Module sbp::messages::navigation
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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.
Re-exports§
pub use estimated_horizontal_error_ellipse::EstimatedHorizontalErrorEllipse;pub use msg_age_corrections::MsgAgeCorrections;pub use msg_baseline_ecef::MsgBaselineEcef;pub use msg_baseline_ecef_dep_a::MsgBaselineEcefDepA;pub use msg_baseline_heading_dep_a::MsgBaselineHeadingDepA;pub use msg_baseline_ned::MsgBaselineNed;pub use msg_baseline_ned_dep_a::MsgBaselineNedDepA;pub use msg_dops::MsgDops;pub use msg_dops_dep_a::MsgDopsDepA;pub use msg_gps_time::MsgGpsTime;pub use msg_gps_time_dep_a::MsgGpsTimeDepA;pub use msg_gps_time_gnss::MsgGpsTimeGnss;pub use msg_pos_ecef::MsgPosEcef;pub use msg_pos_ecef_cov::MsgPosEcefCov;pub use msg_pos_ecef_cov_gnss::MsgPosEcefCovGnss;pub use msg_pos_ecef_dep_a::MsgPosEcefDepA;pub use msg_pos_ecef_gnss::MsgPosEcefGnss;pub use msg_pos_llh::MsgPosLlh;pub use msg_pos_llh_acc::MsgPosLlhAcc;pub use msg_pos_llh_cov::MsgPosLlhCov;pub use msg_pos_llh_cov_gnss::MsgPosLlhCovGnss;pub use msg_pos_llh_dep_a::MsgPosLlhDepA;pub use msg_pos_llh_gnss::MsgPosLlhGnss;pub use msg_pose_relative::MsgPoseRelative;pub use msg_protection_level::MsgProtectionLevel;pub use msg_protection_level_dep_a::MsgProtectionLevelDepA;pub use msg_reference_frame_param::MsgReferenceFrameParam;pub use msg_utc_leap_second::MsgUtcLeapSecond;pub use msg_utc_time::MsgUtcTime;pub use msg_utc_time_gnss::MsgUtcTimeGnss;pub use msg_vel_body::MsgVelBody;pub use msg_vel_cog::MsgVelCog;pub use msg_vel_ecef::MsgVelEcef;pub use msg_vel_ecef_cov::MsgVelEcefCov;pub use msg_vel_ecef_cov_gnss::MsgVelEcefCovGnss;pub use msg_vel_ecef_dep_a::MsgVelEcefDepA;pub use msg_vel_ecef_gnss::MsgVelEcefGnss;pub use msg_vel_ned::MsgVelNed;pub use msg_vel_ned_cov::MsgVelNedCov;pub use msg_vel_ned_cov_gnss::MsgVelNedCovGnss;pub use msg_vel_ned_dep_a::MsgVelNedDepA;pub use msg_vel_ned_gnss::MsgVelNedGnss;