Novatel OM-20000041 マニュアル

ユーザーズマニュアル

OM-20000041 Rev 1
1
Proprietary Notice
2
- Table of Contents
  3
- Software License
  9
- Software Support
  10
- Foreword
  11
Congratulations!
11
Scope
11
Prerequisites
11
What’s New In Version 4.50?
11
- 1Quick Start
  12
1.1 Installation
12
Graphical Interface
12
1.2 Data Logging
13
1.3 differential operation
15
Establish a Data Link
15
Table 1-1GPSCard Pseudorange Differential Initialization Summary
16
Initialization - Reference Station
16
1.4rtk mode
17
Data Communications Link
17
Table 1-2Latency-Induced Extrapolation Error
17
System Initialization
18
Monitoring Your RTK Output Data
20
Options for Logging Differential Corrections
20
Initialization - Rover Station
21
- 2Command Descriptions
  23
2.1 GENERAL
23
Optional calculation of the checksum
24
2.2 Standard Command Tables
25
Table 2-1Commands By Function Table
25
Table 2-2GPSCard Command Summary
27
2.3WAAS
29
Figure 2-2The WAAS Concept
29
2.3.1 WAAS GPSCard
30
2.4Special Data Input Commands
30
2.4.1 Almanac Data
30
2.4.2 Differential Corrections Data
32
- 3Data Logs
  34
3.1 Output logging
34
3.2 NovAtel Format Data Logs
35
General
35
ASCII Log Structure
35
Binary Log Structure
35
3.3 RTK
36
3.4 NMEA format data Logs
37
General
37
3.5 GPS Time vs. Local Receiver Time
37
3.6 Standard Log Tables
38
Table 3-1Logs By Function Table
38
Table 3-2GPSCard Log Summary
41
3.7WAAS
42
3.7.1WAAS GPSCard Logs
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3.8Pass-Through Logs
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Figure 3-1 Pass-Through Log Data
43
3.8.1Command Syntax
43
3.8.2 ASCII Log Structure
43
3.8.3Binary Log Structure
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- 4Message Formats
  45
Table 4-1Positioning Modes
45
4.1 RTCA-format Messages
45
RTCA STANDARD LOGS
46
4.2 RTCM-format Messages
47
RTCM General Message Format
48
RTCM Standard Commands
49
RTCM Standard Logs
49
4.3 CMR Format messaging
55
Using RT-2 or RT-20 with CMR Format Messages
56
4.4RINEX Format
56
4.4.1 COMMANDS
57
4.4.2 LOGS
58
- AGPS Overview
  62
Figure A-1 NAVSTAR Satellite Orbit Arrangement
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a.1 GPS System Design
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The Space Segment
62
The Control Segment
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The User Segment
63
A.2 Height Relationships
63
Figure A-2Illustration of GPSCard Height Measurements
64
a.3 GPS Positioning
64
Figure A-3Accuracy versus Precision
65
Single-point vs. Relative Positioning
65
Figure A-4Example of Differential Positioning
66
Static vs. Kinematic Positioning
66
Real-time vs. Post-mission Data Processing
66
A.3.1 Differential Positioning
66
a.3.2 Pseudorange Algorithms
67
Pseudorange Differential Positioning
67
Figure A-5Single Point Averaging
69
Dual Station Differential Positioning
70
Figure A-6Typical Differential Configuration
70
a.4 Carrier-phase Algorithms
71
- BMultipath Elimination Technology
  73
b.1 Multipath
73
Figure B-1Illustration of GPS Signal Multipath
73
Why Does Multipath Occur?
