Page 1 Spatial FOG Dual Reference Manual...
Page 2: Table Of Contents
8.6 Communication Specifications................25 8.7 Hardware Specifications..................25 8.8 Electrical Specifications..................26 8.9 Power Consumption.................... 27 8.10 Connector Pin-out..................... 27 8.11 Spatial FOG Dual Evaluation Cable Harness.............28 8.12 Serial Number....................30 9 Installation......................... 31 9.1 Installation Checklist..................31 9.2 Position and Alignment..................31 9.2.1 Alignment....................
Page 3 Spatial FOG Dual Reference Manual Page 2 of 138 Version 1.0 26/06/2015 9.8 Odometer......................36 9.8.1 Factory VSS Signal..................36 9.8.2 OBDII Odometer Interface................36 9.8.3 Aftermarket Wheel Speed Sensor..............37 9.8.4 Radar Speed Sensor..................37 9.9 Vibration......................38 10 Operation......................... 39 10.1 Filter.........................
Page 4 Spatial FOG Dual Reference Manual Page 3 of 138 Version 1.0 26/06/2015 11.5.3 Status Indicator..................53 11.5.3.1 Spatial Status Indicator..............53 11.5.3.2 Fix Indicator..................53 11.5.3.3 Satellites Table................... 53 11.5.4 3D Map...................... 53 11.5.5 3D Map Controls..................53 11.5.5.1 Reset View..................53 11.5.5.2 Clear History..................
Page 5 Spatial FOG Dual Reference Manual Page 4 of 138 Version 1.0 26/06/2015 12.4 Dynamic Pin Functions..................79 12.4.1 1PPS Output....................80 12.4.2 GNSS Fix Output..................81 12.4.3 Odometer Input..................81 12.4.4 Zero Velocity Input..................81 12.4.5 Pitot Tube Input..................81 12.4.6 NMEA Input....................
Page 6 Spatial FOG Dual Reference Manual Page 5 of 138 Version 1.0 26/06/2015 13.8.1 Acknowledge Packet.................. 92 13.8.1.1 Acknowledge Result................92 13.8.2 Request Packet..................92 13.8.3 Boot Mode Packet..................93 13.8.3.1 Boot Mode Types................93 13.8.4 Device Information Packet.................93 13.8.5 Restore Factory Settings Packet..............94 13.8.6 Reset Packet....................
Page 7 Spatial FOG Dual Reference Manual Page 6 of 138 Version 1.0 26/06/2015 13.9.31 Local Magnetic Field Packet..............113 13.9.32 Odometer State Packet................113 13.9.33 External Time Packet................113 13.9.34 External Depth Packet................114 13.9.35 Geoid Height Packet................114 13.9.36 RTCM Corrections Packet...............114 13.9.37 External Pitot Pressure Packet...............114 13.9.38 Wind Packet...................
Page 8 Spatial FOG Dual Reference Manual Page 7 of 138 Version 1.0 26/06/2015 13.10.11.2 GPIO Output Rates................135 13.10.11.3 GPIO Output Rates Index..............136 13.10.12 Dual Antenna Configuration Packet.............136 13.10.12.1 Offset Types.................. 137 13.10.12.2 Automatic Offset Orientations............137 13.10.13 User Data Packet................. 137 13.10.14 GPIO Input Configuration Packet............137...
Page 9: Revision History
Spatial FOG Dual Reference Manual Page 8 of 138 Version 1.0 26/06/2015 Revision History Version Date Changes 26/06/2015 Initial release Table 1: Revision history...
Page 10: Firmware Changelog
Spatial FOG Dual Reference Manual Page 9 of 138 Version 1.0 26/06/2015 Firmware Changelog Version Date Changes 08/04/2015 Initial release Table 2: Firmware changelog...
Page 11: Hardware Changelog
Spatial FOG Dual Reference Manual Page 10 of 138 Version 1.0 26/06/2015 Hardware Changelog Version Date Changes 14/01/2015 Initial release Table 3: Hardware changelog...
Page 12: Introduction
These are coupled in a sophisticated fusion algorithm to deliver accurate and reliable navigation and orientation. Spatial FOG Dual can provide amazing results but it does need to be set up properly and operated with an awareness of it’s limitations. Please read through this manual carefully to ensure success within your application.
