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| === <u>Introduction</u> === | | == Immobilizer == |
| '''Dead Reckoning''' is a navigation technique used to estimate current position of vehicle , direction of movement, based on its previous position and known speed. It uses additional sensor data to correct the position received from GNSS receiver.<br>
| | [[File:Immobilizer TCT panel.png|right|500px]] |
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| Usage of Dead Reckoning is essential in scenarios where GNSS signal is weak or unavailable, such as underground parking lots, tunnels or dense forests.<br>
| | The Immobilizer feature provides an additional layer of vehicle security by requiring driver authorization after the ignition is turned on. It is designed to block the vehicle's starter circuit, preventing the engine from being started until an authorized identification element is presented. |
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| '''Note:''' Dead Reckoning is enabled for all FT platform devices with gyroscope. At the moment, it’s not possible to disable it.<br>
| | This functionality is essential for preventing vehicle theft and ensuring that only permitted individuals can operate a vehicle. By linking vehicle operation to a physical token, it significantly enhances security for fleet management, rental services, and any application where control over vehicle access is a priority. |
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| === <u>Prerequisites</u> ===
| | The feature operates based on the vehicle's ignition status. When the ignition is turned on, the system enters a "Waiting authorization" state, activating a digital output to keep the starter blocked. Upon successful presentation of an authorized element, the system transitions to an "Authorized" state, deactivates the output, and allows the engine to run. The authorization is automatically revoked after the ignition has been off for a configurable period. |
| Key points to understand before utilizing the Dead Reckoning functionality:
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| * Installation
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| * Configuration
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| * Alignment
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| '''<u>Installation</u>'''<br>
| | === <u>Prerequisites and Important Settings </u> === |
| | * The vehicle's ignition status must be monitored by one of the device's digital inputs (DIN). |
| | * A relay must be correctly installed to interrupt the vehicle's starter circuit and connected to one of the device's configurable digital outputs (DOUT). |
| | * An iButton reader is required to detect the authorization element. |
| | * The unique IDs of all authorized iButtons must be pre-configured in the device's authorization list. |
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| The device must be mounted firmly in the vehicle, with good visibility of the sky. Failure to ensure proper mounting will result in inability to calibrate the device or inaccurate position estimation. DIN1 should be connected to the vehicle ignition (''' applicable to trackers with DIN1'''), it will be used to detect both ignition status and movement, ensuring optimal performance. Following examples ensure that the GNSS antenna is facing towards the sky and there are no physical obstacles, like metal plates, wires, are blocking the GNSS signal. | | === <u> Basic Operation </u> === |
| | The feature's logic is managed through three distinct states:<br> |
| | 1. '''Not Authorized State:''' |
| | * This is the default, idle state when the vehicle's ignition is OFF. The immobilizer is armed and waiting. |
| | 2. '''Waiting Authorization State:''' |
| | * When the ignition is turned ON, the system transitions to this state. |
| | * If a Digital Output is configured, it is immediately activated to control the relay and block the starter circuit. |
| | * The device actively waits for an authorization element to be presented. |
| | 3. '''Authorized State:''' |
| | * Once an ID is detected and confirmed to be authorized, the system transitions to the Authorized state. |
| | * The configured Digital Output is deactivated, which unblocks the starter circuit and allows the vehicle to be started and driven. |
| | * The driver remains authorized as long as the ignition stays ON. |
| | 4. '''De-authorization Process:''' |
| | * When the ignition is turned OFF, a de-authorization timer begins. |
| | * If the ignition remains off for the entire duration of the configured "Authorization persist duration", the system revokes the authorization and returns to the Not Authorized state. If the ignition is turned back on before the timeout expires, the authorization remains active. |
| | 5. '''Authorization list management:''' |
| | * If no 1-Wire authorization list is used, any ID can be used for authorization. |
