Moog Crossbow GNAV540 - Manual (Page 81)

V540 Manual
080 Rev. B
Page 81 GNA
7430‐ User
8‐01
This packet contains navigation data and selected sensor data scaled in most cases to a signed 2^16 2’s complement
number. Data involving angular measurements include the factor pi in the scaling and can be interpreted in either
radians or degrees.
• Angles: scaled to a range of (‐pi, +pi) or (‐180 deg to +180 deg)
•
(‐630 deg/sec to +630 deg/sec) Angular rates: scaled to range of 3.5* (‐pi,+pi) or
• Accelerometers: scaled to a range of (‐10,+10) g
• Temperature: scaled to a range of (‐100, +100) °C
• GPS Velocities: scaled to a range of (‐256,256) m/s
•
epresentation. Altitude: scaled to a range of (‐100, 16284) m using a shifted 2’s complement r
• deg) Longitude and latitude: scaled to a range of (‐pi, pi) or (‐180 deg to +180
• GPS heading are scaled to a range of (‐pi, +pi) or (‐180 deg to +180 deg)
• The GPS velocity components are directly from GPS measurements. No inertial Measurements are involved
in its computation.
Table 52 N3 Payload
N3 Payload Contents
Byte
fset Of
Name Form
at Scaling Units Description
0 rollAngle I2 2*pi/2^16
) (360°/2^16
Radians
(°) Roll angle
2 pitchAngle I2 2*pi/2^16
) (360°/2^16
Radians
(°) Pitch angle
4 yawAngleTrue I2 2*pi/2^16
) (360°/2^16
Radians
(°) Yaw angle (true north)
6 xRateCorrected I2 7*pi/2^16
6) (1260°/2^1
rad/s
) (°/sec
X angular rate corrected
8 yRateCorrected I2 7*pi/2^16
6) (1260°/2^1
rad/s
) (°/sec
Y angular rate corrected
10 zRateCorrected I2 7*pi/2^16
^16) (1260°/2
rad/s
/sec) (°
Z angular rate corrected
12 xAccel I2 20/2^16 g X accelerometer
14 yAccel I2 20/2^16 g Y accelerometer
16 zAccel I2 20/2^16 g Z accelerometer
18 nVel I2 512/2^16 m/s GPS North velocity