GARMIN GPS导航设备-GPS Receiver Interface说明书.pdf

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Introduction

What is GRIL?

How is GRIL used?

Objects

Receiver Input Language

Object Identifier

Receiver commands

set and print

get

list

create

remove

em (enable message)

out (output message)

dm (disable message)

event \(Generating “Free-Form Events”\)

init

Receiver parameters

General parameters

Automatic File Rotation Mode (AFRM)

Two simultaneous log-files parameters

Antenna related parameters

Frequency source

GSM modem parameters

Step-by-step instruction on using JNS receivers with GSM modems

Power management parameters

Communication parameters

JNS Eurocard J502 connector I/O pin support

Parameters to support logging history

Output time-frame parameters

Session programming

Introduction

Parameters

Notebook parameters

Raw data management and signal processing parameters

Loop parameters

Positioning & Timing parameters

Datum parameters

Filtering position estimates

PPS signal parameters

Event signal parameters

How to synchronize the receiver clock with an external event generator

How to “coherently synchronize” the receiver’s fr

Differential mode parameters

Base Station parameters

RTCM related Base Station parameters

CMR related Base Station parameters

JPS related Base Station parameters

Rover Station parameters

RTCM related Rover Station parameters

CMR related Rover Station parameters

JPS related Rover Station parameters

Carrier phase differential parameters

Multiple reference stations

Ambiguity fixing statistics

Code differential parameters

Multi-base DGPS parameters

MINTER parameters

Resume data recording after power failure

Parameters governing Optimized Real Time Application messages

RAIM parameters

Parameters related to NMEA messages

Resolution parameters for fractional data fields in NMEA messages

WAAS/EGNOS parameters

Step-by-step instructions about using JNS receivers in WAAS/EGNOS DGPS mode

Attitude and Heading Determination parameters

Step-by-step instructions about using Attitude Determination Unit

Set up Master receiver

Set up Slave receiver

Set up Slave receiver to retranslate differential messages from a remote reference station.

Set up Master receiver to obtain differential messages from a remote reference station

Reduction of the processor’s computation load

OmniSTAR parameters

Receiver options

Obsolete parameters

Receiver Messages

General Format of JNS Messages

Message Identifier

The Length of Message Body Descriptor

Message Body

Non-standard Messages

Parsing Message Stream

Synchronization

Changing to the Next Message

Attention users of Pinnacle™ and other JNS post-p�

Predefined Messages

General Notes

General Purpose Messages

[JP] Javad Positioning Systems File Identifier

[MF] Message Format and Identifier {9}

[SE] Security {6}

[||] Epoch End {1}

[::] Epoch Time {5}

Time Messages

[RD] Receiver Date {6}

[~~] Receiver Time {5}

[UO] Universal Coordinated Time (UTC) parameters {24}

[GT] GPS Time {7}

[TO] Receiver Reference Time to Receiver Time Offset {9}

[DO] Derivative of Receiver Time Offset {5}

[OO] Oscillator Offset {5}

[BP] Rough Indicator of Receiver Synchronization to Reference Time {5}

[NT] GLONASS Time {7}

[NO] GLONASS to Receiver Time Offset {6}

[GO] GPS to Receiver Time Offset {6}

Optimized Real-Time Application Messages

[rE] Reference Epoch {10}

[rM] Raw Measurements {var}

[rV] Receiver’s Position and Velocity {42}

Position/Velocity Messages

[PO] Cartesian Position {30}

[VE] Cartesian Velocity {18}

[PV] Cartesian Position and Velocity {46}

[PG] Geodetic Position {30}

[DP] Dilution of Precision (DOP) Parameters {14}

[SG] Position & Velocity RMS Errors (Horizontal and Vertical){18}

[SP] Position Covariance Matrix {42}

[SV] Velocity Covariance Matrix {42}

[VG] NEU Velocity {18}

[BL] Base Line {34}

[BI] Base station information {28}

[PS] Position Statistics {9}

[ST] Solution Time-Tag {6}

[PT] Time of Continuous Position Computation {5}

Satellite Data Messages

[SI] Satellite Indices {nSats+1}

[NN] GLONASS Satellite System Numbers {nSats+1}

[EL] Satellite Elevations {nSats+1}

[AZ] Satellite Azimuths {nSats+1}

C/A Pseudorange Measurements

[RC] Full C/A Pseudoranges {8*nSats+1}

[rc] Delta C/A Pseudoranges {4*nSats+1}

P/L1 Pseudorange Measurements

[R1] Full P/ L1 Pseudoranges {8*nSats+1}

[r1] Delta P/L1 Pseudoranges {4*nSats+1}

[1R] Relative P/L1 Pseudoranges {4*nSats+1}

[1r] Relative Delta P/L1 Pseudoranges {2*nSats+1}

P/L2 Pseudorange Measurements

[R2] Full P/L2 Pseudoranges {8*nSats +1}

[r2] Delta P/L2 Pseudoranges {4*nSats+1}

[2R] Relative P/L2 Pseudoranges {4*nSats+1}

[2r] Relative Delta P/L2 Pseudoranges {2*nSats+1}.

