Advanced Navigation GC-SER-LC Reference Manual
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Advanced Navigation GC-SER-LC Reference Manual

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Summary of Contents for Advanced Navigation GC-SER-LC

  • Page 1 GNSS Compass Reference Manual...

  • Page 2: Table Of Contents

    GNSS Compass Reference Manual Page 1 of 85 Version 1.1 13/01/2021 Table of Contents Revision History......................... 5 Firmware Changelog........................6 Hardware Changelog........................7 Introduction..........................8 Quick Start Guide........................9 NMEA 2000 Connection....................11 NMEA 0183 Connection....................11 Power over Ethernet Connection..................11 Part Numbers and Ordering Options..................13 Plug and Play Kits......................
  • Page 3 Initialisation........................38 9.1.1 Hot Start........................38 Dual Antenna GNSS Heading...................38 GNSS Outages......................... 38 NMEA 2000........................39 NMEA 0183........................39 Precise Time Protocol (PTP).....................40 Advanced Navigation Packet Protocol..................42 10.1 Data Types........................42 10.2 Packet Structure......................42 10.2.1 Header LRC......................43 10.2.2 Packet ID.........................
  • Page 4 GNSS Compass Reference Manual Page 3 of 85 Version 1.1 13/01/2021 10.10.11 Satellites Packet....................59 10.10.12 Detailed Satellites Packet..................60 10.10.12.1 Satellite Systems..................60 10.10.12.2 Satellite Frequencies...................61 10.10.13 Geodetic Position Packet..................61 10.10.14 ECEF Position Packet..................61 10.10.15 UTM Position Packet...................61 10.10.16 NED Velocity Packet....................62 10.10.17 Body Velocity Packet...................62 10.10.18...
  • Page 5 GNSS Compass Reference Manual Page 4 of 85 Version 1.1 13/01/2021 10.11.5 Filter Options Packet.....................78 10.11.5.1 Vehicle Types....................79 10.11.6 Advanced Filter Parameters Packet...............79 10.11.7 Port Function Configuration Packet...............80 10.11.7.1 Ports....................... 80 10.11.7.2 Transmit Functions..................81 10.11.7.3 Receive Functions..................81 10.11.8 Set Zero Orientation Alignment Packet..............81 10.11.9 Reference Point Offsets Packet................81 10.11.10...

  • Page 6: Revision History

    GNSS Compass Reference Manual Page 5 of 85 Version 1.1 13/01/2021 Revision History Version Date Changes 13/01/2021 Updated Firmware section 2 Updated part numbers and ordering section 6 Revised wording on certification section 7.12 Updated NMEA 0183 section 9.5 Added precise time protocol (PTP) section 9.6 23/01/2018 Initial Release Table 1: Revision history...

  • Page 7: Firmware Changelog

    GNSS Compass Reference Manual Page 6 of 85 Version 1.1 13/01/2021 Firmware Changelog Version Date Changes 1.24 12/01/2020 Improved heading reliability Fix intermittent issue with heading status indicator in Web UI 1.23 18/12/2020 Fixed NMEA2000 time/date stamps that was outputting random times –...

  • Page 8: Hardware Changelog

    GNSS Compass Reference Manual Page 7 of 85 Version 1.1 13/01/2021 Hardware Changelog Version Date Changes 10/05/2017 Initial Release Table 3: Hardware Changelog...

  • Page 9: Introduction

    GNSS Compass Reference Manual Page 8 of 85 Version 1.1 13/01/2021 Introduction The GNSS Compass is a low cost all in one GNSS/INS navigation and heading solution. It provides accurate dual antenna GPS based heading that is not subject to magnetic interference and can maintain accurate heading during GNSS outages of up to 20 minutes.

  • Page 10: Quick Start Guide

    GNSS Compass Reference Manual Page 9 of 85 Version 1.1 13/01/2021 Quick Start Guide 1. Install the GNSS Compass in an area where it has a full clear view of the sky and away from strong radio transmission sources as shown in Illustration 1. Illustration 1: GNSS Compass ideal mounting location diagram...
  • Page 11 GNSS Compass Reference Manual Page 10 of 85 Version 1.1 13/01/2021 2. Ensure that the GNSS Compass is aligned with the vessel such that the indicator on top is aligned pointing forwards on the vessel. The sight can be used to assist alignment by eye. See Illustration 2.

