IMURATEPVAS
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 INSPVAS 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 INSPVAS 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: 1305
Log Type: Asynch
Recommended Input:
log imuratepvasa onnew
ASCII Example:
%IMURATEPVASA,2209,489768.026;2209,489768.026275000,51.15043706787,-114.03067862997,1080.3569,-0.0021,0.0003,-0.0009,-0.314843800,0.320501757,158.167631576,INS_SOLUTION_GOOD*bf2d3f18
Field |
Field Type |
Description |
Format |
Binary Bytes |
Binary Offset |
1 |
Log header |
IMURATEPVAS header For information about short log headers, see Description of ASCII and Binary Logs with Short Headers. |
- |
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 |
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) |
- |
- |
- |