Vectornav VN-100, Руководство пользователя

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48 UM001
4.6.8 DeltaV
The delta velocity (dvel) is the delta velocity incurred due to motion, since the last time the values were
output by the device. The delta velocities are calculated based upon the onboard conning and sculling
integration performed onboard the sensor at the IMU sampling rate (nominally 800Hz). The integration
for the delta velocities are reset each time the values are either polled or sent out due to a scheduled
asynchronous ASCII or binary output. Delta velocity is given in meters per second.
DeltaVel
Fields dvel[0] dvel[1] dvel[2]
Byte Offset 0 1 2 3 4 5 6 7 8 9 10 11
Type float float float
4.6.9 Mag
The IMU compensated magnetic field measured units of Gauss, and given in the body frame. This
measurement is compensated by the static calibration (individual factory calibration stored in flash), the
user compensation, and the dynamic calibration from the onboard Hard/Soft Iron estimator.
Mag
mag[0] mag[1] mag[2]
Byte Offset
0 1 2 3 4 5 6 7 8 9 10 11
Type float float float
4.6.10 Accel
The compensated acceleration measured in units of m/s^2, and given in the body frame. This
measurement is compensated by the static calibration (individual factory calibration stored in flash), the
user compensation, and the dynamic bias compensation from the onboard INS Kalman filter.
Accel
accel[0] accel[1] accel[2]
Byte Offset
0 1 2 3 4 5 6 7 8 9 10 11
Type float float float
4.6.11 AngularRate
The compensated angular rate measured in units of rad/s, and given in the body frame. This measurement
is compensated by the static calibration (individual factor calibration stored in flash), the user
compensation, and the dynamic bias compensation from the onboard INS Kalman filter.
AngularRate
gyro[0] gyro[1] gyro[2]
Byte Offset
0 1 2 3 4 5 6 7 8 9 10 11
Type float float float