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ashtech DG16 Reference Manual

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Summary of Contents for ashtech DG16

  • Page 1 • Fax: +33 2 28 09 39 39 • South America • Voice: +56 2 234 56 43 • Fax: +56 2 234 56 47 • Support • US: 1 800-229-2400 • International: +1 408-615-3980 • Fax: +1 408-615-5200 Internet • support@ashtech.com • http://www.ashtech.com...
  • Page 2 Part Number: 630851, Revision A December, 2001 Trademarks Ashtech, the Ashtech logo, DG16, DG14, Evaluate, Edge Correlator, Strobe Correlator, SSRadio, Sensor II, Receiver Communication Software, and the Thales Navigation logo are trademarks of Thales Navigation. All other product and brand names are trademarks or registered trademarks of their respective holders.

  • Page 3: Table Of Contents

    DG16 Board LEDs ........
  • Page 4 Data Output Options ........25 Communicating with the DG16 ........25 Chapter 3.
  • Page 5 Base Station ..........56 Setting Up a Differential Base Station.
  • Page 6 HGT: Height Model Selection ....... 118 DG16 Board & Sensor Reference Manual...
  • Page 7 HLP: Help ..........120 HST: Start-up Diagnostic Results .
  • Page 8 GGB:GGB Position Data ........194 MBN: Raw Measurements (Ashtech Type 2 Data Structure) ..195 MCA: Raw Measurements (Ashtech Type 3 Data Structure) .
  • Page 9 ALM: Almanac Message ........228 CRT: Cartesian Coordinates Message ......229 GDC: Grid Coordinates.
  • Page 10 Installing UDM Utility .........325 DG16 Board & Sensor Reference Manual...
  • Page 11 Introduction ..........325 Components of UDM Utility.
  • Page 12 DG16 Board & Sensor Reference Manual...
  • Page 13 Figure 2.1. DG16 Board Connections ....... . 22 Figure 3.1.
  • Page 14 G12 GPS OEM Board & Sensor Reference Manual...
  • Page 15 $PASHR,RIO Message Format ......15 Table 1.7. DG16 Option Descriptions ....... 16 Table 1.8.
  • Page 16 Table 6.42. DG16 Baud Rate Codes ....... 146 Table 6.43.
  • Page 17 Table 6.51. DG16 Baud Rate Codes ....... 158 Table 6.52.
  • Page 18 Typical MSG message for RTCM Type 2 ....259 Table 8.35. Typical MSG Message for RTCM Type 3 ....261 xviii DG14 and DG16 Board & Sensor Reference Manual...
  • Page 19 Table 8.36. Typical MSG Message For RTCM Type 16 ....262 Table 8.37. Typical MSG Message For RTCM Type 18 ....262 Table 8.38.
  • Page 20 GPS Product Information ....... 338 DG14 and DG16 Board & Sensor Reference Manual...

  • Page 21: Chapter 1. General Information

    The DG16 uses fourteen discrete parallel channels for Coarse/Acquisition (C/A) code-phase (pseudo-range) measurements and carrier phase measurements on the L1 (1575.42 Mhz) band for the GPS, with the [Y] option installed.The DG16 can use two of the parallel channels for WAAS, EGNOS, or MSAS measurements.
  • Page 22 The DG16 is designed for stand-alone and differential GPS (DGPS) operation; it can operate as a base (reference) station or a remote (rover) station, providing or using real-time differential GPS corrections in RTCM SC-104 format (Version 2.2). This chapter describes DG16 hardware and functionality, describes the RF interface connector and the power/input/output connector, options, firmware upgrades, and lists power requirements and environmental specifications.
  • Page 23 Upon application of power, the DG16 runs a built-in self test of its internal memory, and thereafter periodically self-tests various functions during normal operation. Test results are stored for output on command. After self test, the DG16 initializes its battery-backed RAM. If the battery-backed RAM fails self-test...
  • Page 24 DG16 correction output is in RTCM-104 differential format. See “Beacon Operation” on page 69 for additional information. The DG16 is available as a board and as a sensor. From a functional point of view, the DG16 receiver consists of two major sections: The radio frequency (RF) section, and the digital section, where the signals from the GPS satellites are converted to digital format and processed.

  • Page 25: Board Hardware

    2.0 watts for the board and 2.5 watts for the sensor. Board Hardware The DG16 Board is simply the DG16 GPS receiver board assembly without the enclosure, back-up battery, or wide range power supply. It requires a regulated input voltage of 5 VDC (±5%) or 3.3 VDC (±5%); typical power consumption is approximately 1.2 to 2.0 watts depending on the configuration.

  • Page 26: Sensor Hardware

    2.2 watts. Figure 1.2. DG16 Sensor Status LEDs The DG16 Board and Sensor have two status LEDs: a GPS Status LED and a Differential Corrections Status LED. DG16 Board LEDs The DG16 Board has a three-color LED on the board which indicates the status of the receiver.

  • Page 27: Sensor Led

    • Three red flashes followed by the number of Serial input corrections green flashes. The DG16 supports the use of external LEDs with the same features as the on- board LEDs. Sensor LED The DG16 Sensor has a three-color LED on the front of the unit which indicates the status of the receiver.

  • Page 28: Power Requirements And Connections

    The sleep mode is particularly beneficial for operations which use batteries or solar panels for power levels. Use the $PASHS,PWR command to set the DG16 to sleep mode. The DG16 will reactivate with serial activity or at designated dates and times via session programming. See “SES,SET: Individual Session Programing”...

  • Page 29: Power Connections

    All power and input/output connections are made at the J301 connector for the Board, and through the serial connector for the Sensor. Attach the serial cable to the DG16 Sensor, and then connect the power source to the serial cable.
  • Page 30 RS-232 Port A clear to send TXDA RS-232 Port A transmit data RTSA RS-232 Port A request to send RXDA RS-232 Port A receive data TXDC RS-232 Port C transmit data Ground for serial Port B DG14 and DG16 Board & Sensor Reference Manual...

  • Page 31: Backup Power

    Table 1.5. J301 Pin Assignments Code Description CTSB RS-232 Port B clear to send TXDB RS-232 Port B transmit data RTSB RS-232 Port B request to send RXDB RS-232 Port B receive data TXDSCI Synchronous Communication Interface transmit data +5 VDC input +5 VDC input BATT_IN 2.5-3.6 volt battery backup for memory and real-time clock...

  • Page 32: Interfaces To External Equipment

    Interfaces to External Equipment DG-16 Board Interfaces The main interface to the DG16 Board is through the J301 connector. Figure 1.4 shows DG16 interfacing connections for the J301 connector. Mates with J301 on D 16 TXDC TXDSCI BATT_IN COR_LED_RED GPS LEN RED...

  • Page 33: Dg16 Sensor Interfaces

    DG16 Sensor Interfaces The main interface to the DG16 Sensor is through the serial connector. Figure 1.5 shows DG16 interfacing connections for the serial connector. Figure 1.5. DG16 Sensor Power-I/O Connections Radio Interference Some radio transmitters and receivers, such as FM radios, can interfere with the operation of GPS receivers.

  • Page 34: Rf Connections

    RF Connections A 50-Ohm coaxial cable connects the GPS/Beacon antenna (with integrated LNA) to the DG16 RF connector and the GPS antenna. No separate cable is required to receive WAAS, EGNOS, MSAS, or Beacon signals. The DG16 can supply power to the LNA through the cable. All signals are received through the RF input.

  • Page 35: Receiver Options

    3.3 VDC as the prime power instead of 5 VDC Receiver Options The DG16 has a number of available options. The options that are set in the receiver will determine which commands and features you can use. For example, if the photogrammetry option is not installed, you will not be able to use the $PASHS,TTT command to output event time tags from the serial port.
  • Page 36 User defined messaging Multi-base differential Third serial port (C) Altitude limit removed Speed limit removed The altitude limits removed [A} option and the velocity limits removed [V] option require an export license. DG14 and DG16 Board & Sensor Reference Manual...
  • Page 37 [X] User defined messaging [D] Multi-base differential [R] Third serial port (C) [-] Option not installed [-] Option not installed 710029150420 Receiver serial number Checksum in hexadecimal See Chapter 4, Command/Response Formats, for more information on the DG16 commands. General Information...

  • Page 38: Firmware Upgrades

    3. Connect pin 15 (BATT_IN) to ground if it is not being used. Pin 17 (MAN_RES) should be left open if it is not being used. 4. Isolate the center pin on the DG16 antenna connector from DC ground. The DC block used between the center pin and DC ground should have the following characteristics: •...
  • Page 39 DG16. An important difference between the DG16 board and the DG16 Sensor is the presence of a back-up battery for internal memory. The DG16 Sensor has a back- up battery installed. The DG16 Board Evaluation Kit (Figure 1.6) contains a DG16 Board, an antenna, hardware accessories for power and interfacing, and software to communicate with the receiver and monitor its performance.
  • Page 40 The DG16 Sensor Development Kit (Figure 1.7) contains a DG16 receiver housed in an extruded aluminum enclosure, an antenna, hardware accessories for power and interfacing, and software to communicate with the receiver and monitor its performance. The power and interface cable supplied with the Sensor Development Kit are used with other Thales Navigation products.

  • Page 41: Hardware Description

    This chapter is intended to get you started using the DG16 receiver. Please see the chapters on General Information, Basic Operation, Differential Operation, and Command/Response Formats for specific details regarding performance, power requirements, and commands. This chapter discusses the following topics: •...

  • Page 42: Power

    Figure 2.1 shows how to connect the components in the DG16 Board system. Universal Power Supply Antenna Power I/O Cable Interface Cable Antenna Cable DG16 Board Figure 2.1. DG16 Board Connections Power DG16 Board Before applying power to the DG16 board, connect any controller devices or data logging equipment to the input/output ports of the DG16 by way of connector J301.

  • Page 43: Sensor

    2. Connect the power cable to the power supply. Once power is connected, the LED on the DG16 Board flashes red. When you apply power to the power input pins on connector J301, the DG16 starts operation. When you remove power from the power input pins on connector J301, the DG16 stops operation.
  • Page 44 (SVs or Space Vehicles) within the field of view of the antenna. As a channel in the DG16 locks on to a satellite, the LED flashes green or yellow between the red power flashes for every channel in use (i.e., locked satellites). See “Status LEDs”...

  • Page 45: Communication Port Setup

    Data Output Options All the default data output commands are set to OFF. The DG16 does not output any data until you command it to do so. After the DG16 is powered and running, you must send commands in order to receive data (such as antenna position).
  • Page 46 Use Query commands to request information from the DG16, such as the current operating parameters, current position, or DGPS status. Query commands begin with the command string $PASHQ. The DG16 responds to query and set commands by issuing an acknowledgement of a change in operating parameters or with the specific information requested through a query.
  • Page 47 See “POS: Position Message” on page 265 for more information on this command. 4. If interfacing through port A, type $PASHS,NME,SAT,A,ON,1 and press <Enter>. This command tells the DG16 to return locked satellite information through port A at a set rate. The response message output rate is 1 Hz (default):...
  • Page 48 DG14 and DG16 Board & Sensor Reference Manual...

  • Page 49: Chapter 3. Basic Operation

    The DG16’s three RS-232 ports (ports A, B, and the optional port C) can receive command messages from an external control device, send response messages to an external control device (such as a PC), output data to a separate data logging device, and send or receive differential corrections from a reference or remote station.

  • Page 50: Dg16 Message Output

    DG16 to return the $PASHR,NAK*30 “not acknowledged” response message. DG16 Message Output The DG16 can be programmed to send data to another device. Output messages include general receiver status messages, ACK/NAK messages, and GPS data messages. The general receiver status messages have free-form Ashtech formats.
  • Page 51 The default protocol for transmitting or receiving data is 9600 baud, eight data bits, no parity, and one stop bit (8N1). The baud rate of the DG16 ports is adjustable using the $PASHS,SPD speed set command; the data bit, stop bit and parity protocol is always 8N1.

  • Page 52: Session Programming

    When the receiver is in sleep mode, most of the receiver functions are suspended which conserves power. Using preset session start times, the DG16 automatically wakes up in time to perform specified tasks for the next session and returns to sleep when the session is complete.

  • Page 53: Daisy-Chain Mode

    For more information on the Daisy-Chain command, see ”DSY: Daisy Chain Communications Mode” on page 105. When the DG16 is powered on for the first time, or when the power and back-up battery have been disconnected, there is no almanac or ephemeris data in memory.
  • Page 54 DG16 needs 30 to 40 seconds on average to compute a position (warm start). If almanac and ephemeris data and a valid position are not available at power-up, the DG16 computes position in 60 to 90 seconds on average (cold start).

  • Page 55: Saving Parameter Settings

    SAV command is not entered, the new settings will be lost, and the default settings restored at the next power cycle. The DG16 has a watchdog timer. If the processor hangs up for any reason, the watchdog timer resets the receiver. On reset, the receiver uses the parameters...

  • Page 56: Position Modes (Least Squares Algorithm)

    User-entered parameters will be lost and default settings will be restored if the command $PASHS,SAV,Y is not entered before the next power cycle. The DG16 can perform position computations and navigation solutions in several position modes and eight dynamic modes.

  • Page 57: Position Modes (Kalman Filter Algorithm)

    $PASHS,PMD command. If you have set the DG16 to Static KF mode and only 1 satellite is available, the position is still not considered predicted because Kalman filter, in this case, is nothing but sequential least squares.
  • Page 58 (maximum velocity and acceleration) for the vertical direction should be ten times less than nominally. If you have set the DG16 to Static KF mode and only 1 satellite is available, the position is still not considered predicted because Kalman filter, in this case, is nothing but sequential least squares.

  • Page 59: Navigation Solutions

    Upon exceeding such thresholds, the measurements are excluded from the navigation solution. Anytime a position is computed and not reported through a serial port, the DG16 indicates this with warning flags. For example, if the position exceeds the ERM setting or PDOP setting, a warning flag indicates MASK EXCEEDED.

  • Page 60: Fixed Altitude Modes

    If you want to determine the appropriate model for your application, choose the Adaptive Dynamic mode. If you select Mode 1 through 7, the DG16 will not accommodate the other dynamic modes. Adaptive Dynamic mode can never be static; under good, open sky, static conditions, the Kalman filter automatically changes to Quasi-Static mode.

  • Page 61: Point Positioning

    Positioning” section on page 143 for more details on this command. The Point Positioning option [T] must be set in the receiver for this command to work. The DG16 uses the Ohio State University 91A geoid model (OSU91A). For more information on OSU91A, refer to the Ohio State University: Rapp, R.H., Y.M.

  • Page 62: Ionospheric Model

    When the receiver is in autonomous mode, ionospheric and tropospheric modeling is enabled. The ionospheric model used by the DG16 is based on the model defined in ICD- GPS-200, Revision B. The tropospheric model is based on the Bean and Dutton model.
  • Page 63 When in Differential Base Mode, the DG16 uses an accurate antenna position (reference position) entered by the user to calculate range corrections by subtracting the measured range from the true range. Two commands can be used to enter the reference position: $PASHS,POS (position setting including latitude, longitude, altitude).
  • Page 64 The DG16 has an optional feature that allows you to output raw data (also called real-time data) through serial ports A, B, and C. Five different messages can be output: • MBN: Contains measurement data for each locked satellite using the Ashtech Type 2 data structure.
  • Page 65 Figure 3.1. GPS Epochs CAUTION The DG16 measures only one event time per data collection period. If more than one event time is measured within a data collection period, the receiver measures only the first one. The event time record rate is dependent upon the setting of the RCI parameter.

