diff --git a/nodist/data/btnmea_GST.nmea b/nodist/data/btnmea_GST.nmea new file mode 100755 index 000000000..cb05eea50 --- /dev/null +++ b/nodist/data/btnmea_GST.nmea @@ -0,0 +1,305 @@ +$GNRMC,094358.60,A,4741.0296044,N,00245.8808349,W,6.478,170.28,090824,,,R,V*06 +$GNGGA,094358.60,4741.0296044,N,00245.8808349,W,4,12,0.52,43.294,M,49.023,M,1.6,0000*47 +$GNGSA,A,3,02,03,32,14,17,08,21,22,,,,,0.94,0.52,0.78,1*0C +$GNGSA,A,3,82,75,69,84,83,67,68,,,,,,0.94,0.52,0.78,2*08 +$GNGSA,A,3,31,03,07,08,13,15,21,26,,,,,0.94,0.52,0.78,3*09 +$GNGSA,A,3,30,14,27,06,16,41,33,28,,,,,0.94,0.52,0.78,4*0C +$GNGSA,A,3,,,,,,,,,,,,,0.94,0.52,0.78,5*00 +$GPGSV,3,1,11,02,79,062,46,03,56,231,45,08,24,159,46,14,24,267,30,1*6F +$GPGSV,3,2,11,17,32,310,47,19,07,317,36,21,63,091,48,22,25,293,44,1*61 +$GPGSV,3,3,11,32,24,047,39,36,30,146,45,49,35,170,45,1*52 +$GPGSV,2,1,07,03,56,231,44,04,07,178,24,08,24,159,41,14,24,267,26,6*6E +$GPGSV,2,2,07,17,32,310,42,28,00,085,14,32,24,047,40,6*55 +$GPGSV,1,1,01,40,13,115,,0*57 +$GLGSV,2,1,08,67,42,041,47,68,68,138,50,69,25,189,36,74,11,282,34,1*7C +$GLGSV,2,2,08,75,13,334,44,82,29,112,47,83,68,072,37,84,34,314,39,1*77 +$GLGSV,2,1,07,67,42,041,45,68,68,138,43,69,25,189,36,75,13,334,39,3*73 +$GLGSV,2,2,07,82,29,112,42,83,68,072,42,84,34,314,35,3*45 +$GAGSV,3,1,10,03,22,044,40,07,25,162,45,08,45,101,43,13,67,070,47,2*7F +$GAGSV,3,2,10,14,33,159,46,15,16,095,33,21,15,222,26,26,51,294,48,2*71 +$GAGSV,3,3,10,31,13,325,37,33,04,282,28,2*71 +$GAGSV,3,1,09,03,22,044,41,07,25,162,43,08,45,101,44,13,67,070,45,7*70 +$GAGSV,3,2,09,14,33,159,47,15,16,095,32,21,15,222,34,26,51,294,44,7*73 +$GAGSV,3,3,09,31,13,325,35,7*48 +$GBGSV,2,1,08,06,12,062,27,14,33,049,46,16,13,059,30,27,65,299,47,1*7E +$GBGSV,2,2,08,28,64,132,47,30,15,306,32,33,57,068,46,41,56,182,47,1*76 +$GBGSV,1,1,03,06,12,062,30,14,33,049,48,16,13,059,28,B*33 +$GBGSV,2,1,06,05,12,110,,09,09,079,,36,02,308,,39,14,048,,0*75 +$GBGSV,2,2,06,42,09,041,,43,04,128,,0*73 +$GQGSV,1,1,00,0*64 +$GNGST,094358.60,17,0.015,0.012,27,0.010,0.010,0.010*49 +$GNRMC,094359.60,A,4741.0278355,N,00245.8803866,W,6.430,170.66,090824,,,R,V*0F +$GNGGA,094359.60,4741.0278355,N,00245.8803866,W,4,12,0.52,43.292,M,49.023,M,1.6,0000*4E +$GNGSA,A,3,02,03,32,14,17,08,21,22,,,,,0.94,0.52,0.78,1*0C +$GNGSA,A,3,82,75,69,84,83,67,68,,,,,,0.94,0.52,0.78,2*08 +$GNGSA,A,3,31,03,07,08,13,15,21,26,,,,,0.94,0.52,0.78,3*09 +$GNGSA,A,3,30,14,27,06,16,41,33,28,,,,,0.94,0.52,0.78,4*0C +$GNGSA,A,3,,,,,,,,,,,,,0.94,0.52,0.78,5*00 +$GPGSV,3,1,11,02,79,062,47,03,57,232,46,08,24,159,45,14,24,267,26,1*6B +$GPGSV,3,2,11,17,32,310,45,19,07,317,40,21,63,091,48,22,25,293,31,1*60 +$GPGSV,3,3,11,32,24,047,39,36,30,146,45,49,35,170,45,1*52 +$GPGSV,2,1,07,03,57,232,44,04,07,178,22,08,24,159,43,14,24,267,31,6*6E +$GPGSV,2,2,07,17,32,310,43,28,00,085,13,32,24,047,34,6*50 +$GPGSV,1,1,01,40,13,115,,0*57 +$GLGSV,2,1,08,67,42,041,48,68,68,138,50,69,25,189,38,74,11,282,29,1*71 +$GLGSV,2,2,08,75,13,334,45,82,29,112,46,83,68,072,37,84,34,314,37,1*79 +$GLGSV,2,1,07,67,42,041,44,68,68,138,44,69,25,189,27,75,13,334,41,3*7A +$GLGSV,2,2,07,82,29,112,43,83,68,072,42,84,34,314,37,3*46 +$GAGSV,3,1,10,03,22,044,35,07,25,162,46,08,45,101,43,13,67,070,47,2*7E +$GAGSV,3,2,10,14,33,159,46,15,16,095,34,21,15,222,26,26,51,294,48,2*76 +$GAGSV,3,3,10,31,13,325,39,33,04,282,28,2*7F +$GAGSV,3,1,09,03,22,044,33,07,25,162,43,08,45,101,43,13,67,070,44,7*73 +$GAGSV,3,2,09,14,33,159,47,15,16,095,32,21,15,222,29,26,51,294,43,7*78 +$GAGSV,3,3,09,31,13,325,37,7*4A +$GBGSV,2,1,08,06,12,062,27,14,33,049,46,16,13,059,30,27,65,299,47,1*7E +$GBGSV,2,2,08,28,64,132,47,30,15,306,42,33,57,068,47,41,56,182,46,1*71 +$GBGSV,1,1,03,06,12,062,30,14,33,049,47,16,13,059,28,B*3C +$GBGSV,2,1,06,05,12,110,,09,09,079,,36,02,308,,39,14,048,,0*75 +$GBGSV,2,2,06,42,09,041,,43,04,128,,0*73 +$GQGSV,1,1,00,0*64 +$GNGST,094359.60,20,0.018,0.014,33,0.010,0.010,0.012*40 +$GNRMC,094359.60,A,4741.0278355,N,00245.8803866,W,6.430,170.66,090824,,,R,V*0F +$GNGGA,094359.60,4741.0278355,N,00245.8803866,W,4,12,0.52,43.292,M,49.023,M,1.6,0000*4E +$GNGSA,A,3,02,03,32,14,17,08,21,22,,,,,0.94,0.52,0.78,1*0C +$GNGSA,A,3,82,75,69,84,83,67,68,,,,,,0.94,0.52,0.78,2*08 +$GNGSA,A,3,31,03,07,08,13,15,21,26,,,,,0.94,0.52,0.78,3*09 +$GNGSA,A,3,30,14,27,06,16,41,33,28,,,,,0.94,0.52,0.78,4*0C +$GNGSA,A,3,,,,,,,,,,,,,0.94,0.52,0.78,5*00 +$GPGSV,3,1,11,02,79,062,47,03,57,232,46,08,24,159,45,14,24,267,26,1*6B +$GPGSV,3,2,11,17,32,310,45,19,07,317,40,21,63,091,48,22,25,293,31,1*60 +$GPGSV,3,3,11,32,24,047,39,36,30,146,45,49,35,170,45,1*52 +$GPGSV,2,1,07,03,57,232,44,04,07,178,22,08,24,159,43,14,24,267,31,6*6E +$GPGSV,2,2,07,17,32,310,43,28,00,085,13,32,24,047,34,6*50 +$GPGSV,1,1,01,40,13,115,,0*57 +$GLGSV,2,1,08,67,42,041,48,68,68,138,50,69,25,189,38,74,11,282,29,1*71 +$GLGSV,2,2,08,75,13,334,45,82,29,112,46,83,68,072,37,84,34,314,37,1*79 +$GLGSV,2,1,07,67,42,041,44,68,68,138,44,69,25,189,27,75,13,334,41,3*7A +$GLGSV,2,2,07,82,29,112,43,83,68,072,42,84,34,314,37,3*46 +$GAGSV,3,1,10,03,22,044,35,07,25,162,46,08,45,101,43,13,67,070,47,2*7E +$GAGSV,3,2,10,14,33,159,46,15,16,095,34,21,15,222,26,26,51,294,48,2*76 +$GAGSV,3,3,10,31,13,325,39,33,04,282,28,2*7F +$GAGSV,3,1,09,03,22,044,33,07,25,162,43,08,45,101,43,13,67,070,44,7*73 +$GAGSV,3,2,09,14,33,159,47,15,16,095,32,21,15,222,29,26,51,294,43,7*78 +$GAGSV,3,3,09,31,13,325,37,7*4A +$GBGSV,2,1,08,06,12,062,27,14,33,049,46,16,13,059,30,27,65,299,47,1*7E +$GBGSV,2,2,08,28,64,132,47,30,15,306,42,33,57,068,47,41,56,182,46,1*71 +$GBGSV,1,1,03,06,12,062,30,14,33,049,47,16,13,059,28,B*3C +$GBGSV,2,1,06,05,12,110,,09,09,079,,36,02,308,,39,14,048,,0*75 +$GBGSV,2,2,06,42,09,041,,43,04,128,,0*73 +$GQGSV,1,1,00,0*64 +$GNGST,094359.60,20,0.018,0.014,33,0.010,0.010,0.012*40 +$GNRMC,094400.60,A,4741.0262091,N,00245.8799730,W,5.629,170.54,090824,,,R,V*0C +$GNGGA,094400.60,4741.0262091,N,00245.8799730,W,4,12,0.57,43.293,M,49.023,M,1.6,0000*41 +$GNGSA,A,3,02,03,32,14,17,08,21,22,,,,,1.00,0.57,0.83,1*01 +$GNGSA,A,3,82,75,69,84,83,67,68,,,,,,1.00,0.57,0.83,2*05 +$GNGSA,A,3,31,03,07,08,13,15,21,26,,,,,1.00,0.57,0.83,3*04 +$GNGSA,A,3,30,14,27,06,16,41,33,28,,,,,1.00,0.57,0.83,4*01 +$GNGSA,A,3,,,,,,,,,,,,,1.00,0.57,0.83,5*0D +$GPGSV,3,1,11,02,79,062,46,03,57,232,45,08,24,159,44,14,24,267,35,1*6A +$GPGSV,3,2,11,17,32,310,45,19,07,317,44,21,63,091,47,22,25,293,32,1*68 +$GPGSV,3,3,11,32,24,047,39,36,30,146,44,49,35,170,45,1*53 +$GPGSV,2,1,07,03,57,232,44,04,08,178,21,08,24,159,43,14,24,267,35,6*66 +$GPGSV,2,2,07,17,32,310,44,28,00,085,12,32,24,047,37,6*55 +$GPGSV,1,1,01,40,13,115,,0*57 +$GLGSV,2,1,08,67,42,041,50,68,68,138,50,69,25,189,36,74,11,282,28,1*77 +$GLGSV,2,2,08,75,13,334,46,82,29,112,47,83,68,072,36,84,34,314,36,1*7B +$GLGSV,2,1,07,67,42,041,45,68,68,138,44,69,25,189,38,75,13,334,42,3*76 +$GLGSV,2,2,07,82,29,112,42,83,68,072,42,84,34,314,37,3*47 +$GAGSV,3,1,10,03,22,044,41,07,25,162,46,08,45,101,43,13,67,070,47,2*7D +$GAGSV,3,2,10,14,33,159,47,15,16,095,40,21,15,222,27,26,51,294,49,2*74 +$GAGSV,3,3,10,31,13,325,41,33,04,282,28,2*70 +$GAGSV,3,1,09,03,22,044,35,07,25,162,45,08,45,101,41,13,67,070,45,7*70 +$GAGSV,3,2,09,14,33,159,45,15,16,095,35,21,15,222,31,26,51,294,43,7*74 +$GAGSV,3,3,09,31,13,325,39,7*44 +$GBGSV,2,1,08,06,12,062,26,14,33,049,47,16,13,059,28,27,65,299,46,1*76 +$GBGSV,2,2,08,28,64,132,47,30,15,306,34,33,57,068,47,41,56,182,46,1*70 +$GBGSV,1,1,03,06,12,062,30,14,33,049,48,16,13,059,35,B*3F +$GBGSV,2,1,06,05,12,110,,09,09,079,,36,02,308,,39,14,048,,0*75 +$GBGSV,2,2,06,42,09,041,,43,04,128,,0*73 +$GQGSV,1,1,00,0*64 +$GNGST,094400.60,7.2,0.015,0.012,35,0.010,0.010,0.011*6C +$GNRMC,094401.60,A,4741.0248356,N,00245.8796464,W,4.742,171.25,090824,,,R,V*0A +$GNGGA,094401.60,4741.0248356,N,00245.8796464,W,4,12,0.55,43.273,M,49.023,M,1.6,0000*41 +$GNGSA,A,3,02,03,32,14,17,08,21,22,,,,,0.98,0.55,0.81,1*01 +$GNGSA,A,3,82,75,69,84,83,67,68,,,,,,0.98,0.55,0.81,2*05 +$GNGSA,A,3,31,03,07,08,13,15,21,26,,,,,0.98,0.55,0.81,3*04 +$GNGSA,A,3,30,14,27,06,16,41,33,28,,,,,0.98,0.55,0.81,4*01 +$GNGSA,A,3,,,,,,,,,,,,,0.98,0.55,0.81,5*0D +$GPGSV,3,1,11,02,79,062,46,03,57,232,45,08,24,159,46,14,24,267,38,1*65 +$GPGSV,3,2,11,17,32,310,37,19,07,317,42,21,63,091,48,22,25,293,27,1*60 +$GPGSV,3,3,11,32,24,047,38,36,30,146,37,49,35,170,44,1*57 +$GPGSV,2,1,07,03,57,232,43,04,08,178,21,08,24,159,42,14,24,267,35,6*60 +$GPGSV,2,2,07,17,32,310,38,28,00,085,13,32,24,047,37,6*5F +$GPGSV,1,1,01,40,13,115,,0*57 +$GLGSV,2,1,08,67,42,041,49,68,68,138,50,69,25,189,30,74,11,282,27,1*76 +$GLGSV,2,2,08,75,13,334,48,82,29,112,46,83,68,072,36,84,34,314,36,1*74 +$GLGSV,2,1,07,67,42,041,44,68,68,138,44,69,25,189,34,75,13,334,41,3*78 +$GLGSV,2,2,07,82,29,112,40,83,68,072,42,84,34,314,35,3*47 +$GAGSV,3,1,10,03,22,044,41,07,25,162,46,08,45,101,43,13,67,070,47,2*7D +$GAGSV,3,2,10,14,33,159,47,15,16,095,31,21,15,222,26,26,51,294,48,2*72 +$GAGSV,3,3,10,31,13,325,38,33,04,282,27,2*71 +$GAGSV,3,1,09,03,22,044,31,07,25,162,43,08,45,101,42,13,67,070,46,7*72 +$GAGSV,3,2,09,14,33,159,46,15,16,095,28,21,15,222,31,26,51,294,45,7*7D +$GAGSV,3,3,09,31,13,325,39,7*44 +$GBGSV,2,1,08,06,12,062,32,14,33,049,48,16,13,059,36,27,65,299,46,1*73 +$GBGSV,2,2,08,28,64,132,48,30,15,306,25,33,57,068,46,41,56,182,46,1*7E +$GBGSV,1,1,03,06,12,062,33,14,33,049,49,16,13,059,35,B*3D +$GBGSV,2,1,06,05,12,110,,09,09,079,,36,02,308,,39,14,048,,0*75 +$GBGSV,2,2,06,42,09,041,,43,04,128,,0*73 +$GQGSV,1,1,00,0*64 +$GNGST,094401.60,16,0.013,0.010,36,0.010,0.010,0.010*47 +$GNRMC,094402.60,A,4741.0236410,N,00245.8793386,W,4.374,171.80,090824,,,R,V*05 +$GNGGA,094402.60,4741.0236410,N,00245.8793386,W,4,12,0.55,43.255,M,49.023,M,0.6,0000*45 +$GNGSA,A,3,02,03,32,14,17,08,21,22,,,,,0.98,0.55,0.81,1*01 +$GNGSA,A,3,82,75,69,84,83,67,68,,,,,,0.98,0.55,0.81,2*05 +$GNGSA,A,3,31,03,07,08,13,15,21,26,,,,,0.98,0.55,0.81,3*04 +$GNGSA,A,3,30,14,27,06,16,41,33,28,,,,,0.98,0.55,0.81,4*01 +$GNGSA,A,3,,,,,,,,,,,,,0.98,0.55,0.81,5*0D +$GPGSV,3,1,11,02,79,062,46,03,57,232,33,08,24,159,45,14,24,267,36,1*69 +$GPGSV,3,2,11,17,32,310,36,19,07,317,34,21,63,091,48,22,25,293,36,1*60 +$GPGSV,3,3,11,32,24,047,37,36,30,146,40,49,35,170,45,1*59 +$GPGSV,2,1,07,03,57,232,32,04,08,178,22,08,24,159,43,14,24,267,40,6*66 +$GPGSV,2,2,07,17,32,310,37,28,00,085,13,32,24,047,35,6*52 +$GPGSV,1,1,01,40,13,115,,0*57 +$GLGSV,3,1,09,67,42,041,47,68,68,138,50,69,25,189,43,74,11,282,27,1*7C +$GLGSV,3,2,09,75,13,334,47,77,,,20,82,29,112,46,83,68,072,36,1*41 +$GLGSV,3,3,09,84,34,314,33,1*4C +$GLGSV,2,1,07,67,42,041,43,68,68,138,45,69,25,189,24,75,13,334,40,3*7E +$GLGSV,2,2,07,82,29,112,43,83,68,072,42,84,34,314,31,3*40 +$GAGSV,3,1,10,03,22,044,40,07,25,162,44,08,45,101,45,13,67,070,47,2*78 +$GAGSV,3,2,10,14,33,159,47,15,16,095,24,21,15,222,25,26,51,294,49,2*74 +$GAGSV,3,3,10,31,13,325,41,33,04,282,28,2*70 +$GAGSV,3,1,09,03,22,044,26,07,25,162,45,08,45,101,45,13,67,070,46,7*75 +$GAGSV,3,2,09,14,33,159,46,15,16,095,28,21,15,222,30,26,51,294,45,7*7C +$GAGSV,3,3,09,31,13,325,41,7*4B +$GBGSV,2,1,08,06,12,062,35,14,33,049,47,16,13,059,33,27,65,299,47,1*7F +$GBGSV,2,2,08,28,64,132,47,30,15,306,30,33,57,068,47,41,56,182,46,1*74 +$GBGSV,1,1,03,06,12,062,30,14,33,049,46,16,13,059,33,B*37 +$GBGSV,2,1,06,05,12,110,,09,09,079,,36,02,308,,39,14,048,,0*75 +$GBGSV,2,2,06,42,09,041,,43,04,128,,0*73 +$GQGSV,1,1,00,0*64 +$GNGST,094402.60,23,0.018,0.013,36,0.010,0.010,0.012*48 +$GNRMC,094403.60,A,4741.0225078,N,00245.8790916,W,3.826,170.91,090824,,,R,V*06 +$GNGGA,094403.60,4741.0225078,N,00245.8790916,W,4,12,0.55,43.246,M,49.023,M,1.6,0000*4F +$GNGSA,A,3,02,03,32,14,17,08,21,22,,,,,0.98,0.55,0.81,1*01 +$GNGSA,A,3,82,75,69,84,83,67,68,,,,,,0.98,0.55,0.81,2*05 +$GNGSA,A,3,31,03,07,08,13,15,21,26,,,,,0.98,0.55,0.81,3*04 +$GNGSA,A,3,30,14,27,06,16,41,33,28,,,,,0.98,0.55,0.81,4*01 +$GNGSA,A,3,,,,,,,,,,,,,0.98,0.55,0.81,5*0D +$GPGSV,3,1,11,02,79,062,47,03,57,232,33,08,24,159,47,14,24,267,33,1*6F +$GPGSV,3,2,11,17,32,310,37,19,07,317,28,21,63,091,48,22,25,293,27,1*6C +$GPGSV,3,3,11,32,24,047,36,36,30,146,39,49,35,170,45,1*56 +$GPGSV,2,1,07,03,57,232,32,04,08,178,22,08,24,159,42,14,24,267,32,6*62 +$GPGSV,2,2,07,17,32,310,34,28,00,085,12,32,24,047,35,6*50 +$GPGSV,1,1,01,40,13,115,,0*57 +$GLGSV,3,1,09,67,42,041,49,68,68,138,51,69,25,189,38,74,11,282,33,1*7A +$GLGSV,3,2,09,75,13,334,47,77,,,21,82,29,112,45,83,68,072,38,1*4D +$GLGSV,3,3,09,84,34,314,33,1*4C +$GLGSV,2,1,07,67,42,041,42,68,68,138,44,69,25,189,26,75,13,334,42,3*7E +$GLGSV,2,2,07,82,29,112,44,83,68,072,42,84,34,314,31,3*47 +$GAGSV,3,1,10,03,22,044,39,07,25,162,46,08,45,101,46,13,67,070,45,2*75 +$GAGSV,3,2,10,14,33,159,48,15,16,095,30,21,15,222,31,26,51,294,47,2*75 +$GAGSV,3,3,10,31,13,325,38,33,04,282,27,2*71 +$GAGSV,3,1,09,03,22,044,35,07,25,162,46,08,45,101,45,13,67,070,46,7*74 +$GAGSV,3,2,09,14,33,159,43,15,16,095,28,21,15,222,34,26,51,294,44,7*7C +$GAGSV,3,3,09,31,13,325,37,7*4A +$GBGSV,2,1,08,06,12,062,33,14,33,049,47,16,13,059,37,27,65,299,46,1*7C +$GBGSV,2,2,08,28,64,132,48,30,15,306,37,33,57,068,47,41,56,182,45,1*7F +$GBGSV,1,1,03,06,12,062,36,14,33,049,49,16,13,059,31,B*3C +$GBGSV,2,1,06,05,12,110,,09,09,079,,36,02,308,,39,14,048,,0*75 +$GBGSV,2,2,06,42,09,041,,43,04,128,,0*73 +$GQGSV,1,1,00,0*64 +$GNGST,094403.60,23,0.014,0.011,55,0.010,0.010,0.010*40 +$GNRMC,094404.60,A,4741.0216037,N,00245.8788593,W,2.720,171.68,090824,,,R,V*0D +$GNGGA,094404.60,4741.0216037,N,00245.8788593,W,4,12,0.54,43.238,M,49.023,M,1.6,0000*43 +$GNGSA,A,3,02,03,32,14,17,08,21,22,,,,,0.99,0.54,0.83,1*03 +$GNGSA,A,3,82,75,69,84,83,67,68,,,,,,0.99,0.54,0.83,2*07 +$GNGSA,A,3,31,03,07,08,13,15,21,26,,,,,0.99,0.54,0.83,3*06 +$GNGSA,A,3,30,14,27,06,16,41,33,28,,,,,0.99,0.54,0.83,4*03 +$GNGSA,A,3,,,,,,,,,,,,,0.99,0.54,0.83,5*0F +$GPGSV,3,1,11,02,79,062,47,03,57,232,38,08,23,159,42,14,24,267,33,1*66 +$GPGSV,3,2,11,17,32,310,28,19,07,317,32,21,63,091,48,22,25,293,27,1*69 +$GPGSV,3,3,11,32,24,047,37,36,30,146,37,49,35,170,45,1*59 +$GPGSV,2,1,07,03,57,232,28,04,08,178,22,08,23,159,40,14,24,267,37,6*69 +$GPGSV,2,2,07,17,32,310,34,28,00,085,13,32,24,047,31,6*55 +$GPGSV,1,1,01,40,13,115,,0*57 +$GLGSV,3,1,09,67,42,041,46,68,68,138,49,69,25,189,38,74,11,282,27,1*79 +$GLGSV,3,2,09,75,13,334,46,77,,,21,82,29,112,42,83,68,072,39,1*4A +$GLGSV,3,3,09,84,34,314,32,1*4D +$GLGSV,2,1,07,67,42,041,46,68,68,138,45,69,25,189,32,75,13,334,45,3*79 +$GLGSV,2,2,07,82,29,112,39,83,68,072,41,84,34,314,34,3*4B +$GAGSV,3,1,10,03,22,044,28,07,25,162,44,08,45,101,47,13,67,070,46,2*75 +$GAGSV,3,2,10,14,33,159,48,15,16,095,29,21,15,222,25,26,51,294,29,2*70 +$GAGSV,3,3,10,31,13,325,32,33,04,282,24,2*78 +$GAGSV,3,1,09,03,22,044,32,07,25,162,44,08,45,101,46,13,67,070,47,7*73 +$GAGSV,3,2,09,14,33,159,45,15,16,095,27,21,15,222,30,26,51,294,32,7*70 +$GAGSV,3,3,09,31,13,325,30,7*4D +$GBGSV,2,1,08,06,12,062,28,14,33,049,48,16,13,059,28,27,65,299,44,1*75 +$GBGSV,2,2,08,28,64,132,47,30,15,306,36,33,57,068,47,41,56,182,46,1*72 +$GBGSV,1,1,03,06,12,062,30,14,33,049,51,16,13,059,35,B*37 +$GBGSV,2,1,06,05,12,110,,09,09,079,,36,02,308,,39,14,048,,0*75 +$GBGSV,2,2,06,42,09,041,,43,04,128,,0*73 +$GQGSV,1,1,00,0*64 +$GNGST,094404.60,28,0.026,0.022,83,0.010,0.010,0.016*40 +$GNRMC,094405.60,A,4741.0211014,N,00245.8787618,W,1.248,174.53,090824,,,R,V*00 +$GNGGA,094405.60,4741.0211014,N,00245.8787618,W,4,12,0.58,43.252,M,49.023,M,1.6,0000*4B +$GNGSA,A,3,02,03,32,14,17,08,21,22,,,,,1.04,0.58,0.87,1*0E +$GNGSA,A,3,82,75,69,84,83,67,68,,,,,,1.04,0.58,0.87,2*0A +$GNGSA,A,3,31,03,07,08,13,15,21,26,,,,,1.04,0.58,0.87,3*0B +$GNGSA,A,3,30,14,27,06,16,41,33,28,,,,,1.04,0.58,0.87,4*0E +$GNGSA,A,3,,,,,,,,,,,,,1.04,0.58,0.87,5*02 +$GPGSV,3,1,11,02,79,062,48,03,57,232,36,08,23,159,42,14,24,267,31,1*65 +$GPGSV,3,2,11,17,32,310,33,19,07,317,32,21,63,091,47,22,25,293,33,1*69 +$GPGSV,3,3,11,32,24,047,36,36,30,146,39,49,35,170,45,1*56 +$GPGSV,2,1,07,03,57,232,33,04,08,178,21,08,23,159,36,14,24,267,34,6*62 +$GPGSV,2,2,07,17,32,310,31,28,00,085,13,32,24,047,36,6*57 +$GPGSV,1,1,01,40,13,115,,0*57 +$GLGSV,3,1,09,67,42,041,47,68,68,138,49,69,25,189,34,74,11,282,27,1*74 +$GLGSV,3,2,09,75,13,334,49,77,,,20,82,29,112,37,83,68,072,39,1*46 +$GLGSV,3,3,09,84,34,314,30,1*4F +$GLGSV,2,1,07,67,42,041,43,68,68,138,45,69,25,189,30,75,13,334,43,3*78 +$GLGSV,2,2,07,82,29,112,40,83,68,072,41,84,34,314,30,3*41 +$GAGSV,3,1,10,03,22,044,38,07,25,162,41,08,45,101,46,13,67,070,46,2*70 +$GAGSV,3,2,10,14,33,159,49,15,16,095,27,21,15,222,31,26,51,294,35,2*77 +$GAGSV,3,3,10,31,13,325,32,33,04,282,25,2*79 +$GAGSV,3,1,09,03,22,044,42,07,25,162,42,08,45,101,42,13,67,070,45,7*74 +$GAGSV,3,2,09,14,33,159,44,15,16,095,25,21,15,222,28,26,51,294,32,7*7A +$GAGSV,3,3,09,31,13,325,34,7*49 +$GBGSV,2,1,08,06,12,062,32,14,33,049,48,16,13,059,27,27,65,299,45,1*70 +$GBGSV,2,2,08,28,64,132,47,30,15,306,37,33,57,068,45,41,56,182,45,1*72 +$GBGSV,1,1,03,06,12,062,36,14,33,049,49,16,13,059,30,B*3D +$GBGSV,2,1,06,05,12,110,,09,09,079,,36,02,308,,39,14,048,,0*75 +$GBGSV,2,2,06,42,09,041,,43,04,128,,0*73 +$GQGSV,1,1,00,0*64 +$GNGST,094405.60,15,0.021,0.015,86,0.010,0.010,0.011*4E +$GNRMC,094406.60,A,4741.0208498,N,00245.8787057,W,0.840,173.75,090824,,,R,V*06 +$GNGGA,094406.60,4741.0208498,N,00245.8787057,W,4,12,0.53,43.270,M,49.023,M,0.6,0000*47 +$GNGSA,A,3,02,03,32,14,17,08,21,22,,,,,0.95,0.53,0.79,1*0D +$GNGSA,A,3,82,75,69,84,83,67,68,,,,,,0.95,0.53,0.79,2*09 +$GNGSA,A,3,31,03,07,08,13,15,21,26,,,,,0.95,0.53,0.79,3*08 +$GNGSA,A,3,30,14,27,06,16,41,33,28,,,,,0.95,0.53,0.79,4*0D +$GNGSA,A,3,,,,,,,,,,,,,0.95,0.53,0.79,5*01 +$GPGSV,3,1,11,02,79,062,47,03,57,232,40,08,23,159,40,14,24,267,30,1*68 +$GPGSV,3,2,11,17,32,310,35,19,07,317,39,21,63,091,46,22,25,293,27,1*60 +$GPGSV,3,3,11,32,24,047,43,36,30,146,40,49,35,170,45,1*5A +$GPGSV,2,1,07,03,57,232,33,04,08,178,23,08,23,159,35,14,24,267,34,6*63 +$GPGSV,2,2,07,17,32,310,27,28,00,085,14,32,24,047,44,6*52 +$GPGSV,1,1,01,40,13,115,,0*57 +$GLGSV,3,1,09,67,42,041,46,68,68,138,50,69,25,189,38,74,11,282,32,1*75 +$GLGSV,3,2,09,75,13,334,49,77,,,19,82,29,112,34,83,68,072,38,1*4E +$GLGSV,3,3,09,84,34,314,30,1*4F +$GLGSV,2,1,07,67,42,041,42,68,68,138,45,69,25,189,30,75,13,334,45,3*7F +$GLGSV,2,2,07,82,29,112,42,83,68,072,42,84,34,314,29,3*48 +$GAGSV,3,1,10,03,22,044,32,07,25,162,41,08,45,101,45,13,67,070,46,2*79 +$GAGSV,3,2,10,14,33,159,49,15,16,095,32,21,15,222,29,26,51,294,29,2*77 +$GAGSV,3,3,10,31,13,325,32,33,04,282,25,2*79 +$GAGSV,3,1,09,03,22,044,42,07,25,162,39,08,45,101,47,13,67,070,46,7*7E +$GAGSV,3,2,09,14,33,159,47,15,16,095,25,21,15,222,22,26,51,294,27,7*77 +$GAGSV,3,3,09,31,13,325,33,7*4E +$GBGSV,2,1,08,06,12,062,27,14,33,049,47,16,13,059,35,27,65,299,44,1*79 +$GBGSV,2,2,08,28,64,132,47,30,15,306,36,33,57,068,47,41,56,182,45,1*71 +$GBGSV,1,1,02,06,12,062,38,14,33,049,51,B*01 +$GBGSV,2,1,06,05,12,110,,09,09,079,,36,02,308,,39,14,048,,0*75 +$GBGSV,2,2,06,42,09,041,,43,04,128,,0*73 +$GQGSV,1,1,00,0*64 +$GNGST,094406.60,21,0.018,0.014,88,0.010,0.010,0.010*4E diff --git a/src/org/openstreetmap/josm/data/gpx/GpxConstants.java b/src/org/openstreetmap/josm/data/gpx/GpxConstants.java index c528bb8da..543cdfebc 100644 --- a/src/org/openstreetmap/josm/data/gpx/GpxConstants.java +++ b/src/org/openstreetmap/josm/data/gpx/GpxConstants.java @@ -178,12 +178,18 @@ public interface GpxConstants { /** Represents a differential GPS station. 0 <= value <= 1023 */ String PT_DGPSID = "dgpsid"; + /** Standard horizontal major deviation */ + String PT_STD_HDEV = "stdhdev"; + + /** Standard vertical major deviation */ + String PT_STD_VDEV = "stdvdev"; + /** * Ordered list of all possible waypoint keys. */ List WPT_KEYS = Collections.unmodifiableList(Arrays.asList(PT_ELE, PT_TIME, PT_MAGVAR, PT_GEOIDHEIGHT, GPX_NAME, GPX_CMT, GPX_DESC, GPX_SRC, META_LINKS, PT_SYM, PT_TYPE, - PT_FIX, PT_SAT, PT_HDOP, PT_VDOP, PT_PDOP, PT_AGEOFDGPSDATA, PT_DGPSID)); + PT_FIX, PT_SAT, PT_HDOP, PT_VDOP, PT_PDOP, PT_AGEOFDGPSDATA, PT_DGPSID, PT_STD_HDEV, PT_STD_VDEV)); /** * Ordered list of all possible route and track keys. diff --git a/src/org/openstreetmap/josm/gui/layer/gpx/GpxDrawHelper.java b/src/org/openstreetmap/josm/gui/layer/gpx/GpxDrawHelper.java index 3f7081f17..e659bd95e 100644 --- a/src/org/openstreetmap/josm/gui/layer/gpx/GpxDrawHelper.java +++ b/src/org/openstreetmap/josm/gui/layer/gpx/GpxDrawHelper.java @@ -868,9 +868,14 @@ public class GpxDrawHelper implements SoMChangeListener, MapViewPaintable.LayerP } Point screen = mv.getPoint(trkPnt); - if (hdopCircle && trkPnt.get(GpxConstants.PT_HDOP) != null) { + if (hdopCircle && (trkPnt.get(GpxConstants.PT_HDOP) != null || trkPnt.get(GpxConstants.PT_STD_HDEV) != null)) { // hdop value - float