sbp.observation module

Satellite observation messages from the device.

class sbp.observation.AlmanacCommonContent(payload=None, **kwargs)

Bases: object

AlmanacCommonContent.

sid

: GnssSignal

GNSS signal identifier

toa

: GPSTimeSec

Reference time of almanac

ura

: double

User Range Accuracy

fit_interval

: int

Curve fit interval

valid

: int

Status of almanac, 1 = valid, 0 = invalid

health_bits

: int

Satellite health status for GPS:

• bits 5-7: NAV data health status. See IS-GPS-200H Table 20-VII: NAV Data Health Indications.
• bits 0-4: Signal health status. See IS-GPS-200H Table 20-VIII. Codes for Health of SV Signal Components.

Satellite health status for GLO:

See GLO ICD 5.1 table 5.1 for details - bit 0: C(n), “unhealthy” flag that is transmitted within

non-immediate data and indicates overall constellation status at the moment of almanac uploading. ‘0’ indicates malfunction of n-satellite. ‘1’ indicates that n-satellite is operational.

• bit 1: Bn(ln), ‘0’ indicates the satellite is operational and suitable for navigation.

fit_interval

from_binary(d)

health_bits

sid

to_binary()

toa

ura

valid

class sbp.observation.AlmanacCommonContentDep(payload=None, **kwargs)

Bases: object

AlmanacCommonContentDep.

sid

: GnssSignalDep

GNSS signal identifier

toa

: GPSTimeSec

Reference time of almanac

ura

: double

User Range Accuracy

fit_interval

: int

Curve fit interval

valid

: int

Status of almanac, 1 = valid, 0 = invalid

health_bits

: int

Satellite health status for GPS:

• bits 5-7: NAV data health status. See IS-GPS-200H Table 20-VII: NAV Data Health Indications.
• bits 0-4: Signal health status. See IS-GPS-200H Table 20-VIII. Codes for Health of SV Signal Components.

Satellite health status for GLO:

See GLO ICD 5.1 table 5.1 for details - bit 0: C(n), “unhealthy” flag that is transmitted within

non-immediate data and indicates overall constellation status at the moment of almanac uploading. ‘0’ indicates malfunction of n-satellite. ‘1’ indicates that n-satellite is operational.

• bit 1: Bn(ln), ‘0’ indicates the satellite is operational and suitable for navigation.

fit_interval

from_binary(d)

health_bits

sid

to_binary()

toa

ura

valid

class sbp.observation.CarrierPhaseDepA(payload=None, **kwargs)

Bases: object

CarrierPhaseDepA.

Carrier phase measurement in cycles represented as a 40-bit

fixed point number with Q32.8 layout, i.e. 32-bits of whole cycles and 8-bits of fractional cycles. This has the opposite sign convention than a typical GPS receiver and the phase has the opposite sign as the pseudorange.

i

: int

Carrier phase whole cycles

f

: int

Carrier phase fractional part

f

from_binary(d)

i

to_binary()

class sbp.observation.Doppler(payload=None, **kwargs)

Bases: object

Doppler.

Doppler measurement in Hz represented as a 24-bit

fixed point number with Q16.8 layout, i.e. 16-bits of whole doppler and 8-bits of fractional doppler. This doppler is defined as positive for approaching satellites.

i

: int

Doppler whole Hz

f

: int

Doppler fractional part

f

from_binary(d)

i

to_binary()

class sbp.observation.EphemerisCommonContent(payload=None, **kwargs)

Bases: object

EphemerisCommonContent.

sid

: GnssSignal

GNSS signal identifier (16 bit)

toe

: GPSTimeSec

Time of Ephemerides

ura

: float

User Range Accuracy

fit_interval

: int

Curve fit interval

valid

: int

Status of ephemeris, 1 = valid, 0 = invalid

health_bits

: int

Satellite health status.

GPS: ICD-GPS-200, chapter 20.3.3.3.1.4 SBAS: 0 = valid, non-zero = invalid GLO: 0 = valid, non-zero = invalid

fit_interval

from_binary(d)

health_bits

sid

to_binary()

toe

ura

valid

class sbp.observation.EphemerisCommonContentDepA(payload=None, **kwargs)

Bases: object

EphemerisCommonContentDepA.

sid

: GnssSignalDep

GNSS signal identifier

toe

: GPSTimeDep

Time of Ephemerides

ura

: double

User Range Accuracy

fit_interval

: int

Curve fit interval

valid

: int

Status of ephemeris, 1 = valid, 0 = invalid

health_bits

: int

Satellite health status.

GPS: ICD-GPS-200, chapter 20.3.3.3.1.4 SBAS: 0 = valid, non-zero = invalid GLO: 0 = valid, non-zero = invalid

fit_interval

from_binary(d)

health_bits

sid

to_binary()

toe

ura

valid

class sbp.observation.EphemerisCommonContentDepB(payload=None, **kwargs)

Bases: object

EphemerisCommonContentDepB.

sid

: GnssSignal

GNSS signal identifier (16 bit)

toe

: GPSTimeSec

Time of Ephemerides

ura

: double

User Range Accuracy

fit_interval

: int

Curve fit interval

valid

: int

Status of ephemeris, 1 = valid, 0 = invalid

health_bits

: int

Satellite health status.

