# MSG_RAW_SATELLITE
该数据包用于描述：原始星历数据，目前所有产品暂不支持该数据包。
| MSG_RAW_SATELLITE | |||||
|---|---|---|---|---|---|
| Packet ID | 0x77 | ||||
| Length | 16 + Satellites * (6 + Frequencies * 26) | ||||
| Read / Write | Read | ||||
| Offset | Size | Format | Field | Unit | Description |
| 0 | 4 | uint32_t | Unix_time | s | UTC时间 |
| 4 | 4 | uint32_t | Nanoseconds | ns | UTC时间,秒内的纳秒数 |
| 8 | 4 | int32_t | Receiver_clock_offset | us | 接收器时钟偏移 |
| 12 | 1 | Uint8_t | Receiver_number | 接受方编号 | |
| 13 | 1 | Uint8_t | Packet_number | 数据包编号 | |
| 14 | 1 | Uint8_t | Total_packets | 完整数据包 | |
| 15 | 1 | Uint8_t | Number_of_satellites | 卫星数量 | |
| For each satellite | |||||
| 16 | 1 | Uint8_t | Satellite_systems | 卫星系统 | |
| 17 | 1 | Uint8_t | PRN_or_satellite_number | 卫星编号 | |
| 18 | 1 | Uint8_t | Elevation | deg | 仰角 |
| 19 | 2 | Uint16_t | Azimuth | deg | 方位角 |
| 21 | 1 | Uint8_t | Number_of_frequencies | 频率数量 | |
| For each frequency of each satellite | |||||
| 22 | 1 | Uint8_t | Satellite_frequency | 卫星频段 | |
| 23 | 1 | Uint8_t | Tracking_status | 追踪状态 | |
| 24 | 8 | float64_t | Carrier_phase | cycles | 载波相位 |
| 32 | 8 | float64_t | Pseudo_range | m | 伪距 |
| 40 | 4 | Float32_t | Doppler_frequency | Hz | 多普勒频率 |
| 44 | 4 | Float32_t | Signal_to_noise_ratio | db-Hz | 信噪比 |
Raw Satellite Data Packet
# Satellite Systems
| Value | System |
|---|---|
| 0 | Unknown |
| 1 | GPS |
| 2 | GLONASS |
| 3 | BeiDou |
| 4 | Galileo |
| 5 | SBAS |
| 6 | QZSS |
| 7 | Reserved |
| 8 | Reserved |
| 9 | Reserved |
** **
# Satellite Frequencies
| value | GPS | GLONASS | Galileo | BeiDou | SBAS | QZSS |
|---|---|---|---|---|---|---|
| 0 | Unknown | Unknown | Unknown | Unknown | Unknown | Unknown |
| 1 | L1 C/A | G1 C/A | E1 OS | B1 | L1 C/A | L1 C/A |
| 2 | L1 C | E1 PRS | L1 C | |||
| 3 | L1 P | G1 P | L1 SAIF | |||
| 4 | L1 M | |||||
| 5 | L2 C | G2 C/A | E6 CS | B2 | L2 C | |
| 6 | L2 P | G2 P | E6 PRS | LEX | ||
| 7 | L2 M | |||||
| 8 | L5 | G3 | E5 a | B3 | L5 | L5 |
| 9 | E5 b | |||||
| 10 | E5 a+b |
Satellite Frequencies
# Tracking Status
| Bit | Description |
|---|---|
| 0 | Carrier phase valid |
| 1 | Carrier phase cycle slip detected |
| 2 | Carrier phase half-cycle ambiguity |
| 3 | Pseudo range valid |
| 4 | Doppler valid |
| 5 | SNR valid |
| 6-7 | Reserved (set to zero) |