NOVATEL OEM7板卡与接收机指令手册 (201702).pdf

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OEM7® Commands and Logs Reference Manual

OEM7 Commands and Logs Reference Manual

Proprietary Notice

Table of Contents

Customer Support

NovAtel Knowledge Base

Before Contacting Customer Support

Contact Information

Foreword

Related Documents and Information

Prerequisites

Logs and Commands Defaults and Structure

Chapter 1 Messages

1.1 ASCII

1.2 Abbreviated ASCII

1.3 Binary

1.4 Description of ASCII and Binary Logs with Short Headers

1.5 Message Responses

1.5.1 Abbreviated ASCII Response

1.5.2 ASCII Response

1.5.3 Binary Response

1.6 GLONASS Slot and Frequency Numbers

1.6.1 PRN Numbers

1.7 GPS Reference Time Status

1.8 Message Time Stamps

1.9 Decoding of the GPS Reference Week Number

1.10 32-Bit CRC

Core Commands

2.1 Command Formats

2.1.1 Optional Parameters

2.2 Command Settings

2.3 Factory Defaults

2.4 Command Reference

2.5 ADJUST1PPS

Adjusts the receiver clock

2.6 ALIGNAUTOMATION

Configures ALIGN plug-and-play feature

2.7 ANTENNAPOWER

Controls power to the antenna

2.8 ASSIGN

Assigns a channel to a PRN

2.9 ASSIGNALL

Assigns all channels to a PRN

2.10 ASSIGNLBANDBEAM

Configure L-Band tracking

2.11 AUTH

Authorization code for different model

2.12 AUTOSURVEY

Survey for accurate position

2.13 BASEANTENNAPCO

Sets the PCO model of the base receiver

2.14 BASEANTENNAPCV

Sets the PCV model of the base receiver

2.15 BASEANTENNATYPE

Sets the antenna type of the base receiver

2.16 BDSECUTOFF

Sets elevation cut-off angle for BeiDou satellites

2.17 BESTVELTYPE

Sets the velocity used in the BESTVEL and GPVTG logs

2.18 CANCONFIG

Configure CAN ports

2.19 CCOMCONFIG

Configure the CAN COM port

2.20 CLOCKADJUST

Enables clock adjustments

2.21 CLOCKCALIBRATE

Adjusts clock steering parameters

2.22 CLOCKOFFSET

Adjusts for delay in 1PPS output

2.23 CNOUPDATE

Sets the C/No update rate

2.24 COMCONTROL

Controls the serial port hardware control lines

2.25 DATADECODESIGNAL

Enable/Disable navigation data decoding for GNSS signal

2.26 DATUM

Chooses a datum name type

2.27 DGPSTXID

Sets DGPS station ID

2.28 DIFFCODEBIASCONTROL

Enables /disables satellite differential code biases

2.29 DLLTIMECONST

Sets carrier smoothing

2.30 DNSCONFIG

Manually configures Ethernet DNS servers

2.31 DYNAMICS

Tunes receiver parameters

2.32 ECHO

Sets port echo

2.33 ECUTOFF

Sets satellite elevation cut-off for GPS Satellites

2.34 ELEVATIONCUTOFF

Sets the elevation cut-off angle for tracked satellites

2.35 ETHCONFIG

Configures Ethernet physical layer

2.36 EVENTINCONTROL

Controls Event-In input triggers

2.37 EVENTOUTCONTROL

Control Event-Out properties

2.38 EXTERNALCLOCK

Sets external clock parameters

2.39 FIX

Constrains to fixed height or position

2.40 FIXPOSDATUM

Sets position in a specified datum

2.41 FORCEGLOL2CODE

Forces receiver to track GLONASS satellite L2 P or L2 C/A code

2.42 FORCEGPSL2CODE

Forces receiver to track GPS satellite L2 P or L2C code

2.43 FREQUENCYOUT

Sets output pulse train available on VARF

2.44 FRESET

Clears selected data from NVM and reset

2.45 GALECUTOFF

Sets elevation cut-off angle for Galileo satellites

2.46 GENERATEALIGNCORRECTIONS

Configure ALIGN Master

2.47 GENERATEDIFFCORRECTIONS

Sends a preconfigured set of differential corrections

2.48 GENERATERTKCORRECTIONS

Sends a preconfigured set of RTK corrections

2.49 GGAQUALITY

Customizes the GPGGA GPS quality indicator

2.50 GLIDEINITIALIZATIONPERIOD

Configures the GLIDE initialization period

2.51 GLOECUTOFF

Sets GLONASS satellite elevation cut-off

2.52 HDTOUTTHRESHOLD

Controls GPHDT log output

2.53 HEADINGOFFSET

Adds heading and pitch offset values

2.54 ICOMCONFIG

Configures IP virtual COM port

2.55 INTERFACEMODE

Sets receive or transmit modes for ports

2.55.1 SPAN Systems

2.56 IONOCONDITION

Sets ionospheric condition

2.57 IPCONFIG

Configures network IP settings

2.58 IPSERVICE

Configure availability of networks ports/services

2.59 ITBANDPASSCONFIG

Enable and configure bandpass filter on receiver

2.60 ITFRONTENDMODE

Configure the front end mode settings

2.61 ITINTERFERENCEDETECT

Enable and configure interference detection on receiver

2.62 ITPROGFILTCONFIG

Enable and configure filtering on the receiver

2.63 ITSPECTRALANALYSIS

Enable and configure spectral analysis on receiver

2.64 J1939CONFIG

Configure CAN network-level parameters

2.65 LOCKOUT

Prevents the receiver from using a satellite

2.66 LOCKOUTSYSTEM

Prevents the receiver from using a system

2.67 LOG

Requests logs from the receiver

2.67.1 Binary

2.67.2 ASCII

2.68 LOGIN

Start a secure ICOM connection to the receiver

2.69 LOGOUT

End a secure ICOM session started using the LOGIN command

2.70 MAGVAR

Sets a magnetic variation correction

2.71 MARKCONTROL

Controls processing of mark inputs

2.72 MODEL

Switches to a previously authorized model

2.73 MOVINGBASESTATION

Enables the use of a moving base station

2.74 NMEAFORMAT

Customize NMEA output

2.75 NMEATALKER

Sets the NMEA talker ID

2.76 NMEAVERSION

Sets the NMEA Version for Output

2.77 NTRIPCONFIG

Configures NTRIP

2.78 NTRIPSOURCETABLE

Set NTRIPCASTER ENDPONTS

2.79 NVMRESTORE

Restores NVM data after an NVM failure

2.80 NVMUSERDATA

Write User Data to NVM

2.81 PDPFILTER

Enables, disables or resets the PDP filter

2.81.1 GLIDE Position Filter

2.82 PDPMODE

Selects the PDP mode and dynamics

2.83 PGNCONFIG

Configure NMEA2000 PGNs.

2.84 POSAVE

Implements base station position averaging

2.85 POSTIMEOUT

Sets the position time out

2.86 PPPBASICCONVERGEDCRITERIA

Configures decision for PPP Basic convergence

2.87 PPPCONVERGEDCRITERIA

Configures decision for PPP convergence

2.88 PPPDYNAMICS

Sets the PPP dynamics mode

2.89 PPPDYNAMICSEED

Seed the PPP filter in any platform motion state

2.90 PPPRESET

Reset the PPP filter

2.91 PPPSEED

Control the seeding of the PPP filter

2.92 PPPSOURCE

Specifies the PPP correction source

2.93 PPPTIMEOUT

Sets the maximum age of the PPP corrections

2.94 PPSCONTROL

Controls the PPS output

2.95 PPSCONTROL2

Controls polarity, period, pulse width and estimated error limit of the PPS output

2.96 PROFILE

Profile in Non-Volatile Memory (NVM)

