nmea.txt

我在项目开发过程中搜集的各种NMEA协议文档

From [GLOBALSAT]. Shown with a "@II" leader rather than "$GP".

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 LCD - Loran-C Signal Data

        1    2   3   4   5   6   7   8   9   10  11  12  13  14
        |    |   |   |   |   |   |   |   |   |   |   |   |   |
 $--LCD,xxxx,xxx,xxx,xxx,xxx,xxx,xxx,xxx,xxx,xxx,xxx,xxx,xxx*hh<CR><LF>

 Field Number: 
  1) GRI Microseconds/10
  2) Master Relative SNR
  3) Master Relative ECD
  4) Time Difference 1 Microseconds
  5) Time Difference 1 Signal Status
  6) Time Difference 2 Microseconds
  7) Time Difference 2 Signal Status
  8) Time Difference 3 Microseconds
  9) Time Difference 3 Signal Status
 10) Time Difference 4 Microseconds
 11) Time Difference 4 Signal Status
 12) Time Difference 5 Microseconds
 13) Time Difference 5 Signal Status
 14) Checksum

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 MSK - Control for a Beacon Receiver

         1  2  3  4  5   6
         |  |  |  |  |   |
 $--MSK,nnn,m,nnn,m,nnn*hh<CR><LF>

 Field Number:
  1) Frequency to use
  2) Frequency mode, A=auto, M=manual
  3) Beacon bit rate
  4) Bitrate, A=auto, M=manual
  5) Frequency for MSS message status (null for no status)
  6) Checksum

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 MSS - Beacon Receiver Status

         1  2  3  4    5   6
         |  |  |  |    |   |
 $--MSS,nn,nn,fff,bbb,xxx*hh<CR><LF>

 Field Number:
  1) Signal strength (dB 1uV)
  2) Signal to noise ratio (dB)
  3) Beacon frequency (kHz)
  4) Beacon data rate (BPS)
  5) Unknown integer value
  6) Checksum

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 MTW - Mean Temperature of Water 

        1   2 3
        |   | | 
 $--MTW,x.x,C*hh<CR><LF>

 Field Number: 
  1) Degrees
  2) Unit of Measurement, Celcius
  3) Checksum

[GLOBALSAT] lists this as "Meteorological Temperature of Water",
which is probably incorrect.

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 MWV - Wind Speed and Angle

        1   2 3   4 5
        |   | |   | |
 $--MWV,x.x,a,x.x,a*hh<CR><LF>

 Field Number: 
  1) Wind Angle, 0 to 360 degrees
  2) Reference, R = Relative, T = True
  3) Wind Speed
  4) Wind Speed Units, K/M/N
  5) Status, A = Data Valid
  6) Checksum

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 OLN - Omega Lane Numbers

        1          2          3          4
        |--------+ |--------+ |--------+ |
 $--OLN,aa,xxx,xxx,aa,xxx,xxx,aa,xxx,xxx*hh<CR><LF>

 Field Number: 
  1) Omega Pair 1
  2) Omega Pair 1
  3) Omega Pair 1
  4) Checksum

(The OLN sentence is obsolete as of 2.30)

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 OSD - Own Ship Data

        1   2 3   4 5   6 7   8   9 10
        |   | |   | |   | |   |   | |
 $--OSD,x.x,A,x.x,a,x.x,a,x.x,x.x,a*hh<CR><LF>

 Field Number: 
  1) Heading, degrees true
  2) Status, A = Data Valid
  3) Vessel Course, degrees True
  4) Course Reference
  5) Vessel Speed
  6) Speed Reference
  7) Vessel Set, degrees True
  8) Vessel drift (speed)
  9) Speed Units
 10) Checksum

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 R00 - Waypoints in active route

        1                n
        |                | 
 $--R00,c---c,c---c,....*hh<CR><LF>

 Field Number: 
  1) waypoint ID
  ...
  n) checksum

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 RMA - Recommended Minimum Navigation Information
                                                    12
        1 2       3 4        5 6   7   8   9   10  11|
        | |       | |        | |   |   |   |   |   | |
 $--RMA,A,llll.ll,a,yyyyy.yy,a,x.x,x.x,x.x,x.x,x.x,a*hh<CR><LF>

 Field Number: 
  1) Blink Warning
  2) Latitude
  3) N or S
  4) Longitude
  5) E or W
  6) Time Difference A, uS
  7) Time Difference B, uS
  8) Speed Over Ground, Knots
  9) Track Made Good, degrees true
 10) Magnetic Variation, degrees
 11) E or W
 12) Checksum

