Disneyland 1972 Love the old s

 

Command Write Configure - POSITION_ANTENNA

<Header> +

<Payload_length>

<Payload>

PL0

PL1

PL2

PL3

PL4

PL5

$ESP_OK|xx|

‘W’

‘u’

Infor 1

Infor 2

Infor 3

Infor 4

...

Name CFG : POSITION_ANTENNA

Number of field values : 24

 

 

Payload

Index

Type value

Min

Value

Max

Value

Default

Value

Min Length

Max Length

Describe

Unit

PL2

BIT

-

-

1000001

7

7

Type messages enable

 

PL3

INTEGER

0

10000

5

-

-

NMEA GGA repeat cycle

Second

PL4

INTEGER

0

10000

5

-

-

RTCM 1005 repeat cycle

Second

PL5

INTEGER

0

10000

5

-

-

RTCM 1006 repeat cycle

Second

PL6

INTEGER

0

10000

5

-

-

RTCM 1007 repeat cycle

Second

PL7

INTEGER

0

10000

5

-

-

RTCM 1008 repeat cycle

Second

PL8

INTEGER

0

10000

5

-

-

RTCM 1032 repeat cycle

Second

PL9

INTEGER

0

10000

5

-

-

RTCM 1033 repeat cycle

Second

PL10

STRING

-

-

GP

2

2

GGA Talker ID

 

PL11

FLOAT

-90.00

90.00

47.082164

-

-

Antenna Latitude

Deg

PL12

FLOAT

-180.0

180.0

2.399216

-

-

Antenna Longitude

Deg

PL13

FLOAT

-1000000

10000000

10.000

-

-

Antenna Altitude

Meter

PL14

FLOAT

0.00

6.5535

0

-

-

Antenna Height

Meter

PL15

INTEGER

0

3

0

-

-

Quarter Cycle Indicator

 

PL16

INTEGER

0

63

0

-

-

ITRF Realization Year

 

PL17

INTEGER

0

4095

0

-

-

Reference Station ID

 

PL18

INTEGER

0

4095

0

-

-

Physical Reference Station ID

 

PL19

INTEGER

0

255

123

-

-

Antenna Setup ID

 

PL20

PRINT

-

-

ADVNULLANTENNA

0

31

Antenna Descriptor

 

PL21

PRINT

-

-

0.0.0.0

0

31

Antenna Serial Number

 

PL22

PRINT

-

-

ESPRTK

0

31

Receiver Type Descriptor

 

PL23

PRINT

-

-

3.9.0 _ 4.x.x

0

31

Receiver Firmware Version

 

PL24

PRINT

-

-

[ESPrtk’s ID]

0

31

Receiver Serial Number

 

PL25

BIT

-

-

10000

5

5

GNSS System Indicator and Single Receiver Oscillator Indicator

 


 

 

 

PL0

PL1

PL2

Type messages enable

Unit

‘W’

‘s’

BIT1

Enable auto use default NMEA GGA messsage if GNSS’s data not available.

(*)

 

 

BIT2

Enable auto use default RTCM 1005 messsage if GNSS’s data not available.

(*)

 

 

BIT3

Enable auto use default RTCM 1006 messsage if GNSS’s data not available.

(*)

 

 

BIT4

Enable auto use default RTCM 1007 messsage if GNSS’s data not available.

(*)

 

 

BIT5

Enable auto use default RTCM 1008 messsage if GNSS’s data not available.

(*)

 

 

BIT6

Enable auto use default RTCM 1032 messsage if GNSS’s data not available.

(*)

 

 

BIT7

Enable auto use default RTCM 1033 messsage if GNSS’s data not available.

(*)

 

(*) : BIT = 1 is Enable , BIT = 0 is Disable .

 


PL0

PL1

PL25

GNSS System Indicator and Single Receiver Oscillator Indicator

Unit

‘W’

‘s’

BIT1

GPS Indicator in use.

(*)

 

 

BIT2

GLONASS Indicator in use.

(*)

 

 

BIT3

GALILEO Indicator in use.

(*)

 

 

BIT4

Reference Indicator in use.

(*)

 

 

BIT5

Single Receiver Oscillator Indicator in use.

(*)

 

(*) : BIT = 1 is In Use , BIT = 0 is not In use .

