Ashtech Z-sensor Especificações

Z-FamilyTechnical Reference ManualAshtech1170 Kifer RoadSunnyvale, CA USA 94086Phone and Fax Numbers•Main• Voice: 408-524-1400• Fax: 408-524-1500• Sal

x Z-Family Technical Reference ManualGRS: Satellite Range Residuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158GSA: DOP and Active Sa

80 Z-Family Technical Reference ManualBEEP: Beeper Set-up$PASHS,BEEP,sThis command enables or disables the audible Beeper, where s is ON or OFF. If t

Command/Response Formats 81CommandsTable 6.7 on page 81 describes the parameters in the response message.CTS: Port Protocol Setting$PASHS,CTS,c,sThis

82 Z-Family Technical Reference Manualmonitor (handheld or PC). When a port is in daisy chain mode, it can only interpret the OFF command; all other

Command/Response Formats 83CommandsExample: Sets the epoch counter to 20.$PASHS,EPG,20 <enter>FIL,C: Close a File$PASHS,FIL,CCloses the curren

84 Z-Family Technical Reference ManualExample: Fix altitude to always use the entered altitude.$PASHS,FIX,1 <enter>FLS: Receiver File Informat

Command/Response Formats 85CommandsResponse:$PASHR,FLS,d1,d2,d3,n(s4,m5,d6) *cc <enter>n = number of files displayed (f3)Example:$PASHR,FLS,000

86 Z-Family Technical Reference ManualHDP: HDOP Mask$PASHS,HDP,dSet the value of the HDOP mask, where d is a number between 0 and 99 (default =4).Exa

Command/Response Formats 87Commands$PASHR,INFThe response message is in the form:$PASHR,INF,f1,d2,d3,d4,c5,d6,d7,s8,c9,s10,s11,s12,s13,s14,f15,d16,d1

88 Z-Family Technical Reference ManualINI: Receiver Initialization$PASHS,INI,d1,d2,d3,d4,d5,c6The INI command resets the receiver memory, sets the se

Command/Response Formats 89CommandsThe Reset Memory Codes 0 and 2 behave like a power cycle. Any parameters not saved with the $PASHS,SAV command are

Table of Contents xiDYN: Rover Dynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204ENT: Use Current Position . . . . .

90 Z-Family Technical Reference ManualWhere Table 6.17 outlines the response structure.LPS: Loop Tracking$PASHS,LPS,d1,d2,d3Set user-selectable third

Command/Response Formats 91Commandsuser to select the tracking loop parameters based on the application. The receiver uses default values until anoth

92 Z-Family Technical Reference ManualMDM: Set Modem Parameters$PASHS,MDM,s1,c2,d3,d4,CFG,s5,MOD,s6,NAM,s7,D2C,s8,C2D,s9 All s-Parameter optional se

Command/Response Formats 93CommandsExample: To send all parameters for user modem.$PASHS,MDM,ON,B,4,6,CFG,ATS111=255S45=255S51=252S58=250=1&D2&am

94 Z-Family Technical Reference ManualMDM,INI: Initialize Modem Communication$PASHS,MDM,INIThe $PASHS,MDM,INI command establishes communication betwe

Command/Response Formats 95CommandsExample: set *9900XY to the MET CMD field.$PASHS,MET,CMD,C,9900XY <enter> MET,INIT: Meteorological Meters

96 Z-Family Technical Reference Manualalarm will only disappear if the user acknowledges it (press any key), not if enough satellites are tracked aga

Command/Response Formats 97CommandsOUT, TLT: Start Tiltmeter Process$PASHS,OUT,c,TLT,sStart/stop the processing of the tiltmeters. It first initializ

98 Z-Family Technical Reference ManualTable 6.28 lists all of the above fields in alphabetic order. The description of the field is given along with

Command/Response Formats 99CommandsPDP: PDOP Mask $PASHS,PDP,dSet the value of the PDOP mask to d, where d is a number between 0 and 99. Position is

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100 Z-Family Technical Reference ManualPHE: Photogrammetry Edge (Event Marker Edge)$PASHS,PHE,cSets the photogrammetry time tag to either the rising

Command/Response Formats 101CommandsPJT: Log Project Data$PASHS,PJT,c1s2s3s4s5s6This command allows you to enter project data related to the station

102 Z-Family Technical Reference ManualPMD: Position Mode$PASHS,PMD,dSet position mode for minimum number of SVs required to compute a position fix,

Command/Response Formats 103CommandsPOW: Battery Parameters$PASHS,POW,d1,d2,f3The POW command allows you to enter parameters associated with the exte

104 Z-Family Technical Reference ManualPPO: Point Positioning$PASHS,PPO,cEnable/disable point positioning mode, where c is either Y (enable) or N (di

Command/Response Formats 105Commands$PASHQ,PPS,cQuery PPS parameter where c is the output port. Note that c is not required to direct the response me

