GPS development-NMEA 0183 statement description

1. Standard nmea0183 statements
1. Global Positioning System Fix Data (GGA) GPS Positioning Information
$ Gpgga, <1 >,< 2 >,< 3 >,< 4 >,< 5 >,< 6 >,< 7 >,< 8 >,< 9>, m, <10>, M, <11>, <12> * hh <CR> <LF>
<1> UTC time, hhmmss (hour/minute/second) Format
<2> latitude ddmm. Mmmm (degree) format (the preceding 0 will also be transmitted)
<3> latitude hemisphere N (northern hemisphere) or S (Southern Hemisphere)
<4> longitude dddmm. Mmmm (degree) format (the preceding 0 will also be transmitted)
<5> longitude hemisphere E (eastern longitude) or W (Western longitude)
<6> GPS status: 0 = undetermined, 1 = non-differential positioning, 2 = differential positioning, 6 = estimating
<7> Number of satellites at the resolution position being used (00 ~ 12) (the previous 0 will also be transmitted)
<8> hdop horizontal precision factor (0.5 ~ 99.9)
<9> altitude (-9999.9 ~ 99999.9)
<10> height of the earth's elliptical sphere relative to the geolevel
<11> differential time (the number of seconds from the last time the difference signal was received. If the difference is not located, it will be blank)
<12> ID number of the differential substation: 0000 ~ 1023 (the previous 0 will also be transmitted, if not differential positioning will be blank)
2. gps dop and active satellites (GSA) current satellite information
$ Gpgsa, <1 >,< 2 >,< 3 >,< 3 >,< 3 >,< 3 >,< 3 >,< 3 >,< 3>, <3>, <3>, <3>, <3>, <3>, <4>, <5>, <6> * hh <CR> <LF>
<1> mode, M = manual, a = automatic
<2> positioning type, 1 = No positioning, 2 = 2D positioning, 3 = 3D Positioning
<3> PRN code (Pseudo-Random Noise Code), which is used to calculate the satellite number (01 ~ 32 ).
<4> position precision factor of pdop (0.5 ~ 99.9)
<5> hdop horizontal precision factor (0.5 ~ 99.9)
<6> vdop vertical precision factor (0.5 ~ 99.9)
3. GPS satellites in view (GSV) Visible satellite information
$ Gpgsv, <1>, <2>, <3>, <4>, <5>, <6>, <7> ,... <4>, <5>, <6>, <7> * hh <CR> <LF>
<1> total number of GSV statements
<2> the number of GSV in this sentence
<3> total number of visible satellites (00 ~ 12, the previous 0 will also be transmitted)
<4> PRN code (Pseudo-Random Noise Code) (01 ~ 32, the previous 0 will also be transmitted)
<5> satellite elevation (00 ~ 90 degrees, the previous 0 will also be transmitted)
<6> satellite azimuth (000 ~ 359 degrees, the previous 0 will also be transmitted)
<7> signal-to-noise ratio (00 ~ 99db. If no satellite is tracked, the preceding 0 will be transmitted)
Note: <4>, <5>, <6>, <7> information is displayed cyclically based on each satellite. Each GSV statement can display up to four satellites. Other satellite information will be output in the next series of nmea0183 statements.
