144 G12 OEM Board & Sensor Reference Manual
Table 4.70 defines the structure of the RAIM response message.
Example
$PASHR,AIM,NPA,1,10-12,05-20*FF
where:
NPA = non-precision approach mode
1 = error detected and corrected
10-12 = channel 10, satellite 12 excluded
05-20 = channel 5, satellite 20 excluded
CRT: Cartesian Coordinates Message
$PASHS,NME,CRT,x,c,[f]
This command allows you to output the computed Cartesian coordinates and
velocities. Enable or disable the NMEA position response message on output port
x, and c is ON or OFF. f is the optional message output rate ranging from 0.05 to
999 seconds depending on the measurement update rate option installed.
If the receiver is not computing a position, it outputs an empty message.
If the command is set without a period, the G12 uses the period set by the
$PASHS,NME,PER command If the $PASHS,NME,PER command is issued after
this message period has been set, the period resets to the PER setting.
Table 4.70. RAIM Response Message Structure
Field Description
s1 Current RAIM mode (3-character)
OFF - Turns RAIM off
NPA - Non-precision approach, alarm limit is 0.030 nmi
TER - Terminal, alarm limit is 1.00 nmi
ERT - En route, alarm limit is 2.00 nmi
n.nn - user-selectable alarm limit between 0.015 and 4.00 km
d1 Value returned by RAIM gives:
0 - no errors detected
1 - error detected and corrected
2 - error detected, correction not possible
3 - detection not available (lack of satellite or poor geometry)
4 - error detected, rest of satellite set not available
n Number of channel - satellite pairs
d2-d3 Represents a pair of excluded channel and its corresponding satellite, where d2
is the number of the excluded channel and d3 is the number of the
corresponding satellite
G12RevD.book Page 144 Tuesday, April 2, 2002 4:33 PM
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