Theta/Velocity data is selected for asynchronous output via the Async Data Out-
put Type register (Register 6, type 30), the integrals will be reset each time the
data is asynchronously output at the configured rate.
The delta time output contains the length of the time interval over which the
deltas were calculated. This can be used to check the interval time or to compute
nonlinear “average” rates and accelerations from the integrated values.
The delta theta is output as a principal rotation vector, defined as the product of
the unit vector of the principal rotation axis and the principal rotation angle in
degrees. For small rotations, a typical use case for delta angles, the principal rota-
tion vector elements may be treated individually as rotations in degrees about
the individual sensor axes (in any Euler rotation sequence) with little error.
The delta velocity output provides the integration of the acceleration in the
chosen frame, taking into account the coupling effects of any simultaneous rota-
tion experienced.
The coning and sculling algorithm can be configured to operate in multiple
frames and with a variety of compensations applied. See the Delta Theta and
Delta Velocity Configuration Register in the IMU subsystem for further details
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 $VNDTV header.
5.3.4.19 VNG2S
Output Type: GPS2 Solution - LLA
Register ID: 103
Async Header: G2S
Access: Read Only
Comment: The calculated navigation solution of the Ant B receiver, expressed in
the LLA/NED frames. Updates at the GPS rate (5Hz default).
Size (Bytes): 72
VersaSync User Manual 343
APPENDIX
To Next Page
Loading...