| | * If 1-Wire authorization list is used, device will allow authorization only by specifics IDs. Authorization list management can be done in ('''[[#1-Wire_settings|Accessories]]''') section of the TCT, the user can upload, preview and delete a .csv file with up to 10000 device IDs. ID format will be string of 8 bytes in hex format, e.g: AABBCCDDEEFFAABB. It is also possible to manage 1-Wire authorization list via FOTA using task type: Upload 1-Wire authorization list / Receive 1-Wire authorization list. |
| | * If no BLE device authorization list is used, any ID can be used for authorization. |
| | * If the BLE authorization list is used, the device will only allow authorization from specific BLE devices whose MAC addresses are included in the list. |
| | The authorization list can be accessed in the Immobilizer window, where the user can upload, preview, or delete a .csv file containing up to 200 BLE device entries. |
| | * Each BLE device ID must be provided as a Bluetooth MAC address in the following hexadecimal format:AA:BB:CC:DD:EE:FF |
| | * Any BLE device can be used for authorization — not only Teltonika EYE sensors. |
| | Authorization is performed exclusively by checking the Bluetooth MAC address. |
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| Good '''mounting''' examples ( <span style="color:red">'''If vehicle has a heated windshield, you should look for an alternative mounting location in the trunk, on some sturdy metal closer to backseat window'''</span>):<br>
| | '''NOTE:'''<br> |
| <div style="display: flex; flex-direction: row;">
| | It is also possible to manage the Beacon authorization list remotely via FOTA using the following task types:Upload Beacon authorization list and Receive Beacon authorization list. |
| [[File:FTC927 under the front dashboard in the middle of the car.jpg|thumb|left|280px|Dashboard in the middle of the car mount]]
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| [[File:FTC927 beneath the speedometer panel.jpg|thumb|left|300px|Beneath the speedometer panel]]
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| [[File:FTC927 above the glove box.jpg|thumb|left|300px|Above glove box]]
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| </div>
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| Bad '''mounting''' examples:<br>
| | '''NOTE:'''<br> |
| <div style="display: flex; flex-direction: row;">
| | Example files are provided to illustrate the correct structure for uploading authorization lists. The included ibutton_list.csv and bluetooth_mac_list.csv files demonstrate the required formatting for 1 Wire and Beacon (BLE) entries. |
| [[File:Dead Reckoning Unwanted movements will be detected by the IMU.png|thumb|left|280px|Unwanted movements will be detected by the IMU]]
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| [[File:Dead Reckoning Metal parts above the mount.png|thumb|left|300px|Metal parts above the mount]]
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| [[File:Dead Reckoning vibration could cause unwanted device movements.png|thumb|left|300px|Places, where vibration could cause unwanted device movements]]
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| </div>
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| '''<u>Configuration</u>'''<br>
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| [[File:Dead Recknonig TCT panel_2.png|right|500px]]
| | === <u> Parameters list </u>=== |
| | <table class="nd-othertables_2" style="width:100%; border-collapse: collapse;"> |
| | <tr> |
| | <th style="width:1%; vertical-align: middle; text-align: center;">PARAMETER NAME</th> |
| | <th style="width:1%; vertical-align: middle; text-align: center;">PARAMETER ID (RELATED AVL ID)</th> |
| | <th style="width:5%; vertical-align: middle; text-align: center;">DESCRIPTION</th> |
| | <th style="width:6%; vertical-align: middle; text-align: center;">VALUES</th> |
| | </tr> |
| | <tr> |
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| ''The Dead Reckoning feature is configurable via the Dead Reckoning section in the GNSS settings group under System view in TCT.'' | | <td style="vertical-align: middle; text-align: center;"> Immobilizer </td> |
| | <td style="vertical-align: middle; text-align: center;"> 1024800 <br> (248} </td> |
| | <td style="vertical-align: middle; text-align: center;"> Disables, or enables and sets priority of the event record generated upon successful or failed authorization attempts.Authorization source </td> |
| | <td style="vertical-align: middle; text-align: left;"> '''0 =''' Disable scenario. <br> |
| | '''1 =''' Low priority Device makes an additional record with indication of event cause. <br> |
| | '''2 =''' High priority - module makes additional record with high priority flag and sends event packet immediately to the server by GPRS. |
| | </td> |
| | </tr> |
| | <tr> |
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| Parameter list can be found [[Template:FTX_System#Parameter_list|here]].