Pseudorange Smoothing Corrections&Intervals

[CC] Long C/A Pseudorange Smoothing Corrections {6*nSats+1}

[cc] Short C/A Pseudorange Smoothing Corrections {2*nSats+1}

[C1] Long P/L1 Pseudorange Smoothing Corrections {6*nSats+1}

[c1] Short P/L1 Pseudorange Smoothing Corrections {2*nSats+1}

[C2] Long P/L2 Pseudorange Smoothing Corrections {6*nSats+1}

[c2] Short P/L2 Pseudorange Smoothing Corrections {2*nSats+1}

C/A Carrier Phase Measurements

[PC] Full C/A Carrier Phases {8*nSats+1}

[pc] 32-bit C/A Carrier Phases {4*nSats+1}

[CP] C/A Carrier Phases Computed Relative to [RC] Pseudoranges {4*nSats+1}

[cp] C/A Carrier Phases Computed Relative to [rc] Pseudoranges {4*nSats+1}

P/L1 Carrier Phase Measurements

[P1] Full P/L1 Carrier Phases {8*nSats+1}

[p1] 32-bit P/L1 Carrier Phases {4*nSats+1}

[1P] P/L1 Carrier Phases Computed Relative to [RC] Pseudoranges {4*nSats+1}

[1p] P/L1 Carrier Phases Computed Relative to [rc] Pseudoranges {4*nSats+1}

P/L2 Carrier Phase Measurements

[P2] Full P/L2 Carrier Phases {8*nSats+1}

[p2] 32-bit P/L2 Carrier Phases {4*nSats+1}

[2P] P/L2 Carrier Phases Computed Relative to [RC] Pseudoranges {4*nSats+1}

[2p] P/L2 Carrier Phases Computed Relative to [rc] Pseudoranges {4*nSats+1}

Doppler

[DC] C/A Doppler {4*nSats+1}

[D1] P/L1 Doppler {4*nSats+1}

[D2] P/L2 Doppler {4*nSats+1}

Carrier to Noise Ratio

[EC] C/A Carrier to Noise Ratio {nSats+1}

[E1] P/L1 Carrier to Noise Ratio {nSats+1}

[E2] P/L2 Carrier to Noise Ratio {nSats+1}

[SS] Satellite navigation status {nSats+2}

[TC] Time Since Last Loss-of-Lock on particular C/A signal {nSats*2+1}

[TT] Time Since Last Loss-of-Lock on all C/A signals {5}

[GA] GPS Almanac {47}

[GE] GPS Ephemeris {123}

[NA] GLONASS Almanac {46}

[NE] GLONASS Ephemeris {80}

[IO] Ionospheric Parameters {39}

[ID] Ionospheric delays {8*nSats+1}

[FC] C/A Signal Lock Loop Flags {nSat*2 + 1}

[F1] P/L1 Signal Lock Loop Flags {nSat*2 + 1}

[F2] P/L2 Signal Lock Loop Flags {nSat*2 + 1}

WAAS messages

[WE] WAAS Ephemeris Message {39}

[WA] WAAS Almanac Message {23}

[WO] WAAS Time Message {31}

ADU Messages

[mr] Rotation matrix {73}

[MR] Rotation matrix {37}

[AR] Rotation angles {21}

Timing signal and Event marker Messages

[XA], [XB] External Event Messages {10}

[ZA], [ZB] PPS offset {5}

[YA], [YB] The “receiver time vs. reference time”

[==] Event {var}

[LT] Message Output Latency {2}

[>>] Wrapped Echo {var}

[LH] Logging History {var}

ASCII Messages

JNS Format for ASCII messages

NMEA-Specific Format Limitations

NMEA sentences

Introduction

General Format of Approved NMEA Sentences

Formats of Supported NMEA sentences

JNS proprietary NMEA sentences

ATT – Attitude parameters

GGA – Global Positioning System Fix Data

GLL – Geographic Position – Latitude/Longitude

GNS – GNSS Fix Data

GRS – GNSS Range Residuals

GSA – GNSS DOP and Active Satellites

GST – GNSS Pseudorange Error Statistics

GSV – GNSS Satellites in View

RMC – Recommended Minimum Specific GNSS Data

HDT – Heading, True

VTG – Course Over Ground and Ground Speed

ROT – Rate of turn

ZDA – Time & Date

JNS Proprietary ASCII messages

[DL] Data link status message

[ER] Error {var}

[PM] Parameters {var}

[GS] Get GPS SV Status

[RS] Reference station status

[JE] Extended Jamming Suppressor information

[JI] Jamming Suppressor information

[MS] RTCM status message

[TX] Text message

[RM] Results of RAIM processing

[NP] Navigation position

[MP] Position in given map projection or local coordinates

[NS] Get GLONASS SV Status

[RE] Reply {var}

[TR] “Time residuals”

[TM] Clock offsets and their time derivatives

[RP] Reference station parameters

[RK] RTK parameters

[AP] Position covariance matrix

[AB] Baseline length

RTCM messages

Introduction to RTCM messages

List of RTCM Messages Supported by JNS Receiver

CMR messages

Introduction to CMR messages

List of CMR Messages Supported by JNS Receivers

Message groups and sets

Message groups

Message sets

Step-by-step instructions about using JNS receivers in differential modes

Set up base station

Set up rover station

Disable base mode for base station

Disable rover mode for rover station

Step-by-step instruction about using JNS receivers in Multiple reference stations mode

