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/* SPDX-License-Identifier: MPL-2.0
Component Name: GnssService
Compliance Level: Abstract Component
Copyright (C) 2018, BMW Car IT GmbH, Continental Automotive GmbH, Groupe PSA, XS Embedded GmbH
License:
This Source Code Form is subject to the terms of the
Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with
this file, You can obtain one at http://mozilla.org/MPL/2.0/.
*/
package org.genivi.GnssService
typeCollection GnssServiceTypes {
version {
major 5
minor 0
}
<** @description:
Description of the fix status of the GNSS reveiver.
**>
enumeration EGNSSFixStatus {
GNSS_FIX_STATUS_NO // GNSS has no fix, i.e. position, velocity, time cannot be determined
GNSS_FIX_STATUS_TIME // GNSS can only determine the time, but not position and velocity
GNSS_FIX_STATUS_2D // GNSS has a 2D fix, i.e. the horizontal position can be determined but not the altitude.
// This implies that also velocity and time are available.
GNSS_FIX_STATUS_3D // GNSS has a 3D fix, i.e. position can be determined including the altitude.
// This implies that also velocity and time are available.
}
<** @description:
TGNSSPosition::fixTypeBits provides GNSS Fix Type indication.
I.e. it identifies the sources actually used for the GNSS calculation
It is a or'ed bitmask of the EGNSSFixType values.
The bit values have been grouped logically with gaps where future extensions can be foreseen
Within one group, not all combinations make necessarily sense
Between different groups, all combinations should make sense
**>
enumeration EGNSSFixType {
//Information about the used satellite data
GNSS_FIX_TYPE_SINGLE_FREQUENCY = 1 //0x00000001 GNSS satellite data are received on a single frequency.
// A typical example is GPS using only the C/A code on the L1 frequency.
// It e.g. also applies to a combined GPS(L1)/Galileo(E1) fix since L1 and E1 share the same frequency.
GNSS_FIX_TYPE_MULTI_FREQUENCY = 2 //0x00000002 GNSS satellite data are received on a multiple frequencies.
// This enables the receiver to correct frequency-dependent errors such as for ionospheric delays.
// An example could be a GPS receiver receiving on the L1 and L2C band.
GNSS_FIX_TYPE_MULTI_CONSTELLATION = 4 //0x00000004 GNSS satellite data are received and used for the fix from more than one GNSS system.
// For example, the fix could be calculated from GPS and GLONASS.
// This is also possible for single frequency as several GNSS systems share the same frequencies.
//Information of improvement techniques based on the satellite signals
GNSS_FIX_TYPE_PPP = 16 //0x00000010 PPP = Precise Point Positioning
// An improved precision is achieved without differential corrections.
// This is possible even for single frequency receivers, e.g. by using carrier phase tracking
GNSS_FIX_TYPE_INTEGRITY_CHECKED = 32 //0x00000020 Additional integrity checks have been done to ensure the correctness of the fix.
//Information about used correction data
GNSS_FIX_TYPE_SBAS = 4096 //0x00001000 SBAS = Satellite Based Augmentation System
// Correction data from an SBAS system such as WAAS, EGNOS, ... are taken into account
GNSS_FIX_TYPE_DGNSS = 8192 //0x00002000 DGNSS = Differential GNSS
// Correction data from Differential GNSS is taken into account
GNSS_FIX_TYPE_RTK_FIXED = 16384 //0x00004000 RTK = Real Time Kinematic
// Correction data from a RTK fixed solution is taken into account
GNSS_FIX_TYPE_RTK_Float = 32768 //0x00008000 RTK = Real Time Kinematic
// Correction data from a RTK Floating solution is taken into account
GNSS_FIX_TYPE_SSR = 65536 //0x00010000 SSR = State Space Representation
// Correction data according the SSR standard from RTCM SC104 or similar are taken into account
//Information about position propagation
GNSS_FIX_TYPE_ESTIMATED = 1048576 //0x00100000 The position is propagated without additional sensor input
GNSS_FIX_TYPE_DEAD_RECKONING = 2097152 //0x00200000 The position is propagated with support of additional sensor input, e.g. from inertial and/or vehicle sensors
//Information to identify artificial GNSS fixes
GNSS_FIX_TYPE_MANUAL = 268435456 //0x10000000 Position is set by manual input
GNSS_FIX_TYPE_SIMULATOR_MODE = 536870912 //0x20000000 Position is simulated
}
<** @description:
Description of the time scale used.
