Page 1 Spatial Reference Manual...
Page 2: Table Of Contents
Spatial Reference Manual Page 1 of 158 Version 4.4 04/06/2019 Table of Contents Revision History......................8 Firmware Changelog....................13 Hardware Changelog....................17 Introduction......................18 Foundation Knowledge................... 19 GNSS....................... 19 INS........................19 GNSS/INS......................19 AHRS....................... 19 The Sensor Co-ordinate Frame................19 Roll, Pitch and Heading..................20 5.6.1...
Page 3 Velocity Heading..................48 10.4.3 External Heading..................48 10.5 Magnetics...................... 48 10.5.1 2D Magnetic Calibration.................49 10.5.1.1 Using the Spatial Manager Software..........49 10.5.1.2 Using the Packet Protocol..............49 10.5.2 3D Magnetic Calibration.................49 10.5.2.1 Using the Spatial Manager Software..........50 10.5.2.2 Using the Packet Protocol..............50 10.5.3...
Page 4 Spatial Reference Manual Page 3 of 158 Version 4.4 04/06/2019 11.4.1 All Platforms................... 59 11.4.2 Windows....................59 11.4.3 Linux....................... 61 11.5 Main View...................... 62 11.5.1 Serial Port....................62 11.5.2 Attitude Indicator..................62 11.5.3 Status Indicator..................62 11.5.3.1 Spatial Status Indicator..............63 11.5.3.2...
Page 5 Spatial Reference Manual Page 4 of 158 Version 4.4 04/06/2019 11.9.6 Network Connect..................85 Interfacing......................86 12.1 Communication..................... 86 12.1.1 Baud Rate....................86 12.2 External Data....................86 12.3 GPIO Pins and Auxiliary RS232..............87 12.4 Dynamic Pin Functions...................87 12.4.1 1PPS Output................... 89 12.4.2...
Page 6 Spatial Reference Manual Page 5 of 158 Version 4.4 04/06/2019 12.4.44 Odometer Direction, Forward High............95 12.4.45 Reverse Alignment, Forward Low............96 12.4.46 Reverse Alignment, Forward High............96 12.4.47 Zero Angular Velocity Input..............96 Advanced Navigation Packet Protocol..............97 13.1 Data Types..................... 97 13.2 Packet Structure.................... 97 13.2.1...
Page 7 Spatial Reference Manual Page 6 of 158 Version 4.4 04/06/2019 13.9.14 ECEF Position Packet................114 13.9.15 UTM Position Packet................115 13.9.16 NED Velocity Packet................115 13.9.17 Body Velocity Packet................115 13.9.18 Acceleration Packet................116 13.9.19 Body Acceleration Packet..............116 13.9.20 Euler Orientation Packet..............116 13.9.21 Quaternion Orientation Packet............117 13.9.22...
Page 8 Spatial Reference Manual Page 7 of 158 Version 4.4 04/06/2019 13.10.5.1 Alignment DCM................131 13.10.6 Filter Options Packet................132 13.10.6.1 Vehicle Types................132 13.10.7 Advanced Filter Parameters Packet.............133 13.10.8 GPIO Configuration Packet..............133 13.10.8.1 GPIO1 Functions................133 13.10.8.2 GPIO2 Functions................134 13.10.8.3 Auxiliary RS232 Transmit Functions..........136 13.10.8.4...
Page 9: Revision History
Added post processing operation, section 10.14 Added raw satellite data packet, section 13.9.41 12/04/2016 Updated firmware changelog, section 2 Updated hardware changelog, section 3 Updated images in foundation knowledge, section 5 Added antenna offset diagrams, section 9.5 Updated Spatial Manager changelog, section 11.1...
Page 10 Updated 2D magnetic calibration procedure for clarity, section 10.5.2.1 Updated 3D magnetic calibration procedure for clarity, section 10.5.2.1 Updated all screenshots in Spatial Manager, section 11 Updated Spatial Manager changelog, section 11.1 Updated Spatial Manager Linux troubleshooting, section 11.4.3 Added Spatial Manager 3D model, section 11.7.8 Added Spatial Manager communications statistics, section 11.7.9...
Page 11 Spatial Reference Manual Page 10 of 158 Version 4.4 04/06/2019 Version Date Changes Added Spatial Manager GPIO output configuration, section 11.8.11 Added Spatial Manager position configuration, section 11.8.12 Added serial port pass-through GPIO function, section 12.4.39 Added packet timing, section 13.6 Added serial port pass-through packet, section 13.8.7...
Page 12 Spatial Reference Manual Page 11 of 158 Version 4.4 04/06/2019 Version Date Changes Added GNSS fix status, section 13.9.1.3 Updated baud rates packet, section 13.10.3 Updated filter options packet, section 13.10.6 Updated GPIO configuration packet, section 13.10.8 Added NMEA output configuration packet, section 13.10.15 27/03/2013 Added additional magnetic information, section 10.5...
Page 13 Spatial Reference Manual Page 12 of 158 Version 4.4 04/06/2019 Version Date Changes Fixed error in odometer state packet, section 13.9.32 18/10/2012 Added information on sensor calibration, section 8.12 Added odometer installation information, section 9.6 Added hot start information, section 10.2 Added time information, section 10.3...
Page 14 Spatial Reference Manual Page 13 of 158 Version 4.4 04/06/2019 Version Date Changes 11/08/2012 Magnetic calibration values packet corrected Incorrect length fixed on several packets Grammar corrections 08/08/2012 Connector pin allocation table corrected 31/07/2012 First Draft Table 1: Revision history...
