(window.webpackJsonp=window.webpackJsonp||[]).push([[225],{547:function(_,t,v){"use strict";v.r(t);var d=v(10),o=Object(d.a)({},(function(){var _=this,t=_._self._c;return t("ContentSlotsDistributor",{attrs:{"slot-key":_.$parent.slotKey}},[t("h1",{attrs:{id:"msg-ins-gps"}},[t("a",{staticClass:"header-anchor",attrs:{href:"#msg-ins-gps"}},[_._v("#")]),_._v(" MSG_INS/GPS")]),_._v(" "),t("p",[_._v("该数据包用于描述:组合导航输出的相关数据。")]),_._v(" "),t("table",{staticClass:"fdilink-packet-table"},[t("thead",[t("tr",{staticClass:"packet-id-row"},[t("th",[_._v("Packet ID")]),_._v(" "),t("th",[_._v("0x42")]),_._v(" "),t("th"),_._v(" "),t("th"),_._v(" "),t("th"),_._v(" "),t("th")]),_._v(" "),t("tr",{staticClass:"packet-id-row"},[t("th",[_._v("Length")]),_._v(" "),t("th",[_._v("72")]),_._v(" "),t("th"),_._v(" "),t("th"),_._v(" "),t("th"),_._v(" "),t("th")]),_._v(" "),t("tr",{staticClass:"packet-id-row"},[t("th",[_._v("Read / Write")]),_._v(" "),t("th",[_._v("Read")]),_._v(" "),t("th"),_._v(" "),t("th"),_._v(" "),t("th"),_._v(" "),t("th")]),_._v(" "),t("tr",[t("th",[_._v("Offset")]),_._v(" "),t("th",[_._v("Size")]),_._v(" "),t("th",[_._v("Format")]),_._v(" "),t("th",[_._v("Field")]),_._v(" "),t("th",[_._v("Unit")]),_._v(" "),t("th",[_._v("Description")])])]),_._v(" "),t("tbody",[t("tr",[t("td",[_._v("0")]),_._v(" "),t("td",[_._v("4")]),_._v(" "),t("td",[_._v("float32_t")]),_._v(" "),t("td",[_._v("BodyVelocity_X")]),_._v(" "),t("td",[_._v("m/s")]),_._v(" "),t("td",[_._v("机体系X轴速度")])]),_._v(" "),t("tr",[t("td",[_._v("4")]),_._v(" "),t("td",[_._v("4")]),_._v(" "),t("td",[_._v("float32_t")]),_._v(" "),t("td",[_._v("BodyVelocity_Y")]),_._v(" "),t("td",[_._v("m/s")]),_._v(" "),t("td",[_._v("机体系Y轴速度")])]),_._v(" "),t("tr",[t("td",[_._v("8")]),_._v(" "),t("td",[_._v("4")]),_._v(" "),t("td",[_._v("float32_t")]),_._v(" "),t("td",[_._v("BodyVelocity_Z")]),_._v(" "),t("td",[_._v("m/s")]),_._v(" "),t("td",[_._v("机体系Z轴速度")])]),_._v(" "),t("tr",[t("td",[_._v("12")]),_._v(" "),t("td",[_._v("4")]),_._v(" "),t("td",[_._v("float32_t")]),_._v(" "),t("td",[_._v("BodyAcceleration_X")]),_._v(" "),t("td",[_._v("m/s2")]),_._v(" "),t("td",[_._v("滤波修正后的机体系X轴加速度(未分离重力加速度),等于MSG_IMU数据包里的Accelerometer_X减去卡尔曼滤波估计的X轴加速度零偏")])]),_._v(" "),t("tr",[t("td",[_._v("16")]),_._v(" "),t("td",[_._v("4")]),_._v(" "),t("td",[_._v("float32_t")]),_._v(" "),t("td",[_._v("BodyAcceleration_Y")]),_._v(" "),t("td",[_._v("m/s2")]),_._v(" "),t("td",[_._v("滤波修正后的机体系Y轴加速度(未分离重力加速度),等于MSG_IMU数据包里的Accelerometer_Y减去卡尔曼滤波估计的Y轴加速度零偏")])]),_._v(" "),t("tr",[t("td",[_._v("20")]),_._v(" "),t("td",[_._v("4")]),_._v(" "),t("td",[_._v("float32_t")]),_._v(" "),t("td",[_._v("BodyAcceleration_Z")]),_._v(" "),t("td",[_._v("m/s2")]),_._v(" "),t("td",[_._v("滤波修正后的机体系