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navigation.yaml
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# Copyright (C) 2015-2021 Swift Navigation Inc.
# Contact: https://support.swiftnav.com
#
# This source is subject to the license found in the file 'LICENSE' which must
# be distributed together with this source. All other rights reserved.
#
# THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
# EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
# WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
package: swiftnav.sbp.navigation
description: >
Geodetic navigation messages reporting GPS time, position, velocity,
and baseline position solutions. For position solutions, these
messages define several different position solutions: single-point
(SPP), RTK, and pseudo-absolute position solutions.
The SPP is the standalone, absolute GPS position solution using only
a single receiver. The RTK solution is the differential GPS
solution, which can use either a fixed/integer or floating carrier
phase ambiguity. The pseudo-absolute position solution uses a
user-provided, well-surveyed base station position (if available)
and the RTK solution in tandem.
When the inertial navigation mode indicates that the IMU is used,
all messages are reported in the vehicle body frame as defined by
device settings. By default, the vehicle body frame is configured to be
coincident with the antenna phase center. When there is no inertial
navigation, the solution will be reported at the phase center of the antenna.
There is no inertial navigation capability on Piksi Multi or Duro.
The tow field, when valid, is most often the Time of Measurement. When this
is the case, the 5th bit of flags is set to the default value of 0.
When this is not the case, the tow may be a time of arrival or a local
system timestamp, irrespective of the time reference (GPS Week or else),
but not a Time of Measurement.
stable: True
public: True
include:
- types.yaml
definitions:
- MSG_GPS_TIME:
id: 0x0102
short_desc: GPS Time (GNSS + inertial)
desc: >
This message reports the GPS time, representing the time since
the GPS epoch began on midnight January 6, 1980 UTC. GPS time
counts the weeks and seconds of the week. The weeks begin at the
Saturday/Sunday transition. GPS week 0 began at the beginning of
the GPS time scale.
Within each week number, the GPS time of the week is between
between 0 and 604800 seconds (=60*60*24*7). Note that GPS time
does not accumulate leap seconds, and as of now, has a small
offset from UTC. In a message stream, this message precedes a
set of other navigation messages referenced to the same time
(but lacking the ns field) and indicates a more precise time of
these messages.
The values in this message are from GNSS measurements fused with
inertial measurements. To get values from GNSS measurements only
use MSG_GPS_TIME_GNSS.
fields:
- wn:
type: u16
units: weeks
desc: GPS week number
- tow:
type: u32
units: ms
desc: GPS time of week rounded to the nearest millisecond
- ns_residual:
type: s32
units: ns
desc: >
Nanosecond residual of millisecond-rounded TOW (ranges
from -500000 to 500000)
- flags:
type: u8
desc: Status flags (reserved)
fields:
- 3-7:
desc: Reserved
- 0-2:
desc: Time source
values:
- 0: None (invalid)
- 1: GNSS Solution
- 2: Propagated
- MSG_GPS_TIME_GNSS:
id: 0x0104
short_desc: GNSS-only GPS Time
desc: >
This message reports the GPS time, representing the time since
the GPS epoch began on midnight January 6, 1980 UTC. GPS time
counts the weeks and seconds of the week. The weeks begin at the
Saturday/Sunday transition. GPS week 0 began at the beginning of
the GPS time scale.
Within each week number, the GPS time of the week is between
between 0 and 604800 seconds (=60*60*24*7). Note that GPS time
does not accumulate leap seconds, and as of now, has a small
offset from UTC. In a message stream, this message precedes a
set of other navigation messages referenced to the same time
(but lacking the ns field) and indicates a more precise time of
these messages.
The values in this message are from GNSS measurements only. To
get values fused with inertial measurements use MSG_GPS_TIME.
fields:
- wn:
type: u16
units: weeks
desc: GPS week number
- tow:
type: u32
units: ms
desc: GPS time of week rounded to the nearest millisecond
- ns_residual:
type: s32
units: ns
desc: >
Nanosecond residual of millisecond-rounded TOW (ranges
from -500000 to 500000)
- flags:
type: u8
desc: Status flags (reserved)
fields:
- 3-7:
desc: Reserved
- 0-2:
desc: Time source
values:
- 0: None (invalid)
- 1: GNSS Solution
- 2: Propagated
- MSG_UTC_TIME:
id: 0x0103
short_desc: UTC Time
desc: >
This message reports the Universal Coordinated Time (UTC). Note the flags
which indicate the source of the UTC offset value and source of the time fix.
