novatel.h File Reference

Detailed Description

GNSS core 'c' function library: decoding/encoding NovAtel data.

Author:: Glenn D. MacGougan (GDM)

Date:: 2007-11-29

Since:: 2006-08-04

REFERENCES

NovAtel OEM4 Command and Log Reference. www.novatel.com.

"LICENSE INFORMATION"
Copyright (c) 2007, refer to 'author' doxygen tags
All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided the following conditions are met:

Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
The name(s) of the contributor(s) may not be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE CONTRIBUTORS ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Definition in file novatel.h.

#include <stdio.h>
#include "basictypes.h"

Go to the source code of this file.

Data Structures

struct NOVATELOEM3_structObservation

A NOVATEL OEM3 observation message container. i.e. RGEB container. More...

struct NOVATELOEM3_structREPB

A container for REPB (raw ephemeris) data. More...

struct NOVATELOEM4_structTrackingStatus

The NovAtel OEM4 tracking status. More...

struct NOVATELOEM4_structRxStatusBitField

The NovAtel OEM4 receiver status bitfield. More...

struct NOVATELOEM4_structBinaryHeader

The NovAtel OEM4 binary message header. More...

struct NOVATELOEM4_structObservation

A container for a NovAtel OEM4 observation. More...

struct NOVATELOEM4_structBestPosition

A container for the best position, BESTPOS, record. More...

struct NOVATELOEM4_structTime

A container for the TIME message. More...

Enumerations

enum NOVATELOEM3_enumMessageType {
  NOVATELOEM3_POSB = 1,
  NOVATELOEM3_TM1B = 3,
  NOVATELOEM3_IONB = 16,
  NOVATELOEM3_UTCB = 17,
  NOVATELOEM3_ALMB = 18,
  NOVATELOEM3_REPB = 14,
  NOVATELOEM3_RGEB = 32
}

brief This enumeration is for the supported NovAtel OEM3 message types. More...

enum NOVATELOEM3_enumSolutionStatus

brief This enumeration is for the NovAtel OEM3 solution status indicator. More...

enum NOVATELOEM4_enumMessageType

This enumeration is for NovAtel OEM4 message types. More...

enum NOVATELOEM4_enumTrackingState

This enumeration is for NovAtel OEM4 channel tracking state. More...

enum NOVATELOEM4_enumCorrelatorSpacing

This enumeration is for NovAtel OEM4 correlator spacing. More...

enum NOVATELOEM4_enumSatelliteSystem

This enumeration is for NovAtel OEM4 satellite system. More...

enum NOVATELOEM4_enumCodeType

This enumeration is for NovAtel OEM4 code type. More...

enum NOVATELOEM4_enumFrequency

This enumeration is for NovAtel OEM4 frequency. More...

enum NOVATELOEM4_enumTimeStatus {
  NOVATELOEM4_TIMESTATUS_UNKNOWN = 20,
  NOVATELOEM4_TIMESTATUS_APPROXIMATE = 60,
  NOVATELOEM4_TIMESTATUS_COARSEADJUSTING = 80,
  NOVATELOEM4_TIMESTATUS_COARSE = 100,
  NOVATELOEM4_TIMESTATUS_COARSESTEERING = 120,
  NOVATELOEM4_TIMESTATUS_FREEWHEELING = 130,
  NOVATELOEM4_TIMESTATUS_FINEADJUSTING = 140,
  NOVATELOEM4_TIMESTATUS_FINE = 160,
  NOVATELOEM4_TIMESTATUS_FINESTEERING = 180,
  NOVATELOEM4_TIMESTATUS_SATTIME = 200
}

The NovAtel OEM4 time status enumeration. More...

