Parse EKF measurements such as attitude, position and velocity logs. More...

#include <sbgCommon.h>
#include <streamBuffer/sbgStreamBuffer.h>

Data Structures
struct	_SbgEComLogEkfEuler

struct	_SbgEComLogEkfQuat

struct	_SbgEComLogEkfNav

struct	_SbgEComLogEkfVelBody

struct	_SbgEComLogEkfAirData

Macros
#define	SBG_ECOM_SOL_ATTITUDE_VALID (0x00000001u << 4)

#define	SBG_ECOM_SOL_HEADING_VALID (0x00000001u << 5)

#define	SBG_ECOM_SOL_VELOCITY_VALID (0x00000001u << 6)

#define	SBG_ECOM_SOL_POSITION_VALID (0x00000001u << 7)

#define	SBG_ECOM_SOL_VERT_REF_USED (0x00000001u << 8)

#define	SBG_ECOM_SOL_MAG_REF_USED (0x00000001u << 9)

#define	SBG_ECOM_SOL_GPS1_VEL_USED (0x00000001u << 10)

#define	SBG_ECOM_SOL_GPS1_POS_USED (0x00000001u << 11)

#define	SBG_ECOM_SOL_VEL_CONSTRAINTS_USED (0x00000001u << 12)

#define	SBG_ECOM_SOL_GPS1_HDT_USED (0x00000001u << 13)

#define	SBG_ECOM_SOL_GPS2_VEL_USED (0x00000001u << 14)

#define	SBG_ECOM_SOL_GPS2_POS_USED (0x00000001u << 15)

#define	SBG_ECOM_SOL_GPS2_HDT_USED (0x00000001u << 17)

#define	SBG_ECOM_SOL_ODO_USED (0x00000001u << 18)

#define	SBG_ECOM_SOL_DVL_BT_USED (0x00000001u << 19)

#define	SBG_ECOM_SOL_DVL_WT_USED (0x00000001u << 20)

#define	SBG_ECOM_SOL_VEL1_USED (0x00000001u << 21)

#define	SBG_ECOM_SOL_RESERVED_01 (0x00000001u << 22)

#define	SBG_ECOM_SOL_RESERVED_02 (0x00000001u << 23)

#define	SBG_ECOM_SOL_USBL_USED (0x00000001u << 24)

#define	SBG_ECOM_SOL_AIRSPEED_USED (0x00000001u << 25)

#define	SBG_ECOM_SOL_ZUPT_USED (0x00000001u << 26)

#define	SBG_ECOM_SOL_ALIGN_VALID (0x00000001u << 27)

#define	SBG_ECOM_SOL_VERTICAL_AIDING_USED (0x00000001u << 28)

#define	SBG_ECOM_SOL_ZARU_USED (0x00000001u << 29)

#define	SBG_ECOM_SOL_POS1_USED (0x00000001u << 30)

Typedefs
typedef enum _SbgEComSolutionMode	SbgEComSolutionMode

typedef struct _SbgEComLogEkfEuler	SbgEComLogEkfEuler

typedef struct _SbgEComLogEkfQuat	SbgEComLogEkfQuat

typedef struct _SbgEComLogEkfNav	SbgEComLogEkfNav

typedef struct _SbgEComLogEkfVelBody	SbgEComLogEkfVelBody

typedef struct _SbgEComLogEkfAirData	SbgEComLogEkfAirData

Enumerations
enum	_SbgEComSolutionMode { SBG_ECOM_SOL_MODE_UNINITIALIZED = 0 , SBG_ECOM_SOL_MODE_VERTICAL_GYRO = 1 , SBG_ECOM_SOL_MODE_AHRS = 2 , SBG_ECOM_SOL_MODE_NAV_VELOCITY = 3 , SBG_ECOM_SOL_MODE_NAV_POSITION = 4 }

Functions
float	sbgEComLogEkfEulerGetMagneticHeading (const SbgEComLogEkfEuler *pEkfEuler)

SbgErrorCode	sbgEComLogEkfEulerReadFromStream (SbgEComLogEkfEuler pLogData, SbgStreamBuffer pStreamBuffer)

