Orolia VersaSync User Manual

Value Description
1 Time only
2 2D
3 3D
This register provides the GPS PVT (position, velocity, & time) solution from GPS receiver
A. This is the GPS receiver that is used by the INS (Inertial Navigation System) Kalman filter
for position and velocity inputs.
Note: You can configure the device to output this register at a fixed rate
using the Async Data Output Type Register in the System subsystem.
Once configured the data in this register will be sent out with the $VNGPE
header.
5.3.4.14 VNINS
Output Type: INS Solution – LLA
Register ID: 63
Async Header: INS
Access: Read Only
Size (Bytes): 72
Example Read Response :$VNRRG, 63, 333811.902862, 1694, 0004, +009.500, -
004.754, -000.225, +32.95602815, -096.71424297, +00171.195, -000.840, -000.396, -
000.109, 07.8, 01.6, 0.23*5F
Table 5-18:
VNINS Settings
Offset Name Format Unit Description
0 Time double sec GPS time of week in seconds
8 Week uint16 week GPS week.
10 Status uint16 – Status flags for INS filter. Hexadecimal format. See table
below.
12 Yaw float deg Yaw angle relative to true north.
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APPENDIX

Orolia VersaSync Specifications

General

Brand	Orolia
Model	VersaSync
Category	Server
Language	English