enum NOVATELOEM4_enumSolutionStatus {
  NOVATELOEM4_SOLNSTATUS_SOL_COMPUTED = 0,
  NOVATELOEM4_SOLNSTATUS_INSUFFICIENT_OBS = 1,
  NOVATELOEM4_SOLNSTATUS_NO_CONVERGENCE = 2,
  NOVATELOEM4_SOLNSTATUS_SINGULARITY = 3,
  NOVATELOEM4_SOLNSTATUS_COV_TRACE = 4,
  NOVATELOEM4_SOLNSTATUS_TEST_DIST = 5,
  NOVATELOEM4_SOLNSTATUS_COLD_START = 6,
  NOVATELOEM4_SOLNSTATUS_V_H_LIMIT = 7,
  NOVATELOEM4_SOLNSTATUS_VARIANCE = 8,
  NOVATELOEM4_SOLNSTATUS_RESIDUALS = 9,
  NOVATELOEM4_SOLNSTATUS_DELTA_POS = 10,
  NOVATELOEM4_SOLNSTATUS_NEGATIVE_VAR = 11 ,
  NOVATELOEM4_SOLNSTATUS_INTEGRITY_WARNING = 13,
  NOVATELOEM4_SOLNSTATUS_INS_14 = 14,
  NOVATELOEM4_SOLNSTATUS_INS_15 = 15,
  NOVATELOEM4_SOLNSTATUS_INS_16 = 16,
  NOVATELOEM4_SOLNSTATUS_INS_17 = 17,
  NOVATELOEM4_SOLNSTATUS_PENDING = 18,
  NOVATELOEM4_SOLNSTATUS_INVALID_FIX = 19,
  NOVATELOEM4_SOLNSTATUS_UNAUTHORIZED = 20
}

NovAtel OEM4 Solution Status enumeration. More...

enum NOVATELOEM4_enumSolutionType {
  NOVATELOEM4_POS_STATUS_NONE = 0,
  NOVATELOEM4_POS_STATUS_FIXEDPOS = 1,
  NOVATELOEM4_POS_STATUS_FIXEDHEIGHT = 2 ,
  NOVATELOEM4_POS_STATUS_DOPPLER_VELOCITY = 8 ,
  NOVATELOEM4_POS_STATUS_SINGLE = 16,
  NOVATELOEM4_POS_STATUS_PSRDIFF = 17,
  NOVATELOEM4_POS_STATUS_WAAS = 18,
  NOVATELOEM4_POS_STATUS_PROPAGATED = 19,
  NOVATELOEM4_POS_STATUS_OMNISTAR = 20 ,
  NOVATELOEM4_POS_STATUS_L1_FLOAT = 32,
  NOVATELOEM4_POS_STATUS_IONOFREE_FLOAT = 33,
  NOVATELOEM4_POS_STATUS_NARROW_FLOAT = 34,
  NOVATELOEM4_POS_STATUS_L1_INT = 48,
  NOVATELOEM4_POS_STATUS_WIDE_INT = 49,
  NOVATELOEM4_POS_STATUS_NARROW_INT = 50,
  NOVATELOEM4_POS_STATUS_RTK_DIRECT_INS = 51,
  NOVATELOEM4_POS_STATUS_INS_52 = 52,
  NOVATELOEM4_POS_STATUS_INS_53 = 53,
  NOVATELOEM4_POS_STATUS_INS_54 = 54,
  NOVATELOEM4_POS_STATUS_INS_55 = 55,
  NOVATELOEM4_POS_STATUS_INS_56 = 56,
  NOVATELOEM4_POS_STATUS_OMNISTAR_HP = 64,
  NOVATELOEM4_POS_STATUS_OMNISTAR_XP = 65,
  NOVATELOEM4_POS_STATUS_CDGPS = 66
}

NovAtel OEM4 Position Status enumeration. More...

enum NOVATELOEM4_enumClockStatus {
  NOVATELOEM4_CLOCK_STATUS_VALID = 0,
  NOVATELOEM4_CLOCK_STATUS_CONVERGING = 1,
  NOVATELOEM4_CLOCK_STATUS_ITERATING = 2,
  NOVATELOEM4_CLOCK_STATUS_INVALID = 3,
  NOVATELOEM4_CLOCK_STATUS_ERROR = 4
}

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_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 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.

Enumeration Type Documentation

enum NOVATELOEM3_enumMessageType

brief This enumeration is for the supported NovAtel OEM3 message types.

