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Novatel GPS/INS driver.
More...
Classes |
| class | SimpleConfig |
| | Minimum information to configure the receiver in INS mode. More...
|
| class | GpsOnlyConfig |
| | Minimum information needed to configure the receiver in GPS only mode. More...
|
| class | Config |
| | All the information needed to configure the driver. More...
|
| class | GenericData |
| | Generic (base) type returned by a read. More...
|
| class | InsPvaData |
| | INS position/velocity/attitude information. More...
|
| class | BestGpsPosData |
| | Gps position information. More...
|
| class | BestGpsVelData |
| | Gps velocity information. More...
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| class | RawImuData |
| | Raw IMU information. 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...
|
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...
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Functions |
|
std::string | toString (StatusMessageType type) |
| | Convert a StatusMessageType into a string.
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std::string | toString (GpsSolutionStatusType type) |
| | Convert a GpsSolutionStatusType into a string.
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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
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.
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| WideLane |
Solution from wide-lane ambiguities.
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| NarrowLane |
Solution from narrow-lane ambiguities.
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| ReservedGpsPosVelType7 |
Value Reserved for future use.
|
| DopplerVelocity |
Velocity computed using instantaneous Doppler.
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| ReservedGpsPosVelType9 |
Value Reserved for future use.
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| ReservedGpsPosVelType10 |
Value Reserved for future use.
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| ReservedGpsPosVelType11 |
Value Reserved for future use.
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| ReservedGpsPosVelType12 |
Value Reserved for future use.
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| ReservedGpsPosVelType13 |
Value Reserved for future use.
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| ReservedGpsPosVelType14 |
Value Reserved for future use.
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| ReservedGpsPosVelType15 |
Value Reserved for future use.
|
| Single |
Single point position.
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| PsrDiff |
Pseudorange differential solution.
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| Waas |
Solution calculated using corrections from an SBAS.
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| Propagated |
Propagated by a Kalman filter without new observations.
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| Omnistar |
OmniSTAR VBS position (L1 sub-meter) a.
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| ReservedGpsPosVelType21 |
Value Reserved for future use.
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| ReservedGpsPosVelType22 |
Value Reserved for future use.
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| ReservedGpsPosVelType23 |
Value Reserved for future use.
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| ReservedGpsPosVelType24 |
Value Reserved for future use.
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| ReservedGpsPosVelType25 |
Value Reserved for future use.
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| ReservedGpsPosVelType26 |
Value Reserved for future use.
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| ReservedGpsPosVelType27 |
Value Reserved for future use.
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| ReservedGpsPosVelType28 |
Value Reserved for future use.
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| ReservedGpsPosVelType29 |
Value Reserved for future use.
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| ReservedGpsPosVelType30 |
Value Reserved for future use.
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| ReservedGpsPosVelType31 |
Value Reserved for future use.
|
| L1Float |
Floating L1 ambiguity solution.
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| IonoFreeFloat |
Floating ionospheric-free ambiguity solution.
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| NarrowFloat |
Floating narrow-lane ambiguity solution.
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| L1Int |
Integer L1 ambiguity solution.
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| WideInt |
Integer wide-lane ambiguity solution.
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| NarrowInt |
Integer narrow-lane ambiguity solution.
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| 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.
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| InsRtkFloat |
INS RTK floating point ambiguities solution b.
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| InsRtkFixed |
INS RTK fixed ambiguities solution b.
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| OmniStarHp |
OmniSTAR high precision a.
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| OmniStarXp |
OmniSTAR extra precision a.
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| CdGps |
Position solution using CDGPS corrections.
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Novatel's different solution status types.
Explanations from the manual.
- Enumerator:
| SolComputed |
Solution computed.
|
| InsufficientObs |
Insufficient observations.
|
| NoConvergence |
No convergence.
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| Singularity |
Singularity at parameters matrix.
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| CovTrace |
Covariance trace exceeds maximum (trace > 1000 m)
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| TestDist |
Test distance exceeded (maximum of 3 rejections if distance > 10 km)
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| ColdStart |
Not yet converged from cold start.
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| VHLimit |
Height or velocity limits exceeded (in accordance with COCOM export licensing restrictions)
|
| Variance |
Variance exceeds limits.
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| Residuals |
Residuals are too large.
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| DeltaPos |
Delta position is too large.
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| NegativeVar |
Negative variance.
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| ReservedGpsSolutionStatusType12 |
Value Reserved for future use.
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| IntegrityWarning |
Large residuals make position unreliable.
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| InsInactive |
INS has not started yet.
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| InsAligning |
INS doing its coarse alignment.
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| InsBad |
INS position is bad.
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| ImuUnplugged |
No IMU detected.
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| Pending |
When a FIX POSITION command is entered, the receiver computes its own position and determines if the fixed position is valid.
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| InvalidFix |
The fixed position, entered using the FIX POSITION command, is not valid.
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possible Status Messages GenericData can contain
- Enumerator:
| NoMsg |
Nothing new, no message.
|
| Initialising |
Nothing wrong, just not quite ready.
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| Ok |
All good, but something to say.
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| Warning |
Problem, likely to go away.
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| Fault |
Problem, probably fatal.
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