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Table of Contents
iv MiLLennium Command Descriptions Manual
7 RINEX-Standard Commands & Logs
7.1 Commands ..............................................................................................................................................................46
7.2 Logs ........................................................................................................................................................................47
RINEX............................................................................................................................................................47
XKIN...............................................................................................................................................................47
XNAV.............................................................................................................................................................47
XNHD.............................................................................................................................................................48
XOBS..............................................................................................................................................................48
XOHD.............................................................................................................................................................48
XSTA..............................................................................................................................................................49
APPENDICES
A GPS Overview
A.1 GPS System Design ...............................................................................................................................................50
The Space Segment ........................................................................................................................................51
The Control Segment .....................................................................................................................................51
The User Segment ..........................................................................................................................................51
A.2 Height Relationships .............................................................................................................................................51
A.3 GPS Positioning ....................................................................................................................................................52
Single-Point vs. Relative Positioning .............................................................................................................53
Static vs. Kinematic Positioning ....................................................................................................................54
Real-time vs. Post-Mission Data Processing .................................................................................................54
A.3.1 Differential Positioning ......................................................................................................................................54
A.3.2 Pseudorange Algorithms ....................................................................................................................................55
Pseudorange Differential Positioning ............................................................................................................55
Dual Station Differential Positioning .............................................................................................................58
A.4 Carrier-Phase Algorithms ......................................................................................................................................59
B Multipath Elimination Technology
B.1 Multipath ...............................................................................................................................................................61
Why Does Multipath Occur? .........................................................................................................................61
Consequences Of Multipath Reception ..........................................................................................................62
B.2 Hardware Solutions For Multipath Reduction .......................................................................................................62
Antenna Site Selection ...................................................................................................................................62
Antenna Designs ............................................................................................................................................63
Antenna Ground Planes .................................................................................................................................64
NovAtel’s Internal Receiver Solutions for Multipath Reduction ..................................................................65
C Commands Summary
ACCEPT ........................................................................................................................................................66
ANTENNAPOWER ......................................................................................................................................68
ASSIGN .........................................................................................................................................................69
CLOCKADJUST ...........................................................................................................................................70
COMn .............................................................................................................................................................71
COMn_DTR ...................................................................................................................................................71
COMn_RTS ...................................................................................................................................................72
CONFIG .........................................................................................................................................................73
CRESET .........................................................................................................................................................74
CSMOOTH ....................................................................................................................................................75
DATUM .........................................................................................................................................................76
DGPSTIMEOUT ...........................................................................................................................................77
DIFF_PROTOCOL.........................................................................................................................................78
DYNAMICS ..................................................................................................................................................79
ECUTOFF ......................................................................................................................................................80
EXTERNALCLOCK .....................................................................................................................................81
EXTERNALCLOCK FREQUENCY.............................................................................................................83
FIX HEIGHT .................................................................................................................................................84
FIX POSITION...............................................................................................................................................85
FIX VELOCITY ............................................................................................................................................86
FREQUENCY_OUT .....................................................................................................................................87
FRESET .........................................................................................................................................................88
HELP ..............................................................................................................................................................89