GPS的调试与报文解析

GPS的调试与报文解析

来源 https://zhuanlan.zhihu.com/p/450203417

 

        北斗系统在增强精度的情况下也能做到米级、厘米级甚至是毫米级，然而这是有限定条件的，通过载波相位定位、PPP-RTK可以提供厘米级增强服务，而通过这种方式其他的卫星导航定位系统都可以把精度提升到这么高。这并不是QZSS系统所特有的，这是由GNSS系统自身的特点所决定的，所有的GNSS系统都是一样的。

• GNSS(global navigation satellite system) 全球导航卫星系统
• GPS(Global Positioning System) 全球定位系统
• DGPS(Differential Global Position System) 差分全球定位系统, 分三类位置差分、伪距差分和相位差分(RTK)
• RTK(Real Time Kinematic) 实时动态载波相位差分技术
• NTRIP(Networked Transport of RTCM via Internet Protocol) 基于互联网的 RTCM 网络传输协议 所有的 RTK数据格式（NCT，RTCM，CMR，CMR+等等）都能被传输, 是CORS服务接入的协议. BASE充当 NTRIP Server, 很多BASE连到NTRIP Caster, Rover充当NTRIP Client
• NMEA(National Marine Electronics Association) 美国国家海洋电子协会 或者 国家海洋电子协会, 常用的NMEA-0183 3.x, 4.x版本, 定义接收机输出的标准信息语句, 如 $GPGGA, $GPRMC
• RTCM(Radio Technical Commission for Maritime Services) 海事无线电技术委员会, 常用的RTCM 3.x协议, 定义了 GPS/RTK/多星系等的消息类型
• CORS(Continuously Operating Reference Stations) 连续运行参考站, 一般 CORS系统至少是: BASE + ROVER, 基站可以自建或使用服务商, ROVER是漫游端(漫游站/流动站/移动站 的叫法应该都可以)
• DTU(Data Transfer unit) 数据传输单元, 将串口数据转换为IP数据或将IP数据转换为串口数据通过有线/无线通信网络(4G/5G/WiFi/LoRa/Zigbee/ETH/CAN…)进行传送的终端设备

三种地球坐标系的区别

• WGS-84：是国际标准，GPS坐标（Google Earth使用、或者GPS模块）
• GCJ-02：中国坐标偏移标准，Google Map、高德、腾讯使用
• BD-09：百度坐标偏移标准，Baidu Map使用

具体解释：

• WGS84坐标系 即地球坐标系，国际上通用的坐标系。 设备一般包含GPS芯片或者北斗芯片获取的经纬度为WGS84地理坐标系。谷歌地图采用的是WGS84地理坐标系（中国范围除外,谷歌中国地图采用的是GCJ02地理坐标系。)

• GCJ02坐标系 即火星坐标系，WGS84坐标系经加密后的坐标系。 出于国家安全考虑，国内所有导航电子地图必须使用国家测绘局制定的加密坐标系统，即将一个真实的经纬度坐标加密成一个不正确的经纬度坐标。

• BD09坐标系 即百度坐标系，GCJ02坐标系经加密后的坐标系。搜狗坐标系、图吧坐标系等，估计也是在GCJ02基础上加密而成的。

报文格式：

各主要 GNNS 消息内容识别码的含义如下：
GGA：时间、位置、定位数据
GLL：经纬度,UTC时间和定位状态
GSA：接收机模式和卫星工作数据,包括位置和水平/竖直稀释精度等。稀释精度（Dilution of Precision）是个地理定位
术语.一个接收器可以在同一时间得到许多颗卫星定位信息，但在精密定位上，只要四颗卫星讯号即已足够了
GSV：接收机能接收到的卫星信息，包括卫星 ID，海拔，仰角，方位角，信噪比（SNR）等
RMC：日期，时间，位置，方向，速度数据。是最常用的一个消息
VTG：方位角与对地速度
MSS：信噪比(SNR),信号强度，频率，比特率
ZDA：时间和日期数据
注： GNSS系统还含有一些未在此列出的其它信号，特定软硬件平台只能处理的特定的信号

与地理信息密切相关的消息及其所含主要内容如下，各消息之间的信息字段有出入也有重复，在一轮消息循环里，各消息相同的字段中包含相同的地理数据，可综合多个消息来获取完整的数据。

各信息内容识别码下的信号分析如下：
1. GGA(时间、位置、定位数据)
例样数据：
$–GGA,1661229.478,3723.2475,N,12158.3416,W,1,07,1.0,9.0,M,7.3,M, ,0000*18

2. GLL(经纬度,UTC时间和定位状态)
例样数据：
$–GLL,3723.2475,N,12158.3416,W,161229.487,A,0*2C

3. GSA(接收机模式和卫星工作数据,包括位置和水平/竖直稀释精度等)
例样数据：
$–GSA,A,3,07,02,26,27,09,04,15, , , , , ,1.8,1.0,1.5*33

4． GSV(接收机能接收到的卫星信息，包括卫星ID，仰角，方位角，信噪比（SNR）等)
例样数据：
$–GSV,2,1,07,07,79,048,42,02,51,062,43,26,36,256,42,27,27,138,42*71

