Externalpvas - Novatel OEM6 Integration Manual

Chapter 2 New for OEM7 – Firmware

2.2.9 EXTERNALPVAS

Enter PVA Update
Platform: OEM729, OEM719, OEM7700
This command should only be used by advanced users of GNSS/INS.
The standard deviations entered using this command must be representative of actual
input error.
The EXTERNALPVAS command uses a short header if the command is entered in ASCII
or Binary.
This command allows a user to provide full position, velocity and attitude updates, in any com-
bination, to the INS. The user can also provide height or attitude only updates, along with Zero
Velocity Updates (ZUPTs). These position and velocity updates are entered in local level frame
or ECEF.
The default input frame is ECEF. Updates are entered in ECEF unless Local Level is spe-
cified using the OptionsMask parameter.
Message ID: 1463
Abbreviated ASCII Syntax:
EXTERNALPVAS Position1 Position2 Position3 Velocity1 Velocity2 Velocity3
Attitude1 Attitude2 Attitude3 PosStdDev1 PosStdDev2 PosStdDev3 VelStdDev1
VelStdDev2 VelStdDev3 AttStdDev1 AttStdDev2 AttStdDev3 UpdateMask
OptionsMask
Abbreviated ASCII Example:
EXTERNALPVAS 51.13495816 -114.03232307 1064.5895 -10.4502 0.2485 -0.09598
1.3152366 -3.6474718 179.5885212 0.01 0.01 0.01 0.01 0.01 0.01 0.1 0.1 0.1
C020 1
Field Field Type
EXTERNALPVAS
1
header
OEM6 to OEM7 Integration Guide v1
ASCII Binary
Value Value
Command header. See
- - Messages for more
information.
Binary
Description
Format
-
Binary Binary
Bytes Offset
H 0
26