sbp.navigation module

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.

class sbp.navigation.MsgAgeCorrections(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_AGE_CORRECTIONS (0x0210).

You can have MSG_AGE_CORRECTIONS inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

This message reports the Age of the corrections used for the current

Differential solution

sbp

: SBP

SBP parent object to inherit from.

tow

: int

GPS Time of Week

age

: int

Age of the corrections (0xFFFF indicates invalid)

sender

: int

Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).

age

from_binary(d)

Given a binary payload d, update the appropriate payload fields of the message.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

tow

class sbp.navigation.MsgBaselineECEF(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_BASELINE_ECEF (0x020B).

You can have MSG_BASELINE_ECEF inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

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).

sbp

: SBP

SBP parent object to inherit from.

tow

: int

GPS Time of Week

x

: int

Baseline ECEF X coordinate

y

: int

Baseline ECEF Y coordinate

z

: int

Baseline ECEF Z coordinate

accuracy

: int

Position estimated standard deviation

n_sats

: int

Number of satellites used in solution

flags

: int

Status flags

sender

: int

Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).

accuracy

flags

from_binary(d)

Given a binary payload d, update the appropriate payload fields of the message.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

n_sats

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

tow

x

y

z

class sbp.navigation.MsgBaselineECEFDepA(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_BASELINE_ECEF_DEP_A (0x0202).

You can have MSG_BASELINE_ECEF_DEP_A inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

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).

sbp

: SBP

SBP parent object to inherit from.

tow

: int

GPS Time of Week

x

: int

Baseline ECEF X coordinate

y

: int

Baseline ECEF Y coordinate

z

: int

Baseline ECEF Z coordinate

accuracy

: int

Position accuracy estimate

n_sats

: int

Number of satellites used in solution

flags

: int

Status flags

sender

: int

Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).

accuracy

flags

from_binary(d)

Given a binary payload d, update the appropriate payload fields of the message.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

n_sats

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

tow

x

y

z

class sbp.navigation.MsgBaselineHeadingDepA(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_BASELINE_HEADING_DEP_A (0x0207).

You can have MSG_BASELINE_HEADING_DEP_A inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

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).

sbp

: SBP

SBP parent object to inherit from.

tow

: int

GPS Time of Week

heading

: int

Heading

n_sats

: int

Number of satellites used in solution

flags

: int

Status flags

sender

: int

Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).

flags

from_binary(d)

Given a binary payload d, update the appropriate payload fields of the message.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

heading

n_sats

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

tow

class sbp.navigation.MsgBaselineNED(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_BASELINE_NED (0x020C).

You can have MSG_BASELINE_NED inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

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).

sbp

: SBP

SBP parent object to inherit from.

tow

: int

GPS Time of Week

n

: int

Baseline North coordinate

e

: int

Baseline East coordinate

d

: int

Baseline Down coordinate

h_accuracy

: int

Horizontal position estimated standard deviation

v_accuracy

: int

Vertical position estimated standard deviation

n_sats

: int

Number of satellites used in solution

flags

: int

Status flags

sender

: int

Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).

d

e

flags

from_binary(d)

Given a binary payload d, update the appropriate payload fields of the message.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

h_accuracy

n

n_sats

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

tow

v_accuracy

class sbp.navigation.MsgBaselineNEDDepA(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_BASELINE_NED_DEP_A (0x0203).

You can have MSG_BASELINE_NED_DEP_A inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

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).

sbp

: SBP

SBP parent object to inherit from.

tow

: int

GPS Time of Week

n

: int

Baseline North coordinate

e

: int

Baseline East coordinate

d

: int

Baseline Down coordinate

h_accuracy

: int

Horizontal position accuracy estimate (not

implemented). Defaults to 0.

v_accuracy

: int

Vertical position accuracy estimate (not

implemented). Defaults to 0.

n_sats

: int

Number of satellites used in solution

flags

: int

Status flags

sender

: int

Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).

d

e

flags

from_binary(d)

Given a binary payload d, update the appropriate payload fields of the message.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

h_accuracy

n

n_sats

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

tow

v_accuracy

class sbp.navigation.MsgDops(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_DOPS (0x0208).

You can have MSG_DOPS inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

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.

sbp

: SBP

SBP parent object to inherit from.

tow

: int

GPS Time of Week

gdop

: int

Geometric Dilution of Precision

pdop

: int

Position Dilution of Precision

tdop

: int

Time Dilution of Precision

hdop

: int

Horizontal Dilution of Precision

vdop

: int

Vertical Dilution of Precision

flags

: int

Indicates the position solution with which the DOPS message corresponds

sender

: int

Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).

flags

from_binary(d)

Given a binary payload d, update the appropriate payload fields of the message.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

gdop

hdop

pdop

tdop

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

tow

vdop

class sbp.navigation.MsgDopsDepA(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_DOPS_DEP_A (0x0206).

