Instruction manual

Page 32 Z-12 Real-Time Sensor Operation and Reference Manual
00.011,00.011,00.012,-00.000,+00.000,-00.000,221001,+000.000,-
000.001,+000.001, 00.000,00.000,00.000*6C
In a CBEN message, the solution RMS values represent one-sigma solution accuracy.
A fixed ambiguity solution should have all three RMS values < 0.03 meters, with
PDOP < 4.0.
You can also look at the $PASHR,CPD message for ambiguities fixing status. Refer to
“$PASHQ,CPD” on page 144.
Solution Latency
The GGA message contains a field which shows the solution latency. For example:
$GPGGA,015454.00,3723.285136,N,12202.238517,W,3,08,01.0,+00012.
384,M,,M,
00.123,0000
The latency in this example is about 120 milliseconds.
Data Link Monitor
The Data Link Status can be monitored via $PASHQ,CPD,DLK message. Pay special
attention to the SV list and QA. Refer to “$PASHQ,CPD,DLK” on page 134
$PASHR,CPD,DLK in Chapter 3.
CPD Solution Output and Storage
The raw GPS measurements, autonomous position, RTCM positions, or CPD
solutions can be outputted to the serial port for monitoring and logging. If a RZ sensor
has external memory, this data can be stored into the receiver’s memory as well as
downloaded to a PC.
Real-time Solution Output
The CPD rover position, velocity and other solution information can be output via the
receiver’s serial port, in PBEN /CBEN message format or NMEA message format.
The PBEN /CBEN message output rate is controlled via the $PASHS,RCI,x.xx
command.
If you want the B-file to have autonomous position, use command
$PASHS,CPD,OUT command to change it.
The CBEN message can provide more complete information on position, velocity,
solution status, position RMS and covariance, number of satellites, and PDOP. The
CBEN message output can be in ASCII or binary format. The binary format is bitwise
packed and is not IEEE format compatible.
To output the PBEN and/or CBEN message, use the $PASHS,OUT command.