GUIDANCE MARINE 20-0253, Руководство пользователя

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DP Message Types (Continued)
Kongsberg (Custom)
The Kongsberg Custom DP string adopts NMEA0183 conventions and has a length of 40 characters. Two messages are emitted per rotor revolution, one for the Scene Reference Point
and one for a secondary, virtual reference point (that is at a fixed offset from the Scene Reference Point).
$PGNKM,II,RRRR.R,Z
R
.Z
R
,BBB.B,Z
B
.Z
B
,HHHH*CC<LF><CR>
Where:
•
$PGNKM
Proprietary header 6 chars
•
II
Scene Reference Point ID 2 chars
•
RRRR.R
Range in meters 6 chars
•
Z
R
.Z
R
†
Range Standard Deviation in meters 3 chars
•
BBB.B
‡
Bearing in degrees 5 chars
•
Z
B
.Z
B
†
Bearing Standard Deviation in degrees 3 chars
•
HHHH
Status (16 bit code) 4 chars
•
*
Delimiter 1 char
•
CC
Checksum 2 chars
•
<LF>
Line feed (0x0d) 1 char
•
<CR>
Carriage return (0x0a) 1 char
†
The Range and Bearing Standard Deviations are calculated from the set of measurements available in the current
rev and do not include data from previous revs.
‡
Bearing is clockwise from nominal bow (which depends on correct Sensor installation).