Aceinna INS401, User Manual

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INS401 User’s Manual
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Doc# 7430-3305-08 Page 18
Output Binary Packets
Three types of output data binary packets are defined – GNSS solution, INS solution and
diagnostic message.
GNSS Solution Packet
Table 3 GNSS Solution Packet
Message GNSS positioning solution data, periodic output at 1 Hz
Message ID 0x0a02
Length 77
Payload Description ：
Byte
Offset Type Name Unit Description
0 uint16 gps_week GPS time:
GPS week and seconds in week
2 uint32 gps_millisecs ms
6 uint8 position_type 0: INVALID
1: Single-point positioning (SPP)
2: Real time differential GNSS (RTD)
4: Real time kinematic (RTK), ambiguity fixed
(RTK_FIXED)
5: RTK with ambiguity float (RTK_FLOAT)
7 double latitude deg Geodetic latitude
15 double longitude deg Geodetic longitude
23 double height m Height above ellipsoid
31 float latitude_std m Latitudinal position accuracy
35 float longitude_std m Longitudinal position accuracy
39 float height_std m Vertical position accuracy
43 uint8 numberOfSVs Number of satellites
44 uint8 numberOfSVs_in_solution Number of satellites in solution
45 float hdop Horizontal Dilution of Precision
49 float diffage s Age of differential GNSS correction
53 float north_vel m/s North velocity
57 float east_vel m/s East velocity
61 float up_vel m/s Up velocity
65 float north_vel_std m/s North velocity accuracy
69 float east_vel_std m/s East velocity accuracy
73 float up_vel_std m/s Up velocity accuracy
INS navigation solution
Table 4 INS Solution Packet
Message INS navigation solution, periodic output at 100 Hz
Message ID 0x0a03
Length 108
Payload Description ：
Byte
Offset Type Name Unit Description