Advanced Navigation Spatial FOG Dual Manuals

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

Advanced Navigation Spatial FOG Dual Reference Manual

Advanced Navigation Spatial FOG Dual Reference Manual (145 pages)

Brand: Advanced Navigation | Category: Car Navigation system | Size: 8 MB

Table of Contents

Table of Contents
2
Revision History
9
- Firmware Changelog
  12
- Hardware Changelog
  14
- Introduction
  15
- Foundation Knowledge
  16
- Gnss
  16
- Ins
  16
Gnss/Ins
16
- Ahrs
  16
- Rtk Gnss
  17
- The Sensor Co-Ordinate Frame
  17
- Roll, Pitch and Heading
  17
- Second Right Hand Rule
  18
- Rotation Order
  18
  - Geodetic Co-Ordinate System
    19
NED Co-Ordinate Frame
20
- ECEF Co-Ordinate Frame
  21
- Evaluation Kit
  22
Kit Contents
22
- Quick Start
  22
- Antenna Survey Mount Assembly
  23
- Part Numbers and Ordering Options
  24
- Evaluation Kit
  24
- Standalone Unit
  24
  - Internal GNSS Receiver License Upgrades
    24
- Accessories
  25
- Specifications
  26
- Mechanical Drawings
  26
- Navigation Specifications
  27
- Sensor Specifications
  28
- GNSS Specifications
  28
- Communication Specifications
  29
- Hardware Specifications
  29
Electrical Specifications
30
- Power Consumption
  31
- Connector Pin-Out
  31
- Spatial FOG Evaluation Cable Harness
  33
- Serial Number
  34
- Installation
  35
- Installation Checklist
  35
- Position and Alignment
  35
- Alignment
  36
- Mounting Plate
  36
- Power Supply
  37
- GNSS Antenna
  37
  - GNSS Antenna Cables
    38
  - Static Port
    39
  - Odometer
    39
Factory VSS Signal
39
- OBDII Odometer Interface
  39
  - Aftermarket Wheel Speed Sensor
    40
  - Radar Speed Sensor
    40
  - Vibration
    41
  - Operation
    42
  - Initialisation
    42
- Orientation Initialisation
  42
- Navigation Initialisation
  42
- Heading Initialisation
  43
- Time Initialisation
  43
- Hot Start
  43
- Time
  44
- Heading Source
  44
  - North Seeking Gyrocompass Heading
    44
- Velocity Heading
  45
  - Dual Antenna Heading
    45
- External Heading
  46
- Magnetics
  47
- Data Anti Aliasing
  47
- Vehicle Profiles
  47
- Odometer Pulse Length
  47
  - Odometer Automatic Pulse Length Calibration Procedure
    47
- Reversing Detection
  48
- Motion Analysis
  48
  - Rtk
    48
  - Network RTK Corrections
    48
  - Base Station Radio Modem RTK Corrections
    49
  - Raw Satellite Data
    49
Post Processing
50
- Raim
  51
- Heave
  51
- Environmental Exposure
  51
- Temperature
  52
- Water
  52
  - Salt
    52
- Dirt and Dust
  52
  - PH Level
    52
- Shocks
  52
- Spatial FOG Manager
  53
  - Software Changelog
    54
  - System Requirements
    54
- Installation
  54
  - Troubleshooting
    55
  - All Platforms
    55
  - Windows
    55
  - Linux
    56
  - Main View
    58
  - Serial Port
    58
  - Attitude Indicator
    58
  - Status Indicator
    59
  - Spatial Status Indicator
    59
- Fix Indicator
  59
- Satellites Table
  59
- 3D Map
  59
  - Map Controls
    59
  - Reset View
    59
  - Clear History
    59
  - Logging
    59
  - Views
    60
  - Device Information
    61
- Status
  61
  - Satellites
    62
  - Raw Sensors
    63
  - Orientation
    64
    
    Position
    65
    
    Velocity and Acceleration
    66
    
    Model
    67
    
    Communications Statistics
    67
  - GNSS Receiver Information
    68
  - Heave
    68
  - North Seeking Status
    69
  - Configuration
    71
  - Configuration Export
    71
  - Filter Options
    72
- Packet Rates
  73
  - Alignment Configuration
    74
  - Alignment Ofset
    74
  - GNSS Antenna Ofset
    75
  - Odometer Ofset
    75
    
