https://zhuanlan.zhihu.com/p/1946984201447543079
As a professional provider of IoT data acquisition solutions and an expert in industrial IoT data acquisition, the editor of Shanghai Data Acquisition IOT Technology Co., Ltd， (daq-iot) hereby presents the following introduction, and sincerely welcomes discussions and exchanges.
Supported Communication Interfaces: CAN, RS485, Mbus, 4–20mA, Profibus, CC-Link, HART, digital I/O, etc.
Industrial Protocols: Modbus RTU/TCP, HJ212, IEC104, DLT645, DLMS, IEC61850, MQTT, etc.
Mail:export@daq-iot.com
As a professional provider of IoT, Data Acquisition, and solution, Daq iot, the editor of IoT, would like to introduce the following content and sincerely welcome everyone to discuss and exchange ideas.
As a professional provider of IoT data collection solutions, daq-iot, the data acquisition and IoT editor, will introduce the following content here and sincerely welcome everyone to discuss and communicate.
③Pod control boardPod image board(Network Conversion)
Send to the podArray camera systemInternal information, including parameters required for positioning calculation and recognition calculation.
RS422 levelSmall end mode, 165 bytes, transmission frequency of 40ms, baud rate of 115200, one start bit, one stop bit, eight data bits, no checksum.
Table 5: Pod Control Board Sending Protocol
| | | | | | |
| --- | --- | --- | --- | --- | --- |
| serial number | content | data type | byte count | scope | Remark |
| 1 | Frame Header 1 | Int8 | 1 | 0x07 | |
| 2 | Frame header 2 | Int8 | 1 | 0x1C | |
| 3 | year | USHORT | 2 | year | Carrier data |
| 4 | moon | UCHAR | 1 | moon | Carrier data |
| 5 | day | UCHAR | 1 | day | Carrier data |
| 6 | time | UINT32 | 4 | ms | Carrier data |
| 7 | Beidou latitude | INT32 | 4 | -180 ° to 180 °, with East longitude being positive and a resolution of 0.001 ″ | Carrier data |
| 8 | Beidou Longitude | INT32 | 4 | -90 ° to 90 °, with a positive north latitude and a resolution of 0.001 ″ | Carrier data |
| 9 | Beidou altitude | UINT16 | 2 | -1000～10000m， Resolution 0.2m | Carrier data |
| 10 | Beidou eastward velocity | INT16 | 2 | -200m/s～+200m/s，LSB=200/215m/s | Carrier data |
| 11 | Northward velocity of Beidou | INT16 | 2 | -200m/s～+200m/s，LSB=200/215m/s | Carrier data |
| 12 | Beidou celestial velocity | INT16 | 2 | -200m/s～+200m/s，LSB=200/215m/s | Carrier data |
| 13 | Beidou ground speed direction | UINT16 | 2 | 0~359.99 °, positive northeast, resolution 0.01 ° | Carrier data |
| 14 | Beidou ground speed | UINT16 | 2 | 0～650m/s， Resolution 0.01m/s | |
| 15 | heading angle | UINT16 | 2 | 0-359.99 °, resolution 0.01 º | The heading angle of the aircraft is 90 degrees due east |
| 16 | pitch angle | INT16 | 2 | -89.99 °~+89.99 °, resolution 0.01 º | Head up straight |
| 17 | roll angle | INT16 | 2 | -179.99 º~179.99 º, resolution 0.01 º | Roll right for positive |
| 18 | airspeed | UINT16 | 2 | 0～255km/h，1km/h | |
| 19 | Heading angular velocity | INT16 | 2 | - | |
| 20 | pitch rate | INT16 | 2 | -300-300 º/s, head up positive, resolution 300/215 º/s | |
| 21 | roll angular velocity | INT16 | 2 | -300-300 º/s, right roll is positive, resolution 300/215 º/s | |
| 22 | X-direction acceleration | INT16 | 2 | -294m2/s～+294m2/s，LSB=294/215m2/s(0.0009g)， Forward is positive | |
| 23 | Y-direction acceleration | INT16 | 2 | -294m2/s～+294m2/s，LSB=294/215m2/s(0.0009g)， To the right is positive | |
| 24 | Z-direction acceleration | INT16 | 2 | -294m2/s～+294m2/s，LSB=294/215m2/s(0.0009g)， Down is positive | |
| 25 | Valid flag for inertial navigation data | CHAR | 1 | 0x11， The combined state navigation data is valid; 0x22， The pure inertial navigation data is valid; 0x33， The navigation data is invalid. 0x44， Align data | |
| 26 | Beidou data valid flag | CHAR | 1 | 0x00 invalid positioning data 0x01 valid positioning data | |
| 27 | Ideal route angle | UINT16 | 2 | 0-359.99 °, resolution 0.01 º | |
| 28 | Link bandwidth | UINT8 | 1 | 0x01 1.92Mbps0x02 3.84Mbps0x03 7.68Mbps0x04 15.36Mbps | |
| 29 | pressure altitude | UINT16 | 2 | -1000～10000m， Resolution 0.2m | |
| 30 | PDOP Beidou Navigation Factor | CHAR | 1 | 1~100 | |
| 31 | azimuth | INT16 | 2 | Gyro stabilized platformThe azimuth angle, ranging from 0 to 36000, represents 0.00 ° to 360.00 ° (with a resolution of 0.01 °). | Pod data |
| 32 | pitch angle | INT16 | 2 | Gyroscope stabilized platform pitch angle, range -18000 to+18000, resolution 0.01 °, indicated by complement code. | Pod data |
| 33 | Laser ranging data | UINT32 | 4 | The distance value measured by the laser irradiator. 0x00 represents 0m with a resolution of 1m. In the absence of laser echo, the ranging output is 0xFFFF. | ② Measure out |
| 34 | Laser rangefinder status | UINT8 | 1 | 0x01 Distance measurement (fill in distance measurement time) 0x00 Other | ② Measure out |
| 35 | query command | UINT8 | 1 | 0x01 query 0x00 other | |
| 36 | Directional gyroscope data | Float | 4 | Current azimuth gyroscope count °/s | Pod data |
| 37 | Pitch gyroscope data | Float | 4 | Current pitch gyroscope count °/s | Pod data |
| 38 | Attitude angle A | INT16 | 2 | Absolute azimuth attitude angle | Inertial group calculation data |
| 39 | Attitude angle P | INT16 | 2 | Absolute pitch attitude angle | Inertial group calculation data |
| 40 | Attitude angle R | INT16 | 2 | Absolute roll attitude angle | Inertial group calculation data |
| 41 | Image IP | Int16 | 1 | H11~h16H21~h26H31~h36H41~h46H40，h64 | Provided by the gyro stabilization platform computer board |
| 42 | Spare byte | | 81 | | backup |
| 43 | verify | Int8 | 1 | Sum up all the previous data and take the lower 8 bits | |
④Downward Protocol: Pod image board (network conversion)àEdge Computing board（Horizon RDK Ultra）
The frame stream of ③ received by the pod image board is converted into UDP and sent to the network as transparent data. The frame information of ③ is the data part of UDP. TheEdge Computingboard also needs to extract the required pod data by judging the frame header and verification information according to the format of ③ based on the received UDP data.
The pod image board (network conversion) adopts multicast mode.
IP: 192.168.0.95 Port: 8080
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