Description
Add short driver description. Pictures should also be added to the Equipment space.
When linking to a certain tab, you can use the following links:
Driver Information
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Interface type |
UDP / UDP Multicast / TCP |
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Timestamp from message. |
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Input / output |
Output |
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Related Systems |
Make sure the label is added to each Header Page of each system. |
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Related Pages |
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Decoding Notes
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The supported system types for this format:
Positioning.
Gyro Compass.
Pitch Roll Heave.
Time Synchronization.
Acceleration Velocity.
Delayed (true) heave.
Quality
Quality of the data is in error per measurement in the corresponding unit.
A quality of -1 means that the there is no quality available.
Status
The Status indicator is used for sensor validity.
The first eight bits are used to indicate data validity.
Bit 16-> indicate reduced performance per data field.
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Bit number |
Sensor data |
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0 |
Horizontal position and velocity |
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1 |
Roll and pitch |
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2 |
Heading |
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3 |
Heave and vertical velocity |
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4 |
Acceleration |
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5 |
Delayed heave |
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6 |
Delayed heave |
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16 |
Horizontal position and velocity |
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17 |
Roll and pitch |
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18 |
Heading |
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19 |
Heave and vertical velocity |
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20 |
Acceleration |
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21 |
Delayed heave |
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22 |
Delayed heave |
KM Binary Format
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Format |
# of bytes |
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Start id |
#KMB |
char |
4U |
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Dgm length |
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uint16 |
2U |
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Dgm version (=1) |
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uint16 |
2U |
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UTC seconds |
s |
uint32 |
4U |
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UTC nanoseconds |
ns |
uint32 |
4U |
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Status |
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uint32 |
4U |
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Latitude |
deg |
double |
8F |
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Longitude |
deg |
double |
8F |
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Ellipsoid height |
m |
float |
4F |
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Roll |
deg |
float |
4F |
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Pitch |
deg |
float |
4F |
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Heading |
deg |
float |
4F |
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Heave |
m |
float |
4F |
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Roll rate |
deg/s |
float |
4F |
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Pitch rate |
deg/s |
float |
4F |
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Yaw rate |
deg/s |
float |
4F |
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North velocity |
m/s |
float |
4F |
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East velocity |
m/s |
float |
4F |
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Down velocity |
m/s |
float |
4F |
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Latitude error |
m |
float |
4F |
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Longitude error |
m |
float |
4F |
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Height error |
m |
float |
4F |
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Roll error |
deg |
float |
4F |
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Pitch error |
deg |
float |
4F |
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Heading error |
deg |
float |
4F |
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Heave error |
m |
float |
4F |
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North acceleration |
m/s2 |
float |
4F |
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East acceleration |
m/s2 |
float |
4F |
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Down acceleration |
m/s2 |
float |
4F |
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Delayed heave: |
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UTC seconds |
s |
uint32 |
4U |
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UTC nanoseconds |
ns |
uint32 |
4U |
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Delayed heave |
m |
float |
4F |
Definitions
Data format
Little endian (the least significant byte is transmitted first). Float is according to
IEEE - 754.
Dgm length
The total number of bytes in the datagram.
Dgm version
The version is incremented if the datagram format is changed.
Timestamp format
Epoch 1970-01-01 UTC time, ignoring leap seconds.
Position and height
At user defined sensor reference point. Position in decimal degrees.
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Latitude: Negative on Southern hemisphere.
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Longitude: Negative on Western hemisphere.
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Height: Positive above ellipsoid.
Positive roll
Port side up.
Positive pitch
Bow up.
Positive heave
Downwards, at user defined sensor reference point.
Heading
True north.
Error fields
Sensor data quality: RMS
-1 = not implemented
System Setup
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Information on how to make the system work with Qinsy should be mentioned here.
Examples:
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Network settings/interfacing;
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Timing notes;
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System (software) settings;
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System hardware setup;
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Diagrams.
Qinsy Database Setup
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Detailed information about the template database setup in Qinsy
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Specific info on certain setup pages in the template.
Qinsy Online
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All Qinsy online settings such as:
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Computation
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Session Setup
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Displays
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etc.
Additional Information
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All additional information such as:
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Registry settings
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KB articles
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Tips and Tricks
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Known problems
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DRIVERS.IO.json notes