Advanced Navigation Spatial FOG Dual Reference Manual

Page 1 of 144 Version 2.3 03/05/2018 Table of Contents 1 Revision History..........................................................................................................8 2 Firmware Changelog.................................................................................................11 3 Hardware Changelog................................................................................................13 4 Introduction..............................................................................................................14 5 Foundation Knowledge.............................................................................................15 5.1 GNSS.................................................................................................................15 5.2 INS.....................................................................................................................15 5.3 GNSS/INS...........................................................................................................15 5.4 AHRS.................................................................................................................15 5.5 RTK GNSS..........................................................................................................16 5.6 The Sensor Co-ordinate Frame..........................................................................16 5.7 Roll, Pitch and Heading......................................................................................16 5.7.1 Second Right Hand Rule.............................................................................17 5.7.2 Rotation Order............................................................................................17 5.8 Geodetic Co-ordinate System............................................................................18 5.9 NED Co-ordinate Frame.....................................................................................19 5.10 ECEF Co-ordinate Frame..................................................................................20 6 Evaluation Kit...........................................................................................................21 6.1 Kit Contents.......................................................................................................21 6.2 Quick Start.........................................................................................................21 6.3 Antenna Survey Mount Assembly......................................................................22 7 Part Numbers and Ordering Options.........................................................................23 7.1 Evaluation Kit....................................................................................................23 7.2 Standalone Unit.................................................................................................23 7.3 Internal GNSS Receiver License Upgrades.........................................................23 7.4 Accessories........................................................................................................24 8 Specifications...........................................................................................................25 8.1 Mechanical Drawings.........................................................................................25 8.2 Navigation Specifications..................................................................................26 8.3 Sensor Specifications.........................................................................................27 8.4 GNSS Specifications...........................................................................................27 8.5 Communication Specifications...........................................................................28 8.6 Hardware Specifications....................................................................................28 8.7 Electrical Specifications.....................................................................................29 8.8 Power Consumption...........................................................................................30 8.9 Connector Pin-out..............................................................................................30 8.10 Spatial FOG Evaluation Cable Harness............................................................32 8.11 Serial Number..................................................................................................33 9 Installation................................................................................................................34 9.1 Installation Checklist.........................................................................................34 9.2 Position and Alignment......................................................................................34 9.2.1 Alignment...................................................................................................35 9.3 Mounting Plate...................................................................................................35 9.4 Power Supply.....................................................................................................36 9.5 GNSS Antenna...................................................................................................36 9.6 GNSS Antenna Cables........................................................................................37 9.7 Static Port..........................................................................................................38 9.8 Odometer..........................................................................................................38

Page 2 of 144 Version 2.3 03/05/2018 9.8.1 Factory VSS Signal......................................................................................38 9.8.2 OBDII Odometer Interface..........................................................................38 9.8.3 Aftermarket Wheel Speed Sensor...............................................................39 9.8.4 Radar Speed Sensor...................................................................................39 9.9 Vibration............................................................................................................40 10 Operation................................................................................................................41 10.1 Initialisation.....................................................................................................41 10.1.1 Orientation Initialisation...........................................................................41 10.1.2 Navigation Initialisation............................................................................41 10.1.3 Heading Initialisation................................................................................42 10.1.4 Time Initialisation.....................................................................................42 10.2 Hot Start..........................................................................................................42 10.3 Time................................................................................................................43 10.4 Heading Source...............................................................................................43 10.4.1 North Seeking Gyrocompass Heading......................................................43 10.4.2 Velocity Heading.......................................................................................44 10.4.3 Dual Antenna Heading..............................................................................44 10.4.4 External Heading......................................................................................45 10.5 Magnetics........................................................................................................46 10.6 Data Anti Aliasing............................................................................................46 10.7 Vehicle Profiles................................................................................................46 10.8 Odometer Pulse Length...................................................................................46 10.8.1 Odometer Automatic Pulse Length Calibration Procedure........................46 10.9 Reversing Detection........................................................................................47 10.10 Motion Analysis..............................................................................................47 10.11 RTK................................................................................................................47 10.11.1 Network RTK Corrections........................................................................47 10.11.2 Base station radio modem RTK corrections............................................48 10.12 Raw Satellite Data.........................................................................................48 10.13 Post Processing..............................................................................................49 10.14 RAIM..............................................................................................................50 10.15 Heave............................................................................................................50 10.16 Environmental Exposure................................................................................50 10.16.1 Temperature...........................................................................................51 10.16.2 Water......................................................................................................51 10.16.3 Salt.........................................................................................................51 10.16.4 Dirt and Dust..........................................................................................51 10.16.5 PH Level..................................................................................................51 10.16.6 Shocks....................................................................................................51 11 Spatial FOG Manager..............................................................................................52 11.1 Software Changelog........................................................................................53 11.2 System Requirements......................................................................................53 11.3 Installation.......................................................................................................53 11.4 Troubleshooting...............................................................................................54 11.4.1 All Platforms.............................................................................................54 11.4.2 Windows...................................................................................................54 11.4.3 Linux.........................................................................................................55 11.5 Main View........................................................................................................57 11.5.1 Serial Port.................................................................................................57 11.5.2 Attitude Indicator......................................................................................57

