Spectra-precision ProMark 800 Reference Manual Manual do Utilizador

Reference ManualProMark™ 800

viGNS: GNSS Fix Data ...306GPS: GPS Tracking Status...

88RTK Implementationinterference in the data link between the base and the rover. Regardless of the cause, the rover will only provide an RTK position

89RTK Implementationconfiguration, a typical latency time in Spectra Precision receivers is 15 ms. Use Context. Fast RTK should be used when consisten

90RTK ImplementationIn the above Fast RTK mode example, the output rate has been set to twice the base data output rate.Whereas the Time-Tagged mode c

91RTK ImplementationRTK PositionOutput RateIn Time-tagged RTK mode, clearly the rover’s position output rate is equal to the RTK correction data outpu

92RTK Implementation

93Chapter 6. TroubleshootingList of Alarms Alarms are reported on the receiver display screen. A blinking warning sign appears on the status screen pr

94Troubleshooting5 Medium File close errorReceiver failed to close the raw data file. Try again. If still unsuccess-ful, turn off the receiver and try

95Troubleshooting26 Medium No radio detectedReceiver fails to communicate with the external or internal radio device, or radio does not respond to you

96Troubleshooting47 Medium GSM protocol errorCorrect protocol used and try again. If error persists, call your local dealer or email technical support

97Troubleshooting111 High Option S has expiredThe use of the [S] firmware option was granted to you for a limited period of time, which has now expire

viiRTC,MSI: RTCM Message Status ...361RWO: Raw Data Output Settings...

98TroubleshootingReceiver is Not Tracking Satellites202 Medium Invalid link speedYou are trying to set a baud rate that is not appropriate. Find which

99TroubleshootingStep 1. Has theReceiver BeenPowered Up?To determine if the receiver is powered up, examine the power LED on the front panel of the re

100Troubleshooting3. If the receiver still fails to track any satellites, a component may be malfunctioning. Call your local dealer or email technical

101Troubleshooting• Connect a USB stick to the receiver through the USB device cable provided and press the Log button again.• Restore the default set

102TroubleshootingStep 1. Is theReceiver Fittedwith theAppropriate RadioModule?The radio module used should be compatible with the radio transmitter u

103Troubleshooting• If this is not possible, move to higher ground or a location where there is less obstruction.• If, after moving, the rover radio b

104TroubleshootingLink icon the rover’s General Status screen. The base and rover radio will receive any traffic on the frequency they are set to caus

105TroubleshootingOnce the receiver is set to function in RTK (i.e. RTK firmware option has been enabled), it will compute RTK quality positions. In o

106Troubleshootingthan 5° above the horizon. Ensure at least 5 healthy satellites are available. If not, you will need to perform your survey at anoth

107Troubleshooting• If the receiver is set to function as an RTK rover, go to step 2.Step 2. Are theBase and RoverTracking at least 5commonSatellites?

viii

108TroubleshootingHRMS value. The same relationship holds for VDOP and VRMS.Therefore, poor satellite geometry will result in poor solution precision.

109TroubleshootingLogging Data for RTK Troubleshooting Purposes - Reporting a Problem to Tech SupportLogging the data received, processed and output b

110Troubleshooting$PASHQ,VERSION$PASHQ,OPTION$PASHQ,PARLog these responses in Terminal mode (with Hyperterminal for example) at a speed of 19600 Bd in

111Chapter 7. MiscellaneousATOM File Naming ConventionsRaw data files in ATOM format are named using the following syntax:G<Site><Index>&l

112MiscellaneousFor some reason, for example you are using your receiver in conjunction with older equipment, you may need to revert to V1. This is po

113MiscellaneousReset Procedure The receiver may be reset to the default settings using the Log+Scroll+Power button combination. Release the three bu

114Miscellaneous• Load Config? will first show up if a PAR file is stored on the USB key.• Upload Script? will show up after 10 seconds of displaying

115MiscellaneousThe following messages will appear in succession:Analyzing File...Loading PM_<Date>.PAR...At the end of the upload procedure, th

116MiscellaneousSaving a ReceiverConfigurationSaving the whole configuration of a receiver may be done using the $PASHS,PAR,SAV command. The configura

117Miscellaneousreceives them, then the rover position will automatically be delivered in the requested local coordinate system.To output the position

1Chapter 1. IntroductionWhat is ProMark 800?Congratulations! You have just acquired the latest multi-frequency, multi-constellation ProMark 800 GNSS S

118Miscellaneous6. Connect the USB key now containing the upgrade files to the receiver’s USB connector through cable P/N 702104 (provided).7. Hold do

119MiscellaneousEnabling a Firmware Option•Set up your equipment in such a way that it can successfully receive and process a serial command sent from

120Miscellaneouslocated at the bottom of the case, on which you can insert your SIM card.• Insert the SIM card as shown below.• Put the radio module o

121Miscellaneous• When next turning on the ProMark 800, don’t forget to use the Power+Log+Scroll button combination. By restoring the factory settings

122MiscellaneousSoftwareRequirements &Features• The computer used to run the RTDS software is Internet-accessible through a static IP address and

123Miscellaneous1. You first need to know which IP address should be entered in your surveying system to establish a Direct IP connection to the RTDS

124MiscellaneousGPRS mode is selected). See RTDS on-line help for more details.7. Start the RTDS server and let the software run throughout your field

125MiscellaneousSerial PortsBluetoothModemInternal Radio(Port D)Parameter Range DefaultPort A baud rate 300 to 115200 Bd 19200 BdPort A RTS/CTS protoc

126MiscellaneousNMEA Messages,Computed Dataxxx: NMEA message type ALM, DTM, GGA, GLL, GMP, GNS, GRS, GSA, GST, GSV, RMC, SGA, SGL, SGP, VTG, ZDA, CRT,

127MiscellaneousGNSS ReceptionNote: Refer to $PASHS,CFG and $PASHS,GPS for more information on the frequencies received for each constellation.Antenna

2IntroductionBasic SupplyStandardAccessories(Can be ordered separately as spare parts.)Item Part Number PictureProMark 800 GNSS receiver with stan-dar

128Miscellaneous*: Message type 1, 3, 9, 16, 18, 20, 22, 23, 24, 31, 32, 34 or 36.**: Message type 1001, 1002,.. 1013, 1019, 1020, 1029 or 1033.***: M

129MiscellaneousGenerating log files automatically Enabled, disabledEnabled, 1 Mbyte size limit, saved for 10 daysAuto-dial mode Yes, No Yes1 PPS OFF-

130Miscellaneous

ProMark 800 Serial Commands & Data Outputs Supplement

ProMark 800 Serial Commands & Data Outputs Supplement

133Appendix A. Using Serial CommandsIntroduction to Serial CommandsSerial commands allow you to communicate directly with the receiver in its propriet

134Using Serial CommandsIn response to a well recognized and properly executed set command, the receiver will return the message:$PASHR,ACK*3DA set co

135Using Serial CommandsInterfacing the chosen program with the receiver is achieved by establishing a connection through one of the computer’s COM po

136Using Serial CommandsRunning a Series of CommandsFirst of all, you need to create a TXT file containing all the commands you want the receiver to r

137Using Serial Commands• Connect the USB key to the receiver.• Wait until the USB logo appears on the receiver screen and a message is prompted (Uplo

3IntroductionCommunicationModules andAssociatedAntennasBase AccessoriesField bag 206490-ASHItem Part Number PictureItem Part Number PictureADL Vantage

138Using Serial Commands List of CommandsThe two categories of commands (set/query) are combined in a single table. Commands appear in alphabetical or

139Using Serial Commands$PASHS,CTS Handshaking $PASHQ,CTS Handshaking$PASHQ,DBN,MSI DBEN message type & rate$PASHS,DBN,TYP DBEN message type &

140Using Serial Commands$PASHQ,NTR NTRIP settings$PASHS,NTR,LOD Loading NTRIP source table$PASHS,NTR,MTP Connect to NTRIP mount point $PASHQ,NTR,MTP C

141Using Serial Commands$PASHQ,RWO Raw data output settings$PASHS,SBA SBAS tracking (ON/OFF) $PASHQ,SBA SBAS tracking status$PASHS,SIT Site name $PASH

142Using Serial Commands$PASHQ,GSV GNSS satellites in view$PASHQ,POS Computed position data$PASHQ,PTT PPS time tag$PASHQ,RMC Recomm. min. specific GNS

143Appendix B. Set Command LibraryAGB: Enabling/Disabling GLONASS Bias AdjustmentsFunction This command is used to enable or disable the adjustment of

