Novatel Gnss Input; Topcon Gnss Input; Anpp Input; Anpp Output - Advanced Navigation Spatial Dual Reference Manual

the output rate can be configured using the NMEA output configuration dialogue in
Spatial Dual Manager or the GPIO Output Configuration Packet. Advanced Navigation
recommends against using NMEA where possible due to the inefficiency, inaccuracy
and poor error checking of the format. An example output is shown below.
$GPZDA,031644.460,07,05,2013,00,00*52
$GPGGA,031644.460,3352.3501851,S,15112.2355488,E,6,00,1.4,150.0,M,0.0,M,,*7E
$GPVTG,089.19,T,089.19,M,000.00,N,000.00,K,E*27
$GPRMC,031644.460,A,3352.3501851,S,15112.2355488,E,0.0,89.2,070513,12.5,W,E*02
$GPHDT,89.2,T*06
$PASHR,031644.460,089.19,T,-00.01,-00.47,-00.00,,,,0,0*2E
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. The message HEADING is also
supported for ALIGN capable receivers.
12.3.8

Topcon GNSS Input

This function is designed for interfacing Spatial Dual with a Topcon GNSS receiver. It
accepts data in the GRIL TPS binary format and expects messages PG and VG at rates
higher than 1 Hz.
12.3.9

ANPP Input

This function accepts data in the ANPP format as specified in section 13.
12.3.10

ANPP Output

This function outputs data in the ANPP format as specified in section 13. For packets to
be sent out they must be requested through another GPIO functioning as ANPP input.
This function is also used when connecting two Spatial Dual units together, for
example when using a USBL.
12.3.11

Disable GNSS

This function accepts a digital input with a low state enabling the GNSS and a high
state disabling the GNSS.
12.3.12

Disable Pressure

This function accepts a digital input with a low state enabling the atmospheric
pressure sensor and a high state disabling the atmospheric pressure sensor.
Spatial Dual Reference Manual
Page 84 of 137
Version 2.3
12/04/2016