9205-GNSS OUTPUT TELEGRAMS

Transcription

1 9205-GNSS OUTPUT TELEGRAMS Document reference: Edition: A1 Released: 1 May :00

2 CONTENTS 1. INTRODUCTION SCOPE 2 2. OUTPUT TELEGRAMS AVR (Time, Yaw, Tilt, Range for Moving Baseline RTK) Trimble proprietary BPQ (Base Station Position and Quality Indicator) Trimble proprietary DG (DGNSS Receiver Status) Trimble proprietary DP (Fugro Positioning Message) proprietary DTM (Datum Reference) GBS (GNSS Satellite Fault Detection) GGA (GNSS Fix Data) GGK (Time, position, position type, DOP) Trimble proprietary GLL (Geographic position Latitude and Longitude) NMEA0183 and IEC : GNS (GNSS Fix Data) NMEA 0183 and IEC : GRS (GNSS Range Residuals) GSA (GNSS DOP and Active Satellites) GST (Position Error Statistics) GSV (GNSS Satellites in View) HDT (True Heading) LLQ (Local Grid and Position Quality Indicator) PJK (Local coordinate position output) Trimble proprietary PJT (Projection type) Trimble proprietary RMC (Recommended Minimum) ROT (Rate and Direction of Turn) VGK (Vector information) Trimble proprietary VHD (Heading information) Trimble proprietary VTG (Course over Ground and Ground Speed) ZDA (Time and Date) 18. No Protective Marking Page i

3 1. INTRODUCTION The Fugro 9205-GNSS receiver has the capability of exporting various data as output telegrams in the following formats: 1. NMEA 0183 (IEC :2007) 2. IEC : Proprietary Output can be configured using either the receiver s front panel menu or, when connected to a computer, the web browser interface. See the 9205-GNSS User Guide (Fugro Edition), doc. ref.: , sections 2 and 4 respectively. When enabled, the default output rate is 1 Hz, but 2 Hz, 5 Hz and 10 Hz or a number of slower rates (values lower than 1 Hz) may also be selected (see the User Guide: Part 4 Configuration, section 6.1). Apart from the common NMEA 0183 sentences (starting with $GP, $GL or $GN), some proprietary vendor-specific sentences (starting with $PTNL or $PFUG) can be selected for output. The GLL, GNS, RMC and VTG sentences may be output in two variants according to the NMEA 0183 standard or IEC :2010, the latter being required in type-approved applications. Each sentence is terminated by a carriage return and line feed character (ASCII 13, 10). 1.1 SCOPE This document details the characteristics of the telegrams available as of firmware v OUTPUT TELEGRAMS The available telegrams are detailed on the following pages. No Protective Marking Page 2 of 18

4 2.1 AVR (Time, Yaw, Tilt, Range for Moving Baseline RTK) Trimble proprietary Contains time and attitude information. Requires two receivers operating in vector mode. $PTNL,AVR,hhmmss.s,yYYY.YYYY,Yaw,tT.TTTT,Tilt,,, rr.rrr,q,pdop,sv*xx 1 UTC time of the vector fix in hhmmss.s format 2 Yaw angle in degrees 3 Yaw 4 Tilt angle in degrees 5 Tilt 6 Reserved 7 Reserved 8 Range in metres 9 GNSS quality indicator: 0: Fix not available or invalid 1: Autonomous GNSS fix 2: Differential carrier phase solution RTK (Float) 3: Differential carrier phase solution RTK (Fix) 4: Differential code-based solution, DGNSS 10 PDOP 11 Number of satellites used in solution 2.2 BPQ (Base Station Position and Quality Indicator) Trimble proprietary Describes the base station position and its quality. It is used when the moving base antenna position and quality are required on one serial port (along with a heading message) from a receiver in heading mode. $PTNL.BPQ,hhmmss.ss,ddmmyy,llll.llllllll,D, lllll.llllllll,d,ehthh.hhh,m,q*xx 1 UTC time of position fix in hhmmss.ss format 2 UTC date of position fix in ddmmyy format 3 Latitude in ddmm.mmmmmmm format 4 Direction of Latitude, N (North) or S (South) 5 Longitude in dddmm.mmmmmmm format 6 Direction of Longitude, E (East) or W (West) 7 Ellipsoidal height of fix (antenna height above ellipsoid). Must start with EHT. 8 M indicates height is measured in metres 9 GNSS quality indicator: 0: Fix not available or invalid 1: Autonomous GNSS fix 2: DGNSS or Fugro VBS fix 4: RTK Fixed 5: Fugro HP/XP/XP2/G2/G4 or float RTK No Protective Marking Page 3 of 18

