HEADING2

Heading information with multiple rovers

Platform:

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

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 Base 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 base receiver sending out RTCAOBS2, RTCAOBS3 or NOVATELXOBS messages. HEADING2 supports 20 Hz output rate. Ensure sufficient radio bandwidth is available between the ALIGN Base 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*8c48d77c

Field

Field type

Description

Binary Format

Binary Bytes

Binary Offset

1

Log header

HEADING2 header

For information about log headers, see ASCII, Abbreviated ASCII or Binary.

 

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 metres

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 metres.

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

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

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

base stn ID

Base Receiver ID

Set using the DGPSTXID command on the Base

Default: AAAA

Char[4]

4

H+36

12

#SVs

Number of satellites tracked

Uchar

1

H+40

13

#solnSVs

Number of satellites used 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 with multi-frequency signals above the mask angle

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