Vectornav VN-200, User Manual

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VN-200 User Manual UM004
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5.16 GPS Solution
GPS Solution
Register ID : 58 Firmware : v0.1 and up Access : Read / Write
Comment : Available at 5 Hz only.
Size (Bytes): 72
Example Serial Read
Register Response:
$VNRRG,58,333733.000159,1694,3,05,+32.95622080,-096.7100169.457,-
000.850,-000.580,-002.860,+005.573,+003.644,+009.760,+003.320,2.00E-08*0E
Byte
Offset
Name
Number
Format
Unit Description
0 Time F8 sec GPS time of week in seconds.
8 Week U2 week GPS week.
10 GpsFix U1 - GPS fix type. See table below.
11 NumSats U1 - Number of GPS satellites used in solution.
16 Latitude F8 deg Latitude in degrees.
24 Longitude F8 deg Longitude in degrees.
32 Altitude F8 m Altitude above ellipsoid. (WGS84)
40 NedVelX F4 m/s Velocity measurement in north direction.
44 NedVelY F4 m/s Velocity measurement in east direction.
48 NedVelZ F4 m/s Velocity measurement in down direction.
52 NorthAcc F4 m North position accuracy estimate. (North)
56 EastAcc F4 m East position accuracy estimate. (East)
60 VertAcc F4 m Vertical position accuracy estimate. (Down)
64 SpeedAcc F4 m/s Speed accuracy estimate.
68 TimeAcc F4 sec Time accuracy estimate.
Table 37 - GPS Fix
Value Description
0 No fix
1 Time only
2 2D
3 3D