Related Products:
|
Product |
Description |
|
QUARTZ-COMPACT-G11-LTE (EU) |
Single Port Compact LTE Router (EU) with GPS |
|
QUARTZ-GW22-LTE (EU) |
Dual Port Dual SIM LTE Router (EU) with GPS |
|
QUARTZ-LITE-G21-LTE (EU) |
Dual Port Small Footprint LTE Router (EU) with GPS |
|
QUARTZ-LITE-GW21-LTE (EU) |
Dual Port Small Footprint LTE Router (EU) with GPS |
|
QUARTZ-ONYX-GW42-5G (GL) |
Quad Port Gigabit Ethernet 5G NR Router (GL) with GPS |
|
ZETA-GEP-LTE4 (EU) |
Low Power LTE Cat 4 European Modem with GPIO and GNSS |
|
ZETA-G-GPRS |
Entry Level GPRS Modem with GNSS (GL) |
Objective
The NMEA 0183 standard defines an electrical interface and data protocol for communications between marine instruments. In IoT, however NMEA-0183 is mainly used by Satellite Navigation Systems to determine position, time, velocity and other information from a global positioning receiver.
This application note details the list of NMEA-0183 Sentences available from a Global Positioning Receiver, such as GPS, GLONASS and GNSS.
Examples of these products include Siretta’s QUARTZ Routers and ZETA Industrial Modems, equipped with GPS and GNSS.
All sentences conform to the NMEA-0183 version 3.01 format. All begin with $ and end with a carriage return and a line feed. Data fields follow comma (,) delimiters and are variable in length. Null fields still follow comma (,) delimiters, but contain no information. An asterisk (*) delimiter and checksum value follow the last field of data contained in an NMEA-0183 message.
Each sentence is explained using an example sentence and a description of what the sentence means.
NMEA-0183 sentences:
Each NMEA-0183 sentence has a specific function and provides a useful tool to the user in determining position, time, velocity and other useful data.
Below is a list of available sentences and their function. The following pages describe each sentence with a typical example and what each field means.
|
Sentence |
Function |
|
Dynamic positioning |
|
|
Datum reference information |
|
|
GNSS satellite fault detection (RAIM support) |
|
|
Time, position, and fix related data |
|
|
Position data: position fix, time of position fix, and status |
|
|
GNS Fix data |
|
|
GRS range residuals |
|
|
GPS DOP and active satellites |
|
|
Position error statistics |
|
|
Number of SVs in view, PRN, elevation, azimuth, and SNR |
|
|
Heading from True North |
|
|
Leica local position and quality |
|
|
MSK receiver signal |
|
|
Time, yaw, tilt, range, mode, PDOP, and number of SVs for Moving Baseline RTK |
|
|
Base station position and position quality indicator |
|
|
L-band corrections and beacon signal strength and related information |
|
|
Event marker data |
|
|
Time, position, position type, and DOP values |
|
|
Time, position, position type, and DOP values |
|
|
Projection type |
|
|
Time, locator vector, type, and DOP values |
|
|
Heading Information |
|
|
Position, Velocity, and Time |
|
|
Rate of turn |
|
|
Actual track made good and speed over ground |
|
|
UTC day, month, and year, and local time zone offset |
Sentence Descriptions:
Dynamic Positioning (DP):
An example of DP sentence/string is:
$PFUGDP,GN,033615.00,3953.88002,N,10506.75324,W,13,9,FF,0.1,0.1,149,0.1*13
|
Field |
Meaning |
|
0 |
Message ID $PFUGDP |
|
1 |
Two-character code for GPS (GP), GLONASS (GL) or GNSS (GN) data |
|
2 |
UTC time (hhmmss.ss) |
|
3–4 |
Latitude, in degrees and decimal minutes (ddmm.mmmmm) and Latitude sign (N/S) |
|
5–6 |
Longitude, in degrees and decimal minutes (dddmm.mmmmm) and Longitude sign (E/W) |
|
7 |
Total number of satellites (GPS + GLONASS) |
|
8 |
|
|
9 |
DGNSS mode indicator (as NMEA standard for $ GNS) |
|
10 |
Error ellipse standard deviation semi-major axis, in meters (aa.a) |
|
11 |
Error ellipse standard deviation semi-minor axis, in meters (bb.b) |
|
12 |
Direction of the error ellipse, in degrees |
|
13 |
RMS value of the standard deviation of the range inputs to the navigation process |
Datum Reference Information (DTM):
DTM sentence identifies the Datum.
