Veripos LD8 - GRS Sentences

Reference Information
LD8 Operations Manual AB-V-MA-00635_RevA2 32
5.2.9 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
GRS
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
B1Q
B1C
B1A
B2-a
B2-b
B2 a+b
B2l
B2Q
Ranging Signal ID
0
1
2
3
4
5
6
7
B
C
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