# Copyright (C) 2018-2021 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.ssr description: Precise State Space Representation (SSR) corrections format stable: False public: True include: - types.yaml - gnss.yaml definitions: - CodeBiasesContent: short_desc: SSR code biases corrections for a particular satellite desc: > Code biases are to be added to pseudorange. The corrections conform with RTCMv3 MT 1059 / 1065. fields: - code: type: u8 desc: > Signal encoded following RTCM specifications (DF380, DF381, DF382 and DF467). - value: type: s16 units: 0.01 m desc: Code bias value - PhaseBiasesContent: short_desc: SSR phase biases corrections for a particular satellite desc: > Phase biases are to be added to carrier phase measurements. fields: - code: type: u8 desc: > Signal encoded following RTCM specifications (DF380, DF381, DF382 and DF467) - integer_indicator: type: u8 desc: Indicator for integer property - widelane_integer_indicator: type: u8 desc: Indicator for two groups of Wide-Lane(s) integer property - discontinuity_counter: type: u8 desc: > Signal phase discontinuity counter. Increased for every discontinuity in phase. - bias: type: s32 units: 0.1 mm desc: Phase bias for specified signal - STECHeader: short_desc: Header for the MSG_SSR_STEC_CORRECTION message desc: > A full set of STEC information will likely span multiple SBP messages, since SBP message a limited to 255 bytes. The header is used to tie multiple SBP messages into a sequence. fields: - tile_set_id: type: u16 desc: Unique identifier of the tile set this tile belongs to. - tile_id: type: u16 desc: Unique identifier of this tile in the tile set. - time: type: GPSTimeSec desc: GNSS reference time of the correction - num_msgs: type: u8 desc: Number of messages in the dataset - seq_num: type: u8 desc: Position of this message in the dataset - update_interval: type: u8 desc: > Update interval between consecutive corrections. Encoded following RTCM DF391 specification. - iod_atmo: type: u8 desc: > IOD of the SSR atmospheric correction - GriddedCorrectionHeader: short_desc: Header for the MSG_SSR_GRIDDED_CORRECTION message desc: > The LPP message contains nested variable length arrays which are not supported in SBP, so each grid point will be identified by the index. fields: - tile_set_id: type: u16 desc: Unique identifier of the tile set this tile belongs to. - tile_id: type: u16 desc: Unique identifier of this tile in the tile set. - time: type: GPSTimeSec desc: GNSS reference time of the correction - num_msgs: type: u16 desc: Number of messages in the dataset - seq_num: type: u16 desc: Position of this message in the dataset - update_interval: type: u8 desc: > Update interval between consecutive corrections. Encoded following RTCM DF391 specification. - iod_atmo: type: u8 desc: > IOD of the SSR atmospheric correction - tropo_quality_indicator: type: u8 desc: > Quality of the troposphere data. Encoded following RTCM DF389 specification in units of m. - STECSatElement: desc: STEC polynomial for the given satellite. fields: - sv_id: type: SvId desc: Unique space vehicle identifier - stec_quality_indicator: type: u8 desc: > Quality of the STEC data. Encoded following RTCM DF389 specification but in units of TECU instead of m. - stec_coeff: type: array size: 4 fill: s16 desc: > Coefficients of the STEC polynomial in the order of C00, C01, C10, C11. C00 = 0.05 TECU, C01/C10 = 0.02 TECU/deg, C11 0.02 TECU/deg^2 - TroposphericDelayCorrectionNoStd: desc: > Troposphere vertical delays at the grid point. fields: - hydro: type: s16 units: 4 mm (add 2.3 m to get actual vertical hydro delay) desc: Hydrostatic vertical delay - wet: type: s8 units: 4 mm (add 0.252 m to get actual vertical wet delay) desc: Wet vertical delay - TroposphericDelayCorrection: desc: > Troposphere vertical delays (mean and standard deviation) at the grid point. fields: - hydro: type: s16 units: 4 mm desc: > Hydrostatic vertical delay. Add 2.3 m to get actual value. - wet: type: s8 units: 4 