Page 13: Foundation Knowledge
Foundation Knowledge This chapter is a learning reference that briefly covers knowledge essential to understanding Spatial FOG 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 14: Rtk Gnss
Z axis pointing down through the base of the unit and the Y axis pointing out of the starboard side. Illustration 1: Spatial FOG 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 15: Second Right Hand Rule
This can be hard for some people to grasp at first and is often best learned experimentally by rotating Spatial FOG Dual with your hand whilst watching the orientation plot in real time on the computer.
Page 16: Geodetic Co-Ordinate System
Spatial FOG Dual Reference Manual Page 15 of 138 Version 1.0 26/06/2015 Geodetic Co-ordinate System The geodetic co-ordinate system is the most popular way of describing an absolute position on the Earth. It is made up of the angles latitude and longitude combined with a height relative to the ellipsoid.
Page 17: Ned Co-Ordinate Frame
Spatial FOG Dual Reference Manual Page 16 of 138 Version 1.0 26/06/2015 Illustration 5 shows latitude and longitude on a map of the world. 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 18: 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 19: Evaluation Kit
0.5 metres. 2. Connect the coaxial cables between the antennas and Spatial FOG Dual. 3. Attach the interface cable harness to the Spatial FOG Dual unit and screw up finger tight. 4. Plug the power supply into the cable harness and then into the wall socket 5.
Page 20: Antenna Survey Mount Assembly
Spatial FOG Dual Reference Manual Page 19 of 138 Version 1.0 26/06/2015 website. Java is required to run the software. Java is available from http://www.java.com if not already installed. 7. Click the connect button in Spatial FOG Manager. 8. The various windows in Spatial FOG Manager can be used to view the real time data.
Page 21: Part Numbers And Ordering Options
Spatial FOG Dual Reference Manual Page 20 of 138 Version 1.0 26/06/2015 Part Numbers and Ordering Options Evaluation Kit Part Number Description Notes SPATIAL-FOG-DUAL-EK Spatial FOG Dual Spatial FOG Dual evaluation kit Evaluation Kit Includes items listed in section 6.1...
Page 22: Accessories
OBDII Odometer OBDII Odometer Interface See section 9.8.2 AD-UNIT Air Data Unit Air data unit provides pitot and static air data aiding for Spatial FOG Dual in fixed wing aircraft MOUNT-SUCT Suction Cup Suction cup 5/8” GNSS antenna survey Antenna Mount...
Page 23: Specifications
Spatial FOG Dual Reference Manual Page 22 of 138 Version 1.0 26/06/2015 Specifications Mechanical Drawings Illustration 10: Mechanical drawings of Spatial FOG Dual...
Page 24: Navigation Specifications
Spatial FOG Dual Reference Manual Page 23 of 138 Version 1.0 26/06/2015 Navigation Specifications Parameter Value Horizontal Position Accuracy 0.8 m Vertical Position Accuracy 1.5 m Horizontal Position Accuracy (RTK) 0.008 m Vertical Position Accuracy (RTK) 0.015 m Velocity Accuracy 0.007 m/s...
Page 25: Sensor Specifications
Spatial FOG Dual Reference Manual Page 24 of 138 Version 1.0 26/06/2015 Sensor Specifications Parameter Accelerometers Gyroscopes Magnetometers Pressure Range 10 g 490 °/s 10 to 120 KPa Noise Density 120 ug/√Hz 0.8 °/hr/√Hz 210 uG/√Hz 0.56 Pa/√Hz (Random Walk) (0.07 m/s/√hr)
Page 26: Communication Specifications
Spatial FOG Dual Reference Manual Page 25 of 138 Version 1.0 26/06/2015 Communication Specifications Parameter Value Interface RS422 (RS232 optional) Speed 4800 to 10M baud Protocol AN Packet Protocol Peripheral Interface 2x GPIO 1x Auxiliary RS232 1x GNSS corrections RS232...
Page 27: Electrical Specifications
Spatial FOG Dual Reference Manual Page 26 of 138 Version 1.0 26/06/2015 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 28: Power Consumption
Spatial FOG Dual under demanding conditions and is rated to IP68 in the mated condition. Connection to Spatial FOG Dual may be made with the Spatial FOG Dual evaluation cable harness, which provides a pre-terminated 2 metre cable assembly with all signals broken out to industry standard connectors, see section 8.11.
Page 29: Spatial Fog Dual Evaluation Cable Harness
Spatial FOG Dual Evaluation Cable Harness Advanced Navigation offers a pre-terminated evaluation cable harness for quick connection to Spatial FOG Dual. All external signal and power connections are provided with 2 metres of cable. For quick testing in applications, the interface cable is...
