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H NovAtel Format Logs
H.2.8 RTKA/B COMPUTED POSITION - TIME MATCHED
This log represents carrier phase positions that have been computed from time matched reference and remote
observations. There is no reference station prediction error on these positions, but because they are based on
buffered measurements, they lag real time by some amount depending on the latency of the data link. If the remote
receiver has not been enabled to accept RTK differential data, or is not actually receiving data leading to a valid
solution, this will be reflected by the code shown in field #16 (RTK status) and #17 (position type).
The data in the logs will change only when a reference observation changes. If the log is being output at a fixed
rate and the differential data is interrupted, then the RTKA/B logs will continue to be output at the same rate but
the position and time will not change.
A good message trigger for this log is "ONCHANGED". Then, only positions related to unique reference station
messages will be produced, and the existence of this log will indicate a successful link to the reference station.
RTKA
Structure:
$RTKA
week
lon
lat
lon σ
lat σ
3
posn type
dyn mode
1
NOTES:
See Table H.8 (Page 111)
Example:
$RTKA,872,174962.00,8,7,7,51.11358039754,-114.04358003164,1059.4105,
-16.2617,61,0.0036,0.0039,0.0066,0,0,4,0,119*33[CR][LF]
108
seconds
#sv
hgt
undulation
hgt σ
1
soln status
stn ID
4
2
3
See Table H.10 (Page 112)
See Table H.9 (Page 112)
#high
L1L2 #high
datum ID
2
rtk status
*xx
[CR][LF]
4
0= static, 1= kinematic
GPS/GLONASS Receiver User Manual Rev 1
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