diff --git a/ExoMy_Software-master/gui/admin.html b/ExoMy_Software-master/gui/admin.html
index 95842b1..4b82cfd 100644
--- a/ExoMy_Software-master/gui/admin.html
+++ b/ExoMy_Software-master/gui/admin.html
@@ -427,6 +427,21 @@
             Für eine gute Fix-Qualität sind niedrige DOP-Werte und hohe, gleichmäßig verteilte Satelliten sinnvoll. Der Himmelsplot zeigt nur Satelliten, die der Empfänger per GSV mit Richtung und Höhe meldet.
           </div>
         </div>
+
+        <div class="panel">
+          <div class="p-hdr">
+            <div class="p-dot"></div>
+            <span class="p-lbl">GPS-Rohdaten</span>
+            <span class="p-tag">NMEA</span>
+          </div>
+          <div class="copy-text gps-copy gps-copy_compact">
+            Letzte direkt empfangene NMEA-Sätze des Empfängers. Die Ansicht scrollt intern und ist für Diagnose bei Abschattung, Drift und fehlerhaften Fixen gedacht.
+          </div>
+          <div class="neutral-toolbar">
+            <button class="button buttonA" onclick="copyGpsRawData()">Rohdaten kopieren</button>
+          </div>
+          <textarea id="gps_raw_output" class="gps-raw-output" readonly spellcheck="false">--</textarea>
+        </div>
       </div>
     </div>
   </section>
@@ -663,6 +678,7 @@
     utcTime: null,
     lastFixAgeS: null,
     satellites: [],
+    rawSentences: [],
     selectedSatellitePrn: null,
     plottedSatellites: []
   };
@@ -734,6 +750,7 @@
     gpsDiagnosticsState.utcTime = null;
     gpsDiagnosticsState.lastFixAgeS = null;
     gpsDiagnosticsState.satellites = [];
+    gpsDiagnosticsState.rawSentences = [];
     updateGpsDiagnosticsPanel();
   }
 
@@ -1003,9 +1020,47 @@
     setGpsQualityState('gps_diag_vdop', gpsDiagnosticsState.vdop);
     setText('gps_diag_sat_used', gpsDiagnosticsState.satellitesUsed);
     setText('gps_diag_sat_visible', gpsDiagnosticsState.satellitesVisible);
+    setGpsRawOutput(gpsDiagnosticsState.rawSentences);
     drawGpsSkyPlot();
   }
 
