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Output Message Library
$PASHR,SNG,<structure>
The message’s binary structure is described in the table
below.
Type Name Size Contents
Long 4
Start time of 30-second frame in satellite time
scale tk from which the ephemeris data is
derived; time modulo one day (seconds)
Short 2
Day number of 30-second frame; modulo
four-year period counting from beginning of
last leap year, which corresponds to parame-
ter tb (tb is set within this day number). This
parameter varies within the range 1 to 1461. If
day number=0, the day number is unknown
(absent in navigation frame)
Long 4
Ephemeris data reference time within the day
expressed in GLONASS system time scale =
UTC + 3 hours (seconds)
Float 4
Frequency offset gh of the on-board fre-
quency standard at tb (dimensionless)
Float 4
Bias tn between satellite time scale and
GLONASS system time scale at tb (seconds)
Double 3*8
Satellite ECEF (PZ-90) X, Y, Z coordinates
(km)
Float 3*4
Satellite ECEF (PZ-90) velocity X’, Y’, Z’ (km/
sec)
Float 3*4
Satellite perturbation acceleration X”, Y”, Z”
due to moon and sun (km/sec/sec).
Double 8
Bias between GLONASS system time scale
and UTC + 3 hours time scale tc (seconds)
Char 1
Age of ephemeris parameter En (interval from
moment when ephemeris data was last
uploaded to tb)
Char 1 Combined 3-bit flag (contains Ï1, Ï 2, Ï 3)
Char 1 Satellite health status flag (0=good, 1=bad)
Char 1
Satellite frequency channel number
[-7,…,6]
Short 2
Satellite system number (satellite number
[1,…,24])
Unsigned
short
Check-
sum
2
The checksum is computed by breaking the
structure into 40 unsigned shorts, adding
them together, and taking the least significant
16 bits of the result.
Total 8 2
- 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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