Microinfinity Marion GA3390R INS/GPS Navigation System Technical Manual
Below you will find brief information for INS/GPS Navigation System Marion GA3390R. The Marion GA3390R is a compact, light and low-power consumption navigation system that can be used to measure position, velocity, attitude, angular rate and acceleration under dynamic conditions. It incorporates internal voltage regulation to minimize the effects caused by power supply noise and has the following features: UART RS-422 output, low power consumption, compact package, fully self-contained, position, velocity, attitude output (100Hz maximum), raw rate and acceleration output, customized bandwidth (optional).
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Technical Manual
Marion GA3390R
INS/GPS Integrated Navigation System
2014. 05. 02
Copyright
Microinfinity Co., Ltd.
http://www.minfinity.com
Contact Info.
EMAIL:
, TEL: +82 31 546 7408 FAX: +82 31 546 7409
Marion GA3390R TECHNICAL MANUAL
Contents
1. Introduction ............................................................................................................................. 1
2. Hardware Description ............................................................................................................. 3
2.1 System Description ........................................................................................................ 3
2.2 System Operation .......................................................................................................... 3
2.3 Pin Description ............................................................................................................... 4
2.4 Mounting Information (Coordinate System) ................................................................... 5
3. Software Description .............................................................................................................. 6
4. System Operation .................................................................................................................. 7
4.1 Operating Modes ........................................................................................................... 7
Coarse/fine alignment mode .................................................................................................. 7
INS/GPS integrated mode ...................................................................................................... 7
AHRS mode ........................................................................................................................... 7
4.2 System start-up .............................................................................................................. 7
5. System Characteristics .......................................................................................................... 9
5.1 Physical Characteristics ................................................................................................. 9
5.2 Environmental Characteristics ....................................................................................... 9
5.3 Electrical Characteristics.............................................................................................. 10
5.4 Performance Characteristics ....................................................................................... 11
5.5 Mechanical Characteristic ............................................................................................ 12
Corporate Office ................................................................................................................... 13
USA support ......................................................................................................................... 13
6. Appendix A ........................................................................................................................... 16
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Marion GA3390R TECHNICAL MANUAL
List of Figures
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Marion GA3390R TECHNICAL MANUAL
List of Tables
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Marion GA3390R TECHNICAL MANUAL
1.
Introduction
The Marion GA3390R is an INS/GPS integrated system that can be used to measure position, velocity, attitude, angular rate and acceleration under dynamic conditions. It is a highly integrated, compact, light, and fully self-contained navigation system. It encloses three gyroscopes, three accelerometers, three magnetometers, a pressure sensor (external and optional), and a GPS receiver. The GA3390R calculates stabilized position and attitude by fusing gyroscope, accelerometer, and GPS information. In its basic operation, it provides raw IMU data such as angular rates and accelerations. It can also provide attitude, position and static pressure, the latter can be used to determine altitude. The data update rate is 100Hz. Internally, it implements a Kalman filter that integrates inertial sensor data and GPS information. A temperature compensation technique is used to improve the angular rate accuracy.
The Marion GA3390R has the following features:
UART RS-422 output
Low power consumption
Compact package
Fully self-contained
Position, velocity, attitude output (100Hz maximum)
Raw rate and acceleration output
Customized bandwidth (optional)
The Marion GA3390R is highly optimized for the following applications:
Robotics navigation
Platform stabilization
Attitude reference systems
Control and guidance systems
Unmanned air vehicles (UAV)
Vehicle instrumentation
Figure 1: Marion GA3390R
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Marion GA3390R TECHNICAL MANUAL
NOTICE: We recommend extensive testing of this product before using it in the final application. Specifically, this product should be tested in the same environmental conditions of the intended final use. Furthermore, we strongly recommend caution when using our product in sensitive applications that can cause injures, death or property damage due to the wrong operation of this product, which may be caused by unexpected environmental changes such as temperature, shock, excessive and continuous vibration, etc. These applications include but are not limited to:
Aircraft equipment
Air vehicles
Aerospace equipment
Underwater vehicles…
Medical equipment
Transportation equipment
Disaster/crime prevention equipment
Applications which require high reliability and accuracy
Disclaimer and Limitation of Liability for Damages.
Microinfinity shall not be liable, under any circumstances, for any special, indirect, incidental, consequential, or contingent damages for any reason, whether or not the buyer has been advised of the possibility of such damages.
Microinfinity reserves all rights in this document and its subject matter. The recipient acknowledges these rights and assures the use of this document only for the purpose it was delivered.
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Marion GA3390R TECHNICAL MANUAL
2.
Hardware Description
2.1 System Description
The Marion GA3390R is a compact, light and low-power consumption navigation system. It uses a MEMS type inertial sensor. It incorporates internal voltage regulation to minimize the effects caused by power supply noise. The input voltage range is 6 V to 18 V, we strongly recommend using 12 V for low power consumption applications and to prevent problems associated with sensor overheating.
2.2 System Operation
Figure 2 shows a simple system block diagram for the Marion GA3390R. The analog signals from
the MEMS inertial sensors are digitalized using a fast and precise A/D converter. The Kalman filter stages are used to estimate sensor and navigation errors, which are fed back to inertia navigation system to compensate the errors. ADS(Air Data System) is optional function. It works with command input containing air data.
Figure 2: Marion GA3390R system block diagram.
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Marion GA3390R TECHNICAL MANUAL
2.3 Pin Description
Figure 3: Marion GA3390R connector shape and pin arrangement (SJMVG501-10SX)
Figure 4: Marion GA3390R GPS antenna connector (SMA type)
Table 1: Marion GA3390R pin description
No.Pin Pin name Description
비고
1
2
3
VDC+12V
VDC+12V
VDC+12V RTN
System power DC+12V
System power DC+12V
System Power DC+28V Return(GND)
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Marion GA3390R TECHNICAL MANUAL
No.Pin
4
5
6
7
8
9
10
Pin name
VDC+12V RTN
NAVI_TX+
NAVI_TX-
CMD_RX+
CMD_RX-
GPS_1PPS_RTN
GPS_1PPS
Description
System Power DC+28V Return(GND
Navigation Data, RS-422 TX+
Navigation Data, RS-422 TX-
Command, RS-422 RX+
Command, RS-422 RX-
GPS 1PPS Return
GPS 1PPS, Discrete output, LVTTL
2.4
Mounting Information (Coordinate System)
The Marion GA3390R uses the right handed coordinate system as shown in Figure 5. To obtain
accurate attitude, it must mount properly, otherwise it can introduce attitude errors. Other coordinate systems are available as an option.
비고
Figure 5: Marion GA3390R coordinates system
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Marion GA3390R TECHNICAL MANUAL
3.
Software Description
The Marion GA3390R outputs navigation data when system power is applied. Functional command input and the format of navigation data are presented in 6. Appendix A.
-
Command and output Baud rate : 230400
-
Output rate : up to 100Hz
-
Packet form : MSB(Most Significant Bit) First
-
Checksum : CRC16
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Marion GA3390R TECHNICAL MANUAL
4.
System Operation
4.1
Operating Modes
The Marion GA3390R has 3 different operating modes.
Coarse/fine alignment mode
The coarse/fine alignment mode is needed to estimate the system initial states such as position, attitude and inertial sensor initial errors (i.e. gyroscope rate bias). The coarse/fine alignment mode is an essential procedure for the INS/GPS integrated mode, and takes about one minute under static conditions..
