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Le standard NMEA-0183 est un format texte de messages structurant des données produites (essentiellement) par des récepteurs GPS via une liaison série (Baud rate: 4800 Number of data bits: 8 (bit 7 is 0) Stop bits: 1 (or more) Parity: none Handshake: none).
NMEA-0186 est un format standard de messages de sortie de récepteurs GPS.
NMEA-0183 est un format de données textuel des relevés GPS acquis par les terminaux GPS puis retournés à un hôte (par un port série par exemple). Il couvre un large spectre de données de navigation. Ces données sont envoyées par le récepteur en mode ''heartbeat'' à fréquence fixe (0,5 Hz par exemple).



==Format==
==Format==


http://www.sparkfun.com/datasheets/GPS/NMEA%20Reference%20Manual1.pdf
Documentation http://www.sparkfun.com/datasheets/GPS/NMEA%20Reference%20Manual1.pdf

===Syntaxe===

Chaque message est structuré de la manière suivante :


<pre>
<pre>
$IDMSG,D1,D2,D3,...Dn*CS[CR][LF]
$AABBB,CC,DD,...*CK<CR><LF>


$ marqueur de début du message
ID: Talker id (GP pour GPS)
AA pour l'identifiant de l'émetteur (''talker'')
MSG: Message id
BBB pour la phrase (''sentence'')
Di: Msg data fields
CK ''Checksum''
CS: Ckecksum 2 hexa for 8 bits
*
<CR> Carriage Return \r
<LF> Line Feed \n
</pre>
</pre>


le code C de la fonction de ''checksum''
<pre>
#define uchar unsigned char
uchar calcChecksum(uchar checksum, uchar c){
if ( c == '$' ) return 0;
if ( c != '\r' && c != '\n' && c != '*' ) {
checksum ^= c;
}
return checksum;
}
</pre>


le code Arduino de la fonction de ''checksum''
<pre>
byte calcChecksum(byte checksum, byte c){
if ( c == '$' ) return 0;
if ( c != '\r' && c != '\n' && c != '*' ) {
checksum ^= c;
}
return checksum;
}

byte calcChecksumBuf(byte checksum, byte buf[], int i, int len){
for(;i<len; i++){
checksum=calcChecksum(checksum,buf[i]);
}
return checksum;
}

</pre>

==Liens==
* http://www.tronico.fi/OH6NT/docs/NMEA0183.pdf


====Messages de sortie====
Chaque message est une ligne de texte commencant par $ et se terminant par [CR][LF] et contient les champs suivants
<pre>
$IDMSG,D1,D2,D3,...Dn*CS[CR][LF]
</pre>
<br>ID: Talker id (GP pour GPS)
<br>MSG: Message id
<br>Di: Msg data fields
<br>CS: Ckecksum 2 hexa for 8 bits

Most common message Ids are
* GGA : GPS fix data (NMEA Version 2.1)
* GLL : Geographic position - Latitude/Longitude
* GSA : GPS DOP and active satellites
* GSV : GPS satellites in view
* RMC : Recommended minimum specific GPS/Transit data
* VTG : Track made good and ground speed
* ZDA : SiRF Timing Message
* MSS : MSK Receiver Signal
* 150 : OkToSend
* ...




Line 25: Line 94:
$GPBOD,,T,,M,,*47
$GPBOD,,T,,M,,*47
</pre>
</pre>
====Messages d'entrée====

$IDMSG,D1,D2,D3,...Dn*CS[CR][LF]

ID=PSRF

MSG=
* 100 : SetSerialPort : Set PORT A parameters and protocol
* 101 : NavigationInitialization : Parameters required for start using X/Y/Z (Input coordinates must be WGS84)
* 102 : SetDGPSPort = Set PORT B parameters for DGPS input
* 103 : Query/Rate Control = Query standard NMEA message and/or set output rate
* 104 : LLANavigationInitialization = Parameters required for start using Lat/Lon/Alt (Input coordinates must be WGS84)
* 105 : Development Data On/Off = Development Data messages On/Off
* 106 : Select Datum = Selection of datum to be used for coordinate transformations.
* MSK : MSK Receiver Interface = Command message to a MSK radio-beacon receiver.