The values in this message are from GNSS measurements fused with
inertial measurements. To get values from GNSS measurements only
use MSG_UTC_TIME_GNSS.
fields:
- flags:
type: u8
desc: Indicates source and time validity
fields:
- 5-7:
desc: Reserved
- 3-4:
desc: UTC offset source
values:
- 0: Factory Default
- 1: Non Volatile Memory
- 2: Decoded this Session
- 0-2:
desc: Time source
values:
- 0: None (invalid)
- 1: GNSS Solution
- 2: Propagated
- tow:
type: u32
units: ms
desc: GPS time of week rounded to the nearest millisecond
- year:
type: u16
units: year
desc: Year
- month:
type: u8
units: months
desc: Month (range 1 .. 12)
- day:
type: u8
units: day
desc: days in the month (range 1-31)
- hours:
type: u8
units: hours
desc: hours of day (range 0-23)
- minutes:
type: u8
units: minutes
desc: minutes of hour (range 0-59)
- seconds:
type: u8
units: seconds
desc: seconds of minute (range 0-60) rounded down
- ns:
type: u32
units: nanoseconds
desc: nanoseconds of second
(range 0-999999999)
- MSG_UTC_TIME_GNSS:
id: 0x0105
short_desc: GNSS-only UTC Time
desc: >
This message reports the Universal Coordinated Time (UTC). Note the flags
which indicate the source of the UTC offset value and source of the time fix.
The values in this message are from GNSS measurements only. To
get values fused with inertial measurements use MSG_UTC_TIME.
fields:
- flags:
type: u8
desc: Indicates source and time validity
fields:
- 5-7:
desc: Reserved
- 3-4:
desc: UTC offset source
values:
- 0: Factory Default
- 1: Non Volatile Memory
- 2: Decoded this Session
- 0-2:
desc: Time source
values:
- 0: None (invalid)
- 1: GNSS Solution
- 2: Propagated
- tow:
type: u32
units: ms
desc: GPS time of week rounded to the nearest millisecond
- year:
type: u16
units: year
desc: Year
- month:
type: u8
units: months
desc: Month (range 1 .. 12)
- day:
type: u8
units: day
desc: days in the month (range 1-31)
- hours:
type: u8
units: hours
desc: hours of day (range 0-23)
- minutes:
type: u8
units: minutes
desc: minutes of hour (range 0-59)
- seconds:
type: u8
units: seconds
desc: seconds of minute (range 0-60) rounded down
- ns:
type: u32
units: nanoseconds
desc: nanoseconds of second
(range 0-999999999)
- MSG_DOPS:
id: 0x0208
short_desc: GNSS-only Dilution of Precision
desc: >
This dilution of precision (DOP) message describes the effect of
navigation satellite geometry on positional measurement
precision. The flags field indicated whether the DOP reported
corresponds to differential or SPP solution.
The values in this message are from GNSS measurements only.
fields:
- tow:
type: u32
units: ms
desc: GPS Time of Week
- gdop:
type: u16
units: 0.01
desc: Geometric Dilution of Precision
- pdop:
type: u16
units: 0.01
desc: Position Dilution of Precision
- tdop:
type: u16
units: 0.01
desc: Time Dilution of Precision
- hdop:
type: u16
units: 0.01
desc: Horizontal Dilution of Precision
- vdop:
type: u16
units: 0.01
desc: Vertical Dilution of Precision
- flags:
type: u8
desc: Indicates the position solution with which the DOPS message corresponds
fields:
- 7:
desc: RAIM repair flag
- 3-6:
desc: Reserved
- 0-2:
desc: Fix mode
values:
- 0: Invalid
- 1: Single Point Position (SPP)
- 2: Differential GNSS (DGNSS)
- 3: Float RTK
- 4: Fixed RTK
- 5: Undefined
- 6: SBAS Position
- MSG_POS_ECEF:
id: 0x0209
short_desc: Position in ECEF
desc: >
The position solution message reports absolute Earth Centered
Earth Fixed (ECEF) coordinates and the status (single point vs
pseudo-absolute RTK) of the position solution. If the rover
receiver knows the surveyed position of the base station and has
an RTK solution, this reports a pseudo-absolute position
solution using the base station position and the rover's RTK
baseline vector. The full GPS time is given by the preceding
MSG_GPS_TIME with the matching time-of-week (tow).
