| Description |
GNSS Raw observation.
|
| Notes |
|
| Parameter Name |
Data Type |
Description |
| Field Length |
u8 |
63 |
| Descriptor |
u8 |
0x22 |
|
Index
|
u8
|
Index of this field in this epoch. |
|
Count
|
u8
|
Total number of fields in this epoch. |
|
Time Of Week
|
double
|
GPS Time of week [seconds] |
|
Week Number
|
u16
|
GPS Week since 1980 [weeks] |
|
Receiver Id
|
u16
|
When the measurement comes from RTCM, this will be the reference station ID; otherwise, it's the receiver number (1,2,...) |
|
Tracking Channel
|
u8
|
Channel the receiver is using to track this satellite. |
|
Gnss Id
|
u8 enum |
| Name |
Value |
Description |
| UNKNOWN |
0 |
|
| GPS |
1 |
|
| GLONASS |
2 |
|
| GALILEO |
3 |
|
| BEIDOU |
4 |
|
| SBAS |
5 |
|
|
|
Satellite Id
|
u8
|
GNSS satellite id within the constellation. |
|
Signal Id
|
u8 enum |
Signal identifier for the satellite.
| Name | Value | Description |
|---|
| UNKNOWN | 0 | | | GPS_L1CA | 1 | | | GPS_L1P | 2 | | | GPS_L1Z | 3 | | | GPS_L2CA | 4 | | | GPS_L2P | 5 | | | GPS_L2Z | 6 | | | GPS_L2CL | 7 | | | GPS_L2CM | 8 | | | GPS_L2CML | 9 | | | GPS_L5I | 10 | | | GPS_L5Q | 11 | | | GPS_L5IQ | 12 | | | GPS_L1CD | 13 | | | GPS_L1CP | 14 | | | GPS_L1CDP | 15 | | | GLONASS_G1CA | 32 | | | GLONASS_G1P | 33 | | | GLONASS_G2C | 34 | | | GLONASS_G2P | 35 | | | GALILEO_E1C | 64 | | | GALILEO_E1A | 65 | | | GALILEO_E1B | 66 | | | GALILEO_E1BC | 67 | | | GALILEO_E1ABC | 68 | | | GALILEO_E6C | 69 | | | GALILEO_E6A | 70 | | | GALILEO_E6B | 71 | | | GALILEO_E6BC | 72 | | | GALILEO_E6ABC | 73 | | | GALILEO_E5BI | 74 | | | GALILEO_E5BQ | 75 | | | GALILEO_E5BIQ | 76 | | | GALILEO_E5ABI | 77 | | | GALILEO_E5ABQ | 78 | | | GALILEO_E5ABIQ | 79 | | | GALILEO_E5AI | 80 | | | GALILEO_E5AQ | 81 | | | GALILEO_E5AIQ | 82 | | | SBAS_L1CA | 96 | | | SBAS_L5I | 97 | | | SBAS_L5Q | 98 | | | SBAS_L5IQ | 99 | | | QZSS_L1CA | 128 | | | QZSS_LEXS | 129 | | | QZSS_LEXL | 130 | | | QZSS_LEXSL | 131 | | | QZSS_L2CM | 132 | | | QZSS_L2CL | 133 | | | QZSS_L2CML | 134 | | | QZSS_L5I | 135 | | | QZSS_L5Q | 136 | | | QZSS_L5IQ | 137 | | | QZSS_L1CD | 138 | | | QZSS_L1CP | 139 | | | QZSS_L1CDP | 140 | | | BEIDOU_B1I | 160 | | | BEIDOU_B1Q | 161 | | | BEIDOU_B1IQ | 162 | | | BEIDOU_B3I | 163 | | | BEIDOU_B3Q | 164 | | | BEIDOU_B3IQ | 165 | | | BEIDOU_B2I | 166 | | | BEIDOU_B2Q | 167 | | | BEIDOU_B2IQ | 168 | |
|
|
Signal Strength
|
float
|
Carrier to noise ratio [dBHz]. |
|
Quality
|
u8 enum |
Indicator of signal quality.
| Name | Value | Description |
|---|
| NONE | 0 | | | SEARCHING | 1 | | | ACQUIRED | 2 | | | UNUSABLE | 3 | | | TIME_LOCKED | 4 | | | FULLY_LOCKED | 5 | |
|
|
Pseudorange
|
double
|
Pseudo-range measurement [meters]. |
|
Carrier Phase
|
double
|
Carrier phase measurement [Carrier periods]. |
|
Doppler
|
float
|
Measured doppler shift [Hz]. |
|
Range Uncert
|
float
|
Uncertainty of the pseudo-range measurement [m]. |
|
Phase Uncert
|
float
|
Uncertainty of the phase measurement [Carrier periods]. |
|
Doppler Uncert
|
float
|
Uncertainty of the measured doppler shift [Hz]. |
|
Lock Time
|
float
|
DOC Minimum carrier phase lock time [s]. Note: the maximum value is dependent on the receiver. |
|
Valid Flags
|
u16 bitfield |
| Name |
Bit(s) |
Description |
| tow |
0 |
|
| week_number |
1 |
|
| receiver_id |
2 |
|
| tracking_channel |
3 |
|
| gnss_id |
4 |
|
| satellite_id |
5 |
|
| signal_id |
6 |
|
| signal_strength |
7 |
|
| quality |
8 |
|
| pseudorange |
9 |
|
| carrier_phase |
10 |
|
| doppler |
11 |
|
| range_uncertainty |
12 |
|
| carrier_phase_uncertainty |
13 |
|
| doppler_uncertainty |
14 |
|
| lock_time |
15 |
|
| flags |
0-15 |
|
|