MSG_RAW_SATELLITE

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)