  • Page 66: Time Tagging The Shutter Signal

    To minimize the errors discussed above, the closed loop technique is recommended. Closed-Loop Technique (Advanced Trigger) The closed-loop technique combines PPS synchronization and shutter timing (Figure 3.2). Figure 3.2. PPS Synchronization DG14 and DG16 Board & Sensor Reference Manual...
  • Page 67 GPS time for the epoch. No interpolation between the shutter time and the GPS position time will be needed. When the timing pulse option [L] is installed, the DG16 can output a timing pulse synchronized with GPS time to an accuracy of ±1 microsecond. The timing pulse is a TTL-level square wave signal output on pin 18 of the J301 connector and is fed into a 75-ohm impedance.
  • Page 68 The latency of PBN message output is normally about 40 milliseconds after the timing pulse event. Figure 3.4. Relationship of GPS Time in PRN Record to Output of 1PPS Pulse DG14 and DG16 Board & Sensor Reference Manual...

  • Page 69: Jam Immunity

    The DG16 provides the optional capabilities of 10 Hz or 20 Hz internal update rates for position and raw data computations. When these options are installed, the DG16 can output NMEA messages and raw data messages at intervals of 0.1 or 0.05 seconds (see Table 1.7 for a list of the available options).
  • Page 70 This implements the transformations listed in Table 3.2 and below in the following equation: Table 3.2. Ellipsoid Parameters for WGS-72 and WGS-84 Reference Datum a[m] Ellipsoid WGS-72 WGS-72 6378135.0 298.26 WGS-84 WGS-84 6378137.0 298.257223563 DG14 and DG16 Board & Sensor Reference Manual...
  • Page 71 Dx=Dy=0 Dz= 4.5 meters m= 0.23 x 10 = –2.686 x 10 radians = –0. ” 554 6 – ´10 – 2.686 6 – ´10 0.23 6 – ´10 2.686 WGS84 1WGS72 Internally, the receiver implements the transformation from WGS-84 to WGS-72. Figure 3.5 demonstrates the change in the coordinate systems.
  • Page 72 DG14 and DG16 Board & Sensor Reference Manual...

  • Page 73: Chapter 4. Differential Operation

    DG16 commands related to differential GPS.Differential remote [U] and base [B] operation are available as receiver options. Both options must be installed in order for the DG16 to be able to support both differential modes (base and rover). General...

  • Page 74: Sources Of Error

    The DG16 accepts differential correction messages in the RTCM format (refer to RTCM Recommended Standards for Differential GNSS, version 3.0). The DG16 can be set to output or receive RTCM messages using either of its two ports by issuing the set command $PASHS,RTC,s1,c2 where s1 is either BAS (base station mode) or REM (remote mode) and c2 is the port designator for the input or output of differential corrections.

  • Page 75: Rtcm 104 Format, Version 3.0

    RTCM 104 Format, Version 3.0 When the RTCM base option is enabled and the DG16 is configured as a reference station, it computes differential corrections for up to 12 satellites, converts those corrections to RTCM format and outputs the converted messages through its serial ports.

  • Page 76: Base Station

    Null frame High-rate differential GPS corrections Special Message The DG16 uses the six-of-eight format (data bits a1 through a6 of an eight-bit byte) for differential corrections. When the RTCM remote option [U] is installed and the DG16 is set in differential remote mode, it can decode RTCM message types 1, 2, 3, 6, 9, and 16, but uses only types 1, 2, and 9 to correct its position calculations.

  • Page 77: Setting Up A Differential Base Station

    Type 9 messages. Since the DG16 does not support an external frequency input, be aware of possible degradation in positioning using Type 9 instead of Type 1 corrections.
  • Page 78 Enter the phase center of the antenna $PASHS,RTC,BAS,x Turn on RTCM corrections on port x When this command is sent, a base station automatically sends RTCM message type 1 once per second. DG14 and DG16 Board & Sensor Reference Manual...

  • Page 79: Moving Base Operation

    $PASHS,RTC,TYP command. Moving Base Operation The DG16 will function as a moving base station. In Differential Base mode, the DG16 can continuously input real-time reference position updates (at a rate of 1Hz or less) to the operating remote station using $PASHS,POS command.

  • Page 80: Message Rate

    You may also control which reference station the remote receiver uses by setting the desired station ID at the remote receiver, or all the remote receiver to use corrections from any base station. DG14 and DG16 Board & Sensor Reference Manual...

  • Page 81: Reference Station Health

    Use different receiver serial ports for MSG and the actual transmitted RTCM messages. The DG16 can accept differential corrections from a SBAS satellite, through the beacon receiver, and/or through a serial port input. You can select the set of corrections you want to use in the navigation solution (Integrated Differential Optimization or a single type of correction data).

  • Page 82: Remote Station

    When in DGPS operation and using RTCM corrections, the DG16 supports the Type 2 message for IODE changes. A differential navigation solution is only computed when there is a sufficient number of matched sets of satellite parameters and corrections.
  • Page 83 Figure 4.2. RTCM Remote System You must have a source of differential corrections, usually a radio receiving a transmission from a base station. Connect this radio to one of the DG16 serial ports. Send the following commands to the receiver. The receiver will accept RTCM differential corrections in message types 1 or 9.

  • Page 84: Recommended Settings For Differential Remote Stations

    You can use the auto differential mode to output an autonomous position at the rover receiver if differential data from DG14 and DG16 Board & Sensor Reference Manual...

  • Page 85: Sbas Operation

    Auto Differential On maximum age, otherwise an autonomous position is output. The DG16 can track two geostationary SBAS satellites at a time and make ranging, ephemeris, and SBAS differential correction data messages available through the serial ports. In addition, the DG16 can process SBAS corrections for DGPS positioning and also provide the corrections for output through the serial ports in RTCM SC-104 format.

  • Page 86: Dual Automatic Mode

    When the quality of the signal on Channel 1 is less than the quality threshold, the DG16 checks the quality of the signal of the Channel 2 satellite. If Channel 2 satellite has a better signal, the DG16 switches to it.

  • Page 87: Dual Manual Mode

    SBAS data in the navigation solution. Dual Manual Mode In Dual Manual SBAS Mode, the DG16 searches for and tracks the two specified SBAS satellites (PRN = xx and PRN=yy) on Channel 1 and Channel 2, respectively. Use the $PASHS,SBA, MAN,xx,yy to enable the Dual Manual SBAS mode and use the SBAS data in the navigation solution.

  • Page 88: Using Sbas Data

    Decoding and Outputting SBAS Data If the SBAS option is enabled and if the SBAS mode is activated, you can set the DG16 to decode and output SBAS data using the $PASHS,SBA,DAT command. The number of SBAS channels used for the decoding and outputting SBAS data depends on the $PASHS,SBA,CDU settings.

  • Page 89: Utilizing Integrity Information

    You can save any SBAS parameters you set using the $PASHS,SAV,Y command. The DG16 two-channel scanning beacon receiver has two modes of operation: automatic or fixed. In both modes, the beacon receiver can provide corrections from one or two beacon stations.

  • Page 90: Beacon Operation

    • Single Manual Mode • Dual Manual Mode The default Beacon mode is Single Automatic. On power up, the DG16 remembers the last beacon stations used, and begins searching with those frequencies. Automatic Modes In Automatic mode, the beacon receiver automatically determines the MSK...

  • Page 91: Dual Automatic Mode

    Channel 1, the beacon receiver switches to it. If, on the other hand, the signal on Channel 1 drops below the threshold and the signal on Channel 2 is no better or no beacon signal is available, the DG16 continues to use and track the beacon signal on Channel 1.

  • Page 92: Single Manual Mode

    Channel 1 or Channel 2. Working with the Beacon Directory The DG16 beacon directory is similar to, but usually larger than, the beacon almanac received in the RTCM Type 7 message. The Type 7 message contains information about a specific network of reference stations, and the receiver directory contains the same information for all stations.

  • Page 93: Adding Stations To The Beacon Directory

    station located within 30 km from any station in the beacon directory, then the existing station is replaced with the one received from RTCM Message 7 in the beacon directory. If the RTCM type 7 information received is from a station more than 30 km from any station in the Beacon directory then the new station will be added to the beacon directory.

  • Page 94: Deleting Stations From The Beacon Directory

    Number of messages remaining in output Source of information DEF—Default list, RTC—from RTCM message 7, USR— user defined Latitude North (N) or South (S) Longitude East (E) or West (W) Frequency Station ID DG14 and DG16 Board & Sensor Reference Manual...

  • Page 95: Saving And Resetting The Beacon Directory

    Table 4.6. $PASHR,BCN,DIR Format Parameter Description Bit Rate Range (Kilometers) Health Modulation Code Sync Type Broadcast Coding If the information for a field is not available, then the field is set to the factory default. You can use the following options to specify which part of the beacon directory you wish to list: •...

  • Page 96: Saving And Resetting Beacon Parameters

    $PASHS,INI,x,x,0 or The receiver and Beacon restart. All receiver and Beacon parameters are $PASHS,INI,x,x,2 restored from battery backed-up memory. $PASHS,BCN,BBU The Beacon restarts. All Beacon parameters are restored from battery backed- up memory. DG14 and DG16 Board & Sensor Reference Manual...

  • Page 97: Output Beacon Data To Serial Ports

    Output Beacon Data to Serial Ports You can output the beacon data to any of DG16 serial ports using the $PASHS,BCN,OUT,d1,c1,s1 command where d1 is Beacon Channel (1 or 2), c1 is receiver port (A or B or C), and s1 is ON or OFF.

  • Page 98: Automatic Primary-Secondary

    “best” correction source. Use the $PASHS,RTC,SLC,WGH command to set the receiver in Automatic-Primary mode. When the DG16 switches from one correction source to another, there can be decimeter-level position jumps due to change in “quality” of corrections. Any reference clock offset differences between the old and new correction sources, however, will be absorbed by the NavT/NavTdot solution parameter without reflecting on the position/velocity solution.

  • Page 99: Chapter 5. Coordinate Transformation

    (grid coordinates). The DG16 provides the following on-board tools to transform WGS-84 coordinates into various formats and reference frames: 1. Datum-to-Datum transformation Using this feature, WGS-84 coordinates can be transformed into coordinates based on another datum.

  • Page 100: Datum To Datum

    $PASHS,DTM command. Prior to using these commands, define the required parameters including the length of the semi-major axis and amount of flattening in the reference ellipsoid, and the translation, rotation, and scale between the user- defined system and WGS-84. DG14 and DG16 Board & Sensor Reference Manual...
  • Page 101 The generic formula used to translate and rotate from coordinate system 1 to coordinate system 2 is as follows: – 6 – ´10 – – where expressed in radians, similarly for Example: Define local datum as the WGS-72 datum Send the following commands to the receiver: $PASHS,UDD, 0,6378135.0, 298.26,0,0,4.5,0,0,-0.554,0.23 $PASHS,DTM,UDD This implements the transformations listed in Table 5.2 and below.
  • Page 102 Use this transformation to generate coordinates in an <x,y> rectangular system, based on the user’s location and mapping requirements or local standard. The user may select any projection along with any base datum for output. DG14 and DG16 Board & Sensor Reference Manual...
  • Page 103 Convert geodetic coordinates into grid coordinates by defining a grid system utilizing one of the supported projection types (Figures 5.2 - 5.6). CAUTION Although almost any projection or combination of datums and projections is mathematically possible, some are inappropriate with respect to the project scope or geographic area.

  • Page 104: Projection Types

    Projection Types The following graphics represent the different types of projections available for the receiver. Figure 4.2. Mercator Figure 4.3. Transverse Mercator DG14 and DG16 Board & Sensor Reference Manual...
  • Page 105 Figure 4.4. Oblique Mercator Figure 4.5. Stereographic Coordinate Transformation...

  • Page 106: Elevation Modeling

    WGS-84-based geoid separation. An exception to this is the GGA message which ONLY outputs WGS-84 based geoid heights and separation, as per NMEA specifications. DG14 and DG16 Board & Sensor Reference Manual...

  • Page 107: Chapter 6. Receiver Commands

    Please note that some messages are functional only if the appropriate option is installed. When a command is sent to one of its serial ports, the DG16 responds by outputting a message indicating the acceptance or rejection of the command. In the case of query commands, the DG16 either outputs a response message containing data relevant to the query or sends a “NAK”...
  • Page 108 (*) If you have the User-defined messaging option installed [X], you can use the $PASHS,UDM command to view receiver information you specify the DG16 to output. See Appendix A, UDM Utility for more information on setting up a user- defined message.

  • Page 109: Receiver Commands

    "acknowledged" (ACK) message: $PASHR,ACK*3D The DG16 returns a NAK message if the command is invalid. For example, the set command $PASHS,SAV,Y<Enter> instructs the DG16 to save user-entered operation parameters; the DG16 returns $PASHR,ACK*3D to acknowledge that the command was valid and the instruction was carried out.

  • Page 110: Message Formats

    Checksum delimiter. Hexadecimal checksum value (checksum is optional). The query command $PASHQ,CRR instructs the DG16 to output a response message indicating the currently selected code correlation mode: $PASHR,CRR,E*5E The query command $PASHQ,CR<Enter> is incomplete, and causes the DG16 to flag it as an invalid message by outputting the NAK response.
  • Page 111 Table 6.3. Receiver Commands (Continued) Function Command Description Default Page $PASHS,HDP Set HDOP mask for position Dilution of computation Precision (DOP) $PASHS,PDP Set PDOP mask for position computation $PASHS,VDP Set VDOP mask for position computation Ionospheric and $PASHQ,ION Query ionospheric measurements Tropospheric Modelling $PASHQ,BIT...
  • Page 112 $PASHS,PMD Set position computation mode $PASHS,PPO Enable/disable point positioning — $PASHQ,PPR Query position parameters — $PASHS,SCM Set smoothing counter mask $PASHQ,SCM Query smoothing counter mask — $PASHS,SEM Set secondary elevation mask DG14 and DG16 Board & Sensor Reference Manual...
  • Page 113 Table 6.3. Receiver Commands (Continued) Function Command Description Default Page $PASHS,KFP Set the Kalman filter $PASHQ,KFP Query the Kalman filter parameters — $PASHS,KFP,FDE Set the Kalman filter fault detection Kalman Filter and elimination $PASHS,KFP,PRI Set the Kalman filter prediction 10 sec interval $PASHS,KPI Set the coordinates for Kalman filter...
  • Page 114 Estimate the grid transformation — $PASHS,UD4 Set user-defined datum to datum WGS-84 parameters $PASHS,UDD Set the user-defined datum — $PASHQ,UDD Query the user-defined datum — $PASHS,UDG Set user-defined datum to grid — transformation DG14 and DG16 Board & Sensor Reference Manual...
  • Page 115 Table 6.3. Receiver Commands (Continued) Function Command Description Default Page $PASHS,AJM Enable/disable jam immunity $PASHQ,AJM Query the jam immunity status — $PASHQ,CLK Query clock status — $PASHS,CTS Enable/disable RTS/CTS handshaking protocol $PASHQ,CTS Query the current RTS/CTS setting — $PASHS,DSY Set serial ports for daisy chain communication $PASHQ,DUG Query UTC-GPS time difference...

