Instruction manual

Understanding CPD Page 31
Understanding
3
Understanding CPD
This chapter provides CPD operation in more detail by describing monitoring the CPD
solution, solution output and storage, trouble shooting and performance optimization.
RTCM reference station setup is also described briefly.
For detailed information on the commands and responses that are mentioned in this
chapter, please refer to Chapter 4, Command Response Formats.
Monitoring the CPD Rover Solution
When a sensor is set to CPD rover mode, you can monitor the current CPD solution status
and positions with the following commands:
• $PASHQ,CPD—shows the CPD setup in a tabulated format
• $PASHQ,CPD,MOD—shows the CPD setup in a $PASHR format
• $PASHQ,CPD,INF—shows the satellite information in CPD operation
• $PASHQ,CPD,STS—shows the current ambiguities fixing status
• $PASHQ,RRE—shows the post-fit carrier phase residual in CPD solution
Positions can be also monitored from GGA message or CBN message.
How to tell if the integer ambiguities are fixed?
The ambiguities fixing status can be determined through the following messages:
•STS
•GGA
• CBN
•CPD
In $PASHR,CPD,STS message. if the second field > 1.0, it means that the ambiguities are
fixed. For example,
$PASHR,CPD,STS,0.005,0124.72*5C
In $GPGGA message, a solution type of “3” in the sixth field indicates that ambiguities
are fixed.
$GPGGA,212349.00,3722.378424,N,12159.841801,W,3,08,01.0,-
00005.078,M,M,00.138
In ASCII $PASHR,CBN message, a “1” in the third digit of the solution type field
indicates the ambiguities are fixed.
$PASHR,CBN,212501.00,????,08,001.2,3722.3784261,N,12159.8417992,W,-
00005.0847,