BenutzerhandbuchInhaltsverzeichnisOM-20000041 Rev 11Proprietary Notice2Table of Contents3Software License9Software Support10Foreword11Congratulations!11Scope11Prerequisites11What’s New In Version 4.50?111Quick Start121.1 Installation12Graphical Interface121.2 Data Logging131.3 differential operation15Establish a Data Link15Table 1-1GPSCard Pseudorange Differential Initialization Summary16Initialization - Reference Station161.4rtk mode17Data Communications Link17Table 1-2Latency-Induced Extrapolation Error17System Initialization18Monitoring Your RTK Output Data20Options for Logging Differential Corrections20Initialization - Rover Station212Command Descriptions232.1 GENERAL23Optional calculation of the checksum242.2 Standard Command Tables25Table 2-1Commands By Function Table25Table 2-2GPSCard Command Summary272.3WAAS29Figure 2-2The WAAS Concept292.3.1 WAAS GPSCard302.4Special Data Input Commands302.4.1 Almanac Data302.4.2 Differential Corrections Data323Data Logs343.1 Output logging343.2 NovAtel Format Data Logs35General35ASCII Log Structure35Binary Log Structure353.3 RTK363.4 NMEA format data Logs37General373.5 GPS Time vs. Local Receiver Time373.6 Standard Log Tables38Table 3-1Logs By Function Table38Table 3-2GPSCard Log Summary413.7WAAS423.7.1WAAS GPSCard Logs423.8Pass-Through Logs42Figure 3-1 Pass-Through Log Data433.8.1Command Syntax433.8.2 ASCII Log Structure433.8.3Binary Log Structure444Message Formats45Table 4-1Positioning Modes454.1 RTCA-format Messages45RTCA STANDARD LOGS464.2 RTCM-format Messages47RTCM General Message Format48RTCM Standard Commands49RTCM Standard Logs494.3 CMR Format messaging55Using RT-2 or RT-20 with CMR Format Messages564.4RINEX Format564.4.1 COMMANDS574.4.2 LOGS58AGPS Overview62Figure A-1 NAVSTAR Satellite Orbit Arrangement62a.1 GPS System Design62The Space Segment62The Control Segment63The User Segment63A.2 Height Relationships63Figure A-2Illustration of GPSCard Height Measurements64a.3 GPS Positioning64Figure A-3Accuracy versus Precision65Single-point vs. Relative Positioning65Figure A-4Example of Differential Positioning66Static vs. Kinematic Positioning66Real-time vs. Post-mission Data Processing66A.3.1 Differential Positioning66a.3.2 Pseudorange Algorithms67Pseudorange Differential Positioning67Figure A-5Single Point Averaging69Dual Station Differential Positioning70Figure A-6Typical Differential Configuration70a.4 Carrier-phase Algorithms71BMultipath Elimination Technology73b.1 Multipath73Figure B-1Illustration of GPS Signal Multipath73Why Does Multipath Occur?73Consequences of Multipath Reception74b.2 Hardware Solutions For Multipath Reduction74Antenna Site Selection74Figure B-2Illustration of GPS Signal Multipath vs. Increased Antenna Height75Antenna Designs75Figure B-3Illustration of Quadrifilar vs. Microstrip Patch Antennae76Antenna Ground Planes76NovAtel’s Internal Receiver Solutions for Multipath Reduction76Figure B-4Comparison of Multipath Envelopes78C Commands Summary79ACCEPT79ANTENNAPOWER81Table C-1Antenna LNA Power Configuration81ASSIGN82CLOCKADJUST83COMn84COMn_DTR84COMn_RTS85CONFIG86CRESET87CSMOOTH88DATUM89DGPSTIMEOUT90DIFF_PROTOCOL Differential Protocol Control91DYNAMICS92ECUTOFF93EXTERNALCLOCK94Table C-2Default Values of Process Noise Elements95EXTERNALCLOCK FREQUENCY96FIX HEIGHT97FIX POSITION98FIX VELOCITY99FREQUENCY_OUT100FRESET101HELP102Figure C-1HELP Command Screen Display102Figure C-2Appended Command Screen Display102IONOMODEL waas103LOCKOUT104LOG105MAGVAR106Figure C-3Illustration of Magnetic Variation & Correction107MESSAGES108POSAVE109RESET110RESETHEALTH111RESETHEALTHALL111RINEX Receiver-Independent Exchange Format112RTCM16T113RTCMRULE114RTKMODE115SAVEALMA119SAVECONFIG120SEND121Figure C-4Using SEND Command121SENDHEX122SETDGPSID123SETHEALTH124SETL1OFFSET125SETNAV126Figure C-5Illustration of SETNAV Parameters127SETTIMESYNC128UNASSIGN129UNASSIGNALL129UNDULATION130Figure C-6 Illustration of Undulation130UNFIX131UNLOCKOUT131UNLOCKOUTALL131UNLOG132UNLOGALL132USERDATUM133VERSION134WAASCORRECTION waas135DLogs summary136Log Descriptions136ALMA/B Decoded Almanac136BSLA/B Baseline Measurement RTK141Table D-1GPSCard Solution Status143Table D-2Position Type143Table D-3RTK Status for Position Type 3 (RT-20)143Table D-4RTK Status for Position Type 4 (RT-2)143CDSA/BCommunication and Differential Decode Status144CLKA/B Receiver Clock Offset Data147CLMA/B Receiver Clock Model149CMR Standard Logs151COM1A/B and COM2A/BPass-Through Logs152DOPA/B Dilution of Precision153ETSA/B Extended Tracking Status155FRMA/B Framed Raw Navigation Data157GGAB Global Position System Fix