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Table of Contents
MiLLennium Command Descriptions Manual vii
FIGURES
5-1 Pass-Through Log Data ................................................................................................................................................... 31
A-1 NAVSTAR Satellite Orbit Arrangement ......................................................................................................................... 50
A-2 Illustration of GPSCard Height Measurements ................................................................................................................ 52
A-3 Accuracy vs. Precision ..................................................................................................................................................... 53
A-4 Example of Differential Positioning ................................................................................................................................ 54
A-5 Single Point Averaging .................................................................................................................................................... 57
A-6 Typical Differential Configuration ................................................................................................................................... 58
B-1 Illustration of GPS Signal Multipath ................................................................................................................................ 61
B-2 Illustration of GPS Signal Multipath vs. Increased Antenna Height ............................................................................... 63
B-3 Illustration of Quadrifilar vs. Microstrip Patch Antennae ................................................................................................ 64
B-4 Example of GPSAntenna on a Flat Plate vs. Choke Ring Ground Plane ......................................................................... 64
C-1 HELP Command Screen Display ..................................................................................................................................... 89
C-2 Appended Command Screen Display ............................................................................................................................... 89
C-3 Illustration of Magnetic Variation & Correction .............................................................................................................. 92
C-4 Using SEND Command ................................................................................................................................................... 106
C-5 Illustration of SETNAV Parameters ................................................................................................................................. 112
C-6 Illustration of Undulation ................................................................................................................................................. 115
D-1 Example of Navigation Parameters .................................................................................................................................. 158
D-2 The WGS84 ECEF Coordinate System ........................................................................................................................... 168
E-1 Typical RT-2 Horizontal Convergence - Static Mode ...................................................................................................... 208
E-2 Typical RT-2 Horizontal Convergence - Kinematic Mode .............................................................................................. 208
E-3 RT-2 Accuracy Convergence ........................................................................................................................................... 209
E-4 Illustration of RT-2 Steady State Performance ................................................................................................................. 209
E-5 Typical RT-20 Convergence - Static Mode ...................................................................................................................... 210
E-6 Typical RT-20 Convergence - Kinematic Mode .............................................................................................................. 211
E-7 RT-20 Steady State Performance ...................................................................................................................................... 211
E-8 RT-20 Re-Initialization Process ....................................................................................................................................... 213
TABLES
1-1 GPSCard Pseudorange Differential Initialization Summary ............................................................................................. 4
1-2 Latency-Induced Extrapolation Error ................................................................................................................................ 5
2-1 Commands By Function Table ......................................................................................................................................... 11
2-2 GPSCard Command Summary ......................................................................................................................................... 13
4-1 Logs By Function Table .................................................................................................................................................... 26
4-2 GPSCard Log Summary .................................................................................................................................................... 28
6-1 Positioning Modes ............................................................................................................................................................. 34
C-1 Antenna LNA Power Configuration ................................................................................................................................. 68
C-2 Default Values of Process Noise Elements ...................................................................................................................... 82
C-3 VARF Range .................................................................................................................................................................... 87
D-1 GPSCard Solution Status ................................................................................................................................................. 127
D-2 Position Type ................................................................................................................................................................... 127
D-3 RTK Status for Position Type 3 (RT-20) ......................................................................................................................... 127
D-4 RTK Status for Position Type 4 (RT-2) ........................................................................................................................... 127
D-5 Receiver Self-Test Status Codes ...................................................................................................................................... 180
D-6 Range Record Format (RGED only) ................................................................................................................................ 183
D-7 Channel Tracking Status .................................................................................................................................................. 184
D-8 Ambiguity Types .............................................................................................................................................................. 192
D-9 Searcher Status ................................................................................................................................................................. 192
D-10 RTK Status........................................................................................................................................................................ 192
D-11 GPSCard Range Reject Codes ......................................................................................................................................... 196
D-12 GPSCard Velocity Status ................................................................................................................................................. 204
E-1 Comparison of RT-2 and RT-20 ....................................................................................................................................... 206
E-2 RTK Messages vs. Accuracy ............................................................................................................................................ 206
E-3 RT-2 Performance: Static Mode ....................................................................................................................................... 207
E-4 RT-2 Performance: Kinematic Mode ............................................................................................................................... 207
E-5 RT-20 Performance .......................................................................................................................................................... 210
G-1 Reference Ellipsoid Constants ......................................................................................................................................... 215
G-2 Transformation Parameters (Local Geodetic to WGS84) ................................................................................................ 215
I-1 Type 1 !ERRA Types ....................................................................................................................................................... 219
I-2 Type 1 !MSGA Types ...................................................................................................................................................... 220
For you convenience these tables, up to and including Appendix E, are also listed in Appendix J.