SMC Networks IMU-108 User Manual

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IMU User Guide revision 3.1 SMC Ship Motion Control www.shipmotion.eu
4.3 BINARY PROTOCOLS
4.3.1 ATLAS (HYDROGRAPHIC)
Each field in the Atlas output string is a 16-bit 2’s complement number expressed as two binary
coded digits. Attitude measurements are supplied in units (360°/65536=0.0054931641°). Heave
measurements are in mm. The frame contains 9 bytes in binary format.
Data Frame (bytes)
ERRPPHHSE
Example
00010000 11111111 10100101 00000000 00000111 11111111 11110001 00000100 00010000
Bitrate
Max output Rate
115200
100
57600
100
38400
100
19200
100
9600
83
4800
41
Description
Bytes
Form
DLE (E)
1
0x10
Roll (RR)
2
Unsigned 16 bit, i.e. 0..65535 representing 360° with a
resolution of 360°/65536 range 0..360°
Pitch (PP)
2
Unsigned 16 bit, i.e. 0..65535 representing 360° with a
resolution of 360°/65536 range 270°..90°
Heave (HH)
2
Signed 16 bit range -32767 mm to + 32766 mm
Positive when elevated.
Status (S)
1
1*unsettled+2*velocityaiding+4*heading aiding
(where variables are interpreted as 0=false, 1=true)
DLE (E)
1
0x10

SMC Networks IMU-108 Specifications

General

Brand	SMC Networks
Model	IMU-108
Category	Accessories
Language	English