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162

MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1

GPGRS

GPS Range Residuals for Each Satellite

Range residuals can be computed in two ways, and this log reports those residuals. Under mode 0, residuals output
in this log are used to update the position solution output in the

GPGGA

message. Under mode 1, the residuals are

re-computed after the position solution in the

GPGGA

message is computed. The GPSCard computes range residuals

in mode 1. An integrity process using

GPGRS

would also require

GPGGA

(for position fix data),

GPGSA

(for

DOP

figures), and

GPGSV

(for

PRN

numbers) for comparative purposes.

Structure:

Example:

$GPGRS,192911.0,1,-13.8,-1.9,11.4,-33.6,0.9,6.9,-12.6,0.3,0.6,-22.3,,
*65[CR][LF]

NOTE:

If the range residual exceeds ± 99.9, then the decimal part will be dropped. Maximum value for this

field is ± 999. The sign of the range residual is determined by the order of parameters used in the
calculation as follows:

range residual = calculated range - measured range

$GPGRS

utc

mode

res

*xx

[CR][LF]

Field

Structure

Field Description

Symbol

Example

$GPGRS

Log header

$GPGRS

utc

UTC time of position (hours/minutes/seconds/ decimal seconds)

hhmmss.ss

192911.0

mode

Mode 0 = residuals were used to calculate the position given in
the matching GGA line (apriori) (not used by GPSCard)
Mode 1 = residuals were recomputed after the GGA position was
computed (preferred mode)

4 - 15

res

Range residuals for satellites used in the navigation solution.
Order matches order of PRN numbers in GPGSA.

x.x,x.x,.....

-13.8,-1.9,11.4,-33.6,0.9,
6.9,-12.6,0.3,0.6, -22.3

*xx

Checksum

*hh

*65

[CR][LF]

Sentence terminator

[CR][LF]