{"id":23898,"date":"2022-05-23T14:57:44","date_gmt":"2022-05-23T12:57:44","guid":{"rendered":"https:\/\/genesys-offenburg.de\/?post_type=smart-docs&p=23898"},"modified":"2023-06-23T10:16:17","modified_gmt":"2023-06-23T08:16:17","slug":"moving-base-toolchain","status":"publish","type":"smart-docs","link":"https:\/\/genesys-offenburg.de\/en\/support\/software\/moving-base\/moving-base-toolchain\/","title":{"rendered":"Moving Base Toolchain"},"content":{"rendered":"
\n
\"\"<\/figure>\n<\/div>\n\n\n

Software Versions<\/h2>\n\n\n\n
SYSTEM \/ SOFTWARE<\/th>FIRST USABLE VERSION<\/th><\/tr><\/thead>
ADMA Firmware<\/td>30.8.1.8<\/td><\/tr>
GNSS-Receiver Firmware<\/td>OEM70504 or OEM60730<\/td><\/tr>
ADMA-PP<\/td>v1.10.x.y<\/td><\/tr>
Moving Base<\/td>v1.14<\/td><\/tr>
Ethernet Logger<\/td>v1.17.x.y<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n

Data Input<\/a><\/h2>\n\n\n\n

In order to use Moving Base for calculating offline DELTA data, the following input data have to be recorded:<\/p>\n\n\n\n

ADMA Ethernet Logger BIN (100 Hz)
Required Files:
\u2022 Ethernet Logger Binary Data file of ADMAnet dataformat v3.3.3 (.gsdb) \u2022 Ethernet Logger GNSS Raw data file (<\/em>.gps)
\u2022 ADMA Configuration file (*.gsci)<\/p>\n\n\n\n

Data Output<\/h2>\n\n\n\n

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.<\/p>\n\n\n\n

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.<\/p>\n\n\n

\n
\"\"<\/figure>\n<\/div>\n\n\n

Point of Calculation<\/h3>\n\n\n\n

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.<\/p>\n\n\n

\n
\"\"<\/figure>\n<\/div>\n\n\n

Data Packets<\/h3>\n\n\n\n

Target Position<\/h4>\n\n\n\n

This data packet contains the position data of the Target vehicle in decimal degrees.<\/p>\n\n\n\n

MovingBASE Target Longitude<\/strong>:<\/p>\n\n\n\n

NAME<\/th>UNIT<\/th>DESCRIPTION<\/th><\/tr><\/thead>
Target_Longitude<\/td>\u00b0<\/td>Target Longitude<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n

MovingBASE Target Latitude<\/strong>:<\/p>\n\n\n\n

NAME<\/th>UNIT<\/th>DESCRIPTION<\/th><\/tr><\/thead>
Target_Latitude<\/td>\u00b0<\/td>Target Latitude<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n

Version<\/h4>\n\n\n\n

This data packet contains the code version.<\/p>\n\n\n\n

MovingBASE Version<\/strong>:<\/p>\n\n\n\n

NAME<\/th>UNIT<\/th>DESCRIPTION<\/th><\/tr><\/thead>
Code_version<\/td><\/td>Version of Moving Base Calculator (X.Y.Z -MAJOR.MINOR.PATCH)<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n

Moving Base Longitudinal<\/h4>\n\n\n\n

This data packet contains the Moving Base position and velocity information, longitudinal.<\/p>\n\n\n\n

MovingBASE Longitude<\/strong>:<\/p>\n\n\n\n

NAME<\/th>UNIT<\/th>DESCRIPTION<\/th><\/tr><\/thead>
Long_Delta_Distance<\/td>m<\/td>Longitudinal distance<\/td><\/tr>
Long_Delta_Velocity<\/td>m\/sec<\/td>Longitudinal difference velocity<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n

Moving Base Lateral<\/h4>\n\n\n\n

This data packet contains the Moving Base position and velocity information, lateral.<\/p>\n\n\n\n

Delta Lateral<\/strong>:<\/p>\n\n\n\n

NAME<\/th>UNIT<\/th>DESCRIPTION<\/th><\/tr><\/thead>
Lat_Delta_Distance<\/td>m<\/td>Lateral distance, Positive left<\/td><\/tr>
Lat_Delta_Velocity<\/td>m\/sec<\/td>Lateral difference velocity, Positive left<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n

Moving Base Resultant 2D<\/h4>\n\n\n\n

This data packet contains the resultant Moving Base position and velocity information.<\/p>\n\n\n\n

MovingBASE Resultant<\/strong>:<\/p>\n\n\n\n

NAME<\/th>UNIT<\/th>DESCRIPTION<\/th><\/tr><\/thead>
Resultant_Distance<\/td>m<\/td>Resultant distance 2D (Latitude and Longitude)<\/td><\/tr>
Resultant_Velocity<\/td>m\/sec<\/td>Resultant velocity<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n

