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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.
#
# Precise State Space Representation (SSR) corrections format
#
# Automatically generated from spec/yaml/swiftnav/sbp/ssr.yaml with generate.py.
# Do not modify by hand!
meta:
id: ssr
endian: le
imports: [ gnss ]
types:
code_biases_content:
doc: |
Code biases are to be added to pseudorange. The corrections conform with
RTCMv3 MT 1059 / 1065.
seq:
- id: code
doc: |
Signal encoded following RTCM specifications (DF380, DF381, DF382
and DF467).
type: u1
- id: value
doc: |
Code bias value
type: s2
phase_biases_content:
doc: |
Phase biases are to be added to carrier phase measurements.
seq:
- id: code
doc: |
Signal encoded following RTCM specifications (DF380, DF381, DF382
and DF467)
type: u1
- id: integer_indicator
doc: |
Indicator for integer property
type: u1
- id: widelane_integer_indicator
doc: |
Indicator for two groups of Wide-Lane(s) integer property
type: u1
- id: discontinuity_counter
doc: |
Signal phase discontinuity counter. Increased for every
discontinuity in phase.
type: u1
- id: bias
doc: |
Phase bias for specified signal
type: s4
stec_header:
doc: |
A full set of STEC information will likely span multiple SBP messages,
since SBP message a limited to 255 bytes. The header is used to tie
multiple SBP messages into a sequence.
seq:
- id: tile_set_id
doc: |
Unique identifier of the tile set this tile belongs to.
type: u2
- id: tile_id
doc: |
Unique identifier of this tile in the tile set.
type: u2
- id: time
doc: |
GNSS reference time of the correction
type: gnss::gps_time_sec
- id: num_msgs
doc: |
Number of messages in the dataset
type: u1
- id: seq_num
doc: |
Position of this message in the dataset
type: u1
- id: update_interval
doc: |
Update interval between consecutive corrections. Encoded following
RTCM DF391 specification.
type: u1
- id: iod_atmo
doc: |
IOD of the SSR atmospheric correction
type: u1
gridded_correction_header:
doc: |
The LPP message contains nested variable length arrays which are not
supported in SBP, so each grid point will be identified by the index.
seq:
- id: tile_set_id
doc: |
Unique identifier of the tile set this tile belongs to.
type: u2
- id: tile_id
doc: |
Unique identifier of this tile in the tile set.
type: u2
- id: time
doc: |
GNSS reference time of the correction
type: gnss::gps_time_sec
- id: num_msgs
doc: |
Number of messages in the dataset
type: u2
- id: seq_num
doc: |
Position of this message in the dataset
type: u2
- id: update_interval
doc: |
Update interval between consecutive corrections. Encoded following
RTCM DF391 specification.
type: u1
- id: iod_atmo
doc: |
IOD of the SSR atmospheric correction
type: u1
- id: tropo_quality_indicator
doc: |
Quality of the troposphere data. Encoded following RTCM DF389
specification in units of m.
type: u1
stec_sat_element:
doc: |
STEC polynomial for the given satellite.
seq:
- id: sv_id
doc: |
Unique space vehicle identifier
type: gnss::sv_id
- id: stec_quality_indicator
doc: |
Quality of the STEC data. Encoded following RTCM DF389 specification
but in units of TECU instead of m.
type: u1
- id: stec_coeff
doc: |
Coefficients of the STEC polynomial in the order of C00, C01, C10,
C11. C00 = 0.05 TECU, C01/C10 = 0.02 TECU/deg, C11 0.02 TECU/deg^2
type: s2
repeat: expr
repeat-expr: 4
tropospheric_delay_correction_no_std:
doc: |
Troposphere vertical delays at the grid point.
seq:
- id: hydro
doc: |
Hydrostatic vertical delay
type: s2
- id: wet
doc: |
Wet vertical delay
type: s1
tropospheric_delay_correction:
doc: |
Troposphere vertical delays (mean and standard deviation) at the grid
point.
seq:
- id: hydro
doc: |
Hydrostatic vertical delay. Add 2.3 m to get actual value.
type: s2
- id: wet
doc: |
Wet vertical delay. Add 0.252 m to get actual value.
