PSRXYZ

Pseudorange Cartesian position and velocity

Platform:

OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, CPT7, CPT7700, SMART7, SMART2

This log contains the receiver’s pseudorange position and velocity in ECEF coordinates. The position and velocity status field’s indicate whether or not the corresponding data is valid. See Figure: The WGS84 ECEF Coordinate System for a definition of the ECEF coordinates.

The velocity status indicates varying degrees of velocity quality. To ensure healthy velocity, the velocity sol-status must also be checked. If the sol-status is non-zero, the velocity is likely invalid. It should be noted that the receiver does not determine the direction a vessel, craft or vehicle is pointed (heading) but rather the direction of the motion of the GNSS antenna relative to the ground.

The latency of the instantaneous Doppler velocity is always 0.15 seconds. The latency represents an estimate of the delay caused by the tracking loops under acceleration of approximately 1 G. For most users, the latency can be assumed to be zero (instantaneous velocity).

The position coordinates are provided in the datum configured by the OUTPUTDATUM command.

Message ID: 243

Log Type: Synch

Recommended Input:

log psrxyza ontime 1

ASCII Example:

#PSRXYZA,USB1,0,50.5,FINESTEERING,2209,511855.000,02000020,c94c,16809;SOL_COMPUTED,WAAS,-1632847.3796,-3662158.7826,4944901.0871,1.0126,0.9519,1.6561,SOL_COMPUTED,WAAS,0.0025,-0.0009,0.0025,0.1210,0.1138,0.1979,"131",0.000,5.000,0.000,46,10,0,0,0,06,00,03*be512b3f

The instantaneous Doppler is the measured Doppler frequency which consists of the satellite's motion relative to the receiver (Satellite Doppler + User Doppler) and the clock (local oscillator) drift.

Field

Field type

Description

Format

Binary Bytes

Binary Offset

1

Log header

PSRXYZ header

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

 

H

0

2

P-sol status

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

P-X

Position X-coordinate (m)

Double

8

H+8

5

P-Y

Position Y-coordinate (m)

Double

8

H+16

6

P-Z

Position Z-coordinate (m)

Double

8

H+24

7

P-X σ

Standard deviation of P-X (m)

Float

4

H+32

8

P-Y σ

Standard deviation of P-Y (m)

Float

4

H+36

9

P-Z σ

Standard deviation of P-Z (m)

Float

4

H+40

10

V-sol status

Solution status, see Table: Solution Status

Enum

4

H+44

11

vel type

Velocity type, see Table: Position or Velocity Type

Enum

4

H+48

12

V-X

Velocity vector along X-axis (m/s)

Double

8

H+52

13

V-Y

Velocity vector along Y-axis (m/s)

Double

8

H+60

14

V-Z

Velocity vector along Z-axis (m/s)

Double

8

H+68

15

V-X σ

Standard deviation of V-X (m/s)

Float

4

H+76

16

V-Y σ

Standard deviation of V-Y (m/s)

Float

4

H+80

17

V-Z σ

Standard deviation of V-Z (m/s)

Float

4

H+84

18

stn ID

Base station ID

Char[4]

4

H+88

19

V-latency

A measure of the latency in the velocity time tag in seconds. It should be subtracted from the time to give improved results

Float

4

H+92

20

diff_age

Differential age in seconds

Float

4

H+96

21

sol_age

Solution age in seconds

Float

4

H+100

22

#SVs

Number of satellites tracked

Uchar

1

H+104

23

#solnSVs

Number of satellites used in solution

Uchar

1

H+105

24

Reserved

Char

1

H+106

25

Char

1

H+107

26

Char

1

H+108

27

ext sol stat

Extended solution status (see Table: Extended Solution Status)

Hex

1

H+109

28

Galileo and BeiDou sig mask

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

Hex

1

H+110

29

GPS and GLONASS sig mask

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

Hex

1

H+111

30

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+112

31

[CR][LF]

Sentence terminator (ASCII only)

-

-

-