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gbxnovatelacfr Namespace ReferenceNovatel GPS/INS driver.
More...
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Classes |
class | SimpleConfig |
| Minimum information to configure the receiver in INS mode. More...
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class | GpsOnlyConfig |
| Minimum information needed to configure the receiver in GPS only mode. More...
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class | Config |
| All the information needed to configure the driver. More...
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class | GenericData |
| Generic (base) type returned by a read. More...
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class | InsPvaData |
| INS position/velocity/attitude information. More...
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class | BestGpsPosData |
| Gps position information. More...
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class | BestGpsVelData |
| Gps velocity information. More...
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class | RawImuData |
| Raw IMU information. More...
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class | Driver |
| the idea is to create one of these guys (with a valid Config), and then treat it as a data-source, i.e. call read() on it in some kind of loop More...
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Enumerations |
enum | StatusMessageType {
NoMsg,
Initialising,
Ok,
Warning,
Fault
} |
| possible Status Messages GenericData can contain More...
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enum | GpsSolutionStatusType {
SolComputed = 0,
InsufficientObs = 1,
NoConvergence = 2,
Singularity = 3,
CovTrace = 4,
TestDist = 5,
ColdStart = 6,
VHLimit = 7,
Variance = 8,
Residuals = 9,
DeltaPos = 10,
NegativeVar = 11,
ReservedGpsSolutionStatusType12 = 12,
IntegrityWarning = 13,
InsInactive = 14,
InsAligning = 15,
InsBad = 16,
ImuUnplugged = 17,
Pending = 18,
InvalidFix = 19
} |
| Novatel's different solution status types. More...
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enum | GpsPosVelType {
None = 0,
FixedPos = 1,
FixedHeight = 2,
ReservedGpsPosVelType3 = 3,
FloatConv = 4,
WideLane = 5,
NarrowLane = 6,
ReservedGpsPosVelType7 = 7,
DopplerVelocity = 8,
ReservedGpsPosVelType9 = 9,
ReservedGpsPosVelType10 = 10,
ReservedGpsPosVelType11 = 11,
ReservedGpsPosVelType12 = 12,
ReservedGpsPosVelType13 = 13,
ReservedGpsPosVelType14 = 14,
ReservedGpsPosVelType15 = 15,
Single = 16,
PsrDiff = 17,
Waas = 18,
Propagated = 19,
Omnistar = 20,
ReservedGpsPosVelType21 = 21,
ReservedGpsPosVelType22 = 22,
ReservedGpsPosVelType23 = 23,
ReservedGpsPosVelType24 = 24,
ReservedGpsPosVelType25 = 25,
ReservedGpsPosVelType26 = 26,
ReservedGpsPosVelType27 = 27,
ReservedGpsPosVelType28 = 28,
ReservedGpsPosVelType29 = 29,
ReservedGpsPosVelType30 = 30,
ReservedGpsPosVelType31 = 31,
L1Float = 32,
IonoFreeFloat = 33,
NarrowFloat = 34,
L1Int = 48,
WideInt = 49,
NarrowInt = 50,
RtkDirectIns = 51,
Ins = 52,
InsPsrSp = 53,
InsPsrDiff = 54,
InsRtkFloat = 55,
InsRtkFixed = 56,
OmniStarHp = 64,
OmniStarXp = 65,
CdGps = 66
} |
| Novatel's different fix types. More...
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enum | DataType { InsPva,
BestGpsPos,
BestGpsVel,
RawImu
} |
| possible types GenericData can contain More...
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Functions |
std::string | toString (StatusMessageType type) |
| Convert a StatusMessageType into a string.
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std::string | toString (GpsSolutionStatusType type) |
| Convert a GpsSolutionStatusType into a string.
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std::string | toString (GpsPosVelType type) |
| Convert a GpsPosVelType into a string.
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Detailed Description
Novatel GPS/INS driver.
This namespace contains the public interface of a library to access and run a NovatelSPAN system. - See also:
- GbxNovatelAcfr
Enumeration Type Documentation
Novatel's different fix types.
