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H NovAtel Format Logs
H
NOVATEL FORMAT LOGS
H NovAtel FORMAT LOGS
H.1 GLONASS-SPECIFIC LOGS
GLONASS-specific logs provide data by using information obtained from the GLONASS satellite system.
Following are the descriptions of MiLLennium-GLONASS GPSCard's CALA/B, GALA/B, GCLA/B and GEPA/
B logs. The syntax and fields are as described below.
H.1.1 CALA/B CALIBRATION INFORMATION
GPS satellites all broadcast on the same frequency but broadcast different codes. GLONASS satellites broadcast
on different frequencies but use the same code. The former technique is known as Code Division Multiple Access
(CDMA) while the latter is known as Frequency Division Multiple Access (FDMA).
Frequency dependent characteristics of the hardware result in small biases in the GLONASS pseudoranges. You
can enter calibration numbers for the various frequencies which will be subtracted from each pseudorange with the
CALA/B input. The numbers can also be output as a log, CALA/B.
CALA
Structure:
$CALA
week
sec
bias 1
std. dev. bias 1
...
bias 32
std. dev. bias 32
[CR][LF]
*xx
Field #
Field
1
$CALA
2
Week
3
Sec
4
Reserved for future use
5
Reserved for future use
6,7
Bias 1, Std. Dev. Bias 1
8, 9,
Bias 2, Std Dev Bias 2
10, 11,
Bias 3, Std Dev Bias 3
...,
...,
50, 51,
Bias 23, Std Dev Bias 23
52, 53,
Bias 24, Std Dev Bias 24
54, 55,
Bias 25, Std Dev Bias 25
...,
...,
68, 69,
Bias 32, Std Dev Bias 32
70
* xx
71
[CR][LF]
Example:
$CALA,4,480377,2,FFFFFF00,1.070,0.041,1.029,0.041,1.054,0.043,0.646,0.041,0.735,0.041,0.526,0.040,0.456,0.039,
0.520,0.040,0.148,0.040,0.469,0.039,0.156,0.040,0.000,0.000,0.115,0.039,-0.281,0.040,-0.269,0.039,-0.246,0.039,
-0.685,0.039,-0.391,0.039,-0.661,0.039,-0.967,0.040,-1.121,0.500,-1.471,0.500,-1.999,0.500,
-2.813,0.500,0.000,5.000,0.000,5.000,0.000,5.000,0.000,5.000,0.000,5.000,0.000,5.000,0.000,5.000,
0.000,5.000*2A[CR][LF]
88
reserved
reserved
Description
Log Header
GPS week number
GPS time into week, in seconds
Pseudorange bias for frequency, Std Dev of bias in meters
Checksum
Sentence terminator
GPS/GLONASS Receiver User Manual Rev 1
Example
$CALA
992
453075
-0.491, 0.050
1.070,0.041
1.029,0.041
...
-1.999,0.500,
-2.813,0.500,
0.000,5.000
...
0.000,5.000
*03
[CR][LF]
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