nmea.txt

我在项目开发过程中搜集的各种NMEA协议文档

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 VBW - Dual Ground/Water Speed

        1   2   3 4   5   6 7
        |   |   | |   |   | |
 $--VBW,x.x,x.x,A,x.x,x.x,A*hh<CR><LF>

 Field Number: 
  1) Longitudinal water speed, "-" means astern
  2) Transverse water speed, "-" means port
  3) Status, A = Data Valid
  4) Longitudinal ground speed, "-" means astern
  5) Transverse ground speed, "-" means port
  6) Status, A = Data Valid
  7) Checksum

------------------------------------------------------------------------------

 VDR - Set and Drift

        1   2 3   4 5   6 7
        |   | |   | |   | |
 $--VDR,x.x,T,x.x,M,x.x,N*hh<CR><LF>

 Field Number: 
  1) Degress True
  2) T = True
  3) Degrees Magnetic
  4) M = Magnetic
  5) Knots (speed of current)
  6) N = Knots
  7) Checksum

------------------------------------------------------------------------------

 VHW - Water speed and heading

        1   2 3   4 5   6 7   8 9
        |   | |   | |   | |   | |
 $--VHW,x.x,T,x.x,M,x.x,N,x.x,K*hh<CR><LF>

 Field Number: 
  1) Degress True
  2) T = True
  3) Degrees Magnetic
  4) M = Magnetic
  5) Knots (speed of vessel relative to the water)
  6) N = Knots
  7) Kilometers (speed of vessel relative to the water)
  8) K = Kilometers
  9) Checksum

[GLOBALSAT] describes a different format in which the first three
fields are water-temperature measurements.  It's not clear which 
is correct.

------------------------------------------------------------------------------

 VLW - Distance Traveled through Water

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

 Field Number: 
  1) Total cumulative distance
  2) N = Nautical Miles
  3) Distance since Reset
  4) N = Nautical Miles
  5) Checksum

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 VPW - Speed - Measured Parallel to Wind

        1   2 3   4 5
        |   | |   | |
 $--VPW,x.x,N,x.x,M*hh<CR><LF>

 Field Number: 
  1) Speed, "-" means downwind
  2) N = Knots
  3) Speed, "-" means downwind
  4) M = Meters per second
  5) Checksum

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 VTG - Track made good and Ground speed

         1  2  3  4  5	6  7  8 9   10
         |  |  |  |  |	|  |  | |   |
 $--VTG,x.x,T,x.x,M,x.x,N,x.x,K,m,*hh<CR><LF>

 Field Number: 
  1) Track Degrees
  2) T = True
  3) Track Degrees
  4) M = Magnetic
  5) Speed Knots
  6) N = Knots
  7) Speed Kilometers Per Hour
  8) K = Kilometers Per Hour
  9) FAA mode indicator (NMEA 2.3 and later)
  10) Checksum

Note: in some older versions of NMEA 0183, the sentence looks like this:

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

 Field Number: 
  1) True course over ground (degrees) 000 to 359
  2) Magnetic course over ground 000 to 359
  3) Speed over ground (knots) 00.0 to 99.9
  4) Speed over ground (kilometers) 00.0 to 99.9
  5) Checksum

The two forms can be distinguished by field 2, which will be
the fixed text 'T' in the newer form.  The new form appears
to have been introduced with NMEA 3.01 in 2002.

Some devices, such as those described in [GLOBALSAT], leave the
magnetic-bearing fields 3 and 4 empty.

------------------------------------------------------------------------------

 VWR - Relative Wind Speed and Angle

         1  2  3  4  5  6  7  8 9
         |  |  |  |  |  |  |  | |
 $--VWR,x.x,a,x.x,N,x.x,M,x.x,K*hh<CR><LF>

 Field Number: 
  1) Wind direction magnitude in degrees
  2) Wind direction Left/Right of bow
  3) Speed
  4) N = Knots
  5) Speed
  6) M = Meters Per Second
  7) Speed
  8) K = Kilometers Per Hour
  9) Checksum

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 WCV - Waypoint Closure Velocity

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

 Field Number: 
  1) Velocity
  2) N = knots
  3) Waypoint ID
  4) Checksum

------------------------------------------------------------------------------

 WNC - Distance - Waypoint to Waypoint

        1   2 3   4 5    6    7
        |   | |   | |    |    |
 $--WNC,x.x,N,x.x,K,c--c,c--c*hh<CR><LF>

 Field Number: 
  1) Distance, Nautical Miles
  2) N = Nautical Miles
  3) Distance, Kilometers
  4) K = Kilometers
  5) TO Waypoint
  6) FROM Waypoint
  7) Checksum

