RxControl

Version 4.5.0

RxControl v4.5.0

RxControl User Manual Version 4.5.0 October 13, 2009 This document is applicable to RxControl v4.5.0

Copyright 2000-2009 Septentrio nv/sa. All rights reserved.

Septentrio Satellite Navigation Greenhill Campus, Interleuvenlaan 15G B-3001 Leuven, Belgium http://www.septentrio.com/support request.htm [email protected] Phone: +32 16 300 800 Fax: +32 16 221 640

RxControl v4.5.0

LIST OF CONTENTS

List of Contents
1 2 I NTRODUCTION 1.1 RxControl compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . I NSTALLING R X C ONTROL 2.1 Recommended System Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.2 Windows installation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.3 Linux installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.4 Windows uninstall . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.5 Linux uninstall . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 6 7 7 7 8 9 9

G ETTING STARTED 11 3.1 A quick guide to RxControl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 3.2 Controlling the Septentrio Receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 C ONNECTING TO THE S EPTENTRIO R ECEIVER 13 4.1 Establishing a connection to the Septentrio Receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 4.2 Upgrading the Septentrio Receiver rmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 R X C ONTROL S MAIN WINDOW 5.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2 RxControl main window information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2.1 The Position Information section. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2.2 The Satellite Status section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2.3 Receiver Information tabs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2.3.1 Time tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2.3.2 RxClock tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2.3.3 DOP tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2.3.4 PL tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2.3.5 RAIM tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2.3.6 PVT tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2.3.7 Status tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2.3.8 Integration tab. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2.4 The Status bar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.3 The menus and the toolbar of the RxControl window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.3.1 The File menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.3.2 The View menu and the toolbar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.3.3 The Communication and Navigation menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.3.4 The Tools menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.3.5 The Logging menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.3.6 The Help menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . R X C ONTROL S TABULAR AND GRAPHICAL VIEWS 6.1 Channel Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.1.1 Channel Table Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.2 Carrier to Noise Ratio Plot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.2.1 Carrier to Noise Ratio Plot Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.3 Sky Plot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.3.1 Sky Plot Menu. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.3.2 Sky Plot Toolbar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.4 The Planimetric Plot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.4.1 The main areas of the Planimetric Plot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.4.2 Planimetric Plot Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 17 18 18 19 21 21 21 21 22 22 22 22 23 23 24 25 26 26 27 27 28 29 29 30 30 31 31 33 33 33 33 34

RxControl v4.5.0

LIST OF FIGURES

6.5 6.6 6.7 6.8 6.9 6.10 6.11 6.12 6.13 6.14 6.15 7

Statistics Plot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The DiffCorr Info window. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The SBAS Ionospheric Delay Plot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Stanford Plots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Attitude View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Auxiliary Antennas View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Attitude/IMU 3D View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . IMU View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Time Plots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . AGC Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Message Inspector View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

36 37 38 40 42 43 44 45 46 48 48 50 50 52 52 53 54 54 59 59 59 60 61 62 62 63 64 65 65 65 65 67 67 68 68 68 70 70 72

T HE E XPERT C ONSOLE 7.1 The Receiver Commands Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.2 The ASCII Display Tab. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.3 The NMEA Tab. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.4 The Events Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . L OGGING 8.1 RxControl Logging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.2 Septentrio Receiver Logging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.2.1 Internal Logging Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.2.2 Download Internal Files . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . U PGRADING THE RECEIVER

A N ULL - MODEM CABLE B C ONVERSION AND PROJECTION OF COORDINATES B.1 Coordinate conversions on an ellipsoid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.2 The conformal direct Mercator projection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . B.3 The topocentric ENU coordinate system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . C T ROUBLESHOOTING C.1 RxControls screens are not updated or only partially updated . . . . . . . . . . . . . . . . . . . . . . . . . . . . C.2 The Septentrio Receiver specic menus are not available in RxControl . . . . . . . . . . . . . . . . . . C.3 Contacting Septentrio support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D WARNING AND E RROR M ESSAGES D.1 Serial port related Warning and Error Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D.2 TCP/IP port related Warning and Error Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D.3 SBF File Player related Warning and Error Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D.4 RxControl data parser related Warning and Error Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D.5 Logging related Warning and Error Messages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . D.6 Upgrade related Warning and Error Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . G LOSSARY

List of Figures
4-1 4-2 4-3 4-4 5-1 5-2 Connection dialog. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Create Serial Connection dialog. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Create TCP/IP Connection dialog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Create SBF File Connection dialog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Main Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Position Information section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 14 14 15 17 18
4

RxControl v4.5.0

LIST OF TABLES

5-3 5-4 5-5 5-6 5-7 5-8 5-9 5-10 5-11 5-12 5-13 6-1 6-2 6-3 6-4 6-5 6-6 6-7 6-8 6-9 6-10 6-11 6-12 6-13 6-14 6-15 6-16 6-17 6-18 7-1 7-2 7-3 8-1 8-2 8-3 8-4 8-5 8-6 9-1 B-1 B-2 B-3

The planimetric dispersion ellips. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Satellite Status section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Pop-up in the Satellite Status section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Receiver Information tabs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . PVT Mode icons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Integration Mode icons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . File menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . View menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Tools menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Logging menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Help menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Channel Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Carrier To Noise Plot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Sky Plot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Planimetric Plot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Selective display of PVT modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Statistics Plot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The DiffCorr Info window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . SBAS Ionospheric Delay Plot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . HPL Plot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VPL Plot. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Attitude View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Auxiliary Antennas View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Attitude/IMU 3D view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Attitude/IMU 3D View Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . IMU View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ENU time plot with East, North and Up components on one plot . . . . . . . . . . . . . . . . . . . . . . . . . AGC table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Message Inspector View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The Expert Console displaying its Receiver Communication tab . . . . . . . . . . . . . . . . . . . . . . . . . The ASCII Display tab of the Expert Console . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The NMEA tab of the Expert Console . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Logger dialog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Logger Global Settings Tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Data Logging SBF tab dialog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Data Logging NMEA tab dialog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Data Logging Post Processing tab dialog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Download Internal Files dialog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Upgrade Receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Difference between geodetic latitude and geocentric latitude . . . . . . . . . . . . . . . . . . . . . . . . The Mercator projection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The topocentric ENU coordinate system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

19 20 21 21 24 24 26 26 27 27 28 29 31 32 34 35 37 38 39 41 42 43 44 44 45 46 47 48 49 51 52 53 54 55 57 57 58 59 60 62 63 64

List of Tables
3-1 Default serial port settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

RxControl v4.5.0

INTRODUCTION

Introduction

RxControl is an intuitive GUI application, which allows you to control your Septentrio Receiver, to log data, to monitor the navigation solution and other activities of the receiver.

1.1

RxControl compatibility

RxControl 4.5.0 has been designed and tested to work with the interface of receivers which were released after PolaRx2. RxControl 4.5.0 does not support PolaRx2 or older receivers. The menu of RxControl adapts itself to the connected Septentrio Receiver. So if new functionality is added to the receiver via a rmware update, the new functionality may be visible in the menu of RxControl without having to update RxControl itself. Using an old version of the receiver than expected by RxControl may cause some screens not to function properly since the receiver might not be able to provide the requested data to RxControl. Please consult the release notes of RxControl 4.5.0 to check for specic differences and incompatibilities with previous versions.

RxControl v4.5.0

INSTALLING RXCONTROL

2
2.1

Installing RxControl
Recommended System Requirements

RxControl has been tested on the following operating systems: Windows XP and Vista Fedora Core 9 and 10 Minimal system requirements (for 1 Hz. update rate 1 ) are: Pentium 800 MHz and above 512 MB RAM 1024768 or higher resolution

2.2

Windows installation

Note 1. Administrative rights are required for installing RxControl.

The RxControl installation is performed by running the RxTools 1 5 0 Installer installer: RxTools 1 5 0 Installer.exe (located in the RxTools\windows directory on the installation CD) With the Windows setup program of the RxTools 1 5 0 Installer, users may choose to install either RxControl 4.5.0 , SBF Converter 2.3.0, RxLogger 1.1.0, RxUpgrade 1.0.4 or the Data Link 2.3.0 program. Please see the release notes for installation instructions and warning. Also the release notes contains detailed description of the programs above as their issues and limitations. During the installation, you will be prompted to indicate in which directory you want the RxTools 1 5 0 Installer to be installed, and where you want to create the shortcuts. If a previous version of RxControl is installed you will be prompted to remove that version. Once RxControl is installed, it can be launched by clicking the RxControl 4.5.0 shortcut icon created by the installation program. If you are planning to use USB to connect to your Septentrio Receiver then make sure that the Windows USB driver is preinstalled. USB driver installation is an option which is selected by default in the RxTools 1 5 0 Installer installer. After the driver is installed, connect your Septentrio Receiver via USB and wait several seconds. The Windows Plug and Play functionality should recognize the receiver and automatically congure it for use. Two virtual serial ports will be created on your machine, which can be used to communicate to the receiver via USB. Check the Device Manager to see the exact names of these virtual serial ports. Usually they will stand out from the rest of the serial ports since they will have an enumeration number which is a bit higher than the built in serial ports. Also they should have the name Septentrio written beside the port name. These virtual serial ports will be labeled as such when RxControl shows the Connection Dialog. The virtual serial port names correspond to a given USB port. If you plug the receiver into a new USB port, the virtual serial ports will have new names. Data Link 2.3.0 is a communication utility which allows users to establish connections between several serial and/or TCP/IP ports. Data Link is divided into 2 to 6 similar Port Panels, each of them
1

Higher data rates (e.g. 10 Hz.) will require higher CPU and memory requirements.

RxControl v4.5.0

INSTALLING RXCONTROL

containing the controls to establish a simple connection to either a serial or a TCP/IP port. Once 2.3.0 is installed, it can be launched by clicking the Data Link 2.3.0 shortcut icon created by the installation program. SBF Converter 2.3.0 is a conversion utility which allows users to convert SBF logged les of the Septentrio Receiver to other formats such as RINEX, ASCII, GPX, KML and STFformat. Once SBF Converter 2.3.0 is installed, it can be launched by clicking the SBF Converter 2.3.0 shortcut icon created by the installation program. Please consult the HTML help pages of SBF Converter 2.3.0 for more information on this program. RxLogger 1.1.0 is a program which facilitates logging and allows denition of logging streams which can have independent communication connection, update rate and SBF blocks. RxUpgrade 1.0.4 is a utility which can be used independently for upgrading your receiver.

2.3

Linux installation

To install RxControl, run the program RxTools 1 5 0 Installer.bin located in the directory RxTools/linux-i386/ of the installation CD. During the installation, you will be prompted in which directory you want the RxControl to be installed, and where you want to create the shortcuts. Remember that RxControl 4.5.0 and other graphical tools might have some incompatible features with different Septentrio Receiver versions, therefore you may want to choose a different directory for keeping parallel RxControl versions or other tools running properly on the same PC. For USB connectivity you do not need to install any special drivers on Linux. In order to use RxControl with Linux OS the following settings are required: The RxControl process should have the rights to access the /dev/ttyS? serial ports. On most modern Linux, the /dev/ttyS? devices are owned by root and belong to the uucp group, with read and write access to the group. Additionally, the device is normally locked by writing a le in the /var/lock/ directory, owned by root and belonging to the lock group, with read and write access to the group. In order to access the serial ports, the user(s) who want(s) to use RxControl must be part of the uucp group and of the lock group. On a stand-alone Linux machine, the classic way to make a user part of the uucp group and of the lock group is by editing the /etc/group le, adding the users name to the line dening the uucp group and the lock group. For example, if the user jsmith must be added to the uucp group, change the line: uucp:x:14:uucp to uucp:x:14:uucp,jsmith On many Linux distributions, graphical tools may edit the le, in Fedora Core, for instance, the tool is found in the System Settings | Users and Groups menu. Editing the /etc/group le requires c privileges. On Linux machine administered centrally on a local network, the group members are likely to be shared between the machines, using name services like the NIS (Network Information Service), NIS+ or the LDAP (Lightweight Directory Access Protocol). The /etc/nsswitch.conf le controls the use of the name services. Ask your system administrator to add the needed users to the uucp and the lock groups.

RxControl v4.5.0

INSTALLING RXCONTROL

This program will not run on your system if the permissions of the serial ports are not set to read/write (rw) for you (normally this should not be a problem with the default permissions). In case you run into problems make sure that you change the permissions using the command: chmod 660 /dev/ttyS? where the ?-mark has to be replaced by the correct gure for your port (e.g. /dev/ttyS0 for the COM1 port). Changing these permissions also require root privileges. The user has to update his environment by logging out and back in. Be aware that the X session has to be restarted as well. On most systems this can be done by pressing the key combination Ctrl-Alt-Backspace. It is not recommended to install RxControl as a root user for security reasons as well as for avoiding that the installation overwrites other settings in your system. If you need to make RxControl available to more than one user it is recommended to share the installation directory of RxControl. Once RxControl is installed, it can be launched by executing the link created by the installation program or by executing ./runRxControl in the directory where the program is installed. Data Link 2.3.0 and SBF Converter 2.3.0 can be run from the bin directory so that the proper libraries can be loaded on a Linux system. They can also be run from the install directory in a similar way as described for RxControl above. If the RxTools 1 5 0 Installer installer has been used, then Data Link and SBF Converter can be run by launching the runDataLink and/or the runSBFConverter script(s) located in the /bin directory inside the RxTools 1 5 0 Installer installation path. These scripts make sure of setting a temporal library path for the applications so that they can run properly on your Linux system.

2.4

Windows uninstall

RxControl can be uninstalled by using the next shortcut created by the installation program: Uninstall RxControl Alternatively users can also uninstall the software by using the Add/Remove Programs feature of Windows. In order to open the Add/Remove Programs window click the Start button on the Taskbar and select Settings and then Control Panel. The Control Panel will be displayed. Double-click on the Add/Remove Programs icon to open the Add/Remove Programs properties sheet. Scroll down through the list of applications which Windows can remove automatically. Locate the Uninstall RxTools application, Highlight Uninstall RxTools by selecting it and click on the Remove button. Both methods will launch the uninstall program of Uninstall RxTools. Follow the on-screen instructions to uninstall RxControl from your system.
Note 2. If Data Link or SBF Converter was/were also installed on the Windows PC, then these applications will also be removed by the described uninstall procedure.

2.5

Linux uninstall

The RxTools 1 5 0 Installer (RxControl) are uninstalled by running the next program: Uninstall RxTools located in the UninstallerData directory of the programs installation directory.

RxControl v4.5.0

INSTALLING RXCONTROL

After executing the command follow the on-screen instructions to complete the removal of the RxTools 1 5 0 Installer.

RxControl v4.5.0

10

GETTING STARTED

3
3.1

Getting started
A quick guide to RxControl

The RxControl program is an intuitive GUI which allows you to control your Septentrio Receiver, to perform data logging, to monitor the navigation solution and other activities of the Septentrio Receiver. To fully understand the functionality and to be able to use all the capabilities of RxControl, it is recommended to read the HTML help pages and the manual of RxControl. The purpose of this section is to assist you with your rst steps. Once RxControl is installed (see Section 2 on page 7), your next task is to set up a connection from your PC to the Septentrio Receiver. The user must be aware that the Septentrio Receiver has several serial ports (e.g. COM1), and that they are not to be confused with the PCs serial ports (COM1 and COM2). On Linux systems, the serial ports of the PC are denoted by /dev/ttyS0 and /dev/ttyS1 for COM1 and COM2 respectively. The next paragraphs refer to the Windows naming convention. To connect to the Septentrio Receiver via a serial cable, follow the next steps: 1. Make sure that the receiver is up and running and that it is connected to the antenna. 2. Use a null-modem serial cable (see Section A on page 61) to connect one of the serial ports of your PC to one of the serial ports of the Septentrio Receiver. 3. Start RxControl, or, if it is already running, go to File | Change Connection. 4. The Change Connection dialog (see Figure 4-1 on page 13) will appear. For the rst connection, choose Serial Connection | Create New | Next>. 5. A dialog window (see Figure 4-2 on page 14) to select the communication port will be shown (by default the serial port settings are not shown and are correctly lled in for the default receiver settings). If the Septentrio Receiver is connected to your PCs COM2 port, change the Serial Port to COM2. If you would like to connect via USB then select one of the two virtual serial ports, which have been created for USB communication. If you accept these settings your PCs serial port will be in the same state as the Septentrio Receivers COMx port, and the communication with the Septentrio Receiver may begin. Every time you turn your Septentrio Receiver on or reset it via software, the serial ports of the Septentrio Receiver will return to the default communication settings as listed in the table below: Parameter baud rate data bits parity stop bits flow control Value 115200 8 none 1 none

Table 3-1: Default serial port settings

If you want to change these settings you have to press the little triangle next to Advanced Settings to make the settings visible. Before pressing the Finish button, you have to provide a le name to the connection settings. Enter a name in the Connection File text eld, even if you stay with the default settings. If you press the Enter button on your PCs keyboard, RxControl will add the extension .serial to the le name. Later you will be able to reuse these settings for the chosen serial port by loading the settings le.

RxControl v4.5.0

11

GETTING STARTED

Note 3. As an inheritance of the DOS background working under Windows systems, it is not allowed to have a le named COM X.extension. Therefore, you should avoid naming your connection les something as COM1.serial.