Page 15: Firmware Changelog
Spatial Reference Manual Page 14 of 158 Version 4.4 04/06/2019 Firmware Changelog Version Date Changes 31/05/2019 Fixed regression with integrity monitoring introduced in version 5.2 07/05/2019 Significant improvements to step detection and stride estimation in the Human vehicle profile Added support for u-blox Z9P protocol changes...
Page 16 Spatial Reference Manual Page 15 of 158 Version 4.4 04/06/2019 Version Date Changes New algorithm for use inside gimbals (requires encoder) More robust time acceptance from external sources NMEA time is now perfectly aligned to the millisecond Support for offsetting reference position of output data...
Page 17 Version Date Changes reduce accuracy under certain conditions with strong decelerations 27/03/2013 Added Spatial hardware revision 2.0 support Added experimental post-processing support Issue with RTCM GPIO corrections resolved Detailed satellites packet modified Added 1PPS input GPIO function 29/01/2013 Added stationary heading drift compensation algorithm to...
Page 18 Added system state packet trigger GPIO function Added raw sensors packet trigger GPIO function Please Note: Some configuration will be reset to factory defaults when upgrading from v1.1 to v2.0 Please use Spatial Manager v2.0 and above with this firmware. 23/09/2012 INS performance enhancements Odometer enhancements...
Page 19: Hardware Changelog
Spatial Reference Manual Page 18 of 158 Version 4.4 04/06/2019 Hardware Changelog Version Date Changes 25/05/2017 GNSS receiver changed to u-blox M8P which supports RTK 05/10/2016 GNSS receiver changed to u-blox M8T which supports raw satellite data output for use with post-processing software.
Page 20: Introduction
GNSS receiver. These are coupled in a sophisticated fusion algorithm to deliver accurate and reliable navigation and orientation. Spatial 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 21: Foundation Knowledge
04/06/2019 Foundation Knowledge This chapter is a learning reference that briefly covers knowledge essential to understanding Spatial 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. A GNSS consists of a number of satellites in space that broadcast navigation signals.
Page 22: The Sensor Co-Ordinate Frame
Z axis pointing down through the base of the unit and the Y axis pointing off to the right. Illustration 1: Spatial 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 23: Rotation Order
This can be hard for some people to grasp at first and is often best learned experimentally by rotating spatial with your hand whilst watching the orientation plot in real time on the computer.
Page 24 Spatial Reference Manual Page 23 of 158 Version 4.4 04/06/2019 Illustration 4: Latitude and longitude represented visually to describe a position Illustration 5 below shows latitude and longitude on a map of the world.
Page 25: Ned Co-Ordinate Frame
Spatial Reference Manual Page 24 of 158 Version 4.4 04/06/2019 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 26: 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 27: Evaluation Kit
Navigation website. Java is required to run the software. Java is available from http://www.java.com if not already installed. 6. Click the connect button in Spatial Manager. 7. The various windows in Spatial Manager can be used to view the real time data.
Page 28: Troubleshooting
Manager and press save, see section 11.8.5. The antenna offset is measured from the centre of the Spatial unit to the centre of the antenna in the body co- ordinate frame. Please note that as Z is positive down, if the antenna is above the Spatial unit this will result in a negative Z value.
Page 29: Part Numbers And Ordering Options
Table 5: Standalone unit part numbers Accessories Part Number Description Notes A503-SDC20796 ODU plug to FTDI Spatial ODU plug with 2m of cable to FTDI USB cable RS232 to USB plug, see section 8.10 TW4721 GNSS Antenna Magnetic mount L1 GNSS Antenna (GPS/GLONASS/BeiDou/Galileo/SBAS)
Page 30 OBDII Odometer Interface See section 9.6.2 AD-UNIT Air Data Unit Air data unit provides pitot and static air data aiding for Spatial in fixed wing aircraft Interface and Interface and logging unit provides an Logging Unit Ethernet interface to Spatial with built in...
Page 31: Specifications
Spatial Reference Manual Page 30 of 158 Version 4.4 04/06/2019 Specifications Mechanical Drawings Illustration 8: Mechanical drawings of Spatial...
Page 32: Navigation Specifications
Spatial Reference Manual Page 31 of 158 Version 4.4 04/06/2019 Navigation Specifications Parameter Value Horizontal Position Accuracy 2.0 m Vertical Position Accuracy 3.0 m Horizontal Position Accuracy (with L1 RTK) 0.02 m Vertical Position Accuracy (with L1 RTK) 0.03 m Velocity Accuracy 0.05 m/s...
Page 33: Sensor Specifications
Spatial Reference Manual Page 32 of 158 Version 4.4 04/06/2019 Sensor Specifications Parameter Accelerometers Gyroscopes Magnetometers Pressure Range 10 to 120 KPa 250 °/s (dynamic) 500 °/s 16 g 2000 °/s Bias Instability 20 ug 3 °/hr 10 Pa Initial Bias <...
Page 34: Gnss Specifications
Spatial Reference Manual Page 33 of 158 Version 4.4 04/06/2019 GNSS Specifications Parameter Value Supported Navigation Systems GPS L1 GLONASS L1 GALILEO E1 BeiDou B1 Supported SBAS Systems WAAS EGNOS MSAS GAGAN QZSS Update Rate 10 Hz Cold Start Sensitivity...