| | <td style="vertical-align: middle; text-align: center;"> Authorization mode</td> |
| | <td style="vertical-align: middle; text-align: center;"> 11703 </td> |
| | <td style="vertical-align: middle; text-align: center;"> Selects singular or multiple types of authorization elements to be used. </td> |
| | <td style="vertical-align: middle; text-align: left;"> '''0 =''' No authorization selected. <br> |
| | '''1 =''' 1-Wire authorization selected. Driver is authorized via iButton or RFID tag.<br> |
| | </td> |
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| ===== Dead Reckoning alignment status =====
| | </tr> |
| | <tr> |
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| The Dead Reckoning alignment status is a 1-byte AVL ID (1433) that indicates the current status of the Dead Reckoning alignment. The possible values are:<br>
| | <td style="vertical-align: middle; text-align: center;"> Authorization persist duration (s)</td> |
| * '''0''' - Unknown: Dead Reckoning status is unknown.
| | <td style="vertical-align: middle; text-align: center;"> 60068 </td> |
| * '''1''' - Init: Dead Reckoning alignment is initializing.
| | <td style="vertical-align: middle; text-align: center;"> Sets the time in seconds after the ignition is turned off before the driver's authorization is automatically revoked. </td> |
| * '''2''' - Coarse: Dead Reckoning is in alignment stage.
| | <td style="vertical-align: middle; text-align: left;"> Minimum value '''= 1''' <br> |
| * '''3''' - Stable: Dead Reckoning alignment stage has been completed. Estimation stage is in progress.
| | Maximum value '''= 65535''' </td> |
| * '''99''' - Standby: Dead Reckoning is in standby mode ('''NOTE''': this status is availabe with 3.7.X or newer firmware version)
| |
| <!--===== Turning alignment ===== | |
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| The turning alignment is a 1-byte AVL ID ('''1434''') that indicates the current percentage of the turning alignment of the device.
| | </tr> |
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| ===== Straight alignment =====
| | <tr> |
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| The straight alignment is a 1-byte AVL ID ('''1435''') that indicates the current percentage of the straight alignment of the device.
| | <td style="vertical-align: middle; text-align: center;"> Bypass authorization </td> |
| '''
| | <td style="vertical-align: middle; text-align: center;"> 11029</td> |
| ===== Dead Reckoning realignment reason ===== | | <td style="vertical-align: middle; text-align: center;"> Allows to bypass authorization when ignition is turned on and a set duration expires. </td> |
| The Dead Reckoning realignment reason is a 1-byte AVL ID ('''1473''') that indicates the reason for the Dead Reckoning realignment. The possible values are:
| | <td style="vertical-align: middle; text-align: left;"> '''0 =''' Disabled <br> |
| * '''-1''' or '''-2:''' GNSS cross check failed. The algorithm detected that the estimated position differs from the GNSS position vastly.
| | '''0-65535 =''' Enabled <br> |
| * '''-3''' or '''-4:''' Unexpected vibrations detected.
| | Default value = '''0''' </td> |
| * '''-5:''' Unexpected rotation detected.
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| * '''-6:''' GNSS signal quality dropped before the alignment was completed.
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| * '''-7:''' Abnormal reversing action detected.-->
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|
| | </tr> |
| | <tr> |
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| '''<u>Alignment</u>'''<br>
| | <td style="vertical-align: middle; text-align: center;"> Bypass authorization timeout (s) </td> |
| Once device mounting adheres to the guidelines, alignment can be performed. The device '''must finish''' a specific alignment process to '''determine''' its mounting orientation. During this process, there are specific conditions that must be met:
| | <td style="vertical-align: middle; text-align: center;"> 11029</td> |
| # The device must be '''stationary''' with clear sky visibility for at least 3 minutes.
| | <td style="vertical-align: middle; text-align: center;"> Sets duration which starts when ignition is turned on. When duration expires immobilizer is turned off, even if the user was not authenticated. </td> |
| <!--# A great number of '''left and right''' turns must be performed.--> | | <td style="vertical-align: middle; text-align: left;"> Minimum value '''= 1''' <br> |
| # Vehicle speed during alignment should be between 10 km/h and 100 km/h, with varying speeds preferred over extended constant-speed driving.
| | Maximum value '''= 65535''' </td> |
| # Avoid driving in underground tunnels or areas with poor GNSS signal, otherwise alignment needs to be restarted from the second step.
| |
| [[File:Dead Reckoning TCT Swift .png|right|400px]]
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| We are currently using only the '''Swift''' alignment type. Other types are still unreliable and do not provide better results.