Moving Base Angle<\/h4>\n\n\n\n

This data packet contains the angle information of the target in view of the hunter.<\/p>\n\n\n\n

MovingBASE Angle<\/strong>:<\/p>\n\n\n\n

NAME<\/th>UNIT<\/th>DESCRIPTION<\/th><\/tr><\/thead>
Angle_of_Orientation<\/td>\u00b0<\/td>Angle of target in view of the hunter. Positive anti clockwise. Hunter Yaw (NED) \u2013 Target Yaw (NED)
+\/- 180 deg<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n

Moving Base Time and Forward Velocity<\/h4>\n\n\n\n

This data packet contains the Moving Base time and forward velocity information.<\/p>\n\n\n\n

MovingBASE Time ForwardVel<\/strong>:<\/p>\n\n\n\n

NAME<\/th>UNIT<\/th>DESCRIPTION<\/th><\/tr><\/thead>
Delta_Time<\/td>msec<\/td>Time stamp of Synchronized DELTA data.
(GNSS time, milliseconds from midnight)<\/td><\/tr>
Target_Forward_Velocity<\/td>m\/sec<\/td>Target forward velocity<\/td><\/tr>
Hunter_Forward_Velocity<\/td>m\/sec<\/td>Hunter forward velocity<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n

Moving Base Forward Acceleration and Lateral Velocity<\/h4>\n\n\n\n

This data packet contains the forward acceleration and lateral velocity information of the target and hunter vehicle.<\/p>\n\n\n\n

MovingBASE ForwardAccel and Lat Vel<\/strong>:<\/p>\n\n\n\n

NAME<\/th>UNIT<\/th>DESCRIPTION<\/th><\/tr><\/thead>
Target_Forward_Acceleration<\/td>m\/s\u00b2<\/td>Target forward acceleration<\/td><\/tr>
Hunter_Forward_Acceleration<\/td>m\/s\u00b2<\/td>Hunter forward acceleration<\/td><\/tr>
Target_Lateral_Velocity<\/td>m\/s<\/td>Target lateral velocity<\/td><\/tr>
Hunter_Lateral_Velocity<\/td>m\/s<\/td>Hunter lateral velocity<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n

Lateral Acceleration and Pitch Angle<\/h4>\n\n\n\n

This data packet contains the lateral acceleration and pitch angle information of the target and hunter vehicle.<\/p>\n\n\n\n

MovingBASE Lat Accel and Pitch Angle<\/strong>:<\/p>\n\n\n\n

NAME<\/th>UNIT<\/th>DESCRIPTION<\/th><\/tr><\/thead>
Target_Lateral_Acceleration<\/td>m\/s\u00b2<\/td>Target lateral acceleration<\/td><\/tr>
Hunter_Lateral_Acceleration<\/td>m\/s\u00b2<\/td>Hunter lateral acceleration<\/td><\/tr>
Target_Pitch_Angle<\/td>\u00b0<\/td>Target pitch angle (ISO positive in braking)<\/td><\/tr>
Hunter_Pitch_Angle<\/td>\u00b0<\/td>Hunter pitch angle (ISO positive in braking)<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n

GPS Mode of Target and Hunter Vehicle<\/h4>\n\n\n\n

This data packet contains the GNSS mode of the target and hunter vehicle.<\/p>\n\n\n\n

MovingBASE GPS Mode<\/strong>:<\/p>\n\n\n\n

NAME<\/th>UNIT<\/th>DESCRIPTION<\/th><\/tr><\/thead>
Target_GPS_Mode<\/td><\/td>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<\/td><\/tr>
Hunter_GPS_Mode<\/td><\/td>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<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n

Height<\/h4>\n\n\n\n

This data packet contains the resultant distance in height between target and hunter.<\/p>\n\n\n\n

MovingBASE Height<\/strong>:<\/p>\n\n\n\n

NAME<\/th>UNIT<\/th>DESCRIPTION<\/th><\/tr><\/thead>
Height_Delta_Distance<\/td>m<\/td> Resultant distance in height<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n

Resultant Distance 3D<\/h4>\n\n\n\n

This data packet contains the resultant distance 3D between Target and Hunter.<\/p>\n\n\n\n

MovingBASE Resultant 3D<\/strong>:<\/p>\n\n\n\n

NAME<\/th>UNIT<\/th>DESCRIPTION<\/th><\/tr><\/thead>
Resultant_Distance_3D<\/td>m<\/td>Resultant distance 3D (Latitude, Longitude and Height)<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n

EPE \u2013 Expected Position Error<\/h4>\n\n\n\n

This data packet contains the Moving Base expected error of position.<\/p>\n\n\n\n

