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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN"
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8" />
<title>Navigation Messages — IMC v5.4.11 Specification</title>
<link rel="stylesheet" href="_static/pydoctheme.css" type="text/css" />
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</head>
<body>
<div class="document">
<div class="documentwrapper">
<div class="bodywrapper">
<div class="body">
<div class="section" id="navigation-messages">
<h1>Navigation Messages<a class="headerlink" href="#navigation-messages" title="Permalink to this headline">¶</a></h1>
<div class="section" id="estimated-state">
<span id="estimatedstate"></span><h2>Estimated State<a class="headerlink" href="#estimated-state" title="Permalink to this headline">¶</a></h2>
<p>This message presents the estimated state of the vehicle.</p>
<p>EstimatedState is a complete description of the system
in terms of parameters such as position, orientation and
velocities at a particular moment in time.</p>
<p>The system position is given by a North-East-Down (NED)
local tangent plane displacement (x, y, z) relative to
an absolute WGS-84 coordinate (latitude, longitude,
height above ellipsoid).</p>
<p>The symbols for position and attitude as well as linear and
angular velocities were chosen according to SNAME’s notation (1950).
The body-fixed reference frame and Euler angles are depicted
next:</p>
<div class="figure align-center">
<img alt="_images/euler-lauv.png" src="_images/euler-lauv.png" />
</div>
<p>Euler angles</p>
<ul class="simple">
<li>Abbreviation: EstimatedState</li>
<li>Identification Number: 350</li>
<li>Payload Size: 88 bytes</li>
<li>Message Size: 110 bytes</li>
<li>Flags: periodic</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="18%" />
<col width="9%" />
<col width="6%" />
<col width="5%" />
<col width="43%" />
<col width="18%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Latitude (WGS-84)</td>
<td>lat</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td>WGS-84 Latitude.</td>
<td>min=-1.5707963267948966,
max=1.5707963267948966</td>
</tr>
<tr class="row-odd"><td>Longitude (WGS-84)</td>
<td>lon</td>
<td><em>rad</em></td>
<td>fp64_t</td>
<td>WGS-84 Longitude.</td>
<td>min=-3.141592653589793,
max=3.141592653589793</td>
</tr>
<tr class="row-even"><td>Height (WGS-84)</td>
<td>height</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td>Height above the WGS-84 ellipsoid.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Offset north</td>
<td>x</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td>The North offset of the North/East/Down field with respect to
LLH.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Offset east</td>
<td>y</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td>The East offset of the North/East/Down field with respect to
LLH.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Offset down</td>
<td>z</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td>The Down offset of the North/East/Down field with respect to
LLH.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Rotation over x axis</td>
<td>phi</td>
<td><em>rad</em></td>
<td>fp32_t</td>
<td>The phi Euler angle from the vehicle’s attitude.</td>
<td>min=-3.141592653589793,
max=3.141592653589793</td>
</tr>
<tr class="row-odd"><td>Rotation over y axis</td>
<td>theta</td>
<td><em>rad</em></td>
<td>fp32_t</td>
<td>The theta Euler angle from the vehicle’s attitude.</td>
<td>min=-1.57079632679490,
max=1.57079632679490</td>
</tr>
<tr class="row-even"><td>Rotation over z axis</td>
<td>psi</td>
<td><em>rad</em></td>
<td>fp32_t</td>
<td>The psi Euler angle from the vehicle’s attitude.</td>
<td>min=-3.141592653589793,
max=3.141592653589793</td>
</tr>
<tr class="row-odd"><td>Body-Fixed xx Velocity</td>
<td>u</td>
<td><em>m/s</em></td>
<td>fp32_t</td>
<td>Body-fixed frame xx axis velocity component.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Body-Fixed yy Velocity</td>
<td>v</td>
<td><em>m/s</em></td>
<td>fp32_t</td>
<td>Body-fixed frame yy axis velocity component.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Body-Fixed zz Velocity</td>
<td>w</td>
<td><em>m/s</em></td>
<td>fp32_t</td>
<td>Body-fixed frame zz axis velocity component.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Ground Velocity X (North)</td>
