RELINSPVA

Relative INSPVA log

Platform:

OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, CPT7, CPT7700, SMART7-S

This log provides the relative offset between the Base and Rover Inertial Solutions. The output solution provides the offset of where the local station is with respect to the other station.

This log should only be requested with the ONNEW trigger.

To use the RELINSPVA log, the receiver requires a Relative INS capable model.

Message ID: 1446

Log Type: Asynch

Recommended Input:

LOG RELINSPVAA ONNEW

ASCII example:

#RELINSPVAA,COM1,0,61.0,FINESTEERING,1805,245074.000,02000000,2338,45757;BODY,9.285958662,-0.755483058,0.079229338,0.001739020,-0.000126304,0.001525848,0.321033045,0.669367786,4.466250181,0.000000000,"b81V",INS_ALIGNMENT_COMPLETE,"B20C",INS_ALIGNMENT_COMPLETE,NARROW_INT,00000000*a114ce3c

Field	Field Type	Description	Format	Binary Bytes	Binary Offset
1	Log header	RELINSPVA header For information about log headers, see ASCII, Abbreviated ASCII or Binary.	-	H	0
2	Output Frame	The current output frame (IMU body, ECEF or local level frame). The output frame is specified using the SETRELINSOUTPUTFRAME command	Enum	4	H
3	DeltaPosX	Difference in the position between the two receivers (m). The position difference is relative to the output frame: BODY = along the X-axis ECEF = along the X-axis Local level = Northing	Double	8	H+4
4	DeltaPosY	Difference in the position between the two receivers (m). The position difference is relative to the output frame: BODY = along the Y-axis ECEF = along the Y-axis Local level = Easting	Double	8	H+12
5	DeltaPosZ	Difference in the position between the two receivers (m). The position difference is relative to the output frame: BODY = along the Z-axis ECEF = along the Z-axis Local level = Up	Double	8	H+20
6	DeltaVelX	Difference in velocity between the two receivers (m/s). The position difference is relative to the output frame: BODY = along the X-axis ECEF = along the X-axis Local level = Northing	Double	8	H+28
7	DeltaVelY	Difference in velocity between two receivers (m/s). The position difference is relative to the output frame: BODY = along the Y-axis ECEF = along the Y-axis Local level = Easting	Double	8	H+36
8	DeltaVelZ	Difference in velocity between the two receivers (m/s). The position difference is relative to the output frame: BODY = along the Z-axis ECEF = along the Z-axis Local level = Up	Double	8	H+44
9	DeltaRoll	Difference in roll between the two receivers (degrees).	Double	8	H+52
10	DeltaPitch	Difference in pitch between the two receivers (degrees).	Double	8	H+60
11	DeltaHeading	Difference in heading between the two receivers (degrees).	Double	8	H+68
12	Diff Age	Differential age in seconds.	Float	4	H+76
13	Rover ID	Rover receiver ID string.	Char[4]	4	H+80
14	Rover INSStatus	INS status of the rover receiver. See Table: Inertial Solution Status	Enum	4	H+84
15	Base ID	Base receiver ID string.	Char[4]	4	H+88
16	Base INSStatus	INS status of the base receiver. See Table: Inertial Solution Status	Enum	4	H+92
17	RTK Status	Status of the current RTK vector between base and rover. See Table: Position or Velocity Type	Enum	4	H+96
18	ExtStatus	Extended solution status. See Table: Relative INS Extended Solution Status	Hex	4	H+100
20	xxxx	32-bit CRC (ASCII and Binary only)	Hex	4	H+104
21	[CR][LF]	Sentence terminator (ASCII only)	-	-	-

Relative INS Extended Solution Status
Nibble	Bit	Mask	Description	Range
N0	0	0x00000001	Diff Criteria	0 = Delta solution is computed as Rover minus Base 1= Delta solution is computed as Base minus Rover
	1	0x00000002	Reserved
	2	0x00000004	Reserved
	3	0x00000008	Reserved
N1 - N7	4 - 31	0xFFFFFFF0	Reserved