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Ethernet ROV Locator
Ethernet ROV Locator
  • ROV Locator
  • Overview
  • General Specifications
  • Quick Start for BlueROV
  • Fundamentals Useful to System Designers
    • Sound Reflection and Absorption
    • Multipath
    • Ping Length
    • What to Do About Multipath and Other Issues
    • Clock Drift Expectations
    • Accuracy Expectations
      • Accuracy Test: Topside GPS
      • Accuracy Test: 110 Meter Slant Range
      • Accuracy Test: 295 Meter Slant Range
    • Operation in a Pool
  • Configuring the ROVLe
    • Finding the Configuration Web Page
    • Example Configuration Web Page
    • Live Status Page
    • Setting Device Type
    • Setting the Static IP Address
    • Setting the Fallback IP Address
    • Setting the MAVLink REST Server Parameters
    • Setting the Secondary (GNSS) MAVLink Interface
    • GPS/GNSS Forwarding (Re-tweeting)
    • Magnetic Declination
    • CIMU Calibration Offsets
    • Speed of Sound
    • GNSS Antenna Mounting Rotation
    • Output Messages
    • Configure Simulation
  • System Variants
  • Autosync
    • Autosync Mission Scenarios and Mission Suitability
    • Autosync Availability
    • Autosync GPS/GNSS Output
    • ROVL Channels (Autosync only; Operating Multiple Units in Proximity)
  • Communicating With the ROVL
    • Serial Parameters
    • The Ethernet Interface
      • Tips on How to Find the IP Address Assigned to Your Ethernet Adapter
      • Blue Robotics Discovery Protocol (Ethernet Only)
    • Packet Format
    • Messages from ROVL to Host
      • $USRTH Receiver-Transmitter Relative Angles Message
      • $USTLC Target Location Message
      • $USINF/$USTXT Information Message
      • $USERR Error Message
      • $USNVM Non-Volatile Memory Message
    • Messages from Host to ROVL
      • NMEA-Format Messages to Receiver
      • Valid Commands from Host to ROVL, Serial and Ethernet
      • Valid Commands from Host to ROVL, Ethernet Only
        • Command: DHCP
        • Command: FALLBACK-ADDRESS
        • Command: IP-ADDRESS
        • Command: HOST-ADDRESS
        • Command: MAVLINK-ADDRESS
        • Command: MAVLINK-AUTO-ORIGIN
        • Command: MAVLINK-SYSID
        • Command: PAUSE
        • Command: RESUME
        • Command: RETWEET-GPS
        • Command: RETWEET-GPS-ADDRESS
        • Command: RETWEET-message
        • Command: SEND-ROV-POS-TO-MAP
        • Command: SEND-TOPSIDE-TO-MAP
        • Command: SEND-USRTH
        • Command: SEND-USTLC
        • Command: UNICAST-TO-ME
  • Cerulean Inertial Measurement Unit (CIMU)
    • CIMU Calibration Background
      • CIMU Magnetometer Calibration
      • CIMU Accelerometer Calibration
      • CIMU Gyro Calibration
  • Operating and Accuracy Considerations
  • Multi-Unit Operation (Swarms)
    • Multi-Unit 1:1
    • Multi-Unit 1:2
    • Multi-Unit 2x1:1
  • ROVL Mounting
    • ROV/Deepside Mounting
    • Topside Mounting
    • Simple Topside Deployment Fixture
  • ROVL Wiring
    • Standard Cabling Options
    • ROVL-e PC Board Internal Connections
      • JST-GH Connector Pin 1 Identification
      • Ethernet/Power Connections
      • Serial Connection
      • USB Connection
      • GNSS Compass Main (4-pin) RS-232 Connection
      • GNSS Compass RTK (2-pin) RS-422 Connection
    • Electrical Noise
  • Connecting and Powering Your ROVLe Ethernet Receiver or Transceiver
    • Example Power Injectors
    • Data Connection
    • Example Power/Wi-Fi Setup for Remote Usage
    • Battery
  • Mounting Dimensions
    • Mk II Receiver with Omnitrack Top
    • Transmitter/Transceiver/Receiver with Standard Top
    • Mk III Transcceiver
    • ROVLe Omnitrack Top
    • ROVLe Standard Top
    • Example Mounting Scheme with 3D-Printed Bracket
  • ROVL Coordinate Systems and Angles
    • Definitions
    • NED or "Compass" vs. ENU or "Math" Angles
    • Math to Compass Frame Conversions
    • Transducer Down Orientation
    • Transducer Up Orientation
    • Receiver/Transceiver Orientation Frames
    • Best Operating Envelope
  • Appendix: Math for Computing Remote Latitude/Longitude
    • Receiver & GPS at Topside and Transmitter Deepside
    • Transmitter & GPS Topside and Receiver Deepside
  • Appendix: Factory Usage Command Set
  • Troubleshooting
    • How to Tell if Your Mk II Receiver is Working
    • How to tell if your Mk II Transmitter is working
    • What to do when you find an unresolvable problem when troubleshooting
  • Copyright
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  1. Communicating With the ROVL
  2. Messages from ROVL to Host

$USTLC Target Location Message

The USTLC message provides the basic information needed to find the ROV in geographic coordinates. It is the message typically sent by Omniscan ROVLs with connected GNSS compasses.

Note: From time to time, Cerulean adds features to the ROVL as requested by users, some of which require changes to this message. Cerulean undertakes to maintain backward compatibly on this message, so once a field is defined and published, we try not to not move it or change its behavior. We may add new fields to the end of the message, so we recommend you allow for extra fields that you can ignore if writing a parser for this message, rather than requiring a specific field count.

Example:

$USTLC,1.0,MkIII,A,T,44.98628360,-93.57620830,45.0,0.923816,-0.001850,-0.004582,0.382806,100.0,0.0,0.0,44.98691899,-93.57531047,76,148,*2B

Format: $USTLC,mv,di,ch,cc,lt,ln,hd,qw,qx,qy,qz,sr,rb,re,ta,to,gn,sn,*hh

mv: version number of message format

di: device identifier {MkII, MkIII}

ch: channel {A, B}

cc: GNSS Compass connected {T, F}

lt: latitude where GNSS Compass is (blank if no position lock or no compass connected)

ln: longitude where GNSS Compass is (blank if no position lock or no compass connected)

hd: GNSS Compass heading (NED) (blank if no heading lock or no compass connected)

qw, qx, qy, qz: quaternion of ROVL receiver platform (ENU)

sr: slant range to ROV (blank if no ping detected)

rb: relative bearing to ROV (ENU) (blank if no ping detected)

re: relative elevation to ROV (ENU) (blank if no ping detected)

ta: latitude of ROV (blank if can't be computed)

to: longitude of ROV (blank if can't be computed)

gn: analog AGC gain, in decibels (range 16 – 82)

sn: Seconds since last autosync or distance sync command (valid Mk II only)

Previous$USRTH Receiver-Transmitter Relative Angles MessageNext$USINF/$USTXT Information Message

Last updated 1 month ago