G2 and G7A receivers support multiple versions of the NMEA data format protocol. Different versions. Page 8. G2 & G7A. Commands Manual. Copyright © Neoway ...
This Commands Manual adds custom sentences based on NMEA data format protocol ... M Manual, forced to operate in 2D or 3D mode. A Automatic, allowed to automatically...
G2 & G7A Commands Manual
Issue 1.0 Date 2019-04-08
Neoway Product Document
G2 & G7A Commands Manual
Copyright © Neoway Technology Co., Ltd 2019. All rights reserved.
No part of this document may be reproduced or transmitted in any form or by any means without prior written consent of Neoway Technology Co., Ltd.
is the trademark of Neoway Technology Co., Ltd. All other trademarks and trade names mentioned in this document are the property of their respective holders.
Notice
This document provides guide for users to use G2 & G7A. This document is intended for system engineers (SEs), development engineers, and test engineers.
THIS GUIDE PROVIDES INSTRUCTIONS FOR CUSTOMERS TO DESIGN THEIR APPLICATIONS. PLEASE FOLLOW THE RULES AND PARAMETERS IN THIS GUIDE TO DESIGN AND COMMISSION. NEOWAY WILL NOT TAKE ANY RESPONSIBILITY OF BODILY HURT OR ASSET LOSS CAUSED BY IMPROPER OPERATIONS.
THE INFORMATION IN THIS DOCUMENT IS SUBJECT TO CHANGE WITHOUT NOTICE DUE TO PRODUCT VERSION UPDATE OR OTHER REASONS. EVERY EFFORT HAS BEEN MADE IN PREPARATION OF THIS DOCUMENT TO ENSURE ACCURACY OF THE CONTENTS, BUT ALL STATEMENTS, INFORMATION, AND RECOMMENDATIONS IN THIS DOCUMENT DO NOT CONSTITUTE A WARRANTY OF ANY KIND, EXPRESS OR IMPLIED.
Neoway provides customers complete technical support. If you have any question, please contact your account manager or email to the following email addresses: Sales@neoway.com Support@neoway.com Website: http://www.neoway.com
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Contents
1 Overview ................................................................................................... 1 2 Data Format Protocol............................................................................... 2 3 NMEA Identifiers and Field Type............................................................. 3
3.1 Talker Identifier ............................................................................................................................. 3 3.2 Satellite ID .................................................................................................................................... 3 3.3 System Identifier .......................................................................................................................... 3 3.4 Field Type ..................................................................................................................................... 4
4 Sentence Identifiers ................................................................................. 6 5 Input Messages (Custom NMEA Sentences)......................................... 7
5.1 CAS-Start GAGAN ....................................................................................................................... 7 5.2 CAS00-Save Configurations ...................................................................................................... 7 5.3 CAS01-Set UART Baud Rate...................................................................................................... 8 5.4 CAS02-Set Update Frequency of Position Fix ............................................................................ 9 5.5 CAS03-Enable or Disable Message Output ............................................................................. 9 5.6 CAS04-Set Talker Identifier...................................................................................................... 10 5.7 CAS05-Set NMEA Protocol Type ...............................................................................................11 5.8 CAS10-Set Start Mode............................................................................................................. 12
6 Output Messages (Standard NMEA Sentences).................................. 14
6.1 GGA-Fix Data............................................................................................................................. 14 6.2 GLL-Geographic Position-Latitude/Longitude............................................................................ 15 6.3 GSA-GNSS DOP and Active Satellites ...................................................................................... 16 6.4 GSV-GNSS Satellite in View ...................................................................................................... 18 6.5 RMC-Recommended Minimum Navigation Information............................................................. 19 6.6 VTG-Course Over Ground and Ground Speed ......................................................................... 20 6.7 GST-GNSS Pseudorange Error Statistics.................................................................................. 22 6.8 ZDA-Time & Date....................................................................................................................... 23 6.9 ANT-Antenna Status................................................................................................................... 23 6.10 DHV-Design Hourly Volume ................................................................................................ 24
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About This Document
G2 & G7A Commands Manual
Scope
This document is applicable to G2 & G7A series.
Audience
This document is intended for system engineers (SEs), development engineers, and test engineers.
Change History
Issue 1.0
Date 2019-01
Change Initial draft
Changed By Zhuo
Conventions
Symbol
Indication
This warning symbol means danger. You are in a situation that could cause fatal device damage or even bodily damage.
