u-blox C94-M8P User Manual

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C94-M8P - User GuideUBX-15031066 - R07 Early Production Information OperationPage 28 of 47sporadic, there may be issues with the C94 radio link or the RTCM3 serial connection or the Base receiver and Roverconfiguration.5.3.1 Moving baselineThe UBX-NAV-RELPOSNED message and associated u-center message view shown in Figure 25 indicate if the Roveris in moving baseline RTK mode. The two flags - Extrapolated Ref. Position and Extrapolated Ref. Observation showrespectively if the moving baseline message 4072 is missing/corrupted or if the GPS/GLONASS/BeiDou Observationmessages are missing/corrupted.Figure 25: UBX-NAV-RELPOSNED showing flags Extrapolated Ref Position and Extrapolated Ref ObservationLow latency (< 5 s) of the RTCM3 stream is critical for achieving a standard RTK float/fixed solution at the Rover.Any communication issues will prevent RTK float/fixed being achieved.For moving baseline the requirements are more stringent, latency must be less than 700 ms with a 1 Hz updaterate. Any communication issues will prevent RTK float/fixed being achieved.