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Copyright (c) 2007, refer to 'author' doxygen tags
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Definition in file novatel.c.
#include <stdio.h>
#include <memory.h>
#include "gnss_error.h"
#include "novatel.h"
#include "gps.h"
#include "constants.h"
Go to the source code of this file.
Functions | |
| BOOL | NOVATELOEM3_FindNextMessageInFile (FILE *fid, unsigned char *message, const unsigned maxMessageLength, BOOL *wasEndOfFileReached, BOOL *wasMessageFound, unsigned *filePosition, unsigned *messageLength, unsigned *messageID, unsigned *numberBadChecksums) |
| Find the next NovAtel OEM3 message in an open file. | |
| BOOL | NOVATELOEM3_FindNextMessageInBuffer (unsigned char *buffer, const unsigned bufferLength, unsigned char *message, const unsigned maxMessageLength, BOOL *wasEndOfBufferReached, BOOL *wasMessageFound, unsigned *startPosition, unsigned *messageLength, unsigned *messageID, unsigned *numberBadChecksums) |
| Find the next NovAtel OEM3 message in a data buffer. | |
| BOOL | NOVATELOEM3_DecodeREPB (const unsigned char *message, const unsigned messageLength, unsigned *prn, unsigned *tow, unsigned short *iodc, unsigned char *iode, unsigned *toe, unsigned *toc, unsigned short *week, unsigned char *health, unsigned char *alert_flag, unsigned char *anti_spoof, unsigned char *code_on_L2, unsigned char *ura, unsigned char *L2_P_data_flag, unsigned char *fit_interval_flag, unsigned short *age_of_data_offset, double *tgd, double *af2, double *af1, double *af0, double *m0, double *delta_n, double *ecc, double *sqrta, double *omega0, double *i0, double *w, double *omegadot, double *idot, double *cuc, double *cus, double *crc, double *crs, double *cic, double *cis) |
| Decode a NovAtel OEM3 REPB message. | |
| BOOL | NOVATELOEM3_DecodeRGEB (const unsigned char *message, const unsigned messageLength, NOVATELOEM3_structObservationHeader *obsHeader, NOVATELOEM3_structObservation *obsArray, const unsigned char maxNrObs, unsigned *nrObs) |
| Decode a NovAtel OEM3 RGEB message. | |
| BOOL | NOVATELOEM3_DecodePOSB (const unsigned char *message, const unsigned messageLength, unsigned short *gps_week, double *gps_tow, double *latitude_degs, double *longitude_degs, double *height_msl, double *undulation, unsigned int *datum_id, double *lat_std, double *lon_std, double *hgt_std, NOVATELOEM3_enumSolutionStatus *status) |
| Decode a NovAtel OEM3 POSB message. | |
| BOOL | NOVATELOEM3_DecodeTM1B (const unsigned char *message, const unsigned messageLength, unsigned short *gps_week, double *gps_tow, double *clk_offset, double *clk_offset_std, double *utc_offset, BOOL *is_clk_stabilized) |
| Decode a NovAtel OEM3 TM1B message. | |
| BOOL | NOVATELOEM3_DecodeIONB (const unsigned char *message, const unsigned messageLength, double *alpha0, double *alpha1, double *alpha2, double *alpha3, double *beta0, double *beta1, double *beta2, double *beta3) |
| Decode a NovAtel OEM3 IONB message. | |
| BOOL | NOVATELOEM4_FindNextMessageInFile (FILE *fid, unsigned char *message, const unsigned maxMessageLength, BOOL *wasEndOfFileReached, BOOL *wasMessageFound, unsigned *filePosition, unsigned short *messageLength, unsigned short *messageID, unsigned *numberBadCRC) |
| Find the next NovAtel OEM4 message in an open file. | |
| BOOL | NOVATELOEM4_FindNextMessageInBuffer (unsigned char *buffer, const unsigned bufferLength, unsigned char *message, const unsigned maxMessageLength, BOOL *wasEndOfBufferReached, BOOL *wasMessageFound, unsigned *startPosition, unsigned short *messageLength, unsigned short *messageID, unsigned *numberBadCRC) |
| Find the next NovAtel OEM4 message in a buffer. | |
| BOOL | NOVATELOEM4_DecodeBinaryMessageHeader (const unsigned char *message, const unsigned short messageLength, NOVATELOEM4_structBinaryHeader *header) |
| Decode a Novatel OEM4 binary message header given a complete binary message. | |
