Receiver Commands 129
Receiver Commands
Example
Enter the 4following command to set the Kalman filter maximum prediction interval
to 45.
$PASHS,KFP,PRI,45
KPI: Known Point Initialization
$PASHS,KPI,m1,c1,m2,c2,m3,s1,s2,s3
This command sets the known coordinates for an antenna phase center where
Table 6.29 outlines the parameters:
The receiver will not acknowledge the command if the entered and computed
position differ by more than 500 meters.
Empty m fields are interpreted as having no a priori information for the direction (to
cover 3D, 2D and 1D initializations).
Empty s fields are interpreted as taking value 0.01 > m.
If you set an s field to 100 m the receiver interprets this as having no a priori
information for this direction.
This command is applied only to Kalman filtered positioning (KFP > ON). If the
receiver is set to LMS positioning (KFP OFF), the KPI command has no effect. After
you have issued this command, the Kalman filter resets and is initialized with
DEFAULT SETTING
KFP,PRI—10 seconds
Table 6.29. $PASHS,KPI Parameters
Parameter Description Format and Range
m1 WGS84 Latitude in degrees and decimal minutes ddmm.mmmmmmm
0 to 8959.9999999
c1 Direction of latitude N=North, S=South
m2 WGS84 Longitude in degrees and decimal minutes dddmm.mmmmmmm
0 to 17959.9999999
c2 Direction of longitude E=East, W=West
m3 WGS84 ellipsoidal height in meters mmmm.mmm
-9999.999 to +9999.999
s1, s2, s3 A Priori expected sigmas of entered coordinates (meters)
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