ProMark 800 ™ Reference Manual
Copyright Notice Copyright 2011-2013 Trimble Navigation Limited. All rights reserved. P/N 631668 B, January 2013 Trademarks All product and brand names mentioned in this publication are trademarks of their respective holders. FCC Notice ProMark 800 Receiver complies with the limits for a Class B digital device, pursuant to the Part 15 of the FCC rules when it is used in Portable Mode. See Note below related to Class B device.
How To Use this Documentation Please read this section to understand the organization of the present manual. This will help you navigate more easily through the pages and find more quickly the information you are looking for. Chapter 1 provides a full description of the ProMark 800 (front panel display screens, connectors, accessories, batteries, etc.). Compared to the Getting Started Guide, this chapter provides three additional sections: Specifications, Firmware Options and Port Pinouts.
Table of Contents Chapter 1. Introduction ..................................................................... 1 What is ProMark 800? ................................................................1 System Components Overview......................................................1 Equipment Description & Basic Functions ....................................4 Display Screens .........................................................................9 Charging Batteries Before Use ..............................
Chapter 7. Miscellaneous .............................................................. 111 ATOM File Naming Conventions...............................................111 Reverting to V1 for All ATOM Messages Generated by the Receiver111 Time-tagged RTK vs. FAST RTK Position Output ......................112 Special Button Combinations Summary ....................................112 Reset Procedure ...................................................................
CPD,AFP: Setting the Confidence Level of Ambiguity Fixing .......169 CPD,FST: RTK Output Mode ...................................................170 CPD,MOD: Base/Rover/Backup Mode .......................................170 CPD,NET: Network Corrections ................................................172 CPD,REM: Differential Data Port..............................................173 CPD,RST: RTK Process Reset..................................................174 CPD,VRS: VRS Assumption Mode .................
PEM: Setting the Position Elevation Mask.................................213 POP: Setting Internal Update Rate for Measurements and PVT ...213 POS: Setting the Antenna Position ...........................................214 PPS: Setting PPS Pulse Properties...........................................215 PRT: Setting Baud Rates.........................................................216 PWR,OFF: Powering Off the Receiver .......................................217 PWR,PAR: Power Management ....................
ALM: Almanac Message ..........................................................258 ANH: Antenna Height .............................................................259 ANP: Antenna Parameters .......................................................260 ANP,OUT: Virtual Antenna ......................................................261 ANP,OWN: Local Antenna Used...............................................261 ANP,RCV: Antenna Name and Offsets of Received Base.............
GNS: GNSS Fix Data ..............................................................306 GPS: GPS Tracking Status.......................................................308 GRS: GNSS Range Residuals...................................................309 GSA: GNSS DOP and Active Satellites......................................310 GST: GNSS Pseudo-Range Error Statistics ................................312 GSV: GNSS Satellites in View ..................................................
RTC,MSI: RTCM Message Status .............................................361 RWO: Raw Data Output Settings ..............................................362 SAT: Satellites Status .............................................................363 SBA: SBAS Tracking Status ....................................................364 SGA: GALILEO Satellites Status ..............................................365 SGL: GLONASS Satellites Status .............................................
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Chapter 1. Introduction What is ProMark 800? Congratulations! You have just acquired the latest multifrequency, multi-constellation ProMark 800 GNSS Surveying System from Spectra Precision! GNSS has revolutionized control surveys, topographic data collection and construction surveying. Purchasing the right tools for a professional job is essential in today's competitive business environment. Learning to put these tools to work quickly and efficiently will be the focus of the present manual.
Introduction Basic Supply Item ProMark 800 GNSS receiver with standard accessories: • 1x Li-ion rechargeable battery pack • AC/DC power supply kit • HI measurement tool • USB cable, host • USB cable, device • GSM antenna • GPS antenna extension • Transport bag • GNSS Solutions (RTK+L1 post-processing) • Firmware options: Unlimited RTK, GLONASS, GALILEO, L5, GSM Modem, 20- Hz Fast Output Standard Accessories Part Number 990657-99 (Can be ordered separately as spare parts.
Introduction Item Field bag Communication Modules and Associated Antennas Part Number Picture 206490-ASH Item Part Number 87330-00: ADL Vantage Kit, 430-470 MHz, 4 W 87330-20: Accessory kit, 430-450 MHz 87330-10: Accessory kit, 450-470 MHz Each accessory kit includes a unity-gain ADL Vantage antenna, a range pole mount, a tripod mount system, a battery accessory kit (without the battery) and a Vantage/Vantage Pro programming cable.
Introduction Item ADL Vantage (Pro) to ProMark 800 cable (PacCrest ref. A00630) Part Number Picture 105659 Equipment Description & Basic Functions Front Panel View Display Screen Log Button Power Button Scroll Button Power LED Indicators & Controls Power button To turn on the ProMark 800, hold the Power button pressed until the power LED lights up. To turn off the ProMark 800, hold the Power button pressed until the “Ashtech” screen is displayed.
Introduction Used in conjunction with the Scroll button, the display screen allows you to view different pages of information. See Display Screens on page 9 for a detailed description of the information available from this screen. After a few seconds of inactivity (i.e. Scroll button idle), screen luminosity turns from high to low level. Scroll button Press this button shortly to scroll through the different pages of information viewed on the screen.
Introduction Bottom View USB Port Radio Antenna 5/8” adaptor Radio module RS232/422 port (port A) GSM Antenna Battery Compartment Bluetooth (port C) DC Power Input Front Panel Battery, Connectors & Module Battery Model & Battery Compartment The battery used in the ProMark 800 is a 7.4-V DC - 4600 mAh rechargeable battery. It is a standard model used in many camcorders. The battery is housed in a battery compartment accessible from underneath the ProMark 800.
Introduction GSM Antenna A coaxial female connector (SMA type) allowing you to connect a GSM whip antenna to the ProMark 800. Radio Antenna A coaxial female connector (TNC type) allowing you to connect a radio whip antenna to the ProMark 800. This connector is available only if the ProMark 800 has been fitted with a radio module. Radio Module A module allowing ProMark 800 to receive and process corrections from a base. When a radio module is used, a radio antenna must be connected (see above).
Introduction Antenna Characteristics The diagram below gives the dimensional parameters of the ProMark 800 antenna required for the system to determine the true height of the antenna from the measured value obtained using one of the standard height measurement methods, i.e. slant or vertical. Antenna Radius = 98 mm Height Mark 104.0 mm 100.
Introduction Display Screens If you press the Scroll button several times, you will see the following displays successively. Power-On Screen When you power on the receiver, the Ashtech logo appears on the screen. It is displayed until the receiver has completed its auto-test (this takes about 30 seconds). Then the General Status screen is displayed. General Status Screen An example of General Status screen is shown below.
Introduction • Number of satellites used [4]: Number of satellites used in the position processing, regardless of the current position solution status. • : Data link icon [5]. This icon is displayed only when corrections are received. • Age of corrections [6], in seconds. This value is displayed when corrections are received and only after base station information has been received (Position status is at least “DGPS”).
Introduction • GSM module (modem) status [12]. This may be one of the following icons: Icon Blank Definition Modem turned off. Blinking icon: Modem turned on but not initialized yet. Indicates signal strength at modem antenna input. Fixed icon: Modem turned on and initialized (ready for a connection). Indicates signal strength received at modem antenna input. The higher the number of bars, the better the signal. This icon will show four dots at the bottom when the input signal is zero.
Introduction Right screen: • First line: Total space occupied by the files currently stored in the internal memory. • Second line: Nominal size of the internal memory. • Third line: Total space occupied by the files currently stored on the USB mass storage device. • Fourth line: Nominal size of the USB mass storage device. About the “*” symbol: • It can only appear at the end of the first or third line. • Where placed, it indicates that this storage medium is used for data logging.
Introduction depending on whether or not a projection is defined in the local coordinate system used), If the receiver is a rover, the displayed position will be the last computed position. The coordinates will be local (“LOC”) only if the rover receives specific RTCM messages from the base describing the local system used by the base. If the receiver is a base, the displayed coordinates are set ones (not computed ones) representing the WGS84 or local reference position assigned to the base.
Introduction slowly scrolled to the right if four parameters have to be displayed in the line. ATL Recording Screen Pressing the Scroll button from the Position Computation screen –or from the Radio Settings screen if there is a radio used– will take you to the ATL Recording screen, which looks like one of the following, depending on whether a USB key is connected to the receiver (below, right) or not (below, left).
Introduction Memory Management Screen From the ATL Recording screen, press the Scroll button to access the Memory Management screen. The flowchart below summarizes the different tasks you can perform at this point in the management of the receiver memory. ATL Recording Screen Scroll button Clean up internal memory? Yes No No Delete all G-files? Yes Delete all files? No Format memory? Yes Yes No Yes Confirm? In progress...
Introduction • Remove the battery door, accessible from underneath the ProMark 800, by loosening the two quarter-turn screws (see picture) using a coin. • Keeping one hand on the battery still in its compartment, put the ProMark 800 the right way up. The battery will then easily slide out of the battery compartment. Charging the Battery 16 The battery charger comes with a separate universal AC adapter fitted with a 1.5-m output cable.
Introduction 1 2 [1] MED HI MAX [3] [4] [5] [6] MED HI MAX MED HI MAX MED HI MAX Inserting the Battery in the ProMark 800 [2] • Plug the adapter into an AC outlet. Battery charging starts immediately. For a low battery that’s being charged, you will first see the three LEDs switch on and off, one after the other, followed by a short period of time when none of the LEDs is on (see [3]). After about two hours of charging, the MED LED will stay on [4].
Introduction • New Z-Blade technology for optimal GNSS performance – New Ashtech GNSS centric algorithm: Fully independent GNSS satellites tracking & processing (1). – Enhanced RTK performance – Quick signal detection engines for fast acquisition and re-acquisition of GNSS signals – Advanced multipath mitigation • Up to 20 Hz real-time raw data (code and carrier) and position output • Supported data formats: ATOM (Ashtech Optimized Messaging), RTCM 2.3, RTCM 3.
Introduction • Horizontal: 3 mm (0.009 ft) + 0.5 ppm • Vertical: 5 mm (0.016 ft) + 0.5 ppm High-Precision Static (6) • Horizontal: 3 mm (0.009 ft) + 0.1 ppm • Vertical: 3.5 mm (0.011 ft) + 0.4 ppm Post-Processed Kinematic • Horizontal: 10 mm (0.033 ft) + 1.0 ppm • Vertical: 20 mm (0.065 ft) + 1.0 ppm Data Logging Characteristics Recording Interval: • 0.05 to 999 seconds Physical Characteristics • Size: 22.8 x 18.8 x 8.4 cm (9 x 7.4 x 3.3 “) • Weight: 1.4 kg (3.
Introduction Environmental Characteristics • • • • • • Power Characteristics • Li-ion battery, 4600 mAh • Battery life time: 8 hrs (GSM and UHF off) • 6-28 VDC input Optional System Components Operating temperature: -30° to +60°C (-22° to +140°F) Storage temperature: -40° to +70°C (-40° to +158°F) Humidity: 100% condensing Waterproof, sealed against sand and dust Shock: ETS300 0.19 Vibration: EN60945 • Communication Modules: – Pacific Crest UHF Rx – GSM/GPRS/EDGE/3.
Introduction ID Label Description P/N Enables the use of signals from the GLONASS constellation Preinstalled S GLONASS 680500 Yes P GNSSL2 Enables the reception of the L2 frequency - Yes M RTK2 RTK computation with proprietary messages (ATOM, DBEN, LRK). Generates proprietary messages (ATOM). - Yes L RTK3 Limits RTK range to 3 km - N STA Enables a base receiver to generate RTCM, CMR or ATOM corrections data. - O GALILEO Enables Galileo tracking & raw data output.
Introduction RS Port (Port A) 7-C Connector, Type: Fischer DBPU 102 A056-139 2 2 3 3 7 6 4 5 7 1 4 6 5 1 RS232 Configuration: Pin 1 2 3 4 5 6 7 Signal Name Description NC Ground Clear To Send Request To Send Receive Data Transmit Data 1PPS output GND CTS RTS RXD TXD PPS RS422 Configuration: Pin 1 2 3 4 5 6 7 USB Port Signal Name GND RXDTXD+ RXD+ TXDPPS USB 2.0, full speed.
Introduction Pin 2 3 4 5 6 7 8 9 Signal Name GND Device (D+) Device (D-) Host (VBus) Host (D+) Host (D-) Device Detection NC 23
Introduction 24
Chapter 2. RTK Surveying Preliminary Steps Introduction ProMark 800 can be used in conjunction with two different Spectra Precision field software applications running on your field terminal: • FAST Survey • Survey Pro This chapter describes the preliminary steps required before starting using your RTK surveying equipment. Two different setups are presented: • RTK Base setup: If you are using your own base and a radio link, you need to set up your base first.
RTK Surveying Preliminary Steps RTK Base Setup • You will need a tripod and a tribrach (not provided) to install the base. The provided antenna extension pole fitted with a 5/8” male adapter is also required in this configuration. • For a long-range radio link, i.e. more than 1 mile or 1.6 km, for which the radio antenna should be placed as high as possible, it is good practice to install the antenna on top of an antenna pole secured on a tripod (neither of these items is provided).
RTK Surveying Preliminary Steps RTK Rover Setup Prerequisites • Use a range pole fitted with a 5/8” male adaptor at the upper end (not provided). • If a radio link is used with the base, your rover should normally have been fitted with the radio module that matches the reception band covered by the radio transmitter used at the base. • If a GPRS connection is used, your rover should normally have been fitted with the SIM card that will allow it to perform a network connection.
RTK Surveying Preliminary Steps 28
Chapter 3. Post-Processed Surveying Introduction ProMark 800 can be used either as a base or a rover for collecting raw data in post-processed surveys. Post-processed surveys with ProMark 800 can be performed either with a standalone ProMark 800, or with a ProMark 800 used in conjunction with a field terminal running a field software application.
Post-Processed Surveying System Setup Base Setup This setup should always be used for a base and may also be used for a rover having to run a static survey. Prerequisites: • You need accessories to install the base, such as a tripod, a tribrach and an antenna pole. • Allow for an external DC power source if this is how you want the base to be powered. Connect the power source to the DC Power Input located underneath the unit. Step-by-step Procedure: 1.
Post-Processed Surveying 2. Post-processing phase: Manually correct all computed elevations for the antenna height. By default, raw data is logged to the receiver’s internal memory. The Raw Data Logging icon on the General Status screen will start flashing when a raw data file is open for logging. Downloading Raw Data Use a USB mass storage device as a transit storage medium to download raw data files from the receiver’s internal memory to your office computer.
Post-Processed Surveying receiver is then seen as a USB device from the office computer • Using Windows Explorer on your office computer, browse the receiver’s internal memory for the raw data files. • Copy/paste the files to your project folder.
Chapter 4. Precise Surveying - Field Applications & Concepts Introduction to Precise Surveying GNSS precise surveying relies on the use of specific algorithms involved in the processing of carrier phase measurements. Centimeter precision obtained in precise surveying results from the successful processing of these measurements. Carrier phase measurements are derived from the signals the surveying equipment receives and decodes from the visible GNSS constellations.
Precise Surveying - Field Applications & Concepts CPD: Carrier-Phase Differential. An acronym that refers to the processing of reference carrier phase measurements for precise (RTK) differential measurements. Fixed (solution): Status of the position solution once RTK operation is initialized and centimeter-level precision is achieved. GNSS: Global Navigation Satellite System. GPS, GLONASS, SBAS, QZSS and GALILEO are each a GNSS. SBAS: Satellite Based Augmentation System.
Precise Surveying - Field Applications & Concepts the surveyor has full control over the base data sent to the rover. Constellation: Set of GNSS satellites visible from a given observation point on the Earth. Data Link: A communication means allowing transfer of RTK correction data from a base to a rover. Occupation Time: Time spent on a survey point without moving (“static” occupation) the antenna pole and keeping it vertical.
Precise Surveying - Field Applications & Concepts User-Owned Base Base GNSS+SBAS Radio or Cellular Data Link Radio or GSM Radio or GSM GNSS+SBAS Chosen Point Rover Base / Rover Configuration Connection to ThirdParty Base Network Via the Internet GNSS+SBAS Base Base Cellular Data Link Cellular Modem Base Internet GNSS Rover Rover-Only Configuration 3. A data link must be established to transfer the base’s RTK correction data to the rover.
Precise Surveying - Field Applications & Concepts 5. There can be several rovers working together at the same time, receiving RTK correction data from the same base. Logging Points Typical Use Determining and logging the coordinates of points in a chosen coordinate system. The points are located within a relatively small area.
Precise Surveying - Field Applications & Concepts • With single-epoch measurements, the rover just logs the first position it computes on that point (no position averaging). Logging Points in Continuous Mode Typical Use Determining and logging the coordinates of points along the line (trajectory) followed by the rover.
Precise Surveying - Field Applications & Concepts of point logging will be saved (no position averaging is possible in this case). Staking Out Typical Use Going to the field to accurately locate points, marking them with appropriate means and logging their positions, as determined by the rover. Stakeout points are typically a project’s input data.
Precise Surveying - Field Applications & Concepts accurate view as you approach the point. The system tells you when you are over the point. • When you are over the point, mark its location on the ground. You can save the coordinates of the stakeout point with or without a position-averaging period. • The rover will then automatically prompt you to move to the next point from the list and will guide you to this point.
Precise Surveying - Field Applications & Concepts time= Observation time because only one point is surveyed. Occupation time is irrelevant to Continuous Kinematic. Raw Data Recording Rate: Interval, expressed in seconds, at which the field equipment records the raw data received from the GNSS constellation. Implementation Rules GNSS GNSS Baseline Base Rover Rover Chosen Point Data collected at the base Data collected on the survey point Observation Time 1.
Precise Surveying - Field Applications & Concepts 3. Successful survey requires proper initialization of the system. See Initialization on page 49. To maintain initialization throughout the survey, and especially in kinematic surveys, be careful at all times not to mask the rover’s GNSS antenna. For most Spectra Precision receivers, in case of poor reception or complete loss of satellite signals, a message will prompt you to resume initialization. 4.
Precise Surveying - Field Applications & Concepts Baseline Base Rover Reference Point Survey Point Data collected at the base Data collected on the survey point Observation Time Key Points 1. 2. 3. 4. “Stop & Go” Kinematic Survey Same system setup for the base and the rover. The rover is stationary throughout the survey. Occupation time=Observation time Initialization and masking problems minimized as the rover is stationary. Typical Use Surveying Several Points within a Relatively Small Area.
Precise Surveying - Field Applications & Concepts Baseline Base Rover Reference Point Survey Points 0001 0002 0003 Survey Points: 0004 (Initialization) 0005 0006 Data collected at the base Data collected by the rover 0001 0002 0003 0004 0005 0006 Observation Time Occupation time on each survey point Key Points 1. The rover is moved successively onto each of the survey points. The rover antenna pole should be kept still and vertical over each survey point for a given occupation time. 2.
Precise Surveying - Field Applications & Concepts 4. Points are automatically named (numeral suffix automatically incremented) unless you wish to give a particular name for each point. 5. Occupation time in fact defines the period of time for which the post-processing software will average the successive positions over this period of time. The resulting averaged position will be assigned to the point. Continuous Kinematic Survey Typical Use Surveying Lines (Trajectories).
Precise Surveying - Field Applications & Concepts 2. Contrary to Stop & Go survey, there is no occupation time on a particular point. Data logging should be started at the beginning of the line and stopped at the end. 3. Log interval. With some field software applications, such as FAST Survey, the log interval can only be equal to the raw data recording rate, meaning that the line is necessarily surveyed in time mode.
Precise Surveying - Field Applications & Concepts contrary, if you are using your own base, it is essential that you install it according to the rules. This section discusses the two basic criteria to be taken into account when installing your own base: 1. GNSS reception conditions 2.
Precise Surveying - Field Applications & Concepts Second Criterion: Base Position Known or Unknown? 48 In addition to the good reception conditions required at the base, you must also think about whether the base position should be known with great precision or not. The explanations below will help you understand what you need in terms of base position accuracy. 1.
Precise Surveying - Field Applications & Concepts better than 30 meters (probably closer to 10-20 meters), but an error of 50 meters is possible. If you plan to use an estimated position for the base, keep the vector lengths between the base and rover short and ensure the added error is not significant for the survey you are performing.
