Javad JNSGyro-4T, Operator'S Manual

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www.javad.com JNSGyro-4T Operator’s Manual 5-3
C O M M A N D S A N D M E S S A G E S
The messages output from Master
This parameter controls whether the attitude is calculated with the use of only
fixed solutions or with the use of both fixed and float solutions. The default
value is
on
, which corresponds to the case where only the fixed solution is used.
The messages output from Master
(1) The rotation matrix, [mr]
struct mr
{
U4 time;//day time in [ms]
F4 q00, q01, q02, q12;// entries of the rotation matrix Q
F4 rms[3];//the estimated accuracy for 3 base lines
U1 type[3];//solution type for 3 base lines, 4 for fixed, 3
for float
U1 flag;//good/bad flag
F4 bl0[3];//the base line M-S0 for the current epoch
F4 bl1[3];//the base line M-S1 for the current epoch
F4 bl2[3];//the base line M-S2 for the current epoch
U1 cs;//checksum
}
(2) The rotation matrix, [MR]
struct MR
{
U4 time; //day time in ms
F4 q00, q01, q02, q12; //the entries of the rotation matrix Q
F4 rms[3]; //the estimated accuracy for 3 base lines
U1 type[3]; //solution type for 3 base lines, 4 for fixed, 3
for float
U1 flag; //good/bad flag
U1 cs; //checksum
}
(3) struct AR
{
u4 time; //time [ms]
f4 p,r,h; //angles [deg]
f4 sp,sr,sh; //angles rms [deg]
U1 type[3]; //solution type for 3 base lines, 4 for fixed, 3
for float
u1 flag;
u1 cs;
}