| | </tr> |
| | <tr> |
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| | <td style="vertical-align: middle; text-align: center;"> Output control </td> |
| | <td style="vertical-align: middle; text-align: center;"> 11702</td> |
| | <td style="vertical-align: middle; text-align: center;"> Selects which Digital Output is used to control the immobilizer relay. </td> |
| | <td style="vertical-align: middle; text-align: left;"> '''0 =''' None DOUTs are disabled in this scenario. <br> |
| | '''1 =''' DOUT1 DOUT1 is enabled in this scenario. <br> |
| | '''2 =''' DOUT2 DOUT2 is enabled in this scenario. <br> |
| | '''3 =''' DOUT3 DOUT3 is enabled in this scenario. </td> |
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| <!--=== <u>How It Works</u> ===
| | </tr> |
| //Dead Reckoning functionality consists of two stages:<br>
| | </table> |
| //* '''Alignment stage''' - The algorithm tries to find the mounting orientation of the device. | |
| * '''Estimation stage''' - The algorithm estimates the current position of the device based on IMU and ('''if available''') GNSS data.
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| | |
| '''<u>Alignment stage</u>'''
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| Before the algorithm can start estimating the position, it needs to calculate the mounting orientation of the device - this is called the '''alignment''' of IMU and vehicle frames. The result of the alignment is a set of angles that represent the orientation of the device in space, which is used to transform the IMU data into the vehicle frame during Estimation stage.<br>
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| | |
| Alignment is started automatically and constantly observes following parameters: <br>
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| * '''GNSS signal quality''' - The algorithm needs to have a good GNSS fix to calculate the mounting orientation. If during the alignment the signal quality drops below a certain threshold, the algorithm will trigger a realignment.
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| * '''IMU data''' - The algorithm constantly observes the received IMU data. If it detects that the device movement/rotation exceeded a certain threshold, it will trigger a realignment.<br>
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| | |
| '''Note:''' The Dead Reckoning alignment status AVL ID ('''1433''') will change from '''2''' (Coarse) to '''3''' (Stable). Positional data in records will contain Dead Reckoning data.
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| '''<u>Estimation stage</u>'''
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| Once the alignment stage is completed, the algorithm enters the estimation stage. The algorithm uses the IMU data to estimate the current position of the device, and if GNSS data is available, it uses it to correct the estimated position. The Dead Reckoning algorithm itself is based on the application of an extended Kalman filter (EKF), which operates in two main states:<br>
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| # '''Predict''' - The algorithm predicts the current position of the device using IMU sensor readings and the previously estimated position.
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| # '''Update''' - The predicted position is corrected using the calculated GNSS position from GNSS receiver.-->
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| | |
| === <u>Limitations</u> ===
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| There are some important things to keep in mind when using the Dead Reckoning functionality. The algorithm tries to correct for these issues, but sometimes they can still affect how well Dead Reckoning works.
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| * '''Position accuracy may decrease''' - If the device cannot receive a GNSS signal for a long time, the estimated position may become less accurate. This is because the sensors inside the device can only estimate the position for a limited time without help from GNSS.
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| For example: If a courier spends up to 30 minutes unloading in the underground car park, DR will remain accurate. Otherwise, positioning information will become less accurate.
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| * '''Temperature effects''' - The accuracy of the position can change if the temperature is very different from when the device was last calibrated.
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| * '''Alignment reset''' - If the device loses power or goes into sleep mode, it will need to be calibrated again.
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| '''Tip:''' If alignment auto-save is enabled, realignment will be faster.
| | === <u> Limitations, Edge Cases & Additional Notes </u> === |
| | | * '''Installation Security:''' The overall effectiveness of the immobilizer is highly dependent on the secure and discreet installation of the control relay. If the wiring is easily accessible, it can be bypassed. |
| * '''Position jumps after GNSS outages''' - After the device has been in an area with no GNSS signal for a while (such as near tall buildings or obstacles), you might notice sudden jumps in the position when the signal returns. This happens because the device uses the GNSS signal to correct its estimated position, and the type of GNSS signal used is more sensitive to interference from nearby objects.
| | }} |
| * '''Stand by mode''' - This feature allows calibration data to be stored for unlimited time, meaning that Dead Reckoning will work accurately even if a week has passed while vehicle was left in underground parking. Functionality will be present in 3.7.X firmware version, so current solution is limited and tracker will lose Dead Reckoning alignment after an hour has passed since ignition OFF event. If vehicle was parked for less than 1 hour, track might be slightly tilted, but if parking lasts more than an hour - GNSS fix needs to be re-acquired. This applies for above and underground parking.
