Instruction Manual

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
V540 Manual
080 Rev.B
Page81

GNA
7430‐
User
8‐01

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
•
Temperature:scaledtoarangeof(‐100,+100)°C
•
GPS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
• deg)
Longitudeandlatitude:scaledtoarangeof(‐pi,pi)or(‐180degto+180
•
GPSheadingarescaledtoarangeof(‐pi,+pi)or(‐180degto+180deg)
• TheGPSvelocitycomponentsaredirectlyfromGPSmeasurements.NoinertialMeasurementsareinvolved
initscomputation.
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Table52N3Payload
N3 Payload Contents
Byte
fset
Of
Name Form
at
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 GPSNorthvelocity