[89] | 1 | #ifndef _UBX_structures_Ublox_H
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| 2 | #define _UBX_structures_Ublox_H
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| 3 |
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| 4 | #define MAX_SBAS_SV 24
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| 5 | #define NB_CHANNEL 16
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| 6 |
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| 7 | #include "kernel/road_time.h"
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| 8 |
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| 9 | namespace Ublox {
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| 10 |
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| 11 | /*! \struct structRAW_SV
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| 12 | * \brief Structure containing measurement from the GPS receiver for each satellite
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| 13 | * \author "Olivier Le Marchand"
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| 14 | * \version 0.1
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| 15 | * \date February 2008
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| 16 | *
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| 17 | * Ublox receiver realize several measures for each satellite, and provide it
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| 18 | * through the RXM-RAW message. All the measures for one satellite are grouped
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| 19 | * in this structure\n
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| 20 | * Protocols definitions are available in the following document : \n
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| 21 | * Title: ANTARIS Positioning Engine \n
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| 22 | * Subtitle: NMEA and UBX Protocol Specification \n
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| 23 | * Doc Type: Specification \n
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| 24 | * Doc ID: GPS.G3-X-03002-D \n
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| 25 | * Firmware: Version 5.00
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| 26 | */
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| 27 | struct structRAW_SV
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| 28 | {
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| 29 | /// Carrier Phase measurement (L1 Cycles)
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| 30 | double CPMes;
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| 31 |
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| 32 | /// Pseudorange measurement (m)
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| 33 | double PRMes;
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| 34 |
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| 35 | /// Doppler Measurement (Hz)
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| 36 | float DOMes;
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| 37 |
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| 38 | /// Satellite number
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| 39 | uint8_t SV;
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| 40 |
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| 41 | /// Nav measurement Quality indicator
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| 42 | int8_t MesQI;
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| 43 |
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| 44 | /// Signal Strength (dBHz)
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| 45 | int8_t CNO;
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| 46 |
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| 47 | /// Loss of Lock indicator
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| 48 | uint8_t LLI;
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| 49 | };
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| 50 |
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| 51 | /*! \struct structSBAS_SV
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| 52 | * \brief Structure containing the SBAS correction data for one satellite
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| 53 | * \author "Olivier Le Marchand"
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| 54 | * \version 0.1
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| 55 | * \date February 2008
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| 56 | *
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| 57 | * Protocols definitions are available in the following document : \n
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| 58 | * Title: ANTARIS Positioning Engine \n
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| 59 | * Subtitle: NMEA and UBX Protocol Specification \n
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| 60 | * Doc Type: Specification \n
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| 61 | * Doc ID: GPS.G3-X-03002-D \n
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| 62 | * Firmware: Version 5.00
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| 63 | */
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| 64 | struct structSBAS_SV
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| 65 | {
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| 66 | /// SV Id
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| 67 | uint8_t SVID;
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| 68 |
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| 69 | /// Flags for this SV
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| 70 | uint8_t flags;
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| 71 |
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| 72 | /// Monitoring status
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| 73 | uint8_t UDRE;
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| 74 |
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| 75 | /// System (WAAS/EGNOS/...) same as sys
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| 76 | uint8_t SYSn;
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| 77 |
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| 78 | /// Services available sames sevices
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| 79 | uint8_t serviceN;
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| 80 |
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| 81 | /// reserved
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| 82 | uint8_t res0;
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| 83 |
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| 84 | /// Pseudo Range correction in [cm]
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| 85 | int16_t PRC;
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| 86 |
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| 87 | /// reserved
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| 88 | int16_t res1;
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| 89 |
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| 90 | /// Ionosphere correction in [cm]
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| 91 | int16_t IC;
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| 92 | };
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| 93 |
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| 94 | /*! \struct structRXM_RAW
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| 95 | * \brief Structure containing all the measurement from the GPS receiver at one epoch
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| 96 | * \author "Olivier Le Marchand"
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| 97 | * \version 0.1
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| 98 | * \date February 2008
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| 99 | *
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| 100 | * Ublox receiver realize several measures for each satellite, and provide it
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| 101 | * through the RXM-RAW message. All the measures for all satellites are grouped
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| 102 | * in this structure in order to pass all throw a RTMaps wire\n
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| 103 | * Protocols definitions are available in the following document : \n
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| 104 | * Title: ANTARIS Positioning Engine \n
