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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

uint8_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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