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ncomdecoder's Introduction

NCOMdecoder Build Status

An NCOM decoder based in C for use with OxTS navigation systems, enabling users to decode the binary NCOM output.

Repository folders

nav

This folder contains two library files NcomRxC.h and NcomRxC.c, which can be included in your project.

example

The folder contains a simple program that exports an NCOM file to a CSV file, using the library files in nav. The program opens a file stream (to read the file), and decodes the NCOM packets from this stream.

Instructions to build and run example program

NB: This has been tested on the following platforms:

  • Unix (MacOS, Xenial)
  • MINGW64 (Windows 10)

Please note there appears to be an issue running in Cygwin.

# First clone this repository
git clone https://github.com/OxfordTechnicalSolutions/NCOMdecoder.git
cd NCOMdecoder

# Change directory into example source code folder
cd example

# Run make, which includes library files in nav (specified in Makefile)
make            

# Run executable, with example ncom data to create csv file
# Usage: NcomToCsv <input file> <output file> [<trig_file>]

./NcomToCsv 171019_031603.ncom 171019_031603.csv

Measurements

The following table lists all the measurements available in a standard NCOM packet.

These can also be found in measurements.csv

Store name Type Units Format Full name Coordinate Frame Alternate Coordinate Frame Name Description
Ax double m/s² 0 Acceleration Xv OxTS vehicle frame OxTS output frame (with default output displacement) OxTS output frame longitudinal (forward) IMU acceleration
Ay double m/s² 0 Acceleration Yv OxTS vehicle frame OxTS output frame (with default output displacement) OxTS output frame lateral (right) IMU acceleration
Az double m/s² 0 Acceleration Zv OxTS vehicle frame OxTS output frame (with default output displacement) OxTS output frame vertical (down) IMU acceleration
Af double m/s² 0 Acceleration forward OxTS horizontal frame OxTS level frame OxTS horizontal frame longitudinal (forward) IMU acceleration
Al double m/s² 0 Acceleration lateral OxTS horizontal frame OxTS level frame OxTS horizontal frame lateral (right) IMU acceleration
Ad double m/s² 0 Acceleration down OxTS horizontal frame OxTS level frame OxTS horizontal frame vertical (down) IMU acceleration
FiltAx double m/s² 0 Acceleration filtered Xv OxTS vehicle frame OxTS output frame (with default output displacement) OxTS output frame longitudinal (forward) filtered IMU acceleration
FiltAy double m/s² 0 Acceleration filtered Yv OxTS vehicle frame OxTS output frame (with default output displacement) OxTS output frame lateral (right) filtered IMU acceleration
FiltAz double m/s² 0 Acceleration filtered Zv OxTS vehicle frame OxTS output frame (with default output displacement) OxTS output frame vertical (down) filtered IMU acceleration
FiltAf double m/s² 0 Acceleration filtered forward OxTS horizontal frame OxTS level frame OxTS horizontal frame longitudinal (forward) filtered IMU acceleration
FiltAl double m/s² 0 Acceleration filtered lateral OxTS horizontal frame OxTS level frame OxTS horizontal frame lateral (right) filtered IMU acceleration
FiltAd double m/s² 0 Acceleration filtered down OxTS horizontal frame OxTS level frame OxTS horizontal frame vertical (down) filtered IMU acceleration
IsoAnX double m/s² 0 ISO e.f.s. east acceleration ISO 8855 earth-fixed system ISO 8855 earth-fixed system east acceleration
IsoAnY double m/s² 0 ISO e.f.s. north acceleration ISO 8855 earth-fixed system ISO 8855 earth-fixed system north acceleration
IsoAnZ double m/s² 0 ISO e.f.s. vertical acceleration ISO 8855 earth-fixed system ISO 8855 earth-fixed system vertical (up) acceleration
IsoAhX double m/s² 0 ISO i.s. longitudinal acceleration ISO 8855 intermediate system ISO 8855 intermediate system longitudinal (forward) acceleration