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| 105 | * Subtitle: NMEA and UBX Protocol Specification \n
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| 106 | * Doc Type: Specification \n
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| 107 | * Doc ID: GPS.G3-X-03002-D
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| 108 | */
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| 109 | struct structRXM_RAW
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| 110 | {
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| 111 | /// Measurement in ms GPS time of Week
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| 112 | int32_t ITOW;
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| 113 |
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| 114 | /// Measurement GPS Week numbers
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| 115 | int16_t Week;
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| 116 |
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| 117 | /// number of Satellite in the frame
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| 118 | uint8_t NSV;
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| 119 |
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| 120 | /*! \brief measurement for each satellite */
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| 121 | /*! the size of the array is 16, because hte ublox receiver we have can't track
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| 122 | more than 16 satellites*/
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| 123 | structRAW_SV tabRAW_SV[NB_CHANNEL];
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| 124 | };
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| 125 |
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| 126 | /*! \struct Timestamped_RXM_RAW
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| 127 | * \brief Timestamped structure containing all the measurement at one epoch, for RT processing and fusion
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| 128 | * \author "Vincent Drevelle"
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| 129 | * \date June 2011
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| 130 | */
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| 131 | struct Timestamped_RXM_RAW
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| 132 | {
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| 133 | road_time_t time;
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| 134 | road_timerange_t timerange;
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| 135 | structRXM_RAW raw;
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| 136 | };
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| 137 |
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| 138 | /*! \struct structRXM_SFRB
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| 139 | * \brief Structure containing of one single frame buffer
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| 140 | * \author "Olivier Le Marchand"
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| 141 | * \version 0.1
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| 142 | * \date February 2008
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| 143 | *
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| 144 | * \n
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| 145 | * Protocols definitions are available in the following document : \n
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| 146 | * Title: ANTARIS Positioning Engine \n
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| 147 | * Subtitle: NMEA and UBX Protocol Specification \n
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| 148 | * Doc Type: Specification \n
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| 149 | * Doc ID: GPS.G3-X-03002-D
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| 150 | */
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| 151 | struct structRXM_SFRB
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| 152 | {
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| 153 | /// Channel number
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| 154 | uint8_t CHN;
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| 155 |
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| 156 | /// ID of the satellite transmitting the subframe
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| 157 | uint8_t SVID;
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| 158 |
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| 159 | //array of ten words of data
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| 160 | uint32_t DWRD[10];
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| 161 | };
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| 162 |
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| 163 | /*! \struct Timestamped_RXM_SFRB
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| 164 | * \brief Timestamped structure containing one single frame buffer, for RT processing and fusion
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| 165 | * \author "Vincent Drevelle"
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| 166 | * \date June 2011
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| 167 | */
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| 168 | struct Timestamped_RXM_SFRB
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| 169 | {
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| 170 | road_time_t time;
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| 171 | road_timerange_t timerange;
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| 172 | structRXM_SFRB sfrb;
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| 173 | };
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| 174 |
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| 175 | /*! \struct structNAV_CLOCK
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| 176 | * \brief Structure containing the estimation of the clock bias and the clock drift
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| 177 | * \author "Olivier Le Marchand"
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| 178 | * \version 0.1
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| 179 | * \date February 2008
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| 180 | *
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| 181 | * \n
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| 182 | * Protocols definitions are available in the following document : \n
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| 183 | * Title: ANTARIS Positioning Engine \n
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| 184 | * Subtitle: NMEA and UBX Protocol Specification \n
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| 185 | * Doc Type: Specification \n
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| 186 | * Doc ID: GPS.G3-X-03002-D
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| 187 | */
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| 188 | struct structNAV_CLOCK
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| 189 | {
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| 190 | /// GPS Millisecond Time of week (ms)
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| 191 | uint32_t ITOW;
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| 192 |
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| 193 | /// clock bias in nanoseconds
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| 194 | int32_t CLKB;
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| 195 |
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| 196 | /// clock drift in nanoseconds per second
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| 197 | int32_t CLKD;
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| 198 |
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| 199 | /// Time Accuracy Estimate
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| 200 | uint32_t TAcc;
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| 201 |
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| 202 | /// Frequency Accuracy Estimate
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| 203 | uint32_t FAcc;
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| 204 |
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| 205 | };
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| 206 |
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| 207 | /*! \struct structNAV_SBAS
