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

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.

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