GPS: ICD-GPS-200, chapter 20.3.3.3.1.4 Others: 0 = valid, non-zero = invalid

fit_interval

from_binary(d)

health_bits

sid

to_binary()

toe

ura

valid

class sbp.observation.GnssCapb(payload=None, **kwargs)

Bases: object

GnssCapb.

gps_active

: int

GPS SV active mask

gps_l2c

: int

GPS L2C active mask

gps_l5

: int

GPS L5 active mask

glo_active

: int

GLO active mask

glo_l2of

: int

GLO L2OF active mask

glo_l3

: int

GLO L3 active mask

sbas_active

: int

SBAS active mask (PRNs 120..158, AN 7/62.2.2-18/18 Table B-23,

https://www.caat.or.th/wp-content/uploads/2018/03/SL-2018.18.E-1.pdf)

sbas_l5

: int

SBAS L5 active mask (PRNs 120..158, AN 7/62.2.2-18/18 Table B-23,

https://www.caat.or.th/wp-content/uploads/2018/03/SL-2018.18.E-1.pdf)

bds_active

: int

BDS active mask

bds_d2nav

: int

BDS D2NAV active mask

bds_b2

: int

BDS B2 active mask

bds_b2a

: int

BDS B2A active mask

qzss_active

: int

QZSS active mask

gal_active

: int

GAL active mask

gal_e5

: int

GAL E5 active mask

bds_active

bds_b2

bds_b2a

bds_d2nav

from_binary(d)

gal_active

gal_e5

glo_active

glo_l2of

glo_l3

gps_active

gps_l2c

gps_l5

qzss_active

sbas_active

sbas_l5

to_binary()

class sbp.observation.MsgAlmanacGPS(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_ALMANAC_GPS (0x0072).

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

The almanac message returns a set of satellite orbit parameters. Almanac

data is not very precise and is considered valid for up to several months. Please see the Navstar GPS Space Segment/Navigation user interfaces (ICD-GPS-200, Chapter 20.3.3.5.1.2 Almanac Data) for more details.

sbp

: SBP

SBP parent object to inherit from.

common

: AlmanacCommonContent

Values common for all almanac types

m0

: double

Mean anomaly at reference time

ecc

: double

Eccentricity of satellite orbit

sqrta

: double

Square root of the semi-major axis of orbit

omega0

: double

Longitude of ascending node of orbit plane at weekly epoch

omegadot

: double

Rate of right ascension

w

: double

Argument of perigee

inc

: double

Inclination

af0

: double

Polynomial clock correction coefficient (clock bias)

af1

: double

Polynomial clock correction coefficient (clock drift)

sender

: int

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

af0

af1

common

ecc

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)

inc

m0

omega0

omegadot

sqrta

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

w

class sbp.observation.MsgAlmanacGPSDep(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_ALMANAC_GPS_DEP (0x0070).

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

The almanac message returns a set of satellite orbit parameters. Almanac

data is not very precise and is considered valid for up to several months. Please see the Navstar GPS Space Segment/Navigation user interfaces (ICD-GPS-200, Chapter 20.3.3.5.1.2 Almanac Data) for more details.

sbp

: SBP

SBP parent object to inherit from.

common

: AlmanacCommonContentDep

Values common for all almanac types

m0

: double

Mean anomaly at reference time

ecc

: double

Eccentricity of satellite orbit

sqrta

: double

Square root of the semi-major axis of orbit

omega0

: double

Longitude of ascending node of orbit plane at weekly epoch

omegadot

: double

Rate of right ascension

w

: double

Argument of perigee

inc

: double

Inclination

af0

: double

Polynomial clock correction coefficient (clock bias)

af1

: double

Polynomial clock correction coefficient (clock drift)

sender

: int

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

af0

af1

common

ecc

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)

inc

m0

omega0

omegadot

sqrta

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

w

class sbp.observation.MsgAlmanacGlo(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_ALMANAC_GLO (0x0073).

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

The almanac message returns a set of satellite orbit parameters. Almanac

data is not very precise and is considered valid for up to several months. Please see the GLO ICD 5.1 “Chapter 4.5 Non-immediate information and almanac” for details.

sbp

: SBP

SBP parent object to inherit from.

common

: AlmanacCommonContent

Values common for all almanac types

lambda_na

: double

Longitude of the first ascending node of the orbit in PZ-90.02

coordinate system

t_lambda_na

: double

Time of the first ascending node passage

i

: double

Value of inclination at instant of t_lambda

t

: double

Value of Draconian period at instant of t_lambda

t_dot

: double

Rate of change of the Draconian period

epsilon

: double

Eccentricity at instant of t_lambda

omega

: double

Argument of perigee at instant of t_lambda

sender

: int

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

common

epsilon

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)

i

lambda_na

omega

t

t_dot

t_lambda_na

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

class sbp.observation.MsgAlmanacGloDep(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_ALMANAC_GLO_DEP (0x0071).

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

The almanac message returns a set of satellite orbit parameters. Almanac

data is not very precise and is considered valid for up to several months. Please see the GLO ICD 5.1 “Chapter 4.5 Non-immediate information and almanac” for details.

sbp

: SBP

SBP parent object to inherit from.

common

: AlmanacCommonContentDep

Values common for all almanac types

lambda_na

: double

Longitude of the first ascending node of the orbit in PZ-90.02

coordinate system

t_lambda_na

: double

Time of the first ascending node passage

i

: double

Value of inclination at instant of t_lambda

t

: double

Value of Draconian period at instant of t_lambda

t_dot

: double

Rate of change of the Draconian period

epsilon

: double

Eccentricity at instant of t_lambda

omega

: double

Argument of perigee at instant of t_lambda

sender

: int

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

common

epsilon

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)

i

lambda_na

omega

t

t_dot

t_lambda_na

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

class sbp.observation.MsgBasePosECEF(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_BASE_POS_ECEF (0x0048).

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

The base station position message is the position reported by

the base station itself in absolute Earth Centered Earth Fixed coordinates. It is used for pseudo-absolute RTK positioning, and is required to be a high-accuracy surveyed location of the base station. Any error here will result in an error in the pseudo-absolute position output.

sbp

: SBP

SBP parent object to inherit from.

x

: double

ECEF X coodinate

y

: double

ECEF Y coordinate

z

: double

ECEF Z coordinate

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)

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

x

y

z

class sbp.observation.MsgBasePosLLH(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_BASE_POS_LLH (0x0044).

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

The base station position message is the position reported by

the base station itself. It is used for pseudo-absolute RTK positioning, and is required to be a high-accuracy surveyed location of the base station. Any error here will result in an error in the pseudo-absolute position output.

sbp

: SBP

SBP parent object to inherit from.

lat

: double

Latitude

lon

: double

Longitude

height

: double

Height

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)

height

lat

lon

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

class sbp.observation.MsgEphemerisBds(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_EPHEMERIS_BDS (0x0089).