Precise Surveying - Field Applications & Concepts Your GNSS antenna Good distribution of satellites in space Excellent GDOP (05) Integer Ambiguity: “Integer” refers to the number of entire wavelengths of signal carrier separating a satellite from a receiver. “Ambiguity” refers to the fact that this number is unknown at the beginning of a survey. Solving integer ambiguity therefore means determining the exact number of entire wavelengths.
Precise Surveying - Field Applications & Concepts • Stopping recording sessions before enough data has been collected to guarantee initialization. For this reason, you should be aware of the initialization issue and so take all the necessary steps to make sure initialization will not only be achieved but also preserved until the end of your kinematic surveys. Single-Frequency vs. Multi-Frequency GNSS multi-frequency receivers need less data and time to get initialized.
Precise Surveying - Field Applications & Concepts OTF and “Known Point” Methods Baseline Base Baseline Baseline Rover Kinematic OTF Reference Point Rover Static OTF Rover No static occupation (moving) Known Point Static Occupation on unknown point Static Occupation on known point Kinematic OTF.
Precise Surveying - Field Applications & Concepts In post-processed surveying, the rover asks you to stay still on the known point for a preset occupation time. This particular event in the logged raw data file will help the post-processing software initialize more quickly. The known point can be a point previously surveyed in postprocessing static mode. Initializer Bar Baseline 1. 2.
Precise Surveying - Field Applications & Concepts The initialization can even be faster if there is a possibility for you to use the “Known Point” initialization method, or, if your receiver is a ProMark3, the “Initializer Bar” method. Typical Initialization Times (TTFF) The charts below show the variations of the TTFF obtained with Spectra Precision receivers, as a function of baseline length, initialization method and receiver type, for normal operating conditions (open sky, 8 satellites, PDOP<3).
Precise Surveying - Field Applications & Concepts Precision receivers will help you take a decision on when to stop data collection. • The lower the DOP, the larger the number of received satellites and the more open the sky, the better the chances for successful initialization. Such indicators as DOP, number of satellites received, sky quality (presence/ absence of obstructions) will indirectly help you get a good idea of whether initialization will be achieved or not.
Precise Surveying - Field Applications & Concepts Observation Time Charts: Minimum observation time Minimum observation time 300 s 50 min TF atic O Kinem OTF atic m e n Ki 30 s 5 min Dual-Frequency Receivers 3s Single-Frequency Receivers t n Poin Know 0.
Precise Surveying - Field Applications & Concepts Phase Center Location (1) This is a virtual point that represents the spatio-temporal origin of the antenna. It is usually inside the antenna and often on, or close to, the vertical axis of the antenna. The phase center location is accurately determined by the antenna manufacturer or the United States National Geodetic Survey after a long series of tests. The location of the phase center is usually indicated on the antenna itself (see also 4. below).
Precise Surveying - Field Applications & Concepts Phase Center Phase Center Measured Vector Base Base Antenna Height Rover Rover Antenna Height Reference Point Ground Vector Survey Point To compute the position of the mark instead of the antenna, it is necessary to instruct the rover to perform an antenna reduction. In an antenna reduction, the antenna heights are taken into account when computing the rover position.
Precise Surveying - Field Applications & Concepts Base Read slant height value here Landmark • Position the base system exactly over the landmark. • Insert the end of the Spectra Precision measurement tape into the slot representing the SHMP. • Unroll the tap toward the landmark and position the tip of the measurement tape onto the landmark. • Block the tape and read the value indicated by the measurement tape: this is the slant height. • Enter this value into the base system as a slant measurement.
Precise Surveying - Field Applications & Concepts Phase Center Phase Center Offset Rover Vertical Height True Antenna Height Ground The real height of the antenna is therefore the sum of the vertical height and the phase center offset. Measuring the vertical height only consists in measuring the length of the range pole used to support the GNSS antenna and the rover unit.
Precise Surveying - Field Applications & Concepts Using a Virtual Antenna What is the Problem? Not all the GNSS antennas available on the market are known to all hardware manufacturers and software editors. Now, when post-processing raw data files, this is a problem because these files hold the names of the GNSS antennas that were used for data collection.
Precise Surveying - Field Applications & Concepts Satellite Pseudo-range for Real Antenna Pseudo-range for Virtual Antenna Real Phase Center ARP Virtual Phase Center The receiver has to correct the collected data (most notably pseudo-ranges) so that they appear as if they had been collected –for each frequency– at the virtual phase center, not at the real phase center.
Precise Surveying - Field Applications & Concepts About The Different Virtual Antennas Existing Today There exists different virtual antennas, with different names and specifications. However behind all these antennas is the same function assigned to the receiver, which is to correct the raw data for the point(s) of data collection defined for the virtual antenna. One of the most widely used virtual antennas is the “ADVNULLANTENNA” antenna.
Precise Surveying - Field Applications & Concepts The reference ellipsoid refers to the WGS84, or better the ITRFxx, where xx is the year the ITRF was realized (e.g. ITRF00 was realized in the year 2000). The center of this reference ellipsoid coincides with the center of the mass of the Earth, which is also the origin point of the Earth-Centered Earth-Fixed (ECEF) X, Y, Z Cartesian coordinate system. As far as horizontal coordinates are concerned, the reference ellipsoid gives full satisfaction.
Precise Surveying - Field Applications & Concepts Surveyed Point Reference Ellipsoid Elevation Geoid This surface is irregular depending on the density and distribution of materials on the surface of the Earth, which means the geoid may not exactly follow the natural features on the Earth’s surface. (The geoid is a fictitious surface that can’t be seen).
Precise Surveying - Field Applications & Concepts Geoid Surveyed Point Reference Ellipsoid [1] [2] To center of ellipsoid [1]: Elevation (above geoid) [2]: Interpolated geoidal separation From this interpolation the system can derive elevation from ellipsoidal height using the following formula: Elevation [1] = Ellipsoidal Height - Interpolated geoidal separation General Considerations Regarding Accuracy What Accuracy Mainly Depends On In precise surveying, accuracy is primarily tied to the capacit
Precise Surveying - Field Applications & Concepts Accuracy will also depend on the RTK correction data received from the base: • The further the distance between the surveyed point and the base, i.e. the longer the baseline length, the higher the theoretical uncertainty affecting the position result. • The lower the reception level of the received RTK correction data, the less the data involved in the processing and the higher the measurement uncertainty affecting the position result.
Precise Surveying - Field Applications & Concepts Please refer to the specifications sheet of the model you are using for more information. Accuracy (rms) RTK Horizontal 1 cm + 1 ppm Vertical 2 cm + 1 ppm Post-Processing 0.5 cm + 1 ppm 1 cm + 2 ppm Obviously, accuracy figures deteriorate when the system fails to fix the position. Accuracy Measures Errors on coordinates determined with GNSS systems are not constant (the solution varies statistically).
Precise Surveying - Field Applications & Concepts accuracy about 68% of the time. This percentage corresponds to the 1-sigma width on the Gaussian curve. 68% 1sigma 1sigma 2. Some manufacturers use the “2drms” measure, which is derived from the rms measure on the horizontal plane, using the following formula: Accuracy ( 2drms ) = 2 × Accuracy ( rms ) 3.
Precise Surveying - Field Applications & Concepts al y roty x Lo c z gr id Typically through localization, your equipment determines the new local grid (a plane) by comparing the known local coordinates of one or more reference points with the corresponding geographic coordinates entered or measured for these points. dy dz dx rotx n io ct em st sy e ed ct rotz oj pr le Se NOTICE: Not all the existing field software applications have the capability to run localization in real time.
Precise Surveying - Field Applications & Concepts points or more is highly recommended to achieve accurate localization on the horizontal plane. This number should be raised up to four, or more, to ensure vertical localization. • Rigid Body: Same as plane similarity except that the scale factor is held fixed throughout the localization process. • Helmert: With this method, the user provides the seven parameters modifying the projection system currently used in the job.
Precise Surveying - Field Applications & Concepts 3. Enter the latitude, longitude and ellipsoidal height of the first reference point. 4. Set horizontal or/and vertical control for the first reference point. This means requiring that the local grid pass through respectively the horizontal or/and vertical position of the point. 5. Resume the previous three steps until all the reference points have been defined. 6.
Chapter 5. RTK Implementation Data Link In an RTK surveying system, the data link is used to transfer RTK correction data from the base to the rover. The data link may be one of the following two types: • Standalone: You will have full control over the generation and transmission of RTK correction data (Spectra Precision equipment used in base/rover configuration).
RTK Implementation CSD: Circuit Switched Data. CSD is the original form of data transmission developed for the Time Division Multiple Access (TDMA)-based mobile phone systems like GSM. Direct IP: (IP=Internet Protocol). A way of acquiring base data from the Internet via a network connection to a static IP address. GPRS: General Packet Radio Service. A mobile data service available to GSM modem users such as cell phone users.
RTK Implementation Radio Implementation Radios are usually operated in pairs (one at the base, used as a transmitter, and the other in the rover, used as a receiver), but an unlimited number of rovers can receive RTK correction data from the same base. Radio Antenna Base Radio Serial Line Radio Antenna Radio Rover Serial Line An important factor is the radio range. It should be equal to or greater than the maximum baseline length you need to survey. Internal vs.
RTK Implementation • UHF Frequency band: Range of UHF frequencies on which the radio transmits or receives data (license-free radios operate in the 850-930 MHz band, other radios in the 410-470 MHz band). • Channel spacing or channel bandwidth: Space occupied by one channel (in kHz). • Radiated power: Transmission power, in watts (W) radiated by the radio used at the base. • Channel number: Corresponds to a specific carrier frequency within the band.
RTK Implementation As a rover user, you should make sure this function is also activated at the base before activating it in your radio receiver, otherwise the radio link won't work at all. If you are using heterogeneous sets of radios (i.e. radio transmitters and receivers from different manufacturers), make sure this function is disabled in the radio receiver or transmitter where it is made available. • Scrambling: Also made available by some radio manufacturers.
RTK Implementation configuration is well suited to surveying systems used in base/rover configuration. Antenna Antenna CSD Base Modem or Cell Phone Modem or Cell Phone Rover Important! ProMark 800 CANNOT operate in CSD mode. • One modem or cell phone operating in GPRS mode. The modem is used on the rover side to establish a connection to the Internet, either in Direct IP or NTRIP mode. The rover will then receive RTK correction data from the selected base.
RTK Implementation CDMA: • Based on CDMA technology (CDMA=Code Division Multiple Access) spreading data out over the channel after the channel is digitized. Multiple calls can then be overlaid on top of one another across the entire channel, with each assigned its own “sequence code” to keep the signal distinct. • No specific frequency band per country.
RTK Implementation Activating a Data Link in NTRIP Mode Base Intern et Base Base Base Base Inter net Base Caster Rover In this mode, you will have to: • Enter the five identification parameters of the caster, i.e.: 1. IP address 2. Mount point 3. Port number 4. Login 5. Password • The caster will return the source table from which you will be able to select the base from the caster with which you would like the rover to work. The nearest base will be prompted as the default setting.
RTK Implementation Activating a Data Link in Direct IP Mode Base Int e Inter t net e rn Rover In this mode, you will have to: • Enter the two identification parameters of the RTK correction data provider, i.e. IP address (xxx.xxx.xxx.xxx) or host name (a URL name), and port number. • Wait until the data link is active and RTK correction data is received. NOTE: Introduced late 2008, the RTDS PC software allows rovers to communicate with a user-owned base, also through the Direct IP mode.
RTK Implementation If the increase is only temporary, then you should not care too much about the data link as long as the rover continues to provide “fixed” positions. But if the age of corrections keeps on increasing, then the problem is more serious as it can only result in a rover losing the “fixed” status for all the positions it delivers. In this case, you should figure out why the data link fails and take the necessary steps to bring it back to work.
RTK Implementation RTK Correction Data Formats This section describes the different data formats that can be used by Spectra Precision receivers to transport RTK correction data from a base to a rover. One of the preliminary settings you will have to do before using your equipment is to choose one these data formats and set the output rate. This choice should be done in conjunction with that of the data link (see the ”Data Link” section).
RTK Implementation Standard Formats CMR, CMR+ CMR (for Compact Measurement Record) is a non-proprietary RTK format that uses data compression techniques to reduce the bandwidth required to transmit the RTK data. In other words, the amount of data to be transmitted on the data link is less with CMR than with many other formats. There is also an enhanced version of this format called CMR+.
RTK Implementation RTCM3.0 and 3.1. The message types that exist in these versions are numbered from 1001 to 1029. The most important ones are listed below.
RTK Implementation RTK Position Output RTK Position Output Mode Definition Some field applications require the fastest possible position output rate whereas some others can do with a slower output rate provided the position accuracy is maximum. Setting the RTK position output mode allows you to choose the position output that is right for your application. Spectra Precision receivers offer two different RTK position output modes: • Time-tagged RTK mode, also called “Synchronized RTK” mode.
RTK Implementation Time-Tagged RTK Output Mode Principle. In Time-tagged RTK, the rover will compute and output a single RTK position for each epoch of RTK correction data it receives. Epoch1 RTK Correction Data (Base) Epoch2 Epoch3 1. Rover saves GNSS raw data received at t0.. 2. RTK correction data computed at t0.. arrives in rover 3.
RTK Implementation interference in the data link between the base and the rover. Regardless of the cause, the rover will only provide an RTK position when it receives data from the base. Fast RTK Output Mode Principle. In Fast RTK, the rover uses the RTK correction data from a single epoch to compute multiple RTK positions. For example, if the base is transmitting RTK correction data every second (1 Hz), the rover can output four RTK positions at intervals of 0.25 second.
RTK Implementation configuration, a typical latency time in Spectra Precision receivers is 15 ms. Use Context. Fast RTK should be used when consistent and high-rate position updates are required, such as in machine control or field operator guidance, and when consistent position accuracy is not the highest priority. Benefits. The position output rate is less sensitive to the rate at which the rover receives RTK correction data.
RTK Implementation In Time-Tagged RTK Epoch1 Epoch3 Epoch2 Base Data Availability RTK Position Output (Rover) Pos1 Pos2 No position output In Fast RTK Epoch1 Epoch3 Epoch2 Base Data Availability RTK Position Pos1 Output (Rover) Extrapolated from Epoch0 Pos2 Pos3 All extrapolated from Epoch1 Pos4 Pos5 Pos6 Extrapolated from Epoch3 In the above Fast RTK mode example, the output rate has been set to twice the base data output rate.
RTK Implementation RTK Position Output Rate In Time-tagged RTK mode, clearly the rover’s position output rate is equal to the RTK correction data output rate set at the base. It will also depend on the installed firmware options, if applicable to the Spectra Precision equipment used. In Fast RTK mode, the rover’s position output rate can be a multiple of the RTK correction data output rate.
RTK Implementation 92
Chapter 6. Troubleshooting List of Alarms Alarms are reported on the receiver display screen. A blinking warning sign appears on the status screen prompting you to press the Scroll button so you can read the alarm label. To acknowledge an alarm message once the alarm label is displayed on the screen, press the Scroll button again. If several alarm messages are reported, press the Scroll button as many times. This will acknowledge each message, one after the other.
Troubleshooting # Rank Alarm Label 5 Medium File close error 6 Medium File write error 7 Medium File read error 8 Medium File system mount error 12 Medium GSM connection failed 14 Medium GSM initialization failed 16 Medium GSM data write error 19 Medium GSM power error 21 High USB removed while file opened 22 High File transfer Error 23 High Transfer to USB failed 24 Low RTC send error 25 Medium Bad radio settings 94 Symptoms & Remedies Receiver failed to close the raw dat
Troubleshooting # 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 43 44 45 46 Rank Alarm Label Symptoms & Remedies Receiver fails to communicate with the external or internal radio device, or radio does not respond to your command. Medium No radio detected Check to see if radio is present (internal radio) or connected and powered on (external radio). Then send your command again. Receiver failed to interpret data received from Pacific Crest receiver or Medium Radio settings corrupted transmitter.
Troubleshooting # Rank Alarm Label 47 Medium GSM protocol error 48 Medium GSM CSD mode error 49 Medium APN error 51 Medium GPRS login error 53 Medium GPRS password error 54 Medium GPRS connection failed 56 Medium Invalid caster hostname 57 Medium Invalid caster port 60 Medium 61 Medium Connect.
Troubleshooting # Rank 111 High 112 High 113 High 114 High 115 High 116 High 117 High 118 High 192 Medium 193 Medium 194 Medium 195 Medium 196 Medium 197 Medium 198 Medium 199 Medium 200 Medium 201 Medium Alarm Label Symptoms & Remedies The use of the [S] firmware option was granted to you for a limited period of time, which has now expired. Please contact to renew the Option S has expired use of this option.
Troubleshooting # Rank Alarm Label 202 Medium Invalid link speed 203 Medium Invalid FEC mode 204 Medium 205 Medium 206 207 Too many config files (*.
Troubleshooting Step 1. Has the Receiver Been Powered Up? To determine if the receiver is powered up, examine the power LED on the front panel of the receiver. If the LED is on, the receiver is on. 1. If the receiver is not powered up, turn on the receiver by pressing and holding the power key on the front panel. The button must be held for a few seconds since there is a delay in power on. You will see the power LED turn on and the display will show the logo followed by the message “Starting...”. 2.
Troubleshooting 3. If the receiver still fails to track any satellites, a component may be malfunctioning. Call your local dealer or email technical support for assistance. Receiver is Not Logging Data Relevant to RTK Base • RTK Rover • PP Base • PP Rover • Raw Data Logging Icon: The Raw Data Logging icon on the front panel of the receiver will be animated when data logging is in progress. Examining the General Status screen, you determine that the receiver is not logging data to memory.
Troubleshooting • Connect a USB stick to the receiver through the USB device cable provided and press the Log button again. • Restore the default settings (by pressing the Log+Scroll+Power buttons simultaneously) in order to make the internal memory the active memory. Press the Log button again. If neither of these two actions resolves your problem, go to step 3. Step 3.
Troubleshooting Step 1. Is the Receiver Fitted with the Appropriate Radio Module? The radio module used should be compatible with the radio transmitter used at the base. Several sub-bands and channel bandwidths are available for the radio (see Communication Modules and Associated Antennas on page 3). 1. If you are using the right module, go to step 2. 2. If you are not using the right module, turn off the receiver and replace the module with the right one.
Troubleshooting • If this is not possible, move to higher ground or a location where there is less obstruction. • If, after moving, the rover radio begins to receive data from the base, then the previous location is too obstructed from the base. You will need to either raise the base radio antenna higher, or move the base to a location with less obstruction between the base and rover radio antennas. 3. If the problem is not yet resolved, go to step 5. Step 5.
Troubleshooting Link icon the rover’s General Status screen. The base and rover radio will receive any traffic on the frequency they are set to causing this icon to appear. This is best done before setting up the base to transmit data. Any appearance of the Data Link icon indicates some traffic on your frequency. 1. If there is no jamming, your radio module or radio antenna may be malfunctioning. There is no way to further isolate this problem unless you have spares for these components.
Troubleshooting Once the receiver is set to function in RTK (i.e. RTK firmware option has been enabled), it will compute RTK quality positions. In order to accomplish this, the rover must collect raw satellite data at its position and also receive RTK correction data transmitted by the base. Without these two components, the rover will not be able to fix RTK position solutions. To determine if the rover is computing a fixed position, you can read the General Status screen (2nd parameter in upper line).
Troubleshooting than 5° above the horizon. Ensure at least 5 healthy satellites are available. If not, you will need to perform your survey at another time. If the problem is not yet resolved and at least 5 satellites are now tracked and used, your rover may be malfunctioning. Contact your local dealer or email technical support for assistance. • Move the base or rover if sites have satellite obstructions.
Troubleshooting • If the receiver is set to function as an RTK rover, go to step 2. Step 2. Are the Base and Rover Tracking at least 5 common Satellites? Although the rover is capable of computing a position with only 4 common healthy satellites with the base, the rover will not attempt to fix ambiguities unless 5 common healthy satellites are observed. Fixing ambiguities is a required process for the rover to compute highly precise RTK positions.
Troubleshooting HRMS value. The same relationship holds for VDOP and VRMS. Therefore, poor satellite geometry will result in poor solution precision. The smaller the DOP value, the better the geometry and solution precision. Your field software allows you to view different DOP values. If your precision estimates (HRMS, VRMS) do not meet expected values, use this feature to examine the current DOP values. 1.