===Messages===
====Message GLL - Geographic Position - Latitude/Longitude====
contains the latitude and longitude of the present vessel position, the time of the position fix and the status.
<pre>$GPGLL,llll.lll,a,yyyyy.yyy,a,hhmmss.s,A*hh[CR][LF]</pre>
* 1,2 Latitude, N (North) or S (South)
* 3,4 Longitude, E (East) or W (West)
* 5 UTC of position
* 6 Status: A = Valid, V= Invalid
* hh Checksum

====Message GGA - GPS Fix Data====
includes time, position and fix related data for the GPS receiver.
<pre>$GPGGA,hhmmss,llll.lll,a,nnnnn.nnn,b,t,uu,v.v,w.w,M,x.x,M,y.y,zzzz*hh[CR][LF]</pre>
* 1 UTC of Position
* 2,3 Latitude, N (North) or S (South)
* 4,5 Longitude, E (East) or W (West)
* 6 GPS Quality Indicator: 0 = No GPS, 1 = GPS, 2 = DGPS
* 7 Number of Satellites in Use
* 8 Horizontal Dilution of Precision (HDOP)
* 9, 10 Antenna Altitude in Meters, M = Meters
* 11, 12 Geoidal Separation in Meters, M=Meters. Geoidal separation is the difference between the WGS-84 earth ellipsoid and mean-sea-level.
* 13 Age of Differential GPS Data. Time in seconds since the last Type 1 or 9 Update
* 14 Differential Reference Station ID (0000 to 1023)
* hh Checksum


====Message VTG - Track Made Good and Ground Speed====
conveys the actual track made good (COG) and the speed relative to the ground (SOG).
<pre>$GPVTG,x.x,T,x.x,M,x.x,N,x.x,K*hh[CR][LF]</pre>
* 1 Track made good in degrees true.
* 2 Track made good in degrees magnetic.
* 3,4 Speed over the ground (SOG) in knots.
* 5,6 Speed over the ground (SOG) in kilometer per hour.
* hh Checksum
Remark: Velocity is always described as horizontal speed and heading

==Outils==
===Mac OS X===
Ligne de commande
<pre>
screen /dev/tty.usbserial 4800
</pre>


===Linux===
<pre>
awk -F, '/\$GPGGA/ {print strftime("%Y-%m-%d "), $2, (substr($3,0,2) + (substr($3,3) / 60.0)) $4, (substr($5,0,3) + (substr($5,4) / 60.0)) $6, $10; fflush();}' /dev/tty.usbserial
</pre>



[[GPSLabel]]

[[GPSD]]

===Windows===


==Bibliothèques==
==Bibliothèques==
Line 30: Line 171:
* http://arduiniana.org/libraries/TinyGPS/
* http://arduiniana.org/libraries/TinyGPS/
* http://www.maartenlamers.com/nmea/
* http://www.maartenlamers.com/nmea/

===MBed===
* https://os.mbed.com/users/Sir_Binky/code/TinyGPSplus/
* https://os.mbed.com/users/todotani/notebook/gps-nmea-parser/

===STM32===
* https://github.com/Lora-net/LoRaMac-node/blob/ad7d0824cae91f1dac4978d9c938966a0d4f60c3/src/system/gps.c

===Java avec RXTX===
* http://gpsmap.sourceforge.net
* http://javagps.sourceforge.net

===Javascript & [[Node.js]]===
* [[Node.js#NMEA_0183_Parsing|Node.js]]
* [https://github.com/infusion/GPS.js GPS.js] : parser NMEA + serial