An example is:
$GPDTM,W72,,0.0,N,0.0,W,0.0,W72*7D
|
Field |
Meaning |
|
0 |
Message ID $GPDTM |
|
1 |
Local datum code (xxx): |
|
W84 – WGS84 |
|
|
W72 – WGS72 |
|
|
S85 – SGS85 |
|
|
P90 – PE90 |
|
|
999 – User defined |
|
|
IHO datum code |
|
|
2 |
Local datum sub code (x) |
|
3 |
Latitude offset in minutes (xx.xxxx) |
|
4 |
Latitude offset mark (N: +, S: -) (x) |
|
5 |
Longitude offset in minutes (xx.xxxx) |
|
6 |
Longitude offset mark (E: +, W: -) (x) |
|
7 |
Altitude offset in meters. Always null |
|
8 |
Datum (xxx): |
|
W84 – WGS84 |
|
|
W72 – WGS72 |
|
|
S85 – SGS85 |
|
|
P90 – PE90 |
|
|
999 – User defined |
|
|
IHO datum code |
|
|
9 |
Checksum |
GNSS Satellite Fault Detection (GBS):
Example:
$GPGBS,015509.00,-0.031,-0.186,0.219,19,0.000,-0.354,6.972*4D
|
Field |
Meaning |
|
0 |
Message ID $–GBS. |
|
GA: Galileo |
|
|
GB: BeiDou |
|
|
GP: GPS. To provide information specific to the GPS constellation when more than one constellation is used for the differential position fix. |
|
|
GL: GLONASS. To provide information specific to the GLONASS constellation when more than one constellation is used for the differential position fix. |
|
|
GN: Combined GNSS position. GNSS position fix from more than one constellation, for example, GPS and GLONASS. |
|
|
GQ: QZSS |
|
|
1 |
UTC of position fix |
|
2 |
Expected error in latitude, in meters, due to bias, with noise = 0 |
|
3 |
Expected error in longitude, in meters, due to bias, with noise = 0 |
|
4 |
Expected error in altitude, in meters, due to bias, with noise = 0 |
|
5 |
ID number of most likely failed satellite |
|
6 |
Probability of missed detection of most likely failed satellite |
|
7 |
Estimate of bias, in meters, on the most likely failed satellite |
|
8 |
Standard deviation of bias estimate |
|
9 |
The checksum data, always begins with * |
Time, Position and Fix Data (GGA):
Example:
$GPGGA,172814.0,3723.46587704,N,12202.26957864,W,2,6,1.2,18.893,M,-25.669,M,2.0 0031*4F
|
Field |
Meaning |
||
|
0 |
Message ID $GPGGA |
||
|
1 |
UTC of position fix |
||
|
2 |
|
||
|
3 |
Direction of latitude: N: North |
||
|
4 |
|
||
|
5 |
|
||
|
6 |
GPS Quality indicator: 0: Fix not valid |
||
|
7 |
Number of SVs in use, range from 00 through to 24+ |
||
|
8 |
HDOP |
||
|
9 |
Orthometric height (MSL reference) |
||
|
10 |
|
||
|
11 |
|
||
|
12 |
M: geoid separation measured in meters |
||
|
13 |
Age of differential GPS data record, Type 1 or Type 9. Null field when DGPS is not used. |
||
|
14 |
Reference station ID, range 0000 to 4095. A null field when any reference station ID is selected and no corrections are received. See table below for a description of the field values. |
||
|
15 |
The checksum data, always begins with * |
Position Data: Position Fix, Time of Position Fix, Status (GLL):
Example:
$GPGLL,3953.88008971,N,10506.75318910,W,034138.00,A,D*7A
|
Field |
Meaning |
|
0 |
Message ID $GPGLL |
|
1 |
Latitude in dd mm,mmmm format (0-7 decimal places) |
|
2 |
Direction of latitude N: North S: South |
|
3 |
Longitude in ddd mm,mmmm format (0-7 decimal places) |
|
4 |
Direction of longitude E: East W: West |
|
5 |
UTC of position in hhmmss.ss format |
|
6 |
Status indicator: |