  • Page 116: Ajm: In-Band Jam Immunity

    ALT: Ellipsoidal Height $PASHS,ALT,f1 This command sets the ellipsoidal height of the antenna, where f1 can be any value from -99999.99 to +99999.99. The DG16 uses the altitude value set through this command when it is computing 2D positions. Example Enter the following command to set the ellipsoidal height of the antenna to -30.1...

  • Page 117: Ant: Set Antenna Offsets

    $PASHS,ANH,3.534 $PASHQ,ANH,[c] This command queries the antenna height entered into the receiver, where c is the optional port designator for the output of the response. If a port is not specified, the receiver sends the response to the current port. Example Enter the following command to query antenna offsets to port A.
  • Page 118 Horizontal azimuth measured from the reference point to the 0 to 180.00 ddmm.mm antenna phase center with respect to north (WGS-84). Horizontal distance measured from the reference point to 0 to 99.9999 meters the antenna phase center. Checksum 00-FF DG14 and DG16 Board & Sensor Reference Manual...

  • Page 119: Bit: Operational Diagnostic Tests

    BIT: Operational Diagnostic Tests $PASHQ,BIT,[c1] This commands queries for the results of the periodic operational diagnostic tests, where c1 is the optional port designator for the output of the response. If a port is not specified, the receiver sends the response to the current port. The response message is output in the format: $PASHR,BIT,c1,c2,c3,*cc Table 6.6 outlines the response message parameters.

  • Page 120: Crr: Code Correlator Mode

    S = Strobe correlator. The selected correlator is applied to all GPS channels and both SBAS channels. The Edge Correlator is standard features for the DG16. The Strobe Correlator is available for the DG16 as an option. DG14 and DG16 Board & Sensor Reference Manual...
  • Page 121 $PASHQ,CRR,[c1] This command queries the current code correlation mode, where c1 is the optional port designator for the output of the response. If a port is not specified, the receiver sends the response to the current port. $PASHR,CRR The response message is output in the format: $PASHR,CRR,c1,c2,c3,c4,c5,c6,c7,c8,c9,c10,c11,c12*hh Table 6.8 outlines the parameters Table 6.8.

  • Page 122: Cts: Handshaking Protocol

    This command enables or disables the CTS/RTS (Clear To Send/Request To Send) handshaking protocol on one or all of the DG16’s serial ports. The c1 parameter is the optional port designator (A, B, or C); s1 is ON or OFF.

  • Page 123: Dap: Doppler Averaging Interval

    Table 6.11 outlines the response message. Table 6.11. Typical CTS Message Item Description $PASHR Header Message identifier Port identifier Current CTS setting for the related serial port Checksum DEFAULT SETTING CTS—OFF DAP: Doppler Averaging Interval $PASHS,DAP,f1 This command sets the time interval for the average doppler computation where f1 is the value for the output interval between 0.0 and 5.0.

  • Page 124: Dfo: Remote Station Status

    0 to 7 Age of received message in seconds 0 to maximum age Quality factor 0 to 999 Number of satellites for which the PRC and RRC are transmitted PRN number (loops d7 times) DG14 and DG16 Board & Sensor Reference Manual...

  • Page 125: Dsy: Daisy Chain Communications Mode

    $PASHS,DSY,A,B Both commands must be entered to enable bi-directional daisy $PASHS,DSY,B,A chain mode. If you are connecting to the DG16 through port A, enter $PASHS,DSY,B,A first. If you are interfacing to the DG16 through port B, enter $PASHS,DSY,A,B first $PASHS,DSY,OFF Disables daisy chain on all ports.

  • Page 126: Dtm: Set Reference Datum

    International 1924 -206, 172, -6 S. American Corrego Alegre (Brazil) International 1924 -87, -96, -120 European 1950 (Western Europe: Netherlands, Austria, France, F.R. of Germany, Switzerland, Denmark) International 1924 -104, -101, -140 European 1950 (Cyprus) DG14 and DG16 Board & Sensor Reference Manual...
  • Page 127 Table 6.15. Predefined Datums and Associated Reference Ellipsoids (Continued) Reference Offset in meters Datum ID Datum Description Ellipsoid (dX,dY,dZ) International 1924 -130, -117, -151 European 1950 (Egypt) International 1924 -117, -132, -164 European 1950 (Iran) International 1924 -97, -88, -135 European 1950 (Sicily) International 1924 -86, -98, -119 European 1979 (Austria, Netherlands, Finland,...
  • Page 128 0.00339007530409 Clarke 1880 6378249.145 293.465 0.00340756137870 Everest (India 1830) 6377276.345 300.8017 0.00332444929666 Everest (W. Malaysia and 6377304.063 300.8017 0.00332444929666 Singapore) Geodetic Reference System 6378137.0 298.257222101 0.00335281068118 1980 Helmert 1906 6378200.0 298.30 0.00335232986926 DG14 and DG16 Board & Sensor Reference Manual...

  • Page 129: Dug: Gps/Utc Time Difference

    Table 6.16. Predefined Ellipsoids Ellipsoid a (metres) International 1924 6378388.0 297.00 0.00336700336700 South American 1969 6378160.0 298.25 0.00335289186924 World Geodetic System 1972 6378135.0 298.26 0.00335277945417 (WGS-72) World Geodetic System 1984 6378137.0 298.257223563 0.00335281066475 (WGS-84) Example Enter the following command to select New Zealand Geodetic Datum 1949 for position computation: $PASHS,DTM,GEO You can view the current reference datum selection with the $PASHQ,PAR...

  • Page 130: Dyn: Dynamic Mode

    1000 Unlimited 1000 1000 Adaptive Dynamic ** * Quasi-Static represents a static condition with some tolerance for slight movements within a decimeter or two. An example would be an antenna on a DG14 and DG16 Board & Sensor Reference Manual...

  • Page 131: Epg: Kinematic Epoch Counter

    If you are unsure which is the appropriate model for your application, choose the Adaptive Dynamic mode. If you select Mode 1 through 7, the DG16 will not accommodate the other dynamic modes. DEFAULT SETTINGS —...

  • Page 132: Erm: Set Position Error Mask Values

    (AUT,ON), based on the epoch-to-epoch conditions, the receiver will use the respective mask parameters based on the corresponding positioning mode of each epoch. If the receiver is generating autonomous positions DG14 and DG16 Board & Sensor Reference Manual...
  • Page 133 (e.g. due to the lack of current RTCM correction) the AUT mask parameters will be used until differential position fixes are computed, which will be masked by the DIF parameters. Example Enter the following command to set the horizontal error mask to 2 meters and the vertical error mask to 4 meters for all positioning modes: $PASHS,ERM,ALL,2,4 DEFAULT SETTING...

  • Page 134: Fix: Fixed Altitude Mode

    Fixed Altitude Mode 1 Only the most recent altitude value entered through the $PASHS,ALT command is used. Example Enter the following command to set the DG16 in fixed altitude mode 1: $PASHS,FIX,1 DEFAULT SETTING FIX—Mode 0 FUM: Fix UTM Zone...

  • Page 135: Fzn: Select Fixed Utm Zone

    crossing from one UTM zone into another. This command is used in conjunction with the $PASHS,FZN command which is used to select the zone to be fixed by the FUM command. Example Enter the following command to enable the fixed zone setting: $PASHS,FUM,Y DEFAULT SETTING FUM—N...
  • Page 136 -999.999 to Geoid Model +999.999 Age of differential corrections 0 to 999 Differential reference station ID 0000 to 1023 Datum type W84, USR Checksum 2-character hex Typical GDC response message: $PASHR,GDC,015151.00,EMER,588757.623,+4136720.056,2,04,03.8,000 12.123,M,-031.711,M,14,1010,W84*2A DG14 and DG16 Board & Sensor Reference Manual...

  • Page 137: Grd: Datum To Grid Transformation (Map Projection)

    Table 6.21 outlines the response message. Table 6.21. Typical GDC Response Message Item Significance 015151.00 UTM time EMER Equatorial Mercator map projection 588757.623 User Grid easting coordinate (x) 4136720.056 User Grid northing coordinate (y) RTCM differential position Number of satellites used to compute position 03.8 HDOP 00012.123...

  • Page 138: Hdp: Hdop Mask Value

    This command sets the value of the HDOP mask, where d1 is a number between 0 and 99.9. If the HDOP value computed by the DG16 is higher than the HDOP mask value, the receiver will automatically go into fixed altitude mode. You can view the current HDOP mask value by entering the query command $PASHQ,PAR and checking the HDP field.
  • Page 139 To remain NMEA standard, the GGA message always outputs the elevation for the geoidal elevation for both ELG and GEO, and the local orthometric elevation for both ELU and UDH and not the ellipsoidal elevation. Example Enter the following command to set geoidal height in the position output. $PASHS,HGT,GEO $PASHQ,HGT,c This command queries the height model selection where c is the optional output...

  • Page 140: Hlp: Help

    LTN POS GLL GXP GGA VTG GSN MSG GSA GSV SAT GRS RRE TTT ZDA TCM RMC GST GNS CRT GDC UTM PTT UKO SUD DTM ALM Format: '$GP...,message'; '$PASHR,...,message'; To turn ON/OFF - '$PASHS,NME,...,port,ON/OFF,[period]'; For more detail help - '$PASHQ,HLP,NME,...'; DG14 and DG16 Board & Sensor Reference Manual...
  • Page 141 Enter the following command to list the POS commands and messages for the receiver. $PASHQ,HLP,POS $PASHS,POS,... set command: Sets the altitude of the antenna. $PASHR,POS,... message: Most recently computed position To turn ON/OFF - '$PASHS,NME,POS,port,ON/OFF,[period]'; Enter the following command to list the POS commands in the PASHQ group for the receiver.

  • Page 142: Hst: Start-Up Diagnostic Results

    If a port is not specified, the receiver sends the response to the current port. If you do not specify d1, this command returns information on the most recently run diagnostic test. $PASHR,HST The response message is output in the format: $PASHR,HST,d1,d2,d3,d4,d5,m1,h1*cc DG14 and DG16 Board & Sensor Reference Manual...
  • Page 143 Table 6.24 outlines the response message parameters. Table 6.24. $PASHQ,HST Response Parameters Parameter Description Range The total number od failures in the history. If this value is zero, then the 0 to 20 rest of the message is omitted. The sequential index number of this failure in history. 1 to 20 The day of the failure 01 to 31...

  • Page 144: Ini: Initialize The Receiver

    The maximum baud rate for Port C is 19,200. Baud rate codes 7, 8, and 9 are invalid for d3. Table 6.26. Memory Reset Codes Reset Memory Action Code No memory reset Reset internal memory (user settings) DG14 and DG16 Board & Sensor Reference Manual...

  • Page 145: Ion: Ionospheric And Tropospheric Modelling

    19200, and to reset internal memory: $PASHS,INI,4,6,6,1 The INI command is not fully functional with the DG16. Since the DG16 does not contain a memory area for data storage, the reset memory code for external memory (2) has no effect on the receiver.
  • Page 146 Delta UTC-GPS time at reference time short Week of leap second correction short DN day of leap second correction short Delta time between GPS and UTC short WN Current GPS week number DG14 and DG16 Board & Sensor Reference Manual...

  • Page 147: Kfp: Kalman Filter

    Time of week when message was read short Checksum (word) Total characters = 76 bytes The DG16 does not calculate ionospheric parameters on its own. The ionospheric data, listed in Table 6.27, are obtained from subframe 4 of the GPS navigation message. KFP: Kalman Filter $PASHS,KFP,s1 This command enables the Kalman filter where s1 is ON or OFF.

  • Page 148: Kfp,Fde: Kalman Filter Fault Detection And Elimination

    (ERM) is exceeded. If f1 is set to zero, the prediction mode is disabled/ The predicted position is flagged in the $PASHR,POS message as 8. DG14 and DG16 Board & Sensor Reference Manual...

  • Page 149: Kpi: Known Point Initialization

    Example Enter the 4following command to set the Kalman filter maximum prediction interval to 45. $PASHS,KFP,PRI,45 DEFAULT SETTING KFP,PRI—10 seconds KPI: Known Point Initialization $PASHS,KPI,m1,c1,m2,c2,m3,s1,s2,s3 This command sets the known coordinates for an antenna phase center where Table 6.29 outlines the parameters: Table 6.29.

  • Page 150: Lgs: Grid To Grid Transformation

    The carrier and code loop parameters are set independently. The DG16 uses default loop tracking values until new parameters are set through this command. Loop tracking...
  • Page 151 $PASHQ,LPS,[c1] This command queries the current loop tracking parameter settings, where c1 is the optional port designator for the output of the response.If a port is not specified, the receiver sends the response to the current port. $PASHR,LPS The response message outputs in the format: $PASHR,LPS,d1,d2,d3*hh Table 6.30 outlines the parameters.

  • Page 152: Ltz: Local Time Zone

    ZDA message. Examples Enter the following command to add an offset of +7 hours to GMT: $PASHS,LTZ,+7,0 Enter the following command to add an offset of -4 hours, 25 minutes: $PASHS,LTZ,-4,25 DG14 and DG16 Board & Sensor Reference Manual...

  • Page 153: Oop: Output Messages Order

    DEFAULT SETTING LTZ—00 hours, 00 minutes OOP: Output Messages Order $PASHS,OOP,s1,s2,s3... This command sets the order of the output messages where s1, s2, and s3 are the messages. You can set the order for any number of messages. Example Enter the following command to set the message order to GGA, PBN, SAT. $PASHS,OOP,GGA,PBN,SAT $PASHQ,OOP,c1 This command lists all the ASCII and binary messages in the order the receiver...
  • Page 154 The response message has a free-form Ashtech format. This message does not have a header or message identifier as shown in the following example: SPDA:5 SPDB:5 SPDC:5 GPS:YYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYY SBAS:YYYYYYYYYYYYYYYYYYYYYYYYYYYYYYYY SYS:GPS DTM:W84 TDP:04 PMD:1 FIX:0 ALT:+00000.00 PDP:40 HDP:04 VDP:04 ERM:600,1200,30,60 PEM:05 SEM:OFF UNH:N ION:Y TRO:Y SAV:N...
  • Page 155 The default is OFF. This setting indicates whether the receiver uses (Y) or ignores (N) unhealthy satellites. This setting is always N. The DG16 never uses unhealthy satellites in position computation. Indicates whether ionospheric modelling is enabled (Y) or Y, N disabled (N) in position computation.
  • Page 156 (ON) or disabled (OFF) for output from Port B. Default is OFF. Output interval setting for NMEA and Ashtech NMEA-style 0.05 to 999 messages, excluding the TTT message. Default is 1 second. DG14 and DG16 Board & Sensor Reference Manual...

  • Page 157: Pdp: Pdop Mask Value

    PDP: PDOP Mask Value $PASHS,PDP,d1 This command sets the value of the PDOP (Position Dilution of Precision) mask, where d1 is a number between 0 and 99. The receiver stops computing positions when the calculated PDOP value exceeds the PDOP mask value. You can view the current PDOP mask setting by entering the $PASHQ,PAR command and checking the PDP field.

