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.
| 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