Dec-18-2018, 05:41 PM
Quote:jeanMichelBain
It's just an INS package. Only (as far as I know) I have to run the NovAtel factory program to communicate with the IMU sensor. Since that program actively uses the COM4 Port, I use Eltima software (Virtual Serial Port Driver Pro) to split COM4 into two virtual ports, COM4* and COM2* (* meaning virtual). The device talks to the program over COM4 and that information is duplicated on COM2*. Here I read it using my python script. I need to save this data stream for post-processing. It is vital that each line I receive from the device be timestamped so that I can sync it with our other sensors during post processing.
My problem is (as originally posted) that there seems to be a 0.4 second jump consistently through the data stream.
Quote:2018-12-04 16:59:17.806247 %RAWIMUSA,0,16425.970;0,16425.963510000,00250001,491,32,16,19,-13,24*1ac8f7bf
2018-12-04 16:59:17.807748 %RAWIMUSA,0,16425.980;0,16425.973518000,00250001,492,32,16,9,2,20*840e4396
2018-12-04 16:59:17.810751 %RAWIMUSA,0,16425.990;0,16425.983525000,00250001,491,32,16,24,11,11*f009e545
2018-12-04 16:59:17.971362
2018-12-04 16:59:17.991376
2018-12-04 16:59:18.011390
2018-12-04 16:59:18.031404
2018-12-04 16:59:18.051418
2018-12-04 16:59:18.071433
2018-12-04 16:59:18.091446
2018-12-04 16:59:18.111460
2018-12-04 16:59:18.131474
2018-12-04 16:59:18.151488
2018-12-04 16:59:18.171502
2018-12-04 16:59:18.194518 %RAWIMUSA,0,16426.030;0,16426.023556000,00250001,492,32,16,15,13,35*cf4498a9
2018-12-04 16:59:18.196019 %RAWIMUSA,0,16426.040;0,16426.033564000,00250002,490,32,16,12,-16,32*285c7481
2018-12-04 16:59:18.197520 %RAWIMUSA,0,16426.050;0,16426.043571000,00250001,492,32,16,26,21,23*fce60dbf
2018-12-04 16:59:18.199021 %RAWIMUSA,0,16426.060;0,16426.053579000,00250001,494,33,16,10,10,18*ecebcd5c
2018-12-04 16:59:18.201023 %RAWIMUSA,0,16426.070;0,16426.063586000,00250001,491,32,16,16,-6,32*948490d5
2018-12-04 16:59:18.203524 %RAWIMUSA,0,16426.080;0,16426.073594000,00250002,491,32,16,15,27,28*b4abd72d
I tell the sensor to log in ASCII, as you can see in "RAWIMUSA". It provides a header with each line and then the 6 IMU measurements. This is documented by NovAtel on their website
This 0.4 second jump is causing issues and I would like to clean it up if possible.
Any thoughts?