HEADING2

Heading information with multiple rovers

Platform:

OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART2

Firmware Stream:     

The heading is the angle from True North of the base to rover vector in a clockwise direction. This log can be output at both Master and Rover ends.

An ALIGN capable receiver is required to use this log.

Asynchronous logs, such as HEADING2, should only be logged ONCHANGED or ONNEW otherwise the most current data is not available or included in the output. An example of this occurrence is in the ONTIME trigger. If this trigger is not logged ONNEW or ONCHANGED, it may cause inaccurate time tags.

The HEADING2 log is dictated by the output frequency of the master receiver sending out RTCAOBS2, RTCAOBS3 or NOVATELXOBS messages. HEADING2 supports 20 Hz output rate. Ensure sufficient radio bandwidth is available between the ALIGN Master and the ALIGN Rover.

Message ID: 1335

Log Type: Asynch

Recommended Input:

log heading2a onnew

ASCII Example:

#HEADING2A,COM1,0,39.5,FINESTEERING,1622,422892.200,02040000,f9bf,6521;
SOL_COMPUTED,NARROW_INT,0.927607417,178.347869873,-1.3037414550.0,0.261901051,
0.391376048,"R222","AAAA",18,17,17,16,0,01,0,33*7be836f6

Field

Field type

Description

Binary Format

Binary Bytes

Binary Offset

1

HEADING2 header

Log header. See Messages for more information.

 

H

0

2

sol stat

Solution status, see Table: Solution Status

Enum

4

H

3

pos type

Position type, see Table: Position or Velocity Type

Enum

4

H+4

4

length

Baseline length in meters

For ALIGN Heading models with position access, this field is -1.

For ALIGN Heading models without position access, this field is only the decimal portion of the baseline in meters.

For ALIGN Relative Positioning models receiving corrections from a master with a fixed position, this field is -1.

For ALIGN Relative Positioning models receiving corrections from a master in moving baseline mode, this field is the complete baseline length in meters.

Float

4

H+8

5

heading

Heading in degrees (0° to 359.999°)

Float

4

H+12

6

pitch

Pitch (±90 degrees)

Float

4

H+16

7

Reserved

Float

4

H+20

8

hdg std dev

Heading standard deviation in degrees

Float

4

H+24

9

ptch std dev

Pitch standard deviation in degrees

Float

4

H+28

10

rover stn ID

Rover Receiver ID

Set using the SETROVERID command on the Rover

e.g. setroverid RRRR

Char[4]

4

H+32

11

Master stn ID

Master Receiver ID

Set using the DGPSTXID command on the Master

Default: AAAA

Char[4]

4

H+36

12

#SVs

Number of satellites tracked

Uchar

1

H+40

13

#solnSVs

Number of satellites in solution

Uchar

1

H+41

14

#obs

Number of satellites above the elevation mask angle

Uchar

1

H+42

15

#multi

Number of satellites above the mask angle with L2

Uchar

1

H+43

16

sol source

Solution source (see Table: Solution Source)

Hex

1

H+44

17

ext sol stat

Extended solution status (see Table: Extended Solution Status)

Uchar

1

H+45

18

Galileo and BeiDou sig mask

Galileo and BeiDou signals used mask (see Table: Galileo and BeiDou Signal-Used Mask)

Hex

1

H+46

19

GPS and GLONASS sig mask

GPS and GLONASS signals used mask (see Table: GPS and GLONASS Signal-Used Mask)

Hex

1

H+47

20

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+48

21

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

Solution Source

Bit

Mask

Description

0-1

0x03

Reserved

2-3

0x0C

Source antenna

0 = Primary antenna

1 = Secondary antenna

4-7

0xF0

Reserved

 

OM-20000167 v13

October 2019

Email comments to NovAtel_TPUBS@NovAtel.com

7.07.03 / OM7MR0703RN0000
PP7 07.07.03 / EP7PR0703RN0000
7.06.03 / OA7CR0603RN0000