Advanced Navigation Spatial OEM Reference Manual page 4

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
8.3.29 1PPS Input............................................................................................................... 48
9 Advanced Navigation Packet Protocol.......................................................................................50
9.1 Data Types......................................................................................................................... 50
9.2 Packet Structure................................................................................................................ 50
9.2.1 Header LRC............................................................................................................... 51
9.2.2 Packet ID.................................................................................................................... 51
9.2.3 Packet Length............................................................................................................ 51
9.2.4 CRC........................................................................................................................... 51
9.3 Packet Requests................................................................................................................ 51
9.4 Packet Acknowledgement..................................................................................................52
9.5 Packet Rates..................................................................................................................... 52
9.6 Packet Summary................................................................................................................ 52
9.7 System Packets................................................................................................................. 54
9.7.1 Acknowledge Packet..................................................................................................54
9.7.1.1 Acknowledge Result............................................................................................55
9.7.2 Request Packet.......................................................................................................... 55
9.7.3 Boot Mode Packet......................................................................................................55
9.7.3.1 Boot Mode Types................................................................................................55
9.7.4 Device Information Packet..........................................................................................56
9.7.5 Restore Factory Settings Packet................................................................................56
9.7.6 Reset Packet.............................................................................................................. 56
9.8 State Packets..................................................................................................................... 56
9.8.1 System State Packet..................................................................................................57
9.8.1.1 System Status.....................................................................................................57
9.8.1.2 Filter Status.........................................................................................................58
9.8.1.3 Unix Time Seconds.............................................................................................59
9.8.1.4 Microseconds......................................................................................................59
9.8.2 Unix Time Packet.......................................................................................................59
9.8.3 Formatted Time Packet..............................................................................................60
9.8.4 Status Packet............................................................................................................. 60
9.8.5 Position Standard Deviation Packet...........................................................................61
9.8.6 Velocity Standard Deviation Packet............................................................................61
9.8.7 Euler Orientation Standard Deviation Packet.............................................................61
9.8.8 Quaternion Orientation Standard Deviation Packet....................................................62
9.8.9 Raw Sensors Packet..................................................................................................62
9.8.10 Raw GNSS Packet...................................................................................................63
9.8.11 Satellites Packet.......................................................................................................63
9.8.12 Detailed Satellites Packet.........................................................................................64
9.8.12.1 Navigation System............................................................................................64
9.8.12.2 Satellite Frequencies........................................................................................64
9.8.13 Geodetic Position Packet.........................................................................................65
Spatial OEM Reference Manual
Page 4 of 88
Version 2.7