2.97 PSRDIFFSOURCE

Sets the pseudorange differential correction source

2.98 PSRDIFFSOURCETIMEOUT

Sets pseudorange differential correction source timeout

2.99 PSRDIFFTIMEOUT

Sets maximum age of pseudorange differential data

2.100 QZSSECUTOFF

Sets QZSS satellite elevation cutoff

2.101 RADARCONFIG

Configure the Emulated Radar Output

2.102 RAIMMODE

Configures RAIM mode

2.102.1 Detection strategy

2.102.2 Isolation strategy

2.103 REFERENCESTATIONTIMEOUT

Sets timeout for removing previously stored base stations

2.104 RESET

Performs a hardware reset

2.105 RTKANTENNA

Specifies L1 phase center (PC) or ARP and enables/disables PC modeling

2.106 RTKASSIST

Enable or disable RTK ASSIST

2.107 RTKASSISTTIMEOUT

Set the maximum RTK ASSIST duration

2.108 RTKDYNAMICS

Sets the RTK dynamics mode

2.109 RTKINTEGERCRITERIA

Report inaccurate fixed-integer RTK positions with float solution type

2.110 RTKMATCHEDTIMEOUT

Sets RTK filter reset time after corrections are lost

2.111 RTKNETWORK

Specifies the RTK network mode

2.112 RTKPORTMODE

Assigns the port for RTK and ALIGN messages

2.113 RTKQUALITYLEVEL

Sets an RTK quality mode

2.114 RTKRESET

Reset the RTK filter

2.115 RTKSOURCE

Sets the RTK correction source

2.116 RTKSOURCETIMEOUT

Sets RTK correction source timeout

2.117 RTKSVENTRIES

Sets number of satellites in corrections

2.118 RTKTIMEOUT

Sets maximum age of RTK data

2.119 SAVECONFIG

Save current configuration in NVM

2.120 SAVEETHERNETDATA

Save the configuration data associated with an Ethernet interface

2.121 SAVEUSBCONFIG

Save the configuration data for the USB ports

2.122 SBASCONTROL

Sets SBAS test mode and PRN

2.123 SBASECUTOFF

Sets SBAS satellite elevation cut-off

2.124 SBASTIMEOUT

Sets the SBAS position time out

2.125 SELECTCHANCONFIG

Sets the channel configuration

2.126 SEND

Sends an ASCII message to a COM port

2.127 SENDHEX

Send non-printable characters in hex pairs

2.128 SERIALCONFIG

Configures serial port settings

2.129 SERIALPROTOCOL

Sets the protocol to be used by a serial port

2.130 SETADMINPASSWORD

Sets the administration password

2.131 SETAPPROXPOS

Sets an approximate position

2.132 SETAPPROXTIME

Sets an approximate GPS reference time

2.133 SETBASERECEIVERTYPE

Sets base receiver type

2.134 SETBESTPOSCRITERIA

Sets selection criteria for BESTPOS

2.135 SETDIFFCODEBIASES

Sets satellite differential code biases

2.136 SETIONOTYPE

Enables ionospheric models

2.137 SETNAV

Sets start and destination waypoints

2.138 SETROVERID

Set ID for ALIGN rovers

2.139 SETSEARCHTYPE

Select the search type used for signal detection

2.140 SETTIMEBASE

Sets primary and backup systems for time base

2.141 SETTROPOMODEL

Sets Troposphere model

2.142 SETUTCLEAPSECONDS

Sets future leap seconds

2.143 SOFTLOADCOMMIT

Completes the SoftLoad process

2.144 SOFTLOADDATA

Sends firmware image data to the receiver for the SoftLoad process

2.145 SOFTLOADRESET

Initiates a new SoftLoad process

2.146 SOFTLOADSETUP

Sends configuration information to the receiver for the SoftLoad process

2.147 SOFTLOADSREC

Sends an S-Record to the receiver for the SoftLoad process

2.148 STATUSCONFIG

Configures RXSTATUSEVENT mask fields

2.149 STEADYLINE

Configures position mode matching

2.150 STEADYLINEDIFFERENTIALTIMEOUT

Sets how long the receiver will report RTK/PPP after corrections are lost

2.151 THISANTENNAPCO

Sets the PCO model of this receiver

2.152 THISANTENNAPCV

Sets the PCV model of this receiver

2.153 THISANTENNATYPE

Sets the antenna type of this receiver

2.154 TRACKSV

Overrides automatic satellite assignment criteria

2.155 TUNNELESCAPE

Breaks out of an established tunnel

