SEPTENTRIO PolaRx5TR Manuel utilisateur

PolaRx5TR Reference Guide

Applicable to version 5.5.0 of the Firmware

PolaRx5TR Reference Guide

2022-08-19

Applicable to version 5.5.0 of the Firmware

Septentrio NV

Greenhill Campus, Interleuvenlaan 15i

3001 Leuven, Belgium

http://www.septentrio.com

Phone: +32 16 300 800

Fax: +32 16 221 640

@Septentrio

LIST OF CONTENTS

List of Contents

Contents ........................................................................................... 7

Scope ............................................................................................... 8

List of Acronyms ................................................................................. 9

1 How To... 13

1.1 Connect to the Receiver ................................................................ 14

1.1.1 Via COM Ports...................................................................... 14

1.1.2 Via USB.............................................................................. 14

1.1.3 Via a TCP/IP Port ................................................................... 14

1.1.3.1 Ethernet .................................................................. 15

1.1.3.2 WiFi ....................................................................... 15

1.1.3.2.1 Receiver as WiFi Access Point ....... . . . . . . . ...... . . . . . . . ..... 15

1.1.3.2.2 Receiver as WiFi Client ........................................ 15

1.1.3.3 Ethernet-over-USB...................................................... 15

1.1.3.4 Point-to-Point Link ...................................................... 16

1.1.4 Via a Web Browser ................................................................ 16

1.1.5 Connection Descriptors........................................................... 17

1.2 Understand the Output of the Receiver ............................................. 18

1.2.1 Proprietary Binary Output (SBF)................................................. 18

1.2.2 BINEX................................................................................ 18

1.2.3 NMEA................................................................................ 18

1.2.4 RTCM and CMR .................................................................... 19

1.3 Deﬁne an SBF Output Stream ......................................................... 20

1.4 Deﬁne a BINEX Output Stream ........................................................ 21

1.5 Save the Conﬁguration in Non-Volatile Memory .................................. 22

1.6 Conﬁgure the Receiver in DGPS/RTK-Base Mode .................................. 23

1.6.1 Static Base Station Mode ......................................................... 23

1.7 Conﬁgure the Receiver in DGPS/RTK-Rover Mode ................................. 25

1.8 Use the SECORX Services................................................................ 26

1.9 Conﬁgure the Receiver in NTRIP Server Mode ..................................... 27

1.10 Conﬁgure the Receiver in NTRIP Client Mode ...................................... 28

1.11 Use the Built-In NTRIP Caster .......................................................... 29

1.11.1 Broadcasting Local Streams...................................................... 29

1.11.2 Broadcasting Remote Streams .................................................. 29

1.12 Conﬁgure an IP Server Port ............................................................ 31

LIST OF CONTENTS

1.13 Conﬁgure an IP Receive Port ........................................................... 32

1.14 Manage Power Saving Mode ........................................................... 33

1.15 Manage Log Sessions .................................................................... 34

1.16 Log SBF Files ............................................................................... 35

1.17 Log RINEX Files ............................................................................ 36

1.18 Log RTCM-MSM Files ..................................................................... 37

1.19 Log BINEX Files ............................................................................ 38

1.20 Log NMEA Files ............................................................................ 39

1.21 Estimate the Size of the Log Files ..................................................... 40

1.22 Log CGGTTS Files .......................................................................... 41

1.23 Download Log Files from the Receiver............................................... 42

1.24 CloudIt Workﬂow (beta) ................................................................ 44

1.24.1 Introduction ........................................................................ 44

1.24.2 Server Setup........................................................................ 44

1.24.2.1 Authentication Server Setup .......................................... 44

1.24.2.2 Resource Server Setup ................................................. 45

1.24.3 Receiver Conﬁguration of CloudIt ............................................... 45

1.24.4 File Upload.......................................................................... 45

1.25 FTP Push Log ﬁles......................................................................... 47

1.26 Communicate with External Equipment ............................................ 48

1.27 Generate a "Pulse Per Second" Signal................................................ 49

1.28 Time Tag External Events ............................................................... 50

1.29 Monitor the RF Spectrum ............................................................... 51

1.30 Use Galileo OSNMA ...................................................................... 52

1.31 Manage Users ............................................................................. 53

1.32 Upgrade the Receiver.................................................................... 54

1.33 Check the Capabilities of your Receiver ............................................. 55

1.34 Check or Change the Permission File ................................................ 56

2 Operation Details 57

2.1 Channel Allocation and Signal Selection ............................................ 57

2.2 Generation of Measurements ......................................................... 57

