Main ❯ Navigation & tracking systems ❯ uNav: protocol specification

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www.unavlab.com support@unavlab.com	uNav - navigation solver/radio modem for RWLT/WAYU systems Communication protocol

uNav
Communication protocol

0. Version history

Version history

1. Introduction

1.1. Physical layer protocol

uNav devices support data pairing using a serial interface.

Default connection port settings:

Baudrate: 38400 bit/s Data bits: 8 Stop bits: 1 Parity: No Hardware flow control: No

1.2. NMEA0183 Conversational Layer Protocol Standard

The NMEA0183 standard describes the format of text (ASCII) dialog-level messages.

Example message: $PUNA0,1,0*hh<СR><LF>

Basic elements of a message (message, sentence) NMEA0183:

'$' - start of message,
'P' - Proprietary, proprietary code
'UNV' is a three-letter identifier
'0' - message identifier
',' - comma (parameter separator)
'*' - checksum separator
'hh' - checksum in hexadecimal format (for example FF, 01). Calculated as a bitwise XOR of all bytes between '$' and '*'.
<CR><LF> - end of message (line feed)

2. UNV command system

The device and the system of commands for interacting with it are designed so that, once configured, it can be connected to various applications designed to work with GNSS receivers. For the most part, the device uses standard NMEA protocol messages: RMC and GGA.

2.1. UNV0 - Settings

The UNV0 message is used to specify settings for the device, request current settings, and transfer current settings from the device.

Message format: $PUNV0,x.x,x.x,x.x,x.x,x,x.x,x,x.x,x,x*hh<CR><LF>

No.	Field/Parameter	Description
	$	Message start '$'
	PUNV	UNV
	0	Message ID
1	sty_PSU	Water salinity in PSU, 0 .. 40 PSU
2	wtmp_C	Water temperature in °C, -4 .. 46 °C
3	sos_mps	Speed of sound in water in m/s, 1300 .. 1600 m/s
4	max_tspd_mps	Maximum movement speed in m/s, 0.5 .. 5 m/s
5	sf_FIFO_size	Anti-aliasing filter buffer size, 2 .. 64
6	sf_rthld_m	Smoothing filter reset threshold, 5 .. 1000 m
7	dhf_FIFO_size	Classifier buffer size, 2 .. 64
8	dhf_rthld	Classifier buffer threshold, 5 .. 1000 m
9	ce_FIFO_size	Course estimator buffer size, 2 .. 64
10	brate	Port speed (see...)
11	rwlt_mode	Operating mode (for RWLT system). Empty field or 0 - pinger, 1 - divers
12	rwlt_drating	Maximum pinger depth (for RWLT system). 0 - 300, 1 - 500, 2 - 1000 m
*	NMEA checksum separator
hh	NMEA checksum
<CR><LF>	End of message

2.2. UNV1 - Reference point

The command is used to set a reference point, relative to which the device can calculate the course and distance to the positioned object.

Message format: $PUWV1,x,x.x,x.x*hh<CR><LF>

No.	Field/Parameter	Description
	$	Message start '$'
	PUNV	UNV
	1	Message ID
1	ref_point_type	0 - AUX GNSS, 1-4 base points, empty - user defined
2	ref_point_lat	latitude, -90.0 .. 90.0°
3	ref_point_lon	longitude, -180.0 .. 180.0°
*	NMEA checksum separator
hh	NMEA checksum
<CR><LF>	End of message

2.3. UNV2 - Water depth and temperature

The command is used to set the depth of the positioned object (WAYU only) and water temperature.

Message format: $PUWV2,x.x,x.x*hh<CR><LF>

No.	Field/Parameter	Description
	$	Message start '$'
	PUNV	UNV
	2	Message ID
1	tDpt_m	Depth of the positioned object, m
2	wTmp_С	Water temperature, -4 .. 46 °C
*	NMEA checksum separator
hh	NMEA checksum
<CR><LF>	End of message

2.4. UNV4 - Parameters relative to the reference point

The message contains the calculated navigation parameters of the positioned object, relative to the configured reference point.

Message format: $PUWV4,x,x.x,x.x,x.x,x.x,x.x,x.x*hh<CR><LF>

No.	Field/Parameter	Description
	$	Message start '$'
	PUNV	UNV
	4	Message ID
1	tID	Object ID. For all cases except RWLT operation in diver mode, the field remains empty
2	rpLt	Reference point latitude, -90.0 .. 90.0 °
3	rpLn	Longitude of reference point, -180.0 .. 180.0 °
4	dst2rp	Distance to the reference point on the plane, m
5	crs2rp	Course from object to reference point, 0 .. 360.0 °
6	crs4rp	Course from the reference point to the object, 0 .. 360.0 °
7	Age	Navigation data age, sec
*	NMEA checksum separator
hh	NMEA checksum
<CR><LF>	End of message

2.5. UNV5 - Data from built-in GNSS receiver

The message contains navigation data from the built-in GNSS receiver.

Message format: $PUWV5,x.x,x.x,x.x,x.x*hh<CR><LF>

No.	Field/Parameter	Description
	$	Message start '$'
	PUNV	UNV
	5	Message ID
1	gnssLt	Geographic latitude, -90.0 .. 90.0 °
2	gnssLn	Geographic longitude, -180.0 .. 180.0 °
3	gnssCrs	Heading, 0 .. 360.0 °
4	gnssSog	Speed, km/h
*	NMEA checksum separator
hh	NMEA checksum
<CR><LF>	End of message

2.6. UNV6 - Data from RWLT pinger

The message contains data received from the RWLT pinger.