2.156 UALCONTROL

Setup User Accuracy levels

2.157 UNASSIGN

Unassigns a previously assigned channel

2.158 UNASSIGNALL

Unassigns all previously assigned channels

2.159 UNDULATION

Chooses undulation

2.160 UNLOCKOUT

Reinstates a satellite in the solution

2.161 UNLOCKOUTALL

Reinstates all previously locked out satellites

2.162 UNLOCKOUTSYSTEM

Reinstates previously locked out system

2.163 UNLOG

Removes a log from logging control

2.163.1 Binary

2.163.2 ASCII

2.164 UNLOGALL

Removes all logs from logging control

2.165 USBCONFIG

Configure the USB ports

2.166 USERDATUM

Sets user customized datum

2.167 USEREXPDATUM

Set custom expanded datum

2.168 UTMZONE

Sets UTM parameters

Chapter 3 Logs

3.1 Log Types

3.1.1 Log Type Examples

3.2 Log Reference

3.3 ALIGNBSLNENU

ENU baselines using ALIGN

3.4 ALIGNBSLNXYZ

XYZ baselines using ALIGN

3.5 ALIGNDOP

Calculated DOP values

3.6 ALMANAC

Decoded GPS Almanac

3.7 AUTHCODES

List of authorization codes

3.8 AVEPOS

Position averaging

3.9 BDSALMANAC

Decoded BDS Almanac

3.10 BDSCLOCK

BeiDou time parameters

3.11 BDSEPHEMERIS

Decoded BDS ephemeris

3.12 BDSIONO

BeiDou Klobuchar ionosphere delay model

3.13 BDSRAWNAVSUBFRAME

Raw BeiDou subframe data

3.14 BESTPOS

Best position

3.15 BESTSATS

Satellites used in BESTPOS

3.16 BESTUTM

Best available UTM data

3.17 BESTVEL

Best available velocity data

3.18 BESTXYZ

Best available cartesian position and velocity

3.19 BSLNXYZ

RTK XYZ baseline

3.20 CHANCONFIGLIST

Channel configuration list

3.21 CLOCKMODEL

Current clock model status

3.22 CLOCKSTEERING

Clock steering status

3.23 ETHSTATUS

Current Ethernet status

3.24 GALALMANAC

Decoded Galileo Almanac

3.25 GALCLOCK

Galileo clock information

3.26 GALFNAVEPHEMERIS

Decoded Galileo FNAV Ephemeris

3.27 GALFNAVRAWPAGE

Raw Galileo FNAV page data

3.28 GALINAVEPHEMERIS

Decoded Galileo INAV Ephemeris

3.29 GALINAVRAWWORD

Raw Galileo INAV word data

3.30 GALIONO

Decoded Galileo ionospheric corrections

3.31 GLMLA

NMEA GLONASS Almanac data

3.32 GLOALMANAC

Decoded GLONASS Almanac

3.33 GLOCLOCK

GLONASS clock information

3.34 GLOEPHEMERIS

Decoded GLONASS ephemeris

3.35 GLORAWALM

Raw GLONASS Almanac data

3.36 GLORAWEPHEM

Raw GLONASS Ephemeris data

3.37 GLORAWFRAME

Raw GLONASS frame data

3.38 GLORAWSTRING

Raw GLONASS string

3.39 GPALM

Almanac data

3.40 GPGGA

GPS fix data and undulation

3.41 GPGGALONG

Fix data, extra precision and undulation

3.42 GPGLL

Geographic position

3.43 GPGRS

GPS range residuals for each satellite

3.44 GPGSA

GPS DOP and active satellites

3.45 GPGST

Pseudorange measurement noise statistics

3.46 GPGSV

GPS satellites in view

3.47 GPHDT

NMEA heading log

3.48 GPRMB

Navigation information

3.49 GPRMC

GPS specific information

3.50 GPSEPHEM

Decoded GPS ephemerides

3.51 GPVTG

Track made good and ground speed

3.52 GPZDA

UTC time and date

3.53 HEADING2

Heading information with multiple rovers

3.54 HEADINGRATE

Heading rate information

3.55 HEADINGSATS

Satellite used in heading solution

3.56 HWMONITOR

Monitor hardware levels

3.57 IONUTC

Ionospheric and UTC data

3.58 IPSTATS

IP statistics

3.59 IPSTATUS

Current network configuration status

3.60 ITBANDPASSBANK

Allowable band pass filter configurations

3.61 ITFILTTABLE

Filter configuration for each frequency

3.62 ITPROGFILTBANK

Allowable filter configurations

3.63 ITPSDFINAL

Processed power spectral density

3.64 J1939STATUS

Status of CAN J1939 Node

3.65 LBANDBEAMTABLE

List of L-Band beams

3.66 LBANDRAWFRAME

Raw L-Band frame data

3.67 LBANDTRACKSTAT

L-Band Beams status

3.68 LOGLIST

List of system logs

