Advanced Navigation Spatial Dual Reference Manual
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Advanced Navigation Spatial Dual Reference Manual

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Summary of Contents for Advanced Navigation Spatial Dual

  • Page 1 Spatial Dual Reference Manual...

  • Page 2: Table Of Contents

    8.6 Communication Specifications................28 8.7 Hardware Specifications................... 29 8.8 Electrical Specifications..................30 8.9 Power Consumption..................31 8.10 Connector Pin-out................... 31 8.11 Spatial Dual Evaluation Cable Harness............32 8.12 Sensor Calibration..................33 8.13 Serial Number....................33 9 Installation....................... 35 9.1 Installation Checklist..................35 9.2 Position and Alignment..................
  • Page 3 10.16.2 Water..................... 50 10.16.3 Salt......................50 10.16.4 Dirt and Dust..................51 10.16.5 PH Level....................51 10.16.6 Shocks....................51 11 Spatial Dual Manager.................... 52 11.1 Software Changelog..................53 11.2 System Requirements..................53 11.3 Installation...................... 54 11.4 Troubleshooting....................54 11.4.1 All Platforms.................... 54 11.4.2 Windows....................
  • Page 4 Spatial Dual Reference Manual Page 3 of 137 Version 2.3 12/04/2016 11.5.2 Attitude Indicator..................56 11.5.3 Status Indicator..................57 11.5.3.1 Spatial Status Indicator..............57 11.5.3.2 Fix Indicator..................57 11.5.3.3 Satellites Table................. 57 11.5.4 3D Map....................57 11.5.5 3D Map Controls..................57 11.5.5.1 Reset View..................
  • Page 5 Spatial Dual Reference Manual Page 4 of 137 Version 2.3 12/04/2016 12.2 External Data....................80 12.3 GPIO Pins and Auxiliary RS232...............80 12.3.1 1PPS Output.................... 82 12.3.2 GNSS Fix Output..................82 12.3.3 Odometer Input..................82 12.3.4 Zero Velocity Input..................83 12.3.5 NMEA Input....................83 12.3.6 NMEA Output...................
  • Page 6 Spatial Dual Reference Manual Page 5 of 137 Version 2.3 12/04/2016 13.8 System Packets....................93 13.8.1 Acknowledge Packet................93 13.8.1.1 Acknowledge Result.................93 13.8.2 Request Packet..................93 13.8.3 Boot Mode Packet..................94 13.8.3.1 Boot Mode Types................94 13.8.4 Device Information Packet...............94 13.8.5 Restore Factory Settings Packet...............95 13.8.6 Reset Packet....................
  • Page 7 Spatial Dual Reference Manual Page 6 of 137 Version 2.3 12/04/2016 13.9.30 Running Time Packet................113 13.9.31 Local Magnetic Field Packet..............114 13.9.32 Odometer State Packet................114 13.9.33 External Time Packet................114 13.9.34 Geoid Height Packet................115 13.9.35 RTCM Corrections Packet..............115 13.9.36 External Pitot Pressure Packet.............115 13.9.37 Wind Packet..................
  • Page 8 Spatial Dual Reference Manual Page 7 of 137 Version 2.3 12/04/2016 13.10.11 Reference Point Offsets Packet............132 13.10.12 GPIO Output Configuration Packet.............134 13.10.12.1 NMEA Fix Behaviour..............134 13.10.12.2 GPIO Output Rates..............134 13.10.12.3 GPIO Output Rates Index............135 13.10.13 Dual Antenna Configuration Packet...........135 13.10.13.1 Offset Types................136 13.10.13.2 Automatic Offset Orientations............136...

  • Page 9: Revision History

    Updated images in foundation knowledge, section 5 Updated sensor specifications with more detail, section 8.4 Added antenna offset diagrams, section 9.5 Updated Spatial Dual Manager changelog, section 11.1 14/04/2015 Updated firmware changelog, section 2 Added part numbers and ordering options, section 7 Updated Spatial Dual evaluation cable harness, section 8.11...
  • Page 10 Updated antenna installation, section 9.5 Removed underwater navigation section Added Omnistar operation, section 10.11 Added RTK operation, section 10.12 Added Spatial Dual Manager, section 11 Added TSS1 output, section 12.3.29 Added Simrad 1000 output, section 12.3.30 Added Simrad 3000 output, section 12.3.31 Added Dual antenna configuration packet, section 13.10.13...

  • Page 11: Firmware Changelog

    Spatial Dual Reference Manual Page 10 of 137 Version 2.3 12/04/2016 Firmware Changelog Version Date Changes 05/04/2016 Performance improvements Added support for NMEA messages GPROT and GPHEV Added support for raw GNSS packet input Bug fix for NMEA mode character indicating incorrectly...
  • Page 12 Spatial Dual Reference Manual Page 11 of 137 Version 2.3 12/04/2016 Version Date Changes 10/03/2014 Update internal AN RTOS to v4.0 Improved heading performance in multipath conditions Added TSS1 output support Added Simrad 1000 output support Added Simrad 3000 output support...

  • Page 13: Hardware Changelog

    Pin 1 changed from ground to signal ground Pin 9 changed from unused to power ground Spatial Dual evaluation kit interface cables now join pin 1 and 9 in splice for backwards compatibility GPIO pins now automatically switch from TTL levels to...