4. recommended minimum specific GPS/transit data (RMC) recommended positioning information
$ Uplmc, <1>, <2>, <3>, <4>, <5>, <6>, <7>, <8>, <9>, <10>, <11>, <12> * hh <CR> <LF>
<1> UTC time, hhmmss (hour/minute/second) Format
<2> positioning status, A = valid, V = invalid
<3> latitude ddmm. Mmmm (degree) format (the preceding 0 will also be transmitted)
<4> latitude hemisphere N (northern hemisphere) or S (Southern Hemisphere)
<5> longitude dddmm. Mmmm (degree) format (the preceding 0 will also be transmitted)
<6> longitude hemisphere E (eastern longitude) or W (Western longitude)
<7> ground speed (000.0 ~ Section 999.9, the previous 0 will also be transmitted)
<8> ground heading (000.0 ~ 359.9 degrees. Based on the reference of zhenbei, the preceding 0 will also be transmitted)
<9> UTC date, in ddmmyy format
<10> magnetic angle (000.0 ~ 180.0 degrees, the previous 0 will also be transmitted)
<11> magnetic angle direction, E (East) or W (West)
<12> mode indication (output only in nmea0183 3.00, A = self-locating, D = differential, E = estimation, n = Invalid Data)
5. Track made good and ground speed (Vtg) ground speed information
$ Gpvtg, <1>, T, <2>, M, <3>, N, <4>, K, <5> * hh <CR> <LF>
<1> ground heading based on zhenbei (000 ~ 359 degrees, the previous 0 will also be transmitted)
<2> ground heading (000 ~ 359 degrees, the previous 0 will also be transmitted)
<3> ground speed (000.0 ~ Section 999.9, the previous 0 will also be transmitted)
<4> ground speed (0000.0 ~ 1851.8 km/hour, the front 0 will also be transmitted)
<5> mode indication (output only in nmea0183 3.00, A = self-locating, D = differential, E = estimation, n = Invalid Data)
6. Geographic Position (GlL) Location Geographic Information
$ Gpgll, <1 >,< 2 >,< 3 >,< 4 >,< 5 >,< 6 >,< 7> * hh <CR> <LF>
<1> latitude ddmm. Mmmm (degree) format (the preceding 0 will also be transmitted)
<2> latitude hemisphere N (northern hemisphere) or S (Southern Hemisphere)
<3> longitude dddmm. Mmmm (degree) format (the preceding 0 will also be transmitted)
<4> longitude hemisphere E (eastern longitude) or W (Western longitude)
<5> UTC time, hhmmss (hour/minute/second) Format
<6> positioning status. A = valid and V = invalid
<7> mode indication (output only in nmea0183 3.00, A = self-locating, D = differential, E = estimation, n = Invalid Data)
Ii. Garmin-defined statements
7. Estimated Error information (pgrme) estimation error information
$ Pgrme, <1>, M, <2>, M, <3>, M * hh <CR> <LF>
<1> HPE (horizontal estimation error), 0.0 ~ 999.9 meters
<2> VPE (vertical estimation error), 0.0 ~ 999.9 meters
<3> EPE (location estimation error), 0.0 ~ 999.9 meters
8. GPS fix data sentence (pgrmf) GPS Positioning Information
$ Pgrmf, <1 >,< 2 >,< 3 >,< 4 >,< 5 >,< 6 >,< 7 >,< 8 >,< 9>, <10>, <11>, <12>, <13>, <14>, <15> * hh <CR> <LF>
<1> Number of GPS weeks (0 ~ 1023)
<2> GPS seconds (0 ~ 604799)
<3> UTC date, in ddmmyy format
<4> UTC time, hhmmss (hour/minute/second) Format
<5> GPS jump seconds
<6> latitude ddmm. Mmmm (degree) format (the preceding 0 will also be transmitted)
<7> latitude hemisphere N (northern hemisphere) or S (Southern Hemisphere)
<8> longitude dddmm. Mmmm (degree) format (the preceding 0 will also be transmitted)
<9> longitude hemisphere E (eastern longitude) or W (Western longitude)
<10> mode, M = manual, a = automatic
<11> positioning type, 0 = No positioning, 1 = 2D positioning, 2 = 3D Positioning
<12> ground speed (0 ~ 1851/hour)
<13> ground heading (000 ~ 359 degrees, with zhenbei as the reference)
<14> position precision factor of pdop (0 ~ 9, rounded to an integer)
<15> tdop time precision factor (0 ~ 9, rounded to an integer)
9. Map datum (pgrmm) Coordinate System Information
$ Pgrmm, <1> * hh <CR> <LF>
<1> name of the currently used coordinate system (variable data length, for example, "WGS 84 ")
Note: This information is used for real-time connection with mapsource.
10. Sensor status information (pgrmt) working status information
$ Pgrmt, <1 >,< 2 >,< 3 >,< 4 >,< 5 >,< 6 >,< 7 >,< 8>, <9> * hh <CR> <LF>
<1> product model and software version (variable data length, for example, "GPS 15l/15 h ver 2.05 ")
<2> Rom verification test, P = passed, F = failed
<3> receiver discontinuous fault, P = pass, F = fail
<4> storage data, r = persistence, L = loss
<5> clock information, r = keep, L = Lost
<6> non-continuous oscillator drift, P = pass, F = over-drift Detected
<7> data is not collected consecutively. c = the data is being collected. It is null if no data is collected.