Troubleshooting Logging Data for RTK Troubleshooting Purposes - Reporting a Problem to Tech Support Logging the data received, processed and output by the receiver may help Spectra Precision isolate RTK malfunction when none of the available troubleshooting procedures has allowed you to solve the problem. This procedure is based on the capability of the receiver to execute serial commands from a text file stored on a USB key. You can create by yourself the text file required to launch this process.
Troubleshooting $PASHQ,VERSION $PASHQ,OPTION $PASHQ,PAR Log these responses in Terminal mode (with Hyperterminal for example) at a speed of 19600 Bd in a text file (*.txt).
Chapter 7. Miscellaneous ATOM File Naming Conventions Raw data files in ATOM format are named using the following syntax: G. Where: Item in Filename G . Description Header indicative of a file containing ATOM data. A 4-character string recalling the name of the site where data was collected (a point name in static, a trajectory name in kinematic, or name of last surveyed point in stop & go). The default string is four underscores (“____”).
Miscellaneous For some reason, for example you are using your receiver in conjunction with older equipment, you may need to revert to V1. This is possible using the $PASHS,ATM,VER command (see ATM,VER: Setting the Version of ATOM Messages on page 156). The history of the ATOM format can be summarized as follows: • 2009: First official release of ATOM (V1 version) • 2011: Second offcicial release of ATOM (V2 version). ProMark 800 is the first commercial receiver to benefit from this new format version.
Miscellaneous Reset Procedure The receiver may be reset to the default settings using the Log+Scroll+Power button combination. Release the three buttons only after the logo is displayed. The reset procedure is also used to poll the radio module. If a new module is detected, the receiver will update its database so it can successfully communicate with the new module. The default settings can also be restored using the $PASHS,INI command.
Miscellaneous 10 s 10 s 10 s • Load Config? will first show up if a PAR file is stored on the USB key. • Upload Script? will show up after 10 seconds of displaying Load Config? if the USB key also contains a text file named “autoconfig.cmd” containing a list of $PASH commands. • Symbols representing two storage media will show up after 10 seconds of displaying Upload Script? inviting you to copy the user data (raw data files, log files) from the internal memory to the USB key.
Miscellaneous The following messages will appear in succession: Analyzing File... Loading PM_.PAR... At the end of the upload procedure, the receiver will be rebooted automatically. Disconnect the USB key from the receiver and let the receiver re-boot. NOTE: There is another way of uploading a configuration to a receiver, which is to use the $PASHS,PAR,LOD command, whether the configuration file (a PAR file) is present on the connected USB key or in the receiver’s internal memory.
Miscellaneous Saving a Receiver Configuration Saving the whole configuration of a receiver may be done using the $PASHS,PAR,SAV command. The configuration is saved as a PAR file, which is a binary file, and not an ASCII file that would list all the $PASH commands relevant to the receiver configuration. The file naming convention used is the following: PM_.
Miscellaneous receives them, then the rover position will automatically be delivered in the requested local coordinate system. To output the position solution expressed in the projection received through RTCM message type 1025, enable the GMP NMEA message on the desired port. Firmware Upgrade Procedure Firmware upgrades can be downloaded from the Spectra Precision website in the form of one or more compressed “.tar.bz2” files.
Miscellaneous To Power Line Fully charged battery inside DC Power Input ProMark 800 USB Port Cable P/N 702104 USB Key AC/DC Power Supply Kit P/N 802064 6. Connect the USB key now containing the upgrade files to the receiver’s USB connector through cable P/N 702104 (provided). 7. Hold down the Scroll button and then press the Power button for about 10 seconds.
Miscellaneous Enabling a Firmware Option • Set up your equipment in such a way that it can successfully receive and process a serial command sent from outside the equipment. See Applying Commands Through Bluetooth or a Serial Port on page 134 in this manual to know how this can be done. • Use the $PASHS,OPTION serial command to enable the firmware option. Refer to OPTION: Receiver Firmware Options on page 209 in this manual to learn how to use this command.
Miscellaneous located at the bottom of the case, on which you can insert your SIM card. • Insert the SIM card as shown below. • Put the radio module or compartment door back in place. Tighten the two screws. Changing the Radio Module or Using One for the First Time • Turn the ProMark 800 upside down. • Using a flat screw driver, loosen the two quarter-turn screws of the radio module (or compartment door if your ProMark 800 was purchased without a radio module).
Miscellaneous • When next turning on the ProMark 800, don’t forget to use the Power+Log+Scroll button combination. By restoring the factory settings, this procedure will allow the receiver to query, and so identify, the new radio module. Direct IP Connection To Your Own Base Through GPRS Modem and RTDS Software Introduction Until recently, Direct IP connections from Spectra Precision rovers were possible only with third-party reference stations.
Miscellaneous Software Requirements & Features • The computer used to run the RTDS software is Internetaccessible through a static IP address and one or two port numbers. • Several instances of the RTDS software can be run on the same computer, meaning the same computer can serve as data relay for several bases. • Up to 100 rovers can receive data from a single instance of the RTDS software. All rovers communicate with a given instance of RTDS through the same port number.
Miscellaneous 1. You first need to know which IP address should be entered in your surveying system to establish a Direct IP connection to the RTDS software. Unless you already have a static IP address, or if you don’t know whether you have one or not, call your Internet Service Provider (ISP) to obtain a static IP address for the computer on which you will install the RTDS software. With most ISPs, you’ll have to pay a fee to get a static IP address option for your computer. 2.
Miscellaneous GPRS mode is selected). See RTDS on-line help for more details. 7. Start the RTDS server and let the software run throughout your field survey, or permanently if you wish to set up a community base station. 8. Set the base in Direct IP mode so that it sends its corrections to the RTDS software. When defining the Direct IP connection, you need to enter: • The static IP address of the computer running the RTDS software.
Miscellaneous Serial Ports Parameter Port A baud rate Port A RTS/CTS protocol Port A mode Port D baud rate Range 300 to 115200 Bd ON or OFF 232, 422 300 to 115200 Default 19200 Bd ON 232 38400 Parameter Device name PIN code Range 64 characters max. 8 digits max.
Miscellaneous NMEA Messages, Computed Data Parameter Output rate Port A - xxx Port A - xxx rate Port C - xxx Port C - xxx rate Port E - xxx Port E - xxx rate Port M - xxx Port M - xxx rate Port U - xxx Port U - xxx rate Range 0.05 s - 999 s ON, OFF 0.05 s - 999 s ON, OFF 0.05 s - 999 s ON, OFF 0.05 s - 999 s ON, OFF 0.05 s - 999 s ON, OFF 0.
Miscellaneous GNSS Reception Parameter SBAS use GLONASS use GALILEO use QZSS use Range ON, OFF ON, OFF ON, OFF ON, OFF Default ON ON OFF OFF Note: Refer to $PASHS,CFG and $PASHS,GPS for more information on the frequencies received for each constellation. Antenna Parameters Position Computation Parameter Antenna reduction mode Antenna height Type of antenna height Range OFF, ON, ARP 0-100.
Miscellaneous Parameter Differential data port 2 Range NONE, ATM, RT2 (RTCM2.3), RT3 (RTCM3.0), DBN (DBEN), CMR, CMR+ A, C, E, M, U RTCM 2.3 type xxx rate* 0-300 s RTCM 3.x type xxx rate** 0-300 s ATOM scenario xxx *** 0-1800 s CMR station ID RTCM2.3 station ID RTCM3.x station ID CMR type 0 rate CMR type 1 rate CMR type 2 rate CMR type 3 rate Base position (lat, lon, height) Elevation mask 0-31 0-1023 0-4095 0, 0.5 s, 1-300 s 0-300 s 0-300 s 0, 0.
Miscellaneous Parameter Range Default Enabled, 1 Mbyte Generating log files automatically Enabled, disabled size limit, saved for 10 days Auto-dial mode Yes, No Yes 1 PPS OFF-ON OFF Hor. & vert. velocity: 100000m/s; 0-100000 m/s velocity Hor.
Miscellaneous 130
ProMark 800 Serial Commands & Data Outputs Supplement
ProMark 800 Serial Commands & Data Outputs Supplement
Appendix A. Using Serial Commands Introduction to Serial Commands Serial commands allow you to communicate directly with the receiver in its proprietary command language. Serial commands can be used for various purposes such as: • Changing default settings • Monitoring different receiver statuses (internal operation, constellations, etc.) • Outputting messages on request • Installing firmware options, etc. Serial commands fall into two categories: • Set commands ($PASHS,...
Using Serial Commands String or sign [ ] , . c.. d.. f.. h.. m.. n s.. *cc Description Optional field or parameter Field delimiter Decimal point (used in f-type fields) One-character string Integer Real number, with decimal places Parameter in hexadecimal notation Denotes specific data format used, such as angles (e.g. ddmm.mmm) or time (e.g. hhmmss.sss) Used in the syntax of responses to query commands to indicate that a sequence of parameters will be repeated “n” times in the response.
Using Serial Commands Interfacing the chosen program with the receiver is achieved by establishing a connection through one of the computer’s COM port (a serial data cable is then required), or using Bluetooth if this device is available on the computer. For more information on WinComm, see GNSS Solutions Reference Manual or WinComm On-Line Help.
Using Serial Commands Running a Series of Commands First of all, you need to create a TXT file containing all the commands you want the receiver to run. Save the file to the “MyDevice/FAST Survey/Data/” folder. Then do the following: • Use the Send File button in the upper part of the window to select the TXT file and send it to the receiver.
Using Serial Commands • Connect the USB key to the receiver. ProMark 800 USB Port Cable P/N 702104 USB Key • Wait until the USB logo appears on the receiver screen and a message is prompted (Upload Script?). • Accept the request by pressing the Log button (you could reject it by pressing the Scroll button). The receiver will then start executing the script of commands.
Using Serial Commands List of Commands The two categories of commands (set/query) are combined in a single table. Commands appear in alphabetical order. All pairs of related set and query commands (e.g. $PASHS,ANH and $PASHQ,ANH) always appear in the same row. Table 1. Receiver Configuration Commands Set Command $PASHS,AGB $PASHS,ANH $PASHS,ANP,..
Using Serial Commands Table 1.
Using Serial Commands Table 1. Receiver Configuration Commands (Continued) Set Command $PASHS,NTR,LOD $PASHS,NTR,MTP $PASHS,NTR,PAR $PASHS,OCC $PASHS,OPTION $PASHS,PAR,LOD $PASHS,PAR,SAV $PASHS,PEM $PASHS,POP $PASHS,POS $PASHS,PPS $PASHS,PRT $PASHS,PWR,OFF $PASHS,PWR,PAR $PASHS,QZS $PASHS,RAW $PASHS,RAW,ALL $PASHS,RAW,PER $PASHS,RCP,GB..
Using Serial Commands Table 1.
Using Serial Commands Table 2. Data Output Commands (Continued) Set Command 142 Description Query Command $PASHQ,GSV $PASHQ,POS $PASHQ,PTT $PASHQ,RMC $PASHQ,RRE $PASHQ,SAT $PASHQ,SGA $PASHQ,SGL $PASHQ,SGP $PASHQ,VEC $PASHQ,VTG $PASHQ,ZDA Description GNSS satellites in view Computed position data PPS time tag Recomm. min.
Appendix B. Set Command Library AGB: Enabling/Disabling GLONASS Bias Adjustments Function This command is used to enable or disable the adjustment of L1 & L2 GLONASS carrier biases in the receiver so that the GLONASS Double-Difference carrier residuals between the receiver and the golden Ashtech receiver are equal to zero (± noise errors). MB 500 is considered as the golden Ashtech receiver.
Set Command Library ANH: Antenna Height Function Command Format This command allows you to enter the antenna height . If not specified, the height measurement type is set to “Vertical”. Syntax $PASHS,ANH,f1[,c2][*cc] Parameters Parameter f1 Description Antenna height. Antenna height measurement type: • V: Vertical measurement • S: Slant measurement Optional checksum c2 *cc Range 0-6.553 m 6.553-100 m V, S *00-*FF Examples Entering the vertical measurement (2 m) of a rover antenna: $PASHS,ANH,2.
Set Command Library the antenna, all its phase center offsets as well as the elevation-dependent delays (in 5-degree steps). Command Format Syntax $PASHS,ANP,PCO,s1,f2,f3,f4,f5,f6,f7[*cc] $PASHS,ANP,ED1,s1,f2,f3,f4,f5,f6,f7,f8,f9,f10,... ,f19,f20[*cc] $PASHS,ANP,ED2,s1,f2,f3,f4,f5,f6,f7,f8,f9,f10,... ,f19,f20[*cc] Parameters ANP,PCO (PCO for Phase Center Offsets) Parameter s1 f2 f3 f4 f5 f6 f7 *cc Description Range 31 characAntenna name ters max.
Set Command Library ANP,DEL: Delete User-Defined Antenna Function Command Format This command allows you to delete the definition of a userdefined antenna. Syntax $PASHS,ANP,DEL,s1[*cc] Parameters Parameter s1 *cc Description Range User-defined antenna name (case-sensitive) 31 characters max.
Set Command Library Parameters Parameter s1 *cc Description Virtual antenna name (case-sensitive) or “OFF” to specify that no virtual antenna is used. Optional checksum Range 31 characters max. or OFF *00-*FF Examples Setting the ADVNULLANTENNA as the virtual antenna: $PASHS,ANP,OUT,ADVNULLANTENNA*73 Disabling the use of the virtual antenna: $PASHS,ANP,OUT,OFF*2B Comments Relevant Query Command • Raw data reduction will not be performed on data from any satellite located below the elevation mask.
Set Command Library Command Format Syntax $PASHS,ANP,REF,s1[,d2][*cc] Parameters Parameter s1 d2 *cc Description User-defined antenna name (casesensitive). Antenna name preference: • 0: s1 is ignored if a base antenna name is decoded from the incoming reference data. • 1: s1 is always used regardless of whether a base antenna name is decoded from the incoming reference data or not. Optional checksum Range 31 characters max.
Set Command Library Parameters Parameter s1 *cc Description Range Antenna reduction mode: • OFF: No antenna reduction. The receiver ignores the antenna parameters entered via $PASHS, ANH or $PASHS,ANT. The computed position is that of the antenna’s L1 phase center. This implies that the entered position for the base should also be that of its antenna’s L1 phase center • ON: Antenna reduction is active (default).
Set Command Library Command Format Syntax $PASHS,ANT,f1,f2,f3[,m4,f5][*cc] Diagrams and Definitions Slant Measurement f2 Vertical Measurement SHMP f3 ARP f1 GM f3 SP GM N SP N m4 m4 GM GM f5 SP f5 SP • ARP: Antenna Reference Point (usually bottom of the antenna). • SHMP: Slant Height Measurement Point (usually at the hedge of the antenna, above the ARP). • Ground Mark (GM): above the ARP (same horizontal coordinates).
Set Command Library Parameters Parameter f1 f2 f3 m4 f5 *cc Description Slant height measurement, from ground mark (GM) to antenna edge (SHMP). Antenna radius: horizontal distance from the geometrical center to the antenna edge. Vertical offset: • From ARP to SHMP, if radius and slant height are not null. • From Ground Mark to ARP, if radius and slant height are null. Horizontal azimuth [dddmm.
Set Command Library Relevant Query Command $PASHQ,ANT See Also $PASHS,ANH $PASHS,ANR ATL: Debug Data Recording Function This command allows you to enable or disable the recording of debug data. The resulting log file (called “ATL file”) is saved to the memory selected through the $PASHS,MEM command. The file is named as follows:. ATL_yymmdd_hhmmss.log Normally you don’t have to record debug data.
Set Command Library Parameters Parameter s1 d2 f3 d4 *cc Description Range Controls debug data recording: • ON: Enables debug data recording • OFF: Disables debug data recording ON, OFF, • AUT: Automatically starts debug data AUT recording every time the receiver is turned on. Recorded data: • 0: Only $ATL messages from GNSS board to system board • 1: Only those from system board to 0-2 GNSS board • 2: All data exchanged between GNSS board and system board 0.05, 0.1, Output interval, in seconds 0.2, 0.
Set Command Library Parameters Parameter s1 c2 s3 f4 *cc Description Range PVT, ATR, NAV, DAT, EVT, RNX. See table below. ATOM message type Port routing the ATOM message: • A: Serial portC: Bluetooth port A, C, E, M, U • E: Modem • M, U: Internal memory (U), USB key (U) Enable (ON) or disable (OFF) this ON, OFF ATOM message type. 0.05 or 0.1-0.4 sec with [F] Output rate, in seconds. (Default option activated. value is specific to each message 0.5-0.9 s type.
Set Command Library ATOM PVT messages contain the following sub-blocks: COO, ERR, VEL, CLK, LCY, HPR, BLN, MIS, PRR and SVS. DAT messages are generated every time a new frame is decoded.
Set Command Library ATM,PER: Setting Unique Output Rate for all ATOM Messages Function Command Format This command is used to set the same output rate for all ATOM messages. This command will overwrite all the output rates set individually for each message type using $PASHS,ATM,RNX and $PASHS,ATM,PVT. Syntax $PASHS,ATM,PER,f[*cc] Parameters Parameter f *cc Description Output rate. Setting $PASHS,POP to “20” is a prior condition to operating at 0.05 s (20 Hz). Optional checksum Range 0.05 sec or 0.
Set Command Library Parameters Parameter d *cc Description Index of ATOM version: • 1: ATOM V1 • 2: ATOM V2 Optional checksum Range Default 1, 2 2 *00-*FF - Example Setting to ATOM V2: $PASHS,ATM,VER,2*5E Relevant Query Command $PASHQ,PAR See also $PASHS,ATM BAS: Differential Data Type Function Command Format This command is used in a base to select the type of differential data the base should generate and the port, or two ports, through which this data should be routed.
Set Command Library Parameters Parameter c3 Description First port ID: • A: Serial port (default) • C: Bluetooth port • E: Modem • M, U: Internal memory (M), USB key (U) Differential data type: • RT2: RTCM 2.3 messages • RT3: RTCM 3.0 & 3.1 messages (default) • CMR: CMR messages • CMP: CMR+ messages • ATM: ATOM messages • DBN: DBEN messages Second port ID: same as c1 above s4 Differential data type: same as s2 above.
Set Command Library BEEP: Beeper Setup Function Command Format This command enables or disables the internal beeper. Syntax $PASHS,BEEP,s1[,d2][*cc] Parameters Parameter Description s1 Enables (ON) or disables (OFF) the beeper. Timeout, in seconds: • 0: No timeout. If an alarm is activated, the beeper will sound indefinitely until the alarm is acknowledged.
Set Command Library Parameters Parameter s1 d2 c3 c4 *cc Description Controls the availability of RTK corrections on the specified output port: • OFF: No RTK corrections forwarded to the output port. • ON: RTK corrections forwarded to the output port. Enables or disables the use of RTK corrections in the receiver’s position computation. • 0: RTK corrections used • 1: RTK corrections not used Input port ID (port from which RTK corrections are available in the receiver).
Set Command Library $PASHS,CPD,REM Using RTC Bridge The RTC Bridge function is typically used to allow a rover to forward the RTK corrections it receives from an RTK network through its built-in modem to other rovers operated in the vicinity, using a license-free radio transmitter connected to its serial port. Being a low-power unit (<500 mW),the licensefree radio can be powered directly from the receiver, without the need for another external battery.
Set Command Library 3. In the Device field, select “ARF7474..” corresponding to the license-free radio used. 4. Tap on and complete the license-free radio settings. 5. Still on the RTK tab and in the same Device field, select “Internal GSM”. 6. Tap on 7. Tap and and complete the GSM settings. to complete the receiver setting. Activating RTC Bridge • In FAST Survey, select Equip>GPS Utilities and then tap on the Send Command button.
Set Command Library Parameters Parameter Description s1 Bluetooth device name *cc Optional checksum Range 64 characters max. *00-*FF Example Naming the Bluetooth device as “My Surveying Unit”: $PASHS,BTH,NAME,My Surveying Unit*60 Relevant Query Command See also $PASHQ,BTH $PASHS,BTH,PIN BTH,PIN: Bluetooth Device Pin Code Function Command Format This command is used to assign a PIN code to the Bluetooth device.
Set Command Library CFG: GNSS Tracking Configuration Function Command Format This command is used to set the GNSS tracking configuration in the receiver. Syntax $PASHS,CFG,s1[*cc] Parameters Parameter s1 *cc Description GNSS tracking configuration: • SSL: Single-signal tracking • DSL: Dual-signal tracking • TSL: Triple-signal tracking Optional checksum Range SSL, DSL, TSL *00-*FF The possible GNSS tracking configurations are detailed in the table below.
