NMEAΒΆ

$GNGGA

Format: $GNGGA,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,M,<10>,M,< 11>,<12>*xx<CR><LF> E.g: $GNGGA,072446.00,3130.5226316,N,12024.0937010,E,4,27,0.5,31.924,M,0.000,M,2.0,*44 Field explanation:

  • <0> $GNGGA
  • <1> UTC time, the format is hhmmss.sss
  • <2> Latitude, the format is ddmm.mmmmmmm
  • <3> Latitude hemisphere, N or S (north latitude or south latitude)
  • <4> Longitude, the format is dddmm.mmmmmmm
  • <5> Longitude hemisphere, E or W (east longitude or west longitude)
  • <6> GNSS positioning status: 0 not positioned, 1 single point positioning, 2 differential GPS fixed solution, 4 fixed solution, 5 floating point solution
  • <7> Number of satellites used
  • <8> HDOP level precision factor
  • <9> Altitude
  • <10> The height of the earth ellipsoid relative to the geoid
  • <11> Differential time
  • <12> Differential reference base station label
  • * Statement end marker
  • xx XOR check value of all bytes starting from $ to *
  • <CR> Carriage return, end tag
  • <LF> line feed, end tag

$GNRMC

Format: $GNRMC,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,<10>,<11>,< 12>*xx<CR><LF> E.g: $GNRMC,072446.00,A,3130.5226316,N,12024.0937010,E,0.01,0.00,040620,0.0,E,D*3D Field explanation:

  • <0> $GNRMC
  • <1> UTC time, the format is hhmmss.sss
  • <2> Positioning status, A=effective positioning, V=invalid positioning
  • <3> Latitude, the format is ddmm.mmmmmmm
  • <4> Latitude hemisphere, N or S (north latitude or south latitude)
  • <5> Longitude, the format is dddmm.mmmmmmm
  • <6> Longitude hemisphere, E or W (east longitude or west longitude)
  • <7> Ground speed
  • <8> Ground heading (take true north as the reference datum)
  • <9> UTC date, the format is ddmmyy (day, month, year)
  • <10> Magnetic declination (000.0~180.0 degrees)
  • <11> Magnetic declination direction, E (east) or W (west)
  • <12> Mode indication (A=autonomous positioning, D=differential, E=estimation, N=invalid data)
  • * Statement end marker
  • XX XOR check value of all bytes starting from $ to *
  • <CR> Carriage return, end tag
  • <LF> line feed, end tag

$GNGSA

format: $GNGSA,<1>,<2>,<3>,<3>,,,,,<3>,<3>,<3>,<4>,<5>,<6>,<7> *xx<CR><LF> E.g: $GNGSA,A,3,03,06,09,17,19,23,28,,,,,,3.0,1.5,2.6,1*25 $GNGSA,A,3,65,66,67,81,82,88,,,,,,,2.4,1.3,2.1,2*36 $GNGSA,A,3,02,05,09,15,27,,,,,,,,,10.8,2.7,10.4,3*3A $GNGSA,A,3,01,02,07,08,10,13,27,28,32,33,37,,2.1,1.0,1.9,5*33 Field explanation:

  • <1> Mode: M=Manual, A=Auto
  • <2> Positioning type: 1=not positioned, 2=two-dimensional positioning, 3=three-dimensional positioning
  • <3> PRN code (Pseudo Random Noise Code), channels 1 to 12, up to 12
  • <4> PDOP position precision factor
  • <5> HDOP level precision factor
  • <6> VDOP vertical precision factor
  • <7> GNSS system ID: 1(GPS), 2(GLONASS), 3(GALILEO), 5(BEIDOU)
  • * Statement end marker
  • xx XOR check value of all bytes starting from $ to *
  • <CR> Carriage return, end tag
  • <LF> line feed, end tag