<pre>
git clone https://github.com/infusion/GPS.js.git
cd GPS.js/
npm install -g

npm install express --save
npm install socket.io --save
npm install sylvester --save
npm install kalman --save
npm install serialport --save
cd examples/
cd maps/
# Edit server.js for setting port and baudrate
node server.js
open http://localhost:3000

cd ..
cd dashboard/
# Edit server.js for setting port and baudrate
node server.js
open http://localhost:3000
</pre>

==Cartographie==

==Pour en savoir plus==
* http://vancouver-webpages.com/peter/idx_faq.html
* http://home.mira.net/~gnb/gps/nmea.html
* http://www.grc.nasa.gov/WWW/MAEL/ag/agnmea1.htm

Latest revision as of 17:44, 17 April 2019

Le standard NMEA-0183 est un format texte de messages structurant des données produites (essentiellement) par des récepteurs GPS via une liaison série (Baud rate: 4800 Number of data bits: 8 (bit 7 is 0) Stop bits: 1 (or more) Parity: none Handshake: none). NMEA-0183 est un format de données textuel des relevés GPS acquis par les terminaux GPS puis retournés à un hôte (par un port série par exemple). Il couvre un large spectre de données de navigation. Ces données sont envoyées par le récepteur en mode heartbeat à fréquence fixe (0,5 Hz par exemple).


Format

Documentation http://www.sparkfun.com/datasheets/GPS/NMEA%20Reference%20Manual1.pdf

Syntaxe

Chaque message est structuré de la manière suivante : 

$AABBB,CC,DD,...*CK<CR><LF>

$ marqueur de début du message
AA pour l'identifiant de l'émetteur (''talker'')
BBB pour la phrase (''sentence'')
CK ''Checksum''
*
<CR> Carriage Return \r
<LF> Line Feed \n


le code C de la fonction de checksum 

#define uchar unsigned char
        
uchar calcChecksum(uchar checksum,  uchar c){
        if ( c == '$' ) return 0;
        if ( c != '\r'  &&  c != '\n'  &&  c != '*' ) {
                checksum ^= c;
        }
        return checksum;
}


le code Arduino de la fonction de checksum 

byte calcChecksum(byte checksum,  byte c){
  if ( c == '$' ) return 0;
  if ( c != '\r'  &&  c != '\n'  &&  c != '*' ) {
    checksum ^= c;
  }
  return checksum;
}

byte calcChecksumBuf(byte checksum,  byte buf[], int i, int len){
  for(;i<len; i++){
    checksum=calcChecksum(checksum,buf[i]);
  }
  return checksum;
}

Liens


Messages de sortie

Chaque message est une ligne de texte commencant par $ et se terminant par [CR][LF] et contient les champs suivants 

$IDMSG,D1,D2,D3,...Dn*CS[CR][LF]


ID: Talker id (GP pour GPS)
MSG: Message id
Di: Msg data fields
CS: Ckecksum 2 hexa for 8 bits

Most common message Ids are

  • GGA : GPS fix data (NMEA Version 2.1)
  • GLL : Geographic position - Latitude/Longitude
  • GSA : GPS DOP and active satellites
  • GSV : GPS satellites in view
  • RMC : Recommended minimum specific GPS/Transit data
  • VTG : Track made good and ground speed
  • ZDA : SiRF Timing Message
  • MSS : MSK Receiver Signal
  • 150 : OkToSend
  • ...


Exemples 

$GPGGA,164503.0,4511.636,N,00546.242,E,1,6,3.25,00220,M,048,M,,*66
$GPVTG,000.0,T,002.0,M,000.00,N,000.00,K*4C
$GPRMC,214434,A,3753.666,N,12203.162,W,0.0,0.0,270901,15.4,E,A*33
$GPGGA,214616,3753.667,N,12203.167,W,1,04,5.6,121.1,M,-27.4,M,,*79
$GPGSV,3,1,10,01,69,062,47,03,12,106,37,04,12,279,00,08,12,250,00*77
$GPGLL,3753.667,N,12203.167,W,214616,A,A*54
$GPBOD,,T,,M,,*47

