Safran VersaSync - Page 349

Example Read Response:$VNRRG, 63, 333811.902862, 1694, 0004, +009.500, -
004.754, - 000.225, +32.95602815, - 096.71424297, +00171.195, - 000.840, -
000.396, -000.109, 07.8, 01.6, 0.23*5F
Table 5-18:
VNINS Settings
Offset Name Format Unit Description
0 Time double sec GPS time of week in seconds
8 Week uint16 week GPS week.
10 Status uint16 – Status flags for INS filter. Hexadecimal
format. See table below.
12 Yaw float deg Yaw angle relative to true north.
16 Pitch float deg Pitch angle relative to horizon.
20 Roll float deg Roll angle relative to horizon.
24 Latitude double deg INS solution position in geodetic latitude.
32 Longitude double deg INS solution position in geodetic longitude.
40 Altitude double m Height above ellipsoid. (WGS84)
48 NedVelX float m/s INS solution velocity in NED frame. (North)
52 NedVelY float m/s INS solution velocity in NED frame. (East)
56 NedVelZ float m/s INS solution velocity in NED frame. (Down)
60 AttUncertainty float deg Uncertainty in attitude estimate.
64 PosUncertainty float m Uncertainty in position estimate.
68 VelUncertainty float m/s Uncertainty in velocity estimate.
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APPENDIX