$–GSV,2,2,07,09,23,313,42,04,19,159,41,15,12,041,42*41
这两条语句描述一个完整的卫星信息（这里共描述7颗卫星，每颗卫星的描述部分已用不同颜色标出），每颗卫星用4个段来描述：卫星ID（又称随机伪代码， PRC）、卫星高程（仰角，卫星和接收点连线与水平面的夹角）、方位角（连线在水平面上的投影与正北方向的顺时针旋转夹角）、信噪比。

5. MSS(信噪比(SNR),信号强度，频率，比特率)
例样数据：
$–MSS,55,27,318.0,100,*66

6. RMC(日期，时间，位置，方向，速度数据。是最常用的一个消息)
例样数据：
$–RMC,161229.487,A,3723.2475,N,12158.3416,W,0.13,309.62,120598, , ,A*10
这条语句基本上包含了GPS应用程序所需的全部数据：纬度、经度、速度、方向、卫星时间、状态以及磁场变量

7. VTG(方位角与对地速度)
例样数据：
$–VTG,309.62,T, ,M,0.13,N,0.2,K,A*6E

8. TXT(短文本信息传送)

例样数据：
$–TXT,01,01,01,ANTENNA OK*2B

 

1.驱动与软件

直接用串口助手的话，可看到GPS发送的信息。当然串口可以看PC收到的原码，对消息的解析有帮助。有需要的同学可以在Microsoft Store里搜串口调试助手（如图1），获取（安装）即可。

GPS有不少调试软件（如图2），我用的是u-center_v21.05。

工具连接：https://pan.baidu.com/s/1o9_j1dzCGou_EoZC4kTQxA

2.调制与控制

2.1.协议选择

GPS连接到PC后，在u-center中选择串口COM 1-9 (不知道具体是哪个口可以挨个试试，也可以在设备管理器中找端口)，选择对应的波特率点击连接（如图3）。

如果连接成功，打开href="">菜单栏View-Text Console 窗口，可以查看 GPS 的 NMEA协议输出信息（如图4）。

连接成功后，打开View-Messages View-NMEA 标签（如图5）。找到相对应的语句，比如需要 GxGGA 这条语句输出，可以右击 GxGGA，然后弹出右键菜单，点击 Enable Message，再点击Send （如图6）。如果不需要则选择 Disable Message，再点击Send（如图7）。

打开菜单栏 View-Configure View-CFG(Configuration)，选择相应的选项之后，然后点击Send，对 GPS 的修改进行保存（如图10）。

图6中右侧部分有对选中协议（报文）的解释（如GxGLL: 纬度、经度、时间、状态信息）。配置好所需协议后，再次打开菜单栏View-Text Console 窗口，可看到GPS只发送所需协议的输出信息。如果有部分协议无法打开或配置，请参照1.2.3调整GPS的工作模式。

2.2调试波特率与发送消息频率

找到菜单栏 View-Configuration View-PRT(Ports)，然后输入想要的波特率，然后点击“send”（如图8）。

打开菜单栏 View-Configure View-RATE 标签，输入需要的频率，然后点击“send”（如图9）。

打开菜单栏 View-Configure View-CFG(Configuration)，选择相应的选项之后，然后点击Send，对 GPS 的修改进行保存（如图10）。

2.3调整GPS的工作模式

打开菜单栏 View-Configure View-GNSS 标签，勾选自己所需要的频率（如图11），然后点击“send”。 打开菜单栏 View-Configure View-CFG(Configuration)，选择相应的选项之后，然后点击Send，对 GPS 的修改进行保存（如图10）。

3.通过串口接收GPS消息并解析

很简单的串口信息解析，具体代码我会放到GitHub。

^[1]注释1中有详细的例子和解释。

 

GnssToolKit3 

https://icofchina.com/d/file/xiazai/2020-09-22/26ac3f347aca9fc6c3a23db296b0dec0.zip

$PSRF156,23,1,0*09
$GPGGA,123025.000,2953.4102,N,12137.8102,E,1,06,1.4,57.6,M,8.6,M,,0000*55
$GPGSA,A,3,10,24,12,15,23,28,,,,,,,2.5,1.4,2.1*38
$GPRMC,123025.000,A,2953.4102,N,12137.8102,E,0.09,115.19,250623,,,A*6A
$GPGSV,3,1,09,23,84,012,32,24,49,038,40,10,45,323,46,12,35,119,25*72
$GPGSV,3,2,09,18,32,208,07,25,25,162,20,15,24,077,33,32,23,290,17*7C
$GPGSV,3,3,09,28,12,227,13*4C

