NAVCOM GPS导航设备-Technical Reference说明书.pdf

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Technical Reference Manual - Rev G

Revision History

Table of Contents

Notices

Trademarks

User Notice

Use of this Document

NCT Binary Message Blocks

Message Organization

GPS Week Number

Protocol

System/ Control Commands

0x11 - Serial Port Configuration - 6 + (2 x N) bytes

0x12 - Data-Sync Signal Configuration - 6 bytes

0x14 - Channel, Mode and Raw Data assignment - 8 bytes

0x16 - 1PPS Configuration - 12 bytes

0x19 - Reset Block - 6 or 8 bytes

0x1a - Port Configuration Block - 14 bytes

0x1c - Test Support Block - 8 bytes

0x1d - LBM Download Block - Variable Length

0x1e - IOP Download Block - Variable Length

0x1f - NCT-2000D Download Block - Variable Length

0x20 - Data request - 4 + 2+(4 x N) bytes

0x21 - NMEA Data request - 4 + 2+(4 x N) bytes

0x22 - CMR Control - Variable Length

0x2c - Ghost ID Block - 10 bytes

0x30 - Software Options Entry - 17 bytes

0x30 - Software Options Output - 19 bytes

0x3f - LED configuration block (Integrated Systems) - Variable Length

0x42 – RTG QuickStart Control

0x44 - Packed Almanac loading - 44 bytes

0x46 - Initial Time and Position - 32 bytes

0x47 - SV Tracking Control - 36 bytes

0x48 - SV Health Override Control - 6 + (2 x N) bytes

0x49 - Solution Control - 26 bytes

0x4a - Vehicle Dynamics - 6 bytes

0x4b - Vertical Height Adjustment - 10 bytes

0x50 - RTK Base Control - 10 bytes

0x51 - Self Survey Control - 4 + n bytes

0x52 - RTCM Output Control - 16 bytes

0x53 - RTK Navigation Control - 11 bytes

0x55 - WAAS Satellite List - 8 bytes

0x56 - CMR Message Type 2 Input - Variable length

0x5a - RTK Site ID Request - 8 bytes

0x5b - RTK Correction Message - 4+12+(n*18) bytes

0x5c - RTK Base Position - 22 bytes

0x5d – Base Station RTG/RTK Position Vector delta (42 bytes)

0x5e - RTK Correction - 4+12+(n*18) bytes

0x5f - Special Support Block - Variable Length

0x60 - LBM PVT Request block - 18 bytes

0x73 - Radio configuration Control Block - Variable Length

0x75 - Transmit Envelope - Variable Length

0x76 - Return Address Envelope - Variable Length

0x77 - LBM Power Block - 6 bytes

0x78 - Network Information (request) - 6 bytes

0x7b - IOP Ping

0x7c - User Text Message

0x7e – MMC Data Logging Commands and Responses

0x00 – MMC Status Report

0x01 –Directory (of files specified by name)

0x02 – Directory (of files specified by date/time)

0x03 –Delete Files (specified by name)

0x04 –Delete Files (specified by date/time)

0x05 – MMC Format

0x06 – Reserved

0x07 – Open File for Logging

0x08 – Open File for Reading

0x09 –File Record Request

0x0a – Close File

0xc8 - LBM Data Request Block - Variable Length

0xc9 - the LBM Serial Port Control - 7 bytes

0xca - LBM Factory Reset Block - Variable Length

0xcb - LBM Authorization Block Entry - 22 bytes

0xcc - PVT Input Block - Variable Length

0xcd - LBM channel configuration - 11 bytes

Data Responses

0x06 - Acknowledgment (without error) - 6 bytes

0x15 - Negative Acknowledge - 6 + (n x 2) bytes

0x6d - CMR Wrapper block - Variable Length

0x6e - NMEA Wrapper block - Variable Length

0x6f - RTCM Wrapper block - Variable Length

0x78 - Network Information (response) – Variable Length

0x80 - BITAFI Results - 14 bytes

0x81 - Packed Ephemeris Data - 86 bytes

0x82 - Ephemeris Status - 4 + ( 4 x N ) bytes

0x83 - Ionosphere and UTC Data - 32 bytes

0x84 - Time Data - 16 bytes

0x86 - Channel Status - 18 + ( 14 x N ) bytes

0x8c - Decoded Reference Station Location - 34 bytes

0x8d - Decoded RTCM Special Message (#16) - 14 + N bytes

0x8e - Decoded RTCM DGPS data - 14 + ( 18 x N ) bytes

0x96 – CMR Message Type 2 (received) – 80 bytes

0x9c - RTK Reference Position Block – 80 bytes

0xa0 - Alert Text Message - Variable Length (max 84 bytes)