144Set Command LibraryANH: Antenna HeightFunction This command allows you to enter the antenna height . If not specified, the height measurement type

145Set Command Librarythe antenna, all its phase center offsets as well as the elevation-dependent delays (in 5-degree steps).Command Format Syntax$PA

146Set Command LibraryANP,DEL: Delete User-Defined AntennaFunction This command allows you to delete the definition of a user-defined antenna.Command

147Set Command LibraryParametersExamplesSetting the ADVNULLANTENNA as the virtual antenna:$PASHS,ANP,OUT,ADVNULLANTENNA*73Disabling the use of the vir

4IntroductionEquipment Description & Basic FunctionsFront Panel ViewIndicators &ControlsPower buttonTo turn on the ProMark 800, hold the Power

148Set Command LibraryCommand Format Syntax$PASHS,ANP,REF,s1[,d2][*cc]ParametersComments• Specifying the antenna name allows the receiver to know the

149Set Command LibraryParametersExampleSetting the antenna reduction mode to ON:$PASHS,ANR,ON*05Relevant QueryCommand$PASHQ,ANRSee also $PASHS,ANH$PAS

150Set Command LibraryCommand Format Syntax$PASHS,ANT,f1,f2,f3[,m4,f5][*cc]Diagrams and Definitions• ARP: Antenna Reference Point (usually bottom of t

151Set Command LibraryParametersExamplesEntering the vertical measurement (2 m) of a rover antenna:$PASHS,ANT,0,0,2.000*2EEntering the slant measureme

152Set Command LibraryRelevant QueryCommand$PASHQ,ANTSee Also $PASHS,ANH$PASHS,ANRATL: Debug Data RecordingFunction This command allows you to enable

153Set Command LibraryParametersExampleEnabling the ATL message:$PASHS,ATL,ON*01Comment • If the memory selected through $PASHS,MEM is unavailable, th

154Set Command LibraryParametersATOM Messages:$PASHS,ATM,ATR is used only to enable or disable the recording or output of ATOM ATR XDR messages. These

155Set Command LibraryATOM PVT messages contain the following sub-blocks: COO, ERR, VEL, CLK, LCY, HPR, BLN, MIS, PRR and SVS.DAT messages are generat

156Set Command LibraryATM,PER: Setting Unique Output Rate for all ATOM MessagesFunction This command is used to set the same output rate for all ATOM

157Set Command LibraryParametersExampleSetting to ATOM V2:$PASHS,ATM,VER,2*5ERelevant QueryCommand$PASHQ,PARSee also $PASHS,ATMBAS: Differential Data

5IntroductionUsed in conjunction with the Scroll button, the display screen allows you to view different pages of information. See Display Screens on

158Set Command LibraryParametersCommentsWhen the GLONASS-only mode is activated ($PASHS,GPS,OFF and/or $PASHS,PGS,GLO), the following messages are not

159Set Command LibraryBEEP: Beeper SetupFunction This command enables or disables the internal beeper.Command Format Syntax$PASHS,BEEP,s1[,d2][*cc]Par

160Set Command LibraryParametersExamplesEnabling RTC Bridge in the receiver by forwarding RTK corrections from the modem to its port A (to which the l

161Set Command Library$PASHS,CPD,REMUsing RTC Bridge The RTC Bridge function is typically used to allow a rover to forward the RTK corrections it rece

162Set Command Library3. In the Device field, select “ARF7474..” corresponding to the license-free radio used. 4. Tap on and complete the license-fr

163Set Command LibraryParametersExampleNaming the Bluetooth device as “My Surveying Unit”:$PASHS,BTH,NAME,My Surveying Unit*60Relevant QueryCommand$PA

164Set Command LibraryCFG: GNSS Tracking ConfigurationFunction This command is used to set the GNSS tracking configuration in the receiver.Command For

165Set Command Library Comments• Changing the GNSS tracking configuration will automatically cause the receiver to re-start.• The settings you make by

166Set Command Library$PASHS,GALCMD,LOD: Running a List of $PASH CommandsFunction This command is used to run the complete list of $PASH commands stor

167Set Command Library• To insert an idle wait time of several seconds between any two $PASH commands, you can insert a specific command named $PASHS,

6IntroductionBottom ViewBattery,Connectors &ModuleBattery Model & Battery CompartmentThe battery used in the ProMark 800 is a 7.4-V DC - 4600

168Set Command LibraryComments This command will be interpreted by the receiver only if found in a command file.Relevant QueryCommandNone.See also $PA

169Set Command LibraryRelevant QueryCommand$PASHQ,CMR,MSISee also $PASHS,BAS$PASHS,CPD,MOD,BASCPD,AFP: Setting the Confidence Level of Ambiguity Fixin

170Set Command LibraryCPD,FST: RTK Output ModeFunction This command enables or disables the fast RTK output mode (Fast CPD mode).Command Format Syntax

171Set Command LibraryParametersExamplesSetting the receiver as a base using all constellations:$PASHS,CPD,MOD,BAS,0*28Setting the receiver as a rover

172Set Command Library• In “Hot Standby RTK” (s1=BKP), the receiver computes two independent positions from the two independent corrections streams en

173Set Command LibraryParametersExampleSetting the receiver to process GPS and GLONASS network corrections:$PASHS,CPD,NET,1,1*51Relevant QueryCommand$

174Set Command LibraryParametersExamplesSetting the receiver to receive and process differential data in Automatic mode:$PASHS,CPD,REM,AUT*38Setting t

175Set Command LibraryExampleResetting the RTK processing:$PASHS,CPD,RST*5BRelevant QueryCommandNone.CPD,VRS: VRS Assumption ModeFunction This command

176Set Command LibraryCTS: HandshakingFunction This command enables or disables the RTS/CTS handshaking protocol for the specified port. If no port is

177Set Command LibraryParametersExamplesSelecting DBEN message type “RPC” at 0.5 second:$PASHS,DBN,TYP,RPC,0.5*26Selecting DBEN message type “BPS” at

7IntroductionGSM AntennaA coaxial female connector (SMA type) allowing you to connect a GSM whip antenna to the ProMark 800.Radio AntennaA coaxial fem

178Set Command LibraryParametersCommentsOptional fields s3 and s4 need to be specified when the base used requires a user name and password. In this c

179Set Command LibraryExamplesTerminating the current connection:$PASHS,DIP,OFF*4BRelevant QueryCommand$PASHQ,MDMSee also $PASHS,DIP$PASHS,DIP,PAR$PAS

180Set Command LibraryCommand Format Syntax$PASHS,DIP,PAR,ADD,s1,PRT,d2[,LGN,s3,PWD,s4][*cc]ParametersCommentsWhen connecting to the specified server

181Set Command LibraryCommand Format Syntax$PASHS,DRD,d[*cc]ParametersComments• The command will be NAKed if the ring file buffer is currently active

182Set Command LibraryParametersExampleSetting the recording rate to 5 seconds:$PASHS,DRI,5*33Relevant QueryCommand$PASHQ,DRISee also $PASHS,ATM$PASHS

183Set Command LibraryDiscontinuing the daisy chain mode for all source ports:$PASHS,DSY,OFF[*cc]ParametersExamplesRedirecting port D to port A:$PASHS

184Set Command LibraryParametersExampleSetting rover dynamics to “Walking”:$PASHS,DYN,3*39CommentsIn the adaptive mode (8), the receiver analyzes its

185Set Command LibraryParametersExampleSetting the elevation mask to 10 degrees:$PASHS,ELM,10*1CFIL,D: Deleting FilesFunction This command allows you

186Set Command LibraryCommentsIf the file you want to delete is the only file present in the selected memory and this file is currently being used, th

187Set Command Library• The “*” character can be used as a wild card to delete several files at the same time. In this case, the complete string shoul

Copyright NoticeCopyright 2011-2013 Trimble Navigation Limited. All rights reserved.P/N 631668 B, January 2013TrademarksAll product and brand names me

8IntroductionAntennaCharacteristicsThe diagram below gives the dimensional parameters of the ProMark 800 antenna required for the system to determine

188Set Command LibraryParametersCommentsThe command is NAKed if the [O] option is not installed or the receiver does not support Galileo.ExampleEnabli

189Set Command LibraryParametersExampleEnabling GLONASS:$PASHS,GLO,ON*1CRelevant QueryCommand$PASHQ,GLOSee also $PASHS,SBA$PASHS,CFG$PASHS,GPS$PASHS,G