  • Page 158: Pmd: Position Mode

    This command sets the position mode. The position mode determines the minimum number of satellites required to compute a position, whether the receiver switches automatically from 2-D to 3-D positioning or is manually locked in 2-D or 3-D DG14 and DG16 Board & Sensor Reference Manual...
  • Page 159 positioning mode, and, in 2-D mode, whether the altitude used is the most recently computed “good” altitude or a fixed altitude value set by the ALT command. Enter 0, 1, 2, or 3 for d1. You can view the current position mode by entering the query command $PASHQ,PAR and checking the PMD field.

  • Page 160: Pos: 3-D Antenna Position

    If a port is not specified, the receiver sends the response to the current port. $PASHR,POS The response message is output in the format: $PASHR,POS,d1,d2,m1,m2,c1,m3,c2,f1,f2,f3,f4,f5,f6,f7,f8,f9, s1*hh DG14 and DG16 Board & Sensor Reference Manual...
  • Page 161 Table 6.36 outlines the parameters. Table 6.36. $PASHR,POS Message Format Parameter Description Range Indicates whether the position solution has 0, 1 been computed autonomously or with the aid of RTCM differential corrections: • 0: Autonomous position • 1: Corrected position Indicates the number of satellites used in 0 to 12 computing positions...

  • Page 162: Pow: Battery Parameters

    The data for the external battery is estimated based on user entered parameters and the power consumption of the DG16. Re-enter the battery parameters after clearing the DG16’s internal memory, or connecting to a different battery. Using the Dg16 to power external devices such as a radio can reduce the effectiveness of this command.

  • Page 163: Ppo: Point Positioning

    where Table 6.38 outlines the response format: Table 6.38. POW Message Structure Parameter Description Unit battery capacity (time) minutes capacity remaining minutes battery capacity (power) battery voltage volts checksum PPO: Point Positioning $PASHS,PPO,c This command enables or disables the point positioning mode, where c is either Y (enable) or N (disable).

  • Page 164: Pps: Pulse Per Second

    PPS: Pulse Per Second $PASHS,PPS,f1,f2,c1 The DG16 can generate a timing pulse with programmable period and offset. The timing pulse is a square-wave signal which is generated by default once every second (1PPS) with its rising edge synchronized to the GPS time and no offset from GPS time.

  • Page 165: Timing Pulse And Measurement Strobe (Optional)

    PRT: Serial Port Baud Rate $PASHQ,PRT,[c1] This command queries the baud rate code of the DG16 serial port to which you are currently connected, where c1 is the optional serial port designator for the output of the response. If a port is not specified, the receiver sends the response to the current port.

  • Page 166: Pwr: Receiver Power

    This command queries the various receiver identification parameters, where c1 is the optional port designator for the output of the response. If a port is not specified, the receiver sends the response to the current port. DG14 and DG16 Board & Sensor Reference Manual...
  • Page 167 List of installed options Checksum Twenty two options are available for the DG16. Each option is represented by a letter or number in a definite order. The presence of a given option is indicated by the presence of the corresponding letter or number. A dash (“-”) indicates that a given option is not installed.

  • Page 168: Integrated Differential Optimization

    Speed limit removed (Export license required) Typical RID response message: $PASHR,RID,DG,#B27,TOPUIBKLEJCSNYXDRAV*21 Table 6.45 outlines the response message. Table 6.45. $PASHR,RID Fields Field Description $PASHR Header Message identifier DG16 Receiver model identifier #B27 Firmware version number DG14 and DG16 Board & Sensor Reference Manual...

  • Page 169: Rio: Receiver Identification Parameters (Format 2)

    Table 6.45. $PASHR,RID Fields Field Description TOPUIBJLEJC-CYXDRAV Options available: [1] 1 Hz position update rate [T] 10 Hz raw measurement update rate [O] Raw data output [P] Carrier phase [U] Differential remote station [I] Integrated Differential Optimization [B] Differential base station [K] RTCM Type 18/19 message generation [L] 1 Pulse Per Second [E] Photogrammetry...
  • Page 170 An underscore (“_”) indicates a reserved option slot. Typical RIO response message: $PASHR,RIO,DG14,#B27,,TOPUIBJLEJCSCWXDRAV,00000000000000000000*2F Table 6.47 outlines the response message. Table 6.47. $PASHR,RIO Fields Field Description $PASHR Header Message identifier DG14 Receiver model identifier #B27 Firmware version number DG14 and DG16 Board & Sensor Reference Manual...

  • Page 171: Rst: Restore Default Parameters

    [-] Option not installed 00000000 Receiver serial number Checksum See Table 6.44 for more information on available options for the DG16. RST: Restore Default Parameters $PASHS,RST This command restores the DG16 parameters to their default values. After issuing the RST command, you can query PAR (general receiver parameters), RAW (raw data output parameters), and RTC (RTCM and differential GPS parameters) to obtain DG16 default settings.

  • Page 172: Scm: Smoothing Counter Mask

    SAV parameter is set to Y. The DG16 has a “watchdog” timer. If the processor hangs up for any reason, the watchdog timer will reset the receiver. On reset, the receiver parameters most recently saved using the set command $PASHS,SAV will be used at startup following the reset.

  • Page 173: Sem: Secondary Elevation Mask

    SEM: Secondary Elevation Mask $PASHS,SEM,d1,d2,d3 This command sets a secondary elevation mask angle value for a sector of the sky defined by two azimuth angles. The second sector is the region between the first and second azimuths measured clockwise from North. d1 is the secondary elevation mask angle.

  • Page 174: Ses,Par: Session Programming Parameters

    0 to 59 (mm:ss) Example Enter the following command to enable session programming parameters with 4 minute daily offset to keep track of the daily change of the GPS satellite configuration. $PASHS,SES,PAR,Y,121,0400 DG14 and DG16 Board & Sensor Reference Manual...

  • Page 175: Ses,Set: Individual Session Programing

    SES,SET: Individual Session Programing $PASHS,SES,SET,c1,c2,d3,d4,f5,d6,d7,d8 This command sets the individual sessions for session programming. This command sets a single session. Up to 10 sessions may be programmed. You must use this command with the $PASHS,SES,PAR command. Table 6.49. SES,SET Message Structure Setting Description Range...
  • Page 176 0, 2, or 4 INUSE Session use Y, N, or S Session reference day 0 to 366 OFFSET Session time offset (minutes, seconds) mm:ss TODAY Date of the year 0 to 366 DG14 and DG16 Board & Sensor Reference Manual...

  • Page 177: Smi: Code Measurement Smoothing

    0 to 1200, and d2 is the order of smoothing, 1 or 2.If d2 is omitted, then the DG16 assumes first order of smoothing. This smoothing setting is independent of the internal receiver update interval.

  • Page 178: Snm: Signal-To-Noise Mask

    SPD: Serial Port Baud Rate $PASHS,SPD,c1,d1 This command sets the baud rate for the DG16’s serial ports, where c1 is port A, B, or C (optional port) and d1 is a code number between 0 and 9 corresponding to the baud rates listed in Table 6.51. The default baud rate is 9600. You can view the baud rate settings for ports A, B, and C by entering the $PASHQ,PAR command and checking the SPDA, SPDB, and SPDC fields.

  • Page 179: Satellite Tracking

    Enter the following command to set the baud rate of port B to 4800: $PASHS,SPD,B,4 If you change the baud rate of the DG16’s serial port, be sure that the serial port of the device to which the DG16 port is connected is set to the same baud rate.
  • Page 180 Satellite NOT used because satellite true number unknown (for modes, where we need the true satellite number Satellite NOT used because it was disabled by RTK engine (N/A in DG16) Satellite NOT used because no full range is available Satellite NOT used because of some other case...

  • Page 181: Svp: Include/Exclude Satellites For Position Computations

    SVP: Include/Exclude Satellites for Position Computations $PASHS,SVP,c1c2c3…c32 This command includes and excludes specific satellites for use in position computations, where c is Y (include) or N (exclude). Unlike most of the other set commands, the c parameters are not separated by commas. A satellite which has been excluded can still be acquired and tracked, but is not used in computing positions.

  • Page 182: Svs: Include/Exclude Satellites For Acquisition And Tracking

    8 through 32 $PASHQ,SVS,[c1] This command queries the current SVS settings, where c1 is the optional output serial port. If a port is not specified, the receiver sends the response to the current port. DG14 and DG16 Board & Sensor Reference Manual...
  • Page 183 $PASHR,SVS The response message contains the current SVP settings for all 32 satellites. The format of the response message is nearly identical to the format used in the SVP set command: $PASHR,SVS,c1c2c3…c32*hh Table 6.56 outlines the response message. Table 6.56. $PASHR,SVS Message Format Field Description Range...

  • Page 184: Uct,Udd,Apt: Add Point For 3-D Datum Transformation

    0 to 18000 Sigma latitude of WGS-84 point Sigma longitude of WGS-84 point Sigma altitude of WGS-84 point Sigma latitude of local datum Sigma longitude of local datum Sigma altitude of local datum DG14 and DG16 Board & Sensor Reference Manual...

  • Page 185: Uct,Udd,Cal: Calculate Datum Transformation Parameters

    UCT,UDD,CAL: Calculate Datum Transformation Parameters $PASHS,UCT,UDD,CAL This command computes the estimated datum transformation parameters for the user-defined datum. In order to compute the estimated datum transformation parameters, you must have entered in at least seven data points with the $PASHS,UCT,UDD,APT command. $PASHQ,UCT,UDD,CAL This command queries for the estimated datum transformation parameters of the user-defined datum.

  • Page 186: Uct,Udd,Est: Estimating A 3-D Datum Transformation

    Table 6.61. $PASHS,UCT,UDH,APT Parameters Parameter Description Range Easting based on user selected grid system ±9999999.99 (meters) Northing based on user selected grid system ±9999999.99 (meters) Ellipsoidal height 0 to 18000 Orthometric height 0 to 18000 DG14 and DG16 Board & Sensor Reference Manual...

  • Page 187: Uct,Udh,Cal: Calculate Local Geoidal Surface

    Table 6.61. $PASHS,UCT,UDH,APT Parameters Parameter Description Range Sigma ellipsoidal height Sigma orthometric height UCT,UDH,CAL: Calculate Local Geoidal Surface $PASHS,UCT,UDH,CAL This command computes the estimated parameters for local geoidal surface. In order to compute the estimated grid transformation parameters, you must have entered the four data points with the $PASHS,UCT,UDH,APT command.

  • Page 188: Uct,Ug4,Apt: Add Point For Grid Transformation

    In order to compute the estimated grid transformation parameters, you must have entered the four data points with the $PASHS,UCT,UG4,APT command. $PASHQ,UCT,UG4,CAL This command queries for the estimated grid to grid transformation parameters. DG14 and DG16 Board & Sensor Reference Manual...

  • Page 189: Uct,Ug4,Est: Estimating A Grid Transformation

    $PASHR,UCT,UG4,CAL,f1,f2,f3,f4,f5,f6,f7,f8 The response is in the format $PASHR,UCT,UG4,CAL,f1,f2,f3,f4,f5,f6,f7,f8 where Table 6.64 outlines the response parameters. Table 6.64. $PASHR,UCT,UG4,CAL Response Parameters Parameter Description Range Displacement easting (meters) ±9999999.99 Displacement northing (meters) ±9999999.99 Rotation in z axis (seconds) Delta Scale factor (scale factor - 1.0). (ppm) Sigma easting in “known”...

  • Page 190: Udd: User-Defined Datum

    The response message is in the format: $PASHR,UDD,d1,f2,f3,Dx,Dy,Dz,ex,ey,ez,f4 Table 6.66 lists the parameters. Table 6.66. User-defined Datum Parameters Field Description Range Units Default Identifier for the geodetic reference datum; always zero Semi-major axis 6300000.000 to meters 6378137.000 6400000.000 DG14 and DG16 Board & Sensor Reference Manual...
  • Page 191 Table 6.66. User-defined Datum Parameters Field Description Range Units Default Inverse flattening. 1/f3 = f2/(f2-b), where b 290.00000000 to meters 298.257223563 is semi-minor axis 301.00000000 Dx,Dy,Dz Translation from the local datum to WGS- -1000.000 to meters 0.00 +1000.000 Rotations from the local datum to WGS- -10.0000 to seconds of 0.00...
  • Page 192 Taking these values, the following equation is used in calculating the transformation from WGS-84 coordinates to WGS-72 coordinates: – – ( ´10 2.686 – ´10 0.23 – 2.686 ´10 z WGS84 z WGS72 DG14 and DG16 Board & Sensor Reference Manual...

  • Page 193: Udg: User-Defined Datum To Grid Transformation

    The DG16 performs an internal coordinate transformation from WGS-84 to WGS- 72 so that geodetic position messages can be output in the desired coordinates as dictated by the parameters specified in the UDD command. Figure 4.8 illustrates the translation and rotation that occur in the WGS-84 to WGS-72 transformation.
  • Page 194 Azimuth of the skew axis ±1800000.0000 ddmmss.ssss Scale factor at center of projection 0.5 to 1.5 Longitude of the grid origin of the projection ±1800000.0000 ddmmss.sss Latitude of the grid origin of the projection ±900000.0000 ddmmss.sss DG14 and DG16 Board & Sensor Reference Manual...
  • Page 195 Table 6.70. UDG Structure for Oblique Mercator (Continued) Field Description Range / Name Units False Easting ±10,000,000 meters False Northing ±10,000,000 meters Table 6.71. UDG Structure for Stereographic (Polar and Oblique) Field Description Range / Name Units Map projection type STER Number of parameters for the selected projection...
  • Page 196 Table 6.74. UDG Structure for Transverse Mercator for SPC27 Field Description Range / Name Map projection type. TM27 Number of parameters for the selected projection False Easting or x coordinate of central meridian DG14 and DG16 Board & Sensor Reference Manual...
  • Page 197 Table 6.74. UDG Structure for Transverse Mercator for SPC27 Field Description Range / Name Longitude of Central meridian Degree, minute portion of the rectifying latitude wo for Fo, latitude of origin Remainder of wo Scale along central meridian (1/6 * Rm * Nm * T5 ) * 10 Rm = radius of curvature in meridian plane Nm = radius of curvature in prime vertical...

  • Page 198: Udh: Geoidal Surface In A Local Area

    USE: Satellites for Acquisition $PASHS,USE,d1,c2 This command excludes specific satellites from being tracked by the DG16, where d1 is the satellite PRN number (01 to 32 for GPS and 120 to 137 for SBAS) or ALL to enable or disable all satellites. c2 is N (exclude) or Y (include). All satellites are included for tracking by default.

  • Page 199: Usp: Satellites Used In Position Computation

    $PASHS,USE,ALL,c1 This command includes or excludes all GPS satellites simultaneously, where c1 is Y (include) or N (exclude). In a case where several satellites were excluded from being tracked, this shortcut command once again includes all satellites for tracking instead of constructing a lengthy command to re-enable those specific satellites for tracking.

  • Page 200: Vdp: Vdop Mask

    This command sets the value of the VDOP mask, where d1 is a number between 0 and 99. If the VDOP value computed by the DG16 is higher than the VDOP mask value, the receiver will automatically go into fixed altitude mode. You can view the current VDOP mask value by entering the query command $PASHQ,PAR and checking the VDP field.
  • Page 201 $PASHR,VIS The response is in the format: SATELLITES VISIBILITY: GPS: FULLTIME:0690921841 TIME:18:44:01 NSV:06 02 #03 05 #06 #07 08 #09 #10 #11 #12 13 #14 #15 #16 *51 *27 -99 -02 -80 -99 -99 *32 -99 -99 -99 -99 *82 -99 -99 -99 #17 #18 #19 #20 #21 #22 #23 #24 #25 #26 28 #29 #30 #31 #32 -99 -99 -99 -99 -99 -99 -99 -99 -99 -99 *58 *09 -99 -99 -99 -99...
  • Page 202 DG14 and DG16 Board & Sensor Reference Manual...

