# Copyright (C) 2015-2021 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.observation description: Satellite observation messages from the device. The SBP sender ID of 0 indicates remote observations from a GNSS base station, correction network, or Skylark, Swift's cloud GNSS correction product. stable: True public: True include: - types.yaml - gnss.yaml definitions: - ObservationHeader: short_desc: Header for observation message desc: Header of a GNSS observation message. fields: - t: type: GPSTime desc: GNSS time of this observation - n_obs: type: u8 desc: > Total number of observations. First nibble is the size of the sequence (n), second nibble is the zero-indexed counter (ith packet of n) - Doppler: short_desc: GNSS doppler measurement desc: > Doppler measurement in Hz represented as a 24-bit fixed point number with Q16.8 layout, i.e. 16-bits of whole doppler and 8-bits of fractional doppler. This doppler is defined as positive for approaching satellites. fields: - i: type: s16 units: Hz desc: Doppler whole Hz - f: type: u8 units: Hz / 256 desc: Doppler fractional part - PackedObsContent: short_desc: GNSS observations for a particular satellite signal desc: > Pseudorange and carrier phase observation for a satellite being tracked. The observations are interoperable with 3rd party receivers and conform with typical RTCM 3.1 message GPS/GLO observations. Carrier phase observations are not guaranteed to be aligned to the RINEX 3 or RTCM 3.3 MSM reference signal and no 1/4 cycle adjustments are currently performed. fields: - P: type: u32 units: 2 cm desc: Pseudorange observation - L: type: CarrierPhase units: cycles desc: Carrier phase observation with typical sign convention. - D: type: Doppler units: Hz desc: Doppler observation with typical sign convention. - cn0: type: u8 units: dB Hz / 4 desc: Carrier-to-Noise density. Zero implies invalid cn0. - lock: type: u8 desc: > Lock timer. This value gives an indication of the time for which a signal has maintained continuous phase lock. Whenever a signal has lost and regained lock, this value is reset to zero. It is encoded according to DF402 from the RTCM 10403.2 Amendment 2 specification. Valid values range from 0 to 15 and the most significant nibble is reserved for future use. - flags: type: u8 desc: > Measurement status flags. A bit field of flags providing the status of this observation. If this field is 0 it means only the Cn0 estimate for the signal is valid. fields: - 7: desc: RAIM exclusion values: - 0: No exclusion - 1: Measurement was excluded by SPP RAIM, use with care - 4-6: desc: Reserved - 3: desc: Doppler valid values: - 0: Invalid doppler measurement - 1: Valid doppler measurement - 2: desc: Half-cycle ambiguity values: - 0: Half cycle phase ambiguity unresolved - 1: Half cycle phase ambiguity resolved - 1: desc: Carrier phase valid values: - 0: Invalid carrier phase measurement - 1: Valid carrier phase measurement - 0: desc: Pseudorange valid values: - 0: Invalid pseudorange measurement - 1: Valid pseudorange measurement and coarse TOW decoded - sid: type: GnssSignal desc: GNSS signal identifier (16 bit) - PackedOsrContent: short_desc: Network correction for a particular satellite signal desc: > Pseudorange and carrier phase network corrections for a satellite signal. fields: - P: type: u32 units: 2 cm desc: Pseudorange observation - L: type: CarrierPhase units: cycles desc: Carrier phase observation with typical sign convention. - lock: type: u8 desc: > Lock timer. This value gives an indication of the time for which a signal has maintained continuous phase lock. Whenever a signal has lost and regained lock, this value is reset to zero. It is encoded according to DF402 from the RTCM 10403.2 Amendment 2 specification. Valid values range from 0 to 15 and the most significant nibble is reserved for future use. - flags: type: u8 desc: > Correction flags. fields: - 4: desc: Invalid phase corrections values: - 0: Valid phase corrections - 1: Do not use phase corrections - 3: desc: Invalid code corrections values: - 0: Valid code corrections - 1: Do not use code corrections - 2: desc: Full fixing flag values: - 0: Full fixing unavailable - 1: Full fixing available - 1: desc: Partial fixing flag values: - 0: Partial fixing unavailable - 1: Partial fixing available - 0: desc: Correction validity values: - 0: Do not use signal - 1: Valid signal - sid: type: GnssSignal desc: GNSS signal identifier (16 bit) - iono_std: type: u16 units: 5 mm desc: Slant ionospheric correction standard deviation - tropo_std: type: u16 units: 5 mm desc: Slant tropospheric correction standard deviation - range_std: type: u16 units: 5 mm desc: Orbit/clock/bias correction projected on range standard deviation - MSG_OBS: id: 0x004A short_desc: GPS satellite observations desc: > The GPS observations message reports all the raw pseudorange and carrier phase observations for the satellites being tracked by the device. Carrier phase observation here is represented as a 40-bit fixed point number with Q32.8 layout (i.e. 32-bits of whole cycles and 8-bits of fractional cycles). The observations are be interoperable with 3rd party receivers and conform with typical RTCMv3 GNSS observations. fields: - header: type: ObservationHeader desc: Header of a GPS observation message - obs: type: array fill: PackedObsContent map_by: sid desc: > Pseudorange and carrier phase observation for a satellite being tracked. - MSG_BASE_POS_LLH: id: 0x0044 short_desc: Base station position desc: > The base station position message is the position reported by the base station itself. It is used for pseudo-absolute RTK positioning, and is required to be a high-accuracy surveyed location of the base station. Any error here will result in an error in the pseudo-absolute position output. fields: - lat: type: double units: deg desc: Latitude - lon: type: double units: deg desc: Longitude - height: type: double units: m desc: Height - MSG_BASE_POS_ECEF: id: 0x0048 short_desc: Base station position in ECEF desc: > The base station position message is the position reported by the base station itself in absolute Earth Centered Earth Fixed coordinates. It is used for pseudo-absolute RTK positioning, and is required to be a high-accuracy surveyed location of the base station. Any error here will result in an error in the pseudo-absolute position output. fields: - x: type: double units: m desc: ECEF X coordinate - y: type: double units: m desc: ECEF Y coordinate - z: type: double units: m desc: ECEF Z coordinate - EphemerisCommonContent: short_desc: Common fields for every ephemeris message fields: - sid: type: GnssSignal desc: GNSS signal identifier (16 bit) - toe: type: GPSTimeSec desc: Time of Ephemerides - ura: type: float units: m desc: User Range Accuracy - fit_interval: type: u32 units: s desc: Curve fit interval - valid: type: u8 desc: Status of ephemeris, 1 = valid, 0 = invalid - health_bits: type: u8 desc: | Satellite health status. GPS: ICD-GPS-200, chapter 20.3.3.3.1.4 SBAS: 0 = valid, non-zero = invalid GLO: 0 = valid, non-zero = invalid - EphemerisCommonContentDepB: short_desc: Common fields for every ephemeris message replaced_by: - EphemerisCommonContent fields: - sid: type: GnssSignal desc: GNSS signal identifier (16 bit) - toe: type: GPSTimeSec desc: Time of Ephemerides - ura: type: double units: m desc: User Range Accuracy - fit_interval: type: u32 units: s desc: Curve fit interval - valid: type: u8 desc: Status of ephemeris, 1 = valid, 0 = invalid - health_bits: type: u8 desc: | Satellite health status. GPS: ICD-GPS-200, chapter 20.3.3.3.1.4 Others: 0 = valid, non-zero = invalid - EphemerisCommonContentDepA: short_desc: Common fields for every ephemeris message replaced_by: - EphemerisCommonContentDepB fields: - sid: type: GnssSignalDep desc: GNSS signal identifier - toe: type: GPSTimeDep desc: Time of Ephemerides - ura: type: double units: m desc: User Range Accuracy - fit_interval: type: u32 units: s desc: Curve fit interval - valid: type: u8 desc: Status of ephemeris, 1 = valid, 0 = invalid - health_bits: type: u8 desc: | Satellite health status. GPS: ICD-GPS-200, chapter 20.3.3.3.1.4 SBAS: 0 = valid, non-zero = invalid GLO: 0 = valid, non-zero = invalid - MSG_EPHEMERIS_GPS_DEP_E: id: 0x0081 short_desc: Deprecated desc: Deprecated. public: false replaced_by: - MSG_EPHEMERIS_GPS fields: - common: type: EphemerisCommonContentDepA desc: Values common for all ephemeris types - tgd: type: double units: s desc: Group delay differential between L1 and L2 - c_rs: type: double units: m desc: Amplitude of the sine harmonic correction term to the orbit radius - c_rc: type: double units: m desc: Amplitude of the cosine harmonic correction term to the orbit radius - c_uc: type: double units: rad desc: Amplitude of the cosine harmonic correction term to the argument of latitude - c_us: type: double units: rad desc: Amplitude of the sine harmonic correction term to the argument of latitude - c_ic: type: double units: rad desc: Amplitude of the cosine harmonic correction term to the angle of inclination - c_is: type: double units: rad desc: Amplitude of the sine harmonic correction term to the angle of inclination - dn: type: double units: rad/s desc: Mean motion difference - m0: type: double units: rad desc: Mean anomaly at reference time - ecc: type: double desc: Eccentricity of satellite orbit - sqrta: type: double units: m^(1/2) desc: Square root of the semi-major axis of orbit - omega0: type: double units: rad desc: Longitude of ascending node of orbit plane at weekly epoch - omegadot: type: double units: rad/s desc: Rate of right ascension - w: type: double units: rad desc: Argument of perigee - inc: type: double units: rad desc: Inclination - inc_dot: type: double units: rad/s desc: Inclination first derivative - af0: type: double units: s desc: Polynomial clock correction coefficient (clock bias) - af1: type: double units: s/s desc: Polynomial clock correction coefficient (clock drift) - af2: type: double units: s/s^2 desc: Polynomial clock correction coefficient (rate of clock drift) - toc: type: GPSTimeDep desc: Clock reference - iode: type: u8 desc: Issue of ephemeris data - iodc: type: u16 desc: Issue of clock data - MSG_EPHEMERIS_GPS_DEP_F: id: 0x0086 short_desc: Deprecated desc: Deprecated. public: false replaced_by: - MSG_EPHEMERIS_GPS fields: - common: type: EphemerisCommonContentDepB desc: Values common for all ephemeris types - tgd: type: double units: s desc: Group delay differential between L1 and L2 - c_rs: type: double units: m desc: Amplitude of the sine harmonic correction term to the orbit radius - c_rc: type: double units: m desc: Amplitude of the cosine harmonic correction term to the orbit radius - c_uc: type: double units: rad desc: Amplitude of the cosine harmonic correction term to the argument of latitude - c_us: type: double units: rad desc: Amplitude of the sine harmonic correction term to the argument of latitude - c_ic: type: double units: rad desc: Amplitude of the cosine harmonic correction term to the angle of inclination - c_is: type: double units: rad desc: Amplitude of the sine harmonic correction term to the angle of inclination - dn: type: double units: rad/s desc: Mean motion difference - m0: type: double units: rad desc: Mean anomaly at reference time - ecc: type: double desc: Eccentricity of satellite orbit - sqrta: type: double units: m^(1/2) desc: Square root of the semi-major axis of orbit - omega0: type: double units: rad desc: Longitude of ascending node of orbit plane at weekly epoch - omegadot: type: double units: rad/s desc: Rate of right ascension - w: type: double units: rad desc: Argument of perigee - inc: type: double units: rad desc: Inclination - inc_dot: type: double units: rad/s desc: Inclination first derivative - af0: type: double units: s desc: Polynomial clock correction coefficient (clock bias) - af1: type: double units: s/s desc: Polynomial clock correction coefficient (clock drift) - af2: type: double units: s/s^2 desc: Polynomial clock correction coefficient (rate of clock drift) - toc: type: GPSTimeSec desc: Clock reference - iode: type: u8 desc: Issue of ephemeris data - iodc: type: u16 desc: Issue of clock data - MSG_EPHEMERIS_GPS: id: 0x008A short_desc: Satellite broadcast ephemeris for GPS desc: > The ephemeris message returns a set of satellite orbit parameters that is used to calculate GPS satellite position, velocity, and clock offset. Please see the Navstar GPS Space Segment/Navigation user interfaces (ICD-GPS-200, Table 20-III) for more details. fields: - common: type: EphemerisCommonContent desc: Values common for all ephemeris types - tgd: type: float units: s desc: Group delay differential between L1 and L2 - c_rs: type: float units: m desc: Amplitude of the sine harmonic correction term to the orbit radius - c_rc: type: float units: m desc: Amplitude of the cosine harmonic correction term to the orbit radius - c_uc: type: float units: rad desc: Amplitude of the cosine harmonic correction term to the argument of latitude - c_us: type: float units: rad desc: Amplitude of the sine harmonic correction term to the argument of latitude - c_ic: type: float units: rad desc: Amplitude of the cosine harmonic correction term to the angle of inclination - c_is: type: float units: rad desc: Amplitude of the sine harmonic correction term to the angle of inclination - dn: type: double units: rad/s desc: Mean motion difference - m0: type: double units: rad desc: Mean anomaly at reference time - ecc: type: double desc: Eccentricity of satellite orbit - sqrta: type: double units: m^(1/2) desc: Square root of the semi-major axis of orbit - omega0: type: double units: rad desc: Longitude of ascending node of orbit plane at weekly epoch - omegadot: type: double units: rad/s desc: Rate of right ascension - w: type: double units: rad desc: Argument of perigee - inc: type: double units: rad desc: Inclination - inc_dot: type: double units: rad/s desc: Inclination first derivative - af0: type: float units: s desc: Polynomial clock correction coefficient (clock bias) - af1: type: float units: s/s desc: Polynomial clock correction coefficient (clock drift) - af2: type: float units: s/s^2 desc: Polynomial clock correction coefficient (rate of clock drift) - toc: type: GPSTimeSec desc: Clock reference - iode: type: u8 desc: Issue of ephemeris data - iodc: type: u16 desc: Issue of clock data - MSG_EPHEMERIS_QZSS: id: 0x008E short_desc: Satellite broadcast ephemeris for QZSS desc: > The ephemeris message returns a set of satellite orbit parameters that is used to calculate QZSS satellite position, velocity, and clock offset. fields: - common: type: EphemerisCommonContent desc: Values common for all ephemeris types - tgd: type: float units: s desc: Group delay differential between L1 and L2 - c_rs: type: float units: m desc: Amplitude of the sine harmonic correction term to the orbit radius - c_rc: type: float units: m desc: Amplitude of the cosine harmonic correction term to the orbit radius - c_uc: type: float units: rad desc: Amplitude of the cosine harmonic correction term to the argument of latitude - c_us: type: float units: rad desc: Amplitude of the sine harmonic correction term to the argument of latitude - c_ic: type: float units: rad desc: Amplitude of the cosine harmonic correction term to the angle of inclination - c_is: type: float units: rad desc: Amplitude of the sine harmonic correction term to the angle of inclination - dn: type: double units: rad/s desc: Mean motion difference - m0: type: double units: rad desc: Mean anomaly at reference time - ecc: type: double desc: Eccentricity of satellite orbit - sqrta: type: double units: m^(1/2) desc: Square root of the semi-major axis of orbit - omega0: type: double units: rad desc: Longitude of ascending node of orbit plane at weekly epoch - omegadot: type: double units: rad/s desc: Rate of right ascension - w: type: double units: rad desc: Argument of perigee - inc: type: double units: rad desc: Inclination - inc_dot: type: double units: rad/s desc: Inclination first derivative - af0: type: float units: s desc: Polynomial clock correction coefficient (clock bias) - af1: type: float units: s/s desc: Polynomial clock correction coefficient (clock drift) - af2: type: float units: s/s^2 desc: Polynomial clock correction coefficient (rate of clock drift) - toc: type: GPSTimeSec desc: Clock reference - iode: type: u8 desc: Issue of ephemeris data - iodc: type: u16 desc: Issue of clock data - MSG_EPHEMERIS_BDS: id: 0x0089 short_desc: Satellite broadcast ephemeris for BDS desc: > The ephemeris message returns a set of satellite orbit parameters that is used to calculate BDS satellite position, velocity, and clock offset. Please see the BeiDou Navigation Satellite System SIS-ICD Version 2.1, Table 5-9 for more details. fields: - common: type: EphemerisCommonContent desc: Values common for all ephemeris types - tgd1: type: float units: s desc: Group delay differential for B1 - tgd2: type: float units: s desc: Group delay differential for B2 - c_rs: type: float units: m desc: Amplitude of the sine harmonic correction term to the orbit radius - c_rc: type: float units: m desc: Amplitude of the cosine harmonic correction term to the orbit radius - c_uc: type: float units: rad desc: Amplitude of the cosine harmonic correction term to the argument of latitude - c_us: type: float units: rad desc: Amplitude of the sine harmonic correction term to the argument of latitude - c_ic: type: float units: rad desc: Amplitude of the cosine harmonic correction term to the angle of inclination - c_is: type: float units: rad desc: Amplitude of the sine harmonic correction term to the angle of inclination - dn: type: double units: rad/s desc: Mean motion difference - m0: type: double units: rad desc: Mean anomaly at reference time - ecc: type: double desc: Eccentricity of satellite orbit - sqrta: type: double units: m^(1/2) desc: Square root of the semi-major axis of orbit - omega0: type: double units: rad desc: Longitude of ascending node of orbit plane at weekly epoch - omegadot: type: double units: rad/s desc: Rate of right ascension - w: type: double units: rad desc: Argument of perigee - inc: type: double units: rad desc: Inclination - inc_dot: type: double units: rad/s desc: Inclination first derivative - af0: type: double units: s desc: Polynomial clock correction coefficient (clock bias) - af1: type: float units: s/s desc: Polynomial clock correction coefficient (clock drift) - af2: type: float units: s/s^2 desc: Polynomial clock correction coefficient (rate of clock drift) - toc: type: GPSTimeSec desc: Clock reference - iode: type: u8 desc: > Issue of ephemeris data Calculated from the navigation data parameter t_oe per RTCM/CSNO recommendation: IODE = mod (t_oe / 720, 240) - iodc: type: u16 desc: > Issue of clock data Calculated from the navigation data parameter t_oe per RTCM/CSNO recommendation: IODE = mod (t_oc / 720, 240) - MSG_EPHEMERIS_GAL_DEP_A: id: 0x0095 short_desc: Deprecated desc: Deprecated. public: false replaced_by: - MSG_EPHEMERIS_GAL fields: - common: type: EphemerisCommonContent desc: Values common for all ephemeris types - bgd_e1e5a: type: float units: s desc: E1-E5a Broadcast Group Delay - bgd_e1e5b: type: float units: s desc: E1-E5b Broadcast Group Delay - c_rs: type: float units: m desc: Amplitude of the sine harmonic correction term to the orbit radius - c_rc: type: float units: m desc: Amplitude of the cosine harmonic correction term to the orbit radius - c_uc: type: float units: rad desc: Amplitude of the cosine harmonic correction term to the argument of latitude - c_us: type: float units: rad desc: Amplitude of the sine harmonic correction term to the argument of latitude - c_ic: type: float units: rad desc: Amplitude of the cosine harmonic correction term to the angle of inclination - c_is: type: float units: rad desc: Amplitude of the sine harmonic correction term to the angle of inclination - dn: type: double units: rad/s desc: Mean motion difference - m0: type: double units: rad desc: Mean anomaly at reference time - ecc: type: double desc: Eccentricity of satellite orbit - sqrta: type: double units: m^(1/2) desc: Square root of the semi-major axis of orbit - omega0: type: double units: rad desc: Longitude of ascending node of orbit plane at weekly epoch - omegadot: type: double units: rad/s desc: Rate