Means reader be careful. In this situation, you might perform an action that could result in module or product damages.
Means note or tips for readers to use the module
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1 Overview
G2 and G7A Global Navigation Satellite System (GNSS) receivers are compatible with the NMEA 0183 standard. They support NMEA 0183 version 4.1 by default and are compatible with version 2.3 and 3.X. NMEA 0183 V4.0 and versions earlier than V2.3 are supported by sending commands.
Data is transmitted in serial asynchronous form. The first bit is a start bit, followed by data bits. Least significant bit first is shown in Figure 1-1.
Figure 1-1 Data transmission mode
D0 D1 D2 Start bit The following parameters are used:
D3 D4 D5 Data bit
D6 D7 Stop bit
Baud rate (bps) Data bit Stop bit Checksum
Table 1-1 Parameters used in data transmission 4800, 9600, 19200, 38400, 57600, 115200 8 bit 1 bit None
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2 Data Format Protocol
NMEA messages are transmitted by GNSS receivers and comply with the NMEA0183 protocol.
Table 2-1 Data format
$
<address>
{,<data>} *<checksum>
<CR><LF>
Start sign Address field
Data fields Checksum field
Sequential message identifier field
Each sentence starts with a "$" sign.
Two parts: Talker identifier and sentence format
Start with a ",", followed by data of fixed length and variable length
The 8-bit exclusive OR (no start or stop bits) of all characters in the sentence, including "," and "^" delimiters, between but not including the "$" and the "*" delimiters.
The hexadecimal value of the most significant and least significant 4 bits of the result is converted to two ASCII characters (0-9, A-F (upper case)) for transmission.
Each sentence ends with the termination delimiter <CR><LF>
For detailed NMEA protocol, visit http://www.nmea.org/.
This Commands Manual adds custom sentences based on NMEA data format protocol to control the work mode and query the product information of the GNSS receivers. The identifier of custom sentences is 'P'.
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3 NMEA Identifiers and Field Type
3.1 Talker Identifier
Talker Identifier sent in NMEA sentence serves to define the GNSS mode. The following table lists Talker Identifier supported.
Talker
Identifier
BeiDou Navigation Satellite System (BDS)
BD
Global Positioning System (GPS, SBAS, QZSS) GP
Global Navigation Satellite System (GLONSS) GL
Global Navigation Satellite System (GNSS)
GN
Custom information
P
3.2 Satellite ID
Satellite ID Number PRN Number of Relationship between Satellite
Satellite System
in NMEA
Satellite
ID Number and PRN Number
GPS
1~32
1~32
0+PRN
SBAS
33~51
120~138
87+PRN
GLONASS
65~88
1~24
64+PRN
BDS
1~37
1~37
0+PRN
QZSS
33~37
193~197
PRN-160
3.3 System Identifier
G2 and G7A receivers support multiple versions of the NMEA data format protocol. Different versions
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vary with the system identifier. NMEA4.0 and Earlier Versions
GGA [1]Identifier ZDA [1]Identifier GLL [1]Identifier RMC [1]Identifier VTG [1]Identifier
GSA [2]Identifier
GSV [2]Identifier
G2 & G7A Commands Manual
NMEA4.1 [1]Identifier [1]Identifier [1]Identifier [1]Identifier [1]Identifier [1] Identifier, additional fields are used to identify different GNSS constellations. [2]Identifier
[1]Identifier: If satellites of only one GNSS constellation are used to calculate locations, the transmission identifier is BD, GP, GL, or GA. If satellites of multiple GNSS constellations are used to fix the position, the transmission identifier is GN. [2]Identifier: GP (GPS), BD (BDS ), GL (GLONASS) G2 and G7A receivers support three versions of the NMEA0183 protocol. NMEA 2.2 is different from 2.3/4.0 in the following items: Mode is not output in GLL, RMC, and VTG sentences. In GGA sentence, the quality indicator (FS) is displayed as 1 for both estimated mode and SPS
mode. In NMEA 2.3/4.0, this field is displayed as 6 for estimated mode. NMEA 4.1 added some fields compared to NMEA 4.0: systemId in GSA sentence signalId in GSV sentence navStatus in RMC sentence For details, see 5 Input Messages (Custom NMEA Sentences).
