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C.2.17 INSPVA INS Position, Velocity and Attitude
This log allows INS position, velocity and attitude, with respect to the SPAN frame, to be collected in
one log, instead of using three separate logs. See the INSATT log, on page 113, for an explanation of
how the SPAN frame may differ from the IMU enclosure frame.
Structure:
Message ID: 507
Log Type: Synch
Field
Field Type
Description
Format
Binary
Bytes
Binary
Offset
1
Log Header
Log header
-
H
0
2
Week
GPS Week
Ulong
4
H
3
Seconds
Seconds from week start
Double
8
H+4
4
Latitude
Latitude (WGS84)
Double
8
H+12
5
Longitude
Longitude (WGS84)
Double
8
H+20
6
Height
Ellipsoidal Height (WGS84) [m]
Double
8
H+28
7
North Velocity
Velocity in a northerly direction (a - Double
ve value implies a southerly
direction) [m/s]
8
H+36
8
East Velocity
Velocity in an easterly direction (a - Double
ve value implies a westerly
direction) [m/s]
8
H+44
9
Up Velocity
Velocity in an up direction [m/s]
Double
8
H+52
10
Roll
Right handed rotation from local
level around y-axis in degrees
Double
8
H+60
11
Pitch
Right handed rotation from local
level around x-axis in degrees
Double
8
H+68
12
Azimuth
Left handed rotation around z-axis
Degrees clockwise from North
Double
8
H+76
13
Status
INS Status, see Table 1 on
page 39
Enum
4
H+84
14
xxxx
32-bit CRC
Hex
4
H+88
15
[CR][LF]
Sentence Terminator (ASCII only)
-
-
-
Recommended Input:
log inspvaa ontime 1
ASCII Example:
#INSPVAA,COM1,0,31.0,FINESTEERING,1264,144088.000,00040000,5615,1541;
1264,144088.002284950,51.116827527,-114.037738908,401.191547167,
354.846489850,108.429407241,-10.837482850,1.116219952,-3.476059035,
7.372686190,INS_ALIGNMENT_COMPLETE*af719fd9
SPAN-CPT User Manual Rev 6
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