Difference between revisions of "Common-cmds-for-rtk"
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=== Output Rate === | __NOTOC__ | ||
=== Output Rate === | |||
{| class="wikitable" | {| class="wikitable" | ||
!ID !! 1Hz !! 5Hz !! Remark | !ID !! 1Hz !! 5Hz !! Remark | ||
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|} | |} | ||
=== Messages output === | === NMEA-0183 Messages output === | ||
{| class="wikitable" | {| class="wikitable" | ||
!ID !! NMEA !! Disable !! Enable !! Remark | !ID !! NMEA !! Disable !! Enable !! Remark | ||
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|} | |} | ||
=== RTCM output === | === RTCM Messages output === | ||
{| class="wikitable" | {| class="wikitable" | ||
!ID !! Msg Type!! Disable!! Enable !! Remark | !ID !! Msg Type!! Disable!! Enable !! Remark | ||
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| || || || || | | || || || || | ||
|} | |} | ||
=== Config the base staion's 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: | |||
{| class="wikitable" | |||
!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 ==== | |||
{| class="wikitable" | |||
!ID !! Desc. !! cmds | |||
|- | |||
| 20 || unlock || F1 D9 06 14 0C 00 00 00 00 00 00 00 00 00 00 00 00 00 26 34 | |||
|} | |||
=== RTK configuration === | |||
==== For Base station ==== | |||
*Config output rate to 1Hz | |||
*Disable NMEA messages output | |||
*Enable RTCM messages output | |||
**Enable 1005 | |||
**Enable MSM7 output for Raw Measurement data | |||
**Config the base station's coordinates | |||
***CFG-SURVEY to fix | |||
***Programming to generate the cmds from the known xyz coordinates [1] | |||
==== For Rover station ==== | |||
*Config output rate to 5hz | |||
*Disable RTCM messages output | |||
**Disable 1005 | |||
**Disable RTCM MSM output | |||
*Enable NMEA messages output | |||
=== Reference === | |||
[1] https://wiki.datagnss.com/index.php/Sample-codes | |||
[[Allystar_GNSS_Protocol]] |
Latest revision as of 18:29, 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 |
NMEA-0183 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 Messages 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 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
ID | Desc. | cmds |
---|---|---|
20 | unlock | F1 D9 06 14 0C 00 00 00 00 00 00 00 00 00 00 00 00 00 26 34 |
RTK configuration
For Base station
- Config output rate to 1Hz
- Disable NMEA messages output
- Enable RTCM messages output
- Enable 1005
- Enable MSM7 output for Raw Measurement data
- Config the base station's coordinates
- CFG-SURVEY to fix
- Programming to generate the cmds from the known xyz coordinates [1]
For Rover station
- Config output rate to 5hz
- Disable RTCM messages output
- Disable 1005
- Disable RTCM MSM output
- Enable NMEA messages output