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Trimble/Applanix GSOF (Position) - 12


Driver to decode data from Trimble products using proprietary format GSOF (General Survey Output Format).

This includes most additional GSOF messages from Applanix AP+ units.


The following data can be decoded and stored from the different GSOF message types:

  • Positions
  • Headings
  • Motion (Roll, Pitch and Heave)
  • UTC Time
  • Angle and Speed vectors
  • Velocities, Accelerations and Rotations
  • Metadata (Status flags, Quality indicators, etc.)

Driver Information


Click to expand details...


Driver

Trimble/Applanix GSOF

Interface TypeSerial
UDP
TCP
Driver Class TypeCounted
UTC Driver (question)YesInput / OutputInputExecutable

DrvQPSCounted.exe
DrvQPSCountedUDP.exe
DrvQPSCountedTCP.exe

Related Systems

System Interfacing


Click to expand interfacing details...


Message Types

Note that this driver will only decode and use data from the following message types:

  • Standard GSOF message types: 1, 2, 8, 12, 16, 27, 37
  • AP+ specific message types: 49, 50, 63, 64, 65, 66, 67,  68

It does also depends on the template database system setup whether one of the enabled message types are used or not.

Use the manufacturer's GUI to enable the specific output messages needed and its update rate:

GUI Example

GUI Example

There is no use to enable any of the other message types for this driver, but feel free to contact QPS if you do need decoded information from one of the unsupported types.

Timing

  • When your template setup has a valid Time Synchronization System (PPS) defined then the driver will time-stamp the observations using the decoded time from standard GSOF message type 16 (Current Time UTC).
    Therefore make sure to enable message type 16:


    Important is to set the update rate to 1 Hz

  • When your template setup does not have a valid Time Synchronization System (PPS) defined and/or standard GSOF message type 16 hasn't been enabled then the time-of-arrival (at the I/O port) will be used for time-stamping the decoded observations.



Database Setup

It is important to use the same interfacing settings for all 'Trimble/Applanix GSOF' systems in your template setup.


Click here to expand setup details...


Position Navigation System


Add a Position Navigation System to your template setup and select driver:

"Trimble/Applanix GSOF (Position)" when using the serial I/O interface, or
"Network (UDP/TCP) - Trimble/Applanix GSOF (Position)" when using the network interface.

The latitude, longitude and height observation can be decoded from:

  • Standard GSOF message type 2 (LLH)
  • One of the AP+ specific message types:
    • 49 (Reference),
    • 63 (Vessel),
    • 65 (Sensor 1) or
    • 67 (Sensor 2)
      which needs to be selected on the second wizard page.

First Wizard Page


Example serial interface


Second Wizard Page

  • Location
    Select the correct antenna location that represents the position of the selected receiver number.
  • Receiver number
    Important setting to select from which message the latitude, longitude and height observations and qualities (root mean square) should be decoded:
    • REFERENCE
      Observations and qualities will be decoded from AP+ specific message type 49 and 50 (reference frame navigation solution and rms).
    • VESSEL
      Observations and qualities will be decoded from AP+ specific message type 63 and 64 (vessel frame navigation solution and rms).
    • SENSOR1
      Observations and qualities will be decoded from AP+ specific message type 65 and 66 (sensor 1 frame navigation solution and rms).
    • SENSOR2
      Observations and qualities will be decoded from AP+ specific message type 67 and 68 (sensor 2 frame navigation solution and rms).
    • 02
      Observations and qualities will be decoded from general GSOF message type 2 and 12 (position llh and sigma).
  • Horizontal / Vertical Datum
    Select the correct horizontal datum that is applicable for the latitude and longitude fields.
    Select the correct vertical datum that is applicable for the accompanying height field.
    Both datums are always assumed to be on WGS84

The update rate of GSOF messages are configurable inside the manufacturer's gui and can be higher than 10 Hz for most messages.