You can have MSG_DOPS_DEP_A inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

This dilution of precision (DOP) message describes the effect of

navigation satellite geometry on positional measurement precision.

sbp

: SBP

SBP parent object to inherit from.

tow

: int

GPS Time of Week

gdop

: int

Geometric Dilution of Precision

pdop

: int

Position Dilution of Precision

tdop

: int

Time Dilution of Precision

hdop

: int

Horizontal Dilution of Precision

vdop

: int

Vertical Dilution of Precision

sender

: int

Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).

from_binary(d)

Given a binary payload d, update the appropriate payload fields of the message.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

gdop

hdop

pdop

tdop

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

tow

vdop

class sbp.navigation.MsgGPSTime(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_GPS_TIME (0x0102).

You can have MSG_GPS_TIME inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

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.

sbp

: SBP

SBP parent object to inherit from.

wn

: int

GPS week number

tow

: int

GPS time of week rounded to the nearest millisecond

ns_residual

: int

Nanosecond residual of millisecond-rounded TOW (ranges

from -500000 to 500000)

flags

: int

Status flags (reserved)

sender

: int

Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).

flags

from_binary(d)

Given a binary payload d, update the appropriate payload fields of the message.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

ns_residual

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

tow

wn

class sbp.navigation.MsgGPSTimeDepA(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_GPS_TIME_DEP_A (0x0100).

You can have MSG_GPS_TIME_DEP_A inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

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.

sbp

: SBP

SBP parent object to inherit from.

wn

: int

GPS week number

tow

: int

GPS time of week rounded to the nearest millisecond

ns_residual

: int

Nanosecond residual of millisecond-rounded TOW (ranges

from -500000 to 500000)

flags

: int

Status flags (reserved)

sender

: int

Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).

flags

from_binary(d)

Given a binary payload d, update the appropriate payload fields of the message.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

ns_residual

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

tow

wn

class sbp.navigation.MsgPosECEF(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_POS_ECEF (0x0209).

You can have MSG_POS_ECEF inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

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).

sbp

: SBP

SBP parent object to inherit from.

tow

: int

GPS Time of Week

x

: double

ECEF X coordinate

y

: double

ECEF Y coordinate

z

: double

ECEF Z coordinate

accuracy

: int

Position estimated standard deviation

n_sats

: int

Number of satellites used in solution

flags

: int

Status flags

sender

: int

Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).

accuracy

flags

from_binary(d)

Given a binary payload d, update the appropriate payload fields of the message.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

n_sats

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

tow

x

y

z

class sbp.navigation.MsgPosECEFCov(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_POS_ECEF_COV (0x0214).

You can have MSG_POS_ECEF_COV inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

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).

sbp

: SBP

SBP parent object to inherit from.

tow

: int

GPS Time of Week

x

: double

ECEF X coordinate

y

: double

ECEF Y coordinate

z

: double

ECEF Z coordinate

cov_x_x

: float

Estimated variance of x

cov_x_y

: float

Estimated covariance of x and y

cov_x_z

: float

Estimated covariance of x and z

cov_y_y

: float

Estimated variance of y

cov_y_z

: float

Estimated covariance of y and z

cov_z_z

: float

Estimated variance of z

n_sats

: int

Number of satellites used in solution

flags

: int

Status flags

sender

: int

Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).

cov_x_x

cov_x_y

cov_x_z

cov_y_y

cov_y_z

cov_z_z

flags

from_binary(d)

Given a binary payload d, update the appropriate payload fields of the message.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

n_sats

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

tow

x

y

z

class sbp.navigation.MsgPosECEFDepA(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_POS_ECEF_DEP_A (0x0200).

You can have MSG_POS_ECEF_DEP_A inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

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).

sbp

: SBP

SBP parent object to inherit from.

tow

: int

GPS Time of Week

x

: double

ECEF X coordinate

y

: double

ECEF Y coordinate

z

: double

ECEF Z coordinate

accuracy

: int

Position accuracy estimate (not implemented). Defaults

to 0.

n_sats

: int

Number of satellites used in solution

flags

: int

Status flags

sender

: int

Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).

accuracy

flags

from_binary(d)

Given a binary payload d, update the appropriate payload fields of the message.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

n_sats

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

tow

x

y

z

class sbp.navigation.MsgPosLLH(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_POS_LLH (0x020A).

