SSRC4

Command Line Interface Reference Guide
____________________________________________________________________________________


Applicable to version 2.9.6 of the GNSS Firmware


PIC

SSRC4 Command Line Interface Reference Guide

November 28, 2016 

Applicable to version 2.9.6 of the GNSS Firmware

© Copyright 2000-2016 Septentrio nv/sa. All rights reserved.

Septentrio Satellite Navigation
Greenhill Campus, Interleuvenlaan 15i
3001 Leuven, Belgium

http://www.septentrio.com

support@septentrio.com

Phone: +32 16 300 800

Fax: +32 16 221 640

List of Contents

Contents
List of Acronyms
1 Introduction
 1.1 Scope
 1.2 Typographical Conventions
2 Outline
 2.1 Command Line Syntax
 2.2 Command Replies
 2.3 Command Syntax Tables
3 Command List
 3.1 Receiver Administration Commands
 3.2 Authentication Commands
 3.3 Tracking Configuration Commands
 3.4 Navigation Configuration Commands
 3.5 Receiver Operation Commands
 3.6 Session Settings Commands
 3.7 Input/Output Commands
 3.8 RTCM v2.x Commands
 3.9 RTCM v3.x Commands
 3.10 CMR v2.0 Commands
 3.11 Logging Commands
 3.12 SBF List
A Error Messages

List of Acronyms

Abbreviation

Description

AGC

Automatic Gain Control

ARP

Antenna Reference Point

ASCII

American Standard Code for Information Interchange

ASN.1

Abstract Syntax Notation One

BeiDou

BeiDou navigation system

CMR

Compact Measurement Record

DGPS

Differential GPS

DHCP

Dynamic Host Configuration Protocol

DLL

Dynamically Linked Library

DNS

Domain Name Server

EGNOS

European Geostationary Navigation Overlay System

ENU

east-north-up

FTP

File Transfer Protocol

GLONASS

Global Orbiting Navigation Satellite System

GNSS

Global Navigation Satellite System

GPS

Global Positioning System

IERS

International Earth Rotation Service

IGS

International GPS Service

INS

Inertial Navigation System

IP

Internet Protocol

ITRF

International Terrestrial Reference Frame

L1

L1 carrier

L2

L2 carrier

L2C

L2C code

LED

light emitting diode

MIB

Management Information Base

NATO

North Atlantic Treaty Organisation

NAV

Navigation

NAVSTAR

Navigation Satellite Timing And Ranging

NMEA

National Marine Electronics Association

P

P(Y) code

PLL

Phase Locked Loop

PPP

Precise Point Positioning

PRN

Pseudo Random Noise

PVT

Position, Velocity and Time

QZSS

Quasi-Zenith Satellite System

RAIM

Receiver Autonomous Integrity Monitoring

RINEX

Receiver Independent Exchange Format

RTCA

Radio Technical Commission for Aeronautics

RTCM

Radio Technical Commission for Maritime Services

RTK

Real-Time Kinematic

SBAS

Space-Based Augmentation System

SBF

Septentrio Binary Format

USB

Universal Serial Bus

UTC

Coordinated Universal Time

WAAS

Wide Area Augmentation System

WGS84

World Geodetic System 1984

XERL

External Reliability Levels

1 Introduction

______________________________________________________________________

1.1 Scope

This document describes the ASCII command-line interface supported by your receiver. The Command and Log Reference Card provides a synopsis of all commands.

1.2 Typographical Conventions

abc Commands to be entered by the user;
abc Replies from the receiver;
abc Command argument name.

2 Outline

__________________________________________________________________________

The receiver outputs a prompt when it is ready to accept a user command. The prompt is of the form:
  CD>
where CD is the connection descriptor of the current connection (e.g. COMx or USBx). For instance, if a user is connected to COM1, the prompt will be:
  COM1>
Most commands fall into one of the following categories:
  set-commands to change one or more configuration parameters;
  get-commands to get the current value of one or more configuration parameters;
  exe-commands to initiate some action;
  lst-commands to retrieve the contents of internal files or list the commands.

Each set-command has its get-counterpart, but the opposite is not true. For instance, the setNMEAOutput command has a corresponding getNMEAOutput, but getReceiverCapabilities has no set-counterpart. Each exe-command also has its get-counterpart which can be used to retrieve the parameters of the last invocation of the command.

The prompt indicates the termination of the processing of a given command. When sending multiple commands to the receiver, it is necessary to wait for the prompt between each command.

2.1 Command Line Syntax

Each ASCII command line consists of a command name optionally followed by a list of arguments and terminated by <CR>, <LF> or <CR><LF> character(s) usually corresponding to pressing the "Enter" key on the keyboard.

To minimize typing effort when sending commands by hand, the command name can be replaced by its 3- or 4-character mnemonic. For instance, grc can be used instead of getReceiverCapabilities.

The receiver is case insensitive when interpreting a command line.

The maximum length of any ASCII command line is 2000 characters.

For commands requiring arguments, the comma "," must be used to separate the arguments from each other and from the command’s name. Any number of spaces can be inserted before and after the comma.

Each argument of a set-command corresponds to a single configuration parameter in the receiver. Usually, each of these configuration parameters can be set independently of the others, so most of the set-command’s arguments are optional. Optional arguments can be omitted but if omitted arguments are followed by non-omitted ones, a corresponding number of commas must be entered. Omitted arguments always keep their current value.

2.2 Command Replies

The reply to ASCII commands always starts with "$R" and ends with <CR><LF> followed by the prompt corresponding to the connection descriptor you are connected to.

The following types of replies are defined for ASCII commands:

ASCII replies to set-, get- and exe-commands, including the terminating prompt, are atomic: they cannot be broken by other messages from the receivers. For the lst-commands, the replies may consist of several atomic formatted blocks which can be interleaved with other output data. If more than one formatted block is output for a lst-command, each of the intermediate blocks is terminated with a pseudo-prompt "---->". The normal prompt will only be used to terminate the last formatted block of the reply so that one single prompt is always associated with one command.

2.3 Command Syntax Tables

All ASCII commands are listed in Section 3, "Command List" Each command is introduced by a compact formal description of it called a "syntax table". Syntax tables contain a complete list of arguments with their possible values and default settings when applicable.

The conventions used in syntax tables are explained below by taking a fictitious setCommandName command as example. The syntax table for that command is:

scn
gcn
setCommandName 
getCommandName
Cd
Cd
Distance
 
Time
 
Message (120)
 
Mode
 
PRN
 








  • + Com1
  • + Com2
  • all

-20.00 0.00 …20.00 m

1 …50 sec

  • Unknown

  • on
  • off

  • none
  • + G01 ... G32
  • + S120 ... S138
  • + SBAS
  • + GPS
  • all

RxControl: Navigation > Receiver Operation > Example
Web Interface: Configuration > Navigation > Receiver Operation > Example

The associated set- and get-commands are always described in pairs, and the same holds for the associated exe- and get-commands. The command name and its equivalent 3- or 4-character mnemonic are printed in the first two columns. The list of arguments for the set- and getcommands is listed in the first and second row respectively. In our example, setCommandName can accept up to 6 arguments and getCommandName only accepts one argument. Mandatory arguments are printed in bold face. Besides the mandatory arguments, at least one of the optional arguments must be provided in the command line.

The list of possible values for each argument is printed under each of them. Default values for optional arguments are underlined.

The fictitious command above contains all the possible argument types:

The lines printed in blue under the syntax table show under which menu the command can be found using RxControl or the Web Interface (the latter is only relevant for receivers supporting a web interface).

3 Command List

___________________________________________________________________

3.1 Receiver Administration Commands

lai
 
lstAntennaInfo  
 
Antenna
 












  • Overview
  • Main
  • [antenna name]

Use this command with the argument Antenna set to Overview to get a list of all antenna names for which the receiver knows the phase center variation parameters (see Firmware User Manual for a discussion on the phase center variation).

Use this command with the argument Antenna set to one of the antenna names returned by lstAntennaInfo, Overview to retrieve the complete phase center variation parameters for that particular antenna. Do not forget to enclose the name between double quotes if it contains whitespaces.

Using the values Main will return the phase center variation parameters corresponding to the main antenna type as specified in the command setAntennaOffset.

Examples

COM1>  lai, Overview <CR>  
$R; lai, Overview 
<?xml version=~1.0~ encoding=~ISO-8859-1~ ?> 
<AntennaInfo version=~0.1~> 
    <Antenna ID=~AERAT1675_29    NONE~/> 
    <Antenna ID=~AERAT2775_150   NONE~/> 
    <Antenna ID=~AERAT2775_159       ~/> 
    <Antenna ID=~AERAT2775_159   SPKE~/> 
    <Antenna ID=~AERAT2775_160       ~/> 
    ... 
    <Antenna ID=~TRM_R8_GNSS         ~/> 
</AntennaInfo> 
COM1>
COM1>  lai, ~AERAT2775_159 SPKE~ <CR>  
$R; lai,~AERAT2775_159   SPKE~ 
<?xml version=~1.0~ encoding=~ISO-8859-1~ ?> 
<AntennaInfo version=~0.1~> 
    <Antenna ID=~AERAT2775_159   SPKE~/> 
        <L1> 
            <offset north=~0.4~ east=~0.1~ up=~77.2~/> 
            <phase elevation=~90~ value=~0.0~/> 
            <phase elevation=~85~ value=~-0.2~/> 
... 
            <phase elevation=~ 5~ value=~0.0~/> 
            <phase elevation=~ 0~ value=~0.0~/> 
        </L2> 
</AntennaInfo> 
COM1>

help
 
lstCommandHelp  
 
Action (255)
 












  • Overview

Use this command to retrieve a short description of the ASCII command-line interface.

When invoking this command with the Overview argument, the receiver returns the list of all supported set-, get- and exe-commands. The lstCommandHelp command can also be called with any supported set-, get- or exe-command (the full name or the mnemonic) as argument.

The reply to this command is free-formatted and subject to change in future versions of the receiver’s software. This command is designed to be used by human users. When building software applications, it is recommended to use the formal lstMIBDescription.

Examples

COM1>  help, Overview <CR>  
$R; help, Overview 
$-- BLOCK 1 / 0 
MENU: communication 
  GROUP: ioSelection 
    sdio, setDataInOut 
    gdio, getDataInOut 
... 
COM1>
COM1>  help, getReceiverCapabilities <CR>  
$R; help, getReceiverCapabilities 
... Here comes a description of getReceiverCapabilities ... 
COM1>
COM1>  help, grc <CR>  
$R; help, grc 
... Here comes a description of getReceiverCapabilities ... 
COM1>

lcf
 
lstConfigFile  
 
File
 












  • Current
  • Boot
  • RxDefault
  • User1
  • User2

Use this command to list the contents of a configuration file. A configuration file contains the list of user commands needed to bring the receiver from factory default to a certain non-default configuration.

The following configuration files are available:

File

Description



Current

The current configuration.



Boot

The configuration that is loaded at boot time, after a power cycle or after a hard reset (see also the exeResetReceiver command).



RxDefault

The default configuration.



User1

A user-defined configuration.



User2

A user-defined configuration.





See also the related exeCopyConfigFile command to learn how to manage configuration files.

Example

COM1>  smp, TestMarker <CR>  
$R: smp, TestMarker 
  MarkerParameters, ~TestMarker~ 
COM1>  lcf, Current <CR>  
$R; lcf, Current 
$-- BLOCK 1 / 1 
  setMarkerParameters, ~TestMarker~ 
COM1>

eccf
gccf
exeCopyConfigFile 
getCopyConfigFile
Source
 
Target
 












  • Current
  • Boot
  • User1
  • User2
  • RxDefault

  • Current
  • Boot
  • User1
  • User2

RxControl: File > Copy Configuration
Web Interface: Receiver > Administration > Copy Configuration

Use this command to manage the configuration files. See the lstConfigFile command for a description of the different configuration files.

With this command, the user can copy configurations files into other configuration files. For instance, copying the Current file into the Boot file makes that the receiver will always boot in the current configuration.

Examples

To save the current configuration in the Boot file, use:

COM1>  eccf, Current, Boot <CR>  
$R: eccf, Current, Boot 
  CopyConfigFile, Current, Boot 
COM1>

To load the configuration stored in User1, use:

COM1>  eccf, User1, Current <CR>  
$R: eccf, User1, Current 
  CopyConfigFile, User1, Current 
COM1>

efup
gfup
exeFTPUpgrade 
getFTPUpgrade
Server (32)
 
Path (64)
 
Login (12)
 
Password (24)
 












  • anonymous

RxControl: File > Upgrade Receiver using FTP
Web Interface: Receiver > Administration > Upgrade Receiver using FTP

Use this command to upgrade the receiver by fetching the upgrade file from an FTP server. The arguments specify the FTP server, the path to the upgrade file (.SUF format), and the login and password to use.

This procedure always resets the receiver, even if the upgrade file does not exist.

Before resetting, the receiver broadcasts a "$TE ResetReceiver" message to all active communication ports, to inform all users of the imminent reset.

After a reset, the user may have to adapt the communication settings of his/her terminal program as they may be reset to their default values.

Example

COM1>  efup, myftp.com, /tst.suf, user, password<CR>  
$R: efup, myftp.com, /tst.suf, user, password 
  FTPUpgrade, ~myftp.com~, ~/tst.suf~, ~user~, ~I301I5B8DG8E7QTT6RZT7IQ~ 
STOP> 
$TE ResetReceiver Upgrade 
STOP>

lif
 
lstInternalFile  
 
File
 












  • Permissions
  • Identification
  • Debug
  • Error
  • SisError
  • DiffCorrError
  • SetupError
  • IPParameters

Use this command to retrieve the contents of one of the receiver internal files:

File

Description



Permissions

List of permitted options in your receiver.



Identification

Information about the different components being part of the receiver (e.g. serial number, firmware version, etc.).



Debug

Program flow information that can help support engineers to debug certain issues.



Error

Last internal error reports.



SisError

Last detected signal-in-space anomalies.



DiffCorrError

Last detected anomalies in the incoming differential correction streams.



SetupError

Last detected anomalies in the receiver setup.



IPParameters

Hostname, MAC and IP addresses, DNS addresses, netmask and gateway (gateway shown only in static IP mode, see command setIPSettings).





Example

COM1>  lif, Permissions <CR>  
$R; lif, Permissions 
----> 
$-- BLOCK 1 / 1 
... here follows the permission file ... 
COM1>

lmd
 
lstMIBDescription  
 
File (255)
 












  • Overview
  • SBFTable

Use this command to retrieve the ASN.1-compliant syntax of the user command interface. The name of the command refers to the MIB (Management Information Base), which holds the whole receiver configuration. There is a one-to-one relationship between the formal MIB description and the ASCII command-line interface for all exe-, get- and set-commands.

When the value Overview is used, the general syntax of the interface is returned. With the value SBFTable, the receiver will output the list of supported SBF blocks and whether they can be output at a user-selectable rate or not. The lstMIBDescription command can also be called with every supported set-, get- or exe-command (the full name or the mnemonic) as argument.

No formal description of the lst-commands can be retrieved with lstMIBDescription.

Examples

COM1>  lmd, Overview <CR>  
$R; lmd, Overview 
... Here comes the generic command syntax ... 
COM1>
COM1>  lmd, grc <CR>  
$R; lmd, grc 
... Here comes the description of getReceiverCapabilities ... 
COM1>

epwm
gpwm
exePowerMode 
getPowerMode
Mode
 












  • ScheduledSleep
  • StandBy

RxControl: File > Power Mode > Shut Down
Web Interface: Receiver > Administration > Power Mode > Shut Down

Use this command to set the receiver in sleep or stand-by mode, in which it consumes only a fraction of its normal operational power.

When in ScheduledSleep or StandBy mode, the receiver can be awoken by sending the appropriate signal to one of its input pins, or by sending a character to the first COM port (see the Hardware Manual for details).

When in ScheduledSleep mode, the receiver can also automatically wake up at a given time or at regular intervals. This functionality is controlled by the setWakeUpInterval command.

Upon waking up, the receiver applies the configuration that is stored in the boot configuration file (see the lstConfigFile command).

Before entering sleep or stand-by mode, the receiver broadcasts a "$TE PowerMode" message to all active communication ports, to inform all users of the imminent halt.

Example

COM1>  epwm, ScheduledSleep <CR>  
$R: epwm, ScheduledSleep 
  PowerMode, ScheduledSleep 
STOP> 
$TE PowerMode ScheduledSleep 
STOP>

grc
 
getReceiverCapabilities  
 












RxControl: Help > Receiver Interface > Permitted Capabilities
Web Interface: Configuration > Help > Receiver Interface > Permitted Capabilities

Use this command to retrieve the so-called "capabilities" of your receiver. The first returned value is the list of supported antenna(s), followed by the list of supported signals, the list of available communication ports and the list of enabled features.

The three values at the end of the reply line correspond to the default measurement interval, the default PVT interval and the default integrated INS/GNSS interval respectively. This is the interval at which the corresponding SBF blocks are output when the OnChange rate is selected with the setSBFOutput command. These values are expressed in milliseconds.

Each of the above-mentioned lists contain one or more of the elements in the tables below.

Antennas

Description



Main

The receiver’s main antenna.





Signals

Description



GPSL1CA

GPS L1 C/A signal.



GPSL1PY

GPS L1 P(Y) signal.



GPSL2PY

GPS L2 P(Y) signal.



GPSL2C

GPS L2 C signal.



GPSL5

GPS L5 signal.



GLOL1CA

GLONASS L1 C/A signal.



GLOL2P

GLONASS L2 P signal.



GLOL2CA

GLONASS L2 C/A signal.



GLOL3

GLONASS L3 signal.



GALL1BC

Galileo L1 BC signal.



GALE5a

Galileo E5a signal.



GALE5b

Galileo E5b signal.



GALE5

Galileo E5 AltBOC signal.



GEOL1

SBAS L1 C/A signal.



GEOL5

SBAS L5 signal.



CMPL1

COMPASS/BEIDOU B1 signal.



CMPE5b

COMPASS/BEIDOU B2 signal.



QZSL1CA

QZSS L1 C/A signal.



QZSL2C

QZSS L2 C signal.



QZSL5

QZSS L5 signal.





ComPorts

Description



COM1

Serial port 1.



COM2

Serial port 2.



COM3

Serial port 3.



COM4

Serial port 4.



USB1

Virtual serial port 1.



USB2

Virtual serial port 2.



IP10

TCP/IP port 1.



IP11

TCP/IP port 2.



IP12

TCP/IP port 3.



IP13

TCP/IP port 4.



IP14

TCP/IP port 5.



IP15

TCP/IP port 6.



IP16

TCP/IP port 7.



IP17

TCP/IP port 8.



NTR1

NTRIP port 1.



NTR2

NTRIP port 2.



NTR3

NTRIP port 3.



IPS1

IP Server port 1.



IPS2

IP Server port 2.



IPS3

IP Server port 3.



IPR1

IP Receive port 1.



IPR2

IP Receive port 2.



IPR3

IP Receive port 3.





Capabilities

Description



SBAS

Positioning with SBAS corrections.



DGPSRover

Positioning with DGPS corrections.



DGPSBase

Generation of DGPS corrections.



RTKRover

Positioning with RTK corrections.



RTKBase

Generation of RTK corrections.



RTCMv23

Generation/decoding of RTCM v2.3 corrections.



RTCMv3x

Generation/decoding of RTCM v3.x corrections.



CMRv20

Generation/decoding of CMR v2.0 corrections.



xPPSInput

Internal clock synchronisation with xPPS input signal.



xPPSOutput

Generation of xPPS output signal.



TimedEvent

Accurate time mark of event signals.



InternalLogging

Internal logging.



APME

A-Posteriori Multipath Estimator.



RAIM

Receiver Autonomous Integrity Monitoring.



MovingBase

Usage of Moving Base allowed.





Example

COM1>  grc <CR>  
$R: grc 
  ReceiverCapabilities, Main, GPSL1CA+GEOL1, COM1+COM2+COM3+COM4+ USB1+USB2, 
APME+SBAS, 100, 100, 100 
COM1>

gri
 
getReceiverInterface  
 
Item
 












  • + RxName
  • + SNMPLanguage
  • + SNMPVersion
  • all

RxControl: Help > Receiver Interface > Interface Version
Web Interface: Configuration > Help > Receiver Interface > Interface Version

Use this command to retrieve the version of the receiver command-line interface. The reply to this command is a subset of the reply returned by the lstInternalFile, Identification command.

Example

COM1>  gri <CR>  
$R: gri 
  ReceiverInterface, RxName, AsteRx1 
  ReceiverInterface, SNMPLanguage, English 
  ReceiverInterface, SNMPVersion, 20060308 
COM1>

era
gra
exeRegisteredApplications 
getRegisteredApplications
Cd
Cd
Application (12)
 












  • + COM1
  • + COM2
  • + COM3
  • + COM4
  • + USB1
  • + USB2
  • + IP10 ... IP17
  • all

  • Unknown

RxControl: Communication > Registration
Web Interface: Configuration > Communication > Registration

Use these commands to define/inquire the name of the application that is currently using a given connection descriptor (Cd).

Registering an application name for a connection does not affect the receiver operation, and is done on a voluntary basis. Application registration can be useful to developers of external applications when more than one application is to communicate with the receiver concurrently. Whether or not this command is used, and the way it is used is up to the developers of external applications.

Example

COM1>  era, com1, MyApp <CR>  
$R: era, com1, MyApp 
  RegisteredApplications, COM1, ~MyApp~ 
  RegisteredApplications, COM2, ~Unknown~ 
  RegisteredApplications, COM3, ~Unknown~ 
  RegisteredApplications, USB1, ~Unknown~ 
  RegisteredApplications, USB2, ~Unknown~ 
COM1>

erst
grst
exeResetReceiver 
getResetReceiver
Level
 
EraseMemory
 












  • Soft
  • Hard
  • Upgrade

  • none
  • + Config
  • + PVTData
  • + SatData
  • + BaseStations
  • all

RxControl: File > Reset Receiver
Web Interface: Receiver > Administration > Reset Receiver

Use this command to reset the receiver and to erase some previously stored data. The first argument specifies which level of reset you want to execute:

Level

Description



Soft

This is a reset of the receiver’s firmware. After a few seconds, the receiver will restart operating in the same configuration as before the command was issued, unless the "Config" value is specified in the second argument.



Hard

This is similar to a power off/on sequence. After hardware reset, the receiver will use the configuration saved in the boot configuration file.



Upgrade

Set the receiver into upgrade mode. After a few seconds, the receiver is ready to accept an upgrade file (SUF format) from any of its connections.





The second argument specifies which part of the non-volatile memory should be erased during the reset. The following table contains the possible values for the EraseMemory argument:

EraseMemory

Description



Config

The receiver’s configuration is reset to the factory default. The Current and Boot configuration files are erased (see the exeCopyConfigFile command). Note that the User1 and User2 configuration files are not erased: use the exeCopyConfigFile command instead. Also, the IP settings set by the commands setIPSettings and setIPPortSettings are not reset.



PVTData

The latest computed PVT data stored in non-volatile memory is erased.



SatData

All satellite navigation data (ephemeris, almanac, ionosphere parameters, UTC, ...) stored in non-volatile memory is erased.



BaseStations

All base stations stored in non-volatile memory are erased.





Before resetting, the receiver broadcasts a "$TE ResetReceiver" message to all active communication ports, to inform all users of the imminent reset.

After a reset, the user may have to adapt the communication settings of his/her terminal program as they may be reset to their default values.

Example

COM1>  erst, soft, none <CR>  
$R: erst, soft, none 
  ResetReceiver, Soft, none 
STOP> 
$TE ResetReceiver Soft 
STOP>

3.2 Authentication Commands

lcu
 
lstCurrentUser  
 












Use this command to check which user is currently logged in on this port, if any. See also the login command.

Example

COM1>  lcu <CR>  
$R! lstCurrentUser 
  Not logged in. 
COM1>  login, admin, admin <CR>  
$R! LogIn 
  User admin logged in. 
COM1>  lcu <CR>  
$R! lstCurrentUser 
  Logged in as admin. 
COM1>

sdal
gdal
setDefaultAccessLevel 
getDefaultAccessLevel
Web
 
Ftp
 
Ip
 
Com
 
Usb
 












  • none
  • Viewer
  • User

  • none
  • Viewer
  • User

  • none
  • Viewer
  • User

  • none
  • Viewer
  • User

  • none
  • Viewer
  • User

RxControl: File > User Management
Web Interface: Receiver > Administration > User Management

This command defines what an anonymous user is authorized to do when connected to the receiver. An anonymous user is one who has not logged in with the login command.

The anonymous authorization level can be set independently for the Web interface, the FTP access, TCP/IP ports, COM ports and USB ports.

For the Web, Ip, Com and Usb arguments, setting the authorization level to User grants full control of the receiver to the anonymous user connected through that connection. The Viewer level allows the anonymous user to view the receiver configuration without changing it (i.e. to only issue get-commands). none prevents anonymous users from viewing or changing the configuration.

For the Ftp argument, Viewer means that the anonymous user is allowed to download files, but not to delete them. User means that the anonymous user can both download and delete files.

To perform actions not allowed to anonymous users, you first need to authenticate yourself by entering a UserName and Password through the login command.

