Technical Support Center

Data packets ADMA Data v3.3.3

Table of Contents
  1. Status
  2. Error and Warning
    1. Bitfield Error_Hardware
    2. Bitfield Error_Misc1
    3. Bitfield Error_Misc2
    4. Bitfield Error_Misc3
    5. Bitfield Warn_GPS
    6. Bitfield Warn_Misc1
  3. Sensors Body-X / Y / Z
    1. Sensors body X
    2. Sensors body Y
    3. Sensors body Z
  4. Rates
    1. Rates body
    2. Rates horizontal
  5. Accelerations at MRP
    1. Accelerations body
    2. Accelerations horizontal/levelled
  6. Accelerations at POI1-8
    1. Accelerations POI1 (body)
    2. Accelerations POI8 (body)
    3. Accelerations POI1 (horizontal/levelled)
    4. Accelerations POI8 (horizontal/levelled)
  7. External Velocity analog/digital
    1. External Velocity Analog
    2. External Velocity Digital
    3. External Velocity Pulses
    4. External Velocity Corrected
  8. Miscellaneous 1 at MRP
    1. Miscellaneous 1
  9. Miscellaneous 1 at POI1-8
    1. Miscellaneous 1 POI1
    2. Miscellaneous 1 POI8
  10. Triggers 1-4
    1. Triggers 1 and 2
    2. Triggers 3 and 4
  11. System Data
    1. System Data
  12. GNSS Receiver Status and Error
    1. GNSS Receiver Status and Error
    2. GNSS_Receiver_Error
    3. GNSS_Receiver_Status
  13. GNSS-Position absolute
    1. GNSS-Position absolute
  14. GNSS-Position relative
    1. GNSS-Position relative
  15. GNSS-EPE (Expected Position Error)
    1. GNSS-EPE
  16. GNSS-Velocity frame
    1. GNSS-Velocity Frame
  17. GNSS-EVE (Expected Velocity Error)
    1. GNSS-EVE
  18. GNSS-Time UTC
    1. GNSS-Time UTC
  19. GNSS-AuxData 1 and 2
    1. GNSS-AuxData 1
    2. GNSS-AuxData 2
  20. GNSS-DualAnt Time UTC
    1. GNSS-DualAnt Time UTC
  21. GNSS-DualAnt Angle
    1. GNSS-DualAnt Angle
  22. GNSS-DualAnt Angle ETE (Expected Tilt Error)
    1. GNSS-EVE
  23. INS Angle and GNSS-COG (Course Over Ground)
    1. INS-Angle + GNSS-COG
  24. Height GNSS (MSL)
    1. Height GNSS (MSL)
  25. Height INS (MSL) at MRP
    1. Height INS (MSL)
  26. Height INS (MSL) at POI1-8
    1. Height INS POI1+2
    2. Height INS POI7+POI8
  27. INS-Time UTC
    1. INS-Time UTC
  28. Inertial Position absolute at MRP
    1. INS-Position absolute
  29. Inertial Position absolute at POI1-8
    1. INS-Position absolute POI1
    2. INS-Position absolute POI8
  30. Inertial Position relative at MRP
    1. INS-Position relative
  31. Inertial Position relative at POI1-8
    1. INS-Position relative POI1
    2. INS-Position relative POI8
  32. Inertial Velocity horizontal / levelled at MRP
    1. INS-Velocity horizontal
  33. Inertial Velocity frame / reference at MRP
    1. INS-Velocity frame
  34. Inertial Velocity horizontal / levelled at POI1-8
    1. INS-Velocity horizontal POI1
    2. INS-Velocity horizontal POI8
  35. Inertial-EPE (Expected Position Error)
    1. INS-EPE
  36. Inertial-EVE (Expected Velocity Error)
    1. INS-EVE
  37. Inertial-ETE (Expected Tilt Error)
    1. INS-ETE
  38. Analog IN 1
    1. Analog IN 1
  39. Kalman filter status in percent
    1. Kalman filter status
    2. CAN/ETH-Message-Format: ADMAnet-Data; Format Version: 3.3.3.0; File Version: 30.8.0.0

The following description of the data packets is based on the output format V3.3.3. The description of the previous data packets can be found in the relating ADMA Data format articles in the support center.

Status#

The first data packet contains necessary ADMA status information. These data packets cannot be disabled at the CAN data output configuration.

NAMEDESCRIPTION
Status_GNSS_Mode8 = DGNSS precise
4 = DGNSS coarse
2 = single GNSS
1 = no GNSS-Data
Status_StandstillStatus_Standstill
Status_Skidding1 = Vehicle is skidding
Status_External_Vel_Out1 = External velocity deviates from system velocity
Status_Trig_GPS1 = GNSS receiver was sampling
Status_Signal_IN31 = Signal was detected
Status_Signal_IN21 = Signal was detected
Status_Signal_IN11 = Signal was detected
Status_Alignment1 = prealignment (at start)
Status_AHRS_INS0 = IMU-Mode
1 = AHRS-Mode
Status_Dead_reckoning1 = dead reckoning operation
Status_SyncLock1 = ADMA-Time is adjusted
Status_EVK_activeExternal-Velocity-Kalman filter active, control criteria fulfilled
Status_EVK_EstimatesExternal-Velocity-Kalman filter has found valid estimates
Status_Heading_executedInitialisation of heading executed
Status_Configuration_ChangedIndicate a change of the ADMA configuration during measurement mode
Status_TiltTilt quality
0 = red
1 = yellow
2 = green
Status_PosPosition quality
0 = red
1 = yellow
2 = green
Status_CountAlignment time countdown at measurement start. Data record count 0-255 continuously at measurement
Status_Kalmanfilter_settled1 = Kalman filter settled in all axes
Status_KF_Lat_stimulated1 = Kalman filter settled in lateral axis
Status_KF_Long_stimulated1 = Kalman filter settled in longitudinal axis
Status_KF_steady-state1 = Kalman filter bias estimates settled
Status_SpeedSpeed quality
0 = red 1 = yellow 2 = green

IMU mode
Inertial Measurement Unit (IMU) = inertial measurement without system augmentation.

