RoyalTek REV-2000 User Manual
Page 45
RoyalTek GPS Receiver REB-2000/REB-12R REV-2000 Operational Manual
28
Table 41 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
CH 11
1
00
0
CH 12
1
00
0
Payload Length :41 bytes
1
For further information , go to Table 42
2
Dilution of precision (DOP) field contains
value of PDOP when Position is obtained
using 3D solution and HDOP in all other
cases.
3
For further information , go to Table 43
Note – Binary units scaled to integer
values need to be divided by the scale
value to receive true decimal value (i.e.,
decimal Xvel = binary Xvel /8).
Table 42 Mode 1
Mode 1
Hex ASCII
Description
0x00
0
No Navigation Solution
0x01
1
1 Satellite Solution
0x02
2
2 Satellite Solution
0x03
3
3 Satellite Solution (2D)
0x04
4
>=4 Satellite Solution (3D)
0x05
5
2D Point Solution(Krause)
0x06
6
3D Point Solution(Krause)
0x07
7
Dead Reckoning (Time Out)