Reference Manual Instruction Manual

530
Query Command Library
Command Format Syntax
$PASHQ,CRT[*cc]
Response Format Syntax
$PASHR,CRT,d1,d2,m3,f4,f5,f6,f7,f8,f9,f10,f11,f12,f13,f14,f15,s16*cc
Parameters
Example
$PASHQ,CRT
$PASHR,CRT,3,07,130452.50,4331844.177,-114063.156,4664458.677,
-0.023,-0.002,0.002,0.001,-0.023,2.1,1.2,1.7,1.3,G010*6C
Comment
The code allotted to a position solution of the SBAS
differential type is either “1” or “9”, depending on the last
$PASHS,NPT command run.
See also $PASHS,NME
$PASHS,NPT
Parameter Description Range
d1
Position mode:
• 0: Autonomous
• 1: RTCM (or SBAS differential)
•2: RTK float
•3: RTK fixed
• 9: SBAS Differential. See comment.
0-3, 9
d2 Count of SVs used in position computation 3-27
m3 UTC time (hhmmss.ss)
000000.00-
235959.99
f4 ECEF X coordinate, in meters ±9999999.999
f5 ECEF Y coordinate, in meters ±9999999.999
f6 ECEF Z coordinate, in meters ±9999999.999
f7 Receiver clock offset, in meters ±300000
f8 Velocity vector, X component, in m/s ±9.999
f9 Velocity vector, Y component, in m/s ±9.999
f10 Velocity vector, Z component, in m/s ±9.999
f11 Receiver clock drift, in m/s ± 2000
f12 PDOP 0.0-99.9
f13 HDOP 0.0-99.9
f14 VDOP 0.0-99.9
f15 TDOP 0.0-99.9
s16 Firmware version ID (GNSS board fw) 4-char string
*cc Checksum *00-*FF