ProMark 800 ™ Reference Manual
Copyright Notice Copyright 2011 Ashtech LLC. All rights reserved. P/N 631668 A, October 2011 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.
PURCHASER'S EXCLUSIVE REMEDY UNDER THIS WRITTEN WARRANTY OR ANY IMPLIED WARRANTY SHALL BE LIMITED TO THE REPAIR OR REPLACEMENT, AT ASHTECH'S OPTION, OF ANY DEFECTIVE PART OF THE RECEIVER OR ACCESSORIES WHICH ARE COVERED BY THIS WARRANTY. REPAIRS UNDER THIS WARRANTY SHALL ONLY BE MADE AT AN AUTHORIZED ASHTECH SERVICE CENTER. ANY REPAIRS BY A SERVICE CENTER NOT AUTHORIZED BY ASHTECH WILL VOID THIS WARRANTY.
ment and will substantially conform to the then-current user documentation provided with the software (including updates thereto). Ashtech's sole obligation shall be the correction or replacement of the media or the software so that it will substantially conform to the then- current user documentation. Ashtech does not warrant the software will meet purchaser's requirements or that its operation will be uninterrupted, error-free or virus-free. Purchaser assumes the entire risk of using the software. 2.
defects in accordance with Article 1641 et seq of the French Civil Code). For further information concerning this limited warranty, please call or write: Ashtech - ZAC La Fleuriaye - BP 433 - 44474 Carquefou Cedex - France. Phone: +33 (0)2 28 09 38 00, Fax: +33 (0)2 28 09 39 39. NOTICE: The FCC (Federal Communications Commission) requests that equipment manufacturers take every step to increase user awareness about the responsibilities inherent in being an FCC licensee on shared channels.
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.).
Table of Contents Chapter 1. Introduction ..................................................................... 1 What is ProMark 800? ................................................................1 System Components Overview......................................................1 Using the ProMark 800 Carrying Case .........................................4 Equipment Description & Basic Functions ....................................5 Display Screens ........................................................
Chapter 6. Troubleshooting.............................................................. 99 List of Alarms .........................................................................99 Receiver is Not Tracking Satellites ...........................................103 Receiver is Not Logging Data ...................................................105 Radio Data Link Fails to Provide Base Corrections to Rover.........106 Data Link Okay but No Fixed Position Computed .......................
ProMark 800 Serial Commands & Data Outputs Supplement Appendix A. Using Serial Commands .............................................. 143 Introduction to Serial Commands .............................................143 Applying Commands Through Bluetooth or a Serial Port .............144 Running Serial Commands from a USB Key ..............................146 List of Commands ..................................................................147 Appendix B. Set Command Library .............................
ELM: Setting the Elevation Mask for Raw Data Output ...............193 FIL,D: Deleting Files...............................................................194 FIL,DEL: Deleting Files and Directories ....................................195 GAL: Galileo Tracking .............................................................196 GLO: GLONASS Tracking ........................................................197 GPS: GPS Tracking.................................................................
RDP,PAR: Setting the Radio....................................................235 RDP,TYP: Defining the Type of Radio and the Receiver Port Used ..............................................................................239 REC: Enable/Disable, Start/Stop Raw Data Recording ................240 RNX,TYP: ATOM RNX Differential Message...............................242 RST: Default Settings .............................................................243 RTC,MSG: Defining a User Message......................
CPD,NET: RTK Network Operation Mode ..................................282 CPD,POS: Base Position .........................................................283 CPD,REM: Differential Data Port..............................................285 CPD,VRS: VRS Assumption Mode ............................................286 CRT: Cartesian Coordinates of Position .....................................287 CTS: Handshaking ..................................................................288 DBN,MSI: DBEN Message Status.
PAR: Receiver Parameters.......................................................334 PEM: Position Elevation Mask .................................................336 POP: Reading Internal Update Rate .........................................337 POS: Computed Position Data .................................................338 PPS: PPS Settings .................................................................339 PRT: Baud Rate Settings ........................................................
Appendix D. Output Message Library .............................................. 383 ION: Ionosphere Parameters ....................................................383 MPC: GNSS Measurements .....................................................385 DPC: Compact GPS Measurements...........................................388 PBN: Position Information.......................................................390 SBA,DAT: SBAS Data Message ................................................391 SAL: GPS Almanac Data ..
Chapter 1. Introduction What is ProMark 800? Congratulations! You have just acquired the latest multifrequency, multi-constellation ProMark 800 GNSS Surveying System from Ashtech! 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 Part Number ProMark 800 GNSS receiver with standard accessories 990657 7.4 V-4.4 Ah Li-ion Battery Pack (rechargeable) 111374 Accessories, General Purpose Item Part Number AC/DC Power Supply Kit (includes external AC adapter, battery charger and 802064 cable extension for powering ProMark 800 directly from the AC adapter) USB Host to Device Cable (short).
Introduction Communication Modules and Associated Antennas Item Part Number Picture Transmitter: 802080-10 (0.5/2/4W; 410-430 MHz) U-Link TRx, 802080-30 (0.5/2/4W; 430-450 MHz) 12.5-kHz channel 802080-50 (0.5/2/4W; 450-470 MHz) bandwidth Repeater: 802106-10 (0.5/2/4W; 410-430 MHz) 802106-30 (0.5/2/4W; 430-450 MHz) 802106-50 (0.5/2/4W; 450-470 MHz) Each P/N includes a whip antenna, and Picture of an antenna bracket.
Introduction Using the ProMark 800 Carrying Case This section shows how to arrange the different pieces of equipment in the ProMark 800 carrying case when it’s fitted with preformed foam blocks. Another model of carrying case also exists, designed to accommodate two field bags side by side. With this type of case, once your field bags are ready, just place them inside and close the case securely.
Introduction 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. Then release the button and wait until the ProMark 800 shuts down.
Introduction After a few seconds of inactivity (i.e. Scroll button idle), screen luminosity turns from high to low level. Scroll button Press this button shortly to scroll through the different pages of information viewed on the screen. If an alarm is reported on the display screen, a short press on the Scroll button will acknowledge the alarm. The Scroll button will recover its display scrolling function only after all the alarms have been acknowledged this way.
Introduction 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. The compartment door can be removed using a coin to release the two quarter-turn screws.
Introduction USB Port A nine-contact female connector (Fischer type). Depending on how it is configured, the USB port can be used in two different ways: 1. For a USB host such as a mass storage device. In this case, you should use the special adaptor cable provided (P/N 702103) to attach the USB key to the ProMark 800. This configuration can be used to log raw data on the USB key or upgrade the ProMark 800 firmware from the files stored on the key. 2.
Introduction The height mark allows you to hook the measure tape onto it so you can unroll the tape down to the survey mark and read the slant height measurement directly on the tape. Special Button Combinations • With the ProMark 800 OFF, pressing the Power, Log and Scroll buttons simultaneously for a few seconds will restore all the factory settings. Always use this combination after changing the radio module. This allows the receiver to recognize the new module.
Introduction General Status Screen An example of General Status screen is shown below. [1] [2] [3] [4] [5] [8] [6] [7] [9] [10] [11] [12] [13] This screen displays the following information: • : Satellite icon [1] (always displayed). • Number of satellites tracked [2].
Introduction • : Battery icon [9] with visual indication of remaining charge. If an external power source is used (AC adapter or external battery), the battery icon will be animated to indicate battery charging in progress. is displayed when there is no battery in the compartment and the receiver is operated from an external power source. • Power status [10]. Icon Definition Percentage of remaining battery. This indication will flash when Percent the remaining energy drops below 5%.
