1、航天一院某所SPAN（PP6 FSAS）培訓(xùn)資料 第四章SPAN輸出語(yǔ)句格式北京七維航測(cè)科技股份有限公司股票代碼：430088數(shù)據(jù)格式輸出的數(shù)據(jù)為小端模式，即多個(gè)字節(jié)組成的數(shù)據(jù)，其低字節(jié)在前，高字節(jié)在后。數(shù)據(jù)格式輸出的數(shù)據(jù)格式有novatel格式、NMEA 0183格式、RTCM差分格式等。Novatel格式數(shù)據(jù)包含二進(jìn)制和ASC碼格式。對(duì)于INS數(shù)據(jù)還有專(zhuān)門(mén)的短語(yǔ)句頭格式。下面以二進(jìn)制格式為例進(jìn)行簡(jiǎn)單說(shuō)明。位數(shù)十六進(jìn)制十進(jìn)制1AA17024468312181、基本格式：語(yǔ)句頭：同步字節(jié)3個(gè)+頭信息字節(jié)25個(gè)。頭的長(zhǎng)度可能根據(jù)字段的長(zhǎng)度不同而不同，通常會(huì)檢查頭長(zhǎng)度。語(yǔ)句體：可變長(zhǎng)度CRC校驗(yàn)：

2、 4字節(jié)語(yǔ)句頭里有字節(jié)代表語(yǔ)句頭長(zhǎng)度（Header lgth）、信息ID號(hào)（Message Id）和語(yǔ)句體（整條語(yǔ)句不包括語(yǔ)句頭和檢驗(yàn)和）長(zhǎng)度（Message length）2、3個(gè)同步字節(jié)通常如下：3、CRC校驗(yàn)是32位的，是對(duì)所有字節(jié)包括語(yǔ)句頭和語(yǔ)句體信息的校驗(yàn)和。數(shù)據(jù)格式校驗(yàn)使用語(yǔ)句中除校驗(yàn)和之外的所有數(shù)據(jù)進(jìn)行校驗(yàn)和計(jì)算，可使用C程序如下：#define CRC32_POLYNOMIAL 0 xEDB88320L/* -Calculate a CRC value to be used by CRC calculation functions. - */unsigned long CRC3

3、2Value(int i) int j; unsigned long ulCRC;ulCRC = i; for ( j = 8 ; j 0; j- ) if ( ulCRC & 1 ) ulCRC = ( ulCRC 1 ) CRC32_POLYNOMIAL; else ulCRC = 1; return ulCRC;/* -Calculates the CRC-32 of a block of data all at once- */unsigned long CalculateBlockCRC32( unsigned long ulCount, /* Number of bytes in

4、the data block */ unsigned char *ucBuffer ) /* Data block */ unsigned long ulTemp1; unsigned long ulTemp2; unsigned long ulCRC = 0;while ( ulCount- != 0 ) ulTemp1 = ( ulCRC 8 ) & 0 x00FFFFFFL; ulTemp2 = CRC32Value( (int) ulCRC *ucBuffer+ ) & 0 xff ); ulCRC = ulTemp1 ulTemp2; return( ulCRC );INS短語(yǔ)句頭語(yǔ)

5、句解析舉例INSPVAS（位置、速度、姿態(tài)輸出語(yǔ)句）結(jié)構(gòu)：語(yǔ)句解析舉例INSPVASB語(yǔ)句實(shí)例：AA 44 13 58 FC 01 94 06 C8 A8 C9 10 94 06 00 00 56 F1 46 96 CD 30 11 41 AD 06 EF D7 84 08 44 40 D1 84 E0 16 C2 0F 5D 40 00 00 DC 75 0B 05 4D 40 84 D0 6D 23 AA AD 72 BF 64 B6 6B A9 57 AD 50 BF 6C D6 71 48 0A 23 53 BF C5 89 EA 26 3D 2B E5 BF 55 B6 6B 93

