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OEMStar Firmware Reference Manual

1. Chapter 3 Data Logs i oe Binary Field Field type Data Description Format Offset Scaling 18 udreO udre i Ulong 4 H 64 See Table 79 Evaluation of 19 udre1 User differential range error Ulong 4 H 68 UDREI on indicator for the prn in slot i page 374 20 udre2 i 0 12 Ulong 4 H 72 21 udre3 Ulong 4 H 76 22 udre4 Ulong 4 H 80 23 udre5 Ulong 4 H 84 24 udre6 Ulong 4 H 88 25 udre7 Ulong 4 H 92 26 udre8 Ulong 4 H 96 27 udre9 Ulong 4 H 100 28 udre10 Ulong 4 H 104 29 udre11 Ulong 4 H 108 30 udre12 Ulong 4 H 112 31 XXXX 32 bit CRC ASCII and Hex 4 H 116 Binary only 32 CR LF Sentence terminator ASCII only 376 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 3 3 83 WAAS3 Fast Corrections Slots 13 25 SBAS WAAS3 are fast corrections for slots 13 25 in the mask of WAAS1 This message may or may not come when SBAS is in testing mode see the SBASCONTROL command on page 135 for details Message ID 301 Log Type Asynch Recommended Input log WAAS3a onchanged ASCII Example WAAS3A COM1 0 17 0 SATTIME 1337 415990 000 00000000 b 5 1984 134 1 2 2047 0 2047 2047 21 4 2047 2047 1 0 2 2047 6 14 5 14 14 11 5 14 14 5 7 5 14 8 a25aebe5 lt Each raw WAAS frame gives data for a specific frame decoder number The WAAS3 message can be logged to view the data breakdown of
2. UDREI2 UDRE metres Cc ygre metres 0 0 75 0 0520 1 1 0 0 0924 2 1 25 0 1444 3 1 75 0 2830 4 2 25 0 4678 5 3 0 0 8315 6 3 75 1 2992 7 4 5 1 8709 8 5 25 2 5465 9 6 0 3 3260 10 7 5 5 1968 11 15 0 20 7870 12 50 0 230 9661 13 150 0 2078 695 14 Not Monitored Not Monitored 15 Do Not Use Do Not Use D The o2UDRE broadcast in WAAS2 WAAS3 WAAS4 WAAS5 WAAS6 and WAAS24 applies at a time prior to or at the time of applicability of the associated corrections Data Logs OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Field Field type Data Description Format Chapter3 Binary Offset Scaling 1 WAAS2 header Log header H 0 2 prn Source PRN of message Ulong 4 H 3 iodf Issue of fast corrections Ulong 4 H 4 data 4 iodp Issue of PRN mask data Ulong 4 H 8 5 prcO pre i Long 4 H 12 6 pret Fast corrections Long 4 H 16 2048 to 2047 for the prn 7 prc2 in slot i i 0 12 Long 4 H 20 8 prc3 Long 4 H 24 9 prc4 Long 4 H 28 10 prc5 Long 4 H 32 11 prc6 Long 4 H 36 12 prc7 Long 4 H 40 13 prc8 Long 4 H 44 14 prc9 Long 4 H 48 15 prc10 Long 4 H 52 16 prc11 Long 4 H 56 17 prc12 Long 4 H 60 Continued on the following page OEMStar Firmware Version 1 101 Reference Manual Rev 5 375
3. Datatype UGEET SHB Description WAAS1 291 PRN mask assignments WAAS2 296 Fast correction slots 0 12 WAAS3 301 Fast correction slots 13 25 WAAS4 302 Fast correction slots 26 38 WAAS5 303 Fast correction slots 39 50 WAAS6 304 Integrity message WAAS7 305 Fast correction degradation WAAS9 306 GEO navigation message WAAS10 292 Degradation factor WAAS12 293 SBAS network time and UTC WAAS17 294 GEO almanac message WAAS18 295 IGP mask WAAS24 297 Mixed fast slow corrections WAAS25 298 Long term slow satellite corrections WAAS26 299 lonospheric delay corrections WAAS27 300 SBAS service message WAASCORR 313 SBAS range corrections used RTCA Format Logs RTCA1 10 Type 1 Differential GPS Corrections RTCAEPHEM 347 Type 7 Ephemeris and Time Information RTCM Format Logs RTCM1 107 Type 1 Differential GPS Corrections RTCM9 275 Type 9 Partial Differential GPS Corrections RTCM15 307 Type 15 lonospheric Corrections RTCM16 129 Type16 Special Message RTCM31 864 Type 31 Differential GLONASS Corrections RTCM Format Logs Datatype Message ID Description RTCM36 875 Type 36 Special Message RTCM36T 877 Type 36T Special Text Message RTCM59GLO 903 NovAtel proprietary GLONASS differential Continued on the following page OEMStar Firmware Version 1 101 Reference Manual Rev 5 185 Chapter 3 Data Logs NMEA Format Logs GLMLA 859 NME
4. 248 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 3 3 26 GPGSA GPS DOP and Active Satellites GPS receiver operating mode satellites used for navigation and DOP values The GPGSA log outputs these messages with contents without waiting for a valid almanac Instead it uses a UTC time calculated with default parameters In this case the UTC time status is set to WARNING since it may not be 100 accurate When a valid almanac is available the receiver uses the real parameters Then the UTC time is set to VALID lt If the DOP values exceed 9999 0 or there is an insufficient number of satellites to calculate a DOP value 9999 0 is reported for PDOP and HDOP VDOP is reported as 0 0 in this case If the NMEATALKER command see page 116 is set to AUTO the talker the first 2 characters after the sign in the log header is set to GP GPS satellites only GL GLONASS satellites only or GN satellites from both systems NovAtel does not support a GLONASS only solution Message ID 221 Log Type Synch Recommended Input log gpgsa ontime 1 Example 1 GPS only SGPGSA M 3 17 02 30 04 05 10 09 06 31 12 1 2 0 8 0 9 35 Example 2 Combined GPS and GLONASS SGNGSA M 3 17 02 30 04 05 10 09 06 31 12 1 2 0 8 0 9 2B SGNGSA M 3 87 70 rrrrrrrr 1 2 0 8 0 9 2A lt The DOPs provide a simple characterization of the user satellite geometry DOP is related to the volume
5. i TE Binary Field Field type Data Description Format Offset 1 GLOCLOCK Log header H 0 header 2 Reserved Ulong 4 H 3 Double 8 H 4 4 Double 8 H 12 5 sat type Satellite type where Uchar 1 H 20 0 GLO_SAT 1 GLO_SAT_M new M type 6 N4 Four year interval number starting from 1996 Uchar qa H 21 2 7 TOPS GPS reference time scale correction to UTC SU Double 8 H 24 given at beginning of day N4 in seconds 8 NA GLONASS calendar day number within a four Ushort 2 H 32 4 year period beginning since the leap year in days 9 TC GLONASS time scale correction to UTC time in Double 8 H 36 seconds 10 b1 Beta parameter 1st order term Double 8 H 44 11 b2 Beta parameter 2nd order term Double 8 H 52 12 Kp Kp provides notification of the next expected leap Uchar 1 H 60 second For more information see Table 57 13 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 61 14 CR LF Sentence terminator ASCII only a Inthe binary log case an additional bytes of padding are added to maintain 4 byte alignment Table 51 Kp UTC Leap Second Descriptions Kp Information on UTC Leap Second 00 No UTC correction at the end of current quarter 01 UTC correction by plus 1 s in the end of current quarter 10 No final decision yet on UTC correction at end of current quarter 11 UTC correction by minus 1 s in the end of current quarter a
6. Data Logs Chapter3 Field Field type Data Description Format Binary Binary Bytes Offset 1 WAAS12 Log header H 0 header 2 prn Source PRN of message Ulong 4 H 3 Ay Time drift s s Double 8 H 4 4 Ao Time offset s Double 8 H 12 5 seconds Seconds into the week s Ulong 4 H 20 6 week Week number Ushort 4 H 24 7 dts Delta time due to leap seconds Short 2 H 28 8 Wnisf Week number leap second future Ushort 2 H 30 9 dn Day of the week the range is 1 to 7 where Ushort 2 H 32 Sunday 1 and Saturday 7 10 tise Delta time leap second future Short 2 H 34 11 utc id UTC type identifier Ushort 2 H 36 12 gpstow GPS reference time of the week Ulong 2 H 38 13 gpswn GPS de modulo week number Ulong 2 H 40 14 glo Is GLONASS information present Enum 4 H 42 indicator 0 FALSE 1 TRUE 15 Reserved array of hexabytes for GLONASS Char 10 42a H 46 16 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 58 17 CR LF Sentence terminator ASCII only a In the binary log case an additional 2 bytes of padding are added to maintain 4 byte alignment OEMStar Firmware Version 1 101 Reference Manual Rev 5 399 Chapter 3 Data Logs 3 3 91 WAAS17 GEO Almanac Message SBAS Almanacs for all GEOs are broadcast periodically to alert you of their existence location the general service provided status and health lt Unused almanacs have a PRN number of 0 and should be ignored see ASCI Example below
7. 2 L1 t const 2 to 2000 L1 time constant Ulong 4 H 3 Reserved 98 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 2 5 25 GLOECUTOFF Set GLONASS satellite elevation cut off GLO This command sets the elevation cut off angle for tracked GLONASS satellites The receiver does not start automatically searching for a satellite until it rises above the cut off angle Tracked satellites that fall below the cut off angle are no longer tracked unless they were manually assigned see the ASSIGN command In either case satellites below the GLOECUTOFF angle are eliminated from the internal position and clock offset solution computations See also the ECUTOFF command on page 86for more information about elevation cut off commands Abbreviated ASCII Syntax Message ID 735 GLOECUTOFF angle Factory Default gloecutoff 5 0 ASCII Example gloecutoff 0 lt For more information about GLONASS refer to the Knowledge and Learning page in the Support section of our Web site at www novatel com ASCII Binary fer Binary Binary Binary Value Value Description Format Bytes Offset 1 GLO This field contains the command H 0 ECUTOFF name or the message header header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 angle 90 0 degrees Elevation cut off angle relative to Float 4 H horizon OEMStar Firmware Vers
8. GPS 0 to 13 for GPS L1 channels GPS SBAS 0 to 11 for GPS L1 channels 12 to 13 for SBAS L1 channels GPS GLONASS 0 to 9 for GPS L1 channels 10 to 13 for GLONASS L1 channels GPS GLONASS 0 to 7 for GPS L1 channels 8 to 13 for GLONASS L1 channels GPS GLONASS 0 to 7 for GPS L1 channels SBAS 8 to 11 for GLONASS L1 channels 12 to 13 for SBAS L1 channels see note in Table 29 GPS GLONASS 0 to 9 for GPS L1 channels SBAS 10 to 11 for GLONASS L1 channels 12 to 13 for SBAS L1 channels GPS GLONASS 0 to 6 for GPS L1 channels 7 to 13 for GLONASS L1 channels GLONASS 0 to 13 GLONASS L1 channels OEMStar Firmware Version 1 101 Reference Manual Rev 5 139 Chapter 2 Commands 2 5 46 SEND Send an ASCII message to a COM port This command is used to send ASCII printable data from any of the COM or USB ports to a specified communications port This is a one time command therefore the data message must be preceded by the SEND command and followed by lt CR gt each time you wish to send data If the data string contains delimiters that is spaces commas tabs and so on the entire string must be contained within double quotation marks Carriage return and line feed characters for example 0x0D 0x0A are appended to the sent ASCII data Example Scenario Assume that you are operating receivers as base and rover stations It could also be assumed that the base station is unattended but operational and you wish to control it from the rove
9. a If you choose ANY the receiver ignores the ID string Specify a Type when you are using base station IDs b In the binary log case an additional 3 bytes of padding are added to maintain 4 byte alignment OEMStar Firmware Version 1 101 Reference Manual Rev 5 129 Chapter 2 Commands 2 5 40 RAIMMODE Configures RAIM mode RAIM 130 This command is used to configure RAIM operation This command uses RTCA MOPS characteristics which defines the positioning accuracy requirements for airborne lateral navigation LNAV and vertical navigation VNAV at 3 stages of flight 1 Enroute travel 2 Terminal within range of air terminal 3 Non precision approach In order to ensure that the required level of accuracy is available in these phases of flight MOPS requires the computation of protection levels HPL and VPL MOPS has the following definitions that apply to NovAtel s RAIM feature Horizontal Protection Level HPL is a radius of the circle in the horizontal plane with its center being at the true position that describes the region that is assured to contain the indicated horizontal position It is horizontal region where the missed alert and false alert requirements are met using autonomous fault detection Vertical Protection Level VPL is a half the length of the segment on the vertical axis with its center being at the true position that describes the region that is assured to contain the indicated vertical pos
10. a Inthe binary log case an additional 2 bytes of padding are added to maintain 4 byte alignment 268 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 Field Field type Data Description Format 1 LOGLIST Log header ASCII header 2 port Number of messages to follow maximum 30 Long 3 port Output port see Table 4 The header is in the format shown Enum in Table 4 Binary Message Header Structure on page 20 on page 19 4 message Message name of log with no suffix for abbreviated ascii an Char A suffix for ascii and a B suffix for binary 5 trigger ONNEW Enum ONCHANGED ONTIME ONNEXT ONCE ONMARK 6 period Log period for ONTIME Double 7 offset Offset for period ONTIME trigger Double 8 hold NOHOLD Enum HOLD 9 Next port variable XXXX 32 bit CRC Hex variable CR LF Sentence terminator OEMStar Firmware Version 1 101 Reference Manual Rev 5 269 Chapter 3 Data Logs 3 3 36 MARKPOS Position at Time of Mark Input Event This log contains the estimated position of the antenna when a pulse is detected at a mark input MARKPOS is a result of a pulse on the MK1I input Refer to the Technical Specifications appendix in the OEMStar Installation and Operation User Manual for mark input pulse specifications and the location of the mark input pins The position at the mark input pulse is extrapolated using the last valid position and velocities The
11. OEMStar Firmware Version 1 101 Reference Manual Rev 5 147 Chapter 2 Commands 2 5 52 SETNAV Set start and destination waypoints This command permits entry of one set of navigation waypoints see Figure on page 148 The origin FROM and destination TO waypoint coordinates entered are considered on the ellipsoidal surface of the current datum default WGS84 Once SETNAV has been set you can monitor the navigation calculations and progress by observing the NAVIGATE log messages Track offset is the perpendicular distance from the great circle line drawn between the FROM lat lon and TO lat lon waypoints It establishes the desired navigation path or track that runs parallel to the great circle line which now becomes the offset track and is set by entering the track offset value in metres A negative track offset value indicates that the offset track is to the left of the great circle line track A positive track offset value no sign required indicates the offset track is to the right of the great circle line track looking from origin to destination See Figure 5 for clarification Consider the case of setting waypoints in a deformation survey along a dam The surveyor enters the From and To point locations on either side of the dam using the SETNAV command They then use the NAVIGATE log messages to record progress and show them where they are in relation to the From and To points TO lat lon FROM lat lon Figure 5 Illust
12. 2 week 0 9999 GPS reference week Ulong 4 H number 3 sec 0 604801 Number of seconds into Double 8 H 4 GPS reference week OEMStar Firmware Version 1 101 Reference Manual Rev 5 145 Chapter 2 Commands 2 5 50 SETBESTPOSCRITERIA Selection criteria for BESTPOS Use this command to set the criteria for the BESTPOS log It allows you to select between 2D and 3D standard deviation to obtain the best position from the BESTPOS log It also allows you to specify the number of seconds to wait before changing the position type This delay provides a single transition that ensures position types do not skip back and forth See also BESTPOS on page 195 Abbreviated ASCII Syntax Message ID 839 SETBESTPOSCRITERIA type delay Factory Default setbestposcriteria pos3d 0 Example setbestposcriteria pos2d 5 i Field ASCII Binary PE Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 SET This field contains the H 0 BESTPOS command name or the CRITERIA message header header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 type See Table 31 Select a 2D or 3D Enum 4 H standard deviation type to obtain the best position from the BESTPOS log default 3D 3 delay 0to 100s Set the number of Ulong 4 4 seconds to wait before changing the position type default 0 Table 31 Selection Type ASCII Binary Descripti
13. 238 a In the binary log case additional bytes of padding are added to maintain 4 byte alignment OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 3 3 21 GPALM Almanac Data This log outputs raw almanac data for each satellite PRN contained in the broadcast message A separate record is logged for each PRN up to a maximum of 32 records GPALM outputs these messages with contents without waiting for a valid almanac Instead it uses a UTC time calculated with default parameters In this case the UTC time status is set to WARNING since it may not be 100 accurate When a valid almanac is available the receiver uses the real parameters Then UTC time is then set to VALID It takes a minimum of 12 5 minutes to collect a complete almanac following receiver boot up If an almanac was stored in NVM the stored values are reported in the GPALM log once time is set on the receiver lt To obtain copies of ICD GPS 200 seen in the GPALM table footnotes Please refer to the ARINC Web site at www arinc com For NMEA information please refer to the NMEA Web site at www nmea org Message ID 217 Log Type Asynch Recommended Input log gpalm onchanged Example SGPALM 28 01 01 1337 00 305a 90 1b9d fd5b al0ce9 ba0a5e 2 48f1 cccb76 006 001 27 SGPALM 28 02 02 1337 00 4aa6 90 0720 d50 al0c5a 4dc146 d89bab 0790b6 fe4 000 lt 70 SGPALM 28 24 26 1337 00 878c 90 1d32 fd5c
14. Index Value A Standard Deviations Variance A m 0 2 0 4 1 2 8 7 84 2 4 0 16 3 5 7 32 49 4 8 64 5 11 3 127 69 6 16 0 256 7 32 0 1024 8 64 0 4096 9 128 0 16384 10 256 0 65536 11 512 0 262144 12 1024 0 1048576 13 2048 0 4194304 14 4096 0 16777216 15 8192 0 67108864 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 Binary Binary Field Field type Data Description Format Bytes Offset 1 GPSEPHEM Log header H 0 header 2 PRN Satellite PRN number Ulong 4 H 3 tow Time stamp of subframe 0 seconds Double 8 H 4 4 health Health status a 6 bit health code as defined in Ulong 4 H 12 ICD GPS 200 5 IODE1 Issue of ephemeris data 1 Ulong 4 H 16 6 IODE2 Issue of ephemeris data 2 Ulong 4 H 20 7 week GPS reference week number Ulong 4 H 24 8 z week Z count week number This is the week number Ulong 4 H 28 from subframe 1 of the ephemeris The toe week field 7 is derived from this to account for rollover 9 toe Reference time for ephemeris seconds Double 8 H 32 10 A Semi major axis metres Double 8 H 40 11 AN Mean motion difference radians second Double 8 H 48 12 Mo Mean anomaly of reference time radians Double 8 H 56 13 ecc Eccentricity dimensionless quantity defined Double 8 H 64 for a conic section where e 0 is a circle e 1 is a parabola 0 lt e lt 1 is an ellipse and e gt 1 isa hyperbola 14 o Argument o
15. N A Message Name of log to be disabled ULong 4 H 4 OEMStar Firmware Version 1 101 Reference Manual Rev 5 165 Chapter 2 Commands 2 5 65 UNLOGALL Remove all logs from logging control If port is specified this command disables all logs on the specified port only All other ports are unaffected If port is not specified this command defaults to the ALL PORTS setting Abbreviated ASCII Syntax Message ID 38 UNLOGALL port Input Example unlogall com2_15 lt The UNLOGALL command allows you to remove all log requests currently in use Field ASCII Binary ae Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 UNLOGALL This field contains the command H 0 header name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 port See Table 4on Port to clear Enum 4 H page 19 decimal default ALL_PORTS values greater than 16 may be used 3 held FALSE 0 Does not remove logs with the Enum 4 H 4 HOLD parameter default TRUE 1 Removes previously held logs even those with the HOLD parameter 166 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 2 5 66 USERDATUM Set user customized datum This command permits entry of customized ellipsoidal datum parameters This command is used in conjunction with the DATUM command see pag
16. OEMStar Firmware Version 1 101 Reference Manual Rev 5 55 Chapter 2 Commands 2 5 4 ASSIGNALL Assign all channels to a PRN 56 lt The ASSIGNALL command should only be used by advanced users This command allows you to override the automatic satellite channel assignment and reacquisition processes for all receiver channels with manual instructions Abbreviated ASCII Syntax Message ID 28 ASSIGNALL system state prn Doppler Doppler window Table 14 Channel System Binary ASCII Description 0 GPSL1 GPS L1 dedicated SV channels only 2 NONE No dedicated SV channels 3 ALL All channels default 4 SBASL1 SBAS SV channels only 10 GLOL1 GLONASS L1 dedicated SV channels only Db Only GLONASS satellites that are in the almanac are available to assign using a slot number in the ASSIGN command The possible range is still 38 to 61 The optional system field indicates the channel type the command is to use For example the command input ASSTGNALL GPSL1 IDLE idles all GPS L1 channels on the receiver GPSLI is the system in this case If the receiver is not using any GPS L1 channels the command has no effect The ASSIGNALL command cannot be used as a method of changing the receiver s channel configuration For example changing from all GPS L1 to a GPS L1 GLONASS LI channel configuration Channel configuration can only be modified by using the SELECTCHANCOMNFIG command or purchasing t
17. 18 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Messages Chapter 1 1 1 2 Abbreviated ASCII This message format is designed to make the entering and viewing of commands and logs by the user as simple as possible The data is represented as simple ASCII characters separated by spaces or commas and arranged in an easy to understand fashion There is also no 32 bit CRC for error detection because it is meant for viewing by the user Example Command log coml loglist Resultant Log lt LOGLIST COM1 0 69 0 FINE 0 0 000 00240000 206d 0 lt 4 lt COM1 RXSTATUSEVENTA ONNEW 0 000000 0 000000 NOHOLD lt COM2 RXSTATUSEVENTA ONNEW 0 000000 0 000000 NOHOLD lt COM1 LOGLIST ONCE 0 000000 0 000000 NOHOLD As you can see the array of 4 logs are offset from the left hand side and start with lt 1 1 3 Binary Binary messages are meant strictly as a machine readable format They are also ideal for applications where the amount of data being transmitted is fairly high Because of the inherent compactness of binary as opposed to ASCII data the messages are much smaller This allows a larger amount of data to be transmitted and received by the receiver s communication ports The structure of all Binary messages follows the general conventions as noted here 1 Basic format of Header 3 Sync bytes plus 25 bytes of header information The header length is variable as fields may be appended in the future Always check the head
18. 4 H 28 offset The last valid receiver clock offset computed m It is the same as Field 18 of the CLOCKMODEL log see page 211 Double 8 H 32 driftrate The last valid receiver clock drift rate received m s It is the same as Field 19 of the CLOCKMODEL log Double 8 H 40 10 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 48 11 CR LF Sentence terminator ASCII only OEMStar Firmware Version 1 101 Reference Manual Rev 5 217 Chapter 3 Data Logs 3 3 11 CMR Standard Logs lt The OEMStar does not currently transmit carrier phase corrections The OEMStar can be configured to receive the CMR corrections issued in Table 50 below and compute a DGPS pseudorange position The GLONASS option is required for GLONASS corrections to be used in the DGPS position Table 50 CMR Carrier Phase Messages ree Log Name Description 310 CMRDESC Base Station Description Information 882 CMRGLOOBS CMR Data GLONASS Observations CMR Type 3 message 103 CMROBS Base Station Satellite Observation Information 717 CMRPLUS CMR Output Information 105 CMRREF Base Station Position Information 218 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 3 3 12 COMCONFIG Current COM Port Configuration This log outputs the current COM port configuration for each port on your receiver Message ID 317 Log Type Polled
19. 4 maxhstd 0 100 m Desired horizontal standard Float 4 H 8 deviation default 0 5 maxvstd 0 100 m Desired vertical standard Float 4 H 12 deviation default 0 OEMStar Firmware Version 1 101 Reference Manual Rev 5 123 Chapter 2 Commands 2 5 37 POSTIMEOUT Sets the position time out This commands allows you to set the position type time out value for the position calculation in seconds In position logs for example BESTPOS or PSRPOS when the position time out expires the Position Type field is set to NONE Other field values in these logs remain populated with the last available position data Also the position is no longer used in conjunction with the almanac to determine what satellites are visible Abbreviated ASCII Syntax Message ID 612 POSTIMEOUT sec Factory Default postimeout 600 ASCII Example postimeout 1200 Field ASCII Binary Description Binary Binary Binary Type Value Value p Format Bytes Offset 1 POSTIMEOUT This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 sec 0 86400 Time out in seconds Ulong 4 H default 600 s 124 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 2 5 38 PPSCONTROL Control the PPS output This command provides a method for controlling the polarity pulse width and pe
20. Maximum flexibility for logging data is provided to the user by these logs The user is cautioned however to recognize that each log requested requires additional CPU time and memory buffer space Too many logs may result in lost data and degraded CPU performance Receiver overload can be monitored using the idle time field and buffer overload bits of the Receiver Status in any log header Polled log types do not allow fractional offsets or ONTIME rates faster than 1 Hz Use the ONNEW trigger with the MARKTIME or MARKPOS logs Only the MARKPOS or MARKTIME logs and polled log types are generated on the fly at the exact time of the mark Synchronous and asynchronous logs output the most recently available data If you do use the ONTIME trigger with asynchronous logs the time stamp in the log does not necessarily represent the time the data was generated but rather the time when the log is being transmitted Abbreviated ASCII Syntax Message ID 1 LOG port message trigger period offset hold Factory Default log com rxstatuseventa onnew 0 0 hold log com rxstatuseventa onnew 0 0 hold log usb rxstatuseventa onnew 0 0 hold log usb2 rxstatuseventa onnew 0 0 hold log usb3 rxstatuseventa onnew 0 0 hold OEMStar Firmware Version 1 101 Reference Manual Rev 5 105 Chapter 2 Commands Abbreviated ASCII Example 1 log com1 bestpos ontime 7 0 5 hold The above example shows BESTPOS logging to COM port I at 7 second
21. Message ID 294 Log Type Asynch Recommended Input log WAAS 17a onchanged ASCII Example WAAS17A COM1 0 33 5 SATTIME 1337 416653 000 00000000 896c 1984 122 3 0 134 0 42138200 1448200 26000 0 0 0 0 122 0 24801400 34088600 26000 0 0 0 0 0 0 0 0 0 0 0 0 70848 22d9a0eb lt Each raw WAAS frame gives data for a specific frame decoder number The WAAS17 message can be logged to view the data breakdown of WAAS frame 17 which contains GEO almanacs 400 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 Field Field type Data Description Format ie a par Scaling 1 WAAS17 Log header H 0 header 2 prn Source PRN of message Ulong 4 H 3 ents Number of almanac entries Ulong 4 H 4 with information to follow 4 data id Data ID type Ushort 2 H 8 5 entry prn PRN for this entry Ushort 2 H 10 6 health Health bits Ushort 4a H 12 7 x ECEF x coordinate Long 4 H 16 8 y ECEF y coordinate Long 4 H 20 9 Z ECEF z coordinate Long 4 H 24 10 x vel X rate of change Long 4 H 28 11 y vel Y rate of change Long 4 H 32 12 z vel Z rate of change Long 4 H 36 13 Next entry H 8 ents x 32 variable tO Time of day in seconds 0 to Ulong 4 H 8 64 86336 ents x 32 variable xxxx 32 bit CRC ASCII and Binary Hex 4 H 12 only ents x 32 variable CR LF so terminator ASCII only a Inthe binary log case an
22. 049c10081857 2df1 4a130ba2888eb9600603a709030000 449c1008340400e0aaa9al09a7535bac2015c 71c6030000 0b9d301113c8ffefc284000cb6ea051db 3089dala0010000 249d1018c6b7 67 a228820af2e5e39830180ae1a8030000 449d1018be18f41f2aacad0ala934efc40074ecf88030000 849d101817alf95f16d7af0ab9fbel fa401d3 d064030000 249e1118af4e0470 66d4309a0a631cd642cf5b821320000 849e1118b878f54f4ed2aa098C35558a532bde1765220000 0eeead18 lt Consider the case where commercial vehicles are leaving a control center The control center s coordinates are known but the vehicles are on the move Using the control center s position as a reference the vehicles are able to report where they are at any time Post processed information gives more accurate comparisons Post processing can provide post mission position and velocity using raw GPS collected from the vehicles The logs necessary for post processing include RANGECMPB ONTIME 1 RAWEPHEMB ONNEW Above we describe and give an example of data collection for post processing OEMStar based output is compatible with post processing software from the Waypoint Products Group NovAtel Inc Refer also to our Web site at www novatel com for details 308 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 Table 64 Range Record Format RANGECMP only Data Bit s first to last Length bits Scale Factor Units Channel Tracking Status 0 31 32 see Table
23. 1 WAASECUTOFF This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 angle 90 0 degrees Elevation cut off angle Float 4 H relative to horizon default 5 0 OEMStar Firmware Version 1 101 Reference Manual Rev 5 173 Chapter 2 Commands 2 5 70 WAASTIMEOUT Set WAAS position time out SBAS This command is used to set the amount of time the receiver remain in an SBAS position if it stops receiving SBAS corrections See the DGPSEPHEMDELAY command on page 79 to set the ephemeris change over delay for base stations Abbreviated ASCII Syntax Message ID 851 WAASTIMEOUT mode delay Factory Default waastimeout auto ASCII Example rover waastimeout set 100 lt When the time out mode is AUTO the time out delay is 180 s Field ASCII Binary Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 WAAS This field contains the command H 0 TIMEOUT name or the message header header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 mode See Table 37 Time out mode Enum 4 H below default AUTO 3 delay 2 to 1000 s Maximum SBAS position age Double 8 H 4 default 180 s 4 Reserved Double 8 H 12 Table 37 SBAS Time Out Mode Binary ASCII Description 0 Reserve
24. 104ea 002b04 099 00c 6 lt For more information about GLONASS refer to the Knowledge and Learning page in the Support section of our Web site at www novatel com 781b7 00235a 099 207 6E 010433 0027 0 099 227 6F 2dcbh6 002b6f 099 020 3F 6 D 0 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Field Structure Field Description Chapter3 Example 1 GLMLA Log header GLMLA 2 alm Number of NMEA almanac X X 16 messages in the set 3 alm Current message number X X 13 4 slot Slot number for satellite 65 96 2 XX 85 5 N Calendar day count within the four X X 1176 year period from the last leap year 6 hith amp freq Health and frequency for satellite hh 88 ecc Eccentricity hhhh 01a6 8 ATdot Rate of change of orbital period hh Od s orbital period 9 0 Argument of perigee PZ 90 02 in hhhh 9dc9 radians 10 T16MSB Clock offset in seconds hhhh 8000 11 AT Correction to the mean value of the hhhhhh 34bff8 Draconian period s orbital period 12 t GLONASS Time of ascending node hhhhhhh 031887 equator crossing in seconds 13 Longitude of ascending node hhhhhhh 02da1e equator crossing PZ 90 02 in radians 14 Ai Correction to nominal inclination in hhhhhhh 002838 radians 15 T12LSB Clock offset in seconds hhh 099 16 t Coarse value of the time scale shift h
25. 8 H 24 7 P X o Standard deviation of P X m Float 4 H 32 8 P Yo Standard deviation of P Y m Float 4 H 36 9 P Z o Standard deviation of P Z m Float 4 H 40 10 V sol status Solution status Enum 4 H 44 11 vel type Velocity type Enum 4 H 48 12 V X Velocity vector along X axis m Double 8 H 52 13 V Y Velocity vector along Y axis m Double 8 H 60 14 V Z Velocity vector along Z axis m Double 8 H 68 15 V X o Standard deviation of V X m Float 4 H 76 16 V Yo Standard deviation of V Y m Float 4 H 80 17 V Z o Standard deviation of V Z m Float 4 H 84 18 stn ID Base station ID Char 4 4 H 88 19 V latency A measure of the latency in the velocity time tag in Float 4 H 92 seconds It should be subtracted from the time to give improved results 20 diff_age Differential age in seconds Float 4 H 96 21 sol_age Solution age in seconds Float 4 H 100 22 sats Number of satellite vehicles tracked Uchar 1 H 104 23 sats soln Number of satellite vehicles used in solution Uchar 1 H 105 24 Reserved Uchar 1 H 106 25 Uchar 1 H 107 26 Uchar 1 H 108 27 Uchar 1 H 109 28 Uchar 1 H 110 29 Uchar 1 H 111 30 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 112 31 CR LF Sentence terminator ASCII only OEMStar Firmware Version 1 101 Reference Manual Rev 5 287 Chapter 3 Data Logs 3 3 44 PORTSTATS Port Statistics This log conveys various status parameters of the receiver s COM ports and if supported USB ports The receiver maintai
26. 8 VARIANCE Variance exceeds limits 9 RESIDUALS Residuals are too large 10 DELTA_POS Delta position is too large 11 NEGATIVE_VAR Negative variance 12 Reserved 13 INTEGRITY WARNING Large residuals make position unreliable 14 17 Reserved 18 PENDING When a FIX POSITION command is entered the receiver computes its own position and determines if the fixed position is valid 19 INVALID FIX The fixed position entered using the FIX POSITION command is not valid 21 ANTENNA WARNING Antenna warnings a PENDING implies there are not enough satellites being tracked to verify if the FIX POSITION entered into the receiver is valid The receiver needs to be tracking two or more GPS satellites to perform this check Under normal conditions you should only see PENDING for a few seconds on power up before the GPS receiver has locked onto its first few satellites If your antenna is obstructed or not plugged in and you have entered a FIX POSITION command then you may see PENDING indefinitely OEMStar Firmware Version 1 101 Reference Manual Rev 5 197 Chapter 3 Data Logs Table 45 Signal Used Mask Bit Mask Description 0 0x01 GPS L1 used in Solution 3 0x08 Reserved 4 0x10 GLONASS L1 used in Solution 6 7 0x40 0x80 Reserved Table 46 Extended Solution Status Bit Mask Description 0 0x01 Reserved 1 3 Ox0E Pseudorange lono Correction 0 Unknown 1 Klobuchar Broadcast 2 SBAS Broadcast 3 Reserved 4
27. Chapter 3 Data Logs Binary Binary Field Field type Data Description Format Bytes Offset Scaling 25 udre18 udre i Ulong 4 H 92 See Table 79 Evaluation of 26 udre19 User differential range error Ulong 4 H 96 UDREI on Sa m r jee the prn in slot i Ulong p 1400 page 374 28 udre21 Ulong 4 H 104 29 udre22 Ulong 4 H 108 30 udre23 Ulong 4 H 112 31 udre24 Ulong 4 H 116 32 udre25 Ulong 4 H 120 33 udre26 Ulong 4 H 124 34 udre27 Ulong 4 H 128 35 udre28 Ulong 4 H 132 36 udre29 Ulong 4 H 136 37 udre30 Ulong 4 H 140 38 udre31 Ulong 4 H 144 39 udre32 Ulong 4 H 148 40 udre33 Ulong 4 H 152 41 udre34 Ulong 4 H 156 42 udre35 Ulong 4 H 160 43 udre36 Ulong 4 H 164 44 udre37 Ulong 4 H 168 45 udre38 Ulong 4 H 172 46 udre39 Ulong 4 H 176 47 udre40 Ulong 4 H 180 48 udre41 Ulong 4 H 184 49 udre42 Ulong 4 H 188 50 udre43 Ulong 4 H 192 51 udre44 Ulong 4 H 196 52 udre45 Ulong 4 H 200 Continued on the following page 388 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 Binary Binary Field Field type Data Description Format Bytes Offset Scaling 53 udre46 udre i Ulong 4 H 204 See Table 79 Evaluation of 54 udre47 User differential range error Ulong 4 H 208 UDRElon indicator
28. Noite OEMStar Firmware Reference Manual OM 20000127 Rev 5 Proprietary Notice OEMStar Receiver Firmware Reference Manual Publication Number OM 20000127 Revision Level 5 Revision Date 2011 04 15 This manual reflects firmware version 1 101 Proprietary Notice Information in this document is subject to change without notice and does not represent a commitment on the part of NovAtel Inc The software described in this document is furnished under a license agreement or non disclosure agreement The software may be used or copied only in accordance with the terms of the agreement It is against the law to copy the software on any medium except as specifically allowed in the license or non disclosure agreement No part of this manual may be reproduced or transmitted in any form or by any means electronic or mechanical including photocopying and recording for any purpose without the express written permission of a duly authorized representative of NovAtel Inc The information contained within this manual is believed to be true and correct at the time of publication GLIDE Narrow Correlator NovAtel and RT 20 are registered trademarks of NovAtel Inc OEMStar FlexPak and FlexPak G2 are trademarks of NovAtel Inc All other brand names are trademarks of their respective holders Manufactured and protected under U S patents 5 101 416 5 390 207 5 414 729 5 495 499 5 736 961 5 734 674 5 809 064 6 2
29. PSRDiff Correction 5 NovAtel Blended lono Value 4 7 OxFO Reserved a Unknown can indicate that the lono Correction type is None or that the default Klobuchar parameters are being used 198 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 Field Field type Data Description Format Binary Binary Bytes Offset 1 BESTPOS Log header H 0 header 2 sol stat Solution status see Table 44 on page 197 Enum 4 H 3 pos type Position type see Table 43 on page 196 Enum 4 H 4 4 lat Latitude Double 8 H 8 5 lon Longitude Double 8 H 16 6 hgt Height above mean sea level Double 8 H 24 7 undulation Undulation the relationship between the geoid and Float 4 H 32 the ellipsoid m of the chosen datum 8 datum id Datum ID number see Chapter 2 Table 18 Enum 4 H 36 Reference Ellipsoid Constants on page 73 9 lato Latitude standard deviation Float 4 H 40 10 lon o Longitude standard deviation Float 4 H 44 11 hot o Height standard deviation Float 4 H 48 12 stn id Base station ID Char 4 4 H 52 13 diff age Differential age in seconds Float 4 H 56 14 sol_age Solution age in seconds Float 4 H 60 15 SVs Number of satellite vehicles tracked Uchar 1 H 64 16 solnSVs Number of satellite vehicles used in solution Uchar 1 H 65 17 ggL1 Number of GPS plus GLONASS L1 used in solution Uchar 1 H 66 18 Reserved 19 Re
30. Similarly the corresponding RTCM36T message see page 326 looks like RTCM36TA COM1 0 77 5 FINESTEERING 1399 237244 454 00000000 2E54 35359 QUICK D166 D146 D174 D144 D140 44A7F340 lt Similar to the RTCM type 16 message the SETRTCM36 command is used to define the ASCII text at the base station and can be verified in the RXCONFIG log Once the ASCII text OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Hex Dec Chapter 2 is defined it can be broadcast periodically by the base station with the command for example log port RTCM36 ONTIME 10 The received ASCII text can be displayed at the rover by logging RTCM36T Table 33 Russian Alphabet Characters Ch in Decimal Dec and Hexadecimal Hex Hex Dec Hex Dec Hex Dec Code Code ch Code Code eh Code Code ci Code Code en 80 128 A 90 144 P AO 160 a BO 176 p 81 129 B 91 145 C A1 161 6 B1 177 c 82 130 B 92 146 T A2 162 B B2 178 T 83 131 T 93 147 y A3 163 T B3 179 y 84 132 pii 94 148 A4 164 q B4 180 85 133 E 95 149 X A5 165 e B5 181 x 86 134 X 96 150 A6 166 X B6 182 u 87 135 3 97 151 4 A7 167 3 B7 183 4 88 136 n 98 152 I A8 168 n B8 184 I 89 137 un 99 153 I A9 169 a B9 185 I 8A 138 K 9A 154 b AA 170 K BA 186 b 8B 139 9B 155 D AB 171 JI BB 187 BI 8C 140 M 9C 156 b AC 172 M BC 188 b 8D 141 H 9D 157 3 AD 173 H BD 189 3 8E 142 O 9E 158 HO AE 174 O BE 190 10
31. lt Each raw WAAS frame gives data for a specific frame decoder number The WAAS27 message can be logged to view the data breakdown of WAAS frame 27 which contains information about SBAS service messages OEMStar Firmware Version 1 101 Reference Manual Rev 5 411 Chapter 3 Data Logs A i ee Binary Binary Field Field type Data Description Format Bytes Offset Scaling 1 WAAS27 Log header H 0 header 2 prn Source PRN of message Ulong 4 H 3 iods Issue of slow corrections data Ulong 4 H 4 4 messages Low by one count of messages Ulong 4 H 8 5 message Low by one message number Ulong 4 H 12 num 6 priority code Priority code Ulong 4 H 16 7 dudre inside Delta user differential range error Ulong 4 H 20 inside 8 dudre Delta user differential range error Ulong 4 H 24 outside outside 9 reg Number of regions with Ulong 4 H 28 information to follow variable lat1 Coordinate 1 latitude Long 4 H 32 variable lon1 Coordinate 1 longitude Long 4 H 36 variable lat2 Coordinate 2 latitude Long 4 H 40 variable lon2 Coordinate 2 longitude Long 4 H 44 variable shape Shape where 0 triangle Ulong 4 H 48 1 square variable Next reg entry H 32 reg x 20 variable to Time of applicability Ulong 4 H 32 16 reg x 20 variable xxxx 32 bit CRC ASCII and Binary Hex 4 H 36 only reg x 20 variable CR LF Sentence term
32. s I O port Use a cable that is compatible to both the receiver and the device A MARKIN pulse can be a trigger from the device to the receiver see also the MARKPOS and MARKTIME logs starting on page 270 OEMStar Firmware Version 1 101 Reference Manual Rev 5 113 Chapter 2 Commands Field ASCII Binary Type Value Value Binary Binary Binary Field Format Bytes Offset Description 1 MARKCONTROL This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 signal MARK1 0 Specifies which mark input Enum 4 H the command should be applied to Set to MARK1 for the MK1I input The MARK 1 input has a 10K pull up resistor to 3 3 V and is leading edge triggered 3 switch DISABLE 0 Disables or enables Enum 4 H 4 7 processing of the mark ENABLE 1 input signal for the input specified If DISABLE is selected the mark input signal is ignored The factory default is ENABLE 4 polarity NEGATIVE 0 Optional field to specify the Enum 4 H 8 polarity of the pulse to be POSITIVE 1 received on the mark input See Figure 3 for more information If no value is specified the default NEGATIVE is used 5 timebias Any valid long value Optional value to specify Long 4 H 12 an offset in nanoseconds to be applied to the time the mark input pulse occurs If no value is supplied the default value of 0 i
33. 00000000 643c 1984 00000000 4 00000000 00000000 00000000 00000000 00000083 00000008 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 ba27dfae lt Receiver errors automatically generate event messages These event messages are output in RXSTATUSEVENT logs It is also possible to have status conditions trigger event messages to be generated by the receiver This is done by setting clearing the appropriate bits in the event set clear masks The set mask tells the receiver to generate an event message when the bit becomes set Likewise the clear mask causes messages to be generated when a bit is cleared See the STATUSCONFIG command on page 156 for details If you wish to disable all these messages without changing the bits simply UNLOG the RXSTATUSEVENT logs on the appropriate ports See also the UNLOG command on page 165 OEMStar Firmware Version 1 101 Reference Manual Rev 5 347 Chapter 3 Table 68 Receiver Error Data Logs Nibble Description Bit 0 Bit 1 NO 0 0x00000001 Dynamic Random Access Memory DRAM OK Error status 1 0x00000002 Invalid firmware OK Error 2 0x00000004 ROM status OK Error 3 Reserved N1 4 0x00000010 Electronic Serial Number ESN access OK Error status 5 0x00000020 Authorization code status OK Error 6 0x00000040 Slow ADC status OK Error 7 0x00000080 Supply voltage status OK Error N2 8 0x
34. 103 INTERFACEMODE command 100 interrupt 289 ionosphere 70 carrier smoothing 70 delay 409 grid points 402 log 265 positive integers 359 remove 334 IONUTC log 265 island 169 K Kp 227 L laptop 106 282 303 latched time 270 latency reduction 332 velocity 207 299 latitude longitude approximate 143 fix data 242 244 GPS specific 258 position 199 294 mark 271 NMEA 245 set navigation waypoint 149 Leap seconds 227 LED 355 link 140 288 422 LNA see low noise amplifier local horizon 86 lock command 104 out 290 364 reinstate 163 time 365 LOCKOUT command 104 locktime current 307 reset to zero 70 98 log list 267 response messages 415 RTCM 328 trigger 175 type 175 LOG command 105 LOGLIST log 267 loss of lock 144 low noise amplifier LNA 34 52 LSB 16 M magnetic variation 36 110 111 258 276 MAGVAR command 110 map 171 402 mark event 50 114 178 input pulse 270 272 MARKCONTROL command 113 MARKPOS log 270 MARKTIME log 272 mask event 347 priority 353 354 WAAS PRN 372 matrix 211 214 mean sea level fix 89 242 244 position 199 201 294 mark 271 memory buffer space 105 non volatile erase 46 94 restore 118 OEMStar Firmware Version 1 101 Reference Manual Rev 5 save almanac 191 configuration 135 meridian UTM 171 message almanac 191 ascii 16 format 14 19 30 ID 268 269 length 151 152 navigation 148 r
35. 110 171 UNLOCKOUT command 163 UNLOCKOUTALL command 164 UNLOG command 165 UNLOGALL command 166 upgrade 58 115 US National Geodetic Survey NGS 313 USB port 68 user point device 113 272 428 OEMStar Firmware Version 1 101 Reference Manual Rev 5 USERDATUM command 167 USEREXPDATUM command 169 SGS see United States Geological urvey JTC time 227 JTM coordinates 200 JIMZONE 171 JIMZONE command 171 Cadcuada eG A4 validity clock model 211 receiver model 366 367 VALIDMODELS log 366 VDOP see dilution of precision vehicle application example 204 308 dynamics 83 velocity 204 velocity 285 accuracy 204 best 203 206 closing 256 island 169 limit 197 log 178 offset 169 pseudorange 181 report 296 vector 204 xyz coordinates 170 207 298 299 version 2 58 177 367 VERSION log 367 Vertical Alert Limit VAL 130 video camera device 113 virtual address 17 visibility satellite 180 357 W WAAS North American SBAS 136 WAASO log 371 WAASI log 372 WAAS 10 log 396 WAAS 12 log 398 WAAS17 log 400 WAAS18 log 402 WAAS2 log 373 Index WAAS24 log 403 WAAS25 log 406 WAAS26 log 409 WAAS27 log 411 WAAS3 log 377 WAAS4 log 380 WAASS log 383 WAAS6 log 386 WAAS7 log 390 WAASS9 log 394 WAASCORR log 413 WAASECUTOFF command 173 WAASTIMEOUT command 174 warning 58 267 345 warnings 12 warranty 11 waypoint destination 255 27
36. 2 prn Source PRN of message Ulong 4 H 3 latency System latency Ulong 4 H 4 4 iodp Issue of PRN mask data Ulong 4 H 8 5 spare bits Unused spare bits Ulong 4 H 12 6 al 0 al i Ulong 4 H 16 7 al 1 Degradation factor indicator for the Ulong 4 H 20 F al 2 prn in slot i i 0 50 Ulong i vey 9 al 3 Ulong 4 H 28 10 al 4 Ulong 4 H 32 11 al 5 Ulong 4 H 36 12 al 6 Ulong 4 H 40 13 al 7 Ulong 4 H 44 14 al 8 Ulong 4 H 48 15 al 9 Ulong 4 H 52 16 al 10 Ulong 4 H 56 17 al 11 Ulong 4 H 60 18 al 12 Ulong 4 H 64 19 al 13 Ulong 4 H 68 20 al 14 Ulong 4 H 72 21 al 15 Ulong 4 H 76 22 al 16 Ulong 4 H 80 23 al 17 Ulong 4 H 84 24 al 18 Ulong 4 H 88 25 al 19 Ulong 4 H 92 26 al 20 Ulong 4 H 96 Continued on the following page OEMStar Firmware Version 1 101 Reference Manual Rev 5 391 Chapter 3 Data Logs Binary Binary Field Field type Data Description Format Bytes Offset 27 al 21 al i Ulong 4 H 100 28 al 22 Degradation factor indicator for the Ulong 4 H 104 29 al 23 Pee Se Ulong 4 H 108 30 al 24 Ulong 4 H 112 31 al 25 Ulong 4 H 116 32 al 26 Ulong 4 H 120 33 al 27 Ulong 4 H 124 34 al 28 Ulong 4 H 128 35 al 29 Ulong 4 H 132 36 al 30 Ulong 4 H 136 37 al 31 Ulong 4 H 140 38 al 32 Ulong 4 H 144 39 al 33 Ulong 4 H 148 40 al 34 Ulong 4 H
37. 25 udre20 Ulong 4 H 92 26 udre21 Ulong 4 H 96 27 udre22 Ulong 4 H 100 28 udre23 Ulong 4 H 104 29 udre24 Ulong 4 H 108 30 udre25 Ulong 4 H 112 31 XXXX 32 bit CRC ASCII and Binary Hex 4 H 116 only 32 CR LF Sentence terminator ASCII only OEMStar Firmware Version 1 101 Reference Manual Rev 5 379 Chapter 3 Data Logs 3 3 84 WAAS4 Fast Correction Slots 26 38 SBAS WAAS4 are fast corrections for slots 26 38 in the mask of WAAS1 This message may or may not come when SBAS is in testing mode see the SBASCONTROL on page 135 command for details Message ID 302 Log Type Asynch Recommended Input log WAAS4a onchanged ASCII Example WAAS4A COM1 0 58 0 SATTIME 1093 163399 000 00000020 b4b0 209 122 0 3 2047 3 1 2047 2047 2047 3 1 5 3 3 2047 2 14 3 3 14 14 14 6 3 4 5 4 14 3 2e0894b1 gt lt Each raw WAAS frame gives data for a specific frame decoder number The WAAS4 message can be logged to view the data breakdown of WAAS frame 4 which contains information about fast correction slots 26 38 380 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Binary Binary Chapter3 Field Field type Data Description Format Bytes Offset Scaling 1 WAAS4 Log header H 0 header 2 prn Source PRN of message Ulong 4 H 3 iodf Issue of fast corrections data Ulong 4 H 4 4 iodp Issu
38. 360 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 3 3 76 TIME Time Data This log provides several time related pieces of information including receiver clock offset and UTC time and offset It can also be used to determine any offset in the PPS signal relative to GPS reference time To find any offset in the PPS signal log the TIME log ontime at the same rate as the PPS output For example if the PPS output is configured to output at a rate of 0 5 seconds see the PPSCONTROL command on page 125 log the TIME log ontime 0 5 as follows log time ontime 0 5 The TIME log offset field can then be used to determine any offset in PPS output relative to GPS reference time Message ID 101 Log Type Synch Recommended Input log timea ontime 1 ASCII Example TIMEA COM1 0 50 5 FINESTEERING 1337 410010 000 00000000 9924 1984 VALID 1 953377165e 09 7 481712815e 08 12 99999999492 2005 8 25 17 53 17000 VALID e2fc088c lt The header of the TIME log gives you the GPS reference time the week number since January 5th 1980 and the seconds into that week The TIME log outputs the UTC offset offset of GPS reference time from UTC time and the receiver clock offset from GPS reference time If you want the UTC time in weeks and seconds take the week number from the header Then take the seconds into that week also from the header and add the correction to the seconds
39. CLOCK INFORMATION STATUS AND TIME Chapter 3 CLOCKMODEL Range bias information Synch CLOCKMODEL2 Clock bias Sync CLOCKSTEERING Clock steering status Asynch GLOCLOCK GLONASS clock information Asynch GPZDA NMEA UTC time and data Synch PSRTIME Time offsets from the pseudorange Synch filter TIME Receiver time information Synch POST PRO DATA GPSEPHEM Decoded GPS ephemeris information Asynch IONUTC lonospheric and UTC model Asynch information RAWEPHEM Raw ephemeris Asynch RANGE Satellite range information Synch RANGECMP oo version of the RANGE Synch og TIME Receiver clock offset information Synch SATELLITE TRACKING AND CHANNEL CONTROL ALMANAC Current decoded almanac data Asynch CHANCONFIGLIST All available channel configurations Asynch GLMLA NMEA GLONASS almanac data Asynch GLOALMANAC GLONASS almanac data Asynch GLOEPHEMERIS GLONASS ephemeris data Asynch GLORAWALM Raw GLONASS almanac data Asynch GLORAWEPHEM Raw GLONASS ephemeris data Asynch Continued on the following page OEMStar Firmware Version 1 101 Reference Manual Rev 5 179 Chapter 3 180 Data Logs SATELLITE TRACKING AND CHANNEL CONTROL SATELLITE TRACKING AND CHANNEL CONTROL GLORAWFRAME Raw GLONASS frame data Asynch GLORAWSTRING Raw GLONASS string data Asynch GPALM NMEA almanac data Asynch GPGSA NMEA SV DOP information Synch GPGSV NMEA
40. Chapter 1 Messages 1 2 Responses By default if you input a message you will get back a response If desired the INTERFACEMODE command can be used to disable response messages see page 100 The response will be in the exact format that you entered the message that is binary input binary response 1 2 1 Abbreviated Response Just the leading lt followed by the response string for example lt OK 1 2 2 ASCII Response Full header with the message name being identical except ending in an R for response The body of the message consists of a 40 character string for the response string for example ECUTOFFR COM1 0 57 0 FINESTEERING 1592 329121 246 00000000 B8E2 38640 OK BB31B3 FF 1 2 3 Binary Response Similar to an ASCII response except that it follows the binary protocols see Table 6 Binary Message Response Structure on page 25 Table 7 Binary Message Sequence on page 26 is an example of the sequence for requesting and then receiving BESTPOSB The example is in hex format When you enter a hex command you may need to add a x or Ox before each hex pair depending on your code for example OxAA0x440x 120x1C0x010x000x02 and so on 24 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Messages Chapter 1 Table 6 Binary Message Response Structure Field Field Name FEG Description ele VARER S nary Type Bytes Offset 1 Sync Char Hexadecimal OxAA 1
41. Enum 4 H 4 Types on page 368 4 model The model designators are shown in Table 76 Char 16 16 H 8 on Page 368 5 psn Product serial number Char 16 16 H 24 6 hw version Hardware version see Table 78 VERSION Char 16 16 H 40 Log Field Formats on page 369 7 sw version Firmware software version see Table 78 Char 16 16 H 56 8 boot version Boot code version see Table 78 Char 16 16 H 72 9 comp date Firmware compile date see Table 78 Char 12 12 H 88 10 comp time Firmware compile time see Table 78 Char 12 12 H 100 11 Next component offset H 4 comp x 108 variable XXXX 32 bit CRC ASCII and Binary only Hex 4 H 4 comp x 108 variable CR LF Sentence terminator ASCII only 370 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 3 3 80 WAASO Remove PRN from Solution SBAS This message tells you when you are using SBAS messages not to use a specific PRN message for a period of time outlined in the SBAS signal specification See how the WAASO message relates to the SBAS testing modes in the SBASCONTROL command on page 135 Message ID 290 Log Type Asynch Recommended Input log WAASOa onchanged ASCII Example WAASOA COM1 0 68 5 SATTIME 1093 161299 000 00040020 7d6a 209 122 e9a5ab08 lt Although the WAAS was designed for aviation users it supports a wide variety of non aviation uses including agriculture surveying recreation and surface transportation jus
42. LF Sentence terminator ASCII only OEMStar Firmware Version 1 101 Reference Manual Rev 5 205 Chapter 3 Data Logs 3 3 6 BESTXYZ Best Available Cartesian Position and Velocity 206 This log contains the receiver s best available position and velocity in ECEF coordinates The position and velocity status fields indicate whether or not the corresponding data is valid See Figure 7 page 209 for a definition of the ECEF coordinates See also the BESTPOS log on page 195 lt These quantities are always referenced to the WGS84 ellipsoid regardless of the use of the DATUM or USERDATUM commands Message ID 241 Log Type Synch Recommended Input log bestxyza ontime 1 ASCII Example BESTXYZA COM1 0 55 0 FINESTEERING 1419 340033 000 00000040 d821 2724 SOL_COMPUTED PSRDIFF 1634531 5683 3664618 0326 4942496 3270 0 0099 0 0219 0 0115 SOL_COMPUTED PSRDIFF 0 0011 0 0049 0 0001 0 0199 0 0439 0 0230 AAAA 0 250 1 000 0 000 12 11 11 11 0 01 0 33 e9eafeca OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 Field Field type Data Description Format Binary Binary Bytes Offset 1 BESTXYZ Log header H 0 header 2 P sol status Solution status see Table 44 Solution Status Enum 4 H on page 197 3 pos type Position type see Table 43 Positionor Velocity Enum 4 H 4 Type on page 196 4 P X Position
43. Manual for more details on the MK1I pin ONMARK only applies to MK11 Use the ONNEW trigger with the MARKTIME or MARKPOS logs b Once the 1PPS signal has hit a rising edge for both MARKPOS and MARKTIME logs a resolution of both measurements is 49 ns As for the ONMARK trigger for other logs that measure latency for example RANGE and position log such as BESTPOS it takes typically 20 30 ms 50 ms maximum for the logs to output information from the 1PPS signal Latency is the time between the reception of the 1PPS pulse and the first byte of the associated log See also the MARKPOS and MARKTIME logs starting on page 270 c See Appendix A in the OEMStar Installation and Operation User Manual for the maximum raw measurement rate to calculate the minimum period If the value entered is lower than the minimum measurement period the value is ignored and the minimum period is used 108 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Field Field Name Description Chapter 2 Field Type 1 LOG This field contains the command name or the ASCII message header depending on whether the header command is abbreviated ASCII or ASCII respectively 2 port See Table 15 COM Output port Enum Serial Port Identifiers default THISPORT on page 68 3 message Any valid message Message name of log to output Char name with an optional A or B suffix 4 trigger ONNEW Ou
44. Recommended Input log comconfiga once ASCII example COMCONFIGA COM1 0 57 5 FINESTEERING 1337 394947 236 00000000 85aa 1984 3 COM1 57600 N 8 1 N OFF ON NOVATEL NOVATEL ON COM2 9600 N 8 1 N OFF ON RTCA NONE ON lt COMI on the OEMStar is user configurable for RS 422 Refer to the Technical Specifications appendix and the User Selectable Port Configuration section of the OEMStar Installation and Operation User Manual OEMStar Firmware Version 1 101 Reference Manual Rev 5 219 Chapter 3 Data Logs Binary Binary Field Field type Data Description Format Bytes Offset 1 COMCOMFIG Log header H 0 header 2 port Number of ports with information to follow Long 4 H 3 port Serial port identifier see Table 15 COM Enum 4 H 4 Serial Port Identifiers on page 68 4 baud Communication baud rate Ulong 4 H 8 5 parity See Table 16 Parity on page 68 Enum 4 H 12 6 databits Number of data bits Ulong 4 H 16 7 stopbits Number of stop bits Ulong 4 H 20 8 handshake See Table 17 Handshaking on page 68 Enum 4 H 24 9 echo When echo is on the port is transmitting any Enum 4 H 28 input characters as they are received 0 OFF 1 ON 10 breaks Breaks are turned on or off Enum 4 H 32 0 OFF 1 ON 11 rx type The status of the receive interface mode see Enum 4 H 36 Table You must understand your post processing and real time software requirements Good software supports a
45. Sets all the quality indicators back to the default gt lt Some solution types see Table 43 Position or Velocity Type on page 196 store a quality indicator For example WAAS has an indicator of 9 This command can be used to customize an application to have unique indicators for each solution type OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands ASCII Value Description Binary Format Chapter 2 Binary Binary Bytes Offset GGAQUALITY This field contains the command H 0 header name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively entries 0 20 The number of position types that Ulong 4 H 4 are being re mapped 20 max pos type1 See Table 43 The 1st position type thatis being Enum 4 H 8 Position or re mapped Velocity Type on page 196 qualt See page 241 The number that appears inthe Ulong 4 H 12 GPGGA log for the 1st position type pos type2 See Table 430n The 2nd position type that is Enum 4 H 16 page 196 being re mapped if applicable qual2 See page 241 The number that appears in the Ulong 4 H 20 GPGGA log for the 2nd solution type if applicable Next solution type and quality indicator set if applicable Variable OEMStar Firmware Version 1 101 Reference Manual Rev 5 97 Chapter 2 Commands 2 5 24 GLOCSMOOTH GLONASS channel carrier smoothing GLO This comma
46. W GW u u ssseeeereeeeeren testes etneeeeeeetteeeeeees 267 3 3 36 MARKPOS Position at Time of Mark Input Event 2 270 3 3 37 MARKTIME Time of Mark Input Event 000 0 cceceeeeeeeeeeeeeeeecteeeeeees 272 3 3 38 NAVIGATE User Navigation Data u sssseeeeeeeerreeerenn nere nn ener renee 274 3 3 39 NMEA Standard Logs Wu u u ssseeeeeeeeeeee nere ke renen een kk n nen tre re enn k rr ennen 278 3 3 40 PASSCOM PASSXCOM PASSUSB Redirect Data 1 280 3 3 41 PDPPOS PDP filter position c ccecececeeeeeeeeeeeeceeeeeeeeeeeeteeeeeeeseeeeaes 284 3 3 42 PDPVEL PDP filter velocity 0 0 20 cecceccecceeceeceeeeeceeeeeeseeeeeseeeesenaeeneaes 285 3 3 43 PDPXYZ_ PDP filter Cartesian position and velocity ceeeee 286 3 3 44 PORTSTATS Port Statistics acisindan 288 3 3 45 PSRDOP Pseudorange DOP 1 00 0 orde tenn eee eeeeaeeeeeeenaeeeeeeeee 290 3 3 46 PSRDOP2 Pseudorange DOP ccccceeeeeeeeeeeeeeeeeeeeteeeeeetnaeeeeeeees 292 3 3 47 PSRPOS Pseudorange Position ccccceeeeeeeeeeeeeeeeecneeeeeeteteeeeeeeee 293 3 3 48 PSRTIME Time Offsets from the Pseudorange Filter eee 295 3 3 49 PSRVEL Pseudorange Velocity cccceccceeeeeseeeeeeeeetteeeeeetiaeeeeees 296 3 3 50 PSRXYZ_ Pseudorange Cartesian Position and Velocity 298 3 3 51 RAIMSTATUS RAIM status RAIM 000 cccccccccceteeeceeneeseeeeeeeeeeees 301 3 3 52 RANGE Satellite Range Information cccceeeeeeeeeeeeeeeeee
47. binary data or seconds ASCII data 5 slot Slot number for satellite ordinal Uchar 1 H 12 6 frequency Frequency for satellite ordinal Char 1 H 13 frequency channels are in the range 7 to 13 7 sat type Satellite type where Uchar 1 H 14 0 GLO_SAT 1 GLO_SAT_M new M type 8 health Almanac health where Uchar 1 H 15 0 GOOD 1 BAD 9 TlambdaN GLONASS Time of ascending node Double 8 H 16 equator crossing in seconds 10 lambdaN Longitude of ascending node Double 8 H 24 equator crossing PZ 90 02 in radians 11 deltal Correction to nominal inclination in Double 8 H 32 radians 12 ecc Eccentricity Double 8 H 40 13 ArgPerig Argument of perigee PZ 90 02 in Double 8 H 48 radians 14 deltaT Correction to the mean value of the Double 8 H 56 Draconian period s orbital period 15 deltaTD Rate of change of orbital period Double 8 H 64 s orbital period 16 tau Clock offset in seconds Double 8 H 72 Viz Next message offset H 4 recs x 76 variable xxxx 32 bit CRC ASCII and Binary only Hex 4 H 4 76 x recs variable CR LF Sentence terminator ASCII only OEMStar Firmware Version 1 101 Reference Manual Rev 5 225 Chapter 3 Data Logs 3 3 15 GLOCLOCK GLONASS Clock Information GLO 226 This log contains the time difference information between GPS and GLONASS time as well as status flags The status flags are used to ind
48. lt The RTCM messages can be logged with an A or B suffix for an ASCII or Binary output with a NovAtel header followed by Hex or Binary raw data respectively Combinations of integer offsets and fractional offsets are not supported for RTCM logs See also the LOG command starting on page 105 for more details on offsets RTCMDATA logs output the details of the above logs if they have been sent OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 lt The OEMStar does not currently transmit carrier phase corrections The OEMStar can be configured to receive the carrier phase RTCM corrections listed in Table 66 below and compute a DGPS pseudorange position The GLONASS option is required for GLONASS RTCM corrections to be used in the DGPS position Table 66 RTCM Carrier Phase Messages Type of Log Message Log Name Description GPS GLONASS 260 RTCM1819 Type 18 and 19 raw measurements GPS GLONASS 370 RTCM2021 Type 20 and 21 raw measurements 118 RTCM22 Type 22 extended base parameters The Radio Technical Commission for Maritime Services RTCM was established to facilitate the establishment of various radio navigation standards which includes recommended GPS differential standard formats Refer to the Receiving and Transmitting Corrections section in the OEMStar Installation and Operation Manual for more information about using these message formats for differential operation The s
49. vdop y pdop hdop Message ID 174 Log Type Asynch Recommended Input log psrdopa onchanged ASCII Example PSRDOPA COM1 0 56 5 FINESTEERING 1337 403100 000 00000000 768f 1984 1 9695 1 7613 1 0630 1 3808 0 8812 5 0 10 14 22 25 1 24 11 5 20 30 7 106del0a gt lt When operating in differential mode you require at least four common satellites at the base and rover The number of common satellites being tracked at large distances is less than at short distances This is important because the accuracy of GPS and DGPS positions depend a great deal on how many satellites are being used in the solution redundancy and the geometry of the satellites being used DOP DOP stands for dilution of precision and refers to the geometry of the satellites A good DOP occurs when the satellites being tracked and used are evenly distributed throughout the sky A bad DOP occurs when the satellites being tracked and used are not evenly distributed throughout the sky or grouped together in one part of the sky 290 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 Binary Binary Field Field type Data Description Format Bytes Offset 1 PSRDOP Log header H 0 header 2 gdop Geometric dilution of precision assumes 3 D Float 4 H position and receiver clock offset all 4 parameters are unknown 3 pdop Position dilution of precision assumes 3 D Float 4 H 4 position is un
50. 0 2 Sync Char Hexadecimal 0x44 1 1 3 Sync Char Hexadecimal 0x12 1 2 4 Header Lgth Uchar Length of the header 1 3 5 Message ID Ushort Message ID number 2 4 6 Message Char Bit 7 Response Bit 1 6 Type 1 Response Message B 7 Port Address Uchar See Table 4 on page 19 1 7 l N 8 Message Ushort The length in bytes of the body of 2 8 A Length the message not the CRC R Y 9 Sequence Ushort Normally 0 2 10 i 10 Idle Time Uchar Idle time 1 12 A D 11 Time Status Enum Table 8 on page 27 4a 13 E R 12 Week Ushort GPS reference week number 2 14 13 ms GPSec Milliseconds into GPS reference 4 16 week 14 Receiver Ulong Table 68 on page 348 4 20 Status 15 Reserved Ushort Reserved for internal use 2 24 16 Receiver Ushort Receiver software build number 2 26 S W Version 17 Response ID Enum Table 80 Response Messages on 4 28 D page 415 H 18 Response Hex String containing the ASCII variable 32 E response in hex coding to match X the ID above for example 0x4F4B OK a This ENUM is not 4 bytes long but as indicated in the table is only 1 byte OEMStar Firmware Version 1 101 Reference Manual Rev 5 25 Chapter 1 Messages Table 7 Binary Message Sequence Direction Sequence Data To LOG Command AA44121C 01000240 20000000 1D1D0000 29160000 Receiver Header 00004C00 55525A80 LOG Parameters 20000000 2A000000 02000000 00000000 0000F03F 00000000 00000000 00000000 Checksum 2304B3F1 From LOG
51. 0 SATTIME 1337 405963 000 00000000 58e4 1984 29 122 10 5328360984c80130644dc53800c004b124400000000000000000000000 29 7b398c7a RAWWAASFRAMEA COM1 0 43 0 SATTIME 1337 405964 000 00000000 58e4 1984 29 122 3 9a0e9ffc035fffff5ffc00dffc008044004005ffdfffabbb9b96217b80 29 f2139bad RAWWAASFRAMEA COM1 0 43 0 SATTIME 1337 405965 000 00000000 58e4 1984 29 122 2 c608bff9ffdffffec00bfa4019ffdffdfffffc04c0097bb9f27bb97940 29 364848b7 RAWWAASFRAMEA COM1 0 44 5 SATTIME 1337 405983 000 00000000 58e4 1984 29 122 2 c608bff5ffdffffec00ffa8015ffdffdfffff804c0017bb9f27bb97940 29 a5dc4590 DX The RAWWAASFRAME log output contains all the raw data required for an application to compute its own SBAS correction parameters Binary Binary Field Field type Data Description Format Bytes Offset 1 RAWWAASFRAME Log header H 0 header 2 decode Frame decoder number Ulong 4 H 3 PRN SBAS satellite PRN number Ulong 4 H 4 4 WAASmsg id SBAS frame ID Ulong 4 H 8 5 data Raw SBAS frame data There are Uchar 29 32a H 12 226 bits of data and 6 bits of padding 6 chan Signal channel number that the Ulong 4 H 44 frame was decoded on 7 XXXX 32 bit CRC ASCII and Binary Hex 4 H 48 only 8 CR LF Sentence terminator ASCII only a Inthe binary log case an additional 3 bytes of padding are added to maintain 4 byte alignment 318 OE
52. 0 59 5 FINESTEERING 1337 400920 135 00000000 2b46 1984 80 BESTPOSA COM1 0 80 0 FINESTEERING 1337 400920 000 00000000 4ca6 1899 SOL_COMPUT 9dfab46 PASSCOM2A COM1 0 64 0 FINESTEERING 1337 400920 201 00000000 2b46 1984 80 ED SINGLE 51 11636326036 114 03824210485 1062 6015 16 2713 WGS84 8963 1 0674 807 d3ca PASSCOM2A COM1 0 53 5 FINESTEERING 1337 400920 856 00000000 2b46 1984 49 2 2862 0 000 0 000 9 9 0 0 0 0 0 0 20624878 x0d x0a 3eef4220 PASSCOM1A COM1 0 53 5 FINESTEERING 1337 400922 463 00000000 13ff 1984 7 unlog passcom2a x0d x0a ef8d2508 ASCII Example 2 PASSCOM2A COM1 0 53 0 FINESTEERING 1337 400040 151 00000000 2b46 1984 80 x99A x10 x04 x07yN amp xc6 xea xf 10 x00 x01 xde x00 x00 x10 xfe xbf xfel xfe x9c xf4 x03 xe2 xef x9f x1lf xf3 xff xd6 xff xc3 A z xaa xfe xbf xf9 xd3 xf8 xd4 xf4 xe8kHo xe2 x00 gt xe0Q0C gt xc3 x9c x11 xf x7 xf4 xal xf3t xf4 xf4xvo xe6 x00 x9d dcd2e989 In the example note that is a printable character lt For example you could connect two OEMStar receivers together via their COM1 ports such as in the figure below a rover station to base station scenario If the rover station is logging BESTPOSA data to the base station it is possible to use the pass through logs to pass through OEMStar Firmware Version 1 101 Reference Manual Rev 5 281 Chapter 3 Data Logs the received BESTPOSA data to a disk file let s call i
