$DVPDL and $DVPDX: DVL Position and Angle Deltas Messages

The $DVPDL/X messages supply odometry data intended for use in user-supplied dead reckoning or in user-built position-hold functions. It is output at a variable rate between 5Hz and 20 Hz. The $DVPDX message is the same as a $DVPDL message with a few extra fields tacked onto the end.

The Position Deltas X, Y and Z are in the vehicle coordinate frame as modified by the SET-SENSOR-ORIENTATION command.

The Pitch and Roll data and the standoff datum are in the sensor coordinate system and are not influenced by the SET-SENSOR-ORIENTATION command.

Format:

$DVPDL,tu,dtu,adr,adp,ady,pdx,pdy,pdz,c*hh

$DVPDX,tu,dtu,adr,adp,ady,pdx,pdy,pdz,c,mode,pitch,roll,stdoff*hh

Example:

$DVPDL,101234000,50000,0.001263,-0.019663,-0.745226,-0.000,0.001,-0.005,100*22

Field

Name

DVL Notes

tu

Time uSec

Time since system boot in microseconds

dtu

Delta Time uSec

Time since the last message, in microseconds

adr

Angle Delta Roll

Angle delta from previous message, in radians. Always 0 for DVL-50.

adp

Angle Delta Pitch

Angle delta from previous message, in radians. Always 0 for DVL-50.

ady

Angle Delta Yaw

Angle delta from previous message, in radians. Always 0 for DVL-50.

pdx

Position Delta X

Position delta from previous message, in meters

pdy

Position Delta Y

Position delta from previous message, in meters

pdz

Position Delta Z

Position delta from previous message, in meters

c

Confidence

0..100, where 100 = maximum confidence, 0 = no confidence. If 0, assume all other fields after dtu are garbage.

mode

System Mode

Used by Ceruean for diagnostic purposes

pitch

Pitch

Rotation of the sensor head around the Y axis, with respect to the target plane, in degrees. Parallel = 0. Right-hand rule.

roll

Roll

Rotation of the sensor head around the X axis, with respect to the target plane, in degrees. Parallel = 0. Right-hand rule.

stdoff

Standoff

Distance between sensor head and target plane along a normal to the target plane, in meters.

*

End of fields

hh

Checksum

NMEA standard

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