JRC NMEA Packet User Manual
Contents
1. wnmann 13 2 Output Data Format GPS Receiver to Host 14 2 1 GGA Global positioning system fix data 14 2 2 GLL Latitude and longitude with time of position fix and status 15 2 3 GSA GPS DOP and Active Satellites 15 2 4 GSV GPS Satellites in View 16 2 5 RMC Recommended Minimum data 16 2 6 VTG Couse over ground and Ground speed 17 Appendix A Datum iia WA aa 18 Appendix B Pinning function wewnwns 25 Appendix C Extrapolating Positioning 25 2009 6 25 Page 3 of 25 JRC NMEA Packet User Manual PRELIMINARY SUBJECT TO CHANGE WITHOUT NOTICE JRC CONFIDENSHIAL NO DISCLOSURE 1 Input Data Format Host to GPS Receiver Preamble TalkerID PktType DataField ka CHK1 CHK2 CR LF Packet Length The maximum length of each packet is restricted to 255 bytes Packet Contents Preamble One byte character 9 3 TalkerID Four bytes character string PJIRC PktType Three bytes character string From 000 to 999 An identifier used to tell the decoder how to decode the packet DataField The DataField has variable length depending on the packet type2. Page 16 of 25 JRC NMEA Packet User Manual PRELIMINARY SUBJECT TO CHANGE WITHOUT NOTICE D Differential E Estimated N Data not valid 2 6 VTG Couse over ground and Ground speed GPVTG XXX XX T My XXX Ny X XX Kj a hh lt CR gt lt LF gt 1 2345 67 89 Example GPVTG 20 72 T M 9 52 N 17 64 K D 35 Forward Direction degree T True Fixed field null M Magnetic Fixed field Speed N knots Fixed field Speed K km h Fixed field Mode Indicator ow ON DUM PWN A Autonomous D Differential E Estimated N Data not valid 2009 6 25 Page 17 of 25 JRC CONFIDENSHIAL NO DISCLOSURE JRC NMEA Packet User Manual PRELIMINARY SUBJECT TO CHANGE WITHOUT NOTICE JRC CONFIDENSHIAL NO DISCLOSURE Appendix A Datum List No Datum Region WGS1984 International 1 Tokyo Japan 2 Tokyo Mean For Japan South Korea Okinawa 3 User Setting User Setting 4 Adindan Burkina Faso 5 Adindan Cameroon 6 Adindan Ethiopia 7 Adindan Mali 8 Adindan Mean For Ethiopia Sudan 9 Adindan Senegal 19 Adindan Sudan 11 Afgooye Somalia 12 Ain El Abd1979 Bahrain 13 Ain El Abd1970 Saudi Arabia 14 American Samoa1962 American Samoa Islands 15 Anna 1 Astro1965 Cocos Island 16 Antigua Island Astro1943 Antigua Leeward Islands 17 Arc1959 Botswana 18 Arc1959 Burundi 19 Arc1958 Lesotho 20 Arc1959 Malawi MN
3. A comma symbol must be inserted ahead each data filed to help the decoder process the DataField 1 byte character The star symbol is used to mark the end of DataField CHK1 CHK2 Two bytes character string CHK1 and CHK2 are the checksum of the data between Preamble and CR LF Two bytes binary data The two bytes are used to identify the end of a packet Sample Packet PJRC000 32 lt CR gt lt LF gt JRC NMEA Packet Protocol In order to inform the sender whether the receiver has received the packet an acknowledge packet PJRC ACK should return after the receiver receives a packet 2009 6 25 Page 4 of 25 JRC NMEA Packet User Manual PRELIMINARY SUBJECT TO CHANGE WITHOUT NOTICE 1 1 Packet Type 000 PJRC TEST Packet Meaning Test Packet DataField None Example PIRC G G 3B lt CR gt lt LF gt 1 2 Packet Type 001 PJRC ACK Packet Meaning Acknowledge of PJRC command DataField PJRC 1 Cmd Flag JRC CONFIDENSHIAL NO DISCLOSURE Cmd The command packet type the acknowledge responds Flag Invalid command packet 1 Unsupported command packet type 2 Valid command packet but action failed 3 Valid command packet and action succeeded Example PJRCOO1 604 3 3B lt CR gt lt LF gt 1 3 Packet Type 010 PJRC SYS MSG Packet Meaning Output system message DataField Msg The system message 9 UNKNOWN 1 STARTUP Example PIRC 1 01 27 lt CR
