Page 1 Certus OEM Certus Evo OEM Reference Manual...
Page 2: Table Of Contents
5.2.3 GNSS Specifications 5.3 Hardware Specifications 5.3.1 Certus OEM Hardware Specifications 5.3.2 Certus Evo OEM Hardware Specifications 5.3.3 Certus OEM and Certus Evo OEM Environmental Specifications 5.3.4 OEM Mechanical Drawings 5.3.4.1 Certus OEM Mechanical Drawings 5.3.4.2 Certus Evo OEM Mechanical Drawings 5.4 Serial Number...
Page 3 5.7.4 Connector Pin Allocation 5.7.5 Interoperability with Different Voltage Systems 5.7.6 MMCX RF Connector 6 Installing Certus OEM 6.1 Installation Checklist 6.2 Mounting Certus OEM 6.2.1 Mounting Plate Layout 6.3 Mounting Alignment 6.4 Power Supply 6.4.1 9-30 V Input 6.4.2 Regulated 5 V Input 6.5 Electrical Domains...
Page 4 7.5.2.1 3D Magnetic Calibration Using the web UI or Certus Manager Software 7.5.2.2 3D Magnetic Calibration Using the Packet Protocol 7.5.3 Automatic Magnetic Calibration 7.5.3.1 2D Vehicle Profiles 7.5.3.2 3D Vehicle Profiles 7.5.4 Disabling Magnetometers 7.6 Sensor Ranges 7.7 Data Anti-aliasing 7.8 Vehicle Profiles 7.9 Atmospheric Altitude 7.10 Odometer Pulse Length...
Page 5 8.1.2.6 Raw Sensors 8.1.2.7 Orientation 8.1.2.8 Position 8.1.2.9 Velocity and Acceleration 8.1.2.10 GNSS Receiver Information 8.1.2.11 Vessel Motion 8.1.2.12 External Data Selection 8.1.3 Configuration Menu 8.1.3.1 Sensor Ranges 8.1.3.2 Filter Options 8.1.3.3 Data Ports 8.1.3.4 Alignment 8.1.3.5 Baud Rates 8.1.3.6 GPIO 8.1.3.7 Odometer 8.1.3.8 Reset 8.1.3.9 Reference Point Offsets...
Page 6 8.2.5.8 Connect / Disconnect 8.2.6 View Menu 8.2.6.1 View 8.2.6.2 Device Information 8.2.6.3 Status 8.2.6.4 Satellites 8.2.6.5 Raw Sensors 8.2.6.6 Orientation 8.2.6.7 Position 8.2.6.8 Velocity and Acceleration 8.2.6.9 Time 8.2.6.10 Communications 8.2.6.11 GNSS Receiver Information 8.2.6.12 Heave 8.2.7 Configuration Menu 8.2.7.1 Configuration Export 8.2.7.2 Sensor Ranges 8.2.7.3 Filter Options...
Page 7 9 Interfacing 9.1 Ethernet 9.1.1 Ethernet Modes 9.1.2 Ethernet Functions 9.1.2.1 NMEA Input 9.1.2.2 Novatel GNSS Input 9.1.2.3 Topcon GNSS Input 9.1.2.4 ANPP Input 9.1.2.5 RTCM Differential GNSS Corrections Input 9.1.2.6 Trimble GNSS Input 9.1.2.7 u-blox GNSS Input 9.1.2.8 Hemisphere GNSS Input 9.1.2.9 Teledyne DVL Input 9.1.2.10 Tritech USBL Input 9.1.2.11 Linkquest DVL Input...
Page 8 9.6.1.42 ANPP Output 9.6.1.43 TSS1 Output 9.6.1.44 Simrad 1000 Output 9.6.1.45 Simrad 3000 Output 9.6.1.46 Serial Port Passthrough 9.6.1.47 GNSS Receiver Passthrough 10 Advanced Navigation Packet Protocol 10.1 About Packets 10.1.1 Packet Structure 10.1.1.1 Header LRC 10.1.1.2 Packet ID 10.1.1.3 Packet Length 10.1.1.4 CRC...
Page 9 10.1.3 Packet Acknowledgement 10.1.4 Packet Rates 10.1.5 Packet Timing 10.2 Data Types 10.3 System Packets 10.3.1 Acknowledge Packet 10.3.1.1 Acknowledge Result 10.3.2 Request Packet 10.3.3 Boot Mode Packet 10.3.3.1 Boot Mode Types 10.3.4 Device Information Packet 10.3.4.1 Device ID 10.3.5 Restore Factory Settings Packet 10.3.6 Reset Packet 10.3.6.1 Verification Sequence Values 10.3.7 Serial Port Passthrough Packet...
Page 10 10.4.12 Geodetic Position Packet 10.4.13 ECEF Position Packet 10.4.14 UTM Position Packet 10.4.15 NED Velocity Packet 10.4.16 Body Velocity Packet 10.4.17 Acceleration Packet 10.4.18 Body Acceleration Packet 10.4.19 Euler Orientation Packet 10.4.20 Quaternion Orientation Packet 10.4.21 DCM Orientation Packet 10.4.22 Angular Velocity Packet 10.4.23 Angular Acceleration Packet 10.4.24 External Position and Velocity Packet 10.4.25 External Position Packet...
Page 11 10.4.43.1 Raw DVL Data Flags 10.4.44 Gimbal State Packet 10.4.45 Automotive Packet 10.4.46 External Magnetometers Packet 10.4.46.1 External Magnetometers Flags 10.4.47 Basestation Packet 10.4.47.1 GNSS Fix Status 10.4.48 Zero Angular Velocity Packet 10.4.48.1 Zero Angular Velocity Duration 10.4.49 Extended Satellites Packet 10.4.49.1 Satellite Systems 10.4.49.2 Satellite Frequencies 10.4.49.3 Extended Satellites Flags...
Page 12 10.5.14.2 Port Output Modes 10.5.14.3 NMEA Fix Behaviour 10.5.14.4 Port Output Rates 10.5.15 Dual Antenna Configuration Packet 10.5.15.1 Offset Types 10.5.15.2 Automatic Offset Orientations 10.5.16 GNSS Configuration Packet 10.5.16.1 Aries GNSS Receiver 10.5.16.2 Trimble BD992 GNSS Receiver 10.5.16.3 GNSS Frequency Bitfields 10.5.16.4 L Band Modes 10.5.16.5 L Band Satellite IDs 10.5.17 User Data Packet...
Page 13 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.
Page 14: Revision History
Certus Reference Manual • Revision History 1 Revision History Version Date Changes 13 December Updated to firmware 1.90 2024 Added monitoring pages for External Data to the Web UI Manager 20 March Updated firmware changelog, see 2.1 Firmware Changelog 2024 5 March Updated firmware changelog, see 2.1 Firmware Changelog 2024...
Page 15 Certus Reference Manual • Revision History Version Date Changes Time Packet 20 April 2022 Updated hardware changelog, see 2.2 Hardware Changelog Updated software changelog, see 8.2 Using Certus Manager Updated firmware changelog, see 2.1 Firmware Changelog Updated Device ID table, see 10.3.4 Device Information Packet Added disclaimer that 2D and 3D Magnetic Calibration are not available for Certus Evo OEM, see...
Page 16: Introduction
Certus is available in a number of variants. Any reference to Certus OEM can be assumed to refer to either, with any specific exceptions noted.
Page 17: Firmware Changelog
Certus Reference Manual • Introduction 2.1 Firmware Changelog Certus OEM uses the same firmware as Certus Rugged. Note: Certus OEM requires a minimum firmware version of v1.44. Do not attempt to downgrade to a lower firmware version as the unit may become unrecoverable. Version...
Page 18 Fixed BD992 variant doesn't show primary sat SNR in web UI table Fixed GNSS passthrough functionality Fixed bug preventing internal logging of GNSS Passthrough data Disallowed changing GPIO voltage on Certus OEM Fixed Manual Initialisation from Web UI Various bug fixes 1.60...
Page 19 1.46 6 January Add body velocity packet to CANopen dictionary 2021 1.45 23 December Update for PCB revision for Certus OEM support. Minimum version for v1.1 2020 hardware. Add ability to set all CAN rates 1.44 15 December Update to support latest Certus Evo sensor hardware 2020 1.43...
Page 20 Certus Reference Manual • Introduction Version Date Changes 1.41 8 October Fix Artificial Horizon (Web UI) doesn't show Airspeed or Altitude 2020 Update Aries GNSS Receiver to firmware v1.09 1.40 4 September Packet 60 is limited to 10 Hz output for both GNSS receivers (note that the 2020 packet rates can only be set to 10 Hz) UpdateAries GNSS Receiver to firmware v1.08.
Page 21: Hardware Changelog
Changes 02 June 2022 Baseboard update to improve manufacturing 23 July 2021 Updated Magnetometers Updated pressure sensor Updated IMU (Certus OEM only, not applicable to Certus Evo OEM) November 2020 Initial release Table 3: Hardware Changelog v2.4 Page 8 2024-12-17...
Page 22: Oem Development Kit
Certus Reference Manual • OEM Development Kit 3 OEM Development Kit Certus OEM is available in a Development Kit that contains everything required to get started operating the system right away. The Development Kit is supplied in a rugged transport case to protect the equipment during transit.
Page 23: Certus Oem Development Kit Contents
SUPPLY-24V 24 V DC Power Supply 100-240 V AC Mains to 24 V DC Power Supply (DC jack) Includes 2-pin plug types A/C/G/I CERTUS-EK-CASE Transport case Rugged transport case Table 4: Certus OEM Development Kit Contents v2.4 Page 10 2024-12-17...
Page 24: Part Numbers And Ordering Options
Certus Reference Manual • OEM Part Numbers and Ordering 4 Part Numbers and Ordering Options 4.1 Development Kits 3.1 Certus OEM Development Kit Contents for details on what is included in each kit. Part Number Description Notes CERTUS-OEM-DK Certus OEM Development...
Page 25: Antennas
Upgrade Certus OEM BD992 to 10cm RTK Applicable for Trimble BD992 GNSS 10CM Receiver variant BD992-LIC- Upgrade Certus OEM BD992 to full RTK (8mm) Applicable for Trimble BD992 GNSS with Galileo and BeiDou Receiver variant Adds Galileo and BeiDou con-...
