BESTXYZ

Best available cartesian position and velocity

Platform:

OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7, SMART2

Firmware Stream:     

This log contains the receiver’s best available position and velocity in ECEF coordinates. The position and velocity status fields indicate whether or not the corresponding data is valid. See Figure: The WGS84 ECEF Coordinate System, for a definition of the ECEF coordinates.

See also the BESTPOS log and BESTVEL log.

These quantities are always referenced to the WGS84 ellipsoid, regardless of the use of the DATUM command or USERDATUM command.

Message ID: 241

Log Type: Synch

Recommended Input:

log bestxyza ontime 1

ASCII Example:

#BESTXYZA,COM1,0,55.0,FINESTEERING,1419,340033.000,02000040,d821,2724;
SOL_COMPUTED,NARROW_INT,-1634531.5683,-3664618.0326,4942496.3270,0.0099,
0.0219,0.0115,SOL_COMPUTED,NARROW_INT,0.0011,-0.0049,-0.0001,0.0199,0.0439,
0.0230,"AAAA",0.250,1.000,0.000,12,11,11,11,0,01,0,33*e9eafeca

Field

Field type

Description

Format

Binary Bytes

Binary Offset

1

BESTXYZ header

Log header. See Messages for more information.

 

H

0

2

P-sol status

Solution status, see Table: Solution Status

Enum

4

H

3

pos type

Position type, see Table: Position or Velocity Type

Enum

4

H+4

4

P-X

Position X-coordinate (m)

Double

8

H+8

5

P-Y

Position Y-coordinate (m)

Double

8

H+16

6

P-Z

Position Z-coordinate (m)

Double

8

H+24

7

P-X σ

Standard deviation of P-X (m)

Float

4

H+32

8

P-Y σ

Standard deviation of P-Y (m)

Float

4

H+36

9

P-Z σ

Standard deviation of P-Z (m)

Float

4

H+40

10

V-sol status

Solution status, see Table: Solution Status

Enum

4

H+44

11

vel type

Velocity type, see Table: Position or Velocity Type

Enum

4

H+48

12

V-X

Velocity vector along X-axis (m/s)

Double

8

H+52

13

V-Y

Velocity vector along Y-axis (m/s)

Double

8

H+60

14

V-Z

Velocity vector along Z-axis (m/s)

Double

8

H+68

15

V-X σ

Standard deviation of V-X (m/s)

Float

4

H+76

16

V-Y σ

Standard deviation of V-Y (m/s)

Float

4

H+80

17

V-Z σ

Standard deviation of V-Z (m/s)

Float

4

H+84

18

stn ID

Base station identification

Char[4]

4

H+88

19

V-latency

A measure of the latency in the velocity time tag in seconds. It should be subtracted from the time to give improved results

Float

4

H+92

20

diff_age

Differential age in seconds

Float

4

H+96

21

sol_age

Solution age in seconds

Float

4

H+100

22

#SVs

Number of satellites tracked

Uchar

1

H+104

23

#solnSVs

Number of satellite vehicles used in solution

Uchar

1

H+105

24

#ggL1

Number of GPS plus GLONASS plus BDS L1/B1 used in solution

Uchar

1

H+106

25

#solnMultiSVs

Number of satellites with L1/E1/B1 signals used in solution

Uchar

1

H+107

26

Reserved

Char

1

H+108

27

ext sol stat

Extended solution status (see Table: Extended Solution Status)

Hex

1

H+109

28

Galileo and BeiDou sig mask

Galileo and BeiDou signals used mask (see Table: Galileo and BeiDou Signal-Used Mask)

Hex

1

H+110

29

GPS and GLONASS sig mask

GPS and GLONASS signals used mask (see Table: GPS and GLONASS Signal-Used Mask)

Hex

1

H+111

30

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+112

31

[CR][LF]

Sentence terminator (ASCII only)

-

-

-

The WGS84 ECEF Coordinate System

Definitions

Origin =

Earth's center of mass

Z‑Axis =

Parallel to the direction of the Conventional Terrestrial Pole (CTP) for polar motion, as defined by the Bureau International de l'Heure (BIH) on the basis of the coordinates adopted for the BIH stations.

X-Axis =

Intersection of the WGS 84 Reference Meridian Plane and the plane of the CTP's Equator, the Reference Meridian being parallel to the Zero Meridian defined by the BIH on the basis of the coordinates adopted for the BIH stations.

Y-Axis =

Completes a right-handed, earth-centered, earth-fixed (ECEF) orthogonal coordinate system, measured in the plane of the CTP Equator, 90° East of the X-Axis.

These definitions are analogous to the BIH Defined Conventional Terrestrial System (CTS), or BTS, 1984.0.

 

OM-20000167 v13

October 2019

Email comments to NovAtel_TPUBS@NovAtel.com

7.07.03 / OM7MR0703RN0000
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