Set up base station

Set up rover receiver

Daisy Chain feature

Appendix A. Message Scheduling Flags

Appendix B. Format and Naming Conventions

Appendix C. Computing 8-Bit Checksum for Receiver Commands & Messages

Appendix D. JNS Data Transfer Protocol

Protocol description

CRC16 calculation algorithm

Appendix E. Frame format for Free-Form Events

Preface

General format of JNS Free-Form Events

Currently supported JNS Free-Form Events

_ANT Event \(“ANTENNA TYPE”\)

_ANH Event \(“ANTENNA HEIGHT”\)

_DYM Event \(“DYNAMICS”\)

_SIT Event \(“SITE”\)

_CAN Event \(“CANCEL”\)

_SAV Event \(“SAVE”\)

Site Scope

_DSC Event \(“DESCRIPTION”\)

_FEA Event \(“FEATURE”\)

Additional comments on _CAN and _SAV

Appendix F. Amount of Data Transmitted by Reference Station in Differential modes

Code Differential Mode

Real Time Kinematic

Protocol Using RTCM Message Types 18 and 19 (or 20 and 21).

CMR and CMR Plus protocols

Appendix I. Attitude and Heading Determination Systems (AT4 and HD2)

Geometry and Coordinate Transformations

Installing Antennae

Self-Calibration

Hardware

Appendix G. JNS Receiver Parameter Flowchart

Appendix H. Reference Ellipsoids and Local Datums

References

Glossary

Index

INTRODUCTION / TERMS AND CONDITIONS Thank you for purchasing your JNS receiver. The materials available in this Reference Manual (the "Manual") have been prepared by Javad Navigation Systems, Inc. for owners of JNS products. It is designed to assist owners with the use of the GRIL and its use is subject to these terms and conditions (the “Terms and Conditions”). PLEASE READ THESE TERMS AND CONDITIONS CAREFULLY. be of their respective trademarks PROFESSIONAL USE – JNS receivers are designed to be used by a professional. The user is required to be a professional surveyor or have a good knowledge of surveying, in order to understand the user and safety instructions before operating, inspecting or adjusting. COPYRIGHT - All information contained in this Manual is the intellectual property of, and copyrighted material of JNS. All rights are reserved. You may not use, access, copy, store, display, create derivative works of, sell, modify, publish, distribute, or allow any third party access to, any graphics, content, information or data in this Manual without JNS’ express written consent and may only use such information for the care and operation of your Receiver. The information and data in this Manual are a valuable asset of JNS and are developed by the expenditure of considerable work, time and money, and are the result of JNS' original selection, coordination and arrangement. TRADEMARKS. Javad® is the trademark of JNS. Windows® is a registered trademark of Microsoft Corporation. Product and company names mentioned herein may owners. DISCLAIMER OF WARRANTY: EXCEPT FOR ANY WARRANTIES IN A WARRANTY CARD ACCOMPANYING THE RECEIVER, THIS MANUAL AND THE RECEIVER ARE PROVIDED “AS-IS.” THERE ARE NO OTHER WARRANTIES. JNS DISCLAIMS ANY IMPLIED WARRANTY OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR USE OR PURPOSE. JNS AND ITS DISTRIBUTORS SHALL NOT BE LIABLE FOR TECHNICAL OR EDITORIAL ERRORS OR OMISSIONS CONTAINED HEREIN; NOR FOR INCIDENTAL OR CONSEQUENTIAL DAMAGES RESULTING FROM THE FURNISHING, PERFORMANCE OR USE OF THIS MATERIAL, THE SOFTWARE OR THE RECEIVER. SUCH DISCLAIMED DAMAGES INCLUDE BUT ARE NOT LIMITED TO LOSS OF TIME, LOSS OR DESTRUCTION OF DATA, LOSS OF PROFIT, SAVINGS OR REVENUE, OR LOSS OF THE PRODUCT’S USE. IN ADDITION JNS IS NOT RESPONSIBLE OR LIABLE FOR DAMAGES OR COSTS INCURRED IN CONNECTION WITH OBTAINING SUBSTITUTE PRODUCTS OR SOFTWARE, CLAIMS BY OTHERS, INCONVENIENCE, OR ANY OTHER COSTS. IN ANY EVENT, JNS SHALL HAVE NO LIABILITY FOR DAMAGES OR OTHERWISE TO YOU OR ANY OTHER PERSON OR ENTITY IN EXCESS OF THE PURCHASE PRICE FOR THE RECEIVER. LICENSE AGREEMENT - Use of any computer programs or software supplied by JNS or downloaded from a JNS website (the “Software”) in connection with a JNS receiver constitutes acceptance of these Terms and Conditions in this Manual and an agreement to abide by these Terms and Conditions. The user is granted a personal, non-exclusive, non- transferable license to use such Software under the terms stated herein and in any case only with a single receiver or single computer. You may make one (1) backup copy of the ii