type: s1
- id: stddev
doc: |
Modified DF389. class 3 MSB, value 5 LSB. stddev = (3^class * (1 +
value/16) - 1)
type: u1
stec_residual_no_std:
doc: |
STEC residual for the given satellite at the grid point.
seq:
- id: sv_id
doc: |
space vehicle identifier
type: gnss::sv_id
- id: residual
doc: |
STEC residual
type: s2
stec_residual:
doc: |
STEC residual (mean and standard deviation) for the given satellite at
the grid point.
seq:
- id: sv_id
doc: |
space vehicle identifier
type: gnss::sv_id
- id: residual
doc: |
STEC residual
type: s2
- id: stddev
doc: |
Modified DF389. class 3 MSB, value 5 LSB. stddev = (3^class * (1 +
value/16) - 1) * 10
type: u1
msg_ssr_orbit_clock:
doc: |
The precise orbit and clock correction message is to be applied as a
delta correction to broadcast ephemeris and is an equivalent to the 1060
/1066 RTCM message types.
seq:
- id: time
doc: |
GNSS reference time of the correction
type: gnss::gps_time_sec
- id: sid
doc: |
GNSS signal identifier (16 bit)
type: gnss::gnss_signal
- id: update_interval
doc: |
Update interval between consecutive corrections. Encoded following
RTCM DF391 specification.
type: u1
- id: iod_ssr
doc: |
IOD of the SSR correction. A change of Issue Of Data SSR is used to
indicate a change in the SSR generating configuration
type: u1
- id: iod
doc: |
Issue of broadcast ephemeris data or IODCRC (Beidou)
type: u4
- id: radial
doc: |
Orbit radial delta correction
type: s4
- id: along
doc: |
Orbit along delta correction
type: s4
- id: cross
doc: |
Orbit along delta correction
type: s4
- id: dot_radial
doc: |
Velocity of orbit radial delta correction
type: s4
- id: dot_along
doc: |
Velocity of orbit along delta correction
type: s4
- id: dot_cross
doc: |
Velocity of orbit cross delta correction
type: s4
- id: c0
doc: |
C0 polynomial coefficient for correction of broadcast satellite
clock
type: s4
- id: c1
doc: |
C1 polynomial coefficient for correction of broadcast satellite
clock
type: s4
- id: c2
doc: |
C2 polynomial coefficient for correction of broadcast satellite
clock
type: s4
msg_ssr_code_biases:
doc: |
The precise code biases message is to be added to the pseudorange of the
corresponding signal to get corrected pseudorange. It is an equivalent
to the 1059 / 1065 RTCM message types.
seq:
- id: time
doc: |
GNSS reference time of the correction
type: gnss::gps_time_sec
- id: sid
doc: |
GNSS signal identifier (16 bit)
type: gnss::gnss_signal
- id: update_interval
doc: |
Update interval between consecutive corrections. Encoded following
RTCM DF391 specification.
type: u1
- id: iod_ssr
doc: |
IOD of the SSR correction. A change of Issue Of Data SSR is used to
indicate a change in the SSR generating configuration
type: u1
- id: biases
doc: |
Code biases for the different satellite signals
type: code_biases_content
repeat: eos
msg_ssr_phase_biases:
doc: |
The precise phase biases message contains the biases to be added to the
carrier phase of the corresponding signal to get corrected carrier phase
measurement, as well as the satellite yaw angle to be applied to compute
the phase wind-up correction. It is typically an equivalent to the 1265
RTCM message types.
seq:
- id: time
doc: |
GNSS reference time of the correction
type: gnss::gps_time_sec
- id: sid
doc: |
GNSS signal identifier (16 bit)
type: gnss::gnss_signal
- id: update_interval
doc: |
Update interval between consecutive corrections. Encoded following
RTCM DF391 specification.
type: u1
- id: iod_ssr
doc: |
IOD of the SSR correction. A change of Issue Of Data SSR is used to
indicate a change in the SSR generating configuration
type: u1
- id: dispersive_bias
doc: |
Indicator for the dispersive phase biases property.
