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COMNAV OEM BOARD REFERENCE MANUAL
Chapter 4. Log Messages
ComNav Technology Ltd.
99
CNT-OEM-RM001, Rev 1.8
Figure 5. Hardware (HW) Version
Figure 6. Software (SW) Version
Table 29. Serial Port Type
SERIAL PORT FLAG
PORT CONFIGURATION
2
RS232
4
RS422
T
LV TTL
X
Selectable configuration
Table 30.Compile Date and Time
YYYY/MM/DD
YYYY: Year
MM: Month
DD: Day
HH:MM:SS
HH:Hour
MM:Minute
SS:Second
4.2.4 Heading, Pitch and Roll Messages
4.2.4.1 HEADING Heading Information
Содержание
- Comnav oem board 1
- Comnav technology ltd shanghai 2019 cnt oem rm001 rev 1 1
- Reference manual 1
- Approval sheet 3
- Document number current revision release date 3
- Subscription signature date 3
- Add the parameter rtcm1114 in table 21 rtcm message 5
- Add the table 13 dgnss type 5
- Add the table 14 saved configuration 5
- Add the table 16 set type and parameter 5
- Add the table 19 predefined log message 5
- Add the table 31 solution status 5
- Add the table 32 position or velocity type 5
- Add the table 6 gnss name and corresponding prn 5
- Add the table 7 gnss system 5
- Bd3ephe 5
- Bd3rawnavsubfram 5
- Bdsrawnavsubfram 5
- Galephemeri 5
- Galfnavrawpag 5
- Galinavrawwor 5
- Markcontro 5
- Maxveclener 5
- Qxwzsdkinfob in 4 5
- Qzssrawephe 5
- Qzssrawsubfra 5
- Rawgpssubframe in 4 9 5
- Revision history 5
- Revision modification date 5
- Revision modification date 6
- Table 10 6
- Revision modification date 7
- Trigger type 7
- Position or velocity typ 8
- Revision modification date 8
- Gnss name and corresponding pr 9
- Position or velocity typ 9
- Revision modification date 9
- Revision modification date 10
- Revision modification date 11
- Table of contents 12
- List of figures 16
- List of tables 18
- Chapter 1 preface 20
- Introduction 20
- Usage of this manual 21
- Conventions 22
- Contact us 23
- Warranty exclusions and disclaimer 23
- Comnav technology ltd china head office 24
- Manual should be updated at the same time the latest version bulletin should be found in our website if any issues are encountered please contact us and we are very pleased to help you to solve your problems because bd2 system is not totally completed yet so some mistakes are unavoidable in the manual and relevant productions notice that if these mistakes bring you inconvenience and losses we can t afford the responsibilities 24
- Chapter 2 oem board overview 26
- Comnav gnss board 26
- Product summary 26
- The introduction to oem board 26
- Preparing for the future 27
- Typical boards 27
- In this section it s introduced that how board s memory is distributed the first 128 bytes are used to restore the board s information including revision information register code and operating settings etc 28
- Memory allocation map 28
- Note users can get s n p n number and size information from the label on shell of board 28
- Chapter 3 compatible commands 30
- Command formats 30
- Format 30
- Abbreviated ascii 31
- Binary 31
- Command list 32
- Assign assign a channel to a prn 33
- Assignassign a channel to a prn 33
- Command reference 33
- Description 33
- Format 33
- This command may be used to aid in the initial acquisition of a satellite by allowing you to override the automatic satellite channel assignment and reacquisition processes with manual instructions the command specifies that the indicated tracking channel search for a specified satellite 33
- Bd2ecutoffset bd2 satellite elevation cut off 34
- Clockoffsetadjust for delay in 1 pps output 34
- Baudrate valid value refer to default baudrate 115200 35
- Com set baud rate 35
- Comset baud rate 35
- Delay a positive value indicates a delay output relative to current pps a negative value 35
- Description 35
- Example 35
- Format 35
- Indicates a forward output 35
- Major common delay has been compensated by default setting but a residual delay should be adjusted by user according to different antenna and cables 35
- Parameters 35
- Port refer to 35
- The above command set a forward 200 nanoseconds pps output relative to current output 35
- This command permits you to set the baud rate of com port 35
- Dgpstxiddgps transmit id 36
- Dynamicstune board parameters 36
- Ecutoffset satellite elevation cut off angle 37
- Eraseflasherase files restored in flash 37
- Fixconstrain to fixed height and position 38
- Fresetreset to the factory default 38
- Headingoffsetadd heading and pitch offset value 39
- Interfacemodeset receive or transmit modes for p 39
- Description 40
- Format 40
- Lockout prevent the board from using a satellite 40
- Lockoutprevent the board from using a satellite 40
- This command prevents the board from using a satellite by de weighting its range in the solution computations note that the lockout command does not prevent the board from tracking an undesirable satellite this command must be repeated for each satellite to be locked out 40
- Lockoutsystemprevent the receiver from using a s 41
- Logrequest logs from board 42
- Magvarset a magnetic variation correction 42
- Markcontrolmark message control 43
- Maxveclenerrset the directional flypoint detectio 44
- Nmeatalkernmea message talker identifier control 44
- Column 8 message output type hybrid and by group means nmea message are serialized in two types hybrid and group 48
- Column 9 current mode a auto m manual manual and auto means whether talker identifiers are specified manually or automatically 48
- Example 48
- Group in contrast to combination mode each constellation has its own message 48
- Hybrid no matter how many constellations are used in pvt solution receiver output contains only one message whose pvt solution is a combined result of all the constellations available 48
- Nmeatalker reset reset command resetting talker identifiers to factory defaults as shown in figure 2 50
- Ppmadjustadjust ppm or not 51
- Ppscontrolcontrol the pps output style 51
- Readflashread files from flash 52
- Refautosetupset base station self starting 52
- Resetperform a hardware reset 52
- Rtkcommandreset or set the rtk filter to its def 53
- Rtkdynamicsset rtk dynamic mode 53
- Rtkelevmaskset the rtk elevation mask angle 54
- Rtkfixholdtimeset maximum age of rtk fixed data 54
- Description 55
- Example 55
- Format 55
- Integer number manual mode its value can be one of the followings 55
- Mode auto switch observation mode rtk or rtd automatically according to differential data type received by receiver 55
- Parameters 55
- Rtkobsmode set the observation mode of rover receiver 55
- Rtkobsmodeset the observation mode of rover rece 55
- This command is used to set the observation mode of rover receiver in other words using this command can set which frequency would be involved in the rtk computation of rover receiver 55
