Inertial Labs INS-P - Table C.21 the SPAN Rawimu Message Structure

INS
GUI User’s Manual
Inertial Labs, Inc
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206
Table C.21 The “SPAN rawimu” message structure
Byte
number
0
1
2
3
4-5
6
7
8-9
Parameter
Sync1
Sync2
Sync3
Header
Length
Message
ID
Message
Type
Port
Address
Message
Length
Length
1 byte
1 byte
1 byte
1 byte
2 byte
word
1 byte
1 byte
2 byte
word
Note
0xAA
0x44
0x12
28
268
0x00
40
Table C.21 (continued)
Byte
number
10-11
12
13
14-15
16-19
20-23
24-25
26-27
Parameter
Sequence
Idle
Time
Time
Status
Week
GPS
Time
Receiver
Status
Reserved
Receiver
S/W
Version
Length
2 byte
word
1 byte
1 byte
2 byte
word
4 byte
unsigned
integer
4 byte
unsigned
integer
2 byte
word
2 byte
word
Note
0x00
ms
Table C.21 (continued)
Byte
number
28-31
32-39
40-43
44-55
56-67
68-71
Parameter
Week
GPS IMU Time
IMU
Status
AccZ,
-Accy,
AccX
GyroZ,
-GyroY,
GyroX
32-bit CRC
Length
4 byte
unsigned
integer
8 byte
double
4 byte
integer
3
4 byte
integer
3
4 byte
integer
4 byte
hex
Note
s
m/s
*1e8
deg
1e8
Notes:
1. Bytes 0 to 27 are header of the “SPAN rawimu” message;
2. Time Status indicates the quality of the GPS reference time (see Table C.22);
3. Week is the GPS week number;
4. GPS Time are milliseconds from the beginning of the GPS reference week;
5. Receiver Status is 32-bits representing the status of various hardware and software
components of the GNSS receiver (see Table C.23);
6. Receiver S/W Version is a value (0 - 65535) representing the receiver software build
number;
7. GPS IMU Time is time of getting IMU data (measurements from the gyros and
accelerometers), in seconds from the beginning of the GPS reference week;