Ashtech Z-sensor Manual de instrucciones

Z-12 Real-Time SensorOperation & Reference ManualAshtech1170 Kifer RoadSunnyvale, CA USA 94086Phone and Fax Numbers•Main• Voice: 408-524-1400• Fax

Page x Z-12 Real-Time Sensor Operation and Reference ManualAppendix A. Photogrammtery & Event Marker . . . . . . . . . . . . . . . . . . . . . . .

Page 84 Z-12 Real-Time Sensor Operation and Reference ManualQuery CBEN Message$PASHQ,CBNThis command asks for the CBN message. This command queries on

Command Response Formats Page 85Command Enable/Disable Real-Time Output$PASHS,DSMThis command enables/disables real-time output transition. The struc

Page 86 Z-12 Real-Time Sensor Operation and Reference Manualin this command. If the port is not specified, the message is output to the port from whic

Command Response Formats Page 87Command Enable/Disable Real-Time Data Output$PASHS,OUTThis command enables or disables real-time data output. The str

Page 88 Z-12 Real-Time Sensor Operation and Reference Manual$PASHS,OUT,c,d1,d2,d3... where data types d1, d2, d3...can be specified; data typ

Command Response Formats Page 89Command where the fields are as defined in Query Raw Data Parameters$PASHQ,RAWThe $PASHQ,RAW query command is availabl

Page 90 Z-12 Real-Time Sensor Operation and Reference Manualwhere the items in the message are as described in Table 4.35. Query UBN Message$PASHQ,U

Command Response Formats Page 91Command where the fields are as defined in Table 4.36. Example:$PASHQ,UBN,0.0,+1,1.0$PASHR,UBNThe response is a messag

Page 92 Z-12 Real-Time Sensor Operation and Reference ManualLongitude of position -pi (W) through +pi/2 (E) radiansPosition altitude (ellipsoidal heig

Command Response Formats Page 93Command NMEA Data Message CommandsNMEA data message commands can be sent to the sensor through serial port A, B, or

List of Figures Page xiReliance FundamentalsList of Figures Figure 1.1: Z-12 Real-Time Sensor. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Page 94 Z-12 Real-Time Sensor Operation and Reference ManualTable 4.39 summarizes the NMEA commands. Table 4.39: NMEA Data Message Commands Command

Command Response Formats Page 95Command Disable All NMEA Messages$PASHS,NME,ALL,X,OFFThe command $PASHS,MNME,ALL,x,OFF disables all NMEA message types

Page 96 Z-12 Real-Time Sensor Operation and Reference Manualwhere each field is as described in Table 4.40. Example: $GPALM,20,01,28,674,00,1D,09BC,

Command Response Formats Page 97Command Example: $GPAPA,A,A,9.999,R,N,A,A,069,M,001 NMEA Bearing and Distance$PASHS,NME,BWCThis command asks for the

Page 98 Z-12 Real-Time Sensor Operation and Reference ManualExample:$GPBWC.015454.00,0000.000,N,00000.0000,E,069.00,T,84,73,M,999.999,N,001NMEA Decima

Command Response Formats Page 99Command $GPDAL,14,00,5.2795410E-03,032768,3.065721E-01,-2.4811015E-09,5.1536948E03,5.8827317E-01,8.8243234E-01,-8.8568

Page 100 Z-12 Real-Time Sensor Operation and Reference Manual Example: Set: $PASHS,NME,GGA,A,ONTypical Response:$GPGGA,183805.50,3722.36223,N,1215

Command Response Formats Page 101Command GLL (Latitude,Longitude) $PASHS,NME,GLLThis command enables/disables the NMEA latitude/longitude response mes

Page 102 Z-12 Real-Time Sensor Operation and Reference Manualwhere each field is as described in Table 4.46. Example:Set: $PASHS,NME,GLL,C,ON Ty

Command Response Formats Page 103Command Example: Enable GRS message on port C $PASHS,NME,GRS,C,ON followed by output command$PASHS,OUT,x,NMEA whe

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Page 104 Z-12 Real-Time Sensor Operation and Reference ManualNMEA DOP and Active Satellite Message$PASHS,NME,GSA This command enables/disables the DOP

Command Response Formats Page 105Command NMEA GSN (Signal Strength/Satellite Number) $PASHS,NME,GSN,X,YThis command enables/disables the signal streng

