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Document Title: 33
User’s Manual for the GPS Orion-S/-HD Receiver
Document No. Issue 1.0
GTN-MAN-0110 June 22, 2003
DLR/GSOCNo part of this document shall be reproduced in any form or disclosed to third parties without prior authorization.
4.4.1.6 F40 – Cartesian Navigation Data
The F40 message provides the Cartesian state vector (position and velocity) of the host ve-
hicle in the Earth-fixed WGS84 system. It is aligned to the instance of an integer GPS sec-
ond once the receiver has a achieved continuous 3D navigation fix.
MsgID Chars. Format Description
F40 104
Cartesian navigation data
1
x <STX>
3
xxx Message Id (=F40)
4
xxxx GPS week
12
xxxxxx.xxxxx GPS seconds of week [s] (of navigation solution)
2
xx GPS-UTC [s]
12
sxxxxxxxx.xx x (WGS84) [m]
12
sxxxxxxxx.xx y (WGS84) [m]
12
sxxxxxxxx.xx z (WGS84) [m]
12
sxxxxx.xxxxx vx (WGS84) [m]
12
sxxxxx.xxxxx vy (WGS84) [m]
12
sxxxxx.xxxxx vz (WGS84) [m]
1
x Navigation status (0=no-Nav,2=3D-Nav)
2
xx Number of tracked satellites
4
xx.x PDOP
2
xx Checksum
1
x <ETX>
Example:
<STX>F401139180006.0000013 -1070289.69 -1135280.39 +6636840.38 -3777.36103 -6389
.28606 -1696.253242 9 2.172<ETX>