4. Jorge Terceria 77 Guam1963 Guam 78 Gunung Segara Indonesia Kalimantan 79 Gux 1 Astro Guadalcanal Island 80 Herat North Afghanistan 81 Hermannskogel Datum Croatia Serbia Bosnia Herzegoivna 82 Hjorsey 1955 Iceland 83 Hongkong 1963 Hongkong 84 Hu Tzu Shan Taiwan 85 Indian Bangladesh 86 Indian India Nepal 87 Indian Pakistan 88 Indian 1954 Thailand 89 Indian 1960 Vietnam Con Son Island 98 Indian 1960 Vietnam Near 16 deg N 91 Indian 1975 Thailand 92 Indonesian 1974 Indonesian 93 Ireland 1965 Ireland 94 ISTS 61 Astro 1968 South Georgia Islands 95 ISTS 073 Astro 1969 Diego Garcia 96 Johnston Island 1961 Johnston Island 97 Kandawala Sri Lanka 98 Kerguelen Island 1949 Kerguelen Island 99 Kertau 1948 West Malaysia and Singapore 199 Kusaie Astro 1951 Caroline Islands 101 Korean Geodetic System South Korea 2009 6 25 Page 20 of 25 JRC NMEA Packet User Manual PRELIMINARY SUBJECT TO CHANGE WITHOUT NOTICE JRC CONFIDENSHIAL NO DISCLOSURE 102 LC5 Astro 1961 Cayman Brac Island 103 Leigon Ghana 104 Liberia 1964 Liberia 105 Luzon Philippines Excluding Mindanao 106 Luzon Philippines Mindanao 107 M Poraloko Gabon 108 Mahe 1971 Mahe Island 109 Massawa Ethiopia Eritrea 11 Merchich Morocco 111 Midway Astro 1961 Midway Islands 112 Minna Cameroon 11
5. 21050 Mean For Botswana Lesotho Malawi Swaziland Zaire Zambia Zimbabwe 22 Arc1959 Swaziland 23 Arc1959 Zaire 24 Arc1959 Zambia 25 Arc1959 Zimbabwe 26 Arc1969 Mean For Kenya Tanzania 27 Arc1969 Kenya 28 Arc1960 Tamzamia 29 Ascension Island1958 Ascension Island 38 Astro Beacon E 1945 Iwo Jima 31 Astro Dos 71 4 St Helena Island 2009 6 25 Page 18 of 25 JRC NMEA Packet User Manual PRELIMINARY SUBJECT TO CHANGE WITHOUT NOTICE JRC CONFIDENSHIAL NO DISCLOSURE 32 Astro Tern Island FRIG 1961 Tern Island 33 Astronomical Station 1952 Marcus Island 34 Australian Geodetic 1966 Australia Tasmania 35 Australian Geodetic 1984 Australia Tasmania 36 Ayabelle Lighthouse Djibouti 37 Bellevue IGN Efate and Erromango Islands 38 Bermuda 1957 Bermuda 39 Bissau Guuinea Bissau 49 Bogota Observatory Colombia 41 Bukit Rimpah Indonesia Bangka and Belitung Ids 42 Camp Area Astro Antarctica McMurdi Camp Area 43 Campo Inchauspe Argentina 44 Canton Astro1966 Phoenix Island 45 Cape South Africa 46 Cape Canaveral Bahamas Florida 47 Carthage Tunisia 48 Chatham Island Astro1971 New Zealand Chatham Island 49 Chua Astro Paraguay 50 Corrego Alegre Brazil 51 Dabola Guinea 52 Deception Island Deception Island Antarctia 53 Djakarta Batavia Indonesia Sumatra
6. 54 Dos 1968 New Georgia Islands Gizo Island 55 Easter Island 1967 Easter Island 56 Estonia Coordinate System1937 Estonia 57 European 1950 Cyprus 58 European 1950 Egypt 59 European 1959 England Channel Islands Scotland Shetland Islands 69 European 1959 England Ireland Scotland Shetland Islands 61 European 1959 Finland Norway 62 European 1950 Greece 63 European 1959 Iran 64 European 1950 Italy Sardinia 65 European 1950 Italy Slcily 66 European 1959 Malta 67 European 1950 Mean For Austria Belgium Denmark Finland France W Germany Gibraltar Greece Italy Luxembourg Netherlands 2009 6 25 Page 19 of 25 JRC NMEA Packet User Manual PRELIMINARY SUBJECT TO CHANGE WITHOUT NOTICE JRC CONFIDENSHIAL NO DISCLOSURE Norway Portuga l Spain Sweden Switzerland 68 European 1950 Mean For Austria Debnmark France W Germany Netherland Switzerland 69 European 1950 Mean For Irag Israel Jordan Lebanon Kuwait Saudi Arabia Syria 78 European 1959 Portugal Spain 71 European 1959 Tunisia 72 European 1979 Mean For Austria Finland Netherlands Norway Spain Sweden Switzerland 73 Fort Thomas 1955 Nevis St Kitts Leeward Islands 74 Gan 1970 Republic Of Maldives 75 Geodetic Dataum 1979 New Zealand 76 Graciosa Base SW1948 Azores Faial Graciosa Pico Sao
