Table Of Contents - Advanced Navigation Spatial FOG Reference Manual

Table of Contents

1 Revision History.......................................................................................................... 8
2 Firmware Changelog................................................................................................. 11
3 Hardware Changelog................................................................................................ 13
4 Introduction.............................................................................................................. 14
5 Foundation Knowledge............................................................................................. 15
5.1 GNSS................................................................................................................. 15
5.2 INS..................................................................................................................... 15
5.3 GNSS/INS........................................................................................................... 15
5.4 AHRS................................................................................................................. 15
5.5 RTK GNSS.......................................................................................................... 16
5.6 The Sensor Co-ordinate Frame..........................................................................16
5.7 Roll, Pitch and Heading...................................................................................... 16
5.7.1 Second Right Hand Rule............................................................................. 17
5.7.2 Rotation Order............................................................................................ 17
5.8 Geodetic Co-ordinate System............................................................................18
5.9 NED Co-ordinate Frame..................................................................................... 19
5.10 ECEF Co-ordinate Frame..................................................................................20
6 Evaluation Kit........................................................................................................... 21
6.1 Kit Contents....................................................................................................... 21
6.2 Quick Start......................................................................................................... 21
6.3 Antenna Survey Mount Assembly......................................................................22
7 Part Numbers and Ordering Options.........................................................................23
7.1 Evaluation Kit.................................................................................................... 23
7.2 Standalone Unit................................................................................................. 23
7.3 Internal GNSS Receiver License Upgrades.........................................................23
7.4 Accessories........................................................................................................ 24
8 Specifications........................................................................................................... 25
8.1 Mechanical Drawings......................................................................................... 25
8.2 Navigation Specifications..................................................................................26
8.3 Sensor Specifications......................................................................................... 27
8.4 GNSS Specifications........................................................................................... 27
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................................................................................................... 35
9.3 Mounting Plate................................................................................................... 35
9.4 Power Supply..................................................................................................... 36
9.5 GNSS Antenna................................................................................................... 36
9.6 GNSS Antenna Cables........................................................................................ 37
9.7 Static Port.......................................................................................................... 38
9.8 Odometer.......................................................................................................... 38
Spatial FOG Reference Manual
Page 1 of 144
Version 2.3
03/05/2018