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170 Z-Family Technical Reference Manual
Remaining message for type 19 (uncorrected pseudorange measurements) and 21
(RTK pseudorange correction).
size for type 19 /21:
total number of svs for L1 and L2 frequency + 2*(13 byte
Freq+sm+GNSS) + 3 byte chksum + 2 byte <enter>
Examples:
$GPMSG,01,0000,2220.0,1,0,127,003702.00,2,12,-0081.30,
0.026,235,2,13,0022.86,0.006, 106,2,26,-0053.42,-0.070,
155,2,02,0003.56,+0.040,120,2,27,.0047.42,-0.004,145*cc <enter>
$GPMSG,03,0000,1200.0,7,0,038,231958.00,-2691561.37,-4301271.02,
3851650.89*cc <enter>
$GPMSG,16,0000,1209.6,5,0,036,23200.008,THIS IS A MESSAGE
SENT FROM BASE*cc <enter>
Table 6.105: Remainder of Type 19 and 21 Messages
Parameters Description Range
d8 L1 or L2 frequency 00...01
d9 Smoothing interval 00 - 0..1 min
01 - 1..5 min
10 - 5..15 min
11 - indefinite
d10 GPS time of measurement 0..599999 [usec]
d11 CA code /P code indicator 0 - CA, 1 -P
d12 SV prn 1..32
d13 data quality 0..7 refer to RTCM spec. for table of
pseudorange error
d14 multipath error 0..15 refer to RTCM spec. for table of
multipath error
f15 type 19 - pseudorange
type 21 - pseudorange correction
0..85899345.90 meters
+/-655.34 [0.02 meter] when pseudorange
scale factor is 0
+/-10485.44 [0.32 meter] when
pseudorange scale factor is 1 (default)
- Z-Family 1
- Technical Reference Manual 1
- Trademarks 3
- Table of Contents 5
- List of Figures 13
- List of Tables 15
- Introduction 21
- Receiver Options 22
- [B] RTCM Base 23
- [U] RTCM Remote 23
- [E] Event Marker 23
- REMOTE.EXE to access and 24
- Operation 25
- PCMCIA File Structure 26
- File Types 27
- File Naming Convention 28
- Session Programming 30
- Position Mode/ALT Fix Mode 31
- Daisy Chain Mode 31
- Point Positioning 32
- Remote Monitoring 32
- Event Marker 32
- 1PPS Out 35
- Data Output 35
- Transferring GPS Data 36
- Synchronization to GPS Time 36
- Default Parameters 37
- Operation 19 39
- Multipath Mitigation 41
- Signal to Noise Ratio 43
- Antenna Reduction 44
- Base Stations 47
- RTCM 18 & 19 48
- RTCM 20 & 21 49
- Ashtech DBN Format 50
- Differential and RTK 51
- Message Rate 52
- Mask Angle 56
- Base Station Position 56
- Base Station Antenna Offset 57
- Using Reference Station ID 57
- Reference Station Health 57
- Other RTCM Messages 57
- Remote Stations 58
- Using RTCM Messages 59
- Using Ashtech DBN Messages 60
- Base Station Data 61
- Base Data Latency 62
- Float and Fixed Solutions 64
- Carrier Phase Initialization 65
- LatError() 66
- LonError() 66
- Mask Angles 67
- Auto Differential Mode 67
- RTCM Messages 67
- Understanding RTK/CPD 71
- Data Link Monitor 72
- Real-time Solution Output 72
- Vector Solution Output 73
- Solution Storage 74
- Troubleshooting 75
- CPD Solution Parameters 77
- Dynamics: $PASHS,CPD,DYN 78
- Fast CPD: $PASHS,CPD,FST 79
- Multipath: $PASHS,CPD,MTP 79
- Rate: $PASHS,CPD,PER 79
- Universal RTCM Base Station 80
- Understanding 81
- Coordinate Transformation 83
- Interpretation 84
- Datum to Grid 87
- Projection Types 88
- Coordinate Transformation 69 89
- Figure 5.4: Oblique Mercator 89
- Figure 5.5: Stereographic 89
- Elevation Modeling 90
- Command/Response Formats 91
- Receiver Commands 93
- Command/Response Formats 75 95
- ALT: Set Ellipsoid Height 97
- ANH: Set Antenna Height 97
- ANT: Set Antenna Offsets 98
- BEEP: Beeper Set-up 100
- CTS: Port Protocol Setting 101
- DSC: Store Event String 101
- DSY: Daisy Chain 101
- ELM: Recording Elevation Mask 102
- EPG: Epoch Counter 102
- FIL,D: Delete a File 103
- FIX: Altitude Fix Mode 103
- FIL,C: Close a File 103