- Time delay less than 200s and more than 5s default value is 20s 55
- Rtkrefmodeset the rtk ref station position mode 56
- Rtksolutionset rtk solution mode 56
- Rtksourceset rtk correction source 57
- Rtkqualityset rtk quality level 58
- Rtktimeoutset maximum age of rtk data 58
- Description 59
- Example 59
- Format 59
- Saveconfig save current configuration 59
- Saveconfigsave current configuration 59
- Sbascontrol control the usage of sbas corrections 59
- Sbascontrolcontrol the usage of sbas corrections 59
- This command is used to dictate how the receiver tracks and uses correction data from one of satellite based augmentation systems sbas to enable the position solution corrections issue the sbascontrol enable command the receiver does not by default attempt to track or use any sbas signals satellites unless told to do so by the sbascontrol command 59
- This command saves the user s present configuration including the current log settings type whether output testing data etc fix settings baud rate and so on refer to table 14 59
- Sbasecutoffset sbas satellite elevation cut off 60
- Sbastimeoutset sbas corrections time out 61
- Setconfigure settings 61
- Example 62
- Param refer to table 16 62
- Parameters 62
- Type refer to table 16 62
- Undulationchoose undulation 75
- Unlockoutreinstate a satellite in the solution 75
- Unlockoutallreinstate a satellite in the solutio 76
- Unlockoutsystemreinstate previously locked out s 76
- Unlogremove a log from logging control 76
- Unlogallremove all logs from logging control 77
- Binary message layout and header definition 78
- Chapter 4 log messages 78
- Command format 78
- Conventions 78
- Crc 32 bit crc performed on all data including the header 78
- Data variable 78
- Header 3 sync bytes plus 25 bytes of header information the header length is variable as fields may be appended in the future always check the header length 78
- Many different types of data can be logged using log command this chapter covers all types of data logs supported by comnav board 78
- Refer to section 3 5 78
- The format of reply message is binary which is quite different from sending message the board also supports nmea string 78
- Currently supported messages are listed in alphabetical order below 79
- In current version the length of header is always 28 bytes 79
- Log message list 79
- Predefined log message list 79
- The length of data block is variable 79
- Bits per frame and only outputs the 81
- Sub frames passing the check 81
- Comnav boards also support nmea rtcm 2 x rtcm 3 x messages please reference the nmea and rtcm protocol manual for details 82
- International standard message list 82
- Other message list 85
- Asynchronous data is generated at irregular intervals if asynchronous logs were collected 86
- Be polled because it changes only when commanded to do so therefore it would not make sense to log this kind of data onchanded or onnew 86
- On a regular schedule they would not output the most current data as soon as it was available 86
- The data for synchronous logs is generated on a regular schedule 86
- The data in polled logs is generated on demand an example would be rxconfig it would 86
- The following table outlines the log types and the valid triggers to use 86
- The receiver is capable of generating many different logs these logs are divided into three types synchronous asynchronous and polled 86
- Trigger types 86
- Bd2ephem 87
- Rawephem 87
- Almanacs and ephemeris 88
- Bd2ephembd2 ephemeris 88
- Examples 88
- Predefined log messages 88
- Bd3ephem bd3 ephemeris 89
- Bd3ephembd3 ephemeris 89
- Description 89
- Message id 89
- Recommended input 89
- Refer to 4 89
- Reply binary 89
- Supported format 89
- This message contains the bd3 ephemeris parameters 89
- Bd3rawnavsubframe bd3 original text subframe 91
- Bd3rawnavsubframebd3 original text subframe 91
- Description 91
- Interleaving according to the beidou satellite navigation system space interface control file public service signal b1c version 1 the message is defined as the following format 91
- Message id 91
- Recommended input 91
- Reply binary 91
- Supported format 91
- This text is the original navigation message data of bd3 b1c only after the solution 91
- Bd2rawalm raw bd2 almanac 92
- Bd2rawalmraw bd2 almanac 92
- Description 92
- Message id 92
- Recommended input 92
- Reply binary 92
- Supported format 92
- This message contains raw almanac sub frames received from bds satellites 92
- Bd2rawephem raw bd2 ephemeris 93
- Bd2rawephemraw bd2 ephemeris 93
- Description 93
- This log contains the raw ephemeris of bd2 satellites and each raw ephemeris message is 400 bytes long each ephemeris page is 300 bits long and the log contains all bits although some bits are not used in current definition for geo satellites ephemeris bits are all in sub frame 1 which is composed of 10 pages each page is 10 words long and there are 30 bits in each word notice just higher 150 valid bits are used in page so all pages are needed to be decoded for igso and meo satellites ephemeris bits are in sub frame 1 2 and 3 and each sub frame is 10 words long and all 300 bits are valid the other sub frames are invalid in the log the page or sub frame structure in bytes arrays are showed in the below figure if detailed information needed please refer to bd2 icd 93
- Bdsrawnavsubframe bd2 original navigation text subframe 94
- Bdsrawnavsubframebd2 original navigation text su 94
- Description 94
- Message id 94
- Outputs the subframes that pass the check 94
- Recommended input 94
- Reply binary 94
- Supported format 94
- This paper contains bd2 original subframe data with the check bits removed and only 94
- Description 95
- Gloephemeris decoded glonass ephemeris 95
- Gloephemerisdecoded glonass ephemeris 95
- Message id 95
- Recommended input 95
- Reply binary 95
- Supported format 95
- This log contains glonass ephemeris information glonass ephemerides are referenced to the pz90 2 geodetic datum no adjustment between the gps and glonass reference frames are needed to perform pvt solution messages are grouped and transmitted one message per satellite id 95
- Description 98
- Glorawephem raw glonass ephemeris 98
- Glorawephemraw glonass ephemeris 98
- Message id 98
- Recommended input 98
- Reply binary 98
- Supported format 98
- This log contains the raw ephemeris of glonass satellites 98
- Gpsephemgps ephemeris 99
- Message id 99
- Recommended input 100
- Reply binary 100
- Supported format 100
- Description 101
- Galephemeris galileo ephemeris 101
- Galephemerisgalileo ephemeris 101
- Message id 101
- Recommended input 101
