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