Unmanned Surface Vehicle sensors data

General rules The units of all the data are in SI unit (m, s, m/s, rad, rad/s, etc.). Some variables are attached with a suffix SP, which means setpoint, and it is the desired value of the variable. Some variables are initialized with a value of NaN (Not a Number) to indicate that the variable is not available at the moment. Some variables are attached with a suffix like _LIDAR OR _DVL to indicate the data source of the variable. There are three ENU frames: The USV ENU frame: The origin is the target vessel, and the x-axis is pointing to the east, the yaxis is pointing to the north, and the z-axis is pointing up. The heading is measured in the clockwise direction from the north, by USV IMU and compass. The sUAV ENU frame: The origin is the USV current position, and the x-axis is pointing to the east, the y-axis is pointing to the north, and the z-axis is pointing up. The heading is measured in the clockwise direction from the north, by sUAV IMU and compass (USV and sUAV compasses are aligned). The DVL ENU frame: The origin is the jetty, and the x-axis is pointing to the east, the y-axis is pointing to the north, and the z-axis is pointing up. The heading is measured in the clockwise direction from the north, by DVL built-in IMU (no compass used, so outputs will be affected by its gyro drift).