| BOOL | NOVATELOEM4_DecodeRANGECMPB (const unsigned char *message, const unsigned short messageLength, NOVATELOEM4_structBinaryHeader *header, NOVATELOEM4_structObservation *obsArray, const unsigned char maxNrObs, unsigned *nrObs) |
| Decode a NovAtel OEM4 RANGEBCMPB message. | |
| BOOL | NOVATELOEM4_DecodeRANGEB (const unsigned char *message, const unsigned short messageLength, NOVATELOEM4_structBinaryHeader *header, NOVATELOEM4_structObservation *obsArray, const unsigned char maxNrObs, unsigned *nrObs) |
| Decode a NovAtel OEM4 RANGEB message. | |
| BOOL | NOVATELOEM4_DecodeBESTPOSB (const unsigned char *message, const unsigned short messageLength, NOVATELOEM4_structBinaryHeader *header, NOVATELOEM4_structBestPosition *bestpos) |
| Decode a NovAtel OEM4 BESTPOSB message. | |
| BOOL | NOVATELOEM4_DecodeTIMEB (const unsigned char *message, const unsigned short messageLength, NOVATELOEM4_structBinaryHeader *header, NOVATELOEM4_structTime *time_data) |
| Decode a NovAtel OEM4 TIMEB message. | |
| BOOL | NOVATELOEM4_DecodeTrackingStatus (const unsigned rawTrackingStatus, NOVATELOEM4_structTrackingStatus *trackingStatus) |
| Decode the raw 32 bit value that contains tracking status information. | |
| BOOL | NOVATELOEM4_DecodeRAWEPHEMB (const unsigned char *message, const unsigned short messageLength, NOVATELOEM4_structBinaryHeader *header, unsigned *prn, unsigned *reference_week, unsigned *reference_time, unsigned *tow, unsigned short *iodc, unsigned char *iode, unsigned *toe, unsigned *toc, unsigned short *week, unsigned char *health, unsigned char *alert_flag, unsigned char *anti_spoof, unsigned char *code_on_L2, unsigned char *ura, unsigned char *L2_P_data_flag, unsigned char *fit_interval_flag, unsigned short *age_of_data_offset, double *tgd, double *af2, double *af1, double *af0, double *m0, double *delta_n, double *ecc, double *sqrta, double *omega0, double *i0, double *w, double *omegadot, double *idot, double *cuc, double *cus, double *crc, double *crs, double *cic, double *cis) |
| Decode a NovAtel OEM4 RAWEPHEMB message. | |
| BOOL NOVATELOEM3_DecodeIONB | ( | const unsigned char * | message, | |
| const unsigned | messageLength, | |||
| double * | alpha0, | |||
| double * | alpha1, | |||
| double * | alpha2, | |||
| double * | alpha3, | |||
| double * | beta0, | |||
| double * | beta1, | |||
| double * | beta2, | |||
| double * | beta3 | |||
| ) |
Decode a NovAtel OEM3 IONB message.
Given a message buffer with a complete NovAtel OEM3 IONB binary message, extract the alpha and beta values.
| message | The message buffer containing a complete RGEB message (input). |
| messageLength | The length of the entire message (input). |
| alpha0 | coefficients of a cubic equation representing the amplitude of the vertical delay [s] (output). |
| alpha1 | coefficients of a cubic equation representing the amplitude of the vertical delay [s/semi-circle] (output). |
| alpha2 | coefficients of a cubic equation representing the amplitude of the vertical delay [s/semi-circle^2] (output). |
| alpha3 | coefficients of a cubic equation representing the amplitude of the vertical delay [s/semi-circle^3] (output). |
| beta0 | coefficients of a cubic equation representing the period of the model [s] (output). |
| beta1 | coefficients of a cubic equation representing the period of the model [s/semi-circle] (output). |
| beta2 | coefficients of a cubic equation representing the period of the model [s/semi-circle^2] (output). |
| beta3 | coefficients of a cubic equation representing the period of the model [s/semi-circle^3] (output). |
| BOOL NOVATELOEM3_DecodePOSB | ( | const unsigned char * | message, | |
| const unsigned | messageLength, | |||
| unsigned short * | gps_week, | |||
| double * | gps_tow, | |||
| double * | latitude_degs, | |||
| double * | longitude_degs, | |||
| double * | height_msl, | |||
| double * | undulation, | |||
| unsigned int * | datum_id, | |||
| double * | lat_std, | |||
| double * | lon_std, | |||
| double * | hgt_std, | |||
| NOVATELOEM3_enumSolutionStatus * | status | |||
| ) |
Decode a NovAtel OEM3 POSB message.
