INSATT

INS Attitude

Platform:

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

This log contains the most recent attitude measurements computed by the SPAN filter. This attitude definition may not correspond to other definitions of the terms pitch, roll and azimuth. By default, the output attitude is with respect to the vehicle frame. If the attitude output is desired with respect to another frame of reference, use the SETINSROTATION USER command (see the SETINSROTATION command) to configure the user output frame offset rotation.

Message ID: 263

Log Type: Synch

Recommended Input:

log insatta ontime 1

ASCII Example:

#INSATTA,USB1,0,65.5,FINESTEERING,2209,489963.000,02000020,c6a7,16809;2209,489963.000000000,-0.325157913,0.303361140,158.066428095,INS_SOLUTION_GOOD*13a0c733

Field	Field Type	Description	Format	Binary Bytes	Binary Offset
1	Log header	INSATT header For information about log headers, see ASCII, Abbreviated ASCII or Binary.	-	H	0
2	Week	GNSS Week	Ulong	4	H
3	Seconds into Week	Seconds from week start	Double	8	H+4
4	Roll	Right-handed rotation from local level around y‑axis in degrees.	Double	8	H+12
5	Pitch	Right-handed rotation from local level around x‑axis in degrees.	Double	8	H+20
6	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+28
7	Status	INS status, see Table: Inertial Solution Status.	Enum		H+36
8	xxxx	32-bit CRC (ASCII, Binary and Short Binary only)	Hex		H+40
9	[CR][LF]	Sentence terminator (ASCII only)	-	-	-

Inertial Solution Status
Binary	ASCII	Description
0	INS_INACTIVE	IMU logs are present, but the alignment routine has not started; INS is inactive.
1	INS_ALIGNING	INS is in alignment mode.
2	INS_HIGH_VARIANCE	The INS solution uncertainty contains outliers and the solution may be outside specifications.1 The solution is still valid but you should monitor the solution uncertainty in the INSSTDEV log. It may be encountered during times when GNSS is absent or poor.
3	INS_SOLUTION_GOOD	The INS filter is in navigation mode and the INS solution is good.
6	INS_SOLUTION_FREE	The INS Filter is in navigation mode and the GNSS solution is suspected to be in error. The inertial filter will report this status when there are no available updates (GNSS or other) being accepted and used.
7	INS_ALIGNMENT_COMPLETE	The INS filter is in navigation mode, but not enough vehicle dynamics have been experienced for the system to be within specifications.
8	DETERMINING_ORIENTATION	INS is determining the IMU axis aligned with gravity.
9	WAITING_INITIALPOS	The INS filter has determined the IMU orientation and is awaiting an initial position estimate to begin the alignment process.
10	WAITING_AZIMUTH	The INS filer has orientation, initial biases, initial position and valid roll/pitch estimated. Will not proceed until initial azimuth is entered.
11	INITIALIZING_BIASES	The INS filter is estimating initial biases during the first 10 seconds of stationary data.
12	MOTION_DETECT	The INS filter has not completely aligned, but has detected motion.
14	WAITING_ALIGNMENTORIENTATION	The INS filter is waiting to start alignment until the current Vehicle Frame roll and pitch estimates are within the configured threshold of the expected orientation (set by the SETALIGNMENTORIENTATION command). Note: This requires an accurate RBV rotation to be configured, see the SETINSROTATION command.