- Supported format 101
- This message contains the galileo ephemeris parameters 101
- Reply binary 102
- Description 104
- Galfnavrawpage fna 104
- Galfnavrawpagefnav page data 104
- Galinavrawword raw galileo inav word data 104
- Message id 104
- Recommended input 104
- Reply binary 104
- Supported format 104
- This log contains the raw galileo fnav page data 104
- This log contains the raw galileo inav word data 104
- Description 105
- Qzssrawsubfram qzss raw ephemeris information 105
- Qzssrawsubframqzss raw ephemeris information 105
- This log contains the qzss raw ephemeris informationfor subframes 105
- Description 106
- Message id 106
- Qzssrawephem qzss raw ephemeris information 106
- Qzssrawephemqzss raw ephemeris information 106
- Recommended input 106
- Reply binary 106
- Supported format 106
- This log contains the qzss raw ephemeris informationfor 106
- Description 107
- Message id 107
- Rawgpssubframe raw gps subframe data 107
- Rawgpssubframeraw gps subframe data 107
- Recommended input 107
- Reply binary 107
- Supported format 107
- This log contains the raw subframe data without parity bits only 240bits per frame and only outputs the sub frames passing the check 107
- Description 108
- Message id 108
- Rawalm raw almanac information 108
- Rawalmraw almanac information 108
- Rawephem raw ephemeris information 108
- Rawephemraw ephemeris information 108
- Recommended input 108
- Reply binary 108
- Supported format 108
- This message contains raw almanac sub frames received from gps satellite 108
- This message contains raw ephemeris information received from gps satellite 108
- Binex records data 109
- Binex00data binex record 0x00 data 109
- Binex00databinex record 0x00 data 109
- Description 109
- Message id 109
- Recommended input 109
- Reply binary 109
- Supported format 109
- This message outputs binex record 0x00 data encapsulated by binary header and crc 32 109
- This section presents log messages including binex record data encapsulated by comnav binary message header and crc 32 those standard binex record messages are defined in section 4 109
- Binex0101data binex record 0x01 01 data 110
- Binex0101databinex record 0x01 01 data 110
- Binex0102data binex record 0x01 02 data 110
- Binex0102databinex record 0x01 02 data 110
- Description 110
- Message id 110
- Recommended input 110
- Reply binary 110
- Supported format 110
- This message outputs binex record 0x01 01 data encapsulated by binary header and crc 32 110
- This message outputs binex record 0x01 02 data encapsulated by binary header and crc 32 110
- Binex0105data binex record 0x01 05 data 111
- Binex0105databinex record 0x01 05 data 111
- Binex7d00data binex record 0x7d 00 data 111
- Binex7d00databinex record 0x7d 00 data 111
- Description 111
- Message id 111
- Recommended input 111
- Reply binary 111
- Reply binex 111
- Supported format 111
- This message outputs binex record 0x01 05 data encapsulated by binary header and crc 32 111
- This message outputs binex record 0x7d 00 data encapsulated by binary header and crc 32 111
- Binex7e00data binex record 0x7e 00 data 112
- Binex7e00databinex record 0x7e 00 data 112
- Binex7f05data binex record 0x7f 05 data 112
- Binex7f05databinex record 0x7f 05 data 112
- Description 112
- Message id 112
- Recommended input 112
- Reply binary 112
- Reply binex 112
- Supported format 112
- This message outputs binex record 0x7e 00 data encapsulated by binary header and crc 32 112
- This message outputs binex record 0x7f 05 data encapsulated by binary header and crc 32 112
- Comconfig com port configuration 113
- Comconfigcom port configuration 113
- Configuration and status 113
- Description 113
- Message id 113
- Recommended input 113
- Reply binary 113
- Supported format 113
- This message contains configurations of ports such as baud rate com id and so on 113
- Description 114
- Loglist list all system logs 114
- Loglistlist all system logs 114
- Message id 114
- Recommended input 114
- Reply ascii 114
- Supported format 114
- This log outputs a complete list of all log entries available in the system the following tables show the binary and ascii output 114
- Description 115
- Message id 115
- Recommended input 115
- Reply binary 115
- Supported format 115
- This log provides channel tracking status information for each of the receiver parallel channels 115
- Trackstat tracking state 115
- Trackstattracking state 115
- Description 116
- Message id 116
- Recommended input 116
- Reply abbreviated ascii 116
- Supported format 116
- This log contains the version information of aboard 116
- Version version information 116
- Versionversion information 116
- In figure 3 each number denotes frequency no in corresponding gnss system the first denotes gps glonass galileo and bd2 in turns 117
- Heading heading information 118
- Heading pitch and roll messages 118
- Headingheading information 118
- Description 119
- Message id 119
- Recommended input 119
- Supported format 119
- The heading is the angle from true north of the base to rover vector in a clockwise direction 119
- Description 120
- Mark event messages 120
- Markpos position at time of mark input event 120
- Markposposition at time of mark input event 120
- Message id 120
- Recommended input 120
- Supported format 120
- This log message contains the estimated position of the antenna when a pulse is detected at a mark input it s generated when a pulse occurs on the event input from receiver event interface 120
- Description 121
- Marktime time of mark input event 121
- Marktimetime of mark input event 121
- Message id 121
- Recommended input 121
- Supported format 121
- This message includes the time of the leading edge of the detected mark input pulse it s generated when a pulse occurs on the event input from receiver event interface the message setting can be saved in the saveconfig and the message status can be checked by log loglista 121
- Description 122
- Message id 122
- Meteodata basic meteorograph data message 122
- Meteodatabasic meteorograph data message 122
- Meteorograph data 122
- Recommended input 122
- Supported format 122
- This log message contains the basic data information from zz11a meteorograph such as date time weather instrument id normal temperature humidity and air pressure etc 122
- This section presents a set of messages of meteorograph data from some weather instrument 122
- Description 123
- Meteodataext extended meteorograph data message 123
- Meteodataextextended meteorograph data message 123
- Reply ascii 123
- This log message contains extended data information from zz11a meteorograph such as date time weather instrument id temperature normal maximum and minimum humidity 123