106 Z-Family Technical Reference ManualPWR: Sleep Mode$PASHS,PWR,offDirect the receiver to immediately go into sleep mode. Once a receiver is in slee

Command/Response Formats 107Commandsthe same or another PCMCIA card is inserted into the receiver, the receiver will automatically restart data recor

108 Z-Family Technical Reference ManualExample:Response: $PASHR,RID,UZ,30,UC00,-UE-MF-3J-,0A13*43 <enter>RNG: Data Type$PASHS,RNG,dSets data re

Command/Response Formats 109CommandsExample: Reset receiver parameters$PASHS,RST <enter>RTR: Real-Time Error$PASHR,RTRThis is an unsolicited re

List of Figures xiiiReliance FundamentalsList of Figures Figure 2.1: PCMCIA File Card Structure . . . . . . . . . . . . . . . . . . . . . . . . . . .

110 Z-Family Technical Reference Manualthe current day for session programming to operate. Use the $PASHS,SES,SET to program individual sessions.This

Command/Response Formats 111CommandsExample: Set a session starting at 0100 that will run for 2 hours.$PASHS,SES,SET,A,Y,010000,030000,10.0,10,3,0 &l

112 Z-Family Technical Reference ManualThis command applies only to the Z-surveyor and Z-FX receiversSID: Serial Number$PASHQ,SID,cQuery receiver ser

Command/Response Formats 113CommandsSPD: Serial Port Baud Rate$PASHS,SPD,c1,d2Set the baud rate of the receiver serial port c1, where c1 is port A, B

114 Z-Family Technical Reference ManualThe return message is a free form format. A typical response is:TIME: 03:24:24 UTCLOCKED: 23 22 17 06 30 10

Command/Response Formats 115CommandsTLT : Tiltmeter Set-up$PASHQ, TLT,cQuery tiltmeter setup, where c is the optional output port and is not required

116 Z-Family Technical Reference ManualExample: set *9900ID to the INIT STRING_ TLT field.$PASHS,TLT,INIT,A,9900ID <enter> TLT,INTVL: Tiltme

Command/Response Formats 117CommandsTST:Output RTK Latency$PASHS,TST,dEnable/Disable the output of the RTK (fast CPD) latency as decimal part of the

118 Z-Family Technical Reference ManualExample: Set VDOP to 6$PASHS,VDP,6 <enter>WAK: Warning Acknowledgment$PASHS,WAKThis command acknowledge

Command/Response Formats 119CommandsTable 6.56 contains the possible warnings the receiver may issue. Table 6.56: Receiver Warning MessagesWarning De

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120 Z-Family Technical Reference Manual†Data Card Error : AccessCan’t read or write to the PC cardPower cycle the receiver. If problem persists, repl

Command/Response Formats 121CommandsBad RTCM Base PositionThe position entered in the base receiver for RTCM code operation is not correct (too far f

122 Z-Family Technical Reference ManualWKN: GPS Week Number$PASHQ,WKN,cThis command queries the current GPS week number, where c is the optional outp

Command/Response Formats 123CommandsRaw Data CommandsThe raw data commands cover all query and set commands related to measurement, ephemeris, and al

124 Z-Family Technical Reference ManualQuery CommandsThe query commands will output a single raw data message type once. The general format of the q

Command/Response Formats 125CommandsTable 6.59 on page 125 list all the raw data commands. A complete description of each command can be found follow

126 Z-Family Technical Reference ManualTable 6.60 outlines the response structure. Table 6.60: CBN Message Structure (ASCII Format) Parameter Descrip

Command/Response Formats 127CommandsBelow is a description of solution type flag:The format of the binary message is in the form:$PASHR,CBN, <bina

128 Z-Family Technical Reference Manualchar Num_Svs 0 - 12 4 Number of satellites used in CPD position computationunsigned shortPDOP 0 - 100 0.1 10

Command/Response Formats 129CommandsFor the sign bit: 1 mean ‘-’; 0 mean ‘+’.The solution type flag has following structure:float Vel_E sign

List of Tables xvReliance FundamentalsList of Tables Table 1.1: Accuracy as Function of Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

130 Z-Family Technical Reference ManualDBN: DBEN Message$PASHQ,DBN,xQuery DBEN message for one epoch where x is the optional output port.Example: $P

Command/Response Formats 131Commands<packed data> Parameter: Table 6.64: RPC Message StructureParameter Type num. of bytes Descriptiondata leng

132 Z-Family Technical Reference ManualZeros will be padded so that all of <packed data> part will be a module of 16 bits. Total number of bits

Command/Response Formats 133CommandsExample: Query for raw ephemeris for all available satellites.$PASHQ,EPB <enter>Query ephemeris data for P

134 Z-Family Technical Reference ManualMBN: MBN Message$PASHQ,MBN,cRequests one epoch of MBN data, where c is the optional output port.Example: Quer

