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libsbp
v2.4.7
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libsbp
v2.4.7
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Data Structures | |
| struct | msg_gps_time_t |
| struct | msg_utc_time_t |
| struct | msg_dops_t |
| struct | msg_pos_ecef_t |
| struct | msg_pos_ecef_cov_t |
| struct | msg_pos_llh_t |
| struct | msg_pos_llh_cov_t |
| struct | msg_baseline_ecef_t |
| struct | msg_baseline_ned_t |
| struct | msg_vel_ecef_t |
| struct | msg_vel_ecef_cov_t |
| struct | msg_vel_ned_t |
| struct | msg_vel_ned_cov_t |
| struct | msg_vel_body_t |
| struct | msg_age_corrections_t |
| struct | msg_gps_time_dep_a_t |
| struct | msg_dops_dep_a_t |
| struct | msg_pos_ecef_dep_a_t |
| struct | msg_pos_llh_dep_a_t |
| struct | msg_baseline_ecef_dep_a_t |
| struct | msg_baseline_ned_dep_a_t |
| struct | msg_vel_ecef_dep_a_t |
| struct | msg_vel_ned_dep_a_t |
| struct | msg_baseline_heading_dep_a_t |
Macros | |
| #define | SBP_MSG_GPS_TIME 0x0102 |
| GPS Time. More... | |
| #define | SBP_MSG_UTC_TIME 0x0103 |
| UTC Time. More... | |
| #define | SBP_MSG_DOPS 0x0208 |
| Dilution of Precision. More... | |
| #define | SBP_MSG_POS_ECEF 0x0209 |
| Single-point position in ECEF. More... | |
| #define | SBP_MSG_POS_ECEF_COV 0x0214 |
| Single-point position in ECEF. More... | |
| #define | SBP_MSG_POS_LLH 0x020A |
| Geodetic Position. More... | |
| #define | SBP_MSG_POS_LLH_COV 0x0211 |
| Geodetic Position. More... | |
| #define | SBP_MSG_BASELINE_ECEF 0x020B |
| Baseline Position in ECEF. More... | |
| #define | SBP_MSG_BASELINE_NED 0x020C |
| Baseline in NED. More... | |
| #define | SBP_MSG_VEL_ECEF 0x020D |
| Velocity in ECEF. More... | |
| #define | SBP_MSG_VEL_ECEF_COV 0x0215 |
| Velocity in ECEF. More... | |
| #define | SBP_MSG_VEL_NED 0x020E |
| Velocity in NED. More... | |
| #define | SBP_MSG_VEL_NED_COV 0x0212 |
| Velocity in NED. More... | |
| #define | SBP_MSG_VEL_BODY 0x0213 |
| Velocity in User Frame. More... | |
| #define | SBP_MSG_AGE_CORRECTIONS 0x0210 |
| Age of corrections. More... | |
| #define | SBP_MSG_GPS_TIME_DEP_A 0x0100 |
| GPS Time (v1.0) More... | |
| #define | SBP_MSG_DOPS_DEP_A 0x0206 |
| Dilution of Precision. More... | |
| #define | SBP_MSG_POS_ECEF_DEP_A 0x0200 |
| Single-point position in ECEF. More... | |
| #define | SBP_MSG_POS_LLH_DEP_A 0x0201 |
| Geodetic Position. More... | |
| #define | SBP_MSG_BASELINE_ECEF_DEP_A 0x0202 |
| Baseline Position in ECEF. More... | |
| #define | SBP_MSG_BASELINE_NED_DEP_A 0x0203 |
| Baseline in NED. More... | |
| #define | SBP_MSG_VEL_ECEF_DEP_A 0x0204 |
| Velocity in ECEF. More... | |
| #define | SBP_MSG_VEL_NED_DEP_A 0x0205 |
| Velocity in NED. More... | |
| #define | SBP_MSG_BASELINE_HEADING_DEP_A 0x0207 |
| Heading relative to True North. More... | |
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.
| #define SBP_MSG_AGE_CORRECTIONS 0x0210 |
Age of corrections.
