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Spatial Reference Manual

Page 54 of 158

Version 4.4

04/06/2019

10.5.2

3D Magnetic Calibration

The following procedure should be used to perform a 3D magnetic calibration.

10.5.2.1

Using the Spatial Manager Software

1. The unit should be powered on and the vehicle kept stationary.
2. After power on wait 5 minutes for the temperature and filter to stabilise.
3. Open Spatial Manager and connect to the device. Ensure that the device has a

GNSS fix before proceeding.

4. In the Tools menu, open Magnetic Calibration. Click the 3D Calibration button.

See section 11.9.2. The following steps 5, 6 and 7 can be performed in any
order.

5. Slowly rotate the vehicle twice around the X axis (roll).
6. Slowly rotate the vehicle twice around the Y axis (pitch).
7. Slowly rotate the vehicle twice around the Z axis (heading).
8. Check the status in the Magnetic Calibration window to ensure that the

calibration completed successfully. If not successful click Cancel, wait 2 minutes
and repeat from step 4. Do not press the save button in the lower half of the
dialogue, this will over write the new calibration values. The calibration values
are automatically saved internally.

10.5.2.2

Using the Packet Protocol

1. The unit should be powered on and the vehicle kept stationary.
2. After power on wait 5 minutes for the temperature and filter to stabilise.
3. Ensure that the device has a GNSS fix before proceeding
4. Send the Magnetic Calibration Configuration Packet with the action Start 3D

Magnetic Calibration. The following steps 5, 6 and 7 can be performed in any
order.

5. Slowly rotate the vehicle twice around the X axis (roll).
6. Slowly rotate the vehicle twice around the Y axis (pitch).
7. Slowly rotate the vehicle twice around the Z axis (heading)
8. Read the Magnetic Calibration Status Packet to ensure that the calibration

completed successfully. If not successful, send the Magnetic Calibration
Configuration Packet with the action Cancel, wait 2 minutes and repeat from
step 4.

10.5.3

Automatic Magnetic Calibration

Automatic magnetic calibration is an algorithm that continuously and automatically
calibrates for static magnetic interference. Automatic magnetic calibration is enabled
by default and it is recommended to keep it enabled for all vehicle types. When used

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Summary of Contents for Spatial Dual

Page 1: ...Spatial Reference Manual ...

Page 2: ...ting 26 7 Part Numbers and Ordering Options 27 7 1 Evaluation Kit 27 7 2 Standalone Unit 27 7 3 Accessories 27 8 Specifications 29 8 1 Mechanical Drawings 29 8 2 Navigation Specifications 30 8 3 Sensor Specifications 31 8 4 GNSS Specifications 32 8 5 Communication Specifications 32 8 6 Hardware Specifications 33 8 7 Electrical Specifications 34 8 8 Power Consumption 35 8 9 Connector Pin out 35 8 1...

Page 3: ... 2 3D Magnetic Calibration 49 10 5 2 1 Using the Spatial Manager Software 50 10 5 2 2 Using the Packet Protocol 50 10 5 3 Automatic Magnetic Calibration 50 10 5 4 Disabling Magnetometers 51 10 6 Sensors Range 51 10 7 Data Anti Aliasing 51 10 8 Vehicle Profiles 51 10 9 Odometer Pulse Length 51 10 9 1 Odometer Automatic Pulse Length Calibration Procedure 52 10 10 Reversing Detection 52 10 11 Motion ...

Page 4: ... 6 Position 69 11 7 7 Velocity and Acceleration 70 11 7 8 3D Model 71 11 7 9 Communications Statistics 71 11 7 10 Heave 72 11 8 Configuration 73 11 8 1 Configuration Export 73 11 8 2 Sensor Ranges 74 11 8 3 Filter Options 74 11 8 4 Packet Rates 75 11 8 5 Alignment Configuration 76 11 8 5 1 Alignment Offset 76 11 8 5 2 GNSS Antenna Offset 76 11 8 5 3 Odometer Offset 77 11 8 5 4 External Data Offset...

Page 5: ... 92 12 4 17 Raw Sensors Packet Trigger 92 12 4 18 Pressure Depth Transducer 93 12 4 19 RTCM Differential GNSS Corrections Input 93 12 4 20 Trimble GNSS Input 93 12 4 21 u blox GNSS Input 93 12 4 22 Hemisphere GNSS Input 93 12 4 23 Teledyne DVL Input 93 12 4 24 Tritech USBL Input 93 12 4 25 Linkquest DVL Input 93 12 4 26 Linkquest USBL Input 93 12 4 27 Nortek DVL Input 93 12 4 28 Left Wheel Speed S...

Page 6: ... Restore Factory Settings Packet 104 13 8 6 Reset Packet 104 13 8 6 1 Verification Sequence Values 104 13 8 7 Serial Port Pass through Packet 104 13 8 7 1 Pass through Routes 104 13 9 State Packets 106 13 9 1 System State Packet 106 13 9 1 1 System Status 107 13 9 1 2 Filter Status 107 13 9 1 3 GNSS Fix Status 108 13 9 1 4 Unix Time Seconds 108 13 9 1 5 Microseconds 108 13 9 2 Unix Time Packet 109...

Page 7: ... 34 External Depth Packet 122 13 9 35 Geoid Height Packet 122 13 9 36 RTCM Corrections Packet 122 13 9 37 External Pitot Pressure Packet 123 13 9 38 Wind Packet 123 13 9 39 Heave Packet 123 13 9 40 Post Processing Packet 123 13 9 41 Raw Satellite Data Packet 123 13 9 41 1 Satellite Frequencies 125 13 9 41 2 Tracking Status 125 13 9 42 External Odometer Packet 125 13 9 42 1 Odometer flags 126 13 9 ...

Page 8: ...10 9 Magnetic Calibration Values Packet 138 13 10 10 Magnetic Calibration Configuration Packet 138 13 10 10 1 Magnetic Calibration Actions 138 13 10 11 Magnetic Calibration Status Packet 139 13 10 11 1 Magnetic Calibration Status 139 13 10 12 Odometer Configuration Packet 140 13 10 13 Set Zero Orientation Alignment Packet 140 13 10 14 Reference Point Offsets Packet 140 13 10 15 GPIO Output Configu...

Page 9: ...3 7 Modified quaternion element labels sections 13 9 8 and 13 9 21 Clarified geoid height packet description section 13 9 35 Removed external pitot pressure packet section 13 9 37 Updated external body velocity packet size and definition 13 9 28 Updated specifications section 8 Added RTK information sections 10 12 12 4 19 Added wheel speed sensor specifications section 12 4 31 Corrected Raw GNSS p...

Page 10: ... 9 45 Heave offsets packet changed name to reference point offsets packet format remains the same section 13 10 14 Added user data packet section 13 10 16 Added GPIO input configuration packet section 13 10 17 Fixed a document heading spacing issue 4 0 18 09 2014 Added firmware changelog section 2 Added hardware changelog section 3 Updated GNSS specifications for version 3 0 hardware section 8 4 U...

Page 11: ...valuation kit section 6 Updated mechanical drawings section 8 1 Updated navigation specifications section 8 2 Updated sensor specifications section 8 3 Updated communication specifications section 8 5 Updated hardware specifications section 8 6 Updated electrical specifications section 8 7 Updated connector pin out section 8 9 Updated mounting plate section 9 3 Updated odometer information section...

