Applanix POS MV V5 - Table 20: $PASHR Sentence Format

POS MV V5 Installation and Operation Guide
Interfaces and Data Formats
Copyright © Applanix Corporation, 2017
3-11
$PASHR ($PASHR-TSS): Attitude Data
POS MV supplies attitude data information in the following ASCII NMEA sentence format.
$PASHR,hhmmss.sss,xxx.xx,T,RRR.RR,PPP.PP,HHH.HH,
a.aaa,b.bbb,c.ccc,d,e*hh<CRLF>
Table 20: $PASHR Sentence Format
Item
Definition
Value
Units (If Applicable)
$PASHR
Header
$PASHR
hhmmss.sss
UTC time of
data string
N/A
hours|minutes|seconds|decimal
seconds
•
2 fixed digits for hours
•
2 fixed digits for minutes
•
2 fixed digits for seconds
• 3 digits for decimal seconds
xxx.xx
True vessel
heading
0 to
359.99
degrees
T
True
T
RRR.RR
Roll
-90.00 to
+90.00
degrees
PPP.PP
Pitch
-90.00 to
+90.00
degrees
HHH.HH
Heave
-99.00 to
+99.00
metres
a.aaa
Accuracy roll
0 to
9.999
degrees
b.bbb
Accuracy pitch
0 to
9.999
degrees
c.ccc
Accuracy
heading
0 to
9.999
degrees
D
Flag -
accuracy
heading
0, 1, 2
0 = no aiding
1 = GNSS aiding
2 = GNSS & GAMS aiding
E
Flag - IMU
0, 1
0 = IMU out
1 = satisfactory
*hh
Checksum
N/A
<CRLF>
Carriage return
and line feed
<CRLF>
Note:Commas separate all items. Two attitude data strings are available. The strings are identical except for the
definition of roll and pitch angles. One string uses Tait-Bryan angles and the other uses TSS angles. Use the MV-
POSView Controller program to set the required angle convention. Refer to COM Port Set-up on page 4-14 for
instructions and Mounting Angles on page 2-29 for a definition of the Tait-Bryan angles. The information is valid in the
vessel frame, except for heave, which is valid in the sensor 1 frame.