TERSUS GNSS RTK Board Series, Precis-BX316, Precis-BX306, Precis-BX306Z User Manual

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User Manual

Log & Command Reference

For Precis-BX306 & BX306Z & BX316 GNSS RTK Board

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Version V1.0-20170906

sales@tersus-gnss.com & support@tersus-gnss.com

Table of Content

1 General Description ....................................................................................................6

1.1 Output Format ............................................................................................................ 6

1.2 NMEA Sentence ......................................................................................................... 6

1.2.1 General Sentence Format .................................................................................... 6

1.2.2 Talker Sentences ................................................................................................. 6

1.2.3 GGA Sentence Format ........................................................................................ 7

1.2.4 RMC Sentence .................................................................................................... 8

1.2.5 VTG Sentence..................................................................................................... 9

1.2.6 GSA Sentence ..................................................................................................... 9

1.2.7 GSV Sentence ................................................................................................... 10

2 Commands ................................................................................................................10

2.1 Overview of Command System ............................................................................... 10

2.2 Command Reference ................................................................................................ 11

2.2.1 ANTENNAMODE ........................................................................................... 11

2.2.2 COM ................................................................................................................. 12

2.2.3 DGPSTXID ...................................................................................................... 12

2.2.4 ECUTOFF ........................................................................................................ 13

2.2.5 FIX .................................................................................................................... 13

2.2.6 FRESET ............................................................................................................ 14

2.2.7 INTERFACEMODE ........................................................................................ 14

2.2.8 LOG .................................................................................................................. 15

2.2.9 LOGFILE ......................................................................................................... 15

2.2.10 MARKCONTROL ........................................................................................... 16

2.2.11 NMEATALKER ............................................................................................... 17

2.2.12 PPSCONTROL ................................................................................................. 17

2.2.13 POSAVE ........................................................................................................... 17

2.2.14 PSRDIFFTIMEOUT ........................................................................................ 18

2.2.15 RESET .............................................................................................................. 19

2.2.16 RTKCOMMAND ............................................................................................. 19

2.2.17 RTKSOURCE .................................................................................................. 19

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2.2.18 RTKTIMEOUT ................................................................................................ 20

2.2.19 SAVECONFIG ................................................................................................. 20

2.2.20 SERIALCONFIG ............................................................................................. 20

2.2.21 SHOWCONFIG................................................................................................ 21

2.2.22 UNDULATION ................................................................................................ 21

2.2.23 UNLOG ............................................................................................................ 22

2.2.24 UNLOGALL .................................................................................................... 22

3. Logs……………………………………………………………………………….23

3.1 Log reference ........................................................................................................... 23

3.1.1 BDSEPHEMERIS ............................................................................................ 23

3.1.2 BESTPOS ......................................................................................................... 24

3.1.3 BESTVEL ......................................................................................................... 25

3.1.4 BESTXYZ ........................................................................................................ 25

3.1.26 CMROBS ......................................................................................................... 26

3.1.27 CMRREF .......................................................................................................... 26

3.1.28 CMRDESC ....................................................................................................... 26

3.1.29 CMRPLUS ....................................................................................................... 26

3.1.5 GPGGA ............................................................................................................ 27

3.1.6 GPGLL ............................................................................................................. 27

3.1.7 GPGSA ............................................................................................................. 28

3.1.8 GPGSV ............................................................................................................. 28

3.1.9 GPVTG ............................................................................................................. 29

3.1.10 GPZDA ............................................................................................................. 29

3.1.11 GPRMC ............................................................................................................ 29

3.1.12 GPGST ............................................................................................................. 29

3.1.13 GPGRS ............................................................................................................. 30

3.1.14 GPSEPHEM ..................................................................................................... 30

3.1.15 GLOEPHEMERIS ............................................................................................ 32

3.1.16 IONUTC ........................................................................................................... 35

3.1.17 LOGLIST ......................................................................................................... 35

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3.1.18 MARKTIME .................................................................................................... 36

3.1.19 PASSCOMx ..................................................................................................... 36

3.1.20 PSRDOP ........................................................................................................... 37

3.1.21 RANGE ............................................................................................................ 37

3.1.22 RANGECMP .................................................................................................... 40

3.1.23 RTCM messages ............................................................................................... 42

3.1.24 SATVIS ............................................................................................................ 44

3.1.25 TIME ................................................................................................................ 44

3.1.26 TRACKSTAT ................................................................................................... 45

3.1.27 VERSION ......................................................................................................... 45

4 RTK Configuration Example ....................................................................................46

5 Terminology ..............................................................................................................47

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List of Tables

Table 1 NMEA taker identifier for GSV/GSA .......................................................................... 8

Table 2 NMEA taker identifier for GGA/RMC/VTG/GST/ZDA ............................................. 8

Table 3 Antennamode .............................................................................................................. 11

Table 4 Configuring serial port baud rate ................................................................................ 12

Table 5 Sets DGPS station ID ................................................................................................. 12

Table 6 ECUTOFF .................................................................................................................. 13

Table 7 Fix the coordinate of the base station ......................................................................... 13

Table 8 Reset to factory mode and freset options ................................................................... 14

Table 9 Value definition .......................................................................................................... 14

Table 10 Configuring serial port mode ................................................................................... 15

Table 11 Save current configuration ....................................................................................... 15

Table 12 Logfile ...................................................................................................................... 16

Table 13 MARKCONTROL ................................................................................................... 16

Table 14 Change the NMEA talker during NMEA output ...................................................... 17

Table 15 PPSCONTROL ........................................................................................................ 17

Table 16 Implements base station position averaging ............................................................. 18

Table 17 PSRDIFFTIMEOUT ................................................................................................ 18

Table 18 RESET ...................................................................................................................... 19

Table 19 Sets the RTK correction source ................................................................................ 19

Table 20 Sets the RTK correction source ................................................................................ 19

Table 21 RTKTIMEOUT ........................................................................................................ 20

Table 22 Save current configuration ....................................................................................... 20

Table 23 Configuring serial port settings ................................................................................ 20

Table 24 Serial port mode ....................................................................................................... 20

Table 25 SHOWCONFIG ....................................................................................................... 21

Table 26 Undulation ................................................................................................................ 21

Table 27 Cancel a particular output......................................................................................... 22

Table 28 Cancel all output ....................................................................................................... 22

Table 29 BDSEPHEMERIS .................................................................................................... 23

Table 30 BESTPOS ................................................................................................................. 25

Table 31 BESTVEL ................................................................................................................ 25

Table 32 BESTXYZ ................................................................................................................ 25

Table 33 CMROBS ................................................................................................................. 26

Table 34 CMRREF .................................................................................................................. 26

Table 35 CMRDESC ............................................................................................................... 26

Table 36 CMRPLUS ............................................................................................................... 26

Table 37 Sets the RTK correction source ................................................................................ 27

Table 38 GPGLL ..................................................................................................................... 27

Table 39 GPGSA ..................................................................................................................... 28

Table 40 GPGSV ..................................................................................................................... 28

Table 41 GPVTG .................................................................................................................... 29

Table 42 GPZDA .................................................................................................................... 29

Table 43 GPRMC .................................................................................................................... 29

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Table 44 GPGST ..................................................................................................................... 30

Table 45 GPGRS ..................................................................................................................... 30

Table 46 GPSEPHEM ............................................................................................................. 30

Table 47 GLOEPHEMERIS ................................................................................................... 32

Table 48 IONUTC ................................................................................................................... 35

Table 49 Check logged message types .................................................................................... 35

Table 50 Marktime .................................................................................................................. 36

Table 51 PASSCOMx ............................................................................................................. 36

Table 52 PSRDOP ................................................................................................................... 37

Table 53 RANGE .................................................................................................................... 37

Table 54 Tracking status.......................................................................................................... 38

Table 55 Tracking State ........................................................................................................... 39

Table 56 Correlator Type ......................................................................................................... 40

Table 57 RANGECMP ............................................................................................................ 40

Table 58 Range Record Format ............................................................................................... 41

Table 59 Collection of supported RTCM2 message ................................................................ 42

Table 60 Collection of supported RTCM3.2 message types ................................................... 43

Table 61 SATVIS .................................................................................................................... 44

Table 62 Time .......................................................................................................................... 44

Table 63 TRACKSTAT ........................................................................................................... 45

Table 64 Display version information ..................................................................................... 45

Table 65 List of terminology ................................................................................................... 47

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1 General Description

Thank you for choosing Tersus GNSS. This log and command reference book is for Precis-BX306, Precis-BX306Z and Precis-BX316 GNSS RTK boards and they have companion documents to this reference manual with details on the hardware operation. Afterwards, this document will be your primary reference guide for commands and logs. Current FW supports 1Hz output only, higher frequency will be supported by future FW, please contact Tersus support for the latest information.

