sbp-2.3.17: SwiftNav's SBP Library

CopyrightCopyright (C) 2015-2018 Swift Navigation Inc.
LicenseLGPL-3
MaintainerSwift Navigation <dev@swiftnav.com>
Stabilityexperimental
Portabilityportable
Safe HaskellNone
LanguageHaskell2010

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. 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.

Synopsis

Documentation

data MsgGpsTime Source #

SBP class for message MSG_GPS_TIME (0x0102).

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

data MsgUtcTime Source #

SBP class for message MSG_UTC_TIME (0x0103).

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.

Constructors

MsgUtcTime 

Fields

data MsgDops Source #

SBP class for message MSG_DOPS (0x0208).

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.

Constructors

MsgDops 

Fields

data MsgPosEcef Source #

SBP class for message MSG_POS_ECEF (0x0209).

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

data MsgPosEcefCov Source #

SBP class for message MSG_POS_ECEF_COV (0x0214).

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).

Constructors

MsgPosEcefCov 

Fields

data MsgPosLlh Source #

SBP class for message MSG_POS_LLH (0x020A).

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 MsgPosLlhCov Source #

SBP class for message MSG_POS_LLH_COV (0x0211).

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.

Constructors

MsgPosLlhCov 

Fields

data MsgBaselineEcef Source #

SBP class for message MSG_BASELINE_ECEF (0x020B).

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 (0x020C).

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 (0x020D).

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

data MsgVelEcefCov Source #

SBP class for message MSG_VEL_ECEF_COV (0x0215).

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

MsgVelEcefCov 

Fields

data MsgVelNed Source #

SBP class for message MSG_VEL_NED (0x020E).

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 MsgVelNedCov Source #

SBP class for message MSG_VEL_NED_COV (0x0212).

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.

Constructors

MsgVelNedCov 

Fields

data MsgVelBody Source #

SBP class for message MSG_VEL_BODY (0x0213).

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).

Constructors

MsgVelBody 

Fields

data MsgAgeCorrections Source #

SBP class for message MSG_AGE_CORRECTIONS (0x0210).

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

Constructors

MsgAgeCorrections 

Fields

Instances
Eq MsgAgeCorrections Source # 
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Defined in SwiftNav.SBP.Navigation

Read MsgAgeCorrections Source # 
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Show MsgAgeCorrections Source # 
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ToJSON MsgAgeCorrections Source # 
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FromJSON MsgAgeCorrections Source # 
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Binary MsgAgeCorrections Source # 
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ToSBP MsgAgeCorrections Source # 
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data MsgGpsTimeDepA Source #

SBP class for message MSG_GPS_TIME_DEP_A (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

MsgGpsTimeDepA 

Fields

data MsgDopsDepA Source #

SBP class for message MSG_DOPS_DEP_A (0x0206).

This dilution of precision (DOP) message describes the effect of navigation satellite geometry on positional measurement precision.

Constructors

MsgDopsDepA 

Fields

data MsgPosEcefDepA Source #

SBP class for message MSG_POS_ECEF_DEP_A (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

MsgPosEcefDepA 

Fields

data MsgPosLlhDepA Source #

SBP class for message MSG_POS_LLH_DEP_A (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

MsgPosLlhDepA 

Fields

data MsgBaselineEcefDepA Source #

SBP class for message MSG_BASELINE_ECEF_DEP_A (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

MsgBaselineEcefDepA 

Fields

Instances
Eq MsgBaselineEcefDepA Source # 
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Defined in SwiftNav.SBP.Navigation

Read MsgBaselineEcefDepA Source # 
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Show MsgBaselineEcefDepA Source # 
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ToJSON MsgBaselineEcefDepA Source # 
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FromJSON MsgBaselineEcefDepA Source # 
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Binary MsgBaselineEcefDepA Source # 
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ToSBP MsgBaselineEcefDepA Source # 
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data MsgBaselineNedDepA Source #

SBP class for message MSG_BASELINE_NED_DEP_A (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

MsgBaselineNedDepA 

Fields

Instances
Eq MsgBaselineNedDepA Source # 
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Read MsgBaselineNedDepA Source # 
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Show MsgBaselineNedDepA Source # 
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ToJSON MsgBaselineNedDepA Source # 
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FromJSON MsgBaselineNedDepA Source # 
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Binary MsgBaselineNedDepA Source # 
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ToSBP MsgBaselineNedDepA Source # 
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Defined in SwiftNav.SBP.Navigation

data MsgVelEcefDepA Source #

SBP class for message MSG_VEL_ECEF_DEP_A (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

MsgVelEcefDepA 

Fields

data MsgVelNedDepA Source #

SBP class for message MSG_VEL_NED_DEP_A (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

MsgVelNedDepA 

Fields

data MsgBaselineHeadingDepA Source #

SBP class for message MSG_BASELINE_HEADING_DEP_A (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

MsgBaselineHeadingDepA 

Fields

Instances
Eq MsgBaselineHeadingDepA Source # 
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Read MsgBaselineHeadingDepA Source # 
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Show MsgBaselineHeadingDepA Source # 
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ToJSON MsgBaselineHeadingDepA Source # 
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FromJSON MsgBaselineHeadingDepA Source # 
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Binary MsgBaselineHeadingDepA Source # 
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ToSBP MsgBaselineHeadingDepA Source # 
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Defined in SwiftNav.SBP.Navigation