Drivers Manual
Network (UDP) - NovAtel SPAN (BESTGPSPOS Format) (With UTC) - 12
Description
Driver to decode the best available GPS position (without INS) computed by a NovAtel SPAN-CPT GPS/INS receiver, outputting the so-called BESTGPSPOS log format,
or to decode the best available combined GPS and inertial navigation system (if available) position computed by a NovAtel OEM4 Family receiver, outputting the so-called BESTPOS log format.
Interface Type
Driver supports both serial as well as network (UDP and TCP) communication.
For the network driver please select the driver name that starts with "Network (UDP)- NovAtel..." or "Network (TCP)- NovAtel..."
Driver Information
| Driver | NovAtel OEM4 Family (#BESTPOS Telegram) NovAtel SPAN (#BESTGPSPOS Format) |
Interface Type | Serial or Network | Driver Class Type | Terminated |
|---|---|---|---|---|---|
UTC Driver  |
Yes | Input / Output | Input | Executable | DrvQPSTerminated.exe DrvQPSTerminatedUDP.exe DrvQPSTerminatedTCP.exe |
| Related Systems |
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| Related Pages | |||||
Decoding Notes
- The GPS time fields from the header are decoded, converted to UTC, and used for time-stamping in case your template setup supports PPS. Therefore it is important to set the correct UTC to GPS correction in your template setup (16 sec, as of July 2012)
- The CRC32-bit checksum is by default decoded and used to check the data integrity. If the checksum fails, no data will be decoded, unless you use command-line parameter 'NOCS' (advanced user only!).
The Solution Status text (data field # 1) is decoded as number as defined in the Solution Status Table of the NovAtel manual:
Solution StatusText
Value
Description
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 (maximum of 3 rejections if distance > 10 km)
COLD_START
6
Not yet converged from cold start
V_H_LIMIT
7
Height or velocity limits exceeded (in accordance with COCOM export licensing restrictions)
VARIANCE
8
Variance exceeds limits
RESIDUALS
9
Residuals are too large
DELTA_POS
10
Delta position is too large
NEGATIVE_VAR
11
Negative variance
Reserved
12
Reserved
INTEGRITY_WARNING
13
Large residuals make position unreliable
INS_INACTIVE
14
INS has not started yet
INS_ALIGNING
15
INS doing its coarse alignment
INS_BAD
16
INS position is bad
IMU_UNPLUGGED
17
No IMU detected
PENDING
18
When a FIX POSITION command is entered, the receiver computes its own position
INVALID_FIX
19
The fixed position, entered using the FIX POSITION command, is not valid
UNAUTHORIZED
20
Position type is unauthorized - HP on a receiver not authorized for it
The Position Type text (data field # 2) is decoded as number as defined in the Position or Velocity Type Table of the NovAtel manual:
Position TypeText
Value
Description
NONE
0
No solution
FIXEDPOS
1
Position has been fixed by the FIX POSITION command
FIXEDHEIGHT
2
Position has been fixed by the FIX HEIGHT/AUTO command
Reserved
3
Reserved (3-7)
DOPPLER_VELOCITY
8
Velocity computed using instantaneous Doppler
Reserved
9
Reserved (9-15)
SINGLE
16
Single point position
PSRDIFF
17
Pseudorange differential solution
WAAS
18
Solution calculated using corrections from an SBAS
PROPAGATED
19
Propagated by a Kalman filter without new observations
OMNISTAR
20
OmniSTAR VBS position (L1 sub-meter
Reserved
21
Reserved (21-31)
L1_FLOAT
32
Floating L1 ambiguity solution
IONOFREE_FLOAT
33
Floating ionospheric-free ambiguity solution
NARROW_FLOAT
34
Floating narrow-lane ambiguity solution
L1_INT
48
Integer L1 ambiguity solution
WIDE_INT
49
Integer wide-lane ambiguity solution
NARROW_INT
50
Integer narrow-lane ambiguity solution
RTK_DIRECT_INS
51
RTK status where the RTK filter is directly initialized from the INS filter
INS
52
INS calculated position type
INS_PSRSP
53
INS
INS_PSRDIFF
54
INS
INS_RTKFLOAT
55
INS
INS_RTKFIXED
56
INS
OMNISTAR_HP
64
OmniSTAR HP position (L1/L2 decimeter)
Reserved
65
Reserved
CDGPS
66
Position solution using CDGPS correction
Database Setup
- In order to decode the position from the BESTPOS or BESTGPSPOS message, add a Position Navigation System to your template and select the driver "NovAtel OEM4 Family (#BESTPOS Telegram) (With UTC)" or "NovAtel SPAN-CPT (#BESTGPSPOS Telegram) (With UTC)".
It is important to select for the Horizontal and Vertical datum on the second wizard page the same datum as seen in data field #7, 'Datum ID' of the message telegram. Normally this will be the default 'WGS84' datum.
- In order to decode separately the Position Type and/or the Solution Status field for monitoring these values, add a Miscellaneous System to your template, and select the driver "NovAtel OEM4 Family (#BESTPOS Telegram) (Status)" or "NovAtel SPAN-CPT (#BESTGPSPOS Telegram) (Status)".
Select the same I/O parameters as for the defined Position Navigation System above.
On the 2nd wizard page, add a Generic Observation, name it e.g. 'Position Type', and enter for Slot 1: 'POSTYPE'.
For the Solution Status field add another Generic Observation and name it e.g. 'Solution Status'. Enter for the Slot 1: 'SOLSTATUS'.
It is important that all Slot Id's are entered in capitals.
Online
For a Position Navigation System you can monitor the Solution Status as Solution mode in a Position System Display, as Calcmode in a Generic Display, or as Raw Alert 'Position Mode outside limit' in the Alert Display.
The other decoded fields, like base station Id, differential age, etc., can be monitored using a Position System Display or a Generic Display. Notice that the Position RMS is derived from the decoded Lat/Lon/Height Standard Deviation fields (#8, #9 and #10).
Note
Due to demand the Positioning System Display now shows under the Satellites tab, the number of satellites used in the solution, and not the number of satellites tracked.
The same applies to the Generic Display Satellite Count. The screen captures below illustrate this:
Position System Display
Generic Display