Table Of Contents - Advanced Navigation Spatial FOG Dual Reference Manual

Table of Contents

1 Revision History........................................................................................................... 8
2 Firmware Changelog.................................................................................................... 9
3 Hardware Changelog................................................................................................. 10
4 Introduction............................................................................................................... 11
5 Foundation Knowledge.............................................................................................. 12
5.1 GNSS.................................................................................................................. 12
5.2 INS...................................................................................................................... 12
5.3 GNSS/INS............................................................................................................ 12
5.4 AHRS.................................................................................................................. 12
5.5 RTK GNSS........................................................................................................... 13
5.6 The Sensor Co-ordinate Frame........................................................................... 13
5.7 Roll, Pitch and Heading....................................................................................... 13
5.7.1 Second Right Hand Rule.............................................................................. 14
5.7.2 Rotation Order............................................................................................. 14
5.8 Geodetic Co-ordinate System.............................................................................15
5.9 NED Co-ordinate Frame...................................................................................... 16
5.10 ECEF Co-ordinate Frame................................................................................... 17
6 Evaluation Kit............................................................................................................ 18
6.1 Kit Contents........................................................................................................ 18
6.2 Quick Start.......................................................................................................... 18
6.3 Antenna Survey Mount Assembly.......................................................................19
7 Part Numbers and Ordering Options..........................................................................20
7.1 Evaluation Kit..................................................................................................... 20
7.2 Standalone Unit.................................................................................................. 20
7.3 Internal GNSS Receiver License Upgrades..........................................................20
7.4 Accessories......................................................................................................... 21
8 Specifications............................................................................................................ 22
8.1 Mechanical Drawings.......................................................................................... 22
8.2 Navigation Specifications................................................................................... 23
8.3 Heading Accuracy............................................................................................... 23
8.4 Sensor Specifications.......................................................................................... 24
8.5 GNSS Specifications............................................................................................ 24
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.................................................................................................... 32
9.3 Mounting Plate.................................................................................................... 32
9.4 Power Supply...................................................................................................... 33
9.5 GNSS Antennas................................................................................................... 34
9.6 GNSS Antenna Cables......................................................................................... 36
9.7 Static Port........................................................................................................... 36
Spatial FOG Dual Reference Manual
Page 1 of 138
Version 1.0
26/06/2015