Spectracom GSG-5 series, Руководство пользователя с руководством по SCPI

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Sensor SENSOR_TYPE keyword
Accelerometer ACCelerometer
Linear Accelerometer LINearaccelerometer
Gravimeter GRAvimeter
Gyroscope GYRoscope
Odometer ODOmeter
3D Odometer ODOMETER3D, ODO3D
6.4.1.1 Accelerometer
The accelerometer outputs acceleration in the XYZ axis. The typical case where the device is flat
relative to the surface of the Earth appears as -STANDARD_GRAVITY in the Z axis, and X and Y
values as zero.
Sensor data
values[0] – Acceleration along the x-axis, in g
values[1] – Acceleration along the y-axis, in g
values[2] – Acceleration along the z-axis, in g
6.4.1.2 Linear Accelerometer
The linear accelerometer outputs acceleration force to XYZ axis, excluding force of gravity. In
all other aspects it is like the accelerometer above.
6.4.1.3 Gravimeter
The gravimeter outputs the gravity force against the XYZ axis. In all other aspects it is like the
accelerometer above.
6.4.1.4 Gyroscope
The gyroscope sensor measures the rate of rotation around the X, Y and Z axis. Unlike the
accelerometer, the gyro is not affected by gravity. The coordinate system is the same as is used
for the acceleration sensor. Rotation is positive in the counter-clockwise direction for pitch and
roll (not yaw). That is, an observer looking from some positive location on the x, y. or z axis at
a device positioned on the origin would report positive rotation if the device appeared to be
rotating counter clockwise.
6.4 Sensors Command Reference
CHAPTER
6
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User Manual GSG-5/6 Series Rev. 26
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