Set Command Library Common Defaults No [P] Option TSL Defaults [P] Option Enabled No [P] Option [Q] Option Enabled Default is DSL; $PASHS,GPS,ON,1C,5Q No [Q] Option Default is SSL; $PASHS,CFG,DSL is NAKed [Q] Option Enabled No [Q] Option $PASHS,GPS,ON,1C,2LW,L5 $PASHS,GPS,ON,1C,2W,2L $PASHS,CFG,TSL is NAKed $PASHS,CFG,TSL is NAKed Comments • Changing the GNSS tracking configuration will automatically cause the receiver to re-start.
Set Command Library $PASHS,GAL CMD,LOD: Running a List of $PASH Commands Function Command Format This command is used to run the complete list of $PASH commands stored in a file found in the USB key currently connected to the receiver. This implies that the file (in text editable format) should have first been saved to that key before connecting the key to the receiver’s USB port. Syntax $PASHS,CMD,LOD[,s][*cc] Parameters Parameter s *cc Description Range Default File name.
Set Command Library • To insert an idle wait time of several seconds between any two $PASH commands, you can insert a specific command named $PASHS,CMD,WTI between these two commands. The $PASHS,CMD,WTI command may be inserted as many times as necessary in the file. • Naming the command file “autoconfig.cmd” or “uploadconfig.cmd” on the USB key will allow the receiver to automatically start the execution of all the commands stored in the file when you plug the USB key to the receiver.
Set Command Library Comments Relevant Query Command See also This command will be interpreted by the receiver only if found in a command file. None. $PASHS,CMD,LOD CMR,TYP: CMR Message Type and Rate Function Command Format This command is used in a base to set the type and rate of CMR message the base will generate and output.
Set Command Library Relevant Query Command See also $PASHQ,CMR,MSI $PASHS,BAS $PASHS,CPD,MOD,BAS CPD,AFP: Setting the Confidence Level of Ambiguity Fixing Function Command Format This command is used to set the confidence level required of the ambiguity fixing process. The higher the confidence level, the more likely the ambiguities are fixed correctly, but the longer the time it takes to fix them.
Set Command Library CPD,FST: RTK Output Mode Function Command Format This command enables or disables the fast RTK output mode (Fast CPD mode).
Set Command Library Parameters Parameter s1 d2 d3 Description CPD mode: • BAS: Base • ROV: Rover • BKP: Backup (“Hot Standby RTK”) Constellations used in the base: • 0: GPS, GLONASS, SBAS (default) • 1: Only GPS and SBAS • 2: Only GPS and GLONASS • 3: Only GPS Position mode. If s1=BAS: • 0: Base position is a static position (as set through $PASHS,POS). • 1: Base position is a moving position • 2: “Current position” (the command allocates the currently computed position to the base.
Set Command Library • In “Hot Standby RTK” (s1=BKP), the receiver computes two independent positions from the two independent corrections streams entering the receiver. The input port for the correction stream of the primary RTK is defined by the $PASHS,CPD, REM command. The input port for the correction stream of the backup RTK position is defined by parameter c4 in $PASHS,CPD,MOD. The receiver checks that the submitted value for c4 is compatible with the settings last performed with $PASHS,CPD,REM.
Set Command Library Parameters Parameter d1 d2 *cc Description Range RTK network operating mode relative to GPS corrections: • 0: GPS corrections from network are not 0-1 used. • 1: FKP/MAC GPS corrections from network are used when available and healthy, otherwise they are rejected. RTK network operating mode relative to GLONASS corrections: • 0: GLONASS corrections from network 0-1 are not used.
Set Command Library Parameters Parameter s1 c2 c3 *cc Description Reception mode: • AUT: Automatic (default) • MAN: Manual Input port #1: • A: Serial port • C: Bluetooth port • D: Radio • E: Modem Input port #2: • A: Serial port • C: Bluetooth port • D: Radio • E: Modem Optional checksum Range AUT, MAN Default AUT A, C, D, E A, C, D, E *00-*FF Examples Setting the receiver to receive and process differential data in Automatic mode: $PASHS,CPD,REM,AUT*38 Setting the receiver to receive and proces
Set Command Library Example Resetting the RTK processing: $PASHS,CPD,RST*5B Relevant Query Command None. CPD,VRS: VRS Assumption Mode Function Command Format This command is used specifically to set the receiver (a rover) to operate in the so-called “compulsory VRS mode” through which it is forced to consider that the differential corrections it receives are always VRS corrections (this impacts the way corrections are processed internally).
Set Command Library CTS: Handshaking Function Command Format This command enables or disables the RTS/CTS handshaking protocol for the specified port. If no port is specified, the command applies to the port through which the command is routed.
Set Command Library Parameters Parameter s1 d2 *cc Type RPC BPS Description Message type Output rate, in seconds Optional checksum Description Range See table below See table below *00-*FF Range Code & phase measurement 0, 0.1-0.9 s and 1-300 s Reference station position 0-300 s Default Output Rate 1 30 Examples Selecting DBEN message type “RPC” at 0.5 second: $PASHS,DBN,TYP,RPC,0.
Set Command Library Parameters Parameter RIP,s1 PRT,d2 LGN,s3 PWD,s4 *cc Description IP address (xxx.xxx.xxx.xxx) or host name Port number User name (optional) Password (optional) Optional checksum Range 32 char. max. 0-65535 32 char. max. 32 char. max. *00-*FF Comments Optional fields s3 and s4 need to be specified when the base used requires a user name and password. In this case, the receiver sends the $GPUID,s2,s4 command to the base right after the IP connection has been established.
Set Command Library Examples Terminating the current connection: $PASHS,DIP,OFF*4B Relevant Query Command See also $PASHQ,MDM $PASHS,DIP $PASHS,DIP,PAR $PASHS,DIP,ON DIP,ON: Establishing the Programmed Direct IP Connection Function Command Format This command is used to establish the programmed Direct IP connection. Syntax $PASHS,DIP,ON[,c1][*cc] Parameters None.
Set Command Library Command Format Syntax $PASHS,DIP,PAR,ADD,s1,PRT,d2[,LGN,s3,PWD,s4][*cc] Parameters Parameter ADD,s1 PRT,d2 LGN,s3 PWD,s4 *cc Description IP address or host name of external server IP port of external server User name (optional) Password (optional) Optional checksum Range Default 32 characters max. 0-65535 32 characters max. 32 characters max.
Set Command Library Command Format Syntax $PASHS,DRD,d[*cc] Parameters Parameter d *cc Description Data recording duration: • 0: Unlimited duration • Other than 0: Duration in minutes Optional checksum Range 0, 15, 20, 30, (n x 60). Where n is an integer between 1 and 24 Default 0 *00-*FF Comments • The command will be NAKed if the ring file buffer is currently active (see $PASHS,RFB). • The recording of G-files are all started at round hour values of GPS time.
Set Command Library Parameters Parameter s *cc Description Range Default 0.05 sec or 0.1-0.4 sec Raw data recording rate. if the [F] option is actiSetting $PASHS,POP to “20” 1s vated. is a prior condition to operat0.5-0.9 s ing at 0.05 s (20 Hz).
Set Command Library Discontinuing the daisy chain mode for all source ports: $PASHS,DSY,OFF[*cc] Parameters Parameter Description c1 Source port ID c2 Destination port ID Mode: • 0: Raw (default). Data are sent to the destination port as and when they arrive. d3 • 1: Block. Data are sent to the destination port only after a complete message has arrived.
Set Command Library Parameters Parameter d1 *cc Description Receiver dynamics: • 1: Static • 2: Quasi-static • 3: Walking • 4: Ship • 5: Automobile • 6: Aircraft • 7: Unlimited • 8: Adaptive • 9: User-defined (see also $PASHS,UDP) Optional checksum Range 1-9 Default 8 *00-*FF Example Setting rover dynamics to “Walking”: $PASHS,DYN,3*39 Comments In the adaptive mode (8), the receiver analyzes its own motion and automatically chooses one of the dynamic models that is the most suitable.
Set Command Library Parameters Parameter Description d1 Elevation mask, in degrees. *cc Optional checksum Range 0-90° *00-*FF Default 5 Example Setting the elevation mask to 10 degrees: $PASHS,ELM,10*1C FIL,D: Deleting Files Function Command Format This command allows you to delete files from the selected internal or external memory.
Set Command Library Comments If the file you want to delete is the only file present in the selected memory and this file is currently being used, the “NAK” message is returned to inform you that the file cannot be deleted. Relevant Query Command See also None. $PASHQ,FLS $PASHS,MEM to select the memory from which to delete files. FIL,DEL: Deleting Files and Directories Function Command Format This command allows you to delete files and directories from the selected internal or external memory.
Set Command Library • The “*” character can be used as a wild card to delete several files at the same time. In this case, the complete string should be placed between simple or double quotation marks. Examples Deleting a G file: $PASHS,FIL,DEL,,,GabcdA09.241*69 Deleting three G files: $PASHS,FIL,DEL,,,GabcdA09.241,GabcdB09.242,GabcdC09.242*68 Deleting a G file from a subdirectory located on the USB key: $PASHS,FIL,DEL,2,2009/241/,GabcdA09.
Set Command Library Parameters Parameter s1 *cc Description Enabling/disabling Galileo tracking: • On: Track and use Galileo satellites • Off: Do not track Galileo satellites Optional checksum Range Default ON, OFF OFF *00-*FF - Comments The command is NAKed if the [O] option is not installed or the receiver does not support Galileo.
Set Command Library Parameters Parameter s1 *cc Description Range Default Enables (ON) or disables (OFF) GLONASS ON, OFF ON tracking. Optional checksum *00-*FF Example Enabling GLONASS: $PASHS,GLO,ON*1C Relevant Query Command $PASHQ,GLO See also $PASHS,SBA $PASHS,CFG $PASHS,GPS $PASHS,GAL GPS: GPS Tracking Function Command Format This command is used to enable or disable GPS tracking. Enabling GPS tracking will power on the corresponding part in the RF section, if not powered on yet.
Set Command Library Parameters Parameter s1 s2 s3 *cc Description First Signal: • 1C: Tracking GPS L1 C/A signal Second Signal: • 2L: Tracking L2CS signal for all GPS SVs • 2W: Tracking L2P signal for all GPS SVs • 2LW: Tracking L2CS signal for L2CS-capable GPS SVs and L2P for others • 5Q: Tracking L5 signal for all GPS SVs • “Blank”: No second signal to be tracked Third Signal: • 2L: Tracking L2CS signal for all GPS SVs • 5Q: Tracking L5 signal for all GPS SVs • “Blank”: No third signal to be tracked O
Set Command Library If You Run $PASHS,GPS,.. .
Set Command Library Parameters Parameter d1 *cc Description Range Init code: • 0: Restarts the receiver without memory reset. • 1: Resets user settings, clears ephemeris, almanac and latest position/time data, and re-starts the receiver. 0, 1, 2, 3 • 2: Resets user settings, formats internal memory and re-starts the receiver. • 3: Resets user settings, formats internal memory, clears ephemeris, almanac and latest position/time data, and restarts the receiver.
Set Command Library Parameters Parameter s1 *cc Description ON: Local coordinate system used if RTCM 3.1 messages received. OFF: Coordinate system used is WGS84. Optional checksum Range Default ON, OFF OFF *00-*FF - Example Enabling the use of the local coordinate system in the receiver: $PASHS,LCS,ON*04 Relevant Query Commands $PASHQ,LCS $PASHQ,PAR LOG,DEL: Deleting Log Files Function Command Format This command is used to delete log files.
Set Command Library See Also $PASHQ,LOG LOG,PAR: Log File Settings Function Command Format This command is used to set the log file. A log file keeps track of the different connections performed in a day (one file created per day). Syntax $PASHS,LOG,PAR,s1,d2,d3[*cc] Parameters Parameter s1 d2 d3 *cc Description Enabling/disabling the log file: • ON: Enable • OFF: Disable Maximum size, in Mbytes, allowed for a log file. Number of days during which log files are kept in memory.
Set Command Library Command Format Syntax $PASHS,LTZ,d1,d2[*cc] Parameters Parameter d1 d2 *cc Description Local time zone (hours). Local time zone (minutes) Optional checksum Range -13 to +13 0-59 *00-*FF Default 0 0 Example Setting local time to UTC+2: $PASHS,LTZ,2,0*35 Relevant Query Command $PASHQ,ZDA $PASHQ,LTZ See also $PASHS,ZDA MDM,INI: Initializing the Modem Function Command Format This command is used to initialize the modem. Syntax $PASHS,MDM,INI[*cc] Parameters None.
Set Command Library Relevant Query Command See also $PASHQ,MDM $PASHS,MDM,PAR MDM,OFF: Powering Off the Internal Modem Function Command Format This command is used to power off the internal modem. By default, the modem is off. Syntax $PASHS,MDM,OFF[*cc] Parameters None.
Set Command Library $PASHS,MDM,ON*1C Relevant Query Command See also $PASHQ,MDM $PASHS,MDM,OFF MDM,PAR: Setting the Modem Parameters Function Command Format This command is used to set the modem parameters.
Set Command Library Parameter ADL,c11 RNO,d12 NET,d13 *cc Description Auto-dial mode. When this parameter is set to Yes (Y), the receiver will do the following when next turned on: • if d4=0, the phone number that the receiver was last communicating with will be re-dialed automatically. • if d4=1, a connection to the mount point or IP server to which the receiver was last connected will be initiated automatically.
Set Command Library Parameters Parameter c *cc Description Range Port setting (RS232 or RS422) 232, 422 Optional checksum *00-*FF Default 232 Example Setting port A to RS422: $PASHS,MDP,A,422 Relevant Query Command See also $PASHQ,MDP $PASHS,PRT $PASHS,CTS MEM: Selecting Memory Device Used Function Command Format This command is used to select the memory used by the receiver for data storage.
Set Command Library See also $PASHS,FIL,D $PASHQ,FLS $PASHQ,FIL,LST MWD: Setting the Modem Timeout Function Command Format This command is used to set the modem watchdog timeout. This parameter refers to the time during which the modem connection is active but no data is sent or received through the modem port. In case of timeout, the modem will hang up automatically. Syntax $PASHS,MWD,d[*cc] Parameters Parameter d *cc Description Timeout setting: • 1-99: Modem timeout in minutes.
Set Command Library Command Format Syntax $PASHS,NME,s1,c2,s3[,f4][*cc] Parameters Parameter s1 c2 s3 f4 *cc Description Data message type • Port routing the message:A: Serial port • C: Bluetooth • E: Modem • M, U: Internal memory (M), USB key (U) Enables (ON) or disables (OFF) the message Output rate: • Omitted: The message output rate will be as defined with $PASHS,NME,PER • Setting $PASHS,POP to “20” is a prior condition to operating at 0.05 s (20 Hz). f4 is not applicable to message PTT.
Set Command Library Data LTN POS PTT RRE SAT SGA SGL SGP USR VEC Description Latency Position 1 PPS time tag Residual error Satellite status Galileo satellite status GLONASS satellite status GPS and SBAS satellite status User message (see $PASHS,USR,TYP) Baseline vector Example Setting GGA message on Bluetooth port at 1-second output rate: $PASHS,NME,GGA,C,ON,1*01 Comments Relevant Query Command See also • For ALM messages, the f4 parameter can only take an integer value of seconds (by default 3600) a
Set Command Library Parameters Parameter c1 *cc Description Port ID A: Serial portC: Bluetooth port E: Modem M, U: Memory Optional checksum Range A, C, E, M, U *00-*FF Example Disabling all NMEA and NMEA-like messages on port A: $PASHS,NME,ALL,A,OFF*50 NME,PER: Setting Unique Output Rate for all NMEA Messages Function Command Format This command is used to set the same output rate for all NMEA and NMEA-like messages.
Set Command Library NPT: Tagging SBAS Differential Positions in NMEA & NMEA-Like Messages Function Command Format This command allows you to define the code the receiver will insert in each of its NMEA-like or NMEA messages to tell that the position solution inserted in the message is of the SBAS Differential type.
Set Command Library Command Format Syntax $PASHS,NTR,LOD[*cc] Parameters None. Example Loading the source table: $PASHS,NTR,LOD If the source table is downloaded successfully, the following response line will be returned: $PASHR,NTR,OK*14 If the receiver fails to download the source table, the following response line will be returned: $PASHR,NTR,FAIL*12 Relevant Query Command See also None.
Set Command Library NTR,MTP: Connecting Receiver to NTRIP Caster Mount Point Function Command Format This command allows you to connect the receiver to a NTRIP caster mount point. Syntax $PASHS,NTR,MTP,s1[*cc] Parameters Parameter s1 *cc Description Range Name of the NTRIP mount point, or OFF command 100 characters (ending the connection to the current mount point). max.
Set Command Library NTR,PAR: NTRIP Settings Function Command Format This command allows you to set all the NTRIP parameters. Syntax $PASHS,NTR,PAR[,ADD,s1][,PRT,d2][,LGN,s3][,PWD,s4][,TYP,d5][*cc] Parameters Parameter ADD,s1 PRT,d2 LGN,s3 PWD,s4 TYP,d5 *cc Description Caster IP address or host name Caster port number Login Password Caster type: • 0: Client • 1: Server Optional checksum Range 000.000.000.000-255.255.255.255 or www....... 0-65535 32 characters max. 32 characters max.
Set Command Library OCC: Writing Occupation Data to Raw Data File Function Command Format This command is used to write information about the current occupation to the raw data file being logged.
Set Command Library OPTION: Receiver Firmware Options Function Command Format This command is used to install the receiver firmware options that have been purchased after the initial receiver purchase. Options purchased at the time of receiver purchase are factory pre-loaded.
Set Command Library signals. Alternatively, you can run $PASHS,RST to update the default configuration, taking into account all the activated firmware options. • Firmware options may be activated for limited periods of time, depending on the type of unlock code generated for each of them.
Set Command Library Parameters Parameter d1 Description Memory where the PAR file can be found: • 0: Internal memory (NAND Flash) • 2: USB key Range Default 0, 2 2 If d1 is omitted, the receiver will assume that the PAR file is on the USB key. File name (PM_SSSSS_dddhhmmss.par) where: • SSSSS: Last 5 digits from serial number • ddd: Day number (1.. 366) • hhmmss: Time If s2 is omitted, the receiver checks that only one PAR file is found in the specified memory.
Set Command Library Command Format Syntax $PASHS,PAR,SAV[,d1][*cc] Parameters Parameter d1 Description Memory where the PAR file will be written: • 0: Internal memory (NAND Flash) • 2: USB key Range Default *cc If d1 is omitted, the receiver will assume that the PAR file should be saved to the USB key. Optional checksum *00-*FF - 0, 2 2 Comments The command will create a PAR file named as follows: PM_SSSSS_dddhhmmss.
Set Command Library PEM: Setting the Position Elevation Mask Function Command Format This command is used to set the elevation mask used in the position processing.
Set Command Library Parameters Parameter d *cc Description Internal update rate, in Hz, for measurements and PVT. Optional checksum Range 10, 20 Default 20 *00-*FF Example Setting the update rate to 10 Hz: $PASHS,POP,20*17 Comments • Outputting data at 20 Hz through $PASHS,NME, $PASHS,ATM and $PASHS,RAW requires that the present update rate stays at 20 Hz (default value).
Set Command Library Parameters Parameter m1 c2 m3 c4 f5 *cc Description Latitude in degrees and minutes with 7 decimal places (ddmm.mmmmmmm) North (N) or South (S) Longitude in degrees, minutes with 7 decimal places (ddmm.mmmmmmm) West (W) or East (E) Height in meters Optional checksum Range 0-90 N, S 0-180 W, E ±0-9999.9999 *00-*FF Example Setting the antenna position to 37°22.2912135’N, 121°59.7998217’W and 15.25 m: $PASHS,POS,3722.2912135,N,12159.7998217,W,15.
Set Command Library Parameters Parameter Description PPS time period, a multiple or fraction of 1 second. • 0: 1 PPS disabled f1 f2 Range 0 to 1, with 0.1-sec increments 1 to 60, with 1-sec increments ± 999.9999 Time offset in milliseconds.
Set Command Library Code 1 2 3 4 5 6 Code Baud Rate 600 1200 2400 4800 9600 19200 8 9 10 11 12 13 Baud Rate 57600 115200 230400 480600 921600 1428571 Example Setting port A to 19200 Bd: $PASHS,PRT,A,6 Relevant Query Command $PASHQ,PRT See also $PASHS,CTS $PASHS,MDP PWR,OFF: Powering Off the Receiver Function Command Format This command is used to power off the receiver. Syntax $PASHS,PWR,OFF[*cc] Parameters None.
