 |
EM datagrams on *.kmall format
Reg. nr. 410224 rev J
|
|
EM datagrams on *.kmall format
Reg. nr. 410224 rev J
|
#SKM - Sensor attitude data block. Data given timestamped, not corrected. More...
#include <EMdgmFormat.h>
Data Fields | |
| uint8_t | dgmType [4] |
| uint16_t | numBytesDgm |
| uint16_t | dgmVersion |
| uint32_t | time_sec |
| uint32_t | time_nanosec |
| uint32_t | status |
Position. | |
| double | latitude_deg |
| double | longitude_deg |
| float | ellipsoidHeight_m |
Attitude. | |
| float | roll_deg |
| float | pitch_deg |
| float | heading_deg |
| float | heave_m |
Rates. | |
| float | rollRate |
| float | pitchRate |
| float | yawRate |
Velocities. | |
| float | velNorth |
| float | velEast |
| float | velDown |
Errors in data. Sensor data quality, as standard deviations. | |
| float | latitudeError_m |
| float | longitudeError_m |
| float | ellipsoidHeightError_m |
| float | rollError_deg |
| float | pitchError_deg |
| float | headingError_deg |
| float | heaveError_m |
Acceleration. | |
| |
| float | northAcceleration |
| float | eastAcceleration |
| float | downAcceleration |
#SKM - Sensor attitude data block. Data given timestamped, not corrected.
See Coordinate systems for definition of positive angles and axis.
Definition at line 377 of file EMdgmFormat.h.
| uint8_t dgmType[4] |
#KMB
Definition at line 379 of file EMdgmFormat.h.
| uint16_t numBytesDgm |
Datagram length in bytes. The length field at the start (4 bytes) and end of the datagram (4 bytes) are included in the length count.
Definition at line 380 of file EMdgmFormat.h.
| uint16_t dgmVersion |
Datagram version.
Definition at line 381 of file EMdgmFormat.h.
| uint32_t time_sec |
UTC time from inside KM sensor data. Unit second. Epoch 1970-01-01 time. Nanosec part to be added for more exact time.
If time is unavailable from attitude sensor input, time of reception on serial port is added to this field.
Definition at line 382 of file EMdgmFormat.h.
| uint32_t time_nanosec |
Nano seconds remainder. Nanosec part to be added to time_sec for more exact time.
If time is unavailable from attitude sensor input, time of reception on serial port is added to this field.
Definition at line 384 of file EMdgmFormat.h.
| uint32_t status |
Bit pattern for indicating validity of sensor data, and reduced performance. The status word consists of 32 single bit flags numbered from 0 to 31, where 0 is the least significant bit.
Bit number 0-7 indicate if from a sensor data is invalid. 0 = valid data, 1 = invalid data.
Bit number 16-> indicate if data from sensor has reduced performance. 0 = valid data, 1 = reduced performance.
Invalid data:
| Bit number | Sensor data |
|---|---|
| 0 | Horizontal position and velocity |
| 1 | Roll and pitch |
| 2 | Heading |
| 3 | Heave and vertical velocity |
| 4 | Acceleration |
| 5 | Delayed heave |
| 6 | Delayed heave |
Reduced performance:
| Bit number | Sensor data |
|---|---|
| 16 | Horizontal position and velocity |
| 17 | Roll and pitch |
| 18 | Heading |
| 19 | Heave and vertical velocity |
| 20 | Acceleration |
| 21 | Delayed heave |
| 22 | Delayed heave |
Definition at line 386 of file EMdgmFormat.h.
| double latitude_deg |
Position in decimal degrees.
Definition at line 421 of file EMdgmFormat.h.
| double longitude_deg |
Position in decimal degrees.
Definition at line 422 of file EMdgmFormat.h.
| float ellipsoidHeight_m |
Height of sensor reference point above the ellipsoid. Positive above ellipsoid. ellipsoidHeight_m is not corrected for motion and installation offsets of the position sensor.
Definition at line 423 of file EMdgmFormat.h.
| float roll_deg |
Roll. Unit degree.
Definition at line 427 of file EMdgmFormat.h.
| float pitch_deg |
Pitch. Unit degree.
Definition at line 428 of file EMdgmFormat.h.
| float heading_deg |
Heading of vessel. Unit degree. Relative to the fixed coordinate system, i.e. true north.
Definition at line 429 of file EMdgmFormat.h.
| float heave_m |
Heave. Unit meter. Positive downwards.
Definition at line 430 of file EMdgmFormat.h.
| float rollRate |
Roll rate. Unit degree/s
Definition at line 435 of file EMdgmFormat.h.
| float pitchRate |
Pitch rate. Unit degree/s
Definition at line 436 of file EMdgmFormat.h.
| float yawRate |
Yaw (heading) rate. Unit degree/s
Definition at line 437 of file EMdgmFormat.h.
| float velNorth |
Velocity North (X). Unit m/s
Definition at line 442 of file EMdgmFormat.h.
| float velEast |
Velocity East (Y). Unit m/s
Definition at line 443 of file EMdgmFormat.h.
| float velDown |
Velocity downwards (Z). Unit m/s
Definition at line 444 of file EMdgmFormat.h.
| float latitudeError_m |
Latitude error. Unit meter.
Definition at line 449 of file EMdgmFormat.h.
| float longitudeError_m |
Longitude error. Unit meter.
Definition at line 450 of file EMdgmFormat.h.
| float ellipsoidHeightError_m |
Ellipsoid height error. Unit meter.
Definition at line 451 of file EMdgmFormat.h.
| float rollError_deg |
Roll error. Unit degree.
Definition at line 452 of file EMdgmFormat.h.
| float pitchError_deg |
Pitch error. Unit degree.
Definition at line 453 of file EMdgmFormat.h.
| float headingError_deg |
Heading error. Unit degree.
Definition at line 454 of file EMdgmFormat.h.
| float heaveError_m |
Heave error. Unit meter.
Definition at line 455 of file EMdgmFormat.h.
| float northAcceleration |
Unit m/s^2.
Definition at line 460 of file EMdgmFormat.h.
| float eastAcceleration |
Unit m/s^2.
Definition at line 461 of file EMdgmFormat.h.
| float downAcceleration |
Unit m/s^2.
Definition at line 462 of file EMdgmFormat.h.
1.8.17