Page 12: ...nput section 12 4 29 Added external time packet section 13 9 33 Added external depth packet section 13 9 34 Added geoid height packet section 13 9 35 Updated GPIO functions tables section 13 10 8 2 3 06 12 2012 Yaw terminology changed to heading for increased clarity Reworded installation magnetics for increased clarity section 9 7 Reworded initialisation for increased clarity section 10 1 Reworde...

Page 13: ...gnetic field packet section 13 9 31 Added odometer state packet section 13 9 32 Updated installation alignment packet section 13 10 5 Fixed error in filter options packet section 13 10 6 Updated GPIO configuration packet section 13 10 8 Added odometer configuration packet section 13 10 12 Added set zero orientation alignment packet section 13 10 13 1 0 16 09 2012 1PPS description updated section 1...

Page 14: ...6 2019 Version Date Changes 0 3 11 08 2012 Magnetic calibration values packet corrected Incorrect length fixed on several packets Grammar corrections 0 2 08 08 2012 Connector pin allocation table corrected 0 1 31 07 2012 First Draft Table 1 Revision history ...

Page 15: ... 06 2016 Maximum baud rate increased to 2 000 000 1PPS output and input timing improvements Packet timing jitter improvements New multipath mitigation algorithm provides significant performance improvements in poor signal areas Bug fix for magnetometer and pressure sensor false failure indications after saving configuration 4 2 12 04 2016 Performance improvements Added support for GPROT and GPHEV ...

Page 16: ...ly available Improvements to car and fixed wing plane vehicle profiles Improvements to delay compensation filter Raw GNSS packet updated to new format GPIO output configuration packet updated Support for external odometer added Support for external air data added Wind estimation filter improvements Wind packet input support Added stunt plane vehicle profile Added support for serial port passthroug...

Page 17: ...xternal 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 sup...

Page 18: ...odometer state packet Changed alignment packet Added odometer configuration packet Added set zero orientation alignment packet Additional acknowledge response types Added disable magnetometers GPIO function Added disable GNSS GPIO function Added disable pressure GPIO function Added set zero alignment GPIO function Added system state packet trigger GPIO function Added raw sensors packet trigger GPI...

Page 19: ...o noticeable changes for customers 5 0 01 02 2015 GPIO pins now automatically switch from TTL levels to RS232 levels when operating as data functions Slew rate control on RS232 automatically changes based upon baud rate setting 4 0 10 08 2014 Internal GNSS receiver changed to the new u blox M8 which provides increased multipath performance 3 0 17 09 2013 New gyroscopes New accelerometers Connector...

Page 20: ...sticated fusion algorithm to deliver accurate and reliable navigation and orientation Spatial can provide amazing results but it does need to be set up properly and operated with an awareness of it s limitations Please read through this manual carefully to ensure success within your application The Spatial Manager software is downloadable from the software section of the Advanced Navigation websit...

Page 21: ...weak and struggle to penetrate through buildings and other objects obstructing view of the sky GNSS can also occasionally drop out due to disturbances in the upper atmosphere 5 2 INS INS stands for inertial navigation system An inertial navigation system can provide position and velocity similar to GNSS but with some big differences The principle of inertial navigation is the measurement of accele...

Page 22: ...tes the X axis your index denotes the Y axis and your middle denotes the Z axis 5 6 Roll Pitch and Heading Orientation can be described by the three angles roll pitch and heading these are known as the Euler angles The rotation axes of roll pitch and heading are shown visually in Illustration 1 The arrow indicates the positive rotation direction Roll is the angle around the X axis and is zero when...

Page 23: ...rimentally by rotating spatial with your hand whilst watching the orientation plot in real time on the computer 5 7 Geodetic Co ordinate System The geodetic co ordinate system is the most popular way of describing an absolute position on the Earth It is made up of the angles latitude and longitude combined with a height relative to the ellipsoid Latitude is the angle that specifies the north to so...

Page 24: ... Reference Manual Page 23 of 158 Version 4 4 04 06 2019 Illustration 5 below shows latitude and longitude on a map of the world Illustration 4 Latitude and longitude represented visually to describe a position ...

Page 25: ... level For example in Australia the WGS84 height at sea level is 9 metres at some points 5 8 NED Co ordinate Frame The NED North East Down co ordinate frame is used to express velocities and relative positions The origin of the co ordinate frame can be considered the current position From that origin the north axis points true north and parallel to the line of latitude at that point The east axis ...

Page 26: ...te positions on the Earth Its origin is at the centre of the Earth ECEF is an alternative to the geodetic co ordinate frame It is represented by the three axes X Y and Z which are presented graphically in Illustration 6 ECEF positions can be retrieved from Advanced Navigation products however the geodetic system is used as the default Illustration 6 Graphic showing geodetic NED and ECEF co ordinat...

Page 27: ...cable part number A503 SDC20796 see section 8 10 6 2 Quick Start 1 Position the GNSS antenna in a level orientation with a clear view of the sky 2 Connect the coaxial antenna cable to Spatial 3 Plug the interface cable into Spatial 4 Plug the USB end of the interface cable into your computer 5 Download the Spatial Manager software from the Spatial page of the Advanced Navigation website Java is re...

Page 28: ...convert The anpp binary log file will be converted to CSV files that can be opened with popular data processing programs such as Matlab or Microsoft Excel The log files can be found in the same folder as the Spatial Manager software 6 3 Troubleshooting 1 If you are having trouble opening Spatial Manager please try reinstalling Java 2 If you are having problems connecting to Spatial please try rein...

Page 29: ...nit part numbers 7 3 Accessories Part Number Description Notes A503 SDC20796 ODU plug to FTDI USB cable Spatial ODU plug with 2m of cable to FTDI RS232 to USB plug see section 8 10 TW4721 GNSS Antenna Magnetic mount L1 GNSS Antenna GPS GLONASS BeiDou Galileo SBAS A503 SDC20740 2M ODU plug with 2m cable unterminated Spatial ODU plug with 2m of unterminated cable see section 8 9 A503 SDC20753 ODU to...

Page 30: ...Odometer Interface See section 9 6 2 AD UNIT Air Data Unit Air data unit provides pitot and static air data aiding for Spatial in fixed wing aircraft ILU Interface and Logging Unit Interface and logging unit provides an Ethernet interface to Spatial with built in logging time server and more ports Table 6 Accessories part numbers ...

Page 31: ...Spatial Reference Manual Page 30 of 158 Version 4 4 04 06 2019 8 Specifications 8 1 Mechanical Drawings Illustration 8 Mechanical drawings of Spatial ...

Page 32: ...cal Position Accuracy with L1 RTK 0 03 m Velocity Accuracy 0 05 m s Roll Pitch Accuracy Static 0 1 Heading Accuracy Static 0 5 Roll Pitch Accuracy Dynamic 0 2 Heading Accuracy Dynamic with GNSS 0 2 Heading Accuracy Dynamic magnetic only 0 8 Heave Accuracy 5 or 0 05 m whichever is greater Orientation Range Unlimited Hot Start Time 500 ms Internal Filter Rate 1000 Hz Output Data Rate Up to 1000 Hz T...

