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integrity.yaml
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integrity.yaml
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# Copyright (C) 2018-2022 Swift Navigation Inc.
# Contact: https://support.swiftnav.com
#
# This source is subject to the license found in the file 'LICENSE' which must
# be be distributed together with this source. All other rights reserved.
#
# THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
# EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
# WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
package: swiftnav.sbp.integrity
description: Integrity flag messages
stable: False
public: True
include:
- types.yaml
- gnss.yaml
definitions:
- IntegritySSRHeader:
short_desc: Common fields for SSR integrity messages
fields:
- obs_time:
type: GPSTimeSec
desc: GNSS reference time of the observation used to generate the flag.
- num_msgs:
type: u8
desc: Number of messages in the dataset
- seq_num:
type: u8
desc: Position of this message in the dataset
- ssr_sol_id:
type: u8
desc: SSR Solution ID.
- tile_set_id:
type: u16
desc: Unique identifier of the set this tile belongs to.
- tile_id:
type: u16
desc: Unique identifier of this tile in the tile set.
- chain_id:
type: u8
desc: Chain and type of flag.
- MSG_SSR_FLAG_HIGH_LEVEL:
id: 0x0BB9
short_desc: High level integrity flags
desc: >
Integrity monitoring flags for multiple aggregated elements.
An element could be a satellite, SSR grid point, or SSR tile.
A group of aggregated elements being monitored for integrity could refer to:
- Satellites in a particular {GPS, GAL, BDS, QZSS} constellation.
- Satellites in the line-of-sight of a particular SSR tile.
- Satellites in the line-of-sight of a particular SSR grid point.
The integrity usage for a group of aggregated elements varies according to the
integrity flag of the satellites comprising that group.
SSR_INTEGRITY_USAGE_NOMINAL: All satellites received passed the integrity
check and have flag INTEGRITY_FLAG_OK.
SSR_INTEGRITY_USAGE_WARNING: A limited number of elements in the group
failed the integrity check. Refer to more granular integrity messages for
details on the specific failing elements.
SSR_INTEGRITY_USAGE_ALERT: Most elements in the group failed the integrity
check, do not use for positioning.
SSR_INTEGRITY_USAGE_NOT_MONITORED: Unable to verify the integrity flag of
elements in the group.
fields:
- obs_time:
type: GPSTimeSec
desc: GNSS reference time of the observation used to generate the flag.
- corr_time:
type: GPSTimeSec
desc: GNSS reference time of the correction associated to the flag.
- ssr_sol_id:
type: u8
desc: SSR Solution ID.
- tile_set_id:
type: u16
desc: Unique identifier of the set this tile belongs to.
- tile_id:
type: u16
desc: Unique identifier of this tile in the tile set.
- chain_id:
type: u8
desc: Chain and type of flag.
- use_gps_sat:
type: u8
desc: Use GPS satellites.
fields:
- 0-2:
desc: Use GPS satellites.
values:
- 0: Nominal
- 1: Warning
- 2: Alert
- 3: Not monitored
- use_gal_sat:
type: u8
desc: Use GAL satellites.
fields:
- 0-2:
desc: Use GAL satellites.
values:
- 0: Nominal
- 1: Warning
- 2: Alert
- 3: Not monitored
- use_bds_sat:
type: u8
desc: Use BDS satellites.
fields:
- 0-2:
desc: Use BDS satellites.
values:
- 0: Nominal
- 1: Warning
- 2: Alert
- 3: Not monitored
- use_qzss_sat:
type: u8
desc: Use QZSS satellites.
fields:
- 0-2:
desc: Use QZSS satellites.
values:
- 0: Nominal
- 1: Warning
- 2: Alert
- 3: Not monitored
- reserved:
type: array
size: 5
fill: u8
desc: Reserved
- use_tropo_grid_points:
type: u8
desc: Use tropo grid points.
fields:
- 0-2:
desc: Use tropo grid points.
values:
- 0: Nominal
- 1: Warning
- 2: Alert
- 3: Not monitored
- use_iono_grid_points:
type: u8
desc: Use iono grid points.
fields:
- 0-2:
desc: Use iono grid points.
values:
- 0: Nominal
- 1: Warning
- 2: Alert
- 3: Not monitored
- use_iono_tile_sat_los:
type: u8
desc: Use iono tile satellite LoS.
fields:
- 0-2:
desc: Use iono tile satellite LoS.
values:
- 0: Nominal
- 1: Warning
- 2: Alert
- 3: Not monitored
- use_iono_grid_point_sat_los:
type: u8
desc: Use iono grid point satellite LoS.
fields:
- 0-2:
desc: Use iono grid point satellite LoS.
values:
- 0: Nominal
- 1: Warning
- 2: Alert
- 3: Not monitored
- MSG_SSR_FLAG_SATELLITES:
id: 0x0BBD
short_desc: List of satellites which are faulty, per constellation
fields:
- obs_time:
type: GPSTimeSec
desc: GNSS reference time of the observation used to generate the flag.
