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Auto-update doc from commit 04880831666624d5d659bf06b56e23eeb6c0a118
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<article class="content wrap" id="_content" data-uid="NmeaParser.Messages.Grs">
<h1 id="NmeaParser_Messages_Grs" data-uid="NmeaParser.Messages.Grs" class="text-break">Class Grs</h1>
<div class="markdown level0 summary"><p>GNSS Range Residuals</p>
</div>
<div class="markdown level0 conceptual"></div>
<div class="inheritance">
<h5>Inheritance</h5>
<div class="level0"><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object">object</a></div>
<div class="level1"><a class="xref" href="NmeaParser.Messages.NmeaMessage.html">NmeaMessage</a></div>
<div class="level2"><span class="xref">Grs</span></div>
</div>
<div class="implements">
<h5>Implements</h5>
<div><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.iequatable-1">IEquatable</a>&lt;<a class="xref" href="NmeaParser.Messages.NmeaMessage.html">NmeaMessage</a>&gt;</div>
<div><a class="xref" href="NmeaParser.Messages.ITimestampedMessage.html">ITimestampedMessage</a></div>
</div>
<div class="inheritedMembers">
<h5>Inherited Members</h5>
<div>
<a class="xref" href="NmeaParser.Messages.NmeaMessage.RegisterAssembly.html#NmeaParser_Messages_NmeaMessage_RegisterAssembly_System_Reflection_Assembly_System_Boolean_">NmeaMessage.RegisterAssembly(Assembly, bool)</a>
</div>
<div>
<a class="xref" href="NmeaParser.Messages.NmeaMessage.RegisterNmeaMessage.html#NmeaParser_Messages_NmeaMessage_RegisterNmeaMessage_System_Reflection_TypeInfo_System_String_System_Boolean_">NmeaMessage.RegisterNmeaMessage(TypeInfo, string, bool)</a>
</div>
<div>
<a class="xref" href="NmeaParser.Messages.NmeaMessage.Parse.html#NmeaParser_Messages_NmeaMessage_Parse_System_String_NmeaParser_IMultiSentenceMessage_System_Boolean_">NmeaMessage.Parse(string, IMultiSentenceMessage, bool)</a>
</div>
<div>
<a class="xref" href="NmeaParser.Messages.NmeaMessage.MessageParts.html#NmeaParser_Messages_NmeaMessage_MessageParts">NmeaMessage.MessageParts</a>
</div>
<div>
<a class="xref" href="NmeaParser.Messages.NmeaMessage.MessageType.html#NmeaParser_Messages_NmeaMessage_MessageType">NmeaMessage.MessageType</a>
</div>
<div>
<a class="xref" href="NmeaParser.Messages.NmeaMessage.TalkerId.html#NmeaParser_Messages_NmeaMessage_TalkerId">NmeaMessage.TalkerId</a>
</div>
<div>
<a class="xref" href="NmeaParser.Messages.NmeaMessage.IsProprietary.html#NmeaParser_Messages_NmeaMessage_IsProprietary">NmeaMessage.IsProprietary</a>
</div>
<div>
<a class="xref" href="NmeaParser.Messages.NmeaMessage.ToString.html#NmeaParser_Messages_NmeaMessage_ToString">NmeaMessage.ToString()</a>
</div>
<div>
<a class="xref" href="NmeaParser.Messages.NmeaMessage.Checksum.html#NmeaParser_Messages_NmeaMessage_Checksum">NmeaMessage.Checksum</a>
</div>
<div>
<a class="xref" href="NmeaParser.Messages.NmeaMessage.Equals.html#NmeaParser_Messages_NmeaMessage_Equals_NmeaParser_Messages_NmeaMessage_">NmeaMessage.Equals(NmeaMessage)</a>
</div>
<div>
<a class="xref" href="NmeaParser.Messages.NmeaMessage.Timestamp.html#NmeaParser_Messages_NmeaMessage_Timestamp">NmeaMessage.Timestamp</a>
</div>
<div>
<a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.equals#system-object-equals(system-object)">object.Equals(object)</a>
</div>
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<a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.equals#system-object-equals(system-object-system-object)">object.Equals(object, object)</a>
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<a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.gethashcode">object.GetHashCode()</a>
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</div>
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</div>
<div>
<a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.referenceequals">object.ReferenceEquals(object, object)</a>
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</div>
<h6><strong>Namespace</strong>: <a class="xref" href="NmeaParser.html">NmeaParser</a>.<a class="xref" href="NmeaParser.Messages.html">Messages</a></h6>
<h6><strong>Assembly</strong>: NmeaParser.dll</h6>
<h5 id="NmeaParser_Messages_Grs_syntax">Syntax</h5>
<div class="codewrapper">
<pre><code class="lang-csharp hljs">[NmeaMessageType(&quot;--GRS&quot;)]
public class Grs : NmeaMessage, IEquatable&lt;NmeaMessage&gt;, ITimestampedMessage</code></pre>
</div>
<h5 id="NmeaParser_Messages_Grs_remarks"><strong>Remarks</strong></h5>
<div class="markdown level0 remarks"><p>
This sentence is used to support Receiver Autonomous Integrity Monitoring (RAIM). Range residuals can be
computed in two ways for this process. The basic measurement integration cycle of most navigation filters
generates a set of residuals and uses these to update the position state of the receiver.
</p>
<p>
These residuals can be reported with GRS, but because of the fact that these were used to generate the navigation
solution they should be recomputed using the new solution in order to reflect the residuals for the position solution in
the GGA or GNS sentence.
</p>
<p>
The MODE field should indicate which computation method was used. An integrity process that uses these
range residuals would also require GGA or GNS, GSA, and GSV sentences to be sent.
</p>
<p>
If only GPS, or GLONASS, or Galileo, or BDS, or QZSS, or NavIC (IRNSS)is used for the reported position
solution, the talker ID is GP, GL, GA, GB, GQ, GI respectively and the range residuals pertain to the individual
system.
</p>
<p>
If GPS, GLONASS, Galileo, BDS, QZSS, NavIC (IRNSS) are combined to obtain the position solution multiple
GRS sentences are produced, one with the GPS satellites, another with the GLONASS satellites, etc. Each of these
GRS sentences shall have talker ID <20>GN<47>, to indicate that the satellites are used in a combined solution. The GNSS
System ID data field identifies the specific satellite system. It is important to distinguish the residuals from those that
would be produced by a GPS-only, GLONASS-only, etc. position solution. In general, the residuals for a combined
solution will be different from the residual for a GPS-only, GLONASS-only, etc. solution.
</p>
<p>
When multiple GRS sentences are necessary, use of the NMEA TAG Block structure (<28> 7) and the TAG Block
Sentence-grouping Parameter (<28> 7.9.3) reliably links the related sentences together over any transport medium.
</p>
<p>
When GRS sentences are provided with related GSA and/or GSV sentences, use of the NMEA TAG Block structure
(<28> 7) and the TAG Block Sentence-grouping Parameter (<28> 7.9.3) reliably links the related (different sentence
formatters) sentences together over any transport medium.
</p>
</div>
<h3 id="constructors">Constructors
</h3>
<table class="table table-bordered table-condensed">
<thead>
<tr>
<th>Name</th>
<th>Description</th>
</tr>
</thead>
<tbody>
<tr>
<td id="NmeaParser_Messages_Grs__ctor_System_String_System_String___" data-uid="NmeaParser.Messages.Grs.#ctor(System.String,System.String[])">
<a class="xref" href="NmeaParser.Messages.Grs.-ctor.html#NmeaParser_Messages_Grs__ctor_System_String_System_String___">Grs(string, string[])</a>
</td>
<td class="markdown level1 summary"><p>Initializes a new instance of the <a class="xref" href="NmeaParser.Messages.Gbs.html">Gbs</a> class.</p>
</td>
</tr>
</tbody>
</table>
<h3 id="properties">Properties
</h3>
<table class="table table-bordered table-condensed">
<thead>
<tr>
<th>Name</th>
<th>Description</th>
</tr>
</thead>
<tbody>
<tr>
<td id="NmeaParser_Messages_Grs_FixTime" data-uid="NmeaParser.Messages.Grs.FixTime">
<a class="xref" href="NmeaParser.Messages.Grs.FixTime.html#NmeaParser_Messages_Grs_FixTime">FixTime</a>
</td>
<td class="markdown level1 summary"><p>UTC time of the GGA or GNS fix associated with this sentence</p>
</td>
</tr>
<tr>
<td id="NmeaParser_Messages_Grs_Mode" data-uid="NmeaParser.Messages.Grs.Mode">
<a class="xref" href="NmeaParser.Messages.Grs.Mode.html#NmeaParser_Messages_Grs_Mode">Mode</a>
</td>
<td class="markdown level1 summary"><p>Residual calculation mode</p>
</td>
</tr>
<tr>
<td id="NmeaParser_Messages_Grs_Residuals" data-uid="NmeaParser.Messages.Grs.Residuals">
<a class="xref" href="NmeaParser.Messages.Grs.Residuals.html#NmeaParser_Messages_Grs_Residuals">Residuals</a>
</td>
<td class="markdown level1 summary"><p>Range residuals in meters for satellites used in the navigation solution</p>
</td>
</tr>
</tbody>
</table>
<h3 id="appliesTo">Applies</h3>
<div class="appliesto">
<div>
<table>
<thead><th>Target</th><th>Versions</th></thead>
<tbody>
<tr><td><b>.NET Standard 2.0</b></td><td>main, v3.0, v2.2, v2.1</td></tr>
<tr><td><b>.NET</b></td><td>main, v3.0</td></tr>
<tr><td><b>.NET Windows</b></td><td>main, v3.0</td></tr>
<tr><td><b>.NET Android</b></td><td>main, v3.0</td></tr>
<tr><td><b>.NET iOS</b></td><td>main, v3.0</td></tr>
<tr><td><b>.NET Framework</b></td><td>main, v3.0, v2.2, v2.1</td></tr>
<tr><td><b>UWP</b></td><td>main, v3.0, v2.2, v2.1</td></tr>
<tr><td><b>Xamarin.Android</b></td><td>v2.2, v2.1</td></tr>
<tr><td><b>Xamarin.iOS</b></td><td>v2.2, v2.1</td></tr>
</tbody>
</table>
</div>
</div>
</article>
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