Set Command Library Command Format Syntax $PASHS,PWR,PAR,f1,f2[*cc] Parameters Parameter f1 f2 *cc Description Range Battery voltage threshold, in volts, trigger6.7-8.4 ing a low-battery alarm External power voltage threshold, in volts, 9.0-28.0 triggering a low-power alarm Optional checksum *00-*FF Default 6.8 9.
Set Command Library See Also $PASHS,CFG $PASHS,SBA $PASHS,GPS $PASHS,GLO $PASHS,GAL RAW: Enabling/Disabling Raw Data Messages in Legacy Ashtech Format Function Command Format This command is used to enable or disable the standard, continuous output of raw data in legacy Ashtech format.
Set Command Library Data SNW SAL SAG SAW ION SBD Description SBAS ephemeris data GPS almanac data GLONASS almanac data SBAS almanac data Ionospheric parameters SBAS data message Examples Enabling output of MPC message type on port A to 1 second: $PASHS,RAW,MPC,A,ON,1*1E Enabling output of SNV message type on port A to 300 seconds: $PASHS,RAW,SNV,A,ON,300*09 Comments • For each of the SNV, SNG, SNW, SAL, SAG, SAW and ION messages, the f4 parameter can only take an integer value of seconds and refers to
Set Command Library See also $PASHS,RAW,PER $PASHS,RAW,ALL $PASHS,POP RAW,ALL: Disabling All Raw Data Messages Function Command Format This command is used to disable all the currently active raw data messages on the specified port.
Set Command Library Command Format Syntax $PASHS,RAW,PER,f[*cc] Parameters Parameter f *cc Description Output rate, in seconds. Setting $PASHS,POP to “20” is a prior condition to operating at 0.05 s (20 Hz). Optional checksum Range Default 0.05 s or 0.1-0.4 s with [F] option activated. 1s 0.5-0.
Set Command Library Parameters Parameter s1 f2 f3-f16 f17 *cc Comments Relevant Query Command See Also Description Name of user-defined receiver for which GLONASS biases must be defined (case sensitive) When a linear pattern is assumed for GLONASS biases, f2 represents the delta bias between two adjacent GLONASS frequency numbers.
Set Command Library Parameters Parameter Description Receiver name you want to delete (case sensitive) Optional checksum s1 *cc Range 31 characters max. *00-*FF Example Deleting receiver name “MyReceiver”: $PASHS,RCP,DEL,MyReceiver*74 Relevant Query Command See Also $PASHQ,RCP $PASHS,RCP,GB1 $PASHS,RCP,GB2 RCP,REF: Naming Reference Receiver Function Command Format This command is used to enter the reference receiver name.
Set Command Library ASHTECH ProMark500 ProMark800 ProFlex500 ProFlex800 MB500 PM5 BP1 MB800 MMapper100 ProMark100 MB100 NOVATEL TRIMBLE SEPTENTRIO TOPCON JAVAD Example Entering “Ashtech” as the name of the reference receiver: $PASHS,RCP,REF,ASHTECH*25 Relevant Query Commands $PASHQ,RCP,REF $PASHQ,RCP See Also $PASHS,ANP,REF RDP,OFF: Powering Off the Internal Radio Function Command Format This command is used to power off the internal radio. Syntax $PASHS,RDP,OFF[*cc] Parameters None.
Set Command Library Relevant Query Command See also $PASHQ,RDP,PAR,D $PASHS,RDP,ON $PASHS,RDP,PAR RDP,ON: Powering On the Internal Radio Function Command Format This command is used to power on the internal radio. Syntax $PASHS,RDP,ON[*cc] Parameters None.
Set Command Library Parameter s2 d3 s4 Description Radio Model: • PDL (Pacific Crest): • PDL RXO (internal, port D) • PDL HPB/LPB (external, port A) Range • ADL (Pacific Crest): • ADL RXO (internal, port D) • ADL Vantage (external, port A) • ADL Vantage Pro (external, port A) PDL, MGL, MDL, LFE, LFA, ADL, XDL (port A) • XDL: Pacific Crest XDL rover (external, port PDL, MDL, ADL (port D) A) • MGL: Radio transmitter P/N 800986 • MDL: U-Link • LFE: License-free radio, Europe (ARF7474B) • LFA: License-f
Set Command Library Parameter d6 Description Air link speed (in baud): PDL: • 4800 (GMSK modulation) • 9600 (GMSK or 4FSK modulation) • 19200 (4FSK modulation) MDL: • 4800 • 7600 • 9600 ADL or XDL (12.
Set Command Library • The command will be NAKed if the receiver has not been told on which port the radio is connected. Use command $PASHS,RDP,TYP to declare the port used. • If a PDL radio is used, depending on its channel spacing, the air link speed you select may force the use of a particular type of modulation and protocol, as well as a particular FEC setting. The different possible combinations are summarized in the table below.
Set Command Library particular FEC setting. The different possible combinations are summarized in the table below. Then Channel You modulation Spacing set c6 can only to: is: be: 12.5 kHz 4800 GMSK 12.5 kHz 8000 GMSK GMSK 12.5 kHz 9600 4FSK 25 kHz 4800 GMSK 25 kHz 8000 25 kHz 9600 25 kHz 16000 GMSK GMSK GMSK 25 kHz 19200 4FSK Protocol can only be: FEC Setting Maybe set to ON for Transparent, Transparent protocol TRIMALK 450S, (FEC1).
Set Command Library Examples Setting the internal Pac Crest radio receiver: $PASHS,RDP,PAR,D,PDL,2,AUT,0,9600,LOW,0,0*75 Setting the internal U-Link Rx: $PASHS,RDP,PAR,D,MDL,0,AUT,0,9600,LOW*6A Setting the external U-Link TRx: $PASHS,RDP,PAR,A,MDL,1*45 Relevant Query Command See also $PASHQ,RDP,PAR $PASHS,RDP,ON $PASHS,RDP,OFF $PASHS,RDP,TYP $PASHQ,RDP, CHT RDP,TYP: Defining the Type of Radio and the Receiver Port Used Function Command Format This command is used to set manually the type of radio c
Set Command Library Parameters Parameter c1 s2 *cc Description Range ID of the port connected to the radio you A, D want to set. Radio Model: • UNKNOWN: Auto-detection (port D only) • NONE: No radio • PDL: Pacific Crest radio • Internal (port D): PDL RXO • External (port A): PDL HPB/LPB Port A: NONE, PDL, • ADL: Pacific Crest radio MGL, MDL, LFE, LFA, • Internal (port D): ADL RXO ADL, XDL. • External (port A): ADL Vantage or ADL Port D: UNKNOWN, Vantage Pro NONE, PDL, MDL or ADL.
Set Command Library Command Format Syntax $PASHS,REC,c[*cc] Parameters Parameter c *cc Description Range Control character: • Y: Yes. The receiver will immediately start recording data. This option also enables data recording at receiver power-up, i.e. recording will start every time you turn the receiver on, even if you stopped recording before the end of the previous session. • N: No. The receiver will immediately stop recording data.
Set Command Library RNX,TYP: ATOM RNX Differential Message Function Command Format This command is used in a receiver used as a base to define the type and output rate of the ATOM RNX message generated by the base. This command is now used as a replacement to the $PASHS, ATD,TYP command, which was made obsolete in May 2010. Syntax $PASHS,RNX,TYP,d1,d2[,d3][*cc] Parameters Parameter Description d1 Scenario number d2 d3 *cc Scenario Number 0 1 2 3 4 100 234 Output rate for observations, in seconds.
Set Command Library Scenario Number 101 201 202 203 204 300 Description L1&L2 compact pseudo-range and compact carrier phase, extended fixed position follows every 12 epochs, all the data are decimated in 5 times compared to L1 carrier phase. This scenario cannot be used with a moving receiver. Same as scenario 1, but extended computed reference position follows each epoch. Same as scenario 2, but extended computed reference position follows each epoch.
Set Command Library Comments Relevant Query Command See also The following GSM parameters are not affected by the $PASHS,RST command: • PIN code • Access Point Name (GPRS) • Login (GPRS) • Password (GPRS) • Net (automatic 2G/3G, or forced to 2G) None. $PASHS,INI RTC,MSG: Defining a User Message Function Command Format This command is used to input a user message that a base will be able to forward to a rover through RTCM message type 16, 36 or 1029.
Set Command Library RTC,TYP: RTCM Message Type Function Command Format This command is used to choose the RTCM messages type that will be generated and broadcast by a base receiver as well as its output rate. This command can only be applied to a base receiver. Syntax $PASHS,RTC,TYP,d1,d2[*cc] Parameters Parameter Description d1 Message type Output rate, in seconds, or d2 “0” for message disabled *cc Optional checksum Range 0-36, 1000-1033, see tables below 0, 0.1-0.4 (with [F] option activated 0.5-0.
Set Command Library Parameter 1001 1002 1003 1004 1005 1006 1007 1008 1009 1010 1011 1012 1013 1019 1020 1029 1033 Description L1-only GPS RTK observables Extended L1-only GPS RTK observables L1 & L2 GPS RTK observables Extended L1 & L2 GPS RTK observables Stationary RTK reference station ARP Stationary RTK reference station ARP with antenna height Antenna descriptor Antenna descriptor & serial number L1-only GLONASS RTK observables Extended L1-only GLONASS RTK observables L1 & L2 GLONASS RTK observables
Set Command Library SBA: Enabling/Disabling SBAS Tracking Function Command Format This command is used to enable or disable SBAS tracking.
Set Command Library $PASHS,SIT,ECC1*63 Relevant Query Command See also $PASHQ,SIT $PASHS,REC SNM: Signal-To-Noise Ratio Mask Function Command Format This command is used to mask the signal observations that do not meet the minimum C/A code signal-to-noise ratio you specify. This means that only the observations meeting this requirement will be used in the PVT computation (all the others will be rejected). Syntax $PASHS,SNM,d1[*cc] Parameters Parameter Description d1 SNR mask, in dB.
Set Command Library • Channel warnings (WRN) As a result of the presence of these masks, only the signal observations meeting the required level of quality will be made available by the receiver through the relevant output messages. Command Format Syntax $PASHS,SOM,d[*cc] Parameters Parameter Description d Observation mask index *cc Optional checksum d 0 1 2 3 4 9 Range See table below.
Set Command Library SOM,CTT: Cumulative Tracking Time Mask Function Command Format This command is used to mask the signal observations that do not meet the minimum continuous tracking time you specify. This means that only the observations meeting this requirement will be output (all the others will be rejected). This mask is enabled only after the “User-defined” option (9) has been selected with the $PASHS,SOM command.
Set Command Library Relevant Query Command See Also $PASHQ,PAR $PASHQ,SOM,CTT $PASHS,SOM $PASHS,SOM,SNR $PASHS,SOM,NAV $PASHS,SOMM,WRN SOM,NAV: Navigation Data Mask Function Command Format This command is used to mask the signal observations that are not consistent with the relevant navigation data. This means that only the observations meeting this requirement will be output (all the others will be rejected).
Set Command Library – The corresponding satellite navigation data are available and valid. – The L1CA pseudo-range and computed range are in agreement with each other. – Elevation and azimuth angles are available and valid. If at least one of the above requirements is not met, then signal observations are found to be not consistent with navigation data. • The $PASHS,SOM,NAV command will mask all signals (all observables) corresponding to a given satellite, even if some other pseudo-ranges (e.g.
Set Command Library Command Format Syntax $PASHS,SOM,SNR,f1[,f2][*cc] Parameters Parameter Description f1 Differential data mask. “0” means no mask. Raw data mask. If s2 is omitted, then the f2 receiver will assume s2=s1. “0” means no mask.
Set Command Library $PASHS,SOMM,WRN SOM,WRN: Channel Warnings Mask Function Command Format This command is used to mask the signal observations for those signals flagged with channel warnings (MPC warning bits are counted from 1 to 8). This means that only the observations from non-flagged signals will be output (all the others will be rejected). This mask is enabled only after the “User-defined” option (9) has been selected with the $PASHS,SOM command.
Set Command Library • The $PASHS,SOM,WRN command equally affects all GNSS systems.
Set Command Library Note If the chosen station ID is beyond the upper limit in the applicable range, then the value “31” is chosen instead (i.e. “31” instead of “56” for example if CMR/CMR+ messages are broadcast, or “31” instead of “1041” for example if RTCM 2.3 messages are broadcast).
Set Command Library UDP: User-Defined Dynamic Model Parameters Function Command Format This command is used to set the upper limits of the dynamic model (velocity, acceleration). Syntax $PASHS,UDP,f1,f2,f3,f4[*cc] Parameters Parameter f1 f2 f3 f4 *cc Description Maximum expected horizontal velocity in m/s. Maximum expected horizontal acceleration in m/s/s. Maximum expected vertical velocity in m/ s. Maximum expected vertical acceleration in m/s/s.
Set Command Library Command Format Syntax $PASHS,UNT,s1[*cc] Parameters Parameter s1 *cc Description Desired distance unit: • M: Meters • F: US Survey Feet • IF: International Feet Optional checksum Range Default M, F, IF M *00-*FF - Example Choosing US Survey Feet: $PASHS,UNT,F*50 Relevant Query Command $PASHQ,UNT USE: Enabling or Disabling the Tracking of a GNSS Satellite Function: Command Format This function is used to enable or disable the tracking of a particular GNSS satellite.
Set Command Library Parameters Parameter s1 d2 Description GNSS type: • GPS: GPS • GLO: GLONASS • GAL: GALILEO • SBA: SBAS • QZS: QZSS Satellite PRN: • For GPS: 1-32 • For GLONASS: 1-24 • For GALILEO: 1-30 • For SBAS: 1-19 • For QZSS: 1-5 d2 omitted in the command line combined with s3=ON: Re-enables all the satellites you previously disabled.
Set Command Library Relevant Query Command $PASHQ,PAR USR,POS: Setting Position for User Message Type “GGA” Function: Command Format This function is used to define the position that will be inserted into the “GGA” user message, as defined through $PASHS,NME (command run with s1= USR) and $PASHS,USR,TYP (command run with s= GGA). Syntax $PASHS,USR,POS,m1,c2,m3,c4,f5[*cc] Parameters Parameter m1 c2 m3 c4 f5 *cc Description Latitude in degrees and minutes with 7 decimal places (ddmm.
Set Command Library USR,TYP: Defining User Message Type Function: Command Format This function is used to set the type of user message the receiver will generate after the “USR” NMEA-like message has been enabled. Syntax $PASHS,USR,TYP,s[*cc] Parameters Parameter s *cc Description Range Requested user message type: • TXT: text message type. The inserted text is the one you define using command TXT,GGA $PASHS,USR,TXT. • GGA: GGA message type.
Set Command Library Command Format Syntax $PASHS,USR,TXT,s[*cc] Parameters Parameter Description Range s User message text Up to 80 characters between double quotes *cc Optional checksum *00-*FF Example $PASHS,USR,TXT,”this the text of the user message” Relevant Query Command $PASHQ,USR,TXT See Also $PASHS,NME $PASHS,USR,TYP UTS: Synchronizing Onto GPS Time Function: Command Format This function is used to enable or disable a clock steering mechanism that synchronizes measurements and coordinates
Set Command Library Comments Relevant Query Command • All output data, except for legacy MPC, DPC and RPC, are always clock steered. • Legacy MPC, DPC and RPC data appear as steered or not steered depending on the last $PASHS,UTS command run. • The PBN message contains internal clock and clock drift estimates when UTS is OFF and reports zeros for these estimates when UTS is ON.
Set Command Library ZDA: Setting Date & Time Function Command Format This command is used to set the date and time in the receiver. Syntax $PASHS,ZDA,m1,d2,d3,d4[*cc] Parameters Parameter m1 d2 d3 d4 *cc Description UTC time (hhmmss.ss) Current day Current month Current year Optional checksum Example $PASHS,ZDA,151145.00,13,03,2008*0A Relevant Query Command See also 256 $PASHQ,ZDA $PASHS,LTZ Range 000000.00-235959.
Appendix C. Query Command Library AGB: Reading GLONASS Bias Setting Function Command Format This command tells you whether L1 & L2 GLONASS carrier biases are currently processed in the receiver or not. Syntax $PASHQ,AGB[*cc] Parameters None.
Query Command Library ALM: Almanac Message Function Command Format This command allows you to output the latest GPS almanac data. Each response line describes the almanac data from a given GPS satellite.
Query Command Library $GPALM,31,4,04,65535,00,4298,4E,0069,FD46,A10D5C,0EE3DC,3C2E3E,5 1DDF9,FF0,FFF*0A ... Automatic Output of ALM Messages This is a reminder on how to output ALM messages at regular intervals of time: Use the $PASHS,NME command with the syntax below: $PASHS,NME,ALM,,ON, For more details on the $PASHS,NME command, refer to the Set Command Library Chapter.
Query Command Library See also $PASHQ,ANR ANP: Antenna Parameters Function Command Format This command allows you to read the antenna parameters of the specified antenna name, or of the complete antenna database if no antenna name is specified. Syntax $PASHQ,ANP[*cc] or $PASHQ,ANP,s1[*cc] Parameters Parameter Description s1 Antenna name (case sensitive) *cc Optional checksum Response Formats Range 31 characters max.
Query Command Library +004.2 +003.5 +002.5 +001.1 -000.7 -002.8 -005.1 +000.0 +000.0 Relevant Set Commands $PASHS,ANP,OWN $PASHS,ANP,REF $PASHS,ANP,PCO ANP,OUT: Virtual Antenna Function Command Format This command returns the name of the virtual antenna currently selected in the receiver. Syntax $PASHQ,ANP,OUT[*cc] Parameters None. Response Format Syntax $PASHR,ANP,OUT,s1*cc Parameters Parameter s1 *cc Example Relevant Set Command Description Name of the virtual antenna.
Query Command Library Parameters None. Response Format Syntax $PASHR,ANP,OWN,s1,s2,s3*cc Parameters Parameter Description s1 Name of the local antenna s2 Antenna serial number Antenna setup ID *cc Checksum Example Relevant Set Command Range 31 characters max. 31 characters max.
Query Command Library $PASHR,ANP,RCV,ASH802147,-2.00,0.70,103.00,-3.4,-2.2,103.80*09 ANP,REF: Antenna Used at the Base Function Command Format This command returns the name of the GNSS antenna assumed to be used by the base currently sending data to the interrogated receiver (a rover). Syntax $PASHQ,ANP,REF[*cc] Parameters None.
Query Command Library Command Format Syntax $PASHQ,ANR[*cc] Response Format Syntax $PASHR,ANR,s1*cc Parameters Parameter s1 *cc Example Description Range Antenna reduction mode: • OFF: The computed position is assumed to be the location of the antenna’s L1 phase center. OFF, ON, • ON: The computed position is assumed to be the ARP location of the ground mark. • ARP: The computed position is assumed to be the location of the Antenna Reference Plane (ARP).
Query Command Library Parameters Parameter f1 f2 f3 m4 f5 *cc Example Description Slant height measurement, from ground mark to antenna edge (SHMP) Antenna radius: horizontal distance from the geometrical center to the antenna edge. Antenna vertical offset: • Offset between SHMP and ARP if both slant height measurement and antenna radius are different from zero. • Offset between ground mark and ARP if either slant height measurement or radius is zero. Horizontal azimuth [dddmm.
Query Command Library Parameters Parameter s1 d2 c3 f4 d5 *cc Examples Description ON/OFF/AUT status: • ON: Debug data recording is enabled but will not re-start after a power cycle. • OFF: Debug data recording is disabled. • AUT: Debug data recording is enabled and will re-start after a power cycle. Indicates which data are recorded: • 0: Only data from GNSS board to system board are recorded. • 1: Only data from system board to GNSS board are recorded.
Query Command Library ATM: ATOM Data Parameters Function Command Format This command allows you to read the current settings of the ATOM data-related parameters. Syntax $PASHQ,ATM[*cc] Response format Syntax (Through an example) $PASHQ,ATM PER:001.00 ELM:5 DRI:001.00 SIT:2007 REC:N MEM:M ANH:02.