 

ESPrtk Respond

Payload

Index

 

Type value

Min

Value

Max

Value

Min Length

Max Length

Describe

Unit

PL2

‘u’

STRING

-

-

1

1

ID Configure : POSITION_ANTENNA

 

 

PL3

INTEGER

0

1

-

-

Status Configure

 

0

Error: Failed to save , please try again

1

OK : Saved configure success

 

PL4

STRING

-

-

-

-

Describe Status Configure in text string format

 


Example

Message :

HOST Send

$ESP_OK|131|W|u|1000001|5|5|5|5|5|5|5|GP|47.082164|2.399216|10.000|0|0|0|0|0|123|ADVNULLANTENNA|0.0.0.0|ESPRTK|3.9.0 _ 4.x.x|TS9PC_S9SUB|10000|*314B

ACK Respond

$ESP_OK|50|W|u|1|( ID : POSITION_ANTENNA ) : Saved Success .|*3613

NACK Respond

$ESP_ER|… or $ESS_ER|… or $AES_ER|…

 

TIP ! : The table below describes the data fields to be used by the different types of messages when they are enabled.

 

Name

Standard

GGA

1005

1006

1007

1008

1032

1033

Talker ID $__GGA

NMEA-0183

Antenna Latitude
(degree)(or auto convert to ECEF)

NMEA-0183
RTCM-DF026

Antenna Longitude
(degree)(or auto convert to ECEF)

NMEA-0183
RTCM-DF025

Antenna Altitude
(meter)(or auto convert to ECEF)

NMEA-0183
RTCM-DF027

Antenna Height (meter)

RTCM-DF028

Quarter Cycle Indicator

RTCM-DF364

Reserved for ITRF Realization Year

RTCM-DF021

Reference Station ID

RTCM-DF003

Physical Reference Station ID (0,4095)

RTCM-DF226

Antenna Setup ID

RTCM-DF031

Antenna Descriptor

RTCM-DF030

Antenna Serial Number

RTCM-DF033

Receiver Type Descriptor

RTCM-DF228

Receiver Firmware Version

RTCM-DF230

Receiver Serial Number

RTCM-DF232

GPS Indicator
GLONASS Indicator
GALILEO Indicator
Reference Indicator

RTCM-DF022
RTCM-DF023
RTCM-DF024
RTCM-DF141

Single Receiver Oscillator Indicator

RTCM-DF142

 

TIP ! : The table below describes the meanings of the fields defined according to the NMEA0183 and RTCM3.2 message standards.

 

 

 

Field

Data Field Notes

GGA - NMEA 0183

When used in the configuration field of ESPrtk, the input format is the geodetic coordinates (Lat-Long-Alt) used for NMEA-GGA messages.

RTCM3.2-DF025

RTCM3.2-DF026

RTCM3.2-DF027

The antenna reference point X-Y-Z-coordinate is referenced to ITRF epoch as given in DF021.

When used in the configuration field of ESPrtk, the input format is geodetic coordinates (Lat-Long-Alt) and will be converted automatically to Cartesian ECEF (XYZ) coordinates when used in RTCM 1005 , 1006,1032 messages.

RTCM3.2-DF028

The Antenna Height field provides the height of the Antenna Reference Point above the marker used in the survey campaign.

RTCM3.2-DF364

The Quarter Cycle Indicator denotes whether different carrier phase signals tracked on the same frequency have a common phase, i.e. whether or not the fractional PhaseRanges of two signals on the same frequency show a quarter cycle difference (see also section 3.1.7 for further explanation).The definition of the indicator relates exclusively to the correction status of the quarter cycle, and applies to Messages Types 1001, 1002, 1003, 1004, 1009, 1010, 1011, 1012 . Other possible corrections cannot be indicated by this indicator.

  • 0 - Correction status unspecified

  • 1 - PhaseRanges in Message Types 1001, 1002, 1003, 1004, 1009, 1010, 1011, 1012 are corrected in such a way that whenever PhaseRanges for different signals on the same frequency are present in these messages, they are guaranteed to be in phase and thus shall show no Quarter-Cycle bias between them (see Table 3.1-5 for details on the adjustments made). Double differences of PhaseRanges tracked with different signals shall show no QuarterCycle differences.

  • 2 - Phase observations are not corrected. Double differences may show Quarter-Cycle differences for PhaseRanges based on different signals on the same frequency. Processing will require appropriate corrections.