- Message id 124
- Normal minimum air pressure normal maximum and minimum water pressure dew point temperature battery voltage mainboard temperature etc 124
- Recommended input 124
- Reply ascii 124
- Supported format 124
- Bestpos best position 125
- Bestposbest position 125
- Description 125
- Log messages mainly related to position and velocity information are defined in this section 125
- Position and velocity messages 125
- Reply binary 125
- This log contains the best available gnss position in meter computed by the board in addition it reports several status indicators including differential age which is useful in predicting anomalous behavior brought about by outages in differential corrections a differential age of 0 indicates that no differential correction was used 125
- Bestvel best available velocity data 128
- Bestvelbest available velocity data 128
- Description 128
- Direction of motion over ground in this log is derived from north speed and east speed so the direction error is related to motion status higher speed means less direction error and lower speed means more direction error for example in doppler frequency velocity mode we could assume a typical velocity error of 0 m s and carrier velocity is 70km hour or 19 m s the maximum direction error is 128
- This message contains the best available velocity information computed by the receiver in addition it reports a velocity status indicator which is useful in indicating whether or not the corresponding data is valid the velocity measurements sometimes have a latency associated with them the time of validity is the time tag in the log minus the latency value 128
- Bestxyz best available cartesian position and velocity 129
- Bestxyzbest available cartesian position and vel 129
- Description 129
- 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 129
- Description 131
- Message id 131
- Psrdop pseudorange dop 131
- Psrdoppseudorange dop 131
- Recommended input 131
- Reply binary 131
- Supported format 131
- The dilution of precision data is calculated using the geometry of only those satellites that are currently being tracked and used in the position solution by the board this log is updated once every 60 seconds or whenever a change in the satellite constellation occurs therefore the total number of data fields output by the log is variable and depends on the number of svs that are being tracked 131
- Description 132
- Message id 132
- Psrpos pseudorange position 132
- Psrpospseudorange position 132
- Recommended input 132
- Reply binary 132
- Supported format 132
- This message includes position calculated using pseudorange and other information such as differential age station id and so on 132
- Description 133
- In the psrvel log the actual speed and direction of the receiver antenna over ground is provided the velocity measurements sometimes have a latency associated with them the time of validity is the time tag in the log minus the latency value 133
- Message id 133
- Psrvel pseudorange velocity 133
- Psrvelpseudorange velocity 133
- Recommended input 133
- Reply ascii 133
- Supported format 133
- Description 134
- Message id 134
- Psrxyz pseudorange cartesian position and velocity 134
- Psrxyzpseudorange cartesian position and velocit 134
- Recommended input 134
- Reply ascii 134
- Supported format 134
- This message includes the receiver s pseudorange position and velocity in ecef coordinates the position and velocity status field s indicate whether or not the corresponding data is valid 134
- Description 136
- Message id 136
- Qxwzsdkinfob sdk log on message of qianxun si 136
- Qxwzsdkinfobsdk 136
- Recommended input 136
- Reply ascii 136
- Supported format 136
- This message includes the sdk log on message of qianxun si which contains three parts appkey appsecrethe and the sn number of the receiver the data information of message format can be obtained by sending instructions to the receiver 136
- Description 137
- Doppler signal to noise ration and so on at the same time detailed channel states are involved 137
- Message id 137
- Range detailed observation information 137
- Rangedetailed observation information 137
- Raw observations and corrections 137
- Recommended input 137
- Supported format 137
- This message includes detailed observation information such as pseudorange carrier phase 137
- This section presents a set of log messages which contain gnss raw observables and corrections for rtk and pseudorange differential positioning generally broadcasted by reference station 137
- Description 138
- Message id 138
- Rangecmp compressed range information 138
- Rangecmpcompressed range information 138
- Recommended input 138
- Reply binary 138
- Supported format 138
- This message contains the channel measurements for the currently tracked satellites 138
- Description 143
- Message id 143
- Recommended input 143
- Reply binary 143
- Rtcmdata1 pseudorange correction 143
- Rtcmdata1pseudorange correction 143
- Supported format 143
- This message is used for pseudorange differential corrections include all information of rtcm1 message of standard rtcm2 143
- Description 144
- Ionutc ionospheric and utc data 144
- Ionutcionospheric and utc data 144
- Log messages containing gnss satellite measurements and information are defined in the following sections 144
- Message id 144
- Recommended input 144
- Satellite measurements 144
- Supported format 144
- The ionospheric model parameters ion and the universal time coordinated parameters utc are provided 144
- Description 145
- For integrative receivers much information should be collected from numbers of messages to display in screen or other media so this message involved nearly all the information you need is strongly recommended 145
- M925 extended satellite information 145
- M925extended satellite information 145
- This log provides extended information of satellites like prn numbers elevation azimuth and some board s information including signal strength and battery status 145
- It s an updating version of satmsg and could replace the latter 146
- Message id 146
- Recommended input 146
- Reply binary 146
- Supported format 146
- Note field 6 battery status i e electric quantity one byte 148
- Description 150
- For integrative receivers much information should be collected from numbers of messages to display in screen or other media so this message involved nearly all the information you need is strongly recommended 150
- Message id 150
- Recommended input 150
- Reply binary 150
- Satmsg satellite information 150
- Satmsgsatellite information 150
- Supported format 150
