Specification Sheet

WTGAHRS2 | Datasheet v20-0523 | http://wiki.wit-motion.com/english
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5.1.7 Longitude and Latitude Output
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Lon0
Lon 1
Lon 2
Lon 3
Lat0
Lat 1
Lat 2
Lat 3
SUM
Calculated formular：
Longitude Lon = ((Lon 3<<24)| (Lon 2<<16)| (Lon 1<<8)| Lon 0
In NMEA0183 standard , GPS output format is ddmm.mmmmm (dd for the
degree, mm.mmmmm is after decimal point ), the module removes the
decimal point during output, so the degree of longitude can be calculated as
follows:
dd=Lon/100000000;
mm.mmmmm=(Lon%10000000)/100000；(% calculate Remainder)
Latitude Lat = ((Lat 3<<24)| (Lat 2<<16)| (Lat 1<<8)| Lat 0 (cm)
In NMEA0183 standard , GPS output format is ddmm.mmmmm (dd for the
degree, mm.mmmmm is after the decimal point ), the module removes the
decimal point during output, so the degree of latitude can be calculated as
follows::
dd=Lat/100000000;
mm.mmmmm=(Lat%10000000)/100000;(% calculate Remainder)
Checksum:
Sum=0x55+0x54+ Lon 0+ Lon 1+ Lon 2+ Lon 3+ Lat 0+ Lat 1+ Lat 2+ Lat 3
Note: This only applies to devices with GPS module(WTGAHRS1, WTGAHRS2)
5.1.8 Ground Speed Output
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GPSHeightL
GPSHeightH
GPSYawL
GPSYawH
GPSV0
GPSV 1
GPSV 2
GPSV 3
SUM
Calculated formular：
GPSHeight = ((GPSHeightH<<8)| GPSHeightL)/10 (m)
GPSYaw =( (GPSYawH <<8)| GPSYawL)/10 (°)
GPSV = (((GPSV 3<<24)| (GPSV 2<<16)| (GPSV
2<<8)|GPSV0)/1000(km/h)
Checksum：
Sum=0x55+0x54+ GPSHeightL + GPSHeightH + GPSYawL + GPSYawH +
GPSV0+ GPSV 1+ GPSV 2+ GPSV 3