SbgErrorCode	sbgEComLogEkfEulerWriteToStream (const SbgEComLogEkfEuler pLogData, SbgStreamBuffer pStreamBuffer)

SbgErrorCode	sbgEComLogEkfQuatReadFromStream (SbgEComLogEkfQuat pLogData, SbgStreamBuffer pStreamBuffer)

SbgErrorCode	sbgEComLogEkfQuatWriteToStream (const SbgEComLogEkfQuat pLogData, SbgStreamBuffer pStreamBuffer)

SbgErrorCode	sbgEComLogEkfNavReadFromStream (SbgEComLogEkfNav pLogData, SbgStreamBuffer pStreamBuffer)

SbgErrorCode	sbgEComLogEkfNavWriteToStream (const SbgEComLogEkfNav pLogData, SbgStreamBuffer pStreamBuffer)

void	sbgEComLogEkfVelBodyConstruct (SbgEComLogEkfVelBody *pLogData)

SbgErrorCode	sbgEComLogEkfVelBodyReadFromStream (SbgEComLogEkfVelBody pLogData, SbgStreamBuffer pStreamBuffer)

SbgErrorCode	sbgEComLogEkfVelBodyWriteToStream (const SbgEComLogEkfVelBody pLogData, SbgStreamBuffer pStreamBuffer)

void	sbgEComLogEkfAirDataConstruct (SbgEComLogEkfAirData *pLogData)

SbgErrorCode	sbgEComLogEkfAirDataReadFromStream (SbgEComLogEkfAirData pLogData, SbgStreamBuffer pStreamBuffer)

SbgErrorCode	sbgEComLogEkfAirDataWriteToStream (const SbgEComLogEkfAirData pLogData, SbgStreamBuffer pStreamBuffer)

SbgEComSolutionMode	sbgEComLogEkfGetSolutionMode (uint32_t status)

uint32_t	sbgEComLogEkfBuildSolutionStatus (SbgEComSolutionMode solutionMode, uint32_t masks)

Detailed Description

Parse EKF measurements such as attitude, position and velocity logs.

Author: SBG Systems

Date: February 25, 2013

Copyright: Copyright (C) 2007-2025, SBG Systems SAS. All rights reserved.

License

The MIT license

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

Macro Definition Documentation

◆ SBG_ECOM_SOL_ATTITUDE_VALID

#define SBG_ECOM_SOL_ATTITUDE_VALID (0x00000001u << 4)

Solution bit masks definitions. Set if attitude data is reliable (Roll/Pitch error within defined criteria).

◆ SBG_ECOM_SOL_HEADING_VALID

#define SBG_ECOM_SOL_HEADING_VALID (0x00000001u << 5)

Set if heading data is reliable (Heading error within defined criteria).

◆ SBG_ECOM_SOL_VELOCITY_VALID

#define SBG_ECOM_SOL_VELOCITY_VALID (0x00000001u << 6)

Set if velocity data is reliable (Velocity error within defined criteria).

◆ SBG_ECOM_SOL_POSITION_VALID

#define SBG_ECOM_SOL_POSITION_VALID (0x00000001u << 7)

Set if position data is reliable (Position error within defined criteria).

◆ SBG_ECOM_SOL_VERT_REF_USED

#define SBG_ECOM_SOL_VERT_REF_USED (0x00000001u << 8)

Set if the vertical reference is used in the solution.

◆ SBG_ECOM_SOL_MAG_REF_USED

#define SBG_ECOM_SOL_MAG_REF_USED (0x00000001u << 9)

Set if magnetometer is used in the solution.

◆ SBG_ECOM_SOL_GPS1_VEL_USED

#define SBG_ECOM_SOL_GPS1_VEL_USED (0x00000001u << 10)

Set if GNSS 1 velocity is used in the solution.

◆ SBG_ECOM_SOL_GPS1_POS_USED

#define SBG_ECOM_SOL_GPS1_POS_USED (0x00000001u << 11)

Set if GNSS 1 position is used in the solution.