0xab - WAAS Data Stream - 48 bytes

0xad - Net presence block - 7 bytes

0xae - Identification Block - 55 bytes or 75 bytes

0xb0 - Raw Meas. Data Block - 4+8+(16*N) bytes

0xb1 - PVT block - 86 bytes

0xb2 - Satellite Selection Block - 4+4+n*4 Bytes

0xb4 - Event Latch Data - 16 bytes

0xb5 - Pseudorange Noise Statistics - 17 bytes

0xb6 - Iono block - Variable Length

0xd0 - LBM Identification Block - 44 bytes

0xd1 - LBM Authorization Status Block - Variable Length

0xd2 - LBM Geo-Fencing Extension Data Block - Variable Length

0xd3 - LBM DSP Status Block - 70 bytes

0xd4 - LBM Status Block - Variable Length

0xd5 - LBM Cancel History - Variable Length

0xd6 - LBM Text Message - Variable Length

0xd7 - ACK/NAK Message for the LBM only - Variable Length

0xe1 – Unused Satellite Status Block (12 Bytes + 8bytes * Number of Channels)

0xec - RTK Communications Status Block - 24 bytes

0xef - Clock Drift and Offset - 32 bytes

Special ASCII Output Message Definitions

NMEA $GPGAA Field 14; Reference Station ID

Proprietary NMEA $NCTSET; Solid Earth Tide

TTeecchhnniiccaall RReeffeerreennccee MMaannuuaall NavCom Technology, Inc. 20780 Madrona Avenue Torrance, CA 90503 USA Tel: +1 310.381.2000 Fax: +1 310.381.2001 sales@navcomtech.com www.navcomtech.com

Technical Reference Manual Rev. G Revision History Revision G (May, 2006) 0x30 – Software Options Output: Added W15 to x30 output message. Added change to W2 of x30 input message to show the increased size used by the system 2100. 0x30 – Software Options Entry: Fixed 0x30 software options entry message size 0x46 – Initial Time & Position: Corrected CSUM data type for 0x46 0x46 – Initial Time & Position: Corrected the notes for the 0x46 message. 0x47 – SV Tracking Control: Corrected the length of 0x47 message 0x86 – Channel Status: Changed W to Wn for repeating data in 0x86 message 0xAB – WAAS Data Stream: Fixed the length reported for the 0xAB message 0xAE – Added 2100 engine configurations to the 0xAE message 0xB1 - PVT Block: Fixed formatting error in the 0xB1 message 0xd1 - LBM Authorization Status Block: Fixed Wn2 of 0xD1 message to reflect proper logic in B7 0x42 – RTG QuickStart Control: Corrected the message ID in the 0x42 message Revision F (July, 2005) 0xB0 – Raw Meas. Data Block Responses: Made Message Length of 0xB0 undetermined to eliminate confusion between 2000 and 2100 message lengths. 0xB1 - PVT Block: Changed W24 in the 0xB1 to a U16 from a U08 + U08 spare. 0xB1 - PVT Block: Updated the 0xB1 length to reflect actual byte count. 0xB1 - PVT Block: Changed RTG backing up RTK to RTK Extend in the 0xB1 message. 0x49 - Solution Control: Changed RTG backing up RTK to RTK Extend in the 0x49 0xB1 - PVT Block: Corrected RTCM message types in the xB1 message. 0xB1 - PVT Block: Fixed wording in the xB1 message. 0x11 – Serial Port Configuration: Added missing W4. Changed W2 and W3 to Wn2 and message. Wn3 as they repeat. Added a message length of 0x00xx. 0x1A – Port Configuration Block: Corrected message length from 12 bytes to 14 bytes. Revision E (Feb, 2005) 0x49 - Solution Control: Added W13 padding byte to 0x49 message. Corrected message length value, and number of bytes in message. 0x22 - CMR Control: Modified to include description on how to activate CMR+. ii

