Mounting
Mounting configuration defines how the MRU (Motion Reference Unit) is physically installed relative to the vessel and reference points (e.g., CG, MP1, MP2). It includes orientation angles, positional offsets, and remote mode settings to ensure the physical setup is accurately represented in the internal computations.
Mounting configuration
GET/SET MOUNTING | ||||||
|---|---|---|---|---|---|---|
SETTING GROUP | DESCRIPTION | DEFAULT | UNIT | DATA TYPE | VALID RANGE | NOTE |
angles | main orientation of MRU w.r.t. vessel | [0 0 0] | [deg] | Single | Roll range: [-180, 180]. Pitch range: [-90,90]. Yaw range: [0,360]. | Used to configure the main rotation angles, typically in 90-degree increments. Order: Roll, pitch, yaw. |
anglesfine | fine orientation of MRU w.r.t. coarse alignment axes | [0 0 0] | [deg] | Single | Roll range: [-90, 90]. Pitch range: [-90,90]. Yaw range: [-90,90]. | Once main rotation angles are set, fine angles can be used to apply smaller, precise angular corrections to account for e.g. installation offsets or imperfections. The fine angles are relative to the main rotation angles. Order: Roll, pitch, yaw. |
mru | arm from CO to MRU | [0 0 0] | [m] | Single | Range x: [-100,100]. Range y: [-100,100]. Range z: [-100,100]. | Used to compensate for lever-arm effects between the sensor’s location and CO. Order: x,y,z. |
mp1 | arm from CO to MP1 | [0 0 0] | [m] | Single | Range x: [-100,100]. Range y: [-100,100]. Range z: [-100,100]. | Used to provide accurate motion compensation at the monioring point of interest (mp1). |
mp2 | arm from CO to MP2 | [0 0 0] | [m] | Single | Range x: [-100,100]. Range y: [-100,100]. Range z: [-100,100]. | Used to provide accurate motion compensation at the monitoring point of interest (mp2). |
cg | arm from CO to CG | [0 0 0] | [m] | Single | Range x: [-100,100]. Range y: [-100,100]. Range z: [-100,100]. | Used to improve motion compensation in systems where the CO and CG do not coincide due to the vessel's mass distribution. |
remotemode | mode for remote monitoring | virtualmru | - | ENUM | virtualmru, projection | |
Example:
Examples of 'get' and corresponding 'set' commands within the mounting domain are provided below.
GET | SET |
get,mounting,angles<CR><LF> | set,mounting,angles,[90 0 180]<CR><LF> |
get,mounting,anglesfine<CR><LF> | set,mounting,anglesfine,[1.2 0.1 0.3]<CR><LF> |
get,mounting,mru<CR><LF> | set,mounting,mru,[6.78 1.65 2.43]<CR><LF> |
get,mounting,mp1<CR><LF> | set,mounting,mp1,[0 0 23.2]<CR><LF> |
get,mounting,mp2<CR><LF> | set,mounting,mp2,[20.5 0 0]<CR><LF> |
get,mounting,cg<CR><LF> | set,mounting,cg,[14 0 1.4]<CR><LF> |
get,mounting,remotemode<CR><LF> | set,mounting,remotemode,virtualmru<CR><LF> |