Introduction to GPS Data Communications-NMEA and RTCM

CHOI Chun-ting, ALS/G2 June 2006

Overview

RINEX Raw GPS static data format for data processing and archive NMEA Standard related to data communication between marine electronics devices. Transmission of GPS position from GPS receiver to other devices (e.g. GPS receiver to PDA) For real time positioning RTCM SC-104 Transmission of GPS correction from GPS reference station to GPS Rover For DGPS/RTK surveys

NMEA Data Format (National Marine Electronics Association)

Outline

Example of using NMEA Data Format About NMEA Message Format and Sentence Structure Common NMEA Messages

NMEA using in real-time navigation

Real-time positioning Surveyed position NMEA data format

GPS receiver

ArcPAD software

About NMEA

National Marine Electronics Association

Developed by National Marine Electronics Association Standard related to the marine electronics devices (GPS, echosounder, ) Standard specifies the message formats for data transmission between marine electronics devices

What is NMEA ?

NMEA data format contains many various message types

Not all messages related to GPS application. Even GPS-related messages, there are over 20 various types. For a GPS survey, only some messages are selected.

NMEA Standard Message Format

Standard Message Format

$aaaaa, df1,df2

[Carriage Return][Line Feed]

Each message start with $ Five characters after $ are address field Multiple data fields delimited by commas Up to 82 characters per each sentence

NMEA Sentence Structure

Sentence structure

There are three sentence structures

Talker: data from GPS receiver to other devices. Query: receive device (e.g. notebook) send query sentence to GPS receiver for specified messages. Proprietary: non-standard sentence developed by GPS manufacturers for special purposes.

Talker sentence

Format: $ttsss, df1, df2[CR][LF] tt: defines device (GPS receivers the prefix is GP) sss: message type

Example
$GPGGA,031956,2218.2035,N,11410.7595,E,1,04,3,9,005.9,M,-001.3,M,,*51

The GPS receiver sends the data in GGA sentence format.

Common NMEA Messages

Common NMEA Messages

Position Data Messages $GPGGA: Global positioning system fixed data $GPGLL: Geographic position - latitude / longitude $GPRMC: Recommended minimum specific GPS data Associated Data Messages $GPGSA: GNSS DOP and active satellites $GPGSV: GNSS satellites in view $GPVTG: Course over ground and ground speed

GGA Message Format

$GPGGA,092204.999,4250.5589,S,14718.5084,E,1,04,24.4,19.7,M,,,,0000*1F

Field Message ID UTC Time Latitude N/S Indicator Longitude E/W Indicator Position Fix Satellites Used HDOP Altitude Altitude Units Geoid Separation Separation Units Time since DGPS DGPS Station ID Checksum

Example $GPGGA 092204.999 4250.5589 S 14718.5084 E 1 04 24.4 19.7 M

Comments hhmmss.sss ddmm.mmmm N = North, S = South dddmm.mmmm E = East, W = West 0 = Invalid, 1 = Valid SPS, 2 = Valid DGPS, 3 = Valid PPS Satellites being used Horizontal dilution of precision Altitude (WGS-84 ellipsoid) M= Meters Geoid separation M= Meters in seconds always begin with *

*1F

GSV Message Format

Field Sentence ID No. of sentence 3) Sequence no. Satellites in view Satellite ID 1 Elevation 1 Azimuth 1 SNR 1 Satellite ID 2 Elevation 2 Azimuth 2 . . Checksum Example $GPGSV 3 1 10 20 78 331 45 01 59 235 *70

(satellite in view)

$GPGSV,3,1,10,20,78,331,45,01,59,235,47,22,41,069,,13,32,252,45*70 Comments No. of messages in complete (1Sequence no. of this entry (1-3) Range is 1-32 Elevation in degrees Azimuth in degrees Signal to noise ratio dBHZ (0-99) Range is 1-32 Elevation in degrees Azimuth in degrees

Sample NMEA data file

(output GGA, GSA, GSV and RMC messages)

First epoch

Second epoch

References

The National Marine Electronics Association

http://www.nmea.org/

Common NMEA Sentence types

http://www.commlinx.com.au/NMEA_sentence s.htm

NMEA Data Format

The End Thank you!