Advanced Navigation GNSS Compass Reference Manual page 112

GNSS Compass Reference Manual • Advanced Navigation Packet Protocol
10.4.33 Geoid Height Packet
This packet provides the offset at the current location between the WGS84 ellipsoid and the EGM96 geoid
model. This can be used to determine the current height above mean sea level and also depth through the
following equations:
Height Above Mean Sea Level = WGS84 Height – Geoid Height
Depth = Geoid Height – WGS84 Height
WGS84 Height is the height at the current location in the System State packet.
Geoid Height Packet
Packet ID
Length
Read / Write
Field # Bytes Offset
1 0
Table 81: Geoid Height Packet
10.4.34 RTCM Corrections Packet
This packet is used to encapsulate RTCM v3 correction data to be sent to the GNSS Compass internal GNSS
receiver for DGPS or RTK GNSS functionality.
RTCM Corrections Packet
Packet ID
Length
Read / Write
Field # Bytes Offset
1 0
Table 82: RTCM Corrections Packet
v2.0
Data Type Size
fp32 4
Data Type Size
Page 103
54
4
Read
Description
Geoid height (m)
55
Variable, up to 255 bytes
Write
Description
RTCM corrections data
04 Nov 2021