◆ SBG_ECOM_SOL_VEL_CONSTRAINTS_USED

#define SBG_ECOM_SOL_VEL_CONSTRAINTS_USED (0x00000001u << 12)

Set if vehicle velocity constraint is used to improve accuracy.

◆ SBG_ECOM_SOL_GPS1_HDT_USED

#define SBG_ECOM_SOL_GPS1_HDT_USED (0x00000001u << 13)

Set if GNSS 1 true heading is used in the solution.

◆ SBG_ECOM_SOL_GPS2_VEL_USED

#define SBG_ECOM_SOL_GPS2_VEL_USED (0x00000001u << 14)

Set if GNSS 2 velocity is used in the solution.

◆ SBG_ECOM_SOL_GPS2_POS_USED

#define SBG_ECOM_SOL_GPS2_POS_USED (0x00000001u << 15)

Set if GNSS 2 position is used in the solution.

◆ SBG_ECOM_SOL_GPS2_HDT_USED

#define SBG_ECOM_SOL_GPS2_HDT_USED (0x00000001u << 17)

Set if GNSS 2 true heading is used in the solution.

◆ SBG_ECOM_SOL_ODO_USED

#define SBG_ECOM_SOL_ODO_USED (0x00000001u << 18)

Set if odometer velocity is used in the solution.

◆ SBG_ECOM_SOL_DVL_BT_USED

#define SBG_ECOM_SOL_DVL_BT_USED (0x00000001u << 19)

Set if DVL bottom tracking velocity is used in the solution.

◆ SBG_ECOM_SOL_DVL_WT_USED

#define SBG_ECOM_SOL_DVL_WT_USED (0x00000001u << 20)

Set if DVL water layer velocity is used in the solution.

◆ SBG_ECOM_SOL_VEL1_USED

#define SBG_ECOM_SOL_VEL1_USED (0x00000001u << 21)

Set if generic velocity 1 is used in the solution.

◆ SBG_ECOM_SOL_RESERVED_01

#define SBG_ECOM_SOL_RESERVED_01 (0x00000001u << 22)

Reserved for future use.

◆ SBG_ECOM_SOL_RESERVED_02

#define SBG_ECOM_SOL_RESERVED_02 (0x00000001u << 23)

Reserved for future use.

◆ SBG_ECOM_SOL_USBL_USED

#define SBG_ECOM_SOL_USBL_USED (0x00000001u << 24)

Set if USBL position is used in the solution.

◆ SBG_ECOM_SOL_AIRSPEED_USED

#define SBG_ECOM_SOL_AIRSPEED_USED (0x00000001u << 25)

Set if true airspeed is used in the solution.

◆ SBG_ECOM_SOL_ZUPT_USED

#define SBG_ECOM_SOL_ZUPT_USED (0x00000001u << 26)

Set if a Zero Velocity Update (ZUPT) is is used in the solution.

◆ SBG_ECOM_SOL_ALIGN_VALID

#define SBG_ECOM_SOL_ALIGN_VALID (0x00000001u << 27)

Set if sensor alignment and residual sensors errors have fully converged.

◆ SBG_ECOM_SOL_VERTICAL_AIDING_USED

#define SBG_ECOM_SOL_VERTICAL_AIDING_USED (0x00000001u << 28)

Set if a vertical aiding source (depth or barometric altimeter) is used in the solution.

◆ SBG_ECOM_SOL_ZARU_USED

#define SBG_ECOM_SOL_ZARU_USED (0x00000001u << 29)

Set if a Zero Angular Rate Update (ZARU) is used in the solution.

◆ SBG_ECOM_SOL_POS1_USED

#define SBG_ECOM_SOL_POS1_USED (0x00000001u << 30)

Set if generic position 1 is used in the solution.

Typedef Documentation

◆ SbgEComSolutionMode

typedef enum _SbgEComSolutionMode SbgEComSolutionMode

Solution filter mode enum.

◆ SbgEComLogEkfEuler

typedef struct _SbgEComLogEkfEuler SbgEComLogEkfEuler

EKF computed orientation using euler angles.

Note: In AHRS (Attitude and Heading Reference System) or INS (Inertial Navigation System) modes, the yaw angle represents the geographic (true) heading of the device.

