OXTS RT1003, Руководство пользователя

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RT1003 Manual
Revision:
190628
89
a. See message 608h for roll angular rate. The definition of roll rate used in this manual is
consistent with the Euler angles used to output roll, pitch and heading; therefore the roll angular
rate is the same as the pitched x-angular rate or the body x-angular rate. The forward angular
rate is the rotation about the axis which is horizontal.
Table 31. Identifier 60Ah (1546), TrackSlipCurvature
Bit Len Type Unit × + Description Name
0 16 U ° 0.01 0 Track angle AngleTrack
16 16 S ° 0.01 0 Slip angle
AngleSlip
a
a. The slip angle will be close to 180° when driving backwards.
32 16 S 1/m 0.0001 0 Curvature Curvature
Table 32. Identifier 60Bh (1547), Distance
Bit Len Type Unit × + Description Name
0 32 U m 0.001 0 Horizontal distance with hold
DistanceWithHold
a
a. Distance with hold will not increase when the RT1003 measures a speed less than 0.2 m/s
whereas the Distance field will drift by the noise of the RT when stationary. The distances start
from zero when the RT CAN unit is powered up.
32 32 U m 0.001 0 Horizontal distance without hold Distance
Table 33. Identifier 60Ch (1548), PosLocal
a
a. The origin is set using the local co-ordinates option in NAVconfig. The convention used for the
local co-ordinates uses a right-handed set with the z-axis up.
Bit Len Type Unit × + Description Name
0 32 S m 0.0001 0 Distance from origin along x-axis PosLocalX
32 32 S m 0.0001 0 Distance from origin along y-axis PosLocalY
Table 34. Identifier 60Dh (1549), VelYawLocal
a
a. The convention used for the local co-ordinates uses a right-handed set with the z-axis up.
Bit Len Type Unit × + Description Name
0 16 S m/s 0.01 0 Velocity along the x axis VelLocalX
16 16 S m/s 0.01 0 Velocity along the y axis VelLocalY
32 16 S ° 0.01 0 Yaw angle AngleLocalYaw
48 16 S ° 0.01 0 Track angle in local co ordinates AngleLocalTrack