INS401 User’s Manual
_____________________________________________________________________________________
Doc# 7430-3305-08
Page 22
Raw IMU Data
Table 6 Raw IMU Data
Message
Raw IMU data, periodic output at 100 Hz
Message ID
0x0a01
Length
30
Payload Description
：
Byte Offset
Type
Name
Unit
Description
0
uint16
gps_week
GPS week
2
uint32
gps_millisecs
ms
GPS time of week
6
float
accel_x
m/s^2 accel x axis measurement
10
float
accel_y
m/s^2 accel y axis measurement
14
float
accel_z
m/s^2 accel z axis measurement
18
float
gyro_x
deg/s
gyro x axis measurement
22
float
gyro_y
deg/s
gyro y axis measurement
26
float
gyro_z
deg/s
gyro z axis measurement
RTCM Data
The RTCM data contains raw data in RTCM format for the GNSS observables, such as satellite
carrier phase, pseudo range and Doppler.
Table 7 RTCM Data
Message
RTCM data, periodic output at 10 Hz
Message ID
0x0a06
Length
1~1024bytes
Payload
NOTE
Raw IMU Data will output immediately after the unit boots up from a power cycle.
Output ASCII Messages
The output ASCII Messages are the NMEA 0183 messages based on the NMEA 0183 version
4.10 standard. Refer to
http://www.nmea.org/
for more information.
The tables below describe the brief meaning of each field that is delimited by comma in the
NMEA messages.
EXAMPLE
$GNGGA, 172814.10,3723.46587704,N,12202.26957864,W,2,6,1.2,18.893,M,-25.669,M,2.0,
0031*4F
Field
Sequence
Description
0
Message ID $GNGGA
