Advanced Navigation Spatial Dual Manuals

Manuals and User Guides for Advanced Navigation Spatial Dual. We have 2 Advanced Navigation Spatial Dual manuals available for free PDF download: Reference Manual

Advanced Navigation Spatial Dual Reference Manual

Advanced Navigation Spatial Dual Reference Manual (159 pages)

Brand: Advanced Navigation | Category: GPS | Size: 4 MB

Table of Contents

Table of Contents
2
Revision History
9
Firmware Changelog
15
Hardware Changelog
19
Introduction
20
Foundation Knowledge
21
Gnss
21
Gnss/Ins
21
- Ahrs
  21
- The Sensor Co-Ordinate Frame
  22
  - Roll, Pitch and Heading
    22
  - Second Right Hand Rule
    22
- Rotation Order
  23
- Geodetic Co-Ordinate System
  23
- NED Co-Ordinate Frame
  25
Ins
21
ECEF Co-Ordinate Frame
26
Evaluation Kit
27
- Evaluation Kit Contents
  27
- Quick Start
  27
- Troubleshooting
  28
- Part Numbers and Ordering Options
  29
- Evaluation Kit
  29
- Standalone Unit
  29
- Accessories
  29
- Specifications
  31
- Mechanical Drawings
  31
- Navigation Specifications
  32
- Sensor Specifications
  33
- GNSS Specifications
  34
- Communication Specifications
  34
- Hardware Specifications
  35
- Electrical Specifications
  36
- Power Consumption
  37
Connector Pin-Out
38
- Evaluation Kit USB Cable
  39
- Optional Breakout Cable
  40
  - Sensor Calibration
    41
- Serial Number
  41
- Installation
  42
- Installation Checklist
  42
- Position and Alignment
  42
  - Alignment
    43
  - Mounting Plate
    43
  - Power Supply
    43
  - GNSS Antenna
    44
  - Odometer
    45
  - Factory VSS Signal
    45
  - OBDII Odometer Interface
    45
Aftermarket Wheel Speed Sensor
47
- Radar Speed Sensor
  47
- Magnetics
  48
- Vibration
  48
- Operation
  50
- Initialisation
  50
  - Orientation Initialisation
    50
  - Navigation Initialisation
    50
  - Heading Initialisation
    51
  - Time Initialisation
    51
- Hot Start
  51
  - Time
    52
  - Heading Source
    52
  - Magnetic Heading
    52
    
    Velocity Heading
    52
    
    External Heading
    52
  - Magnetics
    52
    
    Magnetic Calibration
    53
    
    Using the Spatial Manager Software
    53
  - Using the Packet Protocol
    54
  - Magnetic Calibration
    55
- Using the Spatial Manager Software
  55
- Using the Packet Protocol
  55
- Automatic Magnetic Calibration
  55
- Disabling Magnetometers
  56
- Sensors Range
  56
- Data Anti Aliasing
  56
- Vehicle Profiles
  56
- Odometer Pulse Length
  58
- Odometer Automatic Pulse Length Calibration Procedure
  58
- Reversing Detection
  58
- Motion Analysis
  58
- Differential and RTK GNSS
  59
  - Raw Satellite Data
    59
  - Post Processing
    59
  - Vents
    60
  - Raim
    60
  - Heave
    61
  - Environmental Exposure
    61
Temperature
61
- Water
  61
- Salt
  61
- Dirt and Dust
  61
- PH Level
  62
- Shocks
  62
- Spatial Manager
  63
- Software Changelog
  64
- System Requirements
  65
- Installation
  65
- Troubleshooting
  65
  - All Platforms
    65
  - Windows
    65
  - Linux
    67
  - Main View
    68
    
    Serial Port
    68
    
    Attitude Indicator
    68
    
    Status Indicator
    68
    
    Spatial Status Indicator
    69
- Fix Indicator
  69
- Satellites Table
  69
  - Map
    69
  - Map Controls
    69
  - Reset View
    69
  - Clear History
    69
  - Logging
    70
  - View Menu
    70
  - Device Information
    71
  - Status
    71
  - Satellites
    72
  - Raw Sensors
    73
- Orientation
  74
  - Position
    75
  - Velocity and Acceleration
    76
  - 3D Model
    77
  - Communications Statistics
    77
    