7. 9 update null field when DGPS is not used 2009 6 25 Page 14 of 25 JRC NMEA Packet User Manual PRELIMINARY SUBJECT TO CHANGE WITHOUT NOTICE JRC CONFIDENSHIAL NO DISCLOSURE 14 DGPS Reference Station ID null field when DGPS is not used 2 2 GLL Latitude and longitude with time of position fix and status GPGLL ddmm mmmm a dddmm mmmm a hhmmss sss a a hh lt CR gt lt LF gt 1 2 3 45 67 Example GPGLL 3541 2891 N 13934 2581 E 055351 615 V N 47 Latitude degree minute N S Indicator N north or S south Longitude degree minute E W Indicator E east or W west UTC Time hour minute second Status nu A U N e A Valid V Invalid 7 Mode Indicator A Autonomous D Differential E Estimated DR N Data not valid 2 3 GSA GPS DOP and Active Satellites GPGSA a X XX XX XX XX XX XX XX XX XX XX XX XX XX XX XXX XX XX hh lt CR gt lt LF gt 123 45 6 7 8 9 10 11 12 13 14 15 16 17 Example GPGSA A 3 24 27 15 04 26 02 08 10 07 2 04 0 87 1 84 0D 1 Receiver Mode M Manual 2 or 3 dimension A AUTO 2 Position Mode 1 Fix not available 2 2D 3 3D 3 14 Satellite PRN No null for no satellite in case of less than 12 satellites 15 PDOP Position Dilution of precision 16 HDOP Horizontal Dilution of precision 17 DOP Vertical Dilution of precision 2009 6 25 Page 15 of 25 JRC NMEA Packet User Manual PRELIMINARY SUBJECT TO CHANGE WITHOUT NOTICE JRC CONFIDENSHIAL NO DISCLO
8. A for the supported datum list 2009 6 25 Page 9 of 25 JRC NMEA Packet User Manual PRELIMINARY SUBJECT TO CHANGE WITHOUT NOTICE JRC CONFIDENSHIAL NO DISCLOSURE The typical value is WGS84 1 Tokyo M 2 Tokyo A Example PIRC390 1 1 38400 1 1 1 1 1 1 1 0 0 2 9600 2 lt CR gt lt LF gt 1 16 Packet Type 400 PJRC API Q FIX CTL Packet Meaning API Query Fix Ctl DataField None Return PJRC DT FIX CTL Example PIRC40 3F lt CR gt lt LF gt 1 17 Packet Type 401 PJRC API Q DGPS MODE Packet Meaning API Query Dgps Mode DataField None Return PJRC DT DGPS MODE Example PIRC4 1 3E lt CR gt lt LF gt 1 18 Packet Type 413 PJRC API Q SBAS ENABLED Packet Meaning API Query Sbas Enabled DataField None Return PJRC DT SBAS ENABLED Example PIRC413 3D lt CR gt lt LF gt 1 19 Packet Type 414 PJRC API Q NMEA OUTPUT Packet Meaning API Query NMEA Out Query current NMEA sentence output frequencies DataField None Return 2009 6 25 Page 10 of 25 JRC NMEA Packet User Manual PRELIMINARY SUBJECT TO CHANGE WITHOUT NOTICE JRC CONFIDENSHIAL NO DISCLOSURE PJRC DT NMEA OUTPUT Example PIRC414 3A lt CR gt lt LF gt 1 29 Packet Type 430 PJRC API Q DATUM Packet Meaning API Query Datum Query default datum DataField None Return PJRC DT DATUM Example PIRC43 3C lt CR gt lt LF gt 1 21 Packet Type 431 PJRC API Q DATUM ADVANCE Packet Meaning API Query Datum Advance Query
9. DATUM ADVANCE 9 1 15 Packet Type 390 PJRC API SET USER OPTION 9 1 16 Packet Type 400 PJRC API Q FIX CTL wemnnn 19 1 17 Packet Type 401 PJRC API Q DGPS MODE cee cece ee eeee eens 19 1 18 Packet Type 413 PJRC API Q SBAS ENABLED 10 1 19 Packet Type 414 PJRC API Q NMEA OUTPUT wnan 19 1 20 Packet Type 430 PJRC API Q DATUM 11 1 21 Packet Type 431 PJRC API Q DATUM ADVANCE 11 1 22 Packet Type 490 PJRC API GET USER OPTION 11 1 23 Packet Type 500 PJRC DT FIX CTL ewmnnn 11 1 24 Packet Type 501 PJRC DT DGPS MODE 12 1 25 Packet Type 513 PJRC DT SBAS ENABLED cceccceeeceeeeees 12 1 26 Packet Type 514 PJRC DT NMEA OUTPUT 12 1 27 Packet Type 530 PJRC DT DATUM ccc ccc ceeccceeeeeeeeeeeeneees 12 2009 6 25 Page 2 of 25 JRC NMEA Packet User Manual PRELIMINARY SUBJECT TO CHANGE WITHOUT NOTICE JRC CONFIDENSHIAL NO DISCLOSURE 1 28 Packet Type 590 PJRC DT FLASH USER OPTION 13 1 29 Packet Type 605 PJRC O RELEASE ewnmnnn 13 1 30 Packet Type 705 PJRC DT RELEASE
