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Advanced Navigation Spatial OEM Reference Manual

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Summary of Contents for Advanced Navigation Spatial OEM

  • Page 1 Spatial OEM Reference Manual...

  • Page 2: Table Of Contents

    Spatial OEM Reference Manual Page 2 of 88 Version 2.7 Table of Contents 1 Revision History.......................... 7 2 Foundation Knowledge......................10 2.1 GNSS..........................10 2.2 INS............................. 10 2.3 GNSS/INS.......................... 10 2.4 AHRS..........................10 2.5 The Sensor Co-ordinate Frame..................11 2.6 Roll, Pitch and Heading......................11 2.6.1 Roll..........................
  • Page 3 Spatial OEM Reference Manual Page 3 of 88 Version 2.7 7.4 Time........................... 36 7.5 Heading Source......................... 36 7.5.1 Magnetic Heading......................36 7.5.2 Velocity Heading......................36 7.5.3 External Heading......................36 7.6 Magnetics.......................... 36 7.6.1 2D Magnetic Calibration.....................37 7.6.1.1 Using the Spatial Manager Software..............37 7.6.1.2 Using the Packet Protocol...................37 7.6.2 3D Magnetic Calibration.....................38...
  • Page 4 Spatial OEM Reference Manual Page 4 of 88 Version 2.7 8.3.20 Trimble GNSS Input....................47 8.3.21 u-blox GNSS Input....................47 8.3.22 Hemisphere GNSS Input..................48 8.3.23 Teledyne DVL Input....................48 8.3.24 Tritech USBL Input....................48 8.3.25 Linkquest DVL Input....................48 8.3.26 Pressure Depth Transducer Input................48 8.3.27 Left Wheel Speed Sensor..................48 8.3.28 Right Wheel Speed Sensor..................48...
  • Page 5 Spatial OEM Reference Manual Page 5 of 88 Version 2.7 9.8.14 ECEF Position Packet....................65 9.8.15 UTM Position Packet....................65 9.8.16 NED Velocity Packet....................66 9.8.17 Body Velocity Packet....................66 9.8.18 Acceleration Packet....................66 9.8.19 Body Acceleration Packet..................67 9.8.20 Euler Orientation Packet...................67 9.8.21 Quaternion Orientation Packet.................67 9.8.22 DCM Orientation Packet...................68...
  • Page 6 Spatial OEM Reference Manual Page 6 of 88 Version 2.7 9.9.10.1 Magnetic calibration Actions................87 9.9.11 Magnetic Calibration Status Packet................87 9.9.11.1 Magnetic Calibration Status................87 9.9.12 Odometer Configuration Packet................88 9.9.13 Set Zero Orientation Alignment Packet..............88 9.9.14 Heave Offset Packet....................89...

  • Page 7: Revision History

    Spatial OEM Reference Manual Page 7 of 88 Version 2.7 Revision History Version Date Changes 27/03/2013 Added additional magnetic information, section 7.6 Added 1PPS input, section 8.3.29 Updated detailed satellites packet, section 9.8.12 Corrected geoid height packet, section 9.8.35 29/01/2013 Added heave information, section 7.13...
  • Page 8 Spatial OEM Reference Manual Page 8 of 88 Version 2.7 Version Date Changes 28/10/2012 Regrouped integration information into section 5 Updated mechanical mounting, section 5.1 Added basic electrical connection, section 5.3.3 Updated recommended footprint information, section 5.4 Added pin protection, section 5.7 Fixed error in odometer state packet, section 9.8.32...
  • Page 9 Spatial OEM Reference Manual Page 9 of 88 Version 2.7 Version Date Changes Added external data, section 8.2 Added GPIO information, section 8.3 Added GPIO configuration packet, section 9.9.8 11/08/2012 Magnetic calibration values packet corrected Incorrect length fixed on several packets...

  • Page 10: Foundation Knowledge

    Spatial OEM Reference Manual Page 10 of 88 Version 2.7 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.

