Global Navigation Satellite System (GNSS) Data Formats - 東京大学
Global Navigation Satellite System (GNSS)Data FormatsDinesh ManandharCenter for Spatial Information ScienceThe University of TokyoContact Information: dinesh@iis.u-Tokyo.ac.jpDinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 1
Data Formats: NMEA, RINEXReferences: h Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 2
National Marine Electronics Association (NMEA) Format NMEA is format to output measurement data from a sensor in apre-defined format in ASCII In the case of GPS, It output GPS position, velocity, time andsatellite related data NMEA sentences (output) begins with a “Talker ID” and“Message Description” Example: ,M,46.9,M,,*47 “ GP” is Talker ID “GGA” is Message Description to indicate for Position DataDinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 3
NMEA Data FormatGGA - Fix data which provide 3D location and accuracy data. ,M,46.9,M,,*47Where: GGA Global Positioning System Fix Data123519Fix taken at 12:35:19 UTC4807.038, NLatitude 48 deg 07.038' N01131.000, ELongitude 11 deg 31.000' E1 Fix quality:0 invalid ,1 GPS fix (SPS),2 DGPS fix,3 PPS fix,4 Real Time Kinematic5 Float RTK6 estimated (dead reckoning) (2.3 feature)7 Manual input mode8 Simulation mode08Number of satellites being tracked0.9Horizontal dilution of position545.4,MAltitude, Meters, above mean sea level46.9,MHeight of geoid (mean sea level) above WGS84 ellipsoid(empty field)time in seconds since last DGPS update (empty field) DGPS station ID number*47the checksum data, always begins with *Dinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 4
Serial Configuration of NMEA Baud rate Parity Data bits Stop bits Handshake: 4800: None:8:1: NoneDinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 5
RINEX Data Format Receiver Independent Exchange Format (RINEX) is a data exchange format forraw satellite data among different types of receivers. Different types of receivers may output position and raw data in proprietary formats For post-processing of data using DGPS or RTK it is necessary to use data fromdifferent types of receivers. A common data format is necessary for this purpose. Example: How to post process data from Trimble, Novatel and Septenrtio receivers tocompute a position? RINEX only provides Raw Data. It does not provide position output. User has to post-process RINEX data to compute position Raw data consists of Pseudorage, Carrierphase, Doppler, SNR RINEX basically consists of two data types “*.*N” file for Satellite and Ephemeris Related data. Also called Navigation Data “*.*O” file for Signal Observation Data like Pseudorange, Carrier Phase, Doppler, SNR Also called Observation DataDinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 6
RINEX “N” File for GPSDinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 7
RINEX “N” File for QZSSDinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 8
RINEX “N” File for GLONASSDinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 9
RINEX “N” File for GALILEODinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 10
RINEX “N” File for BEIDOUDinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 11
RINEX “N” File for SBASDinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 12
RINEX “O” File GPS, GLONASS, GALILEO, QZSS, SBASDinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 13
RINEX “O” File, Continued from previous slideDinesh Manandhar, CSIS, The University of Tokyo, dinesh@iis.u-tokyo.ac.jpSlide : 14
Global Navigation Satellite System (GNSS) Data Formats Dinesh Manandhar Center for Spatial Information Science The University of Tokyo . Where: GGA Global Positioning System Fix Data 123519 Fix taken at 12:35:19 UTC 4807.038, N Latitude 48 deg 07.038' N 01131.000, E Longitude 11 deg 31.000' E
CONTENTS xi 6.3.1 Basic Principles 466 6.3.2 GNSS-ROInstruments 472 6.3.3 GNSS-ROApplications 473 6.4 Global Navigation Satellite System-Reflectrometry 476 6.4.1 BasicPrinciples: GNSS-Ras aMultistatic Radar 478 6.4.2 GNSS-RParticularities 485 6.4.3 Thermal Noise, Speckle, and CoherenceTime 489 6.4.4 GNSS-RInstrume
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The American Revolution DID inspire other revolutions to follow. French Revolution (1789-1799) –partly because France was broke after helping us (and we broke our alliance partly thanks to George Washington’s advice against “entangling alliances”) Haitian Revolution (1791-1804) Mexican War of Independence (1810-1821)
