gpsd 1 9 Aug 2004 gpsd gps xgpsspeed interface daemon for GPS receivers, test client, and speedometer gpsd -T GPS-type -p GPS-devicename -S listener-port -s baudrate -d DGPS-server -i initial-position -n -h -D debuglevel gps X-options -h server xgpsspeed -rv -nc X-color -h server gpsd is a monitor daemon that watches a TCP/IP port (2947 by default), waiting for an application to request location information from a GPS. The GPS is expected to be direct-connected to the machine running gpsd via a USB or RS232C serial port which is specified to gpsd at startup. Optionally, gpsd may get differential-GPS corrections from a ground station running a RTCM-S104 server; this will improve position-fix accuracy from roughly 10 meters to roughly 2 meters, provided you are within 1000 kilometers or so of the ground station. The program accepts the following options: -p Set GPS device name (default is /dev/gps). -T device-type Set GPS type, usually not necessary because most GPSes now speak the standard NMEA 0183 protocol. For a list of driver types, look at what gpsd -? writes to standard output. This option may be unavailable if the daemon was compiled without support for the non-NMEA drivers. -S Set TCP/IP port (default is 2947). -s Set GPS communication speed in bits per second (default is set by device type). -d Query a differential-GPS (DGPS) server. If a suffix of the server name begins with ":" it is interpreted as a port number, overriding the default IANA-assigned port of 2101. For DGPS servers available for use with this option, see DGPS corrections over the Internet. -i Set initial longitude/latitude in degrees (TripMate only; helps it develop a first fix more quickly). Required format is %f[NS]:%f[EW]; that is a decimal number of degrees latitude, followed by the suffix N or S, followed by a colon, followed by a decimal number of degrees longitude, followed by the suffix E or W. The numbers may have fractional parts to the right of a decimal point. This option may be unavailable if the daemon was compiled without TripMate support. -n Don't wait for a client to connect before polling the GPS. The wait is a feature; many serial GPSes go to a standby mode (not drawing power) before the host machine asserts DTR, so waiting for the first actual request can save valuable battery power on portable equipment. This option combines well with -D2 to enable monitoring of the GPS data stream. -h Display help message and terminate. -D Set debug level. At debug levels 2 and above, gpsd stays in foreground and reports incoming sentence and actions to standard error. gpsd should be able to query any GPS that speaks either the standard textual NMEA 0183 protocol or the binary Rockwell protocol used by EarthMate and some other GPSes. The request protocol for gpsd clients is very simple. Each request consists of a single ASCII character followed by a newline. Case of the request character is ignored, Each request returns a line of response text ended by a CR/LF. Requests and responses are as follows, with %f standing for a decimal float numeral and %d for decimal integer numeral: a The current altitude as "A=%f", meters above mean sea level. d Returns the UTC time in the ISO 8601 format, "D=yyyy-mm-ddThh:nmm:ss.ssZ". Digits of precision in the fractional-seconds part will vary and may be zero. l Returns three fields: a protocol revision number, the gpsd version, and a list of accepted request letters. m The gps mode as "M=%d". 1=no fix, 2=2D (no altitude), 3=3D (with altitude). p Returns the current position in the form "P=%f %f"; numbers are in degrees, latitude first. q Returns "Q=%d %f %f %f": a count of satellites used in the last fix, and three estimated position errors in meters — position, horizontal, and vertical. r Sets or toggles 'raw' mode. Return "R=0" or "R=1". In raw mode you read the NMEA data stream from the GPS. (Non-NMEA GPSes get their communication format translated to NMEA on the fly.) The command 'r' immediately followed by the digit '1' or the plus sign '+' sets raw mode. The command 'r' followed by the digit '0' or the minus sign '-' clears raw mode. The command 'r' with neither suffix toggles raw mode. s The gps status as "S=%d". 0=no fix, 1=fix, 2=DGPS-corrected fix. t Track made good; course "T=%f" in degrees from true north. v The current speed as "V=%f" in knots. w Sets or toggles 'watcher' mode (see the descroiption below). Return "W=0" or "W=1".The command 'w' immediately followed by the digit '1' or the plus sign '+' sets watcher mode. The command 'w' followed by the digit '0' or the minus sign '-' clears watcher mode. The command 'w' with neither suffix toggles watcher mode. x Returns "X=1" if the GPS is online, "X=0" if not. y Returns Y= followed by a count not more than 12, followed by that many quintuples of satellite PRNs, elevation/azimuth pairs (elevation an integer formatted as %d in range 0-90, azimuth an integer formatted as %d in range 0-359), signal strengths in decibels, and 1 or 0 according as the satellite was or was not used in the last fix. Each number is followed by one space. Note that a response consisting of just ? following the = response means that there is no valid data available. Requests can be concatenated and sent as a string; gpsd will then respond with a comma-separated list of replies. Every gpsd reply will start with the string "GPSD" followed by the replies. Examples: query: "p\n" reply: "GPSD,P=36.000000 123.000000\r\n" query: "d\n" reply: "GPSD,D=2002-11-16T02:45:05.12Z\r\n" query: "va\n" reply: "GPSD,V=0.000000,A=37.900000\r\n" When clients are active but the GPS is not responding, gpsd will spin trying to open the GPS device once per second. Thus, it can be left running in background and survive having the GPS repeatedly unplugged and plugged back in. The recommended mode for clients is watcher mode. In watcher mode gpsd ships a line of data to the client each time the the GPS sends a sentence, but rather than being raw NMEA the line is a gpsd response as if the user had just sent some set of gpsd commands. That set of commands is the minimum for which the incoming sentence is relevant — e.g., a GPRMC sentence ships a "pvs" response because it contains position, velocity and GPS status data. Additionally, watching clients get notifications in the form X=0 or X=1 when the online/offline status of the GPS changes. Sending SIGHUP to a running gpsd forces it to close the GPS and all client connections. It will then attempt to reconnect to the GPS and resume listening for client connections. This may be useful if your GPS enters a wedged or confused state but can be soft-reset by pulling down DTR. gps is a simple test client for gpsd with an X interface. It displays current GPS animation and (for GPSes that support the feature) the locations of accessible satellites. gps accepts an -h option as for gpsd. An optional argument may specify an server to get data from; a colon-separated suffix is taken as a port number. The misfeature of previous versions that allowed it to direct-connect to the serial device has been removed. xgpsspeed is a speedometer that uses position information from the GPS. It accepts an -h option and optional argument as for gps. Additionally, it accepts -rv (reverse video) and -nc (needle color) options. The misfeature of previous version that allowed it to direct-connect to the serial device has been removed. There is a limitation in the accuracy of gpsd-using applications that stems from the fact that gpsd waits passively for updates from the sensor rather than actively polling for them (which can't be done in a device-independent way). Most GPSes ship updates just once per second. At 50km/h (31mi/h) that's 13.8 meters change in position between updates. This is good enough if you're on foot or in a car but not good enough for aviation applications, The official NMEA protocol standard is available on paper from the National Marine Electronics Association. A description of the protocol is available on the Web. gpsd parses the following NMEA sentences: GPRMC, GPGLL, GPVTG, GPGGA, GPGSA, GPGSV. Note that gpsd returns pure decimal degrees, not the hybrid degree/minute format described in the NMEA standard. The Rockwell protocol is described as an addendum on this page about NMEA. libgps3 libgpsd3 gpsprobe1 Remco Treffcorn, Derrick Brashear, Russ Nelson, Eric S. Raymond. This manual page by Eric S. Raymond esr@thyrsus.com. There is a project page, with gps screenshots, here.