Advanced Navigation Spatial Reference Manual page 16

Version Date
4.0 18/09/2014
3.1 10/04/2014
3.0 17/09/2013
2.5 03/05/2013
2.4 10/04/2013
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
Improved handling of leap second change during operation
Virtual odometer distance filter added
Slip filter added
Bug fix for differential corrections being sent to GNSS
receiver before initialised causing issues
Updated world magnetic model to 2015 version
Improved reversing detection filter
Added gimbal state and configuration packets
Added automotive packet
Added race car vehicle profile
Added support for new hardware version 4.0
Significant filter performance improvements under high
dynamics
Improved filter performance under dead reckoning
Improved performance in urban canyon conditions where a
GNSS fix is rarely available
Improvements to car and fixed wing plane vehicle profiles
Improvements to delay compensation filter
Raw GNSS packet updated to new format
GPIO output configuration packet updated
Support for external odometer added
Support for external air data added
Wind estimation filter improvements
Wind packet input support
Added stunt plane vehicle profile
Added support for serial port passthrough
GPIO data output now up to 50Hz
Updated internal AN RTOS to v4.0
Added TSS1 output support
Added Simrad 1000 output support
Added Simrad 3000 output support
Automatic magnetic calibration algorithm disabled due to
variation in performance in some applications (new more
reliable algorithm will be added in v4.1 as the default
magnetic calibration)
Added support for new hardware version 3.0
Enhanced odometer algorithms
Automatic magnetic calibration algorithm added
GNSS receiver firmware update – provides increased
performance in high multi-path environments and faster
time to first fix in poor satellite visibility
Fix for a regression with the gravity model in v2.3 that can
Spatial Reference Manual
Page 15 of 158
Version 4.4
04/06/2019
Changes