of right ascension - w: type: double units: rad desc: Argument of perigee - inc: type: double units: rad desc: Inclination - inc_dot: type: double units: rad/s desc: Inclination first derivative - af0: type: double units: s desc: Polynomial clock correction coefficient (clock bias) - af1: type: double units: s/s desc: Polynomial clock correction coefficient (clock drift) - af2: type: float units: s/s^2 desc: Polynomial clock correction coefficient (rate of clock drift) - toc: type: GPSTimeSec desc: Clock reference - iode: type: u16 desc: Issue of data (IODnav) - iodc: type: u16 desc: Issue of data (IODnav). Always equal to iode - MSG_EPHEMERIS_GAL: id: 0x008D short_desc: Satellite broadcast ephemeris for Galileo desc: > The ephemeris message returns a set of satellite orbit parameters that is used to calculate Galileo satellite position, velocity, and clock offset. Please see the Signal In Space ICD OS SIS ICD, Issue 1.3, December 2016 for more details. fields: - common: type: EphemerisCommonContent desc: Values common for all ephemeris types - bgd_e1e5a: type: float units: s desc: E1-E5a Broadcast Group Delay - bgd_e1e5b: type: float units: s desc: E1-E5b Broadcast Group Delay - c_rs: type: float units: m desc: Amplitude of the sine harmonic correction term to the orbit radius - c_rc: type: float units: m desc: Amplitude of the cosine harmonic correction term to the orbit radius - c_uc: type: float units: rad desc: Amplitude of the cosine harmonic correction term to the argument of latitude - c_us: type: float units: rad desc: Amplitude of the sine harmonic correction term to the argument of latitude - c_ic: type: float units: rad desc: Amplitude of the cosine harmonic correction term to the angle of inclination - c_is: type: float units: rad desc: Amplitude of the sine harmonic correction term to the angle of inclination - dn: type: double units: rad/s desc: Mean motion difference - m0: type: double units: rad desc: Mean anomaly at reference time - ecc: type: double desc: Eccentricity of satellite orbit - sqrta: type: double units: m^(1/2) desc: Square root of the semi-major axis of orbit - omega0: type: double units: rad desc: Longitude of ascending node of orbit plane at weekly epoch - omegadot: type: double units: rad/s desc: Rate of right ascension - w: type: double units: rad desc: Argument of perigee - inc: type: double units: rad desc: Inclination - inc_dot: type: double units: rad/s desc: Inclination first derivative - af0: type: double units: s desc: Polynomial clock correction coefficient (clock bias) - af1: type: double units: s/s desc: Polynomial clock correction coefficient (clock drift) - af2: type: float units: s/s^2 desc: Polynomial clock correction coefficient (rate of clock drift) - toc: type: GPSTimeSec desc: Clock reference - iode: type: u16 desc: Issue of data (IODnav) - iodc: type: u16 desc: Issue of data (IODnav). Always equal to iode - source: type: u8 desc: 0=I/NAV, 1=F/NAV - MSG_EPHEMERIS_SBAS_DEP_A: id: 0x0082 short_desc: Deprecated desc: Deprecated. public: false replaced_by: - MSG_EPHEMERIS_SBAS fields: - common: type: EphemerisCommonContentDepA desc: Values common for all ephemeris types - pos: type: array size: 3 fill: double map_by: sid desc: Position of the GEO at time toe units: m - vel: type: array size: 3 fill: double map_by: sid desc: Velocity of the GEO at time toe units: m/s - acc: type: array size: 3 fill: double map_by: sid desc: Acceleration of the GEO at time toe units: m/s^2 - a_gf0: type: double desc: Time offset of the GEO clock w.r.t. SBAS Network Time units: s - a_gf1: type: double desc: Drift of the GEO clock w.r.t. SBAS Network Time units: s/s - MSG_EPHEMERIS_GLO_DEP_A: id: 0x0083 short_desc: Deprecated desc: Deprecated. public: false replaced_by: - MSG_EPHEMERIS_GLO fields: - common: type: EphemerisCommonContentDepA desc: Values common for all ephemeris types - gamma: type: double desc: Relative deviation of predicted carrier frequency from nominal - tau: type: double desc: Correction to the SV time units: s - pos: type: array size: 3 fill: double map_by: sid desc: Position of the SV at tb in PZ-90.02 coordinates system units: m - vel: type: array size: 3 fill: double map_by: sid desc: Velocity vector of the SV at tb in PZ-90.02 coordinates system units: m/s - acc: type: array size: 3 fill: double map_by: sid desc: Acceleration vector of the SV at tb in PZ-90.02 coordinates sys units: m/s^2 - MSG_EPHEMERIS_SBAS_DEP_B: id: 0x0084 short_desc: Deprecated desc: Deprecated. public: false replaced_by: - MSG_EPHEMERIS_SBAS fields: - common: type: EphemerisCommonContentDepB desc: Values common for all ephemeris types - pos: type: array size: 3 fill: double map_by: sid desc: Position of the GEO at time toe units: m - vel: type: array size: 3 fill: double map_by: sid desc: Velocity of the GEO at time toe units: m/s - acc: type: array size: 3 fill: double map_by: sid desc: Acceleration of the GEO at time toe units: m/s^2 - a_gf0: type: double desc: Time offset of the GEO clock w.r.t. SBAS Network Time units: s - a_gf1: type: double desc: Drift of the GEO clock w.r.t. SBAS Network Time units: s/s - MSG_EPHEMERIS_SBAS: id: 0x008C short_desc: Satellite broadcast ephemeris for SBAS fields: - common: type: EphemerisCommonContent desc: Values common for all ephemeris types - pos: type: array size: 3 fill: double map_by: sid desc: Position of the GEO at time toe units: m - vel: type: array size: 3 fill: float map_by: sid desc: Velocity of the GEO at time toe units: m/s - acc: type: array size: 3 fill: float map_by: sid desc: Acceleration of the GEO at time toe units: m/s^2 - a_gf0: type: float desc: Time offset of the GEO clock w.r.t. SBAS Network Time units: s - a_gf1: type: float desc: Drift of the GEO clock w.r.t. SBAS Network Time units: s/s - MSG_EPHEMERIS_GLO_DEP_B: id: 0x0085 short_desc: Deprecated desc: Deprecated. public: false replaced_by: - MSG_EPHEMERIS_GLO fields: - common: type: EphemerisCommonContentDepB desc: Values common for all ephemeris types - gamma: type: double desc: Relative deviation of predicted carrier frequency from nominal - tau: type: double desc: Correction to the SV time units: s - pos: type: array size: 3 fill: double map_by: sid desc: Position of the SV at tb in PZ-90.02 coordinates system units: m - vel: type: array size: 3 fill: double map_by: sid desc: Velocity vector of the SV at tb in PZ-90.02 coordinates system units: m/s - acc: type: array size: 3 fill: double map_by: sid desc: Acceleration vector of the SV at tb in PZ-90.02 coordinates sys units: m/s^2 - MSG_EPHEMERIS_GLO_DEP_C: id: 0x0087 short_desc: Deprecated desc: Deprecated. public: false replaced_by: - MSG_EPHEMERIS_GLO desc: > The ephemeris message returns a set of satellite orbit parameters that is used to calculate GLO satellite position, velocity, and clock offset. Please see the GLO ICD 5.1 "Table 4.5 Characteristics of words of immediate information (ephemeris parameters)" for more details. fields: - common: type: EphemerisCommonContentDepB desc: Values common for all ephemeris types - gamma: type: double desc: Relative deviation of predicted carrier frequency from nominal - tau: type: double desc: Correction to the SV time units: s - d_tau: type: double desc: Equipment delay between L1 and L2 units: s - pos: type: array size: 3 fill: double map_by: sid desc: Position of the SV at tb in PZ-90.02 coordinates system units: m - vel: type: array size: 3 fill: double map_by: sid desc: Velocity vector of the SV at tb in PZ-90.02 coordinates system units: m/s - acc: type: array size: 3 fill: double map_by: sid desc: Acceleration vector of the SV at tb in PZ-90.02 coordinates sys units: m/s^2 - fcn: type: u8 desc: Frequency slot. FCN+8 (that is [1..14]). 