10. refer to PJRC API SET NMEA OUTPUT for the Supported NMEA Sentences and Frequency Setting Example PIJRC514 1 1 1 1 1 5 1 1 1 1 1 1 0 1 1 1 1 1 1 23 lt CR gt lt LF gt 1 27 Packet Type 530 PJRC_DT_DATUM Packet Meaning Current datum used DataField PJRC530 Datum 2009 6 25 Page 12 of 25 JRC NMEA Packet User Manual PRELIMINARY SUBJECT TO CHANGE WITHOUT NOTICE JRC CONFIDENSHIAL NO DISCLOSURE Datum WGS84 1 TOKYO M 2 TOKYO A Example PIRC53 21 lt CR gt lt LF gt 1 28 Packet Type 590 PJRC DT FLASH USER OPTION Packet Meaning The user setting in the flash memory DataField There are totally 11 data fields that present the followings 1 Available number of times for recording the user setting 2 Update Rate 1 5 3 NMEA baud rate in bps 4 11 NMEA sentence output period GLL RMC VTG GSA GSV GGA ZDA MCHN 12 Datum 13 DGPS mode disable 1 RTCM 2 SBAS 14 RTCM baud rate in bps Example PJRC590 0 1 9600 1 1 0 1 5 1 0 0 0 2 9600 31 lt CR gt lt LF gt 1 29 Packet Type 605 PJRC_Q RELEASE Packet Meaning Query the firmware release information DataField NONE Return PJRC DT RELEASE Example PIRC6 5 38 lt CR gt lt LF gt 1 39 Packet Type 705 PJRC DT RELEASE Packet Meaning Firmware release information DataField PJRC7 5 ReLeaseStr ModeLID ReleaseStr Firmware release name and version ModelID Model ID Example PIRC7 5 Mcore_1 3 000 1C lt CR gt lt LF gt 20
11. 09 6 25 Page 13 of 25 JRC NMEA Packet User Manual PRELIMINARY SUBJECT TO CHANGE WITHOUT NOTICE JRC CONFIDENSHIAL NO DISCLOSURE 2 Output Data Format GPS Receiver to Host DDMMYY Fixed length Date hhmmss sss Fixed length Time ddmm mmmm Fixed length Latitude dddmm mmmm Fixed length Longitude a Character u Sign 4 sign is null XX X numeric Variable length decimal place is Fixed M Units Meters or Magnetic Fixed field True Fixed field Units knots Fixed field K Units km h Fixed field hh hexadecimal checksum lt CR gt lt LF gt Carrige Return and Line Feed 2 1 GGA Global positioning system fix data GPGGA hhmmss sss ddmm mmmm a dddmm mmmm a x XX XX XX UXX X M UXX X M XXXX XXXX hh lt CR gt lt LF gt 1 2 34 567 8 9 10 11 12 13 14 Example GPGGA 040308 000 3539 2655 N 13944 7176 E 2 9 0 85 6 9 M 39 4 M 0000 0000 51 UTC Time hour minute second Latitude degree minute N S Indicator N north or S south Longitude degree minute E W Indicator E east or W west GPS Quality Indicator No Fix Invalid 1 Standard GPS 2D 3D 2 Differential GPS 6 Estimated DR Fix Number of satellites for positioning to 12 nu A U N Be HDOP Horizontal Dilution of precision 9 Antenna Altitude above below mean sea level 10 Units meters 11 Geoidal separation 12 Units meters 13 Age of differential GPS data time in seconds since last SC104 1 or
12. 3 Minna Nigeria 114 Montserrat Island Astro 1958 Montserrat Leeward Island 115 Nahrwan Oman Masirah Island 116 Nahrwan Saudi Arabia 117 Nahrwan United Arab Emirates 118 Naparima BWI Trinidad and Tobago 119 North American 1927 Alaska Excluding Aleutian Ids 12 North American 1927 Alaska Aleutian Ids East of 180 degW 121 North American 1927 Alaska Aleutian Ids West of 180 degW 122 North American 1927 Bahamas Except San Salvador Islands 123 North American 1927 Bahamas San Salvador Islands 124 North American 1927 Canada Alberta British Columbia 125 North American 1927 Canada Manitoba Ontario 126 North American 1927 Canada New Brunswick Newfoundland Nova Scotia Qubec 127 North American 1927 Canada Northwest Territories Saskatchewan 128 North