Inertial Labs INS-P - Table C.29. Structure of the Cobham UAV 200 Satcom Sentence

INS
GUI User’s Manual
Inertial Labs, Inc
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Address: 39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A.
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 AA.zzzz is accelerpmeter Z data in g;
 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 "*".
At the “Cobham UAV 200 Satcom” the INS data are transmitted as AT-
commands in the form of sentences with printable ASCII characters. Each
sentence starts with a "AT_ITINS=" text 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 “Cobham UAV 200 Satcom” sentence is
the next
AT_ITINS=<lat>,<lon>,<alt>,<height>,<utc>,<ns_vel>,<ew_vel>,
<gnd_spd>,<track_ angle>,<roll>,<pitch>,<heading>,<mag_heading>,
<roll_rate>,<pitch_rate>,<heading_rate><CR><LF>
Table C.29. Structure of the “Cobham UAV 200 Satcom” sentence
Parameter
Description
Units/Format
Positive
Sense
Range
min
Range
max
AT_ITINS=
AT-Command
–
-
-
-
<lat>
Latitude
decimal degrees
North
-90
90
<long>
Longitude
decimal degrees
East
-180
180
<alt>
Altitude
(pressure)
meters
Up
-500
25000
<height>
Height
meters
Up
-500
25000
<utc>
Time
<year>.<month>.<day>-
<hour>:<minute>:<second>
13-12-
1901
19-01-
2038
<ns_vel>
North-South
velocity
m/s
North
-500
500
<ew_ve/>
East-West
velocity
m/s
East
-500
500
<gnd_spd>
Ground speed
m/s
0
500
<track_angle>
Track angle -
true
degrees
Clockwise
from North
-180
360
<roll>
Roll angle
degrees
Right
-180
360
<pitch>
Pitch angle
degrees
Nose up
-180
360