Jackson Labs RSR GNSS Transcoder, User Manual

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RSR GNSS Transcoder™ User Manual
48 © 2017 Jackson Labs Technologies, Inc.
4.3.21.1 Dynamics
The Dynamics command specifies the linear (in the direction of motion) and lateral (orthogonal to
the direction of motion) dyanmics limits for all motion. It is recommended that the Dynamics
command be the first command in a series of motion commands. The Dynamics command can also
be used in the middle of a sequence of Motion Commands to change the vehicle dynamics.
The format of this command is:
DYN,<max linear speed>,<max linear accel>,<max linear jerk>,<max lateral accel>,<max
lateral jerk>
where
<max linear speed> is in m/s,
<max linear accel> is in m/s
2
,
<max linear jerk> is in m/s
3
,
<max lateral accel> is in m/s
2
, and
<max lateral jerk> is in m/s
3
.
4.3.21.2 Reference
The Reference command specifies the starting position, velocity and heading. It should be used as the
second Motion Command after the Dynamics command in a series of commands.
The format of this command is:
REF,<latitude>,<longitude>,<altitude>,<heading>,<speed>
where
<latitude> is in +/- degrees,
<longitude> is in +/- degrees,
<altitude> is in m above the ellipsoid,
<heading> is in degrees from north, and
<speed> is in m/s.
As of the release of this manual Motion Control Language commands are not supported. Future
releases of the RSR GNSS Transcoder™ firmware will included support for the Motion Control
Language.
4.3.21.3 Straight
The Straight command specifies level (constant altitude) motion at the current heading and speed for
the specified duration. The constant heading / great circle option controls if the path over a long
distance will maintain a constant heading and spiral towards the poles, or if the path of the largest
circle around the earth is followed. With a constant heading, the heading is only reversed 180 degrees
when the north or south pole is reached.
The format of this command is:
STR,<duration><C|G>