2.2.1 Pilot vs. Data Component ........................................................ 58

2.3 Time Management ....................................................................... 59

2.3.1 Free-Running Clock................................................................ 59

2.3.2 Clock Steering ...................................................................... 60

2.4 Computation of Position, Velocity, and Time (PVT Solution).................... 61

2.4.1 SBAS Positioning................................................................... 62

2.4.2 DGPS Positioning .................................................................. 62

LIST OF CONTENTS

2.4.3 RTK Positioning .................................................................... 63

2.4.3.1 Integer Ambiguities (RTK-ﬁxed) ............. . . . . . . . ...... . . . . . . . ...... 63

2.4.3.2 Floating Ambiguities (RTK-ﬂoat). . ..... . . . . . . . . ..... . . . . . . . ...... . . . . . . 63

2.4.4 Precise Point Positioning ......................................................... 63

2.4.4.1 PPP Seeding ............................................................. 64

2.4.4.2 PPP Datum Oﬀset....................................................... 64

2.4.4.3 Tide Corrections......................................................... 64

2.4.5 Transition between PVT Modes.................................................. 64

2.4.6 Datum Transformation ........................................................... 65

2.4.6.1 Transformation to Regional Datum . . ..... . . . . . . . ...... . . . . . . . ...... . 65

2.4.6.2 Transformation to Local Datum .. . . . . . . . . ..... . . . . . . . ...... . . . . . . . ... 65

2.5 Antenna Eﬀects ........................................................................... 66

2.5.1 Antenna Eﬀects in Rover Mode.................................................. 66

2.5.2 Antenna Eﬀects in Base Mode ................................................... 67

2.6 Galileo OSNMA ............................................................................ 67

2.6.1 Use of OSNMA in Simulated Scenarios ............ . . . . . . . ...... . . . . . . . ..... . . . . 68

2.7 Receiver Autonomous Integrity Monitoring (RAIM) .............................. 69

2.7.1 Integrity Algorithm ................................................................ 70

2.7.2 Internal and External Reliability Levels .... . . . . . . ...... . . . . . . . ...... . . . . . . . ..... 71

3 Command Line Reference 73

3.1 Command Line Interface Outline ..................................................... 74

3.1.1 Command Types................................................................... 74

3.1.2 Command Line Syntax............................................................ 74

3.1.3 Command Replies ................................................................. 75

3.1.4 Command Syntax Tables ......................................................... 76

3.2 Command Deﬁnitions ................................................................... 79

3.2.1 Receiver Administration .......................................................... 79

3.2.2 Standby and Sleep Conﬁguration ............................................... 97

3.2.3 User Management.................................................................102

3.2.4 Tracking and Measurement Generation . . . . . . ...... . . . . . . . ..... . . . . . . . . ..... . .107

3.2.5 Frontend and Interference Mitigation .. . . . . . . . ...... . . . . . . . ..... . . . . . . . . ..... . .119

3.2.6 Navigation Filter ...................................................................123

3.2.7 Authentication .....................................................................152

3.2.8 Datum Deﬁnition ..................................................................155

3.2.9 Timing and Time Management ..................................................160

3.2.10 Time Transfer Conﬁguration.....................................................167

3.2.11 Station Settings ....................................................................175

3.2.12 General Input/Output.............................................................178

3.2.13 NTRIP Settings .....................................................................196

3.2.14 WiFi Settings........................................................................203

3.2.15 NMEA Conﬁguration ..............................................................208

3.2.16 SBF Conﬁguration .................................................................214

3.2.17 BINEX Conﬁguration ..............................................................222

3.2.18 RTCM v2.x Settings ................................................................226

3.2.19 RTCM v3.x Settings ................................................................234

3.2.20 CMR v2.0 Settings..................................................................243

3.2.21 Internal Disk Logging..............................................................248

3.2.22 FTP Push of Log Files..............................................................269

LIST OF CONTENTS

3.2.23 CloudIt Conﬁguration .............................................................276

3.2.24 MSS/L-Band Conﬁguration .......................................................286

3.2.25 Cosmos Conﬁguration ............................................................293

4 SBF Reference 294

4.1 SBF Outline ................................................................................295

4.1.1 SBF Block Header Format ........................................................295

4.1.2 SBF Block Names and Numbers.................................................295

4.1.3 SBF Block Time Stamp (TOW and WNc). . . ..... . . . . . . . ...... . . . . . . . ...... . . . . . . .296

4.1.4 Sub-blocks ..........................................................................296

4.1.5 Padding Bytes ......................................................................297

4.1.6 SBF Revision Number .............................................................297

4.1.7 Do-Not-Use Value..................................................................297

4.1.8 Output Rate ........................................................................297

