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4 Message Formats
MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 53
This message was designed so that RTCM data can be transmitted intermixed with other NovAtel binary data over
a common communications port. The log is not in pure RTCM SC104 format and is not directly usable as such.
GPSCard remote receivers cannot decode or interpret the RTCMB data (however, the GPSCard can directly
interpret RTCM and RTCMA). The 12 byte NovAtel binary header must be stripped off before the RTCM
information can be retrieved. The RTCM data is further defined by the RTCM rule (see the RTCMRULE
command).
REMEMBER: Ensure that the RTCM rule is the same between all equipment.
Format: Message ID = 10 Message byte count = variable
RTCM1A
Example:
$RTCM,597E7D7F716F745A647D7E42405273505276777C7F736C514E7D477A7F7F
5A7E6E62675F406C567F6753725B675F7B436A646A7D787F675D4A505056687C6B
567C7F5B69796F40547F73595557555546*51[CR][LF]
RTCM1B
Message ID = 10 Message byte count = variable
RTCM3 REFERENCE STATION PARAMETERS RTK
This log contains the GPS position of the reference station expressed in rectangular ECEF coordinates based on
the center of the WGS-84 ellipsoid. This log uses four RTCM data words following the two-word header, for a
total frame length of six 30 bit words (180 bits maximum).
Structure:
(Follows the RTCM SC-104 Standard for a Type 3 message)
Type 3 messages contain the following information:
• Scale factor
• ECEF X-coordinate
• ECEF Y-coordinate
• ECEF Z-coordinate
The GPSCard only transmits the RTCM Type 3 message (RTCM3) when operating as a reference station paired
with GPSCard remote receivers operating in RT-20 Carrier-Phase Mode (see Appendix A, Page 63 for more
information) or for RT-2, periodically transmitting an RTCM Type 18 and RTCM Type 19 (RTCM1819), or
RTCM Type 22 message, together with an RTCM Type 3 (see Page 19).
NOTE: This log is intended for use when operating in RT-20 mode.
Example:
$RTCM3,597E7C7F7B76537A66406F49487F797B627A7A5978634E6E7C5155444946*68[CR][LF]
RTCM3B
Message ID = 41 Message byte count = 35 if RTCMRULE = 8 (12 bytes header, 23 bytes data)
= 42 if RTCMRULE = 6 (12 bytes header, 30 bytes data)
Field # Data Bytes Format Offset
1 Sync 3 char 0
(header) Checksum 1 char 3
Message ID 4 integer 4
Message byte count 4 integer 8
2 RTCM SC104 data variable 12