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

The ephemeris message returns a set of satellite orbit

parameters that is used to calculate BDS satellite position, velocity, and clock offset. Please see the BeiDou Navigation Satellite System SIS-ICD Version 2.1, Table 5-9 for more details.

sbp

: SBP

SBP parent object to inherit from.

common

: EphemerisCommonContent

Values common for all ephemeris types

tgd1

: float

Group delay differential for B1

tgd2

: float

Group delay differential for B2

c_rs

: float

Amplitude of the sine harmonic correction term to the orbit radius

c_rc

: float

Amplitude of the cosine harmonic correction term to the orbit radius

c_uc

: float

Amplitude of the cosine harmonic correction term to the argument of latitude

c_us

: float

Amplitude of the sine harmonic correction term to the argument of latitude

c_ic

: float

Amplitude of the cosine harmonic correction term to the angle of inclination

c_is

: float

Amplitude of the sine harmonic correction term to the angle of inclination

dn

: double

Mean motion difference

m0

: double

Mean anomaly at reference time

ecc

: double

Eccentricity of satellite orbit

sqrta

: double

Square root of the semi-major axis of orbit

omega0

: double

Longitude of ascending node of orbit plane at weekly epoch

omegadot

: double

Rate of right ascension

w

: double

Argument of perigee

inc

: double

Inclination

inc_dot

: double

Inclination first derivative

af0

: double

Polynomial clock correction coefficient (clock bias)

af1

: float

Polynomial clock correction coefficient (clock drift)

af2

: float

Polynomial clock correction coefficient (rate of clock drift)

toc

: GPSTimeSec

Clock reference

iode

: int

Issue of ephemeris data

iodc

: int

Issue of clock data

sender

: int

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

af0

af1

af2

c_ic

c_is

c_rc

c_rs

c_uc

c_us

common

dn

ecc

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)

inc

inc_dot

iodc

iode

m0

omega0

omegadot

sqrta

tgd1

tgd2

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

toc

w

class sbp.observation.MsgEphemerisDepA(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_EPHEMERIS_DEP_A (0x001A).

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

Deprecated.

sbp

: SBP

SBP parent object to inherit from.

tgd

: double

Group delay differential between L1 and L2

c_rs

: double

Amplitude of the sine harmonic correction term to the orbit radius

c_rc

: double

Amplitude of the cosine harmonic correction term to the orbit radius

c_uc

: double

Amplitude of the cosine harmonic correction term to the argument of latitude

c_us

: double

Amplitude of the sine harmonic correction term to the argument of latitude

c_ic

: double

Amplitude of the cosine harmonic correction term to the angle of inclination

c_is

: double

Amplitude of the sine harmonic correction term to the angle of inclination

dn

: double

Mean motion difference

m0

: double

Mean anomaly at reference time

ecc

: double

Eccentricity of satellite orbit

sqrta

: double

Square root of the semi-major axis of orbit

omega0

: double

Longitude of ascending node of orbit plane at weekly epoch

omegadot

: double

Rate of right ascension

w

: double

Argument of perigee

inc

: double

Inclination

inc_dot

: double

Inclination first derivative

af0

: double

Polynomial clock correction coefficient (clock bias)

af1

: double

Polynomial clock correction coefficient (clock drift)

af2

: double

Polynomial clock correction coefficient (rate of clock drift)

toe_tow

: double

Time of week

toe_wn

: int

Week number

toc_tow

: double

Clock reference time of week

toc_wn

: int

Clock reference week number

valid

: int

Is valid?

healthy

: int

Satellite is healthy?

prn

: int

PRN being tracked

sender

: int

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

af0

af1

af2

c_ic

c_is

c_rc

c_rs

c_uc

c_us

dn

ecc

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)

healthy

inc

inc_dot

m0

omega0

omegadot

prn

sqrta

tgd

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

toc_tow

toc_wn

toe_tow

toe_wn

valid

w

class sbp.observation.MsgEphemerisDepB(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_EPHEMERIS_DEP_B (0x0046).

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

Deprecated.

sbp

: SBP

SBP parent object to inherit from.

tgd

: double

Group delay differential between L1 and L2

c_rs

: double

Amplitude of the sine harmonic correction term to the orbit radius

c_rc

: double

Amplitude of the cosine harmonic correction term to the orbit radius

c_uc

: double

Amplitude of the cosine harmonic correction term to the argument of latitude

c_us

: double

Amplitude of the sine harmonic correction term to the argument of latitude

c_ic

: double

Amplitude of the cosine harmonic correction term to the angle of inclination

c_is

: double

Amplitude of the sine harmonic correction term to the angle of inclination

dn

: double

Mean motion difference

m0

: double

Mean anomaly at reference time

ecc

: double

Eccentricity of satellite orbit

sqrta

: double

Square root of the semi-major axis of orbit

omega0

: double

Longitude of ascending node of orbit plane at weekly epoch

omegadot

: double

Rate of right ascension

w

: double

Argument of perigee

inc

: double

Inclination

inc_dot

: double

Inclination first derivative

af0

: double

Polynomial clock correction coefficient (clock bias)

af1

: double

Polynomial clock correction coefficient (clock drift)

af2

: double

Polynomial clock correction coefficient (rate of clock drift)

toe_tow

: double

Time of week

toe_wn

: int

Week number

toc_tow

: double

Clock reference time of week

toc_wn

: int

Clock reference week number

valid

: int

Is valid?

healthy

: int

Satellite is healthy?

prn

: int

PRN being tracked

iode

: int

Issue of ephemeris data

sender

: int

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

af0

af1

af2

c_ic

c_is

c_rc

c_rs

c_uc

c_us

dn

ecc

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)

healthy

inc

inc_dot

iode

m0

omega0

omegadot

prn

sqrta

tgd

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

toc_tow

toc_wn

toe_tow

toe_wn

valid

w

class sbp.observation.MsgEphemerisDepC(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_EPHEMERIS_DEP_C (0x0047).

