package apollo.drivers.gnss

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This message defines one band observation of a certain satellite

Used in: SatelliteObservation

• optional GnssBandID band_id = 1

  observation on a certain frequency band

• optional double frequency_value = 2

• optional PseudoType pseudo_type = 3

• optional double pseudo_range = 4

  unit in meter

• optional double carrier_phase = 5

  unit in cycle

• optional uint32 loss_lock_index = 6

  Indicator of losing tracking of the signal

• optional double doppler = 7

  unit in /s

• optional float snr = 8

  Signal strength: signal noise ratio or carrier noise ratio

Used in: GnssBestPose

• WGS84 = 61

  We only use WGS-84.

This message defines one epoch observation on a certain time of a receiver

• optional uint32 receiver_id = 1

  Unique id to a certain receiver 0 for rover, otherwise for baser, supporting multi-baser mode

• optional GnssTimeType gnss_time_type = 2

• optional uint32 gnss_week = 3

• optional double gnss_second_s = 4

• optional double position_x = 5

  Baser observation should be bound with coordinates unit in meter

• optional double position_y = 6

  unit in meter

• optional double position_z = 7

  unit in meter

• optional uint32 health_flag = 8

  Health indicator: 0 for healthy while 1 for bad observation

• optional uint32 sat_obs_num = 9

  Number of observed satellites

• repeated SatelliteObservation sat_obs = 10

  Group of observed satellite observation

This message defines orbit parameters of GLONASS

Used in: GnssEphemeris

• optional GnssType gnss_type = 1

• optional uint32 slot_prn = 2

• optional GnssTimeType gnss_time_type = 3

• optional double toe = 4

  refer to GLONASS time and toc == toe

• optional uint32 year = 5

  must convert toe to UTC(+0) format and fulfill year, month...second_s,etc.

• optional uint32 month = 6

• optional uint32 day = 7

• optional uint32 hour = 8

• optional uint32 minute = 9

• optional double second_s = 10

• optional int32 frequency_no = 11

  unit in meter

• optional uint32 week_num = 12

  GNSS week number

• optional double week_second_s = 13

  GNSS week second in seconds

• optional double tk = 14

  frame broadcasted time

• optional double clock_offset = 15

  clock correction(sec/sec),warning: set clock_offset = -TauN

• optional double clock_drift = 16

  clock correction(sec/sec2),warning: set clock_drift = +GammaN

• optional uint32 health = 17

  Satellite health : 0=good,1=bad

• optional double position_x = 18

  unit in meter

• optional double position_y = 19

• optional double position_z = 20

• optional double velocity_x = 21

  unit in m/s

• optional double velocity_y = 22

• optional double velocity_z = 23

• optional double accelerate_x = 24

  unit in m/s2

• optional double accelerate_y = 25

• optional double accelerate_z = 26

• optional double infor_age = 27

• optional uint32 sat_prn = 28

Solution from a Global Navigation Satellite System (GNSS) receiver without fused with any IMU.

• optional common.Header header = 1

• optional double measurement_time = 2

  The time of position measurement, seconds since the GPS epoch (Jan 6, 1980).

  In seconds.

• optional float velocity_latency = 3

  When velocity is computed from differentiating successive position computations, a non-zero latency is incurred. The velocity refers to the time measurement_time - velocity_latency. When velocity is computed using instantaneous Doppler frequency, there is no latency. We should have velocity_latency = 0.

  In seconds.

• optional common.PointLLH position = 4

  Position of the GNSS antenna phase center.

• optional common.Point3D position_std_dev = 5

  East/north/up in meters.

• optional common.Point3D linear_velocity = 6

  East/north/up in meters per second.

• optional common.Point3D linear_velocity_std_dev = 7

  East/north/up in meters per second.

• optional int32 num_sats = 8

  Number of satellites in position solution.

• optional Gnss.Type type = 9

• optional uint32 solution_status = 10

• optional uint32 position_type = 11

GNSS solution type.