  • Page 11: Roll, Pitch And Heading

    Spatial OEM Reference Manual Page 11 of 88 Version 2.7 Illustration 1: Bird's eye view of Spatial showing axes marked on top 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 12: Pitch

    Spatial OEM Reference Manual Page 12 of 88 Version 2.7 Illustration 3: Spatial with black Illustration 4: Spatial arrow indicating positive after a roll of 90 degrees direction of roll 2.6.2 Pitch Pitch is the angle around the Y axis. See Illustration 5 for the positive direction of pitch and Illustration 6 for an example of a pitch of 90 degrees.

  • Page 13: Heading

    Spatial OEM Reference Manual Page 13 of 88 Version 2.7 2.6.3 Heading Heading is the angle around the Z axis. See Illustration 7 for the positive direction of heading and Illustration 8 for an example of a heading change of 90 degrees. 0 degrees heading is when the positive X axis points North and 180 degrees heading is when the positive X axis points South.

  • Page 14: Rotation Order

    Spatial OEM Reference Manual Page 14 of 88 Version 2.7 Illustration 9: Second right hand rule 2.6.5 Rotation Order When multiple axes are rotated, to imagine the final orientation the three rotations must be performed in the order heading first, then pitch and then roll. To deduce the final orientation the unit should first be considered level with the X axis pointing north and the Z axis pointing down.
  • Page 15 Spatial OEM Reference Manual Page 15 of 88 Version 2.7 Longitude Illustration 10: Latitude and longitude represented visually to describe a position Illustration 11 below shows latitude and longitude on a map of the world.

  • Page 16: Ned Co-Ordinate Frame

    Spatial OEM Reference Manual Page 16 of 88 Version 2.7 Equator Illustration 11: 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 17: Ecef Co-Ordinate Frame

    Spatial OEM Reference Manual Page 17 of 88 Version 2.7 ecef North Pole North East Down Latitude ecef Longitude ecef South Pole Illustration 12: Graphic showing geodetic, NED and ECEF co-ordinates ECEF Co-ordinate Frame The ECEF (Earth-centred earth-fixed) co-ordinate frame is a Cartesian co-ordinate frame used to represent absolute positions on the Earth.

  • Page 18: Introduction

    It is referenced throughout this manual. If you have any questions please contact support@advancednavigation.com.au. Attention Spatial OEM is an Electrostatic Sensitive Device and must be handled with care. Precautions against static must be taken when handling Spatial OEM.

  • Page 19: Specifications

    Spatial OEM Reference Manual Page 19 of 88 Version 2.7 Specifications Mechanical Drawings Illustration 13: Mechanical drawings of Spatial OEM...

  • Page 20: Navigation Specifications

    Spatial OEM Reference Manual Page 20 of 88 Version 2.7 Navigation Specifications Parameter Value Horizontal Position Accuracy 2.0 m Vertical Position Accuracy 3.0 m Horizontal Position Accuracy (with DGNSS) 0.6 m Vertical Position Accuracy (with DGNSS) 1.0 m Velocity Accuracy 0.05 m/s...

  • Page 21: Gnss Specifications

    Spatial OEM Reference Manual Page 21 of 88 Version 2.7 GNSS Specifications Parameter Value Supported Navigation Systems GPS L1 GLONASS L1 GALILEO L1 COMPASS L1 Supported SBAS Systems WAAS EGNOS MSAS GAGAN QZSS Update Rate 10 Hz Cold Start Sensitivity...

  • Page 22: Hardware Specifications

    Spatial OEM Reference Manual Page 22 of 88 Version 2.7 Hardware Specifications Parameter Value Operating Voltage 4.2 to 36 V Input Protection ± 40 V Power Consumption 95 mA @ 5 V (typical) Backup Battery Capacity > 24 hrs Backup Battery Charge Time...

  • Page 23: Sensor Calibration

    Spatial OEM Reference Manual Page 23 of 88 Version 2.7 Power Consumption Maximum Typical Voltage (V) Illustration 14: Maximum and typical current consumption across operating voltage Sensor Calibration Spatial's sensors are calibrated for bias, sensitivity, misalignment, cross-axis sensitivity, non- linearity and gyroscope linear acceleration sensitivity across the full operating temperature range...