Introduction Icon / Blank Memory Screens Definition These two icons will appear successively when both the USB port and Bluetooth are active. USB port unconnected and Bluetooth inactive. From the General Status screen, press the Scroll button to access the Memory screens. Memory screens appear successively (see examples) at a display rate of about five seconds: Left screen: • First line: Percentage of free space in the internal memory.
Introduction Receiver Identification Screen From any of the two Memory screens, press the Scroll button to access the Receiver Identification screen. See example below. • Receiver Serial Number • Firmware Version • Receiver Bluetooth Identifier Position Computation Screen From the Receiver Identification screen, press the Scroll button to access the Position Computation screen. This screen displays the latitude, longitude and ellipsoidal height of the position currently computed by the receiver.
Introduction The possible two screens show the current radio settings: • First line: Serial port used, “Rx” for radio receiver or “Tx” for radio transmitter, radio type (U-Link, PDL, etc.). Extraparameter for “Rx”: Power status • Second line: Channel number, carrier frequency • Third line: Protocol used (Transparent, Trimtalk, DSNP, etc.), airlink speed • Fourth line: Squelch setting (medium, low, high).
Introduction You can then freely use the Scroll button to access other receiver screens without affecting the ATL data collection in progress (pressing the Scroll button from this screen will take you back to the General Status screen). • When enough ATL data have been recorded (Tech Support will usually indicate the duration of ATL data collection needed for troubleshooting), then come back to the ATL Recording screen and simply press on the Log button again to stop the recording.
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 – GALILEO E1 and E5 (including GIOVE-A/GIOVE-B test satellites) – SBAS: code and carrier (WAAS/EGNOS/MSAS) • New Z-Blade technology for optimal GNSS performance – New Ashtech GNSS centric algorithm: Fully independent GNSS satellites tracking and processing 1.
Introduction RTK initialization range • > 40 km Post-Processing Accuracy (RMS) See footnotes 1 and 2. Static, Rapid Static • Horizontal: 5 mm (0.016 ft) + 0.5 ppm • Vertical: 10 mm (0.033 ft) + 1.0 ppm Long Static 3 • Horizontal: 3 mm (0.009 ft) + 0.5 ppm • Vertical: 6 mm (0.019 ft) + 0.5 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.
Introduction • Rover can decode RTCM messages 1021, 1022 and 1023 so that its position may be computed in the same local coordinate system as the one used at the base station.
Introduction Firmware Options The pre-installed and optional firmware modules are listed in the table below. ID Label Description P/N Preinstalled Allows a base to generate and send RTK correction data. Allows a rover to compute RTK position 680502 No solutions using corrections received from a base. K Unlimited RTK F FASTOUT- Allows position output at a rate of up to 20 680527 No PUT Hz.
Introduction U-Link Radios U-Link TRx Specifications Radio specifications: • Frequency range: 410 to 470 MHz, with factory adjustment of input filter in ± 2.5-MHz steps • Channel spacing: 12.
Introduction U-Link Rx Specifications The U-Link Rx basically is an electronic board with the following specifications: Radio Specifications: • Frequency range: 410 to 470 MHz, with factory adjustment of input filter in ±2.5 MHz steps • • • • • • • • • • Sensitivity: -114 dBm at 10-5 BER Channel spacing: 12.
Introduction configuration software is used. Setting the central frequency requires additional instrumentation. The central frequency of the U-Link TRx can be read on the label placed on the transmitter case. The central frequency of both the U-Link TRx and U-Link Rx can be read using the $PASHQ,RDP,PAR command (the central frequency setting is the last parameter in the response line).
Introduction Brown RX RS422 2: RS232/RS 422: OFF= RS232 ON= RS422 Orange RX + Yellow TX - Green TX + Braid GND 6 TX - 4 TX + 3 RX - 5 RX + 2 GND RS422 1: Transmitter/Repeater: OFF= Repeater ON= Transmitter U-Link board Fischer Connector S102A056-130+E31 Blue, Gray, Black GND Power Red, White, Purple GND U-Link board RS232 1: Transmitter/Repeater: OFF= Repeater ON= Transmitter 2: RS232/RS 422: OFF= RS232 ON= RS422 Power Fuse (4 A) GND TX RX GND Power Port Pinouts NOTE: All i
Introduction 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 3 4 5 6 7 8 9 Signal Name Device (D+) Device (D-) Host (VBus) Host (D+) Host (D-) Device Detection NC 27
Introduction 28
Chapter 2. RTK Surveying Preliminary Steps Introduction ProMark 800 can be used in conjunction with two different field software applications running on your field terminal: • Ashtech FAST Survey • Spectra Precision 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 Prerequisites 30 • 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 adaptor 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 U-Link TRx The connection diagram is as follows. ProMark 800 Base Power U-Link TRx (P/N 802080-x0) RS (Port A) Fuse (4 A) Cable P/N 730477 or Cable Kit P/N 802143 + External 9-28 V DC Power Source Mount the different items as shown on the picture.
RTK Surveying Preliminary Steps PacCrest Radio Link The connection diagram is as follows. ProMark 800 Base Power Radio Antenna PDL 35-W Transmitter RS (Port A) Pacific Crest Data/Power Cable Fuse (4 A) Cable P/N 730477 or Cable Kit P/N 802143 + External 9-16 V DC Power Source Mount the different items as shown on the picture.
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 34
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. Note that raw data files can directly be deleted from the receiver’s internal memory through this connection.
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 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 GNSS+SBAS Base Radio or Cellular Data Link Radio or GSM Radio or GSM GNSS 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 55. 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 Ashtech 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? 54 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 Ashtech 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 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 atic em Kin TF atic O Kinem OTF 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 Ashtech 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 (Ashtech 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 • One modem or cell phone operating in GPRS mode. The modem is used on the rover side to establish a connection to the Internet, either in Direct IP or NTRIP mode. The rover will then receive RTK correction data from the selected base. This type of data link is well suited to surveying systems used in rover-only configuration.
RTK Implementation • 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 Ashtech 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 Ashtech 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 Setting the RTK position output mode allows you to choose the position output that is right for your application. Ashtech receivers offer two different RTK position output modes: • Time-tagged RTK mode, also called “Synchronized RTK” mode. • Fast RTK mode. Key Terms and Expressions Latency: Delay between the time (t0) for which an RTK position is requested and the time (t1) when the rover starts delivering that position.
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 Ashtech 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. The latency is shorter than in time-tagged mode thanks to the extrapolation process.
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 Ashtech equipment used. In Fast RTK mode, the rover’s position output rate can be a multiple of the RTK correction data output rate.
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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 100 Symptoms & Remedies Receiver failed to close the raw da
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 Alarm Label 111 High Option S has expired 112 High Option P has expired 113 High Option G has expired 114 High Option M has expired 115 High Option L has expired 116 High Option N has expired 117 High Option C has expired 118 High Option R has expired 192 Medium Baseline Out of Range Symptoms & Remedies The use of the [S] firmware option was granted to you for a limited period of time, which has now expired.
Troubleshooting 2. If the receiver does not power up, check the power source. The receiver supports both internal (battery) and external power sources. If using the internal power source, make sure the internal battery has been fully charged before it was inserted in the receiver. A too low battery will prevent the receiver from powering up. If using external power, check to ensure the power cable is properly connected to both the external battery and the receiver.