Command/Response Formats 135CommandsWhere Table 6.68 on page 135 outlines the measurement structure. The checksum is computed after the MPC header, a

136 Z-Family Technical Reference ManualThe MBN response message in ASCII is in the form:$PASHR,MPC,d1,d2,d3,d4,d5,d6,d7,d8,d9,d10,d11,f12,f13,f14,f15

Command/Response Formats 137Commandsd19 5 for backward compatibility 5d20 Signal to noise indicator dB Hz 30-60d21 sparef22 Full carrier phase cycles

138 Z-Family Technical Reference ManualOnly C/A is used for position computation, so this flag will never be more than 22 on Pcode measurements.OUT:

Command/Response Formats 139CommandsTo disable raw data output, send the $PASHS,OUT, command without any data format strings.Examples: Enable MBN, P

xvi Z-Family Technical Reference Manual Table 6.13: INF Message Structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 Table

140 Z-Family Technical Reference ManualThe response message in the binary format is in the form:$PASHR,PBN,<PBN structure> <enter>Table 6

Command/Response Formats 141CommandsRAW: Query Raw Data Parameter$PASHQ,RAWThis query will display the settings of all parameters related to raw data

142 Z-Family Technical Reference ManualSAL: Almanac Data$PASHQ,SAL,cRequest for almanac data in Ashtech format, where c is the optional serial port.E

Command/Response Formats 143Commands$PASHR,ALMThe response is a binary message in the form:.$PASHR,ALM,(almanac structure) <enter>This message

144 Z-Family Technical Reference ManualSNV: Ephemeris Data$PASHQ,SNV,cRequest ephemeris data from receiver, where c is either the optional output ser

Command/Response Formats 145Commandslong 4 toe. Reference time for orbit (sec).float 4 Cic. Harmonic correction term (radians).float 4 Crc. Harmonic

146 Z-Family Technical Reference ManualNMEA Message CommandsThe NMEA message commands control all query and set commands related to NMEA format messa

Command/Response Formats 147CommandsQuery CommandsThe general structure of the NMEA query commands is:$PASHQ,s,c <enter>where s is one of the 3

148 Z-Family Technical Reference ManualALL: Disable All NMEA Messages$PASHS,NME,ALL,c,OFFTurn off all enabled NMEA messages, where c is the specified

Command/Response Formats 149Commands$GPALMThere will be one response message for each satellite in the GPS constellation. The response to the set or

List of Tables xvii Table 6.55: WARN Message Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 Table 6.56: Receiver Warning Mes

150 Z-Family Technical Reference ManualExample:Query: $PASHQ,ALM <enter>Response:$GPALM,26,01,01,0899,00,1E8C,24,080B,FD49,A10D58,EB4562,BFEF85

Command/Response Formats 151Commands$PASHQ,DAL,cQuery decimal almanac where c is the optional output serial port.Example: $PASHQ,DAL <enter>$PA

152 Z-Family Technical Reference ManualExample: Query: $PASHQ,DAL <enter>Response:$PASHR,DAL,01,00,3.7240982E03,061440,3.0392534E-01,-2.5465852

Command/Response Formats 153CommandsExample: Send GDC message to the current port.$PASHQ,GDC <enter>$PASHR,GDCThis message outputs the current

154 Z-Family Technical Reference ManualExample:$PASHR,GDC,015151.00,EMER,588757.623,4136720.056,2,04,03.8,00012.123,M,-031.711,M,14,1010,W84*2A <e

Command/Response Formats 155CommandsExample: $PASHQ,GGA <enter>$GPGGAThe response message is in the form:$GPGGA,m1,m2,c3,m4,c5,d6,d7,f8,f9,M,f1

156 Z-Family Technical Reference ManualExample: Query: $PASHQ,GGA <enter>Response:$GPGGA,015454.00,3723.285132,N,12202.238512,W,2,04,03.8,000

Command/Response Formats 157Commands$PASHQ,GLL,cQuery where c is the optional output serial port.Example: $PASHQ,GLL <enter>$GPGLLThe response

158 Z-Family Technical Reference ManualGRS: Satellite Range Residuals$PASHS,NME,GRS,c,sThis command enables/disables the NMEA satellite range residua

Command/Response Formats 159CommandsThe range residuals are re-computed after the GGA position is computed, therefore the mode is always 1. Example:

xviii Z-Family Technical Reference Manual Table 6.97: GXP Message Structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165 Table 6

160 Z-Family Technical Reference ManualExample: Enable GSA message on port B$PASHS,NME,GSA,B,ON <enter>$PASHQ,GSA,cQuery DOP and active sate

Command/Response Formats 161CommandsGSN: Signal Strength/Satellite Number$PASHS,NME,GSN,c,sThis command enables/disables the signal strength/satellit

162 Z-Family Technical Reference Manualwhere n is equal to the number of locked satellites.Example: Query: $PASHQ,GSN <enter>Response: $GPGSN,0