American 1927 Canada Yukon 129 North American 1927 Canal Zone 130 North American 1927 Cuba 131 North American 1927 Greenland Hayes Peninsula S North American 1927 Mean For Antigua Barbados Barbuda Caicos Islands Cuba Dominican Grand Cayman Jamaica Turks Islands SN North American 1927 Mean For Belize Costa Rica El Salvador Guatemala Honduras Nicaragua 134 North American 1927 Mean For Canada 135 North American 1927 Mean For Conus SN North American 1927 Mean For Conus East of Mississippi River Including Louisiana Missouri Minnesota 2009 6 25 Page 21 of 25 JRC NMEA Packet User Manual PRELIMINARY S
13. JRC NMEA Packet User Manual PRELIMINARY SUBJECT TO CHANGE WITHOUT NOTICE JRC CONFIDENSHIAL NO DISCLOSURE JRC NMEA Packet User Manual JRC Co Ltd 2009 6 25 Page 1 of 25 JRC NMEA Packet User Manual PRELIMINARY SUBJECT TO CHANGE WITHOUT NOTICE JRC CONFIDENSHIAL NO DISCLOSURE 1 Input Data Format Host to GPS Receiver 4 1 1 Packet Type 000 PIRC_TEST 5 1 2 Packet Type 001 PIRC ACK lt 0 wees corse fee OK 8G PHELAN ESE by REE ES 5 1 3 Packet Type 010 PJRC SYS MSG 5 1 4 Packet Type 101 PJRC CMD HOT START 5 1 5 Packet Type 102 PJRC CMD WARM _START cecccceeeceeeeeeeeeneeees 6 1 6 Packet Type 103 PJRC CMD COLD START cecccceeeceeeeeeeeeeeeees 6 1 7 Packet Type 104 PJRC CMD FULL COLD START 6 1 8 Packet Type 251 PJRC SET NMEA BAUDRATE ceecceeeeeeeeeeeees 6 1 9 Packet Type 300 PJRC API SET FIK CTL ewns 7 1 10 Packet Type 301 PJRC API SET DGPS MODE 7 1 11 Packet Type 313 PJRC API SET SBAS ENABLED 7 1 12 Packet Type 314 PJRC API SET NMEA OUTPUT 7 1 13 Packet Type 330 PJRC API SET DATUM 8 1 14 Packet Type 331 PJRC API SET
14. LOSURE Set default datum DataField PJRC33 Datum Datum WGS84 1 TOKYO M 2 TOKYO A Support 219 different datums The total datums list in the Appendix A Example PJRC330 27 lt CR gt lt LF gt 1 14 Packet Type 331 PJRC_API_SET_DATUM_ADVANCE Packet Meaning API_Set_Datum_Advance Set user defined datum DataField PIRC331 majA ecc dX dY dZ majA User defined datum semi major axis m ecc User defined datumeccentric m dX User defined datum to WGS84 X axis offset m dY User defined datum to WGS84 X axis offset m dZ User defined datum to WGS84 X axis offset m Example PIRC331 6377397 155 299 1528128 148 0 507 0 685 0 1F lt CR gt lt LF gt 1 15 Packet Type 390 PJRC API SET USER OPTION Packet Meaning API Set Flash User Option Write the user setting to the flash to override the default setting Makimum 8 times without erase the chip This feature may not be available DataField PJRC390 Lock Update Rate Baud Rate GLL Period RMC Period VTG Period GSA Period GSV Period GGA Period ZDA Period MCHN Period Datum DGPS Mode RTCM Baud Rate Lock nonzero freeze the setting allow further setting Update Rate 1 5 Hz Baud Rate 115200 57600 38400 19200 14400 9600 4800 RTCM Baud Rate 115200 57600 38400 19200 14400 9600 4800 XXX_Period NMEA sentence output period DGPS Mode 8 disable 1 RTCM 2 SBAS Datum We support more than 200 datum Please refer to Appendix
15. MC GPVTG GPGGA GPGSA GPGSV Please Please Please Please Please Please Please Please Please Please Please interval interval interval interval interval interval always always always always always always always always always always always set set set set set set set set set set set JRC CONFIDENSHIAL NO DISCLOSURE Geographic Position Latitude longitude Recomended Minimum Specific GNSS Sentence Course Over Ground and Ground Speed GPS Fix Data GNSS DOPS and Active Satellites GNSS Satellites in View OO OOD 0 0 0 00 GPZDA interval Time amp Date Please always set 9 Supported Frequency Setting UU R WN FP Disabled or Output