Instruction Manual

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Page80
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GNAV540UserManual
7430‐0808‐01Rev.B
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Table50N1Payload
N1PayloadContents
Byte
fset
Of
Name Format Scaling Units Description
0 rollAngle I2 2*pi/2^16
)
(360°/2^16
Radians
(°)
Rollangle
2 pitchAngle I2 2*pi/2^16
)
(360°/2^16
Radians
(°)
Pitchangle
4 yawAngleTrue I2 2*pi/2^16
)
(360°/2^16
Radians
(°)
Yawangle(truenorth)
6 xRateCorrected I2 7*pi/2^16
6)
(1260°/2^1
rad/s
)
(°/sec
Xangularratecorrected
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
/sec)
(°
Zangularratecorrected
12 xAccel I2 20/2^16 g Xaccelerometer
14 yAccel I2 20/2^16 g Yaccelerometer
16 zAccel I2 20/2^16 g Zaccelerometer
18 nVel I2 512/2^16 m/s Northvelocity
20 eVel I2 512/2^16 m/s Eastvelocity
22 dVel I2 512/2^16 m/s Downvelocity
24 longitudeGPS I4 2*pi/2^32
)
(360°/2^32
Radians
(°)
GPSLongitude
28 latitudeGPS I4 2*pi/2^32
)
(360°/2^32
Rad

ians
(°)
GPSLatitude
32 altitudeGPS I2* 2^14/2^16 m GPSaltitude(‐100,16284)
34 xRateTemp I2 200/2^16 degC Xratesensortemperature
36 timeITOW U4 1 ms DMUITOW(synctoGPS)
40 BITstatus U2 — — MasterBITandStatus
NavDataPacket3(defaultpacket)
Table51DataPacket
NavData(‘N3’=0x4E33)
Preamble PacketType Length Payload Termination
0x5555 0x4E33 0x30 <N3payload> <CRC(U2)>