Advanced Navigation Spatial FOG Dual Reference Manual

Page 1 of 138 Version 1.0 26/06/2015 Table of Contents 1 Revision History...........................................................................................................8 2 Firmware Changelog....................................................................................................9 3 Hardware Changelog.................................................................................................10 4 Introduction...............................................................................................................11 5 Foundation Knowledge..............................................................................................12 5.1 GNSS..................................................................................................................12 5.2 INS......................................................................................................................12 5.3 GNSS/INS............................................................................................................12 5.4 AHRS..................................................................................................................12 5.5 RTK GNSS...........................................................................................................13 5.6 The Sensor Co-ordinate Frame...........................................................................13 5.7 Roll, Pitch and Heading.......................................................................................13 5.7.1 Second Right Hand Rule..............................................................................14 5.7.2 Rotation Order.............................................................................................14 5.8 Geodetic Co-ordinate System.............................................................................15 5.9 NED Co-ordinate Frame......................................................................................16 5.10 ECEF Co-ordinate Frame...................................................................................17 6 Evaluation Kit............................................................................................................18 6.1 Kit Contents........................................................................................................18 6.2 Quick Start..........................................................................................................18 6.3 Antenna Survey Mount Assembly.......................................................................19 7 Part Numbers and Ordering Options..........................................................................20 7.1 Evaluation Kit.....................................................................................................20 7.2 Standalone Unit..................................................................................................20 7.3 Internal GNSS Receiver License Upgrades..........................................................20 7.4 Accessories.........................................................................................................21 8 Specifications............................................................................................................22 8.1 Mechanical Drawings..........................................................................................22 8.2 Navigation Specifications...................................................................................23 8.3 Heading Accuracy...............................................................................................23 8.4 Sensor Specifications..........................................................................................24 8.5 GNSS Specifications............................................................................................24 8.6 Communication Specifications............................................................................25 8.7 Hardware Specifications.....................................................................................25 8.8 Electrical Specifications......................................................................................26 8.9 Power Consumption............................................................................................27 8.10 Connector Pin-out.............................................................................................27 8.11 Spatial FOG Dual Evaluation Cable Harness.....................................................28 8.12 Serial Number...................................................................................................30 9 Installation.................................................................................................................31 9.1 Installation Checklist..........................................................................................31 9.2 Position and Alignment.......................................................................................31 9.2.1 Alignment....................................................................................................32 9.3 Mounting Plate....................................................................................................32 9.4 Power Supply......................................................................................................33 9.5 GNSS Antennas...................................................................................................34 9.6 GNSS Antenna Cables.........................................................................................36 9.7 Static Port...........................................................................................................36

Page 2 of 138 Version 1.0 26/06/2015 9.8 Odometer...........................................................................................................36 9.8.1 Factory VSS Signal.......................................................................................36 9.8.2 OBDII Odometer Interface...........................................................................36 9.8.3 Aftermarket Wheel Speed Sensor................................................................37 9.8.4 Radar Speed Sensor....................................................................................37 9.9 Vibration.............................................................................................................38 10 Operation.................................................................................................................39 10.1 Filter.................................................................................................................39 10.2 Initialisation......................................................................................................39 10.2.1 Orientation Initialisation............................................................................39 10.2.2 Navigation Initialisation.............................................................................40 10.2.3 Heading Initialisation.................................................................................40 10.2.4 Time Initialisation......................................................................................40 10.3 Hot Start...........................................................................................................40 10.4 Time.................................................................................................................41 10.5 Heading Source................................................................................................41 10.5.1 Dual Antenna Heading...............................................................................41 10.5.2 North Seeking Gyrocompass Heading.......................................................41 10.5.3 Velocity Heading........................................................................................42 10.5.4 External Heading.......................................................................................43 10.6 Magnetics.........................................................................................................43 10.7 Data Anti Aliasing.............................................................................................43 10.8 Vehicle Profiles.................................................................................................43 10.9 Odometer Pulse Length....................................................................................43 10.9.1 Odometer Automatic Pulse Length Calibration Procedure.........................44 10.10 Reversing Detection.......................................................................................44 10.11 Motion Analysis...............................................................................................44 10.12 RAIM...............................................................................................................44 10.13 RTK.................................................................................................................44 10.13.1 Cellular RTK corrections...........................................................................45 10.13.2 Base station radio modem RTK corrections.............................................45 10.14 Heave.............................................................................................................46 10.15 Environmental Exposure.................................................................................46 10.15.1 Temperature............................................................................................46 10.15.2 Water.......................................................................................................46 10.15.3 Salt..........................................................................................................46 10.15.4 Dirt and Dust...........................................................................................47 10.15.5 PH Level...................................................................................................47 10.15.6 Shocks.....................................................................................................47 11 Spatial FOG Manager...............................................................................................48 11.1 Software Changelog.........................................................................................49 11.2 System Requirements.......................................................................................49 11.3 Installation........................................................................................................49 11.4 Troubleshooting................................................................................................49 11.4.1 All Platforms..............................................................................................49 11.4.2 Windows....................................................................................................49 11.4.3 Linux..........................................................................................................50 11.5 Main View.........................................................................................................52 11.5.1 Serial Port..................................................................................................52 11.5.2 Attitude Indicator.......................................................................................52

Page 3 of 138 Version 1.0 26/06/2015 11.5.3 Status Indicator.........................................................................................53 11.5.3.1 Spatial Status Indicator......................................................................53 11.5.3.2 Fix Indicator........................................................................................53 11.5.3.3 Satellites Table...................................................................................53 11.5.4 3D Map......................................................................................................53 11.5.5 3D Map Controls........................................................................................53 11.5.5.1 Reset View..........................................................................................53 11.5.5.2 Clear History.......................................................................................53 11.6 Logging.............................................................................................................53 11.7 Views................................................................................................................54 11.7.1 Device Information....................................................................................55 11.7.2 Status........................................................................................................55 11.7.3 Satellites....................................................................................................56 11.7.4 Raw Sensors..............................................................................................57 11.7.5 Orientation................................................................................................58 11.7.6 Position......................................................................................................59 11.7.7 Velocity and Acceleration..........................................................................60 11.7.8 3D Model...................................................................................................61 11.7.9 Communications Statistics........................................................................61 11.7.10 GNSS Receiver Information......................................................................62 11.7.11 Heave......................................................................................................62 11.7.12 North Seeking Status...............................................................................63 11.8 Configuration....................................................................................................65 11.8.1 Configuration Export.................................................................................65 11.8.2 Filter Options.............................................................................................66 11.8.3 Packet Rates..............................................................................................67 11.8.4 Alignment Configuration............................................................................68 11.8.4.1 Alignment Offset.................................................................................68 11.8.4.2 GNSS Antenna Offset..........................................................................69 11.8.4.3 Odometer Offset.................................................................................69 11.8.4.4 External Data Offset...........................................................................69 11.8.5 Baud Rates................................................................................................69 11.8.6 GPIO Configuration....................................................................................70 11.8.7 Odometer..................................................................................................70 11.8.8 Reset.........................................................................................................71 11.8.9 Heave Offset..............................................................................................71 11.8.10 GPIO Output............................................................................................72 11.8.11 Position Configuration..............................................................................74 11.8.12 Dual Antenna...........................................................................................75 11.9 Tools.................................................................................................................76 11.9.1 Terminal.....................................................................................................76 11.9.2 Firmware Update.......................................................................................76 11.9.3 Log Converter............................................................................................77 12 Interfacing...............................................................................................................78 12.1 Communication................................................................................................78 12.1.1 Baud Rate..................................................................................................78 12.2 External Data....................................................................................................78 12.3 GPIO Pins and Auxiliary RS232.........................................................................78 12.3.1 GPIO Pins Voltage Level.............................................................................79 12.3.2 GNSS RS232..............................................................................................79

Page 4 of 138 Version 1.0 26/06/2015 12.4 Dynamic Pin Functions......................................................................................79 12.4.1 1PPS Output..............................................................................................80 12.4.2 GNSS Fix Output........................................................................................81 12.4.3 Odometer Input.........................................................................................81 12.4.4 Zero Velocity Input....................................................................................81 12.4.5 Pitot Tube Input..........................................................................................81 12.4.6 NMEA Input................................................................................................81 12.4.7 NMEA Output.............................................................................................82 12.4.8 Novatel GNSS Input...................................................................................82 12.4.9 Topcon GNSS Input....................................................................................83 12.4.10 ANPP Input...............................................................................................83 12.4.11 ANPP Output............................................................................................83 12.4.12 Disable GNSS...........................................................................................83 12.4.13 Disable Pressure......................................................................................83 12.4.14 Set Zero Orientation Alignment...............................................................83 12.4.15 System State Packet Trigger....................................................................83 12.4.16 Raw Sensors Packet Trigger.....................................................................83 12.4.17 RTCM Differential GNSS Corrections Input...............................................83 12.4.18 Trimble GNSS Input..................................................................................84 12.4.19 u-blox GNSS Input....................................................................................84 12.4.20 Hemisphere GNSS Input..........................................................................84 12.4.21 Left Wheel Speed Sensor.........................................................................84 12.4.22 Right Wheel Speed Sensor......................................................................84 12.4.23 1PPS Input...............................................................................................84 12.4.24 Wheel Speed Sensor................................................................................84 12.4.25 Wheel Encoder Phase A...........................................................................84 12.4.26 Wheel Encoder Phase B...........................................................................85 12.4.27 Event 1 Input...........................................................................................85 12.4.28 Event 2 Input...........................................................................................85 12.4.29 TSS1 Output............................................................................................85 12.4.30 Simrad 1000 Output................................................................................85 12.4.31 Simrad 3000 Output................................................................................85 12.4.32 Serial Port Passthrough............................................................................85 12.4.33 Gimbal Encoder Phase A..........................................................................85 12.4.34 Gimbal Encoder Phase B..........................................................................86 12.4.35 Odometer Direction, Forward Low...........................................................86 12.4.36 Odometer Direction, Forward High..........................................................86 13 Advanced Navigation Packet Protocol......................................................................87 13.1 Data Types........................................................................................................87 13.2 Packet Structure...............................................................................................87 13.2.1 Header LRC................................................................................................88 13.2.2 Packet ID...................................................................................................88 13.2.3 Packet Length............................................................................................88 13.2.4 CRC............................................................................................................88 13.3 Packet Requests...............................................................................................88 13.4 Packet Acknowledgement.................................................................................89 13.5 Packet Rates.....................................................................................................89 13.6 Packet Timing...................................................................................................89 13.7 Packet Summary...............................................................................................89 13.8 System Packets.................................................................................................92

Page 5 of 138 Version 1.0 26/06/2015 13.8.1 Acknowledge Packet..................................................................................92 13.8.1.1 Acknowledge Result...........................................................................92 13.8.2 Request Packet..........................................................................................92 13.8.3 Boot Mode Packet......................................................................................93 13.8.3.1 Boot Mode Types................................................................................93 13.8.4 Device Information Packet.........................................................................93 13.8.5 Restore Factory Settings Packet.................................................................94 13.8.6 Reset Packet..............................................................................................94 13.8.6.1 Verification Sequence Values..............................................................94 13.8.7 Serial Port Pass-through Packet.................................................................94 13.8.7.1 Pass-through Routes...........................................................................95 13.9 State Packets....................................................................................................96 13.9.1 System State Packet..................................................................................96 13.9.1.1 System Status....................................................................................97 13.9.1.2 Filter Status........................................................................................98 13.9.1.3 GNSS Fix Status..................................................................................98 13.9.1.4 Unix Time Seconds.............................................................................98 13.9.1.5 Microseconds......................................................................................99 13.9.2 Unix Time Packet.......................................................................................99 13.9.3 Formatted Time Packet..............................................................................99 13.9.4 Status Packet...........................................................................................100 13.9.5 Position Standard Deviation Packet.........................................................100 13.9.6 Velocity Standard Deviation Packet.........................................................100 13.9.7 Euler Orientation Standard Deviation Packet...........................................101 13.9.8 Quaternion Orientation Standard Deviation Packet.................................101 13.9.9 Raw Sensors Packet.................................................................................102 13.9.10 Raw GNSS Packet..................................................................................102 13.9.10.1 Raw GNSS Status............................................................................103 13.9.11 Satellites Packet....................................................................................104 13.9.12 Detailed Satellites Packet......................................................................104 13.9.12.1 Satellite Systems............................................................................105 13.9.12.2 Satellite Frequencies......................................................................105 13.9.13 Geodetic Position Packet........................................................................105 13.9.14 ECEF Position Packet..............................................................................106 13.9.15 UTM Position Packet...............................................................................106 13.9.16 NED Velocity Packet...............................................................................106 13.9.17 Body Velocity Packet..............................................................................107 13.9.18 Acceleration Packet...............................................................................107 13.9.19 Body Acceleration Packet......................................................................107 13.9.20 Euler Orientation Packet........................................................................108 13.9.21 Quaternion Orientation Packet..............................................................108 13.9.22 DCM Orientation Packet.........................................................................109 13.9.23 Angular Velocity Packet.........................................................................109 13.9.24 Angular Acceleration Packet..................................................................110 13.9.25 External Position & Velocity Packet........................................................110 13.9.26 External Position Packet.........................................................................111 13.9.27 External Velocity Packet........................................................................111 13.9.28 External Body Velocity Packet................................................................112 13.9.29 External Heading Packet........................................................................112 13.9.30 Running Time Packet.............................................................................112