Page 30 9 pin DSUB connectors on the communication channels with industry standard pinouts. The evaluation cable harness is supplied as part of the Spatial FOG Dual Evaluation Kit, see section 6. Illustration 14: Spatial FOG Dual evaluation cable harness diagram...
Page 31: Serial Number
The serial number can be inspected by using the device information dialogue in the Spatial FOG Manager software, see section 11.7.1. The primary serial number label is located inside the enclosure and is accessible only by Advanced Navigation technicians. The secondary serial number label is located on the outside rear of the enclosure with the serial number encoded in a 2D data matrix bar code to assist customers in tracking their units.
Page 32: Installation
There are a number of goals in selecting a mounting site in your application, these are: 1. Spatial FOG Dual should be mounted in an area that is not going to exceed it's temperature range.
Page 33: Alignment
Z axis points down towards the ground. If aligning Spatial FOG 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 the alignment configuration dialogue in Spatial FOG Manager, see section 11.8.4.
Page 34: Power Supply
Illustration 16: Spatial FOG Dual mounting plate Power Supply A high level of power supply filtering has been built into Spatial FOG Dual to allow for reliable operation in demanding environments. Spatial FOG Dual contains a fully isolated power supply and has separate grounds for power and signal to ensure that power supply noise does not corrupt communications or cause ground loops with other equipment.
Page 35: Gnss Antennas
Spatial FOG Manager, see section 11.8.4. The antenna offset is measured from the centre of the Spatial FOG 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 FOG Dual corrects for lever arm velocities.
Page 36 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 Dual requires a minimum of 25dB of gain at the connector. With the standard 4 metre RG-58/U...
Page 37: Gnss Antenna Cables
Spatial FOG Dual uses atmospheric pressure to stabilise its vertical velocity. The static port vents can be found on the sides of the Spatial FOG Dual enclosure at the top. These are special vents that do not allow water to enter the enclosure.
Page 38: Aftermarket Wheel Speed Sensor
OBDII is a vehicle diagnostic port standard and most vehicles from the mid 1990s onwards contain an OBDII port in the drivers side foot well. Advanced Navigation produces an OBDII odometer interface that plugs into this OBDII port and feeds Spatial FOG Dual with odometer data over the Auxiliary RS232 port, please see Illustration 20.
Page 39: Vibration
1. Try to find a mounting point with less vibration. 2. Spatial FOG Dual can be mounted on top of a small flat piece of rubber. Please note that this may cause small changing orientation errors due to flexing of the rubber.
Page 40: Operation
Once orientation initialisation is complete, the roll, pitch and angular velocity values will be valid. When Spatial FOG 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.
Page 41: Navigation Initialisation
Spatial FOG Dual is the first GNSS/INS on the market with hot start functionality. This allows Spatial FOG Dual to start inertial navigation within 2 seconds and obtain a GNSS fix in as little as 3 seconds. Spatial FOG Dual's hot start is always on and fully automatic.
Page 42: Time
A next generation backup battery system within Spatial FOG Dual provides the hot start ability for more than 24 hours without power. When Spatial FOG Dual hot starts it assumes that it is in the same state it was when it lost power and begins navigating from that position.
Page 43: Velocity Heading
When used as the sole heading source, the north seeking initialisation procedure is: 1. Turn on Spatial FOG Dual and leave stationary for 5 minutes. 2. Rotate Spatial FOG Dual approximately +90 degrees about the Z axis and leave stationary for 3 minutes.
Page 44: External Heading
10.9 Odometer Pulse Length For Spatial FOG Dual to use a wheel speed sensor or odometer input, it must know the pulse length of the signal. The pulse length is the distance in metres between low to high transitions of the signal. The odometer pulse length can either be entered manually or automatically calibrated by Spatial FOG Dual.
Page 45: Odometer Automatic Pulse Length Calibration Procedure
3. Wait until Spatial FOG Dual has a continuous GNSS fix and then drive 1000 metres over flat terrain with as little turning as possible. 4. If Spatial FOG 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 1000 metres.
Page 46: Cellular Rtk Corrections
For cellular RTK corrections, Advanced Navigation recommends the ARWest JLink GSM cellular corrections receiver. This unit can be plugged directly into Spatial FOG Dual's GNSS RS232 port to receive cellular RTK corrections. Please contact ARWest for more information and pricing.
Page 47: Heave
10.14 Heave Spatial FOG Dual can provide vertical heave position at four different points on a ship. Spatial FOG Dual's heave filter is always on and fully automatic. After power on, Spatial FOG Dual requires approximately 5 minutes for it's heave filter to converge upon an accurate solution.
