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Description of the fields of BESTPOSA message

Solution

BESTPOSA

 

This message can be sent from both RTKite and SmaRTK receivers and have many interesting values for users that build their own code in host for interface with receiver.

This message have also a binary version (BESTPOSB) that is even more interesting for embedded systems.

This is an example of BESTPOSA

#BESTPOSA,COM3,0,60.0,FINESTEERING,1942,392464.000,00000000,0000,1114;SOL_COMPUTED,NARROW_INT,43.53992300910,1.36001953486,163.9472,50.4997,WGS84,0.0167,0.0167,0.0147,"4095",48.000,2722.000,14,13,14,14,0,0,0,51*9fd865f6

 

The first part is the header

#BESTPOSA,COM3,0,60.0,FINESTEERING,1942,392464.000,00000000,0000,1114;

In the header 6-th and 7-th item are the GPS Time

1942 -> Week GPS Time

392464.000 -> Second of the Week GPS Time

(so UTC Time = 30 March 2017, 13:01:04)

 

In the rest of message

SOL_COMPUTED,NARROW_INT,43.53992300910,1.36001953486,163.9472,50.4997,WGS84,0.0167,0.0167,0.0147,"4095",48.000,2722.000,14,13,14,14,0,0,0,51*9fd865f6

 

Item Value Description
1 SOL_COMPUTED Can be SOL_COMPUTED, INSUFFICIENT_OBS or COLD_START
2 NARROW_INT

Can be WIDE_INT, NARROW_INT and SUPER WIDE-LANE for FIX.

NARROW_FLOAT for FLOAT.

SINGLE for SPP

3 43.53992300910 Latitude in degrees
4 1.36001953486 Longitude in degrees
5 163.9472 Height above mean sea level meters
6 50.4997 Undulation
7 WGS84 Datum id
8 0.0167 Latitude standard deviation in meters
9 0.0167 Longitude standard deviation in meters
10 0.0147 Height standard deviation in meters
11 "4095" Base station
12 48.000 Differential age in seconds
13 2722.000 Solution age in seconds
14 14 Number of satellite tracked
15 13 Number of satellite used in solution
16 14 L1 Number of satellite
17 14 L1 &L2 Number of satellite
18 0 Reserved
19 0 Reserved
20 0 Reserved
21 51 Reserved
22 9fd865f6 32-bit CRC Code

 

Useful hints

  • Standard deviation, as meaning of location error,  can be useful for setup Kalman filter of your machine

 

  • Differential age in seconds will inform if the DGPS message from Base are arriving properly to Rover or not. This is not the case, where the CORS signal was intentionally stopped 48 seconds ago.

 

 

Related articles LOG File Format
Article details
Article ID: 22
Category: GENERAL

 
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