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,COM3,0,53.0,FINESTEERING,2175,235409.000,02004820,18bc,32768;2175,235409.000000000,51.15039052936,-114.03070375311,1081.5442,-0.0025,-0.0012,-0.0002,0.688984419,0.654219583,348.427063661,INS_ALIGNMENT_COMPLETE*53956531

Field

Field Type

Description

Format

Binary Bytes

Binary Offset

1

INSPVA Header

Log header. For information about the 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)

-

-

-