Moving Base Toolchain

Software Versions

SYSTEM / SOFTWARE	FIRST USABLE VERSION
ADMA Firmware	30.8.1.8
GNSS-Receiver Firmware	OEM70504 or OEM60730
ADMA-PP	v1.10.x.y
Moving Base	v1.14
Ethernet Logger	v1.17.x.y

Data Input

In order to use Moving Base for calculating offline DELTA data, the following input data have to be recorded:

ADMA Ethernet Logger BIN (100 Hz)
Required Files:
• Ethernet Logger Binary Data file of ADMAnet dataformat v3.3.3 (.gsdb) • Ethernet Logger GNSS Raw data file (.gps)
• ADMA Configuration file (*.gsci)

Data Output

Moving Base calculated output data are compatible with the online Addon DELTA data. On top of the DELTA data there are output additional Moving Base data packets.

Moving Base calculates the distance between two moving vehicles. The measurement reference point is in the coordinate system of the DELTA-ADMA vehicle (Hunter vehicle). In this coordinate system, the Longitudinal direction (x direction) of the DELTA-ADMA is the INS-Angle-YAW. All data is defined in terms of ISO coordinate system, in reference to the configured POI. The data output rate at of the DELTA data is fixed to 100Hz.

Point of Calculation

Moving Base calculates the delta values between the defined POI at the Ego-ADMA and POI at the DELTA-ADMA. This allows to compare the DELTA data directly with the VUT (Vehicle under Test) sensor measurements.

Data Packets

Target Position

This data packet contains the position data of the Target vehicle in decimal degrees.

MovingBASE Target Longitude:

NAME	UNIT	DESCRIPTION
Target_Longitude	°	Target Longitude

MovingBASE Target Latitude:

NAME	UNIT	DESCRIPTION
Target_Latitude	°	Target Latitude

Version

This data packet contains the code version.

MovingBASE Version:

NAME	UNIT	DESCRIPTION
Code_version		Version of Moving Base Calculator (X.Y.Z -MAJOR.MINOR.PATCH)

Moving Base Longitudinal

This data packet contains the Moving Base position and velocity information, longitudinal.

MovingBASE Longitude:

NAME	UNIT	DESCRIPTION
Long_Delta_Distance	m	Longitudinal distance
Long_Delta_Velocity	m/sec	Longitudinal difference velocity

Moving Base Lateral

This data packet contains the Moving Base position and velocity information, lateral.

Delta Lateral:

NAME	UNIT	DESCRIPTION
Lat_Delta_Distance	m	Lateral distance, Positive left
Lat_Delta_Velocity	m/sec	Lateral difference velocity, Positive left

Moving Base Resultant 2D

This data packet contains the resultant Moving Base position and velocity information.

MovingBASE Resultant:

NAME	UNIT	DESCRIPTION
Resultant_Distance	m	Resultant distance 2D (Latitude and Longitude)
Resultant_Velocity	m/sec	Resultant velocity

Moving Base Angle

This data packet contains the angle information of the target in view of the hunter.

MovingBASE Angle:

NAME	UNIT	DESCRIPTION
Angle_of_Orientation	°	Angle of target in view of the hunter. Positive anti clockwise. Hunter Yaw (NED) – Target Yaw (NED) +/- 180 deg

Moving Base Time and Forward Velocity

This data packet contains the Moving Base time and forward velocity information.

MovingBASE Time ForwardVel:

NAME	UNIT	DESCRIPTION
Delta_Time	msec	Time stamp of Synchronized DELTA data. (GNSS time, milliseconds from midnight)
Target_Forward_Velocity	m/sec	Target forward velocity
Hunter_Forward_Velocity	m/sec	Hunter forward velocity

Moving Base Forward Acceleration and Lateral Velocity

This data packet contains the forward acceleration and lateral velocity information of the target and hunter vehicle.

