How to Use These Tables

These tables map proprietary log messages from four major GNSS receiver manufacturers to their closest functional equivalent in the Hemisphere GNSS ecosystem. Each table is organized by general function (position, velocity, observations, etc.) so you can quickly identify which Hemisphere message carries the same type of data in the same fields.

Matching criteria used:

  • Same data content in the same fields (position, velocity, time, observations, etc.)
  • Same general function (PVT solution, raw measurements, satellite status, etc.) — see Signal Processing & Receiver Design for how these measurements are generated
  • Protocol type (binary vs. ASCII) noted where relevant

Only proprietary logs are included. Standard NMEA sentences (GGA, RMC, GSV, etc.) are not covered here since they are already cross-compatible across all manufacturers.

Important: Hemisphere GNSS receivers output proprietary binary logs identified as BINxx messages. These logs are not standardized across vendors and should not be assumed equivalent to NovAtel, Trimble, Septentrio, or u-blox log IDs that happen to share similar numbering. The mappings below are based on functional equivalency (same data content and purpose), not protocol-level compatibility. Always consult the official Hemisphere Technical Reference Manual for exact message structure, field ordering, and scaling.

Tip: Hemisphere binary messages use the prefix Bin followed by a number. Hemisphere ASCII commands use the prefix $J. Some Hemisphere messages are query/command hybrids — they both configure output and return data.

NovAtel OEM7 → Hemisphere GNSS

NovAtel OEM7 receivers output proprietary logs in ASCII, abbreviated ASCII, and binary formats. The table below maps the most commonly used OEM7 logs to their Hemisphere GNSS equivalents.

Position & Velocity

NovAtel OEM7 Log Function Hemisphere Equivalent Notes
BESTPOS Best available position (LLH) Bin1 (Navigation solution) Both output lat, lon, height, solution status, and quality indicators
BESTXYZ Best position in ECEF Bin1 (Navigation solution) Bin1 includes ECEF fields; NovAtel separates LLH and ECEF into distinct logs
BESTVEL Best available velocity (ground speed + direction) Bin1 (Navigation solution) Bin1 bundles velocity with position; NovAtel uses separate log
RTKPOS RTK-specific position solution Bin1 (Navigation solution) Bin1 reports the current best position regardless of solution type; solution status field differentiates RTK vs. standalone
RTKVEL RTK velocity solution Bin1 (Navigation solution) Velocity fields in Bin1
PSRPOS Pseudorange-only position Bin1 (Navigation solution) Bin1 with autonomous solution status
BESTGNSSPOS Best GNSS-only position (no INS) Bin1 (Navigation solution) Hemisphere equivalent when no INS is present

Attitude & Heading

NovAtel OEM7 Log Function Hemisphere Equivalent Notes
HEADING2 Dual-antenna heading solution $JATT / Bin95 (Raw measurement data) $JATT outputs heading, pitch, roll; Bin95 provides binary attitude data
DUALANTENNAHEADING Heading from dual-antenna baseline $JATT Both report heading angle and baseline length

Time

NovAtel OEM7 Log Function Hemisphere Equivalent Notes
TIME UTC time and GPS week/seconds Bin1 (Navigation solution) Time fields embedded in Bin1 position message
TIMEB Binary time synchronization Bin1 (Navigation solution) GPS week and milliseconds available in Bin1
CLOCKMODEL Receiver clock offset and drift Bin1 (Navigation solution) Clock bias fields in Bin1

DOP & Quality

NovAtel OEM7 Log Function Hemisphere Equivalent Notes
PSRDOP Pseudorange DOP values (GDOP, PDOP, HDOP, VDOP) Bin2 (Navigation solution variant) Bin2 provides GPS DOP values
BESTSAT Satellites used in best solution Bin99 (Satellite SNR / tracking) Bin99 provides satellite diagnostics and tracking info

Raw Observations

NovAtel OEM7 Log Function Hemisphere Equivalent Notes
RANGE Code and carrier phase measurements per channel Bin76 (GPS) / Bin66 (GLONASS) / Bin36 (BeiDou) Hemisphere splits observations by constellation; NovAtel combines all in one log
RANGECMP Compressed range measurements Bin96 (Ephemeris data) Bin96 provides compressed code and carrier phase
RAWEPHEM GPS broadcast ephemeris Bin95 (Raw measurement data) Satellite ephemeris data
GLOEPHEMERIS GLONASS ephemeris Bin65 GLONASS-specific ephemeris

