Memsic DMU380SA Series, User Manual

Page: 70 / 105

DMU380SA Series
User’s Manual
________________________________________________________________________
Doc# 7430-0026 Rev. 01 Page 60
N0 Payload Contents
Byte Offset Name Format Scaling Units Description
0 rollAngle I2 2*pi/2^16
[360°/2^16] Radians
[°] Roll angle
2 pitchAngle I2 2*pi/2^16
[360°/2^16] Radians
[°] Pitch angle
4 yawAngleTrue I2 2*pi/2^16
[360°/2^16] Radians
[°] Yaw angle (true north)
6 xRateCorrected I2 7*pi/2^16
[1260°/2^16] rad/s
[°/sec] X angular rate corrected
8 yRateCorrected I2 7*pi/2^16
[1260°/2^16] rad/s
[°/sec] Y angular rate corrected
10 zRateCorrected I2 7*pi/2^16
[1260°/2^16] rad/s
[°/sec] Z angular rate corrected
12 nVel I2 512/2^16 m/s North velocity
14 eVel I2 512/2^16 m/s East velocity
16 dVel I2 512/2^16 m/s Down velocity
18 longitudeGPS I4 2*pi/2^32
[360°/2^32] Radians
[°] GPS Longitude
22 latitudeGPS I4 2*pi/2^32
[360°/2^32] Radians
[°] GPS Latitude
26 altitudeGPS I2* 2^14/2^16 m GPS altitude [-100,16284)
28 GPSITOW U2 truncated ms GPS ITOW (lower 2 bytes)
Not Implemented
30 BITstatus U2 - - Master BIT and Status
7.4.6 Nav Data Packet 1 (Default INS Data)
Nav Data (‘N1’ = 0x4E31)
Preamble Packet Type Length Payload Termination
0x5555 0x4E31 0x2A <N1 payload> <CRC (U2)>
This packet contains navigation data and selected sensor data scaled in most cases to a
signed 2^16 2’s complement number.
Data involving angular measurements include the
factor pi in the scaling and can be interpreted in either radians or degrees.
Angles: scaled to a range of [-pi,+pi) or [-180 deg to +180 deg).
Angular rates: scaled to range of 3.5* [-pi,+pi) or [-630 deg/sec to +630 deg/sec)
Accelerometers: scaled to a range of [-10,+10) g
Temperature: scaled to a range of [-100, +100) °C
Velocities are scaled to a range of [-256,256) m/s
Altitude is scaled to a range of [-
100,16284) m using a shifted 2’s complement
representation.
Longitude and latitude are scaled to a range of [-pi,pi) or [-180 deg to +180 deg).
N1 Payload Contents
Byte Offset Name Format Scaling Units Description
0 rollAngle I2 2*pi/2^16 Radians Roll angle