Page 48: Dirt And Dust
When un-mating the connectors if the Spatial FOG 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 49: Spatial Fog Manager
Spatial FOG Manager Spatial FOG Manager is a software tool provided by Advanced Navigation for logging, testing, display and configuration of Spatial FOG Dual. It is designed to be simple and easy to use. Illustration 27: Screenshot of Spatial FOG Manager...
Page 50: Software Changelog
If the serial port does not show up when you plug in your Spatial FOG 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 FOG Manager, this is typically a problem associated with older FTDI drivers.
Page 51: Linux
Version 1.0 26/06/2015 When operating Spatial FOG Dual at a very high data rate, data can be lost due to the latency of the FTDI driver. To resolve this problem the latency of the driver should be reduced by going to control panel → system → device manager → ports and right click on the USB serial port, then click properties.
Page 52 Spatial FOG Dual Reference Manual Page 51 of 138 Version 1.0 26/06/2015 Compiz causes issues with the 3D mapping. If you are experiencing problems it is recommended to turn off compiz. Modemmanager can also sometimes cause problems on Linux installations. If you are not using a modem, it is recommended to remove modemmanager with the command sudo apt-get remove modemmanager.
Page 53: Main View
11.5.1 Serial Port The serial port dialogue is used to connect to Spatial FOG Dual. You should select a serial port and baud rate and click connect. The default baud rate of Spatial FOG Dual is 115200. The connection indicator displays whether there is communication with a Spatial FOG Dual unit.
Page 54: Status Indicator
11.5.4 3D Map The 3D map shows Spatial FOG 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 FOG Dual's location. To move the camera click and drag on the map. To zoom in and out use the scroll wheel.
Page 55: Views
Spatial FOG Dual Reference Manual Page 54 of 138 Version 1.0 26/06/2015 most other data analysis programs. It also creates a GPX file of position that is designed to be opened with Google Earth. Illustration 30: Screenshot showing log file and log conversion folder 11.7...
Page 56: Device Information
Device Information Illustration 32: Screenshot of Spatial FOG Manager device information dialogue 11.7.2 Status Status shows Spatial FOG Dual's complete status as contained in the system state packet detailed in section 13.9.1.1. Illustration 33: Screenshot of Spatial FOG Manager status dialogue...
Page 57: Satellites
Page 56 of 138 Version 1.0 26/06/2015 11.7.3 Satellites Satellites shows detailed information on the satellites that Spatial FOG Dual's GNSS receiver is tracking. Elevation and azimuth are in units of degrees. Illustration 34: Screenshot of Spatial FOG Manager satellites dialogue...
Page 58: Raw Sensors
Spatial FOG Dual Reference Manual Page 57 of 138 Version 1.0 26/06/2015 11.7.4 Raw Sensors Raw sensors shows the temperature calibrated raw sensor values. Illustration 35: Screenshot of Spatial FOG Manager raw sensors dialogue...
Page 59: Orientation
Spatial FOG Dual Reference Manual Page 58 of 138 Version 1.0 26/06/2015 11.7.5 Orientation Orientation shows Spatial FOG Dual's orientation, angular velocity and orientation error. Illustration 36: Screenshot of Spatial FOG Manager orientation dialogue...
Page 60: Position
Version 1.0 26/06/2015 11.7.6 Position Position shows Spatial FOG 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 37: Screenshot of Spatial FOG Manager position dialogue...
Page 61: Velocity And Acceleration
Spatial FOG Dual Reference Manual Page 60 of 138 Version 1.0 26/06/2015 11.7.7 Velocity and Acceleration Velocity and Acceleration shows Spatial FOG Dual's velocity, acceleration and g-force. Illustration 38: Screenshot of Spatial FOG Manager velocity and acceleration dialogue...
Page 62: Model
This dialogue shows a real-time 3D model of Spatial FOG Dual's orientation. Illustration 39: Screenshot of Spatial FOG Manager 3D model dialogue 11.7.9 Communications Statistics This dialogue shows statistics on the data packets received from Spatial FOG Dual and can be useful in diagnosing signal integrity problems.
Page 63: Gnss Receiver Information
Spatial FOG Dual Reference Manual Page 62 of 138 Version 1.0 26/06/2015 Illustration 40: Screenshot of Spatial FOG Manager communications statistics dialogue 11.7.10 GNSS Receiver Information This dialogue shows information on the internal GNSS receiver contained inside of Spatial FOG Dual.
