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C Commands Summary
MiLLennium Command Descriptions Manual 103
Station Command Argument
Remote rtkmode auto (default)
static
kinematic
RTKMODE AUTO configures the RTK system to automatically detect motion. It is the default mode. It will
reliably detect motion of 2.5 cm/sec or greater. If you are undergoing motion slower than this which covers more
than 2 cm, you should use the manual mode selection commands (static and kinematic).
RTKMODE STATIC forces the RTK software to treat the remote station as though it were stationary, regardless
of the output of the motion detector.
Note: If the remote station is undergoing > 2.5 cm peak-to-peak oscillations (e.g. due to wind or
vibration), the performance can be increased by declaring STATIC mode when the remote station is not
undergoing any motion other than the vibration. If the remote station starts to move while STATIC mode
is declared, repeated resets and unpredictable performance will result.
For reliable performance the antenna should not move more than 1-2 cm when in static mode.
RTKMODE KINEMATIC forces the RTK software to treat the remote station as though it were in motion,
regardless of the output of the motion detector. If the remote station is undergoing very slow steady motion (<
2.5 cm/sec for more than 5 seconds), you should declare KINEMATIC mode to prevent inaccurate results and
possible resets.
Station Command Argument
Remote rtkmode fixed (default)
float
RTKMODE FIXED tells the RTK system to use fixed discrete ambiguities whenever the system is capable and
can do so reliably; it may never do so for long baselines or poor geometries. Only RT-2 systems are capable of
fixing ambiguities, so issuing this command on an RT-20 system will have no effect.
RTKMODE FLOAT causes the system to compute only a floating ambiguity solution. L2 data will be used
along with L1 data if the system is capable of generating L2 data.
You can force the RT-2 software to not fix ambiguities when it normally would, but you cannot force it to fix
ambiguities when it normally wouldn’t.
Station Command Argument
Remote rtkmode reset
RTKMODE RESET causes the RTK algorithm (RT-20 or RT-2, whichever is active) to undergo a complete reset, forcing the system to
restart the ambiguity resolution calculations.
Station Command Argument Data
Reference rtkmode sv_entries number (range 4 to 20, default = 12)
RTKMODE SV_ENTRIES NUMBER causes the number of satellite measurements to be limited to the number
indicated. NUMBER refers to the number of PRNs transmitted by the reference station; each PRN can have either
an L1-only measurement or an L1/L2 pair of measurements. At this time, this command affects RTCAOBS
(RTCA Type 7) messages but not RTCM Type 59 messages; if RTCM-format messaging is being used, then
observations for all visible satellites are transmitted.
Example:
rtkmode sv_entries 8