In the IMU mode only the inertial sensor data are used for calculation of attitude, heading angles, horizontal angular rate and horizontal acceleration data. The IMU mode is intended for short term applications which are highly dynamic along all three motion axes, e.g. roll-over tests.

AHRS/INS mode
Attitude and Heading Reference System (AHRS) = inertial measurement with system augmentation
Inertial Navigation System INS = inertial measurement with system augmentation

The AHRS/INS mode should be used for most applications, especially for long term measurements. Through system augmentation with (D)GNSS precise data over long periods of time is available.
The use of an extended Kalman filter, in combination with augmentation data, sensor and system inherent errors of the ADMA (like offsets and scalefactor errors) can be estimated and accounted for. This online calibration is of advantage in times of GNSS outage, where errors estimated by the Kalman filter are still being compensated, thus leading to improved system performance.

Error and Warning#

The second data packet is split into the bitfields Error and Warning. Please note that these data packets cannot be disabled at the CAN configuration.
The Error and Warning information are combined in 4 Bit data packets. The output value must be converted to a Binary (BIN) value. A detailed description of the separate Bits can be found in the lookup table below.

NAMEUNITDESCRIPTION
Error_HardwareBitfieldHardware Error. Details below.
Error_Misc1BitfieldHardware Error. Details below.
Error_Misc2BitfieldHardware Error. Details below.
Error_Misc3BitfieldHardware Error. Details below.
Warn_GPSBitfieldWarnings GNSS. Details below.
Warn_Misc1BitfieldWarnings Miscellaneous Details below.
Error_HW_StickyBitfieldHardware Error counter

Bitfield Error_Hardware#

30
GNSS_HW_ErrExtSpeedHWErrAccelHWErrGyroHWErr
Bit 3: Hardware error GNSS receiver
Bit 2: Hardware error external speed signal – Insufficient supply voltage
Bit 1: Hardware error accelerometer – Insufficient supply voltage
Bit 0: Hardware error gyro – Insufficient supply voltage

Bitfield Error_Misc1#

30
CMDErrorXmitErrorEEPromErrorDataBus
ChecksumError
Bit 3: Command error
Bit 2: Transmission error (RS 232)
Bit 1: EEProm error (no calibration data)
Bit 0: Serious data bus error

Bitfield Error_Misc2#

30
NumErrReservedCanBusErrDataBusError
Bit 3: Numerical error
Bit 2: Reserved
Bit 1: Error during CAN operation
Bit 0: Serious data bus error

Bitfield Error_Misc3#

30
ReservedRangeMaxReducedAccuracyTempWarning
Bit 3: Reserved
Bit 2: Measuring range trespassed / measurement invalid
Bit 1: Reduced sensor accuracy
Bit 0: Temperature warning

Bitfield Warn_GPS#

30
GNSS_UnableTo
Configure
GNSS_IgnoredGNSS_Vel_IgnoredGNSS_NoSolution
Bit 3: GNSS unable to configure, still booting
Bit 2: GNSS-Position seems not correct – Data ignored
Bit 1: GNSS-Velocity seems not correct – Data ignored
Bit 0: GNSS cannot calculate position

Bitfield Warn_Misc1#

30
ReservedReservedReservedSpeed-Off
Bit 3: Reserved
Bit 2: Reserved
Bit 1: Pressure too low / too high
Bit 0: External speed signal not valid / HW-Error

Lookup Table decimal DEC to hexadecimal HEX to binary BIN coded.

DECHEXBIN
0000000
1010001
2020010
3030011
4040100
5050101
6060110
7070111
8081000
9091001
100A1010
110B1011
120C1100
130D1101
140E1110
150F1111

Sensors Body-X / Y / Z#

This data packet contains the high-resolution body rates of the 3 orthogonal gyros and the high-resolution body accelerations of the 3 orthogonal accelerometers.

Sensors body X#

NAMEUNITDESCRIPTION
Acc_Body_HR_XgAccel high resolution in X, Body
Rate_Body_HR_X°/secRate high resolution in X, Body

Sensors body Y#

NAMEUNITDESCRIPTION
Acc_Body_HR_YgAccel high resolution in Y, Body
Rate_Body_HR_Y°/secRate high resolution in Y, Body

Sensors body Z#

NAMEUNITDESCRIPTION
Acc_Body_HR_ZgAccel high resolution in Z, Body
Rate_Body_HR_Z°/secRate high resolution in Z, Body

Note:
The algebraic sign of output acceleration values depends on the selected coordinate system. The data output is calibrated (for temperature, orthogonality, linearity), but without corrections of the Kalman filter.

Rates#

This data packet contains the rates of the 3 orthogonal gyros.