- This log provides both the information of satellites like prn numbers elevation azimuth and some board s information including signal strength and battery status 150
- Description 152
- Message id 152
- Recommended input 152
- Reply binary 152
- Satvis satellite visibility 152
- Satvissatellite visibility 152
- Supported format 152
- This message contains satellite visibility information such as elevation and azimuth 152
- Ascii binary 153
- Binary offset 153
- Crc 32 bit crc hex 4 153
- Description 153
- Field field type data description format binary byte 153
- H 12 s 153
- Log satxyzb ontime 5 153
- Message id 153
- Recommended input 153
- Reply ascii 153
- Satxyz satellite positions in ecef cartesian coordinates 153
- Satxyzsatellite positions in ecef cartesian coor 153
- Supported format 153
- This message contains the decoded healthy satellite information necessary to compute the solution satellite coordinates ecef wgs84 satellite clock correction ionospheric corrections and tropospheric corrections 153
- Binary offset 154
- Field field type data description format binary byte 154
- Prn slot prn of range measurement refer to table 6 ulong 4 h 12 154
- Reserved reserved double 8 h 154
- Sat number of satellites ulong 4 h 8 154
- Satxyz header log header h 0 154
- Description 155
- Message id 155
- Rawsbasframe raw sbas information 155
- Rawsbasframeraw sbas information 155
- Recommended input 155
- Reply ascii 155
- Sbas message types 155
- Supported format 155
- This message contains raw sbas frame data of 226 bits including 8 bit preamble 6 bit message type and 212 bits of data but without a 24 bit crc only frame data with a valid preamble and crc are reported 155
- This section presents the set of message types of sbas per rtca do 229d 155
- Description 156
- Sbas0 do not use for safety applications 156
- Sbas0do not use for safety applications 156
- The first sbas message type message type 0 will be used primarily during system testing the receipt of a message type 0 will result in the cessation of the use of any ranging data and all message types 1 7 9 10 18 24 28 obtained from that sbas signal prn code other message types may be retained such as message type 17 for potential performance enhancements in addition that sbas signal prn code will be deselected for at least one minute 156
- While testing waas will broadcast the contents of a type 2 message in each type 0 message other sbas service providers may broadcast both type 0 and type 2 messages during testing for users who do not require integrity equipment under test or equipment used for non safety applications the message type 0 that is not empty may be used for ranging and corrections 156
- Description 157
- Message id 157
- Recommended input 157
- Reply ascii 157
- Sbas message type 1 givers the prn mask it consists of 210 ordered slots each of which indicates if data is provided for the corresponding satellite the satellites for which corrections are provided are ordered from 1 to a maximum of 51 in order to decode message types 2 5 6 7 24 25 and 28 157
- Sbas1 prn mask assignments 157
- Sbas1prn mask assignments 157
- Supported format 157
- Description 158
- Message id 158
- Recommended input 158
- Reply ascii 158
- Sbas message types 2 to 5 are broadcasted to provide fast corrections message type 2 contains the data sets for the first 13 satellites designated in the prn mask message type 3 contains the data sets for satellites 14 26 designated in the prn mask etc through message type 5 which contains the data sets for satellites 40 through 51 designated in the prn mask the last data set of message type 5 is not used due to the constraint that corrections can only be provided for 51 satellites 158
- Sbas2 5 fast corrections 158
- Sbas2 5fast corrections 158
- Supported format 158
- Description 160
- Message id 160
- Recommended input 160
- Reply ascii 160
- Sbas6 integrity information 160
- Sbas6integrity information 160
- Supported format 160
- The integrity information is provided by message type 6 which allows the fast corrections of message type 2 5 and 24 to be updated infrequently commensurate with the dynamics of the satellite clock errors it can also be used to indicate an alert condition on multiple satellites 160
- And the fast correction degradation factor indicator a 161
- Description 161
- For computing the degradation of fast and long term corrections 161
- Message id 161
- Recommended input 161
- Reply ascii 161
- Sbas7 fast correction degradation factor 161
- Sbas7fast correction degradation factor 161
- Supported format 161
- The type 7 message of sbas specifies the applicable iodp system latency time 161
- And ag 162
- And an accuracy exponent ura representing the health of the geo ranging signal ag 162
- Description 162
- Message id 162
- Recommended input 162
- Reply ascii 162
- Sbas9 geo navigation message 162
- Sbas9geo navigation message 162
- Supported format 162
- The sbas type 9 geo navigation message represents the position velocity and acceleration of the geostationary satellite in ecef coordinates and its apparent clock time and frequency offsets also included is the time of applicability 162
- Will be an estimate of the time offset and drift with respect to sbas network time their combined effect will be added to the estimate of the satellite s transmit time 162
- Description 163
- Message id 163
- Message type 10 provides the degradation factors these factors are used as described in rtca do 229d 163
- Recommended input 163
- Reply ascii 163
- Sbas10 degradation factors 163
- Sbas10degradation factors 163
- Supported format 163
- Description 164
- Message id 164
- Recommended input 164
- Sbas message type 12 will consist of a preamble a message type identifier 12 followed by the utc parameters then followed by a flag to indicate the utc time standard from which the offset is determined the next item are the time of week tow in seconds of the beginning of the message followed by a gps week number wn the spare 75 bits possibly to be partially replaced with the difference between sbas network time and glonass time 164
- Sbas12 sbas network time utc glo time offset parameters message 164
- Sbas12sbas network time utc glo time offset para 164
- Almanacs for geos will be broadcast periodically to alert the user of their existence location the general service provided and health and status almanacs for three satellites will be broadcast in the geos almanacs message type 17 these messages will be repeated to include all geos unused almanacs will have a prn number of 0 and should be ignored 165
- Description 165
- Message id 165
- Recommended input 165
- Reply ascii 165
- Sbas17 geo almanacs 165
- Sbas17geo almanacs 165
- Supported format 165
