GNSS Compass Reference Manual
Page 58 of 85
Version 1.1
13/01/2021
10.10.10
Raw GNSS Packet
This packet represents the raw data as it is received from the GNSS receiver. The position is not
corrected for antenna position offset and the velocity is not compensated for the antenna lever arm
offset. The INS position and velocity that are in the other packets are corrected for antenna
position offset and lever arm.
Raw GNSS Packet
Packet ID
29
Length
74
Field #
Bytes
Offset
Data
Type
Size
Description
1
0
u32
4
Unix time stamp (seconds)
2
4
u32
4
Microseconds
3
8
fp64
8
Latitude (rad)
4
16
fp64
8
Longitude (rad)
5
24
fp64
8
Height (m)
6
32
fp32
4
Velocity north (m)
7
36
fp32
4
Velocity east (m)
8
40
fp32
4
Velocity down (m)
9
44
fp32
4
Latitude standard deviation (m)
10
48
fp32
4
Longitude standard deviation (m)
11
52
fp32
4
Height standard deviation (m)
12
56
fp32
4
Tilt (rad)
13
60
fp32
4
Heading (rad)
14
64
fp32
4
Tilt standard deviation (rad)
15
68
fp32
4
Heading standard deviation (rad)
16
72
u16
2
Status, see section 10.10.10.1
Table 51: Raw GNSS packet
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