1.1 Output Format

Tersus GNSS systems support NMEA0183 format, RTCM 2.X, RTCM 3.X and private observation format.

1.2 NMEA Sentence

The National Marine Electronics Association (NMEA) standard defines an electrical interface and data protocol for communications between marine instrumentation. The solution output of Tersus GNSS systems follow NMEA0183 format, so that it can be easily integrated with host devices.

1.2.1 General Sentence Format

All data is transmitted in the form of sentences. Only printable ASCII characters are allowed, plus CR (carriage return) and LF (line feed). Each sentence starts with a "$" sign and ends with <CR><LF>. Tersus GNSS systems support talker sentences.

1.2.2 Talker Sentences

The general format for a talker sentence is given below. $ttsss, d1, d2 ...*xx<CR><LF> Each sentence begins with a '$' and ends with a carriage return/line feed sequence and can be no longer than 80 characters of visible text (plus the line terminators). The data fields in a single line are separated by commas. If data for a field is not available, the

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field is omitted, but the delimiting commas are still there, with no space between them. The data may vary in the amount of precision contained in the message. For example time might be indicated to decimal parts of a second or location may be show with 3 or even 4 digits after the decimal point. Programs that read the data should only use the commas to determine the field boundaries and not depend on column positions.

1.2.3 GGA Sentence Format

GGA sentences contain Global Positioning System Fix Data, including Time, Position and fix related data for a GPS receiver.

$GxGGA,<1> ,<2>,3>,4>,5>,6>,7>,8>,9>,10>,11>,12>,13>,14>*xx<CR><LF> Gx: NMEA taker identifier. Different identifier can be applied according to user configuration, e.g. GP, GN, GL, and BD <1> Time (UTC), format: hhmmss.ss <2> Latitude, format ddmm.mmmm <3> N or S (North or South) <4>Longitude, format ddmm.mmmm <5>E or W (East or West) <6>GPS Quality Indicator: 0: unknown 1: single point positioning, 2 DGPS, 3 invalid PPS, 4 RTK fixed solution, 5: RTK float solution, 6: Estimating 7: user constrained positioning 8: Simulation 9: WAAS <7>Number of satellites in view <8> Horizontal Dilution of precision <9> Antenna Altitude above/below mean-sea-level (geoid) <10> Units of antenna altitude, meters <11> Geoidal separation, the difference between the WGS-84 earth ellipsoid and mean-sea-level (geoid), "-" means mean-sea-level below ellipsoid <12> Units of geoidal separation, meters <13>Age of differential GPS data, time in seconds since last SC104 type 1 or 9 update, null field when DGPS is not used <14> Differential reference station ID, 0000-1023 * end of sentence xx checksum of the all ASCII code <CR><LF> carriage return and line feed

Example:

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$GNGGA,031107.00,3111.4238950,N,12135.5912579,E,1,16,1.0,44.529,M,11.518,M

Type

GPS

GLONASS

BDS

AUTO

Type

GPS

GLONASS

BDS

Dual or triple constellations

AUTO

,,*41

Table 1 NMEA taker identifier for GSV/GSA

Table 2 NMEA taker identifier for GGA/RMC/VTG/GST/ZDA

1.2.4 RMC Sentence

RMC sentence contains Recommended Minimum Navigation Information $GxRMC,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,<10>,<11>*xx<CR><LF> Gx: NMEA taker identifier. Different identifier can be applied according to user configuration, e.g. GP, GN, GL and BD <1> Time (UTC), format: hhmmss.sss <2> Status, V = Navigation receiver warning <3>Latitude <4> N or S <5>Longitude <6>E or W <7>Speed over ground, knots <8>Track made good, degrees true <9>Date, format:ddmmyy <10> Magnetic Variation, degrees <11> E or W * end of sentence xx checksum of the all ASCII code <CR><LF> carriage return and line feed

Example: $GPRMC,024813.640,A,3158.4608,N,11848.3737,E,10.05,324.27,150706,,,A*50

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1.2.5 VTG Sentence

VTG contains Track Made Good and Ground Speed $GxVTG, <1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>*xx<CR><LF> Gx: NMEA taker identifier. Different identifier can be applied according to user configuration, e.g. GP, GN, GL, BD <1> Track Degrees <2>T = True <3>Track Degrees <4>M = Magnetic <5>Speed Knots <6>N = Knots <7>Speed Kilometers Per Hour <8>K = Kilometres Per Hour * end of sentence xx checksum of the all ASCII code <CR><LF> carriage return and line feed

Example: $GPVTG,89.68,T,,M,0.00,N,0.0,K*5F

1.2.6 GSA Sentence

GSA contains GPS DOP and active satellites information. $GxGSA, <1>,<2>,<3>,<4>,…,<14>,<15>,<16>,<17>*xx<CR><LF> Gx: NMEA taker identifier. Different identifier can be applied according to user configuration, e.g. GP, GN <1>Selection mode: A: automatic M: manual <2> Mode: 1: no position 2: 2D position 3:3D position <3> PRN of 1st satellite used for fix <4> PRN of 2nd satellite used for fix ... <14> PRN of 12th satellite used for fix <15> Positioning Dilution of precision (PDOP) <16> Horizontal Dilution of precision (HDOP) <17> Vertical Dilution of precision (VDOP) * end of sentence xx checksum of the all ASCII code

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<CR><LF> carriage return and line feed

Example: $GPGSA,A,3,3,10,14,16,22,25,26,29,31,32,,,1.0,0.8,0.6*06 $GLGSA,A,3,14,2,22,13,12,23,3,4,,,,,1.0,0.8,0.6*11 $BDGSA,A,3,161,162,163,164,166,167,169,170,,,,,1.0,0.8,0.6*21

Remarks: PRN: GPS: 1~32; GLONASS:1~28; BDS:161~197

1.2.7 GSV Sentence

GSV contains information of Satellites in view. $GxGSV, <1>,<2>,<3>,<4>,<5>,<6>,<7>,...*xx<CR><LF> Gx: NMEA taker identifier. Different identifier can be applied according to user configuration, e.g. GP, GN <1>total number of messages <2> message number <3> satellites in view <4>satellite number <5>elevation in degrees <6>azimuth in degrees to true <7>SNR in dB more satellite information like 4)-7) * end of sentence xx checksum of the all ASCII code CR>LF> carriage return and line feed

Example: $GPGSV,3,1,10,20,78,331,45,01,59,235,47,22,41,069,,13,32,252,45*70

2 Commands

2.1 Overview of Command System

Tersus GNSS systems allow users modify its configuration with command systems. Here are some general remarks on this command system:

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 All commands are not case-sensitive.

dgpstxid

ecutoff

fix

interfacemode

logfile

posave

rtktimeout

rtksource

serialconfig

undulation

Name

Value

 All log related command must specify the serial port. If the serial port is not

specified, then the command is applied to current port.

 If the commands are executed successfully, the board returns ok. Otherwise,

returns an error message.

 Some commands, listed in the following table, configure can be shown with

command ‘log command’, for example, you can input Log ecutoff to show the ecutoff configure.

2.2 Command Reference

2.2.1 ANTENNAMODE

This command is used to configuration which signals will be tracked by the primary and secondary antennas, respectively. It’s valid only for the receivers supporting dual antennas, including BX316, BX316R and BX316D.

The command will not work immediately after it’s inputted. Follow the following steps:

 Input ANTENNAMODE command to choose the mode.  Input SAVECONFIG  Power cycle the board or input RESET commands.

Table 3 Antennamode

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Command

ANTENNAMODE option

Example

ANTENNAMODE DUALGPSBDS

Function Parameter

Option

Specific which signals will be tracked by the two antennas. DUALGPSBDS: Primary antenna tracks GPS L1/L2, BDS B1/B2; secondary antenna tracks

GPS L1, BDS B2 DUALGPSGLO: Primary antenna tracks GPS L1/L2, GLO G1/G2; secondary antenna tracks

GPS L1, GLO G2 0 (default): Primary antenna track GPS L1/L2, GLO G1/G2, BDS B1/B2.