<td>vx</td>
<td><em>m/s</em></td>
<td>fp32_t</td>
<td>Ground Velocity xx axis velocity component.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Ground Velocity Y (East)</td>
<td>vy</td>
<td><em>m/s</em></td>
<td>fp32_t</td>
<td>Ground Velocity yy axis velocity component.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Ground Velocity Z (Down)</td>
<td>vz</td>
<td><em>m/s</em></td>
<td>fp32_t</td>
<td>Ground Velocity zz axis velocity component.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Angular Velocity in x</td>
<td>p</td>
<td><em>rad/s</em></td>
<td>fp32_t</td>
<td>The angular velocity over body-fixed xx axis (roll).</td>
<td>min=-3.141592653589793,
max=3.141592653589793</td>
</tr>
<tr class="row-even"><td>Angular Velocity in y</td>
<td>q</td>
<td><em>rad/s</em></td>
<td>fp32_t</td>
<td>The angular velocity over body-fixed yy axis (pitch).</td>
<td>min=-3.141592653589793,
max=3.141592653589793</td>
</tr>
<tr class="row-odd"><td>Angular Velocity in z</td>
<td>r</td>
<td><em>rad/s</em></td>
<td>fp32_t</td>
<td>The angular velocity over body-fixed zz axis (yaw).</td>
<td>min=-3.141592653589793,
max=3.141592653589793</td>
</tr>
<tr class="row-even"><td>Depth</td>
<td>depth</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td>Depth, in meters. To be used by underwater vehicles. Negative
values denote invalid estimates.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Altitude</td>
<td>alt</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td>Altitude, in meters. Negative values denote invalid estimates.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="estimated-stream-velocity">
<span id="estimatedstreamvelocity"></span><h2>Estimated Stream Velocity<a class="headerlink" href="#estimated-stream-velocity" title="Permalink to this headline">¶</a></h2>
<p>The estimated stream velocity, typically for water or air
streams.</p>
<ul class="simple">
<li>Abbreviation: EstimatedStreamVelocity</li>
<li>Identification Number: 351</li>
<li>Payload Size: 24 bytes</li>
<li>Message Size: 46 bytes</li>
<li>Flags: periodic</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="23%" />
<col width="15%" />
<col width="8%" />
<col width="9%" />
<col width="24%" />
<col width="22%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>X component (North)</td>
<td>x</td>
<td><em>m/s</em></td>
<td>fp64_t</td>
<td>X component (North).</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Y component (East)</td>
<td>y</td>
<td><em>m/s</em></td>
<td>fp64_t</td>
<td>Y component (East).</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Z component (Down)</td>
<td>z</td>
<td><em>m/s</em></td>
<td>fp64_t</td>
<td>Z component (Down).</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="indicated-speed">
<span id="indicatedspeed"></span><h2>Indicated Speed<a class="headerlink" href="#indicated-speed" title="Permalink to this headline">¶</a></h2>
<p>Speed measured by the navigation filter.</p>
<ul class="simple">
<li>Abbreviation: IndicatedSpeed</li>
<li>Identification Number: 352</li>
<li>Payload Size: 8 bytes</li>
<li>Message Size: 30 bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="21%" />
<col width="18%" />
<col width="9%" />
<col width="10%" />
<col width="17%" />
<col width="26%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Measured speed</td>
<td>value</td>
<td><em>m/s</em></td>
<td>fp64_t</td>
<td> </td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="true-speed">
<span id="truespeed"></span><h2>True Speed<a class="headerlink" href="#true-speed" title="Permalink to this headline">¶</a></h2>
<p>Ground true speed.</p>
<ul class="simple">
<li>Abbreviation: TrueSpeed</li>
<li>Identification Number: 353</li>
<li>Payload Size: 8 bytes</li>
<li>Message Size: 30 bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="22%" />
<col width="18%" />
<col width="9%" />
<col width="10%" />
<col width="16%" />
<col width="25%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Estimated value</td>
<td>value</td>
<td><em>m/s</em></td>
<td>fp64_t</td>
<td> </td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="navigation-uncertainty">
<span id="navigationuncertainty"></span><h2>Navigation Uncertainty<a class="headerlink" href="#navigation-uncertainty" title="Permalink to this headline">¶</a></h2>
<p>Report of navigation uncertainty.