Given a message buffer with a complete NovAtel OEM3 POSB binary message.
| message | The message buffer containing a complete RGEB message (input). |
| messageLength | The length of the entire message (input). |
| gps_week | The GPS week number [0-1023], user must account for week rollover (output). |
| gps_tow | The GPS time of week [0-604800) (output). |
| latitude_degs | The latitude [deg] (output). |
| longitude_degs | The longitude [deg] (output). |
| height_msl | The height (with respect to mean sea level) [m] (output). |
| undulation | The geoidal undulation [m] (output). |
| datum_id | The datum id (61 is WGS84) (output). |
| lat_std | The estimated solution precision (1-sigma) (output). |
| lon_std | The estimated solution precision (1-sigma) (output). |
| hgt_std | The estimated solution precision (1-sigma) (output). |
| status | The solution status indicator. |
| BOOL NOVATELOEM3_DecodeREPB | ( | const unsigned char * | message, | |
| const unsigned | messageLength, | |||
| unsigned * | prn, | |||
| unsigned * | tow, | |||
| unsigned short * | iodc, | |||
| unsigned char * | iode, | |||
| unsigned * | toe, | |||
| unsigned * | toc, | |||
| unsigned short * | week, | |||
| unsigned char * | health, | |||
| unsigned char * | alert_flag, | |||
| unsigned char * | anti_spoof, | |||
| unsigned char * | code_on_L2, | |||
| unsigned char * | ura, | |||
| unsigned char * | L2_P_data_flag, | |||
| unsigned char * | fit_interval_flag, | |||
| unsigned short * | age_of_data_offset, | |||
| double * | tgd, | |||
| double * | af2, | |||
| double * | af1, | |||
| double * | af0, | |||
| double * | m0, | |||
| double * | delta_n, | |||
| double * | ecc, | |||
| double * | sqrta, | |||
| double * | omega0, | |||
| double * | i0, | |||
| double * | w, | |||
| double * | omegadot, | |||
| double * | idot, | |||
| double * | cuc, | |||
| double * | cus, | |||
| double * | crc, | |||
| double * | crs, | |||
| double * | cic, | |||
| double * | cis | |||
| ) |
Decode a NovAtel OEM3 REPB message.
Given a message buffer with a complete NovAtel OEM3 REPB binary message, this function will decode the content into useable ephemeris information.
| message | The message buffer containing a complete RANGEB message (input). |
| messageLength | The length of the entire message (input). |
| prn | The satellite PRN number. |
| tow | The time of week in subframe1, the time of the leading bit edge of subframe 2 [s] |
| iodc | 10 bit issue of data (clock), 8 LSB bits will match the iode [] |
| iode | 8 bit issue of data (ephemeris) [] |
| toe | reference time ephemeris (0-604800) [s] |
| toc | reference time (clock) (0-604800) [s] |
| week | 10 bit gps week 0-1023 (user must account for week rollover ) [week] |
| health | 6 bit health parameter, 0 if healthy, unhealth othersize [0=healthy] |
| alert_flag | 1 = URA may be worse than indicated [0,1] |
| anti_spoof | anti-spoof flag from 0=off, 1=on [0,1] |
| code_on_L2 | 0=reserved, 1=P code on L2, 2=C/A on L2 [0,1,2] |
| ura | User Range Accuracy lookup code, 0 is excellent, 15 is use at own risk [0-15], see p. 83 GPSICD200C |
| L2_P_data_flag | flag indicating if P is on L2 1=true [0,1] |
| fit_interval_flag | fit interval flag (four hour interval or longer) 0=4 fours, 1=greater [0,1] |
| age_of_data_offset | age of data offset [s] |
| tgd | group delay [s] |
| af2 | polynomial clock correction coefficient (rate of clock drift) [s/s^2] |
| af1 | polynomial clock correction coefficient (clock drift) [s/s] |
| af0 | polynomial clock correction coefficient (clock bias) [s] |
| m0 | mean anomaly at reference time [rad] |
| delta_n | mean motion difference from computed value [rad/s] |
| ecc | eccentricity [] |
| sqrta | square root of the semi-major axis [m^(1/2)] |
