OXTS RT3003 - Page 120

120
Oxford Technical Solutions
Table 56. 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 57. Identifier 620h (1568), TrackSlipCurvaturePoint1
Offset
(bits)
Length
(bits)
Type
Units
Factor
Offset
Description Signal name
0 16 U ° 0.01 0
Measurement point 1
track angle
AngleTrackPoint1
16 16 S ° 0.01 0 Measurement point 1
slip angle
AngleSlipPoint1
32 16 S 1/m 0.0001 0 Measurement point 1
curvature
CurvaturePoint1
Note that the slip angle of point 1 will be close to 180° when driving backwards.
Table 58. Identifier 621h (1569), TrackSlipCurvaturePoint2
Offset
(bits)
Length
(bits)
Type
Units
Factor
Offset
Description Signal name
0 16 U ° 0.01 0 Measurement point 2
track angle
AngleTrackPoint2
16 16 S ° 0.01 0 Measurement point 2
slip angle
AngleSlipPoint2
32 16 S 1/m 0.0001 0 Measurement point 2
curvature
CurvaturePoint2
Note that the slip angle of point 2 will be close to 180° when driving backwards.