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Spatial FOG Reference Manual

Page 93 of 144

Version 2.3

03/05/2018

13 Advanced Navigation Packet Protocol

The Advanced Navigation Packet Protocol (ANPP) is a binary protocol designed with
high error checking, high efciency and safe design practices. It has a well defined
specification and is very fexible. It is used across all existing 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

unsigned long long, uint64_t

s64

8

long long, int64_t

fp32

4

foat

fp64

8

double

Table 21: Data type abbreviations used in the ANPP

13.2

Packet Structure

The ANPP packet structure is shown in Table 22 and the header format is shown in
Table 23. Example code can be downloaded from the software section.

Header

Header LRC

Packet ID

Packet Length

CRC16

Packet Data

Table 22: ANPP Packet Structure

«
...
92
93
94
95
96
...
»

Summary of Contents for Spatial FOG Dual

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

Page 2: ...na Survey Mount Assembly 22 7 Part Numbers and Ordering Options 23 7 1 Evaluation Kit 23 7 2 Standalone Unit 23 7 3 Internal GNSS Receiver License Upgrades 23 7 4 Accessories 24 8 Specifications 25 8 1 Mechanical Drawings 25 8 2 Navigation Specifications 26 8 3 Sensor Specifications 27 8 4 GNSS Specifications 27 8 5 Communication Specifications 28 8 6 Hardware Specifications 28 8 7 Electrical Spec...

Page 3: ...46 10 6 Data Anti Aliasing 46 10 7 Vehicle Profiles 46 10 8 Odometer Pulse Length 46 10 8 1 Odometer Automatic Pulse Length Calibration Procedure 46 10 9 Reversing Detection 47 10 10 Motion Analysis 47 10 11 RTK 47 10 11 1 Network RTK Corrections 47 10 11 2 Base station radio modem RTK corrections 48 10 12 Raw Satellite Data 48 10 13 Post Processing 49 10 14 RAIM 50 10 15 Heave 50 10 16 Environmen...

Page 4: ...formation 67 11 7 11 Heave 67 11 7 12 North Seeking Status 68 11 8 Configuration 70 11 8 1 Configuration Export 70 11 8 2 Filter Options 71 11 8 3 Packet Rates 72 11 8 4 Alignment Configuration 73 11 8 4 1 Alignment Ofset 73 11 8 4 2 GNSS Antenna Ofset 74 11 8 4 3 Odometer Ofset 74 11 8 4 4 External Data Ofset 74 11 8 5 Baud Rates 74 11 8 6 GPIO Configuration 75 11 8 7 Odometer 75 11 8 8 Reset 76 ...

Page 5: ...NSS Input 90 12 4 19 u blox GNSS Input 90 12 4 20 Hemisphere GNSS Input 90 12 4 21 Left Wheel Speed Sensor 90 12 4 22 Right Wheel Speed Sensor 90 12 4 23 1PPS Input 90 12 4 24 Wheel Speed Sensor 90 12 4 25 Wheel Encoder Phase A 90 12 4 26 Wheel Encoder Phase B 91 12 4 27 Event 1 Input 91 12 4 28 Event 2 Input 91 12 4 29 TSS1 Output 91 12 4 30 Simrad 1000 Output 91 12 4 31 Simrad 3000 Output 91 12 ...

Page 6: ...13 9 5 Position Standard Deviation Packet 106 13 9 6 Velocity Standard Deviation Packet 106 13 9 7 Euler Orientation Standard Deviation Packet 106 13 9 8 Quaternion Orientation Standard Deviation Packet 107 13 9 9 Raw Sensors Packet 107 13 9 10 Raw GNSS Packet 108 13 9 10 1 Raw GNSS Status 109 13 9 11 Satellites Packet 109 13 9 12 Detailed Satellites Packet 110 13 9 12 1 Satellite Systems 110 13 9...

Page 7: ... Packet 125 13 9 45 1 GNSS Manufacturer IDs 125 13 9 45 2 GNSS Receiver Models 126 13 9 46 North Seeking Initialisation Status Packet 126 13 9 46 1 North Seeking Initialisation Status Flags 127 13 9 46 2 North Seeking Initialisation Current Rotation Angle 127 13 9 47 Gimbal State Packet 127 13 9 48 Automotive Packet 128 13 10 Configuration Packets 129 13 10 1 Packet Timer Period Packet 129 13 10 1...

Page 8: ...put Configuration Packet 140 13 10 11 1 NMEA Fix Behaviour 140 13 10 11 2 GPIO Output Rates 141 13 10 11 3 GPIO Output Rates Index 141 13 10 12 Dual Antenna Configuration Packet 141 13 10 12 1 Ofset Types 142 13 10 12 2 Automatic Ofset Orientations 142 13 10 13 User Data Packet 142 13 10 14 GPIO Input Configuration Packet 143 ...

Page 9: ...on 2 Added part numbers and ordering options section 7 Updated serial number section 8 11 Updated Spatial FOG Manager changelog section 11 1 Added gimbal encoder phase a function section 12 4 33 Added gimbal encoder phase b function section 12 4 34 Added odometer direction forward low section 12 4 35 Added odometer direction forward high section 12 4 36 Updated reset packet with cold start option ...

Page 10: ...3 9 38 Added external odometer packet section 13 9 43 Added external air data packet section 13 9 44 Added GNSS receiver information packet section 13 9 45 Added north seeking initialisation status packet section 13 9 46 Added new stunt plane vehicle profile section 13 10 5 1 NMEA configuration packet has changed to GPIO output configuration packet section 13 10 11 Corrected error with dual antenn...

Page 11: ...ion 13 9 12 Added RTCM corrections packet section 13 9 36 Added external pitot pressure packet section 13 9 37 Added wind estimation packet section 13 9 38 Added heave packet section 13 9 39 Added post processing packet section 13 9 40 Added raw satellite data packet section 13 9 41 Added raw satellite ephemeris packet section 13 9 42 Updated filter options packet section 13 10 5 Updated GPIO conf...