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| 208 | * \brief Structure containing the status of the SBAS system and corrections
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| 209 | * \author "Olivier Le Marchand"
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| 210 | * \version 0.1
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| 211 | * \date February 2008
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| 212 | *
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| 213 | * \n
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| 214 | * Protocols definitions are available in the following document : \n
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| 215 | * Title: ANTARIS Positioning Engine \n
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| 216 | * Subtitle: NMEA and UBX Protocol Specification \n
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| 217 | * Doc Type: Specification \n
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| 218 | * Doc ID: GPS.G3-X-03002-D
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| 219 | */
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| 220 | struct structNAV_SBAS
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| 221 | {
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| 222 | /// GPS Millisecond time of week
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| 223 | uint32_t ITOW;
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| 224 |
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| 225 | /// PRN Number of the GEO where correction and integrity data is used from
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| 226 | uint8_t GEO;
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| 227 |
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| 228 | /// SBAS Mode | 0 Disabled | 1 Enabled Integrity | 3 Enabled Testmode
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| 229 | uint8_t mode;
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| 230 |
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| 231 | /// SBAS System (WAAS/EGNOS/...) | -1 Unknown | 0 WAAS | 1 EGNOS | 2 MSAS | 16 GPS
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| 232 | int8_t sys;
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| 233 |
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| 234 | /// SBAS Services available | bit0 Ranging | bit1 Corrections | bit2 Integrity | bit3 Testmode |
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| 235 | uint8_t service;
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| 236 |
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| 237 | /// Number of SV data following
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| 238 | uint8_t CNT;
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| 239 |
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| 240 | /// Reserved
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| 241 | uint8_t res[3];
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| 242 |
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| 243 | structSBAS_SV tabSBAS_SV[MAX_SBAS_SV];
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| 244 |
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| 245 | };
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| 246 |
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| 247 | /*! \struct structNAV_SOL
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| 248 | * \brief Structure containing the position and velocity estimation in the ECEF reference frame
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| 249 | * \author "Olivier Le Marchand"
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| 250 | * \version 0.1
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| 251 | * \date February 2008
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| 252 | *
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| 253 | * \n
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| 254 | * Protocols definitions are available in the following document : \n
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| 255 | * Title: ANTARIS Positioning Engine \n
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| 256 | * Subtitle: NMEA and UBX Protocol Specification \n
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| 257 | * Doc Type: Specification \n
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| 258 | * Doc ID: GPS.G3-X-03002-D
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| 259 | */
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| 260 | struct structNAV_SOL
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| 261 | {
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| 262 | /// GPS Millisecond Time of Week
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| 263 | uint32_t ITOW;
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| 264 |
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| 265 | /// Nanoseconds remainder of rounded ms above, range -500000 .. 500000
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| 266 | int32_t Frac;
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| 267 |
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| 268 | /// GPS week (GPS time)
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| 269 | int16_t week;
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| 270 |
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| 271 | /// GPSfix Type, range 0..4 | 0x00 = No Fix | 0x01 = Dead Reckoning only | 0x02 = 2D-Fix | 0x03 = 3D-Fix | 0x04 = GPS + dead reckoning combined | 0x05 = Time only fix | 0x06..0xff: reserved |
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| 272 | uint8_t GPSfi;
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| 273 |
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| 274 | /// 0x01=GPSfixOK (i.e. within DOP & ACC Masks) | 0x02=DiffSoln (is DGPS used) | 0x04=WKNSET (is Week Number valid) | 0x08=TOWSET (is Time of Week valid) | 0x?0=reserved
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| 275 | uint8_t Flags;
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| 276 |
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| 277 | /// ECEF X coordinate (cm)
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| 278 | int32_t ECEF_X;
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| 279 |
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| 280 | /// ECEF Y coordinate (cm)
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| 281 | int32_t ECEF_Y;
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| 282 |
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| 283 | /// ECEF Z coordinate (cm)
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| 284 | int32_t ECEF_Z;
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| 285 |
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| 286 | /// 3D Position Accuracy Estimate (cm)
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| 287 | uint32_t Pacc;
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| 288 |
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| 289 | /// ECEF X velocity (cm/s)
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| 290 | int32_t ECEFVX;
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| 291 |
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| 292 | /// ECEF Y velocity (cm/s)
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| 293 | int32_t ECEFVY;
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| 294 |
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| 295 | /// ECEF Z velocity (cm/s)
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| 296 | int32_t ECEFVZ;
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| 297 |
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| 298 | /// Speed Accuracy Estimate (cm/s)
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| 299 | uint32_t SAcc;
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| 300 |
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| 301 | /// Position DOP
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| 302 | uint8_t PDOP;
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| 303 |
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| 304 | /// reserved
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| 305 | uint8_t res1;
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| 306 |
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| 307 | /// Number of SVs used in Nav Solution
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| 308 | uint8_t numSV;