IsoAhY double m/s² 0 ISO i.s. lateral acceleration ISO 8855 intermediate system ISO 8855 intermediate system lateral (left) acceleration
IsoAhZ double m/s² 0 ISO i.s. vertical acceleration ISO 8855 intermediate system ISO 8855 intermediate system vertical (up) acceleration
IsoAoX double m/s² 0 ISO v.s. longitudinal acceleration ISO 8855 vehicle system ISO 8855 vehicle system longitudinal (forward) acceleration
IsoAoY double m/s² 0 ISO v.s. lateral acceleration ISO 8855 vehicle system ISO 8855 vehicle system lateral (left) acceleration
IsoAoZ double m/s² 0 ISO v.s. vertical acceleration ISO 8855 vehicle system ISO 8855 vehicle system vertical (up) acceleration
FiltIsoAnX double m/s² 0 ISO e.f.s. east filtered acceleration ISO 8855 earth-fixed system ISO 8855 earth-fixed system east filtered acceleration
FiltIsoAnY double m/s² 0 ISO e.f.s. north filtered acceleration ISO 8855 earth-fixed system ISO 8855 earth-fixed system north filtered acceleration
FiltIsoAnZ double m/s² 0 ISO e.f.s. vertical filtered acceleration ISO 8855 earth-fixed system ISO 8855 earth-fixed system vertical (up) filtered acceleration
FiltIsoAhX double m/s² 0 ISO i.s. longitudinal filtered acceleration ISO 8855 intermediate system ISO 8855 intermediate system longitudinal (forward) filtered acceleration
FiltIsoAhY double m/s² 0 ISO i.s. lateral filtered acceleration ISO 8855 intermediate system ISO 8855 intermediate system lateral (left) filtered acceleration
FiltIsoAhZ double m/s² 0 ISO i.s. vertical filtered acceleration ISO 8855 intermediate system ISO 8855 intermediate system vertical (up) filtered acceleration
FiltIsoAoX double m/s² 0 ISO v.s. longitudinal filtered acceleration ISO 8855 vehicle system ISO 8855 vehicle system longitudinal (forward) filtered acceleration
FiltIsoAoY double m/s² 0 ISO v.s. lateral filtered acceleration ISO 8855 vehicle system ISO 8855 vehicle system lateral (left) filtered acceleration
FiltIsoAoZ double m/s² 0 ISO v.s. vertical filtered acceleration ISO 8855 vehicle system ISO 8855 vehicle system vertical (up) filtered acceleration
Yx double deg/s² 0 Angular acceleration Xv OxTS vehicle frame OxTS output frame (with default output displacement) OxTS output frame longitudinal (forward) IMU angular acceleration
Yy double deg/s² 0 Angular acceleration Yv OxTS vehicle frame OxTS output frame (with default output displacement) OxTS output frame lateral (right) IMU angular acceleration
Yz double deg/s² 0 Angular acceleration Zv OxTS vehicle frame OxTS output frame (with default output displacement) OxTS output frame vertical (down) IMU angular acceleration
Yf double deg/s² 0 Angular acceleration forward OxTS horizontal frame OxTS level frame OxTS horizontal frame longitudinal (forward) IMU angular acceleration
Yl double deg/s² 0 Angular acceleration lateral OxTS horizontal frame OxTS level frame OxTS horizontal frame lateral (right) IMU angular acceleration
Yd double deg/s² 0 Angular acceleration down OxTS horizontal frame OxTS level frame OxTS horizontal frame vertical (down) IMU angular acceleration
FiltYx double deg/s² 0 Angular acceleration filtered Xv OxTS vehicle frame OxTS output frame (with default output displacement) OxTS output frame longitudinal (forward) filtered IMU angular acceleration
FiltYy double deg/s² 0 Angular acceleration filtered Yv OxTS vehicle frame OxTS output frame (with default output displacement) OxTS output frame lateral (right) filtered IMU angular acceleration
FiltYz double deg/s² 0 Angular acceleration filtered Zv OxTS vehicle frame OxTS output frame (with default output displacement) OxTS output frame vertical (down) filtered IMU angular acceleration
FiltYf double deg/s² 0 Angular acceleration filtered forward OxTS horizontal frame OxTS level frame OxTS horizontal frame longitudinal (forward) filtered IMU angular acceleration