Used in: Gnss

• INVALID = 0

  It is recommended not using the GNSS solution if solution type is INVALID or PROPAGATED.

  Invalid solution due to insufficient observations,

• PROPAGATED = 1

  integrity warning, etc.

  Propagated by a Kalman filter without new observations.

• SINGLE = 2

  It is recommended using the following types of solution.

  Standard GNSS solution without any corrections.

• PSRDIFF = 3

  Pseudorange differential solution, including WAAS/SBAS

• PPP = 4

  solution.

  Precise Point Positioning (PPP) solution.

• RTK_FLOAT = 5

  Real Time Kinematic (RTK) float solution.

• RTK_INTEGER = 6

  RTK integer solution.

pre-defined GNSS band frequency ID

Used in: BandObservation

• BAND_UNKNOWN = 0

• GPS_L1 = 1

• GPS_L2 = 2

• GPS_L5 = 3

• BDS_B1 = 4

• BDS_B2 = 5

• BDS_B3 = 6

• GLO_G1 = 7

• GLO_G2 = 8

• GLO_G3 = 9

• optional common.Header header = 1

• optional double measurement_time = 2

  In seconds.

• optional SolutionStatus sol_status = 3

• optional SolutionType sol_type = 4

• optional double latitude = 5

  in degrees

• optional double longitude = 6

  in degrees

• optional double height_msl = 7

  height above mean sea level in meters

• optional float undulation = 8

  undulation = height_wgs84 - height_msl

• optional DatumId datum_id = 9

  datum id number

• optional float latitude_std_dev = 10

  latitude standard deviation (m)

• optional float longitude_std_dev = 11

  longitude standard deviation (m)

• optional float height_std_dev = 12

  height standard deviation (m)

• optional bytes base_station_id = 13

  base station id

• optional float differential_age = 14

  differential position age (sec)

• optional float solution_age = 15

  solution age (sec)

• optional uint32 num_sats_tracked = 16

  number of satellites tracked

• optional uint32 num_sats_in_solution = 17

  number of satellites used in solution

• optional uint32 num_sats_l1 = 18

  number of L1/E1/B1 satellites used in solution

• optional uint32 num_sats_multi = 19

  number of multi-frequency satellites used in solution

• optional uint32 reserved = 20

  reserved

• optional uint32 extended_solution_status = 21

  extended solution status - OEMV and greater only

• optional uint32 galileo_beidou_used_mask = 22

• optional uint32 gps_glonass_used_mask = 23

This message encapsulates keppler orbit message and glonass message

• optional GnssType gnss_type = 1

• optional KepplerOrbit keppler_orbit = 2

• optional GlonassOrbit glonass_orbit = 3

observation and ephemeris related system time type

Used in: EpochObservation, GlonassOrbit, KepplerOrbit

• TIME_UNKNOWN = 0

• GPS_TIME = 1

• BDS_TIME = 2

• GLO_TIME = 3

• GAL_TIME = 4

observation and ephemeris related system type

Used in: GlonassOrbit, GnssEphemeris, KepplerOrbit, SatelliteObservation

• SYS_UNKNOWN = 0

• GPS_SYS = 1

• BDS_SYS = 2

• GLO_SYS = 3

• GAL_SYS = 4

• optional common.Header header = 1

• optional double measurement_time = 2

• optional uint32 solution_status = 3

• optional uint32 position_type = 4

• optional float baseline_length = 5

• optional float heading = 6

• optional float pitch = 7

• optional float reserved = 8

• optional float heading_std_dev = 9

• optional float pitch_std_dev = 10

• optional bytes station_id = 11

• optional uint32 satellite_tracked_number = 12

• optional uint32 satellite_soulution_number = 13

• optional uint32 satellite_number_obs = 14

  Number of satellites above the elevation mask angle

• optional uint32 satellite_number_multi = 15

  Number of satellites above the mask angle with L2

• optional uint32 solution_source = 16

• optional uint32 extended_solution_status = 17

• optional uint32 galileo_beidou_sig_mask = 18

• optional uint32 gps_glonass_sig_mask = 19

Measurements from an inertial measurement unit (IMU). The solution is with respect to the IMU by default.