  • Page 24: Pcb Design And Integration

    Spatial OEM and the target board. It should be noted that this connector is not designed for the Spatial OEM to be plugged in whilst power is applied to the user's PCB and connector mating cycles should not exceed 50 cycles to ensure connector reliability.

  • Page 25: Connector Pin-Out

    To prevent damage to the connector during mating please follow the mounting advice in Illustration 17 and Illustration 18. Illustration 17: Correct mounting of Spatial OEM Illustration 18: Incorrect mounting of Spatial OEM Connector Pin-out Illustration 19: Bottom view of Spatial OEM showing connector pin numbering...

  • Page 26: Interoperability With Different Voltage Systems

    The reset line is internally pulled high on Spatial OEM. This pin must be left floating for normal operation. If a user wishes to reset Spatial OEM the pin can be pulled low externally to force a reset. It is important that this signal is not driven high under any circumstances as it will prevent the Spatial OEM from functioning correctly.

  • Page 27: Recommended Footprint

    Illustration 20: Spatial OEM basic electrical connections Recommended Footprint The footprint for Spatial OEM incorporates four through-hole pads for the soldering of the four 2mm stand-offs and 20 additional SMD pads for the board to board connector. The through-hole pads are designed to allow solder paste to be applied before component placement so that the PCB can be assembled using pick and place machines.

  • Page 28: Power Supply

    4.7 V or more to avoid issues associated with this. On start-up of the Spatial OEM the device will initially draw an increased impulse current (~400mA for 2 microseconds) whilst it charges on board capacitors. It is important that the user's circuit is...

  • Page 29: U.fl Rf Connector

    Spatial OEM has on-board filters to remove any supply noise and ripple. U.FL RF Connector Spatial OEM's antenna connection is through a U.FL connector on the board. It is recommended to use a U.FL to SMA adapter cable to allow connection to standard GNSS antennas. The U.FL connector on Spatial is fragile and should be handled with care.

  • Page 30: Installation

    Spatial OEM Reference Manual Page 30 of 88 Version 2.7 Installation Position and Alignment When installing Spatial into a vehicle, correct positioning and alignment are essential to achieve good performance. There are a number of goals in selecting a mounting site in your application, these are: 1.

  • Page 31: Gnss Antenna

    Spatial OEM Reference Manual Page 31 of 88 Version 2.7 Illustration 26: Spatial axes aligned with plane axes Illustration 25: Illustration 24: Spatial Spatial axes axes aligned with car aligned with axes boat axes GNSS Antenna The GNSS antenna should be installed level with a clear view of the sky and as close to the Spatial unit as possible.

  • Page 32: Odometer

    For more information on the GPIO signal and it's requirements please see section 8.3.3. Whilst Spatial contains protection on it's GPIO pins, Spatial OEM does not. The odometer signal needs to be connected through a protection circuit with a zener diode and resistor, please see section 5.7.
  • Page 33 Spatial OEM Reference Manual Page 33 of 88 Version 2.7 Spatial Manager software can give you a good idea of how bad the vibrations are. If the vibrations are causing the sensors to go over range you will need to increase the sensors range, see section 7.7.

  • Page 34: Operation

    Spatial OEM Reference Manual Page 34 of 88 Version 2.7 Operation Filter Spatial contains a very sophisticated filter which it uses to fuse all it's sensors into a state estimation. The filter is a set of custom algorithms that have similar principles to a kalman filter, but operate differently.

  • Page 35: Heading Source

    Spatial OEM Reference Manual Page 35 of 88 Version 2.7 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. When Spatial hot starts the time accuracy is typically within 1 second immediately on startup and corrected to within 50 nanoseconds as soon as a GNSS fix is achieved.

  • Page 36: Magnetic Calibration

    Spatial OEM Reference Manual Page 36 of 88 Version 2.7 2D calibration involves three level rotations about the Z axis and is designed for vehicles that cannot easily or safely be turned upside down, such as full size cars, planes and boats. 3D calibration involves rotating through all orientations and is designed for vehicles that can easily and safely be rotated upside down, such as model size vehicles.

