NCOMdecoder

An NCOM decoder based in C for use with OxTS navigation systems, enabling users to decode the binary NCOM output.

Repository folders

nav

This folder contains two library files NcomRxC.h and NcomRxC.c, which can be included in your project.

example

The folder contains a simple program that exports an NCOM file to a CSV file, using the library files in nav. The program opens a file stream (to read the file), and decodes the NCOM packets from this stream.

Instructions to build and run example program

---

NB: This has been tested on the following platforms:

• Unix (MacOS, Xenial)
• MINGW64 (Windows 10)

Please note there appears to be an issue running in Cygwin.

---

# First clone this repository
git clone https://github.com/OxfordTechnicalSolutions/NCOMdecoder.git
cd NCOMdecoder
# Change directory into example source code folder
cd example
# Run make, which includes library files in nav (specified in Makefile)
make # Run executable, with example ncom data to create csv file
# Usage: NcomToCsv <input file> <output file> [<trig_file>]
./NcomToCsv 171019_031603.ncom 171019_031603.csv 

Measurements

The following table lists all the measurements available in a standard NCOM packet.

These can also be found in measurements.csv

Store name	Type	Units	Format	Full name	Coordinate Frame	Alternate Coordinate Frame Name	Description
Ax	double	m/s²	0	Acceleration Xv	OxTS vehicle frame	OxTS output frame (with default output displacement)	OxTS output frame longitudinal (forward) IMU acceleration
Ay	double	m/s²	0	Acceleration Yv	OxTS vehicle frame	OxTS output frame (with default output displacement)	OxTS output frame lateral (right) IMU acceleration
Az	double	m/s²	0	Acceleration Zv	OxTS vehicle frame	OxTS output frame (with default output displacement)	OxTS output frame vertical (down) IMU acceleration
Af	double	m/s²	0	Acceleration forward	OxTS horizontal frame	OxTS level frame	OxTS horizontal frame longitudinal (forward) IMU acceleration
Al	double	m/s²	0	Acceleration lateral	OxTS horizontal frame	OxTS level frame	OxTS horizontal frame lateral (right) IMU acceleration
Ad	double	m/s²	0	Acceleration down	OxTS horizontal frame	OxTS level frame	OxTS horizontal frame vertical (down) IMU acceleration
FiltAx	double	m/s²	0	Acceleration filtered Xv	OxTS vehicle frame	OxTS output frame (with default output displacement)	OxTS output frame longitudinal (forward) filtered IMU acceleration
FiltAy	double	m/s²	0	Acceleration filtered Yv	OxTS vehicle frame	OxTS output frame (with default output displacement)	OxTS output frame lateral (right) filtered IMU acceleration
FiltAz	double	m/s²	0	Acceleration filtered Zv	OxTS vehicle frame	OxTS output frame (with default output displacement)	OxTS output frame vertical (down) filtered IMU acceleration
FiltAf	double	m/s²	0	Acceleration filtered forward	OxTS horizontal frame	OxTS level frame	OxTS horizontal frame longitudinal (forward) filtered IMU acceleration
FiltAl	double	m/s²	0	Acceleration filtered lateral	OxTS horizontal frame	OxTS level frame	OxTS horizontal frame lateral (right) filtered IMU acceleration
FiltAd	double	m/s²	0	Acceleration filtered down	OxTS horizontal frame	OxTS level frame	OxTS horizontal frame vertical (down) filtered IMU acceleration
IsoAnX	double	m/s²	0	ISO e.f.s. east acceleration	ISO 8855 earth-fixed system		ISO 8855 earth-fixed system east acceleration
IsoAnY	double	m/s²	0	ISO e.f.s. north acceleration	ISO 8855 earth-fixed system		ISO 8855 earth-fixed system north acceleration
IsoAnZ	double	m/s²	0	ISO e.f.s. vertical acceleration	ISO 8855 earth-fixed system		ISO 8855 earth-fixed system vertical (up) acceleration
IsoAhX	double	m/s²	0	ISO i.s. longitudinal acceleration	ISO 8855 intermediate system		ISO 8855 intermediate system longitudinal (forward) acceleration