Rates body#

NAMEUNITDESCRIPTION
Rate_Body_X°/secRate in X, Body
Rate_Body_Y°/secRate in Y, Body
Rate_Body_Z°/secRate in Z, Body

Note:
The algebraic sign of output acceleration values depends on the selected coordinate system.
The data output is calibrated (for temperature, orthogonality, linearity), but without any corrections made by the Kalman filter.

Rates horizontal#

NAMEUNITDESCRIPTION
Rate_Hor_X°/secRate in X, Horizontal, longitudinal
Rate_Hor_Y°/secRate in Y, Horizontal, lateral
Rate_Hor_Z°/secRate in Z, Horizontal, vertical

Note:
The algebraic sign of output acceleration values depends on the selected coordinate system. The horizontal rates are calibrated, but are also Kalman filter corrected.

Accelerations at MRP#

This data packet contains the accelerations of the 3 orthogonal accelerometers in the Measuring Reference Point of the ADMA (MRP).

Accelerations body#

NAMEUNITDESCRIPTION
Acc_Body_XgAccel in X, Body, MRP1
Acc_Body_YgAccel in Y, Body, MRP1
Acc_Body_ZgAccel in Z, Body, MRP1
1 Measuring reference point of the ADMA.

Note:
The algebraic sign of output acceleration values depends on the selected coordinate system. The definition of the coordinate systems is explained in the user-manual. The data output is calibrated (for temperature, orthogonality, linearity), but without corrections of the Kalman filter.

Accelerations horizontal/levelled#

NAMEUNITDESCRIPTION
Acc_Hor_XgAccel in X, Horizontal, longitudinal, MRP1
Acc_Hor_YgAccel in Y, Horizontal, lateral, MRP1
Acc_Hor_ZgAccel in Z, Horizontal, vertical, MRP1
1 Measuring reference point of the ADMA.

Note:
The algebraic sign of output acceleration values depends on the selected coordinate system. The definition of the coordinate systems is explained in the User-Manual. The horizontal accelerations are calibrated, but are also Kalman filter corrected.

Accelerations at POI1-8#

This data packet contains the accelerations of the 3 orthogonal accelerometers in the virtual measurement points POI1 to POI8.

Accelerations POI1 (body)#

NAMEUNITDESCRIPTION
Acc_Body_X_POI1gAccel in X, Body, at POI1
Acc_Body_Y_POI1gAccel in Y, Body, at POI1
Acc_Body_Z_POI1gAccel in Z, Body, at POI1

...

Accelerations POI8 (body)#

NAMEUNITDESCRIPTION
Acc_Body_X_POI8gAccel in X, Body, at POI8
Acc_Body_Y_POI8gAccel in Y, Body, at POI8
Acc_Body_Z_POI8gAccel in Z, Body, at POI8

Note:
The algebraic sign of output acceleration values depends on the selected coordinate system. The definition of the coordinate systems is explained in the user-manual. The data output is calibrated (for temperature, orthogonality, linearity), but without corrections of the Kalman filter.

Accelerations POI1 (horizontal/levelled)#

NAMEUNITDESCRIPTION
Acc_Hor_X_POI1gAccel in X, Horizontal, longitudinal, at POI1
Acc_Hor_Y_POI1gAccel in Y, Horizontal, lateral, at POI1
Acc_Hor_Z_POI1gAccel in Z, Horizontal, vertical, at POI1

...

Accelerations POI8 (horizontal/levelled)#

NAMEUNITDESCRIPTION
Acc_Hor_X_POI8gAccel in X, Horizontal, longitudinal, at POI8
Acc_Hor_Y_POI8gAccel in Y, Horizontal, lateral, at POI8
Acc_Hor_Z_POI8gAccel in Z, Horizontal, vertical, at POI8

Note:
The algebraic sign of output acceleration values depends on the selected coordinate system. The definition of the coordinate systems is explained in the user-manual. The horizontal accelerations are calibrated, but are also Kalman filter corrected.

External Velocity analog/digital#

This data packet contains the external velocity data of an external, analog or digital velocity sensor and the ADMA compensated external velocity.

External Velocity Analog#

NAMEUNITDESCRIPTION
Ext_Vel_An_Xm/sexternal Velocity (analog raw), longitudinal
Ext_Vel_An_Ym/sexternal Velocity (analog raw), lateral

Note:
This data packet contains the raw data (as read by the ADC) of the external velocity sensor. However, data being output will depend on the chosen coordinate system (see user-manual).
Please check carefully that all configurations are made accordingly.

External Velocity Digital#

NAMEUNITDESCRIPTION
Ext_Vel_Dig_Xm/sexternal Velocity (digital raw), longitudinal
Ext_Vel_Dig_Ym/sexternal Velocity (digital raw), lateral

External Velocity Pulses#

NAMEUNITDESCRIPTION
Ext_Vel_Dig_Pulses_Xexternal Velocity counted Pulses, longitudinal
Ext_Vel_Dig_Pulses_Yexternal Velocity counted Pulses, biased, lateral

Note:
The digital velocity is calculated from the pulse increment per time unit. To be able to acquire negative velocity in Y, we expect the digital velocity in Y to be frequency modulated with 5 kHz. This is given by the Correvit Sensor, which most of our customer’s use. With a later firmware and software release the frequency offset will be adjustable.
However, data being output will depend on the chosen coordinate system (see User-Manual).
Please check carefully that all configurations are made accordingly.