0 or 0xFF for invalid - MSG_EPHEMERIS_GLO_DEP_D: id: 0x0088 short_desc: Deprecated desc: Deprecated. public: false replaced_by: - MSG_EPHEMERIS_GLO desc: > This observation message has been deprecated in favor of ephemeris message using floats for size reduction. fields: - common: type: EphemerisCommonContentDepB desc: Values common for all ephemeris types - gamma: type: double desc: Relative deviation of predicted carrier frequency from nominal - tau: type: double desc: Correction to the SV time units: s - d_tau: type: double desc: Equipment delay between L1 and L2 units: s - pos: type: array size: 3 fill: double map_by: sid desc: Position of the SV at tb in PZ-90.02 coordinates system units: m - vel: type: array size: 3 fill: double map_by: sid desc: Velocity vector of the SV at tb in PZ-90.02 coordinates system units: m/s - acc: type: array size: 3 fill: double map_by: sid desc: Acceleration vector of the SV at tb in PZ-90.02 coordinates sys units: m/s^2 - fcn: type: u8 desc: Frequency slot. FCN+8 (that is [1..14]). 0 or 0xFF for invalid - iod: type: u8 desc: Issue of data. Equal to the 7 bits of the immediate data word t_b - MSG_EPHEMERIS_GLO: id: 0x008B short_desc: Satellite broadcast ephemeris for GLO desc: > The ephemeris message returns a set of satellite orbit parameters that is used to calculate GLO satellite position, velocity, and clock offset. Please see the GLO ICD 5.1 "Table 4.5 Characteristics of words of immediate information (ephemeris parameters)" for more details. fields: - common: type: EphemerisCommonContent desc: Values common for all ephemeris types - gamma: type: float desc: Relative deviation of predicted carrier frequency from nominal - tau: type: float desc: Correction to the SV time units: s - d_tau: type: float desc: Equipment delay between L1 and L2 units: s - pos: type: array size: 3 fill: double map_by: sid desc: Position of the SV at tb in PZ-90.02 coordinates system units: m - vel: type: array size: 3 fill: double map_by: sid desc: Velocity vector of the SV at tb in PZ-90.02 coordinates system units: m/s - acc: type: array size: 3 fill: float map_by: sid desc: Acceleration vector of the SV at tb in PZ-90.02 coordinates sys units: m/s^2 - fcn: type: u8 desc: Frequency slot. FCN+8 (that is [1..14]). 0 or 0xFF for invalid - iod: type: u8 desc: Issue of data. Equal to the 7 bits of the immediate data word t_b - MSG_EPHEMERIS_DEP_D: id: 0x0080 short_desc: Deprecated desc: Deprecated. public: false replaced_by: - MSG_EPHEMERIS_GPS fields: - tgd: type: double units: s desc: Group delay differential between L1 and L2 - c_rs: type: double units: m desc: Amplitude of the sine harmonic correction term to the orbit radius - c_rc: type: double units: m desc: Amplitude of the cosine harmonic correction term to the orbit radius - c_uc: type: double units: rad desc: Amplitude of the cosine harmonic correction term to the argument of latitude - c_us: type: double units: rad desc: Amplitude of the sine harmonic correction term to the argument of latitude - c_ic: type: double units: rad desc: Amplitude of the cosine harmonic correction term to the angle of inclination - c_is: type: double units: rad desc: Amplitude of the sine harmonic correction term to the angle of inclination - dn: type: double units: rad/s desc: Mean motion difference - m0: type: double units: rad desc: Mean anomaly at reference time - ecc: type: double desc: Eccentricity of satellite orbit - sqrta: type: double units: m^(1/2) desc: Square root of the semi-major axis of orbit - omega0: type: double units: rad desc: Longitude of ascending node of orbit plane at weekly epoch - omegadot: type: double units: rad/s desc: Rate of right ascension - w: type: double units: rad desc: Argument of perigee - inc: type: double units: rad desc: Inclination - inc_dot: type: double units: rad/s desc: Inclination first derivative - af0: type: double units: s desc: Polynomial clock correction coefficient (clock bias) - af1: type: double units: s/s desc: Polynomial clock correction coefficient (clock drift) - af2: type: double units: s/s^2 desc: Polynomial clock correction coefficient (rate of clock drift) - toe_tow: type: double units: s desc: Time of week - toe_wn: type: u16 units: week desc: Week number - toc_tow: type: double units: s desc: Clock reference time of week - toc_wn: type: u16 units: week desc: Clock reference week number - valid: type: u8 desc: Is valid? - healthy: type: u8 desc: Satellite is healthy? - sid: type: GnssSignalDep desc: GNSS signal identifier - iode: type: u8 desc: Issue of ephemeris data - iodc: type: u16 desc: Issue of clock data - reserved: type: u32 desc: Reserved field - MSG_EPHEMERIS_DEP_A: id: 0x001A short_desc: Deprecated desc: Deprecated. public: false replaced_by: - MSG_EPHEMERIS_GPS fields: - tgd: type: double units: s desc: Group delay differential between L1 and L2 - c_rs: type: double units: m desc: Amplitude of the sine harmonic correction term to the orbit radius - c_rc: type: double units: m desc: Amplitude of the cosine harmonic correction term to the orbit radius - c_uc: type: double units: rad desc: Amplitude of the cosine harmonic correction term to the argument of latitude - c_us: type: double units: rad desc: Amplitude of the sine harmonic correction term to the argument of latitude - c_ic: type: double units: rad desc: Amplitude of the cosine harmonic correction term to the angle of inclination - c_is: type: double units: rad desc: Amplitude of the sine harmonic correction term to the angle of inclination - dn: type: double units: rad/s desc: Mean motion difference - m0: type: double units: rad desc: Mean anomaly at reference time - ecc: type: double desc: Eccentricity of satellite orbit - sqrta: type: double units: m^(1/2) desc: Square root of the semi-major axis of orbit - omega0: type: double units: rad desc: Longitude of ascending node of orbit