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<title>Class Grs </title>
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<meta name="description" content="GNSS Range Residuals">
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<div class="col-md-10">
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<article class="content wrap" id="_content" data-uid="NmeaParser.Messages.Grs">
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<h1 id="NmeaParser_Messages_Grs" data-uid="NmeaParser.Messages.Grs" class="text-break">Class Grs</h1>
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<div class="markdown level0 summary"><p>GNSS Range Residuals</p>
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</div>
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<div class="markdown level0 conceptual"></div>
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<div class="inheritance">
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<h5>Inheritance</h5>
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<div class="level0"><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object">object</a></div>
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<div class="level1"><a class="xref" href="NmeaParser.Messages.NmeaMessage.html">NmeaMessage</a></div>
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<div class="level2"><span class="xref">Grs</span></div>
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</div>
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<div class="implements">
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<h5>Implements</h5>
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<div><a class="xref" href="https://learn.microsoft.com/dotnet/api/system.iequatable-1">IEquatable</a><<a class="xref" href="NmeaParser.Messages.NmeaMessage.html">NmeaMessage</a>></div>
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<div><a class="xref" href="NmeaParser.Messages.ITimestampedMessage.html">ITimestampedMessage</a></div>
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</div>
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<div class="inheritedMembers">
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<h5>Inherited Members</h5>
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<div>
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<a class="xref" href="NmeaParser.Messages.NmeaMessage.RegisterAssembly.html#NmeaParser_Messages_NmeaMessage_RegisterAssembly_System_Reflection_Assembly_System_Boolean_">NmeaMessage.RegisterAssembly(Assembly, bool)</a>
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</div>
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<div>
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<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>
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</div>
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<div>
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<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>
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</div>
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<div>
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<a class="xref" href="NmeaParser.Messages.NmeaMessage.MessageParts.html#NmeaParser_Messages_NmeaMessage_MessageParts">NmeaMessage.MessageParts</a>
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</div>
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<div>
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<a class="xref" href="NmeaParser.Messages.NmeaMessage.MessageType.html#NmeaParser_Messages_NmeaMessage_MessageType">NmeaMessage.MessageType</a>
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</div>
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<div>
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<a class="xref" href="NmeaParser.Messages.NmeaMessage.TalkerId.html#NmeaParser_Messages_NmeaMessage_TalkerId">NmeaMessage.TalkerId</a>
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</div>
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<div>
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<a class="xref" href="NmeaParser.Messages.NmeaMessage.IsProprietary.html#NmeaParser_Messages_NmeaMessage_IsProprietary">NmeaMessage.IsProprietary</a>
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</div>
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<div>
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<a class="xref" href="NmeaParser.Messages.NmeaMessage.ToString.html#NmeaParser_Messages_NmeaMessage_ToString">NmeaMessage.ToString()</a>
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</div>
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<div>
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<a class="xref" href="NmeaParser.Messages.NmeaMessage.Checksum.html#NmeaParser_Messages_NmeaMessage_Checksum">NmeaMessage.Checksum</a>
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</div>
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<div>
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<a class="xref" href="NmeaParser.Messages.NmeaMessage.Equals.html#NmeaParser_Messages_NmeaMessage_Equals_NmeaParser_Messages_NmeaMessage_">NmeaMessage.Equals(NmeaMessage)</a>
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</div>
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<div>
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<a class="xref" href="NmeaParser.Messages.NmeaMessage.Timestamp.html#NmeaParser_Messages_NmeaMessage_Timestamp">NmeaMessage.Timestamp</a>
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</div>
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<a class="xref" href="https://learn.microsoft.com/dotnet/api/system.object.referenceequals">object.ReferenceEquals(object, object)</a>
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</div>
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</div>
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<h6><strong>Namespace</strong>: <a class="xref" href="NmeaParser.html">NmeaParser</a>.<a class="xref" href="NmeaParser.Messages.html">Messages</a></h6>
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<h6><strong>Assembly</strong>: NmeaParser.dll</h6>
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<h5 id="NmeaParser_Messages_Grs_syntax">Syntax</h5>
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<div class="codewrapper">
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<pre><code class="lang-csharp hljs">[NmeaMessageType("--GRS")]
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public class Grs : NmeaMessage, IEquatable<NmeaMessage>, ITimestampedMessage</code></pre>
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</div>
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<h5 id="NmeaParser_Messages_Grs_remarks"><strong>Remarks</strong></h5>
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<div class="markdown level0 remarks"><p>
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This sentence is used to support Receiver Autonomous Integrity Monitoring (RAIM). Range residuals can be
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computed in two ways for this process. The basic measurement integration cycle of most navigation filters
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generates a set of residuals and uses these to update the position state of the receiver.
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</p>
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<p>
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These residuals can be reported with GRS, but because of the fact that these were used to generate the navigation
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solution they should be recomputed using the new solution in order to reflect the residuals for the position solution in
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the GGA or GNS sentence.
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</p>
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<p>
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The MODE field should indicate which computation method was used. An integrity process that uses these
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range residuals would also require GGA or GNS, GSA, and GSV sentences to be sent.
