Page 1 Spatial FOG Reference Manual...
Page 2: Table Of Contents
8.5 Communication Specifications................28 8.6 Hardware Specifications..................28 8.7 Electrical Specifications..................29 8.8 Power Consumption................... 30 8.9 Connector Pin-out....................30 8.10 Spatial FOG Evaluation Cable Harness............32 8.11 Serial Number....................33 9 Installation........................ 34 9.1 Installation Checklist..................34 9.2 Position and Alignment..................34 9.2.1 Alignment....................
Page 3 10.16.2 Water...................... 51 10.16.3 Salt......................51 10.16.4 Dirt and Dust..................51 10.16.5 PH Level....................51 10.16.6 Shocks....................51 11 Spatial FOG Manager....................52 11.1 Software Changelog..................53 11.2 System Requirements..................53 11.3 Installation....................... 53 11.4 Troubleshooting....................54 11.4.1 All Platforms..................... 54 11.4.2 Windows....................
Page 4 Spatial FOG Reference Manual Page 3 of 144 Version 2.3 03/05/2018 11.5.3 Status Indicator..................58 11.5.3.1 Spatial Status Indicator..............58 11.5.3.2 Fix Indicator..................58 11.5.3.3 Satellites Table.................. 58 11.5.4 3D Map..................... 58 11.5.5 3D Map Controls..................58 11.5.5.1 Reset View..................58 11.5.5.2 Clear History..................
Page 5 Spatial FOG Reference Manual Page 4 of 144 Version 2.3 03/05/2018 12.3.1 GPIO Pins Voltage Level................85 12.3.2 GNSS RS232..................... 85 12.4 Dynamic Pin Functions..................85 12.4.1 1PPS Output..................... 86 12.4.2 GNSS Fix Output..................87 12.4.3 Odometer Input..................87 12.4.4 Zero Velocity Input................... 87 12.4.5 Pitot Tube Input..................
Page 6 Spatial FOG Reference Manual Page 5 of 144 Version 2.3 03/05/2018 13.6 Packet Timing....................95 13.7 Packet Summary....................95 13.8 System Packets....................98 13.8.1 Acknowledge Packet................. 98 13.8.1.1 Acknowledge Result................98 13.8.2 Request Packet..................98 13.8.3 Boot Mode Packet..................99 13.8.3.1 Boot Mode Types................99 13.8.4 Device Information Packet................99...
Page 7 Spatial FOG Reference Manual Page 6 of 144 Version 2.3 03/05/2018 13.9.28 External Body Velocity Packet...............117 13.9.29 External Heading Packet...............117 13.9.30 Running Time Packet................117 13.9.31 Local Magnetic Field Packet..............118 13.9.32 Odometer State Packet.................118 13.9.33 External Time Packet................118 13.9.34 External Depth Packet................119 13.9.35 Geoid Height Packet................119...
Page 8 Spatial FOG Reference Manual Page 7 of 144 Version 2.3 03/05/2018 13.10.10 Reference Point Ofsets Packet............138 13.10.11 GPIO Output Configuration Packet............140 13.10.11.1 NMEA Fix Behaviour..............140 13.10.11.2 GPIO Output Rates...............141 13.10.11.3 GPIO Output Rates Index.............141 13.10.12 Dual Antenna Configuration Packet............141 13.10.12.1 Ofset Types................. 142 13.10.12.2 Automatic Ofset Orientations.............142...
Page 9: Revision History
Updated RTK operation, section 10.11 Added raw satellite data, section 10.12 Added post processing, section 10.13 Updated Spatial FOG Manager tools, section 11.9 Added Nortek binary format, section 12.4.37 Updated GPIO 2 receive functions, section 13.10.7.2 Updated auxiliary RS232 receive functions, section 13.10.7.4...
Page 10 Updated OBDII Odometer photo, section 9.8.2 Updated initialisation, section 10.1 Updated north seeking gyrocompassing, section 10.4.1 Updated dual antenna heading, section 10.4.3 Updated Spatial FOG Manager changelog, section 11.1 Updated linux troubleshooting, section 11.4.3 Added communications dialogue, section 11.7.9 Added GNSS receiver dialogue, section 11.7.10 Added heave dialogue, section 11.7.11...
Page 11 Spatial FOG Reference Manual Page 10 of 144 Version 2.3 03/05/2018 Version Date Changes Added event 2 input, section 12.4.28 14/05/2013 Updated photo Updated mechanical drawings, section 8.1 Updated electrical specifications, section 8.7 Updated connector pinout, section 8.9 Updated electrical connection example Updated evaluation cable harness, section 8.10...
