Advanced Navigation GNSS Compass Manual de usuario

GNSS Compass

Reference Manual

v2.0 04 Nov 2021

Contents

1 Revision History 1

2 Introduction 2

2.1 Firmware Changelog 3

2.2 Hardware Changelog 3

3 Getting Started 4

3.1 NMEA 2000 Connection 6

3.2 NMEA 0183 Connection 6

3.3 Power over Ethernet Connection 6

3 Evaluation Kit 7

3.4 Evaluation Kit Contents 7

4 Part Numbers and Ordering 10

4.1 Evaluation Kits 10

4.2 Standalone Units 10

4.3 Accessories 11

5 Specifications 12

5.1 Navigation Specifications 12

5.1.1 GNSS Specifications 12

5.2 Hardware Specifications 13

5.2.1 Ethernet Variant 13

5.2.2 Serial Variant 13

5.2.3 Mechanical Drawings 14

5.2.4 Axes 15

5.2.5 Serial Number 15

5.3 Communication Specifications 17

5.3.1 Ethernet Variant 17

5.3.2 Serial Variant 17

5.4 Electrical Specifications 17

5.5 Certification 18

6 Installing GNSS Compass 20

6.1 Installation Checklist 20

6.1.1 Connection Options 20

6.1.1.1 NMEA 2000 21

6.1.1.2 NMEA 0183 21

6.1.1.3 Ethernet 21

Page i

6.1.1.4 ANPP 21

6.1.2 Configuration 22

6.1.2.1 Serial Variants 22

6.1.2.2 Ethernet Variants 22

6.2 Mounting GNSS Compass 22

6.2.1 Mounting Location 22

6.2.2 Mounting Options 23

6.2.2.1 Pole mounting 23

6.2.2.2 Surface mounting 24

6.3 Mounting Alignment 25

6.4 Networking 27

6.5 Vibration 27

7 Using GNSS Compass 29

7.1 Filter Initialisation 29

7.1.1 Orientation Initialisation 29

7.1.2 Navigation Initialisation 30

7.1.3 Heading Initialisation 30

7.1.4 Time Initialisation 30

7.2 Hot Start 30

7.3 Time 31

7.4 Heading Sources 31

7.4.1 Dual Antenna Heading 31

7.4.2 External Heading 31

7.5 NMEA 2000 31

7.6 NMEA 0183 32

7.7 Sensor Ranges 34

7.8 Vehicle Profiles 34

7.9 RTK 34

7.9.1 Network RTK Corrections (NTRIP) 34

7.9.2 Radio Modem RTK Corrections 35

7.9.3 Supported RTCM Messages 35

7.10 Heave 36

7.11 Environmental Exposure 36

7.11.1 Temperature 36

7.11.2 Water 36

7.11.3 Salt 36

7.11.4 Dirt and Dust 36

7.11.5 pH Level 36

7.11.6 Shocks 36

7.11.7 Atmospheres 37

7.12 Upgrading the GNSS Compass Firmware 37

8 Configuring and Monitoring GNSS Compass 38

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8.1 Using the Web User Interface 38

