INSPVA
Applicable to: UM621 series, UM681A
| Syntax | $INSPVA,date,time,Lon,Lat,Hae,Vel_E, Vel_N,Vel_U, roll_v,pitch_v,yaw_v *cs | |
|---|---|---|
| Example | $INSPVA,020822,111025.10,40.0865224,116.2181950,34.01,0.000,0.001,-0.002, -0.801,0.416,291.386*55 |
|
| Description | Output the dead reckoning position, velocity and attitude. | |
| Input/Output | Output | |
| Parameter Definition | ||
| Parameter | Format | Description |
| date | STR | UTC date; in the format of ddmmyy dd - day mm - month yy - year If the calculation of date fails, this field is null. |
| time | STR | UTC time; in the format hhmmss.sss hh - hour mm - minute ss.sss - second If the calculation of date fails, this field is null. |
| Lon | DOUBLE | Longitude; unit: deg; positive means east and negative means west; fixedly output 7 decimal places |
| Lat | DOUBLE | Latitude; unit: deg; positive means north and negative means south; fixedly output 7 decimal places |
| Hae | DOUBLE | Ellipsoidal height; unit: m; fixedly output 2 decimal places |
| Vel_E | DOUBLE | East velocity in ENU coordinate system; unit: m/s; fixedly output 3 decimal places |
| Vel_N | DOUBLE | North velocity in ENU coordinate system; unit: m/s; fixedly output 3 decimal places |
| Vel_U | DOUBLE | Up velocity in ENU coordinate system; unit: m/s; fixedly output 3 decimal places |
| roll_v | DOUBLE | Roll; unit: deg; fixedly output 3 decimal places |
| pitch_v | DOUBLE | Pitch; unit: deg; fixedly output 3 decimal places |
| yaw_v | DOUBLE | Yaw; unit: deg; fixedly output 3 decimal places |
| cs | U8 | Checksum; two hexadecimal characters obtained by calculating an XOR of all characters between but not including ‘$' to ‘*' in this message |