Advanced Navigation Spatial OEM Reference Manual page 3

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
7.6.2.1 Using the Spatial Manager Software...................................................................38
7.6.2.2 Using the Packet Protocol...................................................................................38
7.6.3 Disabling Magnetometers...........................................................................................39
7.7 Sensors Range.................................................................................................................. 39
7.8 Data Anti Aliasing............................................................................................................... 39
7.9 Vehicle Profiles.................................................................................................................. 39
7.10 Odometer Pulse Length...................................................................................................39
7.10.1 Odometer Automatic Pulse Length Calibration Procedure........................................40
7.11 RAIM................................................................................................................................ 40
7.12 Underwater Navigation....................................................................................................40
7.12.1 DVL (Doppler Velocity Log) Peripheral.....................................................................40
7.12.2 USBL (Ultra-short Baseline) Peripheral....................................................................41
7.12.3 Depth........................................................................................................................ 41
7.12.4 DVL and USBL Combined Systems..........................................................................42
7.13 Heave.............................................................................................................................. 42
7.14 Temperature..................................................................................................................... 42
8 Interfacing.................................................................................................................................. 43
8.1 Communication.................................................................................................................. 43
8.1.1 Baud Rate.................................................................................................................. 43
8.2 External data...................................................................................................................... 43
8.3 GPIO Pins.......................................................................................................................... 43
8.3.1 1PPS Output.............................................................................................................. 44
8.3.2 GNSS Fix Output........................................................................................................45
8.3.3 Odometer Input.......................................................................................................... 45
8.3.4 Stationary Input.......................................................................................................... 45
8.3.5 Pitot Tube Input.......................................................................................................... 45
8.3.6 NMEA Input................................................................................................................ 45
8.3.7 NMEA Output............................................................................................................. 46
8.3.8 Novatel GNSS Input...................................................................................................46
8.3.9 Topcon GNSS Input....................................................................................................46
8.3.10 Motec Output............................................................................................................ 46
8.3.11 ANPP Input............................................................................................................... 46
8.3.12 ANPP Output............................................................................................................ 46
8.3.13 Disable Magnetometers............................................................................................47
8.3.14 Disable GNSS.......................................................................................................... 47
8.3.15 Disable Pressure......................................................................................................47
8.3.16 Set Zero Orientation Alignment.................................................................................47
8.3.17 System State Packet Trigger....................................................................................47
8.3.18 Raw Sensors Packet Trigger....................................................................................47
8.3.19 RTCM Differential GNSS Corrections Input..............................................................47
Spatial OEM Reference Manual
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Version 2.7