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Advanced Navigation GC-POE-HA, Reference Manual

The Advanced Navigation GC-POE-HA is a cutting-edge navigation system designed for enhanced accuracy and reliability. Unlock its full potential by referring to our comprehensive Reference Manual, available for free download on our website. Maximize your user experience with this advanced product, accessible with a few clicks.

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GNSS Compass Reference Manual

Page 42 of 85

Version 1.1
13/01/2021

10    Advanced Navigation Packet Protocol

The Advanced Navigation Packet Protocol (ANPP) is a binary protocol designed with high error 
checking, high efficiency and safe design practices.  It has a well defined specification and is very 
flexible. It is used across all existing and future Advanced Navigation products. There is an SDK 
available for download from the website with code examples.

10.1   

Data Types

The following data types are used in the packet protocol. All data types in the protocol are little 
endian byte ordering.

Abbreviation

Bytes

Also known as

u8

1

unsigned char, unsigned byte, uint8_t

s8

1

char, byte, int8_t

u16

2

unsigned short, uint16_t

s16

2

short, int16_t

u32

4

unsigned int, unsigned long, uint32_t

s32

4

int, long, int32_t

u64

8

unsigned long long, uint64_t

s64

8

long long, int64_t

fp32

4

float

fp64

8

double

Table 24: Data type abbreviations used in the ANPP

10.2   

Packet Structure

The ANPP packet structure is shown in Table 25 and the header format is shown in Table 26. 
Example code can be downloaded from the software section.

Header

Header LRC

Packet ID

Packet Length

CRC16

Packet Data

Table 25: ANPP Packet Structure

Summary of Contents for GC-POE-HA

Page 1: ...GNSS Compass Reference Manual ...

Page 2: ...9 7 3 1 Low Cost Variant 19 7 3 2 High Accuracy Variant 20 7 4 GNSS Specifications 21 7 4 1 Low Cost Variant 21 7 4 2 High Accuracy Variant 21 7 5 Communication Specifications 22 7 5 1 Ethernet Variant 22 7 5 2 Serial Variant 22 7 6 Hardware 23 7 6 1 Ethernet Variant 23 7 6 2 Serial Variant 24 7 7 Electrical Isolation 24 7 8 NMEA 2000 Drop Cable 24 7 9 Ethernet Cable 25 7 10 Serial Breakout Cable ...

Page 3: ...t 47 10 9 3 Boot Mode Packet 47 10 9 3 1 Boot Mode Types 48 10 9 4 Device Information Packet 48 10 9 5 Restore Factory Settings Packet 48 10 9 6 Reset Packet 49 10 9 6 1 Verification Sequence Values 49 10 9 7 Serial Port Pass through Packet 49 10 9 7 1 Pass through Routes 50 10 10 State Packets 50 10 10 1 System State Packet 51 10 10 1 1 System Status 52 10 10 1 2 Filter Status 53 10 10 1 3 GNSS F...

Page 4: ...Heading Packet 67 10 10 30 Running Time Packet 68 10 10 31 Local Magnetic Field Packet 68 10 10 32 External Time Packet 68 10 10 33 Geoid Height Packet 68 10 10 34 RTCM Corrections Packet 69 10 10 35 Heave Packet 69 10 10 36 Raw Satellite Data Packet 70 10 10 36 1 Satellite Frequencies 71 10 10 36 2 Tracking Status 71 10 10 37 Raw Satellite Ephemeris Packet 71 10 10 38 GNSS Receiver Information Pa...

Page 5: ...t Function Configuration Packet 80 10 11 7 1 Ports 80 10 11 7 2 Transmit Functions 81 10 11 7 3 Receive Functions 81 10 11 8 Set Zero Orientation Alignment Packet 81 10 11 9 Reference Point Offsets Packet 81 10 11 10 Port Output Configuration Packet 83 10 11 10 1 NMEA Fix Behaviour 83 10 11 10 2 Port Output Rates 84 10 11 10 3 GPIO Output Rates Index 84 10 11 11 User Data Packet 84 ...

Page 6: ...y Version Date Changes 1 1 13 01 2021 Updated Firmware section 2 Updated part numbers and ordering section 6 Revised wording on certification section 7 12 Updated NMEA 0183 section 9 5 Added precise time protocol PTP section 9 6 1 0 23 01 2018 Initial Release Table 1 Revision history ...

Page 7: ...ixed NMEA2000 time date stamps that was outputting random times Serial variants Fix ANPP GNSS Receiver Info packet length 1 2 01 11 2018 Stability and accuracy improvements Bug fix for false magnetometer failure Bug fix for Raw Satellite Data packet always on always off Default vehicle profile changed to small boat Bug fix for cold start reset not working Heave fix 0 96 05 12 2017 Initial release ...

Page 8: ...GNSS Compass Reference Manual Page 7 of 85 Version 1 1 13 01 2021 3 Hardware Changelog Version Date Changes 1 0 10 05 2017 Initial Release Table 3 Hardware Changelog ...

