NavCom LAND-PAK Rev.N - 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