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NMEA-GP-GST

Description:

Standard NMEA: GNSS pseudorange error statistics.

This message is actually NMEA-GN-GST, as it uses information from all GNSS constellations (GN), not GPS only (GP). However, we publish it as NMEA-GP-GST to maximize compatibility.

Configuration:

  • NMEA-GP-GST_GNSS for combined (average) output from both receivers

    • The time is the average between GNSS1 and GNSS2.

    • The RMS value is computed over all the used measurements among both receivers

    • The standard deviation values are computed from the mean of the covariance matrices in ECEF at the mean position between GNSS1 and GNSS2

  • NMEA-GP-GST_GNSS1 for output from GNSS 1 receiver

    • This is the standard NMEA GST for GNSS1.

  • NMEA-GP-GST_GNSS2 for output from GNSS 2 receiver

    • This is the standard NMEA GST for GNSS2.

  • NMEA-GP-GST_FUSION for output from Fusion

    • The time and STD data is from the Fusion solution.

Notes:

  • These messages does not contain any information that would let one tell them apart. Do not enable more than one of these in the same port.

  • This message is according to NMEA 0183 v4.11 (and erratas).

  • It uses the “GP” talker ID even though the navigation solution is multi-GNSS.

Example message:

CODE
$GPGST,GPGST,114319.60,5.2,0.4,0.3,62.5,0.3,0.4,1.1*68\r\n

Example message with non-standard high-precision fields:

CODE
$GPGST,114233.3998,7.1215,2.0198,1.2409,169.6050,1.9992,1.2737,2.7802*6E\r\n

Message fields:

#

Field

Format

Unit

Nullable

Example

Description

1

time

hhmmss.ss(ss)

-

Y

151227.40

UTC time (hours, minutes and seconds)

2

rms_range

Float (.1/.4)

-

Y

RMS value of the standard deviation of the range inputs to the navigation process

3

std_major

Float (.1/.4)

m

Y

Standard deviation of semi-major axis of error ellipse

4

std_minor

Float (.1/.4)

m

Y

Standard deviation of semi-minor axis of error ellipse

5

angle_major

Float (.1/.4)

deg

Y

Angle of semi-major axis of error ellipse from true North

6

std_lat

Float (.1/.4)

m

Y

Standard deviation of latitude error

7

std_lon

Float (.1/.4)

m

Y

Standard deviation of longitude error

8

std_alt

Float (.1/.4)

m

Y

Standard deviation of altitude error

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