MovingBASE ForwardAccel and Lat Vel:

NAME	UNIT	DESCRIPTION
Target_Forward_Acceleration	m/s²	Target forward acceleration
Hunter_Forward_Acceleration	m/s²	Hunter forward acceleration
Target_Lateral_Velocity	m/s	Target lateral velocity
Hunter_Lateral_Velocity	m/s	Hunter lateral velocity

Lateral Acceleration and Pitch Angle

This data packet contains the lateral acceleration and pitch angle information of the target and hunter vehicle.

MovingBASE Lat Accel and Pitch Angle:

NAME	UNIT	DESCRIPTION
Target_Lateral_Acceleration	m/s²	Target lateral acceleration
Hunter_Lateral_Acceleration	m/s²	Hunter lateral acceleration
Target_Pitch_Angle	°	Target pitch angle (ISO positive in braking)
Hunter_Pitch_Angle	°	Hunter pitch angle (ISO positive in braking)

GPS Mode of Target and Hunter Vehicle

This data packet contains the GNSS mode of the target and hunter vehicle.

MovingBASE GPS Mode:

NAME	UNIT	DESCRIPTION
Target_GPS_Mode		Coded status information of the Hunter ADMA. 0=error 1=Gyro not initialised 2=Waiting for Initialisation (not exceeded threshold speed for heading) 3=Not real time mode 5=accuracy worse than 10 6=accuracy 2m to 10m 7=accuracy 0.5m to 2m 8=accuracy 0.1m to 0.5m 9=accuracy better than 0.1m
Hunter_GPS_Mode		Coded status information of the Hunter ADMA. 0=error 1=Gyro not initialised 2=Waiting for Initialisation (not exceeded threshold speed for heading) 3=Not real time mode 5=accuracy worse than 10 6=accuracy 2m to 10m 7=accuracy 0.5m to 2m 8=accuracy 0.1m to 0.5m 9=accuracy better than 0.1m

Height

This data packet contains the resultant distance in height between target and hunter.

MovingBASE Height:

NAME	UNIT	DESCRIPTION
Height_Delta_Distance	m	Resultant distance in height

Resultant Distance 3D

This data packet contains the resultant distance 3D between Target and Hunter.

MovingBASE Resultant 3D:

NAME	UNIT	DESCRIPTION
Resultant_Distance_3D	m	Resultant distance 3D (Latitude, Longitude and Height)

EPE – Expected Position Error

This data packet contains the Moving Base expected error of position.

MovingBASE EPE:

NAME	UNIT	DESCRIPTION
Stddev_Long_Delta_Distance	m	Standard deviation in Longitude
Stddev_Lat_Delta_Distance	m	Standard deviation in Latitude
Stddev_Height_Delta_Distance	m	Standard deviation in Height
Stddev_Resultant_Distance	m	Standard deviation 2D (sum vector of stddev Latitude and stddev longitude)

Moving Base GNSS Raw

This data packet contains the raw GNSS Baseline information between the GNSS Antennas.

MovingBASE GNSS RAW:

NAME	UNIT	DESCRIPTION
GNSS_Baseline_Lat	m	GNSS raw distance in Latitude
GNSS_Baseline_Long	m	GNSS raw distance in Longitude
GNSS_Baseline_Height	m	GNSS raw distance in Height
GNSS_Baseline_Distance	m	GNSS raw distance 3D (Latitude, Longitude and Height)

Moving Base Hunter Position

This data packet contains the position data of the Hunter vehicle in decimal degrees calculated by the Moving Base.

MovingBASE Hunter Longitude:

NAME	UNIT	DESCRIPTION
Hunter_Longitude	m	Calculated by Moving Base

MovingBASE Hunter Latitude:

NAME	UNIT	DESCRIPTION
Hunter_Latitude	m	Calculated by Moving Base

INS Time

This data packet contains INS time data (ADMA time). The time indication is UTC.

MovingBASE INS Time:

NAME	UNIT	DESCRIPTION
INS_Time_msec	Msec	Time in Milliseconds, UTC
INS_Time_Week	Week	Weeks, Start 0h 6-Jan-1980

Moving Base Mode

This data packet contains the Moving Base Mode.