Simrad Em Attitude 3000 - Simrad ES70 - INSTALLATION REV A Installation Manual

3 You can define how roll is assumed to be measured, either with respect to the
horizontal plane (the Hippy 120 or TSS convention), or to the plane tilted by the
given pitch angle (i.e. as a rotation angle around the pitch tilted forward pointing
x-axis). The latter convention (called Tate-Bryant in the POS/MV documentation) is
used inside the system in all data displays and in logged data (a transformation is
applied if the roll is given with respect to the horizontal).
Note that heave is displayed and logged as positive downwards (the sign is changed)
4
including roll and pitch induced lever arm translation to the system's transmit
transducer.
5 This format was originally designed for use with the EM 950 and the EM 1000
multibeam echo sounders with the first synchronisation byte always assumed to be
zero. The sensor manufacturers was then requested to include sensor status in the
format using the first synchronisation byte for this purpose. With this additional
information added, the datagram format is known as
Related topics
• How to set up the motion sensor interface on page 92

Simrad EM Attitude 3000

This proprietary Kongsberg binary telegram consists of a fixed length 10-bytes message.
It is defined as follows:
• Byte 1: Sync byte 1 = 00h, or Sensor status = 90h-AFh
• Byte 2: Sync byte 2 = 90h
• Byte 3: Roll LSB
• Byte 4: Roll MSB
• Byte 5: Pitch LSB
• Byte 6: Pitch MSB
• Byte 7: Heave LSB
• Byte 8: Heave MSB
• Byte 9: Heading LSB
• Byte 10: Heading MSB
LSB = least significant byte, MSB = most significant byte.
1 All data are in 2's complement binary, with 0.01° resolution for roll, pitch and
heading, and 1 cm resolution for heave.
• Roll is positive with port side up with ±179.99° valid range
• Pitch is positive with bow up with ±179.99° valid range
• Heave is positive up with ±9.99 m valid range
• Heading is positive clockwise with 0 to 359.99° valid range
Non-valid data are assumed when a value is outside the valid range.
2 You can define how roll is assumed to be measured, either with respect to the
horizontal plane (the Hippy 120 or TSS convention), or to the plane tilted by the
343522/A
Telegram formats
Kongsberg EM Attitude 3000
.
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