Page 6 of 138 Version 1.0 26/06/2015 13.9.31 Local Magnetic Field Packet...................................................................113 13.9.32 Odometer State Packet..........................................................................113 13.9.33 External Time Packet.............................................................................113 13.9.34 External Depth Packet...........................................................................114 13.9.35 Geoid Height Packet..............................................................................114 13.9.36 RTCM Corrections Packet.......................................................................114 13.9.37 External Pitot Pressure Packet...............................................................114 13.9.38 Wind Packet...........................................................................................115 13.9.39 Heave Packet.........................................................................................116 13.9.40 Post Processing Packet..........................................................................116 13.9.41 Raw Satellite Data Packet......................................................................117 13.9.41.1 Satellite Frequencies......................................................................118 13.9.41.2 Tracking Status...............................................................................118 13.9.42 Raw Satellite Ephemeris Packet.............................................................118 13.9.43 External Odometer Packet.....................................................................119 13.9.43.1 Odometer flags...............................................................................119 13.9.44 External Air Data Packet........................................................................119 13.9.44.1 External Air Data Flags...................................................................120 13.9.44.2 Notes..............................................................................................120 13.9.45 GNSS Receiver Information Packet........................................................120 13.9.45.1 GNSS Manufacturer IDs..................................................................120 13.9.45.2 GNSS Receiver Models....................................................................121 13.9.46 North Seeking Initialisation Status Packet.............................................121 13.9.46.1 North Seeking Initialisation Status Flags........................................122 13.9.46.2 North Seeking Initialisation Current Rotation Angle........................122 13.9.47 Gimbal State Packet..............................................................................122 13.9.48 Automotive Packet.................................................................................123 13.10 Configuration Packets...................................................................................124 13.10.1 Packet Timer Period Packet....................................................................124 13.10.1.1 UTC Synchronisation.......................................................................124 13.10.1.2 Packet Timer Period........................................................................124 13.10.2 Packets Period Packet............................................................................125 13.10.2.1 Clear Existing Packets....................................................................125 13.10.2.2 Packet Period..................................................................................125 13.10.3 Baud Rates Packet.................................................................................126 13.10.4 Installation Alignment Packet................................................................127 13.10.4.1 Alignment DCM...............................................................................127 13.10.5 Filter Options Packet..............................................................................128 13.10.5.1 Vehicle Types..................................................................................129 13.10.6 Advanced Filter Parameters Packet........................................................129 13.10.7 GPIO Configuration Packet.....................................................................129 13.10.7.1 GPIO1 Functions.............................................................................130 13.10.7.2 GPIO2 Functions.............................................................................131 13.10.7.3 Auxiliary RS232 Transmit Functions................................................132 13.10.7.4 Auxiliary RS232 Receive Functions.................................................132 13.10.8 Odometer Configuration Packet.............................................................133 13.10.9 Set Zero Orientation Alignment Packet..................................................133 13.10.10 Reference Point Offsets Packet............................................................133 13.10.11 GPIO Output Configuration Packet.......................................................135 13.10.11.1 NMEA Fix Behaviour......................................................................135

Page 7 of 138 Version 1.0 26/06/2015 13.10.11.2 GPIO Output Rates........................................................................135 13.10.11.3 GPIO Output Rates Index..............................................................136 13.10.12 Dual Antenna Configuration Packet.....................................................136 13.10.12.1 Offset Types..................................................................................137 13.10.12.2 Automatic Offset Orientations......................................................137 13.10.13 User Data Packet.................................................................................137 13.10.14 GPIO Input Configuration Packet..........................................................137

Page 8 of 138 Version 1.0 26/06/2015 1 Revision History Version Date Changes 1.0 26/06/2015 Initial release Table 1: Revision history

Page 9 of 138 Version 1.0 26/06/2015 2 Firmware Changelog Version Date Changes 1.0 08/04/2015 Initial release Table 2: Firmware changelog

Page 10 of 138 Version 1.0 26/06/2015 3 Hardware Changelog Version Date Changes 1.0 14/01/2015 Initial release Table 3: Hardware changelog

Page 11 of 138 Version 1.0 26/06/2015 4 Introduction Spatial FOG Dual is a ruggedised GPS aided inertial navigation system and AHRS that provides accurate position, velocity, acceleration and orientation under the most demanding conditions. It combines ultra high accuracy fibre optic gyroscopes, accelerometers, magnetometers and a pressure sensor with a dual antenna RTK GNSS receiver. These are coupled in a sophisticated fusion algorithm to deliver accurate and reliable navigation and orientation. Spatial FOG Dual can provide amazing results but it does need to be set up properly and operated with an awareness of it’s limitations. Please read through this manual carefully to ensure success within your application. The Spatial FOG Manager software is downloadable from the software section. It allows Spatial FOG Dual to be easily configured and tested. It is referenced throughout this manual. If you have any questions please contact [email protected].

Page 12 of 138 Version 1.0 26/06/2015 5 Foundation Knowledge This chapter is a learning reference that briefly covers knowledge essential to understanding Spatial FOG Dual and the following chapters. It explains the concepts in simple terms so that people unfamiliar with the technology may understand it. 5.1 GNSS GNSS stands for global navigation satellite system. A GNSS consists of a number of satellites in space that broadcast navigation signals. These navigation signals can be picked up by a GNSS receiver on the earth to determine that receiver’s position and velocity. For a long time the only operational GNSS was the United States GPS. However the Russian GLONASS is now fully operational with similar performance to GPS. The Chinese BeiDou is in the process of becoming operational and the European Union’s GALILEO should be operational within ten years. GNSS is excellent for navigational purposes and provides fairly accurate position (2.5 metres) and velocity (0.03 metres/second). The main drawback of GNSS is that the receiver must have a clear signal from at least 4 satellites to function. GNSS satellite signals are very weak and struggle to penetrate through buildings and other objects obstructing view of the sky. GNSS can also occasionally drop out due to disturbances in the upper atmosphere. 5.2 INS INS stands for inertial navigation system. An inertial navigation system can provide position and velocity similar to GNSS but with some big differences. The principle of inertial navigation is the measurement of acceleration. This acceleration is then integrated into velocity. The velocity is then integrated into position. Due to noise in the measurement and the compounding of that noise through the integration, inertial navigation has an error that increases exponentially over time. Inertial navigation systems have a very low relative error over short time periods but over long time periods the error can increase dramatically. 5.3 GNSS/INS By combining GNSS and INS together in a mathematical algorithm, it is possible to take advantage of the benefits of GNSS long-term accuracy and INS short-term accuracy. This provides an overall enhanced position and velocity solution that can withstand short GNSS drop outs. 5.4 AHRS AHRS stands for attitude and heading reference system. An AHRS uses accelerometers, gyroscopes and magnetometers combined in a mathematical algorithm to provide orientation. Orientation consists of the three body angles roll, pitch and heading.

Page 13 of 138 Version 1.0 26/06/2015 5.5 RTK GNSS RTK stands for real time kinematic. RTK is a technology used to significantly enhance the accuracy of GNSS. With standard GNSS the accuracy achievable is approximately 2.5 metres, with RTK GNSS the accuracy achievable is 0.01 metres. RTK works by estimating the phase of the carrier wave of the GNSS signal. By using the phase of the carrier wave, rather than the data content, RTK is able to measure the signal 1000 times more precisely. RTK GNSS requires continuous correction data from a base station to function. These corrections are typically received either over a radio modem or through a cellular network. 5.6 The Sensor Co-ordinate Frame Inertial sensors have 3 different axes: X, Y and Z and these determine the directions around which angles and accelerations are measured. It is very important to align the axes correctly in installation otherwise the system won't work correctly. These axes are marked on the top of the device as shown in Illustration 1 below with the X axis pointing in the direction of the connector, the Z axis pointing down through the base of the unit and the Y axis pointing out of the starboard side. When installed in an application the X axis should be aligned such that it points forwards and the Z axis aligned so that it points down when level. A good way to remember the sensor axes is the right hand rule, which is visualised in Illustration 2. You take your right hand and extend your thumb, index and middle. Your thumb then denotes the X axis, your index denotes the Y axis and your middle denotes the Z axis. 5.7 Roll, Pitch and Heading Orientation can be described by the three angles roll, pitch and heading, these are known as the Euler angles. The rotation axes of roll, pitch and heading are shown Illustration 1: Spatial FOG Dual axes Illustration 2: First right hand rule

Page 14 of 138 Version 1.0 26/06/2015 visually in Illustration 1. The arrow indicates the positive rotation direction. Roll is the angle around the X axis and is zero when the unit is level. Pitch is the angle around the Y axis and is zero when the unit is level. Heading is the angle around the Z axis and is zero when the positive X axis is pointing to true north. 5.7.1 Second Right Hand Rule The two right hand rules are often the best way to memorise the sensor axes and directions of positive rotation. The first right hand rule gives the positive axis directions and is described in section 5.6. The second right hand rule shown in Illustration 3 provides the direction of positive rotation. To use it, point your thumb in the positive direction of that axis, then the direction that your fingers curl over is the positive rotation on that axis. 5.7.2 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. To deduce the final orientation the unit should first be considered level with the X axis pointing north and the Z axis pointing down. Heading is applied first, then pitch is applied and finally roll is applied to give the final orientation. This can be hard for some people to grasp at first and is often best learned experimentally by rotating Spatial FOG Dual with your hand whilst watching the orientation plot in real time on the computer. Illustration 3: Second right hand rule

Page 15 of 138 Version 1.0 26/06/2015 5.8 Geodetic Co-ordinate System The geodetic co-ordinate system is the most popular way of describing an absolute position on the Earth. It is made up of the angles latitude and longitude combined with a height relative to the ellipsoid. Latitude is the angle that specifies the north to south position of a point on the Earth's surface. Longitude is the angle that specifies the east to west position of a point on the Earth's surface. The line of zero latitude is the equator and the line of zero longitude is the prime meridian. Illustration 4 shows how latitude and longitude angles are used to describe a position on the surface of the Earth. Illustration 4: Latitude and longitude represented visually to describe a position

Page 16 of 138 Version 1.0 26/06/2015 Illustration 5 shows latitude and longitude on a map of the world. 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. Height is the height above the WGS84 reference ellipsoid. The WGS84 reference ellipsoid is a model used to approximate sea level across the Earth. Therefore the height should be considered approximately relative to sea level. Due to the approximate nature of the WGS84 model, the WGS84 height will not be the same as the actual sea level. For example, in Australia, the WGS84 height at sea level is 9 metres at some points. 5.9 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 can be considered the current position. From that origin, the north axis points true north and parallel to the line of longitude at that point. The east axis points perpendicular to the north axis and parallel to the line of latitude at that point. The down axis points directly down towards the centre of the Earth. See Illustration 6 for a graphical representation of the NED co- ordinate frame at a position on the Earth. Illustration 5: World map showing latitudes and longitudes Equator

Page 17 of 138 Version 1.0 26/06/2015 5.10 ECEF Co-ordinate Frame The ECEF (Earth-centred earth-fixed) co-ordinate frame is a Cartesian co-ordinate frame used to represent absolute positions on the Earth. It's origin is at the centre of the Earth. ECEF is an alternative to the geodetic co-ordinate frame. It is represented by the three axes X, Y and Z which are presented graphically in Illustration 6. ECEF positions can be retrieved from Advanced Navigation products however the geodetic system is used as the default. Illustration 6: Graphic showing geodetic, NED and ECEF co-ordinates

Page 18 of 138 Version 1.0 26/06/2015 6 Evaluation Kit Spatial FOG Dual is supplied in an evaluation kit that contains everything required to get started operating the system right away. The evaluation kit is supplied in a rugged transport case to protect the equipment during shipping. 6.1 Kit Contents 1. Spatial FOG Dual GNSS/INS 2. Interface cable harness, see section 8.11 3. 2x Antcom G5Ant-53A4T1 L1/L2/L5 GNSS antennas with 5/8”-11 survey mounts 4. 2x RG-58/U 4 metre antenna cable 5. 2 metre USB to RS422 cable 6. 100-240 V AC to 24 V DC power supply 6.2 Quick Start 1. Position the two GNSS antennas in a level orientation with a clear view of the sky. The primary antenna should be positioned directly forwards of the secondary antenna with separation of at least 0.5 metres. 2. Connect the coaxial cables between the antennas and Spatial FOG Dual. 3. Attach the interface cable harness to the Spatial FOG Dual unit and screw up finger tight. 4. Plug the power supply into the cable harness and then into the wall socket 5. Plug the USB to RS422 cable into the cable harness primary RS422 socket and your computer 6. Download the Spatial FOG Manager software from the Advanced Navigation Illustration 7: Spatial FOG Dual Evaluation Kit rugged transport case Illustration 8: Spatial FOG Dual Evaluation Kit contents

Page 19 of 138 Version 1.0 26/06/2015 website. Java is required to run the software. Java is available from http://www.java.com if not already installed. 7. Click the connect button in Spatial FOG Manager. 8. The various windows in Spatial FOG Manager can be used to view the real time data. 9. If dual antenna heading will take a short time to initialise. The progress can be monitored in the status view. 10.To view the data logs, click disconnect in Spatial FOG Manager. In the tools menu, select log converter and press convert. The *.anpp binary log file will be converted to CSV files that can be opened with popular data processing programs such as Matlab or Microsoft Excel. The log files can be found in the same folder as the Spatial FOG Manager software. 6.3 Antenna Survey Mount Assembly The Antcom G5Ant-53A4T1 antennas included in the evaluation kit can either be mounted to a panel or mounted to a standard 5/8”-11 survey mount thread with the optional survey mount kit included in the evaluation kit. Please see Illustration 9 below for assembly of antenna with the survey mount kit. Illustration 9: Antenna survey mount exploded view

Page 20 of 138 Version 1.0 26/06/2015 7 Part Numbers and Ordering Options 7.1 Evaluation Kit Part Number Description Notes SPATIAL-FOG-DUAL-EK Spatial FOG Dual Evaluation Kit Spatial FOG Dual evaluation kit Includes items listed in section 6.1 L1 GPS, GLONASS and SBAS DGNSS supported Raw satellite data output supported License required for RTK, L2, BeiDou and Galileo Table 4: Evaluation kit part numbers 7.2 Standalone Unit Part Number Description Notes SPATIAL-FOG-DUAL Spatial FOG Dual Unit Spatial FOG Dual unit L1 GPS, GLONASS and SBAS DGNSS supported Raw satellite data output supported License required for RTK, L2, BeiDou and Galileo No cables included Table 5: Standalone unit part numbers 7.3 Internal GNSS Receiver License Upgrades These license upgrades can either be ordered with the unit or purchased later and installed in the field using Spatial FOG Manager. Part Number Description Notes SFD-LIC-8MM RTK, L2, BeiDou and Galileo License Upgrade GNSS receiver software license upgrade that enables RTK, L2, BeiDou and Galileo Table 6: Internal GNSS receiver license upgrade part numbers

