Advanced Navigation Spatial FOG Dual, Справочное руководство

Страница: 109 / 145

Spatial FOG Reference Manual
Page 108 of 144
Version 2.3
03/05/2018
13.9.10 Raw GNSS Packet
This packet represents the raw data as it is received from the GNSS receiver. The
position is not corrected for antenna position ofset and the velocity is not
compensated for the antenna lever arm ofset. The INS position and velocity that are
in the other packets are corrected for antenna position ofset and lever arm.
Please note that the tilt and heading fields will only be valid when operating with the
optional dual antenna upgrade kit or the add on SAASM GPS heading unit.
Raw GNSS Packet
Packet ID 29
Length 74
Field
#
Bytes
Ofset
Data
Type
Size Description
1 0 u32 4 Unix time stamp (seconds)
2 4 u32 4 Microseconds
3 8 fp64 8 Latitude (rad)
4 16 fp64 8 Longitude (rad)
5 24 fp64 8 Height (m)
6 32 fp32 4 Velocity north (m)
7 36 fp32 4 Velocity east (m)
8 40 fp32 4 Velocity down (m)
9 44 fp32 4 Latitude standard deviation (m)
10 48 fp32 4 Longitude standard deviation (m)
11 52 fp32 4 Height standard deviation (m)
12 56 fp32 4 Tilt (rad)
13 60 fp32 4 Heading (rad)
14 64 fp32 4 Tilt standard deviation (rad)
15 68 fp32 4 Heading standard deviation (rad)
16 72 u16 2 Status, see section 13.9.10.1
Table 48: Raw GNSS packet