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88
RTK Implementation
interference in the data link between the base and the rover.
Regardless of the cause, the rover will only provide an RTK
position when it receives data from the base.
Fast RTK Output Mode
Principle. In Fast RTK, the rover uses the RTK correction data
from a single epoch to compute multiple RTK positions.
For example, if the base is transmitting RTK correction data
every second (1 Hz), the rover can output four RTK positions
at intervals of 0.25 second.
The time when position is requested is t0 and the time when
the rover starts providing the position for time t0 is t1. Times
t0a, t0e and t0j in the base and the rover are synchronous
because they originate from the same clock which is the
GNSS time.
Here the latency (t1 – t0) is caused by the extrapolation and
position processing times in the sole rover. In this
Epoch1 Epoch2 Epoch3
RTK
Correction
Data (Base)
RTK Position
Output
(Rover)
Internal
Processes
in Rover
Latency
Rover positions at times t0.. are delivered at times t1..
t0..: Position request times
t1..: Position delivery times
2. RTK correction data computed at t0.. arrives in rover
1. Rover saves GNSS raw data received at t0..
Pos1 Pos2 Pos3 Pos4 Pos5 Pos6 Pos7 Pos8 Pos9 Pos10
t0a
t0b
t1b
t0c t0d t0e t0f t0g t0h t0i t0j
3. Rover extrapolates last RTK correction data received for time t0(x-1).. and computes
estimated RTK position at time t0.. from raw data and extrapolated correction data
2
1
- Reference Manual 1
- How To Use this Documentation 3
- Table of Contents 5
- Chapter 1. Introduction 13
- Basic Supply 14
- Standard 14
- Accessories 14
- Communication 15
- Modules and 15
- Associated 15
- Antennas 15
- Base Accessories 15
- Front Panel View 16
- Indicators & 16
- Controls 16
- Scroll button 17
- Log Button 17
- Bottom View 18
- Battery 18
- Connectors & 18
- Introduction 19
- Characteristics 20
- Special Button 20
- Combinations 20
- Display Screens 21
- ATL Recording 26
- Charging Batteries Before Use 27
- Charging the 28
- Specifications 29
- Firmware Options 32
- Port Pinouts 33
- USB Port USB 2.0, full speed 34
- RTK Base Setup 38
- RTK Rover Setup 39
- System Setup 42
- Downloading Raw Data 43
- Post-Processed Surveying 44
- Concepts 45
- RTK Surveying 46
- Implementation 47
- Chosen Point 48
- Logging Points Typical Use 49
- (Initialization) 50
- (Start t1) 50
- (Start t2) 50
- (Stop t1) 50
- (Stop t2) 50
- Distance to go 51
- Static Survey Typical Use 54
- “Stop & Go” 55
- Kinematic Survey 55
- Key Points 56
- In time mode: 58
- In distance mode: 58
- First Criterion: 59
- GNSS Reception 59
- Conditions 59
- Second Criterion: 60
- Base Position 60
- Known or 60
- Unknown? 60
- Initialization 61
- Other General 62
- Considerations 62
- Strategies for 63
- Securing 63
- OTF and “Known Point” Methods 64
- Initialization in 65
- Post-Processed 66
- Required Observation Times 67
- GNSS Antenna 68
- Features 68
- Why is GNSS 69
- Antenna Height so 69
- Important 69
- Slant Height 70
- Measurement 70
- Landmark 71
- Read slant height 71
- Using a Virtual Antenna 73
- About The Different 75
- Virtual Antennas 75
- Existing Today 75
- Ellipsoidal Height 76
- Reference Ellipsoid 76
- Surveyed Point 76
- Elevation 77
- Satellite 78
- Expression of 79
- Accuracy 79
- Measures 80
- Localization 81
- Instructions to 83
- Complete a 83
- Chapter 5. RTK Implementation 85
- Radio Implementation 87