• optional common.Header header = 1

• optional double measurement_time = 2

  The time of IMU measurement, seconds since the GPS epoch (Jan 6, 1980).

  In seconds.

• optional float measurement_span = 3

  When measurement_span is non-zero, the gyroscope and accelerometer measurements are averaged for the period from (measurement_time - measurement_span) to measurement_time. Usually, measurement_span = 1 / sampling_frequency. When measurement_span is 0, angular_velocity and linear_acceleration are instantaneous at measurement_time.

  In seconds.

• optional common.Point3D linear_acceleration = 4

  Forward/left/up in meters per square second.

• optional common.Point3D angular_velocity = 5

  Around forward/left/up axes in radians per second.

Solution from an inertial navigation system (INS), which usually fuses GNSS and IMU measurements.

• optional common.Header header = 1

• optional double measurement_time = 2

  The time of position measurement, seconds since the GPS epoch (01/06/1980).

  In seconds.

• optional Ins.Type type = 3

• optional common.PointLLH position = 4

  Position of the IMU.

• optional common.Point3D euler_angles = 5

  Roll/pitch/yaw in radians.

• optional common.Point3D linear_velocity = 6

  East/north/up in meters per second.

• optional common.Point3D angular_velocity = 7

  Around forward/left/up axes in radians per second.

• optional common.Point3D linear_acceleration = 8

  Forward/left/up in meters per square second.

• repeated float position_covariance = 9

  3-by-3 covariance matrix, in m^2.

• repeated float euler_angles_covariance = 10

  3-by-3 covariance matrix, in rad^2.

• repeated float linear_velocity_covariance = 11

  3-by-3 covariance matrix, in m^2/s^2.

• repeated float angular_velocity_covariance = 12

  3-by-3 covariance matrix, in rad^2/s^2.

• repeated float linear_acceleration_covariance = 13

  3-by-3 covariance matrix, in m^2/s^4.

INS solution type.

Used in: Ins

• INVALID = 0

  Do NOT use. Invalid solution due to insufficient observations, no initial GNSS, ...

• CONVERGING = 1

  Use with caution. The covariance matrix may be unavailable or incorrect. High-variance result due to aligning, insufficient vehicle dynamics, ...

• GOOD = 2

  Safe to use. The INS has fully converged.

• optional common.Header header = 1

• optional uint32 ins_status = 2

• optional uint32 pos_type = 3

This message defines main six keppler orbit parameters and perturbations, designed for gps, beidou, (also supporting gnss, galileo)

Used in: GnssEphemeris

• optional GnssType gnss_type = 1

• optional uint32 sat_prn = 2

• optional GnssTimeType gnss_time_type = 3

• optional uint32 year = 4

  TOC: time of clock

• optional uint32 month = 5

• optional uint32 day = 6

• optional uint32 hour = 7

• optional uint32 minute = 8

• optional double second_s = 9

• optional uint32 week_num = 10

  GNSS week number

• optional double reserved = 11

• optional double af0 = 12

  clock correction(sec)

• optional double af1 = 13

  clock correction(sec/sec)

• optional double af2 = 14

  clock correction(sec/sec2)

• optional double iode = 15

  Issue Of Data, Ephemeris in subframes 2 and 3

• optional double deltan = 16

  mean anomaly correction semi-circles per sec*pi = rads

• optional double m0 = 17

  mean anomaly at ref time semi-circles*pi = rads

• optional double e = 18

  eccentricity

• optional double roota = 19

  sqr root a ( meters 1/2 )

