Hexagon Veripos LD8 - 5.2.9 GRS sentence

5.2 LD8 output sentences
5.2.9 GRS sentence
The NMEA GRS sentence provides range residuals for each satellite.
GRS sentence structure & example
$GNGRS, hhmmss.ss, a, b.b, b.b, b.b, b.b, b.b, b.b, b.b, b.b, b.b, b.b, b.b, b.b, ,cc ,dd *67
$GNGRS, 142406.00, 1, -1.1, -0.1, 1.7, 1.2, -2.0, -1.3, 1.3, -0.4, -1.2, -0.2, , , 1, 1, *hh
GRS sentence defined
Field Content
GRS GNSS range residuals
hhmmss.ss UTC time of position
a
Mode (0 = Residuals were used to calculate the position given in the matching GGA or
GNS sentence 1 = Residuals were recomputed after the GGA or GNS position was
computed)
b.b
Range residuals for satellites used in the navigation solution. Order matches order of
PRN numbers in GPGSA.
cc GNSS System ID (see tables below for further explanation).
dd Ranging Signal ID (see tables below for further explanation).
*hh Checksum
GNSS Constellation: GPS
GNSS System ID: 1 (GP)
Signal Channel: All Signals L1 C/A L1 P(Y) L2 P(Y) L2C-M L2C-L
Ranging Signal ID: 0 1 2 3 4 5
GNSS Constellation: GLONASS
GNSS System ID: 2 (GL)
Signal Channel: All Signals L1 C/A L1 P L2 C/A L2 P
Ranging Signal ID: 0 1 2 3 4
GNSS Constellation: Galileo
GNSS System ID: 3 (GA)
Signal Channel: All Signals E5a E5b E5a+b E6-A E6-BC
Ranging Signal ID: 0 1 2 3 4 5
GNSS Constellation: BeiDou
GNSS System ID: 4 (BD)
Signal Channel: All Signals B1I B1C B1A B2-a B2-b B3l B3Q B3A
Ranging Signal ID: 0 1 3 4 5 6 8 9 A
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LD8 Operations Manual