type: u1
- id: mw_consistency
doc: |
Consistency indicator for Melbourne-Wubbena linear combinations
type: u1
- id: yaw
doc: |
Satellite yaw angle
type: u2
- id: yaw_rate
doc: |
Satellite yaw angle rate
type: s1
- id: biases
doc: |
Phase biases corrections for a satellite being tracked.
type: phase_biases_content
repeat: eos
msg_ssr_stec_correction_dep:
doc: |
Deprecated.
seq:
- id: header
doc: |
Header of a STEC polynomial coefficient message.
type: stec_header
- id: stec_sat_list
doc: |
Array of STEC polynomial coefficients for each space vehicle.
type: stec_sat_element
repeat: eos
bounds_header:
seq:
- id: time
doc: |
GNSS reference time of the bound
type: gnss::gps_time_sec
- id: num_msgs
doc: |
Number of messages in the dataset
type: u1
- id: seq_num
doc: |
Position of this message in the dataset
type: u1
- id: update_interval
doc: |
Update interval between consecutive bounds. Similar to RTCM DF391.
type: u1
- id: sol_id
doc: |
SSR Solution ID.
type: u1
msg_ssr_stec_correction:
seq:
- id: header
doc: |
Header of a STEC correction with bounds message.
type: bounds_header
- id: ssr_iod_atmo
doc: |
IOD of the SSR atmospheric correction
type: u1
- id: tile_set_id
doc: |
Tile set ID
type: u2
- id: tile_id
doc: |
Tile ID
type: u2
- id: n_sats
doc: |
Number of satellites.
type: u1
- id: stec_sat_list
doc: |
Array of STEC polynomial coefficients for each space vehicle.
type: stec_sat_element
repeat: eos
msg_ssr_gridded_correction:
doc: |
STEC residuals are per space vehicle, troposphere is not.
It is typically equivalent to the QZSS CLAS Sub Type 9 messages.
seq:
- id: header
doc: |
Header of a gridded correction message
type: gridded_correction_header
- id: index
doc: |
Index of the grid point.
type: u2
- id: tropo_delay_correction
doc: |
Wet and hydrostatic vertical delays (mean, stddev).
type: tropospheric_delay_correction
- id: stec_residuals
doc: |
STEC residuals for each satellite (mean, stddev).
type: stec_residual
repeat: eos
stec_sat_element_integrity:
doc: |
STEC polynomial and bounds for the given satellite.
seq:
- id: stec_residual
doc: |
STEC residuals (mean, stddev)
type: stec_residual
- id: stec_bound_mu
doc: |
Error Bound Mean. See Note 1.
type: u1
- id: stec_bound_sig
doc: |
Error Bound StDev. See Note 1.
type: u1
- id: stec_bound_mu_dot
doc: |
Error Bound Mean First derivative.
type: u1
- id: stec_bound_sig_dot
doc: |
Error Bound StDev First derivative.
type: u1
msg_ssr_gridded_correction_bounds:
doc: |
Note 1: Range: 0-17.5 m. i<= 200, mean = 0.01i; 200<i<=230,
mean=2+0.1(i-200); i>230, mean=5+0.5(i-230).
seq:
- id: header
doc: |
Header of a bounds message.
type: bounds_header
- id: ssr_iod_atmo
doc: |
IOD of the correction.
type: u1
- id: tile_set_id
doc: |
Set this tile belongs to.
type: u2
- id: tile_id
doc: |
Unique identifier of this tile in the tile set.
type: u2
- id: tropo_qi
doc: |
Tropo Quality Indicator. Similar to RTCM DF389.
type: u1
- id: grid_point_id
doc: |
Index of the Grid Point.
type: u2
- id: tropo_delay_correction
doc: |
Tropospheric delay at grid point.
type: tropospheric_delay_correction
- id: tropo_v_hydro_bound_mu
doc: |
Vertical Hydrostatic Error Bound Mean.
type: u1
- id: tropo_v_hydro_bound_sig
doc: |
Vertical Hydrostatic Error Bound StDev.
type: u1
- id: tropo_v_wet_bound_mu
doc: |
Vertical Wet Error Bound Mean.
type: u1
- id: tropo_v_wet_bound_sig
doc: |
Vertical Wet Error Bound StDev.
type: u1
- id: n_sats
doc: |
Number of satellites.
type: u1
- id: stec_sat_list
doc: |
Array of STEC polynomial coefficients and its bounds for each space
vehicle.
type: stec_sat_element_integrity
repeat: eos
msg_ssr_tile_definition_dep_a:
doc: |
Deprecated.
seq:
- id: tile_set_id
doc: |
Unique identifier of the tile set this tile belongs to.
type: u2
- id: tile_id
doc: |
Unique identifier of this tile in the tile set.
