MRU
Demo Program Manual
Inertial Labs, Inc
TM
Address:
39959 Catoctin Ridge Street, Paeonian Springs, VA 20129 U.S.A.
Tel: +1 (703) 880-4222, Fax: +1 (703) 935-8377
Website:
www.inertiallabs.com
103
3.
The low byte is the first.
All the remaining data in the *.bin file are blocks of the MRU output data
written at MRU operation with set data rate (100 Hz default). Each data
block has structure according to the chosen output format – «MRU Full
Output», «MRU Calibrated Data», «MRU Quaternion Data», «MRU Minimal
Data», «MRU NMEA», «TSS1»,«TSS1+HEHDT». Structure of data block is
described in Tables C.2 – C.6 for each output data format.
Table C.2. The message payload at MRU Full Output Data format
Byte
number
0 – 1
2 – 3
4 – 5
6 – 23
24 – 25 26 – 27 28 – 29 30 – 31 32 – 33
Parameter Heading
Pitch Roll
Ugyro,
Uacc,
Umag
Reser-
ved
Reser-
ved
USW
Vdd Utermo
Length
2 byte
word
2 byte
sword
2 byte
sword
9 2 byte
sword
2 byte
sword
2 byte
sword
2 byte
word
2 byte
word
2 byte
sword
Note
Orientation angles,
deg*100
Raw sensor
data (gyros,
accelerometers,
magnetometers)
Combi-
ned
voltage
Temper
ature in
each
sensor
Table C.2 (continued)
Byte
number
34 – 37 38 – 39 40 – 41
42 – 43
44 – 45 46 – 47 48-49
50-51
Parameter Heave Surge Sway
Heave
velocity
Surge
velocity
Sway
velocity
UP
UT
Length
4 byte
integer
2 byte
sword
2 byte
sword
2 byte
sword
2 byte
sword
2 byte
sword
2 byte
word
2 byte
word
Note
m*100 m*100 m*100 m/s*100 m/s*100 m/s*100
Notes
1.
USW is unit status word (see Appendix D. The Unit Status Word definition, for
details).
2.
The following data are recorded in the field «Vdd» sequentially:
- the MRU input voltage, Vinp, VDC*100;
- stabilized voltage supplied to the MRU sensors, Vdd, VDC*1000;
3.
In the «Utermo» field ADC codes are recorded sequentially from 7 temperature
sensors inside gyros, accelerometers and magnetometers.
4.
UP and UT are raw data from the pressure sensor – pressure and temperature.
5.
The low byte is transmitted by first.
