Jackson Labs RSR GNSS Transcoder, Руководство пользователя

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© 2017 Jackson Labs Technologies, Inc. 47
RSR GNSS Transcoder™ User Manual
As of the release of this manual Motion Control Language commands are not supported. Future
releases of the RSR GNSS Transcoder™ firmware will included support for the Motion Control
Language.
4.3.20 SIMulation:POSition:MOTION:START
This command sets the start position in the motion command storage for playback during a
simulation. The simulation will start at the motion command storage line specified by this commadn
and continue until an END command is received or the end of the motion command storage is
reached. Also to use the commands stored in the motion command storage, the simulation position
mode must be set to MOTION with the SIM:POS:MODE command detailed in Section
4.3.8 .
The format of this command is:
SIMulation:POSition:MOTION:START <line>
where <line> is the motion command storage line to start the simulation (1 - 100).
As of the release of this manual Motion Control Language commands are not supported. Future
releases of the RSR GNSS Transcoder™ firmware will included support for the Motion Control
Language.
4.3.21 Simulation Motion Command Language
The Motion Command Language is designed to define the motion trajectory during the simulation
using limits and specified dynamics. The dynamics specified in all commands are also subject to the
maximum dynamics of the vehicle specified in the Dynamics (DYN) command. Because the
Dynamics command can signficantly affect the resulting motion defined by a series of commands, it
is highly recommended that the Dynamics command be the first command in a series of Motion
Commands. See Section
4.3.21.1 for a description of the Dynamics command. If no Dynamics
command is received, the default dynamics parameters are taken from the filter dynamics parameters
defined in the SIM:POS:FILTER... commands.
The Reference command specifies the starting location, heading and speed of the simulated motion.
Again because this affects the remainder of the simulation, it is highly recommended to include the
Reference command as the second command in a series of Motion Commands. See Section
4.3.21.2
for a description of the Reference command. If no Reference command is received, the default start
position, velocity and heading is the fixed position defined in the SIM:POS:LLH command at zero
velocity and heading north (0 degrees).
The commands that define the motion are processed sequentially for the required amount of time to
complete the commanded motion. These commands include Straight, Accelerate, Turn, Climb,
Waypoint, Combined Accelerate/Turn, Combined Accelerate/Turn/Climb and Halt. The motion
commands are processed until an END command is reached. At this point the simulation stops and
the RF output is disabled.
As of the release of this manual Motion Control Language commands are not supported. Future
releases of the RSR GNSS Transcoder™ firmware will included support for the Motion Control
Language.