|
A: Data valid |
|
|
V: Data not valid |
|
|
This value is set to V (Data not valid) for all Mode Indicator values except A (Autonomous) and D (Differential) |
|
|
7 |
The checksum data, always begins with * |
|
Mode indicator: |
|
|
A: Autonomous mode |
|
|
D: Differential mode |
|
|
E: Estimated (dead reckoning) mode |
|
|
M: Manual input mode |
|
|
S: Simulator mode |
|
|
N: Data not valid |
GNS Fixed Data (GNS):
Example:
$GNGNS,014035.00,4332.69262,S,17235.48549,E,RR,13,0.9,25.63,11.24,,U,*70
|
Field |
Meaning |
|
0 |
Message ID $–GNS |
|
Talker ID can be: |
|
|
GA: Galileo |
|
|
GB: BeiDou |
|
|
GP: GPS |
|
|
GL: GLONASS. When more than one constellation is used. |
|
|
GN: Combined GNSS position, for example, GPS and GLONASS. |
|
|
GQ: QZSS |
|
|
1 |
UTC of position fix |
|
2 |
Latitude |
|
3 |
Direction of latitude: |
|
N: North |
|
|
S: South |
|
|
4 |
Longitude |
|
5 |
Direction of longitude: |
|
E: East |
|
|
W: West |
|
|
6 |
Mode indicator: |
|
Variable character field with one character for each supported constellation. |
|
|
First character is for GPS. |
|
|
Second character is for GLONASS. |
|
|
Third character is Galileo. |
|
|
Fourth character is for BeiDou. |
|
|
Fifth character is for QZSS. |
|
|
Subsequent characters will be added for new constellations. |
|
|
Each character will be one of the following: |
|
|
N = No fix. Satellite system not used in position fix, or fix not valid. |
|
|
A = Autonomous. Satellite system used in non-differential mode in position fix. |
|
|
D = Differential (including all OmniSTAR services). Satellite system used in differential mode in position fix. |
|
|
P = Precise. Satellite system used in precision mode. Precision mode is defined as: no deliberate degradation (such as Selective Availability) and higher resolution code (P-code) is used to compute position fix. |
|
|
R = Real-Time Kinematic. Satellite system used in RTK mode with fixed integers. |
|
|
F = Float RTK. Satellite system used in real-time kinematic mode with floating integers. |
|
|
E = Estimated (dead reckoning) mode. |
|
|
M = Manual Input mode. |
|
|
S = Simulator mode. |
|
|
7 |
Number of SVs in use, range 00 to 99 |
|
8 |
HDOP calculated using all the satellites (GPS, GLONASS, and any future satellites) used in computing the solution reported in each GNS sentence. |
|
9 |
Orthometric height in meters (MSL reference) |
|
10 |
Geoidal separation in meters – The difference between the earth ellipsoid surface and mean-sea-level (geoid) surface defined by the reference datum used in the position solution. |
|
“-” = mean-sea-level surface below ellipsoid. |
|
|
11 |
Age of differential data – Null if talker ID is GN, additional GNS messages follow with Age of differential data. |
|
12 |
|
|
– Null if Talker ID is GN. Additional GNS messages follow with Reference station ID. |
|
|
13 |
|
|
14 |
The checksum data, always begins with * |
GRS Range Residuals (GRS):
Example:
$GPGRS,220320.0,0,-0.8,-0.2,-0.1, -0.2,0.8,0.6,,,,,,1,*55
|
Field |
Meaning |
|
0 |
Message ID $GPGRS |
|
Talker ID can be: |
|
|
GA: Galileo |
|
|
GB: BeiDou |
|
|
