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H NovAtel Format Logs
H.2.7 RGEA/B/D CHANNEL RANGE MEASUREMENTS
The receiver supports differential combined GPS/GLONASS, RT-10 GPS/GLONASS and most single-point logs
and commands described in the MiLLennium Command Description Manual. GLONASS pseudorange data is
transmitted along with the GPS pseudoranges in the RGEA/B/D log, and can be discerned by monitoring the
channel tracking status bits in the range logs.
The RGEA/B/D log contains the channel range measurements for the currently observed satellites. The RGEA
example was produced using the MiLLennium-GLONASS GPSCard. The RGED message is a compressed form
of the RGEB message. When using these logs, please keep in mind the constraints noted in the detailed description
in the MiLLennium Command Descriptions Manual.
It is important to ensure that the receiver clock has been set and can be monitored by the bits in the receiver status
field. Large jumps in range as well as ADR will occur as the clock is being adjusted. If the ADR measurement is
being used in precise phase processing, it is important not to use the ADR if the "parity known" flag in the tracking-
status field is not set as there may exist a half (1/2) cycle ambiguity on the measurement. The tracking error
estimate of the pseudorange and carrier phase (ADR) is the thermal noise of the receiver tracking loops only. It
does not account for possible multipath errors or atmospheric delays.
RGEA and RGEB contain all of the new extended channel tracking status bits (see Table H.3, Page 99), while
RGED contains only the lowest 24 bits.
NOTE:
In the RGED log, the limited number of bits available means that the GLONASS prns are reported as
slot + 37 without the frequency information (i.e. 48 instead of 40048).
RGEA/B/D
Structure:
$RGEA
week
seconds
prn
pseudorange measurement
carrier phase std
Doppler frequency
:
3
pseudorange measurement
prn
carrier phase std
Doppler frequency
*xx
[CR][LF]
1
NOTES:
See Table H.2 (Page 96)
Example (carriage returns have been added between observations for clarity):
$RGEA,991,429633.75,10,B00FF,
15,22509752.053,0.062,-118289596.426,0.009,-295.846,50.4,6058.250,2E04,
2,20703387.186,0.030,-108797043.280,0.002,-648.690,52.8,6133.680,2E14,
9,23557992.104,0.126,-123798100.030,0.008,3242.123,46.0,1381.840,2E34,
26,22620451.324,0.071,-118871293.335,0.006,-1558.346,49.7,6059.250,2E54,
27,22289907.868,0.072,-117134240.976,0.008,-3309.252,49.6,6105.110,2E64,
21,25638806.808,0.451,-134732816.918,0.026,-158.909,35.6,808.330,2E74,
7,20787884.888,0.035,-109241144.038,0.003,1688.748,52.5,6056.480,2E84,
60046,21451363.958,0.152,-114871116.673,0.012,3404.079,49.1,3731.660,AEA4,
220053,19346534.447,0.082,-104180633.540,0.011,-707.671,52.0,188.950,AED4,
240054,20870849.133,0.127,-112467321.221,0.012,-3016.171,50.1,6270.474,AF14*1B
106
# satellite observations
pseudorange measurement std
C/No
pseudorange measurement std
C/No
2
3
See Table H.3 (Page 99)
GLONASS PRN = FREQUENCY * 10000 + SLOT + 37
receiver status
carrier phase
locktime
tracking-status
carrier phase
locktime
tracking-status
GPS/GLONASS Receiver User Manual Rev 1
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