Novatel OM-20000041 用户手册
D
Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
157
FRMA/B
Framed Raw Navigation Data
This message contains the raw framed navigation data. An individual message is sent for each PRN being tracked.
The message is updated with each new frame, therefore it is best to log the data with the ‘onnew’ trigger activated.
The message is updated with each new frame, therefore it is best to log the data with the ‘onnew’ trigger activated.
FRMA
Structure:
FRMB
Format:
Message ID = 54
Message byte count = variable
$FRMA
week
seconds
prn
cstatus
# of bits
framed raw data
*xx
[CR][LF]
Field #
Field type
Data Description
Example
1
$FRMA
Log header
$FRMA
2
week
GPS week number
845
3
seconds
GPS seconds into the week
238623.412
4
prn
PRN of satellite from which data originated
120
5
cstatus
Channel Tracking Status (see Table D-7, Page 201)
80811F14
6
# of bits
Number of bits transmitted in the message. 250 for
WAAS, 300 for GPS and 85 for GLONASS.
WAAS, 300 for GPS and 85 for GLONASS.
250
7
framed raw data
One field of raw framed navigation data.
9AFE5354656C2053796E636
8726F6E69636974792020202
020202020B0029E40*3F
8726F6E69636974792020202
020202020B0029E40*3F
8
*xx
Checksum
*42
9
[CR][LF]
Sentence terminator
[CR][LF]
Field #
Data
Bytes
Format
Units
Offset
1
Sync
3
char
0
(header)
Checksum
1
char
3
Message ID
4
integer
4
Message byte count
4
integer
bytes
8
2
Week number
4
integer
weeks
12
3
Seconds of week
8
double
seconds
16
4
PRN number
4
integer
1-999
24
5
Channel Tracking Status (see Table D-7, Page 201)
4
integer
n/a
28
6
Number of Bits
4
integer
250 for WAAS
300 for GPS
85 for GLONASS
300 for GPS
85 for GLONASS
32
7
Data Sub-frame
variable
char
N/A
36