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TERSUS GNSS RTK Board Series User Manual

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User Manual
Version V1.0-20170906
Log & Command Reference
For Precis-BX306 & BX306Z & BX316 GNSS
RTK Board
©2017 Tersus GNSS Inc. All rights reserved.
Sales & Technical Support:
sales@tersus-gnss.com & support@tersus-gnss.com
More details, please visit www.tersus-gnss.com

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  • Page 1 User Manual Version V1.0-20170906 Log & Command Reference For Precis-BX306 & BX306Z & BX316 GNSS RTK Board ©2017 Tersus GNSS Inc. All rights reserved. Sales & Technical Support: sales@tersus-gnss.com & support@tersus-gnss.com More details, please visit www.tersus-gnss.com...

  • Page 2: Table Of Contents

    Table of Content General Description ....................6 Output Format ......................6 NMEA Sentence ......................6 1.2.1 General Sentence Format ..................6 1.2.2 Talker Sentences ....................6 1.2.3 GGA Sentence Format ..................7 1.2.4 RMC Sentence ....................8 1.2.5 VTG Sentence..................... 9 1.2.6 GSA Sentence .....................
  • Page 3 2.2.18 RTKTIMEOUT ....................20 2.2.19 SAVECONFIG ....................20 2.2.20 SERIALCONFIG ..................... 20 2.2.21 SHOWCONFIG....................21 2.2.22 UNDULATION ....................21 2.2.23 UNLOG ......................22 2.2.24 UNLOGALL ....................22 Logs……………………………………………………………………………….23 Log reference ......................23 3.1.1 BDSEPHEMERIS .................... 23 3.1.2 BESTPOS ......................24 3.1.3 BESTVEL ......................
  • Page 4 3.1.18 MARKTIME ....................36 3.1.19 PASSCOMx ..................... 36 3.1.20 PSRDOP ......................37 3.1.21 RANGE ......................37 3.1.22 RANGECMP ....................40 3.1.23 RTCM messages ....................42 3.1.24 SATVIS ......................44 3.1.25 TIME ........................ 44 3.1.26 TRACKSTAT ....................45 3.1.27 VERSION ......................45 RTK Configuration Example ..................46 Terminology ......................47 3 / 49...
  • Page 5 List of Tables Table 1 NMEA taker identifier for GSV/GSA ................8 Table 2 NMEA taker identifier for GGA/RMC/VTG/GST/ZDA ..........8 Table 3 Antennamode ......................11 Table 4 Configuring serial port baud rate ................12 Table 5 Sets DGPS station ID ....................12 Table 6 ECUTOFF ........................
  • Page 6 Table 44 GPGST ........................30 Table 45 GPGRS ........................30 Table 46 GPSEPHEM ......................30 Table 47 GLOEPHEMERIS ....................32 Table 48 IONUTC ........................35 Table 49 Check logged message types ..................35 Table 50 Marktime ........................36 Table 51 PASSCOMx ......................36 Table 52 PSRDOP ........................

  • Page 7: General Description

    1 General Description Thank you for choosing Tersus GNSS. This log and command reference book is for Precis-BX306, Precis-BX306Z and Precis-BX316 GNSS RTK boards and they have companion documents to this reference manual with details on the hardware operation. Afterwards, this document will be your primary reference guide for commands and logs.

  • Page 8: Gga Sentence Format

    field is omitted, but the delimiting commas are still there, with no space between them. The data may vary in the amount of precision contained in the message. For example time might be indicated to decimal parts of a second or location may be show with 3 or even 4 digits after the decimal point.

  • Page 9: Rmc Sentence

    $GNGGA,031107.00,3111.4238950,N,12135.5912579,E,1,16,1.0,44.529,M,11.518,M ,,*41 Table 1 NMEA taker identifier for GSV/GSA Type GLONASS AUTO Table 2 NMEA taker identifier for GGA/RMC/VTG/GST/ZDA Type GLONASS Dual or triple constellations AUTO 1.2.4 RMC Sentence RMC sentence contains Recommended Minimum Navigation Information $GxRMC,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,<10>,<11>*xx<CR><LF> Gx: NMEA taker identifier. Different identifier can be applied according to user configuration, e.g.