Page 64: North Seeking Status
Spatial FOG Dual Reference Manual Page 63 of 138 Version 1.0 26/06/2015 Illustration 42: Screenshot of Spatial FOG Manager heave dialogue 11.7.12 North Seeking Status The north seeking status view guides the user through the north seeking initialisation procedure and provides feedback on the progress. It is not necessary to use this dialogue to perform the north seeking initialisation, however it can be very helpful for users getting accustomed to the process.
Page 65 Spatial FOG Dual Reference Manual Page 64 of 138 Version 1.0 26/06/2015 Illustration 43: Screenshot of Spatial FOG Manager north seeking status dialogue Illustration 44: North seeking quadrants around Z axis...
Page 66: Configuration
11.8.1 Configuration Export The configuration export dialogue can be used to export all Spatial FOG 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 67: Filter Options
Spatial FOG Dual Reference Manual Page 66 of 138 Version 1.0 26/06/2015 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 47: Screenshot of Spatial FOG...
Page 68: Packet Rates
Spatial FOG Dual Reference Manual Page 67 of 138 Version 1.0 26/06/2015 11.8.3 Packet Rates The packet rates dialogue allows the user to specify which packets output on a periodic basis and at what rate. The default packets enabled 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.
Page 69: Alignment Configuration
11.8.4.1 Alignment Offset If Spatial FOG 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 70: Gnss Antenna Offset
Version 1.0 26/06/2015 11.8.4.2 GNSS Antenna Offset The GNSS antenna offset is measured from the centre of the Spatial FOG Dual unit to the centre of the antenna in the body co-ordinate frame (X positive forward, Z positive down). 11.8.4.3...
Page 71: Gpio Configuration
Spatial FOG Dual Reference Manual Page 70 of 138 Version 1.0 26/06/2015 11.8.6 GPIO Configuration This dialogue allows the user to select the function of the GPIO pins and Auxiliary RS232. These functions change dynamically and are effective immediately upon pressing save.
Page 72: Reset
When the values are zero the measurement point is the centre of the Spatial FOG Dual unit. This can be offset to a different position on the ship by entering the offset value from the centre of the Spatial FOG Dual unit to the desired position in the body co-ordinate frame (X positive forwards, Z positive down).
Page 73: Gpio Output
Spatial FOG Dual Reference Manual Page 72 of 138 Version 1.0 26/06/2015 Illustration 54: Screenshot of Spatial FOG Manager heave offset dialogue 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.
Page 74 Spatial FOG Dual Reference Manual Page 73 of 138 Version 1.0 26/06/2015 Illustration 55: Screenshot of Spatial FOG Manager GPIO output configuration dialogue...
Page 75: Position Configuration
Spatial FOG Dual Reference Manual Page 74 of 138 Version 1.0 26/06/2015 11.8.11 Position Configuration The position configuration dialogue can be used to manually set the position of Spatial FOG Dual when the unit is supplied without a GNSS receiver or when a GNSS fix is not available.
Page 76: Dual Antenna
26/06/2015 11.8.12 Dual Antenna The dual antenna configuration dialogue is only used when Spatial FOG Dual is being operated with the optional dual antenna upgrade kit. The recommended installation is with the primary antenna to the front and the secondary antenna directly to the rear along the same axis, in which case the values in this dialogue can be left at their factory defaults.
Page 77: Tools
Page 76 of 138 Version 1.0 26/06/2015 11.9 Tools The tools menu contains tools for performing procedures with Spatial FOG Dual. Illustration 58: Screenshot of Spatial FOG Manager tools menu 11.9.1 Terminal The terminal is only used during specialised technical support with Advanced Navigation engineers.
Page 78: Log Converter
The position offset values can used to project the exported position to a point other than the centre of the Spatial FOG Dual unit. For most users these values should be left at zero.
Page 79: Interfacing
Manager software or the baud rate packet, see section 13.10.3. It is important to select a baud rate that is capable of carrying the amount of data that Spatial FOG Dual is set to send. See packet rates in section 13.5 for more details on data output calculation.
Page 80: Gpio Pins Voltage Level
RS232 port on the main connector. These pins are multi function and can be used to extend Spatial FOG Dual with additional peripherals, sensors and data formats. The GPIO pins have digital input, digital output, frequency input and frequency output functionality.
