GNSS Orientation Packet
GNSS Orientation Packet
This packet represents the raw orientation data as it is received from the GNSS receiver.
GNSS Orientation Packet is only applicable for Dual Antenna installations. It does not apply to Single Antenna installations.
The orientation is that of the line between the two dual GNSS antennas (not of the vehicle body) and is described in the NED frame.
Note: This packet partly supersedes the Raw GNSS Packet (Packet ID 29).
| GNSS Orientation Packet | ||||
|---|---|---|---|---|
| Packet ID | 93 | |||
| Length | 36 | |||
| Read / Write | Read / Write | |||
| Field # | Bytes Offset | Data Type | Size | Description |
| 1 | 0 | u8 | 1 | GNSS ID |
| 2 | 1 | u8 | 1 | Reserved |
| 3 | 2 | u16 | 2 | GNSS Orientation Status Bitfield |
| 4 | 4 | u32 | 4 | Posix time (s) |
| 5 | 8 | u32 | 4 | Posix time (μs) |
| 6 | 12 | fp32 | 4 | Azimuth of GNSS antennas baseline (rad) |
| 7 | 16 | fp32 | 4 | Azimuth Standard Deviation (rad) |
| 8 | 20 | fp32 | 4 | Tilt of GNSS antennas baseline (rad) |
| 9 | 24 | fp32 | 4 | Tilt Standard Deviation (rad) |
| 10 | 28 | fp32 | 4 | Baseline length (m) |
| 11 | 32 | u32 | 4 | Latency (μs) |
GNSS Orientation Packet
GNSS Orientation Status Bitfield
| Bit Range | Num Bits | Description |
|---|---|---|
| 0-2 | 3 | GNSS Fix Status |
| 3 | 1 | Antenna disconnected |
| 4 | 1 | Antenna short |
| 5 | 1 | GNSS Failure |
| 6-8 | 3 | Spoofing Status, per: Spoofing and Interference Status |
| 9-11 | 3 | Interference Status, per: Spoofing and Interference Status |
| 12-15 | 4 | Reserved |
GNSS Orientation Status Bitfield