Receiver Status

NovAtel OEM7 Log Function Hemisphere Equivalent Notes
RXSTATUS Receiver error and status flags $JSHOW $JSHOW returns receiver configuration and status
VERSION Firmware and hardware version info $JSHOW,VER Version query command
SATVIS Satellite visibility and signal levels Bin99 (Satellite SNR / tracking) Bin99 includes signal tracking diagnostics

Trimble GSOF → Hemisphere GNSS

Trimble receivers use the GSOF (General Serial Output Format) for proprietary binary output. Each GSOF message is identified by a numeric type ID. The table below maps commonly used GSOF messages to their Hemisphere equivalents.

Position & Velocity

Trimble GSOF Message Function Hemisphere Equivalent Notes
GSOF #1 — Position Time (UTC) UTC time of position Bin1 (Navigation solution) Time fields in Bin1
GSOF #2 — LLH Position Latitude, longitude, height Bin1 (Navigation solution) Both output geodetic position with quality
GSOF #3 — ECEF Position Position in ECEF coordinates Bin1 (Navigation solution) ECEF fields available in Bin1
GSOF #4 — Local Datum Position Position in local datum Bin1 (Navigation solution) Bin1 outputs WGS84; datum transforms applied externally
GSOF #8 — Velocity Velocity (horizontal speed, heading, vertical speed) Bin1 (Navigation solution) Velocity fields in Bin1
GSOF #9 — PDOP Info PDOP, HDOP, VDOP, TDOP Bin2 (Navigation solution variant) Both provide full DOP breakdown

Accuracy & Covariance

Trimble GSOF Message Function Hemisphere Equivalent Notes
GSOF #6 — ECEF Position Sigma Position accuracy in ECEF Bin1 (Navigation solution) Bin1 includes position RMS fields
GSOF #7 — Position Sigma (LLH) Position accuracy in lat/lon/height Bin1 (Navigation solution) RMS accuracy fields in Bin1
GSOF #12 — Position Time (UTC) Time information Bin1 (Navigation solution) Time embedded in Bin1

Attitude

Trimble GSOF Message Function Hemisphere Equivalent Notes
GSOF #27 — Attitude (Heading, Pitch, Roll) Dual-antenna attitude $JATT / Bin95 (Raw measurement data) Both report heading, pitch, roll from GNSS baselines

Satellite Info

Trimble GSOF Message Function Hemisphere Equivalent Notes
GSOF #26 — SV Brief Info Satellite count, PRN, elevation, azimuth Bin99 (Satellite SNR / tracking) Bin99 provides per-satellite tracking diagnostics
GSOF #34 — All SV Detailed Info Detailed per-SV tracking info (SNR, elevation, azimuth, status) Bin99 (Satellite SNR / tracking) Bin99 satellite diagnostic message

Raw Observations

Trimble GSOF Message Function Hemisphere Equivalent Notes
GSOF #16 — Current Time (UTC) Precise receiver time Bin1 (Navigation solution) Time in Bin1
GSOF #41 — Base Position and Quality Reference station position and quality $JRTK,5 Query base station coordinates via $JRTK

Receiver Info

Trimble GSOF Message Function Hemisphere Equivalent Notes
GSOF #15 — Receiver Serial Number Receiver serial number and info $JSHOW,VER Version and serial info
GSOF #10 — Position Type Solution type (autonomous, DGPS, RTK, etc.) Bin1 (Navigation solution) Solution status field in Bin1

Septentrio SBF → Hemisphere GNSS

Septentrio receivers use the SBF (Septentrio Binary Format) for proprietary data output. Each SBF block is identified by name and block number. The table below maps key SBF blocks to Hemisphere equivalents.

