SWAMP Minion telemetry - Pilot Site VAR - AMIS project- CNR INM

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本数据集涵盖由CNR-INM研发的SWAMP机器人平台上搭载的4台Minion模块的遥测数据，采集自Interreg Maritime IT-FR AMIS项目试点站点开展的实验活动。 ## 文件夹与数据结构 PilotSite_NAME/ │ ├── M_211 # 单台Minion模块的数据文件夹 │ ├── yymmdd-hhmmss.csv # 存储Minion遥测数据的CSV文件 │ └── yymmdd-hhmmss.csv ├── M_212 # 单台Minion模块的数据文件夹 │ ├── yymmdd-hhmmss.csv # 存储Minion遥测数据的CSV文件 │ └── yymmdd-hhmmss.csv ├── M_213 # 单台Minion模块的数据文件夹 │ ├── yymmdd-hhmmss.csv # 存储Minion遥测数据的CSV文件 │ └── yymmdd-hhmmss.csv └── M_214 # 单台Minion模块的数据文件夹 ├── yymmdd-hhmmss.csv # 存储Minion遥测数据的CSV文件 └── yymmdd-hhmmss.csv ## CSV数据结构：首行为表头 表头：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 | 字段 | 原始值 | 原始单位 | 数据格式 | 转换后值 | 转换后单位 | 转换说明/备注 | |------|--------|----------|----------|----------|------------|---------------| | nodeId | raw_values[0] | — | int | — | — | — | | dateAndTime (Unix纪元) | raw_values[1] | Unix纪元 | uint32_t | — | — | — | | timeMs (启动后毫秒数) | raw_values[2] | [ms] | uint32_t | raw / 1000 | [s] | 从毫秒转换为秒 | | digitalIput | raw_values[3] | — | uint16_t | — | — | — | | digitalOuput | raw_values[4] | — | uint16_t | — | — | — | | batteryVoltage | raw_values[5] | [Volt] | 保留2位小数的float/double | — | — | — | | temperature | raw_values[6] | [℃] | 保留2位小数的float/double | — | — | — | | thrustMotorSpeed | raw_values[7] | [0~4V 待转换] | 保留2位小数的float/double | abs(raw * 3240 / 4) | [RPM] | 线性缩放，取绝对值 | | thrustMotorCurrent | raw_values[8] | [0~4V 待转换] | 保留2位小数的float/double | abs(raw * 2) | [A] | 线性缩放，取绝对值，结果为电流值 | | azimuthalMotorPosition | raw_values[9] | [ticks] | int32_t | raw / 939804 * 360 | [°] | 编码器刻度转换为角度 | | azimuthalMotorConfigurationStatus | raw_values[10] | — | uint16_t | — | — | — | | azimuthalMotorOperationStatus | raw_values[11] | — | uint32_t | — | — | — | | azimuthalMotorTemperature | raw_values[12] | [℃] | int16_t | — | — | — | | azimuthalMotorCurrent | raw_values[13] | [mA] | int32_t | raw / 1000 | [A] | 从毫安转换为安培 | | Yaw | raw_values[14] | [deg] | 保留2位小数的float/double | — | — | — | | pitch | raw_values[15] | [deg] | 保留2位小数的float/double | — | — | — | | roll | raw_values[16] | [deg] | 保留2位小数的float/double | — | — | — | | xGyro | raw_values[17] | [deg/s] | 保留3位小数的float/double | — | — | — | | yGyro | raw_values[18] | [deg/s] | 保留3位小数的float/double | — | — | — | | zGyro | raw_values[19] | [deg/s] | 保留3位小数的float/double | — | — | — | | imuTemperature | raw_values[20] | [℃] | 保留1位小数的float/double | — | — | — | | imuCalibrationStatus | raw_values[21] | — | uint8_t | — | — | — | | gpsDate | raw_values[22] | [UTC格式ddmmyy] | uint16_t | — | — | — | | gpsTime | raw_values[23] | [UTC格式hhmmss.ss] | 保留2位小数的float/double | — | — | — | | gpsLatitude | raw_values[24] | [deg] | 保留8位小数的float/double（南纬和西经为负值） | — | — | — | | gpsLongitude | raw_values[25] | [deg] | 保留8位小数的float/double（南纬和西经为负值） | — | — | — | | gpsFixQuality | raw_values[26] | — | uint8_t | — | — | — | | gpsNSatellites | raw_values[27] | — | uint8_t | — | — | — | | gpsHDOP | raw_values[28] | — | 保留2位小数的float/double | — | — | — | | gpsAltitude | raw_values[29] | [m] | 保留1位小数的float/double | — | — | — | | gpsGeoidHeight | raw_values[30] | [m] | 保留1位小数的float/double | — | — | — | | thrustMotorPower | 衍生值 | — | — | Current * 24 | [W] | 假设供电电压为24V