$GNGGA,012058.00,2952.86863,N,12139.38218,E,1,12,1.62,14.7,M,11.0,M,,*7F
$GNGSA,A,3,03,07,30,06,,,,,,,,,1.97,1.62,1.12,1*08
$GNGSA,A,3,01,09,23,08,13,16,06,03,11,,,,1.97,1.62,1.12,4*0D
$GPGSV,2,1,06,03,51,104,42,06,26,241,25,07,08,189,46,14,80,293,23,0*6F
$GPGSV,2,2,06,17,44,319,17,30,23,215,44,0*6C
$GBGSV,4,1,15,01,47,140,45,02,35,236,,03,52,201,39,04,36,122,36,0*7B
$GBGSV,4,2,15,05,14,254,32,06,08,203,40,07,72,342,,08,42,196,40,0*7F
$GBGSV,4,3,15,09,14,219,42,10,61,324,,11,16,061,28,13,31,203,42,0*7A
$GBGSV,4,4,15,16,07,202,44,23,41,198,47,25,05,165,41,0*41
$GNGLL,2952.86863,N,12139.38218,E,012058.00,A,A*7E
$GNRMC,012059.00,A,2952.86876,N,12139.38212,E,0.014,,260623,,,A,V*14
$GNVTG,,T,,M,0.014,N,0.025,K,A*3F

==============

Ublox的ZED-F9P高精度定位模组，该模组定位精度号称厘米级，从官方的数据手册看，在RTK条件下，定位精度高达1cm，这个感觉还是挺牛的，因为目前还没有听到一个小模组就能实现这么高的定位精度。

于是从代理商那里借了一个该模组的开发板，

拿到开发板后，迫不及待的去尝了鲜。该开发板配备以下套件，

通过USB接口就可以供电加输出数据，使用起来很方便。

我在装驱动的时候费了半天功夫，文档里写的是驱动会通过Windows Update自动安装，但是我就是死活装不成功，

后来各种折腾，发现是我的电脑Windows Update设置有问题，启动类型改成自动就可以了

具体步骤，参考：https://zhidao.baidu.com/question/459142430.html

装成功的表现为，在设备管理器里可以看到下面两个虚拟串口

真正用来接收定位数据的是ZED-F9P对应的那个串口COM73。

还有其他虚拟串口会安装，如果安装不成功就暂时不用管了，只要上面那个ZED-F9P对应的串口安装成功即可。

接下来就是如何评估定位精度的问题了，Ublox有一个非常牛掰的软件叫u-center,大家可以去官网下载，该软件功能非常强大，是研究GPS的一大利器。即使不用ublox的模组，其他家的定位产品也可以使用它。

由于目前还没RTK，所以我先去测了下模块单点定位的状况。

我带着笔记本和板子，先来到了公司楼下一片空旷的地方，把天线放地上一扔，就测了起来，步骤如下：

1) 打开u-center软件，选择好串口和波特率

板子默认的波特率是460800，如果你不知道波特率是多少或者波特率被改动过也没关系，菜单Receiver-Autobauding 可以自动帮你匹配到正确的波特率，

这个功能很赞，我当时就是不小心改了波特率后来通不了了，我还以为板子出问题了当时，后来找到了这个功能。

一旦串口号和波特率正确后，在串口里就可以到显示跳变的经纬度等信息了

你也可以通过View-Text Console看到输出的原始信息

2）打开View-Deviation Map或者快捷键F12，或者工具栏中的对应图标，就会出现Deviation Map的窗口，这个图反映的是经纬度相对于一个参考点的位置图

可以看到定位精度在0.3m以内，精度还是不错的。

参考点我用的是定位的平均值，上图左下角最左边那个图标用来设置参考点的

下面那一排图标的用法见下图，大家可以尝试尝试，非常实用

如果不清楚，鼠标轻轻一放，看左下角提示信息也可以

在观测的过程中，如果你想清掉之前的记录，点击File-Database Empty就可以。

后来换到办公楼下有明显遮挡的地方，定位显示如下

精度明显变差，使用这个工具来进行定位分析还是非常直观方便的。

单点定位评估后，下面看一下RTK定位效果，首先弄一个千寻的差分账号，新用户注册实名认证后可以申请一个免费试用的账号，可以用几个小时。下面是我申请的FindCM账号，

在U-center中配置千寻的账号信息

上面的Address、Port、Username、Password在千寻的网页上有说明：

使用过程中，需要电脑处于联网状态下，首先Update Source Table，然后选择RTCM32_GGB

连接成功后，在GNGGA信息中可以看到定位标志位为变成5，最后变成4

之后观测一段时间，可以看到RTK情况下，精度明显提高，确实可以到cm级别。

又做了个试验，在RTK定位状态下，断开网后，定位很快出现偏移

另外如果再次接上RTK，还会收敛到原来定位的点。

 

