Instruction Manual

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GNAV540UserManual
7430‐0808‐01Rev.B
Figure1GNAV540System
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SoftwareStructure
Figure2belowshowsthesoftwareblockdiagram.The6‐DOFinertialsensorclusterdataisfedintoahighspeed
100Hzsignalprocessingchain.These6‐DOFsignalspassthroughoneormoreoftheprocessingblocksandthese
signalsareconvertedintooutputmeasurementdataasshown.Measurementdatapacketsareavailableatfixed
continuousoutputratesoronapolledbasis.Thetypeofmeasurementdatapacketsavailabledependsontheunit
typeaccordingtothesoftwareblockdiagramandsystemconfiguration.AidingsensordataisusedbyanExtended
KalmanFilter(EKF)fordriftcorrection.Built‐In‐TestandStatusdataareavailableinthemeasurementpacketor
iathespecialStatusPacketT2.
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