Query Command Library Parameter BAUD Code 0 1 2 3 4 5 6 7 Description If serial port used, then baud rate If memory used, “0” if not available, else “1” Baud Rate 300 600 1200 2400 4800 9600 19200 38400 Relevant Set Command $PASHS,ATM See also $PASHQ,ATM $PASHQ,ATO Code 8 9 10 11 12 13 14 15 Range 0-15 (see table below) Baud Rate 57600 115200 230400 480600 921600 1428571 2500000 5000000 ATO: ATOM Message Output Settings Function Command Format This command allows you to read the different para
Query Command Library Parameters Parameter c *cc Response Format Description Port ID for which you need to know the ATOM message settings: • A: Serial port • C: Bluetooth port • E: Modem • M: Internal memory • U: External memory (USB) Optional checksum Range A, C, E, M, U *00-*FF Syntax $PASHR,ATO,c1,d2,f3,d4,7(s5,f6)*cc Parameters Parameter d2 f3 d4 Description The port ID mentioned in the query command is replicated in this field.
Query Command Library Response Format Syntax $PASHR,BAS,c1,s2[,c3,s4]*cc Parameters Parameter c3 Description First port ID: • A: Serial port • C: Bluetooth port • E: Modem • M, U: Memory • N: Undefined port Differential data type: • RT2: RTCM 2.3 messages • RT3: RTCM 3.0 & 3.1 messages (default) • CMR: CMR messages • CMP: CMR+ messages • ATM: ATOM messages • DBN: DBEN messages • NONE: Undefined Second port ID: same as c1 above s4 Differential data type: same as s2 above.
Query Command Library BEEP: Beeper State Function Command Format This command is used to read the current state of the internal beeper. Syntax $PASHQ,BEEP[*cc] Response Format Syntax $PASHR,BEEP,s1,d2*cc Parameters Parameter Description Range s1 Beeper enabled (ON) or disabled (OFF) ON, OFF Timeout, in seconds: • =0: No timeout • >0: Buzzer will go out after thespecified timeout 0-99 d2 if the alarm has not been acknowledged at the end of that time.
Query Command Library BRD: RTC Bridge Function Command Format This command allows you to list the current settings of the RTC Bridge function. Syntax $PASHQ,BRD[*cc] Response format Syntax $PASHR,BRD,s1,d2,c3,c4*cc Parameters Parameter s1 d2 c3 c4 *cc Description Availability of RTK corrections on the specified output port: • OFF: No RTK corrections forwarded to the output port. • ON: RTK corrections forwarded to the output port. Use of RTK corrections in the receiver’s position computation.
Query Command Library BTH: Bluetooth Settings Function Command Format This command is used to read the current Bluetooth settings. Syntax $PASHQ,BTH[*cc] Response Format Syntax $PASHR,BTH,s1,s2,s3,s4*cc Parameters Parameter Description s1 Bluetooth address (xx:xx:xx:xx:xx:xx) s2 Bluetooth name Example See also s3 Bluetooth PIN code s4 *cc Bluetooth status Checksum Range 17 characters 64 characters max. 0 to 12 digits max.
Query Command Library Parameters Parameter s1 *cc Example See Also Description GNSS tracking currently enabled: • SSL: Single-signal tracking • DSL: Dual-signal tracking • TSL: Triple-signal tracking Checksum Range SSL, DSL, TSL $PASHQ,CFG $PASHR,CFG,DSL*1D $PASHS,CFG CMR,MSI: CMR Message Status Function Command Format This command is used in a base receiver to read the current settings of the CMR messages the base currently generates and outputs.
Query Command Library Example The response line below reports four enabled CMR messages, type “0” and “3” at 1 second, and types “1” and “2” at 30 seconds: $PASHQ,CMR,MSI $PASHR,CMR,MSI,4,0,1.0,1,30.0,2,30.0,3,1.0*50 See also $PASHS,CMR,TYP $PASHQ,BAS $PASHQ,CPD,MOD CPD,AFP: Ambiguity Fixing Parameter Function Command Format This command is used to read the current setting for the ambiguity fixing parameter.
Query Command Library Command Format Syntax $PASHQ,CPD,ANT[*cc] Response Format Syntax $PASHR,CPD,ANT,f1,f2,f3,m4,f5*cc Parameters Parameter f1 f2 f3 m4 f5 *cc Example See also 276 Description Antenna height, in meters Antenna radius, in meters Vertical offset, in meters Horizontal azimuth, in degrees, minutes (dddmm.mm) Horizontal distance, in meters Checksum $PASHQ,CPD,ANT $PASHR,CPD,ANT,1.893,0.0980,0.040,0.0000,0.000*50 $PASHS,ANH $PASHS,ANR $PASHQ,CPD,POS Range 0-99.999 0-9.9999 0-99.
Query Command Library CPD,FST: Fast RTK Output Mode Function Command Format This command is used to read the current setting for fast RTK output mode.
Query Command Library Parameters Parameter s1 d2 d3 Description Current operating mode: • BAS: Base • ROV: Rover • BKP: “Hot Standby RTK”, also called “Backup mode” (rover computing two RTK positions) Constellations currently used if the receiver is defined as a base: • 0: GPS, GLONASS, SBAS (default mode) • 1: Only GPS and SBAS • 2: Only GPS and GLONASS • 3: Only GPS Position mode.
Query Command Library CPD,NET: RTK Network Operation Mode Function Command Format This command is used to read the current setting of the RTK network operation mode. Syntax $PASHQ,CPD,NET[*cc] Response Format Syntax $PASHR,CPD,NET,d1,d2*cc Parameters Parameter d1 d2 *cc Description Range RTK network operating mode relative to GPS corrections (default: 1): • 0: GPS corrections from network are not used.
Query Command Library CPD,POS: Base Position Function Command Format If applied to a base, this command allows you to read the geographic coordinates previously entered for the base position. Depending on the last $PASHS,ANR command applied to the base, the position you get will be either that of the phase center, the ARP or the ground mark. If applied to a rover, this command allows you to read the position of the base the rover receives from the base.
Query Command Library CPD,REM: Differential Data Port Function Command Format This command allows you to read the port IDs that route differential data to a rover as well as the port selection mode.
Query Command Library See also $PASHQ,CPD,MOD CPD,VRS: VRS Assumption Mode Function Command Format This command allows you to read the current setting of the VRS assumption mode.
Query Command Library CRT: Cartesian Coordinates of Position Function Command Format This command allows you to get the message containing the absolute ECEF coordinates of the last computed position as well as other information on the position solution.
Query Command Library Comment The code allotted to a position solution of the SBAS differential type is either “1” or “9”, depending on the last $PASHS,NPT command run. See also $PASHS,NME $PASHS,NPT CTS: Handshaking Function Command Format This command allows you to query the handshaking (RTS/ CTS) protocol status for port A. If no port is specified in the command, the response message is sent back to the port that issued the query command.
Query Command Library DBN,MSI: DBEN Message Status Function Command Format This command is used in a base receiver to read the current settings of the DBEN messages the base currently generates and outputs.
Query Command Library DCR: Cartesian Coordinates of Baseline Function Command Format This command allows you to output the DCR message containing the ECEF components of the baseline for the last computed position as well as other information on the position solution.
Query Command Library Comment The code allotted to a position solution of the SBAS differential type is either “1” or “9”, depending on the last $PASHS,NPT command run. See also $PASHS,NME $PASHS,NPT DDS: Differential Decoder Status Function Command Format This command allows you to output a message providing status data on the corrections received.
Query Command Library Parameter Description f13 Min epoch interval, in seconds Number (n) of different messages d14 detected since last stream change Example See Also d15 Message type f16 f17 *cc Interval of last message, in seconds Age of last message, in seconds Checksum Range 0.00-20.47 0-63 RT2: 1-63 RT3: 1001-4094 CMR: 0(obs), 1(loc), 2(desc), 3(glo), 12(cmr+) DBN: 10(RPC), 11(BPS) TPZ: 0 only ATM: 0-15 0.000-1023.000 0.000-1023.000 $PASHQ,DDS $PASHR,DDS,1,140235.33,A,RT3,200,100,0,100,5,50,1.
Query Command Library Parameters Parameter RIP,s1 PRT,d2 LGN,s3 PWD,s4 *cc Description IP address (xxx.xxx.xxx.xxx) or host name Port number User name (optional) Password (optional) Checksum Range IP address: 000.000.000.000 to 255.255.255.255 or host name 0-65535 20 char. max. 20 chars max. *00-*FF Examples $PASHQ,DIP $PASHR,DIP,RIP,192.65.54.1,PRT,80*xx $PASHQ,DIP $PASHR,DIP,RIP,www.ashtech.
Query Command Library DPO: Delta Position Function Command Format This command is used to output a DPO message containing the components of the last computed vector (baseline) as well as other information about the position solution.
Query Command Library Comment The code allotted to a position solution of the SBAS differential type is either “1” or “9”, depending on the last $PASHS,NPT command run. See also $PASHS,NME $PASHS,NPT DRD: Data Recording Duration Function Command Format This command returns the duration that was last set for all the G-files that the receiver will be recording. Syntax $PASHQ,DRD[*cc] Parameters None.
Query Command Library Command Format Syntax $PASHQ,DRI[*cc] Response Format Syntax $PASHR,DRI,f1*cc Parameters Parameter Description f1 Current raw data recording rate *cc Checksum Range 0.05 s 0.1-0.9 s 1-999 s *00-*FF Example $PASHQ,DRI $PASHR,DRI,1.00*18 Relevant Set Command $PASHS,DRI See also $PASHQ,ATM $PASHQ,REC DSY: Daisy Chain Status Function Command Format This command queries the receiver for the status of the daisy chain function. Syntax $PASHQ,DSY[*cc] Parameters None.
Query Command Library Parameters Parameter c1 c2 d3 *cc Description Source port: • A: Serial port • C: Bluetooth port • D: Radio • E: Modem Destination port: • A: Serial port • C: Bluetooth port • D: Radio • E: Modem Mode: • 0: Raw (default) • 1: Block Checksum Range A, C, D, E A, C, D, E 0,1 *00-*FF Example Command reporting data on port A forwarded to port C: $PASHQ,DSY $PASHR,DSY,A,C*38 Relevant Set Command $PASHS,DSY DTM: Datum Reference Function Command Format This command asks the receiv
Query Command Library Parameters Parameter s1 f2 c3 f4 c5 f6 s7 *cc Description Local datum code: • W84: WGS84 used as local datum • 999: Local datum computed using the parameters provided by the RTCM3.1 data stream. Latitude offset, in meters Direction of latitude Longitude offset, in meters Direction of longitude Altitude offset, in meters Reference datum code Checksum Range W84, 999 0-59.999999 N, S 0-59.999999 E, W ±0-99.999 W84 *00-*FF Example $PASHQ,DTM $GPDTM,999,2.324525,N,1.499476,W,1.
Query Command Library DYN: Receiver Dynamics Function Command Format This command allows you to query the current setting for the receiver dynamics.
Query Command Library ELM: Elevation Mask Function Command Format This command is used to read the current value of the elevation mask. The elevation mask impacts data recording, data output and satellite reception at the base.
Query Command Library Parameters Parameter s1 d2 s3 s4 d5 *cc Description Filename (including path) Size in bytes Date (ddmmyyyy) Time (hhmmss) Memory location: • 0: Internal memory. • 2: USB key. Checksum Range 255 characters max. 0-134217728 000000-235959 0, 2 *00-*FF Example $PASHQ,FIL,CUR $PASHR,FIL,CUR,GazerA09.
Query Command Library Parameter d2 s3 d4 s5 s6 c7 *cc Description File index File name or directory name Size in bytes Date (ddmmyyyy) Time (hhmmss) =D when s3 is a directory name Optional checksum Range 255 characters max. 0-134217728 000000-235959 D *00-*FF Example $PASHQ,FIL,LST*53 $PASHR,FIL,LST,4,0,GazerA09.123,1769897,14032009,130850*74 $PASHR,FIL,LST,4,1,GazerB09.123,1769876,10032009,110952*7C $PASHR,FIL,LST,4,2,GazerC09.123,1769787,01032009,181856*72 $PASHR,FIL,LST,4,3,GazerD09.
Query Command Library FLS: List of Raw Data Files Function Command Format This command is used to list the raw data files stored in the selected memory (cf. $PASHS,MEM). An index number is used in the command fomat to limit the number of listed files. Files are listed in blocks of 10 files. Syntax $PASHQ,FLS,d[*cc] Parameters Parameter d *cc Response Format Description Range File index number (“0” for 1st file, “1” for 2nd file, etc.).
Query Command Library $PASHS,MEM GAL: GALILEO Tracking Status Function Command Format This command queries the receiver for the current GALILEO tracking status.
Query Command Library Parameters Parameter m1 Current UTC time of position (hhmmss.ss) m2 Latitude of position (ddmm.mmmmmm) c3 Direction of latitude m4 Longitude of position (dddmm.mmmmmm) c5 Direction of longitude Position type: • 0: Position not available or invalid • 1: Autonomous position • 2: RTCM Differential (or SBAS Differential) • 3: Not used • 4: RTK fixed • 5: RTK float • 9: SBAS Differential. See comment.
Query Command Library As an example, the command below will output GGA messages on port A at a rate of 0.5 second: $PASHS,NME,GGA,A,ON,0.5 GLL: Geographic Position - Latitude/Longitude Function Command Format This command is used to output a GLL message containing the last computed position. The message is output on the port on which the query is made. If no position is computed, the message will be output anyway, but all position-related fields will be blank.
Query Command Library Automatic Output of GLL Messages This is a reminder on how to output GLL messages at regular intervals of time: Use the $PASHS,NME command with the syntax below: $PASHS,NME,GLL,,ON, For more details on the $PASHS,NME command, refer to the Set Command Library Chapter. As an example, the command below will output GLL messages on port A at a rate of 0.5 second: $PASHS,NME,GLL,A,ON,0.
Query Command Library GLO: GLONASS Tracking Status Function Command Format This command is used to query the GLONASS tracking status. Syntax $PASHQ,GLO[*cc] Response Format Syntax $PASHR,GLO,s*cc Parameters Parameter s *cc Description Range ON: GLONASS satellites currently tracked and used. ON, OFF OFF: GLONASS satellites not tracked.
Query Command Library Parameters Parameter “$--GMP” Header m1 s2 s3 f4 f5 s6 d7 f8 f9 f10 f11 d12 *cc Example Description Range $GPGMP: Only GPS satellites are used. $GPGMP, $GLGMP: Only GLONASS satellites are used. $GLGMP, $GNGMP: Several constellations (GPS, $GNGMP SBAS, GLONASS) are used. 000000.00Current UTC time of position (hhmmss.ss) 235959.99 Map projection identification RTCM3.1 - message 1024: • LOC: Local coordinate system RTCM3.
Query Command Library $GPGMP,131745.00,LOC,,45215.125,14587.298,R,11,1.5,125.221,5.214,1.5, 454*xx See also Automatic Output of GMP Messages $PASHS,NME This is a reminder on how to output GMP messages at regular intervals of time: Use the $PASHS,NME command with the syntax below: $PASHS,NME,GMP,,ON, For more details on the $PASHS,NME command, refer to the Set Command Library Chapter. As an example, the command below will output GMP messages on port A at a rate of 0.
Query Command Library Parameter m2 c3 m4 c5 s6 d7 f8 f9 f10 f11 d12 *cc Example See Also Automatic Output of GNS Messages Description Latitude of position (ddmm.mmmmmm) Direction of latitude Longitude of position (dddmm.mmmmmm) Direction of longitude Mode indicator (1 character by constellation): • N: No fix • A: Autonomous position • D: Differential • R: RTK Fixed • F: RTK Float Number of GNSS satellites being used in the position computation. HDOP Altitude above mean sea level.
Query Command Library GPS: GPS Tracking Status Function Command Format This command queries the receiver for the current GPS tracking status.
Query Command Library GRS: GNSS Range Residuals Function Command Format This command is used to output a GRS message containing the satellite range residuals. The message is output on the port on which the query is made. No message will be output until a position is computed. Syntax $PASHQ,GRS[*cc] Response Format Syntax $--GRS,m1,d2,n(f3)*cc Parameters Parameter “$--GRS” Header $GPGRS, $GLGRS, $GNGRS 000000.00235959.99 Always “1” Current UTC time of position (hhmmss.
Query Command Library $PASHS,NME,GRS,A,ON,0.5 GSA: GNSS DOP and Active Satellites Function Command Format This command is used to output a GSA message containing data related to DOP values and satellites used in the position solution. Where applicable, one response line per constellation used is returned. In this case, the returned DOP values are the same in all response lines.
Query Command Library $GNGSA,A,3,81,83,68,,,,,,,,,,1.6,0.9,1.3*2C See also Automatic Output of GSA Messages $PASHS,NME This is a reminder on how to output GSA messages at regular intervals of time: Use the $PASHS,NME command with the syntax below: $PASHS,NME,GSA,,ON, For more details on the $PASHS,NME command, refer to the Set Command Library Chapter. As an example, the command below will output GSA messages on port A at a rate of 0.5 second: $PASHS,NME,GSA,A,ON,0.
Query Command Library GST: GNSS Pseudo-Range Error Statistics Function Command Format This command is used to output a GST message containing standard deviations relevant to the position solution. Syntax $PASHQ,GST[*cc] Response Format Syntax $--GST,m1,f2,f3,f4,f5,f6,f7,f8*cc Parameters Parameter “$--GST” Header m1 f2 f3 f4 f5 f6 f7 f8 *cc Example See also Automatic Output of GST Messages Description $GPGST: Only GPS satellites are used. $GLGST: Only GLONASS satellites are used.
Query Command Library For more details on the $PASHS,NME command, refer to the Set Command Library Chapter. As an example, the command below will output GST messages on port A at a rate of 0.5 second: $PASHS,NME,GST,A,ON,0.
Query Command Library GSV: GNSS Satellites in View Function Command Format This command is used to output a GSV message containing information on the satellites in view. Syntax $PASHQ,GSV[*cc] Response Format Syntax $--GSV,d1,d2,d3,n(d4,d5,d6,f7)*cc The set of parameters (d4,d5,d6,f7) can be repeated up to 4 times in a single response line, corresponding to the description of 4 different satellites. The number of response lines is therefore dependent on the number of satellites in view (e.g.
Query Command Library Example See also Automatic Output of GSV Messages $PASHQ,GSV $GPGSV,2,1,07,20,61,066,50,11,30,146,36,13,41,200,50,23,73,134,52*7C $GPGSV,2,2,07,33,34,198,42,17,40,242,50,04,37,304,48*47 $GLGSV,1,1,04,77,29,098,46,84,19,332,46,83,49,276,52,68,57,300,52*67 $PASHS,NME This is a reminder on how to output GSV messages at regular intervals of time: Use the $PASHS,NME command with the syntax below: $PASHS,NME,GSV,,ON, For more details on the $PASHS,NME command, refer to t
Query Command Library Parameters Parameter s *cc Description Range Status: • ON: Local coordinate system used when availON, OFF able • OFF: Coordinate system used is WGS84 necessarily. Checksum *00-*FF Example $PASHQ,LCS $PASHR,LCS,ON*05 Relevant Set Command $PASHS,LCS LOG: Editing a Log File Function Command Format This command is used to edit the specified or current log file. A log file lists all events related to IP connections with the receiver.
Query Command Library • The first line contains the date when the log file was created. • The second line indicates the maximum size (in Mb) permitted for the file as well as the time, in days, during which it is kept in memory. • Each of the lines that follow contains a message that describes a connection event (time of event, beginning or end of connection, type of connection, identification of the connected device).
Query Command Library LOG,LST: Listing Log Files Function Command Format This command is used to read the list of log files present in the receiver. Syntax $PASHQ,LOG,LST[*cc] Parameters None. Response format Syntax $PASHR,LOG,LST,d1,d2,s3,d4*cc Parameters Parameter d1 d2 s3 d4 *cc Description Current number of log files in the receiver File index Filename Size, in bytes Optional checksum Range 0-900 0-900 255 characters max.
Query Command Library Parameters None. Response format Syntax $PASHR,LOG,PAR,s1,d2,d3*cc Parameters Parameter s1 d2 d3 *cc Description Log file control parameter: • ON: Generation of log files enabled • OFF: Generation of log files disabled Maximum size, in Mbytes Number of days during which a log file is kept in memory.