mm desc: > Wet vertical delay. Add 0.252 m to get actual value. - stddev: type: u8 units: mm desc: > Standard deviation encoded using a similar method as RTCM DF389. The upper 3 bit are the class, the lower 5 bits are the value. Standard deviation [mm] = (3^class * (1 + value/16) - 1) - STECResidualNoStd: desc: STEC residual for the given satellite at the grid point. fields: - sv_id: type: SvId desc: space vehicle identifier - residual: type: s16 units: 0.04 TECU desc: STEC residual - STECResidual: desc: > STEC residual (mean and standard deviation) for the given satellite at the grid point. fields: - sv_id: type: SvId desc: space vehicle identifier - residual: type: s16 units: 0.04 TECU desc: STEC residual - stddev: type: u8 units: TECU desc: > Standard deviation encoded using a similar method as RTCM DF389. The upper 3 bit are the class, the lower 5 bits are the value. Standard deviation [TECU] = (3^class * (1 + value/16) - 1) * 0.1 - MSG_SSR_ORBIT_CLOCK: id: 0x05DD short_desc: Precise orbit and clock correction desc: > The precise orbit and clock correction message is to be applied as a delta correction to broadcast ephemeris and is an equivalent to the 1060 /1066 RTCM message types. fields: - time: type: GPSTimeSec desc: GNSS reference time of the correction - sid: type: GnssSignal desc: GNSS signal identifier (16 bit) - update_interval: type: u8 desc: > Update interval between consecutive corrections. Encoded following RTCM DF391 specification. - iod_ssr: type: u8 desc: > IOD of the SSR correction. A change of Issue Of Data SSR is used to indicate a change in the SSR generating configuration - iod: type: u32 desc: Issue of broadcast ephemeris data or IODCRC (Beidou) - radial: type: s32 units: 0.1 mm desc: Orbit radial delta correction - along: type: s32 units: 0.4 mm desc: Orbit along delta correction - cross: type: s32 units: 0.4 mm desc: Orbit along delta correction - dot_radial: type: s32 units: 0.001 mm/s desc: Velocity of orbit radial delta correction - dot_along: type: s32 units: 0.004 mm/s desc: Velocity of orbit along delta correction - dot_cross: type: s32 units: 0.004 mm/s desc: Velocity of orbit cross delta correction - c0: type: s32 units: 0.1 mm desc: C0 polynomial coefficient for correction of broadcast satellite clock - c1: type: s32 units: 0.001 mm/s desc: C1 polynomial coefficient for correction of broadcast satellite clock - c2: type: s32 units: 0.00002 mm/s^-2 desc: C2 polynomial coefficient for correction of broadcast satellite clock - MSG_SSR_CODE_BIASES: id: 0x05E1 short_desc: Precise code biases correction desc: > The precise code biases message is to be added to the pseudorange of the corresponding signal to get corrected pseudorange. It is an equivalent to the 1059 / 1065 RTCM message types. fields: - time: type: GPSTimeSec desc: GNSS reference time of the correction - sid: type: GnssSignal desc: GNSS signal identifier (16 bit) - update_interval: type: u8 desc: > Update interval between consecutive corrections. Encoded following RTCM DF391 specification. - iod_ssr: type: u8 desc: > IOD of the SSR correction. A change of Issue Of Data SSR is used to indicate a change in the SSR generating configuration - biases: type: array fill: CodeBiasesContent map_by: code desc: Code biases for the different satellite signals - MSG_SSR_PHASE_BIASES: id: 0x05E6 short_desc: Precise phase biases correction desc: > The precise phase biases message contains the biases to be added to the carrier phase of the corresponding signal to get corrected carrier phase measurement, as well as the satellite yaw angle to be applied to compute the phase wind-up correction. It is typically an equivalent to the 1265 RTCM message types. fields: - time: type: GPSTimeSec desc: GNSS reference time of the correction - sid: type: GnssSignal desc: GNSS signal identifier (16 bit) - update_interval: type: u8 desc: > Update interval between consecutive corrections. Encoded following RTCM DF391 specification. - iod_ssr: type: u8 desc: > IOD