190Set Command LibraryParametersRemember the settings you make with $PASHS,CFG have priority over those made with $PASHS,GPS.The table below summarize

191Set Command LibraryExampleEnabling GPS reception:$PASHS,GPS,ON,1C,2W*0BRelevant QueryCommand$PASHQ,GPS$PASHQ,PARSee also $PASHS,CFG$PASHS,SBA$PASHS

192Set Command LibraryParametersExampleResetting all and restarting the receiver:$PASHS,INI,1*26Relevant QueryCommandNone.See also $PASHS,RSTLCS: Enab

193Set Command LibraryParametersExampleEnabling the use of the local coordinate system in the receiver:$PASHS,LCS,ON*04Relevant QueryCommands$PASHQ,LC

194Set Command LibrarySee Also $PASHQ,LOGLOG,PAR: Log File SettingsFunction This command is used to set the log file. A log file keeps track of the di

195Set Command LibraryCommand Format Syntax$PASHS,LTZ,d1,d2[*cc]ParametersExampleSetting local time to UTC+2:$PASHS,LTZ,2,0*35Relevant QueryCommand$PA

196Set Command LibraryRelevant QueryCommand$PASHQ,MDMSee also $PASHS,MDM,PARMDM,OFF: Powering Off the Internal ModemFunction This command is used to p

197Set Command Library$PASHS,MDM,ON*1CRelevant QueryCommand$PASHQ,MDMSee also $PASHS,MDM,OFFMDM,PAR: Setting the Modem ParametersFunction This command

9IntroductionDisplay ScreensIf you press the Scroll button several times, you will see the following displays successively.Power-On Screen When you po

198Set Command LibraryExampleSetting GPRS Configuration:$PASHS,MDM,PAR,PWR,AUT,PIN,1234,APN,orange.fr,LGN,orange,PWD,orange,IPT,0,ADL,Y,NET,1*68Releva

199Set Command LibraryParametersExampleSetting port A to RS422:$PASHS,MDP,A,422Relevant QueryCommand$PASHQ,MDPSee also $PASHS,PRT$PASHS,CTSMEM: Select

200Set Command LibrarySee also $PASHS,FIL,D$PASHQ,FLS$PASHQ,FIL,LSTMWD: Setting the Modem TimeoutFunction This command is used to set the modem watchd

201Set Command LibraryCommand Format Syntax$PASHS,NME,s1,c2,s3[,f4][*cc]ParametersNMEA messages:NMEA-like messages:Parameter Description Ranges1 Data

202Set Command LibraryExampleSetting GGA message on Bluetooth port at 1-second output rate:$PASHS,NME,GGA,C,ON,1*01Comments • For ALM messages, the f4

203Set Command LibraryParametersExampleDisabling all NMEA and NMEA-like messages on port A:$PASHS,NME,ALL,A,OFF*50 NME,PER: Setting Unique Output Rat

204Set Command LibraryNPT: Tagging SBAS Differential Positions in NMEA & NMEA-Like MessagesFunction This command allows you to define the code the

205Set Command LibraryCommand Format Syntax$PASHS,NTR,LOD[*cc]ParametersNone.ExampleLoading the source table:$PASHS,NTR,LODIf the source table is down

206Set Command LibraryNTR,MTP: Connecting Receiver to NTRIP Caster Mount PointFunction This command allows you to connect the receiver to a NTRIP cast

207Set Command LibraryNTR,PAR: NTRIP SettingsFunction This command allows you to set all the NTRIP parameters.Command Format Syntax$PASHS,NTR,PAR[,ADD

10Introduction• Number of satellites used [4]: Number of satellites used in the position processing, regardless of the current position solution statu

208Set Command LibraryOCC: Writing Occupation Data to Raw Data FileFunction This command is used to write information about the current occupation to

209Set Command LibraryOPTION: Receiver Firmware OptionsFunction This command is used to install the receiver firmware options that have been purchased

210Set Command Librarysignals. Alternatively, you can run $PASHS,RST to update the default configuration, taking into account all the activated firmwa

211Set Command LibraryParametersExamplesChanging the receiver configuration by loading the PAR file saved on the USB memory:$PASHS,PAR,LOD*5DChanging

212Set Command LibraryCommand Format Syntax$PASHS,PAR,SAV[,d1][*cc]ParametersCommentsThe command will create a PAR file named as follows:PM_SSSSS_dddh

213Set Command LibraryPEM: Setting the Position Elevation MaskFunction This command is used to set the elevation mask used in the position processing.

214Set Command LibraryParametersExampleSetting the update rate to 10 Hz:$PASHS,POP,20*17Comments• Outputting data at 20 Hz through $PASHS,NME, $PASHS,

215Set Command LibraryParametersExampleSetting the antenna position to 37°22.2912135’N, 121°59.7998217’W and 15.25 m:$PASHS,POS,3722.2912135,N,12159.

216Set Command LibraryParametersExampleSetting the PPS signal to a period of 2 seconds, with an offset of 500 ms and a GPS-synchronized rising edge:$P

217Set Command LibraryExampleSetting port A to 19200 Bd:$PASHS,PRT,A,6Relevant QueryCommand$PASHQ,PRTSee also $PASHS,CTS$PASHS,MDPPWR,OFF: Powering Of

11Introduction• GSM module (modem) status [12]. This may be one of the following icons:•[13]: USB status and/or Bluetooth status. Memory Screens From

218Set Command LibraryCommand Format Syntax$PASHS,PWR,PAR,f1,f2[*cc]ParametersExampleSetting the thresholds to respectively 7 and 9 V:$PASHS,PWR,PAR,7

219Set Command LibrarySee Also $PASHS,CFG$PASHS,SBA$PASHS,GPS$PASHS,GLO$PASHS,GALRAW: Enabling/Disabling Raw Data Messagesin Legacy Ashtech FormatFunc

220Set Command LibraryExamplesEnabling output of MPC message type on port A to 1 second:$PASHS,RAW,MPC,A,ON,1*1EEnabling output of SNV message type on

221Set Command LibrarySee also $PASHS,RAW,PER$PASHS,RAW,ALL$PASHS,POPRAW,ALL: Disabling All Raw Data MessagesFunction This command is used to disable

222Set Command LibraryCommand Format Syntax$PASHS,RAW,PER,f[*cc]ParametersExampleSetting the data output rate to 2 seconds:$PASHS,RAW,PER,2*44Relevant

223Set Command LibraryParametersComments • Only fractional parts of GLONASS carrier phase biases are of practical importance. • Running one of these c

224Set Command LibraryParametersExampleDeleting receiver name “MyReceiver”:$PASHS,RCP,DEL,MyReceiver*74Relevant QueryCommand$PASHQ,RCPSee Also $PASHS,

225Set Command LibraryASHTECHProMark500ProMark800ProFlex500ProFlex800MB500PM5BP1MB800MMapper100ProMark100MB100NOVATELTRIMBLESEPTENTRIOTOPCONJAVADExamp

226Set Command LibraryRelevant QueryCommand$PASHQ,RDP,PAR,DSee also $PASHS,RDP,ON$PASHS,RDP,PARRDP,ON: Powering On the Internal RadioFunction This com

227Set Command Librarys2Radio Model:• PDL (Pacific Crest):• PDL RXO (internal, port D)• PDL HPB/LPB (external, port A)• ADL (Pacific Crest):• ADL RXO

12IntroductionRight screen:• First line: Total space occupied by the files currently stored in the internal memory.• Second line: Nominal size of the

228Set Command LibraryCommentsd6Air link speed (in baud):PDL:• 4800 (GMSK modulation)• 9600 (GMSK or 4FSK modulation)• 19200 (4FSK modulation)MDL:• 48

229Set Command Library• The command will be NAKed if the receiver has not been told on which port the radio is connected. Use command $PASHS,RDP,TYP t

230Set Command Libraryparticular FEC setting. The different possible combinations are summarized in the table below.Conversely, the choice of a protoc

231Set Command LibraryExamplesSetting the internal Pac Crest radio receiver:$PASHS,RDP,PAR,D,PDL,2,AUT,0,9600,LOW,0,0*75Setting the internal U-Link Rx

232Set Command LibraryParametersExamplesAuto-detecting the internal radio receiver:$PASHS,RDP,TYP,D,UNKNOWN*4ESetting the external radio as a Pacific

233Set Command LibraryCommand Format Syntax$PASHS,REC,c[*cc]ParametersExamplesStarting raw data recording:$PASHS,REC,Y*54Stopping raw data recording:$

