Name: Inertial Labs INS-P
Brand: Inertial Labs
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INS

GUI User’s Manual

Inertial Labs, Inc

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

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 RRRR.rr is roll in degrees;

 PPP.pp is pitch in degrees;

 HHH.hh is heading in degrees;

 ttttttttt is timestamp (milliseconds from the beginning of the GPS reference week);

 TTT.t is temperature inside INS (averaged value for 3 gyros);

 VV.v is input voltage of the INS;

 SSSS is unit status word, USW (see Appendix D for details). It is hex written with

ASCII;

 CC is check sum that consists of a "*" and two hex digits representing XOR of all

characters between, but not including "$" and "*".

The “INS Sensors NMEA output” data have structure close to the “INS

NMEA”, with addition of gyros and accelerometers data. So, at the “INS

Sensors NMEA output” the INS data are transmitted in the form of

sentences with printable ASCII characters like the NMEA 0183 format. Each

sentence starts with a "$" sign and ends with <CR><LF> (carriage return

0xD and line feed 0xA symbols). All data fields are separated by commas.

The general form of the “INS Sensors NMEA output” sentence is the next

$PAPS,LLmm.mmmm,n,YYYmm.mmmm,x,AAAA.aa,B,RRRR.rr,PPP.pp,

HHH.hh,GGGG.xx,GGGG.yy,GGGG.zz,AA.xxxx,AA.yyyy,AA.zzzz,ttttttttt,

TTT.t,VV.v,SSSS*CC<CR><LF>

where PAPS is identifier and other fields are listed below:

 LLmm.mmmm is unsigned latitude, where LL are degrees, mm.mmmm are minutes;

 n is N or S (North or South);

 YYYmm.mmmm is unsigned longitude, where YYY are degrees, mm.mmmm are

minutes;

 x is E or W (East or West);

 AAAA.aa is altitude in meters;

 B denotes kind of height data that is defined by switch “Barometric altitude” in the

“Pressure sensor” tab of the “Devices Options” window (see section 10.3):

‘a’ – altitude.

 RRRR.rr is roll in degrees;

 PPP.pp is pitch in degrees;

 HHH.hh is heading in degrees;

 GGGG.xx is gyro X data in degrees/s;

 GGGG.yy is gyro Y data in degrees/s;

 GGGG.zz is gyro Z data in degrees/s;

 AA.xxxx is accelerpmeter X data in g;

 AA.yyyy is accelerpmeter Y data in g;

Brand	Inertial Labs
Model	INS-P
Category	Car Navigation system
Language	English

Inertial Labs INS-P User Manual

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Inertial Labs INS-P Specifications