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4 MiLLennium GPSCard SW Version 4.52 Command Descriptions Manual Rev 2
4 Message Formats 46
4.1 RTCA-Format Messages..................................................................................................................... 46
RTCA Standard Logs................................................................................................................... 47
4.2 RTCM-Format Messages.................................................................................................................... 48
RTCM General Message Format ................................................................................................. 49
RTCM Standard Commands ........................................................................................................ 50
RTCM Standard Logs .................................................................................................................. 50
4.3 CMR Format Messaging..................................................................................................................... 56
Using RT-2 or RT-20 with CMR Format Messages .................................................................... 57
4.4 RINEX Format.................................................................................................................................... 57
4.4.1 Commands........................................................................................................................... 58
4.4.2 Logs..................................................................................................................................... 59
APPENDICES
A GPS Overview 63
A.1 GPS System Design ........................................................................................................................... 63
The Space Segment ...................................................................................................................... 63
The Control Segment.................................................................................................................... 64
The User Segment ........................................................................................................................ 64
A.2 Height Relationships.......................................................................................................................... 64
A.3 GPS Positioning ................................................................................................................................. 65
Single-point vs. Relative Positioning ...........................................................................................66
Static vs. Kinematic Positioning .................................................................................................. 67
Real-time vs. Post-mission Data Processing ................................................................................ 67
Differential Positioning ................................................................................................................ 67
Pseudorange Algorithms .............................................................................................................. 68
Pseudorange Differential Positioning........................................................................................... 68
Dual Station Differential Positioning...........................................................................................71
A.4 Carrier-Phase Algorithms................................................................................................................... 73
B Multipath Elimination Technology 75
B.1 Multipath ............................................................................................................................................ 75
Why Does Multipath Occur?........................................................................................................ 75
Consequences of Multipath Reception......................................................................................... 76
B.2 Hardware Solutions For Multipath Reduction ................................................................................... 76
Antenna Site Selection ................................................................................................................. 76
Antenna Designs........................................................................................................................... 77
Antenna Ground Planes................................................................................................................ 78
NovAtel’s Internal Receiver Solutions for Multipath Reduction................................................. 79
C Commands Summary 81
ACCEPT....................................................................................................................................... 81
ANTENNAPOWER..................................................................................................................... 83
ASSIGN........................................................................................................................................ 84
CLOCKADJUST.......................................................................................................................... 85
COMn........................................................................................................................................... 86
COMn_DTR................................................................................................................................. 86
COMn_RTS.................................................................................................................................. 87
CONFIG....................................................................................................................................... 88
CRESET....................................................................................................................................... 89
CSMOOTH .................................................................................................................................. 90
DATUM ....................................................................................................................................... 91
DGPSTIMEOUT.......................................................................................................................... 92
DIFF_PROTOCOL ...................................................................................................................... 93