Command/Response Formats 163CommandsGSV: Satellites in View Message$PASHS,NME,GSV,c,sThis command enables/disables the satellites-in-view message to

164 Z-Family Technical Reference Manualwhere each item is as described in Table 6.96 on page 164.GXP: Horizontal Position Message$PASHS,NME,GXP,c,sTh

Command/Response Formats 165Commands$PASHQ,GXP,cQuery horizontal position where c is the optional output serial port. Example: $PASHQ,GXP,A <enter

166 Z-Family Technical Reference ManualMSG: Base Station Message$PASHS,NME,MSG,c,sThis command enables/disables the message containing RTCM reference

Command/Response Formats 167CommandsMessage type 18 format:$GPMSG,d1,d2,f3,d4,d5,d6,m7,n(d8,d9,d10,d11,d12,d13,d14,d15)*cc <enter>Message type

168 Z-Family Technical Reference ManualRemaining message for type 2Remaining message for type 3Remaining message for type 16d12 Issue of data ephemer

Command/Response Formats 169CommandsRemaining for Message type 18/20 (RTK carrier phase corrections)size for type 18/20: total number of svs for L1 a

List of Tables xixList of Tables Table 6.139: CPD,EOT Parameter Table. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205 Table 6.140: INF Me

170 Z-Family Technical Reference ManualRemaining message for type 19 (uncorrected pseudorange measurements) and 21 (RTK pseudorange correction).size

Command/Response Formats 171CommandsPER: Set NMEA Send Interval$PASHS,NME,PER,fSet send interval of the NMEA response messages in seconds, where f is

172 Z-Family Technical Reference ManualThe altitude is either ellipsoidal (default) or geoidal (mean-sea-level) depending on the selection made with

Command/Response Formats 173CommandsTable 6.107 on page 173 describes each item in a typical POS message.PTT: Pulse Time Tag message$PASHS,NME,PTT,c,

174 Z-Family Technical Reference ManualExample: Enable PTT message on port A$PASHS,NME,PTT,A,ON <enter>$PASHQ,PTT,c Query the time tag of the

Command/Response Formats 175Commands$PASHQ,RMC,cQuery recommended minumum GPS/transit message, where c is the optional output port. $GPRMCThe return

176 Z-Family Technical Reference ManualRRE: Residual Error$PASHS,NME,RRE,c,sThis command enables/disables the satellite residual and position error m

Command/Response Formats 177Commandswhere n = number of satellites used to compute a positionExample:Query: $PASHQ,RRE <enter>Response: $GPRRE,

178 Z-Family Technical Reference ManualSAT: Satellite Status$PASHS,NME,SAT,c,sThis command enables/disables the satellite status message to port c, w

Command/Response Formats 179CommandsTable 6.115 on page 179 describes each item in a typical SAT response message.TTT: Event Marker$PASHS,NME,TTT,c,s

ii Z-Family Technical Reference ManualCopyright NoticeCopyright © 1998 Magellan Corporation. All rights reserved. No part of this publication or the

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180 Z-Family Technical Reference Manualwhen the pulse was received. This message is not output unless an event pulse is being input through the appro

Command/Response Formats 181Commands$PASHR,UTMThe response message is in the form:$PSHR,UTM,m1,m2,f3,f4,d5,d6,f7,f8,M,f9,M,d10,s11*cc <enter>Th

182 Z-Family Technical Reference ManualExample: Query: $PASHQ,UTM <enter>Response:$PASHR,UTM,015454.00,10S,588757.623,4136720.056,2,04,03.8,000

Command/Response Formats 183CommandsExample: Send VTG message to port C$PASHQ,VTG,C <enter>$GPVTGThe response message is in the form:$GPVTG,f1,

184 Z-Family Technical Reference ManualXDR: Transducer Measurements$PASHS,NME,XDR,c,sEnable/disable the transducer measurements message, where c is t

Command/Response Formats 185CommandsZDA: Time and Date$PASHS,NME,ZDA,c,sEnable/disable the time and date message, where c is the output port, and s i

186 Z-Family Technical Reference Manual$PASHQ,ZDA,cQuery time and date, where c is the optional output port and is not required to direct the respons

Command/Response Formats 187CommandsRTCM Response Message CommandsThe RTCM commands allow you to control and monitor RTCM real-time differential oper

188 Z-Family Technical Reference ManualTable 6.124 on page 188 lists the RTCM commands.Query: RTCM Status$PASHQ,RTC,cQuery RTCM differential status,

Command/Response Formats 189CommandsTable 6.125 on page 189 describes the parameters. Table 6.125: RTC Response ParametersReturn ParametersDescriptio

Introduction 1Reliance FundamentalsIntroduction 1IntroductionThis manual provides detailed technical reference information for the Z-Surveyor, Z-FX, Z

190 Z-Family Technical Reference ManualAUT: Auto Differential$PASHS,RTC,AUT,cTurns auto differential mode on or off where c is Y (or ON) or N (or OFF