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| === <u>Parameter list</u> === | |
| <table class="nd-othertables_2" style="width:100%; border-collapse: collapse;">
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| <tr>
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| <th style="width:8%; vertical-align: middle; text-align: left;">Property ID in AVL packet</th>
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| <th style="width:15%; vertical-align: middle; text-align: center;">Property Name</th>
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| <th style="width:5%; vertical-align: middle; text-align: center;">Bytes</th>
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| <th style="width:10%; vertical-align: middle; text-align: center;">Min Value</th>
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| <th style="width:10%; vertical-align: middle; text-align: center;">Max Value</th>
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| <th style="width:5%; vertical-align: middle; text-align: center;">Multiplier</th>
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| <th style="width:5%; vertical-align: middle; text-align: center;">Units</th>
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| <th style="width:32%; vertical-align: middle; text-align: left;">Description</th>
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| </tr>
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| <tr>
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| <td style="vertical-align: middle; text-align: center;">1433</td>
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| <td style="vertical-align: middle; text-align: center;">Dead Reckoning alignment status</td>
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| <td style="vertical-align: middle; text-align: center;">1</td>
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| <td style="vertical-align: middle; text-align: center;">0</td>
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| <td style="vertical-align: middle; text-align: center;">99</td>
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| <td style="vertical-align: middle; text-align: center;">1</td>
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| <td style="vertical-align: middle; text-align: center;"> </td>
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| <td style="vertical-align: middle; text-align: center;">[[Dead_Reckoning_feature#Dead_Reckoning_alignment_status|Dead Reckoning alignment status]]</td>
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| </tr>
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| <tr>
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| <td style="vertical-align: middle; text-align: center;">1434</td>
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| <td style="vertical-align: middle; text-align: center;">Turning alignment</td>
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| <td style="vertical-align: middle; text-align: center;">1</td>
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| <td style="vertical-align: middle; text-align: center;">0</td>
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| <td style="vertical-align: middle; text-align: center;">100</td>
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| <td style="vertical-align: middle; text-align: center;">1</td>
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| <td style="vertical-align: middle; text-align: center;">%</td>
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| <td style="vertical-align: middle; text-align: center;">[[Dead_Reckoning_feature#Turning_alignment|Turning alignment]]</td>
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| </tr>
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| <tr>
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| <td style="vertical-align: middle; text-align: center;">1435</td>
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| <td style="vertical-align: middle; text-align: center;">Straight alignment</td>
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| <td style="vertical-align: middle; text-align: center;">1</td>
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| <td style="vertical-align: middle; text-align: center;">0</td>
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| <td style="vertical-align: middle; text-align: center;">100</td>
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| <td style="vertical-align: middle; text-align: center;">1</td>
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| <td style="vertical-align: middle; text-align: center;">%</td>
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| <td style="vertical-align: middle; text-align: center;">[[Dead_Reckoning_feature#Straight alignment|Straight alignment]]</td>
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| </tr>
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| <!--<tr>
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| <td style="vertical-align: middle; text-align: center;">1454</td>
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| <td style="vertical-align: middle; text-align: center;">Mounting angle - Z</td>
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| <td style="vertical-align: middle; text-align: center;">2</td>