Page 33: ...50 s 500 s 2000 s 2 G 4 G 8 G 10 to 120 KPa Bias Instability 20 ug 3 hr 10 Pa Initial Bias 5 mg 0 2 s 100 Pa Initial Scaling Error 0 06 0 04 0 07 Scale Factor Stability 0 06 0 05 0 09 Non linearity 0 05 0 05 0 08 Cross axis Alignment Error 0 05 0 05 0 05 Noise Density 100 ug Hz 0 004 s Hz 210 uG Hz 0 56 Pa Hz Bandwidth 400 Hz 400 Hz 110 Hz 50 Hz Table 8 Sensor specifications ...

Page 34: ...d Start First Fix 26 s Horizontal Position Accuracy 2 5 m Horizontal Position Accuracy with L1 RTK 0 02 m Velocity Accuracy 0 05 m s Timing Accuracy 30 ns Acceleration Limit 4 g Table 9 GNSS specifications 8 5 Communication Specifications Parameter Value Interface RS232 RS422 optional Primary and Auxiliary Port Speed 2400 to 2 M baud GPIO Port Speed 2400 to 250 K baud Protocol AN Packet Protocol N...

Page 35: ...onsumption 0 5 W typical Hot Start Battery Capacity 48 hrs Hot Start Battery Charge Time 30 mins Hot Start Battery Endurance 10 years Operating Temperature 40 C to 85 C Environmental Protection IP67 MIL STD 810G Shock Limit 2000 g Dimensions excluding tabs 30 x 30 x 24 mm Dimensions including tabs 30 x 40 6 x 24 mm Weight 37 grams Table 11 Hardware specifications ...

Page 36: ... Low 5 7 V 5 V Tx Voltage High 5 V 6 2 V Tx Short Circuit Current 35 mA 70 mA Rx Threshold Low 0 8 V 1 3 V Rx Threshold High 1 7 V 2 5 V GPIO Output Voltage Low 0 V 0 3 V Output Voltage High 4 8 V 5 V Input Voltage 20 V 20 V Input Threshold Low 1 5 V Input Threshold High 3 5 V Output Current 5 mA GNSS Antenna Active Antenna Supply Voltage 2 9 V 3 V 3 1 V Antenna Supply Current 75 mA Table 12 Elect...

Page 37: ...on 4 4 04 06 2019 8 8 Power Consumption Illustration 9 Maximum and typical current consumption across operating voltage 2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 0 20 40 60 80 100 120 140 Maximum Typical Voltage V Current Consumption mA ...

Page 38: ...dition Plugs are supplied with 2 metres of unterminated shielded cable with an outer protective jacket Each individual wire is colour coded PFA coated 28AWG wire with an external shield and insulation Custom cable lengths can be ordered by request Pin Colour Function 1 Black Ground 2 Brown Power Supply 3 White GPIO 1 4 Green GPIO 2 5 Red Primary RS232 Transmit 6 Orange Primary RS232 Receive 7 Yell...

Page 39: ... required it is possible to cut off the overmoulded RS232 converter to get access to all the individual wires The chip used in the overmoulded RS232 converter is an FTDI FT232R and supports baud rates of up to 2 000 000 baud Pin Colour Function RS232 Converter Connection 1 Black Ground USB Ground 2 Brown Power USB 5 volt supply 3 White GPIO 1 4 Green GPIO 2 5 Red Primary RS232 Tx FTDI RS232 Rx 6 O...

Page 40: ...UB connectors for each of the two RS232 communication channels and GPIO pins The breakout cable is an optional extra and is not supplied as standard with the evaluation kit Pin Colour Function Primary Auxiliary GPIO Power 1 Black Ground 5 5 5 2 Brown Power Tip 3 White GPIO 1 2 4 Green GPIO 2 3 5 Red Primary RS232 Tx 2 6 Orange Primary RS232 Rx 3 7 Yellow Auxiliary RS232 Tx 2 8 Blue Auxiliary RS232...

Page 41: ...dialogue in the Spatial Manager software see section 11 7 1 The primary serial number label is located inside the enclosure and is accessible only by Advanced Navigation technicians The secondary serial number label is located on the outside rear of the enclosure with the serial number encoded in a 2D data matrix bar code to assist customers in tracking their units The external label also contains...

Page 42: ...Enter the vehicle type in the Filter Options dialogue in Spatial Manager 8 Perform a magnetic calibration on the unit as described in section 10 5 If magnetic calibration is going to be too difficult to perform on the vehicle or the operating environment has high levels of magnetic interference then it is recommended to disable magnetic heading in Filter Options and use only GNSS velocity heading ...

Page 43: ...see section 11 8 5 For easy alignment the set zero orientation button in the Spatial Manager alignment dialogue can be used to set the current orientation as the level alignment see section 11 8 5 Please note that this will only correct for roll and pitch offsets Any heading offset will need to be entered manually and saved after using this function 9 3 Mounting Plate Spatial s mounting plate and ...

Page 44: ... rotating or reciprocating machinery The optimum mounting configuration is above the Spatial unit The antenna offset should be configured in the Spatial unit by using the alignment dialogue in the Spatial Manager software see section 11 8 5 It is very important to set the antenna offset accurately as Spatial corrects for lever arm velocities Incorrect GNSS antenna offset will lead to performance d...

Page 45: ...erent options for odometer installation which are listed below 9 6 1 Factory VSS Signal Most road cars since 1980 contain a VSS vehicle speed sensor signal that can be wired directly into one of Spatial s GPIO pins The vehicle should be taken to an automotive electrician to perform the work To setup the odometer the appropriate GPIO pin should be set to odometer input using Spatial Manager see sec...

Page 46: ...Spatial Reference Manual Page 45 of 158 Version 4 4 04 06 2019 Illustration 17 Advanced Navigation OBDII Odometer ...

Page 47: ...vigation recommends aftermarket wheel speed sensors from Pegasem or GMH Engineering 9 6 4 Radar Speed Sensor For applications requiring high performance in harsh conditions where aftermarket wheel speed sensors are not feasible a radar speed sensor is recommended Advanced Navigation recommends radar speed sensors from Stalker or GMH Engineering Illustration 18 Aftermarket wheel speed sensor Illust...

Page 48: ...aw sensors view in Spatial Manager and watch the magnetometer outputs whilst the vehicle is operating but stationary see section 11 7 4 The values should be constant if the values are fluctuating there is dynamic magnetic interference present If dynamic magnetic interference is causing performance problems and there is no way to mount Spatial away from the interference source the magnetometers sho...

Page 49: ...Spatial Reference Manual Page 48 of 158 Version 4 4 04 06 2019 3 Spatial can be mounted to a plate which is then mounted to the platform through vibration isolation mounts ...

Page 50: ...mplete the roll pitch and angular velocity values will be valid When Spatial starts up it assumes that it can be in any orientation To determine its orientation it uses the accelerometers to detect the gravity vector Whilst this is occurring if there are random accelerations present these can cause an incorrect orientation to be detected To prevent this Spatial monitors the accelerometers and gyro...

Page 51: ...pletes once the system has determined time to an accuracy of less than 1 microsecond This normally occurs as soon as the GNSS receiver obtains its first fix It is also possible to provide an external source of time see section 12 2 for more information on external time sources Until the time has initialised the values of Unix time and formatted time that Spatial outputs will not be valid and may c...

