Spatial Reference Manual
Page 16 of 158
Version 4.4
04/06/2019
Version
Date
Changes
reduce accuracy under certain conditions with strong
decelerations
2.3
27/03/2013
Added Spatial hardware revision 2.0 support
Added experimental post-processing support
Issue with RTCM GPIO corrections resolved
Detailed satellites packet modified
Added 1PPS input GPIO function
2.2
29/01/2013
Added stationary heading drift compensation algorithm to
reduce heading drift when no heading correction source is
present
Added heave filter
Added EGM96 geoid model
Added dual odometer input support
Added Linkquest DVL input support
Added pressure depth transducer input support
Added external time packet
Added external depth packet
Added geoid height packet
Added RTCM corrections packet
Added external pitot pressure packet
Added wind estimation packet
Added heave packet
Added heave offset packet
2.1
11/12/2012
Better reversing detection for velocity heading when
magnetometers are disabled
Car vehicle profile enhancements
3D underwater vehicle profile enhancements
NMEA output GPRMC updated to be v2.3 compliant
NMEA output GPHDT added
NMEA output changed to 10Hz
NMEA input added GPGLL support
NMEA input added GPHDT support
NMEA input added HEHDT support
Added RTCM corrections input support
Added Trimble GNSS input support
Added u-blox GNSS input support
Added Hemisphere GNSS input support
Added Teledyne DVL input support
Added Tritech USBL input support
2.0
23/10/2012
Enhanced odometer reversing detection
Odometer automatic calibration now has stricter conditions
and will restart the calibration to prevent erroneous
calibrations from succeeding
Vibration analysis & suppression filter now enabled as
default
Enhanced performance in GNSS multipath conditions