Vectornav VN-200, User Manual

Page: 45 / 47

VN-200 User Manual UM004
www.vectornav.com 45/47
5.17 INS Solution
INS Solution
Register ID : 63 Firmware : v0.1 and up Access : Read Only
Comment :
Size (Bytes): 72
Example Serial Read
Register Response:
$VNRRG,63,333811.902862,1694,0004,+009.500,-004.754,-000.225,+32.95602815,-
096.7100171.195,-000.840,-000.396,-000.109,07.8,01.6,0.23*5F
Byte
Offset
Name
Number
Format
Unit Description
0 Time F8 sec GPS time of week in seconds.
8 Week U2 week GPS week.
10 Status X2 - Status flags for INS filter. Hexadecimal format. See table below.
12 Heading F4 deg Heading angle relative to true north.
16 Pitch F4 deg Pitch angle relative to horizon.
20 Roll F4 deg Roll angle relative to horizon.
24 Latitude F8 deg INS solution position in geodetic latitude.
32 Longitude F8 deg INS solution position in geodetic longitude.
40 Altitude F8 m Height above ellipsoid. (WGS84)
48 NedVelX F4 m/s INS solution velocity in NED frame. (North)
52 NedVelY F4 m/s INS solution velocity in NED frame. (East)
56 NedVelZ F4 m/s INS solution velocity in NED frame. (Down)
60 AttUncertainty F4 deg Uncertainty in attitude estimate.
64 PosUncertainty F4 m Uncertainty in position estimate.
68 VelUncertainty F4 m/s Uncertainty in velocity estimate.
Table 38 - INS Status
Name Bit Offset Format Description
Mode 0 2 bits
Indicates the current mode of the INS filter.
0 = Not tracking. Insufficient dynamic motion to estimate attitude.
1 = Sufficient dynamic motion, but solution not within performance specs.
2 = INS is tracking and operating within specifications.
GpsFix 2 1 bit Indicates whether the GPS has a proper fix.
Error 3 4 bits
Sensor measurement error code. See table below.
0 = No errors detected.
Reserved 7 9 bits Reserved for future use.
Table 39 - Error Bitfield
Name Bit Offset Format Description
Time Error 0 1 bit High if INS filter loop exceeds 5 ms.
IMU Error 1 1 bit
High if IMU communication error is
detected.
Mag/Pres Error 2 1 bit
High if Magnetometer or Pressure sensor
error is detected.
GPS Error 3 1 bit
High if GPS communication error is
detected.