在纬度相等的情况下：

 经度每隔0.00001度，距离相差约1米；

 每隔0.0001度，距离相差约10米；

 每隔0.001度，距离相差约100米；

 每隔0.01度，距离相差约1000米；

 每隔0.1度，距离相差约10000米。

在经度相等的情况下：

 纬度每隔0.00001度，距离相差约1.1米；

 每隔0.0001度，距离相差约11米；

 每隔0.001度，距离相差约111米；

 每隔0.01度，距离相差约1113米；

 每隔0.1度，距离相差约11132米。

 

1. L1:1575.42±1.023MHz
2. L2:1227.60±1.023MHz 
3. L3:用途和频率暂未公开。资料显示其用于发现核爆炸或其他高能量红外辐射事件的核爆炸侦察系统(NDS)平台提供通讯联系。
4. L5:1176.45±1.023MHz（2009年测试，2010年正式播发）

单频接收机只能接收L1载波信号，测定载波相位观测值进行定位。由于不能有效消除电离层延迟影响，只适用于短基线（<15km）的精密定位。

双频接收机可以同时接收L1，L2载波信号。利用双频对电离层延迟的不一样，可以消除电离层对电磁波信号的延迟的影响，可用于长达几千公里的精密定位。

民用GPS通常只使用L1波段，而勘测与军事用途则需要同时使用L1和L2波段。

L5是第三种民用GPS信号，有利于GPS测量过程中的周跳探测、电离层延迟误差改正和整周模糊度的确定，将民用定位精度从5米提升至30厘米。

博通的芯片上的接收器先用 L1 信号锁定卫星，然后用 L5 信号算出精确的位置。

 

