INSPVAX
Inertial PVA – Extended
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Platform: |
OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, CPT7, CPT7700, SMART7-S |
This log includes the information from the INSPVA log, as well as information about the position standard deviation. The position type and solution status fields indicate whether or not the corresponding data is valid.
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The INSPVAX log is a large log and is not recommend for high rate logging. If you want to use high rate logging, log the INSPVAS log at a high rate and the INSSTDEV log ontime 1. |
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This log provides the position information in the user datum. To determine the datum being used, log the INSDATUMINFO log. |
Message ID: 1465
Log Type: Synch
Recommended Input:
log inspvaxa ontime 1
ASCII example:
#INSPVAXA,USB1,0,65.5,FINESTEERING,2209,490782.000,02000020,46eb,16809;INS_SOLUTION_GOOD,INS_PPP,51.15043710672,-114.03067871892,1097.3598,-17.0001,-0.0016,0.0002,0.0029,-0.308665944,0.297893298,157.960833016,0.1816,0.1816,0.1808,0.0018,0.0018,0.0016,0.0292,0.0292,0.0582,13000045,0*a74644a2
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Field |
Field Type |
Data Description |
Format |
Binary Bytes |
Binary Offset |
|
1 |
Log header |
INSPVAX header For information about log headers, see ASCII, Abbreviated ASCII or Binary. |
|
H |
0 |
|
2 |
INS Status |
Solution status |
Enum |
4 |
H |
|
3 |
Pos Type |
Position type |
Enum |
4 |
H+4 |
|
4 |
Lat |
Latitude (degrees) |
Double |
8 |
H+8 |
|
5 |
Long |
Longitude (degrees) |
Double |
8 |
H+16 |
|
6 |
Height |
Height above mean sea level (m) |
Double |
8 |
H+24 |
|
7 |
Undulation |
Undulation (m) |
Float |
4 |
H+32 |
|
8 |
North Vel |
North velocity (m/s) |
Double |
8 |
H+36 |
|
9 |
East Vel |
East velocity (m/s) |
Double |
8 |
H+44 |
|
10 |
Up Vel |
Up velocity (m/s) |
Double |
8 |
H+52 |
|
11 |
Roll |
Roll in Local Level (degrees) |
Double |
8 |
H+60 |
|
12 |
Pitch |
Pitch in Local Level (degrees) |
Double |
8 |
H+68 |
|
13 |
Azimuth |
Azimuth in Local Level (degrees) This is the inertial azimuth calculated from the IMU gyros and the SPAN filters. |
Double |
8 |
H+76 |
|
14 |
Lat σ |
Latitude standard deviation (m) |
Float |
4 |
H+84 |
|
15 |
Long σ |
Longitude standard deviation (m) |
Float |
4 |
H+88 |
|
16 |
Height σ |
Height standard deviation (m) |
Float |
4 |
H+92 |
|
17 |
North Vel σ |
North velocity standard deviation (m/s) |
Float |
4 |
H+96 |
|
18 |
East Vel σ |
East velocity standard deviation (m/s) |
Float |
4 |
H+100 |
|
19 |
Up Vel σ |
Up velocity standard deviation (m/s) |
Float |
4 |
H+104 |
|
20 |
Roll σ |
Roll standard deviation (degrees) |
Float |
4 |
H+108 |
|
21 |
Pitch σ |
Pitch standard deviation (degrees) |
Float |
4 |
H+112 |
|
22 |
Azimuth σ |
Azimuth standard deviation (degrees) |
Float |
4 |
H+116 |
|
23 |
Ext sol stat |
Extended solution status |
Hex |
4 |
H+120 |
|
24 |
Time Since Update |
Elapsed time since the last ZUPT or position update (seconds) |
Ushort |
2 |
H+124 |
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25 |
xxxx |
32-bit CRC (ASCII and Binary only) |
Hex |
4 |
H+126 |
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26 |
[CR][LF] |
Sentence terminator (ASCII only) |
- |
- |
- |
The INS standard deviation values reported by the SPAN filter are an estimate of the Inertial filter solution quality. In lower accuracy GNSS position modes, such as SINGLE or WAAS (see Table: Position or Velocity Type), the position standard deviation values can appear to become optimistic compared with the absolute GNSS accuracy. This is due to the INS filter’s ability to smooth short term noise in the GNSS solution, although the overall position error envelope still reflects the GNSS accuracy. Therefore, if the desired application requires absolute GNSS position accuracy, it is recommended to also monitor GNSS position messages such as BESTGNSSPOS (see BESTGNSSPOS log).