INSPVAX

Inertial PVA – Extended

Platform: 

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

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
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 (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
See Table: 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

32-bit 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).

 

OM-20000167 v13

October 2019

Email comments to NovAtel_TPUBS@NovAtel.com

7.07.03 / OM7MR0703RN0000
PP7 07.07.03 / EP7PR0703RN0000
7.06.03 / OA7CR0603RN0000