The sensor fusion solution provides two different outputstreams for the position, attitude, velocity and many more states of solution and quality of solution.
By default it’s possible to configure the hardware to write to a file and/or to broadcast the solution per TCP on a customizable port (standardtport: 6001). To stream the solution per WLAN or Ethernet, you need additionally to the defined portnumber the IPadress of your MSRTK Module, which is by default 192.168.42.1 (in case you are connected with WLANAP “ANavS_MSRTK_AP”).
The ANavS® sensor fusion framework provides two different protocols for the solution output, the standardized NMEAFormat and the proprietary binary protocol. In the following, the proprietary ANavS® binary protocol is described.
The Binary Protocol is defined as follows:
Structure:  Sync Char 1  Sync Char 2  Class  ID  Length  Payload  ChecksumA  ChecksumB 
Bytes:  1 Byte  1 Byte  1 Byte  1 Byte  2 Byte  LengthByte  1 Byte  1Byte 
The endianness of Length and the following Payload is little endian. The payload is of Length. The checksum is calculated with the 16Bit Fletcher algorithm over Class, ID, Length and Payload with modulo 256. The ANavS® binary protocol message can be identified by Sync Char 1 = 0xB5 (dec 181), Sync Char 2 = 0x62 (dec 98), Class = 0x02 (dec 2) and Id = 0xE0 (dec 224). In the following, the type double has 8 bytes. If a variable in the Payload is given in the NED frame, the variable has three components (hence 3 times the data type, e.g. 3*double), where the components are north, east and down. This also holds for the body frame, which is the fixed frame of the rover, and where the components are given in x, y and z.
The Payload is given as:
Size  Scaling  Name  Unit  Description  
uint8  –  id  –  Identifier of the system/the ANavS Position and Attitude Determination (PAD) solution.  
uint16  –  resCode  –  Result code bitfield, which keeps the system status and information. 

uint16  –  week  –  Week number of the current epoch (epoch means Kalman filter stateupdate with GNSS, IMU or another sensor data).  
double  –  tow  s  Time of Week of the current epoch.  
uint16  –  weekInit  –  Week number of the epoch when the system was started. 

double  –  towInit  s  Time of Week of the epoch when the system was started. 

int16  –  –  –  Reserved  
double  –  lat  deg  Latitude in WGS84.  
double  –  lon  deg  Longitude in WGS84.  
double  –  height  m  Height in WGS84 with geoid EGM96  
double  –  ECEFX  m  Xposition in ECEFcoordinate frame (WGS84).  
double  –  ECEFY  m  Yposition in ECEFcoordinate frame (WGS84).  
double  ECEFZ  m  Zposition in ECEFcoordinate frame (WGS84).  
3*double  –  b  m  Baseline in NED frame spanned by the position given by lat, lon and height, and by the position of the reference station.  
3*double  –  bStdDev  m  Standard deviation of the baseline.  
3*double  –  vel  m/s  Velocity in NED frame.  
3*double  –  velStdDev  m/s  Standard deviation of the velocity.  
3*double  –  acc  m/s²  Acceleration in body frame.  
3*double  –  accStdDev  m/s²  Standard deviation of the acceleration.  
3*double  –  att  deg  Attitude/Euler angles (heading, pitch, roll).  
3*double  –  attStdDev  deg  Standard deviation of the attitude.  
double  –  accuracy  m  Estimated accuracy of the baseline.  
double  –  systemTime  s  System time of solution data output packet  
5*double  –  timingInfo  s  CPULoad of used sensors. The sum (green line in the GUI) of elapsed time should not over 1 second (–> to slow processor). First double: Elapsed time GNSS; Second double: Elapsed time IMU; Third double: Elapsed time Baro; Fourth double: Elapsed time Odometry; Fifth double: Reserved 