  • Page 10: Vtg Sentence

    1.2.5 VTG Sentence VTG contains Track Made Good and Ground Speed $GxVTG, <1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>*xx<CR><LF> Gx: NMEA taker identifier. Different identifier can be applied according to user configuration, e.g. GP, GN, GL, BD <1> Track Degrees <2>T = True <3>Track Degrees <4>M = Magnetic <5>Speed Knots <6>N = Knots <7>Speed Kilometers Per Hour...

  • Page 11: Gsv Sentence

    ASCII code CR>LF> carriage return and line feed Example: $GPGSV,3,1,10,20,78,331,45,01,59,235,47,22,41,069,,13,32,252,45*70 2 Commands 2.1 Overview of Command System Tersus GNSS systems allow users modify its configuration with command systems. Here are some general remarks on this command system: 10 / 49...

  • Page 12: Command Reference

     All commands are not case-sensitive.  All log related command must specify the serial port. If the serial port is not specified, then the command is applied to current port.  If the commands are executed successfully, the board returns ok. Otherwise, returns an error message.

  • Page 13: Com

    Command ANTENNAMODE option Example ANTENNAMODE DUALGPSBDS Function Specific which signals will be tracked by the two antennas. Parameter Option DUALGPSBDS: Primary antenna tracks GPS L1/L2, BDS B1/B2; secondary antenna tracks GPS L1, BDS B2 DUALGPSGLO: Primary antenna tracks GPS L1/L2, GLO G1/G2;...

  • Page 14: Ecutoff

    2.2.4 ECUTOFF This command is used to set the elevation cut-off angle (unit is degree) for tracked satellites. Table 6 ECUTOFF Name Value Command ECUTOFF angle Example ECUTOFF 15.0 Function Sets elevation cut-off angle for all the constellations. 2.2.5 FIX This command is used to fix height or position to the input values.

  • Page 15: Freset

    from base station to rover station, removed the fixed coordinate is necessary. In this case, use this command to remove the fixed coordinate. 2.2.6 FRESET This command is used to clear all the data or part of the data which is stored in flash memory.

  • Page 16: Log

    Table 10 Configuring serial port mode Name Value Command Interfacemode port rxtype txtype resp Example Interfacemode COM1 auto auto on Function change input/output mode of serial port Parameter description port the serial port number of the board,COM1 and COM2 rxtype Receive interface mode, see Table 24 txtype Reserve (auto)

  • Page 17: Markcontrol

    Table 12 Logfile Name Value Command LOGFILE [switch] Example LOGFILE CLOSE Function Parameter Switch Description OPEN [filename] Creates a file for saving loggings, file name is optional. CLOSE Stop the file saving. AUTO The file saving will start automatically after the board is power on.

  • Page 18: Nmeatalker

    A time period, unit is ms, during which no response to the timeguard input pulses. 2.2.11 NMEATALKER This command is for NMEA talker configuration. Tersus GNSS systems can output NMEA0183 format, RTCM2.X/3.2 format and its own observation format. Table 14 Change the NMEA talker during NMEA output Name...

  • Page 19: Psrdifftimeout

    continues for a specified number of hours or until the estimated averaged position error is within specified accuracy limits. Averaging stops when the time limit or the horizontal standard deviation limit or the vertical standard deviation limit is achieved. When averaging is complete, the FIX POSITION command is automatically invoked.

  • Page 20: Reset

    2.2.15 RESET This command is used to perform a software reset. No data saved in the flash memory, such as almanac and ephemeris data, or the configure, will be erased. Table 18 RESET Name Value Command RESET Example RESET 2.2.16 RTKCOMMAND This command is used to reset the RTK filter or clear any set RTK parameters.

  • Page 21: Rtktimeout

    2.2.18 RTKTIMEOUT This command is used to set the maximum age (unit second) of RTK data to use when operating as a rover station. Table 21 RTKTIMEOUT Name Value Command RTKTIMEOUT delay Example RTKTIMEOUT 40 Function Sets maximum age of RTK data 2.2.19 SAVECONFIG This command is used to save current configurations to flash.

