Table Of Contents - Advanced Navigation Spatial OEM Reference Manual

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............................................................................................................................. 11
2.6.2 Pitch........................................................................................................................... 12
2.6.3 Heading...................................................................................................................... 13
2.6.4 Second Right Hand Rule............................................................................................13
2.6.5 Rotation Order............................................................................................................ 14
2.7 Geodetic Co-ordinate System............................................................................................14
2.8 NED Co-ordinate Frame....................................................................................................16
2.9 ECEF Co-ordinate Frame..................................................................................................17
3 Introduction................................................................................................................................ 18
4 Specifications............................................................................................................................ 19
4.1 Mechanical Drawings.........................................................................................................19
4.2 Navigation Specifications...................................................................................................19
4.3 Sensor Specifications........................................................................................................ 20
4.4 GNSS Specifications.......................................................................................................... 20
4.5 Communication Specifications...........................................................................................21
4.6 Hardware Specifications....................................................................................................21
4.7 Electrical Specifications.....................................................................................................22
4.8 Power Consumption........................................................................................................... 22
4.9 Sensor Calibration............................................................................................................. 23
5 PCB Design and Integration......................................................................................................24
5.1 PCB Mechanical Mounting.................................................................................................24
5.2 Electrical Connector........................................................................................................... 24
5.3 Connector Pin-out.............................................................................................................. 25
5.3.1 Interoperability with Different Voltage Systems...........................................................26
5.3.2 Reset Line.................................................................................................................. 26
5.3.3 Basic Connection.......................................................................................................27
5.4 Recommended Footprint...................................................................................................27
5.5 Power Supply..................................................................................................................... 29
5.6 U.FL RF Connector............................................................................................................ 30
5.7 Pin Protection.................................................................................................................... 30
6 Installation................................................................................................................................. 31
6.1 Position and Alignment......................................................................................................31
6.1.1 Alignment................................................................................................................... 31
6.2 GNSS Antenna.................................................................................................................. 32
6.3 Odometer........................................................................................................................... 33
6.4 Magnetics.......................................................................................................................... 33
6.5 Vibration............................................................................................................................. 34
7 Operation.................................................................................................................................. 35
7.1 Filter................................................................................................................................... 35
7.2 Initialisation........................................................................................................................ 35
7.3 Hot Start............................................................................................................................. 35
Spatial OEM Reference Manual
Page 2 of 88
Version 2.7