Raw GNSS Packet

This packet represents the raw data as it is received from the GNSS receiver. The position is not corrected for antenna position offset and the velocity is not compensated for the antenna lever arm offset. The INS position and velocity that are in the other packets are corrected for antenna position offset and lever arm.

Note: Raw GNSS is only available if the Boreas A90 or A70 has a license upgrade to full INS capability, and is interfaced to an external GNSS receiver.

Raw GNSS Packet
Packet ID				29
Length				74
Read / Write				Read
Field #	Bytes Offset	Data Type	Size	Description
1	0	u32	4	Unix time stamp (seconds)
2	4	u32	4	Microseconds
3	8	fp64	8	Latitude (rad)
4	16	fp64	8	Longitude (rad)
5	24	fp64	8	Height (m)
6	32	fp32	4	Velocity north (m/s)
7	36	fp32	4	Velocity east (m/s)
8	40	fp32	4	Velocity down (m/s)
9	44	fp32	4	Latitude standard deviation (m)
10	48	fp32	4	Longitude standard deviation (m)
11	52	fp32	4	Height standard deviation (m)
12	56	fp32	4	Tilt (rad)
13	60	fp32	4	Heading (rad)
14	64	fp32	4	Tilt standard deviation (rad)
15	68	fp32	4	Heading standard deviation (rad)
16	72	u16	2	Status. See Raw GNSS Status

Raw GNSS Packet

Raw GNSS Status

Bit	Description
0	GNSS Fix Status
1
2
3	Doppler velocity valid
4	Time valid
5	External GNSS
6	Tilt valid
7	Heading valid
8	Floating ambiguity heading
9-15	Reserved (set to zero)

Raw GNSS Status