    External Data Ofset
    75
  - Baud Rates
    75
  - GPIO Configuration
    76
  - Odometer
    76
  - Reset
    77
  - Heave Ofset
    77
  - GPIO Output
    78
  - Position Configuration
    80
Dual Antenna
81
- Tools
  82
  - Terminal
    82
  - Firmware Update
    82
  - Log Converter
    83
- NTRIP Client
  83
- Network Connect
  83
- Interfacing
  85
- Communication
  85
- Baud Rate
  85
- External Data
  85
  - GPIO Pins and Auxiliary RS232
    85
- Version
  86
  - GPIO Pins Voltage Level
    86
  - Gnss Rs232
    86
  - Dynamic Pin Functions
    86
  - 1PPS Output
    87
  - GNSS Fix Output
    88
  - Odometer Input
    88
  - Zero Velocity Input
    88
  - Pitot Tube Input
    88
  - NMEA Input
    88
  - NMEA Output
    89
  - Novatel GNSS Input
    89
  - Topcon GNSS Input
    90
  - ANPP Input
    90
  - ANPP Output
    90
  - Disable GNSS
    90
  - Disable Pressure
    90
  - Set Zero Orientation Alignment
    90
  - System State Packet Trigger
    90
  - Raw Sensors Packet Trigger
    90
  - RTCM Diferential GNSS Corrections Input
    90
  - Trimble GNSS Input
    91
  - U-Blox GNSS Input
    91
  - Hemisphere GNSS Input
    91
  - Left Wheel Speed Sensor
    91
  - Right Wheel Speed Sensor
    91
  - 1PPS Input
    91
  - Wheel Speed Sensor
    91
  - Wheel Encoder Phase a
    91
  - Wheel Encoder Phase B
    92
  - Event 1 Input
    92
- Event 2 Input
  92
- TSS1 Output
  92
Simrad 1000 Output
92
- Simrad 3000 Output
  92
- Serial Port Passthrough
  92
- Gimbal Encoder Phase a
  92
- Gimbal Encoder Phase B
  92
- Odometer Direction, Forward Low
  93
- Odometer Direction, Forward High
  93
- Nortek DVL Binary Format Input
  93
  - Advanced Navigation Packet Protocol
    94
  - Data Types
    94
  - Packet Structure
    94
  - Header LRC
    95
  - Packet ID
    95
  - Packet Length
    95
  - Crc
    95
  - Packet Requests
    95
  - Packet Acknowledgement
    96
  - Packet Rates
    96
    
    Packet Timing
    96
  - Packet Summary
    96
    
    System Packets
    99
- Acknowledge Packet
  99
  - Acknowledge Result
    99
  - Request Packet
    99
  - Boot Mode Packet
    100
  - Boot Mode Types
    100
  - Device Information Packet
    100
    
    Restore Factory Settings Packet
    101
    
    Reset Packet
    101
    
    Verification Sequence Values
    101
  - Serial Port Pass-Through Packet
    101
    
    Pass-Through Routes
    101
    
    State Packets
    103
  - System State Packet
    103
    
    System Status
    104
  - Filter Status
    105
    
    GNSS Fix Status
    105
  - Unix Time Seconds
    105
  - Microseconds
    106
  - Unix Time Packet
    106
  - Formatted Time Packet
    106
  - Status Packet
    106
  - Position Standard Deviation Packet
    107
  - Velocity Standard Deviation Packet
    107
  - Euler Orientation Standard Deviation Packet
    107
    
    Quaternion Orientation Standard Deviation Packet
    108
  - Raw Sensors Packet
    108
  - Raw GNSS Packet
    109
  - Raw GNSS Status
    110
  - Satellites Packet
    110
  - Detailed Satellites Packet
    111
  - Satellite Systems
    111
  - Satellite Frequencies
    111
  - Geodetic Position Packet
    112
  - ECEF Position Packet
    112
  - UTM Position Packet
    112
  - NED Velocity Packet
    113
  - Body Velocity Packet
    113
  - Acceleration Packet
    113
    
