Simrad EK15 - Kongsberg EM Attitude 3000

Telegramformats
x-axis).Thelatterconvention(calledTate-BryantinthePOS/MVdocumentation)
isusedinsidethesysteminalldatadisplaysandinloggeddata(atransformationis
appliediftherollisgivenwithrespecttothehorizontal).
4Notethatheaveisdisplayedandloggedaspositivedownwards(thesignis
changed).Heaveiscorrectedforrollandpitch.
5ThisformatwasoriginallydesignedforusewiththeEM950andtheEM1000
multibeamechosounderswiththerstsynchronisationbytealwaysassumedtobe
zero.Thesensormanufacturerswasthenrequestedtoincludesensorstatusinthe
formatusingtherstsynchronisationbyteforthispurpose.Withthisadditional
informationadded,thedatagramformatisknownasKongsbergEMAttitude3000.
KongsbergEMAttitude3000
ThisproprietaryKongsbergbinarytelegramconsistsofaxedlength10-bytesmessage.
Itisdenedasfollows:
•Byte1:Syncbyte1=00h,orSensorstatus=90h-AFh
•Byte2:Syncbyte2=90h
•Byte3:RollLSB
•Byte4:RollMSB
•Byte5:PitchLSB
•Byte6:PitchMSB
•Byte7:HeaveLSB
•Byte8:HeaveMSB
•Byte9:HeadingLSB
•Byte10:HeadingMSB
LSB=leastsignicantbyte,MSB=mostsignicantbyte.
1Alldataarein2’scomplementbinary,with0.01°resolutionforroll,pitchand
heading,and1cmresolutionforheave.
•Rollispositivewithportsideupwith±179.99°validrange
•Pitchispositivewithbowupwith±179.99°validrange
•Heaveispositiveupwith±9.99mvalidrange
•Headingispositiveclockwisewith0to359.99°validrange
Non-validdataareassumedwhenavalueisoutsidethevalidrange.
2Youcandenehowrollisassumedtobemeasured,eitherwithrespecttothe
horizontalplane(theHippy120orTSSconvention),ortotheplanetiltedbythe
givenpitchangle(i.e.asarotationanglearoundthepitchtiltedforwardpointing
x-axis).Thelatterconvention(calledTate-BryantinthePOS/MVdocumentation)is
usedinsidethesysteminalldatadisplaysandinloggeddata(atransformationis
appliediftherollisgivenwithrespecttothehorizontal).
3Notethatheaveisdisplayedandloggedaspositivedownwards(thesignischanged)
includingrollandpitchinducedleverarmtranslationtothesystem’stransmit
transducer.
351718/C
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