Product Manual

390
Output Message Library
PBN: Position Information
This message contains position information in binary format.
The message is as follows:
$PASHR,PBN,<structure>
The message’s binary structure is described in the table
below.
When for example after a cold start, the receiver has no
correct time tag, the PBN message is output with a fixed
“zero” time tag.
Unlike all the other position messages, the position provided
in a PBN message cannot be an RTK position. It can only be
a standalone, SBAS or DGNSS position.
Reminder on How
to Output PBN
Messages
Use the $PASHS,RAW command with the syntax below:
$PASHS,RAW,PBN,<port_ID>,ON,<Rate>
For more details on the $PASHS,RAW command, refer to the
Set Command Library Chapter.
As an example, the command below will output PBN
messages on port A at a rate of 1 second:
$PASHS,RAW,PBN,A,ON,1
Type Name Size Contents
Long pbentime 4
GPS time when data was received (ms of
week)
Char sitename 4 Site name
Double navx 8 Station position: ECEF-X (m)
Double navy 8 Station position: ECEF-Y (m)
Double navz 8 Station position: ECEF-Z (m)
Float navt 4 Clock offset (m)
Float navxdot 4 Velocity in ECEF-X (m/s)
Float navydot 4 Velocity in ECEF-Y (m/s)
Float navzdot 4 Velocity in ECEF-Z (m/s)
Float navtdot 4 Clock drift (m/s)
Unsigned short pdop 2 PDOP multiplied by 100
Unsigned short checksum 2
The checksum is computed by breaking
the structure into 27 unsigned shorts, add-
ing them together, and taking the least sig-
nificant 16 bits of the result.
Total of bytes 56