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

The ephemeris message returns a set of satellite orbit

parameters that is used to calculate GPS satellite position, velocity, and clock offset. Please see the Navstar GPS Space Segment/Navigation user interfaces (ICD-GPS-200, Table 20-III) for more details.

sbp

: SBP

SBP parent object to inherit from.

tgd

: double

Group delay differential between L1 and L2

c_rs

: double

Amplitude of the sine harmonic correction term to the orbit radius

c_rc

: double

Amplitude of the cosine harmonic correction term to the orbit radius

c_uc

: double

Amplitude of the cosine harmonic correction term to the argument of latitude

c_us

: double

Amplitude of the sine harmonic correction term to the argument of latitude

c_ic

: double

Amplitude of the cosine harmonic correction term to the angle of inclination

c_is

: double

Amplitude of the sine harmonic correction term to the angle of inclination

dn

: double

Mean motion difference

m0

: double

Mean anomaly at reference time

ecc

: double

Eccentricity of satellite orbit

sqrta

: double

Square root of the semi-major axis of orbit

omega0

: double

Longitude of ascending node of orbit plane at weekly epoch

omegadot

: double

Rate of right ascension

w

: double

Argument of perigee

inc

: double

Inclination

inc_dot

: double

Inclination first derivative

af0

: double

Polynomial clock correction coefficient (clock bias)

af1

: double

Polynomial clock correction coefficient (clock drift)

af2

: double

Polynomial clock correction coefficient (rate of clock drift)

toe_tow

: double

Time of week

toe_wn

: int

Week number

toc_tow

: double

Clock reference time of week

toc_wn

: int

Clock reference week number

valid

: int

Is valid?

healthy

: int

Satellite is healthy?

sid

: GnssSignalDep

GNSS signal identifier

iode

: int

Issue of ephemeris data

iodc

: int

Issue of clock data

reserved

: int

Reserved field

sender

: int

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

af0

af1

af2

c_ic

c_is

c_rc

c_rs

c_uc

c_us

dn

ecc

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)

healthy

inc

inc_dot

iodc

iode

m0

omega0

omegadot

reserved

sid

sqrta

tgd

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

toc_tow

toc_wn

toe_tow

toe_wn

valid

w

class sbp.observation.MsgEphemerisDepD(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_EPHEMERIS_DEP_D (0x0080).

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

The ephemeris message returns a set of satellite orbit

parameters that is used to calculate GPS satellite position, velocity, and clock offset. Please see the Navstar GPS Space Segment/Navigation user interfaces (ICD-GPS-200, Table 20-III) for more details.

sbp

: SBP

SBP parent object to inherit from.

tgd

: double

Group delay differential between L1 and L2

c_rs

: double

Amplitude of the sine harmonic correction term to the orbit radius

c_rc

: double

Amplitude of the cosine harmonic correction term to the orbit radius

c_uc

: double

Amplitude of the cosine harmonic correction term to the argument of latitude

c_us

: double

Amplitude of the sine harmonic correction term to the argument of latitude

c_ic

: double

Amplitude of the cosine harmonic correction term to the angle of inclination

c_is

: double

Amplitude of the sine harmonic correction term to the angle of inclination

dn

: double

Mean motion difference

m0

: double

Mean anomaly at reference time

ecc

: double

Eccentricity of satellite orbit

sqrta

: double

Square root of the semi-major axis of orbit

omega0

: double

Longitude of ascending node of orbit plane at weekly epoch

omegadot

: double

Rate of right ascension

w

: double

Argument of perigee

inc

: double

Inclination

inc_dot

: double

Inclination first derivative

af0

: double

Polynomial clock correction coefficient (clock bias)

af1

: double

Polynomial clock correction coefficient (clock drift)

af2

: double

Polynomial clock correction coefficient (rate of clock drift)

toe_tow

: double

Time of week

toe_wn

: int

Week number

toc_tow

: double

Clock reference time of week

toc_wn

: int

Clock reference week number

valid

: int

Is valid?

healthy

: int

Satellite is healthy?

sid

: GnssSignalDep

GNSS signal identifier

iode

: int

Issue of ephemeris data

iodc

: int

Issue of clock data

reserved

: int

Reserved field

sender

: int

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

af0

af1

af2

c_ic

c_is

c_rc

c_rs

c_uc

c_us

dn

ecc

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)

healthy

inc

inc_dot

iodc

iode

m0

omega0

omegadot

reserved

sid

sqrta

tgd

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

toc_tow

toc_wn

toe_tow

toe_wn

valid

w

class sbp.observation.MsgEphemerisGPS(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_EPHEMERIS_GPS (0x008A).

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

The ephemeris message returns a set of satellite orbit

parameters that is used to calculate GPS satellite position, velocity, and clock offset. Please see the Navstar GPS Space Segment/Navigation user interfaces (ICD-GPS-200, Table 20-III) for more details.

sbp

: SBP

SBP parent object to inherit from.

common

: EphemerisCommonContent

Values common for all ephemeris types

tgd

: float

Group delay differential between L1 and L2

c_rs

: float

Amplitude of the sine harmonic correction term to the orbit radius

c_rc

: float

Amplitude of the cosine harmonic correction term to the orbit radius

c_uc

: float

Amplitude of the cosine harmonic correction term to the argument of latitude

c_us

: float

Amplitude of the sine harmonic correction term to the argument of latitude

c_ic

: float

Amplitude of the cosine harmonic correction term to the angle of inclination

c_is

: float

Amplitude of the sine harmonic correction term to the angle of inclination

dn

: double

Mean motion difference

m0

: double

Mean anomaly at reference time

ecc

: double

Eccentricity of satellite orbit

sqrta

: double

Square root of the semi-major axis of orbit

omega0

: double

Longitude of ascending node of orbit plane at weekly epoch

omegadot

: double

Rate of right ascension

w

: double

Argument of perigee

inc

: double

Inclination

inc_dot

: double

Inclination first derivative

af0

: float

Polynomial clock correction coefficient (clock bias)

af1

: float

Polynomial clock correction coefficient (clock drift)

af2

: float

Polynomial clock correction coefficient (rate of clock drift)

toc

: GPSTimeSec

Clock reference

iode

: int

Issue of ephemeris data

iodc

: int

Issue of clock data

sender

: int

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

af0

af1

af2

c_ic

c_is

c_rc

c_rs

c_uc

c_us

common

dn

ecc

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)

inc

inc_dot

iodc

iode

m0

omega0

omegadot

sqrta

tgd

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

toc

w

class sbp.observation.MsgEphemerisGPSDepE(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_EPHEMERIS_GPS_DEP_E (0x0081).