  • Page 14: Introduction

    Spatial Dual 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.

  • Page 15: Foundation Knowledge

    12/04/2016 Foundation Knowledge This chapter is a learning reference that briefly covers knowledge essential to understanding Spatial Dual and the following chapters. It explains the concepts in simple terms so that people unfamiliar with the technology may understand it. GNSS GNSS stands for global navigation satellite system.

  • Page 16: The Sensor Co-Ordinate Frame

    Z axis pointing down through the base of the unit and the Y axis pointing off to the right. Illustration 1: Spatial Dual axes Illustration 2: First right hand rule When installed in an application the X axis should be aligned such that it points forwards and the Z axis aligned so that it points down when level.

  • Page 17: Rotation Order

    This can be hard for some people to grasp at first and is often best learned experimentally by rotating Spatial Dual with your hand whilst watching the orientation plot in real time on the computer.
  • Page 18 Spatial Dual Reference Manual Page 17 of 137 Version 2.3 12/04/2016 Illustration 4: Latitude and longitude represented visually to describe a position Illustration 5 below shows latitude and longitude on a map of the world.

  • Page 19: Ned Co-Ordinate Frame

    Spatial Dual Reference Manual Page 18 of 137 Version 2.3 12/04/2016 Equator Illustration 5: World map showing latitudes and longitudes Latitude and longitude give the 2D point on the surface of the Earth. These are combined with height to give the 3D position on the Earth.

  • Page 20: Ecef Co-Ordinate Frame

    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.

  • Page 21: Evaluation Kit

    Version 2.3 12/04/2016 Evaluation Kit Spatial Dual is supplied in an evaluation kit that contains everything required to get started operating the system right away. The evaluation kit is supplied in a rugged transport case to protect the equipment during shipping.

  • Page 22: Antenna Survey Mount Assembly

    12/04/2016 7. Click the connect button in Spatial Dual Manager. 8. The various windows in Spatial Dual Manager can be used to view the real time data. 9. The dual antenna heading will take a short time to initialise. The progress can be monitored in the status view.

  • Page 23: Part Numbers And Ordering Options

    Spatial Dual Reference Manual Page 22 of 137 Version 2.3 12/04/2016 Part Numbers and Ordering Options Evaluation Kit Part Number Description Notes SPATIAL-DUAL-EK Spatial Dual Spatial Dual evaluation kit Evaluation Kit Includes items listed in section 6.1 L1/L2/L5 GPS, GLONASS, Omnistar,...

  • Page 24: Internal Gnss Receiver License Upgrades

    Page 23 of 137 Version 2.3 12/04/2016 Internal GNSS Receiver License Upgrades These license upgrades can either be ordered with the unit or purchased later and installed in the field using Spatial Dual Manager. Part Number Description Notes SD-BEI-UPG Spatial Dual...

  • Page 25: Accessories

    Spatial Dual ODU plug with 2m of 2m cable unterminated cable, see section 8.10 (unterminated) A503-SDC20753 ODU to D9 Spatial Dual ODU plug with 2m of cable to connectors and industry standard D9 connectors and DC DC socket socket, see section 8.11 CABLE-FTDI-DSUB-232...

  • Page 26: Specifications

    Spatial Dual Reference Manual Page 25 of 137 Version 2.3 12/04/2016 Specifications Mechanical Drawings Illustration 10: Mechanical drawings of Spatial Dual...

  • Page 27: Navigation Specifications

    Spatial Dual Reference Manual Page 26 of 137 Version 2.3 12/04/2016 Navigation Specifications Parameter Value Horizontal Position Accuracy 1.2 m Vertical Position Accuracy 2.0 m Horizontal Position Accuracy (SBAS) 0.5 m Vertical Position Accuracy (SBAS) 0.8 m Horizontal Position Accuracy (Omnistar) 0.1 m...

  • Page 28: Sensor Specifications

    Spatial Dual Reference Manual Page 27 of 137 Version 2.3 12/04/2016 Sensor Specifications Parameter Accelerometers Gyroscopes Magnetometers Pressure Range 250 °/s 10 to 120 KPa (dynamic) 500 °/s 16 g 2000 °/s Bias Instability 20 ug 3 °/hr 10 Pa Initial Bias <...

  • Page 29: Gnss Specifications

    Spatial Dual Reference Manual Page 28 of 137 Version 2.3 12/04/2016 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 Omnistar HP/XP/G2...

  • Page 30: Hardware Specifications

    Spatial Dual Reference Manual Page 29 of 137 Version 2.3 12/04/2016 Hardware Specifications Parameter Value Operating Voltage 9 to 36 V Input Protection -40 to 100 V Power Consumption 220 mA @ 12 V (typical) Hot Start Battery Capacity > 24 hrs...

  • Page 31: Electrical Specifications

    Spatial Dual Reference Manual Page 30 of 137 Version 2.3 12/04/2016 Electrical Specifications Parameter Minimum Typical Maximum Power Supply Input Supply Voltage 36 V Input Protection Range -40 V 100 V RS232 Tx Voltage Low -5.4 V -5 V Tx Voltage High 5.4 V...

  • Page 32: Power Consumption

    Power supply and signal connections are made through a ODU Mini-Snap Series B 9 pin connector. The ODU part number is S30B0SP09MCC00-5000. The connector provides a reliable and rugged connection to Spatial Dual under demanding conditions and is rated to IP68 in the mated condition. Plugs are supplied with 2 metres of unterminated shielded TPE cable.