See also the commands setUserAccessLevel to learn how to define user accounts.

This command does not change the status of existing connections. In particular, for Com and Usb connections, it will only take effect after a reset.

Example

To require logging in on Web and FTP interfaces, use:

COM1>  sdal, none, none <CR>  
$R: sdal, none, none 
  DefaultAccessLevel, none, none, User, User, User 
COM1>

login
 
LogIn  
 
UserName (16)
 
Password (32)
 












Use this command to authenticate yourself. When initially connecting to the receiver, a user is considered "anonymous". The level of control granted to anonymous users is defined by the command setDefaultAccessLevel.

To perform actions not allowed to anonymous users, you need to authenticate yourself by entering a UserName and Password through the login command.

The list of user names and passwords and their respective access level can be managed with the setUserAccessLevel command. Login fails if the provided UserName or Password is not in that list.

The logout command returns to unauthenticated (anonymous) access. The lstCurrentUser command can be invoked to find out which user is logged in on the current port.

It is not necessary to log out before logging in as a different user.

Examples

To log in as user "admin" with password "admin", use

COM1>  login, admin, admin <CR>  
$R! LogIn 
  User admin logged in. 
COM1>

Logging in with a wrong username or password gives an error:

COM1>  login, foo, foo <CR>  
$R? LogIn: Wrong username or password! 
COM1>

If the user does not have sufficient access right, some commands may give an error:

COM1>  sso, Stream1, COM1, MeasEpoch, sec1 <CR>  
$R? SBFOutput: Not authorized! 
COM1>

logout
 
LogOut  
 












Use this command to return to anonymous access. It is the reverse of login.

Example

The following sequence of commands logs in as user "admin" with password "admin", reconfigures SBF output, and logs out again:

COM1>  login, admin, admin <CR>  
$R! LogIn 
  User admin logged in. 
COM1>  sso, Stream1, COM1, Group1, sec1 <CR>  
$R: sso, Stream1, COM1, Group1, sec1 
  SBFOutput, Stream1, COM1, Group1, sec1 
COM1>  logout <CR>  
$R! LogOut 
  User admin logged out. 
COM1>

sual
gual
setUserAccessLevel 
getUserAccessLevel
UserID
UserID
UserName (16)
 
Password (32)
 
UserLevel
 












  • + User1 ... User8
  • all

  • Viewer
  • User

RxControl: File > User Management
Web Interface: Receiver > Administration > User Management

Use these commands to manage the users and their access rights on the receiver. Up to eight users can be defined (User1 to User8).

Each user is identified with a UserName and Password, and has a certain level of acces (UserLevel). If UserLevel is User, the user has full control of the receiver. If it is Viewer, the user can only issue get-commands.

Note that the receiver encrypts the password so that it cannot be read back with the command getUserAccessLevel.

Examples

To create a user with name logger, password xghNF%d and "Viewer" access permissions:

COM1>  sual, User3, logger, xghNF%d, Viewer <CR>  
$R: sual, User3, logger, xghNF%d, Viewer 
  UserAccessLevel, User3, ~logger~, ~15872ICUR219W7S7ZL3543B5ECU~, Viewer 
COM1>

To remove a user from the list, use the empty string "" as UserName and Password:

COM1>  sual, User3, ~~, ~~, none <CR>  
$R: sual, User3, ~~, ~~, none 
  UserAccessLevel, User3, ~~, ~~, none 
COM1>

3.3 Tracking Configuration Commands

sam
gam
setAGCMode 
getAGCMode
Band
Band
Mode
 
Gain
 












  • + L1
  • + L2L5
  • all

  • auto
  • frozen
  • manual

0 35 …70 dB

RxControl: Navigation > Advanced User Settings > Frontend and Interference Mitigation > Frontend Settings
Web Interface: Configuration > Navigation > Advanced User Settings > Frontend and Interference Mitigation > Frontend Settings

Use these commands to define/inquire the operation mode of the Automatic Gain Control (AGC) in the receiver frontend. The AGC is responsible for amplifying the input RF signal to an appropriate level.

By default (Mode is set to auto), the AGC automatically adjusts its gain in function of the input signal power. In frozen mode, the AGC gain is kept constant at its current value (after a ten-second stabilisation period) and does not follow any subsequent variation of the input signal power. In manual mode, the user can set the gain to a fixed value specified by the Gain argument. The Gain argument is ignored in auto and frozen modes.

The first argument (Band) specifies for which frequency band the settings apply.

Example

COM1>  sam, all, frozen <CR>  
$R: sam, all, frozen 
  AGCMode, L1, frozen, 30 
COM1>

sca
gca
setChannelAllocation 
getChannelAllocation
Channel
Channel
Satellite
 
Search
 
Doppler
 
Window
 












  • + Ch01 ... Ch52
  • all

  • auto
  • G01 ... G32
  • F01 ... F14
  • E01 ... E32
  • S120 ... S158
  • C01 ... C37
  • J01
  • J02
  • J03

  • auto
  • manual

-50000 0 …50000 Hz

1 16000 …100000 Hz

RxControl: Navigation > Advanced User Settings > Channel Allocation
Web Interface: Configuration > Navigation > Advanced User Settings > Channel Allocation

Use these commands to define/inquire the satellite-to-channel allocation of the receiver.

The action of the setChannelAllocation command is to force the allocation of a particular satellite on the set of channels identified with the Channel argument, thereby overruling the automatic channel allocation performed by the receiver. It is possible to allocate the same satellite to more than one channel. If you assign a satellite to a given channel, any other channel that was automatically allocated to the same satellite will be stopped and will be reallocated.

The values Gxx, Exx, Fxx, Sxxx, Cxx and Jxx for the Satellite argument represent GPS, Galileo, GLONASS, SBAS, Compass/BeiDou and QZSS satellites respectively. For GLONASS, the frequency number (with an offset of 8) should be provided, and not the slot number (hence the "F"). Setting the Satellite argument to auto brings the channel back in auto-allocation mode.

The user can specify the Doppler window in which the receiver has to search for the satellite. This is done by setting the Search argument to manual. In that case, the Doppler and Window arguments can be provided: the receiver will search for the signal within an interval of Window Hz centred on Doppler Hz. The value to be provided in the Doppler argument is the expected Doppler at the GPS L1 carrier frequency (1575.42MHz). This value includes the geometric Doppler and the receiver and satellite frequency biases. Specifying a Doppler window can speed up the search process in some circumstances. A satellite already in tracking that falls outside of the prescribed window will remain in tracking.

If Search is set to auto, the receiver applies its usual search procedure, as it would do for auto-allocated satellites, and the Doppler and Window arguments are ignored.

Be aware that this command may disturb the normal operation of the receiver and is intended only for expert-level users.

Examples

COM1>  sca, Ch05, G01 <CR>  
$R: sca, Ch05, G01 
  ChannelAllocation, Ch05, G01, auto, 0, 16000 
COM1>
COM1>  gca, Ch05 <CR>  
$R: gca, Ch05 
  ChannelAllocation, Ch05, G01, auto, 0, 16000 
COM1>

gcc
 
getChannelConfiguration  
 
Channel
 












  • + Ch01 ... Ch52
  • all

RxControl: Navigation > Advanced User Settings > Channel Configuration
Web Interface: Configuration > Navigation > Advanced User Settings > Channel Configuration

Use this command to get the list of signals that a given channel can track.

Example

To display the different signals that the first channel can track, use:

COM1>  gcc, Ch01 <CR>  
$R: gcc, Ch01 
  ChannelConfiguration, Ch01, GPSL1CA 
COM1>

scm
gcm
setCN0Mask 
getCN0Mask
Signal
Signal
Mask
 












  • + GPSL1CA
  • + Reserved1
  • + Reserved2
  • + GPSL2C
  • + GPSL5
  • + GLOL1CA
  • + GLOL2P
  • + GLOL2CA
  • + GLOL3
  • + GALL1BC
  • + GALE5a
  • + GALE5b
  • + GALE5
  • + GEOL1
  • + GEOL5
  • + CMPL1
  • + CMPE5b
  • + QZSL1CA
  • + QZSL2C
  • + QZSL5
  • all

0 28 …60 dB-Hz

RxControl: Navigation > Receiver Operation > Masks
Web Interface: Configuration > Navigation > Receiver Operation > Masks

Use these commands to define/inquire the carrier-to-noise ratio mask for the generation of measurements. The receiver does not generate measurements for those signals of which the C/N 0 is under the specified mask, and does not include these signals in the PVT computation. However, it continues to track these signals and to decode and use the navigation data as long as possible, regardless of the C/N 0 mask.

The mask can be set independently for each of the signal types supported by the receiver, except for the GPS P-code, of which the mask is fixed at 1 dB-Hz (this is because of the codeless tracking scheme needed for GPS P-code).

Examples

COM1>  scm, GEOL1, 30 <CR>  
$R: scm, GEOL1, 30 
  CN0Mask, GEOL1, 30 
COM1>
COM1>  gcm, GEOL1 <CR>  
$R: gcm, GEOL1 
  CN0Mask, GEOL1, 30 
COM1>

sfm
gfm
setFrontendMode 
getFrontendMode
Mode
 












  • Nominal
  • GLOL2Blocked

RxControl: Navigation > Advanced User Settings > Frontend and Interference Mitigation > Frontend Settings
Web Interface: Configuration > Navigation > Advanced User Settings > Frontend and Interference Mitigation > Frontend Settings

Use these commands to define/inquire the frontend operating mode. The following modes are available.

Mode

Description



Nominal

Nominal operation.



GLOL2Blocked

GLONASS L2 band blocked. This mode should only be selected in case of a strong interferer in the GLONASS L2 band. In GLOL2Blocked mode, GLONASS L2 cannot be tracked.





Example

COM1>  sfm, Nominal <CR>  
$R: sfm, Nominal 
  FrontendMode, Nominal 
COM1>

smm
gmm
setMultipathMitigation 
getMultipathMitigation
Code
 
Carrier
 












  • off
  • on

  • off
  • on

RxControl: Navigation > Receiver Operation > Tracking and Measurements > Multipath
Web Interface: Configuration > Navigation > Receiver Operation > Tracking and Measurements > Multipath

Use these commands to define/inquire whether multipath mitigation is enabled or not.

The arguments Code and Carrier enable or disable the A-Posteriori Multipath Estimator (APME) for the code and carrier phase measurements respectively. APME is a technique by which the receiver continuously estimates the multipath error and corrects the measurements accordingly.

This multipath estimation process slightly increases the thermal noise on the pseudoranges. However, this increase is more than compensated by the dramatic decrease of the multipath noise.

Examples

COM1>  smm, on, off <CR>  
$R: smm, on, off 
  MultipathMitigation, on, off 
COM1>
COM1>  gmm <CR>  
$R: gmm 
  MultipathMitigation, on, off 
COM1>

snf
gnf
setNotchFiltering 
getNotchFiltering
Notch
Notch
Mode
 
CenterFreq
 
Bandwidth
 












  • + Notch1
  • all

  • auto
  • off
  • manual

1100.000 …1700.000 MHz

30 …1600 kHz

RxControl: Navigation > Advanced User Settings > Frontend and Interference Mitigation > Frontend Settings
Web Interface: Configuration > Navigation > Advanced User Settings > Frontend and Interference Mitigation > Frontend Settings

Use these commands to set the position of the notch filter(s) in the receiver’s frontend. Notch filters are used to cancel narrowband interferences.

The Mode argument is used to enable or disable the notch filter specified in the first argument. When set to auto, the receiver performs automatic detection of the region of the spectrum affected by interference if any. In manual mode, the user forces a certain region of the spectrum to be blanked by the notch filter. That region must be specified by the arguments CenterFreq and Bandwidth. Bandwidth is the double-sided bandwidth centered at CenterFreq. Specifying a region outside of a GNSS band has no effect.

Example

COM1>  snf, Notch1, manual, 1227, 30 <CR>  
$R: snf, Notch1, manual, 1227, 30 
  NotchFiltering, Notch1, manual, 1227.000, 30 
COM1>

sst
gst
setSatelliteTracking 
getSatelliteTracking
Satellite
 












  • none
  • + G01 ... G32
  • + R01 ... R30
  • + E01 ... E32
  • + S120 ... S158
  • + C01 ... C37
  • + J01
  • + J02
  • + J03
  • + GPS
  • + GLONASS
  • + GALILEO
  • + SBAS
  • + COMPASS
  • + QZSS
  • all

RxControl: Navigation > Advanced User Settings > Tracking > Satellite Tracking
Web Interface: Configuration > Navigation > Advanced User Settings > Tracking > Satellite Tracking

Use these commands to define/inquire which satellites are allowed to be tracked by the receiver. It is possible to enable or disable a single satellite (e.g. G01 for GPS PRN1), or a whole constellation. Gxx, Exx, Rxx, Sxxx, Cxx and Jxx refer to a GPS, Galileo, GLONASS, SBAS, Compass/BeiDou or QZSS satellite respectively. GLONASS satellites must be referenced by their slot number in this command.

For a satellite to be effectively tracked by the receiver, make sure that at least one of its signals is enabled in the setSignalTracking command.

A satellite which is disabled by this command is not considered anymore in the automatic channel allocation mechanism, but it can still be forced to a given channel, and tracked, using the setChannelAllocation command.

Tracking a satellite does not automatically mean that the satellite will be included in the PVT computation. The inclusion of a satellite in the PVT computation is controlled by the setSatelliteUsage command.

Examples

To only enable the tracking of GPS satellites, use:

COM1>  sst, GPS <CR>  
$R: sst, GPS 
  SatelliteTracking, G01+G02+G03+G04+G05+G06+G07+G08+G09+G10+G11 
+G12+G13+G14+G15+G16+G17+G18+G19+G20+G21+G22+G23+G24+G25+G26+G27 
+G28+G29+G30+G31+G32 
COM1>

To add all SBAS satellites in the list of satellites to be tracked, use:

COM1>  sst, +SBAS <CR>  
$R: sst, +SBAS 
  SatelliteTracking, G01+G02+G03+G04+G05+G06+G07+G08+G09+G10+G11 
+G12+G13+G14+G15+G16+G17+G18+G19+G20+G21+G22+G23+G24+G25+G26+G27 
... 
  COM1>

To remove SBAS PRN120 from the list of allowed satellites, use:

COM1>  sst, -S120 <CR>  
$R: sst, -S120 
  SatelliteTracking, G01+G02+G03+G04+G05+G06+G07+G08+G09+G10+G11 
+G12+G13+G14+G15+G16+G17+G18+G19+G20+G21+G22+G23+G24+G25+G26+G27 
... 
  COM1>

snt
gnt
setSignalTracking 
getSignalTracking
Signal
 












  • + GPSL1CA
  • + GPSL1PY
  • + GPSL2PY
  • + GPSL2C
  • + GPSL5
  • + GLOL1CA
  • + GLOL2P
  • + GLOL2CA
  • + GLOL3
  • + GALL1BC
  • + GALE5a
  • + GALE5b
  • + GALE5
  • + GEOL1
  • + GEOL5
  • + CMPL1
  • + CMPE5b
  • + QZSL1CA
  • + QZSL2C
  • + QZSL5
  • all

RxControl: Navigation > Advanced User Settings > Tracking > Signal Tracking
Web Interface: Configuration > Navigation > Advanced User Settings > Tracking > Signal Tracking

Use these commands to define/inquire which signals are allowed to be tracked by the receiver.

Beware that disabling a given signal can prevent the receiver from tracking other signals: disabling GPSL1CA prevents the tracking of GPSL1PY, GPSL2PY and GPSL2C, disabling QZSL1CA prevents the tracking of QZSL2C, and disabling GLOL2CA prevents the tracking of GLOL2P.

Examples

To configure the receiver in a single-frequency L1 GPS+SBAS mode, use:

COM1>  snt, GPSL1CA+GEOL1 <CR>  
$R: snt, GPSL1CA+GEOL1 
  SignalTracking, GPSL1CA+GEOL1 
COM1>
COM1>  gnt <CR>  
$R: gnt 
  SignalTracking, GPSL1CA+GEOL1 
COM1>

ssi
gsi
setSmoothingInterval 
getSmoothingInterval
Signal
Signal
Interval
 
Alignment
 












  • + GPSL1CA
  • + GPSL2PY
  • + GPSL2C
  • + GPSL5
  • + GLOL1CA
  • + GLOL2P
  • + GLOL2CA
  • + GLOL3
  • + GALL1BC
  • + GALE5a
  • + GALE5b
  • + GALE5
  • + GEOL1
  • + GEOL5
  • + CMPL1
  • + CMPE5b
  • + QZSL1CA
  • + QZSL2C
  • + QZSL5
  • all

0 …1000 sec

0 …1000 sec

RxControl: Navigation > Receiver Operation > Tracking and Measurements > Smoothing
Web Interface: Configuration > Navigation > Receiver Operation > Tracking and Measurements > Smoothing

Use these commands to define/inquire the code measurement smoothing interval.

The Interval argument defines the length of the smoothing filter that is used to smooth the code measurements by the carrier phase measurements. It is possible to define a different interval for each signal type. If Interval is set to 0, the code measurements are not smoothed. The smoothing interval can vary from 1 to 1000 seconds.

To prevent transient effect to perturb the smoothing filter, smoothing is disabled during the first ten seconds of tracking, i.e. when the lock time is lower than 10s. Likewise, the smoothing effectively starts with a delay of 10 seconds after entering the setSmoothingInterval command.

Code smoothing allows reducing the pseudoranges noise and multipath. It has no influence on the carrier phase and Doppler measurements. The smoothing filter has an incremental effect; the noise of the filtered pseudoranges will decrease over time and reach its minimum after Interval seconds. For some applications, it may be necessary to wait until this transient effect is over before including the measurement in the PVT computation. This is the purpose of the Alignment argument. If Alignment is not set to 0, measurements taken during the first Alignment+10 seconds of tracking will be discarded. The effective amount of Alignment is never larger than Interval, even if the user sets it to a larger value.

Examples

COM1>  ssi, GPSL1CA, 300 <CR>  
$R: ssi, GPSL1CA, 300 
  SmoothingInterval, GPSL1CA, 300, 0 
COM1>
COM1>  gsi, GPSL1CA <CR>  
$R: gsi, GPSL1CA 
  SmoothingInterval, GPSL1CA, 300, 0 
COM1>

stlp
gtlp
setTrackingLoopParameters 
getTrackingLoopParameters
Signal
Signal
DLLBandwidth
 
PLLBandwidth
 
MaxTpDLL
 
MaxTpPLL
 
Adaptive
 












  • + GPSL1CA
  • + Reserved1
  • + Reserved2
  • + GPSL2C
  • + GPSL5
  • + GLOL1CA
  • + GLOL2P
  • + GLOL2CA
  • + GLOL3
  • + GALL1BC
  • + GALE5a
  • + GALE5b
  • + GALE5
  • + GEOL1
  • + GEOL5
  • + CMPL1
  • + CMPE5b
  • + QZSL1CA
  • + QZSL2C
  • + QZSL5
  • all

0.01 0.25 …5.00 Hz

1 15 …100 Hz

1 100 …500 msec

1 10 …200 msec

  • off
  • on

RxControl: Navigation > Advanced User Settings > Tracking > Tracking Loop Parameters
Web Interface: Configuration > Navigation > Advanced User Settings > Tracking > Tracking Loop Parameters

Use these commands to define/inquire the tracking loop parameters for each individual signal type.

The DLLBandwidth and PLLBandwidth arguments define the single-sided DLL and PLL noise bandwidth, in Hz.

The MaxTpDLL argument defines the maximum DLL pre-detection time, in millisecond. The actual pre-detection time applied by the receiver (TpDLL) depends on the presence of a pilot component. For signals having a pilot component (e.g. GPS L2C), TpDLL = MaxTpDLL. For signals without pilot component (e.g. GPS L1CA), TpDLL is the largest divider of the symbol duration smaller than or equal to MaxTpDLL.

The MaxTpPLL argument defines the maximal PLL pre-detection time, in millisecond. The actual pre-detection time in the receiver (TpPLL) is computed in the same way as indicated for the MaxTpDLL argument.

Setting the Adaptive argument to on allows the receiver to dynamically change the loop parameters in order to optimize performance in specific conditions.

After entering this command, all active tracking loops stop and restart with the new settings.

This command should only be used by expert users who understand the consequences of modifying the default values. In some circumstances, changing the tracking parameters may result in the impossibility for the receiver to track a specific signal, or may significantly increase the processor load. It is recommended that the product of TpPLL (in milliseconds) and PLLBandwidth (in Hz) be kept between 100 and 200.

Note that decreasing the predetection times increases the load on the processor.

Example

COM1>  stlp, GPSL1CA, 0.20, 12 <CR>  
$R: stlp, GPSL1CA, 0.20, 12 
  TrackingLoopParameters, GPSL1CA, 0.20, 12, 100, 10 
COM1>

3.4 Navigation Configuration Commands

sal
gal
setAntennaLocation 
getAntennaLocation
Antenna
Antenna
Mode
 
DeltaX
 
DeltaY
 
DeltaZ
 












  • + Base
  • all

  • auto
  • manual

-1000.0000 0.0000 …1000.0000 m

-1000.0000 0.0000 …1000.0000 m

-1000.0000 0.0000 …1000.0000 m

RxControl: Navigation > Positioning Mode > GNSS Attitude
Web Interface: Configuration > Navigation > Positioning Mode > GNSS Attitude

Use this command to define/inquire the relative location of the antennas in the vehicle reference frame in the context of attitude determination.

The attitude of a vehicle (more precisely the heading and pitch angles) can be determined from the orientation of the baseline between two antennas attached to the vehicle. These two antennas must be connected to two receivers configured in moving-base RTK operation. Use the command setGNSSAttitude to enable moving-base attitude determination.

The setAntennaLocation command should be invoked at the rover receiver with the Antenna argument set to Base to specify the relative position of the base antenna with respect to the rover antenna.

In auto mode, the receiver determines the attitude angles assuming that the baseline between the antenna ARPs is parallel to the longitudinal axis of the vehicle, and that the base antenna is in front of the rover antenna (i.e. towards the direction of movement). The length of the baseline is automatically computed by the receiver, and the baseline may be flexible. The DeltaX, DeltaY and DeltaZ arguments are ignored in auto mode.

In manual mode, the user can specify the exact position of the base antenna with respect to the rover antenna in the vehicle reference frame. That reference frame has its X axis pointing to the front of the vehicle, the Y axis pointing to the right, and the Z axis pointing down. Selecting manual mode implies that the baseline is rigid. The DeltaX, DeltaY and DeltaZ coordinates are ARP-to-ARP.

Example

In the case of moving-base attitude determination, if the moving-base antenna is located one meter to the left of the rover antenna, and 10 cm below, you should use:

COM1>  sal, Base, manual, 0, -1, 0.1 <CR>  
$R: sal, Base, manual, 0, 1, 0.1 
    AntennaLocation, Base, manual, 0.0000, -1.0000, 0.1000 
COM1>

sao
gao
setAntennaOffset 
getAntennaOffset
Antenna
Antenna
DeltaE
 
DeltaN
 
DeltaU
 
Type (20)
 
SerialNr (20)
 
SetupID
 












  • + Main
  • all

-1000.0000 0.0000 …1000.0000 m

-1000.0000 0.0000 …1000.0000 m

-1000.0000 0.0000 …1000.0000 m

  • Unknown

  • Unknown

0 …255

RxControl: Navigation > Receiver Setup > Antennas
Web Interface: Configuration > Navigation > Receiver Setup > Antennas

Use these commands to define/inquire the parameters that are associated with the antenna connected to your receiver.

The arguments DeltaE, DeltaN and DeltaU are the offsets of the antenna reference point (ARP) with respect to the marker, in the East, North and Up (ENU) directions respectively, expressed in meters. All absolute positions reported by the receiver are marker positions, obtained by subtracting this offset from the ARP. The purpose is to take into account the fact that the antenna may not be located directly on the surveying point of interest.

Use the argument Type to specify the type of your antenna. For best positional accuracy, it is recommended to select a type from the list returned by the command lstAntennaInfo, Overview. This is the list of antennas for which the receiver can compensate for phase center variation (see Firmware User Manual for details). If Type does not match any entry in the list returned by lstAntennaInfo, Overview, the receiver will assume that the phase center variation is zero at all elevations and frequency bands, and the position will not be as accurate. If the antenna name contains whitespaces, it has to be enclosed between double quotes. For proper name matching, it is important to keep the exact same number of whitespaces and the same case as the name returned by lstAntennaInfo, Overview.

The argument SerialNr is the serial number of your particular antenna. It may contain letters as well as digits (do not forget to enclose the string between double quotes if it contains whitespaces).

The argument SetupID is the antenna setup ID as defined in the RTCM standard. It is a parameter for use by the service provider to indicate the particular reference station-antenna combination. The number should be increased whenever a change occurs at the station that affects the antenna phase center variations. Setting SetupID to zero means that the values of a standard model type calibration should be used. The value entered for this argument is used to set the setup ID field in the message type 23 of RTCM2.3, and in message types 1007, 1008 and 1033 of RTCM3. It has otherwise no effect on the receiver operation.

