NOV_B-BESTGNSSPOS

Description:

This message contains the best available GNSS position (without Fusion) computed by the GNSS receiver. In addition, it reports several status indicators, including differential age, which helps predict anomalous behavior brought about by outages in differential corrections. A differential age of 0 indicates that no differential correction was used. With the system operating in an RTK mode, this log reflects the latest low-latency solution for up to 60 seconds after the reception of the last base station observations. After these 60 seconds, the position reverts to the best solution available, and the standard deviation fields reflect the accuracy degradation. This message can be either:

Configuration:

NOV_B-BESTGNSSPOS_GNSS1 for output from GNSS 1 receiver
NOV_B-BESTGNSSPOS_GNSS2 for output from GNSS 2 receiver

The msg_source field (part of the msg_type bitfield) contains the information from which receiver the message is.

Message fields:

#	Offset	Field	Type	Unit	Description
-	0	`sync1`	uint8_t	-	Sync byte 1 (always `0xaa`)
-	1	`sync2`	uint8_t	-	Sync byte 2 (always `0x44`)
-	2	`sync3`	uint8_t	-	Sync byte 3 (always `0x12`)
-	3	`header_len`	uint8_t	bytes	Length of the header (always `28`)
-	4	`msg_id`	uint16_t	-	Message ID, always `1429` for this message
-	6	`msg_type`	uint8_t	-	See protocol documentation
-	7	`reserved1`	uint8_t	-	Reserved, ignore
-	8	`payload_len`	uint16_t	bytes	Payload size, always `72` for this message
-	10	`reserved2`	uint16_t	-	Reserved, ignore
-	12	`reserved3`	uint8_t	-	Reserved, ignore
1	13	`time_status`	uint8_t	-	See protocol documentation
2	14	`gps_wno`	uint16_t	-	GPS week number
3	16	`gps_tow`	int32_t	ms	GPS time of week
-	20	`reserved4`	uint32_t	-	Reserved, ignore
-	24	`reserved5`	uint16_t	-	Reserved, ignore
-	26	`reserved6`	uint16_t	-	Reserved, ignore
4	28	`sol_status`	uint32_t	-	Solution status, see below
5	32	`pos_type`	uint32_t	-	Positioning mode, see below
6	36	`lat`	double	deg	Latitude
7	44	`lon`	double	deg	Longitude
8	52	`height`	double	m	Ellipsoidal height
-	60	`reserved7`	uint32_t	-	Reserved, ignore
9	64	`datum`	unit32_t	-	Datum, always `61` (= WGS84)
10	68	`std_lat`	float	m	Latitude standard deviation
11	72	`std_lon`	float	m	Longitude standard deviation
12	76	`std_height`	float	m	Height standard deviation
-	80	`reserved8`	uint32_t	-	Reserved, ignore
-	84	`reserved9`	uint32_t	-	Reserved, ignore
13	88	`sol_age`	float	s	Approximate age of solution
14	92	`num_svs`	uint8_t	-	Number of satellites tracked
15	93	`num_sol_svs`	uint8_t	-	Number of satellites used in solution
15	94	`num_sol_l1_svs`	uint8_t	-	Number of satellites with L1 signals used in solution
16	95	`num_sol_l2_svs`	uint8_t	-	Number of satellites with L2 signals used in solution
-	96	`reserved10`	uint8_t	-	Reserved, ignore
17	97	`ext_sol_stat`	uint8_t	-	Extended solution status, see below
18	98	`gal_bds_sig_msk`	uint8_t	-	Galileo and BeiDou signal mask, see below
19	99	`gps_glo_sig_msk`	uint8_t	-	GPS and GLONASS signal mask, see below
-	100	`checksum`	uint32_t	-	CRC32 checksum (see protocol documentation)

Solution status (sol_status):

Value	Description
`0`	Solution computed
`1`	Insufficient observations

Positioning mode (pos_type):

Value	Description
`0`	No fix
`50`	RTK fixed fix
`34`	RTK float fix
`16`	Single 3D fix
`56`	INS and RTK fixed fix
`55`	INS and RTK float fix
`53`	INS and single 3D fix
`19`	INS only

Extended solution status (ext_sol_stat):

Bit	Description
bit 0 (`0x01`)	Solution verified

Galileo and BeiDou signal mask (gal_bds_sig_msk):

Bit	Description
bit 0 (`0x01`)	Galileo E1
bit 2 (`0x04`)	Galileo E5B
bit 4 (`0x10`)	BeiDou B1I
bit 5 (`0x20`)	BeiDou B2I

GPS and GLONASS signal mask (gps_glo_sig_msk):

Bit	Description
bit 0 (`0x01`)	GPS L1CA
bit 1 (`0x02`)	GPS L2C
bit 4 (`0x10`)	GLONASS L1OF
bit 5 (`0x20`)	GLONASS L2OF