Page 9: ... maintain accurate heading during GNSS outages of up to 20 minutes It features high accuracy RTK positioning and is plug and play with NMEA0183 NMEA2000 and Ethernet interfaces The GNSS Compass can provide amazing results but it does need to be set up properly and operated with an awareness of its limitations Please read through this manual carefully to ensure success within your application If yo...

Page 10: ...n 1 1 13 01 2021 5 Quick Start Guide 1 Install the GNSS Compass in an area where it has a full clear view of the sky and away from strong radio transmission sources as shown in Illustration 1 Illustration 1 GNSS Compass ideal mounting location diagram ...

Page 11: ... 1 1 13 01 2021 2 Ensure that the GNSS Compass is aligned with the vessel such that the indicator on top is aligned pointing forwards on the vessel The sight can be used to assist alignment by eye See Illustration 2 Illustration 2 GNSS Compass alignment ...

Page 12: ...t the secondary RS422 port to the receiving NMEA0183 device Please see section 7 10 for further details on the pin out of the serial breakout cable recommended for NMEA 0183 installations 5 3 Power over Ethernet Connection 1 Plug the Ethernet cable from the GNSS Compass into the Data Power port on the PoE injector Plug an Ethernet cable into the Data port and connect the other end to a DHCP router...

Page 13: ...GNSS Compass Reference Manual Page 12 of 85 Version 1 1 13 01 2021 interface 4 The default username is admin and the default password is password ...

Page 14: ... m serial breakout cable see section 7 10 GC EK POE LC GNSS Compass Low Cost Ethernet Evaluation Kit Low cost Ethernet variant GNSS Compass Power over Ethernet interface Comes with 100 to 240 V AC Power over Ethernet injector and 20 m Ethernet cable see section 7 9 GC EK POE HA GNSS Compass High Accuracy Ethernet Evaluation Kit High accuracy Ethernet variant GNSS Compass Power over Ethernet interf...

Page 15: ... High Accuracy Ethernet Variant GNSS Compass High Accuracy Ethernet Variant Power over Ethernet interface L1 L2 RTK GNSS receiver Supports DGPS Supports post processing PPK Supports 8mm RTK L band Trimble RTX disabled requires additional license BeiDou and Galileo disabled requires additional license No cables included GC SER HA GNSS Compass High Accuracy Serial Variant GNSS Compass High Accuracy ...

Page 16: ...pass Manager Part Number Description Notes GC LIC GAL Enable Galileo Tracking Enable Galileo Tracking on GNSS Compass High Accuracy GC BEI UPG Enable BeiDou Tracking Enable BeiDou Tracking on GNSS Compass High Accuracy GC LIC LBAND Enable L Band tracking Enable L Band for Trimble RTX tracking on GNSS Compass High Accuracy Table 6 Internal GNSS receiver license upgrade part numbers ...

Page 17: ... units only GC SER LC and GC SER HA See section 7 10 for full details IP68 environmentally sealed connector GC SER CABLE 20M 20m serial cable for GNSS Compass 20m unterminated cable Compatible with serial units only GC SER LC and GC SER HA See section 7 11 for full details IP68 environmentally sealed connector POE INJECTOR AC POE Injector 100 to 240 V AC PoE Injector CABLE FTDI USB to RS232 RS422 ...

Page 18: ...GNSS Compass Reference Manual Page 17 of 85 Version 1 1 13 01 2021 7 Specifications 7 1 Mechanical Drawings Illustration 4 Mechanical drawings of GNSS Compass ...

Page 19: ...GNSS Compass Reference Manual Page 18 of 85 Version 1 1 13 01 2021 7 2 Axes Illustration 5 GNSS Compass axes with arrows showing positive direction ...

Page 20: ...m Horizontal Position Accuracy Kinematica Post Processing 0 01 m Vertical Position Accuracy Kinematica Post Processing 0 02 m Velocity Accuracy 0 05 m s Roll Pitch Accuracy 0 4 Heading Accuracy 0 2 Roll Pitch Accuracy Kinematica Post Processing 0 13 Heading Accuracy Kinematica Post Processing 0 09 Heave Accuracy 5 or 0 05 m Orientation Range Unlimited Hot Start Time 500 ms Internal Filter Rate 200...

Page 21: ...g 0 008 m Vertical Position Accuracy with RTK or Kinematica Post Processing 0 015 m Velocity Accuracy 0 02 m s Roll Pitch Accuracy 0 4 Heading Accuracy 0 2 Roll Pitch Accuracy Kinematica Post Processing 0 13 Heading Accuracy Kinematica Post Processing 0 09 Heave Accuracy 5 or 0 05 m Orientation Range Unlimited Hot Start Time 500 ms Internal Filter Rate 200 Hz Output Data Rate Up to 200 Hz Table 9 ...

Page 22: ...irst Fix 30 s Table 10 GNSS specifications low cost variant 7 4 2 High Accuracy Variant Parameter Value Model Trimble MB Two Supported Navigation Systems GPS L1 L2 GLONASS G1 G2 GALILEO E1 E5b disabled by default license required see section 6 4 BeiDou B1 B2 disabled by default license required see section 6 4 L Band RTX or OmnisStar disabled by default license required see section 6 4 Supported S...