3.68.1 Binary

3.68.2 ASCII

3.69 MARK1COUNT, MARK2COUNT, MARK3COUNT and MARK4COUNT

Count for the Mark inputs

3.70 MARKPOS, MARK2POS, MARK3POS and MARK4POS

Position at time of mark input event

3.71 MARKTIME, MARK2TIME, MARK3TIME and MARK4TIME

Time of mark input event

3.72 MASTERPOS

Master Position using ALIGN

3.73 MATCHEDPOS

Matched RTK position

3.74 MATCHEDSATS

Satellites used in MATCHEDPOS solution

3.75 MATCHEDXYZ

Matched RTK Cartesian position

3.76 MODELFEATURES

States features available for current loaded model

3.77 NAVIGATE

User navigation data

3.78 NMEA Standard Logs

3.79 NOVATELXOBS

NovAtel proprietary RTK correction

3.80 NOVATELXREF

NovAtel proprietary reference station message for use in ALIGN

3.81 PASSCOM, PASSXCOM, PASSAUX, PASSUSB, PASSETH1, PASSICOM, PASSNCOM

Redirects data

3.82 PASSTHROUGH

Redirected data from all ports

3.83 PDPPOS

PDP filter position

3.84 PDPSATS

Satellites used in PDPPOS solution

3.85 PDPVEL

PDP filter velocity

3.86 PDPXYZ

PDP filter Cartesian position and velocity

3.87 PORTSTATS

Port statistics

3.88 PPPPOS

PPP filter position

3.89 PPPSATS

Satellites used in the PPPPOS solution

3.90 PROFILEINFO

Profile information in NVM

3.91 PSRDOP

Pseudorange DOP

3.92 PSRDOP2

Pseudorange DOP

3.93 PSRPOS

Pseudorange position

3.94 PSRSATS

Satellites used in PSRPOS solution

3.95 PSRVEL

Pseudorange velocity

3.96 PSRXYZ

Pseudorange Cartesian position and velocity

3.97 QZSSALMANAC

Decoded QZSS Almanac parameters

3.98 QZSSEPHEMERIS

Decoded QZSS parameters

3.99 QZSSIONUTC

QZSS ionospheric and time information

3.100 QZSSRAWALMANAC

Raw QZSS almanac data

3.101 QZSSRAWCNAVMESSAGE

Raw QZSS L2C and L5 CNAV message

3.102 QZSSRAWEPHEM

QZSS Raw ephemeris information

3.103 QZSSRAWSUBFRAME

Raw QZSS subframe data

3.104 RAIMSTATUS

RAIM status

3.105 RANGE

Satellite range information

3.106 RANGECMP

Compressed version of the RANGE log

3.107 RANGECMP2

Compressed version of the RANGE log

3.108 RANGECMP4

Highly compressed version of the RANGE log

3.109 RANGEGPSL1

L1 version of the RANGE log

3.110 RAWALM

Raw GPS Almanac data

3.111 RAWCNAVFRAME

Raw GPS CNAV frame data

3.112 RAWEPHEM

Raw GPS ephemeris

3.113 RAWGPSSUBFRAME

Raw GPS subframe data

3.114 RAWGPSWORD

Raw GPS navigation word

3.115 RAWSBASFRAME

Raw SBAS frame data

3.116 REFSTATION

Base station position and health

3.117 REFSTATIONINFO

Base Station position information

3.118 ROVERPOS

Position using ALIGN

3.119 RTCMV3 Standard Logs

3.119.1 RTCM1001-RTCM1004 GPS RTK Observables

3.119.2 RTCM1005 and RTCM1006 RTK Base Antenna Reference Point (ARP)

3.119.3 RTCM1007 and RTCM1008 Extended Antenna Descriptions

3.119.4 RTCM1009-RTCM1012 GLONASS RTK Observables

3.119.5 RTCM1019-RTCM1020 GPS and GLONASS Ephemerides

3.119.6 RTCM1070-RTCM1229 Multiple Signal Messages (MSM)

3.120 RTKASSISTSTATUS

RTK ASSIST status

3.121 RTKDOP

DOP values from the RTK fast filter

3.122 RTKDOP2

DOP values from the RTK low latency filter

3.123 RTKPOS

RTK low latency position data

3.124 RTKSATS

Satellites used in RTKPOS solution

3.125 RTKVEL

RTK velocity

3.126 RTKXYZ

RTK Cartesian position and velocity

3.127 RXCONFIG

Receiver configuration

3.128 RXSTATUS

Receiver status

3.129 RXSTATUSEVENT

Status event indicator

3.130 SAFEMODESTATUS

Safe Mode Status

3.131 SATVIS2

Satellite visibility

3.132 SATXYZ2

Satellite positions in ECEF Cartesian coordinates

3.133 SBAS0

Do not use for safety applications

3.134 SBAS1

PRN mask assignments

3.135 SBAS2

Fast correction slots 0-12

3.136 SBAS3

Fast corrections slots 13-25

3.137 SBAS4

Fast correction slots 26-38

3.138 SBAS5

