177
Commands
RRE: Satellite Range Residuals and Position Error
$PASHS,NME,RRE,x,c,[f]
Enable/disable satellite residual and position error message to port x, where x is
the output port, and c is ON or OFF, and f is the optional message output rate
ranging from 0.05 to 999 seconds depending on the measurement update rate
option installed.
The G12 does not output this message unless it computes a position.
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.
Example
Enter the following command to enable RRE message on port A.
$PASHS,NME,RRE,A,ON
$PASHQ,RRE,[c1]
This command allows you to query for the RRE message, where c1 is the optional
port designator for the output of the response. If a port is not specified, the receiver
sends the response to the current port.
$GPRRE
This message contains residual error values for the each pseudorange
measurement and RMS values for horizontal and vertical position error. The RRE
message is not output unless positions are being computed. Residual errors and
position errors are computed only if a minimum of 5 locked satellite’s are used to
compute position; otherwise zero values are registered in the data fields. The
message is output in the format:
$GPRRE,d1,((d2,f1)*d1),f2,f3*hh
Table 4.103 defines the message format.
The data fields for PRN number (d2) and residual range error (f1) are repeated for
each locked satellite, with the d1 value acting as a multiplier.
Table 4.103. $GPRRE Message Format
Parameter Description Range
d1 The number of satellites used to compute position 0 - 12
d2 PRN number for each of the satellites used in the position
computation
1 - 32
f1 Magnitude of the residual range error (meters) for each
satellite used in the position computation
-999.9 to +999.9
G12RevD.book Page 177 Tuesday, April 2, 2002 4:33 PM
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