See GNSS-SSR-ArrayOfCorrectionPoints field correctionPointSetID.
type: u2
- id: corner_nw_lat
doc: |
North-West corner correction point latitude.
The relation between the latitude X in the range [-90, 90] and the
coded number N is:
N = floor((X / 90) * 2^14)
See GNSS-SSR-ArrayOfCorrectionPoints field referencePointLatitude.
type: s2
- id: corner_nw_lon
doc: |
North-West corner correction point longitude.
The relation between the longitude X in the range [-180, 180] and
the coded number N is:
N = floor((X / 180) * 2^15)
See GNSS-SSR-ArrayOfCorrectionPoints field referencePointLongitude.
type: s2
- id: spacing_lat
doc: |
Spacing of the correction points in the latitude direction.
See GNSS-SSR-ArrayOfCorrectionPoints field stepOfLatitude.
type: u2
- id: spacing_lon
doc: |
Spacing of the correction points in the longitude direction.
See GNSS-SSR-ArrayOfCorrectionPoints field stepOfLongitude.
type: u2
- id: rows
doc: |
Number of steps in the latitude direction.
See GNSS-SSR-ArrayOfCorrectionPoints field numberOfStepsLatitude.
type: u2
- id: cols
doc: |
Number of steps in the longitude direction.
See GNSS-SSR-ArrayOfCorrectionPoints field numberOfStepsLongitude.
type: u2
- id: bitmask
doc: |
Specifies the availability of correction data at the correction
points in the array.
If a specific bit is enabled (set to 1), the correction is not
available. Only the first rows * cols bits are used, the remainder
are set to 0. If there are more then 64 correction points the
remaining corrections are always available.
Starting with the northwest corner of the array (top left on a north
oriented map) the correction points are enumerated with row
precedence - first row west to east, second row west to east, until
last row west to east - ending with the southeast corner of the
array.
See GNSS-SSR-ArrayOfCorrectionPoints field bitmaskOfGrids but note
the definition of the bits is inverted.
type: u8
msg_ssr_tile_definition_dep_b:
doc: |
Deprecated.
seq:
- id: ssr_sol_id
doc: |
SSR Solution ID.
type: u1
- id: tile_set_id
doc: |
Unique identifier of the tile set this tile belongs to.
type: u2
- id: tile_id
doc: |
Unique identifier of this tile in the tile set.
See GNSS-SSR-ArrayOfCorrectionPoints field correctionPointSetID.
type: u2
- id: corner_nw_lat
doc: |
North-West corner correction point latitude.
The relation between the latitude X in the range [-90, 90] and the
coded number N is:
N = floor((X / 90) * 2^14)
See GNSS-SSR-ArrayOfCorrectionPoints field referencePointLatitude.
type: s2
- id: corner_nw_lon
doc: |
North-West corner correction point longitude.
The relation between the longitude X in the range [-180, 180] and
the coded number N is:
N = floor((X / 180) * 2^15)
See GNSS-SSR-ArrayOfCorrectionPoints field referencePointLongitude.
type: s2
- id: spacing_lat
doc: |
Spacing of the correction points in the latitude direction.
See GNSS-SSR-ArrayOfCorrectionPoints field stepOfLatitude.
type: u2
- id: spacing_lon
doc: |
Spacing of the correction points in the longitude direction.
See GNSS-SSR-ArrayOfCorrectionPoints field stepOfLongitude.
type: u2
- id: rows
doc: |
Number of steps in the latitude direction.
