Module sbp::messages::navigation [−][src]
Expand description
Geodetic navigation messages reporting GPS time, position, velocity, and baseline position solutions. For position solutions, these messages define several different position solutions: single-point (SPP), RTK, and pseudo- absolute position solutions.
The SPP is the standalone, absolute GPS position solution using only a single receiver. The RTK solution is the differential GPS solution, which can use either a fixed/integer or floating carrier phase ambiguity. The pseudo-absolute position solution uses a user-provided, well-surveyed base station position (if available) and the RTK solution in tandem.
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.
The tow field, when valid, is most often the Time of Measurement. When this is the case, the 5th bit of flags is set to the default value of 0. When this is not the case, the tow may be a time of arrival or a local system timestamp, irrespective of the time reference (GPS Week or else), but not a Time of Measurement.
Structs
Horizontal estimated error ellipse
Age of corrections
Baseline Position in ECEF
Baseline Position in ECEF
Heading relative to True North
Baseline in NED
Baseline in NED
Dilution of Precision
Dilution of Precision
GPS Time
GPS Time (v1.0)
GPS Time
Single-point position in ECEF
Single-point position in ECEF
GNSS-only Position in ECEF
Single-point position in ECEF
GNSS-only Position in ECEF
Geodetic Position
Geodetic Position and Accuracy
Geodetic Position
GNSS-only Geodetic Position
Geodetic Position
GNSS-only Geodetic Position
Computed state and Protection Levels
Computed Position and Protection Level
UTC Time
UTC Time
Velocity in User Frame
Velocity in ECEF
Velocity in ECEF
GNSS-only Velocity in ECEF
Velocity in ECEF
GNSS-only Velocity in ECEF
Velocity in NED
Velocity in NED
GNSS-only Velocity in NED
Velocity in NED
GNSS-only Velocity in NED