Page 35: Hardware Specifications
Spatial Reference Manual Page 34 of 158 Version 4.4 04/06/2019 Hardware Specifications Parameter Value Operating Voltage 5 to 36 V Input Protection ± 60 V Power Consumption 0.5 W (typical) Hot Start Battery Capacity > 48 hrs Hot Start Battery Charge Time...
Page 36: Electrical Specifications
Spatial Reference Manual Page 35 of 158 Version 4.4 04/06/2019 Electrical Specifications Parameter Minimum Typical Maximum Power Supply Input Supply Voltage 36 V Input Protection Range -60 V 60 V RS232 Tx Voltage Low -5.7 V -5 V Tx Voltage High 6.2 V...
Page 37: Power Consumption
Spatial Reference Manual Page 36 of 158 Version 4.4 04/06/2019 Power Consumption Maximum Typical 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 Voltage (V) Illustration 9: Maximum and typical current consumption across operating voltage...
Page 38: Connector Pin-Out
Power supply and signal connections are made through a ODU Mini-Snap Series B 9 pin connector. The ODU part number is S30B0SP09MCC00-5000. The connector provides a reliable and rugged connection to Spatial under demanding conditions and is rated to IP68 in the mated condition. Plugs are supplied with 2 metres of unterminated shielded cable with an outer protective jacket.
Page 39: Evaluation Kit Usb Cable
8.10 Evaluation Kit USB Cable The evaluation kit is supplied with a 2 metre cable with a Spatial ODU plug on one end and an overmoulded RS232 to USB converter on the other end, please see Illustration 11. The cable is the same 9 wire cable supplied with unterminated ODU cables and all 9 wires are connected on the ODU end.
Page 40: Optional Breakout Cable
Advanced Navigation offers a pre-terminated breakout cable for access to all of Spatial's pins. All external signal and power connections are provided with 2m of cable. The interface cable is provided with industry standard 9 pin DSUB connectors for each of the two RS232 communication channels and GPIO pins.
Page 41: Sensor Calibration
Serial Number The serial number can be inspected by using the device information dialogue in the Spatial 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 42: Installation
3. The two vents on the sides of Spatial should not be obstructed. 4. If magnetic heading is going to be used, Spatial should be mounted at least 0.5 metres away from sources of dynamic magnetic interference i.e. high current...
Page 43: Alignment
9.2.1 Alignment The easiest way to align Spatial is by installing it with the sensor axes aligned with the vehicle axes. This means that the X axis points forward towards the front of the vehicle and the Z axis points down towards the ground.
Page 44: Gnss Antenna
The antenna offset should be configured in the Spatial unit by using the alignment dialogue in the Spatial Manager software, see section 11.8.5. It is very important to set the antenna offset accurately as Spatial corrects for lever arm velocities. Incorrect GNSS antenna offset will lead to performance degradation under turning and angular rotations.
Page 45: Odometer
Factory VSS Signal Most road cars since 1980 contain a VSS (vehicle speed sensor) signal that can be wired directly into one of Spatial's GPIO pins. The vehicle should be taken to an automotive electrician to perform the work. To setup the odometer, the appropriate GPIO pin should be set to odometer input using Spatial Manager, see section 11.8.7.
Page 46 Spatial Reference Manual Page 45 of 158 Version 4.4 04/06/2019 Illustration 17: Advanced Navigation OBDII Odometer...
Page 47: Aftermarket Wheel Speed Sensor
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. Illustration 19: Radar speed sensor...
Page 48: Magnetics
Spatial is able to tolerate a high level of vibration compared to other inertial systems. This is due to a unique gyroscope design and a special filtering algorithm. There is however a limit to the amount of vibration that Spatial can tolerate and large levels of vibration will cause Spatial's accuracy to degrade.
Page 49 Spatial Reference Manual Page 48 of 158 Version 4.4 04/06/2019 3. Spatial can be mounted to a plate which is then mounted to the platform through vibration isolation mounts.
Page 50: Operation
Once orientation initialisation is complete, the roll, pitch and angular velocity values will be valid. When Spatial starts up, it assumes that it can be in any orientation. To determine its 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 51: Heading Initialisation
A next generation backup battery system within Spatial provides the hot start ability for more than 48 hours without power. When Spatial hot starts it assumes that it is in the same state it was when it lost power and begins navigating from that position. The hot start also provides ephemeris, almanac and time information to the GNSS receiver which allows it to achieve a fix far more quickly than it otherwise would.
Page 52: Time
10.3 Time Spatial was designed to provide a highly accurate time reference. When a GNSS fix is available Spatial's time is accurate to within 50 nanoseconds. When a GNSS fix is lost, Spatial's time accuracy typically remains within 10 microseconds over extended time periods.
Page 53: Magnetic Calibration
Version 4.4 04/06/2019 Spatial is installed in a car and the car drives over a large piece of magnetised steel, this will be compensated for. Another example is driving through a tunnel which is built from heavily reinforced concrete. It is important to note that for Spatial's dynamic magnetic compensation filter to operate correctly, Spatial needs to get a GNSS fix at least once every time it is moved more than 50km.
Page 54: Using The Packet Protocol
Spatial Reference Manual Page 53 of 158 Version 4.4 04/06/2019 10.5.1.2 Using the Packet Protocol 1. The unit should be powered on while the vehicle is in a level orientation and kept stationary. 2. After power on wait 5 minutes for the temperature and filter to stabilise.