- Cellular Mobile 89
- Communications 89
- Monitoring the 93
- Data Link 93
- RTK Correction Data Formats 95
- Standard Formats CMR, CMR+ 96
- RTK Position Output 98
- Time-Tagged RTK Output Mode 99
- Fast RTK Output Mode 100
- RTK Implementation 101
- In Time-Tagged RTK 102
- In Fast RTK 102
- RTK Position 103
- Output Rate 103
- Chapter 6. Troubleshooting 105
- Troubleshooting 106
- Receiver is Not Logging Data 112
- Step 3. Is the 113
- Currently Used 113
- Memory Full? 113
- Relevant to 116
- Step 1. Is the 118
- Receiver Set to 118
- Function as an RTK 118
- Step 4. Are 120
- Precision 120
- Requirements Too 120
- Stringent for RTK? 120
- Problem to Tech Support 121
- $PASHQ,VERSION 122
- $PASHQ,OPTION 122
- $PASHQ,PAR 122
- Chapter 7. Miscellaneous 123
- Miscellaneous 124
- Reset Procedure 125
- Copy User Data 125
- “Load Config?” 126
- Procedure 126
- “Upload Script?” 127
- Saving a Receiver 128
- Configuration 128
- Firmware Upgrade Procedure 129
- Enabling a Firmware Option 131
- Configuring Serial Port A 131
- Installing a SIM Card 131
- Internet 133
- GPRS-to-GPRS Mode 134
- Serial-to-GPRS Mode 134
- Default Settings 136
- Serial Ports 137
- Bluetooth 137
- Internal Radio 137
- (Port D) 137
- NMEA Messages 138
- Computed Data 138
- Raw Data 138
- Raw Data Logging 138
- Other Settings 140
- ProMark 800 143
- Serial Commands 143
- & Data Outputs 143
- Supplement 143
- From the Office 146
- Computer 146
- Using Serial Commands 147
- Running a Series of Commands 148
- USB Port 149
- Cable P/N 702104 149
- List of Commands 150
- Command Format Syntax 155
- ANH: Antenna Height 156
- Relevant Query 157
- See also $PASHS,ANP,DEL 157
- Parameters 158
- ANR: Antenna Reduction Mode 160
- ANT: Antenna Height 161
- Examples 163
- ATL: Debug Data Recording 164
- BAS: Differential Data Type 169
- See also $PASHS,CPD,MOD 170
- BEEP: Beeper Setup 171
- See also $PASHS,NTR 172
- Radio+cable [P/N 802103 (US)] 173
- See also $PASHS,GPS 177
- CMD,WTI: Inserting Wait Times 179
- CPD,FST: RTK Output Mode 182
- CPD,NET: Network Corrections 184
- CPD,RST: RTK Process Reset 186
- CPD,VRS: VRS Assumption Mode 187
- CTS: Handshaking 188
- DIP: Server Connection 189
- Commands 190
- See also $PASHS,MDM 190
- DRD: Data Recording Duration 192
- DRI: Raw Data Recording Rate 193
- DSY: Daisy Chain 194
- DYN: Receiver Dynamics 195
- See Also $PASHS,UDP 196
- FIL,D: Deleting Files 197
- See also $PASHQ,FLS 198
- GAL: Galileo Tracking 199
- GLO: GLONASS Tracking 200
- GPS: GPS Tracking 201
- INI: Receiver Initialization 203
- See also $PASHS,RST 204
- LOG,DEL: Deleting Log Files 205
- LOG,PAR: Log File Settings 206
- LTZ: Time Zone 206
- Set Command Library 207
- $PASHS,MDM,OFF[*cc] 208
- $PASHS,MDM,OFF*52 208
- $PASHS,MDM,ON[*cc] 208
- See also $PASHS,MDM,OFF 209
- See also $PASHS,DIP 210
- See also $PASHS,NME 215
- Messages 216
- See also $PASHQ,NTR,TBL 217
- NTR,PAR: NTRIP Settings 219
- See also $PASHS,REC 220
- See also $PASHQ,RID 222
- See also $PASHS,PAR,SAV 223
- See also $PASHS,PAR,LOD 224
- See Also $PASHS,NME 226
- See also $PASHS,CPD,MOD,BAS 227
- PRT: Setting Baud Rates 228
- PWR,PAR: Power Management 229
- See Also $PASHS,CFG 231
- Receiver 234
- See Also $PASHS,RCP,GB1 236
- See Also $PASHS,ANP,REF 237
- RDP,PAR: Setting the Radio 238
- Comments 240
- See also $PASHS,RDP,ON 243
- See also $PASHS,RDP,PAR 244
- See also $PASHS,MEM 245
- RST: Default Settings 247
