NAVIS NavDP 4000 Series, Руководство по эксплуатации

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Sensors and Ref-Systems Raw Data
Laser Radar, RADius
Type Data Comments
Laser Radar
(CyScan, FanBeam)
Bearing, Range The system receives the data from LR in
MDL Standard format
RADius Bearing, Range The system receives the data from RADius
in format PSXRAD.
Laser Radar Data MDL Standard/MDL Multi-Target
The message format:
MDL Standard (0x0008) | MDL Multi-Target (0x0040)
A 19 character string | A 22 character string
delimited only by <CR> and <LF> with bearing measured bow clockwise.
CHARACTER INDEX DESCRIPTION FORMAT
"01 1098.70 123.45(013 010)" | "01 0097.80 217.11 13(013 010)"
0-1 ID / Target Number nn | 0-1 ID / Target Number nn
2 Space (0x20h) X | 2 Space (0x20h) X
3-9 Range (m) nnnn.nn | 3-9 Range (m) nnnn.nn
10 Space (0x20h) X | 10 Space (0x20h) X
11-16 Bearing (degrees) nnn.nn | 11-16 Bearing (degrees) nnn.nn
17 carriage return (0x0Dh) X | 17 Space (0x20h) X
18 line feed (0x0Ah) X | 18-19 NMEA style checksum in hex CC
| 20 carriage return (0x0Dh) X
| 21 line feed (0x0Ah) X
Example
01 1098.70 123.45(013 010) - Standard
01 0097.80 217.11 13(013 010) - Multi-Target
PSXRAD, NMEA Proprietary Format
The message format:
$PSXRAD,I,hhmmss.ss,nn,ss,tid,rrrr.rr,aa.a,bbb.bb,ss.s,+vv.vv,ff.f,dd.dd,sn,S*hh
where:
I — ID for Interrogator, range 1–9
hhmmss.ss — Time of position hour, minutes, seconds
nn — Number of transponders set up for tracking, range 0–99
ss — Sequence number (multiple transponders), range 0 – (nn-1)
tid — Transponder ID, the number is the transponder frequency in 10KHz resolution. 150 is then 1.5 MHz transponder
rrrr.rr — Range in meters, decimal centimetres
aa.a
— Range accuracy estimate (1 -sigma level in m)
bbb.bb — Bearing to transponder 0.00 to 360.00 degrees
ss.s — Bearing accuracy estimate (1-sigma level in deg)
+vv.vv — Vertical angle to transponder (-90.0..90.0), the “+” sign is omitted when positive.
ff.f — Vertical angle accuracy estimate (1 - sigma level in deg)
dd.dd — Velocity relative to transponder (doppler) m/s, the “+” sign is omitted when positive.
sn — Signal to noise in DB 0–90, 10–15 is poor, ¿ 15 is good
Doc. 000.JDP-10000-OME, rev.3.3.13/“2102.$–17A-Advanced”
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