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4.5.2 DIFFERENTIAL CORRECTIONS DATA
NovAtel GPSCards can utilize the special data input commands $RTCA and $RTCM. These special data input
commands are utilized by a GPSCard operating as a remote station to accept NovAtel ASCII format differential
corrections. The data is generated by a GPSCard operating as a reference station with intent to be received by
remote stations. To correctly interpret these commands, the remote GPSCard must have its ACCEPT command
option set to "COMMANDS" (default). Refer to the MiLLennium Command Descriptions Manual, Appendix A,
for further information on differential positioning. The $RTCA message is supported by the MiLLennium-
GLONASS GPSCard but is GPS-only. Please refer to the MiLLennium Command Descriptions Manual for more
information on the $RTCA message.
$RTCM
The $RTCM message works with the MiLLennium-GLONASS GPSCard in the following message formats:
$RTCMA, $RTCM3A, $RTCM9A, $RTCM16A, $RTCM31, $RTCM34, $RTCM59A.
Use this special data input command to directly input RTCM differential correction data, ASCII format (RTCM
data converted to ASCII hexadecimal, with NovAtel header added). The data can be accepted using COM1 or
COM2. The differential corrections will be accepted and applied upon receipt of this special data input command.
The data is generated from a MiLLennium-GLONASS GPSCard RTCM log and is accepted by a MiLLennium-
GLONASS GPSCard remote station as in the following format
$RTCM,664142404E7257585C6E7F424E757D7A467C47414F6378635552427F73577261624278777
F5B5A525C7354527C4060777B4843637C7F555F6A784155597D7F6763507B77496E7F7A6A426F55
5C4C604F4E7F467F5A787F6B5F69506C6D6A4C*2B
NOTE :
The $RTCM commands allow the user to intermix differential corrections along with other ASCII
commands or logs over a single port. (You must, however, ensure that the ACCEPT command option
is set to "COMMANDS"). The use of a dedicated port for differential operation is described in Section
4.7, Page 39.
TIP :
The decoding success and status of $RTCM records can be monitored using the CDSA/B data log.
These commands will not generate any reply response from the command interpreter. They will
simply be processed for valid format and checksum and used internally. If there is any problem with
the data, characters missing or checksum fail, the data will be discarded with no warning message.
4.5.3 CALIBRATION DATA
NovAtel MiLLennium-GLONASS GPSCards can utilize the special data input command $CALA/B. This special
data input command is utilized by a MiLLennium-GLONASS GPSCard and provides a method of calibrating
pseudorange biases for a MiLLennium-GLONASS GPSCard receiver. The CALA log is specific to a single
receiver. This log has the same format as the output CALA/B log, see Page 88. This information will be stored in
non-volatile memory when the SAVECONFIG command is issued.
$CALA/B...
$CALA,992,453075,2,FFFFFF00,-0.491,0.050,-0.640,0.055,-0.687,
0.050,-0.977,0.050,-1.066,0.049,-1.334,0.047,-1.291,0.049,-1.661,
0.054,-1.504,0.055,-1.967,0.054,-1.927,0.052,-2.308,0.053,-2.428,
0.050,-2.534,0.051,-2.621,0.054,-3.027,0.054,-2.740,0.049,-3.039,
0.051,-2.865,0.055,-3.310,0.049,-3.903,0.060,-3.970,0.070,-4.359,
0.055,0.000,5.000,0.000,5.000,0.000,5.000,0.000,5.000,0.000,5.000,0.000,
5.000,0.000,5.000,0.000,5.000,*03
GPS/GLONASS Receiver User Manual Rev 1
4 Operation
33
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