Page 3 of 144 Version 2.3 03/05/2018 11.5.3 Status Indicator........................................................................................58 11.5.3.1 Spatial Status Indicator.....................................................................58 11.5.3.2 Fix Indicator.......................................................................................58 11.5.3.3 Satellites Table..................................................................................58 11.5.4 3D Map.....................................................................................................58 11.5.5 3D Map Controls.......................................................................................58 11.5.5.1 Reset View.........................................................................................58 11.5.5.2 Clear History......................................................................................58 11.6 Logging............................................................................................................58 11.7 Views...............................................................................................................59 11.7.1 Device Information...................................................................................60 11.7.2 Status.......................................................................................................60 11.7.3 Satellites...................................................................................................61 11.7.4 Raw Sensors.............................................................................................62 11.7.5 Orientation...............................................................................................63 11.7.6 Position.....................................................................................................64 11.7.7 Velocity and Acceleration.........................................................................65 11.7.8 3D Model..................................................................................................66 11.7.9 Communications Statistics.......................................................................66 11.7.10 GNSS Receiver Information.....................................................................67 11.7.11 Heave.....................................................................................................67 11.7.12 North Seeking Status..............................................................................68 11.8 Configuration...................................................................................................70 11.8.1 Configuration Export................................................................................70 11.8.2 Filter Options............................................................................................71 11.8.3 Packet Rates.............................................................................................72 11.8.4 Alignment Configuration...........................................................................73 11.8.4.1 Alignment Ofset................................................................................73 11.8.4.2 GNSS Antenna Ofset.........................................................................74 11.8.4.3 Odometer Ofset................................................................................74 11.8.4.4 External Data Ofset..........................................................................74 11.8.5 Baud Rates...............................................................................................74 11.8.6 GPIO Configuration...................................................................................75 11.8.7 Odometer.................................................................................................75 11.8.8 Reset........................................................................................................76 11.8.9 Heave Ofset.............................................................................................76 11.8.10 GPIO Output...........................................................................................77 11.8.11 Position Configuration.............................................................................79 11.8.12 Dual Antenna..........................................................................................80 11.9 Tools................................................................................................................81 11.9.1 Terminal....................................................................................................81 11.9.2 Firmware Update......................................................................................81 11.9.3 Log Converter...........................................................................................82 11.9.4 NTRIP Client..............................................................................................82 11.9.5 Network Connect......................................................................................82 12 Interfacing..............................................................................................................84 12.1 Communication...............................................................................................84 12.1.1 Baud Rate.................................................................................................84 12.2 External Data...................................................................................................84 12.3 GPIO Pins and Auxiliary RS232........................................................................84

Page 4 of 144 Version 2.3 03/05/2018 12.3.1 GPIO Pins Voltage Level............................................................................85 12.3.2 GNSS RS232.............................................................................................85 12.4 Dynamic Pin Functions.....................................................................................85 12.4.1 1PPS Output.............................................................................................86 12.4.2 GNSS Fix Output.......................................................................................87 12.4.3 Odometer Input........................................................................................87 12.4.4 Zero Velocity Input...................................................................................87 12.4.5 Pitot Tube Input.........................................................................................87 12.4.6 NMEA Input...............................................................................................87 12.4.7 NMEA Output............................................................................................88 12.4.8 Novatel GNSS Input..................................................................................88 12.4.9 Topcon GNSS Input...................................................................................89 12.4.10 ANPP Input..............................................................................................89 12.4.11 ANPP Output...........................................................................................89 12.4.12 Disable GNSS..........................................................................................89 12.4.13 Disable Pressure.....................................................................................89 12.4.14 Set Zero Orientation Alignment..............................................................89 12.4.15 System State Packet Trigger...................................................................89 12.4.16 Raw Sensors Packet Trigger....................................................................89 12.4.17 RTCM Diferential GNSS Corrections Input..............................................89 12.4.18 Trimble GNSS Input.................................................................................90 12.4.19 u-blox GNSS Input...................................................................................90 12.4.20 Hemisphere GNSS Input.........................................................................90 12.4.21 Left Wheel Speed Sensor........................................................................90 12.4.22 Right Wheel Speed Sensor.....................................................................90 12.4.23 1PPS Input..............................................................................................90 12.4.24 Wheel Speed Sensor...............................................................................90 12.4.25 Wheel Encoder Phase A..........................................................................90 12.4.26 Wheel Encoder Phase B..........................................................................91 12.4.27 Event 1 Input..........................................................................................91 12.4.28 Event 2 Input..........................................................................................91 12.4.29 TSS1 Output...........................................................................................91 12.4.30 Simrad 1000 Output...............................................................................91 12.4.31 Simrad 3000 Output...............................................................................91 12.4.32 Serial Port Passthrough...........................................................................91 12.4.33 Gimbal Encoder Phase A.........................................................................91 12.4.34 Gimbal Encoder Phase B.........................................................................91 12.4.35 Odometer Direction, Forward Low..........................................................92 12.4.36 Odometer Direction, Forward High.........................................................92 12.4.37 Nortek DVL Binary Format Input.............................................................92 13 Advanced Navigation Packet Protocol.....................................................................93 13.1 Data Types.......................................................................................................93 13.2 Packet Structure..............................................................................................93 13.2.1 Header LRC...............................................................................................94 13.2.2 Packet ID..................................................................................................94 13.2.3 Packet Length...........................................................................................94 13.2.4 CRC...........................................................................................................94 13.3 Packet Requests..............................................................................................94 13.4 Packet Acknowledgement................................................................................95 13.5 Packet Rates....................................................................................................95

Page 5 of 144 Version 2.3 03/05/2018 13.6 Packet Timing..................................................................................................95 13.7 Packet Summary..............................................................................................95 13.8 System Packets................................................................................................98 13.8.1 Acknowledge Packet.................................................................................98 13.8.1.1 Acknowledge Result..........................................................................98 13.8.2 Request Packet.........................................................................................98 13.8.3 Boot Mode Packet.....................................................................................99 13.8.3.1 Boot Mode Types...............................................................................99 13.8.4 Device Information Packet........................................................................99 13.8.5 Restore Factory Settings Packet..............................................................100 13.8.6 Reset Packet...........................................................................................100 13.8.6.1 Verification Sequence Values...........................................................100 13.8.7 Serial Port Pass-through Packet..............................................................100 13.8.7.1 Pass-through Routes........................................................................100 13.9 State Packets.................................................................................................102 13.9.1 System State Packet...............................................................................102 13.9.1.1 System Status.................................................................................103 13.9.1.2 Filter Status.....................................................................................104 13.9.1.3 GNSS Fix Status...............................................................................104 13.9.1.4 Unix Time Seconds..........................................................................104 13.9.1.5 Microseconds...................................................................................105 13.9.2 Unix Time Packet....................................................................................105 13.9.3 Formatted Time Packet...........................................................................105 13.9.4 Status Packet..........................................................................................105 13.9.5 Position Standard Deviation Packet........................................................106 13.9.6 Velocity Standard Deviation Packet........................................................106 13.9.7 Euler Orientation Standard Deviation Packet..........................................106 13.9.8 Quaternion Orientation Standard Deviation Packet................................107 13.9.9 Raw Sensors Packet................................................................................107 13.9.10 Raw GNSS Packet.................................................................................108 13.9.10.1 Raw GNSS Status...........................................................................109 13.9.11 Satellites Packet...................................................................................109 13.9.12 Detailed Satellites Packet.....................................................................110 13.9.12.1 Satellite Systems...........................................................................110 13.9.12.2 Satellite Frequencies.....................................................................110 13.9.13 Geodetic Position Packet.......................................................................111 13.9.14 ECEF Position Packet.............................................................................111 13.9.15 UTM Position Packet..............................................................................111 13.9.16 NED Velocity Packet..............................................................................112 13.9.17 Body Velocity Packet.............................................................................112 13.9.18 Acceleration Packet..............................................................................112 13.9.19 Body Acceleration Packet.....................................................................113 13.9.20 Euler Orientation Packet.......................................................................113 13.9.21 Quaternion Orientation Packet.............................................................114 13.9.22 DCM Orientation Packet........................................................................114 13.9.23 Angular Velocity Packet........................................................................114 13.9.24 Angular Acceleration Packet.................................................................115 13.9.25 External Position & Velocity Packet.......................................................115 13.9.26 External Position Packet........................................................................116 13.9.27 External Velocity Packet.......................................................................116