Name

Value

Command

COM [port] bps

Example

COM COM1 115200

Function

change baud rate of a serial port

Parameter description

port

COM1/ COM2

bps

baud rate 9600/19200/38400/57600/115200/230400/460800/921600

Name

Value

Command

DGPSTXID auto ID

Example

DGPSTXID auto 2

Function

Sets DGPS station ID

limited four character string

2.2.2 COM

This command is used to change the baud rate of the serial port to adapt its host device requirement.

Table 4 Configuring serial port baud rate

2.2.3 DGPSTXID

This command is used to set the DGPS station ID value for the receiver when it is transmitting corrections.

Table 5 Sets DGPS station ID

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2.2.4 ECUTOFF

Name

Value

Command

ECUTOFF angle

Example

ECUTOFF 15.0

Function

Sets elevation cut-off angle for all the constellations.

Name

Value

Command

Fix position latitude longitude height

Example

Fix position 31.24523012 121.58922341 40.35

Function

Fix a position to a receiver.

Parameter description

Lat

Latitude in degree (-90.0~90.0)

Lon

Longitude in degree (-180.0~180.0)

Mean sea level in meter

This command is used to set the elevation cut-off angle (unit is degree) for tracked satellites.

Table 6 ECUTOFF

2.2.5 FIX

This command is used to fix height or position to the input values. FIX POSITION should only be used for base station receivers. A station coordinate command is used to manage whether fix the station coordinate. For RTK, the coordinates should be fixed as known value when it serves as the base station. If the position is unknown, please refer to POSAVE command in 0.

FIX POSITION This command is to fix the coordinate of base station coordinate.

Table 7 Fix the coordinate of the base station

Please notice that the base coordinates are expressed in DEGREE and METER, so you need to input with right unit.

FIX NONE This command is for cancelling fixed coordinate. When switch the role of the board

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from base station to rover station, removed the fixed coordinate is necessary. In this

Name

Value

Command

FRESET option

Example

Option

NOERASE EPHEM ALMANAC UTC LAST_POSITION CONFIG bitmaskX

freset bitmask11; reset the ephemeris, almanac and last position

All the data and configure of the receiver will be erased. No data is deleted, only reset the board. Only ephemeris is reset. Only almanac is reset. Only the UTC time is reset. Only the last position is reset. Only the receiver’s configure is reset. bitmaskX can be used to reset two or more items above. X is the sum of the options’ value, which is defined in Table

EPHEM

ALMANAC

UTC

LAST_POSITION

CONFIG

case, use this command to remove the fixed coordinate.

2.2.6 FRESET

This command is used to clear all the data or part of the data which is stored in flash memory. Such data includes the almanac, ephemeris, and any user specific configurations. Options are used to choose which data will be reset.

Options are used for sophisticated customers; a general user can neglect all the options and just input FRESET to erase all the data or FRESET NOERASE to reboot the board.

Table 8 Reset to factory mode and freset options

Table 9 Value definition

2.2.7 INTERFACEMODE

This command is used to configure the read and write mode of the serial port.

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Name

Value

Command

Interfacemode port rxtype txtype resp

Example

Interfacemode COM1 auto auto on

Function

change input/output mode of serial port

Parameter description

port

the serial port number of the board,COM1 and COM2

rxtype

Receive interface mode, see Table 24

txtype

Reserve (auto)

resp

whether response commands

Name

Value

Command

LOG [port] message [trigger [period]] [hold]

Example 1

LOG COM1 BESTPOS ONTIME 7 HOLD

Function

The above example shows BESTPOS logging to com port 1 at 7 second intervals. The [hold] parameter is set so that logging is not disrupted by the UNLOGALL command.

Example 2

LOG COM1 BESTPOS ONCE NOHOLD

Table 10 Configuring serial port mode

2.2.8 LOG

This command is to requests logs from the receiver.

If the log is synchronous, the trigger is ONTIME, if it’s asynchronous, the trigger is

ONCHANGED. The unit of period is second.

The optional parameter [hold] prevents a log from being removed when the UNLOGALL command, with its defaults, is issued. To remove a log which was invoked using the [hold] parameter requires the specific use of the UNLOG command. To remove all logs that have the [hold] parameter, use the UNLOGALL command with the held field set to 1.

Table 11 Save current configuration

2.2.9 LOGFILE

This command is used to open and close a log file, saved on SD card. This command is only valid for BX316 and BX316R boards.

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Table 12 Logfile

Name

Value

Command

LOGFILE [switch]

Example

LOGFILE CLOSE

Function Parameter Description

Switch OPEN [filename] CLOSE AUTO

Manual (default)

Creates a file for saving loggings, file name is optional. Stop the file saving. The file saving will start automatically after the board is power on. The file saving will not start after the board is power on. ‘Logfile open’ must be input to start file saving.

 If you want to save the loggings automatically after the board is power on, please follow:

1) Input all the loggings to be saved, for example, input ‘log file gpgga ontime 1’, ‘log file

rangeb ontime 1’

2) Input ‘logfile auto’

3) Input ‘saveconfig’

4) Power cycle the board and file saving start.

5) Input ‘logfile close’ when file saving is completed.

The last step is recommended although it’s not mandatory. If power is off during the file saving, up to 4K data will be lost

 If you want to save the loggings manually after the board is power on, please follow:

1) Input all the loggings to be saved, for example, input ‘log file gpgga ontime 1’, ‘log file

rangeb ontime 1’

2) Input ‘saveconfig’

3) Input ‘logfile open’ when you want to start file saving.

4) Input ‘logfile close’ when file saving is completed.

If no file name is input, a name related to the board running time will be given.

2.2.10 MARKCONTROL

This command is used to control the mark inputs. Using this command, the event mark inputs can be enabled or disabled, polarity can be positive or negative, and a time offset and guard against extraneous pulses are optional.

Table 13 MARKCONTROL

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Name

Value

Command

MARKCONTROLsignal[switch[polarity[timebias [timeguard]]]]

Example

MARKCONTROL MARK1 ENABLE POSITIVE 500 100

Function Parameter Description

Switch Polarity Timebias

timeguard

Controls processing of mark inputs ENABLE or DISABLE POSITIVE or NEGATIVE

An offset, unit is ns, to be applied to the time the mark pulse is input. A time period, unit is ms, during which no response to the input pulses.

2.2.11 NMEATALKER

Name

Value

Command

Nmeatalker id

Example

Nmeatalker GP

Function

change nmeatalker

Parameter description

id GP/AUTO

Name

Value

Command

PPSCONTROL [switch [polarity [period [pulse width]]]]

Example

PPSCONTROL enable negative 1.0 2000

Function

Control the polarity, period and pulse width of the PPS signal.

This command is for NMEA talker configuration. Tersus GNSS systems can output NMEA0183 format, RTCM2.X/3.2 format and its own observation format.

Table 14 Change the NMEA talker during NMEA output

2.2.12 PPSCONTROL

This command is used to control the polarity, period and pulse width of the PPS output signal, the unit of period is second, is microseconds for pulse width.

Table 15 PPSCONTROL

2.2.13 POSAVE

This command implements position averaging for base stations. Position averaging

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continues for a specified number of hours or until the estimated averaged position

Name

Value

Command

POSAVE state [maxtime [maxhstd [maxvstd]]]

Example

POSAVE on 1 1 2

State

ON OFF

Implements position averaging for base stations.

Delete the saved posave command.

Name

Value

Command

PSRDIFFTIMEOUT delay

Example

PSRDIFFTIMEOUT 100

Function

Sets maximum age of pseudorange differential data

error is within specified accuracy limits.

Averaging stops when the time limit or the horizontal standard deviation limit or the vertical standard deviation limit is achieved. When averaging is complete, the FIX POSITION command is automatically invoked.

If initiating differential logging, then issue the POSAVE command followed by the SAVECONFIG command, the receiver averages positions after every power on or reset. It then invokes the FIX POSITION command to enable it to send differential corrections. POSAVE OFF can be input to erase the saved POSAVE command.

The unit of parameter maxtime is hour, and is meter for maxhstd (desired horizontal standard deviation 0-100m) and maxvstd (desired vertical standard deviation 0-100m). The minimal value of maxtime is 0.01, that is, 36 seconds.

Table 16 Implements base station position averaging

2.2.14 PSRDIFFTIMEOUT

This command is used to set the maximum age of pseudorange differential correction data to use when operating as a rover station. Pseudorange differential correction data whose age is more than this value will not be used by the rover.

