OXTS RT3000 - Page 116

118
Oxford Technical Solutions
Offset
(bits)
Length
(bits)
Type
Units
Factor
Offset
Table 46. Identifier 60Fh (1551), AngAccelLevel
Offset
(bits)
Length
(bits)
Type
Units
Factor
Offset
Description
Signal name
0
16
S
°/s²
0.1
0
OxTS horizontal frame
longitudinal (forward)
IMU angular
acceleration
AngAccelForward
16
16
S
°/s²
0.1
0
OxTS horizontal frame
lateral (right) IMU
angular acceleration
AngAccelLateral
32
16
S
°/s
2
0.1
0
OxTS horizontal frame
vertical (down) IMU
angular acceleration
AngAccelDown
Table 47. Identifier 620h (1568), TrackSlipCurvaturePoint1
0 16 U ° 0.01 0 Measurement point 1
track angle
AngleTrackPoint1
32 16 S 1/m 0.0001 0 Measurement point 1
curvature
Note that the slip angle of point 1 will be close to 180° when driving backwards.
Table 48. Identifier 621h (1569), TrackSlipCurvaturePoint2
CurvaturePoint1
0
16
U
°
0.01
0
Measurement point 2
AngleTrackPoint2
track angle
16
16
S
°
0.01
0
Measurement point 2
AngleSlipPoint2
slip angle
32
16
S
1/m
0.0001
0
Measurement point 2
CurvaturePoint2
curvature
Note that the slip angle of point 2 will be close to 180° when driving backwards.
Description Signal name
16
16
0.01
Measurement point 1
slip angle
AngleSlipPoint1
Description Signal name
Offset
(bits)
Length
(bits)
Type
Units
Factor
Offset