTS response message where s is ON or OFF DOI Data Output Interval PASHS DOI f1 Sets the output rate of raw data through
328. tter than usual techniques especially for close in multipath that is attenuated by a factor of 3 Very close in multipath causes only a small change Operation 51 in the ideal correlation function so it is usually almost impossible for the correlator base multipath integration to completely compensate for this error Multipath Code Error Envelopes 10 T T T 7 Enhanced Strobe Tracking Error meters i Correlator Narrow Standard Correlator 10 20 30 40 50 Multipath Delay meters Figure 4 6 Detailed View of Multipath Mitigation Performance In order to completely compensate for close in multipath we suggest to use Choke ring antennas along with the Enhanced Strobe Correlation technique Far multipath can cause very large errors if a good multipath mitigation technique is not used Far multipath occurs when there is a reflecting surface at some distance from the antenna such as a building a mast a mountain etc Metal surfaces cause the strongest reflections Far multipath signals can be very nearly eliminated by good correlator based multipath mitigation techniques Signal to Noise Ratio The signal to noise ratio or C No as given by the receiver is the ratio of the total signal power to the noise power in a 1 Hz bandwidth otherwise known as the carrier to noise ratio or C No The reference point of the reading is the antenna connector located on the receiver s back panel I
329. ty factor is set to 100 where d is any number between 0 and 999 This QAF number is used to compute the QA value where QA good messages QAF The QA parameter allows you to evaluate the communication quality between the base and remote stations Default is 100 PASHS RTC QAF is used only in REMOTE mode Example Set quality factor to 200 PASHS RTC QAF 200 lt Enter gt REM Enable Remote RTCM PASHS RTC REM c Set the receiver to operate as an RTCM differential remote station where c is differential port A B C or D Example Set receiver to differential remote using port B PASHS RTC REM B lt Enter gt 272 ZXW Receivers Operation and Reference Manual SEQ Check Sequence Number PASHS RTC SEQ c Checks sequence number of received messages and if sequential accepts corrections if not don t use correction where c is Y check or N do not check Default is N SPASHS RTC SEQ is used only in REMOTE mode Valid only at beginning of differential operation After two sequential RTCM corrections have been received differential operation begins Example Check sequence number PASHS RTC SEQ Y lt Enter gt SPD Base Bit Rate PASHS RTC SPD d Set the number of bits per second that are being generated to the serial port of the base station where d is the code for the output rate in bits per second The available speeds and corresponding codes are listed in Table 8 145 Default is 300 bits per second PASHS
330. ual to or above position elevation mask are needed to compute a position Only latitude and longitude are computed and altitude is held if only three satellites are locked If more than three satellites are used and HDOP is less than the specified HDOP mask all three polar components are computed If HDOP is higher than the specified HDOP mask receiver automatically goes into altitude hold mode ALT Fix Mode Two modes define what altitude is selected when the receiver is in altitude hold mode The PASHS FIX command can be used to select between these modes In mode 0 the most recent altitude is used This is either the one entered by using the PASHS ALT command or the one computed when four or more satellites are used in the solution whichever is most recent If the last altitude is the one computed with four or more satellites it is used only if VDOP is less than the VDOP mask In mode 1 only the last altitude entered is used in the position fix solution On initial power up or a receiver initialization the most recent antenna altitude is 0 Operation 39 Daisy Chain Mode The Daisy Chain mode establishes a communication link through the GPS receiver between a PC handheld and a peripheral device When the GPS receiver is in Daisy Chain mode all commands entered in one serial port are passed back out through another serial port The commands are not interpreted by the GPS receiver The command PASHS DSY enables the Dai