plane at weekly epoch - omegadot: type: double units: rad/s desc: Rate of right ascension - w: type: double units: rad desc: Argument of perigee - inc: type: double units: rad desc: Inclination - inc_dot: type: double units: rad/s desc: Inclination first derivative - af0: type: double units: s desc: Polynomial clock correction coefficient (clock bias) - af1: type: double units: s/s desc: Polynomial clock correction coefficient (clock drift) - af2: type: double units: s/s^2 desc: Polynomial clock correction coefficient (rate of clock drift) - toe_tow: type: double units: s desc: Time of week - toe_wn: type: u16 units: week desc: Week number - toc_tow: type: double units: s desc: Clock reference time of week - toc_wn: type: u16 units: week desc: Clock reference week number - valid: type: u8 desc: Is valid? - healthy: type: u8 desc: Satellite is healthy? - prn: type: u8 desc: PRN being tracked - MSG_EPHEMERIS_DEP_B: id: 0x0046 short_desc: Deprecated desc: Deprecated. public: false replaced_by: - MSG_EPHEMERIS_GPS fields: - tgd: type: double units: s desc: Group delay differential between L1 and L2 - c_rs: type: double units: m desc: Amplitude of the sine harmonic correction term to the orbit radius - c_rc: type: double units: m desc: Amplitude of the cosine harmonic correction term to the orbit radius - c_uc: type: double units: rad desc: Amplitude of the cosine harmonic correction term to the argument of latitude - c_us: type: double units: rad desc: Amplitude of the sine harmonic correction term to the argument of latitude - c_ic: type: double units: rad desc: Amplitude of the cosine harmonic correction term to the angle of inclination - c_is: type: double units: rad desc: Amplitude of the sine harmonic correction term to the angle of inclination - dn: type: double units: rad/s desc: Mean motion difference - m0: type: double units: rad desc: Mean anomaly at reference time - ecc: type: double desc: Eccentricity of satellite orbit - sqrta: type: double units: m^(1/2) desc: Square root of the semi-major axis of orbit - omega0: type: double units: rad desc: Longitude of ascending node of orbit plane at weekly epoch - omegadot: type: double units: rad/s desc: Rate of right ascension - w: type: double units: rad desc: Argument of perigee - inc: type: double units: rad desc: Inclination - inc_dot: type: double units: rad/s desc: Inclination first derivative - af0: type: double units: s desc: Polynomial clock correction coefficient (clock bias) - af1: type: double units: s/s desc: Polynomial clock correction coefficient (clock drift) - af2: type: double units: s/s^2 desc: Polynomial clock correction coefficient (rate of clock drift) - toe_tow: type: double units: s desc: Time of week - toe_wn: type: u16 units: week desc: Week number - toc_tow: type: double units: s desc: Clock reference time of week - toc_wn: type: u16 units: week desc: Clock reference week number - valid: type: u8 desc: Is valid? - healthy: type: u8 desc: Satellite is healthy? - prn: type: u8 desc: PRN being tracked - iode: type: u8 desc: Issue of ephemeris data - MSG_EPHEMERIS_DEP_C: id: 0x0047 short_desc: Deprecated desc: Deprecated. public: false replaced_by: - MSG_EPHEMERIS_GPS fields: - tgd: type: double units: s desc: Group delay differential between L1 and L2 - c_rs: type: double units: m desc: Amplitude of the sine harmonic correction term to the orbit radius - c_rc: type: double units: m desc: Amplitude of the cosine harmonic correction term to the orbit radius - c_uc: type: double units: rad desc: Amplitude of the cosine harmonic correction term to the argument of latitude - c_us: type: double units: rad desc: Amplitude of the sine harmonic correction term to the argument of latitude - c_ic: type: double units: rad desc: Amplitude of the cosine harmonic correction term to the angle of inclination - c_is: type: double units: rad desc: Amplitude of the sine harmonic correction term to the angle of inclination - dn: type: double units: rad/s desc: Mean motion difference - m0: type: double units: rad desc: Mean anomaly at reference time - ecc: type: double desc: Eccentricity of satellite orbit - sqrta: type: double units: m^(1/2) desc: Square root of the semi-major axis of orbit - omega0: type: double units: rad desc: Longitude of ascending node of orbit plane at weekly epoch - omegadot: type: double units: rad/s desc: Rate of right ascension - w: type: double units: rad desc: Argument of perigee - inc: type: double units: rad desc: Inclination - inc_dot: type: double units: rad/s desc: Inclination first derivative - af0: type: double units: s desc: Polynomial clock correction coefficient (clock bias) - af1: type: double units: s/s desc: Polynomial clock correction coefficient (clock drift) - af2: type: double units: s/s^2 desc: Polynomial clock correction coefficient (rate of clock drift) - toe_tow: type: double units: s desc: Time of week - toe_wn: type: u16 units: week desc: Week number - toc_tow: type: double units: s desc: Clock reference time of week - toc_wn: type: u16 units: week desc: Clock reference week number - valid: type: u8 desc: Is valid? - healthy: type: u8 desc: Satellite is healthy? - sid: type: GnssSignalDep desc: GNSS signal identifier - iode: type: u8 desc: Issue of ephemeris data - iodc: type: u16 desc: Issue of clock data - reserved: type: u32 desc: Reserved field - ObservationHeaderDep: short_desc: Header for observation message desc: Header of a GPS observation message. fields: - t: type: GPSTimeDep desc: GPS time of this observation - n_obs: type: u8 desc: > Total number of observations. First nibble is the size of the sequence (n), second nibble is the zero-indexed counter (ith packet of n) - CarrierPhaseDepA: short_desc: GPS carrier phase measurement desc: > Carrier phase measurement in cycles represented as a 40-bit fixed point number with Q32.8 layout, i.e. 32-bits of whole cycles and 8-bits of fractional cycles. This has the opposite sign convention than a typical GPS receiver and the phase has the opposite sign as the pseudorange. fields: - i: type: s32 units: cycles desc: Carrier phase whole cycles - f: type: u8 units: cycles / 256 desc: Carrier phase fractional part - PackedObsContentDepA: short_desc: Deprecated desc: Deprecated. fields: - P: type: u32 units: cm desc: Pseudorange observation - L: type: CarrierPhaseDepA desc: Carrier phase observation with opposite sign from typical convention - cn0: type: u8 units: dB Hz / 4 desc: Carrier-to-Noise density - lock: type: u16 desc: > Lock indicator. This value changes whenever a satellite signal has lost and regained lock, indicating that the carrier phase ambiguity may have changed. - prn: type: u8 desc: PRN-1 identifier of the satellite signal - PackedObsContentDepB: short_desc: GPS observations for a particular satellite signal desc: > Pseudorange and carrier phase observation for a satellite being tracked. Pseudoranges are referenced to a nominal pseudorange. fields: - P: type: u32 units: cm desc: Pseudorange observation - L: type: CarrierPhaseDepA desc: Carrier phase observation with opposite sign from typical convention. - cn0: type: u8 units: dB Hz / 4 desc: Carrier-to-Noise density - lock: type: u16 desc: > Lock indicator. This value changes whenever a satellite signal has lost and regained lock, indicating that the carrier phase ambiguity may have changed. - sid: type: GnssSignalDep desc: GNSS signal identifier - PackedObsContentDepC: short_desc: GPS observations for a particular satellite signal desc: > Pseudorange and carrier phase observation for a satellite being tracked. The observations are be interoperable with 3rd party receivers and conform with typical RTCMv3 GNSS observations. fields: - P: type: u32 units: 2 cm desc: Pseudorange observation - L: type: CarrierPhase units: cycles desc: Carrier phase observation with typical sign convention. - cn0: type: u8 units: dB Hz / 4 desc: Carrier-to-Noise density - lock: type: u16 desc: > Lock indicator. This value changes whenever a satellite signal has lost and regained lock, indicating that the carrier phase ambiguity may have changed. - sid: type: GnssSignalDep desc: GNSS signal identifier - MSG_OBS_DEP_A: id: 0x0045 short_desc: Deprecated desc: Deprecated. public: false replaced_by: - MSG_OBS fields: - header: type: ObservationHeaderDep desc: Header of a GPS observation message - obs: type: array fill: PackedObsContentDepA map_by: prn desc: > Pseudorange and carrier phase observation for a satellite being tracked. - MSG_OBS_DEP_B: id: 0x0043 short_desc: Deprecated desc: Deprecated. public: false replaced_by: - MSG_OBS fields: - header: type: ObservationHeaderDep desc: Header of a GPS observation message - obs: type: array fill: PackedObsContentDepB map_by: sid desc: > Pseudorange and carrier phase observation for a satellite being tracked. - MSG_OBS_DEP_C: id: 0x0049 short_desc: Deprecated desc: Deprecated. public: false replaced_by: - MSG_OBS fields: - header: type: ObservationHeaderDep desc: Header of a GPS observation message - obs: type: array fill: PackedObsContentDepC map_by: sid desc: > Pseudorange and carrier phase observation for a satellite being tracked. - MSG_IONO: id: 0x0090 short_desc: Iono corrections desc: > The ionospheric parameters which allow the "L1 only" or "L2 only" user to utilize the ionospheric model for computation of the ionospheric delay. Please see ICD-GPS-200 (Chapter 20.3.3.5.1.7) for more details. fields: - t_nmct: type: GPSTimeSec desc: Navigation Message Correction Table Validity Time - a0: type: double units: s - a1: type: double units: s/semi-circle - a2: type: double units: s/(semi-circle)^2 - a3: type: double units: s/(semi-circle)^3 - b0: type: double units: s - b1: type: double units: s/semi-circle - b2: type: double units: s/(semi-circle)^2 - b3: type: double units: s/(semi-circle)^3 - MSG_SV_CONFIGURATION_GPS_DEP: id: 0x0091 short_desc: Deprecated desc: Deprecated. public: false replaced_by: - MSG_GNSS_CAPB fields: - t_nmct: type: GPSTimeSec desc: Navigation Message Correction Table Validity Time - l2c_mask: type: u32 desc: L2C capability mask, SV32 bit being MSB, SV1 bit being LSB - GnssCapb: short_desc: GNSS capabilities masks fields: - gps_active: type: u64 desc: GPS SV active mask - gps_l2c: type: u64 desc: GPS L2C active mask - gps_l5: type: u64 desc: GPS L5 active mask - glo_active: type: u32 desc: GLO active mask - glo_l2of: type: u32 desc: GLO L2OF active mask - glo_l3: type: u32 desc: GLO L3 active mask - sbas_active: type: u64 desc: > SBAS active mask (PRNs 120..158, AN 7/62.2.2-18/18 Table B-23, https://www.caat.or.th/wp-content/uploads/2018/03/SL-2018.18.E-1.pdf) - sbas_l5: type: u64 desc: > SBAS L5 active mask (PRNs 120..158, AN 7/62.2.2-18/18 Table B-23, https://www.caat.or.th/wp-content/uploads/2018/03/SL-2018.18.E-1.pdf) - bds_active: type: u64 desc: BDS active mask - bds_d2nav: type: u64 desc: BDS D2NAV active mask - bds_b2: type: u64 desc: BDS B2 active mask - bds_b2a: type: u64 desc: BDS B2A active mask - qzss_active: type: u32 desc: QZSS active mask - gal_active: type: u64 desc: GAL active mask - gal_e5: type: u64 desc: GAL E5 active mask - MSG_GNSS_CAPB: id: 0x0096 short_desc: GNSS capabilities masks desc: Bit masks of signal capabilities for each GNSS satellite PRN. Please see ICD-GPS-200 (Chapter 20.3.3.5.1.4) for more details. fields: - t_nmct: type: GPSTimeSec desc: Navigation Message Correction Table Validity Time - gc: type: GnssCapb desc: GNSS capabilities masks - MSG_GROUP_DELAY_DEP_A: id: 0x0092 short_desc: Deprecated desc: Deprecated. public: false replaced_by: - MSG_GROUP_DELAY fields: - t_op: type: GPSTimeDep desc: Data Predict Time of Week - prn: type: u8 desc: Satellite number - valid: type: u8 desc: > bit-field indicating validity of the values, LSB indicating tgd validity etc. 1 = value is valid, 0 = value is not valid. - tgd: type: s16 units: s * 2^-35 - isc_l1ca: type: s16 units: s * 2^-35 - isc_l2c: type: s16 units: s * 2^-35 - MSG_GROUP_DELAY_DEP_B: id: 0x0093 short_desc: Deprecated desc: Deprecated. public: false replaced_by: - MSG_GROUP_DELAY fields: - t_op: type: GPSTimeSec desc: Data Predict Time of Week - sid: type: GnssSignalDep desc: GNSS signal identifier - valid: type: u8 desc: > bit-field indicating validity of the values, LSB indicating tgd validity etc. 1 = value is valid, 0 = value is not valid. - tgd: type: s16 units: s * 2^-35 - isc_l1ca: type: s16 units: s * 2^-35 - isc_l2c: type: s16 units: s * 2^-35 - MSG_GROUP_DELAY: id: 0x0094 short_desc: Group Delay desc: Please see ICD-GPS-200 (30.3.3.3.1.1) for more details. fields: - t_op: type: GPSTimeSec desc: Data Predict Time of Week - sid: type: GnssSignal desc: GNSS signal identifier - valid: type: u8 desc: > bit-field indicating validity of the values, LSB indicating tgd validity etc. 1 = value is valid, 0 = value is not valid. - tgd: type: s16 units: s * 2^-35 - isc_l1ca: type: s16 units: s * 2^-35 - isc_l2c: type: s16 units: s * 2^-35 - AlmanacCommonContent: short_desc: Common fields for every almanac message fields: - sid: type: GnssSignal desc: GNSS signal identifier - toa: type: GPSTimeSec desc: Reference time of almanac - ura: type: double units: m desc: User Range Accuracy - fit_interval: type: u32 units: s desc: Curve fit interval - valid: type: u8 desc: Status of almanac, 1 = valid, 0 = invalid - health_bits: type: u8 desc: > Satellite health status for GPS: - bits 5-7: NAV data health status. See IS-GPS-200H Table 20-VII: NAV Data Health Indications. - bits 0-4: Signal health status. See IS-GPS-200H Table 20-VIII. Codes for Health of SV Signal Components. Satellite health status for GLO (see