Example

COM1>  sao, Main, 0.1, 0.0, 1.3, ~AERAT2775_159 SPKE~, 5684, 0<CR>  
$R: sao, Main, 0.1, 0.0, 1.3, ~AERAT2775_159   SPKE~, 5684, 0 
  AntennaOffset, Main, 0.1000, 0.0000, 1.3000, ~AERAT2775_159   SPKE~, 5684, 0 
COM1>

sto
gto
setAttitudeOffset 
getAttitudeOffset
Heading
 
Pitch
 












0.000 …360.000 deg

-90.000 0.000 …90.000 deg

RxControl: Navigation > Positioning Mode > GNSS Attitude
Web Interface: Configuration > Navigation > Positioning Mode > GNSS Attitude

Use this command to specify the offsets that the receiver applies to the computed attitude angles.

The attitude of a vehicle (more precisely the heading and pitch angles) can be determined from the orientation of the baseline between two antennas attached to the vehicle. By default, the receiver determines the attitude angles assuming that the baseline between the antenna ARPs is parallel to the longitudinal axis of the vehicle. Attitude biases appear when this is not the case. The user can use this command to provide the value of the biases, such that the receiver can compensate for them before outputting the attitude. The receiver subtracts the offsets specified by the Heading and Pitch arguments from the attitude angles before encoding them in NMEA or SBF.

Another way to avoid attitude biases is to provide the accurate position of the antennas in the vehicle reference frame. See the command setAntennaLocation for more details.

Example

COM1>  sto, 10.2, -2.5 <CR>  
$R: sto, 10.2, -2.5 
  AttitudeOffset, 10.200, -2.500 
COM1>

sdca
gdca
setDiffCorrMaxAge 
getDiffCorrMaxAge
DGPSCorr
 
RTKCorr
 
PPPCorr
 
Iono
 












0.0 400.0 …3600.0 sec

0.0 20.0 …3600.0 sec

0.0 360.0 …3600.0 sec

0.0 600.0 …3600.0 sec

RxControl: Navigation > Positioning Mode > PPP and Differential Corrections
Web Interface: Configuration > Navigation > Positioning Mode > PPP and Differential Corrections

Use these commands to define/inquire the maximum age acceptable for a given differential correction type. A correction is applied only if its age (aka latency) is under the timeout specified with this command and if it is also under the timeout specified with the MaxAge argument of the setDiffCorrUsage command. In other words, the command setDiffCorrUsage sets a global maximum timeout value, while the command setDiffCorrMaxAge can force shorter timeout values for certain correction types.

The argument DGPSCorr defines the timeout of the range corrections when the PVT is computed in DGPS mode.

The argument RTKCorr defines the timeout of the base station code and carrier phase measurements when the PVT is computed in RTK mode.

The argument PPPCorr defines the timeout of the wide-area satellite clock and orbit corrections used in PPP mode (only applicable if your receiver supports PPP positioning mode).

The argument Iono defines the timeout of the ionospheric corrections (such as transmitted in RTCM2.x MT15) used in DGPS PVT mode.

If the timeout is set to 0, the receiver will never apply the corresponding correction.

Note that this command does not apply to the corrections transmitted by SBAS satellites. For these corrections, the receiver always applies the timeout values prescribed in the DO229 standard.

Example

COM1>  sdca, 10 <CR>  
$R: sdca, 10 
  DiffCorrMaxAge, 10.0, 20.0, 300.0, 300.0 
COM1>

sdcu
gdcu
setDiffCorrUsage 
getDiffCorrUsage
Mode
 
MaxAge
 
BaseSelection
 
BaseID
 
MovingBase
 
MaxBase
 
MaxBaseline
 












  • LowLatency

0.1 3600.0 sec

  • auto
  • manual

0 …4095

  • off
  • on

2 5 …10

0 2500000 m

RxControl: Navigation > Positioning Mode > PPP and Differential Corrections
Web Interface: Configuration > Navigation > Positioning Mode > PPP and Differential Corrections

Use these commands to define/inquire the usage of incoming differential corrections in DGPS or RTK rover mode.

The Mode argument defines the type of differential solution that will be computed by the receiver. If LowLatency is selected, the PVT is computed at the moment local measurements of the receiver are available. At that time, measurements from the base receiver for the same epoch are not yet available due to latency in the transmission, and the PVT is computed with measurements from two different epochs.

The MaxAge argument defines the maximum age of the differential corrections to be considered valid. MaxAge applies to all types of corrections (DGPS, RTK, satellite orbit, etc), except for those received from a SBAS satellite. See also the command setDiffCorrMaxAge to set different maximum ages for different correction types.

The BaseSelection argument defines how the receiver should select the base station(s) to be used. If auto is selected and the receiver is in DGPS-rover mode, it will use all available base stations. If auto is selected and the receiver is in RTK-rover mode, it will automatically select the nearest base station. If manual is selected, the receiver will only use the corrections from the base station defined by the BaseID argument (in both DGPS and RTK modes).

The MovingBase argument defines whether the base station is static or moving.

MaxBase sets the maximum number of base stations to include in the PVT solution in multi-base DGNSS mode.

MaxBaseline sets the maximum baseline length: base stations located beyond the maximum baseline length are excluded from the PVT.

Examples

COM1>  sdcu, , 5 <CR>  
$R: sdcu, , 5 
  DiffCorrUsage, LowLatency, 5.0, auto, 0, off, 20, 20000000 
COM1>
COM1>  gdcu <CR>  
$R: gdcu 
  DiffCorrUsage, LowLatency, 5.0, auto, 0, off, 20, 20000000 
COM1>

sem
gem
setElevationMask 
getElevationMask
Engine
Engine
Mask
 












  • + Tracking
  • + PVT
  • all

-90 0 …90 deg

RxControl: Navigation > Receiver Operation > Masks
Web Interface: Configuration > Navigation > Receiver Operation > Masks

Use these commands to set or get the elevation mask in degrees. There are two masks defined: a tracking mask and a PVT mask.

Satellites under the tracking elevation mask are not tracked, and therefore there is no measurement, nor navigation data available from them. The tracking elevation mask does not apply to SBAS satellites: SBAS satellites are generally used to supply corrections and it is undesirable to make the availability of SBAS corrections dependent on the satellite elevation. The tracking elevation mask does not apply to satellites that are manually assigned with the setChannelAllocation command.

Satellite under the PVT mask are not included in the PVT solution, though they still provide measurements and their navigation data is still decoded and used. The PVT elevation mask do apply to the SBAS satellites: the ranges to SBAS satellites under the elevation mask are not used in the PVT, but the SBAS corrections are still decoded and potentially used in the PVT.

Although possible, it does not make sense to select a higher elevation mask for the tracking than for the PVT, as, obviously, a satellite which is not tracked cannot be included in the PVT.

The mask can be negative to allow the receiver to track satellites below the horizon. This can happen in case the receiver is located at high altitudes or if the signal is refracted through the atmosphere.

Examples

COM1>  sem, PVT, 10 <CR>  
$R: sem, PVT, 10 
  ElevationMask, PVT, 10 
COM1>
COM1>  gem <CR>  
$R: gem 
  ElevationMask, Tracking, 0 
  ElevationMask, PVT, 10 
COM1>

sfr
gfr
setFixReliability 
getFixReliability
Engine
Engine
SearchVolume
 
Ratio
 












  • + RTK
  • all

0.001 0.200 …10.000

1.00 4.40 …20.00

RxControl: Navigation > Receiver Operation > Position > Ambiguities
Web Interface: Configuration > Navigation > Receiver Operation > Position > Ambiguities

Use these commands to define/inquire the criteria that control the ambiguity fixing process of the RTK and/or attitude-determination engines.

The ambiguity fixing algorithm searches for the most likely integer carrier phase ambiguity set within the prescribed SearchVolume.

All integer ambiguity vectors contained in the search volume are sorted according to their distance to the float ambiguities. The candidate with the lowest value will be selected as the most likely ambiguity set. The likelihood of this candidate with respect to other candidates is characterized by the ratio between the best and the second-best candidate. If this ratio is lower than the prescribed threshold (Ratio, the third argument), the candidate is rejected and the ambiguity search will restart at the next epoch.

Lowering SearchVolume and increasing Ratio will increase the time to fix but also decrease the probability of fixing incorrect ambiguities.

This command should only be used by expert users who understand the consequences of modifying the default values. It is strongly recommended to leave all settings to their default values.

Examples

COM1>  sfr, RTK, 0.2 <CR>  
$R: sfr, RTK, 0.2 
  FixReliability, RTK, 0.200, 4.40 
COM1>
COM1>  gfr, RTK <CR>  
$R: gfr, RTK 
  FixReliability, RTK, 0.200, 4.40 
COM1>

sgd
ggd
setGeodeticDatum 
getGeodeticDatum
TargetDatum
 












  • WGS84
  • ETRS89
  • NAD83
  • NAD83_PA
  • NAD83_MA
  • GDA94
  • Default
  • User1
  • User2

RxControl: Navigation > Receiver Operation > Position > Datum
Web Interface: Configuration > Navigation > Receiver Operation > Position > Datum

Use this command to define the datum to which you want the coordinates to refer.

TargetDatum

Description



WGS84

Equivalent to Default



ETRS89

European ETRS89 (ETRF2000 realization)



NAD83

NAD83(2011), North American Datum (2011)



NAD83_PA

NAD83(PA11), North American Datum, Pacific plate (2011)



NAD83_MA

NAD83(MA11), North American Datum, Marianas plate (2011)



GDA94

GDA94(2010), Geocentric Datum of Australia (2010)



Default

Default datum, which depends on the positioning mode as explained below



User1

First user-defined datum. The corresponding transformation parameters must be specified by the setUserDatum and setUserDatumVel commands, while the corresponding ellipsoid must be defined by the setUserEllipsoid command.



User2

Second user-defined datum





By default (argument TargetDatum set to Default), the datum depends on the positioning mode. For standalone and SBAS positioning, the coordinates refer to a global datum: WGS84 or ITRF (recent realisations of WGS84 and ITRF are closely aligned and the receiver considers them equivalent). When using DGNSS or RTK corrections from a local DGNSS/RTK provider, the datum is defined by the coordinates of the base station.

With this command, the user can select the datum the coordinates should refer to. In case you are using corrections from a local DGNSS/RTK provider, the datum to be specified here must be the datum used by your correction provider.

When a non-default datum is selected, the receiver transforms all the WGS84/ITRF coordinates to the specified datum. Positions obtained using local or regional DGNSS/RTK corrections are not transformed, as it is assumed that the selected datum is the one used by the DGNSS/RTK provider.

In the current firmware version, the WGS84 value for the TargetDatum argument has no effect, but it is kept for backwards compatibility reasons. Setting TargetDatum to WGS84 is equivalent to setting it to Default.

Example

COM1>  sgd, ETRS89 <CR>  
$R: sgd, ETRS89 
  GeodeticDatum, ETRS89 
COM1>

sgu
ggu
setGeoidUndulation 
getGeoidUndulation
Mode
 
Undulation
 












  • auto
  • manual

-250.0 0.0 …250.0 m

RxControl: Navigation > Receiver Operation > Position > Earth Models
Web Interface: Configuration > Navigation > Receiver Operation > Position > Earth Models

Use these commands to define/inquire the geoid undulation at the receiver position. The geoid undulation specifies the local difference between the geoid and the WGS84 ellipsoid.

If Mode is set to auto, the receiver computes the geoid undulation with respect to the WGS84 ellipsoid using the model defined in ’Technical Characteristics of the NAVSTAR GPS, NATO, June 1991’, regardless of the datum specified with the setGeodeticDatum command. In auto mode, the Undulation argument is ignored.

The geoid undulation is included in the PVTCartesian and the PVTGeodeticSBF blocks and in the NMEA position messages.

Examples

COM1>  sgu, manual, 25.3 <CR>  
$R: sgu, manual, 25.3 
  GeoidUndulation, manual, 25.3 
COM1>
COM1>  ggu <CR>  
$R: ggu 
  GeoidUndulation, manual, 25.3 
COM1>

sga
gga
setGNSSAttitude 
getGNSSAttitude
Source
 












  • none
  • MovingBase

RxControl: Navigation > Positioning Mode > GNSS Attitude
Web Interface: Configuration > Navigation > Positioning Mode > GNSS Attitude

Use this command to define/inquire the way GNSS-based attitude is computed.

The attitude of a vehicle (more precisely the heading and pitch angles) can be determined from the orientation of the baseline between two antennas attached to the vehicle. See also the setAntennaLocation command.

The Source argument specifies how to compute the GNSS-based attitude:

Source

Description



none

GNSS attitude computation is disabled.



MovingBase

Attitude is computed from the baseline between antennas connected to two receivers configured in moving-base RTK operation (moving-base attitude).





Example

COM1>  sga, MovingBase <CR>  
$R: sga, MovingBase 
    GNSSAttitude, MovingBase, Fixed 
COM1>

shm
ghm
setHealthMask 
getHealthMask
Engine
Engine
Mask
 












  • + Tracking
  • + PVT
  • all

  • off
  • on

RxControl: Navigation > Receiver Operation > Masks
Web Interface: Configuration > Navigation > Receiver Operation > Masks

Use these commands to define/inquire whether measurements should be produced for unhealthy satellite signals, and whether these measurements should be included in the PVT solution. All satellite signals of which the health is unknown to the receiver (because the health information has not been decoded yet or is not transmitted) are considered healthy.

If Mask is on for the Tracking engine, no measurements are generated for unhealthy signals, but these signals will remain internally tracked and their navigation data will be decoded and processed. This is to ensure immediate reaction in the event that the signal would become healthy again.

If Mask is on for the PVT engine, measurements from unhealthy signals are not included in the PVT. Setting this mask to off must be done with caution: including a non-healthy signal in the PVT computation may lead to unpredictable behaviour of the receiver.

Although possible, it does not make sense to enable unhealthy satellites for the PVT if they are disabled for tracking.

Examples

To track unhealthy satellites/signals, use:

COM1>  shm, Tracking, off <CR>  
$R: shm, Tracking, off 
  HealthMask, Tracking, off 
COM1>
COM1>  ghm <CR>  
$R: ghm 
  HealthMask, Tracking, off 
  HealthMask, PVT, on 
COM1>

sim
gim
setIonosphereModel 
getIonosphereModel
Model
 












  • auto
  • off
  • Klobuchar
  • SBAS
  • MultiFreq

RxControl: Navigation > Receiver Operation > Position > Atmosphere
Web Interface: Configuration > Navigation > Receiver Operation > Position > Atmosphere

Use these commands to define/inquire the type of model used to correct ionospheric errors in the PVT computation. The following models are available:

Model

Description



auto

With this selection, the receiver will, based on the available information, automatically select the best model on a satellite to satellite basis.



off

The receiver will not correct measurements for the ionospheric delay. This may be desirable if the receiver is connected to a GNSS signal simulator.



Klobuchar

This model uses the parameters as transmitted by the GPS satellites to compute the ionospheric delays.



SBAS

This model complies with the DO229 standard [1]: it uses the near real-time ionospheric delays transmitted by the SBAS satellites in MT18 and MT26. If no such message has been received, the Klobuchar model is selected automatically.



MultiFreq

This model uses a combination of measurements on different carriers to accurately estimate ionospheric delays. It requires the availability of at least dual-frequency measurements.





Unless the model is set to auto, the receiver uses the same model for all satellites, e.g. if the Klobuchar model is requested, the Klobuchar parameters transmitted by GPS satellites are used for all tracked satellites, regardless of their constellation.

If not enough data is available to apply the prescribed model to a given satellite (for instance if only single-frequency measurements are available and the model is set to MultiFreq), the satellite in question will be discarded from the PVT. Under most circumstances, it is recommended to leave the model to auto.

Examples

To disable the compensation for ionospheric delays, use:

COM1>  sim, off <CR>  
$R: sim, off 
  IonosphereModel, off 
COM1>
COM1>  gim <CR>  
$R: gim 
  IonosphereModel, off 
COM1>

smv
gmv
setMagneticVariance 
getMagneticVariance
Mode
 
Variance
 












  • auto
  • manual

-180.0 0.0 …180.0 deg

RxControl: Navigation > Receiver Operation > Position > Earth Models
Web Interface: Configuration > Navigation > Receiver Operation > Position > Earth Models

Use these commands to define the magnetic variance (a.k.a. magnetic declination) at the current position. The magnetic variance specifies the local offset of the direction to the magnetic north with respect to the geographic north. The variance is positive when the magnetic north is east of the geographic north.

By default (the argument Mode is set to auto), the receiver automatically computes the variance according to the International Geomagnetic Reference Field (IGRF) model, using the IGRF2010 coefficients corrected for the secular variation.

Note that the magnetic variance is used solely in the generation of NMEA messages.

Examples

COM1>  smv, manual, 1.1 <CR>  
$R: smv, manual, 1.1 
  MagneticVariance, manual, 1.1 
COM1>
COM1>  gmv <CR>  
$R: gmv 
  MagneticVariance, manual, 1.1 
COM1>

snrc
gnrc
setNetworkRTKConfig 
getNetworkRTKConfig
NetworkType
 












  • auto
  • VRS

RxControl: Navigation > Positioning Mode > PPP and Differential Corrections
Web Interface: Configuration > Navigation > Positioning Mode > PPP and Differential Corrections

Use these commands to define/inquire the type of the RTK network providing the differential corrections.

In most cases, it is recommended to leave the Type argument to auto to let the receiver autodetect the network type. For some types of VRS networks (especially for those having long baselines between the base stations), optimal performance is obtained by forcing the type to VRS.

Example

COM1>  snrc, VRS <CR>  
$R: snrc, VRS 
NetworkRTKConfig, VRS 
COM1>

snl
gnl
setNWALevels 
getNWALevels
Mode
 
HAL
 
VAL
 












  • off
  • on

0.00 1.20 …1000.00 m

0.00 2.00 …1000.00 m

RxControl: Navigation > Receiver Operation > Position > Integrity
Web Interface: Configuration > Navigation > Receiver Operation > Position > Integrity

Use this command to set the navigation warning algorithm alert levels.

When Mode is "on", the receiver compares the 2DRMS horizontal and vertical accuracies of the position to the specified HAL and VAL values respectively. If one of the 2DRMS accuracies exceeds the corresponding alert limit, an "accuracy-not-met" flag is set in the AlertFlag of the PVTCartesian and PVTGeodeticSBF blocks.

When Mode is off (default), the accuracy test is disabled.

Example

COM1>  snl, on, 20, 30<CR>  
$R: snl, on, 20, 30 
  NWALevels, on, 20.0, 30.0 
COM1>

spm
gpm
setPVTMode 
getPVTMode
Mode
 
RoverMode
 
StaticPosition
 












  • Static
  • Rover

  • + StandAlone
  • + SBAS
  • + DGPS
  • + RTKFloat
  • + RTKFixed
  • + RTK
  • all

  • auto
  • Geodetic1
  • Geodetic2
  • Geodetic3
  • Geodetic4
  • Geodetic5
  • Cartesian1
  • Cartesian2
  • Cartesian3
  • Cartesian4
  • Cartesian5

RxControl: Navigation > Positioning Mode > PVT Mode
Web Interface: Configuration > Navigation > Positioning Mode > PVT Mode

Use these commands to define/inquire the PVT mode of the receiver. The argument Mode specifies the general positioning mode. If Rover is selected, the receiver will assume that the receiver is moving and compute the best PVT allowed by the RoverMode argument. If Static is selected, the receiver will assume that it is fixed and will use the position defined by the StaticPosition argument.

The argument RoverMode specifies the allowed PVT modes when the receiver is operating in Rover mode. Different modes can combined with the "+" operator. Refer to the "Operation Details" chapter of the Firmware User Manual for a description of the PVT modes. The value RTK is an alias for RTKFloat+RTKFixed. When more than one mode is enabled in RoverMode, the receiver automatically selects the mode that provides the most accurate solution with the available data.

The position provided in the StaticPosition argument must be defined with the setStaticPosCartesian or the setStaticPosGeodetic commands. If the value auto is selected for this argument, the receiver will wait till a reliable PVT solution is available and it will use that solution as static position. In auto mode, the static coordinates computed by the receiver refer to the datum specified with the setGeodeticDatum argument.

Examples

COM1>  spm, Rover, StandAlone+RTK <CR>  
$R: spm, Rover, StandAlone+RTK 
  PVTMode, Rover, StandAlone+RTK, auto, off 
COM1>

To set up a fixed base station at a known location, use the following:

COM1>  sspg, Geodetic1, 50.5209, 4.4245, 113.3 <CR>  
$R: sspg, Geodetic1, 50.5209, 4.4245, 113.3 
  StaticPosGeodetic, Geodetic1, 50.52090000, 4.42450000, 113.3000 
COM1>  spm, Static, , Geodetic1 <CR>  
$R: spm, Static, , Geodetic1 
  PVTMode, Static, StandAlone+RTK, Geodetic1, off 
COM1>

srl
grl
setRAIMLevels 
getRAIMLevels
Mode
 
Pfa
 
Pmd
 
Reliability
 












  • off
  • on

-12 -4 …-1

-12 -4 …-1

-12 -3 …-1

RxControl: Navigation > Receiver Operation > Position > Integrity
Web Interface: Configuration > Navigation > Receiver Operation > Position > Integrity

Use these commands to define/inquire the parameters of the Receiver Autonomous Integrity Monitoring (RAIM) algorithm in rover PVT mode. Refer to the Firmware User Manual for a description of RAIM in your receiver.

The Mode argument acts as an on/off switch: it determines whether RAIM is active or not. If Mode is set to off, the test statistics are still computed and the results are available in the RAIMStatisticsSBF block. However, the outcome of the tests has no effect on the positional output: there is no attempt to remove outliers from the PVT.

The Pfa argument sets the probability of false alarm of the w-test used in the "identification" step of the RAIM algorithm. Increasing this parameter increases the integrity but may reduce the availability of the positional solution.

The Pmd argument sets the probability of missed detection, which the receiver uses to compute the Minimal Detectable Bias and hence the XERL values.

The Reliability argument sets the probability of false alarm of the Overall Model test used in the "detection" step of the RAIM algorithm.

The value to be provided in the Pfa, Pmd and Reliability arguments are the base-10 logarithms of the desired probabilities. For instance, if you want a probability of false alarm of 1e-6, you have to set the Pfa argument to -6.

Note that this command has no effect when the receiver is configured in static PVT mode with the setPVTMode, static command.

Examples

To configure the receiver outlier detection with a probability of 1e-4 (0.01%) that a false alarm will be raised (type I error), a probability of 1e-4 (0.01%) that an outlier will be missed (type II error) and an Overall Model probability of false alarm of 1e-6 (0.0001%), use:

COM1>  srl, on, -4, -4, -6 <CR>  
$R: srl, on, -4, -4, -6 
  RAIMLevels, on, -4, -4, -6 
COM1>

To disable the outlier detection, use:

COM1>  srl, off <CR>  
$R: srl, off 
  RAIMLevels, off, -4, -4, -6 
COM1>

srd
grd
setReceiverDynamics 
getReceiverDynamics
Level
 
Motion
 












  • Max
  • High
  • Moderate
  • Low

  • Static
  • Quasistatic
  • Pedestrian
  • Automotive
  • RaceCar
  • HeavyMachinery
  • UAV
  • Unlimited

RxControl: Navigation > Receiver Operation > Position > Motion
Web Interface: Configuration > Navigation > Receiver Operation > Position > Motion

Use these commands to set/inquire the type of the dynamics the GNSS antenna is subjected to. The receiver adapts internal parameters for optimal performance for the selected type of dynamics.

The Level argument indicates the level of short-term acceleration and jerk the antenna is subjected to. That argument has effect on the navigation Kalman filter and on the tracking loops (only if the loops are in adaptive mode, see the setTrackingLoopParameters command). Setting this argument to low will reduce the noise on the GNSS measurements and PVT at the expense of filtering out rapid dynamic changes. Setting it to high will allow more dynamics to be visible at the expense of noise. The max level is primarily meant for test purposes: in that level, the Kalman filter is disabled and the receiver computes epoch-by-epoch independent PVT solutions.

Note that rapid displacements such as the ones caused by shocks, drops, oscillations or vibrations lead to high jerk values, even if the amplitude of the motion is not larger than a few centimeters. It is recommended to set Level to high for antennas subjected to that type of displacements.

The Motion argument defines the type of motion the antenna is subjected to.

Motion

Description



Static

Fixed base and reference stations.



Quasistatic

Low speed, limited area motion typical of surveying applications.



Pedestrian

Low speed (<7m/s) motion. E.g. pedestrians, low-speed land vehicles, ...



Automotive

Medium speed (<50m/s) motion. E.g. passenger cars, rail vehicles, ...



RaceCar

High speed terrestrial vehicle. E.g. race cars, ...



HeavyMachinery

Construction equipment, tractors, ...



UAV

Unmanned Aerial Vehicle.



Unlimited

Unconstrained motion.





Example

COM1>  srd, Max <CR>  
$R: srd, Max 
  ReceiverDynamics, Max, Automotive 
COM1>

ernf
grnf
exeResetNavFilter 
getResetNavFilter
Level
 












  • + PVT
  • + AmbRTK
  • all

RxControl: Navigation > Receiver Initialization > Reset Navigation Filter
Web Interface: Configuration > Navigation > Receiver Initialization > Reset Navigation Filter

Use this command to reset the different navigation filters in the receiver. The user can reset each navigation filter independently or together with the value all.

