GSOF message: INS RMS

Applicable receivers: All receivers

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

Field	Item	Type	Value	Meaning
0	Output record type	Byte	32h
1	Record length	Byte	2Ch	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
10–13	North position RMS	Float		North position RMS (m)
14–17	East position RMS	Float		East position RMS (m)
18–21	Down position RMS	Float		Down position RMS (m)
22–25	North velocity RMS	Float		North velocity RMS (m/s)
26–29	East velocity RMS	Float		East velocity RMS (m/s)
30–33	Down velocity RMS	Float		Down velocity RMS (ms)
34–37	Roll RMS	Float		Roll RMS (degrees)
38–41	Pitch RMS	Float		Pitch RMS (degrees)
42–45	Heading RMS	Float		Heading RMS (degrees)

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