POSAV V5 Ethernet Disk Logging ICD Rev18

POS AV V4/ V5 Ethernet & Disk Logging ICD (External
Release)
Document # PUBS-ICD-000002
Revision: 18.0
Date: Nov 14,2011
THE INFORMATION CONTAINED HEREIN IS PROPRIETARY TO APPLANIX CORPORATION. RELEASE TO THIRD PARTIES OF THIS PUBLICATION OR OF INFORMATION
CONTAINED HEREIN IS PROHIBITED WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION. APPLANIX RESERVES THE RIGHT TO CHANGE THE
SPECIFICATIONS AND INFORMATION IN THIS DOCUMENT WITHOUT NOTICE. A RECORD OF THE CHANGES MADE TO THIS DOCUMENT IS CONTAINED IN THE
REVISION HISTORY SHEET.
COPYRIGHT APPLANIX CORPORATION, 2011
ALL RIGHTS RESERVED. NO PART OF THIS PUBLICATION MAY BE REPRODUCED, STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY
MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION.
POS AV V4/ V5 Ethernet & Disk Logging ICD (External Release) Document # PUBS-ICD-000002 Rev 18
.
Table of Contents
1. SCOPE ............................................................................................................................................... 1
2. GLOSSARY OF ACRONYMS .......................................................................................................... 1
3. ETHERNET & DISK LOGGING INTERFACES ........................................................................... 2
4. GROUP OUTPUTS ........................................................................................................................... 3

4.1. Introduction ..................................................................................................................................... 3
4.2. Output Group Data Rates ................................................................................................................ 3
4.3. Output Group Formats .................................................................................................................... 5
5. MESSAGE I/O ................................................................................................................................. 61
5.1. Introduction ................................................................................................................................... 61
5.2. Output Message Data Rates .......................................................................................................... 62
5.3. I/O Message Formats .................................................................................................................... 65
i
ALL RIGHTS RESERVED. NO PART OF THIS PUBLICATION MAY BE REPRODUCED, STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM
OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX CORPORATION.
.
1. Scope
This document presents the functional specification of the Ethernet & Disk Logging interfaces and data
structures used by the POS Computer System (PCS) to communicate. The document is separated into
output data groups and input and output control messages. Each of groups and messages is defined below.
2. Glossary of Acronyms
accel accelerometer
AGC automatic gain control
alt altitude
AutoConfig auto configure
Aux auxiliary
D/A Digital-to-Analog
d/B decibels
DCM direction cosine matrix
deg degrees
deg/s degrees/second
C/A course acquisition
char character
COM1 communications port 1
COM2 communications port 2
D down
DGPS differential global positioning system
DMI distance measurement indicator
double double precision floating point
DSP digital signal processor
E East
FDIR Fault Detection, Isolation, and Reconfiguration
float floating-point precision
GAMS GPS Azimuth Measurement Subsystem
GPS Global Positioning System
H/W hardware
HDOP Horizontal Dilution of Precision
Hz Hertz
I/O input and output
ICD interface control document
IMU Inertial Measurement Unit
IP Internet Protocol
KF Kalman filter
lat latitude
long longitude
LSB least significant bit
m metres
m/s metres/second
m/s2 metres/second/second
ms millisecond
MSB most significant bit
N North
N/A not applicable
NOP No Operation
NVM non-volatile Memory
PCS POS Computer System
POSProc Post-processing software package
1
.
POS/AV Position and Orientation System for Airborne Vehicles

PPS Pulse per Second
Pri primary
PRN Pseudo Random Noise
RAM random access memory
RF radio frequency
RMS root-mean-square
ROM read only memory
RTK real-time kinematic
rxd received
S/D Strapdown
SCSI Small Computer Systems Interface
sec second
SV space vehicle (GPS satellites)
TCP Transmission Control Protocol
UDP User Datagram Protocol
ulong unsigned long
ushort unsigned short
UTC Universal Time Coordinated
VDOP Vertical Dilution of Precision
wrt with respect to
3. Ethernet & Disk Logging Interfaces

POS provides one physical Ethernet interface that has four logical communications ports called the Display
port, the Control port, Primary Data port and Secondary Data port
In case that POS is configured to run with Flight Management System (POSTrack) two additional logical
ports are added FMS Control Port and FMS Data Port.
POS also provides one Disk Logging interface for logging POS data to a PC Card device called the
Logging port.
POS outputs data in specified group formats defined in the body of this document. Messages are used to
both change and describe the system configuration. Both message and group data are output on four ports:
Display, Primary Data, Secondary Data Port and Logging. Messages are input on the Control port.
The Display port is a low rate UDP output port that is designed to broadcast low rate data and status
information for display. A Windows program, called the POS Controller, is provided with POS to run on
the users computer, client, to both control the system and allow the user to view POS data. The POS
Controller reads the message and group data from this port for display. POS is designed to allow multiple
controllers on different computers to receive display data from the PCS; however, only one Controller at
any time shall be designated as the master and be capable of sending commands to the PCS via the Control
port. This arrangement prevents conflicting Controller information from being received by the PCS.
The port address for the Display port is 5600. The subnet mask is 255.255.255.255.
The Primary Data port is a real-time TCP output port that are designed to broadcast attitude and position,
S/D Nav and Kalman filter data. Because this data is broadcast via TCP, it can be received by only one
computer. The POS Controller can log this data to disk, however care must be taken to ensure the POS
loading is low enough not to cause data gaps.
The Secondary Data port is a buffered TCP output port that are designed to logging data to the disk.
The port addresses for the Primary and Secondary Data ports are 5602 and 5603 respectively. The IP
subnet mask is 255.255.255.255.
2
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The Logging port logs data to a PC Card device. This file is intended for use in post-processing only. The
data is not output in real-time, but in large buffers written to the device once every 30 seconds.
The user is able to select, from several different options, the data required for output. Each port is
configurable to output different data than the other ports. The user is able to change the output options of
the Display, Primary Data, Secondary Data and Logging ports at any time.
The Control port is designed to receive set-up and control commands from the POS Controller and to
acknowledge the commands to indicate successful reception of the message. The Control port is bi-
directional and uses the TCP protocol to communicate with the POS Controller.
The port address for the Control port is 5601. The IP subnet mask is 255.255.255.255.
In case of POSTrack the FMS Data Port is real time TCP port designated to provide selected groups to
FMS computer, the FMS Control Port is TCP control port used by FMS computer to send messages to
POS.
Regarding functionality there is no differences between FMS Data Port and Real Time Port, as well
between Control Port and FMS Control Port.
The port address for FMS Control Port is 5605. IP subnet mask is 255.255.255.255.
The port address for FMS Data Port is 5604. IP subnet mask is 255.255.255.255.
4. Group Outputs
4.1. Introduction
The output groups have been designed to allow extraction software to easily decode the data in each group.
All groups are framed by ASCII delimiters and have identifiers that uniquely identify each group.
The following tables list the Display, Primary Data, Secondary Data and Logging port output groups
available from the POS system. The output parameters are divided into groups that can be selected for
output on the ports. It is not possible to mix and match individual output parameters, but one can choose as
many output groups as required.
The output data rate on the Display port is typically 1 Hz or less. Since this output is strictly for display
update, a higher data output rate is not required. The output data rate on the Primary Data, Secondary Data
and Logging ports is 1-200 Hz group dependent. It is possible to select, from several options, the output
data rate of choice on the Data and Logging ports.
4.2. Output Group Data Rates

There are several output groups defined for the Display, Primary Data, Secondary Data and Logging ports.
The user can select any of these groups and may select different groups for the Display, Data and Logging
ports.
3
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Table 1: Output Group Data Rates

Group Contents Display Port Output Pri/Sec Data Port Logging Port Output
Rate (Hz) Output Rates (Hz) Rate (Hz)
Stby Nav Diag Stby Nav Diag Stby Nav Diag
1 Aircraft position, velocity, attitude, track, - 1* 1* - 1-200 1-200 - 1-200 1-200
speed & dynamics
2 Aircraft position, velocity & attitude - 1* 1* - 1 1 - 1 1
performance metrics
3 Primary GPS 1* 1* 1* 1 1 1 1 1 1
4 POS IMU data 1 1 1 200 200 200 200 200 200
5 Event 1 data 1 1 1 1-200 1-200 1-200 1-200 1-200 1-200
6 Event 2 data 1 1 1 1-200 1-200 1-200 1-200 1-200 1-200
7 PPS data 1 1 1 1-200 1-200 1-200 1-200 1-200 1-200
8 Logging Information 1 1 1 1 1 1 1 1 1
99 Version & statistics 1 1 1 1 0.2 0.2 0.2 0.2 0.2 0.2
101 General Status & FDIR 1* 1* 1* 1 1 1 1 1 1

102 Reference frame position, velocity, - 1 - - 1-200 - - 1-200 -
attitude, heave & dynamics
104 Reference frame position, velocity & - 1 - - 1 - - 1 -
attitude performance metrics
106 Secondary GPS 1 1 1 1 1 1 1 1 1
107 Auxiliary GPS 1 1 1 1 1 1 1 1 1
108 Versions & statistics 2 1 1 1 1 1 1 1 1 1
109 GAMS solution status - 1 - - 1 - - 1 -
110 Display Raw Auxiliary GPS 1 1 1 1 1 1 1 1 1
200 Gimbal Encoder Data 1 1 - 1-200 1-200 - 1-200 1-200 -

201 Target Reference Position Data - 1 - 1-200 1-200 - 1-200 1-200 -
202 Laser Range Finder Data 1 1 - 1-200 1-200 - 1-200 1-200 -
203 Platform Yaw Drift Correction 1 1 - 1-200 1-200 - 1-200 1-200 -
204 User Time Status 1 1 1 1 1 1 1 1 1
205 Pure GPS Position/Velocity Group - - - 1 1 1 1 1 1
206 Event1Sensor Navigation Group - - - - 1-50 1-50 - 1-50 1-50
207 Event2 Sensor Navigation Group - - - - 1-50 1-50 - 1-50 1-50
208 Photo ID1 Group - - - - 1-200 1-200 1-200 1-200 1-200
209 Photo ID2 Group - - - - 1-200 1-200 1-200 1-200 1-200
210 Event 1 Real Time POSEO - - - - 1-50 1-50 1-50 1-50 1-50
211 Event 2 Real Time POSEO - - - - 1-50 1-50 1-50 1-50 1-50
212 LiDAR Vertical Range and Swats 1 1 1 1 1 1 1 1 1
213 Dark Image Collection Group - - - 0-10 0-10 0-10 0-10 0-10 0-10
214 Generic Lidar Logging Control - - - 0-10 0-10 0-10 0-10 0-10 0-10
10001 Raw Primary GPS - - - 1-10 1-10 1-10 1-10 1-10 1-10
10002 Raw IMU - - - 200 200 200 200 200 200
10003 Raw PPS - - - 1 1 1 1 1 1
10004 Raw Event 1 - - - 1-200 1-200 1-200 1-200 1-200 1-200
10005 Raw Event 2 - - - 1-200 1-200 1-200 1-200 1-200 1-200
10101 Raw Secondary GPS - - - 1-10 1-10 1-10 1-10 1-10 1-10
10102 Raw Auxiliary GPS - - - 1 1 1 1 1 1
4
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Group Contents Display Port Output Pri/Sec Data Port Logging Port Output
Rate (Hz) Output Rates (Hz) Rate (Hz)
Stby Nav Diag Stby Nav Diag Stby Nav Diag
10200 Raw Gimbal Encoder Data - - - 1-200 1-200 - 1-200 1-200 -
10202 Raw Lidar Data - - - - - - 1-200 1-200 1-200
20101 Navigation Kalman filter set A - 1 - - 1 - - 1 -

20102 Navigation Kalman filter set B - 1 - - 1 - - 1 -
20103 GAMS Kalman filter set A - 1 - - 1 - - 1 -
20104 GAMS Kalman filter set B - 1 - - 1 - - 1 -
20105 Processor status 1 1 1 1 1 1 1 1 1
20106 IIN CSC status 1 1 1 1 1 1 1 1 1
20107 Update CSC status 1 1 1 1 1 1 1 1 1
20108 Prefilter CSC status 1 1 1 1 1 1 1 1 1
20109 Extrapolate CSC status 1 1 1 1 1 1 1 1 1
20110 Discretes CSC status 1 1 1 1 1 1 1 1 1
20111 IMU CSC status 1 1 1 1 1 1 1 1 1
20112 Primary GPS CSC status 1 1 1 1 1 1 1 1 1
20113 Secondary GPS CSC status 1 1 1 1 1 1 1 1 1
20114 NMEA CSC status 1 1 1 1 1 1 1 1 1
20115 Output Manager CSC status 1 1 1 1 1 1 1 1 1
20116 Input Manager CSC status 1 1 1 1 1 1 1 1 1
20117 GAMS CSC status 1 1 1 1 1 1 1 1 1
20118 Status CSC status 1 1 1 1 1 1 1 1 1
20119 Real-time Output CSC status 1 1 1 1 1 1 1 1 1
20120 Logging CSC status 1 1 1 1 1 1 1 1 1
20121 Analog Output (DAC) CSC status 1 1 1 1 1 1 1 1 1
20122 Aux GPS CSC status 1 1 1 1 1 1 1 1 1
20123 Aux2 GPS CSC status 1 1 1 1 1 1 1 1 1
20125 Secondary Data Port CSC Status 1 1 1 1 1 1 1 1 1
20126 Display Port CSC Status 1 1 1 1 1 1 1 1 1
20200 Gimbal Encoder CSC Status 1 1 1 1 1 1 1 1 1

20201 Laser Range Finder CSC Status 1 1 1 1 1 1 1 1 1
20202 Lidar CSC Status 1 1 1 1 1 1 1 1 1
* Groups are always output on Display port
4.3. Output Group Formats

4.3.1. Introduction
The structure of each output group is defined in this section. The group structure is the same for all groups
and consists of a header, data and footer.
The header consists of an ASCII group start ($GRP), Group ID, byte count, Time 1, Time, distance tag and
time and distance type flags.
The byte count is a short unsigned integer that includes all fields in the group except the Group start ASCII
delimiter, the Group ID and the byte count. Therefore, the byte count will always be 8 bytes less than the
length of the group.
Time 1 can be the time since power-on (POS time) or GPS/UTC seconds of the week, once the primary
GPS receiver has locked on to satellites, valid for the data in the group. The user can select either GPS or
5
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UTC time for Time 1.
Time 2 can be POS time (default), GPS or UTC seconds of the week, or user time of the data in the group.
User time allows the groups to be time tagged with an external computers time clock. All raw data (10000)
and diagnostics (20000) groups set Time 2 to POS time.
Distance tag is either the POS distance travelled as computed by the navigator or the DMI (distance
measurement index) distance tag from the sensor valid for the data in the group.
Following the header is the group data.
The group is terminated by the footer which consists of a pad (if required), checksum, and ASCII group
end delimiter ($#).
The pad is used to make all groups a multiple of four bytes in length.
The checksum is calculated so that adding all fields in the group using short (16 bit) integers results in a net
sum of zero.
The byte, short, ushort, long, ulong, float, and double formats are defined in Appendix A.
4.3.2. Invalid Data Values

Since there are several fields in each message, it is possible that one or more fields will be invalid when the
message is output. The following values should be interpreted as invalid if they are output in any message:
Table 2: Invalid Data Values

Data Type Value
Byte 255 (=28) - 1
Short 32767 (=215) - 1
Ushort 65535 (=216) - 1
Long 2147483647 (=231) - 1
Ulong 4294967295 (=232) - 1
Float >1020
Double >1020
Note: The validity rule only applies to fields that are not comprised of bit subfields.
4.3.3. Output Group Tables

The following tables list the format that POS uses to output data groups. Item field inside group marked
with * are not available in POS010 or GPS Only mode.
4.3.3.1. Group 1: Aircraft Position, Velocity, Attitude, Track, Speed &

Dynamics
This group contains position, velocity, attitude, track, speed and dynamics data for the aircraft. The data in
this group is valid at the centre of the reference frame.
Table 3: Group 1: Aircraft Position, Velocity, Attitude, Track, Speed & Dynamics
Item Bytes Format Value Units
Group start 4 char $GRP N/A
Group ID 2 ushort 1 N/A
Byte count 2 ushort 132 bytes
6
.

