1. Configuration State

< VERSIONA
#VERSIONA,93,GPS,FINE,2296,294768000,0,0,18,746;"UM982","R4.10Build10186","HRPT00-S10C-P","2310415000012-LR23B1231716544","ff27f6929d97e63d","2023/06/21"*720d2f7f

< MODE
#MODE,93,GPS,FINE,2296,294720000,0,0,18,296;MODE ROVER SURVEY,*11

< CONFIG
$command,CONFIG,response: OK*54
$CONFIG,ANTENNA,CONFIG ANTENNA POWERON*7A
$CONFIG,NMEAVERSION,CONFIG NMEAVERSION V410*47
$CONFIG,RTK,CONFIG RTK TIMEOUT 600*69
$CONFIG,RTK,CONFIG RTK RELIABILITY 3 1*76
$CONFIG,PPP,CONFIG PPP TIMEOUT 120*6C
$CONFIG,HEADING,CONFIG HEADING RELIABILITY 0*64
$CONFIG,HEADING,CONFIG HEADING FIXLENGTH*6F
$CONFIG,HEADING,CONFIG HEADING LENGTH 0.00 0.00*38
$CONFIG,DGPS,CONFIG DGPS TIMEOUT 600*69
$CONFIG,RTCMB1CB2A,CONFIG RTCMB1CB2A ENABLE*25
$CONFIG,ANTENNADELTAHEN,CONFIG ANTENNADELTAHEN 0.0000 0.0000 0.0000*3A
$CONFIG,SBAS,CONFIG SBAS ENABLE AUTO*0A
$CONFIG,PPS,CONFIG PPS ENABLE GPS POSITIVE 500000 1000 0 0*6E
$CONFIG,SIGNALGROUP,CONFIG SIGNALGROUP 4 5*05
$CONFIG,ANTIJAM,CONFIG ANTIJAM AUTO*2B
$CONFIG,AGNSS,CONFIG AGNSS DISABLE*70
$CONFIG,COM1,CONFIG COM1 115200*23
$CONFIG,COM2,CONFIG COM2 115200*23
$CONFIG,COM3,CONFIG COM3 115200*23

2. DGPS (SBAS) mode

24 hour measurements

Mode	2drms(Horizontal)	2drms(Vertical)	Average error (horizontal)	Average error (vertical)
DGPS	1.424m	2.320m	0.326m	0.178m

UM982 fluctuation graph (24 hour observation: average value standard)
Horizontal variation

Vertical variation

Heading variation (Antenna spacing 1m)

Pitch variation (Antenna spacing 1m)

3. RTK mode

1) Time from disconnection of RTCM3 data until RTK mode is released
UM982 = 10 minutes (default), ZED-F9P = 1 minute


2) When the distance between RTCM base is 1m
RTCM3=1005,1074,1084,1094,1124,1230
11.5hour measurements

Mode	2drms(Horizontal)	2drms(Vertical)	Average error (horizontal)	Average error (vertical)
RTK	1.636cm	2.964cm	1.023cm	-0.918cm

3) When the distance between RTCM base is 14.8km
RTCM3=1005,1074,1094,1124


4) When the distance between RTCM base is 23.7km
RTCM3=1005,1074,1084,1094,1124,1230


5) When the distance between RTCM base is 45.5km
RTCM3=1005,1074,1084,1094,1230

4. PPP mode

If there is no interference from the 1.5GHz band LTE signal of a mobile phone base station, it seems to be RTK Fix.
The following is data when GGA positioning status = Float RTK and RMC mode = Precise.

1) B2b-PPP mode (BeiDou B2b 1207.14MHz)
B2b-PPP start command
  CONFIG SIGNALGROUP 3 6
  CONFIG PPP ENABLE B2b-PPP

12 hour measurements

yyyy/mm/dd	2drms(Horizontal)	2drms(Vertical)	Average error (horizontal)	Average error (vertical)
2024/02/12	8.916cm	15.762cm	71.106cm ∠304.37°	-31.723cm

XY trajectory plot

Average value standard	True position standard

Convergence graph


2) E6-HAS mode (Galileo E6-B 1278.75MHz)
E6-HAS start command
  CONFIG SIGNALGROUP 3 6
  CONFIG PPP ENABLE E6-HAS

12 hour measurements

yyyy/mm/dd	2drms(Horizontal)	2drms(Vertical)	Average error (horizontal)	Average error (vertical)
2024/02/11	7.451cm	23.302cm	71.305cm ∠306.6°	-2.507cm

XY trajectory plot

Average value standard	True position standard

Convergence graph


Memo
PPP fix takes about 7 to 10 minutes after issuing PPP ENABLE command, but convergence takes about 30 minutes.
Small patch antennas will probably need a ground plane (SNR 35dB or better seems to be required).
It seems that if you correct the offset, you can obtain fairly accurate coordinates even in Japan.

5. Memo

1) Convenient to obtain azimuth with one module and two antennas.
2) BeiDou B2b PPP and Galileo E6-B HAS PPP supported.
3) NMEA sentences are not output by default (commands such as "GPGGA COM1 1" are required).
4) Azimuth by ANT1 and ANT2 is output to "Heading" of $GNHPR, $GNTHS, $KSXT sentence.
5) ANT2 side is almost never RTK (DGPS or Float-RTK).
6) By default, even if RTK is disabled, the NMEA status continues to be RTK for 10 minutes (with an error of 30 to 70 cm).
    For surveying purposes, it is recommended to change the time to 60 seconds using the command "CONFIG RTK TIMEOUT 60".
7) GLONASS information is sometimes not output in GSA sentences.
8) GSVH sentence output settings are not saved to NVRAM.

6. Observation of LTE signal antenna output using a simple spectrum analyzer.

Using USB tuner (DVB-T+DAB+FM) and spektrum (signal level is relative value).

1) HX-607


2) HA-901A


3) AN908

7. Resource Links

N4 Products Commands and Logs Reference Book
Configuration utility from Unicore