Novatel OEM6 Integration Manual

Also see for OEM7 SPAN: User manual Installation and operation user guide Installation and operation manual Installation and Operation User Manual

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Novatel OEM6 Integration Manual Manual pdf 26 page image

Chapter 2 New for OEM7 – FirmwareOEM6 to OEM7 Integration Guide v1 262.2.9 EXTERNALPVASEnter PVA UpdatePlatform: OEM729, OEM719, OEM7700This command should only be used by advanced users of GNSS/INS.The standard deviations entered using this command must be representative of actualinput error.The EXTERNALPVAS command uses a short header if the command is entered in ASCIIor Binary.This command allows a user to provide full position, velocity and attitude updates, in any com-bination, to the INS. The user can also provide height or attitude only updates, along with ZeroVelocity Updates (ZUPTs). These position and velocity updates are entered in local level frameor ECEF.The default input frame is ECEF. Updates are entered in ECEF unless Local Level is spe-cified using the OptionsMask parameter.Message ID: 1463Abbreviated ASCII Syntax:EXTERNALPVAS Position1 Position2 Position3 Velocity1 Velocity2 Velocity3Attitude1 Attitude2 Attitude3 PosStdDev1 PosStdDev2 PosStdDev3 VelStdDev1VelStdDev2 VelStdDev3 AttStdDev1 AttStdDev2 AttStdDev3 UpdateMaskOptionsMaskAbbreviated ASCII Example:EXTERNALPVAS 51.13495816 -114.03232307 1064.5895 -10.4502 0.2485 -0.095981.3152366 -3.6474718 179.5885212 0.01 0.01 0.01 0.01 0.01 0.01 0.1 0.1 0.1C020 1Field Field Type ASCIIValueBinaryValue Description BinaryFormatBinaryBytesBinaryOffset1 EXTERNALPVASheader - -Command header. SeeMessages for moreinformation.- H 0