<Header> +

<Payload_length>

<Payload>

PL0

PL1

PL2

PL3

PL4

PL5

…

$ESP_OK|xx|

‘W’

‘u’

Infor 1

Infor 2

Infor 3

Infor 4

...

Payload

Index

Type value

Min

Value

Max

Value

Default

Value

Min Length

Max Length

Describe

Unit

PL2

BIT

-

-

000000000

9

9

Type messages enable

PL3

INTEGER

0

10000

60

-

-

NMEA GGA repeat cycle

Second

PL4

INTEGER

0

10000

60

-

-

RTCM 1005 repeat cycle

Second

PL5

INTEGER

0

10000

60

-

-

RTCM 1006 repeat cycle

Second

PL6

INTEGER

0

10000

60

-

-

RTCM 1007 repeat cycle

Second

PL7

INTEGER

0

10000

60

-

-

RTCM 1008 repeat cycle

Second

PL8

INTEGER

0

10000

60

-

-

RTCM 1032 repeat cycle

Second

PL9

INTEGER

0

10000

60

-

-

RTCM 1033 repeat cycle

Second

PL10

INTEGER

0

10000

1

-

-

RTCM 1004 repeat cycle

Second

PL11

INTEGER

0

10000

1

-

-

RTCM 1012 repeat cycle

Second

PL12

FLOAT

-90.00

90.00

47.082164

-

-

Rover Latitude|

Deg

PL13

FLOAT

-180.0

180.0

2.399216

-

-

Rover Longitude

Deg

PL14

FLOAT

-1000000

10000000

10.000

-

-

Rover Altitude

Meter

PL15

STRING

-

-

GP

2

2

GGA Talker ID

PL16

FLOAT

-90.00

90.00

47.000000

-

-

Base Latitude

Deg

PL17

FLOAT

-180.0

180.0

2.000000

-

-

Base Longitude

Deg

PL18

FLOAT

-1000000

10000000

10.000

-

-

Base Altitude

Meter

PL19

FLOAT

0.00

6.5535

0

-

-

Base Antenna Height

Meter

PL20

INTEGER

0

3

0

-

-

Quarter Cycle Indicator

PL21

INTEGER

0

63

0

-

-

ITRF Realization Year

PL22

INTEGER

0

4095

0

-

-

Reference Station ID

PL23

INTEGER

0

4095

0

-

-

Physical Reference Station ID

PL24

INTEGER

0

255

123

-

-

Antenna Setup ID

PL25

PRINT

-

-

ADVNULLANTENNA

0

31

Antenna Descriptor

PL26

PRINT

-

-

0.0.0.0

0

31

Antenna Serial Number

PL27

PRINT

-

-

ESPRTK

0

31

Receiver Type Descriptor

PL28

PRINT

-

-

3.9.0 _ 4.x.x

0

31

Receiver Firmware Version

PL29

PRINT

-

-

[ESPrtk’s ID]

0

31

Receiver Serial Number

PL30

BIT

-

-

10000

5

5

GNSS System Indicator and Single Receiver Oscillator Indicator

PL31

INTEGER

1

32

20

-

-

Max satellite GPS

PL32

INTEGER

1

27

20

-

-

Max satellite GLONASS

PL33

INTEGER

1

35

1

-

-

Max satellite SBAS

PL34

INTEGER

1

96

96

-

-

Max OBS in an Epoch

PL35

INTEGER

0

1000

0

-

-

Cycle Time Adjustment

Second

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.

(*)

BIT8

Enable auto use default RTCM 1004 messsage if GNSS’s data not available.

(*)

BIT9

Enable auto use default RTCM 1012 messsage if GNSS’s data not available.

(*)

PL0

PL1

PL30

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.

(*)

PL0

PL1

PL35

Cycle Time Adjustment

Unit

‘W’

‘s’

0

Disabel this feature !

Value >= 1

Mode B if (Value -7)%10 = 0

Mode C if (Value -8)%10 = 0

Mode D if (Value -9)%10 = 0

Mode A if not (B & C & D )

Second

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

Message :

HOST Send

$ESP_OK|183|W|u|000000000|60|60|60|60|60|60|60|1|1|47.082164|2.399216|10.000|GP|47.000000|2.000000|10.000|0|0|0|0|0|123|ADVNULLANTENNA|0.0.0.0|ESPRTK|3.9.0 _ 4.x.x|TS9PC_S9SUB|10000|20|20|1|96|0|*2B0B

ACK Respond

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

NACK Respond

$ESP_ER|… or $ESS_ER|… or $AES_ER|…

Message :

HOST Send

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

ACK Respond

$ESP_OK|183|R|u|000000000|60|60|60|60|60|60|60|1|1|47.082164|2.399216|10.000|GP|47.000000|2.000000|10.000|0|0|0|0|0|123|ADVNULLANTENNA|0.0.0.0|ESPRTK|3.9.0 _ 4.x.x|TS9PC_S9SUB|10000|20|20|1|96|0|*2E0E

NACK Respond

$ESP_ER|… or $ESS_ER|… or $AES_ER|…

Rover Latitude(degree)

NMEA-0183

◉

○

○

○

○

○

○

○

○

Rover Longitude(degree)

NMEA-0183

◉

○

○

○

○

○

○

○

○

Rover Altitude(meter)

NMEA-0183

◉

○

○

○

○

○

○

○

○

Talker ID $__GGA

NMEA-0183

◉

○

○

○

○

○

○

○

○

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

RTCM-DF026

○

◉

◉

○

○

◉

○

○

○

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

RTCM-DF025

○

◉

◉

○

○

◉

○

○

○

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

RTCM-DF027

○

◉

◉

○

○

◉

○

○

○

Base 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

○

◉

◉

○

○

○

○

○

○

Max satellite GPS

ESPRTK

○

○

○

○

○

○

○

◉

◉

Max satellite GLONASS

ESPRTK

○

○

○

○

○

○

○

◉

◉

Max satellite SBAS

ESPRTK

○

○

○

○

○

○

○

◉

◉

Max OBS in an Epoch

ESPRTK

○

○

○

○

○

○

○

◉

◉

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.

Max satellite GPS

Max satellite GPS for RTCM-1004 generartor, range [1,32]. ( Reducing the value will save the RAM for ESPrtk.)

Max satellite GLONASSS

Max satellite GLONASS for RTCM-1012 generartor, range [1,27]. ( Reducing the value will save the RAM for ESPrtk.)

Max satellite SBAS

Max satellite SBAS, range [1,35]. ( Reducing the value will save the RAM for ESPrtk.)

Max OBS in an Epoch

Max OBS in an Epoch, range [1,96]. ( Reducing the value will save the RAM for ESPrtk.)

<Header> +

<Payload_length>

<Payload>

PL0

PL1

PL2

PL3

PL4

PL5

…

$ESP_OK|xx|

‘W’

‘u’

Infor 1

Infor 2

Infor 3

Infor 4

...

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

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

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|…

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|…