  • Page 203: Chapter 7. Raw Data Commands

    Raw data commands allow you to set and query raw data parameters and raw data messages, including enabling or disabling the output of raw data messages, setting thresholds for the output of raw data messages, and setting an output interval for raw data messages.
  • Page 204 Query combined raw data in the CT2 Format data structure $PASHS,RAW,CT3 Enable/disable combined raw data in the CT3 Format data structure $PASHQ,CT3 Query combined raw data in the CT3 Format data structure DG14 and DG16 Board & Sensor Reference Manual...
  • Page 205 Table 7.1. Raw Data Commands (Continued) Function Command Description Default Page $PASHS,RAW,MSB Enable/disable encapsulated data Encapsulated message $PASHQ,MSB Query encapsulated data message Miscellaneous Data $PASHS,RAW,MIS Enable/disable miscellaneous data structure message $PASHQ,MCM Query miscellaneous data structure message Missile $PASHS,RAW,MCM Enable/disable missile application Application condensed measurement message $PASHQ,MCM...

  • Page 206: Message Structure

    OR (XOR) of all bytes from sequence tag (just after header) to the byte before the checksum. All bytes are in MC6800 order: most significant byte first (IBM PC uses Intel order: least significant byte first). DG14 and DG16 Board & Sensor Reference Manual...

  • Page 207: Cmb: Channel Measure Block

    CMB: Channel Measure Block $PASHS,RAW,CMB,c1,s2,[f1] This command enables or disables the channel measure block (CMB) message, where c1 is port A, B or C (optional port), s2 is ON or OFF, and f1 is the optional numeric output interval setting supporting a range of 0.05 to 999 seconds, depending on the measurement update rate option installed.

  • Page 208: Ct1: Combined Measurement/Position Data (Format 1)

    $PASHQ,CT1,[c1] This command queries for a combined raw data message in the CT1 data structure, which contains elements derived from the MCA and PBN messages. DG14 and DG16 Board & Sensor Reference Manual...
  • Page 209 c1 is the optional port designator for the response. If a port is not specified, the receiver sends the response to the current port. $PASHR,CT1 This message is not output unless the receiver is tracking at least one satellite. The CT1 message contains an adjusted receive time (the time at which the data was received) with satellite PRN numbers and channel assignments in association with smoothed pseudo ranges.

  • Page 210: Ct2: Combined Measurement/Position Data (Format 2)

    CT2 message contains an adjusted receive time (the time at which the data was received) with satellite PRN numbers and channel assignments in association with full carrier phase measurements and smoothed pseudo ranges. This message DG14 and DG16 Board & Sensor Reference Manual...
  • Page 211 contains data for a maximum of four satellites. If the receiver is tracking eight satellites, two CT2 messages are output. If the receiver is tracking more than eight satellites, three CT2 messages are output. The message is output in the format: $PASHR,CT2,<Format 2 Data String + Checksum>...

  • Page 212: Ct3: Combined Measurement/Position Data (Format 3)

    CT3 messages are output. If the receiver is tracking more than nine satellites, four CT3 messages are output. The message is output in the format: $PASHR,CT3,<Format 3 Data String + Checksum> DG14 and DG16 Board & Sensor Reference Manual...
  • Page 213 Table 7.5 outlines the data string format. Table 7.5. $PASHR,CT3 Data String Binary Type Bytes Content Long [adj_rcvtime] The time at which the data was received, based on the following formula using the rcvtime and navt values from the PBN message: adj_rcvtime = rcvtime - navt/speed of light char [sv_no] The number of satellites in the message (1, 2, 3).

  • Page 214: Elm: Elevation Mask For Raw Measurements Outputs

    If a port is not specified, the receiver sends the response to the current port. If the command is set without a period, the DG16 uses the period set by the $PASHS,RCI command If the $PASHS,RCI command is issued after this message period has been set, the period resets to the RCI setting.

  • Page 215: Mbn: Raw Measurements (Ashtech Type 2 Data Structure)

    This command enables or disables the measurement data (MBN) messages with Ashtech Type 2 data structure, where c1 is port A, B or C (optional port), s2 is ON or OFF, and f1 is the optional numeric output interval setting supporting a range of 0.05 to 999 seconds, depending on the measurement update rate option installed.
  • Page 216 If a port is not specified, the receiver sends the response to the current port. If the command is set without a period, the DG16 uses the period set by the $PASHS,RCI command If the $PASHS,RCI command is issued after this message period has been set, the period resets to the RCI setting.

  • Page 217: Mca: Raw Measurements (Ashtech Type 3 Data Structure)

    This command enables or disables the measurement data (MCAA) messages with Ashtech Type 3 data structure, where c1 is port A, B or C (optional port), s2 is ON or OFF, and f1 is the optional numeric output interval setting supporting a range of 0.05 to 999 seconds, depending on the measurement update rate option installed.
  • Page 218 If the command is set without a period, the DG16 uses the period set by the $PASHS,RCI command If the $PASHS,RCI command is issued after this message period has been set, the period resets to the RCI setting. $PASHR,MCA This message is not output unless the receiver is tracking at least one satellite. The...
  • Page 219 (for modes, where we need the true SV number • 08—Satellite NOT used because it was disabled by RTK engine (N/A in DG16) • 02—Satellite NOT used because of some other case • 01—Satellite NOT used because no navigational data...

  • Page 220: Mcm: Missile Application Condensed Measurement Record (Macm)

    $PASHS,RCI command is issued after this message period has been set, the period resets to the RCI setting. Examples Enter the following command to enable the missile application condensed measurement record through port A at the current RCI setting: $PASHS,RAW,MCM,A,ON DG14 and DG16 Board & Sensor Reference Manual...
  • Page 221 “MACM”) and ends with a checksum byte. The <CR><LF> characters that terminate the majority of DG16 response messages are not used in this case. In addition, the usual response header, $PASHR, is not used here. If the receiver is set to output the MCM message at regular intervals, the MACM sync word appears only the first time the message is output and is excluded from the messages that follow;...
  • Page 222 37 (1 + 4 + 32) 24*j-7 unsigned This number is either 0 or 5, 0 MCA record, char meaning satellite is just locked, and polarity_known 5 meaning the beginning of the first frame has been found. DG14 and DG16 Board & Sensor Reference Manual...

  • Page 223: Mis: Miscellaneous Data Structure

    Table 7.9. MACM Data String (Continued) Byte # Name Type Size Content Origin 24*j-6 unsigned Signal-to-noise of satellite MCA record, ireg char observation 24*j-5 PHASE double Full carrier phase measurements in MCA record, cycles. Not available unless carrier full_phase phase option is installed. 24*j+3 RANGE unsigned...
  • Page 224 • 1 0 —Differential Corrections applied. • 1 1 —Almanac (not ephemeris) used to compute position fix. Bits 9-0 reserved. signed short Geoidal separation in meters multiplied by 100. GeoidalSeparation unsigned short HDOP multiplied by 100. HDOP DG14 and DG16 Board & Sensor Reference Manual...
  • Page 225 Table 7.10. $PASHR,MIS Response Format for Message Type 1 Length Field Content (bytes) unsigned short VDOP multiplied by 100. VDOP unsigned short Modified Z-count (with a resolution of 0.2 seconds and an ModZCnt acceptable range of 20 minutes) from the RTCA Type 1 message containing the differential corrections used in the position computation.
  • Page 226 The most significant bit corresponds to PRN 32, thus bit 23 corresponds to PRN 24. When a GLONASS satellite has been excluded from being used to compute position, its corresponding GLONASS Exclude Flag bit is set. Checksum integer Total Characters DG14 and DG16 Board & Sensor Reference Manual...

  • Page 227: Msb: Encapsulated Data Message

    MSB: Encapsulated Data Message $PASHS,RAW,MSB,c1,s2,[f1] This command enables or disables the encapsulated data message when differential mode is enabled in the base and remote stations and Message Type 1 enabled in the base station. c1 is port A, B or C (optional port), s2 is ON or OFF, and f1 is the optional numeric output interval setting supporting a range of 0.05 to 999 seconds, depending on the measurement update rate option installed.
  • Page 228 Table 7.13 outlines the $PASHR,MSB response structure for RTCM Type 18 message. Table 7.13. $PASHR,MSB Response Format for Message Type 18 Field Type Length (bytes) Bytes Count integer RTCM Message Type character Repeat Counter (# of satellites) character Base Station ID integer DG14 and DG16 Board & Sensor Reference Manual...
  • Page 229 Table 7.13. $PASHR,MSB Response Format for Message Type 18 Field Type Length (bytes) Z Count integer Station Health character: 3 Sequence Number character: 5 UTC Hour character UTC Minute character UTC Second character AddTime long Carrier Phase (1/256 cycle) long Frequency Indicator character: 2 Reserved...

  • Page 230: Msv: Minimum Satellites For Raw Measurement Output

    You can view the current setting for minimum satellites by entering the $PASHQ,RAW command and checking the MSV field. Examples Enter the following command to set the minimum number of satellites to 4: $PASHS,MSV,4 DG14 and DG16 Board & Sensor Reference Manual...

  • Page 231: Pbn: Raw Position Data

    Enter the following command to set the minimum number of satellites to 1: $PASHS,MSV,1 DEFAULT SETTING PBN: Raw Position Data $PASHS,RAW,PBN,c1,s2,[f1] This command enables or disables the position data (PBN) messages, where c1 is port A, B or C (optional port), s2 is ON or OFF, and f1 is the optional numeric output interval setting supporting a range of 0.05 to 999 seconds, depending on the measurement update rate option installed.

  • Page 232: Raw: Raw Data Query Command

    1 second. The default is once every 1 seconds. MSV:3 Minimum number of satellites for the data to be output. Default is 3. ELM:05 Data elevation mask. Elevation below which data from that satellite will not output. DG14 and DG16 Board & Sensor Reference Manual...

  • Page 233: Rci: Set Output Interval For Raw Messages

    Table 7.16. $PASHQ,RAW Response Parameters Field Description SIT:???? Four-character site name. Number of Kinematic epoch for a site. RAW: Raw data types: MCA, MBN, PBN, MIS, XYZ, DIF, MSB, CT1, CT2, CT3, SNV, SAL, SNG, SAG, SNW, SAW PRTA Communication Ports A, B, and C PRTB PRTC OFF/XX...

  • Page 234: Sal: Satellite Almanac Data

    0.05 to 999 seconds, depending on the measurement update rate option installed. The DG16 output almanac data for all satellites once every hour, and outputs one satellite at each recording interval (RCI). DG14 and DG16 Board & Sensor Reference Manual...
  • Page 235 If a port is not specified, the receiver sends the response to the current port. $PASHR,SAL This message is not output until the DG16 has completed downloading the current GPS almanac file. The receiver begins downloading the almanac file automatically almanac file can be obtained directly from the satellites, which happens automatically and takes about twelve minutes, or, with the aid of software, a current almanac file from another receiver can be manually downloaded into the DG16.

  • Page 236: Saw: Sbas Almanac

    This command enables or disables the SBAS almanac data, where c1 is port A, B or C (optional port), s2 is ON or OFF. The DG16 outputs the SBAS almanac data each time the reference time changes (at a maximum of 5 minutes) with data for one satellite at each recording interval.

  • Page 237: Sit: Site Name For Observation Session

    Table 7.19. $PASHR,SAW Data String (Continued) Field Bytes Content float Satellite ECEF velocity X’, Y’, Z’ (m/s). long tow—Time within week in GPS time scale when SBAS almanac was received. char wn—Week number in GPS time scale when SBAS almanac was received. char Satellite number (33 to 64) unsigned short...

  • Page 238: Snv: Satellite Ephemeris Data

    Clock data reference time in seconds float af2 Clock correction (sec/sec2) float af1 Clock correction (sec/sec) float af0 Clock correction (sec) long aode Orbit data issue float deltan Mean anomaly correction (semicircles/sec) DG14 and DG16 Board & Sensor Reference Manual...
  • Page 239 Table 7.20. $PASHQ,SNV Response Structure (Continued) Field Bytes Content double m0 Mean anomaly at reference time (semicircles) double e Eccentricity double roota Square root of semi-major axis (meters 1/2) long toe Reference time for orbit (sec) float cic Harmonic correction term (radians) float crc Harmonic correction term (meters) float cis...

  • Page 240: Snw: Sbas Ephemeris Data

    This command enables or disables the SBAS ephemeris data on port s1, where c1 is port A, B or C (optional port), s2 is ON or OFF. The DG16 outputs the ephemeris data each time the IOD changes (at a maximum of 2 minutes) with data for one satellite at each recording interval.

  • Page 241: Xyz: 3D Satellite Positions

    DG16 and the satellites (relativistic errors). The XYZ message is output in the format below: $PASHR,XYZ<Satellite position data string + checksum>...
  • Page 242 [range_1] [sv_1]. (These rows are repeated for each channel that is tracking a satellite. That is, if the DG16 is tracking seven satellites, these rows are repeated seven times; if the DG16 is tracking twelve satellites, these rows are repeated twelve times.)

  • Page 243: Chapter 8. Nmea Commands

    NMEA commands allow you to set parameters for outputting NMEA messages and Ashtech format NMEA-style messages. These commands can be sent to the DG16 through either serial port. Table 8.1 lists the set and query commands used in controlling NMEA message output. All NMEA messages and Ashtech format NMEA-style messages are disabled for output by default.
  • Page 244 (UTM) coordinates message $PASHS,NME,PTT Enable or disable pulse time tag message $PASHQ,PTT Query pulse time tag information Time and Date $PASHS,NME,ZDA Enable or disable time and date message $PASHQ,ZDA Query time and date information DG14 and DG16 Board & Sensor Reference Manual...
  • Page 245 Table 8.1. NMEA Data Message Commands (Continued) Command Description Default Page $PASHS,NME,VTG Enable or disable velocity/course Course and Speed message $PASHQ,VTG Query velocity and course information $PASHS,NME,RRE Enable or disable satellite residual and position error $PASHQ,RRE Query satellite residual and position error information Residual Information $PASHS,NME,GRS...

  • Page 246: Message Structure

    0.05 to 999 seconds depending on the measurement update rate option installed. If the command is set without a period, the DG16 uses the period set by the $PASHS,NME,PER command If the $PASHS,NME,PER command is issued after this message period has been set, the period resets to the PER setting.

  • Page 247: Nme: Enable/Disable All Nmea Messages

    The structure of non-standard NMEA messages: HEADER,MESSAGE ID,DATA*CHECKSUM<CR><LF> Standard NMEA messages include the message identifier in the header. Non- standard messages, which have an Ashtech format, have the message identifier in a separate field. SAT, a non-standard message: $PASHR,SAT,DATA*CHECKSUM<CR><LF> The data types that appear in NMEA messages can be integers, real numbers (decimal), hexadecimal numbers, alphabetic characters, and alphanumeric character strings.