Page 23: ... Server Timing Accuracy PTP 50 ns Timing Accuracy NTP 1 ms Table 12 Ethernet variant communication specifications 7 5 2 Serial Variant Parameter Value Interface RS422 default RS232 software selectable CAN Speed 2400 to 1M baud Protocols AN Packet Protocol NMEA 0183 NMEA 2000 TSS1 Simrad Timing 1PPS Output Timing Accuracy 20 ns Additional Interfaces Secondary RS422 RS232 1PPS Output Alarm Output Ta...

Page 24: ...1 1 Watts Power Consumption High Accuracy Variant 2 4 Watts Hot Start Battery Capacity 24 hrs Hot Start Battery Charge Time 30 mins Hot Start Battery Endurance 10 years Operating Temperature 40 C to 85 C Environmental Sealing IP68 MIL STD 810G Shock Limit 75 g Dimensions 672 x 190 x 73 9 mm Weight Low Cost Variant 1460 grams Weight High Accuracy Variant 1530 grams Table 14 Ethernet variant hardwar...

Page 25: ... is galvanically isolated from the communication lines Additionally the plastic enclosure isolates the electronics mechanically from the vessel addressing the issue of vessel hull electrolysis 7 8 NMEA 2000 Drop Cable The NMEA 2000 cable is only compatible with GNSS Compass part numbers GC SER LC and GC SER HA It has part number GC NMEA2000 CABLE 6M The NMEA 2000 cable is used to connect serial va...

Page 26: ...ssel see Illustration 7 7 9 Ethernet Cable The Ethernet cable is only compatible with GNSS Compass part numbers GC POE LC and GC POE HA It has part number GC POE CABLE 20M Connection to the GNSS Compass is made through a Holin RJ45C L4SAS environmentally sealed RJ45 connector The connector has a bayonet lock and provides a reliable and rugged connection to the GNSS Compass under demanding conditio...

Page 27: ...etres long shielded CAT5e with a UV stable jacket A standard CAT5 CAT5e or CAT6 Ethernet cable can be plugged into the connector on the GNSS Compass models GC POE LC and GC POE HA however it will not be environmentally sealed so is not recommended for outdoor use Additionally most standard Ethernet cable is not UV stable and will break down in sunlight Illustration 8 Ethernet cable ...

Page 28: ...nector The Holin part number is CCN L218SM The connector has a bayonet lock and provides a reliable and rugged connection to GNSS Compass under demanding conditions It is rated to IP68 in the mated state The opposite end of the cable contains 4 female DB9 connectors and a 2 1 x 5 5mm DC connector these connectors are not environmentally sealed The cable assembly is supplied with 20 metres of UV st...

Page 29: ...Table 17 Serial breakout cable pin allocation table See Table 18 to match wire colour to pin number of the Holin connector 7 11 Unterminated Serial Cable The unterminated serial cable is only compatible with GNSS Compass part numbers GC SER LC and GC SER HA It has part number GC SER CABLE 20M Connection to the GNSS Compass is made through a Holin C Size 18 pin connector The Holin part number is CC...

Page 30: ...GNSS Compass Reference Manual Page 29 of 85 Version 1 1 13 01 2021 Illustration 10 Unterminated serial cable Illustration 11 Connector pin assignment viewed from the front ...

Page 31: ...re Drain Wire attach to power ground Table 18 Unterminated serial cable pin allocation table 7 12 Certification The GNSS Compass is designed to meet IMO wheelmark for MED 4 7 Speed and Distance Measuring Equipment SDME and MED 4 41 Transmitting Heading Device THD GNSS method based on the Directive 2014 90 EU Models GC SER LC and GC SER HA are pending certification to the following standards IMO St...

Page 32: ... 13 01 2021 IMO Standards ISO IEC Standards IMO Res MSC 116 73 ISO 22090 3 2014 IMO Res MSC 191 79 IEC 60945 2002 incl IEC 60945 Corr 1 2008 IMO Res A 694 17 IEC 61162 480 ed4 0 2010 11 IEC 62288 Ed 2 0 2014 07 Table 20 Standards for GC POE LC and GC POE HA ...

Page 33: ...e pole mounted or surface mounted See section 7 1 for details 8 2 1 Pole mounting If pole mounting the unit connection is via a single 1 14 UNS 2A thread 8 2 2 Surface mounting If mounting on a surface use the 4 x M8 fixing holes as indicated in section 7 1 It is strongly recommended to use the included shoulder washers to provide a small gap between the GNSS compass and the mounting surface This ...

Page 34: ...S Compass Reference Manual Page 33 of 85 Version 1 1 13 01 2021 8 3 Alignment Illustration 14 GNSS Compass alignment with front of the vehicle Illustration 13 GNSS Compass surface mounting shoulder washer ...

Page 35: ...ign the indicator for best results See Illustration 15 for example mounting on a boat and Illustration 16 for example mounting on a car In the event that it is not feasible to mount the GNSS Compass in the standard orientation it is possible to mount it with a known offset and configure the unit with this offset The offset should be entered into the heading offset field in the alignment configurat...