Page 12: ...ed support for NMEA messages GPROT and GPHEV Added support for raw GNSS packet input Bug fix for NMEA mode character indicating incorrectly Bug fix for raw satellite data packet update rate not saving correctly 2 1 02 04 2015 Enhanced odometer hot start dead reckoning performance Bug fix with serial port passthrough incorrect port ID New tightly coupled heave filter operating at 1000Hz Improved ho...

Page 13: ...y available Improvements to car and fixed wing plane vehicle profiles Improvements to delay compensation filter Fixed bug that could cause temporary GNSS failure after long periods Raw GNSS packet updated to new format GPIO output configuration packet updated Support for external odometer packet added Support for external air data packet added Support for north seeking initialisation status packet...

Page 14: ...ernal improvements 2 1 09 05 2014 Hardware has changed from two enclosures to a single integrated enclosure Dimensions and weight changed Connector changed GNSS receiver changed from Trimble BD920 to Trimble BD930 Support for GPS L5 signal and BeiDou B1 B2 Reduced power consumption Reduced heat generation Same electrical connections and mounting footprint as previous hardware generations 1 5 17 10...

Page 15: ...S receiver These are coupled in a sophisticated fusion algorithm to deliver accurate and reliable navigation and orientation Spatial FOG 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 The Spatial FOG Manager software is downloadable from the soft...

Page 16: ...ery 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 diferences The principle of inertial navigation is the measurement of acc...

Page 17: ...ons are measured It is very important to align the axes correctly in installation otherwise the system won t work correctly These axes are marked on the top of the device as shown in Illustration 1 below with the X axis pointing in the direction of the connector the Z axis pointing down through the base of the unit and the Y axis pointing out of the starboard side When installed in an application ...

Page 18: ...n Illustration 3 provides the direction of positive rotation To use it point your thumb in the positive direction of that axis then the direction that your fingers curl over is the positive rotation on that axis 5 7 2 Rotation Order When multiple axes are rotated to imagine the final orientation the three rotations must be performed in the order heading first then pitch and then roll To deduce the...

Page 19: ...llipsoid Latitude is the angle that specifies the north to south position of a point on the Earth s surface Longitude is the angle that specifies the east to west position of a point on the Earth s surface The line of zero latitude is the equator and the line of zero longitude is the prime meridian Illustration 4 shows how latitude and longitude angles are used to describe a position on the surfac...

Page 20: ...ght will not be the same as the actual sea level For example in Australia the WGS84 height at sea level is 9 metres at some points 5 9 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 lin...

Page 21: ...lute positions on the Earth It s 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 ordi...

Page 22: ...120 240 V AC to 24 V DC power supply 6 2 Quick Start 1 Attach the interface cable harness to the Spatial FOG unit and screw up finger tight 2 Plug the power supply into the cable harness and then into the wall socket 3 Plug the USB to RS422 cable into the cable harness primary RS422 socket and your computer 4 Position the GNSS antenna level with a clear view of the sky and connect the coaxial cabl...

Page 23: ...eking Status dialogue in Spatial FOG Manager can be used to view the progress of the north seeking 9 To view the data logs click disconnect in Spatial FOG Manager In the tools menu select log converter and press 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...

Page 24: ... FOG unit L1 GPS GLONASS BeiDou SBAS DGNSS supported License required for RTK L2 L5 Galileo and raw data logging No cables included SPATIAL FOG2 NOGNSS Spatial FOG Unit No GNSS Spatial FOG unit without internal GNSS receiver No cables included Table 5 Standalone unit part numbers 7 3 Internal GNSS Receiver License Upgrades These license upgrades can either be ordered with the unit or purchased lat...

Page 25: ...industry standard connectors See section 8 10 BF046WS140612 06 Right Angle SMA to TNC 4m Cable Right Angle SMA to TNC connector 4 metre antenna cable G5Ant 53A4T1 Antcom GNSS Antenna Antcom G5 L1 L2 L5 GNSS antenna with survey mount 57970 10 INT Trimble Zephyr GNSS Antenna Trimble Zephyr 2 L1 L2 L5 GNSS Antenna OBDII ODOMETER OBDII Odometer OBDII Odometer Interface See section 9 8 2 AD UNIT Air Da...

Page 26: ...Spatial FOG Reference Manual Page 25 of 144 Version 2 3 03 05 2018 8 Specifications 8 1 Mechanical Drawings Illustration 10 Mechanical drawings of Spatial FOG ...

Page 27: ... 008 m Vertical Position Accuracy RTK 0 015 m Velocity Accuracy 0 007 m s Roll Pitch Accuracy 0 01 Heading Accuracy GNSS aided 0 05 Heading Accuracy north seeking only 0 25 secant latitude Heading Accuracy dual antenna upgrade 0 01 Roll Pitch Accuracy Kinematica Post Processing 0 005 Heading Accuracy Kinematica Post Processing 0 01 Hot Start Time 2 s Internal Filter Rate 1000 Hz Output Data Rate U...

Page 28: ... Noise Density Random Walk 120 ug Hz 0 07 m s hr 0 7 hr Hz 0 012 hr 210 uG Hz 0 56 Pa Hz Bandwidth 200 Hz 440 Hz 110 Hz 50 Hz Table 9 Sensor specifications 8 4 GNSS Specifications Parameter Value Supported Navigation Systems GPS L1 L2 L5 GLONASS L1 L2 GALILEO E1 E5 BeiDou B1 B2 Supported SBAS Systems WAAS EGNOS MSAS GAGAN QZSS Update Rate 20 Hz Hot Start First Fix 3 s Cold Start First Fix 30 s Hor...

Page 29: ...2 GPIO Level 5 V or RS232 Table 11 Communication specifications 8 6 Hardware Specifications Parameter Value Operating Voltage 9 to 36 V Input Protection 40 to 100 V Power Consumption 550 mA 12 V typical Backup Battery Capacity 24 hrs Backup Battery Charge Time 30 mins Backup Battery Endurance 10 years Operating Temperature 40 C to 75 C Environmental Sealing IP68 MIL STD 810G Shock Limit 25 g Dimen...

