Inertial Labs INS-P - APPENDIX D. the Unit Status Word Definition

INS
GUI User’s Manual
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APPENDIX D.
The Unit Status Word definition
The Unit Status Word (USW) provides the INS state information. The low
byte (bits 0-7) of USW indicates failure of the INS. If this byte is 0, the INS
operates correctly, if it is not 0, see the Table D.1 for type of failure. The high
byte (bits 8-15) contains a warning or is informative for the user. Status of
each bit of the USW warning byte is specified in the Table D.1.
Table D.1 The Unit Status Word description
Bit
Parameter
Performance
Low
(failure)
byte
0
Initial Alignment
0 – Successful initial alignment
1 – Unsuccessful initial alignment due to INS
moving or large change of outer magnetic
field
1
INS Parameters
0 – Parameters are correct
1 – Parameters are incorrect
2
Gyroscope Unit
0 – No failure
1 – Failure is detected
3
Accelerometer Unit
0 – No failure
1 – Failure is detected
4
Magnetometer Unit
0 – No failure
1 – Failure is detected
5
Electronics
0 – No failure
1 – Failure is detected
6
GNSS receiver
0 – No failure
1 – Failure is detected
7
On-the-fly
calibration
1 – during data accumulation and calculation
0 -- otherwise
High
(warning)
byte
8
Incorrect Power
Supply
0 – Supply voltage is not less than minimum
level
1 – Low supply voltage is detected
9
0 – Supply voltage is not higher than
maximum level
1 – High supply voltage is detected
10
Angular Rate
Exceeding Detect
0 – X-angular rate is within the range
1 – X-angular rate is outrange
11
0 – Y-angular rate is within the range
1 – Y-angular rate is outrange
12
0 – Z-angular rate is within the range