Technical Reference Manual Rev. G Revision D (Nov, 2004) 0x42 - RTG QuickStart Control: Changed command id from 0x48 to 0x42. Revision C (Nov, 2004) Layout Format Added messages: 0xe1 – Unused Satellite Status: Failure code used to indicate why a sat is not being used in the position solution. 0x5d - Base Station. RTG/RTK Position Vector delta: Delta between ECEF RTG position and relative RTK fix. Modified messages: 0x1a - Port Configuration Block: Modified W4 to be used for CAN data. 0x42 - RTG QuickStart Control: Corrected W6 byte count from 2 bytes to 1 byte. 0x30 - Software Options Output: Corrected message length to 19 bytes. 0x49 - Solution Control: Modified W8 B15 to allow Ignore RTG/RTK Backup. Modified W6 B6 to allow Solid Earth Tide corrections. Extended message 1 byte (W12) to allow Reference Station ID format change in the field 14 of NMEA GGA. Added Max Power & Radio Hopping Parameters 0x50 - RTK Base Control: Corrected message length to 19 bytes. 0xae - Identification Block: Corrected message length to 55 or 75 bytes (configuration dependant, see 0xae notes) Updated message structure to conform to current code. 0xb1 - PVT block: Modified explanation of FOM (Figure Of Merit), see notes W13. Changed Xb1 FOM scaling to centimeters for all navigation modes. Modified to incorporate L1PNav Corrected message length to 86 bytes. Appended L1PNav results to end of existing message format. Added SET delta NEU to end of message. Added Nav failure mode to end of message. Added additional NAV Modes to Xb1. 0xd0 - LBM Identification Block: Updated message structure to conform to current code. 0xd3 - LBM DSP Status Block: Corrected message length to U16 from U08. 0x21 - NMEA Data request: Added $GPGST and $PNCTSET to supported message list. iii

Technical Reference Manual Rev. G 0x7e - MMC Data Logging Commands & Responses: Updated message structure to conform to current code. Enabled W3 B7 to continuation logging to MMC after a power cycle (internal only). 0xb0 - Raw Meas. Data Block Responses: Changed W4 B7 from Navigation Valid to 0x55 - WAAS Satellite List: Added Auto selection field to message. 0x71 - NCT-2000D Special Communication: Removed from manual. Incorrectly added to list of user configurable messages. correct label of Channel Time Set. Revision B (Jan, 2004) Added messages: 0x71 -- NCT-2000D special communication block (Internal) Sub messages to support Pass-Through Mode Revision A (Nov, 2003) Cover Only Revision 2 (22 Aug, 2003) Added messages: 0x42 – StarFire QuickStart Control 0x7c – User Text Message Amended messages: 0x30 – Software Options 0x7b – IOP Ping 0x7e – MMC Data Logging Cmds & Responses 0x52 – RTCM Output Control iv

