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RoyalTek RGM-3000/REB-3000
GPS Module Operational Manual)
33
0x09 9 Throughput CPU load
0x0B 11 Command Acknowledgment Successful request
0x0C 12 Command N Acknowledgment Unsuccessful request
0X0D 13 Visible List Auto Output
0x0E 14 Almanac Data
0x0F 15 Ephemeris Data
0x11 17 Differential Corrections
Received from DGPS broadcast
0x12 18 OkToSend
CPU ON / OFF (Trickle Power)
0x13 19 Navigation Parameters
Response to Poll
0x1C 28
Nav. Lib. Measurement Data Measurement Data
0x1D 29
Nav. Lib. DGPS Data Differential GPS Data
0x1E 30
Nav. Lib. SV State Data Satellite State Data
0x1F 31
Nav. Lib. Initialization Data Initialization Data
0x64 100 RoyalTek Navigation Data UTC , lat , lon, validate output
0xFF 255 Development Data Various data messages
Measure Navigation Data Out –
Message I.D.2
Output Rate: 1 Hz
Table 43 lists the binary and ASCII
message data format for the measured
navigation data
Example:
A0A20029 – Start Sequence and Payload
Length
02FFD6F78CFFBE869E003AC004000301
04A00036B039780E3
0612190E160F04000000000000 –
Payload
09BBB0B3 – Message Checksum, and
End Sequence
Table 43 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