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 |
| uint8_t | - | Sync byte 1 (always |
- | 1 |
| uint8_t | - | Sync byte 2 (always |
- | 2 |
| uint8_t | - | Sync byte 3 (always |
- | 3 |
| uint8_t | bytes | Length of the header (always |
- | 4 |
| uint16_t | - | Message ID, always |
- | 6 |
| uint8_t | - | See protocol documentation |
- | 7 |
| uint8_t | - | Reserved, ignore |
- | 8 |
| uint16_t | bytes | Payload size, always |
- | 10 |
| uint16_t | - | Reserved, ignore |
- | 12 |
| uint8_t | - | Reserved, ignore |
1 | 13 |
| uint8_t | - | See protocol documentation |
2 | 14 |
| uint16_t | - | GPS week number |
3 | 16 |
| int32_t | ms | GPS time of week |
- | 20 |
| uint32_t | - | Reserved, ignore |
- | 24 |
| uint16_t | - | Reserved, ignore |
- | 26 |
| uint16_t | - | Reserved, ignore |
4 | 28 |
| uint32_t | - | Solution status, see below |
5 | 32 |
| uint32_t | - | Positioning mode, see below |
6 | 36 |
| double | deg | Latitude |
7 | 44 |
| double | deg | Longitude |
8 | 52 |
| double | m | Ellipsoidal height |
- | 60 |
| uint32_t | - | Reserved, ignore |
9 | 64 |
| unit32_t | - | Datum, always |
10 | 68 |
| float | m | Latitude standard deviation |
11 | 72 |
| float | m | Longitude standard deviation |
12 | 76 |
| float | m | Height standard deviation |
- | 80 |
| uint32_t | - | Reserved, ignore |
- | 84 |
| uint32_t | - | Reserved, ignore |
13 | 88 |
| float | s | Approximate age of solution |
14 | 92 |
| uint8_t | - | Number of satellites tracked |
15 | 93 |
| uint8_t | - | Number of satellites used in solution |
15 | 94 |
| uint8_t | - | Number of satellites with L1 signals used in solution |
16 | 95 |
| uint8_t | - | Number of satellites with L2 signals used in solution |
- | 96 |
| uint8_t | - | Reserved, ignore |
17 | 97 |
| uint8_t | - | Extended solution status, see below |
18 | 98 |
| uint8_t | - | Galileo and BeiDou signal mask, see below |
19 | 99 |
| uint8_t | - | GPS and GLONASS signal mask, see below |
- | 100 |
| uint32_t | - | CRC32 checksum (see protocol documentation) |
Solution status (sol_status
):
Value | Description |
---|---|
| Solution computed |
| Insufficient observations |
Positioning mode (pos_type
):
Value | Description |
---|---|
| No fix |
| RTK fixed fix |
| RTK float fix |
| Single 3D fix |
| INS and RTK fixed fix |
| INS and RTK float fix |
| INS and single 3D fix |
| INS only |
Extended solution status (ext_sol_stat
):
Bit | Description |
---|---|
bit 0 ( | Solution verified |
Galileo and BeiDou signal mask (gal_bds_sig_msk
):
Bit | Description |
---|---|
bit 0 ( | Galileo E1 |
bit 2 ( | Galileo E5B |
bit 4 ( | BeiDou B1I |
bit 5 ( | BeiDou B2I |
GPS and GLONASS signal mask (gps_glo_sig_msk
):
Bit | Description |
---|---|
bit 0 ( | GPS L1CA |
bit 1 ( | GPS L2C |
bit 4 ( | GLONASS L1OF |
bit 5 ( | GLONASS L2OF |