Troubleshooting 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. Follow the procedures below to determine the cause of this problem. Step 1.
Troubleshooting If neither of these two actions resolves your problem, go to step 3. Step 3. Is the Currently Used Memory Full? Data logging will stop automatically or won’t start if the storage medium used (internal memory or USB stick) is full. On the General Status screen, read the remaining percentage of free memory (second line, last number in the line). 1. If “0%” is displayed, then the memory used is full.
Troubleshooting to restore the default settings in the receiver (by pressing the Log+ Scroll+ Power buttons simultaneously on the front panel) so the receiver can recognize and use the new module. If using the right module does resolve the problem, go to step 2. NOTE: There is no particular action required to power up the radio module other than to power up the receiver. This automatically applies power to the radio module. Step 2.
Troubleshooting location with less obstruction between the base and rover radio antennas. 3. If the problem is not yet resolved, go to step 5. Step 5. Are you Within Range Specifications of Your Radio System? The range within which your radio system will function varies greatly with the conditions under which the system is being used.
Troubleshooting 1. If there is no jamming, your radio module or radio antenna may be malfunctioning. There is no way to further isolate this problem unless you have spares for these components. Call your local dealer or email Ashtech technical support for assistance. 2. If there is jamming: • Lower the sensitivity of the rover radio using the field software running your field terminal.
Troubleshooting correction data transmitted by the base. Without these two components, the rover will not be able to fix RTK position solutions. To determine if the rover is computing a fixed position, you can read the General Status screen (2nd parameter in upper line). Using either the display screen or your field terminal, you have determined that the rover system is not computing a “Fixed” position. Follow the steps outlined below to troubleshoot this problem. Step 1.
Troubleshooting malfunctioning. Contact your local dealer or email Ashtech technical support for assistance. • Move the base or rover if sites have satellite obstructions. If your base or rover site has any obstructions 5° above the horizon, the obstructions may be blocking essential satellites. If obstructions exist at the base or the rover, move the system to an open area. If the problem is not yet resolved and at least 5 satellites are now tracked and used, your rover may be malfunctioning.
Troubleshooting 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. The receiver will inform you if you currently have a fixed ambiguity solution or a float ambiguity solution.
Troubleshooting 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. If DOP values are too high, look for a satellite window with more suitable DOP values to perform the survey: Use Web Mission Planning (http://asp.ashtech.
Troubleshooting Logging Data for RTK Troubleshooting Purposes - Reporting a Problem to Ashtech Tech Support Logging the data received, processed and output by the receiver may help Ashtech 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).
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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 167). 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. Firmware Upgrade Procedure Firmware upgrades can be downloaded from the Ashtech FTP server in the form of one or more compressed “.tar.bz2” files. The file(s) provided, as well a the step-by step upgrade procedure are given in the relevant Release Note. Completing a firmware upgrade procedure may take up to 30 minutes.
Miscellaneous 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. After about 30 seconds, the Ashtech logo on the screen is replaced with the “Upgrade in progress” message, meaning that the upgrade procedure has now started. 8. Let the receiver proceed with the upgrade. Take care not to turn off the receiver while the upgrade is in progress.
Miscellaneous Through this command, you will enter the code provided by Ashtech after you purchased the option. Entering this code into the receiver will unlock the option. Configuring Serial Port A • 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 144 in this manual to know how this can be done.
Miscellaneous • 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). • Gently pull the module (or compartment door) out of the ProMark 800. The picture below shows a ProMark 800 from which a radio module was removed.
Miscellaneous 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 Ashtech rovers were possible only with third-party reference stations. Today, with the Ashtech RTDS1 software, you can also have your own base transmitting its corrections to your rovers through a Direct IP connection.
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 http://update.carlsonsw.com/ kbase_main.php?action=display_topic&topic_id=477 After opening this web page, click on the “Carlson ImageExport.exe” link at the bottom of the page and save the file to your computer. Follow the instructions below to prepare a map. 1. Create a new folder (e.g. “Maps”) on your computer, necessarily in the “My Documents” folder. 2. Copy the image file (e.g. “RFS20L.TIF”) you want to georeference to the new folder. 3. Run Carlson Image X-Port.exe. 4.
Miscellaneous causes all the fields on the World File Editor window to be filled in from this file. If there is not such a file, you have to work on finding georeferencing information for the map, as explained in Determining Georeferencing Information for an Image File on page 133. 6. After entering all the parameters in the World Map Editor window, click OK to close it. 7. Select Image Database>Add Image to Database.
Miscellaneous – Original file name re-used in the body of the filename, – “rxcx” suffix to identify the row and column of the map section, – File extension (bmp). Enabling/Disabling a Background Map in FAST Survey 1. Create a new folder in the root directory of your field terminal’s memory card. This folder must have the same name as the one created in “My documents” on the office computer (“Maps” in our example). 2. Copy the IMD file as well as the generated BMP files to that folder.
Miscellaneous W D O (x0, y0) dv dh A (x1, y1) B (x2, y2) Determining Points A & B and Distance D • Choose two points that can easily be spotted both on the image file and in the field. • Go the the field and survey these two points with your surveying system. This immediately gives the coordinates x1, y1 and x2, y2 of points A and B respectively.
Miscellaneous Reading the Image Width • Still with the graduated ruler, measure the map width. Assuming W is the real distance in the field, then W’ is the equivalent length measured on the map printout. • Using Windows Explorer on your office computer, navigate to the folder containing the image file. • Right-click on the filename and select Properties from the popup menu. • On the Summary tab, click on the Advanced button (this may not be necessary if the advanced parameters are displayed by default).
Miscellaneous described in Preparing a Map File for Use as a Background Map in FAST Survey on page 130 to georeference your map and generate the corresponding BMP map sections used by FAST Survey. Default Settings This section describes the factory settings saved in the ProMark 800’s permanent memory. (These default settings were pre-loaded into your receiver by running the appropriate set of serial commands.) Wherever mentioned in this section, “M” and “U” ports refer to memories or files.
Miscellaneous Parameter NTRIP host name NTRIP port number NTRIP login NTRIP password NTRIP type Direct IP address (or host name) Direct IP port number Internal Radio (Port D) NMEA Messages, Computed Data Parameter Radio type Power management 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 32 characters max. 0-65535 32 characters max. 32 characters max.
Miscellaneous Parameter Port U - xxx Port U - xxx rate Range ON, OFF 0.05 s - 999 s Default OFF 1s xxx: NMEA message type MPC, DPC, PBN, SNV, SNG, SNW, SAG, SAL, SAW, SBD or ION. Raw Data Logging Parameter Memory Storage location Raw data recording mode Raw data recording rate Range Internal, External Yes, No 0.
Miscellaneous Parameter Position elevation mask Incoming differential data Incoming differential port 1 Incoming differential port 2 Range 0-90° Automatic, Manual A, C, D, E A, C, D, E Default 5° Automatic Base Parameter Differential data port 2 Range NONE, ATM, RT2 (RTCM2.3), RT3 (RTCM3.x), CMR, CMR+, DBN A, C, E, M, U 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.
Miscellaneous ***: Message scenario 1-4, 100, 101, 201-204 or 300. Other Settings Parameter Minimum battery level Minimum external DC level Local time zone, hours Local time zone, minutes Beeper state RTC Bridge VRS Default 6.8 9.1 0 0 ON OFF Automatic 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.
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 Serial commands fall into two categories: • Set commands ($PASHS,...), used to set or modify the receiver’s internal parameters.
Using Serial Commands String or sign n s.. *cc Description Used in the syntax of responses to query commands to indicate that a sequence of parameters will be repeated “n” times in the response. For example, n(f1,f2,f3) means the response will include the sequence “f1,f2,f3,f1,f2,f3,f1,f2,f3...”. The value of n is specific to each command.
Using Serial Commands stop bit, no parity, no flow control), and before typing your first command: • In the HyperTerminal menu bar, select File>Properties. • Click on the Settings tab. • Click on the ASCII Setup button. • Enable the following two options: Send line ends with line feeds and Echo typed characters locally. This will automatically complete all your command lines with characters and allow you to see in real time the commands you are typing.
Using Serial Commands Running Serial Commands from a USB Key Serial commands can also be run from a USB key you connect to the receiver’s USB port through the dedicated cable. What you have to do is create a text file containing the list of serial commands you would like the receiver to execute. In this file can also be inserted the $PASHS,CMD,WTI command, which is used to introduce an idle time before the receiver is allowed to execute the command that comes after.
Using Serial Commands • 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. This is indicated on the display screen where you can see the number of commands to be run (on the right) and the rank of the command being currently run (on the left).
Using Serial Commands 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,RAW,PER $PASHS,RCP,GB.. Description Configure receiver from PAR File Save receiver config to PAR File Position elevation mask Internal update rates Antenna position 1 PPS properties Baud rates Powering off the receiver Power management Raw data messages (ON/OFF) Disabling all raw data messages Raw data output rate GLONASS biases $PASHS,RCP,DEL Delete user-defined rec.
Using Serial Commands Table 1. Receiver Configuration Commands (Continued) Set Command $PASHS,STI $PASHS,SVM $PASHS,UDP $PASHS,UNT $PASHS,UTS $PASHS,VEC Description Station ID No. of observations in PVT User-defined dynamic model Distance unit on display screen Synchronization with GPS time Set vector output mode $PASHS,WAK Alarm acknowledgement $PASHS,ZDA Time and date Query Command $PASHQ,STI $PASHQ,SVM $PASHQ,UDP $PASHQ,UNT $PASHQ,UTS Description Station ID No.
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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 c2 *cc Description Antenna height. Antenna height measurement type: • V: Vertical measurement • S: Slant measurement Optional checksum Range 0-6.553 m V, S *00-*FF Examples Entering the vertical measurement (2 m) of a rover antenna: $PASHS,ANH,2.
Set Command Library Parameters ANP,PCO (PCO for Phase Center Offsets) Parameter s1 f2 f3 f4 f5 f6 f7 *cc Description Range 31 characAntenna name ters max. L1 phase center offset, in mm, in the North direction ±0-1000.0 L1 phase center offset, in mm, in the East direction ±0-1000.0 L1 phase center offset, in mm, in the vertical direction ±0-1000.0 L2 phase center offset, in mm, in the North direction ±0-1000.0 L2 phase center offset, in mm, in the East direction ±0-1000.
Set Command Library Command Format Syntax $PASHS,ANP,DEL,s1[*cc] Parameters Parameter s1 *cc Description Range User-defined antenna name (case-sensitive) 31 characters max.
Set Command Library $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. • When raw data reduction is effective, any antenna name messages generated by the receiver will include the name of the virtual antenna, and not the antenna serial number or the setup ID.
Set Command Library 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 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 Description Range PVT, ATR, NAV, DAT, EVT, RNX. See table below. ATOM message type Port routing the ATOM message: • A: Serial port • C: Bluetooth port • E: Modem A, C, E, M, R, U • M, U: Internal memory (U), USB key (U) • R: Automatic recording session (internal or external memory) 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.
Set Command Library When the ATOM RNX message is enabled, and regardless of the last $PASHS,ATM,ATR command run, the following messages are always recorded in the G-file: • ATOM ATR ANM (antenna name) • ATOM ATR RNM (receiver name) • ATOM ATR AOP (antenna offset parameter) • ATOM ATR OCC (occupation) 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 Parameters Parameter c1 *cc Description Port related to the ATOM message(s) you want to disable. • A: Serial port • C: Bluetooth port • E: Modem • M, U: Internal memory (M), USB key (U) Optional checksum Range A, C, E, M, U *00-*FF Example Disabling all ATOM messages on port A: $PASHS,ATM,ALL,A,OFF*4E Relevant Query Command See also None.
Set Command Library Relevant Query Command $PASHQ,ATM See also $PASHS,ATM ATM,VER: Setting the Version of ATOM Messages Function Command Format This command is used to set the version in which the receiver will generate ATOM messages on all its ports.
Set Command Library Command Format Syntax $PASHS,BAS,c1,s2[,c3,s4][*cc] or, to disable the differential data output: $PASHS,BAS,OFF[*cc] 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.
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,RDP,PAR $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 1. Establish a connection with the receiver from FAST Survey as described in How FAST Survey Interfaces With Your Equipment Via Bluetooth on page 237. 2. Select Equip>GPS Rover and then tap on the RTK tab 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.
Set Command Library BTH,NAME: Bluetooth Device Name Function Command Format This command is used to name the Bluetooth device. Syntax $PASHS,BTH,NAME,s1[*cc] Parameters Parameter Description s1 Bluetooth device name *cc Optional checksum Range 64 characters max.
Set Command Library Relevant Query Command See also $PASHQ,BTH $PASHS,BTH,NAME CFG: GNSS Tracking Configuration Function Command Format This command is used to set the GNSS tracking configuration in the receiver.
Set Command Library describe the resulting default settings, as if you had run these commands at start-up).
Set Command Library $PASHS,GLO $PASHS,SBA $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 File name.
Set Command Library .log • 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.
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 used. 0-1 • 1: FKP/MAC GPS corrections from network are used when available and healthy, otherwise they are rejected. RTK network operating mode relative to GLONASS corrections: • 0: GLONASS corrections from network 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,DRI,f[*cc] 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” vated. 1s 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 from a specified source port: $PASHS,DSY,c1,OFF[*cc] 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 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 Enables (ON) or disables (OFF) GLONASS tracking. Optional checksum Range ON, OFF Default ON *00-*FF Example Enabling GLONASS: $PASHS,GLO,ON*1C Relevant Query Command $PASHQ,GLO See also $PASHS,SBA 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 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 POS PTT RRE SAT SGA SGL SGP VEC Description Position 1 PPS time tag Residual error Satellite status Galileo satellite status GLONASS satellite status GPS and SBAS satellite status 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) and refers to the interval between messages related
Set Command Library Parameters Parameter c1 *cc Description Port ID A: Serial port C: 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 Ashtech NMEA-like messages.
Set Command Library $PASHS,POP 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 NTR,LOD: Loading the NTRIP Caster Source Table Function Command Format This command is used to load the source table from the NTRIP caster. Syntax $PASHS,NTR,LOD[*cc] Parameters 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 s2 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 Parameters Parameter Description s1 Raw data message type Port routing the raw data message: • A: Serial port c2 • C: Bluetooth port • M: Internal memory • U: External memory (USB) Enables (ON) or disables s3 (OFF) the raw data message Output rate in seconds. Keeping $PASHS,POP at “20” f4 is the necessary condition to operating at 0.05 s (20 Hz). *cc Optional checksum Range See table below Default A, C, M, U - ON, OFF OFF 0.05 s or 0.1-0.4 s with [F] option acti1 vated. 0.5-0.