Page 36: ... connector with a locking nut and o ring that are waterproof and dirtproof to the IP68 standard as well as resistant to shock and vibration The environmental protection only applies when the connector is locked by pushing in and rotating the nut clockwise until it clicks see Illustration 17 Illustration 16 GNSS Compass alignment on a car ...

Page 37: ... to 36 volts should be applied to the DC jack with a 5 amp fuse 8 4 3 Ethernet For connection to an Ethernet network the Advanced Navigation Ethernet Cable is required part number GC POE CABLE 20M One end of the cable should be connected to the GNSS Compass and the other to either a PoE injector part number POE INJECTOR or 802 3af or 802 3at compliant PoE switch The PoE injector or switch is then ...

Page 38: ...ct the port set the baud rate to 115 200 and click Connect 6 Using the Configuration menu options can be changed as required Changes to configuration are saved between power cycles and only need to be applied once 8 5 2 Ethernet Variants 1 Plug the Ethernet cable from the GNSS Compass into the Data Power port on the PoE injector Plug an Ethernet cable into the Data port and connect the other end t...

Page 39: ...ing Magnetic heading has some downsides in that it requires calibration and is prone to interference from ferrous metals GNSS Compass uses a new technique to determine heading by measuring phase differences between two GNSS antennas mounted at a known separation inside the enclosure of the GNSS Compass The benefit of this technique is that it is not subject to magnetic interference and provides mo...

Page 40: ...00 1 129025 Position Rapid Update Rapid update of latitude and longitude 100 10 129026 COG SOG Rapid Update Rapid update of Course Over Ground COG and Speed Over Ground SOG 250 4 129029 GNSS Position Data Position and GNSS fix status 1000 1 129540 GNSS Satellites in View 1000 1 130578 Vessel Speed Components Longitudinal and transverse speed 250 4 Table 22 NMEA 2000 transmitted messages 9 5 NMEA 0...

Page 41: ... Heave GPRMC Enabled 10 Hz Enabled 10 Hz Time date latitude longitude and 2D velocity GPROT Disabled Enabled 1 Hz Rate of turn GPVBW Disabled Enabled 1 Hz Dual ground water speed GPVLW Disabled Enabled 1 Hz Dual ground water distance GPVTG Disabled Enabled 1 Hz Course over ground and ground speed GPZDA Disabled Enabled 1 Hz Time and date PASHR Disabled Enabled 1 Hz Time orientation and orientation...

Page 42: ...GNSS Compass Reference Manual Page 41 of 85 Version 1 1 13 01 2021 disabled ...

Page 43: ... used in the packet protocol All data types in the protocol are little endian byte ordering Abbreviation Bytes Also known as u8 1 unsigned char unsigned byte uint8_t s8 1 char byte int8_t u16 2 unsigned short uint16_t s16 2 short int16_t u32 4 unsigned int unsigned long uint32_t s32 4 int long int32_t u64 8 unsigned long long uint64_t s64 8 long long int64_t fp32 4 float fp64 8 double Table 24 Dat...

Page 44: ...e are three different sub ranges these are system packets state packets and configuration packets System packets have packet IDs in the range 0 to 19 These packets are implemented the same by every device using ANPP State packets are packets that contain data that changes with time i e temperature State packets can be set to output at a certain rate State packets are packet IDs in the range 20 to ...

Page 45: ...system state packet at 20Hz the calculation would be Data throughput 100 packet length 5 fixed packet overhead 20 rate Data throughput 2100 bytes per second Minimum baud rate data throughput x 11 23 100 Baud Closest standard baud rate 38 400 Baud When multiple packets are set to output at the same rate the order the packets output is from lowest ID to highest ID 10 7 Packet Timing Packets are outp...

Page 46: ...t 28 48 R Raw Sensors Packet 29 74 R Raw GNSS Packet 30 13 R Satellites Packet 31 R Detailed Satellites Packet 32 24 R Geodetic Position Packet 33 24 R ECEF Position Packet 34 25 R UTM Position Packet 35 12 R NED Velocity Packet 36 12 R Body Velocity Packet 37 12 R Acceleration Packet 38 16 R Body Acceleration Packet 39 12 R Euler Orientation Packet 40 16 R Quaternion Orientation Packet 41 36 R DC...

Page 47: ...SS Receiver Information Packet 73 24 R Automotive Packet Configuration Packets 181 R W Packets Period Packet 182 17 R W Baud Rates Packet 184 4 R W Sensor Ranges Packet 185 73 R W Installation Alignment Packet 186 17 R W Filter Options Packet 187 R W Advanced Filter Parameters Packet 188 13 R W Port Function Configuration Packet 193 5 W Set Zero Orientation Alignment Packet 194 49 R W Reference Po...

Page 48: ...ue Description 0 Acknowledge success 1 Acknowledge failure CRC error 2 Acknowledge failure packet size incorrect 3 Acknowledge failure values outside of valid ranges 4 Acknowledge failure system flash memory failure 5 Acknowledge failure system not ready 6 Acknowledge failure unknown packet Table 29 Acknowledge result 10 9 2 Request Packet Request Packet Packet ID 1 Length 1 x number of packets re...

