Table Of Contents - Advanced Navigation Spatial Dual Reference Manual

Table of Contents

1 Revision History......................................................................................................... 8
2 Firmware Changelog................................................................................................ 10
3 Hardware Changelog............................................................................................... 12
4 Introduction............................................................................................................. 13
5 Foundation Knowledge............................................................................................ 14
5.1 GNSS................................................................................................................ 14
5.2 INS.................................................................................................................... 14
5.3 GNSS/INS.......................................................................................................... 14
5.4 AHRS................................................................................................................ 14
5.5 The Sensor Co-ordinate Frame.........................................................................15
5.6 Roll, Pitch and Heading..................................................................................... 15
5.6.1 Second Right Hand Rule............................................................................ 15
5.6.2 Rotation Order........................................................................................... 16
5.7 Geodetic Co-ordinate System...........................................................................16
5.8 NED Co-ordinate Frame.................................................................................... 18
5.9 ECEF Co-ordinate Frame................................................................................... 19
6 Evaluation Kit.......................................................................................................... 20
6.1 Evaluation Kit Contents.................................................................................... 20
6.2 Quick Start........................................................................................................ 20
6.3 Antenna Survey Mount Assembly.....................................................................21
7 Part Numbers and Ordering Options........................................................................22
7.1 Evaluation Kit................................................................................................... 22
7.2 Standalone Unit................................................................................................ 22
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 Heading Accuracy............................................................................................. 26
8.4 Sensor Specifications........................................................................................ 27
8.5 GNSS Specifications.......................................................................................... 28
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..................................................................................... 35
9.2.1 Alignment.................................................................................................. 36
9.3 Mounting Plate.................................................................................................. 36
9.4 Power Supply.................................................................................................... 36
9.5 GNSS Antennas................................................................................................. 37
9.6 GNSS Antenna Cables....................................................................................... 39
9.7 Odometer......................................................................................................... 39
Spatial Dual Reference Manual
Page 1 of 137
Version 2.3
12/04/2016