The values in this message are from GNSS measurements fused with
inertial measurements. To get values from GNSS measurements only
use MSG_POS_ECEF_GNSS.
fields:
- tow:
type: u32
units: ms
desc: GPS Time of Week
- x:
type: double
units: m
desc: ECEF X coordinate
- y:
type: double
units: m
desc: ECEF Y coordinate
- z:
type: double
units: m
desc: ECEF Z coordinate
- accuracy:
type: u16
units: mm
desc: Position estimated standard deviation
- n_sats:
type: u8
desc: Number of satellites used in solution
- flags:
type: u8
desc: Status flags
fields:
- 6-7:
desc: Reserved
- 5-5:
desc: TOW type
values:
- 0: Time of Measurement
- 1: Other
- 3-4:
desc: Inertial Navigation Mode
values:
- 0: None
- 1: INS used
- 0-2:
desc: Fix mode
values:
- 0: Invalid
- 1: Single Point Position (SPP)
- 2: Differential GNSS (DGNSS)
- 3: Float RTK
- 4: Fixed RTK
- 5: Dead Reckoning
- 6: SBAS Position
- MSG_POS_ECEF_COV:
id: 0x0214
short_desc: Position in ECEF with Covariances
desc: >
The position solution message reports absolute Earth Centered
Earth Fixed (ECEF) coordinates and the status (single point vs
pseudo-absolute RTK) of the position solution. The message also
reports the upper triangular portion of the 3x3 covariance matrix.
If the receiver knows the surveyed position of the base station and has
an RTK solution, this reports a pseudo-absolute position
solution using the base station position and the rover's RTK
baseline vector. The full GPS time is given by the preceding
MSG_GPS_TIME with the matching time-of-week (tow).
The values in this message are from GNSS measurements fused with
inertial measurements. To get values from GNSS measurements only
use MSG_POS_ECEF_COV_GNSS.
fields:
- tow:
type: u32
units: ms
desc: GPS Time of Week
- x:
type: double
units: m
desc: ECEF X coordinate
- y:
type: double
units: m
desc: ECEF Y coordinate
- z:
type: double
units: m
desc: ECEF Z coordinate
- cov_x_x:
type: float
units: m^2
desc: Estimated variance of x
- cov_x_y:
type: float
units: m^2
desc: Estimated covariance of x and y
- cov_x_z:
type: float
units: m^2
desc: Estimated covariance of x and z
- cov_y_y:
type: float
units: m^2
desc: Estimated variance of y
- cov_y_z:
type: float
units: m^2
desc: Estimated covariance of y and z
- cov_z_z:
type: float
units: m^2
desc: Estimated variance of z
- n_sats:
type: u8
desc: Number of satellites used in solution
- flags:
type: u8
desc: Status flags
fields:
- 6-7:
desc: Reserved
- 5-5:
desc: Type of reported TOW
values:
- 0: Time of Measurement
- 1: Other
- 3-4:
desc: Inertial Navigation Mode
values:
- 0: None
- 1: INS used
- 0-2:
desc: Fix mode
values:
- 0: Invalid
- 1: Single Point Position (SPP)
- 2: Differential GNSS (DGNSS)
- 3: Float RTK
- 4: Fixed RTK
- 5: Dead Reckoning
- 6: SBAS Position
- MSG_POS_LLH:
id: 0x020A
short_desc: Geodetic Position
desc: >
This position solution message reports the absolute geodetic
coordinates and the status (single point vs pseudo-absolute RTK)
of the position solution. If the rover receiver knows the
surveyed position of the base station and has an RTK solution,
this reports a pseudo-absolute position solution using the base
station position and the rover's RTK baseline vector. The full
GPS time is given by the preceding MSG_GPS_TIME with the
matching time-of-week (tow).