- Commands 105
- HDP: HDOP Mask 106
- INF: Set Session Information 106
- INI: Receiver Initialization 108
- ION: Set Ionospheric Model 109
- LPS: Loop Tracking 110
- LTZ: Set Local Time Zone 111
- MDM: Set Modem Parameters 112
- Parameters Description Range 117
- PDP: PDOP Mask 119
- PEM: Position Elevation Mask 119
- PJT: Log Project Data 121
- PMD: Position Mode 122
- POS: Set Antenna Position 122
- POW: Battery Parameters 123
- PPO: Point Positioning 124
- PPS: Pulse Per Second 124
- PRT: Port Setting 125
- PWR: Sleep Mode 126
- RCI: Recording Interval 126
- REC: Data Recording 126
- RID: Receiver ID 127
- RNG: Data Type 128
- RTR: Real-Time Error 129
- SAV: Save User Parameters 129
- SES: Session Programming 129
- SID: Serial Number 132
- SIT: Set Site Name 132
- SPD: Serial Port Baud Rate 133
- STA: Satellite Status 133
- SVS: Satellite Selection 134
- TLT : Tiltmeter Set-up 135
- TLT,INTVL: Tiltmeter Interval 136
- TST:Output RTK Latency 137
- UNH: Unhealthy SVs 137
- USE: Use Satellites 137
- VDP: VDOP Mask 137
- WAK: Warning Acknowledgment 138
- WARN: Warning Messages 138
- Command/Response Formats 119 139
- Command/Response Formats 121 141
- WKN: GPS Week Number 142
- Raw Data Commands 143
- Query Commands 144
- CBN: CBEN Message 145
- Command/Response Formats 129 149
- DBN: DBEN Message 150
- Command/Response Formats 131 151
- EPB: Raw Ephemeris 152
- MBN: MBN Message 154
- Command/Response Formats 135 155
- Command/Response Formats 137 157
- PBN: Position Data 159
- RAW: Query Raw Data Parameter 161
- SAL: Almanac Data 162
- SNV: Ephemeris Data 164
- Command/Response Formats 145 165
- NMEA Message Commands 166
- ALM: Almanac Message 168
- GDC: User Grid Coordinate 172
- GGA: GPS Position Message 174
- MSG: Base Station Message 186
- PER: Set NMEA Send Interval 191
- POS: Position Message 191
- PTT: Pulse Time Tag message 193
- RRE: Residual Error 196
- SAT: Satellite Status 198
- TTT: Event Marker 199
- UTM: UTM Coordinates 200
- Command/Response Formats 181 201
- $PASHR,UTM 201
- VTG: Velocity/Course 202
- XDR: Transducer Measurements 204
- ZDA: Time and Date 205
- -20 Local zone offset (min) 206
- Query: RTCM Status 208
- Command/Response Formats 189 209
- AUT: Auto Differential 210
- BAS: Enable Base Station 211
- EOT: End of Transmission 211
- INI: Initialize RTCM 211
- MAX: Max Age 211
- REM: Enable Remote RTCM 212
- MSG: Define Message 212
- OFF: Disable RTCM 212
- QAF: Quality Factor 212
- SEQ: Check Sequence Number 213
- SPD: Base Bit Rate 213
- STH: Station Health 214
- STI: Station ID 214
- TYP: Message Type 215
- CPD Commands 216
- CPD: RTK Status 218
- Command/Response Formats 199 219
- AFP: Ambiguity Fixing 220
- ANT: Antenna Parameters 220
- DLK: Data Link Status 222
- DYN: Rover Dynamics 224
- ENT: Use Current Position 225
- FST: Fast CPD Mode 226
- INF: CPD Information 226
- MOD: CPD Mode 227
- MTP: Multipath 229
- Command/Response Formats 211 231
- OUT: Solution Output 232
- PEB: Base Broadcast Interval 232
- PED: DBEN Transmission Period 233
- PER: CPD Update Interval 233
- POS: Set Base Position 234
- PRT: Port Output Setting 235
- RST: Reset CPD 235
- STS: CPD Solution Status 235
- UBP: Use Base Position 236
- DTM: Datum Selection 238
- FUM: Fix UTM Zone 238
- FZN: Set UTM Zone to Fix 239
- HGT: Height Model Selection 240
- UDD: User Defined Datum 240
- Reference A-1 247
- Reference 249
- Global Product Support 251
- Corporate Web Page 253
- Ashtech Bulletin Board 253
- Supported Protocols 254
- Repair Centers 255
- Numerics 259
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