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The Kongsberg Maritime CyScan Sensor
This section describes aspects of the KM variant of the CyScan sensor that differ from those of the standard sensor.
DP Message Types
The KM CyScan sensor supports the following five DP message types:
Kongsberg (Custom)
The Kongsberg Custom DP string adopts NMEA0183 conventions and has a length of 40 characters. When multi-target tracking, multiple messages are emitted per rotor revolution: one
for each target in the tracking group.
$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
Target 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. A value of 0.0 may indicate that not enough laser pulses
were returned from the target to enable a meaningful standard deviation calculation to be performed.
‡
Bearing is clockwise from nominal bow (which depends on correct sensor installation and configuration of the
Bow/Stern switch).
ASCII17, Kongsberg Standard (BCD), MDL Standard, MDL Multi-Target:
on page 39 for details of these message types.
Содержание CyScan
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