Page 52: ...ing heading from the direction of velocity and acceleration Velocity heading works well with cars boats fixed wing aircraft and other vehicles that don t move sideways Velocity heading does not work with helicopters and other 3D vehicles The downside of velocity heading is that heading can not be measured until the vehicle moves at a horizontal speed of over 1 15 metres second with a GNSS fix The ...

Page 53: ...vention Please note that if Spatial is going to be used in a vehicle the calibration should be performed while Spatial is mounted in and fixed to that vehicle This means that the whole vehicle must be moved to perform the calibration The calibration needs to be performed in an area away from sources of magnetic interference For example if Spatial is installed in a car the calibration should not in...

Page 54: ...eeding 4 Send the Magnetic Calibration Configuration Packet with the action Start 2D Magnetic Calibration 5 Whilst keeping as level as possible rotate the vehicle in either direction through one and a quarter full rotations In a car this can be achieved by driving in one and a quarter circles 6 Read the Magnetic Calibration Status Packet to ensure that the calibration completed successfully If not...

Page 55: ...alf of the dialogue this will over write the new calibration values The calibration values are automatically saved internally 10 5 2 2 Using the Packet Protocol 1 The unit should be powered on and the vehicle kept stationary 2 After power on wait 5 minutes for the temperature and filter to stabilise 3 Ensure that the device has a GNSS fix before proceeding 4 Send the Magnetic Calibration Configura...

Page 56: ...anges Spatial can be used in more extreme dynamics It is important to choose a range that your application won t exceed Sensor over range events can be detected through the Filter Status In Spatial manager the status indicator will go orange indicating that a sensor has gone over range When a sensor goes over range this causes the filter solution to become inaccurate and in some cases it can cause...

Page 57: ...on matches one of the available vehicle profiles it is recommended to select it for use in the filter options dialogue in Spatial Manager see section 11 8 3 For a list of the different vehicle profiles please see section 13 10 6 1 Please note that if the wrong vehicle profile is selected it can cause a significant decrease in performance ...

Page 58: ...be reset The distance travelled can be checked in the odometer configuration dialogue to ensure that it has passed 1000m 5 Once 1000 metres has been driven check that the automatic pulse length check box becomes un ticked and the pulse length value has changed This indicates a successfully completed calibration 10 10 Reversing Detection Reversing detection is an algorithm that can detect when the ...

Page 59: ...tions and feed them into the Spatial unit Please see section 11 9 5 The corrections format supported is RTCM v3 10 13 Raw Satellite Data Spatial hardware version 6 1 and above features a new GNSS receiver that is capable of outputting raw satellite data This raw satellite data can be used by post processing programs to achieve high accuracy kinematic positioning The maximum output rate for raw sat...

Page 60: ...alogue under the Configuration menu and set up the packets as shown in Illustration 22 For more information on using Kinematica please see the Kinematica Reference Manual available for download from the Advanced Navigation website 10 15 Vents Spatial contains a sophisticated venting system that allows it to measure air pressure whilst keeping water out There are two sets of vent holes on either si...

Page 61: ...ither of these two connections are not finger tightly closed the unit offers no environmental protection Spanners or tools should never be used to tighten the connectors They should only ever be finger tight 10 18 1 Temperature Spatial should not be subjected to temperatures outside of its operating range If the temperature rises above 90 degrees Celsius Spatial will automatically shut off power t...

Page 62: ...into contact with these environments it should be rinsed in fresh water as soon as possible It is not recommended to operate Spatial in non neutral PH environments 10 18 6 Shocks Spatial can tolerate shocks to 2000g however continuous shocks of this severity are likely to cause premature failure Shocks above 2000g can effect the factory sensor calibration and degrade performance Normally shocks to...

Page 63: ... 4 4 04 06 2019 11 Spatial Manager Spatial Manager is a software tool provided by Advanced Navigation for logging testing display and configuration of Spatial It is designed to be simple and easy to use Illustration 23 Screenshot of Spatial Manager ...

Page 64: ...n 11 8 10 Fixed issue with locales that use commas instead of decimal points in floating point numbers GPX export now vectorises paths to minimise points for better performance in Google Earth 4 0 18 09 2014 Improvements to the 3D map Support for more graphics cards Status display now shows when heading not initialised Orientation standard deviation graph added Latitude and longitude now show in p...

Page 65: ... data 11 3 Installation Spatial Manager does not need to be installed and can be run from any directory by double clicking on it Spatial Manager requires a recent version of Java available at http www java com On some systems to open the program it may be necessary to right click and select open with Java Runtime Environment Both the Spatial evaluation kit and the Spatial OEM development kit make ...

Page 66: ...his is typically a problem associated with older FTDI drivers To resolve the problem install the latest drivers from http www ftdichip com Drivers VCP htm When operating Spatial at a very high data rate data can be lost due to the latency of the FTDI driver To resolve this problem the latency of the driver should be reduced by going to control panel system device manager ports and right click on t...

Page 67: ...the 3D mapping If you are experiencing problems it is recommended to turn off compiz Modemmanager can also sometimes cause problems on Linux installations If you are not using a modem it is recommended to remove modemmanager with the command sudo apt get remove modemmanager Spatial Manager is able to run on the OpenJDK JRE but it uses significantly more system resources than when it is running on ...

Page 68: ...5200 The connection indicator displays whether there is communication with a Spatial unit 11 5 2 Attitude Indicator The aircraft style attitude indicator shows roll and pitch through a virtual horizon Around the sides heading speed and height are shown All units are SI metric and degrees 11 5 3 Status Indicator The status indicator section contains a Spatial status indicator a fix indicator and a ...

Page 69: ... 5 3 3 Satellites Table The satellites table shows the number of active satellites being used in the current GNSS solution More detailed information can be found in the satellites view see section 11 7 3 11 5 4 3D Map The 3D map shows Spatial s position on the Earth as well as a red trail of position history When the filter initialises the map will automatically reset the view to Spatial s locatio...

Page 70: ...isconnected To convert these log files into easily accessible formats the log converter dialogue in the tools menu can be used see section 11 9 4 The log converter dialogue creates a folder and generates files in the CSV comma separated values format that can be easily opened with Microsoft Excel Matlab LibreOffice and most other data analysis programs It also creates a GPX file and a KML file of ...

Page 71: ...al support and for tracking your serial number firmware and hardware version 11 7 2 Status Status shows Spatial s complete status as contained in the system state packet detailed in section 13 9 1 1 Illustration 28 Screenshot of Spatial Manager device information dialogue Illustration 29 Screenshot of Spatial Manager status dialogue ...

Page 72: ...ual Page 71 of 158 Version 4 4 04 06 2019 11 7 3 Satellites Satellites shows detailed information on the satellites that Spatial s GNSS receiver is tracking Illustration 30 Screenshot of Spatial Manager satellites dialogue ...

Page 73: ...al Reference Manual Page 72 of 158 Version 4 4 04 06 2019 11 7 4 Raw Sensors Raw sensors shows the temperature calibrated raw sensor values Illustration 31 Screenshot of Spatial Manager raw sensors dialogue ...

Page 74: ...ial Reference Manual Page 73 of 158 Version 4 4 04 06 2019 11 7 5 Orientation Orientation shows Spatial s orientation and angular velocity Illustration 32 Screenshot of Spatial Manager orientation dialogue ...

