Septentrio AsteRx-i S Reference guide

AsteRx-i S Reference Guide
Applicable to version 1.2.0 of the Firmware
AsteRx-i S Reference Guide
2020-06-22
Applicable to version 1.2.0 of the Firmware
© Copyright 2000-2020-06-22 Septentrio NV/SA. All rights reserved.
Septentrio NV
Greenhill Campus, Interleuvenlaan 15i
3001 Leuven, Belgium
http://www.septentrio.com
Phone: +32 16 300 800
Fax:
+32 16 221 640
@Septentrio
2
LIST OF CONTENTS
List of Contents
1
CONTENTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6
SCOPE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7
LIST OF ACRONYMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8
How To...
12
1.1
CONNECT TO THE RECEIVER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.1.1 Via COM Ports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.1.2 Via USB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.1.3 Via a TCP/IP Port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.1.3.1 Ethernet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
1.1.3.2 Ethernet-over-USB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.1.4 Via a Web Browser . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.1.5 Connection Descriptors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.2
UNDERSTAND THE OUTPUT OF THE RECEIVER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
1.2.1 Proprietary Binary Output (SBF). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
1.2.2 NMEA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
1.3
DEFINE AN SBF OUTPUT STREAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.4
SAVE THE CONFIGURATION IN NON-VOLATILE MEMORY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
1.5
CONFIGURE THE RECEIVER IN DGPS/RTK-ROVER MODE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1.6
DETERMINE A GNSS-BASED ATTITUDE FROM THE MAIN AND AUX ANTENNAS . . . . . . . 20
1.7
CONFIGURE THE RECEIVER IN INS/GNSS INTEGRATION MODE . . . . . . . . . . . . . . . . . . . . . . . . . 22
1.8
CONFIGURE THE RECEIVER IN NTRIP CLIENT MODE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
1.9
CONFIGURE AN IP SERVER PORT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
1.10 CONFIGURE AN IP RECEIVE PORT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
1.11 LOG SBF OR NMEA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
1.12 DOWNLOAD LOG FILES FROM THE RECEIVER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
1.13 COMMUNICATE WITH EXTERNAL EQUIPMENT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
1.14 GENERATE A "PULSE PER SECOND" SIGNAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
1.15 TIME TAG EXTERNAL EVENTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
1.16 MONITOR THE RF SPECTRUM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
1.17 MANAGE USERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
1.18 UPGRADE THE RECEIVER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
3
LIST OF CONTENTS
1.19 CHECK THE CAPABILITIES OF YOUR RECEIVER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
1.20 CHECK OR CHANGE THE PERMISSION FILE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
2
3
Operation Details
37
2.1
CHANNEL ALLOCATION AND SIGNAL SELECTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
2.2
GENERATION OF MEASUREMENTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
2.2.1 Pilot vs. Data Component . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
2.3
TIME MANAGEMENT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
2.3.1 Free-Running Clock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
2.3.2 Clock Steering. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
2.4
COMPUTATION OF POSITION, VELOCITY, AND TIME (PVT SOLUTION) . . . . . . . . . . . . . . . . . 41
2.4.1 SBAS Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
2.4.2 DGPS Positioning (Single and Multi-Base) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
2.4.3 RTK Positioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
2.4.3.1 Integer Ambiguities (RTK-fixed) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
2.4.3.2 Floating Ambiguities (RTK-float) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
2.4.4 Transition between PVT Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
2.4.5 Datum Transformation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
2.4.5.1 Transformation to Regional Datum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
2.4.5.2 Transformation to Local Datum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
2.5
ANTENNA EFFECTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
2.5.1 Antenna Effects in Rover Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
2.6
INS/GNSS INTEGRATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
2.6.1 Calibration. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
2.6.1.1 IMU Sensor Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
2.6.1.2 Antenna Lever Arm. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
2.6.2 Alignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Command Line Reference
49
3.1
COMMAND LINE INTERFACE OUTLINE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
3.1.1 Command Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
3.1.2 Command Line Syntax. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
3.1.3 Command Replies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
3.1.4 Command Syntax Tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
3.2
COMMAND DEFINITIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
3.2.1 Receiver Administration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
3.2.2 Standby and Sleep Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
3.2.3 User Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
3.2.4 Tracking and Measurement Generation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
3.2.5 Frontend and Interference Mitigation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
3.2.6 Navigation Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
3.2.7 Attitude Determination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .117
3.2.8 Datum Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .118
3.2.9 Transformation to Local Coordinates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .123
3.2.10 Timing and Time Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .127
3.2.11 Station Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .130
3.2.12 General Input/Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .133
3.2.13 NTRIP Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .152
4
LIST OF CONTENTS
3.2.14 NMEA Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .155
3.2.15 SBF Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .161
3.2.16 RTCM v2.x Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .168
3.2.17 RTCM v3.x Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .170
3.2.18 CMR v2.0 Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .172
3.2.19 Internal Disk Logging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .173
4
SBF Reference
182
4.1
SBF OUTLINE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .183
4.1.1 SBF Block Header Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .183
4.1.2 SBF Block Names and Numbers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .183
4.1.3 SBF Block Time Stamp (TOW and WNc) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .184
4.1.4 Sub-blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .185
4.1.5 Padding Bytes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .185
4.1.6 SBF Revision Number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .185
4.1.7 Do-Not-Use Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .185
4.1.8 Output Rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .185
4.1.9 Satellite ID and GLONASS Frequency Number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .186
4.1.10 Signal Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .187
4.1.11 Channel Numbering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .188
4.1.12 Decoding of SBF Blocks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .188
4.2
SBF BLOCK DEFINITIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .190
4.2.1 Measurement Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .190
4.2.2 Navigation Page Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .205
4.2.3 GPS Decoded Message Blocks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .213
4.2.4 GLONASS Decoded Message Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .218
4.2.5 Galileo Decoded Message Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .221
4.2.6 BeiDou Decoded Message Blocks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .230
4.2.7 QZSS Decoded Message Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .235
4.2.8 SBAS L1 Decoded Message Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .238
4.2.9 Position, Velocity and Time Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .252
4.2.10 INS/GNSS Integrated Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .290
4.2.11 GNSS Attitude Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .301
4.2.12 Receiver Time Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .305
4.2.13 External Event Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .307
4.2.14 Differential Correction Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .319
4.2.15 External Sensor Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .324
4.2.16 Status Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .332
4.2.17 Miscellaneous Blocks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .354
4.3
SBF CHANGE LOG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .362
A Attitude Angles
363
B List of SBF Blocks
365
C List of NMEA Sentences
369
C.1
PROPRIETARY NMEA SENTENCES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .370
C.1.1 HRP : Heading, Roll Pitch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .370
C.1.2 PASHR : Inertial Attitude Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .370
5
LIST OF CONTENTS
D List of CMR and RTCM Messages
371
D.1
CMR MESSAGES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .371
D.2
RTCM V2.X MESSAGES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .371
D.3
RTCM V3.X MESSAGES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .372
INDEX OF COMMANDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .374
INDEX OF SBF BLOCKS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .382
6
SCOPE
Scope
This document contains reference information about the receiver firmware.
Chapter 1 provides a set of step-by-step "how-to’s" to help you find your way around the
receiver’s commands and logs.
Chapter 2 provides some background on the main algorithms running in the receiver and on
the way to configure them.
Chapter 3 contains the complete description of the user command interface.
Chapter 4 contains the complete description of the SBF format.
Typographical Conventions
abc User command name. Clicking a command name redirects to the full command
description.
abc
Command argument name.
abc Command replies.
SBF block name or SBF field name. Clicking an SBF block name redirects to the full
SBF block description.
7
LIST OF ACRONYMS
List of Acronyms
Abbreviation
Description
AGC
Automatic Gain Control
ARP
Antenna Reference Point
ASCII
American Standard Code for Information Interchange
ASN.1
Abstract Syntax Notation One
BeiDou
BeiDou Navigation System
BGD
Broadcast Group Delay
CA
Coarse Acquisition
CGGTTS
Common GPS GLONASS Time Transfer Standard
CMR
Compact Measurement Record
COG
Course Over Ground
CPU
Central Processing Unit
CRC
Cyclic Redundancy Check
DGPS
Differential GPS
DHCP
Dynamic Host Configuration Protocol
DNS
Domain Name Server
DOP
Dilution Of Precision
DVS
Data Validity Status
ECEF
Earth-Centered Earth-Fixed
EGNOS
European Geostationary Navigation Overlay System
ENU
East-North-Up
FTP
File Transfer Protocol
GEO
Geostationary Earth Orbiter
GLONASS
Global Orbiting Navigation Satellite System
8
LIST OF ACRONYMS
GNSS
Global Navigation Satellite System
GPS
Global Positioning System
GST
Galileo System Time
GUI
Graphical User Interface
HDOP
Horizontal DOP
HMI
Hazardously Misleading Information
HPCA
HMI Probability Computation Algorithm
HPL
Horizontal Protection Level
HS
Health Status
ICD
Interface Control Document
IEEE
Institute of Electrical and Electronics Engineers
IERS
International Earth Rotation Service
IF
Intermediate Frequency
IGP
Ionospheric Grid Point
IGS
International GPS Service
IMU
Inertial Measurement Unit
INS
Inertial Navigation System
IODC
Issue of Data - Clock
IODE
Issue Of Data Ephemeris
IP
Internet Protocol
IRNSS
Indian Regional Navigational Satellite System
ITRF
International Terrestrial Reference Frame
ITRS
International Terrestrial Reference System
LBand
L-Band Receiver
L1
L1 carrier
L2
L2 carrier
L2C
L2C code
LED
Light Emitting Diode
LSB
Least Significant Bit
MIB
Management Information Base
MSB
Most Significant Bits
MT
Message Type
NATO
North Atlantic Treaty Organisation
9
LIST OF ACRONYMS
NAV
Navigation
NavIC
Navigation with Indian Constellation
NAVSTAR
Navigation Satellite Timing And Ranging
NMEA
National Marine Electronics Association
P
P(Y) code
P1
P1 code
P2
P2 code
PC
Phase Center
PDOP
Position DOP
PLL
Phase Locked Loop
PPP
Precise Point Positioning
PPS
Pulse Per Second
PRC
Pseudorange Correction
PRN
Pseudo Random Noise
PVT
Position, Velocity and Time
QZSS
Quasi-Zenith Satellite System
RAIM
Receiver Autonomous Integrity Monitoring
RINEX
Receiver Independent Exchange Format
RTCA
Radio Technical Commission for Aeronautics
RTCM
Radio Technical Commission for Maritime Services
RTK
Real-Time Kinematic
SBAS
Space-Based Augmentation System
SBF
Septentrio Binary Format
SIS
Signal In Space
SISA
Signal in Space Accuracy
SNMP
Simple Network Management Protocol
SV
Space Vehicle
SVID
Space Vehicle ID
TDOP
Time DOP
TOW
Time Of Week
UDRE
User Differential Range Error
UERE
User Equivalent Range Error
UHF
Ultra High Frequency
10
LIST OF ACRONYMS
URA
User Range Accuracy
USB
Universal Serial Bus
UTC
Coordinated Universal Time
VDOP
Vertical DOP
VPL
Vertical Protection Level
VRS
Virtual Reference Station
WAAS
Wide Area Augmentation System
WGS84
World Geodetic System 1984
WN
Week Number
WNc
Week number
XERL
External Reliability Levels
XOR
Exclusive OR
11
1 How To...
Chapter 1
How To...
This chapter contains step-by-step instructions to help you with typical tasks. It will help you
to familiarize yourself with the receiver commands without going into too much detail.
For a comprehensive description of the command set, refer to chapter 3. You can also click
on any command or SBF block name in this manual to be redirected to the full description
of that command or SBF block.
You can enter user commands in many different ways:
• Commands can be accessed graphically through menus in RxControl and in the web
interface (see section 1.1.4).
• Using the Data Link program provided in the RxTools suite (or any suitable terminal emulation program), you can enter commands manually through one of the receiver input ports (see section 1.1). In this chapter, user commands are referred to
by their full name for readability. When typing the command, you can always use
the short mnemonic equivalent to save typing effort. For instance, instead of typing
setCOMSettings, you can type scs.
• You can type commands or mnemonics in the console window of RxControl (menu
Tools > Expert Console) or of the web interface (menu Admin > Expert Console).
Depending on the capabilities of your particular receiver (see section 1.19), some of the user
commands, SBF blocks or communication interfaces described in this document may not be
supported.
12
1 How To...
1.1
Connect to the Receiver
1.1.1
Via COM Ports
A simple way to communicate with the receiver is to connect one of its COM-ports to a COMport of your host computer. You can use the provided COM cable for this purpose. The
default COM-port settings are:
Parameter
Value
baud rate
115200
data bits
8
parity
no
stop bits
1
flow control none
The baud rate can be modified at any time by using the setCOMSettings command.
RxControl and Data Link can communicate with the receiver over a COM-port connection:
select Serial Connection option when opening the connection to the receiver.
1.1.2
Via USB
The Windows USB driver provided with your receiver emulates two virtual serial ports, which
can be used as standard COM ports to access the receiver. The Windows USB diver can be
installed through the RxTools software suite. On Linux, the standard Linux CDC-ACM driver
is suitable. Most terminal emulation programs will make no distinction between virtual and
native COM ports. Note that the port settings (baud rate, etc) for virtual serial ports are not
relevant, and can be left in their default configuration in the terminal emulation program.
1.1.3
Via a TCP/IP Port
TCP/IP connections allow remote control of the receiver and are potentially much faster
than serial connections. Up to eight independent TCP/IP connections can be opened
in parallel through port 28784 (the port number can be changed with the command
setIPPortSettings).
RxControl and Data Link can communicate with remote receivers over a TCP/IP connection:
select TCP/IP Connection option when opening the connection to the receiver.
TCP/IP connections can be made over the following interfaces.
1.1.3.1
Ethernet
Over the Ethernet interface, the receiver can be configured for dynamic or fixed IP address
allocation. The default is dynamic address allocation, using the DHCP protocol. The host13
1 How To...
name is asterx-i-xxxxxxx , where xxxxxxx consists of the last seven digits of the serial
number of the receiver.
Dynamic IP address allocation requires the availability of a DHCP server in your local network.
In the absence of a DHCP server, or when a fixed IP address is desirable, it is possible to
disable the DHCP client and use a fixed address. This is done using the setIPSettings
command.
1.1.3.2
Ethernet-over-USB
When an USB cable is connected, the receiver supports Ethernet-over-USB. The IP address
allocated to the Ethernet-over-USB interface is 192.168.3.1. That address cannot be
changed, so that this feature is only to be used when a single receiver is connected to your
computer.
1.1.4
Via a Web Browser
The receiver can be controlled and configured using a web browser. The hostname or fixed
IP address is defined as explained in section 1.1.3.
For example, if your receiver’s hostname is asterx-i-1234567, simply use the following
URL in your preferred web browser:
http://asterx-i-1234567
or, for a secure connection:
https://asterx-i-1234567
The https certificate (.pem file) can be uploaded through the Communication > Web
Server/TLS menu of the web interface.
Most user commands described in section 3.2 can be accessed graphically from the web
interface. You can also go to Admin > Expert Control > Expert Console to manually type ASCII
commands and view replies.
By default, the web interface provides unrestricted read and write access to the receiver.
This can be changed, as further explained in section 1.17 of this document.
Note that a lightweight (text only) version of the web interface is available by appending
/lite to the URL, for example:
http://asterx-i-1234567/lite
1.1.5
Connection Descriptors
Receiver connections are identified by their connection descriptor (CD). The different connection descriptors are shown in the table below. The three rightmost columns indicate the
direction (input or output or both), and whether the connection can accept user command
input.
14
1 How To...
CD
Description
In
Out Cmd
COMx one of the serial ports
•
•
•
USBx one of the USB-device serial ports
•
•
•
DSK1 the internal disk. See section 1.11
•
IP1x one of the TCP/IP connections
•
NTRx one of the NTRIP connections. Input in NTRIP client mode
•
•
•
(section 1.8)
IPSx one of the IP server connections. See section 1.9
•
•
•
IPRx one of the IP receive connections. See section 1.10
•
•
•
15
1 How To...
1.2
Understand the Output of the Receiver
The receiver outputs proprietary and standardized messages. Each proprietary message
begins with a two-character identifier, which identifies the message type.
Proprietary messages
First
two
characters
ASCII command replies and command error notification
$R
ASCII transmissions (e.g. periodic output of the status screen), termi- $T
nated by a prompt. Two sub-types are defined:
• $TD : ASCII display generated by the receiver;
• $TE : event notification (e.g. receiver is shutting down).
Formatted information blocks (e.g. formal command description)
$-
SNMP’ binary command replies (Septentrio proprietary)
$&
Proprietary binary data (SBF)
$@
1.2.1
Proprietary Binary Output (SBF)
The binary messages conform to the SBF definition. The data are arranged in SBF blocks
identified by block IDs. All the blocks begin with the SBF identifier $@. Please refer to section 4 for a description of the SBF format.
The benefit of SBF is completeness. This format should be your first choice if you wish to
receive detailed information from the receiver.
The list of supported SBF messages can be found in appendix B
SBF Converter, provided in the RxTools package is an intuitive GUI which allows SBF conversion into e.g. RINEX, KML, GPX or ASCII.
1.2.2
NMEA
The receiver can generate a set of approved NMEA sentences, which conform to the NMEA
Standard (version 3.01(1) and version 4.10(2) are supported). The benefit of the NMEA format
is that it is standardized. Many electronic devices and software packages support NMEA. The
drawback of NMEA is a relatively low level of detail.
NMEA output is configured with the setNMEAOutput command, and the NMEA version
(3.01 or 4.10) is selected with the setNMEAVersion command.
The list of supported NMEA sentences can be found in appendix C.
(1)
NMEA 0183, Standard for Interfacing Marine Electronic Devices, Version 3.01, National Marine Electronics
Association, 2002
(2)
NMEA 0183, Standard for Interfacing Marine Electronic Devices, Version 4.10, National Marine Electronics
Association, 2012
16
1 How To...
1.3
Define an SBF Output Stream
As an example, this section explains how to use the command line interface to configure the
receiver to output the MeasEpoch SBF block at 10 Hz, the PVTCartesian SBF block at 1 Hz,
and the GPSNav block at its On-Change rate (see section 4.1.8 for more details on the SBF
output rate). In this example, we will assume that these blocks must be output through the
USB2 connection.
1. First make sure that the USB2 connection is configured for SBF output (this is the
default). In case this is not so, you should invoke:
setDataInOut,USB2, ,+SBF <CR>
2. Scheduling SBF blocks for output is done by defining so-called "SBF streams". At least
10 SBF streams can be defined by the user. A stream consists of a set of SBF blocks
that need to be output at a given rate through a given connection. By default, all
streams are empty, and no SBF blocks are output. For our example, we will need to
use two streams. Defining these SBF streams involves the setSBFOutput command:
setSBFOutput,Stream1,USB2,MeasEpoch+GPSNav,msec100 <CR>
setSBFOutput,Stream2,USB2,PVTCartesian,sec1 <CR>
Note that the rate specified with the setSBFOutput command (msec100 or sec1
above) only applies to the blocks that support a flexible output rate (see appendix B). The
GPSNav block does not support flexible rate: it is always output at its “On-Change” rate
regardless of the stream rate. For this reason, in the above example, we could equally have
enabled GPSNav in Stream2.
3. To stop outputting SBF on a given connection, you can either redefine or empty the
corresponding streams:
setSBFOutput,Stream1,USB2,none <CR>
setSBFOutput,Stream2,USB2,none <CR>
A second possibility is to disable all SBF messages on that connection:
setDataInOut,USB2, ,-SBF <CR>
Note that the exeSBFOnce command can be used to output a set of blocks once, instead of
at regular interval. This is typically used to output all currently available satellite ephemerides
at once. For example, the following command instructs the receiver to output all known GPS,
GLONASS, Galileo and BeiDou ephemerides over USB2:
exeSBFOnce, USB2, GPS+GLO+GAL+BDS <CR>
This is a one-time action: the requested blocks are inserted in the stream, and then the
normal flow of blocks as defined with setSBFOutput resumes. When logging the SBF
stream for post-processing, it is a good practice to request all satellite ephemerides with
the exeSBFOnce command when starting a new log file. Make sure however not to request
measurement or PVT blocks with exeSBFOnce when these blocks are also enabled with
setSBFOutput as it could cause the same epoch to be duplicated in the log file. Some
post-processing tools may not work properly when the same epoch is repeated twice.
17
1 How To...
1.4
Save the Configuration in Non-Volatile
Memory
The receiver configuration includes all the user-selectable parameters, such as the elevation
mask, the PVT mode, the COM port settings,...
By default, the receiver starts up in its factory default configuration. The factory defaults
for each of the receiver parameters are underlined for each argument of each command in
section 3.2
The current receiver configuration can be checked with the lstConfigFile command:
lstConfigFile, Current <CR>
At any time, it is possible to save the current configuration into non-volatile memory, in
order to force the receiver to always start up in that configuration. To do so, the following
command should be entered:
exeCopyConfigFile,Current,Boot <CR>
To revert to the default setting where the receiver starts in the default configuration, you
should use:
exeCopyConfigFile,RxDefault,Boot <CR>
18
1 How To...
1.5
Configure the Receiver in DGPS/RTK-Rover
Mode
The receiver computes a DGPS and/or an RTK solution when it receives the relevant differential correction messages on one of its connections. The list of supported differential
correction messages can be found in appendix D.
To configure the receiver in DGPS/RTK-rover mode, the following has to be done:
1. Make sure that at least one of the receiver connections is receiving differential
corrections. Any input connection listed in section 1.1.5 is suitable. When using a
serial connection, make sure to configure the baud rate to match the baud rate of the
incoming RTCM stream. For instance if the incoming RTCM stream is received through
COM2 at a baud rate of 9600 baud, use:
setCOMSettings,COM2,baud9600 <CR>
2. The receiver automatically detects the format of the differential corrections (RTCM or
CMR) and switches between standalone, DGPS or RTK modes according to the type
of corrections it receives, provided these modes are enabled with the setPVTMode
command (all modes are enabled by default).
Refer to sections 2.4.2 and 2.4.3 for further details on the DGPS and RTK positioning mode.
19
1 How To...
1.6
Determine a GNSS-Based Attitude from
the Main and Aux Antennas
It is recommended to use the attitude angles computed by the INS/GNSS integration filter, as
explained in section 1.7. However, for multi-antenna receivers, the receiver is also capable of
providing a GNSS-only attitude solution, as explained here. For those receivers it is important
to have the GNSS-based attitude properly configured for optimal INS/GNSS integration.
The attitude (heading/pitch) can be computed from the orientation of the baseline between
the main and the aux1 GNSS antennas. This is illustrated in Figure 1-1.
a)
b)
1m
Aux1
Antenna
Main
Antenna
Aux1
Antenna
Multi-antenna
Receiver
Multi-antenna
Receiver
X
X
Z
Y
Main
Antenna
Z
Y
Figure 1-1: Multi-antenna attitude determination setup. a) default configuration.
b) alternate configuration.
To enable multi-antenna attitude determination, follow the following procedure:
1. Attach two antennas to your vehicle, using cables of approximately the same length.
The default antenna configuration is as depicted in Figure 1-1a. It consists in placing
the antennas aligned with the longitudinal axis of the vehicle, main antenna behind
aux1. For best accuracy, try to maximize the distance between the antennas, and
avoid significant height difference between the antenna ARPs. If the configuration in
Figure 1-1a is not feasible, another possibility is to have the antenna baseline perpendicular to the vehicle, as shown in Figure 1-1b. In that configuration, an “attitude
offset” needs to be provided with the following command:
setAttitudeOffset,90 <CR> if the aux1 antenna is on the right of the main
antenna (Figure 1-1b), or
setAttitudeOffset,-90 <CR> if the aux1 antenna is on the left of the main
antenna.
2. In practice, the two antenna ARPs may not be exactly at the same height in the vehicle
frame, or the main-aux1 baseline may not be exactly parallel or perpendicular to the
longitudinal axis of the vehicle. This leads to offsets in the computed attitude angles.
These offsets can be compensated for with the setAttitudeOffset command.
20
1 How To...
For example, if the heading and pitch angles reported by the receiver have an offset
of respectively 3 and 4.5 degrees with respect to their expected value, you can have
the receiver compensate for them by using the following command (assuming the
antennas are in the configuration of Figure 1-1a):
setAttitudeOffset,3,4.5 <CR>
The GNSS-based attitude angles (heading and pitch) are available in the AttEuler SBF block
or in the HDT and HRP NMEA sentences. Note that, in the case where the antenna baseline
is perpendicular to the vehicle longitudinal axis, the “pitch” angle is to be interpreted as a
“roll” angle.
21
1 How To...
1.7
Configure the Receiver in INS/GNSS Integration Mode
Your receiver can compute an integrated INS/GNSS solution (position, velocity and attitude)
when a compatible IMU (Inertial Measurement Unit) is connected to one of its serial ports.
Enabling the INS/GNSS integration typically involves the following steps.
1. The INS is initialized with the GNSS solution, and it is therefore important to first
configure the GNSS functionality. See section 1.5 to configure RTK if needed. If the
multi-antenna permission is enabled on your receiver, follow the steps in section 1.6 to
configure the GNSS attitude solution. Otherwise no additional configuration is needed
for the GNSS functionality.
2. Specify the COM port connected to the IMU. Only serial ports can be used for IMU
connection, and only one IMU can be connected to the receiver at a given time. For
example, if the IMU is connected to COM3, use:
setIMUInput,COM3 <CR>
Note that the receiver automatically configures the baud rate applicable to the IMU.
3. Specify the orientation of the IMU sensor with respect to your vehicle, using the
setIMUOrientation command. When attaching the sensor to your vehicle, it is
recommended to attach it horizontally, upside up and with the X axis drawn on the
sensor pointing to the front of the vehicle. If you do so, issue the following command:
setIMUOrientation,SensorDefault <CR>
If you cannot place the IMU as indicated above, you will need to specify the rotation
angles about the X, Y and Z axes. Refer to section 2.6.1 for more details.
4. Specify the antenna lever arm in the vehicle reference frame. This is the vector starting
from the IMU reference point (defined in the IMU section of the Hardware Manual)
to the ARP of the main GNSS antenna. This is done using the setINSAntLeverArm
command as explained in section 2.6.1. For example, if the IMU is mounted 20 cm in
front of the main GNSS antenna, use:
setINSAntLeverArm,-0.2,0,0 <CR>
It is recommended to keep the antenna lever arm as short as possible so that it can be
measured with the highest possible accuracy.
5. By default, the integrated INS/GNSS filter computes the position, velocity and attitude
at the IMU reference point. If the point of interest is not the IMU, the vector between
the IMU and the point of interest can be provided with the setINSPOILeverArm. For
example, if the point of interest is located 1 meter above the IMU, use:
setINSPOILeverArm,POI1,0,0,-1 <CR>
6. Make sure that the INS/GNSS integration filter is enabled (it is enabled by default):
setINSNavConfig,on <CR>
Please refer to section 2.6 for further details on INS/GNSS integration.
22
1 How To...
1.8
Configure the Receiver in NTRIP Client
Mode
In this section, we show how to configure the receiver to receive and use RTK corrections
from an NTRIP caster. In the example below, the NTRIP caster and Mount Point details are
as follows:
• NTRIP caster hostname: ntrip.example.com
• NTRIP caster port: 2101
• User name/password for basic authentication: USER / PASSWD
• Mount Point: LEUV1
• TLS: enabled and the caster is trusted by a public certification authority
1. Configure one of the NTRIP connections (see section 1.1.5) for communication with the
NTRIP caster in client mode. Here, we assume that the first NTRIP connection (NTR1)
is free and can be used for that purpose:
setNTRIPSettings,NTR1,Client,ntrip.example.com,2101,USER,PASSWD,LEUV1
<CR>
2. To enable TLS for NTR1, use:
setNtripTlsSettings,NTR1,on,"" <CR>
3. The receiver will automatically receive and decode the RTK corrections from the
NTRIP caster and switch to RTK positioning mode, unless RTK is disabled with the
setPVTMode command.
4. Closing the NTRIP connection is done with the following command:
setNTRIPSettings,NTR1,off <CR>
The status of the NTRIP client connection is reported in the NTRIPClientStatus SBF block.
23
1 How To...
1.9
Configure an IP Server Port
In this example, we show how to configure the receiver such that any client connecting to
TCP/IP port 28785 will receive the NMEA GGA message at a 1-second interval.
1. Configure one of the IP server connections (see section 1.1.5) to listen to port 28785.
Here, we assume that the first IP server connection (IPS1) is free:
setIPServerSettings,IPS1,28785,TCP <CR>
2. Output the GGA NMEA message to the IPS1 connection, at a 1-Hz rate:
setNMEAOutput,Stream1,IPS1,GGA,sec1 <CR>
3. Make sure that NMEA output is enabled on the IPS1 connection. It is enabled by
default, but in case your receiver is not in its default configuration, you should invoke:
setDataInOut,IPS1, ,+NMEA <CR>
A
way
to
check
the
IP
server
functionality
is
to
enter
the
URL
http://asterx-i-xxxxxxx:28785 in your preferred web browser (replace
asterx-i-xxxxxxx by the hostname of your particular receiver). You should see
the NMEA GGA message coming every second.
Note that up to eight clients can concurrently connect to the same IP server port.
The example above showed how to set up a TCP server. It is also possible to configure the
receiver in UDP server mode. For example, to broadcast the GGA message to any UDP client
listening to its port 28785, the command in step 1. above must be replaced by:
setIPServerSettings,IPS1,28785,UDP,255.255.255.255 <CR>
Conversely, the receiver can be configured to automatically receive data from an IP server.
This is explained in section 1.10.
24
1 How To...
1.10
Configure an IP Receive Port
The receiver can be configured to automatically receive data (typically differential corrections) from an IP server. In this example, we show how to connect to an IP server having the
hostname MyServer and using port 28786.
1. Configure one of the IP receive connections (see section 1.1.5) to listen to port 28786
of MyServer. Here, we assume that the first IP receive connection (IPR1) is free:
setIPReceiveSettings,IPR1,28786,TCP2Way,MyServer <CR>
2. If the data stream from the IP server contains differential corrections in CMR or
RTCM format, the receiver will automatically decode them and use them in the PVT
processing.
3. To close the connection, enter the following command:
setIPReceiveSettings,IPR1,0 <CR>
The TCP connection initiated by the receiver is bidirectional. Once the connection is established, the receiver accepts input data from the server (as shown above), but it can also send
data to the server, or process user commands from the server.
The example showed how to set up a TCP connection with the server. The receiver can
also listen to incoming UDP messages. In that case, the connection is unidirectional and the
server address or hostname must not be specified. For example, to listen to UDP messages
on port 28786, use the command:
setIPReceiveSettings,IPR1,28786,UDP <CR>
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1 How To...
1.11
Log SBF or NMEA
The connection descriptor (see section 1.1.5) associated to the internal disk is "DSK1". Enabling SBF or NMEA logging on the internal disk involves the following steps:
1. By default, the receiver logs SBF blocks into a file named "log.sbf" and NMEA
sentences into a file named “log.nma” . You can specify any other fixed or autoincrementing file name, or you can select the IGS/RINEX naming convention, where
the file name automatically changes every fifteen minutes, hour, six hours or day. For
instance, to let the receiver create daily files, use:
setFileNaming,DSK1,IGS24H <CR>
If the file name you selected already exists, the receiver will append new data at the
end of the existing file.
2. Use the command setSBFOutput to define which SBF blocks need to be logged (for
NMEA, use setNMEAOutput instead), and at which interval (see also section 1.3). For
instance, to log all SBF blocks necessary to build RINEX files, with the measurements
and positions being output at a 10-s interval, use:
setSBFOutput,Stream1,DSK1,rinex,sec10 <CR>
3. Start the logging by enabling SBF and NMEA output to the DSK1 connection (it is
enabled by default):
setDataInOut,DSK1, ,+SBF+NMEA <CR>
4. Once the logging session is finished, stop the logging by invoking:
setDataInOut,DSK1, ,-SBF-NMEA <CR>
Refer to section 1.12 to learn how to download the logged files.
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1 How To...
1.12
Download Log Files from the Receiver
There are different ways to download or delete files from the internal disk:
1. Using RxControl. Select Logging > Download Internal Files to download files to your computer, and Logging > Remove Internal File to remove a file from the internal disk.
Figure 1-2: Download Internal Files from RxControl.
2. Using FTP or SFTP. The hostname or fixed IP address is defined as explained in
section 1.1.3. For example, if your receiver’s hostname is asterx-i-1234567,
you can type the following URL in your preferred web browser to open a session as
anonymous user:
ftp://asterx-i-1234567
User authentication for SFTP access can be done by entering a password or using an ssh public key, as defined with the setUserAccessLevel command.
By default, anonymous users can download and delete files. This can be changed as
explained in section 1.17.
3. Using rsync. If an rsync client is available on your computer, you can use rsync
to download files or directories from the receiver. The hostname or IP address is the
same as for (S)FTP, see above.
For example, to download the contents of the log.sbf file of the internal disk (DSK1)
to the current folder on your local computer, you could invoke rsync as follows:
rsync -r anonymous@asterx-i-1234567:DSK1/SSN/SSRC12/log.sbf .
when prompted for a password, just press the enter key as no password is required for
27
1 How To...
anonymous accesses.
If the same command is issued again at a later stage, rsync will only transfer the
deltas with respect to the files already present on the local machine, significantly
reducing the number of bytes sent compared to retransmitting the entire files.
User authentication can be done by entering a password, or using an ssh public key,
as defined with the setUserAccessLevel command.
By default, rsync is enabled for anonymous users. This can be changed with the
setDefaultAccessLevel command.
4. Using the web interface (select the Logging tab).
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1 How To...
1.13
Communicate with External Equipment
The receiver can send periodical queries to external equipment (such as a meteo sensor)
connected to one of its serial ports, and log the replies from that sensor. In the following
example, we show how to retrieve meteo data every 10 seconds from a meteo sensor connected to the receiver’s COM2 port.
1. Tell the receiver which command to use to query the external sensor, and the
interval at which this command must be sent to the sensor. For instance, for a
MET3/MET4-compatible sensor, the command *0100P9<CR><LF> queries the meteo
data. Assuming you want to get meteo data at a 10-second interval, enter the following
command:
setPeriodicEcho, com2, A:*0100P9%%CR%%LF, sec10 <CR>
2. Enable unformatted ASCII input on COM2 (to receive the replies from the meteo
sensor):
setDataInOut,COM2,ASCIIIn <CR>
The replies from the meteo sensor (containing the temperature, pressure and humidity) are
available in the ASCIIIn SBF block.
You can convert an SBF file containing ASCIIIn SBF blocks to RINEX using the sbf2rin
program or the SBFConverter graphical tool. To be able to generate a RINEX file, the
output of the meteo sensor must be formatted according to the NMEA XDR sentence.
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1 How To...
1.14
Generate a "Pulse Per Second" Signal
The PPS OUT signal is a positive pulse of which the leading edge is synchronous with the second boundaries of the time system selected with the setTimingSystem command. Check
the Hardware Manual for the voltage and the duration of the pulse.
True PPS
position
PPS as generated
by receiver
D
D= xPPSOffset
Receiver digital clock
Figure 1-3: xPPS output granularity.
Although the position of the PPS pulse is computed accurately by the receiver, the actual
pulse is generated at the nearest "tick" of the internal receiver digital clock, as illustrated in
the figure above. This leaves an offset (noted "D" in the figure) between the true PPS pulse
and the one actually generated by the receiver. This offset can reach a few nanoseconds. It
is available in real-time in the xPPSOffset SBF block.
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1 How To...
1.15
Time Tag External Events
The receiver can time-tag electrical level transitions on its EventX inputs with an accuracy of
20ns.
By default,
the receiver reacts on low-to-high transitions.
You can use the
setEventParameters command to react on falling edges instead:
setEventParameters,EventA,High2Low <CR>
Upon detection of a transition, the receiver can output the time and/or the position at the
instant of the event (see for example the ExtEvent SBF block).
The following constraints must be observed to ensure proper event detection:
• There must be no more than 20 events in any interval of 100 milliseconds, all event
pins considered.
• The minimum time between two events on the same EventX input must be at least
5ms.
Missed events are flagged by the MISSEDEVENT bit in the ReceiverStatus SBF block.
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1 How To...
1.16
Monitor the RF Spectrum
You can monitor the RF spectrum using the spectral analyzer in RxControl (go to the View >
Spectral View menu) or in the web interface (go to the GNSS > Spectrum menu). This allows to
detect the presence of interferences in the GNSS bands.
In the example shown below, a narrowband interference at 1180 MHz is clearly visible.
Figure 1-4: Spectral Analyser functionality of RxControl.
The spectrum is computed from baseband samples taken at the output of the receiver’s
analog to digital converters. These samples are available to the users in the BBSamples SBF
block.
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1 How To...
1.17
Manage Users
When connecting to the receiver, users can remain "anonymous", or can log in using
the login command. What anonymous users can do depends on the connection type.
By default, anonymous users have full control of the receiver. This default configuration can be changed with the setDefaultAccessLevel command. For example, to
prevent anonymous access to the web interface and to the FTP server, you would use:
setDefaultAccessLevel, none, none <CR>
To perform actions not allowed to anonymous users, you first need to authenticate yourself by entering a user name and a password through the login command. The list
of user names and passwords and their respective access level is managed with the
setUserAccessLevel command. Login fails if the provided user name or password is
not in that list.
Logged-in users are granted one of the following access levels: "User" or "Viewer". The
"User" level allows full control of the receiver, while the "Viewer" level only allows to view
the configuration.
The following explains how to add or delete a user.
1. Check the current user list by entering the following command:
getUserAccessLevel <CR>
The reply to this command looks like:
UserAccessLevel, User1, "admin", "R46NCG", User
UserAccessLevel, User2, "", "", Viewer
UserAccessLevel, User3, "", "", Viewer
...
2. In the example shown above, only one user is defined: User1 with user name admin.
For security reasons, the password shown here (R46NCG) is random and does not correspond to the actual password. It can be seen that the level of access of the admin
user is "User": that particular user has full control of the receiver.
To add a new user "john" with password "abc123" and to give full access to that user,
select a free user index, e.g. User2 in the above example, and type:
setUserAccessLevel,User2,john,abc123,User <CR>
3. You can add up to eight users in this way. Deleting a user involves entering an empty
string ("") as user name and password. For example, to delete the "admin" user from
the above list, use:
setUserAccessLevel,User1,"","" <CR>
The user list also applies to FTP, SFTP and rsync accesses. Users having the "User" access
right are allowed to delete files from the internal disk via FTP, SFTP or rsync, while "Viewer"
users can only download files.
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1 How To...
1.18
Upgrade the Receiver
Upgrading the receiver is the process of installing a new GNSS firmware, a new permission
file (see section 1.20) or a new antenna calibration file (see section 2.5).
In some cases, upgrading the GNSS firmware can clear the receiver configuration stored in
non-volatile memory (see section 1.4). It is therefore advised to recheck the configuration
after the upgrade.
Do not switch power off during the upgrade procedure.
Upgrading the receiver over a serial port can be very slow and it is recommended to upgrade
using a faster connection whenever possible (USB or Ethernet).
Septentrio upgrade files have the extension “.suf”. There are several ways to upgrade the
receiver:
1. By double clicking the “.suf” file. This should launch the RxUpgrade program.
2. By using the RxControl graphical interface (go to the File menu).
3. From the web interface (go to Admin >Upgrade). This requires to log in as a user with
the "User" access level (see section 1.17).
4. By commanding the receiver to upgrade itself by fetching the upgrade file from a remote FTP server. This is done with the command exeFTPUpgrade.
5. By manually downloading upgrade files to the receiver. This upgrade procedure is
explained below.
To manually upgrade the receiver, follow this procedure:
1. Reset the receiver into upgrade mode by entering the following command:
exeResetReceiver, Upgrade, none <CR>
2. Wait till the receiver outputs the string: “Ready for SUF download ...”. From that
moment on, the receiver is waiting for an upgrade file to be downloaded. The file
download must start within 200 seconds, otherwise the receiver will restart in normal
mode.
3. Download the upgrade file to the receiver. Any of the receiver connections can be
used. Make sure to send the file in binary mode, i.e. without changing its contents.
During the download, the receiver outputs a progress indicator at regular interval.
4. At the end of the download, the receiver automatically executes the upgrade instructions and restarts with the new firmware version. You can check the firmware version
by entering the following command:
lif,Identification <CR>
Before executing the upgrade instructions, the receiver checks the integrity of the downloaded file. If the file is corrupted, or is not a valid upgrade file, the receiver discards it and
restarts in normal mode.
If the download is interrupted for any reason, the receiver will restart in normal mode after
a timeout period of 200 seconds.
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1 How To...
1.19
Check the Capabilities of your Receiver
The capabilities of your receiver are defined by the set of enabled features. The capabilities
depend on the hardware, the current firmware version and the current set of permissions.
Permissions are further explained in section 1.20.
The command getReceiverCapabilities lists the capabilities. You can also check them
using the web interface or RxControl (go to Help >Receiver Interface and select the Permitted
Capabilites tab):
Figure 1-5: Example of receiver capabilities.
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1 How To...
1.20
Check or Change the Permission File
The permission file lists which optional features (such as GLONASS, Galileo, RTK, ...) are
permitted on your receiver, for how long they are permitted and in which region they are
permitted.
The permission file is stored in the receiver’s non-volatile memory, and can be checked with
the command lstInternalFile, Permissions, or with RxControl by clicking Help >Receiver Permissions.
Note that, for a given feature to be enabled in the receiver, it must be permitted and the
hardware and firmware version must support it. See also section 1.19.
Each receiver is delivered with a permission file applicable to that receiver only. To enable
new options, the user can order a new permission file to Septentrio, and install it on his/her
receiver using the standard upgrade procedure (see section 1.18).
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2 Operation Details
Chapter 2
Operation Details
This chapter describes the key processes implemented in the receiver and explains how they
can be configured.
2.1
Channel Allocation and Signal Selection
The receiver automatically allocates satellites to tracking channels up to the limit of the number of channels. It is possible to override this automatic channel allocation by forcing a
satellite to a given channel with the setChannelAllocation command. Also, a subset
of satellites or a whole constellation can be disabled with the setSatelliteTracking
command.
For each satellite, the receiver tries to track all signal types enabled with the
setSignalTracking command. For example, if that command enables the GPSL1CA,
GPSL2PY and GLOL1CA signals, GPS satellites will be tracked in dual-frequency mode
(GPSL1CA and GPSL2PY) and GLONASS satellites will be tracked in single-frequency mode
(GLOL1CA only). It is a good practice to only enable those signal types that are needed for
your application to avoid wasting tracking channels.
2.2
Generation of Measurements
For each tracked GNSS signal, the receiver generates a "measurement set", mainly consisting
of the following observables:
• a pseudorange in meters;
• a carrier phase in cycles;
• a Doppler in Hertz;
• a carrier-to-noise ratio in dB-Hz.
All data in a measurement set, and all measurement sets are taken at the same time, which
is referred to as the "measurement epoch". All the measurement sets taken at a given measurement epoch are output in a MeasEpoch SBF block.
Several commands affect the way the receiver produces and outputs measurements:
37
2 Operation Details
• The setHealthMask command can be used to filter out measurements from unhealthy satellites: these measurements will not be used by the PVT algorithm, nor will
they be included in the MeasEpoch SBF block.
• To further reduce the code measurement noise, the receiver can be ordered to smooth
the pseudorange by the carrier phase. This technique, sometimes referred to as a
"Hatch filtering", allows to reduce the pseudorange noise and multipath. It is controlled
by the setSmoothingInterval command and is disabled by default.
• The setMultipathMitigation command can be used to enable or disable the mitigation of multipath errors on the pseudorange and carrier phase measurements. It is
enabled by default.
For advanced applications or in-depth signal analysis, the MeasExtra SBF block contains
various additional data complementing the MeasEpoch SBF block. Among other things, this
block reports the multipath correction applied to the pseudorange (allowing one to recompute the original pseudorange), and the observable variances.
2.2.1
Pilot vs. Data Component
Most modern GNSS signals consist of two components: a so-called pilot component and a
data component. For such signals, the measurements are based on the pilot component for
optimal performance. In particular, the reported C/No value is that of the pilot component
only.
For all signals having a pilot and a data component, the table below indicates which component is tracked by Septentrio receivers. Note that your particular receiver model may not
support all of these signals.
Signal
Signal component being used for measurement generation
GPS/QZSS L1C
L1C-P
GPS/QZSS L2C
L2C-L
GPS/QZSS L5
L5-Q
GLONASS L3
L3-Q
Galileo E1
E1-C
Galileo E6
E6-C
Galileo E5a
E5a-Q
Galileo E5b
E5b-Q
Galileo E5AltBOC E5AltBOC-Q
BeiDou B1C
B1C_pilot
BeiDou B2a
B2a_pilot
BeiDou B2b
B2b_I
See also the corresponding RINEX observation code in section 4.1.10.
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2 Operation Details
2.3
Time Management
All time tags in the receiver refer to the receiver time scale. The receiver is designed in such a
way that the receiver time is kept as close as possible to the selected GNSS system time (GPS
or Galileo as prescribed by the setTimingSystem command). Internally, the receiver time
is kept in two counters: the time-of-week counter in integer milliseconds (TOW) and the week
number counter (WNc). WNc counts the number of complete weeks elapsed since January
6, 1980 (even if the selected GNSS system time is not GPS). The TOW and WNc counters are
reported in all SBF blocks.
The synchronization of TOW and WNc with the GNSS system time involves the following
steps:
• Upon powering up the receiver, TOW and WNc are assumed unknown, and set to a
"Do-Not-Use value" in the SBF blocks.
• The transmission time-of-week and week number are decoded from the GNSS satellites:
– As soon as the first time-of-week is decoded from the satellites, the TOW counter
is initialized to within 20 ms of GNSS system time and starts counting. This is also
the time when the receiver starts generating GNSS measurements (pseudoranges
and carrier phases).
– As soon as the week number is decoded from the satellites (which can be either
simultaneously with the time-of-week, or several seconds later), the WNc counter
is set and starts counting.
• After the first position and time fix has been computed (for which measurements from
at least 4 satellites are required), TOW is set to within X milliseconds of GNSS time.
This is done by introducing a jump of an integer number of milliseconds in the TOW
counter. X is the maximal allowed offset between the receiver time and GNSS time,
and is set by the setClockSyncThreshold command (by default, X=0.5ms). This
initial clock synchronization leads to a simultaneous jump in all the pseudorange and
carrier phase measurements.
The level to which the receiver time is synchronized with the GNSS system time is given by
three status bits (TOWSET, WNSET and FINETIME) available both in the ReceiverTime SBF
block and the ReceiverStatus SBF block.
The receiver clock can be configured in free-running mode, or in steered mode using the
command setClockSyncThreshold.
2.3.1
Free-Running Clock
In free-running mode, the receiver time slowly drifts with respect to GNSS time. The receiver continuously monitors this time offset: this is the clock bias term computed in the PVT
solution, as provided in the RxClkBias field of the PVTCartesian and PVTGeodetic
SBF blocks. A clock jump of an integer number of milliseconds is imposed on the receiver clock each time the clock bias exceeds X milliseconds by an absolute value (X is set
by setClockSyncThreshold). This typically results in a saw-tooth profile similar to that
shown in Figure 2-1. In this example, X=0.5ms and each time the clock bias becomes greater
than 0.5ms, a jump of 1ms is applied.
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2 Operation Details
RxClkBias = tRx−tGNSS [ms]
0.5
0
−0.5
0
0.5
1
1.5
2
Up Time [hours]
2.5
3
3.5
4
Figure 2-1: Example of the evolution of the receiver time offset with respect to
the GNSS time in free-running mode.
When a receiver clock jump occurs, all measurements jump simultaneously. For example,
a clock jump of 1ms will cause all the pseudoranges to jump by 0.001s * velocity_of_light =
299792.458m. The jump is applied on both the pseudoranges and the carrier phase measurements, and hence will not be seen on a code-minus-phase plot.
The cumulated clock jumps since the last reset of the receiver is reported in the
CumClkJumps field of the MeasEpoch SBF block.
2.3.2
Clock Steering
In steered mode, the receiver time is continuously steered to GNSS time to within a couple
of nanoseconds. In the example of Figure 2-1, if the user would have enabled clock steering
one hour after start up of the receiver, the clock bias would have been like in Figure 2-2
below.
RxClkBias = tRx−tGNSS [ms]
0.5
0
−0.5
0
0.5
1
1.5
2
Up Time [hours]
2.5
3
3.5
4
Figure 2-2: Effect of clock steering on the clock bias (clock steering enabled at an
up time of 1 hour).
Clock steering accuracy is dependent on the satellite visibility, and it is recommended to only
enable it under open-sky conditions.
Bit 3 of the CommonFlags field of the MeasEpoch SBF block indicates whether clock steering
is active or not.
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2 Operation Details
Note for the users of a GNSS constellation simulator:
When using a constellation simulator, make sure to set the simulation time after January 01,
2016. The receiver time will be incorrect before that date.
For correct time determination, it is mandatory to reset the receiver before every (re)start of
the simulation.
2.4
Computation of Position, Velocity, and
Time (PVT Solution)
The receiver computes the position, velocity and time (PVT) based on the pseudoranges, the
Doppler measurements and, if applicable, the differential corrections.
The availability of the PVT depends on:
• the number of available pseudoranges and Doppler measurements, equal to the number of tracked satellites, or a subset of them as specified by the setSatelliteUsage
command;
• the number of valid sets of broadcast ephemerides, which are needed to compute the
position, velocity, and clock bias for each tracked satellite;
• the number of valid sets of fast and long-term SBAS corrections and their age in the
case of SBAS-aided positioning;
• the number of valid differential corrections and their age in the case of DGPS/RTK positioning.
A position fix requires a minimum of 4 tracked satellites with associated ephemerides. When
a PVT solution is not available, PVT-related SBF blocks are still output with all the numeric
fields set to Do-Not-Use values, and with the Error field set to indicate the source of the
problem.
The accuracy of the PVT depends on:
• The signal level.
• The geometry of the satellite constellation expressed in the DOP values: these values
indicate the ratio of positional errors to range errors and are computed on the basis
of the error propagation theory. When the DOP is high, the accuracy of positioning will
be low.
• The number of available satellites: the more satellites are available, the lower the DOP.
Measurement redundancy also enables better outlier detection.
• Multipath errors on the pseudorange measurements: multipath errors can
be largely attenuated by enabling the APME multipath mitigation method
(see
setMultipathMitigation) and/or using code smoothing (see
setSmoothingInterval).
• The PVT mode as set by the setPVTMode command.
• The data available to compute ionospheric delays (see setIonosphereModel).
• The choice of the dynamics model: if the dynamics parameter set by the
setReceiverDynamics command does not correspond to the actual dynamics of
the receiver platform, the position estimation will be sub-optimal.
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2 Operation Details
The a-posteriori accuracy estimate of the computed position is reported in the variancecovariance matrix, which comes in the PosCovCartesian and PosCovGeodetic SBF
blocks. This accuracy estimate is based on the assumed measurement noise model and
may differ from actual errors due to many external factors, most of all multipath.
2.4.1
SBAS Positioning
SBAS, which stands for ’Space Based Augmentation System’, enables differential operation
over a large area with associated integrity information. System errors are computed from a
dataset recorded over a continental area and disseminated via a geostationary satellite. The
operation of SBAS is documented in the RTCA DO 229 standard. SBAS improves over DGPS
corrections, in that it provides system corrections (ionosphere corrections and ephemeris
long-term corrections) next to range corrections (the "fast corrections" in the DO 229 terminology).
The receiver provides an SBAS-aided position when it has sufficient satellites with at least
fast and long-term corrections. The corrections are used as long as their applicability has
not timed out. During the time-out interval the receiver applies correction degradation using
the information received in message type (MT) 07 and 10.
By default, the receiver selects the SBAS satellite with the most SBAS corrections available.
With the setSBASCorrections command, it is possible to force the receiver to use a particular SBAS satellite or a particular SBAS provider.
2.4.2
DGPS Positioning (Single and Multi-Base)
DGPS (Differential GPS) is a pseudorange-based positioning technique where GNSS system
errors are reduced by the use of range corrections. To work in DGPS rover mode, the receiver
needs to receive differential corrections in the RTCM or CMR format.
If the received RTCM stream contains corrections from multiple base stations, the receiver
will compute a multi-base DGPS solution, unless the user has forced the usage of a particular
base station with the command setDiffCorrUsage. Be aware that multi-base DGPS can
quickly overload the receiver processor if the number of base stations is large.
Note on the RTCM v2.x corrections: the receiver takes the τgd parameter transmitted by
the GPS satellites into account during the computation of the pseudorange corrections, as
prescribed in v2.2 and v2.3 of the RTCM standard. The RTCM standard version 2.1 is ambiguous in this respect: it does neither prescribe nor discourage the use of τgd . The receiver can
be configured in both modes using the command setRTCMv2Compatibility.
2.4.3
RTK Positioning
Real-Time Kinematic (RTK) is a carrier phase positioning method where the carrier phase
ambiguities are estimated in a kinematic mode.
To work in RTK mode, the receiver requires the reception of RTK messages. Both the RTCM
and the CMR message formats are supported. Multiple-base RTK is not supported: by default, the receiver selects the nearest base station if more than one base station is available.
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2 Operation Details
In RTK mode, the absolute position is reported in the PVTCartesian or PVTGeodetic SBF
blocks, and the baseline vector is reported in the BaseVectorCart and BaseVectorGeod
SBF blocks.
2.4.3.1 Integer Ambiguities (RTK-fixed)
The key to high-accuracy carrier phase positioning is the fixing of the carrier phase integer
ambiguities. Under normal circumstances the receiver will compute the integer ambiguities
within several seconds and yield an RTK-fixed solution with centimeter-level accuracy. The
less accurate pseudorange measurements will not be used. As long as no cycle slips or lossof-lock events occurs, the carrier phase position is readily available.
RTK with fixed ambiguities is also commonly referred to as phase positioning using ’On-TheFly’ (OTF) ambiguity fixing. The RTK positioning engine of the receiver uses the LAMBDA
method(1) developed at Delft University, department of Geodesy.
2.4.3.2
Floating Ambiguities (RTK-float)
When data availability is low (e.g. low number of satellites) or when the data are not of sufficient quality (high multipath), the receiver will not fix the carrier phase ambiguities to their
integer value, but will keep them floating. At the start of the RTK-float convergence process,
the position accuracy is equal to that of code-based DGPS. Over the course of several minutes the positional accuracy will converge from several decimeters to several centimeters as
the floating ambiguities become more accurate.
2.4.4
Transition between PVT Modes
Whenever possible, the transitions from a more accurate PVT mode to a less accurate PVT
mode are smooth. For example, when switching from RTK to DGPS mode, the position does
not exhibit a sudden jump, but slowly degrades from RTK to DGPS accuracy.
2.4.5
Datum Transformation
By default the datum to which the coordinates refer depends on the positioning mode.
For standalone and SBAS positioning for example, the coordinates refer to a global datum:
WGS84 or ITRS. When using DGPS or RTK corrections from a DGPS/RTK provider, the coordinates usually refer to a regional datum (e.g. ETRS89 in Europe).
Recent realisations of WGS84 and ITRS are closely aligned and the difference can be neglected in most cases. The receiver considers them equivalent. However, regional datums
may significantly differ from WGS84/ITRS, which may lead to coordinate jumps when switching between different positioning modes.
(1)
Teunissen, P.J.G., and C.C.J.M. Tiberius (1994) Integer least-squares estimation of the GPS phase ambiguities.
Proceedings of International Symposium on Kinematic Systems in Geodesy, Geomatics and Navigation KIS’94,
Banff, Canada, August 30-September 2, pp. 221-231.
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2 Operation Details
2.4.5.1
Transformation to Regional Datum
It is possible to avoid this datum shift by configuring the receiver to transform all coordinates to the regional datum used by the RTK base stations. This is done with the
setGeodeticDatum command. The receiver knows the transformation parameters applicable to the most common datums (e.g. ETRS89 or NAD83), but user datums can also be
defined with the setUserDatum command.
Coordinates in the PVTCartesian and PVTGeodetic SBF blocks refer to the datum selected in setGeodeticDatum. The datum can be checked by decoding the Datum field of
these blocks.
2.4.5.2
Transformation to Local Datum
Sometimes it is needed to relate the coordinates to a local datum. Some RTK networks provide the necessary transformation and projection parameters as part of their RTCM stream,
in message types 1021 to 1027.
The local geodetic coordinates (latitude, longitude and height) are reported in the PosLocal
SBF block, and the plane grid coordinates (easting, northing, height) are reported in the
PosProjected SBF block.
The following conditions must be met for the receiver to provide local coordinates from the
information sent by the RTK network:
• the usage of RTCM v3.x MT1021-1027 must be enabled by the command
setRTCMv3Usage (these messages are enabled by default).
• the local coordinate operations must be set to NETWORK with the
setLocalCoordOperation command (this is the default).
• the complete set of datum transformation messages must have been received from
the network. Plane grid coordinates are only available if the network supports one of
the messages in the 1025-1027 range. Otherwise, only the local latitude, longitude and
height are available.
• the position must be in the area of validity of the transformation parameters.
• to continue to get unbiased local coordinates when the positioning mode is not DGPS
or RTK, the network regional datum must be set with the setGeodeticDatum command. See section 2.4.5.1.
A number of local datum transformations are preloaded in the receiver (the list can be retrieved with the lstLocalCoordOperations command). If your local datum belongs to
this list, local coordinates can be computed without information from the RTK network. See
the setLocalCoordOperation command for details.
2.5
Antenna Effects
To achieve the highest positioning precision, it is essential to take antenna effects into account.
The GNSS measurements (pseudoranges and carrier phases observables) refer to a theoretical point in space called the phase center (PC). The position of this point is dependent
44
2 Operation Details
on the elevation of the satellite and on the frequency band. It varies with time and it is different for the different GNSS frequency bands. The phase center variation can reach a few
centimeters.
If no correction is applied, the computed position refers to an average phase center with no
easy link with the antenna physical element. This average phase center fluctuates with time
and cannot be used for accurate millimeter-level positioning.
For high-precision positioning, the GNSS measurements need to be corrected in such a way
that they all refer to a common and stable point in space. That point is referred to as the
antenna reference point (ARP). For convenience, it is usually selected at the center of the
bottom surface of the antenna. PC to ARP calibration tables are available on Internet for a
large number of geodetic-grade antennas. For example, the National Geodetic Survey (NGS)
publishes calibration tables that can be downloaded from the following URL:
https://www.ngs.noaa.gov/ANTCAL/.
The antenna naming convention in such table is the one adopted by the IGS Central Bureau.
The receiver has a similar table in its non-volatile memory. This table can be upgraded following the standard upgrade procedure as described in section 1.18 (the upgrade file is named
ant_info.suf).
2.5.1
Antenna Effects in Rover Mode
If the user specifies the type of his/her antenna using the setAntennaType command, the
receiver compensates for the phase center variation in all rover positioning modes. If the
antenna is not specified, or the antenna type is not present in the built-in antenna calibration
file, the receiver cannot make the distinction between phase center and ARP, and the position
accuracy is slightly degraded, especially in the height component.
The absolute position reported in the PVTCartesian and PVTGeodetic SBF blocks is the
ARP position if a valid antenna type has been specified, or the average phase center position
otherwise.
In DGPS or RTK modes, the receiver needs to know the type of antenna used at the base
station in order to properly compensate for the phase center variation at the base. This
information is typically included in the correction stream received from the base station.
The base-to-rover baseline coordinates in the BaseVectorCart and BaseVectorGeod
SBF blocks is from ARP to ARP unless the receiver is not able to properly compensate for the
phase center variation at base or rover. Refer to the description of the BaseVectorCart
SBF blocks for details.
2.6
INS/GNSS Integration
GNSS receivers compute their position by tracking signals from GNSS satellites. The position
is absolute and accurate, but requires constant sky visibility.
An Inertial Navigation System (INS) consists of an Inertial Measurement Unit (IMU) and a
processing unit to continuously compute a relative position solution based on the sensed
motion. In order to provide an absolute position, the INS needs to be initialized with the
absolute GNSS position information. The accuracy of the relative position solution provided
45
2 Operation Details
by the INS degrades with time due to IMU measurement errors, such that periodic update
with the GNSS position is required.
Integrating INS and GNSS offers several advantages:
• The receiver is capable of providing precise positioning in shadowed environments
where GNSS-only would fail.
• Due to the large bandwidth of the IMU, the receiver is able to sense high dynamics and
to output the position and velocity information at a higher rate.
• Besides accelerometers, the IMU contains three orthogonal gyroscopes to measure the
angular-rate. This allows to provide the vehicle attitude.
The integrated INS/GNSS position, velocity and attitude are reported in the INSNavCart
and INSNavGeod SBF blocks. The attitude angles are defined in appendix A. The maximum
update rate of these blocks is receiver- and permission-dependent and can be inquired by
the command getReceiverCapabilities. The unprocessed IMU measurements (accelerations and angular rates as provided by the sensor) are reported in the ExtSensorMeas
SBF block.
2.6.1
Calibration
2.6.1.1 IMU Sensor Orientation
By default, the INS/GNSS integration filter assumes that the IMU is mounted horizontally,
upside up and with the X axis marked on the IMU enclosure pointing to the direction of
travel (i.e. to the front of the vehicle). In that configuration, the IMU reference frame is
aligned with the vehicle reference frame (see appendix A). If it is not possible to mount the
IMU in this default orientation, the orientation angles (θX ,θY , θZ ) need to be specified with the
setIMUOrientation command. As an illustration, some examples of (θX ,θY , θZ ) triplets for
four different IMU orientations are shown in Figure 2-3.
a)
c)
(0,0,0)
X
Z
Z
b)
d)
X
.
Z
X
Y
Y
(180,0,0)
Y
(0,0,90)
(90,0,270)
Y
X
Z
Figure 2-3: Example of values of (θX ,θY , θZ ) for different IMU orientations on a car.
X, Y and Z in the figure refer to the IMU reference frame.
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2 Operation Details
2.6.1.2
Antenna Lever Arm
The antenna lever-arm is the vector from the IMU reference point to the GNSS antenna reference point (ARP). The IMU reference point is defined in the Hardware Manual.
For optimal INS/GNSS integration, the effect of the lever arm must be compensated for. The
user must use the setINSAntLeverArm command to provide the relative position of the
main antenna with respect to the IMU in the vehicle reference frame. Refer to appendix A
for a description of the reference frames. An example is depicted in Figure 2-4.
Figure 2-4: Example of IMU/antenna relative position. In this example, the lever
arm X and Y components are positive, while the Z component is negative.
It is a good practice to keep the lever arm as small as possible and to measure it with the
highest possible accuracy.
2.6.2
Alignment
The alignment is the process of determining the initial attitude of the vehicle with respect to
the local-level East-North-Up reference frame. See appendix A for a definition of the attitude
angles.
During alignment, no INS/GNSS integrated solution is available.
The best performance of the INS engine can be achieved if the vehicle is static at startup,
such that a static alignment phase can take place. This allows the pitch and roll angles to be
initialized from the observation of the gravity vector. Static alignment starts as soon as the
receiver knows its GNSS-based position. For a succesful static alignment, the vehicle should
remain static for at least 5 seconds starting from the time of the initial GNSS position.
During the static alignment phase, the Error field in the INSNavCart and INSNavGeod
SBF blocks is set to code 23 "static alignment ongoing".
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2 Operation Details
The INS/GNSS integrated solution becomes available as soon as the vehicle starts moving.
For single-antenna receivers the heading is initialized based on the course-over-ground azimuth derived from the GNSS-based velocity. Note that the course-over-ground azimuth has
a 180-degree ambiguity. The initial heading will be correct if the vehicle is moving forward
during initialization, but it will have a 180-degree bias if it is moving backward. It takes a few
seconds to a few tens of seconds for the receiver to fix this forward/backward ambiguity and
to output unambiguous heading angles. The ambiguous heading state is flagged in the Info
field of the INSNavCart and INSNavGeod SBF blocks.
Multi-antenna receivers are initialized with GNSS-based heading. The INS/GNSS integrated
solution becomes available as soon as the vehicle starts moving, provided a valid GNSSbased heading solution is available (see section 1.6).
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3 Command Line Reference
Chapter 3
Command Line Reference
49
3 Command Line Reference
3.1
Command Line Interface Outline
The receiver outputs a prompt when it is ready to accept a user command. The prompt is of
the form:
CD>
where CD is the connection descriptor of the current connection, e.g. COM1 (see section1.1.5).
The prompt indicates the termination of the processing of a given command. When sending
multiple commands to the receiver, it is necessary to wait for the prompt between each
command.
Sometimes a connection is not configured to accept user commands, for example because
it is put into differential correction input mode. A way to force a connection to accept commands is to send a succession of ten “S” characters to that connection and then to press the
enter key (SSSSSSSSSS<CR>). See also the description of the setDataInOut command.
3.1.1
Command Types
Most commands fall into one of the following categories:
set-commands to change one or more configuration parameters;
get-commands to get the current value of one or more configuration parameters;
exe-commands to initiate some action;
lst-commands to retrieve the contents of internal files or list the commands.
Each set-command has its get-counterpart, but the opposite is not true. For instance, the setNMEAOutput command has a corresponding getNMEAOutput, but
getReceiverCapabilities has no set-counterpart. Each exe-command also has its
get-counterpart which can be used to retrieve the parameters of the last invocation of the
command.
3.1.2
Command Line Syntax
Each ASCII command line consists of a command name optionally followed by a list of arguments and terminated by <CR>, <LF> or <CR><LF> character(s) usually corresponding to
pressing the "Enter" key on the keyboard.
To minimize typing effort when sending commands by hand, the command name can
be replaced by its 3-5 character mnemonic. For instance, grc can be used instead of
getReceiverCapabilities.
The receiver is case insensitive when interpreting a command line.
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3 Command Line Reference
The maximum length of any ASCII command line is 2000 characters.
For commands requiring arguments, the comma "," must be used to separate the arguments
from each other and from the command’s name. Any number of spaces can be inserted
before and after the comma.
Each argument of a set-command corresponds to a single configuration parameter in the
receiver. Usually, each of these configuration parameters can be set independently of the
others, so most of the set-command’s arguments are optional. Optional arguments can
be omitted but if omitted arguments are followed by non-omitted ones, a corresponding
number of commas must be entered. Omitted arguments always keep their current value.
3.1.3
Command Replies
The reply to ASCII commands always starts with "$R" and ends with <CR><LF> followed by
the prompt corresponding to the connection descriptor you are connected to.
The following types of replies are defined for ASCII commands:
• For comment lines (user input beginning with "#") or empty commands (just pressing
"Enter"), the receiver replies with the prompt.
COM1> # This is a comment!
COM1>
<CR>
• For invalid commands, the reply is an error message, always beginning with the keyword "$R?" followed by an error message.
• For all valid set-, get- and exe-commands, the first line of the reply is an exact copy
of the command as entered by the user, preceded with "$R:". One or more additional
lines are printed depending on the command. These lines report the configuration of
the receiver after execution of the command.
COM1>setNMEAOutput, stream1, com1, GGA, sec1 <CR>
$R: setNMEAOutput, stream1, com1, GGA, sec1
NMEAOutput, stream1, com1, GGA, sec1
COM1>
For commands which reset or halt the receiver (e.g. exeResetReceiver), the reply