See GNSS-SSR-ArrayOfCorrectionPoints field numberOfStepsLatitude.
type: u2
- id: cols
doc: |
Number of steps in the longitude direction.
See GNSS-SSR-ArrayOfCorrectionPoints field numberOfStepsLongitude.
type: u2
- id: bitmask
doc: |
Specifies the availability of correction data at the correction
points in the array.
If a specific bit is enabled (set to 1), the correction is not
available. Only the first rows * cols bits are used, the remainder
are set to 0. If there are more then 64 correction points the
remaining corrections are always available.
Starting with the northwest corner of the array (top left on a north
oriented map) the correction points are enumerated with row
precedence - first row west to east, second row west to east, until
last row west to east - ending with the southeast corner of the
array.
See GNSS-SSR-ArrayOfCorrectionPoints field bitmaskOfGrids but note
the definition of the bits is inverted.
type: u8
msg_ssr_tile_definition:
doc: |
Provides the correction point coordinates for the atmospheric correction
values in the MSG_SSR_STEC_CORRECTION and MSG_SSR_GRIDDED_CORRECTION
messages.
Based on ETSI TS 137 355 V16.1.0 (LTE Positioning Protocol) information
element GNSS-SSR-CorrectionPoints. SBP only supports gridded arrays of
correction points, not lists of points.
seq:
- id: time
doc: |
GNSS reference time of the correction
type: gnss::gps_time_sec
- id: update_interval
doc: |
Update interval between consecutive corrections. Encoded following
RTCM DF391 specification.
type: u1
- id: sol_id
doc: |
SSR Solution ID. Similar to RTCM DF415.
type: u1
- id: iod_atmo
doc: |
IOD of the SSR atmospheric correction.
type: u1
- id: tile_set_id
doc: |
Unique identifier of the tile set this tile belongs to.
type: u2
- id: tile_id
doc: |
Unique identifier of this tile in the tile set.
See GNSS-SSR-ArrayOfCorrectionPoints field correctionPointSetID.
type: u2
- id: corner_nw_lat
doc: |
North-West corner correction point latitude.
The relation between the latitude X in the range [-90, 90] and the
coded number N is: N = floor((X / 90) * 2^14)
See GNSS-SSR-ArrayOfCorrectionPoints field referencePointLatitude.
type: s2
- id: corner_nw_lon
doc: |
North-West corner correction point longitude.
The relation between the longitude X in the range [-180, 180] and
the coded number N is: N = floor((X / 180) * 2^15)
See GNSS-SSR-ArrayOfCorrectionPoints field referencePointLongitude.
type: s2
- id: spacing_lat
doc: |
Spacing of the correction points in the latitude direction.
See GNSS-SSR-ArrayOfCorrectionPoints field stepOfLatitude.
type: u2
- id: spacing_lon
doc: |
Spacing of the correction points in the longitude direction.
See GNSS-SSR-ArrayOfCorrectionPoints field stepOfLongitude.
type: u2
- id: rows
doc: |
Number of steps in the latitude direction.
See GNSS-SSR-ArrayOfCorrectionPoints field numberOfStepsLatitude.
type: u2
- id: cols
doc: |
Number of steps in the longitude direction.
See GNSS-SSR-ArrayOfCorrectionPoints field numberOfStepsLongitude.
type: u2
- id: bitmask
doc: |
Specifies the absence of correction data at the correction points in
the array (grid).
Only the first rows * cols bits are used, and if a specific bit is
enabled (set to 1), the correction is not available. If there are
more than 64 correction points the remaining corrections are always
available.
The correction points are packed by rows, starting with the
northwest corner of the array (top-left on a north oriented map),
with each row spanning west to east, ending with the southeast
corner of the array.
