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Page 32 Z-12 Real-Time Sensor Operation and Reference Manual
00.011,00.011,00.012,-00.000,+00.000,-00.000,221001,+000.000,-
000.001,+000.001, 00.000,00.000,00.000*6C
In a CBEN message, the solution RMS values represent one-sigma solution accuracy.
A fixed ambiguity solution should have all three RMS values < 0.03 meters, with
PDOP < 4.0.
You can also look at the $PASHR,CPD message for ambiguities fixin g status. Refer to
“$PASHQ,CPD” on page 144.
Solution Latency
The GGA message contains a field which shows the solution latency. For example:
$GPGGA,015454.00,3723.285136,N,12202.238517,W,3,08,01.0,+00012.
384,M,,M,
00.123,0000
The latency in this example is about 120 milliseconds.
Data Link Monitor
The Data Link Status can be monitored via $PASHQ,CPD,DLK message. Pay special
attention to the SV list and QA. Refer to “$PASHQ,CPD,DLK” on page 134
$PASHR,CPD,DLK in Chapter 3.
CPD Solution Output and Storage
The raw GPS measurements, autonomous position, RTCM positions, or CPD
solutions can be outputted to the serial port for monitoring and logging. If a RZ sensor
has external memory, this data can be stored into the receiver’s memory as well as
downloaded to a PC.
Real-time Solution Output
The CPD rover position, velocity and other solution information can be output via the
receiver’s serial port, in PBEN /CBEN message format or NMEA message format.
The PBEN /CBEN message output rate is controlled via the $PASHS,RCI,x.xx
command.
If you want the B-file to have autonomous position, use command
$PASHS,CPD,OUT command to change it.
The CBEN message can provide more complete information on position, velocity,
solution status, position RMS and covariance, number of satellites, and PDOP. The
CBEN message output can be in ASCII or binary format. The binary format is bitwise
packed and is not IEEE format compatible.
To output the PBEN and/or CBEN message, use the $PASHS,OUT command.
- Z-12 Real-Time Sensor 1
- Operation & Reference 1
- Table of Contents 5
- List of Figures 11
- List of Tables 13
- Introduction 17
- Functional Description 18
- Real-Time Differential 19
- Equipment 20
- Specifications and Options 21
- Memory Options 22
- Operation 23
- Front Panel 24
- RF Connector 25
- Power Input Connections 26
- Serial Port Configuration 27
- Serial Null Modem Data Cable 29
- Default Parameters 29
- Getting Started 30
- Powering On the Sensor 31
- Receiver Memory Reset 32
- Communication with the Sensor 32
- Monitoring Satellite Tracking 33
- Monitoring Position 33
- Command Response Formats 34
- Differential Setup 35
- Hardware Setup 36
- CPD with DBEN message 37
- RTCM Differential Setup 39
- Base Setup 41
- Rover/Remote Setup 42
- Understanding CPD 47
- Solution Latency 48
- Data Link Monitor 48
- Real-time Solution Output 48
- Vector Solution Output 49
- Solution Storage 50
- Troubleshooting 51
- CPD Solution Parameters 53
- Dynamics: $PASHS,CPD,DYN 54
- Multipath: $PASHS,CPD,MTP 55
- Rate: $PASHS,CPD,PER 55
- Fast CPD: $PASHS,CPD,FST 55
- Universal RTCM Base Station 56
- Understanding 57
- Table 4.1: Command Summary 60
- General Sensor Commands 66
- Set Antenna Height 69
- Set Antenna Offsets 69
- Query Antenna Parameters 70
- Query Sensor Configuration 71
- Store String 72
- Query File Directory 72
- Set Elevation Mask 74
- Close or Delete File 74
- Set Altitude-Fixed Mode 75
- Request File Information 75
- Set HDOP Mask 77
- Select Ionospheric Model 78
- Query Ionospheric Data 78
- Set Photogrammetry Edge 81
- $PASHS,PHE,x 81
- Set Minimum Satellites 81
- Set PDOP Mask 82
- Set Position Elevation Mask 82
- Log Project Data 82
- Set Position Mode 83
- Set Position of the Antenna 83
- Query Port and Baud Rate 85
- Set Receiver To Sleep Mode 85
- Set Recording Interval 86
- Query Radio Mode Parameters 86
- Turn Data Recording On/Off 87
- Query Sensor (Receiver) ID 87
- Set Type of Data 88
- Upload Route Information 93
- Save Parameters 93
- Enter Site ID 94
- Set Communication Baud Rate 94
- Query SV Mode Selection 96
- Use Unheathy SVs 96
- Designate Satellites to Use 97
- Set VDOP Mask 97
- Query Week Number 97
- Upload Waypoint to Sensor 97
- Set Sensor to Z Mode 98
- Raw Data Commands 99
- Query CBEN Message 100
- Query Vector Solution 101
- Command 103
- Query PBEN Data for One Epoch 104
- Query Raw Data Parameters 105
- Query UBN Message 106
- NMEA Data Message Commands 109
- Disable All NMEA Messages 111
- NMEA Almanac 111
- Autopilot Message 112
- NMEA Bearing and Distance 113
- NMEA Decimal Almanac Message 114
- GGA (GPS Position) Message 115
- GLL (Latitude,Longitude) 117
- NMEA MSG (RTCM) Message 125
- Set NMEA Send Interval 130
- NMEA Message VTG (COG/SOG) 137
- NMEA Cross-Track Error 137
- RTCM Commands 138
- Initialize RTCM Setup 140
- Define RTCM Message 141
- Disable Differential Mode 141
- Set Quality Threshold 141
- Check Sequence Number 142
- Set RTCM Bit Rate 142
- Set Station Identification 142
- Enable Type of Message 143
- CPD Commands 147
- OR $PASHS,BPS,ANT 148
- Query Data Link Status 149
- Set Rover Dynamics 150
- Set Current Raw Position 151
- Enable/Disable Fast CPD Mode 152
- Display CPD SV Information 152
- CPD Mode Select 153
- Select CPD processing cycle 155
- Set Multipath Parameters 155
- Select Solution to Output 155
- Set CPD Update Interval 156
- Set BPD Transmission Period 156
- Set DBEN Transmission Period 157
- Reset CPD Processing 158
- CPD Status 159
- Query CPD Solution Status 161
- Select Base Position - Rover 161
- Display Station Coordinates 162
- Field Description 163
- Packed DBEN 165
- Report Real-Time Error 167
- Photogram 169
- Radio Link 171
- Sensitivity 172
- Differential GPS 173
- Sources of Error 175
- Data Link Related Errors 176
- Differential Message 177
- Glossary 179
- Numerics 185
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