Fast correction slots 39-50

3.139 SBAS6

Integrity message

3.140 SBAS7

Fast correction degradation

3.141 SBAS9

GEO navigation message

3.142 SBAS10

Degradation factor

3.143 SBAS12

SBAS network time and UTC

3.144 SBAS17

GEO Almanac message

3.145 SBAS18

IGP mask

3.146 SBAS24

Mixed fast/slow corrections

3.147 SBAS25

Long term slow satellite corrections

3.148 SBAS26

Ionospheric delay corrections

3.149 SBAS27

SBAS service message

3.150 SBAS32

Fast correction slots 0-10

3.151 SBAS33

Fast correction slots 11-21

3.152 SBAS34

Fast correction slots 22-32

3.153 SBAS35

Fast correction slots 33-43

3.154 SBAS45

Slow corrections

3.155 SBASALMANAC

SBAS Almanac collection

3.156 SOFTLOADSTATUS

Describes the status of the SoftLoad process

3.157 SOURCETABLE

NTRIP source table entries

3.158 TERRASTARINFO

TerraStar subscription information

3.159 TERRASTARSTATUS

TerraStar decoder and subscription status

3.160 TIME

Time data

3.161 TIMESYNC

Synchronize time between GNSS receivers

3.162 TRACKSTAT

Tracking status

3.163 UPTIME

Report the running time of the receiver

3.164 VALIDMODELS

Valid model information

3.165 VERIPOSINFO

Veripos subscription information

3.166 VERIPOSSTATUS

Veripos decoder and subscription status

3.167 VERSION

Version information

Chapter 4 SPAN Commands

4.1 ALIGNMENTMODE

Set the Alignment Mode

4.2 ASYNCHINSLOGGING

Enable Asynchronous INS Logs

4.3 CONNECTIMU

Connects an IMU to a Port

4.4 DUALANTENNAPORTCONFIG

Select Dual Antenna Source Port

4.5 EXTERNALPVAS

Enter PVA Update

4.6 HEAVEFILTER

Enables or Disables Heave Filtering

4.7 INPUTGIMBALANGLE

Input Gimbal Angles into the Receiver

4.8 INSCALIBRATE

Initiate calibration of the INS offsets

4.9 INSCOMMAND

INS Control Command

4.10 INSSEED

Enable or disable last known SPAN solution

4.11 INSTHRESHOLDS

Change the INS_HIGH_VARIANCE Threshold

4.12 INSZUPT

Request Zero Velocity Update

4.13 RELINSAUTOMATION

Enables Relative INS on the Rover

4.14 RELINSCONFIG

Configure Relative INS

4.15 SETALIGNMENTVEL

Set the Minimum Kinematic Alignment Velocity

4.16 SETHEAVEWINDOW

Set Heave Filter Length

4.17 SETIMUPORTPROTOCOL

Sets the Protocol Used for the IMU Serial Port

4.18 SETIMUSPECS

Specify Error Specifications and Data Rate

4.19 SETINITAZIMUTH

Set Initial Azimuth and Standard Deviation

4.20 SETINSPROFILE

Sets filter behavior depending on system environment

4.21 SETINSROTATION

Specifies rotational offsets between the IMU frame and other reference frames

4.22 SETINSTRANSLATION

Specifies translational offsets between the IMU frame and other reference frames

4.23 SETINSUPDATE

Enable/Disable INS Filter Updates

4.24 SETMAXALIGNMENTTIME

Set a Time Limit for Static Course Alignment

4.25 SETRELINSOUTPUTFRAME

Sets the Relative INS Output Frame

4.26 SETUPSENSOR

Add a new sensor object

4.27 SETWHEELPARAMETERS

Set Wheel Parameters

4.28 TAGNEXTMARK

Tags the Next Incoming Mark Event

4.29 TIMEDEVENTPULSE

Add a new camera event

4.30 WHEELVELOCITY

Wheel Velocity for INS Augmentation

Chapter 5 SPAN Logs

5.1 Logs with INS or GNSS Data

5.2 BESTGNSSPOS

Best GNSS Position

5.3 BESTGNSSVEL

Best Available GNSS Velocity Data

5.4 CORRIMUDATA

Corrected IMU Measurements

5.5 CORRIMUDATAS

Short Corrected IMU Measurements

5.6 DELAYEDHEAVE

Delayed Heave Filter

5.7 GIMBALLEDPVA

Display Gimballed Position

5.8 HEAVE

Heave Filter Log

5.9 IMURATECORRIMUS

Asynchronous Corrected IMU Data

5.10 IMURATEPVA

Asynchronous INS Position, Velocity and Attitude

5.11 IMURATEPVAS

Asynchronous INS Position, Velocity and Attitude

5.12 INSATT

INS Attitude

5.13 INSATTS

Short INS Attitude

5.14 INSATTX

