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ADU2 Operation and Reference Manual

attitude for the current epoch using both past and present code phase

measurements and previous carrier phase measurements.

$PASHS,3DF,RAT,d.d

Sets the ambiguity search ratio. The default is 0.5. The minimum is 0.1 and the

maximum is 5.0.

A search ratio is used in the following equation helps set the boundaries for the initial

ambiguity search by defining the accuracy of the relative position estimates.

Position Accuracy = 2.0 * (RAT * PDOP) * 3.0

where POSITION ACCURACY is a 95% confidence bound that the true relative

position will lie within the estimate, RAT is the search ratio, and PDOP is calculated

by the geometry of the visible satellites. Since PDOP can climb to high numbers

during periods of poor geometry, the POSITION ACCURACY value is limited to a

maximum of 20.

$PASHS,3DF,RKF,uuu,vvv,w.w,sx,y.y,sz

Sets the roll Kalman filter parameters described below:

$PASHS,3DF,RST

Restarts the Kalman filters from time zero. This means that the Kalman filters do not

use any previous information in attitude prediction for the current epoch.

After Kalman reset, ten seconds of relative antenna position estimation are required

before the filters have a good attitude prediction and the initial ambiguity search is

started.

For antenna separations less than 3.0 meters, there is no delay before the ambiguity

search begins.

Table 5.17: Kalman Filter Parameters

Field

Description

uuu

is the value of tau (default is 020)

vvv

is the value of To (default is 000)

w.w

is the root decimal value for Q (default is 1.0)

is the signed exponential value for Q (default is -1)

y.y

is the root decimal value for R (default is 1.0)

is the signed exponential value for R (default is +0)

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