3.4 Field Type
Field Type
Symbol
Special Format Fields
Definition
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Status
A
Single character field A=Yes, Data Valid, Warning Flag Clear V=No, Data Invalid, Warning Flag Set
Latitude
ddmm.mmmm
Fixed/variable length field
Degrees minutes. Decimal - 2 fixed digits of degrees, 2 fixed digits of minutes and a variable number of digits for decimalfraction of minutes.
Longitude
Fixed/variable length field
dddmm.mmmm
Degrees minutes. Decimal - 3 fixed digits of degrees, 2 fixed digits of minutes and a variable number of digits for decimalfraction of minutes.
Date
hhmmss.sss
Fixed length field
Hours minutes seconds. Decimal - 2 fixed digits of hours, 2 fixed digits of minutes, 2 fixed digits of seconds and 3 fixed digits for decimal-fraction of seconds.
Defined field
Some fields are specified to contain pre-defined constants.
Numeric Value Fields
Variable numbers x.x
Variable length integer or floating numeric field
Fixed HEX field
hh
Fixed length HEX numbers only, MSB on the left
Variable HEX field h--h
Variable length HEX numbers only, MSB on the left
Information Fields
Fixed alpha field aa
Fixed length field of upper-case or lower-case alpha characters
Fixed number field xx
Fixed length field of numeric characters
Variable text field c--c
Variable length field of valid characters
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4 Sentence Identifiers
Sentence Formatter
Class/ID
Standard NMEA Sentence
GGA
0x4E 0x00
GLL
0x4E 0x01
GSA
0X4E 0x02
GSV
0x4E 0x03
RMC
0x4E 0x04
VTG
0x4E 0x05
GST
0x4E 0x07
ZDA
0x4E 0x08
ANT
0x4E 0x11
DHV
0x4E 0x13
Custom NMEA Sentence
CAS00
-
CAS01
-
CAS02
-
CAS03
-
CAS04
-
CAS05
-
CAS10
-
Description Standard Sentence Global Positioning System Fix Data Geographic Position--Latitude/Longitude GNSS DOP and Active Satellites GNSS Satellites in View Recommended Minimum Specific GNSS Data Course Over Ground and Ground Speed GNSS Pseudorange Error Statistics Time & Date Antenna Status Design Hourly Volume Custom Sentence Save Configurations Communication Protocol and Serial Interface Configurations Set Update Frequency of Position Fix Enable or Disable Message Output and Frequency Set Quantity of Initial Systems and Channels Set Talker Identifier of NMEA Sentences Set Start Mode
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5 Input Messages (Custom NMEA Sentences)
5.1 CAS-Start GAGAN
Identifier CAS
Description Start GAGAN
Type
Input
Format
$PCAS,N,M*CS<CR><LF>
Example $PCAS,4,FFF*77
Parameter Description
Field
Name
Format
1
$PCAS
Character string
2
N
Numeric value
3
M
Character string
HEX numeric
4
CS
value
5
<CR><LF> Character
Parameter Description
Message ID, sentence header
4 by default
FFF by default
Checksum, exclusive OR (no start or stop bits) of all characters in the sentence, including "," and "^" delimiters, between but not including the "$" and the "*" delimiters.
Carriage return and line feed
5.2 CAS00-Save Configurations
Identifier CAS00
Save current configurations to FLASH Description
Data in FLASH will not be lost even though the receiver is powered down.
Type
Input
Format
$PCAS00*CS<CR><LF>
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Example $PCAS00*01
Parameter Description
Field
Name
Format
Parameter Description
1
$PCAS00 Character string Message ID, sentence header
Checksum, exclusive OR (no start or stop bits) of
HEX numeric all characters in the sentence, including "," and "^"
2
CS
value
delimiters, between but not including the "$" and
the "*" delimiters.
3
<CR><LF> Character
Carriage return and line feed
5.3 CAS01-Set UART Baud Rate
Identifier CAS01
Description Set the baud rate of the UART.
Type
Input
Format
$PCAS01,br*CS<CR><LF>
Example $PCAS01,1*1D
Parameter Description
Field
Name
Format
Parameter Description
1
$PCAS01 Character string Message ID, sentence header
Baud rate
0=4800bps
1=9600bps
2
Br
Numeric value 2=19200bps
3=38400bps
4=57600bps
5=115200bps
Checksum, exclusive OR (no start or stop bits) of
HEX numeric all characters in the sentence, including "," and "^"
3
CS
value
delimiters, between but not including the "$" and
the "*" delimiters.
