Kongsberg Seapath 320, Руководство по установке, Страница: 117 / 152

Installation Manual
M300-62/rev.2 101
Element Scaling Format Bytes Value
East velocity centimetres/second Integer 2
Down velocity centimetres/second Integer 2
Roll 2
14
= 90 degrees Integer 2 -2
15
- 2
15
Pitch 2
14
= 90 degrees Integer 2 -2
15
- 2
15
Heading 2
14
= 90 degrees Unsigned 2 0 - 2
16
Roll rate 2
14
= 90 degrees/second Integer 2 -2
15
- 2
15
Pitch rate 2
14
= 90 degrees/second Integer 2 -2
15
- 2
15
Yaw rate 2
14
= 90 degrees/second Integer 2 -2
15
- 2
15
Status word Bit-fields 2
Checksum Unsigned 2
Checksum is calculated as a 16-bit Block Cyclic Redundancy Check of all bytes
between, but not including the Header and Checksum fields. The CRC algorithm is
described in a separate section. Time is divided in an integer seconds part and a
fractional second part. The integer seconds part of time is counted from 1970-01-01
UTC time, ignoring leap seconds. Latitude is positive north of the Equator. Longitude is
positive east of Greenwich. Height is above the ellipsoid. Heave is positive down. Roll
is positive with port side up. Pitch is positive with bow up.
The status word consists of 16 single bit flags numbered from 0 to 15, where 0 is the
least significant bit. A 1 value (true) means:
Bit no. Interpretation
0 Reduced horizontal position and velocity performance.
1 Invalid horizontal position and velocity data.
2 Reduced heave and vertical velocity performance.
3 Invalid heave and vertical velocity data.
4 Reduced roll and pitch performance.
5 Invalid roll and pitch data.
6 Reduced heading performance.
7 Invalid heading data.
The remaining bits in the status word are reserved for future expansion.