# Copyright (C) 2018-2022 Swift Navigation Inc. # Contact: https://support.swiftnav.com # # This source is subject to the license found in the file 'LICENSE' which must # be distributed together with this source. All other rights reserved. # # THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND, # EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED # WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE. package: swiftnav.sbp.integrity description: Integrity flag messages stable: False public: True include: - types.yaml - gnss.yaml definitions: - IntegritySSRHeader: short_desc: Common fields for SSR integrity messages fields: - obs_time: type: GPSTimeSec desc: GNSS reference time of the observation used to generate the flag. - num_msgs: type: u8 desc: Number of messages in the dataset - seq_num: type: u8 desc: Position of this message in the dataset - ssr_sol_id: type: u8 desc: SSR Solution ID. - tile_set_id: type: u16 desc: Unique identifier of the set this tile belongs to. - tile_id: type: u16 desc: Unique identifier of this tile in the tile set. - chain_id: type: u8 desc: Chain and type of flag. - MSG_SSR_FLAG_HIGH_LEVEL_DEP_A: id: 0x0BB9 short_desc: Deprecated desc: Deprecated. public: false replaced_by: - MSG_SSR_FLAG_HIGH_LEVEL fields: - obs_time: type: GPSTimeSec desc: GNSS reference time of the observation used to generate the flag. - corr_time: type: GPSTimeSec desc: GNSS reference time of the correction associated to the flag. - ssr_sol_id: type: u8 desc: SSR Solution ID. - tile_set_id: type: u16 desc: Unique identifier of the set this tile belongs to. - tile_id: type: u16 desc: Unique identifier of this tile in the tile set. - chain_id: type: u8 desc: Chain and type of flag. - use_gps_sat: type: u8 desc: Use GPS satellites. fields: - 0-2: desc: Use GPS satellites. values: - 0: Nominal - 1: Warning - 2: Alert - 3: Not monitored - use_gal_sat: type: u8 desc: Use GAL satellites. fields: - 0-2: desc: Use GAL satellites. values: - 0: Nominal - 1: Warning - 2: Alert - 3: Not monitored - use_bds_sat: type: u8 desc: Use BDS satellites. fields: - 0-2: desc: Use BDS satellites. values: - 0: Nominal - 1: Warning - 2: Alert - 3: Not monitored - use_qzss_sat: type: u8 desc: Use QZSS satellites. fields: - 0-2: desc: Use QZSS satellites. values: - 0: Nominal - 1: Warning - 2: Alert - 3: Not monitored - reserved: type: array size: 5 fill: u8 desc: Reserved - use_tropo_grid_points: type: u8 desc: Use tropo grid points. fields: - 0-2: desc: Use tropo grid points. values: - 0: Nominal - 1: Warning - 2: Alert - 3: Not monitored - use_iono_grid_points: type: u8 desc: Use iono grid points. fields: - 0-2: desc: Use iono grid points. values: - 0: Nominal - 1: Warning - 2: Alert - 3: Not monitored - use_iono_tile_sat_los: type: u8 desc: Use iono tile satellite LoS. fields: - 0-2: desc: Use iono tile satellite LoS. values: - 0: Nominal - 1: Warning - 2: Alert - 3: Not monitored - use_iono_grid_point_sat_los: type: u8 desc: Use iono grid point satellite LoS. fields: - 0-2: desc: Use iono grid point satellite LoS. values: - 0: Nominal - 1: Warning - 2: Alert - 3: Not monitored - MSG_SSR_FLAG_HIGH_LEVEL: id: 0x0BBA short_desc: High level integrity flags desc: > Integrity monitoring flags for multiple aggregated elements. An element could be a satellite, SSR grid point, or SSR tile. A group of aggregated elements being monitored for integrity could refer to: - Satellites in a particular {GPS, GAL, BDS, QZSS} constellation. - Satellites in the line-of-sight of a particular SSR tile. - Satellites in the line-of-sight of a particular SSR grid point. The integrity usage for a group of aggregated elements varies according to the integrity flag of the satellites comprising that group. SSR_INTEGRITY_USAGE_NOMINAL: All satellites received passed the integrity check and have flag INTEGRITY_FLAG_OK. SSR_INTEGRITY_USAGE_WARNING: A limited number of elements in the group failed the integrity check. Refer to more granular integrity messages for details on the specific failing elements. SSR_INTEGRITY_USAGE_ALERT: Most elements in the group failed the integrity check, do not use for positioning. SSR_INTEGRITY_USAGE_NOT_MONITORED: Unable to verify the integrity flag of elements in the group. fields: - obs_time: type: GPSTimeSec desc: GNSS reference time of the observation used to generate the flag. - iono_corr_time: type: GPSTimeSec desc: GNSS reference time of the ionospheric correction associated to the flag. - sat_corr_time: type: GPSTimeSec desc: GNSS reference time of the satellite correction associated to the flag. - ssr_sol_id: type: u8 desc: SSR Solution ID. - tile_set_id: type: u16 desc: Unique identifier of the set this tile belongs to. - tile_id: type: u16 desc: Unique identifier of this tile in the tile set. - chain_id: type: u8 desc: Chain and type of flag. - use_gps_sat: type: u8 desc: Use GPS satellites. fields: - 0-2: desc: Use GPS satellites. values: - 0: Nominal - 1: Warning - 2: Alert - 3: Not monitored - use_gal_sat: type: u8 desc: Use GAL satellites. fields: - 0-2: desc: Use GAL satellites. values: - 0: Nominal - 1: Warning - 2: Alert - 3: Not monitored - use_bds_sat: type: u8 desc: Use BDS satellites. fields: - 0-2: desc: Use BDS satellites. values: - 0: Nominal - 1: Warning - 2: Alert - 3: Not monitored - use_qzss_sat: type: u8 desc: Use QZSS satellites. fields: - 0-2: desc: Use QZSS satellites. values: - 0: Nominal - 1: Warning - 2: Alert - 3: Not monitored - reserved: type: array size: 5 fill: u8 desc: Reserved - use_tropo_grid_points: type: u8 desc: Use tropo grid points. fields: - 0-2: desc: Use tropo grid points. values: - 0: Nominal - 1: Warning - 2: Alert - 3: Not monitored - use_iono_grid_points: type: u8 desc: Use iono grid points. fields: - 0-2: desc: Use iono grid points. values: - 0: Nominal - 1: Warning - 2: Alert - 3: Not monitored - use_iono_tile_sat_los: type: u8 desc: Use iono tile satellite LoS. fields: - 0-2: desc: Use iono tile satellite LoS. values: - 0: Nominal - 1: Warning - 2: Alert - 3: Not monitored - use_iono_grid_point_sat_los: type: u8 desc: Use iono grid point satellite LoS. fields: - 0-2: desc: Use iono grid point satellite LoS. values: - 0: Nominal - 1: Warning - 2: Alert - 3: Not monitored - MSG_SSR_FLAG_SATELLITES: id: 0x0BBD short_desc: List of satellites which are faulty, per constellation fields: - obs_time: type: GPSTimeSec desc: GNSS reference time of the observation used to generate the flag. - num_msgs: type: u8 desc: Number of messages in the dataset - seq_num: type: u8 desc: Position of this message in the dataset - ssr_sol_id: type: u8 desc: SSR Solution ID. - chain_id: type: u8 desc: Chain and type of flag. - const_id: type: u8 desc: Constellation ID. - n_faulty_sats: type: u8 desc: Number of faulty satellites. - faulty_sats: type: array fill: u8 size_fn: n_faulty_sats desc: List of faulty satellites. - MSG_SSR_FLAG_TROPO_GRID_POINTS: id: 0x0BC3 short_desc: List of grid points which are faulty fields: - header: type: IntegritySSRHeader desc: Header of an integrity message. - n_faulty_points: type: u8 desc: Number of faulty grid points. - faulty_points: type: array fill: u16 size_fn: n_faulty_points desc: List of faulty grid points. - MSG_SSR_FLAG_IONO_GRID_POINTS: id: 0x0BC7 short_desc: List of grid points which are faulty fields: - header: type: IntegritySSRHeader desc: Header of an integrity message. - n_faulty_points: type: u8 desc: Number of faulty grid points. - faulty_points: type: array fill: u16 size_fn: n_faulty_points desc: List of faulty grid points. - MSG_SSR_FLAG_IONO_TILE_SAT_LOS: id: 0x0BCD short_desc: List of all the LOS which are faulty fields: - header: type: IntegritySSRHeader desc: Header of an integrity message. - n_faulty_los: type: u8 desc: Number of faulty LOS. - faulty_los: type: array fill: SvId size_fn: n_faulty_los desc: List of faulty LOS - MSG_SSR_FLAG_IONO_GRID_POINT_SAT_LOS: id: 0x0BD1 short_desc: List of all the grid points to satellite which are faulty fields: - header: type: IntegritySSRHeader desc: Header of an integrity message. - grid_point_id: type: u16 desc: Index of the grid point. - n_faulty_los: type: u8 desc: Number of faulty LOS. - faulty_los: type: array fill: SvId size_fn: n_faulty_los desc: List of faulty LOS - MSG_ACKNOWLEDGE: id: 0x0BD2 short_desc: Acknowledgement message in response to a request for corrections fields: - request_id: type: u8 desc: Echo of the request ID field from the corresponding CRA message, or 255 if no request ID was provided. - area_id: type: u32 desc: Echo of the Area ID field from the corresponding CRA message. - response_code: type: u8 desc: Reported status of the request. fields: - 0-7: desc: Response code values: - 0: Ok - 1: Out of coverage - 2: Forbidden - 3: Invalid request - 4: Invalid area id - correction_mask_on_demand: type: u16 desc: > Contains the message group(s) that will be sent in response from the corresponding CRA correction mask. An echo of the correction mask field from the corresponding CRA message. fields: - 0: desc: Corrections certificate values: - 0: Not requested - 1: Requested - 1: desc: Low rate messages values: - 0: Not requested - 1: Requested - 2: desc: Ephemeris values: - 0: Not requested - 1: Requested - 3: desc: Satellite clock values: - 0: Not requested - 1: Requested - 4: desc: Satellite orbit values: - 0: Not requested - 1: Requested - 5: desc: Satellite code bias values: - 0: Not requested - 1: Requested - 6: desc: Satellite phase bias values: - 0: Not requested - 1: Requested - 7: desc: Atmospherics values: - 0: Not requested - 1: Requested - 8: desc: Integrity values: - 0: Not requested - 1: Requested - 9: desc: Intermediate certificate values: - 0: Not requested - 1: Requested - 10: desc: Certificate chain values: - 0: Not requested - 1: Requested - 11-15: desc: Reserved - correction_mask_stream: type: u16 desc: For future expansion. Always set to 0. - solution_id: type: u8 desc: The solution ID of the instance providing the corrections.