This message reports the Age of the corrections used for the current Differential solution
Definition at line 382 of file navigation.h.
| #define SBP_MSG_BASELINE_ECEF 0x020B |
Baseline Position in ECEF.
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).
Definition at line 225 of file navigation.h.
| #define SBP_MSG_BASELINE_ECEF_DEP_A 0x0202 |
Baseline Position in ECEF.
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).
Definition at line 494 of file navigation.h.
| #define SBP_MSG_BASELINE_HEADING_DEP_A 0x0207 |
Heading relative to True North.
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).
Definition at line 583 of file navigation.h.
| #define SBP_MSG_BASELINE_NED 0x020C |
Baseline in NED.
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).
Definition at line 246 of file navigation.h.
| #define SBP_MSG_BASELINE_NED_DEP_A 0x0203 |
Baseline in NED.
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).
Definition at line 516 of file navigation.h.
| #define SBP_MSG_DOPS 0x0208 |
Dilution of Precision.
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.
Definition at line 101 of file navigation.h.
| #define SBP_MSG_DOPS_DEP_A 0x0206 |
Dilution of Precision.
This dilution of precision (DOP) message describes the effect of navigation satellite geometry on positional measurement precision.
Definition at line 422 of file navigation.h.
| #define SBP_MSG_GPS_TIME 0x0102 |
GPS Time.
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.
Definition at line 64 of file navigation.h.
| #define SBP_MSG_GPS_TIME_DEP_A 0x0100 |
GPS Time (v1.0)
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.
Definition at line 405 of file navigation.h.
| #define SBP_MSG_POS_ECEF 0x0209 |
Single-point position in ECEF.
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).
Definition at line 124 of file navigation.h.
| #define SBP_MSG_POS_ECEF_COV 0x0214 |
Single-point position in ECEF.
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).
Definition at line 148 of file navigation.h.
| #define SBP_MSG_POS_ECEF_DEP_A 0x0200 |
Single-point position in ECEF.
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).
Definition at line 444 of file navigation.h.
| #define SBP_MSG_POS_LLH 0x020A |
Geodetic Position.
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).
Definition at line 176 of file navigation.h.
| #define SBP_MSG_POS_LLH_COV 0x0211 |
Geodetic Position.
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.
Definition at line 200 of file navigation.h.
| #define SBP_MSG_POS_LLH_DEP_A 0x0201 |
Geodetic Position.
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).
Definition at line 469 of file navigation.h.
| #define SBP_MSG_UTC_TIME 0x0103 |
UTC Time.
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.
Definition at line 80 of file navigation.h.
| #define SBP_MSG_VEL_BODY 0x0213 |
Velocity in User Frame.
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). This message is only produced by inertial versions of Swift products and is not available from Piksi Multi or Duro.
Definition at line 360 of file navigation.h.
| #define SBP_MSG_VEL_ECEF 0x020D |
Velocity in ECEF.
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).
Definition at line 265 of file navigation.h.
| #define SBP_MSG_VEL_ECEF_COV 0x0215 |
Velocity in ECEF.
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).
Definition at line 284 of file navigation.h.
| #define SBP_MSG_VEL_ECEF_DEP_A 0x0204 |
Velocity in ECEF.
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).
Definition at line 539 of file navigation.h.
| #define SBP_MSG_VEL_NED 0x020E |
Velocity in NED.
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).
Definition at line 308 of file navigation.h.
| #define SBP_MSG_VEL_NED_COV 0x0212 |
Velocity in NED.
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.
Definition at line 332 of file navigation.h.
| #define SBP_MSG_VEL_NED_DEP_A 0x0205 |
Velocity in NED.
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).
Definition at line 560 of file navigation.h.
1.8.9.1 