Page 106 Z-12 Real-Time Sensor Operation and Reference ManualNMEA GSV (Satellites-In-View) $PASHS,NME,GSV,X,YThis command enables/disables the satelli

Command Response Formats Page 107Command $GPGSV The response message is in the form:$GPGSV,d1,d2,d3,d4,d5,d6,d7,d8,d9,d10,d11,d12,d13,d14,d15,d16,d17,

Page 108 Z-12 Real-Time Sensor Operation and Reference ManualNMEA GXP (Position Horizontal) $PASHS,NME,GXP,X,YThis command enables/disables the positi

Command Response Formats Page 109Command Example:Set: $PASHS,NME,GXP,A,ON Response:$GPGXP,183805.00,3722.36221,N,12159.82742,W*5Cwhere each ite

Page 110 Z-12 Real-Time Sensor Operation and Reference Manual$GPMSGThe response message format depends upon the RTCM message type enabled: type 1 is e

Command Response Formats Page 111Command where each item is as described in Table 4.58. Table 4.58: Typical RTCM Message Types 1 and 9Item Descriptio

Page 112 Z-12 Real-Time Sensor Operation and Reference ManualThe structure for RTCM message type 3 is: $GPMSG,rr,sss,zzz.z,s,h,ccc,hhmmss:ss,sxxxxxx

Command Response Formats Page 113Command The structure for RTCM message types 6 and 16 is shown below, except that type 6 does not contain text:$GPMSG

List of Tables Page xiiiReliance FundamentalsList of Tables Table 1.1: Accuracy as Function of Mode. . . . . . . . . . . . . . . . . . . . . . . . . .

Page 114 Z-12 Real-Time Sensor Operation and Reference ManualSet NMEA Send Interval$PASHS,NME,PER,XSet the send interval of the NMEA response messages

Command Response Formats Page 115Command A range residual (xxx.x) is computed for each satellite (ss) used in position computation. Residuals and pos

Page 116 Z-12 Real-Time Sensor Operation and Reference ManualNMEA SAT (Satellite Status) Message$PASHS,NME,SAT This command enables/disables the satel

Command Response Formats Page 117Command Query: $PASHQ,SAT,B or Set: $PASHS,NME,SAT,B,ON Typical Response:$PASHR,SAT,03,03,103,56,60,U,23,225,61,39,U,

Page 118 Z-12 Real-Time Sensor Operation and Reference Manual$PASHS,OUT,x,NMEA where x is the output port.There is no query command for TTT.$PASHR,TT

Command Response Formats Page 119Command $PASHR,UTMThe response message is in the form $PASHR,UTM,... as shown below. Example: For RTCM Diffe

Page 120 Z-12 Real-Time Sensor Operation and Reference Manual$GPVTG,ttt,c,ttt,c,ggg.gg,u,ggg.gg,u*ccwhere each field is as defined in Table 4.70. Exa

Command Response Formats Page 121Command NMEA Message VTG (COG/SOG)$GPVTGThis message displays the vehicle course over ground (COG) and speed over gro

Page 122 Z-12 Real-Time Sensor Operation and Reference ManualExample:$GPXTE,A,A,019.999,R,NRTCM CommandsTable 4.74 summarizes the RTCM commands. Turn

Page 123 Z-12 Real-Time Sensor Operation and Reference ManualExample: Turn auto differential mode on $PASHS,RTC,AUT,YSet Receiver as Differential Base

Page xiv Z-12 Real-Time Sensor Operation and Reference Manual Table 4.24: Communication Baud Rate . . . . . . . . . . . . . . . . . . . . . . . . . .

Command Response Formats Page 124Command There is no response message. This command requires that the RTCM Differential or RTCM Remote Only options

Page 125 Z-12 Real-Time Sensor Operation and Reference Manualstructure is $PASHS,RTC,MAX,x where x is any number between 1 and 1199. Default is 60.

