Copyright | Copyright (C) 2015-2018 Swift Navigation Inc. |
---|---|
License | LGPL-3 |
Maintainer | Swift Navigation <dev@swiftnav.com> |
Stability | experimental |
Portability | portable |
Safe Haskell | None |
Language | Haskell2010 |
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.
- msgGpsTime :: Word16
- data MsgGpsTime = MsgGpsTime {}
- msgGpsTime_wn :: Lens' MsgGpsTime Word16
- msgGpsTime_tow :: Lens' MsgGpsTime Word32
- msgGpsTime_ns_residual :: Lens' MsgGpsTime Int32
- msgGpsTime_flags :: Lens' MsgGpsTime Word8
- msgUtcTime :: Word16
- data MsgUtcTime = MsgUtcTime {}
- msgUtcTime_year :: Lens' MsgUtcTime Word16
- msgUtcTime_tow :: Lens' MsgUtcTime Word32
- msgUtcTime_seconds :: Lens' MsgUtcTime Word8
- msgUtcTime_ns :: Lens' MsgUtcTime Word32
- msgUtcTime_month :: Lens' MsgUtcTime Word8
- msgUtcTime_minutes :: Lens' MsgUtcTime Word8
- msgUtcTime_hours :: Lens' MsgUtcTime Word8
- msgUtcTime_flags :: Lens' MsgUtcTime Word8
- msgUtcTime_day :: Lens' MsgUtcTime Word8
- msgDops :: Word16
- data MsgDops = MsgDops {
- _msgDops_tow :: !Word32
- _msgDops_gdop :: !Word16
- _msgDops_pdop :: !Word16
- _msgDops_tdop :: !Word16
- _msgDops_hdop :: !Word16
- _msgDops_vdop :: !Word16
- _msgDops_flags :: !Word8
- msgDops_vdop :: Lens' MsgDops Word16
- msgDops_tow :: Lens' MsgDops Word32
- msgDops_tdop :: Lens' MsgDops Word16
- msgDops_pdop :: Lens' MsgDops Word16
- msgDops_hdop :: Lens' MsgDops Word16
- msgDops_gdop :: Lens' MsgDops Word16
- msgDops_flags :: Lens' MsgDops Word8
- msgPosEcef :: Word16
- data MsgPosEcef = MsgPosEcef {}
- msgPosEcef_z :: Lens' MsgPosEcef Double
- msgPosEcef_y :: Lens' MsgPosEcef Double
- msgPosEcef_x :: Lens' MsgPosEcef Double
- msgPosEcef_tow :: Lens' MsgPosEcef Word32
- msgPosEcef_n_sats :: Lens' MsgPosEcef Word8
- msgPosEcef_flags :: Lens' MsgPosEcef Word8
- msgPosEcef_accuracy :: Lens' MsgPosEcef Word16
- msgPosEcefCov :: Word16
- data MsgPosEcefCov = MsgPosEcefCov {
- _msgPosEcefCov_tow :: !Word32
- _msgPosEcefCov_x :: !Double
- _msgPosEcefCov_y :: !Double
- _msgPosEcefCov_z :: !Double
- _msgPosEcefCov_cov_x_x :: !Float
- _msgPosEcefCov_cov_x_y :: !Float
- _msgPosEcefCov_cov_x_z :: !Float
- _msgPosEcefCov_cov_y_y :: !Float
- _msgPosEcefCov_cov_y_z :: !Float
- _msgPosEcefCov_cov_z_z :: !Float
- _msgPosEcefCov_n_sats :: !Word8
- _msgPosEcefCov_flags :: !Word8
- msgPosEcefCov_z :: Lens' MsgPosEcefCov Double
- msgPosEcefCov_y :: Lens' MsgPosEcefCov Double
- msgPosEcefCov_x :: Lens' MsgPosEcefCov Double
- msgPosEcefCov_tow :: Lens' MsgPosEcefCov Word32
- msgPosEcefCov_n_sats :: Lens' MsgPosEcefCov Word8
- msgPosEcefCov_flags :: Lens' MsgPosEcefCov Word8
- msgPosEcefCov_cov_z_z :: Lens' MsgPosEcefCov Float
- msgPosEcefCov_cov_y_z :: Lens' MsgPosEcefCov Float
- msgPosEcefCov_cov_y_y :: Lens' MsgPosEcefCov Float