once Output once Output once Output once Output once Example not supported sentence every one position fix every two position fixes every three position fixes every four position fixes every five position fixes PJRC314 1 1 1 1 1 5 1 1 1 1 1 0 0 0 0 0 0 1 0 25 lt CR gt lt LF gt This command set GLL output frequency to be outputting once every 1 position fix and RMC to be outputting once every 1 position fix and so on You can also restore the system default setting via issue PJRC314 1 D lt CR gt lt LF gt 1 13 Packet Type 330 PJRC API SET DATUM Packet Meaning API_Set_Datum 2009 6 25 Page 8 of 25 JRC NMEA Packet User Manual PRELIMINARY SUBJECT TO CHANGE WITHOUT NOTICE JRC CONFIDENSHIAL NO DISC
16. RY SUBJECT TO CHANGE WITHOUT NOTICE JRC CONFIDENSHIAL NO DISCLOSURE Appendix B Pinning function Pinning function is a special filter for car When user moves low speed Speed can select No function 0 2 0 4 0 6 0 8 1 0 1 5 m s the position is kept constant The speed is determined for each firmware and it cannot change Please select m s No function when user use to human ship etc It continue low speed long time Speed can set using following command If VBU Backup power will be lost the settings will revert to default Command PJRC397 speed checksum lt CR gt lt LF gt speed 9 2 0 4 0 6 0 8 1 0 1 5 Example PIRC397 2A lt CR gt lt LF gt PIRC397 1 5 3 lt CR gt lt LF gt Appendix C Extrapolating Positioning If the receiver no longer position fix it keeps fix track speed and heading are kept to the last calculated until the Timeout 9 s is reached The position is extrapolated It s indicated as Estimated DR 2009 6 25 Page 25 of 25
17. SURE 2 4 GSV GPS Satellites in View GPGSV X X XX XX XX XXX XX XX XX XXX XX XX XX XXX XX XX XX XXX XX hh lt CR gt lt LF gt 123 45 6 7 8 9 10 1112 13 14 15 16 17 18 19 Example GPGSV 4 1 13 10 66 045 42 26 61 268 36 27 57 151 31 15 56 265 32 75 GPGSV 4 2 13 24 54 299 39 42 48 179 39 08 38 058 34 02 33 163 32 73 GPGSV 4 3 13 29 18 268 24 21 13 318 07 06 036 18 28 04 101 7C GPGSV 4 4 13 09 04 199 47 Total number of GSV message Current number of GSV message Number of visible satellites PRN No of 1st satellite Elevation of 1st satellite 0 90 degree Direction of 1st satellite 0 359 degree 7 C No of 1st satellite 99 dBHz null when not tracking 8 11 Data of 2nd satellite same order as field 4 7 12 15 Data of 3rd satellite same order as field 4 7 16 19 Data of 4th satellite same order as field 4 7 nu BF WN BR 2 5 RMC Recommended Minimum data GPRMC hhmmss sss a ddmm mmmm a dddmm mmmm a x XX XX XX DDMMYY a hh lt CR gt lt LF gt 1 2 3 45 6 7 8 9 10 11 12 Example GPRMC 040004 000 A 3539 4637 N 13944 8084 E 0 00 315 14 190309 D 6E UTC Time hour minute second Status A Valid V Invalid Latitude degree minute N S Indicator N north or S south Longitude degree minute 3 4 5 6 E W Indicator E east or W west 7 Speed knots 8 Forward Direction degree 9 UTC Date day month year 10 null 11 null 12 Mode Indicator A Autonomous 2009 6 25
18. UBJECT TO CHANGE WITHOUT NOTICE JRC CONFIDENSHIAL NO DISCLOSURE 137 North American 1927 Mean For Conus West of Mississippi Rive Excluding Louisiana Minnesota Missouri 138 North American 1927 Mexico 139 North American 1983 Alaska Excluding Aleutian Ids 149 North American 1983 Aleutian Ids 141 North American 1983 Canada 142 North American 1983 Conus 143 North American 1983 Hahawii 144 North American 1983 Mexico Central America 145 North Sahara 1959 Algeria 146 Observatorio Meteorologico 1939 Azores Corvo and Flores Islands 147 Old Egyptian 1907 Egypt 148 Old Hawaiian Hawaii 149 Old Hawaiian Kauai 150 Old Hawaiian