5 2.3 DG (DGNSS Receiver Status) Trimble proprietary Identifies the DGNSS receiver channel strength, channel SNR, channel frequency, channel bit rate, channel number, channel tracking status, RTCM source and channel performance indicator for satellite DGNSS. $PTNLDG,SS.S,s.s,f.f,bbbb,ch,ts,R,PI,,,*XX Notes: 1 Channel signal strength, in 1 db V/m. For satellite, this is the ADC input voltage level. 2 Channel signal to noise (SNR) level, in db 3 Channel frequency, in khz. 4 Channel bit rate, in bits per second (bps) 5 Channel number (0-99) 6 Channel tracking status 0: Channel idle 1: Wideband FFT search 2: Searching for signal 3: Channel has acquired signal 4: Channel has locked on signal 5: Channel disabled 7 Specified channel is used as RTCM source 0: Not used 1: Used 8 Channel tracking performance indicator. For satellite, this is the time since last sync, in tenths of seconds ranging from The PTNLDG message fields are defined in free format 2. Leading zeroes in a field are omitted (for example, channel bitrate 25 bps is displayed as xxx,25,xxx instead of xxx,00025,xxx) 3. If a channel is disabled, the channel fields can be null fields (showing commas only). If more than one channel is available, the message should be repeated for each channel No Protective Marking Page 4 of 18

6 2.4 DP (Fugro Positioning Message) proprietary Contains information about the type of positioning system, position, number of satellites and position statistics $PFUGDP,GP,hhmmss.ss,ddmm.mmmmm,D,dddmm.mmmmm,D,sv, QI,DD,lt,ln,dir,ht*XX 1 Type of positioning system (GP = GPS, GL = GLONASS, GA = Galileo, BD = BeiDou GN = GNSS) 2 UTC of Position fix 3,4 Latitude in DDMM,MMMMM format, N (North) or S (South). 5,6 Longitude in DDDMM,MMMMM format, E (East) or W (West). 7 Number of satellites in use 8 DPVOA (UKOOA) Quality indicator (0-9) 1 9 DGNSS mode indicator (as defined for NMEA standard telegram $ GNS) 10 Error ellipse standard deviation semi-major axis, in metres 11 Error ellipse standard deviation semi-minor axis, in metres 12 Direction of the semi-major axis of the error ellipse, in degrees 13 RMS value of the standard deviation of the range inputs to the navigation process 2 Notes: 1. This quality indicator is defined in Guidelines on the use of DGPS as a position reference in DP Control Systems (IMCA M141, dated Oct 1997). Obtainable from: 2. This is the same as the definition in the GST telegram in the NMEA 0183 Standard For Interfacing Marine Electronic Devices (from version 2.20, dated January 1, 1997) See DTM (Datum Reference) Identifies the local datum and the datum offsets from a reference datum that are used for subsequent sentences $--DTM,ccc,a,x.x,a,x.x,a,x.x,ccc*XX 1 Local datum (3 character alpha: W84=WGS84; W72=WGS72; S85=SGS85; P90=PE90; 999=user defined; IHO datum code) 2 Local datum subdivision code (from IHO S-60) or null 3, 4 Latitude offset in positive minutes; N=North, S=South 1 5, 6 Longitude offset in positive minutes; E=East, W=West 1 7 Altitude offset in metres (positive or negative) 1 8 Reference datum (3 character alpha: W84=WGS84; W72=WGS72; S85=SGS85; P90=PE90) Note: When field 1 is 999, fields 3, 4, 5, 6 and 7 may not be null (should contain manually-entered offsets) No Protective Marking Page 5 of 18