<8> GPS receiver temperature, in degrees Celsius
<9> GPS receiver configuration data, r = maintained, L = Lost
Note: This statement is sent once per minute, regardless of the selected baud rate.
11. 3D velocity information (pgrmv) 3D speed information
$ Pgrmv, <1 >,< 2 >,< 3> * hh <CR> <LF>
<1> easterly speed, 514.4 ~ 514.4 meters/second
<2> North speed, 514.4 ~ 514.4 meters/second
<3> uplink speed: 999.9 ~ 9999.9 meters/second
12. DGPS beacon information (pgrmb) Beacon difference Information
$ Pgrmb, <1>, <2>, <3>, <4>, <5>, K, <6>, <7>, <8> * hh <CR> <LF>
<1> beacon station frequency (0.0, 283.5 ~ 325.0 kHz, interval: 0.5 kHz)
<2> beacon bit rate (50,100, or BPS)
<3> SNR signal-to-noise ratio (0 ~ 31)
<4> beacon data quality (0 ~ 100)
<5> distance from the beacon station, measured in kilometers
<6> beacon receiver communication status, 0 = check wiring, 1 = no signal, 2 = tuning, 3 = Receiving, 4 = Scanning
<7> differential source, r = RTCM, W = WAAS, n = non-differential location
<8> differential status, A = automatic, W = only WAAS, r = only RTCM, n = no differential signal received

Iii. Text format description:

Region Description: Length: Note:
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The START character of the period 1 is always '@'
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/The last two digits of the Year in 2 UTC
| ------------------------------------------------------
| 2 UTC months, "01"... "12"
T | ------------------------------------------------------
I | 2 UTC, "01" .. "31"
M | ------------------------------------------------------
E | hour 2 UTC, "00" .. "23"
| ------------------------------------------------------
| Minute 2 UTC minute, "00" .. "59"
| ------------------------------------------------------
/Second 2 UTC seconds, "00" .. "59"
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/Latitude hemisphere 1 'n' or's'
| ------------------------------------------------------
| Latitude coordinate 7 WGS84 coordinate system, coordinate format ddmmmmm,
| A decimal point is omitted after the 4th-digit number.
| ------------------------------------------------------
| Longitude hemisphere 1 'E' or 'W'
| ------------------------------------------------------
| Longitude coordinate 8 WGS84 coordinate system, coordinate format dddmmmmm,
P | a decimal point is omitted after the 5th-digit number.
O | ------------------------------------------------------
S | positioning status 1 'd two-dimensional differential positioning
I | 'd three-dimensional differential positioning
T | 'G' 2-dimensional Positioning
I | 'G' 3D Positioning
O | 's' simulation status
N | '_' is invalid.
| ------------------------------------------------------
| The horizontal positioning error is measured in "meters"
| ------------------------------------------------------
| Height Symbol: 1 '+' or '-'
| ------------------------------------------------------
/Height: 5 high altitude, in meters"
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/East/west speed direction: 1 'E' or 'W'
| ------------------------------------------------------
| The east/west speed is measured in meters/seconds. A decimal point is omitted after the third digit,
| ("1234" = 123.4 m/s)
V | ------------------------------------------------------
E | South/North speed direction: 1's or 'N'
L |
O | ------------------------------------------------------
C | the unit of the South/North speed is "meter/second". A decimal point is omitted after the third digit,
I | ("1234" = 123.4 m/s)
T | ------------------------------------------------------
Y | vertical speed direction: 1 'U' (top) or 'D' (bottom)
| ------------------------------------------------------
| The vertical speed is measured in meters/seconds. A decimal point is omitted after the second digit,
/("1234" = 12.34 m/s)
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End character 2: Press enter, '0x0d', and line feed '0x0a'
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If the value of a field does not reach the defined length, 0 is added before.

Any invalid number is replaced by the following line.