Software structure, Figures, Provided – Moog Crossbow GNAV540 User Manual
Page 22: Configuring gnav540 funct
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GNAV540 User Manual
7430‐0808‐01 Rev. B
Figure 1 GNAV540 System
Software Structure
Figure 2 below shows the software block diagram. The 6‐DOF inertial sensor cluster data is fed into a high speed
100Hz signal processing chain. These 6‐DOF signals pass through one or more of the processing blocks and these
signals are converted into output measurement data as shown. Measurement data packets are available at fixed
continuous output rates or on a polled basis. The type of measurement data packets available depends on the unit
type according to the software block diagram and system configuration. Aiding sensor data is used by an Extended
Kalman Filter (EKF) for drift correction. Built‐In‐Test and Status data are available in the measurement packet or
ia the special Status Packet T2.
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