MARK1PVA, MARK2PVA, MARK3PVA and MARK4PVA
Position, Velocity and Attitude at Mark Input Event
|
Platform: |
OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, CPT7, CPT7700 |
These logs output position, velocity and attitude information, with respect to the IMU Body frame, when an event is received on the Mark input. If the SETINSTRANSLATION command and SETINSROTATION command have been entered with a MARKx parameter, the MARKxPVA log will contain the solution translated, and then rotated, by the values provided in the commands (e.g. SETINSTRANSLATION MARK1 and SETINSROTATION MARK1 commands for the MARK1PVA log). See the SETINSTRANSLATION command and SETINSROTATION command.
The MARKxPVA logs available are dependent on the receiver used in the SPAN system. For information about the Event lines supported, see the Strobe Specifications for the receiver in Technical Specifications.
These logs should only be requested with the ONCHANGED or ONNEW trigger.
These logs provide the position information in the user datum. To determine the datum being used, log the INSDATUMINFO log.
|
Message ID: |
1067 (MARK1PVA) |
Log Type: Asynch
Recommended Input:
log mark1pva onnew
log mark2pva onnew
log mark3pva onnew
log mark4pva onnew
ASCII Example:
#MARK1PVAA,COM1,0,74.5,FINESTEERING,1732,247231.455,02040020,5790,12002;1732,
247231.454623850,51.11693182283,-114.03885213810,1047.4525,0.0004,0.0004,
-0.0006,0.847121689,1.124640813,278.577037489,INS_SOLUTION_GOOD*47b2778f
#MARK2PVAA,COM1,0,74.5,FINESTEERING,1732,247232.271,02040020,2425,12002;1732,
247232.271459820,51.11693179023,-114.03885206704,1047.4529,0.0004,-0.0011,
-0.0007,0.837101074,1.134127754,278.346498557,INS_SOLUTION_GOOD*9282f407
#MARK3PVAA,COM1,0,74.5,FINESTEERING,1732,247232.271,02040020,2425,12002;1732,
247232.271459820,51.11693179023,-114.03885206704,1047.4529,0.0004,-0.0011,
-0.0007,0.837101074,1.134127754,278.346498557,INS_SOLUTION_GOOD*748983db
#MARK4PVAA,COM1,0,74.5,FINESTEERING,1732,247232.271,02040020,2425,12002;1732,
247232.271459820,51.11693179023,-114.03885206704,1047.4529,0.0004,-0.0011,
-0.0007,0.837101074,1.134127754,278.346498557,INS_SOLUTION_GOOD*ab2ace0c
|
Field |
Field Type |
Description |
Format |
Binary Bytes |
Binary Offset |
|
1 |
Log header |
MARK1PVA / MARK2PVA / MARK3PVA / MARK4PVA header For information about log headers, see ASCII, Abbreviated ASCII or Binary. |
- |
H |
0 |
|
2 |
Week |
GNSS Week at Mark input |
Ulong |
4 |
H |
|
3 |
Seconds |
Seconds from week at Mark input |
Double |
8 |
H+4 |
|
4 |
Latitude |
Latitude at Mark input (degrees) |
Double |
8 |
H+12 |
|
5 |
Longitude |
Longitude at Mark input (degrees) |
Double |
8 |
H+20 |
|
6 |
Height |
Ellipsoidal height at Mark input (metres) |
Double |
8 |
H+28 |
|
7 |
North Velocity |
Velocity in a northerly direction (a negative value implies a southerly direction) at Mark input (metres/second) |
Double |
8 |
H+36 |
|
8 |
East Velocity |
Velocity in an easterly direction (a negative value implies a westerly direction) at Mark input (metres/second) |
Double |
8 |
H+44 |
|
9 |
Up Velocity |
Velocity in an up direction at Mark input (metres/second) |
Double |
8 |
H+52 |
|
10 |
Roll |
Right-handed rotation from local level around y‑axis in degrees at Mark input (degrees) |
Double |
8 |
H+60 |
|
11 |
Pitch |
Right-handed rotation from local level around x‑axis in degrees at Mark input (degrees) |
Double |
8 |
H+68 |
|
12 |
Azimuth |
Left-handed rotation around z-axis in degrees clockwise from North at Mark input (degrees) |
Double |
8 |
H+76 |
|
13 |
Status |
INS Status, see Table: Inertial Solution Status at Mark input |
Enum |
4 |
H+84 |
|
14 |
xxxx |
32-bit CRC |
Hex |
4 |
H+88 |
|
15 |
[CR][LF] |
Sentence Terminator (ASCII only) |
- |
- |
- |