6. Pressing the Finish button will start the connection to the Septentrio Receiver. Connecting over a Local Area Network (LAN) or over the Internet using a TCP/IP socket is much simpler than via a serial port. All you need to provide in this case is the hostname or the IP address of your Septentrio Receiver (see Figure 4-3 on page 14). Once connected, RxControl displays its Main Window (see Figure 5-1 on page 17) with the current position, the list of tracked satellites and timing information. If you dont see the normal display, please look for more information in Section 4.1 on the following page. If everything went all right and you are now connected, then welcome to the RxControl user interface! Please hover your mouse over various texts and controls to see the tool tips which provide extra receiver information or help. The blinking green lights at the bottom of the main screen signal new data coming into RxControl. To monitor the navigation solution and tracking, go to the View menu and choose one of the views. All the screens are intuitive and easy to use. You can also click the icons in the tool bar to see various views which visualize at real time information from the receiver. To control the receiver, use the receiver menus (see Section 5.3.3 on page 26), which consist of dialogs and commands to control the operation of your Septentrio Receiver. Have in mind that there is a one-to-one correspondence between the Septentrio Receiver command set and the different items in the Communication and Navigation dialogs; most of the time the name of the menu, item or dialog clearly matches the name of the command. The settings you change in these dialogs are actually changed in the receiver when you press the OK or Apply button. To log SBF data, go to the RxControl Logging dialog used for logging data coming from the receiver. (see Section 8 on page 54).

3.2

Controlling the Septentrio Receiver

If you want to change the receiver settings, the place you are likely to visit are the Communication and Navigation menus (see Section 5.3.3 on page 26). These menus are built dynamically from the MIB description, which is downloaded from the receiver. In these menus you will be able to nd different special settings and commands that set the receiver in a specic mode. The contents of these dialogs always reect the current settings of the receiver. If you change any parameter on these dialogs and press OK, the new settings will be transmitted to the receiver. All the current settings can also be requested or changed manually via the Expert Console (see Section 7 on page 50), which acts as a command-line interface to the Septentrio Receiver. Besides querying the current settings using the get-commands (as dened in the Septentrio Receivers User Manual), the Expert Console also allows you to change the settings by issuing the corresponding set-commands. Other tabs in this screen allow you to see the ow of NMEA and/or differential correction messages.

RxControl v4.5.0

12

CONNECTING TO THE SEPTENTRIO RECEIVER

4
4.1

Connecting to the Septentrio Receiver

Establishing a connection to the Septentrio Receiver

RxControl connects to the Septentrio Receiver using either a serial RS-232 (see Appendix A on page 61) cable, USB cable or a TCP/IP data stream connection. The latter allows RxControl to operate a receiver remotely and can be useful for remote reference stations equipped with a Septentrio Receiver. On startup, RxControl pops up a Change Connection dialog asking the user to specify the communication settings (see Figure 4-1). The user can choose between four connection options: Connecting with the last known connection Connecting via a serial link (USB connection is done through a virtual serial link) Connecting via a TCP/IP socket Replaying a recorded le

Figure 4-1: Connection dialog

At rst use of RxControl, the user has to create a new serial, TCP/IP or SBF le replay connection and RxControl does not present the Use Last Connection option in the Change Connection dialog. Creating a new serial, TCP/IP or SBF le replay connection is done by selecting the Create New option in the corresponding drop-down list. The Finish button will become grayed out and the Next > will become available indicating that the user has to enter additional information. Pressing the Next > button pops up a Create a new Serial connection (see Figure 4-2 on the next page), a Create a new TCP/IP connection dialog (see Figure 4-3 on the following page) or a Create a new SBF file connection dialog (see Figure 4-4 on page 15). The Create a new Serial connection dialog allows to specify the values of parameters affecting the serial or USB connection between the Septentrio Receiver and the RxControl program. The predened values reect the default settings of the serial ports of the Septentrio Receiver. However for USB connection via virtual serial ports, some port parameters like baud rate will be ignored since it is unnecessary (see Section 2.2 on page 7 for more USB details). Keep in mind that after a restart, the serial ports of the Septentrio Receiver return to this state, so it is advisable to use the default settings. After adjusting the parameters to the needed values, specify a le

RxControl v4.5.0

13

CONNECTING TO THE SEPTENTRIO RECEIVER

name were these parameters can be stored. Once all information has been entered, press the Finish button.
Note 4. As an inheritance of the DOS background working under Windows systems, it is not allowed to have a le named COM X . EXTENSION.

Figure 4-2: Create Serial Connection dialog

If the Septentrio Receiver has Ethernet capabilities, then users may also connect to the receiver using a TCP/IP connection. Dening a TCP/IP connection is simply done by specifying the IP address or the hostname of the Septentrio Receiver. In the latter case, the hostname must be resolved by a local DNS server or by linking the hostname (e.g. MyReceiver) to the corresponding IP (e.g. 192.168.1.134) address. This can be done by inserting a line into the hosts le: 192.168.1.123 receiver.yourdomain receiver Contact your network administrator for more information on how to map the Septentrio Receiver IP address to a DNS server.

Figure 4-3: Create TCP/IP Connection dialog

RxControl also has a standalone mode in which it can replay recorded SBF les. This is done by using a SBF le connection. Dening such a connection is done by specifying the SBF le that must be played. The le will be played at the interval at which it was recorded, or at a factor slower or faster as specied by the user.
Note 5. The behaviour of RxControl in le play mode depends on the recorded messages. If messages required by RxControl are not available in the le it is possible that some or all dialogs of RxControl do not function as expected.

RxControl v4.5.0

14

CONNECTING TO THE SEPTENTRIO RECEIVER

Figure 4-4: Create SBF File Connection dialog

The parameters of each created connection are saved in a properties le. These les are located in the user home dir /.septentrio directory. A serial connection properties le is identied by the extension .serial while a TCP/IP connection has the extension .tcpip and a SBF le connection .sbffile. If properties les are available at startup, RxControl displays the Use Last Connection option and species the name of the corresponding properties le in the Change Connection dialog (see Figure 4-1 on page 13). The user can decide to always connect to the last used connection and skip the dialogs from the Change Connection dialog by selecting the Use the last connection at startup check box accessed from the File | Preferences menu entry. If RxControl is already running, the Change Connection dialog (see Figure 4-1 on page 13) can be opened by choosing File | Change Connection in the RxControls main window. During the display of the Change Connection dialog, there is no data communication between the Septentrio Receiver and RxControl. Pressing the Work offline button allows you to use RxControl without any receiver connected. Whenever RxControl fails to initiate a connection to the receiver it will pop up an error dialog and will allow the user to select another connection. If RxControl loses its connection to a receiver it will try to reconnect using the same connection parameters. Also if receiver is connected via USB and it is restarted or unplugged RxControl will try to re-establish the connection. Allow several seconds for the virtual serial port to become visible if receiver is restarted using the USB connection. Once connected, RxControl displays its Main Window (see Figure 5-1 on page 17) with the current position, the list of tracked satellites and timing information. If you dont see the normal display, please check for a solution in Section C on page 65. If everything went all right and you are now connected, then welcome to the RxControl user interface! When you start RxControl afresh, it sends a request for a standard minimal set of SBF data blocks required to update all the views. In order to maximize the performance of the Septentrio Receiver RxControl will also adapt dynamically its SBF usage depending on the views and screens opened/closed

RxControl v4.5.0

15

CONNECTING TO THE SEPTENTRIO RECEIVER

within RxControl. During a session, you cannot change or lower this minimal set of SBF messages for your current connection.

4.2

Upgrading the Septentrio Receiver rmware

At the bottom of the Change Connection dialog (see Figure 4-1 on page 13) there is one more option, which allows to upgrade the Septentrio Receiver rmware. This option is available at start up of RxControl or by selecting the menu entry Tools | Upgrade Receiver. Selecting this option allows to upgrade the rmware of the Septentrio Receiver. This procedure is fully described in Section 9 on page 60.

RxControl v4.5.0

16

RXCONTROLS MAIN WINDOW

5
5.1

RxControls main window

General

RxControls main window is the central part of RxControl. It gives the user a general overview of position related information, the satellite systems in use, and the status of the Septentrio Receiver. If this window stays empty after having connected to the receiver, it means that something is wrong with the connection or that the receiver is not turned on. This may happen if the wrong PCs serial port is specied, or if the PCs serial settings do not match the receivers settings. Possible solutions to this problem can be found in Section 4.1 on page 13. RxControls main window is the central location for accessing all receiver related information and offers full control of the Septentrio Receiver. The Septentrio Receiver outputs navigation and measurement information in binary SBF data blocks and/or ASCII NMEA sentences at user-specied intervals. RxControl dispatches the SBF data blocks to a variety of graphical or tabular views. Quick access to these views is available through the toolbar of the RxControl window.

Figure 5-1: Main Window

If you would like to change the update rate of the main window and thus the update frequency coming from the receiver, you can do so in the Preferences | General section. RxControls main window consists of four main areas:

RxControl v4.5.0

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the Position Information section displays current position, velocity, and related accuracy parameters; the Satellite Status section gives an overview of the tracking status of the Septentrio Receiver for various satellite systems; the Information tabs in the bottom part of the window display timing information, dilution of precision parameters, protection levels (HPL/VPL), RAIM (HER/VER), PVT solution information, and the status of the currently used communication link to the receiver; the Status bar gives a quick overview of the communication between the Septentrio Receiver and the RxControl program, current PVT mode and the status of logging. The rst three of them have a little triangle before their title. Clicking this triangle allows to expand/collapse the area. A minimal subset of SBF blocks is needed to update the graphical windows of RxControl. The user has no control over this minimal subset of SBF blocks for the current connection. Nevertheless, the list of SBF blocks transmitted over other connections, can be controlled by the user through the Communication | SBF Output dialog. Closing RxControls main window closes all the current views, shuts down the communication link to the Septentrio Receiver and terminates the RxControl program. During the shutdown, a le with the user preferences (user home dir /.septentrio/rxcontrol.conf) for the RxControl program and a connection le with properties for the current connection to the Septentrio Receiver are saved ( user home dir /.septentrio/connectionname.tcpip for an Ethernet connection, user home dir /.septentrio/connectionname.serial in the case of a serial/usb port connection and user home dir /.septentrio/connectionname.sbffile in the case of a le replay connection).

5.2
5.2.1

RxControl main window information

The Position Information section

The top section of the RxControl main window shows in separate tabs position- and velocity-related information. The default view2 displays the current position and velocity expressed in the geodetic geographic system ( latitude , longitude, h ellipsoidal height) based on the World Geodetic System 1984 (WGS84) ellipsoid.

Figure 5-2: Position Information section

The format used is changed through the F ILE P REFERENCES . . . F ORMATS menu entry, which can be accessed by right clicking on the position information display. The formats preference setting allow to alter the angular format and the coordinate system througout the RxControl. The angular format is displayed as (a) sexagesimal degrees, (b) decimal degrees or (c) degrees-decimal arcminutes as often used in nautical applications The user can switch the overall coordinate system as (a) cartesian coordinates (X, Y, Z ), (b) geodetic coordinates (, , h), (c) geocentric coordiAt rst startup of RxControl the position and velocity are always displayed in geodetic geographic coordinates. At subsequent startups, RxControl will read the users preferences le and display the last used view.
2

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nates ( geocentric latitude, geocentric longitude, r geocetric distance) (See Section B.1 on page 62), (d) topocentric coordinates (E east, N north, U up) related to a topocentric reference point (See Section B.3 on page 64), (e) or as a cartographic projection (E east, N north, H ortometric height) (See Section B.2 on page 63). The orthometric height H , referenced to the geoid, by subtracting the geoid undulation N , H h N . The Septentrio Receiver interpolates the geoid undulation using the geoid model at 10 matrix derived from the full WGS84 coefcient set (see: Technical Characteristics of the NAVSTAR GPS June 1991).
Note 6. When running the Septentrio Receiver in base station mode, the position information section displays only the known true position of the base station. In the base station mode, position errors or standard deviations are meaningless and thus are not provided.

When no position updates are available, values are set to N/A and the cause of the problem can be seen in the status bar (see Section 5.2.4 on page 23). The position and velocity views display the standard deviation of the coordinate components. The geodetic and geocentric view display the deviations (E , N ) of the standard planimetric error ellipse along the parallel and meridian, while U is measured along the normal direction to the ellipsoid. This
meridian V W N

N U E parallel E

Figure 5-3: The planimetric dispersion ellips

semi-major and semi-minor axis (U , V ) and the orientation angle , measured clockwise from the geographic North, are displayed in the topocentric and projection views. The velocity tab reports the corresponding standard deviations of the velocity components. The Position Information section is capable of showing either the GNSS-only solution or an integrated solution (if available). Whether the GNSS-only or integrated solution is shown, is determined by a user preference as set in the preferences dialog, which can be opened by selecting the Preferences... item in the File menu of the main application window. If an integrated solution is shown, this is indicated by the presence of the text Integrated in the left column of the tabs.

5.2.2

The Satellite Status section

The central section of the RxControl main window displays status information about the satellites and their signals currently tracked by the Septentrio Receiver. At start-up, the RxControl program initiates communication with the receiver and adjusts its views to the available options of the Septentrio Receiver. During this phase, the Septentrio Receiver receiver communicates its capability to track a
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specic satellite system, such as GPS (Global Positioning System), GLONASS (Global Orbiting Navigation Satellite System), Galileo or SBAS (Space-Based Augmentation System) like EGNOS. RxControl adjusts its appearance to the actual tracking capability of the receiver. When the Septentrio Receiver does not support tracking of a particular satellite system, the corresponding tab is disabled and inaccessible for the user.

Figure 5-4: Satellite Status section

The satellite systems tab provides a quick overview of reception and usage status of the individual satellites. The satellite number is preceded by a letter indicating the satellite system to which a satellite belongs: G is used for the satellites of the GPS constellation, R for the satellites of the GLONASS constellation, S for the satellites of the SBAS constellation and E is used for the satellites of the Galileo constellation.

The signal indicator on each button reects the status of each signal of the corresponding satellite. It is represented by little coloured squares. The number of squares depends on the represented system and the capabilities of the receiver (only the signals of which the receiver is capable of are displayed). To nd out which square represents which signal just hover the mouse over a button and a small popup will appear with this information, as well as other satellite information. The colour code of the squares is as follows: grey indicates that the receiver is neither tracking the corresponding satellites signal nor searching for it. There could be two different reasons: (a) the almanac data reports that the satellite is not visible from the current position, or (b) the user explicitly requested not to track this satellite (see the receivers Commands User Manual). If all signals for a satellite are in this mode, the text on the button is also grey to indicate that there is no activity for this satellite. yellow indicates that the receiver tries to detect the corresponding signal of the satellite and has entered into the search mode. orange indicates that a valid satellite signal has been detected and that the tracking channel enters into a synchronization phase. blue indicates that the satellite signal is tracked, but it is not used in the PVT. green indicates that the satellite signal is tracked and used in the PVT computation. red indicates that the satellite signal is tracked, but it has been thrown out of the PVT computation. When the text for an SBAS satellite is printed in bold, this SBAS satellite is used as a source of SBAS corrections that could be used by the PVT solution. Note that this can only be the case when the PVT mode includes an SBAS-aided positioning solution. At the bottom of the satellite status section there is a summary of the tracking status of the Septentrio Receiver for all the satellite systems. Both the total number of satellites and the number of satellites per constellation that have signals in (a) search (b) synchronization (c) tracking but not used in PVT
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(d) tracking and used in PVT are shown. If a satellite has signals of different statuses it will be counted in the last possible list. Hovering the mouse pointer over a satellite button pops up a message containing basic information on the satellite (See Figure 5-5). The pop-up message reports the following:

Figure 5-5: Pop-up in the Satellite Status section

The logical channel on which this satellite is being tracked by the Septentrio Receiver (next to the satellite number). For SBAS satellites the name of the geostationary satellite is also displayed. The elevation and azimuth angles of the line-of-sight to the satellite in degrees. An arrow indicator shows whether the satellite is rising () or setting (). The status of all the satellites signals together with the name of the signal and if it is healthy or not

5.2.3

Receiver Information tabs

The bottom section of RxControls main window contains the Time, RxClock, the Dilution Of Precision, the Protection Limit or Receiver Autonomous Integrity Monitoring, PVT and Status tabs.

Figure 5-6: Receiver Information tabs

5.2.3.1

Time tab

The Time tab displays the current date and time. By default, the date and time are displayed in the UTC (Universal Time Coordinated) time reference, but it can be changed to the GNSS time reference or to the local time (derived from the PCs locale) by right-clicking in the Time tab.

5.2.3.2

RxClock tab

The RxClock tab displays the current date and time expressed by the Week number (WNc) and the Time Of Week (TOW). It also shows the offset and the drift of the Septentrio Receivers internal clock with respect to the GNSS time reference.

5.2.3.3

DOP tab

The central tabs show the Dilution Of Precision (DOP), Protection Limit (PL) or Receiver Autonomous Integrity Monitoring (RAIM) values. The DOP parameters represent the inuence of the

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geometric distribution of the observed satellite constellation on the navigation solution. The multiplication of the DOP parameter times the a-priori standard deviation of the range errors yields the expected accuracy of the position (horizontal and/or vertical) and the time synchronization. PDOP (Position DOP) is a measure of the achievable threedimensional geometric accuracy and has two components: HDOP (Horizontal DOP) in the local horizontal plane and a vertical component VDOP (Vertical DOP). An estimate of the timing error can be derived from the value of TDOP (Time DOP).