Inertial Attitude – Extended

5.15 INSCALSTATUS

Offset calibration status

5.16 INSCONFIG

Determine required settings for post-processing or system analysis

5.17 INSPOS

INS Position

5.18 INSPOSS

Short INS Position

5.19 INSPOSX

Inertial Position – Extended

5.20 INSPVA

INS Position, Velocity and Attitude

5.21 INSPVAS

Short INS Position, Velocity and Attitude

5.22 INSPVAX

Inertial PVA – Extended

5.23 INSSPD

INS Speed

5.24 INSSPDS

Short INS Speed

5.25 INSSTDEV

INS PVA standard deviations

5.26 INSSTDEVS

Short INS PVA standard deviations

5.27 INSUPDATESTATUS

INS Update Status

5.28 INSVEL

INS Velocity

5.29 INSVELS

Short INS Velocity

5.30 INSVELX

Inertial Velocity – Extended

5.31 MARK1PVA, MARK2PVA, MARK3PVA and MARK4PVA

Position, Velocity and Attitude at Mark Input Event

5.32 PASHR

NMEA, Inertial Attitude Data

5.33 RAWIMU

Raw IMU Data

5.34 RAWIMUS

Short Raw IMU Data

5.35 RAWIMUSX

IMU Data Extended

5.36 RAWIMUX

IMU Data Extended

5.37 RELINSPVA

Relative INSPVA log

5.38 SYNCHEAVE

Synchronous Log Containing the Instantaneous Heave Value

5.39 SYNCRELINSPVA

Synchronous Relative INSPVA log

5.40 TAGGEDMARK1PVA, TAGGEDMARK2PVA, TAGGEDMARK3PVA and TAGGEDMARK4PVA

Position, Velocity and Attitude at a Tagged Mark Request

5.41 TIMEDWHEELDATA

Timed Wheel Data

5.42 TSS1

TSS1 Protocol for Heave, Roll and Pitch

5.43 VARIABLELEVERARM

Display Variable Lever Arm Details

5.44 WHEELSIZE

Wheel Size

Chapter 6 Responses

OEM7® Commands and Logs Reference Manual OM-20000169 v1 February 2017

OEM7® Commands and Logs Reference Manual OEM7 Commands and Logs Reference Manual Publication Number: OM-20000169 Revision Level: v1 Revision Date: February 2017 Firmware Version: 7.200 / OM7MR0200RN0000 Proprietary Notice Information in this document is subject to change without notice and does not represent a com- mitment on the part of NovAtel Inc. The information contained within this manual is believed to be true and correct at the time of publication. NovAtel, SPAN, ALIGN, STEADYLINE and Waypoint are registered trademarks of NovAtel Inc. OEM7, OEM719, OEM729, OEM7700, NovAtel CORRECT, RTK ASSIST and GLIDE are trademarks of NovAtel Inc. All other brand names are trademarks of their respective holders. © Copyright 2017 NovAtel Inc. All rights reserved. Unpublished rights reserved under Inter- national copyright laws. OEM7 Commands and Logs Reference Manual v1 2

Table of Contents OEM7® Commands and Logs Reference Manual OEM7 Commands and Logs Reference Manual Proprietary Notice Table of Contents Customer Support NovAtel Knowledge Base Before Contacting Customer Support Contact Information Foreword Related Documents and Information Prerequisites Logs and Commands Defaults and Structure Chapter 1 Messages 1.1 ASCII 1.2 Abbreviated ASCII 1.3 Binary 1.4 Description of ASCII and Binary Logs with Short Headers 1.5 Message Responses 1.5.1 Abbreviated ASCII Response 1.5.2 ASCII Response 1.5.3 Binary Response 1.6 GLONASS Slot and Frequency Numbers 1.6.1 PRN Numbers 1.7 GPS Reference Time Status 1.8 Message Time Stamps 1.9 Decoding of the GPS Reference Week Number 1.10 32-Bit CRC Core Commands 2.1 Command Formats 2.1.1 Optional Parameters 2.2 Command Settings 2.3 Factory Defaults 2.4 Command Reference 2.5 ADJUST1PPS Adjusts the receiver clock 2.6 ALIGNAUTOMATION Configures ALIGN plug-and-play feature 2.7 ANTENNAPOWER Controls power to the antenna 2.8 ASSIGN Assigns a channel to a PRN 2.9 ASSIGNALL Assigns all channels to a PRN 2.10 ASSIGNLBANDBEAM 2 2 20 20 20 22 22 22 26 28 28 39 40 40 40 40 42 43 43 45 46 46 49 49 49 50 50 51 51 59 59 61 61 62 62 65 65 68 OEM7 Commands and Logs Reference Manual v1 3