hdop = ((Number) trkPnt.get(GpxConstants.PT_HDOP)).floatValue(); + float hdop; + if (trkPnt.get(GpxConstants.PT_STD_HDEV) != null) { + hdop = ((Number) trkPnt.get(GpxConstants.PT_STD_HDEV)).floatValue(); + } else { + hdop = ((Number) trkPnt.get(GpxConstants.PT_HDOP)).floatValue(); + } if (hdop < 0) { hdop = 0; } diff --git a/src/org/openstreetmap/josm/io/nmea/NmeaParser.java b/src/org/openstreetmap/josm/io/nmea/NmeaParser.java index b9faf9d03..4f05aff4d 100644 --- a/src/org/openstreetmap/josm/io/nmea/NmeaParser.java +++ b/src/org/openstreetmap/josm/io/nmea/NmeaParser.java @@ -137,6 +137,26 @@ public class NmeaParser { } } + /** + * GST - GNSS Pseudorange Noise Statistics + *

+ * RMS and Standard deviation estimated values. + */ + enum GST { + TIME(1), + RMS_DEVIATION(2), // Total RMS standard deviation of ranges inputs to the navigation solution + STDDEV_MAJOR(3), // Standard deviation (meters) of semi-major axis of error ellipse + STDDEV_MINOR(4), // Standard deviation (meters) of semi-minor axis of error ellipse + STDDEV_MAJOR_BEARING(5), // Orientation of semi-major axis of error ellipse (true north degrees) + STDDEV_LAT(6), // Standard deviation (meters) of latitude error + STDDEV_LONG(7), // Standard deviation (meters) of longitude error + STDDEV_HEIGHT(8); // Standard deviation (meters) of altitude error + final int position; + GST(int position) { + this.position = position; + } + } + /** * Geographic Position - Latitude/Longitude. *

@@ -465,6 +485,18 @@ public class NmeaParser { if (!accu.isEmpty() && currentwp != null) { currentwp.put(GpxConstants.PT_PDOP, Float.valueOf(accu)); } + // GST Sentence + } else if (isSentence(e[0], Sentence.GST)) { + // std horizontal deviation + accu = e[GST.STDDEV_MAJOR.position]; + if (!accu.isEmpty() && currentwp != null) { + currentwp.put(GpxConstants.PT_STD_HDEV, Float.valueOf(accu)); + } + // std vertical deviation + accu = e[GST.STDDEV_HEIGHT.position]; + if (!accu.isEmpty() && currentwp != null) { + currentwp.put(GpxConstants.PT_STD_VDEV, Float.valueOf(accu)); + } } else if (isSentence(e[0], Sentence.RMC)) { // coordinates LatLon latLon = parseLatLon( diff --git a/src/org/openstreetmap/josm/io/nmea/Sentence.java b/src/org/openstreetmap/josm/io/nmea/Sentence.java index ecaa9cc91..ab7936f13 100644 --- a/src/org/openstreetmap/josm/io/nmea/Sentence.java +++ b/src/org/openstreetmap/josm/io/nmea/Sentence.java @@ -146,6 +146,28 @@ public enum Sentence { * See GLL */ GLL, + + /** + * GST - GPS Pseudorange Noise Statistics + * 

+     *              1    2 3 4 5 6 7 8   9
+     *              |    | | | | | | |   |
+     * $ --GST,hhmmss.ss,x,x,x,x,x,x,x*hh
+     *
+ * Field Number:
    + *
  1. UTC time of associated GGA fix
    2. + *
  2. Total RMS standard deviation of ranges inputs to the navigation solution
    3. + *
  3. Standard deviation (meters) of semi-major axis of error ellipse
    4. + *
  4. Standard deviation (meters) of semi-minor axis of error ellipse
    5. + *
  5. Orientation of semi-major axis of error ellipse (true north degrees)
    6. + *
  6. Standard deviation (meters) of latitude error
    7. + *
  7. Standard deviation (meters) of longitude error
    8. + *
  8. Standard deviation (meters) of altitude error
    9. + *
  9. Checksum
    10. + *