331. ubstantially conform to the then current user documentation Magellan Navi gation does not warrant the software will meet pur chaser s requirements or that its operation will be uninterrupted error free or virus free Purchaser assumes the entire risk of using the software PURCHASER S EXCLUSIVE REMEDY UNDER THIS WRITTEN WARRANTY OR ANY IMPLIED WARRANTY SHALL BE LIMITED TO THE REPAIR OR REPLACEMENT AT MAGELLAN NAVIGA TION S OPTION OF ANY DEFECTIVE PART OF THE RECEIVER OR ACCESSORIES WHICH ARE COVERED BY THIS WARRANTY REPAIRS UN DER THIS WARRANTY SHALL ONLY BE MADE AT AN AUTHORIZED MAGELLAN NAVIGATION SERVICE CENTER ANY REPAIRS BY A SER VICE CENTER NOT AUTHORIZED BY MAGEL LAN NAVIGATION WILL VOID THIS WARRANTY To obtain warranty service the purchaser must ob tain a Return Materials Authorization RMA num ber prior to shipping by calling 1 800 229 2400 press option 1 U S or 1 408 615 3981 Inter national or by submitting a repair request on line at http professional magellangps com en sup port rma asp The purchaser must return the prod uct postpaid with a copy of the original sales receipt to the address provided by Magellan Navigation with the RMA number Purchaser s return address and the RMA number must be clearly printed on the outside of the package Magellan Navigation reserves the right to refuse to provide service free of charge if the sales receipt is not provided or if the information contained
332. ud rate of the radios as high as possible and use radios that are optimized for low latency GPS operation Maximum acceptable base remote data latency is controlled by PASHS RTC MAX for code differential mode and by PASHS CPD MAX for RTK mode The latency is indicated in the age of correction field of the GGA message The age increments when the correction message is not received or if it is invalid bad checksum When the age reaches max age the differential position does not output anymore for more information see Auto Differential Mode section on page 77 72 ZXW Receivers Operation and Reference Manual In the case of CPD with RTCM 18 amp 19 or 20 amp 21 if the message is partially received for enough satellites to compute a position the age increments but a position solution is still derived and continues to be output even if MAX AGE is reached Differential Accuracy vs Base Data Latency Figure 2 shows the growth of position error with increasing latency for DGPS DGPS Accuracy 30 N a g t N n d i d Horizontal accuracy 95 m a a d 0 10 20 30 40 50 60 70 80 90 Age of Differential Corrections 9781 Figure 5 2 DGPS Accuracy Chosing Between Fast RTK and Synchronized RTK With an RTK remote receiver you can choose between three modes of RTK position computation 1 Synchronized RTK 2 Fast RTK F option required 3 5 Hz synchronized RTK H option required
333. ude above mean sea level 1000 000 to 18000 000 M Altitude units M meters M f10 Geoidal separation in meters 999 999 M Geoidal separation units M meters Mi f11 Age of differential corrections seconds 0 999 RTCM mode 0 99 CPD d12 Base station ID RTCM only 0 1023 cc checksum If the PASHS NME TAG command is set to V23 or V30 the d6 parameter Position Type is defined as follows 0 Fix invalid or not available 1 GPS SPS Mode fix valid 2 Differential GPS SPS Mode fix valid 3 GPS PPS Mode fix valid 4 Real Time Kinematic Satellite system used in RTK mode with fixed integers 5 Float RTK Satellite system used in RTK mode floating integers 6 Estimated dead reckoning Mode 7 Manual Input Mode 8 Simulator Mode This field will not be a null field Example Query PASHQ GGA lt Enter gt Typical response GPGGA 015454 00 3723 285132 N 12202 238512 W 2 04 03 8 00012 123 M 032 121 M 014 0000 75 lt Enter gt Table 8 100 describes the parameters of the typical GGA response message Commands 221 spuewwog 222 Table 8 100 Typical GGA Message Item Description GPGGA Header 015454 00 UTC time 3723 285132 Latitude ddmm mmmmmm N North Latitude 12202 238512 Longitude dddmm mmmmmm WwW West longitude 2 RTCM differential position 04 Number of satellites used in position 03 8 HDOP 00012 123 Geoided height altitude above
