NAME

satpulsetool-gps - configure a GPS receiver

SYNOPSIS

satpulsetool [global options] gps [-h|--help]
    [-d|--serial-device path] [-s|--device-speed bps]
    [--socket path]
    [--force-probe] [--packet-log path]
    [-c|--show-config]
    [--save] [--save-all] [--reset] [--reload] [--factory-reset]
    [--speed bps]
    [-g|--gnss GPS|GAL|BDS|GLO|QZSS|NAVIC|SBAS,…]
    [--time-gnss GPS|GAL|BDS|GLO]
    [-b|--band L1|L2|L5|E5|L6,…]
    [-p|--pps width] [--ant-cable-delay nanos]
    [--mobile] [--fixed-pos-ecef X,Y,Z] [--fixed-pos-acc meters]
    [--survey] [--survey-time seconds] [--survey-acc meters]
    [--nmea] [--binary]
    [--pvt-out pos|vel|time|tp|leap|survey|tai|ecef|off,…]
    [--sats-out sat|sig|none,…]     [--raw-out obs|nav|none,…]
    [--rtcm-out MSM4|MSM7|ARP|auto|none,…]
    [--nmea-out RMC|GGA|GSA|GSV|ZDA|VTG|none,…]

DESCRIPTION

The satpulsetool gps command is used to configure a GPS receiver for use with satpulsed.

OPTIONS

-h, --help

Show usage help for the gps command.

-c, --show-config

Show the current configuration of the GPS receiver.

-d, --serial-device path

Path to the serial device to communicate with the GPS receiver.

-s, --device-speed bps

Set the speed of the host serial port (as specified by -d) in bits per second.

--socket path

Path to a Unix-domain socket to connect to the GPS receiver instead of a serial device. This is for use with the proxy.sock table array in the TOML config file for satpulsed.

--speed bps

Configure the GPS receiver’s serial speed in bits per second.

--packet-log path

Log to path a description of the packets sent to and received from the GPS receiver. The log is in .jsonl (JSON lines) format.

-g, --gnss list

List of GNSS constellations that should be enabled. The list parameter is a comma-separated list of:

GPS

Global Positioning System (United States)

GAL or Galileo

Galileo (European Union)

BDS or BeiDou

BeiDou Navigation Satellite System (China)

GLO or GLONASS

Global Navigation Satellite System (Russia)

QZSS

Quasi-Zenith Satellite System (Japan)

NAVIC

Navigation with Indian Constellation (India)

SBAS

Satellite-Based Augmentation Systems (various countries)

-b, --band list

List of frequency bands that should be enabled for the specified GNSS constellations. The list parameter is a comma-separated list of:

L1

1559-1610 MHz band, including L1 C/A, L1C, E1, B1C signals at 1575.42 MHz, GLONASS L1, and BeiDou B1I

L2

1215-1252 MHz band

L5

1176.45 MHz signals including GPS L5, Galileo E5a, BeiDou B2a

E5b

1202.025-1207.14 MHz band including Galileo E5b, BeiDou B2I at 1207.14 and and GLONASS L3 at 1202.025

E5

1164-1210 MHz band, includes L5 and E5b

E6 or L6

1260-1300 MHz band

--time-gnss constellation

GNSS constellation used for timing purposes. The PPS signal is aligned to the system time of this GNSS. (The system times of different GNSSs can differ by tens of nanoseconds.) This uses the same constellation names as with --gnss option, but only the major, global constellations are allowed (GPS, Galileo, BeiDou and GLONASS).

--save

Save the configuration changed by this command to GPS receiver’s non-volatile memory. Exactly what is saved depends on the specific GPS receiver; satpulsetool will save the minimum possible to ensure that everything that was changed by this command is saved.

--save-all

Save the current running configuration of the GPS receiver to its non-volatile memory.

--reload

Reloads the configuration of the GPS receiver from its non-volatile memory. Any configuration settings that have not been saved will be lost. This can be used to undo any changes made by the satpulse daemon.

--reset

Perform a reset that reloads the configuration of the GPS receiver from its non-volatile memory (as with the -reload option), and discards information about the last known position, current time, and satellite orbital data (both ephemeris and almanac).

--factory-reset

Restore the non-volatile memory of the GPS receiver to its default settings, and the perform a reset as with the --reset option.

--nmea

Enable NMEA output from the GPS receiver.

--binary

Enable binary messages from the GPS receiver instead of NMEA.

--force-probe

Force writing probe to serial device even when there is no output from the GPS receiver

-p, --pps width

Configure the GPS receiver to enable a pulse-per-second (PPS) signal with the specified pulse width in seconds. The width must be >= 0 and < 1.0. A width of 0 disables the PPS signal.

