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Understanding CPD Page 41

Understanding

Table 3.3 lists the recommended message schedules.

For CPD (RTK) application only, you can turn on type 3 and type 18/19 only.

For RTCM code differential only, you can turn on type 1 to be continuous and turn

off all other message.

Table 3.3: Default RTCM message schedules

Message Type Interval (seconds)

2 0 (off)

3 60 (1 minute)

16 Off

18/19 1

1 2 ... 52 53 54 55 56 57 58 59 60 61 62 ... 189 190

Z-12 Real-Time Sensor 1
Operation & Reference 1
Table of Contents 5
List of Figures 11
List of Tables 13
Introduction 17
Functional Description 18
Real-Time Differential 19
Equipment 20
Specifications and Options 21
Memory Options 22
Operation 23
Front Panel 24
RF Connector 25
Power Input Connections 26
Serial Port Configuration 27
Serial Null Modem Data Cable 29
Default Parameters 29
Getting Started 30
Powering On the Sensor 31
Receiver Memory Reset 32
Communication with the Sensor 32
Monitoring Satellite Tracking 33
Monitoring Position 33
Command Response Formats 34
Differential Setup 35
Hardware Setup 36
CPD with DBEN message 37
RTCM Differential Setup 39
Base Setup 41
Rover/Remote Setup 42
Understanding CPD 47
Solution Latency 48
Data Link Monitor 48
Real-time Solution Output 48
Vector Solution Output 49
Solution Storage 50
Troubleshooting 51
CPD Solution Parameters 53
Dynamics: $PASHS,CPD,DYN 54
Multipath: $PASHS,CPD,MTP 55
Rate: $PASHS,CPD,PER 55
Fast CPD: $PASHS,CPD,FST 55
Universal RTCM Base Station 56
Understanding 57
Table 4.1: Command Summary 60
General Sensor Commands 66
Set Antenna Height 69
Set Antenna Offsets 69
Query Antenna Parameters 70
Query Sensor Configuration 71
Store String 72
Query File Directory 72
Set Elevation Mask 74
Close or Delete File 74
Set Altitude-Fixed Mode 75
Request File Information 75
Set HDOP Mask 77
Select Ionospheric Model 78
Query Ionospheric Data 78
Set Photogrammetry Edge 81
$PASHS,PHE,x 81
Set Minimum Satellites 81
Set PDOP Mask 82
Set Position Elevation Mask 82
Log Project Data 82
Set Position Mode 83
Set Position of the Antenna 83
Query Port and Baud Rate 85
Set Receiver To Sleep Mode 85
Set Recording Interval 86
Query Radio Mode Parameters 86
Turn Data Recording On/Off 87
Query Sensor (Receiver) ID 87
Set Type of Data 88
Upload Route Information 93
Save Parameters 93
Enter Site ID 94
Set Communication Baud Rate 94
Query SV Mode Selection 96
Use Unheathy SVs 96
Designate Satellites to Use 97
Set VDOP Mask 97
Query Week Number 97
Upload Waypoint to Sensor 97
Set Sensor to Z Mode 98
Raw Data Commands 99
Query CBEN Message 100
Query Vector Solution 101
Command 103
Query PBEN Data for One Epoch 104
Query Raw Data Parameters 105
Query UBN Message 106
NMEA Data Message Commands 109
Disable All NMEA Messages 111
NMEA Almanac 111
Autopilot Message 112
NMEA Bearing and Distance 113
NMEA Decimal Almanac Message 114
GGA (GPS Position) Message 115
GLL (Latitude,Longitude) 117
NMEA MSG (RTCM) Message 125
Set NMEA Send Interval 130
NMEA Message VTG (COG/SOG) 137
NMEA Cross-Track Error 137
RTCM Commands 138
Initialize RTCM Setup 140
Define RTCM Message 141
Disable Differential Mode 141
Set Quality Threshold 141
Check Sequence Number 142
Set RTCM Bit Rate 142
Set Station Identification 142
Enable Type of Message 143
CPD Commands 147
OR $PASHS,BPS,ANT 148
Query Data Link Status 149
Set Rover Dynamics 150
Set Current Raw Position 151
Enable/Disable Fast CPD Mode 152
Display CPD SV Information 152
CPD Mode Select 153
Select CPD processing cycle 155
Set Multipath Parameters 155
Select Solution to Output 155
Set CPD Update Interval 156
Set BPD Transmission Period 156
Set DBEN Transmission Period 157
Reset CPD Processing 158
CPD Status 159
Query CPD Solution Status 161
Select Base Position - Rover 161
Display Station Coordinates 162
Field Description 163
Packed DBEN 165
Report Real-Time Error 167
Photogram 169
Radio Link 171
Sensitivity 172
Differential GPS 173
Sources of Error 175
Data Link Related Errors 176
Differential Message 177
Glossary 179
Numerics 185

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