$GNGGA,012430.00,2952.86781,N,12139.38006,E,1,12,1.22,23.9,M,11.0,M,,*75
$GNGSA,A,3,03,07,30,06,,,,,,,,,1.87,1.22,1.42,1*08
$GNGSA,A,3,01,09,23,08,13,27,16,06,03,04,,,1.87,1.22,1.42,4*0C
$GPGSV,2,1,08,03,52,101,39,06,28,242,28,07,08,188,45,14,81,286,,0*6D
$GPGSV,2,2,08,17,45,320,,19,27,300,27,21,15,048,,30,21,214,43,0*6B
$GBGSV,5,1,17,01,47,140,45,02,35,236,31,03,52,201,39,04,36,121,36,0*79
$GBGSV,5,2,17,05,14,254,32,06,08,202,38,07,73,342,,08,43,197,41,0*72
$GBGSV,5,3,17,09,13,219,44,10,62,324,,11,15,062,,13,32,203,43,0*73
$GBGSV,5,4,17,16,06,201,41,23,40,197,45,25,04,164,39,27,18,273,29,0*77
$GBGSV,5,5,17,28,54,316,,0*4E
$GNGLL,2952.86781,N,12139.38006,E,012430.00,A,A*7A
$GNRMC,012431.00,A,2952.86780,N,12139.38006,E,0.005,,260623,,,A,V*1F
$GNVTG,,T,,M,0.005,N,0.010,K,A*39
$GNGGA,012431.00,2952.86780,N,12139.38006,E,1,12,1.22,23.9,M,11.0,M,,*75
$GNGSA,A,3,03,07,30,06,,,,,,,,,1.87,1.22,1.42,1*08
$GNGSA,A,3,01,09,23,08,13,27,16,06,03,04,,,1.87,1.22,1.42,4*0C
$GPGSV,2,1,08,03,52,101,39,06,28,242,27,07,07,188,45,14,81,286,,0*6D
$GPGSV,2,2,08,17,45,320,,19,27,300,28,21,15,048,,30,21,214,43,0*64
$GBGSV,5,1,17,01,47,140,45,02,35,236,31,03,52,201,39,04,36,121,36,0*79
$GBGSV,5,2,17,05,14,254,32,06,08,202,38,07,73,342,,08,43,197,41,0*72
$GBGSV,5,3,17,09,13,219,43,10,62,324,,11,15,062,,13,32,203,43,0*74
$GBGSV,5,4,17,16,06,201,41,23,40,197,45,25,04,164,39,27,18,273,29,0*77
$GBGSV,5,5,17,28,54,316,,0*4E
$GNGLL,2952.86780,N,12139.38006,E,012431.00,A,A*7A
$GNRMC,012432.00,A,2952.86776,N,12139.38007,E,0.075,,260623,,,A,V*13
$GNVTG,,T,,M,0.075,N,0.139,K,A*34
$GNGGA,012432.00,2952.86776,N,12139.38007,E,1,12,1.22,24.0,M,11.0,M,,*70
$GNGSA,A,3,03,07,30,06,,,,,,,,,1.87,1.22,1.42,1*08
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$GBGSV,5,4,17,16,06,201,41,23,40,197,45,25,04,164,40,27,18,273,29,0*79
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$GBGSV,5,4,17,16,06,201,41,23,40,197,45,25,04,164,40,27,18,273,28,0*78
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$GBGSV,5,4,17,16,06,201,41,23,40,197,45,25,04,164,40,27,18,273,28,0*78
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$GBGSV,5,4,17,16,06,201,41,23,40,197,45,25,04,164,40,27,18,273,27,0*77
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$GBGSV,5,4,17,16,06,201,41,23,40,197,45,25,04,164,40,27,18,273,26,0*76
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$GBGSV,5,4,17,16,06,201,41,23,40,197,45,25,04,164,40,27,18,273,25,0*75
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$GBGSV,5,4,17,16,06,201,41,23,40,197,45,25,04,164,40,27,18,273,24,0*74
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$GBGSV,5,4,17,16,06,201,41,23,40,197,45,25,04,164,39,27,18,273,24,0*7A
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$GBGSV,5,3,17,09,13,219,43,10,62,324,,11,15,062,,13,32,203,43,0*74
$GBGSV,5,4,17,16,06,201,41,23,40,197,45,25,04,164,39,27,18,273,24,0*7A
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$GNVTG,,T,,M,0.455,N,0.843,K,A*36
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$GNGSA,A,3,01,09,23,08,13,27,16,06,03,04,,,2.52,1.92,1.63,4*0F
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$GBGSV,5,1,17,01,47,140,45,02,35,236,31,03,52,201,39,04,36,121,36,0*79
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$GBGSV,5,3,17,09,13,219,43,10,62,324,,11,15,062,,13,32,203,43,0*74
$GBGSV,5,4,17,16,06,201,41,23,40,197,45,25,04,164,39,27,18,273,24,0*7A
$GBGSV,5,5,17,28,54,316,,0*4E
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$GNRMC,012446.00,A,2952.86842,N,12139.37982,E,0.091,,260623,,,A,V*19
$GNVTG,,T,,M,0.091,N,0.168,K,A*3A
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$GNGSA,A,3,03,07,30,06,,,,,,,,,2.52,1.92,1.63,1*0B
$GNGSA,A,3,01,09,23,08,13,27,16,06,03,04,,,2.52,1.92,1.63,4*0F
$GPGSV,2,1,08,03,52,101,39,06,28,242,24,07,07,188,47,14,81,284,,0*6E
$GPGSV,2,2,08,17,45,321,,19,27,300,28,21,15,048,,30,21,214,43,0*65
$GBGSV,5,1,17,01,47,140,45,02,35,236,31,03,52,201,39,04,36,121,36,0*79
$GBGSV,5,2,17,05,14,254,32,06,08,202,37,07,73,342,,08,43,197,41,0*7D
$GBGSV,5,3,17,09,13,219,43,10,62,324,,11,15,062,,13,32,203,43,0*74
$GBGSV,5,4,17,16,06,201,41,23,40,197,45,25,04,164,38,27,18,273,24,0*7B
