NavCom LAND-PAK Rev.N User Manual
Page 138
Technical Reference Manual Rev. N
Blk = All;
Blu = IOP w/Internal Radio
;
Red = IOP & LBM
;
Grn = Engine only
136
0xb1 - Position, Velocity, and Time block - 86 bytes
Record
Usage
Command - No
Response - Yes
Input: Not used;
Output: reports computed Position, Velocity, and Time information
Ref
Message Field Description
Data
Type
Units
Range Scale
Byte
Count
STX
02
(hex)
U08
1
PRA1 99 (hex)
U08
1
PRA2 66 (hex)
U08
1
ID
b1 (hex)
U08
1
Length 0x0056
U16
2
W1
GPS Week – from 6 Jan 1980
U16
0 -
65535
2
W2
Milliseconds in Week
U32 mS
0 -
604799
999
Lsb:
1ms
4
W3
Satellites Used (B1=1…B31=31, B0=32)
U32
0-31
4
W4
Latitude (Approx.1.5cm)
S32 arc sec
Lsb: 2
-11
4
W5
Longitude (Approx. 1.5cm)
S32 arc sec
Lsb: 2
-11
4
W6
Lat/Lon LSB’s (Approx. 1mm)
U04…B7-B4: Latitude
U04…B3-B0: Longitude
U08 arc sec
Lsb: 2
-15
1
W7
Navigation Mode
If B7=1: Navigation Valid
B6=1: 3D Navigation
B5=1: dGPS used Tropo
B4=1: Clock Stable (offset < 2 µs)
B3=1: 1PPS output Valid (Nominally < 15 ns)
B2=1: Dual Frequency Navigation
B1-B0: Mode
00:
Non-Differential
01: Code Based dGPS
10: RCP Navigation
11: RTK
Navigation
else, B7=0: Navigation Invalid
B6-B0: Failure Code
1: Navigation Init: To few measurements
2: Navigation Init: PDOP to high.
3: Fast Navigation: Jump to Far
4: Fast Navigation: Numerical Error
5: Slow Navigation: Residuals too large
6: Navigation Init: New Initialization
7: Slow Navigation: To few measurements
8: Slow Navigation: PDOP to high
9: Fast Navigation: To few measurements
10: Navigation First Pass: No velocity
11: Slow Navigation: Jump to large
12: Navigation COCOM limits reached
13: dGPS Nav. required: Not available
U08
1