3DM-GX4
™
-45
™
Inertial Navigation System
User Manual
Sensor Measurements
28
EF outputs can be viewed and recorded with bias, scale, and uncertainty metrics. Other
information, such as GPS time and device status, are available for reference (
Table 6 -
Estimation Filter Outputs
).
To view and record Estimation outputs,
see Basic Setup and Operations on page 10
.
Measurement
Units
Description
Filter Status
--
indicates the current state of the EF, such
as running or initializing
GPS Time
weeks & seconds
the GPS time from the GPS receiver
Position (LLH)
degrees (position)
meters (uncertainty)
estimated position based on combined
sensors inputs and EF, expressed in Lat-
itude, Longitude, and Height (LLH) with
uncertainly estimation available
Velocity (NED)
meters/second
(velocity)
meters (uncertainty)
estimated velocity based on combined
sensor inputs and EF, with reference to
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)
radians
Transformation matrix that describes
orientation with reference to the Earth
Centered Earth Fixed (ECEF)
coordinate system
Attitude
(Quaternion)
radians
Unit quaternions representation of
orientation with one-sigma uncertainly
estimation available
Acceleration
(Linear and
Compensated)
meter/second
2
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 avail-
able.
Angular Rate
(Gyro)
radians/second
angular rate readings with reference to
either the sensor or vehicle frame
(depending on settings), with gyro bias
and scale readings, and one-sigma
uncertainty estimations also available.