Query Command Library Parameter PWR=s4 PIN=s5 BND=d6 PTC=d7 CBS=d8 APN=s9 LGN=s10 PWD=s11 IPT=d12 PHN=s13 ADL=c14 RNO=d15 MOD=s16 NET=d17 *cc Description Power mode: • AUT: Automatic • MAN: Manual PIN code Band: • 0: 850/1900 (North America) • 1: 900/1800 (Europe) • 2: 900/1900 Protocol: • 0: CSD • 1: GPRS CSD mode: • 0: V.32 9600 bauds • 1: V.
Query Command Library MDM,LVL: Modem Signal Level Function Command Format This command is used to query the current level of the modem signal. Syntax $PASHQ,MDM,LVL[*cc] Response Format Syntax $PASHR,MDM,LVL,d*cc Parameters Parameter d *cc Description Current signal level: • 0-100: Signal level. The higher the number, the higher the signal level. • “-1”: No signal available.
Query Command Library Parameters Parameter s1 s2 s3 d4 *cc Example See Also Description Modem status. “NONE” means that the [Z] option (MODEM) is not valid. Name of the network currently used Network type currently used (2G or 3G) Signal level. “-1” means the indication of signal level is not available.
Query Command Library See also $PASHQ,CTS MEM: Selected Memory Device Function Command Format This command is used to query the memory device used by the receiver.
Query Command Library Response Format Syntax $PASHR,MWD,d1,d2*cc Parameters Parameter d1 d2 *cc Description Current timeout setting: • 1-99: Modem timeout in minutes. • 0: No timeout Current idle time for modem, in minutes.
Query Command Library NMO: NMEA Message Output Settings Function Command Format This command is used to query the types of NMEA messages currently enabled on the specified port.
Query Command Library Parameter f6 *cc Description Range Output rate: • 0.05 or 0.1 to 0.9 or 1-999: Output rate in 0-999.00 s seconds • 0: Message disabled Checksum *00-*FF Example $PASHQ,NMO,A $PASHR,NMO,A,6,001.00,28,ALM,0.00,DTM,0.00,GGA,0.00,GLL,0.00,GNS, 0.00,GRS,0.00,GSA,0.00,GST,0.00,GSV,0.00,HDT,0.00,RMC,0.00,VTG,0.00, XDR,0.00,ZDA,0.00,ATT,0.00,CRT,0.00,DCR,0.00,DDS,0.00,DPO,0.00,LTN,0 .00,POS,0.00,PTT,0.00,RRE,0.00,SAT,0.00,SGA,0.00,SGL,0.00,SGP,0.00,VE C,0.
Query Command Library Parameters Parameter d1 d2 *cc Description Code assigned to SBAS differential position solution in NMEA-like messages (CRT, DCR, DPO, POS, VEC): • 0: Code “1” • 1: Code “9” Code assigned to SBAS differential position solution in NMEA messages (GGA): • 0: Code “2” • 1: Code “9” Optional checksum Range 0,1 0, 1 *00-*FF Example $PASHQ,NPT $PASHR,NPT,0,0*3E Relevant Set Command $PASHS,NPT NTR: NTRIP Settings Function Command Format This command is used to read the current NTRIP
Query Command Library Parameters Parameter Description s1 Caster IP address or host name d2 s3 s4 Caster port number Login Password Caster type: • 0: Client • 1: Server Checksum d5 *cc Range 000.000.000.000255.255.255.255 or host name 0-65535 32 characters max. 32 characters max. 0-1 *00-*FF Example $PASHQ,NTR $PASHR,NTR,ADD=192.34.76.
Query Command Library $PASHR,NTR,MTP,NAN2*06 Relevant Set Command $PASHS,NTR,MTP NTR,TBL: Source Table Function Command Format This command is used to read the source table stored in the receiver. Syntax $PASHQ,NTR,TBL[*cc] Response Format Syntax $PASHR,NTR,TBL SOURCETABLE 200 OK ENDSOURCETABLE Parameters Source table as defined in the NTRIP standard.
Query Command Library GER;51.00;6.42;0;0;Javad Legacy E;none;B;N;3600;none STR;HUEG0;Huegelheim;RAW;Compact(1);2;GPS+GLO;IGSIGLOS; GER;47.82;7.62;0;0;Javad Legacy E;none;B;N;3600;none STR;DREJ0;Dresden;RAW;Compact(1);2;GPS+GLO;IGSIGLOS; GER;51.05;13.73;0;0;Javad Legacy E;none;B;N;3600;none STR;SASS0;Sassnitz;RAW;Compact(1);2;GPS+GLO;IGSIGLOS; GER;54.51;13.64;0;0;Javad Legacy E;none;B;N;3600;none STR;KARJ0;Karlsruhe;RAW;Compact(1);2;GPS+GLO;IGSIGLOS; GER;49.01;8.
Query Command Library Parameters Parameter d1 d2 s3 s4 *cc Description Occupation type: • 0: Static • 1: Quasi-static • 2: Dynamic • 4: On kinematic bar, 20 cm long Occupation state: • 0: Occupation in progress • 1: No occupation in progress Occupation name Occupation description Checksum Range 0-2, 4 0-1 255 characters max. 255 characters max.
Query Command Library OPTION: Installed Receiver Firmware Options Function Command Format This command is used to list the firmware options currently installed in the receiver. The returned message includes one response line per installed option.
Query Command Library $APSHR,OPTION,#,REGISTRATION CODE,057743D104182*07 $PASHR,OPTION,K,RTK,6756975c71766*36 $PASHR,OPTION,S,GLONASS,6756945714671*7B If the registration code is incorrect, the command returns the following: $PASHQ,OPTION $PASHR,OPTION,0,SERIAL,NUMBER,200751223*7A $APSHR,OPTION,#,REGISTRATION CODE,-------------*07 Relevant Set Command $PASHS,OPTION PAR: Receiver Parameters Function Command Format This command lists the currently used parameters for the specified type of receiver sett
Query Command Library Parameters Parameter s1 *cc Type STA RCV RTK PRT MEM SES RXC RDP MDM NET XDR OUT Response Format Description Range Type of receiver settings. If s1 is omitted, the response lists See table below. the parameters for all types of settings, one after the other. Optional checksum *00-*FF Description Status information Receiver settings. RTK and ARROW settings.
Query Command Library etc. The parameters returned by $PASHQ,PAR,OUT should be interpreted as follows: • “OFF” means the message is currently not output. • “ON” means it is currently output with the default output rate. • A specified output rate means this rate has been user-set through the appropriate command.
Query Command Library PEM: Position Elevation Mask Function Command Format This command is used to read the current value of the elevation mask used in the position processing.
Query Command Library Parameters Parameter Description d Current update rate, in Hz. Default is 20 Hz.
Query Command Library POS: Computed Position Data Function Command Format This command allows you to query the computed position. Syntax $PASHQ,POS[*cc] Response Format Syntax $PASHR,POS,d1,d2,m3,m4,c5,m6,c7,f8,f9,f10,f11,f12,f13,f14,f15,f16,s17*cc Parameters Parameter d2 Description Position mode: • 0: Autonomous • 1: RTCM code differential (or SBAS differential) • 2: RTK float • 3: RTK fixed • 9: SBAS Differential. See comment.
Query Command Library $PASHR,POS,3,10,151858.00,4717.960848,N,00130.499487,W,82.972,,0.0, 0.0,-0.0,2.0,1.1,1.7,1.3,G010*49 Comment The code allotted to a position solution of the SBAS differential type is either “1” or “9”, depending on the last $PASHS,NPT command run.
Query Command Library Parameters Parameter f1 f2 c3 *cc Description Period, in seconds Offset in milliseconds Active edge: • R: Rising • F: Falling Checksum 0 0 Default Range 0.0-0.9; 1-60 ±999.9999 R R, F *00-*FF Example $PASHQ,PPS $PASHR,PPS,1,500,R*5D Relevant Set Command $PASHS,PPS PRT: Baud Rate Settings Function Command Format This command is used to query the baud rate setting for any of the serial ports used in the receiver.
Query Command Library Parameters Parameter c1 d2 *cc Code 0 1 2 3 4 5 6 Description ID of port for which baud rate setting is returned.
Query Command Library Parameters Parameter d1 m2 *cc Description Range Day of week: • 1: Sunday 1-7 • 7: Saturday GPS time tag in hours, minutes, seconds 0-23:59:59.9999999 Checksum *00-*FF Example Enabling the receiver to output the PTT message on port A: $PASHS,NME,PTT,A,ON Generating the PPS time tag message on port A: $PASHQ,PTT,A $PASHR,PTT,6,20:41:02.0000000*2D Comments • The response to this command will be sent out once, right after the next PPS pulse is generated.
Query Command Library Parameters Parameter f1 f2 d3 f4 d5 f6 d7 d8 *cc Description Battery voltage threshold, in volts, triggering a low-battery alarm External power voltage threshold, in volts, triggering a low-power alarm Power source: • 0: Internal battery • 1: External battery • 2: External DC source Battery DC output voltage, in volts Percentage of remaining battery energy DC input voltage from external power, in volts Battery charging status: • 0: Charging • 1: Discharging • 2: Fully charged Intern
Query Command Library Response Format Syntax $PASHR,QZS,s*cc Parameters Parameter s *cc Description QZSS tracking status: • ON: QZSS satellites tracked and used • OFF: QZSS satellites not tracked Optional checksum Range ON or OFF *00-*FF Example Reading QZSS tracking: $PASHQ,QZS $PASHR,QZS,OFF*xx Relevant Set Command $PASHS,QZS RAW: Raw Data Logging Settings Function Command Format This command is used to query the raw data recording parameters.
Query Command Library Parameters Parameter PER ELM RAW PRTA PRTC MEMM MEMU BAUD Code 0 1 2 3 4 5 6 Relevant Set Command Description Range Output rate, in seconds 0.00-999.
Query Command Library Parameters Parameter Description Range Name of the receiver (case sensitive). 31 characters If s1 is omitted, the parameters for all the receivmax. ers described in the database are listed. Checksum *00-*FF s1 *cc Response Format The response is in user-readable form. RCP,OWN: Receiver Name Function Command Format This command is used to read the name assigned to the receiver. Syntax $PASHQ,RCP,OWN[*cc] Parameters None.
Query Command Library Command Format Syntax $PASHQ,RCP,REF[*cc] Parameters None. Response format Syntax $PASHR,RCP,REF,s1,d2*cc Parameters Parameter Description Range s1 Reference receiver name Receiver name preference: • 0: s1 is ignored if the incoming reference data contain the reference receiver name 0, 1 d2 • 1: s1 is always used and the decoded reference receiver name is ignored.
Query Command Library Parameters Parameter Description Radio Model: • UNKNOWN: Auto-detection • NONE: No radio • PDL: Pacific Crest • Internal (port D): PDL RXO • External (port A): PDL HPB/LPB • ADL: Pacific Crest • Internal (port D): ADL RXO • External (port A): ADL Vantage • External (port A): ADL Vantage Pro s1 • • • • • Range UNKNOWN, PDL, ADL, MGL, XDL, MDL, LFE, LFA, NONE MGL: Radio transmitter P/N 800986 XDL: Pacific Crest XDL Rover (port A) MDL: U-Link LFE: License-free radio, Europe LFA: Li
Query Command Library RDP,LVL: Reading the Radio Reception Level Function Command Format This command is used to read the current level of signal at the radio receiver input. Only U-Link Rx and license-free radio receivers can return the current value of this parameter. Syntax $PASHQ,RDP,LVL,c[*cc] Parameters Parameter c *cc Response format Description Identification of the port to which the internal radio receiver is connected.
Query Command Library Parameters Parameter Description Range c1 Serial port used to communicate with the radio A, D *cc Optional checksum *00-*FF Response Format Syntax $PASHR,RDP,PAR,c1,s2,s3,c4,s5,c6,c7,s8,f9,f10,c11,s12,s13[,f14][,c15] [,c16][,s17][,s18][,s19][,d20][,d21]*cc Parameters Parameter c1 s2 350 Description The port ID you specified in the command is replicated in this field Radio type: • UNKNOWN: Auto-detection • NONE: No radio • PDL: Pacific Crest • Internal (port D): PDL RXO • Externa
Query Command Library Parameter Description Protocol used: PDL: • 0: Transparent • 1: TRIMTALK • 2: DSNP Range MDL: • 0: Transparent • 1: Not used • 2: DSNP c6 c7 s8 f9 f10 c11 s12 s13 f14 c15 c16 S17 ADL radios, XDL: • 0: Transparent (w EOT time out) • 1: TRIMTALK 450S • 2: Not used • 3: SATEL • 4: TrimMarkII/IIe • 5: TT450S (HW) • 6: TRIMMARK3 • 7: Transparent FST • 8: U-Link (ADL radios only) 0-7 4800, 7600, 8000, 9600, 16000, 19200 LOW, MED, HIG, Radio sensitivity (for PDL, XDL ADL and MDL)
Query Command Library Parameter Description s18 Maximum output power (ADL only) s19 Modulation format (PDL and ADL only) Model ID for ADL radios: • 0: ADL RXO • 1: ADL Foundation • 2: ADL Vantage • 3: ADL Vantage Pro • 4: XDL (ADL Micro) Current output power (index) (ADL only).
Query Command Library RDP,TYP: Radio Type Used Function Command Format This command is used to query the type of radio used on the specified port.
Query Command Library Relevant Set Command 354 $PASHS,RDP,TYP
Query Command Library REC: Raw Data Recording Status Function Command Format This command allows you to read the current raw data recording status. Syntax $PASHQ,REC[*cc] Response Format Syntax $PASHR,REC,c*cc Parameters Parameter c *cc Description Range Control character: • Y: Yes. Data recording in progress. Receiver will start recording data automatically when you next turn it on. • N: No. No data recording in progress.
Query Command Library Command Format Syntax $PASHQ,RID[*cc] Response Format Syntax $PASHR,RID,s1,d2,s3,s4,s5,s6*cc Parameters Parameter Description s1 Receiver type d2 Not used s3 Firmware version Receiver option. When an option is valid, a letter is displayed, else a dash is displayed.
Query Command Library Response Format Syntax $GPRMC,m1,c2,m3,c4,m5,c6,f7,f8,d9,f10,c11,c12*cc Parameters Parameter m1 Current UTC time of position (hhmmss.ss) c2 Status • A: Data valid • V: Navigation receiver warning m3 Latitude of position (ddmm.mmmmmm) c4 Direction of latitude m5 Longitude of position (dddmm.
Query Command Library RNX,MSI: ATOM RNX Differential Message Function Command Format This command allows you to read the current settings of the ATOM RNX message. Syntax $PASHQ,RNX,MSI[*cc] Parameters None. Response Format Syntax $PASHR,RNX,MSI,d1,d2,d3*cc Parameters Parameter Description d1 Scenario number Range 0-4, 101, 201-204, 300 0.1-0.4 if [F] option activated. Output rate for observations, in sec0.5-0.9 onds.
Query Command Library Response Format Syntax $PASHR,RRE,d1,n(d2,f3),f4,f5*cc Parameters Parameter d1 d2 f3 f4 f5 *cc Example See also Description Range Number of satellites used to compute the 3-27 position GPS: 1-32 Satellite number SBAS: 33-64 GLONASS: 65-96 Range residual ±999.9 m RMS horizontal position error 0-9999.9 m RMS vertical position error 0-9999.9 m Checksum *00-*FF $PASHQ,RRE $PASHR,RRE,12,20,0.5,13,0.4,23,-0.4,17,-0.6,25,-0.3,04,-0.1,02,0.5,77, -0.0,84,0.0,83,0.0,78,0.0,68,0.1,1.2,2.
Query Command Library FRQ: 0 0 0 1 0 30 0 0 TYP: 1009 1010 1011 1012 1013 1019 1020 1029 1033 FRQ: 0 0 0 1 30 0 0 0 31 MSG: MSG:No User Message Parameters Status: Parameter VER STID STHE AGE Description RTCM status: • *: Corrections from base received in rover in due time. • : No corrections are received that would be compatible with the” maximum age of corrections” requirement.
Query Command Library Parameter MSG See also Description User message sent through message type 16, 36 or 1029 Range 90 characters max. $PASHS,RTC,TYP $PASHS,BAS $PASHS,CPD,REM RTC,MSI: RTCM Message Status Function Command Format This command queries a base receiver for the current RTCM message status.
Query Command Library RWO: Raw Data Output Settings Function Command Format This command is used to query the raw data output parameters on the specified port.
Query Command Library Code 4 Baud Rate 4800 Code 9 Baud Rate 115200 Example $PASHQ,RWO,A $PASHR,RWO,A,9,001.00,11,MPC,0.00,B,DPC,0.00,B,PBN,0.00,B,SNV,0.00 ,B,SNG,0.00,B,SNW,0.00,B,SAL,0.00,B,SAG,0.00,B,SAW,0.00,B,ION,0.00,B, SBD,0.00,B *6D See also $PASHQ,RAW SAT: Satellites Status Function Command Format This command allows you to read the status of the different satellite constellations used.
Query Command Library The GALILEO PRN number is d2 minus 96. The QZSS PRN number is d2 minus 192. Example $PASHQ,SAT $PASHR,SAT,13,20,092,32,44.0,U,13,206,78,50.0,U,23,056,55,48.0,U,33,19 8,34,44.0,-,17,218,13,42.0,U,25,152,34,38.0,U,04,276,65,50.0,U,02,308,31, 48.0,U,77,052,37,48.0,U,84,294,33,48.0,U,83,234,23,48.0,U,78,124,42,46.0, U,68,034,65,48.
Query Command Library Parameters Parameter Description ON: SBAS satellites are being tracked and used OFF: SBAS satellites not tracked Checksum s *cc Range ON, OFF *00-*FF Example $PASHQ,SBA $PASHR,SBA,ON*09 Relevant Set Command $PASHS,SBA SGA: GALILEO Satellites Status Function Command Format This command is used to read the status of each GALILEO satellite received.
Query Command Library Satellite Usage Status: Status 0 1 2 3 4-14 15 16 17 18 19 20 21 22 23 24 25 26-30 31 Description Satellite not tracked Code and carrier/Doppler data used Code-only data used Carrier/Doppler-only data used Reserved Unknown usage status No navigation data for this satellite Satellite below elevation mask Satellite declared as unhealthy in ephemeris Computed coordinates of satellite are invalid Satellite has been disabled by a $PASH command URA in ephemeris is not acceptable SV is unhe
Query Command Library For more details on the $PASHS,NME command, refer to the Set Command Library Chapter. As an example, the command below will output SGA messages on port A at a rate of 10 seconds: $PASHS,NME,SGA,A,ON,10 SGL: GLONASS Satellites Status Function Command Format This command is used to read the status of each GLONASS satellite received.
Query Command Library Status 15 16 17 18 19 20 21 22 23 24 25 26-30 31 Description Unknown usage status No navigation data for this satellite Satellite below elevation mask Satellite declared as unhealthy in ephemeris Computed coordinates of satellite are invalid Satellite has been disabled by a $PASH command URA in ephemeris is not acceptable SV is unhealthy according to almanac Too low SNR Suspected of being a ghost satellite Because of too many Satellites used in the PVT, this satellite has been desele
Query Command Library $PASHS,NME,SGL,A,ON,10 SGP: GPS & SBAS Satellites Status Function Command Format This command is used to read the status of each GPS and SBAS satellite received. Syntax $PASHQ,SGP[*cc] Response Format Syntax $PASHR,SGP,d1,n(d2,d3,d4,f5,f6,f7,d8,d9)*cc Parameters Parameter Description d1 Number of satellites locked d2 SV PRN number (64+satellite slot number) d3 d4 f5 f6 f7 d8 d9 *cc SV azimuth in degrees SV elevation angle in degrees SV L1 signal/noise in dB.
Query Command Library Status 19 20 21 22 23 24 25 26-30 31 Description Computed coordinates of satellite are invalid Satellite has been disabled by a $PASH command URA in ephemeris is not acceptable SV is unhealthy according to almanac Too low SNR Suspected of being a ghost satellite Because of too many Satellites used in the PVT, this satellite has been deselected Reserved for future causes of rejection Other cause Satellite Correcting Status: Status 0 1 2 3 4 5 6-14 15 Example See also Automatic Outp
Query Command Library SIT: Site Name Function Command Format This command is used to read the name of the site on which data is currently being logged. Syntax $PASHQ,SIT[*cc] Response Format Syntax $PASHR,SIT,s*cc Parameters Parameter s *cc Description Site name Checksum Range 4 characters max.