**>
enumeration EGNSSTimeScale {
GNSS_TIME_SCALE_UTC = 0 // GNSS time is provided according UTC time scale (with leap seconds). This is the preferred time scale.
GNSS_TIME_SCALE_GPS = 1 // GNSS time is provided according GPS time scale (no leap seconds since 06-Jan-1980). This time scale will only be used if UTC is not available.
}
<** @description:
TGNSSTime::validityBits provides information about the currently valid parts of UTC date/time.
It is a or'ed bitmask of the EGNSSUTCValidityBits values.
There are separate validity bits for date end time since a GPS receiver may be able to provide time earlier than date.
**>
enumeration EGNSSTimeValidityBits {
GNSS_TIME_TIME_VALID = 1 //0x00000001 Validity bit for field TGNSSTime fields hour, minute, second, ms.
GNSS_TIME_DATE_VALID = 2 //0x00000002 Validity bit for field TGNSSTime fields year, month, day.
GNSS_TIME_SCALE_VALID = 4 //0x00000004 Validity bit for field TGNSSTime field scale.
GNSS_TIME_LEAPSEC_VALID = 8 //0x00000008 Validity bit for field TGNSSTime field leapSeconds.
}
<** @description:
Provides the current date and time according UTC (Coordinated Universal Time)
Note: the uncommon numbering of day and month is chosen to be compatible with the struct tm from the standard C-Library
**>
struct TGNSSTime {
UInt64 timestamp // Timestamp of the acquisition of the UTC date/time [ms].
// All sensor/GNSS timestamps must be based on the same time source.
UInt16 year // Year fraction of the UTC time. Unit: [year] Number equivalent to the year (4 digits)
UInt8 month // Month fraction of the UTC time. Unit: [month] Number betweeen 0 and 11
UInt8 day // Day of month fraction of the UTC time. Unit: [day]. Number between 1 and 31
UInt8 hour // Hour fraction of the UTC time. Unit: [hour] Number between 0 and 23
UInt8 minute // Minute fraction of the UTC time. Unit: [minutes] Number between 0 and 59
UInt8 second // Second fraction of the UTC time. Unit: [seconds] Number between 0 and 59.
// In case of a leap second this value is 60.
UInt16 ms // Millisecond fraction of the UTC time. Unit: [milliseconds] Number between 0 and 999
EGNSSTimeScale scale // Time scale used: UTC or GPS.
Int8 leapSeconds // Number of leap seconds, i.e. difference between GPS time and UTC. Unit: [seconds].
// Note: value before 01-July-2015: 16; from 01-July-2015: 17; further changes possible.
UInt32 validityBits // Bit mask indicating the validity of each corresponding value.
// [bitwise or'ed see ref EGNSSTimeValidityBits values].
// Must be checked before usage.
}
<** @description:
Enumeration to describe the type of GNSS system to which a particular GNSS satellite belongs.
For GNSS systems providing different signals (frequencies), separate values are provided for each signal.
