Manuais de utilizador para Novatel OM-20000041

índice analítico

• 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

  42
• 3.8Pass-Through Logs

  42
• 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

  44
  • 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

  62
• a.1 GPS System Design

  62
• The Space Segment

  62
• The Control Segment

  63
• 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

  128
• UNASSIGN

  129
• UNASSIGNALL

  129
• UNDULATION

  130
• Figure C-6 Illustration of Undulation

  130
• UNFIX

  131
• UNLOCKOUT

  131
• UNLOCKOUTALL

  131
• UNLOG

  132
• UNLOGALL

  132
• 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

  259
• 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