Safran VersaSync User Manual page 355

Example Read
+00.001502,
5320499.92650050, +3450022.606, +000.001, -000.010, +000.094, +00.255, -
00.308, -10.060*50
Example Async Message: $VNISE, +170.558, +001.267, +001.762, +00.001502, -
00.000403,
+3450022.606, +000.001, -000.010, +000.094, +00.255, -00.308, -10.060*XX
Table 5-25:
Offset
0 Yaw
4 Pitch
8 Roll
12 PositionX
20 PositionY
28 PositionZ
36 VelocityX
40 VelocityY
44 VelocityZ
48 AccelX
52 AccelY
56 AccelZ
60 AngularRateX
64 AngularRateY
68 AngularRateZ
VersaSync User Manual
Response: $VNRRG,
- 00.000403,
+00.000394, - 626343.88590823,
VNISE Settings
Name Format
float deg
float deg
float deg
double m
double m
double m
float m/s
float m/s
float m/s
float m/s
float m/s
float m/s
float rad/s
float rad/s
float rad/s
73, +170.558,
+00.000394, - 626343.88590823,
Unit
Yaw angle relative to true north.
Pitch angle relative to horizon.
Roll angle relative to horizon.
Estimated position in ECEF. (X-axis)
Estimated position in ECEF. (Y-axis)
Estimated position in ECEF. (Z-axis)
Estimated velocity in ECEF frame. (X-axis)
Estimated velocity in ECEF frame. (Y-axis)
Estimated velocity in ECEF frame. (Z-axis)
2
Estimated acceleration in body frame. (X-
axis)
2
Estimated acceleration in body frame. (Y-
axis)
2
Estimated acceleration in body frame. (Z-axis)
Estimated angular rate in body frame. (X-axis)
Estimated angular rate in body frame. (Y-axis)
Estimated angular rate in body frame. (Z-axis)
+001.267, +001.762,
- 5320499.92650050,
Description
APPENDIX
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341