To convert a geographic heading to a magnetic heading, use the following formula: Magnetic Heading = Geographic Heading - Magnetic Declination

◆ SbgEComLogEkfQuat

typedef struct _SbgEComLogEkfQuat SbgEComLogEkfQuat

EKF computed orientation using quaternion.

Note: In AHRS (Attitude and Heading Reference System) or INS (Inertial Navigation System) modes, the yaw angle represents the geographic (true) heading of the device.

To convert a geographic heading to a magnetic heading, use the following formula: Magnetic Heading = Geographic Heading - Magnetic Declination

◆ SbgEComLogEkfNav

typedef struct _SbgEComLogEkfNav SbgEComLogEkfNav

EKF computed navigation data.

◆ SbgEComLogEkfVelBody

typedef struct _SbgEComLogEkfVelBody SbgEComLogEkfVelBody

INS body velocity computed by the EKF filter.

◆ SbgEComLogEkfAirData

typedef struct _SbgEComLogEkfAirData SbgEComLogEkfAirData

INS air data computed by the EKF filter.

Enumeration Type Documentation

◆ _SbgEComSolutionMode

enum _SbgEComSolutionMode

Solution filter mode enum.

Enumerator
SBG_ECOM_SOL_MODE_UNINITIALIZED	The Kalman filter is not initialized and the returned data are all invalid.
SBG_ECOM_SOL_MODE_VERTICAL_GYRO	The Kalman filter only rely on a vertical reference to compute roll and pitch angles. Heading and navigation data drift freely.
SBG_ECOM_SOL_MODE_AHRS	A heading reference is available, the Kalman filter provides full orientation but navigation data drift freely.
SBG_ECOM_SOL_MODE_NAV_VELOCITY	The Kalman filter computes orientation and velocity. Position is freely integrated from velocity estimation.
SBG_ECOM_SOL_MODE_NAV_POSITION	Nominal mode, the Kalman filter computes all parameters (attitude, velocity, position). Absolute position is provided.

Function Documentation

◆ sbgEComLogEkfEulerGetMagneticHeading()

float sbgEComLogEkfEulerGetMagneticHeading ( const SbgEComLogEkfEuler * pEkfEuler )

Returns the magnetic heading from the true heading by applying the local declination.

Parameters

[in] pEkfEuler Log instance.

Returns: Magnetic heading [-pi;+pi] in radians.

◆ sbgEComLogEkfEulerReadFromStream()

SbgErrorCode sbgEComLogEkfEulerReadFromStream	(	SbgEComLogEkfEuler *	pLogData,
		SbgStreamBuffer *	pStreamBuffer )

Parse data for the SBG_ECOM_LOG_EKF_EULER message and fill the corresponding structure.

Parameters

[out]	pLogData	Log structure instance to fill.
[in]	pStreamBuffer	Input stream buffer to read the log from.

Returns: SBG_NO_ERROR if a valid log has been read from the stream buffer.

◆ sbgEComLogEkfEulerWriteToStream()

SbgErrorCode sbgEComLogEkfEulerWriteToStream	(	const SbgEComLogEkfEuler *	pLogData,
		SbgStreamBuffer *	pStreamBuffer )

Write data for the SBG_ECOM_LOG_EKF_EULER message to the output stream buffer from the provided structure.

Parameters

[in]	pLogData	Log structure instance to write.
[out]	pStreamBuffer	Output stream buffer to write the log to.

Returns: SBG_NO_ERROR if the log has been written to the stream buffer.

◆ sbgEComLogEkfQuatReadFromStream()

SbgErrorCode sbgEComLogEkfQuatReadFromStream	(	SbgEComLogEkfQuat *	pLogData,
		SbgStreamBuffer *	pStreamBuffer )

Parse data for the SBG_ECOM_LOG_EKF_QUAT message and fill the corresponding structure.

Parameters

[out]	pLogData	Log structure instance to fill.
[in]	pStreamBuffer	Input stream buffer to read the log from.

Returns: SBG_NO_ERROR if a valid log has been read from the stream buffer.