The enumeration values can be used in bitmasks to represent combinations of satellite systems,
e.g. in case of multiconstellation GNSS or GNSS + augmentation systems
**>
enumeration EGNSSSystem {
GNSS_SYSTEM_GPS = 1 //0x00000001 GPS (L1 signal)*/
GNSS_SYSTEM_GLONASS = 2 //0x00000002 GLONASS (L1 signal)
GNSS_SYSTEM_GALILEO = 4 //0x00000004 GALILEO (E1 signal)
GNSS_SYSTEM_BEIDOU = 8 //0x00000008 BeiDou aka COMPASS (B1 signal)
GNSS_SYSTEM_GPS_L2 = 16 //0x00000010 GPS (L2 signal)
GNSS_SYSTEM_GPS_L5 = 32 //0x00000020 GPS (L5 signal)
GNSS_SYSTEM_GLONASS_L2 = 64 //0x00000040 GLONASS (L2 signal)
GNSS_SYSTEM_BEIDOU_B2 = 128 //0x00000080 BeiDou aka COMPASS (B2 signal)
// Numbers >= 0x00010000 are used to identify SBAS (satellite based augmentation system)
GNSS_SYSTEM_SBAS_WAAS = 65536 //0x00010000 WAAS (North America)
GNSS_SYSTEM_SBAS_EGNOS = 131072 //0x00020000 EGNOS (Europe)
GNSS_SYSTEM_SBAS_MSAS = 262144 //0x00040000 MSAS (Japan)
GNSS_SYSTEM_SBAS_QZSS_SAIF = 524288 //0x00080000 QZSS-SAIF (Japan)
GNSS_SYSTEM_SBAS_SDCM = 1048576 //0x00100000 SDCM (Russia)
GNSS_SYSTEM_SBAS_GAGAN = 2097152 //0x00200000 GAGAN (India)
}
<** @description:
TGNSSSatelliteDetail::statusBits provides additional status information about a GNSS satellite.
It is a or'ed bitmask of the EGNSSSatelliteFlag values.
**>
enumeration EGNSSSatelliteFlag {
GNSS_SATELLITE_USED = 1 //0x00000001 Bit is set when satellite is used for fix.
GNSS_SATELLITE_EPHEMERIS_AVAILABLE = 2 //0x00000002 Bit is set when ephemeris is available for this satellite.
}
<** @description:
TGNSSSatelliteDetail::validityBits provides information about the currently valid values of GNSS satellite data.
It is a or'ed bitmask of the EGNSSSatelliteDetailValidityBits values.
**>
enumeration EGNSSSatelliteDetailValidityBits {
GNSS_SATELLITE_SYSTEM_VALID = 1 //0x00000001 Validity bit for field TGNSSSatelliteDetail::system.
GNSS_SATELLITE_ID_VALID = 2 //0x00000002 Validity bit for field TGNSSSatelliteDetail::satelliteId.
GNSS_SATELLITE_AZIMUTH_VALID = 4 //0x00000004 Validity bit for field TGNSSSatelliteDetail::azimuth.
GNSS_SATELLITE_ELEVATION_VALID = 8 //0x00000008 Validity bit for field TGNSSSatelliteDetail::elevation.
GNSS_SATELLITE_CNO_VALID = 16 //0x00000010 Validity bit for field TGNSSSatelliteDetail::CNo.
GNSS_SATELLITE_USED_VALID = 32 //0x00000020 Validity bit for field TGNSSSatelliteDetail::statusBits::GNSS_SATELLITE_USED.
GNSS_SATELLITE_EPHEMERIS_AVAILABLE_VALID = 64 //0x00000040 Validity bit for field TGNSSSatelliteDetail::statusBits::GNSS_SATELLITE_EPHEMERIS_AVAILABLE.
GNSS_SATELLITE_RESIDUAL_VALID = 128 //0x00000080 Validity bit for field TGNSSSatelliteDetail::posResidual.
}
<** @description:
Detailed data from one GNSS satellite.
**>
struct TGNSSSatelliteDetail {
UInt64 timestamp // Timestamp of the acquisition of the satellite detail data [ms].
// All sensor/GNSS timestamps must be based on the same time source.
EGNSSSystem system // Value representing the GNSS system.
UInt16 satelliteId // Satellite ID.
// Satellite IDs are only unique within one satellite system.
// Satellites of different systems can be distinguished by see ref TGNSSSatelliteDetail::system.
// Ranges:
// 1..32: GPS satellites (by PRN)
// 33..64: SBAS/WAAS satellites
// 65..96: GLONASS satellites
// 1..64: GALILEO satellites, see Galileo OS SIS ICD, http://www.gsc-europa.eu/gnss-markets/segments-applications/os-sis-icd.
