INSATTX

Inertial Attitude – Extended

Platform: 

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

This log includes the information from the INSATT log, as well as information about the attitude standard deviation. The position type and solution status fields indicate whether or not the corresponding data is valid.

The INSATTX log is a large log and is not recommend for high rate logging.

If you want to use high rate logging, log the INSATTS log at a high rate and the INSSTDEVS log ontime 1.

Message ID: 1457

Log Type: Synch

Recommended Input:

log insattxa ontime 1

ASCII Example:

#INSATTXA,USB1,0,66.0,FINESTEERING,2209,490101.000,02000020,5d25,16809;INS_SOLUTION_GOOD,INS_PPP,-0.312617220,0.320251425,158.010043982,0.0297,0.0297,0.0580,13001041,0*6557406d

Field

Field Type

Description

Format

Binary Bytes

Binary Offset

1

Log header

INSATTX header

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

 

H

0

2

INS Status

Solution status
See Table: Inertial Solution Status

Enum

4

H

3

Pos Type

Position type
See Table: Position or Velocity Type

Enum

4

H+4

4

Roll

Roll in Local Level (degrees)

Double

8

H+8

5

Pitch

Pitch in Local Level (degrees)

Double

8

H+16

6

Azimuth

Azimuth in Local Level (degrees)

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

Double

8

H+24

7

Roll σ

Roll standard deviation (degrees)

Float

4

H+32

8

Pitch σ

Pitch standard deviation (degrees)

Float

4

H+36

9

Azimuth σ

Azimuth standard deviation (degrees)

Float

4

H+40

10

Ext sol stat

Extended solution status
See Table: Extended Solution Status

Hex

4

H+44

11

Time Since Update

Elapsed time since the last ZUPT or position update (seconds)

Ushort

2

H+48

12

xxxx

32-bit CRC (ASCII and Binary only)

Hex

4

H+50

13

[CR][LF]

Sentence terminator (ASCII only)

-

-

-
Extended Solution Status

Nibble

Bit

Mask

Description

Range Value

N0

0

0x00000001

Position update

0 = Unused
1 = Used

1

0x00000002

Phase update

0 = Unused
1 = Used

2

0x00000004

Zero velocity update

0 = Unused
1 = Used

3

0x00000008

Wheel sensor update

0 = Unused
1 = Used

N1

4

0x00000010

ALIGN (heading) update

0 = Unused
1 = Used

5

0x00000020

External position update

0 = Unused
1 = Used

6

0x00000040

INS solution convergence flag

0 = Not converged
1 = Converged

7

0x00000080

Doppler update

0 = Unused
1 = Used

N2

8

0x00000100

Pseudorange update

0 = Unused
1 = Used

9

0x00000200

Velocity update

0 = Unused
1 = Used

10

0x00000400

Reserved

11

0x00000800

Dead reckoning update

0 = Unused
1 = Used

N3

12

0x00001000

Phase wind up update

0 = Unused
1 = Used

13

0x00002000

Course over ground update

0 = Unused
1 = Used

14

0x00004000

External velocity update

0 = Unused
1 = Used

15

0x00008000

External attitude update

0 = Unused
1 = Used

N4

16

0x00010000

External heading update

0 = Unused
1 = Used

17

0x00020000

External height update

0 = Unused
1 = Used

18

0x00040000

Reserved

19

0x00080000

Reserved

N5

20

0x00100000

Reserved

21

0x00200000

Reserved

22

0x00400000

Secondary INS solution

0 = Unused
1 = Used

23

0x00800000

Reserved

N6

24

0x01000000

Turn on biases estimated

0 = Static turn-on biases not estimated (starting from zero)
1 = Static turn-on biases estimated

25

0x02000000

Alignment direction verified

0 = Not verified / Not applicable
1 = Verified

Alignment direction verification only occurs for RAIL, AGRICULTURE and LAND INS Profiles performing either a NVM Seed and Kinematic Alignment Type.

26

0x04000000

Alignment Indication 1

0 = Not set, 1 = Set
Refer to Table: Alignment Indication

27

0x08000000

Alignment Indication 2

0 = Not set, 1 = Set
Refer to Table: Alignment Indication

N7

28

0x10000000

Alignment Indication 3

0 = Not set, 1 = Set
Refer to Table: Alignment Indication

29

0x20000000

NVM Seed Indication 1

0 = Not set, 1 = Set
Refer to Table: NVM Seed Indication

30

0x40000000

NVM Seed Indication 2

0 = Not set, 1 = Set
Refer to Table: NVM Seed Indication

31

0x80000000

NVM Seed Indication 3

0 = Not set, 1 = Set
Refer to Table: NVM Seed Indication
Alignment Indication

Bits 28-26 Values1

Hex Value

Completed Alignment Type

000

0x00

Incomplete Alignment

001

0x01

Static

010

0x02

Kinematic

011

0x03

Dual Antenna

100

0x04

User Command

101

0x05

NVM Seed
NVM Seed Indication

Bit 31-29
Values2

Hex Value

NVM Seed Type

000

0x00

INS Seed has not been injected into the solution

001

0x01

Valid INS Seed was not found in non-volatile memory

010

0x02

INS Seed has failed validation and has been discarded

011

0x03

INS Seed is awaiting validation

100

0x04

INS Seed alignment data has successfully been injected (including error model data)

101

0x05

INS Seed exists, but has been ignored due to a user commanded filter reset/restart or configuration change

110

0x06

INS Seed error model data has successfully been injected