Difference between revisions of "Common-cmds-for-rtk"
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!ID !! minDuration(s) !! accLimit(mm) !! cmds !! Remark | !ID !! minDuration(s) !! accLimit(mm) !! cmds !! Remark | ||
|- | |- | ||
| | | 17 || 30 || 5000 || F1 D9 06 12 08 00 1E 00 00 00 B8 0B 00 00 01 4F || Time priority | ||
|- | |- | ||
| | | 18 || 90 || 2000 || F1 D9 06 12 08 00 5A 00 00 00 D0 07 00 00 51 83 || Normal mode | ||
|- | |- | ||
| | | 19 || 300 || 1000 || F1 D9 06 12 08 00 2C 01 00 00 E8 03 00 00 38 6E || Accuracy priority | ||
|} | |} |
Revision as of 18:19, 12 October 2024
Output Rate
ID | 1Hz | 5Hz | Remark |
---|---|---|---|
0 | F1 D9 06 44 10 00 00 00 01 00 01 00 00 00 E8 03 00 00 00 00 00 00 47 13 | F1 D9 06 44 10 00 00 00 01 00 05 00 00 00 C8 00 00 00 00 00 00 00 28 2E | CFG-PWRCTL2 |
Messages output
ID | NMEA | Disable | Enable | Remark |
---|---|---|---|---|
1 | GGA | F1 D9 06 01 03 00 F0 00 00 FA 0F | F1 D9 06 01 03 00 F0 00 01 FB 10 | |
2 | GLL | F1 D9 06 01 03 00 F0 01 00 FB 11 | F1 D9 06 01 03 00 F0 01 01 FC 12 | |
3 | GSA | F1 D9 06 01 03 00 F0 02 00 FC 13 | F1 D9 06 01 03 00 F0 02 01 FD 14 | |
4 | GSV | F1 D9 06 01 03 00 F0 04 00 FE 17 | F1 D9 06 01 03 00 F0 04 01 FF 18 | |
5 | RMC | F1 D9 06 01 03 00 F0 05 00 FF 19 | F1 D9 06 01 03 00 F0 05 01 00 1A | |
6 | VTG | F1 D9 06 01 03 00 F0 06 00 00 1B | F1 D9 06 01 03 00 F0 06 01 01 1C | |
7 | ZDA | F1 D9 06 01 03 00 F0 07 00 01 1D | F1 D9 06 01 03 00 F0 07 01 02 1E | |
8 | GST | F1 D9 06 01 03 00 F0 08 00 02 1F | F1 D9 06 01 03 00 F0 08 01 03 20 | |
9 | GNTXT | F1 D9 06 01 03 00 F0 20 00 1A 4F | F1 D9 06 01 03 00 F0 20 01 1B 50 |
RTCM output
ID | Msg Type | Disable | Enable | Remark |
---|---|---|---|---|
11 | RTCM 1077 | F1 D9 06 01 04 00 F8 4D 00 FF 4F 15 | F1 D9 06 01 04 00 F8 4D 01 FF 50 17 | GPS MSM7 |
12 | RTCM 1087 | F1 D9 06 01 04 00 F8 57 00 FF 59 33 | F1 D9 06 01 04 00 F8 57 01 FF 5A 35 | GLONASS MSM7 |
13 | RTCM 1097 | F1 D9 06 01 04 00 F8 61 00 FF 63 51 | F1 D9 06 01 04 00 F8 61 01 FF 64 53 | GALILEO MSM7 |
14 | RTCM 1117 | F1 D9 06 01 04 00 F8 75 00 FF 77 8D | F1 D9 06 01 04 00 F8 75 01 FF 78 8F | QZSS MSM7 |
15 | RTCM 1127 | F1 D9 06 01 04 00 F8 7F 00 FF 81 AB | F1 D9 06 01 04 00 F8 7F 01 FF 82 AD | BDS MSM7 |
16 | RTCM 1005 | F1 D9 06 01 04 00 F8 05 00 FF 07 3D | F1 D9 06 01 04 00 F8 05 01 FF 08 3F | BASE Station Coordinates |
Config the base staion's fixed coordinates
CFG-SURVEY survey mode
The receiver automatically receives the data and averages the coordinates, then once it reaches the specified accuracy, it automatically sets the coordinates to a known coordinate.
For example:
ID | minDuration(s) | accLimit(mm) | cmds | Remark |
---|---|---|---|---|
17 | 30 | 5000 | F1 D9 06 12 08 00 1E 00 00 00 B8 0B 00 00 01 4F | Time priority |
18 | 90 | 2000 | F1 D9 06 12 08 00 5A 00 00 00 D0 07 00 00 51 83 | Normal mode |
19 | 300 | 1000 | F1 D9 06 12 08 00 2C 01 00 00 E8 03 00 00 38 6E | Accuracy priority |
Unlock the fixed coordinates
F1 D9 06 24 18 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 42 E4
RTK configuration
For Base station
- Config output rate to 1Hz
- Disable NMEA messages output
- Enable RTCM messages output
- Enable 1005
- Config the base station's fixed coordinate
- CFG-SURVEY to fix
- Programming code to generate the cmds from the known xyz coordinates [1]
- Enable MSM7 output for Raw Measurement data
For Rover station
- Config output rate to 5hz
- Disable RTCM messages output
- Disable 1005
- Disable RTCM MSM output
- Enable NMEA messages output