53. 0 FFFF section 1 4 part2 4 digit hexadecimal Authorization code ULong 4 H 8 0 FFFF section 2 5 part3 4 digit hexadecimal Authorization code ULong 4 H 12 0 FFFF section 3 6 part4 4 digit hexadecimal Authorization code ULong 4 H 16 0 FFFF section 4 7 part5 4 digit hexadecimal Authorization code ULong 4 H 20 0 FFFF section 5 8 model Alpha Null Model name of the String Vari Vari numeric terminated receiver max 16 able able 9 date Numeric Null Expiry date entered as String Vari Vari terminated yymmdd in decimal max 7 able able a Inthe binary log case additional bytes of padding are added to maintain 4 byte alignment OEMStar Firmware Version 1 101 Reference Manual Rev 5 59 Chapter 2 Commands 2 5 6 CLOCKADJUST Enable clock adjustments All oscillators have some inherent drift By default the receiver attempts to steer the receiver s clock to accurately match GPS reference time If for some reason this is not desired this behavior can be disabled using the CLOCKADJUST command The TIME log can then be used to monitor clock drift gt lt The CLOCKADJUST command should only be used by advanced users When disabled the range measurement bias errors continue to accumulate with clock drift Pseudorange carrier phase and Doppler measurements may jump if the CLOCKADJUST mode is altered while the receiver is tracking When disabled the time reported on all logs may be offset from GPS refe
54. 01 2 428889275e 06 1 024827361e 05 1 64250000e 02 4 81562500e 01 1 117587090e 08 7 078051567e 08 9 2668266314e 01 1 385772009e 10 2 098534041e 00 8 08319384e 09 99 403184 0 4 190951586e 09 2 88095e 05 3 06954e 12 0 00000 TRUE 1 458614684e 04 4 00000000e 00 0f875b12 GPSEPHEMA COM1 11 59 0 SATTIME 1337 397560 000 00000000 9145 1984 25 397560 0 0 184 184 1337 1337 403200 0 2 656128681e 07 4 897346851le 09 1 905797220e 00 1 1981436634e 02 1 440195331e 00 1 084059477e 06 6 748363376e 06 2 37812500e 02 1 74687500e 01 1 825392246e 07 1 210719347e 07 9 5008501632e 01 2 171519024e 10 2 086083072e 00 8 06140722e 09 184 403200 0 7 450580597e 09 1 01652e 04 9 09495e 13 0 00000 TRUE 1 458511425e 04 4 00000000e 00 18080b24 GPSEPHEMA COM1 0 59 0 SATTIME 1337 397560 000 00000000 9145 1984 1 397560 0 0 224 224 1337 1337 403200 0 2 656022490e 07 3 881233098e 09 2 938005195e 00 5 8911956148e 03 1 716723741e 00 2 723187208e 06 9 417533875e 06 2 08687500e 02 5 25625000e 01 9 126961231e 08 7 636845112e 08 9 8482911735e 01 1 325055194e 10 1 162012787e 00 7 64138972e 09 480 403200 0 3 259629011e 09 5 06872e 06 2 04636e 12 0 00000 TRUE 1 458588731e 04 4 00000000e 00 97058299 lt The GPSEPHEM log can be used to monitor changes in the orbits of GPS satellites OEMStar Firmware Version 1 101 Reference Manual Rev 5 259 Chapter 3 260 Table 56 URA Variance Data Logs
55. 1 1672664062500000e 07 2 2678505371093750e 07 4 8702343750000000e 05 1 1733341217041016e 02 1 3844585418701172e 02 3 5714883804321289e 03 2 79396772384643555e 06 2 79396772384643555e 06 0 00000000000000000 4 53162938356399536e 05 5 587935448e 09 2 36468622460961342e 11 78810 0 0 0 8 cl5abfeb GLOEPHEMERISA COM1 0 49 0 SATTIME 1364 413624 000 00000000 6564 2310 59 17 0 0 1364 413114000 10786 0 0 0 87 0 2 3824853515625000e 05 1 6590188964843750e 07 1 9363733398437500e 07 1 3517074584960938e 03 2 2859592437744141e 03 1 9414072036743164e 03 1 86264514923095703e 06 3 72529029846191406e 06 1 86264514923095703e 06 7 92574137449264526e 05 4 656612873e 09 2 72848410531878471le 12 78810 0 0 0 12 ed7675 5 N lt For more information about GLONASS refer to the Knowledge and Learning page in the Support section of our Web site at www novatel com 228 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Table 52 GLONASS Ephemeris Flags Coding lt lt Nibble Number 43210 Bit Description Mm P1 FLAG TIME INTERVAL BETWEEN ADJACENT ilSSUE te VALUES Range Values Hex Value Chapter 3 P2 FLAG ODDNESS OR EVENNESS OF ilSSUE t VALUE 9 neh 1 1 60000004 P3 FLAG NUMBER OF SATELLITES WITH ALMANAC INFORMATION WITHIN CURRENT SUBFRAME RESERVED N 1 through N 7 State Description 00 0 minutes 01 30 minutes 10 45 minutes 11 60 minutes OEMStar Firm
56. 101 Reference Manual Rev 5 135 Chapter 2 Commands 136 When you use the SBASCONTROL command to direct your receiver to use a specific correction type the receiver begins to search for and track the relevant GEO PRNs for that correction type only You can force your receiver to track a specific PRN using the ASSIGN command You can also force it to use the corrections from a specific SBAS PRN using the SBASCONTROL command Disable stops the corrections from being used Abbreviated ASCII Syntax Message ID 652 SBASCONTROL switch system prn testmode Factory Default sbascontrol disable Abbreviated ASCII Example 1 sbascontrol enable auto 0 none lt NovAtel s OEMStar receivers work with SBAS systems including EGNOS Europe MSAS Japan and WAAS North America Table 28 System Types ASCII Binary Description NONE 0 Don t use any SBAS satellites AUTO 1 Automatically determine satellite system to use default ANY 2 Use any and all SBAS satellites found WAAS 3 Use only WAAS satellites EGNOS 4 Use only EGNOS satellites MSAS 5 Use only MSAS satellites OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Field Type 1 SBASCONTROL header Field ASCII Value Value Binary Description This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively Chapter 2
57. 1880 CD 6378249 145 293 465 0 00340756137870 Everest India 1830 EA 6377276 345 300 8017 0 00332444929666 Everest Brunei amp EB 6377298 556 300 8017 0 00332444929666 E Malaysia Everest W Malaysia amp EE 6377304 063 300 8017 0 00332444929666 Singapore Geodetic Reference RF 6378137 0 298 257222101 0 00335281068118 System 1980 Helmert 1906 HE 6378200 0 298 30 0 00335232986926 Hough 1960 HO 6378270 0 297 00 0 00336700336700 International 1924 IN 6378388 0 297 00 0 00336700336700 Parameters of the Earth PZ 90 02 6378136 0 298 26 0 00335280374302 South American 1969 SA 6378160 0 298 25 0 00335289186924 World Geodetic System WD 6378135 0 298 26 0 00335277945417 1972 World Geodetic System WE 6378137 0 298 257223563 0 00335281066475 OEMStar Firmware Version 1 101 Reference Manual Rev 5 73 Chapter 2 Commands Table 19 Datum Transformation Parameters Daem NAME DX DYP pz DATUM DESCRIPTION ELLIPSOID 1 ADIND 162 12 206 This datum has been updated Clarke 1880 see ID 65 gt 2 ARC50 143 90 294 ARC 1950 SW amp SE Africa Clarke 1880 3 ARC60 160 8 300 This datum has been updated Clarke 1880 see ID 66 4 AGD66 133 48 148 Australian Geodetic Datum Australian 1966 National 5 AGD84 134 48 149 Australian Geodetic Datum Australian 1984 National 6 BUKIT 384 664 48 Bukit Rimpah Indonesia Bessel 1841 7 ASTRO 104 129 239 Camp Area Astro Antarctica International 1924
58. 2 dynamics See Table 20 Receiver dynamics based Enum 4 H on your environment 84 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands 2 5 17 ECHO Sets port echo This command sets a port to echo Chapter 2 lt This command also acts as a collection response ether and can be used as a log Abbreviated ASCII Syntax ECHO port echo Factory Default echo com off echo com2 off echo usb1 off echo usb2 off echo usb3 off Message ID 1247 ASCII Example echo coml on Field Binary eae Binary Binary Field Type ASCII Value Value Data Description Format Bytes Offset 1 ECHO This field contains the H 0 Header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 port See Table 15 Port to configure Enum 4 H default THISPORT 3 echo OFF 0 Sets port echo to off Enum 4 H 4 ON 1 Sets port echo to on a XCOM ports are not supported OEMStar Firmware Version 1 101 Reference Manual Rev 5 85 Chapter 2 Commands 2 5 18 ECUTOFF Set satellite elevation cut off 86 This command sets the elevation cut off angle for tracked satellites The receiver does not start automatically searching for a satellite until it rises above the cut off angle Tracked satellites that fall below the cut off angle are no longer tracked unless they were manually assigned see the
59. 231836 000 00000000 462 35520 2 F GPS 1 2631e 09 7 1562e 09 GLONASS 7 0099e 07 2 4243e 08 40aa2afl lt Uses for this log include i estimating the difference between GPS and GLONASS satellite system times and ii estimating the difference between UTC and GLONASS system time Field Rape Binary Binary Field type Data Description Format Bytes Offset 1 PSRTIME Log header H 0 header 2 recs Number of records to follow Ulong 4 H 3 system Navigation System Enum 4 H 4 0 GPS 1 GLONASS 4 offset GNSS time offset from the pseudorange filter Double 8 H 8 5 offset stdv Time offset standard deviation Double 8 H 12 vari Next binary offset H 4 recs x 20 able vari XXXX 32 bit CRC ASCII and Binary only Hex 4 vari able able vari CR LF Sentence terminator ASCII only able OEMStar Firmware Version 1 101 Reference Manual Rev 5 295 Chapter 3 Data Logs 3 3 49 PSRVEL Pseudorange Velocity 296 In the PSRVEL log the actual speed and direction of the receiver antenna over ground is provided The velocity measurements sometimes have a latency associated with them The time of validity is the time tag in the log minus the latency value The velocity in the PSRVEL log is determined by the pseudorange filter Velocities from the pseudorange filter are calculated from the Doppler The velocity status indicates varying degrees of velocity quality To en
60. 304 62 Channel Tracking Example cccccceceeeeeeeeeeeneeeeeeeeaaeeeeeeeaaeeeeseeaaeeeeseeenaeeeeeeenaas 305 63 Channel Tracking Status ccccceeseseccceeteseececeetessececentesseeeceetsssanecentesseceettenaeees 305 64 Range Record Format RANGECMP ony cceeesseeeeeeeeeeeeeeeeentaeeeeseenaeeeeeeeaaes 309 65 RTCA Carrier Phase Messages ccecceceeeeeneeeeeeeeeaaeeeeeeeaeeeeeseeaeeeeseenaeeeeeeenaaes 319 66 RTCM Carrier Phase Messages GMGGdt amp ssssseeeeeeeerse sene sse enes enkes sen ennen sne enes sne keen enkes sneen 327 67 RIGCMVS Conectionsixs EA E A AEA A badeasaapane canis 344 68 Receiver EMOT resia re E E ENEA 348 69 RROGCIVER SUS a a E A A Soagiaseehttevaioudeeeiateads 350 70 Auxillary TSt i R a A aE T ites 352 71 Auxillary 2 Status a a T TE 352 72 Auxa y SST eearri aia aaa EES A AEN 352 73 SATUS Wo ee r aa a T ea a 356 74 Event Typo na E E led ee i T E 356 75 Range Reject Cotes oraire EIT AE EA EAA T EEE 364 76 Model DeSighators rene n EE E bveeeth anerdewstiedavens theany 368 77 GOMPOMENt TYPOS EEE EAE sacks caneeedeas fendaas aud idessdeliea Uoena EAE 368 78 VERSION Log Field Fomati erca e a E OA E RA 369 79 Evaluation ot UDRE SE aia taut ditt A EA ER eee 374 80 Response Messages tii eriaren r th inne tetectiagueccuased A hadpecess ian coveessieesueeesecens 415 10 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Foreword Congratulations Congratulations on purchasing a NovAtel p
61. 330 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 Field Field type Data Description Format Binary lt Binary yP p Bytes Offset 1 RTCMDATA1 Log header H 0 header 2 RTCM header RTCM message type Ulong 4 H 3 Base station ID Ulong 4 H Modified Z count where the Z count Ulong 4 H 8 week number is the week number from subframe 1 of the ephemeris 5 Sequence number Ulong 4 H 12 6 Length of frame Ulong 4 H 16 7 Base station health Ulong 4 H 20 8 prn Number of PRNs with information to Ulong 4 H 24 follow 9 scale Scale where Ulong 4 H 28 0 0 02 m and 0 002 m s 1 0 32 m and 0 032 m s 10 UDRE User differential range error Ulong 4 H 32 11 PRN slot Satellite PRN number of range Ulong 4 H 36 measurement GPS 1 32 and SBAS 120 to 138 12 psr corr Scaled pseudorange correction Long 4 H 40 metres 13 rate corr Scaled range rate correction Long 4 H 44 14 IOD Issue of data Long 4 H 48 15 Next PRN offset H 28 prns x 24 variable XXXX 32 bit CRC ASCII and Binary only Hex 4 variable variable CR LF Sentence terminator ASCII only OEMStar Firmware Version 1 101 Reference Manual Rev 5 331 Chapter 3 Data Logs 3 3 64 RTCMDATAY Partial Differential GPS Corrections DGPS Tx 332 See Section 3 3 62 starting on page 326 for information about RTCM standard logs This log is the same as the RTCMDATAI log but
62. 4 bits s 1 20 Hz C No updates 20 bits s 66 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 2 5 10 COM COM port configuration control This command permits you to configure the receiver s asynchronous serial port communications drivers The current COM port configuration can be reset to its default state at any time by sending it two hardware break signals of 250 milliseconds each spaced by fifteen hundred milliseconds 1 5 seconds with a pause of at least 250 milliseconds following the second break This will e Stop the logging of data on the current port see UNLOGALL on page 166 e Clear the transmit and receive buffers on the current port e Return the current port to its default settings see page 47 for details e Set the interface mode to NovAtel for both input and output see the INTERFACEMODE command on page 100 See also Section 2 4 Factory Defaults on page 47 for a description of the factory defaults and the COMCONFIG log on page 219 lt Baud rates higher than 115 200 bps are not supported by standard PC hardware Special PC hardware may be required for higher rates including 230400 bps Also some PC s have trouble with baud rates beyond 57600 bps Abbreviated ASCII Syntax Message ID 4 COM port bps parity databits stopbits handshake echo break Factory Default com com 9600 n 8 1 n off on com com2 9600 n 8 1 n off on ASCII Example
63. 5106 9847 4 lat dir Latitude direction N North S South a N 5 lon Longitude DDDmm mm yyyyy yy 11402 2986 6 lon dir Longitude direction E East W West a W 7 GPS qual GPS Quality indicator x 1 0 fix not available or invalid 1 GPS fix 2 C A differential GPS 6 Dead reckoning mode 7 Manual input mode fixed position 8 Simulator mode 9 WAAS 8 sats Number of satellites in use May be different to xx 10 the number in view 9 hdop Horizontal dilution of precision X X 1 0 10 alt Antenna altitude above below mean sea level X X 1062 22 11 a units Units of antenna altitude M metres M M 12 undulation Undulation the relationship between the geoid x x 16 271 and the WGS84 ellipsoid 13 u units Units of undulation M metres M M 14 age Age of Differential GPS data in seconds Xx empty when no differential data is present 15 stn ID Differential base station ID 0000 XXXX empty when 1023 no differential data is present 16 XX Checksum hh 48 17 CR LF Sentence terminator CR LF a An indicator of 9 has been temporarily set for WAAS NMEA standard for WAAS not decided yet This indicator can be customized using the GGAQUALITY command b The maximum age reported here is limited to 99 seconds 242 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 3 3 23 GPGGALONG Fix Data Extra Precision and Undulation Time position undulation and fix relate
64. 8 H 16 channels 0 GPSL1 4 SBAS L1 10 GLO L1 7 Next set offset H 8 sets 8 8 Next configuration offset H 8 sets 8 4 configs 8 210 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 3 3 8 CLOCKMODEL Current Clock Model Status The CLOCKMODEL log contains the current clock model status of the receiver Monitoring the CLOCKMODEL log allows you to determine the error in your receiver reference oscillator as compared to the GPS satellite reference All logs report GPS reference time not corrected for local receiver clock error To derive the closest GPS reference time subtract the clock offset from the GPS reference time reported The clock offset can be calculated by dividing the value of the range bias given in field 6 of the CLOCKMODEL log by the speed of light c The following symbols are used throughout this section B range bias m BR range bias rate m s SAB Gauss Markov process representing range bias error due to satellite clock dither m The standard clock model now used is as follows clock parameters array B BR SAB covariance matrix 2 od oo co B B BR B SAB 2 o o o o g BR B BR BR SAB 2 co g o o SAB B SAB BR SAB Table 47 Clock Model Status Clock Status E ck Description Binary 0 VALID The clock model is valid 1 CONVERGING The clock model is near validity 2 ITERATING The clock model is iterating towards validit
65. 8F 143 9F 159 A AF 175 II BF 191 A a In the binary log case additional bytes of padding are added to maintain 4 byte alignment OEMStar Firmware Version 1 101 Reference Manual Rev 5 ASCII Binary Description Binary Binary Binary Value Value p Format Bytes Offset 1 SETRTCM36 This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 extdtext Maximum 90 The RTCM36 text string String Vari Vari character string max 90 able able 153 Chapter 2 Commands 2 5 56 SETTIMEBASE Sets primary and backup systems for time base This command configures the primary and backup steering system s for timing The primary system is the system that the receiver steers the clock to Upon startup the primary system must be present long enough to steer the clock to be valid once otherwise the backup system cannot be used The backup system is used whenever the primary system is not present Abbreviated ASCII Syntax Message ID 1237 SETTIMEBASE primarysystem number of backups system backupsystem timeout Factory Default For GLONASS only receiver settimebase glonass 0 For GPS capable receiver settimebase gps auto 0 Input Example settimebase gps glonass 30 Field ASCII Binary Da Binary Binary
66. 925a2a9b gt lt Each raw WAAS frame gives data for a specific frame decoder number The WAAS6 message can be logged to view the data breakdown of WAAS frame 6 which contains information about the integrity message 386 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 Binary Binary Field Field type Data Description Format Bytes Offset Scaling 1 WAAS6 Log header H 0 header 2 prn Source PRN of message Ulong 4 H 3 iodf2 Issue of fast corrections data Ulong 4 H 4 4 iodf3 Issue of fast corrections data Ulong 4 H 8 5 iodf4 Issue of fast corrections data Ulong 4 H 12 6 iodf5 Issue of fast corrections data Ulong 4 H 16 7 udreO udre i Ulong 4 H 20 See Table 79 Evaluation of User differential range error UDREI on indicator for the prn in slot i page 374 i 0 50 8 udre1 Ulong 4 H 24 9 udre2 Ulong 4 H 28 10 udre3 Ulong 4 H 32 11 udre4 Ulong 4 H 36 12 udre5 Ulong 4 H 40 13 udre6 Ulong 4 H 44 14 udre7 Ulong 4 H 48 15 udre8 Ulong 4 H 52 16 udre9 Ulong 4 H 56 17 udre10 Ulong 4 H 60 18 udre11 Ulong 4 H 64 19 udre12 Ulong 4 H 68 20 udre13 Ulong 4 H 72 21 udre14 Ulong 4 H 76 22 udre15 Ulong 4 H 80 23 udre16 Ulong 4 H 84 24 udre17 Ulong 4 H 88 Continued on the following page OEMStar Firmware Version 1 101 Reference Manual Rev 5 387
67. ASSIGN command In either case satellites below the ECUTOFF angle are eliminated from the internal position and clock offset solution computations This command permits a negative cut off angle it could be used in these situations The antenna is at a high altitude and thus can look below the local horizon Satellites are visible below the horizon due to atmospheric refraction lt Care must be taken when using ECUTOFF because the signals from lower elevation satellites are traveling through more atmosphere and are therefore degraded Use of satellites below 5 degrees is not recommended This command does not affect the tracking of SBAS or GLONASS satellites Abbreviated ASCII Syntax Message ID 50 ECUTOFF angle Factory Default ecutoff 5 0 ASCII Example ecutoff 10 0 lt A low elevation satellite is a satellite the receiver tracks just above the horizon Generally a satellite is considered low elevation if it is anywhere between 0 and 15 degrees above the horizon Low elevation satellites are usually setting or rising There is no difference in the data transmitted from a low elevation satellite to that transmitted from a higher elevation satellite However differences in the signal path of a low elevation satellite make their use less desirable Low elevation satellite signals are noisier due to the increased amount of atmosphere they must travel through In addition signals from low elevation satellites don
68. Auxiliary 3 status word see Table 72 ULong 4 H 56 Auxiliary 3 Status on page 352 17 aux3stat pri Auxiliary 3 status priority mask which ULong 4 H 60 can be set using the STATUSCONFIG command see page 156 18 aux3stat set Auxiliary 3 status event set mask which ULong 4 H 64 can be set using the STATUSCONFIG command 19 aux3stat Auxiliary 3 status event clear mask ULong 4 H 68 clear which can be set using the STATUSCONFIG command 20 Next status code offset H 8 stats x 16 variable xxxx 32 bit CRC ASCII and Binary only Hex 4 H 8 stats x 64 variable CR LF Sentence terminator ASCII only 354 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 3 3 73 RXSTATUSEVENT Status Event Indicator This log is used to output event messages as indicated in the RXSTATUS log An event message is automatically generated for all receiver errors which are indicated in the receiver error word In addition event messages can be generated when other conditions which are indicated in the receiver status and auxiliary status words are met Whether or not an event message is generated under these conditions is specified using the STATUSCONFIG command which is detailed starting on page 156 On start up the receiver is set to log the RXSTATUSEVENTA log ONNEW on all ports You can remove this message by using the UNLOG command see page 165 lt See also the chapter on Built I
69. Binary Fleld Type Value Value Description Format Bytes Offset 1 SETTIMEBASE This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 primarysystem See Table The primary system for Enum 4 H 340n page steering the receiver clock 155 3 number of Oor 1 The number of records to Ulong 4 H 4 backups follow see Table 34 on page 155 for the message options 4 system See Table The system to be used for Enum 4 H 8 340n page backup 155 5 backup system 0 to 4294967295 Duration that the backup Ulong 4 H 12 timeout system is used to steer the clock 0 means ongoing 154 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 Table 34 System Used for Timing Binary ASCII Description 0 GPS GPS timing system 1 GLONASS GLONASS timing system OEMStar Firmware Version 1 101 Reference Manual Rev 5 155 Chapter 2 Commands 2 5 57 SETUTCLEAPSECONDS Change default UTC Leap Seconds offset lt The SETUTCLEAPSECONDS command should only be used by advanced users The UTC leap seconds offset is used to calculate the UTC time Changing the default affects the UTC time stamp in applicable logs for example in the GPGGA log This command changes the default UTC Leap Seconds offset used by the OEMStar receiver This default is only in use when there is no valid GPS almanac available A GPS almanac can be o
70. Binary Baacription Binary Binary Binary Type Value Value P Format Bytes Offset 1 PDPFILTER This field contains the command H 0 header name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 switch DISABLE 0 Enable disable reset the PDP filter Enum 4 H ENABLE A reset clears the filter memory so RESET gt that the pdp filter can start over 120 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands 2 5 35 PDPMODE Select the PDP mode and dynamics This command allows you to select the mode and dynamics of the PDP filter Chapter 2 lt You must issue a PDPFILTER ENABLE command before the PDPMODE command see also Section 2 5 34 on page 119 If you choose RELATIVE mode GLIDE while in WAAS mode you must force the iono type to GRID in the SETIONOTYPE command To use GLIDE you must have the GLIDE option enabled Contact Customer Support for further information See also Section 2 5 51 starting on page 147 for details on the SETIONOTYPE command PDP functionality has been disabled for GLO only channel configurations Abbreviated ASCII Syntax PDPMODE mode dynamics Factory Default pdpmode normal auto ASCII Example Message ID 970 pdpmode relative dynamic Field Type 1 PDPMODE header Field ASCII Value Binary Value Description This field contains the command
71. Binary Binary Value Value Description Format Bytes Offset 1 RTKSOURCE This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 type See Table 26 DGPS ID Type 2 Enum 4 H Type on page 128 3 ID Char 5 or ANY ID string Char 5 gb H 4 a If you choose ANY the receiver ignores the ID string Specify a Type when you are using base station IDs b In the binary log case an additional 3 bytes of padding are added to maintain 4 byte alignment 134 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 2 5 43 SAVECONFIG Save current configuration in NVM This command saves the user s present configuration in non volatile memory The configuration includes the current log settings FIX settings port configurations and so on Its output is in the RXCONFIG log see page 345 and the FRESET command on page 94 WARNING If you are using this command in CDU ensure that you have all windows other than the Console window closed Otherwise log commands used for the various windows are saved as well This will result in unnecessary data being logged Abbreviated ASCII Syntax Message ID 19 SAVECONFIG 2 5 44 SBASCONTROL Set SBAS test mode and PRN SBAS This command allows you to dictate how the receiver handles Satellite Based Augmentation System SBAS correcti
72. Binary Binary Field Field type Data Description Format Bytes Offset 1 VALIDMODELS Log header H 0 header 2 mod Number of models with information Ulong 4 H to follow 3 model Model name String Variable Variable max 16 4 expyear Expiry year Ulong 4 Variable Max H 20 5 expmonth Expiry month Ulong 4 Variable Max H 24 6 expday Expiry day Ulong 4 Variable Max H 28 V R Next model offset H 4 mods x variable max 28 variable XXXX 32 bit CRC ASCII and Binary only Hex 4 Variable variable CR LF Sentence terminator ASCII only a In the binary log case additional bytes of padding are added to maintain 4 byte alignment 366 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 3 3 79 VERSION Version Information This log contains the version information for all components of a system When using a standard receiver there is only one component in the log A component may be hardware for example a receiver or data collector or firmware in the form of applications or data for example data blocks for height models or user applications See Table 78 VERSION Log Field Formats on page 369 for details on the format of key fields See also the VALIDMODELS log on page 366 Message ID 37 Log Type Polled Recommended Input log versiona once ASCII Example VERSIONA COM1 0 48 0 FINESTEERING 1598 252219 008 00000000 3681 5929 1 GPSCA RD LXGDMTS BHD09320026 M6XV1G 0
73. C C FROM 6 dest ID Destination waypoint ID C C TO 7 dest lat Destination waypoint latitude DDmm mm mn 5109 7578000 8 lat dir Latitude direction N North S South a N 9 dest lon Destination waypoint longitude DDDmm mm amp YYYYY yY 11409 0960000 10 lon dir Longitude direction E East W West a W 11 range Range to destination nautical miles X X 5 1 12 bearing Bearing to destination degrees True X X 303 0 13 vel Destination closing velocity knots X X 0 0 14 arr status Arrival status A V A perpendicular passed V destination not reached or passed 15 mode ind Positioning system mode indicator see Table 55 a A on page 255 16 XX Checksum hh 6F 17 CR LF Sentence terminator CR LF a If cross track error exceeds 9 99 NM display 9 99 256 Represents track error from intended course One nautical mile 1 852 metres Direction to steer is based on the sign of the crosstrack error that is L xtrack error R xtrack error Fields 5 6 7 8 9 and 10 are tagged from the SETNAV command see page 143 If range to destination exceeds 999 9 NM display 999 9 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 3 3 30 GPRMC GPS Specific Information Time date position track made good and speed data provided by the GPS navigation receiver RMC and RMB are the recommended minimum navigation data to be provided by a GPS receiver A comparison of the positi
74. Double 8 H 12 5 utc offset The offset of GPS reference time from UTC time Double 8 H 20 computed using almanac parameters UTC time is GPS reference time plus the current UTC offset plus the receiver clock offset UTC time GPS reference time offset UTC offset 6 utc year UTC year Ulong 4 H 28 7 ute month UTC month 0 12 2 Uchar 1 H 32 8 utc day UTC day 0 31 2 Uchar 1 H 33 9 utc hour UTC hour 0 23 Uchar 1 H 34 10 utc min UTC minute 0 59 Uchar 1 H 35 11 utc ms UTC millisecond 0 60999 Ulong 4 H 36 12 utc status UTC status Enum 4 H 40 0 Invalid 1 Valid 2 Warning 13 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 44 14 CR LF Sentence terminator ASCII only a If UTC time is unknown the values for month and day are 0 b Maximum of 60999 when leap second is applied c Indicates that the leap seconds value is used as a default due to the lack of an almanac 362 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 3 3 77 TRACKSTAT Tracking Status This log provides channel tracking status information for each of the receiver parallel channels Message ID 83 Log Type Synch Recommended Input log trackstata ontime 1 ASCII Example TRACKSTATA COM1 0 49 5 FINESTEERING 1337 410139 000 00000000 457c 1984 SOL COMPUTED PSRDIFF 5 0 30 1 0 18109c04 21836080 582 2241 711 50 087 1158 652 0 722 GO0D 0 973 30 0 1
75. I 1PPS 1Hz I I I I 20s i Figure 1 Pulse Width and 1PPS Coherency 92 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 ASCII Binary Binary Binary Binary Value Value Description Format Bytes Offset 1 FREQUENCYOUT This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 switch DISABLE 0 Disable causes the Enum 4 H output to be fixed low default ENABLE 1 Enables customized frequency output 3 pulsewidth 0 to 262143 Number of 50 ns steps Ulong 4 H 4 for which the output is high Duty cycle pulsewidth period Must be less than or equal to the period default 0 If pulsewidth is the same as the period the output is a high DC signal If pulsewidth is 1 2 the period then the output is a square wave If the pulsewidth is set to 0 the output is held LOW 4 period 0 to 262143 Signal period in 50 ns Ulong 4 H 8 steps Frequency Output 20 000 000 Period default 0 a Periods of 1 or 0 produce special cases on the VARF output If the period is 1 then the output is held at a constant HIGH or LOW depending on the value of the PULSEWIDTH field If PULSEWIDTH is 1 the output is HIGH if PULSEWIDTH is 0 the output is LOW If the period is set to 0 then the output is held LOW OEMStar Firmware Version
76. Log header H 0 header 2 obs Number of observations with information to follow Long 4 H 3 PRN slo Satellite PRN number of range measurement UShort 2 H 4 t GPS 1 to 32 SBAS 120 to 138 and GLONASS 38 to 61 see Section 1 3 on page 26 4 glofreq ene Frequency 7 see Section 1 3 on page UShort 2 H 6 5 psr Pseudorange measurement m Double 8 H 8 6 psr std Pseudorange measurement standard deviation m Float 4 H 16 7 adr Carrier phase in cycles accumulated Doppler range Double 8 H 20 8 adr std Estimated carrier phase standard deviation cycles Float 4 H 28 9 dopp Instantaneous carrier Doppler frequency Hz Float 4 H 32 10 C No Carrier to noise density ratio Float 4 H 36 C No 10 log40 S No dB Hz 11 locktime of seconds of continuous tracking no cycle slipping Float 4 H 40 12 ch tr Tracking status see 63 Channel Tracking Status on ULong 4 H 44 status page 305 and the example in Table 62 13 Next PRN offset H 4 obs x 44 variable xxxx 32 bit CRC ASCII and Binary only Hex 4 H 4 obs x 44 variable CR LF Sentence terminator ASCII only OEMStar Firmware Version 1 101 Reference Manual Rev 5 307 Chapter 3 Data Logs 3 3 53 RANGECMP Compressed Version of the RANGE Log Message ID 140 Log Type Synch Recommended Input log rangecmpa ontime 10 Example RANGECMPA COM1 0 63 5 FINESTEERING 1429 226780 000 00000000 9691 2748 26
77. PPS output See Figure 3 for more information If no value is supplied the default NEGATIVE is used 4 period 0 05 0 1 0 2 0 25 Optional field to specify Double 8 H 12 0 5 1 0 2 0 the period of the pulse in 3 0 20 0 seconds If no value is supplied the default value of 1 0 is used 5 pulse width Any positive value less Optional field to specify ULong 4 H 20 than half of the period the pulse width of the PPS signal in microseconds If no value is supplied the default value of 0 is used which refers to 1000 microseconds This value must always be less than half the period Default 1000 a Time status can be obtained from the log header See Section 1 1 on page 14 126 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 2 5 39 PSRDIFFSOURCE Set the pseudorange correction source This command lets you identify from which base station to accept differential corrections This is useful when the receiver is receiving corrections from multiple base stations see also the RTKSOURCE command on page 133 gt lt When a valid PSPRDIFFSOURCE command is received the current correction is removed immediately rather than in the time specified in DGPSTIMEOUT PSRDIFFSOIURCKE is disabled for GLO only Abbreviated ASCII Syntax Message ID 493 PSRDIFFSOURCE type ID Factory Default psrdiffsource auto any ASCII Examples 1 Select only SBAS rt
78. The text defined by the SETRTCM16 command can be verified in the RXKCONFIG log Once the ASCII text is defined it can be broadcast periodically by the base station with the command log port RTCM16 ONTIME interval This command limits the input message length to a maximum of 90 ASCII characters If the message string contains any delimiters that is spaces commas tabs and so on the entire string must be contained in double quotation marks Abbreviated ASCII Syntax Message ID 131 SETRTCM 16 text Input Example setrtcm16 base station will shut down in hour Field Field ASCII Binary Description Binary Format Type Value Value 1 SETRTCM16 This field contains the header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively Binary Bytes Binary Offset 2 text Maximum 90 The text string String character string max 90 Vari able Vari able a In the binary log case additional bytes of padding are added to maintain 4 byte alignment OEMStar Firmware Version 1 101 Reference Manual Rev 5 151 Chapter 2 Commands 2 5 55 SETRTCM36 Enter ASCII text with Russian characters GLO 152 The RTCM Type 36 message is the GLONASS equivalent of the RTCM Type 16 message except that the RTCM36 message can contain characters from an extended character set including Russian characters Table 33 on page 15
79. WARNING since it may not be 100 accurate When a valid almanac is available the receiver uses the real parameters Then the UTC time is set to VALID lt If the NMEATALKER command see page 116 is set to AUTO the talker the first 2 characters after the sign in the log header is set to GP GPS satellites only GL GLONASS satellites only or GN satellites from both systems Message ID 219 Log Type Synch Recommended Input log gpgll ontime 1 Examplel GPS only SGPGLL 5107 0013414 N 11402 3279144 W 205412 00 A A 73 Example 2 Combined GPS and GLONASS SGNGLL 5107 0014143 N 11402 3278489 W 205122 00 A A 6E Table 54 Position Precision of NMEA Logs Latitude of Longitude ff of Altitude of nulas Leg decimal places decimal places decimal places GPGGA 4 4 2 GPGGALONG 7 7 3 GPGLL 7 7 N A GPRMC 7 7 N A lt Please see the GPGGA note that applies to all NMEA logs on page 241 OEMStar Firmware Version 1 101 Reference Manual Rev 5 245 Chapter 3 Data Logs Field Structure Field Description Symbol Example 1 GPGLL Log header GPGLL 2 lat Latitude DDmm mm MLI 5106 7198674 3 lat dir Latitude direction a N N North S South 4 lon Longitude DDDmm mm yyyyy yy 11402 3587526 5 lon dir Longitude direction a W E East W West 6 utc UTC time of position hhmmss ss 220152 50 hours minutes seconds decimal seconds 7 data status Data status
80. X coordinate m Double 8 H 8 5 P Y Position Y coordinate m Double 8 H 16 6 P Z Position Z coordinate m Double 8 H 24 7 P X o Standard deviation of P X m Float 4 H 32 8 P Yo Standard deviation of P Y m Float 4 H 36 9 P Z o Standard deviation of P Z m Float 4 H 40 10 V sol status Solution status see Table 44 Solution Status Enum 4 H 44 on page 197 11 vel type Velocity type see Table 43 Position or Velocity Enum 4 H 48 Type on page 196 12 V X Velocity vector along X axis m s Double 8 H 52 13 V Y Velocity vector along Y axis m s Double 8 H 60 14 V Z Velocity vector along Z axis m s Double 8 H 68 15 V X Standard deviation of V X m s Float 4 H 76 16 V Yo Standard deviation of V Y m s Float 4 H 80 17 V Z o Standard deviation of V Z m s Float 4 H 84 18 stn ID Base station identification Char 4 4 H 88 19 V latency A measure of the latency in the velocity time tag Float 4 H 92 in seconds It should be subtracted from the time to give improved results 20 diff_age Differential age in seconds Float 4 H 96 21 sol_age Solution age in seconds Float 4 H 100 22 SVs Number of satellite vehicles tracked Uchar 1 H 104 23 solnSVs Number of satellite vehicles used in solution Uchar 1 H 105 Continued on the following page OEMStar Firmware Version 1 101 Reference Manual Rev 5 207 Chapter 3 Data Logs 3 i Ae Binary Field Field type Data Description Format Of
81. a track may trip the filter to reset and cause the position to jump AIR should be used in this case Abbreviated ASCII Syntax Message ID 258 DYNAMICS dynamics Factory Default dynamics air Example dynamics foot Table 20 User Dynamics Binary ASCII Description 0 AIR Receiver is in an aircraft or a land vehicle for example a high speed train with velocity greater than 110 km h 30 m s This is also the most suitable dynamic for a jittery vehicle at any speed see also Note 2 above 1 LAND Receiver is in a stable land vehicle with velocity less than 110 km h 30 m s 2 FOOT Receiver is being carried by a person with velocity less than 11 km h 3 m s lt Qualifying North American Solar Challenge cars annually weave their way through 1000 s of miles between the US and Canada GPS keeps them on track through many intersections on secondary highways and gives the Calgary team constant intelligence on the competition s every move In this case with average speeds of 46 miles hour and at times a jittery vehicle air is the most suitable dynamic OEMStar Firmware Version 1 101 Reference Manual Rev 5 83 Chapter 2 Commands Field ASCII Binary ne Binary Binary Binary Teg Type Value Value Description Format Bytes Offset 1 DYNAMICS This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively
82. al0c90 ldb6b6 2eb7 5 ce95c8 00d 000 23 SGPALM 28 25 27 1337 00 9cde 90 07 2 d54 a10da5 adc097 562da3 6488dd 00e 000 x2F SGPALM 28 26 28 1337 00 5509 90 0b7c fd59 a10cc4 ald262 83e2c0 3003bd 02d 000 78 SGPALM 28 27 29 1337 00 47 7 90 1b20 458 al0ce0 d40a0b 2d570e 221641 122 006 7D SGPALM 28 28 30 1337 00 4490 90 0112 fd4a al0ccl1 33d10a 8ldfc5 3bdb0f 178 004 28 lt Please see the GPGGA note that applies to all NMEA logs on page 241 OEMStar Firmware Version 1 101 Reference Manual Rev 5 239 Chapter 3 Data Logs Field Structure Field Description Symbol Example 1 GPALM Log header GPALM 2 msg Total number of messages logged Set to zero x x 17 until almanac data is available 3 msg Current message number X X 17 4 PRN Satellite PRN number XX 28 GPS 1 to 32 5 GPS wk GPS reference week number a X X 653 6 SV hith SV health bits 17 24 of each almanac page hh 00 7 ecc e eccentricity Sd hhhh 3EAF 8 alm ref time toa almanac reference time hh 87 9 incl angle sigma inclination angle hhhh OD68 10 omegadot OMEGADOT rate of right ascension hhhh FD30 11 rt axis A 2 root of semi major axis hhhhhh A10CAB 12 omega omega argument of perigee Se hhhhhh 6EE732 13 long asc node OMEGA longitude of ascension node hhhhhh 525880 14 Mo Mo mean anomaly hhhhhh 6DC5A8 15 afo af0 clock parameter hhh 009 16 aft af1 cloc
83. all active logs in the receiver beginning with the LOG command The COMCONFIG log see page 219 shows both the COM and INTERFACEMODE commands parameter settings for all serial ports 3 Request a log of the specific command of interest to show the parameters last entered for that command The format of the log produced is exactly the same as the format of the specific command with updated header information OEMStar Firmware Version 1 101 Reference Manual Rev 5 33 Chapter 2 Commands lt This is very useful for most commands but for commands that are repeated with different parameters for example COM and LOG this only shows the most recent set of parameters used To see all sets of parameters try method 1 or 2 above Abbreviated ASCII Example log fix lt FIX COM1 0 45 0 FINE 1114 151898 288 00200000 dbfd 33123 lt NONE 10000 00000000000 10000 00000000000 10000 0000 2 3 Commands by Function Table 9 lists the commands by function while Table 10 on page 37 is an alphabetical listing of commands repeated in Table 11 on page 42 with the commands in the order of their message IDs Please see Section 2 5 Command Reference on page 49 for a more detailed description of individual commands which are listed alphabetically Table 9 Communications Control and Status Functions COMMANDS DESCRIPTIONS COMMUNICATIONS CONTROL AND STATUS ANTENNAPOWER Control power to low noise am
84. bytes including delimiters such as but excluding the and in the message output It is therefore an 8 bit and not a 32 bit checksum At the time of writing logs may not yet be available Every effort is made to ensure that examples are correct however a checksum may be created for promptness in publication In this case it will appear as 9999 Example BESTPOSA and BESTPOSB from an OEMStar receiver ASCII BESTPOSA COM1 0 78 0 FINESTEERING 1427 325298 000 00000000 6145 2748 SOL_COMPUTED SINGLE 51 11678928753 114 03886216575 1064 3470 16 2708 WGS84 2 3434 1 3043 4 7300 0 000 0 000 7 7 0 0 0 06 0 03 9c9a92bb BINARY Oxaa 0x44 0x12 Oxlc 2a 0x00 0x02 0x20 0x48 0x00 0x00 0x00 0x90 O0xb4 0x93 0x05 0xb0 Oxab 0xb9 0x12 0x00 0x00 0x00 0x00 0x45 0x61 Oxbc 0x0a 0x00 0x00 0x00 0x00 0x10 0x00 0x00 0x00 0x 1b 0x04 0x50 0xb3 Oxf2 Ox8e 0x49 0x40 0x16 Oxfa Ox6b Oxbe 0x7c 0x82 Ox5c OxcO 0x00 0x60 0x76 Ox9f 0x44 Ox9f 0x90 0x40 Oxa6 0x2a 0x82 0xc 1 0x3d 0x00 0x00 0x00 0x12 Ox5a Oxcb 0x3f Oxcd 0x9e 0x98 0x3f Oxdb 0x66 0x40 0x40 0x00 0x30 0x30 0x30 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x0b 0x0b 0x00 0x00 0x00 0x06 0x00 0x03 0x42 Oxdc 0x4c 0x48 Below is a demonstration of how to generate the CRC from both ASCII and BINARY messages using the function described above lt When you pass the data into the code that foll
85. clock offset when velocity Long 4 H 52 2 39 code 1 Delta af clock offset when velocity code 0 16 1st half to Applicable time of day Ulong 4 H 56 16 Dummy value when velocity code 0 17 1st half Issue of PRN mask data Ulong 4 H 60 iodp 18 1st half Spare value when velocity code 0 Ulong 4 H 64 corr spare Dummy value when velocity code 1 Continued on the following page OEMStar Firmware Version 1 101 Reference Manual Rev 5 407 Chapter 3 Data Logs Binary Binary Field Field type Data Description Format Bytes Offset Scaling 19 2nd half vel Velocity code flag 0 or 1 Ulong 4 H 68 20 2nd half Index into PRN mask Type 1 Ulong 4 H 72 mask1 21 2nd half Issue of ephemeris data Ulong 4 H 76 iode1 22 2nd half Delta x ECEF Long 4 H 80 0 125 dx1 23 2nd half Delta y ECEF Long 4 H 84 0 125 dy1 24 2nd half Delta z ECEF Long 4 H 88 0 125 dz1 25 2nd half a Delta af clock offset Long 4 H 92 2731 26 2nd half Second index into PRN mask Ulong 4 H 96 mask2 Type 1 Dummy value when velocity code 1 27 2nd half Second issue of ephemeris data Ulong 4 H 100 iode2 Dummy value when velocity code 1 28 2nd half Delta delta x ECEF when velocity Long 4 H 104 a1 ddx code 1 Delta x dx when velocity code 0 29 2nd half Delta delta y ECEF when velocity Long 4 H 108 211 ddy code 1 Delta y dy when velocity code 0 30 2nd half Delta delta z ECEF when velocity Lon
86. com com1 57600 n 8 1 n off on lt Watch for situations where the COM ports of two receivers are connected together and the baud rates do not match Data transmitted through a port operating at a slower baud rate may be misinterpreted as break signals by the receiving port if it is operating at a higher baud rate This is because data transmitted at the lower baud rate is stretched relative to the higher baud rate In this case configure the receiving port to have break detection disabled using the COM command WARNING Use the COM command before using the INTERFACEMODE command on each port Turn break detection off using the COM command to stop the port from resetting because it is interpreting incoming bits as a break command OEMStar Firmware Version 1 101 Reference Manual Rev 5 67 Chapter 2 Table 15 COM Serial Port Identifiers Binary ASCII Description 1 COM1 COM port 1 2 COM2 COM port 2 6 THISPORT The current COM port 8 ALL All COM ports 9 XCOM1 2 Virtual COM1 port 10 XCOM2 2 Virtual COM2 port 13 USB1 USB port 1 14 USB2 USB port 2 15 USB3 P USB port 3 17 XCOM3 2 Virtual COM3 port The XCOM1 XCOM2 and XCOMS identifiers are not available with the COM command but may be used with other commands For example INTERFACEMODE on Page 100 and LOG on page 105 The only other field that applies when a USB port is selected is the echo field A place holder must be inserted for all other f
87. command 36 common to rover 281 290 ephemeris 79 log 181 182 satellite visibility 357 send data 140 standard corrections 322 baud rate see bps bearing 110 111 256 274 276 BESTPOS log 195 BESTUTM log 200 BESTXYZ log 206 bias 60 bi directional communication 280 binary overview 19 raw ephemeris 313 redirect 280 response 24 RTCA 320 bit rate see bps bps 69 118 break 67 69 102 289 bridge 119 broadcast almanac 239 buffer 105 Built In Status Test BIT 347 Bursa Wolf transformation 72 byte 15 20 25 C C No see carrier to noise density ratio cable delay 65 external device 113 270 integrity 94 serial 282 carrier phase jump 60 carrier to noise density ratio C No 66 254 307 365 CDU see Control and Display Unit celestial pole 110 CHANCONFIGLIST log 210 channel 229 assign 53 55 56 control 35 179 181 dedicate 56 range measurement 303 raw subframe data 316 318 tracking 229 tracking status 305 309 363 unassign 159 chatter 282 checksum 16 19 clock adjust 60 303 age 192 bias 60 calibrate 62 command 37 dither 211 drift 60 212 error 55 57 60 211 internal 28 model 211 213 214 offset 86 99 179 273 291 292 precise 313 receiver 362 set 303 status 179 211 214 273 steer 60 62 validity 211 CLOCKADJUST command 60 CLOCKCALIBRATE command 62 CLOCKMODEL log 211 CLOCKMODEL2 log 214 CLOCKOFFSET comm
88. e New channel configurations to support multi system timing See the SELECTCHANCONFIG command description for more details e RAIM is now a feature available on the OEMStar To support this functionality the RAIMMODE command and RAIMSTATUS log have been added to this manual e User developed applications API is now available on the OEMStar e Updated command and log descriptions for AUTH VERSION PPSCONTROL e Additional new logs CLOCKMODEL2 PSRDOP2 e Removed logs PPRVELOCITYTYPE Prerequisites As this reference manual is focused on the OEMStar commands and logging protocol it is necessary to ensure that the receiver has been properly installed and powered up according to the instructions outlined in the companion OEMStar Installation and Operation User Manual before proceeding OEMStar Firmware Version 1 101 Reference Manual Rev 5 13 Chapter 1 Messages 1 1 Message Types The receiver handles incoming and outgoing NovAtel data in three different message formats Abbreviated ASCII ASCH and Binary This allows for a great deal of versatility in the way the OEMStar receivers can be used All NovAtel commands and logs can be entered transmitted output or received in any of the three formats The receiver also supports RTCA RTCM and NMEA format messaging For more information about message formats refer to the OEMStar Installation and Operation User Manual When entering an ASCII or abbreviated ASCII command in order to
89. elevation cut off 749 UTMZONE Set UTM parameters utmzone command parameter 761 FIXPOSDATUM Set the position in a fixposdatum datum lat lon specified datum height 783 USEREXPDATUM Set custom expanded userexpdatum semimajor flattening datum dx dy dz rx ry rz scale xvel yvel zvel xrvel yrvel zrvel scalev refdate 830 GLOCSMOOTH Carrier smoothing for glocsmooth Litime GLONASS channels Continued on the following page OEMStar Firmware Version 1 101 Reference Manual Rev 5 45 Chapter 2 Commands Massage Command Description Syntax 839 SETBESTPOS Set criteria for the setbestposcriteria type delay CRITERIA BESTPOS log 849 CNOUPDATE C No update rate and cnoupdate rate resolution 851 WAASTIMEOUT Set maximum age of waastimeout mode delay WAAS data accepted 861 NMEATALKER Set the NMEA talker ID nmeatalker ID 880 SETRTCM36 Enter ASCII message setrtcm36 extdtext including Russian chars 970 PDPMODE Select the PDP mode and pdpmode mode dynamics dynamics 1149 SELECTCHAN Set channel configuration selectchanconfig set CONFIG 1150 SETUTCLEAP Change default UTC Leap setutcleapseconds seconds SECONDS Seconds offset 1247 ECHO Set port echo echo port echo 1285 RAIMMODE Set RAIM mode raimmode mode hal val pfa When the receiver is first powered up or after a FRESET command all commands revert to their factory default settings The SAVECONFIG command can be used to modify the power
90. example 328 interface mode 102 log list 326 RTCA comparison 320 RTCM 2 3 150 RTCMDATA logs 330 RTCMDATAI log 329 RTCMDATAIS log 334 RTCMDATA 16 log 336 RTCMDATAS31 log 338 RTCMDATAS36 log 340 RTCMDATAS9IGLO log 342 RTCMDATASO log 332 RTCMV3 DGPS type 128 interface mode 102 standard logs 344 RTKSOURCE command 133 Russian characters 152 RXCONFIG log 345 RXSTATUS log 347 RXSTATUSEVENT log 355 S satellite acquisition 53 144 191 active 249 almanac 191 availability 89 253 channel 56 command 35 coverage 119 DGNSS 320 elevation 86 173 191 error 364 geometry 290 GLONASS 99 group 290 ID 329 332 in view 253 lock 104 290 low 70 86 motion 298 number of 291 310 range 247 raw 311 313 316 317 reinstate 164 SBAS 173 search 57 tracking 179 181 303 unassign 159 unlock 163 visibility 144 180 357 SATVIS log 357 SATXYZ log 359 SAVECONFIG command 135 SBAS channel 56 control 135 OEMStar Firmware Version 1 101 Reference Manual Rev 5 degradation factor 393 differential 127 fallback 133 fast correction slots 373 integrity message 386 389 mixed fast slow corrections 403 navigation 394 PRN 55 57 371 372 range corrections used 413 raw frame data 318 service message 411 system type 136 SBASCONTROL command 135 scaling almanac 191 factor 309 scope 11 SELECTCHANCONFIG command 138 self test 105 semi maj
91. filter 119 2 5 35 PDPMODE Select the PDP mode and dynamics 121 2 5 36 POSAVE Implement base station position averaging 1 122 2 5 37 POSTIMEOUT Sets the position time Out cceceeeeeeeeeeeeeeeeeeee 124 2 5 38 PPSCONTROL Control the PPS output cececceeceeeeeeeeeteeeeeeeees 125 2 5 39 PSRDIFFSOURCE Set the pseudorange correction source 127 2 5 40 RAIMMODE Configures RAIM mode RAIM 0 ccccccecesetseeeeeeenees 130 2 5 41 RESET Perform a hardware reset ccccccccceceeeeeeeeeeceeceeeeeeeeeeeeees 132 2 5 42 RTKSOURCE Set the RTK correction SOUICE c cceeeeeeeeeeeeeeeee 133 2 5 43 SAVECONFIG Save current configuration in NVM seee 135 2 5 44 SBASCONTROL Set SBAS test mode and PRN SBAS 00 135 2 5 45 SELECTCHANCONFIG Set channel configuration ee 138 2 5 46 SEND Send an ASCII message to a COM port eee eeeeeeteeeeeeeees 140 2 5 47 SENDHEX Send non printable characters in hex pairs 2 005 142 2 5 48 SETAPPROXPOS Set an approximate position eeeeeee 143 2 5 49 SETAPPROXTIME Set an approximate GPS reference time 144 2 5 50 SETBESTPOSCRITERIA Selection criteria for BESTPOS 0 146 2 5 51 SETIONOTYPE Enable ionospheric Models senere 147 2 5 52 SETNAV Set start and destination waypoints cc ceeeeeeeeeeeeeeeeees 148 2 5 53 SETRTCMRXVERSION Set the RTCM standard input exp
92. for the prn in slot i page 374 55 udre48 i 0 50 Ulong 4 H 212 56 udre49 Ulong 4 H 216 58 udre50 Ulong 4 H 220 58 udre51 Invalid do not use Ulong 4 H 224 59 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 228 60 CR LF Sentence terminator ASCII only OEMStar Firmware Version 1 101 Reference Manual Rev 5 389 Chapter 3 Data Logs 3 3 87 WAAS7 Fast Correction Degradation SBAS The WAAS7 message specifies the applicable IODP system latency time and fast degradation factor indicator for computing the degradation of fast and long term corrections Message ID 305 Log Type Asynch Recommended Input log WAAS7a onchanged ASCII Example WAAST7A COM1 0 36 5 SATTIME 1337 416367 000 00000000 12e3 1984 129 2 0 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 15 415 15 15 15 15 15 15 15 15 15 15 15 15 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 827a7364 lt Each raw WAAS frame gives data for a specific frame decoder number The WAAS7 message can be logged to view the data breakdown of WAAS frame 7 which contains information about fast correction degradation 390 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 Binary Binary Field Field type Data Description Format Bytes Offset 1 WAAS7 header Log header H 0
93. formed by the intersection points of the user satellite vectors with the unit sphere centered on the user Larger volumes give smaller DOPs Lower DOP values generally represent better position accuracy The role of DOP in GPS positioning however is often misunderstood A lower DOP value does not automatically mean a low position error The quality of a GPS derived position estimate depends upon both the measurement geometry as represented by DOP values and range errors caused by signal strength ionospheric effects multipath and so on Please see also the GPGGA usage box that applies to all NMEA logs on page 241 OEMStar Firmware Version 1 101 Reference Manual Rev 5 249 Chapter 3 Data Logs Field Structure Field Description Symbol Example 1 GPGSA Log header GPGSA 2 mode MA A Automatic 2D 3D M M M Manual forced to operate in 2D or 3D 3 mode 123 Mode 1 Fix not available 2 2D 3 3D x 3 4 15 prn PRN numbers of satellites used in solution null for XX XX sees 18 03 13 unused fields total of 12 fields 25 16 GPS 1 to 32 24 12 SBAS 33 to 64 add 87 for PRN number 20 GLO 65 to 96 16 pdop Position dilution of precision X X 1 5 17 hdop Horizontal dilution of precision X X 0 9 18 vdop Vertical dilution of precision X X 1 2 19 XX Checksum hh 3F 20 CR LF Sentence terminator CR LF a The NMEA GLONASS PRN numbers are 64 plus the GLONASS slot number Current slot
94. is not necessary Message ID 73 Log Type Asynch Recommended Input log almanaca onchanged ASCII Example ALMANACA COM1 0 54 0 SATTIME 1364 409278 000 00000000 06de 2310 29 1 1364 589824 0 6 289482e 03 7 55460039e 09 2 2193421e 00 1 7064776e 00 7 94268362e 01 4 00543213e 05 3 63797881e 12 1 45856541e 04 2 6560037e 07 4 45154034e 02 1 0 0 FALSE 2 1364 589824 0 9 173393e 03 8 16033991e 09 1 9308788e 00 1 9904300e 00 6 60915023e 01 1 62124634e 05 0 00000000 1 45860023e 04 2 6559614e 07 8 38895743e 03 1 0 0 FALSE 3 1364 589824 0 7 894993e 03 8 04604944e 09 7 95206128e 01 6 63875501e 01 2 00526792e 01 7 91549683e 05 3 63797881e 12 1 45858655e 04 2 6559780e 07 1 59210428e 02 1 0 0 TRUE 28 1364 589824 0 1 113367e 02 7 87461372e 09 1 44364969e 01 2 2781989e 00 1 6546425e 00 3 24249268e 05 0 00000000 1 45859775e 04 2 6559644e 07 1 80122900e 02 1 0 0 FALSE 29 1364 589824 0 9 435177e 03 7 57745849e 09 2 2673888e 00 9 5672951le 01 1 1791713e 00 5 51223755e 04 1 09139364e 11 1 45855297e 04 2 6560188e 07 4 36225787e 02 1 0 0 FALSE 30 1364 589824 0 8 776665e 03 8 09176563e 09 1 97082451e 01 1 2960786e 00 2 0072936e 00 2 76565552e 05 0 00000000 1 45849410e 04 2 6560903e 07 2 14517626e 03 1 0 0 FALSE de7a4e45 lt The speed at which the receiver locates and locks onto new satellites is improved if the receiver has approximate time and position as well as an almanac This all
95. isolate the bad observations Table 59 PL Status Binary ASCII Description 0 NOT_AVAILABLE When RAIM is not available for example after issuing a FRESET command or when there are not enough satellites tracked to produce the required redundant observations 1 PASS Current protection levels are below alert limits meaning that positioning accuracy requirements are fulfilled HPL lt HAL VPL lt VAL 2 ALERT Current protection levels are above alert limits meaning that required positioning accuracy cannot be guaranteed by RAIM algorithm HPL gt HAL VPL 2 VAL 302 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 3 3 52 RANGE Satellite Range Information RANGE contains the channel measurements for the currently tracked satellites When using this log please keep in mind the constraints noted along with the description It is important to ensure that the receiver clock has been set This can be monitored by the bits in the Receiver Status field of the log header Large jumps in pseudorange as well as accumulated Doppler range ADR occur as the clock is being adjusted If the ADR measurement is being used in precise phase processing it is important not to use the ADR if the parity known flag in the ch tr status field is not set as there may exist a half 1 2 cycle ambiguity on the measurement The tracking error estimate of the pseudorange and carrier phase ADR is the th
96. more information OEMStar Firmware Version 1 101 Reference Manual Rev 5 Messages Chapter 1 1 4 GPS Reference Time Status All reported receiver times are subject to a qualifying time status This status gives you an indication of how well a time is known see Table 8 Table 8 GPS Reference Time Status GPS Reference GPS Reference Time Time Status Status Description Decimal ASCII 20 UNKNOWN Time validity is unknown 60 APPROXIMATE Time is set approximately 80 COARSEADJUSTING Time is approaching coarse precision 100 COARSE This time is valid to coarse precision 120 COARSESTEERING Time is coarse set and is being steered 130 FREEWHEELING Position is lost and the range bias cannot be calculated 140 FINEADJUSTING Time is adjusting to fine precision 160 FINE Time has fine precision 170 FINEBACKUPSTEERING Time is fine set and is being steered by the backup system 180 FINESTEERING Time is fine set and is being steered 200 SATTIME Time from satellite This is only used in logs containing satellite data such as ephemeris and almanac a See also Section 1 5 Message Time Stamps on page 28 OEMStar Firmware Version 1 101 Reference Manual Rev 5 27 Chapter 1 Messages 1 5 28 There are several distinct states that the receiver will go through when CLOCKADJUST is enabled e UNKNOWN initial state e COARSESTEERING initial coarse time set e FINESTEERI
97. name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively Binary Binary Binary Bytes Offset Format H 0 2 mode NORMAL RELATIVE In relative mode GL1DE performance is optimized to obtain a consistent error in latitude and longitude over time periods of 15 minutes or less rather than to obtain the smallest absolute position error see also GL1DE Position Filter on page 119 Enum 3 dynamics AUTO Auto detect dynamics mode STATIC Static mode DYNAMIC N Dynamic mode Enum H 4 OEMStar Firmware Version 1 101 Reference Manual Rev 5 121 Chapter 2 Commands 2 5 36 POSAVE Implement base station position averaging This command implements position averaging for base stations Position averaging continues for a specified number of hours or until the estimated averaged position error is within specified accuracy limits Averaging stops when the time limit or the horizontal standard deviation limit or the vertical standard deviation limit is achieved When averaging is complete the FIX POSITION command is automatically invoked If you initiate differential logging then issue the POSAVE command followed by the SAVECONFIG command the receiver averages positions after every power on or reset and then invokes the FIX POSITION command to enable it to send differential corrections lt If
98. on ASCII Example antennapower off lt For the OEMStar card it is possible to supply power to the LNA of an active antenna from an external source connected to pin of the 20 pin interface header The receiver card distributes the voltage from the external source to the antenna port via a current limiting circuit The current limiting circuit of the OEMStar can handle 3 3 to 5 5 VDC at up to 100 mA This meets the needs of any of NovAtel s GPS antennas WARNING The voltage of 5 5VDC must not be exceeded or it will result in damage to the card Field ASCII Binary Type Value Value Binary Binary Binary Field Format Bytes Offset Description 1 ANTENNAPOWER This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 flag OFF 0 Disables internal Enum 4 H powering of antenna ON 1 Enables internal powering of antenna 52 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 2 5 3 ASSIGN Assign a channel to a PRN lt The ASSIGN command should only be used by advanced users Assigning a SV channel sets the forced assignment bit in the channel tracking status field which is reported in the RANGE and TRACKSTAT logs Assigning a PRN to a SV channel does not remove the PRN from the search space of the automatic searcher only the SV channel is rem
99. on defaults Use the RXCONFIG log to determine command and log settings Ensure that all windows other than the Console window are closed in NovAtel s Control and Display Unit CDU user interface before you issue the SAVECONFIG command lt FRESET STANDARD causes all previously stored user configurations saved to non volatile memory to be erased including Saved Config Saved Almanac and Saved Ephemeris 46 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 2 4 Factory Defaults When the receiver is first powered up or after a FRESET command see page 92 all commands revert to their factory default settings When you use a command without specifying its optional parameters it may have a different command default than the factory default The SAVECONFIG command see page 135 can be used to save these defaults Use the RXCONFIG log see page 345 to reference many command and log settings The factory defaults are ADJUSTIPPS OFF ANTENNAPOWER ON CLOCKADJUST ENABLE CLOCKOFFSET 0 COM COM1 9600 N 8 1 N OFF ON COM COM2 9600 N 8 1 N OFF ON CSMOOTH 100 DATUM WGS84 DGPSEPHEMDELAY 120 DGPSTIMEOUT 300 DGPSTXID AUTO ANY DYNAMICS AIR ECUTOFF 5 0 FIX NON FIXPOSDATUM NONE FREQUENCYOUT DISABLI GLOCSMOOTH 100 GLOECUTOFF 5 0 INTERFACEMODE COM1 NOVATEL NOVATEL ON INTERFACEMODE COM2 NOVATEL NOVATEL ON INTERFACEMODE USB1 NOVATEL NOVATEL ON INTERFACEMODE USB2 NOVATEL NOVATEL ON INTERFACEMODE USB3
100. only OEMStar Firmware Version 1 101 Reference Manual Rev 5 395 Chapter 3 Data Logs 3 3 89 WAAS10 Degradation Factor SBAS 396 The fast corrections long term corrections and ionospheric corrections are all provided in the WAAS10 message Message ID 292 Log Type Asynch Recommended Input log WAAS10a onchanged ASCII Example WAAS10A COM1 0 35 5 SATTIME 1337 416469 000 00000000 c305 1984 122 54 38 76 256 152 100 311 83 256 6 0 300 292 0 1 0000000000000000000000 8884d248 lt Each raw WAAS frame gives data for a specific frame decoder number The WAAS10 message can be logged to view the data breakdown of WAAS frame 10 which contains information about degradation factors OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 i ae Binary Binary i Field Field type Data Description Format Bytes Offset Scaling 1 WAAS10 Log header H 0 header 2 prn Source PRN of message Ulong 4 H 3 Dree Estimated noise and round off Ulong 4 H 4 0 002 error parameter 4 Cite Isb Maximum round off due to the Ulong 4 H 8 0 002 least significant bit Isb of the orbital clock 5 Cite vi Velocity error bound Ulong 4 H 12 0 00005 6 ite vi Update interval for v 1 long term Ulong 4 H 16 7 Cite_vo Bound on update delta Ulong 4 H 20 0 002 8 ite v1 Minimum update interval v 0 Ulong 4 H 24 9 Cg
101. radians second Double 8 H 208 33 URA User Range Accuracy variance m The ICD 2 Double 8 H 216 specifies that the URA index transmitted in the ephemerides can be converted to a nominal standard deviation value using an algorithm listed there We publish the square of the nominal value variance The correspondence between the original URA index and the value output is shown in Table 56 34 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 224 35 CR LF Sentence terminator ASCII only a To obtain copies of ICD GPS 200 refer to www arinc com 262 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 3 3 32 GPVTG Track Made Good And Ground Speed The track made good and speed relative to the ground The GPVTG log outputs these messages with contents without waiting for a valid almanac Instead it uses a UTC time calculated with default parameters In this case the UTC time status is set to WARNING since it may not be 100 accurate When a valid almanac is available the receiver uses the real parameters Then the UTC time is set to VALID Message ID 226 Log Type Synch Recommended Input log gpvtg ontime 1 Example 1 GPS only SGPVTG 172 516 T 155 295 M 0 049 N 0 090 K D 2B Example 2 Combined GPS and GLONASS SGNVTG 134 395 T 134 395 M 0 019 N 0 035 K A 33 lt If the NMEATALKER command see page 116 is set to AUTO the talker the first 2 chara
102. sat x 40 variable xxxx 32 bit CRC ASCII and Binary only Hex 4 H 12 sat x 40 variable CR LF Sentence terminator ASCII only a Satellite health values may be found in ICD GPS 200 To obtain copies of CD GPS 200 refer to the ARINC Web site at www arinc com 358 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 3 3 75 SATXYZ SV Position in ECEF Cartesian Coordinates When combined with a RANGE log this data set contains the decoded satellite information necessary to compute the solution satellite coordinates ECEF WGS84 satellite clock correction ionospheric corrections and tropospheric corrections See the calculation examples in the usage box below Only those satellites that are healthy are reported here See also Figure 7 on page 209 Message ID 270 Log Type Synch Recommended Input log satxyz ontime 1 ASCII Example SATXYZA COM1 0 45 5 FINESTEERING 1337 409729 000 00000000 6 3c 1984 0 0 11 1 8291339 5258 17434409 5059 18408253 4923 1527 199 2 608578998 3 200779818 0 000000000 0 000000000 14 18951320 4329 16297117 6697 8978403 7764 8190 088 4 139015349 10 937283220 0 000000000 0 000000000 8a943244 lt The OEMStar uses positive numbers for ionospheric and tropospheric corrections A positive clock offset indicates that the clock is running ahead of the reference time Positive ionospheric and tropospheric corrections are added to the geometric ra
103. signal OEMStar Firmware Version 1 101 Reference Manual Rev 5 215 Chapter 3 Data Logs Table 49 Steering State Binary ASCII 0 FIRST_ORDER Description Upon start up the clock steering task adjusts the VARF pulse width to reduce the receiver clock drift rate to below 1 ms using a 1st order control loop This is the normal start up state of the clock steering loop 1 SECOND_ORDER 2 CALIBRATE_HIGH Once the receiver has reduced the clock drift to below 1 m s it enters a second order control loop and attempts to reduce the receiver clock offset to zero This is the normal runtime state of the clock steering process This state corresponds to when the calibration process is measuring at the High pulse width setting 3 CALIBRATE_LOW This state corresponds to when the calibration process is measuring at the Low pulse width setting 4 CALIBRATE CENTER This state corresponds to the Center calibration process Once the center has been found the modulus pulse width center pulse width loop bandwidth and measured slope values are saved in NVM and are used from now on for the internal oscillator a These states are only seen if you force the receiver to do a clock steering calibration using the CLOCKCALIBRATE command see page 62 With the CLOCKCALIBRATE command you can force the receiver to calibrate the slope and center pulse width of the internal oscillator to steer The receiver
104. t fit the assumption that a GPS signal travels in air nearly the same as in a vacuum As such using low elevation satellites in the solution results in greater position inaccuracies The elevation cut off angle is specified with ECUTOFF to ensure that noisy low elevation satellite data below the cut off is not used in computing a position If post processing data it is still best to collect all data even that below the cut off angle Experimenting with different cut off angles can then be done to provide the best results In cases where there are not enough satellites visible a low elevation satellite may actually help in providing a useful OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands solution Value ASCII Binary Value Description Chapter 2 Binary Binary Binary Format Offset 1 ECUTOFF header This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 angle 90 0 degrees Elevation cut off angle relative to horizon Float OEMStar Firmware Version 1 101 Reference Manual Rev 5 87 Chapter 2 Commands 2 5 19 FIX Constrain to fixed height or position 88 This command fixes various parameters of the receiver such as height or position For various applications fixing these values can assist in improving acquisition times and accuracy of position or correcti
105. that are in the same orbit plane separated by 180 degrees latitude For more information about GLONASS refer to the Knowledge and Learning page in the Support section of our Web site at www novatel com Message ID 48 Log Type Synch Recommended Input log satvisa ontime 60 ASCII Example SATVISA COM1 0 46 5 FINESTEERING 1363 238448 000 00000000 0947 2277 TRUE TRUE 61 7 0 0 86 1 77 4 69 495 69 230 2 0 0 66 3 70 7 1215 777 1215 512 58 7 1 64 7 324 5 1282 673 1282 939 58 12 0 64 7 324 5 1283 808 1284 074 30 0 0 60 8 267 7 299 433 299 699 5 0 0 58 1 205 5 1783 823 1783 557 42 7 1 53 0 79 0 17 034 17 300 42 9 1 53 0 79 0 20 108 20 373 19 0 0 86 8 219 3 88 108 88 373 a0b7ccObConsider sky visibility at each of the base and rover receivers in a differential setup lt The accuracy and reliability of differential messages is proportional to the number of common satellites that are visible at the base and rover Therefore if the sky visibility at either station is poor you might consider increasing the occupation times This condition is best measured by monitoring the number of visible satellites during data collection along with the PDOP value a value less than 3 is ideal Also the location and number of satellites in the sky is constantly changing As a result some periods in the day are slightly better for data collection than others Use the SATVIS log to monitor satellite visibility The PS
