Introduction to GPS Data

NMEA & RTCM

Donald Choi, ALS/G2

Common GPS Data Format

RINEX
Combine data from different manufacturers GPS receivers For static data processing and archive

NMEA
Transmission of data between GPS receiver and other devices (e.g. GPS antenna PDA with ArcPad software) For real time positioning

RTCM
Transmission of data between GPS receivers (e.g Base Rover) Binary file (more compact but difficult to understand) For real time DGPS/RTK corrections

Common GPS Data Format

NMEA Data

Introduction

Background Message Format and Sentence structures

Common NMEA sentence

Other GPS-related NMEA sentence References

Flow of NMEA data between devices

Real-time positioning using the NMEA data

NMEA data transfer from GPS antenna to PDA with ArcPAD software

NMEA data used in Network RTK

(X,Y,Z,t) (X,Y,Z,t) (X,Y,Z,t) (X,Y,Z,t)

(X,Y,Z,t)

RTCM SC-104 Ver. 2.1

Ref. Stn X,Y,Z Pseudo-range + Corrn. Carrier Phase + Corrn.

Fix the Ambiguity

cm position accuracy

Data Centre
NMEA 0183 Real Time Position of Rover

What is NMEA data?

Developed by National Marine Electronics Association

Standard for interfacing marine electronic devices (GPS, Compass, Echosounder)

Standard specifies the electrical signal requirements, data transmission protocol (i.e. agreed format for transmitting data between two devices), message formats Most GPS receivers understand the most popular NMEA format NMEA 0183

What is NMEA data?

ASCII file
Easily readable (even by people) Less compact than binary

Numerous sentence types

Not all related GPS application Some popular GPS-related sentences are described in this presentation

NMEA settings

Baud rate: 4800 (4800 characters in one second ) Data bits: 8 (Bit 7 set to 0) Stop bits: 1 or 2 Parity: none
The send device and receive device should have same setting so as to transfer the NMEA data

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 Check sum (optional): a 2-character field (0-9,A-F) to increase data integrity (*) character placed after the last data field

Sentence structure

There are three sentence structures

Talker: output from talker (e.g. GPS receiver) to other devices (PAD) Query: means for listener (e.g. notebook) to request specified talker sentence from talker (GPS receiver) Proprietary: means for manufactures to use non-standard sentences for special purpose

Talker sentence

Format: $ttsss, df1, df2[CR][LF]

tt: defines device (for gps receivers the prefix is GP) sss: sentence type

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

The talker sends the GPS data in GGA sentence format.

Query sentence

Format: $ttllQ, sss, [CR][LF]

Example CCGPQ,GGA, [CR][LF]

A computer (CC) is requesting from GPS device (GP) the GGA sentence

Proprietary sentence

Format: $PmmmA,df1,df2,.[CR][LF]

P indictes it is a proprietary message mmm define as the manufacture The fifth character is a letter (A-Z) defines the specific message type

Example $PLEIS,AHT,0,1.90,0*34

LEI" is Leica manufacturer S for set command The message set the antenna height at 1.9m in the configuration of the internal sensor setting.

Common NMEA-0183 Sentence

Sentence
$GPGGA: $GPGLL: $GPGSA: $GPGSV: $GPRMC: $GPVTG:

Description
Global positioning system fixed data Geographic position - latitude / longitude GNSS DOP and active satellites GNSS satellites in view Recommended minimum specific GPS data Course over ground and ground speed

To extract information related to surveyed position Record at least one of the 3 sentences: $GPGGA, $GPGLL, $GPRMC

GGA Sentence Format

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

Field
Sentence ID UTC Time Latitude N/S Indicator Longitude E/W Indicator Position Fix Satellites Used HDOP Altitude Altitude Units Geoid Separation Seperation 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 (0-12) Horizontal dilution of precision Altitude (WGS-84 ellipsoid) M= Meters Geoid separation (WGS-84 ellipsoid) M= Meters in seconds always begin with *

*1F

GGA Sentence Format (2)

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

Fix quality:
0 1 2 3 4 5 = = = = = = invalid GPS fix (SPS) DGPS fix PPS fix Real Time Kinematic Float RTK

GLL Sentence Format

$GPGLL,4250.5589,S,14718.5084,E,092204.999,A*2D

Field ID Latitude N/S Indicator Longitude E/W Indicator UTC Time Status Checksum

Example $GPGLL 4250.5589 S 14718.5084 E 092204.999 A *2D

Comments ddmm.mmmm N = North, S = South dddmm.mmmm E = East, W = West hhmmss.sss A = Valid, V = Invalid

GSA Sentence Format

$GPGSA,A,3,01,20,19,13,,,,,,,,,40.4,24.4,32.2*0A Field Sentence ID Mode 1 Mode 1 Satellite used 1 . . . Satellite used 12 PDOP HDOP VDOP Checksum Example $GPGSA A 3 01 Comments A = Auto 2D/3D M = Forced 2D/3D 1 = No fix, 2 = 2D, 3 = 3D Satellite used on channel 1

24 2.5 1.3 2.1 *0A

Satellite used on channel 12 Position dilution of precision Horizontal dilution of precision Vertical dilution of precision

