Inertial Labs INS-P - Page 192

INS
GUI User’s Manual
Inertial Labs, Inc
TM
Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A.
Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377 Website: www.inertiallabs.com
192
Table C.8 (continued)
Byte
number
76-79
80
81
82
83-84
85
86-87
88-89
Parameter
ms_gps
GNSS_
info1
GNSS_
info2
#solnSVs
V_latency
Angles
position
type
Heading
GNSS
Pitch
GNSS
Length
4 byte
1 byte
1 byte
1 byte
2 byte
1 byte
2 byte
word
2 byte
sword
Note
ms
s*1000
Orientation
angles, deg*100
Table C.8 (continued)
Byte
number
90-91
92-93
94-95
96-99
100
Parameter
Heading STD
GNSS
Pitch STD
GNSS
P_bar
H_bar
New
GPS
Length
2 byte
word
2 byte
word
2 byte
word
4 byte
integer
1 byte
Note
STD, deg*100
Pa/2
m*100
Notes:
1. Values of KG, KA are scale factors depending on gyro and accelerometer range:
Gyro range, deg/sec
250 or 300
450 or 500
1000
2000
KG
100
50
20
10
Accelerometer range, g
2
4
6
8
10
15
40
KA
10000
8000
5000
4000
2000
2000
500
2. Angular rates, linear accelerations and magnetic fields are in the carrier object axes (X
is lateral axis, Y is longitudinal axis, Z is vertical axis). The INS orientation relative to the
carrier object axes is set by alignment angles (see Appendix E. Variants of the Inertial
Labs
TM
INS mounting relative to the object axes).
3. g = 9.8106 m/s
2
.
4. USW is unit status word (see Appendix D for details).
5. Vinp is input voltage of the INS.
6. Temper is averaged temperature in 3 gyros.
7. ms_gps are milliseconds from the beginning of the GPS reference week;
8. GNSS_info1, GNSS_info2 contain information about GNSS data (see Table C.4,
Table C.5);
9. #SolnSVs is number of satellites used in navigation solution;
10. V_latency is latency in the velocity time tag in milliseconds;
11. Angles position type is GNSS position type at orientation calculation using dual
GNSS antennas. If this value is less than 100 then see its description in the Table C.15.
Otherwise subtract 100 from the “Angles position type” and refer again to the Table C.15;