  • Page 33: Spatial Dual Evaluation Cable Harness

    2m of cable. For quick testing in applications, the interface cable is provided with industry standard 9 pin DSUB for the two RS232 communication channels and the GPIO pins. The evaluation cable harness is supplied as part of the Spatial Dual Evaluation Kit, see section 6.

  • Page 34: Sensor Calibration

    8.13 Serial Number The serial number can be inspected by using the device information dialogue in the Spatial Dual Manager software, see section 11.7.1. The primary serial number label is...
  • Page 35 Version 2.3 12/04/2016 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.

  • Page 36: Installation

    There are a number of goals in selecting a mounting site in your application, these are: 1. Spatial Dual should be mounted in an area that is not going to exceed it's temperature range. 2. Spatial Dual should be mounted away from high levels of vibration where possible.

  • Page 37: Alignment

    Z axis points down towards the ground. If aligning Spatial Dual with the vehicle axes is not possible or not optimal, it may be mounted in a different alignment and the alignment offset should be configured using Spatial Dual Manager, see section 11.8.5.

  • Page 38: Gnss Antennas

    Spatial Dual Manager, see section 11.8.5. The antenna offset is measured from the centre of the Spatial Dual unit to the central base (ARP) of the antenna in the body frame. It is very important to set the antenna offset accurately as Spatial Dual corrects for lever arm velocities.
  • Page 39 Spatial Dual Manager, see section 11.8.13. Illustration 18: Spatial Dual example antenna placement The standard antenna supplied in the Spatial Dual evaluation kit is the Antcom G5Ant- 53A4T1. It is an L1/L2/L5 RTK antenna that supports GPS, GLONASS, BeiDou, Galileo,...

  • Page 40: Gnss Antenna Cables

    There are several different options for odometer installation which are listed below. 9.7.1 Factory VSS Signal Most road cars since 1980 contain a VSS (vehicle speed sensor) signal that can be wired directly into one of Spatial Dual's GPIO pins. The vehicle should be taken to an...

  • Page 41: Obdii Odometer Interface

    To setup the odometer, the appropriate GPIO pin should be set to odometer input using Spatial Dual Manager. The odometer pulse length must then be set either manually or automatically, please see section 10.8 for more information.

  • Page 42: Radar Speed Sensor

    Magnetics Spatial Dual contains magnetometers which it uses to determine when the heading is stationary to reduce drift when dual antenna heading is not available. For best heading performance through extended GNSS outages, it is recommended to mount Spatial Dual at least 10cm away from dynamic magnetic interference sources.

  • Page 43: Vibration

    This is due to a unique gyroscope design and a special filtering algorithm. There is however a limit to the amount of vibration that Spatial Dual can tolerate and large levels of vibration can cause Spatial Dual's accuracy to degrade.

  • Page 44: Operation

    Once orientation initialisation is complete, the roll, pitch and angular velocity values will be valid. When Spatial Dual starts up, it assumes that it can be in any orientation. To determine it's 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.

  • Page 45: Heading Initialisation

    Spatial Dual to start inertial navigation within 500 milliseconds and obtain a GNSS fix in as little as 3 seconds. Spatial Dual's hot start is always on and fully automatic. A next generation backup battery system within Spatial Dual provides the hot start ability for more than 24 hours without power.

  • Page 46: Time

    Spatial Dual was designed to provide a highly accurate time reference. When a GNSS fix is available Spatial Dual's time is accurate to within 50 nanoseconds. When a GNSS fix is lost, Spatial Dual's time accuracy typically remains within 10 microseconds over extended time periods.

  • Page 47: Data Anti Aliasing

    To prevent this problem, if the output rate is lower than 1000 Hz, Spatial Dual will low pass filter the values of the time dependent data between packets to prevent aliasing. This is only the case when a packet is set up to output at a certain rate.

  • Page 48: Reversing Detection

    12/04/2016 over flat terrain with as little turning as possible. 4. If Spatial Dual loses a GNSS fix for any extended period of time during the calibration, the distance travelled will be reset. The distance travelled can be checked in the odometer configuration dialogue to ensure that it has passed 1000m.

  • Page 49: Network Rtk Corrections

    10.12.1 Network RTK Corrections Spatial Dual Manager has a built in NTRIP client that can connect to a network RTK service to provide RTK corrections to Spatial Dual. Please see section 11.9.4. This requires that the computer running Spatial Dual Manager is connected to the internet.

  • Page 50: Base Station Radio Modem Rtk Corrections

    Spatial Dual unit. The radio modem receiver and Spatial Dual unit must remain within range of the base station to receive these corrections, typically this range is approximately 20km.

  • Page 51: Heave

    Spatial Dual has a GNSS fix. By default Spatial Dual provides heave from the point at which the Spatial Dual unit is mounted, however it can provide heave at four different offset points on the ship. To set the heave offsets use the heave configuration dialogue in Spatial Dual Manager.

  • Page 52: Dirt And Dust

    When un-mating the connectors if the Spatial Dual unit is dirty or dusty, the dirt should be rinsed off with fresh water first and then dried off. This is to prevent dirt or dust entering the connectors which can cause them to fail.