GSV Sentence Format

$GPGSV,3,1,10,20,78,331,45,01,59,235,47,22,41,069,,13,32,252,45*70
Field Sentence ID No. of messages 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 Comments No. of messages in complete (1-3) Sequence 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

*70

RMC Sentence Format

$GPRMC,092204.999,A,4250.5589,S,14718.5084,E,0.00,89.68,211200,,*25 Field Sentence ID UTC Time Status Latitude N/S Indicator Longitude E/W Indicator Speed over ground Course over ground UTC Date Magnetic variation Magnetic variation Checksum Example $GPRMC 092204.999 A 4250.5589 S 14718.5084 E 0.00 0.00 211200 Comments hhmmss.sss A = Valid, V = Invalid ddmm.mmmm N = North, S = South dddmm.mmmm E = East, W = West Knots Degrees DDMMYY Degrees E = East, W = West

*25

VTG Sentence Format

$GPVTG,89.68,T,,M,0.00,N,0.0,K*5F Field Sentence ID Course Reference Course Reference Speed Units Speed Units Checksum Example $GPVTG 89.68 89.68 89.68 0.00 N 0.00 K *5F Comments Course in degrees T = True heading Course in degrees M = Magnetic heading Horizontal speed N = Knots Horizontal speed K = KM/h

NMEA-0183 data file

Other GPS NMEA sentences

Sentence Description $GPALM: GPS almanac data $GPGRS: GPS range residuals $GPGST: GPS pseudorange noise statistics $GPMSS: Beacon receiver status $GPZDA: UTC and local date/time data

References

Common NMEA Setence types

http://www.commlinx.com.au/NMEA_sentences.htm

NMEA data
http://www.gpsinformation.org/dale/nmea.htm

The National Marine Electronics Association

http://www.nmea.org/

Common GPS Data Format RTCM correction

Outline

Background RTCM Data Format RTCM Message Types Transmission method of RTCM data RTCM data used in Network-RTK

RTCM correction used in Network RTK

(X,Y,Z,t) (X,Y,Z,t) (X,Y,Z,t) (X,Y,Z,t)

(X,Y,Z,t)

RTCM SC-104 Ver. 2.1

Ref. Stn X,Y,Z Pseudo-range + Corrn. Carrier Phase + Corrn.

Fix the Ambiguity

cm position accuracy

Data Centre
NMEA 0183 Real Time Position of Rover

RTCM correction used in DGPS service

Kau Yi Chau DGPS Sevices

Radio transmission The corrections are formatted to RTCM 2.0 and broadcast via Radio antenna

RTCM SC-104 V.2.0

What is RTCM SC-104 data?

Developed by Radio Technical Commission for Maritime Services (RTCM)

RTCM organization consists of various special committees to develop international standards for maritime radionavigation and radiocommunication systems RTCM Special Committee (SC) 104 is the one concerned Differential Global Navigation Satellite System (DGNSS) RTCM data format related to GPS applications is called RTCM SC-104

What is RTCM SC-104 data?

Industry standard for Real time differential data

Continuous and compact binary datagood for real-time processing

Has been different versions RTCM2.0 RTCM2.1
RTCM 2.2 RTCM 2.3 RTCM 3.0

RTCM Data Format

A data record contains several message types for various contents

Message 1, Message2. Message N

Each message comprises header and body

Header: message type, time, length of message, Body: data for every data type

Each data record may not include every message type

Some send every second (e.g. code corrections) Others are sent at interval (e.g. base station coordinates)

Features of various RTCM versions

RTCM 2.0
for DGPS applications only (message 1,9) and no RTK data

RTCM 2.1
retain the full content of RTCM 2.0 add new messages for carrier phase data and RTK corrections

RTCM 2.2
contain GLONASS data and associated information store in newly added messages 31-36

RTCM 2.3
antenna types (message 23) ARP information (message 24)

RTCM 3.0

RTCM 2.3 requires 4800 bps to broadcast dual-frequency code and carrier-phase observation corrections of 12 satellites. The information content is send with 1800 bps in RTCM 3.0 accommodate for new GNSS systems that are under

RTCM Message Types

RTCM Message Types

New messages added in RTCM2.1

New messages
added in RTCM2.2

New messages
added in RTCM2.3

RTCM Message Types

New messages
added in RTCM2.3

RTCM 3.0 Messages Type

RTCM Raw Data

RTCM Message Type 1

RTCM Message Type 2

RTCM Message Type 3+22

RTCM Message 20

RTCM Message Type 21

Transmission method of Real-time RTCM data

Global System for Mobile Communication (GSM)

GSM modem and SIM card with service available Charged by connection time

General Packet Radio Service (GPRS)

An upgrade to GSM Bridging the mobile network to IP network Charged by the amount of download data but not the connection time Cheaper than GSM

Latency of DGPS and RTK correction

References

DGPS Data Formats 2.0

www.geopp.de/download/DGPS-data-formats2.pdf

RTCM recommended standards for differential NAVSTAR GPS service

www.navcen.uscg.gov/pubs/dgps/rctm104/Default.htm

RTCM Official Website

http://www.rtcm.org/

Reference Station Network Information Distribution

http://www.network-rtk.info/euler/euler.html

The End Thank you!