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gbxnovatelacfr::InsPvaData Class Reference

INS position/velocity/attitude information. More...

#include <driver.h>

Inheritance diagram for gbxnovatelacfr::InsPvaData:
Inheritance graph

Public Attributes

int gpsWeekNr
 number of full weeks since midnight 05/Jan/1980 (UTC)
 
double secIntoWeek
 yields GPS-time (together with gpsWeekNr); continous (contrary to UTC which uses leapseconds)
 
double latitude
 [deg] north positive WGS84
 
double longitude
 [deg] east positive WGS84
 
double height
 [m] above ellipsoid WGS84 (heigth_ellipsoid - undulation == height_geoid (aka AMSL)
 
Velocity vector

Relativ to true North/East and geoid vertical (I think)

double northVelocity
 [m/s] south is negative
 
double eastVelocity
 [m/s] west is negative
 
double upVelocity
 [m/s] down is negative
 
Orientation

The default IMU axis definitions are: Y - forward Z - up X - right hand side

double roll
 [degree] right handed rotation from local level around y-axes
 
double pitch
 [degree] right handed rotation from local level around x-axes
 
double azimuth
 [degree] left handed around z-axes rotation from (true?) north clockwise
 
StatusMessageType statusMessageType
 
std::string statusMessage
 
int timeStampSec
 in Computer time, beginning of message at serial port
 
int timeStampUSec
 in Computer time, beginning of message at serial port
 

Detailed Description

INS position/velocity/attitude information.


The documentation for this class was generated from the following files:
 

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