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D Logs summary
190 MiLLennium Command Descriptions Manual
RTKOA/B RTK Solution Parameters
This is the “RTK output” log, and it contains miscellaneous information regarding the RTK solution. It is based
on the matched update. Note that the length of the log messages will vary depending on the number of matched
satellites in the solution, a quantity represented by #sv in the field numbers.
RTKOA
Structure:
$RTKOA week sec status #sat #high L1L2 #high #sv
dyn search combn
σ
xx
σ
xy
σ
xz
σ
yx
σ
yy
σ
yz
σ
zx
σ
zy
σ
zz
∆x ∆y ∆z σ
∆x
σ
∆y
σ
∆z
rsrv rsrv ref id #res
sat id amb res
:
sat id amb res
*xx [CR][LF]
Field# Field type Data Description Example
1 $RTKOA Log header $RTKOA
2 week GPS week number 929
3 sec GPS time into the week (in seconds) 237639.00
4 status RTK status (see Table D-10) 1
5 #sat Total number of matched satellites available to both receivers 8
6 #high Number of matched satellites above RTK mask angle;
observations from satellites below mask are heavily
deweighted
8
7 L1L2 #high Number of matched satellites above RTK mask angle with
both L1 and L2 available
8
8 #sv Number of matched satellites in solution; may differ from the
number in view.
8
9 dyn Dynamics mode (0=static, 1=kinematic) 0
10 search Searcher status (see Table D-9). 4
11 combn Number of possible lane combinations remaining 1
12-20 [σ] The σ
xx
,σ
xy
,σ
xz
,σ
yx
,σ
yy
,σ
yz
,σ
zx
,σ
zy
, and σ
zz
components,
in (meters)
2
, of the ECEF position covariance matrix (3 x 3)
0.000006136,0.000003797,-0.000003287,
0.000003797,0.000013211,-0.000007043,
-0.000006287,-0.000007043,0.000018575
21-23 ∆x,∆y,∆z ECEF x.y,z of baseline from float solution in meters 3.2209,-3.0537,-1.2024
24-26 σ
∆x
,σ
∆y
,σ
∆z
x,y,z standard deviations of float solution baseline in meters 0.0183,0.0138,0.0124
27 rsrv Reserved for future use 0
28 rsrv Reserved for future use 0.0000
29 ref id Reference PRN 1
30 #res Number of residual sets to follow 7
31 sat id PRN number 21
32 amb Ambiguity type (see Table D-8) 6
33 res Residual in metres -0.001199
...
...
...
...
...
...
Next PRN number, amb, res
...
Last PRN number, amb, res
variable *xx Checksum *60
variable [CR][LF] Sentence terminator [CR][LF]