Page 26 Certus Reference Manual • OEM Part Numbers and Ordering Part Number Description Notes 30 cm MOLEX-PICO- Molex 3-pin F-F 30 Molex Pico-SPOX cable, 3 pin, female to female, 30 cm for data 3PIN-30 connections Up to 5 may be required SUPPLY-24V 24V DC Power Sup- 100-240 V AC Mains to 24V DC Power Supply (DC barrel jack)
Page 27: Specifications
Certus Reference Manual • Specifications 5 Specifications For details, review the following specifications for Certus: 5.1 Navigation Specifications 5.3 Hardware Specifications 5.5 Communication Specifications 5.6 Electrical Specifications 5.7 Connector Pin-out 5.1 Navigation Specifications 5.1.1 Certus Specifications Parameters Specification Aries GNSS Receiver Trimble BD992 Receiver Horizontal Position Accuracy 1.2 m...
Page 28: Certus Evo Specifications
Certus Reference Manual • Specifications 5.1.2 Certus Evo Specifications Parameter Specification Aries GNSS Receiver Trimble BD992 Receiver Horizontal Position Accuracy 1.2 m Vertical Position Accuracy 2.0 m Horizontal Position Accuracy (SBAS) 0.5 m Vertical Position Accuracy (SBAS) 0.8 m Horizontal Position Accuracy 0.01 m 0.008 m (RTK or Kinematica Post Processing)
Page 29: Sensor Specifications
Certus Reference Manual • Specifications 5.2 Sensor Specifications 5.2.1 Certus Parameter Accelerometers Gyroscopes Magnetometers Pressure Range ±2 g ±250 °/s ±8 G 10 to 120 (dynamic) ±4 g ±500 °/s ±16 g ±2000 °/s Bias Instabil- 20 ug 3 °/hr 10 Pa Initial Bias <...
Page 30: Gnss Specifications
Certus Reference Manual • Specifications Parameter Accelerometers Gyroscopes Magnetometers Pressure Bandwidth 250 Hz 200 Hz 110 Hz 50 Hz Table 13: CertusEvo Sensor Specifications 5.2.3 GNSS Specifications Parameter Specification Aries Trimble BD992 GNSS Receiver Receiver Supported Navigation Systems GPS L1, L2 GPS L1, L2, L5 GLONASS L1, L2 GLONASS L1, L2...
Page 31: Hardware Specifications
Hot Start Battery Capacity > 48 hours Hot Start Battery Endurance > 10 years Mean Time between Failure 140,000 hours (MTBF) Figure 4: Hardware Specifications for Certus OEM Variant 5.3.2 Certus Evo OEM Hardware Specifications Parameter Specification Aries Trimble BD992 GNSS Receiver...
Page 32: Certus Oem And Certus Evo Oem Environmental Specifications
MIL-STD-810H Method 514.8E-1 & 514.8C-3 Shock 40 g 11 ms MIL-STD-810H Method 516.8 150 g 6 ms Table 16: Environmental specifications for Certus OEM and Certus Evo OEM Variants 5.3.4 OEM Mechanical Drawings 5.3.4.1 Certus OEM Mechanical Drawings 101.5 Primary MMCX Secondary MMCX 3.29...
Page 33: Certus Evo Oem Mechanical Drawings
Certus Reference Manual • Specifications 5.3.4.2 Certus Evo OEM Mechanical Drawings 3.10 101.5 Primary MMCX Secondary MMCX 3.29 40.14 23.25 28.10 49.08 Figure 6: Mechanical Drawings of Certus Evo OEM 5.4 Serial Number Units can be identified and tracked using the device serial number. This can be observed in a numbers of ways: Through the Device Information page in the web UI (8.1.2 View Menu)
Page 34: Communication Specifications
2D data matrix bar code to display the serial number. The correct label can be identified by the blue ADVANCED NAVIGATION logo, and includes the hardware version and build date. Figure 7: Certus OEM Serial Number Sticker 5.5 Communication Specifications...
Page 35: Electrical Specifications
Certus Reference Manual • Specifications Parameter Value AN Packet Protocol CAN/CANopen Event Trigger GPIO Operating Voltage Levels 3.3 V RS232 GPIO Port Serial Interface RS232 GPIO Port Serial Speed 4800 to 250K baud Default Primary, Auxiliary, GPIO Serial 115200 baud Speed Figure 8: Communication specifications for OEM variants 5.6 Electrical Specifications...
Page 36: Connector Pin-Out
200 mA Table 17: Electrical Specifications 5.7 Connector Pin-out The electrical connection to the Certus OEM is through Molex and JST connectors to board mounted connectors. 5.7.1 Connection Layout The following illustration shows the connection locations on the Certus OEM unit.
Page 37: Electrical Connectors
The following table describes the function of each connection and the type and ordering information for connection. Certus OEM PCB Connector is the connector supplied on the Certus OEM PCB ready for customer connection. Mating Connector for Cables is the manufacturers mating connector and part number, plus the part number for a pre-crimped 15 cm cable.
Page 38 Certus Reference Manual • Specifications Note: Take care to accurately identify Pin 1 (dot / + symbols) when making cables / connections. Always check the print on the PCB to be sure. Table 19: Certus OEM Breakout Board Table 20: Connection...
Page 39: Interoperability With Different Voltage Systems
Certus Reference Manual • Specifications Connection Function Ethernet Transmit positive + Transmit negative - Receive positive + Receive negative - Ground Table 21: Connector Pin Allocation 5.7.5 Interoperability with Different Voltage Systems All signals are 3.3 volt level, however inputs are tolerant to 5 volt signals from the target interface. If you require a different voltage level to be compatible with your target system it is recommended that you install a voltage level translator between the signals of each device.
Page 40: Installing Certus Oem
Certus Reference Manual • Installing Certus OEM 6 Installing Certus OEM To install and quickly get started with Certus OEM, follow the instructions provided in the 6.1 Installation Checklist More Information... 6.2 Mounting Certus Guidelines for selecting the mounting location alignment 6.3 Mounting Align-...
Page 41: Installation Checklist
Certus Reference Manual • Installing Certus OEM 6.1 Installation Checklist The following instructions serve as a quick start when using the cables supplied with the Development Kit. Refer 5.7 Connector Pin-out for details on identifying and connecting to the Molex and JST connectors.
Page 42: Mounting Plate Layout
Certus OEM product. Certus OEM is secured using four M3 screws and washers and nuts on the back side of the mounting surface. The length of the M3 screws will be dependent on the thickness of the mounting surface.
Page 43: Power Supply
On start- up of the Certus OEM the device will initially draw an increased impulse current (2 A for 2 microseconds) whilst it charges on board capacitors. It is important that the user's circuit is tolerant to these small impulses on start-up to avoid unsuccessful power up.
Page 44: Regulated 5 V Input
6.6 Onboard Memory Logging Certus OEM features an onboard high capacity memory for operation and data logging. The memory card is not a user serviceable part, and should not be removed or modified as it is used during normal operation of the unit.
Page 45 Certus Reference Manual • Installing Certus OEM Figure 13: Antenna Offset Isometric View Figure 14: Antenna Offset Front View v2.4 Page 32 2024-12-17...
Page 46 Certus Reference Manual • Installing Certus OEM The secondary antenna should be mounted behind the primary antenna with as much separation as possible, and in line with the long axis of the vehicle, in the direction of travel, with as much separation as practically possible.
Page 47 Certus Reference Manual • Installing Certus OEM Figure 15: Recommended Second Antenna Placement If you are sourcing your own antennas, note the following antenna guidelines: The antenna should be capable of receiving both L1 and L2. Heading and position performance will be sig- nificantly degraded with an L1-only antenna.
Page 48: Antenna Cables
If you are sourcing your own antenna cables it is important to ensure that the antenna has enough gain to support the signal loss over the cable. Certus requires a minimum of 33 dB of gain at the connector. With the standard 4 metre RG-58A/U antenna cables supplied by Advanced Navigation, the minimum antenna gain required is 36.5 dB.
Page 49: Networking
1990s onwards contain an OBDII port in the drivers side foot well. Advanced Navigation produces an inexpensive OBDII Odometer Interface that plugs into this OBDII port and feeds Certus with odometer data over the Auxiliary RS232 port. See the figure below. Contact the Advanced Navigation sales team at sales@advancednavigation.com...
Page 50: Aftermarket Wheel Speed Sensor
6.9.3 Aftermarket Wheel Speed Sensor Applications requiring very high performance without GNSS for any length of time are recommended to use a high precision aftermarket wheel speed sensor. Advanced Navigation recommends aftermarket wheel speed sensors from Kistler, Pegasem or GMH Engineering.
Page 51: Radar Speed Sensor
6.9.4 Radar Speed Sensor For applications requiring high performance in harsh conditions where aftermarket wheel speed sensors are not feasible, a radar speed sensor is recommended. Advanced Navigation recommends radar speed sensors from Stalker or GMH Engineering. Figure 18: Radar Speed Sensor 6.10 Magnetics...
Page 52: Vibration
Certus Reference Manual • Installing Certus OEM 6.11 Vibration Certus is able to tolerate a high level of vibration compared to other inertial systems. This is due to a unique gyroscope design and a special filtering algorithm among other things. There is, however, a limit to the amount of vibration that a unit can tolerate —...
Page 53: Using Certus
Certus Reference Manual • Using Certus 7 Using Certus This section covers the following topics: 7.1 Filter Initialisation There are four different levels of filter initialisation on Certus. These are orientation, navigation, heading and time. The initialisation of each can be monitored by inspecting the 8.1.2.4 Status view in the web UI or 8.2.6 View...
Page 54: Heading Initialisation
Certus Reference Manual • Using Certus Once navigation initialisation is complete, the position, velocity and acceleration values will be valid. 7.1.3 Heading Initialisation Heading initialisation completes once the system has determined a heading using one of its several methods. The conditions required to determine a heading depend upon the heading source being used, see 7.4 Heading Sources.
Page 55: Time
Certus Reference Manual • Using Certus Whenever Certus is without power it continues to accurately keep time so that it is immediately valid for a hot- start. The hot-start functionality is of particular benefit to vehicle tracking and robotics applications. The primary benefits are immunity and fast recovery from power failure as well as fast start up time.
