Sensor Configuration and Data Output

Overview

This section gives you an overview of the configuration options and data output of your sensor. For more detailed and sensor-specfic explanations please see the documentation for the respective sensors. Furthermore, a detailed description of the orientation sensor fusion and how to optimize it for your application case can be found there.

Data Output Settings

Will all sensors models, the data which is transmitted can be selected individually to save bandwith and improve the latency of the data transfer. Therefore, you need to ensure the data item you want to read out is enabled for output. There are two ways to enable or disable the output of a data item.

1. Use the graphical user interface tools LPMS-Control and IG1-Control

You can download theses tools from our support website. Then connect to the sensor and enable the output of the data you require. After enabling the output please ensure the settings are persisent by writing them to the sensor flash.

Here is an example where to change the sensor data output:

LpmsControl enable data ouput

2. Configure data output with OpenZen

You can also enable or disable the output data set with OpenZen after you have opened a connection to the sensor:

imu.setBoolProperty(ZenImuProperty_OutputEuler, false);
imu.setBoolProperty(ZenImuProperty_OutputRawGyr, true);
...

Inertial Data: ZenImuData

The ZenImuData structure contains the measurements of accelerometer and gyroscope sensors. Data items which are not enabled for output or not supported by the sensor are kept at their default values. This data structure will be output by all LP-Research sensors.

Field Name Unit Description
frameCount no unit Data frame number assigned to this measurement by the firmware.
timestamp s Timestamp of the measurement data. The start point of this timestamp is arbitrary but subsequent measurements are guaranteed to have the distance to each other in time.
a m/s^2 Accleration measurment after all corrections have been applied
g deg/s Gyroscope measurment after all corrections have been applied
b \(\mu T\) Magnetometer measurment after all corrections have been applied
aRaw m/s^2 Accleration measurment before all corrections have been applied
gRaw deg/s Gyroscope measurment before all corrections have been applied
w deg/s Angular veloctiy. This angular velocity takes into account if an orientation offset has been.
r deg/s Three euler angles representing the current rotation of the sensor. See the sensor documenation how the angles are defined
q no unit Quaternion representing the current rotation of the sensor in this order: w, x, y,z See the sensor documenation how the rotation axes are defined.
rotationM no unit Orientation data as rotation matrix without offset applied.
rotOffsetM no unit Orientation data as rotation matrix with offset applied.
pressure mPa Barometric pressure measurement. Not supported by all sensor models.
heaveMotion m Heave motion output. Not supported by all sensor models.

Global Position: ZenGnssData

The ZenGnssData structure contains the measurements of a global navigation satellite system (GNSS) receiver. It is only availbable if the sensor contains a GNSS component. Most receivers combine their position measurements from multiple satellite constelations like GPS, Galileo or GLONASS.

To receive all GNSS data listed below, all output options of the form ZenGnssProperty_OutputNavPvt* need to be enabled.

Field Name Unit Description
timestamp s Timestamp of the measurement data. The start point of this timestamp is arbitrary but subsequent measurements are guaranteed to have the distance to each other in time.
latitude degrees Latitude measurement provided by the GNSS or the IMU/GNSS sensor fusion.
horizontalAccuracy m Accuracy of the horizontal measurement
longitude degrees Longitude measurement provided by the GNSS or the IMU/GNSS sensor fusion.
verticalAccuracy m Accuracy of the vertical measurement
height m height above WGS84 ellipsoid
headingOfMotion degrees Heading of sensor motion in degrees in clockwise counting and 0 degree being north.
headingOfVehicle degrees Heading of vehicle in degrees in clockwise counting and 0 degree being north. Can only be used when the IMU/GPS sensor fusion is active This heading is not changing if the vehicle drives backwards for example.
headingAccuracy degrees Heading Accuracy in degrees for both headingOfVehicle and headingOfMotion.
velocity m/s Velocity over ground
velocityAccuracy m/s velocity accuracy over ground
fixType enumeration type of the GNSS fix and if dead-reckoning mode is active.
carrierPhaseSolution enumeration Information if an additional RTK carrier phase correction is used.
numberSatellitesUsed no unit the number of satellites that have been used to compute the position.
year years GNSS Year in UTC.
month months GNSS Month in UTC.
day days GNSS Day in UTC.
hour hours GNSS Hour in UTC
minute minutes GNSS Minute in UTC
second s GNSS Second in UTC
nanoSecondCorrection ns This is the time in nanoseconds which the above date and time values need to be shifted to arrive at the exact time point measured using the GNSS receiver.