of the SSR correction. A change of Issue Of Data SSR is used to indicate a change in the SSR generating configuration - dispersive_bias: type: u8 desc: > Indicator for the dispersive phase biases property. - mw_consistency: type: u8 desc: > Consistency indicator for Melbourne-Wubbena linear combinations - yaw: type: u16 units: 1 / 256 semi-circle desc: Satellite yaw angle - yaw_rate: type: s8 units: 1 / 8192 semi-circle / s desc: Satellite yaw angle rate - biases: type: array fill: PhaseBiasesContent map_by: code desc: > Phase biases corrections for a satellite being tracked. - MSG_SSR_STEC_CORRECTION_DEP: id: 0x05FB short_desc: Deprecated desc: Deprecated. public: false replaced_by: - MSG_SSR_STEC_CORRECTION fields: - header: type: STECHeader desc: Header of a STEC polynomial coefficient message. - stec_sat_list: type: array fill: STECSatElement desc: Array of STEC polynomial coefficients for each space vehicle. - BoundsHeader: short_desc: Header for the Bounds messages fields: - time: type: GPSTimeSec desc: GNSS reference time of the bound - num_msgs: type: u8 desc: Number of messages in the dataset - seq_num: type: u8 desc: Position of this message in the dataset - update_interval: type: u8 desc: > Update interval between consecutive bounds. Similar to RTCM DF391. - sol_id: type: u8 desc: SSR Solution ID. - MSG_SSR_STEC_CORRECTION: id: 0x05FD short_desc: STEC correction polynomial coefficients fields: - header: type: BoundsHeader desc: Header of a STEC correction with bounds message. - ssr_iod_atmo: type: u8 desc: IOD of the SSR atmospheric correction - tile_set_id: type: u16 desc: Tile set ID - tile_id: type: u16 desc: Tile ID - n_sats: type: u8 desc: Number of satellites. - stec_sat_list: type: array fill: STECSatElement size_fn: n_sats desc: Array of STEC polynomial coefficients for each space vehicle. - MSG_SSR_GRIDDED_CORRECTION: id: 0x05FC short_desc: Gridded troposphere and STEC correction residuals desc: > STEC residuals are per space vehicle, troposphere is not. It is typically equivalent to the QZSS CLAS Sub Type 9 messages. fields: - header: type: GriddedCorrectionHeader desc: Header of a gridded correction message - index: type: u16 desc: Index of the grid point. - tropo_delay_correction: type: TroposphericDelayCorrection desc: Wet and hydrostatic vertical delays (mean, stddev). - stec_residuals: type: array fill: STECResidual desc: STEC residuals for each satellite (mean, stddev). - STECSatElementIntegrity: desc: STEC polynomial and bounds for the given satellite. fields: - stec_residual: type: STECResidual desc: STEC residuals (mean, stddev) - stec_bound_mu: type: u8 units: m desc: > Error Bound Mean. See Note 1. - stec_bound_sig: type: u8 units: m desc: > Error Bound StDev. See Note 1. - stec_bound_mu_dot: type: u8 units: 0.00005 m/s desc: Error Bound Mean First derivative. - stec_bound_sig_dot: type: u8 units: 0.00005 m/s desc: Error Bound StDev First derivative. - MSG_SSR_GRIDDED_CORRECTION_BOUNDS: id: 0x05FE short_desc: Gridded troposhere and STEC correction residuals bounds desc: > Note 1: Range: 0-17.5 m. i<= 200, mean = 0.01i; 200230, mean=5+0.5(i-230). fields: - header: type: BoundsHeader desc: Header of a bounds message. - ssr_iod_atmo: type: u8 desc: IOD of the correction. - tile_set_id: type: u16 desc: Set this tile belongs to. - tile_id: type: u16 desc: Unique identifier of this tile in the tile set. - tropo_qi: type: u8 desc: Tropo Quality Indicator. Similar to RTCM DF389. - grid_point_id: type: u16 desc: Index of the Grid Point. - tropo_delay_correction: type: TroposphericDelayCorrection desc: Tropospheric delay at grid point. - tropo_v_hydro_bound_mu: type: u8 units: 0.005 m desc: Vertical Hydrostatic Error Bound Mean. - tropo_v_hydro_bound_sig: type: u8 units: 0.005 m desc: Vertical Hydrostatic Error Bound StDev. - tropo_v_wet_bound_mu: type: u8 units: 0.005 m desc: Vertical Wet Error Bound Mean. - tropo_v_wet_bound_sig: type: u8 units: 0.005 m desc: Vertical Wet Error Bound StDev. - n_sats: type: u8 desc: Number of satellites. - stec_sat_list: type: array fill: STECSatElementIntegrity size_fn: n_sats desc: Array of STEC polynomial coefficients and its bounds for each space vehicle. - MSG_SSR_TILE_DEFINITION_DEP_A: id: 0x05F6 short_desc: Deprecated desc: Deprecated. public: false replaced_by: - MSG_SSR_TILE_DEFINITION fields: - tile_set_id: type: u16 desc: Unique identifier of the tile set this tile belongs to. - tile_id: type: u16 desc: > Unique identifier of this tile in the tile set. See GNSS-SSR-ArrayOfCorrectionPoints field correctionPointSetID. - corner_nw_lat: type: s16 units: encoded degrees desc: > North-West corner correction point latitude. The relation between the latitude X in the range [-90, 90] and the coded number N is: N = floor((X / 90) * 2^14) See GNSS-SSR-ArrayOfCorrectionPoints field referencePointLatitude. - corner_nw_lon: type: s16 units: encoded degrees desc: > North-West corner correction point longitude. The relation between the longitude X in the range [-180, 180] and the coded number N is: N = floor((X / 180) * 2^15) See GNSS-SSR-ArrayOfCorrectionPoints field referencePointLongitude. - spacing_lat: type: u16 units: 0.01 degrees desc: > Spacing of the correction points in the latitude direction. See GNSS-SSR-ArrayOfCorrectionPoints field stepOfLatitude. - spacing_lon: type: u16 units: 0.01 degrees desc: > Spacing of the correction points in the longitude direction. See GNSS-SSR-ArrayOfCorrectionPoints field stepOfLongitude. - rows: type: u16 desc: > Number of steps in the latitude direction. See GNSS-SSR-ArrayOfCorrectionPoints field numberOfStepsLatitude. - cols: type: u16 desc: > Number of steps in the longitude direction. See GNSS-SSR-ArrayOfCorrectionPoints field numberOfStepsLongitude. - bitmask: type: u64 desc: > Specifies the availability of correction data at the correction points in the array. If a specific bit is enabled (set to 1), the correction is not available. Only the first rows * cols bits are used, the remainder are set to 0. If there are more then 64 correction points the remaining corrections are always available. Starting with the northwest corner of the array (top left on a north oriented map) the correction points are enumerated with row precedence - first row west to east, second row west to east, until last row west to east - ending with the southeast corner of the array. See GNSS-SSR-ArrayOfCorrectionPoints field bitmaskOfGrids but note the definition of the bits is inverted. - MSG_SSR_TILE_DEFINITION_DEP_B: id: 0x05F7 short_desc: Deprecated desc: Deprecated. public: false replaced_by: - MSG_SSR_TILE_DEFINITION fields: - ssr_sol_id: type: u8 desc: SSR Solution ID. - tile_set_id: type: u16 desc: Unique identifier of the tile set this tile belongs to. - tile_id: type: u16 desc: > Unique identifier of this tile in the tile set. See GNSS-SSR-ArrayOfCorrectionPoints field correctionPointSetID. - corner_nw_lat: type: s16 units: encoded degrees desc: > North-West corner correction point latitude. The relation between the latitude X in the range [-90, 90] and the coded number N is: N = floor((X / 90) * 2^14) See GNSS-SSR-ArrayOfCorrectionPoints field referencePointLatitude. - corner_nw_lon: type: s16 units: encoded degrees desc: > North-West corner correction point longitude. The relation between the longitude X in the range [-180, 180] and the coded number N is: N = floor((X / 180) * 2^15) See GNSS-SSR-ArrayOfCorrectionPoints field referencePointLongitude. - spacing_lat: type: u16 units: 0.01 degrees desc: > Spacing of the correction points in the latitude direction. See GNSS-SSR-ArrayOfCorrectionPoints field stepOfLatitude. - spacing_lon: type: u16 units: 0.01 degrees desc: > Spacing of the correction points in the longitude direction. See GNSS-SSR-ArrayOfCorrectionPoints field stepOfLongitude. - rows: type: u16 desc: > Number of steps in the latitude direction. See GNSS-SSR-ArrayOfCorrectionPoints field numberOfStepsLatitude. - cols: type: u16 desc: > Number