106. the PDP mode and dynamics RAIMMODE Sets RAIM mode SBASCONTROL Set SBAS test mode and PRN SELECTCHANCOMFIG Change channel configuration SETIONOTYPE Set the ionospheric corrections model SETUTCLEAPSECONDS Change default UTC Leap Seconds offset UNDULATION Set ellipsoid geoid separation USERDATUM Set user customized datum USEREXPDATUM Set custom expanded datum UTMZONE Set UTM parameters ASSIGN Assign individual satellite channel Continued on the following page OEMStar Firmware Version 1 101 Reference Manual Rev 5 35 Chapter 2 Commands SATELLITE TRACKING AND CHANNEL CONTROL ASSIGNALL Assign all satellite channels CNOUPDATE C No update rate and resolution DYNAMICS Tune receiver parameters ECUTOFF Set satellite tracking elevation cut off GLOCSMOOTH Carrier smoothing for GLONASS channels GLOECUTOFF Set the GLONASS satellite elevation cut off angle LOCKOUT Prevent the receiver from using a satellite by specifying its PRN SETAPPROXPOS Set an approximate position SETAPPROXTIME Set an approximate GPS reference time UNASSIGN Unassign a previously ASSIGNed channel UNASSIGNALL Unassign all previously ASSIGNed channels UNLOCKOUT Reinstate a satellite in the solution UNLOCKOUTALL Reinstate all previously locked out satellites WAASECUTOFF Set SBAS satellite elevation cut off MAGVAR Set magnetic variation correction SETNAV Set waypoints DGPS
107. the context of the current era and therefore is computed as the full week number starting from week 0 or January 6 1980 Therefore in all log headers and decoded week number fields the full week number is given Only in raw data such as the data field of the RAWALM log or the subframe field of the RAWEPHEM log will the week number remain as the 10 or 8 least significant bits 32 Bit CRC The ASCII and Binary OEMStar message formats all contain a 32 bit CRC for data verification This allows the user to ensure that the data received or transmitted is valid with a high level of certainty This CRC can be generated using the following C algorithm define CRC32_ POLYNOMIAL OxEDB88320L unsigned long CRC32Value int i int Jy unsigned long ulCRC ulCRC i for lt j 8 7 J gt 0 J if ulCRC amp 1 ulCRC ulCRC gt gt 1 CRC32 POLYNOMIAL else ulCRC gt gt 1 return ulCRC unsigned long CalculateBlockCRC32 unsigned long ulCount Number of bytes in the data block unsigned char ucBuffer Data block unsigned long ulTemp1 unsigned long ulTemp2 unsigned long ulCRC 0 while ulCount 0 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Messages Chapter 1 ulTempl ulCRC gt gt 8 amp 0x00FFFFFFL ulTemp2 CRC32Value int ulCRC ucBuffert amp Oxff ulCRC ulTempl ulTemp2 return ulCRC lt The NMEA checksum is an XOR of all the
108. then also to decimal For an example of this type of conversion please see the RANGE log Table 62 on page 305 Conversions and their binary or decimal results are always read from right to left For a complete list of hexadecimal binary and decimal equivalents please refer to the Knowledge and Learning page in the Support section of our Web site at www novatel com e ASCII log examples may be split over several lines for readability In reality only a single CR LF pair is transmitted at the end of an ASCII log e Relevant SBAS commands and logs start with WAAS except for RAWWAASFRAME Generally the PRN field of the WAASx logs is common and 1 Refer to the SELECTCHANCONFIG command on page 138 for more information 12 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Foreword indicates the SBAS satellite that the message originated from Please refer to the RTCA document RTCA DO 229B Appendix A Wide Area Augmentation System Signal Specification for details You can download the most up to date version of this manual and any addendums from our Web site at http www novatel com support firmware software and manuals What s New in Rev 5 of this Manual The manual has been revised to include information on the following e GLONASS only positioning and timing are now available on the OEMStar to support this functionality the SETTIMEBASE command has been added and the SELECTCHANCONFIG command has been revised
109. this command and the receiver has no channels configured with that channel system the command has no effect on the receiver s tracking state 160 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 2 5 61 UNDULATION Choose undulation This command permits you to either enter a specific geoidal undulation value or use the internal table of geoidal undulations In the option field the EGM96 table provides ellipsoid heights at a 0 25 by 0 25 spacing while the OSU89B is implemented at a 2 by 3 spacing In areas of rapidly changing elevation you could be operating somewhere within the 2 by 3 grid with an erroneous height EGM96 provides a more accurate model of the ellipsoid which results in a denser grid of heights It is more accurate because the accuracy of the grid points themselves has also improved from OSU89B to EGM96 For example the default grid EGM96 is useful where there are underwater canyons steep drop offs or mountains The undulation values reported in the BESTPOS BESTUTM MARKPOS and PSRPOS logs are in reference to the ellipsoid of the chosen datum Abbreviated ASCII Syntax Message ID 214 UNDULATION option separation Factory Default undulation egm96 ASCII Example 1 undulation osu89b ASCII Example 2 undulation user 5 599999905 Refer to the application note APN 006 Geoid Issue available at http www novatel com support knowledge and learning for a description
110. time status is set to WARNING since it may not be 100 accurate When a valid almanac is available the receiver uses the real parameters Then the UTC time is set to VALID Message ID 224 Log Type Synch Recommended Input log gprmb ontime 1 Example 1 GPS only SGPRMB A 5 14 L FROM TO 5109 7578000 N 11409 0960000 W 5 1 303 0 0 0 V A 6F Example 2 Combined GPS and GLONASS SGNRMB A 5 14 1L FROM TO 5109 7578000 N 11409 0960000 W 5 1 303 0 0 0 V A 71 lt If the NMEATALKER command see page 116 is set to AUTO the talker the first 2 characters after the sign in the log header is set to GP GPS satellites only GL GLONASS satellites only or GN satellites from both systems NovAtel does not support a GLONASS only solution Please see the GPGGA note that applies to all NMEA logs on page 241 Table 55 NMEA Positioning System Mode Indicator Mode Indicator A Autonomous D Differential E Estimated dead reckoning mode M Manual input N Data not valid OEMStar Firmware Version 1 101 Reference Manual Rev 5 255 Chapter 3 Data Logs Field Structure Field Description Symbol Example 1 GPRMB Log header GPRMB 2 data status Data status A A A data valid V navigation receiver warning 3 xtrack Cross track error x x 5 14 4 dir Direction to steer to get back on track L R a L 5 origin ID Origin waypoint ID
111. to disable all these messages without changing the bits simply UNLOG the RXSTATUSEVENT logs on the appropriate ports Refer also to the Built in Status Tests chapter in the OEMStar Installation and Operation User Manual lt The receiver gives the user the ability to determine the importance of the status bits In the case of the receiver status setting a bit in the priority mask causes the condition to trigger an error This causes the receiver to idle all channels set the ERROR strobe line flash an error code on the status LED turn off the antenna LNA power and disable the RF hardware the same as if a bit in the receiver error word is set Setting a bit in an auxiliary status priority mask causes that condition to set the bit in the Receiver Status word corresponding to that auxiliary status Abbreviated ASCII Syntax Message ID 95 STATUSCONEFIG type word mask Factory Default statusconfig priority status 0 statusconfig priority aux1 0x00000008 statusconfig priority aux2 0 statusconfig set status 0x00000000 statusconfig set auxl 0 statusconfig set aux2 0 statusconfig clear status 0x00000000 statusconfig clear aux 0 statusconfig clear aux2 0 ASCII Example statusconfig set status 0028a51d OEMStar Firmware Version 1 101 Reference Manual Rev 5 157 Chapter 2 Commands Table 35 Mask Types ASCII Binary Description PRIORITY 0 Replace the Priority mask SET 1 Replace the Set ma
112. to http earth info nga mil GandG coordsys grids referencesys html for more information and a world map of UTM zone numbers OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 Binary Binary Field Field type Data Description Format Bytes Offset 1 BESTUTM Log header H 0 header 2 sol status Solution status see Table 44 Solution Status on Enum 4 H page 197 3 pos type Position type see Table 43 Position or Velocity Enum 4 H 4 Type on page 196 4 z Longitudinal zone number Ulong 4 H 8 5 zletter Latitudinal zone letter Ulong 4 H 12 6 northing Northing m where the origin is defined as the Double 8 H 16 equator in the northern hemisphere and as a point 10000000 metres south of the equator in the southern hemisphere that is a false northing of 10000000 m 7 easting Easting m where the origin is 500000 m west of Double 8 H 24 the central meridian of each longitudinal zone that is a false easting of 500000 m 8 hgt Height above mean sea level Double 8 H 32 9 undulation Undulation the relationship between the geoid and Float 4 H 40 the ellipsoid m of the chosen datum 10 datum id Datum ID number see Chapter 2 Table 18 Enum 4 H 44 Reference Ellipsoid Constants on page 73 11 No Northing standard deviation Float 4 H 48 12 Eo Easting standard deviation Float 4 H 52 13 hgt o Height standard dev
113. type of log Char 1 H 6 type Bits 5 6 Format 00 Binary 01 ASCII 10 Abbreviated ASCII NMEA 11 Reserved Bit7 Response Bit see Section 1 2 on page 24 0 Original Message 1 Response Message 5 Reserved Char 1 H 7 164 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 2 5 64 UNLOG Remove a log from logging control This command permits you to remove a specific log request from the system The port parameter is optional If port is not specified it is defaulted to the port on which the command was received This feature eliminates the need for you to know which port you are communicating on if you want logs to be removed on the same port as this command Abbreviated ASCII Syntax UNLOG port datatype Input Example unlog bestposa unlog com1 bestposa Message ID 36 lt The UNLOG command allows you to remove one or more logs while leaving other logs unchanged Fiela Field Type 1 UNLOG ASCII header ASCII Value Binary Value Description This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively Binary Binary Binary Format Bytes Offset H 0 2 port See Table 4 on page 19 decimal values greater than 16 may be used Port to which log is being sent default THISPORT Enum 4 H 3 message Message Name
114. using the 2 offsets Ensure you take care of going negative or rollover going over the total number of seconds 604800 in a week In the case of rollover add a week and the left over seconds become the seconds into this new week If negative subtract a week and the remainder from the seconds of that week For example TIME COM1 0 73 5 FINESTEERING 1432 235661 000 00000000 9924 2616 VALID 0 000000351 0 000000214 14 00000000106 2007 6 19 17 27 27000 VALID From the time information above GPS reference time 1432 GPS reference week 235661 000 GPS seconds from the header From the UTC offset row in the TIME log description on page 362 UTC time GPS reference time offset UTC offset UTC time OEMStar Firmware Version 1 101 Reference Manual Rev 5 361 Chapter 3 Data Logs week 1432 235661 000 s 0 000000132 offset 14 00000000105 UTC offset week 1432 seconds 235646 99999986695 Binary Binary Field Field type Data Description Format Bytes Offset 1 TIME Log header H 0 header 2 clock Clock model status not including current Enum 4 H status measurement data see Table 47 on page 211 3 offset Receiver clock offset in seconds from GPS Double 8 H 4 reference time A positive offset implies that the receiver clock is ahead of GPS reference time To derive GPS reference time use the following formula GPS reference time receiver time offset 4 offset std Receiver clock offset standard deviation
115. 0 000 8 8 8 8 0 01 0 03 3d9fbd48 OEMStar Firmware Version 1 101 Reference Manual Rev 5 195 Chapter 3 Data Logs Table 43 Position or Velocity Type Type binary Type ASCII Description 0 NONE No solution 1 FIXEDPOS2 Position has been fixed by the FIX POSITION command 2 FIXEDHEIGHT2 Position has been fixed by the FIX HEIGHT AUTO command 8 DOPPLER VELOCITY Velocity computed using instantaneous Doppler 16 SINGLE Single point position 17 PSRDIFF Pseudorange differential solution 18 WAAS Solution calculated using corrections from an SBAS 19 PROPAGATED Propagated by a Kalman filter without new observations a With default PDPFILTER ENABLE the bestpos will no longer show that the position has been fixed unless PDPFILTER is DISABLED 196 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 Table 44 Solution Status Solution Status Binary ASCII piad iaa 0 SOL_COMPUTED Solution computed 1 INSUFFICIENT_OBS Insufficient observations 2 NO_CONVERGENCE No convergence 3 SINGULARITY Singularity at parameters matrix 4 COV_TRACE Covariance trace exceeds maximum trace gt 1000 m 5 TEST_DIST Test distance exceeded maximum of 3 rejections if distance gt 10 km COLD_START Not yet converged from cold start V_H_LIMIT Height or velocity limits exceeded in accordance with export licensing restrictions
116. 00000100 Reserved 9 0x00000200 10 0x00000400 Processor status OK Error 11 0x00000800 PLL RF1 hardware status L1 OK Error N3 12 0x00001000 Reserved 13 0x00002000 RF1 hardware status L1 OK Error 14 0x00004000 Reserved 15 0x00008000 NVM status OK Error N4 16 0x00010000 Software resource limit OK Error 17 0x00020000 Model not valid for this receiver OK Error 18 0x00040000 Reserved 19 0x00080000 Continued on the following page 348 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Table 68 Receiver Error continued Chapter 3 Nibble Description N5 20 0x00100000 Remote loading has begun No Yes 21 0x00200000 Export restriction OK Error 22 0x00400000 Reserved 23 0x00800000 N6 24 0x01000000 25 0x02000000 26 0x04000000 27 0x08000000 N7 28 0x10000000 29 0x20000000 30 0x40000000 31 0x80000000 Component hardware failure OK Error a RAM failure on an OEMStar card may also be indicated by a flashing red LED OEMStar Firmware Version 1 101 Reference Manual Rev 5 349 Chapter 3 Table 69 Receiver Status Data Logs Nibble Bit Description 0 0x00000001 Error flag see Table on No error Error page 347 AS 1 0x00000002 Temperature status Within Warning specifications 2 0x00000004 Voltage supply status OK Warning 3 0x00000008 Antenna power s
117. 00F TI L6X010011RN0000 L6X010003RB0000 2010 Jul 22 14 27 12 19a2d489 lt The VERSION log is a useful log as a first communication with your receiver Once connected using CDU or HyperTerminal log VERSION and check that the output makes sense Also ensure that you have the receiver components you expected 4 COM1 Current Port T 2009 11 10 14 29 59 Elapsed 30s Fe G Novatel 10Hz 10Hz aps 173 98k6 fe 1042 BESTPOSA 62 20kB H 1042 RANGECMPB 294 109 37kB H RAWEPHEMB 18 2 41kB COM2 USB1 USB2 USB3 Figure 10 Logging Example in CDU OEMStar Firmware Version 1 101 Reference Manual Rev 5 367 Chapter 3 Data Logs Table 76 Model Designators Designator Description G L1 GLONASS channels frequencies to match GPS configuration D Transmit DGPS corrections M Measurements T 10 Hz logging S GLIDE A API l RAIM Table 77 Component Types Binary ASCII Description 0 UNKNOWN Unknown component 1 GPSCARD OEMStar component 2 CONTROLLER Data collector 3 ENCLOSURE OEMStar card enclosure 4 6 Reserved 981073921 0x3A7A0001 DB_USERAPP User application firmware 981073925 Ox3A7A0005 DB_USERAPPAUTO Auto starting user application firmware a Please refer to the Acronyms section of our ntroduction to GNSS Book available from our Web site at http Awww novatel com support knowledge and learning 368 OEMStar Firmware Version 1 101 Referen
118. 1 101 Reference Manual Rev 5 93 Chapter 2 Commands 2 5 22 FRESET Clear selected data from NVM and reset 94 This command clears data which is stored in non volatile memory Such data includes the almanac ephemeris and any user specific configurations The commands ephemeris and almanac related data excluding the subscription information can be cleared by using the STANDARD target The model can only be cleared by using the MODEL target The receiver is forced to hardware reset In addition values entered using the CLOCKCALIBRATE command can only be cleared by using the STANDARD target gt lt FRESET STANDARD which is also the default causes any commands ephemeris GPS almanac and SBAS almanac data COMMAND GPSALMANAC GPSEPHEM and SBASALMANAC in Table 23 previously saved to NVM to be erased Abbreviated ASCII Syntax Message ID 20 FRESET target Input Example freset command lt If you are receiving no data or random data from your receiver try these before contacting NovAtel e Verify that the receiver is tracking satellites e Check the integrity and connectivity of power and data cables e Verify the baud rate settings of the receiver and terminal device your PC data logger or laptop e Switch COM ports e Issue a FRESET command OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Table 23 FRESET Target Chapter 2 Binary
119. 1 This datum has been updated International see ID 68 1924 27 INDIA 289 734 257 Do not use Use ID 69 or ID Everest EA 70 instead 28 IRE65 506 122 611 Do not use Use ID 71 Modified instead 4 Airy 29 KERTA 11 851 5 Kertau 1948 West Malaysia Everest EE and Singapore 30 KANDA 97 787 86 Kandawala Sri Lanka Everest EA 31 LIBER 90 40 88 Liberia 1964 Clarke 1880 32 LUZON 133 77 51 Do not use Use ID 72 Clarke 1866 instead 4 33 MINDA 133 70 72 This datum has been updated Clarke 1866 see ID 73 34 MERCH 31 146 47 Merchich Morocco Clarke 1880 35 NAHR 231 196 482 This datum has been updated Clarke 1880 see ID 74 36 NAD83 0 0 0 N American 1983 Includes GRS 80 Areas 37 42 37 CANADA 10 158 187 N American Canada 1927 Clarke 1866 38 ALASKA 5 135 172 N American Alaska 1927 Clarke 1866 39 NAD27 8 160 176 N American Conus 1927 Clarke 1866 40 CARIBB 7 152 178 This datum has been updated Clarke 1866 see ID 75 41 MEXICO 12 130 190 N American Mexico Clarke 1866 OEMStar Firmware Version 1 101 Reference Manual Rev 5 75 Chapter 2 Commands Table 19 Datum Transformation Parameters continued oe NAME DX py pz gt DATUM DESCRIPTION ELLIPSOID 42 CAMER 0 125 194 N American Central America Clarke 1866 43 MINNA 92 93 122 Nigeria Minna Clarke 1880 44 OMAN 346 1 224 Oman Clarke 1880 45 PUERTO 11 72 101 Puerto Rica and Virgin Islands Clarke
120. 11 14 2 2 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 76 954b lt Each raw WAAS frame gives data for a specific frame decoder number The WAAS24 message can be logged to view the data breakdown of WAAS frame 24 which contains mixed fast slow corrections OEMStar Firmware Version 1 101 Reference Manual Rev 5 403 Chapter 3 Data Logs Binary Binary Field Field type Data Description Format Bytes Offset Scaling 1 WAAS24 Log header H 0 header 2 prn Source PRN of message Ulong 4 H 3 prcO pre i Long 4 H 4 4 pret Fast corrections 2048 to 2047 Long 4 H 8 fr for the prn in slot i 5 prc2 i 0 5 Long 4 H 12 6 prc3 Long 4 H 16 7 prc4 Long 4 H 20 8 pred Long 4 H 24 9 udreO udre i Ulong 4 H 28 See Table 79 on page 10 udre1 User differential range error Ulong 4 H 32 374 indicator for the prn in slot i 11 udre2 i 0 5 Ulong 4 H 36 12 udre3 Ulong 4 H 40 13 udre4 Ulong 4 H 44 14 udre5 Ulong 4 H 48 15 iodp Issue of PRN mask data Ulong 4 H 52 16 block id Associated message type Ulong 4 H 56 17 iodf Issue of fast corrections data Ulong 4 H 60 18 spare Spare value Ulong 4 H 64 19 vel Velocity code flag Ulong 4 H 68 20 mask1 Index into PRN mask Type 1 Ulong 4 H 72 21 iode1 Issue of ephemeris data Ulong 4 H 76 22 dx1 Delta x ECEF Long 4 H 80 0 125 23 dy1 Delta y ECEF Long 4 H 84 0 125 24 dz1 Delta z
121. 152 41 al 35 Ulong 4 H 156 42 al 36 Ulong 4 H 160 43 al 37 Ulong 4 H 164 44 al 38 Ulong 4 H 168 45 al 39 Ulong 4 H 172 46 al 40 Ulong 4 H 176 47 al 41 Ulong 4 H 180 48 al 42 Ulong 4 H 184 49 al 43 Ulong 4 H 188 50 al 44 Ulong 4 H 192 51 al 45 Ulong 4 H 196 52 al 46 Ulong 4 H 200 53 al 47 Ulong 4 H 204 54 al 48 Ulong 4 H 208 Continued on the following page 392 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 Binary Binary Field Field type Data Description Format Bytes Offset 55 al 49 al i Ulong 4 H 212 56 al 50 Se HS a SELEN for the Ulong 4 Fr 57 al 51 Invalid do not use Ulong 4 H 220 58 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 224 59 CR LF Sentence terminator ASCII only OEMStar Firmware Version 1 101 Reference Manual Rev 5 393 Chapter 3 Data Logs 3 3 88 WAAS9 GEO Navigation Message SBAS 394 WAAS9 provides the GEO navigation message representing the position velocity and acceleration of the geostationary satellite in ECEF coordinates and its apparent clock time and frequency offsets Also included is the time of applicability an issue of data IOD and an accuracy exponent URA representing the estimated accuracy of the message The time offset and time drift are with respect to SBAS Network Time Their combined effect is added to the estimate of the satellite s transmit time Me
122. 1866 46 QORNO 164 138 189 Qornoq South Greenland International 1924 47 ROME 255 65 9 Rome 1940 Sardinia Island International 1924 48 CHUA 134 229 29 South American Chua Astro International Paraguay 1924 49 SAM56 288 175 376 South American Provisional International 1956 1924 50 SAM69 57 1 41 South American 1969 S American 1969 51 CAMPO 148 136 90 S American Campo International Inchauspe Argentina 1924 52 SACOR 206 172 6 South American Corrego International Alegre Brazil 1924 53 YACAR 155 171 37 South American Yacare International Uruguay 1924 54 TANAN 189 242 91 Tananarive Observatory 1925 International Madagascar 1924 55 TIMBA 689 691 46 This datum has been updated Everest EB see ID 85 56 TOKYO 128 481 664 This datum has been updated Bessel 1841 see ID 86 57 TRIST 632 438 609 Tristan Astro 1968 Tristan du International Cunha 1924 58 VITI 51 391 36 Viti Levu 1916 Fiji Islands Clarke 1880 59 WAK60 101 52 39 This datum has been updated Hough 1960 see ID 67 60 WGS72 0 0 4 5 World Geodetic System 72 WGS72 61 WGS84 0 0 0 World Geodetic System 84 WGS84 62 ZANDE 265 120 358 Zanderidj Surinam International 1924 76 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 Table 19 Datum Transformation Parameters continued cae NAME DX2 DY pZ DATUM DESCRIPTION ELLIPSOID 63 USE
123. 2 and PASSXCOM3 allow for redirection of data that is arriving at COM1 COM2 virtual COM1 virtual COM2 or virtual COM3 respectively PASSUSB1 PASSUSB2 PASSUSB3 are only available on receivers that support USB and can be used to redirect data from USB1 USB2 or USB3 A pass through log is initiated the same as any other log that is LOG to port data type trigger However pass through can be more clearly specified as LOG to port from port AB onchanged Now the from port AB field designates the port which accepts data that is COM1 COM2 USB1 USB2 or USB3 as well as the format in which the data is logged by the to port A for ASCII or B for Binary When the from port AB field is suffixed with an A all data received by that port is redirected to the to port in ASCII format and logs according to standard NovAtel ASCII format Therefore all incoming ASCII data is redirected and output as ASCII data However any binary data received is converted to a form of ASCII hexadecimal before it is logged When the from port AB field is suffixed with a B all data received by that port is redirected to the to port exactly as it is received The log header and time tag adhere to standard NovAtel Binary format followed by the pass through data as it was received ASCII or binary Pass through logs are best utilized by setting the trigger field as onchanged or onnew If the data being injected is ASCII then the data is
124. 2222 can ikruen tak eee eecneee eee NREN ER SKE AR NNNnnn 54 Channel Syste oo Ea aan T ak nd aka see ne dede 56 COM Serial Port ideen her ninos EE EEEE 68 Pany speed ti oo ES E a E E P E AR na AND 68 HaNOSHAKING 5 se EEN ED ES oe Ai eeteda ace 68 Reference Ellipsoid Constant ssssss seeren 73 Datum Transformation Parameters 222 EEN KNEE NSRE 74 User DYN amiCS sorotan e aa ELSE leasede Enns 83 FIX TYPES LEE SEES SEEDEDE See 89 FIX Parameters essan od sa E anken sange rer tvanduedeasvadey 90 PRESET TIGO eeo E E 95 Serial Port Interface Modes oesie eninin a AANA AR R A ns 102 NMEA TAKES seraa E 117 DGPS TYDE iisen ignia a AA OARA sat E AAA 128 RAM Mode TYPES oo EET EDEL ENN 131 DYSICM TYPOS sro anor n E E ED en da ee ee deter 136 OEMStar Channel Configuration Sets W G u u udseseeessseeaansnseeessannennsnnekeensnnenannne keen seen 139 OEMStar Channel Configurations 22224 Ade a salen 139 Sele CLONE TYDE enere E ecard eae meaner aes 146 lonospheric Correction MOdels 2 2 eececcecceeeeeeeeeeeeeccecaecaeceeeeeeeeeeeteeseesnnaaees 147 Russian Alphabet Characters Ch in Decimal Dec and Hexadecimal Hex 153 System Used for Timing seuren a ED E A vane 155 Mask TYPOS r O 158 UTM Zone Commands einernie aan a A AE 172 OBAS TME OW Mode irreais ana EEE rare 174 LOG Typ TNIE seni a a E R a 175 LOGS BY FUNCION R orrors E O O OS 177 OEMStar Logs in Alphabetical Order ssssssseessssssrrsseerrrss
125. 270 272 text transfer 151 time acquisition 88 almanac reference 312 anomaly 192 approximate 191 clock adjustment 60 coarse fine 27 CPU 105 delay 80 dilution of precision 291 ephemeris 79 313 event 272 fine 28 GPS 211 283 362 interval 107 109 latched 270 limit 122 log 179 occupation 357 of mark in event 273 of position fix 245 out 81 precision 27 receiver clock offset 193 stamp 28 status 17 27 28 steering 27 60 tag 280 to first fix TTFF 144 191 324 transfer 49 UTC 242 244 264 validity 27 TIME log 361 track made good 257 263 over ground 205 297 tracking assign 53 automatic 160 channel 303 363 continuous 307 365 cut off angle 86 disabled 355 fix position 89 GLONASS 99 loop 303 satellite 35 179 181 290 status 363 undesirable 104 TRACKSTAT log 363 transfer ASCII text 151 time 49 transformation parameter 72 transmit 34 37 69 100 289 travel 303 trigger error 347 event message 157 log 105 175 268 269 option 106 troposphere 359 true north direction of motion 205 297 magnetic variation 110 111 pseudorange error orientation 252 to waypoint 276 TTFF see time to first fix tunnel serial port 102 type field 14 U UNASSIGN command 159 UNASSIGNALL command 160 undulation best position 199 201 command 161 illustration 161 position 193 271 294 UNDULATION command 161 United States Geological Survey USGS
126. 3 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 72 24 CR LF Sentence terminator ASCII only a When using a datum other than WGS84 the undulation value also includes the vertical shift due to differences between the datum in use and WGS84 284 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs 3 3 42 PDPVEL PDP filter velocity The PDPVEL log contains the pseudorange velocity computed by the receiver with the PDP filter enabled See also the PDPFILTER command on page 119 Message ID Log Type 470 Synch Recommended Input log pdpvela ontime 1 ASCII Example PDPVELA COM1 0 75 0 FINESTEERING 1430 505990 000 00000000 b886 2859 SOL COMPUTED SINGLE 0 150 0 000 27 4126 179 424617 0 5521 0 0 7746b0fe Chapter 3 Binary Binary Field Field type Data Description Format Bytes Offset 1 PDPVEL Log header H 0 header 2 sol status Solution status Enum 4 H 3 vel type Velocity type Enum 4 H 4 4 latency A measure of the latency in the velocity time tag in Float 4 H 8 seconds It should be subtracted from the time to give improved results 5 age Differential age in seconds Float 4 H 12 6 hor spd Horizontal speed over ground in metres per second Double 8 H 16 7 trk gnd Actual direction of motion over ground track over ground Double 8 H 24 with respect to True North in degrees 8 height Height in metres where po
127. 3 provides the standard decimal and hex codes to use when transmitting Cyrillic characters to provide Russian language messages Codes from 0 to 127 correspond to standard ASCII codes To support the 8 bit character data in the ASCII version 8 bit characters are represented as xnn or dnnn which are the hexadecimal or decimal values of the characters A is represented as In the RTCMDATA36 and RTCM36T logs the ascii output displays the 8 bit characters in the decimal dnnn representation However in the SETRTCM36 command you can enter the 8 bit characters using the x or d prefix lt This command limits the input message length to a maximum of 90 ASCII characters If the message string contains any delimiters that is spaces commas tabs and so on the entire string must be contained in double quotation marks Abbreviated ASCII Syntax Message ID 880 SETRTCM36 extdtext Input Example To set the message QUICK JTOPM enter any of the following commands color added or grayscale in printed versions to aid understanding setrtem36 quick d166 d146 d174 d144 d140 setrtcm36 quick xa6 setrtem36 x51 x55 x49 x43 x4b x20 xa setrtcm36 x51 x55 x49 x43 x4b xa6 x92 xae x90 x8c The corresponding RTCMDATA36A log see page 340 looks like RTCMDATA36A COM1 0 64 5 FINES TEERING 1399 237 113 869 00500000 F9F5 35359 36 0 5 189 0 0 6 11 QUICK D166 D146 D174 D144 D140 8BDEAE7
128. 32 bit CRC ASCII and Binary only Hex 4 H 102 9 CR LF Sentence terminator ASCII only 314 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 3 3 56 RAWGPSSUBFRAME Raw Subframe Data This log contains the raw GPS subframe data A raw GPS subframe is 300 bits in total This includes the parity bits which are interspersed with the raw data ten times in six bit chunks for a total of 60 parity bits Note that in Field 5 the data field below we have stripped out these 60 parity bits and only the raw subframe data remains for a total of 240 bits There are two bytes added onto the end of this 30 byte packed binary array to pad out the entire data structure to 32 bytes in order to maintain 4 byte alignment Message ID 25 Log Type Asynch Recommended Input log rawgpssubframea onnew ASCII Example RAWGPSSUBFRAMEA COM1 59 62 5 SATTIME 1337 405348 000 00000000 690 1984 2 22 74 8b04e483f3b17ee037a3732fe0fc8ccf074303ebdf2f6505f5aaaaaaaaa9 2 41e768e4 RAWGPSSUBFRAMEA COM1 35 62 5 SATTIME 1337 405576 000 00000000 690 1984 4 25 2 8b04e48406a8b9fe8b364d7 8 b6ee827F F2 062258840ea4a10e20b964327e 4 52d460a7 RAWGPSSUBFRAMEA COM1 0 62 5 SATTIME 1337 400632 000 00000000 690 1984 20 9 3 8b04e482 6aadf 3557257871000a26fc34a31d7a300beded5ffa3de7e0b6af 20 55d1l6a4a lt The RAWGPSSUBFRAME log can be used to r
129. 4 H CORRECTION 1 Use the correction supplied 3 correction 180 0 degrees Magnitude of correction Float 4 H 4 Required field if type Correction 4 std_dev 180 0 degrees Standard deviation of Float 4 H 8 correction default 0 112 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 2 5 30 MARKCONTROL Control processing of mark inputs This command provides a means of controlling the processing of the mark 1 MK1D input for the OEMStar Using this command the mark inputs can be enabled or disabled the polarity can be changed and a time offset and guard against extraneous pulses can be added The MARKPOS and MARKTIME logs see their descriptions starting on page 270 have their outputs and extrapolated time tags pushed into the future relative to the MKI event by the amount entered into the time bias field In almost all cases this value is set to 0 which is also the default setting Abbreviated ASCII Syntax Message ID 614 MARKCONTROL signal switch polarity timebias timeguard Factory Default markcontrol mark enable negative 0 0 ASCII Example markcontrol mark enable negative 50 100 3 3V NEGATIVE Polarity jeans eee ee 0 0V gt 51 ns Sep oreste ES E EEES 3 3V POSITIVE Polarity 0 0 V Figure 3 TTL Pulse Polarity lt You may have a user point device such as a video camera device Connect the device to the receiver
130. 43 409 B1 6 608 998 B1 6 664 923 B1 7 738 606 B2 Q OY 2 OEMStar Firmware Version 1 101 Reference Manual Rev 5 reserved under International copyright laws Printed in Canada on recycled paper amp Copyright 2006 2011 NovAtel Inc All rights reserved Unpublished rights Recyclable Table of Contents Foreword 11 1 Messages 14 121 Message TYPES rp E a nannies 14 WAP AS CM oe sete 0 bs SEERE ae aa a A aAa 16 1 1 2 Abbreviated ASCI sissies seated Ade ieee ieee ed de 19 L S BIM ANY sennae a a a Aetna acest epdeetns daa ceveiieeeaees 19 T2 RESPONSES r rn a a ln waned ddsaanataddeassadudainactedddeciassaduaetionsadienes 24 1 2 1 Abbreviated Response sssesseereeere rer renerne 24 1 2 2 ASCII Response ccc eceececceceeeeeeeeeeeeeeneaeeceeeeeeeeeeesceaaaaecaeeeeeeeeeeeseteeeseaeees 24 1 2 3 Binary Response ncnia E tai eterecubl aan aetideaceedae ate 24 1 3 GLONASS Slot and Frequency NUMDESS cccceeeeeceeeeeceeeeeeeeneeeeeeeneeeeeeenaaes 26 1 4 GPS Reference Time Status ec cecceceeeeeeeeeeeeeeeeseeenaeeeseeeteeeeseeesneeeeeeeaes 27 1 5 Message Time Stamp senros a E EE 28 1 6 Decoding of the GPS Reference Week NUMDED cecceeeeeeetteeeeeeteeeeeeenaaes 30 1 7 32 Bit CRG eats sii sinned aaa aa ana AEA aA aaa Sa 30 2 Commands 33 21 Command FORMALS LEE ED EGE LEE i Aa 33 2 2 COMMANA SCUINGS SEEDEDE DEN ele 33 2 3 Commands by Functions a a A 34 24 Factory Deduks iiss inn
131. 5 48 SETAPPROXPOS Set an approximate position This command sets an approximate latitude longitude and height in the receiver Estimating these parameters when used in conjunction with an approximate time see the SETAPPROXTIME command on page 144 can improve satellite acquisition times and time to first fix For more information about TTFF and Satellite Acquisition please refer to the Knowledge and Learning page in the Support section on our Web site at www novatel com The horizontal position entered should be within 200 km of the actual receiver position The approximate height is not critical and can normally be entered as zero If the receiver cannot calculate a valid position within 2 5 minutes of entering an approximate position the approximate position is ignored The approximate position is not visible in any position logs It can be seen by issuing a SETAPPROXPOS log See also the SATVIS log on page 357 Abbreviated ASCII Syntax Message ID 377 SETAPPROXPOS lat lon height Input Example setapproxpos 51 116 114 038 0 lt For an example on the use of this command please see the SETAPPROXTIME command on page 144 Field ASCII Binary ae Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 SETAPPROXPOS This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 Lat 90 d
132. 5 Long term slow satellite corrections 299 WAAS26 lonospheric delay corrections 300 WAAS27 SBAS service message 301 WAAS3 Fast correction slots 13 25 302 WAAS4 Fast correction slots 26 38 303 WAASS5 Fast correction slots 39 50 304 WAAS6 Integrity message 305 WAAS7 Fast correction degradation 306 WAAS9 GEO navigation message 313 WAASCORR SBAS range corrections used 317 COMCONFIG Current COM port configuration 392 RTCADATA1 Type 1 Differential GPS Corrections 393 RTCADATAEPHEM Type 7 Ephemeris and Time Information 396 RTCMDATA1 Type 1 Differential GPS Corrections 397 RTCMDATA15 Type 15 lonospheric Corrections 398 RTCMDATA16 Type 16 Special Message 403 RTCMDATA59 Type 59N 0 NovAtel Proprietary RT20 Differential 404 RTCMDATAQ Type 9 Partial Differential GPS Corrections 405 PASSXCOM1 Pass through logs 406 PASSXCOM2 407 RAWGPSWORD Raw navigation word Continued on the following page OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 NovAtel Format Logs Message ID Datatype Description 469 PDPPOS PDP filter position 470 PDPVEL PDP filter velocity 471 PDPXYZ PDP filter Cartesian position and velocity 607 608 609 PASSUSB1 PASSUSB2 Pass through logs for receivers that support USB PASSUSB3 718 GLOALMANAC GLONASS almanac data 719 GLOCLOCK GLONASS clock information 720 GLORAWALM Raw GLONASS almanac data 721 GL
133. 6 navigation 36 148 178 274 275 setting 148 track offset 148 149 Waypoint Products Group 308 week decoding 30 future 266 GPS 261 276 reference 314 weighting pseudorange filter 365 WGS84 default datum 72 167 differential corrections 89 206 waypoint navigation 148 X xyz coordinates 206 298 Y year 362 369 Z zone number UTM 171 OEMStar Firmware Version 1 101 Reference Manual Rev 5 429 NovAtel Recyclable Printed in Canada on recycled paper OM 20000127 Rev 5 2011 04 15
134. 63 Doppler Frequency 32 59 28 1 256 Hz Pseudorange PSR 60 95 36 1 128 m ADR 2 96 127 32 1 256 cycles StdDev PSR 128 131 4 see note b m StdDev ADR 132 135 4 n 1 512 cycles PRN Slot 136 143 8 1 Lock Time 144 164 21 1 32 s C No 165 169 5 20 n dB Hz Reserved 170 191 22 OEMStar Firmware Version 1 101 Reference Manual Rev 5 a ADR Accumulated Doppler Range is calculated as follows ADR_ROLLS RANGECMP_PSR WAVELENGTH RANGECMP_ADR MAX VALUE Round to the closest integer IF ADR_ROLLS lt 0 ADR_ROLLS ADR_ROLLS 0 5 ELSE ADR_ROLLS ADR_ROLLS 0 5 At this point integerise ADR_ROLLS CORRECTED_ADR RANGECMP_ADR MAX_VALUE ADR_ROLLS where ADR has units of cycles WAVELENGTH 0 1902936727984 for GPS L1 Note GLONASS satellites emit LI carrier waves at WAVELENGTH 0 2442102134246 for GPS L2 a satellite specific frequency refer to the GNSS Ref MAX_VALUE 8388608 erence Book for more on GLONASS frequencies b Code StdDev PSR m 0 0 050 1 0 075 2 0 113 3 0 169 4 0 253 5 0 380 6 0 570 7 0 854 8 1 281 9 2 375 10 4 750 11 9 500 12 19 000 13 38 000 14 76 000 15 152 000 c GPS 1 to 32 SBAS 120 to 138 and GLONASS 38 to 61 see Section 1 3 on page 26 d The Lock Time field of the RANGECMP log is constrained to a maximum value of 2 097 151 which represents a lock time of 65535 96875 s 2097151 32 309 Chapter 3 Data Logs e C No is constrained to a valu
135. 8 CHATM 175 38 113 Chatham 1971 New Zealand International 1924 9 CARTH 263 6 431 Carthage Tunisia Clarke 1880 10 CAPE 136 108 292 CAPE South Africa Clarke 1880 11 DJAKA 377 681 50 Djakarta Indonesia Bessel 1841 12 EGYPT 130 110 13 Old Egyptian Helmert 1906 13 ED50 87 98 121 European 1950 International 1924 14 ED79 86 98 119 European 1979 International 1924 15 GUNSG 403 684 41 G Segara Kalimantan Bessel 1841 Indonesia 16 GEO49 84 22 209 Geodetic Datum 1949 New International Zealand 1924 17 GRB36 375 111 431 Do not use Use ID 76 Airy 1830 instead 4 18 GUAM 100 248 259 Guam 1963 Guam Island Clarke 1866 19 HAWAII 89 279 183 Do not use Use ID 77 or ID Clarke 1866 81 instead 4 20 KAUAI 45 290 172 Do not use Use ID 78 or ID Clarke 1866 82 instead 4 74 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 Table 19 Datum Transformation Parameters continued am NAME DX DYP pz DATUM DESCRIPTION ELLIPSOID 21 MAUI 65 290 190 Do not use Use ID 79 or ID Clarke 1866 83 instead 4 22 OAHU 56 284 181 Do not use Use ID 80 or ID Clarke 1866 84 instead 4 23 HERAT 333 222 114 Herat North Afghanistan International 1924 24 HJORS 73 46 86 Hjorsey 1955 Iceland International 1924 25 HONGK 156 271 189 Hong Kong 1963 International 1924 26 HUTZU 634 549 20
136. 8109c24 24248449 644 2588 133 45 237 939 380 0 493 GOOD 0 519 14 0 18109da4 24747286 206 3236 906 46 650 1121 760 0 609 GOOD 0 514 0 0 0c0221c0 0 000 0 000 0 047 0 000 0 000 NA 0 000 255a732e OEMStar Firmware Version 1 101 Reference Manual Rev 5 363 Chapter 3 Reject Code binary Data Logs Table 75 Range Reject Code Reject Code ASCII Description 0 GOOD Observation is good 1 BADHEALTH Bad satellite health is indicated by ephemeris data 2 OLDEPHEMERIS Old ephemeris due not being updated during the last 3 hours 3 ECCENTRICANOMALY Eccentric anomaly error during computation of the satellite s position 4 TRUEANOMALY True anomaly error during computation of the satellite s position 5 SATCOORDINATE Satellite coordinate error during computation of the ERROR satellite s position 6 ELEVATIONERROR Elevation error due to the satellite being below the cut off angle 7 MISCLOSURE Misclosure too large due to excessive gap between estimated and actual positions 8 NODIFFCORR No compatible differential correction is available for this particular satellite 9 NOEPHEMERIS Ephemeris data for this satellite has not yet been received 10 INVALIDIODE Invalid IODE Issue Of Data Ephemeris due to mismatch between differential stations 11 LOCKEDOUT Locked out satellite is excluded by the user LOCKOUT command 12 LOWPOWER Low power satellite is rejected
137. 8b04e483a43745351c90fcb0fd4500a10d8a800f0328067e5d 8b6100031 57 8b04e483a6337964e036d74017509f38e13112df8dd92d040605eeaaaaaa 6 8b04e483a6b54633e390fa8bfd3f00al0d4facbhc80b322528f62146800ba 29 8b04e483a8b05d47 7901b20 d5700a10ce02d570ed40a0a2216412400cb 7 8b04e483a93547 6dee90 b94fd4300a10d93aba327b7794ae853c02700ba 1 8b04e483d8b641305a901b9dfd5a00al0ce92f48f1ba0a5dcccb7500003b 25 8b04e483dab25962259004fcfd4c00al0dc154eee5c555d7a2a5010d000d 2 8b04e483db37424aa6900720fd4f00al10c5ad8 9baa4dcl460790b6fFcO000F 26 8b04e483dd305a878c901d32fd5b00al10c902eb7 FS51db6b6ce95c701FF L4 83cae97a lt OEMStar receivers automatically save almanacs in their non volatile memory NVM therefore creating an almanac boot file is not necessary OEMStar Firmware Version 1 101 Reference Manual Rev 5 311 Chapter 3 Data Logs Binary Binary Field Field type Data Description Format Bytes Offset 1 RAWALM Log header H 0 header 2 ref week Almanac reference week number Ulong 4 H 3 ref secs Almanac reference time s Ulong 4 H 4 4 subframes Number of subframes to follow Ulong 4 H 8 5 svid SV ID satellite vehicle ID UShort 2 H 12 6 data Subframe page data Hex 30 H 14 a Next subframe offset H 12 subframe x 32 variable XXXX 32 bit CRC ASCII and Binary only Hex 4 H 12 32 x subframes variable CR LF Sentence terminator ASCII only a A value bet
138. 984 0 Figure 7 The WGS84 ECEF Coordinate System OEMStar Firmware Version 1 101 Reference Manual Rev 5 209 Chapter 3 Data Logs 3 3 7 CHANCONFIGLIST All available channel configurations This log lists all of the possible channel configurations available on the receiver given the model options For configurations with GLONASS channels to be available a GLONASS capable model must be loaded on the OEMStar receiver To use a different channel configuration use the SELECTCHANCOMFIG command see page 138 The CHANCONFIGLIST log is variable length with a maximum size of 132 bytes not including the header length Message ID 1148 Log Type Asynch Recommended Input log chanconfiglista once ASCII Example CHANCONFIGLISTA COM1 0 87 5 UNKNOWN 0 8 018 004c0020 ecea8 4602 6 1 14 GPSLI1 2 12 GPSL1 2 SBASL1 2 10 GPSL1 4 GLOL1 2 8 GPSL1 6 GLOL1 3 8 GPSL1 4 GLOL1 2 SBASL1 3 10 GPSL1 2 GLOL1 2 SBASL1 baa33607 Binary Binary Field Field type Data Description Format Bytes Offset 1 CHANCONFIGL Log header H 0 IST header 2 Set in Use Channel configuration set currently used ULONG 4 H by the receiver 3 Num Sets Total available sets of channel ULONG 4 H 4 configurations for this model 4 Num Total number of signal types in this set ULONG 4 H 8 Configurations 5 Num Channels Number of channels of this signal type ULONG 4 H 12 6 Signal Type Signal type associated with these Enum
139. A A A Data valid V Data invalid 8 mode ind Positioning system mode indicator see a A Table 55 on page 255 9 XX Checksum hh 1B 10 CR LF Sentence terminator CR LF 246 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 3 3 25 GPGRS GPS Range Residuals for Each Satellite Range residuals can be computed in two ways and this log reports those residuals Under mode 0 residuals output in this log are used to update the position solution output in the GPGGA message Under mode 1 the residuals are re computed after the position solution in the GPGGA message is computed The receiver computes range residuals in mode 1 An integrity process using GPGRS would also require GPGGA for position fix data GPGSA for DOP figures and GPGSV for PRN numbers for comparative purposes The GPGRS log outputs these messages with contents without waiting for a valid almanac Instead it uses a UTC time calculated with default parameters In this case the UTC time status is set to WARNING since it may not be 100 accurate When a valid almanac is available the receiver uses the real parameters Then the UTC time is set to VALID lt If the range residual exceeds 99 9 then the decimal part is dropped Maximum value for this field is 999 The sign of the range residual is determined by the order of parameters used in the calculation as follows range residual calculated
140. A GLONASS almanac data GPALM 217 Almanac Data GPGGA 218 GPS Fix Data and Undulation GPGGALONG 521 GPS Fix Data Extra Precision and Undulation GPGLL 219 Geographic Position latitude longitude GPGRS 220 GPS Range Residuals for Each Satellite GPGSA 221 GPS DOP and Active Satellites GPGST 222 Pseudorange Measurement Noise Statistics GPGSV 223 GPS Satellites in View GPRMB 224 Generic Navigation Information GPRMC 225 GPS Specific Information GPVTG 226 Track Made Good and Ground Speed GPZDA 227 UTC Time and Date a RTCA and RTCM logs may be logged with an A or B extension to give an ASCII or Binary output with a NovAtel header followed by Hex or Binary data respectively 186 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 Table 41 OEMStar Logs in Order of their Message IDs NovAtel Format Logs Message ID Datatype Description 5 LOGLIST A list of system logs 7 GPSEPHEM GPS ephemeris data 8 IONUTC lonospheric and UTC model information 16 CLOCKMODEL Current clock model matrices 25 RAWGPSSUBFRAME Raw subframe data 26 CLOCKSTEERING Clock steering status 37 VERSION Receiver hardware and software version numbers 41 RAWEPHEM Raw ephemeris 42 BESTPOS Best position data 43 RANGE Satellite range information 47 PSRPOS Pseudorange position information 48 SATVIS Satellite visibility 72 PORTSTATS COM or USB p
141. ASCII Description 0 STANDARD Resets commands ephemeris and almanac default 1 COMMAND Resets the stored commands saved configuration 2 GPSALMANAC Resets the stored GPS almanac 3 GPSEPHEM Resets the stored GPS ephemeris 4 GLOEPHEM Resets the stored GLONASS ephemeris 5 MODEL Resets the currently selected model 11 CLKCALIBRATION Resets the parameters entered using the CLOCKCALIBRATE command 20 SBASALMANAC Resets the stored SBAS almanac 21 LAST POSITION Resets the position using the last stored position 31 GLOALMANAC Resets the stored GLONASS almanac Field ASCII Binary Binary Binary Binary Type Value Value Description Format Bytes Offset 1 FRESET This field contains the command H 0 header name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 target See Table 23 What data is to be reset by the Enum 4 H receiver OEMStar Firmware Version 1 101 Reference Manual Rev 5 95 Chapter 2 Commands 2 5 23 GGAQUALITY Customize the GPGGA GPS quality indicator 96 This command allows you to customize the NMEA GPGGA GPS quality indicator see also the GPGGA log on page 241 Abbreviated ASCII Syntax Message ID 691 GGAQUALITY entries pos type qual1 pos type2 qual2 Input Example 1 ggaquality 1 waas 2 Makes the WAAS solution type show 2 as the quality indicator Input Example 2 ggaquality 0
142. Based on GLONASS ICD version 5 0 2002 OEMStar Firmware Version 1 101 Reference Manual Rev 5 227 Chapter 3 Data Logs 3 3 16 GLOEPHEMERIS GLONASS Ephemeris Data GLO GLONASS ephemeris information is available through the GLOEPHEMERIS log GLONASS ephemerides are referenced to the PZ90 02 geodetic datum No adjustment between the GPS and GLONASS reference frames are made for positioning Message ID 723 Log Type Asynch Recommended Input log gloephemerisa onchanged Example GLOEPHEMERISA COM1 3 49 0 SATTIME 1364 413624 000 00000000 6b64 2310 43 8 1 0 1364 413114000 10786 792 0 0 87 0 9 0260864257812500e 06 6 1145468750000000e 06 2 2926090820312500e 07 1 4208841323852539e 03 2 8421249389648438e 03 1 9398689270019531e 02 0 00000000000000000 2 79396772384643555e 06 2 79396772384643555e 06 2 12404876947402954e 04 1 396983862e 08 3 63797880709171295e 12 78810 3 15 0 12 a02cel8b GLOEPHEMERISA COM1 2 49 0 SATTIME 1364 413626 000 00000000 6564 2310 44 11 1 0 1364 413116000 10784 792 0 0 87 13 1 2882617187500000e 06 1 9318657714843750e 07 1 6598909179687500e 07 9 5813846588134766e 02 0675134658813477e 03 2 4769935607910156e 03 2 79396772384643555e 06 3 72529029846191406e 06 1 86264514923095703e 06 6 48368149995803833e 05 4 656612873e 09 3 63797880709171295e 12 78810 3 15 3 28 e2d5ef15 GLOEPHEMERISA COM1 1 49 0 SATTIME 1364 413624 000 00000000 6b64 2310 45 13 0 0 1364 413114000 10786 0 0 0 87 0
143. Binary Binary Binary Bytes Offset Format H 0 2 keyword DISABLE 0 Receiver does not use the SBAS corrections it receives default ENABLE 1 Receiver uses the SBAS corrections it receives Enum 3 system See Table 28 on page 136 Chooses the SBAS that the receiver uses Enum H 4 4 prn 0 Receiver uses any PRN default 120 138 Receiver uses SBAS corrections only from this PRN ULong H 8 5 testmode NONE 0 Receiver interprets Type 0 messages as they are intended as do not use default ZEROTOTWO 1 Receiver interprets Type 0 messages as Type 2 messages IGNOREZERO 2 Receiver ignores the usual interpretation of Type 0 messages as do not use and continues Enum H 12 OEMStar Firmware Version 1 101 Reference Manual Rev 5 137 Chapter 2 Commands 2 5 45 SELECTCHANCONFIG Set channel configuration lt The SELECTCHANCONFIG command should only be used by advanced users This command changes the channel configuration used on the OEMStar receiver It causes an immediate software reset The list of available channel configurations can be obtained from the CHANCONFIGLIST log described on page 210 lt Configurations containing GLONASS channels are only available when the OEMStar has the GLONASS option See Section 3 3 7 CHANCONFIGLIST All available channel configurations on page 210 for a list of avai
144. CII Example adjust pps mark continuous 240 OEMStar Firmware Version 1 101 Reference Manual Rev 5 49 Chapter 2 Commands Field ASCII Binary Type VEUT Value 1 ADUST 1PPS header Binary Binary Binary Field Format Bytes Offset Description This field contains the H 0 command name 2 mode OFF 0 Disables ADJUST1PPS Enum 4 H default MANUAL 1 Immediately shifts the receivers time by the offset field in ns The period field has no effect in this mode This command does not affect the clock state MARK 2 Shifts the receiver time to align its 1PPS with the signal received in the MK1I port adjusted by the offset field in ns The effective shift range is 0 5s Reserved 3 Reserved 4 3 period ONCE 0 The time is synchronized only Enum 4 H 4 once default The ADJUST1PPS command must be re issued if another synchronization is required CONTINUOUS 1 The time is continuously monitored and the receiver clock is corrected if an offset of more than 50 ns is detected Continued on the following page 50 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 Field ASCII Binary Binary Binary Binary Field Type Value Value Description Format Bytes Offset 4 offset 2147483648 to Allows the operator to shiftthe Long 4 H 8 2147483647 Secondary clock in 50 ns increments In MANUAL mode this command applies an immediate s
145. ECEF Long 4 H 88 0 125 25 daf Delta af clock offset Long 4 H 92 2 31 26 mask2 Second index into PRN mask Ulong 4 H 96 Type 1 Continued on the following page 404 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 Field Field type Data Description Format porte Scaling 27 iode2 Second issue of ephemeris data Ulong H 100 28 ddx Delta delta x ECEF Long H 104 9 11 29 ddy Delta delta y ECEF Long H 108 9 11 30 ddz Delta delta z ECEF Long H 112 9 11 31 da Delta af clock offset Long H 116 2 39 32 to Applicable time of day Ulong H 120 16 33 iodp Issue of PRN mask data Ulong H 124 34 corr spare Spare value when velocity code is Ulong H 128 equal to 0 35 XXXX 32 bit CRC ASCII and Binary only Hex H 132 36 CR LF Sentence terminator ASCII only H 136 OEMStar Firmware Version 1 101 Reference Manual Rev 5 405 Chapter 3 Data Logs 3 3 94 WAAS25 Long Term Slow Satellite Corrections SBAS 406 WAAS25 provides error estimates for slow varying satellite ephemeris and clock errors with respect to WGS 84 ECEF coordinates Message ID 298 Log Type Asynch Recommended Input log WAAS25a onchanged ASCII Example WAAS25A COM1 0 37 5 SATTIME 1337 417193 000 00000000 b8f 1984 134 1 19 25 1 3 0 15 0 0 0 1 1 2 4465 2 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 81685317 lt Each ra
146. EPHEM Raw GLONASS Ephemeris Data GLO 234 3 3 19 GLORAWFRAME Raw GLONASS Frame Data GLO cc 236 3 3 20 GLORAWSTRING Raw GLONASS String GLO succeer 238 3 3 21 GPALM Almanac Data ccc Aaen NERE ER KREA NMN REAR ARN ARR KERES 239 3 3 22 GPGGA GPS Fix Data and Undulation W u sssseeeeeeeereeereen renen renee 241 3 3 23 GPGGALONG Fix Data Extra Precision and Undulation 1 1 1 1 1 1 243 3 3 24 GPGLL Geographic POSION sossa aniani aaia aaia 245 3 3 25 GPGRS GPS Range Residuals for Each Satellite 247 3 3 26 GPGSA GPS DOP and Active Satellites u u ssssseeeeereeeennnnn rener 249 OEMStar Firmware Version 1 101 Reference Manual Rev 5 5 Table of Contents 3 3 27 GPGST Pseudorange Measurement Noise Statistics 251 3 3 28 GPGSV GPS Satellites in VieW cceccceeecceeececeeeeeeeeeeeeseeeeeeteaeeteaes 253 3 3 29 GPRMB Navigation Information 0 ccececceeeeeeteeeeeeeeeeeeeeeetntaeeeeees 255 3 3 30 GPRMC_ GPS Specific Information cccecceeceeeeeeeeeeeteeeseennaeeees 257 3 3 31 GPSEPHEM Decoded GPS Ephemerides cccceeeceeeeeeeeereeeees 259 3 3 32 GPVTG Track Made Good And Ground Speed cecereeeeees 263 3 3 33 GPZDA UTC Time and Date 0 c cccceceeceeceeeeeceeeeeeeeeeeaeeeeeeeeeeteaeeneaes 264 3 3 34 IONUTC lonospheric and UTC Data ccceeceeeeeeeteeeetetetentenaeees 265 3 3 35 LOGLIST List of System LOS
147. EPHEMDELAY DGPS ephemeris delay DGPSTXID DGPS transmit ID FIX Constrain receiver height or position INTERFACEMODE Set interface type Transmit Tx for a port LOG Select required differential output log POSAVE Set up position averaging FIXPOSDATUM Fix position in a datum SETRTCM16 Enter ASCII message to be sent in RTCM data stream SETRTCM36 Enter ASCII message including Russian characters Continued on the following page 36 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 DIFFERENTIAL ROVER STATION DGPSEPHEMDELAY DGPS ephemeris delay DGPSTIMEOUT Set maximum age of differential data accepted INTERFACEMODE Set interface type Receive Rx for a COM port POSTIMEOUT PSRDIFFSOURCE Set the position time out value Set the pseudorange correction source SETAPPROXTIME RTKSOURCE Set the RTK correction source SBASCONTROL Set SBAS test mode and PRN SETAPPROXPOS Set an approximate position Set an approximate GPS reference time WAASTIMEOUT Set maximum age of WAAS data accepted CLOCK INFORMATION STATUS AND TIME ADJUST1PPS Adjust the receiver clock CLOCKADJUST Enable disable adjustments to internal clock and 1PPS output CLOCKCALIBRATE Adjust the control parameters of the clock steering loop CLOCKOFFSET Adjust for antenna RF cable delay in PPS output SETAPPROXTIME Set an approximate time Table 10 OEMStar Commands in Alphabeti
148. For example if the receiver supports 10 Hz logging the minimum logging period is 1 10 Hz or 0 1 s The following are valid examples for a synchronous or asynchronous log on a receiver that can log at rates up to 10 Hz log bestpos ontime 1 1 Hz log bestpos ontime 1 0 1 log bestpos ontime 1 0 90 log avepos ontime 1 0 95 0 5 Hz log avepos ontime 2 log avepos ontime 2 1 35 2 log avepos ontime 1 75 For synchronous and asynchronous logs the following examples are invalid log bestpos ontime 1 0 08 offset is not a multiple of the minimum logging period log bestpos ontime 11 05 offset is larger than the logging period 176 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 3 2 Logs By Function Table 39 starting on the following page lists the logs by function while Table 40 starting on Page 183 is an alphabetical listing of logs repeated in Table 4 starting on Page 187 with the logs in the order of their message IDs Table 39 Logs By Function R GENERAL RECEIVER CONTROL AND STATUS Descriptions COMCONFIG Current COM port configuration Polled LOGLIST List of system logs Polled PASSCOM1 Pass through log also PASSCOM2 Asynch PASSXCOM1 PASSXCOM2 PASSXCOM3 PASSUSB2 and PASSUSB1 PASSUSB3 PORTSTATS COM and if applicable USB port statistics Polled RXCONFIG Receiver configuration status Polled RXSTATUS Self test status Asynch RXSTATUSE
149. Format Message length 11 6 obs 83 bytes maximum OEMStar Firmware Version 1 101 Reference Manual Rev 5 321 Chapter 3 Data Logs 322 Field Type Data Scaling Bits Bytes SCAT I header Message block identifier 8 6 Base station ID 24 Message type 8 Message length 8 Type 1 header Modified z count 0 2s 13 2 Acceleration error bound Type 1 data Satellite ID 6 6 obs Pseudoranae correction 0 02 m 16 Issue of data 8 Ranae rate correction 0 002 m s 12 Po RE OAM CRC Cyclic redundancy check 3 a The pseudorange correction and range rate correction fields have a range of 655 34 metres and 4 049 m s respectively Any satellite which exceeds these limits are not included lt At the base station it is possible to log out the contents of the standard corrections in a form that is easier to read or process These larger variants have the correction fields broken out into standard types within the log rather than compressed into bit fields This can be useful if you wish to modify the format of the corrections for a non standard application or if you wish to look at the corrections for system debugging purposes These variants have DATA as part of their names for example RTCADATA1 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 Field Field type Data Description Forma
150. Format Offset 1 USERDATUM This field contains the 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 semimajor 6300000 0 Datum Semi major Axis a Double H 6400000 0 m in metres 3 flattening 290 0 305 0 Reciprocal Flattening Double H 8 1 f al a b 4 dx 2000 0 Datum offsets from local to Double H 16 WGS84 These are the 5 dy 2000 0 translation values between Double H 24 the user datum and WGS84 6 dz 2000 0 internal reference Double H 32 7 10 0 radians Datum rotation angle about Double H 40 X Y and Z These values 8 10 0 radians are the rotation from your Double H 48 i local datum to WGS84 A 9 rz 10 0 radians positive sign is for counter Double H 56 clockwise rotation and a negative sign is for clockwise rotation 10 scale 10 0 ppm Scale value is the difference Double H 64 in ppm between the user datum and WGS84 168 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 2 5 67 USEREXPDATUM Set custom expanded datum Like the USERDATUM command this command allows you to enter customized ellipsoidal datum parameters However USEREXPDATUM literally means user expanded datum allowing you to enter additional datum information such as velocity offsets and time constraints The 7 expanded parameters are rates of change of the initial 7 parameters These rates of change affect the initial 7 parameters ove
151. GED 0 000000 0 000000 NOHOLD 55fc0c62 17086d18 A WARNING Do not use undocumented commands or logs Doing so may produce errors and void your warranty 1 The embedded CRCs are flipped to make the embedded messages recognizable to the receiver For example consider the first embedded message above 91 89b07 10010001111110001001101100000111 11100000110110010001111110001001 e0d9 1f89 Its CRC is really e0d91f89 OEMStar Firmware Version 1 101 Reference Manual Rev 5 345 Chapter 3 Data Logs lt The RXCONFIG log can be used to ensure that your receiver is set up correctly for your application Field i ee Binary Binary Field type Data Description Format Bytes Offset 1 RXCONFIG Log header H 0 header 2 e header Embedded header h H 3 emsg Embedded message Varied a H h 4 e XXXX Embedded inverted 32 bit CRC ASCII and Long 4 H hta Binary only The embedded CRC is inverted so that the receiver does not recognize the embedded messages as messages to be output but continues with the RXKCONFIG message If you wish to use the messages output from the RXCONFIG log simply flip the embedded CRC around for individual messages 5 XXXX 32 bit CRC ASCII and Binary only Hex 4 H h a 4 6 CR LF Sentence terminator ASCII only 346 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 3 3 72 RXSTATUS Receiver Status This lo
152. GLOALMANACA COM1 0 52 5 SATTIME 1364 410744 000 00000000 ba83 2310 24 364 336832 625 1 2 0 0 2018 625000000 2 775537500 0 028834045 0 001000404 2 355427500 2656 076171875 0 000000000 0 000091553 364 341828 437 2 1 0 0 7014 437500000 3 122226146 0 030814438 0 004598618 650371580 2656 160156250 0 000061035 0 000095367 364 347002 500 3 12 0 0 12188 500000000 2 747629236 0 025376596 0 002099991 2 659059822 2656 076171875 0 000061035 0 000198364 364 351887 125 4 6 0 0 17073 125000000 2 427596502 0 030895332 0 004215240 438586358 2656 167968750 0 000061035 0 000007629 1364 364031 187 23 11 0 1 29217 187500000 0 564055522 0 030242192 0 001178741 2 505278248 2655 957031250 0 000366211 0 000019073 1364 334814 000 24 3 0 1 0 000000000 0 000000000 0 000000000 0 000000000 0 000000000 0 000000000 0 000000000 0 000000000 4dc981c7 lt For more information about GLONASS refer to the Knowledge and Learning page in the Support section of our Web site at www novatel com 224 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 Binary Binary Field Field type Data Description Format Bytes Offset 1 GLOALMANAC Log header H 0 header 2 recs The number of GLONASS almanac Long 4 H records to follow Set to zero until almanac data is available 3 week GPS reference week in weeks Ulong 4 H 4 4 time GPS reference time in milliseconds Ulong 4 H 8
153. GP Field ASCII Binary PN Binary Binary Binary Field Type WELT WELT Description Format Bytes Offset 1 NMEA This field contains the command H 0 TALKER name or the message header header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 ID GP 0 GPS only Enum 4 H AUTO 1 GPS or GLONASS OEMStar Firmware Version 1 101 Reference Manual Rev 5 117 Chapter 2 Commands 2 5 33 NVMRESTORE Restore NVM data after an NVM failure 118 This command restores non volatile memory NVM data after a NVM Fail error This failure is indicated by bit 13 of the receiver error word being set see also RXSTATUS page 347 and RXSTATUSEVENT page 355 If corrupt NVM data is detected the receiver remains in the error state and continues to flash an error code on the Status LED until the NVMRESTORE command is issued refer to the chapter on Built In Status Tests in the OEMStar Installation and Operation User Manual for further explanation If you have more than one auth code and the saved model is lost then the model may need to be entered using the MODEL command or it is automatically saved in NVM on the next start up If the almanac was lost a new almanac is automatically saved when the next complete almanac is received after approximately 15 minutes of continuous tracking If the user configuration was lost it has to be re entered by the user This could include communication port sett
154. H 197 3 vel type Velocity type see Table 43 Position or Velocity Type Enum 4 H 4 on page 196 4 latency A measure of the latency in the velocity time tag in Float 4 H 8 seconds It should be subtracted from the time to give improved results 5 age Differential age in seconds Float 4 H 12 6 hor spd Horizontal speed over ground in metres per second Double 8 H 16 7 trk gnd Actual direction of motion over ground track over Double 8 H 24 ground with respect to True North in degrees 8 vert spd Vertical speed in metres per second where positive Double 8 H 32 values indicate increasing altitude up and negative values indicate decreasing altitude down 9 Reserved Float 4 H 40 10 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 44 11 CR LF Sentence terminator ASCII only OEMStar Firmware Version 1 101 Reference Manual Rev 5 297 Chapter 3 Data Logs 3 3 50 PSRXYZ Pseudorange Cartesian Position and Velocity This log contains the receiver s pseudorange position and velocity in ECEF coordinates The position and velocity status field s indicate whether or not the corresponding data is valid See Figure 7 page 209 for a definition of the ECEF coordinates The velocity status indicates varying degrees of velocity quality To ensure healthy velocity the velocity sol status must also be checked If the sol status is non zero the velocity is likely invalid It should be noted that the receiver does no
155. H 8 identifies which of the 11 IGP bands the data belongs to 5 iodi Issue of ionospheric data Ulong 4 H 12 6 igp mask IGP mask Uchar 26 28a H 16 7 spare bit One spare bit Ulong 4 H 44 8 XXXX 32 bit CRC ASCII and Binary Hex 4 H 48 only 9 CR LF Sentence terminator ASCII only a In the binary log case an additional 2 bytes of padding are added to maintain 4 byte alignment OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 3 3 93 WAAS24 Mixed Fast Slow Corrections SBAS If there are 6 or fewer satellites in a block they may be placed in this mixed correction message There is a fast data set for each satellite and a UDRE indicator Each message also contains an IODP indicating the associated PRN mask The fast correction PRC has a valid range of 2048 to 2047 If the range is exceeded a don t use indication is inserted into the user differential range error indicator UDRED field see Table 79 on page 374 You should ignore extra data sets not represented in the PRN mask The time of applicability TO of the PRC is the start of the epoch of the WNT second that is coincident with the transmission at the GEO satellite of the first bit of the message block Message ID 297 Log Type Asynch Recommended Input log WAAS24a onchanged ASCII Example WAAS24A COM1 0 34 0 SATTIME 1337 417108 000 00000000 0a33 1984 134 2047 2047 2047 2047 1 2 14 14 14 14
156. If less than 3 measurements are available the solution status indicates PENDING While the status is PENDING the fixed position value is not used internally for example for updating the clock model or controlling the satellite signal search Once 3 or more measurements are available error checking is performed If the error check passes the solution status changes to SOL_COMPUTED and the fixed position is used internally At the first level of error when the fixed position is off by approximately 25 50 m the output position log indicates INTEGRITY_WARNING in the solution status field but the fixed position value is still used internally If the error reaches the second level a few km the receiver does not use the fixed position at all and indicates INVALID_FIX in the solution status Note that a fixed position obtained from the POSAVE function is treated the same way in the error checking as one entered manually Abbreviated ASCII Syntax Message ID 44 FIX type param param2 param3 Factory Default fix none ASCII Example fix height 4 567 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 lt In order to maximize accuracy of a DGPS survey you must fix the base station coordinates to their known position using the FIX lat lon hgt command This ensures the accuracy of their corrections Table 21 Fix Types ASCII Binary Name Value Description NONE 0 Unfix Clears any previous FIX com
157. Log Type Asynch Recommended Input log glorawframea onchanged Example GLORAWFRAMEA COM1 19 53 0 SATTIME 1340 398773 000 00000000 8792 2020 3 39 8 1340 398773 067 44 44 15 0148dc0b67e9184664cb35 0 0218e09dc8a3ae8c6bal8d 0 0 00000000000000000000 0 11169f9e GLORAWFRAMEA COM1 0 53 0 SATTIME 1340 398713 000 00000000 8792 2020 1 41 13 1340 398713 077 36 36 15 0108da12532805bfalcded 0 0208e0a36e8e0952b111da 0 03c02023b68c9a32410958 0 Of6efb59474697 d72c4e2 0 0ab6267c8 lt For more information about GLONASS refer to the Knowledge and Learning page in the Support section of our Web site at www novatel com OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 Sie Binary Binary Field Field type Data Description Format Bytes Offset 1 GLORAWFRAME Log header H 0 header 2 frame Frame number Ulong 2 H 3 sloto Slot information offset PRN Ushort 2 H 2 identification Slot 37 Ephemeris relates to this slot and is also called SLOTO in CDU 4 freqo Frequency channel offset in the range Ushort 2 H 4 0 to 20 5 week GPS reference week in weeks Ulong 4 H 6 6 time GPS reference time in milliseconds Ulong 4 H 10 binary data or seconds ASCII data 7 frame decode Frame decoder number Ulong 4 H 14 8 sigchan Signal channel number Ulong 4 H 18 9 recs Number of records to follow Ulong 4 H 22 10 string GLONASS data string Uchar va
158. MStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 3 3 59 RTCA Standard Logs RTCA1 DIFFERENTIAL GPS CORRECTIONS DGPS_Tx Message ID 10 RTCAEPHEM EPHEMERIS AND TIME INFORMATION DGPS_Tx Message ID 347 lt The above messages can be logged with an A or B suffix for an ASCII or Binary output with a NovAtel header followed by Hex or Binary raw data respectively RTCADATA logs output the details of the above logs if they have been sent The OEMStar does not currently transmit carrier phase RTK corrections The OEMStar can be configured to receive the carrier phase RTCA corrections listed in Table 65 below and compute a DGPS pseudorange position The GLONASS option is required for GLONASS corrections to be used in the DGPS position Type of Log Table 65 RTCA Carrier Phase Messages Message ID Log Name Description GPS only 6 RTCAOBS Base Station Observations GPS GLONASS 805 RTCAOBS2 Base Station Observations 2 11 RTCAREF Base Station Parameters OEMStar Firmware Version 1 101 Reference Manual Rev 5 319 Chapter 3 Data Logs 320 The RTCA Radio Technical Commission for Aviation Services Standard is being designed to support Differential Global Navigation Satellite System DGNSS Special Category I SCAT D precision instrument approaches The RTCA Standard is in a preliminary state Described below is NovAtel s current support for this standard It is b
159. Manual Rev 5 Commands Chapter 2 2 5 14 DGPSTIMEOUT Set maximum age of differential data This command is used to set the maximum age of pseudorange differential data to use when operating as a rover station Pseudorange differential data received that is older than the specified time is ignored See DGPSEPHEMDELAY on page 79 to set the ephemeris changeover delay for base stations lt The RTCA Standard for SCAT I stipulates that the maximum age of differential correction messages cannot be greater than 22 seconds Therefore for RTCA rover users the recommended DGPS delay setting is 22 Abbreviated ASCII Syntax Message ID 127 DGPSTIMEOUT delay Factory Default dgpstimeout 300 ASCII Example rover dgpstimeout 60 lt DGPSTIMEOUT applies to local pseudorange differential RTCA and RTCM corrections as if they were from a local base station This also applies to pseudorange differential positioning using RTK corrections Field ASCII Binary TA Binary Binary Binary Type Value Value Description Format Bytes Offset 1 DGPSTIMEOUT This field contains the command H 0 header name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 delay 2 to 1000 s Maximum pseudorange ULong 4 H differential age OEMStar Firmware Version 1 101 Reference Manual Rev 5 81 Chapter 2 Commands 2 5 15 DGPSTXID DGPS transmit ID This comman
160. NG 1364 493614 000 00100000 606b 2310 414 000000000 0 9 30 6 295701472 111 0 019231669 1 000000000 2 4 720861644 60 0 021460577 1 000000000 6 11 464165041 182 0 015610195 1 000000000 4 6 436236222 7 0 021744921 1 000000000 5 5 556760025 39 0 003675566 1 000000000 10 14 024430156 181 0 013904139 1 000000000 7 5 871886130 48 0 016165427 1 000000000 25 22 473942049 59 0 003024942 1 000000000 9 28 422760762 130 0 048257797 1 000000000 56d5182 RTCA1 This log enables transmission of RTCA Standard format Type 1 messages from the receiver when operating as a base station Before this message can be transmitted the receiver FIX POSITION command must be set see page 88 The RTCA log is accepted by a receiver operating as a rover station over a COM port after the INTERFACEMODE port RTCA and PDPFILTER DISABLE commands are issued see page 100 The RTCA Standard for SCAT I stipulates that the maximum age of differential correction Type 1 messages accepted by the rover station cannot be greater than 22 seconds See the DGPSTIMEOUT command on page 81 for information regarding DGPS delay settings The RTCA Standard also stipulates that a base station shall wait five minutes after receiving a new ephemeris before transmitting differential corrections Refer to the DGPSEPHEMDELAY command on page 79 for information regarding ephemeris delay settings The basic SCAT I Type 1 differential correction message is as follows
161. NG normal operating state e FINEBACKUPSTEERING when the back up system is used for time e FREEWHEELING when range bias becomes unknown and when the CLOCKADJUST is disabled e UNKNOWN initial state e COARSE initial coarse time set FINE normal operating state On start up and before any satellites are being tracked the receiver can not possibly know the current time As such the receiver time starts counting at GPS reference week 0 and second 0 0 The time status flag is set to UNKNOWN If time is input to the receiver using the SETAPPROXTIME command see page 144 or on receipt of an RTCAEPHEM message see page 324 the time status will be APPROXIMATE After the first ephemeris is decoded the receiver time is set to a resolution of 10 milliseconds This state is qualified by the COARSE or COARSESTEERING time status flag depending on the state of the CLOCKADJUST switch Once a position is known and range biases are being calculated the internal clock model will begin modeling the position range biases and the receiver clock offset Modeling will continue until the model is a good estimation of the actual receiver clock behavior At this time the receiver time will again be adjusted this time to an accuracy of 1 microsecond This state is qualified by the FINE time status flag The final logical time status flag depends on whether CLOCKADJUST is enabled or not see page 60 If CLOCKADJUST is disabled the time status fla
162. NOVATEL NOVATEL ON GI GI z LOG COM1 RXSTATUSEVENTA ONNEW 0 0 HOLD LOG COM2 RXSTATUSEVENTA ONNEW 0 0 HOLD LOG USB1 RXSTATUSEVENTA ONNEW 0 0 HOLD LOG USB2 RXSTATUSEVENTA ONNEW 0 0 HOLD LOG USB3 RXSTATUSEVENTA ONNEW 0 0 HOLD MAGVAR CORRECTION 0 0 MARKCONTROL MARK1 ENABLE NEGATIVE 0 0 NMEATALKER gp OEMStar Firmware Version 1 101 Reference Manual Rev 5 47 Chapter 2 Commands PDPFILTER ENABLE PDPMODE NORMAL AUTO POSAVE OFF POSTIMEOUT 600 PPSCONTROL ENABLE NEGATIVE 1 0 1000 PSRDIFFSOURCE AUTO ANY RAIMMODE DEFAULT SBASCONTROL DISABLE SETRTCMRXVERSION V23 SETIONOTYPE AUTO SETTIMEBASE GPS 0 SETNAV 90 0 0 0 90 0 0 0 0 0 from to STATUSCONFIG PRIORITY STATUS 0 STATUSCONFIG PRIORITY AUX1 0x00000008 STATUSCONFIG PRIORITY AUX2 0 STATUSCONFIG SET STATUS 0x00000000 STATUSCONFIG SET AUX1 0 STATUSCONFIG SET AUX2 0 G r STATUSCONFIG EAR STATUS 0x00000000 STATUSCONFIG EAR AUX1 0 STATUSCONFIG CLEAR AUX2 0 UNDULATION EGM96 USERDATUM 6378137 0 298 2572235628 0 0 0 0 0 0 0 0 0 0 0 0 0 0 USEREXPDATUM 6378137 0 298 25722356280 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 U
163. No Carrier to noise density ratio dB Hz Float 4 H 36 12 locktime Number of seconds of continuous tracking no Float 4 H 40 cycle slips 13 psr res Pseudorange residual from pseudorange filter Float 4 H 44 m 14 reject Range reject code from pseudorange filter Enum 4 H 48 see Table 75 Range Reject Code on page 364 15 psr weight Pseudorange filter weighting Float 4 H 52 16 Next PRN offset H 16 chans x 40 variable xxxx 32 bit CRC ASCII and Binary only Hex 4 H 16 chans x 40 variable CR LF Sentence terminator ASCII only OEMStar Firmware Version 1 101 Reference Manual Rev 5 365 Chapter 3 Data Logs 3 3 78 VALIDMODELS Valid Model Information This log gives a list of valid authorized models available and expiry date information If a model has no expiry date it reports the year month and day fields as 0 0 and 0 respectively Message ID 206 Log Type Polled Recommended Input log validmodelsa once ASCII Example VALIDMODELSA COM1 0 54 0 FINESTEERING 1337 414753 310 00000000 342 1984 1 LXGDMTS 0 0 0 16c0b1a3 lt Use the VALIDMODELS log to output a list of available models for the receiver You can use the AUTH command see page 58 to add a model and the MODEL command see page 1 5 to change the currently active model See the VERSION log on page 367 for the currently active model r ee
164. ODE command 130 RAIMSTATUS log 301 range bias 28 213 compressed 310 corrections 304 measurement 60 reject code 365 residual 247 satellite information 104 RANGE log 303 RANGECMP log 308 309 rate of right ascension 192 raw almanac 239 raw ephemeris 313 status 347 356 week number 240 RAWALM log 311 RAWEPHEM log 313 RAWGPSSUBFRAME log 315 RAWGPSWORD log 317 RAWWAASFRAME log 318 reacquisition 53 56 304 receiver character 289 clock offset 193 components 367 errors 347 independent exchange RINEX 265 interface 34 37 100 set up 346 status 105 347 OEMStar Firmware Version 1 101 Reference Manual Rev 5 425 Index 426 time 50 reference station see base station references and standards 191 reinstate satellite 163 relative pseudorange delta phase 121 remote station see rover station reset after error 355 average positions after 122 hardware 35 94 132 RESET command 132 residual 247 365 response 24 100 103 415 RF delay 65 RINEX see receiver independent exchange root mean square RMS 252 route 275 rover station command 37 common to base 290 data age 81 faster data update to 332 satellite visibility 357 to base scenario 281 RTCA age 81 321 DGPS type 128 ephemeris delay 79 interface mode 100 102 log list 320 RTCA Standard Logs 319 RTCADATAI log 321 RTCADATAEPHEM log 324 RTCM DGPS type 128 ephemeris delay 79
165. ONASS refer to the Knowledge and Learning page in the Support section of our Web site at www novatel com OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 la Binary Binary Field Field type Data Description Format Bytes Offset 1 GLORAWEPHEM Log header H 0 header 2 sloto Slot information offset PRN Ushort 2 H identification Slot 37 Ephemeris relates to this slot and is also called SLOTO in CDU 3 freqo Frequency channel offset in the range Ushort 2 H 2 0 to 20 4 sigchan Signal channel number Ulong 4 H 4 5 week GPS reference week in weeks Ulong 4 8 6 time GPS reference time in milliseconds Ulong 4 12 binary data or seconds ASCII data 7 recs Number of records to follow Ulong 4 H 16 8 string GLONASS data string Uchar variable H 20 string size 9 Reserved Uchar 1 variable 10 Next record offset H 20 recs x string size 1 variable xxxx 32 bit CRC ASCII and Binary only Hex 4 H 20 recs x string sizet 1 variable CR LF Sentence terminator ASCII only a In the binary log case additional bytes of padding are added to maintain 4 byte alignment OEMStar Firmware Version 1 101 Reference Manual Rev 5 235 Chapter 3 Data Logs 3 3 19 GLORAWFRAME Raw GLONASS Frame Data GLO 236 This log contains the raw GLONASS frame data as received from the GLONASS satellite Message ID 721
166. ORAWFRAME Raw GLONASS frame data 722 GLORAWSTRING Raw GLONASS string data 723 GLOEPHEMERIS GLONASS ephemeris data 726 BESTUTM Best available UTM data 795 PASSXCOM3 Pass through log 868 RTCMDATA31 Type 31 GLONASS Differential Corrections 879 RTCMDATA36 Type 36 Special Message 881 PSRTIME Time offsets from the pseudorange filter 897 RTCMDATA1009 GLONASS L1 Only RTK 898 RTCMDATA1010 Extended GLONASS L1 Only RTK 899 RTCMDATA1011 GLONASS L1 L2 RTK 905 RTCMDATA59GLO NovAtel proprietary GLONASS differential corrections 1148 CHANCONFIGLIST All available channel configurations 1163 PSRDOP2 Pseudorange Least Squares DO 1170 CLOCKMODEL2 Clock bias 1286 RAIMSTATUS RAIM status 10 RTCA1 Type 1 Differential GPS Corrections 347 RTCAEPHEM Type 7 Ephemeris and Time Information RTCM Format Logs Message ID Datatype Description 107 RTCM1 Type 1 Differential GPS Corrections Continued on the following page OEMStar Firmware Version 1 101 Reference Manual Rev 5 189 Chapter 3 Data Logs RTCM Format Logs UISSSETe m B Datatype Description 129 RTCM16 Type16 Special Message 275 RTCM9 Type 9 Partial Differential GPS Corrections 307 RTCM15 Type 15 lonospheric Corrections 864 RTCM31 Type 31 Differential GLONASS Corrections 875 RTCM36 Type 36 Special Message 877 RTCM36T Type 36T Special Text Message 903 RTCM59GLO NovAtel proprietary GLONASS dif
167. PS Tx amp GLO 340 See Section 3 3 62 starting on page 326 for information about RTCM standard logs Message ID 879 Log Type Synch Recommended Input log rtcmdata36a once ASCII Example RTCMDATA36A COM1 0 64 5 FINESTEERING 1399 237113 869 00500000 9 5 35359 36 0 5189 0 0 6 11 QUICK d166 d146 d174 d144 d140 8bdeae71 RTCM36 Special Message Including Russian Characters This log contains a special ASCII message that can be displayed on a printer or terminal The base station wishing to log this message out to rover stations that are logged onto a computer must use the SETRTCM36T command to set the required ASCII text message Once set the message can then be issued at the required intervals with the LOG port RTCM36 interval command The Special Message setting can be verified in the RKCONFIGA log see page 345 The received ASCII text can be displayed at the rover by logging RTCM36T ONNEW The RTCM36 data log follows the RTCM Standard Format Words 1 and 2 contain RTCM header information followed by words 3 to n where n is variable from 3 to 32 which contain the special message ASCII text Up to 90 ASCII characters including an extended ASCII set as shown in Table 33 on page 153 can be sent with each RTCM Type 36 message frame gt lt The ASCII extended character set includes Cyrillic characters to provide for example Russian language messages OEMStar Firmware Version 1 101 Reference Manual Re
168. R 0 0 0 User Defined Datum Defaults User 2 64 CSRS 1 90 0 48 Canadian Spatial Ref System GRS 80 0 983 82 78 epoch 2005 0 3 65 ADIM 166 15 204 Adindan Ethiopia Mali Clarke 1880 Senegal amp Sudan 66 ARSM 160 6 302 ARC 1960 Kenya Tanzania Clarke 1880 Cc 67 ENW 102 52 38 Wake Eniwetok Marshall Hough 1960 Islands 1924 69 INDB 282 726 254 Indian Bangladesh d Everest EA 71 IRL 506 122 611 Ireland 1965 Modified Airy 72 LUZA 133 77 51 Luzon Philippines excluding Clarke 1866 Mindanoa Is 94 73 LUZB 133 79 72 Mindanoa Island Clarke 1866 75 NASP 3 142 183 N American Caribbean c Clarke 1866 76 OGBM 375 111 431 Great Britain 1936 Ordinance Airy 1830 Survey 77 OHAA 89 279 1 83 Hawaiian Hawaii d Clarke 1866 79 OHAC 65 290 190 Hawaiian Maui Clarke 1866 80 OHAD 58 283 182 Hawaiian Oahu Clarke 1866 1924 1924 83 OHIC 205 233 355 Hawaiian Maui International 1924 OEMStar Firmware Version 1 101 Reference Manual Rev 5 77 Chapter 2 Commands Table 19 Datum Transformation Parameters continued paon NAME DX2 DYP bY AL DATUM DESCRIPTION ELLIPSOID 84 OHID 198 226 347 Hawaiian Oahu International 1924 85 TIL 679 669 48 Timbalai Brunei and East Everest EB Malaysia 1948 86 TOYM 148 507 685 Tokyo Japan Korea and Bessel 1841 Okinawa a The DX DY and DZ offsets are from your local datum to WGS84 b The updated datum ha
169. RDOP log see page 290 can be used to monitor the PDOP values Site conditions surrounding the station that may affect satellite visibility and can generate noise in the data are water bodies buildings trees and nearby vehicles OEMStar Firmware Version 1 101 Reference Manual Rev 5 357 Chapter 3 Data Logs Binary Binary Field Field type Data Description Format Bytes Offset 1 SATVIS header Log header H 0 2 sat vis Is satellite visibility valid Enum 4 H 0 FALSE 1 TRUE 3 comp alm Was complete GPS almanac used Enum 4 H 4 0 FALSE 1 TRUE 4 sat Number of satellites with data to follow Ulong 4 H 8 5 PRN slot Satellite PRN number of range Short 2 H 12 measurement GPS 1 32 and SBAS 120 to 138 For GLONASS see Section 1 3 on page 26 6 glofreq GLONASS Frequency 7 see Section Short 2 H 14 1 3 on page 26 health Satellite health Ulong 4 H 16 elev Elevation degrees Double 8 H 20 az Azimuth degrees Double 8 H 28 10 true dop Theoretical Doppler of satellite the Double 8 H 36 expected Doppler frequency based on a satellite s motion relative to the receiver It is computed using the satellite s coordinates and velocity and the receiver s coordinates and velocity Hz 11 app dop Apparent Doppler for this receiver the Double 8 H 44 same as Theoretical Doppler above but with clock drift correction added Hz 12 Next satellite offset H 12
170. RING 1117 160783 000 00100020 9601 399 15 0 3971 7799968 5163500 6 10 0 0 3 1631 445 0 0 15 1423 222 0 0 18 1275 334 0 0 21 1763 334 0 0 17 1454 556 0 0 6 2063 0 0 0 26 1579 222 00 23 1423 111 0 0 28 1874 445 0 0 22 2146 445 19ed193f lt This data message provides data to continually enable you to remove ionospheric components from received pseudorange corrections The ion rate and ion delay fields can be added just like Type 1 corrections to provide iono free data collection RTCM15 lonospheric Corrections RTCM Type 15 messages support the broadcast of ionospheric delay and rate of change measurements for each satellite as determined by the base station receiver They are used to improve the ionospheric de correlation that would otherwise be experienced by a rover at a long distance from the base This log works in conjunction with Type 1 messages using dual frequency receivers Type 15 messages are broadcast every 5 10 minutes and follow the RTCM standard for Type 15 messages Type 15 messages enable the rover to continuously remove the ionospheric component from received pseudorange corrections The delay and rate terms are added like Type 1 corrections to provide the total ionospheric delay at a given time which is then subtracted from the pseudorange corrections The resulting corrections are then iono free The rover subtracts its measurements or estimates of ionospheric delay from its own
171. RT 31 df 223 Current COM port virtual port 31 XCOM1 1a0 416 Virtual COM1 port virtual port 0 XCOM1_1 1a1 417 Virtual COM1 port virtual port 1 XCOM1_ 31 1bf 447 Virtual COM1 port virtual port 31 XCOM2 2a0 672 Virtual COM2 port virtual port 0 Continued on the following page 22 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Messages Chapter 1 Table 5 Detailed Serial Port Identifiers continued ASCII Port Hex Port Decimal Port REN Name Value Value 2 Description XCOM2 1 2a1 673 Virtual COM2 port virtual port 1 XCOM2 31 2bf 703 Virtual COM2 port virtual port 31 USB1 5a0 1440 USB port 1 virtual port 0 USB1 1 5a1 1441 USB port 1 virtual port 1 USB1_ 31 5bf 1471 USB port 1 virtual port 31 USB2 6a0 1696 USB port 2 virtual port 0 USB2 31 6bf 1727 USB port 2 virtual port 31 USB3 7a0 1952 USB port 3 virtual port 0 USB3 31 7bf 1983 USB port 3 virtual port 31 XCOM3 9a0 2464 Virtual COM3 port virtual port 0 XCOM3_ 31 9bf 2495 Virtual COM3 port virtual port 31 a Decimal port values 0 through 16 are only available to the UNLOGALL command see page 166 and cannot be used in the UNLOG command see page 165 or in the binary message header see Table 4 on page 19 Dx COM1_ALL COM2 ALL THISPORT ALL ALL PORTS USB1_ALL USB2 ALL and USB3 ALL are only valid for the UNLOGALL command OEMStar Firmware Version 1 101 Reference Manual Rev 5 23
172. Response AA44121C 01008220 06000000 FFB4EE04 605A0513 Receiver Header 00004C00 FFFF5A80 Log Response Data 01000000 4F4B Checksum DA8688EC From BESTPOSB Header AA44121C 2A000220 48000000 90B49305 BOABB912 Receiver 00000000 4561BC0A BESTPOSB Data 00000000 10000000 1B0450B3 F28E4940 16FA6BBE 7C825CCO 0060769F 449F9040 A62A82C1 3D000000 125ACB3F CD9E983F DB664040 00303030 00000000 00000000 OBOB0000 00060003 Checksum 42DC4C48 1 3 GLONASS Slot and Frequency Numbers 26 OEMsStar can track a total of 14 channels GPS GLONASS SBAS which can include a maximum of 6 GLONASS channels see Table 13 OEMStar Channel Configurations on page 54 When a PRN in a log is in the range 38 to 61 then that PRN represents a GLONASS Slot where the Slot shown is the actual GLONASS Slot Number plus 37 Similarly the GLONASS Frequency shown in logs is the actual GLONASS Frequency plus 7 For example SATVISA COM1 0 53 5 FINESTEERING 1363 234894 000 00000000 0947 2277 TRUE TRUE 46 2 0 0 73 3 159 8 934 926 934 770 43 8 0 0 4 163 7 4528 085 4527 929 3 0 0 79 9 264 3 716 934 716 778 b94813d3 where 2 and 3 are GPS satellites and 43 is a GLONASS satellite Its actual GLONASS Slot Number is 6 The SATVIS log shows 43 6 37 Its actual GLONASS frequency is 1 The SATVIS log shows 8 1 7 See also the SATVIS log on page 357 Refer to the Knowledge and Learning page in the Support section of out Web site at www novatel com for
173. S receiver to achieve positioning accuracy of less than 1 m In this case the Coast Guard owns and operates the base receiver at known coordinates Other examples of users appearing to use only one GPS receiver include FM radio station correction services privately owned radio transmitters and corrections carried by communication satellites Some of the radio receivers have built in GPS receivers and combined antennas so they even appear to look as one self contained unit The major factors degrading GPS signals which can be removed or reduced with differential methods are the atmosphere ionosphere satellite orbit errors and satellite clock errors Some errors which are not removed include receiver noise and multipath OEMStar Firmware Version 1 101 Reference Manual Rev 5 293 Chapter 3 Data Logs Field Field type Data Description Format Binary Binary yp p Bytes Offset 1 PSRPOS Log header H 0 header 2 sol status Solution status see Table 44 Solution Statuson Enum 4 H page 197 3 pos type Position type see Table 43 Position or Velocity Enum 4 H 4 Type on page 196 4 lat Latitude Double 8 H 8 5 lon Longitude Double 8 H 16 6 hgt Height above mean sea level Double 8 H 24 7 undulation Undulation the relationship between the geoid Float 4 H 32 and the WGS84 ellipsoid m 8 datum id Datum ID number see Table 18 Reference Enum 4 H 36 El
174. S transmit ID dgpstxid type ID DYNAMICS 258 Tune receiver parameters dynamics dynamics ECHO 1247 Set port echo echo port echo ECUTOFF 50 Set satellite elevation cut ecutoff angle off FIX 44 Constrain to fixed height fix type param1 param2 or position param3 FIXPOSDATUM 761 Set the position ina fixposdatum datum lat lon specified datum height FREQUENCYOUT 232 Sets the output pulse train frequencyout switch pulsewidth available on VARF period Continued on the following page 38 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Command Message ID Description Chapter 2 Syntax FRESET 20 Clear almanac model or freset target user configuration data which is stored in NVM and followed by a receiver reset GGAQUALITY 691 Customize the GPGGA ggaquality entries pos GPS quality indicator type1 qual1 pos type2 qual2 GLOCSMOOTH 830 Carrier smoothing for glocsmooth L1time GLONASS channels GLOECUTOFF 735 Set the GLONASS gloecutoff angle satellite elevation cut off angle INTERFACEMODE 3 Set interface type interfacemode port rxtype txtype Receive Rx Transmit responses Tx for ports LOCKOUT 137 Prevent the receiver from lockout prn using a satellite by specifying its PRN LOG 1 Request logs from log port message trigger period receiver offset hold MAGVAR 180 Set magnetic variation magvar type correctio
175. SB3 are overrun See the auxiliary status word for the specific port for which the buffer is overrun OEMStar Firmware Version 1 101 Reference Manual Rev 5 351 Chapter 3 Data Logs Table 70 Auxiliary 1 Status alta Description NO 0 0x00000001 Reserved 1 0x00000002 2 0x00000004 3 0x00000008 Position averaging Off On N1 4 0x00000010 Reserved 5 0x00000020 6 0x00000040 7 0x00000080 USB connection status Connected Not connected N2 8 0x00000100 USB1 buffer overrun flag No overrun Overrun 9 0x00000200 USB2 buffer overrun flag No overrun Overrun 10 0x00000400 USB3 buffer overrun flag No overrun Overrun 11 0x00000800 Reserved Table 71 Auxiliary 2 Status Nibble Description NO 0 0x0000001 Reserved Table 72 Auxiliary 3 Status Nibble Mask Description NO 0 0x0000001 Reserved 352 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 Field Field type Data Description Format Binary Binary yP p Bytes Offset 1 RXSTATUS Log header H 0 header 2 error Receiver error see Table 68 Receiver ULong 4 H Error on page 348 A value of zero indicates no errors 3 stats Number of status codes including ULong 4 H 4 Receiver Status 4 rxstat Receiver status word see Table 69 ULong 4 H 8 Receiver Status on page 350 5 rxstat pri Receiver status priority mask which can UL
176. SV GPRMB GPRMC GPVTG GPZDA GLONASS ALMANAC DATA ALMANAC DATA GLOBAL POSITION SYSTEM FIX DATA AND UNDULATION GPS FIX DATA EXTRA PRECISION AND UNDULATION GEOGRAPHIC POSITION GPS RANGE RESIDUALS FOR EACH SATELLITE GPS DOP AN ACTIVE SATELLITES PSEUDORANGE MEASUREMENT NOISE STATISTICS GPS SATELLITES IN VIEW NAVIGATION INFORMATION GPS SPECIFIC INFORMATION TRACK MADE GOOD AND GROUND SPEED UTC TIME AND DATE The NMEA log structures follow format standards as adopted by the National Marine Electronics Association The reference document used is Standard For Interfacing Marine Electronic Devices NMEA 0183 Version 3 01 For further information refer to the NMEA Web site at www nmea org The following table contains excerpts from Table 6 of the NMEA Standard which defines the variables for the NMEA logs The actual format for each parameter is indicated after its description lt Please see the GPGGA note box that applies to all NMEA logs on page 241 278 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Field Type Special Form Symbol at Fields Chapter3 Definition Status A Single character field A Yes Data Valid Warning Flag Clear V No Data Invalid Warning Flag Set Latitude Fixed Variable length field degrees minutes decimal 2 fixed digits of degrees 2 fixed digits of mins and a variable number of digits for decimal fraction of mins Leading zeros always in
177. T 4 Data packet is not verified VERIFY COMMAND FAILED ON 5 Command did not succeed in accomplishing RECEIVER requested task INVALID MESSAGE ID 6 The input message ID is not valid INVALID MESSAGE FIELD X 7 Field x of the input message is not correct INVALID CHECKSUM 8 The checksum of the input message is not correct This only applies to ASCII and binary format messages MESSAGE MISSING FIELD 9 A field is missing from the input message ARRAY SIZE FOR FIELD X 10 Field x contains more array elements than EXCEEDS MAX allowed PARAMETER XIS OUT OF 11 Field x of the input message is outside the RANGE acceptable limits TRIGGER X NOT VALID FOR 14 Trigger type xis not valid for this type of log THIS LOG AUTHCODE TABLE FULL 15 Too many authcodes are stored in the RELOAD SOFTWARE receiver The receiver firmware must be reloaded INVALID DATE FORMAT 16 This error is related to the inputting of authcodes It indicates that the date attached to the code is not valid Continued on the following page OEMStar Firmware Version 1 101 Reference Manual Rev 5 415 Chapter 4 ASCII Message Binary Message ID Responses Meaning INVALID AUTHCODE 17 The authcode entered is not valid ENTERED NO MATCHING MODEL TO 18 The model requested for removal does not REMOVE exist NOT VALID AUTH CODE FOR 19 The model attached to the authcode is not THAT MODEL va
178. TMZONE AUTO 0 WAASECUTOFF 5 000000000 48 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 2 5 Command Reference When you use a command without specifying its optional parameters it may have a different command default than the factory default See Section 2 4 starting on page 47 for the factory default settings and the individual commands in the sections that follow for their command defaults 2 5 1 ADJUST1PPS Adjust the receiver clock This command is used to manually shift the phase of the clock The number of pulses per second PPS is always set to 1 Hz with this command lt The resolution of the clock synchronization is 50 ns To adjust the 1PPS output when the receiver s internal clock is being used and the CLOCKADJUST command is enabled use the CLOCKOFFSET command on Page 65 If the 1PPS rate is adjusted the new rate does not start until the next second begins The 1PPS is obtained from different receivers in different ways If you are using a Bare Card The 1PPS output strobe is on pin 19 of the OEMStar 20 pin header FlexPak G2 A DB9F connector on the enclosure provides external access to various I O strobes to the internal card This includes the 1PPS output signal which is accessible on pin 2 of the DB9F connector Abbreviated ASCII Syntax Message ID 429 ADJUSTI1PPS mode period offset Factory Default adjustl pps off AS
179. TY command 96 GLIDE 121 GLMLA log 222 GLOALMANAC log 224 GLOCLOCK log 226 GLOCSMOOTH command 98 GLOECUTOFF command 99 GLOEPHEMERIS log 228 GLONASS almanac 222 224 logs 222 238 RTCM 152 338 342 SBAS 397 399 GLORAWALM log 232 GLORAWEPHEM log 234 Index GLORAWFRAME log 236 GLORAWSTRING log 238 GPALM log 239 GPGGA log 241 GPGGALONG log 243 GPGLL log 245 GPGRS log 247 GPGSA log 249 GPGST log 251 GPGSV log 253 GPRMB log 255 GPRMC log 257 GPS overview 28 30 GPSEPHEM log 259 GPVTG log 263 GPZDA log 264 graphical display 275 great circle line 148 149 276 H handshaking 68 69 hardware reset 35 132 version 177 370 HDOP see dilution of precision header ascil 16 17 24 binary 14 convention 12 log 303 heading and velocity 204 magnetic variation 111 health almanac 240 base station 182 satellite 192 358 364 status 261 height approximate 143 calculate 89 161 fix 35 88 89 limit 197 position 199 294 mark 271 Helmert transformation 72 hexadecimal 12 15 16 20 25 142 158 OEMStar Firmware Version 1 101 Reference Manual Rev 5 421 Index hibernate mode PC 106 hiking 204 hold 105 108 109 268 269 horizon 87 99 173 Horizontal Alert Limit HAL 130 hot position 324 I identifier ascii message 16 serial port 22 103 220 289 inclination angle 192 instantaneous Doppler 298 interface 34 36 37
180. Track along track Distance and bearing from 3 to 1 Figure 8 Navigation Parameters NOOBRWNM Table 57 Navigation Data Type Navigation Data Type Binary ASCII RESCI DLO 0 GOOD Navigation is good 1 NOVELOCITY Navigation has no velocity 2 BADNAV Navigation calculation failed for an unknown reason 3 FROM_TO_SAME From is too close to To for computation 4 TOO_CLOSE_TO_TO Position is too close to To for computation 5 ANTIPODAL_WAYPTS Waypoints are antipodal on surface OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 Recommended Input log navigatea ontime 1 ASCII Example NAVIGATEA COM1 0 56 0 FINESTEERING 1337 399190 000 00000000 aece 1984 SOL COMPUTED PSRDIFF SOL COMPUTED GOOD 9453 6278 303 066741 133 7313 9577 9118 1338 349427 562 643cd4e2 lt Use the NAVIGATE log in conjunction with the SETNAV command to tell you where you currently are with relation to known To and From points You can find a specific latitude longitude or height knowing where you started from A backpacker for example could use these two commands to program a user supplied graphical display on a digital GPS compass to show their progress as they follow a specific route OEMStar Firmware Version 1 101 Reference Manual Rev 5 275 Chapter 3 Field Field Type NAVIGATE header Data Description Log header Format Data Logs Binary Binary Byt
181. VENT Status event indicator Asynch VALIDMODELS Model and expiry date information for receiver Asynch VERSION Receiver hardware and software version numbers Polled AVEPOS Position averaging log Asynch BESTPOS Best position data Synch BESTUTM Best available UTM data Synch BESTXYZ Cartesian coordinates position data Synch GPGGA NMEA fix and position data Synch GPGLL NMEA position data Synch GPGSA NMEA DOP information Synch Continued on the following page OEMStar Firmware Version 1 101 Reference Manual Rev 5 177 Chapter 3 Data Logs POSITION PARAMETERS AND SOLUTION FILTERING CONTROL GPGRS NMEA range residuals Synch GPGST NMEA measurement noise statistics Synch IONUTC lonospheric and UTC model information Asynch MARKPOS Position at time of mark input event Asynch MARKTIME Time of mark input event Asynch PSRDOP DOP of SVs currently tracking Asynch PSRDOP2 Pseudorange Least Squares DOP Asynch RAIMSTATUS RAIM status Synch WAYPOINT NAVIGATION Descriptions BESTPOS Best position data Synch BESTVEL Velocity data Synch GPRMB NMEA waypoint status Synch GPRMC NMEA navigation information Synch GPVTG NMEA track made good and speed Synch NAVIGATE Navigation waypoint status Synch PSRPOS Pseudorange position Synch PSRVEL Pseudorange velocity Synch Continued on the following page 178 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs
182. WAAS frame 3 which contains information about fast correction slots 13 25 OEMStar Firmware Version 1 101 Reference Manual Rev 5 377 Chapter 3 Data Logs Binary Binary Field Field type Data Description Format Bytes Offset Scaling 1 WAAS3 Log header H 0 header 2 prn Source PRN of message Ulong 4 H 3 iodf Issue of fast corrections data Ulong 4 H 4 4 iodp Issue of PRN mask data Ulong 4 H 8 5 prc13 prc i Long 4 H 12 6 prc14 Fast corrections 2048 to 2047 Long 4 H 16 7 pre15 for the prn in slot i i 13 25 ne P TER i 8 prc16 Long 4 H 24 9 prc17 Long 4 H 28 10 prc18 Long 4 H 32 11 prc19 Long 4 H 36 12 prc20 Long 4 H 40 13 prc21 Long 4 H 44 14 prc22 Long 4 H 48 15 prc23 Long 4 H 52 16 prc24 Long 4 H 56 17 prc25 Long 4 H 60 Continued on the following page 378 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 Binary Binary Field Field type Data Description Format Bytes Offset Scaling 18 udre13 udre i Ulong 4 H 64 See Table 79 Evaluation of 19 udre14 User differential range error Ulong 4 H 68 UDREI on indicator for the prn in slot i i 13 page 374 20 udre15 25 Ulong 4 H 72 21 udre16 Ulong 4 H 76 22 udre17 Ulong 4 H 80 23 udre18 Ulong 4 H 84 24 udre19 Ulong 4 H 88
183. a aea ce adie ro re 47 2 5 Command Reference iissshecctide sted ececiededs ceviaeeniecdevaedacieaaaceneviadedi edeatehieneniieens 49 2 5 1 ADJUST1PPS Adjust the receiver Clock W u u sseseeeeeereeren ere erren kernen ner 49 2 5 2 ANTENNAPOWER Control power to the antenna 52 2 5 3 ASSIGN Assign a channel to a PRN 1 W W W W u u ssceeeeeeeereereen kernerne ren nn renen ner 53 2 5 4 ASSIGNALL Assign all channels to a PRN W W u u dseeeeeeeeereer nerne renerne 56 2 5 5 AUTH Add authorization code for new model sssseeeeeeererererenner 58 2 5 6 CLOCKADJUST Enable clock adjustments u u u ssseeeeeeereerrennrerenennee 60 2 5 7 CLOCKCALIBRATE Adjust clock steering parameters scce 62 2 5 8 CLOCKOFFSET Adjust for delay in 1PPS output 0 eee 65 2 5 9 CNOUPDATE Set the C No update rate and resolution 66 2 5 10 COM COM port configuration CONtIOI cc cee eeeeeeeeeeencteeeeeeetneeeeeeeaas 67 2 5 11 CSMOOTH Set carrier smoothing 0 eee eee eee eeee eee eeetteeeeeeetaaeeeeeeeaaas 70 2 5 12 DATUM Choose a datum name type ccceecceeeceeeeneeeeeeeeeeeeeeeeeeaaes 72 2 5 13 DGPSEPHEMDELAY DGPS ephemeris delay 0 ccceceeeeeerees 79 2 5 14 DGPSTIMEOUT Set maximum age of differential data 81 2 5 15 DGPSTXID DGPS transmit ID eee cece eeeeeeeeceeeeeeeeeseeeeeeenneeesaees 82 2 5 16 DYNAMICS Tune receiver parameterS 2 cccceceeeeeeseeteees
184. a pulse occurs on the MK1I input Refer to the Technical Specifications appendix in the OEMStar Installation and Operation User Manual for mark input pulse specifications and the location of the mark input pins The resolution of this measurement is 49 ns lt Use the ONNEW trigger with this or the MARKPOS logs Only the MARKPOS logs the MARKTIME logs and polled log types are generated on the fly at the exact time of the mark Synchronous and asynchronous logs output the most recently available data Message ID 231 MARKTIME Log Type Asynch Recommended Input log marktimea onnew Example MARKTIMEA COM1 0 77 5 FINESTEERING 1358 422621 000 00000000 292e 2214 1358 422621 000000500 1 398163614e 08 7 812745577e 08 14 000000002 VALID d8502226 lt These logs allow you to measure the time when events are occurring in other devices such as a video recorder See also the MARKCONTROL command on page 1 3 272 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 Binary Binary Field Field type Data Description Format Bytes Offset 1 MARKTIME Log header H 0 header 2 week GPS reference week number Long 4 H 3 seconds Seconds into the week as measured from the Double 8 H 4 receiver clock coincident with the time of electrical closure on the Mark Input port 4 offset Receiver clock offset in seconds A positive Double 8 H 12 offset implies that the receiver c
185. able Variable or ANY ANY type defaults max 5 RTCM 0 RTCA AAAA These range values are in affect 0 lt RTCM ID lt 1023 RTCA any four character string containing only alpha a z or numerical characters 0 9 a Inthe binary log case additional bytes of padding are added to maintain 4 byte alignment 82 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 2 5 16 DYNAMICS Tune receiver parameters This command adjusts the receiver dynamics to that of your environment It is used to optimally tune receiver parameters The DYNAMICS command adjusts the Tracking State transition time out value of the receiver see Table 60 Tracking State on page 304 When the receiver loses the position solution see Table 44 Solution Status on page 197 it attempts to steer the tracking loops for fast reacquisition 5 s time out by default The DYNAMICS command allows you to adjust this time out value easing the steering time The three states 0 1 and 2 set the time out to 5 10 or 20 s respectively lt The DYNAMICS command should only be used by advanced users The default of AIR should not be changed except under very specific conditions The DYNAMICS command affects satellite reacquisition The constraint of its filter with FOOT is very tight and is appropriate for a user on foot A sudden tilted or up and down movement for example while a tractor is moving slowly along
186. accuracy 88 approximate 144 191 at time of mark 271 averaging 36 122 193 base station 182 best 195 200 206 command 35 current 274 276 424 OEMStar Firmware Version 1 101 Reference Manual Rev 5 datum 72 fix 35 89 four unknowns 193 290 304 hot 324 log 177 178 pseudorange 181 293 solution 86 99 290 static 204 time out 124 type 271 xyz coordinates 207 298 299 POSTIMEOUT command 124 post process application example 308 carrier smoothing 70 differential 82 elevation angle 86 ephemeris data 313 generic software 101 Waypoint a NovAtel Precise Position ing Company 308 power 52 364 PPSCONTROL command 125 prerequisite 13 Probability of False Alert Pfa 130 Probability of Falso Alert Pfa 130 processing 17 21 179 303 Pseudorange least squares DOP 292 pseudorange 413 correction 329 332 error estimate 303 jump 60 303 measurement 251 307 309 noise statistic 251 position 178 181 raw 413 solution 195 tracking status 365 velocity 181 296 pseudorange delta phase PDP 119 121 284 285 PSRDIFFSOURCE command 127 PSRDOP log 290 PSRDOP2 292 PSRPOS log 293 PSRTIME log 295 PSRVEL log 296 Index PSRXYZ log 298 pulse 92 270 272 quality NMEA 96 251 quotation mark 16 140 151 152 R radio 293 RAIM Horizontal Alert Limit HAL 130 Integrity Status 302 PL Status 302 Vertical Alert Limit VAL 130 RAIMM
187. accuracy correction 88 limit 122 navigation 332 position 88 time 28 acquisition 53 88 159 304 ADJUSTIPPS command 49 ADR see accumulated doppler range age differential velocity 205 207 297 299 xyz coordinates 207 299 solution at mark input 271 ECEF coordinates 207 299 position 199 294 UTM coordinates 201 agriculture 133 371 aircraft 83 204 almanac complete 358 data 144 239 GEO 400 GLONASS 222 224 log 179 181 191 lost 118 raw data 311 reset 94 stored 95 time status 27 ALMANAC log 191 along track 274 276 ambiguity half cycle 303 anomaly 192 364 antenna active 52 altitude 86 242 244 delay 65 high altitude 173 motion 55 57 phase center 89 position 270 receiver status 347 speed 276 ANTENNAPOWER command 52 anti spoofing AS 192 ascii display 336 340 message 16 36 overview 16 printable data 140 redirect 280 response 24 send 140 text message 151 152 transfer 151 assign cancel 159 channel 36 53 cut off angle 86 99 173 ASSIGN command 53 ASSIGNALL command 56 asterisk 16 asynchronous log 175 atmospheric delay 303 noise 86 refraction 86 173 AUTH command 58 authorization 34 58 59 AUX port identifier 23 interface mode 102 AVEPOS log 193 averaging position 36 122 193 azimuth 253 358 OEMStar Firmware Version 1 101 Reference Manual Rev 5 417 Index 418 B base station aiding 144
188. adding are added to maintain 4 byte alignment 343 Chapter 3 Data Logs 3 3 70 RTCMV3 Standard Logs lt The OEMStar does not currently transmit carrier phase corrections The OEMStar can be configured to receive RTCMV3 corrections and compute a DGPS pseudorange position The GLONASS option is required for GLONASS RTCMV3 corrections to be used in the DGPS position Table 67 RTCMV3 Corrections Type of Log Log Name Description GPS only RTCM1001 L1 only RTK observables GPS only RTCM1002 Extended L1 only RTK observables GPS only RTCM1003 L1 and L2 RTK observables GPS only RTCM1004 Extended L1 and L2 RTK observables RTCM1005 Stationary RTK base station antenna reference point ARP RTCM1006 Stationary RTK base station ARP with antenna height RTCM1007 Extended antenna description and setup information RTCM1008 Extended antenna reference station description and serial number GLONASS only RTCM1009 L1 only RTK GLONASS only RTCM1010 Extended L1 only RTK GLONASS only RTCM1011 L1 L2 RTK GLONASS only RTCM1012 Extended L1 L2 RTK GPS only RTCM1019 Ephemerides GLONASS only RTCM1020 Ephemerides 344 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 3 3 71 RXCONFIG Receiver Configuration This log is used to output a list of all current command settings When requested an RXCONFIG log is output for each setting See also the LOGLIST log on page 267 for a list of cur
189. additional 2 bytes of padding is added to maintain 4 byte alignment OEMStar Firmware Version 1 101 Reference Manual Rev 5 401 Chapter 3 Data Logs 3 3 92 WAAS18 IGP Mask SBAS 402 The ionospheric delay corrections are broadcast as vertical delay estimates at specified ionospheric grid points IGPs applicable to a signal on L1 The predefined IGPs are contained in 11 bands numbered 0 to 10 Bands 0 8 are vertical bands on a Mercator projection map and bands 9 10 are horizontal bands on a Mercator projection map Since it is impossible to broadcast IGP delays for all possible locations a mask is broadcast to define the IGP locations providing the most efficient model of the ionosphere at the time Message ID 295 Log Type Asynch Recommended Input log WAAS 18a onchanged ASCII Example WAAS18A COM1 0 33 0 SATTIME 1337 417074 000 00000000 2c0 1984 122 4 2 2 0000 C0007 c0003 0000 80007 0007 e0003 0000F 80 0 bled353e lt Each raw WAAS frame gives data for a specific frame decoder number The WAAS18 message can be logged to view the data breakdown of WAAS frame 18 which contains information about ionospheric grid points Binary Binary Field Field type Data Description Format Bytes Offset 1 WAAS18 header Log header H 0 2 prn Source PRN of message Ulong 4 H 3 bands Number of bands broadcast Ulong 4 H 4 4 band num Specific band number that Ulong 4
190. ainder of this section provides further information concerning receiver commands and logs that utilize the RTCM data formats Example Input interfacemode com2 none RTCM pdpfilter disable fix position 51 1136 114 0435 1059 4 log com2 rtcm31 ontime 2 log com2 rtcm1 ontime 5 1 For further information about RTCM SC 104 messages refer to RTCM Recommended Standards for Differential GNSS Global Navigation Satellite Systems Service Version 3 0 at_http www rtcm org overview php OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 3 3 63 RTCMDATA1 Differential GPS Corrections DGPS_Tx See Section 3 3 62 starting on page 326 for information about RTCM standard logs Message ID 396 Log Type Synch Recommended Input log rtemdatala ontime 10 3 ASCII Example RTCMDATAIA COM1 0 68 5 FINESTEERING 1420 506618 000 00180020 d18a 1899 1 0 4363 0 0 6 9 0 0 26 22569 2 231 0 0 19 3885 36 134 0 0 3 14036 23 124 0 0 24 1853 36 11 0 0 18 5632 15 6 0 0 21 538 26 179 0 0 9 12466 3 4 0 0 14 21046 17 27 0 0 22 7312 16 238 35296338 RTCM1 This is the primary RTCM log used for pseudorange differential corrections This log follows the RTCM Standard Format for a Type 1 message It contains the pseudorange differential correction data computed by the base station generating this Type 1 log The log is of variable length depending on the number of satellites visible and pseudorang
191. ained from the PSRPOS log see page 293 Asynchronous logs should only be logged ONCHANGED Otherwise the most current data is not output when it is available This is especially true of the ONTIME trigger which may cause inaccurate time tags to result Message ID 172 Log Type Asynch Recommended Input log aveposa onchanged ASCII Example AVEPOSA COM1 0 48 5 FINESTEERING 1364 492100 000 80000000 e3b4 2310 51 11635589900 114 03833558937 1062 216134356 1 7561 0 7856 1 7236 INPROGRESS 2400 2 72a550c1 Table 42 Position Averaging Status Binary ASCII Description 0 OFF Receiver is not averaging 1 INPROGRESS Averaging is in progress 2 COMPLETE Averaging is complete lt When a GPS position is computed there are four unknowns being solved latitude longitude height and receiver clock offset often just called time The solutions for each of the four unknowns are correlated to satellite positions in a complex way Since satellites are above the antenna none are below it there is a geometric bias Therefore geometric biases are present in the solutions and affect the computation of height These biases are called DOPs Dilution Of Precision Smaller biases are indicated by low DOP values VDOP Vertical DOP pertains to height Most of the time VDOP is higher than HDOP Horizontal DOP and OEMStar Firmware Version 1 101 Reference Manual Rev 5 193 Chapter 3 Data Logs TDOP Time DOP Therefore
192. and 65 CLOCKSTEERING log 215 CMR dgps type 128 interface mode 102 CNOUPDATE command 66 Coast Guard 293 COM command 67 COM port 106 140 219 288 COMCONHIG log 219 COMCONTROL command 70 command response messages 415 communication 34 compass 275 OEMStar Firmware Version 1 101 Reference Manual Rev 5 configuration 368 non volatile memory 94 port 34 67 219 receiver 132 177 345 347 reset 46 132 RXCONEIG log 336 340 save 135 status mask 157 constellation 213 290 constraint 303 control automatic 159 center 296 308 channel 35 command 34 filtering 177 receiver 34 177 Control and Display Unit CDU 46 106 367 Convert4 265 coordinated universal time UTC log 178 179 264 offset 273 position 242 244 252 status 362 copyright 2 correction accuracy 88 bias 89 magnetic 111 magnitude of 112 mean motion 192 RTCA 102 CPU 105 288 CRC see cyclic redundancy check cross track 204 274 276 CSMOOTH command 70 Customer Service 94 115 267 cut off angle command 87 DOP 291 GLONASS 99 negative 173 range reject code 364 SBAS 173 cyclic redundancy check CRC 16 19 20 25 30 Cyrillic characters 152 Index D data link 140 datum 74 78 best position 199 command 70 79 89 98 current 148 customized 167 expanded 169 fix position 91 mark position 271 pseudorange position 294 transformation parameters 74 UTM 201 DATUM command 72 declinati
193. ange x x 2 73 inputs to the navigation process Range inputs include pseudoranges and DGPS corrections 4 smjr std Standard deviation of semi major axis of error X X 2 55 ellipse m 5 smnr std Standard deviation of semi minor axis of error X X 1 88 ellipse m 6 orient Orientation of semi major axis of error ellipse X X 15 2525 degrees from true north 7 lat std Standard deviation of latitude error m X X 2 51 8 lon std Standard deviation of longitude error m X X 1 94 9 alt std Standard deviation of altitude error m X X 4 30 10 XX Checksum hh 6E 11 CR LF Sentence terminator CR LF 252 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 3 3 28 GPGSV GPS Satellites in View Number of SVs in view PRN numbers elevation azimuth and SNR value Four satellites maximum per message When required additional satellite data sent in 2 or more messages a maximum of 9 The total number of messages being transmitted and the current message being transmitted are indicated in the first two fields The GPGSV log outputs these messages with contents without waiting for a valid almanac Instead it uses a UTC time calculated with default parameters In this case the UTC time status is set to WARNING since it may not be 100 accurate When a valid almanac is available the receiver uses the real parameters Then the UTC time is set to VALID lt Satellite information may require t
194. anual Rev 5 15 Chapter 1 Messages Table 2 shows the arrangement of bytes within each field type when used by IBM PC computers All data sent to or from the OEMStar receiver however is read least significant bit LSB first opposite to what is shown in Table 2 Data is then stored in the receiver LSB first For example in char type data the LSB is bit 0 and the most significant bit MSB is bit 7 See Table 62 Channel Tracking Example on page 305 for a more detailed example 1 1 1 ASCII messages are readable by both the user and a computer The structures of all ASCII messages ASCII follow the general conventions as noted here 2 3 The lead code identifier for each record is Each log or command is of variable length depending on amount of data and formats All data fields are delimited by a comma with two exceptions The first exception is the last header field which is followed by a to denote the start of the data message The other exception is the last data field which is followed by a to indicate end of message data Each log ends with a hexadecimal number preceded by an asterisk and followed by a line termination using the carriage return and line feed characters for example 1234ABCD CR LF This value is a 32 bit CRC of all bytes in the log excluding the identifier and the asterisk preceding the four checksum digits See 7 7 32 Bit CRC on page 30 for the algorithm used to generate th
195. apter 3 Data Logs Field Structure Field Description Symbol Example 1 GPGSV Log header GPGSV 2 msgs Total number of messages 1 9 x 3 3 msg Message number 1 9 x 1 4 sats Total number of satellites in view May be different xx 09 than the number of satellites in use see also the GPGGA log on page 241 5 prn Satellite PRN number XX 03 GPS 1 to 32 SBAS 33 to 64 add 87 for PRN s GLO 65 to 96 6 elev Elevation degrees 90 maximum XX 51 7 azimuth Azimuth degrees True 000 to 359 XXX 140 8 SNR SNR C No 00 99 dB null when not tracking XX 42 Next satellite PRN number elev azimuth SNR Last satellite PRN number elev azimuth SNR variable xx Checksum hh 72 variable CR LF Sentence terminator CR LF a The NMEA GLONASS PRN numbers are 64 plus the GLONASS slot number Current slot numbers are 1 to 24 which give the range 65 to 88 PRN numbers 89 to 96 are available if slot numbers above 24 are allocated to on orbit spares 254 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 3 3 29 GPRMB Navigation Information Navigation data from present position to a destination waypoint The destination is set active by the receiver SETNAV command The GPRMB log outputs these messages with contents without waiting for a valid almanac Instead it uses a UTC time calculated with default parameters In this case the UTC
196. arameters dynamics dynamics 269 CSMOOTH Set carrier smoothing csmooth L1time 377 SETAPPROXPOS Set an approximate setapproxpos lat lon height position 424 PDPFILTER Enable disable or reset pdpfilter switch the PDP filter Continued on the following page 44 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 message Command Description Syntax 429 ADJUST1PPS Adjust the receiver clock adjustipps mode period offset 430 CLOCKCALIBRATE Adjust the control clockcalibrate mode period width parameters of the clock slope bandwidth steering loop 493 PSRDIFFSOURCE Set the pseudorange psrdiffsource type ID correction source 505 WAASECUTOFF Set SBAS satellite waasecutoff angle elevation cut off 596 CLOCKOFFSET Adjust for antenna RF clockoffset offset cable delay 612 POSTIMEOUT Sets the position time out postimeout sec 613 PPSCONTROL Control the PPS output ppscontrol switch polarity period pulse width 614 MARKCONTROL Control the processing of markcontrol signal switch polarity the mark inputs timebias timeguard 652 SBASCONTROL Set SBAS test mode and sbascontrol switch system prn PRN testmode 691 GGAQUALITY Customize the GPGGA ggaquality entries pos GPS quality indicator type1 qual1 pos type2 qual2 711 SETIONOTYPE Set the ionospheric setionotype model corrections model 735 GLOECUTOFF Set the GLONASS satellite gloecutoff angle
197. are concerns please do the following 1 Issue a FRESET command 2 Log the following data to a file on your PC laptop for 30 minutes RXSTATUSB once RAWEPHEMB onchanged RANGEB ontime 1 BESTPOSB ontime 1 RXCONFIGA once VERSIONA once 3 Send the file containing the logs to NovAtel Customer Support using the support novatel com e mail address OEMStar Firmware Version 1 101 Reference Manual Rev 5 267 Chapter 3 Data Logs Binary Binary Field Field type Data Description Format Bytes Offset 1 LOGLIST Log header H 0 binary header 2 logs Number of messages to follow Long 4 H maximum 30 3 port Output port see Table 4 The header is inthe Enum 4 H 4 format shown in Table 4 Binary Message Header Structure on page 20 on page 19 4 message Message ID of log Ushort 2 H 8 5 message Bits 0 4 Reserved Char 1 H 10 type Bits 5 6 Format 00 Binary 01 ASCII 10 Abbreviated ASCII NMEA 11 Reserved Bit7 Response Bit see Section 1 2 Responses on page 24 0 Original Message 1 Response Message 6 reserved Char 3a H 11 7 trigger 0 ONNEW Enum 4 H 14 1 ONCHANGED 2 ONTIME 3 ONNEXT 4 ONCE 5 ONMARK 8 period Log period for ONTIME Double 8 H 18 9 offset Offset for period ONTIME trigger Double 8 H 26 10 hold 0 NOHOLD Enum 4 H 32 1 HOLD 11 Next log offset H 4 logs x 32 variable Xxxx 32 bit CRC Hex 4 H 4 logs x 32
198. are using the RTCA standard This time interval ensures that the rover stations have received the new ephemeris and have computed differential positioning based upon the same ephemeris Therefore for RTCA base stations the recommended ephemeris delay is 300 seconds Abbreviated ASCII Syntax Message ID 142 DGPSEPHEMDELAY delay Factory Default dgpsephemdelay 120 ASCII Example base dgpsephemdelay 120 DX When using differential corrections the rover receiver must use the same set of broadcast ephemeris parameters as the base station generating the corrections The Issue of Ephemeris Data IODE parameter is transmitted as part of the differential correction so that the rover can guarantee that its and the base station ephemerides match The DGPSEPHEMDELAY parameter should be large enough to ensure that the base station is not using a new set of ephemerides that has not yet been received at the rover receiver OEMStar Firmware Version 1 101 Reference Manual Rev 5 79 Chapter 2 Commands Field ASCII Binary Type Value Value Binary Binary Binary Field Format Bytes Offset Description 1 DGPSEPHEMDELAY This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 delay 0 to 600 s Minimum time delay ULong 4 H before new ephemeris is used 80 OEMStar Firmware Version 1 101 Reference
199. ased on Minimum Aviation System Performance Standards DGNSS Instrument Approach System Special Category I SCAT T OEMStar has one proprietary RTCA Standard Type 7 binary format message RTCAEPHEM for base station transmission This message can be used with single frequency NovAtel receivers The RTCA message format outperforms the RTCM format in the following ways among others e amore efficient data structure lower overhead e better error detection e allowance for a longer message if necessary Refer to the Receiving and Transmitting Corrections section in the OEMStar Installation and Operation Manual for more information about using these message formats for differential operation Input Example interfacemode com2 none RTCA pdpfiler disable fix position 51 1136 114 0435 1059 4 log com2 rtcal ontime 5 log com2 rtcaephem ontime 10 1 1 For further information about RTCA Standard messages you refer to Minimum Aviation System Performance Standards DGNSS Instrument Approach System Special Category I SCAT I Document No RTCA DO 217 April 19 1995 Appx A Pg 21 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 3 3 60 RTCADATA1 Differential GPS Corrections DGPS_Tx See Section 3 3 59 starting on page 319 for information about RTCA standard logs Message ID 392 Log Type Synch Recommended Input log rtcadatala ontime 10 3 ASCII Example RTCADATAIA COM1 0 60 0 FINESTEERI
200. at represents the receiver software build number 26 a The 8 bit size means that you will only see 0xA0 to OxBF when the top bits are dropped from a port b Recommended value is THISPORT binary 192 OEMStar Firmware Version 1 101 Reference Manual Rev 5 value greater than 8 bits For example ASCII port USB1 will be seen as 0xA0 in the binary output 21 Chapter 1 Messages Table 5 Detailed Serial Port Identifiers A dre oad se Pon Description NO_PORTS 0 0 No ports specified COM1_ALL 1 1 All virtual ports for COM port 1 COM2_ALL 2 2 All virtual ports for COM port 2 THISPORT_ALL 6 6 All virtual ports for the current port ALL_PORTS 8 8 All virtual ports for all ports XCOM1_ALL 9 9 All virtual COM1 ports XCOM2_ALL 10 10 All virtual COM2 ports USB1_ALL d 13 All virtual ports for USB port 1 USB2_ALL e 14 All virtual ports for USB port 2 USB3_ALL f 15 All virtual ports for USB port 3 XCOM3_ALL 11 17 All virtual COM3 ports COM1 20 32 COM port 1 virtual port 0 COM1_1 21 33 COM port 1 virtual port 1 COM1_31 3f 63 COM port 1 virtual port 31 COM2 40 64 COM port 2 virtual port 0 COM2_31 5f 95 COM port 2 virtual port 31 USB 80 128 USB port virtual port 0 USB_31 9f 159 USB port virtual port 31 SPECIAL a0 160 Unknown port virtual port 0 SPECIAL_31 bf 191 Unknown port virtual port 31 THISPORT c0 192 Current COM port virtual port 0 THISPO
201. ation amp Correction on page 111 The receiver calculates values of magnetic variation for given values of latitude longitude and time using the International Geomagnetic Reference Field IGRF 2005 spherical harmonic coefficients and IGRF time corrections to the harmonic coefficients The model is intended for use up to the year 2010 The receiver will compute for years beyond 2010 but accuracy may be reduced How does the GPS determine what Magnetic North is Do the satellites transmit a database or some kind of look up chart to determine the declination for your given latitude and longitude How accurate is it Magnetic North refers to the location of the Earth s Magnetic North Pole Its position is constantly changing in various cycles over centuries years and days These rates of change vary and are not well understood However we are able to monitor these changes True North refers to the earth s celestial pole that is at 90 north latitude or the location where the lines of longitude converge This position is always the same and does not vary The locations of these two poles do not coincide Thus a relationship is required between these two values for users to relate GPS bearings to their compass bearings This value is called the magnetic variation correction or declination GPS does not determine where Magnetic North is nor do the satellites provide magnetic correction or declination values However OEMStar receivers store t
202. atitude DDmm mm Tal 5107 0017737 5 lat dir Latitude direction a N N North S South 6 lon Longitude DDDmm mm yyyyy yy 11402 3291611 7 lon dir Longitude direction a W E East W West 8 speed Kn Speed over ground knots X X 0 080 9 track true Track made good degrees True X X 323 3 10 date Date dd mm yy XXXXXX 210307 11 mag var Magnetic variation degrees 2 X X 0 0 12 var dir Magnetic variation direction E W a E 13 mode ind Positioning system mode indicator a A see Table 55 on page 255 14 XX Checksum hh 20 15 CR LF Sentence terminator CR LF a Note that this field is the actual magnetic variation and will always be positive The direction of the magnetic variation is always positive The direction of the magnetic variation will be opposite to the magnetic variation correction value entered in the MAGVAR command see page 110 for more information b Easterly variation E subtracts from True course and Westerly variation W adds to True course 258 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 3 3 31 GPSEPHEM Decoded GPS Ephemerides A single set of GPS ephemeris parameters Message ID 7 Log Type Asynch Recommended Input log gpsephema onchanged ASCII Example GPSEPHEMA COM1 12 59 0 SATTIME 1337 397560 000 00000000 9145 1984 3 397560 0 0 99 99 1337 1337 403184 0 2 656004220e 07 4 971635660e 09 2 752651501e 00 7 1111434372e 03 6 0071892571e
203. ay corrections OEMStar Firmware Version 1 101 Reference Manual Rev 5 409 Chapter 3 Data Logs 3 R Binary Binary Field Field type Data Description Format Bytes Offset Scaling 1 WAAS26 header Log header H 0 2 prn Source PRN of message Ulong 4 H 3 band num Band number Ulong 4 H 4 4 block id Block ID Ulong 4 H 8 5 pts Number of grid points with Ulong 4 H 12 information to follow 6 iDPyde IGP vertical delay estimates Ulong 4 H 16 0 125 7 givei Grid ionospheric vertical error Ulong 4 H 20 indicator 8 Next pts entry H 16 pts x 8 variable iodi Issue of data ionosphere Ulong 4 H 16 pts x 8 variable spare 7 spare bits Ulong 4 H 20 pts x 8 variable XXXX 32 bit CRC ASCII and Binary Hex 4 H 24 only pts x 8 variable CR LF Sentence terminator ASCII only 410 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 3 3 96 WAAS27 SBAS Service Message SBAS WAAS27 messages apply only to the service provider transmitting the message The number of service messages indicates the total number of unique WAAS27 messages for the current IODS Each unique message for that IODS includes a sequential message number The IODS is incremented in all messages each time that any parameter in any WAAS27 message is changed Message ID 300 Log Type Asynch Recommended Input log WAAS27a onchanged
204. ay lonospheric delay cm Ulong 4 H 40 13 ion rate lonospheric rate 0 05 cm min Long 4 H 44 14 Next PRN offset H 28 prns x 20 variable xxxx 32 bit CRC ASCII and Binary only Hex 4 variable variable CR LF Sentence terminator ASCII only OEMStar Firmware Version 1 101 Reference Manual Rev 5 335 Chapter 3 Data Logs 3 3 66 RTCMDATA16 Special Message DGPS Tx See Section 3 3 62 starting on page 326 for information about RTCM standard logs Message ID 398 Log Type Synch Recommended Input log rtcmdatal6a once ASCII Example RTCMDATA16A COM1 0 65 0 FINESTEERING 1420 507147 000 00180020 2922 1899 16 0 5245 0 0 6 37 base station will shut down in 1 hour ac5ee822 RTCM16 Special Message This log contains a special ASCII message that can be displayed on a printer or monitor Once set the message can then be issued at the required intervals with the LOG port RTCM16 interval command The Special Message setting can be verified in the RXCONFIGA log see page 345 The RTCM16 data log follows the RTCM Standard Format Words 1 and 2 contain RTCM header information followed by words 3 to n where n is variable from 3 to 32 which contain the special message ASCII text Up to 90 ASCII characters can be sent with each RTCM Type 16 message frame lt Message Type 16 is a special ASCII message capable of being displayed on a printer or monitor The message can be up to 90 characters l
205. b04e483f7a9el faab2b16a27c7d41fb5c0304794811 7a10d40b564327e 8b04e483f82c00252f57a782001b282027a31c0fba0fc525ffac84el0a06 c5834a5b lt A way to use only one receiver and achieve accuracy of less than 1 metre is to use precise orbit and clock files Three types of GPS ephemeris clock and earth orientation solutions are compiled by an elaborate network of GPS receivers around the world all monitoring the satellite characteristics IGS rapid orbit data is processed to produce files that correct the satellite clock and orbit parameters Since there is extensive processing involved these files are available on a delayed schedule from the US National Geodetic Survey at http www ngs noaa gov orbits 1 Precise ephemeris files are available today to correct GPS data which was collected a few days ago All you need is one GPS receiver and a computer to process on Replace the ephemeris data with the precise ephemeris data and post process to correct range values OEMStar Firmware Version 1 101 Reference Manual Rev 5 313 Chapter 3 Data Logs Binary Binary Field Field type Data Description Format Bytes Offset 1 RAWEPHEM Log header H 0 header 2 prn Satellite PRN number Ulong 4 H 3 ref week Ephemeris reference week number Ulong 4 H 4 4 ref secs Ephemeris reference time s Ulong 4 H 8 5 subframe Subframe 1 data Hex 30 H 12 6 subframe2 Subframe 2 data Hex 30 H 42 7 subframe3 Subframe 3 data Hex 30 H 72 8 XXXX
206. ble 70 on page 352 3 AUX2 Auxiliary 2 Status word see Table 71 on page 352 4 AUX3 Auxiliary 3 Status word see Table 72 on page 352 Table 74 Event Type Event binary Event ASCII Description 0 CLEAR Bit was cleared 1 SET Bit was set Field Field type Data Description Format Binary gt Binary y p Bytes Offset 1 RXSTATUSEVENT Log header H 0 header 2 word The status word that generated the event Enum 4 H message see Table 73 above 3 bit position Location of the bit in the status word see Ulong 4 H 4 Table 69 starting on Page 350 for the receiver status table or the auxiliary status tables on page 352 4 event Event type see Table 74 above Enum 4 H 8 3 description This is a text description of the event or Char 32 32 H 12 error 5 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 44 6 CR LF Sentence terminator ASCII only 356 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 3 3 74 SATVIS Satellite Visibility Satellite visibility log with additional satellite information lt The SATVIS log is meant to provide a brief overview The satellite positions and velocities used in the computation of this log are based on Almanac orbital parameters not the higher precision Ephemeris parameters In the SATVIS log output there may be double satellite number entries These are GLONASS antipodal satellites
207. btained by allowing the receiver to track GPS satellites for approximately 15 minutes Message ID 1150 Abbreviated ASCII Syntax SETUTCLEAPSECONDS seconds Factory Default none Abbreviated ASCII Example 1 setutcleapseconds 15 F Field ASCII Binary ee Binary Binary Binary merd Type Value Value Description Format Bytes Offset 1 SETUTCLEAPS This field contains the H 0 ECONDS header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 seconds 0 to OxFFFFFFFF Channel configuration ULONG 4 H set 156 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 2 5 58 STATUSCONFIG Configure RXSTATUSEVENT mask fields This command is used to configure the various status mask fields in the RXSTATUSEVENT log see page 355 These masks allow you to modify whether various status fields generate errors or event messages when they are set or cleared Receiver Errors automatically generate event messages These event messages are output in RXSTATUSEVENT logs It is also possible to have status conditions trigger event messages to be generated by the receiver This is done by setting clearing the appropriate bits in the event set clear masks The set mask tells the receiver to generate an event message when the bit becomes set Likewise the clear mask causes messages to be generated when a bit is cleared If you wish
208. cal Order Command Agere aie Description Syntax ADJUST1PPS 429 Adjust the receiver clock adjustipps mode period offset ANTENNAPOWER 98 Control power to low antennapower flag noise amplifier of an active antenna ASSIGN 27 Assign individual satellite assign channel state prn Doppler channel to a PRN Doppler window ASSIGNALL 28 Assign all satellite assignall system state prn channels to a PRN Doppler Doppler window AUTH 49 Add authorization code for auth state part1 part2 part3 part4 new model part5 model date Continued on the following page OEMStar Firmware Version 1 101 Reference Manual Rev 5 Chapter 2 Commands Command Message Description Syntax CLOCKADJUST 15 Enable clock adjustments clockadjust switch CLOCKCALIBRATE 430 Adjust the control clockcalibrate mode period parameters of the clock width slope bandwidth steering loop CLOCKOFFSET 596 Adjust for antenna RF clockoffset offset cable delay in PPS output CNOUPDATE 849 C No update rate and cnoupdate rate resolution COM 4 COM port configuration com port bps parity databits control stopbits handshake echo break CSMOOTH 269 Set carrier smoothing csmooth Litime DATUM 160 Choose a DATUM name datum datum type DGPSEPHEMDELAY 142 DGPS ephemeris delay dgpsephemdelay delay DGPSTIMEOUT 127 Set maximum age of dgpstimeout delay differential data accepted DGPSTXID 144 DGP
209. ce Manual Rev 5 Data Logs Chapter3 Table 78 VERSION Log Field Formats Field Type Field Format ASCII Description hw version P RS CCC P hardware platform for example M6XV1G R hardware revision for example 1 01 S processor revision for example A CCC COM port configuration for example 22T sw version PPPFFFFMMTRVVVV PPP product code L6X for OEMStar boot FFFF feature release number version MM maintenance release number T version type Release R Special S C or E Beta B Internal Development A D M or N R distribution type No Restrictions N Restricted H Boot Code B VVVV version number comp date YYYY MM DD YYYY year MM month DD day 1 31 comp time HH MM SS HH hour MM minutes SS seconds a This field may be empty if the revision is not stamped onto the processor b One character for each of the COM ports 1 2 and 3 Characters are 2 for RS 232 4 for RS 422 T for LV TTL and X for user selectable Therefore the example is for a receiver that uses LVTTL for COM 1 and COM 2 OEMStar Firmware Version 1 101 Reference Manual Rev 5 369 Chapter 3 Field Field type Data Description Format Data Logs Binary Binary Bytes Offset 1 VERSION Log header H 0 header 2 comp Number of components cards and so on Long 4 H 3 type Component type see Table 77 Component