Page 12: Firmware Changelog
Spatial FOG Reference Manual Page 11 of 144 Version 2.3 03/05/2018 Firmware Changelog Version Date Changes 18/04/2018 Addition of extra BeiDou and Galileo frequencies to raw satellite data output. Hemisphere binary input now supports Bin1 and GPHDT messages. Hot start performance improvements...
Page 13 Spatial FOG Reference Manual Page 12 of 144 Version 2.3 03/05/2018 Version Date Changes 10/10/2014 Support added for new hardware version 2.1 North seeking algorithm overhauled, now much more robust against disturbances and interference and will not allow an initialisation with a poor north seeking result...
Page 14: Hardware Changelog
Spatial FOG Reference Manual Page 13 of 144 Version 2.3 03/05/2018 Hardware Changelog Version Date Changes 01/06/2016 Slightly reduced power consumption and heat generation Minor internal improvements 03/08/2015 Internal solid state hot start battery changed resulting in longer hot start capability...
Page 15: Introduction
These are coupled in a sophisticated fusion algorithm to deliver accurate and reliable navigation and orientation. Spatial FOG 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 16: Foundation Knowledge
03/05/2018 Foundation Knowledge This chapter is a learning reference that briefy covers knowledge essential to understanding Spatial FOG 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 17: 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 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 18: 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 with your hand whilst watching the orientation plot in real time on the computer.
Page 19: Geodetic Co-Ordinate System
Spatial FOG Reference Manual Page 18 of 144 Version 2.3 03/05/2018 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 20: Ned Co-Ordinate Frame
Spatial FOG Reference Manual Page 19 of 144 Version 2.3 03/05/2018 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 21: 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 22: Evaluation Kit
6. 120/240 V AC to 24 V DC power supply Quick Start 1. Attach the interface cable harness to the Spatial FOG unit and screw up finger tight. 2. Plug the power supply into the cable harness and then into the wall socket 3.
Page 23: Antenna Survey Mount Assembly
03/05/2018 6. Click the connect button in Spatial FOG Manager. 7. The various windows in Spatial FOG Manager can be used to view the real time data. 8. If north seeking is being used for heading the unit must first obtain a GNSS fix, it should then be left stationary for 5 minutes, then rotated approximately 90 degrees around the Z axis and left stationary for a further 5 minutes.
Page 24: Part Numbers And Ordering Options
No cables included Table 5: Standalone unit part numbers 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 FOG Manager. Part Number Description Notes...
Page 25: 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 in fixed wing aircraft MOUNT-SUCT Suction Cup Suction cup 5/8” GNSS antenna survey Antenna Mount...
Page 26: Specifications
Spatial FOG Reference Manual Page 25 of 144 Version 2.3 03/05/2018 Specifications Mechanical Drawings Illustration 10: Mechanical drawings of Spatial FOG...
Page 27: Navigation Specifications
Spatial FOG Reference Manual Page 26 of 144 Version 2.3 03/05/2018 Navigation Specifications Parameter Value Horizontal Position Accuracy 0.8 m Vertical Position Accuracy 1.5 m Horizontal Position Accuracy 0.008 m (RTK or Kinematica Post Processing) Vertical Position Accuracy (RTK) 0.015 m Velocity Accuracy 0.007 m/s...
Page 28: Sensor Specifications
Spatial FOG Reference Manual Page 27 of 144 Version 2.3 03/05/2018 Sensor Specifications Parameter Accelerometers Gyroscopes Magnetometers Pressure Range 10 g 490 °/s 10 to 120 KPa Bias Instability 15 ug 0.05 °/hr 10 Pa Initial Bias < 1 mg <...
Page 29: Communication Specifications
Spatial FOG Reference Manual Page 28 of 144 Version 2.3 03/05/2018 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 GPIO Level...
Page 30: Electrical Specifications
Spatial FOG Reference Manual Page 29 of 144 Version 2.3 03/05/2018 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 31: Power Consumption
Spatial FOG under demanding conditions and is rated to IP68 in the mated condition. Connection to Spatial FOG may be made with the Spatial FOG evaluation cable harness, which provides a pre-terminated 2 metre cable assembly with all signals broken out to industry standard connectors, see section 8.10.
Page 32 Blue Primary RS422 Rx(-) Violet Primary RS422 Tx(+) / RS232 Tx Grey Primary RS422 Tx(-) White Auxiliary RS232 Tx White/Black Auxiliary RS232 Rx White/Brown GNSS RS232 Rx White/Red GNSS RS232 Tx Table 14: Pin allocation table for Spatial FOG connector...