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$GBGSV,5,4,17,16,06,201,40,23,40,197,45,25,04,164,39,27,18,273,20,0*7F
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$GBGSV,5,4,17,16,06,201,39,23,39,197,46,25,03,164,41,27,18,274,22,0*71
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$GNRMC,012559.00,A,2952.87395,N,12139.37761,E,0.089,,260623,,,A,V*1C
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$GNGSA,A,3,01,09,23,08,13,27,16,06,03,04,,,3.10,2.59,1.71,4*0F
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$GBGSV,5,3,17,09,13,219,44,10,62,324,,11,15,063,,13,32,204,43,0*75
$GBGSV,5,4,17,16,06,201,39,23,39,197,45,25,03,164,41,27,18,274,21,0*71
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$GNRMC,012603.00,A,2952.87418,N,12139.37754,E,0.039,,260623,,,A,V*1F
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$GBGSV,5,4,17,16,06,201,39,23,39,197,45,25,03,164,41,27,18,274,21,0*71
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$GBGSV,5,4,17,16,06,201,39,23,39,197,45,25,03,164,41,27,18,274,21,0*71
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$GBGSV,5,4,17,16,06,201,39,23,39,197,45,25,03,164,40,27,18,274,23,0*72
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$GNGSA,A,3,01,09,23,08,13,27,16,06,03,04,,,2.49,1.90,1.62,4*06
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$GPGSV,3,2,10,07,07,187,45,14,81,281,,17,45,321,19,19,27,300,,0*6C
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$GBGSV,5,1,17,01,47,140,45,02,35,236,,03,52,201,39,04,36,121,36,0*7B
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$GBGSV,5,4,17,16,06,201,39,23,39,197,45,25,03,164,40,27,18,274,23,0*72
$GBGSV,5,5,17,28,55,317,,0*4E
$GNGLL,2952.87451,N,12139.37739,E,012612.00,A,A*73
$GNRMC,012613.00,A,2952.87453,N,12139.37737,E,0.073,,260623,,,A,V*1A
$GNVTG,,T,,M,0.073,N,0.135,K,A*3E
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$GNGSA,A,3,03,07,30,06,,,,,,,,,2.49,1.90,1.62,1*02
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$GBGSV,5,4,17,16,06,201,39,23,39,197,45,25,03,164,40,27,18,274,23,0*72
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$GNVTG,,T,,M,0.405,N,0.750,K,A*3E
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$GNGSA,A,3,03,07,30,06,,,,,,,,,2.49,1.89,1.62,1*0A
$GNGSA,A,3,01,09,23,08,13,27,16,06,03,04,,,2.49,1.89,1.62,4*0E
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$GBGSV,5,4,17,16,06,201,39,23,39,197,45,25,03,164,40,27,18,274,22,0*73
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$GNGSA,A,3,01,09,23,08,13,27,16,06,03,04,,,2.49,1.89,1.62,4*0E
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$GBGSV,5,4,17,16,06,201,39,23,39,197,45,25,03,164,41,27,18,274,23,0*73
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$GNGSA,A,3,01,09,23,08,13,27,16,06,03,04,,,2.49,1.89,1.62,4*0E
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$GBGSV,5,2,17,05,14,254,32,06,07,202,40,07,73,342,,08,43,198,40,0*7C
$GBGSV,5,3,17,09,13,219,44,10,62,324,,11,15,063,26,13,32,204,43,0*71
$GBGSV,5,4,17,16,06,201,39,23,39,197,45,25,03,164,41,27,18,274,23,0*73
$GBGSV,5,5,17,28,55,317,,0*4E
$GNGLL,2952.87453,N,12139.37734,E,012616.00,A,A*78
$GNRMC,012617.00,A,2952.87456,N,12139.37733,E,0.238,,260623,,,A,V*12
$GNVTG,,T,,M,0.238,N,0.441,K,A*35
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$GNGSA,A,3,01,09,23,08,13,27,16,06,03,04,,,2.49,1.89,1.62,4*0E
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$GBGSV,5,1,17,01,47,140,45,02,35,236,,03,52,201,39,04,36,121,36,0*7B
$GBGSV,5,2,17,05,14,254,32,06,07,202,40,07,73,342,,08,43,198,40,0*7C
$GBGSV,5,3,17,09,13,219,44,10,62,324,,11,15,063,,13,32,204,43,0*75
$GBGSV,5,4,17,16,06,201,39,23,39,197,45,25,03,164,41,27,18,274,23,0*73
$GBGSV,5,5,17,28,55,317,,0*4E
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$GNRMC,012618.00,A,2952.87459,N,12139.37732,E,0.256,,260623,,,A,V*1B
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$GNGSA,A,3,01,09,23,08,13,27,16,06,03,04,,,2.49,1.89,1.62,4*0E
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$GPGSV,3,2,10,07,07,187,45,14,82,279,,17,45,321,19,19,27,300,,0*68
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$GBGSV,5,1,17,01,47,140,45,02,35,236,,03,52,201,39,04,36,121,36,0*7B