Z轴加速度(未分离重力加速度),等于MSG_IMU数据包里的Accelerometer_Z减去卡尔曼滤波估计的Z轴加速度零偏")])]),_._v(" "),t("tr",[t("td",[_._v("24")]),_._v(" "),t("td",[_._v("4")]),_._v(" "),t("td",[_._v("float32_t")]),_._v(" "),t("td",[_._v("Location_North")]),_._v(" "),t("td",[_._v("m")]),_._v(" "),t("td",[_._v("上电为0,从坐标原点(第一个gnss定位有效点)到当前向北方向的距离")])]),_._v(" "),t("tr",[t("td",[_._v("28")]),_._v(" "),t("td",[_._v("4")]),_._v(" "),t("td",[_._v("float32_t")]),_._v(" "),t("td",[_._v("Location_East")]),_._v(" "),t("td",[_._v("m")]),_._v(" "),t("td",[_._v("上电为0,从坐标原点(第一个gnss定位有效点)到当前向东方向的距离")])]),_._v(" "),t("tr",[t("td",[_._v("32")]),_._v(" "),t("td",[_._v("4")]),_._v(" "),t("td",[_._v("float32_t")]),_._v(" "),t("td",[_._v("Location_Down")]),_._v(" "),t("td",[_._v("m")]),_._v(" "),t("td",[_._v("上电为0,从坐标原点(第一个gnss定位有效点)到当前向地方向的距离")])]),_._v(" "),t("tr",[t("td",[_._v("36")]),_._v(" "),t("td",[_._v("4")]),_._v(" "),t("td",[_._v("float32_t")]),_._v(" "),t("td",[_._v("Velocity_North")]),_._v(" "),t("td",[_._v("m/s")]),_._v(" "),t("td",[_._v("滤波修正的NED系北向速度")])]),_._v(" "),t("tr",[t("td",[_._v("40")]),_._v(" "),t("td",[_._v("4")]),_._v(" "),t("td",[_._v("float32_t")]),_._v(" "),t("td",[_._v("Velocity_East")]),_._v(" "),t("td",[_._v("m/s")]),_._v(" "),t("td",[_._v("滤波修正的NED系东向速度")])]),_._v(" "),t("tr",[t("td",[_._v("44")]),_._v(" "),t("td",[_._v("4")]),_._v(" "),t("td",[_._v("float32_t")]),_._v(" "),t("td",[_._v("Velocity_Down")]),_._v(" "),t("td",[_._v("m/s")]),_._v(" "),t("td",[_._v("滤波修正的NED系地向速度")])]),_._v(" "),t("tr",[t("td",[_._v("48")]),_._v(" "),t("td",[_._v("4")]),_._v(" "),t("td",[_._v("float32_t")]),_._v(" "),t("td",[_._v("Acceleration_North")]),_._v(" "),t("td",[_._v("m/s")]),_._v(" "),t("td",[_._v("滤波修正的NED系北向加速度(分离重力加速度)")])]),_._v(" "),t("tr",[t("td",[_._v("52")]),_._v(" "),t("td",[_._v("4")]),_._v(" "),t("td",[_._v("float32_t")]),_._v(" "),t("td",[_._v("Acceleration_East")]),_._v(" "),t("td",[_._v("m/s2")]),_._v(" "),t("td",[_._v("滤波修正的NED系东向加速度(分离重力加速度)")])]),_._v(" "),t("tr",[t("td",[_._v("56")]),_._v(" "),t("td",[_._v("4")]),_._v(" "),t("td",[_._v("float32_t")]),_._v(" "),t("td",[_._v("Acceleration_Down")]),_._v(" "),t("td",[_._v("m/s2")]),_._v(" "),t("td",[_._v("滤波修正的NED系地向加速度(分离重力加速度)")])]),_._v(" "),t("tr",[t("td",[_._v("60")]),_._v(" "),t("td",[_._v("4")]),_._v(" "),t("td",[_._v("float32_t")]),_._v(" "),t("td",[_._v("Pressure_Altitude")]),_._v(" "),t("td",[_._v("m")]),_._v(" "),t("td",[_._v("独立卡尔曼滤波估计的气压高度")])]),_._v(" "),t("tr",[t("td",[_._v("64")]),_._v(" "),t("td",[_._v("8")]),_._v(" "),t("td",[_._v("int64_t")]),_._v(" "),t("td",[_._v("Timestamp")]),_._v(" "),t("td",[_._v("us")]),_._v(" "),t("td",[_._v("数据的时间戳,从上电开始启动的微妙数。 时钟源为MCU外部晶振。")])])])])])}),[],!1,null,null,null);t.default=o.exports}}]);