7 2.6 GBS (GNSS Satellite Fault Detection) A message used for reporting Receiver Autonomous Integrity Monitoring (RAIM) information $--GBS,hhmmss.ss,x.x,x.x,x.x,xx,x.x,x.x,x.x*XX 1 UTC time of the GGA or GNS fix associated with this sentence, in hhmmss.ss format 2 Expected error in latitude 1 3 Expected error in longitude 1 4 Expected error in altitude 1 5 ID number of the most likely failed satellite 6 Probability of missed detection of the most likely failed satellite 7 Estimate of bias on the most likely failed satellite 1 8 Standard deviation of bias estimate Note: In metres, due to bias, with noise = GGA (GNSS Fix Data) Includes time, position and fix related data for the GNSS receiver. $GPGGA,hhmmss.ss,ddmm.mmmmm,D,dddmm.mmmmm,D,Q,sv,H.H,h.hh,M,h. hh,m,a.aa,drid*xx 1 UTC of Position fix 2,3 Latitude in DDMM,MMMM, N (North) or S (South). 1 4,5 Longitude in DDDMM,MMMM format, E(East) or W (West). 1 6 GNSS Quality Indicator: 0=No GNSS, 1=GNSS, 2=DGNSS (VBS), 4=RTK fixed, 5=HP/XP/G2 or RTK float. 7 Number of Satellites in Use. 8 Horizontal Dilution of Precision (HDOP). 9,10 Height above Mean Sea level in metres, M = metres. 11,12 Geoidal Separation in metres, M = metres Age of Differential GNSS Data Differential Reference Station ID ( ) 4 Notes: 1. The GGA message provides 8 decimal places. In non-differential mode, only the first four decimals are relevant. In (VBS) differential mode, the first five decimals are relevant. In HP/XP/XP2/G2/G4 mode, the first seven decimals are relevant 2. Geoidal Separation is the difference between the WGS-84 Earth ellipsoid and mean-sea-level (MSL) 3. Time in seconds of the age of the used correction Continues overleaf No Protective Marking Page 6 of 18

8 4. For Fugro, the following reference station IDs are valid: 900 Galileo 1009 XP-GPS+GLONASS WCC 901 Galileo+GLONASS 1010 XP- GLONASS 902 Galileo+GPS 1011 XP-GPS+GLONASS NCC 903 Galileo+GPS+GLONASS 1012 G2-GPS 905 Galileo+GPS+GLONASS NCC 1013 G2-GPS+GLONASS WCC 100 VBS 1014 G2-GLONASS 1000 HP (no orbits) 1015 G2-GPS+GLONASS NCC 1001 HP (XP orbits) 1016 HP/XP-GPS 1002 HP (G2 GPS orbits) 1017 HP/XP-GPS+GLONASS WCC 1003 Multiple Source (GPS) 1018 HP/XP-GLONASS 1004 Multiple Source(GPS+GLO) 1019 HP/XP-GPS+GLONASS NCC 1005 Multiple Source (GLONASS) 1020 HP/G2-GPS 1006 SGG(XP) 1021 HP/G2-GPS+GLONASS WCC 1007 SGG(G2) 1022 HP/G2-GLONASS 1008 XP-GPS 1023 HP/G2-GPS+GLONASS NCC Note: NCC = no common clock, WCC = with common clock 2.8 GGK (Time, position, position type, DOP) Trimble proprietary Contains time, position, position type and DOP values $PTNL,GGK,hhmmss.ss,ddmmyy,ddmm.mmmmmm,D, dddmm.mmmmmm,d, Q,sv,P.P,EHTh.hhh,M*XX 1 UTC of position fix, in hhmmss.ss format 2 UTC Date of position in ddmmyy format 3 Latitude in ddmm.mmmmmmm format 4 Direction of latitude (N: North, S: South) 5 Longitude in dddmm.mmmmmmm format 6 Direction of longitude (E: East, W: West) 7 GNSS quality indicator 0: fix not available or invalid 1: Autonomous GNSS fix 2: RTK float solution 3: RTK fix solution 4: Differential, code phase only (DGNSS) solution 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 network solution 9: RTK fixed 2D network solution 10: Fugro HP/XP/G2 solution 11: Fugro VBS solution 12: Location RTK solution 13: Beacon DGNSS 8 Number of satellites used in GNSS solution 9 DOP of fix 10 Ellipsoidal height of fix (antenna height above ellipsoid). Must start with EHT 11 M: Ellipsoidal height is measured in metres No Protective Marking Page 7 of 18

