Rover Setup
If the receiver you are communicating with is a rover or if you want to change it into a rover, click on Rover Setup. Seven groups of parameters need to be defined:
• Rover
• Antenna
• Satellites
• Internal Radio Port (D)
• Serial Ports (A, B, F)
• Network
• Differential Port
• Hot Standby RTK
These groups of parameters are detailed below.
Rover
Use this area to specify the position computation mode used as well as the type of base the rover will be working from.
Parameter |
Designation |
$PASHS |
---|---|---|
Mode |
Choose the operating mode used in your rover: • “RTK”: An RTK position is computed for antenna #1 location using GNSS signals received by antenna #1 and external corrections applied to GNSS board #1. This mode uses the first RTK engine on GNSS board #1. • “Internal Relative RTK only”: GNSS signals received by antenna #2 result in a flow of ATM-RNX 204 corrections generated by GNSS board #2 and applied to GNSS board #1 to let its first RTK engine compute the vector connecting antenna #1 location to antenna #2 location (relative mode). • “External RTK + Internal Relative RTK”: The first engine on GNSS board #1 computes an RTK position for antenna #1 location using GNSS signals received by antenna #1 and external corrections applied to GNSS board #1. The second RTK engine on GNSS board #1 is used to compute the vector from antenna #1 location to antenna #2 location (relative mode), using corrections in ATM-RNX 204 format generated by GNSS board #2 receiving GNSS signals from antenna #2. • “Dual RTK”: Each of the two GNSS boards computes an independent RTK position, one corresponding to antenna #1 location, the other to antenna #2 location. The two GNSS boards use the same flow of corrections coming from outside. NOTE: The Web Server will automatically set this parameter to “RTK” if a heading mode is used (internal, external or internal/external). |
CPD,MOD |
Ambiguity Fixing |
Define the confidence level required of every RTK solution to be valid. The possible choices are: • 0: The rover will stay in “Flying RTK” mode (float mode) once this type of solution is obtained (RTK solution never delivered). • 95.0: 95% of the measurements need to pass the internal quality tests. • 99.0: 99% of the measurements need to pass the internal quality tests. • 99.9: 99.9% of the measurements need to pass the internal quality tests. |
CPD,AFP |
Fast RTK |
Set this option as follows: • Check it to enable Fast RTK. • Clear it to disable Fast RTK. |
CPD,FST |
Moving Base |
Keep this box cleared for a rover using a static base, check it if the rover will be working from a moving base. Enabling the Moving Base option will clear the Fast RTK option if it was enabled previously. |
CPD,MOD |
Dynamic |
Choose the dynamic model that best suits the rover motion. |
DYN |
Antenna
Use this area to define the parameters of the antenna used physically at the rover, as well as a virtual antenna if necessary. A virtual antenna may be defined to allow the rover to deliver raw data as if those were collected with this antenna.
Parameter |
Designation |
$PASHS |
---|---|---|
Reference Position |
Select one of the options below to define the reference location of the antenna: • L1 phase center • Antenna Reference Point (ARP) • Ground mark |
ANR |
Measurement Type |
Specify the type of measurement (“Slant” or “Vertical”) through which the above antenna height was measured. |
ANH |
Antenna Height |
Enter the measured antenna height according to the measurement type used and the selected distance unit. |
ANT or ANH |
Receiver antenna |
Select the name of the antenna used by the rover. This antenna name can only be chosen from a list of antenna names stored in the receiver. UNKNOWN, NULLANTENNA, ADVNULLANTENNA are special definitions of antennas typically used as virtual antennas. |
ANP,OWN |
Antenna Radius |
(Only if “Slant Height” measurement type selected). Enter the antenna radius according to the selected distance unit. |
ANT |
SHMP Offset |
(Only if “Slant Height” measurement type selected). Enter the vertical offset of the Slant Height Measurement Point for the antenna used by the rover. Take care to enter this parameter in the selected distance unit. See also the Note below. |
ANT |
Virtual Antenna |
This parameter allows you to define a virtual antenna: • Select “Off” if you do not want to define one • If you want one, select the virtual antenna name for which you would like the receiver to deliver raw data, i.e. as if the raw data had been collected using this antenna. This antenna name can only be chosen from a list of antenna names stored in the receiver. NULLANTENNA, ADVNLLANTENNA, etc. are the most commonly used virtual antennas. |
ANP,OUT |
Satellites
Use this area to define the constellations received by the rover as well as the elevation mask applied for all constellations.
Parameter |
Designation |
$PASHS |
---|---|---|
Position Elevation Mask |
Enter the elevation mask, in degrees, used by the receiver to compute the position. No data from any visible satellite located below this elevation angle will be used in the position processing. |
ELM |
GPS |
Check this button to enable GPS tracking. Clear it otherwise. |
GPS |
GLONASS |
Check this button to enable GLONASS tracking (requires installed S option). Clear it otherwise. |
GLO |
SBAS |
Check this button to enable SBAS tracking. Clear it otherwise. |
SBA |
QZSS |
Check this button to enable QZSS tracking. Clear it otherwise. |
QZS |
GALILEO |
Check this button to enable GALILEO tracking. Clear it otherwise. |
GAL |
Internal Radio Port
Use this area to turn on or off the internal radio connected to port D.
