FP_A-ODOMENU - Xsens Automation & Mobility

Description

This message contains full fusion ENU odometry output and additional status information. It is output at the configured rate.

By default, the ENU output is disabled, even if the message is enabled on the I/O port. First, you must configure the ENU output reference frame in the 'Output generators' field of the Web Interface.

Here, the user can choose to automatically select the reference system (ENU0) as the first ECEF measurement received by the sensor:

Alternatively, the user can manually define the reference system in ECEF coordinates:

Example message

$FP,ODOMENU,1,2180,298591.500000,-1.8339,2.6517,-0.0584,0.556794,-0.042551,-0.007850,0.829523,2.2993,

-1.6994,-0.0222,0.20063,0.08621,-1.21972,-3.6947,-3.3827,9.7482,4,1,8,8,1,0.00415,0.00946,0.00746,

-0.00149,-0.00084,0.00025,0.00003,0.00003,0.00012,0.00000,0.00000,0.00000,0.01742,0.01146,0.01612,

-0.00550,-0.00007,-0.00050*74rn

Message fields

#	Field	Format	Unit	Example	Description
1	`msg_type`	String	-	`ODOMENU`	Message type, always `ODOMENU` for this message
2	`msg_version`	Numeric	-	`1`	Message version, always `1` for this version of the `ODOMENU` message
3	`gps_week`	Numeric	-	`2180`	GPS week number, range 0–9999
4	`gps_tow`	Float (.6)	s	`298591.500000`	GPS time of week, range 0.000–604799.999999
5	`pos_x`	Float (.4)	m	`-1.8339`	Position in ENU0, X component
6	`pos_y`	Float (.4)	m	`2.6517`	Position in ENU0, Y component
7	`pos_z`	Float (.4)	m	`-0.0584`	Position in ENU0, Z component
8	`orientation_w`	Float (.6)	-	`0.556794`	Quaternion with respect to ENU0, W component
9	`orientation_x`	Float (.6)	-	`-0.042551`	Quaternion with respect to ENU0, X component
10	`orientation_y`	Float (.6)	-	`-0.007850`	Quaternion with respect to ENU0, Y component
11	`orientation_z`	Float (.6)	-	`0.829523`	Quaternion with respect to ENU0, Z component
12	`vel_x`	Float (.4)	m/s	`2.2993`	Velocity in output frame, X component
13	`vel_y`	Float (.4)	m/s	`-1.6994`	Velocity in output frame, Y component
14	`vel_z`	Float (.4)	m/s	`-0.0222`	Velocity in output frame, Z component
15	`rot_x`	Float (.5)	rad/s	`0.20063`	Bias corrected angular velocity in output frame, X component
16	`rot_y`	Float (.5)	rad/s	`0.08621`	Bias corrected angular velocity in output frame, Y component
17	`rot_z`	Float (.5)	rad/s	`-1.21972`	Bias corrected angular velocity in output frame, Z component
18	`acc_x`	Float (.4)	m/s²	`-3.6947`	Bias corrected acceleration in output frame, X component
19	`acc_y`	Float (.4)	m/s²	`-3.3827`	Bias corrected acceleration in output frame, Y component
20	`acc_z`	Float (.4)	m/s²	`9.7482`	Bias corrected acceleration in output frame, Z component
21	`fusion_status`	Numeric	-	`4`	Fustion status, see FP_A-ODOMETRY
22	`imu_bias_status`	Numeric	-	`1`	IMU bias status, see FP_A-ODOMETRY
23	`gnss1_fix`	Numeric	-	`8`	Fix status of GNSS1 receiver, see FP_A-ODOMETRY
24	`gnss2_fix`	Numeric	-	`8`	Fix status of GNSS2 receiver, see FP_A-ODOMETRY
25	`wheelspeed_status`	Numeric	-	`1`	Wheelspeed status, see FP_A-ODOMETRY
26	`pos_cov_xx`	Float (5)	m²	`0.00415`	Position covariance, element XX
27	`pos_cov_yy`	Float (5)	m²	`0.00946`	Position covariance, element YY
28	`pos_cov_zz`	Float (5)	m²	`0.00746`	Position covariance, element ZZ
29	`pos_cov_xy`	Float (5)	m²	`-0.00149`	Position covariance, element XY
30	`pos_cov_yz`	Float (5)	m²	`-0.00084`	Position covariance, element YZ
31	`pos_cov_xz`	Float (5)	m²	`0.00025`	Position covariance, element XZ
32	`orientation_cov_xx`	Float (5)	rad²	`0.00003`	Orientation covariance, element XX
33	`orientation_cov_yy`	Float (5)	rad²	`0.00003`	Orientation covariance, element YY
34	`orientation_cov_zz`	Float (5)	rad²	`0.00012`	Orientation covariance, element ZZ
35	`orientation_cov_xy`	Float (5)	rad²	`0.00000`	Orientation covariance, element XY
36	`orientation_cov_yz`	Float (5)	rad²	`0.00000`	Orientation covariance, element YZ
37	`orientation_cov_xz`	Float (5)	rad²	`0.00000`	Orientation covariance, element XZ
38	`vel_cov_xx`	Float (5)	m²/s²	`0.01742`	Velocity covariance, element XX
39	`vel_cov_yy`	Float (5)	m²/s²	`0.01146`	Velocity covariance, element YY
40	`vel_cov_zz`	Float (5)	m²/s²	`0.01612`	Velocity covariance, element ZZ
41	`vel_cov_xy`	Float (5)	m²/s²	`-0.00550`	Velocity covariance, element XY
42	`vel_cov_yz`	Float (5)	m²/s²	`-0.00007`	Velocity covariance, element YZ
43	`vel_cov_xz`	Float (5)	m²/s²	`-0.00050`	Velocity covariance, element XZ

