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Contents
Foreword
Statement
Revision History
General Introduction
Range of Application
GNSS/Satellite/Signal Identifiers
Data Types
Start Information
NMEA Messages
NMEA Messages
NMEA Messages Structure
Standard NMEA Messages
GGA
GLL
GSA
GSV
RMC
VTG
ZDA
GST
GBS
Second NMEA Messages
Unicore Messages
Messages
General Messages
PDTINFO: Product Information Inquiry
PRODUCTINFO: Complete Product Information Inquiry
RESET: Receiver Reset
OK: Message Response Mechanism
FAIL: Message Response Mechanism
Configuration Messages
CFGPRT: Configure Output Port
CFGMSG: Configure Message Output Frequency
CFGNMEA: Read NMEA Configuration
CFGDOP: Configure Doppler Sign
CFGMSM: Configure Observation Type
CFGNAV: Configure Positioning Frequency
CFGSYS: Configure Satellite System
CFGGEOID: Configure Height
CFGSAVE: Save the Configuration
CFGCLR: Clear the Configuration
AIDTIME: Configure Assisted Time
AIDPOS: Configure Assisted Position
AIDINFO: Configure Assisted Information
CFGWMODE: Configure Working Mode
CFGTP: Configure PPS
CFGRTK: Configure RTK Mode
CFGMSK: Configure Satellite Cutoff Angle
CFGKILOWEEK: Configure GPS Epoch
CFGLEAPSEC: Configure Leap Second
CFGDYN: Configure Lock Point
CFGFWCHECK: Configure Firmware Check
CFGLOGLIST: Configure LOGLIST Information
CFGACC: Configure Awakening Command
CFGODOFWD: Configure Direction Signal
CFGINS: Configure Integrated Navigation
CFGIMUMEAS: Configure IMU Measurement Interval
CFGROTAT: Configure Installation Angle
CFGCOG: Configure Heading Angle
Sensor Fusion Messages
GYOACC
SNRSTAT
IMURAW
NAVATT
INSPVA
IMUVEH
INSTALL
MAPFB
ODODATA
Notice Messages
General Notice Message and Notice Message Package
Command Echo
Misc Messages
CWOUT
LSF
OSNMA
RTCM Messages
RTCM Messages
Extended RTCM Messages
Data Structure
Message Definition
Sensor Fusion Messages
GYOACC (Sub ID 0x00B)
SNRSTAT (Sub ID 0x00C)
IMURAW (Sub ID 0x00E)
NAVATT (Sub ID 0x00D
INSPVA (Sub ID 0x00F)
IMUVEH (Sub ID 0x010)
PVT Messages
Receiver Information (Sub ID 0x0FF)
Signal Information (Sub ID 0x0FE)
Ionosphere Information (Sub ID 0x0FB)
TGD/ISC Information (Sub ID 0x0FD)
Decoding Example
Reference
Reference
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NMEA Messages Structure
NMEA Messages Structure
The following figure shows the structure of a NMEA message.
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