POS/MV Position and Orientation System for Marine Vessels

POS/MV outputs data using the NMEA 0183 format at rates of up to fifty sentences per second. The following seven different sentence formats are available.

$INGGA, hhmmss.sss, llll.lllll, a, yyyyy.yyyyy, b, t, nn, v.v, x.x, M,,,c.c,rrrr*hh

$INGGA-Global System Position Fix Data
Item Definition Value Units
$INGGA Header $INGGA  
hhmmss.sss UTC time of position n/a Hours/Minutes/Seconds.decimal.

Two fixed digits of hours.

Two fixed digits of minutes.

Two fixed digits of seconds.

Three digits for decimal fractions of a second.

llll.lllll Latitude -90 to +90 DegreeslMinutes.decimal.

Two fixed digits of degrees

Two fixed digits of minutes

Five digits for decimal minutes.

a N (north) or S (south) N or S  
yyyyy.yyyyy Longitude -180 to +180 Degrees/Minutes.decimal.

Three fixed digits of degrees.

Two fixed digits of minutes.

Five digits for decimal minutes.

b E (east) or W (west) E or W  
t GPS Quality Indicator 0 = Fix not available or invalid

1 = CIA standard GPS; fix valid.

2 = DGS mode; fix valid.

3 = PPP mode; fix valid.

4 = RTK fixed

5 = RTK float

6 = free inertial

 
nn Number of satellites used in fix 0 to 32  
v.v Horizontal dilution of precision    
x.x Altitude of the IMU above or below the mean sea level. A negative value indicates below sea level. n/a Metres
M Units of measure = metres M  
Null Null    
Null Null    
c.c Age of differential corrections in records since last RTCM-104 message. 0 to 99.9 Seconds
rrr DGPS reference station identity 0000 to 1023  
*hh Checksum 00 - FF  
/CR/LF Carriage return and line feed /CR/LF  

Note that, in the case of the HDOP, IMU altitude and age of differential connections, POS/MV adds leading digits as required (i.e. if the value exceeds 9.9). Also, note that commas separate all items, including null fields. The information is valid at the location of the vessel frame.

$INHDT, x.x, T*hh

$INHDT-Heading - True data
Item Definition Value Units
$INHDT Header $INHDT  
x.x True vessel heading in the vessel frame o to 359.99 degrees
*hh Checksum n/a  
/CR/LF Carriage return and line feed /CR/LF  

$INVTG, x.x, T,, M, n.n, N, k.k, K*hh

$INVTG-Course over ground and Ground speed data
Item Definition Value Units
%INVTG Header $INVTG  
x.x True vessel track in the vessel frame 0 to 359.99 degrees
T True T  
null Not supported null  
M   M  
n.n Speed in the vessel frame n/a Knots
N Knots N  
k.k Kilometres K  
*hh Checksum n/a  
/CR/LF Carriage return and line feed /CR/LF  

Note that, in the case of the track and the speed fields, POS/MV adds the leading digits as required (i.e. if the value exceeds 9.9). ALso, note that commas separate all items in the including null fields.

$INGST, hhmmss,sss,,smjr.smjr,smnr.smnr, o.o, l.l, y.y, a.a *hh

$INGST-GPS pseudorange noise statistics
Item Definition Value Units
$INGST Header $INGST  
hhmmss.sss UTC time of position n/a Hours/Minutes/Seconds.decimal.

2 fixed digits of hours.

2 fixed digits of minutes.

2 fixed digits of seconds.

Three digits for decimal fractions of a second.

null Not supported null  
smjr.smjr Standard Deviation of semi-major axis of error ellipse n/a Metres
smnr.smnr Standard deviation of semi-minor axis of error ellipse n/a Metres
o.o Orientaion of semi-major axis ellipse 0 to 359.9 Degrees from true north
l.l Standard deviation of latitude n/a Metres
y.y Standard deviation of longitude n/a Metres
a.a Standard deviation of Altitude n/a Metres
*hh Checksum n/a  
/CR/LF Carriage return and line feed /CR/LF  

Note that, in the case of all fields POS/MV adds leading digits as required (i.e. if the value exceeds 9.9). Also, note that commas separate all items, including null fields. The information is valid at the location of the vessel frame.

Note that commas separate all items

Two attitude data strings are available. The strings are identical except for the definition of roll and pitch angles. One string uses Tate-Bryant angles and the

other uses TSS angles. Use the POS/MV Controller program to set the required angle convention.

$PRDID, PPP.PP, RRR.RR, xxx.xx*hh

$PRDID-Attitude data
Item Definition Value Units
$PRDID Header $PRDID  
PPP.PP Pitch -90.00 to +90.00 Degrees
RRR.RR Roll -90.00 to +90.00 Degrees
xxx.xx Sensor heading 0 to 359.99 Degrees
*hh Checksum n/a  
/CR/LF Carriage return and line feed /CR/LF  

Note that commas separate all items

Two attitude data strings are available. The strings are identical except for the definition of roll and pitch angles. One string uses Tate-Bryant angles and the

other uses TSS angles. Use the POS/MV Controller program to set the required angle convention.

$INZDA, hhmmss.ss, DD, MM, YYYY,, *hh

$INZDA-Time and date
Item Definition Value Units
$INZDA Header $INZDA  
hhmmss.sss UTC time n/a Hours/Minutes/Seconds.decimal.

2 fixed digits of hours

2 fixed digits of minutes

2 fixed digits of seconds

Three digits for decimal fractions of a second

DD Day of month 01 to 31  
MM Month of year 01 to 12  
YYYY Year    
Null Null    
Null Null    
*hh Checksum n/a /CR/LF