FixPosition Vision-RTK 2 - Nmea-Gp-Gga_Fusion; Nmea-Gp-Hdt_Fusion

7.3.4. NMEA-GP-GGA_FUSION
This message contains time, date, position (in LLH coordinates), fix quality, number of
satellites, and horizontal dilution of precision (HDOP) data provided by the Fusion output.
Example message:
1 $GPGGA ,151229.4 0 ,47 23.5 4108 , N ,00826.88485 , E ,4 ,12 ,00.98 ,473.5 , M , , ,,*3 A\ r\ n
Example message with non-standard high-precision fields:
1 $GPGGA , 151229. 3999 ,47 23.5410 795 , N ,0082 6.88 48463 , E ,4 ,31 ,00.98 ,473.5368 ,
M , , , ,*0 F\r\n
Message fields:
# Field Format Unit Example Description
1 time hhmmss.ss(ss) - 151229.40
UTC time (hours, minutes and
seconds)
2 lat ddmm.mmmmm(mm) - 4723.54108 Latitude
3 lat_ns Character - N
Latitude north (N) or south (S)
indicator
4 lon dddmm.mmmmm(mm) - 00826.88485 Longitude
5 lon_ew Character - E
Longitude east (E) or west (W)
indicator
6 quality Digit - 4
Quality indicator, 4 (RTK fixed),
5 (RTK float), 1 (no RTK), 6, 0
7 num_sv Decimal - 12
Number of satellites, range 00-
12
8 hdop Float (.2) - 00.98
Horizontal dilution of precision,
range 00.10-99.99
9 alt Float (.1/.4) m 473.5 Altitude (above ellipsoid)
10 alt_unit Character - M Altitude unit, always M (metres)
11 sep - - Geoid separation, always null
12 sep_unit - -
Geoid separation unit, always
null
13 diff_age - -
Age of differential data, always
null
14 diff_sta - - DGPS station ID, always null
Table 7.12.: NMEA-GP-GGA_FUSION message format
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7.3.5. NMEA-GP-HDT_FUSION
This message contains the actual vessel heading (from the Fusion solution) in degrees.
“True” means the geometric North (not the magnetic North). Note that this is not the head-
ing of motion (direction of travel) but the orientation of the sensor. We recommend using
the FP_A-ODOMETRY.orientation_* and FP_A-ODOMETRY.vel_* fields to calculate the
heading of motion. See Appendix C to understand how to extract the heading from the
FP_A-ODOMETRY message.
# Field Format Unit Example Description
1 heading Float (.1.4) deg 61.7 True heading
2 true_ind Character - T Always T
Table 7.13.: NMEA-GP-HDT_FUSION message format
Vision-RTK 2 | Fixposition Positioning Sensor 60