and 
NMEA GRS message
Popular NMEA messages
GNSS range residuals (GRS)
| Message | NMEA-Standard-GRS GNSS range residuals |
| Comment | If less than 12 SVs are available, the remaining fields are output empty. If more than 12 SVs are used, only the residuals of the first 12 SVs are output, in order to remain consistent with the NMEA standard. In a multi-GNSS system this message will be output multiple times, once for each GNSS. • This message relates to associated GGA and GSA messages. |
| Information | Number of fields: 19 |
| Structure | $xxGRS,time,mode{,residual},systemId,signalId*cs\r\n |
| Examples | $GNGRS,104148.00,1,2.6,2.2,-1.6,-1.1,-1.7,-1.5,5.8,1.7,,,,,1,1*52\r\n $GNGRS,104148.00,1,,0.0,2.5,0.0,,2.8,,,,,,,,1,5*52\r\n |
Payload
| Field | Name | Format | Unit | Example | Description |
|---|---|---|---|---|---|
| 0 | xxGRS | string | - | $GPGRS | GRS Message ID (xx = current Talker ID, see NMEA Talker IDs table) |
| 1 | time | hhmmss.ss | - | 082632.00 | UTC time of associated position fix |
| 2 | mode | digit | - | 1 | Computation method used: • 1 = Residuals were recomputed after the GGA position was computed (fixed) |
| Start of repeated group (12 times) | |||||
| 3 | residual | numeric | m | 0.54 | Range residuals for SV 1 used in navigation. The SV order matches the order from the GSA sentence |
| 4 | residual | numeric | m | 2.6 | Range residuals for SV 2 used in navigation |
| 3 + n | residual | numeric | m | ... | Range residuals for SVs (3 to 11) |
| 14 | residual | numeric | m | - | Range residuals for SV 12 used in navigation |
| End of repeated group (12 times) | |||||
| 15 | systemId | hexadecimal | - | 1 | NMEA-defined GNSS system ID, see Signal Identifiers table (only available in NMEA 4.10 and later) |
| 16 | signalId | hexadecimal | - | - | NMEA-defined GNSS signal ID, see Signal Identifiers table (only available in NMEA 4.10 and later) |
| 17 | cs | hexadecimal | - | *70 | Checksum |
| 18 | CRLF | character | - | - | Carriage return and line feed |
Based on NMEA documentation provided by u-blox.
Learn more about NMEA protocol:
