Safran VersaSync - 5.3.4.17 Vnise

Offset Name Format Unit Description
20 Longitude double deg Estimated position in geodetic longitude.
28 Altitude double m Estimated height above ellipsoid. (WGS84)
36 VelocityX float m/s Estimated velocity in NED frame. (North)
40 VelocityY float m/s Estimated velocity in NED frame. (East)
44 VelocityZ float m/s Estimated velocity in NED frame. (Down)
48 AccelX float m/s
2
Estimated acceleration in body frame. (X-
axis)
52 AccelY float m/s
2
Estimated acceleration in body frame. (Y-
axis)
56 AccelZ float m/s
2
Estimated acceleration in body frame. (Z-axis)
60 AngularRateX float rad/s Estimated angular rate in body frame. (X-axis)
64 AngularRateY float rad/s Estimated angular rate in body frame. (Y-axis)
68 AngularRateZ float rad/s Estimated angular rate in body frame. (Z-axis)
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 $VNISL header.
5.3.4.17 VNISE
Output Type: INS State - ECEF
Register ID: 73
Async Header: ISE
Access: Read Only
Size (Bytes): 72
340 VersaSync User Manual
APPENDIX