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 $VNG2S header.
5.3.4.20 VNG2E
Output Type: GPS2 Solution - ECEF
Register ID: 103
Async Header: G2E
Access: Read Only
Comment: The calculated navigation solution of the Ant B receiver, expressed in
the ECEF frame. Updates at the GPS rate (5Hz default).
Size (Bytes): 72
Example Read Response: $VNRRG, 104, 505024.199617, 1941, 3, 13, -0625837.176,
-5324476.241, +3443992.903, -000.001, -000.020, +000.007, +001.311, +001.298,
+003.198, +000.098, 2.00E-09*03
Table 5-29:
VNG2E Settings
Offset Name Format Unit Description
0 Time double sec GPS time of week.
8 Week uint16 week Current GPS week.
10 GpsFix uint8 – GPS fix type. See table below.
11 NumSats uint8 – Number of GPS satellites used in solution.
12 – – – --- 4 PADDING BYTES ---
16 PositionX double m ECEF X coordinate.
24 PositionY double m ECEF Y coordinate.
32 PositionZ double m ECEF Z coordinate.
40 VelocityX float m/s ECEF X velocity.
44 VelocityY float m/s ECEF Y velocity.
VersaSync User Manual 345
APPENDIX
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