Page 6 of 144 Version 2.3 03/05/2018 13.9.28 External Body Velocity Packet...............................................................117 13.9.29 External Heading Packet.......................................................................117 13.9.30 Running Time Packet............................................................................117 13.9.31 Local Magnetic Field Packet..................................................................118 13.9.32 Odometer State Packet.........................................................................118 13.9.33 External Time Packet............................................................................118 13.9.34 External Depth Packet..........................................................................119 13.9.35 Geoid Height Packet.............................................................................119 13.9.36 RTCM Corrections Packet......................................................................119 13.9.37 External Pitot Pressure Packet..............................................................119 13.9.38 Wind Packet..........................................................................................120 13.9.39 Heave Packet........................................................................................121 13.9.40 Post Processing Packet.........................................................................121 13.9.41 Raw Satellite Data Packet.....................................................................122 13.9.41.1 Satellite Frequencies.....................................................................123 13.9.41.2 Tracking Status..............................................................................123 13.9.42 Raw Satellite Ephemeris Packet............................................................123 13.9.43 External Odometer Packet....................................................................124 13.9.43.1 Odometer fags..............................................................................124 13.9.44 External Air Data Packet.......................................................................124 13.9.44.1 External Air Data Flags..................................................................125 13.9.44.2 Notes.............................................................................................125 13.9.45 GNSS Receiver Information Packet.......................................................125 13.9.45.1 GNSS Manufacturer IDs.................................................................125 13.9.45.2 GNSS Receiver Models...................................................................126 13.9.46 North Seeking Initialisation Status Packet............................................126 13.9.46.1 North Seeking Initialisation Status Flags.......................................127 13.9.46.2 North Seeking Initialisation Current Rotation Angle.......................127 13.9.47 Gimbal State Packet.............................................................................127 13.9.48 Automotive Packet................................................................................128 13.10 Configuration Packets..................................................................................129 13.10.1 Packet Timer Period Packet...................................................................129 13.10.1.1 UTC Synchronisation......................................................................129 13.10.1.2 Packet Timer Period.......................................................................129 13.10.2 Packets Period Packet...........................................................................130 13.10.2.1 Clear Existing Packets...................................................................130 13.10.2.2 Packet Period.................................................................................130 13.10.3 Baud Rates Packet................................................................................131 13.10.4 Installation Alignment Packet...............................................................132 13.10.4.1 Alignment DCM..............................................................................132 13.10.5 Filter Options Packet.............................................................................133 13.10.5.1 Vehicle Types.................................................................................134 13.10.6 Advanced Filter Parameters Packet.......................................................134 13.10.7 GPIO Configuration Packet....................................................................134 13.10.7.1 GPIO1 Functions............................................................................135 13.10.7.2 GPIO2 Functions............................................................................136 13.10.7.3 Auxiliary RS232 Transmit Functions...............................................137 13.10.7.4 Auxiliary RS232 Receive Functions................................................137 13.10.8 Odometer Configuration Packet............................................................138 13.10.9 Set Zero Orientation Alignment Packet.................................................138

Page 7 of 144 Version 2.3 03/05/2018 13.10.10 Reference Point Ofsets Packet...........................................................138 13.10.11 GPIO Output Configuration Packet......................................................140 13.10.11.1 NMEA Fix Behaviour.....................................................................140 13.10.11.2 GPIO Output Rates.......................................................................141 13.10.11.3 GPIO Output Rates Index.............................................................141 13.10.12 Dual Antenna Configuration Packet....................................................141 13.10.12.1 Ofset Types.................................................................................142 13.10.12.2 Automatic Ofset Orientations.....................................................142 13.10.13 User Data Packet................................................................................142 13.10.14 GPIO Input Configuration Packet.........................................................143

Page 8 of 144 Version 2.3 03/05/2018 1 Revision History Version Date Changes 2.3 03/05/2018 Updated firmware changelog, section 2 Updated hardware changelog, section 3 Updated navigation specifications, section 8.2 Updated RTK operation, section 10.11 Added raw satellite data, section 10.12 Added post processing, section 10.13 Updated Spatial FOG Manager tools, section 11.9 Added Nortek binary format, section 12.4.37 Updated GPIO 2 receive functions, section 13.10.7.2 Updated auxiliary RS232 receive functions, section 13.10.7.4 Updated GPIO output configuration, section 13.10.11 2.2 27/04/2016 Updated firmware changelog, section 2 Updated hardware changelog, section 3 Updated images in foundation knowledge, section 5 Updated sensor specifications with more detail, section 8.3 Added antenna ofset diagrams, section 9.5 Updated Spatial FOG Manager changelog, section 11.1 2.1 02/04/2015 Updated firmware changelog, section 2 Added part numbers and ordering options, section 7 Updated serial number, section 8.11 Updated Spatial FOG Manager changelog, section 11.1 Added gimbal encoder phase a function, section 12.4.33 Added gimbal encoder phase b function, section 12.4.34 Added odometer direction forward low, section 12.4.35 Added odometer direction forward high, section 12.4.36 Updated reset packet with cold start option, section 13.8.6 Added gimbal state packet, section 13.9.47 Added automotive packet, section 13.9.48 Heave ofsets packet changed name to reference point ofsets packet, format remains the same, section 13.10.10 Added user data packet, section 13.10.13 Added GPIO input configuration packet, section 13.10.14 2.0 10/10/2014 Updated firmware changelog, section 2 Added hardware changelog, section 3 Updated all images through foundation knowledge, section 5 Updated mechanical drawings, section 8.1 Updated GNSS specifications, section 8.4 Updated hardware specifications, section 8.6 Updated connector pin-out, section 8.9 Updated Spatial FOG evaluation cable, section 8.10 Added serial number information, section 8.11 Added installation checklist, section 9.1