is terminated by "STOP>" instead of the standard prompt, to indicate that no further
command can be entered.
• For all valid lst-commands, the first line of the reply is an exact copy of the command as entered by the user, preceded with "$R;". The second line is a pseudo-prompt
"−−−−>" and the remaining of the reply is a succession of formatted blocks, each of
them starting with "$−− BLOCK".
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3 Command Line Reference
ASCII replies to set-, get- and exe-commands, including the terminating prompt, are
atomic: they cannot be broken by other messages from the receivers. For the lstcommands, the replies may consist of several atomic formatted blocks which can be interleaved with other output data. If more than one formatted block is output for a lst-command,
each of the intermediate blocks is terminated with a pseudo-prompt "−−−−>". The normal
prompt will only be used to terminate the last formatted block of the reply so that one single
prompt is always associated with one command.
3.1.4
Command Syntax Tables
All ASCII commands are listed in section 3.2. Each command is introduced by a compact
formal description of it called a "syntax table". Syntax tables contain a complete list of
arguments with their possible values and default settings when applicable.
The conventions used in syntax tables are explained below by taking a fictitious
setCommandName command as example. The syntax table for that command is:
scn
setCommandName
Cd
gcn
getCommandName
Cd
+ Com1
+ Com2
Distance
Time
Message (120)
-20.00 . . . 0.00 . . . 20.00
m
1 . . . 50 sec
Unknown
Password (40)
all
Mode
PRN
on
none
off
+ G01 ... G32
+ S120 ... S138
+ SBAS
+ GPS
all
GUI: Navigation > Receiver Operation > Example
The associated set- and get-commands are always described in pairs, and the same holds
for the associated exe- and get-commands. The command name and its equivalent 3-5
character mnemonic are printed in the first two columns. The list of arguments for the
set- and get-commands is listed in the first and second row respectively. In our example,
setCommandName can accept up to 6 arguments and getCommandName only accepts one
argument. Mandatory arguments are printed in bold face. Besides the mandatory arguments, at least one of the optional arguments must be provided in the command line.
The list of possible values for each argument is printed under each of them. Default values
for optional arguments are underlined.
The link printed in blue under the syntax table shows under which GUI menu the command
can be found.
The fictitious command above contains all the possible argument types:
• Cd serves as an index for all following arguments. This can be noticed by the possibility
to use this argument in the get-command. This argument is mandatory in the
set-command. The accepted values are COM1, COM2 and all, corresponding to the
first or second serial ports, or to both of them respectively. The "+" sign before the
first two values indicates that they can be combined to address both serial ports in the
same command.
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3 Command Line Reference
Examples: COM1, COM1+COM2, all (which is actually an alias for COM1+COM2).
• Distance is a number between -20 and 20 with a default value of 0, and up to 2
decimal digits. An error is returned if more digits are provided. The "m" indicates
that the value is expressed in meters. Note that this "m" should not be typed when
entering the command.
Examples: 20, 10.3, -2.34
• Time is a number between 1 and 50, with no decimal digit (i.e. this is an integer value).
This value is expressed in seconds.
Examples: 1, 10
• Message is a string with a maximum length of 120 characters. The default value of
that argument is "Unknown". When spaces must to be used, the string has to be put
between quotes and these enclosing quotes are not considered part of the string. The
list of allowed characters in strings is:
ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789
!#%@()*+-./:;<=>?[\]^_‘{|}~
Example: "Hello World!"
• Password is a password argument with a maximum length of 20 characters (40/2). Password arguments are always named Password or Key. Only half of the total password
length is available to the user, the other half being reserved by the system. Passwords
are obfuscated by the receiver so that they cannot be read back in command replies.
In addition to the characters above (see the Message argument), special characters are
allowed in passwords using the corresponding escape sequence:
– Type %%DQ to obtain "
– Type %%SQ to obtain ’
– Type %%DL to obtain $
– Type %%AM to obtain &
– Type %%CM to obtain ,
Example: "ab%%AM123"
• Mode is a range of individual values that cannot be combined (they are not preceded
by a "+" sign). Either off or on can be selected for that argument and the default
value is on.
Example: on
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3 Command Line Reference
• PRN is a range of values that can be combined together with the "+" sign. The default
value GPS is an alias for G01+G02+ ... +G32, SBAS is an alias for S120+ ...
+S138 and all an alias for GPS+SBAS. A "+" sign can be set before the argument
to indicate to add the specified value(s) to the current list. If the value "none" is supported (which is the case in this example), a "-" sign can be set before the argument
to remove the specified value(s) from the current list. It is possible to add or remove
multiple values at once by "adding" or "subtracting" them with the "+" or "-" operator.
However, "+" and "-" can never be combined in a single argument.
Examples: G01+G02, +G03, GPS+S120, +G04+G05, -S122-S123, -GPS
54
3 Command Line Reference
lai
3.2
Command Definitions
3.2.1
Receiver Administration
lstAntennaInfo
Antenna
Overview
Main
Aux1
[antenna name]
Use this command with the argument Antenna set to Overview to get a list of all antenna
names for which the receiver knows the phase center variation parameters (see section 2.5).
Use this command with the argument Antenna set to one of the antenna names returned by
lstAntennaInfo, Overview to retrieve the complete phase center variation parameters
for that particular antenna. Do not forget to enclose the name between double quotes if it
contains whitespaces.
Using the values Main or Aux1 will return the phase center variation parameters
corresponding to the main or auxiliary antenna type as specified in the command
setAntennaType.
Examples
COM1> lai, Overview <CR>
$R; lai, Overview
<?xml version="1.0" encoding="ISO-8859-1" ?>
<AntennaInfo version="0.1">
<Antenna ID="AERAT1675_29
NONE"/>
<Antenna ID="AERAT2775_150
NONE"/>
<Antenna ID="AERAT2775_159
"/>
<Antenna ID="AERAT2775_159
SPKE"/>
<Antenna ID="AERAT2775_160
"/>
...
<Antenna ID="TRM_R8_GNSS
"/>
</AntennaInfo>
COM1>
COM1> lai, "AERAT2775_159 SPKE"<CR>
$R; lai,"AERAT2775_159
SPKE"
<?xml version="1.0" encoding="ISO-8859-1" ?>
<AntennaInfo version="0.1">
<Antenna ID="AERAT2775_159
SPKE"/>
<L1>
<offset north="0.4" east="0.1" up="77.2"/>
<phase elevation="90" value="0.0"/>
<phase elevation="85" value="-0.2"/>
...
<phase elevation=" 5" value="0.0"/>
<phase elevation=" 0" value="0.0"/>
</L2>
</AntennaInfo>
COM1>
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3 Command Line Reference
help
lstCommandHelp
Action (255)
Overview
Use this command to retrieve a short description of the ASCII command-line interface.
When invoking this command with the Overview argument, the receiver returns the list of
all supported set-, get- and exe-commands. The lstCommandHelp command can also
be called with any supported set-, get- or exe-command (the full name or the mnemonic)
as argument.
The reply to this command is free-formatted and subject to change in future versions of the
receiver’s software. This command is designed to be used by human users. When building
software applications, it is recommended to use the formal lstMIBDescription.
Examples
COM1> help, Overview <CR>
$R; help, Overview
$-- BLOCK 1 / 0
MENU: communication
GROUP: ioSelection
sdio, setDataInOut
gdio, getDataInOut
...
COM1>
COM1> help, getReceiverCapabilities <CR>
$R; help, getReceiverCapabilities
... Here comes a description of getReceiverCapabilities ...
COM1>
COM1> help, grc <CR>
$R; help, grc
... Here comes a description of getReceiverCapabilities ...
COM1>
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3 Command Line Reference
lcf
File
lstConfigFile
Current
Boot
RxDefault
User1
User2
Use this command to list the contents of a configuration file. A configuration file contains
the list of user commands needed to bring the receiver from factory default to a certain
non-default configuration.
The following configuration files are available:
File
Description
Current
The current configuration.
Boot
The configuration that is loaded at boot time, after a power
cycle or after a hard reset (see also the exeResetReceiver
command).
RxDefault
The default configuration.
User1
A user-defined configuration.
User2
A user-defined configuration.
See also the related exeCopyConfigFile command to learn how to manage configuration
files.
Example
COM1> smp, TestMarker <CR>
$R: smp, TestMarker
MarkerParameters, "TestMarker"
COM1> lcf, Current <CR>
$R; lcf, Current
$-- BLOCK 1 / 1
setMarkerParameters, "TestMarker"
COM1>
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3 Command Line Reference
eccf
exeCopyConfigFile
gccf
getCopyConfigFile
Source
Target
Current
Current
Boot
Boot
User1
User1
User2
User2
RxDefault
RxControl: File > Copy Configuration
Use this command to manage the configuration files. See the lstConfigFile command
for a description of the different configuration files.
With this command, the user can copy configurations files into other configuration files. For
instance, copying the Current file into the Boot file makes that the receiver will always boot
in the current configuration.
Examples
To save the current configuration in the Boot file, use:
COM1> eccf, Current, Boot <CR>
$R: eccf, Current, Boot
CopyConfigFile, Current, Boot
COM1>
To load the configuration stored in User1, use:
COM1> eccf, User1, Current <CR>
$R: eccf, User1, Current
CopyConfigFile, User1, Current
COM1>
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3 Command Line Reference
seth
setEthernetMode
geth
getEthernetMode
Enable
off
on
RxControl: Communication > Network Settings > General
Use this command to turn the Ethernet interface on or off. Turning Ethernet off reduces the
receiver power consumption.
Before turning Ethernet off, make sure that the receiver will still be accessible through another interface (serial, USB,...). This is especially important for remote receivers. It will not be
possible to access the receiver over Ethernet after invoking the setEthernetMode, off
command.
Example
COM1> seth, on<CR>
$R: seth, on
EthernetMode, on
COM1>
59
3 Command Line Reference
efup
exeFTPUpgrade
gfup
getFTPUpgrade
Server (32)
Path (64)
Login (12)
Password (24)
anonymous
RxControl: File > Upgrade Receiver using FTP
Use this command to upgrade the receiver by fetching the upgrade file from an FTP server.
The arguments specify the FTP server, the path to the upgrade file (.SUF format), and the
login and password to use.
This procedure always resets the receiver, even if the upgrade file does not exist.
Before resetting, the receiver broadcasts a "$TE ResetReceiver" message to all active
communication ports, to inform all users of the imminent reset.
After a reset, the user may have to adapt the communication settings of his/her terminal
program as they may be reset to their default values.
Example
COM1> efup, myftp.com, /tst.suf, user, password<CR>
$R: efup, myftp.com, /tst.suf, user, password
FTPUpgrade, "myftp.com", "/tst.suf", "user",
"I301I5B8DG8E7QTT6RZT7IQ"
STOP>
$TE ResetReceiver Upgrade
STOP>
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3 Command Line Reference
sgpf
setGPIOFunctionality
GPPin
ggpf
getGPIOFunctionality
GPPin
+ GP1
Mode
Input
Output
Output
none
LevelLow
+ GP2
LevelHigh
all
RxControl: Navigation > Receiver Operation > GPIO
Use these commands to define/inquire the functionality assigned to every GPIO pin.
Currently, only the output pins (GPx) can be controlled by this command, and the Mode and
Input arguments can only take the values Output and none respectively. The argument
Output sets the electrical level to be applied to the pin specified in GPPin.
In housed products, the number of GPIO pins configurable by this command is larger than
the number of GPIO pins available to the user. The extra pins are used for internal purposes,
and their settings should not be modified. Please refer to the Hardware Manual or the User
Manual of your product to check which GPIO pins are available.
Example
To set the signal on GP2 to a logical 1, use:
COM1> sgpf, GP2, Output, , LevelHigh <CR>
$R: sgpf, GP2, Output, , LevelHigh
GPIOFunctionality, GP2, Output, none, LevelHigh
COM1>
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3 Command Line Reference
lif
lstInternalFile
File
Permissions
Identification
Debug
Error
SisError
DiffCorrError
ExtSensorError
SetupError
IPParameters
RxMessages
Use this command to retrieve the contents of one of the receiver internal files:
File
Description
Permissions
List of permitted options in your receiver.
Identification
Information about the different components being part of the
receiver (e.g. serial number, firmware version, etc.).
Debug
Program flow information that can help support engineers to
debug certain issues.
Error
Last internal error reports.
SisError
Last detected signal-in-space anomalies.
DiffCorrError
Last detected anomalies in the incoming differential
correction streams.
Last detected anomalies in the external sensors connected to
the receiver.
Last detected anomalies in the receiver setup.
ExtSensorError
SetupError
IPParameters
Hostname, MAC and IP addresses, DNS addresses, netmask
and gateway.
RxMessages
Event log from the receiver. This is the list of the recent event
log messages. These messages are also available in the
RxMessage SBF block.
Example
COM1> lif, Permissions <CR>
$R; lif, Permissions
---->
$-- BLOCK 1 / 1
... here follows the permission file ...
COM1>
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3 Command Line Reference
slm
setLEDMode
glm
getLEDMode
GPLED
DIFFCORLED
PVTLED
TRACKLED
LOGLED
RxControl: Navigation > Receiver Operation > GPIO
Use these commands to define/inquire the blinking mode of the General Purpose LED
(GPLED).
The different LED blinking modes are described in the Hardware Manual or in the User Manual of your receiver.
Example
COM1> slm, DIFFCORLED <CR>
$R: slm, DIFFCORLED
LEDMode, DIFFCORLED
COM1>
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3 Command Line Reference
lmd
lstMIBDescription
File (255)
Overview
SBFTable
Use this command to retrieve the ASN.1-compliant syntax of the user command interface.
The name of the command refers to the MIB (Management Information Base), which holds
the whole receiver configuration. There is a one-to-one relationship between the formal MIB
description and the ASCII command-line interface for all exe-, get- and set-commands.
When the value Overview is used, the general syntax of the interface is returned. With
the value SBFTable, the receiver will output the list of supported SBF blocks and whether
they can be output at a user-selectable rate or not. The lstMIBDescription command
can also be called with every supported set-, get- or exe-command (the full name or the
mnemonic) as argument.
No formal description of the lst-commands can be retrieved with lstMIBDescription.
Examples
COM1> lmd, Overview <CR>
$R; lmd, Overview
... Here comes the generic command syntax ...
COM1>
COM1> lmd, grc <CR>
$R; lmd, grc
... Here comes the description of getReceiverCapabilities ...
COM1>
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3 Command Line Reference
grc
getReceiverCapabilities
RxControl: Help > Receiver Interface > Permitted Capabilities
Use this command to retrieve the so-called "capabilities" of your receiver. The first returned
value is the list of supported antenna(s), followed by the list of supported signals, the list of
available communication ports and the list of enabled features.
The three values at the end of the reply line correspond to the default measurement interval,
the default PVT interval and the default integrated INS/GNSS interval respectively. This is
the interval at which the corresponding SBF blocks are output when the OnChange rate is
selected with the setSBFOutput command. These values are expressed in milliseconds.
Each of the above-mentioned lists contain one or more of the elements in the tables below.
Antennas
Description
Main
The receiver’s main antenna.
Aux1
First auxiliary antenna.
Signals
Description
GPSL1CA
GPS L1 C/A signal.
GPSL2PY
GPS L2 P(Y) signal.
GPSL2C
GPS L2 C signal.
GLOL1CA
GLONASS L1 C/A signal.
GLOL2CA
GLONASS L2 C/A signal.
GALL1BC
Galileo L1 BC signal.
GALE5b
Galileo E5b signal.
GEOL1
SBAS L1 C/A signal.
BDSB1I
BeiDou B1I signal.
BDSB2I
BeiDou B2I signal.
QZSL1CA
QZSS L1 C/A signal.
QZSL2C
QZSS L2 C signal.
ComPorts
Description
COM1
Serial port 1.
COM2
Serial port 2.
COM3
Serial port 3.
COM4
Serial port 4.
USB1
USB-device virtual serial port 1.
USB2
USB-device virtual serial port 2.
IP10
TCP/IP port 1.
IP11
TCP/IP port 2.
65
3 Command Line Reference
ComPorts (Continued)
Description
IP12
TCP/IP port 3.
IP13
TCP/IP port 4.
IP14
TCP/IP port 5.
IP15
TCP/IP port 6.
IP16
TCP/IP port 7.
IP17
TCP/IP port 8.
NTR1
NTRIP port 1.
NTR2
NTRIP port 2.
NTR3
NTRIP port 3.
IPS1
IP Server port 1.
IPS2
IP Server port 2.
IPS3
IP Server port 3.
IPS4
IP Server port 4.
IPS5
IP Server port 5.
IPR1
IP Receive port 1.
IPR2
IP Receive port 2.
IPR3
IP Receive port 3.
Capabilities
Description
SBAS
Positioning with SBAS corrections.
DGPSRover
Positioning with DGPS corrections.
RTKRover
Positioning with RTK corrections.
RTCMv23
Generation/decoding of RTCM v2.3 corrections.
RTCMv3x
Generation/decoding of RTCM v3.x corrections.
CMRv20
Generation/decoding of CMR v2.0 corrections.
xPPSOutput
Generation of xPPS output signal.
TimedEvent
Accurate time mark of event signals.
InternalLogging
Internal logging.
Heading
Multi-antennas heading computation.
APME
A-Posteriori Multipath Estimator.
RAIM
Receiver Autonomous Integrity Monitoring.
INS
Aiding from an Inertial Navigation System.
MeasAv
Measurement availability.
IM
Interference mitigation.
FreqSync
External frequency input.
Example
COM1>
grc <CR>
66
3 Command Line Reference
$R: grc
ReceiverCapabilities, Main, GPSL1CA+GEOL1, COM1+COM2+COM3+COM4+
USB1+USB2,
APME+SBAS, 100, 100, 100
COM1>
67
3 Command Line Reference
gri
getReceiverInterface
Item
+ RxName
+ SNMPLanguage
+ SNMPVersion
all
RxControl: Help > Receiver Interface > Interface Version
Use this command to retrieve the version of the receiver command-line interface. The
reply to this command is a subset of the reply returned by the lstInternalFile,
Identification command.
Example
COM1> gri <CR>
$R: gri
ReceiverInterface, RxName, AsteRx1
ReceiverInterface, SNMPLanguage, English
ReceiverInterface, SNMPVersion, 20060308
COM1>
68
3 Command Line Reference
era
exeRegisteredApplications
Cd
gra
getRegisteredApplications
Cd
+ COM1
Application (12)
Unknown
+ COM2
+ COM3
+ COM4
+ USB1
+ USB2
+ IP10 ... IP17
all
RxControl: Communication > Registration
Use these commands to define/inquire the name of the application that is currently using a
given connection descriptor (Cd - see 1.1.5 ).
Registering an application name for a connection does not affect the receiver operation,
and is done on a voluntary basis. Application registration can be useful to developers of
external applications when more than one application is to communicate with the receiver
concurrently. Whether or not this command is used, and the way it is used is up to the
developers of external applications.
Example
COM1> era, com1, MyApp <CR>
$R: era, com1, MyApp
RegisteredApplications, COM1, "MyApp"
RegisteredApplications, COM2, "Unknown"
RegisteredApplications, COM3, "Unknown"
RegisteredApplications, USB1, "Unknown"
RegisteredApplications, USB2, "Unknown"
COM1>
69
3 Command Line Reference
erst
exeResetReceiver
grst
getResetReceiver
Level
EraseMemory
Soft
none
Hard
+ Config
Upgrade
+ PVTData
+ SatData
+ IMUData
+
HTTPSCertificate
all
RxControl: File > Reset Receiver
Use this command to reset the receiver and to erase some previously stored data. The first
argument specifies which level of reset you want to execute:
Level
Description
Soft
This is a reset of the receiver’s firmware. After a few seconds,
the receiver will restart operating in the same configuration as
before the command was issued, unless the "Config" value
is specified in the second argument.
Hard
This is similar to a power off/on sequence. After hardware
reset, the receiver will use the configuration saved in the boot
configuration file.
Upgrade
Set the receiver into upgrade mode. After a few seconds, the
receiver is ready to accept an upgrade file (SUF format) from
any of its connections.
The second argument specifies which part of the non-volatile memory should be erased
during the reset. The following table contains the possible values for the EraseMemory argument:
EraseMemory
Description
Config
The receiver’s configuration is reset to the factory default,
with the following exceptions.
The IP settings set by the setIPSettings and
setIPPortSettings commands keep their value.
The UHF table set by the setUHFChannelTable command
is maintained.
After reset, the Current and Boot configuration files are
erased (see the exeCopyConfigFile command), but the
User1 and User2 configuration files are kept unchanged.
PVTData
SatData
The latest computed PVT data stored in non-volatile memory
is erased.
All satellite navigation data (ephemeris, almanac, ionosphere
parameters, UTC, ...) stored in non-volatile memory is erased.
IMUData
All IMU data stored in non-volatile memory is erased.
HTTPSCertificate
Remove current HTTPS certificate. It will be replaced by a
self-signed certificate at boot.
70
3 Command Line Reference
Before resetting, the receiver broadcasts a "$TE ResetReceiver" message to all active
communication ports, to inform all users of the imminent reset.
After a reset, the user may have to adapt the communication settings of his/her terminal
program as they may be reset to their default values.
Example
COM1> erst, soft, none <CR>
$R: erst, soft, none
ResetReceiver, Soft, none
STOP>
$TE ResetReceiver Soft
STOP>
71
3 Command Line Reference
3.2.2
epwm
exePowerMode
gpwm
getPowerMode
Standby and Sleep Configuration
Mode
ScheduledSleep
StandBy
RxControl: File > Power Mode > Shut Down
Use this command to set the receiver in sleep or standby mode, in which it consumes only a
fraction of its normal operational power.
When in standby mode, the receiver can be awoken by sending the appropriate signal to one
of its input pins (see the receiver Hardware Manual or User Manual for details).
With the ScheduledSleep option, the receiver automatically sleeps and wakes up at regular intervals. This functionality is controlled by the setWakeUpInterval command.
Upon waking up, the receiver applies the configuration that is stored in the boot configuration file (see the lstConfigFile command).
Before entering standby mode, the receiver broadcasts a "$TE PowerMode" message to all
active communication ports, to inform all users of the imminent halt.
Example
COM1> epwm, Standby <CR>
$R: epwm, Standby
PowerMode, StandBy
STOP>
$TE PowerMode Standby
STOP>
72
3 Command Line Reference
swui
setWakeUpInterval
gwui
getWakeUpInterval
WakeUpTime (30) AwakeDuration
2000-01-01 00:00:00
0 . . . 604800 s
RepetitionPeriod
0 . . . 604800 s
RxControl: File > Power Mode > Scheduling
This command can be used to set up an automatic receiver awake/sleep pattern. It is possible to order the receiver to wake up at a given time, for a certain period, and/or at regular
intervals. A possible application is keeping fast time-to-first-fix even after days in sleep mode.
This can be done by waking up the receiver every few hours for a few minutes, such that it
can regularly refresh its ephemerides.
The WakeUpTime argument defines the epoch when the receiver should automatically wake
up the first time. It also serves as reference epoch for the RepetitionPeriod argument. The
time system in which the user should express the WakeUpTime is the GNSS time as defined
by the setTimingSystem command. The format of the WakeUpTime argument is "YYYYMM-DD hh:mm:ss".
The AwakeDuration argument defines the period for which the receiver should stay awake. If
this argument is set to 0 (the default value), the receiver will remain awake indefinitely.
The RepetitionPeriod can be used to repeat the awake/sleep pattern at regular interval. RepetitionPeriod should be at least 5 seconds longer than AwakeDuration to allow a minimum
sleep time of 5 seconds between awake periods. If RepetitionPeriod is set to a value smaller
than AwakeDuration, the repetition functionality is disabled.
Be aware that the receiver must know the time to automatically go into sleep mode: if no
antenna is connected to the receiver or if not enough satellites could be tracked after boot,
the receiver will continue operating beyond its prescribed awake duration, and only possibly
enter sleep mode at the next scheduled "go-to-sleep" epoch, if any.
To force the receiver to go into sleep mode immediately, use the command exePowerMode,
ScheduledSleep instead.
If interaction with the receiver is needed during the sleep period, the user can always force
the receiver to wake up by hardware means. See the receiver Hardware Manual or User
Manual for details. When maintenance is done, the user should put the receiver back
in sleep mode by typing exePowerMode, ScheduledSleep. This does not perturb the
awake/sleep pattern: the receiver will continue to automatically wake up at the next wakeup epoch.
Each time the receiver wakes up, it applies the boot configuration. For the receiver to
wake up in the current configuration, it has to be saved in the boot configuration with the
exeCopyConfigFile command. In particular, when using the repetitive awake/sleep pattern, the command exeCopyConfigFile,current,boot must be entered before the
first time that the receiver enters sleep mode. This is to make sure that the awake/sleep
pattern configuration is not lost during the sleep periods.
Examples
If you want the receiver waking up on December 31, 2012 at 23h00 for 2 hours, use:
COM1> swui, "2012-12-31 23:0:0", 7200 <CR>
$R: swui, "2012-12-31 23:0:0", 7200
73
3 Command Line Reference
WakeUpInterval, "2012-12-31 23:00:00", 7200, 0
COM1>
If you want to set up an automatic wake up every day at midnight for 1 hour, use:
COM1> swui, , 3600, 86400 <CR>
$R: swui, , 3600, 86400
WakeUpInterval, "2000-01-01 00:00:00", 3600, 86400
COM1> eccf, Current, Boot <CR>
$R: eccf, Current, Boot
CopyConfigFile, Current, Boot
COM1>
74
3 Command Line Reference
3.2.3
lcu
User Management
lstCurrentUser
Use this command to check which user is currently logged in on this port, if any. See also the
login command.
Example
COM1> lcu <CR>
$R! lstCurrentUser
Not logged in.
COM1> login, admin, admin <CR>
$R! LogIn
User admin logged in.
COM1> lcu <CR>
$R! lstCurrentUser
Logged in as admin.
COM1>
75
3 Command Line Reference
sdal
setDefaultAccessLevel
gdal
getDefaultAccessLevel
Web
Dsk
Ip
Com
Usb
none
none
none
none
none
Viewer
Viewer
Viewer
Viewer
Viewer
User
User
User
User
User
RxControl: File > User Management
This command defines what an anonymous user is authorized to do when connected to the
receiver. An anonymous user is one who has not logged in with the login command.
The anonymous authorization level can be set independently for the different interfaces.
For all arguments except Dsk, setting the authorization level to User grants full control of
the receiver to the anonymous user connected through the corresponding connection. The
Viewer level allows the anonymous user to view the receiver configuration without changing
it (i.e. to only issue get-commands). none prevents anonymous users from viewing or
changing the configuration.
For the Dsk argument, Viewer means that the anonymous user is allowed to download log
files from the receiver using FTP, but not to delete them. User means that the anonymous
user can both download and delete files, and none disables anonymous accesses.
To perform actions not allowed to anonymous users, you first need to authenticate yourself
by entering a UserName and Password through the login command.
See also the commands setUserAccessLevel to learn how to define user accounts.
This command does not change the status of existing connections. For example, for Com or
Usb connections, it will only take effect after a reset.
Example
COM1> sdal, User, User, none, User, Viewer<CR>
$R: sdal, User, User, none, User, Viewer
DefaultAccessLevel, User, User, none, User, Viewer
COM1>
76
3 Command Line Reference
login
LogIn
UserName (16)
Password (32)
Use this command to authenticate yourself. When initially connecting to the receiver, a user
is considered "anonymous". The level of control granted to anonymous users is defined by
the command setDefaultAccessLevel.
To perform actions not allowed to anonymous users, you need to authenticate yourself by
entering a UserName and Password through the login command.
The list of user names and passwords and their respective access level can be managed with
the setUserAccessLevel command. Login fails if the provided UserName or Password is
not in that list.
The logout command returns to unauthenticated (anonymous) access.
The
lstCurrentUser command can be invoked to find out which user is logged in on
the current port.
It is not necessary to log out before logging in as a different user.
Examples
To log in as user "admin" with password "admin", use
COM1> login, admin, admin <CR>
$R! LogIn
User admin logged in.
COM1>
Logging in with a wrong username or password gives an error:
COM1> login, foo, foo <CR>
$R? LogIn: Wrong username or password!
COM1>
If the user does not have sufficient access right, some commands may give an error:
COM1> sso, Stream1, COM1, MeasEpoch, sec1 <CR>
$R? SBFOutput: Not authorized!
COM1>
77
3 Command Line Reference
logout
LogOut
Use this command to return to anonymous access. It is the reverse of login.
Example
The following sequence of commands logs in as user "admin" with password "admin", reconfigures SBF output, and logs out again:
COM1> login, admin, admin <CR>
$R! LogIn
User admin logged in.
COM1> sso, Stream1, COM1, PVTCartesian, sec1 <CR>
$R: sso, Stream1, COM1, PVTCartesian, sec1
SBFOutput, Stream1, COM1, PVTCartesian, sec1
COM1> logout <CR>
$R! LogOut
User admin logged out.
COM1>
78
3 Command Line Reference
sual
setUserAccessLevel
UserID
gual
getUserAccessLevel
UserID
UserName (16)
Password (32)
UserLevel
+ User1 ... User8
Viewer
all
User
SSHKey (232)
RxControl: File > User Management
Use these commands to manage the user accounts and their access rights on the receiver.
Up to eight user accounts can be defined (User1 to User8).
Each user is identified with a UserName and Password, and has a certain level of acces (UserLevel). If UserLevel is User, the user has full control of the receiver. If it is Viewer, the user
can only issue get-commands.
The SSHKey argument can be used to associate an SSH public key to a user. RSA and ECDSA
PEM-encoded (base64) public keys conforming to RFC 4716 are supported. The number of
bits in the key must be such that the corresponding base64 public key does not exceed 232
characters. RSA keys need to be at least 1024 bits long. Whenever possible, using the 521-bit
ECDSA key is recommended for enhanced security. The corresponding base64 public key is
a 232-character string.
When an SSH key is defined with the SSHKey argument, a user can download log files using
SFTP or rsync without the need for entering a password, provided the matching private key
is known by the key agent running on his machine.
To delete an user account, use the empty string "" as UserName and Password.
Note that the receiver encrypts the password so that it cannot be read back with the command getUserAccessLevel.
Example
COM1> sual, User3, Mildred, mypwd, Viewer, AAAAE2VjZH ...
a9YSdPMw==<CR>
$R: sual, User3, Mildred, mypwd, Viewer, AAAAE2VjZH ... a9YSdPMw==
UserAccessLevel, User3, Mildred, mypwd, Viewer, AAAAE2VjZH ...
a9YSdPMw==
COM1>
79
3 Command Line Reference
3.2.4
Tracking and Measurement Generation
sca
setChannelAllocation
Channel
gca
getChannelAllocation
Channel
Satellite
Search
Doppler
Window
+ Ch01 ... Ch40
auto
auto
all
G01 ... G32
manual
-50000 . . . 0
. . . 50000 Hz
1 . . . 16000
. . . 100000 Hz
F01 ... F14
E01 ... E36
S120 ... S158
C01 ... C37
J01 ... J07
RxControl: Navigation > Advanced User Settings > Channel Allocation
Use these commands to define/inquire the satellite-to-channel allocation of the receiver.
The action of the setChannelAllocation command is to force the allocation of a particular satellite on the set of channels identified with the Channel argument, thereby overruling
the automatic channel allocation performed by the receiver. It is possible to allocate the
same satellite to more than one channel. If you assign a satellite to a given channel, any
other channel that was automatically allocated to the same satellite will be stopped and will
be reallocated.
The values Gxx, Exx, Fxx, Cxx, Jxx and Sxxx for the Satellite argument represent GPS,
Galileo, GLONASS, BeiDou, QZSS and SBAS satellites respectively. For GLONASS, the frequency number (with an offset of 8) should be provided, and not the slot number (hence the
"F"). Setting the Satellite argument to auto brings the channel back in auto-allocation mode.
The user can specify the Doppler window in which the receiver has to search for the satellite. This is done by setting the Search argument to manual. In that case, the Doppler and
Window arguments can be provided: the receiver will search for the signal within an interval
of Window Hz centred on Doppler Hz. The value to be provided in the Doppler argument is
the expected Doppler at the GPS L1 carrier frequency (1575.42MHz). This value includes the
geometric Doppler and the receiver and satellite frequency biases. Specifying a Doppler window can speed up the search process in some circumstances. A satellite already in tracking
that falls outside of the prescribed window will remain in tracking.
If Search is set to auto, the receiver applies its usual search procedure, as it would do for
auto-allocated satellites, and the Doppler and Window arguments are ignored.
Be aware that this command may disturb the normal operation of the receiver and is intended only for expert-level users.
Examples
COM1> sca, Ch05, G01 <CR>
$R: sca, Ch05, G01
ChannelAllocation, Ch05, G01, auto, 0, 16000
COM1>
COM1> gca, Ch05 <CR>
$R: gca, Ch05
ChannelAllocation, Ch05, G01, auto, 0, 16000
COM1>
80
3 Command Line Reference
scm
setCN0Mask
Signal
gcm
getCN0Mask
Signal
+ GPSL1CA
+ Reserved2
Mask
0 . . . 10 . . . 60
dB-Hz
+ GPSL2C
+ GLOL1CA
+ GLOL2CA
+ GALL1BC
+ GALE5b
+ GEOL1
+ BDSB1I
+ BDSB2I
+ QZSL1CA
+ QZSL2C
all
RxControl: Navigation > Receiver Operation > Masks
Use these commands to define/inquire the carrier-to-noise ratio mask for the generation of
measurements. The receiver does not generate measurements for those signals of which the
C/N0 is under the specified mask, and does not include these signals in the PVT computation.
However, it continues to track these signals and to decode and use the navigation data as
long as possible, regardless of the C/N0 mask.
The mask can be set independently for each of the signal types supported by the receiver,
except for the GPS P-code, of which the mask is fixed at 1 dB-Hz (this is because of the
codeless tracking scheme needed for GPS P-code).
Examples
COM1> scm, GEOL1, 30 <CR>
$R: scm, GEOL1, 30
CN0Mask, GEOL1, 30
COM1>
COM1> gcm, GEOL1 <CR>
$R: gcm, GEOL1
CN0Mask, GEOL1, 30
COM1>
81
3 Command Line Reference
smm
setMultipathMitigation
gmm
getMultipathMitigation
Code
Carrier
off
off
on
on
RxControl: Navigation > Receiver Operation > Tracking and Measurements > Multipath
Use these commands to define/inquire whether multipath mitigation is enabled or not.
The arguments Code and Carrier enable or disable the A-Posteriori Multipath Estimator
(APME) for the code and carrier phase measurements respectively. APME is a technique
by which the receiver continuously estimates the multipath error and corrects the measurements accordingly.
This multipath estimation process slightly increases the thermal noise on the pseudoranges.
However, this increase is more than compensated by the dramatic decrease of the multipath
noise.
Examples
COM1> smm, on, off <CR>
$R: smm, on, off
MultipathMitigation, on, off
COM1>
COM1> gmm <CR>
$R: gmm
MultipathMitigation, on, off
COM1>
82
3 Command Line Reference
sst
setSatelliteTracking
gst
getSatelliteTracking
Satellite
none
+ G01 ... G32
+ R01 ... R30
+ E01 ... E36
+ S120 ... S158
+ C01 ... C37
+ J01 ... J07
+ GPS
+ GLONASS
+ GALILEO
+ SBAS
+ BEIDOU
+ QZSS
all
RxControl: Navigation > Advanced User Settings > Tracking > Satellite Tracking
Use these commands to define/inquire which satellites are allowed to be tracked by the
receiver. It is possible to enable or disable a single satellite (e.g. G01 for GPS PRN1), or a
whole constellation. Gxx, Exx, Rxx, Cxx, Jxx and Sxxx refer to a GPS, Galileo, GLONASS,
BeiDou, QZSS or SBAS satellite respectively. GLONASS satellites must be referenced by their
slot number in this command.
For a satellite to be effectively tracked by the receiver, make sure that at least one of its
signals is enabled in the setSignalTracking command.
A satellite which is disabled by this command is not considered anymore in the automatic
channel allocation mechanism, but it can still be forced to a given channel, and tracked, using
the setChannelAllocation command.
Tracking a satellite does not automatically mean that the satellite will be included in the
PVT computation. The inclusion of a satellite in the PVT computation is controlled by the
setSatelliteUsage command.
Examples
To only enable the tracking of GPS satellites, use:
COM1> sst, GPS <CR>
$R: sst, GPS
SatelliteTracking, G01+G02+G03+G04+G05+G06+G07+G08+G09+G10+G11
+G12+G13+G14+G15+G16+G17+G18+G19+G20+G21+G22+G23+G24+G25+G26+G27
+G28+G29+G30+G31+G32
COM1>
To add all SBAS satellites in the list of satellites to be tracked, use:
COM1> sst, +SBAS <CR>
$R: sst, +SBAS
SatelliteTracking, G01+G02+G03+G04+G05+G06+G07+G08+G09+G10+G11
+G12+G13+G14+G15+G16+G17+G18+G19+G20+G21+G22+G23+G24+G25+G26+G27
...
COM1>
To remove SBAS PRN120 from the list of allowed satellites, use:
83
3 Command Line Reference
COM1> sst, -S120 <CR>
$R: sst, -S120
SatelliteTracking, G01+G02+G03+G04+G05+G06+G07+G08+G09+G10+G11
+G12+G13+G14+G15+G16+G17+G18+G19+G20+G21+G22+G23+G24+G25+G26+G27
...
COM1>
84
3 Command Line Reference
snt
setSignalTracking
gnt
getSignalTracking
Signal
+ GPSL1CA
+ GPSL2PY
+ GPSL2C
+ GLOL1CA
+ GLOL2CA
+ GALL1BC
+ GALE5b
+ GEOL1
+ BDSB1I
+ BDSB2I
+ QZSL1CA
+ QZSL2C
+ GPS
+ GLONASS
+ GALILEO
+ SBAS
+ BEIDOU
+ QZSS
all
RxControl: Navigation > Advanced User Settings > Tracking > Signal Tracking
Use these commands to define/inquire which signals are allowed to be tracked by the receiver. The signals can be addressed individually, or all signals from a constellation can be
addressed at once. For example, GALILEO is an alias for all Galileo signals.
Note that some signals can only be enabled together with other signals:
• enabling GPSL2PY has no effect unless GPSL1CA is enabled as well;
Invoking this command causes all tracking loops to stop and restart.
Examples
To configure the receiver in a single-frequency L1 GPS+SBAS mode, use:
COM1> snt, GPSL1CA+GEOL1 <CR>
$R: snt, GPSL1CA+GEOL1
SignalTracking, GPSL1CA+GEOL1
COM1>
COM1> gnt <CR>
$R: gnt
SignalTracking, GPSL1CA+GEOL1
COM1>
85
3 Command Line Reference
ssi
setSmoothingInterval
Signal
gsi
getSmoothingInterval
Signal
+ GPSL1CA
Interval
Alignment
0 . . . 1000 s
0 . . . 1000 s
+ GPSL2PY
+ GPSL2C
+ GLOL1CA
+ GLOL2CA
+ GALL1BC
+ GALE5b
+ GEOL1
+ BDSB1I
+ BDSB2I
+ QZSL1CA
+ QZSL2C
all
RxControl: Navigation > Receiver Operation > Tracking and Measurements > Smoothing
Use these commands to define/inquire the code measurement smoothing interval.
The Interval argument defines the length of the smoothing filter that is used to smooth the
code measurements by the carrier phase measurements. It is possible to define a different
interval for each signal type. If Interval is set to 0, the code measurements are not smoothed.
The smoothing interval can vary from 1 to 1000 seconds.
To prevent transient effect from perturbing the smoothing filter, smoothing is disabled
during the first ten seconds of tracking, i.e. when the lock time is lower than 10s.
Likewise, the smoothing effectively starts with a delay of 10 seconds after entering the
setSmoothingInterval command.
Code smoothing allows reducing the pseudoranges noise and multipath. It has no influence
on the carrier phase and Doppler measurements. The smoothing filter has an incremental
effect; the noise of the filtered pseudoranges will decrease over time and reach its minimum
after Interval seconds. For some applications, it may be necessary to wait until this transient
effect is over before including the measurement in the PVT computation. This is the purpose
of the Alignment argument. If Alignment is not set to 0, measurements taken during the first
Alignment+10 seconds of tracking will be discarded. The effective amount of Alignment is
never larger than Interval, even if the user sets it to a larger value.
Examples
COM1> ssi, GPSL1CA, 300 <CR>
$R: ssi, GPSL1CA, 300
SmoothingInterval, GPSL1CA, 300, 0
COM1>
COM1> gsi, GPSL1CA <CR>
$R: gsi, GPSL1CA
SmoothingInterval, GPSL1CA, 300, 0
COM1>
86
3 Command Line Reference
3.2.5
sam
setAGCMode
Band
gam
getAGCMode
Band
Frontend and Interference Mitigation
Mode
Gain
+ L1
auto
0 . . . 35 . . . 70 dB
+ L2
frozen
all
manual
RxControl: Navigation > Advanced User Settings > Frontend and Interference Mitigation > Frontend Settings
Use these commands to define/inquire the operation mode of the Automatic Gain Control
(AGC) in the receiver frontend. The AGC is responsible for amplifying the input RF signal to
an appropriate level.
By default (Mode is set to auto), the AGC automatically adjusts its gain in function of the
input signal power. In frozen mode, the AGC gain is kept constant at its current value (after
a ten-second stabilisation period) and does not follow any subsequent variation of the input
signal power. In manual mode, the user can set the gain to a fixed value specified by the
Gain argument. The Gain argument is ignored in auto and frozen modes.
The first argument (Band) specifies for which frequency band the settings apply.
Example
COM1> sam, all, frozen <CR>
$R: sam, all, frozen
AGCMode, L1, frozen, 30
COM1>
87
3 Command Line Reference
sbbs
setBBSamplingMode
gbbs
getBBSamplingMode
Mode
BeforeIM
AfterIM
RxControl: Navigation > Advanced User Settings > Frontend and Interference Mitigation > Frontend Settings
Use this command to configure the baseband samples (ADC samples) logged in the
BBSamples SBF block.
The following sampling modes are defined:
Mode
Description
BeforeIM
The samples in the BBSamples SBF block are taken before
interference mitigation (see the setNotchFiltering
command). All frequency bands are sampled in turn.
AfterIM
The samples in the BBSamples SBF block are taken after
interference mitigation (see the setNotchFiltering
command). All frequency bands are sampled in turn.
Example
COM1> sbbs, BeforeIM <CR>
$R: sbbs, BeforeIM
BBSamplingMode, BeforeIM
COM1>
88
3 Command Line Reference
sfm
setFrontendMode
gfm
getFrontendMode
Mode
Nominal
SingleAnt
RxControl: Navigation > Advanced User Settings > Frontend and Interference Mitigation > Frontend Settings
Use these commands to define/inquire the frontend operating mode. The following modes
are available.
Mode
Description
Nominal
Nominal operation.
SingleAnt
Disable auxiliary antenna.
Example
COM1> sfm, Nominal <CR>
$R: sfm, Nominal
FrontendMode, Nominal
COM1>
89
3 Command Line Reference
snf
setNotchFiltering
Notch
gnf
getNotchFiltering
Notch
Mode
CenterFreq
Bandwidth
Antenna
+ Notch1
auto
Main
off
1100.000
. . . 1700.000 MHz
30 . . . 1600 kHz
+ Notch2
+ Notch3
manual
Aux1
all
RxControl: Navigation > Advanced User Settings > Frontend and Interference Mitigation > Frontend Settings
Use these commands to set the position of the notch filter(s) in the receiver’s frontend. Notch
filters are used to cancel narrowband interferences.
The Mode argument is used to enable or disable the notch filter specified in the first argument. When set to auto, the receiver performs automatic detection of the region of the
spectrum affected by interference if any. In manual mode, the user forces a certain region
of the spectrum to be blanked by the notch filter. That region must be specified by the arguments CenterFreq and Bandwidth. Bandwidth is the double-sided bandwidth centered at
CenterFreq. Specifying a region outside of a GNSS band has no effect. The Antenna argument
specifies on which antenna the notch must be set.
In some cases, changing the operating mode of the notch filters (i.e. modifying the Mode
argument) can cause the tracking loops to reset.
Example
COM1> snf, Notch1, manual, 1227.0, 30, Main<CR>
$R: snf, Notch1, manual, 1227.0, 30, Main
NotchFiltering, Notch1, manual, 1227.000, 30, Main
COM1>
90
3 Command Line Reference
swbi
setWBIMitigation
gwbi
getWBIMitigation
Mode
off
on
RxControl: Navigation > Advanced User Settings > Frontend and Interference Mitigation > Frontend Settings
Use this command to enable or disable the mitigation of wideband interferences, including
swept-frequency or pulsed interferences. When enabled (argument Mode set to on), the
interference mitigation is done automatically and can be monitored with the RFStatus SBF
block.
Invoking this command causes all tracking loops to stop and restart.
Example
COM1> swbi, off<CR>
$R: swbi, off
WBIMitigation, off
COM1>
91
3 Command Line Reference
3.2.6
Navigation Filter
sat
setAntennaType
Antenna
gat
getAntennaType
Antenna
+ Main
Type (20)
Unknown
+ Aux1
all
RxControl: Navigation > Receiver Setup > Antennas
Use these commands to define/inquire the type of antennas connected to your receiver.
Use the argument Type to specify the type of your antenna. For best positional accuracy, it is
recommended to select a type from the list returned by the command lstAntennaInfo,
Overview. This is the list of antennas for which the receiver can compensate for phase
center variation (see section 2.5). If Type does not match any entry in the list returned by
lstAntennaInfo, Overview, the receiver will assume that the phase center variation
is zero at all elevations and frequency bands, and the position will not be as accurate. If
the antenna name contains whitespaces, it has to be enclosed between double quotes. For
proper name matching, it is important to keep the exact same number of whitespaces and
the same case as the name returned by lstAntennaInfo, Overview.
Example
COM1> sat, Main, "AERAT2775_159 SPKE"<CR>
$R: sat, Main, "AERAT2775_159
SPKE"
AntennaType, Main, "AERAT2775_159
SPKE"
COM1>
92
3 Command Line Reference
sdca
setDiffCorrMaxAge
gdca
getDiffCorrMaxAge
DGPSCorr
RTKCorr
PPPCorr
Iono
0.0 . . . 400.0
. . . 3600.0 s
0.0 . . . 20.0
. . . 3600.0 s
0.0 . . . 0.0 s
0.0 . . . 600.0
. . . 3600.0 s
RxControl: Navigation > Positioning Mode > Differential Corrections
Use these commands to define/inquire the maximum age acceptable for a given differential correction type. A correction is applied only if its age (aka latency) is under the
timeout specified with this command and if it is also under the timeout specified with
the MaxAge argument of the setDiffCorrUsage command. In other words, the command setDiffCorrUsage sets a global maximum timeout value, while the command
setDiffCorrMaxAge can force shorter timeout values for certain correction types.
The argument DGPSCorr defines the timeout of the range corrections when the PVT is computed in DGPS mode.
The argument RTKCorr defines the timeout of the base station code and carrier phase measurements when the PVT is computed in RTK mode.
The argument PPPCorr defines the timeout of the wide-area satellite clock and orbit corrections used in PPP mode (only applicable if your receiver supports PPP positioning mode).
The argument Iono defines the timeout of the ionospheric corrections (such as transmitted
in RTCM2.x MT15) used in DGPS PVT mode.
If the timeout is set to 0, the receiver will never apply the corresponding correction.
Note that this command does not apply to the corrections transmitted by SBAS satellites. For
these corrections, the receiver always applies the timeout values prescribed in the DO229
standard.
Example
COM1> sdca, 10 <CR>
$R: sdca, 10
DiffCorrMaxAge, 10.0, 20.0, 300.0, 300.0
COM1>
93
3 Command Line Reference
sdcu
setDiffCorrUsage
gdcu
getDiffCorrUsage
Mode
MaxAge
BaseSelection
BaseID
MovingBase
MaxBase
MaxBaseline
LowLatency
0.1 . . . 3600.0 s
auto
0 . . . 4095
off
2 . . . 5 . . . 10
0 . . . 2500000 m
manual
RxControl: Navigation > Positioning Mode > Differential Corrections
Use these commands to define/inquire the usage of incoming differential corrections in
DGPS or RTK rover mode.
The Mode argument defines the type of differential solution that will be computed by the
receiver. If LowLatency is selected, the PVT is computed at the moment local measurements of the receiver are available and the most recently received differential corrections
are extrapolated to the current time.
The MaxAge argument defines the maximum age of the differential corrections to be considered valid. MaxAge applies to all types of corrections (DGPS, RTK, satellite orbit, etc), except
for those received from a SBAS satellite. See also the command setDiffCorrMaxAge to
set different maximum ages for different correction types.
The BaseSelection argument defines how the receiver should select the base station(s) to be
used. If auto is selected and the receiver is in DGPS-rover mode, it will use all available base
stations. If auto is selected and the receiver is in RTK-rover mode, it will automatically select
the nearest base station. If manual is selected, the receiver will only use the corrections
from the base station defined by the BaseID argument (in both DGPS and RTK modes).
The MovingBase argument defines whether the base station is static or moving.
MaxBase sets the maximum number of base stations to include in the PVT solution in multibase DGNSS mode.
MaxBaseline sets the maximum baseline length: base stations located beyond the maximum
baseline length are excluded from the PVT.
Example
COM1> sdcu, LowLatency, 5.0, manual, 1011, off, 2, 10000<CR>
$R: sdcu, LowLatency, 5.0, manual, 1011, off, 2, 10000
DiffCorrUsage, LowLatency, 5.0, manual, 1011, off, 2, 10000
COM1>
94
3 Command Line Reference
sem
setElevationMask
Engine
gem
getElevationMask
Engine
+ Tracking
Mask
-90 . . . 0 . . . 90 deg
+ PVT
all
RxControl: Navigation > Receiver Operation > Masks
Use these commands to set or get the elevation mask in degrees. There are two masks
defined: a tracking mask and a PVT mask.
Satellites under the tracking elevation mask are not tracked, and therefore there is no measurement, nor navigation data available from them. The tracking elevation mask does not
apply to SBAS satellites: SBAS satellites are generally used to supply corrections and it is undesirable to make the availability of SBAS corrections dependent on the satellite elevation.
The tracking elevation mask does not apply to satellites that are manually assigned with the
setChannelAllocation command.
Satellite under the PVT mask are not included in the PVT solution, though they still provide
measurements and their navigation data is still decoded and used. The PVT elevation mask
do apply to the SBAS satellites: the ranges to SBAS satellites under the elevation mask are
not used in the PVT, but the SBAS corrections are still decoded and potentially used in the
PVT.
Although possible, it does not make sense to select a higher elevation mask for the tracking
than for the PVT, as, obviously, a satellite which is not tracked cannot be included in the PVT.
The mask can be negative to allow the receiver to track satellites below the horizon. This can
happen in case the receiver is located at high altitudes or if the signal is refracted through
the atmosphere.
Example
COM1> sem, Tracking, 15<CR>
$R: sem, Tracking, 15
ElevationMask, Tracking, 15
COM1>
95
3 Command Line Reference
sgu
setGeoidUndulation
ggu
getGeoidUndulation
Mode
Undulation
auto
-250.000 . . . 0.000
. . . 250.000 m
manual
RxControl: Navigation > Receiver Operation > Position > Earth Models
Use these commands to define/inquire the geoid undulation at the receiver position. The
geoid undulation specifies the local difference between the geoid and the WGS84 ellipsoid.
If Mode is set to auto, the receiver computes the geoid undulation with respect to the WGS84
ellipsoid using the model defined in ‘Technical Characteristics of the NAVSTAR GPS, NATO,
June 1991’, regardless of the datum specified with the setGeodeticDatum command. In
auto mode, the Undulation argument is ignored.
The geoid undulation is included in the PVTCartesian and the PVTGeodetic SBF blocks
and in the NMEA position messages.
Examples
COM1> sgu, manual, 25.3 <CR>
$R: sgu, manual, 25.3
GeoidUndulation, manual, 25.3
COM1>
COM1> ggu <CR>
$R: ggu
GeoidUndulation, manual, 25.3
COM1>
96
3 Command Line Reference
shm
setHealthMask
Engine
ghm
getHealthMask
Engine
Mask
+ Tracking
off
+ PVT
on
all
RxControl: Navigation > Receiver Operation > Masks
Use these commands to define/inquire whether measurements should be produced for unhealthy satellite signals, and whether these measurements should be included in the PVT
solution. All satellite signals of which the health is unknown to the receiver (because the
health information has not been decoded yet or is not transmitted) are considered healthy.
If Mask is on for the Tracking engine, no measurements are generated for unhealthy signals, but these signals will remain internally tracked and their navigation data will be decoded
and processed. This is to ensure immediate reaction in the event that the signal would become healthy again.
If Mask is on for the PVT engine, measurements from unhealthy signals are not included in
the PVT. Setting this mask to off must be done with caution: including a non-healthy signal
in the PVT computation may lead to unpredictable behaviour of the receiver.
Although possible, it does not make sense to enable unhealthy satellites for the PVT if they
are disabled for tracking.
Examples
To track unhealthy satellites/signals, use:
COM1> shm, Tracking, off <CR>
$R: shm, Tracking, off
HealthMask, Tracking, off
COM1>
COM1> ghm <CR>
$R: ghm
HealthMask, Tracking, off
HealthMask, PVT, on
COM1>
97
3 Command Line Reference
sio
setIMUOrientation
gio
getIMUOrientation
OrientationMode
ThetaX
SensorDefault
-180.000 . . . 0.000 -90.000 . . . 0.000
. . . 180.000 deg
. . . 90.000 deg
manual
ThetaY
ThetaZ
-180.000 . . . 0.000
. . . 180.000 deg
RxControl: Navigation > Positioning Mode > INS
Use this command to define/inquire the IMU sensor orientation. If OrientationMode is set
to SensorDefault, the receiver assumes that the sensor is attached to the vehicle in the
nominal orientation, i.e. horizontally, upside up and with the X axis marked on the sensor
pointing to the front of the vehicle. If OrientationMode is set to manual, the receiver will use
arguments ThetaX, ThetaY and ThetaZ to determine the sensor orientation with respect to
the vehicle frame. Positive angles correspond to a right-handed (clockwise) rotation of the
IMU with respect to its nominal orientation. The order of the rotations is as follows: ThetaZ
first, then ThetaY, then ThetaX. See also section 2.6.1.
Example
COM1> sio, manual, -90.0, 0.0, 0.0<CR>
$R: sio, manual, -90.0, 0.0, 0.0
IMUOrientation, manual, -90.000, 0.000, 0.000
COM1>
98
3 Command Line Reference
sial
setINSAntLeverArm
gial
getINSAntLeverArm
X
Y
Z
-100.000 . . . 0.000 -100.000 . . . 0.000 -100.000 . . . 0.000
. . . 100.000 m
. . . 100.000 m
. . . 100.000 m
RxControl: Navigation > Positioning Mode > INS
Use this command to define/inquire the lever arm from the IMU to the main GNSS antenna
ARP.
The X, Y and Z coordinates refer to the vehicle reference frame as defined in appendix A.
Note that providing an accurate IMU-antenna lever arm with this command is essential for
accurate navigation.
Example
COM1> sial, 0.1, -0.1, 0.2<CR>
$R: sial, 0.1, -0.1, 0.2
INSAntLeverArm, 0.100, -0.100, 0.200
COM1>
99
3 Command Line Reference
sinc
setINSNavConfig
ginc
getINSNavConfig
Mode
OutputType
OutputLocation
off
none
MainAnt
on
+ PosStdDev
POI1
+ Att
+ AttStdDev
+ Vel
+ VelStdDev
all
RxControl: Navigation > Positioning Mode > INS
Use this command to configure the INS navigation filter.
The Mode argument enables or disable the INS navigation filter.
The OutputType argument enables or disables the computation of INS attitude or velocity
and the associated standard deviations . If set to none, only the INS position is computed
and output in the INSNavGeod and INSNavCart SBF blocks.
The INS solution can either refer to the main GNSS antenna ARP or to a user-defined
point of interest (POI) on the vehicle, as set with the OutputLocation argument. The lever
arms from the IMU to the main antenna and to the POI must be specified with the
setINSAntLeverArm and setINSPOILeverArm commands.
Example
COM1> sinc, off, Att+Vel, MainAnt<CR>
$R: sinc, off, Att+Vel, MainAnt
INSNavConfig, off, Att+Vel, MainAnt
COM1>
100
3 Command Line Reference
sipl
setINSPOILeverArm
Option
gipl
getINSPOILeverArm
Option
+ POI1
all
X
Y
Z
-100.000 . . . 0.000 -100.000 . . . 0.000 -100.000 . . . 0.000
. . . 100.000 m
. . . 100.000 m
. . . 100.000 m
RxControl: Navigation > Positioning Mode > INS
Use this command to define/inquire the lever arm from the IMU to a user-defined point of
interest in the vehicle (POI1).
The X, Y and Z coordinates refer to the vehicle reference frame as defined in appendix A.
The reference point of the navigation output in the INSNavCart and INSNavGeod SBF
blocks is either the main GNSS antenna, or POI1. By default, POI1 is colocated with the IMU
reference point (lever arm is zero by default).
Example
COM1> sipl, POI1, 0.1, -0.1, 0.2<CR>
$R: sipl, POI1, 0.1, -0.1, 0.2
INSPOILeverArm, POI1, 0.100, -0.100, 0.200
COM1>
101
3 Command Line Reference
sism
setINSStdDevMask
gism
getINSStdDevMask
AttStdDev
PosStdDev
0.000 . . . 2.000
. . . 5.000 deg
0.000 . . . 100.000
m
RxControl: Navigation > Positioning Mode > INS
Use this command to configure the standard deviation mask of the INS navigation filter.
The AttStdDev argument configures an output limit on the standard deviation of the attitude angles and the PosStdDev argument on the standard deviation of the position. If either
limit is exceeded, the INS solution is not available and a specific error is indicated in the
INSNavGeod and INSNavCart SBF blocks.
Example
COM1> sism, 0.5, 1.0<CR>
$R: sism, 0.5, 1.0
INSStdDevMask, 0.500, 1.000
COM1>
102
3 Command Line Reference
sim
setIonosphereModel
gim
getIonosphereModel
Model
auto
off
Klobuchar
SBAS
MultiFreq
KlobucharBeiDou
RxControl: Navigation > Receiver Operation > Position > Atmosphere
Use these commands to define/inquire the type of model used to correct ionospheric errors
in the PVT computation. The following models are available:
Model
Description
auto
With this selection, the receiver will, based on the available
information, automatically select the best model on a satellite
to satellite basis.
The receiver will not correct measurements for the
ionospheric delay. This may be desirable if the receiver is
connected to a GNSS signal simulator.
off
Klobuchar
This model uses the parameters as transmitted by the GPS
satellites to compute the ionospheric delays.
SBAS
This model complies with the DO229 standard: it uses the
near real-time ionospheric delays transmitted by the SBAS
satellites in MT18 and MT26. If no such message has been
received, the Klobuchar model is selected automatically.
MultiFreq
This model uses a combination of measurements on different
carriers to accurately estimate ionospheric delays. It requires
the availability of at least dual-frequency measurements.
KlobucharBeiDou
This model uses the parameters as transmitted by the BeiDou
satellites to compute the ionospheric delays.
Unless the model is set to auto, the receiver uses the same model for all satellites, e.g. if the
Klobuchar model is requested, the Klobuchar parameters transmitted by GPS satellites are
used for all tracked satellites, regardless of their constellation.
If not enough data is available to apply the prescribed model to a given satellite (for instance
if only single-frequency measurements are available and the model is set to MultiFreq),
the satellite in question will be discarded from the PVT. Under most circumstances, it is recommended to leave the model to auto.
Examples
To disable the compensation for ionospheric delays, use:
COM1> sim, off <CR>
$R: sim, off
IonosphereModel, off
COM1>
COM1> gim <CR>
$R: gim
103
3 Command Line Reference
IonosphereModel, off
COM1>
104
3 Command Line Reference
smv
setMagneticVariance
gmv
getMagneticVariance
Mode
Variance
auto
-180.0 . . . 0.0
. . . 180.0 deg
manual
RxControl: Navigation > Receiver Operation > Position > Earth Models
Use these commands to define the magnetic variance (a.k.a. magnetic declination) at the
current position. The magnetic variance specifies the local offset of the direction to the
magnetic north with respect to the geographic north. The variance is positive when the
magnetic north is east of the geographic north.
By default (the argument Mode is set to auto), the receiver automatically computes the
variance according to the 12th generation of the International Geomagnetic Reference Field
(IGRF) model, using the IGRF2015 coefficients corrected for the secular variation.
Note that the magnetic variance is used solely in the generation of NMEA messages.
Examples
COM1> smv, manual, 1.1 <CR>
$R: smv, manual, 1.1
MagneticVariance, manual, 1.1
COM1>
COM1> gmv <CR>
$R: gmv
MagneticVariance, manual, 1.1
COM1>
105
3 Command Line Reference
snrc
setNetworkRTKConfig
gnrc
getNetworkRTKConfig
NetworkType
auto
VRS
RxControl: Navigation > Positioning Mode > Differential Corrections
Use these commands to define/inquire the type of the RTK network providing the differential
corrections.
In most cases, it is recommended to leave the Type argument to auto to let the receiver
autodetect the network type. For some types of VRS networks (especially for those having
long baselines between the base stations), optimal performance is obtained by forcing the
type to VRS.
Example
COM1> snrc, VRS <CR>
$R: snrc, VRS
NetworkRTKConfig, VRS
COM1>
106
3 Command Line Reference
spm
setPVTMode
gpm
getPVTMode
Mode
RoverMode
Rover
+ StandAlone
+ SBAS
+ DGPS
+ RTKFloat
+ RTKFixed
+ RTK
all
RxControl: Navigation > Positioning Mode > PVT Mode
Use these commands to define/inquire the main PVT mode of the receiver. The argument
Mode specifies the general positioning mode. If Rover is selected, the receiver assumes that
it is moving and it computes the best PVT allowed by the RoverMode argument.
The argument RoverMode specifies the allowed PVT modes when the receiver is operating in
Rover mode. Different modes can combined with the "+" operator. Refer to section 2.4 for
a description of the PVT modes. The value RTK is an alias for RTKFloat+RTKFixed. When
more than one mode is enabled in RoverMode, the receiver automatically selects the mode
that provides the most accurate solution with the available data.
Examples
COM1> spm, Rover, StandAlone+RTK <CR>
$R: spm, Rover, StandAlone+RTK
PVTMode, Rover, StandAlone+RTK, auto
COM1>
107
3 Command Line Reference
srl
setRAIMLevels
grl
getRAIMLevels
Mode
Pfa
Pmd
Reliability
off
-12 . . . -4 . . . -1
-12 . . . -4 . . . -1
-12 . . . -3 . . . -1
on
RxControl: Navigation > Receiver Operation > Position > Integrity
Use these commands to define/inquire the parameters of the Receiver Autonomous Integrity
Monitoring (RAIM) algorithm in rover PVT mode.
The Mode argument acts as an on/off switch: it determines whether RAIM is active or not.
The Pfa argument sets the probability of false alarm of the w-test used in the "identification"
step of the RAIM algorithm. Increasing this parameter increases the integrity but may reduce
the availability of the positional solution.
The Pmd argument sets the probability of missed detection, which the receiver uses to compute the Minimal Detectable Bias and hence the XERL values.
The Reliability argument sets the probability of false alarm of the Overall Model test used in
the "detection" step of the RAIM algorithm.
The value to be provided in the Pfa, Pmd and Reliability arguments are the base-10 logarithms
of the desired probabilities. For instance, if you want a probability of false alarm of 1e-6, you
have to set the Pfa argument to -6.
Examples
To configure the receiver outlier detection with a probability of 1e-4 (0.01%) that a false alarm
will be raised (type I error), a probability of 1e-4 (0.01%) that an outlier will be missed (type II
error) and an Overall Model probability of false alarm of 1e-6 (0.0001%), use:
COM1> srl, on, -4, -4, -6 <CR>
$R: srl, on, -4, -4, -6
RAIMLevels, on, -4, -4, -6
COM1>
To disable the outlier detection, use:
COM1> srl, off <CR>
$R: srl, off
RAIMLevels, off, -4, -4, -6
COM1>
108
3 Command Line Reference
srd
setReceiverDynamics
grd
getReceiverDynamics
Level
Motion
Max
Automotive
High
UAV
Moderate
Low
RxControl: Navigation > Receiver Operation > Position > Motion
Use these commands to set the type of dynamics the GNSS antenna is subjected to.
The Level argument sets the balance between noise and dynamics in the GNSS measurements and the PVT solution. If rapid displacements (such as those caused by shocks, drops,
and oscillations) need to be detected, the Level argument can be set to High. In that case,
high-frequency motion becomes visible at the expense of an increase in the noise. Conversely, if noise reduction is important, the Level argument can be set to Low. It is generally
recommended to keep the default value (Moderate), where the receiver will sense the dynamics and adapt itself accordingly. The Max level is a special setting, for which the navigation filter is disabled and the receiver computes epoch-by-epoch independent PVT solutions.
Note that the Max level can lead to a longer latency of the PVT output.
The Motion argument defines the general characteristics of the receiver motion, such as the
expected speed, rotation, and vibration level. This can help the receiver to optimize certain
parameters for your application.
Motion
Description
Automotive
Medium speed (<50m/s) motion. E.g. passenger cars, rail
vehicles. This setting is generally adequate for most
applications.
UAV
Unmanned Aerial Vehicle.
Example
COM1> srd, Max <CR>
$R: srd, Max
ReceiverDynamics, Max, Automotive
COM1>
109
3 Command Line Reference
ernf
exeResetNavFilter
grnf
getResetNavFilter
Level
+ PVT
+ AmbRTK
+ ExtSensorInt
+ GNSSAttitude
+
AmbGNSSAttitude
all
RxControl: Navigation > Receiver Initialization > Reset Navigation Filter
Use this command to reset the different navigation filters in the receiver. The user can reset
each navigation filter independently or together with the value all.
The following values for Level are defined:
Level
Description
PVT
Reset the whole PVT filter such that all previous positioning
information is discarded, including the RTK ambiguities and
the INS/GNSS integration filter when applicable.
AmbRTK
Only reset the ambiguities used in RTK positioning to float
status.
Only reset the INS/GNSS integration filter.
ExtSensorInt
GNSSAttitude
Reset the whole attitude filter such that all previous attitude
information is discarded and the filter is re-initialized,
including the attitude ambiguities.
AmbGNSSAttitude
Only reset the ambiguities used in attitude computation to
float status.
Example
COM1> ernf, PVT <CR>
$R: ernf, PVT
ResetNavFilter, PVT
COM1>
110
3 Command Line Reference
ssu
setSatelliteUsage
gsu
getSatelliteUsage
Satellite
none
+ G01 ... G32
+ R01 ... R24
+ R25
+ R26
+ R27
+ R28
+ R29
+ R30
+ E01 ... E36
+ S120 ... S158
+ C01 ... C37
+ GPS
+ GLONASS
+ GALILEO
+ SBAS
+ BEIDOU
all
RxControl: Navigation > Advanced User Settings > PVT > Satellite Usage
Use these commands to define/inquire which satellites are allowed to be included in the PVT
computation. It is possible to enable or disable a single satellite (e.g. G01 for GPS PRN1), or a
whole constellation. Gxx, Exx, Rxx, Cxx and Sxxx refer to a GPS, Galileo, GLONASS, BeiDou
and SBAS satellite respectively. GLONASS satellites must be referenced by their slot number
in this command.
Examples
To only use GPS measurements in the PVT computation, use:
COM1> ssu, GPS <CR>
$R: ssu, GPS
SatelliteUsage, G01+G02+G03+G04+G05+G06+G07+G08+G09+G10+G11
+G12+G13+G14+G15+G16+G17+G18+G19+G20+G21+G22+G23+G24+G25+G26
+G27+G28+G29+G30+G31+G32
COM1>
To add the usage of SBAS measurements in the PVT, use:
COM1> ssu, +SBAS <CR>
$R: ssu, +SBAS
SatelliteUsage, G01+G02+G03+G04+G05+G06+G07+G08+G09+G10+G11
+G12+G13+G14+G15+G16+G17+G18+G19+G20+G21+G22+G23+G24+G25+G26
...
COM1>
To remove the measurement of one satellite from the PVT, use:
COM1> ssu, -S120 <CR>
$R: ssu, -S120
SatelliteUsage, G01+G02+G03+G04+G05+G06+G07+G08+G09+G10+G11
+G12+G13+G14+G15+G16+G17+G18+G19+G20+G21+G22+G23+G24+G25+G26
...
CM1>
111
3 Command Line Reference
ssbc
setSBASCorrections
gsbc
getSBASCorrections
Satellite
SISMode
NavMode
DO229Version
auto
Test
MixedSystems
auto
EGNOS
Operational
DO229C
WAAS
MSAS
GAGAN
SDCM
S120 ... S158
RxControl: Navigation > Positioning Mode > SBAS Corrections
Use these commands to define/inquire the details on the usage of SBAS data in the PVT
computation. This command does not define whether SBAS corrections are to be used or not
in the PVT (this is done by the setPVTMode command), but it specifies how these corrections
should be used.
The Satellite argument defines the provider of SBAS corrections, being either an individual
satellite or a satellite system. If EGNOS, WAAS, MSAS, GAGAN or SDCM is selected, the receiver
restricts the automatic selection of a satellite to those that are part of the EGNOS, WAAS,
MSAS, GAGAN or SDCM system. When auto is selected for the Satellite argument, the receiver will automatically select a satellite on the basis of the location of the receiver and on
the availability of SBAS corrections.
The SISMode argument defines the interpretation of a "Do Not Use for Safety Applications"
message.
When set to Operational, the receiver will discard all SBAS corrections received from a
satellite upon reception of a MT00 from that satellite. Note that MT02 content encoded in
a MT00 message will be interpreted by the receiver as a MT02 message: only MT00 with
all ’0’ symbols will be interpreted as a true "Do Not Use for Safety Applications". When the
argument SISMode is set to Test, the receiver will ignore the reception of a "Do Not Use
for Safety Applications" message. This provides the possibility to use a signal from a SBAS
system in test mode.
The DO229Version argument can be used to specify which version of the DO 229 standard to
conform to.
Example
To force the receiver to use corrections from PRN 122 and ignore message MT00:
COM1> ssbc, S122, Test <CR>
$R: ssbc, S122, Test
SBASCorrections, S122, Test, MixedSystems, auto
COM1>
112
3 Command Line Reference
snu
setSignalUsage
gnu
getSignalUsage
PVT
NavData
+ GPSL1CA
+ GPSL1CA
+ GPSL2PY
+ GPSL2PY
+ GPSL2C
+ GPSL2C
+ GLOL1CA
+ GLOL1CA
+ GLOL2CA
+ GLOL2CA
+ GALL1BC
+ GALL1BC
+ GALE5b
+ GALE5b
+ GEOL1
+ GEOL1
+ BDSB1I
+ BDSB1I
+ BDSB2I
+ BDSB2I
all
+ QZSL1CA
+ QZSL2C
all
RxControl: Navigation > Advanced User Settings > PVT > Signal Usage
Use these commands to define/inquire which signal types are used by the receiver.
The PVT argument lists the signals that can be used by the PVT. Removing a signal from the
list will disable the usage of the corresponding range, phase & Doppler measurements in the
PVT computation.
The NavData argument lists the signals for which the receiver is allowed to decode the navigation message. Removing a signal from the list will disable the usage of the corresponding
navigation information (ephemeris, ionosphere parameters ...).
Example
To force the receiver to only use the L1 GPS C/A measurements and navigation information
in the PVT solution, use:
COM1> snu, GPSL1CA, GPSL1CA <CR>
$R: snu, GPSL1CA, GPSL1CA
SignalUsage, GPSL1CA, GPSL1CA
COM1>
113
3 Command Line Reference
stm
setTroposphereModel
gtm
getTroposphereModel
ZenithModel
MappingModel
off
Niell
Saastamoinen
MOPS
MOPS
RxControl: Navigation > Receiver Operation > Position > Atmosphere
Use these commands to define/inquire the type of model used to correct tropospheric errors
in the PVT computation.
The ZenithModel parameter indicates which model the receiver uses to compute the dry and
wet delays for radio signals at 90 degree elevation. The modelled zenith tropospheric delay
depends on assumptions for the local air total pressure, the water vapour pressure and the
mean temperature. The following zenith models are defined:
ZenithModel
Description
off
The measurements will not be corrected for the troposphere
delay. This may be desirable if the receiver is connected to a
GNSS signal simulator.
Saastamoinen
Saastamoinen, J. (1973). "Contributions to the theory of
atmospheric refraction". In three parts. Bulletin Geodesique,
No 105, pp. 279-298; No 106, pp. 383-397; No. 107, pp. 13-34.
MOPS
Minimum Operational Performance Standards for Global
Positioning/Wide Area Augmentation System Airborne
Equipment RTCA/DO-229C, November 28, 2001.
The Saastamoinen model uses user-provided values of air temperature, total air pressure referenced to the Mean Sea Level and relative humidity (see
setTroposphereParameters command) and estimates actual values adjusted to
the receiver height.
The MOPS model neglects the user-provided values and instead assumes a seasonal model
for all the climatic parameters. Local tropospheric conditions are estimated based on the
coordinates and time of the year.
The use of the Saastamoinen model can be recommended if external information on temperature, pressure, humidity is available. Otherwise it is advisable to rely on climate models.
The zenith delay is mapped to the current elevation for each satellite using the requested
MappingModel. The following mapping models are defined:
MappingModel
Description
Niell
Niell, A.E. (1996). Global Mapping Functions for the
atmosphere delay at radio wavelengths, Journal of
Geophysical Research, Vol. 101, No. B2, pp. 3227-3246.
MOPS
Minimum Operational Performance Standards for Global
Positioning/Wide Area Augmentation System Airborne
Equipment RTCA/DO-229C, November 28, 2001.
Examples
114
3 Command Line Reference
COM1> stm, MOPS, MOPS <CR>
$R: stm, MOPS, MOPS
TroposhereModel, MOPS, MOPS
COM1>
COM1> gtm <CR>
$R: gtm
TroposhereModel, MOPS, MOPS
COM1>
115
3 Command Line Reference
stp
setTroposphereParameters
gtp
getTroposphereParameters
Temperature
Pressure
Humidity
-100.0 . . . 15.0
. . . 100.0 degC
800.00
. . . 1013.25
. . . 1500.00 hPa
0 . . . 50 . . . 100 %
RxControl: Navigation > Receiver Operation > Position > Atmosphere
Use these commands to define/inquire the climate parameters to be used when the zenith
troposphere is estimated using the Saastamoinen model (see the setTroposphereModel
command).
The troposphere model assumes the climate parameters to be valid for a receiver located at
the Mean Sea Level (MSL). If you want to use your receiver with a weather station, you have
to convert the measured Temperature, Pressure and Humidity to MSL.
Example
COM1> stp, 25, 1013, 60<CR>
$R: stp, 25, 1013, 60
TroposphereParameters, 25.0, 1013.00, 60
COM1>
116
3 Command Line Reference
3.2.7
sto
setAttitudeOffset
gto
getAttitudeOffset
Attitude Determination
Heading
Pitch
-360.000 . . . 0.000 -90.000 . . . 0.000
. . . 360.000 deg
. . . 90.000 deg
RxControl: Navigation > Positioning Mode > GNSS Attitude
Use this command to specify the offsets that the receiver applies to the computed attitude
angles.
The attitude of a vehicle can be determined from the orientation of the baseline between
two antennas attached to the vehicle. By default, the receiver determines the attitude angles
assuming that the baseline between the antenna ARPs is parallel to the longitudinal axis of
the vehicle. Attitude biases appear when this is not the case. The user can use this command
to provide the value of the biases, such that the receiver can compensate for them before
outputting the attitude. The receiver subtracts the provided biases from the attitude angles
before encoding them in NMEA or SBF.
Example
COM1> sto, 93.2, -0.4<CR>
$R: sto, 93.2, -0.4
AttitudeOffset, 93.200, -0.400
COM1>
117
3 Command Line Reference
3.2.8
sgd
setGeodeticDatum
ggd
getGeodeticDatum
Datum Definition
TargetDatum
WGS84
ETRS89
NAD83
NAD83_PA
NAD83_MA
GDA94
GDA2020
Default
User1
User2
RxControl: Navigation > Receiver Operation > Position > Datum
Use this command to define the datum to which you want the coordinates to refer.
TargetDatum
Description
WGS84
Equivalent to Default
ETRS89
European ETRS89 (ETRF2000 realization)
NAD83
NAD83(2011), North American Datum (2011)
NAD83_PA
NAD83(PA11), North American Datum, Pacific plate (2011)
NAD83_MA
NAD83(MA11), North American Datum, Marianas plate (2011)
GDA94
GDA94(2010), Geocentric Datum of Australia (2010)
GDA2020
GDA2020, Geocentric Datum of Australia 2020
Default
Default datum, which depends on the positioning mode as
explained below except when a built-in local coordinate
operation is manually selected with the
setLocalCoordOperation command. In that case, the
datum is set accordingly to the selected coordinate operation.
User1
First user-defined datum. The corresponding transformation
parameters must be specified by the setUserDatum and
setUserDatumVel commands, while the corresponding
ellipsoid must be defined by the setUserEllipsoid
command.
Second user-defined datum
User2
By default (argument TargetDatum set to Default), the datum depends on the positioning
mode. For standalone and SBAS positioning, the coordinates refer to a global datum: WGS84
or ITRF (recent realisations of WGS84 and ITRF are closely aligned and the receiver considers them equivalent). When using DGNSS or RTK corrections from a regional DGNSS/RTK
provider, the coordinates usually refer to a regional datum (e.g. ETRS89 in Europe or NAD83
in North America).
With this command, the user can select the datum the coordinates should refer to. In case
you are using corrections from a regional DGNSS/RTK provider, the datum to be specified
here must be the datum used by your correction provider.
118
3 Command Line Reference
When a non-default datum is selected, the receiver transforms all the WGS84/ITRF coordinates to the specified datum. Positions obtained using local or regional DGNSS/RTK corrections are not transformed, as it is assumed that the selected datum is the one used by the
DGNSS/RTK provider.
In the current firmware version, the WGS84 value for the TargetDatum argument has no effect,
but it is kept for backwards compatibility reasons. Setting TargetDatum to WGS84 is equivalent
to setting it to Default.
Example
COM1> sgd, ETRS89 <CR>
$R: sgd, ETRS89
GeodeticDatum, ETRS89
COM1>
119
3 Command Line Reference
sud
setUserDatum
Datum
gud
getUserDatum
Datum
+ User1
+ User2
all
Tx
Ty
Tz
Rx
Ry
Rz
D
-2000000.00
. . . 0.00
. . . 2000000.00
mm
-2000000.00
. . . 0.00
. . . 2000000.00
mm
-2000000.00
. . . 0.00
. . . 2000000.00
mm
-100.0000
. . . 0.0000
. . . 100.0000 mas
-100.0000
. . . 0.0000
. . . 100.0000 mas
-100.0000
. . . 0.0000
. . . 100.0000 mas
-100.00000
. . . 0.00000
. . . 100.00000 ppb
RxControl: Navigation > Receiver Operation > Position > Datum
Use these commands to define datum transformation parameters from the global
WGS84/ITRF datum to the user datum identified by the first argument.
The receiver applies the linearized form of the Helmert similarity transformation. The coordinates in WGS84/ITRF are transformed to the user datum using the following formula:
 