Page 75: ...4 4 04 06 2019 11 7 6 Position Position shows Spatial s position and position error Latitude and longitude are converted to North and East metres from a reference point that can be reset Illustration 33 Screenshot of Spatial Manager position dialogue ...

Page 76: ...Page 75 of 158 Version 4 4 04 06 2019 11 7 7 Velocity and Acceleration Velocity and Acceleration shows Spatial s velocity acceleration and g force Illustration 34 Screenshot of Spatial Manager velocity and acceleration dialogue ...

Page 77: ...ge 76 of 158 Version 4 4 04 06 2019 11 7 8 3D Model 11 7 9 Communications Statistics Illustration 35 Screenshot of Spatial Manager 3D model dialogue Illustration 36 Screenshot of Spatial Manager communications statistics dialogue ...

Page 78: ...Spatial Reference Manual Page 77 of 158 Version 4 4 04 06 2019 11 7 10 Heave Illustration 37 Screenshot of Spatial Manager heave dialogue ...

Page 79: ... configuration export dialogue can be used to export all Spatial settings to a file This file can be imported at a later date or on other units This is useful to restore a unit to preset configuration at a later date or for batch configuration of multiple units Illustration 38 Screenshot of Spatial Manager configuration menu Illustration 39 Screenshot of Spatial Manager configuration export dialog...

Page 80: ...e the range of the offending sensor The lowest ranges give the best performance so it is preferable not to use the highest range by default 11 8 3 Filter Options For most applications the default filter options should be used and only the vehicle profile set If in doubt please contact support advancednavigation com au Illustration 40 Screenshot of Spatial Manager sensor ranges dialogue Illustratio...

Page 81: ...d are the System State Packet ID 20 and the Raw Sensors Packet ID 28 at 20Hz and these typically provide all the data that a user will require These two packets need to be enabled for the data graphs to update in Spatial Manager Other state packets can be enabled as required Please see the Packet Summary table in section 13 7 for a list of all packets Illustration 42 Screenshot of Spatial Manager ...

Page 82: ...ding offset must be entered For example if the unit is installed on its side with the X axis pointing up and the Z axis pointing forwards and no change to the Y axis then this would result in a pitch offset of 90 degrees with roll and heading remaining zero If there is a small misalignment due to mechanical mounting error this can be compensated for by setting the vehicle stationary on a level sur...

Page 83: ...ata Offset These values are only required for speciality applications operating with external sources of data Please contact support advancednavigation com au for assistance with these values 11 8 6 Baud Rates When changing baud rates some Microsoft Windows machines are unable to function at the higher baud rates It is recommended to test the baud rate first with the permanent box unticked This wa...

Page 84: ...t GPIO pins function at RS232 levels for data functions and 0 to 5 volt levels for all other functions The internal hardware automatically reconfigures based upon the selected function 11 8 8 Odometer The odometer dialogue allows the user to configure the odometer pulse length and view the real time odometer data to verify correct operation Illustration 45 Spatial Manager GPIO configuration dialog...

Page 85: ...10 Reference Position Offsets The reference point offsets dialogue allows the user to adjust the point of measurement away from its default position at the centre of the Spatial unit The primary reference point offset applies to data from all ANPP packets as well as all peripheral output such as NMEA and heave point 1 The heave points 2 to 4 allow the user to offset reference points for the heave ...

Page 86: ...1 8 11 GPIO Output Configuration The GPIO output configuration dialogue allows the user to configure the output rates for the GPIO and Auxiliary RS232 data functions NMEA TSS and PASHR Illustration 49 Screenshot of Spatial Manager GPIO output configuration dialogue ...

Page 87: ... Setting the position will initialise the navigation filter Setting the heading will initialise the heading 11 8 13 Gimbal The gimbal configuration dialogue is only used in speciality gimbal applications Please contact support advancednavigation com au for more information on using Spatial inside a gimbal Illustration 50 Screenshot of Spatial Manager manual initialisation dialogue ...

Page 88: ...u contains tools for performing procedures with Spatial 11 9 1 Terminal The terminal is only used during specialised technical support with Advanced Navigation engineers Illustration 52 Screenshot of Spatial Manager tools menu Illustration 51 Screenshot of Spatial Manager gimbal dialogue ...

Page 89: ...ows the user to perform magnetic calibration as well as view and modify the magnetic calibration values The actual magnetic calibration is performed inside the Spatial unit This dialogue does not have any smarts it is just a control and display interface Illustration 53 Screenshot of Spatial Manager magnetic calibration dialogue ...

Page 90: ...e date and time it was generated by engineering 11 9 4 Log Converter This tool allows the user to convert Spatial log files into various standard formats that are readable by many programs The offset is used to project the exported position to a point other than the centre of the Spatial unit For most users these values should be left at zero Illustration 54 Screenshot of Spatial Manager firmware ...

Page 91: ...com au for guidance on getting set up with network DGPS or RTK 11 9 6 Network Connect The network connect dialogue allows Spatial Manager to make a connection to Spatial over a TCP IP network rather than the default serial port connection This allows Spatial to be used with ethernet to serial converters Advanced Navigation recommends Lantronix ethernet to serial converters Illustration 56 Screensh...

Page 92: ...ormat Any required data in ANPP packet format can be configured to output on request or at predetermined rates 12 1 1 Baud Rate The default baud rate for all the ports of Spatial is 115200 bps The primary port baud rate can be set anywhere from 2400 to 2000000 baud and can be modified using the Spatial Manager software see section 11 8 6 or the Baud Rates packet see section 13 10 3 It is important...

Page 93: ...These pins and ports are multi function and can be used to extend Spatial with additional peripherals sensors and data formats The GPIO pins have digital input digital output frequency input and frequency output functionality For for both models GPIO1 can also function as an RS232 serial transmit line and GPIO2 can function as an RS232 serial receive line The GPIO serial baud rate can be configure...

Page 94: ...able GNSS Digital Input All Receive Disable Pressure Digital Input All Receive Set Zero Orientation Alignment Digital Input All Receive System State Packet Trigger Digital Input All Receive Raw Sensors Packet Trigger Digital Input All Receive Pressure Depth Transducer Frequency Input All Receive RTCM Differential GNSS Corrections Input Serial Receive 2 Receive Trimble GNSS Input Serial Receive 2 R...

Page 95: ...High Digital Input All Receive Zero Angular Velocity Input Digital Input All Receive Table 19 GPIO pin and auxiliary RS232 functions 12 4 1 1PPS Output In this function the pin pulses for 50 milliseconds to signal the precise second The 1PPS line starts pulsing approximately 100 milliseconds after power up and always fires irrespective of whether Spatial has accurate time or not It is important to...

Page 96: ...state indicates that the vehicle could be moving Use of this function can significantly improve drift performance when a GNSS signal is not available 12 4 5 Pitot Tube Input This function is designed for fixed wing aircraft to enhance navigation through the use of a pitot tube to measure airspeed It requires a differential pressure sensor that has a frequency output such as the Kavlico P992 freque...