| omega0 | longitude of ascending node of orbit plane at weekly epoch [rad] |
| i0 | inclination angle at reference time [rad] |
| w | argument of perigee [rad] |
| omegadot | rate of right ascension [rad/s] |
| idot | rate of inclination angle [rad/s] |
| cuc | amplitude of the cosine harmonic correction term to the argument of latitude [rad] |
| cus | amplitude of the sine harmonic correction term to the argument of latitude [rad] |
| crc | amplitude of the cosine harmonic correction term to the orbit radius [m] |
| crs | amplitude of the sine harmonic correction term to the orbit radius [m] |
| cic | amplitude of the cosine harmonic correction term to the angle of inclination [rad] |
| cis | amplitude of the sine harmonic correction term to the angle of inclination [rad] |
| BOOL NOVATELOEM3_DecodeRGEB | ( | const unsigned char * | message, | |
| const unsigned | messageLength, | |||
| NOVATELOEM3_structObservationHeader * | obsHeader, | |||
| NOVATELOEM3_structObservation * | obsArray, | |||
| const unsigned char | maxNrObs, | |||
| unsigned * | nrObs | |||
| ) |
Decode a NovAtel OEM3 RGEB message.
Given a message buffer with a complete NovAtel OEM3 RGEB binary message, and a user provided array of observation structs, this function will decode the binary message into the user provided array.
| message | The message buffer containing a complete RGEB message (input). |
| messageLength | The length of the entire message (input). |
| obsHeader | A pointer to a user provided struct with obs header info (output). |
| obsArray | A pointer to a user provided array of NOVATELOEM3_structObservation (output). |
| maxNrObs | The maximum number of elements in the array provided (input). |
| nrObs | The number of valid elements set in the array (output). |
| BOOL NOVATELOEM3_DecodeTM1B | ( | const unsigned char * | message, | |
| const unsigned | messageLength, | |||
| unsigned short * | gps_week, | |||
| double * | gps_tow, | |||
| double * | clk_offset, | |||
| double * | clk_offset_std, | |||
| double * | utc_offset, | |||
| BOOL * | is_clk_stabilized | |||
| ) |
Decode a NovAtel OEM3 TM1B message.
Given a message buffer with a complete NovAtel OEM3 TM1B binary message. This log provides the time of the GPSCard 1PPS, normally high, active low pulse (1 millisecond), where falling edge is reference, in GPS week number and seconds into the week. The TM1A/B log follows a 1PPS pulse. It also includes the receiver clock offset, the standard deviation of the receiver clock offset and clock model status. This log will output at a maximum rate of 1 Hz.
| message | The message buffer containing a complete RGEB message (input). |
| messageLength | The length of the entire message (input). |
| gps_week | The GPS week number [0-1023], user must account for week rollover (output). |
| gps_tow | The GPS time of week [0-604800) (output). |
| clk_offset | The receiver clock offset [s] (output). GPSTime = receiver_time - offset. |
| clk_offset_std | The estimated precision of the clock offset [s] at 1 sigma (output). |
| utc_offset | The estimated difference between UTC and GPS time. UTC_time = GPS_time + utc_offset. (e.g. -13.0) (output). |
| is_clk_stabilized | A boolean to indicate if the clock is stable (output). |
| BOOL NOVATELOEM3_FindNextMessageInBuffer | ( | unsigned char * | buffer, | |
| const unsigned | bufferLength, | |||
| unsigned char * | message, | |||
| const unsigned | maxMessageLength, | |||
| BOOL * | wasEndOfBufferReached, | |||
| BOOL * | wasMessageFound, | |||
| unsigned * | startPosition, | |||
| unsigned * | messageLength, | |||
| unsigned * | messageID, | |||
| unsigned * | numberBadChecksums | |||
| ) |
Find the next NovAtel OEM3 message in a data buffer.