Page 21 of 138 Version 1.0 26/06/2015 7.4 Accessories Part Number Description Notes 8071-4336-78 Unterminated Interface Cable Spatial FOG Dual connector with 2 metres of unterminated cable See section 8.10 SF-CABLE-KIT Spatial FOG Dual Evaluation Cable Harness Spatial FOG Dual connector with 2 metres of cable to industry standard connectors See section 8.11 BF046WS140612-06 Right Angle SMA to TNC 4m Cable Right Angle SMA to TNC connector 4 metre antenna cable G5Ant-53A4T1 Antcom GNSS Antenna Antcom G5 L1/L2/L5 GNSS antenna with survey mount 57970-10-INT Trimble Zephyr GNSS Antenna Trimble Zephyr 2 L1/L2/L5 GNSS Antenna OBDII-ODOMETER OBDII Odometer OBDII Odometer Interface See section 9.8.2 AD-UNIT Air Data Unit Air data unit provides pitot and static air data aiding for Spatial FOG Dual in fixed wing aircraft MOUNT-SUCT Suction Cup Antenna Mount Suction cup 5/8” GNSS antenna survey mount for easy installation of GNSS antenna on vehicles Table 7: Accessories part numbers

Page 22 of 138 Version 1.0 26/06/2015 8 Specifications 8.1 Mechanical Drawings Illustration 10: Mechanical drawings of Spatial FOG Dual

Page 23 of 138 Version 1.0 26/06/2015 8.2 Navigation Specifications Parameter Value Horizontal Position Accuracy 0.8 m Vertical Position Accuracy 1.5 m Horizontal Position Accuracy (RTK) 0.008 m Vertical Position Accuracy (RTK) 0.015 m Velocity Accuracy 0.007 m/s Roll & Pitch Accuracy 0.01 ° Heading Accuracy 0.01 ° Heading Accuracy (north seeking only) 0.25 ° secant latitude Orientation Range Unlimited Hot Start Time 2 s Internal Filter Rate 1000 Hz Output Data Rate Up to 1000 Hz Table 8: Navigation specifications 8.3 Heading Accuracy Antenna Separation Accuracy 0.5 m 0.03 ° 1 m 0.01 ° 2 m 0.007 ° 5 m 0.005 ° 10 m 0.002 ° Table 9: Heading accuracy

Page 24 of 138 Version 1.0 26/06/2015 8.4 Sensor Specifications Parameter Accelerometers Gyroscopes Magnetometers Pressure Range 10 g 490 °/s 8 G 10 to 120 KPa Noise Density (Random Walk) 120 ug/√Hz (0.07 m/s/√hr) 0.8 °/hr/√Hz (0.013 °/√hr) 210 uG/√Hz 0.56 Pa/√Hz Bias Instability 50 ug 0.05 °/hr - 100 Pa/yr Non-linearity < 0.03 % < 0.005 % < 0.05 % - Scale Factor Stability < 0.06 % < 0.02 % < 0.05 % - Cross-axis Alignment Error < 0.05 ° < 0.02 ° < 0.05 ° - Bandwidth 200 Hz 440 Hz 110 Hz 50 Hz Table 10: Sensor specifications 8.5 GNSS Specifications Parameter Value Model Trimble MB-One Supported Navigation Systems GPS L1, L2 GLONASS L1, L2 GALILEO E1 BeiDou B1 Supported SBAS Systems WAAS EGNOS MSAS GAGAN QZSS Omnistar HP/XP/G2 Trimble RTX Update Rate 20 Hz Hot Start First Fix 3 s Cold Start First Fix 30 s Horizontal Position Accuracy 1.2 m Horizontal Position Accuracy (with SBAS) 0.5 m Horizontal Position Accuracy (with RTK) 0.008 m Velocity Accuracy 0.005 m/s Timing Accuracy 20 ns Acceleration Limit 11 g Table 11: GNSS Specifications

Page 25 of 138 Version 1.0 26/06/2015 8.6 Communication Specifications Parameter Value Interface RS422 (RS232 optional) Speed 4800 to 10M baud Protocol AN Packet Protocol Peripheral Interface 2x GPIO 1x Auxiliary RS232 1x GNSS corrections RS232 GPIO Level 5 V or RS232 Table 12: Communication specifications 8.7 Hardware Specifications Parameter Value Operating Voltage 9 to 36 V Input Protection -40 to 100 V Power Consumption 510 mA @ 12 V (typical) Backup Battery Capacity > 48 hrs Backup Battery Charge Time 30 mins Backup Battery Endurance > 10 years Operating Temperature -40 °C to 75 °C Environmental Sealing IP68 MIL-STD-810G MTBF > 36,000 hours Shock Limit 25 g Dimensions 94 x 94 x 95 mm Weight 740 grams Table 13: Hardware specifications

Page 26 of 138 Version 1.0 26/06/2015 8.8 Electrical Specifications Parameter Minimum Typical Maximum Power Supply Input Supply Voltage 9 V 36 V Input Protection Range -40 V 100 V RS232 Tx Voltage Low -5.4 V -5 V Tx Voltage High 5 V 5.4 V Tx Short Circuit Current ±60 mA Rx Threshold Low 0.6 V 1.2 V Rx Threshold High 1.5 V 2.0 V RS422 Tx Differential Output 1.5 V Tx Short Circuit Current ±250 mA Rx Differential Threshold -0.2 V -0.05 V GPIO Output Voltage Low 0 V 0.3 V Output Voltage High 4.8 V 5 V Output Current 5 mA Input Voltage -20 V 20 V Input Threshold Low 1.5 V Input Threshold High 3.5 V GNSS Antenna Active Antenna Supply Voltage 4.8 V 5 V Antenna Supply Current 150 mA Table 14: Electrical specifications

Page 27 of 138 Version 1.0 26/06/2015 8.9 Power Consumption 8.10 Connector Pin-out Power supply and signal connections are made through a 13 pin Glenair mighty mouse series 801 connector. The Glenair part number is 801-007-16M8-13SA. The connector provides a reliable and rugged connection to Spatial FOG Dual under demanding conditions and is rated to IP68 in the mated condition. Connection to Spatial FOG Dual may be made with the Spatial FOG Dual evaluation cable harness, which provides a pre-terminated 2 metre cable assembly with all signals broken out to industry standard connectors, see section 8.11. Advanced Navigation also supplies connectors with 2 metres of unterminated cable, see Illustration 12. Custom lengths are available on request. Illustration 11: Maximum and typical current consumption across operating voltage 5 10 15 20 25 30 35 40 0 100 200 300 400 500 600 700 800 900 1000 Maximum Typical Voltage (V) Current Consumption (mA) Illustration 12: Spatial FOG Dual connector with 2 metres of unterminated cable

Page 28 of 138 Version 1.0 26/06/2015 Pin Colour Function 1 Black GPIO 1 2 Brown GPIO 2 3 Red Signal Ground 4 Orange Power Ground 5 Yellow Power Supply 6 Green Primary RS422 Rx(+) / RS232 Rx 7 Blue Primary RS422 Rx(-) 8 Violet Primary RS422 Tx(+) / RS232 Tx 9 Grey Primary RS422 Tx(-) 10 White Auxiliary RS232 Tx 11 White/Black Auxiliary RS232 Rx 12 White/Brown GNSS RS232 Rx 13 White/Red GNSS RS232 Tx Table 15: Pin allocation table for Spatial FOG Dual connector 8.11 Spatial FOG Dual Evaluation Cable Harness Advanced Navigation offers a pre-terminated evaluation cable harness for quick connection to Spatial FOG Dual. All external signal and power connections are provided with 2 metres of cable. For quick testing in applications, the interface cable is Illustration 13: Spatial FOG Dual mated connector clearance

Page 29 of 138 Version 1.0 26/06/2015 provided with industry standard 9 pin DSUB connectors on the communication channels with industry standard pinouts. The evaluation cable harness is supplied as part of the Spatial FOG Dual Evaluation Kit, see section 6. Colour Function Primary Auxiliary GNSS GPIO Power Black GPIO 1 2 Brown GPIO 2 3 Red Signal Ground 5 5 5 5 Orange Power Ground Ring Yellow Power Supply Tip Green Primary RS422 Rx(+) 3 Blue Primary RS422 Rx(-) 7 Violet Primary RS422 Tx(+) 2 Grey Primary RS422 Tx(-) 8 White Auxiliary RS232 Tx 2 White/Black Auxiliary RS232 Rx 3 White/Brown GNSS RS232 Rx 3 White/Red GNSS RS232 Tx 2 Table 16: Spatial FOG Dual evaluation cable harness connector pin-out Illustration 14: Spatial FOG Dual evaluation cable harness diagram

Page 30 of 138 Version 1.0 26/06/2015 8.12 Serial Number The serial number can be inspected by using the device information dialogue in the Spatial FOG Manager software, see section 11.7.1. The primary serial number label is located inside the enclosure and is accessible only by Advanced Navigation technicians. The secondary serial number label is located on the outside rear of the enclosure with the serial number encoded in a 2D data matrix bar code to assist customers in tracking their units. The external label also contains the hardware version and build date. Applications are available for most smart-phones that can scan the 2D data matrix bar code to display the serial number. Illustration 15: Spatial FOG Dual external serial number label

Page 31 of 138 Version 1.0 26/06/2015 9 Installation 9.1 Installation Checklist 1. Securely mount the unit to the vehicle following the guidelines in section 9.2. 2. Mount the two GNSS antennas following the guidelines in section 9.5 and then connect the antenna cables between the antennas and the Spatial FOG Dual unit. If the two antennas are not installed in the standard configuration of primary front and secondary rear, the offset will need to be entered into the Dual Antenna dialogue in Spatial FOG Manager. 3. Connect the connector cable to Spatial FOG Dual and then connect a suitable power supply as specified in section 9.4. A suitable power supply is included in the evaluation kit. 4. Connect the USB converter cable to the primary port and a computer, open the Spatial FOG Manager software and click connect. 5. If the unit is mounted in an alignment other than the standard alignment of X pointing forward and Z pointing down, this alignment offset will need to be entered into the Alignment Configuration dialogue in Spatial FOG Manager. Please see section 9.2.1 for more details. 6. Accurately measure the GNSS antenna offset from the centre of the Spatial FOG Dual unit to the central base of the antenna in the body co-ordinate frame (X positive forward and Z positive down) and enter these values into the Alignment Configuration dialogue in Spatial FOG Manager. Please see section 9.5 for more details. Please note that the body axes are always X positive forward and Z positive down irrespective of any alignment offset entered in the previous step. 7. Enter the vehicle type in the Filter Options dialogue in Spatial FOG Manager. 8. The system is now ready for use. 9.2 Position and Alignment When installing Spatial FOG Dual into a vehicle, correct positioning and alignment are essential to achieve good performance. There are a number of goals in selecting a mounting site in your application, these are: 1. Spatial FOG Dual should be mounted in an area that is not going to exceed it's temperature range. 2. Spatial FOG Dual should be mounted away from vibration where possible. 3. Spatial FOG Dual should be mounted within several metres of the GNSS antenna where possible. 4. If atmospheric altitude is going to be used, the two vents on the sides of Spatial FOG Dual should not be obstructed. 5. Spatial FOG Dual should be mounted close to the centre of gravity of the vehicle where possible.

Page 32 of 138 Version 1.0 26/06/2015 6. As FOG technology is subject to minor bias variations under strong magnetic fields, Spatial FOG Dual should be mounted at least 0.25 metres away from sources of dynamic magnetic interference such as high current wiring, large motors and rotating or reciprocating machinery. 9.2.1 Alignment The easiest way to align Spatial FOG Dual is by installing it with the sensor axes aligned with the vehicle axes. This means that the X axis points forward towards the front of the vehicle and the Z axis points down towards the ground. If aligning Spatial FOG Dual with the vehicle axes is not possible or not optimal, it may be mounted in a different alignment and the alignment offset should be configured using the alignment configuration dialogue in Spatial FOG Manager, see section 11.8.4. For easy alignment, the set zero orientation button in the Spatial FOG Manager alignment dialogue can be used to set the current orientation as the zero orientation alignment, see section 11.8.4. Please note that this will only correct for roll and pitch offsets. Any heading offset will need to be entered manually and saved before using this function. 9.3 Mounting Plate Spatial FOG Dual's mounting plate and hole guide is shown below in Illustration 16. The holes are designed for M4 bolts. The alignment holes can be used to ensure precise alignment of Spatial FOG Dual through the use of alignment pins.

