FP_A-IMUBIAS

Available since firmware 2.102.1

Description

This message contains the estimated IMU biases. It is output at 1Hz.

 

Example message

$FP,IMUBIAS,1,2335,131727.000000,1,3,1,7,-0.022851,-0.323917,-0.001402,0.010647,0.006232,-0.013584,0.00001,0.00001,0.00001,0.00001,0.00001,0.00001*4F

 

Message fields

# Field Format Unit Example Description
1

msg_type

 String

-

IMUBIAS

Message type, always IMUBIAS for this message
2

msg_version

 Numeric

-

1

Message version, always 1 for this version of the IMUBIAS message
3

gps_week

 Numeric

-

2180

GPS week number, range 0–9999
4

gps_tow

 Float (.6)

s

298591.500000

GPS time of week, range 0.000–604799.999999
5

fusion_imu

 Numeric

-

1

Fusion measurement status, see below
6

imu_status

 Numeric

-

1

IMU bias status, see below
7

imu_noise

 Numeric

-

1

IMU variance status, see below
8

imu_conv

 Numeric

-

1

IMU convergence status, see below
9

bias_acc_x

 Float (.6)

m/s2

0.022586

Accelerometer bias, X component
10

bias_acc_y

 Float (.6)

m/s2

-0.001982

Accelerometer bias, Y component
11

bias_acc_z

 Float (.6)

m/s2

0.251289

Accelerometer bias, Z component
12

bias_gyr_x

 Float (.6)

rad/s

0.010290

Gyroscope bias, X component
13

bias_gyr_y

 Float (.6)

rad/s

0.001684

Gyroscope bias, Y component
14

bias_gyr_z

 Float (.6)

rad/s

0.002216

Gyroscope bias, Z component
15

bias_cov_acc_x

 Float (.5)

m2/s4

0.00001

Accelerometer bias covariance, X component
16

bias_cov_acc_y

 Float (.5)

m2/s4

0.00001

Accelerometer bias covariance, Y component
17

bias_cov_acc_z

 Float (.5)

m2/s4

0.00001

Accelerometer bias covariance, Z component
18

bias_cov_gyr_x

 Float (.5)

rad2/s2

0.00001

Gyroscope bias covariance, X component
19

bias_cov_gyr_y

 Float (.5)

rad2/s2

0.00001

Gyroscope bias covariance, Y component
20

bias_cov_gyr_z

 Float (.5)

rad2/s2

0.00001

Gyroscope bias covariance, Z component

 

 

Fusion measurement status (fusion_imu):

 

Value Description
null

Info not available
0

Not used
1

Used
2

Degraded

 

 

IMU bias status (imu_status):

 

Value Description
null

Info not available
0

Not converged
1

Warm-started
2

Rough convergence
3

Fine convergence

 

 

IMU variance (imu_noise):

 

Value Description
null

Info not available
0

Reserved
1

Low noise
2

Medium noise
3

High noise
4…7

Reserved

 

 

IMU accelerometer and gyroscope convergence (imu_conv):

 

Value Description
null

Info not available
0

Awaiting Fusion
1

Awaiting IMU measurements
2

Insufficient global measurements
3

Insufficient motion
4

Converging
5…6

Reserved for future use
7

Idle


 

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