Position, Velocity & Time

Septentrio SBF Block Function Hemisphere Equivalent Notes
PVTGeodetic Position, velocity, time in geodetic (LLH) Bin1 (Navigation solution) Both provide lat, lon, height, velocity, time, and solution quality
PVTCartesian PVT in ECEF coordinates Bin1 (Navigation solution) Bin1 includes ECEF coordinate fields
PosCovGeodetic Position covariance in geodetic frame Bin1 (Navigation solution) RMS accuracy fields in Bin1; Septentrio provides full covariance matrix
PosCovCartesian Position covariance in ECEF Bin1 (Navigation solution) Covariance detail more granular in SBF
VelCovGeodetic Velocity covariance in geodetic frame Bin1 (Navigation solution) Velocity accuracy in Bin1
VelCovCartesian Velocity covariance in ECEF Bin1 (Navigation solution) Velocity accuracy in Bin1
BaseVectorGeod Baseline vector to base station (geodetic) $JRTK,1 $JRTK returns baseline information
BaseVectorCart Baseline vector in ECEF $JRTK,1 Baseline vector data

DOP & Quality

Septentrio SBF Block Function Hemisphere Equivalent Notes
DOP Dilution of precision (GDOP, PDOP, HDOP, VDOP, TDOP) Bin2 (Navigation solution variant) Both provide full DOP suite
EndOfPVT Marks end of PVT epoch — No direct Hemisphere equivalent; Hemisphere uses single-message output
QualityInd Signal quality indicators per constellation Bin99 (Satellite SNR / tracking) Bin99 includes per-satellite quality metrics

Attitude

Septentrio SBF Block Function Hemisphere Equivalent Notes
AttEuler Heading, pitch, roll from dual-antenna $JATT / Bin95 (Raw measurement data) Both report Euler angles from GNSS baselines
AttCovEuler Attitude covariance matrix $JATT $JATT includes accuracy estimates; SBF provides full covariance

Raw Observations

Septentrio SBF Block Function Hemisphere Equivalent Notes
MeasEpoch Raw code and carrier phase measurements (all constellations) Bin76 (GPS) / Bin66 (GLONASS) / Bin36 (BeiDou) Hemisphere splits by constellation; Septentrio combines all in one block
GenMeasEpoch Generalized measurement epoch Bin76 / Bin66 / Bin36 Multi-constellation observation data
GPSNav GPS navigation message (ephemeris) Bin95 (Raw measurement data) GPS ephemeris
GLONav GLONASS navigation message Bin65 GLONASS ephemeris
GALNav Galileo navigation message — No direct Hemisphere equivalent for Galileo-specific ephemeris on older firmware

Satellite Tracking

Septentrio SBF Block Function Hemisphere Equivalent Notes
ChannelStatus Per-channel tracking status (PRN, SNR, elevation, azimuth, lock) Bin99 (Satellite SNR / tracking) Bin99 provides per-satellite diagnostics
ReceiverStatus Receiver status and error flags $JSHOW Receiver configuration and status
ReceiverSetup Receiver configuration details $JSHOW Hardware and firmware info

u-blox UBX → Hemisphere GNSS

u-blox receivers use the UBX binary protocol with class/ID pairs. The table below maps key UBX messages to Hemisphere equivalents.

Position, Velocity & Time

u-blox UBX Message Function Hemisphere Equivalent Notes
NAV-PVT (0x01 0x07) Position, velocity, time solution (combined) Bin1 (Navigation solution) Both are single-message PVT solutions with status, accuracy, and fix type
NAV-POSLLH (0x01 0x02) Geodetic position (lat, lon, height) Bin1 (Navigation solution) Position fields in Bin1
NAV-POSECEF (0x01 0x01) Position in ECEF Bin1 (Navigation solution) ECEF fields in Bin1
NAV-HPPOSLLH (0x01 0x14) High-precision geodetic position Bin1 (Navigation solution) Bin1 with RTK/PPP solution provides equivalent precision
NAV-HPPOSECEF (0x01 0x13) High-precision ECEF position Bin1 (Navigation solution) High-precision ECEF in Bin1
NAV-VELNED (0x01 0x12) Velocity in NED frame Bin1 (Navigation solution) Velocity fields in Bin1
NAV-VELECEF (0x01 0x11) Velocity in ECEF Bin1 (Navigation solution) ECEF velocity in Bin1
NAV-TIMEGPS (0x01 0x20) GPS time solution Bin1 (Navigation solution) GPS week and TOW in Bin1
NAV-TIMEUTC (0x01 0x21) UTC time solution Bin1 (Navigation solution) UTC time fields in Bin1
NAV-CLOCK (0x01 0x22) Receiver clock bias and drift Bin1 (Navigation solution) Clock offset fields in Bin1