5.2.3.4

PL tab

If some SBAS satellites are being tracked, the PL limits are generated in real time and provide an upper limit for the residual position error of the differentially corrected position.

5.2.3.5

RAIM tab

The Septentrio Receiver features RAIM to ensure the integrity of the computed position solution, provided sufcient satellites are available. The RAIM tab shows Horizontal External Reliability (HER) and Vertical External Reliability (VER) which are the distinct External Reliability Levels (XERL) for the horizontal and the vertical components.

5.2.3.6

PVT tab

The PVT tab shows information about the PVT solution. If there is no PVT solution the reason is also displayed here. If there is a PVT solution the following information is shown: PVT mode: Stand-Alone PVT, Differential PVT, Fixed location, RTK with xed ambiguities, RTK with oat ambiguities or SBAS aided PVT. System: The systems used in the PVT solution (e.g.: GPS+SBAS). Info: Indicates if the PVT solution is of the 2D or 3D type. Also this eld indicates the type of corrections used in case of SBAS, DGPS, or RTK solution. Corr Age: When in DGPS or RTK mode this indicates the mean age of the differential corrections and when in SBAS mode this indicates the mean age of the fast corrections. The PVT tab only shows information about the GNSS-based PVT. Refer to Section 5.2.3.8 on the next page for more information on the integrated solution, if available.

5.2.3.7

Status tab

The Status tab reports the: Up-Time of the Septentrio Receiver: expressed in days, hours, minutes and seconds. CPU usage: high values during a long period of time may indicate a problem with the functioning of the Septentrio Receiver and may require the users attention. Connection port: the name of the connection port on the receiver side. Throughput: the throughput of the currently used communication port.

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5.2.3.8

Integration tab

The Integration tab shows information about the integrated solution for position, velocity and attitude: Mode: current integration mode. Error: current integration error status. Info: information regarding the status and the type of measurements used. GNSS Age: Duration that no GNSS measurements were received and no GNSS-measurement based PVT is computed. As for most parts of the user interface, more detailed information or an explanation is shown when the user hovers with the mouse over these elds. The Integration tab only shows information if an integrated solution is available to RxControl. On one hand this is determined by the capabilities of the Septentrio Receiver, and the selected positioning mode. On the other hand, this is also determined by the user preference as set in the Preferences dialog, which can be opened by selecting the Preferences... item in the File menu of the main application window. If no integrated solution is used by the application, all elds in the Integration tab show N/A.

5.2.4

The Status bar

At the bottom of RxControls main window a status bar (See Figure 5-1 on page 17) can be found. The status bar exists of two lines and contains the following information in the order from left to right: a LED which blinks if a valid SBF message is received. Normally this LED blinks green, but whenever there is a CRC error or there are discarded bytes it starts blinking red. Hovering the mouse over the LED will show a pop up with information about the number of CRC errors and discarded bytes. Showing this pop up also makes the LED blink green again (until the next error). Right-clicking the LED allows to reset the CRC errors and discarded bytes counters. a LED indicating the receiver status. If the receiver status indicates there are no errors, it blinks green. If the error ag of the receiver is set, it blinks red. The history of previous errors will also be kept in the tool tip of this LED. To clear this history right click on the LED and select Reset Counter. The second option Display the error output in the Expert Console issues the LstInternalFile, Error command to the receiver and shows its output in the Expert Console. This also clears the error on the receiver side. a LED indicating that differential corrections are being received by the Septentrio Receiver. See Expert Console(Section 7 on page 50) for more details about the correction messages that are coming in. a LED which will blink green every time an external event is detected by the receiver. See Expert Console(Section 7 on page 50) Events tab if you would like to see the details about the external event or if you would like to count the external events. a LED indicating that external sensor measurements are being received by the Septentrio Receiver. an icon indicating the logging status. If the arrow on the icon is moving, this indicates that logging is currently taking place. If the icon is stationary then no logging is taking place. an icon indicating internal logging. If this icon is greyed out then your receiver does not support internal logging. If the icon is coloured and stationary then the internal logging is available but there is no logging taking place. If the arrow on the icon is moving this means that internal logging is currently taking place.

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an icon indicating the current PVT mode of the Septentrio Receiver, see Figure 5-7 on the next page: (a) No PVT available (b) Stand-alone PVT (c) Differential PVT (d) Base Station (e) RTK Fixed Ambiguities (f) RTK Float Ambiguities (g) SBAS Enabled PVT (h) Moving-Base RTK with Fixed Ambiguities (i) Moving-Base RTK with Float Ambiguities (j) Precise Point Positioning (PPP) with Fixed Ambiguities (k) Precise Point Positioning (PPP) with Float Ambiguities an optional icon indicating the current integration mode of the position and velocity information shown by RxControl, see Figure 5-8: (a) GNSS PV solution (b) Loosely-integrated PV solution (c) Extrapolated PV solution (d) No integrated PV solution The icon is not shown when not relevant, e.g. when automatically choosing the GNSS PV solution when connected to a receiver that is not capable to perform integration. an icon indicating the connection state of RxControl. a text area for messages indicating the current actions of RxControl. a text area showing that an external reference clock is connected to the receiver or nothing if no such reference is there. a text area showing that a onePPS in pulse is available to the receiver or nothing if no such pulse is there. a text area showing the type of the currently connected receiver.

(a) (b) (c) (d) (e)

(f)

(g) (h)

(i)

(j)

(k)

Figure 5-7: PVT Mode icons

(a) (b) (c) (d)

Figure 5-8: Integration Mode icons

5.3

The menus and the toolbar of the RxControl window

The menu bar of RxControls main window allows a user to control every operational aspect of the Septentrio Receiver, log data, open various graphical and tabular data views and get information about the status and capabilities of the Septentrio Receiver. Please note that all menus related the Septentrio Receiver commands are created dynamically via the MIB (Management Information Base) downloaded from the receiver. RxControl communicates with the receiver following the binary SNMP (Simple Network Management Protocol) protocol and the
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command set as described in the MIB. Therefore it is impossible to describe in this section the exact look and contents of the receiver menus. Only the entries that are hard coded in RxControl are fully described here, so when your RxControl is connected to a receiver additional menu entries are created. For more information of the receiver commands see the Septentrio Receivers User Manual.

5.3.1

The File menu

The File menu allows you to access main functions of RxControl. It contains the following hard coded entries: Change Connection: Allows to connect to another Septentrio Receiver or le (this option is discussed in more detail in Section 4 on page 13). Manage Connections Allows to view, rename or delete existing connection les. Preferences: Opens the preferences dialog. This dialog is divided into the following sections: The Preference page of this dialog allows the user to change the general settings of RxControl. These settings include the following: Setting the update rate of the SBF messages transmitted by the receiver. Position/Velocity/Attitude selection preference allows the user to specify if automatic, integrated or GNSS-only solution is to be used. The integrated solution can be shown when connected to a Septentrio Receiver offering integration capabilities (e.g. using input from an IMU). Which solution is shown, is determined by this preference. By default, Automatic is selected. In this mode, the integrated solution is shown when the connected Septentrio Receiver is capable of integration and if sensor integration is enabled in the Positioning Mode settings of the receiver. Otherwise, the Automatic mode causes the GNSS-based solution to be shown. GNSS-based solution only and Integrated solution only can be used to force the respective solutions to be shown. Satellite Constellation Order can be selected. This will effect dialogs and displays which show satellite information grouped by constellations. Their order can be changed according to the selection of this preference. File Management preferences allow experienced users to change default behaviour for dealing with les used by RxControl. Caution is advised. The Programs section allows to point to a specic program to execute a given task. For example the user can select a preferred browser which will be used to open web pages through RxControl. The Reference section allows to change the reference positions which effect various plots. The True Antenna Position reference point effects the HPL/VPL plots, while the Topocentric Reference Position effects Topocentric Position on the main screen, ENU Time Plot and the Planimetric Plot. The Formats section the user can select the format of units which will be displayed. Display Diagnostic Report: Opens a dialog displaying diagnostics about RxControl and the connected receiver (if any). Save MIB Description As: Allows to save the MIB description currently used by the RxControl to build the receivers menu. Show Reciever Congurations: Allows to see and save the different Septentrio Receiver congurations. Upload Script: Allows to upload a script containing receiver ASCII commands to the receiver. This script can be used to set the receiver into a certain conguration. Exit: Exit the program

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Figure 5-9: File menu

5.3.2

The View menu and the toolbar

The View menu provides access to the tabular and graphical views which characterize the navigation solution and other aspects of the receiver operation. These views are explained in more detail in sections 6.1 on page 29 to 7 on page 50. These views can be invoked through the View menu or by clicking the corresponding icon in the toolbar. Clicking an icon for the rst time will open the corresponding view, while clicking it again will bring it to the front.

Figure 5-10: View menu

This menu also contains entries to select: the available Views the time frame in which the time is displayed on the Time tab (see Section 5.2.3.1 on page 21) whether or not the toolbar is shown The dimension and location of each tabular view and plot is saved in the rxcontrol.conf le located in the user home dir /.septentrio/ directory. At startup, RxControl reads this le and restores the sizes and relative positions of the views and plots. The same single le is shared in the case that more than one RxControl is opened on the same system.

5.3.3

The Communication and Navigation menu

The Septentrio Receiver has an extensive command set which allows the user to control many aspects of the Septentrio Receiver operation (see Septentrio Receiver User Manual, section Command Set for a detailed description). Mastering all the commands can take some time even for an experienced user, so in order to help the user, all receiver commands are made visible via RxControl menus. These menus are built dynamically on information provided by the receiver itself. The Communication menu contains the settings related to communication with the receiver while the Navigation menu contains the receiver parameters linked to its operation. All commands shown on these settings dialogs contain descriptive tool tips to assist the user. Each time a settings dialog is shown, the receiver is queried for its current status so that the shown settings reect the actual receiver status. When no reply is received an error is reported. At the bottom of each settings dialog there are always four buttons: Default: Changes all the settings in the dialog to the default settings. Apply: Applies the settings in the dialog without closing the dialog.
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OK: Applies the settings in the dialog and closes the dialog. Cancel: Closes the settings dialog without changing the receivers settings. If RxControl is connected to a AsteRx2DR, PolaRx3, PolaRx3e, PolaRx3G, PolaRx3eG, PolaRx3TR or PolaRx3eTR an extra Network settings... menu option will be available in the Communication menu. Clicking on this option will open a wizard that allows the network setting of the connected device to be changed. The following network settings are available: Static or dynamic IP conguration. The receiver can be congured to use a static (xed) IP address with gateway and netmask or to get a dynamic IP via het DHCP protocol. HTTP port number and password. The default HTTP port is 80 but can be changed if needed. A HTTP password can be set to restrict users from conguring the network settings of the receiver via HTTP. Telnet port number. The telnet port number can be changed from its default value of 28784. Ethernet device reset. This option will reset the Ethernet congurations of the receiver. The wizard will nally save all new settings in the Septentrio Receiver.
Note 7. The wizard will setup the baudrate of the link to 115200 bps, the serial-to-ethernet board can go to higher rates in these units but this requires a manual conguration of both the Septentrio Receiver and the serial-to-ethernet board. Please check your Septentrio Receiver product manual for further information.

5.3.4

The Tools menu

Figure 5-11: Tools menu

With the Tools menu the user can upgrade the Septentrio Receiver. Please note that normal operation is not possible during an upgrade. It also contains an entry to open the Expert Console (see Section 7 on page 50) to control the receiver via the ASCII command line interface, see the receivers ASCII output or to visualize the NMEA stream. The last entries allow to open the other programs that are delivered together with RxControl.

5.3.5

The Logging menu

Figure 5-12: Logging menu

The RxControl program has a built-in logging functionality allowing to log the binary SBF stream (at the same rate as the one RxControl is using) and/or the ASCII NMEA stream (at a user programmable rate). Opening the RxControl Logger window (see Figure 8-1 on page 54) allows to specify the log le name and the SBF/NMEA messages which will be logged. If logging is in progress closing the window will not stop the logging. A logging icon in the status bar of

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RxControl main window will be disabled if logging is stopped and enabled if logging is in progress. For a more detailed description of the logger see Section 8 on page 54. This menu entry also contains the Septentrio Receiver specic commands related to the internal logging if supported. If internal logging is supported by your receiver and you would like to log SBF data to a disk on your receiver you must do so through Communication | Output Settings | SBF Output. In the Ports row select DSK1, then select SBF message to be logged, and nally set the SBF message output Interval. To manage your internal log les use the menu items which contain the word Internal in the Logging menu.

5.3.6

The Help menu

Figure 5-13: Help menu

Help Topics: This menu provides access to the integrated HTML help of the RxControl program. Event Viewer: Opens a window showing an event log of the current session of RxControl. This window will log errors, warning, and signicant events which took place since RxControl was started. Septentrio Website: Points your browser to the Septentrio website. Support: Points your browser to the Septentrio support website for either RxControl or the connected receiver. The opened web page has already some lled in elds with details about the program or receiver. About RxControl: Shows a dialog with version information about the RxControl program. Depending on the connected Septentrio Receiver other entries may appear here with information about the Septentrio Receiver.

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6
6.1

RxControls tabular and graphical views

Channel Table

The Channel Table can be opened using the View | Views | Channel Table menu entry or by clicking the corresponding icon in the toolbar of RxControls main window. There is a tab for each system the receiver is capable of tracking (unavailable systems are greyed out). By default the columns of the channel table contain the real-time values for measurements made by the Septentrio Receiver. Each row contains measurements for a particular channel. If wanted the rows and columns can be swapped via the Transpose option in the View menu. Please note that the channel table adapts itself to the number of signals and antennas available as reported by the receiver.

Figure 6-1: Channel Table

The following information can be displayed: The satellite PRN number or slot number is preceded by either one of the following: the letter G for GPS satellites the letter R for GLONASS satellites the letter S for SBAS satellites the letter E for Galileo satellites The Elevation and Azimuth angles of the satellite characterize the location of the satellite relative to the local horizontal plane. The Azimuth angle is measured from geographic North in positive towards the East. The Elevation angle denes the angle between the local horizontal plane and the direction to the satellite. Both angles are measured in degrees. The Elevation angle is preceded by an up () or down () arrow indicating whether the satellite is rising or setting. When the arrow is absent, the Septentrio Receiver has not been able yet to determine the variation of the Elevation. Both angles can be visualized in the Sky Plot (see Section 6.3 on page 31). The State (for each available signal and antenna) displays the current tracking status of the satellites signals. The afx (PVT) indicates whether a particular satellite is used in the navigation solution. The icon giving a graphical representation of the state follows the same colour conventions as explained in Section 5.2.2 on page 19. The Health status of the satellites signals as derived from the decoded navigation message. It can take the values Healthy, Unhealthy or Unknown. The Carrier-to-Noise Ratio characterizes the quality of the different received satellite signals for each available antenna and is expressed in dB-Hz. These values are also visualized in the Carrier to Noise Ratio Plot (see Section 6.2 on the following page). The Lock time indicates for how long each satellites signal has been continuously tracked on an antenna and is expressed in hours, minutes, and seconds. The Cumulative Loss-Of-Continuity counter starts at zero at receiver start-up, and is incremented at each initial lock after signal (re)acquisition, or when a cycle slip is detected. The Doppler is a measure of the velocity of the satellites relative to the antenna and is expressed in Hz. A positive value for the Doppler shift indicates that a satellite is approaching the receiver, while negative values indicate that a satellite is moving towards the receiver.

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The Range measured by the code correlators of the receiver represent the pseudodistances to the satellites in meters. The SBAS corrections is a group of rows which allow you to visualize the GEOCorrections SBF block from the receiver. It contains all the corrections as used in the PVT computation. This group of rows is only displayed when the receiver has set an SBAS PVT mode. The next corrections are displayed: (a) SBAS Range Corr: The applied pseudorange correction based on the fast correction data received in MT02-MT05 or MT24 (b) Fast Corr Age: The Age of applied fast correction (c) Orbit Delta-X: X-component of applied orbit correction based on the long term correction data received in MT24 or MT25 (d) Orbit Delta-Y: Y-component of applied orbit correction based on the long term correction data received in MT24 or MT25 (e) Orbit Delta-Z: Z-component of applied orbit correction based on the long term correction data received in MT24 or MT25 (f) SV Clock Corr: The satellite clock correction based on the long term correction data received in MT24 or MT25 (g) Long Term Corr Age: Age of applied long term correction (h) Iono Pierce Point Lat: The Latitude of ionospheric pierce point (i) Iono Pierce Point Lon: The Longitude of ionospheric pierce point (j) SBAS Iono Delay: The slant ionospheric delay at the ionosphere pierce point based on the data received in MT18 and MT26 (k) Iono Corr Age: Maximum of the of the ionospheric correction age at each of the grid locations used for the interpolated delay (l) FLT: The standard deviation of fast and long-term corrections (used for XPL computation) (m) UIRE: The standard deviation of ionospheric delay corrections (used for XPL computation) (n) AIR: The standard deviation of unmodelled receiver errors, such as tracking noise and multipath (used for XPL computation) (o) TROPO: The standard deviation of tropospheric delay corrections (used for XPL computation) The RAIM Statistics is a group of rows that shows the detailed results of the RAIM algorithm which ensures the integrity of the computed position solution, provided that sufcient satellites are available. The next values are displayed: (a) e i Code: The Code a-posteriori measurement residual (b) w i Code: The absolute value of the w-test statistic for the Code (c) MDB Code: The Minimal Detectable Bias for the Code (d) e i Phase: The Phase a-posteriori measurement residual (e) w i Phase: The absolute value of the w-test statistic for the Phase (f) MDB Phase: The Minimal Detectable Bias for the Phase (g) e i Doppler: The Doppler a-posteriori measurement residual (h) w i Doppler: The absolute value of the w-test statistic for the Doppler (i) MDB Doppler: The Minimal Detectable Bias for the Doppler The Nav. Page Decoding Statistics is a group of rows that shows the some statistics about the decoding of the received navigation pages. The next values are displayed: (a) # Pages: The number of received pages (b) # CRC errors: The number of received pages with CRC errors (c) Viterbi count: The sum of the viterbi decoder error counts for all received pages The Galileo | Available Galileo Services is an item that is only available for the Galileo tab. It shows the available services for the satellite

6.1.1

Channel Table Menu

View The Transpose option allows to swap the rows and columns of the channel table. It also contains the option to show/hide specic items from the tabular view, a Print entry to make a printout of the table and a Close option to close the window. Sort This menu allows to choose between sorting according to the PRN number or according the channel number. Antennas If the receiver has more than one antenna, this menu allows to show/hide the items for an antenna. Signals Allows to show/hide the different signals for each available satellite system.

