SYNCRELINSPVA

Synchronous 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.

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

This log is designed to provide synchronous, relative Position, Velocity and Attitude information, propagating the information between matched corrections between the base and remote solutions. It is highly recommended that the highest rate of corrections be used at all times for the most precise and robust performance.

Message ID: 1743

Log Type: Synch

Recommended Input:

LOG SYNCRELINSPVAA ONTIME 1

ASCII example:

#SYNCRELINSPVAA,COM1,0,72.5,FINESTEERING,1805,247243.000,02000000,e9c7,13005;BODY,8.141080733,-2.779177478,2.045421773,-0.001464009,-0.001038329,0.002323548,0.409467974,0.715633909,-6.204731538,0.000000000,"B81V",INS_ALIGNMENT_COMPLETE,"B20C",INS_ALIGNMENT_COMPLETE,INS_PSRSP,00000000*e270f5c8

Field	Field Type	Description	Format	Binary Bytes	Binary Offset
1	Log header	SYNCRELINSPVA 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
19	xxxx	32-bit CRC (ASCII and Binary only)	Hex	4	H+104
20	[CR][LF]	Sentence terminator (ASCII only)	-	-	-