234Set Command LibraryRNX,TYP: ATOM RNX Differential MessageFunction This command is used in a receiver used as a base to define the type and output r

235Set Command LibraryExampleChoosing scenario 4 with 1 sec and 30 sec for the output rates:$PASHS,RNX,TYP,4,1,30*6ARelevant QueryCommand$PASHQ,RNX,MS

236Set Command LibraryComments The following GSM parameters are not affected by the $PASHS,RST command:• PIN code• Access Point Name (GPRS)• Login (GP

237Set Command LibraryRTC,TYP: RTCM Message TypeFunction This command is used to choose the RTCM messages type that will be generated and broadcast by

13Introductiondepending on whether or not a projection is defined in the local coordinate system used),If the receiver is a rover, the displayed posit

238Set Command LibraryExamplesSetting RTCM message types 18 and 19 (output rate: 1 s):$PASHS,RTC,TYP,18,1Disabling all RTCM 3.x messages:$PASHS,RTC,TY

239Set Command LibrarySBA: Enabling/Disabling SBAS TrackingFunction This command is used to enable or disable SBAS tracking.Command Format Syntax$PASH

240Set Command Library$PASHS,SIT,ECC1*63Relevant QueryCommand$PASHQ,SITSee also $PASHS,RECSNM: Signal-To-Noise Ratio MaskFunction This command is used

241Set Command Library• Channel warnings (WRN)As a result of the presence of these masks, only the signal observations meeting the required level of q

242Set Command LibrarySOM,CTT: Cumulative Tracking Time MaskFunction This command is used to mask the signal observations that do not meet the minimum

243Set Command LibraryRelevant QueryCommand$PASHQ,PAR$PASHQ,SOM,CTTSee Also $PASHS,SOM$PASHS,SOM,SNR$PASHS,SOM,NAV$PASHS,SOMM,WRNSOM,NAV: Navigation D

244Set Command Library– The corresponding satellite navigation data are available and valid.– The L1CA pseudo-range and computed range are in agreemen

245Set Command LibraryCommand Format Syntax$PASHS,SOM,SNR,f1[,f2][*cc]ParametersComments• The $PASHS,SOM,SNR command can only mask particular signal d

246Set Command Library$PASHS,SOMM,WRNSOM,WRN: Channel Warnings MaskFunction This command is used to mask the signal observations for those signals fla

247Set Command Library• The $PASHS,SOM,WRN command equally affects all GNSS systems.ExamplesSetting WRN masks for both differential and raw data:$PASH

14Introductionslowly scrolled to the right if four parameters have to be displayed in the line.ATL RecordingScreenPressing the Scroll button from the

248Set Command LibraryNoteIf the chosen station ID is beyond the upper limit in the applicable range, then the value “31” is chosen instead (i.e. “31”

249Set Command LibraryUDP: User-Defined Dynamic Model ParametersFunction This command is used to set the upper limits of the dynamic model (velocity,

250Set Command LibraryCommand Format Syntax$PASHS,UNT,s1[*cc]ParametersExampleChoosing US Survey Feet:$PASHS,UNT,F*50Relevant QueryCommand$PASHQ,UNT

251Set Command LibraryParametersComments• Use the command as many times as the number of satellites you want to disable from tracking.• The tracking o

252Set Command LibraryRelevant QueryCommand$PASHQ,PAR USR,POS: Setting Position for User Message Type “GGA”Function: This function is used to define

253Set Command LibraryUSR,TYP: Defining User Message TypeFunction: This function is used to set the type of user message the receiver will generate af

254Set Command LibraryCommand Format Syntax$PASHS,USR,TXT,s[*cc]ParametersExample$PASHS,USR,TXT,”this the text of the user message”Relevant QueryComma

255Set Command LibraryComments • All output data, except for legacy MPC, DPC and RPC, are always clock steered.• Legacy MPC, DPC and RPC data appear a

256Set Command LibraryZDA: Setting Date & TimeFunction This command is used to set the date and time in the receiver.Command Format Syntax$PASHS,Z

257Appendix C. Query Command LibraryAGB: Reading GLONASS Bias SettingFunction This command tells you whether L1 & L2 GLONASS carrier biases are cu

15IntroductionMemoryManagementScreenFrom the ATL Recording screen, press the Scroll button to access the Memory Management screen. The flowchart belo

258Query Command LibraryALM: Almanac MessageFunction This command allows you to output the latest GPS almanac data. Each response line describes the a

259Query Command Library$GPALM,31,4,04,65535,00,4298,4E,0069,FD46,A10D5C,0EE3DC,3C2E3E,51DDF9,FF0,FFF*0A...Automatic Outputof ALM MessagesThis is a re

260Query Command LibrarySee also $PASHQ,ANRANP: Antenna ParametersFunction This command allows you to read the antenna parameters of the specified ant

261Query Command Library +004.2 +003.5 +002.5 +001.1 -000.7 -002.8 -005.1 +000.0 +000.0Relevant SetCommands$PASHS,ANP,OWN$PASHS,ANP,REF$PA

262Query Command LibraryParametersNone.Response Format Syntax$PASHR,ANP,OWN,s1,s2,s3*ccParametersExample $PASHQ,ANP,OWN$PASHR,ANP,OWN,ASH802147,201143

263Query Command Library$PASHR,ANP,RCV,ASH802147,-2.00,0.70,103.00,-3.4,-2.2,103.80*09ANP,REF: Antenna Used at the BaseFunction This command returns t

264Query Command LibraryCommand Format Syntax$PASHQ,ANR[*cc]Response Format Syntax$PASHR,ANR,s1*ccParametersExample $PASHQ,ANR$PASHR,ANR,ON*04Relevant

265Query Command LibraryParametersExample $PASHQ,ANT$PASHR,ANT,0,0,2.000,0,0*49 (vertical, 2.000 m)Relevant SetCommand$PASHS,ANTSee also

266Query Command LibraryParametersExamples Data recording disabled:$PASHQ,ATL*2E$PASHR,ATL,OFF,0,S,1,0*2CData recording enabled and in progress:$PASHQ

267Query Command LibraryATM: ATOM Data ParametersFunction This command allows you to read the current settings of the ATOM data-related parameters.Com

16Introduction• Remove the battery door, accessible from underneath the ProMark 800, by loosening the two quarter-turn screws (see picture) using a co

268Query Command LibraryRelevant SetCommand$PASHS,ATMSee also $PASHQ,ATM$PASHQ,ATOATO: ATOM Message Output SettingsFunction This command allows you to

269Query Command LibraryParametersResponse Format Syntax$PASHR,ATO,c1,d2,f3,d4,7(s5,f6)*ccParametersExample Querying ATOM message parameters as curren

270Query Command LibraryResponse Format Syntax$PASHR,BAS,c1,s2[,c3,s4]*ccParametersExamples The response line below reports RTCM 3.x messages sent on

271Query Command LibraryBEEP: Beeper StateFunction This command is used to read the current state of the internal beeper.Command Format Syntax$PASHQ,B

272Query Command LibraryBRD: RTC BridgeFunction This command allows you to list the current settings of the RTC Bridge function.Command Format Syntax$

273Query Command LibraryBTH: Bluetooth SettingsFunction This command is used to read the current Bluetooth settings.Command Format Syntax$PASHQ,BTH[*c

274Query Command LibraryParametersExample $PASHQ,CFG$PASHR,CFG,DSL*1DSee Also $PASHS,CFGCMR,MSI: CMR Message StatusFunction This command is used in a

275Query Command LibraryExample The response line below reports four enabled CMR messages, type “0” and “3” at 1 second, and types “1” and “2” at 30 s

276Query Command LibraryCommand Format Syntax$PASHQ,CPD,ANT[*cc]Response Format Syntax$PASHR,CPD,ANT,f1,f2,f3,m4,f5*ccParametersExample $PASHQ,CPD,ANT

277Query Command LibraryCPD,FST: Fast RTK Output ModeFunction This command is used to read the current setting for fast RTK output mode.Command Format

17Introduction• Plug the adapter into an AC outlet. Battery charging starts immediately.For a low battery that’s being charged, you will first see the

278Query Command LibraryParametersExampleThe response line below indicates that the receiver is configured as a base, uses the GPS and GLONASS constel

279Query Command LibraryCPD,NET: RTK Network Operation ModeFunction This command is used to read the current setting of the RTK network operation mode

280Query Command LibraryCPD,POS: Base PositionFunction If applied to a base, this command allows you to read the geographic coordinates previously ent