Search a valid buffer for the next NovAtel OEM3 message. The user must provide a message buffer with an associated maximum length (8192 bytes recommended ).
| buffer | A pointer to a buffer containing input data. |
| bufferLength | The length of the valid data contained in the buffer. |
| message | A message buffer in which to place the message found (input/output). |
| maxMessageLength | The maximum size of the message buffer (input). |
| wasEndOfBufferReached | Has the end of the buffer been reached (output). |
| wasMessageFound | Was a valid message found (output). |
| startPosition | The index into the buffer for the start of the message found (output). |
| messageLength | The length of the entire message found and stored in the message buffer (output). |
| messageID | The message ID of the message found. |
| numberBadChecksums | The number of bad checksum values found. (checksum fails or mistaken messages). |
| BOOL NOVATELOEM3_FindNextMessageInFile | ( | FILE * | fid, | |
| unsigned char * | message, | |||
| const unsigned | maxMessageLength, | |||
| BOOL * | wasEndOfFileReached, | |||
| BOOL * | wasMessageFound, | |||
| unsigned * | filePosition, | |||
| unsigned * | messageLength, | |||
| unsigned * | messageID, | |||
| unsigned * | numberBadChecksums | |||
| ) |
Find the next NovAtel OEM3 message in an open file.
Search a file (FILE*), that is already open, for the next NovAtel OEM3 message. The user must provide a message buffer with an associated maximum length (8192 bytes recommended ).
| fid | A file pointer to an open file (input). |
| message | A message buffer in which to place the message found (input/output). |
| maxMessageLength | The maximum size of the message buffer (input). |
| wasEndOfFileReached | Has the end of the file been reached (output). |
| wasMessageFound | Was a valid message found (output). |
| filePosition | The file position for the start of the message found (output). |
| messageLength | The length of the entire message found and stored in the message buffer (output). |
| messageID | The message ID of the message found. |
| numberBadChecksums | The number of bad checksum values found. (checksum fails or mistaken messages). |
| BOOL NOVATELOEM4_DecodeBESTPOSB | ( | const unsigned char * | message, | |
| const unsigned short | messageLength, | |||
| NOVATELOEM4_structBinaryHeader * | header, | |||
| NOVATELOEM4_structBestPosition * | bestpos | |||
| ) |
Decode a NovAtel OEM4 BESTPOSB message.
Given a message buffer with a complete NovAtel OEM4 BESTPOSB binary message, and a user provided array of observation structs, this function will decode the binary message.
| message | The message buffer containing a complete RANGEB message (input). |
| messageLength | The length of the entire message (input). |
| header | A pointer to a NovAtel OEM4 header information struct (output). |
| bestpos | A pointer to a NovAtel OEM4 best position information struct (output). |
| BOOL NOVATELOEM4_DecodeBinaryMessageHeader | ( | const unsigned char * | message, | |
| const unsigned short | messageLength, | |||
| NOVATELOEM4_structBinaryHeader * | header | |||
| ) |
Decode a Novatel OEM4 binary message header given a complete binary message.
| message | The message buffer containing a complete NOVATEL OEM4 binary message (input). |
| messageLength | The length of the entire message (input). |
| header | A pointer to a NovAtel OEM4 header information struct (output). |
| BOOL NOVATELOEM4_DecodeRANGEB | ( | const unsigned char * | message, | |
| const unsigned short | messageLength, | |||
| NOVATELOEM4_structBinaryHeader * | header, | |||
| NOVATELOEM4_structObservation * | obsArray, | |||
| const unsigned char | maxNrObs, | |||
| unsigned * | nrObs | |||
| ) |
Decode a NovAtel OEM4 RANGEB message.
Given a message buffer with a complete NovAtel OEM4 RANGEB binary message, and a user provided array of observation structs, this function will decode the binary message into the user provided array.
| message | The message buffer containing a complete RANGEB message (input). |
| messageLength | The length of the entire message (input). |
| header | A pointer to a NovAtel OEM4 header information struct (output). |
| obsArray | A pointer to a user provided array of struct_NOVATELOEM4_RANGE (output). |
| maxNrObs | The maximum number of elements in the array provided (input). |
| nrObs | The number of valid elements set in the array (output). |
| BOOL NOVATELOEM4_DecodeRANGECMPB | ( | const unsigned char * | message, | |
| const unsigned short | messageLength, | |||
| NOVATELOEM4_structBinaryHeader * | header, | |||
| NOVATELOEM4_structObservation * | obsArray, | |||
| const unsigned char | maxNrObs, | |||
| unsigned * | nrObs | |||
| ) |
Decode a NovAtel OEM4 RANGEBCMPB message.