210. ch PRN being tracked every 0 6 seconds if logged ONNEW or ONCHANGED Message ID 407 Log Type Asynch Recommended Input log rawgpsworda onnew ASCII Example RAWGPSWORDA COM1 0 58 5 FINESTEERING 1337 405704 473 00000000 9b16 1984 14 7 9 5dc 8e7b8721 RAWGPSWORDA COM1 0 57 0 FINESTEERING 1337 405783 068 00000000 9b16 1984 1 93 ef 8a 6dd62c81 RAWGPSWORDA COM1 0 55 5 FINESTEERING 1337 405784 882 00000000 9b16 1984 5 fffff8ce a948b4de lt The RAWGPSWORD log can be used to receive the parity bits in addition to the data bits Alternately you can use the RAWGPSSUBFRAME log which already has the parity bits stripped out Binary Binary Field Field type Data Description Format Bytes Offset 1 RAWGPSWORD header Log header H 0 2 PRN Satellite PRN number Ulong 4 H 3 nav word Raw navigation word Ulong 4 H 4 4 XXXX 32 bit CRC ASCII and Binary Hex 4 H 8 only 5 CR LF Sentence terminator ASCII only OEMStar Firmware Version 1 101 Reference Manual Rev 5 317 Chapter 3 Data Logs 3 3 58 RAWWAASFRAME Raw SBAS Frame Data SBAS This log contains the raw SBAS frame data of 226 bits 8 bit preamble 6 bit message type and 212 bits of data but without a 24 bit CRC Only frame data with a valid preamble and CRC are reported Message ID 287 Log Type Asynch Recommended Input log rawwaasframea onnew ASCII Example RAWWAASFRAMEA COM1 0 39
211. ch as a BREAK condition do not route across the tunnel transparently and the serial port is altered see the COM command on page 67 Only serial ports may be in a tunnel configuration COM1 or COM2 may be used 11 TCOM2 For example configure a tunnel at 115200 bps between COM1 and COM2 COM COM2 115200 COM COM1 115200 INTERFACEMODE COM2 TCOM1 NONE OFF INTERFACEMODE COM1 TCOM2 NONE OFF The tunnel is fully configured to receive transmit at a baud rate of 115200 bps 14 RTCMV3 The port accepts RTCM Version 3 0 corrections 15 NOVATELBINARY The port only accepts generates binary messages If an ASCII command is entered when the mode is set to binary only the command is ignored Only properly formatted binary messages are responded to and the response is a binary message 16 17 Reserved 18 GENERIC The port accepts generates nothing SEND SENDHEX commands from another port generate data on this port Any incoming data on this port can be seen with PASSCOM logs on another port see page 280 19 Reserved a An output interfacemode of RTCMNOCR is identical to RTCM but with the CR LF appended An input interfacemode of RTCMNOCR is identical to RTCM and functions with or without the CR LF 102 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Field ASCII Binary Chapter 2 Binary Binary Binary Type Value Value Description Format Bytes Offset 1 INTERFACEMODE This fi
212. cluded for degrees and mins to maintain fixed length The decimal point and associated decimal fraction are optional if full resolution is not required Longitude YYYYY YY Fixed Variable length field degrees minutes decimal 3 fixed digits of degrees 2 fixed digits of mins and a variable number of digits for decimal fraction of mins Leading zeros always included for degrees and mins to maintain fixed length The decimal point and associated decimal fraction are optional if full resolution is not required Time hhmmss ss Fixed Variable length field hours minutes seconds decimal 2 fixed digits of hours 2 fixed digits of mins 2 fixed digits of seconds and variable number of digits for decimal fraction of seconds Leading zeros always included for hours mins and seconds to maintain fixed length The decimal point and associated decimal fraction are optional if full resolution is not required Defined field Some fields are specified to contain pre defined constants most often alpha characters Such a field is indicated in this standard by the presence of one or more valid characters Excluded from the list of allowable characters are the following which are used to indicate field types within this standard A AS en hh hhmmss ss HLH x yyyyy yy Numeric Value Fields Variable X X Variable length integer or floating numeric field Optional leading and trailing numbers z
213. cters after the sign in the log header is set to GP GPS satellites only GL GLONASS satellites only or GN satellites from both systems NovAtel does not support a GLONASS only solution Please see the GPGGA note that applies to all NMEA logs on page 241 Field Structure Field Description Symbol Example 1 GPVTG Log header GPVTG 2 track true Track made good degrees True X X 24 168 3 T True track indicator T T 4 track mag Track made good degrees Magnetic X X 24 168 Track mag Track true MAGVAR correction See the MAGVAR command page 110 5 M Magnetic track indicator M M 6 speed Kn Speed over ground knots X X 0 4220347 7 N Nautical speed indicator N Knots N N 8 speed Km Speed kilometres hour X X 0 781608 9 K Speed indicator K km hr K K 10 mode ind Positioning system mode indicator see Table 55 a A on page 255 11 XX Checksum hh TA 12 CR LF Sentence terminator CR LF OEMStar Firmware Version 1 101 Reference Manual Rev 5 263 Chapter 3 3 3 33 GPZDA UTC Time and Date The GPZDA log outputs these messages with contents without waiting for a valid almanac Instead it uses a UTC time calculated with default parameters In this case the UTC time status is set to WARNING since it may not be 100 accurate When a valid almanac is available the receiver uses the real parameters Then the UTC time is set to VALID Message ID Log Type 227 Sync
214. ctions method is seldom used in industry The drawback of this method is OEMStar Firmware Version 1 101 Reference Manual Rev 5 303 Chapter 3 Data Logs 304 that computed corrections vary depending on the location of the fixed station The geometry is not accounted for between the fixed station and the tracked satellites Also position corrections at the fixed site are computed with a certain group of satellites while the field station is tracking a different group of satellites In general when the position correction method is used the farther the fixed and field stations are apart the less accurate the solution The range corrections method is more commonly used in industry The advantage of using this method is that it provides consistent range corrections and hence field positions regardless of the location of your fixed station You are only able to obtain a good differential position if both the fixed and field stations are tracking the same four satellites at a minimum DGPS refers to using base receiver at a known location and or more rover receivers at unknown locations As the position of the base is accurately known we can determine the error that is present in GPS at any given instant by either of the two methods previously described We counter the bias effects present in GPS including ionospheric tropospheric ephemeris receiver and satellite clock errors You could choose either method depending on your application an
215. d ASCII Example GLM GLM GLM SGLM SGLM SGLM SGLM SGLM SGLM SGLM SGLM SGLM SGLM SGLM SGLM SGLM LA LA LA LA LA LA LA LA LA LA 6 01 65 6 02 66 6 03 67 6 04 68 6 05 70 6 06 71 6 07 225 6 08 74 6 09 78 6 10 79 76 07 0496 4 76 01 12e3 4 76 8c 08f6 4 76 06 116b 4 76 01 140 4 76 05 0306 4 76 06 01b1 4 76 84 076b 4 76 84 066c 4 76 80 0afc 4 c 5 2 8000 34 c 42cc 8000 34 a ef4d 8000 34 8 3a00 8000 34 9 45c4 8000 34 c 5133 8000 34 c 4c19 8000 34 5 7995 8000 34 6 78cf 8000 34 5 8506 8000 34 4 4 BJ MM Hd DD nu 1 82 2 83 3485 4 86 Dip Og 6 88 76 8a 12d3 0 e75d 8000 34 76 03 0866 0f 6c08 8000 34 76 88 01a6 0d 9dc9 8000 34 76 8a 00e1 0e 4615 8000 34 76 03 0383 0f 824c 8000 34 76 02 0821 0f 8ac8 8000 34 GLO PRN NMEA 24 37 c05e 0e93e8 c08e 10fae9 c051 13897b c09d 02151f cObc 076637 e025 09bda7 c021 0c35a0 c07b 104b d c07b 0663 f0 c057 08de48 be85 10aea6 c009 11f32e bff8 031887 c016 058181 bfda 081864 c05b 0a8510 Data Logs 04b029 001fa2 099 213 68 02f48c 00224e 099 003 64 00d063 001b09 099 000 63 0e49e8 00226e 099 222 63 0a3e40 002214 099 036 37 085d84 001 83 099 21d 6E 067db8 001fca 099 047 3D 0e1557 002a38 099 040 35 a6239 0029df 099 030 38 c44ca 0029d7 099 000 6B 8839d 002b22 099 214 3 O2dale 002838 099 242 6
216. d Field type Data Description Format Bytes Offset 1 CLOCKMODEL2 Log header H 0 header 2 clock status Clock model status as computed from Enum 4 H current measurement data see Table 47 Clock Model Status on page 211 3 rate Rate of change of time offset Double 8 H 8 4 NumSystemBiases number of records to follow ULong 4 H 12 5 system See Table 43 on page 227 Enum 4 H 16 6 bias Time bias Double 8 H 20 7 biasStdDev Time bias standard deviation Double 8 H 28 8 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 32 9 CR LF Sentence terminator ASCII only 214 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 3 3 10 CLOCKSTEERING Clock Steering Status The CLOCKSTEERING log is used to monitor the current state of the clock steering process All oscillators have some inherent drift By default the receiver attempts to steer the receiver s clock to accurately match GPS reference time If for some reason this is not desired this behavior can be disabled using the CLOCKADJUST command see page 60 Message ID 26 Log Type Asynch Recommended Input log clocksteeringa onchanged ASCII Example CLOCKSTEERINGA COM1 0 56 5 FINESTEERING 1337 394857 051 00000000 0f61 1984 INTERNAL SECOND ORDER 4400 1707 554687500 0 029999999 2 000000000 0 224 0 060 0e218bbc Table 48 Clock Source Binary ASCII Description INTERNAL The receiver is currently steering its internal VCTCXO using an internal VARF
217. d 1 AUTO Set the default value 180 s 2 SET Set the delay in seconds 174 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Chapter 3 Data Logs 3 1 Log Types Refer to the LOG command page 105 for details on requesting logs The receiver is capable of generating many different logs These logs are divided into the following three types Synchronous asynchronous and polled The data for synchronous logs is generated on a regular schedule Asynchronous data is generated at irregular intervals If asynchronous logs were collected on a regular schedule they would not output the most current data as soon as it was available The data in polled logs is generated on demand An example would be RXCONFIG It would be polled because it changes only when commanded to do so Therefore it would not make sense to log this kind of data ONCHANGED or ONNEW The following table outlines the log types and the valid triggers to use Table 38 Log Type Triggers Type Recommended Trigger Illegal Trigger Synch ONTIME ONNEW ONCHANGED Asynch ONCHANGED Polled ONCE or ONTIME 2 ONNEW ONCHANGED a Polled log types do not allow fractional offsets and cannot do ontime rates faster than 1Hz See Section 1 5 Message Time Stamps on page 28 for information about how the message time stamp is set for each type of log gt lt OEMStar receivers can handle 30 logs at a time If you attempt to log more than 30 lo
218. d followed by a receiver reset 22 MODEL Switch to a previously model model AUTHed model 27 ASSIGN Assign individual satellite assign channel state prn Doppler channel to a PRN Doppler window 28 ASSIGNALL Assign all satellite assignall system state prn channels to a PRN Doppler Doppler window 29 UNASSIGN Unassign a previously unassign channel ASSIGNed channel Continued on the following page 42 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 Message Command Description Syntax 30 UNASSIGNALL Unassign all previously unassignall system ASSIGNed channels 36 UNLOG Remove log from logging unlog port datatype control 38 UNLOGALL Remove all logs from unlogall port logging control 44 FIX Constrain to fixed height or fix type param1 param2 param3 position 49 AUTH Add authorization code for auth state part1 part2 part3 part4 new model part5 model date 50 ECUTOFF Set satellite elevation cut ecutoff angle off 78 USERDATUM Set user customized userdatum semimajor flattening dx datum dy dz rx ry rz scale 95 STATUSCONFIG Configure various status statusconfig type word mask mask fields in RXSTATUSEVENT log 98 ANTENNAPOWER Control power to low noise antennapower flag amplifier of an active antenna 102 SETAPPROXTIME Set an approximate GPS setapproxtime week sec reference time 127 DGPSTIMEOUT Set maximum age of dgpstimeout dela
219. d data of the GPS receiver This is output as a GPGGA log but the GPGGALONG log differs from the normal GPGGA log by its extra precision See also Table 54 Position Precision of NMEA Logs on page 245 The GPGGALONG log outputs these messages with contents without waiting for a valid almanac Instead it uses a UTC time calculated with default parameters In this case the UTC time status is set to WARNING since it may not be 100 accurate When a valid almanac is available the receiver uses the real parameters Then the UTC time is set to VALID Message ID 521 Log Type Synch Recommended Input log gpggalong ontime 1 Example 1 SGPGGA 181126 00 5106 9802863 N 11402 3037304 W 7 11 0 9 1048 234 M 16 27 M 51 Example 2 SGPGGA 134658 00 5106 9802863 N 11402 3037304 W 2 09 1 0 1048 234 M 16 27 M 08 AAAA lt Please see the GPGGA note that applies to all NMEA logs on page 241 OEMStar Firmware Version 1 101 Reference Manual Rev 5 243 Chapter 3 Data Logs Field Structure Field Description Symbol Example 1 GPGGA Log header GPGGA LONG 2 utc UTC time of position hours minutes seconds hhmmss ss 202126 00 decimal seconds 3 lat Latitude DDmm mm TT 5106 9847029 4 lat dir Latitude direction N North S South a N 5 lon Longitude DDDmm mm yyyyy yy 11402 2986286 6 lon dir Longitude direction E East W West a W 7 GPS qual GPS Quality indicator x 1 0
220. d sets the station ID value for the receiver when it is transmitting corrections This allows for the easy identification of which base station was the source of the data Abbreviated ASCII Syntax Message ID 144 DGPSTXID type ID Factory Default dgpstxid auto any ASCII Examples dgpstxid rtcm 2 using an rtcm type and id dgpstxid rtca d036 using an rtca type and id lt How long do I need to sit on a 10 km baseline How long you need to occupy stations for a 10 km baseline depends on the system you are using and what type of accuracies you require For a DGPS system using only L1 C A code data all you require is a single epoch of common data Typically you would log a few minutes worth of data The type of accuracy you can expect out of this system is in the 1 metre range The term optimal conditions refers to observing six or more healthy satellites being tracked with a geometric dilution of precision GDOP value of less than 5 and relatively low multi path Note that the above situations apply to both real time and post processed solutions with minor differences Field ASCII Binary Binary Binary Binary Type Value Value Description Format Bytes Offset 1 DGPSTXID This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 type See Table 26 ID Type Enum 4 H 3 ID String max 5 ID string String Vari
221. d the accuracy required Table 60 Tracking State State Description State Description L1 Idle 7 L1 Frequency lock loop L1 Sky search L1 Wide frequency band pull in L1 Narrow frequency band pull in L1 Phase lock loop OJJAN L1 Reacquisition L1 Steering Table 61 Correlator Type State Description 0 N A 1 Standard correlator spacing 1 chip 2 Narrow Correlator spacing lt 1 chip 3 Reserved 4 Pulse Aperture Correlator PAC 5 6 Reserved OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 Table 62 Channel Tracking Example N6 N5 N3 N1 NO Ox Satellite Correlator Signal Type Grouping System Spachia Assignment Reserved R Automatic il L1 C A Grouped a For a complete list of hexadecimal and binary equivalents please refer to the Knowledge and Learning page in the Support section of our Web site at www novatel com Table 63 Channel Tracking Status Nibble Bit Mask Description Range Value 0 0x00000001 Tracking state 0 11 see Table 60 Tracking State on page 304 NO 1 0x00000002 2 0x00000004 3 0x00000008 4 0x00000010 N1 5 0x00000020 SV channel number O n 0 first n last 6 0x00000040 7 0x00000080 8 0x00000100 N2 9 0x00000200 10 0x00000400 Phase lock flag 0 Not locked 1 Locked 11 0x00000800 Parity known flag 0 Not known 1 Kno
222. d was initiated by receipt of the BESTPOSA first terminator lt CR gt Then the second record followed in response to the BESTPOSA second terminator lt LF gt The time interval between the first character received and the terminating lt LF gt can be calculated by differencing the two GPS reference time tags This pass through feature is useful for time tagging the arrival of external messages These messages can be any user related data If you are using this feature for tagging external events it is recommended that the rover receiver be disabled from interpreting commands so that the receiver does not respond to the messages using the INTERFACEMODE command see page 100 If the BESTPOSB binary log data is input to the accepting port log com2 passcomla onchanged the BESTPOSB binary data at the accepting port is converted to a variation of ASCII hexadecimal before it is passed through to COM2 port for logging z i PR Binary Binary Field Field type Data Description Format Bytes Offset 1 PASSCOM Log header H 0 header 2 bytes Number of bytes to follow Ulong 4 H 3 data Message data Char 80 80 H 4 4 XXXX 32 bit CRC ASCII and Hex 4 H 8 bytes Binary only 5 CR LF Sentence terminator ASCII only OEMStar Firmware Version 1 101 Reference Manual Rev 5 283 Chapter 3 Data Logs 3 3 41 PDPPOS PDP filter position The PDPPOS log contains the pseudorange position computed by the
223. dians second 14 A Semi major axis metres Double 8 H 84 15 incl angle Angle of inclination relative to 0 3 z Double 8 H 92 radians 16 SV config Satellite configuration Ulong 4 H 100 17 health prn SV health from Page 25 of subframe Ulong 4 H 104 4or5 6 bits 18 health alm SV health from almanac 8 bits Ulong 4 H 108 19 antispoof Anti spoofing on Enum 4 H 112 0 FALSE 1 TRUE 20 Next PRN offset H 4 messages x 112 21 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 4 112 x messages 22 CR LF Sentence terminator ASCII only 192 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 3 3 2 AVEPOS Position Averaging When position averaging is underway the various fields in the AVEPOS log contain the parameters being used in the position averaging process Table 42 below shows the possible position averaging status values seen in field 8 of the AVEPOS log table on the next page See the description of the POSAVE command on page 122 Refer also to please refer to the Knowledge and Learning page in the Support section on our Web site at www novatel com lt All quantities are referenced to the geoid average height above sea level regardless of the use of the DATUM or USERDATUM commands except for the height parameter field 4 in the AVEPOS log table on the next page The relation between the geoid and WGS84 ellipsoid is the geoidal undulation and can be obt
224. drift over the years OEMStar Firmware Version 1 101 Reference Manual Rev 5 169 Chapter 2 Commands ASCII Binary Description Binary Binary Value Value p Format Offset 1 USEREXPDATUM This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 semimajor 6300000 0 Datum semi major axis a in Double 8 H 6400000 0 m metres 3 flattening 290 0 305 0 Reciprocal Flattening 1 f Double 8 H 8 a a b 4 dx 2000 0 m Datum offsets from local to Double 8 H 16 5 dy 2000 0 m a mara an ne Double 8 H 24 ranslation values between 6 dz 2000 0 m the user datum and WGS84 Double 8 H 32 internal reference 7 rx 10 0 radians Datum rotation angle about Double 8 H 40 8 ry 10 0 radians x Y sien Tiia EG are Double 8 H 48 e rotation from your loca 9 rz 10 0 radians datum to WGS84 A positive Double 8 H 56 sign is for counter clockwise rotation and a negative sign is for clockwise rotation 10 scale 10 0 ppm Scale value is the difference Double 8 H 64 in ppm between the user datum and WGS84 11 xvel 2000 0 m yr Velocity vector along X axis Double 8 H 72 12 yvel 2000 0 m yr Velocity vector along Y axis Double 8 H 80 13 zvel 2000 0 m yr Velocity vector along Z axis Double 8 H 88 14 xrvel 10 0 radians C
225. due to low carrier noise ratio 16 NOIONOCORR No compatible ionospheric correction is available for this particular satellite 17 NOTUSED Observation is ignored and not used in the solution 99 NA No observation a reject code is not applicable 100 BAD_INTEGRITY The integrity of the pseudorange is bad 364 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 Field Field Type Data Description Format Binary Binary Yp p Bytes Offset 1 TRACKSTAT Log header H 0 header 2 sol status Solution status see Table 44 Solution Status Enum 4 H on page 197 3 pos type Position type see Table 43 Position or Enum 4 H 4 Velocity Type on page 196 4 cutoff Tracking elevation cut off angle Float 4 H 8 5 chans Number of hardware channels with Long 4 H 12 information to follow 6 PRN slot Satellite PRN number of range measurement Short 2 H 16 GPS 1 32 and SBAS 120 to 138 For GLONASS see Section 1 3 on page 26 7 glofreq GLONASS Frequency 7 see Section 1 3 Short 2 H 18 on page 26 8 ch tr status Channel tracking status see Table 63 ULong 4 H 20 Channel Tracking Status on page 305 9 psr Pseudorange m if this field is zero but the Double 8 H 24 channel tracking status in the previous field indicates that the card is phase locked and code locked the pseudorange has not been calculated yet 10 Doppler Doppler frequency Hz Float 4 H 32 11 C
226. e 72 If used the command default setting for USERDATUM is WGS84 When the USERDATUM command is entered the USEREXPDATUM command see page 169 is then issued internally with the USERDATUM command values It is the USEREXPDATUM command that appears in the RXCONFIG log If the USEREXPDATUM or the USERDATUM command are used their newest values overwrite the internal USEREXPDATUM values The transformation for the WGS84 to Local used in the OEMStar is the Bursa Wolf transformation or reverse Helmert transformation In the Helmert transformation the rotation of a point is counter clockwise around the axes In the Bursa Wolf transformation the rotation of a point is clockwise Therefore the reverse Helmert transformation is the same as the Bursa Wolf Abbreviated ASCII Syntax Message ID 78 USERDATUM semimajor flattening dx dy dz rx ry rz scale Factory Default userdatum 6378 137 0 298 2572235628 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ASCII Example userdatum 6378206 400 294 97869820000 12 0000 147 0000 192 0000 0 0000 0 0000 0 0000 0 000000000 lt You can use the USERDATUM command in a survey to fix the position with values from another known datum so that the GPS calculated positions are reported in the known datum rather than WGS84 OEMStar Firmware Version 1 101 Reference Manual Rev 5 167 Chapter 2 Commands ASCII Binary Description Binary Binary Value Value p
227. e CRC An ASCII string is one field and is surrounded by double quotation marks for example ASCII string If separators are surrounded by quotation marks then the string is still one field and the separator will be ignored for example xxx xxx is one field Double quotation marks within a string are not allowed If the receiver detects an error parsing an input message it will return an error response message Please see Chapter 4 Responses on page 415 for a list of response messages from the receiver Message Structure header data field data field data field xXxxxxxxx CR LF The ASCII message header structure is described in Table 3 on the next page 16 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Messages Chapter 1 Table 3 ASCII Message Header Structure Field eae ignor F Field Name Field Type Description S ee 1 Sync Char Sync character The ASCII message is always N preceded by a single symbol 2 Message Char This is the ASCII name of the log or command lists N are in Table 10 page 37 and Table 40 page 183 3 Port Char This is the name of the port from which the log was Y generated The string is made up of the port name followed by an x where x is a number from 1 to 31 denoting the virtual address of the port If no virtual address is indicated it is assumed to be address 0 4 Sequenc
228. e Long This is used for multiple related logs It is a number N that counts down from N 1 to 0 where 0 means it is the last one of the set Most logs only come out one at a time in which case this number is 0 5 Idle Time Float The minimum percentage of time that the processor Y is idle between successive logs with the same Message ID 6 Time Enum This value indicates the quality of the GPS Y Status reference time see Table 8 GPS Reference Time Status on page 27 7 Week Ulong GPS reference week number Y 8 Seconds GPSec Seconds from the beginning of the GPS reference Y week accurate to the millisecond level 9 Receiver Ulong This is an eight digit hexadecimal number Y Status representing the status of various hardware and software components of the receiver between successive logs with the same Message ID see Table 69 Receiver Status on page 350 10 Reserved Ulong Reserved for internal use Y 11 Receiver Ulong This is a value 0 65535 that represents the Y s w Version receiver software build number 12 Char This character indicates the end of the header N OEMStar Firmware Version 1 101 Reference Manual Rev 5 17 Chapter 1 Messages Example Log RAWEPHEMA COM1 0 35 0 SATTIME 1364 496230 000 00100000 97b7 2310 30 1364 496800 8b0550a1892755100275e6a09382232523a9dc04ee6f794a0000090394ee 8b05 50a189aa6ff925386228f97eabf9c8047e34a70ec5a10e486e794a7a 8b0550a18a2effc2f80061c 2fffc267cd09f1d5034d3537affa28b6ff0ebx7a22f 279
229. e Ulong 4 H 132 29 age Age of data in days Ulong 4 H 136 30 Flags Information flags see Table 52 GLONASS Ulong 4 H 140 Ephemeris Flags Coding on page 229 31 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 144 32 CR LF Sentence terminator ASCII only OEMStar Firmware Version 1 101 Reference Manual Rev 5 231 Chapter 3 Data Logs 3 3 17 GLORAWALM Raw GLONASS Almanac Data GLO This log contains the raw almanac subframes as received from the GLONASS satellite Message ID 720 Log Type Asynch Recommended Input log glorawalma onchanged Example GLORAWALMA COM1 0 44 5 SATTIME 1364 419924 000 00000000 77bb 2310 1364 419954 069 54 0563100000a4000000006 f 0 0681063c457al2cc0419be 0 075 807e2a69804e0040b 0 0882067fcd80141692d6f2 0 09433e1b6676980a40429b 0 0a838dlbfcb4108b089a8c 0 Obec572 9c869804f05882 0 06950201e02e13d3819564 0 07939a4al6fe97fe814ad0 0 08960561cecc13b0014613 0 09469a5d70c69802819466 0 0a170165bed413b704d416 0 0b661372213697 d41965a 0 0c18000000000000000006 0 0d00000000000000000652 0 0e000000000000000000d0 0 b516623b lt For more information about GLONASS refer to the Knowledge and Learning page in the Support section of our Web site at www novatel com 232 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 Binary Binary Field Field type Data Description Format Bytes O
230. e between 20 51 dB Hz Thus if it is reported that C No 20 dB Hz the actual value could be less Likewise if it is reported that C No 51 the true value could be greater Binary Binary Field Field Type Data Description Format Bytes Offset 1 RANGECMP Log header H 0 header 2 obs Number of satellite observations with Long 4 H information to follow 3 1st range Compressed range log in format of Hex 24 H 4 record Table 64 on page 309 4 Next rangecmp offset H 4 obs x 24 variable Xxxx 32 bit CRC ASCII and Binary only Hex 4 H 4 obs x 24 variable CR LF Sentence terminator ASCII only 310 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 3 3 54 RAWALM Raw Almanac Data This log contains the undecoded almanac subframes as received from the satellite For more information about Almanac data refer to the Knowledge and Learning page in the Support section of our Web site at www novatel com Message ID 74 Log Type Asynch Recommended Input log rawalma onchanged ASCII Example RAWALMA COM1 0 56 0 SATTIME 1337 405078 000 00000000 ccl1b 1984 1337 589824 000 43 3 8b04e4839 35433a5590f5aefd3900al10c9aaabf40187925e50b9F03003F 27 8b04e483a1325b9cde9007 2 d5300a10da5562da3adc0966488dd01001a 4 8b04e483a1b44439979006e2Fd4f00al0d15d96b3b021lebcb6c5f23feff3c 28 8b04e483a3b05c5509900b7c d5800a10cc483e2bfald2613003bd050017 5
231. e detail in the Conventions section starting below This manual does not address any of the receiver hardware attributes or installation information Please consult the OEMStar Installation and Operation User Manual for technical information about these topics Furthermore should you encounter any functional operational or interfacing difficulties with the receiver consult the same manual for NovAtel warranty and support information Conventions This manual covers the full performance capabilities of all the OEMStar receivers Feature tagging symbols have been created to help clarify which commands and logs are only available with certain options The tags are in the title of the command or log and also appear in tables where features are mentioned as footnotes The tags are described below API Features only available with receivers equipped with API option DGPS_Tx Features only available with receivers equipped with the DGPS_Tx option DGPS_Tx amp GLO Features only available with receivers equipped with the DGPS_Tx and GLONASS options GLO Features only available with receivers equipped with the GLONASS option RAIM Features only available with receivers equipped with the RAIM option OEMStar Firmware Version 1 101 Reference Manual Rev 5 11 Foreword SBAS SBAS messages and commands available when tracking an SBAS satellite Other conventions used in this document are described below Note that provides information to su
232. e log from logging unlog port datatype control UNLOGALL 38 Remove all logs from unlogall port logging control USERDATUM 78 Set user customized userdatum semimaior flattening dx datum dy dz rx ry rz scale USEREXPDATUM 783 Set custom expanded userexpdatum semimajor datum flattening dx dy dz rx ry rz scale xvel yvel zvel xrvel yrvel zrvel scalev refdate UTMZONE 749 Set UTM parameters utmzone command parameter Continued on the following page OEMStar Firmware Version 1 101 Reference Manual Rev 5 41 Chapter 2 Commands Command Message Description Syntax WAASECUTOFF 505 Set SBAS satellite waasecutoff angle elevation cut off WAASTIMEOUT 851 Set maximum age of waastimeout mode delay WAAS data accepted Table 11 OEMStar Commands in Numerical Order bia it Command Description Syntax 1 LOG Request logs from receiver log port message trigger period offset hold 3 INTERFACEMODE Set interface type Receive interfacemode port rxtype txtype Rx Transmit Tx for responses ports 4 COM COM port configuration com port bps parity databits control stopbits handshake echo break 15 CLOCKADJUST Enable clock adjustments clockadjust switch 18 RESET Perform a hardware reset reset delay 19 SAVECONFIG Save current configuration saveconfig in non volatile memory 20 FRESET Clear almanac model or freset target user configuration data which is stored in NVM an
233. e of PRN mask data Ulong 4 H 8 5 prc26 pre i Long 4 H 12 6 prc27 Fast corrections 2048 to 2047 Long 4 H 16 7 for the prn in slot i i 26 38 me a oe 8 prc29 Long 4 H 24 9 prc30 Long 4 H 28 10 prc31 Long 4 H 32 11 prc32 Long 4 H 36 12 prc33 Long 4 H 40 13 prc34 Long 4 H 44 14 prc35 Long 4 H 48 15 prc36 Long 4 H 52 16 prc37 Long 4 H 56 17 prc38 Long 4 H 60 Continued on the following page OEMStar Firmware Version 1 101 Reference Manual Rev 5 381 Chapter 3 Data Logs Binary Binary Field Field type Data Description Format Bytes Offset Scaling 18 udre26 udre i Ulong 4 H 64 See Table 79 Evaluation of 19 udre27 User differential range error Ulong 4 H 68 UDREI on indicator for the prn in slot i page 374 20 udre28 i 26 38 Ulong 4 H 72 21 udre29 Ulong 4 H 76 22 udre30 Ulong 4 H 80 23 udre31 Ulong 4 H 84 24 udre32 Ulong 4 H 88 25 udre33 Ulong 4 H 92 26 udre34 Ulong 4 H 96 27 udre35 Ulong 4 H 100 28 udre36 Ulong 4 H 104 29 udre37 Ulong 4 H 108 30 udre38 Ulong 4 H 112 31 XXXX 32 bit CRC ASCII and Binary Hex 4 H 116 only 32 CR LF Sentence terminator ASCII only 382 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 3 3 85 WAAS5 Fast Correction Slots 39 50 SBAS WAASS are fast corrections for slots 39 50 in the mask of WAAS1 This messa
234. e satellite Long 4 H 12 100 000 Hz Note Satellite motion receiver antenna motion and receiver clock frequency error must be included in the calculation of Doppler frequency default 0 6 Doppler O to 10 000 Hz Error or uncertainty in the Doppler ULong 4 H 16 window estimate above This is a value for example 500 for 500 Hz default 4500 OEMStar Firmware Version 1 101 Reference Manual Rev 5 57 Chapter 2 Commands 2 5 5 AUTH Add authorization code for new model This command is used to add or remove authorization codes from the receiver Authorization codes are used to authorize models of software for a receiver The receiver is capable of keeping track of 24 authorization codes at one time The MODEL command can then be used to switch between authorized models The VALIDMODELS log lists the current available models in the receiver This simplifies the use of multiple software models on the same receiver If there is more than one valid model in the receiver the receiver either uses the model of the last auth code entered via the AUTH command or the model that was selected by the MODEL command whichever was done last Both the AUTH and MODEL commands cause a reset automatically lt Authorization codes are firmware version specific If the receiver firmware is updated it is necessary to acquire new authorization codes for the required models If you wish to update the firmware in the receiver please contact N
235. eceive the data bits with the parity bits stripped out Alternately you can use the RAWGPSWORD log to receive the parity bits in addition to the data bits OEMStar Firmware Version 1 101 Reference Manual Rev 5 315 Chapter 3 Data Logs Field t D Binary Binary Field type Data Description Format Bytes Offset 1 RAWGPSSUBFRAME Log header H 0 header 2 decode Frame decoder number Ulong 4 H 3 PRN Satellite PRN number Ulong 4 H 4 4 subfr id Subframe ID Ulong 4 H 8 5 data Raw subframe data Hex 30 324 H 12 6 chan Signal channel number that the Ulong 4 H 44 frame was decoded on 7 XXXX 32 bit CRC ASCII and Binary Hex 4 H 48 only 8 CR LF Sentence terminator ASCII only a Inthe binary log case an additional 2 bytes of padding are added to maintain 4 byte alignment 316 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 3 3 57 RAWGPSWORD Raw Navigation Word This message contains the framed raw navigation words Each log contains a new 30 bit navigation word in the least significant 30 bits plus the last 2 bits of the previous word in the most significant 2 bits The 30 bit navigation word contains 24 bits of data plus 6 bits of parity The GPS reference time stamp in the log header is the time that the first bit of the 30 bit navigation word was received Only navigation data that has passed parity checking appears in this log One log appears for ea
236. ected 150 2 5 54 SETRTCM16 Enter ASCII text for RTCM data stream 2 005 151 2 5 55 SETRTCM36_ Enter ASCII text with Russian characters GLO 152 2 5 56 SETTIMEBASE Sets primary and backup systems for time base 154 2 5 57 SETUTCLEAPSECONDS Change default UTC Leap Seconds offset 156 2 5 58 STATUSCONFIG Configure RXSTATUSEVENT mask fields 157 2 5 59 UNASSIGN Unassign a previously assigned channel 1 159 4 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Table of Contents 2 5 60 UNASSIGNALL Unassign all previously assigned channels 160 2 5 61 UNDULATION Choose Undulation c cc eeceeeeeeeeeeeeeeeeeenteeeeeeenaaes 161 2 5 62 UNLOCKOUT Reinstate a satellite in the solution 163 2 5 63 UNLOCKOUTALL Reinstate all previously locked out satellites 164 2 5 64 UNLOG Remove a log from logging Control ceecceeeeeesteeeeeeenaes 165 2 5 65 UNLOGALL Remove all logs from logging control 166 2 5 66 USERDATUM Set user customized datum ceeeeeeeeeeeeeeeenaees 167 2 5 67 USEREXPDATUM Set custom expanded datum ccceceeeeeees 169 2 5 68 UTMZONE Set UTM parameters ccceccecceeeeeeeeeeeeeeeeeeaeeeeeeeees 171 2 5 69 WAASECUTOFF _ Set SBAS satellite elevation cut off SBAS 173 2 5 70 WAASTIMEOUT Set WAAS position time out SBAS uds 174 3 Data Logs 175 SA LLOG TYPOS eie aAa Se Eg 175 Bl Log Type Exa
237. ed slope value remains constant less than a 5 change 6 bandwidth This is the value used to Float 4 H 16 control the smoothness of the clock steering process Smaller values result in slower and smoother changes to the receiver clock Larger values result in faster responses to changes in oscillator frequency and faster start up clock pull in The default value is 0 03 Hz 64 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 2 5 8 CLOCKOFFSET Adjust for delay in 1PPS output This command can be used to remove a delay in the PPS output The PPS signal is delayed from the actual measurement time due to two major factors e A delay in the signal path from the antenna to the receiver e An intrinsic delay through the RF and digital sections of the receiver The second delay is automatically accounted for by the receiver using a nominal value determined for each receiver type However since the delay from the antenna to the receiver cannot be determined by the receiver an adjustment cannot automatically be made The CLOCKOFFSET command can be used to adjust for this delay Abbreviated ASCII Syntax Message ID 596 CLOCKOFFSET offset Factory Default clockoffset 0 ASCII Example clockoffset 15 lt There may be small variances in the delays for each cable or card The CLOCKOFFSET command can be used to characterize each setup For example for a cable with a delay o
238. egrees Approximate latitude Double 8 H 3 Lon 360 degrees Approximate Double 8 H 8 longitude 4 Height 1000 to 20000000 m Approximate height Double 8 H 16 OEMStar Firmware Version 1 101 Reference Manual Rev 5 143 Chapter 2 Commands 2 5 49 SETAPPROXTIME Set an approximate GPS reference time 144 This command sets an approximate time in the receiver The receiver uses this time as a system time until a GPS coarse time can be acquired This can be used in conjunction with an approximate position see the SETAPPROXPOS command on page 143 to improve time to first fix For more information about TTFF and Satellite Acquisition please refer to the Knowledge and Learning page in the Support section on our Web site at www novatel com The time entered should be within 10 minutes of the actual GPS reference time If the week number entered does not match the broadcast week number the receiver resets See also the SATVIS log on page 357 Abbreviated ASCII Syntax Message ID 102 SETAPPROXTIME week sec Input Example setapproxtime 1105 425384 lt Upon power up the receiver does not know its position or time and therefore cannot use almanac information to aid satellite acquisition You can set an approximate GPS reference time using the SETAPPROXTIME command or RTCAEPHEM message The RTCAEPHEM message contains GPS reference week and seconds and the receiver uses that GPS reference time if the time i
239. el configurations CLOCKMODEL 16 Current clock model matrices CLOCKMODEL2 1170 Clock bias CLOCKSTEERING 26 Clock steering status COMCONFIG 317 Current COM port configuration GLOALMANAC 718 GLONASS almanac data GLOCLOCK 719 GLONASS clock information GLOEPHEMERIS 723 GLONASS ephemeris data GLORAWALM 720 Raw GLONASS almanac data GLORAWEPHEM 792 Raw GLONASS ephemeris data GLORAWFRAME 721 Raw GLONASS frame data GLORAWSTRING 722 Raw GLONASS string data GPSEPHEM 7 GPS ephemeris data IONUTC 8 lonospheric and UTC model information LOGLIST 5 A list of system logs MARKPOS 181 Position at time of mark input event MARKTIME 231 Time of mark input event NAVIGATE 161 Navigation waypoint status PASSCOM1 PASSCOM2 233 234 Pass through logs PASSXCOM1 PASSXCOM2 235 405 PASSXCOM3 406 795 PASSUSB1 PASSUSB2 690 607 PASSUSB3 608 609 PDPPOS 469 PDP filter position PDPVEL 470 PDP filter velocity PDPXYZ 471 PDP filter Cartesian position and velocity PORTSTATS 72 COM or USB port statistics Continued on the following page OEMStar Firmware Version 1 101 Reference Manual Rev 5 183 Chapter 3 Data Logs NovAtel Format Logs Datatype UGEEET B Description PSRDOP 174 DOP of SVs currently tracking PSRDOP2 1163 Pseudorange Least Squares DOP PSRPOS 47 Pseudorange position information PSRTIME 881 Time offsets from the pseudorange f
240. eld contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 port See Table 15 Serial port identifier Enum 4 H COM Serial Port default THISPORT Identifiers on page 68 3 rxtype See Table 24 Receive interface mode Enum 4 H 4 Serial Port 4 txtype Interface Modes Transmit interface mode Enum 4 H 8 on page 102 5 responses OFF 0 Turn response Enum 4 H 12 generation off ON 1 Turn response generation on default OEMStar Firmware Version 1 101 Reference Manual Rev 5 103 Chapter 2 Commands 2 5 27 LOCKOUT Prevent the receiver from using a satellite This command prevents the receiver from using a satellite by de weighting its range in the solution computations Note that the LOCKOUT command does not prevent the receiver from tracking an undesirable satellite This command must be repeated for each satellite to be locked out See also the UNLOCKOUT and UNLOCKOUTALL commands Abbreviated ASCII Syntax Message ID 137 LOCKOUT prn Input Example lockout 8 lt The LOCKOUT command allows you to remove one or more satellites from the solution while leaving other satellites available ASCII Binary Description Binary Binary Binary Value Value p Format Bytes Offset 1 LOCKOUT This field contains the command H 0 header name or the message header depending on whether the command is abbrev
241. en the geoid and Float 4 H 32 the WGS84 ellipsoid m 8 datum id Datum ID number see Chapter 2 Table 18 Enum 4 H 36 Reference Ellipsoid Constants on page 73 9 lato Latitude standard deviation Float 4 H 40 10 lon o Longitude standard deviation Float 4 H 44 11 hot o Height standard deviation Float 4 H 48 12 stn id Base station ID Char 4 4 H 52 13 diff age Differential age in seconds Float 4 H 56 14 sol_age Solution age in seconds Float 4 H 60 15 SVs Number of satellite vehicles tracked Uchar 1 H 64 16 solnSVs Number of satellite vehicles used in solution Uchar 1 H 65 17 ggL1 Number of GPS plus GLONASS L1 used in solution Uchar 1 H 66 18 Reserved Uchar 1 H 67 19 Reserved Uchar 1 H 68 20 ext sol stat Extended solution status see Table 46 Extended Hex 1 H 69 Solution Status on page 198 21 Reserved Hex 1 H 70 22 sig mask Signals used mask if 0 signals used in solution are Hex 1 H 71 unknown see Table 45 on page 198 23 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 72 24 CR LF Sentence terminator ASCII only a When using a datum other than WGS84 the undulation value also includes the vertical shift due to differences between the datum in use and WGS84 OEMStar Firmware Version 1 101 Reference Manual Rev 5 271 Chapter 3 Data Logs 3 3 37 MARKTIME Time of Mark Input Event This log contains the time of the leading edge of the detected mark input pulse MARKTIME gives the time when
242. enteeateees 83 25 17 ECHO Sets p rt ethor Srca a a aaa aad aaa 85 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Table of Contents 2 5 18 ECUTOFF Set satellite elevation Cut off cccccccceceeeeeeeeeeeeeteeeeees 86 2 5 19 FIX Constrain to fixed height or position cc eceeeeeeeeteeeeeeeettteeeeeees 88 2 5 20 FIXPOSDATUM Set position in a specified datum 00 0eeeees 91 2 5 21 FREQUENCYOUT Set output pulse train available on VARF 92 2 5 22 FRESET Clear selected data from NVM and reset seeren 94 2 5 23 GGAQUALITY Customize the GPGGA GPS quality indicator 96 2 5 24 GLOCSMOOTH GLONASS channel carrier smoothing GLO 98 2 5 25 GLOECUTOFF Set GLONASS satellite elevation cut off GLO 99 2 5 26 INTERFACEMODE Set receive or transmit modes for ports 100 2 5 27 LOCKOUT Prevent the receiver from using a satellite ee 104 2 5 28 LOG Request logs from the reCeiver eeeceeeeeeeeeeeeneeeeeeeeenteeeeeeeeaas 105 2 5 29 MAGVAR Seta magnetic variation Correction cceeeeeeeteeeeeentees 110 2 5 30 MARKCONTROL Control processing of mark inputs 113 2 5 31 MODEL Switch to a previously authorized model cee 115 2 5 32 NMEATALKER Set the NMEA talker ID scenerne rn knnnnee 116 2 5 33 NVMRESTORE Restore NVM data after an NVM failure 118 2 5 34 PDPFILTER Command to enable disable or reset the PDP
243. entteeeeeees 303 3 3 53 RANGECMP Compressed Version of the RANGE Log 0 eee 308 3 3 54 RAWALM Raw Almanac Data secs ennen renerne 311 3 3 55 RAWEPHEM Raw Ephemeris cceecceeceeeeeeeeeeeeseteeeseenneeeeees 313 3 3 56 RAWGPSSUBFRAME Raw Subframe Data ee eeeeeeeeeeeeeeeees 315 3 3 57 RAWGPSWORD Raw Navigation Word ccccceeeeeeeeeeeeeentneeeeeeeee 317 3 3 58 RAWWAASFRAME_ Raw SBAS Frame Data SBAS cccceeceeeeeee 318 3 3 59 RTCA Standard Logs i c iaseieccd Er eevideneeeresadeeneeeviealavietes 319 3 3 60 RTCADATA1 Differential GPS Corrections DGPS TX 321 3 3 61 RTCADATAEPHEM Ephemeris and Time Information DGPS_Tx 324 3 39 62 RICM Standard LOGS Ea karen le 326 3 3 63 RTCMDATA1 Differential GPS Corrections DGPS_TX 2 329 3 3 64 RTCMDATAY Partial Differential GPS Corrections DGPS_T 332 3 3 65 RTCMDATA15 lonospheric Corrections DGPS TX ce 334 3 3 66 RTCMDATA16 Special Message DGPS TX scenerne 336 3 3 67 RTCMDATA31 GLONASS Differential Corrections DGPS_Tx amp GLO338 3 3 68 RTCMDATA36_ Special Message DGPS Tx amp GLO ce 340 6 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Table of Contents 3 3 69 RTCMDATAS59GLO NovAtel Proprietary GLONASS Differential Corrections ica hes di cers aud RE ET ais 342 3 3 70 RTCMV3 Standard Logs sssr ennen AEn RS 344 3 3 71 RXCONFIG Receiver Configuration ssseseeeeseeeeeeesseerressererresseeerrssene 345 3 3 72 RXSTATUS Receiv
244. eo Isb Maximum round off due tothe Isb Ulong 4 H 28 0 0005 of the orbital clock 10 Cgeo v Velocity error bound Ulong 4 H 32 0 00005 11 igeo Update interval for GEO Ulong 4 H 36 navigation message 12 Cer Degradation parameter Ulong 4 H 40 0 5 13 Ciono_step Bound on ionospheric grid delay Ulong 4 H 44 0 001 difference 14 liono Minimum ionospheric update Ulong 4 H 48 interval 15 Ciono_ramp Rate of ionospheric corrections Ulong 4 H 52 0 000005 z change 16 SSudre User differential range error flag Ulong 4 H 56 17 lSSiono Root sum square flag Ulong 4 H 60 18 spare bits Spare 88 bits possibly Ulong 4 H 64 GLONASS 19 XXXX 32 bit CRC ASCII and Binary Hex 4 H 68 only 20 CR LF Sentence terminator ASCII only OEMStar Firmware Version 1 101 Reference Manual Rev 5 397 Chapter 3 Data Logs 3 3 90 WAAS12 SBAS Network Time and UTC SBAS WAAS12 contains information bits for the UTC parameters and UTC time standard from which an offset is determined The UTC parameters correlate UTC time with the SBAS network time rather than with GPS reference time Message ID 293 Log Type Asynch Recommended Input log WAAS12a onchanged lt Each raw WAAS frame gives data for a specific frame decoder number The WAAS12 message can be logged to view the data breakdown of WAAS frame 12 which contains information about time parameters 398 OEMStar Firmware Version 1 101 Reference Manual Rev 5
245. er Status ES AN aia 347 3 3 73 RXSTATUSEVENT Status Event Indicator 355 3 3 74 SATVIS Satellite Visibility 0 0 0 0 eee ceceececececceeceeeeeeeeeeeteecesenneaeeeeeeeeees 357 3 3 75 SATXYZ SV Position in ECEF Cartesian Coordinates 359 3 3 16 TIME Time Datalsisre cess cadteGoca vets aedin elds enale aaa a a ae 361 3 3 77 TRACKSTAT Tracking Status ccceeeeeceeeeeeeneeeeeeeeeeeeeeeeeeeneeeeeeeeaas 363 3 3 78 VALIDMODELS Valid Model Information 2 seeren 366 3 3 79 VERSION Version Information 0 ccccccceeeeeeeeeeeeeeetieeeeeeenaeeeeesenaaes 367 3 3 80 WAASO Remove PRN from Solution SBAS cccccceeeeseeteeeeeeenees 371 3 3 81 WAAS1 PRN Mask Assignments SBAS 0 0cccccccccccceseeeeesecteeteeeeeeees 372 3 3 82 WAAS2 Fast Correction Slots 0 12 SBAS cccccccctceeetecteeteeeeeeees 373 3 3 83 WAAS3 Fast Corrections Slots 13 25 SBAS ccccccceescteseeeeenees 377 3 3 84 WAAS4 Fast Correction Slots 26 38 SBAS cccccccceetcseseeeeenees 380 3 3 85 WAAS5 Fast Correction Slots 39 50 SBAS ccceccccceeseeteseeeeenees 383 3 3 86 WAAS6 Integrity Message SBAS cccccccececeteceeseeseeneeeeceeseeeeeeees 386 3 3 87 WAAS7 Fast Correction Degradation SBAS ccccccecesteteeeeenees 390 3 3 88 WAAS9 GEO Navigation Message SBAS cccccccccseeetecneeteeeeeeees 394 3 3 89 WAAS10 Degradation Factor SBAS ccccccccccsteeeseeseeeeenecneesseeeeees 396 3 3 90 WAAS12 SBAS Net
246. er length Data variable CRC 4 bytes 2 The 3 Sync bytes will always be Byte Hex Decimal First AA 170 Second 44 68 Third 12 18 3 The CRC is a 32 bit CRC see 1 7 32 Bit CRC on page 30 for the CRC algorithm performed on all data including the header 4 The header is in the format shown in Table 4 Binary Message Header Structure on page 20 OEMStar Firmware Version 1 101 Reference Manual Rev 5 19 Chapter 1 Messages Table 4 Binary Message Header Structure Binary Ignored Field Name Description on Input Sync Char Hexadecimal OxAA Sync Sync Char Char Hexadecimal 0x44 Hexadecimal 0x12 Header Lgth Uchar Length of the header Message ID Ushort This is the Message ID number of the log see the log descriptions in Table 41 OEMStar Logs in Order of their Message IDs on page 187 for the Message ID values of individual logs Message Type Char Bits 0 4 Reserved Bits 5 6 Format 00 Binary 01 ASCII 10 Abbreviated ASCII NMEA 11 Reserved Bit7 Response bit see Section 1 2 page 24 0 Original Message 1 Response Message Port Address Uchar See Table 4 on page 19 decimal values greater than 16 may be used lower 8 bits only Message Length Ushort The length in bytes of the body of the message This does not include the header nor the CRC Continued
247. er term of polynomial Double 8 H 80 14 wn Isf Future week number Ulong 4 H 88 15 dn Day number the range is 1 to 7 where Ulong 4 H 92 Sunday 1 and Saturday 7 16 deltat Is Delta time due to leap seconds Long 4 H 96 17 deltat Isf Future delta time due to leap seconds Long 4 H 100 18 deltat utc Time difference Ulong 4 H 104 19 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 108 20 CR LF Sentence terminator ASCII only 266 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 3 3 35 LOGLIST List of System Logs Outputs a list of log entries in the system The following tables show the binary ASCII output See also the RXCONFIG log on page 345 for a list of current command settings Message ID 5 Log Type Polled Recommended Input log loglista once ASCII Example LOGLISTA COM1 0 60 5 FINESTEERING 1337 398279 996 00000000 c00c 1984 8 COM1 RXSTATUSEVENTA ONNEW 0 000000 0 000000 HOLD COM2 RXSTATUSEVENTA ONNEW 0 000000 0 000000 HOLD USB1 RXSTATUSEVENTA ONNEW 0 000000 0 000000 HOLD USB2 RXSTATUSEVENTA ONNEW 0 000000 0 000000 HOLD USB3 RXSTATUSEVENTA ONNEW 0 000000 0 000000 HOLD COM1 BESTPOSA ONTIME 10 000000 0 000000 NOHOLD COM1 LOGLISTA ONCE 0 000000 0 000000 NOHOLD 5b2 9eed3 A WARNING Do not use undocumented logs or commands Doing so may produce errors and void your warranty lt Before contacting NovAtel Customer Support regarding softw
248. ere the most significant value in the sequence is stored first at the lowest storage address For example the two bytes required for the hex number 4F52 is stored as 524F OEMStar Firmware Version 1 101 Reference Manual Rev 5 Chapter 2 Command 2 1 Command Formats The receiver accepts commands in 3 formats as described in Chapter 1 e Abbreviated ASCII e ASCII e Binary Abbreviated ASCII is the easiest to use for your input The other two formats include a CRC for error checking and are intended for use when interfacing with other electronic equipment Here are examples of the same command in each format Abbreviated ASCII Example LOG COM1 BESTPOSB ONTIME 1 CR ASCII Example LOGA COM2 0 66 0 UNKNOWN 0 15 917 004c0000 5255 32858 COMI BESTPOSB ONTIME 1 000000 0 000000 NOHOLD F95592DD CR Binary Example AA44121C 01000240 20000000 1D1D0000 29160000 00004C00 55525A80 20000000 2A000000 02000000 00000000 0000F03F 00000000 00000000 00000000 2304B3F1 2 2 Command Settings There are several ways to determine the current command settings of the receiver 1 Request an RXCONFIG log see page 345 This log provides a listing of all commands and their parameter settings It also provides the most complete information but the size and format do not make it easy to read 2 For some specific commands logs are available to indicate all their parameter settings The LOGLIST log see page 267 shows
249. ermal noise of the receiver tracking loops only It does not account for possible multipath errors or atmospheric delays Message ID 43 Log Type Synch Recommended Input log rangea ontime 30 ASCII Example RANGEA COM1 0 63 5 FINESTEERING 1429 226979 000 00000000 5103 2748 26 6 0 23359924 081 0 078 122757217 106875 0 015 3538 602 43 3 19967 080 08109c04 21 0 20200269 147 0 038 106153137 954409 0 008 86 289 49 5 13397 470 08109c44 44 12 19388129 378 0 335 103786179 553598 0 012 975 676 36 6 3726 656 18119e24 43 8 20375687 399 0 253 108919708 904476 0 012 2781 090 39 1 10629 934 18119e84 lt Consider the case where you have a computer to record data at a fixed location and another laptop in the field also recording data as you travel Can you take the difference between the recorded location and the known location of the fixed point and use that as an error correction for the recorded data in the field The simple answer is yes You can take the difference between recorded position and known location and apply this as a position correction to your field data Then what is the difference between pseudorange and position differencing The correct and more standard way of computing this correction is to compute the range error to each GPS satellite being tracked at your fixed location and to apply these range corrections to the observations at your mobile station The position corre
250. eros The decimal point and associated decimal fraction are optional if full resolution is not required example 73 10 73 1 073 1 73 Fixed HEX hh Fixed length HEX numbers only MSB on the left Information Fields Variable text c c Variable length valid character field Fixed alpha aa__ Fixed length field of uppercase or lowercase alpha characters Fixed xx Fixed length field of numeric characters Fixed text cc Fixed length field of valid characters NOTES 1 Spaces may only be used in variable text fields 2 A negative sign HEX 2D is the first character in a Field if the value is negative The sign is omitted if the value is positive 3 All data fields are delimited by a comma 4 Null fields are indicated by no data between two commas Null fields indicate invalid data or no data available 5 The NMEA Standard requires that message lengths be limited to 82 characters OEMStar Firmware Version 1 101 Reference Manual Rev 5 279 Chapter 3 Data Logs 3 3 40 PASSCOM PASSXCOM PASSUSB Redirect Data 280 The pass through logging feature enables the receiver to redirect any ASCII or binary data that is input at a specified port to any specified receiver port It allows the receiver to perform bidirectional communications with other devices such as a modem terminal or another receiver See also the INTERFACEMODE command on page 100 There are several pass through logs PASSCOM1 PASSCOM2 PASSXCOM1 PASSXCOM
251. es H Offset 0 sol status Solution status see Table 44 Solution Status on page 197 Enum pos type Position type see Table 43 Position or Velocity Type on page 196 Enum H 4 vel type Velocity type see Table 43 Position or Velocity Type on page 196 Enum H 8 nav type Navigation data type see Table 57 Navigation Data Type on page 274 Enum H 12 distance Straight line horizontal distance from current position to the destination waypoint in metres see Figure 8 Navigation Parameters on page 274 This value is positive when approaching the waypoint and becomes negative on passing the waypoint Double H 16 bearing Direction from the current position to the destination waypoint in degrees with respect to True North or Magnetic if corrected for magnetic variation by MAGVAR command Double H 24 along track Horizontal track distance from the current position to the closest point on the waypoint arrival perpendicular expressed in metres This value is positive when approaching the waypoint and becomes negative on passing the waypoint Double H 32 xtrack The horizontal distance perpendicular track error from the vessel s present position to the closest point on the great circle line that joins the FROM and TO waypoints If a track offset has been entered in the SETNAV command xtrack is the perpendicular error from the offset track X
252. es can take effect Refer to the CLOCKADJUST command see page 60 to enable or disable this feature To disable the clock steering process issue the CLOCKADJUST DISABLE command The current values used by the clock steering process are listed in the CLOCKSTEERING log see page 215 gt lt The values entered using the CLOCKCALIBRATE command are saved to non volatile memory NVM To restore the values to their defaults the FRESET CLKCALIBRATION command must be used See Section 2 5 22 on page 94 for more details Abbreviated ASCII Syntax Message ID 430 CLOCKCALIBRATE mode period width slope bandwidth ASCII Example clockcalibrate auto OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 Field ASCII Binary Binary Binary Binary Type Value Value Description Format Bytes Offset 1 CLOCKCALIBRATE This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 mode SET 0 Sets the period Enum 4 H pulsewidth slope and bandwidth values into NVM for the internal oscillator AUTO 1 Once the receiver time status is fine see Table 8 on page 27 this forces the receiver to do a clock steering calibration to measure the slope change in clock drift rate with a 1 bit change in pulse width and required pulsewidth to zero the clock drift rate After the calibration t
253. es corrected by the base station Satellite specific data begins at word 3 of the message Structure Type 1 messages contain the following information for each satellite in view at the base station Satellite ID Pseudorange correction Range rate correction Issue of Data IOD When operating as a base station the receiver must be in FIX POSITION mode and have the INTERFACEMODE command set before the data can be correctly logged When operating as a rover station the receiver COM port receiving the RTCM data must have the PDPFILTER mode disabled and have its INTERFACEMODE command set Refer to the Receiving and Transmitting Corrections section in the OEMStar Installation and Operation Manual for more information about using these OEMStar Firmware Version 1 101 Reference Manual Rev 5 329 Chapter 3 Data Logs commands and RTCM message formats REMEMBER Upon a change in ephemeris base stations transmit Type 1 messages based on the old ephemeris for a period of time defined by the DGPSEPHEMDELAY command see page 79 After the time out the base station begins to transmit the Type messages based on the new ephemeris RTCMDATA logs provide you with the ability to monitor the RTCM messages being used by the NovAtel receiver in an easier to read format than the RTCM standard format You can also use the RTCMDATA logs as a diagnostic tool to identify when the receivers are operating in the required modes
254. eserved Char 1 H 106 25 Char 1 H 107 26 Char 1 H 108 27 ext sol stat Extended solution status see Table 46 Hex 1 H 109 Extended Solution Status on page 198 28 Reserved Hex 1 H 110 29 sig mask Signals used mask if 0 signals used in solution Hex 1 H 111 are unknown see Table 45 on page 198 30 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 112 31 CR LF Sentence terminator ASCII only 300 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 3 3 51 RAIMSTATUS RAIM status RAIM This log provides information on RAIM status See Section 2 5 40 starting on page 130 Message ID 1286 Log Type Synch Recommended Input log raimstatusa ontime 1 ASCII Examples RAIMSTATUSA COM1 0 93 5 FINESTEERING 1595 387671 500 00000008 bf2d 5968 DEFA ULT PASS NOT_AVAILABLE 0 000 NOT_ AVAILABLE 0 000 0 96a129ee RAIMSTATUSA COM1 0 95 5 FINESTEERING 1595 387672 000 00000008 bf2d 5968 APPR OACH PASS PASS 17 037 PASS 25 543 0 2a53 2b9 Binary Binary Field Field Type Data Description Format Bytes Offset 1 RAIMSTATUS Log header H 0 Header 2 RAIM Mode RAIM mode see Table 27 on page 131 enum 4 H 3 Integrity status Integrity Status see Table 58 on page enum 4 H 4 302 4 HPL status Horizontal protection level status see enum 4 H 8 Table 59 on page 302 5 HPL Horizontal protection level double 8 H 12 6 VPL status Ver
255. esponse 24 415 send 140 time stamp 28 trigger 107 109 mode 2 D 250 3 D 250 interface 100 103 operating 249 model active 366 authorization 34 58 59 115 card 115 clock 211 213 214 273 expiry date 177 366 ionospheric 265 log 178 lost 118 switch 115 valid 366 version 366 MODEL command 115 modem 280 month 362 369 MOPS 130 motion island 169 mean 192 262 MSAS Japanese SBAS 136 MSB 16 multipath carrier smoothing 70 example 70 293 NMEA 249 Index N National Topographic Series NTS 171 NAVIGATE log 274 navigation accuracy 332 command 36 data 249 257 information 255 log 274 275 magnetic compass 110 path 148 satellite system 320 standard 327 status 256 276 waypoint 148 178 word 317 NGS see US National Geodetic Survey NMEA generic format 101 log list 278 position 246 pseudorange measurement noise statis tics 251 satellite range residuals 247 248 satellite type 116 standards 241 NMEATALKER command 116 node 240 noise statistic 251 thermal 303 time of 213 non printable character 34 142 non volatile memory NVM 46 automatic 311 reset 94 restore 118 save almanac 191 configuration 135 north pole 110 note authorization code 58 channel assignment 56 clock adjustment 60 differential correction 79 81 elevation cut off angle 86 OEMStar Firmware Version 1 101 Reference Manual Rev 5 423 Index ephemeris delay 79 facto
256. essage ID 218 Log Type Synch Recommended Input log gpgga ontime 1 Example SGPGGA 134658 00 5106 9792 N 11402 3003 W 2 09 1 0 1048 47 M 16 27 M 08 AAAA 60 gt lt The NMEA National Marine Electronics Association has defined standards that specify how electronic equipment for marine users communicate GPS receivers are part of this standard and the NMEA has defined the format for several GPS data logs otherwise known as sentences Each NMEA sentence begins with a followed by the prefix GP followed by a sequence of letters that define the type of information contained in the sentence Data contained within the sentence is separated by commas and the sentence is terminated with a two digit checksum followed by a carriage return line feed Here is an example of an NMEA sentence that describes time position and fix related data GPGGA 134658 00 5 106 9792 N 1 1402 3003 W 2 09 1 0 1048 47 M 16 27 M 08 AAAA 60 The GPGGA sentence shown above and other NMEA logs are output the same no matter what GPS receiver is used providing a standard way to communicate and process GPS information OEMStar Firmware Version 1 101 Reference Manual Rev 5 241 Chapter 3 Data Logs Field Structure Field Description Symbol Example 1 GPGGA Log header GPGGA 2 utc UTC time of position hours minutes seconds hhmmss ss 202134 00 decimal seconds 3 lat Latitude DDmm mm MILII
257. essage is 102 bytes 816 bits long This message should be sent once every 5 10 seconds The faster this message is sent the quicker the rover station receives a complete set of ephemerides Also the rover receiver automatically sets an approximate system time from this message if time is stillunknown Therefore this message can be used in conjunction with an approximate position to improve time to first fix TTFF For more information about TTFF and satellite acquisition refer to the Knowledge and Learning page in the Support section of our Web site at www novatel com Message ID 393 Log Type Synch Recommended Input log rtcadataephema ontime 10 7 ASCII Example RTCADATAEPHEMA COM1 0 49 0 FINESTEERING 1364 494422 391 00100000 d869 2310 78 2 340 494422 4 0 8b0550a0 0a455100175e6a09382232523a9dc04 307794a00006415c8a98b0550a0f12a070b1 2394e4f991F8d09e903cd1le4b0825a10e669c794aT7e8b0550a0flacffe54f81e9c0004826b947 d725ae0 63beb05ffal7c07067d c9dc4Ff88 lt A hot position is when the receiver has a saved almanac saved recent ephemeris data and an approximate position A hot position aids the time to first fix TTFF The TTFF is the actual time required by a GPS receiver to achieve a position solution or more information about TTFF and satellite acquisition refer to the Knowledge and Learning page in the Support section of our Web site at www novatel com 324 OEMStar Firmware Version 1 101 Reference Manual Re
258. f 10 ns the offset can be set to 10 to remove the delay from the PPS output Field ASCII Binary Binary Binary Binary Description Format Bytes Offset Type Value Value 1 CLOCKOFFSET This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively see Section 1 1 Message Types on page 14 2 offset 200 Specifies the offset in Long 4 H nanoseconds OEMStar Firmware Version 1 101 Reference Manual Rev 5 65 Chapter 2 Commands 2 5 9 CNOUPDATE Set the C No update rate and resolution This command allows you to set the C No update rate and resolution Abbreviated ASCII Syntax Message ID 849 CNOUPDATE rate Factory Default cnoupdate default ASCII Example rover cnoupdate 20hz lt Use the CNOUPDATE command for higher resolution C No measurements of the incoming GPS signals at a higher rate By default the C No values are calculated at approximately 4 Hz but this command allows you to increase that rate to 20 Hz Field ASCII ae Binary Binary Binary Eee Type Value Description Format Bytes Offset 1 CNO This field contains the command H 0 UPDATE name or the message header header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 rate DEFAULT 0 C No update rate ENUM 4 H 0 Turn off C No 20HZ 1 enhancement default 4 Hz
259. f perigee radians measurement Double 8 H 72 along the orbital path from the ascending node to the point where the SV is closest to the Earth in the direction of the SV s motion 15 cuc Argument of latitude amplitude of cosine Double 8 H 80 radians 16 cus Argument of latitude amplitude of sine Double 8 H 88 radians 17 crc Orbit radius amplitude of cosine metres Double 8 H 96 18 crs Orbit radius amplitude of sine metres Double 8 H 104 19 cic Inclination amplitude of cosine radians Double 8 H 112 20 cis Inclination amplitude of sine radians Double 8 H 120 21 lo Inclination angle at reference time radians Double 8 H 128 Continued on the following page OEMStar Firmware Version 1 101 Reference Manual Rev 5 261 Chapter 3 Data Logs Binary Binary Field Field type Data Description Format Bytes Offset 22 F Rate of inclination angle radians second Double 8 H 136 23 op Right ascension radians Double 8 H 144 24 D Rate of right ascension radians second Double 8 H 152 25 iodc Issue of data clock Ulong 4 H 160 26 toc SV clock correction term seconds Double 8 H 164 27 tgd Estimated group delay difference seconds Double 8 H 172 28 aro Clock aging parameter seconds s Double 8 H 180 29 ary Clock aging parameter s s Double 8 H 188 30 afz Clock aging parameter s s s Double 8 H 196 31 AS Anti spoofing on 0 FALSE Enum 4 H 204 1 TRUE 32 N Corrected mean motion
260. f speed It is important to set the GPS measurement rate fast enough to keep up with all major changes of the vehicle s speed and direction It is important to keep in mind that although the velocity vector is quite accurate in terms of heading and speed the actual track of the vehicle might be skewed or offset from the true track by plus or minus 0 to 1 8 metres as per the standard positional errors OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 Field Field type Data Description Format Binary Binary yp p Bytes Offset 1 BESTVEL Log header H 0 header 2 sol status Solution status see Table 44 Solution Statuson Enum 4 H page 197 3 vel type Velocity type see Table 43 Position or Velocity Enum 4 H 4 Type on page 196 4 latency A measure of the latency in the velocity time tagin Float 4 H 8 seconds It should be subtracted from the time to give improved results 5 age Differential age in seconds Float 4 H 12 6 hor spd Horizontal speed over ground in metres per Double 8 H 16 second 7 trk gnd Actual direction of motion over ground track over Double 8 H 24 ground with respect to True North in degrees 8 vert spd Vertical speed in metres per second where Double 8 H 32 positive values indicate increasing altitude up and negative values indicate decreasing altitude down 9 Reserved Float 4 H 40 10 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 44 11 CR
261. ferential NovAtel NMEA Format Data Logs 217 GPALM Almanac Data 218 GPGGA GPS Fix Data and Undulation 219 GPGLL Geographic Position latitude longitude 220 GPGRS GPS Range Residuals for Each Satellite 221 GPGSA GPS DOP and Active Satellites 222 GPGST Pseudorange Measurement Noise Statistics 223 GPGSV GPS Satellites in View 224 GPRMB Generic Navigation Information 225 GPRMC GPS Specific Information 226 GPVTG Track Made Good and Ground Speed 227 GPZDA UTC Time and Date 521 GPGGALONG GPS Fix Data Extra Precision and Undulation 859 GLMLA NMEA GLONASS Almanac Data a RTCA and RTCM logs may be logged with an A or B extension to give an ASCII or Binary output with a NovAtel header followed by Hex or Binary data respectively 190 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 3 3 Log Reference 3 3 1 ALMANAC Decoded Almanac This log contains the decoded almanac parameters from Subframe four and five as received from the satellite with the parity information removed and appropriate scaling applied Multiple messages are transmitted one for each SV almanac collected For more information about Almanac data refer to the GPS SPS Signal Specification refer also to our please refer to the Knowledge and Learning page in the Support section on our Web site at www novatel com OEMStar receivers automatically save almanacs in their non volatile memory NVM therefore creating an almanac boot file