See GNSS-SSR-ArrayOfCorrectionPoints field bitmaskOfGrids but note
the definition of the bits is inverted.
type: u8
satellite_apc:
doc: |
Contains phase center offset and elevation variation corrections for one
signal on a satellite.
seq:
- id: sid
doc: |
GNSS signal identifier (16 bit)
type: gnss::gnss_signal
- id: sat_info
doc: |
Additional satellite information
type: u1
- id: svn
doc: |
Satellite Code, as defined by IGS. Typically the space vehicle
number.
type: u2
- id: pco
doc: |
Mean phase center offset, X Y and Z axes. See IGS ANTEX file format
description for coordinate system definition.
type: s2
repeat: expr
repeat-expr: 3
- id: pcv
doc: |
Elevation dependent phase center variations. First element is 0
degrees separation from the Z axis, subsequent elements represent
elevation variations in 1 degree increments.
type: s1
repeat: expr
repeat-expr: 21
msg_ssr_satellite_apc_dep:
doc: |
Deprecated.
seq:
- id: apc
doc: |
Satellite antenna phase center corrections
type: satellite_apc
repeat: eos
msg_ssr_satellite_apc:
seq:
- id: time
doc: |
GNSS reference time of the correction
type: gnss::gps_time_sec
- id: update_interval
doc: |
Update interval between consecutive corrections. Encoded following
RTCM DF391 specification.
type: u1
- id: sol_id
doc: |
SSR Solution ID. Similar to RTCM DF415.
type: u1
- id: iod_ssr
doc: |
IOD of the SSR correction. A change of Issue Of Data SSR is used to
indicate a change in the SSR generating configuration
type: u1
- id: apc
doc: |
Satellite antenna phase center corrections
type: satellite_apc
repeat: eos
msg_ssr_orbit_clock_dep_a:
doc: |
Deprecated.
seq:
- id: time
doc: |
GNSS reference time of the correction
type: gnss::gps_time_sec
- id: sid
doc: |
GNSS signal identifier (16 bit)
type: gnss::gnss_signal
- id: update_interval
doc: |
Update interval between consecutive corrections. Encoded following
RTCM DF391 specification.
type: u1
- id: iod_ssr
doc: |
IOD of the SSR correction. A change of Issue Of Data SSR is used to
indicate a change in the SSR generating configuration
type: u1
- id: iod
doc: |
Issue of broadcast ephemeris data
type: u1
- id: radial
doc: |
Orbit radial delta correction
type: s4
- id: along
doc: |
Orbit along delta correction
type: s4
- id: cross
doc: |
Orbit along delta correction
type: s4
- id: dot_radial
doc: |
Velocity of orbit radial delta correction
type: s4
- id: dot_along
doc: |
Velocity of orbit along delta correction
type: s4
- id: dot_cross
doc: |
Velocity of orbit cross delta correction
type: s4
- id: c0
doc: |
C0 polynomial coefficient for correction of broadcast satellite
clock
type: s4
- id: c1
doc: |
C1 polynomial coefficient for correction of broadcast satellite
clock
type: s4
- id: c2
doc: |
C2 polynomial coefficient for correction of broadcast satellite
clock
type: s4
stec_header_dep_a:
doc: |
A full set of STEC information will likely span multiple SBP messages,
since SBP message a limited to 255 bytes. The header is used to tie
multiple SBP messages into a sequence.
seq:
- id: time
doc: |
GNSS reference time of the correction
type: gnss::gps_time_sec
- id: num_msgs
doc: |
Number of messages in the dataset
type: u1
- id: seq_num
doc: |
Position of this message in the dataset
type: u1
- id: update_interval
doc: |
Update interval between consecutive corrections. Encoded following
RTCM DF391 specification.
type: u1
- id: iod_atmo
doc: |
IOD of the SSR atmospheric correction
type: u1
gridded_correction_header_dep_a:
doc: |
The 3GPP message contains nested variable length arrays which are not
supported in SBP, so each grid point will be identified by the index.
seq:
- id: time
doc: |
GNSS reference time of the correction
type: gnss::gps_time_sec
- id: num_msgs
doc: |
Number of messages in the dataset
type: u2
- id: seq_num
doc: |
Position of this message in the dataset
type: u2
- id: update_interval
doc: |
Update interval between consecutive corrections. Encoded following
RTCM DF391 specification.
type: u1
- id: iod_atmo
doc: |
IOD of the SSR atmospheric correction
type: u1
- id: tropo_quality_indicator
doc: |
Quality of the troposphere data. Encoded following RTCM DF389
specification in units of m.
type: u1