GP: GPS. To provide information specific to the GPS constellation when more than one constellation is used for the differential position fix. |
|
|
GL: GLONASS. To provide information specific to the GLONASS constellation when more than one constellation is used for the differential position fix. |
|
|
GN: Combined GNSS position. GNSS position fix from more than one constellation, for example, GPS and GLONASS. |
|
|
GQ: QZSS |
|
|
1 |
UTC of GGA position fix |
|
2 |
Residuals: |
|
0: Residuals used to calculate position given in the matching GGA line |
|
|
1: Residuals recomputed after the GGA position was computed |
|
|
3–14 |
Range residuals for satellites used in the navigation solution, in meters |
|
15 |
Satellite System ID: GP(1), GL(2), GA(3), GB(4), GQ(0) |
GPS DOP and Active Satellite (GSA):
Example:
$GNGSA,A,3,21,5,29,25,12,10,26,2,,,,,1.2,0.7,1.0*27
|
Field |
Meaning |
|
0 |
Message ID $GNGSA |
|
1 |
Mode 1: |
|
M = Manual |
|
|
A = Automatic |
|
|
2 |
Mode 2: Fix type: |
|
1 = not available |
|
|
2 = 2D |
|
|
3 = 3D |
|
|
3 |
PRN number: |
|
01 to 32 for GPS |
|
|
33 to 64 for SBAS |
|
|
64+ for GLONASS |
|
|
4 |
PDOP: 0.5 to 99.9 |
|
5 |
HDOP: 0.5 to 99.9 |
|
6 |
VDOP: 0.5 to 99.9 |
|
7 |
The checksum data, always begins with * |
Position Error Statistics (GST):
Example:
$GPGST,172814.0,0.006,0.023,0.020,273.6,0.023,0.020,0.031*6A
|
Field |
Meaning |
|
0 |
Message ID $–GST |
|
$GP: GPS Only |
|
|
$GL: GLONASS Only |
|
|
$GN: Combined |
|
|
1 |
UTC of position fix |
|
2 |
RMS value of the pseudorange residuals; includes carrier phase residuals during periods of RTK (float) and RTK (fixed) processing |
|
3 |
Error ellipse semi-major axis 1-sigma error, in meters |
|
4 |
Error ellipse semi-minor axis 1-sigma error, in meters |
|
5 |
Error ellipse orientation, degrees from true north |
|
6 |
Latitude 1-sigma error, in meters |
|
7 |
Longitude 1-sigma error, in meters |
|
8 |
Height 1-sigma error, in meters |
|
9 |
The checksum data, always begins with * |
Number of SVs in view, PRN, elevation, azimuth, and SNR (GSV):
Example:
$GPGSV,8,1,25,21,44,141,47,15,14,049,44,6,31,255,46,3,25,280,44*75
|
Field |
Meaning |
|
0 |
Message ID |
|
1 |
Total number of messages of this type in this cycle |
|
2 |
Message number |
|
3 |
Total number of SVs visible |
|
4 |
SV PRN number |
|
5 |
Elevation, in degrees, 90° maximum |
|
6 |
Azimuth, degrees from True North, 000° through 359° |
|
7 |
SNR, 00 through 99 dB (null when not tracking) |
|
8–11 |
Information about second SV, same format as fields 4 to 7 |
|
12–15 |
Information about third SV, same format as fields 4 to 7 |
|
16–19 |
Information about fourth SV, same format as fields 4 to 7 |
|
20 |
The checksum data, always begins with * |
Note:
$GPGSV indicates GPS and SBAS satellites. If the PRN is greater than 32, this indicates an SBAS PRN, 87 should be added to the GSV PRN number to determine the SBAS PRN number.
$GLGSV indicates GLONASS satellites. 64 should be subtracted from the GSV PRN number to determine the GLONASS PRN number.
$GBGSV indicates BeiDou satellites. 100 should be subtracted from the GSV PRN number to determine the BeiDou PRN number.
$GAGSV indicates Galileo satellites.
$GQGSV indicates QZSS satellites.