  • Page 12: Nmea 2000 Connection

    GNSS Compass Reference Manual Page 11 of 85 Version 1.1 13/01/2021 3. Plug the cable into the GNSS Compass and rotate the nut clockwise to lock it in place. See Illustration 3. Illustration 3: GNSS Compass connector locking NMEA 2000 Connection Plug the NMEA 2000 drop cable into a T connector on the NMEA 2000 backbone.
  • Page 13 GNSS Compass Reference Manual Page 12 of 85 Version 1.1 13/01/2021 interface. 4. The default username is admin and the default password is password.

  • Page 14: Part Numbers And Ordering Options

    GNSS Compass Reference Manual Page 13 of 85 Version 1.1 13/01/2021 Part Numbers and Ordering Options Plug and Play Kits Part Number Description Notes GC-EK-SER-LC-CAN GNSS Compass NMEA 2000 plug and play kit Low Cost NMEA Low cost serial variant GNSS Compass 2000 Plug and Play Comes with 6m NMEA 2000 cable, see section Evaluation Kits...

  • Page 15: Standalone Unit

    GNSS Compass Reference Manual Page 14 of 85 Version 1.1 13/01/2021 Standalone Unit Part Number Description Notes GC-SER-LC GNSS Compass GNSS Compass Low Cost Serial Variant Low Cost Serial RS422/RS232 and CAN interfaces Variant L1 only GNSS receiver Supports DGPS...
  • Page 16 GNSS Compass Reference Manual Page 15 of 85 Version 1.1 13/01/2021 GC-SER-HA), and can either be ordered with the unit or purchased later and installed in the field using the GNSS Compass Manager. Part Number Description Notes GC-LIC-GAL Enable Galileo Enable Galileo Tracking on GNSS Compass High Tracking Accuracy...

  • Page 17: Accessories

    Part Number Description Notes GC-NMEA2000-CABLE-6M 6m NMEA 2000 6m NMEA 2000 drop cable drop cable for Compatible with serial units only (GC-SER-LC GNSS Compass and GC-SER-HA) See section 7.8 for full details IP68 environmentally sealed connector GC-POE-CABLE-20M 20m Ethernet 20m CAT5e Ethernet cable with RJ45...

  • Page 18: Specifications

    GNSS Compass Reference Manual Page 17 of 85 Version 1.1 13/01/2021 Specifications Mechanical Drawings Illustration 4: Mechanical drawings of GNSS Compass...

  • Page 19: Axes

    GNSS Compass Reference Manual Page 18 of 85 Version 1.1 13/01/2021 Axes Illustration 5: GNSS Compass axes with arrows showing positive direction...

  • Page 20: Navigation Specifications

    GNSS Compass Reference Manual Page 19 of 85 Version 1.1 13/01/2021 Navigation Specifications 7.3.1 Low Cost Variant Parameter Value Horizontal Position Accuracy 2.0 m Vertical Position Accuracy 3.0 m Horizontal Position Accuracy (DGNSS) 0.6 m Vertical Position Accuracy (DGNSS) 1.0 m Horizontal Position Accuracy 0.01 m (Kinematica Post Processing)

  • Page 21: High Accuracy Variant

    GNSS Compass Reference Manual Page 20 of 85 Version 1.1 13/01/2021 7.3.2 High Accuracy Variant Parameter Value Horizontal Position Accuracy 0.8 m Vertical Position Accuracy 1.5 m Horizontal Position Accuracy 0.008 m (with RTK or Kinematica Post Processing) Vertical Position Accuracy 0.015 m (with RTK or Kinematica Post Processing) Velocity Accuracy...

  • Page 22: Gnss Specifications

    GNSS Compass Reference Manual Page 21 of 85 Version 1.1 13/01/2021 GNSS Specifications 7.4.1 Low Cost Variant Parameter Value Model 2 x u-blox M8T Supported Navigation Systems GPS L1 GLONASS G1 (disabled by default, unsupported) GALILEO E1 BeiDou B1 Supported SBAS Systems WAAS EGNOS MSAS...

