DR + GPS
STARTER KIT REFERENCE MANUAL
Lassen DR + GPS Reference Manual 110
0x29-07: Short Map-Match Data
This message contains the most recent map-match data. It can be set, queried,
or auto-reported.
Table 86: 0x29-07: Map-Match Report Message
Byte Name Type Units/LSB Range / Value Meaning
Code U8 0x29
Subcode U8 0x07
0 0 Lat-Lon Valid U1 1 = Valid
0 1 Altitude Valid U1 1 = Valid
0 2 Heading Valid U1 1 = Valid
0 3 Lat-Lon Accy Valid U1 1 = Valid
0 4 Altitude Accy Valid U1 1 = Valid
0 5 Heading Accy Valid U1 1 = Valid
0 6 Time Source U2 From
Msg 30-02
1-2 Time Tag U16 1 ms [0, 65535] ms 16 LSBs from Msg
0x30-02
3-6 Latitude S32 2-31 sc [-½, ½] sc.
7-10 Longitude S32 2-31 sc [-1, 1) sc.
11-12 Altitude S16 1 m [-400, 10000] m MSL
13-14 Heading U16 2-15 sc [0, 2) sc.
15-16 East Accy U16 1 m (0, 1000] m 1-σ accuracy
17-18 North Accy U16 1 m (0, 1000] m 1-σ accuracy
19-20 East / North
Covariance
S16 1 m [-1000, 1000]
21-22 Altitude Accy U16 1 m [1, 1000] m 1-σ accuracy
23-24 Heading Accy U16 2-15 sc (0, 1] sc. 1-σ accuracy
The Time of Week and Time Source data fields must exactly match the Time of
Week (16 LSBs) and Time Source fields of a recent 0x30-02 message. The map-
match information is assumed to be the position/heading estimate at the time of
that 0x30-02 message.
The “East / North Covariance” data field is a signed quantity, derived from the off-
diagonal element CovE,N of the 2x2 East-North error covariance matrix as follows:
SIGN (CovE,N) SQRT (ABS(CovE,N))