GPS Emulator Now Outputs uBlox and NMEA sentences


The GPS Emulator v1.2.0 that's part of Remzibi's OSD Configuration software now supports uBlox emulation. It has the option to enable NAV-VELNED, NAV-POSLLH and NAV-STATUS (which are the 3 messages ArduPilot uses for positioning).

ConfigTool.zip <- Includes GPS Emulator v1.2.4

EDIT: Here are all the sentences the emulator currently supports

NMEA
$GPRMC - Recommended Minimum Specific GPS/TRANSIT Data
$GPGGA - Global Positioning System Fix Data
$GPGLL - Geographic Position, Latitude/Longitude
$GPVTG - Track Made Good and Ground Speed
$GPZDA - UTC Date / Time and Local Time Zone Offset
$GPGSA - GPS DOP and Active Satellites
$GPGSV - GPS Satellites in View

uBlox
NAV-VELNED - Velocity, Speed and Heading in LLA
NAV-POSLLH - Latitude, Longitude and Altitude
NAV-STATUS - GPS Fix and DGPS status
NAV-SVINFO - Satellite Detail
NAV-SOL - GPS Fix, Latitude, Longitude and Altitude in ECEF and Velocities in ECEF
NAV-DOP - Dillution of Precision
NAV-POSECEF - Latitude, Longitude and Altitude in ECEF
NAV-VELECEF - Velocity in ECEF
NAV-CLOCK - Clock Solution (not sure why you'd use this)
NAV-TIMEGPS - GPS Clock Information
NAV-TIMEUTC - Full UTC Time/Date Information

Sample Output
*** uBlox 12/2/2009 4:41:50 PM = UTC: 214150.296 ***
NAV-VELNED : B5 62 01 12 24 00 58 F2 1A 14 FC 06 00 00 00 00 00 00 00 00 00 00 FC 06 00 00 FC 06 00 00 00 00 00 00 11 01 00 00 00 51 25 02 3F 00
NAV-POSLLH : B5 62 01 02 1C 00 58 F2 1A 14 B0 4D A1 CF AC D5 1F 1D E0 93 04 00 E0 93 04 00 06 17 00 00 3C 24 00 00 2C F5
NAV-STATUS : B5 62 01 03 10 00 58 F2 1A 14 03 DD 00 00 C4 05 00 00 1D 83 00 00 D5 6E
NAV-SVINFO : B5 62 01 30 C8 00 58 F2 1A 14 10 01 00 00 00 04 0D 04 10 48 05 00 D6 FB FF FF 01 0A 0D 07 28 56 5A 01 BF FF FF FF 02 0D 0D 07 20 52 E6 00 FC 02 00 00 03 17 0D 07 32 57 48 00 07 02 00 00 04 12 0D 04 14 29 59 01 5F FF FF FF 05 19 0D 04 13 2B 0E 00 0A 01 00 00 06 0B 0D 07 1A 58 DF 00 24 02 00 00 07 0E 0D 04 0C 16 0C 00 61 FD FF FF 08 20 0D 07 22 59 35 01 65 02 00 00 09 05 00 01 00 1A 46 00 25 00 00 00 0A 18 04 03 09 0A 95 00 2D 00 00 00 0B 14 0D 07 1A 43 AD 00 50 FE FF FF 0C 06 0D 04 15 40 39 00 9A 01 00 00 0D 10 0D 04 19 2E 62 01 FC 00 00 00 0E 1D 0D 04 10 44 74 00 82 FC FF FF 0F 07 0D 04 12 4B C2 00 DD FB FF FF 0F 08
NAV-SOL : B5 62 01 06 34 00 58 F2 1A 14 25 D0 FD 01 18 06 03 DD CA CD DA 03 F8 51 3D E7 CF D5 7E 1C EC 04 00 00 FC 06 00 00 00 00 00 00 00 00 00 00 36 01 00 00 DC 00 00 10 42 49 00 00 63 51
NAV-DOP : B5 62 01 04 12 00 58 F2 1A 14 C7 00 DB 00 61 00 B5 00 5C 00 49 00 3C 00 28 3C
NAV-POSECEF: B5 62 01 01 14 00 58 F2 1A 14 CA CD DA 03 F8 51 3D E7 CF D5 7E 1C E2 04 00 00 93 96
NAV-VELECEF: B5 62 01 11 14 00 58 F2 1A 14 FC 06 00 00 00 00 00 00 00 00 00 00 18 01 00 00 B9 D2
NAV-CLOCK : B5 62 01 22 14 00 58 F2 1A 14 EF 74 FF FF 4A 00 00 00 0B 00 00 00 5E 06 00 00 C9 D7
NAV-TIMEGPS: B5 62 01 20 10 00 58 F2 1A 14 D6 AF 13 01 18 06 0F 07 0D 00 00 00 83 A1
NAV-TIMEUTC: B5 62 01 21 14 00 58 F2 1A 14 0D 00 00 00 F0 2B 8D 02 D9 07 0C 02 15 29 32 07 CA C7