Page 49: ...ypes 10 9 4 Device Information Packet Device Information Packet Packet ID 3 Length 24 Field Bytes Offset Data Type Size Description 1 0 u32 4 Software version 2 4 u32 4 Device ID 3 8 u32 4 Hardware revision 4 12 u32 4 Serial number part 1 5 16 u32 4 Serial number part 2 6 20 u32 4 Serial number part 3 Table 33 Device information packet 10 9 5 Restore Factory Settings Packet Note If using a static ...

Page 50: ...ata Type Size Description 1 0 u32 4 Verification sequence see section 10 9 6 1 Table 35 Reset packet 10 9 6 1 Verification Sequence Values Value Description 0x21057A7E Standard hot start reset 0x9A5D38B7 Cold start reset Table 36 Verification sequence values 10 9 7 Serial Port Pass through Packet Serial Port Pass through Packet Packet ID 10 Length Variable up to 255 bytes Field Bytes Offset Data T...

Page 51: ... State Packets GNSS Compass supports a large number of packets providing extensive functionality However for the majority of users the easiest approach is to configure GNSS Compass using the GNSS Compass Manager software and then support only the single system state packet shown below in section 10 10 1 Advanced functionality can be added as required through the other packets ...

Page 52: ...ongitude rad 7 28 fp64 8 Height m 8 36 fp32 4 Velocity north m s 9 40 fp32 4 Velocity east m s 10 44 fp32 4 Velocity down m s 11 48 fp32 4 Body acceleration X m s s 12 52 fp32 4 Body acceleration Y m s s 13 56 fp32 4 Body acceleration Z m s s 14 60 fp32 4 G force g 15 64 fp32 4 Roll radians 16 68 fp32 4 Pitch radians 17 72 fp32 4 Heading radians 18 76 fp32 4 Angular velocity X rad s 19 80 fp32 4 A...

Page 53: ...ue Bit Description 0 System Failure 1 Accelerometer Sensor Failure 2 Gyroscope Sensor Failure 3 Magnetometer Sensor Failure 4 Secondary GNSS Failure 5 Primary GNSS Failure 6 Accelerometer Over Range 7 Gyroscope Over Range 8 Magnetometer Over Range 9 Reserved 10 Minimum Temperature Alarm 11 Maximum Temperature Alarm 12 Low Voltage Alarm 13 High Voltage Alarm 14 GNSS Antenna Fault 15 Data Output Ove...

Page 54: ...ccurred 9 Internal GNSS Enabled 10 Dual Antenna Heading Active 11 Velocity Heading Enabled 12 Dual Antenna Heading Outage for over 60 Seconds 13 External Position Active 14 External Velocity Active 15 External Heading Active Table 41 Filter Status 10 10 1 3 GNSS Fix Status Value Bit 6 Bit 5 Bit 4 Description 0 0 0 0 No GNSS fix 1 0 0 1 2D GNSS fix 2 0 1 0 3D GNSS fix 3 0 1 1 SBAS GNSS fix 4 1 0 0 ...

Page 55: ...tes Offset Data Type Size Description 1 0 u32 4 Unix time stamp seconds see section 10 10 1 4 2 4 u32 4 Microseconds see section 10 10 1 5 Table 43 Unix time packet 10 10 3 Formatted Time Packet Formatted Time Packet Packet ID 22 Length 14 Field Bytes Offset Data Type Size Description 1 0 u32 4 Microseconds 2 4 u16 2 Year 3 6 u16 2 Year day 0 365 4 8 u8 1 Month 0 11 5 9 u8 1 Month Day 1 31 6 10 u8...

Page 56: ...cket ID 24 Length 12 Field Bytes Offset Data Type Size Description 1 0 fp32 4 Latitude standard deviation m 2 4 fp32 4 Longitude standard deviation m 3 8 fp32 4 Height standard deviation m Table 46 Position standard deviation packet 10 10 6 Velocity Standard Deviation Packet Velocity Standard Deviation Packet Packet ID 25 Length 12 Field Bytes Offset Data Type Size Description 1 0 fp32 4 Velocity ...

Page 57: ...ch standard deviation rad 3 8 fp32 4 Heading standard deviation rad Table 48 Euler orientation standard deviation packet 10 10 8 Quaternion Orientation Standard Deviation Packet Quaternion Orientation Standard Deviation Packet Packet ID 27 Length 16 Field Bytes Offset Data Type Size Description 1 0 fp32 4 Q0 standard deviation 2 4 fp32 4 Q1 standard deviation 3 8 fp32 4 Q2 standard deviation 4 12 ...

Page 58: ... Description 1 0 fp32 4 Accelerometer X m s s 2 4 fp32 4 Accelerometer Y m s s 3 8 fp32 4 Accelerometer Z m s s 4 12 fp32 4 Gyroscope X rad s 5 16 fp32 4 Gyroscope Y rad s 6 20 fp32 4 Gyroscope Z rad s 7 24 fp32 4 Magnetometer X mG 8 28 fp32 4 Magnetometer Y mG 9 32 fp32 4 Magnetometer Z mG 10 36 fp32 4 IMU Temperature deg C 11 40 8 Reserved Table 50 Raw sensors packet ...

