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Form GPS Sentence VI

LabVIEW 2013 Robotics Module Help

Edition Date: June 2013

Part Number: 372983D-01

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Owning Palette: NMEA Advanced VIs

Requires: Robotics Module

Creates an NMEA sentence using the data you specify for a particular sentence type. You must manually select the polymorphic instance to use.

This VI creates sentences with sentence type tokens of GPxxx, where xxx is the three-letter prefix of the polymorphic instance you use. Use the Form Sentence VI to create sentences of types this VI does not support.

Use the pull-down menu to select an instance of this VI.

Form GGA Sentence

GGA data defines the contents of a GGA NMEA sentence.
time of fix is a cluster that contains the following elements.
included? specifies whether this VI includes this data point in the sentence.
time (UTC) specifies the UTC time at which the reading occurs.
latitude is a cluster that contains the following elements.
included? specifies whether this VI includes this data point in the sentence.
latitude (deg) specifies the location on Earth north or south of the equator at which the reading occurs. Positive values represent locations north of the equator, and negative values represent locations south of the equator.
longitude is a cluster that contains the following elements.
included? specifies whether this VI includes this data point in the sentence.
longitude (deg) specifies the location on Earth east or west of the prime meridian at which the reading occurs. Positive values represent locations east of the prime meridian, and negative values represent locations west of the prime meridian.
fix quality is a cluster that contains the following elements.
included? specifies whether this VI includes this data point in the sentence.
quality defines the type and quality of the reading.

0Invalid (default)
1GPS Fix
2DGPS Fix
3PPS Fix
4Real Time Kinematic
5Float RTK
6Estimated
7Manual Input Mode
8Simulation Mode
number of satellites in view is a cluster that contains the following elements.
included? specifies whether this VI includes this data point in the sentence.
number of satellites specifies the total number of satellites from which you receive fixes.
horizontal dilution of precision is a cluster that contains the following elements.
included? specifies whether this VI includes this data point in the sentence.
horizontal DOP describes the quality of the reading with respect to values of latitude and longitude. When horizontal DOP is 1, the precision of the reading is ideal. As horizontal DOP values increase beyond 1, precision decreases.
altitude above mean sea level is a cluster that contains the following elements.
included? specifies whether this VI includes this data point in the sentence.
altitude (m) specifies the distance at which the reading occurs relative to the mean sea level.
height of geoid above WGS84 is a cluster that contains the following elements.
included? specifies whether this VI includes this data point in the sentence.
height of geoid (m) represents the distance of the mean ocean surface of the Earth above the ellipsoid, or reference surface, defined in the WGS 84 standard.
time since last DGPS update is a cluster that contains the following elements.
included? specifies whether this VI includes this data point in the sentence.
time (s) specifies the elapsed time since the previous fix if fix quality is DGPS Fix. If fix quality is not DGPS Fix, time (s) is 0.
DGPS station ID number is a cluster that contains the following elements.
included? specifies whether this VI includes this data point in the sentence.
station ID number specifies the identifier of the Differential Global Positioning System (DGPS) broadcast station from which the fix originates if fix quality is DGPS Fix. If fix quality is not DGPS Fix, station ID number is 0.
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
GGA sentence contains the sentence formatted with GGA data.
error out contains error information. This output provides standard error out functionality.

Form GLL Sentence

GLL data defines the contents of a GLL NMEA sentence.
latitude is a cluster that contains the following elements.
included? specifies whether this VI includes this data point in the sentence.
latitude (deg) specifies the location on Earth north or south of the equator at which the reading occurs. Positive values represent locations north of the equator, and negative values represent locations south of the equator.
longitude is a cluster that contains the following elements.
included? specifies whether this VI includes this data point in the sentence.
longitude (deg) specifies the location on Earth east or west of the prime meridian at which the reading occurs. Positive values represent locations east of the prime meridian, and negative values represent locations west of the prime meridian.
time of fix is a cluster that contains the following elements.
included? specifies whether this VI includes this data point in the sentence.
time (UTC) specifies the UTC time at which the reading occurs.
status is a cluster that contains the following elements.
included? specifies whether this VI includes this data point in the sentence.
value specifies whether the data is valid.

0Void—Specifies that the data is invalid. (default)
1Active—Specifies that the data is valid.
type of fix is a cluster that contains the following elements.
included? specifies whether this VI includes this data point in the sentence.
mode specifies the mode in which the receiver obtains the fix and indicates signal integrity. For example, the Differential and Autonomous modes correspond to active, reliable readings.

0Simulator (default)
1Not Valid
2Estimated
3Differential
4Autonomous
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
GLL sentence contains the sentence formatted with GLL data.
error out contains error information. This output provides standard error out functionality.

Form GSA Sentence

GSA data defines the contents of a GSA NMEA sentence.
selection of fix is a cluster that contains the following elements.
included? specifies whether this VI includes this data point in the sentence.
selection of 2D or 3D fix controls the freedom of the receiver to move between modes.

0Automatic (default)—Allows the receiver to switch between operating in 2D and 3D mode.
1Manual—Requires the receiver to operate in either 2D or 3D mode.
type of fix is a cluster that contains the following elements.
included? specifies whether this VI includes this data point in the sentence.
mode specifies the mode in which the receiver obtains the fix.