Page 55: Magnetic Calibration
1. The unit should be powered on and the vehicle kept stationary. 2. After power on wait 5 minutes for the temperature and filter to stabilise. 3. Open Spatial Manager and connect to the device. Ensure that the device has a GNSS fix before proceeding.
Page 56: Disabling Magnetometers
The automatic magnetic calibration starts operating when Spatial is travelling at a speed over 5 m/s with a GNSS fix and velocity heading turned on. Automatic magnetic calibration is not as accurate as 2D or 3D calibration, however it is sufficient for most vehicles and allows Spatial to be installed into vehicles and operated without user intervention.
Page 57 Spatial Manager, see section 11.8.3. For a list of the different vehicle profiles please see section 13.10.6.1. Please note that if the wrong vehicle...
Page 58: Odometer Pulse Length
10.9 Odometer Pulse Length For Spatial 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.
Page 59: Differential And Rtk Gnss
Spatial supports receiving differential corrections to enhance position accuracy. Spatial hardware version 7.0 and above also supports RTK corrections. The corrections must come from a base station located within a 25 km radius of where the Spatial unit is operating. There are many companies worldwide that provide nationwide network corrections services from a local base station that can be received over the internet using a protocol called NTRIP.
Page 60: Vents
10.15 Vents Spatial contains a sophisticated venting system that allows it to measure air pressure whilst keeping water out. There are two sets of vent holes on either side of the enclosure. It is very important that these remain clean and clear of debris. Should debris get into the vents they should be rinsed with fresh water.
Page 61: Heave
However Spatial cannot tolerate extended periods of time in salt water environments. After any contact with salt water environments, Spatial should be thoroughly rinsed with fresh water. 10.18.4 Dirt and Dust Spatial is completely sealed against dirt and dust entry. It is important to note that this...
Page 62: Ph Level
When un-mating the connectors if the Spatial 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 63: Spatial Manager
Page 62 of 158 Version 4.4 04/06/2019 Spatial Manager Spatial Manager is a software tool provided by Advanced Navigation for logging, testing, display and configuration of Spatial. It is designed to be simple and easy to use. Illustration 23: Screenshot of Spatial Manager...
Page 64: Software Changelog
Log converter now outputs a KML file for Google Earth with detailed information as well as the GPX file Added serial port passthrough tool 17/08/2015 Spatial Manager now requests all configuration upon connection Spatial Manager converts any configuration packets found...
Page 65: System Requirements
11.3 Installation Spatial Manager does not need to be installed and can be run from any directory by double clicking on it. Spatial Manager requires a recent version of Java, available at http://www.java.com. On some systems to open the program it may be necessary to right click and select open with →...
Page 66 If the serial port does not show up when you plug in your Spatial 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 Manager, this is typically a problem associated with older FTDI drivers.
Page 67: Linux
Linux installations. If you are not using a modem, it is recommended to remove modemmanager with the command sudo apt-get remove modemmanager. Spatial Manager is able to run on the OpenJDK JRE but it uses significantly more system resources than when it is running on the Oracle JRE.
Page 68: Main View
11.5.1 Serial Port The serial port dialogue is used to connect to Spatial. You should select a serial port and baud rate and click connect. The default baud rate of Spatial is 115200. The connection indicator displays whether there is communication with a Spatial unit.
Page 69: Spatial Status Indicator
11.5.4 3D Map The 3D map shows Spatial'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's location. To move the camera click and drag on the map. To zoom in and out use the scroll wheel.
Page 70: Logging
Spatial Manager features a fully automatic logging system. Every time the serial port connect button is clicked Spatial Manager starts a new log file in either the current directory or the user's home directory. The log file is given the file name SpatialLog_date_time.anpp and contains all of the raw data received from Spatial in...
Page 71: Device Information
Illustration 28: Screenshot of Spatial Manager device information dialogue 11.7.2 Status Status shows Spatial's complete status as contained in the system state packet detailed in section 13.9.1.1. Illustration 29: Screenshot of Spatial Manager status dialogue...
Page 72: Satellites
Spatial Reference Manual Page 71 of 158 Version 4.4 04/06/2019 11.7.3 Satellites Satellites shows detailed information on the satellites that Spatial's GNSS receiver is tracking. Illustration 30: Screenshot of Spatial Manager satellites dialogue...
Page 73: Raw Sensors
Spatial Reference Manual Page 72 of 158 Version 4.4 04/06/2019 11.7.4 Raw Sensors Raw sensors shows the temperature calibrated raw sensor values. Illustration 31: Screenshot of Spatial Manager raw sensors dialogue...
Page 74: Orientation
Spatial Reference Manual Page 73 of 158 Version 4.4 04/06/2019 11.7.5 Orientation Orientation shows Spatial's orientation and angular velocity. Illustration 32: Screenshot of Spatial Manager orientation dialogue...
Page 75: Position
Page 74 of 158 Version 4.4 04/06/2019 11.7.6 Position Position shows Spatial's position and position error. Latitude and longitude are converted to North and East metres from a reference point that can be reset. Illustration 33: Screenshot of Spatial Manager position dialogue...
Page 76: Velocity And Acceleration
Spatial Reference Manual Page 75 of 158 Version 4.4 04/06/2019 11.7.7 Velocity and Acceleration Velocity and Acceleration shows Spatial's velocity, acceleration and g-force. Illustration 34: Screenshot of Spatial Manager velocity and acceleration dialogue...