- Description 166
- Reply ascii 166
- Sbas18 ionospheric grid point masks 166
- Sbas18ionospheric grid point masks 166
- Supported format 166
- The density of these predefined igps is dictated by the possible large variation in the ionosphere vertical delay during periods of high solar activity especially at lower latitudes 166
- The ionospheric delay corrections are broadcast in sbas message type 18 as vertical delay estimates at specified ionospheric grid points igps applicable to a signal on l1 in order to facilitate flexibility in the location of these igps a fixed definition of densely spaced igp locations is used resulting in a large number of possible igps the predefined igps are contained in 11 bands numbered 0 to 10 bands 0 8 are vertical bands on a mercator projection map and bands 9 10 are horizontal bands on a mercator projection map 166
- Description 167
- Message id 167
- Recommended input 167
- Reply ascii 167
- Sbas24 mixed fast corrections long term satellite error corrections 167
- Sbas24mixed fast corrections long term satellite 167
- Since it would be impossible to broadcast igp delays for all possible locations a mask is broadcast to define the igp locations providing the most efficient model of the ionosphere at the time 167
- Supported format 167
- This section presents the type 24 mixed fast correction long term satellite error corrections message the first half of the message consists of six fast data sets according to the prn mask sequence followed by the iodp a block id indicating which corrections block is provided and the iodf the block id 0 1 2 3 will indicate whether the type 24 message contains the fast corrections associated with a type 2 type 3 type 4 or type 5 message respectively the left data fields are composed of a half message as described in message type 25 167
- Recommended input 168
- Reply ascii 168
- Supported format 168
- Description 169
- Message id 169
- Recommended input 169
- Reply ascii 169
- Sbas message type 25 will be broadcast to provide error estimates for slow varying satellite ephemeris and clock errors with respect to wgs 84 ecef coordinates these corrections are estimated with respect to the gnss broadcast clock and ephemeris parameters these long term corrections are not applied for sbas satellites operated by that service provider instead the type 9 geo navigation message will be updated as required to prevent slow varying geo satellite errors 169
- Sbas25 long term satellite error corrections 169
- Sbas25long term satellite error corrections 169
- Supported format 169
- Description 171
- Message id 171
- Recommended input 171
- Reply ascii 171
- Sbas26 ionospheric delay corrections 171
- Sbas26ionospheric delay corrections 171
- Supported format 171
- The sbas message type 26 ionospheric delay corrections message provides the users with vertical delays relative to a gps l1 signal and their accuracy at geographically defined igps identified by band number and igp number each message contains a band number and a block id that indicates the location of the igps in the respective band mask 171
- Description 172
- Sbas type 27 messages may be transmitted to increase the 172
- Sbas27 sbas service 172
- Sbas27sbas service 172
- The number of service messages parameter in each type 27 message indicates the total number of unique type 27 messages for the current issue of data service iods each unique 172
- Values in selected areas type 27 message parameters apply only to the service provider transmitting the message 172
- Message for that iods includes a sequential service message number the iods is incremented in all messages each time that any parameter in any type 27 message is changed 173
- Message id 173
- Recommended input 173
- Reply ascii 173
- Supported format 173
- Description 174
- In that it specifies the correction confidence as a function of user location message type 28 provides increased availability inside the service volume and increased integrity outside 174
- Message id 174
- Message type 28 may be broadcast to provide the relative covariance matrix for clock and ephemeris errors this is an expansion of the information contained in the 174
- Recommended input 174
- Reply ascii 174
- Sbas28 clock ephemeris covariance matrix message 174
- Sbas28clock ephemeris covariance matrix message 174
- Supported format 174
- Description 175
- Message id 175
- Recommended input 175
- Refstation base station position and health 175
- Refstationbase station position and health 175
- Reply ascii 175
- Sbas63 null message 175
- Sbas63null message 175
- Station information 175
- Supported format 175
- The null message type 63 is used as a filler message if no other message is available for broadcast for the one second time slot 175
- Description 176
- Message id 176
- Recommended input 176
- Reply ascii 176
- Supported format 176
- This message includes base station position and health information received from differential messages 176
- Description 177
- Message id 177
- Recommended input 177
- Reply binary 177
- Supported format 177
- This log provides several time related pieces of information including board clock offset and utc time and offset it can also be used to determine any offset in the pps signal relative to gps time 177
- Time messages 177
- Time time data 177
- Timetime data 177
- Description 178
- Gpgga gnss fix data 178
- International standard messages 178
- Message id 178
- Nmea sentences 178
- Recommended input 178
- Standard nmea sentences 178
- Supported format 178
- This message is a standard nmea log but a little different from the standard one in position precision the position precision of this log is the same as gpggartk in order to be used in greater conditions the header of gpgga is always gp regardless if other gnss information involved in solution computation 178
- Reply ascii 179
- Description 180
- Gpgll geographic position 180
- Message id 180
- Recommended input 180
- Reply ascii bd2 only 180
- Reply ascii gps and bd2 180
- Reply ascii gps only 180
- Supported format 180
- This message is a standard nmea log include information such as time latitude longitude and so on be different from gpgga if bd2or other gnss information is involved in the header of gll would become gn instead of gp which is outputted in only gps information used in solution computation if only bd2 information is used header becomes bd 180
- Description 181
- Gpgsa gnss dop and available satellite 181
- Message id 181
- Recommended input 181
- Reply ascii bd2 only 181
- Reply ascii gps and bd2 181
- Reply ascii gps only 181
- Supported format 181
- This message contains available satellites used in solution computation and dop values 181