Page 56: Magnetic Heading
NMEA message, see 9.6.1.29 NMEA Input. 7.4.5 External Magnetometers Packet Heading can derived using the magnetometers of an additional external Advanced Navigation product to input external magnetometer values. See 10.4.46 External Magnetometers Packet for details. 7.5 Magnetic Calibration Static magnetic interference is resolved through magnetic calibration.
Page 57: Magnetic Calibration
Certus Reference Manual • Using Certus Automatic magnetic calibration continuously and automatically calibrates for static magnetic interference while the unit is in operation. While it is not as accurate as 2D or 3D calibration, and can take significantly longer to calibrate, automatic magnetic calibration is very convenient for applications where it is impractical to employ those methods.
Page 58: Magnetic Calibration
Certus Reference Manual • Using Certus 7.5.2 3D Magnetic Calibration The following procedure should be used to perform a 3D magnetic calibration. 7.5.2.1 3D Magnetic Calibration Using the web UI or Certus Manager Software 1. The unit should be powered on and the vehicle kept stationary. It is recommended this be done in an out- door area away from metal or obstructions.
Page 59: Vehicle Profiles
Certus Reference Manual • Using Certus 7.5.3.1 2D Vehicle Profiles 2D vehicles are those which cannot easily or safely be turned upside down, and typically include vehicles such as cars and bicycles. Each time Certus is powered on in a cold start (48 hours without power) the automatic calibration is reset. The automatic magnetic calibration starts operating when Certus is travelling at a speed over 5 m/s with a GNSS fix and either dual antenna is the heading source or velocity heading is turned on.
Page 60: Data Anti-Aliasing
Certus Reference Manual • Using Certus The sensor range can be set using the 8.1.3.1 Sensor Ranges page in the web UI or using the 8.2 Using Certus Manager. 7.7 Data Anti-aliasing Internally the Certus filters update at 1,000 Hz. When Certus outputs data, most applications require the data at a much lower rate (typically less than 100 Hz).
Page 61: Reversing Detection
Certus Reference Manual • Using Certus 4. If Certus loses a GNSS fix for any extended period of time during the calibration, the distance travelled will be reset. The distance travelled can be checked in the Odometer Configuration dialogue to ensure that it has passed 1,000 metres.
Page 62: Network Rtk Corrections (Ntrip)
The base station should be located no more than 50 km from the Certus, and ideally closer. Advanced Navigation recommends contacting a local surveying company for assistance setting up a base station.
Page 63 Certus Reference Manual • Using Certus Message Num- Description 1033 Receiver and antenna description 1074 GPS MSM4 1075 GPS MSM5 1077 GPS MSM7 1084 GLONASS MSM4 1085 GLONASS MSM5 1087 GLONASS MSM7 1094 Galileo MSM4 1095 Galileo MSM5 1097 Galileo MSM7 1124 BeiDou MSM4 1125...
Page 64: Raw Satellite Data
Figure 22: Enabling Packet 60 7.15 Kinematica Post Processing Certus can be used with Advanced Navigation’s post-processing platform Kinematica to achieve high-accuracy positioning of as low as 10 mm and significantly improved dead reckoning performance. You need to record a ANPP-format log file with certain packets enabled.
Page 65: Heave
Hardware Specifications. 7.18.2 Salt, Dirt and Dust Certus OEM is not resistant to water, dirt or dust. Certus OEM must be mounted in a suitable enclosure to prevent exposure to moisture, dirt or dust. 7.18.3 Shocks Certus is a rugged piece of equipment that can withstand reasonable amounts of shock. However, continuous shocks may cause premature failure as a result of materials fatigue, and may also affect the sensor calibration resulting in degraded performance.
Page 66: Upgrading The Certus Firmware
Certus Reference Manual • Using Certus 7.19 Upgrading the Certus Firmware Certus contains firmware. Advanced Navigation regularly provides firmware updates to improve performance and add features. These are described on the Certus product page of the Advanced Navigation website. Advanced Navigation recommends that you upgrade to the latest version whenever available.
Page 67: Configuring And Monitoring Certus
Ethernet Certus Manager, accessed on a computer via a serial adaptor the Advanced Navigation Packet Protocol (8.3 Using ANPP) The Certus Web UI is the recommended interface to configure as it is designed to be simple and easy to use without any software or system requirements.
Page 68: Main View
Certus Reference Manual • Configuring and Monitoring Certus 8.1.1 Main View The Main View is accessible from other pages via the Map menu item under the View menu. Figure 23: Certus Web UI Home Page 8.1.1.1 Status Indicator The Status Indicator section contains the current Certus status, the GNSS fix type indicator, and the heading status.
Page 69: Current Time, Position And Heading
Certus Reference Manual • Configuring and Monitoring Certus 8.1.1.2 Current Time, Position and Heading This section displays the current UTC time, position, and heading. The data will only be valid if Certus has a HEALTHY status, there is a 3D GNSS fix or better, and the Heading is initialised. 8.1.1.3 Altitude Indicator The Attitude Indicator visualises roll and pitch using a standard artificial horizon.
Page 70: Device Information
Certus Reference Manual • Configuring and Monitoring Certus 8.1.2.2 Device Information The Device Information page is useful for users when requesting technical support and for tracking their serial number, firmware version, and hardware version. Figure 24: Certus Web UI Device Information Page 8.1.2.3 Subcomponent Information The Subcomponent Information page shows the serial numbers and hardware version information for the Certus subcomponents.
Page 71: Status
Certus Reference Manual • Configuring and Monitoring Certus 8.1.2.4 Status The Status shows the current status of Certus as reported by sections 10.4.1 System State Packet (ID#20) and 10.4.10 Raw GNSS Packet. (ID#29). Note: The following Status flags do not update for Certus units with a Trimble BD992 GNSS Receiver. These flags are only applicable to u-blox GNSS Receivers: GNSS 2, Antenna 1 disconnected, Antenna 2 disconnected, Antenna 1 short, Antenna 2 short Figure 25: Certus Web UI Status Page...
Page 72: Satellites
Certus Reference Manual • Configuring and Monitoring Certus 8.1.2.5 Satellites The Satellites page shows detailed information on the satellites that are visible to both antennas of the Certus GNSS receiver. Note: The satellites page will only display satellite data if your device has access to a GNSS receiver. The information is displayed as a satellite skyplot, a table and an SNR graph.
Page 73: Raw Sensors
Certus Reference Manual • Configuring and Monitoring Certus 8.1.2.6 Raw Sensors The Raw Sensors page shows the temperature-calibrated raw IMU sensor values. In the lower plot only the air pressure is plotted. The current value from the internal temperature sensors are given on the right.
Page 74: Orientation
Certus Reference Manual • Configuring and Monitoring Certus 8.1.2.7 Orientation The Orientation page shows the Certus orientation and angular velocity. Course is determined by measuring sequential positions. Slip is the difference between the heading and the course. Figure 28: Certus Web UI Orientation Page v2.4 Page 61 2024-12-17...
Page 75: Position
Certus Reference Manual • Configuring and Monitoring Certus 8.1.2.8 Position The Position page shows the Certus position and position standard deviation. Latitude and longitude are converted to North and East metres from a reference point that can be reset by refreshing the web page in your browser.
Page 76: Velocity And Acceleration
Certus Reference Manual • Configuring and Monitoring Certus 8.1.2.9 Velocity and Acceleration The Velocity and Acceleration page shows the Certus velocity, acceleration and g-force. Figure 30: Certus Web UI Velocity and Acceleration Page 8.1.2.10 GNSS Receiver Information This page shows information about the GNSS receiver fitted to Certus. Figure 31: Certus Web UI GNSS Receiver Information Page v2.4 Page 63...
Page 77: Vessel Motion
Certus Reference Manual • Configuring and Monitoring Certus 8.1.2.11 Vessel Motion This page displays the vessel motion (heave, surge, sway) at 4 reference points. Reference point offsets for vessel motion can be configured on the 8.1.3.9 Reference Point Offsets page. Figure 32: Certus Web UI Vessel Motion Page 8.1.2.12 External Data Selection This jump page is used to open time-based data graphs for each external source supported.
Page 78: Configuration Menu
Certus Reference Manual • Configuring and Monitoring Certus Figure 33: Certus Web UI External Data Selection Page Indicator color next to External Packet Link Validity of incoming data from external source source Green Valid Grey Invalid 8.1.3 Configuration Menu These menus contain the set of configuration settings for Certus. v2.4 Page 65 2024-12-17...
Page 79: Sensor Ranges
Certus Reference Manual • Configuring and Monitoring Certus 8.1.3.1 Sensor Ranges Note: The sensor range can only be modified for Certus. Certus Evo only offers a fixed sensor range. 5.1 Navigation Specifications for sensor range specifications. The Sensor Ranges page is used to set the dynamic range of the sensors. If you are experiencing over-range events during operation, these settings should used to increase the range of the sensor which is reporting the over-range.
Page 80: Data Ports
Certus Reference Manual • Configuring and Monitoring Certus 8.1.3.3 Data Ports The Data Ports page allows you to specify which data packets or messages are output on a periodic basis and at what rate via a range of serial and Ethernet ports. Note: The GPIOs and auxiliary port are configured in the Data Ports page only if they are being used as serial transmit and receive lines.
Page 81: Alignment
Certus Reference Manual • Configuring and Monitoring Certus 8.1.3.4 Alignment The Alignment page is used to set the alignment offsets of the system installation. It is important to set the values on this page correctly to avoid degrading performance. Figure 37: Certus Web UI Alignment Page Alignment Offset If Certus is installed into the vehicle with the positive X axis pointing forwards and the positive Z axis pointing down, then no alignment offset is required and the roll, pitch and heading offset values can remain at the factory...
Page 82: Baud Rates
This page is for setting the baud rates for the GPIO, primary and auxiliary ports. The factory default baud rate value for these ports is 115200 bps. Note: The primary and auxiliary ports on Certus OEM are UART only, and cannot be changed to RS232 or RS422. An appropriate adapter/interface is required to connect to a computer.
Page 83: Odometer
Certus Reference Manual • Configuring and Monitoring Certus 8.1.3.7 Odometer The Odometer page allows the user to configure the odometer pulse length and offset. See 6.9 Odometer 7.10 Odometer Pulse Length for more information on the use of odometers. The odometer offset is also applied when using a DVL input.