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

The ephemeris message returns a set of satellite orbit

parameters that is used to calculate GPS satellite position, velocity, and clock offset. Please see the Navstar GPS Space Segment/Navigation user interfaces (ICD-GPS-200, Table 20-III) for more details.

sbp

: SBP

SBP parent object to inherit from.

common

: EphemerisCommonContentDepA

Values common for all ephemeris types

tgd

: double

Group delay differential between L1 and L2

c_rs

: double

Amplitude of the sine harmonic correction term to the orbit radius

c_rc

: double

Amplitude of the cosine harmonic correction term to the orbit radius

c_uc

: double

Amplitude of the cosine harmonic correction term to the argument of latitude

c_us

: double

Amplitude of the sine harmonic correction term to the argument of latitude

c_ic

: double

Amplitude of the cosine harmonic correction term to the angle of inclination

c_is

: double

Amplitude of the sine harmonic correction term to the angle of inclination

dn

: double

Mean motion difference

m0

: double

Mean anomaly at reference time

ecc

: double

Eccentricity of satellite orbit

sqrta

: double

Square root of the semi-major axis of orbit

omega0

: double

Longitude of ascending node of orbit plane at weekly epoch

omegadot

: double

Rate of right ascension

w

: double

Argument of perigee

inc

: double

Inclination

inc_dot

: double

Inclination first derivative

af0

: double

Polynomial clock correction coefficient (clock bias)

af1

: double

Polynomial clock correction coefficient (clock drift)

af2

: double

Polynomial clock correction coefficient (rate of clock drift)

toc

: GPSTimeDep

Clock reference

iode

: int

Issue of ephemeris data

iodc

: int

Issue of clock data

sender

: int

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

af0

af1

af2

c_ic

c_is

c_rc

c_rs

c_uc

c_us

common

dn

ecc

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)

inc

inc_dot

iodc

iode

m0

omega0

omegadot

sqrta

tgd

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

toc

w

class sbp.observation.MsgEphemerisGPSDepF(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_EPHEMERIS_GPS_DEP_F (0x0086).

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

This observation message has been deprecated in favor of

ephemeris message using floats for size reduction.

sbp

: SBP

SBP parent object to inherit from.

common

: EphemerisCommonContentDepB

Values common for all ephemeris types

tgd

: double

Group delay differential between L1 and L2

c_rs

: double

Amplitude of the sine harmonic correction term to the orbit radius

c_rc

: double

Amplitude of the cosine harmonic correction term to the orbit radius

c_uc

: double

Amplitude of the cosine harmonic correction term to the argument of latitude

c_us

: double

Amplitude of the sine harmonic correction term to the argument of latitude

c_ic

: double

Amplitude of the cosine harmonic correction term to the angle of inclination

c_is

: double

Amplitude of the sine harmonic correction term to the angle of inclination

dn

: double

Mean motion difference

m0

: double

Mean anomaly at reference time

ecc

: double

Eccentricity of satellite orbit

sqrta

: double

Square root of the semi-major axis of orbit

omega0

: double

Longitude of ascending node of orbit plane at weekly epoch

omegadot

: double

Rate of right ascension

w

: double

Argument of perigee

inc

: double

Inclination

inc_dot

: double

Inclination first derivative

af0

: double

Polynomial clock correction coefficient (clock bias)

af1

: double

Polynomial clock correction coefficient (clock drift)

af2

: double

Polynomial clock correction coefficient (rate of clock drift)

toc

: GPSTimeSec

Clock reference

iode

: int

Issue of ephemeris data

iodc

: int

Issue of clock data

sender

: int

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

af0

af1

af2

c_ic

c_is

c_rc

c_rs

c_uc

c_us

common

dn

ecc

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)

inc

inc_dot

iodc

iode

m0

omega0

omegadot

sqrta

tgd

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

toc

w

class sbp.observation.MsgEphemerisGal(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_EPHEMERIS_GAL (0x0095).

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

The ephemeris message returns a set of satellite orbit

parameters that is used to calculate Galileo satellite position, velocity, and clock offset. Please see the Signal In Space ICD OS SIS ICD, Issue 1.3, December 2016 for more details.

sbp

: SBP

SBP parent object to inherit from.

common

: EphemerisCommonContent

Values common for all ephemeris types

bgd_e1e5a

: float

E1-E5a Broadcast Group Delay

bgd_e1e5b

: float

E1-E5b Broadcast Group Delay

c_rs

: float

Amplitude of the sine harmonic correction term to the orbit radius

c_rc

: float

Amplitude of the cosine harmonic correction term to the orbit radius

c_uc

: float

Amplitude of the cosine harmonic correction term to the argument of latitude

c_us

: float

Amplitude of the sine harmonic correction term to the argument of latitude

c_ic

: float

Amplitude of the cosine harmonic correction term to the angle of inclination

c_is

: float

Amplitude of the sine harmonic correction term to the angle of inclination

dn

: double

Mean motion difference

m0

: double

Mean anomaly at reference time

ecc

: double

Eccentricity of satellite orbit

sqrta

: double

Square root of the semi-major axis of orbit

omega0

: double

Longitude of ascending node of orbit plane at weekly epoch

omegadot

: double

Rate of right ascension

w

: double

Argument of perigee

inc

: double

Inclination

inc_dot

: double

Inclination first derivative

af0

: double

Polynomial clock correction coefficient (clock bias)

af1

: double

Polynomial clock correction coefficient (clock drift)

af2

: float

Polynomial clock correction coefficient (rate of clock drift)

toc

: GPSTimeSec

Clock reference

iode

: int

Issue of ephemeris data

iodc

: int

Issue of clock data

sender

: int

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

af0

af1

af2

bgd_e1e5a

bgd_e1e5b

c_ic

c_is

c_rc

c_rs

c_uc

c_us

common

dn

ecc

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)

inc

inc_dot

iodc

iode

m0

omega0

omegadot

sqrta

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

toc

w

class sbp.observation.MsgEphemerisGlo(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_EPHEMERIS_GLO (0x008B).

