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observation.ksy
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# Copyright (C) 2015-2023 Swift Navigation Inc.
# Contact: https://support.swiftnav.com
#
# This source is subject to the license found in the file 'LICENSE' which must
# be distributed together with this source. All other rights reserved.
#
# THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
# EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
# WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
#
# Satellite observation messages from the device. The SBP sender ID of 0 indicates
# remote observations from a GNSS base station, correction network, or Skylark,
# Swift's cloud GNSS correction product.
#
# Automatically generated from spec/yaml/swiftnav/sbp/observation.yaml with generate.py.
# Do not modify by hand!
meta:
id: observation
endian: le
imports: [ gnss ]
types:
observation_header:
doc: |
Header of a GNSS observation message.
seq:
- id: t
doc: |
GNSS time of this observation
type: gnss::gps_time
- id: n_obs
doc: |
Total number of observations. First nibble is the size of the
sequence (n), second nibble is the zero-indexed counter (ith packet
of n)
type: u1
doppler:
doc: |
Doppler measurement in Hz represented as a 24-bit fixed point number
with Q16.8 layout, i.e. 16-bits of whole doppler and 8-bits of
fractional doppler. This doppler is defined as positive for approaching
satellites.
seq:
- id: i
doc: |
Doppler whole Hz
type: s2
- id: f
doc: |
Doppler fractional part
type: u1
packed_obs_content:
doc: |
Pseudorange and carrier phase observation for a satellite being tracked.
The observations are interoperable with 3rd party receivers and conform
with typical RTCM 3.1 message GPS/GLO observations.
Carrier phase observations are not guaranteed to be aligned to the RINEX
3 or RTCM 3.3 MSM reference signal and no 1/4 cycle adjustments are
currently performed.
seq:
- id: p
doc: |
Pseudorange observation
type: u4
- id: l
doc: |
Carrier phase observation with typical sign convention.
type: gnss::carrier_phase
- id: d
doc: |
Doppler observation with typical sign convention.
type: doppler
- id: cn0
doc: |
Carrier-to-Noise density. Zero implies invalid cn0.
type: u1
- id: lock
doc: |
Lock timer. This value gives an indication of the time for which a
signal has maintained continuous phase lock. Whenever a signal has
lost and regained lock, this value is reset to zero. It is encoded
according to DF402 from the RTCM 10403.2 Amendment 2 specification.
Valid values range from 0 to 15 and the most significant nibble is
reserved for future use.
type: u1
- id: flags
doc: |
Measurement status flags. A bit field of flags providing the status
of this observation. If this field is 0 it means only the Cn0
estimate for the signal is valid.
type: u1
- id: sid
doc: |
GNSS signal identifier (16 bit)
type: gnss::gnss_signal
packed_osr_content:
doc: |
Pseudorange and carrier phase network corrections for a satellite
signal.
seq:
- id: p
doc: |
Pseudorange observation
type: u4
- id: l
doc: |
Carrier phase observation with typical sign convention.
type: gnss::carrier_phase
- id: lock
doc: |
Lock timer. This value gives an indication of the time for which a
signal has maintained continuous phase lock. Whenever a signal has
lost and regained lock, this value is reset to zero. It is encoded
according to DF402 from the RTCM 10403.2 Amendment 2 specification.
Valid values range from 0 to 15 and the most significant nibble is
reserved for future use.
type: u1
- id: flags
doc: |
Correction flags.
type: u1
- id: sid
doc: |
GNSS signal identifier (16 bit)
type: gnss::gnss_signal
- id: iono_std
doc: |
Slant ionospheric correction standard deviation
type: u2
- id: tropo_std
doc: |
Slant tropospheric correction standard deviation
type: u2
- id: range_std
doc: |
Orbit/clock/bias correction projected on range standard deviation
type: u2
msg_obs:
doc: |
The GPS observations message reports all the raw pseudorange and carrier
phase observations for the satellites being tracked by the device.
Carrier phase observation here is represented as a 40-bit fixed point
number with Q32.8 layout (i.e. 32-bits of whole cycles and 8-bits of
fractional cycles). The observations are be interoperable with 3rd party
receivers and conform with typical RTCMv3 GNSS observations.
seq:
- id: header
doc: |
Header of a GPS observation message
type: observation_header
- id: obs
doc: |
Pseudorange and carrier phase observation for a satellite being
tracked.
type: packed_obs_content
repeat: eos
msg_base_pos_llh:
doc: |
The base station position message is the position reported by the base
station itself. It is used for pseudo-absolute RTK positioning, and is
required to be a high-accuracy surveyed location of the base station.
