MSG_INSTALL_ALIGN

该数据包用于描述：惯导安装偏移，包含安装角度偏移，GNSS杆臂，里程计杆臂、DVL杆臂以及用户自定义杆臂，该数据包里的所有杆臂变量均存在于导航系统的参数表里，可以通过串口指令进行配置，也可以在上位机软件FDIGroundStation的Onboard Parameter参数表里直接修改，具体定义可以参考产品使用手册；

Packet ID	0x80
Length	45
Read / Write	Read
Offset	Size	Format	Field	Unit	Description
0	1	Uint8_t	Permanent
1	4	float32_t	Body_To_Vehicle_Algn_Roll	rad	IMU坐标系到载体坐标系的横滚偏移
5	4	float32_t	Body_To_Vehicle_Algn_Pitch	rad	IMU坐标系到载体坐标系的俯仰偏移
9	4	float32_t	Body_To_Vehicle_Algn_Yaw	rad	IMU坐标系到载体坐标系的航向偏移
13	4	float32_t	GNSS_Ants_Heading_Bias	rad	双天线到载体坐标系的航向偏移
17	4	float32_t	GNSS_antenna_offset_X	m	GNSS天线相位中心在惯导X方向偏移
21	4	float32_t	GNSS_antenna_offset_Y	m	GNSS天线相位中心在惯导Y方向偏移
25	4	float32_t	GNSS_antenna_offset_Z	m	GNSS天线相位中心在惯导Z方向偏移
29	4	float32_t	Odometer_offset_X	m	后轮轴中心在惯导X方向偏移
33	4	float32_t	Odometer_offset_Y	m	后轮轴中心在惯导Y方向偏移
37	4	float32_t	Odometer_offset_Z	m	后轮轴中心在惯导Z方向偏移
41	4	float32_t	User_data_offset_X	m	自定义位置在惯导X方向偏移
45	4	float32_t	User_data_offset_Y	m	自定义位置在惯导Y方向偏移
49	4	float32_t	User_data_offset_Z	m	自定义位置在惯导Z方向偏移
53	4	float32_t	DVL_offset_X	m	DVL 在惯导X方向偏移
57	4	float32_t	DVL_offset_Y	m	DVL 在惯导Y方向偏移
61	4	float32_t	DVL_offset_Z	m	DVL 在惯导Z方向偏移

Alignment DCM

The alignment DCM (direction cosine matrix) is used to represent an alignment offset of Spatial Dual from it's standard alignment. A DCM is used rather than euler angles for accuracy reasons. To convert euler angles to DCM please use the formula below with angles in radians.

DCM[0][0] = cos(heading) * cos(pitch)

DCM[0][1] = sin(heading) * cos(pitch)

DCM[0][2] = -sin(pitch)

DCM[1][0] = -sin(heading) * cos(roll) + cos(heading) * sin(pitch) * sin(roll)

DCM[1][1] = cos(heading) * cos(roll) + sin(heading) * sin(pitch) * sin(roll)

DCM[1][2] = cos(pitch) * sin(roll) DCM[2][0] = sin(heading) * sin(roll) + cos(heading) * sin(pitch) * cos(roll) DCM[2][1] = -cos(heading) * sin(roll) + sin(heading) * sin(pitch) * cos(roll)

DCM[2][2] = cos(pitch) * cos(roll)