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4 MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
RTCM General Message Format..................................................................................................48
RTCM Standard Commands ........................................................................................................49
RTCM Standard Logs ..................................................................................................................49
4.3 CMR Format Messaging .....................................................................................................................55
Using RT-2 or RT-20 with CMR Format Messages ....................................................................56
4.4 RINEX Format .................................................................................................................................56
4.4.1 Commands ...........................................................................................................................57
4.4.2 Logs .....................................................................................................................................58
A GPS Overview 62
A.1 GPS System Design ...........................................................................................................................62
The Space Segment ......................................................................................................................62
The Control Segment ...................................................................................................................63
The User Segment ........................................................................................................................63
A.2 Height Relationships ..........................................................................................................................63
A.3 GPS Positioning .................................................................................................................................64
A.3.1 Differential Positioning ......................................................................................................66
A.3.2 Pseudorange Algorithms ....................................................................................................67
A.4 Carrier-Phase Algorithms ..................................................................................................................71
B Multipath Elimination Technology 73
B.1 Multipath ............................................................................................................................................73
Why Does Multipath Occur? .......................................................................................................73
Consequences of Multipath Reception .........................................................................................74
B.2 Hardware Solutions For Multipath Reduction ...................................................................................74
Antenna Site Selection .................................................................................................................74
Antenna Designs ..........................................................................................................................75
Antenna Ground Planes ................................................................................................................76
NovAtel’s Internal Receiver Solutions for Multipath Reduction ................................................76
C Commands Summary 79
ACCEPT ......................................................................................................................................79
ANTENNAPOWER ....................................................................................................................81
ASSIGN .......................................................................................................................................82
CLOCKADJUST .........................................................................................................................83
COMn ...........................................................................................................................................84
COMn_DTR .................................................................................................................................84
COMn_RTS ..................................................................................................................................85
CONFIG .......................................................................................................................................86
CRESET .......................................................................................................................................87
CSMOOTH ..................................................................................................................................88
DATUM .......................................................................................................................................89
DGPSTIMEOUT ..........................................................................................................................90
DIFF_PROTOCOL ......................................................................................................................91
DYNAMICS ................................................................................................................................92
ECUTOFF ....................................................................................................................................93
EXTERNALCLOCK ...................................................................................................................94
EXTERNALCLOCK FREQUENCY ..........................................................................................96
FIX HEIGHT ...............................................................................................................................97
FIX POSITION.............................................................................................................................98
FIX VELOCITY ..........................................................................................................................99
FREQUENCY_OUT ....................................................................................................................100
FRESET .......................................................................................................................................101
HELP ............................................................................................................................................102
IONOMODEL
WAAS ................................................................................................................103
LOCKOUT ...................................................................................................................................104
LOG ..............................................................................................................................................105
MAGVAR ....................................................................................................................................106
MESSAGES .................................................................................................................................108
POSAVE ......................................................................................................................................109