of steps in the longitude direction. See GNSS-SSR-ArrayOfCorrectionPoints field numberOfStepsLongitude. - bitmask: type: u64 desc: > Specifies the availability of correction data at the correction points in the array. If a specific bit is enabled (set to 1), the correction is not available. Only the first rows * cols bits are used, the remainder are set to 0. If there are more then 64 correction points the remaining corrections are always available. Starting with the northwest corner of the array (top left on a north oriented map) the correction points are enumerated with row precedence - first row west to east, second row west to east, until last row west to east - ending with the southeast corner of the array. See GNSS-SSR-ArrayOfCorrectionPoints field bitmaskOfGrids but note the definition of the bits is inverted. - MSG_SSR_TILE_DEFINITION: id: 0x05F8 short_desc: > Definition of a SSR atmospheric correction tile. desc: > Provides the correction point coordinates for the atmospheric correction values in the MSG_SSR_STEC_CORRECTION and MSG_SSR_GRIDDED_CORRECTION messages. Based on ETSI TS 137 355 V16.1.0 (LTE Positioning Protocol) information element GNSS-SSR-CorrectionPoints. SBP only supports gridded arrays of correction points, not lists of points. fields: - time: type: GPSTimeSec desc: GNSS reference time of the correction - update_interval: type: u8 desc: > Update interval between consecutive corrections. Encoded following RTCM DF391 specification. - sol_id: type: u8 desc: SSR Solution ID. Similar to RTCM DF415. - iod_atmo: type: u8 desc: > IOD of the SSR atmospheric correction. - tile_set_id: type: u16 desc: Unique identifier of the tile set this tile belongs to. - tile_id: type: u16 desc: > Unique identifier of this tile in the tile set. See GNSS-SSR-ArrayOfCorrectionPoints field correctionPointSetID. - corner_nw_lat: type: s16 units: encoded degrees desc: > North-West corner correction point latitude. The relation between the latitude X in the range [-90, 90] and the coded number N is: N = floor((X / 90) * 2^14) See GNSS-SSR-ArrayOfCorrectionPoints field referencePointLatitude. - corner_nw_lon: type: s16 units: encoded degrees desc: > North-West corner correction point longitude. The relation between the longitude X in the range [-180, 180] and the coded number N is: N = floor((X / 180) * 2^15) See GNSS-SSR-ArrayOfCorrectionPoints field referencePointLongitude. - spacing_lat: type: u16 units: 0.01 degrees desc: > Spacing of the correction points in the latitude direction. See GNSS-SSR-ArrayOfCorrectionPoints field stepOfLatitude. - spacing_lon: type: u16 units: 0.01 degrees desc: > Spacing of the correction points in the longitude direction. See GNSS-SSR-ArrayOfCorrectionPoints field stepOfLongitude. - rows: type: u16 desc: > Number of steps in the latitude direction. See GNSS-SSR-ArrayOfCorrectionPoints field numberOfStepsLatitude. - cols: type: u16 desc: > Number of steps in the longitude direction. See GNSS-SSR-ArrayOfCorrectionPoints field numberOfStepsLongitude. - bitmask: type: u64 desc: > Specifies the absence of correction data at the correction points in the array (grid). Only the first rows * cols bits are used, and if a specific bit is enabled (set to 1), the correction is not available. If there are more than 64 correction points the remaining corrections are always available. The correction points are packed by rows, starting with the northwest corner of the array (top-left on a north oriented map), with each row spanning west to east, ending with the southeast corner of the array. See GNSS-SSR-ArrayOfCorrectionPoints field bitmaskOfGrids but note the definition of the bits is inverted. - SatelliteAPC: short_desc: Antenna phase center correction desc: > Contains phase center offset and elevation variation corrections for one signal on a satellite. fields: - sid: type: GnssSignal desc: GNSS signal identifier (16 bit) - sat_info: type: u8 desc: Additional satellite information fields: - 5-7: desc: Reserved - 0-4: desc: Satellite Type values: - 0: Unknown Type - 1: GPS I - 2: GPS II - 3: GPS IIA - 4: GPS IIR - 5: GPS IIF - 6: GPS III - 7: GLONASS - 8: GLONASS M - 9: GLONASS K1 - 10: GALILEO - 11: BEIDOU 2G - 12: BEIDOU 2I - 13: BEIDOU 2M - 14: BEIDOU 3M, SECM - 15: BEIDOU 3G, SECM - 16: BEIDOU 3M, CAST - 17: BEIDOU 3G, CAST - 18: BEIDOU 3I, CAST - 19: QZSS - 20: BEIDOU 3I - 21: BEIDOU 3SM, CAST - 22: BEIDOU 3SI, CAST - 23: BEIDOU 3SM, SECM - 24: BEIDOU 3SI, SECM - svn: type: u16 desc: Satellite Code, as defined by IGS. Typically the space vehicle number. - pco: type: array size: 3 fill: s16 units: 1 mm desc: > Mean phase center offset, X Y and Z axes. See IGS ANTEX file format description for coordinate system definition. - pcv: type: array size: 21 fill: s8 units: 1 mm desc: > Elevation dependent phase center variations. First element is 0 degrees separation from the Z axis, subsequent elements represent elevation variations in 1 degree increments. - MSG_SSR_SATELLITE_APC_DEP: id: 0x0604 short_desc: Deprecated desc: Deprecated. public: false replaced_by: - MSG_SSR_SATELLITE_APC fields: - apc: type: array fill: SatelliteAPC desc: Satellite antenna phase center corrections - MSG_SSR_SATELLITE_APC: id: 0x0605 short_desc: Satellite antenna phase center corrections fields: - time: type: GPSTimeSec desc: GNSS reference time of the correction - update_interval: type: u8 desc: > Update interval between consecutive corrections. Encoded following RTCM DF391 specification. - sol_id: type: u8 desc: SSR Solution ID. Similar to RTCM DF415. - iod_ssr: type: u8 desc: > IOD of the SSR correction. A change of Issue Of Data SSR is used to indicate a change in the SSR generating configuration - apc: type: array fill: SatelliteAPC desc: Satellite antenna phase center corrections - MSG_SSR_ORBIT_CLOCK_DEP_A: id: 0x05DC short_desc: Deprecated desc: Deprecated. public: false replaced_by: - MSG_SSR_ORBIT_CLOCK fields: - time: type: GPSTimeSec desc: GNSS reference time of the correction - sid: type: GnssSignal desc: GNSS signal identifier (16 bit) - update_interval: type: u8 desc: > Update interval between consecutive corrections. Encoded following RTCM DF391 specification. - iod_ssr: type: u8 desc: > IOD of the SSR correction. A change of Issue Of Data SSR is used to indicate a change in the SSR generating configuration - iod: type: u8 desc: Issue of broadcast ephemeris data - radial: type: s32 units: 0.1 mm desc: Orbit radial delta correction - along: type: s32 units: 0.4 mm desc: Orbit along delta correction - cross: type: s32 units: 0.4 mm desc: Orbit along delta correction - dot_radial: type: s32 units: 0.001 mm/s desc: Velocity of orbit radial delta correction - dot_along: type: s32 units: 0.004 mm/s desc: Velocity of orbit along delta correction - dot_cross: type: s32 units: 0.004 mm/s desc: Velocity of orbit cross delta correction - c0: type: s32 units: 0.1 mm desc: C0 polynomial coefficient for correction of broadcast satellite clock - c1: type: s32 units: 0.001 mm/s desc: C1 polynomial coefficient for correction of broadcast satellite clock - c2: type: s32 units: 0.00002 mm/s^-2 desc: C2 polynomial coefficient for correction of broadcast satellite clock - STECHeaderDepA: short_desc: Header for MSG_SSR_STEC_CORRECTION_DEP message desc: > A full set of STEC information will likely span multiple SBP messages, since SBP message a limited to 255 bytes. The header is used to tie multiple SBP messages into a sequence. fields: - time: type: GPSTimeSec desc: GNSS reference time of the correction - num_msgs: type: u8 desc: Number of messages in the dataset - seq_num: type: u8 desc: Position of this message in the dataset - update_interval: type: u8 desc: > Update interval between consecutive corrections. Encoded following RTCM DF391 specification. - iod_atmo: type: u8 desc: > IOD of the SSR atmospheric correction - GriddedCorrectionHeaderDepA: short_desc: Header for MSG_SSR_GRIDDED_CORRECTION_DEP desc: > The 3GPP message contains nested variable