For accurate positioning inside Qinsy a higher update rate is not necessary for the position specific messages and may even degrade performance, slowing down computations, increasing recorded database file sizes, etc.
By default the driver will limit the update rate of the positions to 10 Hz.
An advanced user may change this default limitation of max 10 Hz incoming positions by altering the value of the following registry key while offline:

Serial driver:
HKEY_CURRENT_USER\Software\QPS\QINSy\8.0\Drivers\DrvQPSCounted\Settings\GSOF MaxPosUpdateRate [Hz]

Network driver:
HKEY_CURRENT_USER\Software\QPS\QINSy\8.0\Drivers\DrvQPSCountedUDP\Settings\GSOF MaxPosUpdateRate [Hz]
HKEY_CURRENT_USER\Software\QPS\QINSy\8.0\Drivers\DrvQPSCountedTCP\Settings\GSOF MaxPosUpdateRate [Hz]

Entering a value of 0 (zero) means all incoming positions will be decoded.

The default limitation only counts for positions, all other observations (roll, pitch, heading, velocities, etc) are decoded without any restrictions.

Gyro Compass System


Add a Gyro Compass System to your template setup and select driver:

"Trimble/Applanix GSOF (Heading)" when using the serial I/O interface, or
"Network (UDP/TCP) - Trimble/Applanix GSOF (Heading)" when using the network interface.

The heading observation can be decoded from

  • Standard GSOF message type 8 (Velocity), type 27 (Attitude)
  • One of the AP+ specific message types:
    • 49 (Reference),
    • 63 (Vessel),
    • 65 (Sensor 1) or
    • 67 (Sensor 2).
      This source needs to be selected on the second wizard page.

First Wizard Page


Example UDP network interface


Second Wizard Page

  • Unit must be 'Degrees'.
    (Note that for some message types the heading is published using radians but here you always need to select degrees)
  • Slot number 1
    Important setting to select from which message the heading observation should be decoded:
    • REFERENCE
      Heading and quality (rms) will be decoded from AP+ specific message type 49 and 50 (reference frame navigation solution and rms).
    • VESSEL
      Heading and quality (rms) will be decoded from AP+ specific message type 63 and 64 (vessel frame navigation solution and rms).
    • SENSOR1
      Heading and quality (rms) will be decoded from AP+ specific message type 65 and 66 (sensor 1 frame navigation solution and rms).
    • SENSOR2
      Heading and quality (rms) will be decoded from AP+ specific message type 67 and 68 (sensor 2 frame navigation solution and rms).
    • 08
      Heading and quality (velocity flag) will be decoded from general GSOF message type 8 (Velocity).
      The heading computation for the Velocity (type 8) message is derived from consecutive positions.
    • 27
      Heading (Yaw) and quality (variance) will be decoded from general GSOF message type 27 (Attitude)
      The heading computation for the Attitude (type 27) message is computed from the moving baseline vector and requires a two-antenna system.

Pitch Roll Heave Sensor


Add a Pitch Roll Heave Sensor to your template setup and select driver:

"Trimble/Applanix GSOF (Roll Pitch Heave)" when using the serial I/O interface, or
"Network (UDP/TCP) - Trimble/Applanix GSOF (Roll Pitch Heave)" when using the network interface.

The motion observations can be decoded from:

  • Standard GSOF message type 27 (Attitude)
  • One of the AP+ specific message types:
    • 49 (Reference),
    • 63 (Vessel),
    • 65 (Sensor 1) or
    • 67 (Sensor 2). 
      This source needs to be selected on the second wizard page.


Note that a heave observation is not available in standard GSOF message 27 (Attitude) or AP+ specific message 49 (Reference Frame).

A heave value is only available in  AP+ specific message type 63 (Vessel), 65 (Sensor 1) or 67 (Sensor 2).