1No Fix—Specifies that a satellite fix is unavailable.
22D Fix—Specifies that data from three satellites defines the horizontal position of the receiver.
33D Fix—Specifies that data from four or more satellites defines the absolute position of the receiver in space.
satellite PRN numbers is a cluster that contains the following elements.
included? specifies whether the sentence contains this data point for each satellite.
PRN numbers specifies the pseudo-random noise (PRN) numbers by which receivers identify the satellites.
dilution of precision is a cluster that contains the following elements.
included? specifies whether this VI includes this data point in the sentence.
DOP describes the overall quality of the reading. Factors that affect DOP include the distance between satellites and geographic obstructions between satellites and the receiver. When DOP is 1, the precision of the reading is ideal. As DOP values increase beyond 1, precision decreases.
horizontal dilution of precision is a cluster that contains the following elements.
included? specifies whether this VI includes this data point in the sentence.
horizontal DOP describes the quality of the reading with respect to values of latitude and longitude. When horizontal DOP is 1, the precision of the reading is ideal. As horizontal DOP values increase beyond 1, precision decreases.
vertical dilution of precision is a cluster that contains the following elements.
included? specifies whether this VI includes this data point in the sentence.
vertical DOP describes the quality of the satellite reading with respect to values of altitude. When vertical DOP is 1, the precision of the reading is ideal. As vertical DOP values increase beyond 1, precision decreases.
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
GSA sentence contains the sentence formatted with GSA data.
error out contains error information. This output provides standard error out functionality.

Form GSV Sentence

GSV data defines the contents of a GSV NMEA sentence.
number of sentences for full data is a cluster that contains the following elements.
included? specifies whether this VI includes this data point in the sentence.
number of sentences specifies the total number of sentences that define readings for all available satellites. A sentence can contain data for no more than four satellites.
sentence index is a cluster that contains the following elements.
included? specifies whether this VI includes this data point in the sentence.
index specifies the number of the sentence to form.
number of satellites in view is a cluster that contains the following elements.
included? specifies whether this VI includes this data point in the sentence.
number of satellites specifies the total number of satellites from which you receive fixes.
satellite data is a cluster that contains the following elements.
included? specifies whether the sentence contains this data point for each satellite.
data is a cluster that contains the following elements.
PRN number specifies the pseudo-random noise (PRN) number by which receivers identify the satellite.
elevation (deg) specifies the elevation of the satellite.
azimuth (deg) specifies the azimuth of the satellite.
signal to noise ratio is a number between 0 and 99, specified in dB, that defines signal strength.
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
GSV sentence contains a sentence formatted with GSV data.
error out contains error information. This output provides standard error out functionality.

Form RMC Sentence

RMC data defines the contents of an RMC NMEA sentence.
time of fix is a cluster that contains the following elements.
included? specifies whether this VI includes this data point in the sentence.
time (UTC) specifies the UTC time at which the reading occurs.
status is a cluster that contains the following elements.
included? specifies whether this VI includes this data point in the sentence.
value specifies whether the data is valid.

0Void—Specifies that the data is invalid. (default)
1Active—Specifies that the data is valid.
latitude is a cluster that contains the following elements.
included? specifies whether this VI includes this data point in the sentence.
latitude (deg) specifies the location on Earth north or south of the equator at which the reading occurs. Positive values represent locations north of the equator, and negative values represent locations south of the equator.
longitude is a cluster that contains the following elements.
included? specifies whether this VI includes this data point in the sentence.
longitude (deg) specifies the location on Earth east or west of the prime meridian at which the reading occurs. Positive values represent locations east of the prime meridian, and negative values represent locations west of the prime meridian.
ground speed is a cluster that contains the following elements.
included? specifies whether this VI includes this data point in the sentence.
speed (knots) is the speed of the device at the time the reading occurred.
true track angle is a cluster that contains the following elements.
included? specifies whether this VI includes this data point in the sentence.
angle (deg) specifies the direction of travel at the time the reading occurred with respect to true north.
magnetic variation is a cluster that contains the following elements.
included? specifies whether this VI includes this data point in the sentence.
variation (deg) specifies the angle between the local magnetic field and true north.
type of fix is a cluster that contains the following elements.
included? specifies whether this VI includes this data point in the sentence.
mode specifies the mode in which the receiver obtains the fix and indicates signal integrity. For example, the Differential and Autonomous modes correspond to active, reliable readings.

0Simulator (default)
1Not Valid
2Estimated
3Differential
4Autonomous
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
RMC sentence contains the sentence formatted with RMC data.
error out contains error information. This output provides standard error out functionality.

Form VTG Sentence

VTG data defines the contents of a VTG NMEA sentence.
true track made good is a cluster that contains the following elements.
included? specifies whether this VI includes this data point in the sentence.
true track made good (deg) contains the direction of travel with respect to true north.
magnetic track made good is a cluster that contains the following elements.
included? specifies whether this VI includes this data point in the sentence.
magnetic track made good (deg) contains the direction of travel with respect to the local magnetic field.
ground speed (knots) is a cluster that contains the following elements.
included? specifies whether this VI includes this data point in the sentence.
speed (knots) is the speed of the device at the time the reading occurred.
ground speed (km/h) is a cluster that contains the following elements.
included? specifies whether this VI includes this data point in the sentence.
speed (km/h) is the speed of the device at the time the reading occurred.
type of fix is a cluster that contains the following elements.
included? specifies whether this VI includes this data point in the sentence.
mode specifies the mode in which the receiver obtains the fix and indicates signal integrity. For example, the Differential and Autonomous modes correspond to active, reliable readings.

0Simulator (default)
1Not Valid
2Estimated
3Differential
4Autonomous
error in describes error conditions that occur before this node runs. This input provides standard error in functionality.
VTG sentence contains a sentence formatted with VTG data.
error out contains error information. This output provides standard error out functionality.

 

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