+  function setGpsRawOutput(sentences) {
+    var node = document.getElementById('gps_raw_output');
+    if (!node) return;
+    if (!Array.isArray(sentences) || !sentences.length) {
+      node.value = '--';
+      return;
+    }
+    var wasNearBottom = (node.scrollTop + node.clientHeight + 24) >= node.scrollHeight;
+    node.value = sentences.join('\n');
+    if (wasNearBottom) node.scrollTop = node.scrollHeight;
+  }
+
+  async function copyGpsRawData() {
+    var node = document.getElementById('gps_raw_output');
+    if (!node) return;
+    var text = String(node.value || '').trim();
+    if (!text || text === '--') {
+      setAdminStatus('Keine GPS-Rohdaten zum Kopieren');
+      return;
+    }
+
+    try {
+      if (navigator.clipboard && navigator.clipboard.writeText) {
+        await navigator.clipboard.writeText(text);
+      } else {
+        node.focus();
+        node.select();
+        document.execCommand('copy');
+        node.setSelectionRange(node.value.length, node.value.length);
+      }
+      setAdminStatus('GPS-Rohdaten kopiert');
+      window.setTimeout(function() { setAdminStatus('Bereit'); }, 1800);
+    } catch (error) {
+      setAdminStatus('Kopieren fehlgeschlagen');
+    }
+  }
+
   function getSelectedSatellite() {
     if (!gpsDiagnosticsState.satellites.length) return null;
     var selected = gpsDiagnosticsState.satellites.find(function(item) {
@@ -1172,6 +1227,7 @@
       gpsDiagnosticsState.utcTime = data.utc_time || null;
       gpsDiagnosticsState.lastFixAgeS = typeof data.last_fix_age_s === 'number' ? data.last_fix_age_s : null;
       gpsDiagnosticsState.satellites = Array.isArray(data.satellites) ? data.satellites : [];
+      gpsDiagnosticsState.rawSentences = Array.isArray(data.raw_sentences) ? data.raw_sentences : [];
       if (gpsDiagnosticsState.selectedSatellitePrn) {
         var stillExists = gpsDiagnosticsState.satellites.some(function(item) {
           return item.prn === gpsDiagnosticsState.selectedSatellitePrn;
diff --git a/ExoMy_Software-master/gui/app.css b/ExoMy_Software-master/gui/app.css
index 3ff9903..92b1bd9 100644
--- a/ExoMy_Software-master/gui/app.css
+++ b/ExoMy_Software-master/gui/app.css
@@ -1295,6 +1295,25 @@ body.page-admin .gps-copy{
 body.page-admin .gps-copy_compact{
   border-bottom:none;
 }
+body.page-admin .gps-raw-output{
+  width:100%;
+  min-height:220px;
+  max-height:320px;
+  resize:vertical;
+  overflow:auto;
+  margin-top:14px;
+  padding:12px 14px;
+  border:1px solid rgba(0,255,145,.18);
+  border-radius:12px;
+  background:#07111c;
+  color:#b8ffe1;
+  font:12px/1.45 Consolas, "Courier New", monospace;
+  box-shadow:inset 0 0 0 1px rgba(255,255,255,.02);
+}
+body.page-admin .gps-raw-output:focus{
+  outline:none;
+  border-color:rgba(0,255,145,.28);
+}
 body.page-admin .gps-sky-stage{
   padding:18px;
   position:relative;
diff --git a/ExoMy_Software-master/gui/index.html b/ExoMy_Software-master/gui/index.html
index 3ac7641..4d21960 100644
--- a/ExoMy_Software-master/gui/index.html
+++ b/ExoMy_Software-master/gui/index.html
@@ -285,6 +285,7 @@ var roverCommandListener = null;
 var motorCommandsListener = null;
 var gpsFixListener = null;
 var gpsStatusListener = null;
+var gpsDiagnosticsListener = null;
 var publishTimer = null;
 var statusTimer = null;
 var axes = [0, 0, 0, 0, 0, 0];
@@ -294,6 +295,7 @@ var motorsEnabled = true;
 var inputMode = "joystick";
 var metBase = Date.now();
 var dragging = false;
+var lastGpsDiagnostics = null;
 var REQUIRED_CALIBRATION_POINTS = [0, 20, 30, 40, 50, 60, 80, 100];
 var driveEstimator = {
   drivePwmNeutralAverage: 307,
@@ -603,41 +605,86 @@ function updateAxesDisplay(x, y) {
   setText("dpy", formatAxis(y));
 }
 
-function setGpsAccuracyDisplay(valueMeters) {
+function setGpsAccuracyDisplay(label) {
   var node = document.getElementById("gps-accuracy");
   if (!node) return;
 
   node.classList.remove("gps-quality-good", "gps-quality-mid", "gps-quality-bad");
-  if (typeof valueMeters !== "number" || isNaN(valueMeters) || valueMeters <= 0) {
+  if (typeof label !== "string" || !label) {
     node.textContent = "--";
     return;
   }
 
-  node.textContent = formatNumber(valueMeters, 1) + " m";
-  if (valueMeters <= 1.0) {
+  node.textContent = label;
+}
+
+function setGpsAccuracyState(label, tone) {
+  var node = document.getElementById("gps-accuracy");
+  if (!node) return;
+
+  node.classList.remove("gps-quality-good", "gps-quality-mid", "gps-quality-bad");
+  node.textContent = label || "--";
+  if (tone === "good") {
     node.classList.add("gps-quality-good");
-  } else if (valueMeters <= 3.0) {
+  } else if (tone === "mid") {
     node.classList.add("gps-quality-mid");
-  } else {
+  } else if (tone === "bad") {
     node.classList.add("gps-quality-bad");
   }
 }
 
+function updateGpsAccuracyFromDiagnostics() {
+  if (!lastGpsDiagnostics || !lastGpsDiagnostics.connected || !lastGpsDiagnostics.valid) {
+    setGpsAccuracyState("--", "");
+    return;
+  }
+
+  var fixQuality = Number(lastGpsDiagnostics.fix_quality || 0);
+  var hdop = Number(lastGpsDiagnostics.hdop);
+  var pdop = Number(lastGpsDiagnostics.pdop);
+  var satellitesUsed = Number(lastGpsDiagnostics.satellites_used || 0);
+  var lastFixAge = Number(lastGpsDiagnostics.last_fix_age_s || 0);
+
+  if (fixQuality <= 0 || isNaN(hdop)) {
+    setGpsAccuracyState("schlecht", "bad");
+    return;
+  }
+
+  var label = "schlecht";
+  var tone = "bad";
+
+  if (hdop <= 1.2 && (isNaN(pdop) || pdop <= 2.0) && satellitesUsed >= 10 && lastFixAge <= 2.0) {
+    label = "sehr gut";
+    tone = "good";
+  } else if (hdop <= 2.5 && (isNaN(pdop) || pdop <= 4.0) && satellitesUsed >= 6 && lastFixAge <= 4.0) {
+    label = "gut";
+    tone = "good";
+  } else if (hdop <= 4.5 && (isNaN(pdop) || pdop <= 7.0) && satellitesUsed >= 4 && lastFixAge <= 8.0) {
+    label = "mäßig";
+    tone = "mid";
+  }
+
+  if (satellitesUsed < 5 || lastFixAge > 8.0) {
+    label = "schlecht";
+    tone = "bad";
+  }
+
+  setGpsAccuracyState(label, tone);
+}
+
 function updateGpsOverlayFromFix(message) {
   if (!message) return;
   markGpsFresh();
 