DOP & Fix Quality

u-blox UBX Message Function Hemisphere Equivalent Notes
NAV-DOP (0x01 0x04) Dilution of precision values Bin2 (Navigation solution variant) Both provide GDOP, PDOP, HDOP, VDOP, TDOP
NAV-STATUS (0x01 0x03) Navigation fix status and flags Bin1 (Navigation solution) Solution status field in Bin1
NAV-COV (0x01 0x36) Position and velocity covariance Bin1 (Navigation solution) RMS fields in Bin1; u-blox provides full matrix
NAV-EELL (0x01 0x3d) Position error ellipse parameters Bin1 (Navigation solution) Position RMS in Bin1

Satellite Info

u-blox UBX Message Function Hemisphere Equivalent Notes
NAV-SAT (0x01 0x35) Per-satellite info (elevation, azimuth, SNR, flags) Bin99 (Satellite SNR / tracking) Bin99 provides per-satellite diagnostics
NAV-SIG (0x01 0x43) Per-signal info (signal type, quality, corrections) Bin99 (Satellite SNR / tracking) Signal-level detail in Bin99
NAV-ORB (0x01 0x34) Satellite orbit and ephemeris status Bin99 (Satellite SNR / tracking) Orbit status in diagnostic message

Raw Observations

u-blox UBX Message Function Hemisphere Equivalent Notes
RXM-RAWX (0x02 0x15) Raw code and carrier phase measurements (all constellations) Bin76 (GPS) / Bin66 (GLONASS) / Bin36 (BeiDou) Hemisphere splits by constellation; u-blox combines all in RXM-RAWX
RXM-SFRBX (0x02 0x13) Raw subframe / navigation data Bin95 (Raw measurement data) Broadcast ephemeris data
RXM-MEASX (0x02 0x14) Satellite measurements for positioning Bin76 / Bin66 / Bin36 Observation data

Receiver Status

u-blox UBX Message Function Hemisphere Equivalent Notes
MON-VER (0x0A 0x04) Firmware and hardware version $JSHOW,VER Version query
MON-HW (0x0A 0x09) Hardware status (antenna, jamming, noise) $JSHOW Hardware diagnostics
MON-RF (0x0A 0x38) RF signal information and jamming indicator $JSHOW RF status

Heading (Dual-Receiver / Moving Base)

u-blox UBX Message Function Hemisphere Equivalent Notes
NAV-RELPOSNED (0x01 0x3C) Relative position (baseline) for heading $JATT / Bin95 (Raw measurement data) Baseline heading and relative position
NAV-ATT (0x01 0x05) Vehicle attitude (heading, pitch, roll) — F9R only $JATT Both output Euler angles

Notes on Equivalency

One-to-Many vs. Many-to-One

Hemisphere's Bin1 (Navigation solution) message is a comprehensive PVT (Position-Velocity-Time) packet that combines data which other manufacturers split across multiple logs. When migrating from NovAtel, Trimble, Septentrio, or u-blox to Hemisphere, you will often find that several source logs map to a single Bin1 message.

Constellation-Specific Observations

Hemisphere splits raw observation data by constellation:

  • Bin76 — GPS observations
  • Bin66 — GLONASS observations
  • Bin36 — BeiDou observations
  • Bin16 — All constellation code and phase data (combined)

Other manufacturers (NovAtel RANGE, Septentrio MeasEpoch, u-blox RXM-RAWX) combine all constellations into a single message.

Accuracy of Mapping

These mappings identify the closest functional equivalent — the Hemisphere message that contains the same category of data (position, velocity, DOP, raw measurements, etc.) in analogous fields. However, field ordering, scaling, coordinate frames, and message structure will differ. Always consult the official technical reference manuals when implementing a parser or data pipeline: