Function
Ref. Model
I/O Data
SubAIMs
JSON MData
Profiles
Ref. Software
Conformance
Performance
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 Model
Figure 1 depicts the Reference Model 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.
| Spatial Attitude | Initial estimate of CAV’s Spatial Attitude from MAS. |
| GNSS Object | GNSS data and Qualifier. |
| Spatial Attitude | Final Spatial Attitude. |
4 SubAIMs
No SubAIMs.
5 JSON Metadata
https://schemas.mpai.community/CAV2/V1.1/AIMs/SpatialAttitudeGeneration.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 Spatial Attitude Generation (CAV‑SAG) 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.
| Spatial Attitude | Shall validate against Spatial Attitude schema. | |
| GNSS Object | Shall validate against GNSS Object schema. | |
| Spatial Attitude | Shall validate against Spatial Attitude schema. |
9 Performance Assessment
Not part of this specification.
