Kongsberg Binary Delayed Heave (UDP Network) - 23

Description

This driver supports systems that can output the KM Binary format.
Note that this not the KMALL Binary format, for this see the KMALL driver.

Systems supporting sending the KM Binary format.
Applanix POS MV WaveMaster.
Kongsberg Seapath 380.

The supported system types for this format:
Position Navigation System.
Gyro Compass.
Pitch Roll Heave Sensor.
Time Synchronization System.
Acceleration Velocity Sensor.
Miscellaneous System (Delayed heave).

Driver Information

Driver	Kongsberg Binary	Interface Type	Network	Driver Class Type	Terminated
UTC Driver	Yes	Input / Output	Input and output	Executable	DrvQPSFreeBase.exe
Related Systems	Kongsberg Binary Acceleration (TCP Network) - 42 Kongsberg Binary Acceleration (UDP Multicast Network) - 42 Kongsberg Binary Acceleration (UDP Network) - 42 Kongsberg Binary Delayed Heave (TCP Network) - 23 Kongsberg Binary Delayed Heave (UDP Multicast Network) - 23 Kongsberg Binary Delayed Heave (UDP Network) - 23 Kongsberg Binary Gyro (TCP Network) - 05 Kongsberg Binary Gyro (UDP Multicast Network) - 05 Kongsberg Binary Gyro (UDP Network) - 05 Kongsberg Binary Positioning (TCP Network) - 12 Kongsberg Binary Positioning (UDP Multicast Network) - 12 Kongsberg Binary Positioning (UDP Network) - 12 Kongsberg Binary PPS (TCP Multicast Network) - 18 Kongsberg Binary PPS (UDP Multicast Network) - 18 Kongsberg Binary PPS (UDP Network) - 18
Related Pages

KM Binary Format


		Format	# of bytes
Start id	#KMB	char	4U
Dgm length		uint16	2U
Dgm version (=1)		uint16	2U

UTC seconds	s	uint32	4U
UTC nanoseconds	ns	uint32	4U

Status		uint32	4U

Latitude	deg	double	8F
Longitude	deg	double	8F
Ellipsoid height	m	float	4F

Roll	deg	float	4F
Pitch	deg	float	4F
Heading	deg	float	4F
Heave	m	float	4F

Roll rate	deg/s	float	4F
Pitch rate	deg/s	float	4F
Yaw rate	deg/s	float	4F

North velocity	m/s	float	4F
East velocity	m/s	float	4F
Down velocity	m/s	float	4F

Latitude error	m	float	4F
Longitude error	m	float	4F
Height error	m	float	4F
Roll error	deg	float	4F
Pitch error	deg	float	4F
Heading error	deg	float	4F
Heave error	m	float	4F

North acceleration	m/s2	float	4F
East acceleration	m/s2	float	4F
Down acceleration	m/s2	float	4F

Delayed heave:
UTC seconds	s	uint32	4U
UTC nanoseconds	ns	uint32	4U
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.
• Latitude: Negative on Southern hemisphere.
• Longitude: Negative on Western hemisphere.
• 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