External Velocity Corrected#

NAMEUNITDESCRIPTION
Ext_Vel_X_correctedm/sCorrected external Velocity, longitudinal
Ext_Vel_Y_correctedm/sCorrected external Velocity, lateral

Note:
The corrections applied are lever arm compensation, time delay caused by filters and (as with an optical sensor like the Correvit Sensor) misalignment of sensor in z-axis.
However, data being output will depend on the chosen coordinate system (see user-manual).
Please check carefully that all configurations are made accordingly.

Miscellaneous 1 at MRP#

This data packet contains data, which has been calculated by the ADMA in the Measuring Reference Point of the ADMA (MRP).

Miscellaneous 1#

NAMEUNITDESCRIPTION
Inv_Path_Radiusm-1inverse path radius, at MRP1
Side_Slip_Angle°side slip angle, inertial, at MRP1
Dist_Travmdistance travelled, at MRP1
1 Measuring reference point of the ADMA.

Note:
“Side_Slip_Angle” is calculated with atan(INS_Vel_Hor_Y/INS_Vel_Hor_X) and will be not defined when INS_Vel_Hor_X = 0. Below a velocity of 1m/sec the SSA is not provided.
A correct data is only to be expected in augmented operation (with external velocity or (D)GNSS).

A reset of the current “Distance Travelled” value can be done via event input at Signal IN3. Further information can be found in the ADMA Manual.

Miscellaneous 1 at POI1-8#

This data packet contains data, which has been calculated by the ADMA in the virtual measurement points POI1 to POI8.

Miscellaneous 1 POI1#

NAMEUNITDESCRIPTION
Inv_Path_Radius_POI1m-1inverse path radius, at POI1
Side_Slip_Angle_POI1°side slip angle, inertial, at POI1
Dist_Trav_POI1mdistance travelled, at POI1

...

Miscellaneous 1 POI8#

NAMEUNITDESCRIPTION
Inv_Path_Radius_POI8m-1inverse path radius, at POI8
Side_Slip_Angle_POI8°side slip angle, inertial, at POI8
Dist_Trav_POI8mdistance travelled, at POI8

Note:
“Side Slip Angle” is calculated with ATAN(INS_Vel_Hor_Y/INS_Vel_Hor_X) and will be not defined when INS_Vel_Hor_X = 0. Below a velocity of 1m/sec the SSA is not provided.
A correct data is only to be expected in augmented operation (with external velocity or (D)GNSS).

A reset of the current “Distance Travelled” value can be done via event input at Signal IN3. Further information can be found in the ADMA Manual.

Triggers 1-4#

This data packet contains time data related to the trigger signals at Signal IN1-4 port.

Triggers 1 and 2#

NAMEUNITDESCRIPTION
Trig_Rising_1µsexternal trigger e.g. Brake Pedal Trigger, etc.
Trig_Falling_1µsexternal trigger e.g. Brake Pedal Trigger, etc.
Trig_Rising_2µsexternal trigger e.g. Brake Pedal Trigger, etc.
Trig_Falling_2µsexternal trigger e.g. Brake Pedal Trigger, etc.

Triggers 3 and 4#

NAMEUNITDESCRIPTION
Trig_Rising_3µsexternal trigger e.g. Brake Pedal Trigger, etc.
Trig_Falling_3µsexternal trigger e.g. Brake Pedal Trigger, etc.
Trig_Rising_4µsexternal trigger e.g. Brake Pedal Trigger, etc.
Trig_Falling_4µsexternal trigger e.g. Brake Pedal Trigger, etc.

Note:
On a trigger event, the elapsed time since the last ADMA sampling is saved, a bit is set in the ADMA-Status and the data is output with the next data set. The data packet “Triggers” comes with the data from the current ADMA sampling point (k) but is related to the previous ADMA sampling point (k-1).

System Data#

This data packet contains useful system information.

System Data#

NAMEUNITDESCRIPTION
System_TaµsSampling time
System_Temp°CSystem temperature. The temperature source can be selected via Webinterface menu System.
System_TimeSinceInitsecTime since last system init
System_DSP_Load%System processor load

GNSS Receiver Status and Error#

This data packet contains various status parameters of the GNSS receiver system. These include the Receiver Status and Error bitfield which contain several flags specifying status and error conditions.

GNSS Receiver Status and Error#

NAMEUNITDESCRIPTION
GNSS_Receiver_ErrorBitfieldGNSS receiver error. A value of zero indicates no errors.
GNSS_Receiver_StatusBitfieldVarious status messages of the GNSS receiver. Some flags are only available on certain products.

Separated Receiver Status information of the GNSS_Receiver_Status bitfield.

NAMEUNITDESCRIPTION
GNSS_Prim_Ant_open1 = Open, Primary GNSS Antenna disconnected
GNSS_Prim_Ant_short_circuit1 = GNSS Antenna short circuit detected. Webinterface menu System.
GNSS_Ant_Gain_out_of_range1 = Antenna gain out of range. The antenna is not operating correctly, the antenna is not suitable for the GNSS receivers, or there is no antenna connected.
GNSS_Jammer_Detected1 = Jammer detected. GNSS signals are overpowered by a jammer.
GNSS_Almanac_Invalid1 = GNSS almanac invalid. It typically takes 15 to 20 minutes of continuous GNSS tracking to download an updated almanac message.
GNSS_Solution_Invalid1 = Receiver cannot calculate a position solution.
GNSS_Temp_warning1 = Temperature over the acceptable limits.

