SatPulse supports the K9 series of modules from SinoGNSS, which brands itself as ComNav Technology for Western audiences. The vendor name used with the --vendor option and vendor key is sinognss or comnav.

These modules use the NovAtel OEM6/OEM7 protocol for their logs, which SinoGNSS calls messages. There are some minor implementation differences in the logs between SinoGNSS and NovAtel: for example, SinoGNSS uses different position type values. The vendor must be specified to enable correct handling of these SinoGNSS differences. Configuration uses line-oriented ASCII commands, which are different from NovAtel’s, although similar in style.

For these modules, SatPulse supports:

  • decoding of the ASCII and binary packet formats used for periodic messages (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 messages into the SatPulse device-independent data model
  • a message file for low-level configuration

SatPulse has been tested with the K901 and the K902.

Supported messages

SatPulse decodes the following messages. The message 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.

Message 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