INSUPDATESTATUS

INS Update Status

Platform: 

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

This log provides the most recent INS update information used by the system. It provides information about what updates were performed in the INS filter at the specified time.

Multiple INSUPDATESTATUS logs may be published each epoch. For example, any DMI or external updates will trigger an independent, asynchronous log. These asynchronous logs may show that other updates are not being used because they are the only valid update applied at the specified time.

In the ASCII example below, the first INSUPDATESTATUS log shows 22 phase and 24 doppler updates were applied at 416218.000 and the second INSUPDATESTATUS log shows the DMI update was USED at 416218.002.

Message ID: 1825

Log Type: Asynch

Recommended Input:

log insupdatestatus onchanged

ASCII Example:

#INSUPDATESTATUSA,COM3,0,49.0,FINESTEERING,2117,416218.000,02004020,78f1,32768;INS_PSRSP,0,22,24,INACTIVE,USED,0b0020c3,007ff3bf,0,0*c1d6e8bc

#INSUPDATESTATUSA,COM3,0,49.0,FINESTEERING,2117,416218.002,02004020,78f1,32768;INS_PSRSP,0,0,0,USED,INACTIVE,0b0020c3,007ff3bf,0,0*0aa584c7

Field

Field Type

Description

Format

Binary Bytes

Binary Offset

1

Log header

INSUPDATESTATUS header

For information about log headers, see ASCII, Abbreviated ASCII or Binary.

-

H

0

2

PosType

Type of GNSS solution used for the last INS filter update.
See Table: Position or Velocity Type

Enum

4

H

3

NumPSR

Number of raw pseudorange observations used in the last INS filter update.

Integer

4

H+4

4

NumADR

Number of raw phase observations used in the last INS filter update.

Integer

4

H+8

5

NumDOP

Number of raw doppler observations used in the last INS filter update.

Integer

4

H+12

6

DMI Update Status

Distance measurement instrument (wheel sensor) status.
See Table: DMI Update Status.

Enum

4

H+16

7

ALIGN Update Status

Status of the ALIGN update during the last INS filter update.
See Table: ALIGN Update Values

Enum

4

H+20

8

Ext sol stat

Extended solution status
See Table: Extended Solution Status

Hex

4

H+24

9

INS Enabled Updates

Enabled INS updates.
See Table: INS Update Values

Hex

4

H+28

10

Reserved

Ulong

4

H+32

11

Reserved

Ulong

4

H+36

12

xxxx

32-bit CRC (ASCII, Binary and Short Binary only)

Hex

4

H+40

13

[CR][LF]

Sentence terminator (ASCII only)

-

-

-
DMI Update Status

Binary

ASCII

Description

0

INACTIVE

The DMI sensor is not connected.

1

ACTIVE

The DMI sensor is connected but not used.

2

USED

The DMI sensor is connected and used in the INS solution.

3

RESERVED

Reserved

4

BAD_MISC

The measurement of the DMI sensor resulted in bad misclosure and was rejected.

5

HIGH_ROTATION

The measurement of the DMI sensor was not used because the system is undergoing high rotation.
ALIGN Update Values

Binary

ASCII

Description

0

INACTIVE

An ALIGN update was not available.

1

ACTIVE

ALIGN updates are running, but the epoch is not used as an update. When all other rejection criteria pass, an ALIGN update will still only be applied once every 5 seconds (20 seconds when stationary).

2

USED

The update for that epoch was taken.

5

BAD_MISC

ALIGN updates are running, but was not performed this epoch due to a large disagreement with filter estimates.
INS Update Values

Nibble

Bit

Mask

Description

Range Value

N0

0

0x00000001

Position update

0 = Disabled
1 = Enabled

1

0x00000002

Phase update

0 = Disabled
1 = Enabled

2

0x00000004

Zero velocity update

0 = Disabled
1 = Enabled

3

0x00000008

Wheel sensor update

0 = Disabled
1 = Enabled

N1

4

0x00000010

ALIGN update

0 = Disabled
1 = Enabled

5

0x00000020

External position update

0 = Disabled
1 = Enabled

6

0x00000040

Reserved

7

0x00000080

Doppler update

0 = Disabled
1 = Enabled

N2

8

0x00000100

Pseudorange update

0 = Disabled
1 = Enabled

9

0x00000200

Velocity update

0 = Disabled
1 = Enabled

10

0x00000400

Reserved

11

0x00000800

Dead reckoning update

0 = Disabled
1 = Enabled

N3

12

0x00001000

Phase wind up update

0 = Disabled
1 = Enabled

13

0x00002000

Course over ground update

0 = Disabled
1 = Enabled

14

0x00004000

External velocity update

0 = Disabled
1 = Enabled

15

0x00008000

External attitude update

0 = Disabled
1 = Enabled

N4

16

0x00010000

External heading update

0 = Disabled
1 = Enabled

17

0x00020000

External height update

0 = Disabled
1 = Enabled

18

0x00040000

Reserved

19

0x00080000

Reserved