Page auto-generated
TrackAcousticContact¶
Behavior in module: Estimation
Settings¶
azimuth_to_contact_vehicle_frame¶
- Unit:
RADIAN
- Type:
DataURI
contactDepthSetting¶
- Unit:
METER
- Type:
SettingURI
Depth of tracked contact (optioanl setting). If the depth of the contact is preknown and fixed (e.g., when tracking a surface vessel), users can pass this arg to improve the 2D projected position estimates in the world-frame-of-reference.
contactLabelSetting¶
- Unit:
ENUM
- Type:
SettingURI
Label of the contact to track. Currently, this is an integer acoustic address for the remote Benthos Acoustic Modem or DAT. In the future, it may be a more general label (e.g., Benthos-0, LRAUV-Tethys, ChlorophyllMax).
contact_depth¶
- Unit:
METER
- Type:
DataURI
contact_depth_lowpass¶
- Unit:
METER
- Type:
DataURI
contact_label¶
- Unit:
ENUM
- Type:
DataURI
contact_latitude¶
- Unit:
RADIAN
- Type:
DataURI
contact_latitude_lowpass¶
- Unit:
RADIAN
- Type:
DataURI
contact_longitude¶
- Unit:
RADIAN
- Type:
DataURI
contact_longitude_lowpass¶
- Unit:
RADIAN
- Type:
DataURI
direction_navigation_frame¶
- Unit:
NONE
- Type:
BlobURI
direction_vehicle_frame¶
- Unit:
NONE
- Type:
BlobURI
eastings_to_contact¶
- Unit:
METER
- Type:
DataURI
elevation_to_contact_vehicle_frame¶
- Unit:
RADIAN
- Type:
DataURI
enableBroadcast¶
- Unit:
BOOL
- Type:
DataURI
heading_to_contact¶
- Unit:
RADIAN
- Type:
DataURI
heading_to_contact_lowpass¶
- Unit:
RADIAN
- Type:
DataURI
horizontal_range_to_contact_lowpass¶
- Unit:
METER
- Type:
DataURI
lowPassOverlapSetting¶
- Unit:
BOOL
- Type:
SettingURI
Set to true for sliding low-pass filtering with overlap of 1, or false to eliminate overlap.
northings_to_contact¶
- Unit:
METER
- Type:
DataURI
numFixesLowPassSetting¶
- Unit:
COUNT
- Type:
SettingURI
How many fixes to average (for low-pass filtering)
numStartingFixesToIgnoreSetting¶
- Unit:
COUNT
- Type:
SettingURI
How many fixes to ignore at the start of mission (as the vehicle just leaves surface, contact's location estimate especailly bearing can be erroneous)
numberOfSamplesSetting¶
- Unit:
COUNT
- Type:
SettingURI
How many samples to average before reporting a tracking fix. (Currently not implemented.)
range_to_contact¶
- Unit:
METER
- Type:
DataURI
relativePosition_navigationFrame¶
- Unit:
METER
- Type:
BlobURI
relativePosition_vehicleFrame¶
- Unit:
METER
- Type:
BlobURI
updatePeriodSetting¶
- Unit:
SECOND
- Type:
SettingURI
How often to observe the target, in seconds. (Currently not implemented. Will initially be how long to wait in between queries to the remote modem.)
Output Settings¶
(None)