INS/GPS integrated mode
The INS/GPS integrated navigation mode is the Marion GA3390R most important one. In this mode, the position and velocity error are compensated using GPS position information.
Furthermore, attitude error (including heading), time varying inertial sensor bias and scale factor errors can be compensated. In this mode, the navigation error is not influenced by system dynamics contrary to the AHRS mode. The system automatically selects between the INS/GPS and the AHRS mode depending on the GPS operating status.
AHRS mode
If GPS information is not available, the system operates in AHRS mode. This mode gives attitude information with bounded error, however it is influenced by the system dynamic. Therefore, the attitude error is expected to be larger than the observed in the INS/GPS integrated mode.
Figure 6 shows the mode changing cycle for the Marion
GA3390R.
4.2
System start-up
The Marion GA3390R startup time (coarse/fine alignment) is less than 60 seconds for INS/GPS integrated navigation mode.
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Marion GA3390R TECHNICAL MANUAL
WARNING: The Marion GA3390R must remain stationary during the startup time, failing to do so will introduce errors.
CA finished
System
Start-up
Coarse
Alignment
Fine
Alignment
AHRS only mode
AHRS
GPS outage
Input outrange
INS/GPS
FA finished
GPS recovery
Figure 6: Marion GA3390R mode changing cycle
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Marion GA3390R TECHNICAL MANUAL
5.
System Characteristics
Table 2, Table 3, Table 4, and Table 5 summarize the main characteristics of the Marion GA3390R.
The specifications are subject to change without notice and several parameters can be changed per customer request as an option.
5.1
Physical Characteristics
Characteristic
Size (L, W, H)
Weight
Table 2: Marion GA3390R physical characteristics.
Value
145.0 × 115.5 × 65.0(Including connector)
< x.x
Unit mm kg
5.2
Environmental Characteristics
Characteristic
Pressure
Vibration
Humidity
Table 3: Marion GA3390R environmental characteristics.
Value
-
-
-
- Temperature
Electromagnetic waves
-
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Marion GA3390R TECHNICAL MANUAL
5.3
Electrical Characteristics
Table 4: Marion GA3390R electrical characteristics.
Parameter Condition
Power
INPUT
VOLTAGE
CURRENT
POWER
Operating
Recommended
@ 12 V
@ 12 V
Digital Output Signal
Data Rate
Adjustable
(1) Default: 230,400 bps, 8 data bit, 1 stop bit, and no parity
Min.
6
Value
Typ.
12
416
<5
RS-422
(1)
Unit
Max.
18
667
<8
100
V
V mA
W
Hz
CAUTION
ESD (electrostatic discharge) sensitive device.
Electrostatic charges as high as 4000 V readily accumulate on the human body and test equipment and can discharge without detection. Permanent damage may occur on devices subjected to high-energy electrostatic discharges. Therefore, proper ESD precautions are recommended to avoid performance degradation or loss of functionality.
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Marion GA3390R TECHNICAL MANUAL
5.4
Performance Characteristics
Characteristic
Input range
Position error
Velocity error
Attitude error
Table 5: Marion GA3390R mechanical characteristic
Name
Rate
Acceleration
Horizontal
Vertical
Horizontal
Vertical
Roll(w/o GPS)
Pitch(w/o GPS)
Heading(w/o GPS)
Value
± 150
± 10
<5.0
<10.0
<0.5
<1.0
<0.5(2.0)
<0.5(2.0)
<1.0(2.0)
Unit deg/sec g m[CEP] m[RMS] m/s[RMS] m/s[RMS] deg[RMS] deg[RMS] deg[RMS]
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Marion GA3390R TECHNICAL MANUAL
5.5
Mechanical Characteristic
Figure 7: Marion GA3390R mechanical characteristic (unit: mm)
PAGE
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Marion GA3390R TECHNICAL MANUAL
Contact Information
Corporate Office
Microinfinity Co., Ltd.
11F KANC, 906-10, Iui-dong,
Yeongtong-gu, Suwon-si
Gyeonggi-do, 443-270, Korea
Tel : +82 31 546 7408
Fax : +82 31 546 7409
Email : [email protected]
USA support
2489 Bunker Hill Rd. Ann Arbor, MI 48105, USA
Tel : +1-734-223-5904
Fax : +1-866-400-3125
Email : [email protected]
Homepage: http://www.minfinity.com
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Marion GA3390R TECHNICAL MANUAL
CUSTOMER RESPONSE
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1. What are the best features of this document and product?
2. Does this document meet your hardware and software development needs?, If not please explain.
3. Do you find the organization of this data sheet easy to follow? , If not please explain.
4. What additions to the data sheet do you think would enhance the structure and subject?
5. What deletions from the data sheet could be made without affecting the overall usefulness?
6. Is there any incorrect or misleading information? Please let us know what and where.
7. How would you improve this document?
8. How would you improve our software, systems, and products?
9. Other Comments?
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Marion GA3390R TECHNICAL MANUAL
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Telephone: (_______) _________ - _________
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Marion GA3390R TECHNICAL MANUAL
6.
Appendix A
Data packet starts from next page.
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16
설명
인터페이스
타입
통신 주기
(Hz)
Destination Source
메시지
길이
(Byte)
Field
Number
Field Name
GA3390R 상태
및 제어 명령
230kbps
Noprity,
Full Duplex
RS-422 100 GA3390R User 29
3 User_CNT
Field Description
1 User_MSG_Header1 GA3390R 메시지 헤더 MSB
2 User_MSG_Header2 GA3390R 메시지 헤더 LSB
Counter
4 User_IBIT_Request GA3390R IBIT 수행 요청 명령
5
6
7
8
User_MODE_CMD1
User_MODE_CMD2
User_ADS_Status
User_TAS1
GA3390R 모드 명령
GA3390R 모드 명령
ADS 상태 정보
True Air Speed MSB
Field Type
Field Size
(Byte)
Field Range Field Unit Resolution Bit No.