Table 17 PSRDIFFTIMEOUT

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2.2.15 RESET

Name

Value

Command

RESET

Example

RESET

Name

Value

Command

RTKCOMMAND action

Example

RTKCOMMAND reset

Function

Resets or sets the RTK filter to defaults

action

reset/use_defaults

Name

Value

Command

RTKSOURCE type [id]

Example

RTKSOURCE RTCMV3 6

Function

Sets the RTK correction source

Set the default value

rtksource auto any

type

Auto/RTCM/RTCMV3/CMR/NONE

Any/ID (limited four character string), is null when type is NONE

This command is used to perform a software reset. No data saved in the flash memory, such as almanac and ephemeris data, or the configure, will be erased.

Table 18 RESET

2.2.16 RTKCOMMAND

This command is used to reset the RTK filter or clear any set RTK parameters. The RESET parameter causes the RTK algorithm to undergo a complete reset.

Table 19 Sets the RTK correction source

2.2.17 RTKSOURCE

This command is used to set the RTK correction source, identify from which base station to accept RTK (RTCM, RTCMV3, CMR differential corrections.

Table 20 Sets the RTK correction source

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2.2.18 RTKTIMEOUT

Name

Value

Command

RTKTIMEOUT delay

Example

RTKTIMEOUT 40

Function

Sets maximum age of RTK data

Name

Value

Command

saveconfig

Example

saveconfig

Function

Save current configuration to flash

Name

Value

Command

SERIALCONFIG [port]baud[parity[databits[stopbits]]]

Example

serialconfig com1 9600 n 8 1

Function

configure serial port settings

Mode

Description

This command is used to set the maximum age (unit second) of RTK data to use when operating as a rover station.

Table 21 RTKTIMEOUT

2.2.19 SAVECONFIG

This command is used to save current configurations to flash. The saved configurations are still valid even if the board is rebooted.

Table 22 Save current configuration

2.2.20 SERIALCONFIG

This command is to configure serial port settings.

Table 23 Configuring serial port settings

Table 24 Serial port mode

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Auto

Identify commands and corrections format automatically

RTCMV3

The port accepts/generates RTCM Version3.X corrections and commands

RTCMV2

The port accepts/generates RTCM Version2.X corrections and commands

CMR

The port accepts/generates CMR/CMR+ corrections and commands

2.2.21 SHOWCONFIG

Name

Value

Command

SHOWCONFIG

Example

SHOWCONFIG

Function

To show all the configuration of the receiver, including ports config, loglist and commands input, etc.

Name

Value

Command

UNDULATION option [separation]

Example

UNDULATION USER -1.006

Function Parameter

Option

Specific geoidal undulation value. OSU89B/EGM96(default)/USER

This command is used to show all the configuration of the receiver.

Table 25 SHOWCONFIG

2.2.22 UNDULATION

This command permits you to enter a specific geoidal undulation value. Three options are provided in the option field, the EGM96 table provides ellipsoid heights at a 1 by 1 spacing, the OSU89B table provides ellipsoid height at a 2 by 3 spacing. EGM96 is a more accurate model.

The relation between ellipsoid height and mean sea-level (MSL) height is:

h = H + N

N = geoid/ellipsoid separation or geoid undulation H = mean sea-level height or geoid height (height above the geoid) h = ellipsoidal height (height above ellipsoid)

Table 26 Undulation

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Description

separation

Is required when USER option is selected.

Name

Value

Command

Unlog port message

Example

Unlog COM1 GPGGA

Function

change input/output mode of serial port

Parameter description

port

COM1 / COM2

message

NMEA message /rtcm message/ observation message

Name

Value

Command

Unlogall [port] [held]

Example

Unlogall

Function

Cancel all output

Parameter description

port

COM1 / COM2

held

Remove previously held logs

2.2.23 UNLOG

This command is used to stop specified output, which is cancelling particular output.

Table 27 Cancel a particular output

2.2.24 UNLOGALL

This command is used to stop all output from specified serial port.

Table 28 Cancel all output

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3. Logs

Name

Value

Input

log bdsephemeris onchanged

Example

<BDSEPHEMERIS COM1 0 0.0 FINESTEERING 1943 445511.000 00000000 407 20161214 171 587 1.00 0 7.80e-09 2.30e-09 6 442800

2.07488891e-04 -8.79385453e-12 -9.48676901e-20 7 442800,5282.596361 2.1449478809e-03 -2.358018891 3.9215919215e-09

2.9904806491e+00 -2.33 90842837e+00 -7.0638656669e-09

9.8075003362e-01 2.7715440174e-10 2.2682361305e-06

3.2796524465e-06 3.0654687500e+02 4.7078125000e+01

-4.2840838432e-08 -5.6810677052e-08

Function

Decoded BDS ephemeris.

Field

Description

Type

Binary Bytes

Offset

BDSEPHE M header

Log header

H 0 2

satellite ID

ID/ranging code, start from 161

Ulong

4 H 3

Week

Week numbe

Ulong

H+4

URA

User range accuracy (metres). This is the evaluated URAI/URA lookup-table value

Double

H+8

health 1

Autonomous satellite health flag. 0 means broadcasting satellite is good and 1 means not.

Ulong

H+16

tgd1

Equipment group delay differential for the B1 signal (seconds)

Double

H+20

tgd2

Equipment group delay differential for the B2 signal (seconds)

Double

H+28 8

AODC

Age of data, clock

Ulong

H+36

toc

Reference time of clock parameters

Ulong

H+40

3.1 Log reference

3.1.1 BDSEPHEMERIS

This log contains a single set of BDS ephemeris parameters with appropriate scaling applied. Multiple messages are transmitted, one for each SV ephemeris collected.

Table 29 BDSEPHEMERIS

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Constant term of clock correction polynomial (seconds)

Double

H+44

Linear term of clock correction polynomial (seconds/ seconds)

Double

H+52

Quadratic term of clock correction polynomial (seconds/ seconds^2)

Double

H+60 13

AODE

Age of data, ephemeris

Ulong

H+64

toe

Reference time of ephemeris parameters

Ulong

H+68

RootA

Square root of semi-major axis (sqrt(metres))

Double

H+76

ecc

Eccentricity (sqrt(metres))

Double

H+84

Argument of perigee

Double

H+92

ΔN

Mean motion difference from computed value (radians/ second)

Double

H+10 0

Mean anomaly at reference time (radians)

Double

H+10 8

Ω0

Longitude of ascending node of orbital of plane computed according to reference time (radians)

Double

H+11 6

Ω dot

Rate of right ascension (radians/second)

Double

H+12 4

Inclination angle at reference time (radians)

Double

H+13 2

IDOT

Rate of inclination angle (radians/second)

Double

H+14 0

cuc

Amplitude of cosine harmonic correction term to the argument of latitude (radians)

Double

H+14 8

cus

Amplitude of sine harmonic correction term to the argument of latitude (radians)

Double

H+15 6

crc

Amplitude of cosine harmonic correction term to the orbit radius (metres)

Double

H+16 4

crs

Amplitude of sine harmonic correction term to the orbit radius (metres)

Double

H+17 2

cic

Amplitude of cosine harmonic correction term to the angle of inclination (radians)

Double

H+18 0

cis

Amplitude of sine harmonic correction term to the angle of inclination (radians)

Double

H+18 8

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

H+19 6

[CR][LF]

Sentence terminator (ASCII only)

- - -

3.1.2 BESTPOS

This log contains the best position solution computed by the receiver. It also reports

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several status indicators, including differential age. A differential age of 0 indicates

Name

Value

Input

log bestpos ontime 1

Example

BESTPOS COM2 0 81.000000 FINE 1942 184263.200000 00000000 53928672 18 <SOL_COMPUTED SINGLE 31.19041517905 121.59317866614

37.9262 0.0000 WGS84 0.4609 0.4584 0.4594 "0000" 0.000 0.000 30 30 0 30 0 00 00 00

Function

Best position

Name

Value

Input

log bestvel ontime 1

Example

BESTVEL COM2 0 85.000000 FINE 1942 184402.600000 00000000 54068072 18 <SOL_COMPUTED DOPPLER_VELOCITY 0 0.0000 0.0271

121.117463 0.0449 0.0

Function

Best available velocity data.

Name

Value

Input

log bestxyz ontime 1

Example

BESTXYZ COM2 0 85.000000 FINE 1942 184489.800000 00000000 54155271 18

that no differential correction was used.

Table 30 BESTPOS

3.1.3 BESTVEL

This log contains the best available velocity information computed by the receiver. In addition, it reports a velocity status indicator, which is useful to indicate whether or not the corresponding data is valid.