- msgPosEcefCov_cov_x_z :: Lens' MsgPosEcefCov Float
- msgPosEcefCov_cov_x_y :: Lens' MsgPosEcefCov Float
- msgPosEcefCov_cov_x_x :: Lens' MsgPosEcefCov Float
- msgPosLlh :: Word16
- data MsgPosLlh = MsgPosLlh {}
- msgPosLlh_v_accuracy :: Lens' MsgPosLlh Word16
- msgPosLlh_tow :: Lens' MsgPosLlh Word32
- msgPosLlh_n_sats :: Lens' MsgPosLlh Word8
- msgPosLlh_lon :: Lens' MsgPosLlh Double
- msgPosLlh_lat :: Lens' MsgPosLlh Double
- msgPosLlh_height :: Lens' MsgPosLlh Double
- msgPosLlh_h_accuracy :: Lens' MsgPosLlh Word16
- msgPosLlh_flags :: Lens' MsgPosLlh Word8
- msgPosLlhCov :: Word16
- data MsgPosLlhCov = MsgPosLlhCov {
- _msgPosLlhCov_tow :: !Word32
- _msgPosLlhCov_lat :: !Double
- _msgPosLlhCov_lon :: !Double
- _msgPosLlhCov_height :: !Double
- _msgPosLlhCov_cov_n_n :: !Float
- _msgPosLlhCov_cov_n_e :: !Float
- _msgPosLlhCov_cov_n_d :: !Float
- _msgPosLlhCov_cov_e_e :: !Float
- _msgPosLlhCov_cov_e_d :: !Float
- _msgPosLlhCov_cov_d_d :: !Float
- _msgPosLlhCov_n_sats :: !Word8
- _msgPosLlhCov_flags :: !Word8
- msgPosLlhCov_tow :: Lens' MsgPosLlhCov Word32
- msgPosLlhCov_n_sats :: Lens' MsgPosLlhCov Word8
- msgPosLlhCov_lon :: Lens' MsgPosLlhCov Double
- msgPosLlhCov_lat :: Lens' MsgPosLlhCov Double
- msgPosLlhCov_height :: Lens' MsgPosLlhCov Double
- msgPosLlhCov_flags :: Lens' MsgPosLlhCov Word8
- msgPosLlhCov_cov_n_n :: Lens' MsgPosLlhCov Float
- msgPosLlhCov_cov_n_e :: Lens' MsgPosLlhCov Float
- msgPosLlhCov_cov_n_d :: Lens' MsgPosLlhCov Float
- msgPosLlhCov_cov_e_e :: Lens' MsgPosLlhCov Float
- msgPosLlhCov_cov_e_d :: Lens' MsgPosLlhCov Float
- msgPosLlhCov_cov_d_d :: Lens' MsgPosLlhCov Float
- msgBaselineEcef :: Word16
- data MsgBaselineEcef = MsgBaselineEcef {}
- msgBaselineEcef_z :: Lens' MsgBaselineEcef Int32
- msgBaselineEcef_y :: Lens' MsgBaselineEcef Int32
- msgBaselineEcef_x :: Lens' MsgBaselineEcef Int32
- msgBaselineEcef_tow :: Lens' MsgBaselineEcef Word32
- msgBaselineEcef_n_sats :: Lens' MsgBaselineEcef Word8
- msgBaselineEcef_flags :: Lens' MsgBaselineEcef Word8
- msgBaselineEcef_accuracy :: Lens' MsgBaselineEcef Word16
- msgBaselineNed :: Word16
- data MsgBaselineNed = MsgBaselineNed {}
- msgBaselineNed_v_accuracy :: Lens' MsgBaselineNed Word16
- msgBaselineNed_tow :: Lens' MsgBaselineNed Word32
- msgBaselineNed_n_sats :: Lens' MsgBaselineNed Word8
- msgBaselineNed_n :: Lens' MsgBaselineNed Int32
- msgBaselineNed_h_accuracy :: Lens' MsgBaselineNed Word16
- msgBaselineNed_flags :: Lens' MsgBaselineNed Word8
- msgBaselineNed_e :: Lens' MsgBaselineNed Int32
- msgBaselineNed_d :: Lens' MsgBaselineNed Int32
- msgVelEcef :: Word16
- data MsgVelEcef = MsgVelEcef {}
- msgVelEcef_z :: Lens' MsgVelEcef Int32
- msgVelEcef_y :: Lens' MsgVelEcef Int32
- msgVelEcef_x :: Lens' MsgVelEcef Int32
- msgVelEcef_tow :: Lens' MsgVelEcef Word32
