PASHR
NMEA, Inertial Attitude Data
|
Platform: |
OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, CPT7, CPT7700, SMART7-S |
The PASHR log uses a UTC time, calculated with default parameters, to output NMEA messages without waiting for a valid almanac. The UTC time status is set to WARNING since it may not be 100% accurate. When a valid almanac is available, the receiver uses the real parameters and sets the UTC time to VALID. For more information about NMEA, refer to NMEA Standard Logs. The PASHR log contains only INS derived attitude information and is only filled when an inertial solution is available.
As of firmware version 7.03.00, an INS status flag (field 12) has been added to the PASHR log. This change was made to match the industry accepted form of the message. Previous firmware versions on OEM7 and OEM6 do not output this field.
Message ID: 1177
Log Type: Synch
Recommended Input:
log pashr ontime 1
Example:
$PASHR,163029.000,158.09,T,-0.30,+0.31,+0.01,0.029,0.029,0.059,1,1*3B
|
Field |
Structure |
Description |
Symbol |
Example |
|
1 |
$PASHR |
Log header |
--- |
$PASHR |
|
2 |
Time |
UTC Time |
hhmmss.sss |
195124.00 |
|
3 |
Heading |
Heading value in decimal degrees The heading is the inertial azimuth calculated from the IMU gyros and the SPAN filters. |
HHH.HH |
305.30 |
|
4 |
True Heading |
T displayed if heading is relative to true north. |
T |
T |
|
5 |
Roll |
Roll in decimal degrees. |
RRR.RR |
+0.05 |
|
6 |
Pitch |
Pitch in decimal degrees. |
PPP.PP |
-0.13 |
|
7 |
Heave |
Instantaneous heave in metres. The ± will always be displayed |
Heave |
+0.01 |
|
8 |
Roll Accuracy |
Roll standard deviation in decimal degrees. |
rr.rrr |
0.180 |
|
9 |
Pitch Accuracy |
Pitch standard deviation in decimal degrees. |
pp.ppp |
0.185 |
|
10 |
Heading Accuracy |
Heading standard deviation in decimal degrees. |
hh.hhh |
4.986 |
|
11 |
GPS Update Quality Flag |
0 = No position 1 = All non-RTK fixed integer positions 2 = RTK fixed integer position |
1 |
1 |
|
12 |
INS Status Flag |
0 = All SPAN Pre-Alignment INS Status 1 = All SPAN Post-Alignment INS Status - These include: |
1 |
1 |
|
13 |
Checksum |
Checksum |
*XX |
*2B |
|
14 |
[CR][LF] |
Sentence terminator |
|
[CR][LF] |