  • Page 53: Spatial Dual Manager

    Spatial Dual Manager Spatial Dual Manager is a software tool provided by Advanced Navigation for logging, testing, display and configuration of Spatial Dual. It is designed to be simple and easy to use. Illustration 26: Screenshot of Spatial Dual Manager...

  • Page 54: Software Changelog

    If your machine does not meet the graphics requirements the mapping view will only show space without a globe. When Spatial Dual is running at very high output rates e.g. 1000 Hz, Spatial Dual...

  • Page 55: Installation

    If the serial port does not show up when you plug in your Spatial Dual USB device, you may need to install the drivers from http://www.ftdichip.com/Drivers/VCP.htm. If you experience a blue screen of death whilst using Spatial Dual Manager, this is typically a problem associated with older FTDI drivers.

  • Page 56: Linux

    Spatial Dual Reference Manual Page 55 of 137 Version 2.3 12/04/2016 Illustration 27: Screenshot of latency timer setting 11.4.3 Linux If serial ports do not show up, the typical cause is permissions. The user should add themselves to the dialout group with the command sudo adduser username dialout.

  • Page 57: Main View

    11.5.1 Serial Port The serial port dialogue is used to connect to Spatial Dual. You should select a serial port and baud rate and click connect. The default baud rate of Spatial Dual is 115200. The connection indicator displays whether there is communication with a Spatial Dual unit.

  • Page 58: Status Indicator

    11.5.4 3D Map The 3D map shows Spatial Dual'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 Dual's location. To move the camera click and drag on the map. To zoom in and out use the scroll wheel.

  • Page 59: Views

    Spatial Dual Reference Manual Page 58 of 137 Version 2.3 12/04/2016 programs. It also creates a GPX file of position that is designed to be opened with Google Earth. Illustration 29: Screenshot showing log file and log conversion folder 11.7...

  • Page 60: Device Information

    Illustration 31: Screenshot of Spatial Dual Manager device information dialogue 11.7.2 Status Status shows Spatial Dual's complete status as contained in the system state packet detailed in section 13.9.1.1. Illustration 32: Screenshot of Spatial Dual Manager status dialogue...

  • Page 61: Satellites

    Spatial Dual Reference Manual Page 60 of 137 Version 2.3 12/04/2016 11.7.3 Satellites Satellites shows detailed information on the satellites that Spatial Dual's GNSS receiver is tracking. Illustration 33: Screenshot of Spatial Dual Manager satellites dialogue...

  • Page 62: Raw Sensors

    Spatial Dual Reference Manual Page 61 of 137 Version 2.3 12/04/2016 11.7.4 Raw Sensors Raw sensors shows the temperature calibrated raw sensor values. Illustration 34: Screenshot of Spatial Dual Manager raw sensors dialogue...

  • Page 63: Orientation

    Spatial Dual Reference Manual Page 62 of 137 Version 2.3 12/04/2016 11.7.5 Orientation Orientation shows Spatial Dual's orientation and angular velocity. Illustration 35: Screenshot of Spatial Dual Manager orientation dialogue...

  • Page 64: Position

    Version 2.3 12/04/2016 11.7.6 Position Position shows Spatial Dual's position and position error. Latitude and longitude are converted to North and East metres from a reference point that can be reset. Illustration 36: Screenshot of Spatial Dual Manager position dialogue...

  • Page 65: Velocity And Acceleration

    Spatial Dual Reference Manual Page 64 of 137 Version 2.3 12/04/2016 11.7.7 Velocity and Acceleration Velocity and Acceleration show Spatial Dual's velocity, acceleration and g-force. Illustration 37: Screenshot of Spatial Dual Manager velocity and acceleration dialogue...

  • Page 66: 3D Model

    Illustration 38: Screenshot of Spatial Dual Manager 3D model dialogue 11.7.9 Communications This dialogue shows statistics on the data packets received from Spatial Dual and can be useful in diagnosing signal integrity problems. Illustration 39: Screenshot of Spatial Dual Manager...

  • Page 67: Gnss Receiver Information

    Illustration 40: Screenshot of Spatial Dual Manager GNSS receiver information dialogue 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 41: Screenshot of Spatial Dual Manager heave dialogue...

  • Page 68: Configuration

    11.8.1 Configuration Export The configuration export dialogue can be used to export all Spatial Dual 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.

  • Page 69: Sensor Ranges

    The lowest ranges give the best performance so it is preferable not to use the highest range by default. Illustration 43: Screenshot of Spatial Dual Manager sensor ranges dialog 11.8.3...

  • Page 70: Packet Rates

    These two packets need to be enabled for the data graphs to update in Spatial Dual 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.

  • Page 71: Alignment Configuration

    11.8.5.1 Alignment Offset If Spatial Dual is installed into the vehicle with the X axis pointing forwards and the Z axis pointing down, then no alignment offset is required and the roll, pitch and heading offset values can remain at the factory defaults of zero.

  • Page 72: Odometer Offset

    11.8.5.3 Odometer Offset The odometer offset is measured from the centre of the Spatial Dual unit to the point at which the vehicle's tyre makes contact with the road in the body co-ordinate frame (X positive forward, Z positive down).

  • Page 73: Gpio Configuration

    Please note that 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. Illustration 48: Screenshot of Spatial Dual Manager GPIO configuration dialogue 11.8.8...

  • Page 74: Reset

    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 Dual 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.

