| Copyright | Copyright (C) 2015 Swift Navigation, Inc. |
|---|---|
| License | LGPL-3 |
| Maintainer | Mark Fine <dev@swiftnav.com> |
| Stability | experimental |
| Portability | portable |
| Safe Haskell | None |
| Language | Haskell2010 |
SwiftNav.SBP.Navigation
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.
- msgGpsTime :: Word16
- data MsgGpsTime = MsgGpsTime {}
- msgGpsTime_wn :: Lens' MsgGpsTime Word16
- msgGpsTime_tow :: Lens' MsgGpsTime Word32
- msgGpsTime_ns :: Lens' MsgGpsTime Int32
- msgGpsTime_flags :: Lens' MsgGpsTime Word8
- msgDops :: Word16
- data MsgDops = MsgDops {}
- msgDops_vdop :: Lens' MsgDops Word16
- msgDops_tow :: Lens' MsgDops Word32
- msgDops_tdop :: Lens' MsgDops Word16
- msgDops_pdop :: Lens' MsgDops Word16
- msgDops_hdop :: Lens' MsgDops Word16
- msgDops_gdop :: Lens' MsgDops Word16
- msgPosEcef :: Word16
- data MsgPosEcef = MsgPosEcef {}
- msgPosEcef_z :: Lens' MsgPosEcef Double
- msgPosEcef_y :: Lens' MsgPosEcef Double
- msgPosEcef_x :: Lens' MsgPosEcef Double
- msgPosEcef_tow :: Lens' MsgPosEcef Word32
- msgPosEcef_n_sats :: Lens' MsgPosEcef Word8
- msgPosEcef_flags :: Lens' MsgPosEcef Word8
- msgPosEcef_accuracy :: Lens' MsgPosEcef Word16
- msgPosLlh :: Word16
- data MsgPosLlh = MsgPosLlh {}
- msgPosLlh_v_accuracy :: Lens' MsgPosLlh Word16
- msgPosLlh_tow :: Lens' MsgPosLlh Word32
- msgPosLlh_n_sats :: Lens' MsgPosLlh Word8
- msgPosLlh_lon :: Lens' MsgPosLlh Double
- msgPosLlh_lat :: Lens' MsgPosLlh Double
- msgPosLlh_height :: Lens' MsgPosLlh Double
- msgPosLlh_h_accuracy :: Lens' MsgPosLlh Word16
- msgPosLlh_flags :: Lens' MsgPosLlh Word8
- msgBaselineEcef :: Word16
- data MsgBaselineEcef = MsgBaselineEcef {}
- msgBaselineEcef_z :: Lens' MsgBaselineEcef Int32
- msgBaselineEcef_y :: Lens' MsgBaselineEcef Int32
- msgBaselineEcef_x :: Lens' MsgBaselineEcef Int32
- msgBaselineEcef_tow :: Lens' MsgBaselineEcef Word32
- msgBaselineEcef_n_sats :: Lens' MsgBaselineEcef Word8
- msgBaselineEcef_flags :: Lens' MsgBaselineEcef Word8
- msgBaselineEcef_accuracy :: Lens' MsgBaselineEcef Word16
- msgBaselineNed :: Word16
- data MsgBaselineNed = MsgBaselineNed {}
- msgBaselineNed_v_accuracy :: Lens' MsgBaselineNed Word16
- msgBaselineNed_tow :: Lens' MsgBaselineNed Word32
- msgBaselineNed_n_sats :: Lens' MsgBaselineNed Word8
- msgBaselineNed_n :: Lens' MsgBaselineNed Int32
- msgBaselineNed_h_accuracy :: Lens' MsgBaselineNed Word16
- msgBaselineNed_flags :: Lens' MsgBaselineNed Word8
- msgBaselineNed_e :: Lens' MsgBaselineNed Int32
- msgBaselineNed_d :: Lens' MsgBaselineNed Int32
- msgVelEcef :: Word16
- data MsgVelEcef = MsgVelEcef {}
- msgVelEcef_z :: Lens' MsgVelEcef Int32
- msgVelEcef_y :: Lens' MsgVelEcef Int32
- msgVelEcef_x :: Lens' MsgVelEcef Int32
- msgVelEcef_tow :: Lens' MsgVelEcef Word32
- msgVelEcef_n_sats :: Lens' MsgVelEcef Word8
- msgVelEcef_flags :: Lens' MsgVelEcef Word8
- msgVelEcef_accuracy :: Lens' MsgVelEcef Word16
- msgVelNed :: Word16
- data MsgVelNed = MsgVelNed {}
- msgVelNed_v_accuracy :: Lens' MsgVelNed Word16
- msgVelNed_tow :: Lens' MsgVelNed Word32
- msgVelNed_n_sats :: Lens' MsgVelNed Word8
- msgVelNed_n :: Lens' MsgVelNed Int32
- msgVelNed_h_accuracy :: Lens' MsgVelNed Word16
- msgVelNed_flags :: Lens' MsgVelNed Word8
- msgVelNed_e :: Lens' MsgVelNed Int32
- msgVelNed_d :: Lens' MsgVelNed Int32
- msgBaselineHeading :: Word16
- data MsgBaselineHeading = MsgBaselineHeading {}
- msgBaselineHeading_tow :: Lens' MsgBaselineHeading Word32
- msgBaselineHeading_n_sats :: Lens' MsgBaselineHeading Word8
- msgBaselineHeading_heading :: Lens' MsgBaselineHeading Word32
- msgBaselineHeading_flags :: Lens' MsgBaselineHeading Word8
Documentation
data MsgGpsTime Source
SBP class for message MSG_GPS_TIME (0x0100).
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.
Constructors
| MsgGpsTime | |
Fields
| |
SBP class for message MSG_DOPS (0x0206).
This dilution of precision (DOP) message describes the effect of navigation satellite geometry on positional measurement precision.
Constructors
| MsgDops | |
Fields
| |
data MsgPosEcef Source
SBP class for message MSG_POS_ECEF (0x0200).
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).
Constructors
| MsgPosEcef | |
Fields
| |
SBP class for message MSG_POS_LLH (0x0201).
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).
Constructors
| MsgPosLlh | |
Fields
| |
data MsgBaselineEcef Source
SBP class for message MSG_BASELINE_ECEF (0x0202).
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).
Constructors
| MsgBaselineEcef | |
Fields
| |
data MsgBaselineNed Source
SBP class for message MSG_BASELINE_NED (0x0203).
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).
Constructors
| MsgBaselineNed | |
Fields
| |
data MsgVelEcef Source
SBP class for message MSG_VEL_ECEF (0x0204).
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).
Constructors
| MsgVelEcef | |
Fields
| |
SBP class for message MSG_VEL_NED (0x0205).
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).
Constructors
| MsgVelNed | |
Fields
| |
data MsgBaselineHeading Source
SBP class for message MSG_BASELINE_HEADING (0x0207).
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).
Constructors
| MsgBaselineHeading | |
Fields
| |