Name: SWAMP Minion telemetry - Pilot Site Bonifacio - AMIS project- CNR INM
Creator: Zenodo
Published: 2026-03-26 10:11:49
License: 暂无描述

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https://zenodo.org/doi/10.5281/zenodo.19233120

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The dataset represents the telemetry data from the four Minion modules installed on the SWAMP robotic platform developed by the CNR-INM, collected during experimental activities at the pilot sites of the Interreg Maritime IT-FR AMIS project. ## Folder and data Structure PilotSite_NAME/ │ ├── M_211 # Folder for the data of each Minion ├── yymmdd-hhmmss.csv # .csv file containing Minion telemetry data └── yymmdd-hhmmss.csv ├── M_212 # Folder for the data of each Minion ├── yymmdd-hhmmss.csv # .csv file containing Minion telemetry data └── yymmdd-hhmmss.csv ├── M_213 # Folder for the data of each Minion ├── yymmdd-hhmmss.csv # .csv file containing Minion telemetry data └── yymmdd-hhmmss.csv └── M_214 # Folder for the data of each Minion ├── yymmdd-hhmmss.csv # .csv file containing Minion telemetry data └── yymmdd-hhmmss.csv ## csv data Structure: first row --> Header Header: nodeId,dateAndTime,timeMs,digitalIput,digitalOuput,batteryVoltage,temperature,thrustMotorSpeed,thrustMotorCurrent,azimuthalMotorPosition,azimuthalMotorConfigurationStatus,azimuthalMotorOperationStatus,azimuthalMotorTemperature,azimuthalMotorCurrent,Yaw,pitch,roll,xGyro,yGyro,zGyro,imuTemperature,imuCalibrationStatus,gpsDate,gpsTime,gpsLatitude,gpsLongitude,gpsFixQuality,gpsNSatellites,gpsHDOP,gpsAltitude,gpsGeoidHeight Field Raw Value Unit (raw) Format Converted Unit (converted) Conversion / Notes nodeId raw_values[0] int — dateAndTime (Unix Epoch) raw_values[1] Unix Epoch uint32_t — timeMs (ms from start) raw_values[2] [ms] uint32_t raw / 1000 [s] Conversion from ms to s digitalIput raw_values[3] uint16_t — digitalOuput raw_values[4] uint16_t — batteryVoltage raw_values[5] [Volt] float/double with 2 decimal places — temperature raw_values[6] [C] float/double with 2 decimal places — thrustMotorSpeed raw_values[7] [0 4V to be converted] float/double, 2 decimal places abs(raw * 3240 / 4) [RPM] Linear scaling, absolute value thrustMotorCurrent raw_values[8] [0 4V to be converted] float/double, 2 decimal places abs(raw * 2) [A] Linear scaling, absolute value Resulting value: Current azimuthalMotorPosition raw_values[9] [ticks] int32_t raw / 939804 * 360 [°] Encoder ticks to degrees azimuthalMotorConfigurationStatus raw_values[10] uint16_t — azimuthalMotorOperationStatus raw_values[11] uint32_t — azimuthalMotorTemperature raw_values[12] [°C] int16_t — azimuthalMotorCurrent raw_values[13] [mA] int32_t raw / 1000 [A] Conversion from mA to A Yaw raw_values[14] [deg] float/double with 2 decimal places — pitch raw_values[15] [deg] float/double with 2 decimal places — roll raw_values[16] [deg] float/double with 2 decimal places — xGyro raw_values[17] [deg/s] float/double with 3 decimal places — yGyro raw_values[18] [deg/s] float/double with 3 decimal places — zGyro raw_values[19] [deg/s] float/double with 3 decimal places — imuTemperature raw_values[20] [°C] float/double with 1 decimal place — imuCalibrationStatus raw_values[21] uint8_t — gpsDate raw_values[22] [ddmmyy in UTC] uint16_t — gpsTime raw_values[23] [hhmmss.ss in UTC] float/double with 2 decimal places — gpsLatitude raw_values[24] [deg] float/double with 8 decimal places (negative values for south latitude and west longitude) — gpsLongitude raw_values[25] [deg] float/double with 8 decimal places (negative values for south latitude and west longitude) — gpsFixQuality raw_values[26] uint8_t — gpsNSatellites raw_values[27] uint8_t — gpsHDOP raw_values[28] float/double with 2 decimal places — gpsAltitude raw_values[29] [m] float/double with 1 decimal place — gpsGeoidHeight raw_values[30] [m] float/double with 1 decimal place — thrustMotorPower derived Current * 24 [W] Assumes 24 V supply

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