262. ffset 1 GLORAWALM Log header H 0 header 2 week GPS reference week in weeks Ulong 4 H 3 time GPS reference time in milliseconds Ulong 4 H 4 binary data or seconds ASCII data 4 recs Number of records to follow Ulong 4 H 8 5 string GLONASS data string Uchar variable H 12 string size 6 Reserved Uchar 1 variable re Next record offset H 16 recs x string size 1 variable XxXxX 32 bit CRC ASCII and Binary only Hex 4 H 12 recs x string sizet 1 variable CR LF Sentence terminator ASCII only a In the binary log case additional bytes of padding are added to maintain 4 byte alignment OEMStar Firmware Version 1 101 Reference Manual Rev 5 233 Chapter 3 Data Logs 3 3 18 GLORAWEPHEM Raw GLONASS Ephemeris Data GLO 234 This log contains the raw ephemeris frame data as received from the GLONASS satellite Message ID 792 Log Type Asynch Recommended Input log glorawephema onchanged Example GLORAWEPHEMA COM1 3 47 0 SATTIME 1340 398653 000 00000000 332d 2020 38 9 0 1340 398653 080 4 0148d88460fcl15dbdaf78 0 0218e0033667aec83af2a5 0 038000b9031e14439c75ee 0 0404 22660000000000065 0 17 3dd17 GLORAWEPHEMA COM1 0 47 0 SATTIME 1340 398653 000 00000000 332d 2020 41 13 0 1340 398653 078 4 0108d812532805bfalcd2c 0 0208e0a36e8e0952b111da 0 03c02023b68c9a32410958 0 0401 da44000000000002a 0 0b237405 lt For more information about GL
263. fically the time constant of the tracking loop is directly proportional to the CSMOOTH value and affects the degree of dependence between the carrier phase and pseudorange information Carrier phase smoothing of the code measurements pseudoranges is accomplished by introducing data from the carrier tracking loops into the code tracking system Phase and code data collected at a sampling rate greater than about 3 time constants of the loop are correlated the greater the sampling rate the greater the correlation This correlation is not relevant if only positions are logged from the receiver but is an important consideration if the data is combined in some other process such as post mission carrier smoothing Also a narrow bandwidth in a feedback loop impedes the ability of the loop to track step functions Steps in the pseudorange are encountered during initial lock on of the satellite and when working in an environment conducive to multipath A low CSMOOTH value allows the receiver to effectively adapt to these situations Also increased carrier smoothing may cause problems when satellite signals are strongly affected by the ionosphere The rate of divergence between the pseudoranges and phase derived ranges is greatest when a satellite is low in the sky since the GPS signal must travel through a much thicker ionosphere The tracking error of the receiver is greatest at these times when a lot of carrier smoothing is implemented In addition c
264. fix not available or invalid 1 GPS fix 2 C A differential GPS 6 Dead reckoning mode 7 Manual input mode fixed position 8 Simulator mode 9 WAAS 2 8 sats Number of satellites in use 00 12 May be XX 10 different to the number in view 9 hdop Horizontal dilution of precision X X 1 0 10 alt Antenna altitude above below msl X X 1062 376 11 units Units of antenna altitude M metres M M 12 undulation Undulation the relationship between the geoid X X 16 271 and the WGS84 ellipsoid 13 u units Units of undulation M metres M M 14 age Age of Differential GPS data in seconds XX 10 empty when no differential data is present 15 stn ID Differential base station ID 0000 1023 XXXX AAAA empty when no differential data is present 16 XX Checksum hh 48 17 CR LF Sentence terminator CR LF a An indicator of 9 has been temporarily set for WAAS NMEA standard for WAAS is not decided yet b The maximum age reported here is limited to 99 seconds 244 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 3 3 24 GPGLL Geographic Position Latitude and longitude of present vessel position time of position fix and status Table 54 compares the position precision of selected NMEA logs The GPGLL log outputs these messages with contents without waiting for a valid almanac Instead it uses a UTC time calculated with default parameters In this case the UTC time status is set to
265. format messaging is being used the optional station id field that is entered using the FIX POSITION command can be any number within the range of 0 1023 for example 119 The representation in the log message is identical to what was entered The NovAtel logs which implement the RTCM Standard Format for Type 1 9 16 31and 36 messages are known as the RTCM1 RTCM9 RTCM16 RTCM3 land RTCM36 logs respectively All receiver RTCM standard format logs adhere to the structure recommended by RTCM SC 104 Thus all RTCM message are composed of 30 bit words Each word contains 24 data bits and 6 parity bits All RTCM messages contain a 2 word header followed by 0 to 31 data words for a maximum of 33 words 990 bits per message Message Frame Header Data Bits Word 1 Message frame preamble for synchronization 8 Frame message type ID 6 Base station ID 10 Parity 6 Word 2 Modified z count time tag 13 Sequence number 3 Length of message frame 5 Base health 3 Parity 6 Version 3 0 also developed by the RTCM SC 104 consists primarily of messages designed to support real time kinematic RTK operations It provides messages that support GPS and GLONASS RTK operations including code and carrier phase observables antenna parameters and ancillary system parameters 3 1 adds RTCM messages containing transformation data and information about Coordinate Reference Systems The rem
266. fset 24 ggL1 Number of GPS plus GLONASS L1 used in Uchar 1 H 106 solution 25 Reserved 26 Reserved 27 ext sol stat Extended solution status see Table 46 Hex 1 H 109 Extended Solution Status on page 198 28 Reserved 29 sig mask Signals used mask if 0 signals used in Hex 1 H 111 solution are unknown see Table 45 on page 198 30 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 112 31 CR LF Sentence terminator ASCII only 208 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 Definitions Origin Earth s center of mass Z Axis Parallel to the direction of the Conventional Terrestrial Pole CTP for polar motion as defined by the Bureau International de l Heure BIH on the basis of the coordinates adopted for the BIH stations X Axis Intersection of the WGS 84 Reference Meridian Plane and the plane of the CTP s Equator the Reference Meridian being parallel to the Zero Meridian defined by the BIH on the basis of the coordinates adopted for the BIH stations Y Axis Completes a right handed earth centered earth fixed ECEF orthogonal coordinate system measured in the plane of the CTP Equator 90 East of the X Axis BIH Defined CTP 1984 0 WGS 84 4 o aE Earth s Center of Mass BIH Defined Zero Meridian N j 1984 0 ae ee Y J WGS 84 x WGS 84 Analogous to the BIH Defined Conventional Terrestrial System CTS or BTS 1
267. g 4 H 112 211 ddz code 1 Delta z dz when velocity code 0 31 2nd half af Delta af clock offset when velocity Long 4 H 116 2739 code 1 Delta af clock offset when velocity code 0 32 2nd half tg Applicable time of day Ulong 4 H 120 16 Dummy value when velocity code 0 33 2nd half Issue of PRN mask data Ulong 4 H 124 iodp 34 2nd half Spare value when velocity code 0 Ulong 4 H 128 corr spare Dummy value when velocity code 1 35 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 132 36 CR LF Sentence terminator ASCII only H 136 408 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 3 3 95 WAAS26 lonospheric Delay Corrections SBAS WAAS26 provides vertical delays relative to an L1 signal and their accuracy at geographically defined IGPs identified by the BAND NUMBER and IGP number Each message contains a band number and a block ID which indicates the location of the IGPs in the respective band mask Message ID 299 Log Type Asynch Recommended Input log WAAS26a onchanged ASCII Example WAAS26A COM1 0 38 0 SATTIME 1337 417243 000 00000000 ec70 1984 134 1 2 15 27 11 25 11 23 11 19 11 16 11 16 12 15 13 16 13 29 14 30 13 27 11 27 11 24 11 19 11 16 12 2 0 3b6a6806 lt Each raw WAAS frame gives data for a specific frame decoder number The WAAS26 message can be logged to view the data breakdown of WAAS frame 26 which contains ionospheric del
268. g conveys various status parameters of the GPS receiver system These include the Receiver Status and Error words which contain several flags specifying status and error conditions If an error occurs shown in the Receiver Error word the receiver idles all channels turns off the antenna and disables the RF hardware as these conditions are considered to be fatal errors The log contains a variable number of status words to allow for maximum flexibility and future expansion The receiver gives the user the ability to determine the importance of the status bits In the case of the Receiver Status setting a bit in the priority mask causes the condition to trigger an error This causes the receiver to idle all channels turn off the antenna and disable the RF hardware the same as if a bit in the Receiver Error word is set Setting a bit in an Auxiliary Status priority mask causes that condition to set the bit in the Receiver Status word corresponding to that Auxiliary Status See also the STATUSCONFIG command on page 156 lt Field 4 the receiver status word as represented in Table is also in Field 8 of the header See the ASCI Example below and Table on page 347 for clarification Refer also to the chapter on Built In Status Tests in the OEMStar Installation and Operation User Manual Message ID 93 Log Type Asynch Recommended Input log rxstatusa onchanged ASCII Example RXSTATUSA COM1 0 43 5 FINESTEERING 1337 407250 846
269. g will never improve on FINE The time will only be adjusted again to within 1 microsecond if the range bias gets larger than 250 milliseconds If Clock Adjust is enabled the time status flag will be set to FINESTEERING and the receiver time will be continuously updated steered to minimize the receiver range bias When the back up system is used the time status is set to FINEBACKUPSTEERING If for some reason position is lost and the range bias cannot be calculated the time status will be degraded to FREEWHEELING Message Time Stamps All NovAtel format messages generated by OEMStar receivers have a GPS reference time stamp in their header GPS reference time is referenced to UTC with zero point defined as midnight on the night of January 5 1980 The time stamp consists of the number of weeks since that zero point and the number of seconds since the last week number change 0 to 604 799 GPS reference time differs from UTC time since leap seconds are occasionally inserted into UTC but GPS reference time is continuous In addition a small error less than microsecond can exist in synchronization between UTC and GPS reference time The TIME log reports both GPS and UTC time and the offset between OEMStar Firmware Version 1 101 Reference Manual Rev 5 Messages Chapter 1 the two The data in synchronous logs for example RANGE BESTPOS TIME are based on a periodic measurement of satellite pseudoranges The time stamp on these logs is
270. ge may or may not come when SBAS is in testing mode see the SBASCONTROL command on page 135 for details Message ID 303 Log Type Asynch Recommended Input log WAASSa onchanged ASCII Example WAAS5A COM1 0 72 5 SATTIME 1093 161480 000 00040020 3104 209 122 1 3 7 2047 2047 2047 4 2047 2047 2047 9 2047 2047 3 2 11 14 14 14 4 14 14 14 5 14 14 4 2 2b 0109b lt Each raw WAAS frame gives data for a specific frame decoder number The WAASS message can be logged to view the data breakdown of WAAS frame 5 which contains information about fast correction slots 39 50 OEMStar Firmware Version 1 101 Reference Manual Rev 5 383 Chapter 3 Data Logs Field Field type Data Description Format piel Scaling 1 WAAS5 Log header H 0 header 2 prn Source PRN of message Ulong 4 H 3 iodf Issue of fast corrections data Ulong 4 H 4 4 iodp Issue of PRN mask data Ulong 4 H 8 5 prc39 pre i Long 4 H 12 6 prc40 Fast corrections 2048 to 2047 Long 4 H 16 7 Fr for the prn in slot i i 39 50 kong i TE 7 8 prc42 Long 4 H 24 9 prc43 Long 4 H 28 10 prc44 Long 4 H 32 11 prc45 Long 4 H 36 12 prc46 Long 4 H 40 13 prc47 Long 4 H 44 14 prc48 Long 4 H 48 15 prc49 Long 4 H 52 16 prc50 Long 4 H 56 17 prc51 Invalid do not use Long 4 H 60 Continued on the following page 384 OEMStar Firmwa
271. generic standard while poor software locks you into one brand of GPS equipment For the most flexibility insist on generic data format support for all hardware and software solutions on page 101 12 tx type The status of the transmit interface mode Enum 4 H 40 Table You must understand your post processing and real time software requirements Good software supports a generic standard while poor software locks you into one brand of GPS equipment For the most flexibility insist on generic data format support for all hardware and software solutions on page 101 13 response Responses are turned on or off Enum 4 H 44 0 OFF 1 ON 14 next port offset H 4 port x 44 220 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 Field Field type Data Description Format Binary Binary YP p Bytes Offset 15 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 4 port x44 16 CR LF Sentence terminator ASCII only OEMStar Firmware Version 1 101 Reference Manual Rev 5 221 Chapter 3 3 3 13 GLMLA NMEA GLONASS Almanac Data GLO This log outputs almanac data for GLONASS satellites Multiple sentences are transmitted one for 222 each satellite I GLONASS satellites GLO PRN NovAtel Slot To match NovAtel format logs GLO PRN NMEA 7 24 or GLONASS status Web site Message ID Log Type 859 Asynch Recommended Input log glmlaa onchange
272. ging s Ulong 4 H 40 10 samples Number of samples in the average Ulong 4 H 44 11 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 48 12 CR LF Sentence terminator ASCII only 194 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 3 3 3 BESTPOS Best Position This log contains the best available position in metres computed by the receiver In addition it reports several status indicators including differential age which is useful in predicting anomalous behavior brought about by outages in differential corrections A differential age of 0 indicates that no differential correction was used If the system is operating in DGPS mode pseudorange differential solutions continue for the time specified in the DGPSTIMEOUT command see page 81 See also the PSRPOS log on page 293 Message ID 42 Log Type Synch Recommended Input log bestposa ontime 1 See Section 2 1 Command Formats on page 33 for more examples of log requests ASCII Example 1 BESTPOSA COM1 0 83 5 FINESTEERING 1419 336148 000 00000040 6145 2724 SOL_COMPUTED SINGLE 51 11636418888 114 03832502118 1064 9520 16 2712 WGS84 1 6961 1 3636 3 6449 0 000 0 000 8 8 0 0 0 06 0 03 6 63a93d ASCII Example 2 BESTPOSA COM1 0 78 5 FINESTEERING 1419 336208 000 00000040 6145 2724 SOL COMPUTED PSRDIFF 51 11635910984 114 03833105168 1063 8416 16 2712 WGS84 0 0135 0 0084 0 0172 AAAA 1 000
273. grouped together with the following rules e blocks of 80 characters e any block of characters ending in a lt CR gt e any block of characters ending in a lt LF gt e any block remaining in the receiver code when a time out occurs 100 ms If the data being injected is binary or the port INTERFACEMODE mode is set to GENERIC then the data is grouped as follows e blocks of 80 bytes e any block remaining in the receiver code when a time out occurs 100 ms If a binary value is encountered in an ASCII output then the byte is output as a hexadecimal byte preceded by a backslash and an x For example OA is output as xOA An actual V in the data is output as The output counts as one pass through byte although it is four characters The first character of each pass through record is time tagged in GPS reference weeks and seconds PASSCOMI Message ID 233 PASSCOM2 Message ID 234 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 PASSXCOM1 Message ID 405 PASSXCOM2 Message ID 406 PASSXCOMS3 Message ID 795 PASSUSB1 Message ID 607 PASSUSB2 Message ID 608 PASSUSB3 Message ID 609 Log Type Asynch Recommended Input log passcomla onchanged lt Asynchronous logs should only be logged ONCHANGED Otherwise the most current data is not output when it is available This is especially true of the ONTIME trigger which may cause inaccurate time tags to result ASCII Example 1 PASSCOM2A COM1
274. gs at a time the receiver responds with an Insufficient Resources error The following logs do not support the ONNEXT trigger GPSEPHEM RAWEPHEM RAWGPSSUBFRAME RAWWAASFRAME RXSTATUSEVENT and WAAS9 Asynchronous logs should only be logged ONCHANGED Otherwise the most current data is not output when it is available This is especially true of the ONTIME trigger which may cause inaccurate time tags to result Use the ONNEW trigger with the MARKTIME or MARKPOS logs Before the output of fields for ASCII and Binary logs there is an ASCII or binary header respectively See also Table 3 ASCII Message Header Structure on page 17 and Table 4 Binary Message Header Structure on page 20 There is no header information before Abbreviated ASCII output see page 19 OEMStar Firmware Version 1 101 Reference Manual Rev 5 175 Chapter 3 Data Logs 3 1 1 Log Type Examples For polled logs the receiver only supports an offset that is e smaller than the logging period e an integer The following are valid examples for a polled log log comconfig ontime 2 1 log portstats ontime 4 2 log version once For polled logs the following examples are invalid log comconfig ontime 1 2 offset is larger than the logging period log comconfig ontime 4 1 5 offset is not an integer For synchronous and asynchronous logs the receiver supports any offset that is e smaller than the logging period e a multiple of the minimum logging period
275. h Recommended Input log gpzda ontime 1 Example GPZDA 143042 00 25 08 2005 6E lt Please see the GPGGA usage note applies to all NMEA logs on page 241 Data Logs Field Structure Field Description Symbol Example 1 GPZDA Log header GPZDA 2 utc UTC time hhmmss ss 220238 00 3 day Day 01 to 31 XX 15 4 month Month 01 to 12 XX 07 5 year Year XXXX 1992 6 null Local zone description not available XX empty when no data is present 7 null Local zone minutes description not available 2 XX empty when no data is present 8 XX Checksum hh 6F 9 CR LF Sentence terminator CR LF a Local time zones are not supported by OEMStar receivers Fields 6 and 7 are always null 264 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 3 3 34 IONUTC lonospheric and UTC Data The Ionospheric Model parameters ION and the Universal Time Coordinated parameters UTC are provided Message ID 8 Log Type Asynch Recommended Input log ionutca onchanged ASCII Example IONUTCA COM1 0 58 5 FINESTEERING 1337 397740 107 00000000 ec21 1984 1 210719347000122e 08 2 235174179077148e 08 5 960464477539062e 08 1 192092895507812e 07 1 003520000000000e 05 1 146880000000000e 05 6 553600000000000e 04 3 276800000000000e 05 1337 589824 1 2107193470001221e 08 3 907985047e 14 1355 7 13 14 0 cldfd456 lt The Receiver Independent Exc
276. hange RINEX1 format is a broadly accepted receiver independent format for storing GPS data It features a non proprietary ASCII file format that can be used to combine or process data generated by receivers made by different manufacturers The Convert4 utility can be used to produce RINEX files from NovAtel receiver data files For best results the NovAtel receiver input data file should contain the logs as specified in the PC Software and Firmware chapter of the OEMStar Installation and Operation User Manual including IONUTC 1 Refer to the U S National Geodetic Survey Web site at http www ngs noaa gov CORS Rinex2 html OEMStar Firmware Version 1 101 Reference Manual Rev 5 265 Chapter 3 Data Logs Binary Binary Field Field type Data Description Format Bytes Offset 1 IONUTC header Log header H 0 2 a0 Alpha parameter constant term Double 8 H 3 al Alpha parameter 1st order term Double 8 H 8 4 a2 Alpha parameter 2nd order term Double 8 H 16 5 a3 Alpha parameter 3rd order term Double 8 H 24 6 bO Beta parameter constant term Double 8 H 32 7 b1 Beta parameter 1st order term Double 8 H 40 8 b2 Beta parameter 2nd order term Double 8 H 48 9 b3 Beta parameter 3rd order term Double 8 H 56 10 utc wn UTC reference week number Ulong 4 H 64 11 tot Reference time of UTC parameters Ulong 4 H 68 12 AO UTC constant term of polynomial Double 8 H 72 13 A1 UTC 1st ord
277. hange in the rotation about Double 8 H 96 yr X over time 15 yrvel 10 0 radians Change in the rotation about Double 8 H 104 yr Y over time 16 zrvel 10 0 radians Change in the rotation about Double 8 H 112 yr Z over time 17 scalev 10 0 ppm yr Change in scale from Double 8 H 120 WGS84 over time 18 refdate 0 0 year Reference date of Double 8 H 128 parameters Example 2005 00 Jan 1 2005 2005 19 Mar 11 2005 170 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 2 5 68 UTMZONE Set UTM parameters This command sets the UTM persistence zone number or meridian Please refer to http earth info nga mil GandG coordsys grids referencesys html for more information and a world map of UTM zone numbers lt The latitude limits of the UTM System are 80 S to 84 N so if your position is outside this range the BESTUTM log outputs a northing easting and height of 0 0 along with a zone letter of and a zone number of 0 so that it is obvious that the data in the log is dummy data If the latitude band is X then the Zone number should not be set to 32 34 or 36 These zones were incorporated into other zone numbers and do not exist Abbreviated ASCII Syntax Message ID 749 UTMZONE command parameter Factory Default utmzone auto 0 ASCII Example 1 utmzone set 10 ASCII Example 2 utmzone current lt The UTM grid system is displayed on all National Topographic Serie
278. hanging periods of ionospheric activity diurnal changes and the 11 year cycle influences the impact of large CSMOOTH values It is important to realize that the advantages of carrier smoothing do not come without some trade off in receiver performance The factory default CSMOOTH value of 100 was selected as an optimal compromise of the above considerations For the majority of applications this default value should be appropriate However the flexibility exists to adjust the parameter for specific applications by users who are familiar with the consequences Abbreviated ASCII Syntax Message ID 269 CSMOOTH LItime Factory Default 70 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 csmooth 100 Abbreviated ASCII Example csmooth 500 lt The CSMOOTH command should only be used by advanced GPS users The shorter the carrier smoothing the more noise there will be If you are at all unsure please call NovAtel Customer Support Department see the Customer Support section at the start of the OEMStar Installation and Operation User Manual It may not be suitable for every GPS application When using CSMOOTH in differential mode the same setting should be used at both the base and rover station Binary Binary Binary Field ASCII Binary ae Type Value Value Description Format Bytes Offset 1 CSMOOTH This field contains the command H 0 header name or the message header depending on whether the c
279. he SV channel active default 2 AUTO Tell the receiver to automatically assign PRN codes to channels 3 NODATA Tell the receiver to track without navigation data OEMStar Firmware Version 1 101 Reference Manual Rev 5 53 Chapter 2 Commands 54 Abbreviated ASCII Syntax Message ID 27 ASSIGN channel state prn Doppler Doppler window ASCII Example 1 assign 0 active 29 0 2000 In example 1 the first SV channel is acquiring satellite PRN 29 in a range from 2000 Hz to 2000 Hz until the satellite signal has been detected ASCII Example 2 assign 11 28 250 0 SV channel 11 is acquiring satellite PRN 28 at an offset of 250 Hz only ASCII Example 3 assign 11 idle SV channel 11 is idled and does not attempt to search for satellites lt OEMStar cards can have up to 2 channels available for SBAS dependent on the channel configuration see Section 2 5 45 SELECTCHANCONFIG Set channel configuration on page 138 Table 13 OEMStar Channel Configurations Configurations Set Channels GPS 1 0 to 13 for GPS L1 channels GPS SBAS 2 0 to 11 for GPS L1 channels 12 to 13 for SBAS L1 channels GPS GLONASS 3 0 to 9 for GPS L1 channels 10 to 13 for GLONASS L1 channels 4 0 to 7 for GPS L1 channels 8 to 13 for GLONASS L1 channels GPS GLONASS SBAS 5 0 to 7 for GPS L1 channels 8 to 11 for GLONASS L1 channels 12 to 13 for SBAS L1 channels 6 0 to 9 for GPS L1 channels 10 to 11 for GLONASS L1 channel
280. he appropriate software model ASCII Example 1 assignall gpsl1 active 29 0 2000 In example 1 all GPS L1 dedicated SV channels are set to active and trying to acquire PRN 29 ina range from 2000 Hz to 2000 Hz until the satellite signal has been detected ASCII Example 2 assignall gpsl1 28 250 0 All GPS L1 dedicated SV channels are trying to acquire satellite PRN 28 at 250 Hz only OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 ASCII Example 3 assignall gpsl1 idle All L1 only dedicated SV channels are idled and are not attempting to search for satellites lt This command is the same as ASSIGN except that it affects all SV channels ASCII Binary Description Binary Binary Binary Value Value p Format Bytes Offset 1 ASSIGN This field contains the command H 0 ALL name or the message header header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 system See Table 14 System that SV channel is tracking Enum 4 H 3 state See Table 12 Set the SV channel state Enum 4 H 4 Channel State on page 53 4 prn GPS 1 37 Optional satellite PRN code from 1 Long 4 H 8 SBAS 120 138 to 37 for GPS channels 38 to 61 for GLONASS see GLONASS and 120 to 138 for SBAS Section 1 3 on channels If not included in the page 26 command line the state parameter must be set to idle 5 Doppler 100 000 to Current Doppler offset of th
281. he transmission of multiple messages The first field specifies the total number of messages minimum value The second field identifies the order of this message message number minimum value 1 If the NMEATALKER command see page 116 is set to AUTO the talker the first 2 characters after the sign in the log header is set to GP GPS satellites only or GL GLONASS satellites only or GN satellites from both systems A variable number of PRN Elevation Azimuth SNR sets are allowed up to a maximum of four sets per message Null fields are not required for unused sets when less than four sets are transmitted Message ID 223 Log Type Synch Recommended Input log gpgsv ontime 1 Example Including GPS and GLONASS sentences SGPGSV 3 1 11 18 87 050 48 22 56 250 49 21 55 122 49 03 40 284 47 78 SGPGSV 3 2 11 19 25 314 42 26 24 044 42 24 16 118 43 29 15 039 42 7E SGPGSV 3 3 11 09 15 107 44 14 11 196 41 07 03 173 4D SGLGSV 2 1 06 65 64 037 41 66 53 269 43 88 39 200 44 74 25 051 64 SGLGSV 2 2 06 72 16 063 35 67 01 253 66 lt The GPGSV log can be used to determine which satellites are currently available to the receiver Comparing the information from this log to that in the GPGSA log shows you if the receiver is tracking all available satellites Please see also the GPGGA note that applies to all NMEA logs on page 241 OEMStar Firmware Version 1 101 Reference Manual Rev 5 253 Ch
282. hese values along with the period and bandwidth are entered into NVM and are then used from this point forward on the internal oscillator OFF 2 Terminates a calibration process currently underway 3 period 0 to 262144 Signal period in 25 ns Ulong 4 H 4 steps Frequency Output 20 000 000 Period default 5000 4 pulsewidth The valid range Sets the initial pulse width Ulong 4 H 8 for this that should provide a near parameter is zero drift rate from the 10 to 90 of selected oscillator being the period steered The valid range for this parameter is 10 to 90 of the period The default value is 3040 Continued on the following page OEMStar Firmware Version 1 101 Reference Manual Rev 5 63 Chapter 2 Commands ASCII Binary Binary Binary Binary Description Format Bytes Offset Value Value 5 slope This value should Float 4 H 12 correspond to how much the clock drift changes with a 1 bit change in the pulsewidth m s bit The default values for the slope used for the internal clock is 2 1 If this value is not known then its value should be set to 1 0 and the mode should be set to AUTO to force a calibration Once the calibration process is complete and using a slope value of 1 0 the receiver should be recalibrated using the measured slope and pulsewidth values see the CLOCKSTEERING log on page 215 This process should be repeated until the measur
283. hh 242 17 XXXX 32 bit CRC ASCII and Binary only Hex 6D 18 CR LF Sentence terminator ASCII only CR LF a The NMEA GLONASS PRN numbers are 64 plus the GLONASS slot number Current slot numbers are 1 to 24 which give the range 65 to 88 PRN numbers 89 to 96 are available if slot numbers above 24 are allocated to on orbit spares b Health and carrier frequency number are represented in this 2 character Hex field as hh 8 7 6 5 4 3 2 1 LSB carrier frequency number of satellite spare bits health of satellite c The LSB of the Hex data field corresponds to the LSB of the word indicated in the Table 4 3 of the GLONASS Interface Control Document 1995 If the number of available bits in the Hex field is greater than the word the MSB upper bits are unused and filled with zeroes OEMStar Firmware Version 1 101 Reference Manual Rev 5 223 Chapter 3 Data Logs 3 3 14 GLOALMANAC Decoded Almanac GLO The GLONASS almanac reference time and week are in GPS reference time coordinates GLONASS ephemeris information is available through the GLMLA log Nominal orbit parameters of the GLONASS satellites are as follows e Draconian period 11 hours 15 minutes 44 seconds see fields 14 and 15 on page 225 e Orbit altitude 19100 km e Inclination 64 8 see field 11 e Eccentricity 0 see field 12 Message ID 718 Log Type Asynch Recommended Input log gloalmanaca onchanged ASCII Example
284. hift of this offset in ns to the receiver clock In MARK and MARKWITHTIME mode this offset shifts the receiver clock with respect to the time of arrival of the MK1I event If this offset is zero the Secondary aligns its 1PPS to that of the signal received in its MK1I port For example if this value was set to 50 then the Secondary would set its 1PPS 50 ns ahead of the input signal and if this value was set to 100 then the would set its clock to 100 ns behind the input signal Typically this offset is used to correct for cable delay of the 1PPS signal a Only the MK1I input can be used to synchronize the 1PPS signal OEMStar Firmware Version 1 101 Reference Manual Rev 5 51 Chapter 2 Commands 2 5 2 ANTENNAPOWER Control power to the antenna This command enables or disables the supply of electrical power from the internal refer to the OEMStar Installation and Operation User Manual for information about supplying power to the antenna power source of the receiver to the low noise amplifier LNA of an active antenna There are several bits in the Receiver Status see Table 69 Receiver Status on page 350 that pertain to the antenna These bits indicate whether the antenna is powered internally or externally and whether it is open circuited or short circuited On start up the ANTENNAPOWER is set to ON Abbreviated ASCII Syntax Message ID 98 ANTENNAPOWER flag Factory Default antennapower
285. his information internally in look up tables so that when you specify that you want to navigate with respect to Magnetic North this internal information is used These values are also available from various information sources such as the United States Geological Survey USGS The USGS produces maps and has software which enables you to determine these correction values By identifying your location latitude and longitude you can obtain the correction value OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 ma Figure 2 Illustration of Magnetic Variation amp Correction Reference Description a True Bearing b Local Magnetic Variation c Local Magnetic Variation Correction inverse of magnetic variation a c Magnetic Bearing d Heading 50 True 60 Magnetic e True North f Local Magnetic North OEMStar Firmware Version 1 101 Reference Manual Rev 5 111 Chapter 2 Commands Abbreviated ASCII Syntax Message ID 180 MAGVAR type correction std dev Factory Default magvar correction 0 0 ASCII Example 1 magvar auto ASCII Example 2 magvar correction 15 0 Field ASCII Binary Par Binary Binary Binary meld Type Value Value Description Format Bytes Offset 1 MAGVAR This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 type AUTO 0 Use IGRF corrections Enum
286. ial GLONASS Corrections DGPS Message Type 31 provides differential GLONASS corrections lt The Type 31 format complies with the tentative RTCM 2 3 standard but is subject to change as the RTCM specifications change It currently matches the Type 59GLO format but unlike Type 31 which may change Type 59GLO will stay in the same format 338 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 Field Field type Data Description Format Binary Binary Bytes Offset 1 RTCMDATA31 Log header H 0 header 2 RTCM header RTCM message type Ulong 4 H 3 Base station ID Ulong 4 H 4 4 Modified Z count where the Z count week Ulong 4 H 8 number is the week number from subframe 1 of the ephemeris 5 Sequence number Ulong 4 H 12 6 Length of frame Ulong 4 H 16 7 Base station health Ulong 4 H 20 8 recs Number of records to follow Ulong 4 H 24 9 scale Scale factor Long 4 H 28 10 udre User differential range error Ulong 4 H 32 11 prn Satellite ID Ulong 4 H 36 12 cor Correction Int 4 H 40 13 cor rate Correction rate Int 4 H 44 14 change Change bit Ulong 4 H 48 15 TK Time of day Ulong 4 H 52 16 XXXX 32 bit CRC ASCII and Binary only Hex 4 vari able 17 CR LF Sentence terminator ASCII only OEMStar Firmware Version 1 101 Reference Manual Rev 5 339 Chapter 3 Data Logs 3 3 68 RTCMDATA36 Special Message DG
287. iated ASCII ASCII or binary respectively 2 prn GPS 1 37 A single satellite PRN number to Ulong 4 H SBAS 120 138 be locked out GLONASS see Section 1 3 on page 26 104 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 2 5 28 LOG Request logs from the receiver Many different types of data can be logged using several different methods of triggering the log events Every log element can be directed to any combination of the two COM ports and three USB ports The ONTIME trigger option requires the addition of the period parameter See Chapter 3 Data Logs on page 175 for further information and a complete list of data log structures The LOG command tables in this section show the binary format followed by the ASCII command format The optional parameter hold prevents a log from being removed when the UNLOGALL command with its defaults is issued To remove a log which was invoked using the hold parameter requires the specific use of the UNLOG command see page 165 To remove all logs that have the hold parameter use the UNLOGALL command with the held field set to 1 see page 166 The port parameter is optional If port is not specified port is defaulted to the port that the command was received on lt OEMStar receivers can handle 30 logs at a time If you attempt to log more than 30 logs at a time the receiver responds with an Insufficient Resources error
288. iation Float 4 H 56 14 stn id Base station ID Char 4 4 H 60 15 diff_age Differential age in seconds Float 4 H 64 16 sol_age Solution age in seconds Float 4 H 68 17 SVs Number of satellite vehicles tracked Uchar 1 H 72 18 solnSVs Number of satellite vehicles used in solution Uchar 1 H 73 19 ggL1 Number of GPS plus GLONASS L1 used in solution Uchar 1 H 74 20 Reserved 21 Reserved Continued on the following page OEMStar Firmware Version 1 101 Reference Manual Rev 5 201 Chapter 3 Data Logs Binary Binary Field Field type Data Description Format Bytes Offset 22 ext sol stat Extended solution status see Table 46 Extended Hex 1 H 77 Solution Status on page 198 23 Reserved Hex 1 H 78 24 sig mask Signals used mask if 0 signals used in solution are Hex 1 H 79 unknown see Table 45 on page 198 25 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 80 26 CR LF Sentence terminator ASCII only a When using a datum other than WGS84 the undulation value also includes the vertical shift due to differences between the datum in use and WGS84 202 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 3 3 5 BESTVEL Best Available Velocity Data This log contains the best available velocity information computed by the receiver In addition it reports a velocity status indicator which is useful in indicating whether or not the corresponding data i
289. icate the type of time processing used in the least squares adjustment GPS and GLONASS time are both based on the Universal Time Coordinated UTC time scale with some adjustments GPS reference time is continuous and does not include any of the leap second adjustments to UTC applied since 1980 The result is that GPS reference time currently leads UTC time by 14 seconds GLONASS time applies leap seconds but is also three hours ahead to represent Moscow time The nominal offset between GPS and GLONASS time is therefore due to the three hour offset minus the leap second offset Currently this value is at 10787 seconds with GLONASS leading As well as the nominal offset there is a residual offset on the order of nanoseconds which must be estimated in the least squares adjustment The GLONASS M satellites broadcasts this difference in the navigation message This log also contains information from the GLONASS navigation data relating GLONASS time to UTC Message ID 719 Log Type Asynch Recommended Input log gloclocka onchanged ASCII Example GLOCLOCKA COM1 0 54 5 SATTIME 1364 411884 000 00000000 1d44 2310 0 0 000000000 0 000000000 0 0 0 000000275 792 0 000001207 0 000000000 0 000000000 0 437e9afat lt For more information about GLONASS refer to the Knowledge and Learning page in the Support section of our Web site at www novatel com OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3
290. ields to use the echo field in this case Binary 0 Table 16 Parity ASCII Description N No parity default 1 E Even parity 2 O Odd parity Binary 0 Table 17 Handshaking ASCII N Description No handshaking default 1 XON XON XOFF software handshaking 2 CTS CTS RTS hardware handshaking 68 Commands OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 ASCII Binary Description Binary Binary Binary Value Value p Format Bytes Offset 1 COM header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 port See Table 15 Port to configure Enum 4 H COM Serial Port default THISPORT Identifiers on page 68 3 bps baud 300 600 900 Communication baud rate ULong 4 H 4 1200 2400 4800 bps 9600 19200 38400 57600 115200 or 230400 4 parity See Table 16 on Parity Enum 4 H 8 page 68 5 databits 7or8 Number of data bits ULong 4 H 12 default 8 6 stopbits 1or2 Number of stop bits ULong 4 H 16 default 1 7 handshake See Table 17 on Handshaking Enum 4 H 20 page 68 8 echo OFF 0 No echo Enum 4 H 24 default ON 1 Transmit any input characters as they are received 9 break OFF 0 Disable break detection Enum 4 H 28 ON 1 Enable break detect
291. ilter PSRVEL 100 Pseudorange velocity information PSRXYZ 243 Pseudorange Cartesian coordinate position RAIMSTATUS 1286 RAIM status RANGE 43 Satellite range information RANGECMP 140 Compressed version of the RANGE log RAWALM 74 Raw almanac RAWEPHEM 41 Raw ephemeris RAWGPSSUBFRAME 25 Raw subframe data RAWGPSWORD 407 Raw navigation word RAWWAASFRAME 287 Raw SBAS frame data RTCADATA1 392 Type 1 Differential GPS Corrections RTCADATAEPHEM 393 Type 7 Ephemeris and Time Information RTCMDATA1 396 Type 1 Differential GPS Corrections RTCMDATA9 404 Type 9 Partial Differential GPS Corrections RTCMDATA15 397 Type 15 lonospheric Corrections RTCMDATA16 398 Type 16 Special Message RTCMDATA31 868 Type 31 GLONASS Differential Corrections RTCMDATA36 879 Type 36 Special Message RTCMDATA59GLO 905 NovAtel proprietary GLONASS differential RXCONFIG 128 Receiver configuration status RXSTATUS 93 Self test status RXSTATUSEVENT 94 Status event indicator SATVIS 48 Satellite visibility SATXYZ 270 SV position in ECEF Cartesian coordinates TIME 101 Receiver time information TRACKSTAT 83 Satellite tracking status VALIDMODELS 206 Model and expiry date information for receiver VERSION 37 Receiver hardware and software version numbers WAASO 290 Remove PRN from the solution Continued on the following page 184 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 NovAtel Format Logs
292. inary Binary Binary Field ASCII Binary meld Type Value Value Description Format Bytes Offset 1 UTMZONE This field contains the command H 0 header name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 command See Table 36 Enum 4 H 3 parameter Enum 4 H 4 172 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 2 5 69 WAASECUTOFF Set SBAS satellite elevation cut off SBAS This command sets the elevation cut off angle for SBAS satellites The receiver does not start automatically searching for an SBAS satellite until it rises above the cut off angle Tracked SBAS satellites that fall below the WAASECUTOFF angle are no longer tracked unless they are manually assigned see the ASSIGN command lt This command does not affect the tracking of GPS satellites Similarly the ECUTOFF command does not affect SBAS satellites Abbreviated ASCII Syntax Message ID 505 WAASECUTOFF angle Factory Default waasecutoff 5 000000000 ASCII Example waasecutoff 10 0 lt This command permits a negative cut off angle It could be used in these situations e The antenna is at a high altitude and thus can look below the local horizon e Satellites are visible below the horizon due to atmospheric refraction ASCII Binary Binary Binary Binary Description Format Bytes Offset Value Value header
293. inator ASCII only 412 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 3 3 97 WAASCORR SBAS Range Corrections Used SBAS The information is updated with each pseudorange position calculation It has an entry for each tracked satellite Satellites that are not included in an SBAS corrected solution have 0 0 in both the psr corr and corr stdv fields The psr corr is the combined fast and slow corrections and is to be added to the pseudorange Ionospheric and tropospheric corrections are not included and should be applied separately Message ID 313 Log Type Synch Recommended Input log waascorra ontime 1 ASCII Example WAASCORRA COM1 0 40 5 FINESTEERING 1337 417485 000 01000000 3b3b 1984 20 3 101 0 0000 0 0000 3 0 0 0000 0 0000 2 133 0 0000 0 0000 2 0 0 0000 0 0000 23 48 0 0000 0 0000 23 0 0 0000 0 0000 4 55 0 0000 0 0000 4 0 0 0000 0 0000 16 197 0 0000 0 0000 16 0 0 0000 0 0000 20 25 0 0000 0 0000 20 0 0 0000 0 0000 27 26 0 0000 0 0000 27 0 0 0000 0 0000 25 186 0 0000 0 0000 25 0 0 0000 0 0000 13 85 0 0000 0 0000 13 0 0 0000 0 0000 122 0 0 0000 0 0000 134 0 0 0000 0 0000 0af4c14d lt The SBAS pseudorange corrections can be added to the raw pseudorange for a more accurate solution in applications that compute their own solutions OEMStar Firmware Version 1 101 Reference Manual Rev 5 413 Chapter 3 Data Logs Field Field ty
294. ings gt The factory default for the COM ports is 9600 n 8 1 After entering the NVMRESTORE command and resetting the receiver the communications link may have to be re established at a different baud rate from the previous connection Abbreviated ASCII Syntax Message ID 197 NVMRESTORE lt The possibility of NVM failure is extremely remote however if it should occur it is likely that only a small part of the data is corrupt This command is used to remove the corrupt data and restore the receiver to an operational state The data lost could be the user configuration almanac model or other reserved information OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 2 5 34 PDPFILTER Command to enable disable or reset the PDP filter This command enables disables or resets the Pseudorange Delta Phase PDP filter The main advantages of the Pseudorange Delta Phase PDP implementation are e Smooths a jumpy position e Bridges outages in satellite coverage the solution is degraded from normal but there is at least a reasonable solution without gaps lt For channel configurations that include GPS PDP is enabled by default on the OEMStar With PDP enabled default the BESTPOS log is not updated until the receiver has achieved FINESTEERING PDP and GLIDE are disabled for GLONASS only applications Enable the PDP filter to output the PDP solution in BESTPOS BESTVEL and NMEA logs Refe
295. intervals and offset by 0 5 seconds output at 0 5 7 5 14 5 seconds and so on The hold parameter is set so that logging is not disrupted by the UNLOGALL command To send a log only one time the trigger option can be ignored Abbreviated ASCII Example 2 log com1 bestpos once 0 000000 0 000000 nohold See Section 2 1 Command Formats on page 33 for additional examples lt In CDU there are two ways to initiate data logging to the receiver s serial ports You can either enter the LOG command in the Console window or use the interface provided in the Logging Control window Ensure the Power Settings on your PC are not set to go into Hibernate or Standby modes Data is lost if one of these modes occurs during a logging session 106 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Field Field Name Binary Value Description Field Type Chapter 2 Binary Binary Bytes Offset 1 LOG See Table 4 Binary Message This field contains the H 0 binary Header Structure on page 20 message header header 2 port See Table 5 Detailed Serial Output port Enum 4 H Port Identifiers on page 22 3 message Any valid message ID Message ID of log to UShort 2 H 4 output 4 message Bits 0 4 Reserved Message type of log Char 1 H 6 type Bits 5 6 Format 00 Binary 01 ASCII 10 Abbrev ASCII NMEA 11 Reserved Bit 7 Response Bit see page 24 0 Original Message 1 Respo
296. inued on the following page 14 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Messages Chapter 1 Description Float The float type contains 32 bits 1 for the sign 8 for the exponent and 23 for the mantissa Its range is 3 4E38 with at least 7 digits of precision This is IEEE 754 Enum A 4 byte enumerated type beginning at zero an unsigned long In binary the enumerated value is output In ASCII or Abbreviated ASCII the enumeration label is spelled out GPSec This type has two separate formats that depend on whether you have requested a binary or an ASCII format output For binary the output is in milliseconds and is a long type For ASCII the output is in seconds and is a float type Hex Hex is a packed fixed length n array of bytes in binary but in ASCII or Abbreviated ASCII is converted into 2 character hexadecimal pairs String String is a variable length array of bytes that is null terminated in the binary case and additional bytes of padding are added to maintain 4 byte alignment The maximum byte length for each String field is shown in their row in the log or command tables Table 2 Byte Arrangements 0 char 7 0 short n 1 address n 23 15 7 0 long two s compliment n 2 n 1 address n 52 51 0 double Biased Exponent 52 bits mantissa n 6 n 5 n 4 n 3 n 2 n 1 address n 23 22 0 float Biased Exponent 23 bits mantissa n 2 n 1 address n OEMStar Firmware Version 1 101 Reference M
297. ion default OEMStar Firmware Version 1 101 Reference Manual Rev 5 69 Chapter 2 Commands 2 5 11 CSMOOTH Set carrier smoothing This command sets the amount of carrier smoothing to be performed on the code measurements An input value of 100 corresponds to approximately 100 seconds of smoothing Upon issuing the command the locktime amount of continuous tracking in seconds for all tracking satellites is reset to zero From this point each code smoothing filter is restarted The user must wait for at least the length of smoothing time for the new smoothing constant to take full effect The optimum setting for this command is dependent on your application There are several considerations when using the CSMOOTH command e The attenuation of low frequency noise multipath in pseudorange measurements e The effect of time constants on the correlation of phase and code observations e The rate of pulling in of the code tracking loop step response The effect of ionospheric divergence on carrier smoothed pseudorange ramp response The primary reason for applying carrier smoothing to the measured pseudoranges is to mitigate the high frequency noise inherent in all code measurements Adding more carrier smoothing by increasing the CSMOOTH value filters out lower frequency noise including some multipath frequencies There are also some adverse effects of higher CSMOOTH values on some performance aspects of the receiver Speci
298. ion 1 101 Reference Manual Rev 5 99 Chapter 2 Commands 2 5 26 INTERFACEMODE Set receive or transmit modes for ports This command allows the user to specify what type of data a particular port on the receiver can transmit and receive The receive type tells the receiver what type of data to accept on the specified port The transmit type tells the receiver what kind of data it can generate For example you would set the receive type on a port to RTCA in order to accept RTCA differential corrections It is also possible to disable or enable the generation or transmission of command responses for a particular port Disabling of responses is important for applications where data is required in a specific form and the introduction of extra bytes may cause problems for example RTCA or RTCM Disabling a port prompt is also useful when the port is connected to a modem or other device that responds with data the receiver does not recognize When INTERFACEMODE port NONE NONE OFF is set the specified port are disabled from interpreting any input or output data Therefore no commands or differential corrections are decoded by the specified port When GENERIC is set for a port it is also disabled but data can be passed through the disabled port and be output from an alternative port using the pass through logs and PASSUSB See page 280 for details on these logs and the Operation chapter in the OEMStar Installation and Operation User Manual for informatio
299. ion mode are used HAL 3710m 2 nm no VAL requirement OEMStar Firmware Version 1 101 Reference Manual Rev 5 131 Chapter 2 Commands 2 5 41 RESET Perform a hardware reset This command performs a hardware reset Following a RESET command the receiver initiates a cold start boot up Therefore the receiver configuration reverts either to the factory default if no user configuration was saved or the last SAVECONFIG settings see also the FRESET and SAVECONFIG commands on pages 94 and 135 respectively The optional delay field is used to set the number of seconds the receiver is to wait before resetting Abbreviated ASCII Syntax Message ID 18 RESET delay Example reset 120 lt The RESET command can be used to erase any unsaved changes to the receiver configuration Unlike the FRESET command the RESET command does not erase data stored in the NVM such as Almanac and Ephemeris data Field ASCII Binary Binary Binary Binary Description Format Bytes Offset Type Value Value RESET header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 delay Seconds to wait before resetting Ulong 4 H default 0 132 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 2 5 42 RTKSOURCE Set the RTK correction source This command lets y
300. ite at reference time PZ Double 8 H 44 90 02 in metres 17 vel x X coordinate for satellite velocity at reference Double 8 H 52 time PZ 90 02 in metres s Continued on the following page 230 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 i SN n Binary Binary Field Field type Data Description Format Bytes Offset 18 vel y Y coordinate for satellite velocity at reference Double 8 H 60 time PZ 90 02 in metres s 19 vel z Z coordinate for satellite velocity at reference Double 8 H 68 time PZ 90 02 in metres s 20 LS acc x X coordinate for lunisolar acceleration at Double 8 H 76 reference time PZ 90 02 in metres s s 21 LS acc y Y coordinate for lunisolar acceleration at Double 8 H 84 reference time PZ 90 02 in metres s s 22 LS acc z Z coordinate for lunisolar acceleration at Double 8 H 92 reference time PZ 90 02 in metres s s 23 tau_n Correction to the nth satellite time t_n relative to Double 8 H 100 GLONASS time t_c in seconds 24 delta_tau_n Time difference between navigation RF signal Double 8 H 108 transmitted in L2 sub band and navigation RF signal transmitted in L1 sub band by nth satellite in seconds 25 gamma Frequency correction in seconds second Double 8 H 116 26 Tk Time of frame start since start of GLONASS Ulong 4 H 124 day in seconds 27 P Technological parameter Ulong 4 H 128 28 Ft User rang
301. ition is unknown and receiver clock offset is known 4 HDOP Horizontal dilution of precision Float 4 H 8 5 VDOP Vertical dilution of precision Float 4 H 12 6 systems Number of systems ULong 4 H 16 6 system See Table 29 on page 156 Enum 4 H 20 8 TDOP Time dilution of precision Long 4 H 24 variable xxxx 32 bit CRC ASCII and Binary only Hex 4 H 28 variable CR LF Sentence terminator ASCII only 292 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 3 3 47 PSRPOS Pseudorange Position This log contains the pseudorange position in metres computed by the receiver along with three status flags In addition it reports other status indicators including differential age which is useful in predicting anomalous behavior brought about by outages in differential corrections Message ID 47 Log Type Synch Recommended Input log psrposa ontime 1 ASCII Example PSRPOSA COM1 0 58 5 FINESTEERING 1419 340037 000 00000040 6326 2724 SOL COMPUTED SINGLE 51 11636177893 114 03832396506 1062 5470 16 2712 WGS84 1 8532 1 4199 3 3168 0 000 0 000 12 12 0 0 0 06 0 33 d200a78c lt There are variations of DGPS which can easily be perceived as using only one receiver For example the US Coast Guard operates a differential correction service which broadcasts GPS differential corrections over marine radio beacons As a user all you need is a marine beacon receiver and a GP
302. ition when autonomous fault detection is used Horizontal Alert Limit HAL a radius of the circle in the horizontal plane with its center being at the true position that describes the region that is required to contain the indicated horizontal position with the required probability Vertical Alert Limit VAL half of the length of the segment on the vertical axis with its center being at the true position that describes the region that is required to contain the indicated vertical position with certain probability Probability of False Alert P A false alert is defined as the indication of a positioning failure when a positioning failure has not occurred as a result of false detection A false alert would cause a navigation alert Detection strategy NovAtel s RAIM detection strategy uses the weighted least squares detection method This method computes a solution using a least squares adjustment LSA and is based on the sum of squares of weighted residuals It is a comparison between a root sum of squares of residuals and a decision threshold to determine a pass fail decision Isolation strategy NovAtel RAIM uses the maximum residual method Logically it is implemented as a second part of Fault Detection and Exclusion FDE algorithm for LSA detection method Weighted LSA residuals are standardized individually and the largest residual is compared to a decision threshold If it is more than the threshold the observation corres
303. k parameter hhh 005 17 XX Checksum hh 37 18 CR LF Sentence terminator CR LF a Variable length integer 4 digits maximum from 2 most significant binary bits of Subframe 1 Word 3 reference Table 20 1 CD GPS 200 Rev B and 8 least significant bits from subframe 5 page 25 word 3 reference Table 20 1 CD GPS 200 Reference paragraph 20 3 3 5 1 3 Table 20 VII and Table 20 VIII ICD GPS 200 Rev B Reference Table 20 VI CD GPS 200 Rev B for scaling factors and units d A quantity defined for a conic section where e 0 is a circle e 1 is an ellipse 0 lt e lt 1 is a parabola and e gt 1 is a hyperbola e Ameasurement along the orbital path from the ascending node to the point where the SV is closest to the Earth in the direction of the SV s motion 240 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 3 3 22 GPGGA_ GPS Fix Data and Undulation Time position and fix related data of the GPS receiver For greater precision use the GPGGALONG log see page 243 See also Table 54 Position Precision of NMEA Logs on page 245 The GPGGA log outputs these messages with contents without waiting for a valid almanac Instead it uses a UTC time calculated with default parameters In this case the UTC time status is set to WARNING since it may not be 100 accurate When a valid almanac is available the receiver uses the real parameters Then the UTC time is set to VALID M
304. ke Type 31 which may change Type 59GLO will stay in the same format The Type 31 format complies with the tentative RTCM 2 3 standard but is subject to change as the RTCM specifications change RTCM59GLO Differential GLONASS Corrections DGPS Message Type 59GLO provides differential GLONASS corrections 342 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 Field Field type Data Description Format Binary Binary Bytes Offset 1 RTCMDATA Log header H 0 59GLO header 2 RTCM header RTCM message type Ulong 4 H 3 Base station ID Ulong 4 H 4 4 Modified Z count where the Z count week Ulong 4 H 8 number is the week number from subframe 1 of the ephemeris 5 Sequence number Ulong 4 H 12 6 Length of frame Ulong 4 H 16 7 Base station health Ulong 4 H 20 8 subtype Message subtype Uchar 4a H 24 9 recs Number of records to follow Ulong 4 H 28 10 scale Scale factor Long 4 H 32 11 udre User differential range error Ulong 4 H 36 12 prn Satellite ID Ulong 4 H 40 13 cor Correction Int 4 H 44 14 cor rate Correction rate Int 4 H 48 15 change Change bit Ulong 4 H 52 16 TK Time of day Ulong 4 H 56 17 XXXX 32 bit CRC ASCII and Binary only Hex 4 vari able 18 CR LF Sentence terminator ASCII only a OEMStar Firmware Version 1 101 Reference Manual Rev 5 In the binary log case an additional 3 bytes of p
305. known and receiver clock offset is known 4 hdop Horizontal dilution of precision Float 4 H 8 5 htdop Horizontal position and time dilution of Float 4 H 12 precision 6 tdop Time dilution of precision assumes 3 D Float 4 H 16 position is known and only the receiver clock offset is unknown 7 cutoff Elevation cut off angle Float 4 H 20 8 PRN Number of satellites PRNs to follow Long 4 H 24 9 PRN PRN of SV PRN tracking null field until Ulong 4 H 28 position solution available 10 Next PRN offset H 28 prn x 4 variable Xxxxx 32 bit CRC ASCII and Binary only Hex 4 H 28 prn x 4 variable CR LF Sentence terminator ASCII only OEMStar Firmware Version 1 101 Reference Manual Rev 5 291 Chapter 3 Data Logs 3 3 46 PSRDOP2 Pseudorange DOP This log is similar to the PSRDOP log but contains the per system TDOPs Message ID 1163 Log Type Asynch Recommended Input log psrdop2a onchanged ASCII Example PSRDOP2A COM1 0 89 5 FINESTEERING 1613 164820 000 00000008 0802 39031 1 6740 1 3010 0 6900 1 1030 2 GPS 0 6890 GLONASS 0 7980 5dd123d0 Binary Binary Field Field type Data Description Format Bytes Offset 1 PSRDOP2 Log header H 0 header 2 GDOP Geometric dilution of precision assumes 3 D Float 4 H position and receiver clock offset all 4 parameters are unknown 3 PDOP Position dilution of precision assumes 3 D Float 4 H 4 pos
306. ksource none psrdiffsource sbas sbascontrol enable auto 2 Enable PSRDIFF from RTCM with a fall back to SBAS rtksource rtcm any psrdiffsource rtcm any sbascontrol enable auto 3 Select NONE rtksource none psrdiffsource none lt Since several errors affecting signal transmission are nearly the same for two receivers near each other on the ground a base at a known location can monitor the errors and generate corrections for the rover to use This method is called Differential GPS and is used by surveyors to obtain millimetre accuracy Major factors degrading GPS signals which can be removed or reduced with differential methods are the atmosphere ionosphere satellite orbit errors and satellite clock errors Errors not removed include receiver noise and multipath OEMStar Firmware Version 1 101 Reference Manual Rev 5 127 Chapter 2 Commands Table 26 DGPS Type Binary ASCII LEL Description 0 RTCM RTCM ID 0 lt RTCM ID lt 1023 or ANY 1 RTCA c RTCA ID A four character string containing only alpha a z or numeric characters 0 9 or ANY 2 CMR 2 CMR ID 0 lt CMR ID lt 31 or ANY 5 SBAS SBAS In the PSRDIFFSOURCE command when enabled SBAS such as WAAS EGNOS and MSAS forces the use of SBAS as the pseudorange differential source SBAS is able to simultaneously track two SBAS satellites and incorporate the SBAS corrections into the position to generate differential quality position solution
307. l bytes of padding are added to maintain 4 byte alignment OEMStar Firmware Version 1 101 Reference Manual Rev 5 141 Chapter 2 Commands 2 5 47 SENDHEX Send non printable characters in hex pairs This command is like the SEND command except that it is used to send non printable characters expressed as hexadecimal pairs Carriage return and line feed characters for example 0x0D 0x0A will not be appended to the sent data and so must be explicitly added to the data if needed Abbreviated ASCII Syntax Message ID 178 SENDHEX port length data Input Example sendhex com1 6 143ab5910d0a Field ASCII Binary Binary Binary Binary meg Type Value Value Description Format Bytes Offset 1 SENDHEX This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 port See Table 15 COM Serial Output port Enum 4 H Port Identifiers on page 68 3 length 0 700 Number of hex pairs ULong 4 H 4 4 message limited to a 700 maximum Data String Vari Vari string 1400 pair hex by max able able command interpreter buffer 700 even number of ASCII characters from set of 0 9 A F no spaces are allowed between pairs of characters a In the binary log case additional bytes of padding are added to maintain 4 byte alignment 142 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 2
308. l for information about using the receiver for differential applications The values entered into the FIX POSITION command should reflect the precise position of the base station antenna phase center Any errors in the FIX POSITION coordinates directly bias the corrections calculated by the base receiver The receiver performs all internal computations based on WGS84 and the datum command is defaulted as such The datum in which you choose to operate by changing the DATUM command is internally converted to and from WGS84 Therefore all differential corrections are based on WGS84 regardless of your operating datum The FIX POSITION command overrides any previous FIX HEIGHT or FIX POSITION command settings OEMStar Firmware Version 1 101 Reference Manual Rev 5 89 Chapter 2 Commands Table 22 FIX Parameters ASCII Type Name Parameter 1 Parameter 2 Parameter 3 NONE Not used Not used Not used AUTO Not used Not used Not used HEIGHT Default MSL height 5 Not used Not used 1000 to 20000000 m POSITION Lat 90 to 90 degrees Lon 360 to 360 degrees Default MSL height 2 b where a sign where a sign denotes 1000 to 20000000 m denotes south and a west and a sign sign denotes north denotes east Velocity a For more information about height refer to the Knowledge and Learning page in the Support section of our Web site at www novatel com b See al
309. lable channel configurations Message ID 1149 Abbreviated ASCII Syntax SELECTCHANCOMFIG set Factory Default without GLONASS option selectchanconfig 2 Factory Default with GLONASS option selectchanconfig 3 Abbreviated ASCII Example selectchanconfig 2 Field ASCII Binary ke Binary Binary Binary mied Type Value Value Description Format Bytes Offset 1 SELECTCHANC This field contains the H 0 ONFIG header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 set See Table 29 Channel configuration ULONG 4 H OEMStar Channel set Configuration Sets on page 139 138 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Table 29 OEMStar Channel Configuration Sets Chapter 2 Binary ASCII Description 1 1 14 GPS L1 channels 2 2 12 GPS L1 channels 2 SBAS L1 channels 3 3 10 GPS L1 channels 4 GLONASS L1 channels 4 4 8 GPS L1 channels 6 GLONASS L1 channels 5 5 8 GPS L1 channels 4 GLONASS L1 channels 2 SBAS L1 channels 6 6 10 GPS L1 channels 2 GLONASS L1 channels 2 SBAS L1 channels 7 7 7 GPS L1 channels 7 GLONASS L1 channels 8 8 14 GLONASS L1 channels timing only applications 7 GPS L1 7 GLONASS L1 channel configuration is recommended for Table 30 OEMStar Channel Configurations Configurations Set Description
310. latched time of mark impulse is in GPS reference weeks and seconds into the week The resolution of the latched time is 49 ns See also the notes on MARKPOS in the MARKTIME log on page 272 Message ID 181 MARKPOS Log Type Asynch Recommended Input log markposa onnew D lt Use the ONNEW trigger with the MARKTIME or MARKPOS logs Abbreviated ASCII Example SOL COMPUTED PSRDIFF 51 11637234389 114 03824932277 1063 8475 16 2713 WGS84 0 0095 0 0078 0 0257 AAAA 1 000 0 000 17 10 10 9 0 1 0 03 lt Consider the case where you have a user point device such as video equipment Connect the device to the receiver s I O port using a cable that is compatible to both the receiver and the device Refer to your device s documentation for information about its connectors and cables The arrow along the cable in the figure below indicates a MARKIN pulse from the user device on the right to the receiver I O port 270 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 ed Field type Data Description Format Bte ig ea 1 MARKPOS Log header H 0 header 2 sol status Solution status see Table 44 on page 197 Enum 4 H 3 pos type Position type see Table 43 on page 196 Enum 4 H 4 4 lat Latitude Double 8 H 8 5 lon Longitude Double 8 H 16 6 hgt Height above mean sea level Double 8 H 24 7 undulation Undulation the relationship betwe
311. le 12 Set the SV channel state Enum 4 H 4 Channel State on currently ignored page 53 OEMStar Firmware Version 1 101 Reference Manual Rev 5 159 Chapter 2 Commands 2 5 60 UNASSIGNALL Unassign all previously assigned channels This command cancels all previously issued ASSIGN commands for all SV channels same as ASSIGNALL AUTO Tracking and control for each SV channel reverts to automatic mode See ASSIGN AUTO for more details Abbreviated ASCII Syntax Message ID 30 UNASSIGNALL system Input Example unassignall gpsl1 lt Issuing the UNASSIGNALL command has no effect on channels that were not previously assigned using the ASSIGN command ASCII Binary Description Binary Binary Binary Value Value p Format Bytes Offset 1 UNASSIGNALL This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 system See Table 14 System that the SV channelis Enum 4 H Channel System tracking on page 56 lt These command examples are only applicable to specific receiver models and or channel configurations 1 The following command applies to receiver models tracking only L1 frequencies assignall sbasll idle 2 The following command applies to receiver models tracking GLONASS LI frequencies assignall gloll1 52 250 0 If you use the system field with
312. lid CHANNEL IS INVALID 20 The selected channel is invalid REQUESTED RATE IS INVALID 21 The requested rate is invalid WORD HAS NO MASK FOR 22 The word has no mask for this type of log THIS TYPE CHANNELS LOCKED DUE TO 23 Channels are locked due to error ERROR INJECTED TIME INVALID 24 Injected time is invalid COM PORT NOT SUPPORTED 25 The COM or USB port is not supported MESSAGE IS INCORRECT 26 The message is invalid INVALID PRN 27 The PRN is invalid PRN NOT LOCKED OUT 28 The PRN is not locked out PRN LOCKOUT LIST IS FULL 29 PRN lockout list is full PRN ALREADY LOCKED OUT 30 The PRN is already locked out MESSAGE TIMED OUT 31 Message timed out UNKNOWN COM PORT 33 Unknown COM or USB port requested REQUESTED HEX STRING NOT 34 Hex string not formatted correctly FORMATTED CORRECTLY INVALID BAUD RATE 35 The baud rate is invalid MESSAGE IS INVALID FOR 36 This message is invalid for this model of THIS MODEL receiver COMMAND ONLY VALID IF IN 40 Command is only valid if NVM is in fail mode NVM FAIL MODE INVALID OFFSET 41 The offset is invalid MAXIMUM NUMBER OF USER 78 Maximum number of user messages has MESSAGES REACHED been reached GPS PRECISE TIME IS 84 GPS precise time is already known ALREADY KNOWN 416 OEMStar Firmware Version 1 101 Reference Manual Rev 5 1PPS see one pulse per second 2 D 89 250 3 D 89 250 291 292 A abbreviated ascii 14 19 accumulated doppler range ADR 303