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 RMB - Recommended Minimum Navigation Information

To be sent by a navigation receiver when a destination waypoint is active.
                                                             14
        1 2   3 4    5    6       7 8        9 10  11  12  13|  15
        | |   | |    |    |       | |        | |   |   |   | |   |
 $--RMB,A,x.x,a,c--c,c--c,llll.ll,a,yyyyy.yy,a,x.x,x.x,x.x,A,m,*hh<CR><LF>

 Field Number: 
  1) Status, A= Active, V = Void
  2) Cross Track error - nautical miles
  3) Direction to Steer, Left or Right
  4) TO Waypoint ID
  5) FROM Waypoint ID
  6) Destination Waypoint Latitude
  7) N or S
  8) Destination Waypoint Longitude
  9) E or W
 10) Range to destination in nautical miles
 11) Bearing to destination in degrees True
 12) Destination closing velocity in knots
 13) Arrival Status, A = Arrival Circle Entered
 14) FAA mode indicator (NMEA 2.3 and later)
 15) Checksum

Example: $GPRMB,A,0.66,L,003,004,4917.24,N,12309.57,W,001.3,052.5,000.5,V*0B

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 RMC - Recommended Minimum Navigation Information
                                                            12
        1         2 3       4 5        6  7   8   9    10 11|  13
        |         | |       | |        |  |   |   |    |  | |   |
 $--RMC,hhmmss.ss,A,llll.ll,a,yyyyy.yy,a,x.x,x.x,xxxx,x.x,a,m,*hh<CR><LF>

 Field Number: 
  1) UTC Time
  2) Status, V=Navigation receiver warning A=Valid
  3) Latitude
  4) N or S
  5) Longitude
  6) E or W
  7) Speed over ground, knots
  8) Track made good, degrees true
  9) Date, ddmmyy
 10) Magnetic Variation, degrees
 11) E or W
 12) FAA mode indicator (NMEA 2.3 and later)
 13) Checksum

A status of V means the GPS has a valid fix that is below an internal
quality threshold, e.g. because the dilution of precision is too high 
or an elevation mask test failed.

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 ROT - Rate Of Turn

        1   2 3
        |   | |
 $--ROT,x.x,A*hh<CR><LF>

 Field Number: 
  1) Rate Of Turn, degrees per minute, "-" means bow turns to port
  2) Status, A means data is valid
  3) Checksum

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 RPM - Revolutions

        1 2 3   4   5 6
        | | |   |   | |
 $--RPM,a,x,x.x,x.x,A*hh<CR><LF>

 Field Number: 
  1) Sourse, S = Shaft, E = Engine
  2) Engine or shaft number
  3) Speed, Revolutions per minute
  4) Propeller pitch, % of maximum, "-" means astern
  5) Status, A means data is valid
  6) Checksum

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 RSA - Rudder Sensor Angle

        1   2 3   4 5
        |   | |   | |
 $--RSA,x.x,A,x.x,A*hh<CR><LF>

 Field Number: 
  1) Starboard (or single) rudder sensor, "-" means Turn To Port
  2) Status, A means data is valid
  3) Port rudder sensor
  4) Status, A means data is valid
  5) Checksum

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 RSD - RADAR System Data
                                                        14
        1   2   3   4   5   6   7   8   9   10  11 12 13|
        |   |   |   |   |   |   |   |   |   |   |   | | |
 $--RSD,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,a,a*hh<CR><LF>

 Field Number: 
  9) Cursor Range From Own Ship
 10) Cursor Bearing Degrees Clockwise From Zero
 11) Range Scale
 12) Range Units
 14) Checksum

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 RTE - Routes

        1   2   3 4	 5		       x    n
        |   |   | |    |           |    |
 $--RTE,x.x,x.x,a,c--c,c--c, ..... c--c*hh<CR><LF>

 Field Number: 
  1) Total number of messages being transmitted
  2) Message Number
  3) Message mode
     c = complete route, all waypoints
     w = working route, the waypoint you just left, the waypoint you're heading to then all the rest
  4) Waypoint ID
  x) More Waypoints
  n) Checksum

The Garmin 65 and possibly other units report a $GPR00 in the same format.

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 SFI - Scanning Frequency Information

        1   2   3      4                     x
        |   |   |      |                     |
 $--SFI,x.x,x.x,xxxxxx,c .......... xxxxxx,c*hh<CR><LF>

 Field Number: 
  1) Total Number Of Messages
  2) Message Number
  3) Frequency 1
  4) Mode 1
  x) Checksum

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 STN - Multiple Data ID

This sentence is transmitted before each individual sentence where
there is a need for the Listener to determine the exact source of data
in the system. Examples might include dual-frequency depthsounding
equipment or equipment that integrates data from a number of sources
and produces a single output.

