60
THE INFORMATION CONTAINED HEREIN IS PROPRIETARY TO APPLANIX CORPORATION. RELEASE TO THIRD PARTIES OF THIS PUBLICATION OR OF
INFORMATION CONTAINED HEREIN IS PROHIBITED WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION. APPLANIX RESERVES THE
RIGHT TO CHANGE THE SPECIFICATIONS AND INFORMATION IN THIS DOCUMENT WITHOUT NOTICE. A RECORD OF THE CHANGES MADE TO THIS
DOCUMENT IS CONTAINED IN THE REVISION HISTORY SHEET. COPYRIGHT © APPLANIX CORPORATION, 2021ALL RIGHTS RESERVED. NO PART OF
THIS PUBLICATION MAY BE REPRODUCED, STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE
PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION.
3
Length
CHAR
??h
Single byte # of data bytes,
limits data to 255 bytes
Data Byte Start
4
Transmission
Number
CHAR
??h
unique number assigned to a
chapter of pages
indicating that the pages are
from the same group.
5
Page Index
CHAR
??h
page number of this page in a
sequence (chapter) of pages
and is zero based.
6
Max Page Index
CHAR
??h
the index of the last page
GSOF Message Type
GSOF Message Type
Data Byte End
n-2
Checksum
CHAR
??h
( type + data
bytes) modulo 256
n-1
ETX
CHAR
03h
End transmission
If the data portion exceeds maximum length limit of 255 bytes, the data packet will be
broken in two or more consecutive pages where the Page Index indicates the current page
and MAX Page Index indicates the total number of pages to be received in order to obtain
full data section.
Page Numbering
– The Page Index and Max Page Index fields are 0-based, so for
example the first transmission of a 2-page set will be 0/1 (PAGE/MAX PAGE) and the
2
nd
(last) page will be 1/1. The total number of pages is MAX PAGE INDEX + 1.
The full set of GNSS-INS navigation parameters including position, attitude, velocity and
accuracy is captured by two GSOF messages “INS Full Navigation Info” and “INS RMS
Info”
