gps-wizard

VKX - Vakaros VKX Telemetry Log

0x02 - Position, Velocity, and Orientation

This is the VKX binary format used by Vakaros devices.

UBX Name	Raw Name	Type	Name	Type	Units	Resolution
UTC Time 1	utc_time	<u8	ts	float64	s	1 x 10-3
Latitude	latitude	<i4	lat	float64	deg	1 x 10-7
Longitude	longitude	<i4	lon	float64	deg	1 x 10-7
Speed 2	speed	<f4	sog	float32	m/s	1 x 10-4
Course	course	<f4	cog	float32	deg	1 x 10-1
Altitude 3	altitude	<f4	-	float32	-	-
Quaternion (w)	quaternion_w	<f4	-	float32	-	-
Quaternion (x)	quaternion_x	<f4	-	float32	-	-
Quaternion (y)	quaternion_y	<f4	-	float32	-	-
Quaternion (z)	quaternion_z	<f4	-	float32	-	-

Notes:

1. Timestamps are not nicely aligned (e.g. multiples of 100 ms), so may not be from the GNSS receiver?
2. Speed is provided in m/s, but when converted to knots the precision is 1 decimal place.
3. Altitudes in the test file make no sense, perhaps two 16-bit floats?

IMPORTANT

The VKX format has been designed in such that future changes may break existing readers. The different message types all have a fixed size, but there is no way to know the size of new messages types.

The Python code in GPS Wizard will simply abort the load, should it encounter an unrecognised message type. The VKX message types that are recognised by GPS Wizard are listed in a Google Sheet.

TODO

Resolve the issue relating to altitude, logged on Github.

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