Given a message buffer with a complete NovAtel OEM4 RANGECMPB binary message, and a user provided array of observation structs, this function will decode the compressed binary message into the user provided array.
| message | The message buffer containing a complete RANGEB message (input). |
| messageLength | The length of the entire message (input). |
| header | A pointer to a NovAtel OEM4 header information struct (output). |
| obsArray | A pointer to a user provided array of struct_NOVATELOEM4_RANGE (output). |
| maxNrObs | The maximum number of elements in the array provided (input). |
| nrObs | The number of valid elements set in the array (output). |
| BOOL NOVATELOEM4_DecodeRAWEPHEMB | ( | const unsigned char * | message, | |
| const unsigned short | messageLength, | |||
| NOVATELOEM4_structBinaryHeader * | header, | |||
| unsigned * | prn, | |||
| unsigned * | reference_week, | |||
| unsigned * | reference_time, | |||
| unsigned * | tow, | |||
| unsigned short * | iodc, | |||
| unsigned char * | iode, | |||
| unsigned * | toe, | |||
| unsigned * | toc, | |||
| unsigned short * | week, | |||
| unsigned char * | health, | |||
| unsigned char * | alert_flag, | |||
| unsigned char * | anti_spoof, | |||
| unsigned char * | code_on_L2, | |||
| unsigned char * | ura, | |||
| unsigned char * | L2_P_data_flag, | |||
| unsigned char * | fit_interval_flag, | |||
| unsigned short * | age_of_data_offset, | |||
| double * | tgd, | |||
| double * | af2, | |||
| double * | af1, | |||
| double * | af0, | |||
| double * | m0, | |||
| double * | delta_n, | |||
| double * | ecc, | |||
| double * | sqrta, | |||
| double * | omega0, | |||
| double * | i0, | |||
| double * | w, | |||
| double * | omegadot, | |||
| double * | idot, | |||
| double * | cuc, | |||
| double * | cus, | |||
| double * | crc, | |||
| double * | crs, | |||
| double * | cic, | |||
| double * | cis | |||
| ) |
Decode a NovAtel OEM4 RAWEPHEMB message.
Given a message buffer with a complete NovAtel OEM4 RAWEPHEMB binary message, this function will decode the content into useable ephemeris information.
| message | The message buffer containing a complete RANGEB message (input). |
| messageLength | The length of the entire message (input). |
| header | A pointer to a NovAtel OEM4 header information struct (output). |
| prn | The satellite PRN number. |
| reference_week | The reference GPS week (0-1024+) [weeks]. |
| reference_time | The reference GPS time of week (0-604800) [s]. |
| tow | The time of week in subframe1, the time of the leading bit edge of subframe 2 [s] |
| iodc | 10 bit issue of data (clock), 8 LSB bits will match the iode [] |
| iode | 8 bit issue of data (ephemeris) [] |
| toe | reference time ephemeris (0-604800) [s] |
| toc | reference time (clock) (0-604800) [s] |
| week | 10 bit gps week 0-1023 (user must account for week rollover ) [week] |
| health | 6 bit health parameter, 0 if healthy, unhealth othersize [0=healthy] |
| alert_flag | 1 = URA may be worse than indicated [0,1] |
| anti_spoof | anti-spoof flag from 0=off, 1=on [0,1] |
| code_on_L2 | 0=reserved, 1=P code on L2, 2=C/A on L2 [0,1,2] |
| ura | User Range Accuracy lookup code, 0 is excellent, 15 is use at own risk [0-15], see p. 83 GPSICD200C |
| L2_P_data_flag | flag indicating if P is on L2 1=true [0,1] |
| fit_interval_flag | fit interval flag (four hour interval or longer) 0=4 fours, 1=greater [0,1] |
| age_of_data_offset | age of data offset [s] |
| tgd | group delay [s] |
| af2 | polynomial clock correction coefficient (rate of clock drift) [s/s^2] |
| af1 | polynomial clock correction coefficient (clock drift) [s/s] |
| af0 | polynomial clock correction coefficient (clock bias) [s] |
| m0 | mean anomaly at reference time [rad] |
| delta_n | mean motion difference from computed value [rad/s] |
| ecc | eccentricity [] |
| sqrta | square root of the semi-major axis [m^(1/2)] |
| omega0 | longitude of ascending node of orbit plane at weekly epoch [rad] |
| i0 | inclination angle at reference time [rad] |
| w | argument of perigee [rad] |
| omegadot | rate of right ascension [rad/s] |
| idot | rate of inclination angle [rad/s] |
| cuc | amplitude of the cosine harmonic correction term to the argument of latitude [rad] |
| cus | amplitude of the sine harmonic correction term to the argument of latitude [rad] |
| crc | amplitude of the cosine harmonic correction term to the orbit radius [m] |
| crs | amplitude of the sine harmonic correction term to the orbit radius [m] |
| cic | amplitude of the cosine harmonic correction term to the angle of inclination [rad] |
| cis | amplitude of the sine harmonic correction term to the angle of inclination [rad] |
| BOOL NOVATELOEM4_DecodeTIMEB | ( | const unsigned char * | message, | |
| const unsigned short | messageLength, | |||
| NOVATELOEM4_structBinaryHeader * | header, | |||
| NOVATELOEM4_structTime * | time_data | |||
| ) |
Decode a NovAtel OEM4 TIMEB message.
