ＧＰＳ受信機出力データ書式

NMEA 0183 Standard Version 3.0

$GPGGA: Position Response Message
$GPGLL: Latitude/Longitude Response Message
$GPRMC: Recommended Minimum Course Response Message
$GPALM: GPS Almanac Response Message
$GPGSV: Satellites-in-View Response Message
$GPVTG: Course over Ground and Ground Speed Response Message
$GPZDA: Time and Date Response Message
$GPGSA: Satellite Used Response Message

Ashtech message:

$PASHR,POS: Position Response Message
$PASHR,SAT: Satellite Status Response Message

$GPGGA format

$GPGGA,m1,m2,c1,m3,c2,d1,d2,f1,f2,M,f3,M,f4,d3*cc
m1: Current UTC time of position fix in hours, minutes, and seconds(hhmmss.ss)
m2: Latitude component of position in degrees and decimal minutes(ddmm.mmmmmm)
c1: Direction of latitude: N = North, S = South (a)
m3: Longitudinal component of position indegrees and decimal minutes(dddmm.mmmmmm)
c2: Direction of longitude: E = East, W = West (a)
d1: Position type: 0=Invalid or not available, 1=Autonomous position, 
	2=RTCM or SBAS differentially corrected (n)
d2: Number of satellites used in position computation (nn)
f1: Horizontal dilution position:HDOP (nn.nnn)
f2: Altitude in meters above the reference ellipsoid. For 2-D position
	 computation, this item contains the user-entered altitude used
	 to compute the position computation.
M:  Altitude units: M=meters (a)
f3: Geoidal separation in meters (+/-ddd.dd)
M:  Geoidal separation units: M=meters (a)
d3: Age of differential corrections in seconds (nnn)
d4: Base station ID for RTCM use only. (nnnn)
cc: checksum

m1: hh:mm:ss 観測時刻（ＵＴＣ）

m2: NN nn.nnn[N] 北緯NN度nn.nnn分

m3: ＥＥ ee.eee[E] 東経ＥＥ度ee.eee分

d1: 測位状況　０：測位利用不可　１：測位利用可　2:差動補正

d2: 使用衛星数

f1: 水平測位誤差(HDOP: horizontal dilution of precision　00.00の場合は誤差評価できないこと示している)

f2: 海抜高度[m]

f3: ジオイド高[m]

$GPGGA Example:

$GPGGA,230442.80,3631.399017,N,13819.043047,E,1,05,2.2,01321.27,M,036.7,M,,*60
230442.80:   23:04:42.80 UTC
3631.399017: 36degree 31.399017minute
N:           North
13819.043047: 138degree 19.043047minute
E:           East
1:           Autonomous position
05:          5 satellites used in position computation
2.2:         HDOP=2.2
01321.27:    1321.27m
M:           meters
036.7:       36.7m
M:           meters
-:
-:
60:          checksum=60

$GPZDA format

$GPZDA,f1,d1,d2,d3,d4,d5*cc
f1: UTC time
d1: Current day
d2: Current month
d3: Current year
d4: Local zone offset from UTC time in hours
d5: Local zone offset from UTC time in minutes
cc: checksum

$GPZDA Example:

$GPZDA,230444.000,08,08,2004,00,00*55
f1: 23:04:44.000 UTC
d1: 08
d2: 08
d3: 2004
d4: 00
d5: 00
cc: checksum=55

$GPRMC format:

$GPRMC,f1,c2,f3,c4,f5,c6,f7,f8,s9,f10,c11,c12*cc
f1: UTC time of the GGA position fix associated with this sentence(hhmmss.ss)
c2: Status: A=data valid, V=navigation receiver warming
f3: Latitude (ddmm.mmmm)
c4: Latitude direction: N=north, S=south
f5: Longitude (dddmm.mmmm)
c6: Longitude direction: E=east, W=west
f7: Speed over ground in knots
f8: Course over ground in degrees from the true north
s9: Date (mmddyy)
f10: Magnetic variation in degrees NMEA 0183 v3.0 only
c11: Direction of variation: NMEA 0183 v3.0 only
	E=east: Easterly variation(E) subtracts from true courses.
	W=west: Westerly variation(W) adds from true courses.
c12: Mode indicator: NMEA 0183 v3.0 only
	A=autonomous, D=differential, E=Estimated (dead reckoning),
	M=manual input, S=simulator, N=data not valid
cc: Hexadecimal cheksum computed by exclusive-ORing all bytes 
	in the message between, but not including, the $ and the *.
	The results is *hh, where h is a hex character 0-9 or A-F.

$GPRMC Example:

$GPRMC,123033,A,3631.377,N,13819.317,E,000.0,000.0,09082004*19
f1: 12:30:33UTC
c2: Autonomous
f3: 36degree 31.377minute
c4: North
f5: 138degree 19.317minute
c6: East
f7: 000.0knot
f8: 000.0degree
s9: 2004/8/9
cc: checksum=19