Bit Description
UINT16
UINT16
UINT8
UINT8
UINT16
UINT16
UINT8
SF
1
1
1
1
1
1
1
1
N/A
N/A
0~255
N/A
N/A
N/A
N/A
0~105
N/A
N/A
N/A
N/A
N/A
N/A
N/A m/s
N/A
N/A
1
N/A
N/A
N/A
N/A
0.01
D15 1(msb)
D14 1
D13 1
D12 0
D11 1
D10 0
D09 0
D08 1
D07 1
D06 1
D05 1
D04 0
D03 1
D02 0
D01 0
D00 1(lsb)
D07 msb
D06
D05
D04
D03
D02
D01
D00 lsb
D07 Reserved
D06 Reserved
D05 Reserved
D04 Reserved
D03 Reserved
D02 Reserved
D01 Reserved
D00 IBIT CMD
D15 Reserved
D14 Reserved
D13 Reserved
D12 Reserved
D11 Reserved
D10 Reserved
D09 GA3390R_Mode msb
D08 GA3390R_Mode lsb
D07 Reserved
D06 Alignment Select msb
D05 Alignment Select
D04 Alignment Select lsb
D03 Reserved
D02 Reserved
D01 Reserved
D00 Operation mode
D30
D29
D28
D27
D26
D07 Reserved
D06 Reserved
D05 Reserved
D04 Reserved
D03 User_AS_Status
D02 User_PRS_ALT_Status
D01 User_AOA_Status
D00 User_AOS_Status
D31 msb
0xE9E9 (fixed)
Remark
User에서 송신 시 값을 증가 하여 송부
0=Normal, 1=IBIT CMD
GA3390R_Mode CMD
0x00 : Auto Mode Selecting
0x01 : GPS/INS Mode (Manual)
0x02 : DR/AHRS Mode
0x03 : AHRS Mode
Alignment Select
0x00 : Normal
0x01 : User Alignment Roll Input
0x02 : User Alignment Pitch Input
0x03 : User Alignment Heading Input
0x04 : XY Calibration Start
0=Navigation mode
1=Ground inspection mode
대기속도 정보 상태(0:Normal, 1:Fault)
기압고도 정보 상태(0:Normal, 1:Fault)
받음각 정보 상태(0:Normal, 1:Fault)
옆미끄럼각 정보 상태(0:Normal, 1:Fault)
GA3390R 상태
및 제어 명령
230kbps
Noprity,
Full Duplex
RS-422 100 GA3390R User 29
9
10
11
12
13
14
15
User_TAS2
User_TAS3
User_TAS4
User_TrueAltitude1
User_TrueAltitude2
User_TrueAltitude3
User_TrueAltitude4
True Air Speed
True Air Speed
True Air Speed LSB
TrueAltitude MSB
TrueAltitude
TrueAltitude
TrueAltitude LSB
16 User_AOA1 Angle Of Attack MSB
17
18
User_AOA2
User_AOA3
Angle Of Attack
Angle Of Attack
SF
SF
SF
SF
SF
SF
SF
SF
SF
SF
1
1
1
1
1
1
1
1
1
1
0~105
0~105
0~105
0~22850 meter
0~22850 meter
0~22850 meter
0~22850 meter
-20~20
-20~20
-20~20 m/s m/s m/s deg deg deg
0.01
0.01
0.01
0.01
0.01
0.01
0.01
0.01
0.01
0.01
D21
D20
D19
D18
D17
D16
D15
D14
D26
D25
D24
D23
D22
D31 msb
D30
D29
D28
D27
D11
D10
D09
D08
D07
D16
D15
D14
D13
D12
D06
D05
D04
D03
D02
D01
D00 lsb
D21
D20
D19
D18
D17
D26
D25
D24
D23
D22
D04
D03
D02
D01
D00 lsb
D31 msb
D30
D29
D28
D27
D09
D08
D07
D06
D05
D14
D13
D12
D11
D10
D19
D18
D17
D16
D15
D25
D24
D23
D22
D21
D20
GA3390R 상태
및 제어 명령
230kbps
Noprity,
Full Duplex
RS-422 100 GA3390R User 29
19
20
21
22
23
User_AOA4
User_AOS1
User_AOS2
User_AOS3
User_AOS4
Angle Of Attack LSB
Angle Of SideSlip MSB
Angle Of SideSlip
Angle Of SideSlip
Angle Of SideSlip LSB
24 User_AlignmentValue1 Forced Input Value MSB
25
26
27
User_AlignmentValue2
User_AlignmentValue3
User_AlignmentValue4
Forced Input Value
Forced Input Value
Forced Input Value LSB
SF
SF
SF
SF
SF
SF
SF
SF
SF
1
1
1
1
1
-20~20
-20~20
-20~20
-20~20
-20~20 deg deg deg deg deg
1 remark 참조 deg
1 'remark 참조 deg
1 'remark 참조 deg
1 'remark 참조 deg
0.01
0.01
0.01
0.01
0.01
0.1
0.1
0.1
0.1
D30
D29
D28
D27
D26
D25
D24
D09
D08
D07
D06
D05
D14
D13
D12
D11
D10
D19
D18
D17
D16
D15
D24
D23
D22
D21
D20
D04
D03
D02
D01
D00 lsb
D07
D06
D05
D04
D03
D13
D12
D11
D10
D09
D08
D29
D28
D27
D26
D25
D02
D01
D00 lsb
D31 msb
D30
D31 msb
D14
D13
D12
D11
D10
D09
D08
D07
D23
D22
D21
D20
D19
D18
D17
D16
D15
Forced Input Select 명령 입력 후 선택적 데이터
입력
* Field Range
- Roll : -180 ~ 180
- Pitch : -90 ~ 90
- Heading : 0 ~ 360
GA3390R 상태
및 제어 명령
230kbps
Noprity,
Full Duplex
RS-422 100 GA3390R User 29
Forced Input Select 명령 입력 후 선택적 데이터
입력
* Field Range
- Roll : -180 ~ 180
- Pitch : -90 ~ 90
- Heading : 0 ~ 360
28 User_CHCKSM1 User 제어 명령 checksum MSB UINT16 1 0~65535 N/A
29 User_CHCKSM2 User 제어 명령 checksum LSB UINT16 1 0~65535 N/A
1
1
D10
D09
D08
D07
D06
D05
D04
D03
D02
D01
D00 lsb
D06
D05
D04
D03
D02
D01
D00 lsb
D15 msb
D14
D13
D12
D11
CRC16
설명
인터페이스
타입
통신 주기
(Hz)
Destination Source
메시지
길이
(Byte)
Field
Number
Field Name
GA3390R
항법정보
230kbps
Noprity,
Full Duplex
RS-422 100 User GA3390R 155
1
2
3
GA3390R_Header1
GA3390R_Header2
GA3390R_CNT_Echo
Field Description
GA3390R 통합항법 헤더(MSB)
GA3390R 통합항법 헤더(LSB)
Counter Echo
4 GA3390R_BIT_Result1 GA3390R BIT 결과 MSB
POBIT, IBIT = 모든 항목 Check
