NMEA-0183 message: PTNL,AVR

Time, yaw, tilt/roll, range for moving baseline RTK

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

An example of the PTNL,AVR message string is:

$PTNL,AVR,212405.20,+52.1531,Yaw,-0.0806,Tilt,,,12.575,3,1.4,16*39

$PTNL,AVR,212604.30,+52.1800,Yaw,,,-0.0807,Roll,12.579,3,1.4,16*21

AVR message fields

Field

Meaning

0

Message ID $PTNL,AVR

1

UTC of vector fix

2

Yaw angle, in degrees

3

Yaw

4

Tilt angle, in degrees

5

Tilt

6

Roll angle, in degrees

7

Roll

8

Range, in meters (between antennas)

9

GPS quality indicator:

0: Fix not available or invalid
1: Autonomous GPS fix
2: Differential carrier phase solution RTK (Float)
3: Differential carrier phase solution RTK (Fix)
4: Differential code-based solution, DGPS

10

PDOP

11

Number of satellites used in solution

12

The checksum data, always begins with *