INSPVAS

Short INS Position, Velocity and Attitude

Platform: 

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

This log is the short header version of the INSPVA log.

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

Message ID: 508

Log Type: Synch

Recommended Input:

log inspvasa ontime 1

ASCII Example:

%INSPVASA,2209,490712.000;2209,490712.000000000,51.15043713712,-114.03067872932,1080.3580,0.0014,-0.0007,0.0015,-0.293782412,0.302470613,157.989827209,INS_SOLUTION_GOOD*a87ab88b

Field

Field Type

Description

Format

Binary Bytes

Binary Offset

1

Log header

INSPVAS header

For information about short log headers, see Description of ASCII and Binary Logs with Short Headers.

-

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)

-

-

-