Septentrio
Qinertia offers a full support for Septentrio sbf binary files to extract and process GNSS data but also full INS solutions. Qinertia can use SBF data for GNSS only process, INS processing, rover GNSS data and GNSS base station data.
The following measurements are parsed from Septentrio sbf files:
- RAW GNSS data
- Ephemeris GNSS data
- Real time GNSS PVT solution
- Read time dual antenna heading solution
- Real time INS solution (euler and navigation)
- IMU sensor data & status
- Event markers
- Device Configuration such as lever arms
Supported messages
Message | Description |
---|---|
MeasEpoch | Measurement set of one epoch |
MeasExtra | Additional info such as observable variance |
Meas3Ranges | Code, phase and CN0 measurements |
Meas3CN0HiRes | Extension of Meas3Ranges containing fractional C/N0 values |
Meas3Doppler | Extension of Meas3Ranges containing Doppler values |
Meas3PP | Extension of Meas3Ranges containing proprietary flags for data post-processing. |
GPSNav | GPS ephemeris and clock |
GPSIon | Ionosphere data from the GPS subframe 5 |
GLONav | GLONASS ephemeris and clock |
GALNav | Galileo ephemeris, clock, health and BGD |
BDSNav | BeiDou ephemeris and clock |
QZSNav | QZSS ephemeris and clock |
ExtSensorStatus | Overall status of external sensors (IMU). |
IMUSetup | General information about the setup of the IMU |
ExtSensorMeas | Measurement set of external sensors of one epoch |
INSNavGeod | INS solution in Geodetic coordinates |
AttEuler | GNSS attitude expressed as Euler angles |
AttCovEuler | GNSS attitude covariance matrix (accuracy) |
PVTGeodetic | GNSS position, velocity, and time in geodetic coordinates |
PosCovGeodetic | GNSS position covariance matrix (X,Y, Z) |
VelCovGeodetic | GNSS velocity covariance matrix (North, East, Up) |
RxMessage | Receiver message |
ExtEvent | Time at the instant of an external event |