gbxnovatelacfr::InsPvaData Class Reference

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

#include <driver.h>

List of all members.

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)

int timeStampSec

in Computer time, beginning of message at serial port

int timeStampUSec

in Computer time, beginning of message at serial port

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

Detailed Description

INS position/velocity/attitude information.

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

gbxnovatelacfr/driver.h
gbxnovatelacfr/driver.cpp