Enumerator:

NOVATELOEM3_POSB	message 1, byte count = 88
NOVATELOEM3_TM1B	message 3, byte count = 52
NOVATELOEM3_IONB	message 16, byte count = 76
NOVATELOEM3_UTCB	message 17, byte count = 52
NOVATELOEM3_ALMB	message 18, byte count = 120
NOVATELOEM3_REPB	message 14, byte count = 108
NOVATELOEM3_RGEB	message 32, byte count = 32 + obs * 44

Definition at line 53 of file novatel.h.

enum NOVATELOEM3_enumSolutionStatus

brief This enumeration is for the NovAtel OEM3 solution status indicator.

Definition at line 66 of file novatel.h.

enum NOVATELOEM4_enumClockStatus

Enumerator:

NOVATELOEM4_CLOCK_STATUS_VALID	The clock model is valid.
NOVATELOEM4_CLOCK_STATUS_CONVERGING	The clock model is near validity.
NOVATELOEM4_CLOCK_STATUS_ITERATING	The clock model is iterating towards validity.
NOVATELOEM4_CLOCK_STATUS_INVALID	The clock model is not valid.
NOVATELOEM4_CLOCK_STATUS_ERROR	Clock model error.

Definition at line 479 of file novatel.h.

enum NOVATELOEM4_enumCodeType

This enumeration is for NovAtel OEM4 code type.

Definition at line 247 of file novatel.h.

enum NOVATELOEM4_enumCorrelatorSpacing

This enumeration is for NovAtel OEM4 correlator spacing.

Definition at line 225 of file novatel.h.

enum NOVATELOEM4_enumFrequency

This enumeration is for NovAtel OEM4 frequency.

Definition at line 258 of file novatel.h.

enum NOVATELOEM4_enumMessageType

This enumeration is for NovAtel OEM4 message types.

Definition at line 170 of file novatel.h.

enum NOVATELOEM4_enumSatelliteSystem

This enumeration is for NovAtel OEM4 satellite system.

Definition at line 236 of file novatel.h.

enum NOVATELOEM4_enumSolutionStatus

NovAtel OEM4 Solution Status enumeration.

Enumerator:

NOVATELOEM4_SOLNSTATUS_SOL_COMPUTED	Solution computed.
NOVATELOEM4_SOLNSTATUS_INSUFFICIENT_OBS	Insufficient observations.
NOVATELOEM4_SOLNSTATUS_NO_CONVERGENCE	No convergence.
NOVATELOEM4_SOLNSTATUS_SINGULARITY	Singularity at parameters matrix.
NOVATELOEM4_SOLNSTATUS_COV_TRACE	Covariance trace exceeds maximum (trace > 1000 m).
NOVATELOEM4_SOLNSTATUS_TEST_DIST	Test distance exceeded (maximum of 3 rejections if distance > 10 km).
NOVATELOEM4_SOLNSTATUS_COLD_START	Not yet converged from cold start.
NOVATELOEM4_SOLNSTATUS_V_H_LIMIT	Height or velocity limits exceeded (in accordance with COCOM export licensing restrictions).
NOVATELOEM4_SOLNSTATUS_VARIANCE	Variance exceeds limits.
NOVATELOEM4_SOLNSTATUS_RESIDUALS	Residuals are too large.
NOVATELOEM4_SOLNSTATUS_DELTA_POS	Delta position is too large.
NOVATELOEM4_SOLNSTATUS_NEGATIVE_VAR	Negative variance.
NOVATELOEM4_SOLNSTATUS_INTEGRITY_WARNING	Large residuals make position unreliable.
NOVATELOEM4_SOLNSTATUS_INS_14	INS solution status values - Output only when using an inertial navigation system such as NovAtel�s SPAN products.
NOVATELOEM4_SOLNSTATUS_INS_15	INS solution status values - Output only when using an inertial navigation system such as NovAtel�s SPAN products.
NOVATELOEM4_SOLNSTATUS_INS_16	INS solution status values - Output only when using an inertial navigation system such as NovAtel�s SPAN products.
NOVATELOEM4_SOLNSTATUS_INS_17	INS solution status values - Output only when using an inertial navigation system such as NovAtel�s SPAN products.
NOVATELOEM4_SOLNSTATUS_PENDING	When a FIX POSITION command is entered, the receiver computes its own position and determines if the fixed position is valid. PENDING implies there are not enough satellites being tracked to verify if the FIX POSITION entered into the receiver is valid. The receiver needs to be tracking two or more GPS satellites to perform this check. Under normal conditions you should only see PENDING for a few seconds on power up before the GPS receiver has locked onto its first few satellites. If your antenna is obstructed (or not plugged in) and you have entered a FIX POSITION command, then you may see PENDING indefinitely.
NOVATELOEM4_SOLNSTATUS_INVALID_FIX	The fixed position, entered using the FIX POSITION command, is not valid.
NOVATELOEM4_SOLNSTATUS_UNAUTHORIZED	Position type is unauthorized - HP or XP on a receiver not authorized for it.