Page 81: 1Pps Output
Spatial FOG Dual has accurate time or not. It is important to note that when Spatial FOG Dual acquires time corrections from it's GNSS receiver, the 1PPS signal may fire at an interval of less than 1 second.
Page 82: Gnss Fix Output
12.4.4 Zero Velocity Input When using this function, a high state indicates to Spatial FOG 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 83: Nmea Output
12.4.8 Novatel GNSS Input This function is designed for interfacing Spatial FOG 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 84: Topcon Gnss Input
This function accepts a digital input. The input is normally low and a transition from low to high causes Spatial FOG 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 85: Trimble Gnss Input
9 and 34 at 1 to 2Hz. 12.4.19 u-blox GNSS Input This function is designed for interfacing Spatial FOG Dual with a u-blox GNSS receiver. It accepts data in the u-blox binary format and expects message NAV-PVT or NAV-SOL at rates higher than 1Hz.
Page 86: Wheel Encoder Phase B
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 FOG Dual is installed in. It should be used in combination with Gimbal Encoder Phase B.
Page 87: Gimbal Encoder Phase B
Gimbal Encoder Phase B This function is designed for interfacing with a rotary incremental quadrature encoder to measure the azimuth angle of a gimbal that Spatial FOG Dual is installed in. It should be used in combination with Gimbal Encoder Phase A.
Page 88: Advanced Navigation Packet Protocol
26/06/2015 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 89: Header Lrc
Spatial FOG Dual Reference Manual Page 88 of 138 Version 1.0 26/06/2015 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 24: ANPP header format 13.2.1...
Page 90: Packet Acknowledgement
26/06/2015 13.4 Packet Acknowledgement When configuration packets are sent to Spatial FOG Dual, it will reply with an acknowledgement packet that indicates whether the configuration change was successful or not. For details on the acknowledgement packet, see section 13.8.1. 13.5...
Page 91 Spatial FOG Dual Reference Manual Page 90 of 138 Version 1.0 26/06/2015 Packet ID Length Name State Packets System State Packet Unix Time Packet Formatted Time Packet Status Packet Position Standard Deviation Packet Velocity Standard Deviation Packet Euler Orientation Standard Deviation Packet...
Page 92 Spatial FOG Dual Reference Manual Page 91 of 138 Version 1.0 26/06/2015 Packet ID Length Name External Depth Packet Geoid Height Packet RTCM Corrections Packet External Pitot Pressure Packet Wind Packet Heave Packet Post Processing Packet Raw Satellite Data Packet...
Page 93: System Packets
Spatial FOG Dual Reference Manual Page 92 of 138 Version 1.0 26/06/2015 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 26: Acknowledge packet 13.8.1.1...
Page 94: Boot Mode Packet
Spatial FOG Dual Reference Manual Page 93 of 138 Version 1.0 26/06/2015 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 29: Boot mode packet 13.8.3.1...
Page 95: Restore Factory Settings Packet
Spatial FOG Dual Reference Manual Page 94 of 138 Version 1.0 26/06/2015 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 32: Restore factory settings packet 13.8.6...
Page 96: Pass-Through Routes
Spatial FOG Dual Reference Manual Page 95 of 138 Version 1.0 26/06/2015 13.8.7.1 Pass-through Routes Value Description GPIO 1 and 2 Auxiliary RS232 Table 36: Pass-through routes...
Page 97: State Packets
13.9 State Packets Spatial FOG Dual supports a large number of packets providing extensive functionality. However for the majority of users the easiest approach is to configure Spatial FOG Dual using the Spatial Manager software and then support only the single system state packet shown below in section 13.9.1.
Page 98: System Status
Spatial FOG Dual Reference Manual Page 97 of 138 Version 1.0 26/06/2015 Table 37: System state packet 13.9.1.1 System Status This field contains 16 bits that indicate problems with the system. These are boolean fields with a zero indicating false and one indicating true.
Page 99: Filter Status
Spatial FOG Dual Reference Manual Page 98 of 138 Version 1.0 26/06/2015 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.
Page 100: Microseconds
Spatial FOG Dual Reference Manual Page 99 of 138 Version 1.0 26/06/2015 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.
Page 101: Status Packet
Spatial FOG Dual Reference Manual Page 100 of 138 Version 1.0 26/06/2015 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 43: Status packet 13.9.5...
Page 102: Euler Orientation Standard Deviation Packet
Spatial FOG Dual Reference Manual Page 101 of 138 Version 1.0 26/06/2015 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 103: Raw Sensors Packet
Spatial FOG Dual Reference Manual Page 102 of 138 Version 1.0 26/06/2015 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 104: Raw Gnss Status
Spatial FOG Dual Reference Manual Page 103 of 138 Version 1.0 26/06/2015 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...