Time 1 8 double N/A sec
Distance tag 8 double N/A m
Time types 1 byte Value: bits 0-3
Time 1: POS time 0
Time 1: GPS time 1
Time 1: UTC time 2 (default)
Value: bits 4-7

Time 2: POS time 0 (default)
Time 2: GPS time 1
Time 2: UTC time 2
Time 2: User time 3
Distance type 1 byte Distance select Value
N/A 0
POS distance 1 (default)
DMI distance 2
Latitude 8 double -90 < to 90 deg
Longitude 8 double -180 < to 180 deg
Altitude 8 double N/A m
N velocity 4 float N/A m/s
E velocity 4 float N/A m/s
D velocity 4 float N/A m/s
Aircraft roll* 8 double -180 < to 180 deg
Aircraft pitch* 8 double -90 < to 90 deg
Aircraft heading* 8 double 0 to < 360 deg
Aircraft wander 8 double -180 < to 180 deg
angle
Aircraft track 4 float 0 to < 360 deg
angle
Aircraft speed 4 float 0 m/s
Aircraft angular 4 float N/A deg/s
rate about
longitudinal axis*
rate about
transverse axis*
rate about down
axis*
Aircraft 4 float N/A m/s2
longitudinal
acceleration*
Aircraft 4 float N/A m/s2
transverse
acceleration*
Aircraft down 4 float N/A m/s2
acceleration*
7
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Solution Status* 1 byte 0 Full Nav. (user accuracies met) N/A
1 Fine align (heading RMS < 15 deg)
2 GC CHI 2 (alignment w GPS, RMS heading
error > 15 deg)
3 PC CHI 2 (alignment w/o GPS, RMS
heading error > 15 deg)
error > 45 deg)
6 coarse leveling active
7 initial solution assigned
8 no solution
Pad 1 byte 0 N/A
Checksum 2 ushort N/A N/A
Group end 2 char $# N/A
4.3.3.2. Group 2: Aircraft Position, Velocity, and Attitude Performance

Metrics
This group contains aircraft position, velocity and attitude performance metrics..
All data in this group are RMS values.
Table 4: Group 2: Aircraft Position, Velocity, and Attitude Performance Metrics

8
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Time 1: POS time 0
Time 1: GPS time 1
Value: bits 4-7

Time 2: GPS time 1
Time 2: UTC time 2
Time 2: User time 3
N/A 0
DMI distance 2
N position RMS 4 float 0 m
E position RMS 4 float 0 m
D position RMS 4 float 0 m
N velocity RMS 4 float 0 m/s
error
E velocity RMS 4 float 0 m/s
error
D velocity RMS 4 float 0 m/s
error
Roll RMS error* 4 float 0 deg
Pitch RMS error* 4 float 0 deg
Heading RMS 4 float 0 deg
error*
Pad 2 byte 0 N/A
4.3.3.3. Group 3: Primary GPS

This group contains data from the primary GPS receiver. The group is variable in length because it is
dependent upon the number of channels available in the receiver and the number of satellites tracked. The
centre section of this group (that bounded by the double lines) grows with increasing number of satellites
tracked.
Table 5: Group 3: Primary GPS

Byte count 2 ushort 76 + 20 x #SVs bytes
9
.

Time 1: POS time 0
Time 1: GPS time 1
Value: bits 4-7

Time 2: GPS time 1
Time 2: UTC time 2
Time 2: User time 3
N/A 0
DMI distance 2
Mode 1 byte Value Mode N/A
0 No data from Receiver
1 2-D C/A mode
2 3-D C/A mode
3 2-D DGPS mode
4 3-D DGPS mode
5 float RTK
6 integer wide lane RTK
7 integer narrow lane RTK
Number of SV 1 byte 0-64 N/A
Tracked
Variable section 2 ushort N/A bytes
byte count
SV PRN number 2 ushort 1 - 64 N/A

SV Status 2 ushort Value Status N/A
0 Idle
1 Sky searching
2 Wide band
3 Narrow band
4 Phase lock loop achieved
5 Reacquisition
6 L1 Steering
7 L1 frequency-lock loop
8 L2 Idle
9 L2 P-code alignment
10 L2 Search
11 L2 Phase-lock loop
SV Azimuth 4 float 0 to < 360 deg
(w.r.t. true
North)
SV Elevation 4 float 0 to 90.0 deg
(w.r.t. horizon)
10
.

SV L1 4 float N/A dB
Signal/Noise
Ratio
Signal/Noise
Ratio
Next PRN - - - -

HDOP 4 float N/A N/A

VDOP 4 float N/A N/A
DGPS 4 float 0 99.9 sec
Correction
Latency
DGPS Reference 2 ushort ID of reference station N/A
Station ID (0 1023)
GPS/UTC week 4 ulong 0 if not available week #

number
GPS time offset 8 double N/A Sec
(GPS time UTC
time)
GPS Nav 4 float Number of seconds from the PPS pulse to Sec
message latency the start of the GPS Nav data output
Geoidal 4 float N/A M
Separation
GPS Receiver 1 byte Value Receiver Type N/A
Type 0 no receiver
1 NovAtel GPS
2 NovAtel Millennium
3 Tasman
4 4000SSE
5 Ashtech Z-12
6 Ashtech G-12
7 7400Msi
8 Trimble BD112
9 Trimble BD750
10 Novatel OEM4
11 Gram
12 Trimble BD132
13 Trimble BD950
14 Novatel OEMV-3
15 Reserved
16 Trimble BD960
11
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GPS Status 4 ulong Primary GPS summary status fields
1. Novatel OEM2-3151 (RCSB message bytes 97 to
100). Bits are defined in Table 6.
2. Novatel OEM3-Millenium (RCSB message bytes
97 to 100). Bits are defined in Table 7
3. Novatel OEM4 (RXSTATUS message bytes 36 to
39), Bits are defined in Table 8.
4. Novatel OEMV-3 status Bits are defined in Table 9
5. Trimble BD112 status Bits are defined in Table 10.
6. Trimble BD750/BD950 status Bits are defined in
Table 11
7. Trimble BD960 Status set to 0
Pad 3 byte 0 N/A
Table 6: NovAtel OEM2-3151 GPS Status

Item Bytes Format Failure
NovAtel GPS 4 ulong GPS antenna good bit 0: set
Status RF good bit 1: set
Summary RAM good bit 2: set
ROM good bit 3: set
DSP good bit 4: set
AGC good bit 5: set
COM1 good bit 6: set
GPS jammed bit 11: set
Buffer COM1 overload bit 12: set
CPU overload bit 15: set
Not used bits: 8-10,

16-31
12
.
Table 7: NovAtel OEM3-MiLLenium GPS receiver status

Status Summary 4 ulong GPS antenna good bit 0: set
L1 RF good bit 1: set
RAM good bit 2: set
ROM good bit 3: set
DSP good bit 4: set
L1 AGC good bit 5: set
L1 GPS frequency jammed bit 11: set
CPU overload bit 15: set
Almanac Saved in NVM bit 16: set
L2 AGC good bit 17: set
L2 GPS frequency jammed bit 18: set
L2 RF good bit 19: set
OCXOPLL good bit 20: set
Saved Almanac needs update bit 21: set
Almanac is invalid bit 22: set
Position solution is invalid bit 23: set
Position Fixed bit 24: set
Clock Model invalid bit 25: set
Clock Steering disabled bit 26: set
Not used bits: 8-10, 14,

Reserved bits: 27-31
13
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Table 8: Novatel OEM4 GPS Status

Novatel OEM4 4 ulong Error Occurred bit 0: set
GPS Status Temperature (warning) bit 1: set
Summary Voltage Supply Status (warning) bit 2: set
Antenna Not Powered bit 3: set
LNA Status Failed bit 4: set
Antenna Open bit 5: set
Antenna Shorted bit 6: set
CPU Overload bit 7: set
COM1 Buffer Overrun bit 8: set
RF1 Jammed bit 14: set
RF1 AGC Bad bit 15: set
RF2 Jammed bit 16: set
Almanac Invalid bit 18: set
Position Solution Invalid bit 19: set
Fixed Position bit 20: set
Clock Steering Disabled bit 21: set
Clock Model Invalid bit 22: set
Euro4 External Oscillator (PLL Locked) bit 23: set
AUX2 Status Event bit 30: set
Reserved bits 11-13,
24-29
14
.
Table 9: Novatel OEMV-3 GPS Status

Novatel OEMV- 4 ulong Error Occurred bit 0: set
3 GPS Status Temperature (warning) bit 1: set
Summary Voltage Supply Status (warning) bit 2: set
Antenna Not Powered bit 3: set
Antenna Open bit 5: set
Antenna Shorted bit 6: set
CPU Overload bit 7: set
Almanac Invalid bit 18: set
Position Solution Invalid bit 19: set
Fixed Position bit 20: set
Clock Steering Disabled bit 21: set
Clock Model Invalid bit 22: set
OEMV External Oscillator bit 23: set
Software Resource bit 24: set
AUX3 Status event bit 29: set
Reserved bit 4,11-14,
16,25-26
15
.
Table 10: Trimble BD112 GPS receiver status

Status Code 1 byte Description Value
(Report Packet
0x46, byte 0) Doing position fixes 0
Do not have GPS time yet 1
PDOP is too high 3
No usable satellites 8
Only 1 usable satellite 9
Only 2 usable satellites 10
Only 3 usable satellites 11
The chosen satellite is unusable 12
Error Flag 1 byte Battery-backed memory failed bit 0: set

(Report Packet Antenna feed line fault bit 4: set
0x46, byte 1) Excessive reference frequency errors bit 5: set
Reserved bits: 1-3, 6-7

Status Flags 1 1 byte Battery powered time clock fault bit 1: set
(Report Packet A-to-D converter fault bit 2: set
0x4B, byte 1 Almanac invalid (not complete/current) bit 3: set
Receiver reset status acknowledged bit 4: set
Reserved bits: 0, 5-7

Status Flags 2 1 byte Output of TSIP superpackets supported bit 0: set
(Report Packet
0x4B, byte 2) Reserved bits: 1-7
Table 11: Trimble BD750/BD950 GPS receiver status

Status of 4 chars Description Value
Receiver
(Report Packet SETT Setting time
0x9, bytes 19-22) GETD Updating Health
CAL1 Calibrating
MEAS Static Survey
KINE Kinematic Survey
16
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4.3.3.4. Group 4: POS IMU

This group consists of the standard format IMU data used by POSProc, Applanix post-processing software
package.
Table 12: Group 4: POS IMU

Time 1: POS time 0
Time 1: GPS time 1
Value: bits 4-7

Time 2: GPS time 1
Time 2: UTC time 2
Time 2: User time 3
N/A 0
DMI distance 2
IMU Data* 24 long N/A bits
Data Status 1 byte Bit (set) Status
0 1 bad raw IMU frame
1 2 bad raw IMU frames
2 3 bad raw IMU frames
7 Pos010 status bit
17
.

IMU Type 1 byte Value IMU
0 no IMU
1 Type 1
2 Type 2
3 Type 3
4 Type 4
5 Type 5
6 Type 6
7 Type 7
8 Type 8
9 Type 9
10 Type 10
11 Type 11
12 Type 12
13 Type 13
14 Type 14
15 Type 15
16 Type 16
17 Type 17
18 Type 18
19 Type 19
20 Type 20
21 Type 21
22 Type 22
23 Type 23
24 Type 24
25 Type 25
26 Type 26
27 Type 27
28 Type 28
29 Type 29
30 Type 30
31 Type 31
POS IMU Data Rate 1 byte Value Data Rate (Hz) N/A
(Data rate of this group 0 50
may be different than IMU 1 100
data rate) 2 200
3 400
(future use)
4 125
5 500
6 250
7 300
8 180
IMU Status 2 ushort IMU summary status word
Pad 1 byte 0 N/A

18
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4.3.3.5. Group 5: Event 1

The time and distance fields in this group indicate the time and distance of Event 1. This message can be
used by a client to attach GPS/UTC time to external events.
Table 13: Group 5: Event 1

Time 1: POS time 0
Time 1: GPS time 1
Value: bits 4-7

Time 2: GPS time 1
Time 2: UTC time 2
Time 2: User time 3
N/A 0
DMI distance 2
Event pulse # 4 ulong N/A N/A
Pad 2 byte 0 N/A
4.3.3.6. Group 6: Event 2

The time and distance fields in this group indicate the time and distance of Event 2. This message can be
used by a client to attach GPS/UTC time to external events.
Table 14: Group 6: Event 2

19
.

Time 1: POS time 0
Time 1: GPS time 1
Value: bits 4-7

Time 2: GPS time 1
Time 2: UTC time 2
Time 2: User time 3
N/A 0
DMI distance 2
Pad 2 byte 0 N/A
4.3.3.7. Group 7: PPS Data

This group contains the times of the last 1 PPS signal, plus the pulse number. This message is used for
time-recovery purposes.
Table 15: Group 7: PPS Data

Group Start 4 char $GRP N/A
Byte Count 2 ushort 36 bytes
Time 1: POS time 0
Time 1: GPS time 1
Value: bits 4-7

Time 2: GPS time 1
Time 2: UTC time 2
Time 2: User time 3
N/A 0
DMI distance 2
PPS pulse # 4 ulong N/A N/A
Pad 2 byte 0 N/A
20
.

Group End 2 char $# N/A
4.3.3.8. Group 8: Logging Information

This group is used to feedback information on the logging progress. This information allows the user to
determine the amount of disk space and time used and remaining.
Table 16: Group 8: Logging Information

Byte Count 2 ushort 48 N/A
Time 1: POS time 0
Time 1: GPS time 1
Value: bits 4-7

N/A 0
DMI distance 2
Removable Disk 4 ulong N/A Kbytes
Kbytes Remaining
Kbytes Logged
Removable Disk 4 float N/A Seconds
Logging Time
Remaining
Kbytes Total
Pad 2 byte 0 N/A
4.3.3.9. Group 99: Versions and Statistics 1

This group provides feedback of the current statistics and software and hardware version numbers of the
system. This group contains operational statistics such as total hours of operation, number of runs, average
run length, and longest run. This group is mandatory for post-processing.
Table 17: Group 99: Versions and statistics 1

21
.

Time 1: POS time 0
Time 1: GPS time 1
Value: bits 4-7

Time 2: GPS time 1
Time 2: UTC time 2
Time 2: User time 3
N/A 0
DMI distance 2
System version 120 char Product Model, Version, N/A
Serial Number,
Hardware version,
Software release version Date,
ICD release version,
Operating system version,
IMU type,
Primary GPS type,
Secondary GPS type,
[,Option mnemonicexpiry time]
[,Option mnemonicexpiry time]
Primary GPS version 80 char Model number N/A

Serial number
Hardware configuration version
Software release version
Release date
Secondary GPS 80 char Model number N/A
version Serial number
Hardware configuration version
Software release version
Release date
Total hours 4 float 0.1 hour resolution hours
Number of runs 4 ulong N/A N/A
Average length of run 4 float 0.1 hour resolution hours
Longest run 4 float 0.1 hour resolution hours
Current run 4 float 0.1 hour resolution hours
Pad 0 short 0 N/A
4.3.3.10. Group 101: General Status & FDIR

This group is used to output general and Fault Detection, Isolation and Reconfiguration (FDIR) status
22
.
information. Sensor hardware status output in this group is decoded by the POS Controller. FDIR Level 1,
similar to a built-in test, reports problems in communications between the sensors and the PCS. FDIR
Level 2, the direct reasonableness test, compares the sensor data against reasonable magnitude limits for
marine aircrafts. FDIR Level 3, the direct comparison test, compares IMU data against aiding sensor data
and identifies unreasonable differences when they occur. FDIR Level 4, the residual test, monitors the
measurement residuals from the Kalman filter and rejects measurements that fall outside a specified 95%
confidence level. Consistent measurement rejection indicates a potential IMU or aiding sensor failure.
FDIR Level 5, the indirect reasonableness test, monitors the estimates of accelerometer and gyro biases.
Soft sensor failures appear as slow increases in these errors. If a threshold is exceeded, a sensor failure is
flagged.
Table 18: Group 101: General Status & FDIR

Time 1: POS time 0
Time 1: GPS time 1
Value: bits 4-7

Time 2: GPS time 1
Time 2: UTC time 2
Time 2: User time 3
N/A 0
DMI distance 2
23
.

General Status 4 ulong Coarse levelling active bit 0: set
A Coarse levelling failed bit 1: set
Quadrant resolved bit 2: set

Fine align active bit 3: set
S/D Navigator initialised bit 4: set
Navigator alignment active bit 5: set
Degraded navigation solution bit 6: set
Full navigation solution bit 7: set
Initial position valid bit 8: set
GPS only mode bit9: set
Free Inertial Mode bit10:set
Logging port file write error bit 12: set

Logging port file open bit 13: set
Logging port logging enabled bit 14: set
Logging port device full bit 15: set
RAM config NVM bit 16: set

NVM write successful bit 17: set
NVM write fail bit 18: set
NVM read fail bit 19: set
Spare bits: 11,

20-31
24
.

General Status 4 ulong User attitude RMS performance bit 0: set
B User heading RMS performance bit 1: set
User position RMS performance bit 2: set
User velocity RMS performance bit 3: set
GAMS calibration in progress bit 4: set

GAMS calibration complete bit 5: set
GAMS calibration failed bit 6: set
GAMS calibration requested bit 7: set
GAMS installation parameters valid bit 8: set
GAMS solution in use bit 9: set
GAMS solution OK bit 10: set
GAMS calibration suspended bit 11: set
GAMS calibration forced bit 12: set
Primary GPS solution in use bit 13: set

Primary GPS initialisation failed bit 14: set
Primary GPS reset command sent bit 15: set
Primary GPS configuration file sent bit 16: set
Primary GPS not configured bit 17: set
Primary GPS in C/A mode bit 18: set
Primary GPS in Differential mode bit 19: set
Primary GPS in float RTK mode bit 20: set
Primary GPS in wide lane RTK mode bit 21: set
Primary GPS in narrow lane RTK mode bit 22: set
Primary GPS solution in use for GAMS bit 23: set

Secondary GPS solution in use bit 24: set
Auxiliary GPS solution in use bit 25: set

Auxiliary GPS in P-code mode bit 26: set
Auxiliary GPS in Differential mode bit 27: set
Auxiliary GPS in float RTK mode bit 28: set
Auxiliary GPS in wide lane RTK mode bit 29: set
Auxiliary GPS in narrow lane RTK mode bit 30: set
Primary GPS in P CODE bit 31: set

General Status 4 ulong Gimbal Input ON bit 0: set
C Gimbal Data in use bit 1: set
Spare bits 2-6
Primary GPS OmniSTAR VBS bit 7: set
Primary GPS OmniSTAR XP bit 8: set
Primary GPS OmniSTAR HP bit 9: set
Secondary GPS OmniSTAR VBS bit 10: set
Secondary GPS OmniSTAR XP bit 11: set
Secondary GPS OmniSTAR HP bit 12: set
Spare bits 13-31
25
.

