GNSS Compass Reference Manual
Page 3 of 85
Version 1.1
13/01/2021
10.10.11 Satellites Packet..................................................................................................59
10.10.12 Detailed Satellites Packet....................................................................................60
10.10.12.1 Satellite Systems.........................................................................................60
10.10.12.2 Satellite Frequencies...................................................................................61
10.10.13 Geodetic Position Packet....................................................................................61
10.10.14 ECEF Position Packet.........................................................................................61
10.10.15 UTM Position Packet...........................................................................................61
10.10.16 NED Velocity Packet............................................................................................62
10.10.17 Body Velocity Packet...........................................................................................62
10.10.18 Acceleration Packet.............................................................................................62
10.10.19 Body Acceleration Packet....................................................................................63
10.10.20 Euler Orientation Packet......................................................................................63
10.10.21 Quaternion Orientation Packet............................................................................64
10.10.22 DCM Orientation Packet......................................................................................64
10.10.23 Angular Velocity Packet.......................................................................................65
10.10.24 Angular Acceleration Packet................................................................................65
10.10.25 External Position & Velocity Packet.....................................................................66
10.10.26 External Position Packet......................................................................................66
10.10.27 External Velocity Packet......................................................................................67
10.10.28 External Body Velocity Packet.............................................................................67
10.10.29 External Heading Packet.....................................................................................67
10.10.30 Running Time Packet..........................................................................................68
10.10.31 Local Magnetic Field Packet................................................................................68
10.10.32 External Time Packet...........................................................................................68
10.10.33 Geoid Height Packet............................................................................................68
10.10.34 RTCM Corrections Packet...................................................................................69
10.10.35 Heave Packet......................................................................................................69
10.10.36 Raw Satellite Data Packet...................................................................................70
10.10.36.1 Satellite Frequencies...................................................................................71
10.10.36.2 Tracking Status............................................................................................71
10.10.37 Raw Satellite Ephemeris Packet..........................................................................71
10.10.38 GNSS Receiver Information Packet.....................................................................72
10.10.38.1 GNSS Manufacturer IDs..............................................................................72
10.10.38.2 GNSS Receiver Models (Trimble)................................................................72
10.10.38.3 GNSS Receiver Models (u-blox)..................................................................73
10.10.38.4 Omnistar Engine Modes...............................................................................73
10.10.38.5 RTK Software License Accuracy..................................................................73
10.10.39 Automotive Packet...............................................................................................74
10.11 Configuration Packets...................................................................................................74
10.11.1 Packets Period Packet...........................................................................................74
10.11.1.1 Flags..............................................................................................................75
10.11.1.2 Clear Existing Packets...................................................................................75
10.11.1.3 Packet Period.................................................................................................75
10.11.2 Baud Rates Packet................................................................................................75
10.11.3 Sensor Ranges Packet..........................................................................................76
10.11.3.1 Accelerometers Range...................................................................................76
10.11.3.2 Gyroscopes Range........................................................................................76
10.11.3.3 Magnetometers Range...................................................................................76
10.11.4 Installation Alignment Packet.................................................................................77
10.11.4.1 Alignment DCM..............................................................................................77
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