Table of Contents Configure L-Band tracking 2.11 AUTH Authorization code for different model 2.12 AUTOSURVEY Survey for accurate position 2.13 BASEANTENNAPCO Sets the PCO model of the base receiver 2.14 BASEANTENNAPCV Sets the PCV model of the base receiver 2.15 BASEANTENNATYPE Sets the antenna type of the base receiver 2.16 BDSECUTOFF Sets elevation cut-off angle for BeiDou satellites 2.17 BESTVELTYPE Sets the velocity used in the BESTVEL and GPVTG logs 2.18 CANCONFIG Configure CAN ports 2.19 CCOMCONFIG Configure the CAN COM port 2.20 CLOCKADJUST Enables clock adjustments 2.21 CLOCKCALIBRATE Adjusts clock steering parameters 2.22 CLOCKOFFSET Adjusts for delay in 1PPS output 2.23 CNOUPDATE Sets the C/No update rate 2.24 COMCONTROL Controls the serial port hardware control lines 2.25 DATADECODESIGNAL Enable/Disable navigation data decoding for GNSS signal 2.26 DATUM Chooses a datum name type 2.27 DGPSTXID Sets DGPS station ID 2.28 DIFFCODEBIASCONTROL Enables /disables satellite differential code biases 2.29 DLLTIMECONST Sets carrier smoothing 2.30 DNSCONFIG Manually configures Ethernet DNS servers 2.31 DYNAMICS Tunes receiver parameters 2.32 ECHO Sets port echo 2.33 ECUTOFF Sets satellite elevation cut-off for GPS Satellites 2.34 ELEVATIONCUTOFF Sets the elevation cut-off angle for tracked satellites 2.35 ETHCONFIG Configures Ethernet physical layer 2.36 EVENTINCONTROL Controls Event-In input triggers 68 70 70 73 73 75 75 77 77 78 78 88 88 89 89 90 90 92 92 95 95 97 97 100 100 101 101 102 102 105 105 108 108 115 115 116 116 117 117 120 120 121 121 123 123 126 126 128 128 131 131 133 133 OEM7 Commands and Logs Reference Manual v1 4

Table of Contents 2.37 EVENTOUTCONTROL Control Event-Out properties 2.38 EXTERNALCLOCK Sets external clock parameters 2.39 FIX Constrains to fixed height or position 2.40 FIXPOSDATUM Sets position in a specified datum 2.41 FORCEGLOL2CODE Forces receiver to track GLONASS satellite L2 P or L2 C/A code 2.42 FORCEGPSL2CODE Forces receiver to track GPS satellite L2 P or L2C code 2.43 FREQUENCYOUT Sets output pulse train available on VARF 2.44 FRESET Clears selected data from NVM and reset 2.45 GALECUTOFF Sets elevation cut-off angle for Galileo satellites 2.46 GENERATEALIGNCORRECTIONS Configure ALIGN Master 2.47 GENERATEDIFFCORRECTIONS Sends a preconfigured set of differential corrections 2.48 GENERATERTKCORRECTIONS Sends a preconfigured set of RTK corrections 2.49 GGAQUALITY Customizes the GPGGA GPS quality indicator 2.50 GLIDEINITIALIZATIONPERIOD Configures the GLIDE initialization period 2.51 GLOECUTOFF Sets GLONASS satellite elevation cut-off 2.52 HDTOUTTHRESHOLD Controls GPHDT log output 2.53 HEADINGOFFSET Adds heading and pitch offset values 2.54 ICOMCONFIG Configures IP virtual COM port 2.55 INTERFACEMODE Sets receive or transmit modes for ports 2.55.1 SPAN Systems 2.56 IONOCONDITION Sets ionospheric condition 2.57 IPCONFIG Configures network IP settings 2.58 IPSERVICE Configure availability of networks ports/services 2.59 ITBANDPASSCONFIG Enable and configure bandpass filter on receiver 2.60 ITFRONTENDMODE Configure the front end mode settings 2.61 ITINTERFERENCEDETECT Enable and configure interference detection on receiver 2.62 ITPROGFILTCONFIG Enable and configure filtering on the receiver 135 135 137 137 140 140 144 144 145 145 147 147 149 149 152 152 155 155 156 156 158 158 159 159 161 161 163 163 164 164 165 165 166 166 167 167 169 169 169 174 174 175 175 177 177 179 179 181 181 183 183 185 185 OEM7 Commands and Logs Reference Manual v1 5

Table of Contents 2.63 ITSPECTRALANALYSIS Enable and configure spectral analysis on receiver 2.64 J1939CONFIG Configure CAN network-level parameters 2.65 LOCKOUT Prevents the receiver from using a satellite 2.66 LOCKOUTSYSTEM Prevents the receiver from using a system 2.67 LOG Requests logs from the receiver 2.67.1 Binary 2.67.2 ASCII 2.68 LOGIN Start a secure ICOM connection to the receiver 2.69 LOGOUT End a secure ICOM session started using the LOGIN command 2.70 MAGVAR Sets a magnetic variation correction 2.71 MARKCONTROL Controls processing of mark inputs 2.72 MODEL Switches to a previously authorized model 2.73 MOVINGBASESTATION Enables the use of a moving base station 2.74 NMEAFORMAT Customize NMEA output 2.75 NMEATALKER Sets the NMEA talker ID 2.76 NMEAVERSION Sets the NMEA Version for Output 2.77 NTRIPCONFIG Configures NTRIP 2.78 NTRIPSOURCETABLE Set NTRIPCASTER ENDPONTS 2.79 NVMRESTORE Restores NVM data after an NVM failure 2.80 NVMUSERDATA Write User Data to NVM 2.81 PDPFILTER Enables, disables or resets the PDP filter 2.81.1 GLIDE Position Filter 2.82 PDPMODE Selects the PDP mode and dynamics 2.83 PGNCONFIG Configure NMEA2000 PGNs. 2.84 POSAVE Implements base station position averaging 2.85 POSTIMEOUT Sets the position time out 2.86 PPPBASICCONVERGEDCRITERIA Configures decision for PPP Basic convergence 2.87 PPPCONVERGEDCRITERIA Configures decision for PPP convergence 187 187 191 191 193 193 194 194 195 195 196 200 201 201 203 203 204 204 207 207 210 210 211 211 213 213 216 216 218 218 219 219 221 221 222 222 223 223 224 224 224 226 226 227 227 228 228 230 230 231 231 232 232 OEM7 Commands and Logs Reference Manual v1 6