    Heave
    78
    
    Configuration
    79
    
    Configuration Export
    79
  - Sensor Ranges
    80
  - Filter Options
    80
  - Packet Rates
    81
  - Alignment Configuration
    82
  - Alignment Offset
    82
  - GNSS Antenna Offset
    82
  - Odometer Offset
    83
  - External Data Offset
    83
- Baud Rates
  83
  - GPIO Configuration
    84
  - Odometer
    84
  - Reset
    85
  - Reference Position Offsets
    85
  - GPIO Output Configuration
    86
  - Manual Initialisation
    87
  - Gimbal
    87
  - Tools
    88
  - Terminal
    88
  - Magnetic Calibration
    89
  - Firmware Update
    90
  - Log Converter
    90
- Network Connect
  91
  - Interfacing
    92
  - Communication
    92
  - Baud Rate
    92
  - External Data
    93
  - GPIO Pins and Auxiliary RS232
    93
  - Dynamic Pin Functions
    94
  - 1PPS Output
    95
  - GNSS Fix Output
    95
  - Odometer Input
    96
  - Zero Velocity Input
    96
  - Pitot Tube Input
    96
  - NMEA Input
    96
  - NMEA Output
    97
  - Novatel GNSS Input
    97
  - Topcon GNSS Input
    98
  - ANPP Input
    98
  - ANPP Output
    98
  - Disable Magnetometers
    98
  - Disable GNSS
    98
  - Disable Pressure
    98
  - Set Zero Orientation Alignment
    98
  - System State Packet Trigger
    98
  - Raw Sensors Packet Trigger
    98
  - Pressure Depth Transducer
    99
  - RTCM Differential GNSS Corrections Input
    99
  - Trimble GNSS Input
    99
  - U-Blox GNSS Input
    99
  - Hemisphere GNSS Input
    99
  - Teledyne DVL Input
    99
  - Tritech USBL Input
    99
  - Linkquest DVL Input
    99
  - Linkquest USBL Input
    99
  - Nortek DVL Input
    100
  - Left Wheel Speed Sensor
    100
  - Right Wheel Speed Sensor
    100
  - 1PPS Input
    100
  - Wheel Speed Sensor
    100
  - Wheel Encoder Phase a
    100
  - Wheel Encoder Phase B
    100
  - Event 1 Input
    100
  - Event 2 Input
    101
  - TSS1 Output
    101
  - Simrad 1000 Output
    101
  - Simrad 3000 Output
    101
  - Serial Port Passthrough
    101
  - GNSS Receiver Passthrough
    101
  - Gimbal Encoder Phase a
    101
  - Gimbal Encoder Phase B
    101
Odometer Direction, Forward High
102
- Reverse Alignment, Forward Low
  102
- Reverse Alignment, Forward High
  102
  - Zero Angular Velocity Input
    103
  - Advanced Navigation Packet Protocol
    104
  - Data Types
    104
  - Packet Structure
    105
- Header LRC
  105
- Packet ID
  105
- Packet Length
  105
- Packet Requests
  106
- Packet Acknowledgement
  106
  - Packet Rates
    106
  - Packet Timing
    106
  - Packet Summary
    108
    
    System Packets
    110
    
    Acknowledge Packet
    110
  - Acknowledge Result
    110
  - Request Packet
    111
  - Boot Mode Packet
    111
    
    Boot Mode Types
    111
  - Device Information Packet
    111
    
    Restore Factory Settings Packet
    112
- Reset Packet
  112
  - Verification Sequence Values
    112
    
    Serial Port Pass-Through Packet
    112
    
    Pass-Through Routes
    114
  - State Packets
    115
    
    System State Packet
    116
  - System Status
    116
  - Filter Status
    118
  - GNSS Fix Status
    118
  - Unix Time Seconds
    118
  - Microseconds
    119
  - Unix Time Packet
    119
    
    Formatted Time Packet
    119
  - Status Packet
    120
  - Position Standard Deviation Packet
    120
    
    Velocity Standard Deviation Packet
    120
    
    Euler Orientation Standard Deviation Packet
    121
  - Quaternion Orientation Standard Deviation Packet
    121
  - Raw Sensors Packet
    122
  - Raw GNSS Packet
    123
  - Raw GNSS Status
    124
  - Satellites Packet
    124
  - Detailed Satellites Packet
    125
  - Satellite Systems
    125
  - Satellite Frequencies
    125
  - Geodetic Position Packet
    126
  - ECEF Position Packet
    126
  - UTM Position Packet
    127
  - NED Velocity Packet
    127
  - Body Velocity Packet
    127
  - Acceleration Packet
    128
  - Body Acceleration Packet
    128
  - Euler Orientation Packet
    128
  - Quaternion Orientation Packet
    129
  - DCM Orientation Packet
    129
  - Angular Velocity Packet
    130
  - Angular Acceleration Packet
    130
  - External Position & Velocity Packet
    130
  - External Position Packet
    131
  - External Velocity Packet
    131
  - External Body Velocity Packet
    132
  - External Heading Packet
    132
    