X
  
 
Y 
 
  
 
=
Ty  +  Rz
−Ry
Tz
Z
User
Tx
D+1
  
−Rz
Ry
D+1
  
 
−Rx 
 . Y 
Rx
D+1
X
Z
WGS84/ITRF
where Tx , Ty and Tz are the three translation components, Rx , Ry and Rz are the rotation
angles and D is the scale factor. Note that the rotation angles are expressed in radians in
the above formula, but they must be provided in milliarcsecond (1 mas = 2π/360/3600000
radians) in the arguments of the command. The sign convention corresponds to that of the
IERS Conventions (2010), Technical Note No. 36.
The time derivative of the transformation parameters can be specified with the command
setUserDatumVel.
For the receiver to apply the transformation parameters, the corresponding user datum
must be selected in the setGeodeticDatum command.
Example
COM1> sud, User1, 52.1, 49.3, -58.5, 0.891, 5.390, -8.712,
1.34<CR>
$R: sud, User1, 52.1, 49.3, -58.5, 0.891, 5.390, -8.712, 1.34
UserDatum, User1, 52.10, 49.30, -58.50, 0.8910, 5.3900, -8.7120,
1.34000
COM1>
120
3 Command Line Reference
sudv
setUserDatumVel
Datum
gudv
getUserDatumVel
Datum
+ User1
+ User2
all
TxVel
TyVel
-2000.00 . . . 0.00 -2000.00 . . . 0.00
. . . 2000.00 mm/yr . . . 20000.00
mm/yr
TzVel
RxVel
RyVel
RzVel
DVel
RefYear
-2000.00 . . . 0.00 -10.0000
-10.0000
-10.0000
-1.00000
1900.00
. . . 0.0000
. . . 0.0000
. . . 0.00000
. . . 2000.00
. . . 2000.00 mm/yr . . . 0.0000
. . . 10.0000 mas/yr . . . 10.0000 mas/yr . . . 10.0000 mas/yr . . . 1.00000 ppb/yr . . . 2100.00 yr
RxControl: Navigation > Receiver Operation > Position > Datum
Use these commands to define the time derivative of the seven datum transformation parameters defined with the setUserDatum command.
For instance, TxVel is the yearly change of the X-translation component. At the epoch
specified with RefYear (in decimal years), the X-translation component is Tx as defined in
setUserDatum. One year later, the X-translation component is Tx+TxVel, etc.
Refer to the setUserDatum command for a description of the datum transformation formula implemented in the receiver.
Example
COM1> sudv, User1, 0.1, 0.1, -1.8, 0.081, 0.49, -0.792, 0.08,
2000<CR>
$R: sudv, User1, 0.1, 0.1, -1.8, 0.081, 0.49, -0.792, 0.08, 2000
UserDatumVel, User1, 0.10, 0.10, -1.80, 0.0810, 0.4900, -0.7920,
0.08000, 2000.00
COM1>
121
3 Command Line Reference
sue
setUserEllipsoid
Datum
gue
getUserEllipsoid
Datum
+ User1
+ User2
all
A
Invf
6300000.000
290.000000000
. . . 6378137.000
. . . 298.257223563
. . . 6400000.000 m . . . 305.000000000
RxControl: Navigation > Receiver Operation > Position > Datum
Use these commands to define the ellipsoid associated with the User1 or User2 datum.
a is the reference ellispoid semi-major axis and Invf is the inverse of the flattening.
See also the setGeodeticDatum and the setUserDatum commands.
Example
COM1> sue, User1, 6378388, 297 <CR>
$R: sue, User1, 6378388, 297
UserEllipsoid, User1, 6378388.000, 297.000000000
COM1>
122
3 Command Line Reference
3.2.9
Transformation to Local Coordinates
smth
setENHTransfoHorizontal
TransfoID
gmth
getENHTransfoHorizontal
TransfoID
+ lt1
all
DeltaE
DeltaN
E0
N0
AlphaEE
AlphaEN
AlphaNE
AlphaNN
-250.0000
. . . 0.0000
. . . 250.0000 m
-250.0000
. . . 0.0000
. . . 250.0000 m
-8000000.0000
. . . 0.0000
. . . 8000000.0000
m
-8000000.0000
. . . 0.0000
. . . 8000000.0000
m
-1000.0000
. . . 0.0000
. . . 1000.0000
ppm
-1000.0000
. . . 0.0000
. . . 1000.0000
ppm
-1000.0000
. . . 0.0000
. . . 1000.0000
ppm
-1000.0000
. . . 0.0000
. . . 1000.0000
ppm
RxControl: Navigation > Receiver Operation > Position > Local Transformations
This command defines how to adjust the easting and northing coordinates if a
plane grid coordinate adjustment is enabled with the ENHTransfo argument of the
setLocalCoordOperation command.
If enabled, the receiver applies the following transformation as last step in the computation
of the easting and northing, prior to outputting them in the PosProjected SBF block:
ET
NT
!
=
ES
NS
!
+
δE
δN
!
+
αEE
αEN
αNE αNN
!
.
ES − E0
!
NS − N0
where ES and NS are the easting and northing prior to the transformation, and the other parameters are the arguments of this command. Note that the alpha arguments are expressed
in ppm.
Example
COM1> smth, lt1, 10.904, 10.904, 156.341, 1.3, 1.34, 1.34, 1.34,
1.34<CR>
$R: smth, lt1, 10.904, 10.904, 156.341, 1.3, 1.34, 1.34, 1.34, 1.34
ENHTransfoHorizontal, lt1, 10.9040, 10.9040, 156.3410, 1.3000,
1.3400, 1.3400, 1.3400, 1.3400
COM1>
123
3 Command Line Reference
smtv
setENHTransfoVertical
TransfoID
gmtv
getENHTransfoVertical
TransfoID
+ lt1
all
DeltaH
E0
N0
AlphaHE
AlphaHN
-250.0000
. . . 0.0000
. . . 250.0000 m
-8000000.0000
. . . 0.0000
. . . 8000000.0000
m
-8000000.0000
. . . 0.0000
. . . 8000000.0000
m
-1000.0000
. . . 0.0000
. . . 1000.0000
ppm
-1000.0000
. . . 0.0000
. . . 1000.0000
ppm
RxControl: Navigation > Receiver Operation > Position > Local Transformations
This command defines how to adjust the height coordinate if a plane grid coordinate adjustment is enabled with the ENHTransfo argument of the setLocalCoordOperation command.
If enabled, the receiver applies the following transformation as last step in the computation
of the height, prior to outputting it in the Alt field of the PosProjected SBF block:
HT = HS + δ H + αHE (ES − E0 ) + αHN (NS − N0 )
where ES , NS and HS are the easting, northing and height before transformation, in meters,
and the other parameters are the arguments of this command. Note that the alphaHE and
alphaHN arguments are expressed in ppm.
Example
COM1> smtv, lt1, 10.904, 156.341, 1.3, 1.34, 1.34<CR>
$R: smtv, lt1, 10.904, 156.341, 1.3, 1.34, 1.34
ENHTransfoVertical, lt1, 10.9040, 156.3410, 1.3000, 1.3400,
1.3400
COM1>
124
3 Command Line Reference
slco
setLocalCoordOperation
glco
getLocalCoordOperation
OpName (100)
ENHTransfo
NETWORK
none
lt1
RxControl: Navigation > Receiver Operation > Position > Local Transformations
Use this command to define the set of operations needed to obtain coordinates in a local
coordinate reference system (CRS). The coordinates in the local CRS can be geodetic coordinates (latitude, longitude and local height) reported in the PosLocal SBF block, and/or
plane grid coordinates (easting, northing) reported in the PosProjected SBF block.
The list of possible operations, i.e. the list of valid values for the OpName argument, is returned by the lstLocalCoordOperations command. The list contains at least two entries: NONE, which disables the local operations, and NETWORK, which instructs the receiver
to use the operation set provided by the DGPS/RTK service provider. In addition, a number
of built-in operations are also available. The NETWORK operation is the default.
If the OpName argument does not match any entry in the list returned by
lstLocalCoordOperations, NONE is assumed.
When selecting the NETWORK mode, it is recommended to specify the regional datum in
which the network operates, using the setGeodeticDatum command. This allows the receiver to continue to output local coordinates during RTK/DGPS outages without datum shift
issues. This is not needed when selecting one of the built-in operations.
In some cases, a final adjustment is still needed to obtain accurate plane grid coordinates.
The ENHTransfo argument can be used for that purpose. It selects a local transformation to
be applied as final step in the computation of the easting, northing and local height. The corresponding transformation parameters must be set with the setENHTransfoHorizontal
and setENHTransfoVertical commands. By default, this final adjustment is disabled.
Example
COM1> slco, NONE, lt1<CR>
$R: slco, NONE, lt1
LocalCoordOperation, NONE, lt1
COM1>
125
3 Command Line Reference
llc
lstLocalCoordOperations
Operation
Overview
Use this command with the argument Operation set to Overview to get a list of all built-in
local coordinate operations. See also the setLocalCoordOperation command.
Example
COM1> llc, Overview <CR>
$R; llc, Overview
... Here comes the list of known coordinate operations ...
COM1>
126
3 Command Line Reference
3.2.10
scst
setClockSyncThreshold
gcst
getClockSyncThreshold
Timing and Time Management
Threshold
ClockSteering
usec500
msec1
msec2
msec3
msec4
msec5
RxControl: Navigation > Receiver Operation > Timing
Use these commands to define/inquire the maximum allowed offset between the receiver
internal clock and the system time defined by the setTimingSystem command.
If the argument ClockSteering is selected, the receiver internal clock is continuously
steered to the system time to within a couple of nanoseconds. Clock steering accuracy is
dependent on the satellite visibility, and it is recommended to only enable it under open-sky
conditions.
If any other argument is selected, the internal clock is left free running. Synchronization with
the system time is done through regular millisecond clock jumps. More specifically, when
the receiver detects that the time offset is larger than Threshold, it initiates a clock jump of
an integer number of milliseconds to re-synchronise its internal clock with the system time.
These clock jumps have no influence on the generation of the xPPS pulses: the xPPS pulses
are always maintained within a few nanoseconds from the requested time, regardless of the
value of the Threshold argument.
Refer to section 2.3 for a more detailed description of the time keeping in your receiver.
Example
COM1> scst, msec1<CR>
$R: scst, msec1
ClockSyncThreshold, msec1
COM1>
127
3 Command Line Reference
sep
setEventParameters
Event
gep
getEventParameters
Event
Polarity
+ EventA
Low2High
+ EventB
High2Low
all
RxControl: Navigation > Receiver Operation > Timing
Use these commands to define/inquire the polarity of the electrical transition on which the
receiver will react on its Event input(s). The polarity of each event pin can be set individually
or simultaneously by using the value all for the Event argument.
The event time is available in the ExtEvent SBF block, and the INS/GNSS solution at that
time is available in the ExtEventINSNavCart and ExtEventINSNavGeod SBF blocks.
Example
COM1> sep, EventA, High2Low<CR>
$R: sep, EventA, High2Low
EventParameters, EventA, High2Low
COM1>
128
3 Command Line Reference
sts
setTimingSystem
gts
getTimingSystem
System
GST
GPS
BeiDou
RxControl: Navigation > Receiver Operation > Timing
Use these commands to define/inquire the reference time system for the computation of
the receiver clock bias.
As part of the PVT computation, the receiver determines the offset between its own time
(receiver time) and the time of the GNSS system specified with the System argument (GST
stands for Galileo System Time). This offset is reported in the RxClkBias field of the
PVTCartesian and PVTGeodetic SBF blocks.
Note that at least one satellite of the selected system must be visible and tracked by the
receiver. Otherwise no PVT will be computed.
Example
COM1> sts, GPS<CR>
$R: sts, GPS
TimingSystem, GPS
COM1>
129
3 Command Line Reference
3.2.11
smp
setMarkerParameters
gmp
getMarkerParameters
Station Settings
MarkerName (60)
MarkerNumber (20)MarkerType (20)
SEPT
Unknown
Unknown
RxControl: Navigation > Receiver Setup > Station Settings
Use these commands to define/inquire the marker and station parameters.
The set of allowed characters for the MarkerName argument is limited to:
_0123456789ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz
If internal logging is enabled in one of the IGS file naming modes, the file name depends
on the settings of the setMarkerParameters command. Refer to the description of the
logging commands (setFileNaming) for details.
The parameters set by this command are copied into the ReceiverSetup SBF block, which
defines the file name and the header contents when converting SBF files into RINEX with the
sbf2rin program.
Example
COM1> smp, Test, 356, GEODETIC<CR>
$R: smp, Test, 356, GEODETIC
MarkerParameters, Test, 356, GEODETIC
COM1>
130
3 Command Line Reference
soc
setObserverComment
goc
getObserverComment
Comment (120)
Unknown
RxControl: Navigation > Receiver Setup > Station Settings
Use these commands to define/inquire the content of the Comment SBF block.
Examples
COM1> soc, "Data taken with choke ring antenna"<CR>
$R: soc, "Data taken with choke ring antenna"
ObserverComment, "Data taken with choke ring antenna"
COM1>
COM1> goc <CR>
$R: goc
ObserverComment, "Data taken with choke ring antenna"
COM1>
131
3 Command Line Reference
sop
setObserverParameters
gop
getObserverParameters
Observer (20)
Agency (40)
Unknown
Unknown
RxControl: Navigation > Receiver Setup > Station Settings
Use these commands to define/inquire the observer name or ID, and his/her agency. These
parameters are copied in the ReceiverSetup SBF block and in the header of RINEX observation files.
The length of the arguments complies with the RINEX format definition.
Examples
COM1> sop, TestObserver, TestAgency <CR>
$R: sop, TestObserver, TestAgency
ObserverParameters, "TestObserver", "TestAgency"
COM1>
COM1> gop <CR>
$R: gop
ObserverParameters, "TestObserver", "TestAgency"
COM1>
132
3 Command Line Reference
3.2.12
scia
setCheckInternetAvailability
gcia
getCheckInternetAvailability
General Input/Output
Mode
off
on
RxControl: Communication > Network Settings > General
This command enables or disables the continuous checking of Internet access. When active,
the check is done every 1 minute. Therefore, it may take up to 1 minute for changes in
Internet availability to be reported.
Example
COM1> scia, on <CR>
$R: scia, on
CheckInternetAvailability, on
COM1>
133
3 Command Line Reference
scs
setCOMSettings
Cd
gcs
getCOMSettings
Cd
Rate
DataBits
Parity
StopBits
FlowControl
+ COM1
baud1200
bits8
No
bit1
none
+ COM2
baud2400
+ COM3
baud4800
+ COM4
baud9600
all
baud19200
RTS|CTS
baud38400
baud57600
baud115200
baud230400
baud460800
baud500000
baud576000
baud921600
baud1000000
baud1152000
baud1500000
baud2000000
baud2500000
baud3000000
baud3500000
baud4000000
RxControl: Communication > COM Port Settings
Use these commands to define/inquire the communication settings of the receiver’s COM
ports. By default, all COM ports are set to a baud rate of 115200 baud, using 8 data-bits, no
parity, 1 stop-bit and no flow control.
Depending on your receiver hardware, it may be that not all COM ports support flow control.
Please refer to the receiver Hardware Manual or User Manual to check which COM ports are
equipped with the RTS/CTS lines.
When modifying the settings of the current connection, make sure to also modify the settings
of your terminal emulation program accordingly.
Example
COM1> scs, COM1, baud19200, bits8, No, bit1, RTS|CTS<CR>
$R: scs, COM1, baud19200, bits8, No, bit1, RTS|CTS
COMSettings, COM1, baud19200, bits8, No, bit1, RTS|CTS
COM1>
134
3 Command Line Reference
scda
setCrossDomainWebAccess
gcda
getCrossDomainWebAccess
Mode
off
on
RxControl: Communication > Network Settings > General
This command enables or disables true open access across domain boundaries according to
the CORS specification (Cross-Origin Resource Sharing).
Setting the Mode argument to on enables the cross-domain access to the receiver web
server, and as such it allows external client applications (e.g. your own web application)
to access receiver data via HTTP requests. Please contact Septentrio support for additional
information on the receiver’s JavaScript libraries.
Example
COM1> scda, on <CR>
$R: scda, on
CrossDomainWebAccess, on
COM1>
135
3 Command Line Reference
sdcm
setDaisyChainMode
DC
gdcm
getDaisyChainMode
DC
Mode
+ DC1
Raw
+ DC2
ASCII
all
RxControl: Communication > Input/Output Selection
Use this command to define how data is transferred in a daisy chain configured with the
setDataInOut command.
By default (Mode is Raw), incoming bytes are transferred in small chunks from the input to
the output connector.
In some cases, it is preferred to transmit complete ASCII strings at once. This can be done by
configuring the daisy chain in ASCII mode. A string is considered complete when a carriagereturn and/or a line-feed character is received.
Example
COM1> sdcm, DC1, ASCII<CR>
$R: sdcm, DC1, ASCII
DaisyChainMode, DC1, ASCII
COM1>
136
3 Command Line Reference
sdio
setDataInOut
Cd
gdio
getDataInOut
Cd
Input
Output
Show
+ DSK1
none
none
(off)
+ COM1
CMD
+ SBF
(on)
+ COM2
RTCMv2
+ NMEA
(waiting)
+ COM3
RTCMv3
+ ASCIIDisplay
+ COM4
CMRv2
+ DC1
+ USB1
DC1
+ DC2
+ USB2
DC2
+ Encapsulate
+ IP10 ... IP17
ASCIIIN
+ NTR1
auto
+ NTR2
+ NTR3
+ IPS1
+ IPS2
+ IPS3
+ IPS4
+ IPS5
+ IPR1
+ IPR2
+ IPR3
all
RxControl: Communication > Input/Output Selection
Use these commands to define/inquire the type of data that the receiver should accept/send
on a given connection descriptor (Cd - see 1.1.5 ).
The Input argument is used to tell the receiver how to interpret incoming bytes on the connection Cd. If a connection is to be used for receiving user commands or differential corrections in RTCM or CMR format, it is recommended to leave it in the default auto input mode.
In this mode, the receiver automatically detects the input format.
It is also possible to set the input format explicitly. CMD means that the connection is to
be used for user command input exclusively. RTCMv2, RTCMv3 and CMRv2 can be used to
manually select the differential correction format, overriding the auto detection. ASCIIIN is
used for connections receiving free-formatted ASCII messages, e.g. from an external meteo
sensor.
In auto mode, the receiver automatically detects the CMD, RTCMv2, RTCMv3, or CMRv2 formats. The other input formats must be specified explicitly.
A connection that is not configured in CMD mode or auto mode will be blocked for user
commands. There are two ways to re-enable the command input on a blocked connection.
The first way is to reconfigure the connection by entering the command setDataInOut
from another connection. The second way is to send the "escape sequence" consisting of
a succession of ten "S" characters to the blocked connection within a time interval shorter
than 5 seconds.
A connection that is configured in auto mode will initially accept user commands and differential corrections. However, as soon as differential corrections have been detected, the
connection is blocked for user commands until the escape sequence is received.
The Output argument is used to select the types of data allowed as output. The receiver
supports outputting different data types on the same connection. The ASCIIDisplay is a
textual report of the tracking and PVT status at a fixed rate of 1Hz. It can be used to get a
quick overview of the receiver operation.
137
3 Command Line Reference
The Encapsulate option has the effect of encapsulating all non-SBF output into
the EncapsulatedOutput SBF block. For instance, setting the Output argument to
NMEA+Encapsulate instructs the receiver to encapsulate all NMEA messages into the
EncapsulatedOutput SBF block.
DC1 and DC2 represent two internal pipes that can be used to create a daisy-chain. Set the
Input argument to DCi to connect the input of pipe i to the specified connection. Set the Output argument to DCi to connect the output of pipe i to the specified connection. The daisychain can operate in binary or ASCII mode, as configured with the setDaisyChainMode
command.
After the Cd, Input and Output arguments, an extra read-only Show argument will be returned
in the command reply. This last argument can take the value on, off or waiting, depending
on whether the connection descriptor is open, close, or waiting for a connection.
The Input argument is ignored for output-only connections, and the Output argument is ignored for input-only connections. See section 1.1.5 for details.
Note that not all input connections can accept user commands, check section 1.1.5 for details.
Examples
COM1> sdio, COM1, CMD <CR>
$R: sdio, COM1, CMD
DataInOut, COM1, CMD, SBF, (on)
COM1>
On receivers that have three COM ports, to set up a two-way daisy-chain between COM2 and
COM3, i.e. to have all incoming bytes from COM2 redirected to COM3 and all incoming bytes
from COM3 redirected to COM2, enter the following commands from a connection different
than COM2 and COM3:
COM1> sdio, COM2, DC1, DC2 <CR>
$R: sdio, COM2, DC1, DC2
DataInOut, COM2, DC1, DC2, (on)
COM1> sdio, COM3, DC2, DC1 <CR>
$R: sdio, COM3, DC2, DC1
DataInOut, COM3, DC2, DC1, (on)
COM1>
138
3 Command Line Reference
sdds
setDynamicDNS
gdds
getDynamicDNS
Provider
UserName (40)
Password (40)
Hostname (40)
Bind
off
auto
dyndns.org
Ethernet
no-ip.com
RxControl: Communication > Network Settings > DynDNS
This command configures the built-in dynamic DNS client (DynDNS or DDNS).
Before using DynDNS, you will need to create an account and define a hostname for your
receiver at one of the supported DynDNS providers. The list of supported providers is shown
below.
Provider
Description
off
DynDNS disabled
dyndns.org
dyndns.org
no-ip.com
no-ip.com
The Provider argument specifies your DynDNS provider, the UserName and Password arguments specify the account credentials at this provider, and the Hostname is the full hostname
associated to your receiver. Setting the Provider to off disabled the DynDNS functionality.
On receivers with multiple active network interfaces, the receiver registers the public IP address of the interface with the highest priority (Ethernet first, then WiFi), unless a specific
interface is forced with the Bind argument.
The receiver checks every 2 minutes if the public IP address has changed, and updates the
DynDNS server if needed. In addition a forced DynDNS server update is performed every 30
days. This is done to prevent the expiration of a DynDNS entry.
The DynDNS settings configured by this command are applied immediately and are
kept upon a power cycle and even after a reset to factory default (see command
exeResetReceiver).
Note that this command is not shown in the output of the lstConfigFile command.
Example
COM1> sdds, dyndns.org, Bart, MyPwd, rx1.dyndns-free.com, auto<CR>
$R: sdds, dyndns.org, Bart, MyPwd, rx1.dyndns-free.com, auto
DynamicDNS, dyndns.org, Bart, MyPwd, rx1.dyndns-free.com, auto
COM1>
139
3 Command Line Reference
eecm
exeEchoMessage
gecm
getEchoMessage
Cd
Message (242)
DSK1
A:Unknown
EndOfLine
none
COM1
+ CR
COM2
+ LF
COM3
all
COM4
USB1
USB2
IP10 ... IP17
IPS1
IPS2
IPS3
IPS4
IPS5
IPR1
IPR2
IPR3
DC1
DC2
RxControl: Communication > Output Settings > Echo Message
Use this command to send a message to one of the connections of the receiver.
The Message argument defines the message that should be sent on the Cd port. If the given
message starts with "A:", the remainder of the message is considered an ASCII string that
will be forwarded without changes to the requested connection. If the given message starts
with "H:", the remainder of the message is considered a hexadecimal representation of a
succession of bytes to be sent to the requested connection. In this case, the string should be
a succession of 2-character hexadecimal values separated by a single whitespace.
Make sure to enclose the string between double quotes if it contains whitespaces. The maximum length of the Message argument (including the A: or H: prefix) is 242 characters.
The EndOfLine argument defines which end-of-line character should be sent after the message. That argument is ignored when the Message argument starts with H:.
To send a message at a regular interval instead of once,
setPeriodicEcho.
use the command
When the Cd argument is DC1 or DC2, the message is injected into one of the internal daisychain pipes. See the setDataInOut command for details.
Examples
To send the string "Hello world!" to COM2, use:
COM1> eecm, COM2, "A:Hello world!", none <CR>
$R: eecm, COM2, "A:Hello world!", none
EchoMessage, COM2, "A:Hello world!", none
COM1>
To send the same string, the following command can also be used:
COM1> eecm, COM2, "H:48 65 6C 6C 6F 20 77 6F 72 6C 64 21", none
<CR>
$R: eecm, COM2, "H:48 65 6C 6C 6F 20 77 6F 72 6C 64 21", none
EchoMessage, COM2, "H:48 65 6C 6C 6F 20 77 6F 72 6C 64 21", none
140
3 Command Line Reference
COM1>
141
3 Command Line Reference
shs
setHttpsSettings
ghs
getHttpsSettings
Protocol
+ HTTP
+ HTTPS
all
RxControl: Communication > Network Settings > Security
This command can be used to enable or disable http and/or https access to the receiver. By
default, both http and https are enabled.
Secure http access requires the user to provide a certificate to the receiver. This is done by
navigating to the "Communication > Web Server/TLS" page of the web interface, and uploading a .pem file containing the certificate. By default, if no user-provided certificate is available, the receiver will use a self-signed certificate instead. The user-provided certificate can
be erased with exeResetReceiver, hard, HTTPSCertificate command, reverting
to the self-signed certificate.
Example
COM1> shs, HTTP<CR>
$R: shs, HTTP
HttpsSettings, HTTP
COM1>
142
3 Command Line Reference
sii
setIMUInput
gii
getIMUInput
Cd
COM1
COM2
COM3
COM4
RxControl: Communication > IMU Input Settings > IMU Input Settings
Use this command to define/inquire the serial port where the IMU sensor is connected. The
specified port is reserved for communication with the IMU and is not available anymore for
other purposes.
The IMU port configuration (baud rate, input/output stream) is performed automatically by
the receiver. In particular, the setCOMSettings and setDataInOut commands have no
effect on the serial port connected to the IMU.
Example
COM1> sii, COM4<CR>
$R: sii, COM4
IMUInput, COM4
COM1>
143
3 Command Line Reference
sipf
setIPFiltering
gipf
getIPFiltering
Mode
AddrList (200)
off
on
RxControl: Communication > Network Settings > Security
Use this command to configure the IP filtering functionality. When IP filtering is enabled, only
the specified IP addresses are allowed to connect to the receiver.
By default, IP filtering is off (the Mode argument is off) and the receiver accepts connections
from any IP address.
When enabling IP filtering (Mode set to on), the AddrList argument must contain a whitespaceseparated list of IP addresses (IPv4) allowed to connect to the receiver. Only IP addresses
are allowed here, not hostnames. To enable a whole range of IP addresses, a netmask can
also be specified using the so-called "slash notation", where the IP address is followed by a
forward slash (/) and the subnet mask number from 0 to 32.
After entering the command, existing IP connections are kept active, but any new connection
from a non-allowed IP address will be rejected.
Example
COM1> sipf, on, 192.168.0.7 192.168.2.0/24<CR>
$R: sipf, on, 192.168.0.7 192.168.2.0/24
IPFiltering, on, 192.168.0.7 192.168.2.0/24
COM1>
144
3 Command Line Reference
sipp
setIPPortSettings
gipp
getIPPortSettings
Command
FTPControl
1 . . . 28784
. . . 65535
1 . . . 21 . . . 65535
RxControl: Communication > Network Settings > General
Use these commands to define/inquire the port numbers where the receiver listens for incoming TCP/IP connections.
The Command argument defines the port where the receiver listens for user commands.
The FTPControl argument defines the FTP control port number.
The IP port numbers configured by this command keep their value upon a power cycle and
even after a reset to factory default (see command exeResetReceiver).
Note that this command is not shown in the output of the lstConfigFile command.
When selecting a port number, make sure to avoid conflicts with other services
(for example select a different port than in the setIPServerSettings and the
setIPReceiveSettings commands).
Example
COM1> sipp, 12345, 21<CR>
$R: sipp, 12345, 21
IPPortSettings, 12345, 21
COM1>
145
3 Command Line Reference
sirs
setIPReceiveSettings
Cd
girs
getIPReceiveSettings
Cd
+ IPR1
+ IPR2
Port
Mode
TCPAddress (40)
0 . . . 65535
TCP2Way
0.0.0.0
UDP
+ IPR3
all
RxControl: Communication > Network Settings > General
This command configures the "IP receive" ports (IPR).
When Mode is set to TCP2Way, the receiver connects to the specified port of a server of which
the IP address or hostname is provided in the TCPAddress argument. It then receives all data
sent by this server on that port. The TCP2Way connection is bidirectional, and it is possible
to send data to the server or to process commands from the server.
When Mode is set to UDP, the receiver listens for incoming UDP messages on its port identified by the Port argument. In UDP mode, the TCPAddress argument is ignored. Note that,
contrary to the TCP connection, the UDP connection is unidirectional.
If Port is set to 0, the corresponding IPR connection is disabled.
This command is the counterpart of the setIPServerSettings command.
setIPServerSettings configures the sender side of the communication, while
setIPReceiveSettings configures the receiver side.
When selecting a port number, make sure to avoid conflicts with other services (for example
select a different port than in the setIPPortSettings command).
Example
COM1> sirs, IPR1, 28785, TCP2Way, 192.168.10.5<CR>
$R: sirs, IPR1, 28785, TCP2Way, 192.168.10.5
IPReceiveSettings, IPR1, 28785, TCP2Way, 192.168.10.5
COM1>
146
3 Command Line Reference
siss
setIPServerSettings
Cd
giss
getIPServerSettings
Cd
+ IPS1
Port
Mode
UDPAddress (200)
0 . . . 65535
TCP
255.255.255.255
+ IPS2
UDP
+ IPS3
TCP2Way
+ IPS4
+ IPS5
all
RxControl: Communication > Network Settings > General
By default (Mode set to TCP), this command defines the TCP/IP port where the receiver’s IP
Servers (IPS) listen for incoming TCP/IP connections. When a client connects to an IPS port,
all output data specified for that port are streamed to the client.
In TCP mode, the IPS port is unidirectional: it only sends data and incoming bytes are discarded. The TCP2Way mode is the same as the TCP mode, except that the receiver will also
process input data (such as user commands or differential corrections). An IPS port configured in TCP2Way mode can only accept a single client at a time.
When Mode is set to UDP and UDPAddress is set to 255.255.255.255, the IPS works in UDP
broadcast mode. In that mode, the IPS data stream is delivered to any host on the local
network listening to the IP port specified by the Port argument.
When Mode is set to UDP and UDPAddress contains a whitespace-separated list of IP addresses or hostnames, the IPS data stream is only delivered to the specified hosts. Remember to enclose the UDPAddress argument between double quotes when it contains whitespaces.
Use the setDataInOut command and the various output setting commands (e.g.
setNMEAOutput) to define the data stream to be output by the IPS connections. Note that
the UDP implementation is meant to be used with small data volumes and low update rates.
It is the user’s responsibility to only enable short messages at low rate when using UDP, in
order to prevent throughput degradation of the network.
It is possible to configure some IPS connections in UDP mode, and others in TCP mode. The
UPDAddress argument is ignored in TCP mode.
When selecting a port number, make sure to avoid conflicts with other services (for example
select a different port than in the setIPPortSettings command).
All IPS connections must use different ports. Set the Port argument to 0 to disable an IPS
connection.
Example
COM1> siss, IPS1, 28785, UDP, 255.255.255.255<CR>
$R: siss, IPS1, 28785, UDP, 255.255.255.255
IPServerSettings, IPS1, 28785, UDP, 255.255.255.255
COM1>
147
3 Command Line Reference
sips
setIPSettings
gips
getIPSettings
Mode
IP (16)
Netmask (16)
Gateway (16)
DHCP
0.0.0.0
255.255.255.0
0.0.0.0
Domain (63)
DNS1 (16)
DNS2 (16)
MTU
0.0.0.0
0.0.0.0
0 . . . 1500
Static
RxControl: Communication > Network Settings > General
Use these commands to define the IP (Internet Protocol) settings of the receiver’s Ethernet
port. By default, the receiver is configured to use DHCP.
In Static mode, the receiver will not attempt to request an address via DHCP. It will use the
specified IP address, netmask, gateway, domain name and DNS. DNS1 is the primary DNS,
and DNS2 is the backup DNS. The arguments IP, Netmask, Gateway, Domain, DNS1, and DNS2
are ignored in DHCP mode.
In Static mode, the value of MTU is used as the MTU of the Ethernet port. When MTU is
set to 0, the receiver will use the default MTU. In DHCP mode, setting MTU to 0 will result in
using the MTU supplied by the DHCP server. When set to any other value, MTU will override
the DHCP Server once the link is established.
The IP settings configured by this command keep their value upon a power cycle and even
after a reset to factory default (see command exeResetReceiver).
Note that this command is not shown in the output of the lstConfigFile command.
The command getIPSettings cannot be used to get the current IP address assigned to
the receiver by the DHCP server. The current IP address can be retrieved from the command
lstInternalFile, IPParameters, or from the IPStatus SBF block.
Example
COM1> sips, Static, 192.168.1.123, 255.255.252.0, 192.168.1.255,
mydomain.local, 192.168.100.3, 192.168.100.4, 1500<CR>
$R: sips, Static, 192.168.1.123, 255.255.252.0, 192.168.1.255,
mydomain.local, 192.168.100.3, 192.168.100.4, 1500
IPSettings, Static, 192.168.1.123, 255.255.252.0, 192.168.1.255,
mydomain.local, 192.168.100.3, 192.168.100.4, 1500
COM1>
148
3 Command Line Reference
spe
setPeriodicEcho
Cd
gpe
getPeriodicEcho
Cd
+ COM1
Message (201)
Interval
A:Unknown
off
+ COM2
once
+ COM3
msec100
+ COM4
msec200
all
msec500
sec1
sec2
sec5
sec10
sec15
sec30
sec60
min2
min5
min10
min15
min30
min60
RxControl: Communication > Output Settings > Periodic Echo message
Use this command to periodically send a message to one of the connections of the receiver.
The Message argument defines the message that should be sent on the Cd port. If the given
message starts with "A:", the remainder of the message is considered an ASCII string that will
be forwarded to the requested connection. All occurrences of the %%CR character sequence
are replaced by a single carriage return character (ASCII code 13d) and all occurrences of
the %%LF character sequence are replaced by a single line feed character (ASCII code 10d).
If the Message argument starts with "H:", the remainder of the message is considered a
hexadecimal representation of a succession of bytes to be sent to the requested connection.
In this case, the string should be a succession of 2-character hexadecimal values separated
by a single whitespace.
Make sure to enclose the string between double quotes if it contains whitespaces. The maximum length of the Message argument (including the A: or H: prefix) is 201 characters.
The Interval argument defines the interval at which the message should be sent.
To send a message only once, set Interval to once. The only difference with the command
exeEchoMessage is that exeEchoMessage cannot be stored in the boot configuration file,
while setPeriodicEcho can. This can be used to output a message once at each reset or
reboot. The third example below shows how to do this.
Examples
To send the string "Hello!<CR><LF>" to COM2 every minute, use:
COM1> spe, COM2, "A:Hello!%%CR%%LF", sec60 <CR>
$R: spe, COM2, "A:Hello!%%CR%%LF", sec60
PeriodicEcho, COM2, "A:Hello!%%CR%%LF", sec60
COM1>
The same can be achieved with the following command:
COM1> spe, COM2, "H:48 65 6C 6C 6F 21 0D 0A", sec60 <CR>
$R: spe, COM2, "H:48 65 6C 6C 6F 21 0D 0A", sec60
149
3 Command Line Reference
PeriodicEcho, COM2, "H:48 65 6C 6C 6F 21 0D 0A", sec60
COM1>
To let the receiver output the string "Hello!<CR><LF>" to COM2 at each reset, use the following command sequence:
COM1> spe, COM2, "A:Hello!%%CR%%LF", once <CR>
$R: spe, COM2, "A:Hello!%%CR%%LF", once
PeriodicEcho, COM2, "A:Hello!%%CR%%LF", once
COM1> eccf, Current, Boot <CR>
$R: eccf, Current, Boot
CopyConfigFile, Current, Boot
COM1>
150
3 Command Line Reference
spfw
setPortFirewall
Interface
gpfw
getPortFirewall
Interface
OpenPorts
+ Ethernet
none
all
default
PortList (100)
all
PortList
RxControl: Communication > Network Settings > Security
Use this command to configure the receiver firewall, i.e. to specify the list of IP ports which
are open to receive data.
The list of open ports can be specified independently for all network interfaces. The default
(OpenPorts is set to default) depends on the interface, as follows:
Interface
Description
Ethernet
By default, all ports open.
It is possible to close all ports (OpenPorts is none), to open all ports (OpenPorts is all), or to
manually specify a list of ports to open (OpenPorts is PortList). In the latter case, the list
of port numbers needs to be specified in the PortList argument. The different port numbers
must be separated by whitespaces. The PortList argument is ignored if OpenPorts is not set
to PortList.
Example
COM1> spfw, Ethernet, PortList, 21 80 28784<CR>
$R: spfw, Ethernet, PortList, 21 80 28784
PortFirewall, Ethernet, PortList, 21 80 28784
COM1>
151
3 Command Line Reference
3.2.13
snts
setNtripSettings
Cd
gnts
getNtripSettings
Cd
NTRIP Settings
Mode
+ NTR1
off
+ NTR2
Client
Caster (40)
Port
0 . . . 2101
. . . 65535
UserName (20)
Password (40)
MountPoint (32)
Version
SendGGA
v1
auto
v2
off
+ NTR3
sec1
all
sec5
sec10
sec60
RxControl: Communication > NTRIP Settings > NTRIP Server/Client settings
Use this command to specify the parameters of the NTRIP connection referenced by the Cd
argument.
The Mode argument specifies the type of NTRIP connection. In Client mode, the receiver
gets data from the NTRIP caster. Set Mode to off to disable the connection.
Caster is the hostname or IP address of the NTRIP caster to connect to. Port, UserName, Password and MountPoint are the IP port number, the user name, the password and the mount
point to be used when connecting to the NTRIP caster. The default NTRIP port number is
2101. Note that the receiver encrypts the password so that it cannot be read back with the
command getNtripSettings.
The Version argument specifies which version of the NTRIP protocol to use (v1 or v2).
The SendGGA argument specifies whether or not to send NMEA GGA messages to the NTRIP
caster, and at which rate. In auto mode (the default), the receiver automatically sends GGA
messages if requested by the caster. This argument is ignored in NTRIP server mode.
Example
COM1> snts, NTR1, Client, ntrip.com, 2101, USER, PWD, MP1, v2,
auto<CR>
$R: snts, NTR1, Client, ntrip.com, 2101, USER, PWD, MP1, v2, auto
NtripSettings, NTR1, Client, ntrip.com, 2101, USER, PWD, MP1, v2,
auto
COM1>
152
3 Command Line Reference
lnst
lstNTRIPSourceTable
Caster (40)
Port
0 . . . 2101
. . . 65535
Use this command to retrieve the source table from the specified NTRIP caster.
Caster is the hostname or IP address of the NTRIP caster to connect to, and Port is the IP port
number. The default NTRIP port number is 2101.
Example
COM1> lnst, ntripcaster <CR>
$R; lnst, ntripcaster
---->
$-- BLOCK 1 / 0 C
HTTP/1.1 200 OK
Ntrip-Version: Ntrip/2.0
Ntrip-Flags: st_filter,st_auth,st_match,st_strict
Server: NTRIP Caster/2.0.15
...
$-- BLOCK 1 / 0 C
ENDSOURCETABLE
COM1>
153
3 Command Line Reference
sntt
setNtripTlsSettings
Cd
gntt
getNtripTlsSettings
Cd
Enable
+ NTR1
off
+ NTR2
on
Fingerprint (96)
+ NTR3
all
RxControl: Communication > NTRIP Settings > NTRIP Server/Client settings
Use this command to enable or disable TLS on the NTRIP connection referenced by the Cd
argument.
If the caster’s certificate is known by a publicly-trusted certification authority (CA), the receiver will authenticate it by following the usual CA chain of trust, starting from root certificates present on the receiver. In that case, the Fingerprint argument should be left empty. If
the NTRIP caster uses a self-signed certificate or a certificate only known by a private CA, its
SHA-256 fingerprint must be provided. The self-signed certificate of the built-in caster (localhost) is present in the trust-zone of the receiver, and so the Fingerprint argument can be left
empty for NTRIP client or server connections to localhost.
The examples below show different formats for the Fingerprint argument.
Examples
COM1> sntt, NTR1, on, ""<CR>
$R: sntt, NTR1, on, ""
NtripTlsSettings, NTR1, on, ""
COM1>
Lower and upper case characters are allowed:
COM1> sntt, NTR1, on, Aa:Bb:56:78:90:12: ... 78:90:12:34 <CR>
$R: sntt, NTR1, on, Aa:Bb:56:78:90:12: ... 78:90:12:34
NtripTlsSettings, NTR1, on, "AA:BB:56:78:90:12: ... 78:90:12:34"
COM1>
When using whitespaces as delimiter, do not forget to enclose the fingerprint in double
quotes:
COM1> sntt, NTR1, on, "Aa Bb 56 78 90 12 ... 78 90 12 34"<CR>
$R: sntt, NTR1, on, "Aa Bb 56 78 90 12 ... 78 90 12 34"
NtripTlsSettings, NTR1, on, "AA:BB:56:78:90:12: ... 78:90:12:34"
COM1>
It is also allowed to leave out the delimiters in the fingerprint:
COM1> sntt, NTR1, on, AaBb56789012 ... 78901234 <CR>
$R: sntt, NTR1, on, AaBb56789012 ... 78901234
NtripTlsSettings, NTR1, on, "AA:BB:56:78:90:12: ... 78:90:12:34"
COM1>
154
3 Command Line Reference
3.2.14
enoc
exeNMEAOnce
gnoc
getNMEAOnce
NMEA Configuration
Cd
Messages
DSK1
+ GGA
COM1
+ GLL
COM2
+ GNS
COM3
+ GST
COM4
+ HDT
USB1
+ RMC
USB2
+ VTG
IP10 ... IP17
+ ZDA
NTR1
+ HRP
NTR2
+ THS
NTR3
+ PASHR
IPS1
IPS2
IPS3
IPS4
IPS5
IPR1
IPR2
IPR3
RxControl: Communication > Output Settings > NMEA Output Once
Use this command to output a set of NMEA messages on a given connection. This command
differs from the related setNMEAOutput command in that it instructs the receiver to output
the specified messages only once, instead of at regular intervals.
The Cd argument defines the connection descriptor (see 1.1.5) on which the message(s)
should be output and the Messages argument defines the list of messages that should be
output. Refer to appendix C for a short description of the NMEA sentences.
Please make sure that the connection specified by Cd is configured to allow NMEA output
(this is the default for all connections). See the setDataInOut command.
Example
To output the receiver position on COM1, use:
COM1> enoc, COM1, GGA <CR>
$R: enoc, COM1, GGA
NMEAOnce, COM1, GGA
COM1>
155
3 Command Line Reference
sno
setNMEAOutput
Stream
gno
getNMEAOutput
Stream
Cd
Messages
Interval
+ Stream1 ...
Stream10
none
none
off
DSK1
+ GGA
OnChange
all
COM1
+ GLL
msec5
COM2
+ GNS
msec10
COM3
+ GST
msec20
COM4
+ HDT
msec40
USB1
+ RMC
msec50
USB2
+ VTG
msec100
IP10 ... IP17
+ ZDA
msec200
NTR1
+ HRP
msec500
NTR2
+ THS
sec1
NTR3
+ PASHR
sec2
IPS1
sec5
IPS2
sec10
IPS3
sec15
IPS4
sec30
IPS5
sec60
IPR1
min2
IPR2
min5
IPR3
min10
min15
min30
min60
RxControl: Communication > Output Settings > NMEA Output > NMEA Output Intervals
Use this command to output a set of NMEA messages on a given connection at a regular
interval. The Cd argument defines the connection descriptor (see 1.1.5) on which the message(s) should be output and the Messages argument defines the list of messages that should
be output. Refer to appendix C for a short description of the NMEA sentences.
This command is the counterpart of the setSBFOutput command for NMEA sentences.
Please refer to the description of that command for a description of the arguments.
Examples
To output GGA at 1Hz and RMC at 10Hz on COM1, use:
COM1> sno, Stream1, COM1, GGA, sec1 <CR>
$R: sno, Stream1, COM1, GGA, sec1
NMEAOutput, Stream1, COM1, GGA, sec1
COM1> sno, Stream2, COM1, RMC, msec100 <CR>
$R: sno, Stream2, COM1, RMC, msec100
NMEAOutput, Stream2, COM1, RMC, msec100
COM1>
To get the list of NMEA messages currently output, use:
COM1> gno <CR>
$R: gno
NMEAOutput, Stream1, COM1, GGA, sec1
NMEAOutput, Stream2, COM1, RMC, msec100
NMEAOutput, Stream3, none, none, off
NMEAOutput, Stream4, none, none, off
NMEAOutput, Stream5, none, none, off
NMEAOutput, Stream6, none, none, off
NMEAOutput, Stream7, none, none, off
156
3 Command Line Reference
NMEAOutput, Stream8, none, none, off
NMEAOutput, Stream9, none, none, off
NMEAOutput, Stream10, none, none, off
COM1>
157
3 Command Line Reference
snp
setNMEAPrecision
gnp
getNMEAPrecision
NrExtraDigits
Compatibility
LocalDatum
MinStdDev
0 ...2 ...3
Nominal
off
Mode1
only
0.000 . . . 0.001
. . . 1.000 m
Mode2
RxControl: Communication > Output Settings > NMEA Output > Customize
Use these commands to define/inquire the number of extra digits in the latitude, longitude
and altitude reported in NMEA sentences and to tune certain sentences to be compatible
with third-party applications that are not fully compliant with the NMEA 0183 standard.
When NrExtraDigits is 0, the latitude and longitude are reported in degrees with 5 decimal
digit, and altitude is reported in meters with 2 decimal digit. These default numbers of digits
lead to a centimeter-level resolution of the position. To represent RTK positions with their
full precision (millimeter-level), it is recommended to set NrExtraDigits to 2.
Note that increasing the number of digits (setting NrExtraDigits to a non-zero value) may
cause the NMEA standard to be broken, as the total number of characters in a sentence may
end up exceeding the prescribed limit of 82.
When setting the argument Compatibility to Mode1, the GPS Quality Indicator in GGA sentences is set to the value "2: Differential GPS" for all non-standalone positioning modes, the
Mode Indicator in GNS sentences is set to "D: Differential" for all non-standalone positioning
modes, and the Course Over Ground in the VTG sentences is not a null field for stationary
receivers.
When setting the argument Compatibility to Mode2, the Course Over Ground in the VTG sentences is not a null field for stationary receivers.
The LocalDatum argument specifies whether transformation parameters sent out by the RTK
service provider should be applied or not in NMEA sentences GGA and GNS. If LocalDatum is
off, the transformation parameters are not applied, and the coordinates in GGA and GNS
correspond to the coordinates in the PVTGeodetic SBF block. If LocalDatum is only and the
relevant transformation parameters have been received, the coordinates are transformed to
the local datum and correspond to the PosLocal SBF block. If the transformation parameters are not available, the coordinates are untransformed (in particular, the datum setting of
the setGeodeticDatum command has no effect).
The MinStdDev argument defines the minimum standard deviation values that can be encoded in the GST sentence. If an actual standard deviation is below the value provided in
MinStdDev, the value in MinStdDev is encoded instead.
Example
COM1> snp, 2, Mode2, off, 0.05<CR>
$R: snp, 2, Mode2, off, 0.05
NMEAPrecision, 2, Mode2, off, 0.050
COM1>
158
3 Command Line Reference
snti
setNMEATalkerID
gnti
getNMEATalkerID
TalkerID
auto
GP
RxControl: Communication > Output Settings > NMEA Output > Customize
Use these commands to define/inquire the "Device Talker" for NMEA sentences. The device
talker allows users to identify the type of equipment from which the NMEA sentence was
issued.
When the TalkerID argument is set to auto, the talker will depend on the type of solution that
is output. For an INS solution, "IN" is used as talker. For a GNSS solution (when the INS filter
is disabled with setINSNavConfig), "GN" is used if satellites from multiple constellations
are used, "GP" for a GPS only solution, "GA" for a Galileo only solution, and "BD" for a BeiDou
only solution.
Note that the command is ignored for the NMEA sentences where it would conflict with the
standard.
Example
COM1> snti, GP <CR>
$R: snti, GP
NMEATalkerID, GP
COM1>
159
3 Command Line Reference
snv
setNMEAVersion
gnv
getNMEAVersion
Version
v3x
v4x
RxControl: Communication > Output Settings > NMEA Output > Customize
Use this command to set the NMEA version the receiver should comply with.
If v3x is selected, the NMEA sentences are formatted according to the 3.01 version of the
standard. If v4x is selected, system ID, signal ID and navigational status fields are added in
some sentences according to version 4.10 of the NMEA standard.
Example
COM1> snv, v4x<CR>
$R: snv, v4x
NMEAVersion, v4x
COM1>
160
3 Command Line Reference
3.2.15
smrf
setMeas3MaxRefInterval
gmrf
getMeas3MaxRefInterval
SBF Configuration
MaxIntrvl
OnlyRef
msec500
sec1
sec5
sec10
sec30
sec60
RxControl: Communication > Output Settings > SBF Output > Customize
Use this command to define at which interval to encode reference epochs (i.e. full measurements) into the Meas3Ranges SBF block. Refer to the description of the Meas3Ranges
block for a definition of the reference epochs.
When generating the Meas3Ranges SBF block, the receiver automatically selects an optimal
interval between reference epochs. This command allows the user to define the maximum
interval allowed for his application. Setting the MaxIntrvl argument to OnlyRef forces the
receiver to only encode reference epochs in Meas3Ranges. This will allow to decode all
epochs independently of any previous epoch, at the expense of a larger average SBF block
size.
Example
COM1> smrf, OnlyRef<CR>
$R: smrf, OnlyRef
Meas3MaxRefInterval, OnlyRef
COM1>
161
3 Command Line Reference
ssgp
setSBFGroups
Group
gsgp
getSBFGroups
Group
+ Group1
Messages
none
+ Group2
[SBF List]
+ Group3
+ Measurements
+ Group4
+ Meas3
all
+ RawNavBits
+ GPS
+ GLO
+ GAL
+ GEO
+ BDS
+ QZS
+ PVTCart
+ PVTGeod
+ PVTExtra
+ Attitude
+ Time
+ Events
+ DiffCorr
+ ExtSensors
+ Status
+ PostProcess
+ Rinex
+ RinexMeas3
+ Support
RxControl: Communication > Output Settings > SBF Groups
Use these commands to define/inquire user-defined groups of SBF blocks that can be reused in the exeSBFOnce and the setSBFOutput commands. The purpose of defining
groups is to ease the typing effort when the same set of SBF blocks are to be addressed
regularly.
The list of supported SBF blocks [SBF List] can be found in appendix B.
A number of predefined groups of SBF blocks are available (such as Measurements). See
the command setSBFOutput for a description of these predefined groups.
Example
To output the messages MeasEpoch, PVTCartesian and DOP as one group on COM1 at a
rate of 1Hz, you could use the following sequence of commands:
COM1> ssgp, Group1, MeasEpoch+PVTCartesian+DOP <CR>
$R: ssgp, Group1, MeasEpoch+PVTCartesian+DOP
SBFGroups, Group1, MeasEpoch+PVTCartesian+DOP
COM1> sso, Stream1, COM1, Group1, sec1 <CR>
$R: sso, Stream1, COM1, Group1, sec1
SBFOutput, Stream1, COM1, Group1, sec1
COM1>
162
3 Command Line Reference
esoc
exeSBFOnce
gsoc
getSBFOnce
Cd
Messages
DSK1
[SBF List]
COM1
+ Measurements
COM2
+ Meas3
COM3
+ GPS
COM4
+ GLO
USB1
+ GAL
USB2
+ GEO
IP10 ... IP17
+ BDS
NTR1
+ QZS
NTR2
+ PVTCart
NTR3
+ PVTGeod
IPS1
+ PVTExtra
IPS2
+ Attitude
IPS3
+ Time
IPS4
+ ExtSensors
IPS5
+ Status
IPR1
+ UserGroups
IPR2
+ PostProcess
IPR3
+ Rinex
+ RinexMeas3
+ Support
RxControl: Communication > Output Settings > SBF Output Once
Use this command to output a set of SBF blocks on a given connection. This command
differs from the related setSBFOutput command in that it instructs the receiver to output
the specified SBF blocks only once, instead of at regular intervals.
The Cd argument defines the connection descriptor (see 1.1.5) on which the message(s)
should be output and the Messages argument defines the list of messages that should be
output. The list of SBF blocks [SBF List] supported by the exeSBFOnce command can be
found in appendix B.
Make sure that the connection specified by Cd is configured to allow SBF output (this is the
default for all connections). See also the setDataInOut command.
Predefined groups of SBF blocks (such as Measurements) can be addressed in the Messages
argument. These groups are defined in the table below.
When using this command to output a block that is also scheduled with the setSBFOutput
command, the block will be sent twice. Note that this can cause duplicate measurement or
PVT epochs in the SBF stream.
Messages
Description
Measurements
+MeasEpoch +MeasExtra +EndOfMeas
Meas3
GPS
+Meas3Ranges +Meas3CN0HiRes +Meas3Doppler +Meas3PP
+Meas3MP
+GPSNav +GPSAlm +GPSIon +GPSUtc
GLO
+GLONav +GLOAlm +GLOTime
GAL
+GALNav +GALAlm +GALIon +GALUtc +GALGstGps
GEO
+GEONav +GEOAlm
BDS
+BDSAlm +BDSNav +BDSIon +BDSUtc
QZS
+QZSNav +QZSAlm
163
3 Command Line Reference
Messages (Continued)
Description
PVTCart
PVTExtra
+PVTCartesian +PosCovCartesian +VelCovCartesian
+BaseVectorCart
+PVTGeodetic +PosCovGeodetic +VelCovGeodetic
+BaseVectorGeod +PosLocal
+DOP +PVTSupport +PVTSupportA +EndOfPVT
Attitude
+AuxAntPositions +AttEuler +AttCovEuler +EndOfAtt
Time
+ReceiverTime
ExtSensors
+ExtSensorMeas +ExtSensorStatus +ExtSensorInfo +IMUSetup
Status
+SatVisibility +ChannelStatus +ReceiverStatus +InputLink
+OutputLink +IPStatus +NTRIPClientStatus +QualityInd
+DiskStatus +RFStatus +DynDNSStatus
UserGroups
+Group1 +Group2 +Group3 +Group4
PostProcess
+MeasEpoch +MeasExtra +GPSNav +GPSIon +GPSUtc
+GLONav +GLOTime +GALNav +GALIon +GALUtc +GALGstGps
+GEONav +BDSNav +BDSIon +BDSUtc +QZSNav
+ReceiverSetup +Commands +ExtSensorMeas
+ExtSensorStatus +IMUSetup
Rinex
+MeasEpoch +GPSNav +GPSIon +GPSUtc +GLONav +GALNav
+GALUtc +GALGstGps +GEONav +BDSNav +QZSNav
+PVTGeodetic +ReceiverSetup +Comment
RinexMeas3
+Meas3Ranges +GPSNav +GPSIon +GPSUtc +GLONav
+GALNav +GALUtc +GALGstGps +GEONav +BDSNav +QZSNav
+ReceiverSetup +Comment
Support
+MeasEpoch +MeasExtra +EndOfMeas +GPSNav +GPSAlm
+GPSIon +GPSUtc +GLONav +GLOAlm +GLOTime +GALNav
+GALAlm +GALIon +GALUtc +GALGstGps +GEONav +GEOAlm
+BDSAlm +BDSNav +BDSIon +BDSUtc +QZSNav +PVTGeodetic
+PosCovGeodetic +BaseVectorGeod +AuxAntPositions
+AttEuler +DOP +PVTSupport +PVTSupportA +INSNavGeod
+INSSupport +EndOfPVT +ExtSensorInfo +ExtSensorMeas
+ExtSensorStatus +IMUSetup +ChannelStatus +ReceiverStatus
+InputLink +OutputLink +ReceiverSetup +Commands
+RxMessage +IPStatus +NTRIPClientStatus +QualityInd
+DiskStatus +RFStatus +DynDNSStatus
PVTGeod
Example
To output the next MeasEpoch block, use:
COM1> esoc, COM1, MeasEpoch <CR>
$R: esoc, COM1, MeasEpoch
SBFOnce, COM1, MeasEpoch
COM1>
164
3 Command Line Reference
sso
setSBFOutput
Stream
gso
getSBFOutput
Stream
Cd
Messages
Interval
+ Stream1 ...
Stream10
none
none
off
DSK1
[SBF List]
OnChange
+ Res1
COM1
+ Measurements
msec5
+ Res2
COM2
+ Meas3
msec10
+ Res3
COM3
+ RawNavBits
msec20
+ Res4
COM4
+ GPS
msec40
all
USB1
+ GLO
msec50
USB2
+ GAL
msec100
IP10 ... IP17
+ GEO
msec200
NTR1
+ BDS
msec500
NTR2
+ QZS
sec1
NTR3
+ PVTCart
sec2
IPS1
+ PVTGeod
sec5
IPS2
+ PVTExtra
sec10
IPS3
+ Attitude
sec15
IPS4
+ Time
sec30
IPS5
+ Event
sec60
IPR1
+ DiffCorr
min2
IPR2
+ ExtSensors
min5
IPR3
+ Status
min10
+ UserGroups
min15
+ PostProcess
min30
+ Rinex
min60
+ RinexMeas3
+ Support
RxControl: Communication > Output Settings > SBF Output > SBF Output
Use this command to output a set of SBF blocks on a given connection at a regular interval.
A Stream is defined as a list of messages that should be output with the same interval on one
connection descriptor (Cd - see 1.1.5 ). In other words, one Stream is associated with one Cd
and one Interval, and contains a list of SBF blocks defined by the Messages argument.
The list of supported SBF blocks [SBF List] can be found in appendix B.
Predefined groups of SBF blocks (such as Measurements) can be addressed in the Messages
argument. These groups are defined in the table below.
Messages
Description
Measurements
+MeasEpoch +MeasExtra +EndOfMeas
Meas3
+Meas3Ranges +Meas3CN0HiRes +Meas3Doppler +Meas3PP
+Meas3MP
+GPSRawCA +GPSRawL2C +GLORawCA +GALRawINAV
+GEORawL1 +BDSRaw +QZSRawL1CA +QZSRawL2C
RawNavBits
GPS
+GPSNav +GPSAlm +GPSIon +GPSUtc
GLO
+GLONav +GLOAlm +GLOTime
GAL
+GALNav +GALAlm +GALIon +GALUtc +GALGstGps
+GALSARRLM
+GEOMT00 +GEOPRNMask +GEOFastCorr +GEOIntegrity
+GEOFastCorrDegr +GEONav +GEODegrFactors
+GEONetworkTime +GEOAlm +GEOIGPMask
+GEOLongTermCorr +GEOIonoDelay +GEOServiceLevel
+GEOClockEphCovMatrix
GEO
BDS
+BDSAlm +BDSNav +BDSIon +BDSUtc
165
3 Command Line Reference
Messages (Continued)
Description
QZS
+QZSNav +QZSAlm
PVTCart
PVTExtra
+PVTCartesian +PosCovCartesian +VelCovCartesian
+BaseVectorCart
+PVTGeodetic +PosCovGeodetic +VelCovGeodetic
+BaseVectorGeod +PosLocal
+DOP +PVTSupport +PVTSupportA +EndOfPVT
Attitude
+AuxAntPositions +AttEuler +AttCovEuler +EndOfAtt
Time
+ReceiverTime +xPPSOffset
Event
+ExtEvent +ExtEventINSNavCart +ExtEventINSNavGeod
DiffCorr
+DiffCorrIn +BaseStation +RTCMDatum
ExtSensors
+ExtSensorMeas +ExtSensorStatus +ExtSensorInfo +IMUSetup
Status
+SatVisibility +ChannelStatus +ReceiverStatus +InputLink
+OutputLink +IPStatus +NTRIPClientStatus +QualityInd
+DiskStatus +RFStatus +DynDNSStatus
UserGroups
+Group1 +Group2 +Group3 +Group4
PostProcess
+MeasEpoch +MeasExtra +GEORawL1 +GPSNav +GPSIon
+GPSUtc +GLONav +GLOTime +GALNav +GALIon +GALUtc
+GALGstGps +GEONav +BDSNav +BDSIon +BDSUtc +QZSNav
+DiffCorrIn +ReceiverSetup +Commands +ExtEvent
+ExtSensorMeas +ExtSensorStatus +IMUSetup
Rinex
+MeasEpoch +GPSNav +GPSIon +GPSUtc +GLONav +GALNav
+GALUtc +GALGstGps +GEONav +BDSNav +QZSNav
+PVTGeodetic +ReceiverSetup +Comment
RinexMeas3
+Meas3Ranges +GPSNav +GPSIon +GPSUtc +GLONav
+GALNav +GALUtc +GALGstGps +GEONav +BDSNav +QZSNav
+ReceiverSetup +Comment
Support
+MeasEpoch +MeasExtra +EndOfMeas +GPSRawCA
+GPSRawL2C +GLORawCA +GALRawINAV +GEORawL1
+BDSRaw +QZSRawL1CA +QZSRawL2C +GPSNav +GPSAlm
+GPSIon +GPSUtc +GLONav +GLOAlm +GLOTime +GALNav
+GALAlm +GALIon +GALUtc +GALGstGps +GEONav +GEOAlm
+BDSAlm +BDSNav +BDSIon +BDSUtc +QZSNav +QZSAlm
+PVTGeodetic +PosCovGeodetic +BaseVectorGeod
+AuxAntPositions +AttEuler +DOP +PVTSupport
+PVTSupportA +INSNavGeod +INSSupport +EndOfPVT
+ExtEvent +ExtSensorInfo +ExtSensorMeas +ExtSensorStatus
+IMUSetup +DiffCorrIn +BaseStation +ChannelStatus
+ReceiverStatus +InputLink +OutputLink +ReceiverSetup
+Commands +RxMessage +IPStatus +NTRIPClientStatus
+QualityInd +DiskStatus +RFStatus +DynDNSStatus
PVTGeod
The Interval argument defines the rate at which the SBF blocks specified in the Messages
argument are output. If set to off, the SBF blocks are disabled. If set to OnChange, the
SBF blocks are output at their natural renewal rate (see section 4.1.8). If a specific interval is
specified (e.g. sec1 corresponds to an interval of 1 second), the SBF blocks are decimated
from their renewal rate to the specified interval. Some blocks can only be output at their
renewal rate (e.g. the GPSNav block). For these blocks, the receiver ignores the value of the
166
3 Command Line Reference
Interval argument and always assumes OnChange. The list of those blocks can be found in
appendix B (see the "Flex Rate" column).
Please make sure that the connection specified by Cd is configured to allow SBF output (this
is the default for all connections). See the setDataInOut command.
Res1 to Res4 are reserved values of Stream. These streams are not saved in the configuration files and, as a consequence, they will always be reset at boot time. For most users, it is
not recommended to use these streams.
Example
To output the MeasEpoch block at 10Hz and the PVTGeodetic block at 1Hz on COM1, use
the following sequence:
COM1> sso, Stream1, COM1, MeasEpoch, msec100 <CR>
$R: sso, Stream1, COM1, MeasEpoch, msec100
SBFOutput, Stream1, COM1, MeasEpoch, msec100
COM1> sso, Stream2, COM1, PVTGeodetic, sec1 <CR>
$R: sso, Stream2, COM1, PVTGeodetic, sec1
SBFOutput, Stream2, COM1, PVTGeodetic, sec1
COM1>
167
3 Command Line Reference
3.2.16
sr2c
setRTCMv2Compatibility
gr2c
getRTCMv2Compatibility
RTCM v2.x Settings
PRCType
GLOToD
RTKVersion
Standard
Tk
v2.1
GroupDelay
Tb
v2.2orLater
RxControl: Communication > Input Settings > Differential Corrections > RTCMv2
Use these commands to define/inquire the compatibility of the RTCM 2.x input correction
stream. This command applies to rover receivers only and should be used in case the available base station correction stream is not fully compatible with the latest version of the RTCM
2.x standard.
The PRCType argument is used to handle a difference in the interpretation of DGPS corrections between the version 2.0 of the RTCM standard and later versions. If the base station
is sending RTCM Message Type 1 based on version 2.0, the value GroupDelay must be
selected to have a correct usage of incoming corrections.
The GLOToD argument specifies how to interpret the time-of-day field in the differential
GLONASS correction message (MT31). Select Tb to be compatible with RTCM version up
to 2.2, and select Tk to be compatible with RTCM 2.3 and later.
The RTKVersion argument specifies if the base station encodes RTK correction messages
(MT18 to MT21) according to version 2.1 of the RTCM standard, or according to version 2.2
or above.
Example
To make to rover receiver compatible with a base station sending RTCM 2.2 corrections, use:
COM1> sr2c, , Tb <CR>
$R: sr2c, , Tb
RTCMv2Compatibility, Standard, Tb, v2.2orLater
COM1>
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3 Command Line Reference
sr2u
setRTCMv2Usage
gr2u
getRTCMv2Usage
MsgUsage
none
+ RTCM1
+ RTCM3
+ RTCM9
+ RTCM15
+ RTCM18|19
+ RTCM20|21
+ RTCM22
+ RTCM23|24
+ RTCM31
+ RTCM32
+ RTCM34
+ RTCM17
+ RTCM59
all
RxControl: Communication > Input Settings > Differential Corrections > RTCMv2
Use this command to restrict the list of incoming RTCM v2.x messages that the receiver is
allowed to use in its differential PVT computation.
A short description of the supported RTCM v2.x messages can be found in appendix D.
Example
To only accept RTCM1 and RTCM3 corrections from the base station 1011, use the following
sequence:
COM1> sr2u, RTCM1+RTCM3 <CR>
$R: sr2u, RTCM1+RTCM3
RTCMv2Usage, RTCM1+RTCM3
COM1> sdcu, , , manual, 1011 <CR>
$R: sdcu, , , manual, 1011
DiffCorrUsage, LowLatency, 3600.0, manual, 1011 ...
COM1>
169
3 Command Line Reference
3.2.17
sr3t
setRTCMv3CRSTransfo
gr3t
getRTCMv3CRSTransfo
RTCM v3.x Settings
Mode
TargetName (32)
auto
manual
RxControl: Communication > Input Settings > Differential Corrections > RTCMv3
Use this command to specify how to apply the coordinate reference system (CRS) transformation parameters contained in RTCM v3.x message types 1021 to 1023.