UInt16 azimuth // Satellite Azimuth in degrees. Value range 0..359
UInt16 elevation // Satellite Elevation in degrees. Value range 0..90
UInt16 CNo // C/No (SNR) in dBHz. Range 0 to 99, 0 when not tracking
UInt32 statusBits // Bit mask of additional status flags.
// [bitwise or'ed see ref EGNSSSatelliteFlag values].
Int16 posResidual // Residual in m of position calculation. Range -999 to +999, 0 if not tracking
UInt32 validityBits // Bit mask indicating the validity of each corresponding value.
// [bitwise or'ed see ref EGNSSSatelliteDetailValidityBits values].
// Must be checked before usage.
}
<** @description:
TGNSSPosition::validityBits provides information about the currently valid signals
of the GNSS position and velocity including status and accuracy data.
It is a or'ed bitmask of the EGNSSPositionValidityBits values.
**>
enumeration EGNSSPositionValidityBits {
//position
GNSS_POSITION_LATITUDE_VALID = 1 //0x00000001 Validity bit for field TGNSSPosition::latitude.
GNSS_POSITION_LONGITUDE_VALID = 2 //0x00000002 Validity bit for field TGNSSPosition::longitude.
GNSS_POSITION_ALTITUDEMSL_VALID = 4 //0x00000004 Validity bit for field TGNSSPosition::altitudeMSL.
GNSS_POSITION_ALTITUDEELL_VALID = 8 //0x00000008 Validity bit for field TGNSSPosition::altitudeEll.
//velocity
GNSS_POSITION_HSPEED_VALID = 16 //0x00000010 Validity bit for field TGNSSPosition::hSpeed.
GNSS_POSITION_VSPEED_VALID = 32 //0x00000020 Validity bit for field TGNSSPosition::vSpeed.
GNSS_POSITION_HEADING_VALID = 64 //0x00000040 Validity bit for field TGNSSPosition::heading.
//quality parameters: satellite constellation
GNSS_POSITION_PDOP_VALID = 128 //0x00000080 Validity bit for field TGNSSPosition::pdop.
GNSS_POSITION_HDOP_VALID = 256 //0x00000100 Validity bit for field TGNSSPosition::hdop.
GNSS_POSITION_VDOP_VALID = 512 //0x00000200 Validity bit for field TGNSSPosition::vdop.
GNSS_POSITION_USAT_VALID = 1024 //0x00000400 Validity bit for field TGNSSPosition::usedSatellites.
GNSS_POSITION_TSAT_VALID = 2048 //0x00000800 Validity bit for field TGNSSPosition::trackedSatellites.
GNSS_POSITION_VSAT_VALID = 4096 //0x00001000 Validity bit for field TGNSSPosition::visibleSatellites.
//quality parameters: error estimates
GNSS_POSITION_SHPOS_VALID = 8192 //0x00002000 Validity bit for field TGNSSPosition::sigmaHPosition.
GNSS_POSITION_SALT_VALID = 16384 //0x00004000 Validity bit for field TGNSSPosition::sigmaAltitude.
GNSS_POSITION_SHSPEED_VALID = 32768 //0x00008000 Validity bit for field TGNSSPosition::sigmaHSpeed.
GNSS_POSITION_SVSPEED_VALID = 65536 //0x00010000 Validity bit for field TGNSSPosition::sigmaVSpeed.
GNSS_POSITION_SHEADING_VALID = 131072 //0x00020000 Validity bit for field TGNSSPosition::sigmaHeading.
//quality parameters: overall GNSS fix status
GNSS_POSITION_STAT_VALID = 262144 //0x00040000 Validity bit for field TGNSSPosition::fixStatus.
GNSS_POSITION_TYPE_VALID = 524288 //0x00080000 Validity bit for field TGNSSPosition::fixTypeBits.
//gnss system information
GNSS_POSITION_ASYS_VALID = 1048576 //0x00100000 Validity bit for field TGNSSPosition::activatedSystems.