FiltYl double deg/s² 0 Angular acceleration filtered lateral OxTS horizontal frame OxTS level frame OxTS horizontal frame lateral (right) filtered IMU angular acceleration
FiltYd double deg/s² 0 Angular acceleration filtered down OxTS horizontal frame OxTS level frame OxTS horizontal frame vertical (down) filtered IMU angular acceleration
IsoYnX double deg/s² 0 ISO e.f.s. roll acceleration ISO 8855 earth-fixed system ISO 8855 earth-fixed system roll (east angular) acceleration
IsoYnY double deg/s² 0 ISO e.f.s. pitch acceleration ISO 8855 earth-fixed system ISO 8855 earth-fixed system pitch (north angular) acceleration
IsoYnZ double deg/s² 0 ISO e.f.s. yaw acceleration ISO 8855 earth-fixed system ISO 8855 earth-fixed system yaw (vertical angular) acceleration
IsoYhX double deg/s² 0 ISO i.s. roll acceleration ISO 8855 intermediate system ISO 8855 intermediate system roll (longitudinal angular) acceleration
IsoYhY double deg/s² 0 ISO i.s. pitch acceleration ISO 8855 intermediate system ISO 8855 intermediate system pitch (lateral angular) acceleration
IsoYhZ double deg/s² 0 ISO i.s. yaw acceleration ISO 8855 intermediate system ISO 8855 intermediate system yaw (vertical angular) acceleration
IsoYoX double deg/s² 0 ISO v.s. roll acceleration ISO 8855 vehicle system ISO 8855 vehicle system roll (longitudinal angular) acceleration
IsoYoY double deg/s² 0 ISO v.s. pitch acceleration ISO 8855 vehicle system ISO 8855 vehicle system pitch (lateral angular) acceleration
IsoYoZ double deg/s² 0 ISO v.s. yaw acceleration ISO 8855 vehicle system ISO 8855 vehicle system yaw (vertical angular) acceleration
FiltIsoYnX double deg/s² 0 ISO e.f.s. roll filtered acceleration ISO 8855 earth-fixed system ISO 8855 earth-fixed system roll (east angular) filtered acceleration
FiltIsoYnY double deg/s² 0 ISO e.f.s. pitch filtered acceleration ISO 8855 earth-fixed system ISO 8855 earth-fixed system pitch (north angular) filtered acceleration
FiltIsoYnZ double deg/s² 0 ISO e.f.s. yaw filtered acceleration ISO 8855 earth-fixed system ISO 8855 earth-fixed system yaw (vertical angular) filtered acceleration
FiltIsoYhX double deg/s² 0 ISO i.s. roll filtered acceleration ISO 8855 intermediate system ISO 8855 intermediate system roll (longitudinal angular) filtered acceleration
FiltIsoYhY double deg/s² 0 ISO i.s. pitch filtered acceleration ISO 8855 intermediate system ISO 8855 intermediate system pitch (lateral angular) filtered acceleration
FiltIsoYhZ double deg/s² 0 ISO i.s. yaw filtered acceleration ISO 8855 intermediate system ISO 8855 intermediate system yaw (vertical angular) filtered acceleration
FiltIsoYoX double deg/s² 0 ISO v.s. roll filtered acceleration ISO 8855 vehicle system ISO 8855 vehicle system roll (longitudinal angular) filtered acceleration
FiltIsoYoY double deg/s² 0 ISO v.s. pitch filtered acceleration ISO 8855 vehicle system ISO 8855 vehicle system pitch (lateral angular) filtered acceleration
FiltIsoYoZ double deg/s² 0 ISO v.s. yaw filtered acceleration ISO 8855 vehicle system ISO 8855 vehicle system yaw (vertical angular) filtered acceleration
Wx double deg/s 0 Angular rate Xv OxTS vehicle frame OxTS output frame (with default output displacement) OxTS output frame longitudinal (forward) IMU angular rate
Wy double deg/s 0 Angular rate Yv OxTS vehicle frame OxTS output frame (with default output displacement) OxTS output frame lateral (right) IMU angular rate
Wz double deg/s 0 Angular rate Zv OxTS vehicle frame OxTS output frame (with default output displacement) OxTS output frame vertical (down) IMU angular rate
Wf double deg/s 0 Angular rate forward OxTS horizontal frame OxTS level frame OxTS horizontal frame longitudinal (forward) IMU angular rate
Wl double deg/s 0 Angular rate lateral OxTS horizontal frame OxTS level frame OxTS horizontal frame lateral (right) IMU angular rate
