INSPVA (Sub ID 0x00F)
Output the DR Position, Velocity and Attitude
Applicable to: UM621 series, UM681A
| ID | Field | Description | Type | Bytes | Bytes Offset |
|---|---|---|---|---|---|
| 1 | Year | U16 | Year: (UTC); 0xFFFF means invalid | 2 | 0 |
| 2 | Month | U8 | Month: 1 to 12 (UTC); 0xFF means invalid | 1 | 2 |
| 3 | Day | U8 | Day: 1 to 31 (UTC); 0xFF means invalid | 1 | 3 |
| 4 | Hour | U8 | Hour: 0 to 23 (UTC); 0xFF means invalid | 1 | 4 |
| 5 | Min | U8 | Minute: 0 to 59 (UTC); 0xFF means invalid | 1 | 5 |
| 6 | mSec | U16 | Millisecond; 0xFFFF means invalid | 2 | 6 |
| 7 | Lon | S64 | Longitude; unit: 2^-32 deg; positive means east, and negative means west; 0x8000000000000000 means invalid |
8 | 8 |
| 8 | Lat | S64 | Latitude; unit: 2^-32 deg; positive means north, and negative means south; 0x8000000000000000 means invalid |
8 | 16 |
| 9 | Hae | S32 | Ellipsoidal height; unit: mm; 0x80000000 means invalid | 4 | 24 |
| 10 | Vel_E | S32 | East velocity in ENU coordinate system; unit: mm/s; 0x80000000 means invalid |
4 | 28 |
| 11 | Vel_N | S32 | North velocity in ENU coordinate system; unit: mm/s; 0x80000000 means invalid |
4 | 32 |
| 12 | Vel_U | S32 | Up velocity in ENU coordinate system; unit: mm/s; 0x80000000 means invalid |
4 | 36 |
| 13 | roll_v | S32 | Roll; unit: 1e-5 deg; 0x80000000 means invalid | 4 | 40 |
| 14 | pitch_v | S32 | Pitch; unit: 1e-5 deg; 0x80000000 means invalid | 4 | 44 |
| 15 | yaw_v | S32 | Yaw; unit: 1e-5 deg; 0x80000000 means invalid | 4 | 48 |
| Total | 52 |