OXTS RT3000 - Page 112

114
Oxford Technical Solutions
Offset
(bits)
Length
(bits)
Offset
(bits)
Length
(bits)
Type
Type
Units
Units
Factor
Factor
Offset
Offset
Table 34. Identifier 603h (1539), Velocity
0 16 S m/s 0.01 0
OxTS NED frame
north velocity
VelNorth
32 16 S m/s 0.01 0
OxTS NED frame
vertical (down)
velocity
VelDown
The horizontal speed is the vector addition of north and east velocities. For forward speed (which can go
negative) see message 604h.
Table 35. Identifier 604h (1540), VelocityLevel
0 16 S m/s 0.01 0
OxTS horizontal frame
longitudinal (forward)
velocity
VelForward
The forward velocity can go negative when driving backwards.
Table 36. Identifier 605h (1541), AccelVehicle
0
16
S
m/s
2
0.01
0
OxTS output frame
longitudinal (forward)
AccelX
IMU acceleration
16
16
S
m/s
2
0.01
0
OxTS output frame
lateral (right) IMU
AccelY
acceleration
32
16
S
m/s
2
0.01
0
OxTS output frame
vertical (down) IMU
AccelZ
acceleration
Description Signal name
16
16
m/s
0.01
OxTS NED frame east
velocity
VelEast
48
16
m/s
0.01
0 Horizontal speed
Speed2D
Description Signal name
16
16
m/s
0.01
OxTS horizontal frame
lateral (right) velocity
VelLateral
Description Signal name
Offset
(bits)
Length
(bits)
Type
Units
Factor
Offset