Page 33 of 138 Version 1.0 26/06/2015 9.4 Power Supply A high level of power supply filtering has been built into Spatial FOG Dual to allow for reliable operation in demanding environments. Spatial FOG Dual contains a fully isolated power supply and has separate grounds for power and signal to ensure that power supply noise does not corrupt communications or cause ground loops with other equipment. When wiring the system, the signal ground should be routed with the primary RS232, auxiliary RS232, GNSS RS232 and GPIO pins. The power ground should be routed with the power supply to the power source. A power supply should be selected that can provide at least the maximum current calculated from the graph in Illustration 11. Spatial FOG Dual contains an active protection circuit on the power supply input that protects the unit from under-voltage, over-voltage and reverse polarity events. The protection circuit shuts off power and automatically recovers the unit to full operation once the fault is removed. Take care when running the unit close to its under-voltage lockout of 9 V because small voltage drops can engage the under-voltage shutdown and potentially oscillate between the on and off state. It is recommended that the unit is always run at 10 V or more to avoid issues associated with this. Illustration 16: Spatial FOG Dual mounting plate

Page 34 of 138 Version 1.0 26/06/2015 9.5 GNSS Antennas The GNSS antennas should be installed level with a clear unobstructed view of the sky and close to the Spatial FOG Dual unit where possible. The antennas should be mounted away from any RF emitters. It is important to have a ground plane (flat conductive surface such as a piece of plate aluminium) under the antenna with a minimum radius of 60mm. Correct antenna positioning is very important for Spatial FOG Dual's heading to function correctly. The primary antenna position offset should be configured in the Spatial FOG Dual unit by using the alignment configuration dialogue in Spatial FOG Manager, see section 11.8.4. The antenna offset is measured from the centre of the Spatial FOG Dual unit to the central base (ARP) of the antenna in the body frame. It is very important to set the antenna offset accurately as Spatial FOG Dual corrects for lever arm velocities. Incorrect GNSS antenna offset will lead to performance degradation under turning and angular rotations. An example installation with axes marked is shown below in Illustration 17 and Illustration 18. In this installation there would be a positive X antenna offset value, a negative Y antenna offset value and a negative Z offset value. The secondary antenna should be mounted directly behind the primary antenna with as much separation as possible. The higher the separation the better the orientation accuracy. See Illustration 19 for example mounting on a car. If it is impractical to mount the secondary antenna directly behind the primary antenna, it can be mounted in another position. In this case the secondary antenna offset must be accurately measured and entered using the dual antenna configuration dialogue in Spatial FOG Manager, see section 11.8.12. Illustration 17: Spatial FOG Dual antenna offset isometric view Illustration 18: Spatial FOG Dual antenna offset front view

Page 35 of 138 Version 1.0 26/06/2015 The standard antenna supplied in the Spatial FOG Dual evaluation kit is the Antcom G5Ant-53A4T1. It is an L1/L2/L5 RTK antenna that supports GPS, GLONASS, BeiDou, Galileo, Omnistar and SBAS. It is environmentally sealed to the IP68 standard. If you are supplying your own antenna it is important to ensure that the antenna is able to receive all constellations and not just GPS, otherwise you will not achieve full performance. It is also important to select an IP67 antenna with an IP67 SMA connector, otherwise the system will not be environmentally sealed. It is recommended to use an antenna with the following characteristics: • The antenna should be capable of receiving GPS, GLONASS, BeiDou and Galileo. • The antenna needs to have an accurate phase centre. This is required for the dual antenna heading to function correctly. Low performance (low cost) antennas are typically not able to achieve good heading performance. • If the unit is being used for RTK, the antenna needs to be capable of receiving both L1 and L2. It should also have an accurate phase centre. • The antenna should have a minimum LNA gain of 29dB and a maximum gain of 50dB. • The antenna should be environmentally sealed, including connectors. If you are sourcing your own antenna cables it is important to ensure that the antenna has enough gain to support the loss over the cable. Spatial FOG Dual requires a minimum of 25dB of gain at the connector. With the standard 4 metre RG-58/U antenna cables supplied by Advanced Navigation, the minimum antenna gain is 27dB. Illustration 19: Spatial FOG Dual example antenna placement

Page 36 of 138 Version 1.0 26/06/2015 9.6 GNSS Antenna Cables The antenna cables should be routed away from powerful RF emitters, high current wiring, high temperatures and any rotating or reciprocating machinery. It is very important not to bend the antenna cable beyond it's maximum bend radius. It is recommended to use wide cable ties and be careful not to do them up too tight. Advanced Navigation recommends using either RG58 low loss or LMR240 coaxial cable combined with high quality connectors. LMR300 and LMR400 can also be used to minimise loss for very long antenna cables. Cable Type Minimum Bend Radius Signal Loss RG-58/U Low Loss 20 mm ~0.92 dB/m LMR240 20 mm ~0.33 dB/m LMR300 22.2 mm ~0.26 dB/m LMR400 25.4 mm ~0.17 dB/m Table 17: GNSS antenna co-axial cable properties 9.7 Static Port Spatial FOG Dual uses atmospheric pressure to stabilise its vertical velocity. The static port vents can be found on the sides of the Spatial FOG Dual enclosure at the top. These are special vents that do not allow water to enter the enclosure. 9.8 Odometer On ground vehicles, the use of an odometer input can greatly improve Spatial FOG Dual's navigation and orientation solution during GNSS dropouts. With a high resolution wheel encoder Spatial FOG Dual can be used to navigate indoors with GNSS disabled altogether. There are several different options for odometer installation which are listed below. 9.8.1 Factory VSS Signal Most road cars since 1980 contain a VSS (vehicle speed sensor) signal that can be wired directly into one of Spatial FOG Dual's GPIO pins. The vehicle should be taken to an automotive electrician to perform the work. To setup the odometer, the appropriate GPIO pin should be set to the odometer input function using Spatial FOG Manager, see section 11.8.6. The odometer pulse length must then be set either manually or automatically, please see section 10.9 for more information. For more information on the GPIO signals and their requirements please see section 12.4.3. 9.8.2 OBDII Odometer Interface For applications where it is undesirable to modify the vehicle or the system needs to be used with multiple vehicles, the OBDII odometer interface may be a better solution.

Page 37 of 138 Version 1.0 26/06/2015 OBDII is a vehicle diagnostic port standard and most vehicles from the mid 1990s onwards contain an OBDII port in the drivers side foot well. Advanced Navigation produces an OBDII odometer interface that plugs into this OBDII port and feeds Spatial FOG Dual with odometer data over the Auxiliary RS232 port, please see Illustration 20. These units are priced at approximately AUD 500. Please contact Advanced Navigation sales for more information. 9.8.3 Aftermarket Wheel Speed Sensor Applications requiring very high performance are recommended to use a high precision aftermarket wheel speed sensor. Advanced Navigation recommends aftermarket wheel speed sensors from Pegasem or GMH Engineering. 9.8.4 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. Illustration 21: Aftermarket wheel speed sensor Illustration 20: Advanced Navigation OBDII Odometer

Page 38 of 138 Version 1.0 26/06/2015 9.9 Vibration Spatial FOG Dual is able to tolerate a high level of vibration compared to other inertial systems. There is however a limit to the amount of vibration that Spatial FOG Dual can tolerate and large levels of vibration will cause Spatial FOG Dual's accuracy to degrade. When mounting Spatial FOG Dual to a platform with vibration there are several options. It is recommended to first try mounting Spatial FOG Dual and see whether it can tolerate the vibrations. The raw sensor view in the Spatial FOG Manager software can give you a good idea of how bad the vibrations are. If the vibrations are causing the sensors to go over range you will need to take preventative steps against the vibration. If Spatial FOG Dual is unable to tolerate the vibrations there are several options: 1. Try to find a mounting point with less vibration. 2. Spatial FOG Dual can be mounted on top of a small flat piece of rubber. Please note that this may cause small changing orientation errors due to flexing of the rubber. 3. Spatial FOG Dual can be mounted to a plate which is then mounted to the platform through vibration isolation mounts. Illustration 22: Radar speed sensor

Page 39 of 138 Version 1.0 26/06/2015 10 Operation 10.1 Filter Spatial FOG Dual contains a sophisticated filter which it uses to fuse all it's sensors into a state estimation. The filter is a set of custom algorithms that have similar principles to a kalman filter, but operate differently. Spatial FOG Dual's custom filter makes decisions based upon context and history which greatly improves performance and makes it more resilient to error sources than a typical kalman filter. Under rare conditions, when there are large errors present that Spatial FOG Dual's filter cannot compensate for, it can become unstable. If Spatial FOG Dual's filter does become unstable a monitoring process will immediately reset the filter to the last known good state. The filter initialised flag will remain reset until the filter stabilises again. In real time control applications it is very important to monitor Spatial FOG Dual's filter status, so that data can be ignored if a situation occurs causing the filter to reset. 10.2 Initialisation There are four different levels of initialisation on Spatial FOG Dual. These are orientation, navigation, heading and time. The initialisation can be monitored by inspecting the status view in Spatial FOG Manager, see section 11.7.2. After all four levels of initialisation, Spatial FOG Dual's filter takes several minutes to achieve it's full accuracy. It is recommended to wait two minutes after initialisation for applications requiring high accuracy. 10.2.1 Orientation Initialisation Orientation initialisation occurs automatically upon power on and typically completes within several seconds. Once orientation initialisation is complete, the roll, pitch and angular velocity values will be valid. When Spatial FOG Dual starts up, it assumes that it can be in any orientation. To determine it's orientation it uses the accelerometers to detect the gravity vector. Illustration 23: The four initialisation levels

Page 40 of 138 Version 1.0 26/06/2015 Whilst this is occurring, if there are random accelerations present, these can cause an incorrect orientation to be detected. To prevent this, Spatial FOG Dual monitors the accelerometers and gyroscopes and restarts the orientation detection if there are sudden movements. It is however still possible under some circumstances for it to miss minor movements and start with a small orientation error. In this scenario Spatial FOG Dual will progressively correct the orientation error over a period of several seconds. 10.2.2 Navigation Initialisation Navigation initialisation completes once the system has determined a starting position. The most common method of navigation initialisation is for the system to get a 3D GNSS fix. If the system is hot starting it will remember it's position from when it was switched off and use this as the starting position. The other possibility for navigation initialisation is an external position source, see section 12.2 for more information. In a situation where a GNSS fix is not available to initialise navigation, it can be initialised manually by entering a position into the position dialogue in Spatial FOG Manager, see section 11.8.11. Once navigation initialisation is complete, the position, velocity and acceleration values will be valid. 10.2.3 Heading Initialisation Heading initialisation completes once the system has determined a heading. The conditions required to determine a heading depend upon the heading source being used, see section 10.5. The default heading source is dual antenna heading and this will initialise the heading within several minutes of power on assuming both antennas are connected with a clear unobstructed view of the sky. The system can be stationary or moving during this initialisation. If the system is hot starting it will remember it's heading from when it was switched off and use this as the starting heading until another source becomes available. Until the heading has been initialised, the system will not be able to navigate without a GNSS fix and the roll and pitch values will not be able to reach full accuracy. 10.2.4 Time Initialisation Time initialisation completes once the system has determined time accurately. This occurs as soon as the GNSS receiver obtains it's first fix. It is also possible to provide an external source of time, see section 12.2 for more information on external time sources. Until the time has initialised the values of unix time and formatted time that Spatial FOG Dual outputs will not be valid and may change. 10.3 Hot Start Spatial FOG Dual is the first GNSS/INS on the market with hot start functionality. This allows Spatial FOG Dual to start inertial navigation within 2 seconds and obtain a GNSS fix in as little as 3 seconds. Spatial FOG Dual's hot start is always on and fully automatic.

Page 41 of 138 Version 1.0 26/06/2015 A next generation backup battery system within Spatial FOG Dual provides the hot start ability for more than 24 hours without power. When Spatial FOG Dual hot starts it assumes that it is in the same state it was when it lost power and begins navigating from that position. The hot start also provides ephemeris, almanac and time information to the GNSS receiver which allows it to achieve a fix far more quickly than it otherwise would. When the GNSS achieves it's first fix, if this position deviates from the hot start position, Spatial FOG Dual will jump to the new position without causing any side effects to the filter. Whilst Spatial FOG Dual is without power it keeps track of the time accurately to within 1 second so that the time is immediately valid on a hot start. Spatial FOG Dual's hot start 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 startup time. 10.4 Time Spatial FOG Dual was designed to provide a highly accurate time reference. When a GNSS fix is available Spatial FOG Dual's time is accurate to within 50 nanoseconds. When a GNSS fix is lost, Spatial FOG Dual's time accuracy typically remains within 10 microseconds over extended time periods. When Spatial FOG Dual hot starts the time accuracy is typically within 1 second immediately on startup and corrected to within 50 nanoseconds as soon as a GNSS fix is achieved. To synchronise with Spatial FOG Dual's high accuracy time, both the packet protocol and a 1PPS line must be used. 10.5 Heading Source There are four different heading sources available for Spatial FOG Dual. By default Spatial FOG Dual uses dual antenna heading. This can be complemented with velocity heading for forward driving vehicles such as cars. In applications where GNSS is not available, north seeking gyrocompass heading can be used. It is possible to use multiple heading sources and this will often provide performance benefits. 10.5.1 Dual Antenna Heading Dual antenna heading is the default heading source and provides very accurate heading while GNSS is available. Dual antenna heading works under both stationary and moving conditions and does not require any specific initialisation procedure. Dual antenna heading only works when there is a good GNSS fix available. It requires a clear view of the sky with minimal nearby sources of interference or multipath. 10.5.2 North Seeking Gyrocompass Heading Spatial FOG Dual's high accuracy gyroscopes allow it to detect the rotation of the earth and seek north with a high degree of accuracy. When used as the sole heading source, initialisation of the north seeking takes 15 minutes and requires that the unit remain stationary in between three rotations. With the assistance of another heading source, the gyrocompass heading can take as little as 60 seconds to initialise and will not require any rotations or stationary time. For example once the system has initialised with either dual antenna heading or

Page 42 of 138 Version 1.0 26/06/2015 velocity heading, the north seeking algorithm will automatically initialise during the first 60 seconds of operation without any intervention required. When used as the sole heading source, the north seeking initialisation procedure is: 1. Turn on Spatial FOG Dual and leave stationary for 5 minutes. 2. Rotate Spatial FOG Dual approximately +90 degrees about the Z axis and leave stationary for 3 minutes. 3. Rotate Spatial FOG Dual approximately +90 degrees about the Z axis and leave stationary for 3 minutes. 4. Rotate Spatial FOG Dual approximately +90 degrees about the Z axis and leave stationary for 3 minutes. To assist users in getting accustomed to the north seeking procedure there is a north seeking status dialogue in Spatial FOG Manager that provides feedback and guides the user through the initialisation process, see section 11.7.12. Spatial FOG Dual's gyrocompass heading is fully automatic and always on. For all applications, the gyrocompass heading requires approximate position. For moving applications, the gyrocompass heading function requires continuous velocity updates to provide accurate heading. This data is typically provided by the internal GNSS receiver, however it can also be provided by an odometer or other type of speed sensor. Applications where north seeking should not be used as the sole heading source include • Environments with high vibration. • Environments with rapid temperature fluctuations. • Environments with strong changing magnetic fields close to the FOG unit (the fibre optic gyroscopes bias is affected by strong magnetic fields). • Applications where it is impractical to perform the initialisation procedure. • Applications where the system is moving at speeds of over 1 metre/second and no velocity aiding information is available. In these scenarios an alternative heading source should be considered. Please see the alternative options of Dual Antenna Heading, Velocity Heading and External Heading. If in doubt, please contact Advanced Navigation support for assistance in selecting the correct heading source for your application. 10.5.3 Velocity Heading Velocity heading works by deriving heading from the direction of velocity and acceleration. Velocity heading works well with cars, boats, fixed wing aircraft and other vehicles that don't move sideways. Velocity heading does not work with helicopters and other 3D vehicles. The downside of velocity heading is that heading can not be measured until the vehicle moves at a horizontal speed of over 1.15 metres/second with a GNSS fix. Velocity heading is very useful for getting accurate heading quickly on moving vehicles without requiring any specific initialisation procedure.