  • Page 248: Alm: Almanac Message

    OMEGA0. Longitude of ascension mode (semicircle. In ASCII Hex) 6 bytes Mo. Mean anomaly (semicircle. In ASCII Hex) 6 bytes afo. Clock parameter (seconds. In ASCII Hex) 3 bytes af1. Clock parameter (sec/sec. In ASCII Hex) 3 bytes Checksum DG14 and DG16 Board & Sensor Reference Manual...

  • Page 249: Crt: Cartesian Coordinates Message

    If the receiver is not computing a position, it outputs an empty message. If the command is set without a period, the DG16 uses the period set by the $PASHS,NME,PER command If the $PASHS,NME,PER command is issued after this message period has been set, the period resets to the PER setting.
  • Page 250 Firmware version ID 4 character string The ECEF coordinates reported are in the datum set by the user. ECEF coordinates are reported in meters (with two decimal places) without leading zeros or positive signs. DG14 and DG16 Board & Sensor Reference Manual...
  • Page 251 0.05 to 999 seconds depending on the measurement update rate option installed. If the command is set without a period, the DG16 uses the period set by the $PASHS,NME,PER command If the $PASHS,NME,PER command is issued after this message period has been set, the period resets to the PER setting.
  • Page 252 User Grid easting (X) coordinate 4136720.056 User Grid northing (Y) coordinate RTCM differential position Number of satellites used to compute position 03.8 HDOP 00012.123 Altitude Altitude units (M = meters) -031.711 geoidal separation w.r.t. selected datum DG14 and DG16 Board & Sensor Reference Manual...

  • Page 253: Gga: 3-D Gps Position

    0.05 to 999 seconds depending on the measurement update rate option installed. If the command is set without a period, the DG16 uses the period set by the $PASHS,NME,PER command If the $PASHS,NME,PER command is issued after this message period has been set, the period resets to the PER setting.
  • Page 254 (i.e., autonomous or differentially corrected), HDOP, and current time. The DG16 can be set to output the GGA message at regular intervals by using the command $PASHS,NME. The message is output in the format: $GPGGA,m1,m2,c3,m4,c5,d6,d7,d8,f9,c10,d11,c12,d13,d14*hh Table 8.7 outlines the message format.
  • Page 255 • 3—GPS Precise Positioning Service (PPS) mode (P-code). N/A for DG16 • 4—Real Time Kinematic. System used in RTK mode with fixed integers. N/A for DG16 • 5—Float RTK. Satellite system used in RTK mode, floating integers. N/A for DG16 •...

  • Page 256: Gll: 2-D Position

    0.05 to 999 seconds depending on the measurement update rate option installed. If the command is set without a period, the DG16 uses the period set by the $PASHS,NME,PER command If the $PASHS,NME,PER command is issued after this message period has been set, the period resets to the PER setting.
  • Page 257 This message is not output unless position is computed. The GLL message contains a 2-D position (latitude/longitude only) and time of position fix. The DG16 can be set to output the GLL message at regular intervals by using the command $PASHS,NME.

  • Page 258: Gns: Gnss Fix Data

    OFF, and f is the optional message output rate ranging from 0.05 to 999 seconds depending on the measurement update rate option installed. If the command is set without a period, the DG16 uses the period set by the $PASHS,NME,PER command If the $PASHS,NME,PER command is issued after this message period has been set, the period resets to the PER setting.

  • Page 259: Grs: Satellite Range Residuals

    Table 8.11 outlines the message format. Table 8.11. $GPGNS Message Format Parameter Description Range UTC (hhmmss.ss) 0 to 235959.99 Latitude (ddmm.mmmmmm 0 to 9000.000000 Latitude sector N—North S—South Longitude (dddmm.mmmmmm) 0 to 18000.000000 Longitude sector E—East W—West Positioning system mode indicator (one character for GPS, NN, AA, DD, RR, FF, PP one character for GLONASS) •...
  • Page 260 If the command is set without a period, the DG16 uses the period set by the $PASHS,NME,PER command If the $PASHS,NME,PER command is issued after this message period has been set, the period resets to the PER setting. Example Enter the following command to enable GRS message on port B.

  • Page 261: Gsa: Dop And Active Satellites

    The receiver does not output this message if a position is not computed. If the command is set without a period, the DG16 uses the period set by the $PASHS,NME,PER command If the $PASHS,NME,PER command is issued after this message period has been set, the period resets to the PER setting.
  • Page 262 These 14 fields represent the receiver’s 14 channels listed in 1 to 64 ascending order. The number 17 appearing in field d5 indicates that DG16 channel 3 is locked on satellite 17. If a given channel is not locked on a satellite, the corresponding field will be empty.

  • Page 263: Gsn: Satellite Prn Number And Signal Strength

    The receiver does not output this message if a position is not computed. If the command is set without a period, the DG16 uses the period set by the $PASHS,NME,PER command If the $PASHS,NME,PER command is issued after this message period has been set, the period resets to the PER setting.
  • Page 264 000 to 999 Age of differential correction. The number 999 is registered in 1 to 999 this field when the DG16 is set in differential rover mode but is not receiving corrections or when differential GPS is disabled. Checksum 2-character hex...

  • Page 265: Gst: Pseudo-Range Error Statistics

    PRN number of the sixth satellite Signal strength of the sixth satellite PRN number of the seventh satellite Signal strength of the seventh satellite Indicates that the DG16 is unable to receive differential corrections or differential GPS is disabled Checksum...
  • Page 266 If the command is set without a period, the DG16 uses the period set by the $PASHS,NME,PER command If the $PASHS,NME,PER command is issued after this message period has been set, the period resets to the PER setting. Example Enter the following command to enable GST message on port B.

  • Page 267: Gsv: Satellites In View

    0.05 to 999 seconds depending on the measurement update rate option installed. If the command is set without a period, the DG16 uses the period set by the $PASHS,NME,PER command If the $PASHS,NME,PER command is issued after this message period has been set, the period resets to the PER setting.
  • Page 268 0° to 359° Signal to noise ration (dbHz) 30 to 60 Satellite PRN number 1 to 32 for GPS 33 to 64 for SBAS Elevation (degrees) 0° to 90° Azimuth (degrees) 0° to 359° DG14 and DG16 Board & Sensor Reference Manual...
  • Page 269 Table 8.20. $GPGSV Message Format (Continued) Parameter Description Range Signal to noise ration (dbHz) 30 to 60 Satellite PRN number 1 to 32 for GPS 33 to 64 for SBAS Elevation (degrees) 0° to 90° Azimuth (degrees) 0° to 359° Signal to noise ration (dbHz) 30 to 60 Checksum...

  • Page 270: Gxp: Horizontal Position Message

    Table 8.22 outlines the response format. Table 8.22. GXP Message Structure Parameter Description Range UTC of fix in hours, minutes and 00-235959.90 seconds (hhmmss.ss) Latitude in degrees and decimal 0 - 90.00 minutes (ddmm.mmmmmm) DG14 and DG16 Board & Sensor Reference Manual...

  • Page 271: Ltn: Position Output Latency

    0.05 to 999 seconds depending on the measurement update rate option installed. If the command is set without a period, the DG16 uses the period set by the $PASHS,NME,PER command If the $PASHS,NME,PER command is issued after this message period has been set, the period resets to the PER setting.
  • Page 272 Latency value (milliseconds) 20 to 99 Checksum 2-character hex Typical LTN message: $PASHR,LTN,29*05 Table 8.25 outlines the response message. Table 8.25. $PASHQ,LTN Query Response Field Significance $PASHR,LTN Header Latency value (milliseconds) Checksum DG14 and DG16 Board & Sensor Reference Manual...

  • Page 273: Msg: Differential Base Station Data

    OFF, and f is the optional message output rate ranging from 0.05 to 999 seconds depending on the measurement update rate option installed. If the command is set without a period, the DG16 uses the period set by the $PASHS,NME,PER command If the $PASHS,NME,PER command is issued after this message period has been set, the period resets to the PER setting.
  • Page 274 In MSG messages generated for RTCM message types 1 and 2, fields d8 through d12 are repeated “n” times; n = the number of locked satellites. For RTCM message type 9, fields d8 through d12 are repeated 3 times per message. DG14 and DG16 Board & Sensor Reference Manual...
  • Page 275 The data fields common to each MSG message are listed in Table 8.26: Table 8.26. Common MSG Data Fields Fields Description Range RTCM message type 1, 2, 3, 6, 9, 16 Station Identifier 0 to 1023 Z count 0 to 9999.9 Sequence number 0 to 9 Station health...
  • Page 276 Table 8.31 lists the remainder of message for Type 18. Table 8.31. Remainder of Type 18 Message Parameter Description Range GPS/GLONASS constellation indicator GPS or GLO Frequency indicator 00—L1 message 01—L2 message GNSS time of measurement (in GPS or GLONASS time) DG14 and DG16 Board & Sensor Reference Manual...
  • Page 277 Table 8.31. Remainder of Type 18 Message Parameter Description Range Multiple message indicator 1—more messages will follow with same time tag 0—last message Data quality indicator Cumulative loss of continuity indicator (unfixed cycle slips of loss of lock) Uncorrected Carrier phase (cycles) sppppppp.pppp Checksum 2-character hex Table 8.32 lists the remainder of message for Type 19...
  • Page 278 RRC for SV 26 IODE for SV 26 UDRE for SV 02 Satellite PRN number 0003.56 PRC for SV 02 0.040 RRC for SV 02 IODE for SV 02 UDRE for SV 27 DG14 and DG16 Board & Sensor Reference Manual...
  • Page 279 Table 8.33. Typical MSG message for RTCM Type 01 (Continued) Field Description Satellite PRN number 0047.42 PRC for SV 27 -0.005 RRC for SV 27 IODE for SV 27 Checksum Typical MSG message for RTCM type 2: $GPMSG,02,0000,0790.8,5,0,205,151258.00,0,30,0000.98,0.000,200, 0,04,000.14,0.000,078,0,10,0002.22,0.000,235,0,24,0001.42,0.000 ,142,0,06,0000.02,0.000,171,0,09,0000.04,0.000,110,0,08,0000.00 ,0.000,192,0,05,0000.00,0.000,080*66 Table 8.34 outlines the response message.
  • Page 280 Current delta pseudo-range correction (meters) 0.000 Current delta range rate correction (meters) Current IODE Current UDRE Satellite PRN number 0000.00 Current delta pseudo-range correction (meters) 0.000 Current delta range rate correction (meters) DG14 and DG16 Board & Sensor Reference Manual...
  • Page 281 Table 8.34. Typical MSG message for RTCM Type 2 (Continued) Field Description Current IODE Checksum Typical MSG message for RTCM type 3: $GPMSG,03,0000,1200.0,7,0,038,231958.00,-2691561.37, -4301271.02,3851650.89*6C Table 8.35 outlines the response message. Table 8.35. Typical MSG Message for RTCM Type 3 Field Description RTCM type 0000...
  • Page 282 Total number of characters following the time tag Current time in hours, minutes and seconds 202908.5 GPS Constellation L1 frequency used GPS system time of measurement basis 200000 Last message for this satellite DG14 and DG16 Board & Sensor Reference Manual...
  • Page 283 Table 8.37. Typical MSG Message For RTCM Type 18 (Continued) Field Description Code indicator 0 = C/A code GPS slot number (ID) Data quality indicator (phase error £ 0.03933 cycle) Cumulative loss of continuity error (cycle slips) -8259701.2187 Carrier phase (cycles) Last message for this satellite and time tag Code indicator 0 = C/A code GPS slot number (ID)

  • Page 284: Per: Global Output Interval

    $PASHS,NME,PER,f1 This command allows you to set the global output interval for all NMEA messages and Ashtech format NMEA-style messages, where f1 is the value for the output interval. This command overrides individual settings for output interval. That is, if...

  • Page 285: Pos: Position Message

    POS: Position Message $PASHS,NME,POS,x,c,[f] Enable or disable NMEA position response message on output port x, c is ON or OFF, and f is the optional message output rate ranging from 0.05 to 999 seconds depending on the measurement update rate option installed. The receiver displays an empty message if no position is computed.
  • Page 286 Table 8.40. Typical POS Response Message Item Description $PASHR,POS Header Position is autonomous Number of satellites used in position computation 183805.00 Time of position computation 3722.36221 Latitude North 12159.82742 Longitude West +00016.06 Altitude in meters DG14 and DG16 Board & Sensor Reference Manual...

  • Page 287: Ptt: Pulse Time Tag

    ON or OFF, and f is the optional message output rate ranging from 0.05 to 999 seconds depending on the measurement update rate option installed. If the command is set without a period, the DG16 uses the period set by the $PASHS,NME,PER command If the $PASHS,NME,PER command is issued after this message period has been set, the period resets to the PER setting.

  • Page 288: Rmc: Recommended Minimum Course

    ON or OFF, and f is the optional message output rate ranging from 0.05 to 999 seconds depending on the measurement update rate option installed. If the command is set without a period, the DG16 uses the period set by the $PASHS,NME,PER command If the $PASHS,NME,PER command is issued after this message period has been set, the period resets to the PER setting.
  • Page 289 Table 8.42 outlines the message format. Table 8.42. $GPRMC Message Format Parameter Description Range UTC time of the position fix (hhmmss.ss) 000000.00 to 235959.95 Status of the position fix (always A) A, D, V • A—Autonomous, position data is valid •...

  • Page 290: Rre: Satellite Range Residuals And Position Error

    The DG16 does not output this message unless it computes a position. If the command is set without a period, the DG16 uses the period set by the $PASHS,NME,PER command If the $PASHS,NME,PER command is issued after this message period has been set, the period resets to the PER setting.
  • Page 291 $PASHQ,RRE,[c1] This command queries the RRE message, where c1 is the optional port designator for the output of the response. If a port is not specified, the receiver sends the response to the current port. $GPRRE This message contains residual error values for the each pseudo-range measurement and RMS values for horizontal and vertical position error.

  • Page 292: Sat: Comprehensive Satellite Tracking Data

    ON or OFF, and f is the optional message output rate ranging from 0.05 to 999 seconds depending on the measurement update rate option installed. If the command is set without a period, the DG16 uses the period set by the $PASHS,NME,PER command If the $PASHS,NME,PER command is issued after this message period has been set, the period resets to the PER setting.
  • Page 293 $PASHR,SAT The SAT message contains information on the number of visible satellites, whether the satellite is being used in position computations, plus elevation, azimuth, and signal to noise measurements for each satellite. The message is output in the format: $PASHR,SAT,d1,((d2,d3,d4,d5,c6)*d1)*hh Table 8.46 outlines the response message.The data fields for PRN number (d2), azimuth (d3), elevation (d4), signal to noise ratio (d5), and the used/not used flag (c6) are repeated for each satellite, using the value in the d1 field as a multiplier.
  • Page 294 U and unused satellites, by default, are indicated with a -. If you enable the satellite usage indicator, SUI, switch, a variety of flags display instead of a - to indicate the reason why the respective satellite is not used in the solution. Typical SAT message: $PASHR,SAT,03,03,103,56,60,U,23,225,61,39,U,16,045,02,21,U*6E DG14 and DG16 Board & Sensor Reference Manual...