  • Page 23: Communication Specifications

    GNSS Compass Reference Manual Page 22 of 85 Version 1.1 13/01/2021 Communication Specifications 7.5.1 Ethernet Variant Parameter Value Interface Ethernet Speed 10/100 Mbit Protocols AN Packet Protocol NMEA 0183 TSS1 Simrad Timing PTP Server NTP Server Timing Accuracy 50 ns (PTP) Timing Accuracy 1 ms...

  • Page 24: Hardware

    GNSS Compass Reference Manual Page 23 of 85 Version 1.1 13/01/2021 Hardware 7.6.1 Ethernet Variant Parameter Value Operating Voltage Power over Ethernet (PoE) 802.3af or 802.3at Power Consumption 1.1 Watts (Low Cost Variant) Power Consumption 2.4 Watts (High Accuracy Variant) Hot Start Battery Capacity >...

  • Page 25: Serial Variant

    NMEA 2000 Drop Cable The NMEA 2000 cable is only compatible with GNSS Compass part numbers GC-SER-LC and GC-SER-HA. It has part number GC-NMEA2000-CABLE-6M. The NMEA 2000 cable is used to connect serial variant GNSS Compasses to an NMEA 2000 network.

  • Page 26: Ethernet Cable

    GNSS Compass Reference Manual Page 25 of 85 Version 1.1 13/01/2021 Illustration 6: NMEA 2000 Drop Cable Colour Function Bare Drain/Shield Power Supply Black Power Ground White CAN Hi Blue CAN Lo Table 16: NMEA 2000 drop cable pin allocation table The NMEA 2000 drop cable should be used to connect to a T piece along the NMEA 2000 backbone in the vessel, see Illustration 7.
  • Page 27 GNSS Compass Reference Manual Page 26 of 85 Version 1.1 13/01/2021 opposite end of the cable is a shielded RJ45 plug that can connect to standard Ethernet equipment. The cable is 20 metres long shielded CAT5e with a UV stable jacket. A standard CAT5, CAT5e or CAT6 Ethernet cable can be plugged into the connector on the GNSS Compass models GC-POE-LC and GC-POE-HA, however it will not be environmentally sealed so is not recommended for outdoor use.

  • Page 28: Serial Breakout Cable

    7.10 Serial Breakout Cable The serial breakout cable is only compatible with GNSS Compass part numbers GC-SER-LC and GC-SER-HA. It has part number GC-SER-BREAK-20M. Connection to the GNSS Compass is made through a Holin C-Size 18 pin connector. The Holin part number is CCN-L218SM.

  • Page 29: Unterminated Serial Cable

    7.11 Unterminated Serial Cable The unterminated serial cable is only compatible with GNSS Compass part numbers GC-SER-LC and GC-SER-HA. It has part number GC-SER-CABLE-20M. Connection to the GNSS Compass is made through a Holin C-Size 18 pin connector. The Holin part number is CCN-L218SM.
  • Page 30 GNSS Compass Reference Manual Page 29 of 85 Version 1.1 13/01/2021 Illustration 10: Unterminated serial cable Illustration 11: Connector pin assignment viewed from the front...

  • Page 31: Certification

    The GNSS Compass is designed to meet IMO wheelmark for MED/4.7 Speed and Distance Measuring Equipment (SDME) and MED/4.41 Transmitting Heading Device (THD, GNSS method) based on the Directive 2014/90/EU. Models GC-SER-LC and GC-SER-HA are pending certification to the following standards. IMO Standards ISO/IEC Standards IMO Res.MSC 116(73)
  • Page 32 GNSS Compass Reference Manual Page 31 of 85 Version 1.1 13/01/2021 IMO Standards ISO/IEC Standards IMO Res.MSC 116(73) ISO 22090-3:2014 IMO Res.MSC 191(79) IEC 60945 (2002) incl. IEC 60945 Corr. 1 (2008) IMO Res.A.694(17) IEC 61162-480 ed4.0 (2010-11) IEC 62288 Ed. 2.0 (2014-07) Table 20: Standards for GC-POE-LC and GC-POE-HA...

  • Page 33: Installation

    GNSS Compass Reference Manual Page 32 of 85 Version 1.1 13/01/2021 Installation Mounting Location Illustration 12: GNSS Compass ideal mounting location diagram The GNSS Compass needs to be mounted in an area with a clear and unobstructed view of the sky for best results.

