SatPulse supports the OEM6/OEM7 protocol defined by NovAtel for its GPS modules. The vendor name used with the --vendor option and vendor key is novatel.

This protocol treats periodic data, which it calls logs, differently from configuration. Periodic data can be encoded in either an ASCII or a binary packet format, whereas configuration uses line-oriented ASCII commands. The protocol makes the set of logs extensible: each log has an identifier, which is a name in the ASCII format and a number in the binary format, and a structured payload. The protocol defines how to encode a structured payload as either an ASCII or binary packet.

For this protocol, SatPulse supports:

  • decoding of the ASCII and binary packet formats used for logs (packet format tags are NOVA and NOVB)
  • decoding of the abbreviated ASCII packet format used for command responses (packet format tag is NOVAA)
  • conversion of logs into the SatPulse device-independent data model

SatPulse does not include a message file for configuring NovAtel modules.

SatPulse has not yet been tested with a NovAtel receiver; support for the protocol has been validated with ByNav, SinoGNSS and Unicore modules.

Supported logs

SatPulse decodes the following logs. The log name is given without the A or B suffix that selects the ASCII or binary form; the number is the message ID used by the binary form.

Log Number Used for
IONUTC 8 leap second
BESTPOS 42 geodetic position, solution quality
PSRPOS 47 geodetic position, solution quality
BESTVEL 99 geodetic velocity
PSRVEL 100 geodetic velocity
TIME 101 UTC time, TAI time
PSRDOP 174 solution quality
BESTXYZ 241 ECEF position, ECEF velocity, solution quality
BESTGNSSPOS 1429 geodetic position, solution quality
BESTGNSSVEL 1430 geodetic velocity