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

MessageDescription
MeasEpochMeasurement 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.

GPSNavGPS ephemeris and clock
GPSIonIonosphere data from the GPS subframe 5
GLONavGLONASS ephemeris and clock
GALNavGalileo ephemeris, clock, health and BGD
BDSNavBeiDou ephemeris and clock
QZSNavQZSS ephemeris and clock
ExtSensorStatusOverall status of external sensors (IMU).
IMUSetup

General information about the setup of the IMU

ExtSensorMeasMeasurement set of external sensors of one epoch
INSNavGeodINS solution in Geodetic coordinates
AttEulerGNSS attitude expressed as Euler angles
AttCovEulerGNSS attitude covariance matrix (accuracy)
PVTGeodeticGNSS position, velocity, and time in geodetic coordinates
PosCovGeodeticGNSS position covariance matrix (X,Y, Z)
VelCovGeodeticGNSS velocity covariance matrix (North, East, Up)
RxMessageReceiver message
ExtEventTime at the instant of an external event