> For the complete documentation index, see [llms.txt](https://docs.gremsy.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.gremsy.com/payloads/vio/gremsy-payloadsdk/supported-klv-keys-misb-0601-full.md). # Supported KLV Keys MISB 0601 Full ### 1. Overview MISB 0601 (ST 0601.8) is a KLV metadata standard used in UAV and ISR video systems to embed platform, sensor, and geospatial data into video streams on a per-frame or per-packet basis. All values are time-synchronized using UTC timestamps and use the WGS84 geodetic reference system. *** ### 2. Timing
Tag 0x2 – Precision Timestamp: * Name: Precision Timestamp * Type: uint64 * Size: 8 bytes * Range: 0 to 264 * Unit: microseconds * Description: Absolute UTC time since Unix epoch in microseconds. Mandatory in every packet * Encoding: raw = unix\_time × 1e6
*** ### 3. Platform Metadata
Tag 0x3 | Mission ID * Name: Mission ID * Type: String * Size: Variable * Range:-- * Unit:-- * Description: Unique identifier for the current mission or flight sortie * *(e.g. "MISSION-001")*
Tag 0x4 | Platform Tail Number * Name: Platform Tail Number * Type: String * Size: Variable * Range:-- * Unit:-- * Description: Aircraft registration or tail number identifier * *(e.g. "UAV-042")*
Tag 0x5 – Platform Heading Angle: * Name: Platform Heading Angle * Type: uint16 * Size: 2 bytes * Range: 0° to 360° * Unit: degrees * Description: Direction the UAV nose is pointing, clockwise from true north
Tag 0x6 – Platform Pitch Angle: * Name: Platform Pitch Angle * Type: int16 * Size: 2 bytes * Range: -20° to +20° * Unit: degrees * Description: UAV nose-up (+) or nose-down (-) rotation about the lateral axis
Tag 0x7 – Platform Roll Angle: * Name: Platform Roll Angle: * Type: int16 * Size: 2 bytes * Range: -50° to +50° * Unit: degrees * Description: UAV right wing down (+) or left wing down (-) rotation about the longitudinal axis
Tag 0xA – Platform Designation: * Name: Platform Designation * Type: String * Size: Variable * Range: -- * Unit: -- * Description: Human-readable name or type of the UAV platform * *(e.g. "Quadcopter-X1")*
### 4. Sensor Position
Tag 0xD – Sensor Latitude: * Name: Sensor Latitude * Type: int32 * Size: 4 bytes * Range: -90° to +90° * Unit: degrees * Description: WGS84 latitude of the sensor/UAV position. North is positive.
Tag 0xE – Sensor Longitude: * Name: Sensor Longitude * Type: int32 * Size: 4 bytes * Range: -180° to +180° * Unit: degrees * Description: WGS84 latitude of the sensor/UAV position. East is positive.
Tag 0xF – Sensor True Altitude: * Name: Sensor True Altitude * Type: uint16 * Size: 2 bytes * Range: -900m – 19000 m * Unit: meters * Description: Height of the sensor above mean sea level (MSL)
### 5. Sensor Identity
Tag 0xB – Image Source Sensor: * Name: Image Source Sensor * Type: string * Size: variable * Range: EO / IR * Unit:-- * Description: Identifies which sensor produced the current video frame. Critical for dual EO/IR systems.
Tag 0xC – Image Coordinate System: * Name: Image Coordinate System * Type: string * Size: variable * Range: Geodetic WGS84 * Unit:-- * Description: Coordinate reference system used for all geographic values in the packet
### 6. Sensor Optics / Gimbal
Tag 0x10 – Sensor HFOV: * Name: Sensor HFOV * Type: uint16 * Size: 2 bytes * Range: 0 – 180° * Unit: degrees * Description: Horizontal field of view of the sensor lens. Narrows as zoom increases. Primary zoom indicator.
Tag 0x11 – Sensor VFOV: * Name: Sensor VFOV * Type: uint16 * Size: 2 bytes * Range: 0 – 180° * Unit: degrees * Description: Vertical field of view of the sensor lens. Narrows as zoom increases.
Tag 0x12 – Sensor Relative Azimuth: * Name: Sensor Relative Azimuth * Type: uint32 * Size: 4 bytes * Range: 0 – 360° * Unit: degrees * Description: Gimbal pan angle relative to the UAV heading. 0° = straight ahead.
Tag 0x13 – Sensor Relative Elevation: * Name: Sensor Relative Elevation * Type: uint32 * Size: 4 bytes * Range: -180° to +180° * Unit: degrees * Description: Gimbal tilt angle relative to UAV. Negative = looking down, positive = looking up.