8.1.1 Main View 39

8.1.1.1 Status Indicator 39

8.1.1.2 Current Time, Position and Heading 40

8.1.1.3 Altitude Indicator 40

8.1.1.4 Satellites Table 40

8.1.1.5 Map 40

8.1.1.6 Map Controls 40

8.1.2 View Menu 40

8.1.2.1 Map 40

8.1.2.2 Device Information 40

8.1.2.3 Status 41

8.1.2.4 Satellites 41

8.1.2.5 Raw Sensors 42

8.1.2.6 Orientation 43

8.1.2.7 Position 44

8.1.2.8 Velocity and Acceleration 45

8.1.2.9 GNSS Receiver Information 46

8.1.3 Configuration Menu 47

8.1.3.1 Sensor Ranges 47

8.1.3.2 Filter Options 47

8.1.3.3 Data Ports 47

8.1.3.4 Alignment 48

8.1.3.5 Reset 48

8.1.3.6 Manual Initialisation 49

8.1.3.7 Ethernet Settings 49

8.1.3.8 NTRIP Client 50

8.1.4 Tools Menu 51

8.1.4.1 Firmware Update 51

8.2 Using GNSS Compass Manager 52

8.2.1 Software Changelog 53

8.2.2 System Requirements 53

8.2.3 Installation and Starting 54

8.2.4 Troubleshooting 54

8.2.4.1 Windows 54

8.2.4.2 Linux 56

8.2.5 Main View 57

8.2.5.1 Serial Port 57

8.2.5.2 Baud Rate 57

8.2.5.3 Connect / Disconnect 57

8.2.5.4 3D Map 58

8.2.6 View Menu 58

8.2.6.1 Communications 58

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8.2.7 Configuration Menu 58

8.2.7.1 Configuration Export 58

8.2.7.2 Alignment 58

8.2.7.3 Port Mode and Baud Rates 59

8.2.7.4 GPIO 60

8.2.7.5 GPIO Output 60

8.2.8 Tools 61

8.2.8.1 Log Converter 62

8.2.8.2 NTRIP Client 62

8.2.8.3 Network Connect 63

8.2.8.4 Serial Pass-through 63

8.2.9 Logging 64

8.3 Using the Android App 64

8.4 Using ANPP 64

9 Interfacing 65

9.1 Ethernet 65

9.1.1 Ethernet Modes 65

9.1.2 Ethernet Functions 66

9.1.2.1 NMEA Input 67

9.1.2.2 ANPP Input 67

9.1.2.3 NMEA Output 68

9.1.2.4 ANPP Output 68

9.1.2.5 TSS1 Output 68

9.1.2.6 Simrad 1000 Output 68

9.1.2.7 Simrad 3000 Output 68

9.1.2.8 GNSS Receiver Passthrough 69

9.2 Serial Interface 69

9.2.1 Baud Rate 69

9.2.2 Format 69

9.3 1PPS Signal 69

9.4 CAN Interface 69

10 Advanced Navigation Packet Protocol 70

10.1 AboutPackets 73

10.1.1 Packet Structure 73

10.1.1.1 Header LRC 74

10.1.1.2 Packet ID 74

10.1.1.3 Packet Length 74

10.1.1.4 CRC 74

10.1.2 Packet Requests 74

10.1.3 Packet Acknowledgement 74

10.1.4 Packet Rates 74

10.1.5 Packet Timing 75

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10.2 Data Types 75

10.3 System Packets 76

10.3.1 Acknowledge Packet 76

10.3.1.1 Acknowledge Result 77

10.3.2 Request Packet 77

10.3.3 Boot Mode Packet 77

10.3.3.1 Boot Mode Types 77

10.3.4 Device Information Packet 78

10.3.4.1 Device ID 78

10.3.5 Restore Factory Settings Packet 78

10.3.6 Reset Packet 79

10.3.6.1 Verification Sequence Values 79

10.3.7 Serial Port Passthrough Packet 79

10.3.7.1 Passthrough Routes 79

10.3.8 IP Configuration Packet 80

10.3.8.1 DHCP Mode 80

10.4 State Packets 81

10.4.1 System State Packet 84

10.4.1.1 System Status 85

10.4.1.2 Filter Status 86

10.4.1.3 GNSS Fix Status 86

10.4.1.4 Unix Time Seconds 87

10.4.1.5 Microseconds 87

10.4.2 Unix Time Packet 87

10.4.3 Formatted Time Packet 87

10.4.4 Status Packet 88

10.4.5 Position Standard Deviation Packet 88

10.4.6 Velocity Standard Deviation Packet 88

10.4.7 Euler Orientation Standard Deviation Packet 89

10.4.8 Quaternion Orientation Standard Deviation Packet 89

10.4.9 Raw Sensors Packet 90

10.4.10 Raw GNSS Packet 91

10.4.10.1 Raw GNSS Status 91

10.4.11 Satellites Packet 92

10.4.12 Detailed Satellites Packet 93

10.4.12.1 Satellite Systems 93

10.4.12.2 Satellite Frequencies 93

10.4.13 Geodetic Position Packet 94

10.4.14 ECEF Position Packet 94

10.4.15 UTM Position Packet 94

10.4.16 NED Velocity Packet 95

10.4.17 Body Velocity Packet 95

10.4.18 Acceleration Packet 95

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10.4.19 Body Acceleration Packet 97