Heading From True North (HDT):
Example:
$GPHDT,123.456,T*00
|
Field |
Meaning |
|
0 |
Message ID $GPHDT |
|
1 |
Heading in degrees |
|
2 |
T: Indicates heading relative to True North |
|
3 |
The checksum data, always begins with * |
Leica Local Position and Quality (LLQ):
Example:
$GPLLQ,034137.00,210712,,M,,M,3,15,0.011,,M*15
|
Field |
Meaning |
|
0 |
Message ID $GPLLQ |
|
1 |
hhmmss.ss – UTC time of position |
|
2 |
ddmmyy – UTC date |
|
3 |
xxx.xxx – Grid easting (meters) |
|
4 |
M – Meter, fixed text |
|
5 |
xxxx.xxxx – Grid northing (meters) |
|
6 |
M – Meter, fixed text |
|
7 |
x – GPS quality. 0 = not valid. 1 = GPS Nav Fix. 2 = DGPS Fix. 3 = RTK Fix. |
|
8 |
x – Number of satellites used in computation |
|
9 |
xx.xx – Position quality (meters) |
|
10 |
xxxx.xxxx – Height (meters) |
|
11 |
M – Meter, fixed text |
|
*hh – checksum |
|
|
<CR> – carriage return |
|
|
<LF> – Line feed |
MSK Receiver Signal (MSS):
Example:
$GPMSS,26.4,7.2,283.5,200,2*61
|
Field |
Meaning |
|
0 |
Message ID $–MSS |
|
1 |
Signal strength (SS), dB re: 1 uV/m |
|
2 |
Signal-to-noise ratio (SNR), dB |
|
3 |
Beacon frequency, 283.5 to 325.0 kHz |
|
4 |
Beacon bit rate (25, 50, 100, 200) bits per second |
|
5 |
Channel number (set equal to “1” or null for single-channel receivers) |
|
6 |
The checksum data, always begins with * |
Time, Yaw, Tilt, Range, Mode, PDOP, and number of SVs for Moving Baseline RTK: (PTNL,AVR)
Example:
$PTNL,AVR,212405.20,+52.1531,Yaw,-0.0806,Tilt,,,12.575,3,1.4,16*39
|
Field |
Meaning |
|
0 |
Message ID $PTNL,AVR |
|
1 |
UTC of vector fix |
|
2 |
Yaw angle, in degrees |
|
3 |
Yaw |
|
4 |
Tilt angle, in degrees |
|
5 |
Tilt |
|
8 |
Range, in meters (between antennas) |
|
9 |
GPS quality indicator: |
|
0: Fix not available or invalid |
|
|
1: Autonomous GPS fix |
|
|
2: Differential carrier phase solution RTK (Float) |
|
|
3: Differential carrier phase solution RTK (Fix) |
|
|
4: Differential code-based solution, DGPS |
|
|
10 |
PDOP |
|
11 |
Number of satellites used in solution |
|
12 |
The checksum data, always begins with * |
Base Station Position and Position Quality Indicator (PTNL,BPQ):
Example:
$PTNL,BPQ,224445.06,021207,3723.09383914,N,12200.32620132,W,EHT-5.923,M,5*
|
Field |
Meaning |
|
0 |
Talker ID |
|
1 |
BPQ |
|
2 |
UTC time of position fix, in hhmmss.ss format. Hours must be two numbers, so may be padded, for example, 7 is shown as 07. |
|
3 |
UTC date of position fix, in ddmmyy format. Day must be two numbers, so may be padded, for example, 8 is shown as 08. |
|
4 |
Latitude, in degrees and decimal minutes (ddmm.mmmmmmm) |
|
5 |
Direction of latitude: |
|
N: North |
|
|
S: South |
|
|
6 |
Longitude, in degrees and decimal minutes (dddmm.mmmmmmm). Should contain three digits of ddd. |
|
7 |
Direction of longitude: |
|
E: East |
|
|
W: West |
|
|
8 |
Height Ellipsoidal height of fix (antenna height above ellipsoid). Must start with EHT. |
|
9 |
M: ellipsoidal height is measured in meters |
|
10 |
GPS quality indicator: |
|
0: Fix not available or invalid |
|
|
1: Autonomous GPS fix |
|
|
2: Differential SBAS, or OmniSTAR VBS |
|
|
4: RTK Fixed |
|
|
5: OmniSTAR XP, OmniSTAR HP, CenterPoint RTX, Float RTK, or Location RTK |
|
|
11 |
The checksum data, always begins with * |
L Band Corrections and Beacon Signal Strength and related information (PTNL,DG):
Examples:
For beacon DG message: $PTNLDG,44.0,33.0,287.0,100,0,4,1,0,,,*3E