  • Page 75: Gpio Output

    Spatial Dual Reference Manual Page 74 of 137 Version 2.3 12/04/2016 11.8.11 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 52: Screenshot of Spatial...

  • Page 76: Manual Initialisation

    12/04/2016 11.8.12 Manual Initialisation This dialogue can be used to manually initialise Spatial Dual when a GNSS fix is not available. Setting the position will initialise the navigation filter. Setting the heading will initialise the heading. Illustration 53: Screenshot of...

  • Page 77: Gimbal

    Spatial Dual Reference Manual Page 76 of 137 Version 2.3 12/04/2016 Illustration 54: Screenshot of Spatial Dual Manager dual antenna configuration dialogue 11.8.14 Gimbal The gimbal configuration dialogue is only used in speciality gimbal applications. Please contact support@advancednavigation.com.au for more information on using Spatial Dual inside a gimbal.

  • Page 78: Tools

    This tool allows the user to convert Spatial Dual 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 Dual unit. For most users these values should be left at zero.

  • Page 79: Ntrip Client

    NTRIP Client The NTRIP client can be used to connect to a network DGPS or RTK service to stream correction data to Spatial Dual for DGPS or RTK. The NTRIP client requires an internet connection to function. Please contact support@advancednavigation.com.au guidance on getting set up with network DGPS or RTK.

  • Page 80: Network Connect

    The network connect dialogue allows Spatial Dual Manager to make a connection to Spatial Dual over a TCP/IP network rather than the default serial port connection. This allows Spatial Dual to be used with ethernet to serial converters. Advanced Navigation recommends Lantronix ethernet to serial converters.

  • Page 81: Interfacing

    13.10.3. It is important to select a baud rate that is capable of carrying the amount of data that Spatial Dual is set to send. See packet rates in section 13.5 for more details on data output calculation. The data rate in bytes per second can be calculated by dividing the baud rate by 10.
  • Page 82 GPIO pin or auxiliary RS232 can be changed at any time using the GPIO configuration dialogue in Spatial Dual Manager or the GPIO Configuration Packet. GPIO 1 and GPIO 2 function at 0 – 5 volt levels for digital input, digital output, frequency input and frequency output.

  • Page 83: 1Pps Output

    Spatial Dual has accurate time or not. It is important to note that when Spatial Dual acquires time corrections from it's GNSS receiver, the 1PPS signal may fire at an interval of less than 1 second. This typically only occurs the first time the GNSS receiver obtains a fix after startup.

  • Page 84: Zero Velocity Input

    12.3.4 Zero Velocity Input When using this function, a high state indicates to Spatial Dual 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.

  • Page 85: Novatel Gnss Input

    12.3.7 Novatel GNSS Input This function is designed for interfacing Spatial Dual with a Novatel GNSS receiver. It accepts data in the Novatel binary format and requires messages BESTPOS and BESTVEL at rates higher than 1 Hz (20Hz recommended). The message BESTSATS is optional to display detailed satellite information.

  • Page 86: Set Zero Orientation Alignment

    This function accepts a digital input. The input is normally low and a transition from low to high causes Spatial Dual to set it's alignment so that the current orientation is zero. Due to the risk of exhausting the flash cycles, the change is not permanent and will disappear on reset.

  • Page 87: Right Wheel Speed Sensor

    12.3.26 Event 1 Input This function is designed to allow external events to be recorded inside Spatial Dual's output. The event is recorded in the filter status, see section 13.9.1.2, and resets after the next packet is output. The event triggers on a transition from low to high.

  • Page 88: Simrad 1000 Output

    Gimbal Encoder Phase A This function is designed for interfacing with a rotary incremental quadrature encoder to measure the azimuth angle of a gimbal that Spatial Dual is installed in. It should be used in combination with Gimbal Encoder Phase B.

  • Page 89: Advanced Navigation Packet Protocol

    12/04/2016 Advanced Navigation Packet Protocol The Advanced Navigation Packet Protocol (ANPP) is a binary protocol designed with high error checking, high efficiency and safe design practices. It has a well defined specification and is very flexible. It is used across all existing and future Advanced Navigation products.

  • Page 90: Header Lrc

    Spatial Dual Reference Manual Page 89 of 137 Version 2.3 12/04/2016 ANPP Header Format Field Bytes Data Size Description Offset Type Header LRC, see section 13.2.1 Packet ID, see section 13.2.2 Packet Length, see section 13.2.3 CRC16, see section 13.2.4 Table 25: ANPP header format 13.2.1...

  • Page 91: Packet Acknowledgement

    13.5 Packet Rates The packet rates can be configured either using Spatial Dual Manager or through the Packets Period Packet. By default Spatial Dual is configured to output the System State Packet at 50Hz. When configuring packet rates it is essential to ensure the baud rate is capable of handling the data throughput.
  • Page 92 Spatial Dual Reference Manual Page 91 of 137 Version 2.3 12/04/2016 Packet ID Length Name Reset Packet Serial Port Pass-through Packet State Packets System State Packet Unix Time Packet Formatted Time Packet Status Packet Position Standard Deviation Packet Velocity Standard Deviation Packet...
  • Page 93 Spatial Dual Reference Manual Page 92 of 137 Version 2.3 12/04/2016 Packet ID Length Name Odometer State Packet External Time Packet Geoid Height Packet RTCM Corrections Packet External Pitot Pressure Packet Wind Packet Heave Packet Post Processing Packet Raw Satellite Data Packet...