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

The ephemeris message returns a set of satellite orbit

parameters that is used to calculate GLO satellite position, velocity, and clock offset. Please see the GLO ICD 5.1 “Table 4.5 Characteristics of words of immediate information (ephemeris parameters)” for more details.

sbp

: SBP

SBP parent object to inherit from.

common

: EphemerisCommonContent

Values common for all ephemeris types

gamma

: float

Relative deviation of predicted carrier frequency from nominal

tau

: float

Correction to the SV time

d_tau

: float

Equipment delay between L1 and L2

pos

: array

Position of the SV at tb in PZ-90.02 coordinates system

vel

: array

Velocity vector of the SV at tb in PZ-90.02 coordinates system

acc

: array

Acceleration vector of the SV at tb in PZ-90.02 coordinates sys

fcn

: int

Frequency slot. FCN+8 (that is [1..14]). 0 or 0xFF for invalid

iod

: int

Issue of ephemeris data

sender

: int

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

acc

common

d_tau

fcn

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)

gamma

iod

pos

tau

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

vel

class sbp.observation.MsgEphemerisGloDepA(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_EPHEMERIS_GLO_DEP_A (0x0083).

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

The ephemeris message returns a set of satellite orbit

parameters that is used to calculate GLO satellite position, velocity, and clock offset. Please see the GLO ICD 5.1 “Table 4.5 Characteristics of words of immediate information (ephemeris parameters)” for more details.

sbp

: SBP

SBP parent object to inherit from.

common

: EphemerisCommonContentDepA

Values common for all ephemeris types

gamma

: double

Relative deviation of predicted carrier frequency from nominal

tau

: double

Correction to the SV time

pos

: array

Position of the SV at tb in PZ-90.02 coordinates system

vel

: array

Velocity vector of the SV at tb in PZ-90.02 coordinates system

acc

: array

Acceleration vector of the SV at tb in PZ-90.02 coordinates sys

sender

: int

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

acc

common

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)

gamma

pos

tau

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

vel

class sbp.observation.MsgEphemerisGloDepB(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_EPHEMERIS_GLO_DEP_B (0x0085).

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

The ephemeris message returns a set of satellite orbit

parameters that is used to calculate GLO satellite position, velocity, and clock offset. Please see the GLO ICD 5.1 “Table 4.5 Characteristics of words of immediate information (ephemeris parameters)” for more details.

sbp

: SBP

SBP parent object to inherit from.

common

: EphemerisCommonContentDepB

Values common for all ephemeris types

gamma

: double

Relative deviation of predicted carrier frequency from nominal

tau

: double

Correction to the SV time

pos

: array

Position of the SV at tb in PZ-90.02 coordinates system

vel

: array

Velocity vector of the SV at tb in PZ-90.02 coordinates system

acc

: array

Acceleration vector of the SV at tb in PZ-90.02 coordinates sys

sender

: int

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

acc

common

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)

gamma

pos

tau

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

vel

class sbp.observation.MsgEphemerisGloDepC(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_EPHEMERIS_GLO_DEP_C (0x0087).

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

The ephemeris message returns a set of satellite orbit

parameters that is used to calculate GLO satellite position, velocity, and clock offset. Please see the GLO ICD 5.1 “Table 4.5 Characteristics of words of immediate information (ephemeris parameters)” for more details.

sbp

: SBP

SBP parent object to inherit from.

common

: EphemerisCommonContentDepB

Values common for all ephemeris types

gamma

: double

Relative deviation of predicted carrier frequency from nominal

tau

: double

Correction to the SV time

d_tau

: double

Equipment delay between L1 and L2

pos

: array

Position of the SV at tb in PZ-90.02 coordinates system

vel

: array

Velocity vector of the SV at tb in PZ-90.02 coordinates system

acc

: array

Acceleration vector of the SV at tb in PZ-90.02 coordinates sys

fcn

: int

Frequency slot. FCN+8 (that is [1..14]). 0 or 0xFF for invalid

sender

: int

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

acc

common

d_tau

fcn

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)

gamma

pos

tau

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

vel

class sbp.observation.MsgEphemerisGloDepD(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_EPHEMERIS_GLO_DEP_D (0x0088).

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

This observation message has been deprecated in favor of

ephemeris message using floats for size reduction.

sbp

: SBP

SBP parent object to inherit from.

common

: EphemerisCommonContentDepB

Values common for all ephemeris types

gamma

: double

Relative deviation of predicted carrier frequency from nominal

tau

: double

Correction to the SV time

d_tau

: double

Equipment delay between L1 and L2

pos

: array

Position of the SV at tb in PZ-90.02 coordinates system

vel

: array

Velocity vector of the SV at tb in PZ-90.02 coordinates system

acc

: array

Acceleration vector of the SV at tb in PZ-90.02 coordinates sys

fcn

: int

Frequency slot. FCN+8 (that is [1..14]). 0 or 0xFF for invalid

iod

: int

Issue of ephemeris data

sender

: int

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

acc

common

d_tau

fcn

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)

gamma

iod

pos

tau

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

vel

class sbp.observation.MsgEphemerisSbas(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_EPHEMERIS_SBAS (0x008C).

