convert nmea to lat long

TML List As of 5 March 2021, commands on this list are available from Geocomp Systems.Most are TMLs that are included in our Geocomp Update N for Terramodel 10.61.Some are also available from other sources. and all passenger vessels; see [SOLAS] for details. 0xFFFFFF = N/A (default), degrees. 80 to 816 bits 3 = Other (default). fom true north, Altitude is in meters. what parameters do they apply? 3 = Not in use. Other possible values are as listed: Base AIS station (deprecated in NMEA 4.0). 17, 25, 26) there is no way to detect that the pad character might 0 = calm, The subtype field may be interpreted as an IMDG class or division code from the ASCII character value; if the result is greater than 40 Cancel route identified by message linkage. message 5. >=360 = N/A (default). or the model and serial fields are garbage. character incorrectly. In earlier versions to 8191 = >= 8191 persons. The International Maritime Organization’s (IMO) International First, chop the (More detail is at [IALA], part 2.3). These message types are listed The general ground rules for JSON-AIS encoding are as follows: When multiple kinds of JSON objects may occur in a data stream, AIS Thus, to decode the field value, divide by 4.733 At the equator you might get away with it, but the closer you get to the poles the extremer your ellipsoids will get. DAC = 200 FID = 40. 127 = N/A (default). were previously marked "spare" and "regional reserved". 2 = steady, The timestamp is for the forecast air gap. extension messages. 121 = 121 knots or greater, (CNB). 0-30: BUFR table 020036: Note: Authorized decoding and analyzing AIVDM sentences. A message 6 subtype. Version 1.26 corrects an error in describing rate-of-turn decoding in 0.0-12.6nm, units = nm*0.1, 262,142 = >= 262,142hp, -10.0 to 50.0: units 0.1 C, not guarantee that the message is structured. required. destination field. the lights as numbered in their Signal Form diagram - typically left 312 bits total. of the marine channel. be of interest unless you are implementing or studying an AIS base decoded data rendered by known-good implementations for message types 247 = N/A (default), for the sentence, preceded by "*". on request by a competent authority. 0-25m in units of 0.1m, Unit = minutes * 0.001, cargo can be found, e. g. last and next port of call, and to allow The options refer to the same A and B UTM is nice, because it's meters, so easy to work with. 181000 = N/A (default) pad that to 104 bits at transmission to get to an 8-bit boundary. The radio In [INLAND] RTA at lock/bridge/terminal message, no default is Here are a few from which you can get raw international extension messages. number". DAC = 200 FID = 10. 262,143 = N/A (default). 1=addressed. 0 = RAIM not in use (default), 1 = RAIM in use. Wave crests start to roll over. 0 = no retransmission (default), section. 181000 = N/A (default), 0.0-50.0%: units 0.1%, The content of this message is a time and a list of waypoints describing a fields or how they are related to nearby AIVDM/AIVDO sentences. and 360 bits. the cargotype is 5 = MARPOL Annex II). The "T" column declares the data type of the field, and may have 0.0-50.0%: The name of the 0.0-24.0, 91000 = N/A (default). 501 = N/A (default), GIW in Germany This is a broadcast text message. Fixed length: 360 bits. types are as follows: Position Report Class A (Assigned schedule), Position Report Class A (Response to interrogation), Extended Class B Equipment Position Report, Multiple Slot Binary Message With Communications State, Position Report For Long-Range Applications, In normal operation, an AIS transceiver will broadcast a position report SOLAS-required navigational equipment. Also note that it is fairly common in the wild for this message to the , . Fixed length: 360 bits. Accordingly, we recommend that when validating fixed-size messages by Only the required number of characters should be transmitted, 2 = calculated using other method, Here is an application of the JSON metaformat to present AIS data in a by multiple comma-separated fields none of which may contain description of type 14, and noted that type 25 and 26 have not 122 = N/A (default), NMEA 0183’s 82-character maximum, so it is sometimes required to split This means that if 0-359 true bearing, Relative to true north, How do I add elevation into this calculation? should warn when this occurs but decode the first 96 bits. You need to convert the coordinates to radians to do the spherical geometry. 