Data (Binary Format Only)158GPALM Almanac Data159GPGGA Global Position System Fix Data160GPGLL Geographic Position 161GPGRS GPS Range Residuals for Each Satellite162GPGSA GPS DOP and Active Satellites163GPGST Pseudorange Measurement Noise Statistics164GPGSV GPS Satellites in View165GPRMB Navigation Information166GPRMC GPS Specific Information167GPVTG Track Made Good And Ground Speed168GPZDA UTC Time and Date169GPZTG UTC & Time to Destination Waypoint170MKPA/B Mark Position171MKTA/B Time of Mark Input172NAVA/B Waypoint Navigation Data173Figure D-1 Example of Navigation Parameters175PAVA/B Position Averaging Status176POSA/B Computed Position178PRTKA/B Computed Position (RTK)179PVAA/B XYZ Position, Velocity and Acceleration181PXYA/B Computed Cartesian Coordinate Position183Figure D-2The WGS84 ECEF Coordinate System185RALA/B Raw Almanac186RASA/B RAW ALMANAC SET187RBTA/B Satellite Broadcast Data: Raw Bits189RCCA Receiver Configuration190RCSA/B Receiver Status191REPA/B Raw Ephemeris192RGEA/B/D Channel Range Measurements193Table D-5Receiver Self-Test Status Codes196Table D-6Range Record Format (RGED only)199Table D-7Channel Tracking Status201RINEX202RPSA/B Reference Station Position and Health203RTCA Standard Logs204RTCM Standard Logs204RTKA/B Computed Position - Time Matched RTK205RTKOA/B RTK Solution Parameters RTK207Table D-8Ambiguity Types209Table D-9Searcher Status209Table D-10RTK Status209RVSA/B Receiver Status210SATA/B Satellite Specific Data212Table D-11 GPSCard Range Reject Codes213SPHA/B Speed and Direction Over Ground215SVDA/BSV Position in ECEF XYZ Coordinates with Corrections216TM1A/B Time of 1PPS218VERA/B Receiver Hardware and Software Version Numbers219VLHA/B Velocity, Latency, and Direction over Ground220Table D-12 GPSCard Velocity Status221WALA/B WAAS Almanac waas222Table D-13Health and Status Bits223Table D-14Data ID Type223Data ID223Type (Service Provider)223WRCA/B Wide Band Range Correction (Grouped Format)224EComparison Of RT-2 And RT-20225E.1 RT-2 & RT-20 Performance225Table E-1Comparison of RT-2 and RT-20225Table E-2RTK Messages Vs. Accuracy225RT-2 Performance226Table E-3RT-2 Performance: Static Mode226Table E-4RT-2 Performance: Kinematic Mode226Table E-5RT-2 Degradation With Respect To Data Delay ¿226Figure E-1Typical RT-2 Horizontal Convergence - Static Mode227Figure E-2Typical RT-2 Horizontal Convergence - Kinematic Mode227Figure E-3RT-2 Accuracy Convergence228Figure E-4Illustration of RT-2 Steady State Performance228RT-20 Performance228Table E-6RT-20 Performance229Figure E-5 Typical RT-20 Convergence - Static Mode229Figure E-6Typical RT-20 Convergence - Kinematic Mode230Figure E-7RT-20 Steady State Performance230E.2 Performance Considerations231Performance Degradation231Figure E-8RT-20 Re-initialization Process232FStandards and References233GGeodetic Datums234Table G-1Reference Ellipsoid Constants234Table G-2Transformation Parameters (Local Geodetic to WGS84)234HSome Common Unit Conversions236H.3Temperature H.4Weight236H.5Hexadecimal And Binary Equivalents236H.6GPS Time of Week to Calendar Day (example)237H.6.1 Calendar Date to GPS Time (e.g. 11:30 hours, January 22, 1995)237IInformation Messages238Type 1 Information Messages238!ERRA238Table I-1Type 1 !ERRA Types238!MSGA238Table I-2Type 1 !MSGA Types239Type 2 Information Messages239JListing Of Tables242Table 1-1GPSCard Pseudorange Differential Initialization Summary243Table 1-2Latency-Induced Extrapolation Error243Table 2-1Commands By Function Table243Table 2-2GPSCard Command Summary246Table 3-1Logs By Function Table248Table 3-2GPSCard Log Summary250Table 4-1Positioning Modes251Table C-1Antenna LNA Power Configuration251Table C-2Default Values of Process Noise Elements251Table C-3VARF Range (Software Version 4.42 or higher)251Table D-1GPSCard Solution Status252Table D-2Position Type252Table D-3RTK Status for Position Type 3 (RT-20)252Table D-4RTK Status for Position Type 4 (RT-2)253Table D-5Receiver Self-Test Status Codes253Table D-6Range Record Format (RGED only)254Table D-7Channel Tracking Status255Table D-8Ambiguity Types257Table D-9Searcher Status257Table D-10RTK Status257Table D-11 GPSCard Range Reject Codes258Table D-12 GPSCard Velocity Status258Table E-1Comparison of RT-2 and RT-20258Table E-2RTK Messages Vs. Accuracy258Table E-3RT-2 Performance: Static Mode259Table E-4RT-2 Performance: Kinematic Mode259Table E-5RT-2 Degradation With Respect To Data Delay 1259Table E-6RT-20 Performance259KGPS Glossary of Terms260LGPS Glossary of Acronyms268MIndex270OM-20000041 Rev 1 98/11/03276Größe: 5,33 MBSeiten: 276Language: EnglishHandbuch öffnen