334. urement not available and no additional data will be sent 22 Code and or carrier phase measured 23 Code and or carrier phase measure and navigation message was obtained but measurement was not used to compute position 24 Code and or carrier phase measured navigation message was obtained and measurement was used to compute position Only C A is used for position computation so this flag will never be more than 22 on Pcode measurements OUT Enable Disable Raw Data Output PASHS OUT c1 52 53 f4 The OUT command enables and disables continuous raw data output The serial port c is mandatory s2 and s3 specify the type string Table 8 82 and f4 the format The raw data type string and the format are optional If the command is sent without a format field the data will be output in the format of the current setting of the port if that format is available for that data type A PASHS OUT command overrides any previously sent PASHS OUT commande To disable raw data output issue the PASHS OUT command without any data format strings Table 8 82 OUT Message Structure Parameter Description Range ci Serial port A D 192 ZXW Receivers Operation and Reference Manual Table 8 82 OUT Message Structure continued Parameter Description Range 2 53 Raw data type string may have one or MBN PBN SNV CBN CMR DBN EPB SAL more delimited by commas f4 ASCII or binary forma
335. vailable 2 2D 3 3D d2 d13 Satellites used in solution null for unused channel 1 32 fi PDOP 0 9 9 f2 HDOP 0 9 9 f3 VDOP 0 9 9 cc Checksum Example Query PASHQ GSA lt Enter gt GPGSA Typical GSA response message GPGSA M 3 02 04 27 26 07 09 3 2 1 4 2 9 39 lt Enter gt Table 8 106 describes a typical GSA response message Table 8 106 Typical GSA Message al Item Significance 3 GPGSA Header 3 M Manual mode 3 3D mode Empty field Satellite in channel 1 Commands 227 Table 8 106 Typical GSA Message continued Item Significance 02 Satellite in channel 2 Empty field Satellite in channel 3 04 Satellite in channel 4 27 Satellite in channel 5 26 Satellite in channel 6 07 Satellite in channel 7 Empty field Satellite in channel 8 Empty field Satellite in channel 9 Empty field Satellite in channel 10 Empty field Satellite in channel 11 09 Satellite in channel 12 3 2 PDOP 1 4 HDOP 2 9 VDOP 38 checksum 228 ZXW Receivers Operation and Reference Manual GSN Signal Strength Satellite Number PASHS NME GSN c s f This command enables disables the signal strength satellite number response message on port c where c is either A B C or D sis ON or OFF and f is the optional output rate parameter in seconds If the output rate is not set the command is output at the rate set by the PASHS NME PER command
336. vation Modeling Interpolation of geoidal undulations The remainder of this chapter describes in more detail the coordinate transformation features of your receiver Datum to Datum The receiver normally computes and outputs positions in the WGS 84 coordinate reference frame However it is possible to output positions in NMEA messages in a number of different pre defined datums as well as in a user defined datum To set the receiver to output positions in a different datum use the PASHS DTM command Once set to a different datum then all position outputs in NMEA messages such as GGA and GLL and the position displayed on the LED screen are referenced to the chosen datum For a list of Datums refer to Appendix A Reference Datums amp Ellipsoids If the list of datums does not include a datum of interest to you you can define a datum and load it on the receiver using the PASHS UDD command along with the PASHS DTM command Prior to using these commands define the required parameters including the length of the semi major axis and amount of flattening in the reference ellipsoid and the translation rotation and scale between the user defined system and WGS 84 94 ZXW Receivers Operation and Reference Manual The rotation and scale parameters are only available in version ZCO0 or later S The generic formula used to translate and rotate from coordinate system 1 to coordinate system 2 is as follows Axl 6
