Network (UDP) - Simrad EM1000 (Heading) - 05

Description

Driver to be used to decode roll-pitch-heave observations from motion reference units, outputting data in the Simrad EM1000 or EM3000 format.

Driver Information

Driver	Simrad EM1000/3000	Interface Type	Serial / UDP	Driver Class Type	Counted
UTC Driver	No	Input / Output	Input	Executable	DrvQPSCounted.exe SIMRAD_MRU_EM1000 SIMRAD_MRU_EM3000 DrvQPSCountedUDP.exe SIMRAD_MRU_EM1000 SIMRAD_MRU_EM3000
Related Systems	Network (UDP) - Simrad EM1000 (Heading) - 05 Gyro Compass Network (UDP) - Simrad EM1000 R-P-H - 03 Pitch Roll Heave Sensor Network (UDP) - Simrad EM3000 (Heading) - 05 Gyro Compass Network (UDP) - Simrad EM3000 R-P-H - 03 Pitch Roll Heave Sensor Simrad EM1000 (Heading) - 05 Gyro Compass Simrad EM1000 R-P-H - 03 Pitch Roll Heave Sensor Simrad EM3000 (Heading) - 05 Gyro Compass Simrad EM3000 R-P-H - 03 Pitch Roll Heave Sensor
Related Pages

Note that the UDP driver timestamps data on arrival, as there is no timestamp in the format.

These drivers should not be used on objects that require accurate timestamped motion data, for instance, in combination with a multibeam system.

Decoding Notes

For both message types the status field is used to set the quality indicator.
For the EM1000 message the quality indicator is set to 1.00 when a 00h byte is encountered.
For the EM3000 message the quality indicator is set using the following table:

Status Byte	Quality Indicator
90h	1.00
91h – 9Fh	+1.10 to +2.50 (step size 0.10)
A0h - AFh	-1.00 to -2.50 (step size 0.10)

Drivers IO Notes

Command line parameters "EM1000" and "EM3000" indicate the message type as being decoded.
Otherwise, the first incoming byte is time-tagged.