    Body Acceleration Packet
    114
    
    Euler Orientation Packet
    114
  - Quaternion Orientation Packet
    115
  - DCM Orientation Packet
    115
  - Angular Velocity Packet
    115
  - Angular Acceleration Packet
    116
  - External Position & Velocity Packet
    116
  - External Position Packet
    117
  - External Velocity Packet
    117
  - External Body Velocity Packet
    118
  - External Heading Packet
    118
  - Running Time Packet
    118
  - Local Magnetic Field Packet
    119
  - Odometer State Packet
    119
  - External Time Packet
    119
  - External Depth Packet
    120
  - Geoid Height Packet
    120
    
    RTCM Corrections Packet
    120
  - External Pitot Pressure Packet
    120
    
    Wind Packet
    121
    
    Heave Packet
    122
    
    Post Processing Packet
    122
    
    Raw Satellite Data Packet
    123
  - Satellite Frequencies
    124
    
    Tracking Status
    124
  - Raw Satellite Ephemeris Packet
    124
  - External Odometer Packet
    125
- Odometer Fags
  125
  - External Air Data Packet
    125
  - External Air Data Flags
    126
    
    Notes
    126
  - GNSS Receiver Information Packet
    126
    
    GNSS Manufacturer Ids
    126
    
    GNSS Receiver Models
    127
  - North Seeking Initialisation Status Packet
    127
  - North Seeking Initialisation Status Flags
    128
    
    North Seeking Initialisation Current Rotation Angle
    128
    
    Gimbal State Packet
    128
  - Automotive Packet
    129
    
    Configuration Packets
    130
  - Packet Timer Period Packet
    130
    
    UTC Synchronisation
    130
  - Packet Timer Period
    130
  - Packets Period Packet
    131
    
    Clear Existing Packets
    131
    
    Packet Period
    131
  - Baud Rates Packet
    132
    
    Installation Alignment Packet
    133
    
    Alignment DCM
    133
    
    Filter Options Packet
    134
    
    Vehicle Types
    135
  - Advanced Filter Parameters Packet
    135
  - GPIO Configuration Packet
    135
  - GPIO1 Functions
    136
  - GPIO2 Functions
    137
  - Auxiliary RS232 Transmit Functions
    138
  - Auxiliary RS232 Receive Functions
    138
  - Odometer Configuration Packet
    139
  - Set Zero Orientation Alignment Packet
    139
- Version
  139
Reference Point Ofsets Packet
139
- GPIO Output Configuration Packet
  141
NMEA Fix Behaviour
141
GPIO Output Rates
142
- GPIO Output Rates Index
  142
- Dual Antenna Configuration Packet
  142
- Ofset Types
  143
- Automatic Ofset Orientations
  143
- User Data Packet
  143
- GPIO Input Configuration Packet
  144

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Advanced Navigation Spatial FOG Dual Reference Manual

Advanced Navigation Spatial FOG Dual Reference Manual (139 pages)

