Raw Gnss Packet - Advanced Navigation Spatial FOG Reference Manual

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 ofset and the velocity is not
compensated for the antenna lever arm ofset. The INS position and velocity that are
in the other packets are corrected for antenna position ofset 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.
Packet ID
Length
Field Bytes
# Ofset
1 0
2 4
3 8
4 16
5 24
6 32
7 36
8 40
9 44
10 48
11 52
12 56
13 60
14 64
15 68
16 72
Table 48: Raw GNSS packet
Raw GNSS Packet
Data Size
Type
u32 4
u32 4
fp64 8
fp64 8
fp64 8
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
fp32 4
u16 2
Spatial FOG Reference Manual
Page 108 of 144
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Description
Unix time stamp (seconds)
Microseconds
Latitude (rad)
Longitude (rad)
Height (m)
Velocity north (m)
Velocity east (m)
Velocity down (m)
Latitude standard deviation (m)
Longitude standard deviation (m)
Height standard deviation (m)
Tilt (rad)
Heading (rad)
Tilt standard deviation (rad)
Heading standard deviation (rad)
Status, see section 13.9.10.1
Version 2.3
03/05/2018