4
<CR><LF> Character
Carriage return and line feed
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5.4 CAS02-Set Update Frequency of Position Fix
Identifier CAS02
Description Set Update Frequency of Position Fix
Type
Input
Format
$PCAS02,fixInt*CS<CR><LF>
Example $PCAS02,1000*2E
Parameter Description
Field
Name
Format
Parameter Description
1
$PCAS02 Character string Message ID, sentence header
Interval between position fix updates, unit: ms
1000=1Hz, 1 position fixed is output every second
500=2Hz, 2 position fixed is output every second
2
fixInt
Numeric value
250=4Hz, 4 position fixed is output every second
200=5Hz, 5 position fixed is output every second
100=10Hz, 10 position fixed is output every second
Checksum, exclusive OR (no start or stop bits) of
HEX numeric all characters in the sentence, including "," and "^"
3
CS
value
delimiters, between but not including the "$" and
the "*" delimiters.
4
<CR><LF> Character
Carriage return and line feed
5.5 CAS03-Enable or Disable Message Output
Identifier CAS03
Description Enable or disable the output of NMEA messages
Type
Input
Format
$PCAS03,nGGA,nGLL,nGSA,nGSV,nRMC,nVTG,nZDA,nANT,nDHV,nLPS,res,res, nUTC*CS<CR><LF>
Example
$PCAS03,1,1,1,1,1,1,1,1,0,1,0,0,1,0*02
Parameter Description
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Field 1
2
3 4 5 6 7 8 9 10 11 12 13 14 15
16
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Name
Format
Parameter Description
$PCAS03 Character string Message ID, sentence header
nGGA
Numeric value
GGA output frequency, determined by update frequency of position fix
n indicates that the message is output once after position is fixed for n times.
n ranges from 0 to 9. 0 indicates that this sentence is not output and if n is not set to any value, keep the previous settings.
nGLL
Numeric value GLL output frequency, same as nGGA
nGSA
Numeric value GSA output frequency, same as nGGA
nGSV
Numeric value GSV output frequency, same as nGGA
nRMC
Numeric value RMC output frequency, same as nGGA
nVTG
Numeric value VTG output frequency, same as nGGA
nZDA
Numeric value ZDA output frequency, same as nGGA
nANT
Numeric value ANT output frequency, same as nGGA
nDHV
Numeric value DHV output frequency, same as nGGA
nLPS
Numeric value LPS output frequency, same as nGGA
res
Reserve
res
Reserve
nUTC
Numeric value UTC output frequency, same as nGGA
nGST
Numeric value GST output frequency, same as nGGA
Checksum, exclusive OR (no start or stop bits) of
HEX numeric all characters in the sentence, including "," and "^"
CS
value
delimiters, between but not including the "$" and
the "*" delimiters.
<CR><LF> Character
Carriage return and line feed
5.6 CAS04-Set Talker Identifier
Identifier CAS04
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Description Set Talker Identifier
Type
Input
Format
$PCAS04,mode*hh<CR><LF>
Example
$PCAS04,3*1A BDS and GPS $PCAS04,1*18 GPS $PCAS04,2*1B BDS
Parameter Description
Field
Name
Format
Parameter Description
1
$PCAS04 Character string Message ID, sentence header
Talker Identifier
The following configurations are supported:
1=GPS
2=BDS
2
Mode
Numeric value 3=GPS+BDS
4=GLONASS
5=GPS+GLONASS
6=BDS+GLONASS
7=GPS+BDS+GLONASS
Checksum, exclusive OR (no start or stop bits) of
HEX numeric all characters in the sentence, including "," and "^"
3
CS
value
delimiters, between but not including the "$" and
the "*" delimiters.
4
<CR><LF> Character
Carriage return and line feed
5.7 CAS05-Set NMEA Protocol Type
Identifier CAS05
Set NMEA protocol type Multi-GNSS receivers supports different protocols and the data format protocols are Description also various. G2 and G7A receivers support multiple protocols (optional)
Type
Input
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Format
$PCAS05,ver*CS<CR><LF>
Example $PCAS05,1*19
Parameter Description
Field
Name
Format
Parameter Description
1
$PCAS05 Character string Message ID, sentence header
2
Mode
Numeric value Set NMEA protocol type (Remark [1])
Checksum, exclusive OR (no start or stop bits) of
HEX numeric all characters in the sentence, including "," and "^"
3
CS
value
delimiters, between but not including the "$" and
the "*" delimiters.
