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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

uint8_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

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