73
Consequences of Multipath Reception
74
b.2 Hardware Solutions For Multipath Reduction
74
Antenna Site Selection
74
Figure B-2Illustration of GPS Signal Multipath vs. Increased Antenna Height
75
Antenna Designs
75
Figure B-3Illustration of Quadrifilar vs. Microstrip Patch Antennae
76
Antenna Ground Planes
76
NovAtel’s Internal Receiver Solutions for Multipath Reduction
76
Figure B-4Comparison of Multipath Envelopes
78
- C Commands Summary
  79
ACCEPT
79
ANTENNAPOWER
81
Table C-1Antenna LNA Power Configuration
81
ASSIGN
82
CLOCKADJUST
83
COMn
84
COMn_DTR
84
COMn_RTS
85
CONFIG
86
CRESET
87
CSMOOTH
88
DATUM
89
DGPSTIMEOUT
90
DIFF_PROTOCOL Differential Protocol Control
91
DYNAMICS
92
ECUTOFF
93
EXTERNALCLOCK
94
Table C-2Default Values of Process Noise Elements
95
EXTERNALCLOCK FREQUENCY
96
FIX HEIGHT
97
FIX POSITION
98
FIX VELOCITY
99
FREQUENCY_OUT
100
FRESET
101
HELP
102
Figure C-1HELP Command Screen Display
102
Figure C-2Appended Command Screen Display
102
IONOMODEL waas
103
LOCKOUT
104
LOG
105
MAGVAR
106
Figure C-3Illustration of Magnetic Variation & Correction
107
MESSAGES
108
POSAVE
109
RESET
110
RESETHEALTH
111
RESETHEALTHALL
111
RINEX Receiver-Independent Exchange Format
112
RTCM16T
113
RTCMRULE
114
RTKMODE
115
SAVEALMA
119
SAVECONFIG
120
SEND
121
Figure C-4Using SEND Command
121
SENDHEX
122
SETDGPSID
123
SETHEALTH
124
SETL1OFFSET
125
SETNAV
126
Figure C-5Illustration of SETNAV Parameters
127
SETTIMESYNC
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UNASSIGN
129
UNASSIGNALL
129
UNDULATION
130
Figure C-6 Illustration of Undulation
130
UNFIX
131
UNLOCKOUT
131
UNLOCKOUTALL
131
UNLOG
132
UNLOGALL
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USERDATUM
133
VERSION
134
WAASCORRECTION waas
135
- DLogs summary
  136
Log Descriptions
136
ALMA/B Decoded Almanac
136
BSLA/B Baseline Measurement RTK
141
Table D-1GPSCard Solution Status
143
Table D-2Position Type
143
Table D-3RTK Status for Position Type 3 (RT-20)
143
Table D-4RTK Status for Position Type 4 (RT-2)
143
CDSA/BCommunication and Differential Decode Status
144
CLKA/B Receiver Clock Offset Data
147
CLMA/B Receiver Clock Model
149
CMR Standard Logs
151
COM1A/B and COM2A/BPass-Through Logs
152
DOPA/B Dilution of Precision
153
ETSA/B Extended Tracking Status
155
FRMA/B Framed Raw Navigation Data
157
GGAB Global Position System Fix Data (Binary Format Only)
158
GPALM Almanac Data
159
GPGGA Global Position System Fix Data
160
GPGLL Geographic Position
161
GPGRS GPS Range Residuals for Each Satellite
162
GPGSA GPS DOP and Active Satellites
163
GPGST Pseudorange Measurement Noise Statistics
164
GPGSV GPS Satellites in View
165
GPRMB Navigation Information
166
GPRMC GPS Specific Information
167
GPVTG Track Made Good And Ground Speed
168
GPZDA UTC Time and Date
169
GPZTG UTC & Time to Destination Waypoint
170
MKPA/B Mark Position
171
MKTA/B Time of Mark Input
172
NAVA/B Waypoint Navigation Data
173
Figure D-1 Example of Navigation Parameters
175
PAVA/B Position Averaging Status
176
POSA/B Computed Position
178
PRTKA/B Computed Position (RTK)
179
PVAA/B XYZ Position, Velocity and Acceleration
181
PXYA/B Computed Cartesian Coordinate Position
183
Figure D-2The WGS84 ECEF Coordinate System
185
RALA/B Raw Almanac
186
RASA/B RAW ALMANAC SET
187
RBTA/B Satellite Broadcast Data: Raw Bits
189
RCCA Receiver Configuration
190
RCSA/B Receiver Status
191
REPA/B Raw Ephemeris
192
RGEA/B/D Channel Range Measurements
193
Table D-5Receiver Self-Test Status Codes
196
Table D-6Range Record Format (RGED only)
199
Table D-7Channel Tracking Status
201
RINEX
202
RPSA/B Reference Station Position and Health
203
RTCA Standard Logs
204
RTCM Standard Logs
204