Definition at line 376 of file novatel.h.

enum NOVATELOEM4_enumSolutionType

NovAtel OEM4 Position Status enumeration.

Enumerator:

NOVATELOEM4_POS_STATUS_NONE	No solution.
NOVATELOEM4_POS_STATUS_FIXEDPOS	Position has been fixed by the FIX POSITION command.
NOVATELOEM4_POS_STATUS_FIXEDHEIGHT	Position has been fixed by the FIX HEIGHT/AUTO command.
NOVATELOEM4_POS_STATUS_DOPPLER_VELOCITY	Velocity computed using instantaneous Doppler.
NOVATELOEM4_POS_STATUS_SINGLE	Single point position.
NOVATELOEM4_POS_STATUS_PSRDIFF	Pseudorange differential solution.
NOVATELOEM4_POS_STATUS_WAAS	Solution calculated using corrections from an SBAS.
NOVATELOEM4_POS_STATUS_PROPAGATED	Propagated by a Kalman filter without new observations.
NOVATELOEM4_POS_STATUS_OMNISTAR	OmniSTAR VBS position (L1 sub-meter) a.
NOVATELOEM4_POS_STATUS_L1_FLOAT	Floating L1 ambiguity solution.
NOVATELOEM4_POS_STATUS_IONOFREE_FLOAT	Floating ionospheric-free ambiguity solution.
NOVATELOEM4_POS_STATUS_NARROW_FLOAT	Floating narrow-lane ambiguity solution.
NOVATELOEM4_POS_STATUS_L1_INT	Integer L1 ambiguity solution.
NOVATELOEM4_POS_STATUS_WIDE_INT	Integer wide-lane ambiguity solution.
NOVATELOEM4_POS_STATUS_NARROW_INT	Integer narrow-lane ambiguity solution.
NOVATELOEM4_POS_STATUS_RTK_DIRECT_INS	RTK status where the RTK filter is directly initialized from the INS filter *b.
NOVATELOEM4_POS_STATUS_INS_52	INS calculated position types *b.
NOVATELOEM4_POS_STATUS_INS_53	INS calculated position types *b.
NOVATELOEM4_POS_STATUS_INS_54	INS calculated position types *b.
NOVATELOEM4_POS_STATUS_INS_55	INS calculated position types *b.
NOVATELOEM4_POS_STATUS_INS_56	INS calculated position types *b.
NOVATELOEM4_POS_STATUS_OMNISTAR_HP	OmniSTAR HP position (L1/L2 decimeter) *a.
NOVATELOEM4_POS_STATUS_OMNISTAR_XP	OmniSTAR XP position.
NOVATELOEM4_POS_STATUS_CDGPS	Position solution using CDGPS correction *a.

Definition at line 403 of file novatel.h.

enum NOVATELOEM4_enumTimeStatus

The NovAtel OEM4 time status enumeration.

Enumerator:

NOVATELOEM4_TIMESTATUS_UNKNOWN	Time validity is unknown.
NOVATELOEM4_TIMESTATUS_APPROXIMATE	Time is set approximately.
NOVATELOEM4_TIMESTATUS_COARSEADJUSTING	Time is approaching coarse precision.
NOVATELOEM4_TIMESTATUS_COARSE	This time is valid to coarse precision.
NOVATELOEM4_TIMESTATUS_COARSESTEERING	Time is coarse set, and is being steered.
NOVATELOEM4_TIMESTATUS_FREEWHEELING	Position is lost, and the range bias cannot be calculated.
NOVATELOEM4_TIMESTATUS_FINEADJUSTING	Time is adjusting to fine precision.
NOVATELOEM4_TIMESTATUS_FINE	Time has fine precision.
NOVATELOEM4_TIMESTATUS_FINESTEERING	Time is fine, set and is being steered.
NOVATELOEM4_TIMESTATUS_SATTIME	Time from satellite. This is only used in logs containing satellite data such as ephemeris and almanac.