4
<CR><LF> Character
Carriage return and line feed
Remark [1] NMEA protocol types
2
Compatible with NMEA 4.1 and later versions
Compatible with the BDS/GPS Dual-GNSS protocol of China Transport
5
Telecommunications & Information Center (CTTIC), NMEA 4.0 protocol and
versions later than NMEA 2.3
9
Compatible with NMEA0183 GPS protocol and NMEA 2.2
5.8 CAS10-Set Start Mode
Identifier CAS10
Description Restart the receiver
Type
Input
Format
$PCAS10,rs*CS<CR><LF>
Example
$PCAS10,0*1C hot start $PCAS10,1*1D warm start $PCAS10,2*1E cold start $PCAS10,3*1F factory start
Parameter Description
Field
Name
Format
Parameter Description
1
$PCAS10 Character string Message ID, sentence header
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Set start mode
0=Hot start
Without initialization, all data in backup buffer is valid.
1=Warm start
Without initialization, ephemeris is cleared.
2
rs
Numeric value
2=Cold start
Without initialization, all data except configurations in backup buffer is cleared.
3=Factory start
All data in backup buffer is cleared and the receiver is reset to factory settings.
Checksum, exclusive OR (no start or stop bits) of
3
CS
HEX numeric all characters in the sentence, including "," and "^"
value
delimiters, between but not including the "$" and
the "*" delimiters.
4
<CR><LF> Character
Carriage return and line feed
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6 Output Messages (Standard NMEA Sentences)
6.1 GGA-Fix Data
Identifier GGA
Description Time, position, and fix related data for the receiver
Type
Output
Format
$--GGA,UTCtime,lat,uLat,lon,uLon,FS,numSv,HDOP,msl,uMsl,sep,uSep,diffAge, diffSta*CS<CR><LF>
Example
$GPGGA,235316.000,2959.9925,S,12000.0090,E,1,06,1.21,62.77,M,0.00,M,,*7B
Parameter Description
Field
Name
Format
Parameter Description
Character
Message ID, GGA sentence header, '--` is the
1
$--GGA
string
talker identifier
2
UTCtime hhmmss.sss UTC of position
3
lat
ddmm.mmmm Latitude
4
uLat
Character
N/S indicator
5
lon
dddmm.mmmm Longitude
6
uLon
Character
E/W indicator
7
FS
Numeric value GNSS quality indicator (Remark [1]), mandatory
8
numSv
Numeric value Number of satellites in use, 00 - 24
9
HDOP
Numeric value Horizontal dilution of precision (HDOP)
10
msl
Numeric value Antenna altitude above mean-sea-level
11
uMsl
Character
units of antenna altitude, meters, M
Geoidal separation, the difference between the
WGS-84 earth ellipsoid surface and mean-sea-
12
sep
Numeric value
level (geoid) surface, "-" = mean-sea-level surface
below WGS-84 ellipsoid surface.
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13
uSep
Character
units of antenna altitude, meters, M
Age of Differential GPS data (seconds)
14
diffAge
Numeric value
null field when DGPS is not used
15
diffSta
Numeric value Differential reference station ID
Checksum, exclusive OR (no start or stop bits) of
HEX numeric all characters in the sentence, including "," and "^"
16
CS
value
delimiters, between but not including the "$" and
the "*" delimiters.
17
<CR><LF> Character
Carriage return and line feed
Remarks [1] GPS Quality indicator
GPS Quality indicator Description
0
Fix unavailable or invalid
1
SPS Mode, fix valid
Estimated (dead reckoning) Mode, valid only for NMEA 2.3 and later 6
versions
6.2 GLL-Geographic Position-Latitude/Longitude
Identifier GLL
Description Latitude and Longitude of vessel position, time of position fix and status.