Command Response Formats Page 126Command Check Sequence Number$PASHS,RTC,SEQChecks sequence number of received messages7 and, if sequential, accept co

Page 127 Z-12 Real-Time Sensor Operation and Reference ManualSet Health of Reference Station$PASHS,RTC,STHThis command sets the health of the referenc

Command Response Formats Page 128Command x is the type and y is the period. Used only in BASE mode. Table 4.78 indicates the types of messages avai

Page 129 Z-12 Real-Time Sensor Operation and Reference ManualTable 4.79 describes each item of the message. Table 4.79: RTC Message Structure Item De

Command Response Formats Page 130Command If any of these parameters is changed by the corresponding set command, send the corresponding query command

Page 131 Z-12 Real-Time Sensor Operation and Reference ManualCPD CommandsTable 4.81 summarizes the CPD commands. Table 4.81: CPD CommandsCommand Desc

Command Response Formats Page 132Command Set Integer Ambiguity Parameter$PASHS,CPD,AFPThis command sets the integer ambiguity fixing parameter. The c

Page 133 Z-12 Real-Time Sensor Operation and Reference ManualExample: $PASHS,CPD,ANT,1.790,0.1737,0.0,0000.00,0.0$PASHQ,CPD,ANT OR $PASHQ,BPS,ANT The

List of Tables Page xv Table 4.66: Typical SAT Message. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117 Table 4.67: TTT Structure

Command Response Formats Page 134Command $PASHR,CPD,DLKThe response is a message in the form $PASHR,CPD,DLK,mmm,b,n,...where the fields are as defi

Page 135 Z-12 Real-Time Sensor Operation and Reference Manualwhere the field parameters are as defined in Table 4.86. Example: Set dynamic for a

Command Response Formats Page 136Command Enable/Disable Fast CPD Mode$PASHS,CPD,FSTThis command enables/disables fast CPD mode. If this mode turned on

Page 137 Z-12 Real-Time Sensor Operation and Reference ManualExample: $PASHR,CPD,INF,ROV,09,04+,05+,06+,09+,12+,16+,20+,24+,25+,08,04+,05+,06+,09+, 12

Command Response Formats Page 138Command Example: Set mode to CPD, reverse vector processing, rover$PASHS,CPD,MOD,RBR$PASHQ,CPD,MODThe accompanying qu

Page 139 Z-12 Real-Time Sensor Operation and Reference ManualExample:$PASHR,CPD,MOD,BAS,FST,A,2,1,RPC,SMS,111,ETD,10,CPD,AUT,2*crcSelect CPD processin

Command Response Formats Page 140Command $PASHS,CPD, OUT,d1*crc where the field parameters are as defined in Table 4.93. Example: Output CPD solutio

Page 141 Z-12 Real-Time Sensor Operation and Reference Manualwhere d1 is as defined in Table 4.94. Example: $PASHS,BPS,PER,30Set DBEN Transmission Per

Command Response Formats Page 142Command Example: Set position of other receiver: $PASHS,CPD,POS,3722.2432438,N,12350.5438423,W,+34.567$PASHQ,CPD,POS

Page 143 Z-12 Real-Time Sensor Operation and Reference ManualSelect Output Port for DBEN and BPS Messages$PASHS,CPD,PRTThis command selects the serial

Page xvi Z-12 Real-Time Sensor Operation and Reference Manual Table C.1: Differential Messages . . . . . . . . . . . . . . . . . . . . . . . . . . .

Command Response Formats Page 144Command BASE STAT A -1 if the receiver has not tracked the L2 observables B - 1 if the entered position and compu

Page 145 Z-12 Real-Time Sensor Operation and Reference Manualwhere c1 is the port for message output, port A, B, C, or D.Query CPD Solution Status$PAS

Command Response Formats Page 146Command where the field parameters are as defined in Table 4.99. Example: Use transmitted base position$PASHS,CPD,UBP

Page 147 Z-12 Real-Time Sensor Operation and Reference ManualS1hex coded one byte of status flag Table 4.100: BPS Structure (continued)Field Descripti

Page 148 Z-12 Real-Time Sensor Operation and Reference ManualIn the above table, s1 is a hex-coded one byte of status flag, as defined inTable 4.101.