Page 84: Manual Initialisation
Certus Reference Manual • Configuring and Monitoring Certus The Heave Points 2 to 4 allow the user to offset reference points for the heave values 2 to 4 in the 10.4.37 Heave Packet. Figure 42: Certus Web UI Reference Point Offsets Dialogue 8.1.3.10 Manual Initialisation This page can be used to manually initialise Certus when a GNSS fix is not available.
Page 85: Ethernet Settings
Certus Reference Manual • Configuring and Monitoring Certus antenna to the central base of the primary antenna in the body co-ordinate frame (X+ forward, Z+ down). If using a manual offset, be careful to measure the offset accurately, as even small offset errors can result in relatively large heading errors e.g.
Page 86 Certus Reference Manual • Configuring and Monitoring Certus The source of the corrections data can be either your own base station, configured as an NTRIP Caster, or a third-party service. Either way, you will need the login details for connecting to and authenticating with the NTRIP Caster, and identifying the nearest mountpoint.
Page 87: Can Settings
Certus Reference Manual • Configuring and Monitoring Certus Troubleshooting NTRIP Caster Connections Some mountpoints require that Certus send its position. To do this, click the Report Position check box, and then click Save Changes. The current Certus position will then be sent to the NTRIP Caster every 10 seconds. If you cannot get the list of mountpoints, ensure the Host Address and Port number are correct for your NTRIP Caster.
Page 88: Advanced
Certus Reference Manual • Configuring and Monitoring Certus Figure 47: Certus Web UI CAN Settings Page 8.1.3.15 Advanced The Advanced page allows you to set the voltage level of the GPIO and 1PPS signals lines along with the packet rates. The options are 5 V, 3.3 V, or Disabled.
Page 89 Certus Reference Manual • Configuring and Monitoring Certus U-blox GNSS Receiver When using a u-blox GNSS receiver, the following configuration rules are applicable: By default, GPS, Galileo and GLONASS are enabled, along with SBAS and QZSS correction services. When selecting a GNSS constellation, all frequencies for that constellation must be selected. SBAS and QZSS correction services can also be enabled for all constellation configurations , except when using GPS, Galileo and BeiDou together.
Page 90: Tools Menu
Galileo and BeiDou are licensed separately, see for details. L Band corrections are available on this receiver, however require an additional subscription to Omnistar or RTX. Advanced Navigation does not supply these, contact Trimble for further details. Figure 50: Certus Web UI BD992 GNSS Configuration Page 8.1.4 Tools Menu...
Page 91: Firmware Update
Certus Reference Manual • Configuring and Monitoring Certus 8.1.4.1 Firmware Update This page is used to update the Certus device firmware, Certus contains firmware. Advanced Navigation regularly provides firmware updates to improve performance and add features. These are described on the Certus product page of the Advanced Navigation website.
Page 92: Logs
Certus Reference Manual • Configuring and Monitoring Certus Once uploaded, the system will automatically verify the firmware prior to reboot. Figure 54: Firmware Update Verifying Upon successful verification, a dialog box will appear indicating the device is rebooting to apply the update. Figure 55: Firmware Update Complete 8.1.4.2 Logs Certus features an on-board high capacity data logging system.
Page 93: Viewing Logged Data
Converter. This will create CSV and KML files for your analysis. All the ANPP packets are described in detail in 10 Advanced Navigation Packet Protocol. NMEA0183 log files are ASCII text and can be opened in any text editor. v2.4...
Page 94: Using Certus Manager
Install the latest version of Java 11 from Adoptium, selecting the correct operating system and architecture for your computer. Note: The primary and auxiliary ports on Certus OEM are UART only, therefore an appropriate adapter/interface is required to connect to a computer.
Page 95: Certus Manager Software Changelog
Certus Reference Manual • Configuring and Monitoring Certus 8.2.1 Certus Manager Software Changelog Version Date Changes 11 Apr 2024 Improved usage and syntax information in the command line help Added support for more GPIO functions during log conversion Added command line argument to connect to the device on launch Added argument to open the Manager window maximised Updated device information window to show "BOOTLOADER"...
Page 96 Updated source of map tiles Improved NTRIP server reconnection Improved export configuration reliability Added Device Discovery tool to find Advanced Navigation devices on the network Improve display of Trimble receiver options Added the ability to configure the Manager logging folder...
Page 97: System Requirements
Certus Reference Manual • Configuring and Monitoring Certus Version Date Changes GPIO function 30 June 2020 Add support for serial firmware update via Certus application for ANFW >2MB Fix bug in Extended Satellites display where it could show stale data. Add ability to set port modes (eg RS232 / RS422) 20 May 2020 Initial Release...
Page 98: Windows
Certus Reference Manual • Configuring and Monitoring Certus 8.2.4.1 Windows There is a well known problem with USB serial devices under Windows known as “crazy mouse”. The problem occurs when the system mistakenly installs the USB serial device as a mouse. If you experience this problem, often a restart will resolve it.
Page 99: Linux
Certus Reference Manual • Configuring and Monitoring Certus Figure 58: Setting the Windows Port Latency Value - 2 Figure 59: Setting the Windows Port Latency Value - 3 8.2.4.2 Linux If serial ports do not show up, the typical reason is a lack of permissions. The user should add themselves to the dialout group with the command: sudo adduser username dialout Compiz causes issues with the 3D mapping.
Page 100: Main View
Certus Reference Manual • Configuring and Monitoring Certus Modemmanager can also sometimes cause problems on Linux installations. If you are not using a modem, it is recommended to remove modemmanager with the command: sudo apt-get remove modemmanager 8.2.5 Main View Figure 60: Manager Main View 8.2.5.1 Serial Port The Serial Port dialogue is used to connect to Certus.
Page 101: Attitude Indicator
Certus Reference Manual • Configuring and Monitoring Certus 8.2.5.2 Attitude Indicator The aircraft style Attitude Indicator shows roll and pitch through a virtual horizon. Around the sides heading, speed and height are shown. All units are SI (metric) and degrees. 8.2.5.3 Satellites Table The Satellites table shows the number of satellites visible by the primary antenna.
Page 102 Certus Reference Manual • Configuring and Monitoring Certus 8.2.6 View Menu 8.2.6.1 View The View menu contains a number of different options for viewing data from Certus. Figure 61: Manager View Menu 8.2.6.2 Device Information Device information is useful during technical support and for tracking your serial number, firmware and hardware version.
Page 103 Certus Reference Manual • Configuring and Monitoring Certus 8.2.6.3 Status The Status shows the current status of Certus as reported by sections 10.4.1 System State Packet (ID#20) and 10.4.10 Raw GNSS Packet. (ID#29). Note: The following Status flags do not update for Certus units with a Trimble BD992 GNSS Receiver. These flags are only applicable to u-blox GNSS Receivers: GNSS 2, Antenna 1 disconnected, Antenna 2 disconnected, Antenna 1 short, Antenna 2 short Figure 63: Manager Status Dialogue...
Page 104 Certus Reference Manual • Configuring and Monitoring Certus 8.2.6.5 Raw Sensors Raw sensors shows the temperature calibrated raw sensor values. Temperature readings are available for a range of sensors: T(Ax), T(Ay), and T(Az) correspond to the accelerometer's x, y, and z axes; T(Gx), T(Gy), and T(Gz) relate to the gyroscope's X, Y, and Z axes; T(M) is for the magnetometer;...
Page 105 Certus Reference Manual • Configuring and Monitoring Certus 8.2.6.6 Orientation Orientation shows the Certus orientation, angular velocity and orientation error. To enhance the user's understanding of some of the less intuitive metrics, Course is defined as the path determined by measuring sequential positions, and Slip is the difference between the heading and the course.
Page 106 Certus Reference Manual • Configuring and Monitoring Certus 8.2.6.7 Position Position shows the Certus position and position error. Latitude and longitude are converted to North and East metres from a reference point that can be reset. Figure 67: Manager Position Outputs v2.4 Page 93 2024-12-17...
Page 107 Certus Reference Manual • Configuring and Monitoring Certus 8.2.6.8 Velocity and Acceleration Velocity and Acceleration shows the Certus velocity, acceleration and g-force. Figure 68: Manager Velocity and Acceleration Outputs 8.2.6.9 Time This dialogue box allows the to view the time for the connected device. Views are in Unix, UTC, or Local time formats to best suit user requirements to ensure accurate timekeeping and synchronisation across systems.
Page 108 Certus Reference Manual • Configuring and Monitoring Certus 8.2.6.10 Communications This dialogue shows statistics on the data packets received from Certus and can be useful in diagnosing signal integrity problems. Figure 70: Manager Communications Dialogue 8.2.6.11 GNSS Receiver Information This dialogue shows information about the GNSS receiver fitted to the Certus. Figure 71: Manager GNSS Receiver Information Dialogue v2.4 Page 95...
Page 109 Certus Reference Manual • Configuring and Monitoring Certus If your device is fitted with a Trimble GNSS receiver, the dialogue features a License Update text field. To upgrade your licence, copy and paste your license key into the License Updatefield and click Send. Figure 72: Manager Trimble GNSS Receiver Information Dialogue 8.2.6.12 Heave For the Heave dialogue to display data, the Heave Packet (ID 58) must be configured in the...
Page 110: Configuration Export
Certus Reference Manual • Configuring and Monitoring Certus 8.2.7 Configuration Menu The Configuration menu contains a number of dialogues for the configuration of Certus. Figure 74: Figure 75: Manager Configuration Menu 8.2.7.1 Configuration Export The Configuration Export dialogue can be used to export all the Certus settings to a file. This file can be imported at a later date or on other units.
Page 111 Certus Reference Manual • Configuring and Monitoring Certus 8.2.7.2 Sensor Ranges Note: The sensor range can only be modified for Certus. Certus Evo only offers a fixed sensor range. 5.1 Navigation Specifications for sensor range specifications. The Sensor Ranges dialogue is used to set the dynamic range of the sensors. If the user is experiencing over- range events during operation, these settings should be used to increase the range of the sensor which is reporting the over-range.