Given a message buffer with a complete NovAtel OEM4 TIMEB binary message, and a user provided array of observation structs, this function will decode the binary message.
| message | The message buffer containing a complete RANGEB message (input). |
| messageLength | The length of the entire message (input). |
| header | A pointer to a NovAtel OEM4 header information struct (output). |
| time_data | A pointer to a NovAtel OEM4 best position information struct (output). |
| BOOL NOVATELOEM4_DecodeTrackingStatus | ( | const unsigned | rawTrackingStatus, | |
| NOVATELOEM4_structTrackingStatus * | trackingStatus | |||
| ) |
Decode the raw 32 bit value that contains tracking status information.
| rawTrackingStatus | The raw 32 bit tracking status value. |
| trackingStatus | The decoded tracking status information. |
| BOOL NOVATELOEM4_FindNextMessageInBuffer | ( | unsigned char * | buffer, | |
| const unsigned | bufferLength, | |||
| unsigned char * | message, | |||
| const unsigned | maxMessageLength, | |||
| BOOL * | wasEndOfBufferReached, | |||
| BOOL * | wasMessageFound, | |||
| unsigned * | startPosition, | |||
| unsigned short * | messageLength, | |||
| unsigned short * | messageID, | |||
| unsigned * | numberBadCRC | |||
| ) |
Find the next NovAtel OEM4 message in a buffer.
Search a valid buffer for the next NovAtel OEM4 message. The user must provide a message buffer with an associated maximum length (8192 bytes recommended ).
| buffer | A pointer to a buffer containing input data. |
| bufferLength | The length of the valid data contained in the buffer. |
| message | A message buffer in which to place the message found (input/output). |
| maxMessageLength | The maximum size of the message buffer (input). |
| wasEndOfBufferReached | Has the end of the buffer been reached (output). |
| wasMessageFound | Was a valid message found (output). |
| startPosition | The index into the buffer for the start of the message found (output). |
| messageLength | The length of the entire message found and stored in the message buffer (output). |
| messageID | The message ID of the message found. |
| numberBadCRC | The number of bad crc values found. (crc fails or mistaken messages). |
| BOOL NOVATELOEM4_FindNextMessageInFile | ( | FILE * | fid, | |
| unsigned char * | message, | |||
| const unsigned | maxMessageLength, | |||
| BOOL * | wasEndOfFileReached, | |||
| BOOL * | wasMessageFound, | |||
| unsigned * | filePosition, | |||
| unsigned short * | messageLength, | |||
| unsigned short * | messageID, | |||
| unsigned * | numberBadCRC | |||
| ) |
Find the next NovAtel OEM4 message in an open file.
Search a file (FILE*), that is already open, for the next NovAtel OEM4 message. The user must provide a message buffer with an associated maximum length (8192 bytes recommended ).
| fid | A file pointer to an open file (input). |
| message | A message buffer in which to place the message found (input/output). |
| maxMessageLength | The maximum size of the message buffer (input). |
| wasEndOfFileReached | Has the end of the file been reached (output). |
| wasMessageFound | Was a valid message found (output). |
| filePosition | The file position for the start of the message found (output). |
| messageLength | The length of the entire message found and stored in the message buffer (output). |
| messageID | The message ID of the message found. |
| numberBadCRC | The number of bad crc values found. (crc fails or mistaken messages). |