Page 9 of 144 Version 2.3 03/05/2018 Version Date Changes Updated power supply, section 9.4 Updated GNSS antennas, section 9.5 Added GNSS antenna cables, section 9.6 Updated OBDII Odometer photo, section 9.8.2 Updated initialisation, section 10.1 Updated north seeking gyrocompassing, section 10.4.1 Updated dual antenna heading, section 10.4.3 Updated Spatial FOG Manager changelog, section 11.1 Updated linux troubleshooting, section 11.4.3 Added communications dialogue, section 11.7.9 Added GNSS receiver dialogue, section 11.7.10 Added heave dialogue, section 11.7.11 Added north seeking status dialogue, section 11.7.12 Updated all configuration screenshots, section 11.8 NMEA Output is now GPIO Output, section 11.8.10 Added serial port pass through function, section 12.4.32 Added serial port pass through packet, section 13.8.7 Changed Raw GNSS packet, section 13.9.10.1 Name of wind estimation packet changed to wind packet and it is also now read/write, section 13.9.38 Added external odometer packet, section 13.9.43 Added external air data packet, section 13.9.44 Added GNSS receiver information packet, section 13.9.45 Added north seeking initialisation status packet, section 13.9.46 Added new stunt plane vehicle profile, section 13.10.5.1 NMEA configuration packet has changed to GPIO output configuration packet, section 13.10.11 Corrected error with dual antenna packet, section 13.10.12 1.4 10/12/2013 Added firmware changelog, section 2 Corrected error in connector pin-out, section 8.9 1.3 15/10/2013 Integrated Spatial FOG Manager manual, section 11 Added TSS1 output, section 12.4.29 Added Simrad 1000 output, section 12.4.30 Added Simrad 3000 output, section 12.4.31 Updated vehicle types, section 13.10.5.1 Updated NMEA configuration packet 1.2 30/07/2013 Corrected error in mechanical drawings, section 8.1 1.1 29/07/2013 Added evaluation kit information, section 6 Updated evaluation cable harness, section 8.10 Updated odometer installation, section 9.8 Updated heading source, section 10.4 Updated north seeking heading, section 10.4.1 Updated magnetics, section 10.5 Updated GPIO pins voltage levels, section 12.3.1 Added event 1 input, section 12.4.27

Page 10 of 144 Version 2.3 03/05/2018 Version Date Changes Added event 2 input, section 12.4.28 1.0 14/05/2013 Updated photo Updated mechanical drawings, section 8.1 Updated electrical specifications, section 8.7 Updated connector pinout, section 8.9 Updated electrical connection example Updated evaluation cable harness, section 8.10 Updated mounting plate drawing, section 9.3 Added reversing detection, section 10.9 Added motion analysis, section 10.10 Added heave information, section 10.15 Updated odometer input, section 12.4.3 Updated NMEA input, section 12.4.6 Updated NMEA output, section 12.4.7 Added 1PPS input, section 12.4.23 Added wheel speed sensor, section 12.4.24 Added wheel encoder phase a, section 12.4.25 Added wheel encoder phase b, section 12.4.26 Updated detailed satellites packet, section 13.9.12 Added RTCM corrections packet, section 13.9.36 Added external pitot pressure packet, section 13.9.37 Added wind estimation packet, section 13.9.38 Added heave packet, section 13.9.39 Added post processing packet, section 13.9.40 Added raw satellite data packet, section 13.9.41 Added raw satellite ephemeris packet, section 13.9.42 Updated filter options packet, section 13.10.5 Updated GPIO configuration packet, section 13.10.7 Added COM2 and COM3 transmit functions Added COM2 and COM3 receive functions Added heave ofset packet, section 13.10.10 Added NMEA output configuration packet 0.6 14/01/2013 Added RTK GNSS foundation knowledge, section 5.5 Completed north seeking gyrocompass, section 10.4.1 Added RTK GNSS operation, section Error: Reference source not found Added GPIO pins voltage level, section 12.3.1 Added auxiliary RS232 COM2 multiplexer, section 12.3.2 0.5 09/01/2013 Draft release. Please email [email protected] if you notice any mistakes or anything that is unclear. Table 1: Revision history

Page 11 of 144 Version 2.3 03/05/2018 2 Firmware Changelog Version Date Changes 2.4 18/04/2018 Addition of extra BeiDou and Galileo frequencies to raw satellite data output. Hemisphere binary input now supports Bin1 and GPHDT messages. Hot start performance improvements Fix for SBAS and QZSS satellite numbering Added Nortek DVL support Added support for new NMEA messages PFEC,Gpatt, PFEC,Gphve, PSIMSSB and GPVHW. Significantly improved integrity monitoring algorithms allow the system to more efectively filter out bad data from GNSS receivers, odometers and external sources. NMEA PASHR message updated to include standard deviation. Improved motion analysis (ZUPT). IMU1750 temperature reporting changed to 2 decimal places. 2.31 01/07/2016 Bug fix for time taking too long to initialise when using the system with an external Trimble receiver 2.2 05/04/2016 Performance improvements Added support for NMEA messages GPROT and GPHEV Added support for raw GNSS packet input Bug fix for NMEA mode character indicating incorrectly Bug fix for raw satellite data packet update rate not saving correctly 2.1 02/04/2015 Enhanced odometer hot start dead reckoning performance Bug fix with serial port passthrough incorrect port ID New tightly coupled heave filter operating at 1000Hz Improved hot start performance and functionality New algorithm for use inside gimbals (requires encoder) More robust time acceptance from external sources NMEA time is now perfectly aligned to the millisecond Support for ofsetting reference position of output data Improved handling of leap second change during operation Virtual odometer distance filter added Slip filter added Bug fix for diferential corrections being sent to GNSS receiver before initialised causing issues Bug fix for temporary accelerometer/gyroscope failure being indicated by system after fash writes Updated world magnetic model to 2015 version Improved reversing detection filter Added gimbal state and configuration packets Added automotive packet

Page 12 of 144 Version 2.3 03/05/2018 Version Date Changes 2.0 10/10/2014 Support added for new hardware version 2.1 North seeking algorithm overhauled, now much more robust against disturbances and interference and will not allow an initialisation with a poor north seeking result Significant filter performance improvements under high dynamics Improved filter performance under dead reckoning Improved performance in urban canyon conditions where a GNSS fix is rarely available Improvements to car and fixed wing plane vehicle profiles Improvements to delay compensation filter Fixed bug that could cause temporary GNSS failure after long periods Raw GNSS packet updated to new format GPIO output configuration packet updated Support for external odometer packet added Support for external air data packet added Support for north seeking initialisation status packet Wind estimation filter improvements Added stunt plane vehicle profile Added support for serial port passthrough Support for GNSS receiver information packet added GPIO data output now up to 50Hz 1.1 15/12/2013 Post-processing improvements 1.0 09/01/2013 Initial release Table 2: Firmware changelog

