Novatel OM-20000041 用户手册

D

Logs summary

MiLLennium GPSCard Software Version 4.50 Command Descriptions Manual Rev 1

181

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. 

These quantities are always referenced to the WGS84 ellipsoid, regardless of the use of the 

DATUM

 or 

USERDATUM

 commands.

$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]

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]