Page 43 of 138 Version 1.0 26/06/2015 10.5.4 External Heading External heading can be used if there is some other way to derive heading that is external to Spatial FOG Dual. Examples include reference markers and SLAM systems. The heading must be fed into Spatial FOG Dual using the External Heading Packet or through NMEA into a GPIO pin. 10.6 Magnetics Spatial FOG Dual uses magnetometers to detect changes in heading which allows the north seeking algorithm to initialise faster if another heading source is not available. If strong dynamic magnetic disturbances are present this will not effect the accuracy of the heading but may cause the north seeking initialisation to take longer when GNSS is not available. 10.7 Data Anti Aliasing Internally Spatial FOG Dual's filters update at 1000 Hz. When Spatial FOG Dual outputs data, most applications require the data at a much lower rate (typically < 100 Hz). This causes a problem for time based data such as velocities and accelerations where aliasing will occur at the lower rate. To prevent this problem, if the output rate is lower than 1000 Hz, Spatial FOG Dual will low pass filter the values of the time dependent data between packets to prevent aliasing. This is only the case when a packet is set up to output at a certain rate. If the packet is simply requested no anti aliasing will occur. Additionally there is no anti aliasing for non time dependent fields such as position. 10.8 Vehicle Profiles Spatial FOG Dual supports a number of different vehicle profiles. These vehicle profiles impose constraints upon the filter that can increase performance. If your application matches one of the available vehicle profiles, it is recommended to select it for use in the filter options dialogue in Spatial FOG Manager, see section 11.8.2. For a list of the different vehicle profiles please see section 13.10.5.1. Please note that if the wrong vehicle profile is selected it can cause a significant decrease in performance. 10.9 Odometer Pulse Length For Spatial FOG Dual to use a wheel speed sensor or odometer input, it must know the pulse length of the signal. The pulse length is the distance in metres between low to high transitions of the signal. The odometer pulse length can either be entered manually or automatically calibrated by Spatial FOG Dual. To enter the pulse length manually, please use the odometer configuration dialogue in Spatial FOG Manager, see section 11.8.7. To automatically calibrate the odometer pulse length please use the procedure listed below in section 10.9.1. By default the odometer will automatically calibrate itself.

Page 44 of 138 Version 1.0 26/06/2015 10.9.1 Odometer Automatic Pulse Length Calibration Procedure 1. Ensure that the signal is connected correctly and that the GPIO pin is configured as an odometer input using the GPIO configuration dialogue in Spatial FOG Manager, see section 11.8.6. 2. Open Spatial FOG Manager, connect to Spatial FOG Dual and open the odometer configuration dialogue. In the odometer configuration dialogue tick the automatic pulse length calibration check box and press the write button, see section 11.8.7. 3. Wait until Spatial FOG Dual has a continuous GNSS fix and then drive 1000 metres over flat terrain with as little turning as possible. 4. If Spatial FOG Dual 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 1000 metres. 5. Once 1000 metres has been driven, press the read button and check that the automatic pulse length check box becomes un-ticked and the pulse length value is read. 10.10 Reversing Detection Reversing detection is an algorithm that can detect when the vehicle is travelling in reverse. Knowledge of reverse motion is important when using velocity heading or odometer input to provide correct results. If Spatial FOG Dual is fitted to a vehicle that does not reverse or doesn't use velocity heading or odometer, this function should be disabled. Reversing detection is enabled by default and it can be disabled using the filter configuration dialogue in Spatial FOG Manager, see section 11.8.2. 10.11 Motion Analysis Motion analysis is an artificial intelligence algorithm that associates patterns in high frequency inertial data with the speed of the vehicle. After power on it takes some time to match patterns with speed before it will become active. Motion analysis only activates when dead reckoning and is most effective when the vehicle is near stationary. Motion analysis does not work in all situations and it's primary benefit is in ground vehicles. When active it can be recognised by 2Hz steps in velocity data. Motion analysis is disabled by default and can be enabled using the filter configuration window in Spatial FOG Manager, see section 11.8.2. 10.12 RAIM RAIM stands for receiver autonomous integrity monitoring. It allows a GNSS receiver to detect and exclude both faulty and fraudulent satellite signals. Spatial FOG Dual's internal GNSS is equipped with RAIM and it is enabled by default. 10.13 RTK Spatial FOG Dual's internal GNSS receiver supports RTK GNSS which uses correction

Page 45 of 138 Version 1.0 26/06/2015 data from a base station to provide significantly higher positional accuracy than standard GNSS. RTK requires additional infrastructure equipment to receive corrections and is not practical for all applications. There are two different options for receiving RTK corrections. For applications that are within good cellular coverage we recommend cellular RTK corrections, see section 10.13.1. For applications that have poor or no cellular coverage we recommend base station radio modem RTK corrections, see section 10.13.2. 10.13.1 Cellular RTK corrections For cellular RTK corrections, Advanced Navigation recommends the ARWest JLink GSM cellular corrections receiver. This unit can be plugged directly into Spatial FOG Dual's GNSS RS232 port to receive cellular RTK corrections. Please contact ARWest for more information and pricing. 10.13.2 Base station radio modem RTK corrections Illustration 26: Trimble TDL 450L radio modem Illustration 24: ARWest JLink GSM cellular corrections receiver Illustration 25: Trimble R4 base station

Page 46 of 138 Version 1.0 26/06/2015 Base station radio modem RTK corrections require two additional pieces of hardware, these are the base station and the radio modem receiver. The base station is setup at a fixed location and transmits corrections to the radio modem receiver that is connected to the mobile Spatial FOG Dual unit. The radio modem receiver and Spatial FOG Dual unit must remain within range of the base station to receive these corrections, typically this range is approximately 20km. Advanced Navigation recommends the Trimble R4 base station combined with the Trimble TDL 450L radio modem. Please contact your local Trimble dealer for more information and pricing. 10.14 Heave Spatial FOG Dual can provide vertical heave position at four different points on a ship. Spatial FOG Dual's heave filter is always on and fully automatic. After power on, Spatial FOG Dual requires approximately 5 minutes for it's heave filter to converge upon an accurate solution. Heave works without a GNSS fix, however best heave performance is achieved when Spatial FOG Dual has a GNSS fix. By default Spatial FOG Dual provides heave from the point at which the Spatial FOG Dual unit is mounted, however it can provide heave at four different offset points on the ship. To set the heave offsets, either use the heave configuration dialogue in Spatial FOG Manager, see section 11.8.9. 10.15 Environmental Exposure Whilst Spatial FOG Dual is environmentally protected, there are clearly defined limits to this protection that must be adhered to for reliable operation. Spatial FOG Dual is only protected when it's connector is mated, an IP67 SMA GNSS antenna is attached and a pressure hose connected to the static port. When any of these connections are not made the unit offers no environmental protection. Spanners or tools should never be used to tighten the connectors. They should only ever be finger tight. 10.15.1 Temperature Spatial FOG Dual should not be subjected to temperature's outside of it's operating range. Subjecting Spatial FOG Dual to temperature's outside of the storage range can cause failure of the system. 10.15.2 Water Spatial FOG Dual is water-proof to the IP68 standard which means that it can be submersed in water to a depth of up to 2 metres only. Submersion to depths beyond 2 metres can cause water entry and destruction of the internal electronics. 10.15.3 Salt Spatial FOG Dual is made from marine grade aluminium which gives it reasonably good salt water corrosion resistance. However Spatial FOG Dual cannot tolerate extended periods of time in salt water environments. After any contact with salt water environments, Spatial FOG Dual should be thoroughly rinsed with fresh water.

Page 47 of 138 Version 1.0 26/06/2015 10.15.4 Dirt and Dust Spatial FOG Dual is completely sealed against dirt and dust entry. It is important to note that this is only the case when the connectors are mated. When un-mating the connectors if the Spatial FOG Dual unit is dirty or dusty, the dirt should be rinsed off with fresh water first and then dried off. This is to prevent dirt or dust entering the connectors which can cause them to fail. 10.15.5 PH Level Environments with a high or low PH level can cause the Spatial FOG Dual enclosure to corrode. If Spatial FOG Dual comes into contact with these environments it should be rinsed in fresh water as soon as possible. It is not recommended to operate Spatial FOG Dual in non neutral PH environments. 10.15.6 Shocks Spatial FOG Dual can tolerate shocks to 25g, however continuous shocks of this severity are likely to cause premature failure. Shocks above 25g can effect the factory sensor calibration and degrade performance. Normally shocks to Spatial FOG Dual when mounted in a vehicle are fine. Even a high speed car crash is likely to reach a peak of only 50g. Shocks directly to Spatial FOG Dual's enclosure can more easily go over the limit however so care should be taken when handling the unit prior to mounting.

Page 48 of 138 Version 1.0 26/06/2015 11 Spatial FOG Manager Spatial FOG Manager is a software tool provided by Advanced Navigation for logging, testing, display and configuration of Spatial FOG Dual. It is designed to be simple and easy to use. Illustration 27: Screenshot of Spatial FOG Manager

Page 49 of 138 Version 1.0 26/06/2015 11.1 Software Changelog Version Date Changes 4.2 02/04/2015 Initial Release 11.2 System Requirements The software includes a 3D mapping display which requires a modern 3D graphics card and up to date drivers to run. If your machine does not meet the graphics requirements the mapping view will only show space without a globe. When Spatial FOG Dual is running at very high output rates e.g. 1000 Hz, Spatial FOG Manager can consume significant system resources handling the large quantity of data. 11.3 Installation Spatial FOG Manager does not need to be installed and can be run from any directory by double clicking on it. Spatial FOG Manager requires a recent version of Java, available at http://www.java.com. On some systems to open the program it may be necessary to right click and select open with → Java Runtime Environment. The Spatial FOG Dual evaluation kit makes use of an FTDI USB to RS422 device. The drivers are normally installed automatically, if not they are available from http://www.ftdichip.com/Drivers/VCP.htm. 11.4 Troubleshooting Please contact [email protected] if you are having issues. 11.4.1 All Platforms If the globe does not appear in the 3D map area, this indicates that either your graphics card is not powerful enough or your graphics card driver is out of date. 11.4.2 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. Unfortunately Microsoft has not fixed this problem in over 15 years, so it probably won't be fixed. If you experience this problem, often a restart will resolve it. Otherwise there is a tool available at http://www.stentec.com/anonftp/pub/wingps/pnpblockersetup.exe that can fix the issue. If the serial port does not show up when you plug in your Spatial FOG Dual USB device, you may need to install the drivers from http://www.ftdichip.com/Drivers/VCP.htm. If you experience a blue screen of death whilst using Spatial FOG Manager, this is typically a problem associated with older FTDI drivers. To resolve the problem, install the latest drivers from http://www.ftdichip.com/Drivers/VCP.htm.

Page 50 of 138 Version 1.0 26/06/2015 When operating Spatial FOG Dual at a very high data rate, data can be lost due to the latency of the FTDI driver. To resolve this problem the latency of the driver should be reduced by going to control panel → system → device manager → ports and right click on the USB serial port, then click properties. In the properties window click the port settings tab and then the advanced button. You then need to change the latency timer setting to 1ms. Please see the screenshot in Illustration 28. 11.4.3 Linux If serial ports do not show up, the typical cause is permissions. The user should add themselves to the dialout group with the command sudo adduser username dialout. Illustration 28: Screenshot of latency timer setting

Page 51 of 138 Version 1.0 26/06/2015 Compiz causes issues with the 3D mapping. If you are experiencing problems it is recommended to turn off compiz. 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. Spatial FOG Manager is able to run on the OpenJDK JRE but it uses significantly more system resources than when it is running on the Oracle JRE.

