Novatel OM-20000041 用户手册
D
Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
215
SPHA/B
Speed and Direction Over Ground
This log provides the actual speed and direction of motion of the GPSCard antenna over ground, at the time of
measurement, and is updated up to 10 times per second. It should be noted that the GPSCard does not determine
the direction a vessel, craft, or vehicle is pointed (heading), but rather the direction of motion of the
measurement, and is updated up to 10 times per second. It should be noted that the GPSCard does not determine
the direction a vessel, craft, or vehicle is pointed (heading), but rather the direction of motion of the
GPS
antenna
relative to ground.
SPHA
Structure:
Example:
$SPHA,640,333111.00,0.438,325.034,2.141,0*02[CR][LF]
SPHB
Format:
Message ID = 06
Message byte count = 52
$SPHA
week
seconds
hor spd
trk gnd
vert spd
sol status
*xx
[CR][LF]
Field #
Field type
Data Description
Example
1
$SPHA
Log header
$SPHA
2
week
GPS week number
640
3
seconds
GPS seconds into the week
333111.00
4
hor spd
Horizontal speed over ground, in meters per second
0.438
5
trk gnd
Actual direction of motion over ground (track over ground)
with respect to True North, in degrees
with respect to True North, in degrees
325.034
6
vert spd
Vertical speed, in metres per second, where positive
values indicate increasing altitude (up) and negative
values indicate decreasing altitude (down)
values indicate increasing altitude (up) and negative
values indicate decreasing altitude (down)
2.141
7
sol status
Solution status as listed in Table D-1
0
8
*xx
Checksum
*02
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
8
2
Week number
4
integer
weeks
12
3
Seconds of week
8
double
seconds
16
4
Horizontal speed
8
double
metres per second
24
5
Track over ground (TOG)
8
double
degrees
32
6
Vertical speed
8
double
metres per second
40
7
Solution status
4
integer
48