Instruction manual

Page 90 Z-12 Real-Time Sensor Operation and Reference Manual
where the items in the message are as described in Table 4.35.
Query UBN Message
$PASHQ,UBN
This command asks for the UBN message, which contains position solutions,
buffered in the sensor. The message has two mandatory parameters. The first
parameter is full GPS time. The UBN message should contain only solutions made
for epochs after this time. The second parameter is signed integer. The message
should contain no more solutions than the absolute value of this parameter. If the
second parameter is positive, the message should contain the oldest solutions made
after the GPS time specified in the first parameter. If the second parameter is
negative, the message should contain the latest solutions made after the GPS time
specified in the first parameter. The port for message output may be specified in this
command. If the port is not specified, the message is output to the port from which
this command was received. The command structure is
$PASHQ,UBN,g,n,t,x
Table 4.35: RAW Message Structure
Item Description
RCI:020.0 Send or record interval of the data in seconds. Default is once every 20 seconds for 1
HZ NAV cycle. The default is 0.2 or 0.5 second for 5 Hz or 2 Hz NAV cycle,
respectively.
MSV:3 Minimum number of SVs for the data to be sent or recorded
ELM:05 Data elevation mask. The elevation below which data from that satellite will not be
recorded. Default is 10 degrees.
REC:Y Record data to internal memory. Y = yes, N = no.
ANH:0.0000 Antenna height in meters.
SIT:???? Site ID.
EPG:000 Epoch counter. 0 through 999.
RNGR Controls how data and positions are stored.
0 indicates geodetic mode. Stores phase data in B-files that can be post-processed
differentially using carrier phase or code phase.
1 stores phase data in B-files that can be post-processed differentially using ccode phase
only. Mode 1 can store more than twice the number of positions as mode 0.
2 stores smoothed positions in C-files only. These positions can be differentially corrected
only in real time; they can not be post-processed differentially.