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

sbp

: SBP

SBP parent object to inherit from.

common

: EphemerisCommonContent

Values common for all ephemeris types

pos

: array

Position of the GEO at time toe

vel

: array

Velocity of the GEO at time toe

acc

: array

Acceleration of the GEO at time toe

a_gf0

: float

Time offset of the GEO clock w.r.t. SBAS Network Time

a_gf1

: float

Drift of the GEO clock w.r.t. SBAS Network Time

sender

: int

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

a_gf0

a_gf1

acc

common

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)

pos

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

vel

class sbp.observation.MsgEphemerisSbasDepA(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_EPHEMERIS_SBAS_DEP_A (0x0082).

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

sbp

: SBP

SBP parent object to inherit from.

common

: EphemerisCommonContentDepA

Values common for all ephemeris types

pos

: array

Position of the GEO at time toe

vel

: array

Velocity of the GEO at time toe

acc

: array

Acceleration of the GEO at time toe

a_gf0

: double

Time offset of the GEO clock w.r.t. SBAS Network Time

a_gf1

: double

Drift of the GEO clock w.r.t. SBAS Network Time

sender

: int

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

a_gf0

a_gf1

acc

common

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)

pos

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

vel

class sbp.observation.MsgEphemerisSbasDepB(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_EPHEMERIS_SBAS_DEP_B (0x0084).

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

This observation message has been deprecated in favor of

ephemeris message using floats for size reduction.

sbp

: SBP

SBP parent object to inherit from.

common

: EphemerisCommonContentDepB

Values common for all ephemeris types

pos

: array

Position of the GEO at time toe

vel

: array

Velocity of the GEO at time toe

acc

: array

Acceleration of the GEO at time toe

a_gf0

: double

Time offset of the GEO clock w.r.t. SBAS Network Time

a_gf1

: double

Drift of the GEO clock w.r.t. SBAS Network Time

sender

: int

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

a_gf0

a_gf1

acc

common

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)

pos

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

vel

class sbp.observation.MsgGloBiases(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_GLO_BIASES (0x0075).

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

The GLONASS L1/L2 Code-Phase biases allows to perform

GPS+GLONASS integer ambiguity resolution for baselines with mixed receiver types (e.g. receiver of different manufacturers)

sbp

: SBP

SBP parent object to inherit from.

mask

: int

GLONASS FDMA signals mask

l1ca_bias

: int

GLONASS L1 C/A Code-Phase Bias

l1p_bias

: int

GLONASS L1 P Code-Phase Bias

l2ca_bias

: int

GLONASS L2 C/A Code-Phase Bias

l2p_bias

: int

GLONASS L2 P Code-Phase Bias

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)

l1ca_bias

l1p_bias

l2ca_bias

l2p_bias

mask

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

class sbp.observation.MsgGnssCapb(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_GNSS_CAPB (0x0096).

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

sbp

: SBP

SBP parent object to inherit from.

t_nmct

: GPSTimeSec

Navigation Message Correction Table Validity Time

gc

: GnssCapb

GNSS capabilities masks

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)

gc

t_nmct

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

class sbp.observation.MsgGroupDelay(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_GROUP_DELAY (0x0094).

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

Please see ICD-GPS-200 (30.3.3.3.1.1) for more details.

sbp

: SBP

SBP parent object to inherit from.

t_op

: GPSTimeSec

Data Predict Time of Week

sid

: GnssSignal

GNSS signal identifier

valid

: int

bit-field indicating validity of the values,

LSB indicating tgd validity etc. 1 = value is valid, 0 = value is not valid.

tgd : int isc_l1ca : int isc_l2c : int 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)

isc_l1ca

isc_l2c

sid

t_op

tgd

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

valid

class sbp.observation.MsgGroupDelayDepA(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_GROUP_DELAY_DEP_A (0x0092).

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

Please see ICD-GPS-200 (30.3.3.3.1.1) for more details.

sbp

: SBP

SBP parent object to inherit from.

t_op

: GPSTimeDep

Data Predict Time of Week

prn

: int

Satellite number

valid

: int

bit-field indicating validity of the values,

LSB indicating tgd validity etc. 1 = value is valid, 0 = value is not valid.

tgd : int isc_l1ca : int isc_l2c : int 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)

isc_l1ca

isc_l2c

prn

t_op

tgd

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

valid

class sbp.observation.MsgGroupDelayDepB(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_GROUP_DELAY_DEP_B (0x0093).

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

Please see ICD-GPS-200 (30.3.3.3.1.1) for more details.

sbp

: SBP

SBP parent object to inherit from.

t_op

: GPSTimeSec

Data Predict Time of Week

sid

: GnssSignalDep

GNSS signal identifier

valid

: int

bit-field indicating validity of the values,

LSB indicating tgd validity etc. 1 = value is valid, 0 = value is not valid.

tgd : int isc_l1ca : int isc_l2c : int 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)

isc_l1ca

isc_l2c

sid

t_op

tgd

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

valid

class sbp.observation.MsgIono(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_IONO (0x0090).

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

The ionospheric parameters which allow the “L1 only” or “L2 only” user to

utilize the ionospheric model for computation of the ionospheric delay. Please see ICD-GPS-200 (Chapter 20.3.3.5.1.7) for more details.

sbp

: SBP

SBP parent object to inherit from.

t_nmct

: GPSTimeSec

Navigation Message Correction Table Valitidy Time

a0 : double a1 : double a2 : double a3 : double b0 : double b1 : double b2 : double b3 : double sender : int

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

a0

a1

a2

a3

b0

b1

b2

b3

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)

t_nmct

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

class sbp.observation.MsgObs(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_OBS (0x004A).

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

The GPS observations message reports all the raw pseudorange and

carrier phase observations for the satellites being tracked by the device. Carrier phase observation here is represented as a 40-bit fixed point number with Q32.8 layout (i.e. 32-bits of whole cycles and 8-bits of fractional cycles). The observations are be interoperable with 3rd party receivers and conform with typical RTCMv3 GNSS observations.

sbp

: SBP

SBP parent object to inherit from.

header

: ObservationHeader

Header of a GPS observation message

obs

: array

Pseudorange and carrier phase observation for a

satellite being tracked.

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)

header

obs

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

class sbp.observation.MsgObsDepA(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_OBS_DEP_A (0x0045).