GLO ICD 5.1 table 5.1 for details): - bit 0: C(n), "unhealthy" flag that is transmitted within non-immediate data and indicates overall constellation status at the moment of almanac uploading. '0' indicates malfunction of n-satellite. '1' indicates that n-satellite is operational. - bit 1: Bn(ln), '0' indicates the satellite is operational and suitable for navigation. - AlmanacCommonContentDep: short_desc: Common fields for every almanac message fields: - sid: type: GnssSignalDep desc: GNSS signal identifier - toa: type: GPSTimeSec desc: Reference time of almanac - ura: type: double units: m desc: User Range Accuracy - fit_interval: type: u32 units: s desc: Curve fit interval - valid: type: u8 desc: Status of almanac, 1 = valid, 0 = invalid - health_bits: type: u8 desc: > Satellite health status for GPS: - bits 5-7: NAV data health status. See IS-GPS-200H Table 20-VII: NAV Data Health Indications. - bits 0-4: Signal health status. See IS-GPS-200H Table 20-VIII. Codes for Health of SV Signal Components. Satellite health status for GLO (see GLO ICD 5.1 table 5.1 for details): - bit 0: C(n), "unhealthy" flag that is transmitted within non-immediate data and indicates overall constellation status at the moment of almanac uploading. '0' indicates malfunction of n-satellite. '1' indicates that n-satellite is operational. - bit 1: Bn(ln), '0' indicates the satellite is operational and suitable for navigation. - MSG_ALMANAC_GPS_DEP: id: 0x0070 short_desc: Deprecated desc: Deprecated. public: false replaced_by: - MSG_ALMANAC_GPS fields: - common: type: AlmanacCommonContentDep desc: Values common for all almanac types - m0: type: double units: rad desc: Mean anomaly at reference time - ecc: type: double desc: Eccentricity of satellite orbit - sqrta: type: double units: m^(1/2) desc: Square root of the semi-major axis of orbit - omega0: type: double units: rad desc: Longitude of ascending node of orbit plane at weekly epoch - omegadot: type: double units: rad/s desc: Rate of right ascension - w: type: double units: rad desc: Argument of perigee - inc: type: double units: rad desc: Inclination - af0: type: double units: s desc: Polynomial clock correction coefficient (clock bias) - af1: type: double units: s/s desc: Polynomial clock correction coefficient (clock drift) - MSG_ALMANAC_GPS: id: 0x0072 short_desc: Satellite broadcast almanac for GPS desc: > The almanac message returns a set of satellite orbit parameters. Almanac data is not very precise and is considered valid for up to several months. Please see the Navstar GPS Space Segment/Navigation user interfaces (ICD-GPS-200, Chapter 20.3.3.5.1.2 Almanac Data) for more details. fields: - common: type: AlmanacCommonContent desc: Values common for all almanac types - m0: type: double units: rad desc: Mean anomaly at reference time - ecc: type: double desc: Eccentricity of satellite orbit - sqrta: type: double units: m^(1/2) desc: Square root of the semi-major axis of orbit - omega0: type: double units: rad desc: Longitude of ascending node of orbit plane at weekly epoch - omegadot: type: double units: rad/s desc: Rate of right ascension - w: type: double units: rad desc: Argument of perigee - inc: type: double units: rad desc: Inclination - af0: type: double units: s desc: Polynomial clock correction coefficient (clock bias) - af1: type: double units: s/s desc: Polynomial clock correction coefficient (clock drift) - MSG_ALMANAC_GLO_DEP: id: 0x0071 short_desc: Deprecated desc: Deprecated. public: false replaced_by: - MSG_ALMANAC_GPS fields: - common: type: AlmanacCommonContentDep desc: Values common for all almanac types - lambda_na: type: double units: rad desc: > Longitude of the first ascending node of the orbit in PZ-90.02 coordinate system - t_lambda_na: type: double units: s desc: Time of the first ascending node passage - i: type: double units: rad desc: Value of inclination at instant of t_lambda - t: type: double units: s/orbital period desc: Value of Draconian period at instant of t_lambda - t_dot: type: double units: s/(orbital period^2) desc: Rate of change of the Draconian period - epsilon: type: double desc: Eccentricity at instant of t_lambda - omega: type: double units: rad desc: Argument of perigee at instant of t_lambda - MSG_ALMANAC_GLO: id: 0x0073 short_desc: Satellite broadcast almanac for GLO desc: > The almanac message returns a set of satellite orbit parameters. Almanac data is not very precise and is considered valid for up to several months. Please see the GLO ICD 5.1 "Chapter 4.5 Non-immediate information and almanac" for details. fields: - common: type: AlmanacCommonContent desc: Values common for all almanac types - lambda_na: type: double units: rad desc: > Longitude of the first ascending node of the orbit in PZ-90.02 coordinate system - t_lambda_na: type: double units: s desc: Time of the first ascending node passage - i: type: double units: rad desc: Value of inclination at instant of t_lambda - t: type: double units: s/orbital period desc: Value of Draconian period at instant of t_lambda - t_dot: type: double units: s/(orbital period^2) desc: Rate of change of the Draconian period - epsilon: type: double desc: Eccentricity at instant of t_lambda - omega: type: double units: rad desc: Argument of perigee at instant of t_lambda - MSG_GLO_BIASES: id: 0x0075 short_desc: GLONASS L1/L2 Code-Phase biases desc: > The GLONASS L1/L2 Code-Phase biases allows to perform GPS+GLONASS integer ambiguity resolution for baselines with mixed receiver types (e.g. receiver of different manufacturers). fields: - mask: type: u8 units: boolean desc: GLONASS FDMA signals mask - l1ca_bias: type: s16 units: m * 0.02 desc: GLONASS L1 C/A Code-Phase Bias - l1p_bias: type: s16 units: m * 0.02 desc: GLONASS L1 P Code-Phase Bias - l2ca_bias: type: s16 units: m * 0.02 desc: GLONASS L2 C/A Code-Phase Bias - l2p_bias: type: s16 units: m * 0.02 desc: GLONASS L2 P Code-Phase Bias - SvAzEl: short_desc: Satellite azimuth and elevation desc: Satellite azimuth and elevation. fields: - sid: type: GnssSignal desc: GNSS signal identifier - az: type: u8 units: deg * 2 desc: Azimuth angle (range 0..179) - el: type: s8 units: deg desc: Elevation angle (range -90..90) - MSG_SV_AZ_EL: id: 0x0097 short_desc: Satellite azimuths and elevations desc: > Azimuth and elevation angles of all the visible satellites that the device does have ephemeris or almanac for. fields: - azel: type: array fill: SvAzEl desc: Azimuth and elevation per satellite - MSG_OSR: id: 0x0640 short_desc: OSR corrections desc: > The OSR message contains network corrections in an observation-like format. fields: - header: type: ObservationHeader desc: Header of a GPS observation message - obs: type: array fill: PackedOsrContent map_by: sid desc: > Network correction for a satellite signal.