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| <td style="vertical-align: middle; text-align: center;">-3600</td>
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| <td style="vertical-align: middle; text-align: center;">3600</td>
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| <td style="vertical-align: middle; text-align: center;">0.1</td>
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| <td style="vertical-align: middle; text-align: center;">°</td>
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| <td style="vertical-align: middle; text-align: center;">Device orientation in Z axis (yaw).</td>
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| </tr>
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| <tr>
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| <td style="vertical-align: middle; text-align: center;">1455</td>
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| <td style="vertical-align: middle; text-align: center;">Mounting angle - Y</td>
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| <td style="vertical-align: middle; text-align: center;">2</td>
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| <td style="vertical-align: middle; text-align: center;">-3600</td>
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| <td style="vertical-align: middle; text-align: center;">3600</td>
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| <td style="vertical-align: middle; text-align: center;">0.1</td>
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| <td style="vertical-align: middle; text-align: center;">°</td>
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| <td style="vertical-align: middle; text-align: center;">Device orientation in Y axis (pitch).</td>
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| </tr>
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| <tr>
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| <td style="vertical-align: middle; text-align: center;">1456</td>
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| <td style="vertical-align: middle; text-align: center;">Mounting angle - X</td>
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| <td style="vertical-align: middle; text-align: center;">2</td>
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| <td style="vertical-align: middle; text-align: center;">-3600</td>
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| <td style="vertical-align: middle; text-align: center;">3600</td>
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| <td style="vertical-align: middle; text-align: center;">0.1</td>
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| <td style="vertical-align: middle; text-align: center;">°</td>
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| <td style="vertical-align: middle; text-align: center;">Device orientation in X axis (roll).</td>
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| </tr>
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| <tr>
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| <td style="vertical-align: middle; text-align: center;">1457</td>
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| <td style="vertical-align: middle; text-align: center;">Device position - X</td>
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| <td style="vertical-align: middle; text-align: center;">2</td>
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| <td style="vertical-align: middle; text-align: center;">-32768</td>
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| <td style="vertical-align: middle; text-align: center;">32767</td>
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| <td style="vertical-align: middle; text-align: center;">1</td>
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| <td style="vertical-align: middle; text-align: center;">m</td>
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| <td style="vertical-align: middle; text-align: center;">Linear displacement in X axis.</td>
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| </tr>
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| <tr>
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| <td style="vertical-align: middle; text-align: center;">1458</td>
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| <td style="vertical-align: middle; text-align: center;">Device position - Y</td>
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| <td style="vertical-align: middle; text-align: center;">2</td>
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| <td style="vertical-align: middle; text-align: center;">-32768</td>
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| <td style="vertical-align: middle; text-align: center;">32767</td>
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| <td style="vertical-align: middle; text-align: center;">1</td>
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| <td style="vertical-align: middle; text-align: center;">m</td>
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| <td style="vertical-align: middle; text-align: center;">Linear displacement in Y axis.</td>
| |
| </tr>
| |
| <tr>
