CORRIMUDATA
Corrected IMU Measurements
|
Platform: |
OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, CPT7, CPT7700, SMART7-S |
The CORRIMUS log was introduced in firmware version OEM 7.07.0x and is designed to replace the CORRIMUDATA and CORRIMUDATAS logs. It is recommended to upgrade to CORRIMUS log when collecting corrected IMU measurements synchronously. The CORRIMUDATA and CORRIMUDATAS logs are still available, but will eventually be phased out.
The CORRIMUDATA log contains the raw IMU data corrected for gravity, the earth’s rotation and estimated sensor errors. The values in this log are incremental values, accumulated over the logging interval of CORRIMUDATA, in units of radians for the attitude rate and m/s for the accelerations. Data output is not in the IMU Body frame, but is automatically rotated into the user configured output frame (configured with the SETINSROTATION command, default Vehicle frame).
The short header format, CORRIMUDATAS, is recommended, as it is for all high data rate logs.
CORRIMUDATA can be logged with the ONTIME trigger, up to a rate of 200 Hz.
Since the CORRIMUDATA log is synchronous, if you log at a rate less than the full data rate of the IMU, the corrected IMU data is accumulated to match the requested time interval. For asynchronous full rate data, see the IMURATECORRIMUS log.
To obtain the instantaneous rates of acceleration (in m/s/s) or rotation (in rad/s) from the output values of measurements per sample rate (m/s/sample and rad/sample), multiply the output values by the CORRIMUDATA logging rate in Hz.
Message ID: 812
Log Type: Synch
Recommended Input:
log corrimudatab ontime 0.01
Example log:
#CORRIMUDATAA,USB1,0,65.0,FINESTEERING,2209,488261.000,02000020,e5fc,16809;2209,488261.000000000,-0.0000097404099474,0.0000046348926633,0.0000137198213235,-0.0000719383196058,0.0003131269933030,0.0005105002543702*0c6740ba
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Field |
Field Type |
Description |
Format |
Binary Bytes |
Binary Offset |
|
1 |
Log header |
CORRIMUDATA header For information about log headers, see ASCII, Abbreviated ASCII or Binary. |
- |
H |
0 |
|
2 |
Week |
GNSS week |
Ulong |
4 |
H+ |
|
3 |
Seconds |
GNSS seconds from week start |
Double |
8 |
H+4 |
|
4 |
PitchRate |
About x axis rotation (right-handed) (rad/sample) |
Double |
8 |
H+12 |
|
5 |
RollRate |
About y axis rotation (right-handed) (rad/sample) |
Double |
8 |
H+20 |
|
6 |
YawRate |
About z axis rotation (right-handed) (rad/sample) |
Double |
8 |
H+28 |
|
7 |
LateralAcc |
INS Lateral Acceleration (along x axis) (m/s/sample) |
Double |
8 |
H+36 |
|
8 |
LongitudinalAcc |
INS Longitudinal Acceleration (along y axis) (m/s/sample) |
Double |
8 |
H+44 |
|
9 |
VerticalAcc |
INS Vertical Acceleration (along z axis) (m/s/sample) |
Double |
8 |
H+52 |
|
10 |
xxxx |
32-bit CRC |
Hex |
4 |
H+56 |
|
11 |
[CR][LF] |
Sentence Terminator (ASCII only) |
- |
- |
- |