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Tracking¶
Behavior in module: Estimation
Settings¶
azimuth_to_contact_vehicleFrame¶
- Unit:
RADIAN - Type:
DataURI
contactDepthSetting¶
- Unit:
METER - Type:
SettingURI
Depth of tracked contact (optioanl setting). If the depth of the contact is known 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:
DEGREE - Type:
DataURI
contact_latitude_lowpass¶
- Unit:
DEGREE - Type:
DataURI
contact_longitude¶
- Unit:
DEGREE - Type:
DataURI
contact_longitude_lowpass¶
- Unit:
DEGREE - Type:
DataURI
contact_rx_time¶
- Unit:
SECOND - Type:
DataURI
direction_navigationFrame¶
- Unit:
NONE - Type:
BlobURI
direction_vehicleFrame¶
- Unit:
NONE - Type:
BlobURI
eastings_to_contact¶
- Unit:
METER - Type:
DataURI
elevation_to_contact_vehicleFrame¶
- Unit:
RADIAN - Type:
DataURI
enableBroadcast¶
- Unit:
BOOL - Type:
DataURI
heading_to_contact¶
- Unit:
RADIAN - Type:
DataURI
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)