    Running Time Packet
    132
    
    Local Magnetic Field Packet
    133
    
    Odometer State Packet
    133
    
    External Time Packet
    133
    
    External Depth Packet
    134
  - Geoid Height Packet
    134
  - RTCM Corrections Packet
    134
- External Pitot Pressure Packet
  135
  - Wind Packet
    135
    
    Heave Packet
    135
    
    Post Processing Packet
    135
  - Raw Satellite Data Packet
    136
    
    Satellite Frequencies
    137
  - Tracking Status
    137
  - External Odometer Packet
    138
    
    Odometer Flags
    138
    
    External Air Data Packet
    138
    
    External Air Data Flags
    139
  - Notes
    139
  - Gimbal State Packet
    139
  - Automotive Packet
    139
  - Configuration Packets
    140
  - Packet Timer Period Packet
    140
  - UTC Synchronisation
    140
  - Packet Timer Period
    140
  - Packets Period Packet
    141
  - Clear Existing Packets
    141
  - Packet Period
    141
  - Baud Rates Packet
    142
  - Sensor Ranges Packet
    142
  - Accelerometers Range
    142
  - Gyroscopes Range
    143
  - Magnetometers Range
    143
  - Installation Alignment Packet
    144
Alignment DCM
145
- Filter Options Packet
  145
- Vehicle Types
  146
Advanced Filter Parameters Packet
146
GPIO Configuration Packet
147
- GPIO1 Functions
  147
GPIO2 Functions
148
Auxiliary RS232 Receive Functions
150
Magnetic Calibration Configuration Packet
152
- Magnetic Calibration Actions
  153
Magnetic Calibration Values Packet
152
Magnetic Calibration Status
153
Magnetic Calibration Status Packet
153
Odometer Configuration Packet
154
Set Zero Orientation Alignment Packet
154
Reference Point Offsets Packet
155
GPIO Output Configuration Packet
156
GPIO Output Rates
157
NMEA Fix Behaviour
157
GPIO Input Configuration Packet
158
User Data Packet
158

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Advanced Navigation Spatial Dual Reference Manual

Advanced Navigation Spatial Dual Reference Manual (138 pages)

Brand: Advanced Navigation | Category: Car Navigation system | Size: 4 MB

Table of Contents

Table of Contents
2
Revision History
9
Firmware Changelog
11
Hardware Changelog
13
Introduction
14
Foundation Knowledge
15
Gnss
15
Gnss/Ins
15
- Ahrs
  15
- The Sensor Co-Ordinate Frame
  16
- Roll, Pitch and Heading
  16
  - Second Right Hand Rule
    16
  - Rotation Order
    17
- Geodetic Co-Ordinate System
  17
- NED Co-Ordinate Frame
  19
Ins
15
ECEF Co-Ordinate Frame
20
- Evaluation Kit
  21
- Evaluation Kit Contents
  21
Quick Start
21
- Antenna Survey Mount Assembly
  22
- Part Numbers and Ordering Options
  23
- Evaluation Kit
  23
- Standalone Unit
  23
- Internal GNSS Receiver License Upgrades
  24
- Accessories
  25
- Specifications
  26
- Mechanical Drawings
  26
- Navigation Specifications
  27
- Heading Accuracy
  27
- Sensor Specifications
  28
- GNSS Specifications
  29
- Communication Specifications
  29
- Hardware Specifications
  30
- Electrical Specifications
  31
Power Consumption
32
- Connector Pin-Out
  32
- Spatial Dual Evaluation Cable Harness
  33
  - Sensor Calibration
    34
- Serial Number
  34
- Installation
  36
- Installation Checklist
  36
- Position and Alignment
  36
- Alignment
  37
- Mounting Plate
  37
- Power Supply
  37
- GNSS Antennas
  38
- GNSS Antenna Cables
  40
- Odometer
  40
- Factory VSS Signal
  40
OBDII Odometer Interface
41
- Aftermarket Wheel Speed Sensor
  41
  - Radar Speed Sensor
    42
- Magnetics
  42
- Vibration
  43
- Operation
  44
- Initialisation
  44
  - Orientation Initialisation
    44
  - Navigation Initialisation
    44
  - Heading Initialisation
    45
- Time Initialisation
  45
- Hot Start
  45
- Time
  46
- Heading Source
  46
  - Dual Antenna Heading
    46
  - Velocity Heading
    46
  - External Heading
    46
- Sensors Range
  46
- Data Anti Aliasing
  47
- Vehicle Profiles
  47
- Odometer Pulse Length
  47
- Odometer Automatic Pulse Length Calibration Procedure
  47
- Reversing Detection
  48
- Motion Analysis
  48
- Omnistar
  48
- Rtk
  48
  - Network RTK Corrections
    49
  - Cellular RTK Corrections
    49
  - Base Station Radio Modem RTK Corrections
    50
  - Vents
    50
Raim
50
- Heave
  51
  - Environmental Exposure
    51
  - Temperature
    51
  - Water
    51
- Salt
  51
  - Dirt and Dust
    52
  - PH Level
    52
  - Shocks
    52
  - Spatial Dual Manager
    53
- Software Changelog
  54
- System Requirements
  54
- Installation
  55
- Troubleshooting
  55
- All Platforms
  55
  - Windows
    55
  - Linux
    56
  - Main View
    57
  - Serial Port
    57
  - Attitude Indicator
    57
  - Status Indicator
    58
    
