Pod Data Acquisition Monitoring and Control System Communication Protocol mqtt

As a professional provider of IoT data acquisition solutions and an expert in industrial IoT data acquisition, the editor of Shanghai Data Acquisition IOT Technology Co., Ltd， (daq-iot) hereby presents the following introduction, and sincerely welcomes discussions and exchanges. Supported Communication Interfaces: CAN, RS485, Mbus, 4–20mA, Profibus, CC-Link, HART, digital I/O, etc. Industrial Protocols: Modbus RTU/TCP, HJ212, IEC104, DLT645, DLMS, IEC61850, MQTT, etc. Mail:export@daq-iot.com

As a professional provider of IoT, Data Acquisition, and solution, Daq iot, the editor of IoT, would like to introduce the following content and sincerely welcome everyone to discuss and exchange ideas.

As a professional provider of IoT data collection solutions, daq-iot, the data acquisition and IoT editor, will introduce the following content here and sincerely welcome everyone to discuss and communicate.

③Pod control boardPod image board(Network Conversion)

Send to the podArray camera systemInternal information, including parameters required for positioning calculation and recognition calculation.

RS422 levelSmall end mode, 165 bytes, transmission frequency of 40ms, baud rate of 115200, one start bit, one stop bit, eight data bits, no checksum.

Table 5: Pod Control Board Sending Protocol

serial number	content	data type	byte count	scope	Remark
1	Frame Header 1	Int8	1	0x07
2	Frame header 2	Int8	1	0x1C
3	year	USHORT	2	year	Carrier data
4	moon	UCHAR	1	moon	Carrier data
5	day	UCHAR	1	day	Carrier data
6	time	UINT32	4	ms	Carrier data
7	Beidou latitude	INT32	4	-180 ° to 180 °, with East longitude being positive and a resolution of 0.001 ″	Carrier data
8	Beidou Longitude	INT32	4	-90 ° to 90 °, with a positive north latitude and a resolution of 0.001 ″	Carrier data
9	Beidou altitude	UINT16	2	-1000～10000m， Resolution 0.2m	Carrier data
10	Beidou eastward velocity	INT16	2	-200m/s～+200m/s，LSB=200/215m/s	Carrier data
11	Northward velocity of Beidou	INT16	2	-200m/s～+200m/s，LSB=200/215m/s	Carrier data
12	Beidou celestial velocity	INT16	2	-200m/s～+200m/s，LSB=200/215m/s	Carrier data
13	Beidou ground speed direction	UINT16	2	0~359.99 °, positive northeast, resolution 0.01 °	Carrier data
14	Beidou ground speed	UINT16	2	0～650m/s， Resolution 0.01m/s
15	heading angle	UINT16	2	0-359.99 °, resolution 0.01 º	The heading angle of the aircraft is 90 degrees due east
16	pitch angle	INT16	2	-89.99 °~+89.99 °, resolution 0.01 º	Head up straight
17	roll angle	INT16	2	-179.99 º~179.99 º, resolution 0.01 º	Roll right for positive
18	airspeed	UINT16	2	0～255km/h，1km/h
19	Heading angular velocity	INT16	2	-
20	pitch rate	INT16	2	-300-300 º/s, head up positive, resolution 300/215 º/s
21	roll angular velocity	INT16	2	-300-300 º/s, right roll is positive, resolution 300/215 º/s
22	X-direction acceleration	INT16	2	-294m2/s～+294m2/s，LSB=294/215m2/s(0.0009g)， Forward is positive
23	Y-direction acceleration	INT16	2	-294m2/s～+294m2/s，LSB=294/215m2/s(0.0009g)， To the right is positive
24	Z-direction acceleration	INT16	2	-294m2/s～+294m2/s，LSB=294/215m2/s(0.0009g)， Down is positive
25	Valid flag for inertial navigation data	CHAR	1	0x11， The combined state navigation data is valid; 0x22， The pure inertial navigation data is valid; 0x33， The navigation data is invalid. 0x44， Align data
26	Beidou data valid flag	CHAR	1	0x00 invalid positioning data 0x01 valid positioning data
27	Ideal route angle	UINT16	2	0-359.99 °, resolution 0.01 º
28	Link bandwidth	UINT8	1	0x01 1.92Mbps0x02 3.84Mbps0x03 7.68Mbps0x04 15.36Mbps
29	pressure altitude	UINT16	2	-1000～10000m， Resolution 0.2m
30	PDOP Beidou Navigation Factor	CHAR	1	1~100
31	azimuth	INT16	2	Gyro stabilized platformThe azimuth angle, ranging from 0 to 36000, represents 0.00 ° to 360.00 ° (with a resolution of 0.01 °).	Pod data
32	pitch angle	INT16	2	Gyroscope stabilized platform pitch angle, range -18000 to+18000, resolution 0.01 °, indicated by complement code.	Pod data
33	Laser ranging data	UINT32	4	The distance value measured by the laser irradiator. 0x00 represents 0m with a resolution of 1m. In the absence of laser echo, the ranging output is 0xFFFF.	② Measure out
34	Laser rangefinder status	UINT8	1	0x01 Distance measurement (fill in distance measurement time) 0x00 Other	② Measure out
35	query command	UINT8	1	0x01 query 0x00 other
36	Directional gyroscope data	Float	4	Current azimuth gyroscope count °/s	Pod data
37	Pitch gyroscope data	Float	4	Current pitch gyroscope count °/s	Pod data
38	Attitude angle A	INT16	2	Absolute azimuth attitude angle	Inertial group calculation data
39	Attitude angle P	INT16	2	Absolute pitch attitude angle	Inertial group calculation data
40	Attitude angle R	INT16	2	Absolute roll attitude angle	Inertial group calculation data
41	Image IP	Int16	1	H11~h16H21~h26H31~h36H41~h46H40，h64	Provided by the gyro stabilization platform computer board
42	Spare byte		81		backup
43	verify	Int8	1	Sum up all the previous data and take the lower 8 bits

④Downward Protocol: Pod image board (network conversion)àEdge Computing board（Horizon RDK Ultra）

The frame stream of ③ received by the pod image board is converted into UDP and sent to the network as transparent data. The frame information of ③ is the data part of UDP. TheEdge Computingboard also needs to extract the required pod data by judging the frame header and verification information according to the format of ③ based on the received UDP data.

The pod image board (network conversion) adopts multicast mode.

IP: 192.168.0.95 Port: 8080