Command/Response Formats 191CommandsBAS: Enable Base Station$PASHS,RTC,BAS,cSet the receiver to operate as an RTCM differential base station, where c

192 Z-Family Technical Reference ManualExample: Set maximum age to 30 seconds$PASHS,RTC,MAX,30 <enter>MSG: Define Message$PASHS,RTC,MSG,sDefine

Command/Response Formats 193CommandsExample: Set receiver as differential remote using port B$PASHS,RTC,REM,B <enter>SEQ: Check Sequence Number

194 Z-Family Technical Reference ManualSTH: Station Health$PASHS,RTC,STH,dSet the health of the base station, where d is any value between 0 and 7. $

Command/Response Formats 195CommandsTYP: Message Type$PASHS,RTC,TYP,d1,d2 Enables the type of message to be sent by the base station and the period a

196 Z-Family Technical Reference ManualCPD CommandsThe CPD commands allow you to control and monitor CPD (Carrier Phase Differential) operations. The

Command/Response Formats 197Commandswill output a CPD status message to the current port. The query:$PASHQ,CPD,C <enter>will output a CPD statu

198 Z-Family Technical Reference ManualCPD: RTK Status$PASHQ,CPD,cThis is the general CPD query command where c is the optional serial port. Use this

Command/Response Formats 199CommandsBASE STAT Provides a status of Base Station Operation in a 5 column array (A B C D E)A - ‘1’ if the receiver has

2 Z-Family Technical Reference ManualAll accuracies were computed from multiple trials of live satellite data collected in the San Francisco Bay area

200 Z-Family Technical Reference ManualAFP: Ambiguity Fixing$PASHS,CPD,AFP,fThis command sets the confidence level for ambiguity fixing, where f is t

Command/Response Formats 201CommandsSince this is only valid when using a base position entered at the rover, the user must first set $PASHS,CPD,UBP,

202 Z-Family Technical Reference ManualDLK: Data Link Status$PASHQ,CPD,DLK,cThis command queries the data link status message, where c is the optiona

Command/Response Formats 203CommandsThe following examples will illustrate the difference between the $PASHR,DLK response message from a Rover statio

204 Z-Family Technical Reference ManualFrom the Base station:$PASHR,CPD,DLK,BAS,02,05,02+,03+,10+,18+,19P,,PASH*12 <enter>DYN: Rover Dynamics$P

Command/Response Formats 205CommandsExample: Set rover dynamics to aircraft dynamics$PASHS,CPD,DYN,4, <enter>ENT: Use Current Position$PASHS,CP

206 Z-Family Technical Reference ManualFST: Fast CPD Mode$PASHS,CPD,FST,sEnables/disables fast CPD mode, where s is either ON or OFF. If this mode is

Command/Response Formats 207CommandsMAX: Max Age for CPD Correction$PASHS,CPD,MAX,dSet the maximum age in seconds of CPD differential correction abo

208 Z-Family Technical Reference ManualExample: Set receiver to Base CPD mode$PASHS,CPD,MOD,BAS <enter>$PASHQ,CPD,MOD,cQueries for the current

Command/Response Formats 209CommandsMTP: Multipath$PASHS,CPD,MTP,d1This command sets the multipath parameter, where d1 is a code that describes the m

Introduction 3Introduction[B] RTCM BaseThe receiver has the ability to be set as an RTCM differential base station and can output real-time differenti

210 Z-Family Technical Reference ManualTable 6.144 on page 210 describes the binary structure of the OBEN message. Table 6.144: OBEN Message Structur

Command/Response Formats 211CommandsBaseline informationint Number of epochs availableint Number of epochs used in solutionint Number of satellites u

212 Z-Family Technical Reference ManualOUT: Solution Output$PASHS,CPD,OUT,d1This command selects which position solution to output to the serial port

Command/Response Formats 213Commandscoordinates (if relevant) and antenna offset from reference point. This command is relevant for BASE mode or RVP

214 Z-Family Technical Reference ManualExample: Set CPD update interval to 3 seconds.$PASHS,CPD,PER,3 <enter>POS: Set Base Position$PASHS,CPD,P

Command/Response Formats 215CommandsPRT: Port Output Setting$PASHS,CPD,PRT,cThis command sets the port to output DBEN and BPS messages, where c is th

216 Z-Family Technical Reference ManualUBP: Use Base Position$PASHS,CPD,UBP,d1This command selects the base position to use in ROVER mode, where d1 i

Command/Response Formats 217CommandsUser Coordinate Transformation (UCT)CommandsThe User Coordinate Transformation library includes user-defined tran

218 Z-Family Technical Reference ManualDTM: Datum Selection$PASHS,DTM,sSelect the geodetic datum used for position computation and measurements, wher

Command/Response Formats 219CommandsFZN: Set UTM Zone to Fix$PASHS,FZN,dThis command will set the UTM zone that will be held fixed, where d is the UT

