INSPVA

INS Position, Velocity and Attitude

Platform:

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

This log allows INS position, velocity and attitude, with respect to the SPAN frame, to be collected in one log, instead of using three separate logs. Refer to the INSATT log for an explanation of how the SPAN frame may differ from the IMU enclosure frame.

This log provides the position information in the user datum. To determine the datum being used, log the INSDATUMINFO log.

Message ID: 507

Log Type: Synch

Recommended Input:

log inspvaa ontime 1

ASCII Example:

#INSPVAA,USB1,0,67.5,FINESTEERING,2209,490558.000,02000020,18bc,16809;2209,490558.000000000,51.15043714042,-114.03067871718,1080.3548,0.0051,-0.0014,-0.0012,-0.296402993,0.311887972,157.992156267,INS_SOLUTION_GOOD*cc698020

Field	Field Type	Description	Format	Binary Bytes	Binary Offset
1	Log header	INSPVA header For information about log headers, see ASCII, Abbreviated ASCII or Binary.	-	H	0
2	Week	GNSS Week	Ulong	4	H
3	Seconds	Seconds from week start	Double	8	H+4
4	Latitude	Latitude [degrees]	Double	8	H+12
5	Longitude	Longitude [degrees]	Double	8	H+20
6	Height	Ellipsoidal Height [m]	Double	8	H+28
7	North Velocity	Velocity in a northerly direction (a negative value implies a southerly direction) [m/s]	Double	8	H+36
8	East Velocity	Velocity in an easterly direction (a negative value implies a westerly direction) [m/s]	Double	8	H+44
9	Up Velocity	Velocity in an up direction [m/s]	Double	8	H+52
10	Roll	Right-handed rotation from local level around y‑axis in degrees	Double	8	H+60
11	Pitch	Right-handed rotation from local level around x‑axis in degrees	Double	8	H+68
12	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+76
13	Status	INS Status, see Table: Inertial Solution Status	Enum	4	H+84
14	xxxx	32-bit CRC	Hex	4	H+88
15	[CR][LF]	Sentence Terminator (ASCII only)	-	-	-