Vector Sensor Reference Manual 31
1.8.12 Forcing a New RTK Search
You may force the Vector Sensor to reject the current RTK heading solution, and have it begin a
new search with the following command.
$JATT,SEARCH<CR><LF>
1.8.13 Antenna Separation
You may wish to increase the separation between antenna phase centers in order to achieve
higher heading and pitch / roll performance. As an example of the increased performance, our
testing has shown that a 2.0 m baseline provides approximately 0.10° heading accuracy, 95% of the
time.
The drawback of increased antenna separation is increased search time for the RTK solution and
less robustness (cycle slips are harder to detect), but the benefit is increased heading accuracy.
With this, we do not recommend that you increase the separation to any more than 2.0 m. Any
increase beyond this level is at your risk.
To change the antenna separation, mount the CDA-RTK antennas in their desired position,
ensuring that they have a clear view of the sky with no obstructions above the horizon. Measure
the separation of the two antennas, center to center. This measurement should be accurate to
within one to two centimeters or better.
When mounting the CDA-RTK antennas, you should take care to mount the antennas such at the
RF connectors face the same direction. For example, both connectors should point to the bow of
the vessel. The reason for this is that any systematic bias in the antenna phase center will cancel.
If you examine the Antenna Array bracket, both antennas have their RF connectors pointing in the
same direction relative to their center axis.
Using new center-to-center measurement, send the following command to the Vector Sensor.
$JATT,MSEP,sep<CR><LF>
Where ‘sep’ is the measured antenna separation entered in meters (which should be accurate to
within, or better than one centimeter)
To show the current antenna separation, issue the following command.
$JATT,MSEP<CR><LF>
You will want to force a new solution using the $JATT,SEARCH<CR><LF> command after
entering the new separation manually.
The Vector Sensor will search for the location of the secondary antenna using the manual
separation. Once the RTK solution has been determined, the true antenna separation can be
viewed using the following command.
$JATT,CSEP<CR><LF>
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