Page 30: ...Short Circuit Current 60 mA Rx Threshold Low 0 6 V 1 2 V Rx Threshold High 1 5 V 2 0 V RS422 Tx Diferential Output 1 5 V Tx Short Circuit Current 250 mA Rx Diferential Threshold 0 2 V 0 05 V GPIO Output Voltage Low 0 V 0 3 V Output Voltage High 4 8 V 5 V Output Current 5 mA Input Voltage 20 V 20 V Input Threshold Low 1 5 V Input Threshold High 3 5 V GNSS Antenna Active Antenna Supply Voltage 4 8 V...

Page 31: ...to Spatial FOG may be made with the Spatial FOG evaluation cable harness which provides a pre terminated 2 metre cable assembly with all signals broken out to industry standard connectors see section 8 10 Advanced Navigation also supplies connectors with 2 metres of unterminated cable see Illustration 12 Custom lengths are available on request Illustration 11 Maximum and typical current consumptio...

Page 32: ...ellow Power Supply 6 Green Primary RS422 Rx RS232 Rx 7 Blue Primary RS422 Rx 8 Violet Primary RS422 Tx RS232 Tx 9 Grey Primary RS422 Tx 10 White Auxiliary RS232 Tx 11 White Black Auxiliary RS232 Rx 12 White Brown GNSS RS232 Rx 13 White Red GNSS RS232 Tx Table 14 Pin allocation table for Spatial FOG connector Illustration 13 Spatial FOG mated connector clearance ...

Page 33: ...9 pin DSUB connectors on the communication channels with industry standard pinouts The evaluation cable harness is supplied as part of the Spatial FOG Evaluation Kit see section 6 Colour Function Primary Auxiliary GNSS GPIO Power Black GPIO 1 2 Brown GPIO 2 3 Red Signal Ground 5 5 5 5 Orange Power Ground Ring Yellow Power Supply Tip Green Primary RS422 Rx 3 Blue Primary RS422 Rx 7 Violet Primary R...

Page 34: ...ber 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 the hardware version and build date Applications are available for most smart pho...

Page 35: ... dialogue in Spatial FOG Manager Please see section 9 5 for more details Please note that the body axes are always X positive forward and Z positive down irrespective of any alignment ofset entered in the previous step 7 Enter the vehicle type in the Filter Options dialogue in Spatial FOG Manager 8 The system is now ready for use 9 2 Position and Alignment When installing Spatial FOG into a vehicl...

Page 36: ... configuration dialogue in Spatial FOG Manager see section 11 8 4 For easy alignment the set zero orientation button in the Spatial FOG Manager alignment dialogue can be used to set the current orientation as the zero orientation alignment see section 11 8 4 Please note that this will only correct for roll and pitch ofsets Any heading ofset will need to be entered manually and saved before using t...

Page 37: ...s recommended that the unit is always run at 10 V or more to avoid issues associated with this 9 5 GNSS Antenna The GNSS antenna should be installed level with a clear unobstructed view of the sky and close to the Spatial FOG unit where possible The antenna should be mounted away from any RF emitters It is important to have a ground plane fat conductive surface such as a piece of plate aluminium u...

Page 38: ...a should have a minimum LNA gain of 29dB and a maximum gain of 50dB The antenna should be environmentally sealed including connectors If you are sourcing your own antenna cables it is important to ensure that the antenna has enough gain to support the loss over the cable Spatial FOG requires a minimum of 29dB of gain at the connector With the standard 4 metre LMR240 antenna cables supplied by Adva...

Page 39: ...ensor signal that can be wired directly into one of Spatial FOG 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 the odometer input function using Spatial FOG Manager see section 11 8 6 The odometer pulse length must then be set either manually or automatically please see section 10 8 for more i...

Page 40: ...on recommends aftermarket wheel speed sensors from Pegasem or GMH Engineering 9 8 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 19 Advanced Navigation OBDII Odometer Illustra...

Page 41: ...erate the vibrations The raw sensor view in the Spatial FOG Manager software can give you a good idea of how bad the vibrations are If the vibrations are causing the sensors to go over range you will need to take preventative steps against the vibration If Spatial FOG is unable to tolerate the vibrations there are several options 1 Try to find a mounting point with less vibration 2 Spatial FOG can...

Page 42: ...curring if there are random accelerations present these can cause an incorrect orientation to be detected To prevent this Spatial FOG monitors the accelerometers and gyroscopes and restarts the orientation detection if there are sudden movements It is however still possible under some circumstances for it to miss minor movements and start with a small orientation error In this scenario Spatial FOG...

Page 43: ...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 FOG outputs will not be valid and may change 10 2 Hot Start Spatial FOG is the first GNSS INS on the market with hot start functionality This allows Spatial FOG to start inertial nav...

Page 44: ...tion of the north seeking takes 15 minutes and requires that the unit remain stationary in between three rotations With the assistance of another heading source the gyrocompass heading can take as little as 60 seconds to initialise and will not require any rotations or stationary time For example on a ship that is moving at a speed of over 1 15 metres second with velocity heading enabled the north...

Page 45: ...ading is very useful for getting accurate heading quickly on moving vehicles without requiring any specific initialisation procedure It is also able to initialise the north seeking gyrocompass heading without requiring the initialisation procedure described in section 10 4 1 10 4 3 Dual Antenna Heading Spatial FOG s internal GNSS receiver supports moving baseline RTK heading when paired with the o...

Page 46: ...ding that is external to Spatial FOG Examples include dual antenna GNSS systems reference markers and SLAM systems The heading must be fed into Spatial FOG using the External Heading Packet or through NMEA into a GPIO pin Illustration 23 Mechanical drawings of Spatial FOG dual antenna upgrade unit Illustration 24 Spatial FOG dual antenna upgrade cable diagram ...