Sadly mixed for position/velocity with some INS gear thrown in; explanations from the manual. - Enumerator:
-
None |
No solution. |
FixedPos |
Position has been fixed by the FIX POSITION command or by position averaging. |
FixedHeight |
Position has been fixed by the FIX HEIGHT, or FIX AUTO, command or by position averaging. |
ReservedGpsPosVelType3 |
Value Reserved for future use. |
FloatConv |
Solution from floating point carrier phase ambiguities. |
WideLane |
Solution from wide-lane ambiguities. |
NarrowLane |
Solution from narrow-lane ambiguities. |
ReservedGpsPosVelType7 |
Value Reserved for future use. |
DopplerVelocity |
Velocity computed using instantaneous Doppler. |
ReservedGpsPosVelType9 |
Value Reserved for future use. |
ReservedGpsPosVelType10 |
Value Reserved for future use. |
ReservedGpsPosVelType11 |
Value Reserved for future use. |
ReservedGpsPosVelType12 |
Value Reserved for future use. |
ReservedGpsPosVelType13 |
Value Reserved for future use. |
ReservedGpsPosVelType14 |
Value Reserved for future use. |
ReservedGpsPosVelType15 |
Value Reserved for future use. |
Single |
Single point position. |
PsrDiff |
Pseudorange differential solution. |
Waas |
Solution calculated using corrections from an SBAS. |
Propagated |
Propagated by a Kalman filter without new observations. |
Omnistar |
OmniSTAR VBS position (L1 sub-meter) a. |
ReservedGpsPosVelType21 |
Value Reserved for future use. |
ReservedGpsPosVelType22 |
Value Reserved for future use. |
ReservedGpsPosVelType23 |
Value Reserved for future use. |
ReservedGpsPosVelType24 |
Value Reserved for future use. |
ReservedGpsPosVelType25 |
Value Reserved for future use. |
ReservedGpsPosVelType26 |
Value Reserved for future use. |
ReservedGpsPosVelType27 |
Value Reserved for future use. |
ReservedGpsPosVelType28 |
Value Reserved for future use. |
ReservedGpsPosVelType29 |
Value Reserved for future use. |
ReservedGpsPosVelType30 |
Value Reserved for future use. |
ReservedGpsPosVelType31 |
Value Reserved for future use. |
L1Float |
Floating L1 ambiguity solution. |
IonoFreeFloat |
Floating ionospheric-free ambiguity solution. |
NarrowFloat |
Floating narrow-lane ambiguity solution. |
L1Int |
Integer L1 ambiguity solution. |
WideInt |
Integer wide-lane ambiguity solution. |
NarrowInt |
Integer narrow-lane ambiguity solution. |
RtkDirectIns |
RTK status where the RTK filter is directly initialized from the INS filter. b. |
Ins |
INS calculated position corrected for the antenna b. |
InsPsrSp |
INS pseudorange single point solution - no DGPS corrections b. |
InsPsrDiff |
INS pseudorange differential solution b. |
InsRtkFloat |
INS RTK floating point ambiguities solution b. |
InsRtkFixed |
INS RTK fixed ambiguities solution b. |
OmniStarHp |
OmniSTAR high precision a. |
OmniStarXp |
OmniSTAR extra precision a. |
CdGps |
Position solution using CDGPS corrections. |
Novatel's different solution status types.
Explanations from the manual. - Enumerator:
-
SolComputed |
Solution computed. |
InsufficientObs |
Insufficient observations. |
NoConvergence |
No convergence. |
Singularity |
Singularity at parameters matrix. |
CovTrace |
Covariance trace exceeds maximum (trace > 1000 m). |
TestDist |
Test distance exceeded (maximum of 3 rejections if distance > 10 km). |
ColdStart |
Not yet converged from cold start. |
VHLimit |
Height or velocity limits exceeded (in accordance with COCOM export licensing restrictions). |
Variance |
Variance exceeds limits. |
Residuals |
Residuals are too large. |
DeltaPos |
Delta position is too large. |
NegativeVar |
Negative variance. |
ReservedGpsSolutionStatusType12 |
Value Reserved for future use. |
IntegrityWarning |
Large residuals make position unreliable. |
InsInactive |
INS has not started yet. |
InsAligning |
INS doing its coarse alignment. |
InsBad |
INS position is bad. |
ImuUnplugged |
No IMU detected. |
Pending |
When a FIX POSITION command is entered, the receiver computes its own position and determines if the fixed position is valid. |
InvalidFix |
The fixed position, entered using the FIX POSITION command, is not valid. |
possible Status Messages GenericData can contain
- Enumerator:
-
NoMsg |
Nothing new, no message. |
Initialising |
Nothing wrong, just not quite ready. |
Ok |
All good, but something to say. |
Warning |
Problem, likely to go away. |
Fault |
Problem, probably fatal. |
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