Aceinna INS401, User Manual

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INS401 User’s Manual
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Doc# 7430-3305-08 Page 19
0 uint16 gps_week GPS time:
GPS week and seconds in week
2 uint32 gps_millisecs ms
6 uint8 ins_status 0: INVALID
1: INS_ALIGNING
2: INS_HIGH_VARIANCE
3: INS_SOLUTION_GOOD
4: INS_SOLUTION_FREE
5: INS_ALIGNMENT_COMPLETE
7 uint8 ins_position_type
0: INVALID
1: SPP/INS
2: RTD/INS
3: INS_PROPAGATE
4: RTK_FIXED/INS
5: RTK_FLOAT/INS
8 double latitude deg Geodetic latitude
16 double longitude deg Geodetic longitude
24 double height m Height above ellipsoid
32 float north_velocity m/s North velocity in navigation ENU frame
36 float east_velocity m/s East velocity in navigation ENU frame
40 float up_velocity m/s Up velocity in navigation ENU frame
44 float longitudinal_velocity m/s Forward velocity in vehicle frame
48 float lateral_velocity m/s Lateral velocity in vehicle frame
52 float roll deg Vehicle roll
56 float pitch deg Vehicle pitch
60 float heading deg Vehicle heading
64 float latitude_std m Latitudinal position accuracy
68 float longitude_std m Longitudinal position accuracy
72 float height_std m Vertical position accuracy
76 float north_velocity_std m/s North velocity accuracy
80 float east_velocity_std m/s East velocity accuracy
84 float up_velocity_std m/s Up velocity accuracy
88 float long_vel_std m/s Longitudinal velocity accuracy
92 float lat_vel_std m/s Lateral velocity accuracy
96 float roll_std deg Vehicle roll accuracy
100 float pitch_std deg Vehicle pitch accuracy
104 float heading_std deg Vehicle heading accuracy
108 int16
Continent ID
Continent ID:
ID_NONE = -2,
ID_ERROR = -1,
ID_UNKNOWN = 0,
ID_ASIA = 1,
ID_EUROPE = 2,
ID_OCEANIA = 3,
ID_AFRICA = 4,