You can have MSG_POS_LLH inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

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).

sbp

: SBP

SBP parent object to inherit from.

tow

: int

GPS Time of Week

lat

: double

Latitude

lon

: double

Longitude

height

: double

Height above WGS84 ellipsoid

h_accuracy

: int

Horizontal position estimated standard deviation

v_accuracy

: int

Vertical position estimated standard deviation

n_sats

: int

Number of satellites used in solution.

flags

: int

Status flags

sender

: int

Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).

flags

from_binary(d)

Given a binary payload d, update the appropriate payload fields of the message.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

h_accuracy

height

lat

lon

n_sats

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

tow

v_accuracy

class sbp.navigation.MsgPosLLHCov(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_POS_LLH_COV (0x0211).

You can have MSG_POS_LLH_COV inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

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.

sbp

: SBP

SBP parent object to inherit from.

tow

: int

GPS Time of Week

lat

: double

Latitude

lon

: double

Longitude

height

: double

Height above WGS84 ellipsoid

cov_n_n

: float

Estimated variance of northing

cov_n_e

: float

Covariance of northing and easting

cov_n_d

: float

Covariance of northing and downward measurement

cov_e_e

: float

Estimated variance of easting

cov_e_d

: float

Covariance of easting and downward measurement

cov_d_d

: float

Estimated variance of downward measurement

n_sats

: int

Number of satellites used in solution.

flags

: int

Status flags

sender

: int

Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).

cov_d_d

cov_e_d

cov_e_e

cov_n_d

cov_n_e

cov_n_n

flags

from_binary(d)

Given a binary payload d, update the appropriate payload fields of the message.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

height

lat

lon

n_sats

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

tow

class sbp.navigation.MsgPosLLHDepA(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_POS_LLH_DEP_A (0x0201).

You can have MSG_POS_LLH_DEP_A inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

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).

sbp

: SBP

SBP parent object to inherit from.

tow

: int

GPS Time of Week

lat

: double

Latitude

lon

: double

Longitude

height

: double

Height

h_accuracy

: int

Horizontal position accuracy estimate (not

implemented). Defaults to 0.

v_accuracy

: int

Vertical position accuracy estimate (not

implemented). Defaults to 0.

n_sats

: int

Number of satellites used in solution.

flags

: int

Status flags

sender

: int

Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).

flags

from_binary(d)

Given a binary payload d, update the appropriate payload fields of the message.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

h_accuracy

height

lat

lon

n_sats

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

tow

v_accuracy

class sbp.navigation.MsgUtcTime(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_UTC_TIME (0x0103).

You can have MSG_UTC_TIME inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

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.

sbp

: SBP

SBP parent object to inherit from.

flags

: int

Indicates source and time validity

tow

: int

GPS time of week rounded to the nearest millisecond

year

: int

Year

month

: int

Month (range 1 .. 12)

day

: int

days in the month (range 1-31)

hours

: int

hours of day (range 0-23)

minutes

: int

minutes of hour (range 0-59)

seconds

: int

seconds of minute (range 0-60) rounded down

ns

: int

nanoseconds of second (range 0-999999999)

sender

: int

Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).

day

flags

from_binary(d)

Given a binary payload d, update the appropriate payload fields of the message.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

hours

minutes

month

ns

seconds

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

tow

year

class sbp.navigation.MsgVelBody(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_VEL_BODY (0x0213).

You can have MSG_VEL_BODY inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

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.

sbp

: SBP

SBP parent object to inherit from.

tow

: int

GPS Time of Week

x

: int

Velocity in x direction

y

: int

Velocity in y direction

z

: int

Velocity in z direction

cov_x_x

: float

Estimated variance of x

cov_x_y

: float

Covariance of x and y

cov_x_z

: float

Covariance of x and z

cov_y_y

: float

Estimated variance of y

cov_y_z

: float

Covariance of y and z

cov_z_z

: float

Estimated variance of z

n_sats

: int

Number of satellites used in solution

flags

: int

Status flags

sender

: int

Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).

cov_x_x

cov_x_y

cov_x_z

cov_y_y

cov_y_z

cov_z_z

flags

from_binary(d)

Given a binary payload d, update the appropriate payload fields of the message.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

n_sats

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

tow

x

y

z

class sbp.navigation.MsgVelECEF(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_VEL_ECEF (0x020D).

You can have MSG_VEL_ECEF inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

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).

sbp

: SBP

SBP parent object to inherit from.

tow

: int

GPS Time of Week

x

: int

Velocity ECEF X coordinate

y

: int

Velocity ECEF Y coordinate

z

: int

Velocity ECEF Z coordinate

accuracy

: int

Velocity estimated standard deviation

n_sats

: int

Number of satellites used in solution

flags

: int

Status flags

sender

: int

Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).

accuracy

flags

from_binary(d)

Given a binary payload d, update the appropriate payload fields of the message.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

n_sats

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

tow

x

y

z

class sbp.navigation.MsgVelECEFCov(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_VEL_ECEF_COV (0x0215).