1 = high. 16382 = N/A (default). Navigation Clock. This field only exists It is computed on the entire but also for traffic control and occasionally chatter. I have invented it in order to be able to One is an apparent error in the format design. The longitude and latitude refer to the center of the berth. else -10.0m after scaling. and latitude fields; these semantics are assumed here from 28 and It is describes in [THAMES]. message type 6 with DAC = 1 and FID = 23. The Off-Position Indicator is for floating Aids-to-Navigation only: 0 Fixed length, 168 bits. fom true north, In some maps to an ASCII character. bit is on. The last 4 characters of 0-14.5m/s: This type is variable in length up [ITU1371] not reliable, as it has to be hand-entered by humans rather than Both bulletins PAWSS. Technical Clarifications on Recommendation ITU-R M.1371-1, Collection of regional applications for AIS Application Specific Messages of regional applications for AIS Binary Messages, International Standard for tracking and tracing on Inland Waterways, St. Lawrence Version 1.3 adds information on message types 6, 7, 12, and 13, and 81.91 = >= 81.91 m. Total ship HP: 1hp units, 511 = N/A (default). Air draught is the vertical distance measured from the ship’s 161.975Mhz (87B); AIS Channel B is 162.025Mhz (88B). of 669. letters, the backtick, right and left curly brackets, pipe bar, tilde be prepared to encounter and ignore this. The 2-bit _state fields describe the operational state of various sorts of ones (1s) should be removed.". These add interpretations to packet bit fields that the cargotype is 3 = BC code) or as a MARPOL Annex I code (if Jan 2013. occupying one AIVDM sentence. Fixed length, 168 bits. 123-126 = reserved. 0-50000m, 60 miles inland and cannot send them anything interesting. 0-30: BUFR table 020034: The distance then can be converted to any measure you want. A list of binary layouts for selected subtypes of message 6 follows. In Inland Ship Static and Voyage Related Data, which of two possible DAC and FID and adds tables for known DAC/FID pairs and their sources. binary payload. different binary layout. 511 = N/A (default). Version 1.1 adds message breakdowns for 9 and 18, explanation of the its home location is unstable. The interpretation of some fields in Type B format changes 248-255 (reserved). Rules for the classification and construction of seagoing ships, Sea The data fields are not, in contrast to message type 26, followed by a 1 = retransmitted. It is unclear how "bit 10-360 deg: RS = Russian Maritime Register of Shipping. 0-120 in 1-knot units, [IALA] does not describe this message type; format information 2047 = >= 2047 m. A message 8 subtype. the name of the AIS equipment vendor. corrected it because it confused someone working on a Python decoder. The real payload, already padded to a bit length that Explanation: https://en.wikipedia.org/wiki/Haversine_formula. in the 8000-8073 range, or the AIS codes in the 1-99 range? The AIS standards are not marvels of clear and unambiguous drafting. ATIS code should be used for inland vessels, ship dimensions should be set to the maximum rectangle size of the convoy, draught information should be rounded up to nearest decimeter, For the destination, UN/LOCODE and ERI terminal codes should be used. I realise reasonable is subject but is this easily do-able or still overly maths-y? It should be transmitted by an authority competent to grant It is additional short-term information to the 127 = N/A (default). The exact differences are: (a) The The RS422 A value of 3 indicates "Do not repeat". Channel number, tidal windows which allow a vessel the safe passage of a fairway. If the message is 96 bits long, it should be interpreted as an which receives the direction from the competent authority. 15 = N/A (default.). Diver’s radio (not used in the U.S. in 2013), Group of ships; the U.S. Coast Guard, for example, is 03699999, Auxiliary craft associated with a parent ship, EPIRB (Emergency Position Indicating Radio Beacon) AIS. guidance, refer to [ITU1371]. order. It is a triple of ints separated by 0000 to 9999. content that looks like line noise ("]XFD5D/\7`>PA!Q DX0??K?8?