5*double  –  –  –  Reserved  
double  –  gnssReception  –  Scalar, which indicates the GNSS signal reception. The value is between 0 and 20, where 20 is the best, i.e. very good conditions.  
uint8  –  numSats  –  Number of satellites.  
Loop  uint8  –  gnssId  –  Identifier of the GNSS (GPS = 1, SBAS = 2, GLONASS = 4, Galileo = 8).  
uint8  –  svId  –  Identifier of the satellite (“PRN”)  
double  –  elev  deg  Elevation angle of the satellite.  
double  –  azim  deg  Azimuth angle of the satellite.  
uint8  –  numRcv  –  Number of GNSS receivers.  
Loop  uint8  –  rcvId  –  Identifier of the receiver (unqiue within this system).  
char[11]  –  serial  –  Serial number of the receiver (unique).  
bool  –  isRefStation  –  Is true, if this receiver is a reference station (stationary). 

uint16  –  week  –  Week number of the current epoch for this receiver. If the following tow is NaN, the weeknumber is not valid!  
double  –  tow  s  Time of week of the current epoch for this receiver. Can be NaN, if there are no measurements at this epoch (e.g. commonly for reference station).  
double  –  lat  deg  Latitude of this receiver. Only given if the receiver is a reference station, otherwise it is NaN.  
double  –  lon  deg  Longitude of this receiver. Only given if the receiver is a reference station, otherwise it is NaN.  
double  –  height  m  Height of this receiver. Only given if the receiver is a reference station, otherwise it is NaN.  
3*double  –  bodyPos  m  Receiver position in x, y and z (body frame).  
3*double  –  bodyMisalign  m  Misalignment of the receiver in x, y and z (body frame).  
uint8  –  –  –  Reserved.  
5*double  –  sensorBufFillLvl  %  Sensor buffer filling level: First double: GNSS Second: IMU Third: BARO Fourth: ODO Fifth: Raw 

uint8  –  numSatsMeas  –  Number of satellites for which measurements are available for this receiver.  
Loop  uint8  –  gnssId  –  Identifier of the GNSS.  
uint8  –  svId  –  Identifier of the satellite.  
uint8  –  freq  –  Frequency band (currently that is 1 L1)).  
uint16  –  locktime  ms  Carrier phase locktime counter (maximum 64500ms). 

uint8  –  cno  dBHz  Carriertonoise density ratio (signal strength) [dBHz]. 

uint8  0.01*2^n  prStdDev  m  Standard deviation of the pseudorange measurement. 

uint8  0.004  cpStdDev  cycles  Standard deviation of the carrier phase measurement.  
uint8  0.002*2^n  doStdDev  Hz  Standard deviation of the Doppler frequency.  
uint8  –  trkStat  –  Status bitfield of the tracking (see graphic below).  
uint8  –  numBl  –  Number of baselines spanned by a receiver pair. 

Loop  uint8  –  rcvId1  –  Identifier of the receiver the baseline is pointing to.  
uint8  –  rcvId2  –  Identifier of the receiver the baseline is pointing from.  
bool  –  isFixed  –  Is true, if the ambiguities of the phase measurements are fixed for this baseline. 

uint8  –  gnssIdJointRefSat  –  GNSS identifier of the joint reference satellite for the single and double differenced measurements. 

uint8  –  svIdJointRefSat  –  Identifier of the reference satellite.  
uint8  –  svIdGloRefSat  –  Identifier of the GLONASS reference satellite.  
uint8  –  svIdUnlSat  –  Identifier of the GLONASS ultra narrowlane satellite. 