Technical Reference Manual Rev. G Table of Contents REVISION HISTORY ........................................................................................... II TABLE OF CONTENTS.......................................................................................V NOTICES ............................................................................................................. 8 Copyright.............................................................................................................................................8 Trademarks ..........................................................................................................................................8 User Notice ..........................................................................................................................................8 Use of this Document...........................................................................................................................8 NCT BINARY MESSAGE BLOCKS .................................................................... 9 MESSAGE ORGANIZATION.............................................................................................................................. 9 GPS WEEK NUMBER................................................................................................................................... 10 PROTOCOL ................................................................................................................................................. 10 SYSTEM/ CONTROL COMMANDS .................................................................. 11 0X11 - SERIAL PORT CONFIGURATION - 6 + (2 X N) BYTES ........................................................................... 11 0X12 - DATA-SYNC SIGNAL CONFIGURATION - 6 BYTES................................................................................. 13 0X14 - CHANNEL, MODE AND RAW DATA ASSIGNMENT - 8 BYTES................................................................... 14 0X16 - 1PPS CONFIGURATION - 12 BYTES ................................................................................................... 15 0X19 - RESET BLOCK - 6 OR 8 BYTES ........................................................................................................... 16 0X1A - PORT CONFIGURATION BLOCK - 14 BYTES ......................................................................................... 17 0X1C - TEST SUPPORT BLOCK - 8 BYTES...................................................................................................... 18 0X1D - LBM DOWNLOAD BLOCK - VARIABLE LENGTH.................................................................................... 19 0X1E - IOP DOWNLOAD BLOCK - VARIABLE LENGTH ..................................................................................... 20 0X1F - NCT-2000D DOWNLOAD BLOCK - VARIABLE LENGTH ........................................................................ 22 0X20 - DATA REQUEST - 4 + 2+(4 X N) BYTES............................................................................................... 23 0X21 - NMEA DATA REQUEST - 4 + 2+(4 X N) BYTES ................................................................................... 24 0X22 - CMR CONTROL - VARIABLE LENGTH ................................................................................................. 26 0X2C - GHOST ID BLOCK - 10 BYTES............................................................................................................ 27 0X30 - SOFTWARE OPTIONS ENTRY - 17 BYTES............................................................................................ 28 0X30 - SOFTWARE OPTIONS OUTPUT - 19 BYTES ......................................................................................... 29 0X3F - LED CONFIGURATION BLOCK (INTEGRATED SYSTEMS) - VARIABLE LENGTH ......................................... 30 0X42 – RTG QUICKSTART CONTROL........................................................................................................... 31 0X44 - PACKED ALMANAC LOADING - 44 BYTES............................................................................................. 33 0X46 - INITIAL TIME AND POSITION - 32 BYTES .............................................................................................. 34 0X47 - SV TRACKING CONTROL - 36 BYTES.................................................................................................. 35 0X48 - SV HEALTH OVERRIDE CONTROL - 6 + (2 X N) BYTES ........................................................................ 36 0X49 - SOLUTION CONTROL - 26 BYTES ....................................................................................................... 37 0X4A - VEHICLE DYNAMICS - 6 BYTES........................................................................................................... 39 0X4B - VERTICAL HEIGHT ADJUSTMENT - 10 BYTES....................................................................................... 40 0X50 - RTK BASE CONTROL - 10 BYTES ...................................................................................................... 41 0X51 - SELF SURVEY CONTROL - 4 + N BYTES .............................................................................................. 42 0X52 - RTCM OUTPUT CONTROL - 16 BYTES ............................................................................................... 43 0X53 - RTK NAVIGATION CONTROL - 11 BYTES ........................................................................................... 44 0X55 - WAAS SATELLITE LIST - 8 BYTES ..................................................................................................... 45 0X56 - CMR MESSAGE TYPE 2 INPUT - VARIABLE LENGTH ............................................................................ 46 0X5A - RTK SITE ID REQUEST - 8 BYTES...................................................................................................... 47 0X5B - RTK CORRECTION MESSAGE - 4+12+(N*18) BYTES .......................................................................... 48 0X5C - RTK BASE POSITION - 22 BYTES....................................................................................................... 50 0X5D – BASE STATION RTG/RTK POSITION VECTOR DELTA (42 BYTES)........................................................ 51 0X5E - RTK CORRECTION - 4+12+(N*18) BYTES.......................................................................................... 52 0X5F - SPECIAL SUPPORT BLOCK - VARIABLE LENGTH .................................................................................. 53 0X60 - LBM PVT REQUEST BLOCK - 18 BYTES ............................................................................................. 54 0X73 - RADIO CONFIGURATION CONTROL BLOCK - VARIABLE LENGTH............................................................ 55 0X75 - TRANSMIT ENVELOPE - VARIABLE LENGTH......................................................................................... 59 v

