IMURATEPVA

Asynchronous INS Position, Velocity and Attitude

Platform: 

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

This log provides the same information as the INSPVA log, but is available asynchronously at the full rate of the IMU.

Using this log consumes significant system resources and should only be used by experienced users.

However, using this log consumes less resources than logging the synchronous INSPVA log at the same rate.

This log should only be requested with the ONNEW trigger.

This log provides the position information in the user datum. To determine the datum being used, log the INSDATUMINFO log.

Message ID: 1778

Log Type: Asynch

Recommended Input:

log imuratepvaa onnew

ASCII Example:

#IMURATEPVAA,USB1,0,62.5,FINESTEERING,2209,489768.026,02000020,81ba,16809;2209,489768.026275000,51.15043706787,-114.03067862997,1080.3569,-0.0021,0.0003,-0.0009,-0.314843800,0.320501757,158.167631576,INS_SOLUTION_GOOD*d377f22f

Field

Field Type

Description

Format

Binary Bytes

Binary Offset

1

Log header

IMURATEPVA header

For information about log headers, see ASCII, Abbreviated ASCII or Binary.

-

H

0

2

Week

GNSS Week

Ulong

4

H

3

Seconds

Seconds from week start

Double

8

H+4

4

Latitude

Latitude [degrees]

Double

8

H+12

5

Longitude

Longitude [degrees]

Double

8

H+20

6

Height

Ellipsoidal Height [m]

Double

8

H+28

7

North Velocity

Velocity in a northerly direction (a negative value implies a southerly direction) [m/s]

Double

8

H+36

8

East Velocity

Velocity in an easterly direction (a negative value implies a westerly direction) [m/s]

Double

8

H+44

9

Up Velocity

Velocity in an up direction [m/s]

Double

8

H+52

10

Roll

Right-handed rotation from local level around y‑axis in degrees

Double

8

H+60

11

Pitch

Right-handed rotation from local level around x‑axis in degrees

Double

8

H+68

12

Azimuth

Left-handed rotation around z-axis in degrees clockwise from North

This is the inertial azimuth calculated from the IMU gyros and the SPAN filters.

Double

8

H+76

13

Status

INS Status, see Table: Inertial Solution Status

Enum

4

H+84

14

xxxx

32-bit CRC

Hex

4

H+88

15

[CR][LF]

Sentence Terminator (ASCII only)

-

-

-