Type
Output
Format
$--GLL,lat,uLat,lon,uLon, UTCtime,valid,mode*CS<CR><LF>
Example $GPGLL,2959.9925,S,12000.0090,E,235316.000,A,A*4E
Parameter Description
Field
Name
Format
Parameter Description
Character
Message ID, GLL sentence header, '--' is the talker
1
$--GLL
string
identifier
2
lat
ddmm.mmmm Latitude
3
uLat
Character
N/S indicator
4
lon
dddmm.mmmm Longitude
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5
uLon
Character
E/W indicator
6
UTCtime
hhmmss.sss UTC of position
7
valid
Character
Status (Remark [1])
Mode Indicator (Remark [2]), valid only for NMEA
8
mode
Character
2.3 and later versions
Checksum, exclusive OR (no start or stop bits) of
HEX numeric all characters in the sentence, including "," and "^"
9
CS
value
delimiters, between but not including the "$" and
the "*" delimiters.
10
<CR><LF> Character
Carriage return and line feed
Remark [1] Data Status
GPS Quality indicator
Description
A
Data valid
V
Data not valid
Remark [2] Mode Indicator
Mode Indicator
Description
A
Autonomous mode
E
Estimated (dead reckoning) mode
N
Data not valid
D
Differential Mode
M
Manual input mode
6.3 GSA-GNSS DOP and Active Satellites
Identifier GSA
GNSS receiver operating mode, satellites used in the navigation solution reported by the GGA or GNS sentence, and DOP values.
This sentence is output no matter whether position is fixed or any satellite is Description available.
If GNSS systems are combined to obtain the reported position solution, GSA sentences are produced receptively for each GNSS system. Each of these GSA sentences shall have talker ID GN, to indicate that the satellites are used in a
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combined solution and each shall have the PDOP, HDOP and VDOP for the combined satellites used in the position.
Type
Output
Format
$--GSA,smode,FS{,SVID},PDOP,HDOP,VDOP*CS<CR><LF>
Example $GPGSA,A,3,05,21,31,12,18,29,,,,,,,2.56,1.21,2.25*01
Parameter Description
Field
Name
Format
Parameter Description
Character
Message ID, GSA sentence header, '--' is the talker
1
$--GSA
string
identifier
2
Smode
Character
Mode switch indicator (Remark [1])
3
FS
Numeric value Fix status indicator (Remark [2])
ID numbers of satellites used in solution
4
{,SVID}
Numeric value
12 satellites are displayed in this field.
5
PDOP
Numeric value Position Dilution of Precision (PDOP)
6
HDOP
Numeric value Horizontal dilution of precision (HDOP)
7
VDOP
Numeric value Vertical Dilution of Precision (VDOP)
GNSS ID defined in NMEA (Remark [3])
8
systemId Numeric value
Valid only for NMEA 4.1 and later versions
Checksum, exclusive OR (no start or stop bits) of all
HEX numeric characters in the sentence, including "," and "^"
9
CS
value
delimiters, between but not including the "$" and the
"*" delimiters.
10
<CR><LF> Character
Carriage return and line feed
(Remark [1]) Mode switch indicator
Mode switch indicator Description
M
Manual, forced to operate in 2D or 3D mode
A
Automatic, allowed to automatically switch 2D/3D
(Remark [2]) Fix status indicator
Position fix status
Description
1
Fix not available
2
2D
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3 Remark [3] GNSS ID System ID 1 2 4
3D
Description GPS GLONASS BDS
G2 & G7A Commands Manual
6.4 GSV-GNSS Satellite in View
Identifier GSV
Description
Number of satellites (SV) in view, satellite ID numbers, elevation, azimuth, and SNR value.
A variable number of "Satellite ID-Elevation-Azimuth-SNR" sets are allowed up to a maximum of four sets per sentence. Null fields are not required for unused sets when less than four sets are transmitted.
Type
Output
Format
$--GSV,numMsg,msgNo,numSv{,SVID,ele,az,cn0} *CS<CR><LF>
Example
$GPGSV,3,1,10,25,68,053,47,21,59,306,49,29,56,161,49,31,36,265,49*79 $GPGSV,3,2,10,12,29,048,49,05,22,123,49,18,13,000,49,01,00,000,49*72 $GPGSV,3,3,10,14,00,000,03,16,00,000,27*7C
Parameter Description
Field
Name
Format
Parameter Description
Character
Message ID, GSV sentence header, '--' is the
1
$--GSA
string
talker identifier
Total number of sentences
2
numMsg
Character
Depending on the number of satellites tracked,
multiple messages of GSV data may be required.
