NMEA-0183 message: PTNL,VHD

Heading information

The heading computation in this message is computed from the moving baseline vector, which requires a two-antenna system.

An example of the PTNL,VHD message string is:

$PTNL,VHD,030556.00,093098,187.718,-22.138,-76.929,-5.015,0.033,0.006,3,07,2.4,M*22

Field	Meaning
0	Message ID $PTNL
1	VHD
2	UTC of position in hhmmss.ss format
3	Date in mmddyy format
4	Azimuth
5	Rate of change of azimuth = azimuth/time
6	Vertical angle
7	Rate of change of vertical angle = vertical/time
8	Range
9	Rate of change of range between antenna = range/time
10	GPS Quality indicator: 0: Fix not available or invalid 1: Autonomous GPS fix 2: RTK float solution 3: RTK fix solution 4: Differential, code phase only solution (DGPS) 5: SBAS solution – WAAS/EGNOS/MSAS 6: RTK Float 3D network solution 7: RTK Fixed 3D network solution 8: RTK Float 2D network solution 9: RTK Fixed 2D network solution 10: OmniSTAR HP/XP solution 11: OmniSTAR VBS solution 12: Location RTK 13: Beacon DGPS 14: CenterPoint RTX 15: xFill
11	Number of satellites used in solution
12	PDOP
13	M
14	The checksum data, always begins with *