  • Page 37: Using The Spatial Manager Software

    Spatial OEM Reference Manual Page 37 of 88 Version 2.7 7.6.2.1 Using the Spatial Manager Software 1. The unit should be powered in a level orientation and kept stationary. 2. After power on wait 5 minutes for the temperature and filter to stabilise.

  • Page 38: Data Anti Aliasing

    Spatial OEM Reference Manual Page 38 of 88 Version 2.7 range this causes the filter to become completely inaccurate and in some cases it can cause the filter to reset. By default Spatial comes configured in the lowest sensor ranges. In this configuration it is possible to send the gyroscopes over range by quickly rotating the unit in your hand.

  • Page 39: Raim

    GNSS fix is a waterproof glass dome housing the GNSS antenna, mounted on the top of the vehicle. Spatial contains built in support for DVLs from Teledyne and Linkquest and these systems can be directly connected to Spatial using the GPIO pins. Advanced Navigation recommends Teledyne DVL systems. 7.12.2...

  • Page 40: Depth

    Spatial OEM Reference Manual Page 40 of 88 Version 2.7 Illustration 27: Spatial USBL Setup 7.12.3 Depth For Spatial's intelligent filter to operate correctly and provide maximum performance, Spatial requires continuous updates of depth information. This can be achieved by adding a pressure depth transducer to Spatial.
  • Page 41 Spatial OEM Reference Manual Page 41 of 88 Version 2.7 temperature's outside of the storage range can effect the factory sensor calibration which will cause a permanent performance degradation.

  • Page 42: Interfacing

    Interfacing Communication All communication to the Spatial module is over the serial interface in the Advanced Navigation packet protocol. The serial format is fixed at 1 start bit, 8 data bits, 1 stop bit and no parity. See section 9 for details on the protocol.

  • Page 43: 1Pps Output

    Spatial OEM Reference Manual Page 43 of 88 Version 2.7 Function Type GPIOs Inactive Tristate 1PPS Output Digital Output GNSS Fix Output Digital Output Odometer Input Frequency Input Stationary Input Digital Input Pitot Tube Input Frequency Input NMEA Input Serial Receive...

  • Page 44: Gnss Fix Output

    8.3.6 NMEA Input This function accepts external data in the NMEA format. Advanced Navigation recommends against using NMEA where possible due to the inefficiency, inaccuracy and poor error checking of the format. All NMEA messages received must have a valid checksum. Supported messages are...

  • Page 45: Nmea Output

    8.3.10 Motec Output This function is designed to output Spatial's data to Motec motor sport logging units. Please contact Advanced Navigation support for information on this function. 8.3.11 ANPP Input This function accepts data in the ANPP format as specified in section 9.

  • Page 46: Disable Magnetometers

    Spatial OEM Reference Manual Page 46 of 88 Version 2.7 8.3.13 Disable Magnetometers This function accepts a digital input with a low state enabling the magnetometers and a high state disabling the magnetometers. 8.3.14 Disable GNSS This function accepts a digital input with a low state enabling the GNSS and a high state disabling the GNSS.

  • Page 47: Hemisphere Gnss Input

    Spatial OEM Reference Manual Page 47 of 88 Version 2.7 8.3.22 Hemisphere GNSS Input This function is designed for interfacing Spatial with a Hemisphere GNSS receiver. It accepts data in the Hemisphere binary format and expects message Bin1 at rates higher than 1Hz. For Hemisphere receivers that provide heading using two antennas, NMEA should be used instead as the binary format does not allow for transmission of heading information.

  • Page 48: Advanced Navigation Packet Protocol

    Version 2.7 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 49: Header Lrc

    Spatial OEM Reference Manual Page 49 of 88 Version 2.7 ANPP Header Format Field # Bytes Data Size Description Offset Type Header LRC, see section 9.2.1 Packet ID, see section 9.2.2 Packet Length, see section 9.2.3 CRC16, see section 9.2.4 Table 14: ANPP header format 9.2.1...