The values in this message are from GNSS measurements fused with
inertial measurements. To get values from GNSS measurements only
use MSG_POS_LLH_GNSS.
fields:
- tow:
type: u32
units: ms
desc: GPS Time of Week
- lat:
type: double
units: deg
desc: Latitude
- lon:
type: double
units: deg
desc: Longitude
- height:
type: double
units: m
desc: Height above WGS84 ellipsoid
- h_accuracy:
type: u16
units: mm
desc: Horizontal position estimated standard deviation
- v_accuracy:
type: u16
units: mm
desc: Vertical position estimated standard deviation
- n_sats:
type: u8
desc: Number of satellites used in solution.
- flags:
type: u8
desc: Status flags
fields:
- 6-7:
desc: Reserved
- 5-5:
desc: Type of reported TOW
values:
- 0: Time of Measurement
- 1: Other
- 3-4:
desc: Inertial Navigation Mode
values:
- 0: None
- 1: INS used
- 0-2:
desc: Fix mode
values:
- 0: Invalid
- 1: Single Point Position (SPP)
- 2: Differential GNSS (DGNSS)
- 3: Float RTK
- 4: Fixed RTK
- 5: Dead Reckoning
- 6: SBAS Position
- MSG_POS_LLH_COV:
id: 0x0211
short_desc: Geodetic Position with Covariances
desc: >
This position solution message reports the absolute geodetic
coordinates and the status (single point vs pseudo-absolute RTK)
of the position solution as well as the upper triangle of the 3x3
covariance matrix. The position information and Fix Mode flags follow the
MSG_POS_LLH message. Since the covariance matrix is computed in the
local-level North, East, Down frame, the covariance terms follow that
convention. Thus, covariances are reported against the "downward"
measurement and care should be taken with the sign convention.
The values in this message are from GNSS measurements fused with
inertial measurements. To get values from GNSS measurements only
use MSG_POS_LLH_COV_GNSS.
fields:
- tow:
type: u32
units: ms
desc: GPS Time of Week
- lat:
type: double
units: deg
desc: Latitude
- lon:
type: double
units: deg
desc: Longitude
- height:
type: double
units: m
desc: Height above WGS84 ellipsoid
- cov_n_n:
type: float
units: m^2
desc: Estimated variance of northing
- cov_n_e:
type: float
units: m^2
desc: Covariance of northing and easting
- cov_n_d:
type: float
units: m^2
desc: Covariance of northing and downward measurement
- cov_e_e:
type: float
units: m^2
desc: Estimated variance of easting
- cov_e_d:
type: float
units: m^2
desc: Covariance of easting and downward measurement
- cov_d_d:
type: float
units: m^2
desc: Estimated variance of downward measurement
- n_sats:
type: u8
desc: Number of satellites used in solution.
- flags:
type: u8
desc: Status flags
fields:
- 6-7:
desc: Reserved
- 5-5:
desc: Type of reported TOW
values:
- 0: Time of Measurement
- 1: Other
- 3-4:
desc: Inertial Navigation Mode
values:
- 0: None
- 1: INS used
- 0-2:
desc: Fix mode
values:
- 0: Invalid
- 1: Single Point Position (SPP)
- 2: Differential GNSS (DGNSS)
- 3: Float RTK
- 4: Fixed RTK
- 5: Dead Reckoning
- 6: SBAS Position
- EstimatedHorizontalErrorEllipse:
short_desc: Horizontal estimated error ellipse
fields:
- semi_major:
type: float
units: m
desc: >
The semi major axis of the estimated horizontal error ellipse at
the user-configured confidence level; zero implies invalid.
- semi_minor:
type: float
units: m
desc: >
The semi minor axis of the estimated horizontal error ellipse at
the user-configured confidence level; zero implies invalid.