GNSS_POSITION_USYS_VALID = 2097152 //0x00200000 Validity bit for field TGNSSPosition::usedSystems.
//correction data information
GNSS_POSITION_CORRAGE_VALID = 4194304 //0x00400000 Validity bit for field TGNSSPosition::correctionAge.
}
<** @description:
GNSS position data including velocity, status and accuracy.
This data structure provides all GNSS information which is typically needed
for positioning applications such as GNSS/Dead Reckoning sensor fusion.
Note: For an optimum sensor fusion with vehicle and inertial sensors,
the velocity vector (see ref hSpeed, see ref vSpeed, see ref heading)
is preferred to be low latency or instantaneous velocity output
from the GNSS chipset.
This may require a specific configuration of the GNSS chipset
which is out of the scope of this API.
**>
struct TGNSSPosition {
UInt64 timestamp // Timestamp of the acquisition of the GNSS data [ms].
// All sensor/GNSS timestamps must be based on the same time source.
//position
Double latitude // Latitude in WGS84 in [degree].
Double longitude // Longitude in WGS84 in [degree].
Float altitudeMSL // Altitude above mean sea level (geoid) in [m].
Float altitudeEll // Altitude above WGS84 ellipsoid in [m].
//velocity
Float hSpeed // Horizontal speed [m/s], in direction as given by see ref heading.
Float vSpeed // Vertical speed [m/s].
// A positive value indicates an upwards movement, i.e. an ascending altitude.
Float heading // GNSS course angle [degree] (0 => north, 90 => east, 180 => south, 270 => west, no negative values).
//quality parameters: satellite constellation
Float pdop // The positional (3D) dilution of precision. [Note: pdop^2 = hdop^2+vdop^2]
Float hdop // The horizontal (2D) dilution of precision.
Float vdop // The vertical (altitude) dilution of precision.
UInt16 usedSatellites // Number of satellites used for the GNSS fix.
UInt16 trackedSatellites // Number of satellites from which a signal is received.
UInt16 visibleSatellites // Number of satellites expected to be receivable, i.e. above horizon or elevation mask.
//quality parameters: error estimates
Float sigmaHPosition // Standard error estimate of the horizontal position in [m].
Float sigmaAltitude // Standard error estimate of altitude in [m].
Float sigmaHSpeed // Standard error estimate of horizontal speed in [m/s].
Float sigmaVSpeed // Standard error estimate of vertical speed in [m/s].
Float sigmaHeading // Standard error estimate of horizontal heading/course in [degree].
//quality parameters: overall GNSS fix status
EGNSSFixStatus fixStatus // Value representing the GNSS mode.
UInt32 fixTypeBits // Bit mask indicating the sources actually used for the GNSS calculation.
// [bitwise or'ed see ref EGNSSFixType values].
//gnss system information
UInt32 activatedSystems // Bit mask indicating the satellite systems that are activated for use
// [bitwise or'ed see ref EGNSSSystem values].
UInt32 usedSystems // Bit mask indicating the satellite systems that are actually used for the position fix
// [bitwise or'ed see ref EGNSSSystem values].
//correction data information
UInt16 correctionAge // Age of used correction data in [s].
// Note: The kind of used correction data is identified by the corresponding bit in see ref fixTypeBits.
//validity bits
UInt32 validityBits // Bit mask indicating the validity of each corresponding value.
// [bitwise or'ed see ref EGNSSPositionValidityBits values].
// Must be checked before usage.
}
<** @description: Enumeration to describe the status of the GNSS receiver. **>
enumeration EGNSSStatus {
GNSS_STATUS_NOTAVAILABLE = 0 // GNSS is not available at all, based on configuration data.
GNSS_STATUS_INITIALIZING = 1 // Initial status when the connection to the GNSS is set up for the first time.
GNSS_STATUS_AVAILABLE = 2 // GNSS is available and running as expected.
GNSS_STATUS_RESTARTING = 3 // GNSS is restarted, i.e. due to communication loss.
GNSS_STATUS_FAILURE = 4 // GNSS is not operating properly. Restarting did not help.