Maui 151 Old Hawaiian Mean For Hawaii Kauai Maui Oahu 152 Old Hawaiian Oahu 153 Oman Oman Ordnance Survey Great Britian 154 England 1936 Ordnance Survey Great Britian 155 England Isle of Man Wales 1936 WA Ordnance Survey Great Britian Mean For England Isle of Man Scotland Shetland Island 1936 Wales Ordnance Survey Great Britian 157 Scotland Shetland Islands 1936 Ordnance Survey Great Britian 158 Wales 1936 159 Pico de las Nieves Canary Islands 169 Pitcairn Astro 1967 Pitcairn Island 161 Point 58 Mean For Burkina Faso and Niger 162 Pointe Noire 1948 Congo 163 Porto Santo 1936 Porto Santo Maderia Islands Provisional South Amer
19. de 1938 Salvage Islands 193 Sierra Leone 1960 Sierra Leone 194 South American 1969 Argentina 195 South American 1969 Bolivia 196 South American 1969 Brazial 197 South American 1969 Chile 198 South American 1969 Colombia 199 South American 1969 Ecuador 2009 6 25 Page 23 of 25 JRC NMEA Packet User Manual PRELIMINARY SUBJECT TO CHANGE WITHOUT NOTICE JRC CONFIDENSHIAL NO DISCLOSURE 209 South American 1969 Ecuador Baltra Galapagos 201 South American 1969 Guyana Mean For Argentina Bolivia Brazil Chile Colombia 202 South American 1969 Ecuador Guyana Paraguay Peru Trinidad and Tobago Venezuela 203 South American 1969 Paraguay 204 South American 1969 Peru 205 South American 1969 Trinidad and Tobago 206 South American 1969 Venezuela 207 South Asia Singapore 208 Tananarive Observatory 1925 Madagascar 209 Timbalai 1948 Brunei E Malaysia Sabah Sarawak 210 Tokyo Japan 211 Tokyo Mean For Japan South Korea Okinawa 212 Tokyo Okinawa 213 Tokyo South Korea 214 Tristan Astro 1968 Tristam Da Cunha 215 Viti Levu 1916 Fiji Viti Levu Island 216 Voirol 1969 Algeria 217 Wake Island Astro 1952 Wake Atoll 218 Wake Eniwetok 1960 Marshall Islands 219 WGS 1972 Global Definition 22 WGS 1984 Global Definition 221 Yacare Uruguay 222 Zanderij Suriname 2009 6 25 Page 24 of 25 JRC NMEA Packet User Manual PRELIMINA
20. gt lt LF gt 1 4 Packet Type 101 PJRC CMD HOT START Packet Meaning Hot Restart Use all available data in the NV Store DataField None Example PIRC1 1 3B lt CR gt lt LF gt 2009 6 25 Page 5 of 25 JRC NMEA Packet User Manual PRELIMINARY SUBJECT TO CHANGE WITHOUT NOTICE JRC CONFIDENSHIAL NO DISCLOSURE 1 5 Packet Type 102 PJRC CMD WARM START Packet Meaning Warm Restart Don t use Ephemeris at re start DataField None Example PIRC102 38 lt CR gt lt LF gt 1 6 Packet Type 103 PJRC CMD COLD START Packet Meaning Cold Restart Don t use Time Position Almanacs and Ephemeris data at re start DataField None Example PIRC1 3 39 lt CR gt lt LF gt 1 7 Packet Type 104 PJRC CMD FULL COLD START Packet Meaning Full Cold Restart It s essentially a Cold Restart but additionally clear system user configurations at re start That is reset the receiver to the factory status DataField None Example PJRC104 3E lt CR gt lt LF gt 1 8 Packet Type 251 PJRC_SET_NMEA_BAUDRATE Packet Meaning Set NMEA port baudrate DataField PJRC251 Baudrate Baudrate Baudrate setting default setting 4800 9600 14490 19200 38400 57600 115200 Example PIRC251 38400 2E lt CR gt lt LF gt 2009 6 25 Page 6 of 25 JRC NMEA Packet User Manual PRELIMINARY SUBJECT TO CHANGE WITHOUT NOTICE JRC CONFIDENSHIAL NO DISCLOSURE 1 9 Packet Type 300 PJRC API SET FIX CTL Packet Meaning API Set Fix Ctl Th