In auto mode (the default), the receiver decodes and applies the coordinate transformation parameters from message types 1021-1023. If your RTK provider sends transformation
parameters for more than one target CRS, the receiver selects the first transformation parameters it receives.
In manual mode, you can force the receiver to only apply the transformation to the target
CRS specified with the second argument. The TargetName argument must exactly match the
name used by the RTK provider. The available target datum names can be found in the
RTCMDatum SBF block.
Example
To force using the target CRS identified as "4258" by the RTK network, use:
COM1> sr3t, manual, "4258"<CR>
$R: sr3t, manual, "4258"
RTCMv3CRSTransfo, manual, "4258"
COM1>
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3 Command Line Reference
sr3u
setRTCMv3Usage
gr3u
getRTCMv3Usage
MsgUsage
none
+ RTCM1001 ...
RTCM1013
+ RTCM1015
+ RTCM1016
+ RTCM1017
+ RTCM1019 ...
RTCM1027
+ RTCM1029
+ RTCM1033
+ RTCM1037
+ RTCM1038
+ RTCM1039
+ RTCM1042
+ RTCM1044
+ RTCM1046
+ RTCM1071 ...
RTCM1077
+ RTCM1081 ...
RTCM1087
+ RTCM1091 ...
RTCM1097
+ RTCM1121 ...
RTCM1127
+ RTCM1230
+ MSM1
+ MSM2
+ MSM3
+ MSM4
+ MSM5
+ MSM6
+ MSM7
all
RxControl: Communication > Input Settings > Differential Corrections > RTCMv3
Use this command to restrict the list of incoming RTCM v3.x messages that the receiver is
allowed to use in its differential PVT computation.
A short description of the supported RTCM v3.x messages can be found in appendix D. MSMi
is an alias to enable the Multiple Signal Message - Type i from all constellations at once.
Example
To only accept RTCM1001 and RTCM1002 corrections from the base station 1011, use the
following sequence:
COM1> sr3u, RTCM1001+RTCM1002 <CR>
$R: sr3u, RTCM1001+RTCM1002
RTCMv3Usage, RTCM1001+RTCM1002
COM1> sdcu, , , manual, 1011 <CR>
$R: sdcu, , , manual, 1011
DiffCorrUsage, LowLatency, 3600.0, manual, 1011 ...
COM1>
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3 Command Line Reference
3.2.18
sc2u
setCMRv2Usage
gc2u
getCMRv2Usage
CMR v2.0 Settings
MsgUsage
none
+ CMR0
+ CMR1
+ CMR2
+ CMR3
+ CMR0p
+ CMR0w
all
RxControl: Communication > Input Settings > Differential Corrections > CMRv2
Use this command to restrict the list of incoming CMR v2.0 messages that the receiver is
allowed to use in its differential PVT computation. CMR0p and CMR0w refer to the CMR+ and
CMR-W variants respectively.
A short description of the supported CMR v2.0 messages can be found in appendix D.
Example
To only accept CMR0 from the base station 12, use the following sequence:
COM1> sc2u, CMR0 <CR>
$R: sc2u, CMR0
CMRv2Usage, CMR0
COM1> sdcu, , , manual, 12 <CR>
$R: sdcu, , , manual, 12
DiffCorrUsage, LowLatency, 3600.0, manual, 12 ...
COM1>
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3 Command Line Reference
3.2.19
sdfa
setDiskFullAction
Disk
gdfa
getDiskFullAction
Disk
Internal Disk Logging
Action
+ DSK1
DeleteOldest
all
StopLogging
RxControl: Logging > Internal Logging Settings > Global Logging Options
Use these commands to define/inquire what the receiver should do when the disk identified
by Disk is full.
The currently supported actions are as follows:
Action
Description
DeleteOldest
The oldest file on the disk is automatically removed, unless
the oldest file is also the current logging file. In that latter
case, the logging stops. In incremental file naming mode, if
the auto-incremented file name already exists, the existing file
is overwritten.
All logging activity stops on the specified disk.
StopLogging
Examples
COM1> sdfa, DSK1, StopLogging <CR>
$R: sdfa, DSK1, StopLogging
DiskFullAction, DSK1, StopLogging
COM1>
COM1> gdfa <CR>
$R: gdfa
DiskFullAction, DSK1, StopLogging
COM1>
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3 Command Line Reference
ldi
Disk
lstDiskInfo
Directory (60)
DSK1
all
Use this command to retrieve information about the disk identified by the Disk argument.
The reply to this command contains the disk size and free space in bytes and the list of all
recorded files and directories.
The content of directories is not shown by default. To list the content of a directory, use the
second argument to specify the directory name.
Example
COM1> ldi, DSK1 <CR>
$R; ldi, dsk1
---->
$-- BLOCK 1 / 0
<?xml version="1.0" encoding="ISO-8859-1" ?>
<DiskInfo version="0.1"gt;
<Disk name="DSK1" total="2030927872" free="2030764032" >
<File name="log.sbf" size="16384" />
<File name="leuv2050.07_" size="35196" />
</Disk>
</DiskInfo>
COM1>
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3 Command Line Reference
sfn
setFileNaming
Cd
gfn
getFileNaming
Cd
NamingType
FileName (20)
+ DSK1
FileName
log
all
Incremental
IGS15M
IGS1H
IGS6H
IGS24H
RxControl: Logging > Internal Logging Settings > SBF Logging and Upload
Use these commands to define/inquire the file naming convention for the internal SBF,
NMEA or user-message log files.
If NamingType is FileName, the file name is given by the third argument FileName, followed
by the extension .sbf, .nma or .ecm for SBF, NMEA and user-message files respectively.
User-message files contain messages entered by the command exeEchoMessage prefixed
with the GPS week number and time of week in seconds.
If NamingType is Incremental, the file name is given by the first five characters of the FileName argument (right padded with "_" if necessary), followed by a modulo-1000 counter
incrementing each time logging is stopped and restarted. The file name extension is .sbf,
.nma or .ecm as described above. If the auto-incremented file name already exists on the
disk, the receiver takes action as specified by the setDiskFullAction command.
The set of allowed characters for the FileName argument is:
_0123456789ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz
If NamingType is IGS15M, IGS1H, IGS6H or IGS24H, the receiver automatically creates a new
file every 15 minutes, every hour, every 6 hours or every 24 hours respectively, and the file
name adheres to the IGS/RINEX2.11 naming convention.
The 4-character station identifier is the first four letters of the station code as set by the
setMarkerParameters command. If the station code is empty, the first four letters of the
marker name are used.
If desired, it is also possible to add a log session ID prefix to all file names logged in IGS
naming mode. This is enabled with the setGlobalFileNamingOptions command.
In IGS naming mode, the files are put in daily directories, the directory name being of the
form yyddd with yy the 2-digit year and ddd the day of year. If NamingType is FileName or
Incremental, the file is put in the root directory.
Note that the actual file name on the disk is case insensitive and only contains lower-case
characters even if the user entered upper-case characters in the FileName argument.
If the naming convention is changed while logging is ongoing, the current file is closed and
the logging continues in a new file with the name as specified.
Example
To have a fixed file name "mytest.sbf", use:
COM1> sfn, DSK1, FileName, mytest <CR>
$R: sfn, DSK1, FileName, mytest
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3 Command Line Reference
FileNaming, DSK1, FileName, "mytest"
COM1>
176
3 Command Line Reference
sfno
setGlobalFileNamingOptions
gfno
getGlobalFileNamingOptions
BusyTag
off
on
RxControl: Logging > Internal Logging Settings > Global Logging Options
By default, files names follow the convention described with the logging commands
(setFileNaming).
By setting the BusyTag argument to on, a ".A" suffix is added to all files that are currently
written to for easy identification. The suffix is removed when the file is closed.
Example
COM1> sfno, on<CR>
$R: sfno, on
GlobalFileNamingOptions, on
COM1>
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3 Command Line Reference
emd
exeManageDisk
gmd
getManageDisk
Disk
Action
DSK1
Unmount
Mount
Format
RxControl: Logging > Disk(s) > Disk Management
Use this command to manage the disk identified by the Disk argument.
Specify the action Format to format the disk (all data will be lost).
The Mount and Unmount actions mount and unmount the disk respectively. Unmounting an
internal disk makes it available as a mass-storage device when the USB cable is connected to
a PC, i.e. it makes the disk appear as a drive on most file browsers. When the disk is mounted,
it cannot be accessed as a mass-storage device. Internal logging is only possible when the
disk is mounted. See the setUMSDOnConnect command to automatically unmount the disk
upon connecting the USB cable.
Prior to formatting or unmounting the disk, make sure to stop all disk activities. If the specified action could not be performed, an error message is returned.
Example
To format the first disk (DSK1), use:
COM1>
emd, DSK1, Format <CR>
$R: emd, DSK1, Format
ManageDisk, DSK1, Format
COM1>
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3 Command Line Reference
lrf
lstRecordedFile
Disk
FileName (60)
DSK1
Use this command to retrieve the contents of one of the log files on the disk identified with
the Disk argument.
The reply to this command consists in a succession of blocks starting with the "$−− BLOCK"
header, and terminating with the pseudo-prompt "−−−−>" (see section Section 3.1.3,
"Command Replies" for details). The decoding program must remove these headers and
pseudo-prompts to recover the original file contents.
The download speed is highly influenced by the processor load. To speed up the download,
it is recommended to stop the signal tracking, which can be done by typing the following
command before starting the download: setSatelliteTracking, none.
The file download can be interrupted by sending ten uppercase "S" characters (simply by
holding the "shift-S" key pressed) to the connection through which the download is taking
place.
Examples
To output the contents of the internal log file named log.sbf on the first disk (DSK1), use:
COM1> lrf, DSK1, log.sbf <CR>
$R; lrf, DSK1, log.sbf
... Here comes the content of log.sbf ...
COM1>
If the file log.sbf does not exist, an error is returned:
COM1> lrf, DSK1, log.sbf <CR>
$R? lstRecordedFile: Argument ’FileName’ could not be handled!
COM1>
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3 Command Line Reference
erf
exeRemoveFile
grf
getRemoveFile
Disk
FileName (200)
DSK1
none
all
RxControl: Logging > Remove Internal File
Use this command to remove one file or an entire directory from the disk identified by the
Disk argument.
If FileName is the name of a file, only that single file is removed from the disk. Files in a
directory can be specified using dirname/filename.
If FileName is the name of a directory, the entire directory is deleted, except the file currently
written to, if any.
If the reserved string all is used for the FileName argument, all files are removed from the
selected disk, except the file currently written to, if any.
If there is no file nor directory named FileName on the disk or if the file is currently written
to, an error message is returned.
Examples
To remove the file "ATRX2980.03_" from directory "03298", use:
COM1> erf, DSK1, 03298/ATRX2980.03_ <CR>
$R: erf, DSK1, 03298/ATRX2980.03_
RemoveFile, DSK1, "03298/ATRX2980.03_"
COM1>
To remove all files from DSK1, use:
COM1> erf, DSK1, all <CR>
$R: erf, DSK1, all
RemoveFile, DSK1, all
COM1>
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3 Command Line Reference
suoc
setUMSDOnConnect
guoc
getUMSDOnConnect
Mode
off
on
RxControl: Logging > Disk(s) > Disk Access over USB
Use this command to enable or disable automatic activation of the USB mass-storage device
(UMSD) upon connecting the USB port to a computer.
When the receiver is attached to your computer through an USB cable, the internal disk
(DSK1) can be accessed using a standard file browser, where it appears as a removable drive
or USB mass-storage device. This requires the disk to be unmounted by the receiver so that
it can be accessed by your computer’s operating system. Unmounting the disk can be done
manually with the exeManageDisk command, or can be done automatically by the receiver
each time the USB cable is attached to your computer.
When the Mode argument is on, each time the USB cable is connected, the receiver stops
logging data and unmounts the internal disk. The disk becomes visible in your file browser.
When the USB cable is disconnected, the internal disk is automatically remounted and logging resumes.
When Mode is off, activation of the USB mass-storage device is not done automatically and
requires manually unmounting the internal disk with the exeManageDisk command.
Example
COM1> suoc, off<CR>
$R: suoc, off
UMSDOnConnect, off
COM1>
181
4 SBF Reference
Chapter 4
SBF Reference
182
4 SBF Reference
4.1
SBF Outline
SBF is the binary output format of Septentrio receivers. In this format, the data are arranged
in binary blocks referred to as SBF blocks.
Each SBF block consists of a sequence of numeric or alphanumeric fields of different types
and sizes. The total block size is always a multiple of 4 bytes.
The fields of an SBF block may have one of the following types:
Type Description
u1
Unsigned integer on 1 byte (8 bits)
u2
Unsigned integer on 2 bytes (16 bits)
u4
Unsigned integer on 4 bytes (32 bits)
i1
Signed integer on 1 byte (8 bits)
i2
Signed integer on 2 bytes (16 bits)
i4
Signed integer on 4 bytes (32 bits)
f4
IEEE float on 4 bytes (32 bits)
f8
IEEE float on 8 bytes (64 bits)
c1[X] String of X ASCII characters, right padded with bytes set to 0 if needed.
Each multi-byte binary type is transmitted as little-endian, meaning that the least significant
byte is the first one to be transmitted by the receiver. Signed integers are coded as two’s
complement.
Every SBF block begins with an 8-byte block header, which is followed by the block body.
4.1.1
SBF Block Header Format
Every SBF block starts with an 8-byte header having the following contents:
Parameter Type
Description
Sync
c1[2] The Sync field is a 2-byte array always set to 0x24, 0x40. The first byte of every SBF block has
hexadecimal value 24 (decimal 36, ASCII ’$’). The second byte of every SBF block has hexadecimal
value 40 (decimal 64, ASCII ’@’). These two bytes identify the beginning of any SBF block and can
be used for synchronization.
CRC
u2
The CRC field is the 16-bit CRC of all the bytes in an SBF block from and including the ID field
to the last byte of the block. The generator polynomial for this CRC is the so-called CRC-CCITT
polynomial: x16 + x12 + x5 + x0 . The CRC is computed in the forward direction using a seed of 0, no
reverse and no final XOR.
ID
u2
The ID field is a 2-byte block ID, which uniquely identifies the block type and its contents. It is a bit
field with the following definition:
bits 0-12: block number;
bits 13-15: block revision number, starting from 0 at the initial block definition, and incrementing each time backwards-compatible changes are performed to the block
(see section 4.1.6).
Length
4.1.2
u2
The Length field is a 2-byte unsigned integer containing the size of the SBF block. It is the total
number of bytes in the SBF block including the header. It is always a multiple of 4.
SBF Block Names and Numbers
The structure and contents of an SBF block are unambiguously identified by the block ID.
For easier readability, a block name is also defined for each block. When invoking the
setSBFOutput command to enable a given block, the block name should be specified.
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4 SBF Reference
The list of SBF blocks available on your receiver can be found in Appendix B.
4.1.3
SBF Block Time Stamp (TOW and WNc)
Each SBF header is directly followed by a time stamp, which consists of two fields: TOW and
WNc:
Parameter Type Units & Scale Do-Not-Use
Factor
Description
Value
TOW
u4
0.001 s
4294967295 Time-Of-Week : Time-tag, expressed in whole
milliseconds from the beginning of the current
GPS week.
WNc
u2
1 week
65535
The GPS week number associated with the TOW.
WNc is a continuous week count (hence the "c").
It is not affected by GPS week rollovers, which
occur every 1024 weeks.
By definition of the Galileo system time, WNc is
also the Galileo week number plus 1024.
In the SBF time stamps, the definition of the week always follows the GPS convention even
if the block contains data for another constellation. This means that WNc 0, TOW 0 corresponds to Jan 06,1980 at 00:00:00 UTC.
If the time-of-week or the week number is unknown, which is typically the case for a few seconds after start-up, the corresponding field is set to its Do-Not-Use value (see section 4.1.7).
It does not mean that the SBF block is unusable, but simply that the receiver could not timetag it. It is typical that the TOW field becomes valid before the WNc field.
The interpretation to give to the time stamp is block-dependent. Three types of time stamps
are possible:
• Receiver time stamp: this type of time stamp is used for the SBF blocks containing
synchronous data, i.e. data generated at a given epoch in the receiver time scale.
Examples of such blocks are the measurement and PVT blocks ( MeasEpoch and
PVTCartesian). The time stamp is always a multiple of the output interval as specified by the setSBFOutput command (see also section 4.1.8). As soon as the receiver
time is aligned with the GNSS time, the receiver time stamp is guaranteed to never
decrease in successive SBF blocks.
• SIS time stamp: it is used for asynchronous blocks containing navigation message data
from the signal-in-space. The time stamp corresponds to the time of transmission of
the end of the last navigation bit used to build the SBF block. It always follows the GPS
convention, as explained above.
• External time stamp: this type of time stamp is used for SBF blocks triggered by external
asynchronous events, such as the ExtEvent block.
For the blocks with a SIS or an external time stamp, there is no strict relation between the
time stamp of the SBF blocks and their order of transmission. For example, the SBF stream
may contain a GPSNav block with ephemeris parameters received one hour in the past (i.e.
the time stamp is one hour in the past) followed by another block with a current receiver
time stamp.
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4 SBF Reference
4.1.4
Sub-blocks
Some blocks contain sub-blocks. For example, the SatVisibility block contains N
SatInfo sub-blocks, each sub-block containing data for one particular satellite. Unless the
size of the sub-blocks is mentioned explicitly in the block description, SBF blocks that contain
sub-blocks also contain a SBLength field, which indicates the size of the sub-blocks in bytes.
4.1.5
Padding Bytes
Padding bytes are foreseen at the end of most SBF blocks and sub-blocks, so that their total
size is equal to Length or SBLength respectively. The padding bytes are just placeholders
and should not be looked at by the decoding software. Their value is not defined.
4.1.6
SBF Revision Number
Each SBF block has an associated revision number. The revision number is incremented each
time a backwards-compatible change is implemented.
As described in section 4.1.1, the block number is to be found in bits 0 to 12 of the ID field,
and the revision is in bits 13 to 15 of that field.
A backwards-compatible change consists of adding one or more fields in the padding bytes,
or in the fields marked as "reserved" in the block description. Such change should be unnoticed by properly written decoding software that ignore the contents of padding and reserved
fields (see also section 4.1.12). Each time such change happens, the revision number is incremented. The revision at which a given field has been introduced is documented in the
block description in chapter 4.2, unless that revision is 0 (see the ReceiverSetup block as
an example). It is guaranteed that if a given field exists in revision N, it will also exist in all
revisions after N: no fields are withdrawn from SBF.
4.1.7
Do-Not-Use Value
It might happen that one or more pieces of data in an SBF block are not known at block
creation time. For example, when there are insufficient satellite measurements to compute a position solution, the position components found in the X, Y and Z fields of the
PVTCartesian block will not be available. To indicate that a given data item is not available
or is currently not provided by the receiver, the corresponding field is set to a ’Do-Not-Use’
value that is never reached in normal operation.
When applicable, the Do-Not-Use value is mentioned in the block description. The Do-NotUse value refers to the raw contents of the field, without applying the scale factor. A field set
to its Do-Not-Use value should always be discarded by the decoding software.
4.1.8
Output Rate
In general, the default output rate for each SBF block is the renewal rate of the information.
For instance, the GPSNav block is output each time a new ephemeris data set is received
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4 SBF Reference
from a given GPS satellite. The default output rates of GNSS measurement blocks, PVT blocks
and integrated INS/GNSS blocks depend on your permission set. These three rates can be
checked by the command getReceiverCapabilities.
The default output rate is specified for each block in chapter 4.2. To instruct the receiver
to output a given block at its default rate, the "OnChange" rate has to be specified in the
setSBFOutput command.
Some blocks can only be output at their default rate (e.g. the GPSNav block). Others can
be decimated to a user-selectable rate. A subset of blocks can also be output "once" using
the exeSBFOnce command. This can be handy to get a one-shot overview of a particular receiver state. Whether a given block supports a user-selectable rate (“Flex Rate”) and whether
it belongs to the "output once" set is indicated in the SBF block list in Appendix B.
Attempting to force another rate than the default one for those blocks that do not support
“Flex Rate” has no effect: those blocks are always output at their default rate.
4.1.9
Satellite ID and GLONASS Frequency Number
Satellites are identified by the SVID (or PRN) and FreqNr fields, defined as in the table below.
This table is only valid for the currently-supported constellations and signal types
(see 4.1.10). To ensure compatibility with future SBF upgrades, decoding software must ignore SBF blocks and sub-blocks of which the satellite ID field or the signal number field is
undefined in this document.
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4 SBF Reference
Field
Type Do-Not-Use
Description
RINEX satellite code
Value
SVID or PRN u1
0
Satellite ID: The following ranges are defined:
1-37: PRN number of a GPS satellite
Gnn (nn = SVID)
38-61: Slot number of a GLONASS satellite with Rnn (nn = SVID-37)
an offset of 37 (R01 to R24)
62: GLONASS satellite of which the slot number NA
is not known
63-68: Slot number of a GLONASS satellite with Rnn (nn = SVID-38)
an offset of 38 (R25 to R30)
71-106: PRN number of a GALILEO satellite with Enn (nn = SVID-70)
an offset of 70
107-119: L-Band (MSS) satellite. Corresponding NA
satellite name can be found in the LBandBeams
block.
120-140: PRN number of an SBAS satellite (S120 Snn (nn = SVID-100)
to S140)
141-180: PRN number of a BeiDou satellite with Cnn (nn = SVID-140)
an offset of 140
181-187: PRN number of a QZSS satellite with an Jnn (nn = SVID-180)
offset of 180
191-197: PRN number of a NavIC/IRNSS satellite Inn (nn = SVID-190)
with an offset of 190 (I01 to I07)
198-215: PRN number of an SBAS satellite with Snn (nn = SVID-157)
an offset of 57 (S141 to S158)
216-222: PRN number of a NavIC/IRNSS satellite Inn (nn = SVID-208)
with an offset of 208 (I08 to I14)
223-245: PRN number of a BeiDou satellite with Cnn (nn = SVID-182)
an offset of 182 (C41 to C63)
FreqNr
u1
0
GLONASS frequency number, with an offset of 8.
It ranges from 1 (corresponding to an actual frequency number of -7) to 21 (corresponding to an
actual frequency number of 13).
For non-GLONASS satellites, FreqNr is reserved
and must be ignored by the decoding software.
4.1.10
Signal Type
Some sub-blocks contain a signal type field, which identifies the type of signal and modulation the sub-blocks applies to. The signal numbering is defined as follows:
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4 SBF Reference
Signal
Signal Type
Constellation
Carrier frequency (MHz)
RINEX v3.04
number
obs code
0
L1CA
GPS
1575.42
1C
1
L1P
GPS
1575.42
1W
2
L2P
GPS
1227.60
2W
3
L2C
GPS
1227.60
2L
4
L5
GPS
1176.45
5Q
5
L1C
GPS
1575.42
1L
6
L1CA
QZSS
1575.42
1C
7
L2C
QZSS
1227.60
2L
8
L1CA
GLONASS
1602.00+(FreqNr-8)*9/16, with FreqNr as 1C
defined in section 4.1.9.
9
L1P
GLONASS
1602.00+(FreqNr-8)*9/16
1P
10
L2P
GLONASS
1246.00+(FreqNr-8)*7/16
2P
11
L2CA
GLONASS
1246.00+(FreqNr-8)*7/16
2C
12
L3
GLONASS
1202.025
3Q
13
B1C
BeiDou
1575.42
1P
14
B2a
BeiDou
1176.45
5P
15
L5
NavIC/IRNSS
1176.45
5A
16
Reserved
17
E1 (L1BC)
Galileo
1575.42
1C
18
Reserved
19
E6 (E6BC)
Galileo
1278.75
6C
20
E5a
Galileo
1176.45
5Q
21
E5b
Galileo
1207.14
7Q
22
E5 AltBoc
Galileo
1191.795
8Q
23
LBand
MSS
L-band beam specific
NA
24
L1CA
SBAS
1575.42
1C
25
L5
SBAS
1176.45
5I
26
L5
QZSS
1176.45
5Q
27
L6
QZSS
1278.75
28
B1I
BeiDou
1561.098
2I
29
B2I
BeiDou
1207.14
7I
30
B3I
BeiDou
1268.52
6I
31
Reserved
32
L1C
QZSS
1575.42
1L
33
L1S
QZSS
1575.42
1Z
34
B2b
BeiDou
1207.14
7D
35
Reserved
36
S
NavIC/IRNSS
2492.028
9A
4.1.11
Channel Numbering
Some blocks contain a reference to the receiver channel number. Channel numbering starts
at one. The maximum value for the channel number depends on the receiver type.
4.1.12
Decoding of SBF Blocks
In order to decode an SBF block, one has to identify the block boundaries in the data stream
coming from the receiver. This involves searching for the initial "$@" characters that mark
the beginning of each SBF block. Since the "$@" sequence can occur in the middle of an SBF
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4 SBF Reference
block as well, additional checking is needed to make sure that a given "$@" is indeed the
beginning of a block. The following procedure is recommended to decode SBF data stream.
1. Wait until the "$@" character sequence appears in the data stream from the receiver.
When it is found, go to point 2.
2. Read the next two bytes. It should be the block CRC. Store this value for future reference.
3. Read the next two bytes and store them in a buffer. It should be the block ID.
4. Read the next two bytes and append them to the buffer. It should be the Length field
of the SBF block. It should be a multiple of 4. If not, go back to point 1.
5. Read the next (Length-8) bytes and append them to the buffer. Compute the CRC of
the buffer. The computed CRC should be equal to the CRC stored at point 2. If not, go
back to point 1, else a valid SBF block has been detected and can be interpreted by the
reading software.
6. If the block number (bits 0 to 12 of the ID field decoded at point 3) is of interest to your
application, decode the SBF block.
7. Go back to point 1 and search for the new occurrence of the "$@" sequence after the
end of the last byte of the block that was just identified.
To ensure compatibility with future upgrades of SBF, it is recommended that the decoding
software observes the following rules:
• Only bits 0 to 12 of the ID field must be used to identify a block. Bits 13 to 15 represent
the revision number.
• The lengths of SBF blocks and sub-blocks should not be considered constant and hardcoded in the decoding software. Instead, the decoding software must use the Length
and SBLength fields encoded in the SBF block.
• Padding bytes should be ignored.
• Reserved fields and reserved bits in bit-fields should be ignored.
• SBF blocks or sub-blocks of which the satellite ID field or the signal number field is
undefined in this document should be ignored (see section 4.1.9).
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4 SBF Reference
4.2
SBF Block Definitions
4.2.1
Measurement Blocks
GNSS observables are available in the following SBF blocks:
• the legacy MeasEpoch block, possibly complemented by MeasExtra.
• the Meas3Ranges block, possibly complemented by Meas3Doppler
Meas3CN0HiRes.
and
The MeasEpoch block contains pseudorange, carrier phase, C/N0 and Doppler observables.
The Meas3Ranges block contains pseudoranges, carrier phases and C/N0, while Doppler
is available in the companion Meas3Doppler block. The observable resolution is shown in
the table below.
Pseudorange
MeasEpoch
Meas3Ranges
1mm
1mm
Carrier phase 0.001cycles
0.001cycles
C/N0
0.25dB-Hz
0.03125dB-Hz with MeasExtra
1dB-Hz
0.0625dB-Hz with Meas3CN0HiRes
Doppler
0.0001Hz
No Doppler in Meas3Ranges
1mm/s with Meas3Doppler
The main advantage of the Meas3 blocks is their reduced size compared to the MeasEpoch
blocks. As an illustration, the following table shows the disk space required to log the different measurement-related blocks over one day at a 1-s interval. In this example, measurements from all GPS L1/L2/L5, GLONASS L1/L2, Galileo E1/E6/E5a/E5b and BeiDou B1/B2/B3
signals have been logged (constellation status as of beginning of 2017).
SBF Block
Disk space (1 day, 1 Hz)
MeasEpoch
104MB
MeasExtra
110MB
Meas3Ranges
28MB
Meas3Doppler
10MB
Meas3CN0HiRes 5MB
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MeasEpoch Number:
4027
"OnChange" interval: internal measurement rate (receiver-type dependent)
This block contains all the GNSS measurements (observables) taken at the time given by the
TOW and WNc fields.
For each tracked signal, the following measurement set is available:
• the pseudorange
• the carrier phase
• the Doppler
• the C/N0
• the lock-time.
To decrease the block size, all the measurements from a given satellite are referenced to
one master measurement set. For instance, the L2 pseudorange (C2) is not much different
from the L1 pseudorange (C1), such that the difference between C2 and C1 is encoded,
instead of the absolute value of C2.
This is done by using a two-level sub-block structure. All the measurements from a
given satellite are stored in a MeasEpochChannelType1 sub-block. The first part of this
sub-block contains the master measurements, encoded as absolute values. The second
part contains slave measurements, for which only the delta values are encoded in smaller
MeasEpochChannelType2 sub-blocks.
Every MeasEpochChannelType1 sub-block contains a field "N2", which gives the number
of nested MeasEpochChannelType2 sub-blocks. If there is only one signal tracked for a
given satellite, there are no slave measurements and N2 is set to 0.
Decoding is done as follows:
1. Decode
the
master
measurements
and
the
N2 value from the
MeasEpochChannelType1 sub-block.
2. If N2 is not 0, decode the N2 nested MeasEpochChannelType2 sub-blocks.
3. Go back to 1 till the N1 MeasEpochChannelType1 sub-blocks have been decoded.
Note that measurements in this block are scrambled if the "Measurement Availability" permission is not granted on your receiver. See also bit 7 of the CommonFlags field.
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4 SBF Reference
Parameter
Type Units Do-Not-Use
Sync1
c1
Description
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
N1
u1
SB1Length
u1
1 byte
Length of a MeasEpochChannelType1 sub-block, excluding the nested
MeasEpochChannelType2 sub-blocks
SB2Length
u1
1 byte
Length of a MeasEpochChannelType2 sub-block
CommonFlags
u1
Block Header, see 4.1.1
Receiver time stamp, see 4.1.3
Number of MeasEpochChannelType1 sub-blocks in this MeasEpoch
block.
Bit field containing flags common to all measurements.
Bit 0: Multipath mitigation: if this bit is set, multipath mitigation is enabled. (see the setMultipathMitigation command).
Bit 1: Smoothing of code: if this bit is set, at least one of the code measurements are smoothed values (see setSmoothingInterval command).
Bit 2: Carrier phase align: if this bit is set, the fractional part of the carrier phase measurements from different modulations on the same
carrier frequency (e.g. GPS L2C and L2P) are aligned, i.e. multiplexing biases (0.25 or 0.5 cycles) are corrected. Aligned carrier phase
measurements can be directly included in RINEX files. If this bit is
unset, this block contains raw carrier phase measurements. This bit
is always set in the current firmware version.
Bit 3: Clock steering:
this bit is set if clock steering is active (see
setClockSyncThreshold command).
Bit 4: Not applicable.
Bit 5: High dynamics: this bit is set when the receiver is in high-dynamics
mode (see the setReceiverDynamics command).
Bit 6: Reserved
Bit 7: Scrambling: bit set when the measurements are scrambled. Scrambling is applied when the "Measurement Availability" permission is
not granted (see the lif,Permissions command).
CumClkJumps
u1
Reserved
u1
Type1
...
Padding
u1[..]
0.001 s
Rev 1
Cumulative millisecond clock jumps since start-up, with an ambiguity of
k*256 ms. For example, if two clock jumps of -1 ms have occurred since
startup, this field contains the value 254.
Reserved for future use, to be ignored by decoding software
...
A succession of N1 MeasEpochChannelType1 sub-blocks, see definition
below
Padding bytes, see 4.1.5
MeasEpochChannelType1 sub-block definition:
Parameter
Type Units
Do-Not-Use
Description
RxChannel
u1
Receiver channel on which this satellite is currently tracked (see
4.1.11).
Type
u1
Bit field indicating the signal type and antenna ID:
Bits 0-4: SigIdxLo: if not 31, this is the signal number (see
4.1.10), otherwise the signal number can be found in the
ObsInfo field below.
Bits 5-7: Antenna ID: 0 for main, 1 for Aux1 and 2 for Aux2
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SVID
u1
Satellite ID, see 4.1.9
Misc
u1
Bit field containing the MSB of the pseudorange.
4294967.296 m 0 (1)
Bits 0-3: CodeMSB: MSB of the pseudorange (this is an unsigned
value).
Bits 4-7: Reserved
CodeLSB
u4
0.001 m
0 (1)
LSB of the pseudorange. The pseudorange expressed in meters
is computed as follows:
PRtype1 [m] = (CodeMSB*4294967296+CodeLSB)*0.001
where CodeMSB is part of the Misc field.
Doppler
i4
0.0001 Hz
−2147483648 Carrier Doppler (positive for approaching satellites).
To compute the Doppler in Hz, use:
Dtype1 [Hz] = Doppler*0.0001
CarrierLSB
u2
0.001 cycles
0 (2)
LSB of the carrier phase relative to the pseudorange
CarrierMSB
i1
65.536 cycles
−128 (2)
MSB of the carrier phase relative to the pseudorange. The full
carrier phase can be computed by:
L[cycles] = PRtype1 [m]/λ
+(CarrierMSB*65536+CarrierLSB)*0.001
where λ is the carrier wavelength corresponding to the
frequency of the signal type in the Type field above:
λ=299792458/fL m, with fL the carrier frequency as listed
in section 4.1.10.
u1
CN0
0.25 dB-Hz
255
The C/N0 in dB-Hz is computed as follows, depending on the
signal type in the Type field:
C/N0 [dB-Hz] = CN0*0.25 if the signal number is 1 or 2
C/N0 [dB-Hz] = CN0*0.25+10 otherwise
Users requiring a higher C/N0 resolution can use the
MeasExtra SBF block. The Misc field of that block allows
to extend the resolution to 0.03125dB-Hz.
LockTime
u2
1s
65535
Duration of continuous carrier phase. The lock-time is reset at
the initial lock of the phase-locked-loop, and whenever a loss of
lock condition occurs.
If the lock-time is longer than 65534s, it is clipped to 65534s.
If the carrier phase measurement is not available, this field
is set to its Do-Not-Use value.
ObsInfo
u1
Bit field:
Bit 0:
if set, the pseudorange measurement is smoothed
Bit 1:
Reserved
Bit 2:
this bit is set when the carrier phase (L) has a half-cycle
ambiguity
Bits 3-7: The interpretation of these bits depends on the value
of SigIdxLo from the Type field.
If SigIdxLo equals 31, these bits contain the signal number with an offset of 32 (see 4.1.10). For
example, a value of 1 corresponds to signal number 33
(QZSS L1S).
If SigIdxLo is 8, 9, 10 or 11, these bits contain
the GLONASS frequency number with an offset of 8.
For example, a value of 1 corresponds to frequency
number -7.
Otherwise, these bits are reserved.
N2
(1)
(2)
u1
Number of MeasEpochChannelType2 sub-blocks contained in
this MeasEpochChannelType1 sub-block.
The pseudorange is invalid if both CodeMSB is 0 and CodeLSB is 0.
The carrier phase is invalid if both CarrierMSB is -128 and CarrierLSB is 0.
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Padding
u1[..]
Type2
...
Padding bytes, see 4.1.5
...
A succession of N2 MeasEpochChannelType2 sub-blocks, see
definition below
MeasEpochChannelType2 sub-block definition:
Parameter
Type Units
Type
u1
Do-Not-Use
Description
Bit field indicating the signal type and antenna ID:
Bits 0-4: SigIdxLo: if not 31, this is the signal number (see 4.1.10),
otherwise the signal number can be found in the ObsInfo
field below.
Bits 5-7: Antenna ID: 0 for main, 1 for Aux1 and 2 for Aux2
LockTime
u1
1s
255
See corresponding field in the MeasEpochChannelType1 subblock above, except that the value is clipped to 254 instead of
65534.
CN0
u1
0.25 dB-Hz
255
See corresponding field in the MeasEpochChannelType1 subblock above.
OffsetsMSB
u1
Bit field containing the MSB of the code and of the Doppler offsets
with respect to the MeasEpochChannelType1 sub-block.
65.536 m
−4 (3)
Bits 0-2: CodeOffsetMSB: MSB of the code offset.
6.5536 Hz
−16 (4)
Bits 3-7: DopplerOffsetMSB: MSB of the Doppler offset.
CodeOffsetMSB and DopplerOffsetMSB are coded as two’s
complement.
Refer to the CodeOffsetLSB and DopplerOffsetLSB fields to
see how to use this field.
CarrierMSB
i1
ObsInfo
u1
65.536 cycles −128 (5)
MSB of the carrier phase relative to the pseudorange.
Bit field:
Bit 0:
if set, the pseudorange measurement is smoothed
Bit 1:
Reserved
Bit 2:
this bit is set when the carrier phase (L) has a half-cycle
ambiguity
Bits 3-7: If SigIdxLo from the Type field of this sub-block equals
31, these bits contain the signal number with an offset of 32
(see 4.1.10), e.g. 1 corresponds to signal number 33 (QZSS
L1S). Otherwise they are reserved and must be ignored by
the decoding software.
0 (3)
CodeOffsetLSB
u2
0.001 m
CarrierLSB
u2
0.001 cycles 0 (5)
LSB of the code offset with respect to pseudorange in the
MeasEpochChannelType1 sub-block. To compute the pseudorange, use:
PRtype2 [m] = PRtype1 [m]
+ (CodeOffsetMSB*65536+CodeOffsetLSB)*0.001
LSB of the carrier phase relative to the pseudorange.
carrier phase can be computed by:
L[cycles]= PRtype2 [m]/λ
+(CarrierMSB*65536+CarrierLSB)*0.001
The full
where λ is the carrier wavelength corresponding to the signal
type in the Type field.
(3)
(4)
(5)
The pseudorange is invalid if both CodeOffsetMSB is -4 and CodeOffsetLSB is 0.
The Doppler is invalid if both DopplerOffsetMSB is -16 and DopplerOffsetLSB is 0.
The carrier phase is invalid if both CarrierMSB is -128 and CarrierLSB is 0.
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DopplerOffsetLSB u2
0.0001 Hz
0 (4)
LSB of the Doppler offset relative to the Doppler in the
MeasEpochChannelType1 sub-block. To compute the Doppler,
use:
Dtype2 [Hz] = Dtype1 [Hz]*α
+(DopplerOffsetMSB*65536+DopplerOffsetLSB)
*1e-4,
where α is the ratio of the carrier frequency corresponding to
the observable type in this MeasEpochChannelType2 subblock, and that of the master observable type in the parent
MeasEpochChannelType1 sub-block (see section 4.1.10 for a list
of all carrier frequencies).
Padding
u1[..]
Padding bytes, see 4.1.5
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MeasExtra Number:
4000
"OnChange" interval: internal measurement rate (receiver-type dependent)
This block contains extra information associated with the measurements contained in
the MeasEpoch block, such as the internal corrections parameters applied during the
measurement pre-processing, and the noise variances.
Parameter
Type Units
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s
4294967295
WNc
u2
1 week
65535
N
u1
SBLength
u1
DopplerVarFactor f4
Do-Not-Use
Description
Block Header, see 4.1.1
Receiver time stamp, see 4.1.3
Number of sub-blocks in this MeasExtra block.
1 byte
Length of a sub-block
1 Hz2 / cycle2
Factor to be used to compute the Doppler variance from the carrier
phase variance. More specifically, the Doppler variance in mHz2
can be computed by:
σ 2Doppler [mHz2 ] = CarrierVariance * DopplerVarFactor,
Where CarrierVariance can be found for each measurement
type in the MeasExtraChannelSub sub-blocks.
ChannelSub
...
Padding
u1[..]
...
A succession of N MeasExtraChannelSub sub-blocks, see definition
below
Padding bytes, see 4.1.5
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MeasExtraChannelSub sub-block definition:
Parameter
Type Units
Do-Not-Use
Description
RxChannel
u1
Receiver channel on which this satellite is currently tracked (see
4.1.11).
Type
u1
Bit field indicating the signal type and antenna ID:
Bits 0-4: SigIdxLo: if not 31, this is the signal number (see
4.1.10), otherwise the signal number can be found in
the Misc field below. A value of 31 can only happen on
block revision 3 or above.
Bits 5-7: Antenna ID: 0 for main, 1 for Aux1 and 2 for Aux2
MPCorrection
i2
0.001 m
Multipath correction applied to the pseudorange. This number
has to be added to the pseudorange to recover the raw pseudorange as it would be if multipath mitigation was not used.
SmoothingCorr
i2
0.001 m
Smoothing correction applied to the pseudorange. This number
has to be added to the pseudorange to recover the raw pseudorange as it would be if smoothing was disabled.
CodeVar
u2
0.0001 m2
65535
Estimated code tracking noise variance.
If the variance is larger than 65534 cm2 , it is clipped to 65534
cm2 .
CarrierVar
u2
1 mcycle2
65535
Estimated carrier tracking noise variance. This value can be
multiplied by DopplerVarFactor to compute the Doppler
measurement variance.
If the variance is larger than 65534 mcycles2 , it is clipped
to 65534 mcycles2 .
LockTime
u2
1s
65535
Duration of continuous carrier phase. The lock-time is reset at
the initial lock after a signal (re)acquisition.
If the lock-time is longer than 65534s, it is clipped to 65534s.
If the carrier phase measurement is not available, this field is
set to its Do-Not-Use value.
CumLossCont
u1
CarMPCorr
i1
Info
u1
Carrier phase cumulative loss-of-continuity counter (modulo
256) for the signal type, antenna and satellite this sub-block
refers to. This counter starts at zero at receiver start-up, and
is incremented at each initial lock after signal (re)acquisition, or
when a cycle slip is detected.
Rev 1
1.953125 mcycle
Multipath correction applied to the carrier phase, in units of
1/512 cycles. This number has to be added to the carrier phase
to recover the raw phase as it would be if multipath mitigation
was not used.
Bit field:
Bits 0-3: Reserved.
Rev 2
Bits 4-7: Reserved.
Misc
u1
Bit field:
0.03125 dB-Hz
Rev 3
Bits 0-2: CN0HighRes: high-resolution extension of the C/N0
(unsigned value from 0 to 7). The C/N0 value in the
MeasEpoch SBF block has a resolution of 0.25dB-Hz.
CN0HighRes can be used to extend the resolution to
0.03125dB-Hz. The high-resolution C/N0, in dB-Hz, is
computed as follows:
C/N0,HighRes = C/N0,MeasEpoch +CN0HighRes*0.03125.
where C/N0,MeasEpoch is the C/N0 value coming
from the MeasEpoch SBF block.
Bits 3-7: If SigIdxLo from the Type field equals 31, these bits
contain the signal number with an offset of 32 (see
4.1.10). Otherwise they are reserved.
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Padding
u1[..]
Padding bytes, see 4.1.5
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Meas3Ranges Number:
4109
"OnChange" interval: internal measurement rate (receiver-type dependent)
This block contains all the code, carrier phase and C/N0 observables at a given measurement
epoch. The resolution is 0.001m, 0.001cycles and 1dB-Hz for the code, carrier and C/N0
measurements respectively.
Applications requiring Doppler measurements can log the Meas3Doppler SBF block
in addition to the Meas3Ranges block. Applications requiring extended C/N0 resolution
(1/16dB-Hz) can log the Meas3CN0HiRes SBF block in addition to the Meas3Ranges block.
The advantage of this block compared to the MeasEpoch SBF block is its reduced size
while offering the full resolution for the code and carrier measurements. One of the
techniques used to reduce the size is to only encode full measurements (reference epochs)
every N epochs. Between these reference epochs, Meas3Ranges contains delta epochs
where the difference between the current measurements and the ones at the applicable
reference epoch is encoded. The decoder must have received and stored the applicable
reference epoch to be able to decode delta epochs. When streaming SBF over an unreliable
communication link, if the reference epoch is lost, subsequent Meas3Ranges blocks cannot
be decoded until the next reference epoch is received. The interval at which reference
epochs are encoded can be controlled with the setMeas3MaxRefInterval command. A
longer interval generally reduces the average block size, at the expense of a longer data gap
in case a reference epoch is lost.
See also page 190 for additional information.
The format of this block and of the other Meas3 blocks is complex and is not provided here. Details can be obtained from Septentrio Support. The RxTools installation contains the complete source code of a decoder in C language, together with
sbf2asc, a small application showing how to use it. All C files can be found under the
sbf2asc folder in the RxTools installation. The main measurement decoding function is
sbfread_MeasCollectAndDecode() in the sbfread_meas.c file. Users interested in
decoding the Meas3 blocks are strongly advised to use the provided source code instead of
writing their own decoder.
The detailed definition of this block is not available in this document.
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Meas3CN0HiRes Number:
4110
"OnChange" interval: internal measurement rate (receiver-type
dependent)
The Meas3CN0HiRes block is an extension of the Meas3Ranges block containing the
fractional part of the C/N0 values. The resolution of the C/N0 value in the Meas3Ranges
SBF block is 1dB-Hz. Applications requiring a finer C/N0 resolution (0.0625dB-Hz) must log
the Meas3CN0HiRes block together with the Meas3Ranges block.
The detailed definition of this block is not available in this document.
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Meas3Doppler Number:
4111
"OnChange" interval: internal measurement rate (receiver-type dependent)
The Meas3Doppler block is an extension of the Meas3Ranges block containing the
range-rate (Doppler) values. Applications requiring range-rate or Doppler observables must
log the Meas3Doppler block together with the Meas3Ranges block.
The detailed definition of this block is not available in this document.
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Meas3PP Number:
4112
"OnChange" interval: internal measurement rate (receiver-type dependent)
The Meas3PP block is an extension of the Meas3Ranges block containing various
Septentrio-proprietary flags and values needed for accurate post-processing or reprocessing of the PVT from the measurements in the Meas3Ranges SBF block. This block
must be logged together with Meas3Ranges.
The detailed definition of this block is not available in this document.
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Meas3MP Number:
4113
"OnChange" interval: internal measurement rate (receiver-type dependent)
The Meas3MP block is an extension of the Meas3Ranges block containing the multipath
correction applied by the receiver. It can be used for research purposes to undo the receiver
multipath mitigation and revert to unmitigated data. This block must be logged together
with Meas3Ranges.
The detailed definition of this block is not available in this document.
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EndOfMeas Number:
5922
"OnChange" interval: internal measurement rate (receiver-type dependent)
This block marks the end of the transmission of all measurement-related blocks belonging
to a given epoch.
Parameter
Type Units Do-Not-Use
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
Description
Block Header, see 4.1.1
Receiver time stamp, see 4.1.3
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4.2.2
Navigation Page Blocks
GPSRawCA Number:
4017
"OnChange" interval: 6s
This block contains the 300 bits of a GPS C/A subframe. It is generated each time a new
subframe is received, i.e. every 6 seconds.
Parameter
Type Units Do-Not-Use
Sync1
c1
Description
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
SVID
u1
Satellite ID, see 4.1.9
CRCPassed
u1
Status of the CRC or parity check:
Block Header, see 4.1.1
SIS time stamp, see 4.1.3
0: CRC or parity check failed
1: CRC or parity check passed
ViterbiCnt
u1
Not applicable
Source
u1
Bit field:
Bits 0-4:
Signal type from which the bits have been received, as defined
in 4.1.10
Bits 5-7:
Reserved
FreqNr
u1
Not applicable
RxChannel
u1
Receiver channel (see 4.1.11).
NAVBits
u4[10]
NAVBits contains the 300 bits of a GPS C/A subframe.
Encoding: For easier parsing, the bits are stored as a succession of
10 32-bit words. Since the actual words in the subframe are 30-bit long,
two unused bits are inserted in each 32-bit word. More specifically, each
32-bit word has the following format:
Bits 0-5:
6 parity bits (referred to as D25 to D30 in the GPS ICD), XOR-ed
with the last transmitted bit of the previous word (D∗
30 )).
Bits 6-29: source data bits (referred to as dn in the GPS ICD). The first
received bit is the MSB.
Bits 30-31: Reserved
Padding
u1[..]
Padding bytes, see 4.1.5
205
4 SBF Reference
GPSRawL2C Number:
4018
"OnChange" interval: 12s
This block contains the 300 bits of a GPS L2C CNAV subframe (the so-called Dc (t) data
stream).
Parameter
Type Units Do-Not-Use
Description
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
SVID
u1
Satellite ID, see 4.1.9
CRCPassed
u1
Status of the CRC or parity check:
Block Header, see 4.1.1
SIS time stamp, see 4.1.3
0: CRC or parity check failed
1: CRC or parity check passed
ViterbiCnt
u1
Viterbi decoder error count over the subframe
Source
u1
Bit field:
Bits 0-4: Signal type from which the bits have been received, as defined in
4.1.10
Bits 5-7: Reserved
FreqNr
u1
Not applicable
RxChannel
u1
Receiver channel (see 4.1.11).
NAVBits
u4[10]
NAVBits contains the 300 bits of a GPS CNAV subframe.
Encoding: NAVBits contains all the bits of the frame, including the
preamble. The first received bit is stored as the MSB of NAVBits[0].
The unused bits in NAVBits[9] must be ignored by the decoding
software.
Padding
u1[..]
Padding bytes, see 4.1.5
206
4 SBF Reference
GLORawCA Number:
4026
"OnChange" interval: 2s
This block contains the 85 bits of a GLONASS L1CA or L2CA navigation string.
Parameter
Type Units Do-Not-Use
Sync1
c1
Description
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
SVID
u1
Satellite ID, see 4.1.9
CRCPassed
u1
Status of the CRC or parity check:
Block Header, see 4.1.1
SIS time stamp, see 4.1.3
0: CRC or parity check failed
1: CRC or parity check passed
ViterbiCnt
u1
Not applicable
Source
u1
Bit field:
Bits 0-4: Signal type from which the bits have been received, as defined in
4.1.10
Bits 5-7: Reserved
FreqNr
u1
Frequency number, with an offset of 8. See 4.1.9
RxChannel
u1
Receiver channel (see 4.1.11).
NAVBits
u4[3]
NAVBits contains the first 85 bits of a GLONASS C/A string (i.e. all bits of
the string with the exception of the time mark).
Encoding: The first received bit is stored as the MSB of NAVBits[0]. The
unused bits in NAVBits[2] must be ignored by the decoding software.
Padding
u1[..]
Padding bytes, see 4.1.5
207
4 SBF Reference
GALRawINAV Number:
4023
"OnChange" interval: 2s
This block contains the 234 bits of a Galileo I/NAV navigation page, after deinterleaving and
Viterbi decoding.
Parameter
Type Units Do-Not-Use
Description
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
SVID
u1
Satellite ID, see 4.1.9
CRCPassed
u1
Status of the CRC or parity check:
Block Header, see 4.1.1
SIS time stamp, see 4.1.3
0: CRC or parity check failed
1: CRC or parity check passed
ViterbiCnt
u1
Viterbi decoder error count over the page
Source
u1
Bit field:
Bits 0-4: Signal type from which the bits have been received, as defined in
4.1.10
Bit 5:
Set when the nav page is the concatenation of a sub-page received from E5b, and a sub-page received from L1BC. In that case,
bits 0-4 are set to L1BC.
Bit 6:
Reserved
Bit 7:
Reserved
FreqNr
u1
Not applicable
RxChannel
u1
Receiver channel (see 4.1.11).
NAVBits
u4[8]
NAVBits contains the 234 bits of an I/NAV navigation page (in nominal
or alert mode). Note that the I/NAV page is transmitted as two sub-pages
(the so-called even and odd pages) of duration 1 second each (120 bits
each). In this block, the even and odd pages are concatenated, even page
first and odd page last. The 6 tails bits at the end of the even page are
removed (hence a total of 234 bits). If the even and odd pages have been
received from two different carriers (E5b and L1), bit 5 of the Source
field is set.
Encoding: NAVBits contains all the bits of the frame, with the exception of the synchronization field. The first received bit is stored as the
MSB of NAVBits[0]. The unused bits in NAVBits[7] must be ignored
by the decoding software.
Padding
u1[..]
Padding bytes, see 4.1.5
208
4 SBF Reference
GEORawL1 Number:
4020
"OnChange" interval: 1s
This block contains the 250 bits of a SBAS L1 navigation frame, after Viterbi decoding.
Parameter
Type Units Do-Not-Use
Sync1
c1
Description
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
SVID
u1
Satellite ID, see 4.1.9
CRCPassed
u1
Status of the CRC or parity check:
Block Header, see 4.1.1
SIS time stamp, see 4.1.3
0: CRC or parity check failed
1: CRC or parity check passed
ViterbiCnt
u1
Viterbi decoder error count over the navigation frame
Source
u1
Bit field:
Bits 0-4: Signal type from which the bits have been received, as defined in
4.1.10
Bits 5-7: Reserved
FreqNr
u1
Not applicable
RxChannel
u1
Receiver channel (see 4.1.11).
NAVBits
u4[8]
NAVBits contains the 250 bits of a SBAS navigation frame.
Encoding: NAVBits contains all the bits of the frame, including the
preamble. The first received bit is stored as the MSB of NAVBits[0].
The unused bits in NAVBits[7] must be ignored by the decoding
software.
Padding
u1[..]
Padding bytes, see 4.1.5
209
4 SBF Reference
BDSRaw Number:
4047
"OnChange" interval: 6 seconds (non GEOs), 0.6 s (GEOs)
This block contains the 300 bits of a BeiDou navigation page, as received from the B1I, B2I
or B3I signal.
Parameter
Type Units Do-Not-Use
Description
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
SVID
u1
Satellite ID, see 4.1.9
CRCPassed
u1
Status of the CRC or parity check:
Block Header, see 4.1.1
SIS time stamp, see 4.1.3
0: CRC or parity check failed
1: CRC or parity check passed
ViterbiCnt
u1
Not applicable
Source
u1
Signal type from which the bits have been received, as defined in 4.1.10
Reserved
u1
Reserved for future use, to be ignored by decoding software.
RxChannel
u1
Receiver channel (see 4.1.11).
NAVBits
u4[10]
NAVBits contains the 300 deinterleaved bits of a BeiDou navigation
subframe.
Encoding: NAVBits contains all the bits of the subframe, including
the preamble and the parity bits. The first received bit is stored as the
MSB of NAVBits[0]. The 20 unused bits in NAVBits[9] must be
ignored by the decoding software. The bits are deinterleaved.
Padding
u1[..]
Padding bytes, see 4.1.5
210
4 SBF Reference
QZSRawL1CA Number:
4066
"OnChange" interval: 6s
This block contains the 300 bits of a QZSS C/A subframe.
Parameter
Type Units Do-Not-Use
Description
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
SVID
u1
Satellite ID, see 4.1.9
CRCPassed
u1
Status of the CRC or parity check:
Block Header, see 4.1.1
SIS time stamp, see 4.1.3
0: CRC or parity check failed
1: CRC or parity check passed
Reserved
u1
Reserved
Source
u1
Bit field:
Bits 0-4: Signal type from which the bits have been received, as defined in
4.1.10
Bits 5-7: Reserved
Reserved2
u1
Reserved for future use, to be ignored by decoding software.
RxChannel
u1
Receiver channel (see 4.1.11).
NAVBits
u4[10]
NAVBits contains the 300 bits of a QZSS C/A subframe.
Encoding: Same as GPSRawCA block.
Padding
u1[..]
Padding bytes, see 4.1.5
211
4 SBF Reference
QZSRawL2C Number:
4067
"OnChange" interval: 12s
This block contains the 300 bits of a QZSS L2C CNAV subframe.
Parameter
Type Units Do-Not-Use
Description
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
SVID
u1
Satellite ID, see 4.1.9
CRCPassed
u1
Status of the CRC or parity check:
Block Header, see 4.1.1
SIS time stamp, see 4.1.3
0: CRC or parity check failed
1: CRC or parity check passed
ViterbiCnt
u1
Viterbi decoder error count over the subframe
Source
u1
Bit field:
Bits 0-4: Signal type from which the bits have been received, as defined in
4.1.10
Bits 5-7: Reserved
Reserved
u1
Reserved for future use, to be ignored by decoding software.
RxChannel
u1
Receiver channel (see 4.1.11).
NAVBits
u4[10]
NAVBits contains the 300 bits of a QZSS CNAV subframe.
Encoding: NAVBits contains all the bits of the frame, including the
preamble. The first received bit is stored as the MSB of NAVBits[0].
The unused bits in NAVBits[9] must be ignored by the decoding
software.
Padding
u1[..]
Padding bytes, see 4.1.5
212
4 SBF Reference
4.2.3
GPS Decoded Message Blocks
GPSNav Number:
5891
"OnChange" interval: block generated each time a new navigation data set is
received from a GPS satellite
The GPSNav block contains the decoded navigation data for one GPS satellite. These data
are conveyed in subframes 1 to 3 of the satellite navigation message. Refer to GPS ICD for
further details.
Parameter
Type Units
Sync1
c1
Do-Not-Use
Description
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s
4294967295
WNc
u2
1 week
65535
PRN
u1
ID of the GPS satellite of which the ephemeris is given in this block
(see 4.1.9)
Reserved
u1
Reserved for future use, to be ignored by decoding software
WN
u2
CAorPonL2
u1
Code(s) on L2 channel (2 bits from subframe 1, word 3)
URA
u1
User Range accuracy index (4 bits from subframe 1 word 3)
health
u1
6-bit health from subframe 1, word 3 (6 bits from subframe 1,
word 3)
L2DataFlag
u1
Data flag for L2 P-code (1 bit from subframe 1, word 4)
IODC
u2
Issue of data, clock (10 bits from subframe 1)
IODE2
u1
Issue of data, ephemeris (8 bits from subframe 2)
IODE3
u1
Issue of data, ephemeris (8 bits from subframe 3)
FitIntFlg
u1
Curve Fit Interval, (1 bit from subframe 2, word 10)
Reserved2
u1
unused, to be ignored by decoding software
T_gd
f4
1s
Estimated group delay differential
t_oc
u4
1s
clock data reference time
a_f2
f4
1 s / s2
SV clock aging
a_f1
f4
1s/s
SV clock drift
a_f0
f4
1s
SV clock bias
C_rs
f4
1m
Amplitude of the sine harmonic correction term to the orbit radius
DEL_N
f4
1 semi-circle / s
Mean motion difference from computed value
M_0
f8
1 semi-circle
Mean anomaly at reference time
C_uc
f4
1 rad
Amplitude of the cosine harmonic correction term to the argument of latitude
e
f8
C_us
f4
1 rad
Amplitude of the sine harmonic correction term to the argument
of latitude
SQRT_A
f8
1 m1/2
Square root of the semi-major axis
t_oe
u4
1s
Reference time ephemeris
Block Header, see 4.1.1
1 week
65535
SIS time stamp, see 4.1.3
Week number (10 bits from subframe 1, word 3)
Eccentricity
213
4 SBF Reference
C_ic
f4
1 rad
Amplitude of the cosine harmonic correction term to the angle of
inclination
OMEGA_0
f8
1 semi-circle
Longitude of ascending node of orbit plane at weekly epoch
C_is
f4
1 rad
Amplitude of the sine harmonic correction term to the angle of
inclination
i_0
f8
1 semi-circle
Inclination angle at reference time
C_rc
f4
1m
Amplitude of the cosine harmonic correction term to the orbit
radius
omega
f8
1 semi-circle
Argument of perigee
OMEGADOT
f4
1 semi-circle / s
Rate of right ascension
IDOT
f4
1 semi-circle / s
Rate of inclination angle
WNt_oc
u2
1 week
WN associated with t_oc, modulo 1024
WNt_oe
u2
1 week
WN associated with t_oe, modulo 1024
Padding
u1[..]
Padding bytes, see 4.1.5
214
4 SBF Reference
GPSAlm Number:
5892
"OnChange" interval: block generated each time a new almanac data set is received from a GPS satellite
The GPSAlm block contains the decoded almanac data for one GPS satellite. These data are
conveyed in subframes 4 and 5 of the satellite navigation message. Refer to GPS ICD for
further details.
Parameter
Type Units
Do-Not-Use
Description
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s
4294967295
WNc
u2
1 week
65535
PRN
u1
ID of the GPS satellite of which the almanac is given in this block
(see 4.1.9)
Reserved
u1
Reserved for future use, to be ignored by decoding software
e
f4
Eccentricity
t_oa
u4
1s
almanac reference time of week
delta_i
f4
1 semi-circle
Inclination angle at reference time, relative to i0 = 0.3 semi-circles
OMEGADOT
f4
1 semi-circle / s
Rate of right ascension
SQRT_A
f4
1 m1/2
Square root of the semi-major axis
OMEGA_0
f4
1 semi-circle
Longitude of ascending node of orbit plane at weekly epoch
omega
f4
1 semi-circle
Argument of perigee
M_0
f4
1 semi-circle
Mean anomaly at reference time
a_f1
f4
1s/s
SV clock drift
a_f0
f4
1s
SV clock bias
WN_a
u1
1 week
Almanac reference week, to which t_oa is referenced
config
u1
Anti-spoofing and satellite configuration (4 bits from subframe 4,
page 25)
health8
u1
health on 8 bits from the almanac page
health6
u1
health summary on 6 bits (from subframe 4, page 25 and subframe 5 page 25)
Padding
u1[..]
Padding bytes, see 4.1.5
Block Header, see 4.1.1
SIS time stamp, see 4.1.3
215
4 SBF Reference
GPSIon Number:
5893
"OnChange" interval: block generated each time subframe 4, page 18, is received from a GPS satellite
The GPSIon block contains the decoded ionosphere data (the Klobuchar coefficients).
These data are conveyed in subframes 4, page 18 of the satellite navigation message. Refer