*** NMEA 12/2/2009 4:41:50 PM = UTC: 214150.296 ***
$GPRMC,214150.296,A,4851.7535,N,08109.0744,W,34.8,0,021209,003.1,W*46
$GPGGA,214150.296,4851.7535,N,08109.0744,W,1,16,0.9,300,M,0,M,,*76
$GPGLL,4851.7535,N,08109.0744,W,214150.296,A*23
$GPVTG,0,T,348,M,34.8,N,64.4,K,A*25
$GPZDA,164150.296,02,12,2009,4,0*52
$GPGSA,A,3,04,10,13,23,18,25,11,14,32,,24,20,2.21,0.93,1.79*0E
$GPGSV,4,1,16,4,72,005,14,10,86,346,41,13,82,230,31,23,87,072,49*4C
$GPGSV,4,2,16,18,41,345,21,25,43,014,21,11,88,223,24,14,22,012,12*73
$GPGSV,4,3,16,32,89,309,34,5,26,070,0,24,10,149,8,20,67,173,24*41
$GPGSV,4,4,16,6,64,057,20,16,46,354,27,29,68,116,15,7,75,194,16*71

Views: 6516

Comment by Paul Mather on November 29, 2009 at 8:55am
I just did some testing and I can confirm the uBlox output works when using File, Run ArduPilot Mission!

Developer
Comment by Ryan Beall on November 29, 2009 at 3:29pm
Awesome man, I love it! Just what I needed. Check out my autopilot when you get a chance I may have a deal for you....I'm looking to trade for some Groundstation work if you are interested.....

Developer
Comment by Jordi Muñoz on December 1, 2009 at 1:50am
Best tool ever for uBlox man! Thank you!
Comment by sid on December 1, 2009 at 2:32am
HAppykillmore,
Great achievement. How abot adding DOP and SOL for Uav development board Ublox users too ? That will really help.

Thanks in advance.

SID
Comment by Paul Mather on December 1, 2009 at 5:58am
Thanks Ryan and Jordi!

sid, I'll add that too :)
Comment by Paul Mather on December 1, 2009 at 6:00am
PS, my next update is going to include a null port control to create COM ports that are tied together. This will make testing of ground stations and other PC software much easier....
Comment by Paul Mather on December 1, 2009 at 8:12am
@sid, How should I handle NAV-DOP values? How do I handle most of the values in NAV-SOL? All of these values would have to be bogus values I'm just creating on the fly. There's no way I can make real-world accuracy estimates.

Developer
Comment by Jordi Muñoz on December 1, 2009 at 11:25am
HappyKillmmore, the new ardupilot will use another uBlox message, i guess is NAV-SOL and will replace the NAV-STATUS. NAV-STATUS Only gives valid GPS info, but NAV-SOL also gives you the validity of the GPS, plus how many sats you have locked.
Comment by Paul Mather on December 1, 2009 at 10:15pm
Ok, new version posted v1.2.2.... It includes NAV-SOL and NAV-DOP. I have to say the calculations for LLA to ECEF were not that much fun :( But it is actually working so have at it!

NAV-DOP and all accuracy / Dillution of Precision numbers are strictly faked. If anyone knows a way to acually calculate these numbers let me know... for now they're just hard coded numbers that fluctuate up and down +/- 0.015
Comment by sid on December 2, 2009 at 12:28am
Happykillmore,
I really do not know much tech details about those messages but I will ask this in Uavdev board group and get back to you.

Thanks for adding those messages.
REgards
SID..

Comment

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