RTKA/B Computed Position - Time Matched RTK
205
RTKOA/B RTK Solution Parameters RTK
207
Table D-8Ambiguity Types
209
Table D-9Searcher Status
209
Table D-10RTK Status
209
RVSA/B Receiver Status
210
SATA/B Satellite Specific Data
212
Table D-11 GPSCard Range Reject Codes
213
SPHA/B Speed and Direction Over Ground
215
SVDA/BSV Position in ECEF XYZ Coordinates with Corrections
216
TM1A/B Time of 1PPS
218
VERA/B Receiver Hardware and Software Version Numbers
219
VLHA/B Velocity, Latency, and Direction over Ground
220
Table D-12 GPSCard Velocity Status
221
WALA/B WAAS Almanac waas
222
Table D-13Health and Status Bits
223
Table D-14Data ID Type
223
Data ID
223
Type (Service Provider)
223
WRCA/B Wide Band Range Correction (Grouped Format)
224
- EComparison Of RT-2 And RT-20
  225
E.1 RT-2 & RT-20 Performance
225
Table E-1Comparison of RT-2 and RT-20
225
Table E-2RTK Messages Vs. Accuracy
225
RT-2 Performance
226
Table E-3RT-2 Performance: Static Mode
226
Table E-4RT-2 Performance: Kinematic Mode
226
Table E-5RT-2 Degradation With Respect To Data Delay ¿
226
Figure E-1Typical RT-2 Horizontal Convergence - Static Mode
227
Figure E-2Typical RT-2 Horizontal Convergence - Kinematic Mode
227
Figure E-3RT-2 Accuracy Convergence
228
Figure E-4Illustration of RT-2 Steady State Performance
228
RT-20 Performance
228
Table E-6RT-20 Performance
229
Figure E-5 Typical RT-20 Convergence - Static Mode
229
Figure E-6Typical RT-20 Convergence - Kinematic Mode
230
Figure E-7RT-20 Steady State Performance
230
E.2 Performance Considerations
231
Performance Degradation
231
Figure E-8RT-20 Re-initialization Process
232
- FStandards and References
  233
- GGeodetic Datums
  234
Table G-1Reference Ellipsoid Constants
234
Table G-2Transformation Parameters (Local Geodetic to WGS84)
234
- HSome Common Unit Conversions
  236
H.3Temperature H.4Weight
236
H.5Hexadecimal And Binary Equivalents
236
H.6GPS Time of Week to Calendar Day (example)
237
H.6.1 Calendar Date to GPS Time (e.g. 11:30 hours, January 22, 1995)
237
- IInformation Messages
  238
Type 1 Information Messages
238
!ERRA
238
Table I-1Type 1 !ERRA Types
238
!MSGA
238
Table I-2Type 1 !MSGA Types
239
Type 2 Information Messages
239
- JListing Of Tables
  242
Table 1-1GPSCard Pseudorange Differential Initialization Summary
243
Table 1-2Latency-Induced Extrapolation Error
243
Table 2-1Commands By Function Table
243
Table 2-2GPSCard Command Summary
246
Table 3-1Logs By Function Table
248
Table 3-2GPSCard Log Summary
250
Table 4-1Positioning Modes
251
Table C-1Antenna LNA Power Configuration
251
Table C-2Default Values of Process Noise Elements
251
Table C-3VARF Range (Software Version 4.42 or higher)
251
Table D-1GPSCard Solution Status
252
Table D-2Position Type
252
Table D-3RTK Status for Position Type 3 (RT-20)
252
Table D-4RTK Status for Position Type 4 (RT-2)
253
Table D-5Receiver Self-Test Status Codes
253
Table D-6Range Record Format (RGED only)
254
Table D-7Channel Tracking Status
255
Table D-8Ambiguity Types
257
Table D-9Searcher Status
257
Table D-10RTK Status
257
Table D-11 GPSCard Range Reject Codes
258
Table D-12 GPSCard Velocity Status
258
Table E-1Comparison of RT-2 and RT-20
258
Table E-2RTK Messages Vs. Accuracy
258
Table E-3RT-2 Performance: Static Mode
259
Table E-4RT-2 Performance: Kinematic Mode
259
Table E-5RT-2 Degradation With Respect To Data Delay 1
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Table E-6RT-20 Performance
259
- KGPS Glossary of Terms
  260
- LGPS Glossary of Acronyms
  268
- MIndex
  270
- OM-20000041 Rev 1 98/11/03
  276

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Novatel OM-20000041 マニュアル

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