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
See Table: Inertial Solution Status

Enum

4

H

3

Pos Type

Position type
See Table: Position or Velocity 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
See Table: 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).