Instruction manual

Operation Page 23
Operation
9. The base Sensor is now operational. To verify it, connect port B to a PC at
9600 BAUD which is running a communication program, such as Ashtech’s
REMOTE.EXE, one should see message starts with a header $PASHR,RPC
would output on a one second interval.
Rover/Remote Setup
1. Power on the rover Sensor.
2. Monitor the satellite tracking and the autonomous position as described in
“Getting Started” on page 14.
3. Make sure the base Sensor and the rover Sensor is connected as shown in
Figure 2.6.
4. Send the following commands to the base Sensor
$PASHS,CPD,MOD,ROV- to set the Sensor into CPD rover mode
5. To verify the setup, send $PASHQ,CPD command to the Sensor. A typical
response message would be
STATUS:
MSMOD:01 Hz MODE: ROVER BASE STAT: 00000
PRN: 01 03 09 17 21 23 28 31
AGE: 394 ms RCVD CORD:008 SEC CORD USED: RECEIVED
AMBIGUITY:FIXED RCV INTVL:01.0 SEC
Dlf:00086 ms Tf: 00029 ms DLc:00513 ms Tc:00400 ms
SETUP:
DBEN PER: 001.0 SEC DBEN PORT:B EOT:CRLF
AMBIGUITY FIX MODE: 04
DYNAMICS: WALKING DYNAMIC POS OUTPUT: CPD
MULTIPATH: MEDIUM MULTIPATH BAS POS USED:RECEIVED
FAST CPD: ON CPD PER: 01 SEC
6. To save the above setup so it can be automatically recovered after power
loss, issue the command $PASHS,SAV.
7. The rover Sensor is now operational. Refer to “Monitoring Position” on
page 17 for more information on position information.
A typical GGA message with fixed ambiguities would be
$GPGGA,015454.00,3723.285136,N,12202.238517,W,3,08,01.0,+00012.
384,M,,M,00.123,0000
RTCM Differential Setup
A Sensor configured as an RTCM base station can generate up to seven RTCM
message types, all of which conform to version 2.2 standards as listed in Table 2.6. A
Sensor configured as a rover can accept all seven RTCM messages from a Sensor
base station, plus the Type 9 message widely used in marine navigation. Additionally,