  • Page 22: Showconfig

    Auto Identify commands and corrections format automatically RTCMV3 The port accepts/generates RTCM Version3.X corrections and commands RTCMV2 The port accepts/generates RTCM Version2.X corrections and commands The port accepts/generates CMR/CMR+ corrections and commands 2.2.21 SHOWCONFIG This command is used to show all the configuration of the receiver. Table 25 SHOWCONFIG Name Value...

  • Page 23: Unlog

    Description separation Is required when USER option is selected. 2.2.23 UNLOG This command is used to stop specified output, which is cancelling particular output. Table 27 Cancel a particular output Name Value Command Unlog port message Example Unlog COM1 GPGGA Function change input/output mode of serial port Parameter description...

  • Page 24: Logs

    3. Logs 3.1 Log reference 3.1.1 BDSEPHEMERIS This log contains a single set of BDS ephemeris parameters with appropriate scaling applied. Multiple messages are transmitted, one for each SV ephemeris collected. Table 29 BDSEPHEMERIS Name Value Input log bdsephemeris onchanged Example <BDSEPHEMERIS COM1 0 0.0 FINESTEERING 1943 445511.000 00000000 407 20161214 171 587 1.00 0 7.80e-09 2.30e-09 6 442800...

  • Page 25: Bestpos

    Constant term of clock correction polynomial Double H+44 (seconds) Linear term of clock correction polynomial Double H+52 (seconds/ seconds) Quadratic term of clock correction polynomial Double H+60 (seconds/ seconds^2) AODE Age of data, ephemeris Ulong H+64 Reference time of ephemeris parameters Ulong H+68 RootA...

  • Page 26: Bestvel

    several status indicators, including differential age. A differential age of 0 indicates that no differential correction was used. Table 30 BESTPOS Name Value Input log bestpos ontime 1 Example BESTPOS COM2 0 81.000000 FINE 1942 184263.200000 00000000 53928672 18 <SOL_COMPUTED SINGLE 31.19041517905 121.59317866614 37.9262 0.0000 WGS84 0.4609 0.4584 0.4594 "0000"...

  • Page 27: Cmrobs

    <SOL_COMPUTED SINGLE -2860996.5850 4651724.3093 3283991.6664 0.4438 0.4415 0.4328 SOL_COMPUTED DOPPLER_VELOCITY -0.0117 0.0445 -0.0083 0.0123 0.0128 0.0121 "0000" 0 0.000 0.000 30 30 0 30 0 00 00 00 Function Best available cartesian position and velocity 3.1.26 CMROBS A proprietary RTK data transmission standard from Trimble Navigation Ltd. Table 33 CMROBS Name Value...

  • Page 28: Gpgga

    Command LOG COM2 CMRPLUS ONTIME 1 Function BASE Station Satellite Observation Information 3.1.5 GPGGA This log contains time, position and fixes related data of the GNSS receiver. The GPGGA log outputs these messages without waiting for a valid almanac. Table 37 Sets the RTK correction source Name Value Input...

  • Page 29: Gpgsa

    Name Value Input log gpgll ontime 1 Example (GPS only) $GPGLL,3111.4253764,N,12135.5908779,E,015133.00,A,A*7C Example (Combined $GNGLL,3111.4253694,N,12135.5908841,E,015128.00,A,A*7C GPS/GLONASS/BDS) Function Geographic position 3.1.7 GPGSA This log contains GNSS receiver operating mode, satellites used for navigation and DOP values. The GPGSA log outputs these messages without waiting for a valid almanac.

  • Page 30: Gpvtg

    3.1.9 GPVTG This log contains the track made good and speed relative to the ground. Table 41 GPVTG Name Value Input log gpvtg ontime 1 Example (GPS only) $GPVTG,47.251,T,47.251,M,0.124,N,0.230,K,A*3B Example (Combined $GNVTG,56.703,T,56.703,M,0.068,N,0.127,K,A*37 GPS/GLONASS/BDS) Function Track made good and ground speed 3.1.10 GPZDA The GPSZDA log outputs the UTC date and time.