9 2.9 GLL (Geographic position Latitude and Longitude) NMEA0183 and IEC :2010 Contains the latitude and longitude of the present position, the time of the position fix and its status. Note: the GLL sentence may be exported in two variants: IEC :2007 / NMEA0183 IEC :2010 The latter includes an additional field (ID 7 in the table below), the mode indicator. $GPGLL,ddmm.mmmmmmm,D,dddmm.mmmmmmm,D,hhmmss.ss,A,a*XX 1,2 Latitude, N (North) or S (South). 3,4 Longitude, E (East) or W (West). 5 UTC of Position. 6 Status: A = Valid, V = Invalid. 7 Mode indicator 1 : A = Autonomous mode D = Differential mode E = Estimated mode M = Manual input mode S = Simulator mode N = Data not valid Notes: 1. Mode indicator: the 9205 will output a mode indicator value of D when configured to IEC :2010 and HP/XP/XP2/G2/G4 is running. When configured to IEC :2007 the mode indicator will NOT be output (whether HP/XP/XP2/G2/G4 is running or not) 2.10 GNS (GNSS Fix Data) NMEA 0183 and IEC :2010 Provides fix data for GPS, GLONASS, Galileo, BeiDou and possible future satellite systems and systems combining these. This sentence could be used with the talker identification of GP for GPS, GL for GLONASS, GA for Galileo, BD for BeiDou, GN for GNSS combined systems, as well as future identifiers. Note: the GNS sentence may be exported in two variants: NMEA0183 IEC :2010 The latter includes an additional field (ID 13 in the table below) indicating the navigational status. $--GNS,hhmmss.ss,llll.ll,a,yyyyy.yy,a,c c, xx,x.x,x.x,x.x,x.x,x.x,a*xx No Protective Marking Page 8 of 18

10 1 UTC of position fix, in hhmmss.ss format 2,3 Latitude in DDMM.mm format, N/S 4,5 Longitude in DDMM.mm format, E/W 6 Mode indicator 1 7 Total number of satellites in use, 00 to 99 8 HDOP 3 9 Antenna altitude in metres, referred to Mean Sea Level (geoid) 10 Geoidal separation in metres 4 11 Age of differential data 2 12 Differential reference station ID 2 13 IEC :2010 Navigational status indicator. NOT part of the NMEA 0183 standard. According to IEC requirements on Navigational (or Failure) warnings and status indications. This field should not be a NULL field and the character should take one of the following values: S = Safe when the estimated positioning accuracy (95 % confidence) is within the selected accuracy level corresponding to the actual navigation mode, and/or integrity is available and within the requirements for the actual navigation mode, and/or a new valid position has been calculated within 1 S for a conventional craft and 0.5 S for a high speed craft C = Caution when integrity is not available U = Unsafe when the estimated positioning accuracy (95 % confidence) is less than the selected accuracy level corresponding to the actual navigation mode, and/or integrity is available but exceeds the requirements for the actual navigation mode, and/or a new valid position has not been calculated within 1 S for a conventional craft and 0.5 S for a high speed craft V = Navigational status not valid, equipment is not providing navigational status indication Notes: 1. Mode indicator, may not be null. Three or more characters (1 st =GPS, 2 nd =GLONASS, 3 rd =Galileo, 4 th =new system 1, 5 th =new system 2, etc.) The characters should take one of the following values: A = Autonomous. Satellite system used in non-differential mode in position fix D = Differential. Satellite system used in differential mode in position fix E = Estimated (dead reckoning) mode F = Float RTK. Satellite system used in real time kinematic mode with floating integers M = Manual input mode N = No fix. Satellite system not used in position fix, or fix not valid P = Precise. Satellite system used in precision mode. Precision mode is defined as: no deliberate degradation (such as selective availability) and higher resolution code (Pcode) is used to compute position fix. P is also used for satellite system used in multi-frequency, SBAS or Precise Point Positioning (PPP) mode R = Real Time Kinematic. Satellite system used in RTK mode with fixed integers S = Simulator mode Continues overleaf No Protective Marking Page 9 of 18