Field

Format

Unit

Example

Description

msg_type

String

ODOMENU

Message type, always ODOMENU for this message

msg_version

Numeric

1

Message version, always 1 for this version of the ODOMENU message

gps_week

Numeric

2180

GPS week number, range 0–9999

gps_tow

Float (.6)

298591.500000

GPS time of week, range 0.000–604799.999999

pos_x

Float (.4)

-1.8339

Position in ENU0, X component

pos_y

Float (.4)

2.6517

Position in ENU0, Y component

pos_z

Float (.4)

-0.0584

Position in ENU0, Z component

orientation_w

Float (.6)

0.556794

Quaternion with respect to ENU0, W component

orientation_x

Float (.6)

-0.042551

Quaternion with respect to ENU0, X component

orientation_y

Float (.6)

-0.007850

Quaternion with respect to ENU0, Y component

orientation_z

Float (.6)

0.829523

Quaternion with respect to ENU0, Z component

vel_x

Float (.4)

m/s

2.2993

Velocity in output frame, X component

vel_y

Float (.4)

m/s

-1.6994

Velocity in output frame, Y component

vel_z

Float (.4)

m/s

-0.0222

Velocity in output frame, Z component

rot_x

Float (.5)

rad/s

0.20063

Bias corrected angular velocity in output frame, X component

rot_y

Float (.5)

rad/s

0.08621

Bias corrected angular velocity in output frame, Y component

rot_z

Float (.5)

rad/s

-1.21972

Bias corrected angular velocity in output frame, Z component

acc_x

Float (.4)

m/s²

-3.6947

Bias corrected acceleration in output frame, X component

acc_y

Float (.4)

m/s²

-3.3827

Bias corrected acceleration in output frame, Y component

acc_z

Float (.4)

m/s²

9.7482

Bias corrected acceleration in output frame, Z component

fusion_status

Numeric

4

Fustion status, see FP_A-ODOMETRY

imu_bias_status

Numeric

1

IMU bias status, see FP_A-ODOMETRY

gnss1_fix

Numeric

8

Fix status of GNSS1 receiver, see FP_A-ODOMETRY

gnss2_fix

Numeric

8

Fix status of GNSS2 receiver, see FP_A-ODOMETRY

wheelspeed_status

Numeric

1

Wheelspeed status, see FP_A-ODOMETRY

pos_cov_xx

Float (5)

m²

0.00415

Position covariance, element XX

pos_cov_yy

Float (5)

m²

0.00946

Position covariance, element YY

pos_cov_zz

Float (5)

m²

0.00746

Position covariance, element ZZ

pos_cov_xy

Float (5)

m²

-0.00149

Position covariance, element XY

pos_cov_yz

Float (5)

m²

-0.00084

Position covariance, element YZ

pos_cov_xz

Float (5)

m²

0.00025

Position covariance, element XZ

orientation_cov_xx

Float (5)

rad²

0.00003

Orientation covariance, element XX

orientation_cov_yy

Float (5)

rad²

0.00003

Orientation covariance, element YY

orientation_cov_zz

Float (5)

rad²

0.00012

Orientation covariance, element ZZ

orientation_cov_xy

Float (5)

rad²

0.00000

Orientation covariance, element XY

orientation_cov_yz

Float (5)

rad²

0.00000

Orientation covariance, element YZ

orientation_cov_xz

Float (5)

rad²

0.00000

Orientation covariance, element XZ

vel_cov_xx

Float (5)

m²/s²

0.01742

Velocity covariance, element XX

vel_cov_yy

Float (5)

m²/s²

0.01146

Velocity covariance, element YY

vel_cov_zz

Float (5)

m²/s²

0.01612

Velocity covariance, element ZZ

vel_cov_xy

Float (5)

m²/s²

-0.00550

Velocity covariance, element XY

vel_cov_yz

Float (5)

m²/s²

-0.00007

Velocity covariance, element YZ

vel_cov_xz

Float (5)

m²/s²

-0.00050

Velocity covariance, element XZ

For the fusion status (fusion_status), IMU bias status (imu_bias_status), GNSS fix type (gnss1_fix, gnss2_fix) and wheelspeed status (wheelspeed_status) see the documentation of the FP_A-ODOMETRY message.