3
msgNo
Numeric value Sentence number
4
numSv
Numeric value Total number of GNSS Satellites in View
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Satellite ID number
Elevation, degrees, 0 to 90
{,SVID,ele,a
5
z,cn0}
Numeric value Azimuth, degrees True, 0 to 359
SNR (C/No) 00-99 dB-Hz, null when not tracking
(Remark [3])
GNSS signal ID defined in NMEA, 0 indicates all
6
signalId
Numeric value signals
Valid only for NMEA 4.1 and later versions
Checksum, exclusive OR (no start or stop bits) of
HEX numeric all characters in the sentence, including "," and "^"
7
CS
value
delimiters, between but not including the "$" and
the "*" delimiters.
8
<CR><LF> Character
Carriage return and line feed
6.5 RMC-Recommended Minimum Navigation Information
Identifier RMC
Description Recommended Minimum Navigation Information
Type
Output
Format
$-RMC,UTCtime,status,lat,uLat,lon,uLon,spd,cog,date,mv,mvE,mode*CS<CR><LF>
Example $GPRMC,235316.000,A,2959.9925,S,12000.0090,E,0.009,75.020,020711,,,A*45
Parameter Description
Field
Name
Format
Parameter Description
Message ID, RMC sentence header, '--' is the
1
$--RMC
Character string
talker identifier
2
UTCtime hhmmss.sss
UTC of position
Status
3
status
Character string V=Navigation receiver warning
A=Data valid
4
lat
ddmm.mmmm Latitude
5
uLat
Character
N/S indicator
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6
lon
dddmm.mmmm Longitude
7
uLon
Character
E/W indicator
8
spd
Numeric value Speed over ground, knots
9
cog
Numeric value Course Over Ground, degrees True
10
date
ddmmyy
Date
11
mv
Numeric value Magnetic variation, degrees E/W null
12
mvE
Character
E/W indicator null
Mode Indicator (Remark [1])
13
mode
Character
Valid only for NMEA 2.3 and later versions
Navigation Status Indicator (V indicates that the
14
navStatus Character
system does not output navigation status)
Valid only for NMEA 4.1 and later versions
Checksum, exclusive OR (no start or stop bits) of
15
CS
HEX numeric
all characters in the sentence, including "," and "^"
value
delimiters, between but not including the "$" and
the "*" delimiters.
16
<CR><LF> Character
Carriage return and line feed
Remark [1] Mode Indicator
Mode Indicator
Description
A
Autonomous mode
E
Estimated (dead reckoning) mode
N
Data not valid
D
Differential Mode
M
Manual input mode
6.6 VTG-Course Over Ground and Ground Speed
Identifier VTG
Description Course Over Ground and Ground Speed
Type
Output
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G2 & G7A Commands Manual
Format
$--VTG,cogt,T,cogm,M,sog,N,kph,K,mode*CS<CR><LF>
Example $GPVTG,75.20,T,,M,0.009,N,0.017,K,A*02
Parameter Description
Field
Name
Format
Parameter Description
Message ID, VTG sentence header, '--' is the talker
1
$--VTG
Character string
identifier
2
cogt
Numeric value Course Over Ground, degrees True
3
T
Character
True north
4
cogm
Numeric value Course Over Ground, degrees Magnetic
5
M
Character
Magnetic north
6
sog
Numeric value Speed over ground, knots
7
N
Character
Knots
8
kph
Numeric value Speed over ground, km/hr
9
K
Character
km/h
Mode Indicator (Remark [1])
10
mode
Character
Valid only for NMEA 2.3 and later versions
Checksum, exclusive OR (no start or stop bits) of
HEX numeric all characters in the sentence, including "," and "^"
11
CS
value
delimiters, between but not including the "$" and
the "*" delimiters.
