Reference Manual Instruction Manual

676
Data Output
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.
NOTE: GPS time is used when GPS is defined as the primary
system, and GLONASS time is used when GLONASS is
defined as the primary system.
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.
Type Name Size Contents
Long pbentime 4
GPS or GLONASS time when data was
received (ms of week). See NOTE below.
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