Insattx - Novatel OEM6 Integration Manual

Chapter 2 New for OEM7 – Firmware

2.3.6 INSATTX

Inertial Attitude – Extended
Platform: OEM729, OEM719, OEM7700
This log includes the information from the INSATT log, as well as information about the attitude
standard deviation. The position type and solution status fields indicate whether or not the cor-
responding data is valid.
The INSATTX log is a large log and is not recommend for high rate logging.
If you want to use high rate logging, log the INSATTS log at a high rate and the
INSSTDEVS log ontime 1.
Message ID: 1457
Log Type: Synch
Recommended Input:
log insattxa ontime 1
ASCII Example:
#INSATTXA,COM1,0,81.0,FINESTEERING,1690,494542.000,02000040,5d25,43441
;INS_ALIGNMENT_COMPLETE,INS_PSRSP,1.137798832,-
0.163068414,135.754208544,0.017797431,0.017861038,3.168394804,4,0*f944
b004
Field
Field
Type
INSATTX
1
Header
2 INS Status
3 Pos Type
4 Roll
5 Pitch
6 Azimuth
7 Roll σ
8 Pitch σ
OEM6 to OEM7 Integration Guide v1
Description
Log header. See Messages for more
information.
Solution status
See Table: Inertial Solution Status
Position type
See Table: Position or Velocity Type
Roll in Local Level (degrees)
Pitch in Local Level (degrees)
Azimuth in Local Level (degrees)
This is the inertial azimuth calculated from the
IMU gyros and the SPAN filters.
Roll standard deviation (degrees)
Pitch standard deviation (degrees)
Binary Binary
Format
Bytes Offset
H 0
Enum 4 H
Enum 4 H+4
Double 8 H+8
Double 8 H+16
Double 8 H+24
Float 4 H+32
Float 4 H+36
86