313. lipsoid Constants on page 73 9 lat o Latitude standard deviation Float 4 H 40 10 lon o Longitude standard deviation Float 4 H 44 11 hgt o Height standard deviation Float 4 H 48 12 stn id Base station ID Char 4 4 H 52 13 diff age Differential age in seconds Float 4 H 56 14 sol_age Solution age in seconds Float 4 H 60 15 SVs Number of satellite vehicles tracked Uchar 1 H 64 16 solnSVs Number of satellite vehicles used in solution Uchar 1 H 65 17 Reserved Uchar 1 H 66 18 Uchar 1 H 67 19 Uchar 1 H 68 20 ext sol stat Extended solution status see Table 46 Hex 1 H 69 Extended Solution Status on page 198 21 Reserved Hex 1 H 70 22 sig mask Signals used mask if 0 signals used in solution Hex 1 H 71 are unknown see Table 45 on page 198 23 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 72 24 CR LF Sentence terminator ASCII only a When using a datum other than WGS84 the undulation value also includes the vertical shift due to differences between the datum in use and WGS84 294 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 3 3 48 PSRTIME Time Offsets from the Pseudorange Filter This log contains the instantaneous receiver clock offsets calculated in the pseudorange filter for each GNSS used in the solution Message ID 881 Log Type Synch Recommended Input log psrtimea ontime 1 ASCII Example PSRTIMEA COM1 0 62 5 FINESTEERING 1423
314. lock is ahead of GPS reference time To derive GPS reference time use the following formula GPS reference time receiver time offset 5 offset std Standard deviation of receiver clock offset s Double 8 H 20 6 utc offset This field represents the offset of GPS Double 8 H 28 reference time from UTC time computed using almanac parameters UTC time is GPS reference time plus the current UTC offset plus the receiver clock offset UTC time GPS reference time offset UTC offset 7 status Clock model status see Table 47 Clock Model Enum 4 H 36 Status on page 211 8 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 40 9 CR LF Sentence terminator ASCII only a 0 indicates that UTC time is unknown because there is no almanac available in order to acquire the UTC offset OEMStar Firmware Version 1 101 Reference Manual Rev 5 273 Chapter 3 Data Logs 3 3 38 NAVIGATE User Navigation Data 274 This log reports the status of the waypoint navigation progress It is used in conjunction with the SETNAV command see page 143 See Figure 8 below for an illustration of navigation parameters lt The SETNAV command must be enabled before valid data will be reported from this log Message ID 161 Log Type Synch Reference Description TO lat lon X Track perpendicular reference point Current GPS position A Track perpendicular reference point X Track cross track A
315. lude specific information about only the GPS satellites and have a GP talker solution even when GLONASS satellites are present The nmeatalker auto command changes this behavior so that the NMEA messages include all satellites in the solution and the talker ID changes according to those satellites If nmeatalker is set to auto and there are both GPS and GLONASS satellites in the solution two sentences with the GN talker ID are output The first sentence contains information about the GPS and the second sentence on the GLONASS satellites in the solution If nmeatalker is set to auto and there are only GLONASS satellites in the solution the talker ID of this message is GL Abbreviated ASCII Syntax Message ID 861 NMEATALKER ID Factory Default nmeatalker gp ASCII Example nmeatalker auto gt The NMEATALKER command only affects NMEA logs that are capable of a GPS output For example GLMLA is a GLONASS only log and its output will always use the GL talker Table 25 on page 117 shows the NMEA logs and whether they use GPS GP GLONASS GL or combined GN talkers with nmeatalker auto OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 Table 25 NMEA Talkers Log Talker IDs GLMLA GL GPALM GP GPGGA GP GPGLL GP or GN GPGRS GP or GN GPGSA GP or GN GPGST GP or GN GPGSV GP and GL GPRMB GP or GN GPRMC GP or GN GPVTG GP or GN GPZDA
316. mands AUTO 1 Configures the receiver to fix the height at the last calculated value if the number of satellites available is insufficient for a 3 D solution This provides a 2 D solution Height calculation resumes when the number of satellites available allows a 3 D solution HEIGHT 2 Configures the receiver in 2 D mode with its height constrained to a given value This command is used mainly in marine applications where height in relation to mean sea level may be considered to be approximately constant The height entered using this command is referenced to the mean sea level see the BESTPOS log on page 195 and is in metres The receiver is capable of receiving and applying differential corrections from a base station while FIX HEIGHT is in effect The FIX HEIGHT command overrides any previous FIX HEIGHT or FIX POSITION command POSITION 3 Configures the receiver with its position fixed This command is used when it is necessary to generate differential corrections For both pseudorange and differential corrections this command must be properly initialized before the receiver can operate as a GPS base station Once initialized the receiver computes differential corrections for each satellite being tracked The computed differential corrections can then be output to rover stations by utilizing any of the following receiver differential corrections data log formats RTCM or RTCA See the OEMStar Installation and Operation User Manua
317. measures the drift rate at several High and Low pulse width settings b After the receiver has measured the High and Low pulse width setting the calibration process enters a Center calibration process where it attempts to find the pulse width required to zero the clock drift rate 216 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Field Field type Data Description Format Chapter3 Binary Binary Offset Bytes CLOCKSTEERING header Log header H 0 source Clock source see Table 48 Clock Source on page 215 Enum steeringstate Steering state see Table 49 Steering State on page 216 Enum 4 H 4 period Period of the FREQUENCYOUT signal used to control the oscillator refer to the FREQUENCYOUT command This value is set using the CLOCKCALIBRATE command Ulong 4 H 8 pulsewidth bandwidth Current pulse width of the FREQUENCYOUT signal The starting point for this value is set using the CLOCKCALIBRATE command The clock steering loop continuously adjusts this value in an attempt to drive the receiver clock offset and drift terms to zero The current band width of the clock steering tracking loop in Hz This value is set using the CLOCKCALIBRATE command Double Double 8 H 12 8 H 20 slope The current clock drift change in m s bit for a 1 LSB pulse width This value is set using the CLOCKCALIBRATE command Float
318. mples wo ssid ane hier ah hid sien eee nee 176 3 2 LOGS BY FUNCION periran ri inoa ED E E E daveenet pl ehcp ede 177 3 3 LOG RESEN OR DEDE E Ene ate neti S 191 3 3 1 ALMANAC Decoded Almanac 1 0 00 eceecceeeeeneeeeeeeettteeeeeeeneeeeeeeenaeeeeeeeeaaes 191 3 3 2 AVEPOS Position Averaging ccecceeeeeeeeeeeeeeeeneeeeeeenaeeeeeeeenaeeeeeeeeaaes 193 3 3 3 BESTPOS Best Positions 2 n aidan i 195 3 3 4 BESTUTM Best Available UTM Data ccecceesceeeeeeeeeeeeeeeteeeeenaeeees 200 3 3 5 BESTVEL Best Available Velocity Data W u u u dsssseeeeeeeeneren renerne renee 203 3 3 6 BESTXYZ Best Available Cartesian Position and Velocity 206 3 3 7 CHANCONFIGLIST All available channel configurations 210 3 3 8 CLOCKMODEL Current Clock Model Status eceieeeeeseeeeeeenaes 211 3 3 9 CLOCKMODEL2 Clock Bias ccceccceceeeceeeceeceeeeeeteaeeeseaeeeseeeeetnneeees 214 3 3 10 CLOCKSTEERING Clock Steering Status eee eeeteeeeeeenaes 215 3 3 11 CMR Standard LOGS eii ciccadeien Er laane 218 3 3 12 COMCONFIG Current COM Port Configuration ce eeeeeeeeetees 219 3 3 13 GLMLA NMEA GLONASS Almanac Data GLO 0 ccccccccseeteteee 222 3 3 14 GLOALMANAC Decoded Almanac GLO cccccceccecseeteeteeeeeeeeeees 224 3 3 15 GLOCLOCK GLONASS Clock Information GLO css 226 3 3 16 GLOEPHEMERIS GLONASS Ephemeris Data GLO cc 228 3 3 17 GLORAWALM Raw GLONASS Almanac Data GLO ccc 232 3 3 18 GLORAW
319. n stddev correction MARKCONTROL 614 Control the processing of markcontrol signal switch polarity the mark inputs timebias timeguard MODEL 22 Switch to a previously model model AUTHed model NMEATALKER 861 Set the NMEA talker ID nmeatalker ID NVMRESTORE 197 Restore NVM data after a nvmrestore failure in NVM PDPFILTER 424 Enable disable or reset pdpfilter switch the PDP filter PDPMODE 970 Select the PDP mode and pdpmode mode dynamics dynamics Continued on the following page OEMStar Firmware Version 1 101 Reference Manual Rev 5 39 Chapter 2 Commands Command Message Description Syntax POSAVE 173 Implement position posave state maxtime maxhstd averaging for base station maxvstd POSTIMEOUT 612 Sets the position time out postimeout sec value PPSCONTROL 613 Control the PPS output ppscontrol switch polarity rate pulse width PSRDIFFSOURCE 493 Set the pseudorange psrdiffsource type ID correction source RAIMMODE 1285 Set the RAIM mode raimmode mode hal val pfa RESET 18 Perform a hardware reset reset delay SAVECONFIG 19 Save current saveconfig configuration in non volatile memory SBASCONTROL 652 Set SBAS test mode and sbascontrol keyword system prn PRN testmode SELECTCHAN 1149 Set channel configuration selectchanconfig set CONFIG SEND 177 Send an ASCII message send port data to any of the communications ports SENDHEX 178 Send n
320. n Status Tests in the OEMStar Installation and Operation User Manual Message ID 94 Log Type Asynch Recommended Input log rxstatuseventa onchanged ASCII Example 1 RXSTATUSEVENTA COM1 0 17 0 FREEWHEELING 1337 408334 510 00480000 b967 1984 STATUS 19 SET No Valid Position Calculated 6de945ad ASCII Example 2 RXSTATUSEVENTA COM1 0 41 0 FINESTEERING 1337 408832 031 01000400 b967 1984 STATUS 10 SET COM2 Transmit Buffer Overrun 5b5682a9 lt When a fatal event occurs for example in the event of a receiver hardware failure a bit is set in the receiver error word part of the RXSTATUS log on page 347 to indicate the cause of the problem Bit 0 is set in the receiver status word to show that an error occurred the error strobe is driven high and the LED flashes red and orange showing an error code An RXSTATUSEVENT log is generated on all ports to show the cause of the error Receiver tracking is disabled at this point but command and log processing continues to allow you to diagnose the error Even if the source of the error is corrected at this point the receiver must be reset to resume normal operation OEMStar Firmware Version 1 101 Reference Manual Rev 5 355 Chapter 3 Data Logs Table 73 Status Word Word binary Word ASCII Description 0 ERROR Receiver Error word see Table 68 on page 348 1 STATUS Receiver Status word see Table 69 on page 350 2 AUX1 Auxiliary 1 Status word see Ta
321. n about pass through logging see also the COMCONHIG log on page 219 WARNING If you intend to use the COM command ensure you do so before the INTERFACEMODE command on each port The COM command can remove the INTERFACEMODE command setting if the baud rate is changed after the interface mode is set You can also turn break detection off using the COM command see page 67 to stop the port from resetting because it is interpreting incoming bits as a break command Abbreviated ASCII Syntax Message ID 3 INTERFACEMODE port rxtype txtype responses Factory Default interfacemode com novatel novatel on interfacemode com novatel novatel on interfacemode usbl novatel novatel on interfacemode usb2 novatel novatel on interfacemode usb3 novatel novatel on ASCII Example 1 interfacemode com rtca novatel on ASCII Example 2 interfacemode com2 rtcm none 100 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 lt Are NovAtel receivers compatible with others on the market All GPS receivers output two solutions position and time The manner in which they output them makes each receiver unique Most geodetic and survey grade receivers output the position in electronic form typically RS 232 which makes them compatible with most computers and data loggers All NovAtel receivers have this ability However each manufacturer has a unique way of formatting the messages A NovAtel receiver is not directly com
322. nary Binary Binary Binary Value Value Description Format Bytes Offset 1 FIXPOSDATUM This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 datum See Table 18 on Datum ID Enum 4 H page 73 3 lat 90 Latitude degrees Double 8 H 4 4 lon 360 Longitude degrees Double 8 H 12 5 height 1000 to 20000000 Mean sea level MSL Double 8 H 20 height m a For more information about height refer to the Knowledge and Learning page in the Support section of our Web site at www novatel com OEMStar Firmware Version 1 101 Reference Manual Rev 5 91 Chapter 2 Commands 2 5 21 FREQUENCYOUT Set output pulse train available on VARF This command sets the output pulse train available on the variable frequency VARF pin The output waveform is coherent with the 1PPS output see the usage note and Figure I below lt Figure 1 below shows how the chosen pulse width is frequency locked but not necessarily phase locked Abbreviated ASCII Syntax Message ID 232 FREQUENCYOUT switch pulsewidth period Factory Default frequencyout disable ASCII Example frequencyout enable 2 This example generates a 50 duty cycle 10 MHz square wave I i VARF 200 Hz I I I BERNER SEERE eee I I I I I I I VARF 1000 Hz I PENENT DOELE ROR EEEO I I
323. nd sets the amount of carrier smoothing to be performed on the code measurements An input value of 100 corresponds to approximately 100 seconds of smoothing Upon issuing the command the locktime for continuous tracking of all GLONASS satellites is reset to zero From this point each code smoothing filter is restarted The user must wait for at least the length of smoothing time for the new smoothing constant to take full effect The optimum setting for this command is dependent on your application Abbreviated ASCII Syntax Message ID 830 GLOCSMOOTH Litime Factory Default glocsmooth 100 Abbreviated ASCII Example glocsmooth 200 lt The GLOCSMOOTH command should only be used by advanced GNSS users The shorter the carrier smoothing the more noise there will be If you are at all unsure please e mail NovAtel Customer Support support novatel ca When used in differential mode the same setting should be used at both the base and rover stations OEMStar receivers use the default setting of 100 s The GLOCSMOOTH and CSMOOTH values for the OEMStar are best left at their defaults 100 unless you are certain that your application requires different values ASCII Binary Binary Binary Binary Value Value Description Format Bytes Offset 1 GLO This field contains the command H 0 CSMOOTH name or the message header header depending on whether the command is abbreviated ASCII ASCII or binary respectively
324. nges or subtracted from the measured pseudoranges For example P p pd c dT dt d ion d trop Ep is equivalent to P c dT dt dGion d trop p pd Ep where P measured pseudorange p geometric range pd orbit error dt satellite clock offset dT receiver clock offset d ion ionospheric delay d trop tropospheric delay c speed of light Ep noise and multipath OEMStar Firmware Version 1 101 Reference Manual Rev 5 359 Chapter 3 Data Logs Field Field type Data Description Format Binary Binary yP p Bytes Offset 1 SATXYZ header Log header H 0 2 Reserved Double 8 H 3 sat Number of satellites with Cartesian Ulong 4 H 8 information to follow 4 PRN slot Satellite PRN number of range Ulong 4 H 12 measurement GPS 1 32 and SBAS 120 to 138 For GLONASS see Section 1 3 on page 26 5 x Satellite X coordinates ECEF m Double 8 H 16 6 y Satellite Y coordinates ECEF m Double 8 H 24 7 Z Satellite Z coordinates ECEF m Double 8 H 32 8 clk corr Satellite clock correction m Double 8 H 40 9 ion corr lonospheric correction m Double 8 H 48 10 trop corr Tropospheric correction m Double 8 H 56 11 Reserved Double 8 H 64 12 Double 8 H 72 13 Next satellite offset H 12 sat x 68 variable Xxxxx 32 bit CRC ASCII and Binary only Hex 4 H 12 sat x 68 variable CR LF Sentence terminator ASCII only
325. ns a running count of a variety of status indicators of the data link This log outputs a report of those indicators Message ID 72 Log Type Polled Recommended Input log portstatsa once ASCII example PORTSTATSA COM1 0 59 0 FINESTEERING 1337 403086 241 00000000 a872 1984 6 COM1 4450 58494 4450 0 1869 0 0 0 0 COM2 5385946 0 5385941 0 192414 0 0 5 0 USB1 0 0 0 0 0 0 0 0 0 USB2 0 0 0 0 0 0 0 0 0 USB3 0 0 0 0 0 0 0 0 0 f7 6ea50 gt lt Parity and framing errors occur for COM ports if poor transmission lines are encountered or if there is an incompatibility in the data protocol If errors occur you may need to confirm the bit rate number of data bits number of stop bits and parity of both the transmit and receiving ends Characters may be dropped when the CPU is overloaded 288 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 Field Field type Data Description Format Binary Binary yp p Bytes Offset 1 PORTSTATS Log header H 0 header 2 port Number of ports with information to follow Long 4 H 3 port Serial port identifier see Table 15 COM Enum 4 H 4 Serial Port Identifiers on page 68 4 rx chars Total number of characters received through Ulong 4 H 8 this port 5 tx chars Total number of characters transmitted Ulong 4 H 12 through this port 6 acc rx chars Total number of accepted characters Ulong 4 H 16 received through this port 7 d
326. nse Message 5 Reserved Char 1 H 7 6 trigger 0 ONNEW Does not output current Enum 4 H 8 message but outputs when the message is updated not necessarily changed 1 ONCHANGED Outputs the current message and then continue to output when the message is changed 2 ONTIME Output on a time interval 3 ONNEXT Output only the next message 4 ONCE Output only the current message 5 ONMARK Output when a pulse is detected on the mark 1 input MK11 2 Continued on the next page OEMStar Firmware Version 1 101 Reference Manual Rev 5 107 Chapter 2 Commands Field Binary DA Field Binary Binary Field Name Value Resenptlon Type Bytes Offset 7 period Valid values for the high rate Log period for ONTIME Double 8 H 12 0 5 For logging slower than 1Hz any integer value is accepted 8 offset A valid value is any integer Offset for period ONTIME Double 8 H 20 smaller than the period These trigger in seconds If you decimal values on their own wished to log data at 1 are also valid 0 1 0 2 0 25 or second after every minute 0 5 you would set the period to 60 and the offset to 1 9 hold 0 NOHOLD Allow log tobe removed by Enum 4 H 28 the UNLOGALL command 1 HOLD Prevent log from being removed by the default UNLOGALL command a Refer to the Technical Specifications appendix in the OEMStar Installation and Operation User
327. numbers are 1 to 24 which give the range 65 to 88 PRN numbers 89 to 96 are available if slot numbers above 24 are allocated to on orbit spares 250 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 3 3 27 GPGST Pseudorange Measurement Noise Statistics Pseudorange measurement noise statistics are translated in the position domain in order to give statistical measures of the quality of the position solution This log reflects the accuracy of the solution type used in the BESTPOS see page 195 and GPGGA see page 241 logs except for the RMS field The RMS field since it specifically relates to pseudorange inputs does not represent carrier phase based positions Instead it reflects the accuracy of the pseudorange position which is given in the PSRPOS log see page 293 The GPGST log outputs these messages with contents without waiting for a valid almanac Instead it uses a UTC time calculated with default parameters In this case the UTC time status is set to WARNING since it may not be 100 accurate When a valid almanac is available the receiver uses the real parameters Then the UTC time is set to VALID lt If the NMEATALKER command see page 116 is set to AUTO the talker the first 2 characters after the sign in the log header is set to GP GPS satellites only GL GLONASS satellites only or GN satellites from both systems NovAtel does not support a GLONASS only solution Message ID 222 Log Ty
328. of the four unknowns height is the most difficult to solve Many GPS receivers output the standard deviations SD of the latitude longitude and height Height often has a larger value than the other two Accuracy is based on statistics reliability is measured in percent When a receiver says that it can measure height to one metre this is an accuracy Usually this is a one sigma value one SD A one sigma value for height has a reliability of 68 In other words the error is less than one metre 68 of the time For a more realistic accuracy double the one sigma value one metre and the result is 95 reliability error is less than two metres 95 of the time Generally GPS heights are 1 5 times poorer than horizontal positions See also page 251 for CEP and RMS definitions Binary Binary Field Field type Data Description Format Bytes Offset 1 AVEPOS Log header H 0 header 2 lat Average WGS84 latitude degrees Double 8 H 3 lon Average WGS84 longitude degrees Double 8 H 8 4 ht Average height above sea level m Double 8 H 16 5 lato Estimated average standard deviation of Float 4 H 24 latitude solution element m 6 lon o Estimated average standard deviation of Float 4 H 28 longitude solution element m 7 hot o Estimated average standard deviation of height Float 4 H 32 solution element m 8 posave Position averaging status see Table 42 Enum 4 H 36 9 ave time Elapsed time of avera
329. of the relationships in Figure 6 TOPOGRAPHY a GEOID mean sea level SPHEROID ellipsoid N Geoidal height undulation Figure 6 Illustration of Undulation OEMStar Firmware Version 1 101 Reference Manual Rev 5 161 Chapter 2 Commands Field ASCII Binary Type Value Value Binary Binary Binary Field Format Bytes Offset Description 1 UNDULATION This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 option TABLE 0 Use the internal undulation Enum 4 H table same as EGM96 USER 1 Use the user specified undulation value OSU89B 2 Use the OSU89B undulation table EGM96 3 Use global geoidal height model EGM96 table default 3 separation 1000 0 m The undulation value Float 4 H 4 required for the USER option 162 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 2 5 62 UNLOCKOUT Reinstate a satellite in the solution This command allows a satellite which has been previously locked out LOCKOUT command to be reinstated in the solution computation If more than one satellite is to be reinstated this command must be reissued for each satellite reinstatement Abbreviated ASCII Syntax Message ID 138 UNLOCKOUT prn Input Example unlockout 8 lt The UNLOCKOUT command allows you to reinstate a satelli
330. ommand is abbreviated ASCII ASCII or binary respectively 2 Litime 2 2000 L1 carrier smoothing time Ulong 4 H constant in seconds 3 Reserved OEMStar Firmware Version 1 101 Reference Manual Rev 5 71 Chapter 2 Commands 2 5 12 DATUM Choose a datum name type 72 This command permits you to select the geodetic datum for operation of the receiver If not set the factory default value is WGS84 See the USERDATUM command for user definable datums The datum you select causes all position solutions to be based on that datum The transformation for the WGS84 to Local used in the OEMStar is the Bursa Wolf transformation or reverse Helmert transformation In the Helmert transformation the rotation of a point is counter clockwise around the axes In the Bursa Wolf transformation the rotation of a point is clockwise Therefore the reverse Helmert transformation is the same as the Bursa Wolf See Table 18 on page 73 for a complete listing of all available predefined datums The offsets in the table are from your local datum to WGS84 Abbreviated ASCII Syntax Message ID 160 DATUM datum Factory Default datum wgs84 ASCII Example datum csrs Also as an example you can achieve spatial integrity with Government of Canada maps and surveys if the coordinates are output using the CSRS datum Datum ID 64 Table 18 on page 73 contains the internal ellipsoid and transformation parameters used in the
331. on POS3D oo 3D standard deviation default POS2D 1 2D standard deviation 146 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 2 5 51 SETIONOTYPE Enable ionospheric models Set which ionospheric corrections model the receiver should use L1 only automatically use SBAS ionospheric grid corrections if available The corrections model with the previous ASCII name of BROADCAST is now called KLOBUCHAR to reflect the actual model used Abbreviated ASCII Syntax Message ID 711 SETIONOTYPE model Factory Default setionotype auto ASCII Example setionotype klobuchar lt For more information about PDP or GLIDE positioning filters refer to the OEMStar Installation and Operation User Manual available on our Web site at www novatel com Field ASCII Binary Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 SETIONO This field contains the H 0 TYPE command name or the header message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 model See Table 32 below Choose an ionospheric Enum 4 H corrections model default NONE Table 32 lonospheric Correction Models ASCII Binary Description NONE 0 Don t use ionospheric modeling KLOBUCHAR 1 Use the broadcast Klobuchar model GRID 2 Use the SBAS model AUTO 4 Automatically determine the ionospheric model to use
332. on 110 default factory 35 47 72 79 132 delay antenna 65 destination 148 276 device user point 113 272 de weighting 104 290 DGPSEPHEMDELAY command 79 DGPSTIMEOUT command 81 DGPSTXID command 82 differential correction accept 100 age 205 207 DGPS 81 position 195 199 271 pseudorange 293 297 pseudorange position 299 UTM 201 error reduction 293 fix position 88 89 method 127 none available 364 outage 133 195 293 positioning 79 satellite visibility 357 send 122 140 set 332 station 89 127 133 181 182 364 transmit RTCA 79 dilution of precision DOP 242 NMEA 249 position averaging 193 pseudorange 290 OEMStar Firmware Version 1 101 Reference Manual Rev 5 419 Index volume 249 direction accuracy 204 bearing 276 over ground 296 referenced to True North 110 report 296 static position 204 distance exceeded 197 straight line 276 track offset 148 dither 211 DOP see dilution of precision Doppler 307 accumulated 303 309 assign 53 55 56 instantaneous 298 307 jump 60 offsets 191 range record 309 satellite visibility 358 tracking status 365 drift 60 dynamic 83 dynamics 121 DYNAMICS command 83 E earth centered earth fixed ECEF 206 eccentricity 192 261 echo 69 ECHO command 85 ECUTOFF command 86 EGNOS European SBAS 136 elevation cut off 86 87 173 291 error 364 GLONASS 99 satellite visibility 253 358 set 35 tracking
333. on precision between this log and other selected NMEA logs can be seen in Table 54 Position Precision of NMEA Logs on page 245 The GPRMC log outputs these messages with contents without waiting for a valid almanac Instead it uses a UTC time calculated with default parameters In this case the UTC time status is set to WARNING since it may not be 100 accurate When a valid almanac is available the receiver uses the real parameters Then the UTC time is set to VALID lt If the NMEATALKER command see page 116 is set to AUTO the talker the first 2 characters after the sign in the log header is set to GP GPS satellites only GL GLONASS satellites only or GN satellites from both systems NovAtel does not support a GLONASS only solution Message ID 225 Log Type Synch Recommended Input log gprmc ontime 1 Example 1 GPS SGPRMC 144326 00 A 5107 0017737 N 11402 3291611 W 0 080 323 3 210307 0 0 E A 20 Example 2 Combined GPS and GLONASS SGNRMC 143909 00 A 5107 0020216 N 11402 3294835 W 0 036 348 3 210307 0 0 E A 31 lt Please see the GPGGA note applies to all NMEA logs on page 241 OEMStar Firmware Version 1 101 Reference Manual Rev 5 257 Chapter 3 Data Logs Field Structure Field Description Symbol Example 1 GPRMC Log header GPRMC 2 utc UTC of position hhmmss ss 144326 00 3 pos status Position status A A A data valid V data invalid 4 lat L
334. on printable sendhex port length data characters in hexadecimal pairs SETAPPROXPOS 377 Set an approximate setapproxpos lat lon height position SETAPPROXTIME 102 Set an approximate GPS setapproxtime week sec reference time SETBESTPOS 839 Set criteria for the setbestposcriteria type delay CRITERIA BESTPOS log SETIONOTYPE 711 Set the ionospheric setionotype model corrections model Continued on the following page 40 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 Command ege Description Syntax SETNAV 162 Set start and destination setnav fromlat fromlon tolat tolon waypoints track offset from point to point SETRTCM16 131 Enter an ASCII text setricm16 text message to be sent out in the RTCM data stream SETRTCM36 880 Enter ASCII message setricm36 extdtext including Russian characters SETUTCLEAP 1150 Set detault UTC Leap setutcleapseconds seconds SECONDS Seconds offset STATUSCONFIG 95 Configure various status statusconfig type word mask mask fields in RXSTATUSEVENT log UNASSIGN 29 Unassign a previously unassign channel ASSIGNed channel UNASSIGNALL 30 Unassign all previously unassignall system ASSIGNed channels UNDULATION 214 Choose undulation undulation option separation UNLOCKOUT 138 Reinstate a satellite in the unlockout prn solution computation UNLOCKOUTALL 139 Reinstate all previously unlockoutall locked out satellites UNLOG 36 Remov
335. on the following page 20 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Messages Field Table 4 Binary Message Header Structure continued Field Name Sequence Field Type Ushort Description This is used for multiple related logs It is a number that counts down from N 1 to 0 where N is the number of related logs and 0 means it is the last one of the set Most logs only come out one at a time in which case this number is 0 Binary Bytes Binary Offset 10 Chapter 1 ignored on Input 10 Idle Time Uchar The time that the processor is idle in the last second between successive logs with the same Message ID Take the time 0 200 and divide by two to give the percentage of time 0 100 12 11 Time Status Enum Indicates the quality of the GPS reference time see Table 8 GPS Reference Time Status on page 27 1 13 12 Week Ushort GPS reference week number 14 13 ms GPSec Milliseconds from the beginning of the GPS reference week 16 14 Receiver Status Ulong 32 bits representing the status of various hardware and software components of the receiver between successive logs with the same Message ID see Table 69 Receiver Status on page 350 20 15 Reserved Ushort Reserved for internal use 24 16 Receiver S W Version Ushort This is a value 0 65535 th
336. ong 336 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 Field Field type Data Description Format Binary Binary Bytes Offset 1 RTCMDATA16 Log header H 0 header 2 RTCM header RTCM message type Ulong 4 H 3 Base station ID Ulong 4 H 4 Modified Z count where the Z count Ulong 4 H 8 week number is the week number from subframe 1 of the ephemeris 5 Sequence number Ulong 4 H 12 6 Length of frame Ulong 4 H 16 7 Base station health Ulong 4 H 20 8 chars Number of characters to follow Ulong 4 H 24 9 character Character Char 4a H 28 10 Next char offset H 28 chars x 4 variable XXXX 32 bit CRC ASCII and Binary only Hex 4 variable variable CR LF Sentence terminator ASCII only a In the binary log case an additional 3 bytes of padding are added to maintain 4 byte alignment OEMStar Firmware Version 1 101 Reference Manual Rev 5 337 Chapter 3 Data Logs 3 3 67 RTCMDATA31 GLONASS Differential Corrections DGPS Tx amp GLO See Section 3 3 62 starting on page 326 for information about RTCM standard logs Message ID 868 Log Type Synch Recommended Input log rtcmdata31a ontime 2 ASCII Example RTCMDATA31A COM1 0 59 5 FINESTEERING 1417 171572 000 00140000 77c0 2698 31 1000 3953 0 0 6 4 0 0 4 506 6 1 77 0 0 2 280 9 1 77 0 0 18 645 4 1 77 0 0 19 660 6 1 77 29664bf3 RTCM31 Different
337. ong 4 H 12 be set using the STATUSCONFIG command page 157 6 rxstat set Receiver status event set mask which ULong 4 H 16 can be set using the STATUSCONFIG command page 157 7 rxstat clear Receiver status event clear mask which ULong 4 H 20 can be set using the STATUSCONFIG command page 157 8 aux stat Auxiliary 1 status word see Table 70 ULong 4 H 24 Auxiliary 1 Status on page 352 9 aux stat pri Auxiliary 1 status priority mask which ULong 4 H 28 can be set using the STATUSCONFIG command page 157 10 aux stat set Auxiliary 1 status event set mask which ULong 4 H 32 can be set using the STATUSCONFIG command page 157 11 aux stat Auxiliary 1 status event clear mask ULong 4 H 36 clear which can be set using the STATUSCONFIG command page 157 12 aux2stat Auxiliary 2 status word see Table 71 ULong 4 H 40 Auxiliary 2 Status on page 352 13 aux2stat pri Auxiliary 2 status priority mask which ULong 4 H 44 can be set using the STATUSCONFIG command page 157 14 aux2stat set Auxiliary 2 status event set mask which ULong 4 H 48 can be set using the STATUSCONFIG command Continued on the following page OEMStar Firmware Version 1 101 Reference Manual Rev 5 353 Chapter 3 Data Logs Field Field type Data Description Format Binary Binary Bytes Offset 15 aux2stat Auxiliary 2 status event clear mask ULong 4 H 52 clear which can be set using the STATUSCONFIG command 16 aux3stat
338. onospheric delay corrections Asynch WAAS27 SBAS service message Asynch WAASCORR SBAS range corrections used Synch DIFFERENTIAL BASE STATION ALMANAC Current almanac information Asynch BESTPOS Best position data Synch BESTVEL Velocity data Synch GPGGA NMEA position fix data Synch PSRPOS Pseudorange position Synch PSRVEL Pseudorange velocity Synch Continued on the following page OEMStar Firmware Version 1 101 Reference Manual Rev 5 181 Chapter 3 Data Logs DIFFERENTIAL BASE STATION RANGE Satellite range information Synch RANGECMP Compressed version of the RANGE Synch log REFSTATION Base station position and health Asynch RTCADATA1 Differential GPS corrections Synch RTCADATAEPHEM Ephemeris and time information Synch RTCA or RTCM data logs for example RTCADATA1 and RTCMDATA1 See also Table 40 that follows for a complete list of logs in alphabetical order 182 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 Table 40 OEMStar Logs in Alphabetical Order NovAtel Format Logs Datatype ULEESSETe BD Description ALMANAC 73 Current almanac information AVEPOS 172 Position averaging BESTPOS 42 Best position data BESTUTM 726 Best available UTM data BESTVEL 99 Velocity data BESTXYZ 241 Cartesian coordinate position data CHANCONFIGLIST 1148 All available chann
339. ons For example fixing the position and height is a requirement for differential base stations as it provides a truth position to base the differential corrections from If you enter a FIXPOSDATUM command see page 91 the FIX command is then issued internally with the FIXPOSDATUM command values translated to WGS84 It is the FIX command that appears in the RXCONFIG log If the FIX or the FIXPOSDATUM command are used their newest values overwrite the internal FIX values lt NovAtel strongly recommends that the FIX POSITION entered be good to within a few metres This level of accuracy can be obtained from a receiver using single point positioning once 5 or 6 satellites are being tracked PDPFILTER DISABLE command must be sent for FLX command to take effect FIX POSITION should only be used for base station receivers Applying FIX POSITION to a rover switches it from DGPS mode to a fixed position mode Applying FIX POSITION to the rover does not speed up ambiguity resolution You can fix the position of the receiver using latitude longitude and height in Mean Sea Level MSL or ellipsoidal parameters depending on the UNDULATION setting The factory default for the UNDULATION setting is TABLE where the height entered in the FIX command is set as MSL height If you change the UNDULATION setting to USER 0 the height entered in the FIX command is set as ellipsoidal height see page 161 Error checking is done on the entered fixed position
340. ons The receiver automatically switches to Pseudorange Differential RTCM or RTCA if the appropriate corrections are received regardless of the current setting gt lt OEMStar has SBAS control disabled by default To enable send command SBASCONTROL ENABLE AUTO O NONE SBASCONTROL is not available on non SBAS configurations and will return an error CAUTION If SBAS is enabled and your receiver is outside of the corrections grid you may experience larger positional errors caused by applying incorrect correction data When in AUTO mode if the receiver is outside the defined satellite system s corrections grid it reverts to ANY mode and chooses a system based on other criteria lt The receiver must have a channel configuration that has SBAS channels Also see the SELECTCHANCONFIG command an page 138 Once tracking satellites from one system in ANY or AUTO mode it does not track satellites from other systems This is because systems such as WAAS EGNOS and MSAS do not share broadcast information and have no way of knowing each other are there The testmode parameter in the example is to get around the test mode of these systems EGNOS at one time used the IGNOREZERO test mode At the time of printing ZEROTOTWO is the correct setting for all SBAS including EGNOS running in test mode On a simulator you may want to leave this parameter off or specify NONE explicitly OEMStar Firmware Version 1
341. or axis 170 192 send 140 142 SEND command 140 SENDHEX command 142 serial port 102 103 220 289 SETAPPROXPOS command 143 SETAPPROXTIME command 144 SETBESTPOSCRITERIA command 146 SETIONOTYPE command 147 SETNAV command 148 SETRTCM 16 151 SETRTCM36 command 152 SETRTCMRXVERSION 150 SETTIMEB ASE 154 setting command 33 SETUTCLEAPSECONDS command 156 signal DC 93 elevation cut off 86 error 70 127 mark 114 path 65 86 period 93 search 88 sky 357 smooth 119 smoothing carrier phase 70 98 software version 177 Index solar cars 83 solution status 271 type 96 speed current 276 data 257 over ground 205 258 263 297 standard positioning service SPS 191 standards and references 191 standby mode PC 106 static mode 121 station ID 82 328 Statistics 194 252 status arrival 256 channel tracking 305 307 309 363 clock model 273 COM port 288 command 34 data 245 event 355 flag 293 347 indicator 195 203 206 298 mask 157 receiver 17 105 177 347 self test 177 solution 271 time 17 trigger 347 velocity 206 word 356 STATUSCONFIG command 157 steer clock 60 62 time 27 28 60 subframe 180 191 311 313 survey base station 122 datum 91 167 169 grade receivers 101 navigate 148 WAAS 371 synchronize 49 synchronous log 175 OEMStar Firmware Version 1 101 Reference Manual Rev 5 427 Index T tag external event 283 Technical Specifications
342. ort statistics 73 ALMANAC Current almanac information 74 RAWALM Raw almanac 83 TRACKSTAT Satellite tracking status 93 RXSTATUS Self test status 94 RXSTATUSEVENT Status event indicator 99 BESTVEL Velocity data 100 PSRVEL Pseudorange velocity information 101 TIME Receiver time information 128 RXCONFIG Receiver configuration status 140 RANGECMP Compressed version of the RANGE log 161 NAVIGATE Navigation waypoint status 172 AVEPOS Position averaging 174 PSRDOP DOP of SVs currently tracking 181 MARKPOS Position at time of mark input event 206 VALIDMODELS Model and expiry date information for receiver 231 MARKTIME Time of mark input event 233 234 PASSCOM1 PASSCOM2 Pass through logs 241 BESTXYZ Cartesian coordinate position data Continued on the following page OEMStar Firmware Version 1 101 Reference Manual Rev 5 187 Chapter 3 188 Data Logs NovAtel Format Logs Message ID Datatype Description 243 PSRXYZ Pseudorange Cartesian coordinate position 270 SATXYZ SV position in ECEF Cartesian coordinates 287 RAWWAASFRAME Raw SBAS frame data 290 WAASO Remove PRN from the solution 291 WAAS1 PRN mask assignments 292 WAAS10 Degradation factor 293 WAAS12 SBAS network time and UTC 294 WAAS17 GEO almanac message 295 WAAS18 IGP mask 296 WAAS2 Fast correction slots 0 12 297 WAAS24 Mixed fast slow corrections 298 WAAS2
343. ou identify from which base station to accept RTCM RTCMV3 RTCA and CMR differential corrections This is useful when the receiver is receiving corrections from multiple base stations see also the PSPRDIFFSOURCE command on page 127 lt OEMStar uses all differential corrections to acquire a DGPS solution only RTK positioning is not available on the OEMStar receiver The GLONASS option is necessary for the OEMStar to compute a DGPS solution using GLONASS corrections Abbreviated ASCII Syntax Message ID 494 RTKSOURCE type ID Factory Default rtksource auto any ASCII Examples 1 Specify the format before specifying the base station IDs rtksource rtcmv3 5 rtksource rtcm 6 The RTKSOURCE command supports both RTCM and RTCMV3 while the PSRDIFFSOURCE commands supports only RTCM Select only SBAS rtksource none psrdiffsource none sbascontrol enable auto Enable PSRDIFF from RTCM with a fall back to SBAS rtksource rtcm any psrdiffsource rtcm any sbascontrol enable auto lt Consider an agricultural example where a farmer has his own RTCM base station set up but either due to obstructions or radio problems might occasionally experience a loss of corrections By specifying a fall back to SBAS the farmer could set up his receiver to use transmitted RTCM corrections when available but fall back to SBAS OEMStar Firmware Version 1 101 Reference Manual Rev 5 133 Chapter 2 Commands ASCII Binary Binary
344. ovAtel Customer Support WARNING Removing an authorization code will cause the receiver to permanently lose this information Abbreviated ASCII Syntax Message ID 49 AUTH state part part2 part3 part4 part5 model date Input Examples auth add 1234 5678 9abc def0 1234 Ixgdmts 990131 auth 1234 5678 9abc def0 1234 lxgdmts lt When you want to easily upgrade your receiver without returning it to the factory our unique field upgradeable feature allows you buy the equipment that you need today and upgrade them without facing obsolescence When you are ready to upgrade from one model to another call 1 800 NOVATEL to speak with our Customer Support Sales Personnel who can provide the authorization code that unlocks the additional features of your GPS receiver This procedure can be performed at your work site and takes only a few minutes 58 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Fiela Field Type ASCII Value Binary Value Description Binary Format Chapter 2 Binary Binary Bytes Offset 1 AUTH This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 state REMOVE 0 Remove the authcode Enum 4 H from the system ADD 1 Add the authcode to the system default 3 part1 4 digit hexadecimal Authorization code ULong 4 H 4
345. oved that is the searcher may search and lock onto this PRN on another channel The automatic searcher only searches for PRNs I to 32 for GPS channels PRNs 38 to 61 for GLONASS where available and PRNs 120 to 138 for SBAS channels This command may be used to aid in the initial acquisition of a satellite by allowing you to override the automatic satellite channel assignment and reacquisition processes with manual instructions The command specifies that the indicated tracking channel search for a specified satellite at a specified Doppler frequency within a specified Doppler window The instruction remains in effect for the specified SV channel and PRN even if the assigned satellite subsequently sets If the satellite Doppler offset of the assigned SV channel exceeds that specified by the window parameter of the ASSIGN command the satellite may never be acquired or re acquired If a PRN has been assigned to a channel and the channel is currently tracking that satellite when the channel is set to AUTO tracking the channel immediately idles and returns to automatic mode To cancel the effects of ASSIGN you must issue one of the following The ASSIGN command with the state set to AUTO The UNASSIGN command e The UNASSIGNALL command These return SV channel control to the automatic search engine immediately Table 12 Channel State Binary ASCII Description 0 IDLE Set the SV channel to not track any satellites 1 ACTIVE Set t
346. ows exclude the checksum shown in bold italics above OEMStar Firmware Version 1 101 Reference Manual Rev 5 31 Chapter 1 Messages ASCII include lt iostream h gt include lt string h gt void main char fi BESTPOSA COM2 0 77 5 FINESTEERING 1285 160578 000 00000020 5941 11 64 SOL COMPUTED SINGLE 51 11640941570 114 03830951024 1062 6963 16 2712 WGS84 1 6890 1 2564 2 7826 0 000 0 000 10 10 0 0 0 0 0 0 unsigned long iLen strlen i unsigned long CRC CalculateBlockCRC32 iLen unsigned char i cout lt lt hex lt lt CRC lt lt endl BINARY 32 include lt iostream h gt include lt string h gt int main unsigned char buffer 0xAA 0x44 0x12 Ox1C 2A 0x00 0x02 0x20 0x48 0x00 0x00 0x00 0x90 OxB4 0x93 0x05 OxBO OxAB OxB9 0x12 0x00 0x00 0x00 0x00 0x45 0x61 OxBC OxO0A 0x00 0x00 0x00 0x00 0x10 0x00 0x00 0x00 Ox1B 0x04 0x50 OxB3 OxF2 Ox8E 0x49 0x40 0x16 OxFA O0Ox6B OxBE Ox7C 0x82 Ox5C OxCO 0x00 0x60 0x76 Ox9F 0x44 Ox9F 0x90 0x40 OxA6 Ox2A 0x82 OxCl Ox3D 0x00 0x00 0x00 0x12 Ox5A OxCB Ox3F OxCD Ox9E 0x98 Ox3F OxDB 0x66 0x40 0x40 0x00 0x30 0x30 0x30 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Ox0B Ox0B 0x00 0x00 0x00 0x06 0x00 0x03 unsigned long cre CalculateBlockCRC32 60 buffer cout lt lt hex lt lt cre lt lt endl Please note that this hex needs to be reversed due to Big Endian order wh
347. ows the receiver to compute the elevation of each satellite so it can tell which satellites are visible and their Doppler offsets improving time to first fix TTFF OEMStar Firmware Version 1 101 Reference Manual Rev 5 191 Chapter 3 Data Logs Binary Binary Field Field type Data Description Format Bytes Offset 1 ALMANAC header Log header H 0 2 messages The number of satellite PRN Long 4 H almanac messages to follow Set to zero until almanac data is available 3 PRN Satellite PRN number for current Ulong 4 H 4 message dimensionless 4 week Almanac reference week GPS Ulong 4 H 8 reference week number 5 seconds Almanac reference time seconds Double 8 H 12 into the week 6 ecc Eccentricity dimensionless Double 8 H 20 defined for a conic section where e 0is a circle e 1 is a parabola 0 lt e lt 1 is an ellipse and e gt 1 is a hyperbola 7 amp Rate of right ascension Double 8 H 28 radians second 8 oo Right ascension radians Double 8 H 36 9 o Argument of perigee radians Double 8 H 44 measurement along the orbital path from the ascending node to the point where the SV is closest to the Earth in the direction of the SV s motion 10 Mo Mean anomaly of reference time Double 8 H 52 radians 11 afo Clock aging parameter seconds Double 8 H 60 12 ary Clock aging parameter Double 8 H 68 seconds second 13 N Corrected mean motion Double 8 H 76 ra
348. patible with a Trimble or Ashtech receiver which are also incompatible with each other unless everyone uses a generic data format But there are several generic data formats available For position and navigation output there is the NMEA format Real time differential corrections use RTCM or RTCA format Receiver code and phase data use RINEX format NovAtel and all other major manufacturers support these formats and can work together using them You must understand your post processing and real time software requirements Good software supports a generic standard while poor software locks you into one brand of GPS equipment For the most flexibility insist on generic data format support for all hardware and software solutions OEMStar Firmware Version 1 101 Reference Manual Rev 5 101 Chapter 2 Commands Table 24 Serial Port Interface Modes Binary Value ASCII Mode Name Description 0 NONE The port accepts generates nothing The port is disabled 1 NOVATEL The port accepts generates NovAtel commands and logs 2 RTCM The port accepts generates RTCM corrections 3 RTCA The port accepts generates RTCA corrections 4 CMR The port accepts CMR corrections 6 Reserved 8 RTCMNOCR RTCM with no CR LF appended 10 TCOM1 INTERFACEMODE tunnel modes To configure a full duplex tunnel configure the baud rate on each port Once a tunnel is established the baud rate does not change Special characters su
349. pe Synch Recommended Input log gpgst ontime 1 Example 1 GPS only SGPGST 141451 00 1 18 0 00 0 00 0 0000 0 00 0 00 0 00 6B Example 2 Combined GPS and GLONASS SGNGST 143333 00 7 38 1 49 1 30 68 1409 1 47 1 33 2 07 4A OEMStar Firmware Version 1 101 Reference Manual Rev 5 251 Chapter 3 Data Logs lt Please see the GPGGA note that applies to all NMEA logs on page 241 Accuracy is based on statistics reliability is measured in percent When a receiver can measure height to one metre this is an accuracy Usually this is a one sigma value one SD A one sigma value for height has a reliability of 68 that is the error is less than one metre 68 of the time For a more realistic accuracy double the one sigma value 1 m and the result is 95 reliability error is less than 2 m 95 of the time Generally GPS heights are 1 5 times poorer than horizontal positions As examples of statistics the GPGST message and NovAtel performance specifications use root mean square RMS Specifications may be quoted in CEP RMS root mean square a probability level of 68 CEP circular error probable the radius of a circle such that 50 of a set of events occur inside the boundary Field Structure Field Description Symbol Example 1 GPGST Log header GPGST 2 utc UTC time of position hours minutes seconds hhmmss ss 173653 00 decimal seconds 3 rms RMS value of the standard deviation of the r
350. pe Data Description Format Binary Binary yP p Bytes Offset 1 WAASCORR Log header H 0 header 2 sat Number of satellites with Ulong 4 H information to follow 3 prn Satellite PRN Ulong 4 H 4 4 iode Issue of ephemeris data for which Ulong 4 H 8 the corrections apply 5 psr corr SBAS pseudorange correction m Float 4 H 12 6 corr stdv Standard deviation of Float 4 H 16 pseudorange correction m en Next sat entry H 4 sat x 16 variable Xxxx 32 bit CRC ASCII and Binary Hex 4 H 4 only sat x 16 variable CR LF Sentence terminator ASCII only 414 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Chapter 4 Responses The receiver is capable of outputting several responses for various conditions Most of these responses are error messages to indicate when something is not correct The output format of the messages is dependent on the format of the input command If the command is input as abbreviated ASCII the output will be abbreviated ASCII Likewise for ASCII and binary formats Table 80 outlines the various responses Table 80 Response Messages ASCII Message Bany Mossago Meaning OK 1 Command was received correctly REQUESTED LOG DOES NOT 2 The log requested does not exist EXIST NOT ENOUGH RESOURCES IN 3 The request has exceeded a limit for SYSTEM example the maximum number of logs are being generated DATA PACKET DOESN
351. plifier LNA of an active antenna COM Set COM port configuration ECHO Set port echo FREQUENCYOUT Set the output pulse train available on VARF INTERFACEMODE Set interface type Receive Rx Transmit Tx for a port LOG Request a log MARKCONTROL Control processing of the mark inputs PPSCONTROL Control the PPS output SEND Send ASCII message to a port SENDHEX Send non printable characters to a port UNLOG UNLOGALL Remove one or all logs from logging control AUTH Add authorization code for new model DYNAMICS Tune receiver parameters Continued on the following page 34 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 GENERAL RECEIVER CONTROL FRESET Reset receiver to factory default MODEL Switch receiver to a previously AUTHed model NVMRESTORE Restore NVM data after a failure in NVM RESET Perform a hardware reset SAVECONFIG Save current configuration STATUSCONFIG Configure various status mask fields in RXKSTATUSEVENT log CSMOOTH Set amount of carrier smoothing DATUM Choose a DATUM name type ECUTOFF Set satellite elevation cut off for solutions FIX Constrain receiver height or position FIXPOSDATUM Set the position in a specified datum GGAQUALITY Customize the GPGGA GPS quality indicator NMEATALKER Set the NMEA talker ID PDPFILTER Enable disable or reset the Pseudorange Delta Phase PDP filter PDPMODE Select
352. ponding to this residual is declared faulty OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 Abbreviated ASCII Syntax Message ID 1285 RAIMMODE mode hal val pfa Factory Default raimmode default Input Example raimmode user 100 100 0 01 raimmode terminal ASCII Binary Binary Binary Field Field Type Value Value Data Description Format Bytes Offset 1 RAIMMODE This field contains the H 0 Header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 MODE See Table 27 on page 131 4 H 3 HAL 5 lt HAL lt 9999 99 Horizontal alert limit m Double 8 H 4 Default 0 0 4 VAL 5 lt VAL lt 9999 99 Vertical alert limit m Double 8 H 12 Default 0 0 5 PFA Pia 1 7S Pry S 0 25 Probability of false alert Double 8 H 20 Default 0 0 Table 27 RAIM Mode Types Binary ASCII Description 0 DISABLE Do not do integrity monitoring of least squares solution 1 USER User will specify alert limits and probability of false alert 2 DEFAULT Use OEMV NovAtel RAIM default 3 APPROACH Default numbers for non precision approach navigation mode are used HAL 556 m 0 3 nm VAL 50 m for LNAV VNAV 4 TERMINAL Default numbers for terminal navigation mode are used HAL 1855 m 1 nm no VAL requirement 5 ENROUTE Default numbers for en route navigat
353. pplement or clarify the accompanying text Caution that a certain action operation or configu ration may result in incorrect or improper use of CAUTION en the product Warning that a certain action operation or configu A WARNING ration may result in regulatory noncompliance safety issues or equipment damage e Command defaults e The factory defaults for commands are shown in Section 2 4 Factory Defaults on page 47 Each factory default is also shown after the syntax but before the example of each command description starting on page 49 e If you use a command without specifying an optional parameter value OEMStar will use the default value given in the command table e The letter H in the Binary Byte or Binary Offset columns of the commands and logs tables represents the header length for that command or log see Section 1 1 3 Binary on page 19 e The number following Ox is a hexadecimal number e Default values shown in command tables indicate the assumed values when optional parameters have been omitted Default values do not imply the factory default settings see Chapter 2 page 47 for a list of factory default settings e Command descriptions in brackets represent parameters that are optional e In tables where values are missing they are assumed to be reserved for future use e Status words are output as hexadecimal numbers and must be converted to binary format and in some cases
354. pseudorange measurements and applies the iono free corrections OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 Structure Type 15 messages contain the following information for each satellite in view at the base station k Satellite ID Ionospheric delay Iono rate of change When operating as a base station the receiver must be in FIX POSITION mode have the PDPFILTER mode disabled and have the INTERFACEMODE command set before the data can be correctly logged You must also log the RTCM Type 1 corrections See pages 88 and 100 respectively When operating as a rover station the receiver COM port receiving the RTCM data must have its INTERFACEMODE command set Binary Binary Field Field type Data Description Format Bytes Offset 1 RTCMDATA15 Log header H 0 header 2 RTCM header RTCM message type Ulong 4 H 3 Base station ID Ulong 4 H 4 4 Modified Z count where the Z count week Ulong 4 H 8 number is the week number from subframe 1 of the ephemeris 5 Sequence number Ulong 4 H 12 6 Length of frame Ulong 4 H 16 7 Base station health Ulong 4 H 20 8 prn Number of PRNs with information to follow Ulong 4 H 24 9 Reserved Ulong 4 H 28 10 sat type Satellite type where Ulong 4 H 32 0 GPS 1 GLONASS 11 PRN slot Satellite PRN number of range Ulong 4 H 36 measurement GPS 1 to 32 SBAS 120 to 138 and for GLONASS see page 26 12 ion del
355. r station From the rover station you could establish the data link and command the base station receiver to send differential corrections RICA data log _ o_e__ _ COM1 log com1 rtca1 ontime 5 COM 1 ON ia COM 2 COM 2 Send an RTCA interfacemode command interfacemode com1 rtca novatel send coml log com1 rtcal ontime 5 bee _ l Serial Cables of 5 pai aa Tna REE Host PC Rover Operational with position fixed Rover station is commanding base station to send RTCA1 log Preset base with interfacemode interfacemode com1 novatel rtca Figure 4 Using the SEND Command Abbreviated ASCII Syntax Message ID 177 SEND port data ASCII Example send coml log com1 rtcal ontime 5 140 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 ASCII Binary Binary Binary Binary Value Value Description Format Bytes Offset 1 SEND This field contains the command H 0 header name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 port See Table 15 Output port Enum 4 H COM Serial Port Identifiers on page 68 3 message Max 100 ASCII data to send String Vari Vari character string max able 2 able 99 typed visible 100 chars and a null char added by the firmware automatically a Inthe binary log case additiona
356. r time relative to the Reference Date provided by the user This command is used in conjunction with the datum command see page 72 If you use this command without specifying any parameters the command defaults to WGS84 If you enter a USERDATUM command see page 167 the USEREXPDATUM command is then issued internally with the USERDATUM command values It is the USEREXPDATUM command that appears in the RXCONFIG log If the USEREXPDATUM or the USERDATUM command are used their newest values overwrite the internal USEREXPDATUM values Abbreviated ASCII Syntax Message ID 783 USEREXPDATUM semimajor flattening dx dy dz rx ry rz scale xvel yvel zvel xrvel yrvel zrvel scalev refdate Factory Default userexpdatum 6378 137 0 298 25722356280 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ASCII Example USEREXPDATUM 6378137 000 298 25722356280 0 000000000 0 000000000 0 000000000 0 000000000 0 000000000 0 000000000 0 000000000 0 000000000 0 000000000 0 000000000 0 000000000 0 000000000 0 000000000 0 000000000 0 000000000 lt You can use the USEREXPDATUM command in a survey to fix the position with values from another known datum so that the GPS calculated positions are reported in the known datum rather than WGS84 For example it is useful for places like Australia where the continent is moving several centimetres a year relative to WGS84 With USEREXPDATUM you can also input the velocity of the movement to account for
357. r to the OEMStar Installation and Operation Manual available from our Web site at www novatel com through Support Firmware Software and Manuals Manuals and Documentation Updates for more information about configuring your receiver for PDP or GL1DE operation To use GLIDE you must have the GLIDE option enabled Contact Customer Support for further information GL1DE Position Filter GLIDE isa mode of the PDP filter which optimizes the position for consistency over time rather than absolute accuracy This is ideally in clear sky conditions where the user needs a tight smooth and consistent output The GLIDE filter works best with WAAS The PDP filter is smoother than a least squares fit but is still noisy in places The GLIDE filter produces a very smooth solution with consistent rather than absolute position accuracy There should be less than cm difference typically from epoch to epoch GLIDE also works in single point and DGPS modes see also the PDPMODE command on page 121 and the PDPPOS PSRVEL and PSRXYZ logs starting on page 284 Abbreviated ASCII Syntax Message ID 424 PDPFILTER switch Factory Default pdpfilter enable ASCII Example pdpfilter disable 1 Refer also to our application note on Pseudorange Delta Phase PDP available on our Web site as APN 038 at http www novatel com support knowledge and learning OEMStar Firmware Version 1 101 Reference Manual Rev 5 119 Chapter 2 Commands Field Field ASCII
358. r3 Field Field type Data Description Format Binary Binary yp p Bytes Offset 1 RTCMDATA9Y Log header H 0 header 2 RTCM header RTCM message type Ulong 4 H 3 Base station ID Ulong 4 H 4 4 Modified Z count where the Z count Ulong 4 H 8 week number is the week number from subframe 1 of the ephemeris 5 Sequence number Ulong 4 H 12 6 Length of frame Ulong 4 H 16 7 Base station health Ulong 4 H 20 8 pm Number of PRNs with information to Ulong 4 H 24 follow maximum of 3 9 scale Scale where Ulong 4 H 28 0 0 02 m and 0 002 m s 1 0 32 m and 0 032 m s 10 UDRE User differential range error Ulong 4 H 32 11 PRN slot Satellite PRN number of range Ulong 4 H 36 measurement GPS 1 32 and SBAS 120 to 138 For GLONASS see Section 1 3 on page 26 12 psr corr Scaled pseudorange correction m Long 4 H 40 13 rate corr Scaled range rate correction Long 4 H 44 14 IOD Issue of data Long 4 H 48 15 Next PRN offset H 28 prns x 24 variable XXXX 32 bit CRC ASCII and Binary only Hex 4 variable variable CR LF Sentence terminator ASCII only OEMStar Firmware Version 1 101 Reference Manual Rev 5 333 Chapter 3 Data Logs 3 3 65 RTCMDATA15 lonospheric Corrections DGPS Tx 334 See Section 3 3 62 starting on page 326 for information about RTCM standard logs Message ID 397 Log Type Synch Recommended Input log rtcmdata15a ontime 10 ASCII Example RTCMDATA15A COM1 0 74 5 FINESTEE
359. range measured range If the NMEATALKER command see page 116 is set to AUTO the talker the first 2 characters after the sign in the log header is set to GP GPS satellites only GL GLONASS satellites only or GN satellites from both systems NovAtel does not support a GLONASS only solution Message ID 220 Log Type Synch Recommended Input log gpgrs ontime 1 Example 1 GPS only SGPGRS 142406 00 1 1 1 0 1 1 7 1 2 2 0 0 5 1 2 1 2 0 1 67 Example 2 Combined GPS and GLONASS SGNGRS 143209 00 1 0 2 0 5 2 2 1 3 2 0 1 3 1 3 0 4 1 2 0 2 72 SGNGRS 143209 00 1 1 3 6 7 474674777777 13 lt Please see the GPGGA note that applies to all NMEA logs on page 241 OEMStar Firmware Version 1 101 Reference Manual Rev 5 247 Chapter 3 Data Logs Field Structure Field Description Symbol Example 1 GPGRS Log header GPGRS 2 utc UTC time of position hhmmss ss 192911 0 hours minutes seconds decimal seconds 3 mode Mode 0 residuals were used to x 1 calculate the position given in the matching GGA line a priori not used by OEMStar receivers Mode 1 residuals were recomputed after the GGA position was computed preferred mode 4 res Range residuals for satellites used in the X x x x 13 8 1 9 11 4 33 6 0 9 15 navigation solution Order matches order 6 9 12 6 0 3 0 6 22 3 of PRN numbers in GPGSA 16 XX Checksum hh 65 17 CR LF Sentence terminator CR LF
360. ration of SETNAV Parameters Abbreviated ASCII Syntax Message ID 162 SETNAV fromlat fromlon tolat tolon track offset from point to point Factory Default setnav 90 0 0 0 90 0 0 0 0 0 from to ASCII Example setnav 51 1516 114 16263 51 16263 114 1516 125 23 from to 148 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands SETNAV header ASCII Value Binary Value Description This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively Binary Format Binary Bytes Chapter 2 Binary Offset fromlat 90 degrees Origin latitude in units of degrees decimal degrees A negative sign for South latitude No sign for North latitude Double fromlon 180 degrees Origin longitude in units of degrees decimal degrees A negative sign for West longitude No sign for East longitude Double H 8 tolat 90 degrees Destination latitude in units of degrees decimal degrees Double H 16 tolon 180 degrees Destination longitude in units of degrees decimal degrees Double H 24 track offset 1000 km Waypoint great circle line offset in kilometres establishes offset track positive indicates right of great circle line negative indicates left of great circle line Double H 32 from point 5 characters maximum ASCII station name String ma
361. re Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 Binary Field Field type Data Description Format Offset Scaling 18 udre39 udre i Ulong 4 H 64 See Table 79 Evaluation of 19 udre40 User differential range error Ulong 4 H 68 UDREI on indicator for the prn in slot i i 39 page 374 20 udre4 1 50 Ulong 4 H 72 21 udre42 Ulong 4 H 76 22 udre43 Ulong 4 H 80 23 udre44 Ulong 4 H 84 24 udre45 Ulong 4 H 88 25 udre46 Ulong 4 H 92 26 udre47 Ulong 4 H 96 27 udre48 Ulong 4 H 100 28 udre49 Ulong 4 H 104 29 udre50 Ulong 4 H 108 30 udre51 Invalid do not use Ulong 4 H 112 31 XXXX 32 bit CRC ASCII and Binary Hex 4 H 116 only 32 CR LF Sentence terminator ASCII only OEMStar Firmware Version 1 101 Reference Manual Rev 5 385 Chapter 3 Data Logs 3 3 86 WAAS6 Integrity Message SBAS WAAS6 is the integrity information message Each message includes an IODF for each fast corrections message The CO UDRE information for each block of satellites applies to the fast corrections with the corresponding IODF Message ID 304 Log Type Asynch Recommended Input log WAAS6a onchanged ASCII Example WAAS6A COM1 0 57 5 SATTIME 1093 273317 000 00000020 526a 209 122 3 3 3 3 9 14 14 2 3 10 2 14 14 3 14 14 5 14 14 7 14 14 14 14 14 14 3 3 14 14 14 14 3 15 11 11 15 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
362. receiver The values contained in these tables were derived from the following DMA reports 1 TR 8350 2 Department of Defense World Geodetic System 1984 and Relationships with Local Geodetic Systems Revised March 1 1988 2 TR 8350 2B Supplement to Department of Defense World Geodetic System 1984 Technical Report Part II Parameters Formulas and Graphics for the Practical Application of WGS84 December 1 1987 3 TR8350 2 Department of Defense World Geodetic System 1984 National Imagery and Mapping Agency Technical Report Third Addition Amendment 1 January 3 2000 lt By default NovAtel receivers output positions in WGS84 with the following additional information to consider Single Uses WGS84 WAAS Corrects to WGS84 EGNOS Corrects to International Terrestrial Reference System which is compatible with WGS84 PSRDIFF Unknown as the rover does not know how the user fixed the base position OEMStar Firmware Version 1 101 Reference Manual Rev 5 1984 Commands Chapter 2 but must be close to WGS84 Table 18 Reference Ellipsoid Constants ELLIPSOID ID CODE a metres 1 f f Airy 1830 AW 6377563 396 299 3249646 0 00334085064038 Modified Airy AM 6377340 189 299 3249646 0 00334085064038 Australian National AN 6378160 0 298 25 0 00335289186924 Bessel 1841 BR 6377397 155 299 1528128 0 00334277318217 Clarke 1866 CC 6378206 4 294 9786982 0 00339007530409 Clarke
363. receiver with the PDP filter enabled See also the PDPFILTER command on page 119 Message ID 469 Log Type Synch Recommended Input log pdpposa ontime 1 ASCII Example PDPPOSA COM1 0 75 5 FINESTEERING 1431 494991 000 00040000 a210 35548 SOL COMPUTED SINGLE 51 11635010310 114 03832575772 1065 5019 16 9000 WGS84 4 7976 2 0897 5 3062 0 000 0 000 8 8 0 0 0 0 0 0 3cbf a646 3 ae Binar Binar Field Field type Data Description Format Bytes Gitaa 1 PDPPOS Log header H 0 header 2 sol status Solution status Enum 4 H 3 pos type Position type Enum 4 H 4 4 lat Latitude Double 8 H 8 5 lon Longitude Double 8 H 16 6 hgt Height above mean sea level Double 8 H 24 7 undulation Undulation the relationship between the geoid Float 4 H 32 and the WGS84 ellipsoid m 8 datum id Datum ID number Enum 4 H 36 9 lato Latitude standard deviation Float 4 H 40 10 lon o Longitude standard deviation Float 4 H 44 11 hot o Height standard deviation Float 4 H 48 12 stn id Base station ID Char 4 4 H 52 13 diff_age Differential age in seconds Float 4 H 56 14 sol_age Solution age in seconds Float 4 H 60 15 sats Number of satellite vehicles tracked Uchar 1 H 64 16 sats soln Number of satellites in the solution Uchar 1 H 65 17 Reserved Uchar 1 H 66 18 Uchar 1 H 67 19 Uchar 1 H 68 20 Uchar 1 H 69 21 Uchar 1 H 70 22 Uchar 1 H 71 2
364. rence time The 1PPS output may also be offset The amount of this offset may be determined from the TIME log see page 359 A discussion on GPS reference time may be found in Section 1 4 GPS Reference Time Status on page 27 Abbreviated ASCII Syntax Message ID 15 CLOCKADIJUST switch Factory Default clockadjust enable ASCII Example clockadjust disable gt lt The CLOCKADJUST command can be used to calibrate the internal oscillator Disable the CLOCKADJUST mode in order find out what the actual drift is from the internal oscillator Watch the CLOCKMODEL log to see the drift rate and adjust the oscillator until the drift stops 60 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 Field ASCII Binary Binary Binary Binary Type Value Value Description Format Bytes Offset 1 CLOCKADJUST This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 switch DISABLE 0 Disallow adjustment of Enum 4 H internal clock ENABLE 1 Allow adjustment of internal clock OEMStar Firmware Version 1 101 Reference Manual Rev 5 61 Chapter 2 Commands 2 5 7 CLOCKCALIBRATE Adjust clock steering parameters 62 This command is used to adjust the control parameters of the clock steering loop The receiver must be enabled for clock steering before these valu