• optional double toe = 20

  ref time (sec) of ephemeris

• optional double toc = 21

  ref time (sec) of clock

• optional double cic = 22

  harmonic correction term(rads)

• optional double crc = 23

  harmonic correction term(meters)

• optional double cis = 24

  harmonic correction term(rads)

• optional double crs = 25

  harmonic correction term(meters)

• optional double cuc = 26

  harmonic correction term(rads)

• optional double cus = 27

  harmonic correction term(rads)

• optional double omega0 = 28

  longitude of ascending node semi-circles*pi = rads

• optional double omega = 29

  argument of perigee semi-circles*pi

• optional double i0 = 30

  inclination angle at ref time semi-circles*pi

• optional double omegadot = 31

  rate of right ascension semi-circles/sec*pi

• optional double idot = 32

  rate of inclination semi-circles/sec*pi

• optional double codesonL2channel = 33

  pseudo range codes on L2

• optional uint32 L2Pdataflag = 34

  data flag of L2P

• optional uint32 accuracy = 35

  user range accuracy

• optional uint32 health = 36

  satellite health: 0=good,1=bad

• optional double tgd = 37

  group delay (s)

• optional double iodc = 38

  Issue Of Data, Clock

type of pseudo-range

Used in: BandObservation

• CODE_UNKNOWN = 0

• CORSE_CODE = 1

• PRECISION_CODE = 2

gnss raw data

• optional common.Header header = 1

• optional bytes data = 2

This message defines one satellite observation of a certain epoch

Used in: EpochObservation

• optional uint32 sat_prn = 1

• optional GnssType sat_sys = 2

• optional uint32 band_obs_num = 3

• repeated BandObservation band_obs = 4

Used in: GnssBestPose

• SOL_COMPUTED = 0

  solution computed

• INSUFFICIENT_OBS = 1

  insufficient observations

• NO_CONVERGENCE = 2

  no convergence

• SINGULARITY = 3

  singularity at parameters matrix

• COV_TRACE = 4

  covariance trace exceeds maximum (trace > 1000 m)

• TEST_DIST = 5

  test distance exceeded (max of 3 rejections if distance >

• COLD_START = 6

  10 km)

  not yet converged from cold start

• V_H_LIMIT = 7

  height or velocity limits exceeded

• VARIANCE = 8

  variance exceeds limits

• RESIDUALS = 9

  residuals are too large

• INTEGRITY_WARNING = 13

  large residuals make position questionable

• PENDING = 18

  receiver computes its position and determines if the fixed

• INVALID_FIX = 19

  position is valid

  the fixed position entered using the fix position

• UNAUTHORIZED = 20

  command is invalid

  position type is unauthorized

• INVALID_RATE = 22

  selected logging rate is not supported for this solution type

Used in: GnssBestPose

• NONE = 0

• FIXEDPOS = 1

• FIXEDHEIGHT = 2

• FLOATCONV = 4

• WIDELANE = 5

• NARROWLANE = 6

• DOPPLER_VELOCITY = 8

• SINGLE = 16

• PSRDIFF = 17

• WAAS = 18

• PROPOGATED = 19

• OMNISTAR = 20

• L1_FLOAT = 32

• IONOFREE_FLOAT = 33

• NARROW_FLOAT = 34

• L1_INT = 48

• WIDE_INT = 49

• NARROW_INT = 50

• RTK_DIRECT_INS = 51

  RTK filter is directly initialized from the INS filter.

• INS_SBAS = 52

• INS_PSRSP = 53

• INS_PSRDIFF = 54

• INS_RTKFLOAT = 55

• INS_RTKFIXED = 56

• INS_OMNISTAR = 57

• INS_OMNISTAR_HP = 58

• INS_OMNISTAR_XP = 59

• OMNISTAR_HP = 64

• OMNISTAR_XP = 65

• PPP_CONVERGING = 68

• PPP = 69

• INS_PPP_CONVERGING = 73

• INS_PPP = 74