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$GBGSV,5,3,17,09,13,219,44,10,62,324,,11,15,063,26,13,32,204,43,0*71
$GBGSV,5,4,17,16,06,201,39,23,39,197,45,25,03,164,41,27,18,274,23,0*73
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$GBGSV,5,3,17,09,13,219,44,10,62,324,,11,15,063,,13,32,204,43,0*75
$GBGSV,5,4,17,16,06,201,39,23,39,197,45,25,03,164,41,27,18,274,23,0*73
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$GNVTG,,T,,M,0.042,N,0.078,K,A*34
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$GNGSA,A,3,01,09,23,08,13,27,16,06,03,04,,,2.49,1.89,1.62,4*0E
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$GPGSV,3,2,10,07,07,187,45,14,82,279,,17,45,322,,19,27,300,,0*63
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$GBGSV,5,1,17,01,47,140,45,02,35,236,,03,52,201,39,04,36,121,36,0*7B
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$GBGSV,5,3,17,09,13,219,44,10,62,324,,11,15,063,,13,32,204,43,0*75
$GBGSV,5,4,17,16,06,201,39,23,39,197,45,25,03,164,41,27,18,274,23,0*73
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$GNRMC,012621.00,A,2952.87464,N,12139.37729,E,0.115,,260623,,,A,V*11
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$GNGSA,A,3,01,09,23,08,13,27,16,06,03,04,,,2.49,1.89,1.62,4*0E
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$GBGSV,5,3,17,09,13,219,44,10,62,324,,11,15,063,,13,32,204,43,0*75
$GBGSV,5,4,17,16,06,201,39,23,39,197,45,25,03,164,42,27,18,274,23,0*70
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$GNGSA,A,3,01,09,23,08,13,27,16,06,03,04,,,2.49,1.89,1.62,4*0E
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$GPGSV,3,2,10,07,07,187,45,14,82,279,,17,45,322,,19,28,301,,0*6D
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$GBGSV,5,3,17,09,13,219,44,10,62,324,,11,15,063,,13,32,204,43,0*75
$GBGSV,5,4,17,16,06,201,39,23,39,197,45,25,03,164,42,27,18,274,23,0*70
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$GNGLL,2952.87463,N,12139.37728,E,012622.00,A,A*71
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$GNGSA,A,3,01,09,23,08,13,27,16,06,03,04,,,2.49,1.89,1.62,4*0E
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$GBGSV,5,3,17,09,13,219,44,10,62,324,,11,15,063,,13,32,204,43,0*75
$GBGSV,5,4,17,16,06,201,39,23,39,197,45,25,03,164,42,27,18,274,23,0*70
$GBGSV,5,5,17,28,55,317,,0*4E
$GNGLL,2952.87465,N,12139.37727,E,012623.00,A,A*79
$GNRMC,012624.00,A,2952.87468,N,12139.37727,E,0.265,,260623,,,A,V*12
$GNVTG,,T,,M,0.265,N,0.490,K,A*31
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$GNGSA,A,3,01,09,23,08,13,27,16,06,03,04,,,2.49,1.89,1.62,4*0E
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$GPGSV,3,2,10,07,07,187,44,14,82,279,,17,45,322,,19,28,301,,0*6C
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$GBGSV,5,3,17,09,13,219,44,10,62,324,,11,15,063,,13,32,204,43,0*75
$GBGSV,5,4,17,16,06,201,39,23,39,197,45,25,03,164,41,27,18,274,23,0*73
$GBGSV,5,5,17,28,55,317,,0*4E
$GNGLL,2952.87468,N,12139.37727,E,012624.00,A,A*73
$GNRMC,012625.00,A,2952.87469,N,12139.37726,E,0.844,188.07,260623,,,A,V*02
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$GNGSA,A,3,03,07,30,06,,,,,,,,,2.49,1.89,1.62,1*0A
$GNGSA,A,3,01,09,23,08,13,27,16,06,03,04,,,2.49,1.89,1.62,4*0E
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$GPGSV,3,2,10,07,07,187,44,14,82,279,,17,45,322,,19,28,301,,0*6C
$GPGSV,3,3,10,21,14,048,,30,21,213,46,0*6C
$GBGSV,5,1,17,01,47,140,45,02,35,236,,03,52,201,39,04,36,121,36,0*7B
$GBGSV,5,2,17,05,14,254,32,06,07,202,41,07,73,342,,08,43,198,40,0*7D
$GBGSV,5,3,17,09,13,219,44,10,62,324,,11,15,063,,13,32,204,43,0*75
$GBGSV,5,4,17,16,06,201,39,23,39,197,45,25,03,164,41,27,18,274,23,0*73
$GBGSV,5,5,17,28,55,317,,0*4E
$GNGLL,2952.87469,N,12139.37726,E,012625.00,A,A*72
$GNRMC,012626.00,A,2952.87456,N,12139.37728,E,0.544,233.66,260623,,,A,V*0A
$GNVTG,233.66,T,,M,0.544,N,1.008,K,A*2D
$GNGGA,012626.00,2952.87456,N,12139.37728,E,1,12,1.89,20.3,M,11.0,M,,*74
$GNGSA,A,3,03,07,30,06,,,,,,,,,2.49,1.89,1.62,1*0A
$GNGSA,A,3,01,09,23,08,13,27,16,06,03,04,,,2.49,1.89,1.62,4*0E
$GPGSV,3,1,10,01,36,037,,02,23,045,,03,52,099,36,06,28,243,27,0*69
$GPGSV,3,2,10,07,07,187,44,14,82,279,,17,45,322,,19,28,301,,0*6C
$GPGSV,3,3,10,21,14,048,,30,21,213,46,0*6C
$GBGSV,5,1,17,01,47,140,45,02,35,236,,03,52,201,39,04,36,121,36,0*7B