Page 112: Packet Rates
Certus Reference Manual • Configuring and Monitoring Certus 8.2.7.4 Packet Rates The Packet Rates dialogue allows the user to specify which packets output on a periodic basis and at what rate. The default packets enabled are the System State Packet (ID 20) and the Raw Sensors Packet (ID 28) at 20Hz and these typically provide all the data that a user will require.
Page 113 Certus Reference Manual • Configuring and Monitoring Certus 8.2.7.5 Alignment The Alignment dialogue is used to set the alignment offsets of the system installation. It is important to set the values in this dialogue correctly for accurate results. For most applications only the GNSS antenna offset values need to be entered and the rest of the values can be left at their factory defaults of zero.
Page 114 The factory default baud rate value for these ports is 115200 bps. Note: The primary and auxiliary ports on Certus OEM are UART only, and cannot be changed to RS232 or RS422. An appropriate adapter/interface is required to connect to a computer.
Page 115 Certus Reference Manual • Configuring and Monitoring Certus 8.2.7.7 GPIO This page allows the user to configure the input and output functions of the GPIO and Auxiliary ports. These functions are described in detail in 9.6.1 Dynamic Pin Functions. These functions change dynamically and are effective immediately upon clicking Save Changes.
Page 116 Certus Reference Manual • Configuring and Monitoring Certus 8.2.7.9 Reset The Reset button causes the system to perform a power cycle. No configuration settings or state data are lost. The Cold Start button clears all filters, and connections are reset and must re-established. No configuration settings are lost.
Page 117: Reference Position Offsets
Certus Reference Manual • Configuring and Monitoring Certus 8.2.7.10 Reference Position Offsets The Reference Point Offsets dialogue allows the user to set measurement points away from its default position at the physical centre of the Certus unit. The primary reference point offset applies to data from all ANPP packets as well as all peripheral output such as NMEA messages and Heave Point 1.
Page 118: Gpio Output
Certus Reference Manual • Configuring and Monitoring Certus 8.2.7.11 GPIO Output The GPIO output configuration dialogue allows the user to configure the NMEA0183, TSS1 and SIMRAD output rates for the GPIO and Auxiliary port. These output rates will be observed with respect to the actual output selected in the 8.2.7.7 GPIO port configuration.
Page 119 Certus Reference Manual • Configuring and Monitoring Certus 8.2.7.12 Manual Initialisation The Manual Initialisation dialogue can be used to manually initialise Certus when a GNSS fix is not available. Setting the position will initialise the navigation filter. Setting the heading will also initialise the heading filter. Figure 87: Manual Initialisation Dialogue v2.4 Page 106...
Page 120 Certus Reference Manual • Configuring and Monitoring Certus 8.2.7.13 Dual Antenna Where dual GNSS antenna input is supported, the Dual Antenna configuration page is only used if the primary and secondary GNSS antennas are not installed in their recommended and default positions of primary front and secondary rear, at the same height.
Page 121 Certus Reference Manual • Configuring and Monitoring Certus 8.2.7.14 Gimbal The Gimbal configuration dialogue is only used in gimbal specific applications. Contact support@advancednavigation.com for more information on using Certus inside a gimbal. Figure 89: Manager Gimbal Dialogue 8.2.7.15 Ethernet Settings The Ethernet Settings dialogue allows the user to enable or disable the DHCP Client.
Page 122 Accessories for details. L Band corrections are available on this receiver, however require an additional subscription to Omnistar or RTX. Advanced Navigation does not supply these, contact Trimble for further details. The following configuration rules are applicable: By default: GPS, Galileo and GLONASS constellations are enabled.
Page 123 Certus Reference Manual • Configuring and Monitoring Certus The table below lists the supported constellations and the corresponding GNSS sample rate depending upon the number of constellations selected. When setting the data ports, the packet rate of the 10.4.38 Raw Satellite Data Packet is automatically adjusted to the next lower integer multiple of the sample period.
Page 124: Device Discovery
Certus Reference Manual • Configuring and Monitoring Certus 8.2.8.1 Device Discovery Device discovery allows network discovery and reconfiguration of devices on the local network regardless of network settings. Figure 94: Device Discovery Dialogue Set to DHCP Once discovered devices on uncontactable network addresses can be reset to DHCP by pressing the “Set to DHCP”...
Page 125 Figure 95: Manager Magnetic Calibration Dialogue 8.2.8.3 Firmware Update This dialogue is used to update the Certus device firmware. Certus contains firmware. Advanced Navigation regularly provides firmware updates to improve performance and add features. These are described on the Certus product page of the Advanced Navigation website.
Page 126 Certus Reference Manual • Configuring and Monitoring Certus After the appropriate file is loaded, the Firmware Update dialogue will display "Firmware Update Ready" in the status line. Figure 96: Firmware Update Ready Dialogue Once the user clicks "upload", the dialogue status line will update to "In Progress" Figure 97: Firmware Update In Progress Dialogue During this process, the user will notice the connection indicator change from "Connected"...
Page 127 Certus Reference Manual • Configuring and Monitoring Certus After the upload finishes, the system will restart. The device indicator will then display "Connected," and the firmware update status line will show "Complete." Figure 99: Firmware Update Complete Dialogue After the update, the user can close the firmware update dialogue and verify the update by looking at the version in the Device Information dialogue, found under the view menu of the manager.
Page 128 Certus Reference Manual • Configuring and Monitoring Certus 8.2.8.4 GNSS Firmware Update Note: GNSS Firmware Update is currently not possible via the Manager. Contact support@advancednavigation.com should an issue or different firmware be necessary. Note: Refer to Firmware changelog to confirm which version of Trimble BD992 GNSS receiver firmware is compatible with the firmware being used in Certus Follow these steps to upgrade the GNSS Receiver Firmware: 1.
Page 129: Log Converter
Certus Reference Manual • Configuring and Monitoring Certus 8.2.8.5 Log Converter This tool allows the user to convert Certus log files into various standard formats that are interchange and readable by many programs. The Position Offset settings are used to project the exported position of origin to a point other than the actual centre of the Certus unit.
Page 130: Network Connect
Certus Reference Manual • Configuring and Monitoring Certus 8.2.8.6 NTRIP Client The NTRIP client can be used to connect to a network DGPS or RTK service to stream correction data to Certus for DGPS or RTK. The NTRIP client requires an internet connection to function. Contact Support for guidance on getting set up with network DGPS or RTK.
Page 131: Serial Passthrough
Note: This data logging is performed by the Certus Manager application and is separate from the Certus inbuilt logging functionality accessible via the web UI. 8.3 Using ANPP Certus can be configured and monitored using the Advanced Navigation Packet Protocol (ANPP), which is detailed fully in 10 Advanced Navigation Packet Protocol.
Page 132 Certus Reference Manual • Interfacing 9 Interfacing Communication with Certus is possible on the following ports: 9.1 Ethernet 9.2 Serial Interface 9.3 1PPS Signal 9.4 CAN Interface 9.6 GPIO Pins and the Auxiliary Port Each port has different input and output capabilities. 9.1 Ethernet The Ethernet interface offers a 100 MBit port for connection to a network, router or laptop/computer.
Page 133: Ethernet Functions
Certus Reference Manual • Interfacing 9.1.2 Ethernet Functions Function Type Name Ethernet Input 9.1.2.1 NMEA Input 9.1.2.19 GNSS Receiver Passthrough 9.1.2.2 Novatel GNSS Input 9.1.2.3 Topcon GNSS Input 9.1.2.4 ANPP Input 9.1.2.5 RTCM Differential GNSS Corrections Input 9.1.2.6 Trimble GNSS Input 9.1.2.7 u-blox GNSS Input 9.1.2.8 Hemisphere GNSS Input 9.1.2.9 Teledyne DVL Input...
Page 134 Certus Reference Manual • Interfacing 9.1.2.1 NMEA Input This function accepts external data in the NMEA 0183 format. Advanced Navigation Description recommends against using NMEA 0183 input wherever possible due to the inefficiency, low accuracy and precision and weak error checking of the format. All NMEA messages received must have a valid checksum.
Page 135 Certus Reference Manual • Interfacing 9.1.2.5 RTCM Differential GNSS Corrections Input This function accepts RTCM v3 GNSS corrections messages. This allows for Differential Description GNSS or RTK with the Certus internal GNSS receiver. 9.1.2.6 Trimble GNSS Input This function is designed for interfacing Certus with an external Trimble GNSS receiver. It Description accepts data in the Trimble binary format GSOF and expects packet 0x40 with records 1, 2, 8, and 12 at rates higher than 1Hz (20Hz recommended) and optional records 9 and 34...
Page 136 0513,12.5,W,E*02 $GPHDT,89.2,T*06 $PASHR,031644.460,089.19,T,-00.01,-00.47,-00.00,,,,0,0*2E 9.1.2.14 ANPP Output This function outputs data in the ANPP format as specified in 10 Advanced Navigation Description Packet Protocol. This function is for ANPP peripheral devices only. 9.1.2.15 TSS1 Output This function outputs the TSS1 format at a user configurable rate of up to 50 Hz. The Description output rate can be configured using the page in the web UI.
Page 137: Serial Interface
9.2.2 Format The format is fixed at 1 start bit, 8 data bits, 1 stop bit and no parity. See 10 Advanced Navigation Packet Protocol for details on the ANPP protocol. 9.3 1PPS Signal There is a dedicated 1PPS signal available on the 5.7 Connector...
Page 138 Certus Reference Manual • Interfacing GPIO ports (RS232 only) or in a number of different formats. If using the ANPP format, use the table below to find the relevant section. Packet 10.4.24 External Position and Velocity Packet 10.4.25 External Position Packet 10.4.26 External Velocity Packet 10.4.27 External Body Velocity Packet 10.4.28 External Heading Packet...
Page 139: Dynamic Pin Functions
Certus Reference Manual • Interfacing 9.6.1 Dynamic Pin Functions Function Type Name Tristate 9.6.1.1 Inactive Digital Output 9.6.1.2 1PPS Output 9.6.1.3 GNSS Fix Output Digital Input 9.6.1.4 Zero Velocity Input 9.6.1.5 Disable Magnetometers 9.6.1.6 Disable GNSS 9.6.1.7 Disable Pressure 9.6.1.8 Set Zero Orientation Alignment 9.6.1.9 System State Packet Trigger 9.6.1.10 Raw Sensors Packet Trigger 9.6.1.11 1PPS Input...