Definition at line 287 of file novatel.h.

enum NOVATELOEM4_enumTrackingState

This enumeration is for NovAtel OEM4 channel tracking state.

Definition at line 207 of file novatel.h.

Function Documentation

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.

Author:: Glenn D. MacGougan (GDM)

Date:: 2008-12-03

Since:: 2008-12-03

Returns:: TRUE(1) if successful, FALSE(0) otherwise.

Parameters:

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).

Definition at line 1155 of file novatel.c.

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.

Author:: Glenn D. MacGougan (GDM)

Date:: 2008-12-08

Since:: 2008-12-08

Returns:: TRUE(1) if successful, FALSE(0) otherwise.

Parameters:

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.

Definition at line 913 of file novatel.c.

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.

Author:: Glenn D. MacGougan (GDM)

Date:: 2008-12-01

Since:: 2008-12-01

Returns:: TRUE(1) if successful, FALSE(0) otherwise.

Parameters:

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]

Definition at line 618 of file novatel.c.

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.

Author:: Glenn D. MacGougan (GDM)

Date:: 2008-12-01

Since:: 2008-12-01

Returns:: TRUE(1) if successful, FALSE(0) otherwise.

Parameters:

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).

Definition at line 748 of file novatel.c.

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.

Author:: Glenn D. MacGougan (GDM)

Date:: 2008-12-08

Since:: 2008-12-08

Returns:: TRUE(1) if successful, FALSE(0) otherwise.

Parameters:

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).

Definition at line 1048 of file novatel.c.

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 ).

Author:: Glenn D. MacGougan (GDM)

Date:: 2008-12-03

Since:: 2008-12-03

Returns:: TRUE(1) if successful, FALSE(0) otherwise.

Parameters:

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).

Definition at line 424 of file novatel.c.

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 ).

Author:: Glenn D. MacGougan (GDM)

Date:: 2008-12-01

Since:: 2008-12-01

Returns:: TRUE(1) if successful, FALSE(0) otherwise.

Parameters:

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).

Definition at line 203 of file novatel.c.

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.

Author:: Glenn D. MacGougan (GDM)

Date:: 2008-12-18

Since:: 2008-12-18

Returns:: TRUE(1) if successful, FALSE(0) otherwise.

Parameters:

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).

Definition at line 2114 of file novatel.c.

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.

Author:: Glenn D. MacGougan (GDM)

Date:: 2007-11-29

Since:: 2006-11-10

Returns:: TRUE(1) if successful, FALSE(0) otherwise.

Parameters:

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).

Definition at line 1683 of file novatel.c.

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.

Author:: Glenn D. MacGougan (GDM)

Date:: 2007-11-29

Since:: 2006-11-10

Returns:: TRUE(1) if successful, FALSE(0) otherwise.

Parameters:

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).

Definition at line 1976 of file novatel.c.

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.

Author:: Ossama Al-Fanek (OA-F)

Date:: March 17, 2007

Remarks:: Reviewed by GDM, March 17, 2007.

Returns:: TRUE(1) if successful, FALSE(0) otherwise.

Parameters:

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).

Definition at line 1760 of file novatel.c.

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.

Author:: Glenn D. MacGougan (GDM)

Date:: 2007-11-29

Since:: 2006-11-10

Returns:: TRUE(1) if successful, FALSE(0) otherwise.

Parameters:

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]

Definition at line 2429 of file novatel.c.

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.

Author:: Glenn D. MacGougan (GDM)

Date:: 2008-12-18

Since:: 2008-12-18

Returns:: TRUE(1) if successful, FALSE(0) otherwise.

Parameters:

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).

