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 , UnknownGpsSolutionStatusType }
	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 , UnknownGpsPosVelType }
	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

enum gbxnovatelacfr::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

enum gbxnovatelacfr::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

enum gbxnovatelacfr::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

enum gbxnovatelacfr::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.

Classes