Command Response Formats Page 149Command Query Sensor ID and DBEN Message Type$PASHQ,IDRThe associated query command is $PASHQ,IDR, and the response m

Page 150 Z-12 Real-Time Sensor Operation and Reference ManualTable 4.105 defines the data that will repeat for each satellite whose corresponding bit

Command Response Formats Page 151Command in which ceil (a) means truncates to +Inf, e.g., ceil (3.1) = 4, ceil (3.5) = 4, ceil (3.95) = 4.NSVS is numb

Command Response Formats Page 152Command

Photogrammtery & Event Marker Page A-1Photogram- APhotogrammtery & Event MarkerPhotogrammetry (Event Marking) InterfacesWhen the event [P] opt

Introduction Page 1Reliance FundamentalsIntroduction 1IntroductionTo satisfy real-time applications (such as construction machine control, vehicle gui

Page A-2 Z-12 Real-Time Sensor Operation and Reference ManualTherefore, setting the interval parameter to 1 second ($PASHS,RCI,1) yields the highest e

Radio Link Page B-1Radio Link BRadio LinkCareful consideration must be given to the following situations to get the full performance from the radio da

Page B-2 Z-12 Real-Time Sensor Operation and Reference ManualSensitivitySensitivity of the transmitter and the receiver should be properly selected de

Differential GPS Page C-1Reliance FundamentalsDifferential CDifferential GPSThis appendix presents a brief overview of real-time differential, includ

Page C-2 Z-12 Real-Time Sensor Operation and Reference ManualCarrier Phase Differential (CPD)In CPD mode, the pseudo-range and carrier phase measureme

Differential GPS Page C-3Differential measurement data over a radio link to multiple rover stations which use the raw measurement data to compute thei

Page C-4 Z-12 Real-Time Sensor Operation and Reference Manualmeasurements and reduce the sensor noise and multipath. After locking to a satellite, the

Differential GPS Page C-5Differential Selective AvailabilitySelective Availability (SA) is the intentional degradation of the GPS satellite signal by

Page C-6 Z-12 Real-Time Sensor Operation and Reference Manual

Glossary Page Gloss-1GlossaryGlossaryAlmanacA comprehensive database of all pertinent information for all satellites- orbit, position, health, etc. Am

Page 2 Z-12 Real-Time Sensor Operation and Reference Manualbeing compatible for differential and RTK operation with any other receiver that implements

Page Gloss-2 Z-12 Real-Time Sensor Operation and Reference Manualfor one specific satellite.Fast CPDAn Ashtech proprietary differential technique to g

Glossary Page Gloss-3GlossarySASelective Availability. Intentional degrading of GPS signal by US Department of Defense to hamper use by enemy. Can be

Page Gloss-4 Z-12 Real-Time Sensor Operation and Reference Manual

Index Page Index-1IndexIndexSymbols$GPALM, 95$GPAPA, 96$GPBWC, 97$GPDAL, 99$GPGGA, 99$GPGLL, 101$GPGRS, 103$GPGSA, 104$GPGSN, 105$GPGSV, 107$GPGXP, 10

Page Index-2 Z-12 Real-Time Sensor Operation and Reference Manual$PASHS,CACK, 55$PASHS,CPD, OUT, 141$PASHS,CPD,AFP, 133$PASHS,CPD,ANT, 133$PASHS,CPD,D

Index Page Index-3Index$PASHSMNME,ALL,x,OFF, 95Numerics2-D, 522HZ option, 1148N1, 13AACK/NAK, 55AFP, 133ALH, 52ALM, 95almanacdata, 2information, 95Alt

Page Index-4 Z-12 Real-Time Sensor Operation and Reference Manualdifferential, 125base, 124correction, 126options, 129remote, 126, 129DIR, 56DLK, 134d

Index Page Index-5Indexlast altitude entered, 59LAT, 62latencies, 1link speed, 71LNA, 1LON, 63MMarine III, 4maximum age, 123, 125memory reset, 59messa

Page Index-6 Z-12 Real-Time Sensor Operation and Reference Manualreal-time, 152data output, 87kinematic, 1output, 85Real-Time Z™, 1REC, 71reference po

Index Page Index-7IndexWGS, 133WGS84, 53XXTE, 121ZZ mode, 82ZMD, 82Z-tracking™, 1

Introduction Page 3Introductionbroadcasts almanac and ephemeris information every 30 seconds, and the sensor automatically records this information in

Page Index-8 Z-12 Real-Time Sensor Operation and Reference Manual

Page ii Z-12 Real-Time Sensor Operation and Reference ManualCopyright NoticeAll rights reserved. No part of this publication or the computer programs

Page 4 Z-12 Real-Time Sensor Operation and Reference ManualData Collection for Post-ProcessingOne independent measurement is collected per 0.2, 0.5, 1