4 Z-Family Technical Reference Manual[M] Remote MonitoringThe remote monitoring option allows the user to use the REMOTE.EXE to access and control the

220 Z-Family Technical Reference ManualHGT: Height Model Selection$PASHS,HGT,sSelect the height used in the position output messages, where s is a 3

Command/Response Formats 221CommandsExample: Set datum parameters$PASHS,UDD,0,637 8240, 297.323, 34.23, 121.4, 18.9, 0, 0, 0, 0 <enter>$PASHQ,U

222 Z-Family Technical Reference ManualThe parameters description for each map projection type is as follows: Table 6.154: UDG Structure for Equatori

Command/Response Formats 223CommandsThe following SPC27 map projections must be used in conjunction with the Clark 1866 ellipsoid (a = 6378206.4 m an

224 Z-Family Technical Reference ManualValues are derived from tables which can be obtained from various sources, including NGS Publication 62-4 (198

Command/Response Formats 225Commandsf9 : ω = Φ - [1052.893882 - (4.483344 - 0.002352 * cos^2Φ) * cos^2 Φ] * sin Φ * cos Φf11/f12/f13 : Ro = a * (1 -

226 Z-Family Technical Reference Manual-1190000.0,352000.0,2000000,500000 <enter>Example: Set datum to grid transformation parameters.$PASHS,UD

Reference A-1Reliance FundamentalsReferenceThe following tables list geodetic datums and reference ellipsoid parameters.The translation values are in

A-2 Z-Family Technical Reference ManualEUS International 1924 -86, -98, -119 European 1979 (Austria, Finland, Netherlands, Norway, Spain, Swe-den,

Reference Datums and Ellipsoids A-3Reference OGB Airy 1830 375, -111, 431 OSGOrdnance Survey of Great Britain 1936 (England,Isle of Man,Scot-land,Sh

Operation 5Operation 2OperationThis chapter describes receiver operations other than those available through the front panel.Receiver InitializationIt

A-4 Z-Family Technical Reference ManualClarke 1866 6378206.4 294.9786982 0.00339007530409Clarke 1880 6378249.145 293.465 0.00340756137870Everest (indi

SupportGlobal Product Support B-1 BGlobal Product SupportIf you have any problems or require further assistance, the Customer Support team can be reac

B-2 Z-Family Technical Reference ManualIf none of these suggestions solves the problem, contact the Customer Support team. To assist the Customer Supp

Global Product Support B-3SupportCorporate Web PageYou can obtain data sheets, GPS information, application notes, and a variety of useful information

B-4 Z-Family Technical Reference ManualSupported Protocols B.2 lists the protocols supported by the Customer Support BBS.The preferred protocols are Z

Global Product Support B-5SupportRepair CentersIn addition to repair centers in California and England, authorized distributors in 27 countries can as

B-6 Z-Family Technical Reference Manual

Index Index-1IndexIndexSymbols$GPALM, 149$GPGGA, 155$GPGLL, 157$GPGRS, 158$GPGSA, 160$GPGSN, 161$GPGSV, 163$GPGXP, 165$GPMSG, 166$GPRMC, 175$GPRRE, 17

Index-2 Z-Family Technical Reference Manual$PASHR,ALH, 76$PASHR,ALM, 143$PASHR,ANT, 79$PASHR,BEEP, 80$PASHR,CBN, 125$PASHR,CLM, 80$PASHR,CPD,ANT, 201$

Index Index-3Index$PASHS,NME,GRS, 158$PASHS,NME,GSA, 159$PASHS,NME,GSN, 161$PASHS,NME,GSV, 163$PASHS,NME,GXP, 164$PASHS,NME,MSG, 166$PASHS,NME,PER, 17

6 Z-Family Techncial Reference ManualData Recording (Z-Surveyor and Z-FX only)All data recording in the receiver (those that have memory capacity) is

Index-4 Z-Family Technical Reference Manualdatafile naming, 8output, 15recording, 6structure, 6transferring, 16types, 7Default Parameters, 17Different

Index Index-5IndexSsatellitein-view, 163residual and position error, 176status, 178session programming, 10setupcombined differential and RTK base stat

Index-6 Z-Family Technical Reference Manual

Operation 7Operationdirectory or in a sub-directory. The receiver creates and maintains directories and files on the PC Card using the file structure

8 Z-Family Techncial Reference Manualthe raw data files begin with the letter “B”, so they are referred to as B-Files. A list of the files is shown in

Operation 9Operationcharacters are replaced by underscores (“____”). In kinematic surveying it is common to change the site ID many times during the r

iiiTrademarksZ-Surveyor, Z-FX, Z-Sensor, Z-Eurocard, GPSTopo, and the Ashtech logo are registered trademarks of Magellan. All other product and brand

10 Z-Family Techncial Reference ManualSession ProgrammingThe Session Programming feature allows you to pre-set up to 10 observation sessions in the re