length arrays which are not supported in SBP, so each grid point will be identified by the index. fields: - time: type: GPSTimeSec desc: GNSS reference time of the correction - num_msgs: type: u16 desc: Number of messages in the dataset - seq_num: type: u16 desc: Position of this message in the dataset - update_interval: type: u8 desc: > Update interval between consecutive corrections. Encoded following RTCM DF391 specification. - iod_atmo: type: u8 desc: > IOD of the SSR atmospheric correction - tropo_quality_indicator: type: u8 desc: > Quality of the troposphere data. Encoded following RTCM DF389 specification in units of m. - GridDefinitionHeaderDepA: short_desc: Defines the grid for MSG_SSR_GRIDDED_CORRECTION messages desc: > Defines the grid for MSG_SSR_GRIDDED_CORRECTION messages. Also includes an RLE encoded validity list. fields: - region_size_inverse: type: u8 units: inverse degrees desc: > region_size (deg) = 10 / region_size_inverse 0 is an invalid value. - area_width: type: u16 desc: > grid height (deg) = grid width (deg) = area_width / region_size 0 is an invalid value. - lat_nw_corner_enc: type: u16 desc: North-West corner latitude (deg) = region_size * lat_nw_corner_enc - 90 - lon_nw_corner_enc: type: u16 desc: North-West corner longitude (deg) = region_size * lon_nw_corner_enc - 180 - num_msgs: type: u8 desc: Number of messages in the dataset - seq_num: type: u8 desc: Position of this message in the dataset - MSG_SSR_STEC_CORRECTION_DEP_A: id: 0x05EB short_desc: Deprecated desc: Deprecated. public: false replaced_by: - MSG_SSR_STEC_CORRECTION fields: - header: type: STECHeaderDepA desc: Header of a STEC message - stec_sat_list: type: array fill: STECSatElement desc: Array of STEC information for each space vehicle - MSG_SSR_GRIDDED_CORRECTION_NO_STD_DEP_A: id: 0x05F0 short_desc: Deprecated desc: Deprecated. public: false replaced_by: - MSG_SSR_STEC_CORRECTION_DEP fields: - header: type: GriddedCorrectionHeaderDepA desc: Header of a Gridded Correction message - index: type: u16 desc: Index of the grid point - tropo_delay_correction: type: TroposphericDelayCorrectionNoStd desc: Wet and hydrostatic vertical delays - stec_residuals: type: array fill: STECResidualNoStd desc: STEC residuals for each satellite - MSG_SSR_GRIDDED_CORRECTION_DEP_A: id: 0x05FA short_desc: Deprecated desc: Deprecated. public: false replaced_by: - MSG_SSR_GRIDDED_CORRECTION fields: - header: type: GriddedCorrectionHeaderDepA desc: Header of a Gridded Correction message - index: type: u16 desc: Index of the grid point - tropo_delay_correction: type: TroposphericDelayCorrection desc: Wet and hydrostatic vertical delays (mean, stddev) - stec_residuals: type: array fill: STECResidual desc: STEC residuals for each satellite (mean, stddev) - MSG_SSR_GRID_DEFINITION_DEP_A: id: 0x05F5 short_desc: Deprecated desc: Deprecated. public: false replaced_by: - MSG_SSR_TILE_DEFINITION_DEP fields: - header: type: GridDefinitionHeaderDepA desc: Header of a Gridded Correction message - rle_list: type: array fill: u8 desc: > Run Length Encode list of quadrants that contain valid data. The spec describes the encoding scheme in detail, but essentially the index of the quadrants that contain transitions between valid and invalid (and vice versa) are encoded as u8 integers. - OrbitClockBound: desc: Orbit and clock bound. fields: - sat_id: type: u8 desc: > Satellite ID. Similar to either RTCM DF068 (GPS), DF252 (Galileo), or DF488 (BDS) depending on the constellation. - orb_radial_bound_mu: type: u8 units: m desc: > Mean Radial. See Note 1. - orb_along_bound_mu: type: u8 units: m desc: > Mean Along-Track. See Note 1. - orb_cross_bound_mu: type: u8 units: m desc: > Mean Cross-Track. See Note 1. - orb_radial_bound_sig: type: u8 units: m desc: > Standard Deviation Radial. See Note 2. - orb_along_bound_sig: type: u8 units: m desc: > Standard Deviation Along-Track. See Note 2. - orb_cross_bound_sig: type: u8 units: m desc: > Standard Deviation Cross-Track. See Note 