wave_height_from_IMU
Calculate sea wave height from IMU
Algorithm description:
https://bareboat-necessities.github.io/my-bareboat/bareboat-math.html
Kalman filter based on
And another model is based on vertical acceleration of trochoidal waves
TODO:
- generate NMEA 0183 sentence for wave height
- run this code as part of pypilot server
MWH - Wave Height NMEA 0183 Approved by the NMEA 0183 Standard Committee as of October 1, 2008
$--MWH,x.x,f,x.x,M*hh
Wave height, meters
Wave height, feet
XDR - Transducer Measurement Talker ID - 'YD' - Transducer - Displacement, Angular or Linear
1 2 3 4 n
| | | | |
$YDXDR,a,x.x,a,c--c, ..... *hh<CR><LF>
Field Number:
Transducer Type
Measurement Data
Units of measurement A = Amperes B = Bars B = Binary C = Celsius D = Degrees H = Hertz I = liters/second K = Kelvin K = kg/m3 M = Meters M = cubic Meters N = Newton P = % of full range P = Pascal R = RPM S = Parts per thousand V = Volts
Name of transducer
There may be any number of quadruplets like this, each describing a sensor. The last field will be a checksum as usual.
Example for (reporting displacement of a vessel from mean sea surface due to a wave of -0.33 m height):
$YDXDR,W,-0.33,M,VERT_DISPLACEMENT*<checksum>
Or something like this from Autopilot:
$APXDR,A,-0.087,M,VDIS*<checksum>
$APXDR,A,0.08,,VVEL*<checksum>
$APXDR,A,-0.087,,VACC*<checksum>
$APMWH,3.44,f,1.05,M*<checksum>
VDIS - vertical displacement (m)
VVEL - vertical velocity (m/s)
VACC - vertical acceleration (m/s^2)
$--MWH - wave height (feet and meters)
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