CBIT = D2, D16, D17, D20~31 Check
5 GA3390R_BIT_Result2 GA3390R BIT 결과
6
7
8
9
GA3390R_BIT_Result3
GA3390R_BIT_Result4
GA3390R_MODE1
GA3390R_MODE2
GA3390R BIT 결과
GA3390R BIT 결과 LSB
GA3390R 통합항법 동작모드
GA3390R 통합항법 동작모드
Field Type
Field Size
(Byte)
Field Range Field Unit Resolution Bit No. Bit Description
UINT16 1 N/A N/A
UINT16
UINT8
UINT32
UINT32
UINT32
UINT32
UINT16
UINT16
1
1
1
1
1
1
1
1
N/A
0~255
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
Remark
N/A
N/A
1
N/A
N/A
N/A
N/A
N/A
N/A
D15 1(msb)
D14 1
D13 0
D12 1
D11 1
D10 0
D09 0
D08 1
D07 1
D06 1
D05 0
D04 1
D03 1
D02 0
D01 0
D00 1(lsb)
D07 msb
D06
D05
D04
D03
D02
D01
D00 lsb
D31 GYRO Z (Gyro Z Axis Status)
D30 GYRO Y (Gyro Y Axis Status)
D29 GYRO X (Gyro X Axis Status)
D28 GYRO ALL (Gyro ALL Axis Status)
D27 ACC Z (Acelerometer Z Axis Status)
D26 ACC Y (Acelerometer Y Axis Status)
D25 ACC X (Acelerometer X Axis Status)
D24 ACC ALL (Acelerometer ALL Axis Status)
D23 MAG Z (magnetometer Z Axis Status)
D22 MAG Y (magnetometer Y Axis Status)
D21 MAG X (magnetometer X Axis Status)
D20 MAG ALL (magnetometer ALL Axis Status)
D19 Reserved
D18 Reserved
D17 GPS (GPS Receive Status)
D16 1 PPS
D15 Channel B Internal LoopBack
D14 Channel B External LoopBack
D13 Channel A Internal LoopBack
D12 Channel A External LoopBack
D11 Reserved
D10 RAM Check
D09 FLASH Check
D08 POWER Check
D07 Reserved
D06 Reserved
D05 Reserved
D04 Reserved
D03 Reserved
D02 CBIT
D01 IBIT
D00 POBIT
D15 Reserved
D14 Reserved
D13 Reserved
D12 Current Mode Selector
D11 Reserved
D10 Reserved
D09 GA3390R_Mode msb
D08 GA3390R_Mode lsb
D07 Finealign mode (Navigation mode)
0xD9D9 (fixed)
User에서 수신한 데이터를 다시 송신
0=Normal, 1=Abnormal, CBIT Check
0=Normal, 1=Abnormal, CBIT Check
0=Normal, 1=Abnormal, CBIT Check
0=Normal, 1=Abnormal, CBIT Check
0=Normal, 1=Abnormal, CBIT Check
0=Normal, 1=Abnormal, CBIT Check
0=Normal, 1=Abnormal, CBIT Check
0=Normal, 1=Abnormal, CBIT Check
0=Normal, 1=Abnormal, CBIT Check
0=Normal, 1=Abnormal, CBIT Check
0=Normal, 1=Abnormal, CBIT Check
0=Normal, 1=Abnormal, CBIT Check
0=Fix mode, 1=Unfixed mode, CBIT Check
0=Normal, 1=Abnormal, CBIT Check
0=Normal, 1=Abnormal, 내부 loopback test
0=Normal, 1=Abnormal, 외부 회로를 이용한 loopback test
0=Normal, 1=Abnormal
0=Normal, 1=Abnormal
0=Normal, 1=Abnormal
0=Normal, 1=Abnormal
0=Normal, 1=Abnormal
0=Normal, 1=CBIT Results Applicable
0=Normal, 1=IBIT Results Applicable
0=Normal, 1=POBIT Results Applicable
0 = GA3390R(Auto mode Selecting), 1 = Operator(From CMD)
GA3390R_Mode
0x00 : Init Alignment Mode
0x01 : GPS/INS Mode
0x02 : DR/AHRS Mode
0x03 : AHRS Mode
0=N/A, 1=Applicable
GA3390R
항법정보
230kbps
Noprity,
Full Duplex
RS-422 100 User GA3390R 155
10 GA3390R_LAT1 GA3390R 통합항법 위도 MSB
11 GA3390R_LAT2 GA3390R 통합항법 위도
12 GA3390R_LAT3 GA3390R 통합항법 위도
13 GA3390R_LAT4 GA3390R 통합항법 위도
14 GA3390R_LAT5 GA3390R 통합항법 위도
15 GA3390R_LAT6 GA3390R 통합항법 위도
16 GA3390R_LAT7 GA3390R 통합항법 위도
17 GA3390R_LAT8 GA3390R 통합항법 위도 LSB
18 GA3390R_LON1 GA3390R 통합항법 경도 MSB
DF
DF
DF
DF
DF
DF
DF
DF
DF
1
1
1
1
1
1
1
1
-90~90
-90~90
-90~90
-90~90
-90~90
-90~90
-90~90
-90~90
1 -180~180 deg deg deg deg deg deg deg deg deg
1E-07
1E-07
1E-07
1E-07
1E-07
1E-07
1E-07
1E-07
1E-07
D13
D12
D11
D10
D09
D08
D07
D06
D05
D04
D03
D02
D01
D00 lsb
D63 msb
D62
D21
D20
D19
D18
D17
D16
D15
D14
D28
D27
D26
D25
D24
D23
D22
D36
D35
D34
D33
D32
D31
D30
D29
D44
D43
D42
D41
D40
D39
D38
D37
D52
D51
D50
D49
D48
D47
D46
D45
D59
D58
D57
D56
D55
D54
D53
D06 Coarsealign mode (Navigation mode)
D05 Init mode (Navigation mode)
D04 Mag. Calibration Ok
D03 User Heading Alignment Finished
D02 User Pitch Alignment Finished
D01 User Roll Alignment Finished
D00 Operation mode
D63 msb
D62
D61
D60
0=N/A, 1=Applicable
0=N/A, 1=Applicable
0=Navigation mode, 1=Ground mode
GA3390R
항법정보
230kbps
Noprity,
Full Duplex
RS-422 100 User GA3390R 155
19 GA3390R_LON2 GA3390R 통합항법 경도
20 GA3390R_LON3 GA3390R 통합항법 경도
21 GA3390R_LON4 GA3390R 통합항법 경도
22 GA3390R_LON5 GA3390R 통합항법 경도
23 GA3390R_LON6 GA3390R 통합항법 경도
24 GA3390R_LON7 GA3390R 통합항법 경도
25 GA3390R_LON8 GA3390R 통합항법 경도 LSB
26 GA3390R_HGT1 GA3390R 통합항법 고도 MSB
27 GA3390R_HGT2 GA3390R 통합항법 고도
DF
DF
DF
DF
DF
DF
DF
