INSPOSX
Inertial Position – Extended
Platform: |
OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, CPT7, CPT7700, SMART7-S |
This log includes the information from the INSPOS log, as well as information about the position standard deviation. The position type and solution status fields indicate whether or not the corresponding data is valid.
The INSPOSX log is a large log and is not recommend for high rate logging.
If you want to use high rate logging, log the INSPOSS log at a high rate and the INSSTDEVS log ontime 1.
This log provides the position information in the user datum.
To determine the datum being used, log the INSDATUMINFO log.
Message ID: 1459
Log Type: Synch
Recommended Input:
log insposxa ontime 1
ASCII example:
#INSPOSXA,USB1,0,67.5,FINESTEERING,2209,490485.000,02000020,7e79,16809;INS_SOLUTION_GOOD,INS_PPP,51.15043706246,-114.03067867866,1097.3569,-17.0001,0.1819,0.1819,0.1812,13000045,0*2b90352c
Field |
Field Type |
Description |
Format |
Binary Bytes |
Binary Offset |
1 |
Log header |
INSPOSX header For information about log headers, see ASCII, Abbreviated ASCII or Binary. |
|
H |
0 |
2 |
INS Status |
Solution status |
Enum |
4 |
H |
3 |
Pos Type |
Position type |
Enum |
4 |
H+4 |
4 |
Lat |
Latitude |
Double |
8 |
H+8 |
5 |
Long |
Longitude |
Double |
8 |
H+16 |
6 |
Height |
Height above sea level (m) |
Double |
8 |
H+24 |
7 |
Undulation |
Undulation (m) |
Float |
4 |
H+32 |
8 |
Lat σ |
Latitude standard deviation |
Float |
4 |
H+36 |
9 |
Long σ |
Longitude standard deviation |
Float |
4 |
H+34 |
10 |
Height σ |
Height standard deviation |
Float |
4 |
H+44 |
11 |
Ext sol stat |
Extended solution status |
Hex |
4 |
H+48 |
12 |
Time Since Update |
Elapsed time since the last ZUPT or position update (seconds) |
Ushort |
2 |
H+52 |
13 |
xxxx |
32-bit CRC (ASCII and Binary only) |
Hex |
4 |
H+54 |
14 |
[CR][LF] |
Sentence terminator (ASCII only) |
- |
- |
- |
The INS standard deviation values reported by the SPAN filter are an estimate of the Inertial filter solution quality. In lower accuracy GNSS position modes, such as SINGLE or WAAS (see Table: Position or Velocity Type), the position standard deviation values can appear to become optimistic compared with the absolute GNSS accuracy. This is due to the INS filter’s ability to smooth short term noise in the GNSS solution, although the overall position error envelope still reflects the GNSS accuracy. Therefore, if the desired application requires absolute GNSS position accuracy, it is recommended to also monitor GNSS position messages such as BESTGNSSPOS (see BESTGNSSPOS log).