Page 33: Spatial Fog Evaluation Cable Harness
Spatial FOG Evaluation Cable Harness Advanced Navigation ofers a pre-terminated evaluation cable harness for quick connection to Spatial FOG. All external signal and power connections are provided with 2 metres of cable. For quick testing in applications, the interface cable is provided with industry standard 9 pin DSUB connectors on the communication channels with industry standard pinouts.
Page 34: Serial Number
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.
Page 35: Installation
There are a number of goals in selecting a mounting site in your application, these are: 1. Spatial FOG should be mounted in an area that is not going to exceed it's temperature range. 2. Spatial FOG should be mounted away from vibration where possible.
Page 36: Alignment
Z axis points down towards the ground. If aligning Spatial FOG with the vehicle axes is not possible or not optimal, it may be mounted in a diferent alignment and the alignment ofset should be configured using the alignment configuration dialogue in Spatial FOG Manager, see section 11.8.4.
Page 37: Power Supply
03/05/2018 Power Supply A high level of power supply filtering has been built into Spatial FOG to allow for reliable operation in demanding environments. Spatial FOG 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 38: Gnss Antenna Cables
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 requires a minimum of 29dB of gain at the connector. With the standard 4 metre LMR240 antenna cables supplied by Advanced Navigation, the minimum antenna gain is 30dB.
Page 39: Static Port
Spatial FOG uses atmospheric pressure to stabilise its vertical velocity. The static port vents can be found on the sides of the Spatial FOG enclosure at the top. These are special vents that do not allow water to enter the enclosure.
Page 40: Aftermarket Wheel Speed Sensor
Aftermarket wheel speed sensor 9.8.4 Radar Speed Sensor For applications requiring high performance in harsh conditions where aftermarket wheel speed sensors are not feasible, a radar speed sensor is recommended. Advanced Navigation recommends radar speed sensors from Stalker or GMH Engineering.
Page 41: Vibration
1. Try to find a mounting point with less vibration. 2. Spatial FOG can be mounted on top of a small fat piece of rubber. Please note that this may cause small changing orientation errors due to fexing of the rubber.
Page 42: Operation
Once orientation initialisation is complete, the roll, pitch and angular velocity values will be valid. When Spatial FOG 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 43: Heading Initialisation
Spatial FOG is the first GNSS/INS on the market with hot start functionality. This allows Spatial FOG to start inertial navigation within 2 seconds and obtain a GNSS fix in as little as 3 seconds. Spatial FOG's hot start is always on and fully automatic.
Page 44: Time
Spatial FOG was designed to provide a highly accurate time reference. When a GNSS fix is available Spatial FOG's time is accurate to within 50 nanoseconds. When a GNSS fix is lost, Spatial FOG's time accuracy typically remains within 10 microseconds over extended time periods.
Page 45: Velocity Heading
GNSS connector on the Spatial FOG cable harness. The antenna connected to the Spatial FOG unit is known as the primary antenna and the antenna connected to the upgrade unit is known as the secondary antenna. When installed on the vehicle, the primary antenna should be mounted directly forwards of the secondary antenna with a separation of 1 metre or more.
Page 46: External Heading
External heading can be used if there is some other way to derive heading that is external to Spatial FOG. Examples include dual antenna GNSS systems, reference markers and SLAM systems. The heading must be fed into Spatial FOG using the External Heading Packet or through NMEA into a GPIO pin.
Page 47: Magnetics
To prevent this problem, if the output rate is lower than 1000 Hz, Spatial FOG 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
Version 2.3 03/05/2018 4. If Spatial FOG 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 49: Base Station Radio Modem Rtk Corrections
Spatial FOG unit. The radio modem receiver and Spatial FOG unit must remain within range of the base station to receive these corrections, typically this range is approximately 50km.
Page 50: Post Processing
Kinematica to achieve high accuracy kinematic positioning of 8mm and significantly improved dead reckoning performance. To configure Spatial FOG for use with Kinematica please follow the steps below. 1. Connect to your device using Spatial FOG Manager. 2. Ensure your GNSS ofset and any alignment ofset has been entered as per the installation checklist in section 9.1.
Page 51: Raim
Heave works without a GNSS fix, however best heave performance is achieved when Spatial FOG has a GNSS fix. By default Spatial FOG provides heave from the point at which the Spatial FOG unit is mounted, however it can provide heave at four diferent ofset points on the ship. To set the heave ofsets, either use the heave configuration dialogue in Spatial FOG Manager, see section 11.8.9.