FDIR Level 1 4 ulong Level 1 IMU failure (IMU-POS checksum error) bit 0: set
Status Level 1 IMU failure (IMU status bit set by sensor) bit 1: set
Level 1 IMU failure (>20 successive IMU failures) bit 2: set
Level 1 Pri GPS failure (GPS not in Nav mode) bit 5: set
Level 1 Pri GPS failure (GPS not available for alignment) bit 6: set
Level 1 Pri GPS failure (GPS data gap) bit 7: set
Level 1 Pri GPS failure (PPS time gap) bit 8: set
Level 1 Pri GPS failure (PPS time recovery data not rxd) bit 9: set
Level 1 Pri GPS failure (raw observable data gap) bit 10: set
Level 1 Pri GPS failure (ephemeris data gap) bit 11: set
Level 1 Pri GPS failure (tracking elevation limit incorrect) bit 12: set
Level 1 Pri GPS failure (GPS Datum parameters incorrect) bit 13: set
Level 1 Pri GPS failure (position/velocity Fix Error) bit 14: set
Level 1 Pri GPS failure (incorrect SV selection parameters) bit 15: set
Level 1 Sec GPS failure (GPS data gap) bit 20: set
Level 1 Sec GPS failure (raw observable data gap) bit 21: set
Level 1 Aux GPS failure (GPS data gap) bit 25: set
Level 1 GAMS failure (ambiguity resolution failed) bit 26: set
Level 1 Gimbal failure (data gap) bit 27: set
Spare bits: 3, 4,
16-19,
22-24,
28-31
FDIR Level 1 2 ushort Shows number of FDIR Level 1 Status IMU failures (bits 0 or 1) =
IMU failures Bad IMU Frames
FDIR Level 2 2 ushort Level 2 IMU failure (Nav speed > 300 m/s) bit 0: set
Status Level 2 Pri GPS velocity failure (GPS speed > 300 m/s) bit 1: set
Level 2 Pri GPS position failure (GPS horiz. error > 1000m) bit 2: set
Level 2 Aux GPS position failure (GPS horiz. error > 1000m) bit 3: set
Spare bits: 4-15

FDIR Level 3 2 ushort Aux-Pri Position Exceeds Limit bit 0: set
Status Spare bits: 1-15
FDIR Level 4 2 ushort Level 4 Pri GPS position failure bit 0: set
Status (Nav-GPS position rejected)
Level 4 Pri GPS velocity failure bit 1: set
(Nav-GPS velocity rejected)
Level 4 GAMS heading failure bit 2: set
(Nav-GAMS heading rejected)
Level 4 Aux GPS position failure bit 3: set
(Nav-GPS position rejected)
Spare bits: 4-15
26
.

FDIR Level 5 2 ushort Level 5 x accel failure (bias estimate > 4000 g) bit 0: set
Status Level 5 y accel failure (bias estimate > 4000 g) bit 1: set
Level 5 z accel failure (bias estimate > 4000 g) bit 2: set
Level 5 x gyro failure (bias estimate > 10 deg/hr) bit 3: set
Level 5 y gyro failure (bias estimate > 10 deg/hr) bit 4: set
Level 5 z gyro failure (bias estimate > 10 deg/hr) bit 5: set
Level 5 GAMS failure (estimated offset > 5 deg) bit 6: set
Level 5 GPS lever arm failure (error > 1 m) bit 7: set
Spare bits: 8-15

Pad 0 byte 0 N/A
4.3.3.11. Group 102: Reference Frame Position, Velocity, Attitude, Heave

& Dynamics
This group contains position, velocity, attitude, track, speed and dynamics data for the Reference frame.
Table 19: Group 102: Reference Frame Position, Velocity, Attitude, Heave & Dynamics
Byte count 2 ushort 128 Bytes
Time 1 8 double N/A Sec
Distance tag 8 double N/A M
Time 1: POS time 0
Time 1: GPS time 1
Value: bits 4-7

Time 2: GPS time 1
Time 2: UTC time 2
Time 2: User time 3
N/A 0
DMI distance 2
Latitude 8 double -90 < to 90 Deg
Longitude 8 double -180 < to 180 Deg
Altitude 8 double N/A M
Along track 4 float N/A m/s
velocity
Across track 4 float N/A m/s
velocity
Down velocity 4 float N/A m/s
Roll* 8 double -180 < to 180 Deg
Pitch* 8 double -90 < to 90 Deg
27
.

Heading* 8 double 0 to < 360 Deg
Wander angle 8 double -180 < to 180 Deg
Heave 4 float N/A M
Angular rate 4 float N/A deg/s
about longitudinal
axis*
about transverse
axis*
about down axis*
Longitudinal 4 float N/A m/s2
acceleration*
Transverse 4 float N/A m/s2
acceleration*
Down 4 float N/A m/s2
acceleration*
Pad 2 byte 0 N/A
4.3.3.12. Group 104: Reference Frame Position, Velocity, and Attitude

Performance Metrics
This group contains Reference frame position, velocity and attitude performance metrics. All data in this
group are RMS values.
Table 20: Group 104: Reference Frame Position, Velocity, and Attitude Performance Metrics
Time 1: POS time 0
Time 1: GPS time 1
Value: bits 4-7

Time 2: GPS time 1
Time 2: UTC time 2
Time 2: User time 3
N/A 0
DMI distance 2
N position RMS 4 float 0 M
E position RMS 4 float 0 M
28
.

D position RMS 4 float 0 M
Along track 4 float 0 m/s
velocity RMS
error
Across track 4 float 0 m/s
velocity RMS
error
Down velocity 4 float 0 m/s
RMS error
Roll RMS error* 4 float 0 Deg
Pitch RMS error* 4 float 0 Deg
Heading RMS 4 float 0 Deg
error*
Pad 2 byte 0 N/A
4.3.3.13. Group 106: Secondary GPS

This group contains data from the secondary GPS receiver. The group is variable in length because it is
dependent upon the number of channels available in the receiver and the number of satellites tracked. The
centre section of this group (that bounded by the double lines) grows with increasing number of satellites
tracked.
Table 21: Group 106: Secondary GPS

Byte count 2 ushort 76 + 20 x #SVs Bytes
Time 1: POS time 0
Time 1: GPS time 1
Value: bits 4-7

Time 2: GPS time 1
Time 2: UTC time 2
Time 2: User time 3
N/A 0
DMI distance 2
29
.

1 2-D C/A mode
2 3-D C/A mode
3 2-D DGPS mode
4 3-D DGPS mode
5 float RTK
Tracked
Variable section 2 ushort N/A Bytes
byte count

0 Idle
1 Sky searching
2 Wide band
3 Narrow band
5 Reacquisition
6 L1 Steering
8 L2 Idle
10 L2 Search
SV Azimuth 4 float 0 to < 360 Deg
(w.r.t. true
North)
SV Elevation 4 float 0 to 90.0 Deg
(w.r.t. horizon)
Signal/Noise
Ratio
Signal/Noise
Ratio
Next PRN - - - -


DGPS 4 float 0 99.9 Sec
Correction
Latency
30
.

Station ID (0 1023)

number
(GPS time UTC
time)
Separation
GPS Receiver 1 byte Value Receiver Type N/A
Type 0 no receiver
1 NovAtel GPS
2 NovAtel Millennium
3 Tasman
4 4000SSE
5 Ashtech Z-12
6 Ashtech G-12
7 7400Msi
8 Trimble BD112
9 Trimble BD750
10 Novatel OEM4
11 Gram
12 Trimble BD132
13 Trimble BD950
14 Novatel OEMV-3
15 Reserved
16 Trimble BD960
GPS Status 4 ulong Secondary GPS summary status fields
1. Novatel OEM2-3151 (RCSB message bytes 97 to
100). Bits are defined in Table 6.
2. Novatel OEM3-Millenium (RCSB message bytes 97
to 100). Bits are defined in Table 7.
3. Novatel OEM4 (RXSTATUS message bytes 36 to
39), Bits are defined in Table 8.
Pad 3 byte 0 N/A
4.3.3.14. Group 107: Auxiliary GPS

This group contains data from an optional auxiliary external GPS receiver. The group is variable in length
because it is dependent upon the number of channels available in the receiver and the number of satellites
tracked. The centre section of this group (that bounded by the double lines) grows with increasing number
of satellites tracked.
Table 22: Group 107: Auxiliary GPS
31
.

Byte count 2 ushort 72 + 20 x #SVs Bytes
Time 1: POS time 0
Time 1: GPS time 1
Value: bits 4-7

Time 2: GPS time 1
Time 2: UTC time 2
Time 2: User time 3
N/A 0
DMI distance 2
1 2-D C/A mode
2 3-D C/A mode
3 2-D DGPS mode
4 3-D DGPS mode
5 float RTK
Tracked
Variable section 2 ushort N/A Bytes
byte count

0 Idle
1 Sky searching
2 Wide band
3 Narrow band
5 Reacquisition
6 L1 Steering
8 L2 Idle
10 L2 Search
SV Azimuth 4 float 0 to < 360 Deg
(w.r.t. true
North)
32
.

SV Elevation 4 float 0 to 90.0 Deg
(w.r.t. horizon)
Signal/Noise
Ratio
Signal/Noise
Ratio
Next PRN - - - -


DGPS 4 float N/A Sec
Correction
Latency
Station ID
number
(GPS time UTC
time)
Separation
NMEA messages 2 ushort bit (set) NMEA Messages N/A
received 0 GGA (GPS position)
1 GST (noise statistics)
2 GSV (satellites in view)
3 GSA (DOP & active SVs)
Aux in Use 1 byte Value Status N/A
0 Aux is not in use
1 Data from Aux 1 is used
Pad 1 byte N/A N/A
4.3.3.15. Group 108: Versions & Statistics 2

This group is used to provide the user with feedback of the current statistics and software and hardware
version numbers of POS. This group contains PCS statistics such as total hours of operation, number of
runs, average run length, and longest run.
Table 23: Group 108: Versions & Statistics 2

33
.

Time 1: POS time 0
Time 1: GPS time 1
Value: bits 4-7

Time 2: GPS time 1
Time 2: UTC time 2
Time 2: User time 3
N/A 0
DMI distance 2
System model # 4 ulong N/A N/A
System version # 4 float N/A N/A
Serial number 4 float N/A N/A
Hardware revision 4 float N/A N/A
Software revision 4 float N/A N/A
ICD Rev. Number 4 float 9.0.0 N/A
Primary GPS 80 char Model #, S/N, H/W ver., S/W ver. & date N/A
Version
Secondary GPS 80 char Model #, S/N, H/W ver., S/W ver. & date N/A
Version
Total Hours 4 float N/A hours
Number of runs 4 ulong N/A N/A
Average length of 4 float N/A hours
run
Longest run 4 float N/A hours
Current run 4 float 1 sec resolution hours
Pad 2 short 0 N/A
4.3.3.16. Group 109: GAMS Solution Status
Table 24: Group 109: GAMS Solution Status

34
.

Time 1: POS time 0
Time 1: GPS time 1
Value: bits 4-7

Time 2: GPS time 1
Time 2: UTC time 2
Time 2: User time 3
N/A 0
DMI distance 2
Number of SVs in 1 ubyte N/A N/A
solution
Base SV 1 ubyte N/A N/A
PDOP 4 float N/A N/A
Computed ant. 4 float N/A M
separation
Number of OTF 1 ubyte N/A N/A
searches
SOSR ratio 4 float 1.0 to 20.0 N/A
Cycle slip flag 2 short channel 1 slip bit 0: set N/A
channel 2 slip bit 1: set
spare bits: 12-15

Solution Status 1 byte 0 fixed integer
1 degraded fixed integer
2 floated ambiguity
3 degraded floated ambiguity
4 solution w/o installation data
5 no solution
SVs in solution 12 12 ubyte N/A N/A
in order of
measurement
assignment
Integer ambiguities 24 12 shorts N/A N/A
Cycle slip test 48 12 floats N/A N/A
residuals
35
.

GAMS heading 8 double N/A Deg
GAMS heading 8 double N/A Deg
RMS error
Pad 0 byte 0 N/A
4.3.3.17. Group110: Display Raw Auxiliary GPS

This group contains raw GPS sensor data for the auxiliary GPS receiver. The length of this group is
variable.
Table 25: Group 110: Display Raw Auxiliary GPS

Byte Count 2 ushort variable bytes
Time 1: POS time 0
Time 1: GPS time 1
Value: bits 4-7

Time 2: POS time 0
N/A 0
DMI distance 2
0 Aux is not in use
Reserved 1 byte N/A N/A
GPS Message # 4 ulong N/A N/A
Message Body variable char N/A N/A
Pad 0-3 byte 0 N/A
36
.
4.3.3.18. Group 200: Gimbal Encoder Data

This group contains the gimbal encoder data read from COM (3) or from Message 20200. The sequence of
rotations starting from the aircraft frame is as follows: Tz,Ty,Tz. All angles are positive clockwise.
Table 26: Group 200: Gimbal Encoder Data

Time 1: POS time 0
Time 1: GPS time 1
Value: bits 4-7

Time 2: GPS time 1
Time 2: UTC time 2
Time 2: User time 3
N/A 0
DMI distance 2
Tx 8 double N/A deg
Ty 8 double N/A deg
Tz 8 double N/A deg
4.3.3.19. Group 201: Target Reference Position Data

This group contains the computed target reference position, and the range and bearing to target.
Table 27: Group 201: Target Reference Position Data
37
.

Time 1: POS time 0
Time 1: GPS time 1
Value: bits 4-7

Time 2: GPS time 1
Time 2: UTC time 2
Time 2: User time 3
N/A 0
DMI distance 2
Target Latitude 8 double -90 < to 90 deg
Target Longitude 8 double -180 < to 180 deg
Target Altitude 8 double N/A m
Target Range 8 double N/A m
Target Bearing 8 double -180 < to 180 deg
Status 2 ushort Postion Valid bit 0: set
Range from Laser bit 1: set
Range from Radar Altimeter and flat earth bit 2: set
Range from GPS and flat earth bit 3: set
Spare bits: 4-15
4.3.3.20. Group 202: Laser Range Finder Data

This group contains the Laser Range Finder data input over COM(2).
Table 28: Group 202: Laser Range Finder Data
Time 1: POS time 0
Time 1: GPS time 1
Value: bits 4-7

Time 2: GPS time 1
Time 2: UTC time 2
Time 2: User time 3
38
.

N/A 0
DMI distance 2
Laser Range 8 double N/A m
Radar Altitude 8 double N/A m
Status 2 ushort Laser Range Valid bit 0: set
Laser Altitude Valid bit 1: set
Spare bits: 3-15
4.3.3.21. Group 203: Platform Yaw Drift Correction

This group contains the output from the platform yaw drift correction algorithm. This output is applied to
the yaw command signal of a stabilized platform in order to either steer the heading of the platform to the
heading desired by the user, or steer the heading of the platform so that it always follows the mean track of
the aircraft. Note that this output is designed for use with traditional aerial camera stabilized mounts, not
for the pod type mounts (such as WESCAM).
Positive angles are defined as clockwise from the zero point of the yaw encoder. It is designed to be
superimposed upon the signal from the yaw (kappa) gyro and then fed into the control loop of the stabilized
mount.
The yaw drift correction is automatically activated and de-activated by POS when it detects that the aircraft
has entered or exited straight and level flight. When de-activated the yaw drift correction will return to zero
with a time constant defined by the yaw drift control algorithm. The yaw correction method, desired
heading, cut-off and gain for the yaw drift correction algorithm are set by the user via Message 20201.
Table 29: Group 203: Platform Yaw Drift Correction
Time 1: POS time 0
Time 1: GPS time 1
Value: bits 4-7

Time 2: GPS time 1
Time 2: UTC time 2
Time 2: User time 3
N/A 0
DMI distance 2
Yaw Drift Correction 8 double N/A deg
39
.

Status 1 1 byte Meaning Value N/A
YDC invalid 0
Follow mean track 1
Follow desired head 2
Follow mean track (w/o integrator) 3
Follow desired head (w/o integrator) 4
Status 2 1 byte 0 N/A
Heading Difference 8 double N/A deg
(drift)
4.3.3.22. Group 204: User Time Status

This group contains the status of the User Time. Each time the Time Synch message (Message 12) is
rejected by POS, the Time Synch Message Rejections count will increase by 1. If 10 successive messages
are rejected POS, will re-synch the User Time and will increment the User Time re-synchs count. The User
Time Valid field is set to 1 when the User Time is valid.
Table 30: Group 204: User Time Status

Time 1: POS time 0
Time 1: GPS time 1
Value: bits 4-7

Time 2: GPS time 1
Time 2: UTC time 2
Time 2: User time 3
N/A 0
DMI distance 2
Time Synch Message 4 ulong N/A N/A
Rejections
User Time Re-synchs 4 ulong N/A N/A
User Time Valid 1 byte 0 - invalid N/A
1 - valid
Message 12 Received 1 byte 0 - not received yet N/A
1 - received
40
.
4.3.3.23. Group205:Pure GPS data

This group contains information of the GGA and VTG messages from receiver.
Table 30: Group 205: Pure Gps data

Time 1: POS time 0
Time 1: GPS time 1
Value: bits 4-7

Time 2: GPS time 1
Time 2: UTC time 2
Time 2: User time 3
N/A 0
DMI distance 2
Latitude 8 double DDMM.mm DD degrees
MM minutes
mm decimal minutes
+ North
- South
Longitude 8 double DDMM.mm DD degrees
MM minutes
mm decimal minutes
+ East
- West
Fix Status 1 byte Fix Status Value
Fix no available 0
GPS Fix 1 N/A
Diff. GPS fix 2
Number of 2 ushort N/A N/A

satellites in use (Might be different from number
of satellites in view)
HDOP 4 float N/A m/s
Geoidal 4 float N/A m
Separation
Age of Diff. GPS 4 float 0-99.9 sec
data
41
.

