Spatial Reference Manual
Page 99 of 158
Version 4.4
04/06/2019
12.4.27
Nortek DVL Input
This function accepts DVL data in the Nortek DVL binary format. It accepts the packets
0x1B (DVL Bottom Track) and 0x1D (DVL Water Track). The recommended update rate
is 8Hz.
12.4.28
Left Wheel Speed Sensor
This function is designed for the left wheel of a vehicle with dual wheel speed sensors.
12.4.29
Right Wheel Speed Sensor
This function is designed for the right wheel of a vehicle with dual wheel speed
sensors.
12.4.30
1PPS Input
This function is designed to allow external GNSS receivers to synchronise time with
Spatial. It triggers on a transition from low to high.
12.4.31
Wheel Speed Sensor
This function is designed for high resolution vehicle speed sensors and wheel speed
sensors. It expects a normally low input with a high state for the trigger. If the pulse
length is more than 0.1 metres the odometer input function should be used, if it is less
than 0.1 metres the wheel speed sensor function should be used. Please contact
Advanced Navigation support for help integrating with your speed sensor.
Parameter
Value
Trigger
Low → High
Maximum Frequency
40 MHz
Maximum Pulse Rate
4,294,967,295 pulses/metre
Table 23: Wheel Speed Sensor Specifications
12.4.32
Wheel Encoder Phase A
This function is designed for rotary incremental quadrature encoders. It should be
used in combination with Wheel Encoder Phase B.
12.4.33
Wheel Encoder Phase B
This function is designed for rotary incremental quadrature encoders. It should be
used in combination with Wheel Encoder Phase A.
12.4.34
Event 1 Input
This function is designed to allow external events to be recorded inside Spatial's