- Description 182
- Gpgst pseudorange measurement noise statistics 182
- Message id 182
- Recommended input 182
- Reply ascii 182
- Supported format 182
- This message is a standard nmea log pay attention to that rms smjrstd smnrstd and orient values are absent in the message currently 182
- Description 183
- Gpgsv gnss satellites in view 183
- Message id 183
- Recommended input 183
- Reply ascii 183
- Reply ascii bd2 only 183
- Reply ascii gps and bd2 183
- Reply ascii gps only 183
- Supported format 183
- This is a standard nmea message which includes prn numbers elevation azimuth and snr values of satellites in view messages of gps satellites use header gp and bd2 use bd 183
- Description 184
- Gphdt vessel heading 184
- Message id 184
- Recommended input 184
- Reply ascii bd2 184
- Reply ascii gps 184
- Reply ascii gps and bd2 184
- Supported format 184
- This message is a standard log which includes actual vessel heading for true north in degrees 184
- Description 185
- Gprmc gnss specification information 185
- Message id 185
- Recommended input 185
- Reply ascii bd2 185
- Reply ascii gps 185
- Reply ascii gps and bd2 185
- Supported format 185
- This is a standard nmea message which includes time date speed and true heading 185
- Description 186
- Gpvtg track make good and ground speed 186
- Message id 186
- Recommended input 186
- Reply ascii bd2 only 186
- Reply ascii gps and bd2 186
- Reply ascii gps only 186
- Supported format 186
- This is a standard nmea message which includes make good and ground speed 186
- Description 187
- Gpzda utc time and date 187
- Message id 187
- Recommended input 187
- Reply ascii 187
- Supported format 187
- This message is a standard nmea log which includes utc time and date 187
- Comnav proprietary nmea sentences 188
- Description 188
- Message id 188
- Recommended input 188
- Reply ascii 188
- Supported format 188
- This message is a self defined log to indicate the time difference between reference pps and rover pps gps bd2 glonass and galileo systems information are all included in this message if valid flag is 1 the corresponding data is valid and otherwise the data should be ignored this log is only valid in rover s rtd mode 188
- Time difference between ref pps and rover pps 188
- Description 189
- Each field is defined as it appears in rtcm2 5 and data fields are serialized as standard rtcm2 without application of scaling factor each message consists 3 satellites and comma will be used as place holder if the last message contains less than 3 satellites 189
- Example 189
- Message id 189
- Recommended input 189
- Sentence fields 189
- Sentence header 189
- Supported format 189
- Description 190
- Each field is defined as it appears in rtcm2 2 and data fields are serialized as standard rtcm2 without application of scaling factor each message consists 3 satellites and comma will be used as place holder if the last message contains less than 3 satellites 190
- Example 190
- Gpdrc delta range correction 190
- Health enable new data loss of satellite warning time to unhealthy only 190
- Log gpdrc ontime 1 190
- Message id 190
- Note in current version among such fields as satid iodl data health snr 190
- Recommended input 190
- Sentence fields 190
- Sentence header 190
- Supported format 190
- These four are valid satid iodl data health and snr 190
- A mode 0 pseudorange residual is used in position estimation 1 pseudorange residual is computed after position estimation 191
- B b pseudorange residual corresponding to sv number in gpgsa 191
- Description 191
- Gpggartk gnss fix data 191
- Gpgrs pseudorange residual 191
- Log gpggartk ontime 1 191
- Log gpgrs ontime 1 191
- Message id 191
- Recommended input 191
- Reply ascii 191
- Supported format 191
- This message is the same as gpgga refer to gpgga information in this document 191
- Description 192
- Example 192
- Message id 192
- Recommended input 192
- Reply ascii 192
- Supported format 192
- This message is a non standard message which includes heading pitch or roll angle of carrier on which two antennas are placed on 192
- Description 193
- Each field is defined as it appears in rtcm2 15 and data fields are serialized as standard rtcm2 without application of scaling factor each message consists 3 satellites and comma will be used as place holder if the last message contains less than 3 satellites 193
- Example 193
- Message id 193
- Recommended input 193
- Sentence fields 193
- Sentence header 193
- Supported format 193
- Description 194
- Message id 194
- Recommended input 194
- Reply ascii 194
- Supported format 194
- This message is a non standard message which includes position velocity position and tracking information and also heading pitch and roll reserved angles output while dual antennas are used 194
- Description 196
- Message id 196
- Recommended input 196
- Reply ascii 196
- Supported format 196
- This self defined nmea message includes distance between reference station and rover station distance in east distance in north and in vertical dimension 196
- Description 197
- Each field is defined as it appears in rtcm2 19 each message consists 3 satellites and comma will be used as place holder if the last message contains less than 3 satellites 197
- Message id 197
- Recommended input 197
- Sentence header 197
- Supported format 197
- Description 198
- Example 198
- Gprrs differential gps and bds corrections 198
- Note among such fields as satid pr res rr res cr qi pr v est cr age only 198
- Sentence fields 198
- Two are valid now satid and pr res 198
- A total number of messages 199
- B message number 199
- C prn number 199
- D d prc 199
- Description 199
- E e rrc rate 199
- Example 199
- F f pr acceleration 199
- G g udre 199
- Gprsc reference station coordinates 199
- H h z counter 199
- Log gprrs ontime 1 199
- Message id 199
- Recommended input 199
- Supported format 199
- X number of satellites in this constellation 199
- Description 200
- Each field is defined as it appears in rtcm2 3 and data fields are serialized as standard rtcm2 without application of scaling factor each message contains one sentence 200
- Example 200
- For example in the first sentence gps prn 5 6 7 9 10 16 17 18 19 20 is set health while all the others health status is unknown 200
- Gpseh satellite health indication 200
- Gptra heading pitch and roll reserved message 200
- H sv health based on similar information in extracted ephemeris 0 for health and 1 for unhealth sv whose health status is available will have the corresponding bit set as 1 for 0 if its health is unknown the position will be held but not set 200
- Log gprsc ontime 1 200