Definition at line 2259 of file novatel.c.

BOOL NOVATELOEM4_DecodeTrackingStatus	(	const unsigned	rawTrackingStatus,
		NOVATELOEM4_structTrackingStatus *	trackingStatus
	)

Decode the raw 32 bit value that contains tracking status information.

Author:: Glenn D. MacGougan (GDM)

Date:: 2007-11-29

Since:: 2006-11-10

Returns:: TRUE(1) if successful, FALSE(0) otherwise.

Parameters:

rawTrackingStatus	The raw 32 bit tracking status value (input).
trackingStatus	The decoded tracking status information (output).

Definition at line 2371 of file novatel.c.

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 ).

Author:: Glenn D. MacGougan (GDM)

Date:: 2008-12-19

Since:: 2008-12-19

Returns:: TRUE(1) if successful, FALSE(0) otherwise.

Parameters:

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).

Definition at line 1479 of file novatel.c.

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 ).

Author:: Glenn D. MacGougan (GDM)

Date:: 2007-11-29

Since:: 2006-11-09

Returns:: TRUE(1) if successful, FALSE(0) otherwise.

Parameters:

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).

Definition at line 1253 of file novatel.c.


Data Structures
struct	NOVATELOEM3_structObservation
	A NOVATEL OEM3 observation message container. i.e. RGEB container. More...
struct	NOVATELOEM3_structREPB
	A container for REPB (raw ephemeris) data. More...
struct	NOVATELOEM4_structTrackingStatus
	The NovAtel OEM4 tracking status. More...
struct	NOVATELOEM4_structRxStatusBitField
	The NovAtel OEM4 receiver status bitfield. More...
struct	NOVATELOEM4_structBinaryHeader
	The NovAtel OEM4 binary message header. More...
struct	NOVATELOEM4_structObservation
	A container for a NovAtel OEM4 observation. More...
struct	NOVATELOEM4_structBestPosition
	A container for the best position, BESTPOS, record. More...
struct	NOVATELOEM4_structTime
	A container for the TIME message. More...
Enumerations
enum	NOVATELOEM3_enumMessageType { NOVATELOEM3_POSB = 1, NOVATELOEM3_TM1B = 3, NOVATELOEM3_IONB = 16, NOVATELOEM3_UTCB = 17, NOVATELOEM3_ALMB = 18, NOVATELOEM3_REPB = 14, NOVATELOEM3_RGEB = 32 }
	brief This enumeration is for the supported NovAtel OEM3 message types. More...
enum	NOVATELOEM3_enumSolutionStatus
	brief This enumeration is for the NovAtel OEM3 solution status indicator. More...
enum	NOVATELOEM4_enumMessageType
	This enumeration is for NovAtel OEM4 message types. More...
enum	NOVATELOEM4_enumTrackingState
	This enumeration is for NovAtel OEM4 channel tracking state. More...
enum	NOVATELOEM4_enumCorrelatorSpacing
	This enumeration is for NovAtel OEM4 correlator spacing. More...
enum	NOVATELOEM4_enumSatelliteSystem
	This enumeration is for NovAtel OEM4 satellite system. More...
enum	NOVATELOEM4_enumCodeType
	This enumeration is for NovAtel OEM4 code type. More...
enum	NOVATELOEM4_enumFrequency
