Inertial Explorer Data Formats
In theory, virtually any IMU sensor can be used with Inertial Explorer. The only requirement is that the data be logged in the format provided in this section, which allows easy decoding with the IMU Data Conversion utility described in Waypoint IMU Data Conversion.
The following table presents the binary structure required by the Raw IMU Converter.
The variable types in the table below are taken from the C standard library header "cstdint"/"stdint.h".
|
Word |
Size |
Type |
Description |
|---|---|---|---|
|
GpsTime |
8 |
double |
time of the current IMU rate measurements in GPS seconds of the week |
|
GyroX |
4 |
int32_t |
scaled X-body axis gyro measurement as an angular increment or angular rate |
|
GyroY |
4 |
int32_t |
scaled Y-body axis gyro measurement as an angular increment or angular rate |
|
GyroZ |
4 |
int32_t |
scaled Z-body axis gyro measurement as an angular increment or angular rate |
|
AccelX |
4 |
int32_t |
scaled X-body axis accelerometer measurement as a velocity increment or acceleration |
|
AccelY |
4 |
int32_t |
scaled Y-body axis accelerometer measurement as a velocity increment or acceleration |
|
AccelZ |
4 |
int32_t |
scaled Z-body axis accelerometer measurement as a velocity increment or acceleration |