INSPVAX
Inertial PVA – Extended
Platform: 
OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, SPAN CPT7, SMART7S, SMART7SI 
Firmware Stream:
This log includes the information from the INSPVA 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 INSPVAX log is a large log and is not recommend for high rate logging. If you want to use high rate logging, log the INSPVAS log at a high rate and the INSSTDEV log ontime 1. 
This log provides the position information in the user datum. To determine the datum being used, log the BESTPOS log. 
Message ID: 1465
Log Type: Synch
Recommended Input:
log inspvaxa ontime 1
ASCII example:
#INSPVAXA,COM1,0,73.5,FINESTEERING,1695,309428.000,02000040,4e77,43562;
INS_SOLUTION_GOOD,INS_PSRSP,51.11637873403,114.03825114994,1063.6093,16.9000,
0.0845,0.0464,0.0127,0.138023492,0.069459386,90.000923268,0.9428,0.6688,
1.4746,0.0430,0.0518,0.0521,0.944295466,0.944567084,1.000131845,3,0*e877c178
Field 
Field Type 
Data Description 
Format 
Binary Bytes 
Binary Offset 
1 
INSPVAX Header 
Log header. See Messages for more information. 

H 
0 
2 
INS Status 
Solution status 
Enum 
4 
H 
3 
Pos Type 
Position type 
Enum 
4 
H+4 
4 
Lat 
Latitude (degrees) 
Double 
8 
H+8 
5 
Long 
Longitude (degrees) 
Double 
8 
H+16 
6 
Height 
Height above mean sea level (m) 
Double 
8 
H+24 
7 
Undulation 
Undulation (m) 
Float 
4 
H+32 
8 
North Vel 
North velocity (m/s) 
Double 
8 
H+36 
9 
East Vel 
East velocity (m/s) 
Double 
8 
H+44 
10 
Up Vel 
Up velocity (m/s) 
Double 
8 
H+52 
11 
Roll 
Roll in Local Level (degrees) 
Double 
8 
H+60 
12 
Pitch 
Pitch in Local Level (degrees) 
Double 
8 
H+68 
13 
Azimuth 
Azimuth in Local Level (degrees) This is the inertial azimuth calculated from the IMU gyros and the SPAN filters. 
Double 
8 
H+76 
14 
Lat σ 
Latitude standard deviation (m) 
Float 
4 
H+84 
15 
Long σ 
Longitude standard deviation (m) 
Float 
4 
H+88 
16 
Height σ 
Height standard deviation (m) 
Float 
4 
H+92 
17 
North Vel σ 
North velocity standard deviation (m/s) 
Float 
4 
H+96 
18 
East Vel σ 
East velocity standard deviation (m/s) 
Float 
4 
H+100 
19 
Up Vel σ 
Up velocity standard deviation (m/s) 
Float 
4 
H+104 
20 
Roll σ 
Roll standard deviation (degrees) 
Float 
4 
H+108 
21 
Pitch σ 
Pitch standard deviation (degrees) 
Float 
4 
H+112 
22 
Azimuth σ 
Azimuth standard deviation (degrees) 
Float 
4 
H+116 
23 
Ext sol stat 
Extended solution status 
Hex 
4 
H+120 
24 
Time Since Update 
Elapsed time since the last ZUPT or position update (seconds) 
Ushort 
2 
H+124 
25 
xxxx 
32bit CRC (ASCII and Binary only) 
Hex 
4 
H+126 
26 
[CR][LF] 
Sentence terminator (ASCII only) 
 
 
 
The INS covariance and 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 covariance and 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).