  • Page 31: Gpgrs

    position domain in order to give statistical measures of the quality of the position solution. Table 44 GPGST Name Value Input log gpgst ontime 1 Example (GPS only) $GPGST,033407.00,0.00,0.00,0.00,0.0000,0.45,0.43,0.45*63 Example (Combined $GNGST,033437.00,0.00,0.00,0.00,0.0000,0.44,0.42,0.44*61 GPS/GLONASS/BDS) Function Pseudorange measurement noise statistics 3.1.13 GPGRS This log reports the range residuals.
  • Page 32 1.158006489e-05 1.547500000e+02 -1.865625000e+01 -3.352761269e-08 1.862645149e-09 9.600372875e-01 -4.928776732e-11 -4.734842780e-01 -7.874970881e-09 30 446400.0 1.862645149e-09 -1.05151e-04 1.13687e-12 0.00000e+00 TRUE 1.458500140e-04 1.0000000e+00 Function T Decoded GPS ephemerides. Field Description Type Binary Offset Bytes GPSEPHE Log header M header Satellite PRN number Ulong Time stamp of subframe 1 (seconds) Double health Health status - a 6-bit health code as defined in...

  • Page 33: Gloephemeris

    Inclination (amplitude of cosine, radians) Double H+11 Inclination (amplitude of sine, radians) Double H+12 Inclination angle at reference time, radians Double H+12 IDOT Rate of inclination angle, radians/second Double H+13 Ω0 Right ascension, radians Double H+14 Ω dot Rate of right ascension, radians/second Double H+15 iodc...
  • Page 34 Input log gloephemeris onchanged Example <GLOEPHEMERIS COM1 0 0.0 FINESTEERING 1943 445444.000 00000000 407 20161214 39 3 1 0 1943 445518000 10782 463 0 0 27 -1.3815634277343750e+07 1.9141996093750000e+07 -9.5697236328125000e+06 6.8848896026611328e+02 -1.1339406967163086e+03 -3.253355026245117 2e+03 9.3132257461547852e-07 3.7252902984619141e-06 0.0000000000000000e+00 -2.4393666535615921e-04 5.5879354476928711e-09 9.0949470177292824e-13 23400 1 0 0 13 Function Decoded GLONASS ephemeris Field...
  • Page 35 pos x X coordinate for satellite at reference time Double H+28 (PZ-90.02), in metres pos y Y coordinate for satellite at reference time Double H+36 (PZ-90.02), in metres pos z Z coordinate for satellite at reference time Double H+44 (PZ-90.02), in metres vel x X coordinate for satellite velocity at reference Double...

  • Page 36: Ionutc

    3.1.16 HEADING This log contains the heading angle from True North of the base to rover vector in a clockwise direction. This log is only supported by BX316 and BX316D boards. Please ensure dual antennas mode is chosen before heading is output, see command antennamode in page 11 for more detail.

  • Page 37: Marktime

    Input Log loglist once Function Check output loggings. Example <LOGLIST COM1 0 0.0 FINESTEERING 1943 452446.000 00000000 407 20161214 <0003 <COM2 GPGGA ONTIME 1.000000 NOHOLD <COM2 GPGSV ONTIME 1.000000 NOHOLD <COM2 RANGEB ONTIME 1.000000 NOHOLD 3.1.18 MARKTIME Marktime log contains the time of the leading edge of the detected mark input pulse. MARKTIME/MARK2TIME is generated when a pulse occurs on an event1 input or on an event2 input.