  • Page 50: Packet Acknowledgement

    Spatial OEM Reference Manual Page 50 of 88 Version 2.7 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 9.7.1.
  • Page 51 Spatial OEM Reference Manual Page 51 of 88 Version 2.7 Packet ID Length Name Raw Sensors Packet Raw GNSS Packet Satellites Packet Detailed Satellites Packet Geodetic Position Packet ECEF Position Packet UTM Position Packet NED Velocity Packet Body Velocity Packet...

  • Page 52: System Packets

    Spatial OEM Reference Manual Page 52 of 88 Version 2.7 Packet ID Length Name Baud Rates Packet Sensor Ranges Packet Installation Alignment Packet Filter Options Packet Advanced Filter Parameters Packet GPIO Configuration Packet Magnetic Calibration Values Packet Magnetic Calibration Configuration Packet...

  • Page 53: Acknowledge Result

    Spatial OEM Reference Manual Page 53 of 88 Version 2.7 9.7.1.1 Acknowledge Result Value Description Acknowledge Success Acknowledge failure, CRC error Acknowledge failure, packet size incorrect Acknowledge failure, values outside of valid ranges Acknowledge failure, system flash memory failure Acknowledge failure, system not ready...

  • Page 54: Device Information Packet

    Spatial OEM Reference Manual Page 54 of 88 Version 2.7 9.7.4 Device Information Packet Device Information Packet Packet ID Length Field # Bytes Data Size Description Offset Type Software version Device ID Hardware revision Serial number part 1 Serial number part 2...

  • Page 55: System State Packet

    Spatial OEM Reference Manual Page 55 of 88 Version 2.7 9.8.1 System State Packet System State Packet Packet ID Length Field # Bytes Data Size Description Offset Type System status, see section 9.8.1.1 Filter status, see section 9.8.1.2 Unix time seconds, see section 9.8.1.3 Microseconds, see section 9.8.1.4...

  • Page 56: Filter Status

    Spatial OEM Reference Manual Page 56 of 88 Version 2.7 Description System Failure 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...

  • Page 57: Unix Time Seconds

    Spatial OEM Reference Manual Page 57 of 88 Version 2.7 Description Orientation Filter Initialised Navigation Filter Initialised Heading Initialised UTC Time Initialised GNSS 2D Fix GNSS 3D Fix GNSS SBAS Fix GNSS Differential Fix GNSS RTK Fix Internal GNSS Enabled...

  • Page 58: Formatted Time Packet

    Spatial OEM Reference Manual Page 58 of 88 Version 2.7 9.8.3 Formatted Time Packet Formatted Time Packet Packet ID Length Field # Bytes Data Size Description Offset Type Microseconds Year Year day, 0 - 365 Month, 0 - 11 Month Day, 1 - 31...

  • Page 59: Position Standard Deviation Packet

    Spatial OEM Reference Manual Page 59 of 88 Version 2.7 9.8.5 Position Standard Deviation Packet Position Standard Deviation Packet Packet ID Length Field # Bytes Data Size Description Offset Type fp32 Latitude standard deviation (m) fp32 Longitude standard deviation (m)

  • Page 60: Quaternion Orientation Standard Deviation Packet

    Spatial OEM Reference Manual Page 60 of 88 Version 2.7 9.8.8 Quaternion Orientation Standard Deviation Packet Quaternion Orientation Standard Deviation Packet Packet ID Length Field # Bytes Data Size Description Offset Type fp32 Q0 standard deviation fp32 Q1 standard deviation...

  • Page 61: Raw Gnss Packet

    Spatial OEM Reference Manual Page 61 of 88 Version 2.7 9.8.10 Raw GNSS Packet Raw GNSS Packet Packet ID Length Field # Bytes Data Size Description Offset Type fp64 Latitude (rad) fp64 Longitude (rad) fp64 Height (m) fp32 Velocity north (m)

  • Page 62: Detailed Satellites Packet

    Spatial OEM Reference Manual Page 62 of 88 Version 2.7 9.8.12 Detailed Satellites Packet Detailed Satellites Packet Packet ID Length 7 x number of satellites Field # Bytes Data Size Description Offset Type Navigation system, see section 9.8.12.1 Satellite number Satellite frequencies, see section 9.8.12.2...

