GSOF message: INS Full Navigation

Applicable receivers: All receivers

This message provides information relating to INS (only for INS systems).

Field	Item	Type	Value	Meaning
0	Output record type	Byte	31h
1	Record length	Byte	68h	Bytes in record
2–3	GPS week number	int		GPS week number
4–7	GPS time	int		GPS time (milliseconds)
8	IMU alignment status	Byte		IMU alignment status
9	GPS quality indicator	Byte		GPS quality indicator
10–17	Latitude	Double		Latitude (degrees)
18–25	Longitude	Double		Longitude (degrees)
26–33	Altitude	Double		Altitude (meters)
34–37	North velocity	Float		North Velocity (m/s)
38–41	East velocity	Float		East Velocity (m/s)
42–45	Down velocity	Float		Down Velocity (m/s)
46–49	Total speed	Float		Total Speed (m/s)
50–57	Roll	Double		Roll (degrees)
58–65	Pitch	Double		Pitch (degrees)
66–73	Heading	Double		Heading (degrees)
74–81	Track angle	Double		Track Angle (degrees)
82–85	Angular rate (X)	Float		Angular rate about the longitudinal axis (X) (deg/sec)
86–89	Angular rate (Y)	Float		Angular rate about transverse axis (Y) (deg/sec)
90–93	Angular rate (Z)	Float		Angular rate about down axis (Z) (deg/sec)
94–97	Longitudinal acceleration	Float		Longitudinal acceleration (X) (m/s^2)
98–101	Transverse acceleration	Float		Transverse acceleration (Y) (m/s^2)
102–105	Down acceleration	Float		Down acceleration (Z) (m/s^2)

NOTE – Roll, pitch, heading, angular rates, and accelerations are output in the reference frame.

This provides the status of the INS solution.

This provides a quality indicator that maps the internal rover fix to GPS quality (same as the NMEA GGA message).

Bit	Meaning
0	Fix not available or invalid
1	GPS SPS mode, fix valid
2	Differential GPS, SPS mode, fix valid
3	GPS PPS Mode, fix valid
4	Real Time Kinematic. System used in RTK mode with fixed integers
5	Float RTK. Satellite system used in RTK mode, floating integers
6	Estimated (dead reckoning) mode
7	Manual input mode