to GPS ICD for further details.
Parameter
Type Units
Sync1
c1
Do-Not-Use
Description
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s
4294967295
WNc
u2
1 week
65535
PRN
u1
ID of the GPS satellite from which the coefficients have been received (see 4.1.9)
Reserved
u1
Reserved for future use, to be ignored by decoding software
alpha_0
f4
1s
vertical delay coefficient 0
alpha_1
f4
1 s / semi-circle
vertical delay coefficient 1
alpha_2
f4
1 s / semi-circle2
vertical delay coefficient 2
alpha_3
f4
1 s / semi-circle3
vertical delay coefficient 3
beta_0
f4
1s
model period coefficient 0
beta_1
f4
1 s / semi-circle
model period coefficient 1
beta_2
f4
1 s / semi-circle2
model period coefficient 2
beta_3
f4
1 s / semi-circle3
model period coefficient 3
Padding
u1[..]
Block Header, see 4.1.1
SIS time stamp, see 4.1.3
Padding bytes, see 4.1.5
216
4 SBF Reference
GPSUtc Number:
5894
"OnChange" interval: block generated each time subframe 4, page 18, is received from a GPS satellite
The GPSUtc block contains the decoded UTC data. These data are conveyed in subframes
4, page 18 of the satellite navigation message. Refer to GPS ICD for further details.
Parameter
Type Units Do-Not-Use
Description
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
PRN
u1
ID of the GPS satellite from which these UTC parameters have been received (see 4.1.9)
Reserved
u1
Reserved for future use, to be ignored by decoding software
A_1
f4
1s/s
first order term of polynomial
A_0
f8
1s
constant term of polynomial
t_ot
u4
1s
reference time for UTC data
WN_t
u1
1 week
UTC reference week number, to which t_ot is referenced
DEL_t_LS
i1
1s
Delta time due to leap seconds whenever the effectivity time is not in the
past
WN_LSF
u1
1 week
Effectivity time of leap second (week)
DN
u1
1 day
Effectivity time of leap second (day, from 1 to 7)
DEL_t_LSF
i1
1s
Delta time due to leap seconds whenever the effectivity time is in the past
Block Header, see 4.1.1
SIS time stamp, see 4.1.3
217
4 SBF Reference
4.2.4
GLONASS Decoded Message Blocks
GLONav Number:
4004
"OnChange" interval: block generated each time a new navigation data set is
received from a GLONASS satellite
The GLONav block contains the decoded ephemeris data for one GLONASS satellite.
Parameter
Type Units
Do-Not-Use
Description
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s
4294967295
WNc
u2
1 week
65535
SVID
u1
ID of the GLONASS satellite for which ephemeris is provided in this
block (see 4.1.9).
FreqNr
u1
Frequency number of the GLONASS satellite for which ephemeris is
provided in this block (see 4.1.9).
X
f8
1000 m
x-component of satellite position in PZ-90.02
Y
f8
1000 m
y-component of satellite position in PZ-90.02
Z
f8
1000 m
z-component of satellite position in PZ-90.02
Dx
f4
1000 m / s
x-component of satellite velocity in PZ-90.02
Dy
f4
1000 m / s
y-component of satellite velocity in PZ-90.02
Dz
f4
1000 m / s
z-component of satellite velocity in PZ-90.02
Ddx
f4
1000 m / s2
x-component of satellite acceleration in PZ-90.02
Ddy
f4
1000 m / s2
y-component of satellite acceleration in PZ-90.02
Ddz
f4
1000 m / s2
z-component of satellite acceleration in PZ-90.02
gamma
f4
1 Hz / Hz
γ n (tb ):relative deviation of predicted carrier frequency
tau
f4
1s
τ n (tb ): time correction to GLONASS time
dtau
f4
1s
∆τ n : time difference between L2 and L1 sub-band
t_oe
u4
1s
reference time-of-week in GPS time frame
WN_toe
u2
1 week
reference week number in GPS time frame (modulo 1024)
P1
u1
1 minute
time interval between adjacent values of tb
P2
u1
E
u1
B
u1
tb
u2
M
u1
2-bit GLONASS-M satellite identifier (01, otherwise 00)
P
u1
2-bit mode of computation of time parameters
l
u1
1-bit health flag, 0=healthy, 1=unhealthy
P4
u1
1-bit ’updated’ flag of ephemeris data
N_T
u2
1 day
current day number within 4-year interval
F_T
u2
0.01 m
predicted user range accuracy at time tb
Padding
u1[..]
Block Header, see 4.1.1
SIS time stamp, see 4.1.3
1-bit odd/even flag of tb
1 day
age of data
3-bit health flag, satellite unhealthy if MSB set
1 minute
time of day (center of validity interval)
Padding bytes, see 4.1.5
218
4 SBF Reference
GLOAlm Number:
4005
"OnChange" interval: block generated each time a new almanac data set is received from a GLONASS satellite
The GLOAlm block contains the decoded navigation data for one GLONASS satellite.
Parameter
Type Units
Sync1
c1
Do-Not-Use
Description
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s
4294967295
WNc
u2
1 week
65535
SVID
u1
ID of the GLONASS satellite for which almanac is provided in
this block (see 4.1.9).
FreqNr
u1
Frequency number of the GLONASS satellite for which almanac
is provided in this block (see 4.1.9).
This number corresponds to the HA
n parameter in the
GLONASS ICD.
epsilon
f4
ϵA
n : orbit eccentricity
t_oa
u4
1s
Reference time-of-week in GPS time frame
Delta_i
f4
1 semi-circle
∆ iA
n : correction to inclination
lambda
f4
1 semi-circle
λA
n : Longitude of first ascending node
t_ln
f4
1s
tA
λ n : time of first ascending node passage
omega
f4
1 semi-circle
ωA
n : argument of perigee
Delta_T
f4
1 s / orbit-period
∆ TA
n : correction to mean Draconian period
dDelta_T
f4
1 s / orbit-period2
d∆ TA
n : rate of change correction to mean Draconian period
tau
f4
1s
τA
n : coarse correction to satellite time
WN_a
u1
1 week
Reference week in GPS time frame (modulo 256)
C
u1
N
u2
M
u1
Mn A : 2-bit GLONASS-M satellite identifier
N_4
u1
N4 : 4 year interval number, starting from 1996
Padding
u1[..]
Padding bytes, see 4.1.5
Block Header, see 4.1.1
SIS time stamp, see 4.1.3
Cn A : 1-bit general health flag (1 indicates healthy)
1 day
NA : calendar day number within 4 year period
219
4 SBF Reference
GLOTime Number:
4036
"OnChange" interval: block generated at the end of each GLONASS superframe, i.e. every 2.5 minutes.
The GLOTime block contains the decoded non-immediate data related to the difference
between GLONASS and GPS, UTC and UT1 time scales.
Parameter
Type Units
Sync1
c1
Do-Not-Use
Description
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s
4294967295
WNc
u2
1 week
65535
SVID
u1
ID of the GLONASS satellite from which the data in this block has been
decoded (see 4.1.9).
FreqNr
u1
Frequency number of the GLONASS satellite from which the data in this
block has been decoded (see 4.1.9).
N_4
u1
4 year interval number, starting from 1996
KP
u1
notification of leap second
N
u2
1 day
calendar day number within 4 year period
tau_GPS
f4
1 · 109 ns
difference with respect to GPS time
tau_c
f8
1 · 109 ns
GLONASS time scale correction to UTC(SU)
B1
f4
1s
difference between UT1 and UTC(SU)
B2
f4
1 s / msd
daily change of B1
Padding
u1[..]
Block Header, see 4.1.1
SIS time stamp, see 4.1.3
Padding bytes, see 4.1.5
220
4 SBF Reference
4.2.5
Galileo Decoded Message Blocks
GALNav Number:
4002
"OnChange" interval: output each time a new navigation data batch is decoded.
The GalNav block contains the following decoded navigation data for one Galileo satellite:
• orbital elements and clock corrections
• health, Signal-In-Space Accuracy (SISA) indexes and Broadcast Group Delays (BGDs) for
each carrier or carrier combinations.
The interpretation of the clock correction parameters (t_oc, a_f0, a_f1, a_f2) depends on
the value of the Source field:
Source Message type Applicable Clock Model
2
I/NAV
(L1,E5b)
16
F/NAV
(L1,E5a)
If the receiver is decoding both the I/NAV and the F/NAV data stream, it will output a GalNav
block for the I/NAV stream, containing the (L1, E5b) clock model, and a different GalNav
block for the F/NAV stream, containing the (L1, E5a) clock model.
Depending on the message type being decoded, some health, SISA or BGD values
may not be available (in that case they are set to their respective Do-Not-Use values). The
following health, SISA and BGD values are guaranteed to be available for a given value of the
Source field:
Source
Health, SISA and BGD availability
2 (I/NAV)
At least L1-BDVS , L1-BHS , E5bDVS ,E5bHS , SISA_L1E5b and BGD_L1E5b are available
16 (F/NAV) At least E5aDVS ,E5aHS , SISA_L1E5a and BGD_L1E5a are available
The IODNav field identifies the issue of data. All orbital elements, clock parameters and SISA
values in the block are guaranteed to refer to the same data batch identified by IODNav.
The fields Health_OSSOL, BGD_L1E5a, BGD_L1E5b and CNAVenc are not covered by the
issue of data, and the block simply contains the latest received value.
Please refer to the Galileo Signal-In-Space ICD for the interpretation and usage of the
parameters contained in this SBF block.
Parameter
Type Units
Sync1
c1
Do-Not-Use
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s
4294967295
WNc
u2
1 week
65535
SVID
u1
Description
Block Header, see 4.1.1
SIS time stamp, see 4.1.3
SVID of the Galileo satellite (see 4.1.9)
221
4 SBF Reference
Source
u1
See table above: this field indicates how to interpret the clock
correction parameters.
SQRT_A
f8
1 m1/2
Square root of the semi-major axis
M_0
f8
1 semi-circle
Mean anomaly at reference time
e
f8
i_0
f8
1 semi-circle
Inclination angle at reference time
omega
f8
1 semi-circle
Argument of perigee
OMEGA_0
f8
1 semi-circle
Longitude of ascending node of orbit plane at weekly epoch
OMEGADOT
f4
1 semi-circle / s
Rate of right ascension
IDOT
f4
1 semi-circle / s
Rate of inclination angle
DEL_N
f4
1 semi-circle / s
Mean motion difference from computed value
C_uc
f4
1 rad
Amplitude of the cosine harmonic correction term to the argument of latitude
C_us
f4
1 rad
Amplitude of the sine harmonic correction term to the argument
of latitude
C_rc
f4
1m
Amplitude of the cosine harmonic correction term to the orbit
radius
C_rs
f4
1m
Amplitude of the sine harmonic correction term to the orbit radius
C_ic
f4
1 rad
Amplitude of the sine harmonic correction term to the angle of
inclination
C_is
f4
1 rad
Amplitude of the cosine harmonic correction term to the angle of
inclination
t_oe
u4
1s
Reference time, ephemeris
t_oc
u4
1s
Reference time, clock. The Source field indicates which clock
model t_oc refers to.
a_f2
f4
1 s / s2
SV clock aging. The Source field indicates which clock model
a_f2 refers to.
a_f1
f4
1s/s
SV clock drift. The Source field indicates which clock model a_f1
refers to.
a_f0
f8
1s
SV clock bias. The Source field indicates which clock model a_f0
refers to.
WNt_oe
u2
1 week
WN associated with t_oe, in GPS time frame, modulo 4096
WNt_oc
u2
1 week
WN associated with t_oc, in GPS time frame, modulo 4096
IODnav
u2
Issue of data, navigation (10 bits)
Health_OSSOL
u2
Bit field indicating the last received Health Status (HS) and Data
Validity Status (DVS) of the E5a, E5b and L1-B signals:
Eccentricity
Bit 0:
If set, bits 1 to 3 are valid, otherwise they must be ignored.
Bit 1:
1-bit L1-BDVS
Bits 2-3:
2-bit L1-BHS
Bit 4:
If set, bits 5 to 7 are valid, otherwise they must be ignored.
Bit 5:
1-bit E5bDVS
Bits 6-7:
2-bit E5bHS
Bit 8:
If set, bits 9 to 11 are valid, otherwise they must be
ignored.
Bit 9:
1-bit E5aDVS
Bits 10-11: 2-bit E5aHS
Bits 12-15: Reserved
Health_PRS
u1
Reserved
222
4 SBF Reference
SISA_L1E5a
u1
255
Signal-In-Space Accuracy Index (L1, E5a)
SISA_L1E5b
u1
255
Signal-In-Space Accuracy Index (L1, E5b)
SISA_L1AE6A
u1
255
Reserved
f4
1s
−2 · 1010
Last received broadcast group delay (L1, E5a)
Last received broadcast group delay (L1, E5b)
BGD_L1E5a
BGD_L1E5b
f4
1s
−2 · 1010
BGD_L1AE6A
f4
1s
−2 · 1010
Reserved
CNAVenc
u1
255
2-bit C/NAV encryption status.
223
4 SBF Reference
GALAlm Number:
4003
"OnChange" interval: output each time a new almanac set is received for a
satellite.
The GalAlm block contains the decoded almanac data for one Galileo satellite.
Parameter
Type Units
Do-Not-Use
Description
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s
4294967295
WNc
u2
1 week
65535
SVID
u1
SVID of the Galileo satellite from which these almanac parameters have been received (see 4.1.9)
Source
u1
See corresponding field in the GalNav block.
Block Header, see 4.1.1
SIS time stamp, see 4.1.3
Source can take the value 18 to indicate that the almanac
data contained in this block has been merged from INAV and
FNAV pages.
e
f4
Eccentricity
t_oa
u4
1s
almanac reference time of week
delta_i
f4
1 semi-circle
Inclination angle at reference time, relative to nominal
OMEGADOT
f4
1 semi-circle / s
Rate of right ascension
SQRT_A
f4
1 m1/2
Square root of the semi-major axis, relative to nominal
OMEGA_0
f4
1 semi-circle
Longitude of ascending node of orbit plane at weekly epoch
omega
f4
1 semi-circle
Argument of perigee
M_0
f4
1 semi-circle
Mean anomaly at reference time
a_f1
f4
1s/s
SV clock drift
a_f0
f4
1s
SV clock bias
WN_a
u1
1 week
2-bit almanac reference week
SVID_A
u1
SVID of the Galileo satellite of which the almanac parameters are
provided in this block (see 4.1.9 for the SVID numbering convention).
health
u2
Bit field indicating the health status (HS) of the E5a, E5b, L1-B,
L1-A and E6-A signals:
Bit 0:
If set, bits 1 and 2 are valid, otherwise they must be
ignored.
Bits 1-2:
2-bit L1-BHS
Bit 3:
If set, bits 4 and 5 are valid, otherwise they must be
ignored.
Bits 4-5:
2-bit E5bHS
Bit 6:
If set, bits 7 and 8 are valid, otherwise they must be
ignored.
Bits 7-8:
2-bit E5aHS
Bit 9:
Not applicable
Bits 10-11: Not applicable
Bit 12:
Not applicable
Bits 13-14: Not applicable
Bit 15:
Reserved
224
4 SBF Reference
IODa
u1
4-bit Issue of Data for the almanac.
225
4 SBF Reference
GALIon Number:
4030
"OnChange" interval: output each time the ionospheric parameters are received from a Galileo satellite.
The GalIon block contains the decoded ionosphere model parameters of the Galileo
system.
Parameter
Type Units
Do-Not-Use
Description
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s
4294967295
WNc
u2
1 week
65535
SVID
u1
SVID of the Galileo satellite from which these parameters have been received (see 4.1.9)
Source
u1
Message
the
data
2: I/NAV
Block Header, see 4.1.1
SIS time stamp, see 4.1.3
type
has
from
been
which
decoded:
16: F/NAV
f4
1 · 10−22 W / (m2 Hz)
Effective ionization level, ai0
a_i1
f4
1 · 10−22 W / (m2 Hz) / deg
Effective ionization level, ai1
a_i2
f4
1 · 10−22 W / (m2 Hz) / deg2
Effective ionization level, ai2
StormFlags
u1
a_i0
Bit field containing the five ionospheric storm flags:
Bit 0:
SF5
Bit 1:
SF4
Bit 2:
SF3
Bit 3:
SF2
Bit 4:
SF1
Bits 5-7: Reserved
226
4 SBF Reference
GALUtc Number:
4031
"OnChange" interval: output each time the UTC offset parameters are received
from a Galileo satellite.
The GalUtc block contains the decoded UTC parameter information.
Parameter
Type Units Do-Not-Use
Sync1
c1
Description
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
SVID
u1
SVID of the Galileo satellite from which these parameters have been received (see 4.1.9)
Source
u1
Message
Block Header, see 4.1.1
SIS time stamp, see 4.1.3
type
from
which
the
data
has
been
decoded:
2: I/NAV
16: F/NAV
A_1
f4
1 s / s −2 · 1010
first order term of polynomial
A_0
f8
1s
−2 · 1010
constant term of polynomial
t_ot
u4
1s
reference time of week for UTC data
WN_ot
u1
1 week
UTC reference week number, to which t_ot is referenced
DEL_t_LS
i1
1s
Delta time due to leap seconds whenever the effectivity time is not in the
past
WN_LSF
u1
1 week
Effectivity time of leap second (week)
DN
u1
1 day
Effectivity time of leap second (day, from 1 to 7)
DEL_t_LSF
i1
1s
Delta time due to leap seconds whenever the effectivity time is in the past
227
4 SBF Reference
GALGstGps Number:
4032
"OnChange" interval: output each time valid GST-GPS offset parameters
are received from a Galileo satellite.
This block contains the decoded GPS to Galileo System Time offset parameters. This block
is only output if these parameters are valid in the navigation page (i.e. if they are not set to
"all ones").
Parameter
Type Units
Sync1
c1
Do-Not-Use
Description
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s
4294967295
WNc
u2
1 week
65535
SVID
u1
SVID of the Galileo satellite from which these parameters have been
received (see 4.1.9)
Source
u1
Message
Block Header, see 4.1.1
SIS time stamp, see 4.1.3
type
from
which
the
data
has
been
decoded:
2: I/NAV
16: F/NAV
f4
1 · 109 ns / s
Rate of change of the offset
A_0G
f4
1 · 109 ns
Constant term of the offset
t_oG
u4
1s
Reference time of week
WN_oG
u1
1 week
6-bit reference week number.
A_1G
228
4 SBF Reference
GALSARRLM Number:
4034
"OnChange" interval: generated each time a SAR RLM message is decoded.
This block contains a decoded Galileo search-and-rescue (SAR) return link message
(RLM).
Parameter
Type Units Do-Not-Use
Sync1
c1
Description
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
SVID
u1
SVID of the Galileo satellite from which this RLM has been received.
Source
u1
Message
Block Header, see 4.1.1
SIS time stamp, see 4.1.3
type
from
which
the
data
has
been
decoded:
2: I/NAV
16: F/NAV
RLMLength
u1
Length of the RLM message in bits. RLMLength can be either 80 for a
short message or 160 for a long message.
Reserved
u1[3]
Reserved for future use, to be ignored by decoding software
RLMBits
u4[N]
Bits in the RLM message, with the first bit being the MSB of RLMBits[0].
N is 3 for a short message (i.e. if RLMLength is 80), and 5 for a
long message (i.e. if RLMLength is 160).
The 16 unused bits of a short message are set to 0. These bits correspond to the 16 LSBs of RLMBits[2].
Padding
u1[..]
Padding bytes, see 4.1.5
229
4 SBF Reference
4.2.6
BeiDou Decoded Message Blocks
BDSNav Number:
4081
"OnChange" interval: block generated each time a new navigation data set is
received from a BeiDou satellite
The BDSNav block contains the decoded navigation data for one BeiDou satellite, as
received from the D1 or D2 nav message.
Parameter
Type Units
Sync1
c1
Do-Not-Use
Description
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s
4294967295
WNc
u2
1 week
65535
PRN
u1
ID of the BeiDou satellite of which the ephemeris is given in this
block (see 4.1.9)
Reserved
u1
Reserved for future use, to be ignored by decoding software
WN
u2
URA
u1
User range accuracy index (4-bit value)
SatH1
u1
1-bit autonomous health
IODC
u1
Age of data, clock (5 bits)
IODE
u1
Age of data, ephemeris (5 bits)
Reserved2
u2
unused, to be ignored by decoding software
T_GD1
f4
Block Header, see 4.1.1
1 week
SIS time stamp, see 4.1.3
BeiDou week number as received from the navigation message
(from 0 to 8191)
1s
B1I equipment group delay differential
−2 · 1010
T_GD2
f4
1s
B2I equipment group delay differential (set to the Do-Not-Use
value when unknown)
t_oc
u4
1s
clock data reference time, in BeiDou system time (lagging GPS
time by 14 seconds).
a_f2
f4
1 s / s2
SV clock aging
a_f1
f4
1s/s
SV clock drift
a_f0
f4
1s
SV clock bias
C_rs
f4
1m
Amplitude of the sine harmonic correction term to the orbit radius
DEL_N
f4
1 semi-circle / s
Mean motion difference from computed value
M_0
f8
1 semi-circle
Mean anomaly at reference time
C_uc
f4
1 rad
Amplitude of the cosine harmonic correction term to the argument of latitude
e
f8
C_us
f4
1 rad
Amplitude of the sine harmonic correction term to the argument
of latitude
SQRT_A
f8
1 m1/2
Square root of the semi-major axis
t_oe
u4
1s
Reference time ephemeris, in BeiDou system time (lagging GPS
time by 14 seconds).
C_ic
f4
1 rad
Amplitude of the cosine harmonic correction term to the angle of
inclination
OMEGA_0
f8
1 semi-circle
Longitude of ascending node of orbit plane at weekly epoch
Eccentricity
230
4 SBF Reference
C_is
f4
1 rad
Amplitude of the sine harmonic correction term to the angle of
inclination
i_0
f8
1 semi-circle
Inclination angle at reference time
C_rc
f4
1m
Amplitude of the cosine harmonic correction term to the orbit
radius
omega
f8
1 semi-circle
Argument of perigee
OMEGADOT
f4
1 semi-circle / s
Rate of right ascension
IDOT
f4
1 semi-circle / s
Rate of inclination angle
WNt_oc
u2
1 week
BeiDou week number associated with t_oc, modulo 8192. Note
that this value relates to the BeiDou system time.
WNt_oe
u2
1 week
BeiDou week number associated with t_oe, modulo 8192. Note
that this values relates to the BeiDou system time.
Padding
u1[..]
Padding bytes, see 4.1.5
231
4 SBF Reference
BDSAlm Number:
4119
"OnChange" interval: block generated each time a new almanac data set is received from a BeiDou satellite
The BDSAlm block contains the decoded almanac data for one BeiDou satellite.
Parameter
Type Units
Do-Not-Use
Description
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s
4294967295
WNc
u2
1 week
65535
PRN
u1
WN_a
u1
1 week
Almanac week number
t_oa
u4
1s
Almanac reference time
SQRT_A
f4
1 m1/2
Square root of the semi-major axis
e
f4
omega
f4
1 semi-circle
Argument of perigee
M_0
f4
1 semi-circle
Mean anomaly at reference time
OMEGA_0
f4
1 semi-circle
Longitude of ascending node of orbital plane computed according to reference time
OMEGADOT
f4
1 semi-circle / s
Rate of right ascension
delta_i
f4
1 semi-circle
Correction of orbit reference inclination at reference time
a_f0
f4
1s
Satellite clock bias
a_f1
f4
1s/s
Satellite clock drift
Health
u2
Satellite health information (9 bits)
Reserved
u1[2]
Reserved for future use, to be ignored by decoding software
Padding
u1[..]
Padding bytes, see 4.1.5
Block Header, see 4.1.1
SIS time stamp, see 4.1.3
ID of the BeiDou satellite of which the almanac is given in this
block (see 4.1.9)
Eccentricity
232
4 SBF Reference
BDSIon Number:
4120
"OnChange" interval: output each time the ionospheric parameters are received from a BeiDou satellite
The BDSIon block contains the BeiDou ionosphere data (the Klobuchar coefficients), as
received from the D1 or D2 nav message.
Parameter
Type Units
Do-Not-Use
Description
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s
4294967295
WNc
u2
1 week
65535
PRN
u1
ID of the BeiDou satellite from which the coefficients have been
received (see 4.1.9)
Reserved
u1
Reserved for future use, to be ignored by decoding software
alpha_0
f4
1s
vertical delay coefficient 0
alpha_1
f4
1 s / semi-circle
vertical delay coefficient 1
alpha_2
f4
1 s / semi-circle2
vertical delay coefficient 2
alpha_3
f4
1 s / semi-circle3
vertical delay coefficient 3
beta_0
f4
1s
model period coefficient 0
beta_1
f4
1 s / semi-circle
model period coefficient 1
beta_2
f4
1 s / semi-circle2
model period coefficient 2
beta_3
f4
1 s / semi-circle3
model period coefficient 3
Padding
u1[..]
Block Header, see 4.1.1
SIS time stamp, see 4.1.3
Padding bytes, see 4.1.5
233
4 SBF Reference
BDSUtc Number:
4121
"OnChange" interval: output each time the UTC offset parameters are received
from a BeiDou satellite
The BDSUtc block contains the BeiDou UTC data, as received from the D1 or D2 nav
message.
Note that BDT (BeiDou time) started on January 1st, 2006 (GPS week 1356). Therefore
the delta time between BDT and UTC due to leap seconds is 14 less than the value in
GPSUtc.
Parameter
Type Units Do-Not-Use
Description
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
PRN
u1
ID of the BeiDou satellite from which the coefficients have been received
(see 4.1.9)
Reserved
u1
Reserved for future use, to be ignored by decoding software
A_1
f4
1s/s
first order term of polynomial
A_0
f8
1s
constant term of polynomial
DEL_t_LS
i1
1s
Delta time due to leap seconds whenever the effectivity time is not in the
past
WN_LSF
u1
1 week
Effectivity time of leap second (week)
DN
u1
1 day
Effectivity time of leap second (day, from 0 to 6)
DEL_t_LSF
i1
1s
Delta time due to leap seconds whenever the effectivity time is in the past
Padding
u1[..]
Block Header, see 4.1.1
SIS time stamp, see 4.1.3
Padding bytes, see 4.1.5
234
4 SBF Reference
4.2.7
QZSS Decoded Message Blocks
QZSNav Number:
4095
"OnChange" interval: block generated each time a new navigation data set is
received from a QZSS satellite
The QZSNav block contains the decoded navigation data for one QZSS satellite. The data is
decoded from the navigation message transmitted in the L1 C/A signal. Refer to the QZSS
ICD for further details.
Parameter
Type Units
Do-Not-Use
Description
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s
4294967295
WNc
u2
1 week
65535
PRN
u1
ID of the QZSS satellite of which the ephemeris is given in this
block (see 4.1.9)
Reserved
u1
Reserved for future use, to be ignored by decoding software
WN
u2
CAorPonL2
u1
Code(s) on L2 channel (2 bits from subframe 1, word 3). Always 2
for QZSS satellites.
URA
u1
User Range accuracy index (4 bits from subframe 1 word 3)
health
u1
6-bit health from subframe 1, word 3 (6 bits from subframe 1,
word 3)
L2DataFlag
u1
Data flag for L2 P-code (1 bit from subframe 1, word 4). Always 1
for QZSS satellites.
IODC
u2
Issue of data, clock (10 bits from subframe 1)
IODE2
u1
Issue of data, ephemeris (8 bits from subframe 2)
IODE3
u1
Issue of data, ephemeris (8 bits from subframe 3)
FitIntFlg
u1
Curve Fit Interval, (1 bit from subframe 2, word 10)
Reserved2
u1
Block Header, see 4.1.1
1 week
65535
SIS time stamp, see 4.1.3
Week number (10 bits from subframe 1, word 3)
unused, to be ignored by decoding software
−2 · 1010
T_gd
f4
1s
Estimated group delay differential
t_oc
u4
1s
clock data reference time
a_f2
f4
1 s / s2
SV clock aging
a_f1
f4
1s/s
SV clock drift
a_f0
f4
1s
SV clock bias
C_rs
f4
1m
Amplitude of the sine harmonic correction term to the orbit radius
DEL_N
f4
1 semi-circle / s
Mean motion difference from computed value
M_0
f8
1 semi-circle
Mean anomaly at reference time
C_uc
f4
1 rad
Amplitude of the cosine harmonic correction term to the argument of latitude
e
f8
C_us
f4
1 rad
Amplitude of the sine harmonic correction term to the argument
of latitude
SQRT_A
f8
1 m1/2
Square root of the semi-major axis
Eccentricity
235
4 SBF Reference
t_oe
u4
1s
Reference time ephemeris
C_ic
f4
1 rad
Amplitude of the cosine harmonic correction term to the angle of
inclination
OMEGA_0
f8
1 semi-circle
Longitude of ascending node of orbit plane at weekly epoch
C_is
f4
1 rad
Amplitude of the sine harmonic correction term to the angle of
inclination
i_0
f8
1 semi-circle
Inclination angle at reference time
C_rc
f4
1m
Amplitude of the cosine harmonic correction term to the orbit
radius
omega
f8
1 semi-circle
Argument of perigee
OMEGADOT
f4
1 semi-circle / s
Rate of right ascension
IDOT
f4
1 semi-circle / s
Rate of inclination angle
WNt_oc
u2
1 week
WN associated with t_oc, modulo 1024
WNt_oe
u2
1 week
WN associated with t_oe, modulo 1024
Padding
u1[..]
Padding bytes, see 4.1.5
236
4 SBF Reference
QZSAlm Number:
4116
"OnChange" interval: block generated each time a new almanac data set is received from a QZSS satellite
The QZSAlm block contains the decoded almanac data for one QZSS satellite. These data
are conveyed in subframes 4 and 5 of the satellite navigation message. Refer to QZSS ICD
for further details.
Parameter
Type Units
Sync1
c1
Do-Not-Use
Description
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s
4294967295
WNc
u2
1 week
65535
PRN
u1
ID of the QZSS satellite of which the almanac is given in this block
(see 4.1.9)
Reserved
u1
Reserved for future use, to be ignored by decoding software
e
f4
Difference from reference eccentricity
t_oa
u4
1s
almanac reference time of week
delta_i
f4
1 semi-circle
Difference from reference angle of inclination
OMEGADOT
f4
1 semi-circle / s
Rate of right ascension
SQRT_A
f4
1 m1/2
Square root of the semi-major axis
OMEGA_0
f4
1 semi-circle
Longitude of ascending node of orbit plane at weekly epoch
omega
f4
1 semi-circle
Argument of perigee
M_0
f4
1 semi-circle
Mean anomaly at reference time
a_f1
f4
1s/s
SV clock drift
a_f0
f4
1s
SV clock bias
WN_a
u1
1 week
Almanac reference week, to which t_oa is referenced
Reserved2
u1
Reserved for future use, to be ignored by decoding software
health8
u1
health on 8 bits from the almanac page
health6
u1
health summary on 6 bits (from subframe 4, page 25 and subframe 5 page 25)
Padding
u1[..]
Padding bytes, see 4.1.5
Block Header, see 4.1.1
SIS time stamp, see 4.1.3
237
4 SBF Reference
4.2.8
SBAS L1 Decoded Message Blocks
GEOMT00 Number:
5925
"OnChange" interval: block generated each time an empty MT00 is received
from an SBAS satellite on the L1 signal
This block is sent to indicate that an empty SBAS message type 0 has been received.
Depending on the SBAS operational mode, message type 0 can contain the contents
of message type 2. Upon reception of a message type 0, the receiver checks whether
the message is empty (it contains only 0’s) or whether it contains the message type 2
contents. In the former case, a GEOMT00 block will be generated. In the latter case, a
GEOFastCorr block will be generated. Refer to section A.4.4.1 of the DO 229 standard for
further details.
Parameter
Type Units Do-Not-Use
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
PRN
u1
Description
Block Header, see 4.1.1
SIS time stamp, see 4.1.3
ID of the SBAS satellite from which the message has been received (see
4.1.9)
238
4 SBF Reference
GEOPRNMask Number:
5926
"OnChange" interval: block generated each time MT01 is received from
an SBAS satellite
This block contains the decoded PRN mask transmitted in SBAS message type 1. Refer to
section A.4.4.2 of the DO 229 standard for further details.
Parameter
Type
Sync1
c1
Units Do-Not-Use
Description
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
PRN
u1
ID of the SBAS satellite from which the message has been received
(see 4.1.9)
IODP
u1
Issue of data - PRN.
NbrPRNs
u1
Number of PRNs designated in the mask.
PRNMask
u1[NbrPRNs]
List of the PRNs in the PRN mask.
Block Header, see 4.1.1
SIS time stamp, see 4.1.3
PRNMask[0] is the first PRN designated in the PRN mask
(from 1 to 210),
PRNMask[1] is the 2nd PRN designated in the PRN mask,
etc...
Padding
u1[..]
Padding bytes, see 4.1.5
239
4 SBF Reference
GEOFastCorr Number:
5927
"OnChange" interval: block generated each time MT02, MT03, MT04,
MT05, MT24 and possibly MT00 is received from
an SBAS satellite
This block contains the decoded fast corrections transmitted in the SBAS message types 2,
3, 4, 5, 24 and possibly 0 if the type 0 message contains the type 2 contents. Refer to section
A.4.4.3 and A.4.4.8 of the DO 229 standard for further details.
Parameter
Type Units Do-Not-Use
Description
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
PRN
u1
ID of the SBAS satellite from which the message has been received (see
4.1.9)
MT
u1
Message type from which these fast corrections come, either 0, 2, 3, 4, 5
or 24.
IODP
u1
Issue of data - PRN.
IODF
u1
Issue of data - fast corrections.
N
u1
Number of fast correction sets in this message. This is the number of
FastCorr sub-blocks. N depends on the message type as follows.
Block Header, see 4.1.1
SIS time stamp, see 4.1.3
Message type
N
MT00, MT02, MT03, MT04 13
SBLength
u1
FastCorr
...
Padding
u1[..]
MT05
12
MT24
6
Length of the FastCorr sub-blocks in bytes
...
A succession of N FastCorr sub-blocks, see definition below
Padding bytes, see 4.1.5
FastCorr sub-block definition:
Parameter
Type Units
PRNMaskNo
u1
Sequence number in the PRN mask. This field may be set to zero. In that case, all
following fields in this sub-block must be discarded.
UDREI
u1
User Differential Range Error Indicator for the PRN at index PRNMaskNo.
Reserved
u1[2]
Reserved for future use, to be ignored by decoding software
PRC
f4
Padding
u1[..]
1m
Description
Pseudorange correction for the PRN at index PRNMaskNo.
Padding bytes, see 4.1.5
240
4 SBF Reference
GEOIntegrity Number:
5928
"OnChange" interval: block generated each time MT06 is received
from an SBAS satellite
This block contains the decoded integrity information transmitted in SBAS message type 6.
Refer to section A.4.4.4 of the DO-229 standard for further details.
Parameter
Type Units Do-Not-Use
Description
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
PRN
u1
ID of the SBAS satellite from which the message has been received (see
4.1.9)
Reserved
u1
Reserved for future use, to be ignored by decoding software
IODF
u1[4]
Issue of data - fast corrections for MT02, MT03, MT04 and MT05.
UDREI
u1[51]
User Differential Range Error Indicator for each of the 51 slots in the PRN
mask.
Block Header, see 4.1.1
SIS time stamp, see 4.1.3
241
4 SBF Reference
GEOFastCorrDegr Number:
5929
"OnChange" interval: block generated each time MT07 is received from an SBAS satellite
This block contains the decoded fast correction degradation factors transmitted in SBAS
message type 7. Refer to section A.4.4.5 of the DO-229 standard for further details.
Parameter
Type Units Do-Not-Use
Sync1
c1
Description
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
PRN
u1
IODP
u1
t_lat
u1
ai
u1[51]
Degradation factor indicator (from 0 to 15) for each of the 51 slots in the
PRN mask.
Padding
u1[..]
Padding bytes, see 4.1.5
Block Header, see 4.1.1
SIS time stamp, see 4.1.3
ID of the SBAS satellite from which the message has been received (see
4.1.9)
Issue of data - PRN.
1s
System latency.
242
4 SBF Reference
GEONav Number:
5896
"OnChange" interval: block generated each time MT09 is received from an
SBAS satellite
This block contains the decoded navigation data transmitted in SBAS message type 9. Refer
to section A.4.4.11 of the DO-229 standard for further details.
Parameter
Type Units
Sync1
c1
Do-Not-Use
Description
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
PRN
u1
ID of the SBAS satellite of which the navigation data is provided here (see
4.1.9)
Reserved
u1
Reserved for future use, to be ignored by decoding software
IODN
u2
Issue of data - navigation (DO 229-B)
Spare (DO 229-C)
URA
u2
Accuracy exponent
t0
u4
1s
Time of applicability (time-of-day)
Xg
f8
1m
X position at time-of-day t0
Yg
f8
1m
Y position at time-of-day t0
Zg
f8
1m
Z position at time-of-day t0
Xgd
f8
1m/s
X velocity at time-of-day t0
Ygd
f8
1m/s
Y velocity at time-of-day t0
Zgd
f8
1m/s
Z velocity at time-of-day t0
Xgdd
f8
1 m / s2
X acceleration at time-of-day t0
Ygdd
f8
1 m / s2
Y acceleration at time-of-day t0
Zgdd
f8
1 m / s2
Z acceleration at time-of-day t0
aGf0
f4
1s
Time offset with respect to SBAS network time
aGf1
f4
1s/s
Time drift with respect to SBAS network time
Padding
u1[..]
Block Header, see 4.1.1
SIS time stamp, see 4.1.3
Padding bytes, see 4.1.5
243
4 SBF Reference
GEODegrFactors Number:
5930
"OnChange" interval: block generated each time MT10 is received from an SBAS satellite
This block contains the decoded degradation factors transmitted in SBAS message type 10.
Refer to section A.4.5 of the DO-229 standard for further details.
Parameter
Type Units Do-Not-Use
Description
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
PRN
u1
ID of the SBAS satellite from which the message has been received (see
4.1.9)
Reserved
u1
Reserved for future use, to be ignored by decoding software
Brrc
f8
1m
A parameter associated with the relative estimation noise and round-off
error.
Cltc_lsb
f8
1m
Maximum round-off error due to the LSB resolution of the orbit and clock
information.
Cltc_v1
f8
1m/s
Velocity error bound on the maximum range rate difference of missed
messages due to clock and orbit rate differences.
Iltc_v1
u4
1s
Update interval for long term corrections when the velocity code is 1.
Cltc_v0
f8
1m
Bound on the update delta between successive long term corrections.
Iltc_v0
u4
1s
Minimum update interval for long term messages when the velocity code
is 0.
Cgeo_lsb
f8
1m
Maximum round-off error due to the LSB resolution of the orbit and clock
information.
Cgeo_v
f8
1m/s
Velocity error bound on the maximum range rate difference of missed
messages due to clock and orbit rate differences.
Igeo
u4
1s
Update interval for GEO navigation messages.
Cer
f4
1m
A degradation parameter.
Ciono_step
f8
1m
Bound on the difference between successive ionospheric grid delay values.
Iiono
u4
1s
Minimum update interval for ionospheric correction messages.
Ciono_ramp
f8
1m/s
Rate of change of the ionospheric corrections.
RSSudre
u1
Root-sum-square flag (UDRE)
RSSiono
u1
Root-sum-square flag (IONO)
Reserved2
u1[2]
Reserved for future use, to be ignored by decoding software
Ccovariance
f8
A parameter used to compensate for the errors introduced by quantization (introduced in DO 229-C). To be multiplied by the SF parameter from
the GEOClockEphCovMatrix block.
Padding
u1[..]
Padding bytes, see 4.1.5
Block Header, see 4.1.1
SIS time stamp, see 4.1.3
244
4 SBF Reference
GEONetworkTime Number:
5918
"OnChange" interval: block generated each time MT12 is received from an SBAS satellite
This block contains the decoded network time offset parameters transmitted in SBAS
message type 12. Refer to section A.4.4.15 of the DO-229 standard for further details.
Parameter
Type Units Do-Not-Use
Description
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
PRN
u1
ID of the SBAS satellite from which this Network Time data was received
(see 4.1.9)
Reserved
u1
Reserved for future use, to be ignored by decoding software
A_1
f4
1s/s
first order term of polynomial
A_0
f8
1s
constant term of polynomial
t_ot
u4
1s
reference time for UTC data (time of week)
WN_t
u1
1 week
UTC reference week number, to which t_ot is referenced
DEL_t_LS
i1
1s
Delta time due to leap seconds whenever the effectivity time is not in the
past
WN_LSF
u1
1 week
Effectivity time of leap second (week)
DN
u1
1 day
Effectivity time of leap second (day)
DEL_t_LSF
i1
1s
Delta time due to leap seconds whenever the effectivity time is in the past
UTC_std
u1
GPS_WN
u2
1 week
GPS week number (modulo 1024)
GPS_TOW
u4
1s
GPS time-of-week
GlonassID
u1
Glonass Indicator
Padding
u1[..]
Padding bytes, see 4.1.5
Block Header, see 4.1.1
SIS time stamp, see 4.1.3
UTC Standard Identifier
245
4 SBF Reference
GEOAlm Number:
5897
"OnChange" interval: block generated each time MT17 is received from an
SBAS satellite
This block contains the decoded almanac data for one SBAS satellite, as transmitted in
SBAS message type 17. A different GEOAlm block is generated for each of the up to three
almanac data sets in MT17. Refer to section A.4.4.12 of the DO-229 standard for further
details.
Parameter
Type Units Do-Not-Use
Sync1
c1
Description
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
PRN
u1
ID of the SBAS satellite of which the almanac is provided here (see 4.1.9)
Reserved0
u1
Reserved for future use, to be ignored by decoding software
DataID
u1
Data ID
Reserved1
u1
Reserved for future use, to be ignored by decoding software
Health
u2
t_oa
u4
1s
Time of applicability with the day ambiguity resolved. This is the time in
GPS seconds from Jan 6th, 1980.
Xg
f8
1m
X position at t_oa
Yg
f8
1m
Y position at t_oa
Zg
f8
1m
Z position at t_oa
Xgd
f8
1m/s
X velocity at t_oa
Ygd
f8
1m/s
Y velocity at t_oa
Zgd
f8
1m/s
Z velocity at t_oa
Padding
u1[..]
Block Header, see 4.1.1
SIS time stamp, see 4.1.3
Health bits
Padding bytes, see 4.1.5
246
4 SBF Reference
GEOIGPMask Number:
5931
"OnChange" interval: block generated each time MT18 is received from
an SBAS satellite
This block contains the decoded ionospheric grid point mask transmitted in SBAS message
type 18. Refer to section A.4.4.9 of the DO-229 standard for further details.
Parameter
Type
Units Do-Not-Use
Description
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
PRN
u1
ID of the SBAS satellite from which the message has been received
(see 4.1.9)
NbrBands
u1
Number of bands being broadcast.
BandNbr
u1
Band number.
IODI
u1
Issue of data - ionosphere.
NbrIGPs
u1
Number of ionospheric grid points (IGP) designated in the mask.
IGPMask
u1[NbrIGPs]
List of the IGPs in the IGP mask.
Block Header, see 4.1.1
SIS time stamp, see 4.1.3
IGPMask[0] is the first IGP designated in the IGP mask (from 1 to
201),
IGPMask[1] is the 2nd IGP designated in the IGP mask,
etc...
Padding
u1[..]
Padding bytes, see 4.1.5
247
4 SBF Reference
GEOLongTermCorr Number:
5932
"OnChange" interval: block generated each time MT24 or
MT25 is received from an SBAS satellite
This block contains the decoded long term corrections transmitted in SBAS message
types 24 and 25. Refer to section A.4.4.7 and A.4.4.8 of the DO-229 standard for further
details.
Parameter
Type Units Do-Not-Use
Description
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
PRN
u1
ID of the SBAS satellite from which the message has been received (see
4.1.9)
N
u1
Number of long-term corrections in this message. This is the number of
LTCorr sub-blocks. N can be 0, 1, 2, 3 or 4.
SBLength
u1
Reserved
u1[3]
LTCorr
...
Padding
u1[..]
Block Header, see 4.1.1
1 byte
SIS time stamp, see 4.1.3
Length of the LTCorr sub-blocks in bytes
Reserved for future use, to be ignored by decoding software
...
A succession of N LTCorr sub-blocks, see definition below
Padding bytes, see 4.1.5
LTCorr sub-block definition:
Parameter
Type Units
Description
VelocityCode
u1
Velocity code (0 or 1)
PRNMaskNo
u1
Sequence in the PRN mask, from 1 to 51. Note that if the PRN mask No. from the
original message is 0, the corresponding long term corrections are ignored, and hence
not included in the GEOLongTermCorr block.
IODP
u1
Issue of data - PRN.
IODE
u1
Issue of data - ephemeris.
dx
f4
1m
Satellite position offset (x).
dy
f4
1m
Satellite position offset (y).
dz
f4
1m
Satellite position offset (z).
dxRate
f4
1 m / s Satellite velocity offset (x), or 0.0 if VelocityCode is 0.
dyRate
f4
1 m / s Satellite velocity offset (y), or 0.0 if VelocityCode is 0.
dzRate
f4
1 m / s Satellite velocity offset (z), or 0.0 if VelocityCode is 0.
da_f0
f4
1s
da_f1
f4
1 s / s Satellite drift correction, or 0.0 if VelocityCode is 0.
t_oe
u4
1s
Padding
u1[..]
Satellite clock offset.
Time-of-day of applicability, or 0 if VelocityCode is 0.
Padding bytes, see 4.1.5
248
4 SBF Reference
GEOIonoDelay Number:
5933
"OnChange" interval: block generated each time MT26 is received
from an SBAS satellite
This block contains the decoded ionospheric delays transmitted in SBAS message type 26.
Refer to section A.4.4.10 of the DO-229 standard for further details.
Parameter
Type Units Do-Not-Use
Description
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
PRN
u1
ID of the SBAS satellite from which the message has been received (see
4.1.9)
BandNbr
u1
Band number
IODI
u1
Issue of data - ionosphere.
N
u1
Number of ionospheric delay corrections in this message. This is the number of IDC sub-blocks. N is always 15.
SBLength
u1
Reserved
u1
IDC
...
Padding
u1[..]
Block Header, see 4.1.1
1 byte
SIS time stamp, see 4.1.3
Length of the IDC sub-blocks in bytes.
Reserved for future use, to be ignored by decoding software
...
A succession of N IDC sub-blocks, see definition below
Padding bytes, see 4.1.5
IDC sub-block definition:
Parameter
Type Units
IGPMaskNo
u1
Sequence number in the IGP mask (see GEOIGPMask block), from 1 to 201.
GIVEI
u1
Grid Ionospheric Vertical Error Indicator, from 0 to 15
Reserved
u1[2]
Reserved for future use, to be ignored by decoding software
VerticalDelay
f4
Padding
u1[..]
1m
Description
IGP vertical delay estimate.
Padding bytes, see 4.1.5
249
4 SBF Reference
GEOServiceLevel Number:
5917
"OnChange" interval: block generated each time MT27 is received from an SBAS satellite
This block contains a decoded service level message for a geostationary SBAS satellite as
sent in message type 27. Refer to section A.4.4.13 of the DO-229 standard for further
details.
Parameter
Type Units Do-Not-Use
Description
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
PRN
u1
ID of the SBAS satellite from which this service level message was received
(see 4.1.9)
Reserved
u1
Reserved for future use, to be ignored by decoding software
IODS
u1
Issue of Data Service level, ranging from 0 to 7
nrMessages
u1
Number of service messages (MT27), from 1 to 8
MessageNR
u1
Service message number, from 1 to 8
PriorityCode
u1
Priority Code, from 0 to 3
dUDREI_In
u1
δ UDRE Indicator for users inside the service region, from 0 to 15
dUDREI_Out
u1
δ UDRE Indicator for users outside the service region, from 0 to 15
N
u1
Number of Regions in this message.
This is the number of
ServiceRegion sub-blocks. Ranging from 0 to 7
SBLength
u1
1 byte
Length of the ServiceRegion sub-blocks in bytes
Regions
...
...
A succession of N ServiceRegion sub-blocks, see definition below
Padding
u1[..]
Block Header, see 4.1.1
SIS time stamp, see 4.1.3
Padding bytes, see 4.1.5
ServiceRegion sub-block definition:
Parameter
Type Units
Description
Latitude1
i1
1 degree Coordinate 1 latitude, from -90 to +90
Latitude2
i1
1 degree Coordinate 2 latitude, from -90 to +90
Longitude1
i2
1 degree Coordinate 1 longitude, from -180 to +180
Longitude2
i2
1 degree Coordinate 2 longitude, from -180 to +180
RegionShape
u1
Region Shape: 0=triangular, 1=square
Padding
u1[..]
Padding bytes, see 4.1.5
250
4 SBF Reference
GEOClockEphCovMatrix Number:
5934
"OnChange" interval: block
generated each time
MT28 is received from an SBAS
satellite
This block contains the decoded clock-ephemeris covariance Cholesky factor matrix transmitted in SBAS message type 28. Refer to section A.4.4.16 of the DO-229 standard for
further details.
Parameter
Type Units Do-Not-Use
Sync1
c1
Description
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
PRN
u1
Satellite ID, see 4.1.9
IODP
u1
Issue of data - PRN.
N
u1
Number of covariance matrices in this message. This is the number of
CovMatrix sub-blocks. N can be 1 or 2.
SBLength
u1
Reserved
u1[2]
CovMatrix
...
Padding
u1[..]
Block Header, see 4.1.1
1 byte
SIS time stamp, see 4.1.3
Length of the CovMatrix sub-blocks in bytes
Reserved for future use, to be ignored by decoding software
...
A succession of N CovMatrix sub-blocks, see definition below
Padding bytes, see 4.1.5
CovMatrix sub-block definition:
Parameter
Type Units
Description
PRNMaskNo
u1
Sequence number in the PRN mask, from 1 to 51. Note that if the PRN mask No. from
the original message is 0, the corresponding matrix is ignored, and hence not included
in the GEOClockEphCovMatrix block.
Reserved
u1[2]
Reserved for future use, to be ignored by decoding software
ScaleExp
u1
Scale exponent; scale factor ( = 2(scale exponent - 5) )
E11
u2
E1,1
E22
u2
E2,2
E33
u2
E3,3
E44
u2
E4,4
E12
i2
E1,2
E13
i2
E1,3
E14
i2
E1,4
E23
i2
E2,3
E24
i2
E2,4
E34
i2
E3,4
Padding
u1[..]
Padding bytes, see 4.1.5
251
4 SBF Reference
4.2.9
Position, Velocity and Time Blocks
PVTCartesian Number:
4006
"OnChange" interval: default PVT output rate (see 4.1.8)
This block contains the position, velocity and time (PVT) solution at the time specified in the
TOW and WNc fields. The time of applicability is specified in the receiver time frame.
The computed position (x, y, z) and velocity (vx , vy , vz ) are reported in a Cartesian coordinate system using the datum indicated in the Datum field. The position refers to the
antenna reference point (ARP).
The PVT solution is also available in ellipsoidal form in the PVTGeodetic block.
The variance-covariance information associated with the reported PVT solution can be
found in the PosCovCartesian and VelCovCartesian blocks.
If no PVT solution is available, the Error field indicates the cause of the unavailability
and all fields after the Error field are set to their respective Do-Not-Use values.
252
4 SBF Reference
Parameter
Type Units
Sync1
c1
Do-Not-Use
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s
4294967295
WNc
u2
1 week
65535
Mode
u1
Description
Block Header, see 4.1.1
Receiver time stamp, see 4.1.3
Bit field indicating the PVT mode, as follows:
Bits 0-3:
type of PVT solution:
0: No PVT available (the Error field indicates the cause of
the absence of the PVT solution)
1: Stand-Alone PVT
2: Differential PVT
3: Fixed location
4: RTK with fixed ambiguities
5: RTK with float ambiguities
6: SBAS aided PVT
7: moving-base RTK with fixed ambiguities
8: moving-base RTK with float ambiguities
10: Precise Point Positioning (PPP)
12: Reserved
Error
u1
Bits 4-5:
Reserved
Bit 6:
Set
Bit 7:
2D/3D flag: set in 2D mode (height assumed constant and
not computed).
if
the
user
has
entered
the
command
setPVTMode,Static,auto and the receiver is still in
the process of determining its fixed position.
PVT error code. The following values are defined:
0: No Error
1: Not enough measurements
2: Not enough ephemerides available
3: DOP too large (larger than 15)
4: Sum of squared residuals too large
5: No convergence
6: Not enough measurements after outlier rejection
7: Position output prohibited due to export laws
8: Not enough differential corrections available
9: Base station coordinates unavailable
10: Ambiguities not fixed and user requested to only output RTK-fixed
positions
X
f8
1m
−2 · 1010
X coordinate in coordinate frame specified by Datum
Y
f8
1m
−2 · 1010
Y coordinate in coordinate frame specified by Datum
Z coordinate in coordinate frame specified by Datum
Z
f8
1m
−2 · 1010
Undulation
f4
1m
−2 · 1010
Geoid undulation. See the setGeoidUndulation command.
Vx
f4
1m/s
−2 · 1010
Velocity in the X direction
Vy
f4
1m/s
−2 · 1010
Velocity in the Y direction
1m/s
−2 · 1010
Velocity in the Z direction
Vz
f4
253
4 SBF Reference
COG
f4
1 degree −2 · 1010
Course over ground: this is defined as the angle of the vehicle with respect to the local level North, ranging from 0 to 360, and increasing towards east. Set to the Do-Not-Use value when the speed is lower than
0.1m/s.
RxClkBias
f8
1 ms
−2 · 1010
Receiver clock bias relative to the GNSS system time reported in the
TimeSystem field. Positive when the receiver time is ahead of the system time. To transfer the receiver time to the system time, use:
tGPS/GST = trx - RxClkBias
RxClkDrift
f4
1 ppm
−2 · 1010
Receiver clock drift relative to the GNSS system time (relative frequency
error). Positive when the receiver clock runs faster than the system time.
TimeSystem
u1
255
Time system of which the offset is provided in this sub-block:
0: GPS time
1: Galileo time
3: GLONASS time
4: BeiDou time
Datum
u1
255
This field defines in which datum the coordinates are expressed:
0:
WGS84/ITRS
19: Datum equal to that used by the DGNSS/RTK base station
30: ETRS89 (ETRF2000 realization)
31: NAD83(2011), North American Datum (2011)
32: NAD83(PA11), North American Datum, Pacific plate (2011)
33: NAD83(MA11), North American Datum, Marianas plate (2011)
34: GDA94(2010), Geocentric Datum of Australia (2010)
35: GDA2020, Geocentric Datum of Australia 2020
250: First user-defined datum
251: Second user-defined datum
NrSV
u1
255
Total number of satellites used in the PVT computation.
WACorrInfo
u1
0
Bit field providing information about which wide area corrections have
been applied:
ReferenceID
u2
MeanCorrAge
u2
SignalInfo
u4
0.01 s
Bit 0:
set if orbit and satellite clock correction information is used
Bit 1:
set if range correction information is used
Bit 2:
set if ionospheric information is used
Bit 3:
set if orbit accuracy information is used (UERE/SISA)
Bit 4:
set if DO229 Precision Approach mode is active
Bits 5-7:
Reserved
65535
This field indicates the reference ID of the differential information used.
In case of DGPS or RTK operation, this field is to be interpreted as the
base station identifier. In SBAS operation, this field is to be interpreted
as the PRN of the geostationary satellite used (from 120 to 158). If multiple base stations or multiple geostationary satellites are used the value
is set to 65534.
65535
In case of DGPS or RTK, this field is the mean age of the differential corrections.
In case of SBAS operation, this field is the mean age of the ’fast corrections’ provided by the SBAS satellites.
0
Bit field indicating the type of GNSS signals having been used in the PVT
computations. If a bit i is set, the signal type having index i has been
used. The signal numbers are listed in section 4.1.10. Bit 0 (GPS-C/A) is
the LSB of SignalInfo.
254
4 SBF Reference
AlertFlag
u1
0
Bit field indicating integrity related information:
Bits 0-1:
RAIM integrity flag:
0: RAIM not active (integrity not monitored)
1: RAIM integrity test successful
2: RAIM integrity test failed
3: Reserved
NrBases
u1
PPPInfo
u2
Bit 2:
set if integrity has failed as per Galileo HPCA (HMI Probability
Computation Algorithm)
Bit 3:
set if Galileo ionospheric storm flag is active
Bit 4:
Reserved
Bits 5-7:
Reserved
0
Number of base stations used in the PVT computation.
0
Bit field containing PPP-related information:
1s
Bits 0-11: Age of the last seed, in seconds. The age is clipped to 4091s.
This field must be ignored when the seed type is 0 (see bits
13-15 below).
Bit 12:
Rev 1
Reserved
Bits 13-15: Type of last seed:
0: Not seeded or not in PPP positioning mode
1: Manual seed
2: Seeded from DGPS
3: Seeded from RTKFixed
Latency
u2
0.0001 s 65535
Time elapsed between the time of applicability of the position fix and
the generation of this SBF block by the receiver. This time includes the
receiver processing time, but not the communication latency.
HAccuracy
u2
0.01 m
65535
2DRMS horizontal accuracy: twice the root-mean-square of the horizontal distance error. The horizontal distance between the true position
and the computed position is expected to be lower than HAccuracy
with a probability of at least 95%. The value is clipped to 65534
=655.34m
VAccuracy
u2
0.01 m
65535
2-sigma vertical accuracy. The vertical distance between the true
position and the computed position is expected to be lower than
VAccuracy with a probability of at least 95%. The value is clipped to
65534 =655.34m.
Misc
u1
Rev 2
Bit field containing miscellaneous flags:
Bit 0:
In DGNSS or RTK mode, set if the baseline points to the base
station ARP. Unset if it points to the antenna phase center, or
if unknown.
Bit 1:
Set if the phase center offset is compensated for at the rover,
unset if not or unknown.
Bit 2:
Proprietary.
Bit 3:
Proprietary.
Bits 4-5:
Proprietary.
Bits 6-7:
Flag indicating whether the marker position reported in this
block is also the ARP position
0: Unknown
1: The ARP-to-marker offset is zero
2: The ARP-to-marker offset is not zero
Padding
u1[..]
Padding bytes, see 4.1.5
255
4 SBF Reference
PVTGeodetic Number:
4007
"OnChange" interval: default PVT output rate (see 4.1.8)
This block contains the position, velocity and time (PVT) solution at the time specified in the
TOW and WNc fields. The time of applicability is specified in the receiver time frame.
The computed position (ϕ,λ,h) and velocity (vn , ve , vu ) are reported in an ellipsoidal coordinate system using the datum indicated in the Datum field. The velocity vector is
expressed relative to the local-level Cartesian coordinate frame with north-, east-, up-unit
vectors. The position refers to the antenna reference point (ARP).
The PVT solution is also available in Cartesian form in the PVTCartesian block.
The variance-covariance information associated with the reported PVT solution can be
found in the PosCovGeodetic and VelCovGeodetic blocks.
If no PVT solution is available, the Error field indicates the cause of the unavailability
and all fields after the Error field are set to their respective Do-Not-Use values.
256
4 SBF Reference
Parameter
Type Units
Sync1
c1
Do-Not-Use
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s
4294967295
WNc
u2
1 week
65535
Mode
u1
Description
Block Header, see 4.1.1
Receiver time stamp, see 4.1.3
Bit field indicating the PVT mode, as follows:
Bits 0-3:
type of PVT solution:
0: No PVT available (the Error field indicates the cause of
the absence of the PVT solution)
1: Stand-Alone PVT
2: Differential PVT
3: Fixed location
4: RTK with fixed ambiguities
5: RTK with float ambiguities
6: SBAS aided PVT
7: moving-base RTK with fixed ambiguities
8: moving-base RTK with float ambiguities
10: Precise Point Positioning (PPP)
12: Reserved
Error
u1
Bits 4-5:
Reserved
Bit 6:
Set
Bit 7:
2D/3D flag: set in 2D mode (height assumed constant and
not computed).
if
the
user
has
entered
the
command
setPVTMode,Static,auto and the receiver is still in
the process of determining its fixed position.
PVT error code. The following values are defined:
0: No Error
1: Not enough measurements
2: Not enough ephemerides available
3: DOP too large (larger than 15)
4: Sum of squared residuals too large
5: No convergence
6: Not enough measurements after outlier rejection
7: Position output prohibited due to export laws
8: Not enough differential corrections available
9: Base station coordinates unavailable
10: Ambiguities not fixed and user requested to only output RTK-fixed
positions
Latitude
f8
1 rad
−2 · 1010
Latitude, from −π/2 to +π/2, positive North of Equator
Longitude
f8
1 rad
−2 · 1010
Longitude, from −π to +π , positive East of Greenwich
Ellipsoidal height (with respect to the ellipsoid specified by Datum)
Height
f8
1m
−2 · 1010
Undulation
f4
1m
−2 · 1010
Geoid undulation. See the setGeoidUndulation command.
Vn
f4
1m/s
−2 · 1010
Velocity in the North direction
Ve
f4
1m/s
−2 · 1010
Velocity in the East direction
1m/s
−2 · 1010
Velocity in the ’Up’ direction
Vu
f4
257
4 SBF Reference
COG
f4
1 degree −2 · 1010
Course over ground: this is defined as the angle of the vehicle with respect to the local level North, ranging from 0 to 360, and increasing towards east. Set to the Do-Not-Use value when the speed is lower than
0.1m/s.
RxClkBias
f8
1 ms
−2 · 1010
Receiver clock bias relative to the GNSS system time reported in the
TimeSystem field. Positive when the receiver time is ahead of the system time. To transfer the receiver time to the system time, use:
tGPS/GST = trx - RxClkBias
RxClkDrift
f4
1 ppm
−2 · 1010
Receiver clock drift relative to the GNSS system time (relative frequency
error). Positive when the receiver clock runs faster than the system time.
TimeSystem
u1
255
Time system of which the offset is provided in this sub-block:
0: GPS time
1: Galileo time
3: GLONASS time
4: BeiDou time
Datum
u1
255
This field defines in which datum the coordinates are expressed:
0:
WGS84/ITRS
19: Datum equal to that used by the DGNSS/RTK base station
30: ETRS89 (ETRF2000 realization)
31: NAD83(2011), North American Datum (2011)
32: NAD83(PA11), North American Datum, Pacific plate (2011)
33: NAD83(MA11), North American Datum, Marianas plate (2011)
34: GDA94(2010), Geocentric Datum of Australia (2010)
35: GDA2020, Geocentric Datum of Australia 2020
250: First user-defined datum
251: Second user-defined datum
NrSV
u1
255
Total number of satellites used in the PVT computation.
WACorrInfo
u1
0
Bit field providing information about which wide area corrections have
been applied:
ReferenceID
u2
MeanCorrAge
u2
SignalInfo
u4
0.01 s
Bit 0:
set if orbit and satellite clock correction information is used
Bit 1:
set if range correction information is used
Bit 2:
set if ionospheric information is used
Bit 3:
set if orbit accuracy information is used (UERE/SISA)
Bit 4:
set if DO229 Precision Approach mode is active
Bits 5-7:
Reserved
65535
This field indicates the reference ID of the differential information used.
In case of DGPS or RTK operation, this field is to be interpreted as the
base station identifier. In SBAS operation, this field is to be interpreted
as the PRN of the geostationary satellite used (from 120 to 158). If multiple base stations or multiple geostationary satellites are used the value
is set to 65534.
65535
In case of DGPS or RTK, this field is the mean age of the differential corrections.
In case of SBAS operation, this field is the mean age of the ’fast corrections’ provided by the SBAS satellites.
0
Bit field indicating the type of GNSS signals having been used in the PVT
computations. If a bit i is set, the signal type having index i has been
used. The signal numbers are listed in section 4.1.10. Bit 0 (GPS-C/A) is
the LSB of SignalInfo.
258
4 SBF Reference
AlertFlag
u1
0
Bit field indicating integrity related information:
Bits 0-1:
RAIM integrity flag:
0: RAIM not active (integrity not monitored)
1: RAIM integrity test successful
2: RAIM integrity test failed
3: Reserved
NrBases
u1
PPPInfo
u2
Bit 2:
set if integrity has failed as per Galileo HPCA (HMI Probability
Computation Algorithm)
Bit 3:
set if Galileo ionospheric storm flag is active
Bit 4:
Reserved
Bits 5-7:
Reserved
0
Number of base stations used in the PVT computation.
0
Bit field containing PPP-related information:
1s
Bits 0-11: Age of the last seed, in seconds. The age is clipped to 4091s.
This field must be ignored when the seed type is 0 (see bits
13-15 below).
Bit 12:
Rev 1
Reserved
Bits 13-15: Type of last seed:
0: Not seeded or not in PPP positioning mode
1: Manual seed
2: Seeded from DGPS
3: Seeded from RTKFixed
Latency
u2
0.0001 s 65535
Time elapsed between the time of applicability of the position fix and
the generation of this SBF block by the receiver. This time includes the
receiver processing time, but not the communication latency.
HAccuracy
u2
0.01 m
65535
2DRMS horizontal accuracy: twice the root-mean-square of the horizontal distance error. The horizontal distance between the true position
and the computed position is expected to be lower than HAccuracy
with a probability of at least 95%. The value is clipped to 65534
=655.34m
VAccuracy
u2
0.01 m
65535
2-sigma vertical accuracy. The vertical distance between the true
position and the computed position is expected to be lower than
VAccuracy with a probability of at least 95%. The value is clipped to
65534 =655.34m.
Misc
u1
Rev 2
Bit field containing miscellaneous flags:
Bit 0:
In DGNSS or RTK mode, set if the baseline points to the base
station ARP. Unset if it points to the antenna phase center, or
if unknown.
Bit 1:
Set if the phase center offset is compensated for at the rover,
unset if not or unknown.
Bit 2:
Proprietary.
Bit 3:
Proprietary.
Bits 4-5:
Proprietary.
Bits 6-7:
Flag indicating whether the marker position reported in this
block is also the ARP position
0: Unknown
1: The ARP-to-marker offset is zero
2: The ARP-to-marker offset is not zero
Padding
u1[..]
Padding bytes, see 4.1.5
259
4 SBF Reference
PosCovCartesian Number:
5905
"OnChange" interval: default PVT output rate (see 4.1.8)
This block contains the elements of the symmetric variance-covariance matrix of the
position expressed relative to the Cartesian axes of the coordinate system datum requested
by the user:

σx2
σxy
σxz σxb





 σyx σy2 σyz σyb 




 σzx σzy σz2 σzb 


σbx σby σbz σb2
This variance-covariance matrix contains an indication of the accuracy of the estimated
parameters (see diagonal elements) and the correlation between these estimates (see
off-diagonal elements). Note that the variances and covariances are estimated: they are not
necessarily indicative of the actual scatter of the position estimates at a given site.
The position variance results from the propagation of all pseudorange variances using
the observation geometry. The receiver implements a stochastic error model for individual
measurements, based on parameters such as the C/N0 , the satellite elevation, the pseudorange type, the URA of the broadcast ephemeris and the ionospheric model.
If the ellipsoidal height is not estimated (2D-mode), all components of the variancecovariance matrix are undefined and set to their Do-Not-Use value.
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4 SBF Reference
Parameter
Type Units Do-Not-Use
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
Mode
u1
Description
Block Header, see 4.1.1
Receiver time stamp, see 4.1.3
Bit field indicating the PVT mode, as follows:
Bits 0-3: type of PVT solution:
0: No PVT available (the Error field indicates the cause of the
absence of the PVT solution)
1: Stand-Alone PVT
2: Differential PVT
3: Fixed location
4: RTK with fixed ambiguities
5: RTK with float ambiguities
6: SBAS aided PVT
7: moving-base RTK with fixed ambiguities
8: moving-base RTK with float ambiguities
10: Precise Point Positioning (PPP)
12: Reserved
Bits 4-5: Reserved
Error
u1
Bit 6:
Set
if
the
user
has
entered
the
command
setPVTMode,Static,auto and the receiver is still in the
process of determining its fixed position.
Bit 7:
2D/3D flag: set in 2D mode (height assumed constant and not
computed).
PVT error code. The following values are defined:
0: No Error
1: Not enough measurements
2: Not enough ephemerides available
3: DOP too large (larger than 15)
4: Sum of squared residuals too large
5: No convergence
6: Not enough measurements after outlier rejection
7: Position output prohibited due to export laws
8: Not enough differential corrections available
9: Base station coordinates unavailable
10: Ambiguities not fixed and user requested to only output RTK-fixed
positions
Cov_xx
f4
1 m2
−2 · 1010
Variance of the x estimate
Cov_yy
f4
1 m2
−2 · 1010
Variance of the y estimate
Cov_zz
f4
1 m2
−2 · 1010
Variance of the z estimate
f4
1 m2
−2 · 1010
Variance of the clock bias estimate
Cov_xy
f4
1 m2
−2 · 1010
Covariance between the x and y estimates
Cov_xz
f4
1 m2
−2 · 1010
Covariance between the x and z estimates
Cov_xb
f4
1 m2
−2 · 1010
Covariance between the x and clock bias estimates
Cov_yz
f4
1 m2
−2 · 1010
Covariance between the y and z estimates
f4
1 m2
−2 · 1010
Covariance between the y and clock bias estimates
Cov_bb
Cov_yb
261
4 SBF Reference
Cov_zb
f4
Padding
u1[..]
1 m2
−2 · 1010
Covariance between the z and clock bias estimates
Padding bytes, see 4.1.5
262
4 SBF Reference
PosCovGeodetic Number:
5906
"OnChange" interval: default PVT output rate (see 4.1.8)
This block contains the elements of the symmetric variance-covariance matrix of the
position expressed in the geodetic coordinates in the datum requested by the user:

σϕ2
σϕλ σϕh σϕb





σλϕ σλ2 σλh σλb 




2
σhϕ σhλ σh σhb 


2
σbϕ σbλ σbh σb
Please refer to the PosCovCartesian block description for a general explanation of the
contents.
Note that the units of measure for all the variances and covariances, for height as
well as for latitude and longitude, are m2 for ease of interpretation.
If the ellipsoidal height is not estimated (2D-mode), all height related components of
the variance-covariance matrix are undefined and set to their Do-Not-Use value.
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4 SBF Reference
Parameter
Type Units Do-Not-Use
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
Mode
u1
Description
Block Header, see 4.1.1
Receiver time stamp, see 4.1.3
Bit field indicating the PVT mode, as follows:
Bits 0-3: type of PVT solution:
0: No PVT available (the Error field indicates the cause of the
absence of the PVT solution)
1: Stand-Alone PVT
2: Differential PVT
3: Fixed location
4: RTK with fixed ambiguities
5: RTK with float ambiguities
6: SBAS aided PVT
7: moving-base RTK with fixed ambiguities
8: moving-base RTK with float ambiguities
10: Precise Point Positioning (PPP)
12: Reserved
Bits 4-5: Reserved
Error
u1
Bit 6:
Set
if
the
user
has
entered
the
command
setPVTMode,Static,auto and the receiver is still in the
process of determining its fixed position.
Bit 7:
2D/3D flag: set in 2D mode (height assumed constant and not
computed).
PVT error code. The following values are defined:
0: No Error
1: Not enough measurements
2: Not enough ephemerides available
3: DOP too large (larger than 15)
4: Sum of squared residuals too large
5: No convergence
6: Not enough measurements after outlier rejection
7: Position output prohibited due to export laws
8: Not enough differential corrections available
9: Base station coordinates unavailable
10: Ambiguities not fixed and user requested to only output RTK-fixed
positions
Cov_latlat
f4
1 m2
−2 · 1010
Variance of the latitude estimate
Cov_lonlon
f4
1 m2
−2 · 1010
Variance of the longitude estimate
Cov_hgthgt
f4
1 m2
−2 · 1010
Variance of the height estimate
f4
1 m2
−2 · 1010
Variance of the clock-bias estimate
Cov_latlon
f4
1 m2
−2 · 1010
Covariance between the latitude and longitude estimates
Cov_lathgt
f4
1 m2
−2 · 1010
Covariance between the latitude and height estimates
f4
1 m2
−2 · 1010
Covariance between the latitude and clock-bias estimates
f4
1 m2
−2 · 1010
Covariance between the longitude and height estimates
Cov_bb
Cov_latb
Cov_lonhgt
264
4 SBF Reference
Cov_lonb
f4
1 m2
−2 · 1010
Covariance between the longitude and clock-bias estimates
Cov_hb
f4
1 m2
−2 · 1010
Covariance between the height and clock-bias estimates
Padding
u1[..]
Padding bytes, see 4.1.5
265
4 SBF Reference
VelCovCartesian Number:
5907
"OnChange" interval: default PVT output rate (see 4.1.8)
This block contains the elements of the symmetric variance-covariance matrix of the velocity
expressed in the Cartesian coordinates of the coordinate system datum requested by the
user:


σ2
 vx

σvy vx


σvz vx

σdvx
σvx vy
σvx vz
σv2y
σvy vz
σvz vy
σv2z
σdvy
σdvz
σvx d


σvy d 


σvz d 

2
σd
Please refer to the PosCovCartesian block description for a general explanation of the
contents.
If the up-velocity is not estimated (2D-mode), all components of the variance-covariance
matrix are undefined and set to their Do-Not-Use value.
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Parameter
Type Units
Sync1
c1
Do-Not-Use
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s
4294967295
WNc
u2
1 week
65535
Mode
u1
Description
Block Header, see 4.1.1
Receiver time stamp, see 4.1.3
Bit field indicating the PVT mode, as follows:
Bits 0-3: type of PVT solution:
0: No PVT available (the Error field indicates the cause of the
absence of the PVT solution)
1: Stand-Alone PVT
2: Differential PVT
3: Fixed location
4: RTK with fixed ambiguities
5: RTK with float ambiguities
6: SBAS aided PVT
7: moving-base RTK with fixed ambiguities
8: moving-base RTK with float ambiguities
10: Precise Point Positioning (PPP)
12: Reserved
Bits 4-5: Reserved
Error
u1
Bit 6:
Set
if
the
user
has
entered
the
command
setPVTMode,Static,auto and the receiver is still in
the process of determining its fixed position.
Bit 7:
2D/3D flag: set in 2D mode (height assumed constant and not
computed).
PVT error code. The following values are defined:
0: No Error
1: Not enough measurements
2: Not enough ephemerides available
3: DOP too large (larger than 15)
4: Sum of squared residuals too large
5: No convergence
6: Not enough measurements after outlier rejection
7: Position output prohibited due to export laws
8: Not enough differential corrections available
9: Base station coordinates unavailable
10: Ambiguities not fixed and user requested to only output RTK-fixed
positions
Cov_VxVx
f4
1 m2 / s2 −2 · 1010
Variance of the x-velocity estimate
Cov_VyVy
f4
1 m2 / s2 −2 · 1010
Variance of the y-velocity estimate
Cov_VzVz
f4
1 m2 / s2 −2 · 1010
Variance of the z-velocity estimate
Cov_DtDt
f4
1 m2 / s2 −2 · 1010
Variance of the clock drift estimate
Cov_VxVy
f4
1 m2 / s2 −2 · 1010
Covariance between the x- and y-velocity estimates
Cov_VxVz
f4
1 m2 / s2 −2 · 1010
Covariance between the x- and z-velocity estimates
Cov_VxDt
f4
1 m2 / s2 −2 · 1010
Covariance between the x-velocity and the clock drift estimates
Cov_VyVz
f4
1 m2 / s2 −2 · 1010
Covariance between the y- and z-velocity estimates
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4 SBF Reference
Cov_VyDt
f4
1 m2 / s2 −2 · 1010
Covariance between the y-velocity and the clock drift estimates
Cov_VzDt
f4
1 m2 / s2 −2 · 1010
Covariance between the z-velocity and the clock drift estimates
Padding
u1[..]
Padding bytes, see 4.1.5
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4 SBF Reference
VelCovGeodetic Number:
5908
"OnChange" interval: default PVT output rate (see 4.1.8)
This block contains the elements of the symmetric variance-covariance matrix of the velocity
expressed in the geodetic coordinates in the datum requested by the user:

σv2N
σvN vE
σvN vU


 σvE vN


σvU vN

σdvN
σv2E
σvE vU
σvU vE
σv2U
σdvE
σdvU
σvN d



σvE d 


σvU d 

2
σd
Please refer to the PosCovCartesian block description for a general explanation of the
contents.
If the up-velocity is not estimated (2D-mode), all up-velocity related components of
the variance-covariance matrix are undefined and set to their Do-Not-Use value.
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4 SBF Reference
Parameter
Type Units
Sync1
c1
Do-Not-Use
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s
4294967295
WNc
u2
1 week
65535
Mode
u1
Description
Block Header, see 4.1.1
Receiver time stamp, see 4.1.3
Bit field indicating the PVT mode, as follows:
Bits 0-3: type of PVT solution:
0: No PVT available (the Error field indicates the cause of the
absence of the PVT solution)
1: Stand-Alone PVT
2: Differential PVT
3: Fixed location
4: RTK with fixed ambiguities
5: RTK with float ambiguities
6: SBAS aided PVT
7: moving-base RTK with fixed ambiguities
8: moving-base RTK with float ambiguities
10: Precise Point Positioning (PPP)
12: Reserved
Bits 4-5: Reserved
Error
u1
Bit 6:
Set
if
the
user
has
entered
the
command
setPVTMode,Static,auto and the receiver is still in
the process of determining its fixed position.
Bit 7:
2D/3D flag: set in 2D mode (height assumed constant and not
computed).
PVT error code. The following values are defined:
0: No Error
1: Not enough measurements
2: Not enough ephemerides available
3: DOP too large (larger than 15)
4: Sum of squared residuals too large
5: No convergence
6: Not enough measurements after outlier rejection
7: Position output prohibited due to export laws
8: Not enough differential corrections available
9: Base station coordinates unavailable
10: Ambiguities not fixed and user requested to only output RTK-fixed
positions
Cov_VnVn
f4
1 m2 / s2 −2 · 1010
Variance of the north-velocity estimate
Cov_VeVe
f4
1 m2 / s2 −2 · 1010
Variance of the east-velocity estimate
Cov_VuVu
f4
1 m2 / s2 −2 · 1010
Variance of the up-velocity estimate
Cov_DtDt
f4
1 m2 / s2 −2 · 1010
Variance of the clock drift estimate
Cov_VnVe
f4
1 m2 / s2 −2 · 1010
Covariance between the north- and east-velocity estimates
Cov_VnVu
f4
1 m2 / s2 −2 · 1010
Covariance between the north- and up-velocity estimates
Cov_VnDt
f4
1 m2 / s2 −2 · 1010
Covariance between the north-velocity and clock drift estimates
Cov_VeVu
f4
1 m2 / s2 −2 · 1010
Covariance between the east- and up-velocity estimates
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4 SBF Reference
Cov_VeDt
f4
1 m2 / s2 −2 · 1010
Covariance between the east-velocity and clock drift estimates
Cov_VuDt
f4
1 m2 / s2 −2 · 1010
Covariance between the up-velocity and clock drift estimates
Padding
u1[..]
Padding bytes, see 4.1.5
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DOP Number:
4001
"OnChange" interval: default PVT output rate (see 4.1.8)
This block contains both Dilution of Precision (DOP) values and SBAS protection levels. The
DOP values result from a trace of the unit position variance-covariance matrices:
Position Dilution of Precision:
Time Dilution of Precision:
Horizontal Dilution of Precision:
Vertical Dilution of Precision:
PDOP =
p
TDOP =
p
HDOP =
p
VDOP =
p
Qxx + Qyy + Qzz
Qbb
Qλλ + Qϕϕ
Qhh
In these equations, the matrix Q is the inverse of the unweighted normal matrix used for
the computation of the position. The normal matrix equals the product of the geometry
matrix A with its transpose (At A). The term "unweighted" implies that the DOP factor only
addresses the effect of the geometric factors on the quality of the position.
The DOP values can be used to interpret the current constellation geometry. This is
an important parameter for the quality of the position fix: the DOP parameter is the
propagation factor of the pseudorange variance. For example, if an error of 5 m is present
in the pseudorange, it will propagate into the horizontal plane with a factor expressed by
the HDOP. Hence a low DOP value indicates that the satellites used for the position fix result
in a low multiplication of the systematic ranging errors. A value of six (6) for the PDOP is
generally considered as the maximum value allowed for an acceptable position computation.
The horizontal and vertical protection levels (HPL and VPL) indicate the integrity of the
computed horizontal and vertical position components as per the DO 229 specification.
In SBAS-aided PVT mode (see the Mode field of the PVTCartesian SBF block), HPL and
VPL are based upon the error estimates provided by SBAS. Otherwise they are based upon
internal position-mode dependent error estimates.
Parameter
Type Units Do-Not-Use
Sync1
c1
Description
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
NrSV
u1
0
Reserved
u1
PDOP
u2
0.01
0
If 0, PDOP not available, otherwise divide by 100 to obtain PDOP.
TDOP
u2
0.01
0
If 0, TDOP not available, otherwise divide by 100 to obtain TDOP.
HDOP
u2
0.01
0
If 0, HDOP not available, otherwise divide by 100 to obtain HDOP.
VDOP
u2
0.01
0
If 0, VDOP not available, otherwise divide by 100 to obtain VDOP.
HPL
f4
1m
−2 · 1010
Horizontal Protection Level (see the DO 229 standard).
VPL
f4
1m
−2 · 1010
Vertical Protection Level (see the DO 229 standard).
Padding
u1[..]
Block Header, see 4.1.1
Receiver time stamp, see 4.1.3
Total number of satellites used in the DOP computation, or 0 if the DOP
information is not available (in that case, the xDOP fields are all set to 0)
Reserved for future use, to be ignored by decoding software
Padding bytes, see 4.1.5
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4 SBF Reference
PosCart Number:
4044
"OnChange" interval: default PVT output rate (see 4.1.8)
This block contains the absolute and relative (relative to the nearest base station) position
at the time specified in the TOW and WNc fields. The time of applicability is specified in the
receiver time frame.
The absolute position (X, Y, Z) is reported in a Cartesian coordinate system using the
datum indicated in the Datum field. The position refers to the antenna reference point
(ARP).
For highest accuracy, the receiver tries to compute the baseline (Base2RoverX,
Base2RoverY, Base2RoverZ) from rover ARP to base ARP. See the description of
the BaseVectorCart block for details.
Accurate ARP-to-ARP baseline is guaranteed only if both bits 0 and 1 of the Misc field
are set. Otherwise, centimeter-level offsets may arise because the receiver cannot make the
distinction between phase center and ARP positions. See section 2.5 for a discussion on the
phase center and ARP positions.
This block also contains the variance-covariance information and DOP factors associated with the position.
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4 SBF Reference
Parameter
Type Units Do-Not-Use
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
Mode
u1
Description
Block Header, see 4.1.1
Receiver time stamp, see 4.1.3
Bit field indicating the PVT mode, as follows:
Bits 0-3: type of PVT solution:
0: No PVT available (the Error field indicates the cause of the
absence of the PVT solution)
1: Stand-Alone PVT
2: Differential PVT
3: Fixed location
4: RTK with fixed ambiguities
5: RTK with float ambiguities
6: SBAS aided PVT
7: moving-base RTK with fixed ambiguities
8: moving-base RTK with float ambiguities
10: Precise Point Positioning (PPP)
12: Reserved
Bits 4-5: Reserved
Error
u1
Bit 6:
Set
if
the
user
has
entered
the
command
setPVTMode,Static,auto and the receiver is still in the
process of determining its fixed position.
Bit 7:
2D/3D flag: set in 2D mode (height assumed constant and not
computed).
PVT error code. The following values are defined:
0: No Error
1: Not enough measurements
2: Not enough ephemerides available
3: DOP too large (larger than 15)
4: Sum of squared residuals too large
5: No convergence
6: Not enough measurements after outlier rejection
7: Position output prohibited due to export laws
8: Not enough differential corrections available
9: Base station coordinates unavailable
10: Ambiguities not fixed and user requested to only output RTK-fixed
positions
X
f8
1m
−2 · 1010
X coordinate in coordinate frame specified by Datum
Y
f8
1m
−2 · 1010
Y coordinate in coordinate frame specified by Datum
Z coordinate in coordinate frame specified by Datum
Z
f8
1m
−2 · 1010
Base2RoverX
f8
1m
−2 · 1010
X baseline component (from base to rover)
Base2RoverY
f8
1m
−2 · 1010
Y baseline component (from base to rover)
Z baseline component (from base to rover)
Base2RoverZ
f8
1m
−2 · 1010
Cov_xx
f4
1 m2
−2 · 1010
Variance of the x estimate
Cov_yy
f4
1 m2
−2 · 1010
Variance of the y estimate
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4 SBF Reference
f4
1 m2
−2 · 1010
Variance of the z estimate
Cov_xy
f4
1 m2
−2 · 1010
Covariance between the x and y estimates
Cov_xz
f4
1 m2
−2 · 1010
Covariance between the x and z estimates
Cov_yz
f4
1 m2
−2 · 1010
Covariance between the y and z estimates
PDOP
u2
0.01
0
If 0, PDOP not available, otherwise divide by 100 to obtain PDOP.
HDOP
u2
0.01
0
If 0, HDOP not available, otherwise divide by 100 to obtain HDOP.
VDOP
u2
0.01
0
If 0, VDOP not available, otherwise divide by 100 to obtain VDOP.
Misc
u1
Cov_zz
Bit field containing miscellaneous flags:
Bit 0:
In DGNSS or RTK mode, set if the baseline points to the base station ARP. Unset if it points to the antenna phase center, or if unknown.
Bit 1:
Set if the phase center offset is compensated for at the rover,
unset if not or unknown.
Bit 2:
Proprietary.
Bit 3:
Proprietary.
Bits 4-5: Proprietary.
Bits 6-7: Flag indicating whether the marker position reported in this block
is also the ARP position
0: Unknown
1: The ARP-to-marker offset is zero
2: The ARP-to-marker offset is not zero
Reserved
u1
AlertFlag
u1
Reserved for future use.
0
Bit field indicating integrity related information:
Bits 0-1: RAIM integrity flag:
0: RAIM not active (integrity not monitored)
1: RAIM integrity test successful
2: RAIM integrity test failed
3: Reserved
Bit 2:
set if integrity has failed as per Galileo HPCA (HMI Probability
Computation Algorithm)
Bit 3:
set if Galileo ionospheric storm flag is active
Bit 4:
Reserved
Bits 5-7: Reserved
Datum
u1
255
This field defines in which datum the coordinates are expressed:
0:
WGS84/ITRS
19: Datum equal to that used by the DGNSS/RTK base station
30: ETRS89 (ETRF2000 realization)
31: NAD83(2011), North American Datum (2011)
32: NAD83(PA11), North American Datum, Pacific plate (2011)
33: NAD83(MA11), North American Datum, Marianas plate (2011)
34: GDA94(2010), Geocentric Datum of Australia (2010)
35: GDA2020, Geocentric Datum of Australia 2020
250: First user-defined datum
251: Second user-defined datum
NrSV
u1
255
Total number of satellites used in the PVT computation.
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4 SBF Reference
WACorrInfo
u1
0
Bit field providing information about which wide area corrections have
been applied:
Bit 0:
set if orbit and satellite clock correction information is used
Bit 1:
set if range correction information is used
Bit 2:
set if ionospheric information is used
Bit 3:
set if orbit accuracy information is used (UERE/SISA)
Bit 4:
set if DO229 Precision Approach mode is active
Bits 5-7: Reserved
ReferenceId
u2
65535
This field indicates the reference ID of the differential information used.
In case of DGPS or RTK operation, this field is to be interpreted as the
base station identifier. In SBAS operation, this field is to be interpreted as
the PRN of the geostationary satellite used (from 120 to 158). If multiple
base stations or multiple geostationary satellites are used the value is set
to 65534.
MeanCorrAge
u2
0.01 s 65535
In case of DGPS or RTK, this field is the mean age of the differential corrections.
In case of SBAS operation, this field is the mean age of the ’fast corrections’ provided by the SBAS satellites.
SignalInfo
u4
0
Bit field indicating the type of GNSS signals having been used in the PVT
computations. If a bit i is set, the signal type having index i has been used.
The signal numbers are listed in section 4.1.10. Bit 0 (GPS-C/A) is the LSB
of SignalInfo.
Padding
u1[..]
Padding bytes, see 4.1.5
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4 SBF Reference
PosLocal Number:
4052
"OnChange" interval: default PVT output rate (see 4.1.8)
This block contains the position at the time specified in the TOW and WNc fields. The time of
applicability is specified in the receiver time frame.
The position (Lat, Lon, Alt) relates to the local datum identified with the Datum field.
The coordinate transformation to the local datum is done using parameters transmitted by
the RTK service provider in RTCM message types MT1021 to MT1023.
The position refers to the antenna reference point (ARP). If no position is available,
the Error field indicates the cause of the unavailability and all fields after the Error field
are set to their respective Do-Not-Use values.
To be able to output a position in the PosLocal block, the receiver needs to have received the relevant RTCM transformation messages (at least either MT1021 or MT1022 is
required). If they have not been received yet, the local position is not available and the
Error field is set to value 17. See also section 2.4.5.
The corresponding RTCMDatum block provides information on the local datum name
and transformation quality indicators. The corresponding RTCMDatum block is the one of
which the Datum field matches the Datum field in the PosLocal block.
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4 SBF Reference
Parameter
Type Units Do-Not-Use
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
Mode
u1
Description
Block Header, see 4.1.1
Receiver time stamp, see 4.1.3
Bit field indicating the PVT mode, as follows:
Bits 0-3: type of PVT solution:
0: No PVT available (the Error field indicates the cause of the
absence of the PVT solution)
1: Stand-Alone PVT
2: Differential PVT
3: Fixed location
4: RTK with fixed ambiguities
5: RTK with float ambiguities
6: SBAS aided PVT
7: moving-base RTK with fixed ambiguities
8: moving-base RTK with float ambiguities
10: Precise Point Positioning (PPP)
12: Reserved
Bits 4-5: Reserved
Error
u1
Bit 6:
Set
if
the
user
has
entered
the
command
setPVTMode,Static,auto and the receiver is still in the
process of determining its fixed position.
Bit 7:
2D/3D flag: set in 2D mode (height assumed constant and not
computed).
PVT error code. The following values are defined:
0: No Error
1: Not enough measurements
2: Not enough ephemerides available
3: DOP too large (larger than 15)
4: Sum of squared residuals too large
5: No convergence
6: Not enough measurements after outlier rejection
7: Position output prohibited due to export laws
8: Not enough differential corrections available
9: Base station coordinates unavailable
10: Ambiguities not fixed and user requested to only output RTK-fixed
positions
17: Datum transformation parameters unknown
Lat
f8
1 rad
−2 · 1010
Latitude, from −π/2 to +π/2, positive North of Equator
Lon
f8
1 rad
−2 · 1010
Longitude, from −π to +π , positive East of Greenwich
1m
−2 · 1010
Height. See the HeightType field of the corresponding RTCMDatum
block for the interpretation of the height.
Alt
f8
Datum
u1
Reference frame to which the position relate. If the value is in the 20
to 24 range, the corresponding datum parameters can be found in the
RTCMDatum block having a matching Datum field.
Value 25 corresponds to the local coordinate reference system selected
with the setLocalCoordOperation command.
Padding
u1[..]
Padding bytes, see 4.1.5
278
4 SBF Reference
PosProjected Number:
4094
"OnChange" interval: default PVT output rate (see 4.1.8)
This block contains the projected coordinates at the time specified in the TOW and WNc
fields. The time of applicability is specified in the receiver time frame.
The coordinates (Northing, Easting, Alt) relate to the local datum identified with the
The coordinate transformation and projection is done using parameters
transmitted by the RTK service provider in RTCM message types MT1021 to MT1027.
Datum field.
The position refers to the antenna reference point (ARP). If no position is available,
the Error field indicates the cause of the unavailability and all fields after the Error field
are set to their respective Do-Not-Use values.
To be able to output a position in the PosProjected block, the receiver needs to
have received at least one RTCM message in the MT1025 to MT1027 range. If none of
these messages is sent out by the service provider, or if they have not been received yet,
the projected position is not available and the Error field is set to value 17. See also
section 2.4.5.
The corresponding RTCMDatum block provides information on the local datum name
and transformation/projection quality indicators. The corresponding RTCMDatum block
is the one of which the Datum field matches the Datum field in the PosProjected
block.
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4 SBF Reference
Parameter
Type Units Do-Not-Use
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
Mode
u1
Description
Block Header, see 4.1.1
Receiver time stamp, see 4.1.3
Bit field indicating the PVT mode, as follows:
Bits 0-3: type of PVT solution:
0: No PVT available (the Error field indicates the cause of the
absence of the PVT solution)
1: Stand-Alone PVT
2: Differential PVT
3: Fixed location
4: RTK with fixed ambiguities
5: RTK with float ambiguities
6: SBAS aided PVT
7: moving-base RTK with fixed ambiguities
8: moving-base RTK with float ambiguities
10: Precise Point Positioning (PPP)
12: Reserved
Bits 4-5: Reserved
Error
u1
Bit 6:
Set
if
the
user
has
entered
the
command
setPVTMode,Static,auto and the receiver is still in the
process of determining its fixed position.
Bit 7:
2D/3D flag: set in 2D mode (height assumed constant and not
computed).
PVT error code. The following values are defined:
0: No Error
1: Not enough measurements
2: Not enough ephemerides available
3: DOP too large (larger than 15)
4: Sum of squared residuals too large
5: No convergence
6: Not enough measurements after outlier rejection
7: Position output prohibited due to export laws
8: Not enough differential corrections available
9: Base station coordinates unavailable
10: Ambiguities not fixed and user requested to only output RTK-fixed
positions
17: Datum transformation parameters unknown
Northing
f8
1m
−2 · 1010
Northing coordinate in the plane grid representation.
Easting
f8
1m
−2 · 1010
Easting coordinate in the plane grid representation.
1m
−2 · 1010
Height. If the Datum field is in the 20 to 24 range, see the HeightType
field of the corresponding RTCMDatum block for the interpretation of the
height.
Alt
f8
Datum
u1
Reference frame to which the position relate. If the value is in the 20
to 24 range, the corresponding datum parameters can be found in the
RTCMDatum block having a matching Datum field.
Value 25 corresponds to the local coordinate reference system selected
with the setLocalCoordOperation command.
Padding
u1[..]
Padding bytes, see 4.1.5
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4 SBF Reference
BaseVectorCart Number:
4043
"OnChange" interval: default PVT output rate (see 4.1.8)
The BaseVectorCart block contains the relative position and orientation of one or more
base stations, as seen from the rover (i.e. this receiver). The relative position is expressed in
the Cartesian X, Y, Z directions.
For highest accuracy, the receiver tries to compute the baseline from rover antenna
reference point (ARP) to base ARP. This requires to compensate for the phase center offset
at both the base and the rover antennas. This is possible if two conditions are met:
• the base station must transmit its antenna parameters in RTCM2 message types 23
and 24 or in RTCM3 message types 1005/1006 and 1007/1008. Older RTCM2 messages
and CMR do not allow phase center offset compensation.
• the base and rover antenna types must belong to the list returned by the command
lstAntennaInfo, overview.
(see the description of the commands
setAntennaType and lstAntennaInfo for details).
Accurate ARP-to-ARP baseline is guaranteed only if both bits 0 and 1 of the Misc field are
set. Otherwise, centimeter-level offsets may arise because the receiver cannot make the
distinction between phase center and ARP positions. See section 2.5 for a discussion on the
phase center and ARP positions.
The block supports multi-base operation. It contains as many sub-blocks as available
base stations, each sub-block containing the baseline relative to a single base station
identified by the ReferenceID field.
Parameter
Type Units Do-Not-Use
Sync1
c1
Description
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
N
u1
SBLength
u1
1 byte
Length of one sub-block
VectorInfoCart
...
...
A succession of N VectorInfoCart sub-blocks, see definition below
Padding
u1[..]
Block Header, see 4.1.1
Receiver time stamp, see 4.1.3
Number of baselines for which relative position, velocity and direction are
provided in this SBF block, i.e. number of VectorInfoCart sub-blocks.
If N is 0, there are no baseline available for this epoch.
Padding bytes, see 4.1.5
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4 SBF Reference
VectorInfoCart sub-block definition:
Parameter
Type Units
Do-Not-Use
Description
nrSV
u1
Number of satellites for which corrections are available from the
base station identified by the ReferenceID field.
Error
u1
PVT error code. The following values are defined:
0: No Error
1: Not enough measurements
2: Not enough ephemerides available
3: DOP too large (larger than 15)
4: Sum of squared residuals too large
5: No convergence
6: Not enough measurements after outlier rejection
7: Position output prohibited due to export laws
8: Not enough differential corrections available
9: Base station coordinates unavailable
10: Ambiguities not fixed and user requested to only output RTKfixed positions
Mode
u1
Bit field indicating the PVT mode, as follows:
Bits 0-3: type of PVT solution:
0: No PVT available (the Error field indicates the cause
of the absence of the PVT solution)
1: Stand-Alone PVT
2: Differential PVT
3: Fixed location
4: RTK with fixed ambiguities
5: RTK with float ambiguities
6: SBAS aided PVT
7: moving-base RTK with fixed ambiguities
8: moving-base RTK with float ambiguities
10: Precise Point Positioning (PPP)
12: Reserved
Bits 4-5: Reserved
Misc
u1
Bit 6:
Set
if the user has entered the command
setPVTMode,Static,auto and the receiver is still
in the process of determining its fixed position.
Bit 7:
2D/3D flag: set in 2D mode (height assumed constant and
not computed).
Bit field containing miscellaneous flags:
Bit 0:
Set if the baseline points to the base station ARP. Unset if it
points to the antenna phase center, or if unknown.
Bit 1:
Set if the phase center offset is compensated for at the
rover (i.e. the baseline starts from the antenna ARP), unset if not or unknown.
Bit 2:
Proprietary.
Bit 3:
Proprietary.
Bits 4-5: Proprietary.
Bits 6-7: Reserved
DeltaX
f8
1m
−2 · 1010
DeltaY
f8
1m
−2 · 1010
Y baseline component (from rover to base)
DeltaZ
f8
1m
−2 · 1010
Z baseline component (from rover to base)
X baseline component (from rover to base)
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DeltaVx
f4
1m/s
−2 · 1010
X velocity of base with respect to rover
DeltaVy
f4
1m/s
−2 · 1010
Y velocity of base with respect to rover
DeltaVz
f4
1m/s
−2 · 1010
Z velocity of base with respect to rover
Azimuth
u2
0.01 degrees 65535
Azimuth of the base station (from 0 to 360◦ , increasing towards
east)
Elevation
i2
0.01 degrees −32768
Elevation of the base station (from -90◦ to 90◦ )
ReferenceID
u2
CorrAge
u2
SignalInfo
u4
Padding
u1[..]
Base station ID
0.01 s
65535
Age of the oldest differential correction used for this baseline computation.
0
Bit field indicating the GNSS signals for which differential
corrections are available from the base station identified by
ReferenceID. If bit i is set, corrections for the signal type having
index i are available. The signal numbers are listed in section 4.1.10.
Bit 0 (GPS-C/A) is the LSB of SignalInfo.
Padding bytes, see 4.1.5
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BaseVectorGeod Number:
4028
"OnChange" interval: default PVT output rate (see 4.1.8)
The BaseVectorGeod block contains the relative position and orientation of one or more
base stations, as seen from the rover (i.e. this receiver). The relative position is expressed in
the East-North-Up directions.
For highest accuracy, the receiver tries to compute the baseline from rover antenna
reference point (ARP) to base ARP. See the description of the BaseVectorCart block for
details.
Accurate ARP-to-ARP baseline is guaranteed only if both bits 0 and 1 of the Misc field
are set. Otherwise, centimeter-level offsets may arise because the receiver cannot make the
distinction between phase center and ARP positions. See section 2.5 for a discussion on the
phase center and ARP positions.
The block supports multi-base operation. It contains as many sub-blocks as available
base stations, each sub-block containing the baseline coordinates relative to a single base
station identified by the ReferenceID field.
Parameter
Type Units Do-Not-Use
Sync1
c1
Description
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
N
u1
SBLength
u1
1 byte
Length of one sub-block
VectorInfoGeod
...
...
A succession of N VectorInfoGeod sub-blocks, see definition below
Padding
u1[..]
Block Header, see 4.1.1
Receiver time stamp, see 4.1.3
Number of baselines for which relative position, velocity and direction are
provided in this SBF block, i.e. number of VectorInfoGeod sub-blocks.
If N is 0, there are no baseline available for this epoch.
Padding bytes, see 4.1.5
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VectorInfoGeod sub-block definition:
Parameter
Type Units
Do-Not-Use
Description
NrSV
u1
Number of satellites for which corrections are available from the
base station identified by the ReferenceID field.
Error
u1
PVT error code. The following values are defined:
0: No Error
1: Not enough measurements
2: Not enough ephemerides available
3: DOP too large (larger than 15)
4: Sum of squared residuals too large
5: No convergence
6: Not enough measurements after outlier rejection
7: Position output prohibited due to export laws
8: Not enough differential corrections available
9: Base station coordinates unavailable
10: Ambiguities not fixed and user requested to only output RTKfixed positions
Mode
u1
Bit field indicating the PVT mode, as follows:
Bits 0-3: type of PVT solution:
0: No PVT available (the Error field indicates the cause
of the absence of the PVT solution)
1: Stand-Alone PVT
2: Differential PVT
3: Fixed location
4: RTK with fixed ambiguities
5: RTK with float ambiguities
6: SBAS aided PVT
7: moving-base RTK with fixed ambiguities
8: moving-base RTK with float ambiguities
10: Precise Point Positioning (PPP)
12: Reserved
Bits 4-5: Reserved
Misc
u1
Bit 6:
Set
if the user has entered the command
setPVTMode,Static,auto and the receiver is still
in the process of determining its fixed position.
Bit 7:
2D/3D flag: set in 2D mode (height assumed constant and
not computed).
Bit field containing miscellaneous flags:
Bit 0:
Set if the baseline points to the base station ARP. Unset if it
points to the antenna phase center, or if unknown.
Bit 1:
Set if the phase center offset is compensated for at the
rover (i.e. the baseline starts from the antenna ARP), unset if not or unknown.
Bit 2:
Proprietary.
Bit 3:
Proprietary.
Bits 4-5: Proprietary.
Bits 6-7: Reserved
DeltaEast
f8
1m
−2 · 1010
DeltaNorth
f8
1m
−2 · 1010
North baseline component (from rover to base)
DeltaUp
f8
1m
−2 · 1010
Up baseline component (from rover to base)
East baseline component (from rover to base)
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DeltaVe
f4
1m/s
−2 · 1010
East velocity of base with respect to rover
DeltaVn
f4
1m/s
−2 · 1010
North velocity of base with respect to rover
DeltaVu
f4
1m/s
−2 · 1010
Up velocity of base with respect to rover
Azimuth
u2
0.01 degrees 65535
Azimuth of the base station (from 0 to 360◦ , increasing towards
east)
Elevation
i2
0.01 degrees −32768
Elevation of the base station (from -90◦ to 90◦ )
ReferenceID
u2
CorrAge
u2
SignalInfo
u4
Padding
u1[..]
Base station ID
0.01 s
65535
Age of the oldest differential correction used for this baseline computation.
0
Bit field indicating the GNSS signals for which differential
corrections are available from the base station identified by
ReferenceID. If bit i is set, corrections for the signal type having
index i are available. The signal numbers are listed in section 4.1.10.
Bit 0 (GPS-C/A) is the LSB of SignalInfo.
Padding bytes, see 4.1.5
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PVTSupport Number:
4076
"OnChange" interval: default PVT output rate (see 4.1.8)
This block contains various internal parameters that can be used for maintenance and
support.
The detailed definition of this block is not available in this document.
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4 SBF Reference
PVTSupportA Number:
4079
"OnChange" interval: default PVT output rate (see 4.1.8)
This block contains various internal parameters that can be used for maintenance and
support.
The detailed definition of this block is not available in this document.
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EndOfPVT Number:
5921
"OnChange" interval: default PVT output rate (see 4.1.8)
This block marks the end of transmission of all PVT related blocks belonging to the same
epoch.
Parameter
Type Units Do-Not-Use
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
Padding
u1[..]
Description
Block Header, see 4.1.1
Receiver time stamp, see 4.1.3
Padding bytes, see 4.1.5
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4.2.10
INS/GNSS Integrated Blocks
INSSupport Number:
4077
"OnChange" interval: default PVT output rate (see 4.1.8)
This block contains various internal parameters that can be used for maintenance and
support.
The detailed definition of this block is not available in this document.
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4 SBF Reference
INSNavCart Number:
4225
"OnChange" interval: default integrated INS/GNSS output rate (see
4.1.8)
This block contains the results of the GNSS/INS navigation filter. The time of applicability in
the TOW and WNc fields refers to the GNSS time frame selected with the setTimingSystem
command. It is free of the receiver clock bias. Note that this is different from the
PVTCartesian SBF block: the INSNavCart block contains the integrated navigation
solution at the GNSS time epochs, while the PVTCartesian block contains the GNSS
solution at the receiver time epochs. Even though the difference is small (typically below 0.5
milliseconds), it can result in centimeter-level offsets for fast-moving platforms.
The position is reported in a Cartesian coordinate system using the datum indicated
in the Datum field.
Use the setINSNavConfig command to configure the output of the navigation filter,
and hence the list of sub-blocks.
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Parameter
Type Units
Sync1
c1
Do-Not-Use
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
GNSSMode
u1
Description
Block Header, see 4.1.1
External time stamp, see 4.1.3
Bit field indicating the GNSS mode used in the INS solution, as follows:
Bits 0-3: Last GNSS PVT mode used by the INS filter (see bits 0-3 of the
Mode field of the PVTCartesian block)
Bits 4-7: Last GNSS Attitude mode used by the INS filter (see the Mode
field of the AttEuler block)
Error
u1
Error code:
0: no error
7: position output prohibited due to export laws
20: INS solution not requested by user
21: not enough valid external sensor measurements
23: static alignment ongoing
24: waiting for GNSS PVT
28: in-motion alignment ongoing
29: waiting for GNSS heading
30: waiting for the IMU to synchronize with PPS from the receiver
31: standard deviation of the INS solution exceeds user limit set by the
setINSStdDevMask command
32: Unsupported settings in INS
Info
u2
Bit field providing more information regarding the status and the type
of measurement used as well as the solution reference output:
Bits 0-2: INS coupling mode:
0: Loosely-coupled
Bits 3-5: Solution
output location,
as
setINSNavConfig command:
0: main GNSS antenna location
selected
with
the
1: first point of interest (POI)
Bit 6:
set if 180-degree heading ambiguity fixed. If not set and the
vehicle is moving backwards, the heading angle has a bias of
180 degrees
Bit 7:
set if zero-velocity constraints used
Bits 8-15: Reserved
GNSSAge
u2
0.01 s
65535
Duration that no GNSS measurements were received and no GNSSmeasurement based PVT is computed, truncated to 655.34 sec
X
f8
1m
−2 · 1010
X coordinate in coordinate frame specified by Datum
Y coordinate in coordinate frame specified by Datum
Y
f8
1m
−2 · 1010
Z
f8
1m
−2 · 1010
Z coordinate in coordinate frame specified by Datum
Accuracy
u2
0.01 m
65535
3D 2-sigma position accuracy (twice the mean radial spherical error)
Latency
u2
0.0001 s 65535
Time elapsed between the time of applicability of the position fix and
the generation of this SBF block by the receiver. This time includes
the receiver processing time, the IMU processing time, and the IMU
communication latency, but not the output communication latency.
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Datum
u1
255
This field defines in which datum the coordinates are expressed:
0:
WGS84/ITRS
19: Datum equal to that used by the DGNSS/RTK base station
30: ETRS89 (ETRF2000 realization)
31: NAD83(2011), North American Datum (2011)
32: NAD83(PA11), North American Datum, Pacific plate (2011)
33: NAD83(MA11), North American Datum, Marianas plate (2011)
34: GDA94(2010), Geocentric Datum of Australia (2010)
35: GDA2020, Geocentric Datum of Australia 2020
250: First user-defined datum
251: Second user-defined datum
Reserved
u1
Reserved for future use, to be ignored by decoding software
SBList
u2
Bit field defining which sub-blocks are available (this list is configurable
with the setINSNavConfig command). If bit i is set, the corresponding sub-block is available. The sub-blocks are ordered by increasing
bit index i. The first sub-block corresponds to the first non-zero bit in
SBList, starting from the LSB.
Bit 0:
Position StdDev
Bit 1:
Attitude
Bit 2:
Attitude StdDev
Bit 3:
Velocity
Bit 4:
Velocity StdDev
Bit 5:
Position Cov
Bit 6:
Attitude Cov
Bit 7:
Velocity Cov
Bits 8-15: Reserved
All sub-blocks have a fixed size of 12 bytes.
If the Position StdDev field is 1 then this sub block is available:
PosStdDev
...
...
A INSNavCartPosStdDev sub-block, see definition below
If the Position Cov field is 1 then this sub block is available:
PosCov
...
...
A INSNavCartPosCov sub-block, see definition below
If the Attitude field is 1 then this sub block is available:
Att
...
...
A INSNavCartAtt sub-block, see definition below
If the Attitude StdDev field is 1 then this sub block is available:
AttStdDev
...
...
A INSNavCartAttStdDev sub-block, see definition below
If the Attitude Cov field is 1 then this sub block is available:
AttCov
...
...
A INSNavCartAttCov sub-block, see definition below
If the Velocity field is 1 then this sub block is available:
Vel
...
...
A INSNavCartVel sub-block, see definition below
If the Velocity StdDev field is 1 then this sub block is available:
VelStdDev
...
...
A INSNavCartVelStdDev sub-block, see definition below
If the Velocity Cov field is 1 then this sub block is available:
VelCov
...
...
A INSNavCartVelCov sub-block, see definition below
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Padding
u1[..]
Padding bytes, see 4.1.5
INSNavCartPosStdDev sub-block definition:
Parameter
XStdDev
Type Units Do-Not-Use
f4
Description
1m
−2 · 1010
Standard deviation of X coordinate
Standard deviation of Y coordinate
Standard deviation of Z coordinate
YStdDev
f4
1m
−2 · 1010
ZStdDev
f4
1m
−2 · 1010
INSNavCartPosCov sub-block definition:
Parameter
Type Units Do-Not-Use
XYCov
f4
1 m2
−2 · 1010
Covariance of XY coordinates
XZCov
f4
1 m2
−2 · 1010
Covariance of XZ coordinates
f4
1 m2
−2 · 1010
Covariance of YZ coordinates
YZCov
Description
INSNavCartAtt sub-block definition:
Parameter
Type Units
Do-Not-Use
Description
Heading
f4
1 degree −2 · 1010
Pitch
f4
1 degree −2 · 1010
Pitch
f4
1 degree −2 · 1010
Roll
Roll
Heading. Remains on the Do-Not-Use value till the vehicle starts moving.
Heading may have a 180-degree bias if bit 6 of the Info field is not set.
INSNavCartAttStdDev sub-block definition:
Parameter
Type Units
HeadingStdDev
f4
1 degree −2 · 1010
Standard deviation of heading
f4
1 degree −2 · 1010
Standard deviation of pitch
f4
1 degree −2 · 1010
Standard deviation of roll
PitchStdDev
RollStdDev
Do-Not-Use
Description
INSNavCartAttCov sub-block definition:
Parameter
Type Units
Do-Not-Use
Description
HeadingPitchCov f4
1 degree2 −2 · 1010
Covariance of heading pitch
HeadingRollCov
f4
1 degree2 −2 · 1010
Covariance of heading roll
PitchRollCov
f4
1 degree2 −2 · 1010
Covariance of pitch roll
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INSNavCartVel sub-block definition:
Parameter
Type Units Do-Not-Use
Description
Vx
f4
1 m / s −2 · 1010
Vy
f4
1 m / s −2 · 1010
Velocity in the Y direction
f4
1 m / s −2 · 1010
Velocity in the Z direction
Vz
Velocity in the X direction
INSNavCartVelStdDev sub-block definition:
Parameter
Type Units Do-Not-Use
VxStdDev
f4
1 m / s −2 · 1010
Standard deviation of velocity in the X direction
VyStdDev
f4
1 m / s −2 · 1010
Standard deviation of velocity in the Y direction
f4
1 m / s −2 · 1010
Standard deviation of velocity in the Z direction
VzStdDev
Description
INSNavCartVelCov sub-block definition:
Parameter
Type Units
Do-Not-Use
Description
VxVyCov
f4
1 m2 / s2 −2 · 1010
Covariance of velocity in the X and Y direction
VxVzCov
f4
1 m2 / s2 −2 · 1010
Covariance of velocity in the X and Z direction
VyVzCov
f4
1 m2 / s2 −2 · 1010
Covariance of velocity in the Y and Z direction
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INSNavGeod Number:
4226
"OnChange" interval: default integrated INS/GNSS output rate (see
4.1.8)
This block contains the results of the GNSS/INS navigation filter. The time of applicability in
the TOW and WNc fields refers to the GNSS time frame selected with the setTimingSystem
command. It is free of the receiver clock bias. Note that this is different from the
PVTGeodetic SBF block: the INSNavGeod block contains the integrated navigation
solution at the GNSS time epochs, while the PVTGeodetic block contains the GNSS
solution at the receiver time epochs. Even though the difference is small (typically below 0.5
milliseconds), it can result in centimeter-level offsets for fast-moving platforms.
The position is reported in an ellipsoidal coordinate system using the datum indicated
in the Datum field.
Use the setINSNavConfig command to configure the output of the navigation filter,
and hence the list of sub-blocks.
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Parameter
Type Units
Sync1
c1
Do-Not-Use
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
GNSSMode
u1
Description
Block Header, see 4.1.1
External time stamp, see 4.1.3
Bit field indicating the GNSS mode used in the INS solution, as follows:
Bits 0-3: Last GNSS PVT mode used by the INS filter (see bits 0-3 of the
Mode field of the PVTCartesian block)
Bits 4-7: Last GNSS Attitude mode used by the INS filter (see the Mode
field of the AttEuler block)
Error
u1
Error code:
0: no error
7: position output prohibited due to export laws
20: INS solution not requested by user
21: not enough valid external sensor measurements
23: static alignment ongoing
24: waiting for GNSS PVT
28: in-motion alignment ongoing
29: waiting for GNSS heading
30: waiting for the IMU to synchronize with PPS from the receiver
31: standard deviation of the INS solution exceeds user limit set by the
setINSStdDevMask command
32: Unsupported settings in INS
Info
u2
Bit field providing more information regarding the status and the type
of measurement used as well as the solution reference output:
Bits 0-2: INS coupling mode:
0: Loosely-coupled
Bits 3-5: Solution
output location,
as
setINSNavConfig command:
0: main GNSS antenna location
selected
with
the
1: first point of interest (POI)
Bit 6:
set if 180-degree heading ambiguity fixed. If not set and the
vehicle is moving backwards, the heading angle has a bias of
180 degrees
Bit 7:
set if zero-velocity constraints used
Bits 8-15: Reserved
GNSSAge
u2
0.01 s
65535
Duration that no GNSS measurements were received and no GNSSmeasurement based PVT is computed, truncated to 655.34 sec
Latitude
f8
1 rad
−2 · 1010
Latitude, from −π/2 to +π/2, positive North of Equator
Longitude, from −π to +π , positive East of Greenwich
Longitude
f8
1 rad
−2 · 1010
Height
f8
1m
−2 · 1010
Ellipsoidal height (with respect to the ellipsoid specified by Datum)
Undulation
f4
1m
−2 · 1010
Geoid undulation. See the setGeoidUndulation command.
Accuracy
u2
0.01 m
65535
3D 2-sigma position accuracy (twice the mean radial spherical error)
Latency
u2
0.0001 s 65535
Time elapsed between the time of applicability of the position fix and
the generation of this SBF block by the receiver. This time includes
the receiver processing time, the IMU processing time, and the IMU
communication latency, but not the output communication latency.
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Datum
u1
255
This field defines in which datum the coordinates are expressed:
0:
WGS84/ITRS
19: Datum equal to that used by the DGNSS/RTK base station
30: ETRS89 (ETRF2000 realization)
31: NAD83(2011), North American Datum (2011)
32: NAD83(PA11), North American Datum, Pacific plate (2011)
33: NAD83(MA11), North American Datum, Marianas plate (2011)
34: GDA94(2010), Geocentric Datum of Australia (2010)
35: GDA2020, Geocentric Datum of Australia 2020
250: First user-defined datum
251: Second user-defined datum
Reserved
u1
Reserved for future use, to be ignored by decoding software
SBList
u2
Bit field defining which sub-blocks are available (this list is configurable
with the setINSNavConfig command). If bit i is set, the corresponding sub-block is available. The sub-blocks are ordered by increasing
bit index i. The first sub-block corresponds to the first non-zero bit in
SBList, starting from the LSB.
Bit 0:
Position StdDev
Bit 1:
Attitude
Bit 2:
Attitude StdDev
Bit 3:
Velocity
Bit 4:
Velocity StdDev
Bit 5:
Position Cov
Bit 6:
Attitude Cov
Bit 7:
Velocity Cov
Bits 8-15: Reserved
All sub-blocks have a fixed size of 12 bytes.
If the Position StdDev field is 1 then this sub block is available:
PosStdDev
...
...
A INSNavGeodPosStdDev sub-block, see definition below
If the Position Cov field is 1 then this sub block is available:
PosCov
...
...
A INSNavGeodPosCov sub-block, see definition below
If the Attitude field is 1 then this sub block is available:
Att
...
...
A INSNavGeodAtt sub-block, see definition below
If the Attitude StdDev field is 1 then this sub block is available:
AttStdDev
...
...
A INSNavGeodAttStdDev sub-block, see definition below
If the Attitude Cov field is 1 then this sub block is available:
AttCov
...
...
A INSNavGeodAttCov sub-block, see definition below
If the Velocity field is 1 then this sub block is available:
Vel
...
...
A INSNavGeodVel sub-block, see definition below
If the Velocity StdDev field is 1 then this sub block is available:
VelStdDev
...
...
A INSNavGeodVelStdDev sub-block, see definition below
If the Velocity Cov field is 1 then this sub block is available:
VelCov
...
...
A INSNavGeodVelCov sub-block, see definition below
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u1[..]
Padding
Padding bytes, see 4.1.5
INSNavGeodPosStdDev sub-block definition:
Parameter
Type Units Do-Not-Use
Description
1m
−2 · 1010
Standard deviation of latitude
LongitudeStdDev f4
1m
−2 · 1010
Standard deviation of longitude
f4
1m
−2 · 1010
Standard deviation of ellipsoidal height
LatitudeStdDev
HeightStdDev
f4
INSNavGeodPosCov sub-block definition:
Parameter
Type Units Do-Not-Use
Description
LatitudeLongitudeCov f4
1 m2
−2 · 1010
Covariance of latitude longitude
LatitudeHeightCov
f4
1 m2
−2 · 1010
Covariance of latitude height
LongitudeHeightCov
f4
1 m2
−2 · 1010
Covariance of longitude height
INSNavGeodAtt sub-block definition:
Parameter
Type Units
Do-Not-Use
Description
Heading
f4
1 degree −2 · 1010
Pitch
f4
1 degree −2 · 1010
Pitch
Roll
f4
1 degree −2 · 1010
Roll
Heading. Remains on the Do-Not-Use value till the vehicle starts moving.
Heading may have a 180-degree bias if bit 6 of the Info field is not set.
INSNavGeodAttStdDev sub-block definition:
Parameter
Type Units
Do-Not-Use
Description
HeadingStdDev
f4
1 degree −2 · 1010
Standard deviation of heading
PitchStdDev
f4
1 degree −2 · 1010
Standard deviation of pitch
RollStdDev
f4
1 degree −2 · 1010
Standard deviation of roll
INSNavGeodAttCov sub-block definition:
Parameter
Type Units
Do-Not-Use
Description
HeadingPitchCov f4
1 degree2 −2 · 1010
Covariance of heading pitch
HeadingRollCov
f4
1 degree2 −2 · 1010
Covariance of heading roll
PitchRollCov
f4
1 degree2 −2 · 1010
Covariance of pitch roll
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INSNavGeodVel sub-block definition:
Parameter
Type Units Do-Not-Use
Description
Ve
f4
1 m / s −2 · 1010
Vn
f4
1 m / s −2 · 1010
Velocity in the North direction
f4
1 m / s −2 · 1010
Velocity in the ’Up’ direction
Vu
Velocity in the East direction
INSNavGeodVelStdDev sub-block definition:
Parameter
Type Units Do-Not-Use
VeStdDev
f4
1 m / s −2 · 1010
Standard deviation of velocity in the East direction
VnStdDev
f4
1 m / s −2 · 1010
Standard deviation of velocity in the North direction
f4
1 m / s −2 · 1010
Standard deviation of velocity in the ’Up’ direction
VuStdDev
Description
INSNavGeodVelCov sub-block definition:
Parameter
Type Units
Do-Not-Use
Description
VeVnCov
f4
1 m2 / s2 −2 · 1010
Covariance of velocity in the East and North direction
VeVuCov
f4
1 m2 / s2 −2 · 1010
Covariance of velocity in the East and ’Up’ direction
VnVuCov
f4
1 m2 / s2 −2 · 1010
Covariance of velocity in the North and ’Up’ direction
300
4 SBF Reference
4.2.11
GNSS Attitude Blocks
AttEuler Number:
5938
"OnChange" interval: default PVT output rate (see 4.1.8)
The AttEuler block contains the Euler angles (pitch, roll and heading) at the time specified
in the TOW and WNc fields (in the receiver time frame).
Parameter
Type Units
Do-Not-Use
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s
4294967295
WNc
u2
1 week
65535
NrSV
u1
Error
u1
Description
Block Header, see 4.1.1
255
Receiver time stamp, see 4.1.3
The average over all antennas of the number of satellites currently
included in the attitude calculations.
Bit field providing error information. For each antenna baseline, two
bits are used to provide error information:
Bits 0-1: Error code for Main-Aux1 baseline:
0: No error
1: Not enough measurements
2: Reserved
3: Reserved
Bits 2-3: Error code for Main-Aux2 baseline, same definition as bit 0-1.
Bits 4-6: Reserved
Bit 7:
Mode
u2
Set when GNSS-based attitude not requested by user. In that
case, the other bits are all zero.
Attitude mode code:
0: No attitude
1: Heading, pitch (roll = 0), aux antenna positions obtained with float
ambiguities
2: Heading, pitch (roll = 0), aux antenna positions obtained with fixed
ambiguities
3: Heading, pitch, roll, aux antenna positions obtained with float ambiguities
4: Heading, pitch, roll, aux antenna positions obtained with fixed ambiguities
Reserved
u2
Reserved for future use, to be ignored by decoding software
Heading
f4
1 degree
−2 · 1010
Pitch
f4
1 degree
−2 · 1010
Pitch
Roll
f4
1 degree
−2 · 1010
Roll
PitchDot
f4
1 degree / s −2 · 1010
Rate of change of the pitch angle
RollDot
f4
1 degree / s −2 · 1010
Rate of change of the roll angle
HeadingDot
f4
1 degree / s −2 · 1010
Rate of change of the heading angle
Padding
u1[..]
Heading
Padding bytes, see 4.1.5
301
4 SBF Reference
AttCovEuler Number:
5939
"OnChange" interval: default PVT output rate (see 4.1.8)
This block contains the elements of the symmetric variance-covariance matrix of the attitude
angles reported in the AttEuler block

