Function
Ref. Model
I/O Data
SubAIMs
JSON MData
Profiles
Ref. Software
Conformance
Performance
1 Functions
The MAS Spatial Attitude Generation (CAV‑MSA) AIM:
| Receives | Spatial Data | From Odometer, Speedometer, Accelerometer, and Inclinometer. |
| Produces | Spatial Attitude | Initial estimate of CAV’s Spatial Attitude using information available at MAS. |
2 Reference Model
Figure 1 depicts the Reference Model of the MAS Spatial Attitude Generation (CAV‑MSA) AIM.
Figure 1 – The MAS Spatial Attitude Generation (CAV‑MSA) AIM
3 I/O Data
Table 1 specifies the Input and Output Data of the MAS Spatial Attitude Generation (CAV‑MSA) AIM.
Table 1 – I/O Data of the MAS Spatial Attitude Generation (CAV‑MSA) AIM
| Input | Description |
|---|---|
| Spatial Data | Set of CAV internal spatial information. |
| Output | Description |
| Spatial Attitude | Best estimate of CAV Spatial Attitude using data available at MAS. |
4 SubAIMs
No SubAIMs.
5 JSON Metadata
https://schemas.mpai.community/CAV2/V1.1/AIMs/MASSpatialAttitudeGeneration.json
6 Profiles
No Profiles.
7 Reference Software
Not part of this specification.
8 Conformance Testing
Table 2 provides the Conformance Testing Method for the MAS Spatial Attitude Generation (CAV‑MSA) AIM.
If a schema contains references to other schemas, conformance of data for the primary schema implies that any data referencing a secondary schema shall also validate against the relevant schema, if present, and conform with the Qualifier, if present.
Table 2 – Conformance Testing Method for the MAS Spatial Attitude Generation (CAV‑MSA) AIM
| Receives | Spatial Data | Shall validate against Spatial Data schema. |
| Produces | Spatial Attitude | Shall validate against Spatial Attitude schema. |
9 Performance Assessment
Not part of this specification.
