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RTCM protocol, please refer to the web site http://www.rtcm.org/.
The DGPS parameters can be changed in the UBX-CFG-NAV message, like DGPS
Timetag Rounding. Do not change them under no specific reasons because the default
values are based on real tests with DGPS function.
NOTE: The correction data from the RTCM messages can be monitored by the
UBX-NAV-DGPS message, which doesn’t provide the supervision on WAAS and
EGNOS.
4.9 Receiver Autonomous Integrity Monitoring (RAIM)
The purpose of RAIM is to monitor the received GPS signals and ensure the message
data from satellites which are valid for estimating navigation solution. With five
observable GPS satellites, a bad satellite could be detected if existed. For the case
with at least six observable satellites, an existed bad satellite could be detected and
neglected in the estimation of navigation solution. The default setting for RAIM is on
and can be controlled by three parameters- Range Check, Doppler Check, and Delta
Check (all enabled)- in the UBX-CFG-NAV message. It is recommended that RAIM
function is always on.
4.10 Time Pulse (1 PPS)
Pin 14 “Time Pulse” will output the default setting 1 PPS if it is connected. For the
Time Pulse settings and information, refer to the UBX-CFG-TP and UBX-TIM-TP
messages.