SETIMUSPECS

Specify Error Specifications and Data Rate

Platform: 

OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7

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

Use the SETIMUSPECS command to specify the error specifications and data rate for the desired IMU. If the default specs for the supported models are different than the unit used then this command can be used to override the default values.

This command is only available for the following IMUs:

  • Honeywell HG1930 (default specifications are for the AA99/CA50 model)

  • Honeywell HG1900 (default specifications are for the CA29/CA50 model)

Message ID: 1295

Abbreviated ASCII Syntax:

SETIMUSPECS DataRate AccelBias AccelVRW GyroBias GyroARW AccelSFError GyroSFError [DataLatency]

Abbreviated ASCII Example: (iMAR-FSAS Specs)

SETIMUSPECS 200 1 .0198 0.75 0.0028 300 300 2.5

Field

Field Type

ASCII Value

Binary Value

Description

Binary Format

Binary Bytes

Binary Offset

1

Command header

-

-

SETIMUSPECS header

This field contains the command name for abbreviated ASCII or the message header for ASCII or Binary.

-

H

0

2

DataRate

100 Hz to 400 Hz

Data rate of the IMU

Ushort

2

H

3

AccelBias

-

Total accelerometer bias in milli-g

Double

8

H+2

4

AccelVRW

-

Accelerometer velocity random walk in m/s/rt-hr

Double

8

H+10

5

GyroBias

-

Total gyroscope bias in deg/hr

Double

8

H+18

6

GyroARW

-

Gyroscope angular random walk in deg/rt-hr

Double

8

H+26

7

AccelSFError

> 0

Accelerometer scale factor error in parts per million. Optional.
Default = 1000 ppm.

Ulong

4

H+34

8

GyroSFError

> 0

Gyroscopic scale factor error in parts per million. Optional.
Default = 1000 ppm.

Ulong

4

H+38

9

DataLatency

> 0

Time delay in milliseconds from the time of validity of the IMU data to the time the input pulse is received by the SPAN enabled receiver. This may include filtering delays, processing delays and transmission times depending on the timing method (TOV, ASYNC, SYNC) and the internal IMU handling. Optional.

Default = 0.0.

Double

8

H+42

10

Reserved

SCALE_DEFAULT

0

Reserved.

If using ASCII format, enter SCALE_DEFAULT.
If using binary format, enter 0.

Enum

4

H+50

11

CRC

-

32-bit CRC

Hex

4

H+54