(window.webpackJsonp=window.webpackJsonp||[]).push([[316],{628:function(t,_,v){"use strict";v.r(_);var d=v(10),e=Object(d.a)({},(function(){var t=this,_=t._self._c;return _("ContentSlotsDistributor",{attrs:{"slot-key":t.$parent.slotKey}},[_("h1",{attrs:{id:"msg-imu"}},[_("a",{staticClass:"header-anchor",attrs:{href:"#msg-imu"}},[t._v("#")]),t._v(" MSG_IMU")]),t._v(" "),_("p",[t._v("1.机体坐标系及坐标系方向如图所示。在FDI系列产品中,模块表面都会标注准确的机体坐标系方向。具体以实际产品为准。\n2.对于角速度,加速度的标定解释:\n(1)转台标定:测量并补偿了陀螺仪和加速度计的零偏、尺度误差及三轴不垂直度。\n(2)温箱标定:在宽温范围(如-40℃~85℃)下,测量了传感器误差随温度的变化规律,并生成了补偿模型。对陀螺和加表的输出数据进行了补偿。\n3.对于加速度中未分离重力加速度解释:\n加速度计测量的是载体运动与地球重力的“混合”结果。简单来说,当模块静止时,加速度读数并\t不为零,而会显示出一个重力值(例如,平放时Z轴约为+9.8 m/s²)。")]),t._v(" "),_("table",[_("thead",[_("tr",[_("th",{staticStyle:{"text-align":"left"}},[_("strong",[t._v("MSG_IMU")])]),t._v(" "),_("th"),t._v(" "),_("th"),t._v(" "),_("th"),t._v(" "),_("th"),t._v(" "),_("th")])]),t._v(" "),_("tbody",[_("tr",[_("td",{staticStyle:{"text-align":"left"}},[t._v("Packet ID")]),t._v(" "),_("td",[t._v("0x40")]),t._v(" "),_("td"),t._v(" "),_("td"),t._v(" "),_("td"),t._v(" "),_("td")]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[t._v("Length")]),t._v(" "),_("td",[t._v("56")]),t._v(" "),_("td"),t._v(" "),_("td"),t._v(" "),_("td"),t._v(" "),_("td")]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[t._v("Read / Write")]),t._v(" "),_("td",[t._v("Read")]),t._v(" "),_("td"),t._v(" "),_("td"),t._v(" "),_("td"),t._v(" "),_("td")]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[t._v("Offset")]),t._v(" "),_("td",[t._v("Size")]),t._v(" "),_("td",[t._v("Format")]),t._v(" "),_("td",[t._v("Field")]),t._v(" "),_("td",[t._v("Unit")]),t._v(" "),_("td",[t._v("Description")])]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[t._v("0")]),t._v(" "),_("td",[t._v("4")]),t._v(" "),_("td",[t._v("float32_t")]),t._v(" "),_("td",[t._v("Gyroscope_X")]),t._v(" "),_("td",[t._v("rad/s")]),t._v(" "),_("td",[t._v("机体系X轴角速度")])]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[t._v("4")]),t._v(" "),_("td",[t._v("4")]),t._v(" "),_("td",[t._v("float32_t")]),t._v(" "),_("td",[t._v("Gyroscope_Y")]),t._v(" "),_("td",[t._v("rad/s")]),t._v(" "),_("td",[t._v("机体系Y轴角速度")])]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[t._v("8")]),t._v(" "),_("td",[t._v("4")]),t._v(" "),_("td",[t._v("float32_t")]),t._v(" "),_("td",[t._v("Gyroscope_Z")]),t._v(" "),_("td",[t._v("rad/s")]),t._v(" "),_("td",[t._v("机体系Z轴角速度")])]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[t._v("12")]),t._v(" "),_("td",[t._v("4")]),t._v(" "),_("td",[t._v("float32_t")]),t._v(" "),_("td",[t._v("Accelerometer_X")]),t._v(" "),_("td",[t._v("m/s^2^")]),t._v(" "),_("td",[t._v("机体系X轴加速度(未分离重力加速度)")])]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[t._v("16")]),t._v(" "),_("td",[t._v("4")]),t._v(" "),_("td",[t._v("float32_t")]),t._v(" "),_("td",[t._v("Accelerometer_Y")]),t._v(" "),_("td",[t._v("m/s^2^")]),t._v(" "),_("td",[t._v("机体系Y轴加速度(未分离重力加速度)")])]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[t._v("20")]),t._v(" "),_("td",[t._v("4")]),t._v(" "),_("td",[t._v("float32_t")]),t._v(" "),_("td",[t._v("Accelerometer_Z")]),t._v(" "),_("td",[t._v("m/s^2^")]),t._v(" "),_("td",[t._v("机体系Z轴加速度(未分离重力加速度)")])]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[t._v("24")]),t._v(" "),_("td",[t._v("4")]),t._v(" "),_("td",[t._v("float32_t")]),t._v(" "),_("td",[t._v("Magnetometer_X")]),t._v(" "),_("td",[t._v("mG")]),t._v(" "),_("td",[t._v("机体系X轴磁感应强度")])]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[t._v("28")]),t._v(" "),_("td",[t._v("4")]),t._v(" "),_("td",[t._v("float32_t")]),t._v(" "),_("td",[t._v("Magnetometer_Y")]),t._v(" "),_("td",[t._v("mG")]),t._v(" "),_("td",[t._v("机体系Y轴磁感应强度")])]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[t._v("32")]),t._v(" "),_("td",[t._v("4")]),t._v(" "),_("td",[t._v("float32_t")]),t._v(" "),_("td",[t._v("Magnetometer_Z")]),t._v(" "),_("td",[t._v("mG")]),t._v(" "),_("td",[t._v("机体系Z轴磁感应强度")])]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[t._v("36")]),t._v(" "),_("td",[t._v("4")]),t._v(" "),_("td",[t._v("float32_t")]),t._v(" "),_("td",[t._v("IMU_Temperature")]),t._v(" "),_("td",[t._v("deg C")]),t._v(" "),_("td",[t._v("如果IMU数据由多个传感器组成则该值为这些传感器的平均温度")])]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[t._v("40")]),t._v(" "),_("td",[t._v("4")]),t._v(" "),_("td",[t._v("float32_t")]),t._v(" "),_("td",[t._v("Pressure")]),t._v(" "),_("td",[t._v("Pa")]),t._v(" "),_("td",[t._v("气压值,如果没装气压计,默认为一个标准大气压101325Pa")])]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[t._v("40")]),t._v(" "),_("td",[t._v("4")]),t._v(" "),_("td",[t._v("float32_t")]),t._v(" "),_("td",[t._v("Pressure")]),t._v(" "),_("td",[t._v("Pa")]),t._v(" "),_("td",[t._v("气压值")])]),t._v(" "),_("tr",[_("td",{staticStyle:{"text-align":"left"}},[t._v("48")]),t._v(" "),_("td",[t._v("8")]),t._v(" "),_("td",[t._v("int64_t")]),t._v(" "),_("td",[t._v("Timestamp")]),t._v(" "),_("td",[t._v("us")]),t._v(" "),_("td",[t._v("数据的时间戳,从上电开始启动的微妙数。 时钟源为MCU外部晶振。")])])])]),t._v(" "),_("p",[t._v("| 48 | 8 | int64_t | "),_("a",{attrs:{href:""}},[t._v("Timestamp")]),t._v(" |  us | 数据的时间戳,详情请参考 |")])])}),[],!1,null,null,null);_.default=e.exports}}]);