  • Page 94: System Packets

    Spatial Dual Reference Manual Page 93 of 137 Version 2.3 12/04/2016 13.8 System Packets 13.8.1 Acknowledge Packet Acknowledgement Packet Packet ID Length Field Bytes Data Size Description Offset Type Packet ID being acknowledged CRC of packet being acknowledged Acknowledge Result, see section 13.8.1.1 Table 27: Acknowledge packet 13.8.1.1...

  • Page 95: Boot Mode Packet

    Spatial Dual Reference Manual Page 94 of 137 Version 2.3 12/04/2016 13.8.3 Boot Mode Packet Boot Mode Packet Packet ID Length Field Bytes Data Size Description Offset Type Boot mode, see section 13.8.3.1 Table 30: Boot mode packet 13.8.3.1 Boot Mode Types...

  • Page 96: Restore Factory Settings Packet

    Spatial Dual Reference Manual Page 95 of 137 Version 2.3 12/04/2016 13.8.5 Restore Factory Settings Packet Restore Factory Settings Packet Packet ID Length Field Bytes Data Size Description Offset Type Verification sequence (set to 0x85429E1C) Table 33: Restore factory settings packet 13.8.6...

  • Page 97: Pass-Through Routes

    State Packets Spatial Dual supports a large number of packets providing extensive functionality. However for the majority of users the easiest approach is to configure Spatial Dual using the Spatial Dual Manager software and then support only the single system state packet shown below in section 13.9.1.

  • Page 98: System State Packet

    Spatial Dual Reference Manual Page 97 of 137 Version 2.3 12/04/2016 13.9.1 System State Packet System State Packet Packet ID Length Field Bytes Data Size Description Offset Type System status, see section 13.9.1.1 Filter status, see section 13.9.1.2 Unix time stamp (seconds), see section 13.9.1.4 Microseconds, see section 13.9.1.5...
  • Page 99 Spatial Dual Reference Manual Page 98 of 137 Version 2.3 12/04/2016 Description System Failure Accelerometer Sensor Failure Gyroscope Sensor Failure Magnetometer Sensor Failure Pressure Sensor Failure GNSS Failure Accelerometer Over Range Gyroscope Over Range Magnetometer Over Range Pressure Over Range...

  • Page 100: Filter Status

    Spatial Dual Reference Manual Page 99 of 137 Version 2.3 12/04/2016 13.9.1.2 Filter Status This field contains 16 bits that indicate the status of the filters. These are boolean fields with a zero indicating false and one indicating true. Description...

  • Page 101: Microseconds

    Spatial Dual Reference Manual Page 100 of 137 Version 2.3 12/04/2016 13.9.1.5 Microseconds This field provides the sub-second component of time. It is represented as microseconds since the last second. Minimum value is 0 and maximum value is 999999. 13.9.2...

  • Page 102: Status Packet

    Spatial Dual Reference Manual Page 101 of 137 Version 2.3 12/04/2016 13.9.4 Status Packet Status Packet Packet ID Length Field Bytes Data Size Description Offset Type System status, see section 13.9.1.1 Filter status, see section 13.9.1.2 Table 44: Status packet 13.9.5...

  • Page 103: Euler Orientation Standard Deviation Packet

    Spatial Dual Reference Manual Page 102 of 137 Version 2.3 12/04/2016 13.9.7 Euler Orientation Standard Deviation Packet Euler Orientation Standard Deviation Packet Packet ID Length Field Bytes Data Size Description Offset Type fp32 Roll standard deviation (rad) fp32 Pitch standard deviation(rad)

  • Page 104: Raw Sensors Packet

    Spatial Dual Reference Manual Page 103 of 137 Version 2.3 12/04/2016 13.9.9 Raw Sensors Packet Raw Sensors Packet Packet ID Length Field Bytes Data Size Description Offset Type fp32 Accelerometer X (m/s/s) fp32 Accelerometer Y (m/s/s) fp32 Accelerometer Z (m/s/s)

  • Page 105: Raw Gnss Status

    Spatial Dual Reference Manual Page 104 of 137 Version 2.3 12/04/2016 Raw GNSS Packet Packet ID Length Field Bytes Data Size Description Offset Type Unix time stamp (seconds) Microseconds fp64 Latitude (rad) fp64 Longitude (rad) fp64 Height (m) fp32 Velocity north (m)

  • Page 106: Satellites Packet

    Spatial Dual Reference Manual Page 105 of 137 Version 2.3 12/04/2016 13.9.11 Satellites Packet Satellites Packet Packet ID Length Field Bytes Data Size Description Offset Type fp32 HDOP fp32 VDOP GPS satellites GLONASS satellites BeiDou satellites GALILEO satellites SBAS satellites Table 52: Satellites packet 13.9.12...

  • Page 107: Satellite Systems

    Spatial Dual Reference Manual Page 106 of 137 Version 2.3 12/04/2016 13.9.12.1 Satellite Systems Value System Unknown GLONASS BeiDou GALILEO SBAS QZSS Starfire Omnistar Table 54: Satellite systems 13.9.12.2 Satellite Frequencies Description L1 C/A L1 C L1 P L1 M...