Software. Otherwise, the Software may not be copied or reproduced. You may not assign or transfer the Software or this license without the express written consent of JNS. This license is effective until terminated. You may terminate the license at any time by destroying the Software and Manual. JNS may terminate the license if you fail to comply with any of the Terms or Conditions. You agree to destroy the Software and manual upon termination of your use of the receiver. All ownership, copyright and other intellectual property rights in and to the Software belong to JNS. If these license terms are not acceptable, return any unused Software and manual. CONFIDENTIALITY. This Manual, its contents and the Software (collectively, the “Confidential Information”) are the confidential and proprietary information of JNS. You agree to treat JNS’ Confidential Information with a degree of care no less stringent that the degree of care you would use in safeguarding your own most valuable trade secrets. Nothing in this paragraph shall restrict you from disclosing Confidential Information to your employees as may be necessary or appropriate to operate or care for the receiver. Such employees must also keep the Confidential Information confidential. In the event you become legally compelled to disclose any of the Confidential Information, you shall give JNS immediate notice so that it may seek a protective order or other appropriate remedy. WEBSITE; OTHER STATEMENTS. No statement contained at the JNS website (or any other website) or in any other advertisements or JNS literature or made by an employee or independent contractor of JNS modifies these Terms and Conditions (including the Software license, warranty and limitation of liability). SAFETY – Improper use of a JNS receiver can lead to injury to persons or property and/or malfunction of the product. The receiver should only be repaired by authorized JNS warranty service centers. Users should review and heed the safety warnings in the manual accompanying the receiver. MISCELLANEOUS. The above Terms and Conditions may be amended, modified, superseded, or canceled, at any time by JNS. The above Terms and Conditions will be governed by, and construed in accordance with, the laws of the State of California, without reference to conflict of laws. iii

Table of Contents 1 3.6.1 3.8.1 Introduction............................................................................................................................................... 1 1.1 What is GRIL?.................................................................................................................................. 1 1.2 How is GRIL used?........................................................................................................................... 1 1.3 Objects .............................................................................................................................................. 1 1.4 Receiver Input Language .................................................................................................................. 1 1.5 Object Identifier................................................................................................................................ 3 2 Receiver commands.................................................................................................................................. 4 set and print....................................................................................................................................... 4 2.1 get ..................................................................................................................................................... 5 2.2 2.3 list ..................................................................................................................................................... 6 2.4 create................................................................................................................................................. 7 2.5 remove .............................................................................................................................................. 8 em (enable message)......................................................................................................................... 8 2.6 2.7 out (output message)....................................................................................................................... 10 2.8 dm (disable message)...................................................................................................................... 10 2.9 event (Generating “Free-Form Events”) ......................................................................................... 11 2.10 init................................................................................................................................................... 11 3 Receiver parameters................................................................................................................................ 13 3.1 General parameters ......................................................................................................................... 13 3.2 Automatic File Rotation Mode (AFRM)......................................................................................... 17 Two simultaneous log-files parameters .......................................................................................... 19 3.3 3.4 Antenna related parameters............................................................................................................. 20 3.5 Frequency source ............................................................................................................................ 21 3.6 GSM modem parameters ................................................................................................................ 22 Step-by-step instruction on using JNS receivers with GSM modems..................................... 24 Power management parameters ...................................................................................................... 26 3.7 Communication parameters ............................................................................................................ 30 3.8 JNS Eurocard J502 connector I/O pin support........................................................................ 35 3.9 Parameters to support logging history............................................................................................. 36 3.10 Output time-frame parameters ........................................................................................................ 37 3.11 Session programming...................................................................................................................... 38 Introduction............................................................................................................................. 38 Parameters............................................................................................................................... 39 3.12 Notebook parameters ...................................................................................................................... 46 3.13 Raw data management and signal processing parameters............................................................... 47 3.13.1 Loop parameters...................................................................................................................... 53 3.14 Positioning & Timing parameters................................................................................................... 56 3.14.1 Datum parameters ................................................................................................................... 64 Filtering position estimates ..................................................................................................... 70 3.14.2 3.15 PPS signal parameters..................................................................................................................... 71 3.16 Event signal parameters .................................................................................................................. 74 3.16.1 How to synchronize the receiver clock with an external event generator............................... 76 3.16.2 How to “coherently synchronize” the receiver’s frequency/clock with an external generator’s frequency/clock....................................................................................................................................... 76 3.17 Differential mode parameters.......................................................................................................... 77 3.17.1 Base Station parameters.......................................................................................................... 78 RTCM related Base Station parameters .......................................................................... 80 CMR related Base Station parameters ............................................................................ 83 JPS related Base Station parameters ............................................................................... 85 3.17.2 Rover Station parameters........................................................................................................ 86 RTCM related Rover Station parameters ........................................................................ 86 CMR related Rover Station parameters .......................................................................... 89 JPS related Rover Station parameters ............................................................................. 89 Carrier phase differential parameters .............................................................................. 90 3.17.2.4.1 Multiple reference stations ....................................................................................... 100 3.17.2.4.2 Ambiguity fixing statistics ....................................................................................... 102 Code differential parameters......................................................................................... 104 3.17.2.5.1 Multi-base DGPS parameters................................................................................... 105 3.17.1.1 3.17.1.2 3.17.1.3 3.17.2.1 3.17.2.2 3.17.2.3 3.17.2.4 3.11.1 3.11.2 3.17.2.5 iv

