Specifications

52 Z-Family Techncial Reference Manual
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,-
00005.0847,00.011,00.011,00.012,-00.000,+00.000,-00.000,221001,+000.000,-
000.001,+000.001, 00.000,00.000,00.000*6C
In a CBN 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 “CPD: RTK
Status” on page 198.
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,c” on page 202.
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 receiver
has a PC data card, the data can be stored on the PC data card 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 CBN message format or NMEA message format. The CBN
message output rate is controlled via the $PASHS,RCI command.
The PBN message will always output autonomous position or code differential position (if messages 1
or 9 are available).
The CBN message can provide more complete information on position, velocity,
solution status, position RMS and covariance, number of satellites, and PDOP. The
CBN message output can be in ASCII or binary format. The binary format is bitwise
packed and is not IEEE format compatible.
To output the CBN message, use the $PASHS,OUT command.
To output the NMEA messages, use the $PASHS,NME commands.
If for any reason the CPD solution cannot be computed for an epoch, there will be no
CPD solution output for that epoch in any real-time or NMEA message.