INSVELUSER
INS velocity in user output frame
|
Platform: |
OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, CPT7, CPT7700, SMART7-S |
This log outputs INS Velocity information in the user defined output frame as per the SETINSROTATION USER command. The default, when no USER rotation is defined, is the vehicle frame assuming a valid RBV rotation has been entered.
The velocity information will be translated to the reference point defined by the SETINSTRANSLATION USER command.
The Slip Angle Validity flag provides an indication of the confidence in the slip angle calculation based on the solution quality. Included in the quality indicators for a valid slip angle is a check for minimum vehicle speed. The user should consider the velocity standard deviations when using both the velocity and slip angle values.
The range of the Slip Angle is -180 to 180 degrees. When the Slip Angle is positive, the vehicle is slipping to the driver's right (starboard) assuming the user frame Y axis coincides with the vehicle forward direction of travel. When the Slip Angle is negative, the vehicle is slipping to the driver's left (port). This corresponds to the sign of the velocity in the user frame X axis.
Message ID: 2318
Log Type: Synch
Recommended Input:
LOG INSVELUSER ONTIME 1
Abbreviated ASCII Example:
#INSVELUSERA,USB1,0,66.5,FINESTEERING,2209,491218.000,02000020,9ac8,16809;INS_SOLUTION_GOOD,-0.0015,-0.0008,-0.0007,0.0018,0.0018,0.0016,-119.785,0,0,00000000*89b473ba
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Field |
Field Type |
Description |
Format |
Binary Bytes |
Binary Offset |
|---|---|---|---|---|---|
|
1 |
Log header |
INSVELUSER header For information about log headers, see ASCII, Abbreviated ASCII or Binary. |
– |
H |
0 |
|
2 |
INS Status |
Solution status |
Enum |
4 |
H |
|
3 |
X-Axis Velocity |
Velocity in the Output Frame X-Axis (Across Track for Vehicle) |
Double |
8 |
H+4 |
|
4 |
Y-Axis Velocity |
Velocity in the Output Frame Y-Axis (Along Track for Vehicle) |
Double |
8 |
H+12 |
|
5 |
Z-Axis Velocity |
Velocity in the Output Frame Z-Axis (Vertical for Vehicle) |
Double |
8 |
H+20 |
|
6 |
X-Axis Velocity StDev |
Velocity Standard Deviation in the Output Frame X-Axis (Across Track for Vehicle) |
Float |
4 |
H+28 |
|
7 |
Y-Axis Velocity StDev |
Velocity Standard Deviation in the Output Frame Y-Axis (Along Track for Vehicle) |
Float |
4 |
H+32 |
|
8 |
Z-Axis Velocity StDev |
Velocity Standard Deviation in the Output Frame Z-Axis (Vertical for Vehicle) |
Float |
4 |
H+36 |
|
9 |
Slip Angle |
Heading angle offset from actual motion over ground (Track over Ground) to Output Frame (HeadingGroundTrack - HeadingUserFrame) |
Float |
4 |
H+40 |
|
10 |
Reserved |
Reserved |
Ulong |
4 |
H+44 |
|
11 |
Reserved |
Reserved |
Ulong |
4 |
H+48 |
|
12 |
Extended Velocity Status |
Extended Velocity Status, see Table: Extended Velocity Status. |
Hex Ulong |
4 |
H+52 |
|
13 |
XXXX |
32-bit CRC (ASCII and Binary only) |
Hex |
4 |
H+56 |
|
14 |
[CR][LF] |
Sentence Terminator (ASCII only) |
– |
– |
– |