Instruction Manual

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NAV540UserManual
7430‐0808‐01Rev.B
Page79
G
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N0PayloadContents
Byte
Offset
Name Format Scaling Units Description
(1260°/2^16) (°/sec)
8 yRateCorrected I2 7*pi/2^16
6)
(1260°/2^1
rad/s
)
(°/sec
Yangularratecorrected
10 zRateCorrected I2 7*pi/2^16
16)
(1260°/2^
rad/s
c)
(°/se
Zangularratecorrected
12 nVel I2 512/2^16 m/s Northvelocity
14 eVel I2 512/2^16 m/s Eastvelocity
16 dVel I2 512/2^16 m/s Downvelocity
18 longitudeGPS I4 2*pi/2^32
)
(360°/2^32
Radians
(°)
GPSLongitude
22 latitudeGPS I4 2*pi/2^32
)
(360°/2^32
Rad

ians
(°)
GPSLatitude
26 altitudeGPS I2* 2^14/2^16 m GPSaltitude(‐100,16284)
28 GPSITOW U2 truncated ms GPSITOW(lower2bytes)
30 BITstatus U2 — — MasterBITandStatus
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NavDataPacket1
Table49N1DataPacket
NavData(‘N1’=0x4E31)
Preamble PacketType Length Payload Termination
0x5555 0x4E31 0x2A <N1payload> <CRC(U2)>
Thispacketcontainsnavigationdataandselectedsensordatascaledinmostcasestoasigned2^162’scomplement
number.Datainvolvingangularmeasurementsincludethefactor
piinthescalingandcanbeinterpretedineither
radianso
rdegrees.
•
Angles:scaledtoarangeof(‐pi,+pi)or(‐180degto+180deg)
• (‐630deg/secto+630deg/sec)
Angularrates:scaledtorangeof3.5*(‐pi,+pi)or
•
Accelerometers:scaledtoarangeof(‐10,+10)g
• °C
Temperature:scaledtoarangeof(‐100,+100)
•
Velocities:scaledtoarangeof(‐256,256)m/s
• epresentation.
Altitude:scaledtoarangeof(‐100,16284)musingashifted2’scomplementr
• Longitudeandlatitude:scaledtoarangeof(‐pi,pi)or(‐180degto+180deg)
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