Page 52 of 138 Version 1.0 26/06/2015 11.5 Main View 11.5.1 Serial Port The serial port dialogue is used to connect to Spatial FOG Dual. You should select a serial port and baud rate and click connect. The default baud rate of Spatial FOG Dual is 115200. The connection indicator displays whether there is communication with a Spatial FOG Dual unit. 11.5.2 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. Illustration 29: Screenshot of Spatial FOG Manager main view

Page 53 of 138 Version 1.0 26/06/2015 11.5.3 Status Indicator The status indicator section contains a Spatial FOG Dual status indicator, a fix indicator and a satellites table. 11.5.3.1 Spatial Status Indicator This indicator shows any problems with Spatial FOG Dual. Before a GNSS fix is achieved it will show the status “Filter not initialised”. Once the filter has initialised it should show “Healthy”. Clicking on the indicator will show the detailed status flags. 11.5.3.2 Fix Indicator This shows the status of the GNSS fix. Under normal operating conditions it should show either “3D Fix” or “SBAS Fix”. When satellite visibility is poor it may show either “2D Fix” or “No Fix”. 11.5.3.3 Satellites Table The satellites table shows the number of active satellites being used in the current GNSS solution. More detailed information can be found in the satellites view. 11.5.4 3D Map The 3D map shows Spatial FOG Dual's position on the Earth as well as a red trail of position history. When the filter initialises the map will automatically reset the view to Spatial FOG Dual's location. To move the camera click and drag on the map. To zoom in and out use the scroll wheel. To change the camera view right click and drag or shift click and drag. 11.5.5 3D Map Controls 11.5.5.1 Reset View This resets the map view to Spatial FOG Dual's current position. 11.5.5.2 Clear History This clears the current position history, this is the red trail shown on the map. 11.6 Logging Spatial FOG Manager features a fully automatic logging system. Every time the serial port connect button is clicked Spatial FOG Manager starts a new log file in either the current directory or the user's home directory. The log file is given the file name SpatialLog_date_time.anpp and contains all of the raw data received from Spatial FOG Dual in the AN packet protocol. The log files are closed when the serial port is disconnected. To convert these log files into easily accessible formats, the log converter dialogue in the tools menu can be used, see section 11.9.3. The log converter dialogue creates a folder and generates files in the CSV (comma separated values) format that can be easily opened with Microsoft Excel, Matlab, libreoffice and

Page 54 of 138 Version 1.0 26/06/2015 most other data analysis programs. It also creates a GPX file of position that is designed to be opened with Google Earth. 11.7 Views The views menu contains a number of different options for viewing data from Spatial FOG Dual. Illustration 30: Screenshot showing log file and log conversion folder Illustration 31: Screenshot of Spatial FOG Manager views menu

Page 55 of 138 Version 1.0 26/06/2015 11.7.1 Device Information 11.7.2 Status Status shows Spatial FOG Dual's complete status as contained in the system state packet detailed in section 13.9.1.1. Illustration 32: Screenshot of Spatial FOG Manager device information dialogue Illustration 33: Screenshot of Spatial FOG Manager status dialogue

Page 56 of 138 Version 1.0 26/06/2015 11.7.3 Satellites Satellites shows detailed information on the satellites that Spatial FOG Dual's GNSS receiver is tracking. Elevation and azimuth are in units of degrees. Illustration 34: Screenshot of Spatial FOG Manager satellites dialogue

Page 57 of 138 Version 1.0 26/06/2015 11.7.4 Raw Sensors Raw sensors shows the temperature calibrated raw sensor values. Illustration 35: Screenshot of Spatial FOG Manager raw sensors dialogue

Page 58 of 138 Version 1.0 26/06/2015 11.7.5 Orientation Orientation shows Spatial FOG Dual's orientation, angular velocity and orientation error. Illustration 36: Screenshot of Spatial FOG Manager orientation dialogue

Page 59 of 138 Version 1.0 26/06/2015 11.7.6 Position Position shows Spatial FOG Dual's position and position error. Latitude and longitude are converted to North and East metres from a reference point that can be reset. Illustration 37: Screenshot of Spatial FOG Manager position dialogue

Page 60 of 138 Version 1.0 26/06/2015 11.7.7 Velocity and Acceleration Velocity and Acceleration shows Spatial FOG Dual's velocity, acceleration and g-force. Illustration 38: Screenshot of Spatial FOG Manager velocity and acceleration dialogue

Page 61 of 138 Version 1.0 26/06/2015 11.7.8 3D Model This dialogue shows a real-time 3D model of Spatial FOG Dual's orientation. 11.7.9 Communications Statistics This dialogue shows statistics on the data packets received from Spatial FOG Dual and can be useful in diagnosing signal integrity problems. Illustration 39: Screenshot of Spatial FOG Manager 3D model dialogue

Page 62 of 138 Version 1.0 26/06/2015 11.7.10 GNSS Receiver Information This dialogue shows information on the internal GNSS receiver contained inside of Spatial FOG Dual. 11.7.11 Heave For the heave dialogue to function the heave packet (ID 58) must be set to output periodically using the Packet Rates dialogue. Illustration 40: Screenshot of Spatial FOG Manager communications statistics dialogue Illustration 41: Screenshot of Spatial FOG Manager GNSS receive information dialogue

Page 63 of 138 Version 1.0 26/06/2015 11.7.12 North Seeking Status The north seeking status view guides the user through the north seeking initialisation procedure and provides feedback on the progress. It is not necessary to use this dialogue to perform the north seeking initialisation, however it can be very helpful for users getting accustomed to the process. The error value provided gives an approximation of the bias convergence accuracy. A good initialisation should yield an error of less than 10%. Each quadrant represents a 90 degree segment about the Z axis in which data must be collected and the unit starts at zero degrees in quadrant 1 when powered on, see Illustration 44. Illustration 42: Screenshot of Spatial FOG Manager heave dialogue

Page 64 of 138 Version 1.0 26/06/2015 Illustration 43: Screenshot of Spatial FOG Manager north seeking status dialogue Illustration 44: North seeking quadrants around Z axis

Page 65 of 138 Version 1.0 26/06/2015 11.8 Configuration The configuration menu contains a number of dialogues for the configuration of Spatial FOG Dual. 11.8.1 Configuration Export The configuration export dialogue can be used to export all Spatial FOG Dual settings to a file. This file can be imported at a later date or on other units. This is useful to restore a unit to preset configuration at a later date or for batch configuration of multiple units. Illustration 45: Screenshot of Spatial FOG Manager configuration menu Illustration 46: Screenshot of Spatial Manager configuration export dialogue

Page 66 of 138 Version 1.0 26/06/2015 11.8.2 Filter Options For most applications the default filter options should be used and only the vehicle profile set. If in doubt please contact [email protected]. Illustration 47: Screenshot of Spatial FOG Manager filter options dialogue

Page 67 of 138 Version 1.0 26/06/2015 11.8.3 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. These two packets need to be enabled for the data graphs to update in Spatial FOG Manager. Other state packets can be enabled as required. Please see the Packet Summary table in section 13.7 for a list of all packets. Illustration 48: Screenshot of Spatial FOG Manager packet rates dialogue

Page 68 of 138 Version 1.0 26/06/2015 11.8.4 Alignment Configuration The alignment configuration 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. 11.8.4.1 Alignment Offset If Spatial FOG Dual is installed into the vehicle with the X axis pointing forwards and the Z axis pointing down, then no alignment offset is required and the roll, pitch and heading offset values can remain at the factory defaults of zero. If the unit is installed in a different orientation then the roll, pitch and heading offset must be entered. For example if the unit is installed on its side with the X axis pointing up and the Z axis pointing forwards and no change to the Y axis, then this would result in a pitch offset of +90 degrees with roll and heading remaining zero. If there is a small misalignment due to mechanical mounting error this can be compensated for by setting the vehicle stationary on a level surface and pressing the zero current orientation button. Please note that this will only correct for roll and pitch offsets, the heading offset must be entered manually and saved before using this function. All the other offsets will be measured in the realigned body co-ordinate frame (X positive forward, Z positive down) after being corrected for any alignment offset entered. Illustration 49: Screenshot of Spatial FOG Manager alignment configuration dialogue

Page 69 of 138 Version 1.0 26/06/2015 11.8.4.2 GNSS Antenna Offset The GNSS antenna offset is measured from the centre of the Spatial FOG Dual unit to the centre of the antenna in the body co-ordinate frame (X positive forward, Z positive down). 11.8.4.3 Odometer Offset The odometer offset is measured from the centre of the Spatial FOG Dual unit to the point at which the vehicle's tyre makes contact with the road in the body co-ordinate frame (X positive forward, Z positive down). 11.8.4.4 External Data Offset These values are only required for speciality applications operating with external sources of data. Please contact [email protected] for assistance with these values. 11.8.5 Baud Rates When changing baud rates, some Microsoft Windows machines are unable to function at the higher baud rates. It is recommended to test the baud rate first with the permanent box unticked. This way, if it is not possible to communicate at the higher baud rate, a power cycle can be used to revert to the previous baud rate. Illustration 50: Screenshot of Spatial FOG Manager baud rates dialogue

Page 70 of 138 Version 1.0 26/06/2015 11.8.6 GPIO Configuration This dialogue allows the user to select the function of the GPIO pins and Auxiliary RS232. These functions change dynamically and are effective immediately upon pressing save. Please note that GPIO pins function at RS232 levels for data functions and 0 to 5 volt levels for all other functions. The internal hardware automatically reconfigures based upon the selected function. 11.8.7 Odometer The odometer dialogue allows the user to configure the odometer pulse length and view the real time odometer data to verify correct operation. Illustration 51: Screenshot of Spatial FOG Manager GPIO configuration dialogue Illustration 52: Screenshot of Spatial FOG Manager odometer configuration dialogue

Page 71 of 138 Version 1.0 26/06/2015 11.8.8 Reset The reset button causes the system to perform a power cycle as if the unit had the power removed and reapplied. The factory restore button causes the system to erase all settings and restore factory defaults. It also erases the hot start data so that the system is forced to perform a cold start. 11.8.9 Heave Offset The heave offset dialogue allows the user to move the heave measurement points to different positions on the vessel. When the values are zero the measurement point is the centre of the Spatial FOG Dual unit. This can be offset to a different position on the ship by entering the offset value from the centre of the Spatial FOG Dual unit to the desired position in the body co-ordinate frame (X positive forwards, Z positive down). Please note that these values only apply to the Heave Packet. NMEA, TSS and Simrad heave is not affected by the values in this dialogue which are always measured at the centre of the Spatial FOG Dual unit. Illustration 53: Screenshot of Spatial FOG Manager reset dialogue

Page 72 of 138 Version 1.0 26/06/2015 11.8.10 GPIO Output The GPIO output configuration dialogue allows the user to configure the output rates for the GPIO and Auxiliary RS232 data functions NMEA, TSS and PASHR. Illustration 54: Screenshot of Spatial FOG Manager heave offset dialogue

Page 73 of 138 Version 1.0 26/06/2015 Illustration 55: Screenshot of Spatial FOG Manager GPIO output configuration dialogue

Page 74 of 138 Version 1.0 26/06/2015 11.8.11 Position Configuration The position configuration dialogue can be used to manually set the position of Spatial FOG Dual when the unit is supplied without a GNSS receiver or when a GNSS fix is not available. Setting this value will initialise navigation. Illustration 56: Screenshot of Spatial FOG Manager position configuration dialogue

Page 75 of 138 Version 1.0 26/06/2015 11.8.12 Dual Antenna The dual antenna configuration dialogue is only used when Spatial FOG Dual is being operated with the optional dual antenna upgrade kit. The recommended installation is with the primary antenna to the front and the secondary antenna directly to the rear along the same axis, in which case the values in this dialogue can be left at their factory defaults. If it is not practical to mount the antennas in the recommended alignment, the alternate alignment must be entered into this dialogue. It is recommended to try and use one of the automatic offsets where possible where the antennas must be installed in one of four different automatic offset orientations aligned on an axis. If it is not possible to use one of the automatic offsets, the antennas can be installed in any configuration and a manual offset should be entered. The manual offset is measured from the central base of the secondary antenna to the central base of the primary antenna in the body co-ordinate frame (X positive forward, Z positive down). If using a manual offset, please be careful to measure the offset accurately, as even small offset errors can result in relatively large heading errors e.g. 2 cm error = 1.15 degrees heading error with a 1 metre separation. When using an automatic offset, the manual offset values are ignored and when using a manual offset, the automatic offset selection is ignored. Illustration 57: Screenshot of Spatial FOG Manager dual antenna configuration dialogue

Page 76 of 138 Version 1.0 26/06/2015 11.9 Tools The tools menu contains tools for performing procedures with Spatial FOG Dual. 11.9.1 Terminal The terminal is only used during specialised technical support with Advanced Navigation engineers. 11.9.2 Firmware Update The firmware update dialogue is used to update Spatial FOG Dual's firmware. Advanced Navigation firmware files have the extension .anfw. The dialogue shows the version number of the firmware file along with the date and time it was generated by engineering. Illustration 58: Screenshot of Spatial FOG Manager tools menu Illustration 59: Screenshot of Spatial FOG Manager firmware update dialogue

Page 77 of 138 Version 1.0 26/06/2015 11.9.3 Log Converter This tool allows the user to convert Spatial FOG Dual log files into various standard formats that are readable by many programs. The position offset values can used to project the exported position to a point other than the centre of the Spatial FOG Dual unit. For most users these values should be left at zero. Illustration 60: Screenshot of Spatial FOG Manager log converter dialogue

Page 78 of 138 Version 1.0 26/06/2015 12 Interfacing 12.1 Communication Communication with Spatial FOG Dual is over the primary RS422 or RS232 interface in the Advanced Navigation Packet Protocol (ANPP). The RS422 or RS232 format is fixed at 1 start bit, 8 data bits, 1 stop bit and no parity. See section 13 for details on the protocol. 12.1.1 Baud Rate The default baud rate of Spatial FOG Dual is 115,200. The baud rate can be set anywhere from 1,200 to 10,000,000 baud and can be modified using the Spatial FOG Manager software or the baud rate packet, see section 13.10.3. It is important to select a baud rate that is capable of carrying the amount of data that Spatial FOG Dual is set to send. See packet rates in section 13.5 for more details on data output calculation. The data rate in bytes per second can be calculated by dividing the baud rate by 10. For example if the baud rate is 115,200, then the data rate is 11,520 bytes per second. 12.2 External Data External sources of position, velocity and/or heading can be integrated into Spatial FOG Dual's filter solution. The data can be sent to Spatial FOG Dual in the ANPP format over the primary port or through one of the GPIO pins in a number of different formats. If using the ANPP, please use Table 18 below to find the relevant section. If using the GPIOs, please see section 12.3. Packet Section External Position and Velocity 13.9.25 External Position 13.9.26 External Velocity 13.9.27 External Body Velocity 13.9.28 External Heading 13.9.29 External Time 13.9.33 External Depth 13.9.34 External Pitot Pressure 13.9.37 External Odometer 13.9.43 External Air Data 13.9.44 Table 18: ANPP external data reference 12.3 GPIO Pins and Auxiliary RS232 Spatial FOG Dual contains two general purpose input output pins and one auxiliary