- msgVelEcef_n_sats :: Lens' MsgVelEcef Word8
- msgVelEcef_flags :: Lens' MsgVelEcef Word8
- msgVelEcef_accuracy :: Lens' MsgVelEcef Word16
- msgVelEcefCov :: Word16
- data MsgVelEcefCov = MsgVelEcefCov {
- _msgVelEcefCov_tow :: !Word32
- _msgVelEcefCov_x :: !Int32
- _msgVelEcefCov_y :: !Int32
- _msgVelEcefCov_z :: !Int32
- _msgVelEcefCov_cov_x_x :: !Float
- _msgVelEcefCov_cov_x_y :: !Float
- _msgVelEcefCov_cov_x_z :: !Float
- _msgVelEcefCov_cov_y_y :: !Float
- _msgVelEcefCov_cov_y_z :: !Float
- _msgVelEcefCov_cov_z_z :: !Float
- _msgVelEcefCov_n_sats :: !Word8
- _msgVelEcefCov_flags :: !Word8
- msgVelEcefCov_z :: Lens' MsgVelEcefCov Int32
- msgVelEcefCov_y :: Lens' MsgVelEcefCov Int32
- msgVelEcefCov_x :: Lens' MsgVelEcefCov Int32
- msgVelEcefCov_tow :: Lens' MsgVelEcefCov Word32
- msgVelEcefCov_n_sats :: Lens' MsgVelEcefCov Word8
- msgVelEcefCov_flags :: Lens' MsgVelEcefCov Word8
- msgVelEcefCov_cov_z_z :: Lens' MsgVelEcefCov Float
- msgVelEcefCov_cov_y_z :: Lens' MsgVelEcefCov Float
- msgVelEcefCov_cov_y_y :: Lens' MsgVelEcefCov Float
- msgVelEcefCov_cov_x_z :: Lens' MsgVelEcefCov Float
- msgVelEcefCov_cov_x_y :: Lens' MsgVelEcefCov Float
- msgVelEcefCov_cov_x_x :: Lens' MsgVelEcefCov Float
- msgVelNed :: Word16
- data MsgVelNed = MsgVelNed {}
- msgVelNed_v_accuracy :: Lens' MsgVelNed Word16
- msgVelNed_tow :: Lens' MsgVelNed Word32
- msgVelNed_n_sats :: Lens' MsgVelNed Word8
- msgVelNed_n :: Lens' MsgVelNed Int32
- msgVelNed_h_accuracy :: Lens' MsgVelNed Word16
- msgVelNed_flags :: Lens' MsgVelNed Word8
- msgVelNed_e :: Lens' MsgVelNed Int32
- msgVelNed_d :: Lens' MsgVelNed Int32
- msgVelNedCov :: Word16
- data MsgVelNedCov = MsgVelNedCov {
- _msgVelNedCov_tow :: !Word32
- _msgVelNedCov_n :: !Int32
- _msgVelNedCov_e :: !Int32
- _msgVelNedCov_d :: !Int32
- _msgVelNedCov_cov_n_n :: !Float
- _msgVelNedCov_cov_n_e :: !Float
- _msgVelNedCov_cov_n_d :: !Float
- _msgVelNedCov_cov_e_e :: !Float
- _msgVelNedCov_cov_e_d :: !Float
- _msgVelNedCov_cov_d_d :: !Float
- _msgVelNedCov_n_sats :: !Word8
- _msgVelNedCov_flags :: !Word8
- msgVelNedCov_tow :: Lens' MsgVelNedCov Word32
- msgVelNedCov_n_sats :: Lens' MsgVelNedCov Word8
- msgVelNedCov_n :: Lens' MsgVelNedCov Int32
- msgVelNedCov_flags :: Lens' MsgVelNedCov Word8
- msgVelNedCov_e :: Lens' MsgVelNedCov Int32
- msgVelNedCov_d :: Lens' MsgVelNedCov Int32
- msgVelNedCov_cov_n_n :: Lens' MsgVelNedCov Float
- msgVelNedCov_cov_n_e :: Lens' MsgVelNedCov Float
- msgVelNedCov_cov_n_d :: Lens' MsgVelNedCov Float
- msgVelNedCov_cov_e_e :: Lens' MsgVelNedCov Float
- msgVelNedCov_cov_e_d :: Lens' MsgVelNedCov Float
- msgVelNedCov_cov_d_d :: Lens' MsgVelNedCov Float
- msgVelBody :: Word16
- data MsgVelBody = MsgVelBody {
- _msgVelBody_tow :: !Word32
- _msgVelBody_x :: !Int32
