Novatel OM-20000041 用户手册
D
Logs summary
166
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
GPRMB
Navigation Information
Navigation data from present position to a destination waypoint. The destination is set active by the GPSCard
SETNAV
command. If
SETNAV
has been set, a command to log either
GPRMB
or
GPRMC
will cause both logs to output
data.
Structure:
Example:
$GPRMB,V,0.011,L,START,END,5106.7074000,N,11402.3490000,W,0.0127611,153093,
0.3591502,V*13[CR][LF]
0.3591502,V*13[CR][LF]
1
- If cross track error exceeds 9.99 NM, display 9.99
- Represents track error from intended course
- one nautical mile = 1,852 meters
- one nautical mile = 1,852 meters
2
Direction to steer is based on the sign of the crosstrack error,
i.e., L = xtrack error (+); R = xtrack error (–)
3
Fields 5, 6, 7, 8, 9, and 10 are tagged from the GPSCard SETNAV command.
4
If range to destination exceeds 999.9 NM, display 999.9
$GPRMB
data status
xtrack
dir
origin ID
dest ID
dest lat
lat dir
dest lon
lon dir
range
bearing
vel
arr status
*xx
[CR][LF]
Field
Structure
Field Description
Symbol
Example
1
$GPRMB
Log header
$GPRMB
2
data status
Data status: A = data valid; V = navigation receiver warning
A
V
3
xtrack
Cross track error
1
x.x
0.011
4
dir
Direction to steer to get back on track (L/R)
2
a
L
5
origin ID
Origin waypoint ID
3
c--c
START
6
dest ID
Destination waypoint ID
3
c--c
END
7
dest lat
Destination waypoint latitude (DDmm.mm
3
llll.ll
5106.7074
000
000
8
lat dir
Latitude direction (N = North, S = South)
3
a
N
9
dest lon
Destination waypoint longitude (DDDmm.mm)
3
yyyyy.yy
11402.349
10
lon dir
Longitude direction (E = East, W = West)
3
a
E
11
range
Range to destination, nautical miles
4
x.x
0.0127611
12
bearing
Bearing to destination, degrees True
x.x
153.093
13
vel
Destination closing velocity, knots
x.x
0.3591502
14
arr status
Arrival status: A = perpendicular passed
V = destination not reached or passed
A
V
15
*xx
Checksum
*hh
*13
16
[CR][LF]
Sentence terminator
[CR][LF]