Any error here will result in an error in the pseudo-absolute position
output.
seq:
- id: lat
doc: |
Latitude
type: f8
- id: lon
doc: |
Longitude
type: f8
- id: height
doc: |
Height
type: f8
msg_base_pos_ecef:
doc: |
The base station position message is the position reported by the base
station itself in absolute Earth Centered Earth Fixed coordinates. It is
used for pseudo-absolute RTK positioning, and is required to be a high-
accuracy surveyed location of the base station. Any error here will
result in an error in the pseudo-absolute position output.
seq:
- id: x
doc: |
ECEF X coordinate
type: f8
- id: y
doc: |
ECEF Y coordinate
type: f8
- id: z
doc: |
ECEF Z coordinate
type: f8
ephemeris_common_content:
seq:
- id: sid
doc: |
GNSS signal identifier (16 bit)
type: gnss::gnss_signal
- id: toe
doc: |
Time of Ephemerides
type: gnss::gps_time_sec
- id: ura
doc: |
User Range Accuracy
type: f4
- id: fit_interval
doc: |
Curve fit interval
type: u4
- id: valid
doc: |
Status of ephemeris, 1 = valid, 0 = invalid
type: u1
- id: health_bits
doc: |
Satellite health status.
GPS: ICD-GPS-200, chapter 20.3.3.3.1.4
SBAS: 0 = valid, non-zero = invalid
GLO: 0 = valid, non-zero = invalid
type: u1
ephemeris_common_content_dep_b:
seq:
- id: sid
doc: |
GNSS signal identifier (16 bit)
type: gnss::gnss_signal
- id: toe
doc: |
Time of Ephemerides
type: gnss::gps_time_sec
- id: ura
doc: |
User Range Accuracy
type: f8
- id: fit_interval
doc: |
Curve fit interval
type: u4
- id: valid
doc: |
Status of ephemeris, 1 = valid, 0 = invalid
type: u1
- id: health_bits
doc: |
Satellite health status.
GPS: ICD-GPS-200, chapter 20.3.3.3.1.4
Others: 0 = valid, non-zero = invalid
type: u1
ephemeris_common_content_dep_a:
seq:
- id: sid
doc: |
GNSS signal identifier
type: gnss::gnss_signal_dep
- id: toe
doc: |
Time of Ephemerides
type: gnss::gps_time_dep
- id: ura
doc: |
User Range Accuracy
type: f8
- id: fit_interval
doc: |
Curve fit interval
type: u4
- id: valid
doc: |
Status of ephemeris, 1 = valid, 0 = invalid
type: u1
- id: health_bits
doc: |
Satellite health status.
GPS: ICD-GPS-200, chapter 20.3.3.3.1.4
SBAS: 0 = valid, non-zero = invalid
GLO: 0 = valid, non-zero = invalid
type: u1
msg_ephemeris_gps_dep_e:
doc: |
Deprecated.
seq:
- id: common
doc: |
Values common for all ephemeris types
type: ephemeris_common_content_dep_a
- id: tgd
doc: |
Group delay differential between L1 and L2
type: f8
- id: c_rs
doc: |
Amplitude of the sine harmonic correction term to the orbit radius
type: f8
- id: c_rc
doc: |
Amplitude of the cosine harmonic correction term to the orbit radius
type: f8
- id: c_uc
doc: |
Amplitude of the cosine harmonic correction term to the argument of
latitude
type: f8
- id: c_us
doc: |
Amplitude of the sine harmonic correction term to the argument of
latitude
type: f8
- id: c_ic
doc: |
Amplitude of the cosine harmonic correction term to the angle of
inclination
type: f8
- id: c_is
doc: |
Amplitude of the sine harmonic correction term to the angle of
inclination
type: f8
- id: dn
doc: |
Mean motion difference
type: f8
- id: m0
doc: |
Mean anomaly at reference time
type: f8
- id: ecc
doc: |
Eccentricity of satellite orbit
type: f8
- id: sqrta
doc: |
Square root of the semi-major axis of orbit
type: f8
- id: omega0
doc: |
Longitude of ascending node of orbit plane at weekly epoch
type: f8
- id: omegadot
doc: |
Rate of right ascension
type: f8
- id: w
doc: |
Argument of perigee
type: f8
- id: inc
doc: |
Inclination
type: f8
- id: inc_dot
doc: |
Inclination first derivative
type: f8
- id: af0
doc: |
Polynomial clock correction coefficient (clock bias)
type: f8
- id: af1
doc: |
Polynomial clock correction coefficient (clock drift)
type: f8
- id: af2
doc: |
Polynomial clock correction coefficient (rate of clock drift)
type: f8
- id: toc
doc: |
Clock reference
type: gnss::gps_time_dep
- id: iode
doc: |
Issue of ephemeris data
type: u1
- id: iodc
doc: |
Issue of clock data
type: u2
msg_ephemeris_gps_dep_f:
doc: |
Deprecated.