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

Deprecated.

sbp

: SBP

SBP parent object to inherit from.

header

: ObservationHeaderDep

Header of a GPS observation message

obs

: array

Pseudorange and carrier phase observation for a

satellite being tracked.

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)

header

obs

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

class sbp.observation.MsgObsDepB(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_OBS_DEP_B (0x0043).

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

This observation message has been deprecated in favor of

observations that are more interoperable. This message should be used for observations referenced to a nominal pseudorange which are not interoperable with most 3rd party GNSS receievers or typical RTCMv3 observations.

sbp

: SBP

SBP parent object to inherit from.

header

: ObservationHeaderDep

Header of a GPS observation message

obs

: array

Pseudorange and carrier phase observation for a

satellite being tracked.

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)

header

obs

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

class sbp.observation.MsgObsDepC(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_OBS_DEP_C (0x0049).

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

The GPS observations message reports all the raw pseudorange and

carrier phase observations for the satellites being tracked by the device. Carrier phase observation here is represented as a 40-bit fixed point number with Q32.8 layout (i.e. 32-bits of whole cycles and 8-bits of fractional cycles). The observations are interoperable with 3rd party receivers and conform with typical RTCMv3 GNSS observations.

sbp

: SBP

SBP parent object to inherit from.

header

: ObservationHeaderDep

Header of a GPS observation message

obs

: array

Pseudorange and carrier phase observation for a

satellite being tracked.

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)

header

obs

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

class sbp.observation.MsgSvConfigurationGPSDep(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_SV_CONFIGURATION_GPS_DEP (0x0091).

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

Please see ICD-GPS-200 (Chapter 20.3.3.5.1.4) for more details.

sbp

: SBP

SBP parent object to inherit from.

t_nmct

: GPSTimeSec

Navigation Message Correction Table Valitidy Time

l2c_mask

: int

L2C capability mask, SV32 bit being MSB, SV1 bit being LSB

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)

l2c_mask

t_nmct

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

class sbp.observation.ObservationHeader(payload=None, **kwargs)

Bases: object

ObservationHeader.

Header of a GNSS observation message.

t

: GPSTime

GNSS time of this observation

n_obs

: int

Total number of observations. First nibble is the size

of the sequence (n), second nibble is the zero-indexed counter (ith packet of n)

from_binary(d)

n_obs

t

to_binary()

class sbp.observation.ObservationHeaderDep(payload=None, **kwargs)

Bases: object

ObservationHeaderDep.

Header of a GPS observation message.

t

: GPSTimeDep

GPS time of this observation

n_obs

: int

Total number of observations. First nibble is the size

of the sequence (n), second nibble is the zero-indexed counter (ith packet of n)

from_binary(d)

n_obs

t

to_binary()

class sbp.observation.PackedObsContent(payload=None, **kwargs)

Bases: object

PackedObsContent.

Pseudorange and carrier phase observation for a satellite being tracked.

The observations are interoperable with 3rd party receivers and conform with typical RTCM 3.1 message GPS/GLO observations.

Carrier phase observations are not guaranteed to be aligned to the RINEX 3 or RTCM 3.3 MSM reference signal and no 1/4 cycle adjustments are currently peformed.

P

: int

Pseudorange observation

L

: CarrierPhase

Carrier phase observation with typical sign convention.

D

: Doppler

Doppler observation with typical sign convention.

cn0

: int

Carrier-to-Noise density. Zero implies invalid cn0.

lock

: int

Lock timer. This value gives an indication of the time

for which a signal has maintained continuous phase lock. Whenever a signal has lost and regained lock, this value is reset to zero. It is encoded according to DF402 from the RTCM 10403.2 Amendment 2 specification. Valid values range from 0 to 15 and the most significant nibble is reserved for future use.

flags

: int

Measurement status flags. A bit field of flags providing the

status of this observation. If this field is 0 it means only the Cn0 estimate for the signal is valid.

sid

: GnssSignal

GNSS signal identifier (16 bit)

D

L

P

cn0

flags

from_binary(d)

lock

sid

to_binary()

class sbp.observation.PackedObsContentDepA(payload=None, **kwargs)

Bases: object

PackedObsContentDepA.

Deprecated.

P

: int

Pseudorange observation

L

: CarrierPhaseDepA

Carrier phase observation with opposite sign from typical convention

cn0

: int

Carrier-to-Noise density

lock

: int

Lock indicator. This value changes whenever a satellite

signal has lost and regained lock, indicating that the carrier phase ambiguity may have changed.

prn

: int

PRN-1 identifier of the satellite signal

L

P

cn0

from_binary(d)

lock

prn

to_binary()

class sbp.observation.PackedObsContentDepB(payload=None, **kwargs)

Bases: object

PackedObsContentDepB.

Pseudorange and carrier phase observation for a satellite being

tracked. Pseudoranges are referenced to a nominal pseudorange.

P

: int

Pseudorange observation

L

: CarrierPhaseDepA

Carrier phase observation with opposite sign from typical convention.

cn0

: int

Carrier-to-Noise density

lock

: int

Lock indicator. This value changes whenever a satellite

signal has lost and regained lock, indicating that the carrier phase ambiguity may have changed.

sid

: GnssSignalDep

GNSS signal identifier

L

P

cn0

from_binary(d)

lock

sid

to_binary()

class sbp.observation.PackedObsContentDepC(payload=None, **kwargs)

Bases: object

PackedObsContentDepC.

Pseudorange and carrier phase observation for a satellite being

tracked. The observations are be interoperable with 3rd party receivers and conform with typical RTCMv3 GNSS observations.

P

: int

Pseudorange observation

L

: CarrierPhase

Carrier phase observation with typical sign convention.

cn0

: int

Carrier-to-Noise density

lock

: int

Lock indicator. This value changes whenever a satellite

signal has lost and regained lock, indicating that the carrier phase ambiguity may have changed.

sid

: GnssSignalDep

GNSS signal identifier

L

P

cn0

from_binary(d)

lock

sid

to_binary()