Page 77: 3D Model
Spatial Reference Manual Page 76 of 158 Version 4.4 04/06/2019 11.7.8 3D Model Illustration 35: Screenshot of Spatial Manager 3D model dialogue 11.7.9 Communications Statistics Illustration 36: Screenshot of Spatial Manager communications statistics dialogue...
Page 78: Heave
Spatial Reference Manual Page 77 of 158 Version 4.4 04/06/2019 11.7.10 Heave Illustration 37: Screenshot of Spatial Manager heave dialogue...
Page 79: Configuration
11.8.1 Configuration Export The configuration export dialogue can be used to export all Spatial 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 80: Sensor Ranges
The lowest ranges give the best performance so it is preferable not to use the highest range by default. Illustration 40: Screenshot of Spatial Manager sensor ranges dialogue 11.8.3...
Page 81: Packet Rates
These two packets need to be enabled for the data graphs to update in Spatial 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 82: Alignment Configuration
11.8.5.1 Alignment Offset If Spatial 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 83: Odometer Offset
(X positive forward, Z positive down). 11.8.5.3 Odometer Offset The odometer offset is measured from the centre of the Spatial unit to the point at which the vehicle's tyre makes contact with the road in the body co-ordinate frame (X positive forward, Z positive down).
Page 84: 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 45: Spatial Manager GPIO configuration dialogue 11.8.8...
Page 85: Reset
The reference point offsets dialogue allows the user to adjust the point of measurement away from its default position at the centre of the Spatial unit. The primary reference point offset applies to data from all ANPP packets as well as all peripheral output such as NMEA and heave point 1.
Page 86: Gpio Output Configuration
04/06/2019 11.8.11 GPIO Output Configuration 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. Illustration 49: Screenshot of Spatial Manager GPIO output configuration dialogue...
Page 87: Manual Initialisation
Version 4.4 04/06/2019 11.8.12 Manual Initialisation This dialogue can be used to manually initialise Spatial when a GNSS fix is not available. Setting the position will initialise the navigation filter. Setting the heading will initialise the heading. Illustration 50: Screenshot of...
Page 88: Tools
Illustration 51: Screenshot of Spatial Manager gimbal dialogue 11.9 Tools The tools menu contains tools for performing procedures with Spatial. Illustration 52: Screenshot of Spatial Manager tools menu 11.9.1 Terminal The terminal is only used during specialised technical support with Advanced...
Page 89: Magnetic Calibration
The magnetic calibration dialogue allows the user to perform magnetic calibration as well as view and modify the magnetic calibration values. The actual magnetic calibration is performed inside the Spatial unit. This dialogue does not have any smarts, it is just a control and display interface.
Page 90: Firmware Update
This tool allows the user to convert Spatial log files into various standard formats that are readable by many programs. The offset is used to project the exported position to a point other than the centre of the Spatial unit. For most users these values should be left at zero.
Page 91: Network Connect
11.9.5 NTRIP Client The NTRIP client can be used to connect to a network DGPS or RTK service to stream correction data to Spatial for DGPS or RTK. The NTRIP client requires an internet connection to function. Please contact support@advancednavigation.com.au guidance on getting set up with network DGPS or RTK.
Page 92: Interfacing
12.1.1 Baud Rate The default baud rate for all the ports of Spatial is 115200 bps. The primary port baud rate can be set anywhere from 2400 to 2000000 baud and can be modified using the Spatial Manager software (see section 11.8.6) or the Baud Rates packet, see section 13.10.3.
Page 93: External Data
External sources of position, velocity, heading, time, depth and pitot pressure can be integrated into Spatial's filter solution. The data can be sent to Spatial in the ANPP format over the main RS232 port or through one of the GPIO pins in a number of different formats.
Page 94: Dynamic Pin Functions
Spatial Reference Manual Page 93 of 158 Version 4.4 04/06/2019 12.4 Dynamic Pin Functions Function Type GPIOs Auxiliary RS232 Inactive Tristate 1PPS Output Digital Output Transmit GNSS Fix Output Digital Output Transmit Odometer Input Frequency Input Receive Zero Velocity Input...
Page 95: 1Pps Output
1PPS line starts pulsing approximately 100 milliseconds after power up and always fires irrespective of whether Spatial has accurate time or not. It is important to note that when Spatial acquires time corrections from its GNSS receiver, the 1PPS signal may fire at an interval of less than 1 second.
Page 96: Odometer Input
12.4.4 Zero Velocity Input In this function, a high state indicates to Spatial that the vehicle is stationary. The low state indicates that the vehicle could be moving. Use of this function can significantly improve drift performance when a GNSS signal is not available.
Page 97: Nmea Output
12.4.8 Novatel GNSS Input This function is designed for interfacing Spatial 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 98: Topcon Gnss Input
This function accepts a digital input. The input is normally low and a transition from low to high causes Spatial to set its 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 99: Pressure Depth Transducer
34 at 1 to 2Hz. 12.4.21 u-blox GNSS Input This function is designed for interfacing Spatial 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 100: Nortek Dvl Input
Wheel Encoder Phase B This function is designed for rotary incremental quadrature encoders. It should be used in combination with Wheel Encoder Phase A. 12.4.34 Event 1 Input This function is designed to allow external events to be recorded inside Spatial's...
Page 101: Event 2 Input
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 is installed in. It should be used in combination with Gimbal Encoder Phase B.