◆ sbgEComLogEkfQuatWriteToStream()

SbgErrorCode sbgEComLogEkfQuatWriteToStream	(	const SbgEComLogEkfQuat *	pLogData,
		SbgStreamBuffer *	pStreamBuffer )

Write data for the SBG_ECOM_LOG_EKF_QUAT message to the output stream buffer from the provided structure.

Parameters

[in]	pLogData	Log structure instance to write.
[out]	pStreamBuffer	Output stream buffer to write the log to.

Returns: SBG_NO_ERROR if the log has been written to the stream buffer.

◆ sbgEComLogEkfNavReadFromStream()

SbgErrorCode sbgEComLogEkfNavReadFromStream	(	SbgEComLogEkfNav *	pLogData,
		SbgStreamBuffer *	pStreamBuffer )

Parse data for the SBG_ECOM_LOG_EKF_NAV message and fill the corresponding structure.

Parameters

[out]	pLogData	Log structure instance to fill.
[in]	pStreamBuffer	Input stream buffer to read the log from.

Returns: SBG_NO_ERROR if a valid log has been read from the stream buffer.

◆ sbgEComLogEkfNavWriteToStream()

SbgErrorCode sbgEComLogEkfNavWriteToStream	(	const SbgEComLogEkfNav *	pLogData,
		SbgStreamBuffer *	pStreamBuffer )

Write data for the SBG_ECOM_LOG_EKF_NAV message to the output stream buffer from the provided structure.

Parameters

[in]	pLogData	Log structure instance to write.
[out]	pStreamBuffer	Output stream buffer to write the log to.

Returns: SBG_NO_ERROR if the log has been written to the stream buffer.

◆ sbgEComLogEkfVelBodyConstruct()

void sbgEComLogEkfVelBodyConstruct ( SbgEComLogEkfVelBody * pLogData )

Construct an empty / zero initialized instance.

Parameters

[in] pLogData Log instance.

◆ sbgEComLogEkfVelBodyReadFromStream()

SbgErrorCode sbgEComLogEkfVelBodyReadFromStream	(	SbgEComLogEkfVelBody *	pLogData,
		SbgStreamBuffer *	pStreamBuffer )

Read SBG_ECOM_LOG_EKF_VEL_BODY message from a stream buffer.

Parameters

[out]	pLogData	Log instance.
[in]	pStreamBuffer	Input stream buffer to read the log from.

Returns: SBG_NO_ERROR if a valid log has been read from the stream buffer.

◆ sbgEComLogEkfVelBodyWriteToStream()

SbgErrorCode sbgEComLogEkfVelBodyWriteToStream	(	const SbgEComLogEkfVelBody *	pLogData,
		SbgStreamBuffer *	pStreamBuffer )

Write SBG_ECOM_LOG_EKF_VEL_BODY message to a stream buffer.

Parameters

[in]	pLogData	Log instance.
[out]	pStreamBuffer	Output stream buffer to write the log to.

Returns: SBG_NO_ERROR if the log has been written to the stream buffer.

◆ sbgEComLogEkfAirDataConstruct()

void sbgEComLogEkfAirDataConstruct ( SbgEComLogEkfAirData * pLogData )

Construct an empty / zero initialized instance.

Parameters

[in] pLogData Log instance.

◆ sbgEComLogEkfAirDataReadFromStream()

SbgErrorCode sbgEComLogEkfAirDataReadFromStream	(	SbgEComLogEkfAirData *	pLogData,
		SbgStreamBuffer *	pStreamBuffer )

Parse data for the SBG_ECOM_LOG_EKF_AIR_DATA message and fill the corresponding structure.

Parameters

[out]	pLogData	Log structure instance to fill.
[in]	pStreamBuffer	Input stream buffer to read the log from.

Returns: SBG_NO_ERROR if a valid log has been read from the stream buffer.

◆ sbgEComLogEkfAirDataWriteToStream()

SbgErrorCode sbgEComLogEkfAirDataWriteToStream	(	const SbgEComLogEkfAirData *	pLogData,
		SbgStreamBuffer *	pStreamBuffer )

Write data for the SBG_ECOM_LOG_EKF_AIR_DATA message to the output stream buffer from the provided structure.

