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Greis reference guide GREIS GNSS Receiver External Interface Speci ?cation Re ects Firmware Version Last revised October All contents in this manual are copyrighted by JAVAD GNSS All rights reserved The information contained herein may not be used accesse

GREIS GNSS Receiver External Interface Speci ?cation Re ects Firmware Version Last revised October All contents in this manual are copyrighted by JAVAD GNSS All rights reserved The information contained herein may not be used accessed copied stored displayed sold modi ?ed published or distributed or otherwise reproduced without express written consent from JAVAD GNSS C CTABLE OF CONTENTS Preface Terms and Conditions Chapter Introduction What is GREIS How is GREIS Used Lists Objects Object Identi ?ers Object Types Periodic Output Output Period and Phase Output Count Output Flags Chapter Receiver Input Language Language Examples Language Syntax Commands set print list em out dm init create remove event get put GREIS www javad com CTABLE OF CONTENTS d Chapter Receiver Messages Conventions Format Speci ?cations Special Values Standard Message Stream General Format of Messages Standard Messages Non-standard Text Messages Parsing Message Stream Synchronization Skipping to the Next Message Standard Prede ?ned Messages Parsing Message Bodies Allowed Format Extensions Checksums General Notes Time Scales Delimiters Solution Types Satellite Navigation Status General Purpose Messages JP File Identi ?er MF Messages Format Time Messages Receiver Time Epoch Time RD Receiver Date TO Reference Time to Receiver Time O ?set DO Derivative of Receiver Time O ?set BP Rough Accuracy of Time Approximation GT GPS Time GO GPS to Receiver Time O ?set NT GLONASS Time NO GLONASS to Receiver Time O ?set www javad com GREIS CGREIS TABLE OF CONTENTS EO GALILEO to Receiver Time O ?set WO SBAS to Receiver Time O ?set QO QZSS to Receiver Time O ?set CO BeiDou to Receiver Time O ?set Io IRNSS to Receiver Time O ?set UO GPS UTC Time Parameters WU SBAS UTC Time Parameters EU GALILEO UTC and GPS Time Parameters QU QZSS UTC Time Parameters CU BeiDou UTC Time Parameters IU IRNSS UTC Time Parameters NU GLONASS UTC and GPS Time Parameters Position Velocity Messages ST Solution Time-Tag PO Cartesian Position Po PoWgs PoLoc Cartesian Position in Speci ?c System VE Cartesian Velocity PV Cartesian Position and Velocity PG Geodetic Position Pg PgWgs PgLoc Geodetic Position in Speci ?c System VG Geodetic Velocity SG Position and Velocity RMS Errors mp Position in Local Plane bp Reference Station Position in Local Plane DP Dilution of Precision DOP SP Position Covariance Matrix SV Velocity Covariance Matrix BL Baseline bL Attitude Baselines mR Attitude Full Rotation Matrix PS Position Statistics PT Time of Continuous Position Computation Satellite Measurements Generic Messages Description Backward Compatibility Considerations SX Extended Satellite Indices SI Satellite Indices AN Antenna Names www javad com CTABLE OF CONTENTS www javad com GREIS CGREIS TABLE OF CONTENTS www javad com CTABLE OF CONTENTS RO Lever Arm Cartesian Position RG Lever Arm Geodetic Position Integrated Messages rE Reference Epoch rM Raw Measurements rV Receiver ? s Position and Velocity rT Receiver Clock O ?sets Interactive Messages RE Reply ER Error Miscellaneous Messages IO GPS Ionospheric Parameters QI QZSS Ionospheric Parameters CI BeiDou Ionospheric Parameters II IRNSS Ionospheric Parameters Event LT Message Output Latency Wrapper