------------------------------------------------------------------------------

 WPL - Waypoint Location

	1       2 3        4 5    6
        |       | |        | |    |
 $--WPL,llll.ll,a,yyyyy.yy,a,c--c*hh<CR><LF>

 Field Number: 
  1) Latitude
  2) N or S (North or South)
  3) Longitude
  4) E or W (East or West)
  5) Waypoint name
  6) Checksum     

------------------------------------------------------------------------------

 XDR - Cross Track Error - Dead Reckoning

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

 Field Number: 
  1) Transducer Type
  2) Measurement Data
  3) Units of measurement
  4) Name of transducer
  x) More of the same
  n) Checksum

------------------------------------------------------------------------------

 XTE - Cross-Track Error, Measured

        1 2 3   4 5 6   7
        | | |   | | |   |
 $--XTE,A,A,x.x,a,N,m,*hh<CR><LF>

 Field Number: 
  1) Status
     V = LORAN-C Blink or SNR warning
     V = general warning flag or other navigation systems when a reliable
         fix is not available
  2) Status
     V = Loran-C Cycle Lock warning flag
     A = OK or not used
  3) Cross Track Error Magnitude
  4) Direction to steer, L or R
  5) Cross Track Units, N = Nautical Miles
  6) FAA mode indicator (NMEA 2.3 and later, optional)
  7) Checksum

------------------------------------------------------------------------------

 XTR - Cross Track Error - Dead Reckoning

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

 Field Number: 
  1) Magnitude of cross track error
  2) Direction to steer, L or R
  3) Units, N = Nautical Miles
  4) Checksum

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 ZDA - Time & Date - UTC, day, month, year and local time zone

	1         2  3  4    5  6  7
        |         |  |  |    |  |  |
 $--ZDA,hhmmss.ss,xx,xx,xxxx,xx,xx*hh<CR><LF>

 Field Number:
  1) UTC time (hours, minutes, seconds, may have fractional subsecond)
  2) Day, 01 to 31
  3) Month, 01 to 12
  4) Year (4 digits)
  5) Local zone description, 00 to +- 13 hours
  6) Local zone minutes description, apply same sign as local hours
  7) Checksum

Example: $GPZDA,160012.71,11,03,2004,-1,00*7D

------------------------------------------------------------------------------

 ZFO - UTC & Time from origin Waypoint

        1         2         3    4
        |         |         |    |
 $--ZFO,hhmmss.ss,hhmmss.ss,c--c*hh<CR><LF>

 Field Number: 
  1) Universal Time Coordinated (UTC)
  2) Elapsed Time
  3) Origin Waypoint ID
  4) Checksum

------------------------------------------------------------------------------

 ZTG - UTC & Time to Destination Waypoint

        1         2         3    4
        |         |         |    |
 $--ZTG,hhmmss.ss,hhmmss.ss,c--c*hh<CR><LF>

 Field Number: 
  1) Universal Time Coordinated (UTC)
  2) Time Remaining
  3) Destination Waypoint ID
  4) Checksum

------------------------------------------------------------------------------

****************************************************************

Found on the web: (data fields unknown)

ASD - Autopilot System Data
DSC - Digital Selective Calling Information
DSE - Extended DSC
DSI - DSC Transponder Initiate
DSR - DSC Transponder Response
MWD - Wind Direction & Speed
TLL - Target Latitude and Longitude
WDR - Distance to Waypoint - Rhumb Line
WDC - Distance to Waypoint - Great Circle
ZDL - Time and Distance to Variable Point

****************************************************************

Vendor extensions (this list is very incomplete):

 PGRME - Garmin Estimated Error

        1  2  3  4  5  6  7
        |  |  |  |  |  |  |
 $PGRME,hhh,M,vvv,M,ttt,M*hh<CR><LF>

 Field Number: 
   1) Estimated horizontal position error (HPE), 
   2) M=meters
   3) Estimated vertical position error (VPE)
   4) M=meters
   5) Overall spherical equivalent position error
   6) M=meters
   7) Checksum

Example: $PGRME,15.0,M,45.0,M,25.0,M*22

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 PMGNST - Magellan Status

          1   2 3  4    5    6  7    8
          |   | |  |    |    |  |    |
 $PMGNST,xx.xx,m,t,nnn,xx.xx,nnn,nn,c

 Field Number: 
  1) Firmware version number?
  2) Mode (1 = no fix, 2 = 2D fix, 3 = 3D fix)
  3) T if we have a fix
  4) numbers change - unknown
  5) time left on the GPS battery in hours
  6) numbers change (freq. compensation?)
  7) PRN number receiving current focus
  8) nmea_checksum

 Only supported on Magellan GPSes.