Table 31 BESTVEL

3.1.4 BESTXYZ

This log contains the receiver’s best available position and velocity in ECEF

coordinates. The position and velocity status fields indicate whether or not the corresponding data is valid.

Table 32 BESTXYZ

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<SOL_COMPUTED SINGLE -2860996.5850 4651724.3093

3283991.6664 0.4438 0.4415 0.4328 SOL_COMPUTED DOPPLER_VELOCITY -0.0117 0.0445 -0.0083 0.0123 0.0128 0.0121 "0000" 0 0.000 0.000 30 30 0 30 0 00 00 00

Function

Best available cartesian position and velocity

3.1.26 CMROBS

Name

Value

Command

LOG COM2 CMROBS ONTIME 1

Function

BASE Station Satellite Observation Information

Name

Value

Command

LOG COM2 CMRREF ONTIME 10

Function

BASE Station Satellite Observation Information

Name

Value

Command

LOG COM2 CMRDESC ONTIME 10

Function

BASE Station Satellite Observation Information

Name

Value

A proprietary RTK data transmission standard from Trimble Navigation Ltd.

Table 33 CMROBS

3.1.27 CMRREF

A proprietary RTK data transmission standard from Trimble Navigation Ltd.

Table 34 CMRREF

3.1.28 CMRDESC

A proprietary RTK data transmission standard from Trimble Navigation Ltd.

Table 35 CMRDESC

3.1.29 CMRPLUS

A proprietary RTK data transmission standard from Trimble Navigation Ltd.

Table 36 CMRPLUS

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Command

LOG COM2 CMRPLUS ONTIME 1

Function

BASE Station Satellite Observation Information

3.1.5 GPGGA

Name

Value

Input

log gpgga ontime 1

Example

$GNGGA,030405.60,3111.42512346,N,12135.59044629,E,1,24,0 .6,28.2297,M,11.5902,M,00,0000*4A

Function

Log positioning solution and status in NMEA format

Parameter description

Message

gpgga/gpgsa/gpgsv/gpvtg/gprmc

Interval

1 or above (below 1 will be supported later)

This log contains time, position and fixes related data of the GNSS receiver. The GPGGA log outputs these messages without waiting for a valid almanac.

Table 37 Sets the RTK correction source

The NMEA (National Marine Electronics Association) has defined standards that specify how electronic equipment for marine users communicates. GNSS receivers are part of this standard and the NMEA has defined the format for several GNSS data logs otherwise known as 'sentences'. Each NMEA sentence begins with a '$' followed by the prefix 'GL' or ‘GN’ followed by a sequence of letters that define the type of information contained in the sentence. Data contained within the sentence is separated by commas and the sentence is terminated with a two digit checksum followed by a carriage return/line feed. Here is an example of a NMEA sentence describing time, position and fix related data.

$GNGGA,032845.00,3111.4246954,N,12135.5908737,E,1,27,1.0,26.120,M,11.518, M,,*48. The GPGGA sentence shown above and other NMEA logs are output the same no matter what GNSS receiver is used, providing a standard way to communicate and process GNSS information.

3.1.6 GPGLL

This log contains latitude and longitude of present vessel position, time of position fix and status.

Table 38 GPGLL

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Name

Value

Input

log gpgll ontime 1

Example (GPS only)

$GPGLL,3111.4253764,N,12135.5908779,E,015133.00,A,A*7C

Example (Combined GPS/GLONASS/BDS)

$GNGLL,3111.4253694,N,12135.5908841,E,015128.00,A,A*7C Function

Geographic position

3.1.7 GPGSA

Name

Value

Input

log gpgsa ontime 1

Example (GPS only)

$GPGSA,A,3,10,12,14,25,26,29,31,32,,,,,1.0,0.8,0.6*31

Example (Combined GPS /GLONASS/BDS)

$GPGSA,A,3,10,12,14,18,22,25,26,29,31,32,,,0.9,0.8,0.6*30 $GLGSA,A,3,6,9,16,15,5,17,4,,,,,,0.9,0.8,0.6*22 $BDGSA,A,3,161,162,163,164,166,167,169,170,,,,,0.9,0.8,0.6*29

Function

GPS DOP and active satellites

Name

Value

Input

log gpgsv ontime 1

Example (Combined GPS/GLONASS/BDS)

$GPGSV,3,1,11,03,15,264,44,04,,,50,14,38,158,46,16,62,285,51*45 … $GLGSV,3,3,09,17,22,160,49*50 … $BDGSV,3,3,09,170,50,305,47*67

Function

Satellites in view

This log contains GNSS receiver operating mode, satellites used for navigation and DOP values. The GPGSA log outputs these messages without waiting for a valid almanac.

Table 39 GPGSA

3.1.8 GPGSV

This log contains the number of GPS SVs in view, PRN numbers, elevation, and azimuth and SNR value.

Table 40 GPGSV

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3.1.9 GPVTG

Name

Value

Input

log gpvtg ontime 1

Example (GPS only)

$GPVTG,47.251,T,47.251,M,0.124,N,0.230,K,A*3B

Example (Combined GPS/GLONASS/BDS)

$GNVTG,56.703,T,56.703,M,0.068,N,0.127,K,A*37 Function

Track made good and ground speed

Name

Value

Input

log gpzda ontime 1

Example

$GNZDA,053045.00,07,04,2017,00,*78

Function

UTC time and date

Name

Value

Input

log gprmc ontime 1

Example (GPS only)

$GPRMC,033255.00,A,3111.4246749,N,12135.5908896,E,0.065,

0.0,070417,0.0,E,A*04

Example (Combined GPS/GLONASS/BDS)

$GNRMC,030840.40,A,3111.42520653,N,12135.59053522,E,0.0 38,138.4,280317,0.0,E,A*22

Function

GPS specific information

This log contains the track made good and speed relative to the ground.

Table 41 GPVTG

3.1.10 GPZDA

The GPSZDA log outputs the UTC date and time.

Table 42 GPZDA

3.1.11 GPRMC

This log contains time, date, position, track made good and speed data provided by the GPS navigation receiver.

Table 43 GPRMC

3.1.12 GPGST

This log contains pseudorange measurement noise statistics are translated in the

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position domain in order to give statistical measures of the quality of the position

Name

Value

Input

log gpgst ontime 1

Example (GPS only)

$GPGST,033407.00,0.00,0.00,0.00,0.0000,0.45,0.43,0.45*63

Example (Combined GPS/GLONASS/BDS)

$GNGST,033437.00,0.00,0.00,0.00,0.0000,0.44,0.42,0.44*61 Function

Pseudorange measurement noise statistics

Name

Value

Input

log gpgrs ontime 1

Example (GPS only)

$GPGRS,033854.00,1,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,,*47

Example (Combined GPS /GLONASS/BDS)

$GPGRS,033950.00,1,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,,*42 $GLGRS,033950.00,1,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,,,,*13 $BDGRS,033950.00,1,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,,*4B

Function

GPS range residuals for each satellite

Name

Value

Input

log gpsephem onchanged

Example

<GPSEPHEM COM1 0 0.0 FINESTEERING 1943 445309.000 00000000 407 20161214 3 439200.0 0 30 30 1943 1943 446400.0

2.656135670e+07 4.344466679e-09 2.021661162e+00

5.580164725e-04 1.520378678e-01 -1.028180122e-06

solution.

Table 44 GPGST

3.1.13 GPGRS

This log reports the range residuals. The residuals are recomputed after the position solution in the GPGGA message is computed.

Table 45 GPGRS

3.1.14 GPSEPHEM

This log contains a single set of GPS ephemeris parameters. This command is used to log GPS broadcast ephemeris in ASCII format.

Table 46 GPSEPHEM

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1.158006489e-05 1.547500000e+02 -1.865625000e+01

-3.352761269e-08 1.862645149e-09 9.600372875e-01

-4.928776732e-11 -4.734842780e-01 -7.874970881e-09 30 446400.0

1.862645149e-09 -1.05151e-04 1.13687e-12 0.00000e+00 TRUE

1.458500140e-04 1.0000000e+00

Function

T Decoded GPS ephemerides.