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| 309 |
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| 310 | /// reserved
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| 311 | uint32_t res2;
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| 312 | };
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| 313 |
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| 314 | /*! \struct structSVINFO_SV
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| 315 | * \brief Structure containing the main information on one satellite
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| 316 | * \author "Olivier Le Marchand"
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| 317 | * \version 0.1
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| 318 | * \date February 2008
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| 319 | *
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| 320 | * \n
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| 321 | * Protocols definitions are available in the following document : \n
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| 322 | * Title: ANTARIS Positioning Engine \n
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| 323 | * Subtitle: NMEA and UBX Protocol Specification \n
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| 324 | * Doc Type: Specification \n
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| 325 | * Doc ID: GPS.G3-X-03002-D
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| 326 | */
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| 327 | struct structSVINFO_SV
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| 328 | {
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| 329 |
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| 330 | /// channel number, range 0..NCH-1
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| 331 | uint8_t chn;
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| 332 |
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| 333 | /// Satellite ID
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| 334 | uint8_t SVID;
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| 335 |
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| 336 | /*! \brief Bitmask, made up of the following bit values
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| 337 | * 0x01 = SV is used for navigation
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| 338 | * 0x02 = Differential correction data is available for this SV
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| 339 | * 0x04 = Orbit information is available for this SV (Ephemeris or Almanach)
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| 340 | * 0x08 = Orbit information is Ephemeris
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| 341 | * 0x10 = SV is unhealthy / shall not be used*/
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| 342 | uint8_t Flags;
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| 343 |
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| 344 | /*! \brief Signal Quality indicator (range 0..7). The following list shows the meaning of the different QI values:
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| 345 | * 0: This channel is idle
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| 346 | * 1, 2: Channel is searching
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| 347 | * 3: Signal detected but unusable
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| 348 | * 4: Code Lock on Signal
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| 349 | * 5, 6: Code and Carrier locked
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| 350 | * 7: Code and Carrier locked, receiving 50bps data */
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| 351 | int8_t QI;
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| 352 |
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| 353 |
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| 354 | /// Carrier to Noise Ratio (Signal Strength) (dbHz)
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| 355 | uint8_t CNO;
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| 356 |
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| 357 | /// Elevation in integer degrees
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| 358 | int8_t Elev;
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| 359 |
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| 360 | /// Azimuth in integer degrees
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| 361 | int16_t Azim;
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| 362 |
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| 363 | /// Pseudo range residual in centimetres
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| 364 | int32_t PRRes;
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| 365 |
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| 366 | };
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| 367 |
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| 368 | /*! \struct structNAV_SVINFO
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| 369 | * \brief Structure containing the main information on all the visible satellites
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| 370 | * \author "Olivier Le Marchand"
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| 371 | * \version 0.1
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| 372 | * \date February 2008
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| 373 | *
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| 374 | * \n
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| 375 | * Protocols definitions are available in the following document : \n
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| 376 | * Title: ANTARIS Positioning Engine \n
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| 377 | * Subtitle: NMEA and UBX Protocol Specification \n
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| 378 | * Doc Type: Specification \n
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| 379 | * Doc ID: GPS.G3-X-03002-D
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| 380 | */
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| 381 | struct structNAV_SVINFO
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| 382 | {
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| 383 | /// GPS Millisecond time of week
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| 384 | uint32_t ITOW;
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| 385 |
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| 386 | /// Number of channels range 0..16
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| 387 | uint8_t NCH;
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| 388 |
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| 389 | /// Reserved
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| 390 | uint8_t RES1;
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| 391 |
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| 392 | /// Reserved
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| 393 | uint16_t RES2;
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| 394 |
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| 395 | /// information for each Satellite
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| 396 | structSVINFO_SV infoSV[NB_CHANNEL];
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| 397 |
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| 398 | };
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| 399 |
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| 400 | /*! \struct structNAV_VELNED
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| 401 | * \brief Structure containing the velocity and heading estimations in a local tangent reference frame
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| 402 | * \author "Olivier Le Marchand"
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| 403 | * \version 0.1
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| 404 | * \date February 2008
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| 405 | *
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| 406 | * \n
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| 407 | * Protocols definitions are available in the following document : \n
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| 408 | * Title: ANTARIS Positioning Engine \n
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| 409 | * Subtitle: NMEA and UBX Protocol Specification \n
