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GNSS Satellite Constellations

The uINS supports onboard M8 and external (off-board) uBlox GNSS receivers. These receivers use multiple GNSS constellations in the global positioning solution.

The M8 receiver supports use of 3 concurrent constellations and the ZED-F9 receivers support 4 concurrent constellations (i.e. GPS, GLONASS, Galileo, and BeiDou).

Constellation Selection

The satellite constellations can be enabled or disabled by setting the corresponding enable bits in DID_FLASH_CONFIG.gnssSatSigConst as defined by eGnssSatSigConst in data_sets.h. The following are commonly used and recommended configuration groups. 

// 3 constellations is supported by uINS onboard M8 reciever.  
// (SBAS is not considered a constellation)
DID_FLASH_CONFIG.gnssSatSigConst = 0x133F   // GPS/QZSS, Galileo, GLONASS, SBAS
DID_FLASH_CONFIG.gnssSatSigConst = 0x10FF   // GPS/QZSS, Galileo, BeiDou, SBAS
DID_FLASH_CONFIG.gnssSatSigConst = 0x130F   // GPS/QZSS, GLONASS, SBAS

// 4 constellations is supported by ZED-F9 receiver (not uINS onboard M8 receiver).
DID_FLASH_CONFIG.gnssSatSigConst = 0x13FF   // GPS/QZSS, Galileo, GLONASS, BeiDou, SBAS