11 2. Age of differential data and Differential Reference Station ID a) When the talker is GN and more than one of the satellite systems are used in differential mode, then the Age of differential data and Differential reference station ID fields should be null. In this case, the Age of differential data and Differential reference station ID fields should be provided in following GNS sentences with talker IDs of GP, GL, etc. These following GNS messages should have the latitude, N/S, longitude, E/W, altitude, geoidal separation, mode, and HDOP fields null. This indicates to the listener that the field is supporting a previous $GNGNS sentence with the same time tag. The Number of satellites field may be used in these following sentences to denote the number of satellites used from that satellite system. Example: A combined GPS/GLONASS receiver using only GPS differential corrections has the following GNS sentence sent. $GNGNS, , ,N, ,W,DA,14,0.9, ,6.5,5.2,23*59 Example: A combined GPS/GLONASS receiver using both GPS differential corrections and GLONASS differential corrections may have the following three GNS sentences sent in a group. $GNGNS, , ,N, ,W,DD,14,0.9, ,6.5,,*74 $GPGNS, ,,,,,,7,,,,5.2,23*4D $GLGNS, ,,,,,,7,,,,3.0,23*55 The Differential Reference station ID may be the same or different for the different satellite systems. b) Age of Differential Data For GPS Differential Data: This value is the average age of the most recent differential corrections in use. When only RTCM SC104 Type 1 corrections are used, the age is that of the most recent Type 1 correction. When RTCM SC104 Type 9 corrections are used solely, or in combination with Type 1 corrections, the age is the average of the most recent corrections for the satellites used. Null field when Differential GPS is not used. Continues overleaf No Protective Marking Page 10 of 18

12 For GLONASS Differential Data: This value is the average age of the most recent differential corrections in use. When only RTCM SC104 Type 31 corrections are used, the age is that of the most recent Type 31 correction. When RTCM SC104 Type 34 corrections are used solely, or in combination with Type 31 corrections, the age is the average of the most recent corrections for the satellites used. Null field when differential GLONASS is not used. For Galileo Differential Data: This value is the average age of the most recent differential corrections in use. When only RTCM SC104 Type 41 corrections are used, the age is that of the most recent Type 41 correction. When RTCM SC104 Type 42 corrections are used solely, or in combination with Type 41 corrections, the age is the average of the most recent corrections for the satellites used. Null field when differential Galileo is not used. 3. Calculated using all the satellites (GPS, GLONASS, Galileo and any future satellites) used in computing the solution reported in each GNS sentence. 4. Geoidal Separation: the difference between the Earth ellipsoid surface and mean-sealevel (geoid) surface defined by the reference datum used in the position solution, - = mean-sea-level surface below ellipsoid. The reference datum may be specified in the DTM sentence GRS (GNSS Range Residuals) Used to support Receiver Autonomous Integrity Monitoring (RAIM). $GPGRS,hhmmss.ss,R,r.r,r.r,r.r,r.r,r.r,r.r,r.r,r.r, r.r,r.r,r.r,r.r,*xx 1 UTC time 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 to 14 Range residuals for satellites used in the navigation solution, in metres Note: When running in HP or XP mode this NMEA message is not valid 2.12 GSA (GNSS DOP and Active Satellites) Indicates the GNSS receiver s operating mode, lists the satellites used for navigation and the DOP values of the position solution $GPGSA,m,f,sv,sv,sv,sv,sv,sv,sv,sv,sv,sv,sv,sv,P.P, H.H,V.V*XX No Protective Marking Page 11 of 18

13 1 Mode: M = Manual, A = Automatic. 2 Current Mode 1 = Fix not available, 2 = 2D fix, 3 = 3D fix. 3 to 14 PRN numbers of the satellites used in the position solution Position Dilution of Precision (PDOP). 16 Horizontal Dilution of Precision (HDOP). 17 Vertical Dilution of Precision (VDOP) Note: When less than 12 satellites are used, the unused fields are null GST (Position Error Statistics) Used to support Receiver Autonomous Integrity Monitoring (RAIM). $GPGST,hhmmss.ss,S.S,M.M,m.m,ddd.d,y.y,x.x,h.h,*XX 1 UTC time of position fix 2 RMS value of the standard deviation of the range inputs to the navigation process (range inputs include pseudo ranges and DGNSS corrections) 3 Standard deviation of semi-major axis of error ellipse, in metres 4 Standard deviation of semi-minor axis of error ellipse, in metres 5 Orientation of semi-major axis of error ellipse, in degrees from true north 6 Standard deviation of latitude error, in metres 7 Standard deviation of longitude error, in metres 8 Standard deviation of altitude error, in metres 2.14 GSV (GNSS Satellites in View) No. of SVs in view, the PRN numbers, elevation, azimuth and SNR values. $GPGSV,M,S,T,sv,el,azm,snr,sv,el,azm,snr,sv,el,azm, snr,sv,el,azm,snr*xx 1 Total number of sentences of this type in this cycle 2 Sentence number 3 Total number of SVs visible 4 SV PRN number 5 Elevation in degrees, 90 maximum 6 Azimuth, degrees from true north, 000 to SNR, db (null when not tracking) 8 to to to 19 Information about second SV, same format as fields 4-7 Information about third SV, same format as fields 4-7 Information about fourth SV, same format as fields 4-7 No Protective Marking Page 12 of 18

