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Command Response Formats Page 43
Command
4
Command Response Formats
Overview
This section discusses the format and structure of the commands to and the responses from
the sensor. As noted previously, an external device such as a personal computer (PC) or a
handheld controller must be used to input commands to the sensor, and to monitor
responses from the sensor. All commands must be terminated with <CR><LF> or
<Enter>, as appropriate for the external device.
The commands and responses have the following headers:
Set commands: $PASHS
Query commands: $PASHQ
Response messages: $PASHR
The commands and responses fall into the following functional categories:
General Sensor commands
Raw data
NMEA
RTCM
CPD
Table 4.1 summarizes the commands and responses. The pages following Table 4.1
describe each command/response in detail.
- Z-12 Real-Time Sensor 1
- Operation & Reference 1
- Table of Contents 5
- List of Figures 11
- List of Tables 13
- Introduction 17
- Functional Description 18
- Real-Time Differential 19
- Equipment 20
- Specifications and Options 21
- Memory Options 22
- Operation 23
- Front Panel 24
- RF Connector 25
- Power Input Connections 26
- Serial Port Configuration 27
- Serial Null Modem Data Cable 29
- Default Parameters 29
- Getting Started 30
- Powering On the Sensor 31
- Receiver Memory Reset 32
- Communication with the Sensor 32
- Monitoring Satellite Tracking 33
- Monitoring Position 33
- Command Response Formats 34
- Differential Setup 35
- Hardware Setup 36
- CPD with DBEN message 37
- RTCM Differential Setup 39
- Base Setup 41
- Rover/Remote Setup 42
- Understanding CPD 47
- Solution Latency 48
- Data Link Monitor 48
- Real-time Solution Output 48
- Vector Solution Output 49
- Solution Storage 50
- Troubleshooting 51
- CPD Solution Parameters 53
- Dynamics: $PASHS,CPD,DYN 54
- Multipath: $PASHS,CPD,MTP 55
- Rate: $PASHS,CPD,PER 55
- Fast CPD: $PASHS,CPD,FST 55
- Universal RTCM Base Station 56
- Understanding 57
- Table 4.1: Command Summary 60
- General Sensor Commands 66
- Set Antenna Height 69
- Set Antenna Offsets 69
- Query Antenna Parameters 70
- Query Sensor Configuration 71
- Store String 72
- Query File Directory 72
- Set Elevation Mask 74
- Close or Delete File 74
- Set Altitude-Fixed Mode 75
- Request File Information 75
- Set HDOP Mask 77
- Select Ionospheric Model 78
- Query Ionospheric Data 78
- Set Photogrammetry Edge 81
- $PASHS,PHE,x 81
- Set Minimum Satellites 81
- Set PDOP Mask 82
- Set Position Elevation Mask 82
- Log Project Data 82
- Set Position Mode 83
- Set Position of the Antenna 83
- Query Port and Baud Rate 85
- Set Receiver To Sleep Mode 85
- Set Recording Interval 86
- Query Radio Mode Parameters 86
- Turn Data Recording On/Off 87
- Query Sensor (Receiver) ID 87
- Set Type of Data 88
- Upload Route Information 93
- Save Parameters 93
- Enter Site ID 94
- Set Communication Baud Rate 94
- Query SV Mode Selection 96
- Use Unheathy SVs 96
- Designate Satellites to Use 97
- Set VDOP Mask 97
- Query Week Number 97
- Upload Waypoint to Sensor 97
- Set Sensor to Z Mode 98
- Raw Data Commands 99
- Query CBEN Message 100
- Query Vector Solution 101
- Command 103
- Query PBEN Data for One Epoch 104
- Query Raw Data Parameters 105
- Query UBN Message 106
- NMEA Data Message Commands 109
- Disable All NMEA Messages 111
- NMEA Almanac 111
- Autopilot Message 112
- NMEA Bearing and Distance 113
- NMEA Decimal Almanac Message 114
- GGA (GPS Position) Message 115
- GLL (Latitude,Longitude) 117
- NMEA MSG (RTCM) Message 125
- Set NMEA Send Interval 130
- NMEA Message VTG (COG/SOG) 137
- NMEA Cross-Track Error 137
- RTCM Commands 138
- Initialize RTCM Setup 140
- Define RTCM Message 141
- Disable Differential Mode 141
- Set Quality Threshold 141
- Check Sequence Number 142
- Set RTCM Bit Rate 142
- Set Station Identification 142
- Enable Type of Message 143
- CPD Commands 147
- OR $PASHS,BPS,ANT 148
- Query Data Link Status 149
- Set Rover Dynamics 150
- Set Current Raw Position 151
- Enable/Disable Fast CPD Mode 152
- Display CPD SV Information 152
- CPD Mode Select 153
- Select CPD processing cycle 155
- Set Multipath Parameters 155
- Select Solution to Output 155
- Set CPD Update Interval 156
- Set BPD Transmission Period 156
- Set DBEN Transmission Period 157
- Reset CPD Processing 158
- CPD Status 159
- Query CPD Solution Status 161
- Select Base Position - Rover 161
- Display Station Coordinates 162
- Field Description 163
- Packed DBEN 165
- Report Real-Time Error 167
- Photogram 169
- Radio Link 171
- Sensitivity 172
- Differential GPS 173
- Sources of Error 175
- Data Link Related Errors 176
- Differential Message 177
- Glossary 179
- Numerics 185
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