- num_msgs:
type: u8
desc: Number of messages in the dataset
- seq_num:
type: u8
desc: Position of this message in the dataset
- ssr_sol_id:
type: u8
desc: SSR Solution ID.
- chain_id:
type: u8
desc: Chain and type of flag.
- const_id:
type: u8
desc: Constellation ID.
- n_faulty_sats:
type: u8
desc: Number of faulty satellites.
- faulty_sats:
type: array
fill: u8
size_fn: n_faulty_sats
desc: List of faulty satellites.
- MSG_SSR_FLAG_TROPO_GRID_POINTS:
id: 0x0BC3
short_desc: List of grid points which are faulty
fields:
- header:
type: IntegritySSRHeader
desc: Header of an integrity message.
- n_faulty_points:
type: u8
desc: Number of faulty grid points.
- faulty_points:
type: array
fill: u16
size_fn: n_faulty_points
desc: List of faulty grid points.
- MSG_SSR_FLAG_IONO_GRID_POINTS:
id: 0x0BC7
short_desc: List of grid points which are faulty
fields:
- header:
type: IntegritySSRHeader
desc: Header of an integrity message.
- n_faulty_points:
type: u8
desc: Number of faulty grid points.
- faulty_points:
type: array
fill: u16
size_fn: n_faulty_points
desc: List of faulty grid points.
- MSG_SSR_FLAG_IONO_TILE_SAT_LOS:
id: 0x0BCD
short_desc: List of all the LOS which are faulty
fields:
- header:
type: IntegritySSRHeader
desc: Header of an integrity message.
- n_faulty_los:
type: u8
desc: Number of faulty LOS.
- faulty_los:
type: array
fill: SvId
size_fn: n_faulty_los
desc: List of faulty LOS
- MSG_SSR_FLAG_IONO_GRID_POINT_SAT_LOS:
id: 0x0BD1
short_desc: List of all the grid points to satellite which are faulty
fields:
- header:
type: IntegritySSRHeader
desc: Header of an integrity message.
- grid_point_id:
type: u16
desc: Index of the grid point.
- n_faulty_los:
type: u8
desc: Number of faulty LOS.
- faulty_los:
type: array
fill: SvId
size_fn: n_faulty_los
desc: List of faulty LOS
- MSG_ACKNOWLEDGE:
id: 0x0BD2
short_desc: Acknowledgement message in response to a request for corrections
fields:
- request_id:
type: u8
desc: Echo of the request ID field from the corresponding CRA message, or 255 if no request ID was provided.
- area_id:
type: u32
desc: Echo of the Area ID field from the corresponding CRA message.
- response_code:
type: u8
desc: Reported status of the request.
fields:
- 0-7:
desc: Response code
values:
- 0: Ok
- 1: Out of coverage
- 2: Forbidden
- 3: Invalid request
- 4: Invalid area id
- correction_mask_on_demand:
type: u16
desc: >
Contains the message group(s) that will be sent in response from the corresponding CRA correction mask.
An echo of the correction mask field from the corresponding CRA message.
fields:
- 0:
desc: Corrections certificate
values:
- 0: Not requested
- 1: Requested
- 1:
desc: Low rate messages
values:
- 0: Not requested
- 1: Requested
- 2:
desc: Ephemeris
values:
- 0: Not requested
- 1: Requested
- 3:
desc: Satellite clock
values:
- 0: Not requested
- 1: Requested
- 4:
desc: Satellite orbit
values:
- 0: Not requested
- 1: Requested
- 5:
desc: Satellite code bias
values:
- 0: Not requested
- 1: Requested
- 6:
desc: Satellite phase bias
values:
- 0: Not requested
- 1: Requested
- 7:
desc: Atmospherics
values:
- 0: Not requested
- 1: Requested
- 8:
desc: Integrity
values:
- 0: Not requested
- 1: Requested
- 9:
desc: Intermediate certificate
values:
- 0: Not requested
- 1: Requested
- 10:
desc: Certificate chain
values:
- 0: Not requested
- 1: Requested
- 11-15:
desc: Reserved
- correction_mask_stream:
type: u16
desc: For future expansion. Always set to 0.
- solution_id:
type: u8
desc: The solution ID of the instance providing the corrections.