C-Nav 2050M User Manual - page 117
C-Nav2050 User Guide
$GPGRS
This output message is used to support Receiver
Autonomous Integrity Monitoring (RAIM), and is in
compliance with NMEA-0183 Standards version 3.0.
Table D5: GRS Output Format
Example:
$GPGRS,021733.00,0,0.4,1.8,-0.2,-0.3,-0.8,0.2,0.3,0.3,0.9,-0.7,1.1,-0.2 *4C
1
If the range residual exceeds
±99.9 meters, then the
decimal part is dropped, resulting in a integer (-103.7
becomes -103). The maximum value for this field is
±999.
The sense or sign of the range residual is determined
calculation. The
xpected order is:
al = calculated range – measured range.
being sent then
eir order of transmission must match the order of
orresponding GSA sentences. Listeners shall keep
ack of pairs of GSA and GRS sentences and discard
ata if pairs are incomplete.
2
by the order of parameters used in
e
range residu
3
When multiple GRS sentences are
th
c
tr
d
D-7