Algorithm parameters

NAME

DESCRIPTION

ALG_NORMAL

1 if ALG_ROLLP_OK, ALG_HEAD_OK, ALG_SURGES_OK, ALG_HEAVE_OK and ALG_HEALTH is 1, and ALG_OBS_INIT is 0 (initialization is done).

ALG_HEALTH

1 if ALG_ROLLP_HEALTH, ALG_HEAD_HEALTH, ALG_SURGES_HEALTH and ALG_HEAVE_HEALTH is 1.

ALG_OBS_INIT

1 if initialization of sensor fusion algorithms completed successfully.

ALG_HEADING_INIT

1 if heading initialization has completed. i.e. the difference between heading reference and estimation is less than 5 degrees. This is only in use for MRUs with magnetometer or external heading aiding.

ALG_ROLLP_OK

1 if all gyroscopes biases are stable and ALG_ROLLP_HEALTH is 1.

ALG_ROLLP_HEALTH

0 if any gyroscope bias is saturated or SENSOR_HEALTH is 0.

ALG_HEAD_OK

1 if the difference between heading reference and estimation is less than 1 degree. This is only in use for MRUs with magnetometer or external heading aiding.

ALG_HEAD_HEALTH

0 if the difference between heading reference and estimation is more than 10 degrees. This is only in use for MRUs with magnetometer or external heading aiding.

ALG_SURGES_OK

0 if transients in surge or sway are detected or ALG_SURGES_ HEALTH is 0.

ALG_SURGES_HEALTH

0 if surge or sway are saturated.

ALG_HEAVE_OK

0 if transients in heave are detected or the acceleration bias is out of range or ALG_HEAVE_HEALTH is 0.

ALG_HEAVE_HEALTH

0 if heave is saturated.