Page 102: Odometer Direction, Forward High
Spatial Reference Manual Page 101 of 158 Version 4.4 04/06/2019 12.4.43 Odometer Direction, Forward Low This function is designed to take a reversing indication input for direction with an odometer or wheel encoder. It should be used in combination with Odometer Input or Wheel Speed Sensor.
Page 103: Zero Angular Velocity Input
12.4.47 Zero Angular Velocity Input In this function, a high state indicates to Spatial that the vehicle is not rotating. The low state indicates that the vehicle could be rotating. Use of this function can significantly improve heading drift performance when a GNSS signal is not available.
Page 104: Advanced Navigation Packet Protocol
04/06/2019 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 105: Packet Structure
Spatial Reference Manual Page 104 of 158 Version 4.4 04/06/2019 13.2 Packet Structure The ANPP packet structure is shown in Table 25 and the header format is shown in Table 26. Example code can be downloaded from the software section.
Page 106: Packet Requests
Any packet can be requested at any time using the request packet. See section 13.8.2. 13.4 Packet Acknowledgement When configuration packets are sent to Spatial, 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.
Page 107 Spatial Reference Manual Page 106 of 158 Version 4.4 04/06/2019 validity for the other two packets.
Page 108: Packet Summary
Spatial Reference Manual Page 107 of 158 Version 4.4 04/06/2019 13.7 Packet Summary Packet ID Length Name System Packets Acknowledge Packet Request Packet Boot Mode Packet Device Information Packet Restore Factory Settings Packet Reset Packet Serial Port Pass-through Packet State Packets...
Page 109 Spatial Reference Manual Page 108 of 158 Version 4.4 04/06/2019 Packet ID Length Name Angular Acceleration Packet External Position & Velocity Packet External Position Packet External Velocity Packet 16 or External Body Velocity Packet External Heading Packet Running Time Packet...
Page 110: System Packets
Spatial Reference Manual Page 109 of 158 Version 4.4 04/06/2019 Packet ID Length Name Magnetic Calibration Status Packet Odometer Configuration Packet Set Zero Orientation Alignment Packet Reference Point Offsets Packet GPIO Output Configuration Packet User Data Packet GPIO Input Configuration Packet Table 27: Packet summary 13.8...
Page 111: Request Packet
Spatial Reference Manual Page 110 of 158 Version 4.4 04/06/2019 13.8.2 Request Packet Request Packet Packet ID Length 1 x number of packets requested Field Bytes Data Size Description Offset Type Packet ID requested Field 1 repeats for additional packet requests Table 30: Request packet 13.8.3...
Page 112: Restore Factory Settings Packet
Spatial Reference Manual Page 111 of 158 Version 4.4 04/06/2019 Serial number part 3 Table 33: Device information packet 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 34: Restore factory settings packet 13.8.6...
Page 113 Spatial Reference Manual Page 112 of 158 Version 4.4 04/06/2019...
Page 114: Pass-Through Routes
Spatial Reference Manual Page 113 of 158 Version 4.4 04/06/2019 13.8.7.1 Pass-through Routes Value Description GPIO 1 and 2 Auxiliary RS232 Table 38: Pass-through routes...
Page 115: State Packets
State Packets Spatial supports a large number of packets providing extensive functionality. However for the majority of users the easiest approach is to configure Spatial using the Spatial Manager software and then support only the single system state packet shown below in section 13.9.1.
Page 116: System State Packet
Spatial Reference Manual Page 115 of 158 Version 4.4 04/06/2019 13.9.1 System State Packet System State 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 Unix time (seconds), see section 13.9.1.4 Microseconds, see section 13.9.1.5...
Page 117 Spatial Reference Manual Page 116 of 158 Version 4.4 04/06/2019 Accelerometer Sensor Failure Gyroscope Sensor Failure Magnetometer Sensor Failure Pressure Sensor Failure GNSS Failure Accelerometer Over Range Gyroscope Over Range Magnetometer Over Range Pressure Over Range Minimum Temperature Alarm Maximum Temperature Alarm...
Page 118: Filter Status
Spatial Reference Manual Page 117 of 158 Version 4.4 04/06/2019 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 Orientation Filter Initialised...
Page 119: Microseconds
Spatial Reference Manual Page 118 of 158 Version 4.4 04/06/2019 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 Unix Time Packet...
Page 120: Status Packet
Spatial Reference Manual Page 119 of 158 Version 4.4 04/06/2019 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 45: Status packet 13.9.5...
Page 121: Euler Orientation Standard Deviation Packet
Spatial Reference Manual Page 120 of 158 Version 4.4 04/06/2019 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 122: Raw Sensors Packet
Spatial Reference Manual Page 121 of 158 Version 4.4 04/06/2019 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) fp32...
Page 123: Raw Gnss Packet
Spatial Reference Manual Page 122 of 158 Version 4.4 04/06/2019 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 offset and the velocity is not compensated for the antenna lever arm offset.
Page 124: Raw Gnss Status
Spatial Reference Manual Page 123 of 158 Version 4.4 04/06/2019 13.9.10.1 Raw GNSS Status Description GNSS Fix Status, see section 13.9.1.3 Doppler velocity valid Time valid External GNSS 6-15 Reserved (set to zero) Table 52: Raw GNSS status 13.9.11 Satellites Packet...
Page 125: Detailed Satellites Packet
Spatial Reference Manual Page 124 of 158 Version 4.4 04/06/2019 13.9.12 Detailed Satellites Packet Detailed Satellites Packet Packet ID Length 7 x number of satellites Field Bytes Data Size Description Offset Type Satellite system, see section 13.9.12.1 Satellite number (PRN) Satellite frequencies, see section 13.9.12.2...