Wd double deg/s 0 Angular rate down OxTS horizontal frame OxTS level frame OxTS horizontal frame vertical (down) IMU angular rate
IsoWnX double deg/s 0 ISO e.f.s. roll velocity ISO 8855 earth-fixed system ISO 8855 earth-fixed system roll (east angular) velocity
IsoWnY double deg/s 0 ISO e.f.s. pitch velocity ISO 8855 earth-fixed system ISO 8855 earth-fixed system pitch (north angular) velocity
IsoWnZ double deg/s 0 ISO e.f.s. yaw velocity ISO 8855 earth-fixed system ISO 8855 earth-fixed system yaw (vertical angular) velocity
IsoWhX double deg/s 0 ISO i.s. roll velocity ISO 8855 intermediate system ISO 8855 intermediate system roll (longitudinal angular) velocity
IsoWhY double deg/s 0 ISO i.s. pitch velocity ISO 8855 intermediate system ISO 8855 intermediate system pitch (lateral angular) velocity
IsoWhZ double deg/s 0 ISO i.s. yaw velocity ISO 8855 intermediate system ISO 8855 intermediate system yaw (vertical angular) velocity
IsoWoX double deg/s 0 ISO v.s. roll velocity ISO 8855 vehicle system ISO 8855 vehicle system roll (longitudinal angular) velocity
IsoWoY double deg/s 0 ISO v.s. pitch velocity ISO 8855 vehicle system ISO 8855 vehicle system pitch (lateral angular) velocity
IsoWoZ double deg/s 0 ISO v.s. yaw velocity ISO 8855 vehicle system ISO 8855 vehicle system yaw (vertical angular) velocity
HeadingAcc double deg 0 Heading accuracy Heading Accuracy
PitchAcc double deg 0 Pitch accuracy Pitch Accuracy
RollAcc double deg 0 Roll accuracy Roll Accuracy
Track double deg 0 Track angle
TrackAcc double deg 0 Track angle accuracy
Slip double deg 0 Slip angle
SlipAcc double deg 0 Slip angle accuracy
IsoYaw double deg 0 ISO yaw angle ISO 8855 yaw angle
IsoPitch double deg 0 ISO pitch angle ISO 8855 pitch angle
IsoRoll double deg 0 ISO roll angle ISO 8855 roll angle
Surf2OutHeading double deg 0 Heading to surface
Surf2OutPitch double deg 0 Pitch to surface
Surf2OutRoll double deg 0 Roll to surface
Lat double deg 0 Latitude Latitude
Lon double deg 0 Longitude Longitude
Alt double m 0 Altitude Altitude
NorthAcc double m 0 Position accuracy north North Position Accuracy
EastAcc double m 0 Position accuracy east East Position Accuracy
AltAcc double m 0 Position accuracy down Down Position Accuracy
Dist2d double m 0 Distance horizontal Distance travelled in horizontal directions
Dist3d double m 0 Distance 3D Distance travelled in all directions
GpsPosMode int ~GpsXModeName (#) GPS position mode Position mode of the GPS receiver being used for position
GpsVelMode int ~GpsXModeName (#) GPS velocity mode Velocity mode of the GPS receiver being used for velocity
GpsAttMode int ~GpsXModeName (#) GPS dual antenna attitude mode Attitude (dual-antenna) mode of the GPS receivers
GpsNumObs int # Number of GPS satellites used Number of GPS satellites tracked by the Primary GPS receiver
GpsDiffAge double s 0 Differential GPS age Age of the current differential corrections
"Time " double Time in seconds from start of GPS time Seconds from GPS time zero (0h 1980-01-06). [s]
"TimeWeekCount " uint32_t GPS time format week counter GPS time format week counter. [week]
"TimeWeekSecond " double GPS time format seconds into week GPS time format seconds into week. [s]
"TimeUtcOffset " int Offset between Coordinated Universal Time (UTC) and GPS time Offset between Coordinated Universal Time (UTC) and GPS time. [s]
TrigTime double Time of last trigger falling edge Time of last trigger falling edge. [s]
Trig2Time double Time of last trigger rising edge Time of last trigger rising edge. [s]

This table is generated from .README.csv using https://donatstudios.com/CsvToMarkdownTable

ncomdecoder's People

Contributors

apatel-oxts avatar haroon-oxts avatar hmellor avatar richardgsands avatar

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