Page 52: Temperature
When un-mating the connectors if the Spatial FOG unit is dirty or dusty, the dirt should be rinsed of with fresh water first and then dried of. This is to prevent dirt or dust entering the connectors which can cause them to fail.
Page 53: 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. It is designed to be simple and easy to use. Illustration 29: Screenshot of Spatial FOG Manager...
Page 54: Software Changelog
When Spatial FOG is running at very high output rates e.g. 1000 Hz, Spatial FOG Manager can consume significant system resources handling the large quantity of data. 11.3 Installation Spatial FOG Manager does not need to be installed and can be run from any directory...
Page 55: Troubleshooting
If the serial port does not show up when you plug in your Spatial FOG 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 56: Linux
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. Spatial FOG Manager is able to run on the OpenJDK JRE but it uses significantly more...
Page 57 Spatial FOG Reference Manual Page 56 of 144 Version 2.3 03/05/2018 system resources than when it is running on the Oracle JRE.
Page 58: Main View
11.5.1 Serial Port The serial port dialogue is used to connect to Spatial FOG. You should select a serial port and baud rate and click connect. The default baud rate of Spatial FOG is 115200. The connection indicator displays whether there is communication with a Spatial FOG unit.
Page 59: Status Indicator
11.5.4 3D Map The 3D map shows Spatial FOG'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's location. To move the camera click and drag on the map. To zoom in and out use the scroll wheel.
Page 60: Views
Version 2.3 03/05/2018 Google Earth. Illustration 32: Screenshot showing log file and log conversion folder 11.7 Views The views menu contains a number of diferent options for viewing data from Spatial FOG. Illustration 33: Screenshot of Spatial FOG Manager views menu...
Page 61: Device Information
Device Information Illustration 34: Screenshot of Spatial FOG Manager device information dialogue 11.7.2 Status Status shows Spatial FOG's complete status as contained in the system state packet detailed in section 13.9.1.1. Illustration 35: Screenshot of Spatial FOG Manager status dialogue...
Page 62: Satellites
Page 61 of 144 Version 2.3 03/05/2018 11.7.3 Satellites Satellites shows detailed information on the satellites that Spatial FOG's GNSS receiver is tracking. Elevation and azimuth are in units of degrees. Illustration 36: Screenshot of Spatial FOG Manager satellites dialogue...
Page 63: Raw Sensors
Spatial FOG Reference Manual Page 62 of 144 Version 2.3 03/05/2018 11.7.4 Raw Sensors Raw sensors shows the temperature calibrated raw sensor values. Illustration 37: Screenshot of Spatial FOG Manager raw sensors dialogue...
Page 64: Orientation
Spatial FOG Reference Manual Page 63 of 144 Version 2.3 03/05/2018 11.7.5 Orientation Orientation shows Spatial FOG's orientation, angular velocity and orientation error. Illustration 38: Screenshot of Spatial FOG Manager orientation dialogue...
Page 65: Position
Version 2.3 03/05/2018 11.7.6 Position Position shows Spatial FOG's position and position error. Latitude and longitude are converted to North and East metres from a reference point that can be reset. Illustration 39: Screenshot of Spatial FOG Manager position dialogue...
Page 66: Velocity And Acceleration
Spatial FOG Reference Manual Page 65 of 144 Version 2.3 03/05/2018 11.7.7 Velocity and Acceleration Velocity and Acceleration shows Spatial FOG's velocity, acceleration and g-force. Illustration 40: Screenshot of Spatial FOG Manager velocity and acceleration dialogue...
Page 67: Model
This dialogue shows a real-time 3D model of Spatial FOG's orientation. Illustration 41: 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 and can be useful in diagnosing signal integrity problems.
Page 68: Gnss Receiver Information
11.7.10 GNSS Receiver Information This dialogue shows information on the internal GNSS receiver contained inside of Spatial FOG. Illustration 43: Screenshot of Spatial FOG Manager GNSS receive information dialogue 11.7.11 Heave For the heave dialogue to function the heave packet (ID 58) must be set to output...
Page 69: North Seeking Status
Spatial FOG Reference Manual Page 68 of 144 Version 2.3 03/05/2018 Illustration 44: 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 70 Spatial FOG Reference Manual Page 69 of 144 Version 2.3 03/05/2018 Illustration 45: Screenshot of Spatial FOG Manager north seeking status dialogue Illustration 46: North seeking quadrants around Z axis...
Page 71: Configuration
11.8.1 Configuration Export The configuration export dialogue can be used to export all Spatial FOG 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 72: Filter Options
Page 71 of 144 Version 2.3 03/05/2018 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 49: Screenshot of Spatial FOG Manager filter options dialogue...
