NMEA-0183 message: PASHR,PBN
Applicable receivers: All receivers
Position and velocity information
The PASHR,PBN message mimics an Ashtech message. This message contains position information in binary format.
An example of the PASHR,PBN message string is:
$PASHR,PBN,<STRUCTURE>
PASHR message fields
|
Type |
Name |
Size |
Meaning |
|---|---|---|---|
|
Long |
GPS msec |
4 |
Milliseconds of the GPS week |
|
Char |
Site name |
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 (meters) |
|
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) |
|
U16 |
PDOP |
2 |
PDOP multiplied by 100 |
|
U16 |
checksum |
2 |
The checksum is computed by breaking the structure into 27 unsigned shorts, adding them together, and taking the least significant 16 bits of the result. |
The total number of bytes in the message are 56.
For example, after a cold start when the receiver has no correct time, the PBN message is output with a fixed “zero” time tag.