IsoAhY	double	m/s²	0	ISO i.s. lateral acceleration	ISO 8855 intermediate system		ISO 8855 intermediate system lateral (left) acceleration
IsoAhZ	double	m/s²	0	ISO i.s. vertical acceleration	ISO 8855 intermediate system		ISO 8855 intermediate system vertical (up) acceleration
IsoAoX	double	m/s²	0	ISO v.s. longitudinal acceleration	ISO 8855 vehicle system		ISO 8855 vehicle system longitudinal (forward) acceleration
IsoAoY	double	m/s²	0	ISO v.s. lateral acceleration	ISO 8855 vehicle system		ISO 8855 vehicle system lateral (left) acceleration
IsoAoZ	double	m/s²	0	ISO v.s. vertical acceleration	ISO 8855 vehicle system		ISO 8855 vehicle system vertical (up) acceleration
FiltIsoAnX	double	m/s²	0	ISO e.f.s. east filtered acceleration	ISO 8855 earth-fixed system		ISO 8855 earth-fixed system east filtered acceleration
FiltIsoAnY	double	m/s²	0	ISO e.f.s. north filtered acceleration	ISO 8855 earth-fixed system		ISO 8855 earth-fixed system north filtered acceleration
FiltIsoAnZ	double	m/s²	0	ISO e.f.s. vertical filtered acceleration	ISO 8855 earth-fixed system		ISO 8855 earth-fixed system vertical (up) filtered acceleration
FiltIsoAhX	double	m/s²	0	ISO i.s. longitudinal filtered acceleration	ISO 8855 intermediate system		ISO 8855 intermediate system longitudinal (forward) filtered acceleration
FiltIsoAhY	double	m/s²	0	ISO i.s. lateral filtered acceleration	ISO 8855 intermediate system		ISO 8855 intermediate system lateral (left) filtered acceleration
FiltIsoAhZ	double	m/s²	0	ISO i.s. vertical filtered acceleration	ISO 8855 intermediate system		ISO 8855 intermediate system vertical (up) filtered acceleration
FiltIsoAoX	double	m/s²	0	ISO v.s. longitudinal filtered acceleration	ISO 8855 vehicle system		ISO 8855 vehicle system longitudinal (forward) filtered acceleration
FiltIsoAoY	double	m/s²	0	ISO v.s. lateral filtered acceleration	ISO 8855 vehicle system		ISO 8855 vehicle system lateral (left) filtered acceleration
FiltIsoAoZ	double	m/s²	0	ISO v.s. vertical filtered acceleration	ISO 8855 vehicle system		ISO 8855 vehicle system vertical (up) filtered acceleration
Yx	double	deg/s²	0	Angular acceleration Xv	OxTS vehicle frame	OxTS output frame (with default output displacement)	OxTS output frame longitudinal (forward) IMU angular acceleration
Yy	double	deg/s²	0	Angular acceleration Yv	OxTS vehicle frame	OxTS output frame (with default output displacement)	OxTS output frame lateral (right) IMU angular acceleration
Yz	double	deg/s²	0	Angular acceleration Zv	OxTS vehicle frame	OxTS output frame (with default output displacement)	OxTS output frame vertical (down) IMU angular acceleration
Yf	double	deg/s²	0	Angular acceleration forward	OxTS horizontal frame	OxTS level frame	OxTS horizontal frame longitudinal (forward) IMU angular acceleration
Yl	double	deg/s²	0	Angular acceleration lateral	OxTS horizontal frame	OxTS level frame	OxTS horizontal frame lateral (right) IMU angular acceleration
Yd	double	deg/s²	0	Angular acceleration down	OxTS horizontal frame	OxTS level frame	OxTS horizontal frame vertical (down) IMU angular acceleration
FiltYx	double	deg/s²	0	Angular acceleration filtered Xv	OxTS vehicle frame	OxTS output frame (with default output displacement)	OxTS output frame longitudinal (forward) filtered IMU angular acceleration
FiltYy	double	deg/s²	0	Angular acceleration filtered Yv	OxTS vehicle frame	OxTS output frame (with default output displacement)	OxTS output frame lateral (right) filtered IMU angular acceleration
FiltYz	double	deg/s²	0	Angular acceleration filtered Zv	OxTS vehicle frame	OxTS output frame (with default output displacement)	OxTS output frame vertical (down) filtered IMU angular acceleration
FiltYf	double	deg/s²	0	Angular acceleration filtered forward	OxTS horizontal frame	OxTS level frame	OxTS horizontal frame longitudinal (forward) filtered IMU angular acceleration