6.2

Carrier to Noise Ratio Plot

The accuracy of the navigation solution depends on several factors, such as the observed geometry of the constellation and the quality of the received signals. The quality of the signals can be expressed as the ratio of the power level of the received signals to the ambient noise level and is called the Carrier-to-Noise Ratio (C/N0 ). Carrier-to-Noise Ratios are

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expressed in dB-Hz and the observed values are inuenced by the Elevation angles of the satellites and local conditions, such as multipath effects. High levels of the Carrier-to-Noise Ratio indicate good tracking of the received satellite signals. The PVT processing algorithm of the Septentrio Receiver assigns weights to the observations based, among other criteria, on these ratios. The C/N0 Plot can be invoked with the View | Views | Carrier to Noise Plot menu item or by clicking its icon on the toolbar of RxControl.

Figure 6-2: Carrier To Noise Plot

The carrier to noise plot (see Figure 6-2) displays the observed Carrier-to-Noise Ratios of the Septentrio Receiver for all the tracked satellites per system. The colour bars represent the C/N0 values for all the signals of a satellite. Since the number of bars that are available for each system is depended on the capabilities of the receiver the bars have a tool tip that describes which bar represents which signal. The bar colour itself does not have any meaning. Within one channel there may be different coloured bars representing different signals.

6.2.1

Carrier to Noise Ratio Plot Menu

View With Tabbed Layout and Vertical Layout you can select to have either a tab for each satellite system, or to show them all under each other. This can be useful for system comparison purposes. Show Labels shows or hides the labels 3 above each bar indicating the current Carrier-to-Noise value represented by that bar. Close closes the plot. Sort This menu allows to choose between sorting according to the PRN number or according the channel number. Zoom This menu allows to set the zooming factor of width of the bars. 100% corresponds to the width needed to put the labels under the set of bars for one satellite. Zooming in will make the bars wider.

6.3

Sky Plot

The Sky Plot graphically represents the satellites in view in the local topocentric hemisphere. The outer black circle represents the local horizon with true geographic North pointing to the top of the gure. The grey radial lines represent successive lines of equal Azimuth (from 0 360 ), while the concentric circles represent increasing values of equal When the zoom factor is too small so that the labels are no longer readable, this menu item is greyed out and the labels are no longer visible. Zooming in will enable them again.
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Elevation (from 0 90 ). The blue circle represents the current elevation Tracking mask angle of the Septentrio Receiver and the green one represents the current elevation PVT mask angle. The Septentrio Receiver will not search for satellites with an Elevation below the Tracking mask angle and it will not use tracked satellites with an Elevation below the PVT mask angle in the PVT solution.

Figure 6-3: Sky Plot

Each satellite in tracking is represented by a coloured plus sign (+) in the Sky Plot. The satellite PRN number or slot number, preceded by a letter (G for GPS, R for GLONASS, S for SBAS, E for Galileo) and the status of the different signals of the satellite appears next to the cross. The colour of the cross can either represent the system to which the satellite belongs or the current state of the satellite depending on the users preference. When representing the system the possible colours are: Dark Purple identies a GPS satellites Black identies an SBAS satellites Blue-Purple identies an Galileo satellites When representing the satellite status the same coloured square box is used as on the status indicators in RxControls main window (see Section 5.2.2 on page 19 for colour denition). The satellite PRN number can be followed by either a question mark (?), indicating that no health status for the satellite has been decoded, or the letter U when the satellite is set to unhealthy. In absence of either indicator, the satellites status is healthy. The history of the satellite passes can be shown by tracks (with the same colour as for the crosses). For a description of the possible user settings related to the satellite tracks see Section 6.3.1 on the next page. The Local Horizon Mask (shown by the light purple line in Figure 6-3) is disabled by default, but it can be invoked using the Show Local Horizon item in the menu (see Section 6.3.1 on the next page). The Local Horizon Mask is a line, which connects for each Azimuth, the lowest Elevation angles at which satellites were visible. At start-up, the Local Horizon Mask is not dened, but the more tracked satellites pass overhead, the clearer and clearer the view of the local obstructions blocking the satellites signals gets. In order to get an accurate representation, the Local Horizon feature must be enabled for at least one day of continuous data collection. Local Horizons can be stored as les with the extension .lhm. Later these les can be opened to continue the accumulation of the data.

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6.3.1

Sky Plot Menu

View Show Tracking Elevation Mask: If enabled the Tracking Elevation mask is displayed. Show PVT Elevation Mask: If enabled the PVT Elevation mask is displayed. Show All Visible Satellites: Denes whether satellites that are not tracked (and of which the Elevation and Azimuth is known) are or arent displayed on the Sky Plot. Show Satellites in Search: Denes whether satellites that are not tracked but are searched for (and of which the Elevation and Azimuth is known) are or arent displayed on the Sky Plot. This option is only available if Show Tracking Elevation Mask is unchecked. Show Satellites Labels: Denes whether the satellite number is shown or not. Show Signal Status Indicators: Denes whether the satellites signal indicator is shown or not. Show Tracks: Denes whether the history of the satellite passes is shown or not. Clear Tracks: Clears the history of the satellite passes. Colour Tracks by Satellite System: The tracks shown on the Sky Plot (if enabled) follow the system colour of the satellites. colour Tracks by Signal Status: The tracks shown on the Sky Plot (if enabled) follow the status colour of the satellites. Print: Prints the Sky Plot. Close: Closes the Sky Plot. Local Horizon Enable Local Horizon: If enabled the Local Horizon is displayed. Clear Local Horizon: Clears the Local Horizon. Save Local Horizon: Allows saving of the Local Horizon so that it can be reloaded later. Save Local Horizon As: Allows saving of the Local Horizon to a specied le so that it can be reloaded later. Open Local Horizon: Allows reopening of the Local Horizon that has been previously saved.

6.3.2

Sky Plot Toolbar

The toolbar contains a checkbox for all the satellite systems. Depending on the capabilities of your Septentrio Receiver, one or more systems can be disabled meaning that your receiver cannot use those systems. If the checkbox for a system is selected the satellites/track history of that system are visualized on the Sky Plot, if deselected the satellites/track history are not shown for that system.

6.4

The Planimetric Plot

The planimetric plot graphically represents the planimetric position reported by the Septentrio receiver. The displayed position is (a) either the projection coordinates (E, N ) obtained using the conformal direct Mercator projection (See appendix B.2 on page 63), with the grid displaying either the originating geodetic coordinates (, ) or the projection coordinates (E, N ), or (b) the topocentric coordinates (E, N ) determined, relative to a local topocentric reference station (See Section 5.3.1 on page 25 and Section B.3 on page 64). Figure 6-4 on the next page below shows the planimetric plot main screen. Beneath the menubar of the planimetric plot, the title indicates the current ellipsoid and displayed coordinate grid. When in topocentric coordinates display mode, the used topocentric reference position is displayed. At the right of the plot, the toolbar groups action buttons allowing to navigate around the plot, to perform zooming operations or to center the plot around specic points. The statusbar is used for relaying information to the user.

6.4.1

The main areas of the Planimetric Plot

The grid of the planimetric plot displays the position according to the current selected view (See Section 6.4.2 on the following page). The distance between the main ticks are determined by the scale factor of the plot. The planimetric plot is capable of showing either the GNSS-only solution or an integrated solution. Whether the GNSS-only or integrated solution is shown, is determined by a user preference as set in the preferences dialog, which can be opened by selecting the Preferences... item in the File menu of the main application window. An integrated solution can only be shown if the Septentrio Receiver has integration enabled.

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Figure 6-4: Planimetric Plot

The toolbar of the planimetric plot gives fast access to several actions subdivided into 4 categories. The rst action group allows (a) to drag the plot by holding the left mouse button pressed down, (b) to zoom to a specic rectangular area (the start point and size of this area is displayed in the statusbar), and (c) to zoom to the limits of the plot by adjusting the center point and the scale used. The second action group allows to clear the mean position or to clear the entire plot. The latter action also resets the mean position. The third action group allows to center the plot on the current position, the mean position or the local topocentric reference point. Finally, the vertical scaling slider performs zooming actions on the plot. During zoom-actions, the statusbar displays the selected scale. The statusbar permanently displays the total number of displayed points, the current size of the plots history and the PVT mode of the current position. Punctual information is temporally displayed in the statusbar. If the current position is calculated using integration, this is indicated in the status bar by prepending Integrated to the current PVT mode. Moreover, if there is temporarily no GNSS PVT solution, and the current position is an integrated position calculated through extrapolation, the age of the last GNSS solution is shown in the status bar (instead of the current PVT mode). In the lower left corner of the plot, an optional scale indicator displays the current scale. When the projection coordinates are displayed, the linear distortion corresponding to the center point of the plot is shown above the scale indicator. The upper right corner of the plot can optionally display the legend of the plot. The legend indicates the meaning of the colour of the positions. Depending on the current settings, this colour can either indicate the GNSS PVT mode or the integrated mode.

6.4.2

Planimetric Plot Menu

View Selection of the used grid. Possible values are :

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(a) Geodetic Grid or Cartographic Grid plot the positions according to the Mercator projection (See Section B.2 on page 63) coordinates (E, N ). When in Geodetic Grid mode, the tick values represent latitude versus longitude coordinates. In Cartographic Grid mode, the tick values correspond to the Mercator coordinates north N versus East E . (b) Topocentric Grid displays the local planimetric topocentric coordinates north N versus east E referenced to the local topocentric reference point. In both grid modes, the distance between the main tick marks of the axis is based on the selected scale. A top of these grids, a circular or distance grid can be displayed. The center point of these concentric circles is determined by the selection made in the CenterCircular Grid Center menu. The radius of the consecutive circles depends on the selected scale. Selection of how the points are plotted. Possible values are : (a) dot, (b) pixel, (c) cross marker. If wanted the points can be connected with a solid line. Different information : (a) Dispersion Ellips : the planimetric Dispersion Ellips represents the horizontal precision of the position, (b) Mean Position displays the mean position of all points since startup of (c) Reference Position displays the position of the local reference point (See Section 5.3.1 on page 25) by a green upward triangle. (d) Base Station Position displays the position of all base stations (See Section 6.6 on page 37) sending out differential corrections by a grey downward oriented triangle. The triangle is accompanied by the identication number of the base station. The View Legend selector allows to display the legend for the colours currently displayed. The dynamic Select PVT Modes sub menu allows to select which PVT modes are to be displayed (See Figure 6-5). The sub menu always contains the buttons All and Current displaying respectively all PVT modes or just the current PVT mode. The user further has the possibility to select a specic PVT mode allowing a closer inspection of the data calculated by the receiver.

(a) Display of all modes

(b) Display of stand-alone modes

(c) Display of SBAS modes

Figure 6-5: Selective display of PVT modes

The Legend Mode sub menu allows to specify whether the positions must be coloured according to the GNSS PVT mode or the integrated mode. Possible choices are : (a) Automatic: if the last entry in the plot corresponds with a GNSS-only solution, colour according to the GNSS PVT mode; if the last entry corresponds with an integrated solution, use the integrated mode (b) GNSS PVT Mode: the legend and the colours represent the GNSS PVT mode. (c) Integrated Mode: the legend and the colours represent the integrated mode. The Mouse Tracking selector displays the position of the mouse cursor using the selected grid in the statusbar. It is advisable not the leave this option on all the time due to high CPU consumption. Close closes the Planimetric plot. Scale This menu item allows to set the scale of the Planimetric plot. A quick access to the scale of the planimetric plot is provided by the vertical scaling slider in the toolbar. The Show Scale Indicator allows to toggle the visibility of the scale indicator and the linear distortion, calculated at the current center point, drawn inside the plot Center The Plot Center submenu allows to center the plot around either the (a) Current Position (b) Mean Position

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(c) Reference Position (d) Middle Point of the plot (e) the center point of a Selected Area. The rst three items are also accessible via the toolbar. The Circular Grid Center submenu allows to center the circular grid (when enabled) around either the (a) Current Position (b) Mean Position (c) Reference Position (d) Middle Point of the plot (e) the center point of a Selected Area. History The planimetric plot accumulates the data points in a buffer. The user can manipulate the buffering of data in several ways : The Size of the buffer can be adjusted between 3 600, 7 200, 36 000, 21 600 or 43 200 points. When the buffer lls up the oldest data points will be discarded. The number of points discarded are selected using the Shift Out option expressed as a percentage (10%, 20%, 25% or 50%) of the history Size. For example, if Shift Out is 50% and Size is 3 600 points, then after lling up the data buffer, the oldest 1 800 points will be removed from the plot. The Decimation is a useful feature especially at high data rates. When No Data Decimation is selected, all points reported by the receiver will ll up the data buffer at the selected update rate. For high update rates, data decimation allows to plot only selected points. Two options are available : (a) 1 out of n points (n = 2, 5, 10 or 20) selects the last point out of n points generated by the receiver. (b) mean from n points (n = 2, 5, 10 or 20) displays the mean value from the last n points generated by the receiver. At any moment, the user can reset the mean position by selecting the Clear Mean Position. This position is based on all points generated by the receiver from the moment that connection with the receiver is established. At any moment, the history of the plot can be reset using the Clear Plot option. Tools Drag the plot allows to drag the plot by holding pressed the left mouse button. Zoom to Area performs a zooming operation to a selected rectangular area at the release of the left mouse button. Zoom to Limits adjusts the scale and center point of the plot to adjust the plot to the limits of collected points. These items have a quick access button in the toolbar of the planimetric plot.

6.5

Statistics Plot

The Statistics Plot graphically represents number of PVT errors and PVT modes used. In a pie chart this plot shows PVT errors which happened since the plot was opened. Likewise it only shows various PVT modes which have been activated since the Statistics Plot was opened. All possible PVT errors and modes are displayed in the legend on the right side of the pie charts. The number of epochs spent in a certain mode or with a certain error is displayed. Also the percentage of epochs in a given mode/error is shown. All possible errors and modes are displayed in the legend of the plot. See Statistics Plot gure below for a full list of errors and modes.

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Figure 6-6: Statistics Plot

6.6

The DiffCorr Info window

When the Septentrio Receiver is operated in rover mode, it receives differential corrections from nearby base stations or reference stations. The stationary or moving base stations model the real-time GPS error sources and send differential corrections to nearby users according to an internationally agreed format. The Septentrio Receiver supports Radio Technical Commission for Maritime Services (RTCM), versions 2.3 and 3.0, and Compact Measurement Record (CMR) data transmission standards. When either of these messages is enabled, the user can examine information about the base station and the status of either of the received differential messages in the DiffCorr Info window (Figure 6-7 on the next page).

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Figure 6-7: The DiffCorr Info window

The upper part of the DiffCorr Info window is invariable with regard to the selected data transmission standard for the differential corrections. This part displays information about the base stations that are transmitting differential correction data to the receiver. For each base station a row displays : its identication (ID), the standard (RTCM V 2.3, RTCM V 3.1 or CMR) used for streaming the differential data, the system for which differential corrections are made available. This information is only available for base stations used for the differential PVT calculations of the receiver position. These base stations are displayed in green. the connection on which the the differential correction data are received, the length of the current baseline and a baseline quality indicator. This indicator is a measure for the spatial correlation of error sources between the base station and the rover receiver. Small baselines are considered optimal while longer baselines tend to provide sub-optimal corrections. The baseline quality indicator compares the current baseline length to 250 km when differential code corrections are used. For RTK operations, the length is compared to a maximum separation of 25 km. A base station that is used by the receiver for its PVT calculation is highlighted in green colour. Sorting the table can be done by clicking on the header of the column that should be used for sorting. The lower part of the DiffCorr Info window represents the type and age of messages received and identies the base station which generated the differential data. The age of the messages is updated each 0,1 s. When the value of the age of a message exceeds the Maximum Correction Age, which defaults to 20 s, the corresponding line is highlighted either in red colour or in a blue colour. A red highlight indicates that the receiver is no longer using these messages since they exceeded the temporal decorrelation limit imposed by the Maximum Correction Age setting. Messages highlighted in blue have information which does not decorrelate in time and therefor are still used by the receiver. The status bar of the DiffCorr Info window displays the number of base stations used for PVT calculation out of the total number of base stations available and the current value of the Maximum Correction Age setting.