12
<CR><LF> Character
Carriage return and line feed
Remark [1] Mode Indicator
Mode Indicator
Description
A
Autonomous mode
E
Estimated (dead reckoning) mode
N
Data not valid
D
Differential Mode
M
Manual input mode
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6.7 GST-GNSS Pseudorange Error Statistics
Identifier GST
Description GNSS Pseudorange Error Statistics
Type
Output
Format
$--GST,UTCtime,RMS,stdDevMaj,stdfDevMin,orientation,stdLat,stdLon,stdAlt*CS <CR><LF>
Example
$BDGST,081409.000,0.5,,,,0.2,0.1,0.4*5E
Parameter Description
Field
Name
Format
Parameter Description
Character
Message ID, GST sentence header, '--' is the talker
1
$--GST
string
identifier
2
UTCtime hhmmss.sss UTC
RMS value of the standard deviation of the range
3
RMS
Numeric value
inputs to the navigation process
Standard deviation of semi-major axis of error
4
stdDevMaj Numeric value
ellipse (meters), not supported
Standard deviation of semi-minor axis of error
5
stdfDevMin Numeric value
ellipse (meters), not supported
Orientation of semi-major axis of error ellipse
6
orientation Numeric value
(degrees from true north), not supported
7
stdLat
Numeric value Standard deviation of latitude error (meters)
8
stdLon
Numeric value Standard deviation of longitude error (meters)
9
stdAlt
Numeric value Standard deviation of altitude error (meters)
Checksum, exclusive OR (no start or stop bits) of
HEX numeric all characters in the sentence, including "," and "^"
10
CS
value
delimiters, between but not including the "$" and
the "*" delimiters.
11
<CR><LF> Character
Carriage return and line feed
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6.8 ZDA-Time & Date
G2 & G7A Commands Manual
Identifier ZDA
Description UTC, day, month, year and local time zone.
Type
Output
Format
$--ZDA,UTCtime,day,month,year,ltzh,ltzn*CS<CR><LF>
Example $GPZDA,235316.000,02,07,2011,00,00*51
Parameter Description
Field
Name
Format
Parameter Description
Character
Message ID, ZDA sentence header, '--' is the talker
1
$--ZDA
string
identifier
2
UTCtime hhmmss.sss UTC of position
3
day
Numeric value Day, 01 to 31
4
month
Numeric value Month, 01 to 12
5
year
Numeric value Year, four digits
6
ltzh
Numeric value Local zone hours, not supported, 00
7
ltzn
Numeric value Local zone minutes, not supported, 00
Checksum, exclusive OR (no start or stop bits) of all
HEX numeric characters in the sentence, including "," and "^"
8
CS
value
delimiters, between but not including the "$" and the
"*" delimiters.
9
<CR><LF> Character
Carriage return and line feed
6.9 ANT-Antenna Status
Identifier ANT
Description Antenna Status
Type
Output
Format
$GPTXT,xx,yy,zz,info*hh<CR><LF>
Example $GPTXT,01,01,01,ANTENNA OPEN*25
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$GPTXT,01,01,01,ANTENNA OK*35 $GPTXT,01,01,01,ANTENNA SHORT*63
Parameter Description
Field
Name
Format
Parameter Description
1
$GPTXT Character string Message ID, TXT sentence header
Total number of sentences, 01 to 99
Depending on the length of text message, multiple
2
Xx
Numeric value
messages of GPTXT are required.
For G2 and G7A, this field is fixed to 01.
Sentence number, 01 to 99
3
Yy
Numeric value
For G2 and G7A, this field is fixed to 01.
Text identifier
4
Zz
Numeric value
For G2 and G7A, this field is fixed to 01.
5
info
Text message ANTENNA OPEN ANTENNA OK ANTENNA SHORT
Checksum, exclusive OR (no start or stop bits) of
HEX numeric all characters in the sentence, including "," and "^"
6
CS
value
delimiters, between but not including the "$" and
the "*" delimiters.
7
<CR><LF> Character
Carriage return and line feed
6.10 DHV-Design Hourly Volume
Identifier DHV
Description Details of GNSS receiver speeds
Type
Output
Format
$--DHV,UTCtime,speed3D,spdX,spdY,spdZ,gdspd*CS<CR><LF>
Example $GNDHV,021150.000,0.03,0.006,-0.042,-0.026,0.06*65
Parameter Description
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Field 1 2 3 4 5 6 7
8
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Name
Format
Parameter Description
$--DHV
Message ID, DHV sentence header, '--' is the talker Character string
identifier
UTCtime hhmmss.sss
UTC
speed3D Numeric value GNSS receiver 3D speed, m/s
spdX
Numeric value GNSS receiver ECEF-X speed, m/s
spdY
Numeric value GNSS receiver ECEF-Y speed, m/s
spdZ
Numeric value GNSS receiver ECEF-Z speed, m/s
gdspd
Numeric value GNSS receiver ground speed, m/s
Checksum, exclusive OR (no start or stop bits) of
HEX numeric all characters in the sentence, including "," and "^"
CS
value
delimiters, between but not including the "$" and
the "*" delimiters.
<CR><LF> Character
Carriage return and line feed
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