17
$PNMRX106, Datum
This message defines the conversion model used for mapping the ECEF coordinates into the
LLA ones. The default transformation uses WGS84 approximation. The transformation method can
be changed into one using a reference Ellipsoid combined with a local datum, to obtain a specific
estimation of the local earth geometry. Once the datum has been changed it will be applied to all
LLA data, including the LLA navigation initialization Data. This message enables the receiver to be
configured to use map datum from an internal table, or datum supplied as part of the message.
Field
Format
Min chars
Max chars
Notes
Message ID
$PNMRX106
6
8
PNMRX106 protocol header.
Correction Mode
Unsigned
1
1
If 1 apply EGM96 geoid correction (warning: should
be applied only when Map Datum is equal to 216). If
0 there is no EGM96 geoid correction.
Reference number of the appropriate map datum to
apply.
Map Datum
Int
(0) 1
3
0-218 Map datum from internal table
500 User defined Datum
Dx
Int
(0) (-)1
(-)5
X offset in meters (-9999 to 9999)
Dy
Int
(0) (-)1
(-)5
Y offset in meters (-9999 to 9999)
Dz
Int
(0) (-)1
(-)5
Z offset in meters (-9999 to 9999)
Iflat
Int
(0) 1
8
Inverse flatness of reference geode. The value to be
used is (IFlat – 290) * 1000000).
The value must be in the range [6000000, 12000000]
Majora
Int
(0) 1
8
Semi major axis of reference geode. The values to be
used is (MajorA – 6370000) * 1000).
The value must be in the range [6000000, 9000000]
Checksum
*xx
(0) 3
3
2 digits.
Message terminator
<CR> <LF>
2
2
ASCII 13, ASCII 10.
Examples:
$PNMRX106, 0,500, -2000,-2000,-2000,8257224,8137000*00*xx :
User defined Datum
$PNMRX106, 1,216,,,,,*xx :
WGS 84 Datum
