FixPosition Vision-RTK 2 - Fp_A-Corrimu

7.5.2. FP_A-CORRIMU
This message contains time and the IMU’s acceleration and angular velocity (coordinate
transformation and bias correction applied) in the sensor frame.
Example message:
1 $FP , CORRIMU ,1 ,2197 ,126191.777 855 , -0.195224 ,0.393969 ,9.869998 ,0.013342 ,
-0.004620 , -0.000728*7 D\ r\ n
Message fields:
# Field Format Unit Example Description
1 msg_type String - CORRIMU
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
0.000–604799.999
5 acc_x Float (.6) m/s2 -0.195224
Raw acceleration in output
frame, X component
6 acc_y Float (.6) m/s2 0.393969
Raw acceleration in output
frame, Y component
7 acc_z Float (.6) m/s2 9.869998
Raw acceleration in output
frame, Z component
8 rot_x Float (.6) rad/s 0.013342
Raw angular velocity in output
frame, X component
9 rot_y Float (.6) rad/s -0.004620
Raw angular velocity in output
frame, Y component
10 rot_z Float (.6) rad/s -0.000728
Raw angular velocity in output
frame, Z component
Table 7.16.: FP_A-CORRIMU message format
Vision-RTK 2 | Fixposition Positioning Sensor 63