- Log gpseh ontime 1 200
- Message id 200
- Recommended input 200
- Sentence 200
- Supported format 200
- Example 201
- Message id 201
- Recommended input 201
- Sentence ascii 201
- Supported format 201
- This self defined nmea message includes heading pitch and roll reserved angles of the baseline vector between two antennas as which are used with dual gnss rf input receiver for attitude determination 201
- Description 202
- Example 202
- Message id 202
- Recommended input 202
- Reply ascii 202
- Supported format 202
- This message is a non standard message which includes position velocity pjk information and also heading and pitch angles output as dual antennas are used 202
- U ura sv whose ura is available will have the corresponding bit set as appropriate level if its ura is unavailable the position will be held but not set for example in the first sentence gps prn 1 5 7 8 12 13 14 27 is set 1 2 2 3 3 4 2 2 respectively while all the others ura is unknown 202
- Description 204
- If detailed information about this message is needed please refer to standard rtcm sc104 2 x documents 204
- Message id 204
- Recommended input 204
- Reply binary 204
- Rtcm 2 x messages 204
- Rtcm1 differential gps corrections 204
- Rtcm3 base station information 204
- Supported format 204
- This message is a standard log of rtcm2 x which contains differential gps corrections it contains satellite id pseudorange correction range rate correction and issue of data iod for all satellites in view of the reference station 204
- Message id 205
- Recommended input 205
- Supported format 205
- Message id 206
- Recommended input 206
- Supported format 206
- Message id 207
- Recommended input 207
- Supported format 207
- Message id 208
- Recommended input 208
- Supported format 208
- Message id 209
- Recommended input 209
- Supported format 209
- Message id 210
- Recommended input 210
- Supported format 210
- Message id 211
- Recommended input 211
- Supported format 211
- Message id 212
- Recommended input 212
- Supported format 212
- Message id 213
- Recommended input 213
- Supported format 213
- Message id 218
- Recommended input 218
- Supported format 218
- Message id 219
- Recommended input 219
- Supported format 219
- Message id 220
- Recommended input 220
- Supported format 220
- Message id 221
- Recommended input 221
- Supported format 221
- Message id 222
- Other log messages 222
- Recommended input 222
- Supported format 222
- Message id 223
- Recommended input 223
- Supported format 223
- Message id 224
- Recommended input 224
- Supported format 224
- Message id 225
- Recommended input 225
- Supported format 225
- Message id 226
- Recommended input 226
- Supported format 226
- Change dynamic differential data format 228
- Chapter 5 frequently used config procedures 228
- Rtcm 2 x 228
- Set baudrate of com port 228
- Set up reference station in rtcm2 format outputted from com1 228
- Shut down all data output 228
- Start base station 228
- Stop all output 228
- Because bd2 differential messages are not involved in rtcmv3 official documents we define message 1104 to encode bd2 observations currently 229
- Description 229
- Fix reference station coordinates in auto mode 229
- Fix reference station coordinates in manual mode 229
- Just like above example the way to set up a rtcm2 base station is as below 229
- Message 1819 outputted from com1 every 1 second 229
- Message 3 outputted from com1 every 5 second 229
- Rtcm 3 x 229
- Save configurations in flash 229
- Fix reference station coordinates in auto mode 230
- Log raw data 230
- Message 1004 outputted from com2 every 1 second 230
- Message 1104 outputted from com3 every 1 second 230
- Message 1105 outputted from com3 every 5 second 230
- Message1005 outputted from com2 every 5 second 230
- Save configurations in flash 230
- Set up reference station in rtcmv3 format outputted from com2 230
- Set up reference station in rtcmv3 using bd2 observations 230
- Description 231
- Fix reference station coordinates in auto mode 231
- Message cmrobsb outputted form current port every 1 second 231
- Message cmrrefb outputted from current port every 5 second 231
- Save configurations in flash 231
- Set up reference station in cmr format outputted from current port 231
- The published cmr messages are only about gps so currently we could not broadcast bd2 information in cmr format an example is given below to show how to setup a cmr base station 231
- Chapter 6 app cases recommended configs 232
- Vehicle application 232
- Command 1 configures com2 to output message rtcmcompassb which is a self defined message including position observations and some hardware information of reference station 233
- Command 2 configures reference to work on auto setup mode 233
- Common view time transfer mode and setting 233
- Figure 8 pps error 233
- In pvt mode the precision of pps is about 20ns a typical figure is shown below if higher precision is needed please contact us 233
- Not all kinds of gnss cards support the common view time transfer mode the detailed information about this is needed please contact with comnav technology ltd 233
- Notice 233
- Setup reference station 233
- Setup rover station 233
- Timing 233
- Dynamic base and rover station setting enables the use of 234
- Dynamic base and rover stations 234
- Dynamic base station 236
- The base station is in dynamic mode if the detailed information about this is needed please contact with comnav technology ltd 236
- Attitude information to the user the rover station is used for attitude determination computation and send 237
- Setup dynamic base station 237
- Setup rover station 237
- The results back to the dynamic base station 237
- This set of commands allow the base to do the rtk positioning with the fixed station and also display the 237
- To setup the dynamic and rover station the following log messages are recommended to be used when in 237
- A command formats 238
- A comnav command formats 238
- Appendix a binary commands 238
- Direct 238
- The high 4 bits is id of source device and the low 4 bits is id of target device all ids are listed intable 56 for example 238
- This chapter describes the syntax and usage of board commands defined by comnav 238
- Where source device id 0001 pc pda com port destination device id 1000 data controller 238
- A device id list 241
- Code binary description 241
- Comnav defined a set of id codes for specifying device these id codes are mainly used in command sentences as a parameter all of them are listed in the following table 241
- Table 56 device id 241
- Appendix b technical specifications 242
- Appendix c firmware updates 244
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