Description of the fields of BESTPOSA message
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.