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 PRWIZCH - Rockwell Channel Status

 $PRWIZCH,n,s,n,s,n,s,n,s,n,s,n,s,n,s,n,s,n,s,n,s,n,s,n,s,c*hh<CR><LF>

 Fields consist of 12 pairs of a satellite PRN followed by a 
 signal quality number in the range 0-7 (0 worst, 7 best).  

 Only emitted by the now-obsolete Zodiac (Rockwell) chipset.

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 PUBX 00 - uBlox Lat/Long Position Data

 $PUBX,00,hhmmss.ss,Latitude,N,Longitude,E,AltRef,NavStat,Hacc,Vacc,SOG,COG,Vvel,+ageC,HDOP,VDOP,TDOP,GU,RU,DR,*hh<CR><LF>

Example:
$PUBX,00,081350.00,4717.113210,N,00833.915187,E,546.589,G3,2.1,2.0,0.007,77.52,0+.007,,0.92,1.19,0.77,9,0,0*5F<CR><LF>

Only emitted by uBlox Antaris chipset.

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 PUBX 01 - uBlox UTM Position Data

The $PUBX,01 is a UTM (Universal Transverse Mercator projection) version
of the $PUBX,00 sentence.

$PUBX,01,hhmmss.ss,Easting,E,Northing,N,AltMSL,NavStat,Hacc,Vacc,SOG,COG,Vvel,ag+eC,HDOP,VDOP,TDOP,GU,RU,DR,*hh<CR><LF>

Example:
$PUBX,01,075142.00,467125.245,E,5236949.763,N,498.235,G3,2.1,1.9,0.005,85.63,0.0+00,,0.78,0.90,0.52,12,0,0*65

Only emitted by uBlox Antaris chipset.

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 PUBX 03 - uBlox Satellite Status

 $PUBX,03,GT{,ID,s,AZM,EL,SN,LK},*hh<CR><LF>

Example:
$PUBX,03,11,23,-,,,45,010,29,-,,,46,013,07,-,,,42,015,08,U,067,31,42,025,10,U,19+5,33,46,026,18,U,326,08,39,026,17,-,,,32,015,26,U,306,66,48,025,27,U,073,10,36,+026,28,U,089,61,46,024,15,-,,,39,014*0D

Only emitted by uBlox Antaris chipset.

(There's no PUBX 02)

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 PUBX 04 - uBlox Time of Day and Clock Information

$PUBX,04,hhmmss.ss,ddmmyy,UTC_TOW,week,reserved,Clk_B,Clk_D,PG,*hh<CR><LF>

Example:
$PUBX,04,073731.00,091202,113851.00,1196,113851.00,1930035,-2660.664,43,*3C<CR><+LF>

Only emitted by uBlox Antaris chipset.

------------------------------------------------------------------------------

Sources:

[NMEA2000]
    The NMEA 0183 protocol
    http://nmeatool.nmea2000.de/download/0183.pdf
    Probably the ancestor of this document.

[DEPRIEST]
    "NMEA data"
    http://www.gpsinformation.org/dale/nmea.htm
    Used for PMGNST and the FAA mode code.

[MX521]
    "MX521 GPS/DGPS Sensor Installation Manual"
    http://www.mx-marine.com/downloads/MX521_Install_manual_051804.pdf
    Used for GBS, GRS.

[ZODIAC]
    "Zodiac Serial Data Interface Specification"
    http://users.rcn.com/mardor/serial.pdf
    Used for PRWIZCH.

[GH79L4N]
    "Specifications for GPS Receiver GH-79L4-N"
    http://www.tecsys.de/db/gps/gh79l1an_intant.pdf
    Used for GPDTM.

[GIDS]
    "GPS - NMEA sentence information"
    http://aprs.gids.nl/nmea/
    Used for BWC, MSK, MSS.

[NMEAFAQ]
    "The NMEA FAQ"
    http://vancouver-webpages.com/peter/nmeafaq.txt
    Used for R00.

[UNMEA]
    "Understanding NMEA 0183"
    http://pcptpp030.psychologie.uni-regensburg.de/trafficresearch/NMEA0183/
    Source for the claim that NMEA requires undefined data fields to
    be empty.

[NTUM]
    "NemaTalker User Manual"
    http://www.sailsoft.nl/NemaTalker/UserManual/InstrGPS.htm
    Source for the claim that Mode Indicator dominates Status.

[IEC]
    "International Standard IEC 61162-1" (preview)
    http://domino.iec.ch/preview/info_iec61162-1%7Bed2.0%7Den.pdf

[SEATALK]
    "SeaTalk Technical Reference"
    http://www.thomasknauf.de/seatalk.htm

[GLOBALSAT]
    "NMEA (National Marine Electronics Association) 0183 Protocol"
    http://www.usglobalsat.com/faq_details/NMEA.htm