  • Page 34: Alignment

    GNSS Compass Reference Manual Page 33 of 85 Version 1.1 13/01/2021 Illustration 13: GNSS Compass surface mounting shoulder washer Alignment Illustration 14: GNSS Compass alignment with front of the vehicle...
  • Page 35 GNSS Compass Reference Manual Page 34 of 85 Version 1.1 13/01/2021 The GNSS Compass should be aligned such that it is level with the vehicle and the indicator on the lid is directly forward of the sight, see Illustration 14. The sight can be used to visually align the indicator for best results.

  • Page 36: Connection

    Illustration 16: GNSS Compass alignment on a car Connection The cables available from Advanced Navigation feature a connector with a locking nut and o-ring that are waterproof and dirtproof to the IP68 standard as well as resistant to shock and vibration.

  • Page 37: Nmea 2000

    8.4.2 NMEA 0183 For connection to an NMEA 0183 network the Advanced Navigation Serial Breakout Cable is required (part number GC-SER-BREAK-20M). The secondary serial port connector should be connected to the receiving device. Power supply of between 9 to 36 volts should be applied to the DC jack with a 5 amp fuse.

  • Page 38: Configuration

    GNSS Compass Reference Manual Page 37 of 85 Version 1.1 13/01/2021 Configuration The GNSS Compass is designed to be plug and play such that it does not normally require any customer configuration. Typical installations utilising NMEA 0183 or NMEA 2000 will work out of the box.

  • Page 39: Operation

    GNSS Compass Reference Manual Page 38 of 85 Version 1.1 13/01/2021 Operation Initialisation After power is applied to the GNSS Compass, it will take some time to initialise position, velocity, time, roll, pitch and heading. This time will depend upon the status of the GNSS satellite constellations but can be approximated using Table 21 below.

  • Page 40: Nmea 2000

    GNSS Compass Reference Manual Page 39 of 85 Version 1.1 13/01/2021 NMEA 2000 The GNSS Compass permanently outputs the NMEA 2000 messages listed in Table 22 below. Description Output Period Rate (Hz) (milliseconds) 126992 System Time 1000 UTC time and date 126993 Heartbeat 60000 Transmitted by all NMEA devices to indicate the device...

  • Page 41: Precise Time Protocol (Ptp)

    GNSS Compass Reference Manual Page 40 of 85 Version 1.1 13/01/2021 whenever an Ethernet connection is established and cannot be disabled. The maximum output rate for any message is 100Hz. The NMEA 0183 messages are: Sentence Serial Default Ethernet Default Description $GPGGA Disabled...
  • Page 42 GNSS Compass Reference Manual Page 41 of 85 Version 1.1 13/01/2021 disabled.

  • Page 43: Advanced Navigation Packet Protocol

    It has a well defined specification and is very flexible. It is used across all existing and future Advanced Navigation products. There is an SDK available for download from the website with code examples.

  • Page 44: Header Lrc

    GNSS Compass Reference Manual Page 43 of 85 Version 1.1 13/01/2021 ANPP Header Format Field # Bytes Data Size Description Offset Type Header LRC, see section 10.2.1 Packet ID, see section 10.2.2 Packet Length, see section 10.2.3 CRC16, see section 10.2.4 Table 26: ANPP header format 10.2.1 Header LRC...

  • Page 45: Packet Acknowledgement

    GNSS Compass Reference Manual Page 44 of 85 Version 1.1 13/01/2021 10.4 Packet Acknowledgement When configuration packets are sent to GNSS Compass, 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 10.9.1.
  • Page 46 GNSS Compass Reference Manual Page 45 of 85 Version 1.1 13/01/2021 Packet ID Length Name Restore Factory Settings Packet Reset Packet Serial Port Pass-through Packet 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 Quaternion Orientation Standard Deviation Packet...
  • Page 47 GNSS Compass Reference Manual Page 46 of 85 Version 1.1 13/01/2021 Packet ID Length Name Local Magnetic Field Packet External Time Packet Geoid Height Packet RTCM Corrections Packet Heave Packet Raw Satellite Data Packet Raw Satellite Ephemeris Packet GNSS Receiver Information Packet Automotive Packet Configuration Packets Packets Period Packet...