337. vation mask 0 90 degree PASHS PEM NMEA PER NMEA message output period 0 1 999 second PASHS NME PER PMD Position mode for the minimum number of satellites 0 3 n a required to compute a position fix PASHS PMD PPO Point Positioning Y N n a PASHS PPO PRTA PRTB Output to port A B C D ON OFF n a PRTC PRTD PASHS NME PRT Port sending or receiving differential corrections A D n a PASHS RTC SAV Save parameters in the battery backed up memory Y N n a PASHS SAV SEM Secondary elevation mask 0 90 n a PASHS SEM 2 when SEM STA OFF SEM STA Secondary elevation mask ON OFF n a PASHS SEM SND AZIM Second azimuth setting of secondary elevation mask 0 360 degree SVS Satellites which the receiver will attempt to acquire Y N n a PASHS SVS TAG NMEA format setting ASH V23 V30 PASHS TAG UNH Use unhealthy satellites for position computation Y N n a PASHS UNH Commands 139 SPUBUIWO0J Table 8 30 PAR Parameter Table continued Return Description Related Command Range Unit Parameter VDP Vertical Dilution Of Precision VDOP mask 0 99 n a PASHS VDP ZEN_PEM Zenith elevation mask setting of position elevation mask 0 90 degree PASHS PEM PDP PDOP Mask PASHS PDP d Set the value of the PDOP mask to d where d is a number between 0 and 99 Position is not computed if the PDOP exceeds the PDOP mask The default is 40 Example Set PDOP mask to 20 PASHS PDP 20 lt Enter gt P
338. ve carrier phase value Commands 183 Table 8 73 RPC Packed Parameter Descriptions continued Data Resolutio Compress PA Type Symbol Range a Num Bits Description long PH I 1 28 Integer part of the carrier phase measurement in cycles double PH E 15 0e 4 11 Fractional part of the carrier phase measurement in units of 5e 4 cycles Multiply this number by 5e 4 to get fractional carrier phase in cycles Whole carrier phase measurement PH IA PH_F 5 0e 4 Zeros will be padded so that all of lt packed data gt part is a module of 16 bits Total number of bits in lt packed data gt ceil 94 72 2 Nsvs 16 16 and lt data length gt ceil 94 72 2 Nsvs 16 2 in which ceil a means truncates to Inf e g ceil 3 1 4 ceil 3 5 4 ceil 3 95 4 Nsvs is number of SVs Table 8 74 defines the DBEN message size 184 Table 8 74 DBEN Message Sizes Num of SVs Bits Bytes 4 808 101 5 952 119 6 1096 137 7 1240 155 8 1384 173 9 1528 191 10 1672 209 11 1816 227 12 1960 240 ZXW Receivers Operation and Reference Manual PASHR BPS The PASHR BPS is the base station position message that is transmitted along with the DBEN message This message has a fixed length of 96 bytes not including the lt CR gt lt LF gt and contains the base stations coordinates and antenna parameters By default this message
339. wwog Table 8 149 CPD Status Message Structure continued Parameter Description Range Default IAF Reserved Message Message type sent by base receiver Base only DBN CMR DBN type PAF Reserved AFM Reserved RNG Reserved SCL Reserved ION Reserved LC Reserved CKR Reserved The full range of the DBEN PER and CPD PER parameters in seconds is 0 0 0 2 0 3 0 4 0 5 0 6 0 7 0 8 0 9 1 0 2 0 3 0 4 0 5 0 AFP Ambiguity Fixing PASHS CPD AFP f This command sets the confidence level for ambiguity fixing where f is the confidence level in percent The higher the confidence level the more certainty that the ambiguities are fixed correctly But the longer it will take to fix them The default is 99 0 Table 8 150 CPD AFP Parameter Table Parameter Description Range f Ambiguity Fixing Parameter i e the confidence levels for the reliability 90 0 of the ambiguity fixed solution 95 0 99 0 99 9 Example Set the confidence level to 99 9 PASHS CPD AFP 99 9 lt Enter gt 282 ZXW Receivers Operation and Reference Manual ANT Antenna Parameters PASHS CPD ANT f1 f2 f3 m4 f5 Sets the antenna parameters of base receiver from the rover receiver Since this is only valid when using a base position entered at the rover the user must first set PASHS CPD UBP 0 before entering PASHS CPD ANT Table 8 151 CPD ANT Parameter Table
340. xample Set primary position elevation mask to 15 degrees PASHS ELM 15 lt Enter gt Example Set primary position elevation mask to 15 degrees and zenith position elevation mask to 80 degrees PASHS ELM 15 80 lt Enter gt SPUBUIWO0J Commands 119 EPG Epoch Counter PASHS EPG d Sets the initial value of the counter of epochs for recording at a site where d is the number of epochs and ranges from 0 to 999 The command is used during kinematic surveys when the receiver occupies a site for a set amount of time When the number of epoch goes to zero the site name is set to automatically indicating that the receiver is in motion Example Set epoch counter to 20 PASHS EPG 20 lt Enter gt FIL C Close a File PASHS FIL C Closes the current file in the receiver Example Close current file in receiver PASHS FIL C lt Enter gt If a file closure is attempted while the file system is mounting the receiver will respond with a PASHR FIL BUSY message and the file will not be closed FIL D Delete a File PASHS FIL D d Delete data file s from the receiver where d is the file index number and ranges from 0 99 If d is 999 then all files are deleted and the PC card is reformatted If the deleted file is not the last file in the receiver the receiver reorders all files after the deleted file thus changing the file index numbers for those files Example Delete 6th file from receiver PASHS FIL
