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158 Z-Family Technical Reference Manual

GRS: Satellite Range Residuals

$PASHS,NME,GRS,c,s

This command enables/disables the NMEA satellite range residual response message

to port c, where c is A, B, C, or D, and s is ON or OFF. If only four SVs are used in

the position solution, residuals are not computed and GRS outputs zeroes in the

residual fields. With 3 or less SVs, the message is not output.

Example: Enable GRS message on port C

$PASHS,NME,GRS,C,ON <enter>

$PASHQ,GRS,c

Query satellite range residual where c is the optional output serial port. The message

is not output unless position is being computed.

Example: $PASHQ,GRS <enter>

$GPGRS

The response message is in the form:

$GPGRS,m1,d2,n(f3)*cc <enter>

Where n is equal to the number of satellites used in the position solution.

202556.00 UTC time of position

A Status valid

*12 checksum

Table 6.89: GRS Message Structure

Parameters Description Range

m1 Current UTC time of GGA position in hours, minutes and seconds

(hhmmss.ss)

00-235959.90

d2 Mode used to compute range residuals

0: Residuals were used to calculate the position given in the matching

GGA line

1: Residuals were re-computed after the GGA position was computed or

post-fit residuals

0, 1

Table 6.88: Typical GLL Message (continued)

Item Significance

1 2 ... 173 174 175 176 177 178 179 180 181 182 183 ... 261 262

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