  • Page 108: Ecef Position Packet

    Spatial Dual Reference Manual Page 107 of 137 Version 2.3 12/04/2016 13.9.14 ECEF Position Packet ECEF Position Packet Packet ID Length Field Bytes Data Size Description Offset Type fp64 ECEF X (m) fp64 ECEF Y (m) fp64 ECEF Z (m) Table 57: ECEF position packet 13.9.15...

  • Page 109: Body Velocity Packet

    Spatial Dual Reference Manual Page 108 of 137 Version 2.3 12/04/2016 13.9.17 Body Velocity Packet Body Velocity Packet Packet ID Length Field Bytes Data Size Description Offset Type fp32 Velocity X (m/s) fp32 Velocity Y (m/s) fp32 Velocity Z (m/s) Table 60: Body velocity packet 13.9.18...

  • Page 110: Euler Orientation Packet

    Spatial Dual Reference Manual Page 109 of 137 Version 2.3 12/04/2016 13.9.20 Euler Orientation Packet Euler Orientation Packet Packet ID Length Field Bytes Data Size Description Offset Type fp32 Roll (rad) fp32 Pitch (rad) fp32 Heading (rad) Table 63: Euler orientation packet 13.9.21...

  • Page 111: Dcm Orientation Packet

    Spatial Dual Reference Manual Page 110 of 137 Version 2.3 12/04/2016 13.9.22 DCM Orientation Packet DCM Orientation Packet Packet ID Length Field Bytes Data Size Description Offset Type fp32 DCM[0][0] fp32 DCM[0][1] fp32 DCM[0][2] fp32 DCM[1][0] fp32 DCM[1][1] fp32 DCM[1][2]...

  • Page 112: Angular Acceleration Packet

    Spatial Dual Reference Manual Page 111 of 137 Version 2.3 12/04/2016 13.9.24 Angular Acceleration Packet Angular Acceleration Packet Packet ID Length Field Bytes Data Size Description Offset Type fp32 Angular acceleration X (rad/s/s) fp32 Angular acceleration Y (rad/s/s) fp32 Angular acceleration Z (rad/s/s) Table 67: Angular acceleration packet 13.9.25...

  • Page 113: External Position Packet

    Spatial Dual Reference Manual Page 112 of 137 Version 2.3 12/04/2016 13.9.26 External Position Packet External Position Packet Packet ID Length Field Bytes Data Size Description Offset Type fp64 Latitude (rad) fp64 Longitude (rad) fp64 Height (m) fp32 Latitude standard deviation (m)

  • Page 114: External Body Velocity Packet

    Spatial Dual Reference Manual Page 113 of 137 Version 2.3 12/04/2016 13.9.28 External Body Velocity Packet External Body Velocity Packet Packet ID Length Field Bytes Data Size Description Offset Type fp32 Velocity X (m/s) fp32 Velocity Y (m/s) fp32 Velocity Z (m/s)

  • Page 115: Local Magnetic Field Packet

    Spatial Dual Reference Manual Page 114 of 137 Version 2.3 12/04/2016 13.9.31 Local Magnetic Field Packet Local Magnetic Field Packet Packet ID Length Field Bytes Data Size Description Offset Type fp32 Local magnetic field X (mG) fp32 Local magnetic field Y (mG)

  • Page 116: Geoid Height Packet

    13.9.36 External Pitot Pressure Packet This packet is used to interface a pitot tube to Spatial Dual for enhanced navigation using aircraft airspeed. The packet should contain differential pressure in Pascals. If outside air temperature is available it should be set in the message for increased...

  • Page 117: Wind Packet

    This packet provides Spatial Dual's current 2D wind velocity. These values are only valid when external air data is provided to Spatial Dual. 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.

  • Page 118: Post Processing Packet

    13.9.39 Post Processing Packet Spatial Dual 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 customer requirements. If you need the format of this packet, please contact Advanced Navigation support.

  • Page 119: Satellite Frequencies

    13.9.41 Raw Satellite Ephemeris Packet Spatial Dual 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 of this packet, please contact Advanced Navigation support.

  • Page 120: External Odometer Packet

    Spatial Dual Reference Manual Page 119 of 137 Version 2.3 12/04/2016 13.9.42 External Odometer Packet External Odometer Packet Packet ID Length Field Bytes Data Size Description Offset Type fp32 Estimated delay (s) fp32 Speed (m/s) fp32 Reserved (set to zero) Odometer flags, see section 13.9.42.1...

  • Page 121: External Air Data Flags

    Omnistar subscription expiry unix time Omnistar engine mode, see section 13.9.44.3 RTK software license accuracy, see section 13.9.44.4 Reserved (set to zero) Table 89: GNSS receiver information packet 13.9.44.1 GNSS Manufacturer IDs For Spatial Dual the GNSS Manufacturer ID will always be 1 (Trimble).

  • Page 122: Gnss Receiver Models

    Value Description GNSS Manufacturer Unknown Trimble Table 90: GNSS manufacturer IDs 13.9.44.2 GNSS Receiver Models For Spatial Dual the GNSS receiver model will always be 3 (Trimble BD982). Value Description GNSS Receiver Model Unknown Trimble BD920 Trimble BD930 Trimble BD982 Table 91: GNSS receiver models 13.9.44.3...

  • Page 123: Gimbal State Packet

    Spatial Dual Reference Manual Page 122 of 137 Version 2.3 12/04/2016 13.9.45 Gimbal State Packet Gimbal State Packet Packet ID Length Field Bytes Data Size Description Offset Type fp32 Current angle (rad) Reserved (set to zero) Table 94: Gimbal state packet 13.9.46...

