Note: You can configure the device to output this register at a fixed
rate using the Async Data Output Type Register in the System sub-
system. Once configured the data in this register will be sent out
with the $VNINS header.
5.3.4.15 VNINE
Output Type: INS Solution – ECEF
Register ID: 64
Async Header: INE
Access: Read Only
Size (Bytes): 72
Example Read Response: $VNRRG, 64, 333837.222917, 1694,0004, +009.315, -
004.767, - 000.193, - 0626356.433, - 5320530.947, +3449961.679, - 000.224, -
000.476, -000.564, 07.7, 01.5, 0.22*65
Table 5-21:
VNINE 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 PositionX double m INS solution position in ECEF. (X-axis)
32 PositionY double m
INS solution position in ECEF. (Y-axis)
40 PositionZ double m INS solution position in ECEF. (Z-axis)
48 VelocityX float m/s INS solution velocity in ECEF frame. (X-axis)
52 VelocityY float m/s INS solution velocity in ECEF frame. (Y-axis)
VersaSync User Manual 337
APPENDIX
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