Field

Description

Type

Binary Bytes

Offset

GPSEPHE M header

Log header

H 0 2

PRN

Satellite PRN number

Ulong

4 H 3

tow

Time stamp of subframe 1 (seconds)

Double

H+4

health

Health status - a 6-bit health code as defined in ICD-GPS-200

Ulong

H+12 5

IODE1

Issue of ephemeris data 1

Ulong

H+16

IODE2

Issue of ephemeris data 2

Ulong

H+20

week

toe week number (computed from Z count week)

Ulong

H+24

z week

Z count week number. This is the week number

from subframe 1 of the ephemeris. The ‘toe

week’ (field #7) is derived from this to account

for rollover

Ulong

H+28

toe

Reference time for ephemeris, seconds

Double

H+32

10 A Semi-major axis, metres

Double

H+40

ΔN

Mean motion difference, radians/second

Double

H+48

Mean anomaly of reference time, radians

Double

H+56

Ecc

Eccentricity, dimensionless - quantity defined for a conic section where e= 0 is a circle, e = 1 is a parabola, 0<e<1 is an ellipse and e>1 is a hyperbola

Double

H+64

Argument of perigee, radians - measurement along the orbital path from the ascending node to the point where the SV is closest to the Earth, in the direction of the SV's motion

Double

H+72

cuc

Argument of latitude (amplitude of cosine, radians)

Double

H+80

cus

Argument of latitude (amplitude of sine, radians)

Double

H+88 17

crc

Orbit radius (amplitude of cosine, metres)

Double

H+96

crs

Orbit radius (amplitude of sine, metres)

Double

H+10 4

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cic

Inclination (amplitude of cosine, radians)

Double

H+11 2

cis

Inclination (amplitude of sine, radians)

Double

H+12 0

Inclination angle at reference time, radians

Double

H+12 8

IDOT

Rate of inclination angle, radians/second

Double

H+13 6

Ω0

Right ascension, radians

Double

H+14 4

Ω dot

Rate of right ascension, radians/second

Double

H+15 2

iodc

Issue of data clock

Ulong

H+16 0

toc

SV clock correction term, seconds

Double

H+16 4

tgd

Estimated group delay difference, seconds

Double

H+17 2

af0

Clock aging parameter, seconds (s)

Double

H+18 0

af1

Clock aging parameter, (s/s)

Double

H+18 8

af2

Clock aging parameter, (s/s/s)

Double

H+19 6

Anti-spoofing on: 0 = FALSE 1 = TRUE

Double

H+20 4

Corrected mean motion, radians/second Note: This field is computed by the receiver.

Double

H+20 8

URA

User Range Accuracy variance, m2. The ICD a specifies that the URA index transmitted in the ephemerides can be converted to a nominal standard deviation value using an algorithm listed there.

Double

H+21 6

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

H+22 4

[CR][LF]

Sentence terminator (ASCII only)

Name

Value

3.1.15 GLOEPHEMERIS

This log contains GLONASS ephemeris information.

Table 47 GLOEPHEMERIS

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Input

log gloephemeris onchanged

Example

<GLOEPHEMERIS COM1 0 0.0 FINESTEERING 1943 445444.000 00000000 407 20161214 39 3 1 0 1943 445518000 10782 463 0 0 27 0 -1.3815634277343750e+07 1.9141996093750000e+07

-9.5697236328125000e+06 6.8848896026611328e+02

-1.1339406967163086e+03 -3.253355026245117 2e+03

9.3132257461547852e-07 3.7252902984619141e-06

0.0000000000000000e+00 -2.4393666535615921e-04

5.5879354476928711e-09 9.0949470177292824e-13 23400 1 0 0 13

Function

Decoded GLONASS ephemeris

Field

Description

Type

Binary Bytes

Offset

GLO EPHEMERI S header

Log header

H 0 2 sloto

Slot information offset - PRN identification (Slot + 37). This is also called SLOTO in Connect

Ushort

H 3

freqo

Frequency channel offset for satellite in the range 0 to 20

Ushort

H+2

sat type

Satellite type where 0 = GLO_SAT 1 = GLO_SAT_M (M type) 2 = GLO_SAT_K (K type)

Uchar

H+4

Reserved

H+5

e week

Reference week of ephemeris (GPS reference time)

Ushort

H+6

e time

Reference time of ephemeris (GPS reference time) in ms

Ulong

H+8

t offset

Integer seconds between GPS and GLONASS time. A positive value implies GLONASS is ahead of GPS reference time.

Ulong

H+12 9

Calendar number of day within 4 year interval starting at Jan 1 of a leap year

Ushort

H+16 10

Reserved

H+18

Reserved

H+19

issue

15 minute interval number corresponding to ephemeris reference time

Ulong

H+20

health

Ephemeris health where 0-3 = GOOD 4-15 = BAD

Ulong

H+24

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pos x

X coordinate for satellite at reference time (PZ-90.02), in metres

Double

H+28

pos y

Y coordinate for satellite at reference time (PZ-90.02), in metres

Double

H+36

pos z

Z coordinate for satellite at reference time (PZ-90.02), in metres

Double

H+44

vel x

X coordinate for satellite velocity at reference time (PZ-90.02), in metres/s

Double

H+52

vel y

Y coordinate for satellite velocity at reference time (PZ-90.02), in metres/s

Double

H+60

vel z

Z coordinate for satellite velocity at reference time (PZ-90.02), in metres/s

Double

H+68

LS acc x

X coordinate for lunisolar acceleration at reference time (PZ90.02), in metres/s/s

Double

H+76

LS acc y

Y coordinate for lunisolar acceleration at reference time (PZ-90.02), in metres/s/s

Double

H+84

LS acc z

Z coordinate for lunisolar acceleration at reference time (PZ-90.02), in metres/s/s

Double

H+92

tau_n

Correction to the nth satellite time t_n relative to GLONASS time t_c, in seconds

Double

H+10 0

delta_tau_n

Time difference between navigation RF signal transmitted in L2 sub-band and navigation RF signal transmitted in L1 sub-band by nth satellite, in seconds

Double

H+10 8 25

gamma

Frequency correction, in seconds/second

Double

H+11 6

Time of frame start (since start of GLONASS day), in seconds

Ulong

H+12 4

27 P Technological parameter

Ulong

H+12 8

User range

Ulong

H+13 2

age

Age of data, in days

Ulong

H+13 6

Flags

Information flags,

Ulong

H+14 0

xxxx

32-bit CRC (ASCII and Binary only)

Ulong

H+14 4

[CR][LF]

Sentence terminator (ASCII only)

- - -

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3.1.16 HEADING

Name

Value

Input

log heading onchanged

Example

<HEADING,COM2,0,0.0,FINESTEERING,1966,206193.000,0000000 0,912,20161214; <SOL_COMPUTED,NARROW_INT,1.134773612,33.758979797,0.0 82313374,0.0,0.000000000,0.000000000,"0000",18,18,18,18,00,23,30, 03*5cb59781

Name

Value

Input

log ionutc onchanged

Example

<IONUTC COM1 0 0.0 FINESTEERING 1943 445738.000 00000000 407 20161214 1.117587089538574e-08 1.490116119384766e-08

-5.960464477539062e-08 -5.960464477539062e-08

8.806400000000000e+04 1.638400000000000e+04

-1.966080000000000e+05 -1.310720000000000e+05 152 1 5

2.7939677238464355e-09 2.664535259e-15 137 7 18 18 0

Function

Ionospheric and UTC data.

Name

Value

This log contains the heading angle from True North of the base to rover vector in a clockwise direction. This log is only supported by BX316 and BX316D boards. Please ensure dual antennas mode is chosen before heading is output, see command antennamode in page 11 for more detail.

Table 48 heading

3.1.17 IONUTC

This log contains the Ionospheric Model parameters (ION) and the Universal Time Coordinated parameters (UTC).

Table 49 IONUTC

3.1.17 LOGLIST

This command lists all the output message.

Table 50 Check logged message types

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Input

Log loglist once

Function Example

Check output loggings. <LOGLIST COM1 0 0.0 FINESTEERING 1943 452446.000 00000000 407 20161214 <0003 <COM2 GPGGA ONTIME 1.000000 NOHOLD <COM2 GPGSV ONTIME 1.000000 NOHOLD <COM2 RANGEB ONTIME 1.000000 NOHOLD

3.1.18 MARKTIME

Name

Value

Input

log marktime onnew

Example

<MARK1TIMEA,COM1,0,0.0,FINESTEERING,1965,294881.000,00000000, 906,20161214 <1965,294881.241929,0,0.000000,0.000000,VALID*8a7a5383

Function

Event mark Time output

Name

Value

Input

log passcom1 onnew

Example

<PASSCOM1 COM1 0 0.0 FINESTEERING 1965 282002.000 00000000 906 20161214 <177\xd3\x00\xabC&KC;\xf9\xa2\x00!\xa6HQ@\x00\x00\x00\x00 \x01\x00m\xfe\xdbt\x84\x94T\xa4\xc4\xb4u%%\xf9`\xf4\xdfZvZ\xa3v q\x88qp\xcbP%\x00\x1d\xb2\xd7\xe5c\xcar\x7f,\xfaa\xf3\xef\x0e]\xec| "w\x8a\x0b.\x11HA\x00p?\xf3\x7f\xea\xff\xde\x83\x90^\x0c\xb30\x0

Marktime log contains the time of the leading edge of the detected mark input pulse. MARKTIME/MARK2TIME is generated when a pulse occurs on an event1 input or on an event2 input.