Brand: Advanced Navigation | Category: GPS | Size: 8 MB

Table of Contents

Table of Contents
2
Revision History
9
Firmware Changelog
10
- Hardware Changelog
  11
- Introduction
  12
- Foundation Knowledge
  13
- Gnss
  13
- Ins
  13
Gnss/Ins
13
- Ahrs
  13
- Rtk Gnss
  14
The Sensor Co-Ordinate Frame
14
- Roll, Pitch and Heading
  14
- Second Right Hand Rule
  15
- Rotation Order
  15
- Geodetic Co-Ordinate System
  16
- NED Co-Ordinate Frame
  17
ECEF Co-Ordinate Frame
18
- Evaluation Kit
  19
Kit Contents
19
- Quick Start
  19
- Antenna Survey Mount Assembly
  20
  - Part Numbers and Ordering Options
    21
- Evaluation Kit
  21
- Standalone Unit
  21
  - Internal GNSS Receiver License Upgrades
    21
- Accessories
  22
- Specifications
  23
- Mechanical Drawings
  23
- Navigation Specifications
  24
- Heading Accuracy
  24
- Sensor Specifications
  25
- GNSS Specifications
  25
- Communication Specifications
  26
- Hardware Specifications
  26
Electrical Specifications
27
- Power Consumption
  28
- Connector Pin-Out
  28
- Spatial FOG Dual Evaluation Cable Harness
  29
- Serial Number
  31
- Installation
  32
- Installation Checklist
  32
- Position and Alignment
  32
  - Alignment
    33
- Mounting Plate
  33
- Power Supply
  34
- GNSS Antennas
  35
- GNSS Antenna Cables
  37
- Static Port
  37
Odometer
37
- Factory VSS Signal
  37
- OBDII Odometer Interface
  37
  - Aftermarket Wheel Speed Sensor
    38
- Radar Speed Sensor
  38
  - Vibration
    39
  - Operation
    40
  - Filter
    40
  - Initialisation
    40
- Orientation Initialisation
  40
- Navigation Initialisation
  41
- Heading Initialisation
  41
- Time Initialisation
  41
- Hot Start
  41
- Time
  42
- Heading Source
  42
  - Dual Antenna Heading
    42
  - North Seeking Gyrocompass Heading
    42
- Velocity Heading
  43
- External Heading
  44
- Magnetics
  44
- Data Anti Aliasing
  44
  - Vehicle Profiles
    44
- Odometer Pulse Length
  44
  - Odometer Automatic Pulse Length Calibration Procedure
    45
  - Reversing Detection
    45
Motion Analysis
45
- Raim
  45
- Rtk
  45
- Cellular RTK Corrections
  46
- Base Station Radio Modem RTK Corrections
  46
- Heave
  47
- Environmental Exposure
  47
  - Temperature
    47
- Water
  47
- Salt
  47
- Dirt and Dust
  48
- PH Level
  48
- Shocks
  48
  - Spatial FOG Manager
    49
  - Software Changelog
    50
  - System Requirements
    50
  - Installation
    50
  - Troubleshooting
    50
  - All Platforms
    50
  - Windows
    50
  - Linux
    51
  - Main View
    53
  - Serial Port
    53
  - Attitude Indicator
    53
  - Status Indicator
    54
    
    Spatial Status Indicator
    54
  - Fix Indicator
    54
- Satellites Table
  54
- Map
  54
  - Map Controls
    54
  - Reset View
    54
  - Clear History
    54
  - Logging
    54
  - Views
    55
  - Device Information
    56
- Status
  56
  - Satellites
    57
  - Raw Sensors
    58
  - Orientation
    59
    
    Position
    60
    
    Velocity and Acceleration
    61
    
    Model
    62
    
    Communications Statistics
    62
  - GNSS Receiver Information
    63
    
    Heave
    63
  - North Seeking Status
    64
    
    Configuration
    66
  - Configuration Export
    66
  - Filter Options
    67
  - Packet Rates
    68
  - Alignment Configuration
    69
  - Alignment Offset
    69
  - GNSS Antenna Offset
    70
  - Odometer Offset
    70
  - External Data Offset
    70
  - Baud Rates
    70
  - GPIO Configuration
    71
- Odometer
  71
  - Reset
    72
Heave Offset
72
- GPIO Output
  73
- Position Configuration
  75
- Dual Antenna
  76
- Tools
  77
  - Terminal
    77
- Firmware Update
  77
  - Log Converter
    78
  - Interfacing
    79
  - Communication
    79
  - Baud Rate
    79
  - External Data
    79
  - GPIO Pins and Auxiliary RS232
    79
  - GPIO Pins Voltage Level
    80
  - Gnss Rs232
    80
  - Version
    80
  - Dynamic Pin Functions
    80
  - 1PPS Output
    81
  - GNSS Fix Output
    82
  - Odometer Input
    82
  - Zero Velocity Input
    82
  - Pitot Tube Input
    82
  - NMEA Input
    82
  - NMEA Output
    83
  - Novatel GNSS Input
    83
  - Topcon GNSS Input
    84
  - ANPP Input
    84
  - ANPP Output
    84
  - Disable GNSS
    84
  - Disable Pressure
    84
  - Set Zero Orientation Alignment
    84
  - System State Packet Trigger
    84
  - Raw Sensors Packet Trigger
    84
  - RTCM Differential GNSS Corrections Input
    84
  - Trimble GNSS Input
    85
  - U-Blox GNSS Input
    85
  - Hemisphere GNSS Input
    85
  - Left Wheel Speed Sensor
    85
  - Right Wheel Speed Sensor
    85
  - 1PPS Input
    85
  - Wheel Speed Sensor
    85
  - Wheel Encoder Phase a
    85
  - Wheel Encoder Phase B
    86
  - Event 1 Input
    86
  - Event 2 Input
    86
- TSS1 Output
  86
- Simrad 1000 Output
  86
  - Simrad 3000 Output
    86
  - Serial Port Passthrough
    86
Gimbal Encoder Phase a
86
- Gimbal Encoder Phase B
  87
- Odometer Direction, Forward Low
  87
- Odometer Direction, Forward High
  87
- Advanced Navigation Packet Protocol
  88
- Data Types
  88
- Packet Structure
  88
- Header LRC
  89
- Packet ID
  89
- Packet Length
  89
- Crc
  89
- Packet Requests
  89
- Packet Acknowledgement
  90
- Packet Rates
  90
- Packet Timing
  90
- Packet Summary
  90
- System Packets
  93
  - Acknowledge Packet
    93
    
