SMC Networks IMU-007 - Psmcb

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IMU User Guide revision 3.1 SMC Ship Motion Control www.shipmotion.eu
4.2.2 PSMCB
Data Frame
$PSMCB,±xx.xx,±yy.yy,±zzz.z,±xv.xv,±yv.yv,±zv.zv,±GG.GGG,±HH.HHH,±II.III,±ss.ss,±ww.ww,±hh.hh,±s
v.sv,±sw.sw,±hv.hv,±ax.axa,±ay.aya,±az.aza
Example
$PSMCB,+00.29,+00.55,+349.0,+06.68,+06.86,-01.95,-18.074,-22.016,+12.390,-00.01,-00.00,+00.00,-
00.00,-00.00,+00.00,+00.121,-00.048,+00.046
Bitrate
Max output Rate
115200
75
57600
35
38400
25
19200
10
9600
5
4800
2
Description
Form
Start Characters
$PSMCB
Roll Angle (xx.xx)
Degrees Resolution 0.01° (+ve=port up)
Pitch Angle (yy.yy)
Degrees Resolution 0.01° (+ve=bow down)
Yaw (zzz.z)
Degrees Resolution 0.1°
Roll Velocity (xv.xv)
Degrees/second Resolution 0.01°/s
Pitch Velocity (yv.yv)
Degrees/second Resolution 0.01°/s
Yaw Velocity (zv.zv)
Degrees/second Resolution 0.01°/s
Roll Acceleration (GG.GGG)
Degrees/second
2
Resolution 0.001°/s
2
Pitch Acceleration (HH.HHH)
Degrees/second
2
Resolution 0.001°/s
2
Yaw Acceleration (II.III)
Degrees/second
2
Resolution 0.001°/s
2
Surge (ss.ss)
Meters Resolution 0.01m
Sway (ww.ww)
Meters Resolution 0.01m
Heave (hh.hh)
Meters Resolution 0.01m
Surge Velocity (sv.sv)
Meter/second Resolution 0.01m/s
Sway Velocity (sw.sw)
Meter/second Resolution 0.01m/s
Heave Velocity (hv.hv)
Meter/second Resolution 0.01m/s
Acceleration X (ax.axa)
Meter/second
2
Resolution 0.001m/s2
Acceleration Y (ay.aya)
Meter/second
2
Resolution 0.001m/s2
Acceleration Z (az.aza)
Meter/second
2
Resolution 0.001m/s2
Termination Characters
<CR><LF>