6.7

The SBAS Ionospheric Delay Plot

The ionosphere, located between 70 and 1000 km above the earth surface, is one of the major error sources in GNSS navigation. The ionosphere causes the carrier phase to advance and the code to be delayed. This delay directly contributes to the measured code ranges (see Section 6.1 on page 29) and has to be modeled by the navigation algorithm. Augmentation systems, like Europes EGNOS (European Geostationary Navigation Overlay System) or USAs WAAS (Wide Area Augmentation System), monitor the ionospheric delay of the code measurements and calculate the vertical iono-

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spheric delays for grid-points within the coverage area. The grid and the corresponding ionospheric delays are transmitted to the users via geostationary satellites. In the ionospheric plot the received ionospheric vertical delays are represented by a colour code on the world map. The value for each colour code is mapped on the continuous colour scale. The lower limit of this scale is always set to 0 meter, while the upper limit can be adjusted by the user via the Max Value entry in menu on the right side of the plot.

Figure 6-8: SBAS Ionospheric Delay Plot

The cells with a black cross indicate that these these areas are not monitored. The ionospheric delay error for these points can be greater than 45 meters, and the use of these values is not recommended. Cells for which no vertical ionospheric delay is available are totally black, signaling a Dont Use status for these areas. On the right side of the inosphere plot, the list of SBAS PRNs allows the user to choose the provider of ionospheric delay. If ionospheric information has been received for a specic SBAS PRN satellite, then PRN number will be displayed in bold text. The user may select or de-select any PRN as preferred. This allows the user to differentiate the information specially when the ionosphere is being monitored by more than one PRN in an specic point. The user can also specify the order in which the PRNs are drawn. PRNs on top of the list are drawn on top of the lower ones. Click on the arrows on the right hand side of the PRN numbers to move the selected PRN up or down. The user can also select which bands are displayed: 0 - 8 : only the vertical bands are shown 9 - 10 : only the horizontal bands are shown 0 - 10 : both the vertical and horizontal bands are shown, the horizontal ones are drawn on top of the vertical ones In the bottom group box the user can select for the ionospheric delay itself (together with the upper limit of the scale) to be painted or for the GIVEI to be painted.

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6.8
SITY

Stanford Plots

Note 8. Inspiration for plots: Courtesy of W IDE A REA D IFFERENTIAL GPS L ABORATORY at S TANFORD U NIVER (http://waas.stanford.edu/)

In navigation and particularly for the vertical guidance of an aircraft on Precision Approach (PA), the four concepts which enter almost every specication are accuracy, integrity, continuity, and availability. While these are not new, the way in which they are expressed is very different for GNSS systems as opposed to more conventional systems such as Instrument Landing System (ILS). Accuracy, the rst concept, is quite intuitive. It is measured as the difference between the measures and the true positions. Any navigation aid has its inherent accuracy. The SBAS implementation is obliged to quantify the accuracy of widearea differentially corrected navigation solution. Accuracy is most critical in the vertical dimension for aircraft precision approach. Moreover, in satellite navigation the vertical dimension is the most difcult due to inherently weaker vertical geometry. Accuracy or more specically, Navigation Sensor Error (NSE) is dened as the difference between the position estimated by the navigation sensor and the true position of the aircraft which is only exceeded 5% of the time in the absence of system failures. Two other concepts, integrity and continuity, address performance of the navigation system in the presence of failures or rare natural events. Integrity measures the ability of the system to protect the user from inaccurate position estimates in a timely fashion. Continuity measures the navigation systems ability to complete an operation without raising an alarm. These are the instantaneous metrics of ight safety and are computed at 1 Hz. Integrity risk is dened as the probability that the NSE exceeds either the horizontal alert limit or vertical alert limit (HAL and VAL) and the navigation system alert is silent beyond the time-to-alarm. On the other hand, continuity risk is dened as the probability that the navigation system alarm will drop during the operation (precision approach in this case). These are competing constraints on the system; integrity failures shall not lead to Hazardously Misleading Information (HMI) favouring a small alert limit but continuity failures lead to False alarms favouring a large alert limit. The nal metric for the SBAS or GNSS system is availability which emphasizes the operational economy of the navigation system. It is computed as the fraction of time the SBAS system is providing position xes to the specied level of accuracy, integrity and continuity. The Minimum Operational Performance Standards (MOPS) for SBAS specify the computation of the vertical protection level (VPL) and horizontal protection level (HPL) of the differentially corrected navigation solution which must be met at a probability of 99.99999%. Thus the true error must not exceed the protection level more than once in 107 seconds. If the computed protection level exceeds the corresponding alert limit then the alarm is raised and the operation cannot proceed. If the operation has already begun this condition is a continuity breach and a missed approach must be conducted. Otherwise the system is declared unavailable for that epoch. Figure 6-9 displays the HPL value, as transmitted by the SBAS satellites, versus the calculated error bounds for the corrected PVT solution. The true error is calculated by making the difference between the true horizontal position of the antenna and the computed receivers horizontal position. The points on the histogram are drawn with a colour code representing the number of epochs that that specic bin of HPLerror occurred.

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Figure 6-9: HPL Plot

The plot is divided in several zones: The Normal Operation, is divided in two subzones, which are set corresponding to the upper limits specied by HAL1 and HAL2. These two alarms allow you to specify 2 separate categories for Normal Operation. The points in the Normal Operation zone have a HPL value which is larger than the true horizontal error. -The rst limit is formed by the HAL1, which value (default is 30 meters or Category I PA) can be set by rightclicking on the plot (Set Horizontal Alert Limit 1). -The second limit is formed by the HAL2, which value (default is 40 meters or APV I PA) can be set by right-clicking on the plot (Set Horizontal Alert Limit 2). You must always remember that the grey zone between HAL1 and HAL2 is a subset of the Normal Operation zone (where HPL values are larger than true horizontal error). At the same time you can set the Maximum Graph Size, so you can set higher values for your alarms. The HPL1, HPL2 and the Maximum Graph Size are dependent of each other, so you must pay attention to the valid ranges while setting them, meaning that relation should be: Maximum Graph size > HPL2 > HPL1. The long-term availability requirement of SBAS systems is 99.9% and hence at least 999 out of 1000 points should lie in the Normal Operation region. The current percentage of the number of points that are in this zone is labeled in the plot itself or in the Coloured legend Bar displayed in the right of the plot. The points in the System Unavailable zone have a HPL value that exceeds the horizontal alert limit and a HPL larger than the true horizontal error. This condition raises an alarm incrementing the corresponding pointer. The points in the misleading information or the hazardously misleading information zones indicate that the navigation system has produced (hazardously) misleading, and thus dangerous, information to the navigator. Please notice that there are 3 separate zones for the misleading information, each one dened depending on the values you set with your value alarms or performance limits. At the right of the plot you will see a coloured legend displaying the number of epochs and the percentage of them in its corresponding area (the colours in the legend match the different zones in the plot). Each individual zone of the plot has its own counter displaying the total number of epochs and the percentage of them that the navigation system yielded a corresponding point.

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The View menu allows to (a) set the true antenna position 4 , (b) to Clear all the information already gathered and start with a new clean plot, (c) to specify the maximum graph size, (d) the HPL1, (e) the HPL2 and (f) to close the plot. Figure 6-10 displays the vertical performance of the SBAS system. Just as the Horizontal graph, the Vertical graph has default values for both the VALs, but in Vertical guidance these values are set to 12 and 20, meters respectively. Again you can use the View menu of the plot to change these values.

Figure 6-10: VPL Plot

The VPL plot is divided into zones similar to those of the HPL plot (see Figure 6-9). Legends plus all functionality is also similar to the HPL plot. The main differences are that the limits for the different performance categories have different default values for each category. Also the maximum graph size is set to 25 as default because the Alarm Limit values are lower than in the Horizontal graph. Again you can change this maximum size and change or set customized values or performances in the plot. There are also two Stanford plots displaying the RAIM metrics: the HER and VER plot. They are similar to the HPL and VPL plot respectively.

6.9

Attitude View

The Attitude View represents the current attitude of the receiver, both in a graphical way as well as in a textual way. The Velocity Attitude Indicator offers a combined graphical representation of velocity and attitude as typically found in airplane cockpits (see Figure 6-11). It consists of the following components (left to right, top to bottom): the horizontal speed indicator a virtual horizon, offering a combined representation of the heading, the pitch and the roll. The heading is represented by ticks on the horizon. the orthometric height indicator
4

changing the true antenna position setting will reset the plot

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the vertical speed indicator (at the bottom) the compass The lower part of the attitude view consists of zero or more clocks, each showing other aspects of the current attitude. Figure 6-11 shows the attitude view, including all clocks that are available.

Figure 6-11: Attitude View

Below the Velocity Attitude Indicator, Figure 6-11 from left to right contains clocks showing: the heading (including the course over ground represented by a secondary green/cyan arrow) the pitch the roll Each of these clocks can be individually hidden or shown by toggling the corresponding menu items in the View menu. The View menu moreover contains an item to show or hide the course over ground arrow, and a sub-menu Vehicle Type to select the type of vehicle shown in the heading, pitch and roll clocks. The lower part of the window consist of a textual representation of the attitude metrics, showing heading, pitch and roll values and variances. These can be hidden or shown by clicking on the triangle at the top left, or by the Show Textual Metrics item in the View menu. Depending on the type and conguration of the attached receiver, attitude and PVT can be calculated based purely on GNSS signals or as a result of integrating GNSS signals with the input of an external IMU sensor. The status bar of the attitude window displays the integration mode of the data that is currently shown. The user can congure this through the preferences dialog, which can be opened by selecting the Preferences... item in the File menu of the main application window. Figure 6-11 shows the attitude window while in an automatic mode, which instructs the application to choose integrated position, velocity and attitude data if available, and the GNSS-only solution otherwise. In the gure, integrated data is shown.

6.10

Auxiliary Antennas View

The Auxiliary Antennas View displays the relative position of the auxiliary antennas to the main antenna as well as the velocities of the auxiliary antennas. Both position and velocity are given in the east, north and up directions.

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Figure 6-12: Auxiliary Antennas View

6.11

Attitude/IMU 3D View

The Attitude/IMU 3D View represents a custom vehicle which symbolizes the vehicle in the 3D space dimension. As soon as the attitude information becomes available, the vehicle will be displayed in motion depending on the three attitude angles: Heading, Pitch and Roll. The vehicle is shown inside the ENU coordinate system. These ENU axes are displayed in green color. The positive axes of the vehicle are displayed by a red arrow, while the negative axes are displayed by a blue arrow. The user can choose to view the ENU system and the vehicle from different perspectives and angles making the visualization of the vehicle more intuitive. In order to modify the perspective, you can use the mouse by clicking on the vehicle and rotating it in the desired direction. At the same time you can zoom into the vehicle by scrolling the mouse wheel. The auxiliary antennas and the external sensors used by the receiver will also be shown with a relative position within the 3D plot. The antennas are shown by a red wire framed antenna, the external sensors are shown by a XYZ axis which is moving relatively to the vehicle.

Figure 6-13: Attitude/IMU 3D view

By choosing Measurements | 3D options... you can set some visualization parameters. On the View Options tab you can enable or disable the drawing of the axes, the cube outline, the resulting vectors, the vehicle, the antennas and the sensors. You can also chose a Parallel Projection or a Perspective Projection. On the vehicle tab you can specify an different model for the vehicle by pressing the browse button. You have to point to a OBJ formated le. Once the model is loaded you can alter color, blend factor, wire frame view, scale, offset in ENU direction and the rotations of the vehicle. On the antenna tab you can change the same parameters as for on the vehicle tab, except for the offset and the rotation.

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Note that for correctly displaying the sensor measurements, you have to set up the sensor calibration. You can do this on the Navigation | Receiver Setup... | External Sensors tab.

Figure 6-14: Attitude/IMU 3D View Options

6.12

IMU View

The IMU View represents graphically or textually accelerations and angular rates of the external sensors measurements and integrated angular rate measurements. If a receiver has external sensors, this view displays the raw measurements of the sensors and the integrated angular rates for the receiver. For the raw measurements of the sensors the accelerations and angular rates are given in the XYZ directions. The integrated angular rate measurements are given in east, north, up directions. You can chose from which sensor you want to see the measurements by selecting the sensor in the Measurements | Sensors menu. This menu is empty if no sensors are available. In the Measurements | Measurements menu you can chose to see both acceleration and angular rate measurements or only one of these two. The scale menu is by default set to auto scale. As a consequence the scale is adapted to the measurements. You can also set the scale manually by selecting the corresponding menu.

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Figure 6-15: IMU View

6.13

Time Plots

The Time Plots graphically show how a particular value changes over time. The following plots are available: Azimuth plot shows azimuth values of chosen satellites as they change over time. Carrier to Noise plot shows Carrier to Noise ratio over time (CN0) for each tracked satellite. In the Options of this plot it is possible to select a particular signal if your receiver has more than 1 frequency. Doppler Shift plot the Doppler shift of each satellite. Doppler Rate plot shows the rate of change of the Doppler value for each satellite. Elevation plot shows the elevation values of chosen satellites as they vary over time. ENU plot shows the East, North, and Up values from a given topocentric reference point. Height plot shows the current height. In the Options of this plot it is possible to select Ellipsoidal or Orthometric height to be shown. HPR plot shows the Heading, Pitch, and Roll values of the attitude, if an attitude solution exists. Position Standard Deviations Cartesian plot shows the standard deviations of the Cartesian position components. Position Standard Deviations Geodetic plot shows the standard deviations of the geodetic position components. Number of Satellites plot shows the total amount of visible satellites over time. You can select to see number of satellites in view, in track or in PVT mode. PRNs in View plot shows for each chosen satellite if it is in view or not. topocentric reference point. Pseudorange plot shows the pseudorange of each tracked satellite. PVT Mode, Error, NrSV plot shows the values of PVT Mode, PVT Error and number of space vehicles (satellites) in track over time. Receiver CPU Load and Uptime plot can be used to observe the CPU load of your receiver over time, as well as the uptime of the receiver over time. Clock Bias and Drift plot shows the receivers clock bias and clock drift over time. Residuals plot shows residuals for each active satellite. In the Options of this plot the users can also select to view the w-test statistic or the Minimal Detectable Bias. Also the user is able to choose the signal for which the residuals are being shown. In addition it is possible to choose between Carrier-Phase, Code-Phase or Doppler residuals. The ENU, Height, Position Standard Deviations and HPR plots are capable of showing either the GNSSonly solution or an integrated solution. Whether the GNSS-only or integrated solution is shown, is determined by a user preference as set in the preferences dialog, which can be opened by selecting File | Preferences. An integrated solution can only be shown if the Septentrio Receiver has integration enabled. The Azimith, Elevation, Doppler Shift, Pseudoranges and PRNs in View plots are limited to an update rate of 1 second. Since their values change gradually it is not necessary to update them more frequently.

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Figure 6-16: ENU time plot with East, North and Up components on one plot

When the user chooses a particular time plot, he/she may choose to click the Options... button in the Time Plots Selection dialog, which will open the Time Plot Options dialog for a particular Time Plot. In the Time Plot Options dialog the user can choose which satellites will be visible in the plot. The user can also choose output to be displayed on up to 4 different plots. This feature can be particularly useful for the ENU plots. The user may select any combination of the East, North, or Up values to be displayed on any of the 4 plots. In all plots except the PVTMode, Error, NrSV plot, the PVT Mode can be visualized as a colored bar at the bottom of the plot. This can be enabled or disabled using the Time Plots Selection dialog. If the PVT Mode bar is shown, the user can choose to show a vertical marker at times where the PVT Mode changes, via View | Mark PVT Mode Changes. This makes it easier to spot PVT Mode changes, even when they are short. The time axis will display time corresponding to the time frame chosen from the main screen. If you wish to change the time frame go to the main screen: View | Time Frame and select from either GNSS time, UTC time, or local time. When you change this value the time plots will automatically adjust the time axis to correspond to the selected time frame. The user can also choose to label the time axis with either h:mm:ss time display format or TOW (number of seconds in a week) time display format. To change the time display, in the Time Plot windows go to View | Time. The user also can choose to view the Time Plot in Follow mode or in Show All mode. To change modes go to the View menu in the Time Plot window. The Follow mode displays only the end part of the plot, up to 30 points at a time. To view other parts of the Time Plot use the horizontal scroll bar. When the horizontal scroll bar is not placed all the way to the right side, the Time Plot will show only the points corresponding to that location. Once the horizontal scroll bar is moved all the way to the right Follow mode will resume and only the last points of the plot will be shown. Show All mode will adjust the plot to always display all the points on the screen. This means that the scroll bars will be disabled. Use Follow option to zoom in or to scroll through the plot.