Page 47: ...mmended to select it for use in the filter options dialogue in Spatial FOG Manager see section 11 8 2 For a list of the diferent vehicle profiles please see section 13 10 5 1 Please note that if the wrong vehicle profile is selected it can cause a significant decrease in performance 10 8 Odometer Pulse Length For Spatial FOG to use a wheel speed sensor or odometer input it must know the pulse leng...

Page 48: ...ost efective when the vehicle is near stationary Motion analysis does not work in all situations and it s primary benefit is in ground vehicles When active it can be recognised by 2Hz steps in velocity data Motion analysis is disabled by default and can be enabled using the filter configuration window in Spatial FOG Manager see section 11 8 2 10 11 RTK Spatial FOG s internal GNSS receiver supports...

Page 49: ...pically this range is approximately 50km Advanced Navigation recommends contacting a local surveying company for assistance setting up a base station 10 12 Raw Satellite Data Spatial FOG supports 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 satellite data is 20Hz and it c...

Page 50: ... 1 Connect to your device using Spatial FOG Manager 2 Ensure your GNSS ofset and any alignment ofset has been entered as per the installation checklist in section 9 1 3 Open the Baud Rates dialogue under the Configuration menu and set the primary port baud rate to 1 000 000 See Illustration 28 If you are using Windows ensure you have adjusted the latency settings for the serial port as detailed in...

Page 51: ...es for it s heave filter to converge upon an accurate solution Heave works without a GNSS fix however best heave performance is achieved when Spatial FOG has a GNSS fix By default Spatial FOG provides heave from the point at which the Spatial FOG unit is mounted however it can provide heave at four diferent ofset points on the ship To set the heave ofsets either use the heave configuration dialogu...

Page 52: ...Spatial FOG is completely sealed against dirt and dust entry It is important to note that this is only the case when the connectors are mated When un mating the connectors if the Spatial FOG unit is dirty or dusty the dirt should be rinsed of with fresh water first and then dried of This is to prevent dirt or dust entering the connectors which can cause them to fail 10 16 5 PH Level Environments w...

Page 53: ...3 05 2018 11 Spatial FOG Manager Spatial FOG Manager is a software tool provided by Advanced Navigation for logging testing display and configuration of Spatial FOG It is designed to be simple and easy to use Illustration 29 Screenshot of Spatial FOG Manager ...

Page 54: ...more graphics cards Status display now shows when heading not initialised Communications dialogue added section 11 7 9 GNSS receiver dialogue added section 11 7 10 Heave dialogue added section 11 7 11 North seeking status dialogue added section 11 7 12 GPIO output configuration dialogue added section 11 8 10 Dual antenna configuration dialogue added section 11 8 12 Configuration dialogues now auto...

Page 55: ...use Unfortunately Microsoft has not fixed this problem in over 15 years so it probably won t be fixed If you experience this problem often a restart will resolve it Otherwise there is a tool available at http www stentec com anonftp pub wingps pnpblockersetup exe that can fix the issue If the serial port does not show up when you plug in your Spatial FOG USB device you may need to install the driv...

Page 56: ...out Compiz causes issues with the 3D mapping If you are experiencing problems it is recommended to turn of 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 FOG Manager is able to run on the OpenJDK JRE but it uses significantly more Illustratio...

Page 57: ...Spatial FOG Reference Manual Page 56 of 144 Version 2 3 03 05 2018 system resources than when it is running on the Oracle JRE ...

Page 58: ...d click connect The default baud rate of Spatial FOG is 115200 The connection indicator displays whether there is communication with a Spatial FOG 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 Illustration 31 Screenshot of Spatial FOG Manager...

Page 59: ...view to Spatial FOG s location To move the camera click and drag on the map To zoom in and out use the scroll wheel To change the camera view right click and drag or shift click and drag 11 5 5 3D Map Controls 11 5 5 1 Reset View This resets the map view to Spatial FOG s current position 11 5 5 2 Clear History This clears the current position history this is the red trail shown on the map 11 6 Log...

Page 60: ... 3 03 05 2018 Google Earth 11 7 Views The views menu contains a number of diferent options for viewing data from Spatial FOG Illustration 32 Screenshot showing log file and log conversion folder Illustration 33 Screenshot of Spatial FOG Manager views menu ...

Page 61: ... Information 11 7 2 Status Status shows Spatial FOG s complete status as contained in the system state packet detailed in section 13 9 1 1 Illustration 34 Screenshot of Spatial FOG Manager device information dialogue Illustration 35 Screenshot of Spatial FOG Manager status dialogue ...

Page 62: ...n 2 3 03 05 2018 11 7 3 Satellites Satellites shows detailed information on the satellites that Spatial FOG s GNSS receiver is tracking Elevation and azimuth are in units of degrees Illustration 36 Screenshot of Spatial FOG Manager satellites dialogue ...

Page 63: ...OG Reference Manual Page 62 of 144 Version 2 3 03 05 2018 11 7 4 Raw Sensors Raw sensors shows the temperature calibrated raw sensor values Illustration 37 Screenshot of Spatial FOG Manager raw sensors dialogue ...

Page 64: ...ce Manual Page 63 of 144 Version 2 3 03 05 2018 11 7 5 Orientation Orientation shows Spatial FOG s orientation angular velocity and orientation error Illustration 38 Screenshot of Spatial FOG Manager orientation dialogue ...

Page 65: ...3 03 05 2018 11 7 6 Position Position shows Spatial FOG s position and position error Latitude and longitude are converted to North and East metres from a reference point that can be reset Illustration 39 Screenshot of Spatial FOG Manager position dialogue ...

Page 66: ...ge 65 of 144 Version 2 3 03 05 2018 11 7 7 Velocity and Acceleration Velocity and Acceleration shows Spatial FOG s velocity acceleration and g force Illustration 40 Screenshot of Spatial FOG Manager velocity and acceleration dialogue ...

Page 67: ...gue shows a real time 3D model of Spatial FOG s orientation 11 7 9 Communications Statistics This dialogue shows statistics on the data packets received from Spatial FOG and can be useful in diagnosing signal integrity problems Illustration 41 Screenshot of Spatial FOG Manager 3D model dialogue ...