+ * See GST + */ + GST, /** * RMC - Recommended Minimum Navigation Information diff --git a/src/org/openstreetmap/josm/io/rtklib/RtkLibPosReader.java b/src/org/openstreetmap/josm/io/rtklib/RtkLibPosReader.java index 8b7d55eac..295d7c9b0 100644 --- a/src/org/openstreetmap/josm/io/rtklib/RtkLibPosReader.java +++ b/src/org/openstreetmap/josm/io/rtklib/RtkLibPosReader.java @@ -90,7 +90,8 @@ public class RtkLibPosReader implements IGpxReader { currentwp.put(GpxConstants.RTKLIB_RATIO, fields[IDX_RATIO]); double sdn = Double.parseDouble(fields[IDX_SDN]); double sde = Double.parseDouble(fields[IDX_SDE]); - currentwp.put(GpxConstants.PT_HDOP, (float) Math.sqrt(sdn*sdn + sde*sde)); + currentwp.put(GpxConstants.PT_STD_HDEV, (float) Math.sqrt(sdn*sdn + sde*sde)); + currentwp.put(GpxConstants.PT_STD_VDEV, fields[IDX_SDU]); waypoints.add(currentwp); success++; } catch (IllegalArgumentException e) { diff --git a/test/unit/org/openstreetmap/josm/io/nmea/NmeaReaderTest.java b/test/unit/org/openstreetmap/josm/io/nmea/NmeaReaderTest.java index db94024eb..d9b0d8f7f 100644 --- a/test/unit/org/openstreetmap/josm/io/nmea/NmeaReaderTest.java +++ b/test/unit/org/openstreetmap/josm/io/nmea/NmeaReaderTest.java @@ -62,7 +62,26 @@ class NmeaReaderTest { assertNull(wayPoints.get(0).get(GpxConstants.PT_VDOP)); assertNull(wayPoints.get(0).get(GpxConstants.PT_PDOP)); } + /** + * Tests reading a nmea file with GST sentences. + * @throws Exception if any error occurs + */ + @Test + void testReader2() throws Exception { + final NmeaReader in = new NmeaReader(Files.newInputStream(Paths.get("nodist/data/btnmea_GST.nmea"))); + in.parse(true); + assertEquals(9, in.getNumberOfCoordinates()); + assertEquals(0, in.getParserMalformed()); + final List wayPoints = new ArrayList<>(in.data.tracks.iterator().next().getSegments().iterator().next().getWayPoints()); + assertEquals("43.294", wayPoints.get(0).get(GpxConstants.PT_ELE)); + assertEquals("12", wayPoints.get(0).get(GpxConstants.PT_SAT)); + assertEquals("rtk", wayPoints.get(0).get(GpxConstants.PT_FIX)); + assertEquals("0.52", wayPoints.get(0).get(GpxConstants.PT_HDOP).toString().trim()); + assertEquals("0.78", wayPoints.get(0).get(GpxConstants.PT_VDOP).toString().trim()); + assertEquals("0.94", wayPoints.get(0).get(GpxConstants.PT_PDOP).toString().trim()); + } + private static void compareWithReference(int ticket, String filename, int numCoor) throws IOException, SAXException { GpxData gpx = GpxReaderTest.parseGpxData(TestUtils.getRegressionDataFile(ticket, filename+".gpx")); NmeaReader in = new NmeaReader(Files.newInputStream(Paths.get(TestUtils.getRegressionDataFile(ticket, filename+".nmea")))); diff --git a/test/unit/org/openstreetmap/josm/io/rtklib/RtkLibPosReaderTest.java b/test/unit/org/openstreetmap/josm/io/rtklib/RtkLibPosReaderTest.java index f927752ed..c94977bea 100644 --- a/test/unit/org/openstreetmap/josm/io/rtklib/RtkLibPosReaderTest.java +++ b/test/unit/org/openstreetmap/josm/io/rtklib/RtkLibPosReaderTest.java @@ -53,7 +53,8 @@ class RtkLibPosReaderTest { assertEquals(5, wp0.get(GpxConstants.RTKLIB_Q)); assertEquals("92.3955", wp0.get(GpxConstants.PT_ELE)); assertEquals("2", wp0.get(GpxConstants.PT_SAT)); - assertEquals("1.8191757", wp0.get(GpxConstants.PT_HDOP).toString().trim()); + assertEquals("1.8191757", wp0.get(GpxConstants.PT_STD_HDEV).toString().trim()); + assertEquals("0.8167", wp0.get(GpxConstants.PT_STD_VDEV).toString().trim()); assertEquals("1.5620", wp0.get(GpxConstants.RTKLIB_SDN)); assertEquals("0.9325", wp0.get(GpxConstants.RTKLIB_SDE));