Page 79 of 138 Version 1.0 26/06/2015 RS232 port on the main connector. These pins are multi function and can be used to extend Spatial FOG Dual with additional peripherals, sensors and data formats. The GPIO pins have digital input, digital output, frequency input and frequency output functionality. Additionally GPIO1 can function as an RS232 serial transmit line and GPIO2 can function as an RS232 serial receive line. The GPIO serial and auxiliary RS232 baud rate can be configured anywhere from 1,200 to 1,000,000 baud by using the baud rate configuration dialogue in Spatial FOG Manager. The GPIO pin functions and auxiliary RS232 functions available are listed below in section 12.4. The function of a GPIO pin or auxiliary RS232 can be changed at any time using the GPIO configuration dialogue in Spatial FOG Manager. The receive and transmit functions of the auxiliary RS232 ports can be configured independently with different functionality. 12.3.1 GPIO Pins Voltage Level GPIO1 and GPIO2 are dual voltage level pins that can function at either 0 to 5 volt levels or RS232 levels. When these pins are used for digital input, digital output, frequency input or frequency output the pins operate at standard 0 to 5 volt levels (- 20 to 20 volt tolerant). When the pins are used for serial receive or serial transmit, the pins automatically switch to RS232 voltage levels. 12.3.2 GNSS RS232 The GNSS RS232 is a fixed function RS232 port that is directly connected to the internal Trimble BD930 GNSS receiver. This allows for configuration and upgrades of the internal GNSS receiver and can also be used for sending differential or RTK corrections. 12.4 Dynamic Pin Functions Function Type GPIOs Auxiliary RS232 Inactive Tristate All All 1PPS Output Digital Output All GNSS Fix Output Digital Output All Odometer Input Frequency Input All Zero Velocity Input Digital Input All Pitot Tube Input Frequency Input All NMEA Input Serial Receive 2 Receive NMEA Output Serial Transmit 1 Transmit Novatel GNSS Input Serial Receive 2 Receive Topcon GNSS Input Serial Receive 2 Receive ANPP Input Serial Receive 2 Receive ANPP Output Serial Transmit 1 Transmit

Page 80 of 138 Version 1.0 26/06/2015 Disable GNSS Digital Input All Disable Pressure Digital Input All Set Zero Orientation Alignment Digital Input All System State Packet Trigger Digital Input All Raw Sensors Packet Trigger Digital Input All RTCM Differential GNSS Corrections Input Serial Receive 2 Receive Trimble GNSS Input Serial Receive 2 Receive u-blox GNSS Input Serial Receive 2 Receive Hemisphere GNSS Input Serial Receive 2 Receive Left Wheel Speed Sensor Frequency Input All Right Wheel Speed Sensor Frequency Input All 1PPS Input Frequency Input All Wheel Speed Sensor Frequency Input All Wheel Encoder Phase A Frequency Input All Wheel Encoder Phase B Frequency Input All Event 1 Input Digital Input All Event 2 Input Digital Input All TSS1 Output Serial Transmit 1 Transmit Simrad 1000 Output Serial Transmit 1 Transmit Simrad 3000 Output Serial Transmit 1 Transmit Serial Port Pass-through Packet Serial All All Gimbal Encoder Phase A Frequency Input All Gimbal Encoder Phase B Frequency Input All Odometer Direction, Forward Low Digital Input All Odometer Direction, Forward High Digital Input All Table 19: GPIO pin functions 12.4.1 1PPS Output In this function, 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 Spatial FOG Dual has accurate time or not. It is important to note that when Spatial FOG Dual acquires time corrections from it's GNSS receiver, the 1PPS signal may fire at an interval of less than 1 second. This typically only occurs the first time the GNSS receiver obtains a fix after startup. The time initialised status flag can be used to determine whether the time and 1PPS line is accurate or not.

Page 81 of 138 Version 1.0 26/06/2015 12.4.2 GNSS Fix Output In this function, the pin is low when there is no GNSS fix or a 2D fix and high when there is a 3D, SBAS, Differential or RTK GNSS fix. 12.4.3 Odometer Input This function is designed for low resolution vehicle speed sensors and odometers. It expects a normally low input with a high state for the trigger. If the pulse length is more than 0.1 metres this odometer input function should be used, if it is less than 0.1 metres the wheel speed sensor function should be used. Please contact Advanced Navigation support for help integrating with your speed sensor. Parameter Value Trigger Low → High Maximum Frequency 600Khz Maximum Pulse Rate 4294967 pulses/metre Table 20: Odometer Specifications 12.4.4 Zero Velocity Input When using this function, a high state indicates to Spatial FOG Dual that it is stationary. The low state indicates that the vehicle is not stationary. Use of this function can significantly improve drift performance when a GNSS signal is not available. 12.4.5 Pitot Tube Input This function is designed for fixed wing aircraft to enhance navigation through the use of a pitot tube to measure airspeed. It requires a differential pressure sensor that has a frequency output such as the Kavlico P992 (frequency output option) or the Paroscientific series 5300. Please contact Advanced Navigation support for help integrating with a pitot tube. 12.4.6 NMEA Input This function accepts external data in the NMEA format. Advanced Navigation recommends against using NMEA where possible due to the inefficiency, inaccuracy and poor error checking of the format. All NMEA messages received must have a valid checksum. Supported messages are listed below. The recommended combination of messages are GPGGA, GPVTG and GPZDA with optional messages GPGSV and GPGSA.

Page 82 of 138 Version 1.0 26/06/2015 Message ID Description GPGGA GNGGA 3D position GPGLL GNGLL 2D position GPRMC GNRMC 2D position, 2D velocity and coarse time GPVTG GNVTG 2D velocity GPHDT GNHDT HEHDT Heading GPGSV GNGSV Satellites GPGSA GNGSA Dilution of Position GPZDA GNZDA Time Table 21: Supported NMEA messages 12.4.7 NMEA Output This function outputs a configurable combination of the NMEA messages GPZDA, GPGGA, GPVTG, GPRMC, GPHDT and PASHR at up to 20 Hz. The messages output and the output rate can be configured using the NMEA output configuration dialogue in Spatial Manager. Advanced Navigation recommends against using NMEA where possible due to the inefficiency, inaccuracy and poor error checking of the format. An example output is shown below. $GPZDA,031644.460,07,05,2013,00,00*52 $GPGGA,031644.460,3352.3501851,S,15112.2355488,E,6,00,1.4,150.0,M,0.0,M,,*7E $GPVTG,089.19,T,089.19,M,000.00,N,000.00,K,E*27 $GPRMC,031644.460,A,3352.3501851,S,15112.2355488,E,0.0,89.2,070513,12.5,W,E*02 $GPHDT,89.2,T*06 $PASHR,031644.460,089.19,T,-00.01,-00.47,-00.00,,,,0,0*2E 12.4.8 Novatel GNSS Input This function is designed for interfacing Spatial FOG Dual with a Novatel GNSS receiver. It accepts data in the Novatel binary format and requires messages BESTPOS and BESTVEL at rates higher than 1 Hz (20Hz recommended). The message BESTSATS is optional to display detailed satellite information. The message HEADING is also supported for ALIGN capable receivers.

Page 83 of 138 Version 1.0 26/06/2015 12.4.9 Topcon GNSS Input This function is designed for interfacing Spatial FOG Dual with a Topcon GNSS receiver. It accepts data in the GRIL TPS binary format and expects messages PG and VG at rates higher than 1 Hz. 12.4.10 ANPP Input This function accepts data in the ANPP format as specified in section 13. 12.4.11 ANPP Output This function outputs data in the ANPP format as specified in section 13. For packets to be sent out they must be requested through another GPIO functioning as ANPP input. 12.4.12 Disable GNSS This function accepts a digital input with a low state enabling the GNSS and a high state disabling the GNSS. 12.4.13 Disable Pressure This function accepts a digital input with a low state enabling the atmospheric pressure sensor and a high state disabling the atmospheric pressure sensor. 12.4.14 Set Zero Orientation Alignment This function accepts a digital input. The input is normally low and a transition from low to high causes Spatial FOG Dual to set it's alignment so that the current orientation is zero. Due to the risk of exhausting the flash cycles, the change is not permanent and will disappear on reset. To make it permanent the Installation Alignment Packet must be read and then sent back to Spatial FOG Dual with the permanent flag set. This function requires de-bouncing if attached to a switch. 12.4.15 System State Packet Trigger This function accepts a digital input. The input is normally low and a transition from low to high causes Spatial FOG Dual to send the system state packet. This function requires de-bouncing if attached to a switch. 12.4.16 Raw Sensors Packet Trigger This function accepts a digital input. The input is normally low and a transition from low to high causes Spatial FOG Dual to send the raw sensors packet. This function requires de-bouncing if attached to a switch. 12.4.17 RTCM Differential GNSS Corrections Input This function accepts RTCM differential GPS corrections. This allows for Differential GNSS or RTK with Spatial FOG Dual's internal GNSS receiver.

Page 84 of 138 Version 1.0 26/06/2015 12.4.18 Trimble GNSS Input This function is designed for interfacing Spatial FOG Dual with an external Trimble GNSS receiver. It 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 at 1 to 2Hz. 12.4.19 u-blox GNSS Input This function is designed for interfacing Spatial FOG Dual with a u-blox GNSS receiver. It accepts data in the u-blox binary format and expects message NAV-PVT or NAV-SOL at rates higher than 1Hz. 12.4.20 Hemisphere GNSS Input This function is designed for interfacing Spatial FOG Dual with a Hemisphere GNSS receiver. It accepts data in the Hemisphere binary format and expects message Bin1 at rates higher than 1Hz. 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. 12.4.21 Left Wheel Speed Sensor This function is designed for the left wheel of a vehicle with dual wheel speed sensors. 12.4.22 Right Wheel Speed Sensor This function is designed for the right wheel of a vehicle with dual wheel speed sensors. 12.4.23 1PPS Input This function is designed to allow external GNSS receivers to synchronise time with Spatial FOG Dual. It triggers on a transition from low to high. 12.4.24 Wheel Speed Sensor This function is designed for high resolution vehicle speed sensors and wheel speed sensors. It expects a normally low input with a high state for the trigger. If the pulse length is more than 0.1 metres the odometer input function should be used, if it is less than 0.1 metres this wheel speed sensor function should be used. Please contact Advanced Navigation support for help integrating with your speed sensor. 12.4.25 Wheel Encoder Phase A This function is designed for interfacing with a rotary incremental quadrature encoder that is measuring the wheel speed of a ground vehicle such as a car. It should be used in combination with Wheel Encoder Phase B.

Page 85 of 138 Version 1.0 26/06/2015 12.4.26 Wheel Encoder Phase B This function is designed for interfacing with a rotary incremental quadrature encoder that is measuring the wheel speed of a ground vehicle such as a car. It should be used in combination with Wheel Encoder Phase A. 12.4.27 Event 1 Input This function is designed to allow external events to be recorded inside Spatial FOG Dual's output. The event is recorded in the filter status, see section 13.9.1.2, and resets after the next packet is output. The event triggers on a transition from low to high. 12.4.28 Event 2 Input This function is designed to allow external events to be recorded inside Spatial FOG Dual's output. The event is recorded in the filter status, see section 13.9.1.2, and resets after the next packet is output. The event triggers on a transition from low to high. 12.4.29 TSS1 Output This function outputs the TSS1 format at a user configurable rate up to 50 Hz. The output rate can be configured using the GPIO output configuration dialogue in Spatial Manager, see section 11.8.10. 12.4.30 Simrad 1000 Output This function outputs the Simrad 1000 format at a user configurable rate up to 50 Hz. The output rate can be configured using the GPIO output configuration dialogue in Spatial Manager, see section 11.8.10. 12.4.31 Simrad 3000 Output This function outputs the Simrad 3000 format at a user configurable rate up to 50 Hz. The output rate can be configured using the GPIO output configuration dialogue in Spatial Manager, see section 11.8.10. 12.4.32 Serial Port Passthrough This function allows passthrough communication through either GPIO 1 and 2 or the Auxiliary RS232. To transmit data use the Serial Port Pass-through Packet. When data is received it will be sent back using the same Serial Port Pass-through Packet. 12.4.33 Gimbal Encoder Phase A This function is designed for interfacing with a rotary incremental quadrature encoder to measure the azimuth angle of a gimbal that Spatial FOG Dual is installed in. It should be used in combination with Gimbal Encoder Phase B.

Page 86 of 138 Version 1.0 26/06/2015 12.4.34 Gimbal Encoder Phase B This function is designed for interfacing with a rotary incremental quadrature encoder to measure the azimuth angle of a gimbal that Spatial FOG Dual is installed in. It should be used in combination with Gimbal Encoder Phase A. 12.4.35 Odometer Direction, Forward Low This function is designed to take a reversing indication input for direction with an odometer or wheel encoder. It should be used in combination with Odometer Input or Wheel Speed Sensor. 12.4.36 Odometer Direction, Forward High This function is designed to take a reversing indication input for direction with an odometer or wheel encoder. It should be used in combination with Odometer Input or Wheel Speed Sensor.