Page 97: ...ced Navigation recommends against using NMEA where possible due to the inefficiency inaccuracy and poor error checking of the format An example output is shown below GPZDA 031644 460 07 05 2013 00 00 52 GPGGA 031644 460 3352 3501851 S 15112 2355488 E 6 00 1 4 150 0 M 0 0 M 7E GPVTG 089 19 T 089 19 M 000 00 N 000 00 K E 27 GPRMC 031644 460 A 3352 3501851 S 15112 2355488 E 0 0 89 2 070513 12 5 W E 0...

Page 98: ...e GNSS 12 4 14 Disable Pressure This function accepts a digital input with a low state enabling the atmospheric pressure sensor and a high state disabling the atmospheric pressure sensor 12 4 15 Set Zero Orientation Alignment This function accepts a digital input The input is normally low and a transition from low to high causes Spatial to set its alignment so that the current orientation is zero ...

Page 99: ...accepts data in the u blox binary format and expects message NAV PVT or NAV SOL at rates higher than 1Hz 12 4 22 Hemisphere GNSS Input This function is designed for interfacing Spatial with a Hemisphere GNSS receiver It accepts data in the Hemisphere binary format and expects message Bin1 at rates higher than 1Hz For Hemisphere receivers that provide heading using two antennas NMEA should be used ...

Page 100: ... 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 Paramet...

Page 101: ...00 Output This function outputs the Simrad 3000 format at a user configurable rate up to 50 Hz The output rate can be configured using the GPIO output configuration dialogue in Spatial Manager see section 11 8 11 12 4 39 Serial Port Passthrough This function allows passthrough communication through either GPIO 1 and 2 or the Auxiliary RS232 To transmit data use the Serial Port Pass through Packet ...

Page 102: ... function is designed to take a reversing indication input for direction with an odometer or wheel encoder It should be used in combination with Odometer Input or Wheel Speed Sensor 12 4 45 Reverse Alignment Forward Low This function is designed to reverse the alignment settings for vehicles that can have two vehicle forward directions such as locomotives 12 4 46 Reverse Alignment Forward High Thi...

Page 103: ...o Angular Velocity Input In this function a high state indicates to Spatial that the vehicle is not rotating The low state indicates that the vehicle could be rotating Use of this function can significantly improve heading drift performance when a GNSS signal is not available ...

Page 104: ...isting and future Advanced Navigation products 13 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 ...

Page 105: ...he packet header It also allows the decoder to find the start of a packet by scanning for a valid LRC The LRC can be found using the following LRC packet_id packet_length crc 0 crc 1 0xFF 1 13 2 2 Packet ID The packet ID is used to distinguish the contents of the packet Packet IDs range from 0 to 255 Within this range there are three different sub ranges these are system packets state packets and ...

Page 106: ...nfiguring packet rates it is essential to ensure the baud rate is capable of handling the data throughput This can be calculated using the rate and packet size The packet size is the packet length add five to account for the packet overhead For example to output the system state packet at 50Hz the calculation would be Data throughput 100 packet length 5 fixed packet overhead 50 rate Data throughpu...

Page 107: ...Spatial Reference Manual Page 106 of 158 Version 4 4 04 06 2019 validity for the other two packets ...

Page 108: ...4 12 R Position Standard Deviation Packet 25 12 R Velocity Standard Deviation Packet 26 12 R Euler Orientation Standard Deviation Packet 27 16 R Quaternion Orientation Standard Deviation Packet 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 26 R UTM Position Packet 35 12 R...

Page 109: ...ht Packet 55 W RTCM Corrections Packet 56 External Pitot Pressure Packet 57 12 R W Wind Packet 58 16 R Heave Packet 59 Post Processing Packet 60 R Raw Satellite Data Packet 67 13 R W External Odometer Packet 68 25 R W External Air Data Packet 72 8 R W Gimbal State Packet 73 24 R Automotive Packet Configuration Packets 180 4 R W Packet Timer Period Packet 181 R W Packets Period Packet 182 17 R W Ba...

Page 110: ...3 8 1 Acknowledge Packet Acknowledgement Packet Packet ID 0 Length 4 Field Bytes Offset Data Type Size Description 1 0 u8 1 Packet ID being acknowledged 2 1 u16 2 CRC of packet being acknowledged 3 3 u8 1 Acknowledge Result see section 13 8 1 1 Table 28 Acknowledge packet 13 8 1 1 Acknowledge Result Value Description 0 Acknowledge success 1 Acknowledge failure CRC error 2 Acknowledge failure packe...

Page 111: ...acket Boot Mode Packet Packet ID 2 Length 1 Field Bytes Offset Data Type Size Description 1 0 u8 1 Boot mode see section 13 8 3 1 Table 31 Boot mode packet 13 8 3 1 Boot Mode Types Value Description 0 Bootloader 1 Main Program Table 32 Boot mode types 13 8 4 Device Information Packet Device Information Packet Packet ID 3 Length 24 Field Bytes Offset Data Type Size Description 1 0 u32 4 Software ve...

Page 112: ...set Packet Packet ID 5 Length 4 Field Bytes Offset Data Type Size Description 1 0 u32 4 Verification sequence see section 13 8 6 1 Table 35 Reset packet 13 8 6 1 Verification Sequence Values Value Description 0x21057A7E Standard hot start reset 0x9A5D38B7 Cold start reset Table 36 Verification sequence values 13 8 7 Serial Port Pass through Packet Serial Port Pass through Packet Packet ID 10 Lengt...

Page 113: ...Spatial Reference Manual Page 112 of 158 Version 4 4 04 06 2019 ...

Page 114: ...Spatial Reference Manual Page 113 of 158 Version 4 4 04 06 2019 13 8 7 1 Pass through Routes Value Description 1 GPIO 1 and 2 2 Auxiliary RS232 Table 38 Pass through routes ...

Page 115: ... of packets providing extensive functionality However for the majority of users the easiest approach is to configure Spatial using the Spatial Manager software and then support only the single system state packet shown below in section 13 9 1 Advanced functionality can be added as required through the other packets ...

Page 116: ...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 Angular velocity Y rad s 20 84 fp32 4 Angular velocity Z rad s 21 88 fp32 4 Latitude standard deviation m 22 ...

Page 117: ... Sensor Failure 4 Pressure Sensor Failure 5 GNSS Failure 6 Accelerometer Over Range 7 Gyroscope Over Range 8 Magnetometer Over Range 9 Pressure Over Range 10 Minimum Temperature Alarm 11 Maximum Temperature Alarm 12 Low Voltage Alarm 13 High Voltage Alarm 14 GNSS Antenna Short Circuit 15 Data Output Overflow Alarm Table 40 System status ...

Page 118: ...nt 2 Occurred 9 Internal GNSS Enabled 10 Magnetic Heading Active 11 Velocity Heading Enabled 12 Atmospheric Altitude Enabled 13 External Position Active 14 External Velocity Active 15 External Heading Active Table 41 Filter status 13 9 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 Differential GNSS ...

Page 119: ...ield Bytes Offset Data Type Size Description 1 0 u32 4 Unix time seconds see section 13 9 1 4 2 4 u32 4 Microseconds see section 13 9 1 5 Table 43 Unix time packet 13 9 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 1...

Page 120: ...t 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 13 9 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 nort...

Page 121: ...h standard deviation rad 3 8 fp32 4 Heading standard deviation rad Table 48 Euler orientation standard deviation packet 13 9 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 Qs standard deviation 2 4 fp32 4 Qx standard deviation 3 8 fp32 4 Qy standard deviation 4 12 fp...

