Raw Gnss Packet - Advanced Navigation GNSS Compass Reference Manual

10.10.10

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 Data
Offset Type
1 0 u32
2 4 u32
3 8 fp64
4 16 fp64
5 24 fp64
6 32 fp32
7 36 fp32
8 40 fp32
9 44 fp32
10 48 fp32
11 52 fp32
12 56 fp32
13 60 fp32
14 64 fp32
15 68 fp32
16 72 u16
Table 51: Raw GNSS packet
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Raw GNSS Packet
Size
4
4
8
8
8
4
4
4
4
4 Longitude standard deviation (m)
4
4
4
4
4 Heading standard deviation (rad)
2
GNSS Compass Reference Manual
Page 58 of 85
Version 1.1
13/01/2021
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74
Description
Unix time stamp (seconds)
Microseconds
Latitude (rad)
Longitude (rad)
Height (m)
Velocity north (m)
Velocity east (m)
Velocity down (m)
Latitude standard deviation (m)
Height standard deviation (m)
Tilt (rad)
Heading (rad)
Tilt standard deviation (rad)
Status, see section 10.10.10.1