RoyalTek REB-3000 User Manual
Page 38
RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
33
0x09 9
Throughput
CPU
load
0x0B
11
Command Acknowledgment
Successful request
0x0C
12
Command N Acknowledgment
Unsuccessful request
0X0D
13
Visible List
Auto Output
0x0E 14
Almanac
Data
0x0F 15
Ephemeris
Data
0x11 17
Differential
Corrections
Received from DGPS broadcast
0x12 18
OkToSend
CPU ON / OFF (Trickle Power)
0x13 19
Navigation
Parameters
Response to Poll
0x1C 28
Nav. Lib. Measurement Data
Measurement Data
0x1D 29
Nav. Lib. DGPS Data
Differential GPS Data
0x1E 30
Nav. Lib. SV State Data
Satellite State Data
0x1F 31
Nav. Lib. Initialization Data
Initialization Data
0x64
100
RoyalTek Navigation Data
UTC , lat , lon, validate output
0xFF
255
Development Data
Various data messages
Measure Navigation Data Out –
Message I.D.2
Output Rate: 1 Hz
Table 43 lists the binary and ASCII
message data format for the measured
navigation data
Example:
A0A20029 – Start Sequence and Payload
Length
02FFD6F78CFFBE869E003AC004000301
04A00036B039780E3
0612190E160F04000000000000 –
Payload
09BBB0B3 – Message Checksum, and
End Sequence
Table 43
Measured Navigation Data Out – Binary & ASCII Message Data Format
Binary(Hex) ASCII(Decimal)
Name
Bytes
Scale Example
Units
Scale Example
Message
ID
1
02
2
X – position
4
FFD6F78C
M
-2689140
Y – position
4
FFBE536E
M
-4304018
Z – position
4
003AC004
M
3850244
X – velocity
2
*8
00
M/s
Vx/8
0
Y – velocity
2
*8
03
M/s
Vy/8
0.375
Z – velocity
2
*8
01
M/s
/8
0.125
Mode
1
1
04
Bitmap1
4
DOP
2
1
*5
A /5
2.0
Mode
3
1
00
Bitmap3
0
GPS Week
2
036B
875
GPS TOW
4
*100
039780E3
seconds
/100
602605.79
SVs in Fix
1
06
6
CH
1 1
12
18
CH
2 1
19
25
CH 3
1
0E
14
CH
4 1
16
22
CH 5
1
0F
15
CH
6 1
04
4
CH
7 1
00
0
CH
8 1
00
0
CH
9 1
00
0
CH
10 1
00
0