7.6.6. NOV_B-BESTGNSSPOS
This message contains the best available GNSS position (without Fusion) computed by
the GNSS receiver. In addition, it reports several status indicators, including differential
age, which helps predict anomalous behavior brought about by outages in differential
corrections. A differential age of 0 indicates that no differential correction was used. With
the system operating in an RTK mode, this log reflects the latest low-latency solution for
up to 60 seconds after the reception of the last base station observations. After these
60 seconds, the position reverts to the best solution available, and the standard deviation
fields reflect the accuracy degradation. This message can be either:
• NOV_B-BESTGNSSPOS_GNSS1 for output from GNSS 1 receiver
• NOV_B-BESTGNSSPOS_GNSS2 for output from GNSS 2 receiver
Message field:
# Offset Field Type Unit Description
- 0 sync1 uint8_t - Sync byte 1 (always 0xaa)
- 1 sync2 uint8_t - Sync byte 2 (always 0x44)
- 2 sync3 uint8_t - Sync byte 3 (always 0x12)
- 3 header_len uint8_t bytes Length of the header (always 28)
- 4 msg_id uint16_t - Message ID, always 1429 for this message
- 6 msg_type uint8_t - See protocol documentation
- 7 reserved1 uint8_t - Reserved, ignore
- 8 payload_len uint8_t bytes Payload size, always 72 for this message
- 10 reserved2 uint16_t - Reserved, ignore
- 12 reserved3 uint8_t - Reserved, ignore
1 13 time_status uint8_t - See protocol documentation
2 14 gps_wno uint16_t - GPS week number
3 16 gps_tow int32_t ms GPS time of week
- 20 reserved4 uint32_t - Reserved, ignore
- 24 reserved5 uint16_t - Reserved, ignore
- 26 reserved6 uint16_t - Reserved, ignore
4 28 sol_status uint32_t - Solution status, see below
5 32 pos_type uint32_t - Positioning mode, see below
6 36 lat double deg Latitude
7 44 lon double deg Longitude
8 52 height double m Ellipsoidal height
- 60 reserved7 uint32_t - Reserved, ignore
9 64 datum unit32_t - Datum, always 61 (= WGS84)
10 68 std_lat float m Latitude standard deviation
11 72 std_lon float m Longitude standard deviation
12 76 std_height float m Height standard deviation
- 80 reserved8 uint32_t - Reserved, ignore
- 84 reserved9 uint32_t - Reserved, ignore
13 88 sol_age float s Approximate age of solution
14 92 num_svs uint8_t - Number of satellites tracked
15 93 num_sol_svs uint8_t - Number of satellites used in solution
15 94 num_sol_l1_svs uint8_t - Number of satellites with L1 signals used in solution
16 95 num_sol_l2_svs uint8_t - Number of satellites with L2 signals used in solution
- 96 reserved10 uint8_t - Reserved, ignore
17 97 ext_sol_stat uint8_t - Extended solution status, see below
18 98 gal_bds_sig_msk uint8_t - Galileo and BeiDou signal mask, see below
19 99 gps_glo_sig_msk uint8_t - GPS and GLONASS signal mask, see below
- 100 checksum uint32_t - CRC32 checksum (see protocol documentation)
Table 7.32.: NOV B-BESTGNSSPOS message format
Vision-RTK 2 | Fixposition Positioning Sensor 73
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