First Wizard Page


Example TCP network interface


Second Wizard Page

  • Select the correct Node location.
    This will be the node location that represent the frame for the selected Slot.
  • Slot
    Important setting to select from which message the motion observations and qualities (rms or variance) should be decoded:
    • REFERENCE
      Roll and pitch will be decoded from AP+ specific message type 49 and 50 (reference frame navigation solution and rms).
    • VESSEL
      Roll, pitch and heave will be decoded from AP+ specific message type 63 and 64 (vessel frame navigation solution and rms).
    • SENSOR1
      Roll, pitch and heave will be decoded from AP+ specific message type 65 and 66 (sensor 1 frame navigation solution and rms).
    • SENSOR2
      Roll, pitch and heave will be decoded from AP+ specific message type 67 and 68 (sensor 2 frame navigation solution and rms).
    • 27
      Roll and pitch will be decoded from general GSOF message type 27 (attitude).
  • Sign Conventions
    Make sure to use to following (Applanix) sign conventions:

    • Roll: Positive heeling to starboard

    • Pitch: Positive bow up

    • Heave: Positive downwards
    • Rotation Measurement Type: HPR (roll first)

Third Wizard Page

  • You may leave all parameters at their defaults

Time Synchronization System


Add a Time Synchronization System to your template setup and select driver:

"Trimble/Applanix GSOF (Current Time #16)" when using the serial I/O interface, or
"Network (UDP/TCP) - Trimble/Applanix GSOF (Current Time #16)" when using the network interface.

Time will be decoded from:

  • Standard GSOF message type 16 (Current Time UTC)

First Wizard Page


Example serial interface


Second Wizard Page


Note that the Time tag (GSOF message type 16) is always coming shortly after the PPS pulse (5-20 ms), therefore you may leave the Time tag - Pulse matching set to 'Automatic Matching'.

Notes

  1. Make sure to enable message type 16; the current UTC time will be decoded from this message:

    Important is to set the update rate to 1 Hz.
  2. This type 16 message contains a value for the GPS week number, the GPS week seconds and a GPS to UTC offset value (aka leap-second).
  3. The message will also contain two status indicators: the first one indicates if the time is valid and the second one indicates if the reported GPS to UTC offset is valid.
  4. Qinsy will only accept and use the decoded time when the first status indicator is okay.
  5. The driver converts the GPS time to UTC time and for this it will  use the GPS to UTC offset but only when the second indicator is okay.
    If this second status indicator is not okay then the UTC to GPS correction from the template database setup will be used.
  6. Use a Time Synchronization Display to monitor this system while being online.
    For easy monitoring you can see the decoded values formatted as a text string in the status column of this display.

Speed Log


Add a Speed Log to your template setup and select driver:

"Trimble/Applanix GSOF (Angle & Speed)" when using the serial I/O interface, or
"Network (UDP/TCP) - Trimble/Applanix GSOF (Angle & Speed)" when using the network interface.

Speed log observations will be decoded from:

  • standard GSOF message type 8 (Velocity)
  • one of the AP+ specific message types (49, 63, 65, 67)

These observations can be used to enhance the results of the kalman filter in the Qinsy computation setup

First Wizard Page


Example serial interface


Second Wizard Page

  • Add the required observation types that you want and select for each one the location that represent the frame for the selected Slot 1.
    Note that from the listed observation types only the Angle, Speed and Vertical Speed types are supported, the Bearing (True) type observation is not supported.


You may change the default name for each observation as long as it doesn't exceed 16 characters.

  • Important is to select for each observation the Slot 1 Id which defines from which GSOF message the observations will be decoded:
    • REFERENCE
      Total Speed, Down Velocity and Track Angle and qualities (rms) will be decoded from AP+ specific message type 49 and 50 (reference frame navigation solution and rms).
    • VESSEL
      Total Speed, Down Velocity and Track Angle and qualities (rms) will be decoded from AP+ specific message type 63 and 64 (vessel frame navigation solution and rms).
    • SENSOR1
      Total Speed, Down Velocity and Track Angle and qualities (rms) will be decoded from AP+ specific message type 65 and 66 (sensor 1 frame navigation solution and rms).
    • SENSOR2
      Total Speed, Down Velocity and Track Angle and qualities (rms) will be decoded from AP+ specific message type 67 and 68 (sensor 2 frame navigation solution and rms).
    • 08
      Horizontal speed and vertical velocity and quality (velocity flag) will be decoded from general GSOF message type 8 (Velocity).
      This message does not contain a (relative) track angle, only speed.


When continuing to the next wizard page just select [ Yes ] when this message-box  pops up.