- _msgVelBody_y :: !Int32
- _msgVelBody_z :: !Int32
- _msgVelBody_cov_x_x :: !Float
- _msgVelBody_cov_x_y :: !Float
- _msgVelBody_cov_x_z :: !Float
- _msgVelBody_cov_y_y :: !Float
- _msgVelBody_cov_y_z :: !Float
- _msgVelBody_cov_z_z :: !Float
- _msgVelBody_n_sats :: !Word8
- _msgVelBody_flags :: !Word8
- msgVelBody_z :: Lens' MsgVelBody Int32
- msgVelBody_y :: Lens' MsgVelBody Int32
- msgVelBody_x :: Lens' MsgVelBody Int32
- msgVelBody_tow :: Lens' MsgVelBody Word32
- msgVelBody_n_sats :: Lens' MsgVelBody Word8
- msgVelBody_flags :: Lens' MsgVelBody Word8
- msgVelBody_cov_z_z :: Lens' MsgVelBody Float
- msgVelBody_cov_y_z :: Lens' MsgVelBody Float
- msgVelBody_cov_y_y :: Lens' MsgVelBody Float
- msgVelBody_cov_x_z :: Lens' MsgVelBody Float
- msgVelBody_cov_x_y :: Lens' MsgVelBody Float
- msgVelBody_cov_x_x :: Lens' MsgVelBody Float
- msgAgeCorrections :: Word16
- data MsgAgeCorrections = MsgAgeCorrections {}
- msgAgeCorrections_tow :: Lens' MsgAgeCorrections Word32
- msgAgeCorrections_age :: Lens' MsgAgeCorrections Word16
- msgGpsTimeDepA :: Word16
- data MsgGpsTimeDepA = MsgGpsTimeDepA {}
- msgGpsTimeDepA_wn :: Lens' MsgGpsTimeDepA Word16
- msgGpsTimeDepA_tow :: Lens' MsgGpsTimeDepA Word32
- msgGpsTimeDepA_ns_residual :: Lens' MsgGpsTimeDepA Int32
- msgGpsTimeDepA_flags :: Lens' MsgGpsTimeDepA Word8
- msgDopsDepA :: Word16
- data MsgDopsDepA = MsgDopsDepA {}
- msgDopsDepA_vdop :: Lens' MsgDopsDepA Word16
- msgDopsDepA_tow :: Lens' MsgDopsDepA Word32
- msgDopsDepA_tdop :: Lens' MsgDopsDepA Word16
- msgDopsDepA_pdop :: Lens' MsgDopsDepA Word16
- msgDopsDepA_hdop :: Lens' MsgDopsDepA Word16
- msgDopsDepA_gdop :: Lens' MsgDopsDepA Word16
- msgPosEcefDepA :: Word16
- data MsgPosEcefDepA = MsgPosEcefDepA {}
- msgPosEcefDepA_z :: Lens' MsgPosEcefDepA Double
- msgPosEcefDepA_y :: Lens' MsgPosEcefDepA Double
- msgPosEcefDepA_x :: Lens' MsgPosEcefDepA Double
- msgPosEcefDepA_tow :: Lens' MsgPosEcefDepA Word32
- msgPosEcefDepA_n_sats :: Lens' MsgPosEcefDepA Word8
- msgPosEcefDepA_flags :: Lens' MsgPosEcefDepA Word8
- msgPosEcefDepA_accuracy :: Lens' MsgPosEcefDepA Word16
- msgPosLlhDepA :: Word16
- data MsgPosLlhDepA = MsgPosLlhDepA {}
- msgPosLlhDepA_v_accuracy :: Lens' MsgPosLlhDepA Word16
- msgPosLlhDepA_tow :: Lens' MsgPosLlhDepA Word32
- msgPosLlhDepA_n_sats :: Lens' MsgPosLlhDepA Word8
- msgPosLlhDepA_lon :: Lens' MsgPosLlhDepA Double
- msgPosLlhDepA_lat :: Lens' MsgPosLlhDepA Double
- msgPosLlhDepA_height :: Lens' MsgPosLlhDepA Double
- msgPosLlhDepA_h_accuracy :: Lens' MsgPosLlhDepA Word16
- msgPosLlhDepA_flags :: Lens' MsgPosLlhDepA Word8
- msgBaselineEcefDepA :: Word16
- data MsgBaselineEcefDepA = MsgBaselineEcefDepA {}
- msgBaselineEcefDepA_z :: Lens' MsgBaselineEcefDepA Int32
- msgBaselineEcefDepA_y :: Lens' MsgBaselineEcefDepA Int32