14 2.15 HDT (True Heading) Shows the heading of the antenna, relative to True North $GPHDT,hhh.hhh,T*XX 1 Heading in degrees 2 T: Indicates heading relative to True North 2.16 LLQ (Local Grid and Position Quality Indicator) The 9205-GNSS receiver now supports the Leica proprietary NMEA LLQ message. This message provides local grid position and position quality indicator. This sentence is outside the scope of this document PJK (Local coordinate position output) Trimble proprietary Contains time, date, and position in ENU format $PTNL,PJK,hhmmss.ss,ddmmyy,nnnnnn.nnn,N,eeeeeee.eee, E,Q,sv,DOP,EHTh.hhh,M*XX 1 UTC of position fix, in hhmmss.ss format 2 UTC Date of position in ddmmyy format 3 Northing, in metres 4 Direction of Northing will always be N (North) 5 Easting, in metres 6 Direction of Easting will always be E (East) 7 GNSS quality indicator 0: fix not available or invalid 1: Autonomous GNSS fix 2: RTK float solution 3: RTK fix solution 4: Differential, code phase only (DGNSS) solution 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: Fugro HP/XP/G2 solution 11: Fugro VBS solution 12: Location RTK solution 13: Beacon DGNSS 8 Number of satellites used in GNSS solution 9 DOP of fix 10 Ellipsoidal height of fix (antenna height above ellipsoid). Must start with EHT 11 M: Ellipsoidal height is measured in metres No Protective Marking Page 13 of 18

15 2.18 PJT (Projection type) Trimble proprietary Contains information about the datum and projection used by the receiver $PTNL,PJT,CCCCC,PPPPPP,*XX 1 Coordinate system name (can include multiple words) 2 Projection name (can include multiple coordinates) 2.19 RMC (Recommended Minimum) Time, date, position, course and speed data provided by a GNSS navigation receiver. Transmitted at intervals not exceeding 2 s and may be exported in two variants: NMEA0183 IEC :2010 (the table below includes additional values in the Navigation status indicator field (ID 13) $--RMC,hhmmss.ss,A,ddmm.mmmmm,D,dddmm.mmmmm,D,sss.ss, T.T,DDMMYY,mm.m,D,M,M*XX 1 UTC time of the position fix in hhmmss.ss format 2 Status. A = data valid; V = navigation receiver warning 3, 4 Latitude; N = North, S = South 5, 6 Longitude; W = West, E = East 7 Speed Over Ground (SOG) in knots 8 Track Made Good, True, in degrees 9 Date in ddmmyy format 10 Magnetic Variation in degrees 11 Direction of magnetic variation. E = Easterly variation from True course (subtracts from True course); W = Westerly variation from True course (adds to True course) 12 Positioning system mode indicator A = Autonomous. Satellite system used in non-differential mode in position fix D = Differential. Satellite system used in differential mode in position fix E = Estimated (dead reckoning) mode F = Float RTK. System used in real time kinematic mode with floating integers M = Manual input mode N = No fix. Satellite system not used in position fix, or fix not valid 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. P is also used for satellite system used in multi-frequency, SBAS or No Protective Marking Page 14 of 18

