CORRIMUS
Corrected IMU Measurements
|
Platform: |
OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, PwrPak7, CPT7, CPT7700, SMART7-S |
The CORRIMUS log replaces the CORRIMUDATA and CORRIMUDATAS logs.
The CORRIMUS 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 CORRIMUS, 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 is Vehicle frame).
The CORRIMUS log uses the short header format and can be used for high data rate logs. CORRIMUS can be logged with the ONTIME trigger, up to a rate of 200 Hz.
Since the CORRIMUS 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: IMUDataRate (Hz) / IMUDataCount.
Due to IMU data being handled asynchronously and being accumulated into a synchronous log there are numerous use cases that cause and inconsistent number of samples being used in the accumulated output.
Message ID: 2264
Log Type: Synch
Recommended Input:
log corrimusb ontime 0.01
Example log:
%CORRIMUSA,2209,488407.000;112,-0.0000242405098038,0.0000287475625144,-0.0000016866224967,0.0015291995267506,-0.0013533739686903,-0.0018536657202395,8.168,0*2135fe3d
|
Field |
Field Type |
Description |
Format |
Binary Bytes |
Binary Offset |
|---|---|---|---|---|---|
|
1 |
Log header |
CORRIMUS header For information about short log headers, see Description of ASCII and Binary Logs with Short Headers. |
– |
H |
0 |
|
2 |
IMUDataCount |
Count of the number of IMU Samples used in each log output accumulation. |
Ulong |
4 |
H |
|
3 |
PitchRate |
About x-axis rotation (right-handed) (rad/sample) |
Double |
8 |
H+4 |
|
4 |
RollRate |
About y-axis rotation (right-handed) (rad/sample) |
Double |
8 |
H+12 |
|
5 |
YawRate |
About z-axis rotation (right-handed) (rad/sample) |
Double |
8 |
H+20 |
|
6 |
LateralAcc |
INS Lateral Acceleration (along x-axis) (m/s/sample) |
Double |
8 |
H+28 |
|
7 |
LongitudinalAcc |
INS Longitudinal Acceleration (along y-axis) (m/s/sample) |
Double |
8 |
H+36 |
|
8 |
VerticalAcc |
INS Vertical Acceleration (along z-axis) (m/s/sample) |
Double |
8 |
H+44 |
|
9 |
Reserved |
Float |
4 |
H+52 |
|
|
10 |
Reserved |
Ulong |
4 |
H+56 |
|
|
11 |
xxxx |
32-bit CRC (ASCII and Binary only) |
Hex |
4 |
H+60 |
|
12 |
[CR][LF] |
Sentence Terminator (ASCII only) |
– |
– |
– |