3*double  –  aprioriBl  m  A priori baseline.  
3*double  –  stdDevAprioriBl  m  Standard deviation of the a priori baseline.  
double  –  aprioriLen  m  A priori baseline length.  
double  –  stdDevAprioriLen  m  Standard deviation of the a priori baseline length.  
uint8  –  numFilter  –  Number of filters.  
Loop  uint8  –  nameLen  Bytes  Length of the filtername.  
char[nameLen]  –  name  –  Filtername.  
uint32  –  params  –  Bitfield of parameters (states, residuals), which are transmitted by the filter.  
bool  –  isActive  –  Is true, if the filter is active.  
Conditioned on Bit 0, i.e. if Bit 0 is not set, this shall not be considered (no pointer increment, just leave out!). 
6*double  –  absPos  deg and m  Absolute position in latitude, longitude (both in deg) and height (in m) (first 3 doubles) and its standard deviation (latter 3 doubles).  
Bit 1  2*double  –  clkErr  s  Receiver clock error (first double) and its standard deviation (latter double).  
Bit 2  uint8  –  rcvId1  –  Identifier of the receiver the baseline is pointing to.  
uint8  –  rcvId2  –  Identifier of the receiver the baseline is pointing from.  
6*double  –  baseline  m  Baseline in NED frame (first 3 doubles) and its standard deviation (latter 3 doubles). 