This is usually given by the output of the state
covariance matrix of an Extended Kalman Filter.</p>
<ul class="simple">
<li>Abbreviation: NavigationUncertainty</li>
<li>Identification Number: 354</li>
<li>Payload Size: 56 bytes</li>
<li>Message Size: 78 bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="22%" />
<col width="9%" />
<col width="6%" />
<col width="5%" />
<col width="46%" />
<col width="13%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Variance - x Position</td>
<td>x</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td><dl class="first last docutils">
<dt>The North offset variance of the North/East/Down</dt>
<dd>field with respect to LLH.</dd>
</dl>
</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Variance - y Position</td>
<td>y</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td><dl class="first last docutils">
<dt>The East offset variance of the North/East/Down</dt>
<dd>field with respect to LLH.</dd>
</dl>
</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Variance - z Position</td>
<td>z</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td><dl class="first last docutils">
<dt>The Down offset variance of the North/East/Down</dt>
<dd>field with respect to LLH.</dd>
</dl>
</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Variance - Roll</td>
<td>phi</td>
<td><em>rad</em></td>
<td>fp32_t</td>
<td>The phi Euler angle variance from the vehicle’s attitude.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Variance - Pitch</td>
<td>theta</td>
<td><em>rad</em></td>
<td>fp32_t</td>
<td>The theta Euler angle variance from the vehicle’s attitude.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Variance - Yaw</td>
<td>psi</td>
<td><em>rad</em></td>
<td>fp32_t</td>
<td>The psi Euler angle variance from the vehicle’s attitude.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Variance - Gyro. Roll Rate</td>
<td>p</td>
<td><em>rad/s</em></td>
<td>fp32_t</td>
<td>The angular velocity variance over body-fixed xx axis (roll).</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Variance - Gyro. Pitch Rate</td>
<td>q</td>
<td><em>rad/s</em></td>
<td>fp32_t</td>
<td>The angular velocity variance over body-fixed yy axis (pitch).</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Variance - Gyro. Yaw Rate</td>
<td>r</td>
<td><em>rad/s</em></td>
<td>fp32_t</td>
<td>The angular velocity variance over body-fixed zz axis (yaw).</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Variance - Body-Fixed xx Velocity</td>
<td>u</td>
<td><em>m/s</em></td>
<td>fp32_t</td>
<td>Body-fixed frame xx axis velocity variance component.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Variance - Body-Fixed yy Velocity</td>
<td>v</td>
<td><em>m/s</em></td>
<td>fp32_t</td>
<td>Body-fixed frame yy axis velocity variance component.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Variance - Body-Fixed ww Velocity</td>
<td>w</td>
<td><em>m/s</em></td>
<td>fp32_t</td>
<td>Body-fixed frame zz axis velocity variance component.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Variance - Yaw Bias</td>
<td>bias_psi</td>
<td><em>rad</em></td>
<td>fp32_t</td>
<td>The psi Euler angle bias variance from the vehicle’s sensed attitude.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Variance - Gyro. Yaw Rate Bias</td>
<td>bias_r</td>
<td><em>rad/s</em></td>
<td>fp32_t</td>
<td>The angular velocity over body-fixed zz axis bias variance from sensor.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="navigation-data">
<span id="navigationdata"></span><h2>Navigation Data<a class="headerlink" href="#navigation-data" title="Permalink to this headline">¶</a></h2>
<p>Report of navigation data.