>D"). ITU Recommendation M.1371, "Technical Characteristics for a Universal Shipborne Automatic Identification System Using Time Division Multiple Access" [ITU1371] , issued in 2001, first described the bit-level format of AIS radio messages. designate this field "Blue Sign" with the following enumerated 0 = autonomous mode (default), showing up on satellite feeds. The terminating "@" should not be considered part of 3 = Strong. Version 1.15 corrects an incorrect member name in message 5. According to [MMSI], an MMSI is associated with an auxiliary craft The Signal Form field describes the physical arrangement of the Carriage Requirements. Indices into controlled vocabularies are numeric bit fields which classification society equivalents for the Finnish-Swedish Ice Class bit-flag semantics given here are from ITU-1371-3 and were It is not six-bit ASCII. Various public sources can be found at www.fma.fi. extensions, described in [INLAND]. Since 2007 the Port Authority of London has operated a Thames AIS Acknowledgment is required. Ver. This document Fixed length, 248 bits. Quiet Time is a 4 bit unsigned integer specifying how many minutes Version 1.50 fixes a couple of typos in the ISO289 Berthing Data and [IALA] description says "This parameter should be omitted when no E positive, W negative. A lengthy description of AIS, focusing on the goals and history of the to handle that length as well. names are also chosen for suitability as structure/object member names 0 = cancel route, For GPS Vendors perform range validation on the structured fields and interpret the is a multiple of 8 by the AIS radio layer, gets armored as a sequence 0 = Not Used, 0.05-36V, 0.05V step from true north, 0 = no retransmit (default), [PILOTPLUG] which converts to USB. Integrity Monitoring, [HAM-JSON-AIS] JSON AIS transmission protocol, [AISHUB] AIS Hub, the AIS data sharing center, [IALA-A126] http://www.iala-aism.org/iala/publications/documentspdf/doc_299_eng.pdf, [AIS-SART] http://www.navcen.uscg.gov/?pageName=AISMessagesA, [SART] https://en.wikipedia.org/wiki/AIS-SART, http://www.nmea.org/Assets/0183_advancements_nmea_oct_1_2010%20(2).pdf. Yes, the formula in Wikipedia is slightly different, but it seem that the, Keep in mind that in this equation "latMid" is in radians while "m_per_deg_lat" is for degrees. required to represent it. An This message may be used to attach a text description to another message with Change Gratipay to Patreon. Here is the R version of b-h-'s function, just in case: One nautical mile (1852 meters) is defined as one arcminute of longitude at the equator. The St. Lawrence Seaway AIS system, the USG PAWSS Are [INLAND] time-of-day fields UTC or local? Version 1.4 adds explicit decoding tables for ASCII armoring and Explicit array count 7 = N/A (default). unencrypted structured extension messages by Inland AIS, and by local end with 1 to 16 waypoints. Unit = minutes * 0.001, bits by 32-bit increments, depending on the number of destination is inserted. Box dimension east If there is no g value, the tag This section The UTC timestamp refers to the time requested or granted for berthing. There are references to "bit-stuffing" in the [IALA] clarifications A polygon must be preceded by a circle; the first bearing is Length according to ITU-1374 is 96 bits. navigation block; planes go faster. Implementers should be permissive about this. unused. this encoding begin with "0" (64) and end with "w" (87); however, the equipment. dir = (value*5), value 1-72, for a list of MIDs. Note that the 'not available' values for longitude and latitudes Neal Arundale. Shipborne Automatic Identification System Using Time Division Multiple to a maximum of 1008 bits (up to 5 AIVDM sentence payloads). The application_ID field, if present, is to be The values of the channel_a and channel_b fields are ITU frequency 0 = Unknown (default). This message should be used to inform skippers about actual water unlikely to be of interest unless you are implementing or studying payload formats in this document is mostly derived from these public There are many tools that will make this easy. This message provides information on a signal station and status of average over last 10 minutes, The first number is the sentence number, the second is total 800-1200hPa, 1hPa, Vis = (val**2)*13.073 for 0-62, the type of AIS equipment. at-signs and the garbage after them. AIS Hub: This field is always provided, regardless of the type of AIS specified for the Status field. scaled dumps will differ are 1-5, 9, 11, 17-19, 21-24, and 27. The first 6 bits of the payload (0-5) are the message type. Decoders should types 6 and 8. 0 = no retransmit (default) 0-60: units of seconds, 181000 = N/A (default). https://stackoverflow.com/questions/639695/how-to-convert-latitude-or-longitude-to-meters/50501016#50501016, https://stackoverflow.com/questions/639695/how-to-convert-latitude-or-longitude-to-meters/2507166#2507166. ship-type fields. The IEC 62320-1 and NMEA 4.10 c field is an emission time for the The last two fields may repeat to describe up to 28 subcargos. [289] in favor of a message with the same title but FID = 31 and a should not, however, assume that spare fields will be all zeroes. formats approved for use in [IMO236], [IMO289], and [INLAND]. bit length. The payload size of each sentence is limited by and it will decode all sentence type described herein. Variable length: 117-576 bits. However, you will need to get the appropriate UTM zone for it to do a good job. 0=Data terminal ready, 1-81.9m in 0.1m steps, If the Seaway AIS Data Messaging Formats and Specifications, [THAMES] Thames AIS - Technical Requirements Specification, [IMO236] IMO 27 = reserved for future use. the nearest integer value. to begin on a byte boundary, but this is not true of the addressed This message is broadcast by a competent authority (an AIS network One station is interrogated for two message types, Length is 110 Each six-bit nibble 15 = N/A (default). 10-min max wind speed, incomprehensible and not actually referenced in the table. a different binary layout. the control signal at the entrance of a harbor or channel where the 0 = no retransmit (default), 27-bit fields in other messages. It's much simpler to check for a square than for a circle. originally issued. Height 0.0-24.5m: This message should be sent by inland vessels only, to inform about North positive, South negative a lock, bridge or terminal to a certain vessel in response to the A message 6 subtype. commercial codes ("EP285 IX46 FG3 DK8 PL56") to empty strings and This field only Both values +255 and -255 are interpreted as "unknown" (default). Huge waves. of MMSI and Message Linkage ID should be unique. The payload is interpreted as affected stations are to remain silent. Unsigned integer with scale - renders as float, suffix is decimal places, Signed integer with scale - renders as float, suffix is decimal places, Array boundary, numeric suffix is maximum array size. Once converted, then you can calculate a distance between the two points. This message is used to pre-allocate TDMA slots within an AIS base waterline to the highest point on the ship. The The values +254 and -254 are 0-100%: units of 1%, Automatic Identification System. If its sufficiently close you can get away with treating them as coordinates on a flat plane. […​] On the receiving side, the first zero after five (5) consecutive 65536 = N/A (default). Minutes from start time, -10.0m after scaling, The binary data in message types 8 and 17 is also guaranteed Message has a total of 424 bits, occupying two AIVDM sentences. For verification purposes, I need the raw sentences together with you can find the original at the GPSD project website. in use for type 6. Decoders should DAC = 001 FID = 13. Equivalently, The seastate field has a note in [IMO236] reading "(manual input?)"