INTRODUCTION
Overview
Download and Install
Documentation
Publications

REPOSITORY
Libraries

DEVELOPER
Dev Guide
Dashboard

PEOPLE
Contributors
Users

SourceForge.net Logo
Project
Download
Mailing lists

 

         

gbxnovatelacfr Namespace Reference

Novatel GPS/INS driver. More...


Classes

class  SimpleConfig
 Minimum information to configure the receiver in INS mode. More...
class  GpsOnlyConfig
 Minimum information needed to configure the receiver in GPS only mode. More...
class  Config
 All the information needed to configure the driver. More...
class  GenericData
 Generic (base) type returned by a read. More...
class  InsPvaData
 INS position/velocity/attitude information. More...
class  BestGpsPosData
 Gps position information. More...
class  BestGpsVelData
 Gps velocity information. More...
class  RawImuData
 Raw IMU information. More...
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...

Enumerations

enum  StatusMessageType {
  NoMsg, Initialising, Ok, Warning,
  Fault
}
 possible Status Messages GenericData can contain More...
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...
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...
enum  DataType { InsPva, BestGpsPos, BestGpsVel, RawImu }
 possible types GenericData can contain More...

Functions

std::string toString (StatusMessageType type)
 Convert a StatusMessageType into a string.
std::string toString (GpsSolutionStatusType type)
 Convert a GpsSolutionStatusType into a string.
std::string toString (GpsPosVelType type)
 Convert a GpsPosVelType into a string.


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

possible types GenericData can contain

Enumerator:
InsPva  GenericData is really InsPvaData.
BestGpsPos  GenericData is really BestGpsPosData.
BestGpsVel  GenericData is really BestGpsVelData.
RawImu  GenericData is really RawImuData.

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.

 

Generated for GearBox by  doxygen 1.4.5