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)

-

-

-