IMUVEH
Applicable to: UM621 series, UM681A
| Syntax | $IMUVEH,date,time,gyroX,gyroY,gyroZ,accX,accY,accZ,speed*cs | |
|---|---|---|
| Example | $IMUVEH,260124,072202.910,0.013316,-0.011917,-0.022969,-0.418275, -0.106812,9.719531,0*09 |
|
| Description | Output the compensated built-in sensor data in vehicle body coordinate system. | |
| Input/Output | Output | |
| Parameter Definition | ||
| Parameter | Format | Description |
| date | STR | UTC date; in the format of ddmmyy: dd - Day mm - Month yy - Year Fill null if no exact year, month and day are parsed |
| time | STR | UTC time; in the format of hhmmss.sss: hh - Hour mm - Minute ss.sss - Second Fill null if no exact hour, minute and second are parsed |
| gyroX | DOUBLE | X-axis angular velocity of the built-in gyroscope in body coordinate system; unit: rad/s; fill null before the finish of MEMS calibration |
| gyroY | DOUBLE | Y-axis angular velocity of the built-in gyroscope in body coordinate system; unit: rad/s; fill null before the finish of MEMS calibration |
| gyroZ | DOUBLE | Z-axis angular velocity of the built-in gyroscope in body coordinate system; unit: rad/s; fill null before the finish of MEMS calibration |
| accX | DOUBLE | X-axis acceleration of the built-in accelerometer in body coordinate system; unit: m/s2; fill null before the finish of MEMS calibration |
| accY | DOUBLE | Y-axis acceleration of the built-in accelerometer in body coordinate system; unit: m/s2; fill null before the finish of MEMS calibration |
| accZ | DOUBLE | Z-axis acceleration of the built-in accelerometer in body coordinate system; unit: m/s2; fill null before the finish of MEMS calibration |
| speed | INT | Vehicle speed pulses; > 0 means forward and < 0 means backward; the field is null if there is no vehicle pulse signal. |
| cs | U8 | Checksum; two hexadecimal characters obtained by calculating an XOR of all characters between but not including ‘$' to ‘*' in this message |
Note:
- IMUVEH message is based on the body coordinate defined as follows:
- Positive direction of X axis: Driver’s right-hand direction, horizontal.
- Positive direction of Y axis: Vehicle forward direction, horizontal.
- Positive direction of Z axis: Vertical to the body plane, upward.