  • Page 38: Psrdop

    … Function Pass the received data from a port 3.1.20 PSRDOP The DOP (Dilution Of Precision) value is calculated using the geometry of only those satellites currently being tracked and used in the position solution. This log is updated once every 60 seconds. Table 53 PSRDOP Name Value...
  • Page 39 Function Satellite range information. Field Description Type Binary Offset Bytes Range Log Header Header #obs Number of observations with information to ULON follow PRN/slot Satellite PRN number of range measurement UShort GPS: 1 ~ 32 GLONASS: 1~28(slot, it’s diffrent with $GPGSV) BDS:161~197 glofreq...
  • Page 40 0x00000020 receiver 0x00000040 0x00000080 0x00000100 0x00000200 0x00000400 Phase lock flag 0 = Not locked, 1 = Locked 0x00000800 Parity known flag 0 = Not known, 1 = Known 0x00001000 Code locked flag 0 = Not locked, 1 = Locked 0x00002000 Correlator type See Table 57 Correlator Type 0x00004000...

  • Page 41: Rangecmp

    Code search Aided phase lock loop Table 57 Correlator Type State Description Standard correlator: spacing = 1 chip Narrow Correlator: spacing < 1 chip Reserved Pulse Aperture Correlator (PAC) Reserved 3.1.22 RANGECMP This log contains the RANGE data in a compressed format. Table 58 RANGECMP Name Value...
  • Page 42 xxxx 32-bit CRC (ASCII and Binary only) Ulong H+4+ (#obs x 24) [CR][LF] Sentence terminator (ASCII only) Table 59 Range Record Format Data Bits first to last Length(bits) Scale Factory Units Channel Tracking Status 0-31 Doppler Frequency 32-59 1/256 Pseudorange (PSR) 60-95 1/128 96-127...

  • Page 43: Rtcm Messages

    11 9.500 12 19.000 13 38.000 14 76.000 15 152.000 3. GPS: 1 to 32, GLONASS: 1 to 28,and BDS: 161-197. 4. The Lock Time field of the RANGECMP log is constrained to a maximum value of 2,097,151 which represents a lock time of 65535.96875 s (2097151 ¸ 32). 5.
  • Page 44 3.1.23.2 RTCM3 messages Below is a list of RTCM 3 message types that supported by Precis products. B in flag filed means the message is supported by a base, R means the message is supported by a rover, R/B means the message is supported both by a base and a rover. Table 61 Collection of supported RTCM3.2 message types Message Flag...

  • Page 45: Satvis

    1125 Beidou MSM5, includes pseudorange, carrier phase, phase rate and C/N0 observation 1126 MSM6, Extended BeiDou Code, Phase and CNR Measurements 1127 MSM7, Extended BeiDou Code, Phase, CNR and Doppler Measurements 3.1.24 SATVIS This log contains satellite visibility data for all available constellations with additional satellite information.

  • Page 46: Trackstat

    <CONVERGING 0 0 0 2017 4 7 4 9 0 INVALID Function Time data 3.1.26 TRACKSTAT The TRACKSTAT log contains an entry for each channel. If there are multiple signal channels for one satellite (for example L1, L2 P(Y), L2C, and L5 for GPS), then there will be multiple entries for that satellite.

  • Page 47: Rtk Configuration Example

    4 RTK Configuration Example Example of RTK configuration (base mode): FIX POSITION 31.000302123 114.289244543 26.130 ECUTOFF 15.0 (optional) INTERFACEMODE COM2 AUTO AUTO ON (optional) LOG COM2 RTCM1074 ONTIME 1 LOG COM2 RTCM1084 ONTIME 1 LOG COM2 RTCM1124 ONTIME 1 LOG COM2 RTCM1005 ONTIME 10 SAVECONFIG Example of RTK configuration (rover mode): FIX NONE...

  • Page 48: Terminology

    5 Terminology Table 66 List of terminology Abbreviation Definition ASCII American Standard Code for Information Interchange Compact Measurement Record Direct Current Electro Static Discharge ECEF Earth Center Earth Fixed GLONASS GLObal NAvigation Satellite System GNSS Global Navigation Satellite System Global Positioning System Intermediate Frequency Inertial Measurement Unit Input/Output...
  • Page 49 All Information in this document is subject to change without notice and does not reflect the commitment on Tersus GNSS. No part of this manual may be reproduced or transmitted by all means without authorization of Tersus GNSS. The software described in this document must be used in terms of the agreement.

This manual is also suitable for:

Precis-bx316Precis-bx306Precis-bx306z

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