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| <td style="vertical-align: middle; text-align: center;">1459</td>
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| <td style="vertical-align: middle; text-align: center;">Device position - Z</td>
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| <td style="vertical-align: middle; text-align: center;">2</td>
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| <td style="vertical-align: middle; text-align: center;">-32768</td>
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| <td style="vertical-align: middle; text-align: center;">32767</td>
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| <td style="vertical-align: middle; text-align: center;">1</td>
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| <td style="vertical-align: middle; text-align: center;">m</td>
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| <td style="vertical-align: middle; text-align: center;">Linear displacement in Z axis.</td>
| |
| </tr>
| |
| <tr>
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| <td style="vertical-align: middle; text-align: center;">1460</td>
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| <td style="vertical-align: middle; text-align: center;">Fusion timestamp</td>
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| <td style="vertical-align: middle; text-align: center;">4</td>
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| <td style="vertical-align: middle; text-align: center;">0</td>
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| <td style="vertical-align: middle; text-align: center;">4294967295</td>
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| <td style="vertical-align: middle; text-align: center;">1</td>
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| <td style="vertical-align: middle; text-align: center;"> </td>
| |
| <td style="vertical-align: middle; text-align: center;">Fusion timestamp.</td>
| |
| </tr>
| |
| <tr>
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| <td style="vertical-align: middle; text-align: center;">1461</td>
| |
| <td style="vertical-align: middle; text-align: center;">Fusion status</td>
| |
| <td style="vertical-align: middle; text-align: center;">1</td>
| |
| <td style="vertical-align: middle; text-align: center;">0</td>
| |
| <td style="vertical-align: middle; text-align: center;">255</td>
| |
| <td style="vertical-align: middle; text-align: center;">1</td>
| |
| <td style="vertical-align: middle; text-align: center;"> </td>
| |
| <td style="vertical-align: middle; text-align: center;">Fusion status.</td>
| |
| </tr>
| |
| <tr>
| |
| <td style="vertical-align: middle; text-align: center;">1462</td>
| |
| <td style="vertical-align: middle; text-align: center;">Sum of accelerometer axes std</td>
| |
| <td style="vertical-align: middle; text-align: center;">4</td>
| |
| <td style="vertical-align: middle; text-align: center;">0</td>
| |
| <td style="vertical-align: middle; text-align: center;">4294967295</td>
| |
| <td style="vertical-align: middle; text-align: center;">1</td>
| |
| <td style="vertical-align: middle; text-align: center;"> </td>
| |
| <td style="vertical-align: middle; text-align: center;">Sum of accelerometer axes standard deviation.</td>
| |
| </tr>
| |
| <tr>
| |
| <td style="vertical-align: middle; text-align: center;">1463</td>
| |
| <td style="vertical-align: middle; text-align: center;">Sum of gyroscope axes std</td>
| |
| <td style="vertical-align: middle; text-align: center;">4</td>
| |
| <td style="vertical-align: middle; text-align: center;">0</td>
| |
| <td style="vertical-align: middle; text-align: center;">4294967295</td>
| |
| <td style="vertical-align: middle; text-align: center;">1</td>
| |
| <td style="vertical-align: middle; text-align: center;"> </td>
| |
| <td style="vertical-align: middle; text-align: center;">Sum of gyroscope axes standard deviation.</td>
| |
| </tr>
| |
| <tr>
| |
| <td style="vertical-align: middle; text-align: center;">1464</td>
| |
| <td style="vertical-align: middle; text-align: center;">Accelerometer X axis std</td>
| |
| <td style="vertical-align: middle; text-align: center;">4</td>
| |
| <td style="vertical-align: middle; text-align: center;">0</td>
| |
| <td style="vertical-align: middle; text-align: center;">4294967295</td>
| |
| <td style="vertical-align: middle; text-align: center;">1</td>
| |
| <td style="vertical-align: middle; text-align: center;"> </td>
| |
| <td style="vertical-align: middle; text-align: center;">Standard deviation of accelerometer readings along x axis.</td>
| |
| </tr>
| |
| <tr>
| |
| <td style="vertical-align: middle; text-align: center;">1465</td>
| |
| <td style="vertical-align: middle; text-align: center;">Accelerometer Y axis std</td>
| |
| <td style="vertical-align: middle; text-align: center;">4</td>
| |
| <td style="vertical-align: middle; text-align: center;">0</td>
| |
| <td style="vertical-align: middle; text-align: center;">4294967295</td>
| |
| <td style="vertical-align: middle; text-align: center;">1</td>
| |
| <td style="vertical-align: middle; text-align: center;"> </td>
| |
| <td style="vertical-align: middle; text-align: center;">Standard deviation of accelerometer readings along y axis.</td>
| |
| </tr>
| |
| <tr>
| |
