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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