10.4.20 Euler Orientation Packet 97

10.4.21 Quaternion Orientation Packet 97

10.4.22 DCM Orientation Packet 98

10.4.23 Angular Velocity Packet 98

10.4.24 Angular Acceleration Packet 99

10.4.25 External Position and Velocity Packet 99

10.4.26 External Position Packet 100

10.4.27 External Velocity Packet 100

10.4.28 External Body Velocity Packet 101

10.4.29 External Heading Packet 101

10.4.30 Running Time Packet 101

10.4.31 Local Magnetic Field Packet 102

10.4.32 External Time Packet 102

10.4.33 Geoid Height Packet 103

10.4.34 RTCM Corrections Packet 103

10.4.35 Heave Packet 104

10.4.36 Raw Satellite Data Packet 104

10.4.36.1 Satellite Systems 105

10.4.36.2 Satellite Frequencies 105

10.4.36.3 Tracking Status 106

10.4.37 GNSS Receiver Information Packet 106

10.4.37.1 GNSS Manufacturer IDs and Receiver Models 106

10.4.37.2 RTK Software License Accuracy 107

10.4.38 Automotive Packet 107

10.4.39 External Magnetometers Packet 108

10.4.39.1 External Magnetometers Flags 108

10.5 Configuration Packets 108

10.5.1 Packets Period Packet 110

10.5.1.1 Flags 110

10.5.1.2 Clear Existing Packets 110

10.5.1.3 Packet Period 110

10.5.2 Baud Rates Packet 111

10.5.2.1 Supported Baud Rate 111

10.5.3 Sensor Ranges Packet 112

10.5.3.1 Accelerometers Range 112

10.5.3.2 Gyroscopes Range 112

10.5.3.3 Magnetometers Range 112

10.5.4 Installation Alignment Packet 112

10.5.4.1 Alignment DCM 114

10.5.5 Filter Options Packet 114

10.5.5.1 Vehicle Types 114

10.5.6 Port Function Configuration Packet 115

Page vi

10.5.6.1 Ports 116

10.5.6.2 Transmit and Receive Functions 116

10.5.7 Set Zero Orientation Alignment Packet 116

10.5.8 Reference Point Offsets Packet 118

10.5.9 Port Output Configuration Packet 119

10.5.9.1 NMEA Fix Behaviour 119

10.5.9.2 Port Output Rates 119

10.5.9.3 Output Rates Index 120

10.5.10 User Data Packet 120

11 Reference Information 121

11.1 Technology Overview 121

11.1.1 GNSS 121

11.1.2 AHRS 121

11.1.3 INS 121

11.1.4 GNSS/INS 121

11.2 The Sensor Co-ordinate Frame 122

11.3 The Body Co-ordinate Frame 123

11.4 Roll, Pitch and Heading 123

11.4.1 Second Right Hand Rule 124

11.4.2 Rotation Order 124

11.5 Geodetic Co-ordinate System 124

11.6 NED Co-ordinate Frame 126

11.7 ECEF Co-ordinate Frame 127

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Page viii

D I S C L A I M E R

Information in this document is provided solely in connection with Advanced Navigation products.

Advanced Navigation reserves the right to make changes, corrections, modifications or improvements, to

this document, and the products and services described herein at any time, without notice.

All Advanced Navigation products are sold pursuant to Advanced Navigation’s terms and conditions of

sale.

Purchasers are solely responsible for the choice, selection and use of the Advanced Navigation products

and services described herein, and Advanced Navigation assumes no liability whatsoever relating to the

choice, selection or use of the Advanced Navigation products and services described herein.

No license, express or implied, by estoppel or otherwise, to any intellectual property rights is granted under

this document. 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.

UNLESS OTHERWISE SET FORTH IN ADVANCED NAVIGATION’S TERMS AND CONDITIONS OF

SALE ADVANCED NAVIGATION DISCLAIMS ANY EXPRESS OR IMPLIED WARRANTY WITH

RESPECT TO THE USE AND/OR SALE OF ADVANCED NAVIGATION PRODUCTS INCLUDING

WITHOUT LIMITATION IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A

PARTICULAR PURPOSE (AND THEIR EQUIVALENTS UNDER THE LAWS OF ANY JURISDICTION),

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AUTHORIZED OR WARRANTED FOR USE IN MILITARY, AIR CRAFT, SPACE, LIFE SAVING, OR LIFE

SUSTAINING APPLICATIONS, NOR IN PRODUCTS OR SYSTEMS WHERE FAILURE OR

MALFUNCTION MAY RESULT IN PERSONAL INJURY, DEATH, OR SEVERE PROPERTY OR

ENVIRONMENTAL DAMAGE.

ADVANCED NAVIGATION PRODUCTS WHICH ARE NOT SPECIFIED AS "AUTOMOTIVE GRADE"

MAY ONLY BE USED IN AUTOMOTIVE APPLICATIONS AT USER’S OWN RISK.

Resale of Advanced Navigation products with provisions different from the statements and/or technical

features set forth in this document shall immediately void any warranty granted by Advanced Navigation

for the Advanced Navigation product or service described herein and shall not create or extend in any

manner whatsoever, any liability of Advanced Navigation.

Information in this document supersedes and replaces all information previously supplied.

Document Version: 2.0 Publication Date:04 Nov 2021

For more information, contact technical support via email at support@advancednavigation.com.

1 Revision History

Version Date Changes

2.0 4 November 2021 Major update for v2 hardware

Updated 2.1 Firmware Changelog

Updated POE injector from AC to DC

1.1 13 Jan 2021 Updated 2.1 Firmware Changelog

Updated 4 Part Numbers and Ordering

Revised wording on 5.5 Certification

Updated NMEA 0183

Added precise time protocol (PTP)

1.0 23 Jan 2018 Initial Release

Table 1: Revision History

v2.0 Page 1 04 Nov 2021

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