Product Manual

311
Query Command Library
GRS: GNSS Range Residuals
Function This command is used to output a GRS message containing
the satellite range residuals. The message is output on the
port on which the query is made. No message will be output
if there is no position computed.
Command Format Syntax
$PASHQ,GRS[*cc]
Response Format Syntax
$--GRS,m1,d2,n(f3)*cc
Parameters
Example $PASHQ,GRS
$GNGRS,141003.50,1,1.14,-0.48,0.26,0.20,-0.94,-0.28,-1.18*61
$GNGRS,141003.50,1,-0.20*4F
Automatic Output
of GRS Messages
This is a reminder on how to output GRS messages at regular
intervals of time: Use the $PASHS,NME command with the
syntax below:
$PASHS,NME,GRS,<port_ID>,ON,<Rate>
For more details on the $PASHS,NME command, refer to the
Set Command Library Chapter.
As an example, the command below will output GRS
messages on port A at a rate of 0.5 second:
Parameter Description Range
“$--GRS”
Header
$GPGRS: Only GPS satellites are used.
$GLGRS: Only GLONASS satellites are used.
$GNGRS: Several constellations (GPS, SBAS,
GLONASS) are used.
$GPGRS,
$GLGRS,
$GNGRS
m1 Current UTC time of position (hhmmss.ss)
000000.00-
235959.99
d2 Mode used to compute range residuals Always “1”
f3
Range residual for satellite used in position com-
putation (repeated “n” times, where n is the num-
ber of satellites used in position computation).
Residuals are listed in the same order as the sat-
ellites in the GSV message so that each residual
provided can easily be associated with the right
satellite.
±999.999
*cc Checksum *00-*FF