The GNSS_Receiver_Error and GNSS_Receiver_Status information are combined in two 4 Bit Decimal (DEC) data packets. The output value must be converted to a Hexadecimal (HEX) value. A detailed description of the separate Bits can be found in the lookup table below.

GNSS_Receiver_Error#

BitMaskDESCRIPTIONBit=0Bit=1
00x00000001Dynamic Random Access Memory (DRAM) statusOKError
10x00000002Invalid FirmwareOKError
20x00000004ReservedOKError
30x00000008ReservedOKError
40x00000010ReservedOKError
50x00000020Authorization code statusOKError
60x00000040ReservedOKError
70x00000080Supply voltage statusOKError
80x00000100ReservedOKError
90x00000200Temperature statusOKError
100x00000400ReservedOKError
110x00000800ReservedOKError
120x00001000ReservedOKError
130x00002000ReservedOKError
140x00004000ReservedOKError
150x00008000ReservedOKError
160x00010000ReservedOKError
170x00020000Model invalid for this receiverOKError
180x00040000ReservedOKError
190x00080000ReservedOKError
200x00100000ReservedOKError
210x00200000ReservedOKError
220x00400000Safe ModeOKError
230x00800000ReservedOKError
240x01000000ReservedOKError
250x02000000ReservedOKError
260x04000000ReservedOKError
270x08000000ReservedOKError
280x10000000ReservedOKError
290x20000000ReservedOKError
300x40000000ReservedOKError
310x80000000Component hardware failureOKError

GNSS_Receiver_Status#

BitMaskDESCRIPTIONBit=0Bit=1
00x00000001Error flag, see Table GNSS_Receiver_ErrorNo errorError
10x00000002Temperature statusWithin specificationsWarning
20x00000004Voltage supply statusOKWarning
30x00000008Primary antenna power statusPoweredNot powered
40x00000010LNA FailureOKFailure
50x00000020Primary antenna open circuit flag
This flag is only available on certain products.
OKOpen, antenna disconnected
60x00000040Primary antenna short circuit flag
This flag is only available on certain products.
OKShort circuit detected
70x00000080CPU overload flag
This flag is only available on certain products.
OKOverload
80x00000100COM port transmit buffer overrunOKCOM buffer overrun
90x00000200Reserved
100x00000400Reserved
110x00000800Link overrun flagNo overrunOverrun
120x00001000Input overrun flagNo overrunOverrun
130x00002000Reserved
140x00004000Antenna gain statusOKOut of range
150x00008000Jammer DetectedOKJammer detected
160x00010000Reserved
170x00020000Reserved
180x00040000GNSS almanac flagValidInvalid
190x00080000Position solution flagValidInvalid
200x00100000Position fixed flagNot fixedFixed
210x00200000ReservedOK
220x00400000ReservedOK
230x00800000ReservedOK
240x01000000ReservedOK
250x02000000ReservedOK
260x04000000ReservedOK
270x08000000ReservedOK
280x10000000ReservedOK
290x20000000ReservedOK
300x40000000ReservedOK
310x80000000ReservedOK

GNSS-Position absolute#

This data packet contains GNSS position data in decimal degrees.

GNSS-Position absolute#

NAMEUNITDESCRIPTION
GNSS_Lat_Abs°Latitude absolute
GNSS_Long_Abs°Longitude absolute

Note:
These data are raw data, as received from the GNSS-Receiver. There is no compensation of the GNSS antenna lever arm, nor are they synchronized with inertial position data (ADMA position), hence plotted against time this data will show time delay compared to inertial position data.

GNSS-Position relative#

This data packet contains relative GNSS position data.

GNSS-Position relative#

NAMEUNITDESCRIPTION
GNSS_Lat_Relmrelative meters in direction of latitude (X)
GNSS_Long_Relmrelative meters in direction of longitude (Y)

Note:
These data are raw data, as received from the GNSS-Receiver. There is no compensation of the GNSS antenna lever arm, nor are they synchronized with inertial position data (ADMA position), hence plotted against time this data will show time delay compared to inertial position data.
The calculation method to obtain a relative position from GNSS data is based on a simplification called the “local tangent plane”. There an origin for a relative coordinate system has to be defined. Within limits (a maximum distance from the origin of 50 km, depending on accuracy demands) this method will serve most applications.

GNSS-EPE (Expected Position Error)#

This data packet contains the GNSS-Receiver expected error of position.

GNSS-EPE#

NAMEUNITDESCRIPTION
GNSS_Stddev_LatmGNSS-Receiver expected error of latitude (X)
GNSS_Stddev_LongmGNSS-Receiver expected error of longitude (Y)
GNSS_Stddev_HeightmGNSS-Receiver expected error of height (Z)

GNSS-Velocity frame#

This data packet contains the GNSS-Receiver velocity data in frame (NED) coordinate system.

GNSS-Velocity Frame#

NAMEUNITDESCRIPTION
GNSS_Vel_Frame_Xm/sGNSS velocity in X, north-south
GNSS_Vel_Frame_Ym/sGNSS velocity in Y, east-west
GNSS_Vel_Frame_Zm/sGNSS velocity in Z, up-down
GNSS_Vel_Latency_FramesecGNSS velocity has a calculation based latency

Note:
These data are raw data, as received from the GNSS-Receiver without compensation of the GNSS antenna lever arm. They are not synchronized with inertial velocity data (ADMA velocity), hence plotted against time this data will show time delay compared to inertial velocity data.