Introduction Page 5IntroductionSpecifications and OptionsTechnical SpecificationsTable 1.2 lists the technical specifications of the sensor. Optional

Page 6 Z-12 Real-Time Sensor Operation and Reference ManualIf the letter or number is displayed in the response message, the option is available. If

Operation Page 7Operation 2OperationEquipment DescriptionAntennaThe GPS antenna can be mounted on a tripod, a hand-carried pole, a vehicle, or any sui

Page 8 Z-12 Real-Time Sensor Operation and Reference ManualSensorFront PanelThe Z-12 Real-Time Sensor operates with an input voltage between 10 and 32

Operation Page 9OperationTable 2.1 describes the front panel components of the Z-12 Real-Time Sensor.RF ConnectorThe RF connector is a standard N-type

Page 10 Z-12 Real-Time Sensor Operation and Reference Manualcenter pin provides +9.5 VDC (to power the LNA) and accepts 1575 MHz or 1227.60 MHz RF inp

Operation Page 11OperationThe voltage input range is 10-32 volts, with a power rating of 12 watts.Serial Port ConfigurationThe Sensor provides three R

Page 12 Z-12 Real-Time Sensor Operation and Reference ManualTable 2.3 lists the signal parameters for the three DB9 connectors. Table 2.3: DB9 RS-232

Operation Page 13OperationSerial Null Modem Data CableTable 2.5 shows the wiring information for the Null Modem data cable.Default ParametersThe defa

Page iiiTrademarksZ-12 Real-Time Sensor and the Ashtech logo are trademarks of Ashtech. All other product and brand names are trademarks or registered

Page 14 Z-12 Real-Time Sensor Operation and Reference ManualData Output OptionsAll the default data output commands are set to OFF. The Sensor will no

Operation Page 15Operationbattery, thus maintaining data integrity. You can also operate the Sensor from two parallel batteries for longer sessions.

Page 16 Z-12 Real-Time Sensor Operation and Reference ManualReceiver Memory Reset2. It is good practice to reset the Sensor to its factory defaults pr

Operation Page 17Operation4. For example, type in $PASHQ,PRT. If you have typed in and sent the command correctly, you should get an immediate respons

Page 18 Z-12 Real-Time Sensor Operation and Reference ManualEnsure you enter these commands. The first command enables NMEA output port A while the th

Operation Page 19OperationTo change the output rate, issue the command $PASHS,NME,PER,x w here x is the output rate in seconds. Example: GGA message,

Page 20 Z-12 Real-Time Sensor Operation and Reference ManualHardware SetupIn the following setup, port B for both base Sensor and rover Sensor will be

Operation Page 21OperationWhat if the Base Coordinates are Unknown?If you do not know the base station coordinates, you can use the current autonomous

Page 22 Z-12 Real-Time Sensor Operation and Reference Manual4. If applicable, measure and enter the antenna offset parameters: slant, radius, vertical

Operation Page 23Operation9. The base Sensor is now operational. To verify it, connect port B to a PC at 9600 BAUD which is running a communication pr

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Page 24 Z-12 Real-Time Sensor Operation and Reference Manualthe Sensor can even take advantage of RTCM-compliant messages from receivers manufactured

Operation Page 25OperationCPD with RTCM-RTK type 18/19 messagePerform the following checklist prior to software setup.1. The hardware setup is complet

Page 26 Z-12 Real-Time Sensor Operation and Reference Manualb. $PASHS,RTC,SPD,9Selects burst mode to output RTCM message.c. $PASHS,RTC,TYP,1,1Selects

Operation Page 27Operation3. Make sure the base Sensor and the rover Sensor is connected.4. Send the following command:$PASHS,RTC,REM,B - to set the S

Page 28 Z-12 Real-Time Sensor Operation and Reference Manual4. Send the following commands to the base Sensor$PASHS,RTC,BAS,B Configures the Sensor in

Operation Page 29Operation7. The rover Sensor is now operational. Refer to “Monitoring Position” on page 17 for more information on position informati

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Understanding CPD Page 31Understanding 3Understanding CPDThis chapter provides CPD operation in more detail by describing monitoring the CPD solution

Page 32 Z-12 Real-Time Sensor Operation and Reference Manual00.011,00.011,00.012,-00.000,+00.000,-00.000,221001,+000.000,-000.001,+000.001, 00.000,00.