	This enumeration is for NovAtel OEM4 frequency. More...
enum	NOVATELOEM4_enumTimeStatus { NOVATELOEM4_TIMESTATUS_UNKNOWN = 20, NOVATELOEM4_TIMESTATUS_APPROXIMATE = 60, NOVATELOEM4_TIMESTATUS_COARSEADJUSTING = 80, NOVATELOEM4_TIMESTATUS_COARSE = 100, NOVATELOEM4_TIMESTATUS_COARSESTEERING = 120, NOVATELOEM4_TIMESTATUS_FREEWHEELING = 130, NOVATELOEM4_TIMESTATUS_FINEADJUSTING = 140, NOVATELOEM4_TIMESTATUS_FINE = 160, NOVATELOEM4_TIMESTATUS_FINESTEERING = 180, NOVATELOEM4_TIMESTATUS_SATTIME = 200 }
	The NovAtel OEM4 time status enumeration. More...
enum	NOVATELOEM4_enumSolutionStatus { NOVATELOEM4_SOLNSTATUS_SOL_COMPUTED = 0, NOVATELOEM4_SOLNSTATUS_INSUFFICIENT_OBS = 1, NOVATELOEM4_SOLNSTATUS_NO_CONVERGENCE = 2, NOVATELOEM4_SOLNSTATUS_SINGULARITY = 3, NOVATELOEM4_SOLNSTATUS_COV_TRACE = 4, NOVATELOEM4_SOLNSTATUS_TEST_DIST = 5, NOVATELOEM4_SOLNSTATUS_COLD_START = 6, NOVATELOEM4_SOLNSTATUS_V_H_LIMIT = 7, NOVATELOEM4_SOLNSTATUS_VARIANCE = 8, NOVATELOEM4_SOLNSTATUS_RESIDUALS = 9, NOVATELOEM4_SOLNSTATUS_DELTA_POS = 10, NOVATELOEM4_SOLNSTATUS_NEGATIVE_VAR = 11 , NOVATELOEM4_SOLNSTATUS_INTEGRITY_WARNING = 13, NOVATELOEM4_SOLNSTATUS_INS_14 = 14, NOVATELOEM4_SOLNSTATUS_INS_15 = 15, NOVATELOEM4_SOLNSTATUS_INS_16 = 16, NOVATELOEM4_SOLNSTATUS_INS_17 = 17, NOVATELOEM4_SOLNSTATUS_PENDING = 18, NOVATELOEM4_SOLNSTATUS_INVALID_FIX = 19, NOVATELOEM4_SOLNSTATUS_UNAUTHORIZED = 20 }
	NovAtel OEM4 Solution Status enumeration. More...
enum	NOVATELOEM4_enumSolutionType { NOVATELOEM4_POS_STATUS_NONE = 0, NOVATELOEM4_POS_STATUS_FIXEDPOS = 1, NOVATELOEM4_POS_STATUS_FIXEDHEIGHT = 2 , NOVATELOEM4_POS_STATUS_DOPPLER_VELOCITY = 8 , NOVATELOEM4_POS_STATUS_SINGLE = 16, NOVATELOEM4_POS_STATUS_PSRDIFF = 17, NOVATELOEM4_POS_STATUS_WAAS = 18, NOVATELOEM4_POS_STATUS_PROPAGATED = 19, NOVATELOEM4_POS_STATUS_OMNISTAR = 20 , NOVATELOEM4_POS_STATUS_L1_FLOAT = 32, NOVATELOEM4_POS_STATUS_IONOFREE_FLOAT = 33, NOVATELOEM4_POS_STATUS_NARROW_FLOAT = 34, NOVATELOEM4_POS_STATUS_L1_INT = 48, NOVATELOEM4_POS_STATUS_WIDE_INT = 49, NOVATELOEM4_POS_STATUS_NARROW_INT = 50, NOVATELOEM4_POS_STATUS_RTK_DIRECT_INS = 51, NOVATELOEM4_POS_STATUS_INS_52 = 52, NOVATELOEM4_POS_STATUS_INS_53 = 53, NOVATELOEM4_POS_STATUS_INS_54 = 54, NOVATELOEM4_POS_STATUS_INS_55 = 55, NOVATELOEM4_POS_STATUS_INS_56 = 56, NOVATELOEM4_POS_STATUS_OMNISTAR_HP = 64, NOVATELOEM4_POS_STATUS_OMNISTAR_XP = 65, NOVATELOEM4_POS_STATUS_CDGPS = 66 }
	NovAtel OEM4 Position Status enumeration. More...
enum	NOVATELOEM4_enumClockStatus { NOVATELOEM4_CLOCK_STATUS_VALID = 0, NOVATELOEM4_CLOCK_STATUS_CONVERGING = 1, NOVATELOEM4_CLOCK_STATUS_ITERATING = 2, NOVATELOEM4_CLOCK_STATUS_INVALID = 3, NOVATELOEM4_CLOCK_STATUS_ERROR = 4 }
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_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	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.