Novatel Software Version 4.45 OM-20000026 Rev 1 GPGRS GPS Range Residuals for Each Satellite

D Logs summary
MiLLennium Command Descriptions Manual 145
GPGRS GPS Range Residuals for Each Satellite
Range residuals can be computed in two ways, and this log reports those residuals. Under mode 0, residuals output
in this log are used to update the position solution output in the GPGGA message. Under mode 1, the residuals are
re-computed after the position solution in the GPGGA message is computed. The GPSCard computes range
residuals in mode 1. An integrity process using GPGRS would also require GPGGA (for position fix data), GPGSA
(for DOP figures), and GPGSV (for PRN numbers) for comparative purposes.
Structure:
Example:
$GPGRS,192911.0,1,-13.8,-1.9,11.4,-33.6,0.9,6.9,-12.6,0.3,0.6,-22.3,,
*65[CR][LF]
NOTE: If the range residual exceeds ± 99.9, then the decimal part will be dropped. Maximum value for this
field is ± 999. The sign of the range residual is determined by the order of parameters used in the calculation as
follows:
range residual = calculated range - measured range.
$GPGRS utc mode
res res res res res res res res res res res res
*xx [CR][LF]
Field Structure Field Description Symbol Example
1$GPGRS Log header $GPGRS
2utc UTC time of position (hours/minutes/seconds/ decimal seconds) hhmmss.ss 192911.0
3mode Mode 0 =residuals were used to calculate the position given in
the matching GGA line (apriori) (not used by GPSCard)
Mode 1 =residuals were recomputed after the G GA position was
computed (preferred mode)
x 1
4 - 15 res R ange residuals for satellites used in the navigation solution.
Order matches order of PRN numbers in GPGSA. x.x,x.x,..... -13.8,-1.9,11.4,-33.6,0.9, 6.9,-12.6,0.3,0.6, -22.3
16 *xx Checksum *hh *65
17 [CR][LF] Sentence terminator [CR][LF]