Page 73: Packet Rates
These two packets need to be enabled for the data graphs to update in Spatial FOG 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 74: Alignment Configuration
11.8.4.1 Alignment Ofset If Spatial FOG is installed into the vehicle with the X axis pointing forwards and the Z axis pointing down, then no alignment ofset is required and the roll, pitch and heading ofset values can remain at the factory defaults of zero.
Page 75: Gnss Antenna Ofset
Version 2.3 03/05/2018 11.8.4.2 GNSS Antenna Ofset The GNSS antenna ofset is measured from the centre of the Spatial FOG unit to the centre of the antenna in the body co-ordinate frame (X positive forward, Z positive down). 11.8.4.3 Odometer Ofset...
Page 76: 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 53: Screenshot of Spatial FOG Manager GPIO configuration dialogue 11.8.7...
Page 77: Reset
When the values are zero the measurement point is the centre of the Spatial FOG unit. This can be ofset to a diferent position on the ship by entering the ofset value from the centre of the Spatial FOG unit to the desired position in the body co-ordinate frame (X positive forwards, Z positive down).
Page 78: Gpio Output
Spatial FOG Reference Manual Page 77 of 144 Version 2.3 03/05/2018 Illustration 56: Screenshot of Spatial FOG Manager heave ofset 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 79 Spatial FOG Reference Manual Page 78 of 144 Version 2.3 03/05/2018 Illustration 57: Screenshot of Spatial FOG Manager GPIO output configuration dialogue...
Page 80: Position Configuration
Spatial FOG Reference Manual Page 79 of 144 Version 2.3 03/05/2018 11.8.11 Position Configuration The position configuration dialogue can be used to manually set the position of Spatial FOG when the unit is supplied without a GNSS receiver or when a GNSS fix is not available.
Page 81: Dual Antenna
03/05/2018 11.8.12 Dual Antenna The dual antenna configuration dialogue is only used when Spatial FOG 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 82: Tools
11.9.2 Firmware Update The firmware update dialogue is used to update Spatial FOG's firmware. Advanced Navigation firmware files have the extension .anfw. The dialogue shows the version number of the firmware file along with the date and time it was generated by engineering.
Page 83: Log Converter
This tool allows the user to convert Spatial FOG log files into various standard formats that are readable by many programs. The position ofset values can used to project the exported position to a point other than the centre of the Spatial FOG unit. For most users these values should be left at zero.
Page 84 Spatial FOG Reference Manual Page 83 of 144 Version 2.3 03/05/2018 Illustration 64: Screenshot of Spatial FOG Manager network connect dialogue...
Page 85: Interfacing
13.10.3. It is important to select a baud rate that is capable of carrying the amount of data that Spatial FOG 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 86: Version
12.4. The function of a GPIO pin or auxiliary RS232 can be changed at any time using the GPIO configuration dialogue in Spatial FOG Manager. The receive and transmit functions of the auxiliary RS232 ports can be configured independently with diferent functionality.
Page 87: 1Pps Output
Spatial FOG has accurate time or not. It is important to note that when Spatial FOG 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 88: Gnss Fix Output
12.4.4 Zero Velocity Input When using this function, a high state indicates to Spatial FOG 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 89: Nmea Output
12.4.8 Novatel GNSS Input This function is designed for interfacing Spatial FOG with a Novatel GNSS receiver. It accepts data in the Novatel binary format and requires messages BESTPOSB and BESTVELB at rates higher than 1 Hz (20Hz recommended). The message BESTSATSB is optional to display detailed satellite information.
Page 90: Topcon Gnss Input
This function accepts a digital input. The input is normally low and a transition from low to high causes Spatial FOG to set it's alignment so that the current orientation is zero. Due to the risk of exhausting the fash cycles, the change is not permanent and will disappear on reset.
Page 91: 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 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 92: 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 is installed in. It should be used in combination with Gimbal Encoder Phase B.
Page 93: Odometer Direction, Forward Low
Spatial FOG Reference Manual Page 92 of 144 Version 2.3 03/05/2018 to measure the azimuth angle of a gimbal that Spatial FOG is installed in. It should be used in combination with Gimbal Encoder Phase A. 12.4.35 Odometer Direction, Forward Low This function is designed to take a reversing indication input for direction with an odometer or wheel encoder.
Page 94: Advanced Navigation Packet Protocol
03/05/2018 Advanced Navigation Packet Protocol The Advanced Navigation Packet Protocol (ANPP) is a binary protocol designed with high error checking, high efciency and safe design practices. It has a well defined specification and is very fexible. It is used across all existing and future Advanced Navigation products.