FiltYl	double	deg/s²	0	Angular acceleration filtered lateral	OxTS horizontal frame	OxTS level frame	OxTS horizontal frame lateral (right) filtered IMU angular acceleration
FiltYd	double	deg/s²	0	Angular acceleration filtered down	OxTS horizontal frame	OxTS level frame	OxTS horizontal frame vertical (down) filtered IMU angular acceleration
IsoYnX	double	deg/s²	0	ISO e.f.s. roll acceleration	ISO 8855 earth-fixed system		ISO 8855 earth-fixed system roll (east angular) acceleration
IsoYnY	double	deg/s²	0	ISO e.f.s. pitch acceleration	ISO 8855 earth-fixed system		ISO 8855 earth-fixed system pitch (north angular) acceleration
IsoYnZ	double	deg/s²	0	ISO e.f.s. yaw acceleration	ISO 8855 earth-fixed system		ISO 8855 earth-fixed system yaw (vertical angular) acceleration
IsoYhX	double	deg/s²	0	ISO i.s. roll acceleration	ISO 8855 intermediate system		ISO 8855 intermediate system roll (longitudinal angular) acceleration
IsoYhY	double	deg/s²	0	ISO i.s. pitch acceleration	ISO 8855 intermediate system		ISO 8855 intermediate system pitch (lateral angular) acceleration
IsoYhZ	double	deg/s²	0	ISO i.s. yaw acceleration	ISO 8855 intermediate system		ISO 8855 intermediate system yaw (vertical angular) acceleration
IsoYoX	double	deg/s²	0	ISO v.s. roll acceleration	ISO 8855 vehicle system		ISO 8855 vehicle system roll (longitudinal angular) acceleration
IsoYoY	double	deg/s²	0	ISO v.s. pitch acceleration	ISO 8855 vehicle system		ISO 8855 vehicle system pitch (lateral angular) acceleration
IsoYoZ	double	deg/s²	0	ISO v.s. yaw acceleration	ISO 8855 vehicle system		ISO 8855 vehicle system yaw (vertical angular) acceleration
FiltIsoYnX	double	deg/s²	0	ISO e.f.s. roll filtered acceleration	ISO 8855 earth-fixed system		ISO 8855 earth-fixed system roll (east angular) filtered acceleration
FiltIsoYnY	double	deg/s²	0	ISO e.f.s. pitch filtered acceleration	ISO 8855 earth-fixed system		ISO 8855 earth-fixed system pitch (north angular) filtered acceleration
FiltIsoYnZ	double	deg/s²	0	ISO e.f.s. yaw filtered acceleration	ISO 8855 earth-fixed system		ISO 8855 earth-fixed system yaw (vertical angular) filtered acceleration
FiltIsoYhX	double	deg/s²	0	ISO i.s. roll filtered acceleration	ISO 8855 intermediate system		ISO 8855 intermediate system roll (longitudinal angular) filtered acceleration
FiltIsoYhY	double	deg/s²	0	ISO i.s. pitch filtered acceleration	ISO 8855 intermediate system		ISO 8855 intermediate system pitch (lateral angular) filtered acceleration
FiltIsoYhZ	double	deg/s²	0	ISO i.s. yaw filtered acceleration	ISO 8855 intermediate system		ISO 8855 intermediate system yaw (vertical angular) filtered acceleration
FiltIsoYoX	double	deg/s²	0	ISO v.s. roll filtered acceleration	ISO 8855 vehicle system		ISO 8855 vehicle system roll (longitudinal angular) filtered acceleration
FiltIsoYoY	double	deg/s²	0	ISO v.s. pitch filtered acceleration	ISO 8855 vehicle system		ISO 8855 vehicle system pitch (lateral angular) filtered acceleration
FiltIsoYoZ	double	deg/s²	0	ISO v.s. yaw filtered acceleration	ISO 8855 vehicle system		ISO 8855 vehicle system yaw (vertical angular) filtered acceleration
Wx	double	deg/s	0	Angular rate Xv	OxTS vehicle frame	OxTS output frame (with default output displacement)	OxTS output frame longitudinal (forward) IMU angular rate
Wy	double	deg/s	0	Angular rate Yv	OxTS vehicle frame	OxTS output frame (with default output displacement)	OxTS output frame lateral (right) IMU angular rate
Wz	double	deg/s	0	Angular rate Zv	OxTS vehicle frame	OxTS output frame (with default output displacement)	OxTS output frame vertical (down) IMU angular rate
Wf	double	deg/s	0	Angular rate forward	OxTS horizontal frame	OxTS level frame	OxTS horizontal frame longitudinal (forward) IMU angular rate
