Vectornav VN-100, Руководство пользователя

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50 UM001
Table 1 - AttitudeQuality Field
Value Description
0 Excellent
1 Good
2 Bad
3 Not tracking
4.7.2 YawPitchRoll
The estimated attitude Yaw, Pitch, and Roll angles measured in degrees. The attitude is given as a 3,2,1
Euler angle sequence describing the body frame with respect to the local North East Down (NED) frame.
YawPitchRoll
yaw pitch roll
Byte Offset
0 1 2 3 4 5 6 7 8 9 10 11
Type float float float
4.7.3 Quaternion
The estimated attitude quaternion. The last term is the scalar value. The attitude is given as the body
frame with respect to the local North East Down (NED) frame.
Quaternion
qtn[0] qtn[1] qtn[2] qtn[3]
Byte Offset
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
Type float float float float
4.7.4 DCM
The estimated attitude directional cosine matrix given in column major order. The DCM maps vectors
from the North East Down (NED) frame into the body frame.
Dcm
Fields dcm[0] dcm[1] dcm[2] dcm[3] dcm[4] dcm[5]
Byte
Offset
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23
Type float float float float float float
Dcm (continued)
Fields dcm[6] dcm[7] dcm[8]
Byte Offset 24 25 26 27 28 29 30 31 32 33 34 35
Type float float float
4.7.5 MagNed
The current estimated magnetic field (Gauss), given in the North East Down (NED) frame. The current
attitude solution is used to map the measurement from the measured body frame to the inertial (NED)
frame. This measurement is compensated by both the static calibration (individual factory calibration