6、7D 87 DD BF 91 76 99 04 29 DE 52 40 03 00 00 00 F9 AB AF 66 字節(jié)類(lèi)型內(nèi)容描述實(shí)例語(yǔ)句頭1CharHex 0 xAA語(yǔ)句頭AA2CharHex 0 x44語(yǔ)句頭443CharHex 0 x13語(yǔ)句頭134Uchar1個(gè)字節(jié)語(yǔ)句體長(zhǎng)度（不包括頭和校驗(yàn)和）58（0 x58=88）104-12-4=885-6Ushort2個(gè)字節(jié)語(yǔ)句的ID號(hào)FC 01（0 x01 0 xFC=508）即語(yǔ)句ID號(hào)為5087-8Ushort2個(gè)字節(jié)GPS周94 06（0 x06 0 x94=1684）即為第1684周9-12Ulong4個(gè)字節(jié)GPS秒（單位為ms

7、）C8 A8 C9 10即為 10 C9 A8 C8為281651400ms即為281651.400s語(yǔ)句解析舉例字節(jié)類(lèi)型內(nèi)容描述實(shí)例13-16Ulong4個(gè)字節(jié)GPS周94 06 00 00即為1684周17-24Double8個(gè)字節(jié)GPS秒（單位為s）56 F1 46 96 CD 30 11 41即為281651.3967550000s25-32Double8個(gè)字節(jié)緯度（單位為）AD 06 EF D7 84 08 44 40即為：40.0665540616149433-40Double8個(gè)字節(jié)經(jīng)度（單位為）D1 84 E0 16 C2 0F 5D 40即為：116.246221274620

8、741-48Double8個(gè)字節(jié)橢球高（單位為m）00 00 DC 75 0B 05 4D 40即為：58.0394122432917449-56Double8個(gè)字節(jié)北向速度（單位為m/s）84 D0 6D 23 AA AD 72 BF即為：-0.00456015072164857-64Double8個(gè)字節(jié)東向速度（單位為m/s）64 B6 6B A9 57 AD 50 BF即為：-0.00101789055559765-72Double8個(gè)字節(jié)天向速度（單位為m/s）6C D6 71 48 0A 23 53 BF即為：-0.00116802219579673-80Double8個(gè)字節(jié)橫滾角度

9、（單位為）C5 89 EA 26 3D 2B E5 BF即為：-0.66152818299115581-88Double8個(gè)字節(jié)俯仰角度（單位為）55 B6 6B 93 7D 87 DD BF即為：-0.46139468571241189-96Double8個(gè)字節(jié)航向角度（單位為）91 76 99 04 29 DE 52 40即為：75.4712535380042697-100Enum4個(gè)字節(jié)INS狀態(tài)03 00 00 00即為3系統(tǒng)處于導(dǎo)航模式且INS解算良好101-104Hex4個(gè)字節(jié)CRC32位校驗(yàn)和語(yǔ)句解析舉例以如上所示實(shí)例計(jì)算校驗(yàn)和：#include #include int mai

10、n()unsigned char buffer = 0 xAA,0 x44,0 x13,0 x58,0 xFC,0 x01,0 x94,0 x06,0 xC8,0 xA8,0 xC9,0 x10,0 x94,0 x06,0 x00,0 x00,0 x56,0 xF1,0 x46,0 x96,0 xCD,0 x30,0 x11,0 x41,0 xAD,0 x06,0 xEF,0 xD7,0 x84,0 x08,0 x44,0 x40,0 xD1,0 x84,0 xE0,0 x16,0 xC2,0 x0F,0 x5D,0 x40,0 x00,0 x00,0 xDC,0 x75,0 x0B,0 x05,0 x4D,0 x40,0 x84,0 xD0,0 x6D,0 x23,0 xAA,0 xAD,0 x72,0 xBF,0 x64,0 xB6,0 x6B,0 xA9,0 x57,0 xAD,0 x50,0 xBF,0 x6C,0 xD6,0 x71,0 x48,0 x0A,0 x23,0 x53,0 xBF,0 xC5,0 x89,0 xEA,0 x26,0 x3D,0 x2B,0 xE5,0 xBF,0 x55,0 xB6,0 x6B,0 x93,0 x7D,0 x87,0 xDD,0 xBF,0 x91,0 x76,0 x99