Third Wizard Page

  • On this last wizard setup page you can also change the default name of each observation (as long as it doesn't exceed 16 characters). You may leave all parameters at their defaults.
  • Speed units must be 'Meters / Second'
  • Angle unit must be 'Degrees'

Acceleration Velocity Sensor


Add an Acceleration Velocity Sensor to your template setup and select driver:

"Trimble/Applanix GSOF (Velo, Acc, RoT)" when using the serial I/O interface, or
"Network (UDP/TCP) - Trimble/Applanix GSOF (Velo, Acc, RoT)" when using the network interface.

Velocity, acceleration and rotation observations will be decoded from:

  • one of the AP+ specific message types (49, 63, 65, 67).

First Wizard Page


Example of UDP network interface


Second Wizard Page

  • Add the required observation types that you want and select for each one the location that represent the frame for the selected Slot 1.
    You may change the default name for each observation as long as it doesn't exceed 16 characters.


Note that from the listed observation types the types Velocity (X/Y/Z) are not supported so adding these three has no use.

  • Important is to select for each observation the Slot 1 Id which defines from which GSOF message the observations will be decoded:
    • REFERENCE
      Observations and qualities will be decoded from AP+ specific message type 49 and 50 (reference frame navigation solution and rms).
    • VESSEL
      Observations and qualities will be decoded from AP+ specific message type 63 and 64 (vessel frame navigation solution and rms).
    • SENSOR1
      Observations and qualities will be decoded from AP+ specific message type 65 and 66 (sensor 1 frame navigation solution and rms).
    • SENSOR2
      Observations and qualities will be decoded from AP+ specific message type 67 and 68 (sensor 2 frame navigation solution and rms).


When continuing to the next wizard page please select [Yes] when this message-box  pops up.

Third Wizard Page

  • On this last wizard setup page you can also change the default name of each observation (as long as it doesn't exceed 16 characters). You may leave all parameters at their defaults.
  • Speed units must be 'Meters / Second'
  • Acceleration units must be 'Meters / Second^2'
  • Rate-of-Turn units must be 'Degrees / Second'

Notes

Adding velocity, acceleration and rotation observations can be useful for analyzing purposes e.g. by monitoring their values in real-time using an Observation Physics Display or graphically using a Timeplot Display.

However these type of observations will not be used by Qinsy to enhance the computation results.

If you need to enhance the result from a possible kalman filter in your computation setup then you should use the angle and speed observations from the Speed Log system setup.

Miscellaneous System



Add a Miscellaneous System to your template setup and select driver:

"Trimble/Applanix GSOF (Metadata)" when using the serial I/O interface, or
"Network (UDP/TCP) - Trimble/Applanix GSOF (Metadata)" when using the network interface.

Generic observations will be decoded from:

  • the header of any AP+ specific message type 
  • and/or from standard GSOF message type 1 or 37.

First Wizard Page


Example of TCP network interface


Second Wizard Page

  • Here you can add up to nine generic observations that you may want to monitor.
    Each generic observation needs a unique Slot Id so the driver knows which field to decode.
    It is highly recommended to use the drop-down selection for the correct Slot Id:

 

More convenient may be to use the checkbox to add all observations at once.

Of course you can change the default name for each observation as long as it doesn't exceed 16 characters.

Find below a table with all possible Slot IDs:


Slot 1 IDObservationGSOF Message
BATTERY

Remaining battery capacity in percentage

37 (Battery/Memory info)
GNSS_QUALGNSS Quality Indicator:

0: Fix Not Available
1: GNSS SPS Mode
2: Differential GPS SPS
3: GNSS PPS Mode
4: Fixed RTK Mode
5: Float RTK
6: DR Mode

From any AP+ specific message header
HOURS_LEFT

Estimated remaining data logging time in hours

37 (Battery/Memory info)
INIT_COUNT

Initialization counter (Increments with each initialization, modulo 256)

1
INS_QUAL

INS Quality indicator:

0: GPS Only
1: Coarse leveling
2: Degraded
3: Aligned
4: Full Navigation

From any AP+ specific message header
NR_SVNr of satellites used to determine the position

1 (Position Time)

