R&S SMW-K44, User Manual

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User Environment Files Satellite Navigation
396 User Manual 1178.6379.02 ─ 01
Container Tag name Parameter Description
<noofway-
points> Number of the used waypoints vectors.
Use the parameter to minimize the size of the waypoint without actually
deleting the waypoints
<attitudecontinu-
ous> If
<attitudecontinuous="no">
, the attitude angles to be read are
bounded by 2*PI.
The
<attitudecontinuous="yes">
means that they are not boun-
ded.
<waypoints> Description of the trajectory as a list of waypoint vectors.
<waypointvec-
tor> <data> Coordinates of the waypoint in the format selected by
<coordsystem>
●
[time,]longitude,latitude,altitude (geod wgs84)
●
[time,]X,Y,Z (cart ecef)
●
[time,]EAST,NORTH,UPPER (enu)
Depending on the
<datavectorhastimestamp>
, 3 or 4 values are
evaluated with <property waypointformat="positiononly"/>
Depending on the
<property waypointformat>
, more information
can be provided. The following is a list of the information appended to the
coordinates of the waypoint mentioned above.
●
<property waypointformat="positiononly">
No additional information
●
<property waypointformat="position_attitude">
yaw/heading,pitch/elevation,roll/bank , e.g.
[time,]longitude,latitude,altitude,yaw,pitch,roll
The vehicle attitude (yaw, pitch and roll) parameters are configured
relative to the local horizon
●
<property
waypointformat="position_velocitymagnitude">
vel , e.g.
[time,]X,Y,Z,vel
●
<property
waypointformat="position_velocitymagnitude_attitude">
vel,yaw/heading,pitch/elevation,roll/bank , e.g.
[time,]EAST,NORTH,UPPER,vel,yaw,pitch,roll
●
<property waypointformat="position_velocityvector">
Velocity vector Vx,Vy,Vz , e.g.
[time,]X,Y,Z,Vx,Vy,Vz
●
<property
waypointformat="position_velocityvector_attitude">
yaw/heading,pitch/elevation,roll/bank,Vx,Vy,Vz , e.g.
[time,]longitude,latitude,altitude,yaw,pitch,roll,
Vx,Vy,Vz
.
Note: If the waypoints are in geod wgs84, velocity vector is assumed in
Cartesian ECEF coordinate system.
Example: Trajectory description files in <positiononly> waypoint format
The following are two examples in
<property
waypointformat="positiononly">
format. The examples emphasize on the dif-
ferent formats and explain the used time stamp principle.
●
The
<waypointvector data>
parameters in the following example are vectors
with size of 3, because of the tag
<property
datavectorhastimestamp="no">
. Even if a fourth value has been defined, it
would have been ignored.
The time stamp is defined with the tag
<property timeresolution="0.05">
:
T
1
= 0, T
2
= (2-1)*0.05 = 0.05, and so on, T
12
= (12-1)*0.05 = 0.55
Movement or Motion Files