Diff. Reference 2 ushort 0-1023 N/A
station ID
Track true 4 float (Degrees relative to the true deg
north)
Speed over 4 float N/A Knots
ground (knots)
Speed over 4 float N/A Km/h
ground (km/h)
Pad 1 byte 0 N/A
4.3.3.24. Group206:Event1-based Sensor Navigation Solution

This group contains position, velocity, attitude, track, speed and dynamics data in sensor frame at the time
of event1 pulse The data in this group is valid at the centre of the reference frame.
Table 31: Group 206: Event 1 based sensor navigation solution

Time 1: POS time 0
Time 1: GPS time 1
Value: bits 4-7

Time 2: GPS time 1
Time 2: UTC time 2
Time 2: User time 3
N/A 0
DMI distance 2
velocity
velocity
42
.

Roll* 8 double -180 < to 180 deg
Pitch* 8 double -90 < to 90 deg
Heading* 8 double 0 to < 360 deg
Geoidal 8 double N/A m
Separation
Wander angle 8 double -180 < to 180 deg
angle
about longitudinal
axis*
about transverse
axis*
about down axis*
acceleration*
acceleration*
acceleration*
error > 15 deg)
error > 45 deg)
17 no solution
Pad 1 byte 0 N/A
4.3.3.25. Group 207: Event2-based Navigation Solution

This group contains position, velocity, attitude, track, speed and dynamics data for the aircraft at the time of
event2 pulse. The data in this group is valid at the centre of the reference frame.
43
.
Table 32: Group 207: Event2 based navigation solution

Group start 4 Char $GRP N/A
Time types 1 Byte Value: bits 0-3
Time 1: POS time 0
Time 1: GPS time 1
Value: bits 4-7

Time 2: GPS time 1
Time 2: UTC time 2
Time 2: User time 3
Distance type 1 Byte Distance select Value
N/A 0
DMI distance 2
velocity
velocity
Roll* 8 double -180 < to 180 deg
Pitch* 8 double -90 < to 90 deg
Heading* 8 double 0 to < 360 deg
Geoidal 8 double N/A m
Separation
Wander angle 8 double -180 < to 180 deg
angle
about longitudinal
axis*
about transverse
axis*
about down axis*
acceleration*
acceleration*
44
.

acceleration*
error > 15 deg)
error > 45 deg)
26 no solution
Pad 1 byte 0 N/A
4.3.3.26. Group208: Photo ID1

This group contains Camera 1 trigger information. The group is used to generate the photo ID file of the
first camera . It is available only with POSTrack product.
Table 33: Group 208: Photo ID1

Time 1: POS time 0
Time 1: GPS time 1
Value: bits 4-7

N/A 0
DMI distance 2
Event Number 4 ulong N/A N/A
Photo ID 4 ulong N/A N/A
Event Time 8 double N/A sec
45
.

Camera Delay 8 double N/A msec
Reserved 4 ulong N/A N/A
Pad 2 byte 0 N/A
4.3.3.27. Group 209: Photo ID2
This group contains Camera 2 trigger information. The group is used to generate the photo ID file of the
second camera. It is available only with POSTrack product.
Table 34: Group 209: Photo ID2
Time 1: POS time 0
Time 1: GPS time 1
Value: bits 4-7

N/A 0
DMI distance 2
Event Number 4 ulong N/A N/A
Photo ID 4 ulong N/A N/A
Event Time 8 double N/A Sec
Camera Delay 8 double N/A Msec
Reserved 4 ulong N/A N/A
Pad 2 byte 0 N/A
4.3.3.28. Group 210: Event1 Real Time POSEO

This group contains georeferenced information in sensor frame and local mapping frame of user choice at
the time of event 1.
Table 35: Group 210 Real Time POSEO Event 1:

46
.

Time 1: POS time 0
Time 1: GPS time 1
Value: bits 4-7

Time 2: GPS time 1
Time 2: UTC time 2
Time 2: User time 3
N/A 0
DMI distance 2
Event 4 long N/A
Easting 8 double Meter
or
US feet
or
Internatio
nal feet
Northing 8 double Meter
or
US feet
or
Internatio
nal feet
Altitude 8 double Ellipsoid Altitude Meter
or
US feet
or
Internatio
nal feet
Geoidal 8 double Meter
Separation or
US feet
or
Internatio
nal feet
Omega 8 double Degrees
or
Gradients
or
Radians
47
.

Phi 8 double Degrees
or
Gradients
or
Radians
Kappa 8 double Degrees
or
Gradients
or
Radians
Coordinate Units 1 char 0 meters N/A
1-US Survey Feet
2-International Feet
Applicable to Easting, Northing, Altitude and
Geoidal Separation
Angle Units 1 char 0 degrees N/A
1 gradients
2- radians
Applicable to Omega, Phi and Kappa
Reserved1 4 long N/A N/A

Reserved2 8 double N/A N/A
Pad 0 byte 0 N/A
4.3.3.29. Group 211: Event 2 Real Time POSEO

This group contains georeferenced information in sensor frame and local mapping frame of user choice at
the time of event 2.
Table 36: Group 211 Real Time POSEO Event 2:

48
.

Time 1: POS time 0
Time 1: GPS time 1
Value: bits 4-7

Time 2: GPS time 1
Time 2: UTC time 2
Time 2: User time 3
N/A 0
DMI distance 2
Event 4 long N/A
Easting 8 double Meter
or
US feet
or
Internatio
nal feet
Northing 8 double Meter
or
US feet
or
Internatio
nal feet
Altitude 8 double Ellipsoid Altitude Meter
or
US feet
or
Internatio
nal feet
Geoidal 8 double Meter
Separation or
US feet
or
Internatio
nal feet
Omega 8 double Degrees
or
Gradients
or
Radians
Phi 8 double Degrees
or
Gradients
or
Radians
49
.

Kappa 8 double Degrees
or
Gradients
or
Radians
Coordinate Units 1 char 0 meters N/A
1-US Survey Feet
2-International Feet
Applicable to Easting, Northing, Altitude and
Geoidal Separation
Angle Units 1 char 0 degrees N/A
1 gradients
2- radians
Applicable to Omega, Phi and Kappa

Pad 0 byte 0 N/A
4.3.3.30. Group 212: LiDAR Range and Swat

This group contains real time georeferanced points from particular LiDAR line and real time range above
the ground.
Table 37: Group 212: LiDAR Range and Swats Display

Time 1: POS time 0
Time 1: GPS time 1
Value: bits 4-7

Time 2: GPS time 1
Time 2: UTC time 2
Time 2: User time 3
N/A 0
DMI distance 2
50
.

Middle Point 4 float N/A m
Altitude Diff
Middle Point 4 float N/A M
Range
Angle
Middle Point 8 double -90 < to 90 Deg
Latitude
Longitude
Altitude
First Point 4 float N/A M
Range
Angle
First Point 8 double -90 < to 90 Deg
Latitude
Longitude
Altitude
Last Point 4 float N/A M
Range
Angle
Last Point 8 double -90 < to 90 Deg
Latitude
Longitude
Altitude
Reserved1 8 double N/A
Reserved2 4 float N/A
Reserved3 4 float N/A
Pad 2 byte 0 N/A
4.3.3.31. Group 213: Dark Image Collection

The group contains real time information about beginning and the end of the flight line and is used to
trigger dark image collection from the camera.
Table 38: Group 213: Dark Image Collection

Group start 4 Char $GRP N/A
Group ID 2 Ushort 213 N/A
Byte Count 2 Ushort 52 bytes
51
.

Time 1 8 Double N/A sec
Time 2 8 Double N/A sec
Distance tag 8 Double N/A m
Time types 1 Byte Value: bits 0-3
Time 1: POS time 0
Time 1: GPS time 1
Value: bits 4-7

Time 2: GPS time 1
Time 2: UTC time 2
Time 2: User time 3
Distance type 1 Byte Distance select Value
N/A 0
DMI distance 2
Counter 1 4 Long Dark image counter for start of survey line N/A
Counter 2 4 Long Dark image counter for end of survey line N/A
Status 1 Byte 1- line start N/A
2- line end
Reserved 1 4 Long N/A N/A
Reserved 2 8 Double N/A N/A
Pad 1 Byte 0 N/A
Checksum 2 Ushort N/A N/A
Group end 2 Char $# N/A
4.3.3.32. Group 214: Generic LiDAR logging command

This group provides information to turn on/off lidar logging in real time based on FMS before and after
survey line.
Table 39: Group 214: LiDAR Logging command

Time 1: POS time 0
Time 1: GPS time 1
Value: bits 4-7

Time 2: GPS time 1
Time 2: UTC time 2
Time 2: User time 3
52
.

N/A 0
DMI distance 2
Reserved ID 1 byte 0 N/A
External Device 1 byte 0- Turn logging off (end of survey line) N/A
Logging 1- Turn logging on (start of survey line)
Flight Line 4 long Current Flight Line Number N/A
Reserved 1 4 long 0 N/A
Reserved 2 4 float 0 N/A
Reserved 3 8 double 0 N/A
4.3.3.33. Group 10001: Raw Primary GPS

This group contains raw GPS sensor data for the primary GPS receiver. The length of this group is variable
and the group is structured to contain one full GPS message per group.
The GPS Receiver Type field is used to indicate the type of receiver used during POS operation.
Table 40: Group 10001: Raw Primary GPS

Byte Count 2 ushort variable Bytes
Time 1: POS time 0
Time 1: GPS time 1
Value: bits 4-7

Time 2: POS time 0
N/A 0
DMI distance 2
53
.

GPS Receiver Type 2 short Value Receiver Type
0 no receiver N/A
1 Novatel OEM2-3151
2 Novatel OEM3-Millennium
3 Tasman
4 4000SSE
5 Ashtech Z-12
6 Ashtech G-12
7 7400MSi
8 Trimble BD112
9 Trimble BD750
10 Novatel OEM4
11 Gram
12 Trimble BD132
13 Trimble BD950
14 Novatel OEMV-3
15 Reserved
16 Trimble BD960
Variable message byte 2 ushort N/A bytes
count
Pad 0-3 byte 0 N/A
4.3.3.34. Group 10002: Raw IMU

This group contains raw IMU data. The Data checksum is a 16 bit sum of the data bounded by the light
grey rows.
Table 41: Group 10002: Raw IMU

Time 1: POS time 0
Time 1: GPS time 1
Value: bits 4-7

Time 2: POS time 0
54
.

N/A 0
DMI distance 2
IMU Header 6 char N/A N/A
IMU Byte Count 2 ushort Type2: 26 Bytes
(Variable byte Type5: 12
count) Type6: 26
Type7: 26
Type8: 26
Type14: 20
Type15: 26
Type18: 12
Type 20: 20
IMU Data* variable byte N/A N/A
Data Checksum 2 short N/A N/A

Pad 0 byte 0 N/A
4.3.3.35. Group 10003: Raw PPS

This group contains raw PPS timing data.
Table 42: Group 10003: Raw PPS

Time 1: POS time 0
Time 1: GPS time 1
Value: bits 4-7

Time 2: POS time 0
N/A 0
DMI distance 2
PPS pulse # 4 ulong N/A N/A
Pad 2 byte 0 N/A
55
.

4.3.3.36. Group 10004: Raw Event 1

This group contains raw Event 1 data.
Table 43: Group 10004: Raw Event 1

Time 1: POS time 0
Time 1: GPS time 1
Value: bits 4-7

Time 2: POS time 0
N/A 0
DMI distance 2
Event 1 pulse # 4 ulong N/A N/A
Pad 2 byte 0 N/A
4.3.3.37. Group 10005: Raw Event 2

This group contains raw Event 2 data.
Table 44: Group 10005: Raw Event 2

56
.

Time 1: POS time 0
Time 1: GPS time 1
Value: bits 4-7

Time 2: POS time 0
N/A 0
DMI distance 2
Event 2 pulse # 4 ulong N/A N/A
Pad 2 byte 0 N/A
4.3.3.38. Group 10101: Raw Secondary GPS

This group contains raw GPS sensor data for the secondary GPS receiver. The length of this group is
variable and the group is structured to contain one full GPS message per group.
The GPS Receiver Type field is used to indicate the type of receiver used during POS operation.
Table 45: Group 10101: Raw Secondary GPS

Time 1: POS time 0
Time 1: GPS time 1
Value: bits 4-7

Time 2: POS time 0
N/A 0
DMI distance 2
57
.

GPS Receiver Type 2 short Value Receiver Type N/A
0 no receiver
1 Novatel OEM2-3151
3 Tasman
4 4000SSE
5 Ashtech Z-12
6 Ashtech G-12
7 7400MSi
8 Trimble BD112
9 Trimble BD750
10 Novatel OEM4
11 Gram
12 Trimble BD132
13 Trimble BD950
14 Novatel OEMV-3
15 Reserved
16 Trimble BD960
count
Pad 0-3 byte 0 N/A
4.3.3.39. Group 10102: Raw Auxiliary GPS

This group contains raw GPS sensor data for the auxiliary GPS receiver. The length of this group is
variable.
Table 46: Group 10102: Raw Auxiliary GPS

Time 1: POS time 0
Time 1: GPS time 1
Value: bits 4-7

Time 2: POS time 0
N/A 0
DMI distance 2
58
.

0 Aux is not in use
Aux GGA Format 1 byte Value: bits 0-3 N/A
Aux1 Standard GGA Format 0
Aux1 NavCom GGA Format 1
Value: bits 4-7
Aux2 Standard GGA Format 0
Aux2 NavCom GGA Format 1
GPS Message No. 4 ulong N/A N/A

Message Byte Count 2 ushort N/A N/A
Primary Geoidal 4 float N/A m
Separation
Pad 0-3 byte 0 N/A
Group end 2 Char $# N/A
4.3.3.40. Group 10200: Raw Gimbal

This group contains raw Gimbal sensor data from the Gimbal hardware. The length of this group is variable
and the group is structured to contain one full Gimbal message per group.
There are three types of Gimbal messages: GIM01 message has 20 bytes, GIM02 has 14 bytes, and
P30_GIM has 10 bytes.
Table 47: Group 10200: Raw Gimbal

Time 1: POS time 0
Time 1: GPS time 1
Value: bits 4-7

Time 2: POS time 0
N/A 0
DMI distance 2
59
.

count
Pad 0-3 byte 0 N/A
4.3.3.41. Group 10201: Raw LRF

This group contains raw laser range finder data.
Table 48: Group 10201: Raw LRF

Time 1: POS time 0
Time 1: GPS time 1
Value: bits 4-7

N/A 0
DMI distance 2
LRF Header 2 ushort 0x0220 N/A
Laser range 4 ulong 0.01m m/bit
Radar height 4 ulong 0.01m m/bit
Status 2 ushort N/A N/A
LRF Checksum 2 ushort N/A N/A
Pad 0 byte 0 N/A
4.3.3.42. Group10202: Raw Lidar Group
This group contains raw lidar data.

Table 49: Group 10202: Raw Lidar Group
60
.