281Query Command LibraryCPD,REM: Differential Data PortFunction This command allows you to read the port IDs that route differential data to a rover a

282Query Command LibrarySee also $PASHQ,CPD,MODCPD,VRS: VRS Assumption ModeFunction This command allows you to read the current setting of the VRS ass

283Query Command LibraryCRT: Cartesian Coordinates of PositionFunction This command allows you to get the message containing the absolute ECEF coordin

284Query Command LibraryCommentThe code allotted to a position solution of the SBAS differential type is either “1” or “9”, depending on the last $PAS

285Query Command LibraryDBN,MSI: DBEN Message StatusFunction This command is used in a base receiver to read the current settings of the DBEN messages

286Query Command LibraryDCR: Cartesian Coordinates of BaselineFunction This command allows you to output the DCR message containing the ECEF component

287Query Command LibraryCommentThe code allotted to a position solution of the SBAS differential type is either “1” or “9”, depending on the last $PAS

How To Use this DocumentationPlease read this section to understand the or-ganization of the present manual. This will help you navigate more easily t

18Introduction• New Z-Blade technology for optimal GNSS performance–New Ashtech GNSS centric algorithm: Fully independent GNSS satellites tracking &am

288Query Command LibraryExample $PASHQ,DDS$PASHR,DDS,1,140235.33,A,RT3,200,100,0,100,5,50,1.05,1.00,3,1004,1.000,0.500,1005,30.000,18.000,1006,30.000,

289Query Command LibraryParametersExamples$PASHQ,DIP$PASHR,DIP,RIP,192.65.54.1,PRT,80*xx$PASHQ,DIP$PASHR,DIP,RIP,www.ashtech.com,PRT,8080*xxRelevant S

290Query Command LibraryDPO: Delta PositionFunction This command is used to output a DPO message containing the components of the last computed vector

291Query Command LibraryCommentThe code allotted to a position solution of the SBAS differential type is either “1” or “9”, depending on the last $PAS

292Query Command LibraryCommand Format Syntax$PASHQ,DRI[*cc]Response Format Syntax$PASHR,DRI,f1*ccParametersExample$PASHQ,DRI$PASHR,DRI,1.00*18Relevan

293Query Command LibraryParametersExampleCommand reporting data on port A forwarded to port C:$PASHQ,DSY$PASHR,DSY,A,C*38Relevant SetCommand$PASHS,DSY

294Query Command LibraryParametersExample$PASHQ,DTM$GPDTM,999,2.324525,N,1.499476,W,1.365,W84*37See Also $PASHS,NME Automatic Outputof DTM MessagesTh

295Query Command LibraryDYN: Receiver DynamicsFunction This command allows you to query the current setting for the receiver dynamics.Command Format S

296Query Command LibraryELM: Elevation MaskFunction This command is used to read the current value of the elevation mask. The elevation mask impacts d

297Query Command LibraryParametersExample$PASHQ,FIL,CUR$PASHR,FIL,CUR,GazerA09.123,1769897,14032009,130850,0*63See Also $PASHS,REC$PASHS,MEMFIL,LST: L

19Introduction• Horizontal: 3 mm (0.009 ft) + 0.5 ppm• Vertical: 5 mm (0.016 ft) + 0.5 ppmHigh-Precision Static (6)• Horizontal: 3 mm (0.009 ft) + 0.1

298Query Command LibraryExample$PASHQ,FIL,LST*53$PASHR,FIL,LST,4,0,GazerA09.123,1769897,14032009,130850*74$PASHR,FIL,LST,4,1,GazerB09.123,1769876,1003

299Query Command LibraryFLS: List of Raw Data FilesFunction This command is used to list the raw data files stored in the selected memory (cf. $PASHS,

300Query Command Library$PASHS,MEMGAL: GALILEO Tracking StatusFunction This command queries the receiver for the current GALILEO tracking status.Comma

301Query Command LibraryParametersExample $PASHQ,GGA$GPGGA,131745.00,4717.960847,N,00130.499476,W,4,10,0.8,35.655,M,47.290,M,3.0,1000*61Comment The co

302Query Command LibraryAs an example, the command below will output GGA messages on port A at a rate of 0.5 second: $PASHS,NME,GGA,A,ON,0.5 GLL: Geog

303Query Command LibraryAutomatic Outputof GLL MessagesThis is a reminder on how to output GLL messages at regular intervals of time: Use the $PASHS,N

304Query Command LibraryGLO: GLONASS Tracking StatusFunction This command is used to query the GLONASS tracking status.Command Format Syntax$PASHQ,GLO

305Query Command LibraryParametersExample $PASHQ,GMPParameter Description Range“$--GMP” Header$GPGMP: Only GPS satellites are used.$GLGMP: Only GLONAS

306Query Command Library$GPGMP,131745.00,LOC,,45215.125,14587.298,R,11,1.5,125.221,5.214,1.5,454*xxSee also $PASHS,NMEAutomatic Outputof GMP MessagesT

307Query Command LibraryExample $PASHQ,GNS$GNGNS,131745.00,4717.960847,N,00130.499476,W,RR,10,0.8,35.655,47.290,3.0,1000*61See Also $PASHS,NMEAutomati

20IntroductionEnvironmentalCharacteristics• Operating temperature: -30° to +60°C (-22° to +140°F)• Storage temperature: -40° to +70°C (-40° to +158°F)

308Query Command LibraryGPS: GPS Tracking StatusFunction This command queries the receiver for the current GPS tracking status.Command Format Syntax$P

309Query Command LibraryGRS: GNSS Range ResidualsFunction This command is used to output a GRS message containing the satellite range residuals. The m

310Query Command Library$PASHS,NME,GRS,A,ON,0.5 GSA: GNSS DOP and Active SatellitesFunction This command is used to output a GSA message containing da

311Query Command Library$GNGSA,A,3,81,83,68,,,,,,,,,,1.6,0.9,1.3*2CSee also $PASHS,NME Automatic Outputof GSA MessagesThis is a reminder on how to out

312Query Command LibraryGST: GNSS Pseudo-Range Error StatisticsFunction This command is used to output a GST message containing standard deviations re

313Query Command LibraryFor more details on the $PASHS,NME command, refer to the Set Command Library Chapter.As an example, the command below will out

314Query Command LibraryGSV: GNSS Satellites in ViewFunction This command is used to output a GSV message containing information on the satellites in

315Query Command LibraryExample $PASHQ,GSV$GPGSV,2,1,07,20,61,066,50,11,30,146,36,13,41,200,50,23,73,134,52*7C$GPGSV,2,2,07,33,34,198,42,17,40,242,50,

316Query Command LibraryParametersExample$PASHQ,LCS$PASHR,LCS,ON*05Relevant SetCommand$PASHS,LCS LOG: Editing a Log FileFunction This command is used

317Query Command Library• The first line contains the date when the log file was created. • The second line indicates the maximum size (in Mb) permitt

21IntroductionEnabling a firmware option purchased separately from the system relies on the use of the $PASHS,OPTION serial command. For more informat

318Query Command LibraryLOG,LST: Listing Log FilesFunction This command is used to read the list of log files present in the receiver.Command Format S

319Query Command LibraryParametersNone.Response format Syntax$PASHR,LOG,PAR,s1,d2,d3*ccParametersExample$PASHQ,LOG,PAR*5C$PASHR,LOG,PAR,OFF,1,20*0FRel

320Query Command LibraryExample$PASHQ,MDM$PASHR,MDM,E,9,ONLINE,PWR=MAN,PIN=,BND=1,PTC=1,CBS=1,APN=a2bouygtel.com,LGN=,PWD=,IPT=0,PHN=,ADL=Y,RNO=2,MOD=

321Query Command LibraryMDM,LVL: Modem Signal LevelFunction This command is used to query the current level of the modem signal.Command Format Syntax$

322Query Command LibraryParametersExample $PASHQ,MDM,STS$PASHR,MDM,STS,INIT,"Orange F",2G,60*77See Also $PASHQ,MDMMDP: Port A SettingFunctio

323Query Command LibrarySee also $PASHQ,CTSMEM: Selected Memory DeviceFunction This command is used to query the memory device used by the receiver.Co

324Query Command LibraryResponse Format Syntax$PASHR,MWD,d1,d2*ccParametersExample$PASHQ,MWD$PASHR,MWD,0*36Relevant SetCommand$PASHS,MWDSee also $PASH

325Query Command LibraryNMO: NMEA Message Output SettingsFunction This command is used to query the types of NMEA messages currently enabled on the sp