Page 140: 1Pps Output
Certus Reference Manual • Interfacing Function Type Name Serial Receive 9.6.1.29 NMEA Input 9.6.1.30 Novatel GNSS Input 9.6.1.31 Topcon GNSS Input 9.6.1.32 ANPP Input 9.6.1.33 RTCM Differential GNSS Corrections Input 9.6.1.34 Trimble GNSS Input 9.6.1.35 u-blox GNSS Input 9.6.1.36 Hemisphere GNSS Input 9.6.1.37 Teledyne DVL Input 9.6.1.38 Tritech USBL Input 9.6.1.39 Linkquest DVL Input...
Page 141: Gnss Fix Output
Certus Reference Manual • Interfacing Figure 108: 1PPS Specifications The pin is normally low and pulses high for 50 milliseconds to signal the precise second. The 1PPS line starts pulsing approximately 100 milliseconds after power up and always fires irrespective of whether Certus has accurate time or not. It is important to note that when Certus acquires time corrections from it's GNSS receiver, the 1PPS signal may fire at an interval of less than 1 second.
Page 142 Certus Reference Manual • Interfacing 9.6.1.7 Disable Pressure Type Digital Input GPIO Port 1, 2 Auxiliary Receive This function accepts a digital input with a low state enabling the atmospheric pressure Description sensor and a high state disabling the atmospheric pressure sensor. 9.6.1.8 Set Zero Orientation Alignment Type Digital Input...
Page 143 This function is designed to allow external events to be recorded by Certus. The event is Description recorded in the Filter Status (see 10 Advanced Navigation Packet Protocol), and resets after the next packet is output. The event triggers on a transition from low to high.
Page 144: Odometer Input
Certus Reference Manual • Interfacing 9.6.1.17 Reverse Alignment, Forward High Type Digital Input GPIO Port 1, 2 Auxiliary Receive This function is designed to reverse the alignment settings for vehicles that can have two Description vehicle forward directions, such as locomotives. 9.6.1.18 Zero Angular Velocity Input Type Digital Input...
Page 145: Left Wheel Speed Sensor
Certus Reference Manual • Interfacing 9.6.1.21 Pressure Depth Transducer (deprecated) Type Frequency Input GPIO Port 1, 2 Auxiliary Receive This function is designed for interfacing with a legacy pressure depth transducer. These Description are no longer available and the function is now deprecated. 9.6.1.22 Left Wheel Speed Sensor Type Frequency Input...
Page 146: Nmea Input
GPIO Port Auxiliary Receive This function accepts external data in the NMEA 0183 format. Advanced Navigation Description recommends against using NMEA 0183 input wherever possible due to the inefficiency, low accuracy and precision and weak error checking of the format. All NMEA messages received must have a valid checksum.
Page 147: Novatel Gnss Input
Certus Reference Manual • Interfacing Message ID Description Notes GPGGA GNGGA 3D position All constellations GPGLL GNGLL 2D position All constellations GPRMC GNRMC 2D position, 2D velocity and All constellations coarse time GPVTG GNVTG 2D velocity All constellations GPHDT GNHDT Heading All constellations HEHDT...
Page 148 Certus Reference Manual • Interfacing GPIO Port Auxiliary Receive This function accepts data in the ANPP format as specified in 10 Advanced Navigation Description Packet Protocol. When this function is enabled, the GPIO and auxiliary ports function the same as the...
Page 149 Certus Reference Manual • Interfacing rates higher than 1 Hz. 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. 9.6.1.37 Teledyne DVL Input Type Serial Receive GPIO Port Auxiliary...
Page 150: Anpp Output
GPIO Port Auxiliary Transmit This function outputs data in the ANPP format as specified in 10 Advanced Navigation Description Packet Protocol. This function is for ANPP peripheral devices only. When this function is enabled, the GPIO and auxiliary ports function except for: When setting the ANPP packet and message output rates, the changes only apply to the port you are connected to.
Page 151: Simrad 3000 Output
Certus Reference Manual • Interfacing 9.6.1.45 Simrad 3000 Output Type Serial Transmit GPIO Port Auxiliary Transmit This function outputs the Simrad 3000 format at a user configurable rate up to 50 Hz.The Description output rate can be configured using the 8.1.3.6 GPIO page in the web UI or the 8.2.7.11 GPIO Output...
Page 152: Advanced Navigation Packet Protocol
It has a well defined specification and is very flexible. ANPP is proprietary and is used across all Advanced Navigation products. A packet type can be identified by its unique Packet ID. For more information about packets, see 10.1...
Page 153 Certus Reference Manual • Advanced Navigation Packet Protocol Packet ID Name Length 10.4.12 Geodetic Position Packet 10.4.13 ECEF Position Packet 10.4.14 UTM Position Packet 10.4.15 NED Velocity Packet 10.4.16 Body Velocity Packet 10.4.17 Acceleration Packet 10.4.18 Body Acceleration Packet 10.4.19 Euler Orientation Packet 10.4.20 Quaternion Orientation Packet...
Page 154: Packet Structure
Certus Reference Manual • Advanced Navigation Packet Protocol Packet ID Name Length 10.4.46 External Magnetometers Packet 10.4.47 Basestation Packet 10.4.48 Zero Angular Velocity Packet 10.4.49 Extended Satellites Packet Varies 10.4.50 Sensor Temperature Packet Vessel Motion Packet Packet ID Name Length Configuration Packets 10.5.1 Packet Timer Period Packet...
Page 155: Packet Requests
Certus Reference Manual • Advanced Navigation Packet Protocol Navigation website. Header Header LRC Packet ID Packet Length CRC16 Packet Data Table 37: ANPP Packet Structure Field # Bytes Offset Data Type Size Description Header LRC Packet ID Packet Length Table 38: ANPP Header Format 10.1.1.1 Header LRC...
Page 156: Packet Timing
Certus Reference Manual • Advanced Navigation Packet Protocol 10.1.4 Packet Rates The packet rates can be configured either using the web UI, or Certus Manager or through the 10.5.2 Packets Period Packet. By default Certus is configured to output the 10.4.1 System State Packet...
Page 157: System Packets
Certus Reference Manual • Advanced Navigation Packet Protocol 10.3 System Packets 10.3.1 Acknowledge Packet Acknowledgement Packet Packet ID Length Read / Write Read Field # Bytes Offset Data Type Size Description Packet ID being acknowledged CRC of packet being acknowledged 10.3.1.1 Acknowledge Result...
Page 158: Boot Mode Packet
Certus Reference Manual • Advanced Navigation Packet Protocol 10.3.3 Boot Mode Packet Boot Mode Packet Packet ID Length Read / Write Read / Write Field # Bytes Offset Data Type Size Description 10.3.3.1 Boot Mode Types Table 43: Boot Mode Packet 10.3.3.1 Boot Mode Types...
Page 159: Restore Factory Settings Packet
Certus Reference Manual • Advanced Navigation Packet Protocol 10.3.4.1 Device ID Value Description Spatial Spatial FOG Spatial Dual Orientus (>v3) Air Data Unit Subsonus Spatial FOG Dual Motus GNSS Compass Subsonus Tag Poseidon Certus Boreas D90 Boreas D70 Boreas A90 Boreas A70...
Page 160: Reset Packet
Certus Reference Manual • Advanced Navigation Packet Protocol 10.3.6 Reset Packet Reset Packet Packet ID Length Read / Write Write Field # Bytes Offset Data Type Size Description 10.3.6.1 Verification Sequence Values Table 48: Reset Packet 10.3.6.1 Verification Sequence Values...
Page 161: Dhcp Mode
Certus Reference Manual • Advanced Navigation Packet Protocol 10.3.8 IP Configuration Packet IP Configuration Packet Packet ID Length Read / Write Read / Write Field # Bytes Offset Data Type Size Description Permanent 10.3.8.1 DHCP Mode IP Address IP Netmask...
Page 162 Certus Certus Evo Certus OEM Certus Evo OEM Table 56: Device Sub-type's 10.3.10 Subcomponent Information Packet Only Advanced Navigation sub-components will be shown here, for GNSS Receiver see 10.4.42 GNSS Receiver Information Packet Subcomponent Information Packet Packet ID Length 24 x number of subcomponents...
Page 163 Certus Reference Manual • Advanced Navigation Packet Protocol 10.3.10.1 Subcomponent Device ID Value Description Spatial MEMS IMU Evo MEMS IMU Aries Table 58: Subcomponent Device IDs v2.4 Page 150 2024-12-17...
Page 164: State Packets
Certus Reference Manual • Advanced Navigation Packet Protocol 10.4 State Packets Certus supports a ANPP number of packets providing extensive functionality. However for the majority of users the easiest approach is to configure Certus using the web UI or Certus Manager software and then support only the single system state packet shown in 10.4.1 System State...
Page 165 Certus Reference Manual • Advanced Navigation Packet Protocol Packet ID Name Length 10.4.27 External Body Velocity Packet 16 or 24 10.4.28 External Heading Packet 10.4.29 Running Time Packet 10.4.30 Local Magnetic Field Packet 10.4.31 Odometer State Packet 10.4.32 External Time Packet 10.4.33 External Depth Packet...
Page 166: System State Packet
Certus Reference Manual • Advanced Navigation Packet Protocol 10.4.1 System State Packet System State Packet Packet ID Length Read / Write Read Field # Bytes Offset Data Type Size Description 10.4.1.1 System Status 10.4.1.2 Filter Status 10.4.1.4 Unix Time Seconds 10.4.1.5 Microseconds...
Page 167: System Status
Certus Reference Manual • Advanced Navigation Packet Protocol 10.4.1.1 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. Use the Raw GNSS packet #29 to identify which of the GNSS receivers or antennas has a problem.
Page 168: Filter Status
Certus Reference Manual • Advanced Navigation Packet Protocol 10.4.1.2 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. Description Orientation Filter Initialised...
Page 169: Unix Time Packet
Certus Reference Manual • Advanced Navigation Packet Protocol 10.4.1.5 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. 10.4.2 Unix Time Packet...
Page 170: Status Packet
Certus Reference Manual • Advanced Navigation Packet Protocol 10.4.4 Status Packet Status Packet Packet ID Length Read / Write Read Field # Bytes Offset Data Type Size Description System Status Filter Status Table 66: Status Packet 10.4.5 Position Standard Deviation Packet...