σϕ2
σϕθ


 σθϕ σθ2

σψϕ σψθ
σϕψ



σθψ 

2
σψ
This variance-covariance matrix contains an indication of the accuracy of the estimated
parameters (see diagonal elements) and the correlation between these estimates (see
off-diagonal elements).
In case the receiver is in heading and pitch mode only, only the heading and pitch
variance values will be valid. All other components of the variance-covariance matrix are set
to their Do-Not-Use value.
Parameter
Type Units
Do-Not-Use
Description
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s
4294967295
WNc
u2
1 week
65535
Reserved
u1
Reserved for future use, to be ignored by decoding software
Error
u1
Bit field providing error information. For each antenna baseline, two
bits are used to provide error information:
Block Header, see 4.1.1
Receiver time stamp, see 4.1.3
Bits 0-1: Error code for Main-Aux1 baseline:
0: No error
1: Not enough measurements
2: Reserved
3: Reserved
Bits 2-3: Error code for Main-Aux2 baseline, same definition as bit 0-1.
Bits 4-6: Reserved
Bit 7:
Set when GNSS-based attitude not requested by user. In that
case, the other bits are all zero.
f4
1 degree2 −2 · 1010
Variance of the heading estimate
Cov_PitchPitch
f4
1 degree2 −2 · 1010
Variance of the pitch estimate
Cov_RollRoll
f4
1 degree2 −2 · 1010
Variance of the roll estimate
Cov_HeadPitch
f4
1 degree2 −2 · 1010
Covariance between Euler angle estimates.
Future functionality. The values are currently set to their Do-Not-Use
values.
Cov_HeadRoll
f4
1 degree2 −2 · 1010
Covariance between Euler angle estimates.
Future functionality. The values are currently set to their Do-Not-Use
values.
Cov_PitchRoll
f4
1 degree2 −2 · 1010
Covariance between Euler angle estimates.
Future functionality. The values are currently set to their Do-Not-Use
values.
Padding
u1[..]
Cov_HeadHead
Padding bytes, see 4.1.5
302
4 SBF Reference
AuxAntPositions Number:
5942
"OnChange" interval: default PVT output rate (see 4.1.8)
The AuxAntPositions block contains the relative position and velocity of the different
antennas in a multi-antenna receiver. The coordinates are expressed in the local-level ENU
reference frame.
When the antenna positions cannot be estimated, the baseline vectors are set to their
Do-Not-Use value.
Parameter
Type Units Do-Not-Use
Sync1
c1
Description
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
N
u1
SBLength
u1
1 byte
Length of one sub-block in bytes
AuxAntPosition
...
...
A succession of N AuxAntPositionSub sub-blocks, see definition below
Padding
u1[..]
Block Header, see 4.1.1
Receiver time stamp, see 4.1.3
Number of AuxAntPositionSub sub-blocks in this AuxAntPositions
block
Padding bytes, see 4.1.5
AuxAntPositionSub sub-block definition:
Parameter
Type Units Do-Not-Use
NrSV
u1
Error
u1
255
Description
Total number of satellites tracked by the antenna identified by the
AuxAntID field and used in the attitude computation.
Aux antenna position error code:
0: No error
1: Not enough measurements
2: Reserved
3: Reserved
If error is not 0, the coordinates reported later in this block are all
set to their Do-Not-Use value.
AmbiguityType
u1
255
Aux antenna positions obtained with
0: Fixed ambiguities
1: Float ambiguities
AuxAntID
u1
DeltaEast
f8
DeltaNorth
f8
Auxiliary antenna ID: 1 for the first auxiliary antenna, 2 for the second,
etc...
1m
−2 · 1010
Position in East direction (relative to main antenna)
1m
−2 · 1010
Position in North direction (relative to main antenna)
−2 · 1010
Position in Up direction (relative to main antenna)
DeltaUp
f8
1m
EastVel
f8
1 m / s −2 · 1010
Velocity in East direction (relative to main antenna)
NorthVel
f8
1 m / s −2 · 1010
Velocity in North direction (relative to main antenna)
UpVel
f8
1 m / s −2 · 1010
Velocity in Up direction (relative to main antenna)
Padding
u1[..]
Padding bytes, see 4.1.5
303
4 SBF Reference
EndOfAtt Number:
5943
"OnChange" interval: default PVT output rate (see 4.1.8)
This block marks the end of transmission of all GNSS-attitude related blocks belonging to
the same epoch.
Parameter
Type Units Do-Not-Use
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
Padding
u1[..]
Description
Block Header, see 4.1.1
Receiver time stamp, see 4.1.3
Padding bytes, see 4.1.5
304
4 SBF Reference
4.2.12
Receiver Time Blocks
ReceiverTime Number:
5914
"OnChange" interval: 1s
The ReceiverTime block provides the current time with a 1-second resolution in the
receiver time scale and UTC.
The level of synchronization of the receiver time with the satellite system time is provided in the SyncLevel field.
UTC time is provided if the UTC parameters have been received from at least one
GNSS satellite. If the UTC time is not available, the corresponding fields are set to their
Do-Not-Use value.
Parameter
Type Units
Do-Not-Use
Description
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s
4294967295
WNc
u2
1 week
65535
UTCYear
i1
1 year
−128
Current year in the UTC time scale (2 digits). From 0 to 99, or -128 if not
available
UTCMonth
i1
1 month −128
Current month in the UTC time scale. From 1 to 12, or -128 if not available
UTCDay
i1
1 day
−128
Current day in the UTC time scale. From 1 to 31, or -128 if not available
UTCHour
i1
1 hour
−128
Current hour in the UTC time scale. From 0 to 23, or -128 if not available
UTCMin
i1
1 minute −128
Current minute in the UTC time scale. From 0 to 59, or -128 if not available
UTCSec
i1
1s
−128
Current second in the UTC time scale. From 0 to 59, or -128 if not available
DeltaLS
i1
1s
−128
Integer second difference between UTC time and GPS system time. Positive if GPS time is ahead of UTC. Set to -128 if not available.
SyncLevel
u1
Block Header, see 4.1.1
Receiver time stamp, see 4.1.3
Bit field indicating the synchronization level of the receiver time. If bits
0 to 2 are set, full synchronization is achieved:
Bit 0:
WNSET: if this bit is set, the receiver week number is set.
Bit 1:
TOWSET: if this bit is set, the receiver time-of-week is set to
within 20ms.
Bit 2:
FINETIME: if this bit is set, the receiver time-of-week is within
the limit specified by the setClockSyncThreshold command.
Bit 3:
Reserved
Bit 4:
i Reserved
Bits 5-7: Reserved
Padding
u1[..]
Padding bytes, see 4.1.5
305
4 SBF Reference
xPPSOffset Number:
5911
"OnChange" interval: PPS rate
The xPPSOffset block contains the offset between the true xPPS pulse and the actual
pulse output by the receiver. It is output right after each xPPS pulse.
Parameter
Type Units
Do-Not-Use
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s
4294967295
WNc
u2
1 week
65535
SyncAge
u1
1s
TimeScale
u1
Description
Block Header, see 4.1.1
Receiver time stamp, see 4.1.3
Age of the last synchronization to system time. The xPPS pulse is regularly resynchronized with system time. This field indicates the number
of seconds elapsed since the last resynchronization.
SyncAge is constrained to the 0-255s range. If the age is higher than
255s, SyncAge is set to 255.
If the PPS is synchronized with the internal receiver time (Timescale
= 3), SyncAge is always set to 0.
Time reference to which the xPPS pulse is referenced. The following
values are defined:
1: GNSS system time specified by the setTimingSystem command
2: UTC
3: receiver time
4: GLONASS time
Offset
f4
Padding
u1[..]
1 · 10−9 s
Offset of the xPPS output by the receiver with respect to its true position. Offset is negative when the xPPS pulse is in advance with respect
to its true position. See also section 1.14 for an explanation of the xPPS
generation principle, and for a description of the xPPS offset.
Padding bytes, see 4.1.5
306
4 SBF Reference
4.2.13
External Event Blocks
These blocks report the state of the receiver applicable at the instant of a level transition on
one of its “Event” pins. The receiver time is reported in the ExtEvent SBF block, and the navigation solution is reported in the ExtEventINSNavCart and the ExtEventINSNavGeod
blocks.
If enabled, upon detection of an event, these three blocks are output in the following order,
with no other SBF blocks in between them:
1. ExtEvent;
2. ExtEventINSNavCart;
3. ExtEventINSNavGeod.
All blocks referring to the same event contain the same time stamp in the TOW and WNc fields.
307
4 SBF Reference
ExtEvent Number:
5924
"OnChange" interval: each time an event is detected
The ExtEvent block contains the time tag of a voltage transition on one of the "Event"
input pins.
Parameter
Type Units Do-Not-Use
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
Source
u1
Description
Block Header, see 4.1.1
External time stamp, see 4.1.3
Input pin where this external event has been detected. The following values are defined:
1: EventA
2: EventB
Polarity
u1
0: rising edge event
1: falling edge event
Offset
f4
1s
Event time offset with respect to TOW.
The time of week of the external event is given by:
text,rx [s] = TOW/1000 + Offset
text,rx refers to the receiver system time scale. Use the RxClkBias field
to convert this time to the GNSS time scale.
RxClkBias
f8
1s
−2 · 1010
Receiver clock bias at the time of event. The clock bias is relative to the
system time specified by the setTimingSystem command. To get the
time of week of the external event in that system time scale, use:
text,GNSS [s] = TOW/1000 + Offset - RxClkBias.
The accuracy of the clock bias is dependent on the age of the last
PVT solution. When the receiver has been unable to compute a PVT
during the last 10 minutes, this field is set to its Do-Not-Use value.
Rev 1
PVTAge
u2
Padding
u1[..]
1s
Age of the last PVT solution. If the PVT age is larger than 10 minutes (600s),
this value is clipped to 600.
Padding bytes, see 4.1.5
308
4 SBF Reference
ExtEventINSNavCart Number:
4229
"OnChange" interval: each time an external event is detected
This block contains the results of the GNSS/INS navigation filter computed at the time of an
external event.
This block has the same structure and description as the INSNavCart block, except
that the TOW and WNc fields refer to the time at which the electrical transition on the event
pin has been detected (with a millisecond resolution), and that the position is computed at
the event time.
A user needing the sub-millisecond part of the event time must refer to the Offset
field of the corresponding ExtEvent block. The corresponding ExtEvent block is the last
of the ExtEvent blocks having been output by the receiver.
309
4 SBF Reference
Parameter
Type Units Do-Not-Use
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
GNSSMode
u1
Description
Block Header, see 4.1.1
External time stamp, see 4.1.3
Bit field indicating the GNSS mode used in the INS solution, as follows:
Bits 0-3: Last GNSS PVT mode used by the INS filter (see bits 0-3 of the
Mode field of the PVTCartesian block)
Bits 4-7: Last GNSS Attitude mode used by the INS filter (see the Mode
field of the AttEuler block)
Error
u1
Error code:
0: no error
7: position output prohibited due to export laws
20: INS solution not requested by user
21: not enough valid external sensor measurements
23: static alignment ongoing
24: waiting for GNSS PVT
28: in-motion alignment ongoing
29: waiting for GNSS heading
30: waiting for the IMU to synchronize with PPS from the receiver
31: standard deviation of the INS solution exceeds user limit set by the
setINSStdDevMask command
32: Unsupported settings in INS
Info
u2
Bit field providing more information regarding the status and the type
of measurement used as well as the solution reference output:
Bits 0-2: INS coupling mode:
0: Loosely-coupled
Bits 3-5: Solution
output
location,
setINSNavConfig command:
0: main GNSS antenna location
as
selected
with
the
1: first point of interest (POI)
Bit 6:
set if 180-degree heading ambiguity fixed. If not set and the
vehicle is moving backwards, the heading angle has a bias of
180 degrees
Bit 7:
set if zero-velocity constraints used
Bits 8-15: Reserved
GNSSAge
u2
0.01 s 65535
X
f8
1m
−2 · 1010
X coordinate in coordinate frame specified by Datum
Y coordinate in coordinate frame specified by Datum
Z coordinate in coordinate frame specified by Datum
Y
f8
1m
−2 · 1010
Z
f8
1m
−2 · 1010
Accuracy
u2
0.01 m 65535
Reserved2
u2
Duration that no GNSS measurements were received and no GNSSmeasurement based PVT is computed, truncated to 655.34 sec
3D 2-sigma position accuracy (twice the mean radial spherical error)
Reserved for future use, to be ignored by decoding software
310
4 SBF Reference
Datum
u1
255
This field defines in which datum the coordinates are expressed:
0:
WGS84/ITRS
19: Datum equal to that used by the DGNSS/RTK base station
30: ETRS89 (ETRF2000 realization)
31: NAD83(2011), North American Datum (2011)
32: NAD83(PA11), North American Datum, Pacific plate (2011)
33: NAD83(MA11), North American Datum, Marianas plate (2011)
34: GDA94(2010), Geocentric Datum of Australia (2010)
35: GDA2020, Geocentric Datum of Australia 2020
250: First user-defined datum
251: Second user-defined datum
Reserved
u1
Reserved for future use, to be ignored by decoding software
SBList
u2
Bit field defining which sub-blocks are available (this list is configurable
with the setINSNavConfig command). If bit i is set, the corresponding
sub-block is available. The sub-blocks are ordered by increasing bit index
i. The first sub-block corresponds to the first non-zero bit in SBList,
starting from the LSB.
Bit 0:
Position StdDev
Bit 1:
Attitude
Bit 2:
Attitude StdDev
Bit 3:
Velocity
Bit 4:
Velocity StdDev
Bit 5:
Position Cov
Bit 6:
Attitude Cov
Bit 7:
Velocity Cov
Bits 8-15: Reserved
All sub-blocks have a fixed size of 12 bytes.
If the Position StdDev field is 1 then this sub block is available:
PosStdDev
...
...
A ExtEventINSNavCartPosStdDev sub-block, see definition below
If the Attitude field is 1 then this sub block is available:
Att
...
...
A ExtEventINSNavCartAtt sub-block, see definition below
If the Attitude StdDev field is 1 then this sub block is available:
AttStdDev
...
...
A ExtEventINSNavCartAttStdDev sub-block, see definition below
If the Velocity field is 1 then this sub block is available:
Vel
...
...
A ExtEventINSNavCartVel sub-block, see definition below
If the Velocity StdDev field is 1 then this sub block is available:
VelStdDev
...
Padding
u1[..]
...
A ExtEventINSNavCartVelStdDev sub-block, see definition below
Padding bytes, see 4.1.5
311
4 SBF Reference
ExtEventINSNavCartPosStdDev sub-block definition:
Parameter
Type Units Do-Not-Use
Description
XStdDev
f4
1m
−2 · 1010
YStdDev
f4
1m
−2 · 1010
Standard deviation of Y coordinate
ZStdDev
f4
1m
−2 · 1010
Standard deviation of Z coordinate
Padding
u1[..]
Standard deviation of X coordinate
Padding bytes, see 4.1.5
ExtEventINSNavCartAtt sub-block definition:
Parameter
Type Units
Do-Not-Use
Description
Heading
f4
1 degree −2 · 1010
Heading. Remains on the Do-Not-Use value till the vehicle starts moving.
Heading may have a 180-degree bias if bit 6 of the Info field is not set.
Pitch
f4
1 degree −2 · 1010
Pitch
Roll
f4
1 degree −2 · 1010
Roll
Padding
u1[..]
Padding bytes, see 4.1.5
ExtEventINSNavCartAttStdDev sub-block definition:
Parameter
Type Units
Do-Not-Use
Description
HeadingStdDev
f4
1 degree −2 · 1010
PitchStdDev
f4
1 degree −2 · 1010
Standard deviation of pitch
RollStdDev
f4
1 degree −2 · 1010
Standard deviation of roll
Padding
u1[..]
Standard deviation of heading
Padding bytes, see 4.1.5
ExtEventINSNavCartVel sub-block definition:
Parameter
Type Units Do-Not-Use
Description
Vx
f4
1 m / s −2 · 1010
Vy
f4
1 m / s −2 · 1010
Velocity in the Y direction
Vz
f4
1 m / s −2 · 1010
Velocity in the Z direction
Padding
u1[..]
Velocity in the X direction
Padding bytes, see 4.1.5
312
4 SBF Reference
ExtEventINSNavCartVelStdDev sub-block definition:
Parameter
Type Units Do-Not-Use
VxStdDev
f4
1 m / s −2 · 1010
Description
Standard deviation of velocity in the X direction
VyStdDev
f4
1 m / s −2 · 1010
Standard deviation of velocity in the Y direction
VzStdDev
f4
1 m / s −2 · 1010
Standard deviation of velocity in the Z direction
Padding
u1[..]
Padding bytes, see 4.1.5
313
4 SBF Reference
ExtEventINSNavGeod Number:
4230
"OnChange" interval: each time an external event is detected
This block contains the results of the GNSS/INS navigation filter computed at the time of an
external event.
This block has the same structure and description as the INSNavGeod block, except
that the TOW and WNc fields refer to the time at which the electrical transition on the event
pin has been detected (with a millisecond resolution), and that the position is computed at
the event time.
A user needing the sub-millisecond part of the event time must refer to the Offset
field of the corresponding ExtEvent block. The corresponding ExtEvent block is the last
of the ExtEvent blocks having been output by the receiver.
314
4 SBF Reference
Parameter
Type Units Do-Not-Use
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
GNSSMode
u1
Description
Block Header, see 4.1.1
External time stamp, see 4.1.3
Bit field indicating the GNSS mode used in the INS solution, as follows:
Bits 0-3: Last GNSS PVT mode used by the INS filter (see bits 0-3 of the
Mode field of the PVTCartesian block)
Bits 4-7: Last GNSS Attitude mode used by the INS filter (see the Mode
field of the AttEuler block)
Error
u1
Error code:
0: no error
7: position output prohibited due to export laws
20: INS solution not requested by user
21: not enough valid external sensor measurements
23: static alignment ongoing
24: waiting for GNSS PVT
28: in-motion alignment ongoing
29: waiting for GNSS heading
30: waiting for the IMU to synchronize with PPS from the receiver
31: standard deviation of the INS solution exceeds user limit set by the
setINSStdDevMask command
32: Unsupported settings in INS
Info
u2
Bit field providing more information regarding the status and the type
of measurement used as well as the solution reference output:
Bits 0-2: INS coupling mode:
0: Loosely-coupled
Bits 3-5: Solution
output
location,
setINSNavConfig command:
0: main GNSS antenna location
as
selected
with
the
1: first point of interest (POI)
Bit 6:
set if 180-degree heading ambiguity fixed. If not set and the
vehicle is moving backwards, the heading angle has a bias of
180 degrees
Bit 7:
set if zero-velocity constraints used
Bits 8-15: Reserved
GNSSAge
u2
0.01 s 65535
Duration that no GNSS measurements were received and no GNSSmeasurement based PVT is computed, truncated to 655.34 sec
Latitude
f8
1 rad
−2 · 1010
Latitude, from −π/2 to +π/2, positive North of Equator
Longitude, from −π to +π , positive East of Greenwich
Longitude
f8
1 rad
−2 · 1010
Height
f8
1m
−2 · 1010
Ellipsoidal height (with respect to the ellipsoid specified by Datum)
Undulation
f4
1m
−2 · 1010
Geoid undulation. See the setGeoidUndulation command.
Accuracy
u2
0.01 m 65535
Reserved2
u2
3D 2-sigma position accuracy (twice the mean radial spherical error)
Reserved for future use, to be ignored by decoding software
315
4 SBF Reference
Datum
u1
255
This field defines in which datum the coordinates are expressed:
0:
WGS84/ITRS
19: Datum equal to that used by the DGNSS/RTK base station
30: ETRS89 (ETRF2000 realization)
31: NAD83(2011), North American Datum (2011)
32: NAD83(PA11), North American Datum, Pacific plate (2011)
33: NAD83(MA11), North American Datum, Marianas plate (2011)
34: GDA94(2010), Geocentric Datum of Australia (2010)
35: GDA2020, Geocentric Datum of Australia 2020
250: First user-defined datum
251: Second user-defined datum
Reserved
u1
Reserved for future use, to be ignored by decoding software
SBList
u2
Bit field defining which sub-blocks are available (this list is configurable
with the setINSNavConfig command). If bit i is set, the corresponding
sub-block is available. The sub-blocks are ordered by increasing bit index
i. The first sub-block corresponds to the first non-zero bit in SBList,
starting from the LSB.
Bit 0:
Position StdDev
Bit 1:
Attitude
Bit 2:
Attitude StdDev
Bit 3:
Velocity
Bit 4:
Velocity StdDev
Bit 5:
Position Cov
Bit 6:
Attitude Cov
Bit 7:
Velocity Cov
Bits 8-15: Reserved
All sub-blocks have a fixed size of 12 bytes.
If the Position StdDev field is 1 then this sub block is available:
PosStdDev
...
...
A ExtEventINSNavGeodPosStdDev sub-block, see definition below
If the Attitude field is 1 then this sub block is available:
Att
...
...
A ExtEventINSNavGeodAtt sub-block, see definition below
If the Attitude StdDev field is 1 then this sub block is available:
AttStdDev
...
...
A ExtEventINSNavGeodAttStdDev sub-block, see definition below
If the Velocity field is 1 then this sub block is available:
Vel
...
...
A ExtEventINSNavGeodVel sub-block, see definition below
If the Velocity StdDev field is 1 then this sub block is available:
VelStdDev
...
Padding
u1[..]
...
A ExtEventINSNavGeodVelStdDev sub-block, see definition below
Padding bytes, see 4.1.5
316
4 SBF Reference
ExtEventINSNavGeodPosStdDev sub-block definition:
Parameter
Type Units Do-Not-Use
Description
f4
1m
−2 · 1010
LongitudeStdDev f4
1m
−2 · 1010
Standard deviation of longitude
HeightStdDev
f4
1m
−2 · 1010
Standard deviation of ellipsoidal height
Padding
u1[..]
LatitudeStdDev
Standard deviation of latitude
Padding bytes, see 4.1.5
ExtEventINSNavGeodAtt sub-block definition:
Parameter
Type Units
Do-Not-Use
Description
Heading
f4
1 degree −2 · 1010
Pitch
f4
1 degree −2 · 1010
Pitch
Roll
f4
1 degree −2 · 1010
Roll
Padding
u1[..]
Heading. Remains on the Do-Not-Use value till the vehicle starts moving.
Heading may have a 180-degree bias if bit 6 of the Info field is not set.
Padding bytes, see 4.1.5
ExtEventINSNavGeodAttStdDev sub-block definition:
Parameter
Type Units
Do-Not-Use
Description
HeadingStdDev
f4
1 degree −2 · 1010
Standard deviation of heading
PitchStdDev
f4
1 degree −2 · 1010
Standard deviation of pitch
RollStdDev
f4
1 degree −2 · 1010
Standard deviation of roll
Padding
u1[..]
Padding bytes, see 4.1.5
ExtEventINSNavGeodVel sub-block definition:
Parameter
Type Units Do-Not-Use
Description
Ve
f4
1 m / s −2 · 1010
Velocity in the East direction
Vn
f4
1 m / s −2 · 1010
Velocity in the North direction
Vu
f4
1 m / s −2 · 1010
Velocity in the ’Up’ direction
Padding
u1[..]
Padding bytes, see 4.1.5
317
4 SBF Reference
ExtEventINSNavGeodVelStdDev sub-block definition:
Parameter
Type Units Do-Not-Use
VeStdDev
f4
1 m / s −2 · 1010
Description
Standard deviation of velocity in the East direction
VnStdDev
f4
1 m / s −2 · 1010
Standard deviation of velocity in the North direction
VuStdDev
f4
1 m / s −2 · 1010
Standard deviation of velocity in the ’Up’ direction
Padding
u1[..]
Padding bytes, see 4.1.5
318
4 SBF Reference
4.2.14
Differential Correction Blocks
DiffCorrIn Number:
5919
"OnChange" interval: each time a RTCM or CMR message is received
The DiffCorrIn block contains incoming RTCM or CMR messages. The length of the block
depends on the message type and contents.
319
4 SBF Reference
Parameter
Type Units Do-Not-Use
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
Mode
u1
Description
Block Header, see 4.1.1
Receiver time stamp, see 4.1.3
0: RTCMv2
1: CMRv2
2: RTCMv3
3: RTCMV (a proprietary variant of RTCM2)
4: SPARTN
5: Reserved
Source
u1
255
Indicates the receiver connection from which the message has been received:
0: COM1
1: COM2
2: COM3
3: COM4
4: USB1
5: USB2
6: IP connection
7: SBF file
8: L-Band (message decoded by the built-in L-band demodulator)
9: NTRIP
10: OTG1
11: OTG2
12: Bluetooth
15: UHF modem
16: IPR connection
17: Direct call port
18: IPS connection
If the Mode field is 0 then this field is available:
RTCM2Words
u4[N]
30-bit words of the RTCM2 message. The Data Word Length (number of
32 bit words) is variable and depends on the RTCM2 message contents.
It can be computed by the following piece of C code:
N = 2 + ((RTCM2Words[1]»9) & 0x1f);
N can range from 2 to 33. The first two words are the RTCM2
message header and they are always present.
Each of the words is organized as follows:
Bits 0-5:
6 parity bits. They are provided for the sake of completeness.
Parity doesn’t need to be checked, since the DiffCorrIn
block only contains valid words.
Bits 6-29: 24 information-containing bits of the word. The first received
bit is the MSB.
Bits 30-31: bit 0 and 1 of the preceding word
If the Mode field is 1 then this field is available:
CMRMessage
u1[N]
N depends on the CMR message type.
If the Mode field is 2 then this field is available:
RTCM3Message
u1[N]
N depends on the RTCM 3 message type.
320
4 SBF Reference
If the Mode field is 3 then this field is available:
RTCMVMessage
u1[N]
N depends on the RTCMV message type.
Padding
u1[..]
Padding bytes, see 4.1.5
321
4 SBF Reference
BaseStation Number:
5949
"OnChange" interval: block generated each time a differential correction message related to the base station coordinates is received
The BaseStation block contains the ECEF coordinates of the base station the receiver
is currently connected to. This block helps users accessing the base station coordinates
via SBF instead of having to decode the specific differential correction message (see the
DiffCorrIn SBF block above).
The interpretation to give to the X, Y, Z ECEF coordinates is dependent on the value of
the Source field:
Value of Source
Interpretation of X, Y, Z
0, 4 or 10
Coordinate of the L1 phase center
2 or 8
Antenna reference point
9
Proprietary
Parameter
Type Units Do-Not-Use
Description
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
BaseStationID
u2
The base station ID
BaseType
u1
Base station type:
0: Fixed
1: Moving (reserved for future use)
255: Unknown
Source
u1
Source of the base station coordinates:
0: RTCM 2.x (Msg 3)
Block Header, see 4.1.1
Receiver time stamp, see 4.1.3
2: RTCM 2.x (Msg 24)
4: CMR 2.x (Msg 1)
8: RTCM 3.x (Msg 1005 or 1006)
9: RTCMV (Msg 3)
10: CMR+ (Type 2)
Datum
u1
255
Not applicable
Reserved
u1
X
f8
1m
Antenna X coordinate expressed in the datum specified by the Datum field
Y
f8
1m
Antenna Y coordinate
Z
f8
1m
Antenna Z coordinate
Padding
u1[..]
Reserved for future use, to be ignored by decoding software
Padding bytes, see 4.1.5
322
4 SBF Reference
RTCMDatum Number:
4049
"OnChange" interval: block generated each time a set of transformation
parameters is received
This block reports the source and target datum names as transmitted in RTCM 3.x message
types 1021 or 1022. It also reports the corresponding height and quality indicators.
If a service provider only sends out message types 1021 or 1022, this block is transmitted immediately after reception of MT1021 or MT1022. If message types 1023 or 1024
are also sent out, this block is transmitted after the reception of these messages and the
QualityInd field is set accordingly.
Parameter
Type Units Do-Not-Use
Sync1
c1
Description
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
SourceCRS
c1[32]
Name of the source Coordinate Reference System, right-padded with zeros.
TargetCRS
c1[32]
Name of the target Coordinate Reference System, right-padded with zeros.
Datum
u1
See the Datum field in the PosLocal and PosProjected SBF blocks.
Block Header, see 4.1.1
Receiver time stamp, see 4.1.3
Datum is set to 255 if this SourceCRS/TargetCRS pair is currently
not used by the receiver.
HeightType
u1
Height Indicator field from MT1021 and MT1022.
This field indicates how to interpret the height reported in the PosLocal and the
PosProjected SBF blocks:
0: Geometrical height
1: Physical height (height definition in target CRS)
2: Physical height (height definition in source CRS)
QualityInd
u1
Bit field indicating the maximum approximation error after applying the
transformation:
Bits 0-3: horizontal quality indicator:
0: Unknown quality
1: Quality better than 21 mm (from MT1021/1022)
2: Quality 21 to 50 mm (from MT1021/1022)
3: Quality 51 to 200 mm (from MT1021/1022)
4: Quality 201 to 500 mm (from MT1021/1022)
5: Quality 501 to 2000 mm (from MT1021/1022)
6: Quality 2001 to 5000 mm (from MT1021/1022)
7: Quality worse than 5001 mm (from MT1021/1022)
9: Quality 0 to 10 mm (from MT1023/1024)
10: Quality 11 to 20 mm (from MT1023/1024)
11: Quality 21 to 50 mm (from MT1023/1024)
12: Quality 51 to 100 mm (from MT1023/1024)
13: Quality 101 to 200 mm (from MT1023/1024)
14: Quality 201 to 500 mm (from MT1023/1024)
15: Quality worse than 501 mm (from MT1023/1024)
Bits 4-7: vertical quality indicator, same definition as bits 0-3.
Padding
u1[..]
Padding bytes, see 4.1.5
323
4 SBF Reference
4.2.15
External Sensor Blocks
ExtSensorMeas Number:
4050
"OnChange" interval: default integrated INS/GNSS output rate
(see 4.1.8)
This block contains all acceleration and/or angular-rate measurements taken at a given
epoch by external sensors. Whether a given sensor provides acceleration and/or angular
rates depends on the sensor type.
Measurements are organized in measurement sets consisting of a triplet of accelerations or angular rates in the sensor X, Y, Z directions. Measurement sets are reported in the
ExtSensorMeasSet sub-blocks. If a sensor provides both accelerations and angular rates,
two ExtSensorMeasSet sub-blocks are generated. In systems with multiple sensors, each
sensor can give rise to one or two ExtSensorMeasSet sub-blocks.
The time of applicability in the TOW and WNc fields refers to the GNSS time frame selected with the setTimingSystem command.
Parameter
Type Units Do-Not-Use
Sync1
c1
Description
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
N
u1
SBLength
u1
1 byte
Length of sub-block
ExtSensorMeasSet
...
...
A succession of N ExtSensorMeasSet sub-blocks, see definition below
Padding
u1[..]
Block Header, see 4.1.1
External time stamp, see 4.1.3
Number of sub-blocks in this ExtSensorMeas block
Padding bytes, see 4.1.5
324
4 SBF Reference
ExtSensorMeasSet sub-block definition:
Parameter
Type Units
Source
u1
Description
Identification of the sensor providing the measurements in this sub-block (useful in
case multiple sensors are connected to the receiver):
0: measurements from sensor connected to COM1
1: measurements from sensor connected to COM2
2: measurements from sensor connected to COM3
3: measurements from sensor connected to COM4
4: zero-velocity sensor
32: measurement from sensor connected to internal SPI bus
SensorModel
u1
Sensor model, defined as follows:
0: Reserved
1: Reserved
2: Ellipse from SBG Systems
3: Reserved
4: Reserved
5: Ellipse2 from SBG Systems
6: Reserved
7: Reserved
8: Reserved
9: Reserved
10: AD16505 from Analog Devices
20: Zero-Velocity sensor
Type
u1
Type of measurement provided in this sub-block:
0: Acceleration
1: Angular rate
2: Reserved
3: Info (including temperature)
20: Zero-velocity flag
ObsInfo
u1
Bit field:
Bit 0:
set if measurements are temperature compensated
Bit 1:
set if sensor is saturated
Bit 2:
set if measurements are scrambled. Scrambling is applied when the "Measurement Availability" permission is not granted (see the lif,Permissions
command).
Bits 3-4: Proprietary.
Bits 5-7: Reserved
If the Type field is 0 then this sub block is available:
Acceleration
...
...
A ExtSensorMeasAcceleration sub-block, see definition below
If the Type field is 1 then this sub block is available:
AngularRate
...
...
A ExtSensorMeasAngularRate sub-block, see definition below
If the Type field is 3 then this sub block is available:
Info
...
...
A ExtSensorMeasInfo sub-block, see definition below
If the Type field is 20 then this sub block is available:
ZeroVelocityFlag ...
...
A ExtSensorMeasZeroVelocityFlag sub-block, see definition below
325
4 SBF Reference
ExtSensorMeasAcceleration sub-block definition:
Parameter
Type Units
Do-Not-Use
Description
AccelerationX
f8
1 m / s2 −2 · 1010
AccelerationY
f8
1 m / s2 −2 · 1010
acceleration in the sensor y-direction
AccelerationZ
f8
1 m / s2 −2 · 1010
acceleration in the sensor z-direction
acceleration in the sensor x-direction
ExtSensorMeasAngularRate sub-block definition:
Parameter
Type Units
Do-Not-Use
Description
AngularRateX
f8
1 degree / s −2 · 1010
AngularRateY
f8
1 degree / s −2 · 1010
angular rate about the sensor y-axis
AngularRateZ
f8
1 degree / s −2 · 1010
angular rate about the sensor z-axis
angular rate about the sensor x-axis
ExtSensorMeasInfo sub-block definition:
Parameter
Type Units
SensorTemperature i2
Reserved
Do-Not-Use
0.01 ◦ C −32768
u1[22]
Description
Temperature reported by the sensor
Reserved for future use, to be ignored by decoding software
ExtSensorMeasZeroVelocityFlag sub-block definition:
Parameter
Type Units
ZeroVelocityFlag f8
Description
zero-velocity flag:
0: non-zero-velocity
1: zero-velocity
Reserved
u1[16]
Reserved for future use, to be ignored by decoding software
326
4 SBF Reference
ExtSensorStatus Number:
4223
"OnChange" interval: each time an external sensor provides
status information
The ExtSensorStatus block contains status information from an external sensor. This
block is primarily intended for maintenance and support.
The status is reported in the Data field, of which the interpretation depends on the
SensorModel field, as follows:
SensorModel N
Interpretation of the Data field
2 or 5 (SBG)
4 Data contains the IMU status (16 bits) and clock status (16 bits) from the SBG Systems status messages
(SBG_ECOM_LOG_IMU_DATA in and SBG_ECOM_LOG_UTC_TIME in ["Ellipse, Ekinox, and Apogee - Firmware
Manual", rev 1.5, March 6, 2017, Doc. SBGFWM.1.5])
7 (VN-100)
4 The first 16 bits of Data contain the VectorNav status message (IMU status of the binary output message in
["VN-100 User Manual", Firmware v2.1.0.0, rev. 2.23, Doc. UM001])
10 (AD16505) 4 The following status flags are defined in byte 0:
• bit 0: if set the sensor reports an error and might be replaced
• bit 1: if set a sensor failure occurred, and reboot might be needed
• bit 2: if set a clock error occurred, sensor is not aligned with external ref signal
• bit 3: if set there was a CRC error with the last received data
• bit 4: if set no data forwarded due to wrong internal state
• bit 5: if set timestamps could not be defined yet (data drifting)
• bit 6: if set there is a large gap in the received samples (data age)
• bit 7: if set unexpected number of samples have been received in last PPS period
Byte 1 enumerates how the 16-bit word in bytes 2 and 3 should be interpreted:
• 0: no info available (all ok)
• 1: DIAG_STAT register (OR’d over last received samples)
• 2: number of samples with failing CRC
• 3: number of seconds no samples have been received
• 4: internal state of receiver, indicating why no data is present
• 5: number of samples received in last PPS period
• 6: number of drifting samples (timestamp not ok, so data not forwarded)
• 7: number of samples showing a clock error (data is forwarded)
327
4 SBF Reference
Parameter
Type Units Do-Not-Use
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
Source
u1
Description
Block Header, see 4.1.1
External time stamp, see 4.1.3
Identification of the sensor providing the measurements in this sub-block
(useful in case multiple sensors are connected to the receiver):
0: measurements from sensor connected to COM1
1: measurements from sensor connected to COM2
2: measurements from sensor connected to COM3
3: measurements from sensor connected to COM4
4: zero-velocity sensor
32: measurement from sensor connected to internal SPI bus
SensorModel
u1
Sensor model, defined as follows:
0: Reserved
1: Reserved
2: Ellipse from SBG Systems
3: Reserved
4: Reserved
5: Ellipse2 from SBG Systems
6: Reserved
7: Reserved
8: Reserved
9: Reserved
10: AD16505 from Analog Devices
20: Zero-Velocity sensor
Data
u1[N]
Sensor data bits. The interpretation of this field and the value of N can be
found in the table above.
Padding
u1[..]
Padding bytes, see 4.1.5
328
4 SBF Reference
ExtSensorInfo Number:
4222
"OnChange" interval: each time an external sensor provides information/configuration messages
The ExtSensorInfo block contains configuration information from an external sensor.
This block is primarily intended for maintenance and support.
The configuration is reported in the Data field, of which the interpretation depends
on the SensorModel field, as follows:
SensorModel N
2 or 5 (SBG)
Interpretation of the Data field
52 Data combines the following SBG Systems informational/configuration messages (SBG_ECOM_CMD_INFO
in ["Ellipse, Ekinox, and Apogee - Firmware Manual", rev 1.5, March 6, 2017, Doc. SBGFWM.1.5])
Parameter
7 (VN-100)
Type
Description
productCode
c1[32] Product code
SerialNr
u4
Serial number
calibrationRev
u4
Calibration data revision
calibrationYear u2
Calibration year
calibrationMonth u1
Calibration month
calibrationDay
u1
Calibration day
hardwareRev
u4
Hardware revision
firmwareRev
u4
Firmware revision
36 Data combines the following VectorNav informational/configuration messages (Serial Number, Model number, Firmware version in ["VN-100 User Manual", Firmware v2.1.0.0, rev. 2.23, Doc. UM001]):
Parameter
Type
Description
productCode c1[24] Product code
u4
SerialNr
hardwareRev u4
Serial number
Hardware revision
fwVerMajor
u1
Major release of firmware version
fwVerMinor
u1
Minor release of firmware version
fwVerFeature u1
fwHotFix
u1
Feature release of firmware version
Firmware hot fix number
10 (AD16505) 44 Data contains the following information:
Parameter
Type
Description
productCode c1[32] Product code
SerialNr
u4
Serial number
hardwareRev u4
Hardware revision
firmwareRev u4
Firmware revision
329
4 SBF Reference
Parameter
Type Units Do-Not-Use
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
Source
u1
Description
Block Header, see 4.1.1
External time stamp, see 4.1.3
Identification of the sensor providing the measurements in this sub-block
(useful in case multiple sensors are connected to the receiver):
0: measurements from sensor connected to COM1
1: measurements from sensor connected to COM2
2: measurements from sensor connected to COM3
3: measurements from sensor connected to COM4
4: zero-velocity sensor
32: measurement from sensor connected to internal SPI bus
SensorModel
u1
Sensor model, defined as follows:
0: Reserved
1: Reserved
2: Ellipse from SBG Systems
3: Reserved
4: Reserved
5: Ellipse2 from SBG Systems
6: Reserved
7: Reserved
8: Reserved
9: Reserved
10: AD16505 from Analog Devices
20: Zero-Velocity sensor
Data
u1[N]
Sensor data bits. The interpretation of this field and the value of N can be
found in the table above.
Padding
u1[..]
Padding bytes, see 4.1.5
330
4 SBF Reference
IMUSetup Number:
4224
"OnChange" interval: Block generated every 60 seconds and each time
the user invokes the setINSAntLeverArm or the
setIMUOrientation command.
The IMUSetup block contains the antenna lever arm and the orientation of the IMU
currently connected to the receiver. This block is primarily intended for maintenance and
support.
Parameter
Type Units
Do-Not-Use
Description
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s
4294967295
WNc
u2
1 week
65535
Reserved
u1
Reserved
SerialPort
u1
IMU connection (see also the setIMUInput command):
0: IMU on COM1
Block Header, see 4.1.1
External time stamp, see 4.1.3
1: IMU on COM2
2: IMU on COM3
3: IMU on COM4
32: Internal IMU
AntLeverArmX
f4
1m
−2 · 1010
Component of the lever arm from IMU to Main ARP along the X-axis of
the vehicle frame, as set with the setINSAntLeverArm command.
AntLeverArmY
f4
1m
−2 · 1010
Component of the lever arm from IMU to Main ARP along the Y-axis of
the vehicle frame, as set with the setINSAntLeverArm command.
AntLeverArmZ
f4
1m
−2 · 1010
Component of the lever arm from IMU to Main ARP along the Z-axis of
the vehicle frame, as set with the setINSAntLeverArm command.
ThetaX
f4
1 degree −2 · 1010
IMU orientation, θX angle, as set with the setIMUOrientation command.
ThetaY
f4
1 degree −2 · 1010
IMU orientation, θY angle, as set with the setIMUOrientation command.
ThetaZ
f4
1 degree −2 · 1010
IMU orientation, θZ angle, as set with the setIMUOrientation command.
Padding
u1[..]
Padding bytes, see 4.1.5
331
4 SBF Reference
4.2.16
Status Blocks
ChannelStatus Number:
4013
"OnChange" interval: default PVT output rate (see 4.1.8)
This block describes the current satellite allocation and tracking status of the active receiver
channels. Active channels are channels to which a satellite has been allocated.
This block uses a two-level sub-block structure analogous to that of the MeasEpoch
block. For each active channel, a ChannelSatInfo sub-block contains all satellitedependent information such as health, azimuth and elevation. Each of these sub-blocks
contains N2 ChannelStateInfo sub-blocks, N2 being the number of active antennas in a
given channel (for single-antenna receivers, N2 is one). The ChannelStateInfo reports
information such as the tracking status and PVT usage of a given signal type tracked on a
given antenna.
Inactive channels are not contained in the ChannelStatus block.
Health, tracking and PVT status fields are available for each satellite. These status
fields consist of a sequence of up to 8 two-bit fields. Each 2-bit field contains the status of
one of the signals transmitted by the satellite. The position of the 2 bits corresponding to a
given signal is dependent on the constellation, but is otherwise fixed. It is indicated in the
tables below.
GPS:
Reserved
15
14
Reserved
13
12
L1C
11
10
L5
9
8
L2C
7
6
P2(Y)
5
4
P1(Y)
3
2
L1CA
1
0
GLONASS:
Reserved
15
14
Reserved
13
12
Reserved
11
10
L3
9
8
L2CA
7
6
L2P
5
4
L1P
3
2
L1CA
1
0
Galileo:
Reserved
15
14
E5-AltBOC
13
12
E5b
11
10
E5a
9
8
E6BC
7
6
E6A
5
4
L1BC
3
2
L1A
1
0
SBAS:
Reserved
15
14
Reserved
13
12
Reserved
11
10
Reserved
9
8
Reserved
7
6
Reserved
5
4
L5
3
2
L1
1
0
BeiDou:
Reserved
15
14
Reserved
13
12
B2b
11
10
B2a
9
8
B1C
7
6
B3I
5
4
B2I
3
2
B1I
1
0
QZSS:
Reserved
15
14
Reserved
13
12
L1S
11
10
L1C
9
8
L6
7
6
L5
5
4
L2C
3
2
L1CA
1
0
NavIC/IRNSS:
Reserved
15
14
Reserved
13
12
Reserved
11
10
Reserved
9
8
Reserved
7
6
Reserved
5
4
S
3
2
L5
1
0
332
4 SBF Reference
Parameter
Type Units Do-Not-Use
Sync1
c1
Description
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
N
u1
SB1Length
u1
1 byte
Length of a ChannelSatInfo sub-block,
ChannelStateInfo sub-blocks
SB2Length
u1
1 byte
Length of a ChannelStateInfo sub-block
Reserved
u1[3]
SatInfo
...
Padding
u1[..]
Block Header, see 4.1.1
Receiver time stamp, see 4.1.3
Number of channels for which status are provided in this SBF block, i.e.
number of ChannelSatInfo sub-blocks. If N is 0, there are no active
channels available for this epoch.
excluding the nested
Reserved for future use, to be ignored by decoding software
...
A succession of N ChannelSatInfo sub-blocks, see definition below
Padding bytes, see 4.1.5
ChannelSatInfo sub-block definition:
Parameter
Type Units
SVID
u1
FreqNr
u1
Reserved1
u1[2]
Do-Not-Use
Description
Satellite ID, see 4.1.9
0
For GLONASS FDMA signals, this is the frequency number, with an offset of 8. It ranges from 1 (corresponding to an actual frequency number of -7) to 21 (corresponding to an actual frequency number of 13).
Otherwise, FreqNr is reserved and must be ignored by the decoding
software.
Reserved for future use, to be ignored by decoding software
Azimuth/RiseSet u2
bit field:
1 degree 511
Bits 0-8:
Azimuth [0,359]. 0 is North, and Azimuth increases towards
East.
Bits 9-13: Reserved
3
Bits 14-15: Rise/Set Indicator:
0: Satellite setting
1: Satellite rising
3: Elevation rate unknown
HealthStatus
u2
Sequence of 2-bit health status fields, each of them taking one of the
following values:
0 : health unknown, or not applicable
1 : healthy
3 : unhealthy
The 2-bit health status is a condensed version of the health status
as sent by the satellite. For SBAS, the health status is set from the
almanac data (MT17).
1 degree −128
Elevation
i1
Elevation [-90,90] relative to local horizontal plane
N2
u1
Number
RxChannel
u1
Channel number, see section 4.1.11.
Reserved2
u1
Reserved for future use, to be ignored by decoding software
Padding
u1[..]
Padding bytes, see 4.1.5
of
ChannelStateInfo
blocks
following
this
ChannelSatInfo block. There is one ChannelStateInfo subblock per antenna.
333
4 SBF Reference
StateInfo
...
...
A succession of N2 ChannelStateInfo sub-blocks, see definition below
ChannelStateInfo sub-block definition:
Parameter
Type Units
Description
Antenna
u1
Antenna number (0 for main antenna)
Reserved
u1
Reserved for future use, to be ignored by decoding software
TrackingStatus
u2
Sequence of 2-bit tracking status fields, each of them taking one of the following values:
0: idle or not applicable
1: Search
2: Sync
3: Tracking
PVTStatus
u2
Sequence of 2-bit PVT status fields, each of them taking one of the following values:
0: not used
1: waiting for ephemeris
2: used
3: rejected
PVTInfo
u2
Internal info
Padding
u1[..]
Padding bytes, see 4.1.5
334
4 SBF Reference
ReceiverStatus Number:
4014
"OnChange" interval: 1s
The ReceiverStatus block provides general information on the status of the receiver.
Parameter
Type Units Do-Not-Use
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
CPULoad
u1
1%
ExtError
u1
UpTime
u4
Description
Block Header, see 4.1.1
255
Receiver time stamp, see 4.1.3
Load on the receiver’s CPU. The load should stay below 80% in normal
operation. Higher loads might result in data loss.
Bit field reporting external errors, i.e. errors detected in external data.
Upon detection of an error, the corresponding bit is set for a duration of
one second, and then resets.
1s
Bit 0:
SISERROR: set if a violation of the signal-in-space ICD has been
detected for at least one satellite while that satellite is reported
as healthy. Use the command "lif,SisError" for details.
Bit 1:
DIFFCORRERROR: set when an anomaly has been detected
in an incoming differential correction stream, causing the receiver to fail to decode the corrections. Use the command
"lif,DiffCorrError" for details.
Bit 2:
EXTSENSORERROR: set when a malfunction has been detected
on at least one of the external sensors connected to the receiver. Use the command "lif, ExtSensorError" for details.
Bit 3:
SETUPERROR: set when a configuration/setup error has been
detected. An example of such error is when a remote
NTRIP Caster is not reachable. Use the command "lif,
SetupError" for details.
Bits 4-7:
Reserved
Number of seconds elapsed since the start-up of the receiver, or since the
last reset.
335
4 SBF Reference
RxState
u4
Bit field indicating the status of key components of the receiver:
Bit 0:
Reserved
Bit 1:
ACTIVEANTENNA: this bit is set when an active antenna is
sensed at the main antenna connector. This functionality is
only available on certain receiver models.
Bit 2:
EXT_FREQ: this bit is set if an external frequency reference is
detected at the 10 MHz input, and cleared if the receiver uses
its own internal clock.
Bit 3:
EXT_TIME: this bit is set if a pulse has been detected on the
TimeSync input.
Bit 4:
WNSET: see corresponding bit in the SyncLevel field of the
ReceiverTime block.
Bit 5:
TOWSET: see corresponding bit in the SyncLevel field of the
ReceiverTime block.
Bit 6:
FINETIME: see corresponding bit in the SyncLevel field of the
ReceiverTime block.
Bit 7:
INTERNALDISK_ACTIVITY: this bit is set for one second each
time data is logged to the internal disk (DSK1). If the logging
rate is larger than 1 Hz, set continuously.
Bit 8:
INTERNALDISK_FULL: this bit is set when the internal disk
(DSK1) is full. A disk is full when it is filled to 95% of its total
capacity.
Bit 9:
INTERNALDISK_MOUNTED: this bit is set when the internal disk
(DSK1) is mounted.
Bit 10:
INT_ANT: this bit is set when the GNSS RF signal is taken from
the internal antenna input, and cleared when it comes from
the external antenna input (only applicable on receiver models
featuring an internal antenna input).
Bit 11:
REFOUT_LOCKED: if set, the 10-MHz frequency provided at the
REF OUT connector is locked to GNSS time. Otherwise it is freerunning.
Bit 12:
LBAND_ANT: this bit is set when the L-band signal is tracked
from the dedicated L-band antenna, and cleared when it is
tracked from the same antenna as the GNSS signals, or when
the receiver does not support L-band tracking.
Bit 13:
EXTERNALDISK_ACTIVITY: this bit is set for one second each
time data is logged to the external disk (DSK2). If the logging
rate is larger than 1 Hz, set continuously.
Bit 14:
EXTERNALDISK_FULL: this bit is set when the external disk
(DSK2) is full. A disk is full when it is filled to 95% of its total
capacity.
Bit 15:
EXTERNALDISK_MOUNTED: this bit is set when the external
disk (DSK2) is mounted.
Bit 16:
PPS_IN_CAL: this bit is set when PPS IN delay calibration is ongoing. Only applicable to PolaRx5TR receivers.
Bit 17:
DIFFCORR_IN: this bit is set for one second each time differential corrections are decoded. If the input rate is larger than 1
Hz, set continuously.
Bit 18:
INTERNET: this bit is set when the receiver has internet access.
If not set, there is either no internet access, or the receiver
could not reliably determine the status.
Bits 19-31: Reserved
336
4 SBF Reference
RxError
u4
Bit field indicating whether an error occurred previously. If this field is not
equal to zero, at least one error has been detected.
Rev 1
Bit 0:
Reserved
Bit 1:
Reserved
Bit 2:
Reserved
Bit 3:
SOFTWARE: set upon detection of a software warning or error.
This bit is reset by the command "lif, error".
Bit 4:
WATCHDOG: set when the watchdog expired at least once since
the last power-on.
Bit 5:
ANTENNA: set when antenna overcurrent condition is detected.
Bit 6:
CONGESTION: set when an output data congestion has been
detected on at least one of the communication ports of the
receiver during the last second.
Bit 7:
Reserved
Bit 8:
MISSEDEVENT: set when an external event congestion has
been detected during the last second. It indicates that the receiver is receiving too many events on its EVENTx pins.
Bit 9:
CPUOVERLOAD: set when the CPU load is larger than 90%.
Bit 10:
INVALIDCONFIG: set if one or more configuration file (e.g. permissions) is invalid or absent.
Bit 11:
OUTOFGEOFENCE: set if the receiver is currently out of its permitted region of operation (geofencing).
Bit 12:
Reserved
Bit 13:
Reserved
Bit 14:
Reserved
Bit 15:
Reserved
Bit 16:
Reserved
Bits 17-31: Reserved
N
u1
Number of AGCState sub-blocks this block contains.
SBLength
u1
CmdCount
u1
Temperature
u1
1 ◦C
AGCState
...
...
Padding
u1[..]
1 byte
Length of a AGCState sub-block.
0
Command cyclic counter, incremented each time a command is entered
that changes the receiver configuration. After the counter has reached
255, it resets to 1.
0
Not applicable.
A succession of N AGCState sub-blocks, see definition below
Padding bytes, see 4.1.5
337
4 SBF Reference
AGCState sub-block definition:
Parameter
Type Units Do-Not-Use
FrontEndID
u1
Description
Bit field indicating the frontend code and antenna ID:
Bits 0-4: frontend code:
0: GPSL1/E1
1: GLOL1
2: E6
3: GPSL2
4: GLOL2
5: L5/E5a
6: E5b/B2I
7: E5(a+b)
8: Combined GPS/GLONASS/SBAS/Galileo L1
9: Combined GPS/GLONASS L2
10: MSS/L-band
11: B1I
12: B3I
13: S-band
Bits 5-7: Antenna ID: 0 for main, 1 for Aux1 and 2 for Aux2
Gain
i1
1 dB
−128
AGC gain, in dB.
The Do-Not-Use value is used to indicate that the frontend PLL is
not locked.
SampleVar
u1
BlankingStat
u1
Padding
u1[..]
0
1%
Normalized variance of the IF samples. The nominal value for this variance
is 100.
Current percentage of samples being blanked by the pulse blanking unit.
This field is always 0 for receiver without pulse blanking unit.
Padding bytes, see 4.1.5
338
4 SBF Reference
SatVisibility Number:
4012
"OnChange" interval: 1s
This block contains the azimuth and elevation of all the satellites above the horizon for
which the ephemeris or almanac is available.
Parameter
Type Units Do-Not-Use
Sync1
c1
Description
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
N
u1
SBLength
u1
1 byte
Length of one SatInfo sub-block
SatInfo
...
...
A succession of N SatInfo sub-blocks, see definition below
Padding
u1[..]
Block Header, see 4.1.1
Receiver time stamp, see 4.1.3
Number of satellites for which information is provided in this SBF block,
i.e. number of SatInfo sub-blocks.
Padding bytes, see 4.1.5
SatInfo sub-block definition:
Parameter
Type Units
Do-Not-Use
Description
SVID
u1
FreqNr
u1
Azimuth
u2
0.01 degrees 65535
Azimuth. 0 is North, and azimuth increases towards East.
Elevation
i2
0.01 degrees −32768
Elevation relative to local horizontal plane.
RiseSet
u1
Satellite ID, see 4.1.9
0
For GLONASS FDMA signals, this is the frequency number, with an
offset of 8. It ranges from 1 (corresponding to an actual frequency
number of -7) to 21 (corresponding to an actual frequency number
of 13). Otherwise, FreqNr is reserved and must be ignored by the
decoding software.
Rise/set indicator:
0: satellite setting
1:
satellite rising
255: elevation rate unknown
SatelliteInfo
u1
Satellite visibility info based on:
1:
almanac
2:
ephemeris
255: unknown
Padding
u1[..]
Padding bytes, see 4.1.5
339
4 SBF Reference
InputLink Number:
4090
"OnChange" interval: 1s
The InputLink block reports statistics of the number of bytes and messages received and
accepted on each active connection descriptor.
Per connection descriptor, the receiver maintains two byte counters (NrBytesReceived
and NrBytesAccepted) and two message counters (NrMsgReceived and
NrMsgAccepted), which are reported in the sub-blocks. These counters provide useful information on the quality of the transmission link, and of the bandwidth efficiency.