This is constituted by data which is not
part of the vehicle estimated state but
that the user may refer for more information.</p>
<ul class="simple">
<li>Abbreviation: NavigationData</li>
<li>Identification Number: 355</li>
<li>Payload Size: 36 bytes</li>
<li>Message Size: 58 bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="21%" />
<col width="10%" />
<col width="6%" />
<col width="5%" />
<col width="44%" />
<col width="14%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Yaw Bias</td>
<td>bias_psi</td>
<td><em>rad</em></td>
<td>fp32_t</td>
<td>The psi Euler angle bias from the vehicle’s sensed attitude.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Gyro. Yaw Rate Bias</td>
<td>bias_r</td>
<td><em>rad/s</em></td>
<td>fp32_t</td>
<td>The angular velocity over body-fixed zz axis bias from sensor.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Course Over Ground</td>
<td>cog</td>
<td><em>rad</em></td>
<td>fp32_t</td>
<td>Course over ground given by NED ground velocity vectors.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Continuous Yaw</td>
<td>cyaw</td>
<td><em>rad</em></td>
<td>fp32_t</td>
<td>Continuous psi Euler angle (without normalizations).</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>GPS Rejection Filter Level</td>
<td>lbl_rej_level</td>
<td><em>-</em></td>
<td>fp32_t</td>
<td>GPS rejection filter level.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>LBL Rejection Filter Level</td>
<td>gps_rej_level</td>
<td><em>-</em></td>
<td>fp32_t</td>
<td>LBL rejection filter level.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Variance - Custom Variable X</td>
<td>custom_x</td>
<td><em>-</em></td>
<td>fp32_t</td>
<td>Custom variable.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Variance - Custom Variable Y</td>
<td>custom_y</td>
<td><em>-</em></td>
<td>fp32_t</td>
<td>Custom variable.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Variance - Custom Variable Z</td>
<td>custom_z</td>
<td><em>-</em></td>
<td>fp32_t</td>
<td>Custom variable.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="gps-fix-rejection">
<span id="gpsfixrejection"></span><h2>GPS Fix Rejection<a class="headerlink" href="#gps-fix-rejection" title="Permalink to this headline">¶</a></h2>
<p>No description</p>
<ul class="simple">
<li>Abbreviation: GpsFixRejection</li>
<li>Identification Number: 356</li>
<li>Payload Size: 5 bytes</li>
<li>Message Size: 27 bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="11%" />
<col width="9%" />
<col width="24%" />
<col width="6%" />
<col width="38%" />
<col width="13%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>UTC Time of Fix</td>
<td>utc_time</td>
<td><em>s</em></td>
<td>fp32_t</td>
<td>UTC time of the rejected GPS fix measured in seconds since
00:00:00 (midnight).</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Reason</td>
<td>reason</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="#gpsfixrejection-enum-reason"><span class="std std-ref">Enum Reason</span></a>)</td>
<td>uint8_t</td>
<td>Reason for rejection.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
<div class="section" id="enum-reason">
<span id="gpsfixrejection-enum-prefix-rr"></span><span id="gpsfixrejection-enum-reason"></span><h3>Enum Reason<a class="headerlink" href="#enum-reason" title="Permalink to this headline">¶</a></h3>
<p>Reason for rejection.</p>
<ul class="simple">
<li>Abbreviation: reason</li>
<li>Prefix: RR</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="7%" />
<col width="19%" />
<col width="16%" />
<col width="58%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Value</th>
<th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Description</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>0</td>
<td>Above Threshold</td>
<td>ABOVE_THRESHOLD</td>
<td>New GPS Fix position is above a computed threshold.</td>
</tr>
<tr class="row-odd"><td>1</td>
<td>Invalid Fix</td>
<td>INVALID</td>
<td>Invalid measurement.</td>
</tr>
<tr class="row-even"><td>2</td>
<td>Above Maximum HDOP</td>
<td>ABOVE_MAX_HDOP</td>
<td>Above maximum horizontal dilution of precision.</td>
</tr>
<tr class="row-odd"><td>3</td>
<td>Above Maximum HACC</td>
<td>ABOVE_MAX_HACC</td>
<td>Above maximum horizontal accuracy index.</td>
</tr>
<tr class="row-even"><td>4</td>
<td>Lost Validity Bit</td>
<td>LOST_VAL_BIT</td>
<td>Lost one of the validity bits between consecutive GPS fixes.</td>
</tr>
</tbody>
</table>
</div>
</div>
<div class="section" id="lbl-range-acceptance">
<span id="lblrangeacceptance"></span><h2>LBL Range Acceptance<a class="headerlink" href="#lbl-range-acceptance" title="Permalink to this headline">¶</a></h2>
<p>When the vehicle uses Long Base Line navigation, this message
notifies that a new range was received from one of the acoustics
