I am trying to use the XYZ coordinates for my project but need some clarification;

the output of the Emlid looks like this;

Date YMD; Time UTC; X; Y; Z; Q; NS; Sdn; Sde; Sdu; Sdne; Sdeu; Sdun; Age; Ratio;

2020/12/22 04:09:21.000 -1428457.0271 -3517077.7930 5109034.7497 5 13 0.4026 0.2311 0.9605 0.0000 0.0000 0.0000 0.00 0.0 (END = HEX 0x0A)

What these Sigma are? Why are they relevant?

SDN?

SDE?

SDU?

SDNE?

SDEU?

SDUN?

I need to find a way to create messages including

message 1

Xvelocity?are these in the Emlid output?

YVelocity?

ZVelocity?

Bias Rate in m/s? I am guessing i will calculate this.

Time of fix GPS seconds (will have to back calculate this)

message 2

X position, in emlid output

Y position, in emlid output

X position, in emlid output

clock bias in meters? Guessing i will need to calculate of fudge this number.

Time of fix in seconds (will need to back calculate)

message 3 Sigma info

time of fix (back calculate)

rms, in emlid output "Ratio Factor?

sigma east? sde or sdeu?

sigma north?

covariance E-N? Calculate or guess

Sigma Up?

Semi major axis m? Calculate or Guess

Semi minor axis m? Calculate or Guess

orientation radians from true north? Calculate or Guess

Yes i have read the RTK lib manual, and yes it does not explain anything other than XYZ position only in the output on page 102. And Yes I have googled and searched this subject both on the web and this site.

I am on the fence if it will be easier to use xyz, llh or nmea, either way i will have to back calculate some, spoof others, and guess and check a few. I just need to find which format is the most complete.

But I really need to know the fully explained plain english description of the output fields of Emlids XYZ format please. That way i will know what messages i do not have to scavenge for.