seq:
- id: common
doc: |
Values common for all ephemeris types
type: ephemeris_common_content_dep_b
- id: tgd
doc: |
Group delay differential between L1 and L2
type: f8
- id: c_rs
doc: |
Amplitude of the sine harmonic correction term to the orbit radius
type: f8
- id: c_rc
doc: |
Amplitude of the cosine harmonic correction term to the orbit radius
type: f8
- id: c_uc
doc: |
Amplitude of the cosine harmonic correction term to the argument of
latitude
type: f8
- id: c_us
doc: |
Amplitude of the sine harmonic correction term to the argument of
latitude
type: f8
- id: c_ic
doc: |
Amplitude of the cosine harmonic correction term to the angle of
inclination
type: f8
- id: c_is
doc: |
Amplitude of the sine harmonic correction term to the angle of
inclination
type: f8
- id: dn
doc: |
Mean motion difference
type: f8
- id: m0
doc: |
Mean anomaly at reference time
type: f8
- id: ecc
doc: |
Eccentricity of satellite orbit
type: f8
- id: sqrta
doc: |
Square root of the semi-major axis of orbit
type: f8
- id: omega0
doc: |
Longitude of ascending node of orbit plane at weekly epoch
type: f8
- id: omegadot
doc: |
Rate of right ascension
type: f8
- id: w
doc: |
Argument of perigee
type: f8
- id: inc
doc: |
Inclination
type: f8
- id: inc_dot
doc: |
Inclination first derivative
type: f8
- id: af0
doc: |
Polynomial clock correction coefficient (clock bias)
type: f8
- id: af1
doc: |
Polynomial clock correction coefficient (clock drift)
type: f8
- id: af2
doc: |
Polynomial clock correction coefficient (rate of clock drift)
type: f8
- id: toc
doc: |
Clock reference
type: gnss::gps_time_sec
- id: iode
doc: |
Issue of ephemeris data
type: u1
- id: iodc
doc: |
Issue of clock data
type: u2
msg_ephemeris_gps:
doc: |
The ephemeris message returns a set of satellite orbit parameters that
is used to calculate GPS satellite position, velocity, and clock offset.
Please see the Navstar GPS Space Segment/Navigation user interfaces
(ICD-GPS-200, Table 20-III) for more details.
seq:
- id: common
doc: |
Values common for all ephemeris types
type: ephemeris_common_content
- id: tgd
doc: |
Group delay differential between L1 and L2
type: f4
- id: c_rs
doc: |
Amplitude of the sine harmonic correction term to the orbit radius
type: f4
- id: c_rc
doc: |
Amplitude of the cosine harmonic correction term to the orbit radius
type: f4
- id: c_uc
doc: |
Amplitude of the cosine harmonic correction term to the argument of
latitude
type: f4
- id: c_us
doc: |
Amplitude of the sine harmonic correction term to the argument of
latitude
type: f4
- id: c_ic
doc: |
Amplitude of the cosine harmonic correction term to the angle of
inclination
type: f4
- id: c_is
doc: |
Amplitude of the sine harmonic correction term to the angle of
inclination
type: f4
- id: dn
doc: |
Mean motion difference
type: f8
- id: m0
doc: |
Mean anomaly at reference time
type: f8
- id: ecc
doc: |
Eccentricity of satellite orbit
type: f8
- id: sqrta
doc: |
Square root of the semi-major axis of orbit
type: f8
- id: omega0
doc: |
Longitude of ascending node of orbit plane at weekly epoch
type: f8
- id: omegadot
doc: |
Rate of right ascension
type: f8
- id: w
doc: |
Argument of perigee
type: f8
- id: inc
doc: |
Inclination
type: f8
- id: inc_dot
doc: |
Inclination first derivative
type: f8
- id: af0
doc: |
Polynomial clock correction coefficient (clock bias)
type: f4
- id: af1
doc: |
Polynomial clock correction coefficient (clock drift)
type: f4
- id: af2
doc: |
Polynomial clock correction coefficient (rate of clock drift)
type: f4
- id: toc
doc: |
Clock reference
type: gnss::gps_time_sec
- id: iode
doc: |
Issue of ephemeris data
type: u1
- id: iodc
doc: |
Issue of clock data
type: u2
msg_ephemeris_qzss:
doc: |
The ephemeris message returns a set of satellite orbit parameters that
is used to calculate QZSS satellite position, velocity, and clock
offset.
seq:
- id: common
doc: |
Values common for all ephemeris types
type: ephemeris_common_content
- id: tgd
doc: |
Group delay differential between L1 and L2
type: f4
- id: c_rs
doc: |
Amplitude of the sine harmonic correction term to the orbit radius
type: f4
- id: c_rc
doc: |
Amplitude of the cosine harmonic correction term to the orbit radius
type: f4
- id: c_uc
doc: |
Amplitude of the cosine harmonic correction term to the argument of
latitude
type: f4
- id: c_us
doc: |
Amplitude of the sine harmonic correction term to the argument of
latitude
type: f4
- id: c_ic
doc: |
Amplitude of the cosine harmonic correction term to the angle of
inclination
type: f4
- id: c_is
doc: |
Amplitude of the sine harmonic correction term to the angle of
inclination
type: f4
- id: dn
doc: |
Mean motion difference
type: f8
- id: m0
doc: |
Mean anomaly at reference time
type: f8
- id: ecc
doc: |
Eccentricity of satellite orbit
type: f8
- id: sqrta
doc: |
Square root of the semi-major axis of orbit
type: f8
- id: omega0
doc: |
Longitude of ascending node of orbit plane at weekly epoch
type: f8
- id: omegadot
doc: |
Rate of right ascension
type: f8
- id: w
doc: |
Argument of perigee
type: f8
- id: inc
doc: |
Inclination
type: f8
- id: inc_dot
doc: |
Inclination first derivative
type: f8
- id: af0
doc: |
Polynomial clock correction coefficient (clock bias)
type: f4
- id: af1
doc: |
Polynomial clock correction coefficient (clock drift)
type: f4
- id: af2
doc: |
Polynomial clock correction coefficient (rate of clock drift)
type: f4
- id: toc
doc: |
Clock reference
type: gnss::gps_time_sec
- id: iode
doc: |
Issue of ephemeris data
type: u1
- id: iodc
doc: |
Issue of clock data
type: u2
msg_ephemeris_bds:
doc: |
The ephemeris message returns a set of satellite orbit parameters that
is used to calculate BDS satellite position, velocity, and clock offset.
Please see the BeiDou Navigation Satellite System SIS-ICD Version 2.1,
Table 5-9 for more details.
seq:
- id: common
doc: |
Values common for all ephemeris types
type: ephemeris_common_content
- id: tgd1
doc: |
Group delay differential for B1
type: f4
- id: tgd2
doc: |
Group delay differential for B2
type: f4
- id: c_rs
doc: |
Amplitude of the sine harmonic correction term to the orbit radius
type: f4
- id: c_rc
doc: |
Amplitude of the cosine harmonic correction term to the orbit radius
type: f4
- id: c_uc
doc: |
Amplitude of the cosine harmonic correction term to the argument of
latitude
type: f4
- id: c_us
doc: |
Amplitude of the sine harmonic correction term to the argument of
latitude
type: f4
- id: c_ic
doc: |
Amplitude of the cosine harmonic correction term to the angle of
inclination
type: f4
- id: c_is
doc: |
Amplitude of the sine harmonic correction term to the angle of
inclination
type: f4
- id: dn
doc: |
Mean motion difference
type: f8
- id: m0
doc: |
Mean anomaly at reference time
type: f8
- id: ecc
doc: |
Eccentricity of satellite orbit
type: f8
- id: sqrta
doc: |
Square root of the semi-major axis of orbit
type: f8
- id: omega0
doc: |
Longitude of ascending node of orbit plane at weekly epoch
type: f8
- id: omegadot
doc: |
Rate of right ascension
type: f8
- id: w
doc: |
Argument of perigee
type: f8
- id: inc
doc: |
Inclination
type: f8
- id: inc_dot
doc: |
Inclination first derivative
type: f8
- id: af0
doc: |
Polynomial clock correction coefficient (clock bias)
type: f8
- id: af1
doc: |
Polynomial clock correction coefficient (clock drift)
type: f4
- id: af2
doc: |
Polynomial clock correction coefficient (rate of clock drift)
type: f4
- id: toc
doc: |
Clock reference
type: gnss::gps_time_sec
- id: iode
doc: |
Issue of ephemeris data
Calculated from the navigation data parameter t_oe per RTCM/CSNO
recommendation: IODE = mod (t_oe / 720, 240)
type: u1
- id: iodc
doc: |
Issue of clock data
Calculated from the navigation data parameter t_oe per RTCM/CSNO
recommendation: IODE = mod (t_oc / 720, 240)
type: u2
msg_ephemeris_gal_dep_a:
doc: |
Deprecated.