Page 87 of 138 Version 1.0 26/06/2015 13 Advanced Navigation Packet Protocol The Advanced Navigation Packet Protocol (ANPP) is a binary protocol designed with high error checking, high efficiency and safe design practices. It has a well defined specification and is very flexible. It is used across all existing and future Advanced Navigation products. 13.1 Data Types The following data types are used in the packet protocol. All data types in the protocol are little endian byte ordering. Abbreviation Bytes Also known as u8 1 unsigned char, unsigned byte, uint8_t s8 1 char, byte, int8_t u16 2 unsigned short, uint16_t s16 2 short, int16_t u32 4 unsigned int, unsigned long, uint32_t s32 4 int, long, int32_t u64 8 unsigned long long, uint64_t s64 8 long long, int64_t fp32 4 float fp64 8 double Table 22: Data type abbreviations used in the ANPP 13.2 Packet Structure The ANPP packet structure is shown in Table 23 and the header format is shown in Table 24. Example code can be downloaded from the software section. Header Header LRC Packet ID Packet Length CRC16 Packet Data Table 23: ANPP Packet Structure

Page 88 of 138 Version 1.0 26/06/2015 ANPP Header Format Field # Bytes Offset Data Type Size Description 1 0 u8 1 Header LRC, see section 13.2.1 2 1 u8 1 Packet ID, see section 13.2.2 3 2 u8 1 Packet Length, see section 13.2.3 4 3 u16 2 CRC16, see section 13.2.4 Table 24: ANPP header format 13.2.1 Header LRC The header LRC (Longitudinal Redundancy Check) provides error checking on the packet header. It also allows the decoder to find the start of a packet by scanning for a valid LRC. The LRC can be found using the following: LRC = ((packet_id + packet_length + crc[0] + crc[1])^0xFF) + 1 13.2.2 Packet ID The packet ID is used to distinguish the contents of the packet. Packet IDs range from 0 to 255. Within this range there are three different sub-ranges, these are system packets, state packets and configuration packets. System packets have packet IDs in the range 0 to 19. These packets are implemented the same by every device using ANPP. State packets are packets that contain data that changes with time, i.e. temperature. State packets can be set to output at a certain rate. State packets are packet IDs in the range 20 to 179. Configuration packets are used for reading and writing device configuration. Configuration packets are packet IDs in the range 180 to 255. 13.2.3 Packet Length The packet length denotes the length of the packet data, i.e. from byte index 5 onwards inclusive. Packet length has a range of 0 – 255. 13.2.4 CRC The CRC is a CRC16-CCITT. The starting value is 0xFFFF. The CRC covers only the packet data. 13.3 Packet Requests Any packet can be requested at any time using the request packet. See section 13.8.2.

Page 89 of 138 Version 1.0 26/06/2015 13.4 Packet Acknowledgement When configuration packets are sent to Spatial FOG Dual, it will reply with an acknowledgement packet that indicates whether the configuration change was successful or not. For details on the acknowledgement packet, see section 13.8.1. 13.5 Packet Rates The packet rates can be configured either using Spatial Manager or through the Packets Period Packet. By default Spatial FOG Dual is configured to output the System State Packet at 50Hz. When configuring packet rates it is essential to ensure the baud rate is capable of handling the data throughput. This can be calculated using the rate and packet size. The packet size is the packet length add five to account for the packet overhead. For example to output the system state packet at 50Hz the calculation would be: Data throughput = (100 (packet length) + 5 (fixed packet overhead)) * 50 (rate) Data throughput = 5250 bytes per second Minimum baud rate = data throughput x 11 = 57750 Baud Closest standard baud rate = 115200 Baud When multiple packets are set to output at the same rate, the order the packets output is from lowest ID to highest ID. 13.6 Packet Timing Packets are output in order of packet ID from lowest ID to highest ID and all packets that are output in one sequence have their data matched to the same time of validity. The time of validity can be found in either the System State Packet, the Unix Time Packet or the Formatted Time Packet. For example if the Unix Time Packet, Status Packet and NED Velocity Packet packet were all set to output at 10 Hz, at each 0.1 second period the three packets would output consecutively by order of packet ID with all data synchronised between them and the Unix Time Packet providing the time of validity for the other two packets. 13.7 Packet Summary Packet ID Length R/W Name System Packets 0 4 R Acknowledge Packet 1 - W Request Packet 2 1 R/W Boot Mode Packet 3 24 R Device Information Packet 4 4 W Restore Factory Settings Packet 5 4 W Reset Packet 10 - R/W Serial Port Pass-through Packet

Page 90 of 138 Version 1.0 26/06/2015 Packet ID Length R/W Name State Packets 20 100 R System State Packet 21 8 R Unix Time Packet 22 14 R Formatted Time Packet 23 4 R Status Packet 24 12 R Position Standard Deviation Packet 25 12 R Velocity Standard Deviation Packet 26 12 R Euler Orientation Standard Deviation Packet 27 16 R Quaternion Orientation Standard Deviation Packet 28 48 R Raw Sensors Packet 29 74 R Raw GNSS Packet 30 13 R Satellites Packet 31 - R Detailed Satellites Packet 32 24 R Geodetic Position Packet 33 24 R ECEF Position Packet 34 25 R UTM Position Packet 35 12 R NED Velocity Packet 36 12 R Body Velocity Packet 37 12 R Acceleration Packet 38 16 R Body Acceleration Packet 39 12 R Euler Orientation Packet 40 16 R Quaternion Orientation Packet 41 36 R DCM Orientation Packet 42 12 R Angular Velocity Packet 43 12 R Angular Acceleration Packet 44 60 R/W External Position & Velocity Packet 45 36 R/W External Position Packet 46 24 R/W External Velocity Packet 47 16 R/W External Body Velocity Packet 48 8 R/W External Heading Packet 49 8 R Running Time Packet 50 12 R Local Magnetic Field Packet 51 20 R Odometer State Packet 52 8 R/W External Time Packet

Page 91 of 138 Version 1.0 26/06/2015 Packet ID Length R/W Name 53 8 R/W External Depth Packet 54 4 R Geoid Height Packet 55 - W RTCM Corrections Packet 56 8 R/W External Pitot Pressure Packet 57 12 R/W Wind Packet 58 16 R Heave Packet 59 - R Post Processing Packet 60 - R Raw Satellite Data Packet 61 - R Raw Satellite Ephemeris Packet 67 13 W External Odometer Packet 68 25 W External Air Data Packet 69 48 R/W GNSS Receiver Information Packet 71 28 R North Seeking Initialisation Status Packet 72 8 R/W Gimbal State Packet 73 24 R Automotive Packet Configuration Packets 180 4 R/W Packet Timer Period Packet 181 - R/W Packets Period Packet 182 17 R/W Baud Rates Packet 185 73 R/W Installation Alignment Packet 186 17 R/W Filter Options Packet 187 - R/W Advanced Filter Parameters Packet 188 13 R/W GPIO Configuration Packet 192 8 R/W Odometer Configuration Packet 193 5 W Set Zero Orientation Alignment Packet 194 49 R/W Reference Point Offsets Packet 195 33 R/W GPIO Output Configuration Packet 196 17 R/W Dual Antenna Configuration Packet 198 64 R/W User Data Packet 199 65 R/W GPIO Input Configuration Packet Table 25: Packet summary

Page 92 of 138 Version 1.0 26/06/2015 13.8 System Packets 13.8.1 Acknowledge Packet Acknowledgement Packet Packet ID 0 Length 4 Field # Bytes Offset Data Type Size Description 1 0 u8 1 Packet ID being acknowledged 2 1 u16 2 CRC of packet being acknowledged 3 3 u8 1 Acknowledge Result, see section 13.8.1.1 Table 26: Acknowledge packet 13.8.1.1 Acknowledge Result Value Description 0 Acknowledge success 1 Acknowledge failure, CRC error 2 Acknowledge failure, packet size incorrect 3 Acknowledge failure, values outside of valid ranges 4 Acknowledge failure, system flash memory failure 5 Acknowledge failure, system not ready 6 Acknowledge failure, unknown packet Table 27: Acknowledge result 13.8.2 Request Packet Request Packet Packet ID 1 Length 1 x number of packets requested Field # Bytes Offset Data Type Size Description 1 0 u8 1 Packet ID requested + Field 1 repeats for additional packet requests Table 28: Request packet

Page 93 of 138 Version 1.0 26/06/2015 13.8.3 Boot Mode Packet Boot Mode Packet Packet ID 2 Length 1 Field # Bytes Offset Data Type Size Description 1 0 u8 1 Boot mode, see section 13.8.3.1 Table 29: Boot mode packet 13.8.3.1 Boot Mode Types Value Description 0 Bootloader 1 Main Program Table 30: Boot mode types 13.8.4 Device Information Packet Device Information Packet Packet ID 3 Length 24 Field # Bytes Offset Data Type Size Description 1 0 u32 4 Software version 2 4 u32 4 Device ID 3 8 u32 4 Hardware revision 4 12 u32 4 Serial number part 1 5 16 u32 4 Serial number part 2 6 20 u32 4 Serial number part 3 Table 31: Device information packet

Page 94 of 138 Version 1.0 26/06/2015 13.8.5 Restore Factory Settings Packet Restore Factory Settings Packet Packet ID 4 Length 4 Field # Bytes Offset Data Type Size Description 1 0 u32 4 Verification Sequence (set to 0x85429E1C) Table 32: Restore factory settings packet 13.8.6 Reset Packet Reset Packet Packet ID 5 Length 4 Field # Bytes Offset Data Type Size Description 1 0 u32 4 Verification sequence, see section 13.8.6.1 Table 33: Reset packet 13.8.6.1 Verification Sequence Values Value Description 0x21057A7E Standard hot start reset 0x9A5D38B7 Cold start reset Table 34: Verification sequence values 13.8.7 Serial Port Pass-through Packet Serial Port Pass-through Packet Packet ID 10 Length Variable, up to 255 bytes Field # Bytes Offset Data Type Size Description 1 0 u8 1 Pass-through route, see section 13.8.7.1 2 1 Pass-through data Table 35: Serial port pass-through packet

Page 95 of 138 Version 1.0 26/06/2015 13.8.7.1 Pass-through Routes Value Description 1 GPIO 1 and 2 2 Auxiliary RS232 Table 36: Pass-through routes

Page 96 of 138 Version 1.0 26/06/2015 13.9 State Packets Spatial FOG Dual supports a large number of packets providing extensive functionality. However for the majority of users the easiest approach is to configure Spatial FOG Dual using the Spatial Manager software and then support only the single system state packet shown below in section 13.9.1. Advanced functionality can be added as required through the other packets. 13.9.1 System State Packet System State Packet Packet ID 20 Length 100 Field # Bytes Offset Data Type Size Description 1 0 u16 2 System status, see section 13.9.1.1 2 2 u16 2 Filter status, see section 13.9.1.2 3 4 u32 4 Unix time seconds, see section 13.9.1.4 4 8 u32 4 Microseconds, see section 13.9.1.5 5 12 fp64 8 Latitude (rad) 6 20 fp64 8 Longitude (rad) 7 28 fp64 8 Height (m) 8 36 fp32 4 Velocity north (m/s) 9 40 fp32 4 Velocity east (m/s) 10 44 fp32 4 Velocity down (m/s) 11 48 fp32 4 Body acceleration X (m/s/s) 12 52 fp32 4 Body acceleration Y (m/s/s) 13 56 fp32 4 Body acceleration Z (m/s/s) 14 60 fp32 4 G force (g) 15 64 fp32 4 Roll (radians) 16 68 fp32 4 Pitch (radians) 17 72 fp32 4 Heading (radians) 18 76 fp32 4 Angular velocity X (rad/s) 19 80 fp32 4 Angular velocity Y (rad/s) 20 84 fp32 4 Angular velocity Z (rad/s) 21 88 fp32 4 Latitude standard deviation (m) 22 92 fp32 4 Longitude standard deviation (m) 23 96 fp32 4 Height standard deviation (m)

Page 97 of 138 Version 1.0 26/06/2015 Table 37: System state packet 13.9.1.1 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. Bit Description 0 System Failure 1 Accelerometer Sensor Failure 2 Gyroscope Sensor Failure 3 Magnetometer Sensor Failure 4 Pressure Sensor Failure 5 GNSS Failure 6 Accelerometer Over Range 7 Gyroscope Over Range 8 Magnetometer Over Range 9 Pressure Over Range 10 Minimum Temperature Alarm 11 Maximum Temperature Alarm 12 Low Voltage Alarm 13 High Voltage Alarm 14 GNSS Antenna Disconnected 15 Data Output Overflow Alarm Table 38: System status

Page 98 of 138 Version 1.0 26/06/2015 13.9.1.2 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. Bit Description 0 Orientation Filter Initialised 1 Navigation Filter Initialised 2 Heading Initialised 3 UTC Time Initialised 4 GNSS Fix Status, see section 13.9.1.3 5 6 7 Event 1 Occurred 8 Event 2 Occurred 9 Internal GNSS Enabled 10 Dual Antenna Heading Active 11 Velocity Heading Enabled 12 Atmospheric Altitude Enabled 13 External Position Active 14 External Velocity Active 15 External Heading Active Table 39: Filter status 13.9.1.3 GNSS Fix Status Value Bit 6 Bit 5 Bit 4 Description 0 0 0 0 No GNSS fix 1 0 0 1 2D GNSS fix 2 0 1 0 3D GNSS fix 3 0 1 1 SBAS GNSS fix 4 1 0 0 Differential GNSS fix 5 1 0 1 Omnistar/Starfire GNSS fix 6 1 1 0 RTK Float GNSS fix 7 1 1 1 RTK Fixed GNSS fix Table 40: GNSS fix status 13.9.1.4 Unix Time Seconds This field provides UTC time in seconds since January 1, 1970 including leap seconds.

Page 99 of 138 Version 1.0 26/06/2015 13.9.1.5 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. 13.9.2 Unix Time Packet Unix Time Packet Packet ID 21 Length 8 Field # Bytes Offset Data Type Size Description 1 0 u32 4 Unix time seconds, see section 13.9.1.4 2 4 u32 4 Microseconds, see section 13.9.1.5 Table 41: Unix time packet 13.9.3 Formatted Time Packet Formatted Time Packet Packet ID 22 Length 14 Field # Bytes Offset Data Type Size Description 1 0 u32 4 Microseconds 2 4 u16 2 Year 3 6 u16 2 Year day, 0 - 365 4 8 u8 1 Month, 0 - 11 5 9 u8 1 Month Day, 1 - 31 6 10 u8 1 Week Day, 0 - 6 7 11 u8 1 Hour, 0 - 23 8 12 u8 1 Minute, 0 - 59 9 13 u8 1 Second, 0 - 59 Table 42: Formatted time packet