Prefer Accuracy; Ual; Steadyline Prefer Accuracy - Novatel ProPak6 User Manual

Chapter 3
3.6.3

Prefer Accuracy

The positioning mode change depends on the accuracy level of the positioning modes.
When the position mode is changing from a more accurate mode to a less accurate mode (e.g., changing
from RTK to GLIDE), the receiver uses the Maintain option.
When the position mode is changing from a less accurate mode to a more accurate mode (e.g., GLIDE to
RTK), the receiver uses the Transition option.
For example, a receiver is configured to do both RTK and GLIDE. If this receiver has a fixed RTK position
and experiences a loss of correction data causing the loss of the RTK solution it will immediately apply
the offset between the two position modes and uses the GLIDE position stability to maintain the previous
trajectory. Over time the GLIDE (or non-RTK) position will experience some drift. Once the RTK position
is achieved again the receiver will start using the RTK positions for position stability and will slowly
transition back to the RTK positions at a default rate of 0.005 m/s or the time specified in the
STEADYLINE command.
Position
Intended Path
3.6.4

UAL


UAL mode will not function unless UALCONTROL is enabled using the UALCONTROL
command.
The Steadyline mode used depends on the BESTPOS and GPGGA solution types.
When the solution type is OPERATIONAL, the receiver uses the Maintain option.
When the solution type is WARNING, the receiver uses the Transition option. When the receiver changes
from WARNING to OPERATIONAL, it will continue to use the Transition option until any existing offset is
gone.
When the solution type is OUT_OF_BOUNDS, the Steadyline feature is disabled.
The thresholds used to determine the solution type (OPERATIONAL, WARNING or OUT_OF_BOUNDS),
can be specified using the UALCONTROL command. Refer to the
Manual (OM-20000129) for more information.
Figure 20, Steadyline UAL- Warning Limit Example on page 53 and Figure 21, Steadyline UAL - Out of
Bounds Example on page 53 show an examples of Steadyline using the UAL mode.
52
Figure 19: Steadyline Prefer Accuracy
change to
lower accuracy
solution
ProPak6 Installation and Operation User Manual Rev 4
change to
higher accuracy
solution
OEM6 Family Firmware Reference
Operation