For L-band DG message: $PTNLDG,124.0,10.5,1557855.0,1200,2,4,0,3,,,*3C
|
Field |
Meaning |
|
0 |
Talker ID |
|
1 |
Signal strength |
|
2 |
SNR in db |
|
3 |
Signal frequency in kHz |
|
4 |
Bit rate |
|
5 |
Channel number. For a beacon message, the system locks only to the primary channel. As a result, there is not more than one beacon message. The channel for beacon is 0 (so it matches the DSM 232 family of GPS receivers). For L-band messages, the channel number is 2 (so it matches the DSM 232 family of GPS receivers). |
|
6 |
Tracking status: |
|
0: Channel idle. |
|
|
1: Wideband FFT search. |
|
|
2: Searching for signal. |
|
|
3: Channel has acquired signal. |
|
|
4: Channel has locked onto signal. For beacon, this means valid RTCM has been received. For L-band, this means good data has been decoded. |
|
|
5: Channel disabled. |
|
|
8 |
Channel tracking performance indicator. For beacon, this is the word error rate, which is in percentage. For L-band, this is the time since the last sync, in tenths of seconds ranging from 0 through 255. |
Evant Marker Data (PTNL,EVT):
Example:
$PTNL,EVT,221212.000008,1,5026,1893,1,17*4F
|
Field |
Meaning |
|
0 |
Talker ID $PTNL |
|
1 |
Message ID EVT |
|
2 |
Event time. UTC time of event in format hhmmss.ssssss : Hours,Minutes,Seconds. Resolved microseconds |
|
3 |
Port number. Port event markers receiver: “1” or “2” (optional), if two ports are available. |
|
4 |
NNNNNN. Incremental number of events on each independent port. |
|
5 |
WWWW. Week number of event (since 06 January 1980). |
|
6 |
Day of week. Days denoted 0 = Sunday…6 = Saturday. |
|
7 |
Leap second. UTC Leap Second offset from GPS time, Currently 18 seconds as of 07 July 2017. |
|
8 |
The checksum data, always begins with * |
Time, Position, Position Type and DOP Values (PTNL,GGK)
Example:
$PTNL,GGK,102939.00,051910,5000.97323841,N,00827.62010742,E,5,09,1.9,EHT150.790,M*73
|
Field |
Meaning |
|
0 |
Talker ID $PTNL |
|
1 |
Message ID GGK |
|
2 |
UTC time of position fix, in hhmmss.ss format. Hours must be two numbers, so may be padded. For example, 7 is shown as 07. |
|
3 |
UTC date of position fix, in ddmmyy format. Day must be two numbers, so may be padded. For example, 8 is shown as 08. |
|
4 |
Latitude, in degrees and decimal minutes (dddmm.mmmmmmm) |
|
5 |
Direction of latitude: |
|
N: North |
|
|
S: South |
|
|
6 |
Longitude, in degrees and decimal minutes (dddmm.mmmmmmm). Should contain three digits of ddd. |
|
7 |
Direction of longitude: |
|
E: East |
|
|
W: West |
|
|
8 |
GPS Quality indicator: |
|
0: Fix not available or invalid |
|
|
1: Autonomous GPS fix |
|
|
2: RTK float solution |
|
|
3: RTK fix solution |
|
|
4: Differential, code phase only solution (DGPS) |
|
|
5: SBAS solution – WAAS/EGNOS/MSAS |
|
|
6: RTK float or RTK location 3D Network solution |
|
|
7: RTK fixed 3D Network solution |
|
|
8: RTK float or RTK location 2D in a Network solution |
|
|
9: RTK fixed 2D Network solution |
|
|
10: OmniSTAR HP/XP solution |
|
|
11: OmniSTAR VBS solution |
|
|
12: Location RTK solution |
|
|
13: Beacon DGPS |
|
|
14: CenterPoint RTX |
|
|
15: xFill |
|
|
9 |
Number of satellites in fix |
|
10 |
Dilution of Precision of fix (DOP) |
|
11 |
Ellipsoidal height of fix (antenna height above ellipsoid). Must start with EHT. |
|
12 |
M: ellipsoidal height is measured in meters |
|
13 |
The checksum data, always begins with * |
Note: The PTNL,GGK message is longer than the NMEA-0183 standard of 80 characters.
