External Depth Packet; Geoid Height Packet; Rtcm Corrections Packet; External Pitot Pressure Packet - Advanced Navigation Spatial FOG Reference Manual

13.9.34

External Depth Packet

Packet ID
Length
Field Bytes
# Ofset
1 0
2 4
Table 75: External depth packet
13.9.35

Geoid Height Packet

This packet provides the ofset between the WGS84 ellipsoid and the EGM96 geoid
model at the current location. This can be used to determine mean sea level height
and also depth through the following equations:
Mean Sea Level Height = Height – Geoid Height
Depth = Geoid Height – Height
Packet ID
Length
Field Bytes
# Ofset
1 0
Table 76: Geoid height packet
13.9.36

RTCM Corrections Packet

This packet is used to encapsulate RTCM diferential or RTK correction data to be sent
to Spatial FOG's internal GNSS receiver for diferential or RTK GNSS functionality.
Packet ID
Length
Field Bytes
# Ofset
1 0
Table 77: RTCM corrections packet
13.9.37

External Pitot Pressure Packet

This packet is used to interface a pitot tube to Spatial FOG for enhanced navigation
External Depth Packet
Data Size
Type
fp32 4
fp32 4
Geoid Height Packet
Data Size
Type
fp32 4
RTCM Corrections Packet
Data Size
Type
Spatial FOG Reference Manual
Page 119 of 144
Version 2.3
03/05/2018
53
8
Description
Depth (m)
Depth standard deviation (m)
54
4
Description
Geoid Height (m)
55
Variable, up to 255 bytes
Description
RTCM corrections data