POS_FLAG1

Flag representing first set of position attribute values:

Bit 0: New position (0: No, 1: Yes)
Bit 1: Clock fix calculated for current position (0: No, 1: Yes)
Bit 2: Horizontal coordinates calculated this position (0: No, 1: Yes)
Bit 3: Height calculated this position (0: No, 1: Yes)
Bit 4: Reserved (Always 1)
Bit 5: Least squares position (0: No, 1: Yes)
Bit 6: Reserved (Always 0)
Bit 7: Position uses filtered L1 pseudo ranges (0: No, 1: Yes)

1 (Position Time)
POS_FLAG2

Flag representing second set of position attribute values:

Bit 0: Differential position (0: Differential position is an autonomous or a WAAS solution, 1: Position is a differential solution)
Bit 1: Differential position method (0: Code, 1: Phase including RTK, HP or XP OmniSTAR, VBS is not derived from Phase)
Bit 2: Differential position method (0: Code (DGPS) or a float position (RTK). Uncorrected position is Autonomous if bit 0 = 0, 1: Position is fixed integer phase position (RTK). Uncorrected position is WAAS if bit 0 = 0)
Bit 3: OmniSTAR solution (0: Not active, 1: OmniSTAR differential solution, including HP, XP, and VBS)
Bit 4: Position determined with static as a constraint (0: No, 1: Yes)
Bit 5: Position is network RTK solution (0: No, 1: Yes)
Bit 6: Position is Location RTK (0: No, 1: Yes)
Bit 7: Position is Beacon DGPS (0: No, 1: Yes)

1 (Position Time)
RCV_STATUS

Flag representing Receiver Status Code:

Bit 0: Reserved
Bit 1: Low battery at base station (1)
Bit 2: Reserved
Bit 3: Kinematic state is 'Roving' (1) or 'static' (0)
Bit 4-7: Reserved

From any General Packet Header (GENOUT)

Note that the Slot ID is case-sensitive.

Third Wizard Page

  • Here you can also change the default name of each observation as long as it doesn't exceed 16 characters.
  • You may leave all parameters at their defaults.

Online

The driver has no user-interface so you need to set up several displays to see if data is received, decoded and what the computed results are.


Click here for some examples of useful displays to use with your project...


Alert Display

Always useful as a starter to see if data is coming in at the I/O port or not.

Observation Physics Display

An observation physics display is useful to see if data is coming in, at what update rate and how the values are decoded.

Timeplot Display

A timeplot display is useful to monitor the observations graphically in time with min/max/mean statistics.

Generic Display

A generic display is particular useful to show the meaning of the several status indicators from the meta data observations (GNSS Quality, INS Quality, Receiver Status, Nr of SV's)

You may use the attached GSOF.xml file as example for getting all the information from the meta data observations .

Copy the layout (Use right-mouse 'Save Link As...') to your current Project's Settings\Display folder and open it using a new Generic Display.
Please note that Save as will not work when you are viewing this document offline through the Qinsy Console; it is only accessible via the QPS website.

After downloading you only need to select the correct miscellaneous system and generic observation as defined in your template setup:

The background picture in this generic display example is not embedded but feel free to browse for your own one 😉

Time Synchronization Display

A time synchronization display is mandatory to verify the accurate timing of all observations using the current UTC time from the unit.

The display will be automatically present when you have added a Time Synchronization System (aka PPS) to your template setup

For this you should have enabled standard GSOF message type 16 (Current Time UTC) with an update rate set to 1 Hz, as explained in the System Interfacing paragraph:

The binary message type 16 contains the GPS week number, the GPS week seconds and a GPS to UTC offset value (aka leap-second).
The values will be decoded by the driver and for easy monitoring also formatted as a text string in the status column of the Time Synchronization display:

[#16 wk nnnn, sec ssssss.ss, leap nn sec, flags nn, hh:mm:ss.s UTC]

In the examples above you'll see for the flags value: '11': the first 1 means that the time is valid and therefore accepted by the driver and the second 1 means that the UTC offset value (leap 18) is valid and therefore also accepted by the driver in order to convert GPS time to UTC.











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