- orientation:
type: float
units: deg
desc: >
The orientation of the semi major axis of the estimated horizontal
error ellipse with respect to North.
- MSG_POS_LLH_ACC:
id: 0x0218
short_desc: Geodetic Position and Accuracy
desc: >
This position solution message reports the absolute geodetic coordinates
and the status (single point vs pseudo-absolute RTK) of the position
solution as well as the estimated horizontal, vertical, cross-track and
along-track errors. The position information and Fix Mode flags follow
the MSG_POS_LLH message. Since the covariance matrix is computed in the
local-level North, East, Down frame, the estimated error terms follow that
convention.
The estimated errors are reported at a user-configurable confidence level.
The user-configured percentile is encoded in the percentile field.
The values in this message are from GNSS measurements fused with
inertial measurements.
fields:
- tow:
type: u32
units: ms
desc: GPS Time of Week
- lat:
type: double
units: deg
desc: Latitude
- lon:
type: double
units: deg
desc: Longitude
- height:
type: double
units: m
desc: Height above WGS84 ellipsoid
- orthometric_height:
type: double
units: m
desc: Height above the geoid (i.e. height above mean sea level). See confidence_and_geoid for geoid model used.
- h_accuracy:
type: float
units: m
desc: Estimated horizontal error at the user-configured confidence level; zero implies invalid.
- v_accuracy:
type: float
units: m
desc: Estimated vertical error at the user-configured confidence level; zero implies invalid.
- ct_accuracy:
type: float
units: m
desc: Estimated cross-track error at the user-configured confidence level; zero implies invalid.
- at_accuracy:
type: float
units: m
desc: Estimated along-track error at the user-configured confidence level; zero implies invalid.
- h_ellipse:
type: EstimatedHorizontalErrorEllipse
desc: The estimated horizontal error ellipse at the user-configured confidence level.
- confidence_and_geoid:
type: u8
desc: The lower bits describe the configured confidence level for the estimated position error. The middle bits describe the geoid model used to calculate the orthometric height.
fields:
- 7-7:
desc: Reserved
- 4-6:
desc: Geoid model
values:
- 0: No model
- 1: EGM96
- 2: EGM2008
- 0-3:
desc: Confidence level
values:
- 0: reserved
- 1: 39.35%
- 2: 68.27%
- 3: 95.45%
- 4: 99.73%
- n_sats:
type: u8
desc: Number of satellites used in solution.
- flags:
type: u8
desc: Status flags
fields:
- 6-7:
desc: Reserved
- 5-5:
desc: Type of reported TOW
values:
- 0: Time of Measurement
- 1: Other
- 3-4:
desc: Inertial Navigation Mode
values:
- 0: None
- 1: INS used
- 0-2:
desc: Fix mode
values:
- 0: Invalid
- 1: Single Point Position (SPP)
- 2: Differential GNSS (DGNSS)
- 3: Float RTK
- 4: Fixed RTK
- 5: Dead Reckoning
- 6: SBAS Position
- MSG_BASELINE_ECEF:
id: 0x020B
short_desc: GNSS-only Baseline Position in ECEF
desc: >
This message reports the baseline solution in Earth Centered
Earth Fixed (ECEF) coordinates. This baseline is the relative
vector distance from the base station to the rover receiver. The
full GPS time is given by the preceding MSG_GPS_TIME with the
matching time-of-week (tow).
The values in this message are from GNSS measurements only.
fields:
- tow:
type: u32
units: ms
desc: GPS Time of Week
- x:
type: s32
units: mm
desc: Baseline ECEF X coordinate
- y:
type: s32
units: mm
desc: Baseline ECEF Y coordinate
- z:
type: s32
units: mm
desc: Baseline ECEF Z coordinate
- accuracy:
type: u16
units: mm
desc: Position estimated standard deviation
- n_sats:
type: u8
desc: Number of satellites used in solution
- flags:
type: u8
desc: Status flags
fields:
- 3-7:
desc: Reserved
- 0-2:
desc: Fix mode
values:
- 0: Invalid
- 1: Reserved
- 2: Differential GNSS (DGNSS)
- 3: Float RTK
- 4: Fixed RTK
- 5: Reserved
- 6: Reserved
- MSG_BASELINE_NED:
id: 0x020C
short_desc: GNSS-only Baseline in NED
desc: >
This message reports the baseline solution in North East Down
(NED) coordinates. This baseline is the relative vector distance
from the base station to the rover receiver, and NED coordinate
system is defined at the local WGS84 tangent plane centered at the
base station position. The full GPS time is given by the
preceding MSG_GPS_TIME with the matching time-of-week (tow).
