NavCom Sapphire Rev.J - Manual (Page 278)

Sapphire Technical Reference Manual Rev. J
278
2.31.1 MBRTK Navigation Status
The most significant bit of data type U08 is used to label the MBRTK solution valid or not valid.
The least significant bit is reserved; 1 bit is used to indicate that the navigation solution is 2D or
3D, 2 bits are used to output RTK mode, and 3 bits are used for navigation mode:
U08 valid:1;
U08 is3d:1;
U08 mbrtk_mode:2; (see Table 127)
U08 nav_mode:3; (see Table 128)
U08 amb_fixed:1;
Table 127 lists the codes and code descriptions for MBRTK mode.
Table 127: MBRTK Mode
Code Description
0 Not in MBRTK mode (use [MBRTK]
command to change)
1 Reserved
2 MBRTK without latency
1
(use [MBRTK]
command to change)
3 MBRTK with latency
2
(use [MBRTK]
command to change)

1 Without latency means that extrapolation is required to propagate the MBRTK
solution to the current time. In this case, the MBRTK solution time is the current
time.

2 With latency means that the MBRTK solution time corresponds to the most recent
base delta position (x23) time. Since message transmission always causes delay,
the MBRTK solution time will not be the current time.
Table 128 lists the codes and code descriptions for navigation mode.
Table 128: Navigation Mode
Code Description
0 Non-diff
1 dGPS code
2 WAAS
3 WCT
4 RTG
5 RTK
6 Not known
See Appendix F for further details.