Time 1: POS time 0
Time 1: GPS time 1
Value: bits 4-7

Time 2: POS time 0
N/A 0
DMI distance 2
Time of the last PPS 8 double N/A 8
count
Pad 0-3 byte 0 N/A
5. Message I/O
5.1. Introduction
The Control port is used by the PCS to receive command messages from the POS Controller or a users
custom software and to acknowledge successful receipt of the message. The Control port is bi-directional
and uses the TCP protocol to communicate with the POS Controller.
Each message sent to POS initiates an action on the part of the PCS. When the PCS has completed this
action, it replies to the POS controller by sending an Acknowledge message, message ID 0, on the
Control port over which it received the command. The Acknowledge message protocol is defined below.
The purpose of the Acknowledge message is to inform the POS controller that the PCS has received the
message, and has either accepted or rejected it.
A copy of each of the input messages defined below is sent out on each of the Display, Primary Data (ADC
model only) Secondary Data and Logging ports at the rate indicated in the table below. No messages are
sent on the Primary Data Logging port if the POS/AV model is other than ADC. This output of messages
allows the client to monitor the current state of the configuration of the POS system. The content of the
output messages reflects the current state of the PCS system, not the last sent user message. Thus, if the
state of the system changes, as part of the normal operations, it will be reflected in the next output user
messages.
61
.
5.2. Output Message Data Rates

The output data rate on the Display port is typically 1.0 Hz and on the Primary Data (ADC model only),
Secondary Data and Logging ports is 0.1 Hz. The following table lists the contents and data rates for each
message.
62
.
Table 50: Output Messages Data Rates

Pri Data Port (ADC model only), Pri Data Port/FMS Data
Port
Message Contents Display Port Sec Data Port (non-ADC models) Logging Port
Stby Nav Diag Stby Nav Diag Stby Nav Diag Stby Nav Diag
1 General parameter set-up 1.0 1.0 1.0 0.1 0.1 0.1 - - - 0.1 0.1 0.1
2 Display port control 1.0 1.0 1.0 0.1 0.1 0.1 - - - 0.1 0.1 0.1
3 Data port control 1.0 1.0 1.0 0.1 0.1 0.1 - - - 0.1 0.1 0.1
4 Logging port control 1.0 1.0 1.0 0.1 0.1 0.1 - - - 0.1 0.1 0.1
5 Primary GPS set-up 1.0 1.0 1.0 0.1 0.1 0.1 - - - 0.1 0.1 0.1
6 Set PCS IP address 1.0 1.0 1.0 0.1 0.1 0.1 - - - 0.1 0.1 0.1
7 Mode control 1.0 1.0 1.0 0.1 0.1 0.1 - - - 0.1 0.1 0.1
8 Save parameters - - - - - - - - - - - -
9 Restore parameters - - - - - - - - - - - -
10 GPS control - - - - - - - - - - - -
11 Event discrete set-up 1.0 1.0 1.0 0.1 0.1 0.1 - - - 0.1 0.1 0.1
12 Time sync 1.0 1.0 1.0 0.1 0.1 0.1 - - - 0.1 0.1 0.1
13 General data 1.0 1.0 1.0 0.1 0.1 0.1 - - - 0.1 0.1 0.1
14 Program control - - - - - - - - - - - -
16 Secondary Data Port Control 1.0 1.0 1.0 0.1 0.1 0.1 - - - 0.1 0.1 0.1
17 Primary OmniStar Settings 1.0 1.0 1.0 0.1 0.1 0.1 - - - 0.1 0.1 0.1
18 Secondary OmniStar Settings 1.0 1.0 1.0 0.1 0.1 0.1 - - - 0.1 0.1 0.1
101 Installation parameter set-up 1.0 1.0 1.0 0.1 0.1 0.1 - - - 0.1 0.1 0.1
102 COM (1) port set-up 1.0 1.0 1.0 0.1 0.1 0.1 - - - 0.1 0.1 0.1
103 COM (2) port set-up 1.0 1.0 1.0 0.1 0.1 0.1 - - - 0.1 0.1 0.1
104 COM (3) port set-up 1.0 1.0 1.0 0.1 0.1 0.1 - - - 0.1 0.1 0.1
105 Analog port set-up 1.0 1.0 1.0 0.1 0.1 0.1 - - - 0.1 0.1 0.1
106 Heave filter set-up 1.0 1.0 1.0 0.1 0.1 0.1 - - - 0.1 0.1 0.1
107 User parameter accuracy set-up 1.0 1.0 1.0 0.1 0.1 0.1 - - - 0.1 0.1 0.1
108 GAMS parameter set-up 1.0 1.0 1.0 0.1 0.1 0.1 - - - 0.1 0.1 0.1
109 GAMS calibration control - - - - - - - - - - - -
110 Secondary GPS set-up 1.0 1.0 1.0 0.1 0.1 0.1 - - - 0.1 0.1 0.1
20001 Reference frame control 1.0 1.0 1.0 0.1 0.1 0.1 - - - 0.1 0.1 0.1
20101 FDIR Override control 1.0 1.0 1.0 0.1 0.1 0.1 - - - 0.1 0.1 0.1
20102 COM 2 Port diagnostics 1.0 1.0 1.0 0.1 0.1 0.1 - - - 0.1 0.1 0.1
20103 Analog port diagnostics 1.0 1.0 1.0 0.1 0.1 0.1 - - - 0.1 0.1 0.1
20200 Gimbal Encoder Data Input 1.0 1.0 1.0 200* 200* 200* - - - 200* 200* 200*
63
ALL RIGHTS RESERVED. NO PART OF THIS PUBLICATION MAY BE REPRODUCED, STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX
CORPORATION.
.
20201 Platform Yaw Drift Correction Setup 1.0 1.0 1.0 1.0 1.0 1.0 - - - 1.0 1.0 1.0
20202 Free Inertial Mode Command 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0
20203 FMS Data Port Control 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0 1.0
20204 FMS Camera Trigger Control N/A N/A N/A N/A N/A N/A N/A N/A N/A
20205 Gimbal Mount Control 1.0 1.0 1.0 0.1 0.1 0.1 0.1 0.1 0.1
20206 Lidar Logging Control 1.0 1.0 1.0 0.1 0.1 0.1 0.1 0.1 0.1
20207 Lidar IP Address Settings 1.0 1.0 1.0 1.0 1.0 1.0 0.1 0.1 0.1
20208 Camera 1 Message 1.0 1.0 1.0 200* 200* 200* 200* 200* 200*
20209 Camera 2 Message 1.0 1.0 1.0 200* 200* 200* 200* 200* 200*
20211 Event1/2 Shift Message 1.0 1.0 1.0 0.1 0.1 0.1 0.1 0.1 0.1
20212 Event1POSEO Settings 1.0 1.0 1.0 0.1 0.1 0.1 0.1 0.1 0.1
20213 Event1 Mapping Frame Settings 1.0 1.0 1.0 0.1 0.1 0.1 0.1 0.1 0.1
20214 Event2 POSEO Settings 1.0 1.0 1.0 0.1 0.1 0.1 0.1 0.1 0.1
20215 Event2 Mapping Frame Settings 1.0 1.0 1.0 0.1 0.1 0.1 0.1 0.1 0.1
20216 Reserved
20217 Real Time POSPC Settings 1.0 1.0 1.0 0.1 0.1 0.1 0.1 0.1 0.1
20218 External Lidar Swat Message 1.0 1.0 1.0 0.1 0.1 0.1 0.1 0.1 0.1
20219 Roll and Pitch scale factor for ZI 1.0 1.0 1.0 0.1 0.1 0.1 0.1 0.1 0.1
Mount
20220 YDC Set Point Offset Settings 1.0 1.0 1.0 0.1 0.1 0.1 0.1 0.1 0.1
*maximum rate
64
ALL RIGHTS RESERVED. NO PART OF THIS PUBLICATION MAY BE REPRODUCED, STORED IN A RETRIEVAL SYSTEM OR TRANSMITTED IN ANY FORM OR BY ANY MEANS WITHOUT THE PRIOR WRITTEN CONSENT OF APPLANIX
CORPORATION.
.
5.3. I/O Message Formats

5.3.1. Introduction
The input messages are defined in the following sections. The messages consist of a header, message data
and footer.
The header is comprised of an ASCII string ($MSG) followed by a unique message identifying header
byte, a byte count and a transaction number.
The byte count is a short unsigned integer that includes all fields in the message except the Message start
ASCII delimiter, the Message ID and the byte count. Therefore, the byte count will always be 8 bytes less
than the length of the message.
The Transaction # is a number which is attached to the input message by the client. This number is
returned to the user by the PCS in the Acknowledge message, ID 0. This mechanism shall allow the client to
know which message is being responded to by the PCS. This number must be between 0 and 65534.
In between the header and footer of a message is the data. While many messages have associated message
data, it is not the requirement of the protocol. Messages may in themselves act as events or messages may
use the data portion to command a particular state.
Messages end with a footer that contains a pad, a checksum and an ASCII delimiter ($#).
The pad is used to make each message a multiple of four bytes long.
The checksum is calculated so that adding all fields in the group using short (16 bit) integers results in a net
sum of zero.
Parameters flagged as default are the factory settings.
The byte, short, ushort, long, ulong, float and double formats are defined in Appendix A.
5.3.2. Invalid Data Values

Since there are several fields in each message, it is possible that one or more fields will be invalid when the
message is output. The following values should be interpreted as invalid if they are output in any message:
Table 51: Invalid Data Values

Data Type Value
Byte 255 (=28) - 1
Short 32767 (=215) - 1
Ushort 65535 (=216) - 1
Long 2147483647 (=231) - 1
Ulong 4294967295 (=232) - 1
Float >1020
Double >1020
Note: The validity rule only applies to fields that are not comprised of bit subfields.
5.3.3. I/O Messages Tables

The following tables list the format that POS expects for each message input and provides for each message
output.
65
.
5.3.3.1. Message 0: Acknowledge

The Acknowledge message is set-up to work as follows for the three cases described below:
1. For the case where the action triggers a change of state within the PCS (in particular a change of state
that may have significant duration associated with the transition), the Acknowledge message is sent to
the POS controller to indicate that the transition is in progress, but not necessarily complete. For
example, a message commanding the PCS to transition to Nav mode is replied to as soon as the initial
transition begins. The POS control computer will typically reply-block after each message it sends.
Accordingly, the PCS shall reply to the message in a relatively short time frame.
2. For the case where the action triggers a change in data (i.e. parameters) within the PCS, the
Acknowledge message indicates whether the data has been successfully incorporated into the PCS
internal structures. The Acknowledge message does not indicate a message accepted status until the
PCS internal data structures are able to process the requested changes.
3. For the case where the action triggers the sending of one or more groups of data, an Acknowledge
message shall indicate successful completion of the requested action, and the requested groups shall be
transmitted on the Display, Primary Data, Secondary Data and Logging ports. If current data for one of
the requested groups is not current at the instant of request, the group is output with stale fields set to
N/A values before it is transmitted. If data for a particular group is unavailable, that group shall not be
transmitted on the three ports until it is available. A reply code shall indicate whether data for a
particular group is available.
4. Definition of Response codes are as follows:

- Message accepted: POS has properly accepted the message from
controller.
- Message accepted but too long: POS has accepted the messaged from the controller;
however, POS expected a shorter message than the
one received. This is a warning. This could be caused
if POS & controller have different versions of the
ICD.
- Message accepted but too short: Similar to the above condition, except that POS
received a message that was shorter than expected.
- N/A in present state: POS can not process the message or cannot output
data requested in its current state
- Data not available: Data not available from this model
- Message start error: Message does not have the proper header $MSG
- Message end error: Message does not have the proper footer $#
- Byte count error: Byte count of the message is too large for POSs
internal buffer.
- Checksum error: Data validation failed.
5. Individual CSCs must set the newParameters field of Message 0 to indicate whether an accepted
ICD message contains new information or not. This is important for messages that can be saved to
NVM, since it allows the POS Controller to prompt the user to save settings to NVM if the settings
have changed before disconnecting from the PCS.
6. Parameter Name: When POS rejects a certain parameter within a message, it sets the parameter error.
The name of the parameter rejected is displayed in this field.
Table 52: Message 0: Acknowledge

Message start 4 char $MSG N/A
Message ID 2 ushort 0 N/A
66
.

Byte count 2 ushort 44 N/A
Transaction # 2 ushort Return: Transaction # sent by client. N/A
Message 2 ushort 0-65534 - message identifier # to which N/A
Identifier # this reply corresponds.
Received
Response code 2 ushort Value Message N/A
0 N/A
1 Message accepted
2 Message accepted but too long
3 Message accepted but too short
4 Message parameter error
5 N/A in present state
6 Data not available
7 Message start error
8 Message end error
9 Byte count error
10 Checksum error
New Parameters 1 byte Value Message N/A
0 No change in parameters
1 Some parameters changed
Parameter Name 32 char N/A N/A
(parameter
error)
Pad 1 bytes 0 N/A
Message end 2 char $# N/A
5.3.3.2. Message 1: General Parameter Set-up

This message is used to input general parameter set-up data that allows the user to configure POS to start
navigating without controller input using the data stored in its internal memory. The following parameters
are set by this message:
This message allows the user to select the time tag types used for Time 1, Time 2 and Distance. The user
can select either GPS time or UTC time for Time 1 and POS, GPS, UTC or User time for Time 2. GPS time
will tag the time of validity of all data with the week number since the GPS system was turned on and the
seconds into that week. Week number is available in the Primary GPS group. UTC time tags the time of
validity of the data in week number of the year and seconds of the week.
This message also sets the state for AutoStart. AutoStart allows the PCS to enter Nav mode immediately on
power-up using the parameters stored in NVM. The user does not need to request a transition to Nav mode.
Lastly, this message contains data that is sent to POS that defines the installation parameters of IMU and
GPS sensors and aircraft frame with respect to a user defined reference frame. This data is used by POS to
determine the relative positions of the sensors (IMU and primary GPS antenna). The interpretation of the
items in these fields is as follows:
Reference to IMU Lever arms:
Distances measured from the user defined reference frame origin to the IMU inertial sensor
assembly origin resolved in the reference frame. From the origin of the reference frame, the x is
positive forwards, y is positive towards the right, and z is positive down (Right-Hand Rule). If the
67
.
IMU is mounted on a camera or a scanner, these would be the distances from the perspective
centre to the IMU measured in the camera or scanner frame. When mounting the IMU on a
gimballed platform, these would be the distances from the centre of rotation of the platform to the
IMU.
Reference to Primary GPS Lever arms:
Distances measured from the user defined reference frame origin to the phase centre of the
primary GPS antenna resolved in the reference frame. When the IMU is mounted on a gimballed
platform, these would be the distances from the centre of rotation to the GPS antenna, measured in
the reference frame, when the gimbal encoders are reading (0,0,0).
IMU with respect to Reference frame mounting angles:
Physical angular offsets of the IMU body frame with respect to the user defined reference frame.
The reference frame is defined as the right-handed orthogonal co-ordinate system with its origin
defined at any point the user wishes. The axes are fixed to the reference frame, with the x axis in
the forward going direction, the y axis perpendicular to the x axis and pointing to the right, and the
z axis pointing down. The IMU body frame is defined as the right-handed orthogonal co-ordinate
system with its origin at the sensing centre of the IMU. These axes are fixed to the IMU and are
labelled on the IMU drawings.
The angles define the Euler sequence of rotations that bring the reference frame into alignment
with the IMU body frame. The angles follow the Tate-Bryant sequence of rotation given as
follows: right-hand screw rotation of z about the z axis followed by a rotation of y about the
once rotated y axis followed by a rotation of x about the twice rotated x axis. The angles x, y,
and z may be thought of as the roll, pitch, and yaw of the IMU body frame with respect to the
reference frame.
For example, if the IMU were mounted with its x-axis forward and y-axis down as on the side of a
camera, these angles would be (0,90,0)
Reference to Aircraft Lever arms
This set of lever arms are not used and should always be set to 0.
Reference Frame with respect to Aircraft Frame mounting angles:
Physical angular offsets of the user defined reference frame with respect to the aircraft body
frame. The aircraft body frame is defined as the right-handed orthogonal co-ordinate system with
its origin at the centre of the aircraft. These axes are fixed to the aircraft, with the x axis positive
through the nose, the y axis positive right wing, and the z axis pointing down through the aircraft
belly.
The angles define the Euler sequence of rotations that bring the aircraft body frame into alignment
with the reference frame. The angles follow the Tate-Bryant sequence of rotation given as follows:
right-hand screw rotation of z about the z axis followed by a rotation of y about the once rotated
y axis followed by a rotation of x about the twice rotated x axis. The angles x, y, and z may be
thought of as the roll, pitch, and yaw of the reference frame with respect to the aircraft frame. For
example, is the camera or scanner were mounted with the x-axis rotated by 90 degrees from the x
axis of the aircraft, these angles would be (0,0,90).
68
.
When using a gimballed platform, these would be the roll, pitch and yaw of the platform with
respect to the aircraft frame when the gimbal encoders are reading (0,0,0).
This message also allows the user to select the multipath environment which best describes the present
multipath conditions. POS uses this information to scale the RMS errors on the position and velocity
outputs reported to the user to ensure that the reported errors are reasonable. If LOW is selected the reported
RMS errors are reported unaffected by multipath. If MEDIUM or HIGH is selected the RMS errors are
increased in magnitude to account for the added multipath noise.
This message is accepted at anytime and may be saved.
Table 53: Message 1: General Parameter Set-up

Transaction # 2 ushort Input: Transaction number set by client N/A
Output: 65535
Time tag type 1 byte Value: bits 0-3 N/A
Time 1: POS time 0
Time 1: GPS time 1
Value: bits 4-7

Time 2: GPS time 1
Time 2: UTC time 2
Time 2: User time 3
Distance tag type 1 byte Value State N/A
0 N/A
1 POS distance (default)
2 DMI distance
Select/deselect 1 byte Value State
0 AutoStart disabled N/A
AutoStart
1 AutoStart enabled (default)
Reference to 4 float any floating point number m
IMU X lever arm (default = 0)
IMU Y lever arm (default = 0)
IMU Z lever arm (default = 0)
Primary GPS X (default = 0)
lever arm
Primary GPS Y (default = 0)
lever arm
Primary GPS Z (default = 0)
lever arm
69
.

X IMU wrt 4 float -180 to +180 deg
reference frame (default = 0)
mounting angle
Y IMU wrt 4 float -180 to +180 deg
mounting angle
Z IMU wrt 4 float -180 to +180 deg
mounting angle
Reference to Sec 4 float any floating point number m
GPS X lever arm (default = 0)
GPS Y lever arm (default = 0)
GPS Z lever arm (default = 0)
X reference 4 float -180 to +180 deg
frame wrt (default = 0)
aircraft frame
mounting angle
Y reference 4 float -180 to +180 deg
aircraft frame
mounting angle
Z reference 4 float -180 to +180 deg
aircraft frame
mounting angle
Multipath 1 byte Value Multipath N/A
Environment 0 Low
1 Medium
2 High (default)
Pad 2 byte 0 N/A
5.3.3.3. Message 2: Display Port Control

This message is used to select the output data sent to the POS controller for display. Note that some groups
cannot be determined at every output, while others have a latency which, by definition, means that they will
not be available at the same time as other data.
Groups 1, 2, 3 and 101 are always turned on for the Display port.
Table 54: Message 2: Display Port Control

70
.