Set Command Library of seconds and refers to the interval between messages related to the same satellite and with the same content. For a given satellite, each of these messages is therefore renewed every x seconds (where x=f4), or following a change in the message content (“on change”), whichever occurs first. Each of these messages cannot be output more than once over a given period of 1 second.
Set Command Library Parameters Parameter Description Port ID • Serial port: A • Bluetooth port: C • Memory: M, U Optional checksum c1 *cc Range *00-*FF Example Disabling all raw data messages on port A: $PASHS,RAW,ALL,A,OFF*52 Relevant Query Command See Also None. $PASHS,RAW RAW,PER: Setting Unique Output Rate for Raw Data Function Command Format This command is used to set the same output rate for raw data messages MPC, DPC and PBN.
Set Command Library Relevant Query Command See also $PASHQ,RAW $PASHS,RAW $PASHS,RAW,ALL $PASHS,POP RCP,GBx: GLONASS Carrier Phase Biases for User-Defined Receiver Function Command Format This set of two commands is used to define GLONASS carrier phase biases for a given receiver. One command deals with the GLONASS L1 band and the other with the GLONASS L2 band.
Set Command Library submitted parameters to permanent memory and keep all the others unchanged. • You may not run the two commands (GB1 and GB2) for a given user-defined receiver. If you run just one of them, then the parameters corresponding to the other command will all be assumed to be invalid (i.e unknown). All userdefined receivers created from this receiver will also inherit these invalid parameters.
Set Command Library See Also $PASHS,RCP,GB1 $PASHS,RCP,GB2 RCP,REF: Naming Reference Receiver Function Command Format This command is used to enter the reference receiver name. Syntax $PASHS,RCP,REF,s1[,d2][*cc] Parameters Parameter s1 Description Receiver name (case-sensitive). Receiver name preference: • 0: s1 is ignored if the incoming reference data contain the reference receiver name • 1: s1 is always used and the decoded reference receiver name is ignored.
Set Command Library 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,OFF $PASHS,RDP,PAR RDP,PAR: Setting the Radio Function Command Format This command is used to set the radio connected to the specified port. Syntax $PASHS,RDP,PAR,c1,s2,d3,[s4],[c5],[d6],[s7],[c8],[c9][s10][*cc] Parameters Parameter c1 s2 d3 s4 Description Range ID of the port connected to the radio you want A, D to set.
Set Command Library Parameter c5 Description Protocol used: PDL: • 0: Transparent • 1: TRIMTALK • 2: DSNP MDL: • 0: Transparent • 1: Not used • 2: DSNP Range 0-7 ADL: • 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 Air link speed (in baud): PDL: • 4800 (GMSK modulation) • 9600 (GMSK or 4FSK modulation) • 19200 (4FSK modulation) d6 MDL: • 4800 • 7600 • 9600 ADL, 12.
Set Command Library Parameter s10 *cc Description Transmission power (ADL Vantage only): • 0: 100 mW • 1: 500 mW • 2: 1 W • 3: 2 W • 4: 4 W Optional checksum Range 0-4 *00-*FF Comments • 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.
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 is: to: 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 Channel Number Frequency (MHz) 2 869.
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, MGL, MDL, LFE, LFA, • ADL: Pacific Crest radio ADL. • Internal (port D): ADL RXO Port D: UNKNOWN, • External (port A): ADL Vantage 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 4 100 242 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 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 with
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 260 $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 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 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. If “OFF” is returned, this means no virtual antenna is selected.
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, R, 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 d2 • >0: Buzzer will go out after thespecified timeout 0-99 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 Response Format Syntax $PASHR,BTH,s1,s2,d3*cc Parameters Parameter Description s1 Bluetooth address (xx:xx:xx:xx:xx:xx) s2 Bluetooth name d3 Bluetooth PIN code *cc Checksum Example See also Range 17 characters 64 characters max. 0 to 16 digits max.
Query Command Library 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 CPD,AFP: Ambiguity Fixing Parameter Function Command Format This command is used to read the current setting for the ambiguity fixing parameter. Syntax $PASHQ,CPD,AFP[*cc] Response Format Syntax $PASHR,CPD,AFP,f*cc Parameters Parameter f *cc Example See also Description Range Ambiguity fixing value. “0” means the 0, 95.0, 99.0, 99.9 receiver will stay in Float mode. Checksum *00-*FF $PASHQ,CPD,AFP $PASHR,CPD,AFP,99.
Query Command Library CPD,ANT: Base Antenna Height Function Command Format This command is used to read the current parameters of the base antenna height, as received by the rover. 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 280 Description Antenna height, in meters Antenna radius, in meters Vertical offset, in meters Horizontal azimuth, in degrees, minutes (dddmm.
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 Command Format 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: • 0: GPS corrections from network are not used. 0-1 • 1: FKP/MAC GPS corrections from network are used when available and healthy, otherwise they are rejected. RTK network operating mode relative to GLONASS corrections: • 0: GLONASS corrections from network are not used.
Query Command Library If applied to a rover, this command allows you to read the position of the base the rover receives from the base. The coordinates will all be “0” if the rover does not receive the base position. Command Format Syntax $PASHQ,CPD,POS[*cc] Response Format Syntax $PASHR,CPD,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.
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 DRI: Raw Data Recording Rate Function Command Format This command queries the current recording rate for all raw data logged in the internal or external memory.
Query Command Library 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 DTM: Datum Reference Function Command Format This command asks the receiver to output the content of the NMEA DTM message. Syntax $PASHQ,DTM[*cc] Parameters None. Response Format Syntax $GPDTM,s1,,f2,c3,f4,c5,f6,s7*cc 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.
Query Command Library For more details on the $PASHS,NME command, refer to the Set Command Library Chapter.
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 Parameters Parameter d1 d2 d3 s4 m5 d6 *cc Example Description Free memory space, in kbytes, in the selected memory Total number of files currently stored in the selected memory Number of files listed corresponding to those matching the command criterion Site name assigned to the file File time in the “wwwwdhhmm” format where: • wwww: GPS week number • d: Day in week • hh: Time (hours) • mm: Time (minutes) File size in kbytes Checksum Range 000000999999 000-999 00-10 4 characters
Query Command Library Example See Also $PASHQ,GAL $PASHR,GAL,ON*1D $PASHS,GAL GGA: GNSS Position Message Function Command Format This command is used to output a GGA message containing the last computed position. If no position is computed, the message will be output anyway, but with some blank fields. Syntax $PASHQ,GGA[*cc] Response Format Syntax $GPGGA,m1,m2,c3,m4,c5,d6,d7,f8,f9,M,f10,M,f11,d12*cc Parameters Parameter m1 Current UTC time of position (hhmmss.ss) m2 Latitude of position (ddmm.
Query Command Library Parameter f10,M f11 d12 *cc Example Comment Automatic Output of GGA Messages Description Geoidal separation in meters. “M” for meters. Based on the official NATO's standard meansea-level algorithm (5-degree grid of height). Age of differential corrections, in seconds Base station ID (RTCM only) Checksum Range ± 999.999,M 00-4095 *00-*FF $PASHQ,GGA $GPGGA,131745.00,4717.960847,N,00130.499476,W,4,10,0.8,35.655,M, 47.290,M,3.