  • 3 – Reserved

RTCM3.2-DF021

ITRF Realization Year .

Since this field is reserved, all bits should be set to zero for now. However, since the value is subject to change in future versions, decoding should not rely on a zero value. The ITRF realization year identifies the datum definition used for coordinates in the message.

RTCM3.2-DF003

The Reference Station ID is determined by the service provider. Its primary purpose is to link all message data to their unique source. It is useful in distinguishing between desired and undesired data in cases where more than one service may be using the same data link frequency. It is also useful in accommodating multiple reference stations within a single data link transmission. In reference network applications the Reference Station ID plays an important role, because it is the link between the observation messages of a specific reference station and its auxiliary information contained in other messages for proper operation. Thus the Service Provider should ensure that the Reference Station ID is unique within the whole network, and that ID’s should be reassigned only when absolutely necessary. Service Providers may need to coordinate their Reference Station ID assignments with other Service Providers in their region in order to avoid conflicts. This may be especially critical for equipment accessing multiple services, depending on their services and means of information distribution.

RTCM3.2-DF226

The Physical Reference Station ID specifies the station ID of a real reference station, when the data stream itself is based on a nonphysical reference station. Consequently, for the Physical Reference Station ID the same notes apply as for DF003.

RTCM3.2-DF031

  • 0 - Use standard IGS Model .

  • 1-255 - Specific Antenna Setup ID# The Antenna Setup ID is a parameter for use by the service provider to indicate the particular reference station-antenna combination. The number should be increased whenever a change occurs at the station that affects the antenna phase center variations. While the Antenna Descriptor and the Antenna Serial Number give an indication of when the installed antenna has been changed, it is envisioned that other changes could occur. For instance the antenna may have been repaired, or the surrounding of the antenna may have been changed and the provider of the service may want to make the user station aware of the change. Depending on the change of the phase center variations due to a setup change, a change in the Antenna Setup ID would mean that the user should check with the service provider to see if the antenna phase center variation in use is still valid. Of course, the provider must make appropriate information available to the users.

RTCM3.2-DF030

Alphanumeric characters. IGS limits the number of characters to 20 at this time, but this DF allows more characters for future extension.

RTCM3.2-DF033

Alphanumeric characters. The Antenna Serial Number is the individual antenna serial number as issued by the manufacturer of the antenna. A possible duplication of the Antenna Serial Number is not possible, because together with the Antenna Descriptor only one antenna with the particular number will be available. In order to avoid confusion the Antenna Serial Number should be omitted when the record is used together with reverse reduction to model type calibration values, because it cannot be allocated to a real physical antenna.

RTCM3.2-DF228

Any text string for Receiver Type Descriptor can be use. Max length = 31 characters.

RTCM3.2-DF230

Receiver Firmware Version

RTCM3.2-DF232

Receiver Serial Number

RTCM3.2-DF022

  • 0 - No GPS service supported

  • 1 - GPS service supported

RTCM3.2-DF023

  • 0 - No GLONASS service supported

  • 1 - GLONASS service supported

RTCM3.2-DF024

  • 0 - No Galileo service supported

  • 1 - Galileo service supported

RTCM3.2-DF141

Reference-Station Indicator .

 

  • 0 - Real, Physical Reference Station

  • 1 - Non-Physical or Computed Reference Station

     

Note: A Non-Physical or Computed Reference Station is typically calculated based on information from a network of reference stations. Different approaches have been established over years. The NonPhysical or Computed Reference Stations are sometimes trademarked and may not be compatible. Examples of these names are “Virtual Reference Stations”, “Pseudo-Reference Stations”, and “Individualized Reference Stations”.

 

RTCM3.2-DF142

  • 0 - All raw data observations in messages 1001-1004 and 1009-1012 may be measured at different instants. This indicator should be set to “0” unless all the conditions for “1” are clearly met.

  • 1 - All raw data observations in messages 1001-1004 and 1009-1012 are measured at the same instant, as described in Section 3.1.4.

 

 

Command Read configure - POSITION_ANTENNA

ESPrtk Respond

The index / range of values / data types is similar to the index / range of values / data types of payloads when configured.