The following values for Level are defined:

Level

Description



PVT

Reset the whole PVT filter such that all previous positioning information is discarded, including the RTK ambiguities and the INS/GNSS integration filter when applicable.



AmbRTK

Only reset the ambiguities used in RTK positioning to float status.





Example

COM1>  ernf, PVT <CR>  
$R: ernf, PVT 
  ResetNavFilter, PVT 
COM1>

ssu
gsu
setSatelliteUsage 
getSatelliteUsage
Satellite
 












  • none
  • + G01 ... G32
  • + R01 ... R24
  • + R25
  • + R26
  • + R27
  • + R28
  • + R29
  • + R30
  • + E01 ... E32
  • + S120 ... S158
  • + C01 ... C37
  • + GPS
  • + GLONASS
  • + GALILEO
  • + SBAS
  • + COMPASS
  • all

RxControl: Navigation > Advanced User Settings > PVT > Satellite Usage
Web Interface: Configuration > Navigation > Advanced User Settings > PVT > Satellite Usage

Use these commands to define/inquire which satellites are allowed to be included in the PVT computation. It is possible to enable or disable a single satellite (e.g. G01 for GPS PRN1), or a whole constellation. Gxx, Exx, Rxx, Cxx and Sxxx refer to a GPS, Galileo, GLONASS, Compass/BeiDou and SBAS satellite respectively. GLONASS satellites must be referenced by their slot number in this command.

Examples

To only use GPS measurements in the PVT computation, use:

COM1>  ssu, GPS <CR>  
$R: ssu, GPS 
  SatelliteUsage, G01+G02+G03+G04+G05+G06+G07+G08+G09+G10+G11 
+G12+G13+G14+G15+G16+G17+G18+G19+G20+G21+G22+G23+G24+G25+G26 
+G27+G28+G29+G30+G31+G32 
COM1>

To add the usage of SBAS measurements in the PVT, use:

COM1>  ssu, +SBAS <CR>  
$R: ssu, +SBAS 
  SatelliteUsage, G01+G02+G03+G04+G05+G06+G07+G08+G09+G10+G11 
+G12+G13+G14+G15+G16+G17+G18+G19+G20+G21+G22+G23+G24+G25+G26 
+G27+G28+G29+G30+G31+G32+S120+S121+S122+S123+S124+S125+S126 
... 
COM1>

To remove the measurement of one satellite from the PVT, use:

COM1>  ssu, -S120 <CR>  
$R: ssu, -S120 
  SatelliteUsage, G01+G02+G03+G04+G05+G06+G07+G08+G09+G10+G11 
+G12+G13+G14+G15+G16+G17+G18+G19+G20+G21+G22+G23+G24+G25+G26 
+G27+G28+G29+G30+G31+G32+S121+S122+S123+S124+S125+S126+S127 
... 
COM1>

ssbc
gsbc
setSBASCorrections 
getSBASCorrections
Satellite
 
SISMode
 
NavMode
 
DO229Version
 












  • auto
  • EGNOS
  • WAAS
  • MSAS
  • S120 ... S158

  • Test
  • Operational

  • EnRoute
  • PrecApp
  • MixedSystems

  • auto
  • DO229C

RxControl: Navigation > Positioning Mode > SBAS Corrections
Web Interface: Configuration > Navigation > Positioning Mode > SBAS Corrections

Use these commands to define/inquire the details on the usage of SBAS data in the PVT computation. This command does not define whether SBAS corrections are to be used or not in the PVT (this is done by the setPVTMode command), but it specifies how these corrections should be used.

The Satellite argument defines the provider of SBAS corrections, being either an individual satellite or a satellite system. If EGNOS, WAAS or MSAS is selected, the receiver restricts the automatic selection of a satellite to those that are part of the EGNOS, WAAS or MSAS system. When auto is selected for the Satellite argument, the receiver will automatically select a satellite on the basis of the location of the receiver and on the availability of SBAS corrections.

The SISMode argument defines the interpretation of a "Do Not Use for Safety Applications" message. When set to Operational, the receiver will discard all SBAS corrections received from a satellite upon reception of a MT00 from that satellite. Note that MT02 content encoded in a MT00 message will be interpreted by the receiver as a MT02 message: only MT00 with all ’0’ symbols will be interpreted as a true "Do Not Use for Safety Applications". When the argument SISMode is set to Test, the receiver will ignore the reception of a "Do Not Use for Safety Applications" message. This provides the possibility to use a signal from a SBAS system in test mode.

The DO 229 standard, which has its origin in aviation, makes a distinction between two positioning applications: en-route and precision approach. The choice between both applications influences the length of the interval during which the SBAS corrections are valid. During a precision approach the validity of the data is much shorter. The receiver can operate in both modes, which is controlled by the NavMode argument.

In EnRoute or in PrecApp mode, the receiver only uses the satellite systems for which SBAS corrections are available. For best positioning accuracy, it is typically preferable to include all satellites in the position computation, even if they are not corrected by SBAS. This is achieved by the MixedSystems mode.

The DO229Version argument can be used to specify which version of the DO 229 standard to conform to.

Example

To force the receiver to use corrections from PRN 122 and ignore message MT00:

COM1>  ssbc, S122, Test <CR>  
$R: ssbc, S122, Test 
  SBASCorrections, S122, Test, EnRoute, auto 
COM1>

snu
gnu
setSignalUsage 
getSignalUsage
PVT
 
NavData
 












  • + GPSL1CA
  • + GPSL1PY
  • + GPSL2PY
  • + GPSL2C
  • + GPSL5
  • + GLOL1CA
  • + GLOL2P
  • + GLOL2CA
  • + GLOL3
  • + GALL1BC
  • + GALE5a
  • + GALE5b
  • + GALE5
  • + GEOL1
  • + GEOL5
  • + CMPL1
  • + CMPE5b
  • all

  • + GPSL1CA
  • + GPSL1PY
  • + GPSL2PY
  • + GPSL2C
  • + GPSL5
  • + GLOL1CA
  • + GLOL2P
  • + GLOL2CA
  • + GLOL3
  • + GALL1BC
  • + GALE5a
  • + GALE5b
  • + GALE5
  • + GEOL1
  • + GEOL5
  • + CMPL1
  • + CMPE5b
  • + QZSL1CA
  • + QZSL2C
  • + QZSL5
  • all

RxControl: Navigation > Advanced User Settings > PVT > Signal Usage
Web Interface: Configuration > Navigation > Advanced User Settings > PVT > Signal Usage

Use these commands to define/inquire which signal types are used by the receiver.

The PVT argument lists the signals that can be used by the PVT. Removing a signal from the list will disable the usage of the corresponding range, phase & Doppler measurements in the PVT computation.

The NavData argument lists the signals for which the receiver is allowed to decode the navigation message. Removing a signal from the list will disable the usage of the corresponding navigation information (ephemeris, ionosphere parameters ...).

Example

To force the receiver to only use the L1 GPS C/A measurements and navigation information in the PVT solution, use:

COM1>  snu, GPSL1CA, GPSL1CA <CR>  
$R: snu, GPSL1CA, GPSL1CA 
  SignalUsage, GPSL1CA, GPSL1CA 
COM1>

sspc
gspc
setStaticPosCartesian 
getStaticPosCartesian
Position
Position
X
 
Y
 
Z
 
Datum
 












  • + Cartesian1
  • + Cartesian2
  • + Cartesian3
  • + Cartesian4
  • + Cartesian5
  • all

-8000000.0000 0.0000 …8000000.0000 m

-8000000.0000 0.0000 …8000000.0000 m

-8000000.0000 0.0000 …8000000.0000 m

  • WGS84
  • ETRS89
  • NAD83
  • NAD83_PA
  • NAD83_MA
  • GDA94
  • User1
  • User2
  • Other

RxControl: Navigation > Positioning Mode > PVT Mode
Web Interface: Configuration > Navigation > Positioning Mode > PVT Mode

Use these commands to define/inquire a set of Cartesian coordinates. This command should be used in conjunction with the setPVTMode command to specify a base station position. The Cartesian coordinates in the X, Y and Z arguments must refer to the antenna reference point (ARP), and not to the marker.

The argument Datum specifies the datum to which the coordinates refer:

Datum

Description



WGS84

WGS84 or ITRFxx (the receiver does not make a distinction between them)



ETRS89

European ETRS89 (ETRF2000 realization)



NAD83

NAD83(2011), North American Datum (2011)



NAD83_PA

NAD83(PA11), North American Datum, Pacific plate (2011)



NAD83_MA

NAD83(MA11), North American Datum, Marianas plate (2011)



GDA94

GDA94(2010), Geocentric Datum of Australia (2010)



User1

First user-defined datum. The corresponding transformation parameters must be specified by the setUserDatum and setUserDatumVel commands, while the corresponding ellipsoid must be defined by the setUserEllipsoid command.



User2

Second user-defined datum



Other

Datum not in the list or unknown





Example

To set up a static base station in Cartesian coordinates:

COM1>  sspc, Cartesian1, 4019952.028, 331452.954, 4924307.458 <CR>  
$R: sspc, Cartesian1, 4019952.028, 331452.954, 4924307.458 
  StaticPosCartesian, Cartesian1, 4019952.0280, 331452.9540, 4924307.4580, WGS84 
COM1>  spm, Static, , Cartesian1 <CR>  
$R: spm, Static, , Cartesian1 
  PVTMode, Static, StandAlone+SBAS+DGPS+RTKFloat+RTKFixed, Cartesian1 
COM1>

sspg
gspg
setStaticPosGeodetic 
getStaticPosGeodetic
Position
Position
Latitude
 
Longitude
 
Altitude
 
Datum
 












  • + Geodetic1
  • + Geodetic2
  • + Geodetic3
  • + Geodetic4
  • + Geodetic5
  • all

-90.000000000 0.000000000 …90.000000000 deg

-180.000000000 0.000000000 …180.000000000 deg

-1000.0000 0.0000 …30000.0000 m

  • WGS84
  • ETRS89
  • NAD83
  • NAD83_PA
  • NAD83_MA
  • GDA94
  • User1
  • User2
  • Other

RxControl: Navigation > Positioning Mode > PVT Mode
Web Interface: Configuration > Navigation > Positioning Mode > PVT Mode

Use these commands to define/inquire a set of geodetic coordinates. This command should be used in conjunction with the setPVTMode command to specify a base station position. The geodetic coordinates in the Latitude, Longitude and Altitude arguments must refer to the antenna reference point (ARP), and not to the marker.

The argument Datum specifies the datum to which the coordinates refer. See the setStaticPosCartesian command for a short description of the supported datums.

Example

To set up a static base station in geodetic coordinates:

COM1>  sspg, Geodetic1, 50.86696443, 4.71347657, 114.880 <CR>  
$R: sspg, Geodetic1, 50.86696443, 4.71347657, 114.880 
  StaticPosGeodetic, Geodetic1, 50.86696443, 4.71347657, 114.8800, WGS84 
COM1>  spm, Static, , Geodetic1 <CR>  
$R: spm, Static, , Geodetic1 
  PVTMode, Static, StandAlone+SBAS+DGPS+RTKFloat+RTKFixed, Geodetic1 
COM1>

sts
gts
setTimingSystem 
getTimingSystem
System
 












  • GST
  • GPS

RxControl: Navigation > Receiver Operation > Timing
Web Interface: Configuration > Navigation > Receiver Operation > Timing

Use these commands to define/inquire the time system in which the receiver should operate. Galileo System Time (GST) is only supported on Galileo-enabled receivers. The selected System time will be used as reference time for clock bias computation.

Note that at least one satellite of the selected system (GPS or Galileo) must be visible and tracked by the receiver. Otherwise no PVT will be computed.

Examples

COM1>  sts, GPS <CR>  
$R: sts, GPS 
  TimingSystem, GPS 
COM1>
COM1>  gts <CR>  
$R: gts 
  TimingSystem, GPS 
COM1>

stm
gtm
setTroposphereModel 
getTroposphereModel
ZenithModel
 
MappingModel
 












  • off
  • Saastamoinen
  • MOPS

  • Niell
  • MOPS

RxControl: Navigation > Receiver Operation > Position > Atmosphere
Web Interface: Configuration > Navigation > Receiver Operation > Position > Atmosphere

Use these commands to define/inquire the type of model used to correct tropospheric errors in the PVT computation.

The ZenithModel parameter indicates which model the receiver uses to compute the dry and wet delays for radio signals at 90 degree elevation. The modelled zenith tropospheric delay depends on assumptions for the local air total pressure, the water vapour pressure and the mean temperature. The following zenith models are defined:

ZenithModel

Description



off

The measurements will not be corrected for the troposphere delay. This may be desirable if the receiver is connected to a GNSS signal simulator.



Saastamoinen

Saastamoinen, J. (1973). "Contributions to the theory of atmospheric refraction". In three parts. Bulletin Geodesique, No 105, pp. 279-298; No 106, pp. 383-397; No. 107, pp. 13-34.



MOPS

Minimum Operational Performance Standards for Global Positioning/Wide Area Augmentation System Airborne Equipment RTCA/DO-229C, November 28, 2001.





The Saastamoinen model uses user-provided values of air temparature, total air pressure referenced to the Mean Sea Level and relative humidity (see setTroposphereParameters command) and estimates actual values adjusted to the receiver height.

The MOPS model neglects the user-provided values and instead assumes a seasonal model for all the climatic parameters. Local tropospheric conditions are estimated based on the coordinates and time of the year.

The use of the Saastamoinen model can be recommended if external information on temperature, pressure, humidity is available. Otherwise it is advisable to rely on climate models.

The zenith delay is mapped to the current elevation for each satellite using the requested MappingModel. The following mapping models are defined:

MappingModel

Description



Niell

Niell, A.E. (1996). Global Mapping Functions for the atmosphere delay at radio wavelengths, Journal of Geophysical Research, Vol. 101, No. B2, pp. 3227-3246.



MOPS

Minimum Operational Performance Standards for Global Positioning/Wide Area Augmentation System Airborne Equipment RTCA/DO-229C, November 28, 2001.





Examples

COM1>  stm, MOPS, MOPS <CR>  
$R: stm, MOPS, MOPS 
  TroposhereModel, MOPS, MOPS 
COM1>
COM1>  gtm <CR>  
$R: gtm 
  TroposhereModel, MOPS, MOPS 
COM1>

stp
gtp
setTroposphereParameters 
getTroposphereParameters
Temperature
 
Pressure
 
Humidity
 












-100.0 15.0 …100.0 degC

800.00 1013.25 …1500.00 hPa

0 50 …100 %

RxControl: Navigation > Receiver Operation > Position > Atmosphere
Web Interface: Configuration > Navigation > Receiver Operation > Position > Atmosphere

Use these commands to define/inquire the climate parameters to be used when the zenith troposphere is estimated using the Saastamoinen model (see the setTroposphereModel command).

The troposphere model assumes the climate parameters to be valid for a receiver located at the Mean Sea Level (MSL). If you want to use your receiver with a weather station, you have to convert the measured Temperature, Pressure and Humidity to MSL.

Example

COM1>  stp, 25, 1013, 60<CR>  
$R: stp, 25, 1013, 60 
  TroposphereParameters, 25.0, 1013.00, 60 
COM1>

sud
gud
setUserDatum 
getUserDatum
Datum
Datum
Tx
 
Ty
 
Tz
 
Rx
 
Ry
 
Rz
 
D
 












  • + User1
  • + User2
  • all

-2000000.00 0.00 …2000000.00 mm

-2000000.00 0.00 …2000000.00 mm

-2000000.00 0.00 …2000000.00 mm

-100.0000 0.0000 …100.0000 mas

-100.0000 0.0000 …100.0000 mas

-100.0000 0.0000 …100.0000 mas

-100.00000 0.00000 …100.00000 ppb

RxControl: Navigation > Receiver Operation > Position > Datum
Web Interface: Configuration > Navigation > Receiver Operation > Position > Datum

Use these commands to define datum transformation parameters from the global WGS84/ITRF datum to the user datum identified by the first argument.

The receiver applies the linearized form of the Helmert similarity transformation. The coordinates in WGS84/ITRF are transformed to the user datum using the following formula:

X Y Z User = Tx Ty Tz + D + 1 -Rz Ry Rz D + 1 -Rx -Ry Rx D + 1 . X Y Z WGS84ITRF

where Tx, Ty and Tz are the three translation components, Rx, Ry and Rz are the rotation angles and D is the scale factor. Note that the rotation angles are expressed in radians in the above formula, but they must be provided in milliarcsecond (1 mas = 2π3603600000 radians) in the arguments of the command. The sign convention corresponds to that of the IERS Conventions (2010), Technical Note No. 36.

The time derivative of the transformation parameters can be specified with the command setUserDatumVel.

For the receiver to apply the transformation parameters, the corresponding user datum must be selected in the setGeodeticDatum command.

Example

COM1>  sud, User1, 52.1, 49.3, -58.5, 0.891, 5.390, -8.712, 1.34<CR>  
$R: sud, User1, 52.1, 49.3, -58.5, 0.891, 5.390, -8.712, 1.34 
  UserDatum, User1, 52.10, 49.30, -58.50, 0.8910, 5.3900, -8.7120, 1.34000 
COM1>

sudv
gudv
setUserDatumVel 
getUserDatumVel
Datum
Datum
TxVel
 
TyVel
 
TzVel
 
RxVel
 
RyVel
 
RzVel
 
DVel
 
RefYear
 











  • + User1
  • + User2
  • all

-2000.00 0.00 …2000.00 mm/yr

-2000.00 0.00 …20000.00 mm/yr

-2000.00 0.00 …2000.00 mm/yr

-10.0000 0.0000 …10.0000 mas/yr

-10.0000 0.0000 …10.0000 mas/yr

-10.0000 0.0000 …10.0000 mas/yr

-1.00000 0.00000 …1.00000 ppb/yr

1900.00 2000.00 …2100.00 yr

RxControl: Navigation > Receiver Operation > Position > Datum
Web Interface: Configuration > Navigation > Receiver Operation > Position > Datum

Use these commands to define the time derivative of the seven datum transformation parameters defined with the setUserDatum command.

For instance, TxVel is the yearly change of the X-translation component. At the epoch specified with RefYear (in decimal years), the X-translation component is Tx as defined in setUserDatum. One year later, the X-translation component is Tx+TxVel, etc.

Refer to setUserDatum command for a description of the datum transformation formula implemented in the receiver.

Example

COM1>  sudv, User1, 0.1, 0.1, -1.8, 0.081, 0.49, -0.792, 0.08, 2000<CR>  
$R: sudv, User1, 0.1, 0.1, -1.8, 0.081, 0.49, -0.792, 0.08, 2000 
  UserDatumVel, User1, 0.10, 0.10, -1.80, 0.0810, 0.4900, -0.7920, 0.08000, 2000.00 
COM1>

sue
gue
setUserEllipsoid 
getUserEllipsoid
Datum
Datum
a
 
Invf
 












  • + User1
  • + User2
  • all

6300000.000 6378137.000 …6400000.000 m

290.000000000 298.257223563 …305.000000000

RxControl: Navigation > Receiver Operation > Position > Datum
Web Interface: Configuration > Navigation > Receiver Operation > Position > Datum

Use these commands to define the ellipsoid associated with the User1 or User2 datums.

a is the reference ellispoid semi-major axis and Invf is the inverse of the flattening.

See also the setGeodeticDatum and the setUserDatum commands.

Example

COM1>  sue, User1, 6378388, 297 <CR>  
$R: sue, User1, 6378388, 297 
  UserEllipsoid, User1, 6378388.000, 297.000000000 
COM1>

3.5 Receiver Operation Commands

scst
gcst
setClockSyncThreshold 
getClockSyncThreshold
Threshold
 












  • ClockSteering
  • usec500
  • msec1
  • msec2
  • msec3
  • msec4
  • msec5

RxControl: Navigation > Receiver Operation > Timing
Web Interface: Configuration > Navigation > Receiver Operation > Timing

Use these commands to define/inquire the maximum allowed offset between the receiver internal clock and the system time defined by the setTimingSystem command.

If the argument ClockSteering is selected, the receiver internal clock is continuously steered to the system time to within a couple of nanoseconds. Clock steering accuracy is dependent on the satellite visibility, and it is recommended to only enable it under open-sky conditions.

If any other argument is selected, the internal clock is left free running, and synchronization with the system time is done through regular millisecond clock jumps. More specifically, when the receiver detects that the time offset is larger than Threshold, it initiates a clock jump of an integer number of milliseconds to re-synchronise its internal clock with the system time. These clock jumps have no influence on the generation of the xPPS pulses: the xPPS pulses are always maintained within a few nanoseconds from the requested time, regardless of the value of the Threshold argument.

Please refer to the Firmware User Manual for a more detailed description of the time keeping in your receiver.

Example

To enable clock steering, use:

COM1>  scst, clocksteering <CR>  
$R: scst, clocksteering 
  ClockSyncThreshold, ClockSteering 
COM1>

sep
gep
setEventParameters 
getEventParameters
Event
Event
Polarity
 
Delay
 












  • + EventA
  • + EventB
  • all

  • Low2High
  • High2Low

-500.000000 0.000000 …500.000000 msec

RxControl: Navigation > Receiver Operation > Timing
Web Interface: Configuration > Navigation > Receiver Operation > Timing

Use these commands to define/inquire the polarity of the electrical transition on which the receiver will react on its Event input(s). The polarity of each event pin can be set individually or simultaneously by using the value all for the Event argument.

The command also allows defining a time delay for each event. This can be handy when the electrical transition at the event pin is not synchronous with the actual event that needs to be timed. For example, if the electrical transition occurs 100 milliseconds prior to the actual event of interest, the Delay argument must be set to 100. Delay is positive when the event of interest occurs after the electrical transition, and negative otherwise.

The event time (corrected by the specified delay) is available in the ExtEventSBF block, and the position at that (corrected) time is available in the ExtEventPVTCartesian and ExtEventPVTGeodeticSBF blocks. Beware that, when using large Delay values in high-dynamics conditions, the position accuracy may degrade.

Example

COM1>  sep, EventA, High2Low, 100 <CR>  
$R: sep, EventA, High2Low, 100 
  EventParameters, EventA, High2Low, 100.000000 
COM1>

sgpf
ggpf
setGPIOFunctionality 
getGPIOFunctionality
GPPin
GPPin
Mode
 
Input
 
Output
 












  • + GP1
  • + GP2
  • + GP3
  • all

  • Output

  • none

  • LevelLow
  • LevelHigh

RxControl: Navigation > Receiver Operation > GPIO
Web Interface: Configuration > Navigation > Receiver Operation > GPIO

Use these commands to define/inquire the functionality assigned to every GPIO pin.

Currently, only the output pins (GPx) can be controlled by this command, and the Mode and Input arguments can only take the values Output and none respectively. The argument Output sets the electrical level to be applied to the pin specified in GPPin.

In housed products, the number of GPIO pins configurable by this command is larger than the number of GPIO pins available to the user. The extra pins are used for internal purposes, and their settings should not be modified. Please refer to the Hardware Manual of your product to check which GPIO pins are available.

Example

To set the signal on GP2 to a logical 1, use:

COM1>  sgpf, GP2, Output, , LevelHigh <CR>  
$R: sgpf, GP2, Output, , LevelHigh 
  GPIOFunctionality, GP2, Output, none, LevelHigh 
COM1>

slm
glm
setLEDMode 
getLEDMode
GPLED
 












  • DIFFCORLED
  • PVTLED
  • LOGLED

RxControl: Navigation > Receiver Operation > GPIO
Web Interface: Configuration > Navigation > Receiver Operation > GPIO

Use these commands to define/inquire the blinking mode of the General Purpose LED (GPLED).

The different LED blinking modes are described in the Hardware Manual of your receiver.

Example

COM1>  slm, DIFFCORLED <CR>  
$R: slm, DIFFCORLED 
  LEDMode, DIFFCORLED 
COM1>

spps
gpps
setPPSParameters 
getPPSParameters
Interval
 
Polarity
 
Delay
 
TimeScale
 
MaxSyncAge
 












  • off
  • msec100
  • msec200
  • msec500
  • sec1
  • sec2
  • sec5
  • sec10

  • Low2High
  • High2Low

-1000000.00 0.00 …1000000.00 nsec

  • TimeSys
  • UTC
  • RxClock
  • GLONASS

1 60 …3600 sec

RxControl: Navigation > Receiver Operation > Timing
Web Interface: Configuration > Navigation > Receiver Operation > Timing

Use these commands to define/inquire the interval, the polarity, the delay and time scale of the x-pulse-per-second (xPPS) output. Please refer to the Firmware User Manual for a detailed description of the xPPS functionality.

The Interval argument specifies the time interval between the pulses. A special value "off" is defined to disable the xPPS signal.

The Polarity argument defines the polarity of the xPPS signal.

The Delay argument can be used to compensate for the overall signal delays in the system (including antenna, antenna cable and xPPS cable). Setting Delay to a higher value causes the xPPS pulse to be generated earlier. For example, if the antenna cable is replaced by a longer one, the overall signal delay could be increased by, say, 20 nsec. If Delay is left unchanged, the xPPS pulse will come 20 nsec too late. To re-synchronize the xPPS pulse, Delay has to be increased by 20 nsec.