GNSS-EVE (Expected Velocity Error)#

This data packet contains the GNSS-Receiver expected error of velocity:

GNSS-EVE#

NAMEUNITDESCRIPTION
GNSS_Vel_Stddev_Xm/sGNSS-Receiver expected velocity error X
GNSS_Vel_Stddev_Ym/sGNSS-Receiver expected velocity error Y
GNSS_Vel_Stddev_Zm/sGNSS-Receiver expected velocity error Z

GNSS-Time UTC#

This data packet contains GNSS time data. The time indication will be in UTC.

GNSS-Time UTC#

NAMEUNITDESCRIPTION
GNSS_Time_msecmsTime in milliseconds, UTC
GNSS_Time_WeekweekStart 0h 6-Jan-1980
Trigger_GPSµsecGNSS sampling indicated

Note:
GNSS time: the GNS time was set to match UTC in 0h 6-Jan-1980, since it is not perturbed by leap seconds. GNSS is now ahead of UTC by 18 seconds. Local time differs from UTC by the number of hours of your time zone.
With this data it is possible to synchronize 2 individual but simultaneous saved data sets. For instance, this is of advantage when the distance between 2 vehicles is needed on a combined test run.

Trigger GNSS: on a trigger event, the elapsed time since the last ADMA sampling is saved, a bit is set in the ADMA-Status and the data is output with the next data set. The data packet “Trigger_GPS” comes with the data from the current ADMA sampling point (k), but is related to the previous ADMA sampling point (k-1).

GNSS-AuxData 1 and 2#

This data packet contains auxiliary GNSS receiver data.

GNSS-AuxData 1#

NAMEUNITDESCRIPTION
GNSS_DiffAgesecData age of the DGNSS correction data received.
GNSS_Sats_UsedUsed satellites to compute a valid position solution.
GNSS_Sats_VisibleNumber of satellites the GNSS Receiver is actually observing.

Note:
„GNSS_DiffAge“: the data age of the DGNSS correction data received last will be output. Increasing the data age above a tolerable limit of 2-10 sec, will indicate the loss or disturbance of the correction data link. If not in DGNSS operation, a “0” is output.

“GNSS_Sats_Used”: the number of satellites the GNSS receiver used to compute a valid position solution, will be output. Please note, that at least 4 satellites will be necessary.
GNSS position accuracy (or position noise) will improve with increasing numbers of satellites observed.

„GNSS_Sats_Visible“: the number of satellites the GNSS receiver is actually observing, will be output.

GNSS-AuxData 2#

NAMEUNITDESCRIPTION
GNSS_Log_DelaysecNumber of ADMA sampling intervals having passed until GNSS data (the GNSS data log) is available.
GNSS_Receiver_Load%GNSS Receiver processor load.
GNSS_BaseNrBase station identifier

Note:
„GNSS_Log_Delay“: the number of ADMA sampling intervals having passed until GNSS data (the GNSS data log) is available, will be output. The time needed comprises position calculation and data transfer by the GNSS receiver and reception of the data by the ADMA (which will be made available in the next sampling interval). The sampling time of the GNSS receiver is indicated by means of a trigger signal (see "trigger times"). However, about 20 - 60 ms (depending on the GNSS receiver type) are needed to calculate and transmit the data.
 
„GNSS_BaseNr“: the 4 byte base station identifier (Byte0 to Byte3) picked up by the GNSS receiver will be output. While operating a local base station the identifier can be keyed in depending on the used correction data format. The entry is limited to the following arrays:
·         CMR:                      0 to 31
·         RTCM:                    0 to 1023
·         RTCA:                     each four-byte string which uses letters (a-z) and numerics (0-9)

GNSS-DualAnt Time UTC#

This data packet contains the GNSS receiver dual antenna time.

GNSS-DualAnt Time UTC#

NAMEUNITDESCRIPTION
GNSS_DualAnt_Time_msecmsTime in milliseconds, UTC
GNSS_DualAntTime_WeekweekStart 0h 6-Jan-1980

Note:
These data channels are available at dual antenna hardware only.

GNSS-DualAnt Angle#

This data packet contains the GNSS receiver dual antenna time.

GNSS-DualAnt Angle#

NAMEUNITDESCRIPTION
GNSS_DualAnt_Heading°Dual Antenna Heading
GNSS_DualAnt_Pitch°Dual Antenna Pitch

Note:
These data channels are available at dual antenna hardware only.

GNSS-DualAnt Angle ETE (Expected Tilt Error)#

This data packet contains the GNSS receiver expected error of the tilt:

GNSS-EVE#

NAMEUNITDESCRIPTION
GNSS_DualAnt_Stddev_Headingm/sGNSS receiver expected error Heading
GNSS_DualAnt_Stddev_Pitchm/sGNSS receiver expected error Pitch

Note:
These data channels are available at dual antenna hardware only.

INS Angle and GNSS-COG (Course Over Ground)#

This data packet contains vehicle attitude and GNSS course over ground:

INS-Angle + GNSS-COG#

NAMEUNITDESCRIPTION
INS_Roll°Roll
INS_Pitch°Pitch
INS_Yaw°Yaw (True Heading)
GNSS_COG°Course over Ground, only with (D)GNSS in motion

Note:
“GNSS_COG”: at velocities lower than 1m/sec, the GNSS course over ground and side slip angle are output with a value of 0. At low speed these values might be noisy because it is a GNSS receiver value without IMU correction.
 