- RTC,TYP: RTCM Message Type 249
- See also $PASHS,BAS 250
- SIT: Defining a Site Name 251
- See Also $PASHS,SOM,SNR 253
- SOM,NAV: Navigation Data Mask 255
- See Also $PASHS,SOM 256
- STI: Defining a Station ID 259
- WAK: Acknowledging Alarms 267
- ZDA: Setting Date & Time 268
- Response Format Syntax 269
- Relevant Set 269
- ALM: Almanac Message 270
- ANP: Antenna Parameters 272
- ANP,OUT: Virtual Antenna 273
- ANP,OWN: Local Antenna Used 273
- $PASHS,ANP,OWN 274
- ATM: ATOM Data Parameters 279
- See also $PASHQ,ATM 280
- See also $PASHQ,CPD,MOD 282
- BEEP: Beeper State 283
- BRD: RTC Bridge 284
- BTH: Bluetooth Settings 285
- CMR,MSI: CMR Message Status 286
- CPD,ANT: Base Antenna Height 287
- Example $PASHQ,CPD,ANT 288
- See also $PASHS,ANH 288
- CPD,FST: Fast RTK Output Mode 289
- See also $PASHQ,CPD 290
- CPD,POS: Base Position 292
- DBN,MSI: DBEN Message Status 297
- DIP: Direct IP Parameters 300
- See also $PASHQ,MDM 301
- DPO: Delta Position 302
- DSY: Daisy Chain Status 304
- DTM: Datum Reference 305
- Automatic Output 306
- ELM: Elevation Mask 308
- See Also $PASHS,REC 309
- Response format Syntax 309
- FLS: List of Raw Data Files 311
- GAL: GALILEO Tracking Status 312
- GGA: GNSS Position Message 312
- Example $PASHQ,GGA 313
- Example $PASHQ,GLL 314
- GLO: GLONASS Tracking Status 316
- Example $PASHQ,GMP 317
- GNS: GNSS Fix Data 318
- Example $PASHQ,GNS 319
- GPS: GPS Tracking Status 320
- GRS: GNSS Range Residuals 321
- Example $PASHQ,GSA 322
- Set Command Library Chapter 325
- GSV: GNSS Satellites in View 326
- LOG: Editing a Log File 328
- See Also $PASHS,LOG,PAR 329
- LOG,LST: Listing Log Files 330
- $PASHS,LOG,PAR 331
- See also $PASHQ,MDM,LVL 332
- MDM,LVL: Modem Signal Level 333
- MDM,STS: Modem Status 333
- MDP: Port A Setting 334
- MEM: Selected Memory Device 335
- MWD: Modem Watchdog Timeout 335
- Like Messages 338
- NTR: NTRIP Settings 339
- See also $PASHS,NTR,PAR 340
- NTR,TBL: Source Table 341
- See also $PASHS,NTR,LOD 342
- PAR: Receiver Parameters 345
- Response Format Examples 346
- Query Command Library 347
- PEM: Position Elevation Mask 348
- POS: Computed Position Data 350
- PPS: PPS Settings 351
- PRT: Baud Rate Settings 352
- PTT: PPS Time Tag 353
- PWR: Power Status 354
- QZS: QZSS Tracking Status 355
- RCP: Receiver Parameters 357
- RCP,OWN: Receiver Name 358
- RDP,CHT: Radio Channel Table 359
- See also $PASHS,RDP,TYP 360
- RDP,PAR: Radio Parameters 361
- RDP,TYP: Radio Type Used 365
- RID: Receiver Identification 367
- See also $PASHQ,VERSION 368
- Example $PASHQ,RMC 369
- RRE: Residual Error 370
- RTC: RTCM Status 371
- RTC,MSI: RTCM Message Status 373
- RWO: Raw Data Output Settings 374
- SAT: Satellites Status 375
- SBA: SBAS Tracking Status 376
- Example $PASHQ,SGA 378
- Example $PASHQ,SGL 380
- Example $PASHQ,SGP 382
- SIT: Site Name 383
- STI: Station ID 388
- SVM: Satellite Use Mask 388
- $PASHS,SVM 389
- VERSION: Firmware Version 395
- WARN: Warning Messages 397
- ZDA: Time & Date 398
- ION: Ionosphere Parameters 401
- MPC: GNSS Measurements 402
- Output Message Library 403
- Reminder on How 404
- DPC: Compact GPS Measurements 405
- PBN: Position Information 406
- SBA,DAT: SBAS Data Message 407
- SAL: GPS Almanac Data 408
- SAG: GLONASS Almanac Data 409
- SAW: SBAS Almanac Data 410
- SNG: GLONASS Ephemeris Data 411
- SNV: GPS Ephemeris Data 413
- SNW: SBAS Ephemeris Data 414
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