Table 51 Marktime

3.1.19 PASSCOMx

The pass-through logging enables the receiver to redirect any ASCII or binary data, input at a specified port, to any specified receiver port. It allows the receiver to perform bi-directional communications with other devices such as a modem, terminal or another receiver.

This logging can be used at the rover side to save the corrections from the base.

Table 52 PASSCOMx

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…

Function

Pass the received data from a port

Name

Value

Input

log psrdop ontime 60

Example

<PSRDOP COM1 0 0.0 FINESTEERING 1943 447720.000 00000000 407 20161214 <0.0000 0.8906 0.7136 0.0000 0.0000 0.0000 30 3 14 16 22 23 25 26 29 31 32 14 2 22 13 15 5 24 23 3 4 161 162 163 164 166 167 168 169 170 171

Function

Pseudorange DOP

Name

Value

Input

log range ontime 30

Example

log range <RANGE COM1 0 0.0 FINESTEERING 1943 446264.000 00000000 407 20161214 <59 <31 0 20926654.251 0.591 -109970306.033920 0.100 546.984 52.16

2756.000 08105c00 <31 0 20926652.893 0.947 -85691146.728299 0.100 426.195 45.37 2756.000 01305c00 … <170 0 37194658.672 0.525 -193682346.192198 0.100 713.652 46.83

2784.000 18145d20 <170 0 37194659.208 0.503 -149767479.753185 0.100 551.807 45.86

2784.000 00345d20

3.1.20 PSRDOP

The DOP (Dilution Of Precision) value is calculated using the geometry of only those satellites currently being tracked and used in the position solution. This log is updated once every 60 seconds.

Table 53 PSRDOP

3.1.21 RANGE

The RANGE log contains the raw measurements for the currently tracked satellites.

Table 54 RANGE

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Function

Satellite range information.

Field

Description

Type

Binary Bytes

Offset

Range Header

Log Header

H 0 2 #obs

Number of observations with information to follow

ULON G

PRN/slot

Satellite PRN number of range measurement GPS: 1 ~ 32

GLONASS: 1~28(slot, it’s diffrent with

$GPGSV) BDS:161~197

UShort

H+4

glofreq

(GLONASS Frequency + 7)

UShort

H+6

psr

Pseudorange measurement (m)

Double

H=8

psrstd

Pseudorange measurement standard deviation (m)

Float

H+16

adr

Carrier phase, in cycles (accumulated Doppler range)

Double

H+20

adrstd

Estimated carrier phase standard deviation (cycles)

Float

H+28 9

dopp

Instantaneous carrier Doppler frequency (Hz)

Float

H+32

C/No

Carrier to noise density ratio C/No = 10[log10(S/N0)] (dB-Hz)

Float

H+36 11

locktime

Seconds of continuous tracking(no cycle slipping)

Float

H+40

ch-tr-stat us

Tracking status(see Table 55 Tracking status)

Float

H+44

13. ..

Next PRN offset = H + 4 + (#obs x 44)

xxxx

32-bit crc(ASCII and Binary only)

Hex

H+4+ (#obs x

44)

[CR][LF ]

Sentence terminator (ASCII only)

- - Nibble

Bit

Mask

Description

Value

0x00000001

Tracking state

See Table 56 Tracking State

0x00000002

0x00000004

0x00000008

N1 4 0x00000010

SV channel number

(n-1) (0 = first, n = last) n depends on the

Table 55 Tracking status

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0x00000020

receiver

0x00000040

0x00000080

0x00000100

0x00000200

0x00000400

Phase lock flag

0 = Not locked, 1 = Locked

0x00000800

Parity known flag

0 = Not known, 1 = Known

0x00001000

Code locked flag

0 = Not locked, 1 = Locked

0x00002000

Correlator type

See Table 57 Correlator Type

0x00004000

0x00008000

0x00010000

Satellite system

0 = GPS 1 = GLONASS 4 = BEIDOU

0x00020000

0x00040000

0x00080000

0x00100000

Grouping

0 = Not grouped, 1 = Grouped

0x00200000

Signal type

GPS: 0 = L1C/A 5 = L2P 9 = L2P codeness 14 = L5 Q 17 = L2C

GLONASS 0 = L1 C/A 5 = L2 P

BD2: 0=B1 17 =B2 21 = B3

0x00400000

0x00800000

0x01000000

0x02000000

0x04000000

Reserved

0x08000000

Primary L1 channel

0 = Not primary, 1 = Primary

0x10000000

Carrier phase measurement

0 = Half Cycle Not Added 1 = Half Cycle Added

0x20000000

Reserved

0x40000000

PRN lock flag

0 = PRN Not Locked Out 1 = PRN Locked Out

0x80000000

Channel assignment

0 = Automatic 1 = Forced

State

Description

Idle 1 Sky Search

Wide frequency band pull-in

Narrow frequency band pull-in

Phase lock loop

Channel steering

Frequency lock loop

Channel alignment

Table 56 Tracking State

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Code search

Aided phase lock loop

State

Description

N/A

Standard correlator: spacing = 1 chip

Narrow Correlator: spacing < 1 chip

Reserved

Pulse Aperture Correlator (PAC)

5-6

Reserved

Name

Value

Input

log rangecmp ontime 10

Example

log rangecmp <RANGECMP COM1 0 0.0 FINESTEERING 1943 446408.000 00000000 407 20161214 <59 <005c1008a0100230d037fb0923a88771f71f806ae1030000 <005c3001e59b01c0c437fb09ecea1964f71f806a21030000 … <205d14187fca02106a72bc110b749674f6aa006e61030000 <205d34007a2802606d72bc113e0cb012f6aa006e41030000

Function

Compressed version of the RANGE log.

Field

Description

Type

Binary Bytes

Offset

RANGEC MP header

Log Header

H 0 2 #obs

Number of satellite observations with information to follow

Ulong

1st range record

Compressed range log in format of Table 59 Range Record Format

Hex

H+4 4

Next rangecmp offset = H+4 (#obs x 24)

Table 57 Correlator Type

3.1.22 RANGECMP

This log contains the RANGE data in a compressed format.

Table 58 RANGECMP

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xxxx

32-bit CRC (ASCII and Binary only)

Ulong

H+4+ (#obs x 24)

[CR][LF]

Sentence terminator (ASCII only)

- - -

Data

Bits first to last

Length(bits)

Scale Factory

Units

Channel Tracking Status

0-31

32 -

Doppler Frequency

32-59

1/256

Pseudorange (PSR)

60-95

1/128

ADR

96-127

1/256

cycles

StdDev-PSR(1)

128-131

See (2)

StdDev-ADR

132-135

(n+1)/512

cycles

PRN/Slot(3)

136-143

8 1 -

Lock Time(4)

144-164

1/32

C/No(5)

165-169

(20+n)

dB-Hz

Reserved

170-191

Table 59 Range Record Format

1. ADR (Accumulated Doppler Range) is calculated as follows:

ADR_ROLLS = (RANGECMP_PSR / WAVELENGTH + RANGECMP_ADR) /

MAX_VALUE

Round to the closest integer IF (ADR_ROLLS <= 0) ADR_ROLLS = ADR_ROLLS - 0.5 ELSE ADR_ROLLS = ADR_ROLLS + 0.5 At this point integerise ADR_ROLLS CORRECTED_ADR = RANGECMP_ADR - (MAX_VALUE*ADR_ROLLS) where ADR has units of cycles WAVELENGTH = 0.1902936727984 for GPS L1 WAVELENGTH = 0.2442102134246 for GPS L2

MAX_VALUE = 8388608 Note: GLONASS satellites emit L1 and L2 carrier waves at a satellite-specific frequency, refer to the GLONASS section of An Introduction to GNSS

2. Code StdDev-PSR (m)

0 0.050

1 0.075

2 0.113

3 0.169

4 0.253

5 0.380

6 0.570

7 0.854

8 1.281

9 2.375

10 4.750

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11 9.500

Message type

Description

Differential GPS Corrections

GPS Reference Station Parameter (X, Y, Z coordinates in ECEF coordinate system )

Uncorrected Carrier phase measurements

Uncorrected pseudorange measurements

Extended Base Station

Reference station Antenna Reference Point Parameter (X, Y, Z coordinates in ECEF coordinate system) with antenna height, which is more precise than message type 3

Differential GLONASS Corrections

GLONASS Reference Station Parameters (X, Y, Z coordinates in ECEF coordinate system)

1819

Raw Measurements

12 19.000

13 38.000

14 76.000

15 152.000

3. GPS: 1 to 32, GLONASS: 1 to 28,and BDS: 161-197.

4. The Lock Time field of the RANGECMP log is constrained to a maximum value of 2,097,151 which represents a lock time of 65535.96875 s (2097151 ¸ 32).