--ant-cable-delay nanos

Configure the antenna cable delay in nanoseconds. This setting compensates for the signal delay introduced by the antenna cable between the antenna and the GPS receiver.

--pvt-out flags

Configure which Position, Velocity, and Time (PVT) messages to output. The flags parameter is a comma-separated list of:

pos

Enable position messages (latitude, longitude, altitude by default)

vel

Enable velocity messages (North, East, Down components by default)

time

Enable time of navigation solution messages

tp

Enable time pulse messages (time of the PPS pulse)

leap

Enable leap second information messages

survey

Enable survey-in progress messages

tai

Prefer time in TAI (or constant offset from TAI) rather than UTC

ecef

Prefer position and velocity in ECEF coordinates rather than latitude and longitude

after

If the time pulse message enabled by tp is emitted before the time pulse, then emit a time message also

off

Turn off PVT messages that are not explicitly enabled

daemon

Enable messages needed by satpulsed (equivalent to tp,after,tai,leap,survey,off)

--raw-out flags

Configure raw data message output. The flags parameter is a comma-separated list of:

obs

Enable raw observation/measurement messages (for RINEX observation files)

nav

Enable raw navigation data messages (e.g., GPS subframe data)

none

Disable all raw data messages

--rtcm-out flags

Configure RTCM 3.x message output. The flags parameter is a comma-separated list of:

MSM4

Enable MSM4 messages for all enabled GNSS constellations

MSM7

Enable MSM7 messages for all enabled GNSS constellations

ARP

Enable Antenna Reference Point messages (RTCM message type 1005)

auto

Enable RTCM support intelligently. Enables ARP and either MSM4 or MSM7 messages. It will prefer MSM4 over MSM7 if both are available. Add the MSM7 flag to prefer MSM7.

none

Disable all RTCM messages

--nmea-out flags

Configure NMEA message output. The flags parameter is a comma-separated list of:

RMC

Enable RMC (Recommended Minimum) messages

GGA

Enable GGA (Global Positioning System Fix Data) messages

GSA

Enable GSA (DOP and Active Satellites) messages

GSV

Enable GSV (Satellites in View) messages

ZDA

Enable ZDA (Time and Date) messages

VTG

Enable VTG (Vector Track Made Good) messages

none

Disable all NMEA messages

--sats-out flags

Configure messages providing information about satellites. The flags parameter is a comma-separated list of:

sat

Enable output of information about each individual space vehicle (SV), including azimuth and elevation; this does not include information about each of the signals from an SV.

sig

Enable output of information about each signal received from each SV.

none

Disable all messages providing information about satellites.

--survey

Perform a survey to determine the position of the antenna, and then run in a mode that assumes the position of the antenna does not change. The survey makes measurements for a period of time and then computes the position based on those measurements.

--survey-time seconds

Set duration of the position survey (default: 2000).

--survey-acc meters

Required survey accuracy in meters (default: 20.0). Minimum value is 0.001 (1 mm).

--fixed-pos-ecef X,Y,Z

Use the specified coordinates as the fixed position of the antenna, and then run in a mode that assumes the position of the antenna does not change. The coordinates are comma-separated X, Y, and Z coordinates in meters in the Earth-Centered, Earth-Fixed coordinate system.

--fixed-pos-acc meters

Set the accuracy of the fixed position in meters (default: 20.0). This value should reflect the actual uncertainty in the fixed position coordinates. Minimum value is 0.001 (1 mm).

--mobile

Run in a normal mode, where the position of the antenna may change. This undoes the effect of --survey or --fixed-pos-ecef.

EXAMPLES

Enable GPS and GALILEO on /dev/ttyACM0 at 9600 baud:

satpulsetool gps -d /dev/ttyACM0 -s 9600 -g GPS,GAL

Start a survey for 3000 seconds with 1.5m accuracy:

satpulsetool gps --survey --survey-time 3000 --survey-acc 1.5 -d /dev/ttyUSB0 -s 38400

Connect over a socket and reset the receiver:

satpulsetool gps --socket /var/run/satpulse.sock --reset

Enable RTCM MSM4 output for base station use:

satpulsetool gps -d /dev/ttyUSB0 -s 9600 -rtcm-out MSM4,ARP --gnss GPS,GAL,BDS

Enable only NMEA RMC messages:

satpulsetool gps -d /dev/ttyACM0 -s 19200 -nmea --nmea-out RMC

SEE ALSO

satpulsetool(1), satpulsed(8)