These counters (as well as the age of the last message) are reset simultaneously on
the following events:
• start-up of the receiver
• overflow of one of the counters
• change of input type
• deactivation of a connection descriptor, e.g. on disconnection of USB or IP ports.
There is one sub-block per connection descriptor for which statistics is available.
Parameter
Type Units Do-Not-Use
Sync1
c1
Description
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
N
u1
SBLength
u1
1 byte
Length of one InputStatsSub sub-block.
InputStats
...
...
A succession of N InputStatsSub sub-blocks, see definition below
Padding
u1[..]
Block Header, see 4.1.1
Receiver time stamp, see 4.1.3
Number of connection descriptors for which communication link statistics
are included
Padding bytes, see 4.1.5
340
4 SBF Reference
InputStatsSub sub-block definition:
Parameter
Type Units
CD
u1
Do-Not-Use
Description
Identifier of the connection to which this information applies:
Value of
Connection type
Example
CD
0-31
COMx, with x=CD
1: COM1
32-47
USBx, with x=CD-32
33: USB1
48-63
OTGx, with x=CD-48
49: OTG1
64-95
IPx, with x=CD-54
64:IP10
96-127
DSKx, with x=CD-96
97:DSK1
128-159 NTRx, with x=CD-128 (NTRIP connections)
129:NTR1
160-191 IPSx, with x=CD-160 (IP server connections)
161:IPS1
192
BT01 (Bluetooth connection)
193
BT02 (Bluetooth connection)
196
UHF1 (UHF Modem)
200-205 IPRx, with x=CD-200 (IP receive connections)
210
DCL1 (cellular data-call connection)
214
CAN1 (CAN stream interface)
201:IPR1
215-255 Reserved
341
4 SBF Reference
Type
u1
Type of data:
0:
none
1:
DaisyChain (includes "echo" messages)
32: CMD
33: SBF
34: AsciiDisplay (see setDataInOut command)
35: RINEX
36: CGGTTS
40: BINEX
64: NMEA
96: RTCMv2
97: RTCMv3
98: CMRv2
99: RTCMV (a proprietary variant of RTCMv2)
100: SPARTN
101: LBMP
110: raw LBAS1 from e.g. NTRIP
111: raw LBAS2 from e.g. NTRIP
118: raw LBAND data from Beam1
119: raw LBAND data from Beam2
128: Reserved
129: Reserved
130: Reserved
131: SBG (IMU sensor)
132: Reserved
133: Reserved
134: Reserved
135: Reserved
136: Reserved
137: ADIS
160: ASCIIIn
AgeOfLastMessage u2
1s
65535
Age of the last accepted message.
If the age is older than 65534s, it is clipped to 65534s.
NrBytesReceived u4
1 byte
4294967295 Total number of bytes received (6)
NrBytesAccepted u4
1 byte
4294967295 Total number of bytes (6) in messages that passed the check for this
type of input (CRC, parity check, ...).
The ratio of NrBytesAccepted to NrBytesReceived gives an
indication of the quality of the communication link.
NrMsgReceived
u4
1 message
Total number of messages of type Type received.
NrMsgAccepted
u4
1 message
Total number of messages of type Type that were interpreted and
used by the receiver.
The ratio of NrMsgAccepted to NrMsgReceived gives an indication of the bandwidth usage efficiency
Padding
(6)
u1[..]
Padding bytes, see 4.1.5
Note that, for RTCM 2.x, one 8-bit byte contains 6 RTCM data bits.
342
4 SBF Reference
OutputLink Number:
4091
"OnChange" interval: 1s
The OutputLink block reports statistics of the number of bytes sent on each active
connection descriptor.
Per connection descriptor, the receiver maintains two byte counters NrBytesProduced
and NrBytesSent, which are reported in the sub-block. They provide an indication of the
amount of data output and data lost on a given connection.
These counters are reset simultaneously on the following events:
• start-up of the receiver
• overflow of one of the counters
• deactivation of a connection descriptor, e.g. on disconnection of USB or IP ports
• change of COM port settings.
There is one OutputStatsSub sub-block per connection descriptor for which statistics is
available. Each OutputStatsSub sub-block contains a number of OutputTypeSub subblocks. These sub-blocks indicate which data type has been output through the connection
in question during the last second. If no output happened during the last second, there is no
OutputTypeSub sub-block.
Parameter
Type Units Do-Not-Use
Description
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
N1
u1
SB1Length
u1
1 byte
Length of an OutputStatsSub sub-block, excluding the nested
OutputTypeSub sub-block
SB2Length
u1
1 byte
Length of an OutputTypeSub sub-block
Reserved
u1[3]
OutputStats
...
Padding
u1[..]
Block Header, see 4.1.1
Receiver time stamp, see 4.1.3
Number of OutputStatsSub sub-blocks in this OutputLink block.
Reserved for future use
...
A succession of N1 OutputStatsSub sub-blocks, see definition below
Padding bytes, see 4.1.5
343
4 SBF Reference
OutputStatsSub sub-block definition:
Parameter
Type Units
CD
u1
Description
Identifier of the connection to which this information applies:
Value of
Connection type
Example
CD
0-31
COMx, with x=CD
1: COM1
32-47
USBx, with x=CD-32
33: USB1
48-63
OTGx, with x=CD-48
49: OTG1
64-95
IPx, with x=CD-54
64:IP10
96-127
DSKx, with x=CD-96
97:DSK1
128-159 NTRx, with x=CD-128 (NTRIP connections)
129:NTR1
160-191 IPSx, with x=CD-160 (IP server connections)
161:IPS1
192
BT01 (Bluetooth connection)
193
BT02 (Bluetooth connection)
196
UHF1 (UHF Modem)
200-205 IPRx, with x=CD-200 (IP receive connections)
210
DCL1 (cellular data-call connection)
214
CAN1 (CAN stream interface)
201:IPR1
215-255 Reserved
N2
u1
AllowedRate
u2
Number
of OutputTypeSub
OutputStatsSub sub-block
sub-blocks
included
at
the
end
of
this
1 kbyte / s Maximum datarate recommended on this connection
NrBytesProduced u4
1 byte
Total number of bytes produced by the receiver. See also the NrBytesSent field.
u4
1 byte
Total number of bytes actually sent (i.e. without congestions or transmission errors).
NrBytesSent
The ratio of NrBytesSent to NrBytesProduced gives an indication of the
amount of bandwidth overload.
NrBytesSent and NrBytesProduced are 32-bit counters.
overflows, both counters are reset to zero.
NrClients
u1
If one of them
Number of clients currently connected to this connection. Most connection types
can only serve one client at a time, but each IP server (IPS) port can serve up to eight
simultaneous clients.
Rev 1
Note that when NrClients is more than one, the fields NrBytesProduced
and NrBytesSent are the number of bytes produced and sent to each individual
client.
Reserved
u1[3]
Reserved for future use
Padding
u1[..]
Padding bytes, see 4.1.5
OutputType
...
...
A succession of N2 OutputTypeSub sub-blocks, see definition below
344
4 SBF Reference
OutputTypeSub sub-block definition:
Parameter
Type Units
Type
u1
Description
Type of data:
0:
none
1:
DaisyChain (includes "echo" messages)
32: CMD
33: SBF
34: AsciiDisplay (see setDataInOut command)
35: RINEX
36: CGGTTS
40: BINEX
64: NMEA
96: RTCMv2
97: RTCMv3
98: CMRv2
99: RTCMV (a proprietary variant of RTCMv2)
118: raw LBAND data from Beam1
119: raw LBAND data from Beam2
Percentage
u1
Padding
u1[..]
1%
Percentage of the produced bytes that belong to this type (during the last second)
Padding bytes, see 4.1.5
345
4 SBF Reference
NTRIPClientStatus Number:
4053
"OnChange" interval: 1s
This block reports the current status of the NTRIP client connections.
Parameter
Type Units Do-Not-Use
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
N
u1
SBLength
u1
NTRIPClientConnection ...
Padding
Description
Block Header, see 4.1.1
Receiver time stamp, see 4.1.3
Number of NTRIP client connections for which status is provided in this
block, i.e. number of NTRIPClientConnection sub-blocks.
1 byte
Length of one NTRIPClientConnection sub-block
...
A succession of N NTRIPClientConnection sub-blocks, see definition below
u1[..]
Padding bytes, see 4.1.5
NTRIPClientConnection sub-block definition:
Parameter
Type Units
Description
CDIndex
u1
Index of the NTRIP connection (1 for NTR1, 2 for NTR2, etc) for which status is provided
in this sub-block.
Status
u1
NTRIP client status:
0: Connection disabled
1: Initializing
2: Running, differential corrections are being received and the link statistics is available
in the InputLink block.
3: Error detected, the error code is provided in the next field.
4: Retrying, client encountered an error, we are trying to reconnect. The error code is
provided in the next field.
ErrorCode
u1
NTRIP error code:
0: No error
1:
Initialization error (e.g. source table retrieval failure)
2:
Authentication error
3:
Connection error
4:
Mountpoint does not exist
5:
Mountpoint unavailable
6:
Waiting for GGA
7:
GGA sending disabled when required by mountpoint
8:
Resolving host failed
9:
Out of region
10: TLS setup error
11: TLS handshake error
12: TLS fingerprint error
13: TLS time not known
254: Unknown error
Info
u1
Bitfield indicating miscellaneous info about the Connection status:
Bit 0:
TLS was used to make secure NTRIP connection if this bit is set
Bits 1-7: Reserved
346
4 SBF Reference
Padding
u1[..]
Padding bytes, see 4.1.5
347
4 SBF Reference
IPStatus Number:
4058
"OnChange" interval: output each time one or more IP parameters change
This block contains information on the receiver’s Ethernet interface (hostname, IP address,
gateway, netmask and MAC address).
Rev 1
Parameter
Type Units Do-Not-Use
Description
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
MACAddress
u1[6]
MAC address. The first byte corresponds to the MSB of the address.
IPAddress
u1[16]
All elements set to 0 IP address. For future upgradability, this field can contain a 128-bit
IPv6 address. In the current firmware version, the first 12 bytes are
always set to 0, and the last 4 bytes contain the IPv4 IP address, or
are set to zero if the IP address is not known or not applicable.
Gateway
u1[16]
All elements set to 0 Gateway address. For future upgradability, this field can contain a
128-bit IPv6 address. In the current firmware version, the first 12
bytes are always set to 0, and the last 4 bytes contain the IPv4 IP
address, or are set to zero if the gateway address is not known or
not applicable.
Netmask
u1
255
Reserved
u1[3]
Reserved for future use, to be ignored by decoding software.
HostName
c1[32]
Receiver hostname on the Ethernet interface, or empty if not
known.
Padding
u1[..]
Padding bytes, see 4.1.5
Block Header, see 4.1.1
Receiver time stamp, see 4.1.3
Number of bits used to identify the network (CIDR notation).
348
4 SBF Reference
DynDNSStatus Number:
4105
"OnChange" interval: 1s
This block contains dynamic DNS (DynDNS) status information.
Parameter
Type Units Do-Not-Use
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
Status
u1
Description
Block Header, see 4.1.1
Receiver time stamp, see 4.1.3
DynDNS status:
0:
DynDNS disabled
1:
Updating IP address
2:
IP address updated at the DynDNS server. DynDNS is ready
to use.
254: Error detected, the error code is provided in the next field.
ErrorCode
u1
DynDNS error code:
0: No error
1: Unspecified error
2: Abusive update
3: User name and password mismatch
4: Not a credited user
5: Hostname is not a fully-qualified domain name
6: Hostname does not exist in this user account
7: Hostname blocked for update abuse
8: Bad agent
9: DNS error
10: DynDNS server problem or maintenance
11: DynDNS server not reachable
IPAddress
u1[16]
Padding
u1[..]
Rev 1
All elements set to 0 IP address that has been registered at the DynDNS server. For
future upgradability, this field can contain a 128-bit IPv6 address.
In the current firmware version, the first 12 bytes are always set
to 0, and the last 4 bytes contain the IPv4 IP address, or are set to
zero if the IP address is not known or not applicable (e.g. because
registration failed).
Padding bytes, see 4.1.5
349
4 SBF Reference
QualityInd Number:
4082
"OnChange" interval: 1s
The QualityInd block contains quality indicators for the main functions of the receiver.
Each quality indicator is a value from 0 to 10, 0 corresponding to poor quality and 10 to very
high quality.
Parameter
Type Units Do-Not-Use
Description
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
N
u1
Number of quality indicators contained in this block
Reserved
u1
Reserved for future use, to be ignored by decoding software.
Indicators
u2[N]
N successive quality indicators, coded as follows:
Block Header, see 4.1.1
Receiver time stamp, see 4.1.3
Bits 0-7:
Quality indicator type:
0: Overall quality
1: GNSS signals from main antenna
2: GNSS signals from aux1 antenna
11: RF power level from the main antenna
12: RF power level from the aux1 antenna
21: CPU headroom
25: OCXO stability (only available on PolaRx5S receivers)
30: Base station measurements. This indicator is only
available in RTK mode. A low value could for example hint at severe multipath or interference at the
base station, or also at ionospheric scintillation.
31: RTK post-processing. This indicator is only available when the position mode is not RTK. It indicates the likelihood of getting a cm-accurate RTK
position when post-processing the current data.
All elements set to 15 Bits 8-11: Value of this quality indicator (from 0 for low quality to
10 for high quality, or 15 if unknown)
Bits 12-15: Reserved for future use, to be ignored by decoding
software.
Padding
u1[..]
Padding bytes, see 4.1.5
350
4 SBF Reference
DiskStatus Number:
4059
"OnChange" interval: 1s
This block reports the size and usage of the disks mounted on the receiver.
Parameter
Type Units Do-Not-Use
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
N
u1
SBLength
u1
Reserved
u1[4]
DiskData
...
Padding
u1[..]
Description
Block Header, see 4.1.1
Receiver time stamp, see 4.1.3
Number of DiskData sub-blocks this block contains.
1 byte
Length of one DiskData sub-blocks in bytes.
Reserved for future use
...
A succession of N DiskData sub-blocks, see definition below
Padding bytes, see 4.1.5
351
4 SBF Reference
DiskData sub-block definition:
Parameter
Type Units
Do-Not-Use
DiskID
u1
ID of the disk, starting at 1 for the internal SD Memory Card.
Status
u1
Bit field:
Rev 1
Description
Bit 0:
DISK_MOUNTED: bit set when the disk is mounted.
Bit 1:
DISK_FULL: bit set when the disk is full. A disk is full when it is
filled to 95% of its total capacity.
Bit 2:
DISK_ACTIVITY: bit set for one second each time data is written
to the disk. If the logging rate is larger than 1 Hz, set continuously.
Bit 3:
LOGGING_ENABLED: bit set when at least one file is open on
the disk, regardless of the logging rate.
Bit 4:
MOUNTING: bit set when disk is being mounted.
Bit 5:
FORMATTING: bit set when disk is being formatted.
Bits 6-7: Reserved
DiskUsageMSB
u2
65535 (7)
DiskUsageLSB
u4
4294967295 (7) 32 LSB of the total disk usage. The disk usage in bytes is given by
DiskUsageMSB*4294967296+DiskUsageLSB.
DiskSize
u4
1 Mbyte 0
CreateDeleteCount u1
Error
u1
Rev 1
16 MSB of the total disk usage. The disk usage in bytes is given by
DiskUsageMSB*4294967296+DiskUsageLSB.
Total size of the disk, in megabytes.
Counter incremented by one each time a file or a folder is created or
deleted on this disk. This counter starts at zero at receiver start-up
and restarts at zero after having reached 255.
255
Disk error:
0: No error
1:
Disk partition is too large
2:
Disk does not have any partition
3:
File system check and recovery failed
4:
Disk in use over USB
254: Disk mount failed due to unknown error
Padding
(7)
u1[..]
Padding bytes, see 4.1.5
The disk usage is invalid if both DiskUsageMSB is 65535 and DiskUsageLSB is 4294967295.
352
4 SBF Reference
RFStatus Number:
4092
"OnChange" interval: 1s
The RFStatus block provides information on the radio-frequency (RF) bands where
interferences have been detected and/or notch filters have been applied.
Parameter
Type Units Do-Not-Use
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
N
u1
SBLength
u1
Flags
u1
Description
Block Header, see 4.1.1
Receiver time stamp, see 4.1.3
Number of RF bands for which data is provided in this SBF block, i.e. number of RFBand sub-blocks.
1 byte
Length of one sub-block
Bit field:
Bit 0:
Set when a spoofing suspicion is determined.
Bits 1-7: Reserved
Reserved
u1[3]
RFBand
...
Padding
u1[..]
Reserved for future use, to be ignored by decoding software.
...
A succession of N RFBand sub-blocks, see definition below
Padding bytes, see 4.1.5
RFBand sub-block definition:
Parameter
Type Units
Description
Frequency
u4
1 Hz
Bandwidth
u2
1 kHz Bandwidth of the RF band.
Info
u1
Info on this RF band:
Center frequency of the RF band addressed by this sub-block.
Bits 0-3: Mode:
1: This RF band is suppressed by a notch filter set manually with the command
setNotchFiltering.
2: The receiver detected interference in this band, and successfully canceled it.
8: The receiver detected interference in this band. No mitigation applied.
Bits 4-5: Reserved
Bits 6-7: Antenna ID: 0 for main, 1 for Aux1 and 2 for Aux2
Padding
u1[..]
Padding bytes, see 4.1.5
353
4 SBF Reference
4.2.17
Miscellaneous Blocks
ReceiverSetup Number:
5902
"OnChange" interval: Block generated each time a user-command
is entered to change one or more values in the block (e.g. when entering the
setMarkerParameters command)
The ReceiverSetup block contains parameters related to the receiver and its installation.
When generating RINEX files, this block defines the RINEX file name and the contents of the
header.
For all fields containing a string, if the length of the string is lower than the size of the
corresponding field, the unused bytes are set to zero.
Parameter
Type Units Do-Not-Use
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
Reserved
u1[2]
2 bytes reserved for future use, to be ignored by decoding software
MarkerName
c1[60]
Marker name (set with setMarkerParameters).
MarkerNumber
c1[20]
Marker number (set with setMarkerParameters).
Observer
c1[20]
Observer name (set with setObserverParameters).
Agency
c1[40]
Observer agency (set with setObserverParameters).
RxSerialNumber
c1[20]
Receiver serial number.
RxName
c1[20]
Receiver GNSS engine name.
RxVersion
c1[20]
Receiver firmware version.
AntSerialNbr
c1[20]
Serial number of the main antenna.
AntType
c1[20]
Type of the main antenna (set with setAntennaType ).
deltaH
f4
1m
δ H offset of the main antenna (always 0).
deltaE
f4
1m
δ E offset of the main antenna (always 0).
deltaN
f4
1m
δ N offset of the main antenna (always 0).
Rev 1
MarkerType
c1[20]
Marker type (set with the setMarkerParameters command).
Rev 2
GNSSFWVersion
c1[40]
Version the firmware installed on the receiver.
Rev 3
ProductName
c1[40]
Product name.
Latitude
f8
1 rad
−2 · 1010
Latitude of the reference position, from −π/2 to +π/2, positive North of
Equator. Use the setPVTMode command to set the reference position.
Longitude
f8
1 rad
−2 · 1010
Longitude of the reference position, from −π to +π , positive East of
Greenwich. Use the setPVTMode command to set the reference position.
Height
f4
1m
−2 · 1010
Ellipsoidal height of the reference position (with respect to WGS84 ellipsoid). Use the setPVTMode command to set the reference position.
StationCode
c1[10]
Rev 4
Description
Block Header, see 4.1.1
Receiver time stamp, see 4.1.3
Station code (set with setMarkerParameters). This field can for example contains the four-letter IGS station code assigned to the receiver.
354
4 SBF Reference
Rev 4
MonumentIdx
u1
Monument index (set with setMarkerParameters). This index is used
to identify the monument when there are multiple monuments at the
same station.
ReceiverIdx
u1
Receiver index (set with setMarkerParameters). This index is used to
identify the receiver when there are multiple receivers at the same monument.
CountryCode
c1[3]
ISO 3-character country code (set with the setMarkerParameters command).
Reserved1
c1[21]
Reserved.
Padding
u1[..]
Padding bytes, see 4.1.5
355
4 SBF Reference
RxMessage Number:
4103
"OnChange" interval: block generated each time a message needs to be
sent
The receiver generates ASCII messages to help users follow the progress of processes such
as file logging or FTP push (activity log). These messages are output in the RxMessage
block, and they can also be retrieved from the command line using the lif,RxMessages
command.
Parameter
Type
Sync1
c1
Units Do-Not-Use
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
Type
u1
Description
Block Header, see 4.1.1
255
Receiver time stamp, see 4.1.3
Type of message contained in this block:
1: Asynchronous command reply
2: Message about internal logging
3: Message about FTP push
4: Message about Receiver Status
5: Message from slave GNSS receiver
6: Message about CloudIt
Severity
u1
255
Message severity:
1: Info
2: Warning
3: Error
MessageID
u4
0
A unique value associated to each message. This is a counter starting at 1 for the first message after boot and incrementing at each
message.
StringLn
u2
Length of Message in characters, including the terminating \0.
Reserved2
u1[2]
Reserved, contents to be ignored.
Message
c1[StringLn]
Receiver message terminated by \0.
Padding
u1[..]
Padding bytes, see 4.1.5
356
4 SBF Reference
Commands Number:
4015
"OnChange" interval: each time a user command is entered
Every time the user sends a command, a Commands block is output on all ports for which
this block is enabled. The Commands SBF block is inserted in the SBF stream at the very
moment when the command starts to take effect.
Parameter
Type Units Do-Not-Use
Description
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
Reserved
u1[2]
Reserved for future use, to be ignored by decoding software.
CmdData
u1[N]
Command data, this is the command in the SNMP’ format (reserved for
maintenance and support only).
Padding
u1[..]
Padding bytes, see 4.1.5
Block Header, see 4.1.1
Receiver time stamp, see 4.1.3
357
4 SBF Reference
Comment Number:
5936
"OnChange" interval: block generated each time a comment is entered with
setObserverComment
The Comment block contains a comment string as entered with the setObserverComment
command.
Parameter
Type
Sync1
c1
Units Do-Not-Use
Description
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
CommentLn
u2
Length of the Comment string, in characters. The maximum
length of a comment is 120 characters.
Comment
c1[CommentLn]
Comment string, as entered with the setObserverComment
command. Note that this string is not terminated by the "\0"
character.
Padding
u1[..]
Padding bytes, see 4.1.5
Block Header, see 4.1.1
Receiver time stamp, see 4.1.3
358
4 SBF Reference
BBSamples Number:
4040
"OnChange" interval: block generated each time new baseband samples
are ready (typically at 2Hz)
The BBSamples block contains a series of successive complex baseband samples. These
samples can be used for signal monitoring and for spectral analysis of the GNSS bands
supported by the receiver.
Parameter
Type Units Do-Not-Use
Sync1
c1
Description
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
N
u2
Number of complex baseband samples contained in this block
Info
u1
Bit field as follows:
Block Header, see 4.1.1
External time stamp, see 4.1.3
Bits 0-2: Antenna ID: antenna from which the samples have been taken:
0 for main, 1 for Aux1 and 2 for Aux2.
Bits 3-7: Reserved
Reserved
u1[3]
Reserved for future use, to be ignored by decoding software.
SampleFreq
u4
1 Hz
Sampling frequency in Hz.
LOFreq
u4
1 Hz
Frequency of the local oscillator (LO) used to down-convert the RF signal
to baseband.
Samples
u2[N]
N successive complex baseband samples (I+jQ), coded as follows:
Bits 0-7: 8-bit Q component, two’s complement.
Bits 8-15: 8-bit I component, two’s complement.
Padding
u1[..]
Padding bytes, see 4.1.5
359
4 SBF Reference
ASCIIIn Number:
4075
"OnChange" interval: block generated each time an ASCII string is received
The ASCIIIn block contains a string that has been received on one of the receiver’s
connection ports.
More specifically, this block is output each time an end-of-line character is received on
a communication port configured to receive ASCIIIn input (with the setDataInOut
command). The string reported in this block contains all characters received since the
previous occurrence of an end-of-line character.
The maximum length of the string is 2000 characters. If there are more than 2000
characters between the occurrence of two successive end-of-line characters, the string is
discarded
Parameter
Type
Units Do-Not-Use
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
CD
u1
Description
Block Header, see 4.1.1
Receiver time stamp, see 4.1.3
Identifier of the connection from which the data has been received:
Value of
Connection type
Example
CD
0-31
COMx, with x=CD
1: COM1
32-47
USBx, with x=CD-32
33: USB1
48-63
OTGx, with x=CD-48
49: OTG1
64-95
IPx, with x=CD-54
64:IP10
128-159 NTRx, with x=CD-128 (NTRIP connections)
192
BT01 (Bluetooth connection)
193
BT02 (Bluetooth connection)
196
UHF1 (UHF Modem)
200-205 IPRx, with x=CD-200 (IP receive connections)
210
DCL1 (cellular data-call connection)
214
CAN1 (CAN stream interface)
129:NTR1
201:IPR1
215-255 Reserved
Reserved1
u1[3]
Reserved, contents to be ignored.
StringLn
u2
Length of ASCIIString in characters.
SensorModel
c1[20]
Not supported, reserved for future use.
SensorType
c1[20]
Not supported, reserved for future use.
Reserved2
u1[20]
Reserved, contents to be ignored.
ASCIIString
c1[StringLn]
ASCII string. Note that this string is not terminated by the "\0" character. The string does not include the end-of-line character(s) (carrier return and/or line feed).
Padding
u1[..]
Padding bytes, see 4.1.5
360
4 SBF Reference
EncapsulatedOutput Number:
4097
"OnChange" interval: output each time an RTCM, CMR,
NMEA or ASCIIDisplay message is
output
The EncapsulatedOutput block encapsulates non-SBF output messages into SBF. It is
enabled with the Encapsulate option of the setDataInOut command.
Parameter
Type Units Do-Not-Use
Sync1
c1
Sync2
c1
CRC
u2
ID
u2
Length
u2
1 byte
TOW
u4
0.001 s 4294967295
WNc
u2
1 week 65535
Mode
u1
Description
Block Header, see 4.1.1
Receiver time stamp, see 4.1.3
Type
of
the
message
encapsulated
in
the
Payload
field:
0: RTCMv2
1: CMRv2
2: RTCMv3
4: NMEA
5: ASCIIDisplay
Reserved
u1
Reserved for future use, to be ignored by decoding software.
N
u2
Length of Payload in bytes.
ReservedId
u2
Reserved for future use
Payload
u1[N]
Encapsulated message.
Padding
u1[..]
Padding bytes, see 4.1.5
361
CHAPTER 4. SBF REFERENCE
4.3
SBF Change Log
Date
Change Description
Apr 26, 2019 Added the QZSAlm block containing QZSS almanac parameters
Mar 12, 2019 Added the BDSAlm block containing BeiDou almanac parameters
July 30, 2018 Added the IMUSetup block containing the IMU lever arm and orientation
Jun 20, 2017 Added the BDSIon and BDSUtc blocks containing BeiDou ionospheric and
UTC offset parameters
Jun 15, 2017 Added the
Meas3PP and
Meas3MP blocks to supplement the
Meas3Ranges block
Mar 6, 2017
Added the Meas3Ranges, Meas3CN0HiRes and Meas3Doppler blocks
containing GNSS measurements
Mar 1, 2017
Renamed CMPNav to BDSNav and CMPRaw to BDSRaw
Nov 10, 2015 Added the RxMessage block containing the receiver activity log
Feb 04, 2015 Added the QZSNav block containing decoded QZSS navigation data
Jan 13, 2015 Added the PosProjected block containing plane grid coordinates
Dec 12, 2014 Added the base measurements quality indicator
Nov 6, 2014
Added the RFStatus block for interference mitigation monitoring
April 30, 2014 Added new values for the Datum field
April 22, 2014 Added the DiskStatus block reporting the disk usage and free space of
the disks available on the receiver
Feb 21, 2014 Added the NTRIPClientStatus block for the NTRIP client connection status
March 14, 2013 Added the QualityInd block containing various quality indicators
Feb 19, 2013 Added the CMPNav block containing decoded BeiDou navigation data
Feb 8, 2013
Fixed typo: field t_oG of GALGstGps changed to type u4 and units of seconds
Jan 8, 2013
Added fields HAccuracy, VAccuracy and Misc to the PVTCartesian
and PVTGeodetic blocks
Dec 19, 2012 Added PRNs 139 and 140 to the list of SBAS satellites
Oct 25, 2012 Added RTCMDatum and PosLocal blocks
Oct 1, 2012
Added new signal type for L-band and SBAS L5 signals (value 23 and 25)
Sep 20, 2012 Added field PPPInfo to the PVTCartesian and PVTGeodetic blocks
Feb 28, 2012 Added GALSARRLM block
Feb 6, 2012
Added QZSS signals and QZSRawL1CA, QZSRawL2C and QZSRawL5 blocks
362
APPENDIX A. ATTITUDE ANGLES
Appendix A
Attitude Angles
The attitude of the vehicle is defined as the angles between the vehicle reference frame and
the local-level reference frame (defined by the East, North and Up directions). The vehicle
reference frame is defined as follows. It is attached to the vehicle and has its X axis pointing
along the longitudinal vehicle axis, the Y axis pointing towards the vehicle starboard (right)
side and the Z axis pointing down, as illustrated in Figure A-1.
Xv
Zv
Yv
Figure A-1: Vehicle reference frame.
Septentrio receivers express the vehicle attitude in Euler angles using the heading-pitch-roll
rotation sequence. More specifically, Euler angles are defined as successive rotations of the
vehicle frame (X, Y, Z axes) relative to the local-level East-North-Up reference frame. The
rotation sequence is shown in Figure A-2. The heading (ψ ) of the vehicle is defined as the
right-handed rotation of the vehicle about the Z axis (0o ≤ ψ ≤ 360o ). The pitch (θ) of the
vehicle is defined as the right-handed rotation about the vehicle Y axis (−90o ≤ θ ≤ 90o ).
The roll (ϕ) of the vehicle is defined as the right-handed rotation about the vehicle X axis
(−180o ≤ ϕ ≤ 180o ).
Starting from the situation where X points to the North, Y to the East and Z down, the following successive rotations define the attitude of the vehicle. Note that the order of the
rotations is important.
363
APPENDIX A. ATTITUDE ANGLES
1. Rotate through angle ψ about Z axis;
2. Rotate through angle θ about new Y axis;
3. Rotate through angle ϕ about new X axis;
N
U
U
Xv
pitch
heading
E
Zv
Yv
Xv
roll
Xv
N
E
Yv
Yv
top-view
back-view
side-view
Zv
Zv
Figure A-2: Euler angle sequence.
364
APPENDIX B. LIST OF SBF BLOCKS
Appendix B
List of SBF Blocks
The following table provides the list of the SBF block names and numbers available on
AsteRx-i S and a short description of the associated contents. The block number is contained in bits 0 to 12 of the block ID field (see section 4.1.1).
The "Flex Rate" column indicates whether a given block can be output at a user-defined rate
and the "esoc" column whether it can be used as an argument of the exeSBFOnce command
(see also section 4.1.8). The "Time stamp" column indicates which type of time is encoded in
the block time stamp (see section 4.1.3 for details).
Block name
Block Content description
Flex esoc Time
No
Rate
Stamp
Measurement Blocks
MeasEpoch
4027 Measurement set of one epoch
•
•
R
MeasExtra
4000 Additional info such as observable variance
•
•
R
Meas3Ranges
4109 Code, phase and CN0 measurements
•
•
R
Meas3CN0HiRes
4110 Extension of Meas3Ranges containing fractional C/N0 values
•
•
R
Meas3Doppler
4111 Extension of Meas3Ranges containing Doppler values
•
•
R
Meas3PP
4112 Extension of Meas3Ranges containing proprietary flags for data post-processing.
•
•
R
Meas3MP
4113 Extension of Meas3Ranges containing multipath corrections applied by the receiver.
•
•
R
EndOfMeas
5922 Measurement epoch marker
•
•
R
Navigation Page Blocks
GPSRawCA
4017 GPS CA navigation subframe
S
GPSRawL2C
4018 GPS L2C navigation frame
S
GLORawCA
4026 GLONASS CA navigation string
S
GALRawINAV
4023 Galileo I/NAV navigation page
S
GEORawL1
4020 SBAS L1 navigation message
S
BDSRaw
4047 BeiDou navigation page
S
QZSRawL1CA
4066 QZSS L1 CA navigation frame
S
QZSRawL2C
4067 QZSS L2C navigation frame
S
GPS Decoded Message Blocks
GPSNav
5891 GPS ephemeris and clock
•
S
GPSAlm
5892 Almanac data for a GPS satellite
•
S
GPSIon
5893 Ionosphere data from the GPS subframe 5
•
S
GPSUtc
5894 GPS-UTC data from GPS subframe 5
•
S
365
APPENDIX B. LIST OF SBF BLOCKS
Block name
Block Content description
Flex esoc Time
No
Rate
Stamp
GLONASS Decoded Message Blocks
GLONav
4004 GLONASS ephemeris and clock
•
S
GLOAlm
4005 Almanac data for a GLONASS satellite
•
S
GLOTime
4036 GLO-UTC, GLO-GPS and GLO-UT1 data
•
S
GALNav
4002 Galileo ephemeris, clock, health and BGD
•
S
GALAlm
4003 Almanac data for a Galileo satellite
•
S
GALIon
4030 NeQuick Ionosphere model parameters
•
S
GALUtc
4031 GST-UTC data
•
S
GALGstGps
4032 GST-GPS data
•
S
GALSARRLM
4034 Search-and-rescue return link message
Galileo Decoded Message Blocks
S
BeiDou Decoded Message Blocks
BDSNav
4081 BeiDou ephemeris and clock
•
S
BDSAlm
4119 Almanac data for a BeiDou satellite
•
S
BDSIon
4120 BeiDou Ionospheric delay model parameters
•
S
BDSUtc
4121 BDT-UTC data
•
S
QZSNav
4095 QZSS ephemeris and clock
•
S
QZSAlm
4116 Almanac data for a QZSS satellite
•
S
QZSS Decoded Message Blocks
SBAS L1 Decoded Message Blocks
GEOMT00
5925 MT00 : SBAS Don’t use for safety applications
S
GEOPRNMask
5926 MT01 : PRN Mask assignments
S
GEOFastCorr
5927 MT02-05/24: Fast Corrections
S
GEOIntegrity
5928 MT06 : Integrity information
S
GEOFastCorrDegr
5929 MT07 : Fast correction degradation factors
S
GEONav
5896 MT09 : SBAS navigation message
GEODegrFactors
5930 MT10 : Degradation factors
GEONetworkTime
5918 MT12 : SBAS Network Time/UTC offset parameters
GEOAlm
5897 MT17 : SBAS satellite almanac
GEOIGPMask
5931 MT18 : Ionospheric grid point mask
S
GEOLongTermCorr
5932 MT24/25 : Long term satellite error corrections
S
GEOIonoDelay
5933 MT26 : Ionospheric delay corrections
S
GEOServiceLevel
5917 MT27 : SBAS Service Message
S
GEOClockEphCovMatrix
5934 MT28 : Clock-Ephemeris Covariance Matrix
S
•
S
S
S
•
S
Position, Velocity and Time Blocks
PVTCartesian
4006 Position, velocity, and time in Cartesian coordinates
•
•
R
PVTGeodetic
4007 Position, velocity, and time in geodetic coordinates
•
•
R
PosCovCartesian
5905 Position covariance matrix (X,Y, Z)
•
•
R
PosCovGeodetic
5906 Position covariance matrix (Lat, Lon, Alt)
•
•
R
VelCovCartesian
5907 Velocity covariance matrix (X, Y, Z)
•
•
R
VelCovGeodetic
5908 Velocity covariance matrix (North, East, Up)
•
•
R
DOP
4001 Dilution of precision
•
•
R
PosCart
4044 Position, variance and baseline in Cartesian coordinates
•
•
R
PosLocal
4052 Position in a local datum
•
•
R
PosProjected
4094 Plane grid coordinates
•
•
R
366
APPENDIX B. LIST OF SBF BLOCKS
Block name
Block Content description
Flex esoc Time
No
Rate
Stamp
BaseVectorCart
4043 XYZ relative position and velocity with respect to base(s)
•
•
R
BaseVectorGeod
4028 ENU relative position and velocity with respect to base(s)
•
•
R
PVTSupport
4076 Internal parameters for maintenance and support
•
•
R
PVTSupportA
4079 Internal parameters for maintenance and support
•
•
R
EndOfPVT
5921 PVT epoch marker
•
•
R
INSSupport
4077 Internal parameters for maintenance and support
•
•
E
INSNavCart
4225 INS solution in Cartesian coordinates
•
•
E
INSNavGeod
4226 INS solution in Geodetic coordinates
•
•
E
AttEuler
5938 GNSS attitude expressed as Euler angles
•
•
R
AttCovEuler
5939 Covariance matrix of attitude
•
•
R
AuxAntPositions
5942 Relative position and velocity estimates of auxiliary antennas
•
•
R
EndOfAtt
5943 GNSS attitude epoch marker
•
•
R
ReceiverTime
5914 Current receiver and UTC time
•
•
R
xPPSOffset
5911 Offset of the xPPS pulse with respect to GNSS time
R
ExtEvent
5924 Time at the instant of an external event
E
ExtEventINSNavCart
4229 INS solution in Cartesian coordinates at the instant of an event
E
ExtEventINSNavGeod
4230 INS solution in Geodetic coordinates at the instant of an event
E
DiffCorrIn
5919 Incoming RTCM or CMR message
R
BaseStation
5949 Base station coordinates
R
RTCMDatum
4049 Datum information from the RTK service provider
R
INS/GNSS Integrated Blocks
GNSS Attitude Blocks
Receiver Time Blocks
External Event Blocks
Differential Correction Blocks
External Sensor Blocks
ExtSensorMeas
4050 Measurement set of external sensors of one epoch
•
E
ExtSensorStatus
4223 Overall status of external sensors
•
•
E
ExtSensorInfo
4222 Configuration information of external sensors
•
E
IMUSetup
4224 General information about the setup of the IMU
•
E
Status Blocks
ChannelStatus
4013 Status of the tracking for all receiver channels
•
•
R
ReceiverStatus
4014 Overall status information of the receiver
•
•
R
SatVisibility
4012 Azimuth/elevation of visible satellites
•
•
R
InputLink
4090 Statistics on input streams
•
•
R
OutputLink
4091 Statistics on output streams
•
•
R
NTRIPClientStatus
4053 NTRIP client connection status
•
•
R
IPStatus
4058 IP address, gateway and MAC address of Ethernet interface
•
R
DynDNSStatus
4105 DynDNS status
•
•
R
QualityInd
4082 Quality indicators
•
•
R
DiskStatus
4059 Internal logging status
•
•
R
RFStatus
4092 Radio-frequency interference mitigation status
•
•
R
Miscellaneous Blocks
ReceiverSetup
5902 General information about the receiver installation
•
R
RxMessage
4103 Receiver message
•
R
367
APPENDIX B. LIST OF SBF BLOCKS
Block name
Block Content description
Flex esoc Time
No
Rate
Stamp
Commands
4015 Commands entered by the user
•
R
Comment
5936 Comment entered by the user
•
R
BBSamples
4040 Baseband samples
E
ASCIIIn
4075 ASCII input from external sensor
R
EncapsulatedOutput 4097 SBF encapsulation of non-SBF messages
R
368
APPENDIX C. LIST OF NMEA SENTENCES
Appendix C
List of NMEA Sentences
The following table provides a list of the NMEA messages supported by your receiver.
The first column is the message identifier to be used in the setNMEAOutput and the
exeNMEAOnce commands.
For a full description of the NMEA messages, please refer to the NMEA 0183 standard.
Message
Identifier
NMEA For- Short Description
matter
Comment
GGA
GGA
GPS Fix Data
GLL
GLL
Geographic Position - Latitude/Longitude
GNS
GNS
GNSS Fix Data
GST
GST
GNSS Pseudorange Error Statistics
HDT
HDT
Heading, True
HRP
HRP
Heading, Roll, Pitch
Septentrio proprietary, see section C.1.1
PASHR
PASHR
Inertial Attitude Data
Septentrio proprietary, see section C.1.2
RMC
RMC
Recommended Minimum Specific GNSS
Data
THS
THS
True Heading and Status
VTG
VTG
Course Over Ground and Ground
Speed
ZDA
ZDA
Time and Date
369
APPENDIX C. LIST OF NMEA SENTENCES
Appendix C.1
Proprietary NMEA Sentences
C.1.1
HRP : Heading, Roll Pitch
Field
Description
$PSSN,HRP,
Start of sentence
hhmmss.ss,
UTC of HRP (HoursMinutesSeconds.DecimalSeconds)
xxxxxx,
Date: ddmmyy
x.x,
Heading, degrees True
x.x,
Roll, degrees
x.x,
Pitch, degrees
x.x,
Heading standard deviation, degrees
x.x,
Roll standard deviation, degrees
x.x,
Pitch standard deviation, degrees
xx,
Number of satellites used for attitude computation
Mode indicator:
0: No attitude available
1: Heading, Pitch with float ambiguities
2: Heading, Pitch with fixed ambiguities
3: Heading, Pitch, Roll with float ambiguities
4: Heading, Pitch, Roll with fixed ambiguities
5: Heading, Pitch from velocity (dead-reckoning)
Magnetic variation, degrees (E=East, W=West, see also the setMagneticVariance command)
x,
x.x,a
*hh
Checksum delimiter and checksum field
<CR><LF>
End of sentence
C.1.2
PASHR : Inertial Attitude Data
Field
Description
$PASHR,
Start of sentence
hhmmss.ss,
UTC of PASHR (HoursMinutesSeconds.DecimalSeconds)
x.x,
Heading, degrees
a,
’T’ if heading is relative to true North, otherwise empty
x.x,
Roll, degrees
x.x,
Pitch, degrees
x,
Reserved
x.x,
Roll standard deviation, degrees
x.x,
Pitch standard deviation, degrees
x.x,
*hh
Heading standard deviation, degrees
GNSS update quality flag:
0: No GNSS position
1: non-RTK position
2: RTK position
INS status flag:
0: No INS solution available
1: INS solution available
Checksum delimiter and checksum field
<CR><LF>
End of sentence
x,
x,
370
APPENDIX D. LIST OF CMR AND RTCM MESSAGES
Appendix D
List of CMR and RTCM Messages
This appendix provides a list of all the CMR and RTCM (v2.x and v3.x) messages supported
by the receiver.
Appendix D.1
CMR Messages
Message
Identifier
Short Description
CMR0
Observables
CMR1
Reference Station Coordinates
CMR2
Reference Station Description
CMR3
GLONASS Observables
CMR0p
CMR+ variant
CMR0w
CMR-W variant
Appendix D.2
RTCM v2.x Messages
Message
Identifier
Short Description
RTCM1
Differential GPS Corrections
RTCM3
GPS Reference Station Parameters
RTCM9
GPS Partial Correction Set
RTCM15
Ionospheric Delay
RTCM17
GPS Ephemerides Message
RTCM18
RTK Uncorrected Carrier Phases
RTCM19
RTK Uncorrected Pseudoranges
RTCM20
RTK Carrier Phase Corrections
RTCM21
RTK/Hi-Accuracy Pseudorange Corrections
RTCM22
Extended Reference Station Parameters
RTCM23
Antenne Type Definition Record
RTCM24
Antenna Reference Point (ARP)
RTCM31
Differential GLONASS Corrections
RTCM32
GLONASS Reference Station Parameters
371
APPENDIX D. LIST OF CMR AND RTCM MESSAGES
Message
Identifier
Short Description
RTCM34
GLONASS Partial Correction Set
RTCM59
Proprietary Message
Appendix D.3
RTCM v3.x Messages
Message
Identifier
Short Description
RTCM1001
L1-Only GPS RTK Observables
RTCM1002
Extended L1-Only GPS RTK Observables
RTCM1003
L1&L2 GPS RTK Observables
RTCM1004
Extended L1&L2 GPS RTK Observables
RTCM1005
Stationary RTK Reference Station ARP
RTCM1006
Stationary RTK Reference Station ARP with Antenna Height
RTCM1007
Antenna Descriptor
RTCM1008
Antenna Descriptor and Serial Number
RTCM1009
L1-Only GLONASS RTK Observables
RTCM1010
Extended L1-Only GLONASS RTK Observables
RTCM1011
L1&L2 GLONASS RTK Observables
RTCM1012
Extended L1&L2 GLONASS RTK Observables
RTCM1013
System Parameters
RTCM1015
Network RTK (MAC), GPS Ionospheric Correction Differences
RTCM1016
Network RTK (MAC), GPS Geometric Correction Differences
RTCM1017
Network RTK (MAC), GPS Combined Geometric and Ionospheric Correction Differences
RTCM1019
GPS Satellite Ephemeris Data
RTCM1020
Glonass Satellite Ephemeris Data
RTCM1021
Helmert-Abridged Molodenski Transformation Parameters
RTCM1022
Molodenski-Badekas Transformation Parameters
RTCM1023
Residuals, Ellipsoidal Grid Representation
RTCM1024
Residuals, Plane Grid Representation
RTCM1025
Projection Parameters, Projection Types other than Lambert Conic Conformal (2 SP) and
Oblique Mercator
RTCM1026
Projection Parameters, Projection Type LCC2SP (Lambert Conic Conformal (2 SP))
RTCM1027
Projection Parameters, Projection Type OM (Oblique Mercator)
RTCM1029
Unicode Text String
RTCM1033
Receiver and Antenna Descriptors
RTCM1037
Network RTK (MAC), GLONASS Ionospheric Correction Differences
RTCM1038
Network RTK (MAC), GLONASS Geometric Correction Differences
RTCM1039
Network RTK (MAC), GLONASS Combined Geometric and Ionospheric Correction Differences
RTCM1042
BDS Satellite Ephemeris Data
RTCM1044
QZSS Satellite Ephemeris Data
RTCM1046
Galileo I/NAV Satellite Ephemeris Data
RTCM1071
GPS MSM1, Compact Pseudoranges
RTCM1072
GPS MSM2, Compact PhaseRanges
RTCM1073
GPS MSM3, Compact Pseudoranges and PhaseRanges
RTCM1074
GPS MSM4, Full Pseudoranges and PhaseRanges plus CNR
RTCM1075
GPS MSM5, Full Pseudoranges, PhaseRanges, PhaseRangeRate and CNR
372
APPENDIX D. LIST OF CMR AND RTCM MESSAGES
Message
Identifier
Short Description
RTCM1076
GPS MSM6, Full Pseudoranges and PhaseRanges plus CNR (high resolution)
RTCM1077
GPS MSM7, Full Pseudoranges, PhaseRanges, PhaseRangeRate and CNR (high resolution)
RTCM1081
GLONASS MSM1, Compact Pseudoranges
RTCM1082
GLONASS MSM2, Compact PhaseRanges
RTCM1083
GLONASS MSM3, Compact Pseudoranges and PhaseRanges
RTCM1084
GLONASS MSM4, Full Pseudoranges and PhaseRanges plus CNR
RTCM1085
GLONASS MSM5, Full Pseudoranges, PhaseRanges, PhaseRangeRate and CNR
RTCM1086
GLONASS MSM6, Full Pseudoranges and PhaseRanges plus CNR (high resolution)
RTCM1087
GLONASS MSM7, Full Pseudoranges, PhaseRanges, PhaseRangeRate and CNR (high resolution)
RTCM1091
GALILEO MSM1, Compact Pseudoranges
RTCM1092
GALILEO MSM2, Compact PhaseRanges
RTCM1093
GALILEO MSM3, Compact Pseudoranges and PhaseRanges
RTCM1094
GALILEO MSM4, Full Pseudoranges and PhaseRanges plus CNR
RTCM1095
GALILEO MSM5, Full Pseudoranges, PhaseRanges, PhaseRangeRate and CNR
RTCM1096
GALILEO MSM6, Full Pseudoranges and PhaseRanges plus CNR (high resolution)
RTCM1097
GALILEO MSM7, Full Pseudoranges, PhaseRanges, PhaseRangeRate and CNR (high resolution)
RTCM1121
BEIDOU MSM1, Compact Pseudoranges
RTCM1122
BEIDOU MSM2, Compact PhaseRanges
RTCM1123
BEIDOU MSM3, Compact Pseudoranges and PhaseRanges
RTCM1124
BEIDOU MSM4, Full Pseudoranges and PhaseRanges plus CNR
RTCM1125
BEIDOU MSM5, Full Pseudoranges, PhaseRanges, PhaseRangeRate and CNR
RTCM1126
BEIDOU MSM6, Full Pseudoranges and PhaseRanges plus CNR (high resolution)
RTCM1127
BEIDOU MSM7, Full Pseudoranges, PhaseRanges, PhaseRangeRate and CNR (high resolution)
RTCM1230
GLONASS L1&L2 Code-Phase Biases
373
INDEX OF COMMANDS
Index of Commands
A
AGCMode
setAGCMode, getAGCMode
sam, gam, 87
AntennaInfo
lstAntennaInfo
lai, 55
AntennaType
setAntennaType, getAntennaType
sat, gat, 92
AttitudeOffset
setAttitudeOffset, getAttitudeOffset
sto, gto, 117
B
BBSamplingMode
setBBSamplingMode, getBBSamplingMode
sbbs, gbbs, 88
C
ChannelAllocation
setChannelAllocation, getChannelAllocation
sca, gca, 80
CheckInternetAvailability
setCheckInternetAvailability, getCheckInternetAvailability
scia, gcia, 133
ClockSyncThreshold
setClockSyncThreshold, getClockSyncThreshold
scst, gcst, 127
CMRv2Usage
setCMRv2Usage, getCMRv2Usage
sc2u, gc2u, 172
CN0Mask
setCN0Mask, getCN0Mask
scm, gcm, 81
CommandHelp
lstCommandHelp
help, 56
COMSettings
setCOMSettings, getCOMSettings
scs, gcs, 134
374
INDEX OF COMMANDS
ConfigFile
lstConfigFile
lcf, 57
CopyConfigFile
exeCopyConfigFile, getCopyConfigFile
eccf, gccf, 58
CrossDomainWebAccess
setCrossDomainWebAccess, getCrossDomainWebAccess
scda, gcda, 135
CurrentUser
lstCurrentUser
lcu, 75
D
DaisyChainMode
setDaisyChainMode, getDaisyChainMode
sdcm, gdcm, 136
DataInOut
setDataInOut, getDataInOut
sdio, gdio, 137
DefaultAccessLevel
setDefaultAccessLevel, getDefaultAccessLevel
sdal, gdal, 76
DiffCorrMaxAge
setDiffCorrMaxAge, getDiffCorrMaxAge
sdca, gdca, 93
DiffCorrUsage
setDiffCorrUsage, getDiffCorrUsage
sdcu, gdcu, 94
DiskFullAction
setDiskFullAction, getDiskFullAction
sdfa, gdfa, 173
DiskInfo
lstDiskInfo
ldi, 174
DynamicDNS
setDynamicDNS, getDynamicDNS
sdds, gdds, 139
E
EchoMessage
exeEchoMessage, getEchoMessage
eecm, gecm, 140
ElevationMask
setElevationMask, getElevationMask
sem, gem, 95
ENHTransfoHorizontal
setENHTransfoHorizontal, getENHTransfoHorizontal
smth, gmth, 123
ENHTransfoVertical
setENHTransfoVertical, getENHTransfoVertical
smtv, gmtv, 124
375
INDEX OF COMMANDS
EthernetMode
setEthernetMode, getEthernetMode
seth, geth, 59
EventParameters
setEventParameters, getEventParameters
sep, gep, 128
F
FileNaming
setFileNaming, getFileNaming
sfn, gfn, 175
FrontendMode
setFrontendMode, getFrontendMode
sfm, gfm, 89
FTPUpgrade
exeFTPUpgrade, getFTPUpgrade
efup, gfup, 60
G
GeodeticDatum
setGeodeticDatum, getGeodeticDatum
sgd, ggd, 118
GeoidUndulation
setGeoidUndulation, getGeoidUndulation
sgu, ggu, 96
GlobalFileNamingOptions
setGlobalFileNamingOptions, getGlobalFileNamingOptions
sfno, gfno, 177
GPIOFunctionality
setGPIOFunctionality, getGPIOFunctionality
sgpf, ggpf, 61
H
HealthMask
setHealthMask, getHealthMask
shm, ghm, 97
HttpsSettings
setHttpsSettings, getHttpsSettings
shs, ghs, 142
I
IMUInput
setIMUInput, getIMUInput
sii, gii, 143
IMUOrientation
setIMUOrientation, getIMUOrientation
sio, gio, 98
INSAntLeverArm
setINSAntLeverArm, getINSAntLeverArm
sial, gial, 99
INSNavConfig
setINSNavConfig, getINSNavConfig
sinc, ginc, 100
376
INDEX OF COMMANDS
INSPOILeverArm
setINSPOILeverArm, getINSPOILeverArm
sipl, gipl, 101
INSStdDevMask
setINSStdDevMask, getINSStdDevMask
sism, gism, 102
InternalFile
lstInternalFile
lif, 62
IonosphereModel
setIonosphereModel, getIonosphereModel
sim, gim, 103
IPFiltering
setIPFiltering, getIPFiltering
sipf, gipf, 144
IPPortSettings
setIPPortSettings, getIPPortSettings
sipp, gipp, 145
IPReceiveSettings
setIPReceiveSettings, getIPReceiveSettings
sirs, girs, 146
IPServerSettings
setIPServerSettings, getIPServerSettings
siss, giss, 147
IPSettings
setIPSettings, getIPSettings
sips, gips, 148
L
LEDMode
setLEDMode, getLEDMode
slm, glm, 63
LocalCoordOperation
setLocalCoordOperation, getLocalCoordOperation
slco, glco, 125
LocalCoordOperations
lstLocalCoordOperations
llc, 126
LogIn
LogIn
login, 77
LogOut
LogOut
logout, 78
M
MagneticVariance
setMagneticVariance, getMagneticVariance
smv, gmv, 105
ManageDisk
exeManageDisk, getManageDisk
emd, gmd, 178
377
INDEX OF COMMANDS
MarkerParameters
setMarkerParameters, getMarkerParameters
smp, gmp, 130
Meas3MaxRefInterval
setMeas3MaxRefInterval, getMeas3MaxRefInterval
smrf, gmrf, 161
MIBDescription
lstMIBDescription
lmd, 64
MultipathMitigation
setMultipathMitigation, getMultipathMitigation
smm, gmm, 82
N
NetworkRTKConfig
setNetworkRTKConfig, getNetworkRTKConfig
snrc, gnrc, 106
NMEAOnce
exeNMEAOnce, getNMEAOnce
enoc, gnoc, 155
NMEAOutput
setNMEAOutput, getNMEAOutput
sno, gno, 156
NMEAPrecision
setNMEAPrecision, getNMEAPrecision
snp, gnp, 158
NMEATalkerID
setNMEATalkerID, getNMEATalkerID
snti, gnti, 159
NMEAVersion
setNMEAVersion, getNMEAVersion
snv, gnv, 160
NotchFiltering
setNotchFiltering, getNotchFiltering
snf, gnf, 90
NtripSettings
setNtripSettings, getNtripSettings
snts, gnts, 152
NTRIPSourceTable
lstNTRIPSourceTable
lnst, 153
NtripTlsSettings
setNtripTlsSettings, getNtripTlsSettings
sntt, gntt, 154
O
ObserverComment
setObserverComment, getObserverComment
soc, goc, 131
ObserverParameters
setObserverParameters, getObserverParameters
sop, gop, 132
378
INDEX OF COMMANDS
P
PeriodicEcho
setPeriodicEcho, getPeriodicEcho
spe, gpe, 149
PortFirewall
setPortFirewall, getPortFirewall
spfw, gpfw, 151
PowerMode
exePowerMode, getPowerMode
epwm, gpwm, 72
PVTMode
setPVTMode, getPVTMode
spm, gpm, 107
R
RAIMLevels
setRAIMLevels, getRAIMLevels
srl, grl, 108
ReceiverCapabilities
getReceiverCapabilities
grc, 65
ReceiverDynamics
setReceiverDynamics, getReceiverDynamics
srd, grd, 109
ReceiverInterface
getReceiverInterface
gri, 68
RecordedFile
lstRecordedFile
lrf, 179
RegisteredApplications
exeRegisteredApplications, getRegisteredApplications
era, gra, 69
RemoveFile
exeRemoveFile, getRemoveFile
erf, grf, 180
ResetNavFilter
exeResetNavFilter, getResetNavFilter
ernf, grnf, 110
ResetReceiver
exeResetReceiver, getResetReceiver
erst, grst, 70
RTCMv2Compatibility
setRTCMv2Compatibility, getRTCMv2Compatibility
sr2c, gr2c, 168
RTCMv2Usage
setRTCMv2Usage, getRTCMv2Usage
sr2u, gr2u, 169
RTCMv3CRSTransfo
setRTCMv3CRSTransfo, getRTCMv3CRSTransfo
sr3t, gr3t, 170
RTCMv3Usage
379
INDEX OF COMMANDS
setRTCMv3Usage, getRTCMv3Usage
sr3u, gr3u, 171
S
SatelliteTracking
setSatelliteTracking, getSatelliteTracking
sst, gst, 83
SatelliteUsage
setSatelliteUsage, getSatelliteUsage
ssu, gsu, 111
SBASCorrections
setSBASCorrections, getSBASCorrections
ssbc, gsbc, 112
SBFGroups
setSBFGroups, getSBFGroups
ssgp, gsgp, 162
SBFOnce
exeSBFOnce, getSBFOnce
esoc, gsoc, 163
SBFOutput
setSBFOutput, getSBFOutput
sso, gso, 165
SignalTracking
setSignalTracking, getSignalTracking
snt, gnt, 85
SignalUsage
setSignalUsage, getSignalUsage
snu, gnu, 113
SmoothingInterval
setSmoothingInterval, getSmoothingInterval
ssi, gsi, 86
T
TimingSystem
setTimingSystem, getTimingSystem
sts, gts, 129
TroposphereModel
setTroposphereModel, getTroposphereModel
stm, gtm, 114
TroposphereParameters
setTroposphereParameters, getTroposphereParameters
stp, gtp, 116
U
UMSDOnConnect
setUMSDOnConnect, getUMSDOnConnect
suoc, guoc, 181
UserAccessLevel
setUserAccessLevel, getUserAccessLevel
sual, gual, 79
UserDatum
setUserDatum, getUserDatum
sud, gud, 120
380
INDEX OF COMMANDS
UserDatumVel
setUserDatumVel, getUserDatumVel
sudv, gudv, 121
UserEllipsoid
setUserEllipsoid, getUserEllipsoid
sue, gue, 122
W
WakeUpInterval
setWakeUpInterval, getWakeUpInterval
swui, gwui, 73
WBIMitigation
setWBIMitigation, getWBIMitigation
swbi, gwbi, 91
381
INDEX OF SBF BLOCKS
Index of SBF Blocks
ASCIIIn, 360
AttCovEuler, 302
AttEuler, 301
AuxAntPositions, 303
BaseStation, 322
BaseVectorCart, 281
BaseVectorGeod, 284
BBSamples, 359
BDSAlm, 232
BDSIon, 233
BDSNav, 230
BDSRaw, 210
BDSUtc, 234
ChannelStatus, 332
Commands, 357
Comment, 358
DiffCorrIn, 319
DiskStatus, 351
DOP, 272
DynDNSStatus, 349
EncapsulatedOutput, 361
EndOfAtt, 304
EndOfMeas, 204
EndOfPVT, 289
ExtEvent, 308
ExtEventINSNavCart, 309
ExtEventINSNavGeod, 314
ExtSensorInfo, 329
ExtSensorMeas, 324
ExtSensorStatus, 327
GALAlm, 224
GALGstGps, 228
GALIon, 226
GALNav, 221
GALRawINAV, 208
GALSARRLM, 229
GALUtc, 227
382
INDEX OF SBF BLOCKS
GEOAlm, 246
GEOClockEphCovMatrix, 251
GEODegrFactors, 244
GEOFastCorr, 240
GEOFastCorrDegr, 242
GEOIGPMask, 247
GEOIntegrity, 241
GEOIonoDelay, 249
GEOLongTermCorr, 248
GEOMT00, 238
GEONav, 243
GEONetworkTime, 245
GEOPRNMask, 239
GEORawL1, 209
GEOServiceLevel, 250
GLOAlm, 219
GLONav, 218
GLORawCA, 207
GLOTime, 220
GPSAlm, 215
GPSIon, 216
GPSNav, 213
GPSRawCA, 205
GPSRawL2C, 206
GPSUtc, 217
IMUSetup, 331
InputLink, 340
INSNavCart, 291
INSNavGeod, 296
INSSupport, 290
IPStatus, 348
Meas3CN0HiRes, 200
Meas3Doppler, 201
Meas3MP, 203
Meas3PP, 202
Meas3Ranges, 199
MeasEpoch, 191
MeasExtra, 196
NTRIPClientStatus, 346
OutputLink, 343
PosCart, 273
PosCovCartesian, 260
PosCovGeodetic, 263
PosLocal, 277
PosProjected, 279
PVTCartesian, 252
PVTGeodetic, 256
PVTSupport, 287
383
INDEX OF SBF BLOCKS
PVTSupportA, 288
QualityInd, 350
QZSAlm, 237
QZSNav, 235
QZSRawL1CA, 211
QZSRawL2C, 212
ReceiverSetup, 354
ReceiverStatus, 335
ReceiverTime, 305
RFStatus, 353
RTCMDatum, 323
RxMessage, 356
SatVisibility, 339
VelCovCartesian, 266
VelCovGeodetic, 269
xPPSOffset, 306
384
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