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D Logs Summary
MiLLennium GPSCard SW Version 4.503/4.52 Command Descriptions Manual Rev 2 183
PVAA/B XYZ Position, Velocity and Acceleration
The PVAA/B logs contain the receiver’s latest computed position, velocity and acceleration in ECEF coordinates.
The position, velocity and acceleration status fields indicate whether or not the corresponding data are valid.
This command supports INS (Inertial Navigation System) integration. PVA logs can be injected into the receiver
from an INS. This information is only used by the tracking loops of the receiver to aid in reacquisition
of satellites
after loss of lock, otherwise it is ignored. This command is only useful for very high dynamics where expected
velocity changes during the signal blockage of more than 100 meters per second can occur.
NOTE: These quantities are always referenced to the WGS84 ellipsoid, regardless of the use of the DATUM or
USERDATUM commands.
PVAA
Structure:
Example:
$PVAA,845,344559.00,-1634953.141,-3664681.855,4942249.361,-0.025,0.140,
0.078,0.000,-0.000,0.000,1,1,1*02
$PVAA week
seconds
P-x P-y
P-z
V-x V-y V-z
A-x A-y A-z P-status V-status A-status *xx [CR][LF]
Field # Field type Data Description Example
1 $PVAA Log header $PVAA
2 week GPS week number 845
3 seconds GPS time of week (s) 344559.00
4 P-x Position’s X-coordinate (m) -1634953.141
5 P-y Position’s Y-coordinate (m) -3664681.855
6 P-z Position’s Z-coordinate (m) 4942249.361
7 V-x Velocity vector along X-axis (m/s) -0.025
8 V-y Velocity vector along Y-axis (m/s) 0.140
9 V-z Velocity vector along Z-axis (m/s) 0.078
10 A-x
Acceleration vector along X-axis (m/s
2
)
0.000
11 A-y
Acceleration vector along Y-axis (m/s
2
)
-0.000
12 A-z
Acceleration vector along Z-axis (m/s
2
)
0.000
13 P-status Position status (0 = bad; 1 = good) 1
14 V-status Velocity status (0 = bad; 1 = good) 1
15 A-status Acceleration status (0 = bad; 1 = good) 1
16 *xx Checksum *02
17 [CR][LF] Sentence terminator [CR][LF]