Technical Reference Manual Rev. G 0X76 - RETURN ADDRESS ENVELOPE - VARIABLE LENGTH ............................................................................ 60 0X77 - LBM POWER BLOCK - 6 BYTES ......................................................................................................... 61 0X78 - NETWORK INFORMATION (REQUEST) - 6 BYTES .................................................................................. 62 0X7B - IOP PING......................................................................................................................................... 63 0X7C - USER TEXT MESSAGE ...................................................................................................................... 64 0X7E – MMC DATA LOGGING COMMANDS AND RESPONSES ......................................................................... 65 0X00 – MMC STATUS REPORT.................................................................................................................... 65 0X01 –DIRECTORY (OF FILES SPECIFIED BY NAME)........................................................................................ 66 0X02 – DIRECTORY (OF FILES SPECIFIED BY DATE/TIME)................................................................................ 67 0X03 –DELETE FILES (SPECIFIED BY NAME).................................................................................................. 69 0X04 –DELETE FILES (SPECIFIED BY DATE/TIME)........................................................................................... 70 0X05 – MMC FORMAT ................................................................................................................................ 71 0X06 – RESERVED ...................................................................................................................................... 72 0X07 – OPEN FILE FOR LOGGING................................................................................................................. 72 0X08 – OPEN FILE FOR READING ................................................................................................................. 73 0X09 –FILE RECORD REQUEST.................................................................................................................... 74 0X0A – CLOSE FILE..................................................................................................................................... 75 0XC8 - LBM DATA REQUEST BLOCK - VARIABLE LENGTH.............................................................................. 76 0XC9 - THE LBM SERIAL PORT CONTROL - 7 BYTES...................................................................................... 77 0XCA - LBM FACTORY RESET BLOCK - VARIABLE LENGTH ............................................................................ 78 0XCB - LBM AUTHORIZATION BLOCK ENTRY - 22 BYTES................................................................................ 79 0XCC - PVT INPUT BLOCK - VARIABLE LENGTH............................................................................................. 80 0XCD - LBM CHANNEL CONFIGURATION - 11 BYTES....................................................................................... 81 DATA RESPONSES.......................................................................................... 82 0X06 - ACKNOWLEDGMENT (WITHOUT ERROR) - 6 BYTES.............................................................................. 82 0X15 - NEGATIVE ACKNOWLEDGE - 6 + (N X 2) BYTES .................................................................................. 83 0X6D - CMR WRAPPER BLOCK - VARIABLE LENGTH...................................................................................... 84 0X6E - NMEA WRAPPER BLOCK - VARIABLE LENGTH.................................................................................... 85 0X6F - RTCM WRAPPER BLOCK - VARIABLE LENGTH .................................................................................... 86 0X78 - NETWORK INFORMATION (RESPONSE) – VARIABLE LENGTH ................................................................ 87 0X80 - BITAFI RESULTS - 14 BYTES ............................................................................................................ 89 0X81 - PACKED EPHEMERIS DATA - 86 BYTES .............................................................................................. 91 0X82 - EPHEMERIS STATUS - 4 + ( 4 X N ) BYTES ......................................................................................... 92 0X83 - IONOSPHERE AND UTC DATA - 32 BYTES .......................................................................................... 93 0X84 - TIME DATA - 16 BYTES...................................................................................................................... 94 0X86 - CHANNEL STATUS - 18 + ( 14 X N ) BYTES ........................................................................................ 95 0X8C - DECODED REFERENCE STATION LOCATION - 34 BYTES ..................................................................... 97 0X8D - DECODED RTCM SPECIAL MESSAGE (#16) - 14 + N BYTES .............................................................. 98 0X8E - DECODED RTCM DGPS DATA - 14 + ( 18 X N ) BYTES...................................................................... 99 0X96 – CMR MESSAGE TYPE 2 (RECEIVED) – 80 BYTES............................................................................. 100 0X9C - RTK REFERENCE POSITION BLOCK – 80 BYTES............................................................................... 101 0XA0 - ALERT TEXT MESSAGE - VARIABLE LENGTH (MAX 84 BYTES) ............................................................ 102 0XAB - WAAS DATA STREAM - 48 BYTES ................................................................................................... 103 0XAD - NET PRESENCE BLOCK - 7 BYTES..................................................................................................... 104 0XAE - IDENTIFICATION BLOCK - 55 BYTES OR 75 BYTES.............................................................................. 105 0XB0 - RAW MEAS. DATA BLOCK - 4+8+(16*N) BYTES................................................................................ 107 0XB1 - PVT BLOCK - 86 BYTES.................................................................................................................. 108 0XB2 - SATELLITE SELECTION BLOCK - 4+4+N*4 BYTES ............................................................................. 111 0XB4 - EVENT LATCH DATA - 16 BYTES ...................................................................................................... 112 0XB5 - PSEUDORANGE NOISE STATISTICS - 17 BYTES................................................................................. 113 0XB6 - IONO BLOCK - VARIABLE LENGTH..................................................................................................... 114 0XD0 - LBM IDENTIFICATION BLOCK - 44 BYTES.......................................................................................... 115 0XD1 - LBM AUTHORIZATION STATUS BLOCK - VARIABLE LENGTH............................................................... 116 0XD2 - LBM GEO-FENCING EXTENSION DATA BLOCK - VARIABLE LENGTH................................................... 117 0XD3 - LBM DSP STATUS BLOCK - 70 BYTES............................................................................................. 118 0XD4 - LBM STATUS BLOCK - VARIABLE LENGTH........................................................................................ 119 0XD5 - LBM CANCEL HISTORY - VARIABLE LENGTH .................................................................................... 120 0XD6 - LBM TEXT MESSAGE - VARIABLE LENGTH ....................................................................................... 121 vi