326Query Command LibraryExample$PASHQ,NMO,A$PASHR,NMO,A,6,001.00,28,ALM,0.00,DTM,0.00,GGA,0.00,GLL,0.00,GNS,0.00,GRS,0.00,GSA,0.00,GST,0.00,GSV,0.00,H

327Query Command LibraryParametersExample$PASHQ,NPT$PASHR,NPT,0,0*3ERelevant SetCommand$PASHS,NPT NTR: NTRIP SettingsFunction This command is used to

22IntroductionRS Port (Port A) 7-C Connector, Type: Fischer DBPU 102 A056-139RS232 Configuration:RS422 Configuration:USB Port USB 2.0, full speed.9-C

328Query Command LibraryParametersExample$PASHQ,NTR$PASHR,NTR,ADD=192.34.76.1,PRT=2100,LGN=Ashtech,PWD=u6huz8,TYP=0*2DSee also $PASHS,NTR,PAR$PASHQ,NT

329Query Command Library$PASHR,NTR,MTP,NAN2*06Relevant SetCommand$PASHS,NTR,MTPNTR,TBL: Source TableFunction This command is used to read the source t

330Query Command LibraryGER;51.00;6.42;0;0;Javad Legacy E;none;B;N;3600;noneSTR;HUEG0;Huegelheim;RAW;Compact(1);2;GPS+GLO;IGSIGLOS;GER;47.82;7.62;0;0;

331Query Command LibraryParametersExamples$PASHQ,OCC$PASHR,OCC,2,1*38Relevant SetCommand$PASHS,OCCParameter Description Ranged1Occupation type:•0: Sta

332Query Command LibraryOPTION: Installed Receiver Firmware OptionsFunction This command is used to list the firmware options currently installed in t

333Query Command Library$APSHR,OPTION,#,REGISTRATION CODE,057743D104182*07$PASHR,OPTION,K,RTK,6756975c71766*36 $PASHR,OPTION,S,GLONASS,6756945714671*7

334Query Command LibraryParametersResponse Format Examples$PASHQ,PAR,STA$PASHQ,PAR,OUTParameter Description Ranges1Type of receiver settings.If s1 is

335Query Command Libraryetc.The parameters returned by $PASHQ,PAR,OUT should be interpreted as follows:• “OFF” means the message is currently not outp

336Query Command LibraryPEM: Position Elevation MaskFunction This command is used to read the current value of the elevation mask used in the position

337Query Command LibraryParametersExample$PASHQ,POP*38$PASHR,POP,10*16Relevant SetCommand$PASHS,POPParameter Description Ranged Current update rate, i

23Introduction2GND3 Device (D+)4 Device (D-)5 Host (VBus)6 Host (D+)7Host (D-)8 Device Detection9NCPin Signal Name

338Query Command LibraryPOS: Computed Position DataFunction This command allows you to query the computed position.Command Format Syntax$PASHQ,POS[*cc

339Query Command Library$PASHR,POS,3,10,151858.00,4717.960848,N,00130.499487,W,82.972,,0.0,0.0,-0.0,2.0,1.1,1.7,1.3,G010*49CommentThe code allotted to

340Query Command LibraryParametersExample$PASHQ,PPS$PASHR,PPS,1,500,R*5DRelevant SetCommand$PASHS,PPSPRT: Baud Rate SettingsFunction This command is u

341Query Command LibraryParametersExample$PASHQ,PRT,A$PASHR,PRT,A,6*55Relevant SetCommand$PASHS,PRTSee also $PASHQ,CTS$PASHQ,MDP PTT: PPS Time TagFunc

342Query Command LibraryParametersExampleEnabling the receiver to output the PTT message on port A:$PASHS,NME,PTT,A,ONGenerating the PPS time tag mess

343Query Command LibraryParametersCommentsWith no internal battery in, fields f4, d5 and d7 are all empty. With no external power source applied, fiel

344Query Command LibraryResponse Format Syntax$PASHR,QZS,s*ccParametersExampleReading QZSS tracking:$PASHQ,QZS$PASHR,QZS,OFF*xxRelevant SetCommand$PAS

345Query Command LibraryParametersRelevant SetCommand$PASHS,RAWRCP: Receiver ParametersFunctionCommand FormatSyntaxParameter Description RangePER Outp

346Query Command LibraryParametersResponse Format The response is in user-readable form.RCP,OWN: Receiver NameFunction This command is used to read th

347Query Command LibraryCommand Format Syntax$PASHQ,RCP,REF[*cc]ParametersNone.Response format Syntax$PASHR,RCP,REF,s1,d2*ccParametersExample$PASHQ,RC

24Introduction

348Query Command LibraryParametersComments• Running this command should always be preceded by the execution of the $PASHQ,RDP,PAR command, otherwise t

349Query Command LibraryRDP,LVL: Reading the Radio Reception LevelFunction This command is used to read the current level of signal at the radio recei

350Query Command LibraryParametersResponse Format Syntax$PASHR,RDP,PAR,c1,s2,s3,c4,s5,c6,c7,s8,f9,f10,c11,s12,s13[,f14][,c15][,c16][,s17][,s18][,s19][

351Query Command Libraryc6Protocol used:PDL:• 0: Transparent•1: TRIMTALK•2: DSNPMDL:• 0: Transparent•1: Not used•2: DSNPADL radios, XDL:• 0: Transpare

352Query Command LibraryExampleIf an internal PDL radio receiver is used:$PASHQ,RDP,PAR,D$PASHR,RDP,PAR,D,PDL,ON,0,AUT,0,4800,MED,444.5500,446.7750,12

353Query Command Library RDP,TYP: Radio Type UsedFunction This command is used to query the type of radio used on the specified port.Command Format Sy

354Query Command LibraryRelevant SetCommand$PASHS,RDP,TYP

355Query Command LibraryREC: Raw Data Recording StatusFunction This command allows you to read the current raw data recording status.Command Format Sy

356Query Command LibraryCommand Format Syntax$PASHQ,RID[*cc]Response Format Syntax$PASHR,RID,s1,d2,s3,s4,s5,s6*ccParametersExample$PASHQ,RID*28$PASHR,

357Query Command LibraryResponse Format Syntax$GPRMC,m1,c2,m3,c4,m5,c6,f7,f8,d9,f10,c11,c12*ccParametersExample $PASHQ,RMC$GPRMC,160324.50,A,4717.9592

25Chapter 2. RTK Surveying Preliminary StepsIntroductionProMark 800 can be used in conjunction with two different Spectra Precision field software app

358Query Command LibraryRNX,MSI: ATOM RNX Differential MessageFunction This command allows you to read the current settings of the ATOM RNX message.Co

359Query Command LibraryResponse Format Syntax$PASHR,RRE,d1,n(d2,f3),f4,f5*ccParametersExample $PASHQ,RRE$PASHR,RRE,12,20,0.5,13,0.4,23,-0.4,17,-0.6,2

360Query Command LibraryFRQ: 0 0 0 1 0 30 0 0TYP: 1009 1010 1011 1012 1013 1019 1020 1029 1033FRQ: 0 0

361Query Command LibrarySee also $PASHS,RTC,TYP$PASHS,BAS$PASHS,CPD,REMRTC,MSI: RTCM Message StatusFunction This command queries a base receiver for t

362Query Command LibraryRWO: Raw Data Output SettingsFunction This command is used to query the raw data output parameters on the specified port.Comma

363Query Command LibraryExample$PASHQ,RWO,A$PASHR,RWO,A,9,001.00,11,MPC,0.00,B,DPC,0.00,B,PBN,0.00,B,SNV,0.00,B,SNG,0.00,B,SNW,0.00,B,SAL,0.00,B,SAG,0

364Query Command LibraryThe GALILEO PRN number is d2 minus 96.The QZSS PRN number is d2 minus 192.Example$PASHQ,SAT$PASHR,SAT,13,20,092,32,44.0,U,13,2

365Query Command LibraryParametersExample$PASHQ,SBA$PASHR,SBA,ON*09Relevant SetCommand$PASHS,SBASGA: GALILEO Satellites StatusFunction This command is

366Query Command LibrarySatellite Usage Status:Satellite Correcting Status:Example $PASHQ,SGA$PASHR,SGA,2,128,092,32,44.0,,35.0,2,4,…See also $PASHS,N

367Query Command LibraryFor more details on the $PASHS,NME command, refer to the Set Command Library Chapter.As an example, the command below will out

26RTK Surveying Preliminary StepsRTK Base Setup• You will need a tripod and a tribrach (not provided) to install the base. The provided antenna extens

368Query Command LibrarySatellite Correcting Status:Example $PASHQ,SGL$PASHR,SGL,08,65,316,38,49.0,38.0,,01,15,71,122,32,47.0,39.0,,01,15,72,066,77,53

369Query Command Library$PASHS,NME,SGL,A,ON,10 SGP: GPS & SBAS Satellites StatusFunction This command is used to read the status of each GPS and S

370Query Command LibrarySatellite Correcting Status:Example $PASHQ,SGP$PASHR,SGP,13,02,216,22,42.0,25.0,,01,15,04,188,03,34.0,0.0,,17,15,05,284,71,51.

