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H NovAtel Format Logs
H.2.4 PRTKA/B COMPUTED POSITION
This log contains the best available position computed by the receiver, along with three status flags. In addition, it
reports other status indicators, including differential lag, which is useful in predicting anomalous behavior brought
about by outages in differential corrections.
This log replaces the P20A log; it is similar, but adds extended status information. With the system operating in an
RTK mode, this log will reflect the latest low-latency solution for up to 30 seconds after reception of the last
reference station observations. After this 30 second period, the position reverts to the best solution available; the
degradation in accuracy is reflected in the standard deviation fields, and is summarized in Chapter 4, Table 4.2,
Page 41. If the system is not operating in an RTK mode, pseudorange differential solutions continue for 60 seconds
after loss of the data link, though a different value can be set for GPS using the DGPSTIMEOUT command (refer
to the MiLLennium Command Descriptions Manual) and for GLONASS using the DGLOTIMEOUT command
(see Page 82).
PRTKA
Structure:
$PRTKA
week
L1L2 #high
lat
lat σ
lon σ
3
idle
posn type
1
NOTES:
See Table H.8 (Page 111),
Example:
$PRTKA,993,597206.00,0.000,12,0,0,51.11633600370,-114.03830984516,
1072.4348,-16.2712,61,14.3281,8.8081,24.7753,0,8,1,45,0*6F[CR][LF]
H.2.5 PVAA/BXYZ POSITION, VELOCITY AND ACCELERATION
The PVAA/B log contains the MiLLennium-GLONASS GPSCard receiver's latest computed best-available-
position, velocity and acceleration in ECEF coordinates. Compare this to the VLHA/B log where the velocity
latency is an average velocity based on the time difference between successive position computations.
In the PVAA/B log, position, velocity and acceleration status fields indicate whether or not the corresponding data
are valid.
This command supports INS (Inertial Navigation System) integration. PVA logs can be injected into the receiver
from an INS. This information is only used by the tracking loops of the receiver to aid in reacquisition of satellites
after loss of lock, otherwise it is ignored. This command is only useful for very high dynamics where expected
velocity changes during the signal blockage of more than 100 meters per second can occur.
NOTE:
These quantities are always referenced to the WGS84 ellipsoid, regardless of the use of the DATUM
or USERDATUM commands.
104
sec
lag
#sv
lon
hgt
undulation
hgt σ
1
soln status
stn ID
*xx
[CR][LF]
2
3
See Table H.10 (Page 112),
See Table H .9 (Page 112)
#high
datum ID
2
rtk status
GPS/GLONASS Receiver User Manual Rev 1
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