  • Page 63: Geodetic Position Packet

    Spatial OEM Reference Manual Page 63 of 88 Version 2.7 9.8.13 Geodetic Position Packet Geodetic Position Packet Packet ID Length Field # Bytes Data Size Description Offset Type fp64 Latitude (rad) fp64 Longitude (rad) fp64 Height (m) Table 39: Geodetic position packet 9.8.14...

  • Page 64: Ned Velocity Packet

    Spatial OEM Reference Manual Page 64 of 88 Version 2.7 9.8.16 NED Velocity Packet NED 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) Table 42: NED velocity packet 9.8.17...

  • Page 65: Body Acceleration Packet

    Spatial OEM Reference Manual Page 65 of 88 Version 2.7 9.8.19 Body Acceleration Packet Body Acceleration Packet Packet ID Length Field # Bytes Data Size Description Offset Type fp32 Body acceleration X (m/s/s) fp32 Body acceleration Y (m/s/s) fp32 Body acceleration Z (m/s/s)

  • Page 66: Dcm Orientation Packet

    Spatial OEM Reference Manual Page 66 of 88 Version 2.7 9.8.22 DCM Orientation Packet DCM Orientation Packet Packet ID Length Field # Bytes Data Size Description Offset Type fp32 DCM[0][0] fp32 DCM[0][1] fp32 DCM[0][2] fp32 DCM[1][0] fp32 DCM[1][1] fp32 DCM[1][2]...

  • Page 67: Angular Acceleration Packet

    Spatial OEM Reference Manual Page 67 of 88 Version 2.7 9.8.24 Angular Acceleration Packet Angular Acceleration Packet Packet ID Length Field # Bytes Data Size Description Offset Type fp32 Angular acceleration X (rad/s/s) fp32 Angular acceleration Y (rad/s/s) fp32 Angular acceleration Z (rad/s/s) Table 50: Angular acceleration packet 9.8.25...

  • Page 68: External Position Packet

    Spatial OEM Reference Manual Page 68 of 88 Version 2.7 9.8.26 External Position Packet External Position Packet Packet ID Length Field # Bytes Data Size Description Offset Type fp64 Latitude (rad) fp64 Longitude (rad) fp64 Height (m) fp32 Latitude standard deviation (m)

  • Page 69: External Body Velocity Packet

    Spatial OEM Reference Manual Page 69 of 88 Version 2.7 9.8.28 External Body Velocity Packet External Body Velocity Packet Packet ID Length Field # Bytes Data Size Description Offset Type fp32 Velocity X (m/s) fp32 Velocity Y (m/s) fp32 Velocity Z (m/s)

  • Page 70: Local Magnetic Field Packet

    Spatial OEM Reference Manual Page 70 of 88 Version 2.7 9.8.31 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 71: External Depth Packet

    Spatial OEM Reference Manual Page 71 of 88 Version 2.7 9.8.34 External Depth Packet External Depth Packet Packet ID Length Field # Bytes Data Size Description Offset Type fp32 Depth (m) fp32 Depth standard deviation (m) Table 60: External depth packet 9.8.35...

  • Page 72: External Pitot Pressure Packet

    Spatial OEM Reference Manual Page 72 of 88 Version 2.7 airspeed. The packet should contain differential pressure in pascals. If outside air temperature is available it should be set in the message for increased accuracy, otherwise this field should be set to 15 degrees.

  • Page 73: Configuration Packets

    Spatial OEM Reference Manual Page 73 of 88 Version 2.7 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, a one indicates that they will be permanent.

  • Page 74: Packets Period Packet

    Spatial OEM Reference Manual Page 74 of 88 Version 2.7 9.9.2 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 9.9.2.1 Packet ID Packet period, see section 9.9.2.2...