Page 59: ...NSS Packet Packet ID 29 Length 74 Field Bytes Offset Data Type Size Description 1 0 u32 4 Unix time stamp seconds 2 4 u32 4 Microseconds 3 8 fp64 8 Latitude rad 4 16 fp64 8 Longitude rad 5 24 fp64 8 Height m 6 32 fp32 4 Velocity north m 7 36 fp32 4 Velocity east m 8 40 fp32 4 Velocity down m 9 44 fp32 4 Latitude standard deviation m 10 48 fp32 4 Longitude standard deviation m 11 52 fp32 4 Height s...

Page 60: ...ilt valid 7 Heading valid 8 Floating ambiguity heading 9 15 Reserved set to zero Table 52 Raw GNSS status 10 10 11 Satellites Packet Satellites Packet Packet ID 30 Length 13 Field Bytes Offset Data Type Size Description 1 0 fp32 4 HDOP 2 4 fp32 4 VDOP 3 8 u8 1 GPS satellites 4 9 u8 1 GLONASS satellites 5 10 u8 1 BeiDou satellites 6 11 u8 1 GALILEO satellites 7 12 u8 1 SBAS satellites Table 53 Sate...

Page 61: ...0 u8 1 Satellite system see section 10 10 12 1 2 1 u8 1 Satellite number PRN 3 2 s8 1 Satellite frequencies see section 10 10 12 2 4 3 u8 1 Elevation deg 5 4 u16 2 Azimuth deg 6 6 u8 1 SNR Fields 1 6 repeat for additional satellites Table 54 Detailed satellites packet 10 10 12 1 Satellite Systems Value System 0 Unknown 1 GPS 2 GLONASS 3 BeiDou 4 GALILEO 5 SBAS 6 QZSS 7 Starfire 8 Omnistar 9 IMES T...

Page 62: ...Position Packet Packet ID 32 Length 24 Field Bytes Offset Data Type Size Description 1 0 fp64 8 Latitude rad 2 8 fp64 8 Longitude rad 3 16 fp64 8 Height m Table 57 Geodetic position packet 10 10 14 ECEF Position Packet ECEF Position Packet Packet ID 33 Length 24 Field Bytes Offset Data Type Size Description 1 0 fp64 8 ECEF X m 2 8 fp64 8 ECEF Y m 3 16 fp64 8 ECEF Z m Table 58 ECEF position packet ...

Page 63: ...acket Packet ID 35 Length 12 Field Bytes Offset Data Type Size Description 1 0 fp32 4 Velocity north m s 2 4 fp32 4 Velocity east m s 3 8 fp32 4 Velocity down m s Table 60 NED velocity packet 10 10 17 Body Velocity Packet Body Velocity Packet Packet ID 36 Length 12 Field Bytes Offset Data Type Size Description 1 0 fp32 4 Velocity X m s 2 4 fp32 4 Velocity Y m s 3 8 fp32 4 Velocity Z m s Table 61 B...

Page 64: ...ude the acceleration due to gravity Body Acceleration Packet Packet ID 38 Length 16 Field Bytes Offset Data Type Size Description 1 0 fp32 4 Body acceleration X m s s 2 4 fp32 4 Body acceleration Y m s s 3 8 fp32 4 Body acceleration Z m s s 4 12 fp32 4 G force g Table 63 Body acceleration packet 10 10 20 Euler Orientation Packet Euler Orientation Packet Packet ID 39 Length 12 Field Bytes Offset Da...

Page 65: ...QS 2 4 fp32 4 QX 3 8 fp32 4 QY 4 12 fp32 4 QZ Table 65 Quaternion orientation packet 10 10 22 DCM Orientation Packet DCM Orientation Packet Packet ID 41 Length 36 Field Bytes Offset Data Type Size Description 1 0 fp32 4 DCM 0 0 2 4 fp32 4 DCM 0 1 3 8 fp32 4 DCM 0 2 4 12 fp32 4 DCM 1 0 5 16 fp32 4 DCM 1 1 6 20 fp32 4 DCM 1 2 7 24 fp32 4 DCM 2 0 8 28 fp32 4 DCM 2 1 9 32 fp32 4 DCM 2 2 Table 66 DCM o...

Page 66: ...locity X rad s 2 4 fp32 4 Angular velocity Y rad s 3 8 fp32 4 Angular velocity Z rad s Table 67 Angular velocity packet 10 10 24 Angular Acceleration Packet Angular Acceleration Packet Packet ID 43 Length 12 Field Bytes Offset Data Type Size Description 1 0 fp32 4 Angular acceleration X rad s s 2 4 fp32 4 Angular acceleration Y rad s s 3 8 fp32 4 Angular acceleration Z rad s s Table 68 Angular acc...

