Advanced Navigation GNSS Compass Reference Manual
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Advanced Navigation GNSS Compass Reference Manual

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Summary of Contents for Advanced Navigation GNSS Compass

  • Page 1 All manuals and user guides at all-guides.com GNSS Compass Reference Manual...

  • Page 2: Table Of Contents

    All manuals and user guides at all-guides.com 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...
  • Page 3 All manuals and user guides at all-guides.com GNSS Compass Reference Manual Page 2 of 85 Version 1.1 13/01/2021 Operation..........................38 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...
  • Page 4 All manuals and user guides at all-guides.com 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...
  • Page 5 All manuals and user guides at all-guides.com 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...

  • Page 6: Revision History

    All manuals and user guides at all-guides.com 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...

  • Page 7: Firmware Changelog

    All manuals and user guides at all-guides.com 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

    All manuals and user guides at all-guides.com 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

    RTK positioning and is plug and play with NMEA0183, NMEA2000 and Ethernet interfaces. The GNSS Compass can provide amazing results but it does need to be set up properly and operated with an awareness of its limitations. Please read through this manual carefully to ensure success within your application.

  • Page 10: Quick Start Guide

    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 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 All manuals and user guides at all-guides.com 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

    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 Part Number Description Notes...

  • Page 15: Standalone Unit

    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 Supports post-processing (PPK) Does not support RTK Does not support L band...
  • Page 16 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 GC-BEI-UPG Enable BeiDou Enable BeiDou Tracking on GNSS Compass High Tracking...

  • Page 17: Accessories

    All manuals and user guides at all-guides.com GNSS Compass Reference Manual Page 16 of 85 Version 1.1 13/01/2021 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...

  • Page 18: Specifications

    All manuals and user guides at all-guides.com 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

    All manuals and user guides at all-guides.com 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

    All manuals and user guides at all-guides.com 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...

  • Page 21: High Accuracy Variant

    All manuals and user guides at all-guides.com 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...

  • Page 22: Gnss Specifications

    All manuals and user guides at all-guides.com 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)

  • Page 23: Communication Specifications

    All manuals and user guides at all-guides.com 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...

  • Page 24: Hardware

    All manuals and user guides at all-guides.com 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...

  • Page 25: Serial Variant

    The NMEA 2000 cable is used to connect serial variant GNSS Compasses to an NMEA 2000 network. Connection to the GNSS Compass is made through a Holin C-Size 18 pin connector. The Holin part number is CCN-L218SM. The connector has a bayonet lock and provides a reliable and rugged connection to the GNSS Compass under demanding conditions.

  • Page 26: Ethernet Cable

    Connection to the GNSS Compass is made through a Holin RJ45C-L4SAS environmentally sealed RJ45 connector. The connector has a bayonet lock and provides a reliable and rugged connection to the GNSS Compass under demanding conditions. It is rated to IP68 in the mated state. The...
  • Page 27 All manuals and user guides at all-guides.com 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.

  • Page 28: 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. The connector has a bayonet lock and provides a reliable and rugged connection to GNSS Compass under demanding conditions.

  • Page 29: 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. The connector has a bayonet lock and provides a reliable and rugged connection to GNSS Compass under demanding conditions.
  • Page 30 All manuals and user guides at all-guides.com 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

    Table 18: Unterminated serial cable pin allocation table 7.12 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.
  • Page 32 All manuals and user guides at all-guides.com 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)

  • Page 33: Installation

    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. It should be mounted away from transmitting devices where possible.

  • Page 34: Alignment

    All manuals and user guides at all-guides.com 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 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

    For connection to an Ethernet network the Advanced Navigation Ethernet Cable is required (part number GC-POE-CABLE-20M). One end of the cable should be connected to the GNSS Compass and the other to either a PoE injector (part number POE-INJECTOR) or 802.3af or 802.3at compliant PoE switch.

  • Page 38: Configuration

    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. For advanced applications requiring configuration changes please follow the steps below.

  • Page 39: Operation

    Hot Start If the GNSS Compass has been powered off for more than 24 hours, when it is powered on it will initialise with a cold start. If the GNSS Compass has been powered off for less than 24 hours it will initialise with a hot start which is much faster.

  • Page 40: Nmea 2000

    All manuals and user guides at all-guides.com 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...

  • Page 41: Precise Time Protocol (Ptp)

    Table 23: NMEA 0183 output messages supported Precise Time Protocol (PTP) The GNSS Compass was designed to provide a highly accurate time reference via a built-in PTP version 2 server for synchronisation with network-connected devices which require high accuracy time.
  • Page 42 All manuals and user guides at all-guides.com 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

    All manuals and user guides at all-guides.com 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...