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When hovering with the mouse over a data point, a tooltip appears providing the following information about the data point: the name of the data set, the time, the value and unit, and (if relevant) the satellite. If you would like to know the exact position of your cursor on the plot, turn on the Follow | Mouse Tracking option by setting it checked. You will see the coordinates of your mouse on the bottom left corner of the status bar. A horizontal and vertical marker marks the position of the mouse in the plot. If more than one plot is shown in the window, the other plots will show a vertical marker at the corresponding time position. The tool bar on the plot allows the user to navigate within the time plot. User can zoom in or out, drag the plot or clear the plot. Hover the mouse cursor over the tool bar icon to see what the icon allows you to do. The tool bar actions can also be found in the View menu. The History menu gives the user freedom to play with the option of data storage of the time plot. Use the History | Size menu to select the maximum number of points to be shown on the plot. Keep in mind that the more points you choose the slower the plot will be. Selecting more points will be CPU and memory intensive. If you need select a high number of points open as few plots as possible and close other application to reduce CPU and memory usage. Use the History | Shift Out menu to select the number of points which will be removed once the plot reaches its maximum. For example if the Shift Out is set to 10 percent and History Size is set to 3600 points then when the plot reaches 3600 points, the oldest 360 points will be removed to make space for new points. The History | Clear menu option allows to clear the plot at any time and start anew.

6.14

AGC Table

The AGC Table can be opened using the View | Views | AGC Table menu entry or by clicking the corresponding icon in the toolbar of RxControls main window. The columns of the AGC table contain the real-time values of the Septentrio Receiver. Each column represents an analog front end part. The rst row of every column is the front end code, which gives the signals that can be tracked with the front end part. The next row gives the antenna to which the front end is connected to. The third row gives the actual front end gain in dB. The fourth row indicates the normalized variance of the IF samples. The nominal value for this variance is 100. The last row gives the percentage of samples being blanked by the pulse blanking unit. This eld is always 0 for receivers without pulse blanking unit.

Figure 6-17: AGC table

6.15

Message Inspector View

With the Message Inspector View it is possible to show the contents of selected SBF blocks as they are received from the receiver. Figure 6-18 shows the Message Inspector View, displaying the live contents of the PVTGeodetic blocks sent by the receiver.

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Figure 6-18: Message Inspector View

In the upper part of the message inspector view, the message for which the data must be shown can be selected. First select the format to which the message belongs. Then the message can be selected, using the line edit or the list. When you edit the text in the line edit, the list shows all matching messages. When connected to a receiver, the list does not contain those SBF blocks which cannot be requested from the connected receiver. The lower part displays the data from the message selected above. The data is updated each time a new message of the selected type is received from the receiver. Currently, only certain SBF blocks are available in the message inspector view. Besides SBF, other data formats are available. In particular, some common formats for differential corrections are present, offering the majority of their message types.

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THE EXPERT CONSOLE

The Expert Console

The expert console is designed for users familiar with the ASCII command set of the Septentrio Receiver (see the respective Septentrio Receivers User Manual, Command Set section) and allows an unlimited control of the receiver. Expert users can drive the receiver operations through a command line interface by entering commands to adjust the behaviour and operation of the Septentrio Receiver. The expert console is divided into ve tabs: (a) The Receiver Commands tab (see Section 7.1) allows users to directly communicate with their Septentrio Receiver. (b) The ASCII Display tab (see Section 7.2 on page 52) allows the expert user to follow the receivers operation throughout a textual representation of its state. (c) The NMEA tab displays the NMEA sentences sent by the Septentrio Receiver. For this tab to display information NMEA messages must rst be enabled through the Communication | Output Settings menu. (d) The Events tab allows the user to see the details of the external events if they are being generated. The different tabs of the expert console share common features. Each tab has a LED (grey when inactive) which blinks green when a corresponding message or sentence is received. If the tab that received a message is not active, the LED turns to orange to indicate the user that a new message or sentence has arrived on this tab. After the user inspects the new message or sentence by selecting this tab, the LED will return to its default grey colour. Just above the command line is a message area displaying relevant information (See Sections 7.1 until 7.3 on page 52 for specic information) according to the selected tab. Two buttons control the operations of the message area : (a) a Freeze button toggles the update of the message area allowing a closer inspection of the displayed messages. When the freeze button is selected, the information normally sent to this message area is discarded (b) a Clear button that allows the user clear the message area. At the bottom of the Expert Console is the command line (see Figure 7-1 on the next page) used for sending commands to the Septentrio Receiver The command line is explained in more detail in Section 7.1.

7.1

The Receiver Commands Tab

The Receiver Commands tab of the Expert Console is the rst tab and forms the central communication channel with the Septentrio Receiver for the expert user. The window is split up in the message area and the command line (see Figure 7-1 on the next page). The expert user enters his/her commands on the command line, sending them to the Septentrio Receiver by pressing the Enter key. The message area displays the commands entered and the replies received from the Septentrio Receiver.

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Figure 7-1: The Expert Console displaying its Receiver Communication tab

Commands sent by the user to the Septentrio Receiver are preceded in the message area beside the < sign, while the receivers reply is identied by indenting with two spaces and the > sign. A typical communication between the user and the Septentrio Receiver is displayed as follows:

< ggu > $R: ggu > GeoidUndulation, auto, 0.0 < help, sno > $R; help, sno > setNMEAOutput (=sno), Stream, Cd, Messages, Interval > getNMEAOutput (=gno), Stream > > "Select NMEA message types and update intervals" > > < sno, Stream1, COM1, GGA, sec1 > $R: sno, Stream1, COM1, GGA, sec1 > NMEAOutput, Stream1, COM1, GGA, sec1

In this example the user queries the Septentrio Receiver for the current value of the geoid undulation (ggu). The reply indicates that the Septentrio Receiver is currently congured to interpolate the value for the geoid undulation using the built-in geoid model (setGeoidUndulation, auto). The user then decides to request a short help about the short help about how to set the NMEA output (sno). After having a look to the help, the user enables the output of the GGA NMEA message to COM1 at 1Hz by sending the sno, Stream1, COM1, GGA, sec1 to the Septentrio Receiver. The command line interface of the Expert Console directly connects to the central dispatching unit of the Septentrio Receiver internal rmware. Through it, the user can use full names, mnemonics, or numeric values of the command set (see Septentrio Receivers User Manual, Command Set section) to control the Septentrio Receiver. The Expert Console gives a warning when a user attempts to set or modify the settings of the connection port which is used by RxControl. The command line of the Expert Console has a history buffer limited to the last 50 commands. The up and down arrow key allow the user to browse through the history. Using the normal editing keys, a recalled command can be edited or given other arguments. When Enter is pressed, the edited command is transmitted to the Septentrio Receiver. Right-clicking in the message area of the Expert Console allows to Copy or Select All the contents of the message area.

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The scroll bar at the right side of the display area allows scrolling through the history of the commands and replies exchanged between the Septentrio Receiver and RxControl.

7.2

The ASCII Display Tab

When the ASCII Display tab is visible RxControl turns on textual representation of the current receivers status (see Figure 7-2). When the tab becomes inactive again, the ASCII output of the receiver is turned off again.

Figure 7-2: The ASCII Display tab of the Expert Console

Right-clicking in the display area of the Display Output tab allows to Copy or Select All the currently displayed output. The command line is still accessible from the ASCII Display tab, but the replies are directed to the Receiver Commands tab (see Section 7.1 on page 50).

7.3

The NMEA Tab

When National Marine Electronics Association (NMEA) output is enabled the user can examine the NMEA sentences in the display area of the NMEA tab of the Expert Console.

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Figure 7-3: The NMEA tab of the Expert Console

The command line is still accessible from the NMEA tab, but the replies are directed to the Receiver Commands tab (see Section 7.1 on page 50). Selecting the Freeze button allows for a closer examination of the NMEA sentences. Using the scroll bar at the right side of the display area scrolls through the history of the NMEA sentences. Right-clicking in the display area of the NMEA tab allows to Copy or Select All the currently displayed sentences.

7.4

The Events Tab

This tab allows to see details about external events which are generated on the Septentrio Receiver. The details displayed on the Events tab include: if the event was an Event A or an Event B polarity of the event or in other words if the event occurred on the rising or on the falling edge exact receiver time at which the event occurred receiver clock bias which can be used to calculate the satellite time at which the external event occurred

There is also a running total of Events A and Events B, which can be reset by using the Reset buttons. When the Expert Console is closed the counters are also reset.

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LOGGING

8
8.1

Logging
RxControl Logging

RxControl has the ability to log the binary SBF blocks (see Septentrio Receivers User Manual, Enabling SBF Output Section) or the ASCII NMEA sentences transmitted by the Septentrio Receiver. Settings specic to the Septentrio Receiver data logging are changed via the Logging | RxControl Logging... menu entry which opens the Logging window. This window is subdivided in ve tabs with the following information (a) the status of the data logging, (b) the global settings of the data logging, (c) the selection of SBF messages and (d) NMEA sentences to log, and (e) a post processing. The accessible elds in the Logging window adjust automatically according to the selections made: inaccessible elds are greyed out. The data logging settings take effect when the user selects the Start Logging button. When logging is ongoing you will see a moving logging icon at the bottom right corner of the main screen. Use the Stop Logging button to stop the data logging. The Status tab of the Logging Window The Status tab (see Figure 8-1) shows the status of the logging.

Figure 8-1: Logger dialog

The upper part of the panel shows the log le name for both the SBF and the NMEA logging. Also the le size and the number of bytes logged per second are shown. The middle part shows an indicator of how much space is used on the drive which is currently used for storing the data les. The bottom part allows the user to select between viewing a tab containing an event log of the logging process or a tab with message statistics of the logged messages. The Global tab of the Logging Window The Global settings tab (see Figure 8-2 on the following page) allows to specify the following parameters:

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LOGGING

Figure 8-2: Logger Global Settings Tab

(a) the Log Directory species the directory in which the logged les are stored (b) the File Naming and subsequent elds in the Global tab are discussed in the next paragraph (c) the Message Types To Log allows to log only SBF or NMEA messages or both (d) the Log Schedule allows to specify an interval for the logging process. The start and stop time must always be specied in GNSS time, but the times are also printed in the currently set time frame underneath the start and stop time entry elds. (e) the Startup Script allows to send a script to the Septentrio Receiver just before the logging starts (f) the Station Settings allows to change the Station Settings of the Septentrio Receiver File naming convention Four different options are available for specifying the le name of the logged data. The rst three of them are (a) hourly, (b) six-hourly or (c) daily les according to the IGS Convention (http://igscb.jpl.nasa.gov/). The last one, the Manual File Naming option allows the user to specify a chosen lename. Note 9. The IGS Convention option is mandatory when, in the Post Processing tab, the RINEX or the CGGTTS conversion is chosen. When the Manual File Naming has been selected, the user has to specify the following additional parameters: File Name: the base name or prex of the data le(s) created for storing the SBF messages or NMEA sentences SBF File Extension: the extension of the SBF lename(s) that will be created NMEA File Extension: the extension of the NMEA lename(s) that will be created to store all the messages in one large le or to split the le automatically when it has reached a specied le size (in that case the base name is extended with XXXX with XXXX a four digit number starting from 0000). As an example, let the three text elds contain the entries SepRx, SBF and NME. The data les created in the directory specied in the Log Directory are: (a) SepRx.SBF for logging the SBF messages; (b) SepRx.NME for logging the NMEA sentences. If the user chooses the IGS Convention in the File Naming Convention selector. According to this naming convention data les are created as follows: NAME . . . is the 4 character code for the station name DDD . . . is the day number of the year S . . . is the session identier YY . . . are the last two digits of the current year E . . . an identier for the type of the data stored in the le The NAME of the station is downloaded from the Septentrio Receiver when the logging starts (it can be changed via the Station Settings button). The session identier S can be one of the following: the gure 0 identies a data le that spans 24 consecutive hours data les comprised of data for 6 consecutive hours have the gures 1 (0-6hr), 2 (6-12hr), 3 (12-18hr) and 4 (18-24hr) as session identiers the letters from A (0-1hr) to X (23-24hr) are used to identify hourly data les NAMEDDDS.YYE where:

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LOGGING

The time basis used for the IGS le naming convention is GPS time. Finally, the data type identier marks data les which contain SBF block categories, while 1 identies data les which contain only NMEA sentences. By default the project path is further extended by the year-date subdirectory YYDDD. The following example claries the afore mentioned IGS convention, where the current directory (./) is used as Project Path : ./03225/PLRX2251.03_ PLRX2252.03_ PLRX2253.03_ PLRX2254.03_ PLRX2255.03_ PLRX2256.03_ ............ ............ ./03226/PLRX2260.031 ./O3227/PLRX2270.031 ./03227/MRKR227A.03_ MRKR227B.03_ MRKR227C.03_ MRKR227D.03_ MRKR227E.03_ ............ ............ ............ MRKR227V.03_ MRKR227W.03_ MRKR227X.03_ On day 225 of year 03 (August 13, 2003) the data for the station identied as PLRX was logged. Six data les (PLRX2251.03 . . . PLRX2256.03 ), each spanning 6 consecutive hours, containing SBF blocks are logged. The following 2 days, a single daily data le (PLRX2260.O31 and PLRX2270.O31) was logged for the same station and it contains only NMEA sentences. This data le (a) either spans 24 hours of data, or (b) could be the result of scheduled data logging that has started and ended during that day. On August 15, 2003 (day 227 year 03), RxControl logged SBF messages in hourly data les (MRKR227A.03 . . . MRKR227X.03 ) from another station MRKR. In the other hand the naming convention used for the CGGTTS data les follows the next denition: GZXXYYMJ.DAY where: GZ . . . is a x identier for CGGTTS data XX . . . identify the laboratory or two character code of the station name YY . . . identify the PolaRx receiver used (e.g. 1P) MJ . . . are the rst two digits of the current Modied Julian Date DAY . . . the last three digits of the current Modied Julian Date

The SBF and NMEA tabs of the Logging Window The user can select the SBF messages and/or NMEA sentences that he/she wants to log in these tabs. Groups of SBF or NMEA messages are shown in bold on top of the list. These groups of messages are already predened and depend on the Septentrio Receiver you are connected to.

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LOGGING

Figure 8-3: Data Logging SBF tab dialog

Figure 8-4: Data Logging NMEA tab dialog

The SBF messages are always logged at the same rate as the one used in RxControl, while the rate(s) for the NMEA messages can be set by the user. For NMEA messages it is even possible to create different streams with messages of which each stream has its own rate. This is done by clicking the Add Stream button. The rst row contains the desired rate while the following rows contain the messages to be logged at that rate. The Post Processing tab of the Logging Window The Post Processing tab can be used to perform one or more actions on a log le after the le is closed. A log le is closed when the logging is stopped or when a new le is started according to the IGS convention or when the maximum le size is reached in manual le naming mode.

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LOGGING

Figure 8-5: Data Logging Post Processing tab dialog

The top part contains a list of the currently dened Post Processing rules. Each line represents a Post Processing rule. The rst column contains a checkbox allowing the user to enable the rule by checking it, or disabling the rule by unchecking the checkbox. The next two columns contain the name and description of the rule as specied by the user. When the checkbox Remove Source Files, located under the rules list, is checked the SBF or NMEA le used as input for the post processing action is removed after nishing the post processing. If unchecked the le is left at its original position. By clicking the Add button a wizard is shown to dene a new Post Processing rule. To dene a Post Processing rule the following items have to be specied: Post Process Action Input and Type Here the user can specify if the rule should be applied on SBF or NMEA log les and which conversion should be applied: No Conversion RINEX Conversion (SBF only) RINEX Conversion, no SBAS (SBF only) HATANAKA Conversion (SBF only) CGGTTS Conversion (SBF only) Custom Conversion Custom Conversion This page of the wizard is only shown when the user selects Custom Conversion as conversion type. It allows the user to specify the custom program that should be run and the command line parameters to use. The following parameters are available: $SSN INPUT$: replaced by the absolute path + lename of the logged le $SSN INPUT DIR$: replaced by the absolute path (without trailing /) of the logged le $SSN INPUT FILE$: replaced by lename of the logged le When Custom Conversion is selected the next page of the wizard is the Name and Description page. RINEX Parameters This page of the wizard is only shown when the user selected a conversion type that includes RINEX conversion. It allows the user to specify the following parameters for the RINEX converter: Epoch interval Add C/A and P2 SNRs Add L1 and L2 Dopplers Add L2C pseudorange Allow comments These RINEX settings are shared for all actions requiring a RINEX conversion (including HATANAKA and CGGTTS). Compression Type This page allows to select which compression should be applied on the le(s) resulting from the conversion. The possible options are: No Compression Zip Compression

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Unix Z Compression GZip Compression Output File Destination Here the user can choose to move the created les to a FTP folder, to a local directory or to both. In case a FTP folder is selected the user has to ll in (a) the FTP server, (b) the FTP port number, (c) the remote path on the FTP server (which must exist!), (d) the login name and (e) the password to use. Name and Description This page allows to specify the Name and Description for the Post Processing rule. Next to the Add button there is the Edit button. Clicking this button allows to change the settings for the Post Processing rule that is currently selected in the rules list. The Delete button removes the currently selected rule.

8.2
8.2.1

Septentrio Receiver Logging

Internal Logging Settings

Depending on the connected Septentrio Receiver, the internal logging options (if available) are shown in the logging menu. Further explenation of those options can be found in the Septentrio Receivers User Manual.

8.2.2

Download Internal Files

The entry Logging | Download Internal Files... allows to download the internal logged les that are stored on the non-volatile RAM of your Septentrio Receiver. The dialog shows a list of the les currently avalailable on the Septentrio Receiver (see Figure 8-6). One of more les of the list can be selected by clicking on them (keep Ctrl down in order to select multiple les). Files which are locked (indicated by yes in the Locked column of the list) are currently in use by the Septentrio Receiver and cannot be selected for download. During the download the progress of the current le is shown on the top progressbar, while the bottom one shows the overal progress.