    Acknowledge Result
    93
  - Request Packet
    93
  - Boot Mode Packet
    94
    
    Boot Mode Types
    94
- Device Information Packet
  94
  - Restore Factory Settings Packet
    95
  - Reset Packet
    95
  - Verification Sequence Values
    95
    
    Serial Port Pass-Through Packet
    95
    
    Pass-Through Routes
    96
  - State Packets
    97
  - System State Packet
    97
  - System Status
    98
  - Filter Status
    99
  - GNSS Fix Status
    99
    
    Unix Time Seconds
    99
  - Microseconds
    100
    
    Unix Time Packet
    100
  - Formatted Time Packet
    100
  - Status Packet
    101
  - Position Standard Deviation Packet
    101
    
    Velocity Standard Deviation Packet
    101
    
    Euler Orientation Standard Deviation Packet
    102
    
    Quaternion Orientation Standard Deviation Packet
    102
  - Raw Sensors Packet
    103
  - Raw GNSS Packet
    103
  - Raw GNSS Status
    104
  - Satellites Packet
    105
  - Detailed Satellites Packet
    105
  - Satellite Systems
    106
  - Satellite Frequencies
    106
  - Geodetic Position Packet
    106
  - ECEF Position Packet
    107
  - UTM Position Packet
    107
  - NED Velocity Packet
    107
  - Body Velocity Packet
    108
    
    Acceleration Packet
    108
  - Body Acceleration Packet
    108
    
    Euler Orientation Packet
    109
  - Quaternion Orientation Packet
    109
  - DCM Orientation Packet
    110
  - Angular Velocity Packet
    110
  - Angular Acceleration Packet
    111
  - External Position & Velocity Packet
    111
  - External Position Packet
    112
  - External Velocity Packet
    112
  - External Body Velocity Packet
    113
  - External Heading Packet
    113
  - Running Time Packet
    113
  - Local Magnetic Field Packet
    114
  - Odometer State Packet
    114
  - External Time Packet
    114
  - External Depth Packet
    115
  - Geoid Height Packet
    115
  - RTCM Corrections Packet
    115
  - External Pitot Pressure Packet
    115
  - Wind Packet
    116
    
    Heave Packet
    117
  - Post Processing Packet
    117
    
    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
  - North Seeking Initialisation Status Packet
    122
    
    North Seeking Initialisation Status Flags
    123
    
    North Seeking Initialisation Current Rotation Angle
    123
    
    Gimbal State Packet
    123
  - Automotive Packet
    124
  - Configuration Packets
    125
  - Packet Timer Period Packet
    125
    
    UTC Synchronisation
    125
    
    Packet Timer Period
    125
    
    Packets Period Packet
    126
    
    Clear Existing Packets
    126
  - Packet Period
    126
  - Baud Rates Packet
    127
  - Installation Alignment Packet
    128
  - Alignment DCM
    128
    
    Filter Options Packet
    129
    
    Vehicle Types
    130
    
    Advanced Filter Parameters Packet
    130
    
    GPIO Configuration Packet
    130
    
    GPIO1 Functions
    131
    
    GPIO2 Functions
    132
  - Auxiliary RS232 Transmit Functions
    133
  - Auxiliary RS232 Receive Functions
    133
  - Odometer Configuration Packet
    134
  - Set Zero Orientation Alignment Packet
    134
  - Reference Point Offsets Packet
    134
  - GPIO Output Configuration Packet
    136
  - NMEA Fix Behaviour
    136
- GPIO Output Rates
  136
- GPIO Output Rates Index
  137
Dual Antenna Configuration Packet
137
Automatic Offset Orientations
138
User Data Packet
138
GPIO Input Configuration Packet
138
Offset Types
138

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