FixPosition Vision-RTK 2 - Nov_B-Inspvax

7.3.3. NOV_B-INSPVAX
This message contains the Fusion position (w.r.t. geodetic frame assuming WGS-84
transformation parameters), velocity (w.r.t. local tangential plane), and attitude (w.r.t. out-
put/POI frame), as well as information about the position standard deviation. The position
type and solution status fields indicate whether or not the corresponding data is valid.
This message contains the same information as the FP_A-ODOMETRY message, only
presented in another commercial format.
Message fields:
# Offset Field Type Unit Description
- 0 sync1 uint8_t - Sync byte 1 (always 0xaa)
- 1 sync2 uint8_t - Sync byte 2 (always 0x44)
- 2 sync3 uint8_t - Sync byte 3 (always 0x12)
- 3 header_len uint8_t bytes Length of the header (always 28)
- 4 msg_id uint16_t -
Message ID, always 1465 for this mes-
sage
- 6 msg_type uint8_t - See protocol documentation
- 7 reserved1 uint8_t - Reserved, ignore
- 8 payload_len uint8_t bytes
Payload size, always 126 for this mes-
sage
- 10 reserved2 uint16_t - Reserved, ignore
- 12 reserved3 uint8_t - Reserved, ignore
1 13 time_status uint8_t - See protocol documentation
2 14 gps_wno uint16_t - GPS week number
3 16 gps_tow int32_t ms GPS time of week
- 20 reserved4 uint32_t - Reserved, ignore
- 24 reserved5 uint16_t - Reserved, ignore
- 26 reserved6 uint16_t - Reserved, ignore
4 28 ins_status uint32_t - Solution status, see below
5 32 pos_type uint32_t - Positioning mode, see below
6 36 lat double deg Latitude
7 44 lon double deg Longitude
8 52 height double m Ellipsoidal height
- 60 reserved7 uint32_t - Reserved, ignore
9 64 vel_n double m/s Velocity North
10 72 vel_e double m/s Velocity East
11 80 vel_u double m/s Velocity up
12 88 roll double deg Roll in local level
13 96 pitch double deg Pitch in local level
14 104 azim double deg Azimuth in local level
15 112 std_lat float m Latitude standard deviation
16 116 std_lon float m Longitude standard deviation
17 120 std_height float m Height standard deviation
18 124 std_vel_n float m/s Velocity North standard deviation
19 128 std_vel_e float m/s Velocity East standard deviation
20 132 std_vel_u float m/s Velocity up standard deviation
21 136 std_roll float deg Roll standard deviation
22 140 std_pitch float deg Pitch standard deviation
23 144 std_azim float deg Azimuth standard deviation
24 148 ext_status uint32_t - Extended status, see below
- 152 reserved8 uint16_t - Reserved, ignore
- 154 checksum uint32_t -
CRC32 checksum (see protocol docu-
mentation)
Table 7.8.: NOV B-INSPVAX message fields
Vision-RTK 2 | Fixposition Positioning Sensor 58