Page 105: Satellites Packet
Spatial FOG Dual Reference Manual Page 104 of 138 Version 1.0 26/06/2015 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 51: Satellites packet 13.9.12...
Page 106: Satellite Systems
Spatial FOG Dual Reference Manual Page 105 of 138 Version 1.0 26/06/2015 13.9.12.1 Satellite Systems Value System Unknown GLONASS BeiDou GALILEO SBAS QZSS Starfire Omnistar Table 53: Satellite systems 13.9.12.2 Satellite Frequencies Description L1 C/A L1 C L1 P L1 M...
Page 107: Ecef Position Packet
Spatial FOG Dual Reference Manual Page 106 of 138 Version 1.0 26/06/2015 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 56: ECEF position packet 13.9.15...
Page 108: Body Velocity Packet
Spatial FOG Dual Reference Manual Page 107 of 138 Version 1.0 26/06/2015 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 59: Body velocity packet 13.9.18...
Page 109: Euler Orientation Packet
Spatial FOG Dual Reference Manual Page 108 of 138 Version 1.0 26/06/2015 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 62: Euler orientation packet 13.9.21...
Page 110: Dcm Orientation Packet
Spatial FOG Dual Reference Manual Page 109 of 138 Version 1.0 26/06/2015 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...
Page 111: Angular Acceleration Packet
Spatial FOG Dual Reference Manual Page 110 of 138 Version 1.0 26/06/2015 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...
Page 112: External Position Packet
Spatial FOG Dual Reference Manual Page 111 of 138 Version 1.0 26/06/2015 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 113: External Body Velocity Packet
Spatial FOG Dual Reference Manual Page 112 of 138 Version 1.0 26/06/2015 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...
Page 114: Local Magnetic Field Packet
Spatial FOG Dual Reference Manual Page 113 of 138 Version 1.0 26/06/2015 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 115: External Depth Packet
Variable, up to 255 bytes Field Bytes Data Size Description Offset Type RTCM corrections data Table 78: RTCM corrections packet 13.9.37 External Pitot Pressure Packet This packet is used to interface a pitot tube to Spatial FOG Dual for enhanced...
Page 116: Wind Packet
This packet provides Spatial FOG Dual's current 2D wind velocity. These values are only valid when external air data is provided to Spatial FOG 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 117: Heave Packet
Spatial FOG Dual Reference Manual Page 116 of 138 Version 1.0 26/06/2015 13.9.39 Heave Packet Heave Packet Packet ID Length Field Bytes Data Size Description Offset Type fp32 Heave point 1 (m) fp32 Heave point 2 (m) fp32 Heave point 3 (m)
Page 118: Raw Satellite Data Packet
Spatial FOG Dual Reference Manual Page 117 of 138 Version 1.0 26/06/2015 13.9.41 Raw Satellite Data Packet Spatial Manager will automatically convert this packet to RINEX 3.02 format. Raw Satellite Data Packet Packet ID Length 16 + Satellites * (6 + Frequencies * 26)
Page 119: Satellite Frequencies
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 of this packet, please contact Advanced Navigation support.
Page 120: External Odometer Packet
Spatial FOG Dual Reference Manual Page 119 of 138 Version 1.0 26/06/2015 13.9.43 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 13.9.43.1...
Page 121: External Air Data Flags
Software license code Reserved (set to zero) Table 89: GNSS receiver information packet 13.9.45.1 GNSS Manufacturer IDs For Spatial FOG Dual the GNSS Manufacturer ID will always be 1 (Trimble). Value Description GNSS Manufacturer Unknown Trimble Table 90: GNSS manufacturer IDs...
Page 122: Gnss Receiver Models
Spatial FOG Dual Reference Manual Page 121 of 138 Version 1.0 26/06/2015 13.9.45.2 GNSS Receiver Models For Spatial FOG Dual the GNSS receiver model will always be 4. Value Description GNSS Receiver Model Unknown Trimble BD920 Trimble BD930 Trimble BD982...
Page 123: North Seeking Initialisation Status Flags
Spatial FOG Dual Reference Manual Page 122 of 138 Version 1.0 26/06/2015 13.9.46.1 North Seeking Initialisation Status Flags Description North seeking initialisation complete North seeking initialisation cannot start because the position is unknown North seeking initialisation paused due to excessive rolling...