Operation 11OperationPosition Mode/ALT Fix ModePosition ModeThe receiver performs a position fix computation in four modes. The $PASHS,PMD command is

12 Z-Family Techncial Reference ManualChain mode, all commands entered in one serial port are passed back out through another serial port. The command

Operation 13Operationrear panel of the receiver (refer to your individual receiver manual for pinout information). The event marker feature allows the

14 Z-Family Techncial Reference Manualare interpolated to compute the position of the camera at the time the picture was taken. For example, suppose t

Operation 15Operation1PPS OutBy default, the receiver generates a TTL-level pulse every second within one microsecond of the GPS time for synchronizat

16 Z-Family Techncial Reference Manualmode is set to off, in which case the highest rate is 1 Hz (if Fast CPD mode is on, 10 HZ is available). Also, i

Operation 17Operationreceivers are moving together, their position measurements would be different, because each receiver will report a position for a

18 Z-Family Techncial Reference ManualFIX Altitude Hold Fix Mode Selection 0PEM Position Elevation Mask 10FUM Use of UTM Coordinates NFZN UTM Zone Sel

Operation 19OperationSession Programming Session Programming Default Parameters INUSE flag = NREF day = 000OFFSET = 00:00For all Sessions:Session Flag

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20 Z-Family Techncial Reference ManualRNG Ranger Mode Selection 0RAW data Raw Data Output Status OFF in all portsRaw data format Raw Data Output Forma

Operation 21OperationMultipath MitigationOverviewMultipath occurs when GPS signals arrive at the receiver after being reflected off some object. The r

22 Z-Family Techncial Reference Manualof the direct signal, for the Standard Correlator, the very well known Narrow Correlator and the new Ashtech Enh

Operation 23Operationin the ideal correlation function, so it is usually almost impossible for the correlator-base multipath integration to completely

24 Z-Family Techncial Reference Manualamplifier (LNA) which is built into most Ashtech antenna assemblies. When using different antennas with the rece

Operation 25OperationOnce these parameters are entered, the user can select to use them through the $PASHS,ANR,x command with x indicating the followi

26 Z-Family Techncial Reference Manual

Differential and RTK Operations 27Differential and RTK 3Differential and RTK OperationsReal-time differential positioning involves a reference (base)

28 Z-Family Technical Reference ManualDo not try to transmit corrections on the same receiver serial port you are using to set up the receiver from yo

Differential and RTK Operations 29Differential and RTK The receiver is set as a base station which transmits RTCM messages types 18 and 19 every seco

Table of Contents vReliance FundamentalsTable of ContentsChapter 1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

30 Z-Family Technical Reference ManualThe receiver is set as a base station which transmits RTCM messages types 20 and 21 every second, and types 3 an

Differential and RTK Operations 31Differential and RTK The receiver also transmits a BPS message (base position) every 30 seconds by default (the per

32 Z-Family Technical Reference Manualand 22 every minute. Following a power cycle it automatically starts transmitting these messages again (because

Differential and RTK Operations 33Differential and RTK setting is burst mode (9), which automatically adjusts the bit rate to the fastest possible ra

34 Z-Family Technical Reference ManualMessage sizeTable 3.6 lists the message size for RTCM messages 18 & 19 or 20 & 21.Table 3.7 lists the me

Differential and RTK Operations 35Differential and RTK For Ashtech DBN messages, the required minimum baud rate is the DBN rate multiplied by 10/8. T

36 Z-Family Technical Reference Manualusing a 24 hour simulation at 0° longitude. GPS geometry is primarily a function of latitude, and varies only sl

Differential and RTK Operations 37Differential and RTK may also be entered directly into the remote unit, using the $PASHS,CPD,POS and $PASHS,UBP com

38 Z-Family Technical Reference ManualFiller: Message 6 Null FrameThis message is provided for datalinks that require continuous transmission of data,

Differential and RTK Operations 39Differential and RTK which message types to expect, it will automatically use whatever it receives on serial port c

vi Z-Family Technical Reference ManualSynchronization to GPS Time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16Defau

40 Z-Family Technical Reference ManualSend the following commands to the receiver. The receiver accepts RTCM RTK data in message types 18 (Carrier pha

Differential and RTK Operations 41Differential and RTK Advanced Remote Station OperationBase Station DataBoth Differential remote stations and RTK re

42 Z-Family Technical Reference ManualAshtech remote receivers (both Differential and RTK) operate with any base station that generates the industry s

Differential and RTK Operations 43Differential and RTK In the case of CPD with RTCM 18 & 19 or 20 & 21, if the message is partially received,

44 Z-Family Technical Reference ManualFast RTKIn this mode the remote receiver’s update rate is selectable up to 10Hz, and is independent of the rate

Differential and RTK Operations 45Differential and RTK initialization. This carrier phase initialization is only necessary following power-on, or aft