Byte count 2 ushort 10 + 2 x #groups (+2 if required for pad) N/A
Output: 65535
# of Groups 2 ushort 0 to 65534 N/A
Selected for (Default: = 4: Groups 1,2,3,101 are always output
Display Port on Display port)
Display Port 2 ushort Group ID to Output N/A
Output Group #1 1 to 65534
ushort N/A
Display Port 2 ushort Group ID to Output N/A
Output Group #n 1 to 65534
Reserved 2 ushort 0 N/A
Pad var byte 0 N/A
0 or 2
5.3.3.4. Message 3: Data Port Control

This message is used to configure the PCS Ethernet Data port. Note that some groups cannot be determined
at every output, while others have a latency which, by definition, means that they will not be available at
the same time as other data.
Sample frequency is specified as one of several available discrete output rates. Note that certain groups
cannot be output at a variable frequency due to their frequency of availability.
Table 55: Message 3: Data Port Control

Output: 65535
Selected for Data (default = 0)
Port
Data Port Output 2 ushort Group ID to Output N/A
Group #1 1 to 65534
ushort N/A
Group #n 1 to 65534
71
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Data Port Output 2 ushort Value Rate (Hz) Hz
Rate 1 1 (default)
2 2
10 10
20 20
25 25
50 50
100 100
200 200
Pad var byte 0 N/A
0 or 2
5.3.3.5. Message 4: Logging Port Control

This message is used to configure the PCS PC CARD device Logging port. Note that some groups cannot
be determined at every output, while others have a latency which, by definition, means that they will not be
available at the same time as other data.
AutoLog allows the user to start recording data to the Logging port using the automatically incrementing
filename stored in NVM. This feature means that the user does not need to connect a controller to the PCS
to specify a new filename every time a new file is opened.
This message is also used to begin and end logging to an internal disk file and set the filename. The
filename will automatically be set to default.xxx if AutoLog is enabled.
This message must be sent prior to removing a disk from the disk drive and may be saved.
Table 56: Message 4: Logging Port Control

Output: 65535
Selected for (default = 0)
Logging Port
Logging Port 2 ushort Group ID to Output N/A
ushort N/A
Logging Port 2 ushort Group ID to Output N/A
72
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Logging Port 2 ushort Value Rate (Hz) N/A
Output Rate 1 1 (default)
2 2
10 10
20 20
25 25
50 50
100 100
200 200
Select/deselect 1 byte Value State N/A
AutoLog 0 AutoLog disabled (default)
1 AutoLog enabled
Disk Logging 1 byte Value Command N/A
Control 0 Stop logging (default)
1 Start logging
AutoLog 12 chars Filename (default = default.xxx) N/A
Filename where: xxx = 001-999
Reserved 52 bytes N/A N/A
Pad 7 byte 0 N/A
5.3.3.6. Message 5: Primary GPS Set-up

This message selects and sets up the primary GPS receiver. AutoConfig allows the user to instruct POS to
reconfigure the primary GPS receiver if POS detects that the configuration is incorrect. If the user chooses
to disable auto-configuration, then it is the users responsibility to ensure that the receiver is properly set
up.
The COM1 Output Rate allows the user to select the rate at which data from the primary GPS receiver will
be output and logged to the Data or Logging ports by the PCS.
This message is used to allow the user to control and select the configuration of the RTCM-104 corrections
(COM2) port used by the primary GPS receiver. COM2 is usually configured to accept RTCM corrections.
When in this mode it will not accept commands. This message will re-configure this port to accept
commands to allow external software to communicate with the primary receiver. This will allow give the
user diagnostic capabilities for the receiver and allow the user to upgrade the firmware on the GPS card.
Note that GPS Autoconfig will be turned off upon receipt of an Accept Commands message and will be
turned on again when either an Accept RTCM or a GPS reconfigure message is issued.
This message is accepted anytime and can be saved.
Table 57: Message 5: Primary GPS Set-up

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Output: 65535
GPS AutoConfig 0 Autoconfig disabled
1 Autoconfig enabled (default)
Primary GPS 1 byte Value Receiver Type N/A
Receiver Type 0 no receiver
1 Novatel OEM2-3151
3 Tasman
4 4000SSE
5 Ashtech Z-12
6 Ashtech G-12
7 7400Msi
8 Trimble BD112
9 Trimble BD750
10 Novatel OEM4
11 Trimble Force5 (GRAM-S)
12 Trimble BD132
13 Trimble BD950
14 Novatel OEMV-3
15 Reserved
16 Trimble BD960
COM1 Port 1 byte Value Rate (Hz) N/A
2 2
3 3
4 4
5 5
10 10
COM2 Control 1 byte Value Operation N/A
0 accept RTCM(default)
1 accept Commands
COM2 Port 1 byte Value Rate N/A
Baud Rate 0 2400
1 4800
2 9600 (default)
3 19200
4 38400
5 57600
6 76800
7 115200
COM2 Port 2 short bit (set) Command N/A
Protocol 0 parity=none (default)
1 parity=even
2 parity=odd
3 data bits=8 (default)
4 data bits=7
5 stop bits=1 (default)
6 stop bits=2
74
.

Gram Antenna 1 byte Value Frequency
Frequency 0 L1
Selection
1 L1/L2 N/A
2 L2
WAAS/EGNOS/ 1 byte Value Mode
MSAS Settings 0 Off
1 WAAS N/A
2 EGNOS
3 MSAS
Pad 1 byte 0 N/A
5.3.3.7. Message 6: Set PCS IP Address

This group is used to set the PCS IP address. It is accepted anytime and it will automatically be saved in
NVM. Upon acceptance of the message, the PCS will disconnect from any connected controller and begin
using the new IP address.
Table 58: Message 6: Set PCS IP Address

Output: 65535
IP Address: 1 byte 128 to 223 N/A
Network part 1 (class B &C address)
(default = 129)
IP Address: 1 byte 0-255 N/A
Network part 2 (default = 100)
Host part 1 (default = 0)
Host part 2 (default = 151)
Pad 2 byte 0 N/A
5.3.3.8. Message 7: Mode Control

This group is used to control the operating mode of POS.
75
.
Table 59: Message 7: Mode Control

Output: 65535
Mode Type 1 byte Value Mode N/A
1 Standby (default)
2 Navigate
3 Diagnostics
Pad 1 byte 0 N/A

5.3.3.9. Message 8: Save Parameters

This message is used to save the current configuration to non-volatile memory for operating set-up.
Table 60: Message 8: Save Parameters

Output: 65535
Control 1 byte Value Operation
0 NOP N/A
1 save parameters in NVM
Pad 1 byte 0 N/A
5.3.3.10. Message 9: Restore Parameters

This message is used to load current parameters from NVM to restore operating set-up.
Table 61: Message 9: Restore Parameters

Output: 65535
Control 1 byte Value Operation
0 load factory default parameters from NVM N/A
1 load last saved parameters from NVM
76
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Pad 1 byte 0 N/A
5.3.3.11. Message 10: GPS Control

This message is used to configure the internal GPS receiver(s) used by POS. The send config file
reconfigures the GPS receiver(s) to use the GPS algorithm configuration required by POS and to output the
required data. The send reset command is used to command the GPS receiver(s) to reset its/their operating
parameters to power on defaults. This message is accepted anytime.
Table 62: Message 10: GPS Control

Output: 65535
Control 1 byte Value Command N/A
Command 0 send config command
1 send reset command
Pad 1 byte 0 N/A
5.3.3.12. Message 11: Event Discrete Set-up

This message allows the user to select senses of the signals for the Event 1 and 2 discrete trigger, and the
event guard tme. The user can select either positive or negative edge trigger for each event, and a time
interval of 0-10000 msec for the guard time. After receiving and event, POS will ignore all succeeding
events that have a time increment less than the guard time.
Table 63: Message 11: Event Discrete Set-up

Output: 65535
Event 1 trigger 1 byte Value Command N/A
0 Positive edge (default)
1 Negative edge
Event 2 trigger 1 byte Value Command N/A
0 Positive edge (default)
1 Negative edge
Event 1 Guard 2 ushort 0 10 000 (default 0) msec
Time
Event 2 Guard 2 ushort 0 10 000 (default 0) msec
Time
77
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5.3.3.13. Message 12: Time Sync

POS is able to synchronize its internal clock with the users clock so that POS data can be time tagged with
the users time tags.
To use this function, the user must first latch the 1 PPS output from POS, and then send the time tag of the
1 PPS to POS in this message. This message shall contain the time of the last 1 PPS discrete signal output
by POS.
The message must be received by POS before the next 1 PPS is issued.
Table 64: Message 12: Time Sync
Output: 65535
User Time of 8 double Any positive floating point number seconds
Last PPS (default = N/A)
User Time 8 double Any positive floating point number N/A
Conversion (default = N/A)
Pad 2 short 0 N/A
5.3.3.14. Message 13: General Data

This message is used when a 3D GPS fix is unavailable, or a GPS receiver is not connected to the PCS
upon start-up. The data in this message provides the PCS with a date and timestamp, an initial position, and
an initial heading. This data allows the PCS to complete the coarse levelling algorithm and begin operating
in Nav mode.
This message is accepted prior to GPS data being available, but will be superseded once GPS data is
available. This message cannot be saved to NVM.
78
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Table 65: Message 13: General Data

Output: 65535
General Data 1 byte 0 to 23 hours
Time of Day: (default = 0 or GPS time)
Hours (24)
General Data 1 byte 0 to 59 minutes
Minutes
General Data 1 byte 0 to 59 seconds
Seconds
General Data 1 byte 1 to 12 month
Date: (default = 0 or GPS time) number
Month
General Data 1 byte 1 to 31 day
Date: (default = 0 or GPS time) number
Day Date
General Data 2 ushort 0 to 65534 year
Date: (default = 0 or GPS time) AD
Year
General Data 8 double -90 < to 90 deg
Initial Latitude (default = 0)
General Data 8 double -180 < to 180 deg
Initial Longitude (default = 0)
General Data 8 double -1000 to < 10000 m
Altitude (default = 0)
General Data 8 double 0 to < 360 deg
Initial Heading (default = 0)
Pad 3 byte 0 N/A
5.3.3.15. Message 14: Program Control

This message is used to control operational status of the PCS. The values in the message are interpreted as
follows.
0 The connected POS Controller is alive and the TCP connection is good.
1 Terminate the TCP connection. This allows the POS Controller to disconnect as controller and re-
connect later.
100 Reset the GAMS algorithm to clear any pending problems.
101 Reset POS to clear pending problems. All parameters will be loaded from NVM after a reset.
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.
102 Shutdown POS in preparation for power-off. This function allows disk files to be closed and
operating parameters to be saved to NVM.
103 Re-initialize internal logging drive. Applicable only for OEM configuration. All internal data will
be lost after the command is issued. No affect on SA (Stand Alone) POS .
The PCS continuously monitors the TCP connection between itself and the POS Controller. It expects to
receive at least one message from a Controller every 30 seconds or it will automatically terminate the TCP
connection. The prime purpose of this function is for the PCS to determine when the Controller has failed,
so that the TCP port can be reset. This message can be used with a value of 0 as a no operation (NOP)
message when no other messages need to be sent to the PCS.
Table 66: Message 14: Program Control

Output: 65535
Control 2 ushort Value Command N/A
0 Controller alive
1 Terminate TCP connection
100 Reset GAMS
101 Reset POS
102 Shutdown POS
103 Internal Drive Initialization (OEM only)
Pad 0 byte 0 N/A
5.3.3.16. Message 16: Secondary Data Port Control

This message is used to configure the PCS Ethernet Data port. Note that some groups cannot be determined
at every output, while others have a latency which, by definition, means that they will not be available at
the same time as other data.
Table 67: Message 16: Secondary Data Port Control

Output: 65535
80
.

Selected for Data (default = 0)
Port
Group #1 1 to 65534
ushort N/A
Group #n 1 to 65534
Data Port Output 2 ushort Value Rate (Hz) Hz
Rate 1 1 (default)
10 10
20 20
25 25
50 50
100 100
200 200
Pad var byte 0 N/A
0 or 2
5.3.3.17. Message 17: Primary Receiver OmniSTAR Settings
This message contains data that is sent to POS in order to set Primary GNSS receiver for subscribed
OmniSTAR service.
Table 68: Message 17: Primary Receiver OmniSTAR Parameter Set-up

Output: 65535
Mode 1 byte Value Command N/A
0 Off
1 Auto
2 HP Only
3 XP Only
4 VBS Only
Satellite ID 1 byte Value Command
0 Auto N/A
1 Custom Frequency
Frequency 8 double Specific OmniSTAR satellite frequency MHz
(default 0)
81
.

Bit Rate 2 ushort Specific OmniSTAR satellite bit rate bps
(default 0) (bits per
second)
Reserved 8 double 0.0 N/A
Pad 0 byte 0 N/A
5.3.3.18. Message 18: Secondary Receiver OmniSTAR Settings
This message contains data that is sent to POS in order to set Secondary GNSS receiver for subscribed
OmniSTAR service.
Table 69: Message 18: Secondary Receiver OmniSTAR Parameter Set-up

Output: 65535
Mode 1 byte Value Command N/A
5 Off
6 Auto
7 HP Only
8 XP Only
9 VBS Only
Satellite ID 1 byte Value Command
2 Auto N/A
3 Custom Frequency
Frequency 8 double Specific OmniSTAR satellite frequency MHz
(default 0)
Bit Rate 2 ushort Specific OmniSTAR satellite bit rate bps
(default 0) (bits per
second)
Reserved 8 double 0.0 N/A
Pad 0 byte 0 N/A
82
.
5.3.3.19. Message 101: Installation Parameter Set-up

This message contains data that is sent to POS to define the installation parameters of sensors 1 and 2 and
the Auxiliary 1 and Auxiliary 2 GPS receivers (if present).
The interpretation of the items in this message is as follows:
Sensor(s) wrt Reference frame mounting angle:
These are not used and should always be set to zero.
Reference to Auxiliary GPS and Auxiliary 2 GPS Lever arms:
Distances measured from the user defined reference frame origin to the phase centre of the
Auxiliary GPS antenna resolved in the reference frame. When the IMU is mounted on a gimbaled
platform, these would be the distances from the centre of rotation to the GPS antenna, measured in
the reference frame, when the gimbal encoders are reading (0,0,0).
Reference to Sensor(s) Lever arms:
83
.
Reference to Heave Lever arms:

This message is accepted at anytime and may be saved. The new parameters must be saved in NVM after
they are changed or POS will use the old values the next time the PCS is reset or powered-on.
Table 70: Message 101: Installation Parameter Set-up

Output: 65535
X Sensor 1 wrt 4 float -180 to +180 deg
mounting angle
Y Sensor 1 wrt 4 float -180 to +180 deg
mounting angle
Z Sensor 1 wrt 4 float -180 to +180 deg
mounting angle
X Sensor 2 to 4 float -180 to +180 deg
mounting angle
Y Sensor 2 to 4 float -180 to +180 deg
mounting angle
Z Sensor 2 to 4 float -180 to +180 deg
mounting angle
Auxiliary GPS X (default = 0)
lever arm
Auxiliary GPS Y (default = 0)
lever arm
Auxiliary GPS Z (default = 0)
lever arm
Sensor 1 X lever (default = 0)
arm
Sensor 1 Y lever (default = 0)
arm
Sensor 1 Z lever (default = 0)
arm
84
.

Sensor 2 X lever (default = 0)
arm
Sensor 2 Y lever (default = 0)
arm
Sensor 2 Z lever (default = 0)
arm
Heave X lever (default = 0)
arm
Heave Y lever (default = 0)
arm
Heave Z lever (default = 0)
arm
Auxiliary 2 GPS (default = 0)
X lever arm
Y lever arm
Z lever arm
Pad 2 byte 0 N/A
5.3.3.20. Message 102: COM (1) Port Set-up

This message allows the user to configure the COM (1) port to communicate with other equipment. For the
COM (1) port, the user is able to select the output message format required, the baud rate, the parity, the
stop bits, and the output rate.
Table 71: Message 102: COM (1) Port Set-up

Output: 65535
Roll Sense 1 byte Value Digital +ve N/A
0 port up (default)
1 starboard up
Pitch Sense 1 byte Value Digital +ve N/A
0 bow up (default)
1 stern up
85
.