  • Page 295: Tcm: Differential Remote Station Status

    A or B, c is ON or OFF, and f is the optional message output rate ranging from 0.05 to 999 seconds depending on the measurement update rate option installed. If the command is set without a period, the DG16 uses the period set by the $PASHS,NME,PER command If the $PASHS,NME,PER command is issued after this message period has been set, the period resets to the PER setting.
  • Page 296 Message reception quality indicator. Message reception 000 to 100 quality is defined as follows: (Number of good measurements / total number of measurements)*100 Age of the received correction messages 0 to 99 Checksum 2-character hex DG14 and DG16 Board & Sensor Reference Manual...

  • Page 297: Ttt: Photogrammetry Event Marker

    (E) is available in the receiver. If the command is set without a period, the DG16 uses the period set by the $PASHS,NME,PER command If the $PASHS,NME,PER command is issued after this message period has been set, the period resets to the PER setting.

  • Page 298: Uko: Ukooa Message

    This command enables or disables UKOOA message on port x, where x is the output port, and y is ON or OFF, and f is the optional message output rate ranging from 0.05 to 999 seconds depending on the measurement update rate option installed. DG14 and DG16 Board & Sensor Reference Manual...

  • Page 299: Utm: Universal Transverse Mercator (Utm) Coordinates

    ON or OFF, and f is the optional message output rate ranging from 0.05 to 999 seconds depending on the measurement update rate option installed. The DG16 does not output this message unless it computes a position. NMEA Commands...
  • Page 300 If the command is set without a period, the DG16 uses the period set by the $PASHS,NME,PER command If the $PASHS,NME,PER command is issued after this message period has been set, the period resets to the PER setting. $PASHQ,UTM,[c1] This command queries the UTM message, where c1 is the optional port designator for the output of the response.
  • Page 301 Table 8.53. $PASHR,UTM Message Format (Continued) Parameters Description Range Geoidal separation units (meters) Age of differential corrections 0 to 999 Differential reference station ID 4 character string Checksum The antenna altitude is either ellipsoidal (default) or geoidal (mean-sea-level) depending on the selection made with $PASHS,HGT (see UCT section).

  • Page 302: Vtg: Course And Speed Over The Ground

    The DG16 does not output this message unless it computes a position. If the command is set without a period, the DG16 uses the period set by the $PASHS,NME,PER command If the $PASHS,NME,PER command is issued after this message period has been set, the period resets to the PER setting.
  • Page 303 Table 8.55. $GPVTG Response Structure Field Description Range Speed unit of measure (always K; KPH) Positioning system mode indicator A, D, E, M, S, or N • A—Autonomous mode • D—Differential mode • E—Estimated (dead reckoning) mode • M—Manual input mode •...

  • Page 304: Xmg: Exception Messages

    The DG16 does not output this message unless it computes a position. If the command is set without a period, the DG16 uses the period set by the $PASHS,NME,PER command If the $PASHS,NME,PER command is issued after this message period has been set, the period resets to the PER setting.

  • Page 305: Zda: Time And Date

    The DG16 does not output this message unless it computes a position. If the command is set without a period, the DG16 uses the period set by the $PASHS,NME,PER command If the $PASHS,NME,PER command is issued after this message period has been set, the period resets to the PER setting.
  • Page 306 Table 8.59. Typical ZDA Message Field Description $GPZDA Message header 222835.10 Current UTC time Current day Current month 1999 Current year Local time zone offset from UTC (hours) Local time zone offset from UTC (minutes) Checksum DG14 and DG16 Board & Sensor Reference Manual...

  • Page 307: Chapter 9. Differential Commands

    This chapter contains the receiver commands for the following applications: • RTCM Commands, on page 288 • SBAS Commands, on page 304 • Beacon Commands, on page 314 Differential Commands...

  • Page 308: Rtcm Commands

    $PASHS,RTC,MSG Defines RTCM type 16 message (base to remote) $PASHS,RTC,QAF Set quality percentage mask $PASHS,RTC,SPD Set baud rate of base station $PASHS,RTC,STH Set health of reference station $PASHS,RTC,TYP Enable/disable RTCM message types DG14 and DG16 Board & Sensor Reference Manual...

  • Page 309: Automatic Differential Mode

    Table 9.1. RTCM Commands (Continued) Function Command Description Default Page $PASHS,RTC,AUT Turns auto differential mode on or off $PASHS,RTC,MAX Set maximum age of RTCM differential corrections $PASHS,RTC,REM Set receiver to operate as differential remote station Remote station $PASHQ,RTC,RPS Query remote station parameters parameters $PASHS,RTC,SEQ Check sequence number of received...

  • Page 310: Bas: Set Receiver In Differential Base Station Mode

    BAS: Set Receiver in Differential Base Station Mode $PASHS,RTC,BAS,c1 This command sets the DG16 to operate as an RTCM differential base station, where c1 designates the output port (A or B) for differential corrections. You can view the current RTCM mode setting by entering the $PASHQ,RTC command and checking the MODE field.

  • Page 311: Max: Maximum Age Threshold For Differential Corrections

    This message is applicable to receivers in RTCM BASE mode only. A base receiver continues to transmit corrections on the old ephemeris in the navigation solution until it receives an ephemeris update. After receiving new ephemeris, the receiver waits for the offset period (d) before transmitting corrections using the new ephemeris (IODE).

  • Page 312: Off: Disable Differential Operation

    QA parameter allows you to evaluate the communication quality between the base and remote stations. Example Enter the following command to set the quality percentage mask to 99%: $PASHS,RTC,QAF,99 DEFAULT SETTING RTC,QAF—100 DG14 and DG16 Board & Sensor Reference Manual...

  • Page 313: Rem: Set Receiver In Differential Remote Station Mode

    REM: Set Receiver in Differential Remote Station Mode $PASHS,RTC,REM,c1 This command sets the DG16 to operate as an RTCM differential remote station. The c1 parameter designates the input port (A or B) for differential corrections. You can view the current RTCM mode setting by entering the $PASHQ,RTC command and checking the MODE field.

  • Page 314: Parameter Settings And Status

    If a port is not specified, the receiver sends the response to the current port. The response message has a free-form Ashtech format. Like the PAR response message, the RTC response message does not have a header or message...
  • Page 315 Table 9.3. RTC Response Format (Continued) Parameter Description Range AGE: In base station mode, this field indicates the elapsed time in 1 to 999 seconds between the transmission of Type 1 or 9 messages. In remote station mode, this field indicates the age of the received messages in seconds.
  • Page 316 V30 for version 3.0 V22 for version 2.2 V21 for Version 2.1 The RTCM message types supported by the DG16. 1, 2, 3, 6, 9, 16, 18, 19 Indicates the output interval setting for each RTCM message 0 to 99; ON, OFF except for the type 6 message, which is either ON or OFF.

  • Page 317: Rtl: User Entered Position Information

    RTL: User Entered Position Information $PASHQ,RTL[c1] This command queries the RTCM and user entered position information, where c1 is the optional port designator for the output of the response. If a port is not specified, the receiver sends the response to the current port. $PASHR,RTL,f1,c2,f3,c4,f5,d6,c7,d8,c9,d10,d11,d12*hh The response is in the format: $PASHR,RTL,f1,c2,f3,c4,f5,d6,c7,d8,c9,d10,d11,d12*hh...

  • Page 318: Seq: Verify Rtcm Message Sequence

    This command sets the corrections type to use in the navigational solution. You may select more than one type to use in the solution. s1 is the type of correction: EXT (Serial Port), BCN (Beacon), SBA (SBAS), or WGH (Weighted Multi-base Solutions). DG14 and DG16 Board & Sensor Reference Manual...

  • Page 319: Spd: Baud Rate For Rtcm Message Output

    SPD: Baud Rate for RTCM Message Output $PASHS,RTC,SPD,d1 This command sets the base station’s output rate for RTCM messages in bits per second (bps), where d1 is a code number between 0 and 8. Table 9.5 lists the available bit rates and corresponding codes. The default output bit rate is 300 bps. This command applies to base station mode only.

  • Page 320: Sth: Differential Base Station Health

    RTCM base station; otherwise, the remote station must be programmed with the same ID number as the base station in order to receive corrections from that base station. DG14 and DG16 Board & Sensor Reference Manual...

  • Page 321: Tag: Rtcm Sc-104 Version

    Example Enter the following command to set the differential station ID number to 0001: $PASHS,RTC,STI,0001 DEFAULT SETTING RTC,STI— 0000 TAG: RTCM SC-104 Version $PASHS,RTC,TAG,s1 This command sets the RTCM SC-104 version used by the receiver. s1 is either V21 (RTCM SC-104 version 2.1), or V22 (RTCM SC-104 version 2.2), or V23 (RTCM SC-104 version 2.3).
  • Page 322 Enter the following command to enable the type 1 message once per second: $PASHS,RTC,TYP,1,1 DEFAULT SETTING Type 1 Type 2 Type 3 RTC,TYP Type 6 Type 9 Type 16 Type 18 Type 19 DG14 and DG16 Board & Sensor Reference Manual...

  • Page 323: Udr: Udre Acceptance Threshold

    UDR: UDRE Acceptance Threshold $PASHS,RTC,UDR,d1 This commands sets the UDRE acceptance threshold where d1 is 0, 1, 2, or 3. All RTCM corrections with UDRE flags equal to or less than the threshold are accepted. All incoming RTCM corrections are checked against the UDRE flag before they are incorporated into the navigation solution.

  • Page 324: Sbas Commands

    SBAS corrections are converted to RTCM SC-104 corrections and output through the serial ports. In the GPS+SBAS mode, the DG16 retains all standard functionality, including high data output rates (raw and navigation). The DG16 has several modes of SBAS operation: •...

  • Page 325: Sba: Query Sbas Parameters

    Table 9.8. SBAS Commands Function Command Description Default Page $PASHQ,SBA Query SBAS parameters $PASHS,SBA,CDU Select the SBAS channels to use SBAS Data $PASHS,SBA,DAT Enable the SBAS output messages $PASHQ,SBA,DAT Queries the SBAS output messages Information $PASHS,SBA,INF Enable or disable the SBAS information messages $PASHS,SBA,INT Enable or disable the integrity information...

  • Page 326: Cdu: Channel Data Utilization

    Port C output status ON or OFF CDU: Channel Data Utilization $PASHS,SBA,CDU,c1 This command selects the SBAS channels to use where c1 is outlined the Table 9.10. Table 9.10. $PASHS,SBA,CDU parameter c1 Value Description Use Channel data only DG14 and DG16 Board & Sensor Reference Manual...

  • Page 327: Dam: Dual Automatic Mode

    DG16 has no capability to continue to scan for other, better SBAS signals. Therefore, once selected, the DG16 continues to track these two selected SBAS satellites so long it is able. If the signal on one of the channels is lost, the DG16 scans the available frequencies to find another SBAS satellite.

  • Page 328: Inf: Sbas Information Message

    If the command is set without a period, the DG16 uses the period set in the $PASHS,NME,PER command. Example: Enter the following command to enable the SBAS messages to port B.

  • Page 329: Int: Integrity Information

    This command enables or disables the integrity information where s1 is ON (enable) or OFF (disable). The DG16 will use one or two SBAS channels as a source for integrity information depending on the $PASHS,SBA,CDU setting. You must use the $PASHS,SAV command to save the parameters set in this command to memory.

  • Page 330: Man: Single Manual Sbas Mode

    SBAS ID number (33 to 64), which will be tracked on Channel 1. Channel 2 automatically searches for and tracks the best available SBAS signal. If the best signal is selected for Channel 1, the DG16 uses the next best signal for Channel 2.

  • Page 331: Rtc: Sbas To Rtcm Interface

    If you enable partial SBAS corrections, the DG16 will output a differential position without the whole set of fast, slow, and ionospheric components. If you want the entire set of fast, slow, and ionospheric components along with the differential solution be sure that this command is set to OFF.

  • Page 332: Sam: Single Automatic Mode

    DG16 checks the quality of the signal of the Channel 2 satellite. If Channel 2 satellite has a better signal, the DG16 switches to it. If, on the other hand, the signal on Channel 1 drops below the threshold and the signal on Channel 2 is no better or no SBAS satellite, The DG16 continues to use and track the satellite on Channel 1.

  • Page 333: Use: Sbas Satellites For Acquisition

    179 for a description of this command. If the receiver is set to single mode, the DG16 uses only the range information from Channel 1 in the navigation solution. If the receiver is set to dual mode, the DG16 uses the range information from both channels depending on the $PASHS,SBA,CDU setting.

  • Page 334: Beacon Commands

    • Single Manual Mode • Dual Manual Mode The default Beacon mode is Single Automatic. On power up, the DG16 remembers the last beacon stations used, and begins searching with those frequencies. Table 9.14 outlines the Beacon commands Table 9.14. Beacon Commands...
  • Page 335 Table 9.14. Beacon Commands Function Command Description Default Page $PASHS,BCN,CHN,OFF Disable specified channel $PASHS,BCN,CLR Clear the Never-use mark for the specified frequency $PASHS,BCN,DIR,ADD Add a specified Beacon station to Beacon the directory Directory and $PASHS,BCN,DIR,CLR Erase the beacon directory Channel $PASHS,BCN,DIR,DEL Delete the specified frequency and bit rate entry in the beacon...

  • Page 336: Add: Add Frequency

    Example Enter the following command to add the Beacon station at Pigeon Point, CA to the Beacon directory. $PASHS,BCN,DIR,ADD,3711.33,N,122.2366,W,287.0,883,100 DG14 and DG16 Board & Sensor Reference Manual...

  • Page 337: Alm: Internal Almanac Message

    Range in Km CHN: Assign Beacon Station Channel $PASHS,BCN,CHN,d1,f1,[d2],[d3] This command assigns the specified Beacon station frequency to the DG16 channel. You can only use this command when the Beacon receiver is in Manual mode. Table 9.17 outlines the parameters.

  • Page 338: Clr: Clear Never-Use Mark

    This command queries for the Beacon directory of the stations only in the default list. $PASHQ,BCN,DIR,RTC This command queries for the Beacon directory of the stations with only RTCM message type 7. DG14 and DG16 Board & Sensor Reference Manual...

  • Page 339: Dir,Clr: Erase Beacon Directory

    This command erases the contents of the beacon directory from memory. Upon a cold start, the DG16 Beacon directory consists of the default list kept in ROM only. The Beacon Directory can also be reset to the default list of stations with the $PASHS,BCN,DIR,INI command.

  • Page 340: Dir,Del: Delete Beacon Station From Beacon Directory

    MAN: Manual Mode $PASHS,BCN,MOD,MAN This command sets the DG16 Beacon functionality to Manual mode. For more information on the Beacon Manual mode, see Manual Modes, on page 71. After manual mode is set, both Beacon channels stop operating until the channels...

  • Page 341: Mod,Aut,Sng: Set Single Automatic Mode

    where s1 is indicates automatic (AUT) or manual (MAN) and s2 indicates single (SNG) or dual (DUA) mode. MOD,AUT,SNG: Set Single Automatic Mode $PASHS,BCN,MOD,AUT,SNG This command sets the Beacon receiver to single automatic mode. For more information on the Single Automatic mode, see Single Manual Mode, on page 72. MOD,AUT,DUA: Set Dual Automatic Mode $PASHS,BCN,MOD,AUT,DUA This command sets the Beacon receiver to dual automatic mode.