Figure 8-6: Download Internal Files dialog

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UPGRADING THE RECEIVER

Upgrading the receiver

If new rmware becomes available for the Septentrio Receiver, RxControl can be used as an upgrading tool. This is done by choosing Tools | Upgrade Receiver menu option or the Upgrade Receiver option in the connection dialog (see Figure 4-1 on page 13) which pops up at start-up. After the upgrade option is chosen, the connection to the receiver will be closed and all windows of RxControl will stop functioning.

Figure 9-1: Upgrade Receiver

A wizard will be shown that guides you through the upgrade process. It allows you to select the PCs port that should be used for the upgrade and the le containing the new receiver rmware. Normally COM1 port should be chosen for the upgrade. Once the actual upgrade is in progress a progress bar monitors the progress. Some serial port emulation drivers dont provide correct progress information, causing the progress bar to complete before the upgrade is completed. A receiver upgrade can take up to several minutes so please leave the tool untouched until it nishes its process. Once the upgrade is done, the receiver is rebooted and will resume normal operation. In case of a failure an error dialog with the failure message will be shown. After upgrading the user gets the Change Connection dialog to reconnect to the receiver.

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NULL-MODEM CABLE

Appendix A

Null-modem cable

The Septentrio Receiver behaves as Data Terminal Equipment (DTE). For direct connection to a terminal or a PC, a nullmodem cable is needed. For the raw RS-232 serial connection via the Septentrio Receiver serial ports, no handshaking is needed by default. Thus a simplied null-modem cable can be used, just crossing the transmit data and receive data lines. Please consult the Septentrio Receiver manual for more details on the RS-232 connectors and the cable congurations that can be used to communicate with the receiver.

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CONVERSION AND PROJECTION OF COORDINATES

Appendix B

Conversion and projection of coordinates

The textual display of coordinates in the P OSITION I NFORMATION PANEL (See Section 5.2.1 on page 18) or the graphical display of coordinates in the P LANIMETRIC P LOT (See Section 6.4 on page 33) allow to switch between different representations of the current position. The cartesian, geodetic and geocentric coordinates result from coordinate conversions based on the current reference ellipsoid (See Section B.1). The cartographic projection is obtained by applying the forward mapping equations of the conformal direct Mercator projection (See Section B.2 on the following page) while the topocentric coordinates are formed from a plane tangent to the Earths surface xed to a specic location (See Section B.3 on page 64).

B.1

Coordinate conversions on an ellipsoid

A point on or near the surface of the Earth can be represented by its cartesian or ECEF (Earth Centered Earth Fixed) coordinates (X, Y, Z ), geodetic coordinates latitude, longitude and ellipsoidal height (, , h) or geocentric coordinates latitude, longitude and geocentric distance (, , r). The conversion between these representations is done on the ellipsoid of revolution which is the mathematical approximation of the Earths surface. The ellipsoid is completely parameterized by its geodetic dening parameters5 semi-major axis a and attening f . From these parameters it is possible to derive the semi-minor axis b, the rst numeric eccentricity e and the second eccentricity e using the formulas in the following table. Parameter semi-minor axis rst eccentricity squared second eccentricity Value b = a (1 f ) 1 b2 e2 = = 2f f 2 2 a a2 f (2 f ) e2 = 2 1= b (1 f )2

It is important to note the difference between the geodetic latitude and the geocentric latitude . The geodetic latitude is determined by the angle between the normal n of the ellipsoid and the plane of the equator, whereas the geocentric latitude is determined around the center of the ellipsoid (Figure B-1).

M rotation axis h r equator plane rn

ellipsoid

Figure B-1: Difference between geodetic latitude and geocentric latitude

5

The dening geodetic parameters for the WGS84 ellipsoid are a = 6 378 137,0 m and

1 f

= 298,257 223 563

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The direct and inverse conversion between cartesian and geodetic coordinates is done according to : Z + e2 rn sin arctan X2 + Y 2 (rn + h) cos cos X Y Y = (rn + h) cos sin = and arctan X h ((1 e2 )rn + h) sin Z X2 + Y 2 rn cos where rn =
a 1e2 sin2

is the local curvature of the ellipsoid along the rst vertical.

The conversion between cartesian and geocentric coordinates follow the relations : Z r cos sin X 2 r Y = Y = r sin sin and arctan X r r cos Z 2 2 2 X +Y +Z

B.2

The conformal direct Mercator projection

E = f1 (, ) N = f2 (, )

The conformal direct Mercator cartographic projection displays the projected north N versus projected east E coordinates obtained by applying the following projection formulae :

As in all cylindrical projections, parallels and meridians are straight and perpendicular to each other. In accomplishing this, the unavoidable east-west stretching of the map, which increases as distance away from the equator increases, is accompanied by a corresponding north-south stretching, so that at every point location, the east-west scale is the same as the north-south scale, making the projection conformal. A Mercator map (See Figure B-2) can never fully show the polar areas, since linear scale becomes innitely high at the poles. Being a conformal projection, angles are preserved around all locations, however scale varies from place to place, distorting the size of geographical objects, as can be seen by the indicatrix of Tissot represented on Figure B-2. In particular, areas closer to the poles are more affected, transmitting an image of the geometry of the planet which is more distorted the closer to the poles. At latitudes above N 70 or below S 70 , the Mercator projection becomes practically unusable.

Figure B-2: The Mercator projection

The forward mapping for the applied Mercator projection are : E = k0 ( 0 ) + f E N = k0 ln tan + + fN 4 2
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The scale factor k0 used is the semi-major axis of the WGS84 ellipsoid and the prime meridian is used as central longitude 0 . The origin is offset by applying a false east and north translation fE = fN = 25 000 km.

B.3

The topocentric ENU coordinate system

In many applications the representation of a point M by its topocentric or local East, North and Up coordinates (E, N, U ) is much more intuitive and practical than its corresponding cartesian or geodetic representation. The topocentric coordinates are formed in a plane tangent to the surface of the Earth xed to the location of a topocentric reference point R (See Figure B-3). The N -axis is tangent to the northern meridian of the topocentric reference point while the U -axis is aligned with the local normal to the ellipsoid in the topocentric reference point. The E -axis is in the local horizontal plane oriented towards east tangent to the rst vertical.

Z xN A R h s

zU z M

yE

Y X ellipsoide

Figure B-3: The topocentric ENU coordinate system

The conversion from geodetic coordinates to topocentric coordinates is done according to : E sin cos 0 XM XR N = sin cos sin sin cos YM YR U cos cos cos sin sin ZM ZR and sin X Y = cos Z 0 sin cos sin sin cos cos cos E XR cos sin N + YR ZR U sin

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Appendix C

Troubleshooting

This section provides some troubleshooting tips in case there is a problem with RxControl and no error warning is given. If a warning or error is shown, more information about it can be found in Appendix D on page 67.

C.1

RxControls screens are not updated or only partially updated

If you dont see the normal display, you are probably experiencing one of the following situations: 1. No receiver is connected. Possible reasons are: (a) During the connection you specied the wrong PC serial port to which receiver is connected. (b) Some of the serial port settings do not match the settings of the serial port of the Septentrio Receiver. This may be the case if the Septentrio Receiver serial port settings have been changed before your session. If you are not sure about this, reboot the Septentrio Receiver, so that it returns to its default settings. (c) The Septentrio Receiver is turned off or is in boot stage. (d) The Septentrio Receiver is not connected to you computer. 2. Some dialogs have N/A instead of values and the statusbar shows a red message (such as Not enough measurements). The most typical reason is that the antenna is not connected to the receiver or the visibility of the sky is too limited. In these cases, you will still be able to see the timing information in the Time or RxClock tab (see Section 5.2.3.1 on page 21 or Section 5.2.3.2 on page 21). Most probably the Satellite Status dialog (see Figure 5-4 on page 20) of RxControl will indicate the Search status of some satellites, showing the corresponding satellite signal indicators in yellow (see Section 5.2.2 on page 19). This situation could occur during a cold boot of the receiver. In this case the screen will gradually become alive and position and velocity data will show up in several seconds. 3. Permissions = Gustavo

C.2

The Septentrio Receiver specic menus are not available in RxControl

If you dont see the receiver specic menus you are probably experiencing one of the following situations: 1. No receiver is connected. Possible reasons are: (a) You specied the wrong serial port for your PC. (b) Some of the serial port settings do not match the settings of the serial port of the Septentrio Receiver. This may be the case if the Septentrio Receiver serial port settings have been changed before your session. If you are not sure about this, reboot the Septentrio Receiver, so that it returns to its default settings. (c) The Septentrio Receiver is turned off or is in a boot stage. 2. Your receiver is too old and incompatible with RxControl. If youre receiver is PolaRx2 then please use the GUI from the PolaRx Graphical Tools installer. 3. There is connection bandwidth overload. This can happen when using a serial connection at a high message interval. If this is the case you should see the SBF LED at the bottom left corner of the main window blink red in stead of green. In this case please use a USB or TCP/IP connection (which provide a higher bandwith) or lower the message interval.

C.3

Contacting Septentrio support

If you experience a problem which is not described in this or the following section, or the provided solutions are not working for you, Septentrios support team is always ready to help you. In order to contact them use the support form on the website: http://www.septentrio.com/support_request.php or you can use the support menu items of RxControl: Help | Support | RxControl support Help | Support | Receiver support If you use the menus above some of the elds will be pre-lled for you. Please provide as many details as possible about your problem. Please attach a diagnostic report which can be generated through (File | Display Diagnostic Report. This report shows a summary of RxControls version, currently connected receiver, your platform information,

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etc. If you are experiencing problems related to the Septentrio Receivers commands then the Septentrio Receivers MIB description le would be helpful in order to help you with your problem. This le can be retrieved by selecting the File | Save MIB Description As and specifying a location where this le can be saved.

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Appendix D
D.1

Warning and Error Messages

Serial port related Warning and Error Messages

[Port] is invalid or is already open: The serial port with the name [Port] is invalid and does not exist on the system. This can happen when you specify one of the virtual serial ports linked with the USB ports of the Septentrio Receiver and the USB cable is not plugged in. Another cause can be that the port is already open in another program and thus not available for RxControl. Please: (a) select another port (b) connect the USB cable of the Septentrio Receiver. (c) close the program that has the port currently in use Receive overow: An overow in the receiver buffer of the serial port has occured. This can occur when the PC is heavely loaded and means that some of the bytes received from the receiver are lost. Transmit overow: An overow in the transmit buffer of the serial port has occured. This can occur when the PC is heavely loaded and means that some of the bytes transmitted to the receiver are lost. Retrieve current state: There was an error while retreiving the current state of the serial port. Setting the port settings: There was an error while applying the settings needed for RxControl. Setting up the serial port: There was an error during the setup of the serial port. Purging the device: There was an error while trying to purge the serial port. Invalid Baudrate: The selected baudrate cannot be applied to the serial port. Please select a valid baudrate. Invalid number of databits: The selected number of databits cannot be applied to the serial port. Please select a valid number of databits. Invalid number of stopbits: The selected number of stopbits cannot be applied to the serial port. Please select a valid number of stopbits. Invalid parity: The selected parity cannot be applied to the serial port. Please select a valid parity setting. Invalid owcontrol: The selected owcontrol cannot be applied to the serial port. Please select a valid owcontrol. Searching Baudrate...: The serial port is searching for the baudrate of the connected Septentrio Receiver. During this process there is no communication possible with the receiver. Automatic searching for the baudrate failed: While searching for a connected Septentrio Receiver with every possible baudrate, none was found. Check if a Septentrio Receiver is connected to the selected serial port. It seems that [Port] is no longer present on the system: The serial port RxControl was using has disappeared from the system.

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This can happen if you use a USB to serial device or the virtual serial ports linked with the USB ports of the Septentrio Receiver and unplug the USB from the PC.

D.2

TCP/IP port related Warning and Error Messages

The connection was refused by the peer (or timed out): The Septentrio Receiver refused the connection set up by RxControl or it timed out. Please check your network settings. The remote host closed the connection: The connection between the Septentrio Receiver and RxControl has ended because the Septentrio Receiver has closed the connection. Please check if the Septentrio Receiver is still working and try to reconnect. Host [Host] not found: The specied hostname or IP-address for the Septentrio Receiver is not found on the network. Please check: (a) if the specied hostname or IP-address of the Septentrio Receiver is correct (b) that the Septentrio Receiver is correctly connected to the network. The local system ran out of resources (e.g., too many sockets): There are to many network resources in use on your PC. Please free up some network resources. The socket operation timed out: The socket operation has timed out before it was completed. An error occurred with the network: This error can occur if for example the network cable was accidentally unplugged. Please check your network.

D.3

SBF File Player related Warning and Error Messages

The given SBF le does not exist: The specied SBF le does not exist. Please specify an existing SBF le. There is already a SBF le connection open: There is already a SBF le connection open and only one at a time can be opened. Please close the other SBF le connection before trying to open another. The SSN Stream has given an error: There has been an error while parsing the SBF. This indicates an error in the SBF parser or an invalid SBF le. Please select a valid SBF le.

D.4

RxControl data parser related Warning and Error Messages

Wrong SNMP version: A SNMP message with a wrong version number has been received. This error can occur when something is wrong with the SNMP setup between the Septentrio Receiver and RxControl or if there are communication problems leading to lost bytes.

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a Please check the number of CRC errors by hooverig over the SBF LED (see Section 5.2.4 on page 23). If the number of CRC errors is high there is a problem with the communication and bytes are lost leading to this problem. So check your communication settings. a If there are no CRC errors please restart RxControl after enabling the Delete the downloaded MIB files at the next close of RxControl in the Preferences dialog (see Section 5.3.1 on page 25) in order to refresh the SNMP setup. A time out error occurred while retrieving a SNMP message from the receiver: The Septentrio Receiver did not reply on a SNMP request of RxControl. This can happen if the Septentrio Receivers CPU load is too high. If this error is displayed when displaying one of the Septentrio Receiver settings dialogs it can occur that the shown values on that dialog does not reect the current status of the Septentrio Receiver. Please try (a) to send the message again (b) to change your Septentrio Receiver settings so that the CPU load decreases. A time out error occurred while changing the Septentrio Receiver settings: The Septentrio Receiver did not react on a request of RxControl to change its settings. This can happen if the Septentrio Receivers CPU load is too high. If this error is displayed when displaying one of the Septentrio Receiver settings dialogs it can occur that the shown values on that dialog does not reect the current status of the Septentrio Receiver. Please try (a) to send the message again (b) to change your Septentrio Receiver settings so that the CPU load decreases. An error occurred while initializing the MIB: There has been an error while downloading the Septentrio Receivers capabilities. As a result the Septentrio Receiver specic menus are not shown. Please close the connection to your Septentrio Receiver and reopen it again. There was an error while parsing the current receiver conguration: RxControl requested a setting that is unknown or invalid for the Septentrio Receiver. It may be that the actual conguration of the receiver is different than the expected one. Please restart RxControl after enabling the Delete the downloaded MIB files at the next close of RxControl in the Preferences dialog (see Section 5.3.1 on page 25) in order to refresh the SNMP setup. If this does not help please contact Septentrio support. There was an error while setting the receiver conguration: RxControl changed a setting that is unknown or invalid for the Septentrio Receiver. It may be that the actual conguration of the receiver is different than the expected one. Please restart RxControl after enabling the Delete the downloaded MIB files at the next close of RxControl in the Preferences dialog (see Section 5.3.1 on page 25) in order to refresh the SNMP setup. If this does not help please contact Septentrio support. A time out error occurred while retrieving a receiver message from the receiver: RxControl has send a request to the Septentrio Receiver to which no reply has been received. This can happen if the Septentrio Receivers CPU load is too high. If this error is displayed when displaying one of the Septentrio Receiver settings dialogs it can occur that the shown values on that dialog does not reect the current status of the Septentrio Receiver. Please try (a) to send the message again (b) to change your Septentrio Receiver settings so that the CPU load decreases. Re-initialize communication because no data has been received for X milliseconds: Since there has been no communication between RxControl and the Septentrio Receiver for X milliseconds RxControl decides that the communication is broken. Therefor it tries to re-initialize the communication. This warning dialog disappears from the moment the communication is re-established or when that fails it shows a dialog to change the connection settings. Please check the connection between your Septentrio Receiver and the PC running RxControl. No communication with receiver: Since there is no communication between RxControl and the Septentrio Receiver RxControl decides that the communication is broken. Therefor it tries to re-initialize the communication. This warning dialog disappears from the moment the communication is re-established or when that fails it shows a dialog to change the connection settings. Please check the connection between your Septentrio Receiver and the PC running RxControl.

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Receiving invalid data: RxControl has received data that it cannot parse. This can happen if there are communication errors between the Septentrio Receiver and RxControl. Please check the connection between your Septentrio Receiver and the PC running RxControl. This version of RxControl does not support PolaRx2 receivers: This warning is shown when using a version of RxControl that communicates with the receiver via the SNMP protocol while the receiver does not support it. Please use RxControl from the PolaRx Graphical Tools installer.