„Roll“ and „Pitch“: these values are angles measured with reference to the horizon.
The “Yaw” angle is true to (geographical) north if the ADMA is operated with (D)GNSS. Any other form of ADMA operation cannot hold alignment to north over long measurement cycles. In this case the yaw will show drift behaviour with time, even if a correct starting yaw angle was set. The sign of Pitch and Yaw depends on the selected coordinate system.

Height GNSS (MSL)#

This data packet contains the GNSS receiver height reference to MSL.

Height GNSS (MSL)#

NAMEUNITDESCRIPTION
GNSS_HeightmReferenced to MSL
UndulationmUndulation of the geoid

Note:
„GNSS-Height“: raw data will be output as received from the GNSS receiver. There is no compensation of the GNSS antenna lever arm, nor is it synchronized with inertial position data (ADMA or vehicle height), hence plotted against time this data will show time delay compared to inertial position data.
In (D)GNSS operation the vehicle data is referenced to MSL. If operated without GNSS, the height output is relative and starts with “0”.
The Undulation of the geoid is the mathematical process of determining the height in metres above the geoid (relative to the mean sea level) from the height provided by the GNSS system which uses the (WGS84) ellipsoid as reference.

Height INS (MSL) at MRP#

This data packet contains INS height which has been calculated by the ADMA in the measuring reference point of the ADMA (MRP), reference to MSL.

Height INS (MSL)#

NAMEUNITDESCRIPTION
INS_HeightmInertial height, at MRP

Height INS (MSL) at POI1-8#

This data packet contains INS height which has been calculated by the ADMA in the virtual measurement points POI1 to POI8, reference to MSL.

Height INS POI1+2#

NAMEUNITDESCRIPTION
INS_Height_POI1mInertial height, at POI1
INS_Height_POI2mInertial height, at POI2

...

Height INS POI7+POI8#

NAMEUNITDESCRIPTION
INS_Height_POI7mInertial height, at POI7
INS_Height_POI8mInertial height, at POI8

INS-Time UTC#

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

INS-Time UTC#

NAMEUNITDESCRIPTION
INS_Time_msecmsTime in Milliseconds, UTC
INS_Time_WeekweekStart 0h 6-Jan-1980
Leap_secondssecLeap seconds

Note:
The ADMA INS Time indication is UTC, Coordinated Universal Time, popularly known as GMT (Greenwich Mean Time), or Zulu time. Local time differs from UTC by the number of hours of your time zone.
Difference between GNSS and UTC Time: GNSS time was set to match UTC in 0h 6-Jan-1980, since it is not perturbed by leap seconds. GNSS is now ahead of UTC by 18 seconds (on 31-Dec-2016). With this data it is possible to synchronize two individual but simultaneous saved data sets. For instance, this is of advantage when the distance between two vehicles is needed on a combined test run.
If no GNSS is installed or GNSS data reception is not possible, the time being output starts from zero. Then synchronisation of parallel measurements will not be possible.

Inertial Position absolute at MRP#

This data packet contains inertial/vehicle position absolute, which has been calculated by the ADMA in the measuring reference point of the ADMA (MRP).

INS-Position absolute#

NAMEUNITDESCRIPTION
INS_Lat_Abs°Latitude, at MRP
INS_Long_Abs°Longitude, at MRP

Note:
This data constitutes the best position available in the sense of precision, availability, time delay and sampling time, based on all available sensors and systems (INS, ext. velocity and (D)GNSS).

Inertial Position absolute at POI1-8#

This data packet contains inertial/vehicle position absolute, which has been calculated by the ADMA in the virtual measurement points POI1 to POI8.

INS-Position absolute POI1#

NAMEUNITDESCRIPTION
INS_Lat_Abs_POI1°Latitude, at POI1
INS_Long_Abs_POI1°Longitude, at POI1

...

INS-Position absolute POI8#

NAMEUNITDESCRIPTION
INS_Lat_Abs_POI8°Latitude, at POI8
INS_Long_Abs_POI8°Longitude, at POI8

Note:
This data constitutes the best position available in the sense of precision, availability, time delay and sampling time, based on all available sensors and systems (INS, ext. velocity and (D)GNSS).

Inertial Position relative at MRP#

This data packet contains inertial/vehicle position relative, which has been calculated by the ADMA in the measuring reference point of the ADMA (MRP).

INS-Position relative#

NAMEUNITDESCRIPTION
INS_Lat_RelmRelative meters in direction of latitude, at MRP
INS_Long_RelmRelative meters in direction of longitude, at MRP

Note:
This data constitutes the best position available in the sense of precision, availability, time delay and sampling time, based on all available sensors and systems (INS, ext. velocity and (D)GNSS).
The calculation method to obtain relative position from GNSS data is based on a simplification called the “local tangent plane”. There an origin has to be defined. Within limits (a maximum distance from the origin of 50 km, depending on accuracy demands) this method will serve most applications.

Inertial Position relative at POI1-8#

This data packet contains inertial/vehicle position relative, which has been calculated by the ADMA in the virtual measurement points POI1 to POI8.