        1   2
        |   |
 $--STN,x.x,*hh<CR><LF>

 Field Number: 
  1) Talker ID Number
  2) Checksum

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 TDS - Trawl Door Spread Distance

         1  2 3
         |  | |
 $--TDS,x.x,M*hh<CR><LF>

 Field Number)
  1) Distance between trawl doors
  2) Meters (0-300)
  3) Checksum.

From [GLOBALSAT].  Shown with a "@II" leader rather than "$GP".

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 TFI - Trawl Filling Indicator

        1 2 3 4
        | | | |
 $--TFI,x,y,z*hh<CR><LF>

 Field number:
  1) Catch sensor #1 (0 = off, 1 = on, 2 = no answer)
  2) Catch sensor #2 (0 = off, 1 = on, 2 = no answer)
  3) Catch sensor #3 (0 = off, 1 = on, 2 = no answer)

From [GLOBALSAT].  Shown with a "@II" leader rather than "$GP".

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 TPC - Trawl Position Cartesian Coordinates

        1 2 3 4  5  6 7
        | | | |  |  | |
 $--TPC,x,M,y,P,z.z,M*hh,<CR><LF>

 Field Number:
  1) Horizontal distance from the vessel center line
  2) Meters 
  3) Horizontal distance from the transducer to the trawl along the
     vessel center line. The value is normally positive assuming the 
     trawl is located behind the vessel.
  4) Meters
  5) Depth of the trawl below the surface
  6) Meters
  7) Checksum

From [GLOBALSAT]. Shown with a "@II" leader rather than "$GP".
This entry actually merges their TPC description with another
entry labeled (apparently incorrectly) TPT, which differs from the
TPT shown below.

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 TPR - Trawl Position Relative Vessel

        1 2 3 4  5  6 7
        | | | |  |  | |
 $--TPR,x,M,y,P,z.z,M*hh,<CR><LF>

 Field Number:
  1) Horizontal range relative to target
  2) Meters (0-4000)
  3) Bearing to target relative to vessel heading.  Resolution is one degree.
  4) Separator
  5) Depth of trawl below the surface
  6) Meters (0-2000)
  7) Checksum

From [GLOBALSAT]. Shown with a "@II" leader rather than "$GP".

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 TPT - Trawl Position True

        1 2 3 4  5  6 7
        | | | |  |  | |
 $--TPT,x,M,y,P,z.z,M*hh,<CR><LF>

 Field Number:
  1) Horizontal range relative to target
  2) Meters (0-4000)
  3) True bearing to taget (ie. relative north).  Resolution is one degree.
  4) Separator
  5) Depth of trawl below the surface
  6) Meters (0-2000)
  7) Checksum

From [GLOBALSAT]. Shown with a "@II" leader rather than "$GP".

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 TRF - TRANSIT Fix Data
                                                                    13
        1         2      3       4 5        6 7   8   9   10  11  12|
        |         |      |       | |        | |   |   |   |   |   | |
 $--TRF,hhmmss.ss,xxxxxx,llll.ll,a,yyyyy.yy,a,x.x,x.x,x.x,x.x,xxx,A*hh<CR><LF>

 Field Number: 
  1) UTC Time
  2) Date, ddmmyy
  3) Latitude
  4) N or S
  5) Longitude
  6) E or W
  7) Elevation Angle
  8) Number of iterations
  9) Number of Doppler intervals
 10) Update distance, nautical miles
 11) Satellite ID
 12) Data Validity
 13) Checksum

(The TRF sentence is obsolete as of 2.3.0)

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 TTM - Tracked Target Message

                                         11     13
        1  2   3   4 5   6   7 8   9   10|    12| 14
        |  |   |   | |   |   | |   |   | |    | | |
 $--TTM,xx,x.x,x.x,a,x.x,x.x,a,x.x,x.x,a,c--c,a,a*hh<CR><LF>

 Field Number: 
  1) Target Number (0-99)
  2) Target Distance
  3) Bearing from own ship
  4) Bearing Units
  5) Target Speed
  6) Target Course
  7) Course Units
  8) Distance of closest-point-of-approach
  9) Time until closest-point-of-approach "-" means increasing
 10) "-" means increasing
 11) Target name
 12) Target Status
 13) Reference Target
 14) Checksum

[GLOBALSAT] gives this in a slightly different form, with 14th and
15th fields conveying time of observation and whether target
acquisition was automatic or manual.