SETINSROTATION

Specifies rotational offsets between the IMU frame and other reference frames

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

Field

Field Type

ASCII Value

Binary Value

Description

Binary Format

Binary Bytes

Binary Offset

1

SETINSROTATION Header

-

-

Command header. See Messages for more information.

-

H

0

2

INS Rotation

Table: Rotational Offset Types

Rotational offset to be set.

Enum

4

H

3

XRotation

±180

X rotation offset from IMU origin (degrees)

Float

4

H+4

4

YRotation

±180

Y rotation offset from IMU origin (degrees)

Float

4

H+8

5

ZRotation

±180

Z rotation offset from IMU origin (degrees)

Float

4

H+12

6

XRotationSD

0.25 to 45

Optional X rotation offset standard deviation (degrees).

Applicable for RBV and ALIGN rotations.

Default = 3.0.

Float

4

H+16

7

YRotationSD

0.25 to 45

Optional Y rotation offset standard deviation (degrees).

Applicable for RBV and ALIGN rotations.

Default = 3.0.

Float

4

H+20

8

ZRotationSD

0.25 to 45

Optional Z rotation offset standard deviation (degrees).

Applicable for RBV and ALIGN rotations.

Default = 3.0.

Float

4

H+24

9

Reserved

Long

4

H+28

Rotational Offset Types

ASCII
Value

Binary
Value

Description

USER

4

Rotation from the IMU body frame to the user output frame.

This offset shifts the attitude information in the INSPVA, INSPOS, INSVEL, INSATT, and INSSPD logs, along with their short header and extended versions.

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.