NavCom LAND-PAK Rev.N - Manual (Page 68)

Technical Reference Manual Rev. N
Blk = All; Blu = IOP w/Internal Radio ; Red = IOP & LBM ; Grn = Engine only 66
0x53 – NCT-2100D RTK Navigation Control - 12 bytes
Message 0x53 provides RTK Nav Control. Supports Ultra-RTK. Use with v4.2 and higher
firmware. Do not use with earlier versions.
Record
Usage Command - Yes
Response - Yes Input: sets RTK control limits;
Output: reports the current control limit settings
Ref Message Field Description Data Type Units Range Scale
Byte
Count
STX 02 (hex) U08 1
PRA1 99 (hex) U08 1
PRA2 66 (hex) U08 1
ID 53 (hex) U08 1
Length 0x000b U16 2
W1
Command Action
B1=0: Do not store in NVRAM
1: Store in NVRAM
B2=0: Do not use ACK/NAK
1: Use ACK/NAK
B3=0: Use Commanded Values
1: Use Default values
U08 1
W2
RTK Options
B0-B1: Reserved
B2: RTKEnable
1: RTK option enable in default
0: RTK option disable
B3: TimeSyncronizedRTK
1: Rover must synchronize with
base correction or raw data
0: Rover will use the latest
correction or raw data (default)
B4-B5: Multipath Indicator
0: Low Multipath, Open Sky
(default)
1: Typical Survey Environment
2: High Multipath Environment
3: Urban Canyon Environment
B6-B7: Position Model
0: Static
1: Position, Kinematic, in Default
2: Pos-Vel Model, Kinematic
3: Pos-Vel-Acc Model, Kinematic
U08 1
W3
CutOffAngle
Cut Off Angle for measurements used in
KF (Default: 7)
U08 degrees 1
W4
CutOffAngleAR
Cut Off Angle for ambiguity search
(Default: 10)
U08 degrees 1
W5
MaxBaseDataAge
RTK maximum age to use base
correction (Default: 300s)
U16 seconds 0-1200 2
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