transponders. The message fields are used to identify the range
value and the transponder name. Also, this message has an
acceptance field that indicates whether a LBL range was accepted
or rejected, and if rejected, the reason why.</p>
<ul class="simple">
<li>Abbreviation: LblRangeAcceptance</li>
<li>Identification Number: 357</li>
<li>Payload Size: 6 bytes</li>
<li>Message Size: 28 bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="17%" />
<col width="8%" />
<col width="25%" />
<col width="5%" />
<col width="34%" />
<col width="11%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Beacon Identification Number</td>
<td>id</td>
<td><em>-</em></td>
<td>uint8_t</td>
<td>Identification number of the acoustic transponder from which
the range information was received.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Range</td>
<td>range</td>
<td><em>m</em></td>
<td>fp32_t</td>
<td>Distance to the acoustic transponder.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Acceptance</td>
<td>acceptance</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="#lblrangeacceptance-enum-acceptance"><span class="std std-ref">Enum Acceptance</span></a>)</td>
<td>uint8_t</td>
<td>Reason for acceptance/rejection.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
<div class="section" id="enum-acceptance">
<span id="lblrangeacceptance-enum-prefix-rr"></span><span id="lblrangeacceptance-enum-acceptance"></span><h3>Enum Acceptance<a class="headerlink" href="#enum-acceptance" title="Permalink to this headline">¶</a></h3>
<p>Reason for acceptance/rejection.</p>
<ul class="simple">
<li>Abbreviation: acceptance</li>
<li>Prefix: RR</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="5%" />
<col width="27%" />
<col width="13%" />
<col width="54%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Value</th>
<th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Description</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>0</td>
<td>Accepted</td>
<td>ACCEPTED</td>
<td>This LBL range is accepted by the navigation filter.</td>
</tr>
<tr class="row-odd"><td>1</td>
<td>Rejected - Above Threshold</td>
<td>ABOVE_THRESHOLD</td>
<td>New LBL Range is above a computed threshold.</td>
</tr>
<tr class="row-even"><td>2</td>
<td>Rejected - Singular Point</td>
<td>SINGULAR</td>
<td>Singular point.</td>
</tr>
<tr class="row-odd"><td>3</td>
<td>Rejected - Not Enough Information</td>
<td>NO_INFO</td>
<td>The filter lacks information to properly use the received LBL range.</td>
</tr>
<tr class="row-even"><td>4</td>
<td>Rejected - Vehicle At Surface</td>
<td>AT_SURFACE</td>
<td>Vehicle is using only GPS fix when it is at surface.</td>
</tr>
</tbody>
</table>
</div>
</div>
<div class="section" id="dvl-rejection">
<span id="dvlrejection"></span><h2>DVL Rejection<a class="headerlink" href="#dvl-rejection" title="Permalink to this headline">¶</a></h2>
<p>When the vehicle uses Doppler Velocity Log sensor, this message
notifies that a new measurement was locally rejected by the
navigation filter.</p>
<ul class="simple">
<li>Abbreviation: DvlRejection</li>
<li>Identification Number: 358</li>
<li>Payload Size: 10 bytes</li>
<li>Message Size: 32 bytes</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="11%" />
<col width="9%" />
<col width="23%" />
<col width="6%" />
<col width="39%" />
<col width="12%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Unit</th>
<th class="head">Type</th>
<th class="head">Description</th>
<th class="head">Range</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>Type of velocity</td>
<td>type</td>
<td><em>Bitfield</em>
(<a class="reference internal" href="#dvlrejection-bitfield-type"><span class="std std-ref">Bitfield Type of velocity</span></a>)</td>
<td>uint8_t</td>
<td>This field represents the type of the rejected velocity.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Reason</td>
<td>reason</td>
<td><em>Enumerated</em>
(<a class="reference internal" href="#dvlrejection-enum-reason"><span class="std std-ref">Enum Reason</span></a>)</td>
<td>uint8_t</td>
<td>Reason for rejection. There are two types of DVL measurement
filters. An Innovation filter checks the innovation between
the current measurement and the previous measurement within a
certain amount of time and an Absolute filter compares the
measurement with an absolute threshold value. Those filters
are tested using horizontal speed measurements, i.e.,
measurements in the x-axis and in the y-axis.</td>
<td>Same as field type</td>
</tr>
<tr class="row-even"><td>Value</td>
<td>value</td>
<td><em>m/s</em></td>
<td>fp32_t</td>
<td>Value of the rejection.
If it is an innovation rejection the value is
the absolute difference between the previous
accepted DVL measurement and the current one.