341. y file information for files 1 10 PASHQ FLS 0 lt Enter gt 1 Table 8 10 Commands 121 spuewwog Display file information for files 6 15 PASHQ FLS 5 lt Enter gt PASHR FIL BUSY message until the mounting procedure is complete 3 If a file closure is attempted while the file system is mounting the receiver will respond with a PASHR FLS The response message returns file size name and available memory information The response structure is shown below and definted in Table 8 11 PASHR FLS d1 d2 d3 n s4 m5 d6 cc lt Enter gt Table 8 11 FLS Message Structure Parameter Description di Free memory in receiver PCMCIA card in Kbytes d2 Total number of files currently in the receiver d3 Number of files that match the query parameter and are displayed in the response n Number of files displayed f3 s4 File 4 character site name m5 Time of last epoch recorded in the file in the format wwwwdhhmn where wwww the GPS week number d day in the week 1 7 hhmm hours and minutes d6 Size of the file in Kbytes cc checksum 122 ZXW Receivers Operation and Reference Manual Example PASHR FLS 000003 003 03 SIT1 095641850 001666 SIT2 095721707 000187 SIT3 095721803 000051 2A lt Enter gt Table 8 12 Typical FLS Message Item Significance 000003 3 kb left on the Pc card i e Pc card is full 003 3 sessions
342. y starts transmitting these messages again because you have saved the settings with the PASHS SAV Y command To change the message type or rate use the PASHS RTC TYP command Differential and RTK Operations 57 y bd bd s D D 3 Q H A RTCM 20 amp 21 You must have both B and K options installed on the receiver Send the commands listed in Table 5 3 to the receiver to generate RTCM RTK message types 3 20 21 and 22 Table 5 3 RTK Base Station Commands Types 20 and 21 Command PASHS RST Description Reset the receiver to factory defaults PASHS ELM 9 Set the RTK Base mask to nine degrees PASHS POS ddmm mmm d dddmm mmm d saaaaa aa Enter the phase center of the antenna if ANR is OFF or the ground mark if ANR is ON or CPD Enter the latitude longitude and height of the survey mark NOTE If this is the position of the antenna phase center set PASHS ANR to OFF PASHS RTC BAS B Turn on RTCM corrections on port B When this command is sent a base station automatically sends RTCM message type 1 continuously PASHS RTC TYP 1 0 Turn off RTCM message type 1 PASHS RTC TYP 3 1 Turn on RTCM message type 3 PASHS RTC TYP 20 1 Turn on RTCM message type 20 amp 21 PASHS RTC TYP 22 1 Turn on RTCM message type 22 PASHS RTC SPD 9 Set internal bit rate for corrections to burst mode PASHS SAV Y Save settings
343. y temperature after data collection degrees celsius 99 d22 Wet temperature after data collection degrees celsius 99 d23 Relative humidity after data collection percent 0 99 d24 Barometric pressure after data collection millibars 0 9999 Kee Checksum 126 ZXW Receivers Operation and Reference Manual INI Receiver Initialization PASHS INI The INI command resets the receiver memory sets the serial port baud rate to the specified rates and or sends the modem initialization string through the specified port The structure is PASHS INI d1 d2 d3 d4 d5 c6 where the parameters are as defined in Table 8 16 Table 8 16 INI Parameter Description Table Parameter Description Range Default di Port A baud rate code 0 9 5 d2 Port B baud rate code 0 9 5 d3 Port C baud rate code 0 9 5 d4 Port D baud rate code 0 9 5 d5 Reset Memory Code 0 3 n a c6 Modem initialization A D 0 n a Port 0 No initialization Refer to Table 8 17 for baud rate and Table 8 18 for reset memory codes Table 8 17 Baud Rate Codes Code Baud Rate Code Baud Rate 0 300 5 9600 1 600 6 19200 2 1200 7 138400 3 2400 8 57600 4 4800 9 115200 SPUBUIWO0J Commands 127 Table 8 18 Reset Memory Codes e Medie Action 0 No memory reset 1 Reset internal memory battery back up memory 2 Reset reformat PCMCIA card 3 Reset internal memory and PCMCIA card Th

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ZXW Operation & Reference Manual Rev B