NOV_B-INSPVAX

Description

This message contains the Fusion position (w.r.t. geodetic frame assuming WGS-84 transformation parameters), velocity (w.r.t. local tangential plane), and attitude (w.r.t. output/POI frame), as well as information about the position standard deviation. The position type and solution status fields indicate whether or not the corresponding data is valid. This message contains the same information as the FP_A-ODOMETRY message, only presented in another commercial format.

 

Message fields

# Offset Field Type Unit Description
- 0

sync1

 uint8_t

-

Sync byte 1 (always 0xaa)
- 1

sync2

 uint8_t

-

Sync byte 2 (always 0x44)
- 2

sync3

 uint8_t

-

Sync byte 3 (always 0x12)
- 3

header_len

 uint8_t

bytes

Length of the header (always 28)
- 4

msg_id

 uint16_t

-

Message ID, always 1465 for this message
- 6

msg_type

 uint8_t

-

See protocol documentation
- 7

reserved1

 uint8_t

-

Reserved, ignore
- 8

payload_len

 uint16_t

bytes

Payload size, always 126 for this message
- 10

reserved2

 uint16_t

-

Reserved, ignore
- 12

reserved3

 uint8_t

-

Reserved, ignore
1 13

time_status

 uint8_t

-

See protocol documentation
2 14

gps_wno

 uint16_t

-

GPS week number
3 16

gps_tow

 int32_t

ms

GPS time of week
- 20

reserved4

 uint32_t

-

Reserved, ignore
- 24

reserved5

 uint16_t

-

Reserved, ignore
- 26

reserved6

 uint16_t

-

Reserved, ignore
4 28

ins_status

 uint32_t

-

Solution status, see below
5 32

pos_type

 uint32_t

-

Positioning mode, see below
6 36

lat

 double

deg

Latitude
7 44

lon

 double

deg

Longitude
8 52

height

 double

m

Ellipsoidal height
- 60

reserved7

 uint32_t

-

Reserved, ignore
9 64

vel_n

 double

m/s

Velocity North
10 72

vel_e

 double

m/s

Velocity East
11 80

vel_u

 double

m/s

Velocity up
12 88

roll

 double

deg

Roll in local level
13 96

pitch

 double

deg

Pitch in local level
14 104

azim

 double

deg

Azimuth in local level
15 112

std_lat

 float

m

Latitude standard deviation
16 116

std_lon

 float

m

Longitude standard deviation
17 120

std_height

 float

m

Height standard deviation
18 124

std_vel_n

 float

m/s

Velocity North standard deviation
19 128

std_vel_e

 float

m/s

Velocity East standard deviation
20 132

std_vel_u

 float

m/s

Velocity up standard deviation
21 136

std_roll

 float

deg

Roll standard deviation
22 140

std_pitch

 float

deg

Pitch standard deviation
23 144

std_azim

 float

deg

Azimuth standard deviation
24 148

ext_status

 uint32_t

-

Extended status, see below
- 152

reserved8

 uint16_t

-

Reserved, ignore
- 154

checksum

 uint32_t

-

CRC32 checksum (see protocol documentation)

 

Solution status (ins_status):

 

Value Description
0

Inactive
1

Aligning
3

Visual-inertial-GNSS fusion
6

Visual inertial fusion

 

Positioning mode (pos_type):

 

Value Description
0

No fix
50

RTK fixed fix
34

RTK float fix
16

Single 3D fix

 

Extended status (ext_status):

 

Bit Description
bit 0 (0x00000001)

Position update
bit 2 (0x00000004)

Zero velocity update
bit 6 (0x00000040)

INS solution convergence
bit 9 (0x00000200)

Velocity update

 

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