Page 67: ...2 4 Longitude standard deviation m 9 44 fp32 4 Height standard deviation m 10 48 fp32 4 Velocity north standard deviation m s 11 52 fp32 4 Velocity east standard deviation m s 12 56 fp32 4 Velocity down standard deviation m s Table 69 External position velocity packet 10 10 26 External Position Packet External Position Packet Packet ID 45 Length 36 Field Bytes Offset Data Type Size Description 1 0...

Page 68: ...4 Velocity down standard deviation m s Table 71 External velocity packet 10 10 28 External Body Velocity Packet External Body Velocity Packet Packet ID 47 Length 16 Field Bytes Offset Data Type Size Description 1 0 fp32 4 Velocity X m s 2 4 fp32 4 Velocity Y m s 3 8 fp32 4 Velocity Z m s 4 12 fp32 4 Velocity standard deviation m s Table 72 External body velocity packet 10 10 29 External Heading Pa...

Page 69: ... Local magnetic field Y mG 3 8 fp32 4 Local magnetic field Z mG Table 75 Local magnetic field packet 10 10 32 External Time Packet External Time Packet Packet ID 52 Length 8 Field Bytes Offset Data Type Size Description 1 0 u32 4 Unix time seconds see section 10 10 1 4 2 4 u32 4 Microseconds see section 10 10 1 5 Table 76 External time packet 10 10 33 Geoid Height Packet This packet provides the o...

Page 70: ...on data to be sent to GNSS Compass s internal GNSS receiver for differential or RTK GNSS functionality RTCM Corrections Packet Packet ID 55 Length Variable up to 255 bytes Field Bytes Offset Data Type Size Description 1 0 RTCM corrections data Table 78 RTCM corrections packet 10 10 35 Heave Packet Heave Packet Packet ID 58 Length 16 Field Bytes Offset Data Type Size Description 1 0 fp32 4 Heave po...

Page 71: ...4 12 u8 1 Receiver number 5 13 u8 1 Packet number 6 14 u8 1 Total packets 7 15 u8 1 Number of satellites For each satellite 8 16 u8 1 Satellite system see section 10 10 12 1 9 17 u8 1 PRN or satellite number 10 18 u8 1 Elevation degrees 11 19 u16 2 Azimuth degrees 12 21 u8 1 Number of frequencies For each frequency of each satellite 13 22 u8 1 Satellite frequency see section 10 10 36 1 14 23 u8 1 ...

Page 72: ...9 E5 b 10 E5 a b Table 81 Satellite frequencies 10 10 36 2 Tracking Status Bit Description 0 Carrier phase valid 1 Carrier phase cycle slip detected 2 Carrier phase half cycle ambiguity 3 Pseudo range valid 4 Doppler valid 5 SNR valid 6 7 Reserved set to zero Table 82 Tracking status 10 10 37 Raw Satellite Ephemeris Packet GNSS Compass Manager will automatically convert this packet to RINEX 3 02 f...

Page 73: ...4 Omnistar serial number 7 32 u32 4 Omnistar subscription start unix time 8 36 u32 4 Omnistar subscription expiry unix time 9 40 u8 1 Omnistar engine mode see section 10 10 38 4 10 41 u8 1 RTK software license accuracy see section 10 10 38 5 11 42 6 Reserved set to zero Table 83 GNSS receiver information packet 10 10 38 1 GNSS Manufacturer IDs Value Description 0 GNSS Manufacturer Unknown 1 Trimbl...

Page 74: ... 10 38 4 Omnistar Engine Modes Value Description 0 Omnistar engine not active 1 HP 2 XP 3 G2 4 HP G2 5 HP XP Table 87 Omnistar engine modes 10 10 38 5 RTK Software License Accuracy Value Description 0 RTK accuracy unknown 1 0 3m horizontal 0 3m vertical 2 0 07m horizontal 0 07m vertical 3 0 07m horizontal 0 02m vertical 4 0 008m horizontal 0 07m vertical 5 0 008m horizontal 0 02m vertical Table 88...

Page 75: ...Packets Configuration packets can be both read from and written to the device On many of the configuration packets the first byte is a permanent flag A zero in this field indicates that the settings will be lost on reset a one indicates that they will be permanent i e stored in flash 10 11 1 Packets Period Packet Packets Period Packet Packet ID 181 Length 2 5 x number of packet periods Field Bytes...

Page 76: ...so new packet rates will overwrite existing packet rates for the same packet ID 10 11 1 3 Packet Period This indicates the period in milliseconds The packet rate can be calculated as follows Packet Rate 1000 Packet Period Hz For example setting packet ID 20 with a packet period of 50 will give the following Packet 20 Rate 1000 50 Packet 20 Rate 20 Hz 10 11 2 Baud Rates Packet Baud Rates Packet Pac...

Page 77: ...ge see section 10 11 3 2 4 3 u8 1 Magnetometers range see section 10 11 3 3 Table 93 Sensor ranges packet 10 11 3 1 Accelerometers Range Value Description 0 2 g 19 62 m s s 1 4 g 39 24 m s s 2 16 g 156 96 m s s Table 94 Accelerometers range 10 11 3 2 Gyroscopes Range Value Description 0 250 degrees second 1 500 degrees second 2 2000 degrees second Table 95 Gyroscopes range 10 11 3 3 Magnetometers ...

