FixPosition Vision-RTK 2 - IMU Output; Fp_A-Rawimu

7.5. IMU Output
All IMU output is generated at the IMU frequency of approximately 200 Hz. Note that the
IMU output requires a lot of output bandwidth. For example, on a serial port, the baud
rate must be set high enough for the necessary bandwidth. The exact number depends
on what messages are enabled for the port.
7.5.1. FP_A-RAWIMU
This message contains time and the IMU’s acceleration and angular velocity (raw value,
no bias correction, only coordinate transformation applied) in the sensor frame.
Example message:
1 $FP , RAWIMU ,1 ,2197 ,12 6191.7 77855 , -0. 199914 ,0. 472851 ,9. 917973 ,0.023436 ,
0.007723 ,0.0021 31* 34\ r\ n
Message fields:
# Field Format Unit Example Description
1 msg_type String - RAWIMU
Message type, always RAWIMU
for this message
2 msg_version Numeric - 1
Message version, always 1 for
this version of the RAWIMU
message
3 gps_week Numeric - 2197
GPS week number, range
0–9999
4 gps_tow Float (.6) s 126191.777855
GPS time of week, range
0.000–604799.999999
5 acc_x Float (.6) m/s2 -0.199914
Raw acceleration in output
frame, X component
6 acc_y Float (.6) m/s2 0.472851
Raw acceleration in output
frame, Y component
7 acc_z Float (.6) m/s2 9.917973
Raw acceleration in output
frame, Z component
8 rot_x Float (.6) rad/s 0.023436
Raw angular velocity in output
frame, X component
9 rot_y Float (.6) rad/s 0.007723
Raw angular velocity in output
frame, Y component
10 rot_z Float (.6) rad/s 0.002131
Raw angular velocity in output
frame, Z component
Table 7.15.: FP_A-RAWIMU message format
Vision-RTK 2 | Fixposition Positioning Sensor 62