Table of Contents 2.88 PPPDYNAMICS Sets the PPP dynamics mode 2.89 PPPDYNAMICSEED Seed the PPP filter in any platform motion state 2.90 PPPRESET Reset the PPP filter 2.91 PPPSEED Control the seeding of the PPP filter 2.92 PPPSOURCE Specifies the PPP correction source 2.93 PPPTIMEOUT Sets the maximum age of the PPP corrections 2.94 PPSCONTROL Controls the PPS output 2.95 PPSCONTROL2 Controls polarity, period, pulse width and estimated error limit of the PPS output 2.96 PROFILE Profile in Non-Volatile Memory (NVM) 2.97 PSRDIFFSOURCE Sets the pseudorange differential correction source 2.98 PSRDIFFSOURCETIMEOUT Sets pseudorange differential correction source timeout 2.99 PSRDIFFTIMEOUT Sets maximum age of pseudorange differential data 2.100 QZSSECUTOFF Sets QZSS satellite elevation cutoff 2.101 RADARCONFIG Configure the Emulated Radar Output 2.102 RAIMMODE Configures RAIM mode 2.102.1 Detection strategy 2.102.2 Isolation strategy 2.103 REFERENCESTATIONTIMEOUT Sets timeout for removing previously stored base stations 2.104 RESET Performs a hardware reset 2.105 RTKANTENNA Specifies L1 phase center (PC) or ARP and enables/disables PC modeling 2.106 RTKASSIST Enable or disable RTK ASSIST 2.107 RTKASSISTTIMEOUT Set the maximum RTK ASSIST duration 2.108 RTKDYNAMICS Sets the RTK dynamics mode 2.109 RTKINTEGERCRITERIA Report inaccurate fixed-integer RTK positions with float solution type 2.110 RTKMATCHEDTIMEOUT Sets RTK filter reset time after corrections are lost 2.111 RTKNETWORK Specifies the RTK network mode 2.112 RTKPORTMODE Assigns the port for RTK and ALIGN messages 2.113 RTKQUALITYLEVEL 233 233 234 234 236 236 237 237 239 239 241 241 242 242 245 245 248 248 250 250 253 253 254 254 255 255 256 256 258 258 258 258 260 260 261 261 262 262 264 264 265 265 267 267 268 268 270 270 271 271 274 274 276 OEM7 Commands and Logs Reference Manual v1 7

Table of Contents Sets an RTK quality mode 2.114 RTKRESET Reset the RTK filter 2.115 RTKSOURCE Sets the RTK correction source 2.116 RTKSOURCETIMEOUT Sets RTK correction source timeout 2.117 RTKSVENTRIES Sets number of satellites in corrections 2.118 RTKTIMEOUT Sets maximum age of RTK data 2.119 SAVECONFIG Save current configuration in NVM 2.120 SAVEETHERNETDATA Save the configuration data associated with an Ethernet interface 2.121 SAVEUSBCONFIG Save the configuration data for the USB ports 2.122 SBASCONTROL Sets SBAS test mode and PRN 2.123 SBASECUTOFF Sets SBAS satellite elevation cut-off 2.124 SBASTIMEOUT Sets the SBAS position time out 2.125 SELECTCHANCONFIG Sets the channel configuration 2.126 SEND Sends an ASCII message to a COM port 2.127 SENDHEX Send non-printable characters in hex pairs 2.128 SERIALCONFIG Configures serial port settings 2.129 SERIALPROTOCOL Sets the protocol to be used by a serial port 2.130 SETADMINPASSWORD Sets the administration password 2.131 SETAPPROXPOS Sets an approximate position 2.132 SETAPPROXTIME Sets an approximate GPS reference time 2.133 SETBASERECEIVERTYPE Sets base receiver type 2.134 SETBESTPOSCRITERIA Sets selection criteria for BESTPOS 2.135 SETDIFFCODEBIASES Sets satellite differential code biases 2.136 SETIONOTYPE Enables ionospheric models 2.137 SETNAV Sets start and destination waypoints 2.138 SETROVERID Set ID for ALIGN rovers 2.139 SETSEARCHTYPE Select the search type used for signal detection 276 277 277 278 278 280 280 281 281 282 282 283 283 284 284 286 286 287 287 290 290 291 291 292 292 295 295 297 297 298 298 301 301 303 303 304 304 305 305 307 307 308 308 309 309 311 311 313 313 315 315 316 316 OEM7 Commands and Logs Reference Manual v1 8

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