Heave Sense 1 byte Value Digital +ve N/A
0 up (default)
1 down
COM (1) 4 ulong Bit (set) Format Formula N/A
Formula Select 0 $INVTG NMEA (track made good
and ground speed)
1 $INGST NMEA (pseudorange

measurement noise stats)
2 (default) $INGGA NMEA (Global Position

System Fix)
3 $INHDT NMEA (heading)
4 $PASHR NMEA (attitude (Tate-

Bryant))
5 $PASHR NMEA (attitude (TSS))
6 $PRDID NMEA (attitude (Tate-

Bryant)
7 $PRDID NMEA (attitude (TSS)
8 $INZDA NMEA (date & time)
9 $EVT1 Event 1 Time Mark
10 $EVT2 Event 2 Time Mark
11 N/A
12 N/A
13 $EVNT1PA Event1 Nav. Solution
14 $EVNT2PA Event2 Nav. Solution
15 $GPSGGA Primary Receiver GGA
16 $GPSVTG Primary Receiver VTG
17 $INPPS PPS Time Recovery
18 $POSEO1 Event 1 POSEO
19 $POSEO2 Event 2 POSEO
20 $GPRMC Primary Receiver RMC

COM (1) enable 1 byte Value Output N/A
0 digital off
1 digital on (default)
86
.

COM (1) Baud 1 byte Value Baud rate N/A
Rate 0 2400
1 4800
2 9600 (default)
3 19200
4 38400
5 57600
6 76800
7 115200
COM (1) Port 2 ushort bit (set) Protocol
Protocol 0 parity=none (default) N/A
1 parity=even
2 parity=odd
4 data bits=7
6 stop bits=2
COM (1) 2 ushort Value Rate (Hz) Hz
Message Update 0 N/A
Rate 1 1 (default)
2 2
5 5
10 10
20 20
25 25
50 50
Pad 1 byte 0 N/A

COM (2) port, the user is able to select the output message format required, the parameter sense required,
the baud rate, the parity, the stop bits, and the output rate.
Table 72: Message 103: COM (2) Port Set-up

Output: 65535
Roll Sense 1 byte Value Digital +ve N/A
0 port up (default)
1 starboard up
Pitch Sense 1 byte Value Digital +ve N/A
0 bow up (default)
1 stern up
87
.

Heave Sense 1 byte Value Digital +ve N/A
0 up (default)
1 down
COM (2) 2 ushort Value Message N/A
Message Select 0-7 Reserved
8 Att01
9 PosAtt
10 PosAtt2
11 Rdr1
12 PosAtt3
13 Past1
14 Trp1
15 Past2
16 Pav30
17 Azmnt
18 Ppstr (PPS Time Recovery message)
19 Tm1b (Novatel Time Recovery message
format)
COM (2) enable 1 byte Value Output N/A
0 off
1 on (default)
Rate 0 2400
1 4800
2 9600 (default)
3 19200
4 38400
5 57600
6 76800
7 115200
1 parity=even
2 parity=odd
4 data bits=7
6 stop bits=2
Message Update 0 N/A
Rate 1 1
2 2
5 5
10 10
20 20
25 25 (default)
50 50
MAX/2 MAX/2
MAX MAX
MAX is the IMU rate (Type 14: 250Hz

Type 5,18: 300 Hz,
Other types: 200 Hz)
88
.

TM1B Message 1 char 0-250 ( default 0) msec
Delay Applicable only if TM1B message is selected
Pad 2 byte 0 N/A

COM (3) port, the user is able to select the message format required, the baud rate, the parity, the stop bits,
and the rate.
Table 73: Message 104: COM Ports Set-up

Output: 65535
COM (3) 2 ushort Value Format N/A
Formula Select 0 Auxiliary GPS input (default)
1 GIM01 input
2 GIM02 input
3 T-AS1 input
4 PAV30 input
5 GIM Ethernet input
6 Azimuth Mount Encoder Input
7 GSM300
8 PV LAB Input
9 Z/I input
COM (3) enable 1 byte Value Meaning N/A
0 off
1 on (default)
Rate 0 2400
1 4800
2 9600 (default)
3 19200
4 38400
5 57600
6 76800
7 115200
1 parity=even
2 parity=odd
4 data bits=7
6 stop bits=2
89
.

Message Update 0 N/A (default)
Rate 1 1
2 2
5 5
10 10
20 20
25 25
50 50
Aux 1 GGA 1 byte Value GGA Format
format 0 Standard GGA NMEA format N/A
1 NavCom GGA Format
Aux 2 GGA 1 byte Value GGA Format
format 0 Standard GGA NMEA format N/A
1 NavCom GGA Format
5.3.3.23. Message 105: Analog Port Set-up

This message allows the user to configure the analog port to communicate with other equipment. For the
analog port, the user is able to configure the scale output message format, the scale factor and the parameter
sense required.
Table 74: Message 105: Analog Port Set-up

Output: 65535
Roll Scale Factor 4 float = (any +ve number) N/A
(default = 1.0)
Pitch Scale 4 float = (any +ve number) N/A
Factor (default = 1.0)
Heave Scale 4 float = (any +ve number) N/A
Factor (default = 1.0)
Roll Sense 1 byte Value Analog +ve N/A
0 port up (default)
1 starboard up
Pitch Sense 1 byte Value Analog +ve N/A
0 bow up (default)
1 stern up
Heave Sense 1 byte Value Analog +ve N/A
0 up (default)
1 down
Analog Output 1 byte Value Output volts
Select
0-3 Reserved
4 RPH
90
.

roll =
pitch =
heading =
5 YDC
6 RPRR
Roll
Pitch
Roll Rate
Analog Output 1 byte Value Value N/A
Enable 0 off
1 on (default)
Pad 1 byte 0 N/A
5.3.3.24. Message 107: User Parameter Accuracy Set-up

This message allows the user to set performance parameters that are returned in Group 101 General Status
B. The user may enter a floating point number for any of the four user settings, and the PCS will set the
status bits in Group 101 when the performance settings are achieved.
Table 75: Message 107: User Parameter Accuracy Set-up

Output: 65535
User Attitude 4 float any positive value > 0.01 deg
RMS Accuracy (default = 0.05)
User Heading 4 float any positive value > 0.01 deg
User Position 4 float any positive value > 0.01 m
User Velocity 4 float any positive value > 0.05 m/s
Pad 2 byte 0 N/A
5.3.3.25. Message 110: Secondary GPS Set-up

This message selects and sets up the secondary GPS receiver. AutoConfig allows the user to instruct POS
to reconfigure the secondary GPS receiver if POS detects that the configuration is incorrect. If the user
chooses to disable auto-configuration, then it is the users responsibility to ensure that the receiver is
properly set up.
91
.
The COM1 Output Rate allows the user to select the rate at which data from the secondary GPS receiver
will be output and logged to the Data or Logging ports by the PCS.
This message is used to allow the user to control and select the configuration of the COM2 port used by the
secondary GPS receiver. This message will re-configure this port to accept commands to allow external
software to communicate with the receiver. This will allow give the user diagnostic capabilities for the
receiver and allow the user to upgrade the firmware on the GPS card.
Note that GPS Autoconfig will be turned off upon receipt of an Accept Commands message and will be
turned on again when either an Accept RTCM or a GPS reconfigure message is issued.
This message is accepted anytime and can be saved.
Table 76: Message 110: Secondary GPS Set-up

Output: 65535
GPS AutoConfig 0 Autoconfig disabled
1 Autoconfig enabled (default)
Secondary GPS 1 byte Value Receiver Type N/A
Receiver Type 0 no receiver
1 Novatel OEM2-3151
3 Tasman
4 4000SSE
5 Ashtech Z-12
6 Ashtech G-12
7 7400Msi
8 Trimble BD112
9 Trimble BD750
10 Novatel OEM4
11 Trimble Force5 (GRAM-S)
12 Trimble BD132
13 Trimble BD950
14 Novatel OEMV-3
15 Reserved
16 Trimble BD960
COM1 Port 1 byte Value Rate (Hz) N/A
2 2
3 3
4 4
5 5
10 10
COM2 Control 1 byte Value Operation N/A
0 accept RTCM
1 accept Commands (default)
92
.

COM2 Port 1 byte Value Rate N/A
Baud Rate 0 2400
1 4800
2 9600 (default)
3 19200
4 38400
5 57600
6 76800
7 115200
COM2 Port 2 short bit (set) Command N/A
Protocol 0 parity=none (default)
1 parity=even
2 parity=odd
4 data bits=7
6 stop bits=2
Gram Antenna 1 byte Value Frequency
Frequency 0 L1
Selection
1 L1/L2 N/A
2 L2
WAAS/EGNOS/ 1 byte Value Mode
MSAS Settings 0 Off
1 WAAS N/A
2 EGNOS
3 MSAS
Pad 2 byte 0 N/A
5.3.3.26. Message 20001: Reference Frame Control

This command is used to control use of IMU Direction Cosine Matrix (DCM) for diagnostic purposes only
and to allow the user to output IMU roll, pitch and heading unaffected by mounting DCM.
This message can be sent anytime and may be saved.
Table 77: Message 20001: Reference Frame Control

Output: Return Transaction # sent by client.
0 if not responding to input
Frame Control 1 byte Value Operation N/A
0 User Frame output (default)
1 IMU Frame output
93
.

Pad 1 byte 0 N/A
5.3.3.27. Message 20101: FDIR Override Control
This message is used to reconfigure the processing of the aiding data in POS Kalman filter. The user may
choose to force (enable) aiding data to be used regardless of the status of the sensor data, or prevent
(disable) aiding data from being used. POS uses GPS data as aiding data.
This message can be sent anytime and may be saved.
Table 78: Message 20101: FDIR Override Control

Output: 65535
Control Byte 4 ulong bit (set) N/A
0 Enable primary GPS measurement construction
regardless of GPS status (default)
1 Disable primary GPS measurement construction
regardless of GPS status
2 Enable auxiliary GPS position measurement
construction regardless of auxiliary GPS status
(default)
3 Disable auxiliary GPS position measurement
construction regardless of auxiliary GPS status
(use internal GPS position)
4 Use GAMS solution for heading aiding (default)
5 Do not use GAMS solution for heading aiding
6-31 spare
Pad 2 byte 0 N/A
5.3.3.28. Message 20102: COM 2 Port Diagnostics

This message is used to set selected output values for the COM 2 port when POS is in diagnostics mode.
This mode is used to allow POS to generate user selectable constant outputs to test the communications
interface between POS and the sensor.
This message shall be accepted only in diagnostics mode.
94
.
Table 79: Message 20102: COM 2 Port Diagnostics

Output: 65535
Operator roll 4 float -180 < to 180 Deg
input (default = 0)
Operator pitch float -180 < to 180 Deg
input 4 (default = 0)
Operator float 0 to < 360 Deg
heading input 4 (default = 0)
Operator heave 4 float -100 to 100 M
input (default = 0)
Pad 2 byte 0 N/A
5.3.3.29. Message 20103: Analog Port Diagnostics

This message is used to set the output values for the analog port when POS is in diagnostics mode. This
mode is used to allow POS to generate user selectable constant sensor attitude inputs to test the
communications interface between POS and the sensor.
This message shall be accepted only in diagnostics mode.
Table 80: Message 20103: Analog Port Diagnostics

Output: 65535
Operator roll 4 float -180 < to 180 Deg
input (default = 0)
Operator pitch 4 float -180 < to 180 Deg
input (default = 0)
Operator heave 4 float -100 to 100 M
input (default = 0)
Pad 2 byte 0 N/A
5.3.3.30. Message 20200: Gimbal Encoder Input

This message is used to input Gimbal Encoder data to POS when the IMU is mounted on a stabilized
platform. Please see the POS/AV Installation and Operation Manual for encoder definitions and data rates.
Gimbal processing using data from the Ethernet is turned on via the Gimbal processing control byte. Once
turned on, and Message 20200 is not received within 1 sec, then a gimbal data gap will be declared. The
95
.
user can turn off Gimbal processing by issuing Message 20200 at least once with the control byte set to 0.
Default is 0 (OFF).
The Angle Definition field tells POS how to interpret the 3 encoder angles. Value 0 is for when the IMU is
mounted on a pod type platform such as a WESCAM mount. In this case the sequence of rotations
starting with the aircraft frame is tz, ty, tx. The value 1 is for when the IMU is mounted on a traditional
aerial camera stabilized mounts such as the PAV30 or T-AS. In this case the sequence of rotations in tx, ty,
tz. All angles are defined as positive clockwise. Please see the POS/AV Installation and Operation Manual
for details.
Table 81: Message 20200: Gimbal Encoder Input
Output: N/A
Time 1: User time 0
Time 1: GPS time 1
Gimbal 1 byte Value Operation N/A

Processing 0 Gimbal processing OFF (default)
Control 1 Gimbal processing ON
Encoder Angle 8 double N/A deg
Tx
Ty
Tz
Angle Definition 1 byte Value Definition N/A
0 tz,ty,tx (default)
1 tx,ty,tz
Pad 3 byte 0 N/A
5.3.3.31. Message 20201: Platform Yaw Drift Correction Setup

This message is used to set-up the platform yaw drift correction algorithm. The user can choose from 1 of 2
methods for controlling the platform yaw drift.
Method 0: The yaw of the platform is continuously steered so that it equals the mean track of the aircraft.
This method requires no input from the operator regarding the desired track of the current flight line.
Method 1: The user sets the desired heading of the next flight line. POS then steers the yaw of the platform
so that the platform heading is always equal to the desired heading. The activation threshold defines the
region about the heading set-point where the yaw drift correction is active. If this method is chosen and the
operator does not send the desired heading in time for the current line, POS will default to Method 0.
96
.
Methods 2 and 3: Similar to Method 0 and 1 respectively, but POS outputs the heading difference instead
of continuously steering the platform.
The cut-off period is the tracking filter cut-off in seconds. The gain is the used to scale the drift correction
output.
The drift correction output is designed to be superimposed upon the signal of the yaw gyro of the stabilized
mount, and then fed into its control loop. Hence the cut-off period is chosen to match the bandwidth of the
control loop.
The default cut-off period is 5 seconds, with a gain of 0.5. These values can be optimized by the user
depending upon the type of platform and aircraft.
Table 82: Message 20201: Platform Yaw Drift Correction Setup

Output: N/A
Desired Heading 8 double 0 to 360 deg
Activation 8 double 0 to 30 deg
Threshold
Cutoff Period 8 double 0.001 to 10,000 sec
Gain 8 double 0.00001 to 10,000 N/A
Correction 1 byte Value Operation N/A
Method 0 Follow Mean Track (default)
1 Follow Desired Heading
2 Follow Mean Track (w/o integrator)
3 Follow Desired Head (w/o integrator)
Pad 1 Byte N/A N/A
5.3.3.32. Message 20202: Free Inertial Mode Command

This message is used to select or deselect POS Free Inertial Mode. The selection will appear on the
Controller under Selection->Mode->Free Inertial only in case if Advanced Menus has been selected.
In order to run this feature the real time software has to be optionally configured to run in Free Inertial
Mode, otherwise sending this message will do no changes to real time solution.
When free inertial mode is selected it will disable closed loop error control inside real time software and
POS will run in Free Inertial Mode.
Table 83: Message 20202: Free Inertial Mode Command

97
.

Output: N/A
Mode Type 1 byte Value Mode
0 Regular POS mode N/A

1 Free Inertial Mode
Reserved 2 ushort N/A N/A

Pad 3 byte N/A N/A
5.3.3.33. Message 20203: FMS Data Port Selection

This message is used to configure the PCS FMS Ethernet Data port. Note that some groups cannot be
determined at every output, while others have a latency which, by definition, means that they will not be
available at the same time as other data.

Table 84: Message 20203: FMS Data Port Control Command

Message start 4 Char $MSG N/A
Output: 65535
Selected for FMS (default = 0)
Data Port
FMS Data Port 2 ushort Group ID to Output N/A
ushort N/A
FMS Data Port 2 ushort Group ID to Output N/A
98
.

FMS Data Port 2 ushort Value Rate (Hz) Hz
2 2
10 10
20 20
25 25
50 50
100 100
200 200
Pad var byte 0 N/A
0 or 2
5.3.3.34. FMS Camera Trigger Control Command

This command is used by Flight Management System to control the camera trigger pulse generated by
POS.
Table 85: Message 20204: FMS Camera Trigger Control Command

Output: N/A
Tracker MSG1 1 Byte
ID
Not used 0
Begin photo session (SS) 1
Change photo interval (SI) 2
Max num of photos (SM) 3
Single image command (CT) 4
Stop photo session (SP) 5
Pulse polarity (PP) 6
Trigger Length (TL) 7
99
.

Field 1 4 Long
MSG ID Value Units
1(SS) 0-604800000 GPS Time in msec
of GPS week
2 (SI) MIN-MAX
MIN interval should be Msec
defined
3 (SM) MAX number of photos to the N/A
end of triggering interval.
4 (CT) N/A N/A
5 (SP) N/A N/A
6 (PP) -1 Negative edge N/A
1 Positive edge
7 (TL) MIN 9999 msec
Default is 200
MIN should be defined and
depends on minimum interval
Field 2 4 Long
MSG ID Value Units
1 MIN-MAX interval Msec
(SS)
2,3,4,5,6 N/A N/A
,7
(SI,SM,
CT,SP,
PP,TL)
Reserved 1 4 Long 0
Reserved 2 4 Long 0
Pad 1 byte 0 N/A
5.3.3.35. Message 20205: Gimbal Mount Control Command

This command turns on/off the mount during the start/end of the flight line.
Table 86: Message 20205: Gimbal Mount Control Command

Output: N/A
Gimbal Control 1 Byte Gimbal Stabilization Off 0
Gimbal Stabilization On 1
Gimbal External Leveling (ZI mount only) 2
Reserved 4 Long
Reserved 4 Long 0
100
.

