Vectornav VN-100, Руководство пользователя

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UM001 47
4.6.4 UncompGyro
The IMU angular rate measured in units of rad/s, given in the body frame. This measurement is
compensated by the static calibration (individual factory calibration stored in flash), however it is not
compensated by any dynamic calibration such as the bias compensation from the onboard AHRS/INS
Kalman filters.
UncompGyro
gyro[0] gyro[1] gyro[2]
Byte Offset
0 1 2 3 4 5 6 7 8 9 10 11
Type float float float
4.6.5 Temp
The IMU temperature measured in units of Celsius.
Temp
Byte Offset
0 1 2 3
Type float
4.6.6 Pres
The IMU pressure measured in kilopascals. This is an absolute pressure measurement. Typical pressure
at sea level would be around 100 kPa.
Pres
Byte Offset 0 1 2 3
Type float
4.6.7 DeltaTheta
The delta theta (dtheta) is the delta rotation angles incurred due to rotation, since the last time the values
were output by the device. The delta angles are calculated based upon the onboard conning and sculling
integration performed onboard the sensor at the IMU sampling rate (nominally 800Hz). The delta time
(dtime) is the time interval that the delta angle and velocities are integrated over. The integration for the
delta angles are reset each time the values are either polled or sent out due to a scheduled asynchronous
ASCII or binary output. Time is given in sections. Delta angles are given in degrees.
DeltaTheta
Fields dtime dtheta[0] dtheta[1] dtheta[2]
Byte Offset
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Type float float float float