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</p>
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<p>
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If only GPS, or GLONASS, or Galileo, or BDS, or QZSS, or NavIC (IRNSS)is used for the reported position
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solution, the talker ID is GP, GL, GA, GB, GQ, GI respectively and the range residuals pertain to the individual
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system.
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</p>
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<p>
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If GPS, GLONASS, Galileo, BDS, QZSS, NavIC (IRNSS) are combined to obtain the position solution multiple
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GRS sentences are produced, one with the GPS satellites, another with the GLONASS satellites, etc. Each of these
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GRS sentences shall have talker ID <20>GN<47>, to indicate that the satellites are used in a combined solution. The GNSS
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System ID data field identifies the specific satellite system. It is important to distinguish the residuals from those that
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would be produced by a GPS-only, GLONASS-only, etc. position solution. In general, the residuals for a combined
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solution will be different from the residual for a GPS-only, GLONASS-only, etc. solution.
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</p>
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<p>
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When multiple GRS sentences are necessary, use of the NMEA TAG Block structure (<28> 7) and the TAG Block
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Sentence-grouping Parameter (<28> 7.9.3) reliably links the related sentences together over any transport medium.
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</p>
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<p>
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When GRS sentences are provided with related GSA and/or GSV sentences, use of the NMEA TAG Block structure
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(<28> 7) and the TAG Block Sentence-grouping Parameter (<28> 7.9.3) reliably links the related (different sentence
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formatters) sentences together over any transport medium.
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</p>
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</div>
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<h3 id="constructors">Constructors
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</h3>
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<table class="table table-bordered table-condensed">
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<thead>
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<tr>
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<th>Name</th>
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<th>Description</th>
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</tr>
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</thead>
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<tbody>
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<tr>
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<td id="NmeaParser_Messages_Grs__ctor_System_String_System_String___" data-uid="NmeaParser.Messages.Grs.#ctor(System.String,System.String[])">
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<a class="xref" href="NmeaParser.Messages.Grs.-ctor.html#NmeaParser_Messages_Grs__ctor_System_String_System_String___">Grs(string, string[])</a>
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</td>
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<td class="markdown level1 summary"><p>Initializes a new instance of the <a class="xref" href="NmeaParser.Messages.Gbs.html">Gbs</a> class.</p>
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</td>
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</tr>
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</tbody>
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</table>
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<h3 id="properties">Properties
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</h3>
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<table class="table table-bordered table-condensed">
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<thead>
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<tr>
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<th>Name</th>
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<th>Description</th>
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</tr>
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</thead>
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<tbody>
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<tr>
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<td id="NmeaParser_Messages_Grs_FixTime" data-uid="NmeaParser.Messages.Grs.FixTime">
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<a class="xref" href="NmeaParser.Messages.Grs.FixTime.html#NmeaParser_Messages_Grs_FixTime">FixTime</a>
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</td>
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<td class="markdown level1 summary"><p>UTC time of the GGA or GNS fix associated with this sentence</p>
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</td>
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</tr>
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<tr>
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<td id="NmeaParser_Messages_Grs_Mode" data-uid="NmeaParser.Messages.Grs.Mode">
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<a class="xref" href="NmeaParser.Messages.Grs.Mode.html#NmeaParser_Messages_Grs_Mode">Mode</a>
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</td>
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<td class="markdown level1 summary"><p>Residual calculation mode</p>
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</td>
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</tr>
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<tr>
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<td id="NmeaParser_Messages_Grs_Residuals" data-uid="NmeaParser.Messages.Grs.Residuals">
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<a class="xref" href="NmeaParser.Messages.Grs.Residuals.html#NmeaParser_Messages_Grs_Residuals">Residuals</a>
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</td>
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<td class="markdown level1 summary"><p>Range residuals in meters for satellites used in the navigation solution</p>
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</td>
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</tr>
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</tbody>
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</table>
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<h3 id="appliesTo">Applies</h3>
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<div class="appliesto">
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<div>
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<table>
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<thead><th>Target</th><th>Versions</th></thead>
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<tbody>
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<tr><td><b>.NET Standard 2.0</b></td><td>main, v3.0, v2.2, v2.1</td></tr>
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<tr><td><b>.NET</b></td><td>main, v3.0</td></tr>
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<tr><td><b>.NET Windows</b></td><td>main, v3.0</td></tr>
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<tr><td><b>.NET Android</b></td><td>main, v3.0</td></tr>
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<tr><td><b>.NET iOS</b></td><td>main, v3.0</td></tr>
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<tr><td><b>.NET Framework</b></td><td>main, v3.0, v2.2, v2.1</td></tr>
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<tr><td><b>UWP</b></td><td>main, v3.0, v2.2, v2.1</td></tr>
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<tr><td><b>Xamarin.Android</b></td><td>v2.2, v2.1</td></tr>
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<tr><td><b>Xamarin.iOS</b></td><td>v2.2, v2.1</td></tr>
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</tbody>
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</table>
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