SF
SF
1 -180~180 deg
1
1
1
1
1
1
1
1
-180~180
-180~180
-180~180
-180~180
-180~180
-180~180
-1,000~6,000
-1,000~6,000 deg deg deg deg deg deg m m
1E-07
1E-07
1E-07
1E-07
1E-07
1E-07
1E-07
0.1
0.1
D17
D16
D15
D14
D13
D12
D11
D10
D09
D08
D07
D06
D05
D21
D20
D19
D18
D29
D28
D27
D26
D25
D24
D23
D22
D28
D27
D26
D25
D24
D23
D22
D04
D03
D02
D01
D00 lsb
D31 msb
D30
D29
D37
D36
D35
D34
D33
D32
D31
D30
D42
D41
D40
D39
D38
D52
D51
D50
D49
D48
D47
D46
D45
D44
D43
D61
D60
D59
D58
D57
D56
D55
D54
D53
GA3390R
항법정보
230kbps
Noprity,
Full Duplex
RS-422 100 User GA3390R 155
28 GA3390R_HGT3 GA3390R 통합항법 고도
29 GA3390R_HGT4 GA3390R 통합항법 고도 LSB
30 GA3390R_UTM_X1 GA3390R 통합항법 UTM East MSB
31 GA3390R_UTM_X2 GA3390R 통합항법 UTM East
32 GA3390R_UTM_X3 GA3390R 통합항법 UTM East
33 GA3390R_UTM_X4 GA3390R 통합항법 UTM East
34 GA3390R_UTM_X5 GA3390R 통합항법 UTM East
35 GA3390R_UTM_X6 GA3390R 통합항법 UTM East
36 GA3390R_UTM_X7 GA3390R 통합항법 UTM East
SF
SF
DF
DF
DF
DF
DF
DF
DF
1 -1,000~6,000
1 -1,000~6,000
1
1
1
1
1
1
1
0~10^6
0~10^6
0~10^6
0~10^6
0~10^6
0~10^6
0~10^6 m m m m m m m m m
0.1
0.1
0.01
0.01
0.01
0.01
0.01
0.01
0.01
D41
D40
D39
D38
D37
D36
D35
D34
D33
D32
D31
D30
D29
D45
D44
D43
D42
D53
D52
D51
D50
D49
D48
D47
D46
D28
D27
D26
D25
D24
D23
D22
D21
D20
D19
D18
D17
D16
D15
D14
D21
D20
D19
D18
D17
D16
D15
D14
D13
D12
D11
D10
D09
D08
D07
D06
D05
D04
D03
D61
D60
D59
D58
D57
D56
D55
D54
D02
D01
D00 lsb
D63 msb
D62
GA3390R
항법정보
230kbps
Noprity,
Full Duplex
RS-422 100 User GA3390R 155
37
38 GA3390R_UTM_Y1 GA3390R 통합항법 UTM North MSB
39
40
41
42
43
44
45
GA3390R_UTM_X8
GA3390R_UTM_Y2
GA3390R_UTM_Y3
GA3390R_UTM_Y4
GA3390R_UTM_Y5
GA3390R_UTM_Y6
GA3390R_UTM_Y7
GA3390R_UTM_Y8
GA3390R 통합항법 UTM East LSB
GA3390R 통합항법 UTM North
GA3390R 통합항법 UTM North
GA3390R 통합항법 UTM North
GA3390R 통합항법 UTM North
GA3390R 통합항법 UTM North
GA3390R 통합항법 UTM North
GA3390R 통합항법 UTM North LSB
DF
DF
DF
DF
DF
DF
DF
DF
DF
1 0~10^6
1 0~2*10^7
1 0~2*10^7
1 0~2*10^7
1 0~2*10^7
1 0~2*10^7
1 0~2*10^7
1 0~2*10^7
1 0~2*10^7 m m m m m m m m m
0.01
0.01
0.01
0.01
0.01
0.01
0.01
0.01
0.01
D33
D32
D31
D30
D29
D28
D27
D26
D25
D24
D23
D22
D21
D37
D36
D35
D34
D45
D44
D43
D42
D41
D40
D39
D38
D20
D19
D18
D17
D16
D15
D14
D13
D12
D11
D10
D09
D08
D07
D06
D13
D12
D11
D10
D09
D08
D07
D06
D05
D53
D52
D51
D50
D49
D48
D47
D46
D58
D57
D56
D55
D54
D04
D03
D02
D01
D00 lsb
D63 msb
D62
D61
D60
D59
GA3390R
항법정보
230kbps
Noprity,
Full Duplex
RS-422 100 User GA3390R 155
46
47
48
49
50
51
GA3390R_UTM_Longzone
GA3390R_UTM_Latzone
GA3390R_Vn1
GA3390R_Vn2
GA3390R_Ve1
GA3390R_Ve2
GA3390R 통합항법 UTM Longitude Zone
GA3390R 통합항법 UTM Latitude Zone
GA3390R 통합항법 North 방향 속도 MSB
GA3390R 통합항법 North 방향 속도 LSB
GA3390R 통합항법 East 방향 속도 MSB
GA3390R 통합항법 East 방향 속도 LSB
52 GA3390R_Vd1 GA3390R 통합항법 Down 방향 속도 MSB
53
54
GA3390R_Vd2
GA3390R_Roll1
GA3390R 통합항법 Down 방향 속도
GA3390R 통항항법 롤각 MSB
UINT8
UINT8
INT16
INT16
INT16
INT16
INT16
INT16
1
1
1
1
1
1
1
1
INT16 1
0~60
67~88
-100~100
-100~100
-100~100
-100~100
-100~100
-100~100
-180~180
N/A
N/A m/s m/s m/s m/s m/s m/s deg
1
N/A
0.1
0.1
0.1
0.1
0.1
0.1
0.1
D05
D04
D03
D02
D01
D00 lsb
D15 msb
D14
D13
D12
D11
D10
D09
D08
D07
D06
D05
D04
D03
D02
D01
D00 lsb
D15 msb
D14
D13
D12
D11
D10
D09
D08
D07
D06
D05
D04
D03
D02
D01
D00 lsb
D15 msb
D14
D05
D04
D03
D02
D01
D00 lsb
D07 msb
D06
D05
D04
D03
D02
D01
D00 lsb
D07 msb
D06
D05
D04
D03
D13
D12
D11
D10
D09
D08
D07
D06
D02
D01
D00 lsb
D15 msb
D14
Hex Value : 0x43~0x58, ASCII "C~X"
Scale Factor : Data = BIT[00:15] * 200 / 65536
Scale Factor : Data = BIT[00:15] * 200 / 65536
Scale Factor : Data = BIT[00:15] * 200 / 65536
Scale Factor : Data = BIT[00:15] * 360 / 65536
GA3390R
항법정보
230kbps
Noprity,
Full Duplex
RS-422 100 User GA3390R 155
55
56
57
58
59
60 GA3390R_MG_HDG1
61
62
63
GA3390R_Roll2
GA3390R_Pitch1
GA3390R_Pitch2
GA3390R_HDG1
GA3390R_HDG2
GA3390R_MG_HDG2
GA3390R_Ax1
GA3390R_Ax2
GA3390R 통항항법 롤각 LSB
GA3390R 통합항법 피치각 MSB
GA3390R 통합항법 피치각 LSB
GA3390R 통합항법 True Heading MSB
GA3390R 통합항법 True Heading LSB
GA3390R 통합항법 자력계 방위각 MSB
GA3390R 통합항법 자력계 방위각 MSB
GA3390R 통항항법 X 방향 가속도(기수 방향) MSB
GA3390R 통항항법 X 방향 가속도(기수 방향) LSB
INT16 1
INT16
INT16
UINT16
UINT16
UINT16
UINT16
INT16
INT16
1
1
1
1
1