Page 13 of 144 Version 2.3 03/05/2018 3 Hardware Changelog Version Date Changes 2.4 01/06/2016 Slightly reduced power consumption and heat generation Minor internal improvements 2.2 03/08/2015 Internal solid state hot start battery changed resulting in longer hot start capability Other minor internal improvements 2.1 09/05/2014 Hardware has changed from two enclosures to a single integrated enclosure Dimensions and weight changed Connector changed GNSS receiver changed from Trimble BD920 to Trimble BD930 Support for GPS L5 signal and BeiDou B1/B2 Reduced power consumption Reduced heat generation Same electrical connections and mounting footprint as previous hardware generations 1.5 17/10/2013 Minor internal improvements No noticeable changes for customers 1.0 10/08/2013 Initial release Table 3: Hardware changelog

Page 14 of 144 Version 2.3 03/05/2018 4 Introduction Spatial FOG 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 an RTK GNSS receiver. These are coupled in a sophisticated fusion algorithm to deliver accurate and reliable navigation and orientation. Spatial FOG can provide amazing results but it does need to be set up properly and operated with an awareness of its 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 to be easily configured and tested. It is referenced throughout this manual. If you have any questions please contact [email protected].

Page 15 of 144 Version 2.3 03/05/2018 5 Foundation Knowledge This chapter is a learning reference that briefy covers knowledge essential to understanding Spatial FOG 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 diferences. 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 16 of 144 Version 2.3 03/05/2018 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 diferent 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 axes Illustration 2: First right hand rule

Page 17 of 144 Version 2.3 03/05/2018 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 with your hand whilst watching the orientation plot in real time on the computer. Illustration 3: Second right hand rule

Page 18 of 144 Version 2.3 03/05/2018 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 19 of 144 Version 2.3 03/05/2018 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 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 20 of 144 Version 2.3 03/05/2018 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 21 of 144 Version 2.3 03/05/2018 6 Evaluation Kit Spatial FOG 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 GNSS/INS 2. Interface cable harness, see section 8.10 3. Antcom G5Ant-53A4T1 L1/L2/L5 GPS/GLONASS/GALILEO/BeiDou GNSS antenna 4. 4 metre RG58/U antenna cable 5. 2 metre USB to RS422 cable 6. 120/240 V AC to 24 V DC power supply 6.2 Quick Start 1. Attach the interface cable harness to the Spatial FOG unit and screw up finger tight. 2. Plug the power supply into the cable harness and then into the wall socket 3. Plug the USB to RS422 cable into the cable harness primary RS422 socket and your computer 4. Position the GNSS antenna level with a clear view of the sky and connect the coaxial cable between it and Spatial FOG. 5. Download the Spatial FOG Manager software from the Advanced Navigation website. Java is required to run the software. Java is available from http://www.java.com if not already installed. Illustration 7: Spatial FOG Evaluation Kit rugged transport case Illustration 8: Spatial FOG Evaluation Kit contents

Page 22 of 144 Version 2.3 03/05/2018 6. Click the connect button in Spatial FOG Manager. 7. The various windows in Spatial FOG Manager can be used to view the real time data. 8. If north seeking is being used for heading the unit must first obtain a GNSS fix, it should then be left stationary for 5 minutes, then rotated approximately 90 degrees around the Z axis and left stationary for a further 5 minutes. The rotations and dwell times should be repeated two more times. At this point the heading will lock and the status view in Spatial FOG Manager will show that heading has initialised. The North Seeking Status dialogue in Spatial FOG Manager can be used to view the progress of the north seeking. 9. 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 antenna 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 23 of 144 Version 2.3 03/05/2018 7 Part Numbers and Ordering Options 7.1 Evaluation Kit Part Number Description Notes SPATIAL-FOG2-EK Spatial FOG Evaluation Kit Spatial FOG evaluation kit Includes items listed in section 6.1 L1 GPS, GLONASS, BeiDou, SBAS DGNSS supported License required for RTK, L2, L5, Galileo and raw data logging Table 4: Evaluation kit part numbers 7.2 Standalone Unit Part Number Description Notes SPATIAL-FOG2 Spatial FOG Unit Spatial FOG unit L1 GPS, GLONASS, BeiDou, SBAS DGNSS supported License required for RTK, L2, L5, Galileo and raw data logging No cables included SPATIAL-FOG2-NOGNSS Spatial FOG Unit (No GNSS) Spatial FOG unit without internal GNSS receiver 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 SF-LIC-8MM RTK, L2, L5, Raw Data and Galileo License Upgrade GNSS receiver software license upgrade that enables RTK, L2, L5, Raw Data and Galileo Table 6: Internal GNSS receiver license upgrade part numbers

Page 24 of 144 Version 2.3 03/05/2018 7.4 Accessories Part Number Description Notes SF-DU-KIT Spatial FOG Dual Antenna Upgrade Kit Upgrades Spatial FOG to be a dual antenna system for enhanced heading See section 10.4.3 8071-4336-78 Unterminated Interface Cable Spatial FOG connector with 2 metres of unterminated cable See section 8.9 SF-CABLE-KIT Spatial FOG Evaluation Cable Harness Spatial FOG connector with 2 metres of cable to industry standard connectors See section 8.10 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 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 25 of 144 Version 2.3 03/05/2018 8 Specifications 8.1 Mechanical Drawings Illustration 10: Mechanical drawings of Spatial FOG

Page 26 of 144 Version 2.3 03/05/2018 8.2 Navigation Specifications Parameter Value Horizontal Position Accuracy 0.8 m Vertical Position Accuracy 1.5 m Horizontal Position Accuracy (RTK or Kinematica Post Processing) 0.008 m Vertical Position Accuracy (RTK) 0.015 m Velocity Accuracy 0.007 m/s Roll & Pitch Accuracy 0.01 ° Heading Accuracy (GNSS aided) 0.05 ° Heading Accuracy (north seeking only) 0.25 ° secant latitude Heading Accuracy (dual antenna upgrade) 0.01 ° Roll & Pitch Accuracy (Kinematica Post Processing) 0.005 ° Heading Accuracy (Kinematica Post Processing) 0.01 ° Hot Start Time 2 s Internal Filter Rate 1000 Hz Output Data Rate Up to 1000 Hz Table 8: Navigation specifications

