EXTERNALPVAS

Enter PVA Update

Platform: 

OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, CPT7, CPT7700, SMART7-S

This command should only be used by advanced users of GNSS+INS.

The standard deviations entered using this command must be representative of actual input error.

Relative updates should only be used when they are input at consistent rates.

The EXTERNALPVAS command uses a short header if the command is entered in ASCII or Binary.

This command allows the user to provide their own update for INS in full position, velocity, attitude and other updates, and in any combination. The user can also provide height or attitude only updates, along with Zero Velocity Updates (ZUPTs). The position and velocity updates can be entered in local level or ECEF.

The EXTERNALPVAS command is designed to provide a method for additional sensor information to be input into the SPAN filter, specifically during GNSS denied environments. This will provide a method to constrain the error growth that is typical in an Inertial Kalman Filter when GNSS observations are unavailable (environments such as: urban canyon, tunnels, jamming etc.). It is important to ensure that the external update and its corresponding standard deviations are accurate and input with minimal latency to provide optimal effectiveness. Entering an external update or its standard deviation inappropriately may have an adverse effect on the SPAN solution.

The default input frame is ECEF. Updates are entered in ECEF unless Local Level is specified using the OptionsMask parameter.

Message ID: 1463

Abbreviated ASCII Syntax:

EXTERNALPVAS Position1 Position2 Position3 Velocity1 Velocity2 Velocity3 Attitude1 Attitude2 Attitude3 PosStdDev1 PosStdDev2 PosStdDev3 VelStdDev1 VelStdDev2 VelStdDev3 AttStdDev1 AttStdDev2 AttStdDev3 UpdateMask OptionsMask

Abbreviated ASCII Example: (Local Level Velocity Update)

EXTERNALPVAS 0.0 0.0 0.0 0.4502 10.54 -0.09598 0.0 0.0 0.0 0.0 0.0 0.0 0.01 0.01 0.01 0.0 0.0 0.0 4000 10

Full ASCII Example: (Local Level Velocity Update)

%EXTERNALPVASA,2051,493713.000;0.00000000000,0.00000000000,0.00000000000,
0.1333,17.1424,-0.3311,0.000000000,0.000000000,0.000000000,0.0000,0.0000,
0.0000,0.0119,0.0096,0.0132,0.0000,0.0000,0.0000,00004000,00000010*edced535

Field

Field Type

ASCII Value

Binary Value

Description

Binary Format

Binary Bytes

Binary Offset

1

Command header

-

-

EXTERNALPVAS 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

Position1

 

 

Latitude (degrees), ECEF X-coordinate (m) or X relative coordinate (m)

Double Array [3]

24

H

Position2

 

 

Longitude (degrees), ECEF Y-coordinate (m) or Y relative coordinate (m)

Position3

 

 

Height (ellipsoidal m), ECEF Z-coordinate (m) or Z relative coordinate (m)

3

Velocity1

 

 

North velocity or velocity along the X-axis (m/s)

Float Array [3]

12

H+24

Velocity2

 

 

East velocity or velocity along the Y-axis (m/s)

Velocity3

 

 

Up velocity or velocity along the Z-axis (m/s)

4

Attitude1

 

 

Pitch – Local Level to SPAN User Output Frame or relative delta from SPAN User Output Frame (degrees)

Float Array [3]

12

H+36

Attitude2

 

 

Roll – Local Level to SPAN User Output Frame or relative delta from SPAN User Output Frame (degrees)

Attitude3

 

 

Azimuth – Local Level to SPAN User Output Frame or relative delta from SPAN User Output Frame (degrees)

5

PosStdDev1

 

 

Position1 standard deviation (m)

Float Array [3]

12

H+48

PosStdDev2

 

 

Position2 standard deviation (m)

PosStdDev3

 

 

Position3 standard deviation (m)

6

VelStdDev1

 

 

Velocity1 standard deviation (m/s)

Float Array [3]

12

H+60

VelStdDev2

 

 

Velocity2 standard deviation (m/s)

VelStdDev3

 

 

Velocity3 standard deviation (m/s)

7

AttStdDev1

 

 

Attitude1 standard deviation (degrees)

Float Array [3]

12

H+72

AttStdDev2

 

 

Attitude2 standard deviation (degrees)

AttStdDev3

 

 

Attitude3 standard deviation (degrees)

8

UpdateMask

 

 

This mask selects which updates are applied. Setting a bit applies the update. More than one update can be applied at one time.

See Table: EXTERNALPVAS Updates Mask for the external update bits that can be used.

HEX Ulong

4

H+84

9

OptionsMask

 

 

This mask selects the update options for various updates, such as using an ECEF or Local Level system for the position updates.

See Table: EXTERNALPVAS Options Mask for details.

HEX Ulong

4

H+88

EXTERNALPVAS Updates Mask

Bit

Mask

Description

0

0x00001

Reserved

1

0x00002

Reserved

2

0x00004

ZUPT Update. No fields are required in the EXTERNALPVAS command for this update.

3

0x00008

Reserved

4

0x00010

Reserved

5

0x00020

External Position Update.
This update is entered using Position1 to Position3 in the EXTERNALPVAS command.

6

0x00040

Reserved

7

0x00080

Reserved

8

0x00100

Reserved

9

0x00200

Reserved

10

0x00400

Reserved

11

0x00800

Reserved

12

0x01000

Reserved

13

0x02000

Reserved

14

0x04000

External Velocity Update.
This update is entered using Velocity1 to Velocity3 in the EXTERNALPVAS command.

15

0x08000

External Attitude Update.
This update is entered using Attitude1 to Attitude3 in the EXTERNALPVAS command.

16

0x10000

External Heading Update.
This update is entered using Attitude3 in the EXTERNALPVAS command.

17

0x20000

External Height Update.
This update is entered using Position3 in the EXTERNALPVAS command.

 

If both the External Position Update and External Height Update bits are set, only the External Position Update will be applied.

If both the External Attitude Update and External Heading Update bits are set, only the External Attitude Update will be applied.

EXTERNALPVAS Options Mask

Bit

Mask

Description

Range Value

0

0x00000001

Reserved

1

0x00000002

Reserved

2–3

0x0000000C

Position Input Frame

00 – ECEF

01 – LLH

10 - Vehicle Frame (Relative update only)

4–5

0x00000030

Velocity Input Frame

00 – ECEF

01 – LLH

10 - Vehicle Frame (Absolute update only)

6

0x00000040

Position Update Type

0 – Absolute

1 – Relative

7

0x00000080

Attitude Update Type

0 – Absolute

1 – Relative