4
Operation
42
GPS/GLONASS Receiver User Manual Rev 1
1
Reference Station initialization
fix position lat, lon, height, station ID
log comn,rtcaref,ontime,interval
log comn,rtcaobs2,ontime,interval
example:
fix position 51.11358042,-114.04358013,1059.4105,”RW34”
log com1, rtcaref, ontime, 10
log com1, rtcaobs2, ontime, 2
2
Remote Station initialization
accept comn, rtca
example:
accept com2, rtca
Once initialized, the RTK system is ready to go.
NOTE:
The form of the station ID for RTCA messaging can contain alphanumeric characters unlike the RTCM
format.
4.7.3 MONITORING YOUR RTK OUTPUT DATA
The accuracy that can be achieved using RTK positioning is dependent on many external factors including satellite
visibility, satellite geometry, data latency and distance between the remote and reference receiver. All of this
information is available as output from the MiLLennium-GLONASS GPSCard receiver. Estimates of the remote
receiver position are also accompanied by estimates of possible receiver error and care should be taken to monitor
these values. Some of the logs that can be output from the remote receiver, and the information they contain, are
given following:
BSLA/B
inter-antenna baseline information
PRTKA/B
best low-latency position
RPSA/A
base station position and health
RTKA/B
matched observation position
RTKOA/B
RTK position filter parameters
The RTKA/B position solution is based on time-matching reference and remote observations. This is the most
accurate form of positioning available and is recommended for static users. There will be a solution latency for this
log that is dependent on the latency of the data-link. The PRTKA/B log contains a low-latency solution which
predicts the last received reference station observations ahead to the current time of observation. This is a method
for eliminating the effects of radio-link data latency and is recommended for kinematic users.
4.7.4 GPS-ONLY OPERATION WITH STANDARD MILLENNIUM-
GLONASS GPSCARD
The MiLLennium-GLONASS GPSCard is also capable of supporting a number of GPS-Only messages that can be
broadcast to standard MiLLennium GPSCards for GPS-Only pseudorange or RT-20 positioning. The
MiLLennium-GLONASS GPSCard can also receive GPS-Only messages and perform GPS-Only RT-20
positioning if enough satellites are available. The following message types are supported for GPS-Only operation.
For further information on these message types refer to the MiLLennium Commands Description Manual.
RTCA
PSR positioning
RTCM59
RTK positioning
CMROBS
RTK positioning
RTCAOBS RTK
positioning
RTCM1819
RTK positioning