Page 126: Geodetic Position Packet
Spatial Reference Manual Page 125 of 158 Version 4.4 04/06/2019 L2 P L2 M Table 56: Satellite frequencies 13.9.13 Geodetic Position Packet Geodetic Position Packet Packet ID Length Field Bytes Data Size Description Offset Type fp64 Latitude (rad) fp64 Longitude (rad)
Page 127: Utm Position Packet
Spatial Reference Manual Page 126 of 158 Version 4.4 04/06/2019 13.9.15 UTM Position Packet UTM Position Packet Packet ID Length Field Bytes Data Size Description Offset Type fp64 Northing (m) fp64 Easting (m) fp64 Height (m) Zone number Zone character Table 59: UTM position packet 13.9.16...
Page 128: Acceleration Packet
Spatial Reference Manual Page 127 of 158 Version 4.4 04/06/2019 13.9.18 Acceleration Packet Acceleration Packet Packet ID Length Field Bytes Data Size Description Offset Type fp32 Acceleration X (m/s/s) fp32 Acceleration Y (m/s/s) fp32 Acceleration Z (m/s/s) Table 62: Acceleration packet 13.9.19...
Page 129: Quaternion Orientation Packet
Spatial Reference Manual Page 128 of 158 Version 4.4 04/06/2019 13.9.21 Quaternion Orientation Packet Quaternion Orientation Packet Packet ID Length Field Bytes Data Size Description Offset Type fp32 fp32 fp32 fp32 Table 65: Quaternion orientation packet 13.9.22 DCM Orientation Packet...
Page 130: Angular Velocity Packet
Spatial Reference Manual Page 129 of 158 Version 4.4 04/06/2019 13.9.23 Angular Velocity Packet Angular Velocity Packet Packet ID Length Field Bytes Data Size Description Offset Type fp32 Angular velocity X (rad/s) fp32 Angular velocity Y (rad/s) fp32 Angular velocity Z (rad/s) Table 67: Angular velocity packet 13.9.24...
Page 131: External Position Packet
Spatial Reference Manual Page 130 of 158 Version 4.4 04/06/2019 fp32 Longitude standard deviation (m) fp32 Height standard deviation (m) fp32 Velocity north standard deviation (m/s) fp32 Velocity east standard deviation (m/s) fp32 Velocity down standard deviation (m/s) Table 69: External position & velocity packet 13.9.26...
Page 132: External Body Velocity Packet
Spatial Reference Manual Page 131 of 158 Version 4.4 04/06/2019 13.9.28 External Body Velocity Packet This packet has been defined to support a single velocity standard deviation for all three axes, or, different values for all three axes. Please ensure you modify the packet length in the packet header accordingly, depending on which format you are using.
Page 133: Local Magnetic Field Packet
Spatial Reference Manual Page 132 of 158 Version 4.4 04/06/2019 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 134: External Depth Packet
Table 79: Geoid height packet 13.9.36 RTCM Corrections Packet This packet is used to encapsulate RTCM v3 differential and RTK correction data to be sent to Spatial's internal GNSS receiver for differential and RTK GNSS functionality. RTCM Corrections Packet Packet ID Length...
Page 135: External Pitot Pressure Packet
This packet provides Spatial's current 2D wind velocity. These values are only valid when external air data is provided to Spatial. 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 136: Raw Satellite Data Packet
Page 135 of 158 Version 4.4 04/06/2019 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) Field...
Page 137: Satellite Frequencies
Spatial Reference Manual Page 136 of 158 Version 4.4 04/06/2019 13.9.41.1 Satellite Frequencies Value GLONASS Galileo BeiDou SBAS QZSS Unknown Unknown Unknown Unknown Unknown Unknown L1 C/A G1 C/A E1 OS L1 C/A L1 C/A L1 C E1 PRS L1 C...
Page 138: External Odometer Packet
Spatial Reference Manual Page 137 of 158 Version 4.4 04/06/2019 13.9.42 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 13.9.42.1 Table 86: External odometer packet 13.9.42.1...
Page 139: External Air Data Flags
Spatial Reference Manual Page 138 of 158 Version 4.4 04/06/2019 13.9.43.1 External Air Data Flags Description Barometric altitude set and valid Airspeed set and valid Barometric altitude reference reset Table 89: External air data flags 13.9.43.2 Notes Barometric altitude does not need to be referenced to any co-ordinate frame or QNH. If the barometric altitude reference is changed during operation, the barometric altitude reference reset flag should be set for the next packet.
Page 140: Configuration Packets
Spatial Reference Manual Page 139 of 158 Version 4.4 04/06/2019 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 (stored in RAM), a one indicates that they will be permanent (stored in flash).
Page 141: Packets Period Packet
Spatial Reference Manual Page 140 of 158 Version 4.4 04/06/2019 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 142: Baud Rates Packet
Spatial Reference Manual Page 141 of 158 Version 4.4 04/06/2019 13.10.3 Baud Rates Packet Baud Rates Packet Packet ID Length Field Bytes Data Size Description Offset Type Permanent Primary RS232 and RS422 baud rate (2400 to 2000000) GPIO 1 & 2 baud rate (2400 to 250000)
Page 143: Gyroscopes Range
Spatial Reference Manual Page 142 of 158 Version 4.4 04/06/2019 13.10.4.2 Gyroscopes Range Value Description 250 degrees/second 500 degrees/second 2000 degrees/second Table 97: Gyroscopes range 13.10.4.3 Magnetometers Range Value Description 2 Gauss 4 Gauss 8 Gauss Table 98: Magnetometers range...
