Advanced Navigation GNSS Compass, Reference Manual

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10.4.10 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
Read / Write Read
Field # Bytes Off-
set 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/s)
7 36 fp32 4 Velocity east (m/s)
8 40 fp32 4 Velocity down (m/s)
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 10.4.10.1 Raw GNSS
Status
Table 55: Raw GNSS Packet
10.4.10.1 Raw GNSS Status
Bit Description
0 GNSS Fix Status
1
2
3 Doppler velocity valid
4 Time valid
5 External GNSS
v2.0 Page 91 04 Nov 2021
GNSS Compass Reference Manual • Advanced Navigation Packet Protocol