3DM-CX5-GNSS/INS
User Manual
20
Table 3. Estimation Filter Outputs
Measurement
Units
Description
Filter Status
--
indicates the current state of the EF, such
as running or initializing
GPS Time
weeks & seconds
GNSS time corresponding to the calculated
filter solution
Position (LLH)
degrees (position)
meters
(height, uncertainty)
estimated position based on combined sensors
inputs and EF, expressed in latitude, longitude,
and height (LLH) with
uncertainly estimation available
Velocity (NED)
meters/second
(velocity, uncertainty)
estimated velocity based on combined sensor
inputs and EF, with reference to the North-East-
Down coordinate system and
with uncertainty estimation available
Attitude (Euler RPY)
radians
Euler angles representation of
orientation expressed as roll, pitch and yaw
(RPY) with one-sigma uncertainly estimation
available
Attitude (Matrix)
--
transformation matrix that describes orientation
with reference to the Earth Centered Earth Fixed
(ECEF coordinate system)
Attitude (Quaternion)
--
unit quaternions representation of orientation
with one-sigma uncertainly estimation available
Acceleration (Linear and
Compensated)
meter/second2
absolute or linear acceleration readings with
reference to either the sensor or vehicle frame
(depending on settings), with bias and scale
readings, and one-sigma uncertainty
estimations also available.
Compensated
Angular Rate
radians/second
measured angular rate corrected using the
estimated gyroscope scale factor and bias, with
reference to either the sensor or vehicle
frame (depending on settings)
Gravity Vector
meter/second2
estimated WGS84 gravity vector with
reference to either the sensor or vehicle
frame (depending on settings)
WSG-84 Local Gravity
Magnitude
meter/second2
local WGS84 gravity vector magnitude
Heading Update
radians
heading used to update EF, calculated from the
selected heading source (magnetometer,
external, etc.) with
one-sigma uncertainty reading available
WMM (World Magnetic
Model)
Gauss
WMM local magnitude, inclination and
declination based on GNSS coordinates
Pressure Altitude
meters (altitude)
altitude estimate from barometric pressure
SAM
meters (altitude)
pressure (mB) (@ 25 °C)
altitude as derived from the U.S. Standard
Atmospheric Model (SAM
Antenna Offset Error
meters
filter-calculated error based on the user-sup-
plied GNSS antenna offset