    Spatial Status Indicator
    58
- Fix Indicator
  58
  - Satellites Table
    58
- Map
  58
  - Map Controls
    58
    
    Reset View
    58
  - Clear History
    58
  - Logging
    58
- Views
  59
  - Device Information
    60
  - Status
    60
  - Satellites
    61
  - Raw Sensors
    62
  - Orientation
    63
  - Position
    64
  - Velocity and Acceleration
    65
  - 3D Model
    66
  - Communications
    66
  - GNSS Receiver Information
    67
  - Heave
    67
    
    Configuration
    68
  - Configuration Export
    68
  - Sensor Ranges
    69
    
    Filter Options
    69
    
    Packet Rates
    70
    
    Alignment Configuration
    71
  - Alignment Offset
    71
  - GNSS Antenna Offset
    71
  - Odometer Offset
    72
  - External Data Offset
    72
  - Baud Rates
    72
  - GPIO Configuration
    73
  - Odometer
    73
- Reset
  74
  - Reference Position Offsets
    74
  - GPIO Output
    75
  - Manual Initialisation
    76
  - Dual Antenna
    76
  - Gimbal
    77
  - Tools
    78
Terminal
78
- Firmware Update
  78
- Log Converter
  78
  - NTRIP Client
    79
  - Network Connect
    80
  - Interfacing
    81
  - Communication
    81
  - Baud Rate
    81
  - External Data
    81
  - GPIO Pins and Auxiliary RS232
    81
  - 1PPS Output
    83
  - GNSS Fix Output
    83
  - Odometer Input
    83
  - Zero Velocity Input
    84
  - NMEA Input
    84
  - NMEA Output
    84
  - Novatel GNSS Input
    85
  - Topcon GNSS Input
    85
  - ANPP Input
    85
  - ANPP Output
    85
  - Disable GNSS
    85
  - Disable Pressure
    85
  - Set Zero Orientation Alignment
    86
  - System State Packet Trigger
    86
  - Raw Sensors Packet Trigger
    86
  - RTCM Differential GNSS Corrections Input
    86
  - Trimble GNSS Input
    86
  - U-Blox GNSS Input
    86
  - Hemisphere GNSS Input
    86
  - Left Wheel Speed Sensor
    86
  - Right Wheel Speed Sensor
    87
  - 1PPS Input
    87
  - Wheel Speed Sensor
    87
  - Wheel Encoder Phase a
    87
  - Wheel Encoder Phase B
    87
  - Event 1 Input
    87
- Event 2 Input
  87
GNSS Receiver Passthrough
87
- TSS1 Output
  87
  - Simrad 1000 Output
    88
  - Simrad 3000 Output
    88
  - Serial Port Passthrough
    88
  - Gimbal Encoder Phase a
    88
- Gimbal Encoder Phase B
  88
  - Odometer Direction, Forward Low
    88
- Odometer Direction, Forward High
  88
- Advanced Navigation Packet Protocol
  89
- Data Types
  89
- Packet Structure
  89
- Header LRC
  90
- Packet ID
  90
- Packet Length
  90
- Crc
  90
- Packet Requests
  90
- Packet Acknowledgement
  91
- Packet Rates
  91
- Packet Timing
  91
- Packet Summary
  91
  - System Packets
    94
    