Technical Reference Manual Rev. G 0XD7 - ACK/NAK MESSAGE FOR THE LBM ONLY - VARIABLE LENGTH......................................................... 122 0XE1 – UNUSED SATELLITE STATUS BLOCK (12 BYTES + 8BYTES * NUMBER OF CHANNELS) ........................ 123 0XEC - RTK COMMUNICATIONS STATUS BLOCK - 24 BYTES......................................................................... 125 0XEF - CLOCK DRIFT AND OFFSET - 32 BYTES ............................................................................................ 126 SPECIAL ASCII OUTPUT MESSAGE DEFINITIONS..................................... 127 NMEA $GPGAA FIELD 14; REFERENCE STATION ID ................................................................................. 127 PROPRIETARY NMEA $NCTSET; SOLID EARTH TIDE ................................................................................ 128 vii

Technical Reference Manual Rev. G May 2006 Notices Technical Reference Manual 96-312001-3001 Revision G Copyright © 2003-2006 by NavCom Technology, Inc. All rights reserved. No part of this work or the computer programs described herein may be reproduced or stored or transmitted by any means, without the written permission of the copyright holders. Translation in any language is prohibited without the permission of the copyright holders. Trademarks The ‘find your way’, ‘NavCom Globe’ and NAVCOM TECHNOLOGY logos are trademarks of NavCom Technology, Inc. StarFire™ is a registered trademark of Deere & Company. All other product and brand names are trademarks or registered trademarks of their respective holders. User Notice NAVCOM TECHNOLOGY, INC. SHALL NOT BE RESPONSIBLE FOR ANY INACCURACIES, ERRORS, OR OMISSIONS IN INFORMATION CONTAINED HEREIN, INCLUDING, BUT NOT LIMITED TO, INFORMATION OBTAINED FROM THIRD PARTY SOURCES, SUCH AS PUBLICATIONS OF OTHER COMPANIES, THE PRESS, OR COMPETITIVE DATA ORGANIZATIONS. THIS PUBLICATION IS MADE AVAILABLE ON AN “AS IS” BASIS AND NAVCOM TECHNOLOGY, INC. SPECIFICALLY DISCLAIMS ALL ASSOCIATED WARRANTIES, WHETHER EXPRESS OR IMPLIED. IN NO EVENT WILL NAVCOM TECHNOLOGY, INC. BE LIABLE FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES IN CONNECTION WITH THE USE OF OR RELIANCE ON THE MATERIAL CONTAINED IN THIS PUBLICATION, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGES. NAVCOM TECHNOLOGY, INC. RESERVES THE RIGHT TO MAKE IMPROVEMENTS OR CHANGES TO THIS PUBLICATION AND THE PRODUCTS AND SERVICES HEREIN DESCRIBED AT ANY TIME, WITHOUT NOTICE OR OBLIGATION. Use of this Document This User Guide is intended to be used by someone familiar with the concepts of GPS and satellite surveying equipment. Note indicates additional information to make better use of the product Indicates a caution, care, and/or safety situation. Revisions to this User Guide can be obtained in a digital format from http://www.navcomtech.com/support/docs.cfm 8 of 129

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