By default, the xPPS pulses are aligned with the satellite time system (TimeSys) that is defined by the setTimingSystem command. Using the TimeScale argument, it is also possible to align the xPPS pulse with the local receiver time (RxClock), with GLONASS time or with UTC.

When TimeScale is set to anything else than RxClock, the accuracy of the position of the xPPS pulse depends on the age of the last PVT computation. During PVT outages (due for instance to signal blockage), the xPPS position is extrapolated on the basis of the last available PVT information, and may start to drift. To avoid large biases, the receiver stops outputting the xPPS pulse when the last PVT is older than the age specified in the MaxSyncAge argument. MaxSyncAge is ignored when TimeScale is set to RxClock.

Examples

COM1>  spps, sec1, , 23.4 <CR>  
$R: spps, sec1, , 23.4 
  PPSParameters, sec1, Low2High, 23.40, TimeSys, 60 
COM1>
COM1>  gpps <CR>  
$R: gpps 
  PPSParameters, sec1, Low2High, 23.40, TimeSys, 60 
COM1>

swui
gwui
setWakeUpInterval 
getWakeUpInterval
WakeUpTime (30)
 
AwakeDuration
 
RepetitionPeriod
 












  • 2000-01-01 00:00:00

0 …604800 sec

0 …604800 sec

RxControl: File > Power Mode > Scheduling
Web Interface: Receiver > Administration > Power Mode > Scheduling

This command can be used to set up an automatic receiver awake/sleep pattern. It is possible to order the receiver to awake at a given time, for a certain period, and/or at regular intervals. A possible application is keeping fast time-to-first-fix even after days in sleep mode. This can be done by waking up the receiver every few hours for a few minutes, such that it can regularly refresh its ephemerides.

The WakeUpTime argument defines the epoch when the receiver should automatically wake up the first time. It also serves as reference epoch for the RepetitionPeriod argument. The time system in which the user should express the WakeUpTime is the one defined by the setTimingSystem command. The format of the WakeUpTime argument is "YYYY-MM-DD hh:mm:ss".

The AwakeDuration argument defines the period for which the receiver should stay awake. If this argument is set to 0 (the default value), the receiver will remain awake indefinitely.

The RepetitionPeriod can be used to repeat the awake/sleep pattern at regular interval. RepetitionPeriod should be at least 5 seconds longer than AwakeDuration to allow a minimum sleep time of 5 seconds between awake periods. If RepetitionPeriod is set to a value smaller than AwakeDuration, the repetition functionality is disabled.

Be aware that the receiver must know the time to automatically go into sleep mode, which requires signal tracking: if no antenna is connected to the receiver or if no satellite can be tracked during the AwakeDuration, the receiver will continue operating beyond its prescribed awake duration, and only possibly enter sleep mode at the next scheduled "go-to-sleep" epoch, if any.

To force the receiver to go into sleep mode immediately, use the command exePowerMode, ScheduledSleep instead.

If interaction with the receiver is needed during the sleep period, the user can always force the receiver to wake up by hardware means. The different ways to do so are described in the Hardware Manual. Usually, simply sending any character at the correct baud rate to the COM1 port wakes up the receiver. When maintenance is done, the user should put the receiver back in sleep mode by typing exePowerMode, ScheduledSleep. This does not perturb the awake/sleep pattern: the receiver will continue to automatically wake up at the next wake-up epoch.

Examples

If you want the receiver waking up on December 31, 2012 at 23h00 for 2 hours, use:

COM1>  swui, ~2012-12-31 23:0:0~, 7200 <CR>  
$R: swui, ~2012-12-31 23:0:0~, 7200 
  WakeUpInterval, ~2012-12-31 23:00:00~, 7200, 0 
COM1>

If you want to set up an automatic wake up every day at midnight for 1 hour, use:

COM1>  swui, , 3600, 86400 <CR>  
$R: swui, , 3600, 86400 
    WakeUpInterval, ~2000-01-01 00:00:00~, 3600, 86400 
COM1>

3.6 Session Settings Commands

smp
gmp
setMarkerParameters 
getMarkerParameters
MarkerName (60)
 
MarkerNumber (20)
 
MarkerType (20)
 












  • SEPT

  • Unknown

  • Unknown

RxControl: Navigation > Receiver Setup > Station Settings
Web Interface: Configuration > Navigation > Receiver Setup > Station Settings

Use these commands to define/inquire the marker parameters.

The set of allowed characters for the MarkerName argument is:

_0123456789ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz

If internal SBF or NMEA logging is enabled in one of the IGS file naming modes (see setFileNaming command), the file name is determined by the MarkerName argument. Changing MarkerName will cause the current log file to be closed, and a new file to be created.

When generating a RINEX observation file with the sbf2rin utility, the marker parameters are reflected in the header section and a "new site occupation" event is inserted between observation records each time the marker name or number is changed with this command.

Example

COM1>  smp, Test, 356, GEODETIC<CR>  
$R: smp, Test, 356, GEODETIC 
  MarkerParameters, Test, 356, GEODETIC 
COM1>

soc
goc
setObserverComment 
getObserverComment
Comment (120)
 












  • Unknown

RxControl: Navigation > Receiver Setup > Station Settings
Web Interface: Configuration > Navigation > Receiver Setup > Station Settings

Use these commands to define/inquire the content of the CommentSBF block.

Examples

COM1>  soc, ~Data taken with choke ring antenna~ <CR>  
$R: soc, ~Data taken with choke ring antenna~ 
    ObserverComment, ~Data taken with choke ring antenna~ 
COM1>
COM1>  goc <CR>  
$R: goc 
    ObserverComment, ~Data taken with choke ring antenna~ 
COM1>

sop
gop
setObserverParameters 
getObserverParameters
Observer (20)
 
Agency (40)
 












  • Unknown

  • Unknown

RxControl: Navigation > Receiver Setup > Station Settings
Web Interface: Configuration > Navigation > Receiver Setup > Station Settings

Use these commands to define/inquire the observer name or ID, and his/her agency. These parameters are copied in the ReceiverSetupSBF block and in the header of RINEX observation files.

The length of the arguments complies with the RINEX format definition.

Examples

COM1>  sop, TestObserver, TestAgency <CR>  
$R: sop, TestObserver, TestAgency 
    ObserverParameters, ~TestObserver~, ~TestAgency~ 
COM1>
COM1>  gop <CR>  
$R: gop 
    ObserverParameters, ~TestObserver~, ~TestAgency~ 
COM1>

3.7 Input/Output Commands

scs
gcs
setCOMSettings 
getCOMSettings
Cd
Cd
Rate
 
DataBits
 
Parity
 
StopBits
 
FlowControl
 












  • + COM1
  • + COM2
  • + COM3
  • + COM4
  • all

  • baud1200
  • baud2400
  • baud4800
  • baud9600
  • baud19200
  • baud38400
  • baud57600
  • baud115200
  • baud230400
  • baud460800

  • bits8

  • No

  • bit1

  • none
  • RTS|CTS

RxControl: Communication > COM Port Settings
Web Interface: Configuration > Communication > COM Port Settings

Use these commands to define/inquire the communication settings of the receiver’s COM ports. By default, all COM ports are set to a baud rate of 115200 baud, using 8 data-bits, no parity, 1 stop-bit and no flow control.

Depending on your receiver hardware, it may be that not all COM ports support flow control. Please refer to the Hardware Manual to check which COM ports are equipped with the RTS/CTS lines.

In some housed products, the number of COM ports configurable by this command is larger than the number of COM ports available to the user. The extra COM ports are used for internal purposes, and their settings should not be modified. Please refer to the Hardware Manual of your product for further details.

When modifying the settings of the current connection, make sure to also modify the settings of your terminal emulation program accordingly.

Example

COM1>  scs, COM1, baud19200, bits8, No, bit1, RTS|CTS<CR>  
$R: scs, COM1, baud19200, bits8, No, bit1, RTS|CTS 
  COMSettings, COM1, baud19200, bits8, No, bit1, RTS|CTS 
COM1>

scda
gcda
setCrossDomainWebAccess 
getCrossDomainWebAccess
Mode
 












  • off
  • on

RxControl: Communication > Network Settings
Web Interface: Configuration > Communication > Network Settings

This command enables or disables true open access across domain boundaries according to the CORS specification (Cross-Origin Resource Sharing).

Setting the Mode argument to on enables the cross-domain access to the receiver web server, and as such it allows external client applications (e.g. your own web application) to access receiver data via HTTP requests. Please contact support for additional information on the receiver’s JavaScript libraries.

Example

COM1>  scda, on <CR>  
$R: scda, on 
  CrossDomainWebAccess, on 
COM1>

sdio
gdio
setDataInOut 
getDataInOut
Cd
Cd
Input
 
Output
 
Show
 












  • + DSK1
  • + COM1
  • + COM2
  • + COM3
  • + COM4
  • + USB1
  • + USB2
  • + IP10 ... IP17
  • + NTR1
  • + NTR2
  • + NTR3
  • + IPS1
  • + IPS2
  • + IPS3
  • + IPR1
  • + IPR2
  • + IPR3
  • all

  • none
  • CMD
  • RTCMv2
  • RTCMv3
  • CMRv2
  • DC1
  • DC2
  • ASCIIIN
  • auto

  • none
  • + RTCMv2
  • + RTCMv3
  • + CMRv2
  • + SBF
  • + NMEA
  • + ASCIIDisplay
  • + DC1
  • + DC2

  • (off)
  • (on)

RxControl: Communication > Input/Output Selection
Web Interface: Configuration > Communication > Input/Output Selection

Use these commands to define/inquire the type of data that the receiver should accept/send on a given connection descriptor (Cd).

The Input argument is used to tell the receiver how to interpret incoming bytes on the connection Cd. If a connection is to be used for receiving user commands or differential corrections in RTCM or CMR format, it is recommended to leave it in the default auto input mode. In this mode, the receiver automatically detects the input format.

It is also possible to set the input format explicitly. CMD means that the connection is to be used for user command input exclusively. RTCMv2, RTCMv3 and CMRv2 can be used to manually select the differential correction format, overriding the auto detection. ASCIIIN is used for connections receiving free-formatted ASCII messages, e.g. from an external meteo sensor.

In auto mode, the receiver automatically detects the CMD, RTCMv2, RTCMv3 or CMRv2 formats. The other input formats must be specified explicitly.

A connection that is not configured in CMD mode or auto mode will be blocked for user commands. There are two ways to re-enable the command input on a blocked connection. The first way is to reconfigure the connection by entering the command setDataInOut from another connection. The second way is to send the "escape sequence" consisting of a succession of ten "S" characters to the blocked connection within a time interval shorter than 5 seconds.

A connection that is configured in auto mode will initially accept user commands and differential corrections. However, as soon as differential corrections have been detected, the connection is blocked for user commands until the escape sequence is received.

The Output argument is used to select the types of data allowed as output. The receiver supports outputting different data types on the same connection. The ASCIIDisplay is a textual report of the tracking and PVT status at a fixed rate of 1Hz. It can be used to get a quick overview of the receiver operation.

DC1 and DC2 represent two internal pipes that can be used to create a daisy-chain. Set the Input argument to DCi to connect the input of pipe i to the specified connection. Set the Output argument to DCi to connect the output of pipe i to the specified connection.

After the Cd, Input and Output arguments, an extra read-only Show argument will be returned in the command reply. This last argument can take the value on or off, depending on whether the connection descriptor is open or not.

The Input argument is ignored for output-only connections, such as DSK1 or IPSx.

The Output argument is ignored for the IP receive (IPRx) connections. In addition, IPRx connections cannot be used to enter user commands.

If a NTRIP connection (NTRx) is configured as Server with the command setNTRIPSettings, the Input argument for that connection is ignored.

By default, pressing the log button (or, in OEM receivers, driving the Button pin low) has the effect of executing the commands sdio,DSK1„SBF+NMEA and sdio,DSK1„none in turn: it toggles internal SBF and NMEA logging on and off (pressing the log button has no effect on the internal RINEX logging).

Examples

COM1>  sdio, COM2, RTCMv2 <CR>  
$R: sdio, COM2, RTCMv2 
  DataInOut, COM2, RTCMv2, SBF+NMEA, (on) 
COM1>

To setup a two-way daisy-chain between COM1 and COM2:

COM1>  sdio, COM1, DC1, DC2 <CR>  
$R: sdio, COM1, DC1, DC2 
  DataInOut, COM1, DC1, DC2, (on) 
COM1>  sdio, COM2, DC2, DC1 <CR>  
$R: sdio, COM2, DC2, DC1 
  DataInOut, COM2, DC2, DC1, (on) 
COM1>

eecm
gecm
exeEchoMessage 
getEchoMessage
Cd
 
Message (242)
 
EndOfLine
 












  • DSK1
  • COM1
  • COM2
  • COM3
  • COM4
  • USB1
  • USB2
  • IP10 ... IP17

  • A:Unknown

  • none
  • + CR
  • + LF
  • all

RxControl: Communication > Output Settings > Echo Message
Web Interface: Configuration > Communication > Output Settings > Echo Message

Use this command to send a message to one of the connections of the receiver.

The Message argument defines the message that should be sent on the Cd port. If the given message starts with "A:", the remainder of the message is considered an ASCII string that will be forwarded without changes to the requested connection. If the given message starts with "H:", the remainder of the message is considered a hexadecimal representation of a succession of bytes to be sent to the requested connection. In this case, the string should be a succession of 2-character hexadecimal values separated by a single whitespace.

Make sure to enclose the string between double quotes if it contains whitespaces. The maximum length of the Message argument (including the A: or H: prefix) is 242 characters.

The EndOfLine argument defines which end-of-line character should be sent after the message. That argument is ignored when the Message argument starts with H:.

To send a message at a regular interval instead of once, use the command setPeriodicEcho.

Examples

To send the string "Hello world!" to COM2, use:

COM1>  eecm, COM2, ~A:Hello world!~, none <CR>  
$R: eecm, COM2, ~A:Hello world!~, none 
  EchoMessage, COM2, ~A:Hello world!~, none 
COM1>

To send the same string, the following command can also be used:

COM1>  eecm, COM2, ~H:48 65 6C 6C 6F 20 77 6F 72 6C 64 21~, none <CR>  
$R: eecm, COM2, ~H:48 65 6C 6C 6F 20 77 6F 72 6C 64 21~, none 
  EchoMessage, COM2, ~H:48 65 6C 6C 6F 20 77 6F 72 6C 64 21~, none 
COM1>

sipp
gipp
setIPPortSettings 
getIPPortSettings
Command
 












1 28784 …65535

RxControl: Communication > Network Settings
Web Interface: Configuration > Communication > Network Settings

Use these commands to define/inquire the port number where the receiver listens for incoming TCP/IP connections.

For the new setting to become active, you need to reset the receiver (e.g. by the command exeResetReceiver, soft, none).

The IP port number configured by this command keeps its value upon a power cycle and even after a reset to factory default (see command exeResetReceiver).

Note that this command is not shown in the output of the lstConfigFile command.

Example

COM1>  sipp, 12345 <CR>  
$R: sipp, 12345 
  IPPortSettings, 12345 
COM1>

sirs
girs
setIPReceiveSettings 
getIPReceiveSettings
Cd
Cd
Port
 
Mode
 
TCPAddress (40)
 












  • + IPR1
  • + IPR2
  • + IPR3
  • all

0 …65535

  • TCP
  • UDP

  • 0.0.0.0

RxControl: Communication > Network Settings
Web Interface: Configuration > Communication > Network Settings

This command configures the "IP receive" ports (IPR).

When Mode is set to TCP, the receiver connects to the specified port of a server of which the IP address or hostname is provided in the TCPAddress argument. It then receives all data sent by this server on that port.

When Mode is set to UDP, the receiver listens for incoming UDP messages on its port identified by the Port argument. In UDP mode, the TCPAddress argument is ignored.

If Port is set to 0, the corresponding IPR connection is disabled.

IPRx connections are typically used for differential correction input. It is not possible to enter user commands through IPRx connections.

If there is no incoming data for more than 10 seconds, the receiver closes the connection and tries to reconnect.

Note that this command is the counterpart of the setIPServerSettings command. setIPServerSettings configures the sender side of the communication, while setIPReceiveSettings configures the receiver side.

Example

COM1>  sirs, IPR1, 28785, TCP, 192.168.10.5<CR>  
$R: sirs, IPR1, 28785, TCP, 192.168.10.5 
  IPReceiveSettings, IPR1, 28785, TCP, 192.168.10.5 
COM1>

siss
giss
setIPServerSettings 
getIPServerSettings
Cd
Cd
Port
 
Mode
 
UDPAddress (200)
 












  • + IPS1
  • + IPS2
  • + IPS3
  • all

0 …65535

  • TCP
  • UDP

  • 255.255.255.255

RxControl: Communication > Network Settings
Web Interface: Configuration > Communication > Network Settings

By default (Mode set to TCP), this command defines the TCP/IP port where the receiver’s IP Servers (IPS) listen for incoming TCP/IP connections. When a client connects to an IPS port, all output data specified for that port are streamed to the client.

When Mode is set to UDP and UDPAddress is set to 255.255.255.255, the IPS works in UDP broadcast mode. In that mode, the IPS data stream is delivered to any host on the local network listening to the IP port specified by the Port argument.

When Mode is set to UDP and UDPAddress contains a whitespace-separated list of IP addresses or hostnames, the IPS data stream is only delivered to the specified hosts.

Use the setDataInOut command and the various output setting commands (e.g. setNMEAOutput) to define the data stream to be output by the IPS connections. Note that the UDP implementation is meant to be used with small data volumes and low update rates. It is the user’s responsibility to only enable short messages at low rate when using UDP, in order to prevent throughput degradation of the network.

It is possible to configure some IPS connections in UDP mode, and others in TCP mode. The UPDAddress argument is ignored in TCP mode.

Set the Port argument to 0 to disable an IPS connection.

For the new setting to become active, you need to reset the receiver (e.g. by the command exeResetReceiver, soft, none). To make the setting persistent, it must be saved in the boot configuration file with the command exeCopyConfigFile.

Example

COM1>  siss, IPS1, 28785, UDP, 255.255.255.255<CR>  
$R: siss, IPS1, 28785, UDP, 255.255.255.255 
  IPServerSettings, IPS1, 28785, UDP, 255.255.255.255 
COM1>

sips
gips
setIPSettings 
getIPSettings
Mode
 
IP (16)
 
Netmask (16)
 
Gateway (16)
 
Domain (63)
 
DNS1 (16)
 
DNS2 (16)
 












  • DHCP
  • Static

  • 192.168.2.2

  • 255.255.255.0

  • 192.168.2.1

  • 8.8.8.8

  • 8.8.4.4

RxControl: Communication > Network Settings
Web Interface: Configuration > Communication > Network Settings

Use these commands to define the IP (Internet Protocol) settings of the receiver’s Ethernet port. By default, the receiver is configured to use DHCP.

In Static mode, the receiver will not attempt to request an address via DHCP. It will use the specified IP address, netmask, gateway, domain name and DNS. DNS1 is the primary DNS, and DNS2 is the backup DNS. The arguments IP, Netmask, Gateway, Domain, DNS1, and DNS2 are ignored in DHCP mode.

For the new settings to become active, you need to reset the receiver (e.g. by the command exeResetReceiver, soft, none).

The IP settings configured by this command keep their value upon a power cycle and even after a reset to factory default (see command exeResetReceiver).

Note that this command is not shown in the output of the lstConfigFile command.

The command getIPSettings cannot be used to get the current IP address assigned to the receiver by the DHCP server. The current IP address can be retrieved from the command lstInternalFile, IPParameters, or from the IPStatusSBF block.

Example

COM1>  sips, static, 192.168.1.123, 255.255.252.0, 192.168.1.255,  
       domain.local, 192.168.100.3, 192.168.100.4 <CR>  
$R: sips, static, 192.168.1.123, 255.255.252.0, 192.168.1.255, 
    domain.local, 192.168.100.3, 192.168.100.4 
  IPSettings, Static, 192.168.1.123, 255.255.252.0, 192.168.1.255, 
  domain.local, 192.168.100.3, 192.168.100.4 
COM1>

enoc
gnoc
exeNMEAOnce 
getNMEAOnce
Cd
 
Messages
 












  • DSK1
  • COM1
  • COM2
  • COM3
  • COM4
  • USB1
  • USB2
  • IP10 ... IP17
  • NTR1
  • NTR2
  • NTR3
  • IPS1
  • IPS2
  • IPS3

  • + ALM
  • + DTM
  • + GBS
  • + GGA
  • + GLL
  • + GNS
  • + GRS
  • + GSA
  • + GST
  • + GSV
  • + HDT
  • + RMC
  • + ROT
  • + VTG
  • + ZDA
  • + HRP
  • + LLQ
  • + RBP
  • + RBV
  • + RBD
  • + AVR
  • + GGK
  • + GFA
  • + GGQ
  • + LLK
  • + GMP
  • + TXTbase

RxControl: Communication > Output Settings > NMEA Output Once
Web Interface: Configuration > Communication > Output Settings > NMEA Output Once

Use this command to output a set of NMEA messages [2] on a given connection. This command differs from the related setNMEAOutput command in that it instructs the receiver to output the specified messages only once, instead of at regular intervals.

The Cd argument defines the connection descriptor on which the message(s) should be output and the Messages argument defines the list of messages that should be output. The HRP, RBP, RBD and RBV messages are non-standard. They are described in the Firmware User Manual. TXTbase is a TXT message containing text transmitted by a base station in RTCM message type 1029.

Please make sure that the connection specified by Cd is configured to allow NMEA output (this is the default for all connections). See the setDataInOut command.

Example

To output the receiver position on COM1, use:

COM1>  enoc, COM1, GGA <CR>  
$R: enoc, COM1, GGA 
  NMEAOnce, COM1, GGA 
COM1>

sno
gno
setNMEAOutput 
getNMEAOutput
Stream
Stream
Cd
 
Messages
 
Interval
 












  • + Stream1 ... Stream10
  • all

  • none
  • DSK1
  • COM1
  • COM2
  • COM3
  • COM4
  • USB1
  • USB2
  • IP10 ... IP17
  • NTR1
  • NTR2
  • NTR3
  • IPS1
  • IPS2
  • IPS3

  • none
  • + ALM
  • + DTM
  • + GBS
  • + GGA
  • + GLL
  • + GNS
  • + GRS
  • + GSA
  • + GST
  • + GSV
  • + HDT
  • + RMC
  • + ROT
  • + VTG
  • + ZDA
  • + HRP
  • + LLQ
  • + RBP
  • + RBV
  • + RBD
  • + PUMRD
  • + AVR
  • + GGK
  • + GFA
  • + GGQ
  • + LLK
  • + GMP
  • + TXTbase

  • off
  • OnChange
  • msec40
  • msec100
  • msec200
  • msec500
  • sec1
  • sec2
  • sec5
  • sec10
  • sec15
  • sec30
  • sec60
  • min2
  • min5
  • min10
  • min15
  • min30
  • min60

RxControl: Communication > Output Settings > NMEA Output > NMEA Output Intervals
Web Interface: Configuration > Communication > Output Settings > NMEA Output > NMEA Output Intervals

Use this command to output a set of NMEA messages [2] on a given connection at a regular interval. The Cd argument defines the connection descriptor on which the message(s) should be output and the Messages argument defines the list of messages that should be output. The HRP, RBP, RBD, RBV and PUMRD messages are non-standard. They are described in the Firmware User Manual. TXTbase is a TXT message containing text transmitted by a base station in RTCM message type 1029.

This command is the counterpart of the setSBFOutput command for NMEA sentences. Please refer to the description of that command for a description of the arguments.

Examples

To output GGA at 1Hz and RMC at 10Hz on COM1, use:

COM1>  sno, Stream1, COM1, GGA, sec1 <CR>  
$R: sno, Stream1, COM1, GGA, sec1 
  NMEAOutput, Stream1, COM1, GGA, sec1 
COM1>  sno, Stream2, COM1, RMC, msec100 <CR>  
$R: sno, Stream2, COM1, RMC, msec100 
  NMEAOutput, Stream2, COM1, RMC, msec100 
COM1>

To get the list of NMEA messages currently output, use:

COM1>  gno <CR>  
$R: gno 
  NMEAOutput, Stream1, COM1, GGA, sec1 
  NMEAOutput, Stream2, COM1, RMC, msec100 
  NMEAOutput, Stream3, none, none, off 
  NMEAOutput, Stream4, none, none, off 
  NMEAOutput, Stream5, none, none, off 
  NMEAOutput, Stream6, none, none, off 
  NMEAOutput, Stream7, none, none, off 
  NMEAOutput, Stream8, none, none, off 
  NMEAOutput, Stream9, none, none, off 
  NMEAOutput, Stream10, none, none, off 
COM1>

snp
gnp
setNMEAPrecision 
getNMEAPrecision
NrExtraDigits
 
Compatibility
 
LocalDatum
 












0 …3

  • Nominal
  • Mode1
  • Mode2

  • off
  • only

RxControl: Communication > Output Settings > NMEA Output > Customize
Web Interface: Configuration > Communication > Output Settings > NMEA Output > Customize

Use these commands to define/inquire the number of extra digits in the latitude, longitude and altitude reported in NMEA sentences and to tune certain sentences to be compatible with third-party applications that are not fully compliant with the NMEA 0183 standard.

