Inertial Labs INS-P - Table C.20 the Message Payload at the INS OPVT & Raw IMU Data Format; Table C.19 the Message Payload at the INS Minimal 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
204
Table C.19 The message payload at the “INS Minimal Data” format
Byte
number
0 – 1
2 – 3
4 – 5
6 – 7
8 – 9
10 – 11
12 – 15
16 – 19
20 – 23
Parameter
Heading
Pitch
Roll
USW
Vinp
Temper
Latitude
Longitude
Altitude
Length
2 byte
word
2 byte
sword
2 byte
sword
2 byte
word
2 byte
word
2 byte
sword
4 byte
integer
4 byte
integer
4 byte
integer
Note
Orientation angles,
deg*100
Supply
voltage,
VDC*
100
Temper
ature,
ºC*10
deg
*1.0e7
deg
*1.0e7
m*100
Table C.19 (continued)
Byte
number
24 – 27
28 – 31
32 – 35
36-39
40
41
Parameter
East
speed
North
speed
Vertical
speed
ms_gps
GNSS_i
nfo1
#SolnSVs
Length
4 byte
integer
4 byte
integer
4 byte
integer
4 byte
integer
1 byte
1 byte
Note
m/s*100
m/s*100
m/s*100
Notes:
1. USW is unit status word (see Appendix D for details).
2. Vinp is input voltage of the INS.
3. Temper is averaged temperature in 3 gyros.
4. ms_gps are milliseconds from the beginning of the GPS reference week;
5. GNSS_info1 contains information about GNSS data (see Table C.4);
6. #SolnSVs is number of satellites used in navigation solution.
7. The low byte is transmitted by first.
Table C.20 The message payload at the “INS OPVT & Raw IMU Data” format
Byte
number
0-7
8-15
16-27
28 – 39
40-41
42-45
46-49
50-53
Parameter
GPS
Time
GPS IMU
Time
GyroX,
GyroY,
GyroZ
AccX,
AccY,
AccZ
USW
Heading
Pitch
Roll
Length
8 byte
unsigned
integer
8 byte
unsigned
integer
3
4 byte
integer
3
4 byte
integer
2 byte
word
4 byte
unsigned
integer
4 byte
integer
4 byte
integer
Note
s*1.0e9
s*1.0e9
Angular
rates, deg/s
10000
Accele-
rations,
m/s
2
10000
Orientation angles,
deg*1000