Novatel OM-20000041 用户手册
D
Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
205
RTKA/B
Computed Position - Time Matched
RTK
This log represents positions that have been computed from time matched reference and remote observations.
There is no reference station extrapolation error on these positions but because they are based on buffered
measurements, they lag real time by some amount depending on the latency of the data link. If the remote receiver
has not been enabled to accept RTK differential data, or is not actually receiving data leading to a valid solution,
this will be reflected by the code shown in field #16 (RTK status) and #17 (position type).
There is no reference station extrapolation error on these positions but because they are based on buffered
measurements, they lag real time by some amount depending on the latency of the data link. If the remote receiver
has not been enabled to accept RTK differential data, or is not actually receiving data leading to a valid solution,
this will be reflected by the code shown in field #16 (RTK status) and #17 (position type).
The data in the logs will change only when a reference observation (RTCM Type 59 or the corresponding RTCA
Type 7) changes. If the log is being output at a fixed rate and the differential data is interrupted, then the
Type 7) changes. If the log is being output at a fixed rate and the differential data is interrupted, then the
RTKA
/
B
logs will continue to be output at the same rate but the position and time will not change.
A good message trigger for this log is "
ONCHANGED
". Then, only positions related to unique reference station
messages will be produced, and the existence of this log will indicate a successful link to the reference station.
RTKA
Structure:
Example:
$RTKA,872,174962.00,8,7,7,51.11358039754,-114.04358003164,1059.4105,
-16.2617,61,0.0036,0.0039,0.0066,0,0,4,0,119*33[CR][LF]
$RTKA
week
seconds
#sv
#high
L1L2 #high
lat
lon
hgt
undulation
datum ID
lat
σ
lon
σ
hgt
σ
soln status
rtk status
posn type
dyn mode
stn ID
*xx
[CR][LF]
Field #
Field type
Data Description
Example
1
$RTKA
Log header
$RTKA
2
week
GPS week number
872
3
seconds
GPS time into the week (in seconds)
174962.00
4
#sv
Number of matched satellites; may differ from the number in view.
8
5
#high
Number of matched satellites above RTK mask angle; observations from satellites
below mask are heavily de-weighted
below mask are heavily de-weighted
7
6
L1L2 #high
Number of matched satellites above RTK mask angle with both L1 and L2 available
7
7
lat
Latitude of position in current datum, in decimal fraction format. A negative sign
implies South latitude
implies South latitude
51.11358039754
8
lon
Longitude of position in current datum, in decimal fraction format. A negative sign
implies West longitude
implies West longitude
-114.04358003164
9
hgt
Height of position in current datum, in meters above mean sea level
1059.4105
10
undulation
Geoidal separation, in meters, where positive is above ellipsoid and negative is
below ellipsoid
below ellipsoid
-16.2617
11
datum ID
Current datum (see Appendix G, Page 234)
61
12
lat
σ
Standard deviation of latitude solution element, in meters
0.0036
13
lon
σ
Standard deviation of longitude solution element, in meters
0.0039
14
hgt
σ
Standard deviation of height solution element, in meters
0.0066
15
soln status
Solution status (seeTable D-1, Page 143)
0
16
rtk status
RTK status (see Tables D-3, D-4, Page 143)
0
17
posn type
Position type (see Table D-2, Page 143)
4
18
dyn mode
Dynamics mode (0= static, 1= kinematic)
0
19
stn ID
Reference station identification (RTCM: 0 - 1023, or RTCA: 266305 - 15179385)
119
20
*xx
Checksum
*33
21
[CR][LF]
Sentence terminator
[CR][LF]