  • Page 48: System Packets

    GNSS Compass Reference Manual Page 47 of 85 Version 1.1 13/01/2021 10.9 System Packets 10.9.1 Acknowledge Packet Acknowledgement Packet Packet ID Length Field # Bytes Data Size Description Offset Type Packet ID being acknowledged CRC of packet being acknowledged Acknowledge Result, see section 10.9.1.1 Table 28: Acknowledge packet 10.9.1.1 Acknowledge Result...

  • Page 49: Boot Mode Types

    GNSS Compass Reference Manual Page 48 of 85 Version 1.1 13/01/2021 Packet ID Length Field # Bytes Data Size Description Offset Type Boot mode, see section 10.9.3.1 Table 31: Boot mode packet 10.9.3.1 Boot Mode Types Value Description Bootloader Main Program Table 32: Boot mode types 10.9.4 Device Information Packet...

  • Page 50: Reset Packet

    GNSS Compass Reference Manual Page 49 of 85 Version 1.1 13/01/2021 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 10.9.6 Reset Packet Reset Packet Packet ID Length...

  • Page 51: Pass-Through Routes

    GNSS Compass Reference Manual Page 50 of 85 Version 1.1 13/01/2021 10.9.7.1 Pass-through Routes Value Description Reserved Secondary RS232 Table 38: Pass-through routes 10.10 State Packets GNSS Compass supports a large number of packets providing extensive functionality. However for the majority of users the easiest approach is to configure GNSS Compass using the GNSS Compass Manager software and then support only the single system state packet shown below in section 10.10.1.

  • Page 52: System State Packet

    GNSS Compass Reference Manual Page 51 of 85 Version 1.1 13/01/2021 10.10.1 System State Packet System State Packet Packet ID Length Field # Bytes Data Size Description Offset Type System status, see section 10.10.1.1 Filter status, see section 10.10.1.2 Unix time stamp (seconds), see section 10.10.1.4 Microseconds, see section 10.10.1.5 fp64 Latitude (rad)

  • Page 53: System Status

    GNSS Compass Reference Manual Page 52 of 85 Version 1.1 13/01/2021 10.10.1.1 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. Description System Failure Accelerometer Sensor Failure Gyroscope Sensor Failure Magnetometer Sensor Failure...

  • Page 54: Filter Status

    GNSS Compass Reference Manual Page 53 of 85 Version 1.1 13/01/2021 10.10.1.2 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 Navigation Filter Initialised Heading Initialised...

  • Page 55: Microseconds

    GNSS Compass Reference Manual Page 54 of 85 Version 1.1 13/01/2021 10.10.1.5 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. 10.10.2 Unix Time Packet Unix Time Packet Packet ID...

  • Page 56: Status Packet

    GNSS Compass Reference Manual Page 55 of 85 Version 1.1 13/01/2021 10.10.4 Status Packet Status Packet Packet ID Length Field # Bytes Data Size Description Offset Type System status, see section 10.10.1.1 Filter status, see section 10.10.1.2 Table 45: Status packet 10.10.5 Position Standard Deviation Packet Position Standard Deviation Packet...

  • Page 57: Euler Orientation Standard Deviation Packet

    GNSS Compass Reference Manual Page 56 of 85 Version 1.1 13/01/2021 10.10.7 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) fp32 Heading standard deviation(rad) Table 48: Euler orientation standard deviation packet...

  • Page 58: Raw Sensors Packet

    GNSS Compass Reference Manual Page 57 of 85 Version 1.1 13/01/2021 10.10.9 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 Gyroscope X (rad/s) fp32...

  • Page 59: Raw Gnss Packet

    GNSS Compass Reference Manual Page 58 of 85 Version 1.1 13/01/2021 10.10.10 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 60: Raw Gnss Status

    GNSS Compass Reference Manual Page 59 of 85 Version 1.1 13/01/2021 10.10.10.1 Raw GNSS Status Description GNSS Fix Status, see section 10.10.1.3 Doppler velocity valid Time valid External GNSS Tilt valid Heading valid Floating ambiguity heading 9-15 Reserved (set to zero) Table 52: Raw GNSS status 10.10.11 Satellites Packet...

