Appendix-17
NOTE 3 System ID identifies the GNSS System ID according to the Table below. Note that legacy numbering
system as above should remain in effect.
NOTE 4 GNSS Signal ID identifies the GNSS Signal ID according to the Table below.
・GRS – GNSS range residuals
$--GRS, hhmmss.ss,x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,h,h *hh<CR><LF>
1
2 3 4 5
1：UTC time of the GGA or GNS fix associated with this sentence
2：Mode: 0 = residuals were used to calculate the position given in the matching GGA or GNS
sentence
1 = residuals were re-computed after the GGA or GNS position was computed
3：Range residuals for satellites used in the navigation solution (see Notes 1 and 2)
Order should match order of satellite ID (see Note 3) numbers in GSA.
When GRS is used, GSA and GSV are generally required. Null for unused fields
4：GNSS System ID (see Note 3)
5：Signal ID (see Note 4)
NOTE 1 If the range residual exceeds ±99,9 m, then the decimal part is dropped, resulting in an integer (–103,7
becomes –103). The maximum value for this field is ±999.
NOTE 2 The sense or sign of the range residual is determined by the order of parameters used in the calculation.
The expected order is as follows: range residual = calculated range - measured range.
NOTE 3 When multiple GRS sentences are being sent then their order of transmission should match the order of
corresponding GSA sentences. Listeners should keep track of pairs of GSA and GRS sentences and discard data if
pairs are incomplete.
NOTE 4 Signal ID identifies the actual ranging signal according to the Table below.
NOTE 5 System ID, see Table below.
・GST – GNSS pseudorange noise statistics
$--GST, hhmmss.ss, x.x, x.x, x.x, x.x, x.x, x.x, x.x*hh<CR><LF>
1
2 3 4 5 6 7 8
1：UTC time of the GGA or GNS fix associated with this sentence
2：RMS value of the standard deviation of the range inputs to the
navigation process. Range inputs include pseudoranges and DGPS corrections
3：Standard deviation of semi-major axis of error ellipse (m)
4：Standard deviation of semi-minor axis of error ellipse (m)
5：Orientation of semi-major axis of error ellipse (degrees from true north)
6：Standard deviation of latitude error (m)
7：Standard deviation of longitude error (m)
8：Standard deviation of altitude error (m)
・ZDA – Time and date
$--ZDA, hhmmss.ss, xx, xx, xxxx, xx, xx*hh<CR><LF>
1
2 3 4 5 6
1：UTC
2：Day, 01 to 31 (UTC)
3：Month, 01 to 12 (UTC)
4：Year (UTC)
5：Local zone hours(see Note), 00 h to ±13 h
6：Local zone minutes (see Note), 00 to +59
NOTE Local time zone is the magnitude of hours plus the magnitude of minutes added, with the sign of local zone
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