• Edit
• History
• Print
• Download (.HTML)
• PDF

GNSS2 / OutputDataFormat

Output data format

The GNSS2 outputs both CAN and Serial data, as detailed below.

CAN Output

The GNSS2 can output a variety of CAN messages, using Race Technology’s CAN data message format. These messages are output at a fixed rate of 5Hz or 10Hz depending on the unit configuration.

A detailed description of the Race Technology CAN data format, including the message contents and the default addressing scheme, can be found on the knowledge base on the Race Technology web site here.

.DBD files can be generated from the configuration software.

The GNSS2 supports both 11 and 29bit addressing, Bitrates are configurable to 125kbps, 250kbps, 500kbps or 1mbps.

CAN output can be configured to be either as soon as available, in which case the latency will be variable, or at a fixed latency of 150ms. This applies to the reception of the first message of each epoch, relative to the epoch time. Latency can only be guaranteed if the GNSS2 is the only transmitter on the CAN bus.

The following CAN messages are available for output from the GPS2:

• GPS messages
  • RT_GPS_Status Firmware version and GPS status information
  • RT_GPS_Time GPS time of week
  • RT_GPS_Pos_LLH GPS accuracy and latitude
  • RT_GPS_Pos_LLH 2 GPS accuracy and latitude
  • RT_GPS_Speed GPS 2D and 3D speed
  • RT_GPS_Vel_NED_1 GPS North and East velocity
  • RT_GPS_Vel_NED_2 GPS Down velocity
  • RT_GPS_Heading_Gradient1 Heading and gradient 1
  • RT_GPS_Heading_Gradient2 Heading and gradient 2

Serial Output

The GPS2 has 3 serial and 1 USB ports. Usage and baud rate is summarised in the table below:

Serial 1 is used to output serial data to other Race Technology equipment, such as the DL2 data logger, or to output to other manufacturers equipment using NMEA message.

When set to Race Technology format messages, the following messages are transmitted at either 5 or 10Hz depending on the option selected in the configuration software.

NMEA messages available are as follows:

• GPGGA
• GPGLL
• GPGSA
• GPGSV
• GPRMC
• GPVTG
• GPGRS
• GPZDA

Serial port 2 is used to input or output RTCM v3.x differential correction data, and is fixed at a baud rate of 38400 baud.