seq:
- id: common
doc: |
Values common for all ephemeris types
type: ephemeris_common_content
- id: bgd_e1e5a
doc: |
E1-E5a Broadcast Group Delay
type: f4
- id: bgd_e1e5b
doc: |
E1-E5b Broadcast Group Delay
type: f4
- id: c_rs
doc: |
Amplitude of the sine harmonic correction term to the orbit radius
type: f4
- id: c_rc
doc: |
Amplitude of the cosine harmonic correction term to the orbit radius
type: f4
- id: c_uc
doc: |
Amplitude of the cosine harmonic correction term to the argument of
latitude
type: f4
- id: c_us
doc: |
Amplitude of the sine harmonic correction term to the argument of
latitude
type: f4
- id: c_ic
doc: |
Amplitude of the cosine harmonic correction term to the angle of
inclination
type: f4
- id: c_is
doc: |
Amplitude of the sine harmonic correction term to the angle of
inclination
type: f4
- id: dn
doc: |
Mean motion difference
type: f8
- id: m0
doc: |
Mean anomaly at reference time
type: f8
- id: ecc
doc: |
Eccentricity of satellite orbit
type: f8
- id: sqrta
doc: |
Square root of the semi-major axis of orbit
type: f8
- id: omega0
doc: |
Longitude of ascending node of orbit plane at weekly epoch
type: f8
- id: omegadot
doc: |
Rate of right ascension
type: f8
- id: w
doc: |
Argument of perigee
type: f8
- id: inc
doc: |
Inclination
type: f8
- id: inc_dot
doc: |
Inclination first derivative
type: f8
- id: af0
doc: |
Polynomial clock correction coefficient (clock bias)
type: f8
- id: af1
doc: |
Polynomial clock correction coefficient (clock drift)
type: f8
- id: af2
doc: |
Polynomial clock correction coefficient (rate of clock drift)
type: f4
- id: toc
doc: |
Clock reference
type: gnss::gps_time_sec
- id: iode
doc: |
Issue of data (IODnav)
type: u2
- id: iodc
doc: |
Issue of data (IODnav). Always equal to iode
type: u2
msg_ephemeris_gal:
doc: |
The ephemeris message returns a set of satellite orbit parameters that
is used to calculate Galileo satellite position, velocity, and clock
offset. Please see the Signal In Space ICD OS SIS ICD, Issue 1.3,
December 2016 for more details.
seq:
- id: common
doc: |
Values common for all ephemeris types
type: ephemeris_common_content
- id: bgd_e1e5a
doc: |
E1-E5a Broadcast Group Delay
type: f4
- id: bgd_e1e5b
doc: |
E1-E5b Broadcast Group Delay
type: f4
- id: c_rs
doc: |
Amplitude of the sine harmonic correction term to the orbit radius
type: f4
- id: c_rc
doc: |
Amplitude of the cosine harmonic correction term to the orbit radius
type: f4
- id: c_uc
doc: |
Amplitude of the cosine harmonic correction term to the argument of
latitude
type: f4
- id: c_us
doc: |
Amplitude of the sine harmonic correction term to the argument of
latitude
type: f4
- id: c_ic
doc: |
Amplitude of the cosine harmonic correction term to the angle of
inclination
type: f4
- id: c_is
doc: |
Amplitude of the sine harmonic correction term to the angle of
inclination
type: f4
- id: dn
doc: |
Mean motion difference
type: f8
- id: m0
doc: |
Mean anomaly at reference time
type: f8
- id: ecc
doc: |
Eccentricity of satellite orbit
type: f8
- id: sqrta
doc: |
Square root of the semi-major axis of orbit
type: f8
- id: omega0
doc: |
Longitude of ascending node of orbit plane at weekly epoch
type: f8
- id: omegadot
doc: |
Rate of right ascension
type: f8
- id: w
doc: |
Argument of perigee
type: f8
- id: inc
doc: |
Inclination
type: f8