3.18 MINTER parameters..................................................................................................................... 108 3.18.1 Resume data recording after power failure ........................................................................... 110 3.19 Parameters governing Optimized Real Time Application messages ............................................ 111 3.20 RAIM parameters ......................................................................................................................... 111 3.21 Parameters related to NMEA messages ........................................................................................ 112 3.21.1 Resolution parameters for fractional data fields in NMEA messages................................... 113 3.22 WAAS/EGNOS parameters.......................................................................................................... 114 3.22.1 Step-by-step instructions about using JNS receivers in WAAS/EGNOS DGPS mode ........ 117 3.23 Attitude and Heading Determination parameters.......................................................................... 118 3.23.1 Step-by-step instructions about using Attitude Determination Unit ..................................... 119 Set up Master receiver................................................................................................... 119 3.23.1.1 Set up Slave receiver..................................................................................................... 120 3.23.1.2 3.23.1.3 Set up Slave receiver to retranslate differential messages from a remote reference station ...................................................................................................................................... 121 3.23.1.4 Set up Master receiver to obtain differential messages from a remote reference station . 121 Reduction of the processor’s computation load ............................................................ 122 3.23.1.5 3.24 OmniSTAR parameters................................................................................................................. 122 3.25 Receiver options ........................................................................................................................... 124 3.26 Obsolete parameters...................................................................................................................... 130 4 Receiver Messages................................................................................................................................ 131 4.1 General Format of JNS Messages................................................................................................. 131 4.1.1 Message Identifier................................................................................................................. 131 The Length of Message Body Descriptor .............................................................................. 131 4.1.2 4.1.3 Message Body....................................................................................................................... 131 Non-standard Messages ........................................................................................................ 131 4.1.4 4.1.5 Parsing Message Stream ....................................................................................................... 132 4.1.5.1 Synchronization ................................................................................................................ 132 4.1.5.2 Changing to the Next Message ......................................................................................... 133 4.2 Attention users of Pinnacle™ and other JNS post-processing software ....................................... 133 Predefined Messages..................................................................................................................... 134 4.3 General Notes........................................................................................................................ 134 General Purpose Messages.................................................................................................... 135 [JP] Javad Positioning Systems File Identifier.................................................................. 135 [MF] Message Format and Identifier {9} ......................................................................... 136 [SE] Security {6} .............................................................................................................. 136 [||] Epoch End {1}............................................................................................................. 136 [::] Epoch Time {5} .......................................................................................................... 137 Time Messages...................................................................................................................... 137 [RD] Receiver Date {6}.................................................................................................... 138 [~~] Receiver Time {5} .................................................................................................... 138 [UO] Universal Coordinated Time (UTC) parameters {24}............................................. 138 [GT] GPS Time {7}.......................................................................................................... 138 [TO] Receiver Reference Time to Receiver Time Offset {9}........................................... 139 [DO] Derivative of Receiver Time Offset {5}.................................................................. 139 [OO] Oscillator Offset {5}................................................................................................ 139 [BP] Rough Indicator of Receiver Synchronization to Reference Time {5} .................... 139 [NT] GLONASS Time {7}............................................................................................... 139 [NO] GLONASS to Receiver Time Offset {6} ............................................................ 139 [GO] GPS to Receiver Time Offset {6}........................................................................ 140 Optimized Real-Time Application Messages ....................................................................... 140 [rE] Reference Epoch {10}............................................................................................... 141 [rM] Raw Measurements {var}......................................................................................... 143 [rV] Receiver’s Position and Velocity {42} ..................................................................... 145 Position/Velocity Messages .................................................................................................. 146 [PO] Cartesian Position {30}............................................................................................ 146 [VE] Cartesian Velocity {18}........................................................................................... 146 [PV] Cartesian Position and Velocity {46}....................................................................... 146 [PG] Geodetic Position {30}............................................................................................. 147 [DP] Dilution of Precision (DOP) Parameters {14} ......................................................... 147 [SG] Position & Velocity RMS Errors (Horizontal and Vertical){18}............................. 147 4.3.2.1 4.3.2.2 4.3.2.3 4.3.2.4 4.3.2.5 4.3.3.1 4.3.3.2 4.3.3.3 4.3.3.4 4.3.3.5 4.3.3.6 4.3.3.7 4.3.3.8 4.3.3.9 4.3.3.10 4.3.3.11 4.3.4.1 4.3.4.2 4.3.4.3 4.3.5.1 4.3.5.2 4.3.5.3 4.3.5.4 4.3.5.5 4.3.5.6 4.3.1 4.3.2 4.3.3 4.3.4 4.3.5 v

