Advanced Navigation Spatial Reference Manual page 6

12.4.44 Odometer Direction, Forward High.......................................................95
12.4.45 Reverse Alignment, Forward Low..........................................................96
12.4.46 Reverse Alignment, Forward High........................................................96
12.4.47 Zero Angular Velocity Input..................................................................96
13 Advanced Navigation Packet Protocol...................................................................97
13.1 Data Types..................................................................................................... 97
13.2 Packet Structure............................................................................................ 97
13.2.1 Header LRC............................................................................................. 98
13.2.2 Packet ID................................................................................................ 98
13.2.3 Packet Length......................................................................................... 98
13.2.4 CRC......................................................................................................... 98
13.3 Packet Requests............................................................................................ 98
13.4 Packet Acknowledgement..............................................................................98
13.5 Packet Rates.................................................................................................. 99
13.6 Packet Timing................................................................................................ 99
13.7 Packet Summary............................................................................................ 99
13.8 System Packets............................................................................................ 102
13.8.1 Acknowledge Packet............................................................................. 102
13.8.1.1
13.8.2 Request Packet..................................................................................... 102
13.8.3 Boot Mode Packet................................................................................. 103
13.8.3.1
13.8.4 Device Information Packet....................................................................103
13.8.5 Restore Factory Settings Packet............................................................104
13.8.6 Reset Packet......................................................................................... 104
13.8.6.1
13.8.7 Serial Port Pass-through Packet............................................................104
13.8.7.1
13.9 State Packets............................................................................................... 106
13.9.1 System State Packet.............................................................................106
13.9.1.1
13.9.1.2
13.9.1.3
13.9.1.4
13.9.1.5
13.9.2 Unix Time Packet.................................................................................. 109
13.9.3 Formatted Time Packet.........................................................................109
13.9.4 Status Packet........................................................................................ 109
13.9.5 Position Standard Deviation Packet......................................................110
13.9.6 Velocity Standard Deviation Packet......................................................110
13.9.7 Euler Orientation Standard Deviation Packet........................................110
13.9.8 Quaternion Orientation Standard Deviation Packet..............................110
13.9.9 Raw Sensors Packet.............................................................................. 111
13.9.10 Raw GNSS Packet...............................................................................111
13.9.10.1
13.9.11 Satellites Packet................................................................................. 112
13.9.12 Detailed Satellites Packet...................................................................113
13.9.12.1
13.9.12.2
13.9.13 Geodetic Position Packet.....................................................................114
Acknowledge Result......................................................................102
Boot Mode Types...........................................................................103
Verification Sequence Values.........................................................104
Pass-through Routes......................................................................104
System Status...............................................................................107
Filter Status................................................................................... 107
GNSS Fix Status.............................................................................108
Unix Time Seconds........................................................................108
Microseconds.................................................................................108
Raw GNSS Status.........................................................................112
Satellite Systems.........................................................................113
Satellite Frequencies...................................................................114
Spatial Reference Manual
Page 5 of 158
Version 4.4
04/06/2019