Time, Position, Position Type and DOP Values (PTNL,PJK):
Example:
$PTNL,PJK,202831.50,011112,+805083.350,N,+388997.346,E,10,09,1.5,GHT+25.478,M*77
|
Field |
Meaning |
|
0 |
Message ID $PTNL,PJK |
|
1 |
UTC of position fix |
|
2 |
Date |
|
3 |
Northing, in meters |
|
4 |
Direction of Northing will always be N (North) |
|
5 |
Easting, in meters |
|
6 |
Direction of Easting will always be E (East) |
|
7 |
GPS Quality indicator: |
|
0: Fix not available or invalid |
|
|
1: Autonomous GPS fix |
|
|
2: RTK float solution |
|
|
3: RTK fix solution |
|
|
4: Differential, code phase only solution (DGPS) |
|
|
5: SBAS solution – WAAS/EGNOS/MSAS |
|
|
6: RTK Float 3D network solution |
|
|
7: RTK Fixed 3D network solution |
|
|
8: RTK Float 2D network solution |
|
|
9: RTK Fixed 2D network solution |
|
|
10: OmniSTAR HP/XP solution |
|
|
11: OmniSTAR VBS solution |
|
|
12: Location RTK |
|
|
13: Beacon DGPS |
|
|
14: CenterPoint RTX |
|
|
15: xFill |
|
|
8 |
Number of satellites in fix |
|
9 |
DOP of fix |
|
10 |
Height of Antenna Phase Center (see Note below) |
|
11 |
M: height is measured in meters |
|
12 |
The checksum data, always begins with * |
Note:
The PTNL,PJK message is longer than the NMEA-0183 standard of 80 characters.
Projection Type (PTNL,PJK):
Example:
$PTNL,PJK,202831.50,011112,+805083.350,N,+388997.346,E,10,09,1.5,GHT+25.478,M*77
|
Field |
Meaning |
|
0 |
Message ID $PTNL,PJK |
|
1 |
UTC of position fix |
|
2 |
Date |
|
3 |
Northing, in meters |
|
4 |
Direction of Northing will always be N (North) |
|
5 |
Easting, in meters |
|
6 |
Direction of Easting will always be E (East) |
|
7 |
GPS Quality indicator: |
|
0: Fix not available or invalid |
|
|
1: Autonomous GPS fix |
|
|
2: RTK float solution |
|
|
3: RTK fix solution |
|
|
4: Differential, code phase only solution (DGPS) |
|
|
5: SBAS solution – WAAS/EGNOS/MSAS |
|
|
6: RTK Float 3D network solution |
|
|
7: RTK Fixed 3D network solution |
|
|
8: RTK Float 2D network solution |
|
|
9: RTK Fixed 2D network solution |
|
|
10: OmniSTAR HP/XP solution |
|
|
11: OmniSTAR VBS solution |
|
|
12: Location RTK |
|
|
13: Beacon DGPS |
|
|
14: CenterPoint RTX |
|
|
15: xFill |
|
|
8 |
Number of satellites in fix |
|
9 |
DOP of fix |
|
10 |
Height of Antenna Phase Center (see Note below) |
|
11 |
M: height is measured in meters |
|
12 |
The checksum data, always begins with * |
Note:
The PTNL,PJT message is longer than the NMEA-0183 standard of 80 characters.
Time, Locator Vector, Type and DOP Values (PTNL,VGK):
Example:
$PTNL,VGK,160159.00,010997,-0000.161,00009.985,-0000.002,3,07,1,4,M*0B
|
Field |
Meaning |
|
0 |
Message ID $PTNL,VGK |
|
1 |
UTC of vector in hhmmss.ss format |
|
2 |
Date in mmddyy format |
|
3 |
East component of vector, in meters |
|
4 |
North component of vector, in meters |
|
5 |
Up component of vector, in meters |
|
6 |
GPS Quality indicator: |
|
0: Fix not available or invalid |
|
|
1: Autonomous GPS fix |
|
|
2: RTK float solution |
|
|
3: RTK fix solution |
|
|
4: Differential, code phase only solution (DGPS) |
|
|
5: SBAS solution – WAAS/EGNOS/MSAS |
|
|
6: RTK Float 3D network solution |
|
|
7: RTK Fixed 3D network solution |
|
|
8: RTK Float 2D network solution |
|
|
9: RTK Fixed 2D network solution |
|
|
10: OmniSTAR HP/XP solution |
|
|
11: OmniSTAR VBS solution |
|
|
12: Location RTK |
|
|
13: Beacon DGPS |
|
|
14: CenterPoint RTX |
|
|
15: xFill |
|
|
7 |
Number of satellites if fix solution |
|
8 |