5. C/No is constrained to a value between 20-51 dB-Hz. Thus, if it is reported that C/No = 20 dB-Hz, the actual value could be less. Likewise, if it is reported that C/No = 51, the true value could be greater.

3.1.23 RTCM messages

RTCM 2.X and RTCM 3.X standard are supported, which is used to deliver the base station information to user side. RTCM defined a set of message types to deliver different information.

3.1.23.1 RTCM2 messages

Below is a list of RTCM version 2.x message types supported by Precis products.

Table 60 Collection of supported RTCM2 message

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3.1.23.2 RTCM3 messages

Message type

Flag

Description

1001

L1 only GPS RTK observables

1002

R/B

Extended L1-only GPS RTK observables

1003

L1&L2 GPS RTK observables

1004

Extended L1&L2 GPS RTK observables

1005

R/B

Stationary RTK Reference Station ARP

1006

R/B

Stationary RTK Reference Station ARP with Antenna Height

1009

L1 only GLONASS RTK observables

1010

R/B

Extended L1-only GLONASS RTK observables

1011

L1&L2 GLONASS RTK observables

1012

R/B

Extended L1&L2 GLONASS RTK observables

1019

GPS Ephemerides

1020

GLONASS Ephemerides

1071

MSM1, GPS Code Measurements

1072

MSM2, GPS Phase Measurements

1073

MSM3, GPS Code and Phase Measurements

1074

R/B

GPS MSM4, includes pseudorange, carrier phase and C/N0 observation

1075

R/B

GPS MSM5, includes pseudorange, carrier phase, phase rate and C/N0 observation

1076

R/B

MSM6, Extended GPS Code, Phase and CNR Measurements

1077

R/B

MSM7, Extended GPS Code, Phase, CNR and Doppler Measurements

1081

MSM1, GLONASS Code Measurements

1082

MSM2, GLONASS Phase Measurements

1083

MSM3, GLONASS Code and Phase Measurements

1084

R/B

GLONASS MSM4, includes pseudorange, carrier phase and C/N0 observation

1085

R/B

GLONASS MSM5, includes pseudorange, carrier phase, phase rate and C/N0 observation

1087

R/B

MSM7, Extended GLONASS Code, Phase, CNR and Doppler Measurements

1121

MSM1, BeiDou Code Measurements

1122

MSM2, BeiDou Phase Measurements

1123

MSM3, BeiDou Code and Phase Measurements

1124

R/B

MSM4, BeiDou Code, Phase and CNR Measurements

Below is a list of RTCM 3 message types that supported by Precis products. B in flag filed means the message is supported by a base, R means the message is supported by a rover, R/B means the message is supported both by a base and a rover.

Table 61 Collection of supported RTCM3.2 message types

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1125

R/B

Beidou MSM5, includes pseudorange, carrier phase, phase rate and C/N0 observation

1126

R/B

MSM6, Extended BeiDou Code, Phase and CNR Measurements

1127

R/B

MSM7, Extended BeiDou Code, Phase, CNR and Doppler Measurements

3.1.24 SATVIS

Name

Value

Input

log satvis ontime 60

Example

log satvis <SATVIS COM1 2 0.0 FINESTEERING 1943 446505.000 00000000 407 20161214 <GPS TRUE TRUE 11 <3 0 18.9 302.8 1007.386 1743.990 … <32 0 52.0 137.4 -2125.748 -1389.144 <GLONASS TRUE TRUE 10 <14-7 0 38.4 294.9 975.846 1724.878 … <4+6 0 40.7 312.3 2035.114 2784.146 <BEIDOU TRUE TRUE 10 <161 0 49.6 146.3 28.225 758.133 … <171 0 10.7 46.0 -1152.683 -422.776

Function

Satellite visibility.

Name

Value

Input

log time ontime 1

Example

<TIME COM1 0 0.0 FINESTEERING 1943 446734.000 00000000 407 20161214

This log contains satellite visibility data for all available constellations with additional satellite information.

Table 62 SATVIS

3.1.25 TIME

This log provides several time related pieces of information including UTC time.

Table 63 Time

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<CONVERGING 0 0 0 2017 4 7 4 9 0 INVALID

Function

Time data

3.1.26 TRACKSTAT

Name

Value

Input

log trackstat ontime 1

Example

log TRACKSTAT <TRACKSTAT COM1 0 0.0 FINESTEERING 1943 447377.000 00000000 407 20161214 <SOL_COMPUTED SINGLE 0.0 60 <31 0 08105c00 20985668.535 360.714 51.56 3868.998 0.000 UNKNOW 0.000 <31 0 01305c00 20985667.785 281.019 46.28 3868.998 0.000 UNKNOW 0.000 … <170 0 00345d20 37200720.664 529.217 46.07 3896.998 0.000 UNKNOW 0.000

Function

Tracking status.

Name

Value

Input

Log version

Function

Version Information

Example

<VERSION COM1 0 0.0 FINESTEERING 1943 448010.000 00000000 407 20161214 <BX306 G2SB2G2 008001171500000023 0150 20161123 3.0 Sep 5 2017 11:46:57

The TRACKSTAT log contains an entry for each channel. If there are multiple signal channels for one satellite (for example L1, L2 P(Y), L2C, and L5 for GPS), then there will be multiple entries for that satellite. The signal type can be determined from the channel tracking status word.

Table 64 TRACKSTAT

3.1.27 VERSION

This command is used to display the version information of the current board.

Table 65 Display version information

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4 RTK Configuration Example

Example of RTK configuration (base mode):

FIX POSITION 31.000302123 114.289244543 26.130 ECUTOFF 15.0 (optional) INTERFACEMODE COM2 AUTO AUTO ON (optional) LOG COM2 RTCM1074 ONTIME 1 LOG COM2 RTCM1084 ONTIME 1 LOG COM2 RTCM1124 ONTIME 1 LOG COM2 RTCM1005 ONTIME 10 SAVECONFIG

Example of RTK configuration (rover mode):

FIX NONE INTERFACEMODE COM2 AUTO AUTO ON LOG GPGGA ONTIME 1 SAVECONF

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5 Terminology

Abbreviation

Definition

ASCII

American Standard Code for Information Interchange

CMR

Compact Measurement Record

Direct Current

ESD

Electro Static Discharge

ECEF

Earth Center Earth Fixed

GLONASS

GLObal NAvigation Satellite System

GNSS

Global Navigation Satellite System

GPS

Global Positioning System

Intermediate Frequency

IMU

Inertial Measurement Unit

Input/Output

LED

Light Emitting Diode

LNA

Low Noise Amplifier

MPU

Micro Processing Unit

NMEA

National Marine Electronics Association

Personal Computer

PPS

Pulse Per Second

Radio Frequency

RINEX

Receiver Independent Exchange format

RMS

Root Mean Squares

RTK

Real-Time Kinematic

RTCM

Radio Technical Commission for Maritime Services

SMA

Sub-Miniature-A interface

TTFF

Time to First Fix

TTL

Transistor-Transistor Logic level

UART

Universal Asynchronous Receiver/Transmitter

USB

Universal Serial BUS

WGS84

Word Geodetic System 1984

Table 66 List of terminology

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Proprietary Notice All Information in this document is subject to change without notice and does not reflect the commitment on Tersus GNSS. No part of this manual may be reproduced or transmitted by all means without authorization of Tersus GNSS. The software described in this document must be used in terms of the agreement. Any reverse software engineer or modification without permission from Tersus GNSS is not allowed.

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TERSUS GNSS RTK Board Series, Precis-BX316, Precis-BX306, Precis-BX306Z User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual