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Tokimek PTVG

Tokimek PVTG is a proprietary NMEA 0183 compatible protocol.

Data:

  • pitch, roll, heading

Format:

$PTVG,abbbbP,accccR,ddd.dT*hh<CR><LF>

Tokimek PTVG protocol description

FIELD N.

FIELD

DESCRIPTION

UNIT

DATA TYPE

NOTE

0

$PTVG

identifier

-

string

Telegram identifier

1

abbbbP

pitch angle in degrees multiplied by 100

[deg]

string (parsed as INT)

a: sign indicator (minus [-] for bow up, space [ ] for bow down).

bbbb: The former ‘bb' is the pitch angle in degrees represented by two positive digits in range [0,99] and the latter 'bb’ is minutes represented by 2 positive digits in range [0,99].

P: Identifier for pitch

2

accccR

roll angle in degrees multiplied by 100

[deg]

string (parsed as INT)

a: sign indicator (minus [-] for port up, space [ ] for bow down).

cccc: The former ‘cc' is the roll angle in degrees represented by two positive digits in range [0,99] and the latter 'cc’ is minutes represented by 2 positive digits in range [0,99].

R: Identifier for roll

3

ddd.dT

heading angle in degrees

[deg]

string (parsed as DBL)

Heading increase in clockwise direction.

ddd.d: ‘ddd’ is the integer part of the heading angle represented by three positive digits in range [000,359], '.' is decimal separator and 'd' is the fractional part of the heading angle represented by one positive digit in range [0,9].

T: Identifier for heading

4

hh

checksum

-

HEX

XOR of characters between $ and *

Example:

Tokimek PTVG frame with raw example data is listed below.

$PTVG, 0401P,-0305R,101.8T*42<CR><LF>

Field 0

Field 1

Field 2

Field 3

Field 4

$PTVG

0401P

-0305R

101.8T

67

Decoded values:

  • Pitch: 0401P

    • Space indicate bow down for pitch value

    • First two digits (04): 4 degrees

    • Last two digits (01): 1 minute

    • Pitch angle: 4 + 1/60 degrees = 4.0167 degrees (bow down)

  • Roll: -0305R

    • Minus sign indicate bow down for roll value

    • First two digits (03): 3 degrees

    • Last two digits (05): 5 minutes

    • Pitch angle: 3 + 5/60 degrees = 3.0833 degrees (bow up)

  • Heading: 101.8T

    • Heading angle: 101 + 0.8 degrees = 101.8 degrees.

  • Checksum: 67

    • Created from XOR operations of characters between $ and * in the example frame.


Note

The reference frame for data (e.g., roll) is configurable in the Tokimek PVTG protocol. Also, the data's location (e.g., MRU or MP1) is configurable.