forked from swift-nav/libsbp
-
Notifications
You must be signed in to change notification settings - Fork 2
/
Copy pathnavigation.yaml
427 lines (415 loc) · 13.8 KB
/
navigation.yaml
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
# Copyright (C) 2015 Swift Navigation Inc.
# Contact: Fergus Noble <[email protected]>
#
# This source is subject to the license found in the file 'LICENSE' which must
# be 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.
stable: True
public: True
include:
- types.yaml
definitions:
- MSG_GPS_TIME:
id: 0x0100
short_desc: 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.
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:
type: s32
units: ns
desc: |
Nanosecond residual of millisecond-rounded TOW (ranges
from -500000 to 500000)
- flags:
type: u8
desc: Status flags (reserved)
- MSG_DOPS:
id: 0x0206
short_desc: Dilution of Precision
desc: |
This dilution of precision (DOP) message describes the effect of
navigation satellite geometry on positional measurement
precision.
fields:
- tow:
type: u32
units: ms
desc: GPS Time of Week
- gdop:
type: u16
desc: Geometric Dilution of Precision
- pdop:
type: u16
desc: Position Dilution of Precision
- tdop:
type: u16
desc: Time Dilution of Precision
- hdop:
type: u16
desc: Horizontal Dilution of Precision
- vdop:
type: u16
desc: Vertical Dilution of Precision
- MSG_POS_ECEF:
id: 0x0200
short_desc: Single-point 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).
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 accuracy estimate (not implemented). Defaults
to 0.
- n_sats:
type: u8
desc: Number of satellites used in solution
- flags:
type: u8
desc: Status flags
fields:
- 5-7:
desc: Reserved
- 4:
desc: RAIM repair flag
values:
- 0: No repair
- 1: Solution came from RAIM repair
- 3:
desc: RAIM availability flag
values:
- 0: RAIM check was explicitly disabled or unavailable
- 1: RAIM check was available
- 0-2:
desc: Fix mode
values:
- 0: Single Point Positioning (SPP)
- 1: Float RTK
- 2: Fixed RTK
- MSG_POS_LLH:
id: 0x0201
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).
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
- h_accuracy:
type: u16
units: mm
desc: |
Horizontal position accuracy estimate (not
implemented). Defaults to 0.
- v_accuracy:
type: u16
units: mm
desc: |
Vertical position accuracy estimate (not
implemented). Defaults to 0.
- n_sats:
type: u8
desc: Number of satellites used in solution.
- flags:
type: u8
desc: Status flags
fields:
- 6-7:
desc: Reserved
- 5:
desc: RAIM repair flag
values:
- 0: No repair
- 1: Solution came from RAIM repair
- 4:
desc: RAIM availability flag
values:
- 0: RAIM check was explicitly disabled or unavailable
- 1: RAIM check was available
- 3:
desc: Height Mode
values:
- 0: Height above Ellipsoid
- 1: Height above mean sea level
- 0-2:
desc: Fix mode
values:
- 0: Single Point Positioning (SPP)
- 1: Fixed RTK
- 2: Float RTK
- MSG_BASELINE_ECEF:
id: 0x0202
short_desc: 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).
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 accuracy estimate (not implemented). Defaults
to 0.
- n_sats:
type: u8
desc: Number of satellites used in solution
- flags:
type: u8
desc: Status flags
fields:
- 5-7:
desc: Reserved
- 4:
desc: RAIM repair flag
values:
- 0: No repair
- 1: Solution came from RAIM repair
- 3:
desc: RAIM availability flag
values:
- 0: RAIM check was explicitly disabled or unavailable
- 1: RAIM check was available
- 0-2:
desc: Fix mode
values:
- 0: Float RTK
- 1: Fixed RTK
- MSG_BASELINE_NED:
id: 0x0203
short_desc: 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 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).
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 accuracy estimate (not
implemented). Defaults to 0.
- v_accuracy:
type: u16
units: mm
desc: |
Vertical position accuracy estimate (not
implemented). Defaults to 0.
- n_sats:
type: u8
desc: Number of satellites used in solution
- flags:
type: u8
desc: Status flags
fields:
- 5-7:
desc: Reserved
- 4:
desc: RAIM repair flag
values:
- 0: No repair
- 1: Solution came from RAIM repair
- 3:
desc: RAIM availability flag
values:
- 0: RAIM check was explicitly disabled or unavailable
- 1: RAIM check was available
- 0-2:
desc: Fix mode
values:
- 0: Float RTK
- 1: Fixed RTK
- MSG_VEL_ECEF:
id: 0x0204
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).
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 accuracy estimate (not implemented). Defaults
to 0.
- n_sats:
type: u8
desc: Number of satellites used in solution
- flags:
type: u8
desc: Status flags (reserved)
- MSG_VEL_NED:
id: 0x0205
short_desc: Velocity in NED
desc: |
This message reports the velocity in local North East Down (NED)
coordinates. The full GPS time is given by the preceding
MSG_GPS_TIME with the matching time-of-week (tow).
fields:
- tow:
type: u32
units: ms
desc: GPS Time of Week
- n:
type: s32
units: mm/s
desc: Velocity North coordinate
- e:
type: s32
units: mm/s
desc: Velocity East coordinate
- d:
type: s32
units: mm/s
desc: Velocity Down coordinate
- h_accuracy:
type: u16
units: mm/s
desc: |
Horizontal velocity accuracy estimate (not
implemented). Defaults to 0.
- v_accuracy:
type: u16
units: mm/s
desc: |
Vertical velocity accuracy estimate (not
implemented). Defaults to 0.
- n_sats:
type: u8
desc: Number of satellites used in solution
- flags:
type: u8
desc: Status flags (reserved)