DOP of fix |
|
9 |
M: Vector components are in meters |
|
10 |
The checksum data, always begins with * |
|
10 |
Height of Antenna Phase Center (see Note below) |
|
11 |
M: height is measured in meters |
|
12 |
The checksum data, always begins with * |
Heading Information (PTNL,VHD):
Example:
$PTNL,VHD,030556.00,093098,187.718,-22.138,-76.929,-5.015,0.033,0.006,3,07,2.4,M*22
|
Field |
Meaning |
|
0 |
Message ID $PTNL |
|
1 |
VHD |
|
2 |
UTC of position in hhmmss.ss format |
|
3 |
Date in mmddyy format |
|
4 |
Azimuth |
|
5 |
Rate of change of azimuth = azimuth/time |
|
6 |
Vertical angle |
|
7 |
Rate of change of vertical angle = vertical/time |
|
8 |
Range |
|
9 |
Rate of change of range between antenna = range/time |
|
10 |
GPS Quality indicator: |
|
0: Fix not available or invalid |
|
|
1: Autonomous GPS fix |
|
|
2: RTK float solution |
|
|
3: RTK fix solution |
|
|
4: Differential, code phase only solution (DGPS) |
|
|
5: SBAS solution – WAAS/EGNOS/MSAS |
|
|
6: RTK Float 3D network solution |
|
|
7: RTK Fixed 3D network solution |
|
|
8: RTK Float 2D network solution |
|
|
9: RTK Fixed 2D network solution |
|
|
10: OmniSTAR HP/XP solution |
|
|
11: OmniSTAR VBS solution |
|
|
12: Location RTK |
|
|
13: Beacon DGPS |
|
|
14: CenterPoint RTX |
|
|
15: xFill |
|
|
11 |
Number of satellites used in solution |
|
12 |
PDOP |
|
13 |
M |
|
14 |
The checksum data, always begins with * |
Position, Velocity and Time (RMC):
Example:
$GPRMC,123519,A,4807.038,N,01131.000,E,022.4,084.4,230394,003.1,W*6A
|
Field |
Meaning |
|
0 |
Message ID $–RMC |
|
Talker ID can be: |
|
|
GP: GPS only |
|
|
GN: More than one constellation |
|
|
1 |
UTC of position fix |
|
2 |
Status A=active or V=void |
|
3 |
Latitude |
|
4 |
Longitude |
|
5 |
Speed over the ground in knots |
|
6 |
Track angle in degrees (True) |
|
7 |
Date |
|
8 |
Magnetic variation, in degrees |
|
9 |
The checksum data, always begins with * |
Rate of Turn (ROT):
Example:
$GPROT,35.6,A*4E
|
Field |
Meaning |
|
0 |
Message ID $GPROT |
|
1 |
Rate of turn, degrees/minutes, “–” indicates bow turns to port |
|
2 |
A: Valid data |
|
V: Invalid data |
|
|
3 |
The checksum data, always begins with * |
Actual Track Made Good and Speed Over ground (VTG):
Example:
$GPVTG,140.88,T,,M,8.04,N,14.89,K,D*05
|
Field |
Meaning |
|
0 |
Message ID $GPVTG |
|
1 |
Track made good (degrees true) |
|
2 |
T: track made good is relative to true north |
|
3 |
Track made good (degrees magnetic) |
|
4 |
M: track made good is relative to magnetic north |
|
5 |
Speed, in knots |
|
6 |
N: speed is measured in knots |
|
7 |
Speed over ground in kilometers/hour (kph) |
|
8 |
K: speed over ground is measured in kph |
|
9 |
Mode indicator: |
|
A: Autonomous mode |
|
|
D: Differential mode |
|
|
E: Estimated (dead reckoning) mode |
|
|
M: Manual Input mode |
|
|
S: Simulator mode |
|
|
N: Data not valid |
|
|
10 |
The checksum data, always begins with * |
UTC Day, Month, Year and Local Time Zone Offset (ZDA):
Example:
$GPZDA,172809.456,12,07,1996,00,00*45
|
Field |
Meaning |
|
0 |
Message ID $–ZDA |
|
Talker ID can be: |
|
|
GP: GPS only |
|
|
GN: More than one constellation |
|
|
1 |
UTC |
|
2 |
Day, ranging between 01 and 31 |
|
3 |
Month, ranging between 01 and 12 |
|
4 |
Year |
|
5 |
Local time zone offset from GMT, ranging from 00 through ±13 hours |
|
6 |
Local time zone offset from GMT, ranging from 00 through 59 minutes |
|
7 |
The checksum data, always begins with * |