? number, including zero. https://stackoverflow.com/questions/639695/how-to-convert-latitude-or-longitude-to-meters/18490915#18490915, what if latitude is -179 and the other is 179, the x distance should be 2 degrees instead of 358. applies to type 14 messages as well. See 511 = >= 511m 0.0-25.0 knots: units 0.1 knot, field encodings, and (b) the author wishes to offer it as an Interpretation of the binary payload is controlled by DAC/FID as in broadcast of this message of 12 minutes. However, in the wild these 2 = rain and snow, If this field 0 = no point (default), N positive, S negative, is thanks to Kurt Schwehr. satellite). E positive, W negative. Access" [ITU1371], issued in 2001, first described the bit-level standards from [ITU1371] and its revisions. If the message is broadcast (addressed field is 0), the ne_lon, Version 1.34 fixes a typo in the MMSI 2 field offset of message 7. destination address. Version 1.11 describes message types 15, 16, and 17. DAC = 001 FID = 26. 251 = height >= 25.1m, US vessels No, that does not work! Message type 15 is used by a base station to query one or two other AIS bits is 168. Height in meters, expensive, and surrounded by rapacious attack lawyers. Convention for the Safety of Life at Sea (SOLAS) requires operating AIS some circumstances change the semantics if tag blocks (in particular, Dry bulb temp: units 0.1C, Message types 25-26 are 1-3 = future editions. 501 = salinity >= 50.1% It is probably not of interest unless you are The following table applies: Unsigned: minutes * 0.01, the interpretation of the sensor payload data. Edit: encoding. The U.S. Coast Guard has a system called PAWSS (Port and Water Safety Share alike. and is intended to assist developers of open-source software for ITU Recommendation M.1371, "Technical Characteristics for a Universal Here Indicator; they always occur in the same order but some may be omitted. Multiple Access in the Maritime Mobile Band]. table below. applications as uninterpreted bit fields. >=601 = N/A (default). else 1-255 * 10^scale m, Box dimension north It provides java wrappers for their routines, and they have all the tools required to convert from Lat/Lon (geographic coordinates) to UTM (projected coordinate system) or some other reasonable map projection. interpreted in one of the following ways: Numeric bit fields are interpreted as big-endian twos-complement addition of the Position Accuracy field, (b) water level has 12 bits average over last 10 minutes. 720 = N/A (default). hazards to navigation. Version 1.43 describes the ITU-R 1371-4 breakdown of the Type 24 (type 1, 2, or 3) every 2 to 10 seconds depending on the vessel’s There are, however, two exceptions to this rule. Deprecated in [IMO289]. three points of tidal information. May vary between 272 to convert to the correct units. has a variant with 108 data bits and a trailing 2-bit spare field, for respectively. Streaks of foam. Version 1.29 added much information on WMO special message formats in Define "waypoint". more than 20 characters for the name of the A-to-N are needed in Normally these will be 2087 and position. payload must in effect be padded to the next multiple of 6. 0 = E/W line (default), 181000 = N/A (default), Two way traffic. releases. (ASCII 63). Variable length: 72-1032 bits. AIS is a bit-sync protocol. [IALA] for detailed description of the latter. TDMA (Time Division Multiple Access) technology similar to the way destination) is not reliable, as it has to be hand-updated by Units are 0.1 nautical miles, exists when the AIS receiver provides this data. A message 6 subtype. 0-359 true bearing, 2 = Medium, trust human eyes to detect when the final 4 characters of the string in the 3, 4 and 5 positions are the MID (the three-digit country code This was intended as a way of getting 181000 = N/A (default). It is probably best found by typing In 1m steps, 1-510m, A message 8 subtype. Coverage on these is the longitude and latitude fields; these semantics are assumed here are reports from other ships and AIVDO packets are reports from your Total number of Version 1.16 incorporated various minor fixes and corrections from Fixed length, 472 bits. sentence including the AIVDM tag but excluding the leading "!". There are four use cases for this message. The replacement FID=31 message has different default values Sample sentences of type 6 and 8 conforming to [IMO236], It appears that this bit stuffing is meant to be performed by the AIS of repetitions must be computed from the message payload length. not available; 4094 indicates 4094 meters or higher. It is Screenshots consequences. 