  • Page 61: Detailed Satellites Packet

    GNSS Compass Reference Manual Page 60 of 85 Version 1.1 13/01/2021 10.10.12 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 10.10.12.1 Satellite number (PRN) Satellite frequencies, see section 10.10.12.2 Elevation (deg) Azimuth (deg)

  • Page 62: Satellite Frequencies

    GNSS Compass Reference Manual Page 61 of 85 Version 1.1 13/01/2021 10.10.12.2 Satellite Frequencies Description L1 C/A L1 C L1 P L1 M L2 C L2 P L2 M Table 56: Satellite frequencies 10.10.13 Geodetic Position Packet Geodetic Position Packet Packet ID Length Field #...

  • Page 63: Ned Velocity Packet

    GNSS Compass Reference Manual Page 62 of 85 Version 1.1 13/01/2021 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 10.10.16 NED Velocity Packet NED Velocity Packet...

  • Page 64: Body Acceleration Packet

    GNSS Compass Reference Manual Page 63 of 85 Version 1.1 13/01/2021 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 10.10.19 Body Acceleration Packet This packet does not include the acceleration due to gravity.

  • Page 65: Quaternion Orientation Packet

    GNSS Compass Reference Manual Page 64 of 85 Version 1.1 13/01/2021 10.10.21 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 10.10.22 DCM Orientation Packet DCM Orientation Packet Packet ID Length...

  • Page 66: Angular Velocity Packet

    GNSS Compass Reference Manual Page 65 of 85 Version 1.1 13/01/2021 10.10.23 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 10.10.24...

  • Page 67: External Position & Velocity Packet

    GNSS Compass Reference Manual Page 66 of 85 Version 1.1 13/01/2021 10.10.25 External Position & Velocity Packet External Position & Velocity Packet Packet ID Length Field # Bytes Data Size Description Offset Type fp64 Latitude (rad) fp64 Longitude (rad) fp64 Height (m) fp32 Velocity north (m/s)

  • Page 68: External Velocity Packet

    GNSS Compass Reference Manual Page 67 of 85 Version 1.1 13/01/2021 10.10.27 External Velocity Packet External Velocity Packet Packet ID Length Field # Bytes Data Size Description Offset Type fp32 Velocity north (m/s) fp32 Velocity east (m/s) fp32 Velocity down (m/s) fp32 Velocity north standard deviation (m/s) fp32...

  • Page 69: Running Time Packet

    GNSS Compass Reference Manual Page 68 of 85 Version 1.1 13/01/2021 10.10.30 Running Time Packet Running Time Packet Packet ID Length Field # Bytes Data Size Description Offset Type Running time seconds Microseconds Table 74: Running time packet 10.10.31 Local Magnetic Field Packet Local Magnetic Field Packet Packet ID Length...

  • Page 70: Geoid Height Packet

    GNSS Compass Reference Manual Page 69 of 85 Version 1.1 13/01/2021 Geoid Height Packet Packet ID Length Field # Bytes Data Size Description Offset Type fp32 Geoid height (m) Table 77: Geoid height packet 10.10.34 RTCM Corrections Packet This packet is used to encapsulate RTCM v2, RTCM v3 or CMR correction data to be sent to GNSS Compass's internal GNSS receiver for differential or RTK GNSS functionality.

  • Page 71: Raw Satellite Data Packet

    GNSS Compass Reference Manual Page 70 of 85 Version 1.1 13/01/2021 10.10.36 Raw Satellite Data Packet GNSS Compass Manager will automatically convert this packet to RINEX 3.02 format. Raw Satellite Data Packet Packet ID Length 16 + Satellites * (6 + Frequencies * 26) Field # Bytes Data...

  • Page 72: Satellite Frequencies

    Raw Satellite Ephemeris Packet GNSS Compass 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 73: Gnss Receiver Information Packet

    GNSS Compass Reference Manual Page 72 of 85 Version 1.1 13/01/2021 10.10.38 GNSS Receiver Information Packet GNSS Receiver Information Packet Packet ID Length Field # Bytes Data Size Description Offset Type GNSS manufacturer ID, see section 10.10.38.1 GNSS receiver model, see section 10.10.38.2 s8[10] GNSS serial number in ASCII character string Firmware version...

  • Page 74: Gnss Receiver Models (U-Blox)

    GNSS Compass Reference Manual Page 73 of 85 Version 1.1 13/01/2021 10.10.38.3 GNSS Receiver Models (u-blox) Value Description GNSS Receiver Model Unknown u-blox M8 u-blox M8T u-blox M8P Table 86: u-blox GNSS receiver models 10.10.38.4 Omnistar Engine Modes Value Description Omnistar engine not active HP+G2 HP+XP...