The values in this message are from GNSS measurements only.
fields:
- tow:
type: u32
units: ms
desc: GPS Time of Week
- n:
type: s32
units: mm
desc: Baseline North coordinate
- e:
type: s32
units: mm
desc: Baseline East coordinate
- d:
type: s32
units: mm
desc: Baseline Down coordinate
- h_accuracy:
type: u16
units: mm
desc: Horizontal position estimated standard deviation
- v_accuracy:
type: u16
units: mm
desc: Vertical position estimated standard deviation
- n_sats:
type: u8
desc: Number of satellites used in solution
- flags:
type: u8
desc: Status flags
fields:
- 3-7:
desc: Reserved
- 0-2:
desc: Fix mode
values:
- 0: Invalid
- 1: Reserved
- 2: Differential GNSS (DGNSS)
- 3: Float RTK
- 4: Fixed RTK
- 5: Reserved
- 6: Reserved
- MSG_VEL_ECEF:
id: 0x020D
short_desc: Velocity in ECEF
desc: >
This message reports the velocity in Earth Centered Earth Fixed
(ECEF) coordinates. The full GPS time is given by the preceding
MSG_GPS_TIME with the matching time-of-week (tow).
The values in this message are from GNSS measurements fused with
inertial measurements. To get values from GNSS measurements only
use MSG_VEL_ECEF_GNSS.
fields:
- tow:
type: u32
units: ms
desc: GPS Time of Week
- x:
type: s32
units: mm/s
desc: Velocity ECEF X coordinate
- y:
type: s32
units: mm/s
desc: Velocity ECEF Y coordinate
- z:
type: s32
units: mm/s
desc: Velocity ECEF Z coordinate
- accuracy:
type: u16
units: mm/s
desc: >
Velocity estimated standard deviation
- n_sats:
type: u8
desc: Number of satellites used in solution
- flags:
type: u8
desc: Status flags
fields:
- 6-7:
desc: Reserved
- 5-5:
desc: Type of reported TOW
values:
- 0: Time of Measurement
- 1: Other
- 3-4:
desc: INS Navigation Mode
values:
- 0: None
- 1: INS used
- 0-2:
desc: Velocity mode
values:
- 0: Invalid
- 1: Measured Doppler derived
- 2: Computed Doppler derived
- 3: Dead Reckoning
- MSG_VEL_ECEF_COV:
id: 0x0215
short_desc: Velocity in ECEF with Covariances
desc: >
This message reports the velocity in Earth Centered Earth Fixed
(ECEF) coordinates. The full GPS time is given by the preceding
MSG_GPS_TIME with the matching time-of-week (tow).
The values in this message are from GNSS measurements fused with
inertial measurements. To get values from GNSS measurements only
use MSG_VEL_ECEF_COV_GNSS.
fields:
- tow:
type: u32
units: ms
desc: GPS Time of Week
- x:
type: s32
units: mm/s
desc: Velocity ECEF X coordinate
- y:
type: s32
units: mm/s
desc: Velocity ECEF Y coordinate
- z:
type: s32
units: mm/s
desc: Velocity ECEF Z coordinate
- cov_x_x:
type: float
units: m^2/s^2
desc: Estimated variance of x
- cov_x_y:
type: float
units: m^2/s^2
desc: Estimated covariance of x and y
- cov_x_z:
type: float
units: m^2/s^2
desc: Estimated covariance of x and z
- cov_y_y:
type: float
units: m^2/s^2
desc: Estimated variance of y
- cov_y_z:
type: float
units: m^2/s^2
desc: Estimated covariance of y and z
- cov_z_z:
type: float
units: m^2/s^2