By default (NrExtraDigits is 0), latitude and longitude are reported in degrees with 5 decimal digit, and altitude is reported in meters with 2 decimal digit. These default numbers of digits lead to a centimeter-level resolution of the position. To represent RTK positions with their full precision (millimeter-level), it is recommended to set NrExtraDigits to 2.

It is important to note that increasing the number of digits (setting NrExtraDigits to a non-zero value) may cause the NMEA standard to be broken, as the total number of characters in a sentence may end up exceeding the prescribed limit of 82. This is why it is not done by default.

When setting the argument Compatibility to Mode1, the GPS Quality Indicator in GGA sentences is set to the value "2: Differential GPS" for all non-standalone positioning modes, the Mode Indicator in GNS sentences is set to "D: Differential" for all non-standalone positioning modes, and the Course Over Ground in the VTG sentences is not a null field for stationary receivers.

When setting the argument Compatibility to Mode2, the Course Over Ground in the VTG sentences is not a null field for stationary receivers.

The LocalDatum argument specifies whether transformation parameters sent out by the RTK service provider should be applied or not in NMEA sentences GGA and GNS. If LocalDatum is off, the transformation parameters are not applied, and the coordinates in GGA and GNS correspond to the coordinates in the PVTGeodeticSBF block. If LocalDatum is only, the coordinates are transformed to the local datum and correspond to the PosLocalSBF block. In that mode, no position is output until the relevant transformation parameters are received in the differential correction stream.

Examples

COM1>  snp, 2 <CR>  
$R: snp, 2 
  NMEAPrecision, 2, Nominal, off 
COM1>
COM1>  gnp <CR>  
$R: gnp 
  NMEAPrecision, 2, Nominal, off 
COM1>

snti
gnti
setNMEATalkerID 
getNMEATalkerID
TalkerID
 












  • GP
  • GN

RxControl: Communication > Output Settings > NMEA Output > Customize
Web Interface: Configuration > Communication > Output Settings > NMEA Output > Customize

Use these commands to define/inquire the "Device Talker" for NMEA sentences. The device talker allows users to identify the type of equipment from which the NMEA sentence was issued.

Note that the command is ignored for the NMEA sentences where it would conflict with the standard. For example, the GSV sentence reporting the GPS visibility will always have its device talker set to "GP" regardless of the setNMEATalkerID command.

Example

COM1>  snti, GN <CR>  
$R: snti, GN 
  NMEATalkerID, GN 
COM1>

snv
gnv
setNMEAVersion 
getNMEAVersion
Version
 












  • v3x
  • v4x

RxControl: Communication > Output Settings > NMEA Output > Customize
Web Interface: Configuration > Communication > Output Settings > NMEA Output > Customize

Use this command to set the NMEA version the receiver should comply with.

Example

COM1>  snv, v4x<CR>  
$R: snv, v4x 
  NMEAVersion, v4x 
COM1>

snts
gnts
setNtripSettings 
getNtripSettings
Cd
Cd
Mode
 
Caster (40)
 
Port
 
UserName (20)
 
Password (40)
 
MountPoint (32)
 
Version
 
SendGGA
 











  • + NTR1
  • + NTR2
  • + NTR3
  • all

  • off
  • Server

0 2101 …65535

  • v1
  • v2

  • off

RxControl: Communication > NTRIP Settings
Web Interface: Configuration > Communication > NTRIP Settings

Use this command to specify the parameters of the NTRIP connection referenced by the Cd argument.

The Mode argument specifies the type of NTRIP connection. In Server mode, the receiver is sending data to a NTRIP caster. Set Mode to off to disable the connection.

Caster is the hostname or IP address of the NTRIP caster to connect to. Port, UserName, Password and MountPoint are the IP port number, the user name, the password and the mount point to be used when connecting to the NTRIP caster. The default NTRIP port number is 2101. Note that the receiver encrypts the password so that it cannot be read back with the command getNtripSettings.

The Version argument specifies which version of the NTRIP protocol to use (v1 or v2).

The SendGGA argument specifies whether or not to send NMEA GGA messages to the NTRIP caster, and at which rate. In auto mode (the default), the receiver automatically sends GGA messages if requested by the caster. This argument is ignored in NTRIP server mode.

Example

COM1>  snts, NTR1, Client, ntrip.com, 2101, USER, PWD, MP1, v2, auto<CR>  
$R: snts, NTR1, Client, ntrip.com, 2101, USER, PWD, MP1, v2, auto 
  NtripSettings, NTR1, Client, ntrip.com, 2101, USER, PWD, MP1, v2, auto 
COM1>

spe
gpe
setPeriodicEcho 
getPeriodicEcho
Cd
Cd
Message (201)
 
Interval
 












  • + COM1
  • + COM2
  • + COM3
  • + COM4
  • all

  • A:Unknown

  • off
  • once
  • msec100
  • msec200
  • msec500
  • sec1
  • sec2
  • sec5
  • sec10
  • sec15
  • sec30
  • sec60
  • min2
  • min5
  • min10
  • min15
  • min30
  • min60

RxControl: Communication > Output Settings > Periodic Echo message
Web Interface: Configuration > Communication > Output Settings > Periodic Echo message

Use this command to periodically send a message to one of the connections of the receiver.

The Message argument defines the message that should be sent on the Cd port. If the given message starts with "A:", the remainder of the message is considered an ASCII string that will be forwarded to the requested connection. All occurrences of the %%CR character sequence are replaced by a single carriage return character (ASCII code 13d) and all occurrences of the %%LF character sequence are replaced by a single line feed character (ASCII code 10d). If the Message argument starts with "H:", the remainder of the message is considered a hexadecimal representation of a succession of bytes to be sent to the requested connection. In this case, the string should be a succession of 2-character hexadecimal values separated by a single whitespace.

Make sure to enclose the string between double quotes if it contains whitespaces. The maximum length of the Message argument (including the A: or H: prefix) is 201 characters.

The Interval argument defines the interval at which the message should be sent.

To send a message only once, set Interval to once. The only difference with the command exeEchoMessage is that exeEchoMessage cannot be stored in the boot configuration file, while setPeriodicEcho can. This can be used to output a message once at each reset or reboot. The third example below shows how to do this.

Examples

To send the string "Hello!<CR><LF>" to COM2 every minute, use:

COM1>  spe, COM2, ~A:Hello!%%CR%%LF~, sec60 <CR>  
$R: spe, COM2, ~A:Hello!%%CR%%LF~, sec60 
  PeriodicEcho, COM2, ~A:Hello!%%CR%%LF~, sec60 
COM1>

The same can be achieved with the following command:

COM1>  spe, COM2, ~H:48 65 6C 6C 6F 21 0D 0A~, sec60 <CR>  
$R: spe, COM2, ~H:48 65 6C 6C 6F 21 0D 0A~, sec60 
  PeriodicEcho, COM2, ~H:48 65 6C 6C 6F 21 0D 0A~, sec60 
COM1>

To let the receiver output the string "Hello!<CR><LF>" to COM2 at each reset, use the following command sequence:

COM1>  spe, COM2, ~A:Hello!%%CR%%LF~, once <CR>  
$R: spe, COM2, ~A:Hello!%%CR%%LF~, once 
  PeriodicEcho, COM2, ~A:Hello!%%CR%%LF~, once 
COM1>  eccf, Current, Boot <CR>  
$R: eccf, Current, Boot 
  CopyConfigFile, Current, Boot 
COM1>

ssgp
gsgp
setSBFGroups 
getSBFGroups
Group
Group
Messages
 












  • + Group1
  • + Group2
  • + Group3
  • + Group4
  • all

  • none
  • [SBF List]
  • + Measurements
  • + RawNavBits
  • + GPS
  • + GLO
  • + GAL
  • + GEO
  • + CMP
  • + QZS
  • + PVTCart
  • + PVTGeod
  • + PVTExtra
  • + Attitude
  • + Time
  • + Events
  • + DiffCorr
  • + Status
  • + Rinex
  • + Support
  • + RawData
  • + PostProcess
  • + GUI

RxControl: Communication > Output Settings > SBF Groups
Web Interface: Configuration > Communication > Output Settings > SBF Groups

Use these commands to define/inquire user-defined groups of SBF blocks that can be re-used in the exeSBFOnce and the setSBFOutput commands. The purpose of defining groups is to ease the typing effort when the same set of SBF blocks are to be addressed regularly.

The list of supported SBF blocks [SBF List] is to be found in SBFList (Section not found).

A number of predefined groups of SBF blocks are available (such as Measurements or RawNavBits). See the command setSBFOutput for a description of these predefined groups.

Example

To output the messages MeasEpoch, PVTCartesian and DOP as one group on COM1 at a rate of 1Hz, you could use the following sequence of commands:

COM1>  ssgp, Group1, MeasEpoch+PVTCartesian+DOP <CR>  
$R: ssgp, Group1, MeasEpoch+PVTCartesian+DOP 
  SBFGroups, Group1, MeasEpoch+PVTCartesian+DOP 
COM1>  sso, Stream1, COM1, Group1, sec1 <CR>  
$R: sso, Stream1, COM1, Group1, sec1 
  SBFOutput, Stream1, COM1, Group1, sec1 
COM1>

esoc
gsoc
exeSBFOnce 
getSBFOnce
Cd
 
Messages
 












  • DSK1
  • COM1
  • COM2
  • COM3
  • COM4
  • USB1
  • USB2
  • IP10 ... IP17
  • NTR1
  • NTR2
  • NTR3
  • IPS1
  • IPS2
  • IPS3

  • [SBF List]
  • + Measurements
  • + GPS
  • + GLO
  • + GAL
  • + GEO
  • + CMP
  • + QZS
  • + PVTCart
  • + PVTGeod
  • + PVTExtra
  • + Attitude
  • + Time
  • + Status
  • + UserGroups
  • + Rinex
  • + Support
  • + RawData
  • + PostProcess
  • + GUI

RxControl: Communication > Output Settings > SBF Output Once
Web Interface: Configuration > Communication > Output Settings > SBF Output Once

Use this command to output a set of SBF blocks on a given connection. This command differs from the related setSBFOutput command in that it instructs the receiver to output the specified SBF blocks only once, instead of at regular intervals.

The Cd argument defines the connection descriptor on which the message(s) should be output and the Messages argument defines the list of messages that should be output. The list of SBF blocks [SBF List] is to be found in SBFList (Section not found). Only a subset of SBF blocks can be sent with the exeSBFOnce command: refer to the SBF Reference Guide for a list of them.

Make sure that the connection specified by Cd is configured to allow SBF output (this is the default for all connections). See also the setDataInOut command.

Predefined groups of SBF blocks (such as Measurements or PVTCart) can be addressed in the Messages argument. These groups are defined in the table below.

Messages

Description



Measurements

+MeasEpoch +MeasExtra +IQCorr +EndOfMeas



GPS

+GPSNav +GPSAlm +GPSIon +GPSUtc



GLO

+GLONav +GLOAlm +GLOTime



GAL

+GALNav +GALAlm +GALIon +GALUtc +GALGstGps



GEO

+GEONav +GEOAlm



CMP

+CMPNav



QZS

+QZSNav



PVTCart

+PVTCartesian +PosCovCartesian +VelCovCartesian +BaseVectorCart



PVTGeod

+PVTGeodetic +PosCovGeodetic +VelCovGeodetic +BaseVectorGeod +PosLocal



PVTExtra

+DOP +PVTSatCartesian +PVTResiduals +RAIMStatistics +GEOCorrections +BaseLine +PVTSupport +EndOfPVT



Attitude

+AttEuler +AttCovEuler +EndOfAtt



Time

+ReceiverTime



Status

+SatVisibility +ChannelStatus +ReceiverStatus +InputLink +OutputLink +IPStatus +NTRIPClientStatus +QualityInd +DiskStatus



UserGroups

+Group1 +Group2 +Group3 +Group4



Rinex

+MeasEpoch +GPSNav +GPSIon +GPSUtc +GLONav +GALNav +GALUtc +GALGstGps +GEONav +CMPNav +QZSNav +PVTGeodetic +ReceiverSetup +Comment



Support

+MeasEpoch +MeasExtra +EndOfMeas +GPSNav +GPSAlm +GPSIon +GPSUtc +GLONav +GLOAlm +GLOTime +GALNav +GALAlm +GALIon +GALUtc +GALGstGps +GEONav +GEOAlm +CMPNav +QZSNav +PVTGeodetic +PosCovGeodetic +BaseVectorGeod +AttEuler +DOP +PVTSupport +EndOfPVT +ChannelStatus +ReceiverStatus +InputLink +OutputLink +ReceiverSetup +Commands +IPStatus +NTRIPClientStatus +QualityInd +DiskStatus



RawData

+MeasEpoch +MeasExtra +GPSNav +GLONav +GALNav +GEONav +CMPNav +QZSNav +PVTGeodetic +ReceiverSetup +Commands +Comment



PostProcess

+MeasEpoch +MeasExtra +GPSNav +GPSIon +GPSUtc +GLONav +GLOTime +GALNav +GALIon +GALUtc +GALGstGps +GEONav +CMPNav +QZSNav +ReceiverSetup +Commands



GUI

+MeasEpoch +EndOfMeas +EndOfPVT +SatVisibility +ChannelStatus +Commands +PVTGeodetic +PosCovGeodetic +VelCovGeodetic +DOP +PVTSatCartesian +PVTResiduals +RAIMStatistics +BaseLine +AttEuler +ReceiverTime +ReceiverStatus +InputLink +OutputLink +ReceiverSetup +Comment +IPStatus +NTRIPClientStatus +QualityInd +DiskStatus





Example

To output the next MeasEpoch block, use:

COM1>  esoc, COM1, MeasEpoch <CR>  
$R: esoc, COM1, MeasEpoch 
  SBFOnce, COM1, MeasEpoch 
COM1>

sso
gso
setSBFOutput 
getSBFOutput
Stream
Stream
Cd
 
Messages
 
Interval
 












  • + Stream1 ... Stream10
  • + Res1
  • + Res2
  • + Res3
  • + Res4
  • all

  • none
  • DSK1
  • COM1
  • COM2
  • COM3
  • COM4
  • USB1
  • USB2
  • IP10 ... IP17
  • NTR1
  • NTR2
  • NTR3
  • IPS1
  • IPS2
  • IPS3

  • none
  • [SBF List]
  • + Measurements
  • + RawNavBits
  • + GPS
  • + GLO
  • + GAL
  • + GEO
  • + CMP
  • + QZS
  • + PVTCart
  • + PVTGeod
  • + PVTExtra
  • + Attitude
  • + Time
  • + Event
  • + DiffCorr
  • + Status
  • + UserGroups
  • + Rinex
  • + Support
  • + RawData
  • + PostProcess
  • + GUI

  • off
  • OnChange
  • msec20
  • msec40
  • msec100
  • msec200
  • msec500
  • sec1
  • sec2
  • sec5
  • sec10
  • sec15
  • sec30
  • sec60
  • min2
  • min5
  • min10
  • min15
  • min30
  • min60

RxControl: Communication > Output Settings > SBF Output
Web Interface: Configuration > Communication > Output Settings > SBF Output

Use this command to output a set of SBF blocks on a given connection at a regular interval.

A Stream is defined as a list of messages that should be output with the same interval on one connection descriptor (Cd). In other words, one Stream is associated with one Cd and one Interval, and contains a list of SBF blocks defined by the Messages argument.

The list of supported SBF blocks [SBF List] is to be found in SBFList (Section not found).

Predefined groups of SBF blocks (such as Measurements or RawNavBits) can be addressed in the Messages argument. These groups are defined in the table below.

Messages

Description



Measurements

+MeasEpoch +MeasExtra +IQCorr +EndOfMeas



RawNavBits

+GPSRawCA +GPSRawL2C +GPSRawL5 +GLORawCA +GALRawFNAV +GALRawINAV +GEORawL1 +GEORawL5 +CMPRaw +QZSRawL1CA +QZSRawL2C +QZSRawL5



GPS

+GPSNav +GPSAlm +GPSIon +GPSUtc



GLO

+GLONav +GLOAlm +GLOTime



GAL

+GALNav +GALAlm +GALIon +GALUtc +GALGstGps +GALSARRLM



GEO

+GEOMT00 +GEOPRNMask +GEOFastCorr +GEOIntegrity +GEOFastCorrDegr +GEONav +GEODegrFactors +GEONetworkTime +GEOAlm +GEOIGPMask +GEOLongTermCorr +GEOIonoDelay +GEOServiceLevel +GEOClockEphCovMatrix



CMP

+CMPNav



QZS

+QZSNav



PVTCart

+PVTCartesian +PosCovCartesian +VelCovCartesian +BaseVectorCart



PVTGeod

+PVTGeodetic +PosCovGeodetic +VelCovGeodetic +BaseVectorGeod +PosLocal



PVTExtra

+DOP +PVTSatCartesian +PVTResiduals +RAIMStatistics +GEOCorrections +BaseLine +PVTSupport +EndOfPVT



Attitude

+AttEuler +AttCovEuler +EndOfAtt



Time

+ReceiverTime +xPPSOffset



Event

+ExtEvent +ExtEventPVTCartesian +ExtEventPVTGeodetic



DiffCorr

+DiffCorrIn +BaseStation +RTCMDatum



Status

+SatVisibility +ChannelStatus +ReceiverStatus +InputLink +OutputLink +IPStatus +NTRIPClientStatus +QualityInd +DiskStatus



UserGroups

+Group1 +Group2 +Group3 +Group4



Rinex

+MeasEpoch +GEORawL1 +GPSNav +GPSIon +GPSUtc +GLONav +GALNav +GALUtc +GALGstGps +GEONav +CMPNav +QZSNav +PVTGeodetic +ReceiverSetup +Comment



Support

+MeasEpoch +MeasExtra +EndOfMeas +GPSRawCA +GPSRawL2C +GPSRawL5 +GLORawCA +GALRawFNAV +GALRawINAV +GEORawL1 +GEORawL5 +CMPRaw +QZSRawL1CA +QZSRawL2C +QZSRawL5 +GPSNav +GPSAlm +GPSIon +GPSUtc +GLONav +GLOAlm +GLOTime +GALNav +GALAlm +GALIon +GALUtc +GALGstGps +GEONav +GEOAlm +CMPNav +QZSNav +PVTGeodetic +PosCovGeodetic +BaseVectorGeod +AttEuler +DOP +PVTSupport +EndOfPVT +ExtEvent +DiffCorrIn +BaseStation +ChannelStatus +ReceiverStatus +InputLink +OutputLink +ReceiverSetup +Commands +IPStatus +NTRIPClientStatus +QualityInd +DiskStatus



RawData

+MeasEpoch +MeasExtra +GPSRawCA +GPSRawL2C +GPSRawL5 +GLORawCA +GALRawFNAV +GALRawINAV +GEORawL1 +GEORawL5 +CMPRaw +QZSRawL1CA +QZSRawL2C +QZSRawL5 +GPSNav +GLONav +GALNav +GEONav +CMPNav +QZSNav +PVTGeodetic +DiffCorrIn +ReceiverSetup +Commands +Comment



PostProcess

+MeasEpoch +MeasExtra +GEORawL1 +GPSNav +GPSIon +GPSUtc +GLONav +GLOTime +GALNav +GALIon +GALUtc +GALGstGps +GALSARRLM +GEONav +CMPNav +QZSNav +DiffCorrIn +ReceiverSetup +Commands



GUI

+MeasEpoch +EndOfMeas +GEOIGPMask +GEOIonoDelay +EndOfPVT +ExtEvent +DiffCorrIn +SatVisibility +ChannelStatus +Commands +PVTGeodetic +PosCovGeodetic +VelCovGeodetic +DOP +PVTSatCartesian +PVTResiduals +RAIMStatistics +BaseLine +AttEuler +ReceiverTime +BaseStation +ReceiverStatus +InputLink +OutputLink +ReceiverSetup +Comment +IPStatus +NTRIPClientStatus +QualityInd +DiskStatus





The Interval argument defines the rate at which the SBF blocks specified in the Messages argument are output. If set to off, the SBF blocks are disabled. If set to OnChange, the SBF blocks are output at their natural renewal rate. Please refer to the "Output Rate" section of the SBF Reference Guide for further details. If a specific interval is specified (e.g. sec1 corresponds to an interval of 1 second), the SBF blocks are decimated from their renewal rate to the specified interval. Some blocks can only be output at their renewal rate (e.g. the GPSNav block). For these blocks, the receiver ignores any decimation interval and always assumes OnChange. The list of those blocks can be found in the SBF Reference Guide.

Please make sure that the connection specified by Cd is configured to allow SBF output (this is the default for all connections). See the setDataInOut command.

Res1 to Res4 are reserved values of Stream. These streams are not saved in the configuration files and, as a consequence, they will always be reset at boot time. For most users, it is not recommended to use these streams.

Examples

To output the MeasEpoch block at 1Hz and the PVTCartesian block at 10Hz on COM1, use the following sequence:

COM1>  sso, Stream1, COM1, MeasEpoch, sec1 <CR>  
$R: sso, Stream1, COM1, MeasEpoch, sec1 
  SBFOutput, Stream1, COM1, MeasEpoch, sec1 
COM1>  sso, Stream2, COM1, PVTCartesian, msec100 <CR>  
$R: sso, Stream2, COM1, PVTCartesian, msec100 
  SBFOutput, Stream2, COM1, PVTCartesian, msec100 
COM1>

To get the list of SBF blocks currently output, use:

COM1>  gso <CR>  
$R: gso 
  SBFOutput, Stream1, COM1, MeasEpoch, sec1 
  SBFOutput, Stream2, COM1, PVTCartesian, msec100 
  SBFOutput, Stream3, none, none, off 
  SBFOutput, Stream4, none, none, off 
  SBFOutput, Stream5, none, none, off 
  SBFOutput, Stream6, none, none, off 
  SBFOutput, Stream7, none, none, off 
  SBFOutput, Stream8, none, none, off 
  SBFOutput, Stream9, none, none, off 
  SBFOutput, Stream10, none, none, off 
  SBFOutput, Res1, none, none, off 
  SBFOutput, Res2, none, none, off 
  SBFOutput, Res3, none, none, off 
  SBFOutput, Res4, none, none, off 
COM1>

3.8 RTCM v2.x Commands

sr2c
gr2c
setRTCMv2Compatibility 
getRTCMv2Compatibility
PRCType
 
GLOToD
 












  • Standard
  • GroupDelay

  • Tk
  • Tb

RxControl: Communication > Input Settings > Differential Corrections > RTCMv2
Web Interface: Configuration > Communication > Input Settings > Differential Corrections > RTCMv2

Use these commands to define/inquire the compatibility of the RTCM 2.x input correction stream. This command applies to rover receivers only and should be used in case the available base station correction stream is not fully compatible with the latest version of the RTCM 2.x standard.

The argument PRCType is used to handle a difference in the interpretation of DGPS corrections between the version 2.0 of the RTCM standard and later versions. If the base station is sending RTCM Message Type 1 based on version 2.0, the value GroupDelay must be selected to have a correct usage of incoming corrections.

The argument GLOToD specifies how to interpret the time-of-day field in the differential GLONASS correction message (MT31). Select Tb to be compatible with RTCM version up to 2.2, and select Tk to be compatible with RTCM 2.3 and later.

Example

To make to rover receiver compatible with a base station sending RTCM 2.2 corrections, use:

COM1>  sr2c, , Tb <CR>  
$R: sr2c, , Tb 
  RTCMv2Compatibility, Standard, Tb 
COM1>

sr2f
gr2f
setRTCMv2Formatting 
getRTCMv2Formatting
ReferenceID
 
GLOToD
 












0 …1023

  • Tk
  • Tb

RxControl: Communication > Output Settings > Differential Corrections > RTCMv2
Web Interface: Configuration > Communication > Output Settings > Differential Corrections > RTCMv2

Use these commands to define/inquire the reference station ID assigned to the receiver when operating in base station mode. The reference station ID is transmitted in the first word of each outgoing RTCM v2.x message.

The argument GLOToD specifies how to encode the time-of-day field in the differential GLONASS correction message (MT31). Select Tb to be compatible with RTCM version up to 2.2, and select Tk to be compatible with RTCM 2.3 and later.

Examples

COM1>  sr2f, 345 <CR>  
$R: sr2f, 345 
  RTCMv2Formatting, 345, Tk 
COM1>
COM1>  gr2f <CR>  
$R: gr2f 
  RTCMv2Formatting, 345, Tk 
COM1>

sr2i
gr2i
setRTCMv2Interval 
getRTCMv2Interval
Message
Message
ZCount
 












  • + RTCM1
  • + RTCM3
  • + RTCM9
  • + RTCM16
  • + RTCM17
  • + RTCM22
  • + RTCM23|24
  • + RTCM31
  • + RTCM32
  • all

1 2 …1000

RxControl: Communication > Output Settings > Differential Corrections > RTCMv2
Web Interface: Configuration > Communication > Output Settings > Differential Corrections > RTCMv2

Use these commands to define/inquire at which interval the RTCM v2.x messages specified in the Message argument should be generated. The related setRTCMv2IntervalObs command must be used to specify the interval of some RTK-related messages such as messages 18 and 19.