Example

Message :

HOST Send

$ESP_OK|5|R|u||*7329

ACK Respond

$ESP_OK|131|R|u|1000001|5|5|5|5|5|5|5|GP|47.082164|2.399216|10.000|0|0|0|0|0|123|ADVNULLANTENNA|0.0.0.0|ESPRTK|3.9.0 _ 4.x.x|TS9PC_S9SUB|10000|*344E

NACK Respond

$ESP_ER|… or $ESS_ER|… or $AES_ER|…

 

 

Command Write Configure - POSITION_ANTENNA

<Header> +

<Payload_length>

<Payload>

PL0

PL1

PL2

PL3

PL4

PL5

$ESP_OK|xx|

‘W’

‘u’

Infor 1

Infor 2

Infor 3

Infor 4

...

 

Name CFG : POSITION_ANTENNA

Number of field values : 16

Payload

Index

Type value

Min

Value

Max

Value

Default

Value

Min Length

Max Length

Describe

Unit

PL2

FLOAT

-90.00

90.00

47.082164

-

-

Latitude

Deg

PL3

FLOAT

-180.0

180.0

2.399216

-

-

Longitude

Deg

PL4

FLOAT

-1000000

10000000

10.000

-

-

Height

Meter

PL5

INTEGER

0

4095

0

-

-

Reference Station ID

 

PL6

PRINT

-

-

ADVNULLANTENNA

1

31

Antenna Descriptor

 

PL7

INTEGER

0

255

123

-

-

Antenna Setup ID

 

PL8

PRINT

-

-

0.0.0.0

1

31

Antenna Serial Number

 

PL9

PRINT

-

-

ESPRTK

1

31

Receiver Type Descriptor

 

PL10

PRINT

-

-

3.9.0 _ 4.x.x

1

31

Receiver Firmware Version

 

PL11

PRINT

-

-

[ID]

1

31

Receiver Serial Number

 

PL12

INTEGER

0

1

1

-

-

Auto Send NMEA-GGA

 

PL13

INTEGER

0

10000

5

-

-

NMEA (GGA) update cycle

Second

PL14

PASS_A

-

-

GP

2

2

GGA Talker ID

 

PL15

INTEGER

0

1

1

-

-

Auto send BaseSation Antenna Info

 

PL16

INTEGER

0

10000

15

-

-

BaseSation Antenna update cycle

Second

PL17

INTEGER

0

3

0

-

-

Antenna info Type message

 



PL0

PL1

PL13

Auto Send NMEA-GGA

Unit

‘W’

‘u’

0

Disable Auto Send NMEA-GGA

 

 

 

1

Enable Auto Send NMEA-GGA

 

 

PL0

PL1

PL15

Auto send BaseSation Antenna Info

Unit

‘W’

‘t’

0

Disable Auto send BaseSation Antenna Info

 

 

 

1

Enable Auto send BaseSation Antenna Info

 



ESPrtk Respond

Payload

Index

 

Type value

Min

Value

Max

Value

Min Length

Max Length

Describe

Unit

PL2

‘u’

STRING

-

-

1

1

ID Configure : POSITION_ANTENNA

 

 

PL3

INTEGER

0

1

-

-

Status Configure

 

0

Error: Failed to save , please try again

1

OK : Saved configure success

 

PL4

STRING

-

-

-

-

Describe Status Configure in text string format

 


Example

Message :

HOST Send

$ESP_OK|106|W|u|47.082164|2.399216|10.000|0|ADVNULLANTENNA|123|0.0.0.0|ESPRTK|3.9.0 _ 4.x.x|TS9PC_S9SUB|1|5|GP|1|15|0|*002A

ACK Respond

$ESP_OK|50|W|u|1|( ID : POSITION_ANTENNA ) : Saved Success .|*3613

NACK Respond

$ESP_ER|… or $ESS_ER|… or $AES_ER|…

 

 

Command Read configure - POSITION_ANTENNA

ESPrtk Respond

The index / range of values / data types is similar to the index / range of values / data types of payloads when configured.

Example

Message :

HOST Send

$ESP_OK|5|R|u||*7329

ACK Respond

$ESP_OK|106|W|u|47.082164|2.399216|10.000|0|ADVNULLANTENNA|123|0.0.0.0|ESPRTK|3.9.0 _ 4.x.x|TS9PC_S9SUB|1|5|GP|1|15|0|*002A

NACK Respond

$ESP_ER|… or $ESS_ER|… or $AES_ER|…