FP_A-LLH

Description

This message contains time, geographic coordinates and the position covariance of the output frame in East-North-up (ENU). The coordinates are transformed from ECEF using the WGS-84 parameters. It is output at the configured rate.

 

Example message

$FP,LLH,1,2231,227563.250000,47.392357470,8.448121451,473.5857,
0.04533,0.03363,0.02884,0.00417,0.00086,-0.00136*62rn

 

Message fields

# Field Format Unit Example Description
1

msg_type

 String

-

LLH

Message type, always LLH for this message
2

msg_version

 Numeric

-

1

Message version, always 1 for this version of the LLH message
3

gps_week

 Numeric

-

2231

GPS week number, range 0–9999
4

gps_tow

 Float (.6)

s

227563.250000

GPS time of week, range 0.000–604799.999999
5

latitude

 Float (.9)

deg

47.392357470

Latitude, range -90.000000000–90.000000000, > 0 for North, < 0 for South
6

longitude

 Float (.9)

deg

8.448121451

Longitude, range -180.000000000–180.000000000, > 0 for East, < 0 for West
7

height

 Float (.4)

m

473.5857

Ellipsoidal height, range -1000.0000-50000.0000
8

pos_cov_ee

 Float (5)

m2

0.04533

Position covariance in ENU, element EE
9

pos_cov_nn

 Float (5)

m2

0.03363

Position covariance in ENU, element NN
10

pos_cov_uu

 Float (5)

m2

0.02884

Position covariance in ENU, element UU
11

pos_cov_en

 Float (5)

m2

0.00417

Position covariance in ENU, element EN
12

pos_cov_nu

 Float (5)

m2

0.00086

Position covariance in ENU, element NU
13

pos_cov_eu

 Float (5)

m2

-0.00136

Position covariance in ENU, element EU

 

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