Page 27 of 144 Version 2.3 03/05/2018 8.3 Sensor Specifications Parameter Accelerometers Gyroscopes Magnetometers Pressure Range 10 g 490 °/s 8 G 10 to 120 KPa Bias Instability 15 ug 0.05 °/hr - 10 Pa Initial Bias < 1 mg < 1 °/hr - < 100 Pa Initial Scaling Error < 0.03 % < 0.01 % < 0.07 % - Scale Factor Stability < 0.06 % < 0.02 % < 0.05 % - Non-linearity < 0.03 % < 0.005 % < 0.08 % - Cross-axis Alignment Error < 0.05 ° < 0.02 ° < 0.05 ° - Noise Density (Random Walk) 120 ug/√Hz (0.07 m/s/√hr) 0.7 °/hr/√Hz (0.012 °/√hr) 210 uG/√Hz 0.56 Pa/√Hz Bandwidth 200 Hz 440 Hz 110 Hz 50 Hz Table 9: Sensor specifications 8.4 GNSS Specifications Parameter Value Supported Navigation Systems GPS L1, L2, L5 GLONASS L1, L2 GALILEO E1, E5 BeiDou B1, B2 Supported SBAS Systems WAAS EGNOS MSAS GAGAN QZSS 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 0.007 m/s Timing Accuracy 20 ns Table 10: GNSS Specifications

Page 28 of 144 Version 2.3 03/05/2018 8.5 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 11: Communication specifications 8.6 Hardware Specifications Parameter Value Operating Voltage 9 to 36 V Input Protection -40 to 100 V Power Consumption 550 mA @ 12 V (typical) Backup Battery Capacity > 24 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 Shock Limit 25 g Dimensions 90 x 90 x 96 mm Weight 860 grams Table 12: Hardware specifications

Page 29 of 144 Version 2.3 03/05/2018 8.7 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 Diferential Output 1.5 V Tx Short Circuit Current ±250 mA Rx Diferential 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 13: Electrical specifications

Page 30 of 144 Version 2.3 03/05/2018 8.8 Power Consumption 8.9 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 under demanding conditions and is rated to IP68 in the mated condition. Connection to Spatial FOG may be made with the Spatial FOG evaluation cable harness, which provides a pre-terminated 2 metre cable assembly with all signals broken out to industry standard connectors, see section 8.10. 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 connector with 2 metres of unterminated cable

Page 31 of 144 Version 2.3 03/05/2018 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 14: Pin allocation table for Spatial FOG connector Illustration 13: Spatial FOG mated connector clearance

Page 32 of 144 Version 2.3 03/05/2018 8.10 Spatial FOG Evaluation Cable Harness Advanced Navigation ofers a pre-terminated evaluation cable harness for quick connection to Spatial FOG. All external signal and power connections are provided with 2 metres of cable. For quick testing in applications, the interface cable is 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 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 Illustration 14: Spatial FOG evaluation cable harness diagram

Page 33 of 144 Version 2.3 03/05/2018 White/Red GNSS RS232 Tx 2 Table 15: Spatial FOG evaluation cable harness connector pin-out 8.11 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 external serial number label

Page 34 of 144 Version 2.3 03/05/2018 9 Installation 9.1 Installation Checklist 1. Securely mount the unit to the vehicle following the guidelines in section 9.2. 2. Mount the GNSS antenna following the guidelines in section 9.5 and then connect the antenna cable between the antenna and the Spatial FOG unit. 3. Connect the connector cable to Spatial FOG and then connect a suitable power supply as specified in section 9.4. 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 ofset 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 ofset from the centre of the Spatial FOG 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 ofset 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 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 should be mounted in an area that is not going to exceed it's temperature range. 2. Spatial FOG should be mounted away from vibration where possible. 3. Spatial FOG 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 should not be obstructed. 5. Spatial FOG should be mounted close to the centre of gravity of the vehicle where possible. 6. As FOG technology is subject to minor bias variations under strong magnetic fields, Spatial FOG 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.

Page 35 of 144 Version 2.3 03/05/2018 9.2.1 Alignment The easiest way to align Spatial FOG 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 with the vehicle axes is not possible or not optimal, it may be mounted in a diferent alignment and the alignment ofset 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 ofsets. Any heading ofset will need to be entered manually and saved before using this function. 9.3 Mounting Plate Spatial FOG'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 through the use of alignment pins. Illustration 16: Spatial FOG mounting plate

Page 36 of 144 Version 2.3 03/05/2018 9.4 Power Supply A high level of power supply filtering has been built into Spatial FOG to allow for reliable operation in demanding environments. Spatial FOG 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 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 of 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 of state. It is recommended that the unit is always run at 10 V or more to avoid issues associated with this. 9.5 GNSS Antenna The GNSS antenna should be installed level with a clear unobstructed view of the sky and close to the Spatial FOG unit where possible. The antenna should be mounted away from any RF emitters. It is important to have a ground plane (fat conductive surface such as a piece of plate aluminium) under the antenna with a minimum radius of 60mm. The GNSS antenna position ofset should be configured in the Spatial FOG unit by using the alignment configuration dialogue in Spatial FOG Manager, see section 11.8.4. The antenna ofset is measured from the centre of the Spatial FOG unit to the central base (ARP) of the antenna in the body frame. It is very important to set the antenna ofset accurately as Spatial FOG corrects for lever arm velocities. Incorrect GNSS antenna ofset will lead to performance degradation under turning and angular rotations. The antenna ofset is measured from the centre of the Spatial unit to the centre of the antenna in the body frame (X forward, Z down). Please note that as Z is positive down, mounting the antenna above the Spatial unit will result in a negative Z ofset. 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 ofset value, a positive Y antenna ofset value and a negative Z ofset value.

Page 37 of 144 Version 2.3 03/05/2018 The standard antenna supplied in the Spatial FOG 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 and BeiDou. • 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 requires a minimum of 29dB of gain at the connector. With the standard 4 metre LMR240 antenna cables supplied by Advanced Navigation, the minimum antenna gain is 30dB. 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. Illustration 17: Spatial FOG antenna ofset isometric view Illustration 18: Spatial FOG antenan ofset front view

Page 38 of 144 Version 2.3 03/05/2018 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 16: GNSS antenna co-axial cable properties 9.7 Static Port Spatial FOG uses atmospheric pressure to stabilise its vertical velocity. The static port vents can be found on the sides of the Spatial FOG 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's navigation and orientation solution during GNSS dropouts. With a high resolution wheel encoder Spatial FOG can be used to navigate indoors with GNSS disabled altogether. There are several diferent 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'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 10.8 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. 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 with odometer data over the Auxiliary RS232 port, please see Illustration 19. These units are priced at approximately AUD 500. Please contact Advanced Navigation sales for more information.

