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 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,COM1,0,77.5,FINESTEERING,1769,237601.000,02000020,bdba,12597;1769,237601.000000000,-0.000003356,0.000002872,0.000001398,0.000151593,0.000038348,-0.000078820*1f7eb709

Field

Field Type

Description

Format

Binary Bytes

Binary Offset

1

CORRIMUDATA Header

Log header. For information about the 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)

-

-

-