STEADYLINE

Configures position mode matching

Platform:

OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, CPT7, CPT7700, SMART7

The STEADYLINE functionality helps mitigate the discontinuities that often occur when a GNSS receiver changes positioning modes. The effect is especially evident when a receiver transitions from an RTK position mode solution to a lower accuracy “fall back” solution, such as DGPS, WAAS+GLIDE or even autonomous GLIDE. Smooth transitions are particularly important for agricultural steering applications where sudden jumps may be problematic.

The STEADYLINE internally monitors the position offsets between all the positioning modes present in the receiver. When the receiver experiences a position transition, the corresponding offset is applied to the output position to limit a potential real position jump. When the original accurate position type returns, the STEADYLINE algorithm will slowly transition back to the new accurate position at a default rate of 0.005 m/s. This creates a smoother pass-to-pass relative accuracy at the expense of a possible degradation of absolute accuracy.

For example, a receiver can be configured to do both RTK and GLIDE. If this receiver has a fixed RTK position and experiences a loss of correction data causing the loss of the RTK solution it will immediately apply the offset between the two position modes and uses the GLIDE position stability to maintain the previous trajectory. Over time the GLIDE (or non-RTK) position will experience some drift. Once the RTK position is achieved again the receiver will start using the RTK positions for position stability and will slowly transition back to the RTK positions at a default rate of 0.005 m/s.

Message ID: 1452

Abbreviated ASCII Syntax:

STEADYLINE mode [transition_time]

Factory Default:

STEADYLINE disable

ASCII Example:

STEADYLINE prefer_accuracy 100

Field	Field Type	ASCII Value	Binary Value	Description	Format	Binary Bytes	Binary Offset
1	Command header	-	-	STEADYLINE header This field contains the command name for abbreviated ASCII or the message header for ASCII (see page 1) or Binary (see page 1).	-	H	0
2	mode	See Table: STEADYLINE Mode		STEADYLINE mode	Enum	4	H
3	transition_time			Time over which solutions will transition in seconds. The minimum rate of change is 0.005 m/s regardless of this parameter. Default = -1, which sets the parameter to the minimum value 0.005 m/s.	Ulong	4	H+4

STEADYLINE Mode

ASCII	Binary	Description
DISABLE	0	Disable STEADYLINE (default)
RESET	3	Reset the offsets, jump immediately to the current position and continue in the current mode.
PREFER_ACCURACY	4	Slowly transition to the new reference position when changing from less accurate reference positioning type to more accurate reference positioning type. Maintains the position offset calculated when changing from more accurate reference positioning type to a less accurate reference positioning type.