INSATTQS

Short INS Quaternion Attitude

Platform:

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

This log contains the attitude from the INSATT log, but the rotation from local level is given as a Quaternion rather than Euler Angles. The quaternion takes the form:

The element w is the rotational component, defining the magnitude of the rotation to be performed. The elements x, y, and z are the vector portion of the rotation, which define the axis about which the rotation is to be performed.

If θ is the rotational angle, and the axis of rotation is defined by the vector , then the elements of the quaternion can be written as:

Message ID: 2118

Log Type: Synch

Recommended Input:

log insattqsa ontime 1

ASCII Example:

%INSATTQSA,2209,490002.000;2209,490002.000000000,0.190321570,-0.002193610,-0.003030327,-0.981714676,INS_SOLUTION_GOOD*a67493fa

Field	Field Type	Description	Format	Binary Bytes	Binary Offset
1	Log header	INSATTQS 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 into Week	Seconds from week start	Double	8	H+4
4	Quaternion w	Quaternion rotation from local level, w component	Double	8	H+12
5	Quaternion x	Quaternion rotation from local level, x component	Double	8	H+20
6	Quaternion y	Quaternion rotation from local level, y component	Double	8	H+28
7	Quaternion z	Quaternion rotation from local level, z component	Double	8	H+36
8	Status	INS status, see Table: Inertial Solution Status	Enum	4	H+44
9	xxxx	32-bit CRC (ASCII, Binary and Short Binary only)	Hex	4	H+48
10	[CR][LF]	Sentence Terminator (ASCII only)	-	-	-