Tag 0x14 – Sensor Relative Roll: * Name: Sensor Relative Roll * Type: uint32 * Size: 4 bytes * Range: 0 – 360° * Unit: degrees * Description: Gimbal roll angle relative to the UAV body. Used for stabilization reference.
### 7. Target / Frame Geometry
Tag 0x15 – Slant Range: * Name: Slant Range * Type: uint32 * Size: 4 bytes * Range: 0 to 5,000,000 m * Unit: meters * Description: Line-of-sight distance from the sensor to the target or frame center on the ground
Tag 0x16 – Target Width: * Name: Target Width * Type: uint16 * Size: 2 bytes * Range: 0 to 10,000 m * Unit: meters * Description: Estimated width of the target area visible in the frame at ground level
Tag 0x17 – Frame Center Latitude: * Name: Frame Center Latitude * Type: int32 * Size: 4 bytes * Range: -90° to +90° * Unit: degrees * Description: WGS84 latitude of the point on the ground the camera is currently pointing at
Tag 0x18 – Frame Center Longitude: * Name: Frame Center Longitude * Type: int32 * Size: 4 bytes * Range: -180° to +180° * Unit: degrees * Description: WGS84 longitude of the point on the ground the camera is currently pointing at
Tag 0x19 – Frame Center Elevation: * Name: Frame Center Elevation * Type: uint16 * Size: 2 bytes * Range: -900 m to 19000 m * Unit: meters * Description: Terrain elevation at the frame center point (MSL)
### 8. Metadata
Tag 0x41 – UAS Datalink LS Version: * Name: UAS Datalink LS Version * Type: uint8 * Size: 1 byte * Range: -- * Unit: set to 8\ Description: Version number of the MISB 0601 standard being used. Always set to 8 for ST 0601.8. * Encoding: raw = 8 fixed value
### 9. Priority Model | Priority | Tags | Update Rate | | --------- | ---------------------------------- | ------------ | | Mandatory | 2, 65 | Every Packet | | High | 13, 14, 15, 16, 17, 23, 24, 25, 57 | Every Frame | | Medium | 5, 6, 7, 18, 19, 20, 21, 22 | On Change | | Low | 3, 4, 10, 11, 12, 58 | Once/rarely | ### 10. Encoding Formulas
TagFormulaNotes
2raw = unix_time * 1e6microseconds since epoch
5raw = (deg / 360.0) * 65535uint16
6raw = (deg / 20.0) * 32767int16
7raw = (deg / 50.0) * 32767int16
13raw = (deg / 90.0) * 2147483647int32
14raw = (deg / 180.0) * 2147483647int32
15raw = ((m + 900) / 19900.0) * 65535uint16
16raw = (deg / 180.0) * 65535uint16
17raw = (deg / 180.0) * 65535uint16
18raw = (deg / 360.0) * 4294967295uint32
19raw = (deg / 180.0) * 2147483647int32
20raw = (deg / 360.0) * 4294967295uint32
21raw = (m / 5000000.0) * 4294967295uint32
22raw = (m / 10000.0) * 65535uint16
23raw = (deg / 90.0) * 2147483647int32
24raw = (deg / 180.0) * 2147483647int32
25raw = ((m + 900) / 19900.0) * 65535uint16
0x41raw = 8fixed value
### 11. Key Implementation Notes * All geospatial coordinates use WGS84. * Timestamp must be in microsecond precision. * Angular values must be normalized before encoding. * Frame center coordinates are derived from: * sensor position * platform attitude * gimbal orientation * slant range projection *** ### 12. Typical Use Cases * ISR video metadata embedding * EO/IR gimbal geo-tagging * UAV real-time tracking systems * Ground control station mapping * Multi-sensor fusion (navigation + camera + IMU) --- # Agent Instructions This documentation is published with GitBook. GitBook is the documentation platform designed so that both humans and AI agents can read, navigate, and reason over technical content effectively. Learn more at gitbook.com. ## Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. Perform an HTTP GET request on the current page URL with the `ask` query parameter, and the optional `goal` query parameter: ``` GET https://docs.gremsy.com/payloads/vio/gremsy-payloadsdk/supported-klv-keys-misb-0601-full.md?ask=&goal= ``` `ask` is the immediate question: it should be specific, self-contained, and written in natural language. `goal` is optional and describes the broader end goal you are ultimately trying to accomplish on behalf of the user. GitBook uses it to tailor the answer towards what is most useful for that goal. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.