| <td style="vertical-align: middle; text-align: center;">1466</td>
| |
| <td style="vertical-align: middle; text-align: center;">Accelerometer Z axis std</td>
| |
| <td style="vertical-align: middle; text-align: center;">4</td>
| |
| <td style="vertical-align: middle; text-align: center;">0</td>
| |
| <td style="vertical-align: middle; text-align: center;">4294967295</td>
| |
| <td style="vertical-align: middle; text-align: center;">1</td>
| |
| <td style="vertical-align: middle; text-align: center;"> </td>
| |
| <td style="vertical-align: middle; text-align: center;">Standard deviation of accelerometer readings along z axis.</td>
| |
| </tr>
| |
| <tr>
| |
| <td style="vertical-align: middle; text-align: center;">1467</td>
| |
| <td style="vertical-align: middle; text-align: center;">Gyroscope X axis std</td>
| |
| <td style="vertical-align: middle; text-align: center;">4</td>
| |
| <td style="vertical-align: middle; text-align: center;">0</td>
| |
| <td style="vertical-align: middle; text-align: center;">4294967295</td>
| |
| <td style="vertical-align: middle; text-align: center;">1</td>
| |
| <td style="vertical-align: middle; text-align: center;"> </td>
| |
| <td style="vertical-align: middle; text-align: center;">Standard deviation of gyroscope readings along x axis.</td>
| |
| </tr>
| |
| <tr>
| |
| <td style="vertical-align: middle; text-align: center;">1468</td>
| |
| <td style="vertical-align: middle; text-align: center;">Gyroscope Y axis std</td>
| |
| <td style="vertical-align: middle; text-align: center;">4</td>
| |
| <td style="vertical-align: middle; text-align: center;">0</td>
| |
| <td style="vertical-align: middle; text-align: center;">4294967295</td>
| |
| <td style="vertical-align: middle; text-align: center;">1</td>
| |
| <td style="vertical-align: middle; text-align: center;"> </td>
| |
| <td style="vertical-align: middle; text-align: center;">Standard deviation of gyroscope readings along y axis.</td>
| |
| </tr>
| |
| <tr>
| |
| <td style="vertical-align: middle; text-align: center;">1469</td>
| |
| <td style="vertical-align: middle; text-align: center;">Gyroscope Z axis std</td>
| |
| <td style="vertical-align: middle; text-align: center;">4</td>
| |
| <td style="vertical-align: middle; text-align: center;">0</td>
| |
| <td style="vertical-align: middle; text-align: center;">4294967295</td>
| |
| <td style="vertical-align: middle; text-align: center;">1</td>
| |
| <td style="vertical-align: middle; text-align: center;"> </td>
| |
| <td style="vertical-align: middle; text-align: center;">Standard deviation of gyroscope readings along z axis.</td>
| |
| </tr>
| |
| <tr>
| |
| <td style="vertical-align: middle; text-align: center;">1470</td>
| |
| <td style="vertical-align: middle; text-align: center;">Acceleration X axis</td>
| |
| <td style="vertical-align: middle; text-align: center;">4</td>
| |
| <td style="vertical-align: middle; text-align: center;">-2147483648</td>
| |
| <td style="vertical-align: middle; text-align: center;">2147483647</td>
| |
| <td style="vertical-align: middle; text-align: center;">0.000001</td>
| |
| <td style="vertical-align: middle; text-align: center;">m/s^2</td>
| |
| <td style="vertical-align: middle; text-align: center;">Acceleration in x axis.</td>
| |
| </tr>
| |
| <tr>
| |
| <td style="vertical-align: middle; text-align: center;">1471</td>
| |
| <td style="vertical-align: middle; text-align: center;">Acceleration Y axis</td>
| |
| <td style="vertical-align: middle; text-align: center;">4</td>
| |
| <td style="vertical-align: middle; text-align: center;">-2147483648</td>
| |
| <td style="vertical-align: middle; text-align: center;">2147483647</td>
| |
| <td style="vertical-align: middle; text-align: center;">0.000001</td>
| |
| <td style="vertical-align: middle; text-align: center;">m/s^2</td>
| |
| <td style="vertical-align: middle; text-align: center;">Acceleration in y axis.</td>
| |
| </tr>
| |
| <tr>
| |
| <td style="vertical-align: middle; text-align: center;">1472</td>
| |
| <td style="vertical-align: middle; text-align: center;">Acceleration Z axis</td>
| |
| <td style="vertical-align: middle; text-align: center;">4</td>
| |
| <td style="vertical-align: middle; text-align: center;">-2147483648</td>
| |
| <td style="vertical-align: middle; text-align: center;">2147483647</td>
| |
| <td style="vertical-align: middle; text-align: center;">0.000001</td>
| |
| <td style="vertical-align: middle; text-align: center;">m/s^2</td>
| |
| <td style="vertical-align: middle; text-align: center;">Acceleration in z axis.</td>
| |
| </tr>
| |
| <tr>
| |
| <td style="vertical-align: middle; text-align: center;">1473</td>
| |
| <td style="vertical-align: middle; text-align: center;">Dead Reckoning realignment reason</td>
| |
| <td style="vertical-align: middle; text-align: center;">1</td>
| |
| <td style="vertical-align: middle; text-align: center;">-128</td>
| |
| <td style="vertical-align: middle; text-align: center;">127</td>
| |
| <td style="vertical-align: middle; text-align: center;">1</td>
| |
| <td style="vertical-align: middle; text-align: center;"> </td>
| |
| <td style="vertical-align: middle; text-align: center;">[[Dead_Reckoning_feature#Dead_Reckoning_realignment_reason|Dead Reckoning realignment reason]]</td>
| |
| </tr>-->
| |
| </table>
| |