The interval for every message is given in the ZCount argument, in units of 0.6 seconds. For example, to generate a message every 6 seconds, ZCount should be set to 10.

For the ephemerides message (RTCM17), the ephemerides are sent out one satellite at a time, at a rate specified by this command. For instance, if ZCount is set to 1 and there are 12 ephemerides to send out, it takes 0.6*12=7.2 seconds to send the whole ephemerides set.

The intervals specified with this command are not connection-specific: all the connections which output a given RTCM v2.x message will output it with the same interval.

Note that this command only defines the interval of RTCM messages. To make the receiver actually output these messages, use the setRTCMv2Output and setDataInOut commands.

See the setRTCMv2Usage command for a short description of all supported RTCM v2.x message types.

Examples

COM1>  sr2i, RTCM22, 15 <CR>  
$R: sr2i, RTCM22, 15 
  RTCMv2Interval, RTCM22, 15 
COM1>
COM1>  gr2i <CR>  
$R: gr2i 
  RTCMv2Interval, RTCM1, 2 
  RTCMv2Interval, RTCM3, 2 
  RTCMv2Interval, RTCM16, 2 
  RTCMv2Interval, RTCM22, 15 
  RTCMv2Interval, RTCM23|24, 2 
COM1>

sr2b
gr2b
setRTCMv2IntervalObs 
getRTCMv2IntervalObs
Message
Message
Interval
 












  • + RTCM18|19
  • + RTCM20|21
  • all

1 …600 sec

RxControl: Communication > Output Settings > Differential Corrections > RTCMv2
Web Interface: Configuration > Communication > Output Settings > Differential Corrections > RTCMv2

Use these commands to define/inquire at which interval the RTCM v2.x messages specified in the Message argument should be generated. The related setRTCMv2Interval command must be used to specify the interval of other supported RCTCM v2.x messages.

The intervals specified with this command are not connection-specific: all the connections which output a given RTCM v2.x message will output it with the same interval.

Note that this command only defines the interval of RTCM messages. To make the receiver actually output these messages, use the setRTCMv2Output and setDataInOut commands.

Examples

COM1>  sr2b, RTCM20|21, 2 <CR>  
$R: sr2b, RTCM20|21, 2 
  RTCMv2IntervalObs, RTCM20|21, 2 
COM1>
COM1>  gr2b <CR>  
$R: gr2b 
  RTCMv2IntervalObs, RTCM18|19, 1 
  RTCMv2IntervalObs, RTCM20|21, 2 
COM1>

sr2m
gr2m
setRTCMv2Message16 
getRTCMv2Message16
Message (90)
 












  • Unknown

RxControl: Communication > Output Settings > Differential Corrections > RTCMv2
Web Interface: Configuration > Communication > Output Settings > Differential Corrections > RTCMv2

Use these commands to define/inquire the string that will be transmitted in the RTCM v2.x message 16. The argument Message can contain up to 90 characters.

Note that this command only defines the content of message 16. To make the receiver actually output this message, use the setRTCMv2Output and setDataInOut commands.

Example

To send the string "Hello" in message 16 over COM2 at the default interval, use the following sequence:

COM1>  sr2m, Hello <CR>  
$R: sr2m, Hello 
  RTCMv2Message16, ~Hello~ 
COM1>  sr2o, COM2, RTCM16 <CR>  
$R: sr2o, COM2, RTCM16 
  RTCMv2Output, COM2, RTCM16 
COM1>  sdio, COM2, , RTCMv2 <CR>  
$R: sdio, COM2, , RTCMv2 
  DataInOut, COM2, auto, RTCMv2 
COM1>

sr2o
gr2o
setRTCMv2Output 
getRTCMv2Output
Cd
Cd
Messages
 












  • + COM1
  • + COM2
  • + COM3
  • + COM4
  • + USB1
  • + USB2
  • + IP10 ... IP17
  • + NTR1
  • + NTR2
  • + NTR3
  • + IPS1
  • + IPS2
  • + IPS3
  • all

  • none
  • + RTCM1
  • + RTCM3
  • + RTCM9
  • + RTCM16
  • + RTCM18|19
  • + RTCM20|21
  • + RTCM22
  • + RTCM23|24
  • + RTCM31
  • + RTCM32
  • + RTCM17
  • + DGPS
  • + RTK
  • all

RxControl: Communication > Output Settings > Differential Corrections > RTCMv2
Web Interface: Configuration > Communication > Output Settings > Differential Corrections > RTCMv2

Use these commands to define/inquire which RTCM v2.x messages are enabled for output on a given connection descriptor (Cd). The Messages argument specifies the RTCM message types to be enabled. Some pairs of messages are always enabled together, such as messages 18 and 19. DGPS is an alias for "RTCM1+RTCM3" and RTK is an alias for "RTCM3+RTCM18|19+RTCM22".

See the setRTCMv2Usage command for a short description of all supported RTCM v2.x message types.

Please make sure that the connection specified by Cd is configured to allow RTCMv2 output, which can be done with the setDataInOut command. The interval at which each message is output is to be specified with the setRTCMv2Interval or the setRTCMv2IntervalObs command.

Example

To enable RTCM v2.x messages 3, 18, 19 and 22 on COM2, use the following sequence:

COM1>  sr2o, COM2, RTCM3+RTCM18|19+RTCM22 <CR>  
$R: sr2o, COM2, RTCM3+RTCM18|19+RTCM22 
  RTCMv2Output, COM2, RTCM3+RTCM18|19+RTCM22 
COM1>  sdio, COM2, , RTCMv2 <CR>  
$R: sdio, COM2, , RTCMv2 
  DataInOut, COM2, auto, RTCMv2 
COM1>

sr2u
gr2u
setRTCMv2Usage 
getRTCMv2Usage
MsgUsage
 












  • none
  • + RTCM1
  • + RTCM3
  • + RTCM9
  • + RTCM15
  • + RTCM18|19
  • + RTCM20|21
  • + RTCM22
  • + RTCM23|24
  • + RTCM31
  • + RTCM32
  • + RTCM17
  • + RTCM59
  • all

RxControl: Communication > Input Settings > Differential Corrections > RTCMv2
Web Interface: Configuration > Communication > Input Settings > Differential Corrections > RTCMv2

Use this command to restrict the list of incoming RTCM v2.x messages that the receiver is allowed to use in its differential PVT computation.

MsgUsage

Description



RTCM1

Differential GPS Corrections



RTCM3

GPS Reference Station Parameters



RTCM9

GPS Partial Correction Set



RTCM15

Ionospheric Delay



RTCM18|19

RTK Uncorrected Carrier Phases (RTCM18) and Pseudoranges (RTCM19)



RTCM20|21

RTK Carrier Phase Corrections (RTCM20) and High-Accuracy Pseudorange Corrections (RTCM21)



RTCM22

Extended Reference Station Parameters



RTCM23|24

Antenne Type Definition Record (RTCM23) and Antenna Reference Point (ARP) (RTCM24)



RTCM31

Differential GLONASS Corrections



RTCM32

GLONASS Reference Station Parameters



RTCM17

GPS Ephemerides Message



RTCM59

Proprietary Message (interpreted as FKP message)





Example

To only accept RTCM1 and RTCM3 corrections from the base station 1011, use the following sequence:

COM1>  sr2u, RTCM1+RTCM3 <CR>  
$R: sr2u, RTCM1+RTCM3 
  RTCMv2Usage, RTCM1+RTCM3 
COM1>  sdcu, , , manual, 1011 <CR>  
$R: sdcu, , , manual, 1011 
  DiffCorrUsage, LowLatency, 3600.0, manual, 1011, 20, 20000000 
COM1>

3.9 RTCM v3.x Commands

sr3t
gr3t
setRTCMv3CRSTransfo 
getRTCMv3CRSTransfo
Mode
 
TargetName (32)
 












  • auto
  • manual

RxControl: Communication > Input Settings > Differential Corrections > RTCMv3
Web Interface: Configuration > Communication > Input Settings > Differential Corrections > RTCMv3

Use this command to specify how to apply the coordinate reference system (CRS) transformation parameters contained in RTCM v3.x message types 1021 to 1023.

In auto mode (the default), the receiver decodes and applies the coordinate transformation parameters from message types 1021-1023. If your RTK provider sends transformation parameters for more than one target CRS, the receiver selects the first transformation parameters it receives.

In manual mode, you can force the receiver to only apply the transformation to the target CRS specified with the second argument. The TargetName argument must exactly match the name used by the RTK provider. The available target datum names can be found in the RTCMDatumSBF block.

Example

To force using the target CRS identified as "4258" by the RTK network, use:

COM1>  sr3t, manual, ~4258~ <CR>  
$R: sr3t, manual, ~4258~ 
  RTCMv3CRSTransfo, manual, ~4258~ 
COM1>

sr3d
gr3d
setRTCMv3Delay 
getRTCMv3Delay
Delay
 












0 …600 sec

RxControl: Communication > Output Settings > Differential Corrections > RTCMv3
Web Interface: Configuration > Communication > Output Settings > Differential Corrections > RTCMv3

Use this command to instruct the receiver to generate and output RTCM v3.x messages with a certain delay.

It is possible to impose a global delay to all RTCM v3.x messages by setting the Delay to a non-zero value. This can be used in situations where multiple base stations must be configured to transmit their corrections in a time-multiplexed way. For example, base station A would compute and transmit its corrections at every 10-second epoch (in the GPS time scale), and base station B would compute and transmit its corrections 5 seconds after the 10-second epochs. In that case, receiver B would be configured with the Delay argument set to 5.

See also the setRTCMv3Interval command to configure the message interval.

Example

To generate the RTCM1001 message with an interval of 10 seconds and a time shift of 2 seconds, use:

COM1>  sr3i, RTCM1001|2, 10 <CR>  
$R: sr3i, RTCM1001|2, 10 
  RTCMv3Interval, RTCM1001|2, 10 
COM1>  sr3d, 2 <CR>  
$R: sr3d, 2 
  RTCMv3Delay, 2 
COM1>

sr3f
gr3f
setRTCMv3Formatting 
getRTCMv3Formatting
ReferenceID
 
MSMSignals
 
GLOL2
 












0 …4095

  • + GPSL1CA
  • + GPSL2PY
  • + GPSL2C
  • + GPSL5
  • + GLOL1CA
  • + GLOL2P
  • + GLOL2CA
  • + GLOL3
  • + GALL1BC
  • + GALE5a
  • + GALE5b
  • + GALE5
  • + CMPL1
  • + CMPE5b
  • + QZSL1CA
  • + QZSL2C
  • + QZSL5
  • all

  • L2CA
  • L2P

RxControl: Communication > Output Settings > Differential Corrections > RTCMv3
Web Interface: Configuration > Communication > Output Settings > Differential Corrections > RTCMv3

Use these commands to configure the RTCM v3.x message contents when operating in base station mode.

The ReferenceID argument specifies the reference station ID transmitted in the header of each outgoing RTCM v3.x message.

The MSMSignals argument specifies the signal types to be encoded in MSM messages. For an observable to be actually encoded in MSM, the corresponding signal type must be enabled with this command, the signal must be enabled for tracking (see the setSignalTracking command), and a suitable MSM message must be enabled with the setRTCMv3Output command.

The GLOL2 argument applies to message types 1011 and 1012 (GLONASS L1 and L2 observables). It specifies which of the L2P or the L2CA observables must be encoded in RTCM1011 and RTCM1012.

Example

COM1>  sr3f, 345 <CR>  
$R: sr3f, 345 
  RTCMv3Formatting, 345, GPSL1CA+GPSL2PY+GLOL1CA+GLOL2CA+GALL1BC+GALE5a+CMPL1+CMPE5b+QZSL1CA+QZSL2C, L2CA 
COM1>

sr3i
gr3i
setRTCMv3Interval 
getRTCMv3Interval
Message
Message
Interval
 












  • + RTCM1001|2
  • + RTCM1003|4
  • + RTCM1005|6
  • + RTCM1007|8
  • + RTCM1009|10
  • + RTCM1011|12
  • + RTCM1013
  • + RTCM1019
  • + RTCM1020
  • + RTCM1029
  • + RTCM1033
  • + RTCM1044
  • + RTCM1045
  • + MSM1 ... MSM7
  • all

0.1 1.0 …600.0 sec

RxControl: Communication > Output Settings > Differential Corrections > RTCMv3
Web Interface: Configuration > Communication > Output Settings > Differential Corrections > RTCMv3

Use these commands to define/inquire at which interval RTCM v3.x messages should be generated.

The intervals specified with this command are not connection-specific: all the connections which output a given RTCM v3.x message will output it with the same interval.

Using MSMi for the Message argument sets the interval of all Multiple Signal Messages of type i. See the setRTCMv3Output command for a short description of all supported RTCM v3.x message types.

For the ephemerides messages (e.g. RTCM1019), the ephemerides are sent out one satellite at a time, at a rate specified by this command. For instance, if Interval is set to 1 and there are 12 GPS ephemerides to send out, it takes 12 seconds to send the whole GPS ephemerides set.

By default, RTCM v3.x messages are generated at integer multiples of the specified interval in the GPS time scale. The command setRTCMv3Delay can be used to introduce a time offset.

Note that this command only defines the interval of RTCM messages. To make the receiver actually output these messages, use the setRTCMv3Output and setDataInOut commands.

Example

COM1>  sr3i, RTCM1001|2, 2 <CR>  
$R: sr3i, RTCM1001|2, 2 
  RTCMv3Interval, RTCM1001|2, 2 
COM1>

sr3m
gr3m
setRTCMv3Message1029 
getRTCMv3Message1029
Message (120)
 












  • Unknown

RxControl: Communication > Output Settings > Differential Corrections > RTCMv3
Web Interface: Configuration > Communication > Output Settings > Differential Corrections > RTCMv3

Use these commands to define/inquire the string that will be transmitted in the RTCM v3.x message 1029. The argument Message can contain up to 120 characters.

Note that this command only defines the content of message 1029. To make the receiver actually output this message, use the setRTCMv3Output and setDataInOut commands.

Example

To send the string "Hello" in message 1029 over COM2 at the default interval, use the following sequence:

COM1>  sr3m, Hello <CR>  
$R: sr3m, Hello 
  RTCMv3Message1029, ~Hello~ 
COM1>  sr3o, COM2, RTCM1029 <CR>  
$R: sr3o, COM2, RTCM1029 
  RTCMv3Output, COM2, RTCM1029 
COM1>  sdio, COM2, , RTCMv3 <CR>  
$R: sdio, COM2, , RTCMv3 
  DataInOut, COM2, auto, RTCMv3 
COM1>

sr3o
gr3o
setRTCMv3Output 
getRTCMv3Output
Cd
Cd
Messages
 












  • + COM1
  • + COM2
  • + COM3
  • + COM4
  • + USB1
  • + USB2
  • + IP10 ... IP17
  • + NTR1
  • + NTR2
  • + NTR3
  • + IPS1
  • + IPS2
  • + IPS3
  • all

  • none
  • + RTCM1001
  • + RTCM1002
  • + RTCM1003
  • + RTCM1004
  • + RTCM1005
  • + RTCM1006
  • + RTCM1007
  • + RTCM1008
  • + RTCM1009
  • + RTCM1010
  • + RTCM1011
  • + RTCM1012
  • + RTCM1013
  • + RTCM1019
  • + RTCM1020
  • + RTCM1029
  • + RTCM1033
  • + RTCM1044
  • + RTCM1045
  • + RTCM1071 ... RTCM1077
  • + RTCM1081 ... RTCM1087
  • + RTCM1091 ... RTCM1097
  • + RTCM1111 ... RTCM1117
  • + RTCM1121 ... RTCM1127
  • + MSM1
  • + MSM2
  • + MSM3
  • + MSM4
  • + MSM5
  • + MSM6
  • + MSM7
  • all

RxControl: Communication > Output Settings > Differential Corrections > RTCMv3
Web Interface: Configuration > Communication > Output Settings > Differential Corrections > RTCMv3

Use these commands to define/inquire which RTCM v3.x messages are enabled for output on a given connection descriptor (Cd). The Messages argument specifies the RTCM message types to be enabled.

A short description of the supported RTCM v3.x message types is shown below. MSMi enables the Multiple Signal Message - Type i(MSMi) from all constellations.

Please make sure that the connection specified by Cd is configured to allow RTCMv3 output, which can be done with the setDataInOut command. The interval at which each message is output is to be specified with the setRTCMv3Interval command.

Messages

Description



RTCM1001

L1-Only GPS RTK Observables



RTCM1002

Extended L1-Only GPS RTK Observables



RTCM1003

L1&L2 GPS RTK Observables



RTCM1004

Extended L1&L2 GPS RTK Observables



RTCM1005

Stationary RTK Reference Station ARP



RTCM1006

Stationary RTK Reference Station ARP with Antenna Height



RTCM1007

Antenna Descriptor



RTCM1008

Antenna Descriptor and Serial Number



RTCM1009

L1-Only GLONASS RTK Observables



RTCM1010

Extended L1-Only GLONASS RTK Observables



RTCM1011

L1&L2 GLONASS RTK Observables



RTCM1012

Extended L1&L2 GLONASS RTK Observables



RTCM1013

System Parameters



RTCM1019

GPS Satellite Ephemeris Data



RTCM1020

Glonass Satellite Ephemeris Data



RTCM1029

Unicode Text String



RTCM1033

Receiver and Antenna Descriptors



RTCM1044

QZSS Satellite Ephemeris Data



RTCM1045

Galileo F/NAV Satellite Ephemeris Data



RTCM1071

GPS MSM1, Compact GPS Pseudoranges



RTCM1072

GPS MSM2, Compact GPS PhaseRanges



RTCM1073

GPS MSM3, Compact GPS Pseudoranges and PhaseRanges



RTCM1074

GPS MSM4, Full GPS Pseudoranges and PhaseRanges plus CNR



RTCM1075

GPS MSM5, Full GPS Pseudoranges, PhaseRanges, PhaseRangeRate and CNR



RTCM1076

GPS MSM6, Full GPS Pseudoranges and PhaseRanges plus CNR (high resolution)



RTCM1077

GPS MSM7, Full GPS Pseudoranges, PhaseRanges, PhaseRangeRate and CNR (high resolution)



RTCM1081

GLONASS MSM1, Compact GLONASS Pseudoranges



RTCM1082

GLONASS MSM2, Compact GLONASS PhaseRanges



RTCM1083

GLONASS MSM3, Compact GLONASS Pseudoranges and PhaseRanges



RTCM1084

GLONASS MSM4, Full GLONASS Pseudoranges and PhaseRanges plus CNR



RTCM1085

GLONASS MSM5, Full GLONASS Pseudoranges, PhaseRanges, PhaseRangeRate and CNR



RTCM1086

GLONASS MSM6, Full GLONASS Pseudoranges and PhaseRanges plus CNR (high resolution)



RTCM1087

GLONASS MSM7, Full GLONASS Pseudoranges, PhaseRanges, PhaseRangeRate and CNR (high resolution)



RTCM1091

GALILEO MSM1, Compact GALILEO Pseudoranges



RTCM1092

GALILEO MSM2, Compact GALILEO PhaseRanges



RTCM1093

GALILEO MSM3, Compact GALILEO Pseudoranges and PhaseRanges



RTCM1094

GALILEO MSM4, Full GALILEO Pseudoranges and PhaseRanges plus CNR



RTCM1095

GALILEO MSM5, Full GALILEO Pseudoranges, PhaseRanges, PhaseRangeRate and CNR



RTCM1096

GALILEO MSM6, Full GALILEO Pseudoranges and PhaseRanges plus CNR (high resolution)



RTCM1097

GALILEO MSM7, Full GALILEO Pseudoranges, PhaseRanges, PhaseRangeRate and CNR (high resolution)



RTCM1111

QZSS MSM1, Compact QZSS Pseudoranges



RTCM1112

QZSS MSM2, Compact QZSS PhaseRanges



RTCM1113

QZSS MSM3, Compact QZSS Pseudoranges and PhaseRanges



RTCM1114

QZSS MSM4, Full QZSS Pseudoranges and PhaseRanges plus CNR



RTCM1115

QZSS MSM5, Full QZSS Pseudoranges, PhaseRanges, PhaseRangeRate and CNR



RTCM1116

QZSS MSM6, Full QZSS Pseudoranges and PhaseRanges plus CNR (high resolution)



RTCM1117

QZSS MSM7, Full QZSS Pseudoranges, PhaseRanges, PhaseRangeRate and CNR (high resolution)



RTCM1121

BEIDOU MSM1, Compact BEIDOU Pseudoranges



RTCM1122

BEIDOU MSM2, Compact BEIDOU PhaseRanges



RTCM1123

BEIDOU MSM3, Compact BEIDOU Pseudoranges and PhaseRanges



RTCM1124

BEIDOU MSM4, Full BEIDOU Pseudoranges and PhaseRanges plus CNR



RTCM1125

BEIDOU MSM5, Full BEIDOU Pseudoranges, PhaseRanges, PhaseRangeRate and CNR



RTCM1126

BEIDOU MSM6, Full BEIDOU Pseudoranges and PhaseRanges plus CNR (high resolution)



RTCM1127

BEIDOU MSM7, Full BEIDOU Pseudoranges, PhaseRanges, PhaseRangeRate and CNR (high resolution)





Example

To enable RTCM v3.x messages 1001, 1002, 1005 and 1006 on COM2, use the following sequence:

COM1>  sr3o, COM2, RTCM1001+RTCM1002+RTCM1005+RTCM1006 <CR>  
$R: sr3o, COM2, RTCM1001+RTCM1002+RTCM1005+RTCM1006 
  RTCMv3Output, COM2, RTCM1001+RTCM1002+RTCM1005+RTCM1006 
COM1>  sdio, COM2, , RTCMv3 <CR>  
$R: sdio, COM2, , RTCMv3 
  DataInOut, COM2, auto, RTCMv3 
COM1>

sr3u
gr3u
setRTCMv3Usage 
getRTCMv3Usage
MsgUsage
 












  • none
  • + RTCM1001 ... RTCM1013
  • + RTCM1015
  • + RTCM1016
  • + RTCM1017
  • + RTCM1019
  • + RTCM1021 ... RTCM1027
  • + RTCM1033
  • + RTCM1037
  • + RTCM1038
  • + RTCM1039
  • + RTCM1071 ... RTCM1077
  • + RTCM1081 ... RTCM1087
  • + RTCM1121 ... RTCM1127
  • + RTCM1029
  • all

RxControl: Communication > Input Settings > Differential Corrections > RTCMv3
Web Interface: Configuration > Communication > Input Settings > Differential Corrections > RTCMv3

Use this command to restrict the list of incoming RTCM v3.x messages that the receiver is allowed to use in its differential PVT computation.

