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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)