Page 124: Automotive Packet
Spatial FOG Dual Reference Manual Page 123 of 138 Version 1.0 26/06/2015 13.9.48 Automotive Packet Automotive Packet Packet ID Length Field Bytes Data Size Description Offset Type fp32 Virtual odometer distance (m) fp32 Slip Angle (rad) fp32 Velocity X (m/s)
Page 125: Configuration Packets
Spatial FOG Dual Reference Manual Page 124 of 138 Version 1.0 26/06/2015 13.10 Configuration Packets Configuration packets can be both read from and written to the device. On many of the configuration packets the first byte is a permanent flag. A zero in this field indicates that the settings will be lost on reset, a one indicates that they will be permanent.
Page 126: Packets Period Packet
Spatial FOG Dual Reference Manual Page 125 of 138 Version 1.0 26/06/2015 13.10.2 Packets Period Packet Packets Period Packet Packet ID Length 2 + (5 x number of packet periods) Field Bytes Data Size Description Offset Type Permanent Clear existing packet periods, see section 13.10.2.1 Packet ID Packet period, see section 13.10.2.2...
Page 127: Baud Rates Packet
Spatial FOG Dual Reference Manual Page 126 of 138 Version 1.0 26/06/2015 13.10.3 Baud Rates Packet Baud Rates Packet Packet ID Length Field Bytes Data Size Description Offset Type Permanent Primary port baud rate (1200 to 10,000,000) GPIO 1 & 2 baud rate (1200 to 1000000)
Page 128: Installation Alignment Packet
The alignment DCM (direction cosine matrix) is used to represent an alignment offset of Spatial FOG 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 129: Filter Options Packet
Spatial FOG Dual Reference Manual Page 128 of 138 Version 1.0 26/06/2015 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) 13.10.5...
Page 130: Vehicle Types
Spatial FOG Dual Reference Manual Page 129 of 138 Version 1.0 26/06/2015 13.10.5.1 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 102: Vehicle types 13.10.6...
Page 131: Gpio1 Functions
Spatial FOG Dual Reference Manual Page 130 of 138 Version 1.0 26/06/2015 13.10.7.1 GPIO1 Functions Value Description Inactive 1PPS Output GNSS Fix Output Odometer Input Zero Velocity Input Pitot Tube Input NMEA Output ANPP Output Disable GNSS Disable Pressure Set Zero Orientation Alignment...
Page 132: Gpio2 Functions
Spatial FOG Dual Reference Manual Page 131 of 138 Version 1.0 26/06/2015 13.10.7.2 GPIO2 Functions Value Description Inactive 1PPS Output GNSS Fix Output Odometer Input Zero Velocity Input Pitot Tube Input NMEA Input Novatel GNSS Input Topcon GNSS Input ANPP Input...
Page 133: Auxiliary Rs232 Transmit Functions
Spatial FOG Dual Reference Manual Page 132 of 138 Version 1.0 26/06/2015 13.10.7.3 Auxiliary RS232 Transmit Functions Value Description Inactive NMEA Output ANPP Output TSS1 Output Simrad 1000 Output Simrad 3000 Output Serial Port Passthrough Table 106: Auxiliary RS232 transmit functions 13.10.7.4...
Page 134: 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 FOG Dual unit. The primary reference point offset can be used to adjust the measurement point to a different location on the vehicle.
Page 135 Spatial FOG Dual Reference Manual Page 134 of 138 Version 1.0 26/06/2015 Reference Points Offset 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 136: Gpio Output Configuration Packet
Spatial FOG Dual Reference Manual Page 135 of 138 Version 1.0 26/06/2015 13.10.11 GPIO Output Configuration Packet GPIO Output Configuration Packet Packet ID Length Field Bytes Data Size Description Offset Type Permanent NMEA fix behaviour, see section 13.10.11.1 GPZDA Rates, see section 13.10.11.2 GPGGA Rates, see section 13.10.11.2...
Page 137: Gpio Output Rates Index
Spatial FOG Dual Reference Manual Page 136 of 138 Version 1.0 26/06/2015 13.10.11.3 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...
Page 138: Offset Types
Spatial FOG Dual Reference Manual Page 137 of 138 Version 1.0 26/06/2015 13.10.12.1 Offset Types Value Description Manual offset Automatic offset Table 116: Offset types 13.10.12.2 Automatic Offset Orientations Value Description Primary front and secondary rear Primary rear and secondary front...
Page 139 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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