GNSS_STATUS_OUTOFSERVICE = 5 // GNSS is temporarily not available, due to some known external condition, e.g. firmware update or switch off for antenna supervision.
}
<** @description: Enumeration to describe the status of the GNSS antenna. **>
enumeration EGNSSAntennaStatus {
GNSS_ANT_STATUS_NORMAL = 0 // GNSS antenna is working in normal operation.
GNSS_ANT_STATUS_OVERCURRENT = 1 // GNSS antenna is working but the antenna current is higher than expected.
GNSS_ANT_STATUS_OPEN = 2 // GNSS antenna is not working because not connected (antenna current too low).
GNSS_ANT_STATUS_SHORT_GND = 3 // GNSS antenna is not working due to short-circuit to ground.
GNSS_ANT_STATUS_SHORT_BATT = 4 // GNSS antenna is not working due to short-circuit to battery.
GNSS_ANT_STATUS_OUTOFSERVICE = 5 // GNSS antenna is temporarily not available, due to some known external condition.
}
<** @description: TGNSSStatus::validityBits provides information about the currently valid signals of the TGNSSStatus struct.
It is a or'ed bitmask of the EGNSSStatusValidityBits values. **>
enumeration EGNSSStatusValidityBits {
GNSS_STATUS_STATUS_VALID = 1 //0x00000001 Validity bit for field TGNSSStatus::status.
GNSS_STATUS_ANT_STATUS_VALID = 2 //0x00000002 Validity bit for field TGNSSStatus::antStatus.
}
<** @description: Container for GNSS status information **>
struct TGNSSStatus {
UInt64 timestamp // Timestamp of the GNSS status transition [ms].
// All sensor/GNSS timestamps must be based on the same time source.
EGNSSStatus status // Status of the GNSS receiver
EGNSSAntennaStatus antStatus // Status of the GNSS antenna
UInt32 validityBits // Bit mask indicating the validity of each corresponding value.
// [bitwise or'ed EGNSSStatusValidityBits values].
// Must be checked before usage.
}
<** @description: The GNSS category introduces the concept that sensor information can also be derived information
computed by combining several signals. **>
enumeration EGnssCategory {
GNSS_CATEGORY_UNKNOWN // Unknown category. Should not be used.
GNSS_CATEGORY_LOGICAL // A logical GNSS service can combine the signal of a GNSS receiver with additional sources.
GNSS_CATEGORY_PHYSICAL // A physical GNSS service, i.e. a stand-alone GNSS receiver.
}
<** @description: TGnssMetaData:typeBits provides information about the sources used for the GNSS calculation
It is a or'ed bitmask of the EGnssTypeBits values. **>
enumeration EGnssTypeBits {
GNSS_TYPE_GNSS = 1 //0x00000001 GNSS receiver. Should always be set.
GNSS_TYPE_ASSISTED = 2 //0x00000002 GNSS receiver with support for Assisted GNSS. E.g. ephemeris or clock data can be provided over network for faster TTFF
GNSS_TYPE_SBAS = 4 //0x00000004 GNSS receiver with support for SBAS (satellite based augmentation system), such as WAAS, EGNOS, ...
GNSS_TYPE_DGPS = 8 //0x00000008 GNSS receiver with support for differential GPS
GNSS_TYPE_DR = 16 //0x00000010 GNSS receiver with built in dead reckoning sensor fusion
}
<** @description: The software platform provides the following information about the GNSS output signals.
GNSS clients need the meta data information in order to correctly handle data provided by GNSS service and
to adapt to the variation in the signal data delivery. **>
struct TGnssMetaData {
UInt32 versionGnss // Version of the GNSS service. //NB: version is a reserved word in Franca, so wording is fixed to versionGnss
EGnssCategory category // GNSS Category (Physical/Logical).
UInt32 typeBits // GNSS Type: combination of bits defined in EGnssTypeBits.
UInt32 cycleTime // GNSS cycle time (update interval) in ms. 0 for irregular updates
UInt16 numChannels // Number of GNSS receiver channels for satellite signal reception.
}
}
|
