$VBOmega$

7

Header

g

1

GPS sats

Number of GPS satellites used

l

1

GLONASS sats

Number of GLONASS satellites used

b

1

BeiDou or Galileo sats

Number of BeiDou or Galileo satellites used dependent on the GNSS settings selected

ttt

3 (MSB first)

Time

Ticks since midnight UTC, incrementing every 10 ms

aaaa

4 (MSB first)

Latitude

Signed integers, 0.0000001° per bit

oooo

4 (MSB first)

Longitude

Signed integers, 0.0000001° per bit

vvv

3 (MSB first)

Velocity

0.001 km/h per bit

hh

2 (MSB first)

Heading

0.01° per bit

AAA

3 (MSB first)

Altitude

0.01 m per bit

VVV

3 (MSB first)

Vertical velocity

0.001 m/s per bit

s

1

Solution Type

pp

2 (MSB first)

Pitch angle derived from KF

0.01° per bit

rr

2 (MSB first)

Roll angle derived from KF

0.01° per bit

SS

2 (MSB first)

Slip angle derived from KF

0.01° per bit

HH

2 (MSB first)

Heading derived from KF

0.01° per bit

PP

2 (MSB first)

Pitch rate derived from internal/external IMU

0.01°/sec per bit

RR

2 (MSB first)

Roll rate derived from internal/external IMU

0.01°/sec per bit

yy

2 (MSB first)

Yaw rate derived from internal/external IMU

0.01°/sec per bit

xx

2 (MSB first)

X accel from internal/external IMU

0.01 m/s² per bit

YY

2 (MSB first)

Y accel from internal/external IMU

0.01 m/s² per bit

zz

2 (MSB first)

Z accel from internal/external IMU

0.01 m/s² per bit

dd

2 (MSB first)

Date

DOS format

TTT

3 (MSB first)

Trigger event time *Not supported by VBOX Omega

0.000001 ms per bit

kk

2 (MSB first)

Kalman Filter Status

q

1

Position Quality

QQ

2 (MSB first)

Speed Quality

0.001 m/s per bit

T1T1

2 (MSB first)

T1

0.0000001 ms per bit

www

3 (MSB first)

Wheel speed 1

0.001 m/s per bit

WWW

3 (MSB first)

Wheel speed 2

0.001 m/s per bit

ii

2 (MSB first)

Heading_IMU2 derived from KF

0.01° per bit

cc

2 (MSB first)

Checksum

See CRC Calculation example below