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gbxnovatelacfr Namespace Reference

Novatel GPS/INS driver. More...

Classes

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

◆ DataType

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.

◆ GpsPosVelType

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.

◆ GpsSolutionStatusType

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.

◆ StatusMessageType

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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