1
1
1
-180~180
-90~90
-90~90
0~359.9
0~359.9
0~359.9
0~359.9
-10.0~10.0
-10.0~10.0
deg deg deg deg deg deg deg g g
0.1
0.1
0.1
0.1
0.1
0.1
0.1
0.01
0.01
D13
D12
D11
D10
D09
D08
D07
D06
D05
D04
D03
D02
D01
D00 lsb
D15 msb
D14
D13
D12
D11
D10
D09
D08
D07
D06
D05
D12
D11
D10
D09
D08
D07
D06
D04
D03
D02
D01
D00 lsb
D15 msb
D14
D13
D13
D12
D11
D10
D09
D08
D07
D06
D05
D04
D03
D02
D01
D00 lsb
D15 msb
D14
D13
D12
D11
D05
D04
D03
D02
D10
D09
D08
D07
D06
D01
D00 lsb
D15 msb
D14
Scale Factor : Data = BIT[00:15] * 180 / 65536
Scale Factor : Data = BIT[00:15] * 360 / 65536
Scale Factor : Data = BIT[00:15] * 360 / 65536
Scale Factor : Data = BIT[00:15] * 20 / 65536
GA3390R
항법정보
230kbps
Noprity,
Full Duplex
RS-422 100 User GA3390R 155
64 GA3390R_Ay1
65 GA3390R_Ay2
66
67
68
69
70
71
72
GA3390R_Az1
GA3390R_Az2
GA3390R_P1
GA3390R_P2
GA3390R_Q1
GA3390R_Q2
GA3390R_R1
GA3390R 통항항법 Y 방향 가속도(우익 방향) MSB
GA3390R 통항항법 Y 방향 가속도(우익 방향) LSB
GA3390R 통항항법 Z 방향 가속도(아래 방향) MSB
GA3390R 통항항법 Z 방향 가속도(아래 방향) LSB
GA3390R 통항항법 롤각속도 MSB
GA3390R 통항항법 롤각속도 LSB
GA3390R 통합항법 피치각속도 MSB
GA3390R 통합항법 피치각속도 LSB
GA3390R 통합항법 요각속도 MSB
INT16
INT16
INT16
INT16
INT16
INT16
INT16
INT16
INT16
1
1
1
1
1
1
1
1
1
-10.0~10.0
-10.0~10.0
-10.0~10.0
-10.0~10.0
g g g g
-165~165 deg/sec
-165~165 deg/sec
-165~165 deg/sec
-165~165 deg/sec
-165~165 deg/sec
0.01
0.01
0.01
0.01
0.1
0.1
0.1
0.1
0.1
D05
D04
D03
D02
D01
D00 lsb
D15 msb
D14
D13
D12
D11
D10
D09
D08
D07
D06
D05
D04
D03
D02
D01
D00 lsb
D15 msb
D14
D13
D12
D11
D10
D09
D08
D07
D06
D05
D04
D03
D02
D01
D00 lsb
D15 msb
D14
D05
D04
D03
D02
D01
D00 lsb
D15 msb
D14
D13
D12
D11
D10
D09
D08
D07
D06
D05
D04
D03
D13
D12
D11
D10
D09
D08
D07
D06
D02
D01
D00 lsb
D15 msb
D14
Scale Factor : Data = BIT[00:15] * 20 / 65536
Scale Factor : Data = BIT[00:15] * 20 / 65536
Scale Factor : Data = BIT[00:15] * 330 / 65536
Scale Factor : Data = BIT[00:15] * 330 / 65536
Scale Factor : Data = BIT[00:15] * 330 / 65536
GA3390R
항법정보
230kbps
Noprity,
Full Duplex
RS-422 100 User GA3390R 155
73
74
75
76
77
78
79
80 GA3390R_GPS_INDX1
81
GA3390R_R2
GA3390R_Mx1
GA3390R_Mx2
GA3390R_My1
GA3390R_My2
GA3390R_Mz1
GA3390R_Mz2
GA3390R_GPS_INDX2
GA3390R 통합항법 요각속도 LSB
GA3390R 통합항법 X 방향 자력(기수 방향) MSB
GA3390R 통합항법 X 방향 자력(기수 방향) LSB
GA3390R 통합항법 Y 방향 자력(우익 방향) MSB
GA3390R 통합항법 Y 방향 자력(우익 방향) LSB
GA3390R통합항법 Z 방향 자력(아래 방향) MSB
GA3390R통합항법 Z 방향 자력(아래 방향) LSB
GA3390R GPS 정보 인덱스 MSB
GA3390R GPS 정보 인덱스 LSB
INT16
INT16
INT16
INT16
INT16
INT16
INT16
1
1
1
1
1
1
1
UINT16 1
UINT16 1
-165~165 deg/sec
-2~2
-2~2
-2~2
-2~2
-2~2
-2~2
N/A
N/A gauss gauss gauss gauss gauss gauss
N/A
N/A
0.1
0.001
0.001
0.001
0.001
0.001
0.001
N/A
N/A
D13
D12
D11
D10
D09
D08
D07
D06
D05
D04
D03
D02
D01
D00 lsb
D15 msb
D14
D13
D12
D11
D10
D09
D08
D07
D06
D05
D12
D11
D10
D09
D08
D07
D06
D04
D03
D02
D01
D00 lsb
D15 msb
D14
D13
D13
D12
D11
D10
D09
D08
D07
D06
D05
D04
D03
D02
D01
D00 lsb
D15 msb
D14
D13
D12
D11
D05
D04
D03
D02
D10
D09
D08
D07
D06
D01
D00 lsb
D15 msb
D14
Scale Factor : Data = BIT[00:15] * 4 / 65536
Scale Factor : Data = BIT[00:15] * 4 / 65536
Scale Factor : Data = BIT[00:15] * 4 / 65536
GA3390R
항법정보
230kbps
Noprity,
Full Duplex
RS-422 100 User GA3390R 155
82 GA3390R_GPS_UTC1 GA3390R UTC 시간(시, 분, 초) MSB
83
84
85
86
87
88
89
GA3390R_GPS_UTC2
GA3390R_GPS_UTC3
GA3390R_GPS_UTC4
GA3390R_GPS_MODE
GA3390R_GPS_LAT1
GA3390R_GPS_LAT2
GA3390R_GPS_LAT3
GA3390R UTC 시간(시, 분, 초)
GA3390R UTC 시간(시, 분, 초)
GA3390R UTC 시간(시, 분, 초) LSB
GA3390R GPS 모드(Single, DGPS)
GA3390R GPS 위도 MSB
GA3390R GPS 위도
GA3390R GPS 위도
SF
SF
SF
SF
UINT8
DF
DF
DF
D05
D04
D03
D02
D01
D00 lsb
D31 msb 1 0~235959.999 hhmmss.sss
0.001
1
1
1
1
1
1
1
0~235959.999 hhmmss.sss
0~235959.999 hhmmss.sss
0~235959.999 hhmmss.sss
0~3
-90~90
-90~90
-90~90
N/A deg deg deg
0.001
0.001
0.001
N/A
1E-07
1E-07
1E-07
D00 lsb
D07 msb
D06
D05
D04
D03
D02
D01
D00 lsb
D63 msb
D62
D61
D11
D10
D09
D08
D07
D06
D05
D04
D03
D02
D01
D52
D51
D50
D49
D48
D47
D46
D45
D60
D59
D58
D57
D56
D55
D54
D53
D44
D43
D42
D30
D29
D28
D27
D26
D25
D24
D23
D22
D21
D20
D19
D18
D17
D16
D15
D14
D13
D12
NMEA 0183 프로토콜 (hhmmss.sss)
최상위 두자리(십만, 만 자리 )의 최대값음 23임.
분단위 자리(천, 백 자리)의 최대값음 59임.
초 자리의(십, 일) 최대값은 59임.