Page 144: Installation Alignment Packet
Spatial Reference Manual Page 143 of 158 Version 4.4 04/06/2019 13.10.5 Installation Alignment Packet Installation Alignment Packet Packet ID Length Field Bytes Data Size Description Offset Type Permanent fp32 Alignment DCM[0][0] fp32 Alignment DCM[0][1] fp32 Alignment DCM[0][2] fp32 Alignment DCM[1][0]...
Page 145: Alignment Dcm
The alignment DCM (direction cosine matrix) is used to represent an alignment offset of Spatial from its 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 146: Vehicle Types
Spatial Reference Manual Page 145 of 158 Version 4.4 04/06/2019 13.10.6.1 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 13.10.7...
Page 147: Gpio Configuration Packet
Spatial Reference Manual Page 146 of 158 Version 4.4 04/06/2019 13.10.8 GPIO Configuration Packet GPIO Configuration Packet Packet ID Length Field Bytes Data Size Description Offset Type Permanent GPIO1 Function, see section 13.10.8.1 GPIO2 Function, see section 13.10.8.2 Auxiliary RS232 transmit function, see section 13.10.8.3...
Page 148: Gpio2 Functions
Spatial Reference Manual Page 147 of 158 Version 4.4 04/06/2019 1PPS Input Wheel Speed Sensor Wheel Encoder Phase A Wheel Encoder Phase B Event 1 Input Event 2 Input GNSS Receiver Passthrough TSS1 Output Simrad 1000 Output Simrad 3000 Output...
Page 149 Spatial Reference Manual Page 148 of 158 Version 4.4 04/06/2019 Set Zero Orientation Alignment System State Packet Trigger Raw Sensors Packet Trigger RTCM Differential GNSS Corrections Input Trimble GNSS Input u-blox GNSS Input Hemisphere GNSS Input Teledyne DVL Input Tritech USBL Input...
Page 150: Auxiliary Rs232 Receive Functions
Spatial Reference Manual Page 149 of 158 Version 4.4 04/06/2019 13.10.8.3 Auxiliary RS232 Transmit Functions Value Description Inactive 1PPS Output GNSS Fix Output NMEA Output ANPP Output GNSS Receiver Passthrough TSS1 Output Simrad 1000 Output Simrad 3000 Output Serial Port Passthrough Table 105: Auxiliary RS232 transmit functions 13.10.8.4...
Page 151 Spatial Reference Manual Page 150 of 158 Version 4.4 04/06/2019 Teledyne DVL Input Tritech USBL Input Linkquest DVL Input Pressure Depth Transducer Left Wheel Speed Sensor Right Wheel Speed Sensor 1PPS Input Wheel Speed Sensor Event 1 Input Event 2 Input...
Page 152: Magnetic Calibration Values Packet
Spatial Reference Manual Page 151 of 158 Version 4.4 04/06/2019 13.10.9 Magnetic Calibration Values Packet Magnetic Calibration Values Packet Packet ID Length Field Bytes Data Size Description Offset Type Permanent fp32 Hard iron bias X fp32 Hard iron bias Y...
Page 153: Magnetic Calibration Actions
Spatial Reference Manual Page 152 of 158 Version 4.4 04/06/2019 13.10.10.1 Magnetic Calibration Actions Value Description Cancel magnetic calibration Start 2D magnetic calibration Start 3D magnetic calibration Reset calibration to defaults Table 109: Magnetic calibration actions 13.10.11 Magnetic Calibration Status Packet...
Page 154: Odometer Configuration Packet
Spatial Reference Manual Page 153 of 158 Version 4.4 04/06/2019 13.10.12 Odometer Configuration Packet Odometer Configuration Packet Packet ID Length Field Bytes Data Size Description Offset Type Permanent Automatic pulse measurement active Reserved (set to zero) fp32 Pulse length (m) Table 112: Odometer configuration packet 13.10.13...
Page 155: Reference Point Offsets 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 unit. The primary reference point offset can be used to adjust the measurement point to a different location on the vehicle.
Page 156: Gpio Output Configuration Packet
Spatial Reference Manual Page 155 of 158 Version 4.4 04/06/2019 13.10.15 GPIO Output Configuration Packet GPIO Output Configuration Packet Packet ID Length Field Bytes Data Size Description Offset Type Permanent NMEA fix behaviour, see section 13.10.15.1 GPZDA Rates, see section 13.10.15.2 GPGGA Rates, see section 13.10.15.2...
Page 157: Nmea Fix Behaviour
Spatial Reference Manual Page 156 of 158 Version 4.4 04/06/2019 13.10.15.1 NMEA Fix Behaviour Value Description Normal Always indicate 3D fix when the navigation filter is initialised Table 116: NMEA fix behaviour 13.10.15.2 GPIO Output Rates Description GPIO 1 rate, see section 13.10.15.3 Auxiliary RS232 Tx rate, see section 13.10.15.3...
Page 158: User Data Packet
User Data Packet This packet allows the user to store their own data in Spatial's non-volatile FLASH. This data is not used by Spatial. The data will be reset to all zeros when restoring to factory defaults. User Data Packet...
Page 159 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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