371Query Command LibrarySIT: Site NameFunction This command is used to read the name of the site on which data is currently being logged.Command Forma

372Query Command LibraryParametersExample $PASHQ,SNM$PASHR,SNM,45*09Relevant SetCommand$PASHS,SNM SOM: Signal Observations MaskingFunction This comman

373Query Command LibrarySOM,CTT: Cumulative Tracking Time MaskFunction This command is used to read the current setting of the cumulative tracking tim

374Query Command Libraryobservations has been set to be user defined (see $PASHS,SOM).Command Format Syntax$PASHQ,SOM,NAV[*cc]ParametersNone.Response

375Query Command LibraryResponse Format Syntax$PASHR,SOM,SNR,d1,d2*ccParametersExample$PASHQ,SOM,SNR$PASHR,SOM,SNR,28,28*46Relevant SetCommand$PASHS,S

376Query Command LibraryExample$PASHQ,SOM,WRN$PASHR,SOM,WRN,ON,ON*42Relevant SetCommand$PASHS,SOM,WRNSee Also $PASHS,SOM STI: Station IDFunction This

377Query Command LibraryCommand Format Syntax$PASHQ,SVM[*cc]ParametersNone.Response Format Syntax$PASHR,SVM,d1*ccParametersExample$PASHQ,SVM$PASHR,SVM

27RTK Surveying Preliminary StepsRTK Rover SetupPrerequisites• Use a range pole fitted with a 5/8” male adaptor at the upper end (not provided).• If a

378Query Command LibraryParametersExample$PASHQ,UDP$PASHR,UDP,100000.00,100.00,100000.00,100.00*35Relevant SetCommand$PASHS,UDPSee Also $PASHS,DYNUNT:

379Query Command LibraryParametersExample$PASHQ,UNT$PASHR,UNT,M*5ARelevant SetCommand$PASHS,UNT USR,POS: Reading Position Defined for User Message Typ

380Query Command LibraryRelevant SetCommand$PASHS,USR,POSUSR,TYP: Reading Currently Defined User Message TypeFunction This command is used to query th

381Query Command LibraryResponse Format Syntax$PASHR,USR,TXT,s*ccParametersExample$PASHQ,USR,TXT$PASHR,USR,TXT,”this is the text of the user message*x

382Query Command LibraryVEC: Vector & Accuracy DataFunction This command is used to query the receiver for vector and accuracy data. Command Forma

383Query Command LibraryCommentThe code allotted to a position solution of the SBAS differential type is either “1” or “9”, depending on the last $PAS

384Query Command LibraryBSP: 1.0-200GNSS S/N: 702465A011230172GNSS Options: WJKLEYGSVHCPIQFAODRFS: 717GSM Q26 Extreme: R.7.4 IMEI : 351919030190256 st

385Query Command LibraryParametersComments The magnetic table used is the WMM-2005 (published Dec 2004), which is the standard model of the US Departm

386Query Command LibraryResponse Format Syntax$PASHR,WARN,s1,s2*ccParametersExample $PASHQ,WARN$PASHR,WARN,connect. to GPRS failed,PENDING*7FSee also

387Query Command LibraryParametersExample$PASHQ,ZDA$GPZDA,162256.27,25,02,2008,+00,00*43NOTE: The time offset is always reported as null (d5= d6= 0).A

28RTK Surveying Preliminary Steps

388Query Command Library

389Chapter D. Output Message LibraryION: Ionosphere ParametersThis message contains the ionosphere and GPS-to-UTC data conversion parameters.The messa

390Output Message LibraryThe GPS broadcast ionosphere model (Klobuchar) is used.Reminder on Howto Output IONMessagesUse the $PASHS,RAW command with th

391Output Message LibraryUnsigned char 1Warning flagBit1, Bit2:0,0: Code and/or carrier phase measured but measure-ment was not used to compute positi

392Output Message LibraryNOTES:1. The specifics of the MPC message content in relation to $PASHS,PGS are detailed in the table below.2. In case of GPS

393Output Message LibraryDPC: Compact GPS MeasurementsThis message contains the L1/L2 measurements from all tracked GPS satellites for one epoch.The m

394Output Message Library• Most of the fields found in the DPC and DBEN data outputs are similar. • DPC will not be generated if the [K] option (RTK B

395Output Message LibraryWhen for example after a cold start, the receiver has no correct time tag, the PBN message is output with a fixed “zero” time

396Output Message Library$PASHR,SBA,DAT,d1,m2,d3,d4,s5*ccWhere:SAL: GPS Almanac DataThis message contains almanac data for one GPS satellite.The messa

397Output Message LibraryReminder on Howto Output SALMessagesUse the $PASHS,RAW command with the syntax below: $PASHS,RAW,SAL,<port_ID>,ON,<R

29Chapter 3. Post-Processed SurveyingIntroductionProMark 800 can be used either as a base or a rover for collecting raw data in post-processed surveys

398Output Message LibraryReminder on Howto Output SAGMessagesUse the $PASHS,RAW command with the syntax below: $PASHS,RAW,SAG,<port_ID>,ON,<R

399Output Message Library Reminder on Howto Output SAWMessagesUse the $PASHS,RAW command with the syntax below: $PASHS,RAW,SAW,<port_ID>,ON,<

400Output Message Library$PASHR,SNG,<structure>The message’s binary structure is described in the table below. Type Name Size ContentsLong 4Star

401Output Message LibraryReminder on Howto Output SNGMessagesUse the $PASHS,RAW command with the syntax below: $PASHS,RAW,SNG,<port_ID>,ON,<R

402Output Message Library Reminder on Howto Output SNVMessagesUse the $PASHS,RAW command with the syntax below: $PASHS,RAW,SNV,<port_ID>,ON,<

403Output Message Library Reminder on Howto Output SNWMessagesUse the $PASHS,RAW command with the syntax below: $PASHS,RAW,SNW,<port_ID>,ON,<

404Output Message Library

405IndexSymbols$PASHQ,AGB 257$PASHQ,ALM 258$PASHQ,ANH 259$PASHQ,ANP 260$PASHQ,ANP,OUT 261$PASHQ,ANP,OWN 261$PASHQ,ANP,RCV 262$PASHQ,ANP,REF 263$PASHQ,

406$PASHQ,SOM,NAV 373$PASHQ,SOM,SNR 374$PASHQ,SOM,SVM 376$PASHQ,SOM,WRN 375$PASHQ,STI 376$PASHQ,UDP 377$PASHQ,UNT 378$PASHQ,USR,POS 379$PASHQ,USR,TXT

407$PASHS,RAW,PER 221$PASHS,RCP,DEL 223$PASHS,RCP,GBx 222$PASHS,RCP,REF 224$PASHS,RDP,OFF 225$PASHS,RDP,ON 226$PASHS,RDP,PAR 226$PASHS,RDP,TYP 231$PAS

30Post-Processed SurveyingSystem SetupBase Setup This setup should always be used for a base and may also be used for a rover having to run a static s

408BAS 157, 269BASE 9Base antenna (naming) 147Base data 35Base location 46Base position 48, 280Base settings 127Base/rover configuration 34Base/rover

409Default settings 124Defining user message type 253Deleting files 185Deleting files and directories 186Deleting log files 193Deleting user-defined r

410GNSS centric 18GNSS Fix Data 306GNSS reception 127GNSS tracking configuration 164, 273Golden receiver 143GPRS 27, 74GPS 17, 189, 308GPS (enable/dis

411MDM,STS 321MDP 198, 322MEM 199, 323Memory 19Memory device 323Memory device used 199Memory Full 101Memory screens 11Modem 74, 77, 125, 319Modem (ini

412PRT 216Pseudo-range error statistics 312PTT 202, 341PWR 342PWR,OFF 217PWR,PAR 217QQuery commands 133QZS 218, 343QZSS tracking 218, 343RRadio 73, 75

413RTDS Software 81, 121RTDS Software (configuration) 122RTK correction data 35, 83RTK network 279RTK output rate 91RTK position output modes 86RTK re

414Time-tagged RTK mode 112Too few satellites 99Trajectories 38, 45Transfer rate 74Tribrach 26Tripod 26TTFF 35, 51, 54Turning receiver on 217UU memory

Reference ManualProMark™ 800©2011-2013 Trimble Navigation Limited. All rights reserved. Spectra Precision is a Division of Trimble Navigation Limited.

