NavCom Sapphire Rev.J - Manual (Page 277)

Sapphire Technical Reference Manual Rev. J
277
2.31 MBRTK1B (Binary)
SF-3050 Sapphire SF-3040
This message is used to output the moving base RTK solution. Some of the data are analogous
to PVT1B data.

When the rover is operating in MBRTK, PVT1B is not impacted. PVT1B operates in
the mode based on the input correction format. In other words, if StarFire
corrections are being received, PVT1B will be in StarFire (5cm) operation and
MBRTK1B (with corrections from a moving base) will be at RTK levels.
Table 126 lists the MBRTK1B message body data items and their data types.
Table 126: MBRTK1B Binary Message Body
Data Item (53 Bytes) Data Type
TOW(ms) U32
Base station ID U16
MBRTK navigation status U08
Heading (deg) R32
Heading RMS (deg)
1
R32
Baseline North (meters) R32
Baseline East (meters) R32
Baseline Up (meters) R32
Baseline RMS North (mm) U16
Baseline RMS East (mm) U16
Baseline RMS Up (mm) U16
Baseline Velocity North (meters/second) R32
Baseline Velocity East (meters/second) R32
Baseline Velocity Up (meters/second) R32
RTK Latency (ms) U16
Base Delta Position Latency (ms) U16
1 Use the equation 0.6/L (whre L is length in meters) degree as a rough 1-sigma
estimate of heading accuracy. The minimum antenna separation is 1m. For
heading applications, no maximum is given. MBRTK operation is possible up to
a 40km baseline length with the same degredation in positioning performance
accuracy as normal RTK over the same baseline length.