Inertial Labs INS-P - Table C.13 the Message Payload at the INS Sensors Data Format

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
200
5
Heading external
Heading external
Heading external STD
Heading external latency
6
Reserved
7
Reserved
High byte
8
Reserved
9
Reserved
10
Reserved
11
Reserved
12
Reserved
13
Reserved
14
Reserved
15
Reserved
Table C.13 The message payload at the “INS Sensors Data” format
Byte
number
0 – 1
2 – 3
4 – 5
6 – 23
24 – 25
26 – 27
28 – 29
30 – 31
32 – 33
Parameter
Heading
(AHRS)
Pitch
(AHRS)
Roll
(AHRS)
Ugyro,
Uacc,
Umag
Reser-
ved
Reser-
ved
USW
Vdd
Utermo
Length
2 byte
word
2 byte
sword
2 byte
sword
92 byte
sword
2 byte
sword
2 byte
sword
2 byte
word
2 byte
word
2 byte
sword
Note
Orientation angles,
deg*100
Raw sensor
data (gyros,
accelerometers,
magnetometers)
Combi-
ned
voltage
Temper
ature in
each
sensor
Table C.13 (continued)
Byte
number
34 – 37
38 – 41
42 – 45
46-47
48 – 49
50 – 51
52-55
56-57
58-61
Parameter
Latitude
GNSS
Longitude
GNSS
Altitude
GNSS
Latitude
STD
Longitude
STD
Altitude
STD
Horizont
al speed
GNSS
Track over
ground
GNSS
Vertical
speed
GNSS
Length
4 byte
integer
4 byte
integer
4 byte
integer
2 byte
word
2 byte
word
2 byte
word
4 byte
integer
2 byte
word
4 byte
integer
Note
deg
*1.0e7
deg
*1.0e7
m*100
m*1000
m*1000
m*1000
m/s*100
deg*100
m/s*100