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Page 84 Z-12 Real-Time Sensor Operation and Reference Manual
Query CBEN Message
$PASHQ,CBN
This command asks for the CBN message. This command queries only the current
epoch. For query about bufferized message, use the $PASHQ,UBN command. The
command strtucture is
$PASHQ,CBN,c1*crc
$PASHR,CBN
The response message is in the form
$PASHR,CBN,...
This response message displays ASCII information on epoch-by-epoch solutions.
The structure is
$PASHR,CBN,xx,xx,xx.xx,ssss,xx,xxx.x,xx,xx.xxxxxxx,s,xxx,s,±xxx.xxx,xx.xxxx,x
x.xxxx,xx.xxxx,±xx.xxx,±xx.xxx,±xx.xxx,ABCDEF,±xxx.xxx,±xxx.xxx,±xxx.xxx,x
x.xxx,xx.xxx,xx.xxx,*crc
where the fields are as defined in Table 4.30.
Table 4.30: Epoch Information Structure
Field Description
xx
Receiver time GMT hour 0 to 23
xx
Receiver time GMT minute 0 to 59
xx.xx
Receiver time GMT second 0 to 59.99
ssss
Receiver 4-char string site ID
xx
Number of
satellites used in CPD position computation 0 to 12
xxx.x
PDOP 0 to 204.8
xx Latitude degrees 0 to 90
xx.xxxxxxx Latitude decimal minutes 0 to 59.9999999
s Latitude direction N = north, S = south
xxx Longitude degrees 0 to 180
s Longitude direction E = east, W = west
±xxxxx.xxx Ellipsoid height -1000 to +100000 meters
xx.xxxx Standard deviation of latitude component 0 to 99.9999 meters
xx.xxxx Standard deviation of longitude component 0 to 99.9999 meters
xx.xxxx Standard deviation of ellispoid height 0 to 99.9999 meters
±xx.xxx Cross correlation of XY ±30 meters
±xx.xxx Cross correlation of XZ ±30 meters
- 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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