Veripos HEXAGON LD8 - Page 37

Reference information
LD8 Operations Manual 37
GRS sentences
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
GNSS Constellation: QZSS
GNSS System ID:
5 (GQ)
Signal Channel:
All Signals
L1 C/A
L1C (D)
L1C (P)
L2C-M
L2C-L
Ranging Signal ID:
0
1
2
3
5
6