0 = InValid
1 = 2D Fix
2 = DGPS Fix
3 = 3D Fix
GA3390R
항법정보
230kbps
Noprity,
Full Duplex
RS-422 100 User GA3390R 155
90 GA3390R_GPS_LAT4 GA3390R GPS 위도
91 GA3390R_GPS_LAT5 GA3390R GPS 위도
92 GA3390R_GPS_LAT6 GA3390R GPS 위도
93 GA3390R_GPS_LAT7 GA3390R GPS 위도
94 GA3390R_GPS_LAT8 GA3390R GPS 위도 LSB
95 GA3390R_GPS_LON1 GA3390R GPS 경도 MSB
96 GA3390R_GPS_LON2 GA3390R GPS 경도
97 GA3390R_GPS_LON3 GA3390R GPS 경도
98 GA3390R_GPS_LON4 GA3390R GPS 경도
DF
DF
DF
DF
DF
DF
DF
DF
DF
1
1
1
1
1
1 -180~180
1
1
1
-90~90
-90~90
-90~90
-90~90
-90~90
-180~180
-180~180
-180~180 deg deg deg deg deg deg deg deg deg
1E-07
1E-07
1E-07
1E-07
1E-07
1E-07
1E-07
1E-07
1E-07
D52
D51
D50
D49
D48
D47
D46
D45
D60
D59
D58
D57
D56
D55
D54
D53
D37
D36
D35
D34
D44
D43
D42
D41
D40
D39
D38
D13
D12
D11
D10
D09
D08
D07
D06
D05
D04
D21
D20
D19
D18
D17
D16
D15
D14
D03
D02
D01
D00 lsb
D63 msb
D62
D61
D29
D28
D27
D26
D25
D24
D23
D22
D36
D35
D34
D33
D32
D31
D30
D41
D40
D39
D38
D37
IEEE 754 Double precision point
GA3390R
항법정보
230kbps
Noprity,
Full Duplex
RS-422 100 User GA3390R 155
99 GA3390R_GPS_LON5 GA3390R GPS 경도
100 GA3390R_GPS_LON6 GA3390R GPS 경도
101 GA3390R_GPS_LON7 GA3390R GPS 경도
102 GA3390R_GPS_LON8 GA3390R GPS 경도 LSB
103 GA3390R_GPS_HGT1 GA3390R GPS 고도 MSB
104 GA3390R_GPS_HGT2 GA3390R GPS 고도
105 GA3390R_GPS_HGT3 GA3390R GPS 고도
106 GA3390R_GPS_HGT4 GA3390R GPS 고도 LSB
107 GA3390R_GPS_Speed1 GA3390R GPS 속도 MSB
DF
DF
DF
DF
SF
SF
SF
SF
UINT16
1
1
1
1
1 -1,000~6,000
1
1
1
1
-180~180
-180~180
-180~180
-180~180
-1,000~6,000
-1,000~6,000
-1,000~6,000
0~300 deg deg deg deg m m m m km/h
1E-07
1E-07
1E-07
1E-07
0.1
0.1
0.1
0.1
0.1
D12
D11
D10
D09
D08
D07
D06
D05
D20
D19
D18
D17
D16
D15
D14
D13
D13
D12
D11
D10
D04
D03
D02
D01
D00 lsb
D15 msb
D14
D27
D26
D25
D24
D23
D22
D21
D13
D12
D11
D10
D09
D08
D07
D06
D05
D04
D03
D02
D01
D00 lsb
D31 msb
D30
D29
D28
D21
D20
D19
D18
D17
D16
D15
D14
D28
D27
D26
D25
D24
D23
D22
D33
D32
D31
D30
D29
IEEE 754 Single precision point
Scale Factor : Data = BIT[00:15] * 300 / 65536
GA3390R
항법정보
230kbps
Noprity,
Full Duplex
RS-422 100 User GA3390R 155
108
109
110
111
112
113
GA3390R_GPS_HDG1
GA3390R_GPS_HDG2
GA3390R_GPS_NOS
GA3390R_GPS_PDOP1
GA3390R_GPS_PDOP2
GA3390R GPS Course Heading MSB
GA3390R GPS Course Heading LSB
GA3390R 사용 위성 수
GA3390R 위치 정밀도 저하율
(Position Dilution of Precision) MSB
GA3390R 위치 정밀도 저하율
(Position Dilution of Precision) LSB
114 GA3390R_GPS_HDOP1
GA3390R 수평위치 정밀도 저하율
(Horizontal Dilution of Precision) MSB
115
116
GA3390R_GPS_Speed2
GA3390R_GPS_HDOP2
GA3390R_SW_Version1
GA3390R GPS 속도 LSB
GA3390R 수평위치 정밀도 저하율
(Horizontal Dilution of Precision) LSB
GA3390R Software Version 정보 MSB
UINT16
UINT16
UINT16
UINT8
1
1
1
1
UINT16 1
UINT16
UINT16
UINT16
UINT8
1
1
1
1
0~300
0~359.9
0~359.9
0~15
0~6553.5
0~6553.5
0~6553.5
0~6553.5
N/A km/h deg deg
N/A
N/A
N/A
N/A
N/A
N/A
0.1
0.1
0.1
1
0.1
0.1
0.1
0.1
N/A
D07
D06
D05
D04
D03
D02
D01
D00 lsb
D15 msb
D14
D13
D12
D11
D10
D09
D08
D05
D04
D03
D02
D01
D00 lsb
D07 msb
D06
D05
D04
D03
D02
D01
D00 lsb
D09
D08
D07
D06
D05
D13
D12
D11
D10
D09
D08
D07
D06
D04
D03
D02
D01
D00 lsb
D15 msb
D14
D15 msb
D14
D13
D12
D11
D10
D09
D08
D07
D06
D05
D04
D03
D02
D01
D00 lsb
D07 msb
D06
Scale Factor : Data = BIT[00:15] * 360 / 65536
Number of satellites that the GA3390R uses
Scale Factor : Data = BIT[00:15] / 10
Scale Factor : Data = BIT[00:15] / 10
GA3390R Sorftware Version 정보(ASCII)
Version Number ex1) 01A => 0x01, 0x01 ex2) 13B ==> 0x13, 0x042
First Number of Version : "01" ==> 0x01
Second Number of Version : "A" ==> 0x041
Field Number 108 : First Number of Version Number
Field Number 109 : Second Number of Version Number
GA3390R
항법정보
230kbps
Noprity,
Full Duplex
RS-422 100 User GA3390R 155
117 GA3390R_SW_Version2 GA3390R Software Version 정보 LSB
118
119
120
121
122
123
124
125
GA3390R_Index1
GA3390R_Index2
GA3390R_ID_Number
GA3390R_Reserved
GA3390R_LAT_COV1
GA3390R_LAT_COV2
GA3390R_LAT_COV3
GA3390R_LAT_COV4
GA3390R 통합항법 인덱스 MSB
GA3390R 통합항법 인덱스 LSB
GA3390R Maintanence data MSB
GA3390R Maintanence data LSB
GA3390R 위도 Covariance MSB
GA3390R 위도 Covariance
GA3390R 위도 Covariance
GA3390R 위도 Covariance
UINT8 1
UINT16 1
UINT16 1
UINT8
UINT8
DF
DF
DF
DF
1
1
1
1
1
1
N/A
0~65535
0~65535
N/A
N/A
-
-
-
-
N/A
N/A
N/A
N/A
N/A rad*rad rad*rad rad*rad rad*rad
N/A
1
1
N/A
N/A
-
-
-
-
D12
D11
D10
D09
D08
D07
D06
D05
D04
D03
D02
D01
D00 lsb
D15 Reserved
D14 Reserved
D13 Reserved
D12 Reserved
D11 Reserved
D10 Reserved
D09 Reserved
D08 Reserved
D07 Reserved
D06 Reserved
D05 Reserved
D04 Reserved
D03 Reserved
D02 Reserved
D01 Reserved
D00 Reserved
D63 msb
D62
D05
D04
D03
D02
D01
D00 lsb
D07 msb
D06
D05
D04
D03
D02
D01
D00 lsb
D15 msb
D14
D13
D49
D48
D47