  • Page 342: Out: Serial Port For Output

    RT7: Blocking RTCM Message Type 7 $PASHS,BCN,RT7,s1 This command blocks the RTCM message type 7 from overwriting the preceding user entered Beacon stations in the Beacon directory where s1 is Y or N. DG14 and DG16 Board & Sensor Reference Manual...

  • Page 343: Sav: Save Beacon Parameters

    If RTCM message type 7 information is enabled, and received from an RTCM type 7 station located within 30 km of any station in the Beacon directory, then the station in the Beacon directory is replaced with the newly received information. If information is received from RTCM type 7 station located more than 30 km from any station in the Beacon directory, then the station is added to the Beacon directory.
  • Page 344 DG14 and DG16 Board & Sensor Reference Manual...
  • Page 345 If you have purchased the User Defined Messaging option [X], then you can use the UDM Utility program to create the script file which defines the custom messages. You can use the custom message feature to set the receiver to output only the information you need in a single message.

  • Page 346: Components Of Udm Utility

    Each receiver type has the own receiver definition file. • *.ash—GPS receiver data file with the Ashtech commands for a specific receiver. Each receiver type has a unique *.ash file • *.mdf—Message Definition File contains user-defined messages uploaded and saved to the receiver.

  • Page 347: Creating A New Project

    Creating a New Project To create a new UDM Utility project: 1. Select New Project from the Project menu. The New Project dialog box opens. 2. Enter the filename for the new project in the File Name field. The program automatically adds extension to the filename.

  • Page 348: Message Parameters Pane

    The Message Parameters pane (Figure 3) contains information on the variables if the message already exists or allows you to define new variables when you create a new message. Figure A.3. Message Parameter Pane DG14 and DG16 Board & Sensor Reference Manual...
  • Page 349 Table A.1 Message Parameter Pane Item Description Header Ashtech or Other. If Ashtech is selected in the first field, there is PASHR in the second field. If Other is selected, the second field can be PASHR, blank, or any word. Title Alphabetical characters.

  • Page 350: Warning Window

    NEW is the message title. Set Command Displays the set command. If the message header is Ashtech, the set command format is $PASHS,UDM,NEW, when NEW is the message title. If the message header is Other, the query command format is NEW, when NEW is the message title.

  • Page 351: Editing Message

    2. Enter a brief description for the message in the Description field. 3. Select Ashtech or Other in the Header field for the message prefix. If you selected Other, select PASHR or type in any word.
  • Page 352 The status bar in the dialog box shows the progression of the data upload. 7. Click . UDM uploads the message formats in the background. You can continue to work in the project file while the upload progresses. DG14 and DG16 Board & Sensor Reference Manual...

  • Page 353: Sign Bit Field

    The DG-16 stores the floating point data types using the IEEE single and double precision format. The formats contain a sign bit field, an exponent field, and a fraction field. The value is represented in these three fields. Sign Bit Field The sign bit field of the number being represented is stored in the sign bit field.

  • Page 354: The Represented Value

    0000 0000 0000 0.75 In 1, the value 1.0 is calculated by the following method: 1. The sign of the value is positive because the sign bit field is equal to 0. DG14 and DG16 Board & Sensor Reference Manual...

  • Page 355: Double-Precision Float

    2. The exponent field is equal to 7F (hexadecimal). The exponent is calculated by subtracting the bias value (7F) from the exponent field value. The result is 7F - 7F = 0 The exponent multiplier is equal to 2 , which is equal to 1 (decimal). 3.
  • Page 356 1.1 (binary). The fraction value is equal to 2 (decimal), which is equal to 1 + 0.5 (decimal), which is equal to 1.5 (decimal). 4. The value of the number is positive 0.5*1.5 = 0.75 (decimal). DG14 and DG16 Board & Sensor Reference Manual...
  • Page 357 Santa Clara, California USA, 95050-4300 Toll-free Voice Line: 1-800-229-2400 Local and International Voice Line: +1 408-615-3980 Fax Line: +1 408-615-5200 Email: support@ashtech.com Thales Navigation Oxfordshire, UK Voice: +44-(0)-1993-886766 Fax: +44-(0)-1993-886767 Thales Navigation South America Voice: +56 2 234 56 43...
  • Page 358 To assist the Customer Support team, please have the following information in hand: Table C.1. GPS Product Information Information Category Your actual numbers Receiver model Receiver serial # Software version # Firmware version # Options* DG14 and DG16 Board & Sensor Reference Manual...
  • Page 359 Table C.1. GPS Product Information Information Category Your actual numbers A brief description of the problem * The firmware version # and options can be obtained using the $PASHQ,RID (receiver identification) command. You can obtain data sheets, GPS information, application notes, and a variety of useful information from Thales Navigation's Internet web page.

  • Page 360: Repair Centers

    Voice: (408) 615-3980 or (800) 229-2400 Fax: (408) 615-5200 E-mail: support@ashtech.com Thales Navigation First Base, Beacontree Plaza Gillette Way Reading RG2 OBP United Kingdom TEL: 44 118 931 9600 FAX: 44 118 931 9601 DG14 and DG16 Board & Sensor Reference Manual...
  • Page 361 See Almanac Aerotriangulation Almanac (phototriangulation) A set of parameters used by a GPS A complex process vital to aerial receiver to predict the approximate Photogrammetry that involves locations of all GPS satellites and the extending vertical and/or horizontal expected satellite clock offsets. Each control so that the measurements of GPS satellite contains and transmits the angles and/or distances on...

  • Page 362: Index

    The angle or arc from the ascending broadcasts a unique 1023-bit sequence node to the closest approach of the that allows a receiver to distinguish orbiting body to the focus or perigee, as DG14 and DG16 Board & Sensor Reference Manual...
  • Page 363 between various satellites. The C/A- clock (less accurate). Code modulates only the L1 carrier frequency on GPS satellites. The C/A- Course Over Ground Code allows a receiver to Carrier frequency Constellation The basic frequency of an unmodulated Refers to the collection of orbiting GPS radio signal.
  • Page 364 A measure of the receiver-satellite(s) geometry. DOP relates the statistical accuracy of the GPS measurements to the statistical accuracy of the solution. Geometric Dilution of Precision (GDOP) is composed of Time Dilution DG14 and DG16 Board & Sensor Reference Manual...
  • Page 365 ellipsoid; the length of the semimajor axis, a, and the flattening, f =- (a - b)/a, Earth Centered, Earth Fixed (ECEF) where b is the length of the semiminor A cartesian coordinate system centered axis. Prolate and triaxial ellipsoids are at the earth's center of mass.
  • Page 366 Identification or Integrated Doppler above the ellipsoid measured along a Integer bias terms perpendicular to the ellipsoid. The receiver counts the carrier waves from the satellite, as they pass the Position Latitude/Longitude DG14 and DG16 Board & Sensor Reference Manual...
  • Page 367 antenna, to a high degree of accuracy. calendar. GPS time zero is defined to be However, it has no information number midnight UTC, Saturday/Sunday, 6 of waves to the satellite at the time it January 1980 at Greenwich. The Julian started counting.
  • Page 368 GPS technology for pilot guidance over the designated photo block(s). Photogrammetry forms the baseline of NMEA many Geographic Information Systems National Marine Electronics (GIS) and Land Information System (LIS) DG14 and DG16 Board & Sensor Reference Manual...
  • Page 369 studies. Pseudo-range The measured distance between the Point positioning GPS receiver antenna and the GPS A geographic position produced from satellite. The pseudo-range is one receiver in a stand-alone mode. At approximately the geometric range best, position accuracy obtained from a biased by the offset of the receiver clock stand-alone receiver is 5 meters to less from the satellite clock.
  • Page 370 Time between two successive upper which are common to both observers, transits of the vernal equinox. such as satellite clock errors, Sidereal time propagation delays, etc. See also The hour angle of the vernal equinox. DG14 and DG16 Board & Sensor Reference Manual...
  • Page 371 Taking the mean equinox as the Static observations reference yields true or apparent A GPS survey technique requiring Sidereal Time. Neither Solar nor roughly one hour of observation, with two Sidereal Time are constant, since or more receivers observing angular velocity varies due to simultaneously, and results in high fluctuations caused by the Earth's polar accuracies and vector measurements.
  • Page 372 6378.135 km and a converted into range units, assuming flattening of 1/298.26. that the error source is uncorrelated with all other error sources. Values less than 10 are preferred. Universal Time DG14 and DG16 Board & Sensor Reference Manual...
  • Page 373 Y-Code The designation for the end result of P- Code during Anti-Spoofing (AS) activation by DoD. Y-code tracking, civilian Signal squaring (now obsolete) multiplies the signal by itself, thus deleting the carrier's code information and making distance measurement (ranging) impossible. Carrier phase measurements can still be accomplished, although doubling the carrier frequency halves the...
  • Page 374 DG14 and DG16 Board & Sensor Reference Manual...
  • Page 375 Symbols $PASHQ,CMB, 187 $PASHQ,CRR, 101 $PASHQ,CRT, 230 $GPALM, 228 $PASHQ,CT1, 188 $GPGGA, 234 $PASHQ,CT2, 190 $GPGLL, 237 $PASHQ,CT3, 192 $GPGNS, 238 $PASHQ,CTS, 102 $GPGRS, 240 $PASHQ,DAP, 103 $GPGSA, 242 $PASHQ,DFO, 104 $GPGSN, 244 $PASHQ,DUG, 109 $GPGST, 246 $PASHQ,ERM, 113 $GPGXP, 250 $PASHQ,GDC, 115, 231 $GPMSG, 253 $PASHQ,GGA, 234...
  • Page 376 $PASHQ,STA, 159 $PASHR,RIO, 149 $PASHQ,SVP, 161, 162 $PASHR,SAL, 215 $PASHQ,SVS, 162 $PASHR,SMI, 157 $PASHQ,TCM, 276 $PASHR,SNV, 218 $PASHQ,UCT,UDD,CAL, 165 $PASHR,SVP, 161 $PASHQ,UCT,UDH,CAL, 167 $PASHR,SVS, 163 $PASHQ,UCT,UG4,CAL, 168 $PASHR,UTS, 180 $PASHQ,UDD, 170 $PASHR,XYZ, 221 DG14 and DG16 Board & Sensor Reference Manual...
  • Page 377 $PASHS,AJM, 96 $PASHS,KFP, 127 $PASHS,ALT, 96 $PASHS,KFP,FDE, 128 $PASHS,ANH, 96 $PASHS,KFP,PRI, 128 $PASHS,ANT, 97 $PASHS,KPI, 129 $PASHS,BCN,ALM, 317 $PASHS,LGS, 130 $PASHS,BCN,CHN, 317 $PASHS,LPS, 130 $PASHS,BCN,CLR, 318 $PASHS,LTZ, 132 $PASHS,BCN,DIR,ADD, 316 $PASHS,MSV, 210 $PASHS,BCN,DIR,CLR, 319 $PASHS,NME,ALL, 227 $PASHS,BCN,DIR,INI, 320 $PASHS,NME,ALM, 228 $PASHS,BCN,MOD,AUT,DUA, 321 $PASHS,NME,CRT, 229 $PASHS,BCN,MOD,AUT,SNG, 321...
  • Page 378 $PASHS,RTC,SPD, 299 $PASHS,USE,ALL, 179 $PASHS,RTC,STH, 300 $PASHS,USE,SBA, 313 $PASHS,RTC,STI, 300 $PASHS,USP, 179 $PASHS,RTC,TAG, 301 $PASHS,UTS, 179 $PASHS,RTC,TYP, 301 $PASHS,VDP, 180 $PASHS,SAV, 35, 151 *.ash, 326 $PASHS,SBA,DAM, 307 *.rdf, 326 $PASHS,SBA,DAT, 307 .mdf, 326 DG14 and DG16 Board & Sensor Reference Manual...
  • Page 379 70 offset, 60 blocking RTCM message type 7, 72, 322 set position, 43 clear never-use mark, 318 Ashtech type 2 data structure, 195 commands, 314 Ashtech type 3 data structure, 197 directory, 318 AUT, 289 add station, 73...

  • Page 380: Operation

    337 channel measure block, 187 checksum, 186 CHN, 317 circular error probability, 3 clear to send, 102 daisy chain communications, 105 CLK, 99 DAM, 307 clock status, 99 DAP, 103 DG14 and DG16 Board & Sensor Reference Manual...
  • Page 381 DAT, 307 double-precision format, 335 data latency, 64 DSY, 103, 105 datum DTM, 106 user-defined, 170 dual automatic mode, 66 datum to datum transformation, 80 beacon, 71 datum to grid transformaiton, 82 SBAS, 307 datum to grid transformation, 117, 173–177 dual manual mode datum transformation beacon, 72...
  • Page 382 IOD, 290 Greenwich Mean time, 132 IODE, 55 grid coordinates, 79, 115, 231 ION, 125 grid to grid transformation, 130 ionospheric model, 42, 125 grid transformation add point, 168 calculate parameters, 168 DG14 and DG16 Board & Sensor Reference Manual...

  • Page 383: Magnetic Variation Model

    J301 MACM, 201 connector, 9 magnetic variation model, 42 pinouts, 10 MAN, 310, 320 jam immunity, 96 manual modes, 66 beacon, 71 map projection, 117 MAX, 291 maximum age of corrections, 291 Kalman filter MBN, 44, 195 enabling, 127 MCA, 44, 197 fault detection and elimination, 128 MCM, 200 known point initialization, 129...
  • Page 384 243 PHE, 137 speed over ground, 282 photogrammetry, 44 standards, 29 edge mode, 137 time and date, 285 event marker, 277 UKOOA message, 278 physical specifications, 2 UTM coordinates, 279 DG14 and DG16 Board & Sensor Reference Manual...
  • Page 385 pin configuration, 10 PMD, 138 point positioning, 143 RAM, 3 POS, 140, 265 range measurements, 54 position RAW, 212 accuracy, 2 raw data computation, 161 commands, 183 SBAS satellites used, 313 message structure, 186 elevation mask, 137 outputs, 44 error, 270 parameters, 34 error mask, 112 raw measurements, 195, 197...
  • Page 386 RTCM messages, 301 SBA, 305 SBAS to RTCM interface, 311 CDU, 306 SC-104 tag, 301 DAM, 307 sources of error, 54 DAT, 307 station ID, 300 INF, 308 Type 16 Message, 291 INT, 309 DG14 and DG16 Board & Sensor Reference Manual...
  • Page 387 MAN, 310 selective availability, 3, 53 OFF, 310 SEM, 153 PAR, 310 SEQ, 298 query SBAS parameters, 305 serial port RTC, 311 baud rate, 31, 145, 158 SAN, 312 change baud rate, 31 USE, 313 configuration, 31 USP, 313 default settings, 31 SBA,SSO, 312 SES,PAR, 154 SBAS, 66...
  • Page 388 VDOP mask, 180 UCT,UG4,APT, 168 VDP, 180 UCT,UG4,CAL, 168 velocity, 3 UCT,UG4,EST, 169 velocity and course, 282 UD4, 169 verify message sequence, 298 UDD, 170 VIS, 180 UDG, 173 VTG, 282 UDH, 178 DG14 and DG16 Board & Sensor Reference Manual...
  • Page 389 warm start, 2, 33 WGS-72, 81 WGS-84, 4, 81, 86 XMG, 284 XYZ, 221 ZDA, 285...
  • Page 390 DG14 and DG16 Board & Sensor Reference Manual...

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