Page 39 of 144 Version 2.3 03/05/2018 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 19: Advanced Navigation OBDII Odometer Illustration 20: Aftermarket wheel speed sensor

Page 40 of 144 Version 2.3 03/05/2018 9.9 Vibration Spatial FOG 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 can tolerate and large levels of vibration will cause Spatial FOG's accuracy to degrade. When mounting Spatial FOG to a platform with vibration there are several options. It is recommended to first try mounting Spatial FOG 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 is unable to tolerate the vibrations there are several options: 1. Try to find a mounting point with less vibration. 2. Spatial FOG can be mounted on top of a small fat piece of rubber. Please note that this may cause small changing orientation errors due to fexing of the rubber. 3. Spatial FOG can be mounted to a plate which is then mounted to the platform through vibration isolation mounts. Illustration 21: Radar speed sensor

Page 41 of 144 Version 2.3 03/05/2018 10 Operation 10.1 Initialisation There are four diferent levels of initialisation on Spatial FOG. 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'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. 10.1.1 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 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. Whilst this is occurring, if there are random accelerations present, these can cause an incorrect orientation to be detected. To prevent this, Spatial FOG 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 will progressively correct the orientation error over a period of several seconds. 10.1.2 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 of 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 Illustration 22: The four initialisation levels

Page 42 of 144 Version 2.3 03/05/2018 FOG Manager, see section 11.8.11. Once navigation initialisation is complete, the position, velocity and acceleration values will be valid. 10.1.3 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 10.4. If north seeking gyrocompass heading is being used as the sole heading source the heading initialisation will only complete once the north seeking alignment procedure has been completed, see section 10.4.1. If velocity heading is enabled, the heading will also initialise once the system travels at a speed of over 1.15 metres/second for over 5 seconds with a 3D GNSS fix. If the system is hot starting it will remember it's heading from when it was switched of 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. 10.1.4 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 outputs will not be valid and may change. 10.2 Hot Start Spatial FOG is the first GNSS/INS on the market with hot start functionality. This allows Spatial FOG to start inertial navigation within 2 seconds and obtain a GNSS fix in as little as 3 seconds. Spatial FOG's hot start is always on and fully automatic. A next generation backup battery system within Spatial FOG provides the hot start ability for more than 24 hours without power. When Spatial FOG 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 will jump to the new position without causing any side efects to the filter. Whilst Spatial FOG 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'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.

Page 43 of 144 Version 2.3 03/05/2018 10.3 Time Spatial FOG was designed to provide a highly accurate time reference. When a GNSS fix is available Spatial FOG's time is accurate to within 50 nanoseconds. When a GNSS fix is lost, Spatial FOG's time accuracy typically remains within 10 microseconds over extended time periods. When Spatial FOG 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's high accuracy time, both the packet protocol and a 1PPS line must be used. 10.4 Heading Source There are four diferent heading sources available for Spatial FOG. By default Spatial FOG uses north seeking gyrocompass heading. This can be complemented with velocity heading for forward driving vehicles such as cars. In applications where north seeking gyrocompass heading is unusable and velocity heading is not an option, dual antenna GNSS heading is possible with the internal GNSS receiver. It is possible to use multiple heading sources and this will often provide performance benefits. 10.4.1 North Seeking Gyrocompass Heading Spatial FOG'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 on a ship that is moving at a speed of over 1.15 metres/second with velocity heading enabled, the north seeking algorithm will automatically initialise during the first 60 seconds of operation. When used as the sole heading source, the north seeking initialisation procedure is: 1. Turn on Spatial FOG and leave stationary for 5 minutes. 2. Rotate Spatial FOG approximately +90 degrees about the Z axis and leave stationary for 3 minutes. 3. Rotate Spatial FOG approximately +90 degrees about the Z axis and leave stationary for 3 minutes. 4. Rotate Spatial FOG 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'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.

Page 44 of 144 Version 2.3 03/05/2018 Applications where north seeking should not be used as the sole heading source include • Environments with high vibration. • Environments with rapid temperature fuctuations. • Environments with strong changing magnetic fields close to the FOG unit (the fibre optic gyroscopes bias is afected 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 Velocity Heading and Dual Antenna Heading below. If in doubt, please contact Advanced Navigation support for assistance in selecting the correct heading source for your application. 10.4.2 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. It is also able to initialise the north seeking gyrocompass heading without requiring the initialisation procedure described in section 10.4.1. 10.4.3 Dual Antenna Heading Spatial FOG's internal GNSS receiver supports moving baseline RTK heading when paired with the optional Spatial FOG dual antenna upgrade kit. This heading source is very useful for applications where the north seeking gyrocompass heading cannot be used or is not convenient such as applications where it is impractical to perform the north seeking initialisation procedure. The dual antenna heading does not require any initialisation and is very accurate in both stationary and moving environments. The dual antenna upgrade kit consists of the dual antenna upgrade unit, see Illustration 23, the dual antenna upgrade cable, see Illustration 24, an Antcom G5Ant- 53A4T1 GNSS antenna and a 4 metre antenna cable. To install the upgrade kit, the unit should be powered with 9-36 V DC and the D-dub 9 connector plugged into the GNSS connector on the Spatial FOG cable harness. The antenna connected to the Spatial FOG unit is known as the primary antenna and the antenna connected to the upgrade unit is known as the secondary antenna. When installed on the vehicle, the primary antenna should be mounted directly forwards of the secondary antenna with a separation of 1 metre or more. Please contact Advanced Navigation sales for pricing.

