132 G12 OEM Board & Sensor Reference Manual
$PASHS,MSV,1
PBN: Raw Position Data
$PASHS,RAW,PBN,[c1],s2,[f1]
This command enables or disables the position data (PBN) messages, where c1
is port A, B or C (optional port), s2 is ON or OFF, and f1 is the optional numeric
output interval setting supporting a range of 0.05 to 999 seconds, depending upon
the measurement update rate option installed.
$PASHQ,PBN,[c1]
This command queries raw position data, where c1 is the optional port designator
for the response. If a port is not specified, the receiver sends the response to the
current port.
$PASHR,PBN
The PBN message contains raw position data, including the time at which the data
was received, antenna position, antenna velocity, receiver clock offset, and PDOP.
The message is output in the format:
$PASHR,PBN,<Raw Position Data + Checksum>
Table 7.64 defines the message format.
DEFAULT SETTING
MSV 3
Table 7.64. PBN Data String
Field Bytes Content
long rcvtime 4 Signal received time in milliseconds of week of GPS time. This is the
time tag for all measurements and position data
char sitename 4 4 character string (user entered)
double navx 8 X coordinate of the antenna position (ECEF) in meters
double navy 8 Antenna position ECEF y coordinate in meters
double navz 8 Antenna position ECEF z coordinate in meters
float navt 4 Receiver clock offset in meters
float navxdot 4 The antenna x velocity in meters per second
float navydot 4 The antenna y velocity in meters per second
G12RevD.book Page 132 Tuesday, April 2, 2002 4:33 PM
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