D46
D45
D44
D43
D42
D41
D40
D39
D53
D52
D51
D50
D61
D60
D59
D58
D57
D56
D55
D54
GA3390R Sorftware Version 정보(ASCII)
Version Number ex1) 01A => 0x01, 0x01 ex2) 13B ==> 0x13, 0x042
First Number of Version : "01" ==> 0x01
Second Number of Version : "A" ==> 0x041
Field Number 108 : First Number of Version Number
Field Number 109 : Second Number of Version Number
GA3390R Counter, 항법 연산시 마다 1씩 증가
0x01 or 0x02
Do not use, Egineering Data
IEEE 754 Double precision point
Scale Factor : Data = BIT[00:63] * BIT[00:63]
GA3390R
항법정보
230kbps
Noprity,
Full Duplex
RS-422 100 User GA3390R 155
126 GA3390R_LAT_COV5 GA3390R 위도 Covariance
127 GA3390R_LAT_COV6 GA3390R 위도 Covariance
128 GA3390R_LAT_COV7 GA3390R 위도 Covariance
129 GA3390R_LAT_COV8 GA3390R 위도 Covariance LSB
130 GA3390R_LON_COV1 GA3390R 경도 Covariance MSB
131 GA3390R_LON_COV2 GA3390R 경도 Covariance
132 GA3390R_LON_COV3 GA3390R 경도 Covariance
133 GA3390R_LON_COV4 GA3390R 경도 Covariance
134 GA3390R_LON_COV5 GA3390R 경도 Covariance
DF 1
DF 1
DF 1
DF 1
DF 1
DF 1
DF 1
DF 1
DF 1
-
-
-
-
-
-
-
-
rad*rad rad*rad rad*rad rad*rad rad*rad rad*rad rad*rad rad*rad rad*rad
-
-
-
-
-
-
-
-
-
D45
D44
D43
D42
D41
D40
D39
D38
D50
D49
D48
D47
D46
D60
D59
D58
D57
D56
D55
D54
D53
D52
D51
D37
D36
D35
D34
D33
D32
D31
D12
D11
D10
D09
D08
D07
D06
D05
D04
D03
D02
D01
D00 lsb
D63 msb
D62
D61
D29
D28
D27
D26
D25
D24
D23
D22
D21
D20
D19
D18
D17
D16
D15
D14
D13
D38
D37
D36
D35
D34
D33
D32
D31
D30
IEEE 754 Double precision point
Scale Factor : Data = BIT[00:63] * BIT[00:63]
GA3390R
항법정보
230kbps
Noprity,
Full Duplex
RS-422 100 User GA3390R 155
135 GA3390R_LON_COV6 GA3390R 경도 Covariance
136 GA3390R_LON_COV7 GA3390R 경도 Covariance
137 GA3390R_LON_COV8 GA3390R 경도 Covariance LSB
138 GA3390R_HGT_COV1 GA3390R 고도 Covariance MSB
139 GA3390R_HGT_COV2 GA3390R 고도 Covariance
140 GA3390R_HGT_COV3 GA3390R 고도 Covariance
141 GA3390R_HGT_COV4 GA3390R 고도 Covariance LSB
142 GA3390R_Roll_COV1 GA3390R Roll Covariance MSB
143 GA3390_Roll_COV2 GA3390R Roll Covariance LSB
DF 1
DF 1
DF 1
SF 1
SF 1
SF 1
SF 1
UINT16 1
UINT16 1
-
-
-
-
-
-
-
-
rad*rad rad*rad rad*rad m*m m*m m*m m*m rad*rad rad*rad
-
-
-
-
-
-
-
-
-
D13
D12
D11
D10
D09
D08
D07
D20
D19
D18
D17
D16
D15
D14
D13
D12
D11
D05
D04
D03
D02
D10
D09
D08
D07
D06
D01
D00 lsb
D15 msb
D14
D28
D27
D26
D25
D24
D23
D22
D21
D04
D03
D02
D01
D00 lsb
D31 msb
D30
D29
D21
D20
D19
D18
D17
D16
D15
D14
D13
D12
D11
D10
D09
D08
D07
D06
D05
D30
D29
D28
D27
D26
D25
D24
D23
D22
IEEE 754 Single precision point
Scale Factor : Data = BIT[00:31] * BIT[00:31]
Scale Factor : Data = (BIT[00:15] / 1000) * (BIT[00:15] / 1000)
GA3390R
항법정보
230kbps
Noprity,
Full Duplex
RS-422 100 User GA3390R 155
144 GA3390R_Pitch_COV1 GA3390R Pitch Covariance MSB
145 GA3390R_Pitch_COV2 GA3390R Pitch Covariance LSB
146 GA3390R_Yaw_COV1 GA3390R Yaw Covariance MSB
147 GA3390R_Yaw_COV2 GA3390R Yaw Covariance LSB
148 GA3390R_Vn_COV1 GA3390R Vn Covariance MSB
149 GA3390R_Vn_COV2 GA3390R Vn Covariance LSB
150 GA3390R_Ve_COV1 GA3390R Ve Covariance MSB
151 GA3390R_Ve_COV2 GA3390R Ve Covariance LSB
152 GA3390R_Vd_COV1 GA3390R Vd Covariance MSB
UINT16 1
UINT16 1
UINT16 1
UINT16 1
UINT16 1
UINT16 1
UINT16 1
UINT16 1
UINT16 1
-
-
-
-
-
-
-
-
rad*rad rad*rad rad*rad rad*rad m/s*m/s m/s*m/s m/s*m/s m/s*m/s m/s*m/s
-
-
-
-
-
-
-
-
-
D12
D11
D10
D09
D08
D07
D06
D05
D04
D03
D13
D12
D11
D10
D09
D08
D07
D06
D02
D01
D00 lsb
D15 msb
D14
D12
D11
D10
D09
D08
D07
D06
D05
D04
D03
D02
D01
D00 lsb
D15 msb
D14
D13
D05
D04
D03
D02
D01
D00 lsb
D15 msb
D06
D05
D04
D03
D02
D01
D00 lsb
D15 msb
D14
D13
D12
D11
D10
D09
D08
D07
D06
D05
D04
D03
D02
D01
D00 lsb
D15 msb
D14
D13
Scale Factor : Data = (BIT[00:15] / 1000) * (BIT[00:15] / 1000)
Scale Factor : Data = (BIT[00:15] / 1000) * (BIT[00:15] / 1000)
Scale Factor : Data = (BIT[00:15] * 4 / 100) * (BIT[00:15] * 4 / 100)
Scale Factor : Data = (BIT[00:15] * 4 / 100) * (BIT[00:15] * 4 / 100)
Scale Factor : Data = (BIT[00:15] * 4 / 100) * (BIT[00:15] * 4 / 100)
GA3390R
항법정보
230kbps
Noprity,
Full Duplex
RS-422 100 User GA3390R 155
153 GA3390R_Vd_COV2 GA3390R Vd Covariance LSB
154 GA3390R_CHCKSM1 GA3390R checksum MSB
155 GA3390R_CHCKSM2 GA3390R checksum LSB
UINT16
UINT16 1
UINT16
1
1
-
0~65535
0~65535 m/s*m/s
N/A
N/A
-
1
1
D14
D13
D12
D11
D10
D09
D08
D07
D06
D11
D10
D09
D08
D07
D06
D05
D04
D03
D02
D01
D00 lsb
D05
D04
D03
D02
D01
D00 lsb
D15 msb
D14
D13
D12
CRC16
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Key features
- Compact package
- Low power consumption
- UART RS-422 output
- 100Hz data update rate
- INS/GPS integration
- Position, velocity, attitude output
- Raw rate and acceleration output
- Customized bandwidth (optional)
