GI530
High Precision FOG Integrated Navigation System
Protocol
After the system is powered on, the normal operating time is 20Hz frequency, RS422 communication 115200bps,
n, 8, 1 broadcast broadcast navigation data, 48 bytes per frame data as shown in the following table:
Navigaon data
Byte number Content Data type Byte count
1-2 Frameheader: 0X5A0X A5 Byte 2
3
Workingstatus:0- Monitoring
status,1-Stacalignment,2-INS
navigaon
Byte 1
4-5 Ineralpitchangle([-90,90]
degrees) in units of 0.01 degrees
Short int (low byte first,high byte
last)
2
6-7
Ineralguiderollangle
([-180,180]degrees), unit 0.01
degree
2
8-9
Ineralazimuth([-180,180]
degrees),northto eastis -, north
to west is +, unitis 0.01degrees
2
10-11
neralX-axisangularvelocity
Wx(degree/s) in units of 0.01
deg/s
2
12-13
neral Y-axis angular velocity
Wy(degree/s) in units of 0.01
deg/s
2
14-15
neral Z-axis angular velocity
Wx(degree/s) in units of 0.01
deg/s
2
16-17 Ineral X-axis acceleraon Ax(m/
s / s), unit0.01m / s/ s 2
18-19 Ineral Y-axisacceleraonAy (m /
s / s), unit 0.01m / s/ s 2
20-21 Ineral Z-axis acceleraon Az (m /
s / s), unit0.01m / s/ s 2
22-23 Speed aer GPS satellite
posioning, unit 0.1 m / sec 2
24-25
GPS trackangle([-180,180]
degrees), north to the east is -,
north to west is +, the unit is 0.1
degrees
2
26-27 GPS satellite number 2
28-29 GPS altude, unit 0.1 m 2
30-33 Latude aer GPS satellite
posioning, unit degree
Float(low byte first, high byte
aer), value range [-90,90]
degrees, the north latude is +
and the south latude is -.
4
34-37 Longitude aer GPS satellite
posioning, unit degree
Float (low byte first, high byte
aer), value range[-180,180]
degrees, east longitude is +,west
4
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