Parameter |
Designation |
$PASHS |
---|---|---|
Connection |
This combo box is in fact a status (read-only) field indicating the type of internal radio currently connected to port D (ADL Foundation). |
RDP,TYP |
Power |
Use these buttons to control power on the internal radio. Selecting “On” will power up the internal radio when later you click on the Configure button at the bottom of the page. Likewise, selecting “Off” will turn off the radio. |
RDP,ON or OFF |
Serial Ports
Use this area to set the receiver ports and declare the different external devices connected to them. For each port (ports A, B, F), set their parameters as explained in the table below.
Parameter |
Designation |
$PASHS |
---|---|---|
Connection |
Choose the device to which the port is connected. The possible choices are: • None/Cable: The port is not connected to any radio. • ARF7474B EU: The port is connected to an external license-free radio receiver (for use in Europe). • ARF7474A NA: The port is connected to an external license-free radio receiver (for use in North America). • XDL Rover: The port is connected to an external receiver (PacCrest XDL Rover model) |
RDP,TYP (+ ECP) |
Baud Rate |
Choose a baud rate from the list. The selected rate will be used by the port. |
PRT |
Mode |
Port A only. Specify the type of serial link (“RS232 or “RS422”) for Port A. |
MDP |
RTS/CTS |
Check this button to enable the RTS/CTS handshaking protocol on the port. Clear it otherwise. |
CTS |
Network
Use this area to declare the type of connection used by the rover to acquire base data through a mobile communication network or through the Internet. The content of this area changes depending on your choice in the Connection field.
Parameter |
Designation |
$PASHS |
---|---|---|
Connection |
Choose the type of network connection used in the receiver: • None: No network connection used. • Modem Direct IP - Port E: The rover is connected to the Internet via its internal modem using a Direct IP connection. • Modem NTRIP Client - Port E: The rover is connected to the Internet via its internal modem as a client for an NTRIP connection. • Ethernet Direct IP - Port P: The rover is connected to the Internet through its Ethernet port using a Direct IP connection. • Ethernet NTRIP Client - Port P: The rover is connected to the Internet through its Ethernet port as a client for an NTRIP connection. |
MDM,.. NTR,PAR |
If “Modem Direct IP - Port E” or “Ethernet Direct IP - Port P” is selected, enter the following parameters:
Parameter |
Designation |
$PASHS |
---|---|---|
Connect Now |
Check this option if you want the connection to take place just after you click on the Configure button. |
MDM,DAL |
Address |
Enter the IP address or hostname (32 characters max.) of the system the rover has to connect to. |
DIP |
Port |
Enter the IP port number (0-65535) of the system the rover has to connect to. |
DIP |
Login |
If required, enter the login (20 characters max.) through which the connection is allowed. |
DIP |
Password |
If required, enter the password (20 characters max.) through which the connection is allowed. |
DIP |
If “Modem NTRIP Client - Port E” or “Ethernet NTRIP Client - Port P” is selected, enter the following parameters:
Parameter |
Designation |
$PASHS |
---|---|---|
Connect Now |
Check this option if you want the connection to take place just after you click on the Configure button. |
NTR,MTP |
Address |
Enter the IP address of the NTRIP caster |
NTR,PAR |
Port |
Enter the IP port number of the NTRIP caster |
NTR,PAR |
Mount Point |
This field is automatically completed when selecting a row in the open source table (see below). |
|
Login |
Enter the login allowing the receiver to establish the connection with the NTRIP caster. |
NTR,PAR |
Password |
Enter the password allowing the receiver to establish the connection with the NTRIP caster. |
NTR,PAR |
Load Source Table |
Once the IP address and IP port number of the NTRIP server have been entered (see above), click on the Load Source Table button to list the data stream names available from the NTRIP caster. Select one from the table. This will complete the Mount field above automatically. |
NTR,LOD |
Send NMEA |
If the rover operates in a VRS network, check this button so the rover can return its position to the network through an NMEA message. Keep it cleared in all other cases. |
NME,GGA |
Differential Port
Use this area to indicate the way the rover should detect the incoming differential data stream or streams. In Manual mode, you will need to indicate the port(s) used.
Parameter |
Designation |
$PASHS |
---|---|---|
Automatic |
Check this option if you want the rover to detect the incoming differential data stream(s) by itself. |
CPD,REM |
Manual |
Check this option if you want to indicate the port(s) on which the incoming differential data stream(s) is (are) received. |
CPD,REM |
Stream 1, Stream 2 |
This field is displayed only when “Manual” is chosen. Choose the port on which each of the differential data streams #1 and #2 is received. The possible choices are: • None: No incoming differential data stream • A - Serial: Port A • B - Serial: Port B • F - Serial: Port F • C - Bluetooth • D - Internal Radio • E - Modem • I - Ethernet: Serial-like connection in server mode • P - Ethernet: NTRIP or Direct IP in client mode |
CPD,REM |
Hot Standby RTK
Hot Standby RTK is the process of making available a second RTK position solution in the background. Should the primary RTK solution stop being delivered by the receiver for some reason, then the second RTK solution would be provided instead, until the primary RTK solution is back again and valid.
Parameter |
Designation |
$PASHS |
---|---|---|
Hot Standby RTK |
Check this option if you want the rover to operate in Hot Standby RTK. |
CPD,MOD |
Stream |
This field is visible only after the above option has been activated. Choose the port routing the differential data stream feeding the second RTK engine. This may be A, B, C, D, E, F, I or P. |
CPD,MOD |