$GBGSV,5,2,17,05,14,254,32,06,07,202,41,07,73,342,,08,43,198,40,0*7D
$GBGSV,5,3,17,09,13,219,44,10,62,324,,11,15,063,,13,32,204,43,0*75
$GBGSV,5,4,17,16,06,201,39,23,39,197,45,25,03,164,41,27,18,274,24,0*74
$GBGSV,5,5,17,28,55,317,,0*4E
$GNGLL,2952.87456,N,12139.37728,E,012626.00,A,A*73
$GNRMC,012627.00,A,2952.87457,N,12139.37728,E,0.268,,260623,,,A,V*1F
$GNVTG,,T,,M,0.268,N,0.497,K,A*3B
$GNGGA,012627.00,2952.87457,N,12139.37728,E,1,12,1.89,20.3,M,11.0,M,,*74
$GNGSA,A,3,03,07,30,06,,,,,,,,,2.49,1.89,1.61,1*09
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$GBGSV,5,4,17,16,06,201,39,23,39,197,45,25,03,164,40,27,18,274,23,0*72
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$GBGSV,5,4,17,16,06,201,39,23,39,197,45,25,03,164,39,27,18,274,23,0*7C
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$GBGSV,5,4,17,16,06,201,39,23,39,197,45,25,03,164,38,27,18,274,23,0*7D
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$GBGSV,5,4,17,16,06,201,39,23,39,197,45,25,03,164,37,27,18,274,23,0*72
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$GNGSA,A,3,01,09,23,08,13,27,16,06,03,04,,,2.48,1.89,1.61,4*0C
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$GBGSV,5,3,17,09,13,219,44,10,62,324,,11,15,063,,13,32,204,43,0*75
$GBGSV,5,4,17,16,06,201,39,23,39,197,45,25,03,164,36,27,18,274,22,0*72
$GBGSV,5,5,17,28,55,317,,0*4E
$GNGLL,2952.87433,N,12139.37735,E,012639.00,A,A*72
$GNRMC,012640.00,A,2952.87430,N,12139.37736,E,0.047,,260623,,,A,V*1F
$GNVTG,,T,,M,0.047,N,0.087,K,A*31
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$GNGSA,A,3,01,09,23,08,13,27,16,06,03,04,,,2.48,1.89,1.61,4*0C
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$GPGSV,3,2,10,07,07,187,44,14,82,279,,17,45,322,,19,28,301,,0*6C
$GPGSV,3,3,10,21,14,048,,30,21,213,46,0*6C
$GBGSV,5,1,17,01,47,140,45,02,35,236,,03,52,201,39,04,36,121,36,0*7B
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$GBGSV,5,3,17,09,13,219,44,10,62,324,,11,15,063,24,13,32,204,43,0*73
$GBGSV,5,4,17,16,06,201,39,23,39,197,45,25,03,164,36,27,18,274,22,0*72
$GBGSV,5,5,17,28,55,317,,0*4E
$GNGLL,2952.87430,N,12139.37736,E,012640.00,A,A*7C
$GNRMC,012641.00,A,2952.87430,N,12139.37737,E,0.061,,260623,,,A,V*1B
$GNVTG,,T,,M,0.061,N,0.113,K,A*39
$GNGGA,012641.00,2952.87430,N,12139.37737,E,1,12,1.89,20.8,M,11.0,M,,*70
$GNGSA,A,3,03,07,30,06,,,,,,,,,2.48,1.89,1.61,1*08
$GNGSA,A,3,01,09,23,08,13,27,16,06,03,04,,,2.48,1.89,1.61,4*0C
$GPGSV,3,1,10,01,36,037,,02,23,045,27,03,52,099,35,06,28,243,28,0*60
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$GBGSV,5,3,17,09,13,219,44,10,62,324,,11,15,063,,13,32,204,43,0*75
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$GBGSV,5,4,17,16,06,201,40,23,39,197,45,25,03,164,36,27,18,274,22,0*7C
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$GBGSV,5,3,17,09,13,219,44,10,62,324,,11,15,063,24,13,32,204,42,0*72
$GBGSV,5,4,17,16,06,201,40,23,39,197,45,25,03,164,38,27,18,274,23,0*73
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$GPGSV,3,2,10,07,07,187,45,14,82,279,,17,45,322,,19,28,301,23,0*6C
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$GBGSV,5,1,17,01,47,140,45,02,35,236,,03,52,201,39,04,36,121,36,0*7B
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$GBGSV,5,3,17,09,13,219,44,10,62,324,,11,15,063,24,13,32,204,43,0*73
$GBGSV,5,4,17,16,06,201,40,23,39,197,45,25,03,164,38,27,18,274,22,0*72
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$GNVTG,,T,,M,0.156,N,0.289,K,A*3C
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$GNGSA,A,3,01,09,23,08,13,27,16,06,03,04,,,2.48,1.88,1.61,4*0D
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$GPGSV,3,2,10,07,07,187,45,14,82,279,,17,45,322,,19,28,301,24,0*6B
$GPGSV,3,3,10,21,14,048,,30,21,213,46,0*6C
$GBGSV,5,1,17,01,47,140,45,02,35,236,,03,52,201,39,04,36,121,36,0*7B
$GBGSV,5,2,17,05,14,254,32,06,07,202,41,07,73,342,,08,43,198,39,0*73
$GBGSV,5,3,17,09,13,219,44,10,62,324,,11,15,063,,13,32,204,43,0*75
$GBGSV,5,4,17,16,06,201,40,23,39,197,45,25,03,164,38,27,18,274,22,0*72
$GBGSV,5,5,17,28,55,317,,0*4E
$GNGLL,2952.87375,N,12139.37754,E,012652.00,A,A*7D
$GNRMC,012653.00,A,2952.87371,N,12139.37755,E,0.056,,260623,,,A,V*1A
$GNVTG,,T,,M,0.056,N,0.104,K,A*3B

 

============ End