Advanced Navigation Boreas D90 - Raw GNSS Packet; Raw GNSS Status

11.4.10 Raw GNSS Packet
This packet represents the raw data as it is received from the GNSS receiver. The position is not corrected for
antenna position offset and the velocity is not compensated for the antenna lever arm offset. The INS position
and velocity that are in the other packets are corrected for antenna position offset and lever arm.
Raw GNSS Packet
Packet ID 29
Length 74
Read / Write Read
Field # Bytes Offset Data Type Size Description
1 0 u32 4 Unix time stamp (seconds)
2 4 u32 4 Microseconds
3 8 fp64 8 Latitude (rad)
4 16 fp64 8 Longitude (rad)
5 24 fp64 8 Height (m)
6 32 fp32 4 Velocity north (m/s)
7 36 fp32 4 Velocity east (m/s)
8 40 fp32 4 Velocity down (m/s)
9 44 fp32 4 Latitude standard deviation (m)
10 48 fp32 4 Longitude standard deviation (m)
11 52 fp32 4 Height standard deviation (m)
12 56 fp32 4 Tilt (rad)
13 60 fp32 4 Heading (rad)
14 64 fp32 4 Tilt standard deviation (rad)
15 68 fp32 4 Heading standard deviation (rad)
16 72 u16 2 Status. See 11.4.10.1 Raw GNSS Status
Table 71: Raw GNSS Packet
11.4.10.1 Raw GNSS Status
Bit Description
0 GNSS Fix Status
1
2
3 Doppler velocity valid
4 Time valid
5 External GNSS
6 Tilt valid
v1.2 Page 129 11 Oct 2022
Boreas Reference Manual • Advanced Navigation Packet Protocol