  • Page 45: Packet Acknowledgement

    10.5 Packet Rates The packet rates can be configured either the web interface for Ethernet variants, GNSS Compass Manager for serial variants or through the Packets Period Packet. By default GNSS Compass is configured to output the System State Packet at 20Hz.
  • Page 46 All manuals and user guides at all-guides.com 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...
  • Page 47 All manuals and user guides at all-guides.com 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...

  • Page 48: System Packets

    All manuals and user guides at all-guides.com 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...

  • Page 49: Boot Mode Types

    All manuals and user guides at all-guides.com 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...

  • Page 50: Reset Packet

    All manuals and user guides at all-guides.com 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...

  • Page 51: Pass-Through Routes

    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...

  • Page 52: System State Packet

    All manuals and user guides at all-guides.com 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...

  • Page 53: System Status

    All manuals and user guides at all-guides.com 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.

  • Page 54: Filter Status

    All manuals and user guides at all-guides.com 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.

  • Page 55: Microseconds

    All manuals and user guides at all-guides.com 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.

  • Page 56: Status Packet

    All manuals and user guides at all-guides.com 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...

  • Page 57: Euler Orientation Standard Deviation Packet

    All manuals and user guides at all-guides.com 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...

  • Page 58: Raw Sensors Packet

    All manuals and user guides at all-guides.com 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)

  • Page 59: Raw Gnss Packet

    All manuals and user guides at all-guides.com 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

    All manuals and user guides at all-guides.com 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...

  • Page 61: Detailed Satellites Packet

    All manuals and user guides at all-guides.com 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...

  • Page 62: Satellite Frequencies

    All manuals and user guides at all-guides.com 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...

  • Page 63: Ned Velocity Packet

    All manuals and user guides at all-guides.com 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...

  • Page 64: Body Acceleration Packet

    All manuals and user guides at all-guides.com 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...

  • Page 65: Quaternion Orientation Packet

    All manuals and user guides at all-guides.com 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...

  • Page 66: Angular Velocity Packet

    All manuals and user guides at all-guides.com 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)

  • Page 67: External Position & Velocity Packet

    All manuals and user guides at all-guides.com 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...

  • Page 68: External Velocity Packet

    All manuals and user guides at all-guides.com 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)

  • Page 69: Running Time Packet

    All manuals and user guides at all-guides.com 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...

  • Page 70: Geoid Height Packet

    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. RTCM Corrections Packet Packet ID Length...

  • Page 71: Raw Satellite Data Packet

    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)

  • Page 72: Satellite Frequencies

    10.10.37 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

    All manuals and user guides at all-guides.com 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...

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

    All manuals and user guides at all-guides.com 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...

  • Page 75: Automotive Packet

    All manuals and user guides at all-guides.com 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...

  • Page 76: Flags

    All manuals and user guides at all-guides.com 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...

  • Page 77: Sensor Ranges Packet

    All manuals and user guides at all-guides.com 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...

  • Page 78: Installation Alignment Packet

    All manuals and user guides at all-guides.com 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]...

  • Page 79: Filter Options Packet

    All manuals and user guides at all-guides.com 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...

  • Page 80: Vehicle Types

    All manuals and user guides at all-guides.com GNSS Compass Reference Manual Page 79 of 85 Version 1.1 13/01/2021 10.11.5.1 Vehicle Types Value Description Unconstrained Bicycle or Motorcycle Hovercraft Submarine 3D Underwater Vehicle Fixed Wing Plane 3D Aircraft Human Boat Large Ship...

  • Page 81: Port Function Configuration Packet

    Port 2 function (default TCP 16719) Secondary serial port rate Port 3 function (default TCP 16720) Reserved (set to zero) Port 4 function (default TCP 16721) Reserved (set to zero) Table 101: Ports mapping for the two models of GNSS Compass...

  • Page 82: Transmit Functions

    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 GNSS Compass unit. The primary reference point offset can be used to adjust the measurement point to a different location on the vehicle. The primary reference point offset applies to all data output including NMEA etc as well as heave point 1.
  • Page 83 All manuals and user guides at all-guides.com 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)

  • Page 84: Port Output Configuration Packet

    All manuals and user guides at all-guides.com 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...

  • Page 85: Port Output Rates

    25 Hz 50 Hz Table 109: Serial output rates index 10.11.11 User Data Packet This packet is for storage of users data. The data itself is not used by GNSS Compass. User Data Packet Packet ID Length Field # Bytes...
  • Page 86 No license, express or implied, by estoppel or otherwise, to any intellectual property rights is granted under this document. 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...

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