Raw Gnss Packet - Advanced Navigation Spatial 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 offset and the velocity is not
compensated for the antenna lever arm offset. The INS position and velocity that are
in the other packets are corrected for antenna position offset and lever arm.
Packet ID
Length
Field Bytes
# Offset
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 51: 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 Reference Manual
Page 122 of 158
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Description
Unix time stamp (seconds)
Microseconds
Latitude (rad)
Longitude (rad)
Height (m)
Velocity north (m/s)
Velocity east (m/s)
Velocity down (m/s)
Latitude standard deviation (m)
Longitude standard deviation (m)
Height standard deviation (m)
Reserved (set to zero)
Reserved (set to zero)
Reserved (set to zero)
Reserved (set to zero)
Status, see section 13.9.10.1
Version 4.4
04/06/2019