Page 122: ...erometer 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 fp32 4 Pressure Pascals 12 44 fp32 4 Pressure Temperature deg C Table 50 Raw sensors packet ...

Page 123: ...cket 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 s 7 36 fp32 4 Velocity east m s 8 40 fp32 4 Velocity down m s 9 44 fp32 4 Latitude standard deviation m 10 48 fp32 4 Longitude standard deviation m 11 52 fp32 4 Height s...

Page 124: ...e valid 5 External GNSS 6 15 Reserved set to zero Table 52 Raw GNSS status 13 9 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 Satellites packet ...

Page 125: ... 12 1 2 1 u8 1 Satellite number PRN 3 2 s8 1 Satellite frequencies see section 13 9 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 13 9 12 1 Satellite Systems Value System 0 Unknown 1 GPS 2 GLONASS 3 BeiDou 4 GALILEO 5 SBAS 6 QZSS 7 Starfire 8 Omnistar Table 55 Satellite systems 13 9 12 2 Satellite Freq...

Page 126: ...et 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 13 9 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 127: ...r Table 59 UTM position packet 13 9 16 NED Velocity Packet NED Velocity Packet 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 13 9 17 Body Velocity Packet Body Velocity Packet Packet ID 36 Length 12 Field Bytes Offset Data Type Size Description 1 0 fp32 4 Veloc...

Page 128: ...19 Body Acceleration Packet 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 13 9 20 Euler Orientation Packet Euler Orientation Packet Packet ID 39 Length 12 Field Bytes Offset Data Type S...

Page 129: ...s 2 4 fp32 4 Qx 3 8 fp32 4 Qy 4 12 fp32 4 Qz Table 65 Quaternion orientation packet 13 9 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 ori...

Page 130: ... 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 acceleration packet 13 9 25 External Position Velocity Packet External Position Velocity Packet Packet ID 44 Length 60 Field Bytes Offset Data Type Size Description 1 0 fp64 8 Lati...

Page 131: ...Type Size Description 1 0 fp64 8 Latitude rad 2 8 fp64 8 Longitude rad 3 16 fp64 8 Height m 4 24 fp32 4 Latitude standard deviation m 5 28 fp32 4 Longitude standard deviation m 6 32 fp32 4 Height standard deviation m Table 70 External position packet 13 9 27 External Velocity Packet External Velocity Packet Packet ID 46 Length 24 Field Bytes Offset Data Type Size Description 1 0 fp32 4 Velocity no...

Page 132: ... 2 4 fp32 4 Velocity Y m s 3 8 fp32 4 Velocity Z m s 4 12 fp32 4 Velocity standard deviation all axes or X only m s 5 12 fp32 4 OPTIONAL Velocity standard deviation Y m s 6 12 fp32 4 OPTIONAL Velocity standard deviation Z m s Table 72 External body velocity packet 13 9 29 External Heading Packet External Heading Packet Packet ID 48 Length 8 Field Bytes Offset Data Type Size Description 1 0 fp32 4 ...

Page 133: ... 32 Odometer State Packet Odometer State Packet Packet ID 51 Length 20 Field Bytes Offset Data Type Size Description 1 0 s32 4 Odometer pulse count 2 4 fp32 4 Odometer distance m 3 8 fp32 4 Odometer speed m s 4 12 fp32 4 Odometer slip m 5 16 u8 1 Odometer active 6 17 3 Reserved Table 76 Odometer state packet 13 9 33 External Time Packet External Time Packet Packet ID 52 Length 8 Field Bytes Offset...

Page 134: ...he following equations Height Above Mean Sea Level WGS84 Height Geoid Height Depth Geoid Height WGS84 Height WGS84 Height is the height at the current location in the System State packet Geoid Height Packet Packet ID 54 Length 4 Field Bytes Offset Data Type Size Description 1 0 fp32 4 Geoid height m Table 79 Geoid height packet 13 9 36 RTCM Corrections Packet This packet is used to encapsulate RTC...

Page 135: ...en to the device it disables the wind estimation filter and the wind values provided are used statically Wind Packet Packet ID 57 Length 12 Field Bytes Offset Data Type Size Description 1 0 fp32 4 Wind velocity north m s 2 4 fp32 4 Wind velocity east m s 3 8 fp32 4 Wind velocity standard deviation m s Table 81 Wind packet 13 9 39 Heave Packet Heave Packet Packet ID 58 Length 16 Field Bytes Offset ...

Page 136: ...2 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 13 9 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 13 9 41 1 14 23 u8 1 Track...

Page 137: ... A L1 C A 2 L1 C E1 PRS L1 C 3 L1 P G1 P L1 SAIF 4 L1 M 5 L2 C G2 C A E6 CS B2 L2 C 6 L2 P G2 P E6 PRS LEX 7 L2 M 8 L5 G3 E5 a B3 L5 L5 9 E5 b 10 E5 a b Table 84 Satellite frequencies 13 9 41 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...

Page 138: ...packet 13 9 42 1 Odometer flags Bit Description 0 Reversing detection supported 1 7 Reserved set to zero Table 87 Odometer flags 13 9 43 External Air Data Packet External Air Data Packet Packet ID 68 Length 25 Field Bytes Offset Data Type Size Description 1 0 fp32 4 Barometric altitude delay s 2 4 fp32 4 Airspeed delay s 2 8 fp32 4 Barometric altitude m 3 12 fp32 4 Airspeed m s 4 16 fp32 4 Baromet...

Page 139: ...n the barometric altitude reference reset flag should be set for the next packet 13 9 44 Gimbal State Packet Gimbal State Packet Packet ID 72 Length 8 Field Bytes Offset Data Type Size Description 1 0 fp32 4 Current angle rad 2 4 4 Reserved set to zero Table 90 Gimbal state packet 13 9 45 Automotive Packet Automotive Packet Packet ID 73 Length 24 Field Bytes Offset Data Type Size Description 1 0 f...

Page 140: ...ion 13 10 1 2 Table 92 Packet timer period packet 13 10 1 1 UTC Synchronisation This is a boolean value that determines whether or not the packet timer is synchronised with UTC time with zero for disabled and one for enabled For UTC Synchronisation to be enabled the packet timer period must multiply into 1000000 evenly For example if the packet timer period is 10000 10 ms 1000000 10000 100 which i...

Page 141: ...1 Clear Existing Packets This is a boolean field when set to one it deletes any existing packet rates When set to zero existing packet rates remain Only one packet rate can exist per packet ID so new packet rates will overwrite existing packet rates for the same packet ID 13 10 2 2 Packet Period This indicates the period in units of the packet timer period The packet rate can be calculated as foll...

Page 142: ...d Rate 2400 to 2000000 5 13 4 Reserved set to zero Table 94 Baud rates packet 13 10 4 Sensor Ranges Packet Sensor Ranges Packet Packet ID 184 Length 4 Field Bytes Offset Data Type Size Description 1 0 u8 1 Permanent 2 1 u8 1 Accelerometers range see section 13 10 4 1 3 2 u8 1 Gyroscopes range see section 13 10 4 2 4 3 u8 1 Magnetometers range see section 13 10 4 3 Table 95 Sensor ranges packet 13 ...

