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 |
|---|---|---|---|---|---|
|
Yes |
Input / Output |
Input and output |
Executable |
DrvQPSFreeBase.exe |
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Related Systems |
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Related Pages |
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KM Binary Format
|
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|---|---|---|---|
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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 |
|
|
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|
|
Status |
|
uint32 |
4U |
|
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|
|
|
|
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 |
|
|
|
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|
|
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