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C NMEA-0183 Messages
86 AgGPS 332 GPS Receiver User Guide
C.6 GRS (GPS Range Residuals)
The GRS message is used to support the Receiver Autonomous
Integrity Monitoring (
RAIM).
The
GRS message structure is:
$GPGRS,220320.0,0,-0.8,-0.2,-0.1,
-0.2,0.8,0.6,,,,,,,*55
Table C.6 describes these fields.
Note – Because the contents of this NMEA message do not change
significantly during a one-second interval, the receiver outputs this
message at a maximum rate of 1 Hz.
Table C.6 GRS message fields
Field Description
1 UTC time of GGA position fix
2Residuals
Residuals used to calculate position given in the matching
GGA line
1: Residuals recomputed after the GGA position was computed
3-14 Range residuals for satellites used in the navigation solution, in
meters