Parameters

[in]	pLogData	Log structure instance to write.
[out]	pStreamBuffer	Output stream buffer to write the log to.

Returns: SBG_NO_ERROR if the log has been written to the stream buffer.

◆ sbgEComLogEkfGetSolutionMode()

SbgEComSolutionMode sbgEComLogEkfGetSolutionMode ( uint32_t status )

Method used to read the solution mode from a solution status field.

Parameters

[in] status Status uint32_t value to extract the solution mode from it.

Returns: The extracted solution mode.

◆ sbgEComLogEkfBuildSolutionStatus()

uint32_t sbgEComLogEkfBuildSolutionStatus	(	SbgEComSolutionMode	solutionMode,
		uint32_t	masks )

Method used to write the solution status field.

Parameters

[in]	solutionMode	The solution mode to set.
[in]	masks	Bit mask to set.

Returns: The build solution status field.

Data Structures

Macros

Typedefs

Enumerations

Functions

Detailed Description

Macro Definition Documentation

◆ SBG_ECOM_SOL_ATTITUDE_VALID

◆ SBG_ECOM_SOL_HEADING_VALID

◆ SBG_ECOM_SOL_VELOCITY_VALID

◆ SBG_ECOM_SOL_POSITION_VALID

◆ SBG_ECOM_SOL_VERT_REF_USED

◆ SBG_ECOM_SOL_MAG_REF_USED

◆ SBG_ECOM_SOL_GPS1_VEL_USED

◆ SBG_ECOM_SOL_GPS1_POS_USED

◆ SBG_ECOM_SOL_VEL_CONSTRAINTS_USED

◆ SBG_ECOM_SOL_GPS1_HDT_USED

◆ SBG_ECOM_SOL_GPS2_VEL_USED

◆ SBG_ECOM_SOL_GPS2_POS_USED

◆ SBG_ECOM_SOL_GPS2_HDT_USED

◆ SBG_ECOM_SOL_ODO_USED

◆ SBG_ECOM_SOL_DVL_BT_USED

◆ SBG_ECOM_SOL_DVL_WT_USED

◆ SBG_ECOM_SOL_VEL1_USED

◆ SBG_ECOM_SOL_RESERVED_01

◆ SBG_ECOM_SOL_RESERVED_02

◆ SBG_ECOM_SOL_USBL_USED

◆ SBG_ECOM_SOL_AIRSPEED_USED

◆ SBG_ECOM_SOL_ZUPT_USED

◆ SBG_ECOM_SOL_ALIGN_VALID

◆ SBG_ECOM_SOL_VERTICAL_AIDING_USED

◆ SBG_ECOM_SOL_ZARU_USED

◆ SBG_ECOM_SOL_POS1_USED

Typedef Documentation

◆ SbgEComSolutionMode

◆ SbgEComLogEkfEuler

◆ SbgEComLogEkfQuat

◆ SbgEComLogEkfNav

◆ SbgEComLogEkfVelBody

◆ SbgEComLogEkfAirData

Enumeration Type Documentation

◆ _SbgEComSolutionMode

Function Documentation

◆ sbgEComLogEkfEulerGetMagneticHeading()

◆ sbgEComLogEkfEulerReadFromStream()

◆ sbgEComLogEkfEulerWriteToStream()

◆ sbgEComLogEkfQuatReadFromStream()

◆ sbgEComLogEkfQuatWriteToStream()

◆ sbgEComLogEkfNavReadFromStream()

◆ sbgEComLogEkfNavWriteToStream()

◆ sbgEComLogEkfVelBodyConstruct()

◆ sbgEComLogEkfVelBodyReadFromStream()

◆ sbgEComLogEkfVelBodyWriteToStream()

◆ sbgEComLogEkfAirDataConstruct()

◆ sbgEComLogEkfAirDataReadFromStream()

◆ sbgEComLogEkfAirDataWriteToStream()

◆ sbgEComLogEkfGetSolutionMode()

◆ sbgEComLogEkfBuildSolutionStatus()