OXTS RT3000 - Page 114

116
Oxford Technical Solutions
Offset
(bits)
Length
(bits)
Type
Units
Factor
Offset
Table 40. Identifier 609h (1545), RateLevel
0 16 S °/s 0.01 0
OxTS horizontal frame
longitudinal (forward)
IMU angular rate
AngRateForward
32 16 S °/s 0.01 0
OxTS horizontal frame
vertical (down) IMU
angular rate
AngRateDown
See message 608h for roll angular rate. The definition of roll rate used in this manual is consistent with the
Euler angles used to output roll, pitch and heading; therefore the roll angular rate is the same as the pitched
x-angular rate or the body x-angular rate. The forward angular rate is the rotation about the axis which is
horizontal.
Table 41. Identifier 60Ah (1546), TrackSlipCurvature
0 16 U ° 0.01 0 Track angle AngleTrack
32 16 S 1/m 0.0001 0 Curvature Curvature
Note that the slip angle will be close to 180° when driving backwards.
Table 42. Identifier 60Bh (1547), Distance
0
32
U
m
0.001
0
Horizontal distance
DistanceWithHold
with hold
32
32
U
m
0.001
0
Horizontal distance
Distance
without hold
Note: Distance with hold will not increase when the RT measures a speed less than 0.2 m/s whereas the
Distance field will drift by the noise of the RT when stationary. The distances start from zero when the
RT-CAN unit is powered up.
Description Signal name
16
16
°/s
0.01
OxTS horizontal frame
0 lateral (right) IMU AngRateLateral
angular rate
16
16
0.01
0 Slip angle
AngleSlip
Description
Signal name
Description Signal name
Offset
(bits)
Offset
(bits)
Length
(bits)
Length
(bits)
Type
Type
Units
Units
Factor
Factor
Offset
Offset