- msgBaselineEcefDepA_x :: Lens' MsgBaselineEcefDepA Int32
- msgBaselineEcefDepA_tow :: Lens' MsgBaselineEcefDepA Word32
- msgBaselineEcefDepA_n_sats :: Lens' MsgBaselineEcefDepA Word8
- msgBaselineEcefDepA_flags :: Lens' MsgBaselineEcefDepA Word8
- msgBaselineEcefDepA_accuracy :: Lens' MsgBaselineEcefDepA Word16
- msgBaselineNedDepA :: Word16
- data MsgBaselineNedDepA = MsgBaselineNedDepA {}
- msgBaselineNedDepA_v_accuracy :: Lens' MsgBaselineNedDepA Word16
- msgBaselineNedDepA_tow :: Lens' MsgBaselineNedDepA Word32
- msgBaselineNedDepA_n_sats :: Lens' MsgBaselineNedDepA Word8
- msgBaselineNedDepA_n :: Lens' MsgBaselineNedDepA Int32
- msgBaselineNedDepA_h_accuracy :: Lens' MsgBaselineNedDepA Word16
- msgBaselineNedDepA_flags :: Lens' MsgBaselineNedDepA Word8
- msgBaselineNedDepA_e :: Lens' MsgBaselineNedDepA Int32
- msgBaselineNedDepA_d :: Lens' MsgBaselineNedDepA Int32
- msgVelEcefDepA :: Word16
- data MsgVelEcefDepA = MsgVelEcefDepA {}
- msgVelEcefDepA_z :: Lens' MsgVelEcefDepA Int32
- msgVelEcefDepA_y :: Lens' MsgVelEcefDepA Int32
- msgVelEcefDepA_x :: Lens' MsgVelEcefDepA Int32
- msgVelEcefDepA_tow :: Lens' MsgVelEcefDepA Word32
- msgVelEcefDepA_n_sats :: Lens' MsgVelEcefDepA Word8
- msgVelEcefDepA_flags :: Lens' MsgVelEcefDepA Word8
- msgVelEcefDepA_accuracy :: Lens' MsgVelEcefDepA Word16
- msgVelNedDepA :: Word16
- data MsgVelNedDepA = MsgVelNedDepA {}
- msgVelNedDepA_v_accuracy :: Lens' MsgVelNedDepA Word16
- msgVelNedDepA_tow :: Lens' MsgVelNedDepA Word32
- msgVelNedDepA_n_sats :: Lens' MsgVelNedDepA Word8
- msgVelNedDepA_n :: Lens' MsgVelNedDepA Int32
- msgVelNedDepA_h_accuracy :: Lens' MsgVelNedDepA Word16
- msgVelNedDepA_flags :: Lens' MsgVelNedDepA Word8
- msgVelNedDepA_e :: Lens' MsgVelNedDepA Int32
- msgVelNedDepA_d :: Lens' MsgVelNedDepA Int32
- msgBaselineHeadingDepA :: Word16
- data MsgBaselineHeadingDepA = MsgBaselineHeadingDepA {}
- msgBaselineHeadingDepA_tow :: Lens' MsgBaselineHeadingDepA Word32
- msgBaselineHeadingDepA_n_sats :: Lens' MsgBaselineHeadingDepA Word8
- msgBaselineHeadingDepA_heading :: Lens' MsgBaselineHeadingDepA Word32
- msgBaselineHeadingDepA_flags :: Lens' MsgBaselineHeadingDepA Word8
Documentation
msgGpsTime :: Word16 Source #
data MsgGpsTime Source #
SBP class for message MSG_GPS_TIME (0x0102).
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.
MsgGpsTime | |
|
msgUtcTime :: Word16 Source #
data MsgUtcTime Source #
SBP class for message MSG_UTC_TIME (0x0103).
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.
MsgUtcTime | |
|
SBP class for message MSG_DOPS (0x0208).
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.
MsgDops | |
|
msgPosEcef :: Word16 Source #
data MsgPosEcef Source #
SBP class for message MSG_POS_ECEF (0x0209).
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).