Page 95: Header Lrc
Spatial FOG Reference Manual Page 94 of 144 Version 2.3 03/05/2018 ANPP Header Format Field Bytes Data Size Description Ofset 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 23: ANPP header format 13.2.1...
Page 96: Packet Acknowledgement
The packet rates can be configured either using Spatial Manager or through the Packets Period Packet. By default Spatial FOG 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 97 Spatial FOG Reference Manual Page 96 of 144 Version 2.3 03/05/2018 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 98 Spatial FOG Reference Manual Page 97 of 144 Version 2.3 03/05/2018 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 Raw Satellite Ephemeris Packet...
Page 99: System Packets
Spatial FOG Reference Manual Page 98 of 144 Version 2.3 03/05/2018 13.8 System Packets 13.8.1 Acknowledge Packet Acknowledgement Packet Packet ID Length Field Bytes Data Size Description Ofset Type Packet ID being acknowledged CRC of packet being acknowledged Acknowledge Result, see section 13.8.1.1 Table 25: Acknowledge packet 13.8.1.1...
Page 100: Boot Mode Packet
Spatial FOG Reference Manual Page 99 of 144 Version 2.3 03/05/2018 13.8.3 Boot Mode Packet Boot Mode Packet Packet ID Length Field Bytes Data Size Description Ofset Type Boot mode, see section 13.8.3.1 Table 28: Boot mode packet 13.8.3.1 Boot Mode Types...
Page 101: Restore Factory Settings Packet
Spatial FOG Reference Manual Page 100 of 144 Version 2.3 03/05/2018 13.8.5 Restore Factory Settings Packet Restore Factory Settings Packet Packet ID Length Field Bytes Data Size Description Ofset Type Verification Sequence (set to 0x85429E1C) Table 31: Restore factory settings packet 13.8.6...
Page 102 Spatial FOG Reference Manual Page 101 of 144 Version 2.3 03/05/2018 GPIO 1 and 2 Auxiliary RS232 Table 35: Pass-through routes...
Page 103: State Packets
State Packets Spatial FOG supports a large number of packets providing extensive functionality. However for the majority of users the easiest approach is to configure Spatial FOG using the Spatial Manager software and then support only the single system state packet shown below in section 13.9.1.
Page 104: System Status
Spatial FOG Reference Manual Page 103 of 144 Version 2.3 03/05/2018 Table 36: 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 105: Filter Status
Spatial FOG Reference Manual Page 104 of 144 Version 2.3 03/05/2018 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 106: Microseconds
Spatial FOG Reference Manual Page 105 of 144 Version 2.3 03/05/2018 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 107: Position Standard Deviation Packet
Spatial FOG Reference Manual Page 106 of 144 Version 2.3 03/05/2018 Field Bytes Data Size Description Ofset Type System status, see section 13.9.1.1 Filter status, see section 13.9.1.2 Table 42: Status packet 13.9.5 Position Standard Deviation Packet Position Standard Deviation Packet...
Page 108: Quaternion Orientation Standard Deviation Packet
Spatial FOG Reference Manual Page 107 of 144 Version 2.3 03/05/2018 fp32 Heading standard deviation(rad) Table 45: Euler orientation standard deviation packet 13.9.8 Quaternion Orientation Standard Deviation Packet Quaternion Orientation Standard Deviation Packet Packet ID Length Field Bytes Data Size...
Page 109: Raw Gnss Packet
Spatial FOG Reference Manual Page 108 of 144 Version 2.3 03/05/2018 13.9.10 Raw GNSS Packet This packet represents the raw data as it is received from the GNSS receiver. The position is not corrected for antenna position ofset and the velocity is not compensated for the antenna lever arm ofset.
Page 110: Raw Gnss Status
Spatial FOG Reference Manual Page 109 of 144 Version 2.3 03/05/2018 13.9.10.1 Raw GNSS Status Description GNSS Fix Status, see section 13.9.1.3 Doppler velocity valid Time valid External GNSS Tilt valid Heading valid Floating ambiguity heading 9-15 Reserved (set to zero) Table 49: Raw GNSS status 13.9.11...
Page 111: Detailed Satellites Packet
Spatial FOG Reference Manual Page 110 of 144 Version 2.3 03/05/2018 13.9.12 Detailed Satellites Packet Detailed Satellites Packet Packet ID Length 7 x number of satellites Field Bytes Data Size Description Ofset Type Satellite system, see section 13.9.12.1 Satellite number (PRN) Satellite frequencies, see section 13.9.12.2...
