FP_A-IMUBIAS
This message is available from 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 |
| String | - |
| Message type, always |
2 |
| Numeric | - |
| Message version, always |
3 |
| Numeric | - |
| GPS week number, range 0–9999 |
4 |
| Float (.6) | s |
| GPS time of week, range 0.000–604799.999999 |
5 |
| Numeric | - |
| Fusion measurement status, see below |
6 |
| Numeric | - |
| IMU bias status, see below |
7 |
| Numeric | - |
| IMU variance status, see below |
8 |
| Numeric | - |
| IMU convergence status, see below |
9 |
| Float (.6) | m/s2 |
| Accelerometer bias, X component |
10 |
| Float (.6) | m/s2 |
| Accelerometer bias, Y component |
11 |
| Float (.6) | m/s2 |
| Accelerometer bias, Z component |
12 |
| Float (.6) | rad/s |
| Gyroscope bias, X component |
13 |
| Float (.6) | rad/s |
| Gyroscope bias, Y component |
14 |
| Float (.6) | rad/s |
| Gyroscope bias, Z component |
15 |
| Float (.5) | m2/s4 |
| Accelerometer bias covariance, X component |
16 |
| Float (.5) | m2/s4 |
| Accelerometer bias covariance, Y component |
17 |
| Float (.5) | m2/s4 |
| Accelerometer bias covariance, Z component |
18 |
| Float (.5) | rad2/s2 |
| Gyroscope bias covariance, X component |
19 |
| Float (.5) | rad2/s2 |
| Gyroscope bias covariance, Y component |
20 |
| Float (.5) | rad2/s2 |
| Gyroscope bias covariance, Z component |
Fusion measurement status (fusion_imu
):
Value | Description |
---|---|
null | Info not available |
| Not used |
| Used |
| Degraded |
IMU bias status (imu_status
):
Value | Description |
---|---|
null | Info not available |
| Not converged |
| Warm-started |
| Rough convergence |
| Fine convergence |
IMU variance (imu_noise
):
Value | Description |
---|---|
null | Info not available |
| Reserved |
| Low noise |
| Medium noise |
| High noise |
| Reserved |
IMU accelerometer and gyroscope convergence (imu_conv
):
Value | Description |
---|---|
null | Info not available |
| Awaiting Fusion |
| Awaiting IMU measurements |
| Insufficient global measurements |
| Insufficient motion |
| Converging |
| Reserved for future use |
| Idle |