Understanding CPD Page 33Understanding To output the NMEA messages, use the $PASHS,OUT and $PASHS,NME commands.If for any reason the CPD solution cann

Table of Contents Page vReliance FundamentalsTable of ContentsChapt er 1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Page 34 Z-12 Real-Time Sensor Operation and Reference Manual4. To improve the vector solution, you may wait for 5-10 epochs of data before issuing the

Understanding CPD Page 35Understanding TroubleshootingThe following problems are sometimes encountered by users new to Z-12 Real-Time Sensor. If your

Page 36 Z-12 Real-Time Sensor Operation and Reference ManualNo CPD solution  Verify that there are at least four common satellites between the base a

Understanding CPD Page 37Understanding System Performance OptimizationCPD Solution ParametersTable 3.2 lists the commands which are provided for optim

Page 38 Z-12 Real-Time Sensor Operation and Reference ManualIf the ambiguities are fixed incorrectly, the satellite geometry must change appreciably b

Understanding CPD Page 39Understanding assume limited vertical movement. AIRCRAFT dynamics assume higher speeds and accelerations.Fast CPD: $PASHS,CPD

Page 40 Z-12 Real-Time Sensor Operation and Reference ManualIt is im portant to set the rover’s update rate to match the base’s DBEN m essage output i

Understanding CPD Page 41Understanding Table 3.3 lists the recommended message schedules.For CPD (RTK) application only, you can turn on type 3 and ty

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Command Response Formats Page 43Command 4Command Response FormatsOverviewThis section discusses the format and structure of the commands to and the r

Page vi Z-12 Real-Time Sensor Operation and Reference ManualCPD with DBEN message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Page 44 Z-12 Real-Time Sensor Operation and Reference Manual Table 4.1: Command Summary Command Description PageSENSOR COMMANDS$PASHQ,ALH Query sate

Command Response Formats Page 45Command $PASHS,PHE Set photogrammetry edge 65$PASHQ,PHE Query photogrammetry edge setting 65$PASHR,PHE Response messag

Page 46 Z-12 Real-Time Sensor Operation and Reference ManualRAW DATA COMMANDS$PASHS,BEN Select BEN output format 83$PASHQ,CBN Query CBEN message 84$PA

Command Response Formats Page 47Command $GPGXP Response message, NMEA GXP 108$PASHS, NME,MSG Enable/disable NMEA MSG (RTCM) message 109$GPMSG Respon

Page 48 Z-12 Real-Time Sensor Operation and Reference Manual$PASHS, RTC,STH Set health of reference station 127$PASHS, RTC,TYP Enable type of message

Command Response Formats Page 49Command $PASHR,BPS Response message, station coordinates 146$PASHS,IDR Set DBEN message and sender/destination ID 148$

Page 50 Z-12 Real-Time Sensor Operation and Reference ManualGeneral Sensor CommandsThe sensor commands are used to control various operations of the s

Command Response Formats Page 51Command $PASHS,MSV Set minimum number of satellites 65$PASHQ,PAR Query NMEA message status 63$PASHS,PDP Set PDOP Mask

Page 52 Z-12 Real-Time Sensor Operation and Reference ManualQuery Satellites with Received Almanac$PASHQ,ALHThis command asks for ALH message. This me

Command Response Formats Page 53Command Set Antenna Height $PASHS,ANHThis command sets the antenna height. The command structure is $PASHSANH,x.xxxx w

Table of Contents Page viiSelect Character or String Response to Set Command . . . . . . . . . . . . 55Query Sensor Configuration . . . . . . . . . .

Page 54 Z-12 Real-Time Sensor Operation and Reference Manualwhere each item is as described in Table 4.5. Query Antenna Parameters$PASHQ,ANTThis comma

Command Response Formats Page 55Command Select Character or String Response to Set Command$PASHS,CACKThe $PASHS,CACK,[1/0] command switches between si

Page 56 Z-12 Real-Time Sensor Operation and Reference Manuals = DL: DMA low power Example:$PASHR,CFG,LZ Low-power Z-12 receiverQuery Receiver Curr

Command Response Formats Page 57Command where the items in the response message are as defined in Table 4.8. Configure Receiver in Daisy Chain Mode$PA