Page 112: Geodetic Position Packet
Spatial FOG Reference Manual Page 111 of 144 Version 2.3 03/05/2018 L2 P L2 M Table 53: Satellite frequencies 13.9.13 Geodetic Position Packet Geodetic Position Packet Packet ID Length Field Bytes Data Size Description Ofset Type fp64 Latitude (rad) fp64...
Page 113: Ned Velocity Packet
Spatial FOG Reference Manual Page 112 of 144 Version 2.3 03/05/2018 Zone number Zone character Table 56: UTM position packet 13.9.16 NED Velocity Packet NED Velocity Packet Packet ID Length Field Bytes Data Size Description Ofset Type fp32 Velocity north (m/s)
Page 114: Body Acceleration Packet
Spatial FOG Reference Manual Page 113 of 144 Version 2.3 03/05/2018 Acceleration Packet Packet ID Length Field Bytes Data Size Description Ofset Type fp32 Acceleration X (m/s/s) fp32 Acceleration Y (m/s/s) fp32 Acceleration Z (m/s/s) Table 59: Acceleration packet 13.9.19 Body Acceleration Packet This packet does not include the acceleration due to gravity.
Page 115: Quaternion Orientation Packet
Spatial FOG Reference Manual Page 114 of 144 Version 2.3 03/05/2018 13.9.21 Quaternion Orientation Packet Quaternion Orientation Packet Packet ID Length Field Bytes Data Size Description Ofset Type fp32 fp32 fp32 fp32 Table 62: Quaternion orientation packet 13.9.22 DCM Orientation Packet...
Page 116: Angular Acceleration Packet
Spatial FOG Reference Manual Page 115 of 144 Version 2.3 03/05/2018 fp32 Angular velocity Y (rad/s) fp32 Angular velocity Z (rad/s) Table 64: Angular velocity packet 13.9.24 Angular Acceleration Packet Angular Acceleration Packet Packet ID Length Field Bytes Data Size...
Page 117: External Position Packet
Spatial FOG Reference Manual Page 116 of 144 Version 2.3 03/05/2018 13.9.26 External Position Packet External Position Packet Packet ID Length Field Bytes Data Size Description Ofset Type fp64 Latitude (rad) fp64 Longitude (rad) fp64 Height (m) fp32 Latitude standard deviation (m)
Page 118: External Body Velocity Packet
Spatial FOG Reference Manual Page 117 of 144 Version 2.3 03/05/2018 13.9.28 External Body Velocity Packet External Body Velocity Packet Packet ID Length Field Bytes Data Size Description Ofset Type fp32 Velocity X (m/s) fp32 Velocity Y (m/s) fp32 Velocity Z (m/s)
Page 119: Local Magnetic Field Packet
Spatial FOG Reference Manual Page 118 of 144 Version 2.3 03/05/2018 13.9.31 Local Magnetic Field Packet Local Magnetic Field Packet Packet ID Length Field Bytes Data Size Description Ofset Type fp32 Local magnetic field X (mG) fp32 Local magnetic field Y (mG)
Page 120: External Depth Packet
Variable, up to 255 bytes Field Bytes Data Size Description Ofset Type RTCM corrections data Table 77: RTCM corrections packet 13.9.37 External Pitot Pressure Packet This packet is used to interface a pitot tube to Spatial FOG for enhanced navigation...
Page 121: Wind Packet
This packet provides Spatial FOG's current 2D wind velocity. These values are only valid when external air data is provided to Spatial FOG. 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 122: Heave Packet
13.9.40 Post Processing Packet Spatial FOG 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 customers requirements. If you need the format of this packet, please contact Advanced...
Page 123: Raw Satellite Data Packet
Spatial FOG Reference Manual Page 122 of 144 Version 2.3 03/05/2018 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 124: 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 125: External Odometer Packet
Spatial FOG Reference Manual Page 124 of 144 Version 2.3 03/05/2018 13.9.43 External Odometer Packet External Odometer Packet Packet ID Length Field Bytes Data Size Description Ofset Type fp32 Estimated delay (s) fp32 Speed (m/s) fp32 Reserved (set to zero) Odometer fags, see section 13.9.43.1...
Page 126: External Air Data Flags
Software license code Reserved (set to zero) Table 88: GNSS receiver information packet 13.9.45.1 GNSS Manufacturer IDs For Spatial FOG the GNSS Manufacturer ID will always be 1 (Trimble). Value Description GNSS Manufacturer Unknown Trimble Table 89: GNSS manufacturer IDs...