Messages d'entrée

$IDMSG,D1,D2,D3,...Dn*CS[CR][LF]

ID=PSRF

MSG=

  • 100 : SetSerialPort : Set PORT A parameters and protocol
  • 101 : NavigationInitialization : Parameters required for start using X/Y/Z (Input coordinates must be WGS84)
  • 102 : SetDGPSPort = Set PORT B parameters for DGPS input
  • 103 : Query/Rate Control = Query standard NMEA message and/or set output rate
  • 104 : LLANavigationInitialization = Parameters required for start using Lat/Lon/Alt (Input coordinates must be WGS84)
  • 105 : Development Data On/Off = Development Data messages On/Off
  • 106 : Select Datum = Selection of datum to be used for coordinate transformations.
  • MSK : MSK Receiver Interface = Command message to a MSK radio-beacon receiver.

Messages

Message GLL - Geographic Position - Latitude/Longitude

contains the latitude and longitude of the present vessel position, the time of the position fix and the status. 

$GPGLL,llll.lll,a,yyyyy.yyy,a,hhmmss.s,A*hh[CR][LF]
  • 1,2 Latitude, N (North) or S (South)
  • 3,4 Longitude, E (East) or W (West)
  • 5 UTC of position
  • 6 Status: A = Valid, V= Invalid
  • hh Checksum

Message GGA - GPS Fix Data

includes time, position and fix related data for the GPS receiver. 

$GPGGA,hhmmss,llll.lll,a,nnnnn.nnn,b,t,uu,v.v,w.w,M,x.x,M,y.y,zzzz*hh[CR][LF]
  • 1 UTC of Position
  • 2,3 Latitude, N (North) or S (South)
  • 4,5 Longitude, E (East) or W (West)
  • 6 GPS Quality Indicator: 0 = No GPS, 1 = GPS, 2 = DGPS
  • 7 Number of Satellites in Use
  • 8 Horizontal Dilution of Precision (HDOP)
  • 9, 10 Antenna Altitude in Meters, M = Meters
  • 11, 12 Geoidal Separation in Meters, M=Meters. Geoidal separation is the difference between the WGS-84 earth ellipsoid and mean-sea-level.
  • 13 Age of Differential GPS Data. Time in seconds since the last Type 1 or 9 Update
  • 14 Differential Reference Station ID (0000 to 1023)
  • hh Checksum


Message VTG - Track Made Good and Ground Speed

conveys the actual track made good (COG) and the speed relative to the ground (SOG). 

$GPVTG,x.x,T,x.x,M,x.x,N,x.x,K*hh[CR][LF]
  • 1 Track made good in degrees true.
  • 2 Track made good in degrees magnetic.
  • 3,4 Speed over the ground (SOG) in knots.
  • 5,6 Speed over the ground (SOG) in kilometer per hour.
  • hh Checksum

Remark: Velocity is always described as horizontal speed and heading

Outils

Mac OS X

Ligne de commande 

screen /dev/tty.usbserial 4800


Linux

awk -F, '/\$GPGGA/ {print  strftime("%Y-%m-%d "),  $2, (substr($3,0,2) + (substr($3,3) / 60.0)) $4,  (substr($5,0,3) + (substr($5,4) / 60.0)) $6, $10; fflush();}' /dev/tty.usbserial


GPSLabel

GPSD

Windows

Bibliothèques

Arduino

MBed

STM32

Java avec RXTX

Javascript & Node.js

git clone https://github.com/infusion/GPS.js.git
cd GPS.js/
npm install -g

npm install express --save
npm install socket.io --save
npm install sylvester --save
npm install kalman --save
npm install serialport --save
cd examples/
cd maps/
# Edit server.js for setting port and baudrate
node server.js
open http://localhost:3000

cd ..
cd dashboard/
# Edit server.js for setting port and baudrate
node server.js 
open http://localhost:3000

Cartographie

Pour en savoir plus

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