Page 143: ... 04 06 2019 13 10 4 2 Gyroscopes Range Value Description 0 250 degrees second 1 500 degrees second 2 2000 degrees second Table 97 Gyroscopes range 13 10 4 3 Magnetometers Range Value Description 0 2 Gauss 1 4 Gauss 2 8 Gauss Table 98 Magnetometers range ...

Page 144: ...ment DCM 1 0 6 17 fp32 4 Alignment DCM 1 1 7 21 fp32 4 Alignment DCM 1 2 8 25 fp32 4 Alignment DCM 2 0 9 29 fp32 4 Alignment DCM 2 1 10 33 fp32 4 Alignment DCM 2 2 11 37 fp32 4 GNSS antenna offset X m 12 41 fp32 4 GNSS antenna offset Y m 13 45 fp32 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...

Page 145: ...tch sin roll DCM 1 2 cos pitch sin roll DCM 2 0 sin heading sin roll cos heading sin pitch cos roll DCM 2 1 cos heading sin roll sin heading sin pitch cos roll DCM 2 2 cos pitch cos roll 13 10 6 Filter Options 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 13 10 6 1 3 2 u8 1 Internal GNSS enabl...

Page 146: ...tion 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 101 Vehicle types 13 10 7 Advanced Filter Parameters Packet This packet is no longer supported ...

Page 147: ...ction 13 10 8 3 5 4 u8 1 Auxiliary RS232 receive function see section 13 10 8 4 6 5 8 Reserved set to zero Table 102 GPIO configuration packet 13 10 8 1 GPIO1 Functions Value Description 0 Inactive 1 1PPS Output 2 GNSS Fix Output 3 Odometer Input 4 Zero Velocity Input 5 Pitot Tube Input 7 NMEA Output 12 ANPP Output 13 Disable Magnetometers 14 Disable GNSS 15 Disable Pressure 16 Set Zero Orientatio...

Page 148: ... Encoder Phase A 44 Gimbal Encoder Phase B 45 Odometer Direction Forward Low 46 Odometer Direction Forward High 53 Reverse Alignment Forward Low 54 Reverse Alignment Forward High 55 Zero Angular Velocity Input Table 103 GPIO1 functions 13 10 8 2 GPIO2 Functions Value Description 0 Inactive 1 1PPS Output 2 GNSS Fix Output 3 Odometer Input 4 Zero Velocity Input 5 Pitot Tube Input 6 NMEA Input 8 Nova...

Page 149: ...ressure Depth Transducer 27 Left Wheel Speed Sensor 28 Right Wheel Speed Sensor 29 1PPS Input 30 Wheel Speed Sensor 31 Wheel Encoder Phase A 32 Wheel Encoder Phase B 33 Event 1 Input 34 Event 2 Input 35 Linkquest USBL Input 38 GNSS Receiver Passthrough 42 Serial Port Passthrough 43 Gimbal Encoder Phase A 44 Gimbal Encoder Phase B 45 Odometer Direction Forward Low 46 Odometer Direction Forward High...

Page 150: ...h Table 105 Auxiliary RS232 transmit functions 13 10 8 4 Auxiliary RS232 Receive Functions Value Description 0 Inactive 3 Odometer Input 4 Zero Velocity Input 5 Pitot Tube Input 6 NMEA Input 8 Novatel GNSS Input 9 Topcon GNSS Input 11 ANPP Input 13 Disable Magnetometers 14 Disable GNSS 15 Disable Pressure 16 Set Zero Orientation Alignment 17 System State Packet Trigger 18 Raw Sensors Packet Trigge...

Page 151: ...heel Speed Sensor 29 1PPS Input 30 Wheel Speed Sensor 33 Event 1 Input 34 Event 2 Input 35 Linkquest USBL Input 38 GNSS Receiver Passthrough 42 Serial Port Passthrough 45 Odometer Direction Forward Low 46 Odometer Direction Forward High 51 Nortek DVL Input 53 Reverse Alignment Forward Low 54 Reverse Alignment Forward High 55 Zero Angular Velocity Input Table 106 Auxiliary RS232 receive functions ...

Page 152: ...1 fp32 4 Soft iron transformation XZ 8 25 fp32 4 Soft iron transformation YX 9 29 fp32 4 Soft iron transformation YY 10 33 fp32 4 Soft iron transformation YZ 11 37 fp32 4 Soft iron transformation ZX 12 41 fp32 4 Soft iron transformation ZY 13 45 fp32 4 Soft iron transformation ZZ Table 107 Magnetic calibration values packet 13 10 10 Magnetic Calibration Configuration Packet Magnetic Calibration Co...

Page 153: ...s see section 13 10 11 1 2 1 u8 1 Magnetic calibration progress 3 2 u8 1 Local magnetic error Table 110 Magnetic calibration status packet 13 10 11 1 Magnetic Calibration Status Value Description 0 Magnetic calibration not completed 1 2D magnetic calibration completed 2 3D magnetic calibration completed 3 Custom values magnetic calibration completed 5 2D calibration in progress 6 3D calibration in...

Page 154: ...to zero 5 4 fp32 4 Pulse length m Table 112 Odometer configuration packet 13 10 13 Set Zero Orientation Alignment Packet This packet was modified as of firmware version 4 0 for code safety certification Previously it was 1 byte long with no verification sequence Set Zero Orientation Alignment Packet Packet ID 193 Length 5 Field Bytes Offset Data Type Size Description 1 0 u8 1 Permanent 2 1 u32 4 V...

Page 155: ...EA etc as well as heave point 1 The other heave point offsets apply only to heave points 2 4 in the Heave Packet Reference Point Offsets Packet Packet ID 194 Length 49 Field Bytes Offset Data Type Size Description 1 0 u8 1 Permanent 2 1 fp32 4 Primary reference point offset X m 3 5 fp32 4 Primary reference point offset Y m 4 9 fp32 4 Primary reference point offset Z m 5 13 fp32 4 Heave point 2 off...

Page 156: ...on 13 10 15 2 6 8 u16 2 GPRMC Rates see section 13 10 15 2 7 10 u16 2 GPHDT Rates see section 13 10 15 2 8 12 u16 2 GPGLL Rates see section 13 10 15 2 9 14 u16 2 PASHR Rates see section 13 10 15 2 10 16 u16 2 TSS1 Rates see section 13 10 15 2 11 18 u16 2 Simrad Rates see section 13 10 15 2 12 20 u16 2 GPROT Rates see section 13 10 15 2 13 22 u16 2 GPHEV Rates see section 13 10 15 2 14 24 u16 2 GPG...

Page 157: ... Rates Bit Description 0 3 GPIO 1 rate see section 13 10 15 3 4 7 Auxiliary RS232 Tx rate see section 13 10 15 3 8 15 Reserved set to zero Table 117 GPIO output rates 13 10 15 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...

Page 158: ...s when restoring to factory defaults User Data Packet Packet ID 198 Length 64 Field Bytes Offset Data Type Size Description 1 0 64 User data Table 119 User data packet 13 10 17 GPIO Input Configuration Packet GPIO Input Configuration Packet Packet ID 199 Length 65 Field Bytes Offset Data Type Size Description 1 0 u8 1 Permanent 2 1 fp32 4 Gimbal radians per encoder tick 3 2 60 Reserved set to zero...

Page 159: ...erein 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 PAT...

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