| 1 Function | 2 Reference Model | 3 Input/Output Data |
| 4 SubAIMs | 5 JSON Metadata | 6 Profiles |
| 7 Reference Software | 8 Conformance Texting | 9 Performance Assessment |
1 Functions
The Spatial Attitude Generation (CAV-SAG) AIM:
| Receives | GNSS Object | From GNSS receiver. |
| Spatial Attitude | From initial Spatial Attitude computed by Motion Actuation Subsystem. | |
| Integrates | The two data streams | GNSS and Initial Spatial Attitude. |
| Produces | Spatial Attitude | The CAV’s reference Spatial Attitude. |
2 Reference Architecture
Figure 1 depicts the Reference Architecture of the Spatial Attitude Generation (CAV-SAG) AIM.
Figure 1 – The Spatial Attitude Generation (CAV-SAG) AIM
3 I/O Data
Table 1 specifies the Input and Output Data of the Spatial Attitude Generation (CAV-SAG) AIM.
Table 1 – I/O Data of the Spatial Attitude Generation (CAV-SAG) AIM
| Input Data | Description |
| Spatial Attitude | Initial estimate of CAV’s Spatial Attitude From MAS. |
| GNSS Object | GNSS Data and Qualifier |
| Output Data | Description |
| Spatial Attitude | Final Spatial Attitude |
4 SubAIMs
No SubAIMs.
5 JSON Metadata
https://schemas.mpai.community/CAV1/V1.1/AIMs/SpatialAttitudeGeneration.json
6 Profiles
No Profiles
7 Reference Software
8 Conformance Testing
9 Performance Assessment