Query Command Library Parameters Parameter m1 Latitude of position (ddmm.mmmmmm) c2 Direction of latitude m3 Longitude of position (dddmm.mmmmmm) c4 Direction of longitude m5 Current UTC time of position (hhmmss.ss) c6 c7 *cc Example Automatic Output of GLL Messages Description Status • A: Data valid • V: Data not valid Mode indicator: • A: Autonomous mode • D: Differential mode • N: Data not valid Checksum Range 0-90 0-59.999999 N, S 0-180 0-59.999999 E,W 000000.00235959.
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 If the receiver is configured in GPS mode only, then the message header is $GPGNS.If it’s configured in GPS/ GLONASS mode, then the message header is $GNGNS. Parameters Parameter m1 m2 c3 m4 c5 s6 d7 f8 f9 f10 f11 d12 *cc Example See Also Automatic Output of GNS Messages Description Current UTC time of position (hhmmss.ss) Latitude of position (ddmm.mmmmmm) Direction of latitude Longitude of position (dddmm.
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 GNS messages on port A at a rate of 10 seconds: $PASHS,NME,GNS,A,ON,10 GPS: GPS Tracking Status Function Command Format This command queries the receiver for the current GPS tracking status.
Query Command Library Relevant Set Command 310 $PASHS,GPS
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 if there is no position 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. Syntax $PASHQ,GSA[*cc] Response Format Syntax $--GSA,c1,d2,d3,d4,d5,d6,d7,d8,d9,d10,d11,d12,d13,d14,f15,f16,f17*cc Parameters Parameter “$--GSA” Header c1 d2 Example Automatic Output of GSA Messages Description $GPGSA: Only GPS 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 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 Automatic Output of GST Messages Description $GPGST: Only GPS satellites are used. $GLGST: Only GLONASS satellites are used.
Query Command Library $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 $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 Automatic Output of GSV Messages 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 the Set Command Library Chapter.
Query Command Library Parameters Parameter s *cc Description Range Status: • ON: Local coordinate system used when available ON, OFF • OFF: Coordinate system used is WGS84 necessarily.
Query Command Library 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. Syntax $PASHQ,LOG[,d][*cc] Parameters Parameter d *cc Response format Description Index number of the log file you want to edit. If d is omitted, the current log file is edited.
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 Parameters Parameter c1 d2 Description Queried port ID: • A: Serial port • C: Bluetooth port • E: Modem • M, U: Memory Baud rate code Output rate as defined by the last $PASHS,NME,PER command run. Number of NMEA messages listed in the response line f3 d4 s5 NMEA message type Range A, C, E, M, U 0-15 (A, E) 0, 1 (C, M, U) 0-999.
Query Command Library Command Format Syntax $PASHQ,NPT[*cc] Response Format Syntax $PASHR,NPT,d1,d2*cc 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: NTR
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 OCC: Ocupation State and Parameters Function Command Format This command is used to read the current occupation settings.
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. 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 d1 *cc Description Elevation mask angle Checksum Range 0-90° *00-*FF Example $PASHQ,PEM $PASHR,PEM,9*39 Relevant Set Command $PASHS,PEM See also $PASHQ,ELM POP: Reading Internal Update Rate Function Command Format This command is used to read the internal update rate currently used for measurements and PVT process. Syntax $PASHQ,POP[*cc] Parameters None.
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 PRTA: ON OFF OFF OFF OFF PRTC: OFF OFF OFF OFF OFF MEMM: OFF OFF OFF OFF OFF MEMU: OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF 6 OFF OFF OFF OFF OFF 1 OFF OFF OFF OFF OFF 1 OFF OFF OFF OFF OFF 0 Parameters Parameter PER ELM RAW PRTA PRTC MEMM MEMU BAUD Code 0 1 2 3 4 5 6 Relevant Set Command Baud Rate 300 600 1200 2400 4800 9600 19200 $PASHS,RAW RCP: Receiver Parameters Function Command Format 344 Description Range Output rate, in seconds 0.00-999.
Query Command Library Parameters Parameter s1 *cc Response Format 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 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 d2 data contain the reference receiver name 0, 1 • 1: s1 is always used and the decoded reference receiver name is ignored.
Query Command Library Parameters Parameter s1 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 • • • • Range UNKNOWN, PDL, ADL, MGL, MDL, LFE, LFA, NONE MGL: Radio transmitter P/N 800986 MDL: U-Link LFE: License-free radio, Europe LFA: License-free radio, North America d2 Total number of available channels d3 Channe
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]*cc Parameters Parameter c1 s2 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 • External (port A): PDL H
Query Command Library Parameter c6 Description Protocol used: PDL: • 0: Transparent • 1: TRIMTALK • 2: DSNP MDL: • 0: Transparent • 1: Not used • 2: DSNP Range 0-7 ADL: • 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 c7 Air link speed s8 Radio sensitivity (for PDL, ADL and MDL) f9 f10 Receive frequency, in MHz Transmit frequency, in MHz Channel spacing, in kHz: • PDL: 12.5 or 25 • ADL: 12.
Query Command Library Parameter *cc Checksum Description Range *00-*FF Examples If an internal PDL radio receiver is used: $PASHQ,RDP,PAR,D $PASHR,RDP,PAR,D,PDL,ON,0,AUT,0,4800,MED,444.5500,446.7750,12.5,4 30-450,V02.58,,0,0*03 If an internal U-Link Rx is used: $PASHQ,RDP,PAR,D $PASHR,RDP,PAR,D,MDL,ON,4,AUT,0,9600,MED,447.1000,447.1000,12.5,, V01.00,445.5500*20 Comments The command will be NAKed if the receiver has not been told on which port the radio is connected.
Query Command Library Parameters Parameter c1 s2 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 • External (port A): PDL HPB/LPB • ADL: Pacific Crest • Internal (port D): ADL RXO • External (port A): ADL Vantage • MGL: Radio transmitter P/N 800986 • MDL: U-Link • LFE: License-free radio, Europe • LFA: License-free radio, North America Checksum *cc Example If an inte
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 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 SGA: GALILEO Satellites Status Function Command Format This command is used to read the status of each GALILEO satellite received. Syntax $PASHQ,SGA[*cc] Response Format Syntax $PASHR,SGA,d1,n(d2,d3,d4,f5,,f7,d8,d9)*cc Parameters Parameter Description d1 Number of satellites locked d2 SV PRN number (96+satellite slot number) d3 d4 f5 f6 f7 d8 d9 *cc SV azimuth in degrees SV elevation angle in degrees SV E1 signal/noise in dB.Hz Not used SV E5a signal/noise in dB.
Query Command Library Status 23 24 25 26-30 31 Description 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 Output of SGA Messages Satellite is not tracked Satellite is not corrected SBAS is corrected DGPS is corrected L1 RTK is corrected L1&L2 RTK is corrected Reserved Unknown correctin
Query Command Library Command Format Syntax $PASHQ,SGL[*cc] Response Format Syntax $PASHR,SGL,d1,n(d2,d3,d4,f5,f6,,d8,d9)*cc Parameters Parameter d1 d2 d3 d4 f5 f6 f7 d8 d9 *cc Description Number of satellites locked SV PRN number (64+satellite slot number) SV azimuth in degrees SV elevation angle in degrees SV L1 signal/noise in dB.Hz SV L2 signal/noise in dB.Hz Not used Satellite usage status (see table below) Satellite correcting status (see table below) Checksum Range 1-27 65-96 0-359 0-90 30.