A short description of the supported RTCM v3.x message types is shown below:

MsgUsage

Description



RTCM1001

L1-Only GPS RTK Observables



RTCM1002

Extended L1-Only GPS RTK Observables



RTCM1003

L1&L2 GPS RTK Observables



RTCM1004

Extended L1&L2 GPS RTK Observables



RTCM1005

Stationary RTK Reference Station ARP



RTCM1006

Stationary RTK Reference Station ARP with Antenna Height



RTCM1007

Antenna Descriptor



RTCM1008

Antenna Descriptor and Serial Number



RTCM1009

L1-Only GLONASS RTK Observables



RTCM1010

Extended L1-Only GLONASS RTK Observables



RTCM1011

L1&L2 GLONASS RTK Observables



RTCM1012

Extended L1&L2 GLONASS RTK Observables



RTCM1013

System Parameters



RTCM1015

Network RTK (MAC), GPS Ionospheric Correction Differences



RTCM1016

Network RTK (MAC), GPS Geometric Correction Differences



RTCM1017

Network RTK (MAC), GPS Combined Geometric and Ionospheric Correction Differences



RTCM1019

GPS Satellite Ephemeris Data



RTCM1021

Helmert-Abridged Molodenski Transformation Parameters



RTCM1022

Molodenski-Badekas Transformation Parameters



RTCM1023

Residuals, Ellipsoidal Grid Representation



RTCM1024

Residuals, Plane Grid Representation



RTCM1025

Projection Parameters, Projection Types other than Lambert Conic Conformal (2 SP) and Oblique Mercator



RTCM1026

Projection Parameters, Projection Type LCC2SP (Lambert Conic Conformal (2 SP))



RTCM1027

Projection Parameters, Projection Type OM (Oblique Mercator)



RTCM1033

Receiver and Antenna Descriptors



RTCM1037

Network RTK (MAC), GLONASS Ionospheric Correction Differences



RTCM1038

Network RTK (MAC), GLONASS Geometric Correction Differences



RTCM1039

Network RTK (MAC), GLONASS Combined Geometric and Ionospheric Correction Differences



RTCM1071

GPS MSM1, Compact GPS Pseudoranges



RTCM1072

GPS MSM2, Compact GPS PhaseRanges



RTCM1073

GPS MSM3, Compact GPS Pseudoranges and PhaseRanges



RTCM1074

GPS MSM4, Full GPS Pseudoranges and PhaseRanges plus CNR



RTCM1075

GPS MSM5, Full GPS Pseudoranges, PhaseRanges, PhaseRangeRate and CNR



RTCM1076

GPS MSM6, Full GPS Pseudoranges and PhaseRanges plus CNR (high resolution)



RTCM1077

GPS MSM7, Full GPS Pseudoranges, PhaseRanges, PhaseRangeRate and CNR (high resolution)



RTCM1081

GLONASS MSM1, Compact GLONASS Pseudoranges



RTCM1082

GLONASS MSM2, Compact GLONASS PhaseRanges



RTCM1083

GLONASS MSM3, Compact GLONASS Pseudoranges and PhaseRanges



RTCM1084

GLONASS MSM4, Full GLONASS Pseudoranges and PhaseRanges plus CNR



RTCM1085

GLONASS MSM5, Full GLONASS Pseudoranges, PhaseRanges, PhaseRangeRate and CNR



RTCM1086

GLONASS MSM6, Full GLONASS Pseudoranges and PhaseRanges plus CNR (high resolution)



RTCM1087

GLONASS MSM7, Full GLONASS Pseudoranges, PhaseRanges, PhaseRangeRate and CNR (high resolution)



RTCM1121

BEIDOU MSM1, Compact BEIDOU Pseudoranges



RTCM1122

BEIDOU MSM2, Compact BEIDOU PhaseRanges



RTCM1123

BEIDOU MSM3, Compact BEIDOU Pseudoranges and PhaseRanges



RTCM1124

BEIDOU MSM4, Full BEIDOU Pseudoranges and PhaseRanges plus CNR



RTCM1125

BEIDOU MSM5, Full BEIDOU Pseudoranges, PhaseRanges, PhaseRangeRate and CNR



RTCM1126

BEIDOU MSM6, Full BEIDOU Pseudoranges and PhaseRanges plus CNR (high resolution)



RTCM1127

BEIDOU MSM7, Full BEIDOU Pseudoranges, PhaseRanges, PhaseRangeRate and CNR (high resolution)



RTCM1029

Unicode Text String





Example

To only accept RTCM1001 and RTCM1002 corrections from the base station 1011, use the following sequence:

COM1>  sr3u, RTCM1001+RTCM1002 <CR>  
$R: sr3u, RTCM1001+RTCM1002 
  RTCMv3Usage, RTCM1001+RTCM1002 
COM1>  sdcu, , , manual, 1011 <CR>  
$R: sdcu, , , manual, 1011 
  DiffCorrUsage, LowLatency, 3600.0, manual, 1011, 20, 20000000 
COM1>

3.10 CMR v2.0 Commands

sc2f
gc2f
setCMRv2Formatting 
getCMRv2Formatting
ReferenceID
 












0 …31

RxControl: Communication > Output Settings > Differential Corrections > CMRv2
Web Interface: Configuration > Communication > Output Settings > Differential Corrections > CMRv2

Use these commands to define/inquire the reference station ID assigned to the receiver when operating in base station mode. The reference station ID is transmitted in the header of each outgoing CMR v2.0 message.

Examples

COM1>  sc2f, 12 <CR>  
$R: sc2f, 12 
  CMRv2Formatting, 12 
COM1>
COM1>  gc2f <CR>  
$R: gc2f 
  CMRv2Formatting, 12 
COM1>

sc2i
gc2i
setCMRv2Interval 
getCMRv2Interval
Message
Message
Interval
 












  • + CMR0
  • + CMR1
  • + CMR2
  • + CMR3
  • all

0.1 1.0 …600.0 sec

RxControl: Communication > Output Settings > Differential Corrections > CMRv2
Web Interface: Configuration > Communication > Output Settings > Differential Corrections > CMRv2

Use these commands to define/inquire at which interval CMR v2.0 messages should be generated.

The intervals specified with this command are not connection-specific: all the connections which output a given CMR v2.0 message will output it with the same interval.

Note that this command only defines the interval of CMR messages. To make the receiver actually output these messages, use the setCMRv2Output and setDataInOut commands.

See the setCMRv2Usage command for a short description of the supported CMR v2.0 messages.

Examples

COM1>  sc2i, CMR0, 2 <CR>  
$R: sc2i, CMR0, 2 
  CMRv2Interval, CMR0, 2 
COM1>
COM1>  gc2i <CR>  
$R: gc2i CMRv2Interval, CMR0, 2 
  CMRv2Interval, CMR1, 1 CMRv2Interval, CMR2, 1 
COM1>

sc2m
gc2m
setCMRv2Message2 
getCMRv2Message2
ShortID (8)
 
LongID (50)
 
COGO (16)
 












  • Unknown

  • Unknown

  • Unknown

RxControl: Communication > Output Settings > Differential Corrections > CMRv2
Web Interface: Configuration > Communication > Output Settings > Differential Corrections > CMRv2

Use these commands to define/inquire the strings that will be transmitted in the CMR v2.0 message 2.

The argument ShortID is the short station ID. It can contain up to 8 characters in compliance with the CMR standard. If less than 8 characters are defined, the string will be right justified and padded with spaces.

The argument LongID is the long station ID. It can contain up to 50 characters in compliance with the CMR standard. If less than 50 characters are defined, the string will be right justified and padded with spaces. Some CMR implementations use the character "@" in the long name. As this character is not allowed in a command argument, the character "%" should be used instead. The receiver will automatically replace all occurrences of "%" in LongID with "@" when CMR2 message is output.

The argument COGO is the COGO code. It can contain up to 16 characters in compliance with the CMR standard. If less than 16 characters are defined, the string will be right justified and padded with spaces.

Note that this command only defines the contents of message 2. To make the receiver actually output this message, use the setCMRv2Output and setDataInOut commands.

Example

To send the string "Hello" as short station ID and send CMR2 messages through COM2, use the following sequence:

COM1>  sc2m, Hello <CR>  
$R: sc2m, Hello 
  CMRv2Message2, ~Hello~, ~Unknown~, ~Unknown~ 
COM1>  sc2o, COM2, CMR2 <CR>  
$R: sc2o, COM2, CMR2 
  CMRv2Output, COM2, CMR2 
COM1>  sdio, COM2, , CMRv2 <CR>  
$R: sdio, COM2, , CMRv2 
  DataInOut, COM2, auto, CMRv2 
COM1>

sc2o
gc2o
setCMRv2Output 
getCMRv2Output
Cd
Cd
Messages
 












  • + COM1
  • + COM2
  • + COM3
  • + COM4
  • + USB1
  • + USB2
  • + IP10 ... IP17
  • + NTR1
  • + NTR2
  • + NTR3
  • + IPS1
  • + IPS2
  • + IPS3
  • all

  • none
  • + CMR0
  • + CMR1
  • + CMR2
  • + CMR3
  • all

RxControl: Communication > Output Settings > Differential Corrections > CMRv2
Web Interface: Configuration > Communication > Output Settings > Differential Corrections > CMRv2

Use these commands to define/inquire which CMR v2.0 messages are enabled for output on a given connection descriptor (Cd). The Messages argument specifies the CMR message types to be enabled. See the setCMRv2Usage command for a short description of the supported CMR v2.0 messages.

Please make sure that the connection specified by Cd is configured to allow CMRv2 output, which can be done with the setDataInOut command. The interval at which each message is output is to be specified with the setCMRv2Interval command.

Example

To enable CMR v2.0 message 0 on COM2, use the following sequence:

COM1>  sc2o, COM2, CMR0 <CR>  
$R: sc2o, COM2, CMR0 
  CMRv2Output, COM2, CMR0 
COM1>  sdio, COM2, , CMRv2 <CR>  
$R: sdio, COM2, , CMRv2 
  DataInOut, COM2, auto, CMRv2 
COM1>

sc2u
gc2u
setCMRv2Usage 
getCMRv2Usage
MsgUsage
 












  • none
  • + CMR0
  • + CMR1
  • + CMR2
  • + CMR3
  • + CMR0p
  • + CMR0w
  • all

RxControl: Communication > Input Settings > Differential Corrections > CMRv2
Web Interface: Configuration > Communication > Input Settings > Differential Corrections > CMRv2

Use this command to restrict the list of incoming CMR v2.0 messages that the receiver is allowed to use in its differential PVT computation. CMR0p and CMR0w refer to the CMR+ and CMR-W variants respectively.

MsgUsage

Description



CMR0

Observables



CMR1

Reference Station Coordinates



CMR2

Reference Station Description



CMR3

GLONASS Observables





Example

To only accept CMR0 from the base station 12, use the following sequence:

COM1>  sc2u, CMR0 <CR>  
$R: sc2u, CMR0 
  CMRv2Usage, CMR0 
COM1>  sdcu, , , manual, 12 <CR>  
$R: sdcu, , , manual, 12 
  DiffCorrUsage, LowLatency, 3600.0, manual, 12, 20, 20000000 
COM1>

3.11 Logging Commands

sdfa
gdfa
setDiskFullAction 
getDiskFullAction
Disk
Disk
Action
 












  • + DSK1
  • all

  • DeleteOldest
  • StopLogging

RxControl: Logging > Internal Logging Settings
Web Interface: Logging > Internal Logging Settings

Use these commands to define/inquire what the receiver should do when the disk identified by Disk is full, or when an auto-incremented file name already exists on that disk (see command setFileNaming for a description of the incremental file naming mode).

The currently supported actions are as follows:

Action

Description



DeleteOldest

The oldest file on the disk is automatically removed, unless the oldest file is also the current logging file. In that latter case, the logging stops. In incremental file naming mode, if the auto-incremented file name already exists, the existing file is overwritten.



StopLogging

The logging stops. In incremental file naming mode, if the auto-incremented file name already exists, the logging stops.





Examples

COM1>  sdfa, DSK1, StopLogging <CR>  
$R: sdfa, DSK1, StopLogging 
  DiskFullAction, DSK1, StopLogging 
COM1>
COM1>  gdfa <CR>  
$R: gdfa 
  DiskFullAction, DSK1, StopLogging 
COM1>

ldi
 
lstDiskInfo  
 
Disk
 
Directory (60)
 












  • DSK1
  • all

Use this command to retrieve information about one of the internal disks of the receiver. The reply to this command contains the disk size and free space in bytes and the list of all recorded files and directories.

The contents of directories is not shown by default. To list the contents of a directory, use the second argument to specify the directory name.

Example

COM1>  ldi, DSK1 <CR>  
$R; ldi, dsk1 
----> 
$-- BLOCK 1 / 0 
<xml version=~1.0~ encoding=~ISO-8859-1~ ?> 
<DiskInfo version=~0.1~gt; 
  <Disk name=~DSK1~ total=~2030927872~ free=~2030764032~ > 
    <File name=~log.sbf~ size=~16384~ locked=~yes~ /> 
    <File name=~leuv2050.07_~ size=~35196~ locked=~no~ /> 
  <Disk> 
<DiskInfo> 
COM1>

sfn
gfn
setFileNaming 
getFileNaming
Disk
Disk
NamingType
 
FileName (8)
 












  • + DSK1
  • all

  • FileName
  • Incremental
  • IGS15M
  • IGS1H
  • IGS6H
  • IGS24H

  • log

RxControl: Logging > Internal Logging Settings
Web Interface: Logging > Internal Logging Settings

Use these commands to define/inquire the file naming convention applied to name the internal SBF, NMEA or user-message log files. This command does not apply to internal RINEX logging, which is configured with the setRINEXLogging command.

If NamingType is FileName, the file name is given by the third argument FileName, followed by the extension .SBF, .NMA or .ECM for SBF, NMEA and user-message files respectively. User-message files contain messages entered by the command exeEchoMessage prefixed with the GPS week number and time of week in seconds.

If NamingType is Incremental, the file name is given by the first five characters of the FileName argument (right padded with "_" if necessary), followed by a modulo-1000 counter incrementing each time logging is stopped and restarted. The file name extension is .SBF, .NMA or .ECM as described above. If the auto-incremented file name already exists on the disk, the receiver takes action as specified by the setDiskFullAction command.

If NamingType is IGS15M, IGS1H, IGS6H or IGS24H, the receiver automatically creates a new file every 15 minutes, every hour, every 6 hours or every 24 hours respectively, and the file name adheres to the IGS/RINEX naming convention. The 4-character station name is taken from the marker name as set by the setMarkerParameters command.

In IGS naming mode, the files are put in daily directories, the directory name being of the form yyddd with yy the 2-digit year and ddd the day of year. If NamingType is FileName or Incremental, the file is put in the root directory.

The set of allowed characters for the FileName argument is:

_0123456789ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz

Note that the actual file name on the disk is case insensitive and only contains lower-case characters even if the user entered upper-case characters in the FileName argument.

If internal logging is ongoing at the moment when the command is entered, the current file is closed and the logging continues in a new file with the name as specified.

Examples

To have a fixed file name "mytest.sbf", use:

COM1>  sfn, all, FileName, mytest <CR>  
$R: sfn, all, FileName, mytest 
  FileNaming, DSK1, FileName, ~mytest~ 
COM1>

To create a new SBF file every hour on DSK1 with a filename according to the IGS convention, use:

COM1>  sfn, DSK1, IGS1H <CR>  
$R: sfn, DSK1, IGS1H 
  FileNaming, DSK1, IGS1H, ~mytest~ 
COM1>

sfpr
gfpr
setFTPPushRINEX 
getFTPPushRINEX
Server (32)
 
Path (64)
 
User (12)
 
Password (24)
 












  • anonymous

RxControl: Logging > Internal RINEX Logging > RINEX FTP Push Options
Web Interface: Logging > Internal RINEX Logging > RINEX FTP Push Options

Use this command to automatically send the onboard RINEX files to a remote FTP server (FTP Push). The arguments specify the FTP server hostname or IP address, the path to the remote directory where to put the RINEX files, and the login and password to use. Note that the receiver encrypts the password so that it cannot be read back with the command getFTPPushRINEX.

The RINEX files are FTPed when they are complete, as prescribed by the FileDuration settings in the setRINEXLogging command. The current files are also FTPed when the user disables RINEX logging.

The files are put in the remote directory specified in the Path argument. Special character sequences can be used to encode the file date in the path: %y is replaced with the 2-digit year, %Y with the 4-digit year, %m with the month, %d with the day of the month, and %j with the day of the year (starting with 001). To put a literal "%" in the path, use %%. After expansion, Path must not be longer than 80 characters.

If the directory specified in the Path argument does not exist on the remote server, it is created.

If the transfer or the directory creation fails, an error is flagged (enter the command lstInternalFile, Error to see the errors and clear the error flag).

Example

COM1>  sfpr, ftp.mydomain.com, mydata/%Y%m%d, myname, mypwd <CR>  
$R: sfpr, ftp.mydomain.com, mydata/%Y%m%d, myname, mypwd 
  FTPPushRINEX, ~ftp.mydomain.com~, ~mydata/%Y%m%d~, 
  ~myname~, ~7UU5CL7W1C75DWXX2TEXD3W~ 
COM1>

sfps
gfps
setFTPPushSBF 
getFTPPushSBF
Server (32)
 
Path (64)
 
User (12)
 
Password (24)
 












  • anonymous

RxControl: Logging > Internal Logging Settings
Web Interface: Logging > Internal Logging Settings

Use this command to automatically send the onboard SBF files to a remote FTP server (FTP push). The arguments specify the FTP server hostname or IP address, the path to the remote directory where to put the SBF files, and the login and password to use. Note that the receiver encrypts the password so that it cannot be read back with the command getFTPPushSBF.

FTP push is only available in IGS file naming mode (see the setFileNaming command). Each time a SBF file is ready, it is FTPed to the specified server. For example, in IGS1H file naming mode, files are FTPed every hour. The current log file is also FTPed when the user disables internal logging.

The files are put in the remote directory specified in the Path argument. Special character sequences can be used to encode the file date in the path: %y is replaced with the 2-digit year, %Y with the 4-digit year, %m with the month, %d with the day of the month, and %j with the day of the year (starting with 001). To put a literal "%" in the path, use %%. After expansion, Path must not be longer than 80 characters.

If the directory specified in the Path argument does not exist on the remote server, it is created.

If the transfer or the directory creation fails, an error is flagged (enter the command lstInternalFile, Error to see the errors and clear the error flag).

Example

COM1>  sfps, ftp.mydomain.com, mydata/%Y%m%d, myname, mypwd <CR>  
$R: sfps, ftp.mydomain.com, mydata/%Y%m%d, myname, mypwd 
  FTPPushSBF, ~ftp.mydomain.com~, ~mydata/%Y%m%d~, 
  ~myname~, ~7UU5CL7W1C75DWXX2TEXD3W~ 
COM1>

emd
gmd
exeManageDisk 
getManageDisk
Disk
 
Action
 












  • DSK1

  • Unmount
  • Format

RxControl: Logging > Disk Management
Web Interface: Logging > Disk Management

Use this command to manage the internal disk identified by Disk.

Specify the action Format to format the disk (all data will be lost).

With the action Unmount, you command the receiver to stop all internal logging and to cleanly unmount the disk. After unmounting the disk, it is safe to power-off the receiver without danger of file corruption. Be aware that the only way to remount the disk is to reset or power-cycle the receiver. Note that the disk is also automatically unmounted when issuing the command exePowerMode, standby.

Prior to formatting or unmounting the disk, make sure to stop all disk activity such as logging, file listing or FTP download from the disk. If the specified action could not be performed, an error message is returned.

Example

To format the first internal disk DSK1, use:

COM1>  emd, DSK1, Format <CR>  
$R: emd, DSK1, Format 
  ManageDisk, DSK1, Format 
COM1>

lrf
 
lstRecordedFile  
 
Disk
 
FileName (60)
 












  • DSK1

Use this command to retrieve the contents of one of the internal log files.

The reply to this command consists in a succession of blocks starting with the "$-- BLOCK" header, and terminating with the pseudo-prompt "---->" (see section Section 2.2, "Command Replies" for details). The decoding program must remove these headers and pseudo-prompts to recover the original file contents.

The download speed is highly influenced by the processor load. To speed up the download, it is recommended to stop the signal tracking, which can be done by typing the following command before starting the download: setSatelliteTracking, none. It is also recommended to perform file download over USB if speed is important.

The file download can be interrupted by sending ten uppercase "S" characters (simply by holding the "shift-S" key pressed) to the connection through which the download is taking place.

Examples

To output the contents of the internal log file named log.sbf on the first internal disk (DSK1), use:

COM1>  lrf, DSK1, log.sbf <CR>  
$R; lrf, DSK1, log.sbf 
... Here comes the content of log.sbf ... 
COM1>

If the file log.sbf does not exist, an error is returned:

COM1>  lrf, DSK1, log.sbf <CR>  
$R? lstRecordedFile: Argument FileName could not be handled! 
COM1>

erf
grf
exeRemoveFile 
getRemoveFile
Disk
 
FileName (60)
 












  • DSK1

  • none
  • all

RxControl: Logging > Remove Internal File
Web Interface: Logging > Remove Internal File

Use this command to remove one file or an entire directory from the internal disk identified by Disk.

If FileName is the name of a file, only that single file is removed from the disk. Files in a directory can be specified using dirname/filename.

If FileName is the name of a directory, the entire directory is deleted, except the file currently written to, if any.

If the reserved string all is used for the FileName argument, all files are removed from the selected disk, except the file currently written to, if any.

If there is no file nor directory named FileName on the disk or if the file is currently written to, an error message is returned.

Examples

To remove the file "ATRX2980.03_" from directory "03298", use:

COM1>  erf, DSK1, 03298/ATRX2980.03_ <CR>  
$R: erf, DSK1, 03298/ATRX2980.03_ 
  RemoveFile, DSK1, ~03298/ATRX2980.03_~ 
COM1>

To remove all files from DSK1, use:

COM1>  erf, DSK1, all <CR>  
$R: erf, DSK1, all 
  RemoveFile, DSK1, all 
COM1>

srxl
grxl
setRINEXLogging 
getRINEXLogging
Cd
Cd
FileDuration
 
ObsInterval
 
SignalTypes
 
ExtraObsTypes
 
RINEXVersion
 
MixedNav
 












  • + DSK1
  • all

  • none
  • hour1
  • hour6
  • hour24
  • minute15

  • sec1
  • sec2
  • sec5
  • sec10
  • sec30
  • sec60

  • none
  • + GPSL1CA
  • + GPSL1PY
  • + GPSL2PY
  • + GPSL2C
  • + GPSL5
  • + GLOL1CA
  • + GLOL2P
  • + GLOL2CA
  • + GLOL3
  • + GALL1BC
  • + GALE5a
  • + GALE5b
  • + GALE5
  • + GEOL1
  • + GEOL5
  • + CMPL1
  • + CMPE5b
  • + QZSL1CA
  • + QZSL2C
  • + QZSL5
  • all

  • none
  • + Dx
  • + Sx
  • all

  • v2x
  • v3x

  • off
  • on

RxControl: Logging > Internal RINEX Logging > RINEX Logging Options
Web Interface: Logging > Internal RINEX Logging > RINEX Logging Options

Use this command to configure the RINEX files logged by the receiver.

The argument Cd specifies where the RINEX files should be logged. DSK1 is the internal SD memory card.

The argument FileDuration specifies whether a new RINEX file should be started every 15 minutes, every hour, 6 hours or every day. When FileDuration is set to none, RINEX logging is disabled and all following arguments are ignored.

ObsInterval specifies the interval of the observation records.

SignalTypes sets the list of signals to encode in RINEX. The more signals are selected, the bigger the RINEX file.

By default, the RINEX file contains the code and carrier phase observables. It is possible to also include the Doppler (obs code Dx) and the C/N0 observables (obs code Sx) with the ExtraObsTypes argument.

The argument RinexVersion selects which RINEX version to use.

The argument MixedNav specifies whether the navigation data is stored in separate files for each constellation (MixedNav set to off), or in a single mixed file (MixedNav set to on). This argument is ignored if RINEXVersion is v2x, as RINEX v2.x does not allow mixed navigation files. Note that QZSS and Compass/BeiDou navigation data are only available in the mixed navigation file.

The RINEX file name complies with the RINEX v3.01 naming convention. The 4-character station name is taken from the marker name as set by the setMarkerParameters command. RINEX files are put in daily directories, the directory name being of the form yyddd with yy the 2-digit year and ddd the day of year.

If a RINEX file is currently being logged when issuing this command, the new settings will only be applied when the next RINEX file will be started. This occurs at a rate specified by FileDuration. To force the new settings to be immediately applied, RINEX logging must be temporarily stopped (FileDuration set to none) and then re-enabled. Changing the RINEX settings (e.g. changing the list of signals to be stored in RINEX) results in the past data to be overwritten in the RINEX file.

Examples

To create daily RINEX files with the observation file containing only GPS L1CA data at a 30-s interval, use:

COM1>  srxl, DSK1, hour24, sec30, GPSL1CA <CR>  
$R: srxl, DSK1, hour24, sec30, GPSL1CA 
  RINEXLogging, DSK1, Hour24, sec30, GPSL1CA, none, v2x, on 
COM1>

To stop RINEX logging:

COM1>  srxl, DSK1, none <CR>  
$R: srxl, DSK1, none 
  RINEXLogging, DSK1, none, sec30, GPSL1CA, none, v2x, on 
COM1>

3.12 SBF List

ASCIIIn

AttCovEuler

AttEuler

BBSamples

BaseLine

BaseStation

BaseVectorCart

BaseVectorGeod

CMPNav

CMPRaw

ChannelStatus

Commands

Comment

DOP

DiffCorrIn

DiskStatus

EndOfAtt

EndOfMeas

EndOfPVT

ExtEvent

ExtEventPVTCartesian

ExtEventPVTGeodetic

GALAlm

GALGstGps

GALIon

GALNav

GALRawFNAV

GALRawINAV

GALSARRLM

GALUtc

GEOAlm

GEOClockEphCovMatrix

GEOCorrections

GEODegrFactors

GEOFastCorr

GEOFastCorrDegr

GEOIGPMask

GEOIntegrity

GEOIonoDelay

GEOLongTermCorr

GEOMT00

GEONav

GEONetworkTime

GEOPRNMask

GEORawL1

GEORawL5

GEOServiceLevel

GLOAlm

GLONav

GLORawCA

GLOTime

GPSAlm

GPSIon

GPSNav

GPSRawCA

GPSRawL2C

GPSRawL5

GPSUtc

Group1

Group2

Group3

Group4

IPStatus

IQCorr

InputLink

MeasEpoch

MeasExtra

NTRIPClientStatus

OutputLink

PVTCartesian

PVTGeodetic

PVTResiduals

PVTSatCartesian

PVTSupport

PosCart

PosCovCartesian

PosCovGeodetic

PosLocal

PosProjected

QZSNav

QZSRawL1CA

QZSRawL2C

QZSRawL5

QualityInd

RAIMStatistics

RTCMDatum

ReceiverSetup

ReceiverStatus

ReceiverTime

SatVisibility

VelCovCartesian

VelCovGeodetic

xPPSOffset

A Error Messages

__________________________________________________________________

The following table lists the possible ASCII error messages and their meaning.

Error Message

Description



Invalid command!

Syntax error or unsupported command.



Argument ’xxx’ can’t be omitted!

Omission of a mandatory argument.



At least one non tabular argument needed!

Omission of a mandatory argument.



Argument ’xxx’ is invalid!

Value out of range, or too many decimal digits.



Argument ’xxx’ could not be handled!

Argument impossible to parse or invalid combination of values.



ASCII commands between prompts were discarded!

Argument impossible to parse or invalid combination of values.