D.5

Logging related Warning and Error Messages

RxControl has no permissions to write to X: The user has entered a destination directory X for the logger output that is not writable by RxControl. Please select another destination directory or change the settings of the directory so that RxControl can write to it. Disk full: The disk containing the destination directory for logging is full preventing further logging. Please free up some space on the disk or enter another logging destination. The startup script could not be read: The script that should be sent to the Septentrio Receiver at start of the logging cannot be found or read. Please provide a valid startup script. The scheduled start time is later than the stop time: The entered time for starting the scheduled logging is later in time than the stop time. Please provide a valid start and stop time for the scheduled logging. The logger is not initialized: An internal error in RxControl occured preventing the logger to be started. Please restart RxControl and try again. If the problem is persisting please contact Septentrio. Action X requires that the le naming convention is set to IGS24: A logging post-process action (with the name X) has been dened that requires that the naming convention is set to IGS24. Please set the naming convention to IGS24 or disable the post-process action X. Action X requires that the SBF logging is enabled: A logging post-process action (with the name X) has been dened that requires SBF logging however SBF logging is not enabled. Please enable SBF logging or disable the post-process action X. Action X requires that the NMEA logging is enabled: A logging post-process action (with the name X) has been dened that requires NMEA logging however NMEA logging is not enabled. Please enable NMEA logging or disable the post-process action X.

D.6

Upgrade related Warning and Error Messages

Failed to open connection to receiver: RxControl failed to open a connection to the Septentrio Receiver or your Septentrio Receiver is not running. Please check: (a) the connection between your Septentrio Receiver and the PC running RxControl (b) that Septentrio Receiver is turned on. The upgrade le seems to be corrupt causing the upgrade to fail: The le containing the upgrade is corrupt or is not a valid Septentrio Upgrade File. Please select a valid Septentrio Upgrade File. There was a connection time out:

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While connecting to the Septentrio Receiver there was a timeout. This can happen if there is no operating Septentrio Receiver connected or if programName is connected to a serial port of the Septentrio Receiver that is not capable of performing upgrades. Please check if an operating Septentrio Receiver is connected and that the Septentrio Receivers serial port is capable of performing upgrades. Connection timed out: While connecting to the Septentrio Receiver there was a timeout. This can happen if there is no operating Septentrio Receiver connected or if programName is connected to a serial port of the Septentrio Receiver that is not capable of performing upgrades. Please check if an operating Septentrio Receiver is connected and that the Septentrio Receivers serial port is capable of performing upgrades.

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GLOSSARY

Glossary
A
AGC Automatic Gain Control is an adaptive system found in many electronic devices. The average output signal level is fed back to adjust the gain to an appropriate level for a range of input signal levels. For example, without AGC the sound emitted from an AM radio receiver would vary to an extreme extent from a weak to a strong signal; the AGC effectively reduces the volume if the signal is strong and raises it when it is weaker. The American Standard Code for Information Interchange is a standard seven-bit code. ASCII was established to achieve compatibility between various types of data processing equipment. The standard ASCII character set consists of 128 decimal numbers ranging from 0 . . . 127 assigned to letters, numbers, punctuation marks, and the most common special characters. The Extended ASCII Character Set also consists of another 128 decimal numbers and ranges from 128 . . . 255 representing additional special, mathematical, graphic, and foreign characters. The Azimuth angle of a satellite indicates the direction of the projection of the line-of-sight onto the local horizontal plane measured from the geographic North positive to the East.

ASCII

Azimuth

C
CGGTTS CMR C/N0 conformal The Common GPS GLONASS Time Transfer Standard) format designed for international time transfer among the respective timing organizations, and reported to the BIPM. The Compact Measurement Record format contains packet framing and message types for raw L1 and L2 carrier phase and pseudorange data, plus reference station location and description messages. Carrier-to-Noise ratio expressed in [db-Hz]. A projection is conformal or angle-preserving when it preserves oriented angles between curves. This means that the shape of innitesimally small gures are preserved, though their size is generally distorted. Tissots indicatrix is a circle in each projection point. Other local map properties are equivalent or equidistant. A cyclic redundancy check (CRC) is a type of function that takes as input a data stream of unlimited length and produces as output a value of a certain xed size. The term CRC is often used to denote either the function or the functions output. A CRC can be used in the same way as a checksum to detect accidental alteration of data during transmission or storage. CRCs are popular because they are simple to implement in binary hardware, are easy to analyze mathematically, and are particularly good at detecting common errors caused by noise in transmission channels.

CRC

D
direct DNS DOP A projection is direct or normal when the axis of the auxiliary surface (cone, cylinder or plane) is coincident with the polar axis. Other orientations are transverse and oblique. The Domain Name Server is a distributed Internet directory service. A DNS is used mostly to translate between domain names and IP addresses and to control the Internet e-mail delivery. The Dilution Of Precision measures the relative degradation of the accuracy of the navigation solution based on the constellation geometry. The reported value can be multiplied by the uncertainty in the range measurements (assumed to be the same for all transmitters) to provide the uncertainty in the navigation solution.

E
EGNOS Elevation ENU The European Geostationary Navigation Overlay System is the European SBAS system developed by ESA, European Commission and Eurocontrol. Its service zone is the European continental airspace. The Elevation angle of a satellite denes the angle between the local horizontal plane and the direction to the satellite. The coordinates measured in the topocentric reference with respect to a reference position. The N -axis points to true geographic north, the E -axis is oriented towards the east while the U -axis is along the local normal.

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GLOSSARY

equivalent

A projection is equivalent or equal-area when it preserves equally scales all surfaces. This means that all surfaces are equally scaled after projection. Tissots indicatrix is of constant surface in each projection point. Other local map properties are conformal or equidistant.

F
FTP The File Transfer Protocol is used on the Internet for exchanging les and it is based on the TCP/IP protocol. FTP is most commonly used to download a le from a server using the Internet or to upload a le to a server.

G
Galileo The Galileo positioning system, referred to simply as Galileo, is a European Global Navigation Satellite System, built by the European Satellite Navigation Industries for the European Union (EU) and European Space Agency (ESA) as an alternative to the United States operated Global Positioning System (GPS) and the Russian GLONASS. Galileo is tasked with multiple objectives including the following: to provide a higher precision to all users than is currently available through GPS or GLONASS, to improve availability of positioning services at higher latitudes, and to provide an independent positioning system upon which European nations can rely even in times of war or political disagreement. Grid Ionospheric Vertical Error. The Russian Global Orbiting Navigation Satellite System is a satellite based radionavigation system which enables unlimited number of users to make all-weather 3D positioning, velocity measuring and timing anywhere in the world or near-Earth space. The Global Navigation Satellite System is a satellite navigation system which currently includes GPS, its Russian analogue GLONASS and three space-based augmentation systems: EGNOS, WAAS, and MTSAT. Global Positioning System (also NAVSTAR GPS)is a satellite navigation system owned by the Department of Defence of the United States of America and designed to provide instantaneous position,velocity and time information almost anywhere on the globe at any time, and in any weather. NAVSTAR GPS stands for the NAVigation Satellite Timing And Ranging Global Positioning System. GPS eXchange Format is an XML schema designed for transferring GPS data between software applications. It can be used to describe waypoints, tracks, and routes. The Graphical User Interface gives the user a graphical way for controlling and viewing the information of the receiver.

GIVEI GLONASS

GNSS

GPS

GPX GUI

H
HAL HDOP HER HMI HPL Horizontal Alert Limit. Horizontal Dilution Of Precision is a measure of the uncertainty of the navigation solution in the local horizontal plane. The Horizontal External Reliability integrity monitoring for the level of the position used in RAIM statistics. Hazardously Misleading Information. Horizontal Protection Level.

I
IGS The International GPS Service provides GPS orbits, tracking data, and other high-quality GPS data and data products on line in near real time to meet the objectives of a wide range of scientic and engineering applications and studies. Instrument Landing System facilities are a highly accurate and dependable means of navigating to the runway. The ILS provides the lateral and vertical guidance necessary to y a precision approach. An Inertial Measurement Unit is a device that measures acceleration and rotation. When the Septentrio Receiver is connected with an IMU, these measurements can be used for determining position/velocity/attitude through a technique called integration.

ILS IMU

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GLOSSARY

indicatrix

Tissots indicatrix, or ellipse of distortion, is a concept developed by French mathematician Nicolas Auguste Tissot to measure and illustrate map distortions. It is the theoretical gure that results from the projection of an innitesimal circle with unit radio, dened in a geometric model of the Earth (a sphere or an ellipsoid), on the projection plane. Tissot proved that this gure is normally an ellipse, whose axes indicate the two principal directions of the projection at a certain point, i.e., the directions along which its scale is maximum and minimum. When the Tissots indicatrix reduces to a circle it means that, at that particular point, the scale is independent of direction. In conformal projections, where angles are preserved around every location, the Tissots indicatrix are all circles, with varying sizes. In equivalent or equal-area projections, where area proportions between objects are conserved, the Tissots indicatrix have all unit area, although their shapes and orientations vary with location. Approach to determining the position/velocity/attitude, based on the combination of GNSS measurements together with measurements of other sensors, such as an IMU. The Internet Protocol is responsible for moving packets of data between Internet nodes. IP forwards each packet based on a four byte destination address (the IP number). The Internet authorities assign ranges of numbers to different organizations. The organizations assign groups of their IP numbers to departments.

integration IP

K
KML KML is a le format used to display geographic data in an earth browser, such as Google Earth, Google Maps, and Google Maps for mobile. A KML le is processed in much the same way that HTML (and XML) les are processed by web browsers. Like HTML, KML has a tag-based structure with names and attributes used for specic display purposes. Thus, Google Earth and Maps act as browsers for KML les.

L
LAN A Local Area Network is a computer network that spans a relatively small area. Most LANs are conned to a single building or group of buildings. However, one LAN can be connected to other LANs over any distance via telephone lines, radio waves, among other ways. The Lightweight Directory Access Protocol, or LDAP, is an application protocol for querying and modifying directory services running over TCP/IP. Light Emition Diode. Light-emitting diodes are diodes that emit visible light when electricity is applied, similar to a light bulb. RxControl simulates LEDs by animated images.

LDAP LED

M
Mercator Mercator was born Gheert Cremer (or Gerard de Cremere) in the Flemish town of Rupelmonde. Mercator is the Latinized form of his name. He constructed a new chart and rst used it in 1569 : it had parallel lines of longitude to aid navigation by sea, as compass courses could be marked as straight lines. Misleading Information. a MIB is a type of database used to manage the devices in a communications network. The MIB contains information on the commands and on the targets objects (controllable entities or potential sources of status information).

MI MIB

N
NIS The Network Information Service or NIS is Sun Microsystems Yellow Pages (YP) client-server directory service protocol for distributing system conguration data such as user and host names between computers on a computer network. NISPLUS or NIS+, is an enhanced version of the Network Information Service developed by Sun Microsystems. It is a UNIX lookup service detailing disk mounts, users, computer nodes, etc. It is designed to eliminate the duplication of tables, called maps, thereby easing system administration by storing such maps on a master server rather than keeping separate copies on individual machines, which is generally a sin. With the exception of NIS+ server, client & server versions of NIS & NIS+ have been ported to other UNIX platforms, notably Linux. MS Windows can run NIS-Gina, but this is not common.

NIS+

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NMEA

The National Marine Electronics Association has developed a standard to permit ready and satisfactory data communication between electronic marine instruments, navigation equipment and communications equipment when interconnected via an appropriate interface. The standard implemented by the Septentrio receivers is the NMEA 0183, version 2.30.

P
PA PDOP PL A Precision Approach is an approved descent procedure, which uses a navigation facility aligned with a runway where glide slope information is given. Position Dilution Of Precision is the geometric DOP parameter. SBAS systems generate in real time protection limits for the residual position error in the differential correction to GPS. When the residual error exceeds the protection limit, an alarm is raised notifying the user of a potential dangerous situation. The Pseudo Random Noise refers to a code that is is apparently random although it has been generated by means of a known process, hence the repeatability of the code indicate by the prex pseudo random. Each GNSS satellite has its PRN number. A map projection is any method used in cartography to represent the two-dimensional curved surface of the earth on a plane. The term projection refers to any function dened on the earths surface and with values on the plane, and not necessarily a geometric projection. Since the sphere or revolution ellipsoid are non-developable surfaces, a map projection cannot exist without distortions. A map projection uses an intermediate surface (a cone, cylinder or plane) to project the earths points onto, which is afterwards laid out on a plane. Position, Velocity and Time, meaning that the navigation solution computes the current position, velocity and time clock bias of the receiver.

PRN

projection

PVT

R
RAIM The Receiver Autonomous Integrity Monitoring is a technology developed to assess the integrity of GPS signals in a GPS receiver system. It is of special importance in safety-critical GPS applications, such as in aviation or marine applications. RAIM ensures the integrity of the computed position solution, provided that sufcient satellites are available. The RAIM algorithm consists in three steps: detection, identication and adaptation, or shortly D-I-A. The Receiver INdependent EXchange format is data format independent of receiver type. RINEX can be seen as a standard exchange format for GPS data. The RS-232 standard species signal voltages, signal timing, signal function, a protocol for information exchange, and mechanical connectors for a serial connection. Radio Technical Commission for Maritime Services. The committee NO. 104 of the RTCM recommended a standard for exchange of data for Differential GPS service. The standard addresses both code-based and carrier-phase based positioning. GPS Real-Time Kinematic is a high-precision surveying method. RTK is based on differential carrierphase prunning with either oat or integer phase ambiguities. RTK requires a real-time data link to transmit correction data from the base station to the rover.

RINEX RS-232 RTCM

RTK

S
SBAS A Space-Based Augmentation System is a regional augmentation systems for GPS and/or GLONASS. An SBAS system is based on a networked ground segment and navigation payloads on-board of geostationary satellites whose main purpose is to provide higher position accuracies, better availability and continuity of service and integrity messages to the users of space based navigation systems. Currently existing SBASs are based on DO229 data exchange standard. The Septentrio Binary Format is a data format used by the Septentrio receivers. It arranges the data in so-called SBF blocks, identied by block IDs. The benet of SBF is compactness : large quantity of information with a high level of detail can be transmitted over a low-bandwidth serial connection. This format should be your rst choice if you wish to receive detailed information from the receiver.

SBF

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SNMP

SNMP is used by network management systems to monitor network-attached devices for conditions that warrant administrative attention. It consists of a set of standards for network management, including an Application Layer protocol, a database schema, and a set of data objects. SNMP exposes management data in the form of variables on the managed systems, which describe the system conguration. These variables can then be queried and sometimes set by managing applications. Septentrio Text Format where similar SBF blocks are grouped per le.

STF

T
TCP/IP TCP/IP is a communication protocol and is composed of layers: IP : is responsible for moving packets of data between Internet nodes. IP forwards each packet based on a four byte destination address (the IP number). The Internet authorities assign ranges of numbers to different organizations. The organizations assign groups of their IP numbers to departments. TCP : is responsible for verifying the correct delivery of data from client to server. Data can be lost in the intermediate network. TCP adds support to detect errors or lost data and to trigger retransmission until the data is correctly and completely received. Sockets : A name given to the package of subroutines that provide access to TCP/IP on most systems. TDOP TOW Time Dilution Of Precision is a measure of the uncertainty of the navigation solution in the time determination. GPS time is transmitted by a combination of the current Week Number and the Time Of Week. The TOW represents the number of seconds into the week ranging from [0 . . . 604800[ seconds and is counted from midnight Saturday/Sunday on the GPS time scale.

U
UTC Coordinated Universal Time is a time scale that couples Greenwich Mean Time, which is based solely on the Earths inconsistent rotation rate, with highly accurate atomic time. When atomic time and Earth time approach a one second difference, a leap second is calculated into UTC. UTC was devised on January 1st, 1972 and is coordinated in Paris by the International Bureau of Weights and Measures (BIPM). For most practical purposes associated with the Radio Regulations, UTC is equivalent to mean solar time at the prime meridian (0 longitude), formerly expressed in Greenwich Mean Time (GMT). The maintenance by BIPM includes cooperation among various national laboratories around the world. The full denition of UTC is contained in CCIR Recommendation 460-4. The GPS system time is different from the UTC time by a whole number of leap seconds (15 at the time of this writting).

V
VAL VDOP VER VPL Vertical Alert Limit. Vertical Dilution Of Precision is a measure of the uncertainty of the navigation solution in the vertical direction. The Vertical External Reliability integrity monitoring for the level of the position used in RAIM statistics. Vertical Protection Level.

W
WAAS WGS84 The Wide Area Augmentation System is the American SBAS system developed by the FAA. WAAS is designed to improve the accuracy and ensure the integrity of information coming from GPS satellites. The World Geodetic System 84 is an Earth-xed global reference frame. It is dened by a set of parameters dening the shape of the earths ellipsoid, its angular velocity, the earth mass and a detailed gravity model of the earth. These parameters are needed because WGS 84 is used not only for dening coordinates in surveying, but, for example, also for determining the orbits of GPS navigation satellites. GPS time is transmitted by a combination of the current Week Number and the Time Of Week. The week number represents the number of weeks elapsed since the introduction of the GPS time scale on January, 6th 1980.

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GLOSSARY

X
XERL The EXtErnal Reliability Levels give the opportunity to introduce a more stringent application-specic integrity criterion. The positional solution is deemed as passed an application-level integrity test if the XERLs are within user-dened (and application-dependent) alarm limits. This comparison (and the denition of alarm limits as well) takes place in a user application and is outside of the receiver scope.

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