MsgPosEcef | |
|
data MsgPosEcefCov Source #
SBP class for message MSG_POS_ECEF_COV (0x0214).
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).
MsgPosEcefCov | |
|
SBP class for message MSG_POS_LLH (0x020A).
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).
MsgPosLlh | |
|
data MsgPosLlhCov Source #
SBP class for message MSG_POS_LLH_COV (0x0211).
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 should follow the MSG_POS_LLH message. Since the covariance matrix is computed in the local-level North, East, Down frame, the covariance terms follow with that convention. Thus, covariances are reported against the "downward" measurement and care should be taken with the sign convention.
MsgPosLlhCov | |
|
data MsgBaselineEcef Source #
SBP class for message MSG_BASELINE_ECEF (0x020B).
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).
MsgBaselineEcef | |
|
data MsgBaselineNed Source #
SBP class for message MSG_BASELINE_NED (0x020C).
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).
MsgBaselineNed | |
|
msgVelEcef :: Word16 Source #
data MsgVelEcef Source #
SBP class for message MSG_VEL_ECEF (0x020D).
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).
MsgVelEcef | |
|
data MsgVelEcefCov Source #
SBP class for message MSG_VEL_ECEF_COV (0x0215).
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).
MsgVelEcefCov | |
|
SBP class for message MSG_VEL_NED (0x020E).
This message reports the velocity in local North East Down (NED) coordinates. The NED coordinate system is defined as the local WGS84 tangent plane centered at the current position. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow).
MsgVelNed | |
|
data MsgVelNedCov Source #
SBP class for message MSG_VEL_NED_COV (0x0212).
This message reports the velocity in local North East Down (NED) coordinates. The NED coordinate system is defined as the local WGS84 tangent plane centered at the current position. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow). This message is similar to the MSG_VEL_NED, but it includes the upper triangular portion of the 3x3 covariance matrix.
MsgVelNedCov | |
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msgVelBody :: Word16 Source #
data MsgVelBody Source #
SBP class for message MSG_VEL_BODY (0x0213).
This message reports the velocity in the Vehicle Body Frame. By convention, the x-axis should point out the nose of the vehicle and represent the forward direction, while as the y-axis should point out the right hand side of the vehicle. Since this is a right handed system, z should point out the bottom of the vehicle. The orientation and origin of the Vehicle Body Frame are specified via the device settings. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow).
MsgVelBody | |
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data MsgAgeCorrections Source #
SBP class for message MSG_AGE_CORRECTIONS (0x0210).
This message reports the Age of the corrections used for the current Differential solution
MsgAgeCorrections | |
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data MsgGpsTimeDepA Source #
SBP class for message MSG_GPS_TIME_DEP_A (0x0100).
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.
MsgGpsTimeDepA | |
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msgDopsDepA :: Word16 Source #
data MsgDopsDepA Source #
SBP class for message MSG_DOPS_DEP_A (0x0206).
This dilution of precision (DOP) message describes the effect of navigation satellite geometry on positional measurement precision.
MsgDopsDepA | |
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data MsgPosEcefDepA Source #
SBP class for message MSG_POS_ECEF_DEP_A (0x0200).
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).
MsgPosEcefDepA | |
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data MsgPosLlhDepA Source #
SBP class for message MSG_POS_LLH_DEP_A (0x0201).
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).
MsgPosLlhDepA | |
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data MsgBaselineEcefDepA Source #
SBP class for message MSG_BASELINE_ECEF_DEP_A (0x0202).
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).
MsgBaselineEcefDepA | |
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data MsgBaselineNedDepA Source #
SBP class for message MSG_BASELINE_NED_DEP_A (0x0203).
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).
MsgBaselineNedDepA | |
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data MsgVelEcefDepA Source #
SBP class for message MSG_VEL_ECEF_DEP_A (0x0204).
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).
MsgVelEcefDepA | |
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data MsgVelNedDepA Source #
SBP class for message MSG_VEL_NED_DEP_A (0x0205).
This message reports the velocity in local North East Down (NED) coordinates. The NED coordinate system is defined as the local WGS84 tangent plane centered at the current position. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow).
MsgVelNedDepA | |
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data MsgBaselineHeadingDepA Source #
SBP class for message MSG_BASELINE_HEADING_DEP_A (0x0207).
This message reports the baseline heading pointing from the base station to the rover relative to True North. The full GPS time is given by the preceding MSG_GPS_TIME with the matching time-of-week (tow).
MsgBaselineHeadingDepA | |
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