4.3.6.5.1 4.3.6.5.2 4.3.6.6.1 4.3.6.6.2 4.3.6.6.3 4.3.6.6.4 4.3.6.7.1 4.3.6.7.2 4.3.6.7.3 4.3.6.7.4 4.3.6.8.1 4.3.6.8.2 4.3.6.8.3 4.3.6.8.4 4.3.6.8.5 4.3.6.8.6 4.3.6.9.1 4.3.6.9.2 4.3.6.9.3 4.3.6.9.4 4.3.6.10.1 4.3.6.10.2 4.3.6.10.3 [SP] Position Covariance Matrix {42}.............................................................................. 147 4.3.5.7 [SV] Velocity Covariance Matrix {42} ............................................................................ 148 4.3.5.8 [VG] NEU Velocity {18} ................................................................................................. 148 4.3.5.9 [BL] Base Line {34}..................................................................................................... 148 4.3.5.10 [BI] Base station information {28}............................................................................... 148 4.3.5.11 [PS] Position Statistics {9} ........................................................................................... 149 4.3.5.12 [ST] Solution Time-Tag {6}......................................................................................... 149 4.3.5.13 [PT] Time of Continuous Position Computation {5}.................................................... 150 4.3.5.14 Satellite Data Messages ........................................................................................................ 150 [SI] Satellite Indices {nSats+1} ........................................................................................ 150 4.3.6.1 [NN] GLONASS Satellite System Numbers {nSats+1}................................................... 151 4.3.6.2 4.3.6.3 [EL] Satellite Elevations {nSats+1}.................................................................................. 151 [AZ] Satellite Azimuths {nSats+1} .................................................................................. 151 4.3.6.4 4.3.6.5 C/A Pseudorange Measurements ...................................................................................... 151 [RC] Full C/A Pseudoranges {8*nSats+1} ................................................................ 151 [rc] Delta C/A Pseudoranges {4*nSats+1} ................................................................ 152 4.3.6.6 P/L1 Pseudorange Measurements ..................................................................................... 152 [R1] Full P/ L1 Pseudoranges {8*nSats+1}............................................................... 152 [r1] Delta P/L1 Pseudoranges {4*nSats+1}............................................................... 152 [1R] Relative P/L1 Pseudoranges {4*nSats+1}......................................................... 152 [1r] Relative Delta P/L1 Pseudoranges {2*nSats+1}................................................. 153 4.3.6.7 P/L2 Pseudorange Measurements ..................................................................................... 153 [R2] Full P/L2 Pseudoranges {8*nSats +1}............................................................... 153 [r2] Delta P/L2 Pseudoranges {4*nSats+1}............................................................... 153 [2R] Relative P/L2 Pseudoranges {4*nSats+1}......................................................... 153 [2r] Relative Delta P/L2 Pseudoranges {2*nSats+1}................................................. 154 4.3.6.8 Pseudorange Smoothing Corrections&Intervals ............................................................... 154 [CC] Long C/A Pseudorange Smoothing Corrections {6*nSats+1}.......................... 154 [cc] Short C/A Pseudorange Smoothing Corrections {2*nSats+1} ........................... 154 [C1] Long P/L1 Pseudorange Smoothing Corrections {6*nSats+1}.......................... 155 [c1] Short P/L1 Pseudorange Smoothing Corrections {2*nSats+1} .......................... 155 [C2] Long P/L2 Pseudorange Smoothing Corrections {6*nSats+1}.......................... 155 [c2] Short P/L2 Pseudorange Smoothing Corrections {2*nSats+1} .......................... 155 4.3.6.9 C/A Carrier Phase Measurements ..................................................................................... 156 [PC] Full C/A Carrier Phases {8*nSats+1}................................................................ 156 [pc] 32-bit C/A Carrier Phases {4*nSats+1}.............................................................. 156 [CP] C/A Carrier Phases Computed Relative to [RC] Pseudoranges {4*nSats+1} ... 157 [cp] C/A Carrier Phases Computed Relative to [rc] Pseudoranges {4*nSats+1}....... 157 P/L1 Carrier Phase Measurements ................................................................................ 157 [P1] Full P/L1 Carrier Phases {8*nSats+1} ............................................................. 157 [p1] 32-bit P/L1 Carrier Phases {4*nSats+1} .......................................................... 157 [1P] P/L1 Carrier Phases Computed Relative to [RC] Pseudoranges {4*nSats+1}. 158 [1p] P/L1 Carrier Phases Computed Relative to [rc] Pseudoranges {4*nSats+1} ........ 159 P/L2 Carrier Phase Measurements ................................................................................ 159 [P2] Full P/L2 Carrier Phases {8*nSats+1} ............................................................. 159 [p2] 32-bit P/L2 Carrier Phases {4*nSats+1} .......................................................... 159 [2P] P/L2 Carrier Phases Computed Relative to [RC] Pseudoranges {4*nSats+1}. 160 [2p] P/L2 Carrier Phases Computed Relative to [rc] Pseudoranges {4*nSats+1} ... 160 4.3.6.13 Doppler ......................................................................................................................... 161 [DC] C/A Doppler {4*nSats+1} .............................................................................. 161 [D1] P/L1 Doppler {4*nSats+1}.............................................................................. 161 [D2] P/L2 Doppler {4*nSats+1}.............................................................................. 161 Carrier to Noise Ratio ................................................................................................... 161 [EC] C/A Carrier to Noise Ratio {nSats+1}............................................................. 161 [E1] P/L1 Carrier to Noise Ratio {nSats+1} ............................................................ 161 [E2] P/L2 Carrier to Noise Ratio {nSats+1} ............................................................ 162 [SS] Satellite navigation status {nSats+2}.................................................................... 162 [TC] Time Since Last Loss-of-Lock on particular C/A signal {nSats*2+1} ................ 162 [TT] Time Since Last Loss-of-Lock on all C/A signals {5}......................................... 162 [GA] GPS Almanac {47}.............................................................................................. 163 4.3.6.15 4.3.6.16 4.3.6.17 4.3.6.18 4.3.6.10 4.3.6 4.3.6.11 4.3.6.12 4.3.6.12.1 4.3.6.12.2 4.3.6.12.3 4.3.6.12.4 4.3.6.13.1 4.3.6.13.2 4.3.6.13.3 4.3.6.14.1 4.3.6.14.2 4.3.6.14.3 4.3.6.14 vi