    Acknowledge Packet
    94
  - Acknowledge Result
    94
  - Request Packet
    94
  - Boot Mode Packet
    95
    
    Boot Mode Types
    95
  - Device Information Packet
    95
    
    Restore Factory Settings Packet
    96
- Reset Packet
  96
  - Verification Sequence Values
    96
    
    Serial Port Pass-Through Packet
    96
    
    Pass-Through Routes
    97
    
    State Packets
    97
    
    System State Packet
    98
    
    System Status
    98
  - Filter Status
    100
  - GNSS Fix Status
    100
  - Unix Time Seconds
    100
  - Microseconds
    101
  - Unix Time Packet
    101
  - Formatted Time Packet
    101
  - Status Packet
    102
  - Position Standard Deviation Packet
    102
    
    Velocity Standard Deviation Packet
    102
  - Euler Orientation Standard Deviation Packet
    103
  - Quaternion Orientation Standard Deviation Packet
    103
  - Raw Sensors Packet
    104
  - Raw GNSS Packet
    104
    
    Raw GNSS Status
    105
  - Satellites Packet
    106
  - Detailed Satellites Packet
    106
  - Satellite Systems
    107
    
    Satellite Frequencies
    107
  - Geodetic Position Packet
    107
  - ECEF Position Packet
    108
  - UTM Position Packet
    108
  - NED Velocity Packet
    108
  - Body Velocity Packet
    109
  - Acceleration Packet
    109
  - Body Acceleration Packet
    109
  - Euler Orientation Packet
    110
  - Quaternion Orientation Packet
    110
  - DCM Orientation Packet
    111
  - Angular Velocity Packet
    111
  - Angular Acceleration Packet
    112
  - External Position & Velocity Packet
    112
  - External Position Packet
    113
  - External Velocity Packet
    113
  - External Body Velocity Packet
    114
  - External Heading Packet
    114
  - Running Time Packet
    114
  - Local Magnetic Field Packet
    115
  - Odometer State Packet
    115
  - External Time Packet
    115
  - Geoid Height Packet
    116
  - RTCM Corrections Packet
    116
    
    External Pitot Pressure Packet
    116
    
    Wind Packet
    117
  - Heave Packet
    117
  - Post Processing Packet
    118
    
    Raw Satellite Data Packet
    118
  - Satellite Frequencies
    119
    
    Tracking Status
    119
    
    Raw Satellite Ephemeris Packet
    119
  - External Odometer Packet
    120
    
    Odometer Flags
    120
    
    External Air Data Packet
    120
    
    External Air Data Flags
    121
    
    Notes
    121
  - GNSS Receiver Information Packet
    121
  - GNSS Manufacturer Ids
    121
- GNSS Receiver Models
  122
  - Omnistar Engine Modes
    122
    
    RTK Software License Accuracy
    122
  - Gimbal State Packet
    123
    
    Automotive Packet
    123
    
    Configuration Packets
    123
    
    Packet Timer Period Packet
    124
    
    UTC Synchronisation
    124
  - Packet Timer Period
    124
  - Packets Period Packet
    124
  - Clear Existing Packets
    125
    
    Packet Period
    125
  - Baud Rates Packet
    125
    
    Sensor Ranges Packet
    126
    
    Accelerometers Range
    126
    
    Gyroscopes Range
    126
    
    Magnetometers Range
    126
  - Installation Alignment Packet
    127
    
    Alignment DCM
    127
  - Filter Options Packet
    128
  - Vehicle Types
    129
  - Advanced Filter Parameters Packet
    129
  - GPIO Configuration Packet
    129
  - GPIO1 Functions
    130
  - GPIO2 Functions
    131
    
    Auxiliary RS232 Transmit Functions
    132
    
    Auxiliary RS232 Receive Functions
    132
    
    Odometer Configuration Packet
    133
  - Set Zero Orientation Alignment Packet
    133
Reference Point Offsets Packet
133
- GPIO Output Configuration Packet
  135
- NMEA Fix Behaviour
  135
- GPIO Output Rates
  135
Dual Antenna Configuration Packet
136
GPIO Output Rates Index
136
Automatic Offset Orientations
137
GPIO Input Configuration Packet
137
Offset Types
137
User Data Packet
137

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