OXTS RT3003 - Page 116

116
Oxford Technical Solutions
Table 44. Identifier 603h (1539), Velocity
Offset
(bits)
Length
(bits)
Type
Units
Factor
Offset
Description Signal name
0 16 S m/s 0.01 0
OxTS NED frame
north velocity
VelNorth
16 16 S m/s 0.01 0
OxTS NED frame east
velocity
VelEast
32 16 S m/s 0.01 0
OxTS NED frame
vertical (down)
velocity
VelDown
48 16 U m/s 0.01 0 Horizontal speed Speed2D
The horizontal speed is the vector addition of north and east velocities. For forward speed (which can go
negative) see message 604h.
Table 45. Identifier 604h (1540), VelocityLevel
Offset
(bits)
Length
(bits)
Type
Units
Factor
Offset
Description Signal name
0 16 S m/s 0.01 0
OxTS horizontal frame
longitudinal (forward)
velocity
VelForward
16 16 S m/s 0.01 0
OxTS horizontal frame
lateral (right) velocity
VelLateral
The forward velocity can go negative when driving backwards.
Table 46. Identifier 605h (1541), AccelVehicle
Offset
(bits)
Length
(bits)
Type
Units
Factor
Offset
Description Signal name
0 16 S m/s
2
0.01 0
OxTS output frame
longitudinal (forward)
IMU acceleration
AccelX
16 16 S m/s
2
0.01 0
OxTS output frame
lateral (right) IMU
acceleration
AccelY
32 16 S m/s
2
0.01 0
OxTS output frame
vertical (down) IMU
acceleration
AccelZ