Trimble Inc. 5580090 사용자 설명서

SPSx50 Modular GPS Receiver User Guide     

GSOF Messages     

This message provides attitude information relating to the vector between the Heading 
antenna and the Moving Base antenna. It contains the following data:

Tilt or vertical angle, in radians, from the Heading antenna to the Moving Base 
antenna relative to a horizontal plane through the Heading antenna

Heading or yaw, in radians, relative to True North

Range or slope distance between the Heading antenna and the Moving Base 
antenna

Table B.13

Attitude (Type 27 record)

0

Output record type

Char

1Bh

Attitude information

1

Record length

Char

2Ah

Bytes in record

2–5

GPS time

Long

msecs

GPS time in milliseconds of GPS week

6

Flags

Char

See Table B.20 Flag bits indicating validity of attitude components

7

Number of SVs used

Char

00h-0Ch

Number of satellites used to calculate attitude

8

Calculation mode

Char

See Table B.21 Positioning mode

9

Reserved

Reserved

10–17

Tilt

Double radians

Tilt relative to horizontal plane

18–25

Yaw

Double radians

Rotation about the vertical axis relative to True 
North

26–33

Reserved

Reserved

34–41

Range

Double meters

Distance between antennas

42–43

PDOP

Short

0.1

Position Dilution of Precision