Query Command Library Satellite Correcting Status: Status 0 1 2 3 4 5 6-14 15 Example See also Automatic Output of SGL Messages Satellite is not tracked Satellite is not corrected SBAS is corrected DGPS is corrected L1 RTK is corrected L1&L2 RTK is corrected Reserved Unknown correcting status $PASHQ,SGL $PASHR,SGL,08,65,316,38,49.0,38.0,,01,15,71,122,32,47.0,39.0,,01,15,72,0 66,77,53.0,48.0,,01,15,73,036,31,48.0,43.0,,01,15,74,100,75,52.0,41.0,,01,1 5,75,192,34,45.0,36.0,,01,15,81,332,13,40.0,33.
Query Command Library 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.Hz SV L2 signal/noise in dB.Hz SV L5 signal/noise in dB.Hz Satellite usage status (see table below) Satellite correcting status (see table below) Checksum Range 1-27 GPS: 1-32 SBAS: 33-64 0-359 0-90 30.0-60.0 30.0-60.0 30.0-60.
Query Command Library Status 4 5 6-14 15 Example See also Automatic Output of SGP Messages L1 RTK is corrected L1&L2 RTK is corrected Reserved Unknown correcting status $PASHQ,SGP $PASHR,SGP,13,02,216,22,42.0,25.0,,01,15,04,188,03,34.0,0.0,,17,15,05,28 4,71,51.0,44.0,,01,15,07,058,50,50.0,39.0,,01,15,08,116,77,51.0,41.0,,01,15, 10,148,53,50.0,38.0,,01,15,13,080,13,38.0,15.0,,25,15,15,272,03,37.0,0.0,,1 7,15,21,332,04,37.0,0.0,,17,15,26,276,39,47.0,33.0,,01,15,28,142,20,41.0,20 .0,,01,15,33,200,34,41.
Query Command Library Parameter *cc Description Checksum Range *00-*FF Example $PASHQ,SIT $PASHR,SIT,SITE*1D Relevant Set Command $PASHS,SIT See also $PASHQ,FLS SNM: Signal-to-Noise Ratio Mask Function Command Format This command returns the current value assigned to the signal-to-noise ratio (SNR) mask. Any satellite received with an SNR value for the C/A code signal less than this mask will be rejected from the PVT computation. Syntax $PASHQ,SNM[*cc] Parameters None.
Query Command Library 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 Command Format Syntax $PASHQ,SOM,CTT[*cc] Parameters None.
Query Command Library Parameters Parameter Description s1 Mask applied to differential data s2 Mask applied to raw data *cc Checksum Range Default ON, OFF ON ON, OFF OFF *00-*FF Example $PASHQ,SOM,NAV $PASHR,SOM,NAV,ON,ON*50 Relevant Set Command See Also $PASHS,SOM,NAV $PASHS,SOM SOM,SNR: Signal-to-Noise Ratio Mask Function Command Format This command is used to read the current setting of the signal-to-noise ratio mask applied to signal observations.
Query Command Library 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 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,WRN[*cc] Parameters None.
Query Command Library 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 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 See Also $PASHS,DYN UNT: Distance Unit Used on Display Screen Function Command Format This command allows you to know which distance unit is currently used on the receiver display screen to express the coordinates of the computed position.
Query Command Library Response Format Syntax $PASHR,UTS,s*cc Parameters Parameter Description s GPS time synchronization status *cc Checksum Range ON, OFF *00-*FF Example $PASHQ,UTS $PASHR,UTS,ON*0B Relevant Set Command $PASHS,UTS VEC: Vector & Accuracy Data Function Command Format This command is used to query the receiver for vector and accuracy data.
Query Command Library 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. Number of SVs used in position computation UTC time (hhmmss.
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 VEC messages on port A at a rate of 0.2 second: $PASHS,NME,VEC,A,ON,0.2 VERSION: Firmware Version Function Command Format This command is used to list the firmware versions installed in the receiver, including those of the modem and internal radio.
Query Command Library VTG: Course Over Ground and Ground Speed Function Command Format This command is used to output a VTG message.
Query Command Library WARN: Warning Messages Function Command Format This command is used to list the possible warning messages stored in the receiver.
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).
Appendix 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 Checkshort sum 2 Total 76 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. The GPS broadcast ionosphere model (Klobuchar) is used.
Output Message Library MPC: GNSS Measurements This message contains the measurement of one satellite for one epoch. The message is as follows: $PASHR,MPC, The message’s binary structure is described in the table below.
Output Message Library Type Size Unsigned char 1 Unsigned char 1 Unsigned char 1 Unsigned char 1 Double 8 Double 8 Long 4 Long 4 29 29 Unsigned char 1 Total of bytes 95 Contents Indicates quality of the position measurement (good/ bad) 0: Measurement not available and no additional data will be sent. 23: 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 satellites in the same conditions. “x” is as defined in the previous note. • In case of GPS L1/L2P tracking mode, the L1 block contains L1P data. In case of GPS L2CS tracking mode, the L1 block contains zero data. In case of GLONASS-M satellites, the L1 block contains zero data. • In case of GPS L1/L2P, the L2 block contains L2P data. In case of GPS L2CS tracking mode, the L2 block contains L2CS data.
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 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. • DPC data can be output at a rate of up to 20 Hz, but the throughput compared to RTCM-3, CMR and ATOM may be quite higher.
Output Message Library PBN: Position Information This message contains position information in binary format. The message is as follows: $PASHR,PBN, The message’s binary structure is described in the table below.
Output Message Library SBA,DAT: SBAS Data Message Provided the command below has been run beforehand, $PASHS,RAW,SBD,,ON ... the SBA,DAT message is output in response to: $PASHQ,SBD, ...and is in the form: $PASHR,SBA,DAT,d1,m2,d3,d4,s5*cc Where: Parameter d1 m2 d3 d4 s5 *cc Description SBAS SV ID number Time tag: hhmmss.
Output Message Library SAL: GPS Almanac Data This message contains almanac data for one GPS satellite. The message is as follows: $PASHR,SAL, The message’s binary structure is described in the table below.
Output Message Library SAG: GLONASS Almanac Data This message contains almanac data for one GLONASS satellite. The message is as follows: $PASHR,SAG, The message’s binary structure is described in the table below.
Output Message Library 394
Output Message Library SAW: SBAS Almanac Data This message contains almanac data for one SBAS satellite. The message is as follows: $PASHR,SAW, The message’s binary structure is described in the table below.
Output Message Library As an example, the command below will output SAW messages on port A at a rate of 15 seconds: $PASHS,RAW,SAW,A,ON,15 396
Output Message Library SNG: GLONASS Ephemeris Data This message contains the GLONASS ephemeris data for one satellite. The message is as follows: $PASHR,SNG, The message’s binary structure is described in the table below.
Output Message Library Type Name Unsigned short Checksum Total Reminder on How to Output SNG Messages Size 2 82 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.
Output Message Library SNV: GPS Ephemeris Data This message contains the GPS ephemeris data for one satellite. The message is as follows: $PASHR,SNV, The message’s binary structure is described in the table below.
Output Message Library Type Reminder on How to Output SNV Messages Name Size Unsigned Checksum short 2 Total 76 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. Use the $PASHS,RAW command with the syntax below: $PASHS,RAW,SNV,,ON, For more details on the $PASHS,RAW command, refer to the Set Command Library Chapter.
Output Message Library SNW: SBAS Ephemeris Data This message contains the SBAS ephemeris data for one satellite. The message is as follows: $PASHR,SNW, The message’s binary structure is described in the table below.