You can have MSG_VEL_ECEF_COV inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

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).

sbp

: SBP

SBP parent object to inherit from.

tow

: int

GPS Time of Week

x

: int

Velocity ECEF X coordinate

y

: int

Velocity ECEF Y coordinate

z

: int

Velocity ECEF Z coordinate

cov_x_x

: float

Estimated variance of x

cov_x_y

: float

Estimated covariance of x and y

cov_x_z

: float

Estimated covariance of x and z

cov_y_y

: float

Estimated variance of y

cov_y_z

: float

Estimated covariance of y and z

cov_z_z

: float

Estimated variance of z

n_sats

: int

Number of satellites used in solution

flags

: int

Status flags

sender

: int

Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).

cov_x_x

cov_x_y

cov_x_z

cov_y_y

cov_y_z

cov_z_z

flags

from_binary(d)

Given a binary payload d, update the appropriate payload fields of the message.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

n_sats

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

tow

x

y

z

class sbp.navigation.MsgVelECEFDepA(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_VEL_ECEF_DEP_A (0x0204).

You can have MSG_VEL_ECEF_DEP_A inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

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).

sbp

: SBP

SBP parent object to inherit from.

tow

: int

GPS Time of Week

x

: int

Velocity ECEF X coordinate

y

: int

Velocity ECEF Y coordinate

z

: int

Velocity ECEF Z coordinate

accuracy

: int

Velocity accuracy estimate (not implemented). Defaults

to 0.

n_sats

: int

Number of satellites used in solution

flags

: int

Status flags (reserved)

sender

: int

Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).

accuracy

flags

from_binary(d)

Given a binary payload d, update the appropriate payload fields of the message.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

n_sats

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

tow

x

y

z

class sbp.navigation.MsgVelNED(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_VEL_NED (0x020E).

You can have MSG_VEL_NED inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

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).

sbp

: SBP

SBP parent object to inherit from.

tow

: int

GPS Time of Week

n

: int

Velocity North coordinate

e

: int

Velocity East coordinate

d

: int

Velocity Down coordinate

h_accuracy

: int

Horizontal velocity estimated standard deviation

v_accuracy

: int

Vertical velocity estimated standard deviation

n_sats

: int

Number of satellites used in solution

flags

: int

Status flags

sender

: int

Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).

d

e

flags

from_binary(d)

Given a binary payload d, update the appropriate payload fields of the message.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

h_accuracy

n

n_sats

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

tow

v_accuracy

class sbp.navigation.MsgVelNEDCov(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_VEL_NED_COV (0x0212).

You can have MSG_VEL_NED_COV inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

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.

sbp

: SBP

SBP parent object to inherit from.

tow

: int

GPS Time of Week

n

: int

Velocity North coordinate

e

: int

Velocity East coordinate

d

: int

Velocity Down coordinate

cov_n_n

: float

Estimated variance of northward measurement

cov_n_e

: float

Covariance of northward and eastward measurement

cov_n_d

: float

Covariance of northward and downward measurement

cov_e_e

: float

Estimated variance of eastward measurement

cov_e_d

: float

Covariance of eastward and downward measurement

cov_d_d

: float

Estimated variance of downward measurement

n_sats

: int

Number of satellites used in solution

flags

: int

Status flags

sender

: int

Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).

cov_d_d

cov_e_d

cov_e_e

cov_n_d

cov_n_e

cov_n_n

d

e

flags

from_binary(d)

Given a binary payload d, update the appropriate payload fields of the message.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

n

n_sats

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

tow

class sbp.navigation.MsgVelNEDDepA(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_VEL_NED_DEP_A (0x0205).

You can have MSG_VEL_NED_DEP_A inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

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).

sbp

: SBP

SBP parent object to inherit from.

tow

: int

GPS Time of Week

n

: int

Velocity North coordinate

e

: int

Velocity East coordinate

d

: int

Velocity Down coordinate

h_accuracy

: int

Horizontal velocity accuracy estimate (not

implemented). Defaults to 0.

v_accuracy

: int

Vertical velocity accuracy estimate (not

implemented). Defaults to 0.

n_sats

: int

Number of satellites used in solution

flags

: int

Status flags (reserved)

sender

: int

Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).

d

e

flags

from_binary(d)

Given a binary payload d, update the appropriate payload fields of the message.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

h_accuracy

n

n_sats

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

tow

v_accuracy