SETINSROTATION
Specifies rotational offsets between the IMU frame and other reference frames
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Platform: |
OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, CPT7, CPT7700, SMART7-S |
Use the SETINSROTATION command to specify rotational offsets between the IMU frame and other reference frames, such as the vehicle frame or an ALIGN baseline. Offsets must be entered as the rotation from the IMU body frame, to the frame of interest. The order of rotations is Z, X, Y. All rotations are right handed.
It is very important to follow the order of rotations (Z, X, Y) when determining the rotations from IMU body frame to frame of interest.
It is strongly recommended to enter meaningful standard deviations when entering an ALIGN or RBV rotation.
To specify translational offsets between frames, see the SETINSTRANSLATION command.
Message ID: 1921
Abbreviated ASCII Syntax:
SETINSROTATION INSRotation XRotation YRotation ZRotation [XRotationSD] [YRotationSD] [ZRotationSD]
Abbreviated ASCII Example:
SETINSROTATION RBV 0 0 90 3.0 3.0 3.0
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Field |
Field Type |
ASCII Value |
Binary Value |
Description |
Binary Format |
Binary Bytes |
Binary Offset |
|
1 |
Command header |
- |
- |
SETINSROTATION header This field contains the command name for abbreviated ASCII or the message header for ASCII (see page 1) or Binary (see page 1). |
- |
H |
0 |
|
2 |
INSRotation |
Rotational offset to be set. |
Enum |
4 |
H |
||
|
3 |
XRotation |
±180 |
X rotation offset from IMU origin (degrees) |
Float Array [3] |
12 |
H+4 |
|
|
YRotation |
±180 |
Y rotation offset from IMU origin (degrees) |
|||||
|
ZRotation |
±180 |
Z rotation offset from IMU origin (degrees) |
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|
4 |
XRotationSD |
0.25 to 45 |
Optional X rotation offset standard deviation (degrees). Applicable for RBV and ALIGN rotations. (Default = 3.0) |
Float Array [3] |
12 |
H+16 |
|
|
YRotationSD |
0.25 to 45 |
Optional Y rotation offset standard deviation (degrees). Applicable for RBV and ALIGN rotations. (Default = 3.0) |
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|
ZRotationSD |
0.25 to 45 |
Optional Z rotation offset standard deviation (degrees). Applicable for RBV and ALIGN rotations. (Default = 3.0) |
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|
5 |
Reserved (Default = 0) If entering, use the default value. |
Long |
4 |
H+28 |
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|
ASCII |
Binary |
Description |
|---|---|---|
|
USER |
4 |
Rotation from the IMU body frame to the user output frame. This offset shifts the attitude information in the INSPVA, INSATT, INSATTQS, INSPVACMP, IMURATEPVA, GIMBALLEDPVA, PASHR and TSS1 logs, along with their short header and extended versions. As well it changes the output frame for the CORRIMUS, IMURATECORRIMUS, INSVELUSER, RELINSPVA and SYNCRELINSPVA logs. |
|
MARK1 |
5 |
Rotation from the IMU body frame to the desired output for MARK1. This offset rotates the attitude information in the MARK1PVA log. |
|
MARK2 |
6 |
Rotation from the IMU body frame to the desired output for MARK2. This offset rotates the attitude information in the MARK2PVA log. |
|
ALIGN |
8 |
Rotation from the IMU body frame to an ALIGN dual antenna solution. When using a dual antenna ALIGN solution with SPAN, this offset will be calculated automatically if translational offsets to both the primary and secondary GNSS antennas are provided using the SETINSTRANSLATION command. |
|
MARK3 |
9 |
Rotation from the IMU body frame to the desired output for MARK3. This offset rotates the attitude information in the MARK3PVA log. |
|
MARK4 |
10 |
Rotation from the IMU body frame to the desired output for MARK4. This offset rotates the attitude information in the MARK4PVA log. |
|
RBV |
11 |
Rotation from the IMU body frame to the vehicle frame. |
|
RBM |
12 |
Rotation from the IMU body frame to the gimbal mount body frame. |