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Foreword
12 MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2
FOREWORD
Congratulations!
Thank you for purchasing a NovAtel GPSCard product.
Whether you have bought a stand alone GPSCard or a packaged receiver you will have also received companion
documents to this manual. They will help you get the hardware operational. Afterwards, this text will be your
primary MiLLennium GPSCard command and logging reference source.
Scope
The MiLLennium Command Descriptions Manual describes each command and log that the MiLLennium
GPSCard is capable of accepting or outputting. Sufficient detail is provided so that you can understand the purpose,
syntax, and structure of each command or log and be able to effectively communicate with the GPSCard, thus
enabling the developer to effectively use and write custom interfacing software for specific needs and applications.
The manual is organized into chapters which allow easy access to appropriate information about the GPSCard.
This manual does not address in detail any of the GPSCard hardware attributes or installation information. Please
consult the appropriate companion manual for hardware or system technical specifications information.
Furthermore, should you encounter any functional, operational, or interfacing difficulties with the GPSCard,
consult the appropriate hardware manual for NovAtel warranty and customer support information.
Prerequisites
As this reference manual is focused on the GPSCard commands and logging protocol, it is necessary to ensure that
the GPSCard has been properly installed and powered up according to the instructions outlined in the companion
hardware manual before proceeding.
To use your NovAtel GPS receiver effectively, you should be familiar with the Global Positioning System (GPS)
as it applies to positioning, navigation, and surveying applications. For your reference Appendix A of this manual
provides an overview of the Global Positioning System.
This manual covers the full performance capabilities of all MiLLennium GPSCards. Every MiLLennium can be
upgraded through a family of firmware models, each having unique features. Therefore, depending on the software
configuration of your MiLLennium, certain commands and logs may not be accessible. Feature-tagging symbols
have been created to help clarify which commands and logs are only available with a certain option:
RTK Features available only with MiLLennium GPSCards equipped with the RT-20 or RT-2 option
WAAS Features available only on MiLLennium GPSCards equipped with the WAAS/EGNOS option
What’s New In This Manual?
This manual includes enhancements that apply to both Firmware 4.503 and 4.52 (Points #1 and #2 below). Points
#3 to #6 are enhancements that apply only to Firmware 4.52.
1. Further WAAS/EGNOS capabilities with the additions to the WAASCORRECTION and IONOMODEL
commands.
2. New WEPA/B and WUTCA/B logs.
3. Aircraft & Rapid Kinematic Application Optimization. Enhanced satellite tracking ability under demanding
high velocity and rapidly changing altitude circumstances, especially applications involving aircraft and
photogrammetry.
4. Improvements to L1 / L2 AGC Power Calculations. MiLLennium GPS Cards are now better equipped to handle
increased ionospheric activity and atmospheric disturbances caused by the increasing solar activity of the
approaching solar maximus.
5. Fixed TM1 log to correctly display the week field.
6. Decreased Sensitivity to RF Interference and Jamming. MiLLennium GPS Cards will now more accurately
track L1 and L2 GPS signals through high levels of external RF interference. Examples of RF interference
sources include intentional or accidental RF jamming and increased solar activity.