If it is an absolute rejection the value is
the current DVL measurement.</td>
<td>Same as field type</td>
</tr>
<tr class="row-odd"><td>Timestep</td>
<td>timestep</td>
<td><em>s</em></td>
<td>fp32_t</td>
<td>Timestep of the rejection.
The timestep is 0 for an absolute rejection
since it is an instantaneous reading. For
innovation rejection it is the time difference
between the previous accepted DVL measurement
and the current one.</td>
<td>Same as field type</td>
</tr>
</tbody>
</table>
<div class="section" id="bitfield-type-of-velocity">
<span id="dvlrejection-bitfield-prefix-type"></span><span id="dvlrejection-bitfield-type"></span><h3>Bitfield Type of velocity<a class="headerlink" href="#bitfield-type-of-velocity" title="Permalink to this headline">¶</a></h3>
<p>This field represents the type of the rejected velocity.</p>
<ul class="simple">
<li>Abbreviation: type</li>
<li>Prefix: TYPE</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="14%" />
<col width="33%" />
<col width="27%" />
<col width="25%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Value</th>
<th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Description</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>0x01</td>
<td>Ground velocity</td>
<td>GV</td>
<td><em>-</em></td>
</tr>
<tr class="row-odd"><td>0x02</td>
<td>Water velocity</td>
<td>WV</td>
<td><em>-</em></td>
</tr>
</tbody>
</table>
</div>
<div class="section" id="dvlrejection-enum-prefix-rr">
<span id="dvlrejection-enum-reason"></span><span id="id1"></span><h3>Enum Reason<a class="headerlink" href="#dvlrejection-enum-prefix-rr" title="Permalink to this headline">¶</a></h3>
<p>Reason for rejection. There are two types of DVL measurement
filters. An Innovation filter checks the innovation between
the current measurement and the previous measurement within a
certain amount of time and an Absolute filter compares the
measurement with an absolute threshold value. Those filters
are tested using horizontal speed measurements, i.e.,
measurements in the x-axis and in the y-axis.</p>
<ul class="simple">
<li>Abbreviation: reason</li>
<li>Prefix: RR</li>
</ul>
<table border="1" class="docutils">
<colgroup>
<col width="7%" />
<col width="25%" />
<col width="19%" />
<col width="49%" />
</colgroup>
<thead valign="bottom">
<tr class="row-odd"><th class="head">Value</th>
<th class="head">Name</th>
<th class="head">Abbreviation</th>
<th class="head">Description</th>
</tr>
</thead>
<tbody valign="top">
<tr class="row-even"><td>0</td>
<td>Innovation Threshold - X</td>
<td>INNOV_THRESHOLD_X</td>
<td>The current DVL x-axis measurement is discarded
because the absolute difference between the
value and the previous accepted DVL measurement
with a given time window is above a configurable
threshold.</td>
</tr>
<tr class="row-odd"><td>1</td>
<td>Innovation Threshold - Y</td>
<td>INNOV_THRESHOLD_Y</td>
<td>The current DVL y-axis measurement is discarded
because the absolute difference between the
value and the previous accepted DVL measurement
with a given time window is above a configurable
threshold.</td>
</tr>
<tr class="row-even"><td>2</td>
<td>Absolute Threshold - X</td>
<td>ABS_THRESHOLD_X</td>
<td>The current DVL x-axis measurement is discarded
because the the absolute value is above a
configurable threshold.</td>
</tr>
<tr class="row-odd"><td>3</td>
<td>Absolute Threshold - Y</td>
<td>ABS_THRESHOLD_Y</td>
<td>The current DVL y-axis measurement is discarded
because the the absolute value is above a
configurable threshold.</td>
</tr>
</tbody>
</table>
</div>
</div>
<div class="section" id="lbl-beacon-position-estimate">
<span id="lblestimate"></span><h2>LBL Beacon Position Estimate<a class="headerlink" href="#lbl-beacon-position-estimate" title="Permalink to this headline">¶</a></h2>
<p>LBL Beacon position estimate.</p>
<ul class="simple">
<li>Abbreviation: LblEstimate</li>
<li>Identification Number: 360</li>
<li>Payload Size: 47+ bytes</li>
<li>Message Size: 69+ bytes</li>