Message format: $PUWV6,x,x.x*hh<CR><LF>

No.	Field/Parameter	Description
	$	Message start '$'
	PUNV	UNV
	6	Message ID
1	dataID	Data ID
2	dataValue	Data
*	NMEA checksum separator
hh	NMEA checksum
<CR><LF>	End of message

3. Other messages

3.1. GGA

Standard message NMEA0183 - Global positioning system fix data.

Message format: $GNGGA,hhmmss.sss,ddmm.mmm,N|S,yyymm.mmm,E|W,x,xx,x.x,x.x,M,x.x,M,xx,xxxx*hh<CR ><LF>

No.	Field/Parameter	Description
	$	Message start '$'
	GN	Standard data source - Global navigation
	GGA	Standard Message ID - Globap positioning system fix data
1	UTC Time	UTC, hhmmss.sss (via built-in GNSS receiver)
2	Latitude	Geographic latitude, ddmm.mmmmmm
3	N	S
4	Longitude	Geographic longitude, dddmm.mmmmmm
5	E	W
6	Fix Type	Type of navigation solution
7	Satellites in view	Number of available satellites (always 4)
8	HDOP	Horizontal dilution of precision, meters. (this field conveys the radial error, the value of the residual function at the end of the solution)
9	Altitude	Altitude, meters. (this field conveys depth, i.e. height with a "-" sign)
10	M	M - meters
11	Geoidal separation	The field is not supported and remains empty
12	Age of data	The field is not supported and remains empty
13	Reference station ID	The field is not supported and remains empty
	*	NMEA checksum separator
	hh	NMEA checksum
	<CR><LF>	End of message

3.2. RMC

Standard message NMEA0183 - Recommended minimum, sentence 'C'.

No.	Field/Parameter	Description
	$	Message start '$'
	GN	Standard data source - Global navigation
	RMC	Standard message identifier - Recommended minimum, sentence 'C'
1	UTC Time	UTC, hhmmss.ss
2	Data quality indicator	A - time data (based on built-in GNSS receiver) is correct
3	Latitude	Geographic latitude, ddmm.mmmmmm
4	N	S
5	Longitude	Geographic longitude, dddmm.mmmmmm
6	E	W
7	Speed	Field not supported
8	Course	Course of movement, degrees
9	Date	According to the built-in GNSS receiver
10	Magnetic variation	Field not supported
11	E	W
12	A	Mode, A - GNSS
	*	NMEA checksum separator
	hh	NMEA checksum
	<CR><LF>	End of message

3.3. APLA - Data packet from WAYU navigation buoy

Data received from the navigation buoy of the WAYU system (APostLe, message "A").

Message format: $PAPLA,x,x.x,x.x,x,x.x,x.x*hh<CR><LF>

No.	Field/Parameter	Description
	$	Message start '$'
	PAPLA	APL
	A	Message ID
1	bID	Buoy number (address), 1 .. 4
2	bLt	Buoy latitude, -90.0 .. 90.0 °
3	bLn	Buoy longitude, -180.0 .. 180.0 °
4	bDpt_m	Acoustic antenna immersion depth, m
5	bBat	Supply voltage of the built-in buoy source, V
6	bTOA	Time of signal arrival at the buoy, sec, 0 .. 62
*	NMEA checksum separator
hh	NMEA checksum
<CR><LF>	End of message

3.4. RWLA - Data packet from RWLT navigation buoy

Data received from an RWLT navigation buoy (RWLT message "A")

Message format: $PRWLA,x,x.x,x.x,x,x.x,x,x.x,x.x*hh<CR><LF>

No.	Field/Parameter	Description
	$	Message start '$'
	PRWLA	RWL
	A	Message ID
1	bID	Buoy number (address), 1 .. 4
2	bLt	Buoy latitude, -90.0 .. 90.0 °
3	bLn	Buoy longitude, -180.0 .. 180.0 °
4	bDpt_m	Acoustic antenna immersion depth, m
5	bBat	Supply voltage of the built-in buoy source, V
6	pData	Data packet from positioned object
7	bTOA	Time of signal arrival at the buoy, sec, 0 .. 62
8	bMSR	Main peak to side lobe ratio, dB
*	NMEA checksum separator
hh	NMEA checksum
<CR><LF>	End of message

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uNav_protocol_specification_en.md

uNav_protocol_specification_en.md

uNav
Communication protocol

Contents

0. Version history

1. Introduction

1.1. Physical layer protocol

1.2. NMEA0183 Conversational Layer Protocol Standard

2. UNV command system

2.1. UNV0 - Settings

2.2. UNV1 - Reference point

2.3. UNV2 - Water depth and temperature

2.4. UNV4 - Parameters relative to the reference point

2.5. UNV5 - Data from built-in GNSS receiver

2.6. UNV6 - Data from RWLT pinger

3. Other messages

3.1. GGA

3.2. RMC

3.3. APLA - Data packet from WAYU navigation buoy

3.4. RWLA - Data packet from RWLT navigation buoy

Files

uNav_protocol_specification_en.md

Latest commit

History

uNav_protocol_specification_en.md

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uNav Communication protocol

Contents

0. Version history

1. Introduction

1.1. Physical layer protocol

1.2. NMEA0183 Conversational Layer Protocol Standard

2. UNV command system

2.1. UNV0 - Settings

2.2. UNV1 - Reference point

2.3. UNV2 - Water depth and temperature

2.4. UNV4 - Parameters relative to the reference point

2.5. UNV5 - Data from built-in GNSS receiver

2.6. UNV6 - Data from RWLT pinger

3. Other messages

3.1. GGA

3.2. RMC

3.3. APLA - Data packet from WAYU navigation buoy

3.4. RWLA - Data packet from RWLT navigation buoy

uNav
Communication protocol