ADU2 datasheet(79/162 Pages) ETC

79 / 162 page

Command Response Formats

Page 67

Table 5.13 lists the structure of the PSAT message in Binary:

Z-velocity

ECEF, m/sec

PDOP

Position Dilution of Precision

SVs

Number of Satellites used

Position Mode

1: Standalone

2: Differential

Yaw angle

(Heading-COG), degrees

heading

Degrees

Pitch

Degrees

Roll

Degrees

Attitude State

0: Ambiguities fixed,

1: Ambiguities not fixed

Position State

0: Normal

1: No position computed

Table 5.13: PSAT Data in Binary Format

Variable

Bytes

Description

$PASH,PSA

Header

long tow

Seconds of Week in miliseconds

double navx

ECEF-X in meters

double navy

ECEF-Y in meters

double navz

ECEF-Z in meters

float navxdot

ECEF-X vel in m/s

float navydot

ECEF-Y vel in m/s

float navzdot

ECEF-Z vel in m/s

float navt

Clock offset in meters

float navtdot

Frequency off in m/s

short pdop

Position Dilution of Precision

char nsvs

Number of satellites used

char posmode

Position Mode

float yaw

Yaw angle in degrees

float head

Heading in degrees

float pitch

Pitch in degrees

float roll

Roll in degrees

Table 5.12: PSAT Data in ASCII Format (continued)

Variable

Description

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