Page 58 Z-12 Real-Time Sensor Operation and Reference ManualSet Elevation Mask$PASHS,ELM This command sets the value of the SV elevation mask for data

Command Response Formats Page 59Command Refer to Table 4.10. Return message: 'C' Operation completed successfullyIf the file to be dele

Page 60 Z-12 Real-Time Sensor Operation and Reference Manualreceive the response. If the destination port is not specified, the response message goes

Command Response Formats Page 61Command Set HDOP Mask $PASHS,HDP,XThis command sets the value of the HDOP mask. The command structure is $PASHS,HDP

Page 62 Z-12 Real-Time Sensor Operation and Reference ManualReturn message: NoneSelect Ionospheric Model $PASHS,ION,X This command selects the ionosph

Command Response Formats Page 63Command Set Longitude of Antenna Position$PASHS,LONSets the longitude of the antenna used in differential base mode.

Page viii Z-12 Real-Time Sensor Operation and Reference ManualQuery SV Mode Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Page 64 Z-12 Real-Time Sensor Operation and Reference ManualHDOP Horizontal Dilution of Precision. Default is 4.VDOP Vertical Dilution of Precision.

Command Response Formats Page 65Command Set Photogrammetry Edge$PASHS,PHEThis command selects the rising or falling edge of the photogrammetry edge.

Page 66 Z-12 Real-Time Sensor Operation and Reference ManualExample: Set minimum satellites to 4$PASHS,MSV,4Set PDOP Mask $PASHS,PDP,XThis command se

Command Response Formats Page 67Command Set Position Mode$PASHS,PMD This command sets the position mode for minimum number of SVs required to compute

Page 68 Z-12 Real-Time Sensor Operation and Reference ManualExample:$PASHS,POS,3722.2912129,N,12159.7998265,W,+15.25$PASHQ,POS The associated query co

Command Response Formats Page 69Command Query Port and Baud Rate$PASHQ,PRTThis command asks for the sensor port and baud rate. The structure is$PASHQ

Page 70 Z-12 Real-Time Sensor Operation and Reference ManualReboot$PASHS,RBTClear (reboot) internal RAM and reset sensor. Resets baud rate to 9600 ba

Command Response Formats Page 71Command $PASHR,RDPThe response message is in the form$PASHR,RDP,x,m,c,l,rwhere the fields are as described in Table 4.

Page 72 Z-12 Real-Time Sensor Operation and Reference ManualSet Type of Data$PASHS,RNGThis command sets the data type mode. The command structure is

Command Response Formats Page 73Command command, only the parameters listed in Table 4.21. . For a complete reset, use the Table 4.21: Parameters Re

Table of Contents Page ixSelect Type Of EOT Character for RTCM Message . . . . . . . . . . . . 125Compatible RTCM Message 18/19 Format . . . . . .

Page 74 Z-12 Real-Time Sensor Operation and Reference ManualTHIS COORDINATESXMIT INTVLBroadcast interval for BPS message. BPS message contains base

Command Response Formats Page 75Command CBEN Epoch-by-epoch solution OffMBEN Measurement data OffPBEN Position data OffSNAV Ephemeris data, binary onl

Page 76 Z-12 Real-Time Sensor Operation and Reference Manualinitialization command $PASHS,INI.CYCLE TIME Fast CPD update rate: 1 sec - no Q option0.5

Command Response Formats Page 77Command Upload Route Information$PASHS,RTE This command uploads a number of route information. The structure is $PASH

Page 78 Z-12 Real-Time Sensor Operation and Reference ManualEnter Site ID$PASHS,SIT,X This command sets the site name. The comand structure is $PASH

Command Response Formats Page 79Command To resume communication with the sensor after changing the baud rate using this command, change the baud rate

Page 80 Z-12 Real-Time Sensor Operation and Reference ManualQuery Status of Currently Locked Satellites$PASHQ,STAThis command asks for the status of c

Command Response Formats Page 81Command $PASHS,UNH,YDesignate Satellites to Use$PASHS,USEThis command selects satellites to track or not track. The

Page 82 Z-12 Real-Time Sensor Operation and Reference Manualwhere the fields are as described in Table 4.27. Example:$PASHS,WPL,3722.3871,N,12159.826

Command Response Formats Page 83Command Raw Data CommandsTable 4.28 summarizes the raw data commands. Select BEN Output Format$PASHS,BENThis command s