Page 68: ...NSS receiver contained inside of Spatial FOG 11 7 11 Heave For the heave dialogue to function the heave packet ID 58 must be set to output periodically using the Packet Rates dialogue Illustration 42 Screenshot of Spatial FOG Manager communications statistics dialogue Illustration 43 Screenshot of Spatial FOG Manager GNSS receive information dialogue ...

Page 69: ...north seeking initialisation however it can be very helpful for users getting accustomed to the process The error value provided gives an approximation of the bias convergence accuracy A good initialisation should yield an error of less than 10 Each quadrant represents a 90 degree segment about the Z axis in which data must be collected and the unit starts at zero degrees in quadrant 1 when powere...

Page 70: ...Spatial FOG Reference Manual Page 69 of 144 Version 2 3 03 05 2018 Illustration 45 Screenshot of Spatial FOG Manager north seeking status dialogue Illustration 46 North seeking quadrants around Z axis ...

Page 71: ... configuration export dialogue can be used to export all Spatial FOG 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 47 Screenshot of Spatial FOG Manager configuration menu Illustration 48 Screenshot of Spatial Manager configuration expor...

Page 72: ...05 2018 11 8 2 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 49 Screenshot of Spatial FOG Manager filter options dialogue ...

Page 73: ...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 FOG 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 50 Screenshot of Spatial FOG Ma...

Page 74: ...alled in a diferent orientation then the roll pitch and heading ofset 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 ofset of 90 degrees with roll and heading remaining zero If there is a small misalignment due to mechanical mounting error this can be compens...

Page 75: ...frame X positive forward Z positive down 11 8 4 4 External Data Ofset 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 5 Baud Rates When changing baud rates some Microsoft Windows machines are unable to function at the higher baud rates It is recommended to test ...

Page 76: ...s 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 7 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 53 Screenshot of Spatial FOG Manager GPIO configuratio...

Page 77: ...er to move the heave measurement points to diferent positions on the vessel When the values are zero the measurement point is the centre of the Spatial FOG unit This can be ofset to a diferent position on the ship by entering the ofset value from the centre of the Spatial FOG unit to the desired position in the body co ordinate frame X positive forwards Z positive down Please note that these value...

Page 78: ...3 03 05 2018 11 8 10 GPIO Output 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 56 Screenshot of Spatial FOG Manager heave ofset dialogue ...

Page 79: ...Spatial FOG Reference Manual Page 78 of 144 Version 2 3 03 05 2018 Illustration 57 Screenshot of Spatial FOG Manager GPIO output configuration dialogue ...

Page 80: ... position configuration dialogue can be used to manually set the position of Spatial FOG when the unit is supplied without a GNSS receiver or when a GNSS fix is not available Setting this value will initialise navigation Illustration 58 Screenshot of Spatial FOG Manager position configuration dialogue ...

Page 81: ...nnas must be installed in one of four diferent automatic ofset orientations aligned on an axis If it is not possible to use one of the automatic ofsets the antennas can be installed in any configuration and a manual ofset should be entered The manual ofset is measured from the central base of the secondary antenna to the central base of the primary antenna in the body co ordinate frame X positive ...

Page 82: ...Advanced Navigation engineers 11 9 2 Firmware Update The firmware update dialogue is used to update Spatial FOG s firmware Advanced Navigation firmware files have the extension anfw The dialogue shows the version number of the firmware file along with the date and time it was generated by engineering Illustration 60 Screenshot of Spatial FOG Manager tools menu Illustration 61 Screenshot of Spatial...

Page 83: ...ream correction data to Spatial FOG for DGPS or RTK The NTRIP client requires an internet connection to function Please contact support advancednavigation com au for guidance on getting set up with network DGPS or RTK 11 9 5 Network Connect The network connect dialogue allows Spatial FOG Manager to make a connection to Spatial FOG over a TCP IP network rather than the default serial port connectio...

Page 84: ...Spatial FOG Reference Manual Page 83 of 144 Version 2 3 03 05 2018 Illustration 64 Screenshot of Spatial FOG Manager network connect dialogue ...

Page 85: ...mple if the baud rate is 115 200 then the data rate is 11 520 bytes per second 12 2 External Data External sources of position velocity and or heading can be integrated into Spatial FOG s filter solution The data can be sent to Spatial FOG in the ANPP format over the primary port or through one of the GPIO pins in a number of diferent formats If using the ANPP please use Table 17 below to find the...

Page 86: ...ls or RS232 levels When these pins are used for digital input digital output frequency input or frequency output the pins operate at standard 0 to 5 volt levels 20 to 20 volt tolerant When the pins are used for serial receive or serial transmit the pins automatically switch to RS232 voltage levels 12 3 2 GNSS RS232 The GNSS RS232 is a fixed function RS232 port that is directly connected to the int...

Page 87: ... Transmit 1 Transmit Simrad 3000 Output Serial Transmit 1 Transmit Serial Port Pass through Packet Serial All All Gimbal Encoder Phase A Frequency Input All Gimbal Encoder Phase B Frequency Input All Odometer Direction Forward Low Digital Input All Odometer Direction Forward High Digital Input All Nortek DVL Binary Format Input Serial Receive 2 Receive Table 18 GPIO pin functions 12 4 1 1PPS Outpu...

Page 88: ... function a high state indicates to Spatial FOG that it is stationary The low state indicates that the vehicle is not stationary 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 diferent...

Page 89: ...vanced Navigation recommends against using NMEA where possible due to the inefciency 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 ...

Page 90: ...et Zero Orientation Alignment This function accepts a digital input The input is normally low and a transition from low to high causes Spatial FOG to set it s alignment so that the current orientation is zero Due to the risk of exhausting the fash cycles the change is not permanent and will disappear on reset To make it permanent the Installation Alignment Packet must be read and then sent back to...

