Raw Sensors Packet; Raw Gnss Packet - Advanced Navigation Spatial FOG Dual Reference Manual

13.9.9

Raw Sensors Packet

Packet ID
Length
Field Bytes
# Offset
1 0
2 4
3 8
4 12
5 16
6 20
7 24
8 28
9 32
10 36
11 40
12 44
Table 48: Raw sensors packet
13.9.10

Raw GNSS Packet

This packet represents the raw data as it is received from the GNSS receiver. The
position is not corrected for antenna position offset and the velocity is not
compensated for the antenna lever arm offset. The INS position and velocity that are
in the other packets are corrected for antenna position offset and lever arm.
Please note that the tilt and heading fields will only be valid when operating with the
optional dual antenna upgrade kit or the add on SAASM GPS heading unit.
Raw Sensors Packet
Data Size
Type
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
Spatial FOG Dual Reference Manual
Page 102 of 138
Version 1.0
26/06/2015
28
48
Description
Accelerometer X (m/s/s)
Accelerometer Y (m/s/s)
Accelerometer Z (m/s/s)
Gyroscope X (rad/s)
Gyroscope Y (rad/s)
Gyroscope Z (rad/s)
Magnetometer X (mG)
Magnetometer Y (mG)
Magnetometer Z (mG)
IMU Temperature (deg C)
Pressure (Pascals)
Pressure Temperature (deg C)