Page 171: Euler Orientation Standard Deviation Packet
Certus Reference Manual • Advanced Navigation Packet Protocol 10.4.7 Euler Orientation Standard Deviation Packet Euler Orientation Standard Deviation Packet Packet ID Length Read / Write Read Field # Bytes Offset Data Type Size Description fp32 Roll standard deviation (rad) fp32...
Page 172: Raw Sensors Packet
Certus Reference Manual • Advanced Navigation Packet Protocol 10.4.9 Raw Sensors Packet Raw Sensors Packet Packet ID Length Read / Write Read Field # Bytes Offset Data Type Size Description fp32 Accelerometer X (m/s/s) fp32 Accelerometer Y (m/s/s) fp32 Accelerometer Z (m/s/s)
Page 173: Raw Gnss Packet
Certus Reference Manual • Advanced Navigation Packet Protocol 10.4.10 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. The INS position and velocity that are in the other packets are corrected for antenna position offset and lever arm.
Page 174: Satellites Packet
Certus Reference Manual • Advanced Navigation Packet Protocol Description Heading valid Floating ambiguity heading Reserved (set to zero) Antenna 1 disconnected (not applicable to units with Trimble BD992 GNSS receiver) Antenna 2 disconnected (not applicable to units with Trimble BD992 GNSS receiver)
Page 175: Geodetic Position Packet
Certus Reference Manual • Advanced Navigation Packet Protocol 10.4.12 Geodetic Position Packet Geodetic Position Packet Packet ID Length Read / Write Read Field # Bytes Offset Data Type Size Description fp64 Latitude (rad) fp64 Longitude (rad) fp64 Height (m) Table 75: Geodetic Position Packet 10.4.13 ECEF Position Packet...
Page 176: Ned Velocity Packet
Certus Reference Manual • Advanced Navigation Packet Protocol 10.4.15 NED Velocity Packet NED Velocity Packet Packet ID Length Read / Write Read Field # Bytes Offset Data Type Size Description fp32 Velocity north (m/s) fp32 Velocity east (m/s) fp32 Velocity down (m/s) Table 78: NED Velocity Packet 10.4.16 Body Velocity Packet...
Page 177: Body Acceleration Packet
Certus Reference Manual • Advanced Navigation Packet Protocol 10.4.18 Body Acceleration Packet This packet does not include the acceleration due to gravity. Body Acceleration Packet Packet ID Length Read / Write Read Field # Bytes Offset Data Type Size Description...
Page 178: Dcm Orientation Packet
Certus Reference Manual • Advanced Navigation Packet Protocol 10.4.21 DCM Orientation Packet DCM Orientation Packet Packet ID Length Read / Write Read Field # Bytes Offset Data Type Size Description fp32 DCM[0][0] fp32 DCM[0][1] fp32 DCM[0][2] fp32 DCM[1][0] fp32 DCM[1][1]...
Page 179: Angular Acceleration Packet
Certus Reference Manual • Advanced Navigation Packet Protocol 10.4.23 Angular Acceleration Packet Angular Acceleration Packet Packet ID Length Read / Write Read Field # Bytes Offset Data Type Size Description fp32 Angular acceleration X (rad/s/s) fp32 Angular acceleration Y (rad/s/s)
Page 180: External Position Packet
Certus Reference Manual • Advanced Navigation Packet Protocol 10.4.25 External Position Packet External Position Packet Packet ID Length Read / Write Read / Write Field # Bytes Offset Data Type Size Description fp64 Latitude (rad) fp64 Longitude (rad) fp64 Height (m)
Page 181: External Body Velocity Packet
Certus Reference Manual • Advanced Navigation Packet Protocol 10.4.27 External Body Velocity Packet This packet has been defined to support a single velocity standard deviation for all three axes, or, different values for all three axes. Modify the packet length in the packet header accordingly, depending on which format you are using.
Page 182: Local Magnetic Field Packet
Certus Reference Manual • Advanced Navigation Packet Protocol 10.4.30 Local Magnetic Field Packet Local Magnetic Field Packet Packet ID Length Read / Write Read Field # Bytes Offset Data Type Size Description fp32 Local magnetic field X (mG) fp32 Local magnetic field Y (mG)
Page 183: Geoid Height Packet
Certus Reference Manual • Advanced Navigation Packet Protocol External Depth Packet Packet ID Length Read / Write Read / Write Field # Bytes Offset Data Type Size Description fp32 Depth (m) fp32 Depth standard deviation (m) Table 96: External Depth Packet 10.4.34 Geoid Height Packet...
Page 184: Wind Packet
Certus Reference Manual • Advanced Navigation Packet Protocol 10.4.36 Wind Packet This packet provides the Certus current 2D wind velocity. These values are only valid when external air data is provided to Certus. This can be either through the 10.4.41 External Air Data Packet or when a pitot tube is interfaced to one of the GPIO pins.
Page 185 Certus Reference Manual • Advanced Navigation Packet Protocol Raw Satellite Data Packet Unix time (seconds) Nanoseconds Receiver clock offset (nanoseconds) Receiver number Packet number (range 1 to Total) Total packets Number of satellites For each satellite Satellite Systems PRN or satellite number...
Page 186 Certus Reference Manual • Advanced Navigation Packet Protocol 10.4.38.1 Satellite Systems Value System Unknown GLONASS BeiDou Galileo SBAS QZSS Reserved Omnistar Reserved NavIC Table 102: Satellite Systems 10.4.38.2 Satellite Frequencies Valu- GLONA- Galileo BeiDo- SBAS QZSS Omnist- NavI- Unkno- Unknow-...
Page 187: Tracking Status
Certus Reference Manual • Advanced Navigation Packet Protocol 10.4.38.3 Tracking Status Description Carrier phase valid Carrier phase cycle slip detected Carrier phase half-cycle ambiguity Pseudo range valid Doppler valid SNR valid Reserved (set to zero) Table 104: Tracking Status 10.4.39 Raw Satellite Ephemeris Packet Certus Manager will automatically convert this packet to RINEX 3.02 format.
Page 188 Certus Reference Manual • Advanced Navigation Packet Protocol Raw Satellite Ephemeris Packet fp32 Cus (rad) fp64 √A (√m) fp32 Cic (rad) fp64 OMEGA0 (rad) fp32 Cis (rad) fp64 i0 (rad) fp32 Crc (m) fp64 Omega (rad) fp64 Omega dot (rad/s)
Page 189: External Odometer Packet
Certus Reference Manual • Advanced Navigation Packet Protocol 10.4.39.1 GPS Flags Description Data flag for L2 P-code Codes on L2 channel Anti-spoof flag Satellite health Fit interval flag URA bad 12-14 Satellite block type Table 106: GPS Flags 10.4.40 External Odometer Packet...
Page 190: External Air Data Packet
Certus Reference Manual • Advanced Navigation Packet Protocol 10.4.41 External Air Data Packet External Air Data Packet Packet ID Length Read / Write Read / Write Field # Bytes Offset Data Type Size Description fp32 Barometric altitude delay (s) fp32...
Page 191: Gnss Receiver Information Packet
Certus Reference Manual • Advanced Navigation Packet Protocol 10.4.42 GNSS Receiver Information Packet 10.4.42.1 Aries GNSS Receiver GNSS Receiver Information Packet Packet ID Length Read / Write Read Field # Bytes Offset Data Type Size Description GNSS manufacturer ID GNSS receiver model...
Page 192 Certus Reference Manual • Advanced Navigation Packet Protocol 10.4.42.3 GNSS Manufacturer IDs and Receiver Models Manufacturer Receiver Description Value Description GNSS Manufacturer Unknown GNSS Receiver Model Unknown Trimble GNSS Receiver Model Unknown Trimble MB-Two Trimble BD992 u-blox GNSS Receiver Model Unknown...
Page 193: Gimbal State Packet
Certus Reference Manual • Advanced Navigation Packet Protocol 10.4.43 Raw DVL Data Packet Note: The Raw DVL Data packet will be output each time it is received, unless a certain output rate has been set in "Configuration"→"Packet Rates" of Certus Manager.
Page 194: Automotive Packet
Table 119: Automotive Packet 10.4.46 External Magnetometers Packet Heading can be derived using the magnetometers of an additional external Advanced Navigation product to input external magnetometer values. The 2D, 3D or automatic magnetic calibration of Certus cannot be used to calibrate the external magnetometer values.
Page 195 Certus Reference Manual • Advanced Navigation Packet Protocol External Magnetometers Packet Length Read / Write Read / Write Field # Bytes Offset Data Type Size Description fp32 Delay (s) fp32 Magnetometer X (milligauss) fp32 Magnetometer Y (milligauss) fp32 Magnetometer Z (milligauss)
Page 196 Certus Reference Manual • Advanced Navigation Packet Protocol 10.4.47.1 GNSS Fix Status Value Description No GNSS fix 2D GNSS fix 3D GNSS fix SBAS GNSS fix Differential GNSS fix Omnistar/Starfire GNSS fix RTK Float GNSS fix RTK Fixed GNSS fix Table 123: GNSS Fix Status 10.4.48 Zero Angular Velocity Packet...
Page 197: Satellite Systems
Certus Reference Manual • Advanced Navigation Packet Protocol Extended Satellites Packet 10.4.49.2 Satellite Frequencies Elevation (deg) Azimuth (deg) SNR receiver 1 SNR receiver 2 Flags. See Extended Satellites Flags Fields 3-10 repeat for additional satellites Table 125: Extended Satellites Packet The maximum number of satellites per packet is 28.
Page 198: Satellite Frequencies
Certus Reference Manual • Advanced Navigation Packet Protocol 10.4.49.2 Satellite Frequencies GLONASS Galileo BeiDou SBAS QZSS Omnistar NavIC Unknown Unknown Unknown Unknown Unknown Unknown L1 C/A L1 C/A G1 C/A E1 OS L1 C/A L1 C/A L1 C E1 PRS...
Page 199: Configuration Packets
Certus Reference Manual • Advanced Navigation Packet Protocol 10.5 Configuration Packets Configuration packets can be both read from and written to the Certus. 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 (i.e.