2. - clock_bound_mu: type: u8 units: m desc: > Clock Bound Mean. See Note 1. - clock_bound_sig: type: u8 units: m desc: > Clock Bound Standard Deviation. See Note 2. - MSG_SSR_ORBIT_CLOCK_BOUNDS: id: 0x05DE short_desc: Combined Orbit and Clock Bound desc: > Note 1: Range: 0-17.5 m. i<=200, mean=0.01i; 200230, mean=5+0.5(i-230). Note 2: Range: 0-17.5 m. i<=200, std=0.01i; 200230, std=5+0.5(i-230). fields: - header: type: BoundsHeader desc: Header of a bounds message. - ssr_iod: type: u8 desc: IOD of the SSR bound. - const_id: type: u8 desc: Constellation ID to which the SVs belong. fields: - 0-7: values: - 0: GPS - 3: BDS - 4: QZS - 5: GAL - n_sats: type: u8 desc: Number of satellites. - orbit_clock_bounds: type: array fill: OrbitClockBound size_fn: n_sats map_by: sat_id desc: Orbit and Clock Bounds per Satellite - CodePhaseBiasesSatSig: short_desc: Code and Phase Biases Bounds per Satellite-Signal couple fields: - sat_id: type: u8 desc: > Satellite ID. Similar to either RTCM DF068 (GPS), DF252 (Galileo), or DF488 (BDS) depending on the constellation. - signal_id: type: u8 desc: > Signal and Tracking Mode Identifier. Similar to either RTCM DF380 (GPS), DF382 (Galileo) or DF467 (BDS) depending on the constellation. - code_bias_bound_mu: type: u8 units: 0.005 m desc: > Code Bias Mean. Range: 0-1.275 m - code_bias_bound_sig: type: u8 units: 0.005 m desc: > Code Bias Standard Deviation. Range: 0-1.275 m - phase_bias_bound_mu: type: u8 units: 0.005 m desc: > Phase Bias Mean. Range: 0-1.275 m - phase_bias_bound_sig: type: u8 units: 0.005 m desc: > Phase Bias Standard Deviation. Range: 0-1.275 m - MSG_SSR_CODE_PHASE_BIASES_BOUNDS: id: 0x05EC short_desc: Combined Code and Phase Biases Bounds fields: - header: type: BoundsHeader desc: Header of a bounds message. - ssr_iod: type: u8 desc: IOD of the SSR bound. - const_id: type: u8 desc: Constellation ID to which the SVs belong. fields: - 0-7: values: - 0: GPS - 3: BDS - 4: QZS - 5: GAL - n_sats_signals: type: u8 desc: Number of satellite-signal couples. - satellites_signals: type: array fill: CodePhaseBiasesSatSig size_fn: n_sats_signals map_by: sat_id desc: Code and Phase Biases Bounds per Satellite-Signal couple. - OrbitClockBoundDegradation: desc: Orbit and clock bound degradation. fields: - orb_radial_bound_mu_dot: type: u8 units: 0.001 m/s desc: > Orbit Bound Mean Radial First derivative. Range: 0-0.255 m/s - orb_along_bound_mu_dot: type: u8 units: 0.001 m/s desc: > Orbit Bound Mean Along-Track First derivative. Range: 0-0.255 m/s - orb_cross_bound_mu_dot: type: u8 units: 0.001 m/s desc: > Orbit Bound Mean Cross-Track First derivative. Range: 0-0.255 m/s - orb_radial_bound_sig_dot: type: u8 units: 0.001 m/s desc: > Orbit Bound Standard Deviation Radial First derivative. Range: 0-0.255 m/s - orb_along_bound_sig_dot: type: u8 units: 0.001 m/s desc: > Orbit Bound Standard Deviation Along-Track First derivative. Range: 0-0.255 m/s - orb_cross_bound_sig_dot: type: u8 units: 0.001 m/s desc: > Orbit Bound Standard Deviation Cross-Track First derivative. Range: 0-0.255 m/s - clock_bound_mu_dot: type: u8 units: 0.001 m/s desc: > Clock Bound Mean First derivative. Range: 0-0.255 m/s - clock_bound_sig_dot: type: u8 units: 0.001 m/s desc: > Clock Bound Standard Deviation First derivative. Range: 0-0.255 m/s - MSG_SSR_ORBIT_CLOCK_BOUNDS_DEGRADATION: id: 0x05DF short_desc: Combined Orbit and Clock Bound Degradation Parameter fields: - header: type: BoundsHeader desc: Header of a bounds message. - ssr_iod: type: u8 desc: IOD of the SSR bound degradation parameter. - const_id: type: u8 desc: Constellation ID to which the SVs belong. fields: - 0-7: values: - 0: GPS - 3: BDS - 4: QZS - 5: GAL - sat_bitmask: type: u64 desc: > Satellite Bit Mask. Put 1 for each satellite where the following degradation parameters are applicable, 0 otherwise. Encoded following RTCM DF394 specification. - orbit_clock_bounds_degradation: type: OrbitClockBoundDegradation desc: Orbit and Clock Bounds Degradation Parameters