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| 410 | * Doc Type: Specification \n
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| 411 | * Doc ID: GPS.G3-X-03002-D
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| 412 | */
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| 413 | struct structNAV_VELNED
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| 414 | {
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| 415 | /// GPS Millisecond Time of Week
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| 416 | uint32_t ITOW;
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| 417 |
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| 418 | /// NED north velocity (cm/s)
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| 419 | int32_t VEL_N;
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| 420 |
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| 421 | /// NED east velocity (cm/s)
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| 422 | int32_t VEL_E;
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| 423 |
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| 424 | /// NED down velocity (cm/s)
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| 425 | int32_t VEL_D;
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| 426 |
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| 427 | /// Speed (3-D) (cm/s)
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| 428 | uint32_t Speed;
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| 429 |
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| 430 | /// Ground Speed (2-D)(cm/s)
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| 431 | uint32_t GSpeed;
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| 432 |
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| 433 | /// Heading 2-D (deg)
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| 434 | int32_t Heading;
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| 435 |
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| 436 | /// Speed Accuracy Estimate (cm/s)
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| 437 | uint32_t SAcc;
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| 438 |
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| 439 | /// Course / Heading Accuracy Estimate (deg)
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| 440 | uint32_t CAcc;
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| 441 | };
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| 442 |
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| 443 | /*! \struct structNAV_POSLLH
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| 444 | * \brief Structure containing the position estimation in the WGS84 coordinate system
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| 445 | * \author "Olivier Le Marchand"
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| 446 | * \version 0.1
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| 447 | * \date February 2008
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| 448 | *
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| 449 | * \n
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| 450 | * Protocols definitions are available in the following document : \n
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| 451 | * Title: ANTARIS Positioning Engine \n
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| 452 | * Subtitle: NMEA and UBX Protocol Specification \n
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| 453 | * Doc Type: Specification \n
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| 454 | * Doc ID: GPS.G3-X-03002-D
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| 455 | */
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| 456 | struct structNAV_POSLLH
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| 457 | {
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| 458 | /// GPS Millisecond Time of Week
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| 459 | uint32_t ITOW;
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| 460 |
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| 461 | /// Longitude (deg)
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| 462 | int32_t LON;
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| 463 |
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| 464 | /// Latitude (deg)
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| 465 | int32_t LAT;
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| 466 |
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| 467 | /// Height above Ellipsoid (mm)
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| 468 | int32_t HEIGHT;
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| 469 |
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| 470 | /// Height above mean sea level (mm)
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| 471 | int32_t HMSL;
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| 472 |
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| 473 | /// Horizontal Accuracy Estimate (mm)
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| 474 | uint32_t Hacc;
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| 475 |
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| 476 | /// Vertical Accuracy Estimate (mm)
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| 477 | uint32_t Vacc;
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| 478 | };
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| 479 |
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| 480 | /*! \struct structNAV_POSUTM
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| 481 | * \brief Structure containing the position estimation in the UTM coordinate system
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| 482 | * \author "Olivier Le Marchand"
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| 483 | * \version 0.1
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| 484 | * \date February 2008
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| 485 | *
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| 486 | * \n
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| 487 | * Protocols definitions are available in the following document : \n
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| 488 | * Title: ANTARIS Positioning Engine \n
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| 489 | * Subtitle: NMEA and UBX Protocol Specification \n
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| 490 | * Doc Type: Specification \n
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| 491 | * Doc ID: GPS.G3-X-03002-D
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| 492 | */
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| 493 | struct structNAV_POSUTM
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| 494 | {
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| 495 | /// GPS Millisecond Time of Week
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| 496 | uint32_t ITOW;
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| 497 |
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| 498 | /// UTM Easting (cm)
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| 499 | int32_t EAST;
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| 500 |
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| 501 | /// UTM Northing (cm)
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| 502 | int32_t NORTH;
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| 503 |
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| 504 | /// Altitude (cm)
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| 505 | int32_t ALT;
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| 506 |
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| 507 | /// UTM Zone Number
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| 508 | int8_t ZONE;
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| 509 |
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| 510 | /// Hemisphere Indicator (0=North, 1=South)
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| 511 | int8_t HEM;
|
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| 512 | };
|
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| 513 |
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| 514 | } // namespace Ublox
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| 515 |
|
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| 516 | #endif // _UBX_structures_Ublox_H
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