SYNCRELINSPVACMP
Compressed Synchronous Relative INSPVA log
|
Platform: |
OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, CPT7, CPT7700, SMART7-S |
This log contains the SYNCRELINSPVA log information compressed into a NMEA 2000 fast packet message for CAN output. The information in the following table is the data portion of the SYNCRELINSPVACMP NMEA 2000 message. Refer to the National Marine Electronics Association (NMEA) NMEA2000(r) Standard rev 2.0 - January/2013 document for full details on this message output and the NMEA 2000 fast packet protocol.
The PGN of this message is configured using the PGNCONFIG command.
The computed Position, Velocity and Attitude (PVA) delta information is valid once the rover and base SPAN solutions have both reached Alignment Complete (rover INSStatus and base INSStatus are both INS_ALIGNMENT_COMPLETE, INS_SOLUTION_GOOD, INS_SOLUTION_FREE or INS_HIGH_VARIANCE). The relative PVA quality depends on the absolute INS solution quality of both the base and rover, the GNSS relative position (ALIGN) quality, latency of corrections messages from base to rover (differential age) and rate of dynamics change of each unit but not on the absolute position solution accuracy of either base or rover.
To use the SYNCRELINSPVACMP log, the receiver requires a Relative INS capable model.
Message ID: 2538
Log Type: Synch
Rate Restriction: SYNC[200Hz]
Recommended Input:
LOG CCOM1 SYNCRELINSPVACMP ONTIME 1
|
Field |
Field Type |
Description |
Quantization |
Range |
Binary Format |
ASCII Convert String |
Scale Factor |
|---|---|---|---|---|---|---|---|
|
1 |
Message Time |
Time from the beginning of the GPS week (s) |
1 ms |
0 – 604799.999 seconds |
Ulong |
– |
0.001 |
|
2 |
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 |
0.1 mm |
±214 km |
Long |
%1d |
0.0001 |
|
3 |
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 |
0.1 mm |
±214 km |
Long |
%1d |
0.0001 |
|
4 |
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 |
0.1 mm |
±214 km |
Long |
%1d |
0.0001 |
|
5 |
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 |
0.002 m/s |
±262 m/s |
18 bit signed integer |
%ld |
0.002 |
|
6 |
DeltaVelY |
Difference in velocity between the 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 |
0.002 m/s |
±262 m/s |
18 bit signed integer |
%ld |
0.002 |
|
7 |
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 |
0.002 m/s |
±262 m/s |
18 bit signed integer |
%ld |
0.002 |
|
8 |
DeltaRoll |
Difference in roll between the two receivers (degrees). Right-handed rotation around Y axis. |
0.01 degrees |
±180 degrees |
Short |
%hd |
0.01 |
|
9 |
DeltaPitch |
Difference in pitch between the two receivers (degrees). Right-handed rotation around X axis. |
0.01 degrees |
±180 degrees |
Short |
%hd |
0.01 |
|
10 |
DeltaHeading |
Difference in heading (azimuth) between the two receivers (degrees). Left-handed rotation around Z axis. |
0.01 degrees |
±180 degrees |
Short |
%hd |
0.01 |
|
11 |
Diff Age |
Differential age in seconds. (256 is 25.6 sconds or greater) |
0.1 seconds |
0 – 25.6 seconds |
Uchar |
%hhd |
0.1 |
|
12 |
Rover ID |
Rover receiver ID string, up to 4 ASCII characters in character order, pad with zeroes. |
– |
– |
Char[4] |
… |
… |
|
13 |
Rover INSStatus |
INS status of the rover receiver. |
5 bit Enum |
– |
– |
||
|
14 |
Base ID |
Base receiver ID string. |
– |
– |
Char[4] |
… |
… |
|
15 |
Base INSStatus |
INS status of the base receiver. |
5 bit Enum |
– |
– |
||
|
16 |
RTK Status |
Status of the current RTK vector between the base and rover. |
8 bit Enum |
– |
– |
||
|
17 |
ExtStatus |
Extended solution status. |
12 bit Hex |
%03hx |
– |
||
|
18 |
Output Frame |
The current output frame as specified using the SETRELINSOUTPUTFRAME command |
4 bit Enum |
– |
– |
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