Advanced Navigation Boreas D90 - Reference Point Offsets Packet

11.5.9 Reference Point Offsets Packet
The reference point offsets packet can be used to adjust the measurement point that all data is referenced to.
By default all the values of this packet are zero and the measurement point that all data is referenced to is the
centre of the Boreas unit. The primary reference point offset can be used to adjust the measurement point to a
different location on the vehicle, in the body co-ordinate frame. The primary reference point offset applies to all
data output including NMEA etc as well as heave point 1.
Heave point 2 is reserved for use for the Centre of Gravity (COG) Lever Arm offset to improve coarse heading
alignment.
The other heave point offsets do not apply to heave point 1 in the 11.4.36 Heave Packet.
Reference Point Offsets Packet
Packet ID 194
Length 49
Read / Write Read / Write
Field # Bytes Offset Data Type Size Description
1 0 u8 1 Permanent
2 1 fp32 4 Heave point 1 offset X (m) / Primary reference point off-
set X (m)
3 5 fp32 4 Heave point 1 offset Y (m) / Primary reference point off-
set Y (m)
4 9 fp32 4 Heave point 1 offset Z (m) / Primary reference point off-
set Z (m)
5 13 fp32 4 Heave point 2 offset X (m) N.B. Used for COG Lever
Arm Offset
6 17 fp32 4 Heave point 2 offset Y (m) N.B. Used for COG Lever
Arm Offset
7 21 fp32 4 Heave point 2 offset Z (m) N.B. Used for COG Lever
Arm Offset
8 25 fp32 4 Heave point 3 offset X (m)
9 29 fp32 4 Heave point 3 offset Y (m)
10 33 fp32 4 Heave point 3 offset Z (m)
11 37 fp32 4 Heave point 4 offset X (m)
12 41 fp32 4 Heave point 4 offset Y (m)
13 45 fp32 4 Heave point 4 offset Z (m)
Table 142: Reference Point Offsets Packet
v1.2 Page 167 11 Oct 2022
Boreas Reference Manual • Advanced Navigation Packet Protocol