Trimble Gnss Input; U-Blox Gnss Input; Hemisphere Gnss Input; Left Wheel Speed Sensor - Advanced Navigation Spatial FOG Reference Manual

12.4.18

Trimble GNSS Input

This function is designed for interfacing Spatial FOG with an external Trimble GNSS
receiver. It accepts data in the Trimble binary format GSOF and expects packet 0x40
with records 1, 2, 8, and 12 at rates higher than 1Hz (20Hz recommended) and
optional records 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.
12.4.20

Hemisphere GNSS Input

This function is designed for interfacing Spatial FOG with a Hemisphere GNSS receiver.
It accepts data in the Hemisphere binary format and expects message Bin1 at rates
higher than 1Hz. For Hemisphere receivers that provide heading using two antennas,
NMEA should be used instead as the binary format does not allow for transmission of
heading information.
12.4.21

Left Wheel Speed Sensor

This function is designed for the left wheel of a vehicle with dual wheel speed sensors.
12.4.22

Right Wheel Speed Sensor

This function is designed for the right wheel of a vehicle with dual wheel speed
sensors.
12.4.23

1PPS Input

This function is designed to allow external GNSS receivers to synchronise time with
Spatial FOG. It triggers on a transition from low to high.
12.4.24

Wheel Speed Sensor

This function is designed for high resolution vehicle speed sensors and wheel speed
sensors. It expects a normally low input with a high state for the trigger. If the pulse
length is more than 0.1 metres the odometer input function should be used, if it is less
than 0.1 metres this wheel speed sensor function should be used. Please contact
Advanced Navigation support for help integrating with your speed sensor.
12.4.25

Wheel Encoder Phase A

This function is designed for interfacing with a rotary incremental quadrature encoder
that is measuring the wheel speed of a ground vehicle such as a car. It should be used
in combination with Wheel Encoder Phase B.
Spatial FOG Reference Manual
Page 90 of 144
Version 2.3
03/05/2018