4.1.9 Satellite ID and GLONASS Frequency Number . . . . . . . ...... . . . . . . . ...... . . . . . .298

4.1.10 Signal Type .........................................................................299

4.1.11 Channel Numbering...............................................................299

4.1.12 Decoding of SBF Blocks ...........................................................300

4.2 SBF Block Deﬁnitions ....................................................................301

4.2.1 Measurement Blocks..............................................................301

4.2.2 Navigation Page Blocks ...........................................................315

4.2.3 GPS Decoded Message Blocks ...................................................337

4.2.4 GLONASS Decoded Message Blocks ............................................344

4.2.5 Galileo Decoded Message Blocks ...............................................347

4.2.6 BeiDou Decoded Message Blocks...............................................355

4.2.7 QZSS Decoded Message Blocks .................................................362

4.2.8 NavIC/IRNSS Decoded Message Blocks. . . . . . . . ...... . . . . . . . ...... . . . . . . . ..... . .365

4.2.9 SBAS L1 Decoded Message Blocks ..............................................367

4.2.10 GNSS Position, Velocity and Time Blocks ....... . . . . . . . ...... . . . . . . . ...... . . . . . .381

4.2.11 Receiver Time Blocks..............................................................423

4.2.12 External Event Blocks .............................................................425

4.2.13 Diﬀerential Correction Blocks....................................................436

4.2.14 L-Band Demodulator Blocks .....................................................440

4.2.15 Status Blocks .......................................................................445

4.2.16 Miscellaneous Blocks .............................................................474

4.2.17 Advanced Blocks...................................................................482

4.3 SBF Change Log ...........................................................................483

A List of SBF Blocks 485

B List of BINEX Records 488

C List of NMEA Sentences 489

C.1 Proprietary NMEA Sentences ..........................................................490

C.1.1 RBD : Rover-Base Direction ......................................................490

C.1.2 RBP : Rover-Base Position ........................................................491

C.1.3 RBV : Rover-Base Velocity ........................................................491

C.1.4 SDI : Disk Status....................................................................491

C.1.5 SNC : NTRIP Client Status.........................................................492

C.1.6 SPW : Power Status................................................................493

C.1.7 SRX : Receiver Status ..............................................................493

LIST OF CONTENTS

C.1.8 TFM : Used RTCM Coordinate Transformation Messages....... . . . . . . . ......494

D List of CMR and RTCM Messages 495

D.1 CMR Messages.............................................................................495

D.2 RTCM v2.x Messages .....................................................................495

D.3 RTCM v3.x Messages .....................................................................495

Index of Commands.............................................................................498

Index of SBF Blocks..............................................................................510

SCOPE

Scope

This document contains reference information about the receiver ﬁrmware.

Chapter 1 provides a set of step-by-step "how-to’s" to help you ﬁnd your way around the

receiver’s commands and logs.

Chapter 2 provides some background on the main algorithms running in the receiver and on

the way to conﬁgure them.

Chapter 3 contains the complete description of the user command interface.

Chapter 4 contains the complete description of the SBF format.

Typographical Conventions

abc User command name. Clicking a command name redirects to the full command

description.

abc Command argument name.

abc Command replies.

SBF block name or SBF ﬁeld name. Clicking an SBF block name redirects to the full

SBF block description.

LIST OF ACRONYMS

List of Acronyms

Abbreviation Description

AGC Automatic Gain Control

API Application Program Interface

ARP Antenna Reference Point

ASCII American Standard Code for Information Interchange

ASN.1 Abstract Syntax Notation One

BeiDou BeiDou Navigation System

BGD Broadcast Group Delay

CA Coarse Acquisition

CGGTTS Common GPS GLONASS Time Transfer Standard

CMR Compact Measurement Record

COG Course Over Ground

CPU Central Processing Unit

CRC Cyclic Redundancy Check

DGPS Diﬀerential GPS

DHCP Dynamic Host Conﬁguration Protocol

DLL Dynamically Linked Library

DNS Domain Name Server

DOP Dilution Of Precision

DVS Data Validity Status

ECEF Earth-Centered Earth-Fixed

EGNOS European Geostationary Navigation Overlay System

ENU East-North-Up

FTP File Transfer Protocol

LIST OF ACRONYMS

GEO Geostationary Earth Orbiter

GLONASS Global Orbiting Navigation Satellite System

GNSS Global Navigation Satellite System

GPS Global Positioning System

GST Galileo System Time

GUI Graphical User Interface

HDOP Horizontal DOP

HERL Horizontal External Reliability Level

HMI Hazardously Misleading Information

HPCA HMI Probability Computation Algorithm

HPL Horizontal Protection Level

HS Health Status

ICD Interface Control Document

IEEE Institute of Electrical and Electronics Engineers

IERS International Earth Rotation Service

IF Intermediate Frequency

IGP Ionospheric Grid Point

IGS International GPS Service

IMU Inertial Measurement Unit

INS Inertial Navigation System

IODC Issue of Data - Clock

IODE Issue Of Data Ephemeris

IP Internet Protocol

IRNSS Indian Regional Navigational Satellite System

ITRF International Terrestrial Reference Frame

ITRS International Terrestrial Reference System

LBand L-Band Receiver

L1 L1 carrier

L2 L2 carrier

L2C L2C code

LED Light Emitting Diode

LSB Least Signiﬁcant Bit

MDB Minimum Detectable Bias

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