Page 91: ...low for transmission of heading information 12 4 21 Left Wheel Speed Sensor This function is designed for the left wheel of a vehicle with dual wheel speed sensors 12 4 22 Right Wheel Speed Sensor This function is designed for the right wheel of a vehicle with dual wheel speed sensors 12 4 23 1PPS Input This function is designed to allow external GNSS receivers to synchronise time with Spatial FOG...

Page 92: ...d using the GPIO output configuration dialogue in Spatial Manager see section 11 8 10 12 4 30 Simrad 1000 Output This function outputs the Simrad 1000 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 10 12 4 31 Simrad 3000 Output This function outputs the Simrad 3000 format at a user co...

Page 93: ...meter or wheel encoder It should be used in combination with Odometer Input or Wheel Speed Sensor 12 4 36 Odometer Direction Forward High This 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 37 Nortek DVL Binary Format Input This function accepts DVL data in the...

Page 94: ...ypes 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 foat fp64 8 double Table 21 Data type abbreviations used in the ANPP 13...

Page 95: ... this range there are three diferent 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 t...

Page 96: ...put 5250 bytes per second Minimum baud rate data throughput x 11 57750 Baud Closest standard baud rate 115200 Baud When multiple packets are set to output at the same rate the order the packets output is from lowest ID to highest ID 13 6 Packet Timing Packets are output in order of packet ID from lowest ID to highest ID and all packets that are output in one sequence have their data matched to the...

Page 97: ...tellites 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 DCM Orientation Packet 42 12 R Angular Velocity Packet 43 12 R Angular Acceleration Packet 44 60 ...

Page 98: ...North Seeking Initialisation Status 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 Baud Rates 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 GPIO Configuration Packet 192 8 R W Odometer Configuratio...

Page 99: ...cknowledge Result Value 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 fash memory failure 5 Acknowledge failure system not ready 6 Acknowledge failure unknown packet Table 26 Acknowledge result 13 8 2 Request Packet Request Packet Packet ID 1 Length 1 x ...

Page 100: ...packet 13 8 3 1 Boot Mode Types Value Description 0 Bootloader 1 Main Program Table 29 Boot mode types 13 8 4 Device Information Packet Device Information Packet Packet ID 3 Length 24 Field Bytes Ofset 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 ...

Page 101: ...Type Size Description 1 0 u32 4 Verification sequence see section 13 8 6 1 Table 32 Reset packet 13 8 6 1 Verification Sequence Values Value Description 0x21057A7E Standard hot start reset 0x9A5D38B7 Cold start reset Table 33 Verification sequence values 13 8 7 Serial Port Pass through Packet Serial Port Pass through Packet Packet ID 10 Length Variable up to 255 bytes Field Bytes Ofset Data Type S...

Page 102: ...Spatial FOG Reference Manual Page 101 of 144 Version 2 3 03 05 2018 1 GPIO 1 and 2 2 Auxiliary RS232 Table 35 Pass through routes ...

Page 103: ...ee section 13 9 1 1 2 2 u16 2 Filter status see section 13 9 1 2 3 4 u32 4 Unix time seconds see section 13 9 1 4 4 8 u32 4 Microseconds see section 13 9 1 5 5 12 fp64 8 Latitude rad 6 20 fp64 8 Longitude 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 ...

Page 104: ...icating true Bit Description 0 System Failure 1 Accelerometer Sensor Failure 2 Gyroscope Sensor Failure 3 Magnetometer 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 Disconnect...

Page 105: ...nt 2 Occurred 9 Internal GNSS Enabled 10 Dual Antenna Heading Active 11 Velocity Heading Enabled 12 Atmospheric Altitude Enabled 13 External Position Active 14 External Velocity Active 15 External Heading Active Table 38 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 Diferential GN...

Page 106: ... 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 40 Unix time packet 13 9 3 Formatted Time Packet Formatted Time Packet Packet ID 22 Length 14 Field Bytes Ofset 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 Week Day 0 6 7 11 u8 1 Hour...

Page 107: ... 8 fp32 4 Height standard deviation m Table 43 Position standard deviation packet 13 9 6 Velocity Standard Deviation Packet Velocity Standard Deviation Packet Packet ID 25 Length 12 Field Bytes Ofset Data Type Size Description 1 0 fp32 4 Velocity north standard deviation m s 2 4 fp32 4 Velocity east standard deviation m s 3 8 fp32 4 Velocity down standard deviation m s Table 44 Velocity standard d...

Page 108: ...deviation 4 12 fp32 4 Q3 standard deviation Table 46 Quaternion orientation standard deviation packet 13 9 9 Raw Sensors Packet Raw Sensors Packet Packet ID 28 Length 48 Field Bytes Ofset Data Type Size 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 ra...

Page 109: ...he optional dual antenna upgrade kit or the add on SAASM GPS heading unit Raw GNSS Packet Packet ID 29 Length 74 Field Bytes Ofset 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...

Page 110: ...ilt valid 7 Heading valid 8 Floating ambiguity heading 9 15 Reserved set to zero Table 49 Raw GNSS status 13 9 11 Satellites Packet Satellites Packet Packet ID 30 Length 13 Field Bytes Ofset 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 50 Satell...

Page 111: ... 9 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 51 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 52 Satellite systems 13 9 12 2 Satellite Fr...

Page 112: ... 2 8 fp64 8 Longitude rad 3 16 fp64 8 Height m Table 54 Geodetic position packet 13 9 14 ECEF Position Packet ECEF Position Packet Packet ID 33 Length 24 Field Bytes Ofset 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 55 ECEF position packet 13 9 15 UTM Position Packet UTM Position Packet Packet ID 34 Length 26 Field Bytes Ofset Data Type Size Descri...

Page 113: ...e 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 57 NED velocity packet 13 9 17 Body Velocity Packet Body Velocity Packet Packet ID 36 Length 12 Field Bytes Ofset 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 58 Body velocity packet 13 9 18 Acceleration Packet This packe...