31Post-Processed Surveying2. Post-processing phase: Manually correct all computed elevations for the antenna height.By default, raw data is logged to

32Post-Processed Surveyingreceiver is then seen as a USB device from the office computer• Using Windows Explorer on your office computer, browse the r

33Chapter 4. Precise Surveying - Field Applications & ConceptsIntroduction to Precise SurveyingGNSS precise surveying relies on the use of specifi

34Precise Surveying - Field Applications & ConceptsCPD: Carrier-Phase Differential. An acronym that refers to the processing of reference carrier

35Precise Surveying - Field Applications & Conceptsthe surveyor has full control over the base data sent to the rover.Constellation: Set of GNSS s

36Precise Surveying - Field Applications & Concepts3. A data link must be established to transfer the base’s RTKcorrection data to the rover. This

37Precise Surveying - Field Applications & Concepts5. There can be several rovers working together at the same time, receiving RTK correction data

iTable of ContentsChapter 1. Introduction ... 1What is ProMark 800? ...

38Precise Surveying - Field Applications & Concepts• With single-epoch measurements, the rover just logs the first position it computes on that po

39Precise Surveying - Field Applications & Conceptsof point logging will be saved (no position averaging is possible in this case).Staking Out Typ

40Precise Surveying - Field Applications & Conceptsaccurate view as you approach the point. The system tells you when you are over the point.• Whe

41Precise Surveying - Field Applications & Conceptstime= Observation time because only one point is surveyed. Occupation time is irrelevant to Con

42Precise Surveying - Field Applications & Concepts3.Successful survey requires proper initialization of the system. See Initialization on page 49

43Precise Surveying - Field Applications & ConceptsKey Points1. Same system setup for the base and the rover.2. The rover is stationary throughout

44Precise Surveying - Field Applications & ConceptsKey Points1. The rover is moved successively onto each of the survey points. The rover antenna

45Precise Surveying - Field Applications & Concepts4. Points are automatically named (numeral suffix automatically incremented) unless you wish to

46Precise Surveying - Field Applications & Concepts2. Contrary to Stop & Go survey, there is no occupation time on a particular point. Data lo

47Precise Surveying - Field Applications & Conceptscontrary, if you are using your own base, it is essential that you install it according to the

iiChapter 7. Miscellaneous ... 111ATOM File Naming Conventions...

48Precise Surveying - Field Applications & ConceptsSecond Criterion:Base PositionKnown orUnknown?In addition to the good reception conditions requ

49Precise Surveying - Field Applications & Conceptsbetter than 30 meters (probably closer to 10-20 meters), but an error of 50 meters is possible.

50Precise Surveying - Field Applications & ConceptsInteger Ambiguity: “Integer” refers to the number of entire wavelengths of signal carrier separ

51Precise Surveying - Field Applications & Concepts• Stopping recording sessions before enough data has been collected to guarantee initialization

52Precise Surveying - Field Applications & ConceptsOTF and “Known Point” MethodsKinematic OTF. For both post-processing and RTK real-time, this me

53Precise Surveying - Field Applications & ConceptsIn post-processed surveying, the rover asks you to stay still on the known point for a preset o

54Precise Surveying - Field Applications & ConceptsThe initialization can even be faster if there is a possibility for you to use the “Known Point

55Precise Surveying - Field Applications & ConceptsPrecision receivers will help you take a decision on when to stop data collection.• The lower t

56Precise Surveying - Field Applications & ConceptsObservation Time Charts:Not surprisingly, the minimum observation times in post-processed surve

57Precise Surveying - Field Applications & ConceptsPhase Center Location (1)This is a virtual point that represents the spatio-temporal origin of

iiiCPD,AFP: Setting the Confidence Level of Ambiguity Fixing ...169CPD,FST: RTK Output Mode ...170

58Precise Surveying - Field Applications & ConceptsTo compute the position of the mark instead of the antenna, it is necessary to instruct the rov

59Precise Surveying - Field Applications & Concepts• Position the base system exactly over the landmark.• Insert the end of the Spectra Precision

60Precise Surveying - Field Applications & ConceptsThe real height of the antenna is therefore the sum of the vertical height and the phase center

61Precise Surveying - Field Applications & ConceptsUsing a Virtual AntennaWhat is theProblem?Not all the GNSS antennas available on the market are

62Precise Surveying - Field Applications & ConceptsThe receiver has to correct the collected data (most notably pseudo-ranges) so that they appear

63Precise Surveying - Field Applications & ConceptsAbout The DifferentVirtual AntennasExisting TodayThere exists different virtual antennas, with

64Precise Surveying - Field Applications & ConceptsThe reference ellipsoid refers to the WGS84, or better the ITRFxx, where xx is the year the ITR

65Precise Surveying - Field Applications & ConceptsThis surface is irregular depending on the density and distribution of materials on the surface

66Precise Surveying - Field Applications & ConceptsFrom this interpolation the system can derive elevation from ellipsoidal height using the follo

67Precise Surveying - Field Applications & ConceptsAccuracy will also depend on the RTK correction data received from the base:• The further the d

ivPEM: Setting the Position Elevation Mask...213POP: Setting Internal Update Rate for Measurements and PVT ...213POS: Se

68Precise Surveying - Field Applications & ConceptsPlease refer to the specifications sheet of the model you are using for more information.Obviou

69Precise Surveying - Field Applications & Conceptsaccuracy about 68% of the time. This percentage corresponds to the 1-sigma width on the Gaussia

70Precise Surveying - Field Applications & ConceptsTypically through localization, your equipment determines the new local grid (a plane) by compa

71Precise Surveying - Field Applications & Conceptspoints or more is highly recommended to achieve accurate localization on the horizontal plane.

72Precise Surveying - Field Applications & Concepts3. Enter the latitude, longitude and ellipsoidal height of the first reference point.4. Set hor

73Chapter 5. RTK ImplementationData LinkIn an RTK surveying system, the data link is used to transfer RTK correction data from the base to the rover.T

74RTK ImplementationCSD: Circuit Switched Data. CSD is the original form of data transmission developed for the Time Division Multiple Access (TDMA)-b

75RTK ImplementationRadio ImplementationRadios are usually operated in pairs (one at the base, used as a transmitter, and the other in the rover, used

76RTK Implementation• UHF Frequency band: Range of UHF frequencies on which the radio transmits or receives data (license-free radios operate in the 8

77RTK ImplementationAs a rover user, you should make sure this function is also activated at the base before activating it in your radio receiver, oth

vALM: Almanac Message...258ANH: Antenna Height ...

78RTK Implementationconfiguration is well suited to surveying systems used in base/rover configuration.Important! ProMark 800 CANNOT operate in CSD mo

79RTK ImplementationCDMA:• Based on CDMA technology (CDMA=Code Division Multiple Access) spreading data out over the channel after the channel is digi

80RTK ImplementationActivating a Data Link in NTRIP ModeIn this mode, you will have to:• Enter the five identification parameters of the caster, i.e.:

81RTK ImplementationActivating a Data Link in Direct IP ModeIn this mode, you will have to:• Enter the two identification parameters of the RTK correc

82RTK ImplementationIf the increase is only temporary, then you should not care too much about the data link as long as the rover continues to provide

83RTK ImplementationRTK Correction Data FormatsThis section describes the different data formats that can be used by Spectra Precision receivers to tr

84RTK ImplementationStandard Formats CMR, CMR+CMR (for Compact Measurement Record) is a non-proprietary RTK format that uses data compression techniqu

85RTK ImplementationRTCM3.0 and 3.1. The message types that exist in these versions are numbered from 1001 to 1029. The most important ones are listed

86RTK ImplementationRTK Position OutputRTK PositionOutput ModeDefinitionSome field applications require the fastest possible position output rate wher

87RTK ImplementationTime-Tagged RTK Output ModePrinciple. In Time-tagged RTK, the rover will compute and output a single RTK position for each epoch o