1 Definition
Spatial Data is data produced by the Motion Actuation Subsystem regarding the Spatial Attitude of the CAV.
2 Functional Requirements
The unit of measure of Spatial Data are:
| Name | Unit of measure |
| Odometer Data | Scalar whose coefficients are expressed in metres (m) |
| Speedometer Data | Scalar whose coefficients are expressed in metres/second (m/s) |
| Accelerometer Data | Scalar whose coefficients are expressed in metres/second/second (m/s2) |
| Inclinometer Data | Vector of CAV inclination in the direction of travel and perpendicular to it, in degrees (°) |
3 Syntax
https://schemas.mpai.community/CAV2/V1.0/data/SpatialData.json
4 Semantics
| Label | Size | Description |
| Header | N1 Bytes | Spatial Data Header |
| – Standard – SpatialData | 9 Bytes | The characters “CAV-SPD-V” |
| – Version | N2 Bytes | Major version – 1 or 2 Bytes |
| – Dot-separator | 1 Byte | The character “.” |
| – Subversion | N3 Bytes | Minor version – 1 or 2 Bytes |
| SpatialDataID | N4 Bytes | ID of Spatial Data. |
| SpaceTime | N6 Bytes | Spatial Attitude and Time. |
| SpatialData | N7 Bytes | Set of Spatial Data. |
| – OdometerData | N8 Bytes | Data from Odometer. |
| – SpeedometerData | N9 Bytes | Data form Speedometer. |
| – AccelerometerData | N10 Bytes | Data from Accelerometer. |
| – InclinometerData | N11 Bytes | Data from Inclinometer. |
| DescrMetadata | N12 Bytes | Descriptive Metadata |