  • Page 124: Packet Timer Period Packet

    Spatial Dual Reference Manual Page 123 of 137 Version 2.3 12/04/2016 13.10.1 Packet Timer Period Packet Packet Timer Period Packet Packet ID Length Field Bytes Data Size Description Offset Type Permanent UTC synchronisation, see section 13.10.1.1 Packet timer period, see section 13.10.1.2 Table 96: Packet timer period packet 13.10.1.1...

  • Page 125: Clear Existing Packets

    Spatial Dual Reference Manual Page 124 of 137 Version 2.3 12/04/2016 13.10.2.1 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.

  • Page 126: Sensor Ranges Packet

    Spatial Dual Reference Manual Page 125 of 137 Version 2.3 12/04/2016 13.10.4 Sensor Ranges Packet Sensor Ranges Packet Packet ID Length Field Bytes Data Size Description Offset Type Permanent Accelerometers range, see section 13.10.4.1 Gyroscopes range, see section 13.10.4.2 Magnetometers range, see section 13.10.4.3 Table 99: Sensor ranges packet 13.10.4.1...

  • Page 127: Installation Alignment Packet

    The alignment DCM (direction cosine matrix) is used to represent an alignment offset of Spatial Dual from it's standard alignment. A DCM is used rather than euler angles for accuracy reasons. To convert euler angles to DCM please use the formula below with angles in radians.

  • Page 128: Filter Options Packet

    Spatial Dual Reference Manual Page 127 of 137 Version 2.3 12/04/2016 DCM[1][1] = cos(heading) * cos(roll) + sin(heading) * sin(pitch) * 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...

  • Page 129: Vehicle Types

    Spatial Dual Reference Manual Page 128 of 137 Version 2.3 12/04/2016 13.10.6.1 Vehicle Types Value Description Unconstrained Bicycle or Motorcycle Hovercraft Submarine 3D Underwater Vehicle Fixed Wing Plane 3D Aircraft Human Boat Large Ship Stationary Stunt Plane Race Car Table 105: Vehicle types 13.10.7...

  • Page 130: Gpio1 Functions

    Spatial Dual Reference Manual Page 129 of 137 Version 2.3 12/04/2016 13.10.8.1 GPIO1 Functions Value Description Inactive 1PPS Output GNSS Fix Output Odometer Input Zero Velocity Input NMEA Output ANPP Output Disable GNSS Disable Pressure Set Zero Orientation Alignment System State Packet Trigger...

  • Page 131: Gpio2 Functions

    Spatial Dual Reference Manual Page 130 of 137 Version 2.3 12/04/2016 13.10.8.2 GPIO2 Functions Value Description Inactive 1PPS Output GNSS Fix Output Odometer Input Zero Velocity Input NMEA Input Novatel GNSS Input Topcon GNSS Input ANPP Input Disable GNSS Disable Pressure...

  • Page 132: Auxiliary Rs232 Transmit Functions

    Spatial Dual Reference Manual Page 131 of 137 Version 2.3 12/04/2016 13.10.8.3 Auxiliary RS232 Transmit Functions Value Description Inactive NMEA Output ANPP Output TSS1 Output Simrad 1000 Output Simrad 3000 Output Serial Port Passthrough Table 109: Auxiliary RS232 transmit functions 13.10.8.4...

  • Page 133: Odometer Configuration Packet

    By default all the values of this packet are zero and the measurement point that all data is referenced to is the centre of the Spatial Dual unit. The primary reference point offset can be used to adjust the measurement point to a different location on the vehicle.
  • Page 134 Spatial Dual Reference Manual Page 133 of 137 Version 2.3 12/04/2016 Reference Point Offsets Packet Packet ID Length Field Bytes Data Size Description Offset Type Permanent fp32 Primary reference point offset X (m) fp32 Primary reference point offset Y (m)

  • Page 135: Gpio Output Configuration Packet

    Spatial Dual Reference Manual Page 134 of 137 Version 2.3 12/04/2016 13.10.12 GPIO Output Configuration Packet GPIO Output Configuration Packet Packet ID Length Field Bytes Data Size Description Offset Type Permanent NMEA fix behaviour, see section 13.10.12.1 GPZDA Rates, see section 13.10.12.2 GPGGA Rates, see section 13.10.12.2...

  • Page 136: Gpio Output Rates Index

    Spatial Dual Reference Manual Page 135 of 137 Version 2.3 12/04/2016 13.10.12.3 GPIO Output Rates Index Value Bit 3 Bit 2 Bit 1 Bit 0 Description Disabled 0.1 Hz 0.2 Hz 0.5 Hz 1 Hz 2 Hz 5 Hz 10 Hz...

  • Page 137: Offset Types

    Primary right and secondary left Primary left and secondary right Table 120: Automatic offset orientations 13.10.14 User Data Packet This packet is for storage of users data. The data itself is not used by Spatial Dual. User Data Packet Packet ID Length Field...
  • Page 138 If any part of this document refers to any third party products or services it shall not be deemed a license grant by Advanced Navigation for the use of such third party products or services, or any intellectual property contained therein or considered as a warranty covering the use in any manner whatsoever of such third party products or services or any intellectual property contained therein.

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