  • Page 75: Baud Rates Packet

    Spatial OEM Reference Manual Page 75 of 88 Version 2.7 9.9.3 Baud Rates Packet Baud Rates Packet Packet ID Length Field # Bytes Data Size Description Offset Type Permanent Primary serial port baud rate (1200 to 1000000) GPIO 1 & 2 baud rate (1200 to 1000000) GPIO 3 &...

  • Page 76: Gyroscopes Range

    Spatial OEM Reference Manual Page 76 of 88 Version 2.7 9.9.4.2 Gyroscopes Range Value Description 250 degrees/second 500 degrees/second 2000 degrees/second Table 71: Gyroscopes range 9.9.4.3 Magnetometers Range Value Description 2 Gauss 4 Gauss 8 Gauss Table 72: Magnetometers range...

  • Page 77: Installation Alignment Packet

    Spatial OEM Reference Manual Page 77 of 88 Version 2.7 9.9.5 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 78: Filter Options Packet

    Spatial OEM Reference Manual Page 78 of 88 Version 2.7 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) 9.9.6...

  • Page 79: Vehicle Types

    Spatial OEM Reference Manual Page 79 of 88 Version 2.7 9.9.6.1 Vehicle Types Value Description Unconstrained Bicycle or Motorcycle Hovercraft Submarine 3D Underwater Vehicle Fixed Wing Plane 3D Aircraft Human Table 75: Vehicle types 9.9.7 Advanced Filter Parameters Packet Please contact Advanced Navigation support.

  • Page 80: Gpio1 Functions

    Spatial OEM Reference Manual Page 80 of 88 Version 2.7 9.9.8.1 GPIO1 Functions Value Description Inactive 1PPS Output GNSS Fix Output Odometer Input Stationary Input Pitot Tube Input NMEA Output Motec Output ANPP Output Disable Magnetometers Disable GNSS Disable Pressure...

  • Page 81: Gpio2 Functions

    Spatial OEM Reference Manual Page 81 of 88 Version 2.7 9.9.8.2 GPIO2 Functions Value Description Inactive 1PPS Output GNSS Fix Output Odometer Input Stationary Input Pitot Tube Input NMEA Input Novatel GNSS Input Topcon GNSS Input ANPP Input Disable Magnetometers...

  • Page 82: Gpio3 Functions

    Spatial OEM Reference Manual Page 82 of 88 Version 2.7 9.9.8.3 GPIO3 Functions Value Description Inactive 1PPS Output GNSS Fix Output Odometer Input Stationary Input Pitot Tube Input NMEA Output Motec Output ANPP Output Disable Magnetometers Disable GNSS Disable Pressure...

  • Page 83: Gpio4 Functions

    Spatial OEM Reference Manual Page 83 of 88 Version 2.7 9.9.8.4 GPIO4 Functions Value Description Inactive 1PPS Output GNSS Fix Output Odometer Input Stationary Input Pitot Tube Input NMEA Input Novatel GNSS Input Topcon GNSS Input ANPP Input Disable Magnetometers...

  • Page 84: Magnetic Calibration Values Packet

    Spatial OEM Reference Manual Page 84 of 88 Version 2.7 9.9.9 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 85: Magnetic Calibration Status Packet

    Spatial OEM Reference Manual Page 85 of 88 Version 2.7 9.9.10.1 Magnetic calibration Actions Value Description Cancel magnetic calibration Stabilise heading Start 2D magnetic calibration Start 3D magnetic calibration Table 83: Magnetic calibration action 9.9.11 Magnetic Calibration Status Packet Magnetic Calibration Status Packet...

  • Page 86: Odometer Configuration Packet

    Spatial OEM Reference Manual Page 86 of 88 Version 2.7 9.9.12 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) Reserved (set to zero)

  • Page 87: Heave Offset Packet

    Spatial OEM Reference Manual Page 87 of 88 Version 2.7 9.9.14 Heave Offset Packet Heave Offset Packet Packet ID Length Field # Bytes Data Size Description Offset Type Permanent fp32 Heave point 1 offset X (m) fp32 Heave point 1 offset Y (m)
  • Page 88 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 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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