Page 114: ...es not include the acceleration due to gravity Body Acceleration Packet Packet ID 38 Length 16 Field Bytes Ofset 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 60 Body acceleration packet 13 9 20 Euler Orientation Packet Euler Orientation Packet Packet ID 39 Length 12 Field Bytes ...

Page 115: ...acket 13 9 22 DCM Orientation Packet DCM Orientation Packet Packet ID 41 Length 36 Field Bytes Ofset 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 63 DCM orientation packet 13 9 23 Angular Velocity Packet Angular Velocity Packet Packet ...

Page 116: ...ar acceleration packet 13 9 25 External Position Velocity Packet External Position Velocity Packet Packet ID 44 Length 60 Field Bytes Ofset Data 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 Velocity north m s 5 28 fp32 4 Velocity east m s 6 32 fp32 4 Velocity down m s 7 36 fp32 4 Latitude standard deviation m 8 40 fp32 4 Longitude standard...

Page 117: ...28 fp32 4 Longitude standard deviation m 6 32 fp32 4 Height standard deviation m Table 67 External position packet 13 9 27 External Velocity Packet External Velocity Packet Packet ID 46 Length 24 Field Bytes Ofset 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 4 12 fp32 4 Velocity north standard deviation m s 5 16 fp32 4 Velocity ...

Page 118: ...4 Velocity Y standard deviation m s 6 20 fp32 4 Velocity Z standard deviation m s Table 69 External body velocity packet 13 9 29 External Heading Packet External Heading Packet Packet ID 48 Length 8 Field Bytes Ofset Data Type Size Description 1 0 fp32 4 Heading rad 2 4 fp32 4 Heading standard deviation rad Table 70 External heading packet 13 9 30 Running Time Packet Running Time Packet Packet ID ...

Page 119: ...3 9 32 Odometer State Packet Odometer State Packet Packet ID 51 Length 20 Field Bytes Ofset 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 73 Odometer state packet 13 9 33 External Time Packet External Time Packet Packet ID 52 Length 8 Field Bytes Ofse...

Page 120: ...ns Mean Sea Level Height Height Geoid Height Depth Geoid Height Height Geoid Height Packet Packet ID 54 Length 4 Field Bytes Ofset Data Type Size Description 1 0 fp32 4 Geoid Height m Table 76 Geoid height packet 13 9 36 RTCM Corrections Packet This packet is used to encapsulate RTCM diferential or RTK correction data to be sent to Spatial FOG s internal GNSS receiver for diferential or RTK GNSS f...

Page 121: ...xternal pitot pressure packet 13 9 38 Wind Packet This packet provides Spatial FOG s current 2D wind velocity These values are only valid when external air data is provided to Spatial FOG This can be either through the External Pitot Pressure Packet the External Air Data Packet or when a pitot tube is interfaced to one of the GPIO pins When this packet is written to the device it disables the wind...

Page 122: ...1 m 2 4 fp32 4 Heave point 2 m 3 8 fp32 4 Heave point 3 m 4 12 fp32 4 Heave point 4 m Table 80 Heave packet 13 9 40 Post Processing Packet Spatial FOG Manager will automatically convert this packet to IMR format This packet has been left out of the reference manual as it is very rare for a customers requirements If you need the format of this packet please contact Advanced Navigation support ...

Page 123: ...s 2 12 u8 1 Receiver number 3 13 u8 1 Packet number 4 14 u8 1 Total packets 5 15 u8 1 Number of satellites For each satellite 7 16 u8 1 Satellite system see section 13 9 12 1 8 17 u8 1 PRN or satellite number 9 18 u8 1 Elevation degrees 10 19 u16 2 Azimuth degrees 11 21 u8 1 Number of frequencies For each frequency of each satellite 12 22 u8 1 Satellite frequency see section 13 9 41 1 13 23 u8 1 T...

Page 124: ... 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 Reserved 7 Reserved Table 83 Tracking status 13 9 42 Raw Satellite Ephemeris Packet Spatial Manager will automatically convert this packet to RINEX 3 02 format This packet has been left out of the reference manual due to it s length If you need the format...

Page 125: ...r packet 13 9 43 1 Odometer fags Bit Description 0 Reversing detection supported 1 7 Reserved set to zero Table 85 Odometer fags 13 9 44 External Air Data Packet External Air Data Packet Packet ID 68 Length 25 Field Bytes Ofset 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 Barometr...

Page 126: ... should be set for the next packet 13 9 45 GNSS Receiver Information Packet GNSS Receiver Information Packet Packet ID 69 Length 48 Field Bytes Ofset Data Type Size Description 1 0 u8 1 GNSS manufacturer ID see section 13 9 45 1 2 1 u8 1 GNSS receiver model see section 13 9 45 2 3 2 s8 10 10 GNSS serial number in ASCII character string 4 12 u32 4 Firmware version 5 16 u32 3 12 Software license cod...

Page 127: ...8 Field Bytes Ofset Data Type Size Description 1 0 u16 2 Flags see section 13 9 46 1 2 2 2 Reserved set to zero 3 4 u8 1 Quadrant 1 data collection progress 4 5 u8 1 Quadrant 2 data collection progress 5 6 u8 1 Quadrant 3 data collection progress 6 7 u8 1 Quadrant 4 data collection progress 7 8 fp32 4 Current rotation angle rad see section 13 9 46 2 8 12 fp32 4 Current gyroscope bias solution X ra...

Page 128: ...ching 4 North seeking initialisation paused due to excessive movement 5 16 Reserved set to zero Table 92 North seeking initialisation status fags 13 9 46 2 North Seeking Initialisation Current Rotation Angle Range Quadrant π 4 to π 4 Quadrant 1 π 4 to 3π 4 Quadrant 2 3π 4 to 3π 4 Quadrant 3 3π 4 to π 4 Quadrant 4 Table 93 North seeking initialisation current rotation angle 13 9 47 Gimbal State Pac...