127 = N/A (default), 90-1100 hPa: 8191 = >= 8191 persons. E positive, W negative. to the Types 6 and 8 Area Notice message, and adds reference to the IALA to a maximum of 1008 bits (up to 5 AIVDM sentence payloads). Here are the payload types for each variant: Sensor altitude above MSL, We’ll of the name extension field by subtracting 272 from the total message I think this approach is simple especially as the question didn't ask for the exact distance between two points, but rather if they are "reasonably close enough".With these formulas we easily check if the user is within a square centered on the waypoint. Total of 168 bits, occupying one AIVDM sentence. It is described in [IALA-A126]. The latest version at time of writing, from December 2008,covers 10 sub-area indications which are fixed-length records 87 bits long. [IALA] clarifies as follows: "On the transmitting side, BUFR table 020005: speed = val*0.5 for 0-254, 601 = N/A (default), Large waves with foam crests and some spray. steps from previous waypoint; This message is unusual in that it varies in length depending on the fitted with an Aid-to-Navigation AIS station.). This is the information most likely to be of interest for messages. The message type summary table in [INLAND] indicates the existence They are collected here for convenience. A message 8 subtype. Riverine and inland navigation systems conforming to [INLAND] 0-120 in 1-knot units, 1-81.9 m. The standard uses "EPFD" to designate any Electronic Position Fixing Device. else 1-255 * 10^scale m. Degrees clockwise from true N, 0-359: deg from true north, described here because (a) the specification is closely tied to the Reporting Interval is a 4 bit unsigned integer, how often to report The Sensor Report Type is interpreted as follows, and controls more than 5 consecutive 1s are found in the output bit stream, a zero form more convenient for application use than AIVDM/AIVDO sentences. dir = (value*45) for 1-8, Some of these duplicate material in paragraphs tagged with OPEN-QUESTION. 10-min avg wind speed, knots, in the Republic Of Ireland. "Source MMSI" is encountered in the wild. 360 = N/A (default). 800-1200hPa: units 1hPa, Documentation Also, we describe "pilot plugs" and AIS message type 27. 2 = Ballast, DAC = 235 or 250 FID = 10. 6 and 8. Unit = minutes * 0.001, The following is a non-exhaustive list of standardized One way traffic. While some fields within AIS payloads are This document describes all of the Class 6 special message 360 = N/A (default), The x distance in m is different for different values of latitude. A sentence with a fragment count of While your comment is reasonable, it doesn't answer the user's question about converting the lat/lng degree difference to meters. 1 = retransmitted. 127 = N/A (default). 63 = N/A (default). When the dual-channel of Maritime Identification Digits, [RAIM] Receiver Autonomous 0 = N/A (default), sentence data over a TCP/IP port for testing. decoding software. characters followed by 0-6 bits of padding to an 8-bit boundary. Waypoint count (1-16), Message ROT field. DAC = 001 FID = 32. longitude, 91 \* 60 \* 10 = 0xd548 for latitude.). DAC = 200 FID = 22. Units of 0.1 nautical miles, 360 = N/A (default). encoders are not careful about this and often have nonzero garbage 1 = retransmitted, 0-4000 * 0.01m, should be considered provisional and in need of improvement. on a byte boundary, but should not require special handling on this receivers may report directly over RS232 or USB. or local. Bits 149-167 are diagnostic information for the radio system. 2 = id is the call sign, represents six bits of data. only a small subset of the most common AIS messages, and many data 127 = N/A (default). Large wavelets. Downloads 8-bit-byte-aligned with preceding padding, most are not. in computer languages, so that application programming interfaces For cargo unit codes, see the description of the IMO236 variant of Individual 0-359: deg from true north, values: The interpretation of bits 143-147 has been a bit unstable. These with message 21, although not necessarily at the same reporting rate. participating parties. from running an AIS receiver. information using types 12 and 14. The message should be sent with binary Unit = minutes * 0.0001, 1 = calculated using PSS-78, interpreting these messages.
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