46 Z-Family Technical Reference Manualc. Fixed solution, formal reliability = 99% (default)d. Fixed solution, formal reliability = 99.9% The command $

Differential and RTK Operations 47Differential and RTK Mask AnglesAt the remote station the position elevation mask is always controlled by $PASHS,PE

48 Z-Family Technical Reference Manualcorrections are automatically processed by the receiver. For diagnostic purposes, the RTCM messages can be outpu

Differential and RTK Operations 49Differential and RTK The receiver uses the six-of-eight format (data bits a1 through a 6 of an eight-bit byte) for

Table of Contents viiRTCM Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47Chapter 4. Understanding RTK/C

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Understanding RTK/CPD 51Understanding 4Understanding RTK/CPDThis chapter provides CPD operation in more detail by describing CPD solution monitoring,

52 Z-Family Techncial Reference ManualIn ASCII $PASHR,CBN message, a “1” in the third digit of the solution type field indicates the ambiguities are f

Understanding RTK/CPD 53Understanding Other solution messages are also available for query, and not to output periodically like CBN messages. These me

54 Z-Family Techncial Reference Manual5. Wait for more than two seconds, and then enter the next command to log the solution to the OBN file:$PASHQ,OB

Understanding RTK/CPD 55Understanding TroubleshootingThe following problems are sometimes encountered by users new to the receiver. If your system isn

56 Z-Family Techncial Reference ManualNo CPD solution • Verify that there are at least four common satellites between the base and the rover, using $P

Understanding RTK/CPD 57Understanding System Performance OptimizationCPD Solution ParametersTable 4.2 lists the commands which are provided for optimi

58 Z-Family Techncial Reference ManualIf the ambiguities are fixed incorrectly, the satellite geometry must change appreciably before the ambiguities

Understanding RTK/CPD 59Understanding Fast CPD: $PASHS,CPD,FSTFast CPD off achieves the ultimate in GPS accuracy. With Fast CPD off, sub-centimeter po

viii Z-Family Technical Reference ManualCLM: Clear/Reformat PCMCIA Card . . . . . . . . . . . . . . . . . . . . . . . . 80CTS: Port Protocol Setting

60 Z-Family Techncial Reference ManualInitialization: $PASHS,CPD,RSTIf you wish to reset the carrier phase cycle ambiguities that have been found, sen

Understanding RTK/CPD 61Understanding For CPD (RTK) application only, you can turn on type 3 and/or 22 and type 18/19 or 20/21 only.For RTCM code diff

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Coordinate Transformation 63Coordinate 5Coordinate TransformationThis chapter describes the coordinate transformation features of your receiver.Backg

64 Z-Family Technical Reference ManualThe remainder of this chapter describes in more detail the coordinate transformation features of your receiver.I

Coordinate Transformation 65Coordinate The generic formula used to translate and rotate from coordinate system 1 to coordinate system 2 is as follows:

66 Z-Family Technical Reference ManualInternally, the receiver implements the transformation from WGS-84 to WGS-72. Figure 5.1 demonstrates the change

Coordinate Transformation 67Coordinate Datum to GridThis transformation is used to generate coordinates in an <x,y> rectangular system, based on

68 Z-Family Technical Reference ManualProjection TypesThe following graphics represent the different types of projections available for you receiver.

Coordinate Transformation 69Coordinate Figure 5.4: Oblique Mercator Figure 5.5: Stereographic

Table of Contents ixRNG: Data Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108RST: Reset Receiver to default

70 Z-Family Technical Reference ManualElevation ModelingIn addition to the ability to compute and output geodetic and cartesian coordinates in differe

CommandsCommand/Response Formats 71 6Command/Response FormatsThis chapter details the formats and content of the serial port commands through which t

72 Z-Family Technical Reference ManualThe parameter type is indicated by the symbol that is a part of the syntax. The format of these parameters are

Command/Response Formats 73CommandsReceiver CommandsReceiver commands change or display various receiver operating parameters such as recording inter

74 Z-Family Technical Reference ManualThe format of the response message may either be in a comma deliminated format or in a free form table format,

Command/Response Formats 75CommandsPhotogrammetry/1PPS/Strobe$PASHS,PHE$PASHQ,PHE$PASHS,PPS$PASHQ,PPSSet photogrammetry edge (event marker)Display th

76 Z-Family Technical Reference ManualALH: Almanacs Messages Received$PASHQ,ALH,cThis command queries the receiver for the number of almanac messages

Command/Response Formats 77CommandsALT: Set Ellipsoid Height$PASHS,ALT,fSets the ellipsoidal height of the antenna, where f = ±99999.999 meters. The

78 Z-Family Technical Reference ManualWhen turned off, the parameters entered via $PASHS,ANT are ignored and the position is the position of the phas

Command/Response Formats 79CommandsExample: Set antenna offsets.$PASHS,ANT,1.678,0.1737,0.5,0,0 <enter>$PASHQ,ANT,cRequests the current antenn