Page 129: ...tomotive Packet Packet ID 73 Length 24 Field Bytes Ofset Data Type Size Description 1 0 fp32 4 Virtual odometer distance m 2 4 fp32 4 Slip Angle rad 3 8 fp32 4 Velocity X m s 4 12 fp32 4 Velocity Y m s 5 16 fp32 4 Distance standard deviation m 6 20 4 Reserved set to zero Table 95 Automotive packet ...

Page 130: ...Table 96 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 is valid for UT...

Page 131: ...2 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 fo...

Page 132: ...tes Packet Packet ID 182 Length 17 Field Bytes Ofset Data Type Size Description 1 0 u8 1 Permanent 2 1 u32 4 Primary port baud rate 1200 to 10 000 000 3 5 u32 4 GPIO 1 2 baud rate 1200 to 1000000 4 9 u32 4 Auxiliary RS232 baud rate 1200 to 1000000 5 13 4 Reserved set to zero Table 98 Baud rates packet ...

Page 133: ...2 4 GNSS antenna ofset Y m 13 45 fp32 4 GNSS antenna ofset Z m 14 49 fp32 4 Odometer ofset X m 15 53 fp32 4 Odometer ofset Y m 16 57 fp32 4 Odometer ofset Z m 17 61 fp32 4 External data ofset X m 18 65 fp32 4 External data ofset Y m 19 69 fp32 4 External data ofset Z m Table 99 Installation alignment packet 13 10 4 1 Alignment DCM The alignment DCM direction cosine matrix is used to represent an a...

Page 134: ...os roll 13 10 5 Filter Options Packet Filter Options Packet Packet ID 186 Length 17 Field Bytes Ofset Data Type Size Description 1 0 u8 1 Permanent 2 1 u8 1 Vehicle type see section 13 10 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...

Page 135: ...icle types 13 10 6 Advanced Filter Parameters Packet Please contact Advanced Navigation support 13 10 7 GPIO Configuration Packet GPIO Configuration Packet Packet ID 188 Length 13 Field Bytes Ofset Data Type Size Description 1 0 u8 1 Permanent 2 1 u8 1 GPIO1 function see section 13 10 7 1 3 2 u8 1 GPIO2 function see section 13 10 7 2 4 3 u8 1 Auxiliary RS232 transmit function section 13 10 7 3 5 4...

Page 136: ... Orientation Alignment 17 System State Packet Trigger 18 Raw Sensors Packet Trigger 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 39 TSS1 Output 40 Simrad 1000 Output 41 Simrad 3000 Output 42 Serial Port Passthrough 43 Gimbal Encoder Phase A 44 Gimbal Encoder Phase B 45 ...

Page 137: ...n Alignment 17 System State Packet Trigger 18 Raw Sensors Packet Trigger 19 RTCM Diferential GNSS Corrections Input 20 Trimble GNSS Input 21 u blox GNSS Input 22 Hemisphere GNSS Input 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 42 Serial Port Passthrough 43 Gimbal Enco...

Page 138: ...ad 3000 Output 42 Serial Port Passthrough Table 105 Auxiliary RS232 transmit functions 13 10 7 4 Auxiliary RS232 Receive Functions Value Description 0 Inactive 6 NMEA Input 8 Novatel GNSS Input 9 Topcon GNSS Input 11 ANPP Input 19 RTCM Diferential GNSS Corrections Input 20 Trimble GNSS Input 21 u blox GNSS Input 22 Hemisphere GNSS Input 42 Serial Port Passthrough 51 Nortek DVL Binary Format Input ...

Page 139: ...acket Packet ID 193 Length 5 Field Bytes Ofset Data Type Size Description 1 0 u8 1 Permanent 2 1 u32 4 Verification sequence set to 0x9A4E8055 Table 108 Set zero orientation alignment packet 13 10 10 Reference Point Ofsets Packet The reference point ofsets 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 mea...

Page 140: ...rimary reference point ofset Y m 4 9 fp32 4 Primary reference point ofset Z m 5 13 fp32 4 Heave point 2 ofset X m 6 17 fp32 4 Heave point 2 ofset Y m 7 21 fp32 4 Heave point 2 ofset Z m 8 25 fp32 4 Heave point 3 ofset X m 9 29 fp32 4 Heave point 3 ofset Y m 10 33 fp32 4 Heave point 3 ofset Z m 11 37 fp32 4 Heave point 4 ofset X m 12 41 fp32 4 Heave point 4 ofset Y m 13 45 fp32 4 Heave point 4 ofse...

Page 141: ... Rates see section 13 10 11 2 8 12 u16 2 GPGLL Rates see section 13 10 11 2 9 14 u16 2 PASHR Rates see section 13 10 11 2 10 16 u16 2 TSS1 Rates see section 13 10 11 2 11 18 u16 2 Simrad Rates see section 13 10 11 2 12 20 u16 2 GPROT Rates see section 13 10 11 2 13 22 u16 2 GPHEV Rates see section 13 10 11 2 14 24 u16 2 GPGSV Rates see section 13 10 11 2 15 26 u16 2 PFECAtt Rates see section 13 10...

Page 142: ...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 113 GPIO output rates index 13 10 12 Dual Antenna Configuration Packet By default the system uses automatic ofset with primary front and secondary rear If entering a manual ofset the automatic ofset orientation type is ignored and can be set to zero Likewise when using an automatic ofset t...

Page 143: ... X m 6 9 fp32 4 Manual ofset Y m 7 13 fp32 4 Manual ofset Z m Table 114 Dual antenna configuration packet 13 10 12 1 Ofset Types Value Description 0 Manual ofset 1 Automatic ofset Table 115 Ofset types 13 10 12 2 Automatic Ofset Orientations Value Description 0 Primary front and secondary rear 1 Primary rear and secondary front 2 Primary right and secondary left 3 Primary left and secondary right ...

Page 144: ...e Size Description 1 0 64 User Data Table 117 User data packet 13 10 14 GPIO Input Configuration Packet GPIO Input Configuration Packet Packet ID 199 Length 65 Field Bytes Ofset 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 Table 118 GPIO input configuration packet ...

Page 145: ...rein 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 PATE...

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