Page 127: Gnss Receiver Models
Spatial FOG Reference Manual Page 126 of 144 Version 2.3 03/05/2018 13.9.45.2 GNSS Receiver Models For Spatial FOG the GNSS receiver model will always be either 1 or 2. Value Description GNSS Receiver Model Unknown Trimble BD920 Trimble BD930 Trimble BD982 Table 90: GNSS receiver models 13.9.46...
Page 128: North Seeking Initialisation Status Flags
Spatial FOG Reference Manual Page 127 of 144 Version 2.3 03/05/2018 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 129: Automotive Packet
Spatial FOG Reference Manual Page 128 of 144 Version 2.3 03/05/2018 13.9.48 Automotive Packet Automotive Packet Packet ID Length Field Bytes Data Size Description Ofset Type fp32 Virtual odometer distance (m) fp32 Slip Angle (rad) fp32 Velocity X (m/s) fp32...
Page 130: Configuration Packets
Spatial FOG Reference Manual Page 129 of 144 Version 2.3 03/05/2018 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 fag. A zero in this field indicates that the settings will be lost on reset, a one indicates that they will be permanent.
Page 131: Packets Period Packet
Spatial FOG Reference Manual Page 130 of 144 Version 2.3 03/05/2018 13.10.2 Packets Period Packet Packets Period Packet Packet ID Length 2 + (5 x number of packet periods) Field Bytes Data Size Description Ofset Type Permanent Clear existing packet periods, see section 13.10.2.1 Packet ID Packet period, see section 13.10.2.2...
Page 132: Baud Rates Packet
Spatial FOG Reference Manual Page 131 of 144 Version 2.3 03/05/2018 13.10.3 Baud Rates Packet Baud Rates Packet Packet ID Length Field Bytes Data Size Description Ofset Type Permanent Primary port baud rate (1200 to 10,000,000) GPIO 1 & 2 baud rate (1200 to 1000000)
Page 133: Installation Alignment Packet
The alignment DCM (direction cosine matrix) is used to represent an alignment ofset of Spatial FOG 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 134: Filter Options Packet
Spatial FOG Reference Manual Page 133 of 144 Version 2.3 03/05/2018 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 135: Vehicle Types
Spatial FOG Reference Manual Page 134 of 144 Version 2.3 03/05/2018 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 101: Vehicle types 13.10.6...
Page 136: Gpio1 Functions
Spatial FOG Reference Manual Page 135 of 144 Version 2.3 03/05/2018 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 137: Gpio2 Functions
Spatial FOG Reference Manual Page 136 of 144 Version 2.3 03/05/2018 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 138: Auxiliary Rs232 Transmit Functions
Spatial FOG Reference Manual Page 137 of 144 Version 2.3 03/05/2018 Table 104: GPIO2 functions 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 105: Auxiliary RS232 transmit functions 13.10.7.4...
Page 139: 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 unit. The primary reference point ofset can be used to adjust the measurement point to a diferent location on the vehicle.
Page 140 Spatial FOG Reference Manual Page 139 of 144 Version 2.3 03/05/2018 Reference Points Ofset Packet Packet ID Length Field Bytes Data Size Description Ofset Type Permanent fp32 Primary reference point ofset X (m) fp32 Primary reference point ofset Y (m)
Page 141: Gpio Output Configuration Packet
Spatial FOG Reference Manual Page 140 of 144 Version 2.3 03/05/2018 13.10.11 GPIO Output Configuration Packet GPIO Output Configuration Packet Packet ID Length Field Bytes Data Size Description Ofset 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 142: Gpio Output Rates
Spatial FOG Reference Manual Page 141 of 144 Version 2.3 03/05/2018 13.10.11.2 GPIO Output Rates Description GPIO 1 rate, see 13.10.11.3 Auxiliary RS232 Transmit rate, see 13.10.11.3 8-15 Reserved (set to zero) Table 112: GPIO output rates 13.10.11.3 GPIO Output Rates Index...
Page 143: Ofset Types
Primary rear and secondary front Primary right and secondary left Primary left and secondary right Table 116: Automatic ofset orientations 13.10.13 User Data Packet This packet is for storage of users data. The data itself is not used by Spatial FOG.
Page 144: Gpio Input Configuration Packet
Spatial FOG Reference Manual Page 143 of 144 Version 2.3 03/05/2018 User Data Packet Packet ID Length Field Bytes Data Size Description Ofset Type User Data Table 117: User data packet 13.10.14 GPIO Input Configuration Packet GPIO Input Configuration Packet...
Page 145 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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