Spectra Precision ProMark 800 Reference Manual - Manual (Page 295)

283
Query Command Library
CRT: Cartesian Coordinates of Position
Function This command allows you to get the message containing the
absolute ECEF coordinates of the last computed position as
well as other information on the position solution.
Command Format Syntax
$PASHQ,CRT[*cc]
Response Format Syntax
$PASHR,CRT,d1,d2,m3,f4,f5,f6,f7,f8,f9,f10,f11,f12,f13,f14,f15,s16*cc
Parameters
Example
$PASHQ,CRT
$PASHR,CRT,3,07,130452.50,4331844.177,-114063.156,4664458.677,
-0.023,-0.002,0.002,0.001,-0.023,2.1,1.2,1.7,1.3,G010*6C
Parameter Description Range
d1
Position mode:
• 0: Autonomous
• 1: RTCM (or SBAS differential)
• 2: RTK float
• 3: RTK fixed
• 9: SBAS Differential. See comment.
0-3, 9
d2 Count of SVs used in position computation 3-27
m3 UTC time (hhmmss.ss)
000000.00-
235959.99
f4 ECEF X coordinate, in meters ±9999999.999
f5 ECEF Y coordinate, in meters ±9999999.999
f6 ECEF Z coordinate, in meters ±9999999.999
f7 Receiver clock offset, in meters ±300000
f8 Velocity vector, X component, in m/s ±9.999
f9 Velocity vector, Y component, in m/s ±9.999
f10 Velocity vector, Z component, in m/s ±9.999
f11 Receiver clock drift, in m/s ± 2000
f12 PDOP 0.0-99.9
f13 HDOP 0.0-99.9
f14 VDOP 0.0-99.9
f15 TDOP 0.0-99.9
s16 Firmware version ID (GNSS board fw) 4-char string
*cc Checksum *00-*FF