Page 200: Utc Synchronisation
Certus Reference Manual • Advanced Navigation Packet Protocol Packet Timer Period Packet Field # Bytes Offset Data Type Size Description Permanent 10.5.1.1 UTC Synchronisation 10.5.1.2 Packet Timer Period Table 130: Packet Timer Period Packet 10.5.1.1 UTC Synchronisation This is a boolean value that determines whether or not the packet timer is synchronised with UTC time, with zero for disabled and one for enabled.
Page 201: Packet Period
#31: 0 = RS232, 1 = RS422 Reserved (set to zero) Table 132: Baud Rates Packet 10.5.3.1 Supported Baud Rate Note: Not all Advanced Navigation products support minimum and maximum baud rates. Supported Baud Rates - Bits 0-30 2400 4800...
Page 202: Sensor Ranges Packet
1250000 2000000 4000000 Table 133: Supported Baud Rates 10.5.4 Sensor Ranges Packet Note: The Sensor Ranges Packet is only valid for Certus OEM units. This packet is not applicable for Certus Evo OEM units. Sensor Ranges Packet Packet ID Length...
Page 203: Gyroscopes Range
Certus Reference Manual • Advanced Navigation Packet Protocol 10.5.4.2 Gyroscopes Range Value Description 250 degrees/second 500 degrees/second 2000 degrees/second Table 136: Gyroscopes Range 10.5.5 Installation Alignment Packet Installation Alignment Packet Packet ID Length Read / Write Read / Write Field #...
Page 204: Alignment Dcm
Certus Reference Manual • Advanced Navigation Packet Protocol 10.5.5.1 Alignment DCM The alignment DCM (Direction Cosine Matrix) is used to represent an alignment offset of Certus from its standard alignment. A DCM is used rather than Euler angles for accuracy reasons. To convert Euler angles to DCM, use the formula below with angles in radians.
Page 205: Gpio Configuration Packet
Certus Reference Manual • Advanced Navigation Packet Protocol Value Description Hovercraft Submarine 3D Underwater Vehicle Fixed Wing Plane 3D Aircraft Human Boat Large Ship Stationary Stunt Plane Race Car Train Table 139: Vehicle Types 10.5.7 GPIO Configuration Packet GPIO Configuration Packet...
Page 206: Gpio Functions
Certus Reference Manual • Advanced Navigation Packet Protocol 10.5.7.1 GPIO Functions Value Description GPIO Function Type Inactive 1PPS Output GNSS Fix Output Odometer Input GPIO1, GPIO2 Zero Velocity Input Pitot Tube Input NMEA Input GPIO2 NMEA Output GPIO1 Novatel GNSS Input...
Page 207: Auxiliary Functions
Certus Reference Manual • Advanced Navigation Packet Protocol Value Description GPIO Function Type Pressure Depth Transducer Left Wheel Speed Sensor Right Wheel Speed Sensor 1PPS Input Wheel Speed Sensor GPIO1, GPIO2 Wheel Encoder Phase A Wheel Encoder Phase B Event 1 Input...
Page 208 Certus Reference Manual • Advanced Navigation Packet Protocol Value Description Auxiliary Function Type Novatel GNSS Input Topcon GNSS Input Receive ANPP Input ANPP Output Transmit Disable magnetometers Receive Disable GNSS Disable Pressure Set Zero Orientation Alignment System State Packet Trigger...
Page 209 Certus Reference Manual • Advanced Navigation Packet Protocol Value Description Auxiliary Function Type Odometer Direction, Forward Low Odometer Direction, Forward High Nortek DVL Input Receive Reverse Alignment, Forward Low Reverse Alignment, Forward High Zero Angular Velocity Input Table 142: Auxiliary Functions 10.5.8 Magnetic Calibration Values Packet...
Page 210 Certus Reference Manual • Advanced Navigation Packet Protocol Magnetic Calibration Configuration Packet Length Read / Write Write Field # Bytes Offset Data Type Size Description 10.5.9.1 Magnetic Calibration Actions Table 144: Magnetic Calibration Configuration Packet 10.5.9.1 Magnetic Calibration Actions Value...
Page 211: Odometer Configuration Packet
Certus Reference Manual • Advanced Navigation Packet Protocol Value Description Calibration error: sensor over range event Calibration error: time-out Calibration error: system error Calibration error: interference error Table 147: Magnetic Calibration Status 10.5.11 Odometer Configuration Packet Odometer Configuration Packet Packet ID...
Page 212: Reference Point Offsets Packet
Certus Reference Manual • Advanced Navigation Packet Protocol 10.5.13 Reference Point Offsets Packet The reference point offsets packet can be used to adjust the measurement point that all data is referenced to. 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 Certus unit.
Page 213: Gpio Output Configuration Packet
Certus Reference Manual • Advanced Navigation Packet Protocol 10.5.14 GPIO Output Configuration Packet GPIO Output Configuration Packet Packet ID Length Read / Write Read / Write Field # Bytes Offset Data Type Size Description Permanent Auxiliary port Input Mode. See 10.5.14.1 Port Input...
Page 214: Nmea Fix Behaviour
Certus Reference Manual • Advanced Navigation Packet Protocol GPIO Output Configuration Packet put Rates Auxiliary port GPGST Rates. See 10.5.14.4 Port Out- put Rates u8[8] Reserved (set to zero) Fields 2-20 Repeat 6 more times (a total of 7 copies) for:...
Page 215: Dual Antenna Configuration Packet
Certus Reference Manual • Advanced Navigation Packet Protocol Value Description tialised Table 154: NMEA Fix Behaviour 10.5.14.4 Port Output Rates Value Bit 3 Bit 2 Bit 1 Bit 0 Description Disabled 0.1 Hz 0.2 Hz 0.5 Hz 1 Hz 2 Hz...
Page 216: Offset Types
Certus Reference Manual • Advanced Navigation Packet Protocol Dual Antenna Configuration Packet fp32 Manual offset X (m) fp32 Manual offset Y (m) fp32 Manual offset Z (m) Table 156: Dual Antenna Configuration Packet 10.5.15.1 Offset Types Value Description Manual offset...
Page 217 Certus Reference Manual • Advanced Navigation Packet Protocol 10.5.16.2 Trimble BD992 GNSS Receiver GNSS Receiver Configuration Packet Packet ID Length Read / Write Read / Write Field # Bytes Offset Data Type Size Description Permanent GNSS frequencies. This is a bitfield where each bit describes whether a particular frequency is enabled.
Page 218 Certus Reference Manual • Advanced Navigation Packet Protocol Description GPS L2C GPS L2P GPS L2M GPS L5 GLONASS G1CA GLONASS G1P GLONASS L1OC GLONASS L1SC GLONASS G2CA GLONASS G2P GLONASS L2OC GLONASS L2SC GLONASS L3OC GLONASS L3SC BEIDOU B1 BEIDOU B2 BEIDOU B3 GALILEO E1 GALILEO E5A GALILEO E5B GALILEO E5AB...
Page 219 Certus Reference Manual • Advanced Navigation Packet Protocol 10.5.16.4 L Band Modes L Band Mode L Band Mode Name Disabled Omnistar Auto Omnistar HP Omnistar XP Omnistar VBS Omnistar G2 Omnistar HP+G2 Omnistar HP+XP Trimble RTX Omnistar L1 Only Omnistar G4 Only...
Page 220: User Data Packet
Certus Reference Manual • Advanced Navigation Packet Protocol 10.5.17 User Data Packet This packet is for storage of users data. The data itself is not used by Certus. User Data Packet Packet ID Length Read / Write Read / Write...
Page 221: Can Protocol
Certus Reference Manual • Advanced Navigation Packet Protocol 10.5.19.1 IP Dataport Mode Value Description MODE_NONE Reserved MODE_TCP_SERVER MODE_TCP_CLIENT MODE_UDP Table 166: IP Dataport Mode 10.5.20 CAN Configuration Packet CAN Configuration Packet Packet ID Length Read / Write Read / Write...
Page 222: Reference Information
Certus Reference Manual • Certus Reference Information 11 Reference Information This chapter is a learning reference that briefly covers knowledge essential to understanding Certus and INS generally. It explains the following concepts in simple terms so that people unfamiliar with the technology may understand it: 11.1 Technology Overview, including Global Navigation Satellite System (GNSS) , Inertial Navigation...
Page 223: The Sensor Co-Ordinate Frame
Certus Reference Manual • Certus Reference Information enhanced position and velocity solution that can withstand GNSS drop outs. 11.2 The Sensor Co-ordinate Frame Inertial sensors have 3 different axes: X, Y and Z and these determine the references around which angles and accelerations are measured.
Page 224: Roll, Pitch And Heading
Certus Reference Manual • Certus Reference Information Figure 110: First Right-hand Rule You take your right hand and extend your thumb, index and middle. Your thumb then denotes the positive X axis, your index denotes the positive Y axis and your middle denotes the positive Z axis. 11.3 The Body Co-ordinate Frame Also known as the vehicle co-ordinate (reference) frame, this can be described most easily using a car (the body or vehicle) as an example.
Page 225: Rotation Order
Certus Reference Manual • Certus Reference Information it, point your thumb in the positive direction of that axis, then the direction that your fingers curl over shows the positive rotation on that axis. Figure 111: Second right Hand Rule 11.4.2 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.
Page 226: Latitude And Longitude
Certus Reference Manual • Certus Reference Information 11.5.1 Latitude and Longitude Latitude is the angle that specifies the north to south position of a point on the Earth's surface, reported as ± 90°. Longitude is the angle that specifies the east to west position of a point on the Earth's surface, reported as ± 180°.
Page 227 Certus Reference Manual • Certus Reference Information The figure below shows latitude and longitude on a map of the world, represented with a standard Mercator projection. Equator Figure 113: 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 228 Certus Reference Manual • Certus Reference Information 11.5.2 Height Any height data output by Advanced Navigation devices is the height referenced the WGS84 reference ellipsoid. The WGS84 reference ellipsoid is a smooth mathematical model that approximates the form of the surface of the earth.
Page 229: Ned Co-Ordinate Frame
Certus Reference Manual • Certus Reference Information 11.6 NED Co-ordinate Frame The NED (North East Down) co-ordinate frame is used to express velocities and relative positions. The origin of the co-ordinate frame is the current position. From that origin, the north axis points true north and parallel to the line of latitude at that point.

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