OXTS RT3003 - Page 118

118
Oxford Technical Solutions
Table 50. Identifier 609h (1545), RateLevel
Offset
(bits)
Length
(bits)
Type
Units
Factor
Offset
Description Signal name
0 16 S °/s 0.01 0
OxTS horizontal frame
longitudinal (forward)
IMU angular rate
AngRateForward
16 16 S °/s 0.01 0
OxTS horizontal frame
lateral (right) IMU
angular rate
AngRateLateral
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 51. Identifier 60Ah (1546), TrackSlipCurvature
Offset
(bits)
Length
(bits)
Type
Units
Factor
Offset
Description Signal name
0 16 U ° 0.01 0 Track angle AngleTrack
16 16 S ° 0.01 0 Slip angle AngleSlip
32 16 S 1/m 0.0001 0 Curvature Curvature
Note that the slip angle will be close to 180° when driving backwards.
Table 52. Identifier 60Bh (1547), Distance
Offset
(bits)
Length
(bits)
Type
Units
Factor
Offset
Description Signal name
0 32 U m 0.001 0 Horizontal distance
with hold
DistanceWithHold
32 32 U m 0.001 0
Horizontal distance
without hold
Distance
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.