   var hasFix = message.status && message.status.status >= 0;
   if (!hasFix) {
-    setGpsAccuracyDisplay(NaN);
+    setGpsAccuracyState("--", "");
     setText("gps-lat", "--");
     setText("gps-lon", "--");
     return;
   }
 
-  var covariance = Array.isArray(message.position_covariance) ? Number(message.position_covariance[0]) : NaN;
-  var accuracyMeters = covariance > 0 ? Math.sqrt(covariance) : NaN;
-  setGpsAccuracyDisplay(accuracyMeters);
+  updateGpsAccuracyFromDiagnostics();
   setText("gps-lat", formatNumber(Number(message.latitude || 0), 5));
   setText("gps-lon", formatNumber(Number(message.longitude || 0), 5));
 }
@@ -648,6 +695,15 @@ function updateGpsOverlayFromStatus(text) {
   setText("gps-state", value);
 }
 
+function updateGpsOverlayFromDiagnostics(text) {
+  try {
+    lastGpsDiagnostics = JSON.parse(String(text || "{}"));
+  } catch (error) {
+    lastGpsDiagnostics = null;
+  }
+  updateGpsAccuracyFromDiagnostics();
+}
+
 function updateModeDisplay() {
   var label = "Ackermann";
   if (driveMode === "turn-on-point") {
@@ -748,7 +804,7 @@ function clearRosLiveDisplay() {
     liveIndicator.classList.add("is-offline");
   }
   setText("gps-state", "Offline");
-  setGpsAccuracyDisplay(NaN);
+  setGpsAccuracyState("--", "");
   setText("gps-lat", "--");
   setText("gps-lon", "--");
   setText("overlay-speed", "--");
@@ -1226,6 +1282,15 @@ window.addEventListener("load", function () {
     updateGpsOverlayFromStatus(message.data);
   });
 
+  gpsDiagnosticsListener = new ROSLIB.Topic({
+    ros: ros,
+    name: "/gps/diagnostics_json",
+    messageType: "std_msgs/String"
+  });
+  gpsDiagnosticsListener.subscribe(function (message) {
+    updateGpsOverlayFromDiagnostics(message.data);
+  });
+
   var joySubscriber = new ROSLIB.Topic({
     ros: ros,
     name: "/joy",
diff --git a/ExoMy_Software-master/src/gps_node.py b/ExoMy_Software-master/src/gps_node.py
index 7d91624..7dcce5d 100644
--- a/ExoMy_Software-master/src/gps_node.py
+++ b/ExoMy_Software-master/src/gps_node.py
@@ -4,6 +4,7 @@ import json
 import os
 import select
 import termios
+from collections import deque
 from datetime import datetime
 
 import rospy
@@ -86,6 +87,7 @@ class GpsState(object):
         self.visible_satellites = {}
         self.visible_satellite_count = 0
         self._gsv_groups = {}
+        self.raw_sentences = deque(maxlen=200)
 
     def summary_text(self):
         if not self.connected:
@@ -334,6 +336,8 @@ def parse_sentence(sentence, state):
     if not verify_checksum(sentence):
         return False
 
+    state.raw_sentences.append(sentence)
+
     fields = sentence.split('*', 1)[0].split(',')
     if not fields:
         return False
@@ -379,7 +383,8 @@ def build_diagnostics_payload(state, frame_id):
         'utc_time': state.utc_datetime.strftime('%H:%M:%S') if state.utc_datetime else None,
         'utc_date': state.utc_datetime.strftime('%Y-%m-%d') if state.utc_datetime else None,
         'last_fix_age_s': last_fix_age,
-        'satellites': list(state.visible_satellites.values())
+        'satellites': list(state.visible_satellites.values()),
+        'raw_sentences': list(state.raw_sentences)
     }