Setinstranslation - Novatel OEM6 Integration Manual

Chapter 2 New for OEM7 – Firmware

2.2.32 SETINSTRANSLATION

Specifies translational offsets between the IMU frame and other reference
frames
Platform: OEM729, OEM719, OEM7700
Use the SETINSTRANSLATION command to specify translational offsets between the IMU
frame and other reference frames, including GNSS antennas or the desired output frame. Off-
sets must be entered as the vector from the IMU, to the frame or position of interest. Offsets
can be entered either in the IMU body frame, or the vehicle frame; offsets in the vehicle frame
will be automatically rotated into the IMU body frame using the best available IMU Body to
Vehicle Rotation (RBV).
For details on entering the RBV rotation or other angular offsets, see the SETINSROTATION
command on page 67.
Message ID: 1920
Abbreviated ASCII Syntax:
SETINSTRANSLATION INSTranslation XTranslation YTranslation ZTranslation
[XTranslationSD] [YTranslationSD] [ZTranslationSD] [InputFrame]
Abbreviated ASCII Example:
SETINSTRANSLATION USER 1.0 2.0 3.0 0.0 0.0 0.0 VEHICLE
Field Field Type
SETINS
1 TRANSLATION
Header
2 InsTranslation
3 XTranslation
4 YTranslation
5 ZTranslation
6 XTranslationSD
OEM6 to OEM7 Integration Guide v1
ASCII Binary
Value Value
- -
See Table 24:
Translation Offset
Types on the next
page
±100
±100
±100
0 to 10
Description
Command header.
See Messages for
more information.
Translation offset to
be set
X translation offset
from IMU origin (m)
Y translation offset
from IMU origin (m)
Z translation offset
from IMU origin (m)
Optional X translation
offset standard
deviation (m)
Default: 0.0
Binary Binary Binary
Format Bytes Offset
- H 0
Enum 4 H
Float 4 H+4
Float 4 H+8
Float 4 H+12
Float 4 H+16
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