Page 78: ...p32 4 GNSS antenna offset Z m 14 49 fp32 4 Odometer offset X m 15 53 fp32 4 Odometer offset Y m 16 57 fp32 4 Odometer offset Z m 17 61 fp32 4 External data offset X m 18 65 fp32 4 External data offset Y m 19 69 fp32 4 External data offset Z m Table 97 Installation alignment packet 10 11 4 1 Alignment DCM The alignment DCM direction cosine matrix is used to represent an alignment offset of GNSS Com...

Page 79: ...s Packet Filter Options Packet Packet ID 186 Length 17 Field Bytes Offset Data Type Size Description 1 0 u8 1 Permanent 2 1 u8 1 Vehicle type see section 10 11 5 1 3 2 u8 1 Internal GNSS enabled boolean 4 3 u8 1 Reserved set to zero 5 4 u8 1 Atmospheric altitude enabled boolean 6 5 u8 1 Velocity heading enabled boolean 7 6 u8 1 Reversing detection enabled boolean 8 7 u8 1 Motion analysis enabled b...

Page 80: ...on 0 Unconstrained 1 Bicycle or Motorcycle 2 Car 3 Hovercraft 4 Submarine 5 3D Underwater Vehicle 6 Fixed Wing Plane 7 3D Aircraft 8 Human 9 Boat 10 Large Ship 11 Stationary 12 Stunt Plane 13 Race Car Table 99 Vehicle types 10 11 6 Advanced Filter Parameters Packet Please contact Advanced Navigation support ...

Page 81: ...10 11 7 3 6 5 u8 1 Port 3 transmit function see sections 10 11 7 1 and 10 11 7 2 7 6 u8 1 Port 3 receive function see sections 10 11 7 1 and 10 11 7 3 8 7 u8 1 Port 4 transmit function see sections 10 11 7 1 and 10 11 7 2 9 8 u8 1 Port 4 receive function see sections 10 11 7 1 and 10 11 7 3 10 9 4 Reserved set to zero Table 100 Port function configuration packet 10 11 7 1 Ports Port Ethernet Model...

Page 82: ...3 Length 5 Field Bytes Offset Data Type Size Description 1 0 u8 1 Permanent 2 1 u32 4 Verification sequence set to 0x9A4E8055 Table 104 Set zero orientation alignment packet 10 11 9 Reference Point Offsets Packet The reference point offsets packet can be used to adjust the measurement point that all data is referenced to By default all the values of this packet are zero and the measurement point t...

Page 83: ...y reference point offset Y m 4 9 fp32 4 Primary reference point offset Z m 5 13 fp32 4 Heave point 2 offset X m 6 17 fp32 4 Heave point 2 offset Y m 7 21 fp32 4 Heave point 2 offset Z m 8 25 fp32 4 Heave point 3 offset X m 9 29 fp32 4 Heave point 3 offset Y m 10 33 fp32 4 Heave point 3 offset Z m 11 37 fp32 4 Heave point 4 offset X m 12 41 fp32 4 Heave point 4 offset Y m 13 45 fp32 4 Heave point 4...

Page 84: ...n 10 11 10 2 5 6 u16 2 GPVTG Rates see section 10 11 10 2 6 8 u16 2 GPRMC Rates see section 10 11 10 2 7 10 u16 2 GPHDT Rates see section 10 11 10 2 8 12 u16 2 GPGLL Rates see section 10 11 10 2 9 14 u16 2 PASHR Rates see section 10 11 10 2 10 16 u16 2 TSS1 Rates see section 10 11 10 2 11 18 u16 2 Simrad Rates see section 10 11 10 2 12 20 13 Reserved set to zero Table 106 GPIO output configuration...

Page 85: ... default TCP 16721 see section 10 11 10 3 Reserved set to zero Table 108 Serial output rates 10 11 10 3 GPIO Output Rates Index Value Bit 3 Bit 2 Bit 1 Bit 0 Description 0 0 0 0 0 Disabled 1 0 0 0 1 0 1 Hz 2 0 0 1 0 0 2 Hz 3 0 0 1 1 0 5 Hz 4 0 1 0 0 1 Hz 5 0 1 0 1 2 Hz 6 0 1 1 0 5 Hz 7 0 1 1 1 10 Hz 8 1 0 0 0 25 Hz 9 1 0 0 1 50 Hz Table 109 Serial output rates index 10 11 11 User Data Packet This ...

Page 86: ...therein UNLESS OTHERWISE SET FORTH IN ADVANCED NAVIGATION S TERMS AND CONDITIONS OF SALE ADVANCED NAVIGATION DISCLAIMS ANY EXPRESS OR IMPLIED WARRANTY WITH RESPECT TO THE USE AND OR SALE OF ADVANCED NAVIGATION PRODUCTS INCLUDING WITHOUT LIMITATION IMPLIED WARRANTIES OF MERCHANTABILITY FITNESS FOR A PARTICULAR PURPOSE AND THEIR EQUIVALENTS UNDER THE LAWS OF ANY JURISDICTION OR INFRINGEMENT OF ANY P...

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