Bit 3  6*double  –  vel  m/s  Velocity in NED frame (first 3 doubles) and its standard deviation (latter 3 doubles).  
Bit 4  6*double  –  acc  m/s²  Acceleration in body frame (first 3 doubles) and its standard deviation (latter 3 doubles).  
Bit 5  6*double  –  accBias  m/s²  Accelerometer bias in body frame (first 3 doubles) and its standard deviation (latter 3 doubles).  
Bit 6  6*double  –  eulerAng  deg  Euler angles in heading, pitch and roll (first 3 doubles) and its standard deviation (latter 3 doubles).  
Bit 7  6*double  –  angRate  deg/s  Angular rate in heading, pitch and roll (first 3 doubles) and its standard deviation (latter 3 doubles).  
Bit 8  6*double  –  gyroBias  deg/s  Gyroscope bias (first 3 doubles) and its standard deviation (latter 3 doubles).  
Bit 9  2*double  –  tropoZenDel  m  Tropospheric zenith delay (first double) and its standard deviation (latter double). Currently not in use (Bit 9 is always 0).  
Bit 10  2*double  –  Accuracy  m  Accuracy of the baseline (first double) and its standard deviation (latter double). Currently not in use (Bit 10 is always 0).  
Bit 1117  7*double  –  Reserved  –  –  
uint8  –  numPhase  –  Number of phase measurements.  
Loop  uint8  –  gnssId  –  Identifier of the GNSS.  
uint8  –  svId  –  Identifier of the satellite.  
uint8  –  freq  –  Frequency band (currently that is 1 (L1)).  
Bit 18  2*double  –  ambiguities  cycles  Double difference ambiguities and std. dev.  
Bit 19  2*double  –  phaseMp  m  Phase multipath and std. dev.  
Bit 20 
2*double  –  phaseRes  m  Phase residuals and std. dev.  
uint8  –  numCode  –  Number of code measurements.  
Loop  uint8  –  gnssId  –  Identifier of the GNSS.  
uint8  –  svId  –  Identifier of the satellite.  
uint8  –  freq  –  Frequency band (currently that is 1 (L1)).  
Bit 21 
2*double  –  codeMp  m  First double is code multipath, second its standard deviation.  
Bit 22 
2*double  –  codeRes  m  First double is code residual, second its standard deviation.  
uint8  –  numDoppler  –  Number of Doppler measurements.  
Loop  uint8  –  gnssId  –  Identifier of the GNSS.  
uint8  –  svId  –  Identifier of the satellite.  
uint8  –  freq  –  Frequency band (currently that is 1 (L1)).  
Bit 23  2*double  –  doRes  Hz  First double is Doppler residual, second is its standard deviation. 
The payload contains loops and conditions. The number of loop iterations and the conditions depends on other payload data. For example, the number of satellites determines, how often the following colorcoded data is repeated. For numSats = 2 and p being a pointer to numSats, the following data is given as
Address  Type  Name 
p+1  uint8  gnssId1 
p+2  uint8  svId1 
p+3  double  elev1 
p+11  double  azim1 
p+19  uint8  gnssId2 
p+20  uint8  svId2 
p+21  double  elev2 
p+29  double  azim2 
p+37  uint8  numRcv 
For numSats = 0, no satellite position data is transmitted and the next variable would be numRcv. If a condition is fulfilled the following colorcoded data is transmitted. For example, if isActive is true, then at least the variables numPhase, numCode and numDoppler are transmitted. If isActive is false, then the end of the UBX message is reached. The bitfield params is also a condition, whose bits determine, whether the following data is transmitted.
Example: Let p being a pointer to isActive with isActive = true, Bit 0 of params is false and Bit 1 is true. Then, p+1 points to the receiver clock error clkErr and not to the absolute position absPos since Bit 0 is false.
The resCode bitfield is defined as
Bit  Definition 
0  Is set for GNSS updateepochs processed in the PADSoftware 
1  Is set for IMU updateepochs processed in the PADSoftware 
2  Is set for Barometer updateepochs processed in the PADSoftware 
3  Is set for Odometrie updateepochs processed in the PADSoftware 
4  Is set for Camera updateepochs processed in the PADSoftware 
5  Is set for Steering updateepochs processed in the PADSoftware 
6  Is set if the IMU is initialized/calibrated 
7  Is set if the MultiSensor RTKFilter is reset in the current epoch 
8  Reserved 
9 to 10  Statedefinition for the Attitude KalmanFilter: 00 > No solution 01 > LeastSquares solution 10 > Float solution 11 > Fixed solution 
11 to 12  Statedefinition for the RTKPosition KalmanFilter: 00 > No solution 01 > LeastSquares solution 10 > Float solution 11 > Fixed solution 
13  Is set if the RTKPosition KalmanFilter has only a floatsolution accuracy but enough satellites in view to try a RTKrefix (the vehicle must be stationary for this try!) 
14  Is set if state update is only a prediction step (without sensor data) in our sensor fusion filter. In this case, Bit 05 is set to zero. 
15  Reserved 
To extend the existing binary format with more integrity information, ANavS provides since version 5.1.72 an additional message with the following header:
Sync Char 1 = 0xB5 (dec 181), Sync Char 2 = 0x62 (dec 98), Class = 0x02 (dec 2) and Id = 0xE5 (dec 229).
The Message is activated via customercode 10.
The Payload is given as:
Size  Scaling  Name  Unit  Description 
uint16  –  week  –  Week number of the current epoch 
double  –  tow  s  Time of Week of the current epoch 
double  –  cov_b_xx  Covariance matrix of RTK solution (value xx)  
double  –  cov_b_xy  Covariance matrix of RTK solution (value xy)  
double  –  cov_b_xz  Covariance matrix of RTK solution (value xz)  
double  –  cov_b_yx  Covariance matrix of RTK solution (value yx)  
double  –  cov_b_yy  Covariance matrix of RTK solution (value yy)  
double  –  cov_b_yz  Covariance matrix of RTK solution (value yz)  
double  –  cov_b_zx  Covariance matrix of RTK solution (value zx)  
double  –  cov_b_zy  Covariance matrix of RTK solution (value zy)  
double  –  cov_b_zz  Covariance matrix of RTK solution (value zz)  
double  –  GDOP  Dilution of Precision: GDOP  
double  –  PDOP  Dilution of Precision: PDOP  
double  –  HDOP  Dilution of Precision: HDOP  
double  –  VDOP  Dilution of Precision: VDOP  
double  –  TDOP  Dilution of Precision: TDOP  
bool  –  Flag No Movement  True: Rover stand still, no movement detected with IMU –> RTK and Attitude Fix is triggert, bias estimation of IMU also. False: Rover is moving –> NO RTK and Attitude Fix is triggert, NO bias estimation of IMU 

double  –  RTKFix Validation  Difference of successfully fixed RTKbaseline to the next best candidate. Only if “Flag No Movement” is true, this value is relevant for integrity information of RTK baseline.  
double  –  CorrectionOutage  Time since last RTK correctiondata arrived. 