4.3.8 4.3.9 4.3.14.3 4.3.6.19 4.3.6.20 4.3.6.21 4.3.6.22 4.3.6.23 4.3.6.24 4.3.6.25 4.3.6.26 4.3.7.1 4.3.7.2 4.3.7.3 4.3.8.1 4.3.8.2 4.3.8.3 4.3.9.1 4.3.9.2 4.3.9.3 [GE] GPS Ephemeris {123} ......................................................................................... 164 [NA] GLONASS Almanac {46}................................................................................... 165 [NE] GLONASS Ephemeris {80} ................................................................................ 166 [IO] Ionospheric Parameters {39} ................................................................................ 167 [ID] Ionospheric delays {8*nSats+1} ........................................................................... 167 [FC] C/A Signal Lock Loop Flags {nSat*2 + 1}.......................................................... 167 [F1] P/L1 Signal Lock Loop Flags {nSat*2 + 1}.......................................................... 168 [F2] P/L2 Signal Lock Loop Flags {nSat*2 + 1}.......................................................... 168 4.3.7 WAAS messages................................................................................................................... 169 [WE] WAAS Ephemeris Message {39} ........................................................................... 169 [WA] WAAS Almanac Message {23} ............................................................................. 169 [WO] WAAS Time Message {31} ................................................................................... 170 ADU Messages ..................................................................................................................... 170 [mr] Rotation matrix {73}................................................................................................. 170 [MR] Rotation matrix {37}............................................................................................... 171 [AR] Rotation angles {21}................................................................................................ 171 Timing signal and Event marker Messages........................................................................... 171 [XA], [XB] External Event Messages {10}...................................................................... 171 [ZA], [ZB] PPS offset {5} ................................................................................................ 172 [YA], [YB] The “receiver time vs. reference time” offset at PPS generation time {10}.. 172 [==] Event {var} ................................................................................................................... 172 4.3.10 [LT] Message Output Latency {2} ....................................................................................... 173 4.3.11 [>>] Wrapped Echo {var}..................................................................................................... 173 4.3.12 [LH] Logging History {var} ................................................................................................. 173 4.3.13 4.3.14 ASCII Messages.................................................................................................................... 174 JNS Format for ASCII messages .................................................................................. 174 4.3.14.1 4.3.14.1.1 NMEA-Specific Format Limitations........................................................................ 175 4.3.14.2 NMEA sentences........................................................................................................... 176 4.3.14.2.1 Introduction.............................................................................................................. 176 4.3.14.2.2 General Format of Approved NMEA Sentences...................................................... 176 4.3.14.2.3 Formats of Supported NMEA sentences .................................................................. 177 JNS proprietary NMEA sentences..................................................................... 177 4.3.14.2.3.1 4.3.14.2.3.1.1 ATT – Attitude parameters......................................................................... 177 4.3.14.2.3.2 GGA – Global Positioning System Fix Data..................................................... 178 4.3.14.2.3.3 GLL – Geographic Position – Latitude/Longitude............................................ 179 4.3.14.2.3.4 GNS – GNSS Fix Data...................................................................................... 180 4.3.14.2.3.5 GRS – GNSS Range Residuals ......................................................................... 181 4.3.14.2.3.6 GSA – GNSS DOP and Active Satellites.......................................................... 182 4.3.14.2.3.7 GST – GNSS Pseudorange Error Statistics ....................................................... 183 4.3.14.2.3.8 GSV – GNSS Satellites in View ....................................................................... 183 4.3.14.2.3.9 RMC – Recommended Minimum Specific GNSS Data.................................... 184 4.3.14.2.3.10 HDT – Heading, True...................................................................................... 185 4.3.14.2.3.11 VTG – Course Over Ground and Ground Speed............................................. 185 4.3.14.2.3.12 ROT – Rate of turn.......................................................................................... 185 4.3.14.2.3.13 ZDA – Time & Date........................................................................................ 185 JNS Proprietary ASCII messages.................................................................................. 186 [DL] Data link status message.................................................................................. 186 [ER] Error {var}....................................................................................................... 187 [PM] Parameters {var}............................................................................................. 187 [GS] Get GPS SV Status .......................................................................................... 188 [RS] Reference station status ................................................................................... 190 [JE] Extended Jamming Suppressor information ..................................................... 190 [JI] Jamming Suppressor information ...................................................................... 192 [MS] RTCM status message..................................................................................... 192 [TX] Text message................................................................................................... 193 [RM] Results of RAIM processing......................................................................... 193 [NP] Navigation position........................................................................................ 194 [MP] Position in given map projection or local coordinates .................................. 196 [NS] Get GLONASS SV Status ............................................................................. 197 [RE] Reply {var}.................................................................................................... 197 4.3.14.3.1 4.3.14.3.2 4.3.14.3.3 4.3.14.3.4 4.3.14.3.5 4.3.14.3.6 4.3.14.3.7 4.3.14.3.8 4.3.14.3.9 4.3.14.3.10 4.3.14.3.11 4.3.14.3.12 4.3.14.3.13 4.3.14.3.14 vii