Query Command Library Parameters Parameter Description d1 Signal-to-Noise ratio mask, in dB.Hz *cc Checksum Example Relevant Set Command Range 0-60 *00-*FF $PASHQ,SNM $PASHR,SNM,45*09 $PASHS,SNM SOM: Signal Observations Masking Function Command Format This command is used to read the type of mask currently applied to signal observations. Syntax $PASHQ,SOM[*cc] Parameters None.
Query Command Library SOM,CTT: Cumulative Tracking Time Mask Function Command Format This command is used to read the current setting of the cumulative tracking time mask applied to signal observations. This mask is active only when applying masks to signal observations has been set to be user defined (see $PASHS,SOM). Syntax $PASHQ,SOM,CTT[*cc] Parameters None.
Query Command Library observations has been set to be user defined (see $PASHS,SOM). Command Format Syntax $PASHQ,SOM,NAV[*cc] Parameters None.
Query Command Library Response Format Syntax $PASHR,SOM,SNR,d1,d2*cc Parameters Parameter Description d1 Mask applied to differential data, in dBHz d2 Mask applied to raw data, in dBHz *cc Checksum Range Default 0-60 28 0-60 28 *00-*FF Example $PASHQ,SOM,SNR $PASHR,SOM,SNR,28,28*46 Relevant Set Command See Also $PASHS,SOM,SNR $PASHS,SOM SOM,WRN: Channel Warnings Mask Function Command Format This command is used to read the current setting of the channel warnings mask applied to signal observation
Query Command Library Example $PASHQ,SOM,WRN $PASHR,SOM,WRN,ON,ON*42 Relevant Set Command See Also $PASHS,SOM,WRN $PASHS,SOM STI: Station ID Function Command Format This command is used to query the receiver for the station ID it transmits to the rover through the corrections message. Syntax $PASHQ,STI[*cc] Response Format Syntax $PASHR,STI,d*cc Parameters Parameter Description d Station ID *cc Checksum Range 0-1023 (RTCM 2.3) 0-4095 (RTCM 3.
Query Command Library Command Format Syntax $PASHQ,SVM[*cc] Parameters None. Response Format Syntax $PASHR,SVM,d1*cc Parameters Parameter d1 *cc Description Maximum number of code/Doppler observations used in PVT. Checksum Range Default 0-26 14 *00-*FF *00-*FF Example $PASHQ,SVM $PASHR,SVM,25*17 Relevant Set Command $PASHS,SVM UDP: User-Defined Dynamic Model Function Command Format This command is used to query the parameters of the userdefined dynamic model.
Query Command Library Parameters Parameter f1 f2 f3 f4 *cc Description Maximum expected horizontal velocity, in m/s Maximum expected horizontal acceleration, in m/s² Maximum expected vertical velocity, in m/s Maximum expected vertical acceleration, in m/s² Checksum Range Default 0-100 000 100 000 0-100 100 0-100 000 100 000 0-100 100 *00-*FF Example $PASHQ,UDP $PASHR,UDP,100000.00,100.00,100000.00,100.
Query Command Library Parameters Parameter s *cc Description Distance unit used: • M: Meters • F: US Survey Feet • IF: International Feet Checksum Range M, F, IF *00-*FF Example $PASHQ,UNT $PASHR,UNT,M*5A Relevant Set Command $PASHS,UNT USR,POS: Reading Position Defined for User Message Type “GGA” Function Command Format This command is used to query the position entered to be inserted into the user message of the “GGA” type.
Query Command Library Relevant Set Command $PASHS,USR,POS USR,TYP: Reading Currently Defined User Message Type Function Command Format This command is used to query the type of user message currently set in the receiver. Syntax $PASHQ,USR,TYP[*cc] Response Format Syntax $PASHR,USR,TYP,s*cc Parameters Parameter s *cc Description Range User message type currently set: • TXT: text message type. The inserted text is the one you define using command $PASHS,USR,TXT. TXT,GGA • GGA: GGA message type.
Query Command Library Response Format Syntax $PASHR,USR,TXT,s*cc Parameters Parameter Description Range s User message text Up to 80 characters between double quotes *cc Optional checksum *00-*FF Example $PASHQ,USR,TXT $PASHR,USR,TXT,”this is the text of the user message*xx Relevant Set Command $PASHS,USR,TXT UTS: GPS Time Synchronization Status Function Command Format This command gives the status of the GPS time synchronization process.
Query Command Library VEC: Vector & Accuracy Data Function Command Format This command is used to query the receiver for vector and accuracy data. Syntax $PASHQ,VEC[*cc] Response Format Syntax $PASHR,VEC,c1,d2,m3,f4,f5,f6,f7,f8,f9,f10,f11,f12,d13*cc Parameters Parameter c1 d2 m3 f4 f5 f6 f7 f8 f9 f10 f11 f12 d13 *cc Description Position mode: • 0: Autonomous • 1: RTCM (or SBAS Differential) • 2: RTK float • 3: RTK fixed • 9: SBAS Differential. See comment.
Query Command Library Comment The code allotted to a position solution of the SBAS differential type is either “1” or “9”, depending on the last $PASHS,NPT command run. See Also Automatic Output of VEC Messages $PASHS,NME $PASHS,NPT This is a reminder on how to output VEC messages at regular intervals of time: Use the $PASHS,NME command with the syntax below: $PASHS,NME,VEC,,ON, For more details on the $PASHS,NME command, refer to the Set Command Library Chapter.
Query Command Library BSP: 1.0-200 GNSS S/N: 702465A011230172 GNSS Options: WJKLEYGSVHCPIQFAOD RFS: 717 GSM Q26 Extreme: R.7.4 IMEI : 351919030190256 stack IP : WIP Soft v540 on Open AT OS v634 Internal Radio: ADL V03.02(2250) Comments See also In the GSM: information line, the GSM version will appear only after the modem has been turned on. The stack IP version will appear only after a GPRS connection has been established.
Query Command Library Parameters Parameter f1,T f2,M f3,N f4,K c5 *cc Comments Example Automatic Output of VTG Messages Description COG (with respect to True North) T for “True” North: COG orientation COG (with respect to Magnetic North) M for “Magnetic” North: COG orientation SOG (Speed Over Ground) N for “knots”: SOG unit SOG (Speed Over Ground) K for “km/hr”: SOG unit Mode indicator: • A: Autonomous mode • D: Differential mode • N: Data not valid Checksum Range 000.00-359.99 000.00-359.99 000.
Query Command Library Response Format Syntax $PASHR,WARN,s1,s2*cc Parameters Parameter Warning message label NONE: No warning message s1 Status: • Pending: Alarm acknowledged • Current: Alarm not acknowledged yet • Occurred: An error condition was detected earlier but has vanished since then Checksum s2 *cc Example See also Description $PASHQ,WARN $PASHR,WARN,connect. to GPRS failed,PENDING*7F $PASHS,WAK ZDA: Time & Date Function Command Format This command returns the receiver date & time.
Query Command Library Parameters Parameter Description m1 UTC time (hhmmss.ss) d2 d3 d4 d5 d6 *cc Current day Current month Current year Local zone offset from UTC time (hour) Local zone offset from UTC time (minutes) Checksum Range 000000.00235959.99 01-31 01-12 0000-9999 -13 to +13 00-59 *00-*FF Example $PASHQ,ZDA $GPZDA,162256.27,25,02,2008,+00,00*43 NOTE: The time offset is always reported as null (d5= d6= 0).
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Chapter D. Output Message Library ION: Ionosphere Parameters This message contains the ionosphere and GPS-to-UTC data conversion parameters. The message is as follows: $PASHR,ION, The message’s binary structure is described in the table below.
Output Message Library Type Name Size Unsigned Check2 short sum Total Contents The checksum is computed by breaking the structure into 37 unsigned shorts, adding them together, and taking the least significant 16 bits of the result. 76 The GPS broadcast ionosphere model (Klobuchar) is used. Reminder on How to Output ION Messages Use the $PASHS,RAW command with the syntax below: $PASHS,RAW,ION,,ON, For more details on the $PASHS,RAW command, refer to the Set Command Library Chapter.
Output Message Library Type Size Unsigned char 1 Unsigned char 1 Unsigned char 1 Unsigned char 1 Unsigned char 1 Double 8 Double 8 Long 4 Long 4 Contents Warning flag Bit1, Bit2: 0,0: Code and/or carrier phase measured but measurement was not used to compute position. 1,0: Code and/or carrier phase measured, navigation message was obtained and measurement was used to compute position but position wasn’t finally computed.
Output Message Library Type Size 29 29 Unsigned char 1 Total of bytes 95 Contents L1 block, same format as C/A code data block (see NOTE 2 below) L2 block, same format as C/A code data block (see NOTE 3 below) Checksum, a bytewise exclusive OR (XOR) NOTES: 1. The specifics of the MPC message content in relation to $PASHS,PGS are detailed in the table below.
Output Message Library DPC: Compact GPS Measurements This message contains the L1/L2 measurements from all tracked GPS satellites for one epoch. The message is as follows: $PASHR,DPC, The message’s binary structure is described in the table below. Size Resolution Contents in bits Unsigned short 16 Message length. Number of bytes in the section.
Output Message Library • Most of the fields found in the DPC and DBEN data outputs are similar. • DPC will not be generated if the [K] option (RTK Base) is missing. • DPC data are affected by the last $PASHS,UTS command run. By default, this command is set to “ON”. • DPC data are affected by the last $PASHS,ANP,OUT command run. • DPC data can be made available on several ports simultaneously.
Output Message Library Type Double Double Float Float Float Float Float Unsigned short Name navy navz navt navxdot navydot navzdot navtdot pdop Size 8 8 4 4 4 4 4 2 Unsigned short checksum 2 Total of bytes 56 Contents Station position: ECEF-Y (m) Station position: ECEF-Z (m) Clock offset (m) Velocity in ECEF-X (m/s) Velocity in ECEF-Y (m/s) Velocity in ECEF-Z (m/s) Clock drift (m/s) PDOP multiplied by 100 The checksum is computed by breaking the structure into 27 unsigned shorts, adding them togethe
Output Message Library $PASHR,SBA,DAT,d1,m2,d3,d4,s5*cc Where: Parameter d1 Description SBAS SV ID number Time tag: hhmmss.hh The SBA,DAT message contains the time tag of the beginning of WAAS message transmission (WAAS message transmission time is 1 second) RTCA message ID Error flags (in HEX): bit0-preamble error, bit1-parity error RTCA message: 250 bit in 63 HEX numbers. The data lie from left to right and from high-order to low-order bits. The two low-order bits in the 63rd number are not used.
Output Message Library Type Float Short Short Long Name Size Af1 4 wna 2 wn 2 4 Unsigned short Check2 sum Total Reminder on How to Output SAL Messages Contents Clock correction (sec/sec) Almanac week number GPS week number Seconds of GPS week The checksum is computed by breaking the structure into 34 unsigned shorts, adding them together, and taking the least significant 16 bits of the result.
Output Message Library Type Name Size Float 4 w Float 4 Float Af0 4 Float Float Af1 4 4 Unsigned short Checksum 2 Total Reminder on How to Output SAG Messages Contents Reference time of longitude of first node (seconds) Argument of perigee (semicircles) Correction to mean value (43200 s) of Draconic period Af1=d(Af0)/dt(sec/sec) Satellite clock offset (seconds) The checksum is computed by breaking the structure into 21 unsigned shorts, adding them together, and taking the least significant
Output Message Library Type Name char Health 1 long T0 4 float 3*4 float 3*4 long Tow 4 char Wn 1 char Prn 1 Unsigned short Checksum 2 Total Reminder on How to Output SAW Messages Size Contents Satellite Health&Status bitwise meaning is: Bit0 – Ranging On(0), Off(1) Bit1 – Corrections On(0), Off(1) Bit2 – Broadcast Integrity On(0), Off(1) Bit3 – Reserved Bit4-7 – SBAS provider ID (0-15): 0 – WAAS, 1 – EGNOS, 2 – MSAS, 3-13 – Not assigned yet, 14-15 – Reserved Almanac data referen
Output Message Library $PASHR,SNG, The message’s binary structure is described in the table below.
Output Message Library Reminder on How to Output SNG Messages Use the $PASHS,RAW command with the syntax below: $PASHS,RAW,SNG,,ON, For more details on the $PASHS,RAW command, refer to the Set Command Library Chapter. As an example, the command below will output SNG messages on port A at a rate of 15 seconds: $PASHS,RAW,SNG,A,ON,15 SNV: GPS Ephemeris Data This message contains the GPS ephemeris data for one satellite.
Output Message Library Type Double Float Float Short Short Short Char Char Reminder on How to Output SNV Messages Name i0 omega dot I dot Accuracy Health fit prn Size 8 4 4 2 2 2 1 1 Unsigned Checksum short 2 Total 76 Contents Inclination angle (semicircles) Rate of right ascension (semicircles/sec) Rate of inclination (semicircles/sec) User range accuracy Satellite health Curve fit interval Satellite PRN number minus 1 (0-31) Reserved byte The checksum is computed by breaking the structure into 37
Output Message Library Type Size float 3*4 float 3*4 float aGf0 4 float aGf1 4 long tow 4 char wn 1 char prn 1 Unsigned short Checksum 2 Total Reminder on How to Output SNW Messages Name Contents Satellite ECEF velocity X’, Y’, Z’ coordinates (m/s) Satellite ECEF acceleration X’’,Y’’,Z’’ (m/s2) Time offset between satellite time scale and SBAS system time scale (seconds) Time drift between satellite time scale and SBAS system time scale (seconds) Time within week in GPS time scal
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Index Symbols $PASHQ,AGB 257 $PASHQ,ALM 258 $PASHQ,ANH 259 $PASHQ,ANP 260 $PASHQ,ANP,OUT 261 $PASHQ,ANP,OWN 261 $PASHQ,ANP,RCV 262 $PASHQ,ANP,REF 263 $PASHQ,ANR 263 $PASHQ,ANT 264 $PASHQ,ATL 265 $PASHQ,ATM 267 $PASHQ,ATO 268 $PASHQ,BAS 269 $PASHQ,BEEP 271 $PASHQ,BRD 272 $PASHQ,BTH 273 $PASHQ,CFG 273 $PASHQ,CMR,MSI 274 $PASHQ,CPD,AFP 275 $PASHQ,CPD,ANT 275 $PASHQ,CPD,FST 277 $PASHQ,CPD,MOD 277 $PASHQ,CPD,NET 279 $PASHQ,CPD,POS 280 $PASHQ,CPD,REM 281 $PASHQ,CPD,VRS 282 $PASHQ,CRT 283 $PASHQ,CTS 284 $PASHQ,DBN
$PASHQ,SOM,NAV 373 $PASHQ,SOM,SNR 374 $PASHQ,SOM,SVM 376 $PASHQ,SOM,WRN 375 $PASHQ,STI 376 $PASHQ,UDP 377 $PASHQ,UNT 378 $PASHQ,USR,POS 379 $PASHQ,USR,TXT 380 $PASHQ,USR,TYP 380 $PASHQ,UTS 381 $PASHQ,VEC 382 $PASHQ,VERSION 383 $PASHQ,VTG 384 $PASHQ,WARN 385 $PASHQ,ZDA 386 $PASHR,DPC 393 $PASHR,ION 389 $PASHR,MPC 390 $PASHR,PBN 394 $PASHR,SAG 397 $PASHR,SAL 396 $PASHR,SAW 398 $PASHR,SNG 399 $PASHR,SNV 401 $PASHR,SNW 402 $PASHS,AGB 143 $PASHS,ANH 144 $PASHS,ANP,DEL 146 $PASHS,ANP,EDx 144 $PASHS,ANP,OUT 146 $P
$PASHS,RAW,PER 221 $PASHS,RCP,DEL 223 $PASHS,RCP,GBx 222 $PASHS,RCP,REF 224 $PASHS,RDP,OFF 225 $PASHS,RDP,ON 226 $PASHS,RDP,PAR 226 $PASHS,RDP,TYP 231 $PASHS,REC 232 $PASHS,RNX,TYP 234 $PASHS,RST 235 $PASHS,RTC,MSG 236 $PASHS,RTC,TYP 237 $PASHS,SBA 239 $PASHS,SIT 239 $PASHS,SNM 240 $PASHS,SOM 240 $PASHS,SOM,CTT 242 $PASHS,SOM,NAV 243 $PASHS,SOM,SNR 244 $PASHS,SOM,WRN 246 $PASHS,STI 247 $PASHS,UDP 249 $PASHS,UNT 249 $PASHS,USE 250 $PASHS,USR,POS 252 $PASHS,USR,TXT 253 $PASHS,USR,TYP 253 $PASHS,UTS 254 $PASHS
BAS 157, 269 BASE 9 Base antenna (naming) 147 Base data 35 Base location 46 Base position 48, 280 Base settings 127 Base/rover configuration 34 Base/rover mode 170, 277 Baseline 34, 40, 286 Battery 20 Battery (external) 26 Battery (insert) 17 Battery (remove) 15 Battery charger 2 Battery icon 10 Battery kit 20 Battery model 6 Baud rate 340 BEEP 159, 271 Beeper setup 159 Biases 222 BLADE 1, 34 Bluetooth 7, 125 Bluetooth device name 162 Bluetooth identifier 12 Bluetooth pin code 163 Bluetooth settings 273 Blu
Default settings 124 Defining user message type 253 Deleting files 185 Deleting files and directories 186 Deleting log files 193 Deleting user-defined receiver name 223 Delta position 290 Device cable (USB) 2, 31 Differential data port 173, 281 Differential data type 157, 269 Differential decoder status 287 DIP 177, 288 DIP,OFF 178 DIP,ON 179 DIP,PAR 179 Direct IP 73, 78, 81, 288 Direct IP connection 178, 179 Direct IP parameters 179 Disabling all ATOM messages 155 Disabling all raw data messages 221 Disabl
GNSS centric 18 GNSS Fix Data 306 GNSS reception 127 GNSS tracking configuration 164, 273 Golden receiver 143 GPRS 27, 74 GPS 17, 189, 308 GPS (enable/disable) 189 GPS & SBAS satellites status 369 GPS tracking status 308 Ground speed 384 GRS 201, 309 GSA 201 GSM 73, 77, 78 GSM antenna 3, 7, 27 GSM module (built-in) 27 GSM status 11 GST 201, 312 GSV 201, 314 H Handshaking 176, 284 Header 133 Height mark 8 Helmert 71 HI measurement tape 2, 8 Hopping (frequency hopping) 76 Host cable (USB) 2 I IGS antenna s
MDM,STS 321 MDP 198, 322 MEM 199, 323 Memory 19 Memory device 323 Memory device used 199 Memory Full 101 Memory screens 11 Modem 74, 77, 125, 319 Modem (initialize) 195 Modem (internal) 122 Modem (power off) 196 Modem (power on) 196 Modem parameters 197 Modem signal level 321 Modem status 321 Modem timeout 200, 323 Modulation type 76 Mount point (connection to) 206 MPC 184, 219, 390 Multipath mitigation 18 MWD 200, 323 N NAK 134 NAT 123 NATO standard mean seal level 301, 305 NAV 240 Navigation data mask 3
PRT 216 Pseudo-range error statistics 312 PTT 202, 341 PWR 342 PWR,OFF 217 PWR,PAR 217 Q Query commands 133 QZS 218, 343 QZSS tracking 218, 343 R Radio 73, 75 Radio (license-free) 75 Radio antenna 7, 27, 102 Radio channel settings 347 Radio data rate 76 Radio module 7, 27, 102, 113, 120 Radio modules 20 Radio parameters 349 Radio range 103 Radio receiver kit 3 Radio settings 226 Radio transmitter (#800986) 26 Radio type 231, 353 Radius (antenna radius) 57 Range pole 27 RAW 219, 344 Raw data 5, 40 Raw dat
RTDS Software 81, 121 RTDS Software (configuration) 122 RTK correction data 35, 83 RTK network 279 RTK output rate 91 RTK position output modes 86 RTK real-time surveying 33 RTK vs.
Time-tagged RTK mode 112 Too few satellites 99 Trajectories 38, 45 Transfer rate 74 Tribrach 26 Tripod 26 TTFF 35, 51, 54 Turning receiver on 217 U U memory 124 UDP 249, 377 UDP/IP Direct 74 U-Link 26 UNT 249, 378 Upgrade procedure (firmware) 117 Upload receiver configuration from USB key 114 Upload Script? 109, 114, 137 USB port 7 USB status 11 USE 250 User message 236 User message type curren,tly defined 380 User-defined antenna (delete) 146 User-defined dynamic model 249, 377 USR,POS 252, 379 USR,TXT 25
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