16 Precise Point Positioning (PPP) mode; R = Real time kinematic. Satellite system used in RTK mode with fixed integers S = Simulator mode 13 IEC :2010 Navigational status indicator. NOT part of the NMEA 0183 standard. According to IEC requirements on Navigational (or Failure) warnings and status indications. This field should not be a NULL field and the character should take one of the following values: S = Safe when the estimated positioning accuracy (95 % confidence) is within the selected accuracy level corresponding to the actual navigation mode, and/or integrity is available and within the requirements for the actual navigation mode, and/or a new valid position has been calculated within 1 S for a conventional craft and 0.5 S for a high speed craft C = Caution when integrity is not available U= Unsafe when the estimated positioning accuracy (95 % confidence) is less than the selected accuracy level corresponding to the actual navigation mode, and/or integrity is available but exceeds the requirements for the actual navigation mode, and/or a new valid position has not been calculated within 1 S for a conventional craft and 0.5 S for a high speed craft V = Navigational status not valid, equipment is not providing navigational status indication Note: The positioning system mode indicator field supplements the positioning system status field, the status field should be set to V = Invalid for all values of indicator mode except for A= Autonomous and D = Differential. The positioning system mode indicator and status fields should not be null fields 2.20 ROT (Rate and Direction of Turn) Contains the rate and direction of turn of the receiver $GPROT,dd.d,A*XX 1 Rate of turn, degrees/minutes, indicates bow turns to port 2 A: Active (valid data) V: Void (invalid data) No Protective Marking Page 15 of 18

17 2.21 VGK (Vector information) Trimble proprietary Contains time, date, and vector information (ENU) $PTNL,VGK,hhmmss.ss,ddmmyy,eeee.eee,nnnnn.nnn, uuuu.uuu,q,sv,dop,m*xx 1 UTC of vector, in hhmmss.ss format 2 Date in ddmmyy format 3 East component of vector, in metres 4 North component of vector, in metres 5 Up component of vector, in metres 6 GNSS quality indicator 0: fix not available or invalid 1: Autonomous GNSS fix 2: RTK float solution 3: RTK fix solution 4: Differential, code phase only (DGNSS) solution 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: Fugro HP/XP/G2 solution 11: Fugro VBS solution 12: Location RTK solution 13: Beacon DGNSS 7 Number of satellites used in vector solution 8 DOP of fix 9 M: Vector components are in metres No Protective Marking Page 16 of 18

18 2.22 VHD (Heading information) Trimble proprietary Contains information about azimuth, vertical angle and range and their time derivatives. $PTNL,VHD,hhmmss.ss,ddmmyy,AAA.AAA,aa.aaa,VV.VVV, v.vvv,r.rrr,r.rrr,q,sv,dop*xx 1 UTC of vector, in hhmmss.ss format 2 Date in ddmmyy format 3 Azimuth 4 ΔAzimuth/ΔTime 5 Vertical Angle 6 ΔVertical Angle/ΔTime 7 Range 8 ΔRange/ΔTime 9 GNSS quality indicator 0: fix not available or invalid 1: Autonomous GNSS fix 2: RTK float solution 3: RTK fix solution 4: Differential, code phase only (DGNSS) solution 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: Fugro HP/XP/G2 solution 11: Fugro VBS solution 12: Location RTK solution 13: Beacon DGNSS 10 Number of satellites used in solution 11 PDOP No Protective Marking Page 17 of 18

19 2.23 VTG (Course over Ground and Ground Speed) Identifies the actual track made good and speed over ground. May be exported in two variants: NMEA0183 IEC :2010 (the table below includes additional values in the mode indicator field (ID 9) $GPVTG,t,T,m,M,n.nn,N,k.kk,K,a*XX Note: 1 Track made good (degrees true) 2 Fixed text T shows that track made good is relative to true north 3 Track made good (degrees magnetic) 4 Fixed text M shows that track made good is relative to magnetic north 5 Speed over ground in knots 6 Fixed text N shows that speed over ground is in knots 7 Speed over ground in kilometres/hour 8 Fixed text K shows that speed over ground is in kilometres/hour 9 Mode indicator 1 : A = Autonomous mode D = Differential mode E = Estimated mode M = Manual input mode P = Precise mode S = Simulator mode N = Data not valid Mode indicator: the 9205 will output P (precise mode) when configured to IEC :2010. When configured to IEC :2007 it will not output any mode indication ZDA (Time and Date) Contains UTC, the day, the month and the year of the local time zone $GPZDA,hhmmss.ss,DD,MM,YYYY,lh,lm 1 UTC time in hhmmss.ss format. 2 Day (01 31). 3 Month (01 12). 4 Year. 5 Local time zone offset from GMT (00 to ± 13 hours). 1, 2 6 Local time zone offset from GMT (00 to 59 minutes). 2 Notes: 1. Local time zone offset is the number of whole hours added to local time to obtain UTC. The zone offset is always negative for eastern longitudes 2. s 5 and 6 together yield the total offset from GMT === Doc. ref.: ends No Protective Marking Page 18 of 18