LC29D
Table Of Contents
- Purpose of the Document
- Document History
- 1 Package Contents
- 2 Introduction
- 3 Typical Applications
- 4 GNSS Constellations
- 5 Augmentation System
- 6 Hardware Board and Case Diagram
- 7 Connecting using the UART or SPI
- 8 Using Serial Terminal
- 9 DR Configuration
- 10 Mounting
- 11 Dead-Reckoning Calibration
- 12 Enable Dead-Reckoning and 6-axis Sensor
- 13 Sensor Messages
- 14 Using QGNSS Tool
- 15 Using Arduino IDE
20
GNSS Board v1.0 Copyright © 5GHUB.US
13 Sensor Messages
The GNSS receiver emits this message. The message contains the IMU Raw Data:
Acceleration, Angular Rate and Hardware Wheel Ticks.
$PQTMIMU,<Timestamp>,<ACC_X>,<ACC_Y>,<ACC_Z>,<AngRate_X>,<AngRate_Y>,<AngRate_Z>,<Ti
ckCount>,<LastTick_Timestamp>*<Checksum><CR><LF>
Table 2: PQTMIMU message parameters.
Field
Format
Unit
Meaning
<Timestamp>
Numeric
ms
Milliseconds since turn on. 32-bit unsigned integer
<ACC_X>
Numeric
G
X-Acceleration
<ACC_Y>
Numeric
G
Y-Acceleration
<ACC_Z>
Numeric
G
Z-Acceleration
<AngRate_X>
Numeric
deg/s
X-Angular Rate
<AngRate_Y>
Numeric
deg/s
Y-Angular Rate
<AngRate_Z>
Numeric
deg/s
Z-Angular Rate
14 Using QGNSS Tool
QGNSS tool is a visual tool where you can see different information about GNSS position including
satellites acquired, GNSS NMEA sentences, online Google map, Sky View, Deviation maps and Data
View.
Connect the QGNSS to the COM port and click File->Connect and you will be able to see a lot of visual
data.