  • Page 75: Automotive Packet

    GNSS Compass Reference Manual Page 74 of 85 Version 1.1 13/01/2021 10.10.39 Automotive Packet Automotive Packet Packet ID Length Field # Bytes Data Size Description Offset Type fp32 Virtual odometer distance (m) fp32 Slip Angle (rad) fp32 Velocity X (m/s) fp32 Velocity Y (m/s) fp32...

  • Page 76: Flags

    GNSS Compass Reference Manual Page 75 of 85 Version 1.1 13/01/2021 10.11.1.1 Flags Description Permanent Port Port field valid Reserved Clear existing packet periods, see section 10.11.1.2 9-15 Reserved Table 91: Packet periods flags 10.11.1.2 Clear Existing Packets This is a boolean field, when set to one it deletes any existing packet rates. When set to zero existing packet rates remain.

  • Page 77: Sensor Ranges Packet

    GNSS Compass Reference Manual Page 76 of 85 Version 1.1 13/01/2021 10.11.3 Sensor Ranges Packet Sensor Ranges Packet Packet ID Length Field # Bytes Data Size Description Offset Type Permanent Accelerometers range, see section 10.11.3.1 Gyroscopes range, see section 10.11.3.2 Magnetometers range, see section 10.11.3.3 Table 93: Sensor ranges packet 10.11.3.1...

  • Page 78: Installation Alignment Packet

    GNSS Compass Reference Manual Page 77 of 85 Version 1.1 13/01/2021 10.11.4 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] fp32 Alignment DCM[1][1]...

  • Page 79: Version

    GNSS Compass Reference Manual Page 78 of 85 Version 1.1 13/01/2021 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) 10.11.5 Filter Options Packet Filter Options Packet...

  • Page 80: Vehicle Types

    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 99: Vehicle types 10.11.6 Advanced Filter Parameters Packet Please contact Advanced Navigation support.

  • Page 81: Port Function Configuration Packet

    GNSS Compass Reference Manual Page 80 of 85 Version 1.1 13/01/2021 10.11.7 Port Function Configuration Packet Port Function Configuration Packet Packet ID Length Field # Bytes Data Size Description Offset Type Permanent Port 1 transmit function see sections 10.11.7.1 and 10.11.7.2 Port 1 receive function see sections 10.11.7.1 and 10.11.7.3 Port 2 transmit function...

  • Page 82: Transmit Functions

    GNSS Compass Reference Manual Page 81 of 85 Version 1.1 13/01/2021 10.11.7.2 Transmit Functions Value Description Inactive NMEA Output (default) ANPP Output TSS1 Output Simrad 1000 Output Simrad 3000 Output Serial Port Pass-through Table 102: Port transmit functions 10.11.7.3 Receive Functions Value Description Inactive...
  • Page 83 GNSS Compass Reference Manual Page 82 of 85 Version 1.1 13/01/2021 Reference Point Offsets Packet Packet ID Length Field # Bytes Data Size Description Offset Type Permanent fp32 Primary reference point offset X (m) fp32 Primary reference point offset Y (m) fp32 Primary reference point offset Z (m) fp32...

  • Page 84: Port Output Configuration Packet

    GNSS Compass Reference Manual Page 83 of 85 Version 1.1 13/01/2021 10.11.10 Port Output Configuration Packet Port Output Configuration Packet Packet ID Length Field # Bytes Data Size Description Offset Type Permanent NMEA fix behaviour, see section 10.11.10.1 GPZDA Rates, see section 10.11.10.2 GPGGA Rates, see section 10.11.10.2 GPVTG Rates, see section 10.11.10.2 GPRMC Rates, see section 10.11.10.2...

  • Page 85: Port Output Rates

    GNSS Compass Reference Manual Page 84 of 85 Version 1.1 13/01/2021 10.11.10.2 Port Output Rates Ethernet Model Serial Model Port 1 rate (default TCP 16718) Reserved (set to zero) see section 10.11.10.3 Port 2 rate (default TCP 16719) Secondary serial port rate see section 10.11.10.3 see section 10.11.10.3 8-11...
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