INS-Position relative POI1#

NAMEUNITDESCRIPTION
INS_Lat_Rel_POI1mRelative meters in direction of latitude, at POI1
INS_Long_Rel_POI1mRelative meters in direction of longitude, at POI1

...

INS-Position relative POI8#

NAMEUNITDESCRIPTION
INS_Lat_Rel_POI8mRelative meters in direction of latitude, at POI8
INS_Long_Rel_POI8mRelative meters in direction of longitude, at POI8

Note:
This data constitutes the best position available in the sense of precision, availability, time delay and sampling time, based on all available sensors and systems (INS, ext. velocity and (D)GNSS).
The calculation method to obtain relative position from GNSS data is based on a simplification called the “local tangent plane”. There an origin has to be defined. Within limits (a maximum distance from the origin of 50 km, depending on accuracy demands) this method will serve most applications.

Inertial Velocity horizontal / levelled at MRP#

This data packet contains the inertial/vehicle velocity data in horizontal coordinate system, which has been calculated by the ADMA in the measuring reference point of the ADMA (MRP).

INS-Velocity horizontal#

NAMEUNITDESCRIPTION
INS_Vel_Hor_Xm/sInertial velocity in X, longitudinal
INS_Vel_Hor_Ym/sInertial velocity in Y, lateral
INS_Vel_Hor_Zm/sInertial velocity in Z, vertical

Note:
This data constitutes the best velocity available in the sense of precision, availability, time delay and sampling time, based on all available sensors and systems (INS, ext. velocity and (D)GNSS).

Inertial Velocity frame / reference at MRP#

This data packet contains inertial/vehicle velocity data in frame coordinate system, which has been calculated by the ADMA in the measuring reference point of the ADMA (MRP).

INS-Velocity frame#

NAMEUNITDESCRIPTION
INS_Vel_Frame_Xm/sInertial velocity in X, north-south
INS_Vel_Frame_Ym/sInertial velocity in Y, east-west
INS_Vel_Frame_Zm/sInertial velocity in Z, up-down

Note:
This data constitutes the best velocity available in the sense of precision, availability, time delay and sampling time, based on all available sensors and systems (INS, ext. velocity and (D)GNSS).

Inertial Velocity horizontal / levelled at POI1-8#

This data packet contains the inertial/vehicle velocity data in horizontal coordinate system, which has been calculated by the ADMA in the virtual measurement points POI1 to POI8.

INS-Velocity horizontal POI1#

NAMEUNITDESCRIPTION
INS_Vel_Hor_X_POI1m/sInertial velocity in X, longitudinal, at POI1
INS_Vel_Hor_Y_POI1m/sInertial velocity in Y, lateral, at POI1
INS_Vel_Hor_Z_POI1m/sInertial velocity in Z, vertical, at POI1

...

INS-Velocity horizontal POI8#

NAMEUNITDESCRIPTION
INS_Vel_Hor_X_POI8m/sInertial velocity in X, longitudinal, at POI8
INS_Vel_Hor_Y_POI8m/sInertial velocity in Y, lateral, at POI8
INS_Vel_Hor_Z_POI8m/sInertial velocity in Z, vertical, at POI8

Note:
This data constitutes the best velocity available in the sense of precision, availability, time delay and sampling time, based on all available sensors and systems (INS, ext. velocity and (D)GNSS).

Inertial-EPE (Expected Position Error)#

This data packet contains the ADMA inertial expected error of position.

INS-EPE#

NAMEUNITDESCRIPTION
INS_Stddev_LatmInertial expected error of latitude (X)
INS_Stddev_LongmInertial expected error of longitude (Y)
INS_Stddev_HeightmInertial expected error of height (Z)

Inertial-EVE (Expected Velocity Error)#

This data packet contains the ADMA inertial expected error of velocity.

INS-EVE#

NAMEUNITDESCRIPTION
INS_Vel_Stddev_Xm/sInertial expected error velocity X
INS_Vel_Stddev_Ym/sInertial expected error of velocity Y
INS_Vel_Stddev_Zm/sInertial expected error of velocity Z

Inertial-ETE (Expected Tilt Error)#

This data packet contains the ADMA inertial expected error of angle/tilt.

INS-ETE#

NAMEUNITDESCRIPTION
INS_Stddev_Roll°Inertial expected error of Roll
INS_Stddev_Pitch°Inertial expected error of Pitch
INS_Stddev_Yaw°Inertial expected error of Yaw

Analog IN 1#

This data packet contains the Signal In signals synchronized to the ADMA Time.

Analog IN 1#

NAMEUNITDESCRIPTION
AN1VAnalog IN1
AN2VAnalog IN2
AN3VAnalog IN3
AN4VAnalog IN4

Kalman filter status in percent#

This data packet contains the Kalman filter status information in percent of the lateral, longitudinal axis and steady-state. If all status parameters reach 100% the Kalman filter is settled and the system is ready for operation.

Kalman filter status#

NAMEUNITDESCRIPTION
KF_Lat_stimulated%Kalman filter settled in lateral axis, in percent
KF_Long_stimulated%Kalman filter settled in longitudinal axis, in percent
KF_steady-state%Kalman filter bias estimates settled, in percent

CAN/ETH-Message-Format: ADMAnet-Data; Format Version: 3.3.3.0; File Version: 30.8.0.0#

For a list of all data packets refer to the article ADMAnet - List of data packets v3.3.3.

Applikationsingenieur | bei GeneSys seit 2014

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