21. ican 164 Bolovia 1956 Provisional South American ji 165 Chile Northern Near 19 deg S 1956 Provisional South American 166 Chile Southern Near 43 deg S 1956 2009 6 25 Page 22 of 25 JRC NMEA Packet User Manual PRELIMINARY SUBJECT TO CHANGE WITHOUT NOTICE JRC CONFIDENSHIAL NO DISCLOSURE ae Provisional South American i 1956 YA Provisional South American aa 1956 Ya Provisional South American Gers 1956 To Provisional South American Mean For Bolivia Chile Colombia Ecuador Guyana Peru 1956 Venezuela Hi Provisional South American pant 1956 5 Provisional South American PEE 1956 173 Provisional South Chilean 1963 Chile Near 53 deg S Hito XVIII 174 Puerto Rico Puerto Rico Virgin Islands 175 Pulkovo 1942 Russia 176 Qatar National Qatar 177 Qornoq Greenland South 178 Reunion Mascarene Island 179 Rome 1949 Italy Sardinia 188 S 42 Pulkovo 1942 Hungary 181 S 42 Pulkovo 1942 Poland 182 S 42 Pulkovo 1942 Czechoslavakia 183 S 42 Pulkovo 1942 Lativa 184 S 42 Pulkovo 1942 Kazakhstan 185 S 42 Pulkovo 1942 Albania 186 S 42 Pulkovo 1942 Romania 187 S JTSK Czechoslavakia Prior 1 Jan1993 188 Santo Dos 1965 Espirito Santo Island 189 Sao Braz Azores Sao Miguel Santa Maria Ids 190 Sapper Hill 1943 East Falkland Island 191 Schwarzeck Namibia 192 Selvagem Gran
22. is parameter controls the rate of position fixing activity DataField PJRC3 FixInterval 0 0 0 0 FixInterval Position fix interval msec Must be larger than 209 Example PJRC30 1800 0 0 0 15 lt CR gt lt LF gt 1 19 Packet Type 301 PJRC API SET DGPS MODE Packet Meaning API Set Dgps Mode DGPS correction data source mode DataField PJRC3 1 Mode Mode DGPS data source mode No DGPS source 1 RTCM 2 WAAS Example PIRC3 1 1 24 lt CR gt lt LF gt 1 11 Packet Type 313 PJRC_API_SET_SBAS ENABLED Packet Meaning API Set Sbas Enabled Enable to search a SBAS satellite or not DataField Enabled Enable or disable 9 Disable 1 Enable Example PIRC313 1 27 lt CR gt lt LF gt 1 12 Packet Type 314 PJRC API SET NMEA OUTPUT Packet Meaning API Set NMEA Out Set NMEA sentence output frequencies DataField There are totally 19 data fields but effective data field are 7 The output frequency of 7 supported NMEA sentences can be set individually 2009 6 25 Page 7 of 25 JRC NMEA Packet User Manual PRELIMINARY SUBJECT TO CHANGE WITHOUT NOTICE Supported NMEA Sentences ow oo NOUA UNEO 11 12 13 14 15 16 17 18 NMEA SEN GLL NMEA SEN RMC NMEA SEN VTG NMEA SEN GGA NMEA SEN GSA NMEA SEN GSV Null Null Null Null 19 Null Null Null Null Null Null Null NMEA SEN ZDA Null GPGLL GPR
23. user defined datum DataField None Return PJRC DT DATUM Example PIRC431 3D lt CR gt lt LF gt 1 22 Packet Type 490 PJRC API GET USER OPTION Packet Meaning API Get Flash User Option Returns the current user setting from the flash memory Please refer to Packet Type 599 for the detailed information DataField None Return PJRC DT FLASH USER OPTION Example PIRC49 36 lt CR gt lt LF gt 1 23 Packet Type 500 PJRC DT FIX CTL Packet Meaning These parameters control the rate of position fixing activity 2009 6 25 Page 11 of 25 JRC NMEA Packet User Manual PRELIMINARY SUBJECT TO CHANGE WITHOUT NOTICE JRC CONFIDENSHIAL NO DISCLOSURE DataField FixInterval Position fix interval msec gt 200 Example PJIRC500 1000 0 0 0 0 13 lt CR gt lt LF gt 1 24 Packet Type 501 PJRC DT DGPS MODE Packet Meaning DGPS Data Source Mode DataField Mode DGPS data source mode No DGPS source 1 RTCM 2 WAS Example PIRC5 1 1 22 lt CR gt lt LF gt 1 25 Packet Type 513 PJRC_DT_SBAS ENABLED Packet Meaning Enable to search a SBAS satellite or not DataField Enabled Enable or disable Disable 1 Enable Example PIRC513 1 21 lt CR gt lt LF gt 1 26 Packet Type 514 PJRC DT NMEA OUTPUT Packet Meaning NMEA sentence output frequency setting DataField There are totally 19 data fields that present output frequencies for the 19 supported NMEA sentences individually Please
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