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RoyalTek REB-3000 User Manual

Page 38

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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

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