NMEA-0183 message: PTNL,VHD

Heading information

NOTE – The heading computation in this message is computed from the moving baseline vector, which requires a two-antenna system.

An example of the PTNL,VHD message string is:

$PTNL,VHD,030556.00,093098,187.718,-22.138,-76.929,-5.015,0.033,0.006,3,07,2.4,M*22

PTNL,VHD message fields

Field Meaning
0 Message ID $PTNL
1 VHD
2 UTC of position in hhmmss.ss format
3 Date in mmddyy format
4 Azimuth
5 Rate of change of azimuth = azimuth/time
6 Vertical angle
7 Rate of change of vertical angle = vertical/time
8 Range
9 Rate of change of range between antenna = range/time
10 GPS Quality indicator:

0: Fix not available or invalid
1: Autonomous GPS fix
2: RTK float solution
3: RTK fix solution
4: Differential, code phase only solution (DGPS)
5: SBAS solution – WAAS/EGNOS/MSAS
6: RTK Float 3D network solution
7: RTK Fixed 3D network solution
8: RTK Float 2D network solution
9: RTK Fixed 2D network solution
10: OmniSTAR HP/XP solution
11: OmniSTAR VBS solution
12: Location RTK
13: Beacon DGPS
14: CenterPoint RTX
15: xFill

11 Number of satellites used in solution
12 PDOP
13 M
14 The checksum data, always begins with *