365. rently active logs Message ID 128 Log Type Polled Recommended Input log rxconfiga once ASCII Example RXCONFIGA COM1 71 47 5 APPROXIMATE 1337 333963 260 00000000 702 1984 ADJUST1PPSA COM1 71 47 5 APPROXIMATE 1337 333963 260 00000000 702 1984 OFF ONCE 0 ba85a20b 91f89b07 RXCONFIGA COM1 70 47 5 APPROXIMATE 1337 333963 398 00000000 702 1984 ANTENNAPOWERA COM1 70 47 5 APPROXIMATE 1337 333963 398 00000000 702 1984 ON d12 6135 8 8741be RXCONFIGA COM1 69 47 5 APPROXIMATE 1337 333963 455 00000000 702 1984 CLOCKADJUSTA COM1 69 47 5 APPROXIMATE 1337 333963 455 00000000 702 1984 ENABLE 0af36d92 b13280 2 RXCONFIGA COM1 7 47 5 APPROXIMATE 1337 333966 781 00000000 702 1984 STATUSCONFIGA COM1 7 47 5 APPROXIMATE 1337 333966 781 00000000 702 1984 CLEAR COM2 0 a6141e28 d0bba9f2 RXCONFIGA COM1 2 47 5 APPROXIMATE 1337 333967 002 00000000 702 1984 WAASECUTOFFA COM1 2 47 5 APPROXIMATE 1337 333967 002 00000000 702 1984 5 000000000 b9b11096 2e8b77cf RXCONFIGA COM1 1 47 5 FINESTEERING 1337 398382 787 00000000 702 1984 LOGA COM1 1 47 5 FINESTEERING 1337 398382 787 00000000 702 1984 COM1 BESTPOSA ONNEW 0 000000 0 000000 NOHOLD a739272d 6692c084 RXCONFIGA COM1 0 47 5 FINESTEERING 1337 400416 370 00000000 702 1984 LOGA COM1 0 47 5 FINESTEERING 1337 400416 370 00000000 702 1984 COM2 PASSCOM2A ONCHAN
366. request an output log the message type is indicated by the character appended to the end of the message name A indicates that the message is ASCII and B indicates that it is binary No character means that the message is Abbreviated ASCII When issuing binary commands the output message type is dependent on the bit format in the message s binary header see Binary on page 19 Table 1 below describes the field types used in the description of messages Table 1 Field Types Description Char 1 The char type is an 8 bit integer in the range 128 to 127 This integer value may be the ASCII code corresponding to the specified character In ASCII or Abbreviated ASCII this comes out as an actual character UChar 1 The uchar type is an 8 bit unsigned integer Values are in the range from 0 to 255 In ASCII or Abbreviated ASCII this comes out as a number Short 2 The short type is 16 bit integer in the range 32768 to 32767 UShort 2 The same as Short except that it is not signed Values are in the range from 0 to 65535 Long 4 The long type is 32 bit integer in the range 2147483648 to 2147483647 ULong 4 The same as Long except that it is not signed Values are in the range from 0 to 4294967295 Double 8 The double type contains 64 bits 1 for sign 11 for the exponent and 52 for the mantissa Its range is 1 7E308 with at least 15 digits of precision This is IEEE 754 Cont
367. riable H 26 string size 11 Reserved Uchar 1 variable 12 Next record offset H 26 recs x string size 1 variable xxxx 32 bit CRC ASCII and Binary only Hex 4 H 26 recs x string size 1 variable CR LF Sentence terminator ASCII only a Inthe binary log case additional bytes of padding are added to maintain 4 byte alignment OEMStar Firmware Version 1 101 Reference Manual Rev 5 237 Chapter 3 Data Logs 3 3 20 GLORAWSTRING Raw GLONASS String GLO This log contains the raw string data as received from the GLONASS satellite Message ID 722 Log Type Asynch Recommended Input log glorawstringa onchanged Example GLORAWSTRINGA COM1 0 51 0 SATTIME 1340 399113 000 00000000 50ac 2020 4 6 061000000000000000004E 0 5b215 b2 lt For more information about GLONASS refer to the Knowledge and Learning page in the Support section of our Web site at www novatel com Binary Binary Field Field type Data Description Format Bytes Offset 1 GLORAWSTRING Log header H 0 header 2 slot Slot identification Uchar 2 H 3 freq Frequency channel frequency Char 2 H 2 channels are in the range 7 to 13 4 string GLONASS data string Uchar variable H 4 string size 5 Reserved Uchar 1 variable 6 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 4 string size 1 7 CR LF Sentence terminator ASCII only
368. riod of the PPS output on the OEMStar You can also disable the PPS output using this command The pulse width defaults to 1000 microseconds The leading edge of the 1PPS pulse is always the trigger reference PPSCONTROL ENABLE NEGATIVE generates a normally high active low pulse with the falling edge as the reference while PPSCONTROL ENABLE POSITIVE generates a normally low active high pulse with the rising edge as the reference Abbreviated ASCII Syntax Message ID 613 PPSCONTROL switch polarity period pulse width Factory Default ppscontrol enable negative 1 0 1000 ASCII Example ppscontrol enable positive 0 5 OEMStar Firmware Version 1 101 Reference Manual Rev 5 125 Chapter 2 Commands Field ASCII Binary Type Value Value Binary Binary Binary Field Format Bytes Offset Description 1 PPSCONTROL This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 switch DISABLE 0 Controls output of PPS Enum 4 H 4 pulse ENABLE allows ENABLE 1 PPS pulse regardless of time status ENABLE _ 2 FINETIME ENABLE_FINETIME allows PPS output only when time status is FINE FINESTEERING or FINEBACKUPSTEERING Default ENABLE 3 polarity NEGATIVE 0 Optional field to specify Enum 4 H 8 the polarity of the pulse to POSITIVE 1 be generated on the
369. roduct Whether you have bought a stand alone OEM card or a packaged receiver you will have also received companion documents to this manual They will help you get the hardware operational Afterwards this text will be your primary OEMStar command and logging reference Scope This manual describes each command and log that the OEMStar receivers are capable of accepting or generating Sufficient detail is provided so that you should understand the purpose syntax and structure of each command or log and be able to effectively communicate with the receiver thus enabling you to effectively use and write custom interfacing software for specific needs and applications The manual is organized into chapters which allow easy access to appropriate information about the receiver OEMStar products support Satellite Based Augmentation System SBAS signal functionality and GLONASS measurements For more information pease refer to the SBAS Overview section in the OEMsStar Installation and Operation User Manual and the Knowledge and Learning page in the Support section of our Web site at www novatel com OEMStar supports NMEA and DGPS If you have any of these options and wish to learn more about them please refer to the Knowledge and Learning page in the Support section of our Web site at www novatel com and see their associated sections in this manual Commands and logs are tagged to be easily recognizable for cards and options These tags are shown in mor
370. ropped chars Number of software overruns Ulong 4 H 20 8 interrupts Number of interrupts on this port Ulong 4 H 24 9 breaks Number of breaks Ulong 4 H 28 This field does not apply for a USB port and is always set to 0 for USB 10 par err Number of parity errors Ulong 4 H 32 This field does not apply for a USB port and is always set to 0 for USB 11 fram err Number of framing errors Ulong 4 H 36 This field does not apply for a USB port and is always set to 0 for USB 12 overruns Number of hardware overruns Ulong 4 H 40 13 Next port offset H 4 port x 40 14 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 4 port x 40 15 CR LF Sentence terminator ASCII only OEMStar Firmware Version 1 101 Reference Manual Rev 5 289 Chapter 3 Data Logs 3 3 45 PSRDOP Pseudorange DOP The dilution of precision data is calculated using the geometry of only those satellites that are currently being tracked and used in the position solution by the receiver This log is updated once every 60 seconds or whenever a change in the satellite constellation occurs Therefore the total number of data fields output by the log is variable and depends on the number of SVs that are being tracked lt Ifa satellite is locked out using the LOCKOUT command it will still be shown in the PRN list but it will be significantly de weighted in the DOP calculation The vertical dilution of precision can be calculated by
371. ror in comparison to the position calculation is reduced As a result you can expect velocity accuracy approaching plus or minus 0 03 m s 0 07 m p h or 0 06 knots assuming phase measurement capability and a relatively high measurement rate that is 1 Hz or better by the GPS receiver Direction accuracy is derived as a function of the vehicle speed A simple approach would be to assume a worst case 0 03 m s cross track velocity that would yield a direction error function something like d speed tan 0 03 speed For example if you are flying in an airplane at a speed of 120 knots or 62 m s the approximate directional error will be tan 0 03 62 0 03 degrees Consider another example applicable to hiking at an average walking speed of 3 knots or 1 5 m s Using the same error function yields a direction error of about 1 15 degrees You can see from both examples that a faster vehicle speed allows for a more accurate heading indication As the vehicle slows down the velocity information becomes less and less accurate If the vehicle is stopped a GPS receiver still outputs some kind of movement at speeds between 0 and 0 5 m s in random and changing directions This represents the random variation of the static position In a navigation capacity the velocity information provided by your GPS receiver is as or more accurate than that indicated by conventional instruments as long as the vehicle is moving at a reasonable rate o
372. rs Clock correction parameters a 1x3 array Double 8 H 16 of length 3 listed left to right 7 8 H 24 8 8 H 32 9 cov data Covariance of the straight line fit a 3x3 Double 8 H 40 array of length 9 listed left to right by 10 rows 8 H 48 11 8 H 56 12 8 H 64 13 8 H 72 14 8 H 80 15 8 H 88 16 8 H 96 17 8 H 104 18 range bias Last instantaneous measurement of the Double 8 H 112 range bias metres 19 range bias rate Last instantaneous measurement of the Double 8 H 120 range bias rate m s 20 change Is there a change in the constellation Enum 4 H 128 0 FALSE 1 TRUE 21 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 132 22 CR LF Sentence terminator ASCII only OEMStar Firmware Version 1 101 Reference Manual Rev 5 213 Chapter 3 Data Logs 3 3 9 CLOCKMODEL2 Clock Bias The CLOCKMODEL2 log contains the current clock bias for each satellite systems available to the receiver Monitoring the CLOCKMODEL2 log allows you to determine the error in your receiver reference oscillator as compared to the satellite system reference Message ID 1170 Log Type Synch Recommended Input log clockmodel2a ontime 1 ASCII Example CLOCKMODEL2A COM1 0 90 0 FINES TEERING 1613 165046 000 00000008 9d3d 39031 VAL ID 3 094174473e 02 3 GPS 1 7918e 0 2 1739e 09 GLONASS 2 6204e 07 2 2853e 09 GALILEO 1 2732e 08 3 3356e 04 2fe0835a Binary Binary Fiel
373. ry default 118 logging 105 navigation 274 range residual 247 reset 46 94 satellite 290 status 355 WGS84 193 NovAtel Inc 2 NTS see National Topographic Series NVM Fail error 118 NVMRESTORE command 118 O offset clock 273 Doppler 53 ECUTOFF effect 86 99 receiver clock 291 362 track 148 276 one pulse per second 1PPS 37 adjust 49 delay 65 frequency 92 obtain 49 offset 60 time 60 on foot 204 275 operating mode 249 optionality 12 orbit 313 origin 148 oscillator clock drift 60 212 error 211 214 outages 119 output pulse 92 overload 105 P parity 68 69 errors 288 flag 303 port 289 receive 317 removed 313 315 RTCM word 328 PASSCOM x logs 280 pass through log 280 281 283 PASSUSBx logs 280 PC 106 PC or laptop 106 282 303 PDOP see dilution of precision PDPFILTER command 119 PDPMODE command 121 PDPPOS log 284 PDPVEL log 285 PDPXYZ log 286 perigee 192 period 105 108 109 268 269 perpendicular distance 148 276 277 persistence UTM 171 phase lock loop PLL 305 348 polled log 175 Port echo command 85 port ascii header 17 communication 19 321 configuration 34 67 69 135 219 identifier 22 interrupt 289 log request 106 output 107 109 268 269 pass through 280 RTCM 329 send data 140 serial 100 102 103 288 statistic 177 status 288 355 unlog 166 PORTSTATS log 288 POSAVE command 122 position 284 3 D 291 292
374. s An SBAS capable receiver permits anyone within the area of coverage to take advantage of its benefits 6 RTK This command allows received RTK corrections to be used to generate a DGPS solution 10 AUTO be In the PSRDIFFSOURCE command AUTO means the first received RTCM or RTCA message has preference over an SBAS message In the RTKSOURCE command AUTO means that the NovAtel DGPS filter is enabled The NovAtel DGPS filter selects the first received RTCM RTCA RTCMV3 or CMR message 11 NONE PE Disables all differential correction types 12 Reserved 13 RTCMV3 2 RTCM Version 3 0 ID 0 lt RTCMV3 ID lt 4095 or ANY a Available only with the RTKSOURCE command see page 133 b ID parameter is ignored c All PSRDIFFSOURCE entries fall back to SBAS except NONE for backwards compatibility 128 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands ASCII Binary Description Chapter 2 Binary Binary Binary 1 PSRDIFFSOURCE header Value Value This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively Format Bytes Offset 2 type See Table 26 ID Type All types may revert to SBAS if enabled or SINGLE position types See also Table 43 Position or Velocity Type on page 196 Enum 4 H 3 ID Char 5 or ANY ID string Char 5 gb H 4
375. s 12 to 13 for SBAS L1 channels OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Fiela Field Type ASCII Value Binary EUTG Description Chapter 2 Binary Binary Binary Format Bytes Offset 1 ASSIGN This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively see Section 1 1 Message Types on page 14 2 channel See Table 13 Desired SV channel number ULong 4 H OEMStar Channel where channel 0 is the first SV Configurations on channel The last channel will page 54 be channel 13 3 state See Table 12 Set the SV channel state Enum 4 H 4 Channel State on page 53 4 prn GPS 1 37 Optional satellite PRN code Long 4 H 8 SBAS 120 138 from 1 to 32 for GPS channels GLONASS see 38 to 61 for GLONASS and Section 1 3 on page 120 to 138 for SBAS channels 26 If not included in the command line the state parameter must be set to IDLE 5 Doppler 100 000 to Current Doppler offset of the Long 4 H 12 100 000 Hz satellite Note Satellite motion receiver antenna motion and receiver clock frequency error must be included in the calculation of Doppler frequency default 0 6 Doppler 0 to 10 000 Hz Error or uncertainty in the ULong 4 H 16 window Doppler estimate above Note This is a value Example 500 for 500 Hz default 4 500
376. s NTS of Canada maps and United States Geological Survey USGS maps On USGS 7 5 minute quadrangle maps 1 24 000 scale 15 minute quadrangle maps 1 50 000 1 62 500 and standard edition 1 63 360 scales and Canadian 1 50 000 maps the UTM grid lines are drawn at intervals of 1 000 metres and are shown either with blue ticks at the edge of the map or by full blue grid lines On USGS maps at 1 100 000 and 1 250 000 scale and Canadian 1 250 000 scale maps a full UTM grid is shown at intervals of 10 000 metres OEMStar Firmware Version 1 101 Reference Manual Rev 5 171 Chapter 2 Commands Table 36 UTM Zone Commands Binary ASCII Description 0 AUTO UTM zone default that automatically sets the central meridian and does not switch zones until it overlaps by the set persistence This a spherical approximation to the earth unless you are at the equator default 0 m 1 CURRENT Same as UTMZONE AUTO with infinite persistence ofthe current zone The parameter field is not used 2 SET Sets the central meridian based on the specified UTM zone A zone includes its western boundary but not its eastern boundary Meridian For example zone 12 includes 108 W 114 W where 108 lt longitude lt 114 3 MERIDIAN Sets the central meridian as specified in the parameter field In BESTUTM the zone number is output as 61 to indicate the manual setting zones are set by pre defined central meridians not user set ones B
377. s not yet known Several logs provide base station coordinates and the receiver uses them as an approximate position allowing it to compute satellite visibility Alternately you can set an approximate position by using the SETAPPROXPOS command Approximate time and position must be used in conjunction with a current almanac to aid satellite acquisition See the table below for a summary of OEMStar commands and logs used to inject an approximated time or position into the receiver Approximate Command Log Time SETAPPROXTIME RTCAEPHEM Position SETAPPROXPOS Base station aiding can help in these environments A set of ephemerides can be injected into a rover station by broadcasting the RTCAEPHEM message from a base station This is also useful in environments where there is frequent loss of lock GPS ephemeris is three frames long within a sequence of five frames Each frame requires 6 s of continuous lock to collect the ephemeris data This gives a minimum of 18 s and a maximum of 36 s continuous lock time or when no recent ephemerides new or stored are available OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 Field ASCII Binary Binary Binary Binary Type Value Value Description Format Bytes Offset 1 SETAPPROXTIME This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively
378. s used 6 timeguard Any valid ulong Optional field to specify a ULong 4 H 16 value larger than the time period in receiver s minimum milliseconds during which raw measurement subsequent pulses after an period initial pulse are ignored If no value is supplied the default value of 0 is used a See Appendix A in the OEMStar Installation and Operation User Manual for the maximum raw measurement rate to determine the minimum period If the value entered is lower than the minimum measurement period the value is ignored and the minimum period is used 114 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 2 5 31 MODEL Switch to a previously authorized model This command is used to switch the receiver between models previously added with the AUTH command When this command is issued the receiver saves this model as the active model The active model is now used on every subsequent start up The MODEL command causes an automatic reset Use the VALIDMODELS log to output a list of available models for your receiver The VALIDMODELS log is described on page 366 Use the VERSION log to output the active model see page 367 lt If you switch to an expired model the receiver will reset and enter into an error state You will need to switch to a valid model to continue Abbreviated ASCII Syntax Message ID 22 MODEL model Input Example model lxgmts lt NovAtel receivers u
379. s valid The velocity measurements sometimes have a latency associated with them The time of validity is the time tag in the log minus the latency value lt The velocity type is from the same source that was chosen for BESTPOS So if BESTPOS is from the pseudorange filter the BESTVEL velocity type is the same as for PSRVEL see page 296 While the receiver is static or motionless the velocity may jump several centimetres per second If the velocity in the BESTVEL log comes from the pseudorange filter it has been computed from instantaneous doppler measurements You know that you have an instantaneous doppler velocity solution when you see PSRDIFF WAAS or DOPPLER_VELOCITY in field 3 vel type The instantaneous doppler velocity has low latency and is not delta position dependent If you change your velocity quickly you can see this in the DOPPLER_VELOCITY solution This instantaneous doppler velocity translates into a velocity latency of 0 15 seconds Message ID 99 Log Type Synch Recommended Input log bestvela ontime 1 ASCII Example BESTVELA COM1 0 61 0 FINESTEERING 1337 334167 000 00000000 827b 1984 SOL COMPUTED PSRDIFF 0 250 4 000 0 0206 227 712486 0 0493 0 0 0e68bf05 OEMStar Firmware Version 1 101 Reference Manual Rev 5 203 Chapter 3 Data Logs 204 gt Velocity vector speed and direction calculations involve a difference operation between successive satellite measurement epochs and the er
380. satellite in view information Synch GPSEPHEM Decoded GPS ephemeris information Asynch PSRDOP DOP of SVs currently tracking Asynch PSRDOP2 Pseudorange Least Squares DOP Asynch RANGE Satellite range information Synch Logs Descriptions RAWALM Raw almanac Asynch RAWEPHEM Raw ephemeris Asynch RAWGPSSUBFRAME Raw subframe data Asynch RAWGPSWORD Raw navigation word Asynch RAWWAASFRAME Raw SBAS frame data Asynch SATVIS Satellite visibility Synch SATXYZ SV position in ECEF Cartesian Synch coordinates TRACKSTAT Satellite tracking status Synch WAASO Remove PRN from the solution Asynch WAAS1 PRN mask assignments Asynch WAAS2 Fast correction slots 0 12 Asynch WAAS3 Fast correction slots 13 25 Asynch Continued on the following page OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs SATELLITE TRACKING AND CHANNEL CONTROL Chapter 3 Logs Descriptions WAAS4 Fast correction slots 26 38 Asynch WAAS5 Fast correction slots 39 50 Asynch WAAS6 Integrity message Asynch WAAS7 Fast correction degradation Asynch WAAS9 GEO navigation message Asynch WAAS10 Degradation factor Asynch WAAS12 SBAS network time and UTC Asynch WAAS17 GEO almanac message Asynch WAAS18 IGP mask Asynch WAAS24 Mixed fast slow corrections Asynch SATELLITE TRACKING AND CHANNEL CONTROL Logs Descriptions WAAS25 Long term slow satellite corrections Asynch WAAS26 l
381. se the concept of models to enable different levels of functionality in the receiver firmware For example a receiver may be purchased with a GPS only enabled version of firmware and be easily upgraded at a later time to a more feature intensive model All that is required to upgrade is an authorization code for the higher model and the AUTH command see page 58 Reloading the firmware or returning the receiver for service to upgrade the model is not required Upgrades are available from NovAtel Customer Support at 1 800 NOVATEL ASCII Binary Binary Binary Binary Description Format Bytes Offset Value Value 1 MODEL header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 model Max 16 character Model name String Vari Vari null terminated max 16 able able string including the null a Inthe binary log case additional bytes of padding are added to maintain 4 byte alignment OEMStar Firmware Version 1 101 Reference Manual Rev 5 115 Chapter 2 Commands 2 5 32 NMEATALKER Set the NMEA talker ID 116 This command allows you to alter the behavior of the NMEA talker ID The talker is the first 2 characters after the sign in the log header of the GPGLL GPGRS GPGSA GPGST GPGSV GPRMB GPRMC GPVTG and GPZDA log outputs The default GPS NMEA messages nmeatalker gp inc
382. served 20 ext sol stat Extended solution status see Table 46 Extended Hex 1 H 69 Solution Status on page 198 21 Reserved Hex 1 H 70 22 sig mask Signals used mask if 0 signals used in solution are Hex 1 H 71 unknown see Table 45 on page 198 23 XXXX 32 bit CRC ASCII and Binary only Hex 1 H 72 24 CR LF Sentence terminator ASCII only a When using a datum other than WGS84 the undulation value also includes the vertical shift due to differences between the datum in use and WGS84 OEMStar Firmware Version 1 101 Reference Manual Rev 5 199 Chapter 3 Data Logs 3 3 4 BESTUTM Best Available UTM Data 200 This log contains the best available position computed by the receiver in UTM coordinates See also the UTMZONE command on page 171 and the BESTPOS log on page 195 Message ID 726 Log Type Synch lt The latitude limits of the UTM System are 80 S to 84 N If your position is outside this range the BESTUTM log outputs a northing easting and height of 0 0 along with a zone letter of and a zone number of 0 so that it is obvious that the data in the log is unusable Recommended Input log bestutma ontime 1 ASCII Example BESTUTMA COM1 0 73 0 FINESTEERING 1419 336209 000 00000040 eb16 2724 SOL_COMPUTED PSRDIFF 11 U 5666936 4417 707279 3875 1063 8401 16 2712 WGS84 0 0135 0 0084 0 0173 AAAA 1 000 0 000 8 8 8 8 0 01 0 03 a6d06321 Please refer
383. sitive values indicate Double 8 H 32 increasing altitude up and negative values indicate decreasing altitude down 9 Reserved Float 4 H 40 10 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 44 11 CR LF Sentence terminator ASCII only OEMStar Firmware Version 1 101 Reference Manual Rev 5 285 Chapter 3 Data Logs 3 3 43 PDPXYZ PDP filter Cartesian position and velocity The PDPX YZ log contains the Cartesian position in X Y and Z coordinates as computed by the receiver with the PDP filter enabled See also the PDPFILTER command on page 119 Message ID 471 Log Type Synch Recommended Input log pdpxyza ontime 1 ASCII Example PDPXYZA COM1 0 75 5 FINESTEERING 1431 494991 000 00040000 33ce 35548 SOL COMPUTED SINGLE 1634531 8128 3664619 4862 4942496 5025 2 9036 6 1657 3 0153 SOL_COMPUTED SINGLE 2 5588e 308 3 1719e 308 3 9151e 308 0 0100 0 0100 0 0100 0 150 0 000 0 000 8 8 0 0 0 0 0 0 a20dbd4f 286 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 Field Field type Data Description Format Binary Binary Bytes Offset 1 PDPXYZ Log header H 0 header 2 P sol status Solution status Enum 4 H 3 pos type Position type Enum 4 H 4 4 P X Position X coordinate m Double 8 H 8 5 P Y Position Y coordinate m Double 8 H 16 6 P Z Position Z coordinate m Double
384. sk CLEAR 2 Replace the Clear mask Field ASCII Binary m Binary Binary Binary Peg Type Value Value Description Format Bytes Offset 1 STATUSCONFIG This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 type See Table 35 Type of mask to replace Enum 4 H 3 word STATUS 1 Receiver Status word Enum 4 H 4 AUX1 2 Auxiliary 1 Status word 4 mask 8 digit hexadecimal The hexadecimal bit mask Ulong 4 H 8 158 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 2 5 59 UNASSIGN Unassign a previously assigned channel This command cancels a previously issued ASSIGN command and the SV channel reverts to automatic control the same as ASSIGN AUTO Abbreviated ASCII Syntax Message ID 29 UNASSIGN channel Input Example unassign 11 lt Issuing the UNASSIGN command to a channel that was not previously assigned by the ASSIGN command will have no effect ASCII Binary Binary Binary Binary Value Value Description Format Bytes Offset 1 UNASSIGN This field contains the command H 0 header name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 channel See Table 13 Reset SV channel to automatic ULong 4 H OEMStar Channel search and acquisition mode Configurations on page 54 3 state See Tab
385. so Note 4 on page 88 Field ASCII Binary Binary Binary Binary Description Format Bytes Offset Type Value Value 1 FIX header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 type See Table 21 on Fix type Enum 4 H page 89 3 param1 See Table 22 Parameter 1 Double 8 H 4 4 param2 Parameter 2 Double 8 H 12 5 param3 Parameter 3 Double 8 H 20 90 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 2 5 20 FIXPOSDATUM Set position in a specified datum This command sets the position by referencing the position parameters through a specified datum The position is transformed into the same datum as that in the receiver s current setting The FIX command see page 88 is then issued internally with the FLJXPOSDATUM command values It is the FIX command that appears in the RXCONFIG log If the FIX or the FXPOSDATUM command are used their newest values overwrite the internal FIX values Abbreviated ASCII Syntax Message ID 761 FIXPOSDATUM datum lat lon height Factory Default fixposdatum none ASCII Example fixposdatum user 51 11633810554 114 03839550586 1048 2343 lt You can use the FIXPOSDATUM command in a survey to fix the position with values from another known datum rather than transforming them into WGS84 yourself ASCII Bi
386. ssage ID 306 Log Type Asynch Recommended Input log WAAS9a onchanged ASCII Example WAAS9A COM1 0 38 0 SATTIME 1337 416426 000 00000000 b580 1984 122 175 70848 2 24802064 1600 34087313 9200 33823 2000 1 591250000 0 107500000 0 6080000 0 0000750 0 0001125 0 000187500 2 235174179e 08 9 094947018e 12 636051d2 lt Each raw WAAS frame gives data for a specific frame decoder number The WAAS9 message can be logged to view the data breakdown of WAAS frame 9 which contains the GEO navigation message OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 Field Field type Data Description Format Blnaty gt Binary Bytes Offset 1 WAAS9Y header Log header H 0 2 prn Source PRN of message Ulong 4 H 3 iodn Issue of GEO navigation data Ulong 4 H 4 4 to Time of applicability Ulong 4 H 8 5 ura URA value Ulong 4 H 12 6 x ECEF x coordinate Double 8 H 16 7 y ECEF y coordinate Double 8 H 24 8 Zz ECEF z coordinate Double 8 H 32 9 xvel X rate of change Double 8 H 40 10 yvel Y rate of change Double 8 H 48 11 zvel Z rate of change Double 8 H 56 12 xaccel X rate of rate change Double 8 H 64 13 yaccel Y rate of rate change Double 8 H 72 14 zaccel Z rate of rate change Double 8 H 80 15 afo Time offset Double 8 H 88 16 ary Time drift Double 8 H 96 17 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 104 18 CR LF Sentence terminator ASCII
387. status 365 ellipsoid constants 73 customized 167 navigation 148 parameter 72 74 169 surface 148 undulation 35 161 ephemeris change in 330 collect 144 decoded 179 delay 79 80 321 GLONASS 228 health 364 log 180 raw data 179 313 325 RTK 324 time status 27 28 error averaged position 122 clock 60 211 fatal 355 flag 347 framing 288 in fixed coordinates 89 messages 347 multipath 303 non volatile memory 118 parity 288 289 range reject code 364 response message 415 statistics 194 252 status 157 text description 356 tracking 303 event fatal 355 message 157 347 356 text description 356 type 356 expiry date 366 F factory default datum 72 ephemeris delay 79 modify 135 reset 35 46 132 setting 47 67 fallback to SBAS 133 field type 14 field upgrade 58 420 OEMStar Firmware Version 1 101 Reference Manual Rev 5 filter 119 121 284 control 35 pseudorange 365 solution log 177 fine time 28 fix command 88 data 241 243 position 245 save setting 135 FIX command 88 FIXPOSDATUM command 91 flag antenna 52 error 347 parity 303 status 293 347 flattening 170 format 16 19 30 33 278 frame decoder number WAAS 372 framing error 288 frequency 92 FREQUENCYOUT command 92 FRESET command 94 G G model 368 gaps 119 generic data formats 101 265 geodetic datum see datum geoid 35 161 193 geometric bias 193 GGAQUALI
388. sure healthy velocity the velocity sol status must also be checked If the sol status is non zero the velocity is likely invalid It should be noted that the receiver does not determine the direction a vessel craft or vehicle is pointed heading but rather the direction of the motion of the GPS antenna relative to the ground The latency of the instantaneous Doppler velocity is always 0 15 seconds The latency represents an estimate of the delay caused by the tracking loops under acceleration of approximately 1 G For most users the latency can be assumed to be zero instantaneous velocity Message ID 100 Log Type Synch Recommended Input log psrvela ontime 1 ASCII Example PSRVELA COM1 0 52 5 FINESTEERING 1337 403362 000 00000000 658b 1984 SOL COMPUTED PSRDIFF 0 250 9 000 0 0698 26 582692 0 0172 0 0 a94e5d48 gt lt Consider the case where vehicles are leaving a control center The control center s coordinates are known but the vehicles are on the move Using the control center s position as a reference the vehicles are able to report where they are with PSRPOS and their speed and direction with PSRVEL at any time OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 Field ae Binary Binary Field type Data Description Format Bytes Offset 1 PSRVEL Log header H 0 header 2 sol status Solution status see Table 44 Solution Status on page Enum 4
389. t Binary Binary yP p Bytes Offset 1 RTCADATA1 Log header H 0 header 2 z count Modified Z count where the Z count Double 8 H week number is the week number from subframe 1 of the ephemeris 3 AEB Acceleration Error Bound Uchar 4a H 8 4 prn Number of satellite corrections with Ulong 4 H 12 information to follow 5 PRN slot Satellite PRN number of range Ulong 4 H 16 measurement GPS 1 32 and SBAS 120 to 138 6 range Pseudorange correction m Double 8 H 20 7 IODE Issue of ephemeris data Uchar 4a H 28 8 range rate Pseudorange rate correction m s Double 8 H 32 9 UDRE User differential range error Float 4 H 40 10 Next prn offset H 16 prns x 28 variable XXXX 32 bit CRC ASCII and Binary only Hex 4 variable variable CR LF Sentence terminator ASCII only a Inthe binary log case an additional 3 bytes of padding are added to maintain 4 byte alignment OEMStar Firmware Version 1 101 Reference Manual Rev 5 323 Chapter 3 Data Logs 3 3 61 RTCADATAEPHEM Ephemeris and Time Information DGPS Tx See Section 3 3 59 starting on page 319 for information about RTCA standard logs RTCAEPHEM Type 7 An RTCAEPHEM RTCA Satellite Ephemeris Information message contains raw satellite ephemeris information It can be used to provide a rover receiver with a set of GPS ephemerides Each message contains a complete ephemeris for one satellite and the GPS reference time of transmission from the base The m
390. t determine the direction a vessel craft or vehicle is pointed heading but rather the direction of the motion of the GPS antenna relative to the ground The latency of the instantaneous Doppler velocity is always 0 15 seconds The latency represents an estimate of the delay caused by the tracking loops under acceleration of approximately 1 G For must users the latency can be assumed to be zero instantaneous velocity Message ID 243 Log Type Synch Recommended Input log psrxyza ontime 1 ASCII Example PSRXYZA COM1 0 58 5 FINESTEERING 1419 340038 000 00000040 4a28 2724 SOL COMPUTED SINGLE 1634530 7002 3664617 2823 4942495 5175 1 7971 2 3694 2 7582 SOL COMPUTED DOPPLER VELOCITY 0 0028 0 0231 0 0120 0 2148 0 2832 0 3297 0 150 0 000 0 000 12 12 0 0 0 06 0 33 4fdbcdb1 lt The instantaneous Doppler is the measured Doppler frequency which consists of the satellite s motion relative to the receiver Satellite Doppler User Doppler and the clock local oscillator drift 298 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 Field Field type Data Description Format Binary Binary Bytes Offset 1 PSRXYZ Log header H 0 header 2 P sol status Solution status see Table 44 Solution Statuson Enum 4 H page 197 3 pos type Position type see Table 43 Position or Velocity Enum 4 H 4 Type on page 196 4 P X Position X coordina
391. t diskfile log at the base station host PC hard disk BESTPOSA data log 1 5 1 gt Y r o r Oj KO IO O OF KO IO FIX POSITION lat long ht 2 PDPFILTER DISABLE INTERFACEMODE coml generic rtca off LOG com2 PASSCOM1A onnew LOG com1 RTCAOBS ontime 1 LOG com1 RTCAREF ontime 10 I INTERFACEMODE com1 rtca novatel off LOG com1 BESTPOSA ontime 5 Reference Description Reference Description 1 To COM1 5 Data link 2 To COM2 6 Serial cables 3 Rover receiver 7 Pocket PC rover 4 Base receiver 8 Laptop PC base Figure 9 Pass Through Log Data Under default conditions the two receivers chatter back and forth with the Invalid Command Option message due to the command interpreter in each receiver not recognizing the command prompts of the other receiver This chattering in turn causes the accepting receiver to transmit new pass through logs with the response data from the other receiver To avoid this chattering problem use the INTERFACEMODE command on the accepting port to disable error reporting from the receiving port command interpreter If the accepting port s error reporting is disabled by INTERFACEMODE the BESTPOSA data record passes through and creates two records 282 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 The reason that two records are logged from the accepting receiver is because the first recor
392. t to name a few The WAAS signal has been available for non safety of life applications since August 24 2000 Today there are many non aviation WAAS enabled GPS receivers in use Binary Binary Field Field type Data Description Format Bytes Offset 1 WAASO Log header H 0 header 2 prn Source PRN message also PRN not to use Ulong 4 H 3 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 4 4 CR LF Sentence terminator ASCII only OEMStar Firmware Version 1 101 Reference Manual Rev 5 371 Chapter 3 Data Logs 3 3 81 WAAS1 PRN Mask Assignments SBAS 372 The PRN mask is given in WAAS1 The transition of the PRN mask to a new one which will be infrequent is controlled with the 2 bit IODP which sequences to a number between 0 and 3 The same IODP appears in the applicable WAAS2 WAAS3 WAAS4 WAAS5 WAAS7 WAAS 24 and WAAS25 messages This transition would probably only occur when a new satellite is launched or when a satellite fails and is taken out of service permanently A degraded satellite may be flagged as a don t use satellite temporarily Message ID 291 Log Type Asynch Recommended Input log WAAS 1a onchanged ASCII Example WAAS1A COM1 0 24 5 SATTIME 1337 415802 000 00000000 5955 1984 134 f e f e0000000000000000000000400400000000000000000000 2 3633cETb lt Each raw WAAS frame gives data for a specific frame decoder number The WAAS1 message can be logged
393. tandards recommended by the Radio Technical Commission for Maritime Services Special Committee 104 Differential GPS Service RTCM SC 104 Washington D C have been adopted by NovAtel for implementation into the receiver Because the receiver is capable of utilizing RTCM formats it can easily be integrated into positioning systems around the globe As it is beyond the scope of this manual to provide in depth descriptions of the RTCM data formats it is recommended that anyone requiring explicit descriptions of such should obtain a copy of the published RTCM specifications Refer to the Radio Technical Commission for Maritime Services Web site at http www rtcm org for information RTCM SC 104 Type 3 amp 59 messages can be used for base station transmissions in differential systems lt The error detection capability of an RTCM format message is less than that of an RTCA format message The communications equipment that you use may have an error detection capability of its own to supplement that of the RTCM message although at a penalty of a higher overhead Consult the radio vendor s documentation for further information 1 For further information about RTCM SC 104 messages refer to RTCM Recommended Standards for Differential GNSS Global Navigation Satellite Systems Service Version 2 3 at_http www rtcm org overview php OEMStar Firmware Version 1 101 Reference Manual Rev 5 327 Chapter 3 Data Logs 328 If RTCM
394. tatus Powered Not powered See ANTENNAPOWER on Page 52 4 0x00000010 Reserved N1 5 0x00000020 Reserved 6 0x00000040 Antenna shorted flag OK Shorted 7 0x00000080 CPU overload flag No overload Overload 8 0x00000100 COM1 buffer overrun flag No overrun Overrun N2 9 0x00000200 COM2 buffer overrun flag No overrun Overrun 10 0x00000400 Reserved 11 0x00000800 USB buffer overrun flag 2 No overrun Overrun 12 0x00001000 Reserved N3 13 0x00002000 14 0x00004000 15 0x00008000 RF1 AGC status OK Bad 16 0x00010000 Reserved N4 17 0x00020000 RF2 AGC status OK Bad 18 0x00040000 Almanac flag UTC known Valid Invalid 19 0x00080000 Position solution flag Valid Invalid 20 0x00100000 Position fixed flag see FIX Not fixed Fixed on page 88 ig 21 0x00200000 Clock steering status Enabled Disabled 22 0x00400000 Clock model flag Valid Invalid 23 0x00800000 Reserved Continued on the following page 350 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 Table 69 Receiver Status continued Nibble Bit Description 24 0x01000000 Software resource OK Warning N6 25 0x02000000 Reserved 26 0x04000000 27 0x08000000 28 0x10000000 N7 29 0x20000000 Auxiliary 3 status event flag No event Event 30 0x40000000 Auxiliary 2 status event flag No event Event 31 0x80000000 Auxiliary 1 status event flag No event Event a This flag indicates if any of the three USB ports USB1 USB2 or U
395. te m Double 8 H 8 5 P Y Position Y coordinate m Double 8 H 16 6 P Z Position Z coordinate m Double 8 H 24 7 P X o Standard deviation of P X m Float 4 H 32 8 P Yo Standard deviation of P Y m Float 4 H 36 9 P Zo Standard deviation of P Z m Float 4 H 40 10 V sol status Solution status see Table 44 Solution Statuson Enum 4 H 44 page 197 11 vel type Velocity type see Table 43 Position or Velocity Enum 4 H 48 Type on page 196 12 V X Velocity vector along X axis m Double 8 H 52 13 V Y Velocity vector along Y axis m Double 8 H 60 14 V Z Velocity vector along Z axis m Double 8 H 68 15 V X Standard deviation of V X m Float 4 H 76 16 V Yo Standard deviation of V Y m Float 4 H 80 17 V Z o Standard deviation of V Z m Float 4 H 84 18 stn ID Base station ID Char 4 4 H 88 19 V latency A measure of the latency in the velocity time tag Float 4 H 92 in seconds It should be subtracted from the time to give improved results 20 diff age Differential age in seconds Float 4 H 96 21 sol age Solution age in seconds Float 4 H 100 22 SVs Number of satellite vehicles tracked Uchar 1 H 104 23 solnSVs Number of satellite vehicles used in solution Uchar 1 H 105 Continued on the following page OEMStar Firmware Version 1 101 Reference Manual Rev 5 299 Chapter 3 Data Logs Binary Binary AGC E S Field type Data Description Format Bytes Offset 24 R
396. te while leaving other locked out satellites unchanged Field ASCII Binary hee Binary Binary Binary rile Type Value Value Description Format Bytes Offset 1 UNLOCKOUT This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 prn GPS 1 37 A single satellite PRN Ulong 4 H SBAS 120 138 number to be reinstated GLONASS see Section 1 3 on page 26 OEMStar Firmware Version 1 101 Reference Manual Rev 5 163 Chapter 2 Commands 2 5 63 UNLOCKOUTALL Reinstate all previously locked out satellites This command allows all satellites which have been previously locked out LOCKOUT command to be reinstated in the solution computation Abbreviated ASCII Syntax Message ID 139 UNLOCKOUTALL Input Example unlockoutall lt The UNLOCKOUTALL command allows you to reinstate all satellites currently locked out Field Binary a Field Binary Binary Field Name Value Description Type Bytes Offset 1 UNLOG See Table 4 Binary Message This field contains the H 0 binary Header Structure on page 20 message header header 2 port See Table 40n page 19 Port to which log is Enum 4 H decimal values greater than being sent 16 may be used default THISPORT 3 message Any valid message ID Message ID of log to UShort 2 H 4 output 4 message Bits 0 4 Reserved Message
397. the receiver estimate of GPS reference time at the time of the measurement When setting time in external equipment a small synchronous log with a high baud rate will be accurate to a fraction of a second A synchronous log with trigger ONTIME 1 can be used in conjunction with the 1PPS signal to provide relative accuracy better than 250 ns Other log types asynchronous and polled are triggered by an external event and the time in the header may not be synchronized to the current GPS reference time Logs that contain satellite broadcast data for example ALMANAC GPSEPHEM have the transmit time of their last subframe in the header Logs triggered by a mark event for example MARKEDPOS MARKTIME have the estimated GPS reference time of the mark event in their header In the header of polled logs for example LOGLIST PORTSTATS VERSION is the approximate GPS reference time when their data was generated However when asynchronous logs are triggered ONTIME the time stamp will represent the time the log was generated not the time given in the data OEMStar Firmware Version 1 101 Reference Manual Rev 5 29 Chapter 1 Messages 1 6 1 7 30 Decoding of the GPS Reference Week Number The GPS reference week number provided in the raw satellite data is the 10 least significant bits or 8 least significant bits in the case of the almanac data of the full week number When the receiver processes the satellite data the week number is decoded in
398. there are only corrections for a maximum of 3 satellites Message ID 404 Log Type Synch Recommended Input log rtcmdata9a ontime 10 ASCII Example RTCMDATA9A COM1 0 68 5 FINESTEERING 1420 506833 000 00180020 37 9 1899 9 0 4721 0 0 6 3 0 0 26 22639 11 231 0 0 19 4387 22 134 0 0 3 14572 27 124 6016236c RTCM9 Partial Satellite Set Differential Corrections RTCM Type 9 messages follow the same format as Type 1 messages However unlike a Type 1 message Type 9 does not require a complete satellite set This allows for much faster differential correction data updates to the rover stations thus improving performance and reducing latency Type 9 messages should give better performance with slow or noisy data links lt The base station transmitting RTCM Type 9 corrections with an OEMStar must be operating with a high stability clock to prevent degradation of navigation accuracy due to the unmodeled clock drift that can occur between Type 9 messages The OEMStar does not support external clocks at this time Structure Type 9 messages contain the following information for a group of three satellites in view at the base station Scale factor User Differential Range Error Satellite ID Pseudorange correction Range rate correction Issue of Data IOD OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapte
399. this command is used its command default state is ON and as such you only need to specify the state if you wish to disable position averaging OFF In Example I below POSAVE 24 1 2 is the same as 1 POSAVE ON 24 12 2 PDPFILTER DISABLE must be sent to OEMStar for POSAVE command to take effect Abbreviated ASCII Syntax Message ID 173 POSAVE state maxtime maxhstd maxvstd Factory Default posave off ASCII Example 1 posave 24 1 2 ASCII Example 2 posave off gt The POSAVE command can be used to establish a new base station in any form of survey or DGPS data collection by occupying a site and averaging the position until either a certain amount of time has passed or position accuracy has reached a user specified level User specified requirements can be based on time or horizontal or vertical quality of precision 122 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 Field ASCII Binary Binary Binary Binary ried Type Value Value Description Format Bytes Offset 1 POSAVE This field contains the command H 0 header name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 state ON 1 Enable or disable position Enum 4 H averaging OFF 0 default ON 3 maxtime 0 01 100 hours Maximum amount of time that Float 4 H 4 positions are to be averaged Only becomes optional if State OFF
400. tical protection level status see enum 4 H 20 Table 59 on page 302 7 VPL Vertical protection level double 8 H 24 8 Num of SVs Number of excluded satellites ulong 4 H 32 9 System Satellite system enum 4 H 36 10 Satellite ID In binary logs the satellite ID field is 4 ulong 4 H 40 bytes The 2 lowest order bytes interpreted as a USHORT are the system identifier for instance the PRN for GPS or the slot for GLONASS The 2 highest order bytes are the frequency channel for GLONASS interpreted as a SHORT and zero for all other systems In ASCII and abbreviated ASCII logs the satellite ID field is the system identifier If the system is GLONASS and the frequency channel is not zero then the signed channel is appended to the system identifier For example slot 13 frequency channel 2 is output as 13 2 Next excluded satellite system ae Next excluded satellite ID sais ron XXXX 32 bit CRC ASCII and Binary only hex 4 CR LF Sentence terminator ASCII only OEMStar Firmware Version 1 101 Reference Manual Rev 5 301 Chapter 3 Data Logs Table 58 Integrity Status Binary ASCII Description 0 NOT_AVAILABLE RAIM is unavailable because either there is no solution or because the solution is unique that is there is no redundancy 1 PASS RAIM succeeded Either there were no bad observations or the bad observations were successfully removed from the solution 2 FAIL RAIM detected a failure but was unable to
401. tnesteeesthese 274 9 Pass Through Log Data EGE AGE RsS ae an 282 10 Logging Exampletm OD UN 7 SEEE 367 8 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Tables OOANDOARWNDNY Field TYPOS cececccceeceenccceeeeeeeaceeeeeeaaaeeeseeaaaeeensaaaaaeeeesaaaaaaesaaaaaaaeeseqeaaaeneneeeaaeaeeeneas 14 Byte AmanGements waziicissidccdexvevedccessssencesdapvod cecesvausacecetapuedsedivvetdceceanveinaaeaesaPieceaes aie 15 ASCII Message Header Structure cee cceceececeeeeeeeeeeeaeeeeeeeeaeeeeseeeaeeeeeeeenaeeeeeneeaas 17 Binary Message Header Structure 0 ccccccceeeeeeeeeeeeeeecaeeeeeeeeeeeeeeeaeeeeeeeiaeeeeeneas 20 Detailed Serial Port Identifiers cccccsccccceteeeeccceeteeeccecenenseececenenseecacenenanececereneaee 22 Binary Message Response Structure eecccceeeeeeteeeeeeeeeneeeeeesaeeeeeetneeeeeeeenaeeeeeeeaa 25 Binary Message SCQUCINCC ccccsececcecenerescucecenetecedecerbegeececeneesenedenereseececutresecedenerenes 26 GPS Reference Time Status 0 00 cccceccseeececceneeeesceceneeneeeeensteneeceenteeeeceeenteeeeedeeetenees 27 Communications Control and Status FUNCTIONS ccccccccceseeseeeeeeaeeeeeeeeeeeaeesees 34 OEMStar Commands in Alphabetical Order ccccccecceeeeeeeeeeeeeceecaeeeeeeeeeeeeteeeeeee 37 OEMStar Commands in Numerical Order 0 eceeceeeeeeeeeeeeeeeeneeeeeeeeeeeeeeeenaeeeeeeeae 42 Channel States itive S T eer 53 OEMStar Channel Configurations
402. to view the data breakdown of WAAS frame 1 which contains information about the PRN mask assignment Binary Binary Field Field type Data Description Format Bytes Offset 1 header Log header H 0 2 prn Source PRN of message Ulong 4 H 3 mask PRN bit mask Uchar 27 28 4 H 4 4 iodp Issue of PRN mask data Ulong 4 H 32 5 XXXX 32 bit CRC ASCII and Hex 4 H 36 Binary only 6 CR LF Sentence terminator ASCII only a Inthe binary log case an additional 1 byte of padding is added to maintain 4 byte alignment OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 3 3 82 WAAS2 Fast Correction Slots 0 12 SBAS WAAS2 are fast corrections for slots 0 12 in the mask of WAAS1 This message may or may not come when SBAS is in testing mode see the SBASCONTROL command on page 135 for details Message ID 296 Log Type Asynch Recommended Input log WAAS2a onchanged ASCII Example WAAS2A COM1 0 29 0 SATTIME 1337 415925 000 00000000 e194 1984 134 2 2 3 3 5 1 2047 2 2047 2047 2047 2047 2047 3 2 5 11 7 8 14 8 14 14 14 14 14 6 12 8d8d2elc lt Each raw WAAS frame gives data for a specific frame decoder number The WAAS2 message can be logged to view the data breakdown of WAAS frame 2 which contains information about fast correction slots 0 12 OEMStar Firmware Version 1 101 Reference Manual Rev 5 373 Chapter 3 374 Table 79 Evaluation of UDREI
403. tput when the message is updated not Enum necessarily changed ONCHANGED Output when the message is changed ONTIME Output on a time interval ONNEXT Output only the next message ONCE Output only the current message default ONMARK Output when a pulse is detected on the mark 1 input MK11 see Footnotes a and b on page 108 5 period Any positive double Log period for ONTIME trigger in seconds Double value larger than the default 0 receiver s minimum see Footnote c on page 108 raw measurement period 6 offset Any positive double Offset for period ONTIME trigger in seconds Double value smaller than the If you wished to log data at 1 second after period every minute you would set the period to 60 and the offset to 1 default 0 7 hold NOHOLD Allow log to be removed by the UNLOGALL Enum command default HOLD Prevent log from being removed by the UNLOGALL command OEMStar Firmware Version 1 101 Reference Manual Rev 5 109 Chapter 2 Commands 2 5 29 MAGVAR_ Set a magnetic variation correction 110 The receiver computes directions referenced to True North Use this command magnetic variation correction if you intend to navigate in agreement with magnetic compass bearings The correction value entered here causes the bearing field of the NAVIGATE log to report bearing in degrees Magnetic The receiver computes the magnetic variation correction if you use the auto option see Figure 2 Illustration of Magnetic Vari
404. track is expressed in metres Positive values indicate the current position is right of the Track while negative offset values indicate left Double H 40 10 eta week Estimated GPS reference week number at time of arrival at the TO waypoint along track arrival perpendicular based on current position and speed in units of GPS reference weeks If the receiving antenna is moving at a speed of less than 0 1 m s in the direction of the destination the value in this field is 9999 Ulong H 48 Continued on the following page 276 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Field 11 Field Type eta secs Data Description Estimated GPS seconds into week at time of arrival at destination waypoint along track arrival perpendicular based on current position and speed in units of GPS seconds into the week If the receiving antenna is moving at a speed of less than 0 1 m s in the direction of the destination the value in this field is 0 000 Format Double Chapter 3 Binary Binary Bytes 8 Offset H 52 12 XXXX 32 bit CRC ASCII and Binary only Hex H 60 13 CR LF Sentence terminator ASCII only OEMStar Firmware Version 1 101 Reference Manual Rev 5 2 7 Chapter 3 Data Logs 3 3 39 NMEA Standard Logs GLMLA GPALM GPGGA GPGGALONG GPGLL GPGRS GPGSA GPGST GPG
405. trrrsstttrrrssrenrnsssrtrrsssrrenns 183 OEMStar Logs in Order of their Message IDS 1 W W u u u dseeeeereeereren ener ener renen rn enn 187 Position Averaging Status sissen inaona E E T A AEEA TS 193 Poskion or Velocity Type neresen A 196 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Tables 44 Solution Status rai n EDEL De scans 197 45 sIGMal WSed MASK soda T EE eet eee TT 198 46 Extended Solution Status eee Ae EE E R 198 47 Coeck Model SIUS oraaa a E T AR 211 48 Clock SOUE eaae a ES SEES SEE SEER A EA A 215 49 Steeg Stalen aea a E AT E AO 216 50 CMR Carrier Phase Messages asssscseerrreeersrrresttrrnestnrnnesstennnesnennnnsettnanaatenneeeenena 218 51 Kp UTC Leap Second Descriptions sssssseeeereeerrr nerne 227 52 GLONASS Ephemeris Flags Coding M1 UW G sssssssseeeeeee seneste nes ennen keen nens sne sens s sene esse nee 229 53 Bits 0 1 P1 Flag Range Values en srnce eara e T aa ERE ia 229 54 Position Precision of NMEA Logs 0 ccccceeceeeeeeeeeeeeeeeeeeeeeeeeeseeeeeeeeeseeeaaeeeseeenaaees 245 55 NMEA Positioning System Mode Indicator W u sssseeeeeeeeeen nerne keen enn reen renee 255 56 URA VONIN disios eea RE SEERNE stecubhas EA adage EF EEA NEA AES 260 57 Navigation Data Type sneer sasir a dg harer er 274 58 Integrity ota a OA N A EEES 302 59 PESTUS a A EAE A OA 302 60 TRACKING State ianei E R bande ARE 304 61 Correlator T ypO ea a aa Stent tata E a a MES SAFE BEES NEGFE RER estates
406. v 5 Data Logs Chapter3 Field Field type Data Description Format Binary Binary Bytes Offset 1 RTCMDATA36 Log header H 0 header 2 RTCM header RTCM message type Ulong 4 H 3 Base station ID Ulong 4 H 4 Modified Z count where the Z count Ulong 4 H 8 week number is the week number from subframe 1 of the ephemeris 5 Sequence number Ulong 4 H 12 6 Length of frame Ulong 4 H 16 7 Base station health Ulong 4 H 20 8 chars Number of characters to follow Ulong 4 H 24 9 character Character Char 4a H 28 10 Next char offset H 28 chars x 4 variable XXXX 32 bit CRC ASCII and Binary only Hex 4 variable variable CR LF Sentence terminator ASCII only a In the binary log case an additional 3 bytes of padding are added to maintain 4 byte alignment OEMStar Firmware Version 1 101 Reference Manual Rev 5 341 Chapter 3 Data Logs 3 3 69 RTCMDATAS59GLO NovAtel Proprietary GLONASS Differential Corrections DGPS_Tx amp GLO See Section 3 3 62 starting on page 326 for information about RTCM standard logs Message ID 905 Log Type Synch Recommended Input log rtemdata59gloa ontime 2 ASCII Example RTCMDATAS 9GLOA COM1 0 71 5 FINESTEERING 1420 509339 000 00100008 e896 2733 59 10 2898 0 0 6 110 2 0 0 19 459 9 0 56 0 0 4 570 7 1 56 00dee641 The Type 31 format see page 338 currently matches the Type 59GLO format but unli
407. v 5 Data Logs Chapter3 Field Field type Data Description Format Binary Binary yp p Bytes Offset 1 RTCADATAEPHEM Log header H 0 header 2 des NovAtel designator Uchar 1 H 3 subtype RTCA message subtype Uchar 3a H 1 4 week GPS reference week number Ulong 4 H 4 weeks 5 sec Seconds into the week seconds Ulong 4 H 8 6 prn PRN number Ulong 4 H 12 7 Reserved Uchar qb H 16 8 raw data Raw ephemeris data Hex 90 92a H 20 9 XXXX 32 bit CRC ASCII and Binary Hex 4 H 112 only 10 CR LF Sentence terminator ASCII only a Inthe binary log case an additional 2 bytes of padding are added to maintain 4 byte alignment b In the binary log case an additional 3 bytes of padding are added to maintain 4 byte alignment OEMStar Firmware Version 1 101 Reference Manual Rev 5 325 Chapter 3 Data Logs 3 3 62 RTCM Standard Logs 326 RTCM1 DIFFERENTIAL GPS CORRECTIONS DGPS_Tx Message ID 107 RTCM9 PARTIAL DIFFERENTIAL GPS CORRECTIONS DGPS_Tx MESSAGE ID 275 RTCM15 IONOSPHERIC CORRECTIONS DGPS_Tx Message ID 307 RTCM16 SPECIAL MESSAGE DGPS_Tx Message ID 129 RTCM31 DIFFERENTIAL GLONASS DGPS_Tx amp GLO Message ID 864 RTCM36 SPECIAL EXTENDED MESSAGE DGPS_Tx amp GLO Message ID 875 RTCM36T SPECIAL EXTENDED MESSAGE DGPS_Tx amp GLO see also page 152 Message ID 877 RTCM59GLO PROPRIETARY GLONASS DIFFERENTIAL DGPS_Tx amp GLO Message ID 903 gt
408. ve the new x y and z translation values updated to the latest numbers The old datum values can still be used for backwards compatibility c Use the corrected datum only with the higher ID as the old datum is incorrect d The original LUZON values are the same as for LUZA but the original has an error in the code Field ASCII Binary Type Value Value Binary Binary Binary Field Format Bytes Offset Description 1 DATUM header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 Datum Type See Table 19 The datum to use defaultis Enum 4 H WGS84 78 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands Chapter 2 2 5 13 DGPSEPHEMDELAY DGPS ephemeris delay The DGPSEPHEMDELAY command is used to set the ephemeris delay when operating as a base station The ephemeris delay sets a time value by which the base station continues to use the old ephemeris data A delay of 120 to 300 seconds typically ensures that the rover stations have collected updated ephemeris After the delay period is passed the base station begins using new ephemeris data The factory default of 120 seconds matches the RTCM standard lt The RTCA Standard stipulates that a base station shall wait five minutes after receiving a new ephemeris before transmitting differential corrections to rover stations that
409. w WAAS frame gives data for a specific frame decoder number The WAAS25 message can be logged to view the data breakdown of WAAS frame 25 which contains long term slow satellite corrections OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 i 3 men Binary Binary A Field Field type Data Description Format Bytes Offset Scaling 1 WAAS25 Log header H 0 header 2 prn Source PRN of message Ulong 4 H 3 1st half vel Velocity code flag 0 or 1 Ulong 4 H 4 4 1st half Index into PRN mask Type 1 Ulong 4 H 8 mask1 5 1st half Issue of ephemeris data Ulong 4 H 12 iode1 6 1st half dx1 Delta x ECEF Long 4 H 16 0 125 7 1st half dy1 Delta y ECEF Long 4 H 20 0 125 8 1st half dz1 Delta z ECEF Long 4 H 24 0 125 9 1st half a Delta af clock offset Long 4 H 28 2731 10 1st half Second index into PRN mask Ulong 4 H 32 mask2 Type 1 Dummy value when velocity code 1 11 1st half Second issue of ephemeris data Ulong 4 H 36 iode2 Dummy value when velocity code 1 12 1st half ddx Delta delta x ECEF when velocity Long 4 H 40 211 code 1 Delta x dx when velocity code 0 13 1st half ddy Delta delta y ECEF when velocity Long 4 H 44 211 code 1 Delta y dy when velocity code 0 14 1st half ddz Delta delta z ECEF when velocity Long 4 H 48 211 code 1 Delta z dz when velocity code 0 15 1st half af Delta af
410. ware Version 1 101 Reference Manual Rev 5 four Table 53 Bits 0 1 P1 Flag Range Values 229 Chapter 3 Data Logs Binary Binary Field Field type Data Description Format Bytes Offset 1 GLO Log header H 0 EPHEMERIS header 2 sloto Slot information offset PRN identification Ushort 2 H Slot 37 This is also called SLOTO in CDU 3 freqo Frequency channel offset for satellite in the Ushort 2 H 2 range 0 to 20 4 sat type Satellite type where Uchar 1 H 4 0 GLO_SAT 1 GLO_SAT_M new M type 5 Reserved 1 H 5 6 e week Reference week of ephemeris GPS reference Ushort 2 H 6 time 7 e time Reference time of ephemeris GPS reference Ulong 4 H 8 time in ms 8 t offset Integer seconds between GPS and GLONASS Ulong 4 H 12 time A positive value implies GLONASS is ahead of GPS reference time 9 Nt Current data number This field is only output for Ushort 2 H 16 the new M type satellites See example output from both satellite types field 4 on page 228 10 Reserved 1 H 18 11 Reserved 1 H 19 12 issue 15 minute interval number corresponding to Ulong 4 H 20 ephemeris reference time 13 health Ephemeris health where Ulong 4 H 24 0 GOOD 1 BAD 14 pos x X coordinate for satellite at reference time PZ Double 8 H 28 90 02 in metres 15 pos y Y coordinate for satellite at reference time PZ Double 8 H 36 90 02 in metres 16 pos z Z coordinate for satell
411. ween 1 and 32 for the SV ID indicates the PRN of the satellite Any other values indicate the page ID See section 20 3 3 5 1 1 Data ID and SV ID of CD GPS 200C for more details To obtain copies of ICD GPS 200 refer to the ARINC Web site at www arinc com 312 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter 3 3 3 55 RAWEPHEM Raw Ephemeris This log contains the raw binary information for subframes one two and three from the satellite with the parity information removed Each subframe is 240 bits long 10 words 24 bits each and the log contains a total 720 bits 90 bytes of information 240 bits x 3 subframes This information is preceded by the PRN number of the satellite from which it originated This message is not generated unless all 10 words from all 3 frames have passed parity Ephemeris data whose TOE Time Of Ephemeris is older than six hours is not shown Message ID 41 Log Type Asynch Recommended Input log rawephema onnew ASCII Example RAWEPHEMA COM1 15 60 5 FINESTEERING 1337 405297 175 00000000 97b7 1984 3 1337 403184 8b04e4818da44e50007b0d9c05ee664f fbfeb695d f763626f00001b03c6b3 8b04e4818e2b63060536608Ffd8cdaa051803a41261157eal0d2610626f3d 8b04e4818ead0006aa7f7ef8ffda25c1a69a14881879b9c6ffa79863f 9f 2x0bbl6ac3 RAWEPHEMA COM1 0 60 5 SATTIME 1337 405390 000 00000000 97b7 1984 1 1337 410400 8b04e483 7244e50011d7a6105ee664f fbfeb6 I5d 9e1643200001200aa92 8
412. wn 12 0x00001000 Code locked flag 0 Not locked 1 Locked N3 13 0x00002000 Correlator type 0 7 see Table 61 Correlator Type on page 304 14 0x00004000 15 0x00008000 Continued on the following page OEMStar Firmware Version 1 101 Reference Manual Rev 5 305 Chapter 3 Data Logs Nibble Bit Mask Description atlas SAVE TITS 16 0x00010000 Satellite system 0 GPS 1 GLONASS N4 17 0x00020000 2 WAAS 3 6 Reserved 18 0x00040000 7 Other 19 0x00080000 Reserved 20 0x00100000 Reserved N5 21 0x00200000 Signal type Dependent on satellite system above GPS GLONASS 22 0x00400000 0 L1 C A 0 L1 C A SBAS 23 0x00800000 0 L1 C A 24 0x01000000 N6 25 0x02000000 26 0x04000000 Forward Error Correction 0 Not FEC 1 FEC 27 0x08000000 Primary L1 channel 0 Not primary 1 Primary 28 0x10000000 Carrier phase 0 Half Cycle Not Added 29 Reserved 30 0x40000000 PRN lock flag 0 PRN Not Locked Out 31 0x80000000 Channel assignment 0 Automatic 1 Forced a This bit is zero until the parity is known and the parity known flag bit 11 is set to 1 b APRN can be locked out using the LOCKOUT command see also page 104 306 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 Field Binary Binary Field type Data Description Format Bytes Offset 1 RANGE
413. work Time and UTC SBAS c ccccccccceteeeeeeteees 398 3 3 91 WAAS17 GEO Almanac Message SBAS cccccccccseseeeeeeeteeseeeeeeees 400 3 3 92 WAAS18 IGP Mask SBAS cccccccccccccccsssesscsseeseceeeceeessecscsseeeeeesaees 402 3 3 93 WAAS24 Mixed Fast Slow Corrections SBAS 0 0ccccccceeesteteeeeeeees 403 3 3 94 WAAS25 Long Term Slow Satellite Corrections SBAS c cce 406 3 3 95 WAAS26 lonospheric Delay Corrections SBAS cccccsesseeeeenees 409 3 3 96 WAAS27 SBAS Service Message SBAS ccccccccccccetseeeseeteeeeeeeeeees 411 3 3 97 WAASCORR SBAS Range Corrections Used SBAS 1 0 0 413 4 Responses 415 OEMStar Firmware Version 1 101 Reference Manual Rev 5 7 1 Pulse Width and 1PPS Coherency 0 ccceccccceeeeeeeeeeeeeecneeeeeeeaeeeeeeeaeeeseeeneeeeeeeeaas 92 2 Illustration of Magnetic Variation amp Correction eecccceeeeeseeeeeeeeeeneeeeeeeeenneeeeeeeaas 111 3 TIE PulSe POlerity ciscececgcusteseececel ect A a tabed aetae phlei S 113 4 Using the SEND Command 2 00 2 ccceeccceeeeeeecceeteeeceneeeteeeeneceeneceanecesneeeencetenegseeneeeees 140 5 Illustration of SETNAV Parameters ccccceeeeeneeeeeeeeeneeeeeeeeneeeeeeeeaeeeeseeenaeeeeeeeeaas 148 6 Mustration Of UNQUIAtlOIN creser 161 7 The WGS84 ECEF Coordinate System 0 ececeeeeeeneeeeeeeeneeeeeeeeeaeeeeeetnaeeeeeeenaaes 209 8 Navigation Parameters 2 cc0 saccccccusueccecccessdccccdevhanveeccevesudeacdchagecaeceveheagaccatt
414. x 5 Variable Variable to point 5 characters maximum ASCII station name String max 5 Variable Variable In the binary log case additional bytes of padding are added to maintain 4 byte alignment OEMStar Firmware Version 1 101 Reference Manual Rev 5 149 Chapter 2 Commands 2 5 53 SETRTCMRXVERSION Set the RTCM standard input expected Use this command to enable interpreting the received RTCM corrections as following RTCM 2 2 or 2 3 standards lt For RTCM correction message types see Table 24 Serial Port Interface Modes on page 102 Abbreviated ASCII Syntax Message ID 1216 SETRTCMRXVERSION version Factory Default setrtcmrxversion v23 Input Example setrtcmrxversion v23 i Field ASCII Binary eA Binary Binary Binary rigid Type Value Value Description Format Bytes Offset 1 SETRTCMRXVE This field contains the H 0 RSION command name or the header message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 version v23 0 RTCM version 2 3 4 0 v22 1 RTCM version 2 2 0 150 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Commands 2 5 54 SETRTCM16 Enter ASCII text for RTCM data stream Chapter 2 The RTCM type 16 message allows ASCII text to be transferred from a base station to rover receivers The SETRTCM16 command is used to define the ASCII text at the base station
415. y 3 INVALID The clock model is not valid 4 ERROR Clock model error OEMStar Firmware Version 1 101 Reference Manual Rev 5 211 Chapter 3 Data Logs Message ID 16 Log Type Synch Recommended Input log clockmodela ontime 1 ASCII Example CLOCKMODELA COM1 0 52 0 FINESTEERING 1364 489457 000 80000000 98f 9 2310 VALID 0 489457 000 489457 000 7 11142843e 00 6 110131956e 03 4 93391151e 00 3 02626565e 01 2 801659017e 02 2 99281529e 01 2 801659017e 02 2 895779736e 02 1 040643538e 02 2 99281529e 01 1 040643538e 02 3 07428979e 01 2 113 2 710235665e 02 FALSE 3d530b9a lt The CLOCKMODEL log can be used to monitor the clock drift of the internal oscillator once the CLOCKADJUST mode has been disabled Watch the CLOCKMODEL log to see the drift rate and adjust the oscillator until the drift stops 212 OEMStar Firmware Version 1 101 Reference Manual Rev 5 Data Logs Chapter3 me Binary Binary Field Field type Data Description Format Bytes Offset 1 CLOCKMODEL Log header H 0 header 2 clock status Clock model status as computed from Enum 4 H current measurement data see Table 47 Clock Model Status on page 211 3 reject Number of rejected range bias Ulong 4 H 4 measurements 4 noise time GPS reference time of last noise addition GPSec 4 H 8 5 update time GPS reference time of last update GPSec 4 H 12 6 paramete
416. y differential data accepted 131 SETRTCM16 Enter an ASCII text SETRTCM16 text message to be sent out in the RTCM data stream 137 LOCKOUT Prevent the receiver from lockout prn using a satellite by specifying its PRN 138 UNLOCKOUT Reinstate a satellite in the unlockout prn solution computation Continued on the following page OEMStar Firmware Version 1 101 Reference Manual Rev 5 43 Chapter 2 Commands Message Command Description Syntax 139 UNLOCKOUTALL Reinstate all previously unlockoutall locked out satellites 142 DGPSEPHEM DGPS ephemeris delay dgpsephemdelay delay DELAY 144 DGPSTXID DGPS transmit ID dgpstxid type ID 160 DATUM Choose a DATUM name datum datum type 162 SETNAV Set start and destination setnav fromlat fromlon tolat tolon waypoints track offset from point to point 173 POSAVE Implement position posave state maxtime maxhstd averaging for base station maxvstd 177 SEND Send an ASCII message to send port data any of the communications ports 178 SENDHEX Send non printable sendhex port length data characters in hexadecimal pairs 180 MAGVAR Set magnetic variation magvar type correction stddev correction 197 NVMRESTORE Restore NVM data after a nvmrestore failure in NVM 214 UNDULATION Choose undulation undulation option separation 232 FREQUENCYOUT Sets the output pulse train frequencyout switch pulsewidth available on VARF period 258 DYNAMICS Tune receiver p

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