iXBlue PHINS (Binary Nav message) Vel, Rot - 42

Description

This is a driver for the iXSea PHINS Binary Nav message. This message contains information that is not present in most messages, such as rotation rates.

Driver Information

Driver	iXSea PHINS (Binary Nav message)	Interface Type	Serial	Driver Class Type	Counted
UTC Driver	Yes and No	Input / Output	Input	Executable	DrvQPSCounted.exe DrvQPSCountedUDP.exe
Related Systems	Page: iXBlue PHINS (Binary Nav message) Angle Speed (UTC) - 30 — Speed Log Page: iXBlue PHINS (Binary Nav message) Angle Speed - 30 — Speed Log Page: iXBlue PHINS (Binary Nav message) Depth (UTC) - 31 — Underwater Sensor Page: iXBlue PHINS (Binary Nav message) Depth - 31 — Underwater Sensor Page: iXBlue PHINS (Binary Nav message) Heading (UTC) - 05 — Gyro Compass Page: iXBlue PHINS (Binary Nav message) Heading - 05 — Gyro Compass Page: iXBlue PHINS (Binary Nav message) Position (UTC) - 12 — Position Navigation System Page: iXBlue PHINS (Binary Nav message) Position - 12 — Position Navigation System Page: iXBlue PHINS (Binary Nav message) R-P-H (UTC) - 03 — Pitch Roll Heave Sensor Page: iXBlue PHINS (Binary Nav message) R-P-H - 03 — Pitch Roll Heave Sensor Page: iXBlue PHINS (Binary Nav message) Vel, Rot (UTC) - 42 — Acceleration Velocity Sensor Page: iXBlue PHINS (Binary Nav message) Vel, Rot - 42 — Acceleration Velocity Sensor Page: Network - iXBlue PHINS (Binary Nav message) Angle Speed (UTC) - 30 — Speed Log Page: Network - iXBlue PHINS (Binary Nav message) Depth (UTC) - 31 — Underwater Sensor Page: Network - iXBlue PHINS (Binary Nav message) Heading (UTC) - 05 — Gyro Compass Page: Network - iXBlue PHINS (Binary Nav message) Position (UTC) - 12 — Position Navigation System Page: Network - iXBlue PHINS (Binary Nav message) R-P-H (UTC) - 03 — Pitch Roll Heave Sensor Page: Network - iXBlue PHINS (Binary Nav message) Vel, Rot (UTC) - 42 — Acceleration Velocity Sensor
Related Pages

Decoding Notes

All observations in the format description are decoded and converted to the QINSy default axes and rotation conventions. Note that accuracy of the given rotation rate is limited to 3.6 deg/hour (0.001 deg/s) to 'comply with export regulations'. When the CRC checksum fails, no data will be decoded.

The quality indicator (QI) will be:

0 If the message is decoded correctly and the status is OK.
-1 If the message is decoded correctly and the status is BAD.

Database Setup

In the QINSy Database Setup program, the following systems and observations can be created for this driver:

Position Navigation System
Gyro Compass
Pitch, Roll, Heave Sensor
Underwater Sensor: ROV depth
Speed Log: angle, speed
Acceleration Velocity Sensor: easting speed, northing speed, vertical speed, rate-of-turn X, rate-of-turn Y, rate-of-turn Z

The angle and speed, representing course and speed over ground, are calculated from the easting and northing speed. A moving PHINS will therefore give a more accurate course and speed than a stationary one. It is recommended to use the QINSy-calculated course and speed.

The driver has two versions: UTC and non-UTC. The UTC version will take the PHINS time from the message as observation time, if there is a valid PPS system defined. In other cases, the arrival time of the message will be used as observation time.