Output Message Library 402
Index Symbols $PASHQ,AGB 261 $PASHQ,ALM 262 $PASHQ,ANH 263 $PASHQ,ANP 264 $PASHQ,ANP,OUT 265 $PASHQ,ANP,OWN 265 $PASHQ,ANP,RCV 266 $PASHQ,ANP,REF 267 $PASHQ,ANR 267 $PASHQ,ANT 268 $PASHQ,ATL 269 $PASHQ,ATM 271 $PASHQ,ATO 272 $PASHQ,BAS 273 $PASHQ,BEEP 275 $PASHQ,BRD 276 $PASHQ,BTH 276 $PASHQ,CFG 277 $PASHQ,CMR,MSI 278 $PASHQ,CPD,AFP 279 $PASHQ,CPD,ANT 280 $PASHQ,CPD,FST 281 $PASHQ,CPD,MOD 281 $PASHQ,CPD,NET 282 $PASHQ,CPD,POS 283 $PASHQ,CPD,REM 285 $PASHQ,CPD,VRS 286 $PASHQ,CRT 287 $PASHQ,CTS 288 $PASHQ,DBN
$PASHQ,SOM,WRN 373 $PASHQ,STI 374 $PASHQ,UDP 375 $PASHQ,UNT 376 $PASHQ,UTS 376 $PASHQ,VEC 377 $PASHQ,VERSION 379 $PASHQ,VTG 380 $PASHQ,WARN 381 $PASHQ,ZDA 381 $PASHR,DPC 388 $PASHR,ION 383 $PASHR,MPC 385 $PASHR,PBN 390 $PASHR,SAG 393 $PASHR,SAL 392 $PASHR,SAW 395 $PASHR,SNG 397 $PASHR,SNV 399 $PASHR,SNW 401 $PASHS,AGB 153 $PASHS,ANH 154 $PASHS,ANP,DEL 155 $PASHS,ANP,EDx 154 $PASHS,ANP,OUT 156 $PASHS,ANP,PCO 154 $PASHS,ANP,REF 157 $PASHS,ANR 158 $PASHS,ANT 159 $PASHS,ATL 162 $PASHS,ATM 163 $PASHS,ATM,ALL 165
$PASHS,REC 240 $PASHS,RNX,TYP 242 $PASHS,RST 243 $PASHS,RTC,MSG 244 $PASHS,RTC,TYP 245 $PASHS,SBA 247 $PASHS,SIT 247 $PASHS,SNM 248 $PASHS,SOM 248 $PASHS,SOM,CTT 250 $PASHS,SOM,NAV 251 $PASHS,SOM,SNR 252 $PASHS,SOM,WRN 254 $PASHS,STI 255 $PASHS,UDP 257 $PASHS,UNT 257 $PASHS,UTS 258 $PASHS,WAK 259 $PASHS,ZDA 260 A Absolute positioning 54 Absolute, centimeter-accurate positioning 54 AC/DC power supply kit 2 Accuracy 18, 72 ACK 144 Acknowledge alarms 259 Acknowlege (alarm) 99 Acquisition/re-acquisition of GNS
Battery (external) 30 Battery (insert) 17 Battery (remove) 15 Battery charger 2 Battery icon 11 Battery kit 20 Battery model 7 Baud rate 340 BEEP 169, 275 Beeper setup 169 Biases 231 BLADE 1, 40 Bluetooth 8, 136 Bluetooth device name 173 Bluetooth identifier 13 Bluetooth pin code 173 Bluetooth settings 276 Bluetooth status 11 BPW 131 BRD 169, 276 BTH 276 BTH,NAME 173 BTH,PIN 173 Buzzer 6 Command window 145 Computed position 338 Confidence level 179 Configuring the receiver from a PAR file 219 Constellation
Differential data type 167, 273 Differential decoder status 291 DIP 187, 292 DIP,OFF 188 DIP,ON 189 DIP,PAR 189 Direct IP 79, 84, 87, 292 Direct IP connection 188, 189 Direct IP parameters 189 Disabling all ATOM messages 165 Disabling all raw data messages 229 Display screen 5 Distance mode 52 Distance unit on display screen 376 Distance unit used on display screen 257 DOP 55, 112 DPC 388 DPO 294 DRI 190, 295 DSY 191, 296 DTM 297 Duty cycle 82 DYN 192, 299 Dynamics 192, 257 E ECEF 70 ECEF coordinates 287 E
GSM antenna 3, 7, 33 GSM module (built-in) 33 GSM status 11 GST 210, 314 GSV 210, 316 H Handshaking 186, 288 Header 143 Height mark 9 Helmert 77 HI measurement tape 2, 9 Hopping (frequency hopping) 82 Host cable (USB) 2 I IGS antenna source table 158 Image database 132 Implementation rules 41, 47 INI 200 Initialization (strategies for) 57 Initializer bar 57 Initializing 56 Inosphere model 384 Insert wait times while a command file is executed 177 Instant RTK 18 Integer ambiguity 56 Internal radio 137 Inte
Modem (power off) 205 Modem (power on) 205 Modem parameters 206 Modem signal level 323 Modem status 323 Modem timeout 209, 325 Modulation type 82 Mount point (connection to) 215 MPC 193, 228, 385 Multipath mitigation 18 MWD 209, 325 N NAK 144 NAT 129 NATO standard mean seal level 305 NAV 248 Navigation data mask 371 Navigation data masks 251 Network 128 Networks 18 NME 209 NME,ALL 211 NME,PER 212 NMEA 0183 18 NMEA messages 326 NMEA messages (common output rate) 212 NMEA messages (computed) 137 NMEA, NMEA-l
Radio antenna 7, 33, 107 Radio channel settings 346 Radio data rate 82 Radio module 7, 33, 106, 119, 126 Radio modules 20 Radio parameters 348 Radio range 108 Radio receiver kit 3 Radio settings 235 Radio transmitter (#800986) 30 Radio type 239, 351 Radius (antenna radius) 63 Range pole 33 RAW 227, 343 Raw data 6, 46 Raw data icon 10 Raw data logging 138 Raw data logging settings 343 Raw data messages 227 Raw data output rate 230 Raw data output settings 360 Raw data recording 240 Raw data recording rate 47
SAL 228, 392 SAT 211 Satellite use mask 374 Satellites in use 10 Save Image Boundary 133 Save receiver configuration to USB key 122 Saving the receiver configuration to a PAR file 220 SAW 228, 395 SBA 247, 362 SBA,DAT message 229 SBAS 1, 18, 40 SBAS differential position solution (tagging) 327 SBAS differential positions in NME/NMEAlike messages (tagging) 213 SBAS tracking 247 SBAS tracking status 362 SBD 228 SBN 228 Scenario 242, 356 Scrambling 83 Screen backlight 15 Script 146 Scroll button 5, 6, 9 Select
U-Link Rx specifications 23 U-Link transmitter 31 U-Link TRx 3 U-link TRx 3 U-Link TRx specifications 22 U-Link TRx Y-shaped cable description and pinout 25 UNT 257, 376 Upgrade procedure (firmware) 123 Upload receiver configuration from USB key 120 Upload Script? 114, 120, 146, 147 USB port 8 USB status 11 Use Image Database 133 User message 244 User-defined antenna (delete) 155 User-defined dynamic model 257, 375 UTC 203 UTS 258 V VEC 211, 377 Vector components 377 VERSION 379 Vertical height measurement
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