5 6 12 4.3.15.1 4.3.15.2 4.3.16.1 4.3.16.2 4.3.14.3.15 4.3.14.3.16 4.3.14.3.17 4.3.14.3.18 4.3.14.3.19 4.3.14.3.20 [TR] “Time residuals”............................................................................................ 197 [TM] Clock offsets and their time derivatives........................................................ 198 [RP] Reference station parameters ......................................................................... 199 [RK] RTK parameters ............................................................................................ 200 [AP] Position covariance matrix ............................................................................ 201 [AB] Baseline length.............................................................................................. 201 4.3.15 RTCM messages ................................................................................................................... 202 Introduction to RTCM messages .................................................................................. 202 List of RTCM Messages Supported by JNS Receiver .................................................. 202 4.3.16 CMR messages...................................................................................................................... 204 Introduction to CMR messages..................................................................................... 204 List of CMR Messages Supported by JNS Receivers ................................................... 204 4.4 Message groups and sets............................................................................................................... 205 4.4.1 Message groups..................................................................................................................... 205 4.4.2 Message sets ......................................................................................................................... 206 Step-by-step instructions about using JNS receivers in differential modes .......................................... 209 5.1 Set up base station......................................................................................................................... 209 Set up rover station ....................................................................................................................... 209 5.2 5.3 Disable base mode for base station ............................................................................................... 210 5.4 Disable rover mode for rover station ............................................................................................ 210 Step-by-step instruction about using JNS receivers in Multiple reference stations mode .................... 211 6.1 Set up base station......................................................................................................................... 211 Set up rover receiver ..................................................................................................................... 212 6.2 7 Daisy Chain feature .............................................................................................................................. 214 8 Appendix A. Message Scheduling Flags ............................................................................................. 217 9 Appendix B. Format and Naming Conventions.................................................................................... 219 10 Appendix C. Computing 8-Bit Checksum for Receiver Commands & Messages............................ 220 Appendix D. JNS Data Transfer Protocol........................................................................................ 221 11 11.1 Protocol description ...................................................................................................................... 221 11.2 CRC16 calculation algorithm........................................................................................................ 222 Appendix E. Frame format for Free-Form Events............................................................................ 225 12.1 Preface .......................................................................................................................................... 225 12.2 General format of JNS Free-Form Events .................................................................................... 225 12.3 Currently supported JNS Free-Form Events................................................................................. 225 _ANT Event (“ANTENNA TYPE”)..................................................................................... 225 _ANH Event (“ANTENNA HEIGHT”) ............................................................................... 226 _DYM Event (“DYNAMICS”)............................................................................................. 226 _SIT Event (“SITE”)............................................................................................................ 226 _CAN Event (“CANCEL”)................................................................................................... 226 _SAV Event (“SAVE”)........................................................................................................ 227 Site Scope ............................................................................................................................. 227 _DSC Event (“DESCRIPTION”) ......................................................................................... 227 _FEA Event (“FEATURE”).................................................................................................. 228 12.4 Additional comments on _CAN and _SAV.................................................................................. 229 Appendix F. Amount of Data Transmitted by Reference Station in Differential modes .................. 230 13.1 Code Differential Mode ................................................................................................................ 230 13.2 Real Time Kinematic .................................................................................................................... 231 13.2.1 Protocol Using RTCM Message Types 18 and 19 (or 20 and 21). ....................................... 231 13.2.2 CMR and CMR Plus protocols ............................................................................................. 231 Appendix I. Attitude and Heading Determination Systems (AT4 and HD2).................................... 233 14.1 Geometry and Coordinate Transformations.................................................................................. 233 Installing Antennae....................................................................................................................... 234 14.2 14.3 Self-Calibration............................................................................................................................. 235 14.4 Hardware....................................................................................................................................... 236 Appendix G. JNS Receiver Parameter Flowchart............................................................................. 237 15 Appendix H. Reference Ellipsoids and Local Datums...................................................................... 243 16 References......................................................................................................................................... 256 17 Glossary........................................................................................................................................................ 257 Index ............................................................................................................................................................. 265 12.3.1 12.3.2 12.3.3 12.3.4 12.3.5 12.3.6 12.3.7 12.3.8 12.3.9 13 14 viii

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