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4 Message Formats
MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 55
Example:
$RTCM16,6649404045495E5A5C406A58696D76596D5F665F765869694D4E53604D
70696552567E7B675762747B67576C574E596F59697146555A75516F5F667D4967
5656574E53604D55565A6D69647B67777E454659685D56465A67616E4B7E7F7F7D
*52
[CR][LF]
RTCM16B
This message is the binary code equivalent of the special message entered using the RTCM16T command.
Message ID = 43 Message byte count = variable
RTCM16T
This message is used at the remote station to report the contents of a Type 16 message that was received from the
reference station.
Structure:
Example:
$RTCM16T,Time flies like an arrow; fruit flies like a banana.*1F[CR][LF]
RTCM1819 UNCORRECTED CARRIER PHASE AND PSEUDORANGE
MEASUREMENTS RTK
This log contains the raw carrier phase and raw pseudorange measurement information. The measurements are not
corrected by the ephemerides contained in the satellite message. Word 3, the first data word after the header,
contains a GPS TIME OF MEASUREMENT field which is used to increase the resolution of the MODIFIED Z-
COUNT in the header. Word 3 is followed by pairs of words containing the data for each satellite observed.
Appropriate flags are provided to indicate L1, L2, ionospheric free pseudorange or ionospheric difference carrier
phase data, C/A or P-code, and half or full-wave L2 carrier phase measurements. The carrier smoothing interval
for pseudoranges and pseudorange corrections is also furnished, for a total frame length of six 30 bit words (180
bits maximum).
Structure:
(Follows the RTCM SC-104 Standard for a Type 18 and Type 19 message)
For RT-2, you may periodically transmit an RTCM Type 18 and RTCM Type 19 (RTCM1819) together with an
RTCM Type 3 message (see Page 19).
In some instances you may want to disable the RTCM1819 message from being received. An example of this may
be when you want pseudorange differential, but your base station receiver is a non-NovAtel receiver that transmits
a non-standard version of the RTCM1819 message which the NovAtel receiver cannot interpret correctly. The
RTCM1819 message is received by default, but the following commands can be used to force the receiver to use
or ignore the message:
RTKMODE USE_RTCM1819
RTKMODE IGNORE_RTCM1819
RTCM22 RTCM EXTENDED REFERENCE STATION PARAMETERS RTK
Message Type 22 provides firstly, a means of achieving sub-millimeter precision for base station coordinates in a
kinematic application, and secondly, base station antenna height above a base, which enables mobile units to
reference measured position to the base directly in real time.
The first data word of message Type 22 provides the corrections to be added to each ECEF coordinate. Note that
the corrections may be positive or negative.
The second data word, which may not be transmitted, provides the antenna L1 phase center height expressed in
integer and fractional centimeters, and is always positive. It has the same resolutions as the corrections. The range
is about 10 meters. The spare bits can be used if more height range is required.
$RTCM16T ASCII Special Message of up to 90 characters *xx [CR][LF]