Wl	double	deg/s	0	Angular rate lateral	OxTS horizontal frame	OxTS level frame	OxTS horizontal frame lateral (right) IMU angular rate
Wd	double	deg/s	0	Angular rate down	OxTS horizontal frame	OxTS level frame	OxTS horizontal frame vertical (down) IMU angular rate
IsoWnX	double	deg/s	0	ISO e.f.s. roll velocity	ISO 8855 earth-fixed system		ISO 8855 earth-fixed system roll (east angular) velocity
IsoWnY	double	deg/s	0	ISO e.f.s. pitch velocity	ISO 8855 earth-fixed system		ISO 8855 earth-fixed system pitch (north angular) velocity
IsoWnZ	double	deg/s	0	ISO e.f.s. yaw velocity	ISO 8855 earth-fixed system		ISO 8855 earth-fixed system yaw (vertical angular) velocity
IsoWhX	double	deg/s	0	ISO i.s. roll velocity	ISO 8855 intermediate system		ISO 8855 intermediate system roll (longitudinal angular) velocity
IsoWhY	double	deg/s	0	ISO i.s. pitch velocity	ISO 8855 intermediate system		ISO 8855 intermediate system pitch (lateral angular) velocity
IsoWhZ	double	deg/s	0	ISO i.s. yaw velocity	ISO 8855 intermediate system		ISO 8855 intermediate system yaw (vertical angular) velocity
IsoWoX	double	deg/s	0	ISO v.s. roll velocity	ISO 8855 vehicle system		ISO 8855 vehicle system roll (longitudinal angular) velocity
IsoWoY	double	deg/s	0	ISO v.s. pitch velocity	ISO 8855 vehicle system		ISO 8855 vehicle system pitch (lateral angular) velocity
IsoWoZ	double	deg/s	0	ISO v.s. yaw velocity	ISO 8855 vehicle system		ISO 8855 vehicle system yaw (vertical angular) velocity
HeadingAcc	double	deg	0	Heading accuracy			Heading Accuracy
PitchAcc	double	deg	0	Pitch accuracy			Pitch Accuracy
RollAcc	double	deg	0	Roll accuracy			Roll Accuracy
Track	double	deg	0	Track angle
TrackAcc	double	deg	0	Track angle accuracy
Slip	double	deg	0	Slip angle
SlipAcc	double	deg	0	Slip angle accuracy
IsoYaw	double	deg	0	ISO yaw angle			ISO 8855 yaw angle
IsoPitch	double	deg	0	ISO pitch angle			ISO 8855 pitch angle
IsoRoll	double	deg	0	ISO roll angle			ISO 8855 roll angle
Surf2OutHeading	double	deg	0	Heading to surface
Surf2OutPitch	double	deg	0	Pitch to surface
Surf2OutRoll	double	deg	0	Roll to surface
Lat	double	deg	0	Latitude			Latitude
Lon	double	deg	0	Longitude			Longitude
Alt	double	m	0	Altitude			Altitude
NorthAcc	double	m	0	Position accuracy north			North Position Accuracy
EastAcc	double	m	0	Position accuracy east			East Position Accuracy
AltAcc	double	m	0	Position accuracy down			Down Position Accuracy
Dist2d	double	m	0	Distance horizontal			Distance travelled in horizontal directions
Dist3d	double	m	0	Distance 3D			Distance travelled in all directions
GpsPosMode	int		~GpsXModeName (#)	GPS position mode			Position mode of the GPS receiver being used for position
GpsVelMode	int		~GpsXModeName (#)	GPS velocity mode			Velocity mode of the GPS receiver being used for velocity
GpsAttMode	int		~GpsXModeName (#)	GPS dual antenna attitude mode			Attitude (dual-antenna) mode of the GPS receivers
GpsNumObs	int		#	Number of GPS satellites used			Number of GPS satellites tracked by the Primary GPS receiver
GpsDiffAge	double	s	0	Differential GPS age			Age of the current differential corrections
"Time "	double			Time in seconds from start of GPS time			Seconds from GPS time zero (0h 1980-01-06). [s]
"TimeWeekCount "	uint32_t			GPS time format week counter			GPS time format week counter. [week]
"TimeWeekSecond "	double			GPS time format seconds into week			GPS time format seconds into week. [s]
"TimeUtcOffset "	int			Offset between Coordinated Universal Time (UTC) and GPS time			Offset between Coordinated Universal Time (UTC) and GPS time. [s]
TrigTime	double			Time of last trigger falling edge			Time of last trigger falling edge. [s]
Trig2Time	double			Time of last trigger rising edge			Time of last trigger rising edge. [s]

This table is generated from .README.csv using https://donatstudios.com/CsvToMarkdownTable