MovingBASE EPE<\/strong>:<\/p>\n\n\n\n

NAME<\/th>UNIT<\/th>DESCRIPTION<\/th><\/tr><\/thead>
Stddev_Long_Delta_Distance<\/td>m<\/td>Standard deviation in Longitude<\/td><\/tr>
Stddev_Lat_Delta_Distance<\/td>m<\/td>Standard deviation in Latitude<\/td><\/tr>
Stddev_Height_Delta_Distance<\/td>m<\/td>Standard deviation in Height<\/td><\/tr>
Stddev_Resultant_Distance<\/td>m<\/td>Standard deviation 2D (sum vector of stddev Latitude and stddev longitude)<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n

Moving Base GNSS Raw<\/h4>\n\n\n\n

This data packet contains the raw GNSS Baseline information between the GNSS Antennas.<\/p>\n\n\n\n

MovingBASE GNSS RAW<\/strong>:<\/p>\n\n\n\n

NAME<\/th>UNIT<\/th>DESCRIPTION<\/th><\/tr><\/thead>
GNSS_Baseline_Lat<\/td>m<\/td>GNSS raw distance in Latitude<\/td><\/tr>
GNSS_Baseline_Long<\/td>m<\/td>GNSS raw distance in Longitude<\/td><\/tr>
GNSS_Baseline_Height<\/td>m<\/td>GNSS raw distance in Height<\/td><\/tr>
GNSS_Baseline_Distance<\/td>m<\/td>GNSS raw distance 3D (Latitude, Longitude and Height)<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n

Moving Base Hunter Position<\/h4>\n\n\n\n

This data packet contains the position data of the Hunter vehicle in decimal degrees calculated by the Moving Base.<\/p>\n\n\n\n

MovingBASE Hunter Longitude<\/strong>:<\/p>\n\n\n\n

NAME<\/th>UNIT<\/th>DESCRIPTION<\/th><\/tr><\/thead>
Hunter_Longitude<\/td>m<\/td>Calculated by Moving Base<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n

MovingBASE Hunter Latitude<\/strong>:<\/p>\n\n\n\n

NAME<\/th>UNIT<\/th>DESCRIPTION<\/th><\/tr><\/thead>
Hunter_Latitude<\/td>m<\/td>Calculated by Moving Base<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n

INS Time<\/h4>\n\n\n\n

This data packet contains INS time data (ADMA time). The time indication is UTC.<\/p>\n\n\n\n

MovingBASE INS Time<\/strong>:<\/p>\n\n\n\n

NAME<\/th>UNIT<\/th>DESCRIPTION<\/th><\/tr><\/thead>
INS_Time_msec<\/td>Msec<\/td>Time in Milliseconds, UTC<\/td><\/tr>
INS_Time_Week<\/td>Week<\/td>Weeks, Start 0h 6-Jan-1980<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n

Moving Base Mode<\/h4>\n\n\n\n

This data packet contains the Moving Base Mode.<\/p>\n\n\n\n

MovingBASE INS Time<\/strong>:<\/p>\n\n\n\n

NAME<\/th>UNIT<\/th>DESCRIPTION<\/th><\/tr><\/thead>
MovingBase Mode<\/td><\/td>Coded status information of the Moving Base calculation.
1=no GNSS-Data
2=single GNSS
4=DGNSS coarse
8=RTK<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n

<\/p>\n","protected":false},"excerpt":{"rendered":"

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:\u2022 Ethernet Logger Binary […]<\/p>\n","protected":false},"author":148,"featured_media":30266,"template":"","meta":{"_acf_changed":false,"_links_to":"","_links_to_type":0,"footnotes":""},"smartdocs_category":[808,838],"class_list":{"0":"post-23898","1":"smart-docs","2":"type-smart-docs","3":"status-publish","4":"has-post-thumbnail","6":"smartdocs_category-software","7":"smartdocs_category-moving-base"},"acf":[],"_links":{"self":[{"href":"https:\/\/genesys-offenburg.de\/en\/wp-json\/wp\/v2\/smart-docs\/23898","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/genesys-offenburg.de\/en\/wp-json\/wp\/v2\/smart-docs"}],"about":[{"href":"https:\/\/genesys-offenburg.de\/en\/wp-json\/wp\/v2\/types\/smart-docs"}],"author":[{"embeddable":true,"href":"https:\/\/genesys-offenburg.de\/en\/wp-json\/wp\/v2\/users\/148"}],"version-history":[{"count":0,"href":"https:\/\/genesys-offenburg.de\/en\/wp-json\/wp\/v2\/smart-docs\/23898\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/genesys-offenburg.de\/en\/wp-json\/wp\/v2\/media\/30266"}],"wp:attachment":[{"href":"https:\/\/genesys-offenburg.de\/en\/wp-json\/wp\/v2\/media?parent=23898"}],"wp:term":[{"taxonomy":"smartdocs_category","embeddable":true,"href":"https:\/\/genesys-offenburg.de\/en\/wp-json\/wp\/v2\/smartdocs_category?post=23898"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}