Novatel OM-20000041 Manuale Utente
D
Logs summary
MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1
181
PVAA/B
XYZ Position, Velocity and Acceleration
The
PVAA
/
B
logs contain the receiver’s latest computed position, velocity and acceleration in ECEF coordinates.
The position, velocity and acceleration status fields indicate whether or not the corresponding data are valid.
This command supports
INS
(Inertial Navigation System) integration. PVA logs can be injected into the receiver
from an
INS
. This information is only used by the tracking loops of the receiver to aid in reacquisition of satellites
after loss of lock, otherwise it is ignored. This command is only useful for very high dynamics where expected
velocity changes during the signal blockage of more than 100 meters per second can occur.
velocity changes during the signal blockage of more than 100 meters per second can occur.
NOTE:
These quantities are always referenced to the WGS84 ellipsoid, regardless of the use of the
DATUM
or
USERDATUM
commands.
PVAA
Structure:
Example:
$PVAA,845,344559.00,-1634953.141,-3664681.855,4942249.361,-0.025,0.140,
0.078,0.000,-0.000,0.000,1,1,1*02
$PVAA
week
seconds
P-x
P-y
P-z
V-x
V-y
V-z
A-x
A-y
A-z
P-status
V-status
A-status
*xx
[CR][LF]
Field #
Field type
Data Description
Example
1
$PVAA
Log header
$PVAA
2
week
GPS week number
845
3
seconds
GPS time of week (s)
344559.00
4
P-x
Position’s X-coordinate (m)
-1634953.141
5
P-y
Position’s Y-coordinate (m)
-3664681.855
6
P-z
Position’s Z-coordinate (m)
4942249.361
7
V-x
Velocity vector along X-axis (m/s)
-0.025
8
V-y
Velocity vector along Y-axis (m/s)
0.140
9
V-z
Velocity vector along Z-axis (m/s)
0.078
10
A-x
Acceleration vector along X-axis (m/s
2
)
0.000
11
A-y
Acceleration vector along Y-axis (m/s
2
)
-0.000
12
A-z
Acceleration vector along Z-axis (m/s
2
)
0.000
13
P-status
Position status (0 = bad; 1 = good)
1
14
V-status
Velocity status (0 = bad; 1 = good)
1
15
A-status
Acceleration status (0 = bad; 1 = good)
1
16
*xx
Checksum
*02
17
[CR][LF]
Sentence terminator
[CR][LF]