Pad 1 byte 0 N/A
5.3.3.36. Message 20206: Lidar Logging Control Command

This command turns on/off the logging of the raw lidar group 10202 during the start/end of the flight line.
Table 87: Message 20206: Lidar Logging Command

Output: N/A
Logging 1 Byte Lidar Logging off 0
Lidar Logging on 1
Flight Line 4 Long

Number
Reserved 4 Long 0
Pad 1 byte 0 N/A
5.3.3.37. Message 20207: Lidar IP Address Control Command
This command sets lidar IP and commands to POS to connect to specify address.
Table 88: Message 20207: Lidar IP Address Control Command

Output: N/A
Lidar IP Addres 1 byte 128 to 223
Network Part 1 (class B &C address)
(default = 129)
Lidar IP Address 1 byte 0-255

Network Part2 (default = 100)
Host Part1 (default = 0)
101
.

Host Part2 (default = 151)
Connection 1 byte 0 disconnect N/A
Control 1- connect
Lidar Type 1 byte 0- Q240 N/A
1- Q560
2- Generic LiDAR
Connection 1 byte 0 Disconnected N/A
Status 1- Connected
(Q560 only)
Logging Status 4 ulong 0-No Logging N/A
(Q560 only) 1-Logging
Reserved 4 ulong 0 N/A
Pad 3 byte
5.3.3.38. Message 20208: Camera 1 Message
This message provides information about the last camera 1 trigger. It is used only in POSTrack product
Table 89: Message 20208: Camera 1 Message

Output: N/A
Event Number 4 ulong Last event/trigger number
Photo ID 1 4 ulong Corresponding Photo ID number of the camera 1
Event Time 8 double Time of the last event/trigger sec
Camera Delay 1 8 double Variable camera delay msec
Reserved 4 long 0 N/A
Pad 2 byte 0 N/A
5.3.3.39. Message 20209: Camera 2 Message
This message provides information about the last camera 2 trigger. It is used only in POSTrack product
Table 90: Message 20209: Camera 2 Message
102
.

Output: N/A
Event Number 4 Ulong Last event/trigger number
Photo ID 1 4 Ulong Corresponding Photo ID number of the camera 1
Event Time 8 double Time of the last event/trigger sec
Camera Delay 1 8 double Variable camera delay msec
Reserved 4 Long 0 N/A
Pad 2 Byte 0 N/A
Message end 2 Char $# N/A
5.3.3.40. Message 20211: Events Shift Message

This message provides information about corresponding event shift that will be used to adjust the time in
Event Based Navigation Solution ( group 206 and 207).
Table 91: Message 20211: Event Shift Message

Output: N/A
Event 1 Shift 4 Float -500 500 msec
Event 2 Shift 4 Float -500 500 msec
Reserved 4 Float 0 N/A
Reserved 4 Float 0 N/A
Pad 2 Byte 0 N/A
5.3.3.41. Message 20212: Event 1 POSEO Settings

This message provides definition of Omega Phi Kappa, boresight angles, lever arms and local mapping
frame shift for event1 Real time POSEO.
103
.
Table 92: Message 20212: Real Time POSEO Settings Event1

Output: N/A
1st rotation axis 1 Byte Value Axis
0 X N/A
1 Y
2 Z
1st rotation angle 1 Byte Value Angle
0 Omega
1 Phi N/A
2 Kappa
2nd rotation axis 1 Byte Value Axis
0 X N/A
1 Y
2 Z
2nd rotation angle 1 Byte Value Angle
0 Omega
1 Phi N/A
2 Kappa
3rd rotation axis 1 Byte Value Axis
0 X N/A
1 Y
2 Z
3rd rotation angle 1 Byte Value Angle
0 Omega
1 Phi N/A
2 Kappa
Kappa Cardinal 4 Float N/A deg

Rotation
Boresight Angle 4 Float (default 0) arcmin
tx
ty
tz
104
.

Boresight Angle 4 Float (default 600) N/A
Standard
Deviation tx
Standard
Deviation ty
Standard
Deviation tz
X Lever Arm 4 Float (default 0) m
from center of
Aircraft frame
Y Lever Arm 4 Float (default 0) m
from center of
Aircraft frame
Z Lever Arm 4 Float (default 0) m
from center of
Aircraft frame
Units for Local 1 Byte 0 meters
mapping frame 1- US Survey Feet N/A
shift 2- International Feet
X Local mapping 4 Float ( default 0) Meter or
frame shift US Feet or
Internationa
l Feet
Y Local mapping 4 Float ( default 0) Meter or
Internationa
l Feet
Z Local mapping 4 Float ( default 0) Meter or
Internationa
l Feet
Output 1 Byte 0 meters
Coordiante Unit 1- US Survey Feet N/A
2- International Feet
Output Angle 1 Byte 0 degrees
Unit 1- gradiants N/A
2- radians
Reserved1 2 ushort N/A N/A
Reserved3 4 Float N/A N/A
Pad 1 Byte N/A N/A
5.3.3.42. Message 20213: Event 1 Mapping Frame Message

This message provides information of selected mapping frame parameters for Event 1 Real Time POSEO.
105
.
Table 93: Message 20213: Real Time POSEO Mapping Frame Settings Event1

Output: N/A
Grid 70 char Selected Greed:
(Default)
"Universal Transverse Mercator =UTM Universal N/A
Transverse Mercator"
Zone 180 char Selected Zone:
(Default)
"UTM North 01 (180W to 174W) =UTM Zone 01N
(180 W to 174 W)=WGS84 =TM=W 177 00 0.0=N N/A
00 00 0.0=0.9996=500000=0"
Datum 150 char Selected Datum:
(Default)
"WGS84 =WGS 1984=WGS84 =7 N/A
Parameter=0.0=0.0=0.0=1.0=0.0=0.0=0.0=x=y=z=0
"
Ellipsoid 60 char Selected Ellipsoid:
(Default)
"WGS84 =World Geodetic System
1984=6378137.0=298.257223563" N/A
Local 150 char Selected Local Transformation:
transformation (Default)
"NONE=NONE=7 N/A
Parameters=0.0=0.0=0.0=1.0=0.0=0.0=0.0"
Reserved 1 4 long N/A N/A
Reserved 3 4 float N/A N/A
5.3.3.43. Message20214: Event 2 POSEO Settings

This message provides definition of Omega Phi Kappa, boresight angles, lever arms and local mapping
frame shift for event2 Real time POSEO.
Table 94: Message 20214: Real Time POSEO Settings Event 2

Output: N/A
106
.

st
1 rotation axis 1 Byte Value Axis
0 X N/A
1 Y
2 Z
1st rotation angle 1 Byte Value Angle
0 Omega
1 Phi N/A
2 Kappa
2nd rotation axis 1 Byte Value Axis
0 X N/A
1 Y
2 Z
2nd rotation angle 1 Byte Value Angle
0 Omega
1 Phi N/A
2 Kappa
3rd rotation axis 1 Byte Value Axis
0 X N/A
1 Y
2 Z
3rd rotation angle 1 Byte Value Angle
0 Omega
1 Phi N/A
2 Kappa
Kappa Cardinal 4 Float N/A deg

Rotation
tx
ty
tz
Standard
Deviation tx
Standard
Deviation ty
Standard
Deviation tz
107
.

X Lever Arm 4 Float (default 0) m
from center of
Aircraft frame
Y Lever Arm 4 Float (default 0) m
from center of
Aircraft frame
Z Lever Arm 4 Float (default 0) m
from center of
Aircraft frame
Units for Local 1 Byte 0 meters
mapping frame 1- US Survey Feet N/A
shift 2- International Feet
X Local mapping 4 Float ( default 0) Meter or
Internationa
l Feet
Y Local mapping 4 Float ( default 0) Meter or
Internationa
l Feet
Z Local mapping 4 Float ( default 0) Meter or
Internationa
l Feet
Output 1 Byte 0 meters
Coordiante Unit 1- US Survey Feet N/A
2- International Feet
Output Angle 1 Byte 0 degrees
Unit 1- gradiants N/A
2- radians
Pad 1 Byte N/A N/A
5.3.3.44. Message 20215: Event 2 Mapping Frame Message

This message provides information of selected mapping frame parameters for Event 2 Real Time POSEO.
Table 95: Message 20215: Real Time POSEO Mapping Frame Settings Event2

108
.

Output: N/A
Grid 70 char Selected Greed:
(Default)
"Universal Transverse Mercator =UTM Universal N/A
Transverse Mercator"
Zone 180 char Selected Zone:
(Default)
"UTM North 01 (180W to 174W) =UTM Zone 01N
(180 W to 174 W)=WGS84 =TM=W 177 00 0.0=N N/A
00 00 0.0=0.9996=500000=0"
Datum 150 char Selected Datum:
(Default)
"WGS84 =WGS 1984=WGS84 =7 N/A
Parameter=0.0=0.0=0.0=1.0=0.0=0.0=0.0=x=y=z=0
"
Ellipsoid 60 char Selected Ellipsoid:
(Default)
"WGS84 =World Geodetic System
1984=6378137.0=298.257223563" N/A
Local 150 char Selected Local Transformation:
transformation (Default)
"NONE=NONE=7 N/A
Parameters=0.0=0.0=0.0=1.0=0.0=0.0=0.0"
5.3.3.45. Message 20217: Real Time POSPC Settings

This message provides settings for LiDAR real time point cloud and swats calculation.
Table 96: Message 20217: Real Time POSPC Settings

Output: N/A
Enable Swats 1 byte 0 - disable
and Vertical 1 - enable
Range N/A
Enable 1 byte 0 - disable
Point Cloud 1 - enable
N/A
109
.

X LiDAR wrt 4 float -180 to +180
reference frame (default = 0) deg
mounting angle
Y LiDAR wrt 4 float -180 to +180
mounting angle
Z LiDAR wrt 4 float -180 to +180
mounting angle
LiDAR (default = 0)
X lever arm
LiDAR (default = 0)
Y lever arm
LiDAR (default = 0)
Z lever arm
Reserved 4 float N/A N/A
Range Filter 4 float any floating point number m
(default = 0)
Reserved 4 float N/A N/A
Reserved 8 double N/A N/A
Reserved 8 double N/A N/A
5.3.3.46. Message 20218: External Lidar Swat

The message 20218 provides externally calculated lidar swats in order to be displayed on FMS.
Table 97: Message 20218: External Lidar swats
Transaction # 2 ushort N/A N/A
Computation 1 char 0 External Computation
Method 1- Internal Computation
(Time Tags in UTC Time)
2-Internal Computation
(Time Tags in GPS Time
Middle Point 4 float Applicable only for m
Altitude Diff computation method 0
(HAG)
Middle Point 8 double Applicable only for sec
Time Tag computation method 1 and 2
The time tag is in UTC or
GPS seconds of the current
week.
Range
110
.

Angle
Latitude Applicable only for
computation method 0
Longitude Applicable only for
Altitude Applicable only for
First Point Time 8 double Applicable only for sec
Tag computation method 1 and 2
The time tagis in UTC or
week.
Range
Angle
Last Point Time 8 double Applicable only for sec
Tag computation method 1 and 2
The time tag is in UTC or
week.
Range
Angle
Number of Scan 2 ushort N/A N/A
Lines per Sec
Number of Points 2 ushort N/A N/A
per Scan Line
Pad 1 byte 0 N/A
111
.

5.3.3.47. Message 20219: ZI Mount Roll and Pitch Scale Factor Settings
This message provides the scale factor setting for roll and pitch that POS uses to level the Z/I mount. This
message applies to ZI mount only. The recommended settings of the scale factor is 2.0.
Table 98: Message 20219: Roll and Pitch Scale Factor
Output: N/A
Reserved 1 1 char 0 N/A
Gain Roll 8 double 0.001 to 10,000 N/A
Recommended 2.0
Reserved 5 1 byte 0 N/A
Reserved 6 8 double 0 deg
Reserved 8 8 double 0 sec
Gain Pitch 8 double 0.001 to 10,000 N/A
Recommended 2.0
Reserved 9 1 byte 0 N/A
Pad 3 Byte N/A N/A
5.3.3.48. Message 20220: YDC Set Point Offset Settings

The Set Point for Yaw Drift correction is set using message 20201. The message 20220 provides possibility
to adjust the set point value by constant offset.
Table 99: Message 20220: YDC Set Point Offset
Output: N/A
Set Point Offset 4 float -180.0 to 180.0 deg
Reserved 1 4 float 0 N/A

Pad 2 Byte N/A N/A
112
.

113
.
1.1.1.1. Data Format Description

The data format for byte, short, long, float, and double as used in POS are defined as follows:
Table 100: Byte Format

MSBit LSBit
7 6 5 4 3 2 1 0
The short integer format of the POS data is the INTEL style byte order as follows:
Table 101: Short Integer Format

MSB LSB
15 8 7 0
Byte #: 1 0
The long integer format of the POS data is the INTEL style byte order as follows:
Table 102: Long Integer Format

MSB LSB
31 24 23 16 15 8 7 0
Byte #: 3 2 1 0
The floating point format of the POS data is INTEL byte order IEEE FP standard (754) and is as follows:
Table 103: Single-Precision Real Format

Data format
31 30 23 22 0
s e f
Field Size in Bits

Sign (s) 1
Biased Exponents (e) 8
Fraction (f) 23
Total 32
Interpretation of Sign
Positive Fraction s=0
Negative Fraction s=1
Normalised Numbers
Bias of Biased Exponent +127 ($7F)
Range of Biased Exponent 0<e<255 ($FF)
Range of Fraction zero or nonzero
Fraction 1.f (where f=bit22-1+bit21-2+bit0-23)
Relation to Representation of Real Numbers (-1)sx2e-127x1.f
Approximate Ranges
Maximum Positive Normalised 3.4x1038
114
.
Minimum Positive Normalised 1.2x10-38
Table 104: Double-Precision Real Format

Data format
63 62 52 51 0
s e f
Field Size in Bits

Sign (s) 1
Biased Exponents (e) 11
Fraction (f) 52
Total 64
Interpretation of Sign
Positive Fraction s=0
Negative Fraction s=1
Normalised Numbers
Bias of Biased Exponent +1023 ($3FF)
Range of Biased Exponent 0<e<2047 ($7FF)
Range of Fraction zero or nonzero
Fraction 1.f (where f=bit51-1+bit50-2+bit0-52)
Relation to Representation of Real Numbers (-1)sx2e-1023x1.f
Approximate Ranges
Maximum Positive Normalized 1.8x10308
Minimum Positive Normalized 2.2x10-308
115

POSAV V5 Ethernet Disk Logging ICD Rev18

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POSAV V5 Ethernet Disk Logging ICD Rev18

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POS AV V4/ V5 Ethernet & Disk Logging ICD (External

Date: Nov 14,2011

2. GLOSSARY OF ACRONYMS .......................................................................................................... 1

3. ETHERNET & DISK LOGGING INTERFACES ........................................................................... 2

4. GROUP OUTPUTS ........................................................................................................................... 3

POS/AV Position and Orientation System for Airborne Vehicles

3. Ethernet & Disk Logging Interfaces

4.2. Output Group Data Rates

Table 1: Output Group Data Rates

101 General Status & FDIR 1* 1* 1* 1 1 1 1 1 1

200 Gimbal Encoder Data 1 1 - 1-200 1-200 - 1-200 1-200 -

20101 Navigation Kalman filter set A - 1 - - 1 - - 1 -

20200 Gimbal Encoder CSC Status 1 1 1 1 1 1 1 1 1

4.3. Output Group Formats

UTC time for Time 1.

Following the header is the group data.

4.3.2. Invalid Data Values

Table 2: Invalid Data Values

4.3.3. Output Group Tables

4.3.3.1. Group 1: Aircraft Position, Velocity, Attitude, Track, Speed &

Item Bytes Format Value Units

Value: bits 4-7

Item Bytes Format Value Units

4.3.3.2. Group 2: Aircraft Position, Velocity, and Attitude Performance

All data in this group are RMS values.

Table 4: Group 2: Aircraft Position, Velocity, and Attitude Performance Metrics

Item Bytes Format Value Units

Value: bits 4-7

4.3.3.3. Group 3: Primary GPS

Table 5: Group 3: Primary GPS

Item Bytes Format Value Units

Value: bits 4-7

SV PRN number 2 ushort 1 - 64 N/A

Item Bytes Format Value Units

HDOP 4 float N/A N/A

GPS/UTC week 4 ulong 0 if not available week #

Item Bytes Format Value Units

Table 6: NovAtel OEM2-3151 GPS Status

Not used bits: 8-10,

Table 7: NovAtel OEM3-MiLLenium GPS receiver status

Not used bits: 8-10, 14,

Table 8: Novatel OEM4 GPS Status

Table 9: Novatel OEMV-3 GPS Status

Table 10: Trimble BD112 GPS receiver status

Error Flag 1 byte Battery-backed memory failed bit 0: set

Reserved bits: 1-3, 6-7

Reserved bits: 0, 5-7

Table 11: Trimble BD750/BD950 GPS receiver status

4.3.3.4. Group 4: POS IMU

Table 12: Group 4: POS IMU

Value: bits 4-7

Item Bytes Format Value Units

Pad 1 byte 0 N/A

4.3.3.5. Group 5: Event 1

Table 13: Group 5: Event 1

Value: bits 4-7

4.3.3.6. Group 6: Event 2

Table 14: Group 6: Event 2

Item Bytes Format Value Units

Value: bits 4-7

4.3.3.7. Group 7: PPS Data

Table 15: Group 7: PPS Data

Value: bits 4-7

Item Bytes Format Value Units