Page 45 of 144 Version 2.3 03/05/2018 10.4.4 External Heading External heading can be used if there is some other way to derive heading that is external to Spatial FOG. Examples include dual antenna GNSS systems, reference markers and SLAM systems. The heading must be fed into Spatial FOG using the External Heading Packet or through NMEA into a GPIO pin. Illustration 23: Mechanical drawings of Spatial FOG dual antenna upgrade unit Illustration 24: Spatial FOG dual antenna upgrade cable diagram

Page 46 of 144 Version 2.3 03/05/2018 10.5 Magnetics Spatial FOG uses magnetometers to detect changes in heading which allows the north seeking algorithm to initialise faster. If strong dynamic magnetic disturbances are present this will not efect the accuracy of the heading but may cause the north seeking initialisation to take longer. 10.6 Data Anti Aliasing Internally Spatial FOG's filters update at 1000 Hz. When Spatial FOG 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 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. 10.7 Vehicle Profiles Spatial FOG supports a number of diferent 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 diferent 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. 10.8 Odometer Pulse Length For Spatial FOG 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. 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 10.8.1. By default the odometer will automatically calibrate itself. 10.8.1 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 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 has a continuous GNSS fix and then drive 1000 metres over fat terrain with as little turning as possible.

Page 47 of 144 Version 2.3 03/05/2018 4. If Spatial FOG 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. 10.9 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 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. 10.10 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 efective 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. 10.11 RTK Spatial FOG's internal GNSS receiver supports RTK GNSS which uses correction 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 three diferent options for receiving RTK corrections. For applications where Spatial FOG can be connected to a computer that has access to the internet, network RTK corrections are recommended, see section 10.11.1. For applications that are unable to access the internet we recommend base station radio modem RTK corrections, see section 10.11.2. 10.11.1 Network RTK Corrections Spatial FOG Manager has a built in NTRIP client that can connect to a network RTK service to provide RTK corrections to Spatial FOG. Please see section 11.9.4. This requires that the computer running Spatial FOG Manager is connected to the internet. It also requires a valid subscription with a local network RTK service. Typically these services will ofer a free trial period. Please contact [email protected] for assistance in getting set up for network RTK corrections.

Page 48 of 144 Version 2.3 03/05/2018 10.11.2 Base station radio modem RTK corrections 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 unit. The radio modem receiver and Spatial FOG unit must remain within range of the base station to receive these corrections, typically this range is approximately 50km. Advanced Navigation recommends contacting a local surveying company for assistance setting up a base station. 10.12 Raw Satellite Data Spatial FOG supports outputting raw satellite data. This raw satellite data can be used by post-processing programs to achieve high accuracy kinematic positioning. The maximum output rate for raw satellite data is 20Hz and it can be enabled by turning on the Raw Satellite Data Packet (ID 60) in the packet rates dialogue in Spatial FOG Manager, see Illustration 27. This packet will be automatically converted to RINEX v3.02 by Spatial FOG Manager’s log converter utility. Illustration 25: Trimble R8s base station Illustration 26: Trimble TDL 450L radio modem

Page 49 of 144 Version 2.3 03/05/2018 10.13 Post Processing Spatial FOG can be used with Advanced Navigation’s post processing platform Kinematica to achieve high accuracy kinematic positioning of 8mm and significantly improved dead reckoning performance. To configure Spatial FOG for use with Kinematica please follow the steps below. 1. Connect to your device using Spatial FOG Manager. 2. Ensure your GNSS ofset and any alignment ofset has been entered as per the installation checklist in section 9.1. 3. Open the Baud Rates dialogue under the Configuration menu and set the primary port baud rate to 1,000,000. See Illustration 28. If you are using Windows ensure you have adjusted the latency settings for the serial port as detailed in section 11.4.2. 4. Open the Packet Rates dialogue under the Configuration menu and set up the packets as shown in Illustration 28. Illustration 27: Enabling packet 60

Page 50 of 144 Version 2.3 03/05/2018 For more information on using Kinematica, please see the Kinematica Reference Manual available for download from the Advanced Navigation website. 10.14 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's internal GNSS is equipped with RAIM and it is enabled by default. 10.15 Heave Spatial FOG can provide vertical heave position at four diferent points on a ship. Spatial FOG's heave filter is always on and fully automatic. After power on, Spatial FOG 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 has a GNSS fix. By default Spatial FOG provides heave from the point at which the Spatial FOG unit is mounted, however it can provide heave at four diferent ofset points on the ship. To set the heave ofsets, either use the heave configuration dialogue in Spatial FOG Manager, see section 11.8.9. 10.16 Environmental Exposure Whilst Spatial FOG is environmentally protected, there are clearly defined limits to this protection that must be adhered to for reliable operation. Spatial FOG is only protected when it's connector is mated and an IP67 SMA GNSS antenna is attached. When any of these connections are not made the unit ofers no environmental protection. Illustration 28: Spatial Dual post processing configuration

Page 51 of 144 Version 2.3 03/05/2018 Spanners or tools should never be used to tighten the connectors. They should only ever be finger tight. 10.16.1 Temperature Spatial FOG should not be subjected to temperature's outside of it's operating range. Subjecting Spatial FOG to temperature's outside of the storage range can cause failure of the system. 10.16.2 Water Spatial FOG 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. 10.16.3 Salt Spatial FOG is made from marine grade aluminium which gives it reasonably good salt water corrosion resistance. However Spatial FOG cannot tolerate extended periods of time in salt water environments. After any contact with salt water environments, Spatial FOG should be thoroughly rinsed with fresh water. 10.16.4 Dirt and Dust Spatial FOG 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 unit is dirty or dusty, the dirt should be rinsed of with fresh water first and then dried of. This is to prevent dirt or dust entering the connectors which can cause them to fail. 10.16.5 PH Level Environments with a high or low PH level can cause the Spatial FOG enclosure to corrode. If Spatial FOG 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 in non neutral PH environments. 10.16.6 Shocks Spatial FOG can tolerate shocks to 25g, however continuous shocks of this severity are likely to cause premature failure. Shocks above 25g can efect the factory sensor calibration and degrade performance. Normally shocks to Spatial FOG 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's enclosure can more easily go over the limit however so care should be taken when handling the unit prior to mounting.

Page 52 of 144 Version 2.3 03/05/2018 11 Spatial FOG Manager Spatial FOG Manager is a software tool provided by Advanced Navigation for logging, testing, display and configuration of Spatial FOG. It is designed to be simple and easy to use. Illustration 29: Screenshot of Spatial FOG Manager

Page 53 of 144 Version 2.3 03/05/2018 11.1 Software Changelog Version Date Changes 4.4 12/04/2016 Extended NTRIP support for older versions Log converter now outputs a KML file for Google Earth with detailed information as well as the GPX file Added serial port passthrough tool Secondary antenna raw satellite data is now converted to RINEX as well as the primary antenna 4.3 17/08/2015 Spatial Manager now requests all configuration upon connection Spatial Manager converts any configuration packets found in ANPP log files into text Bug fix for NTRIP invalid connection 4.2 02/04/2015 Added network connection capability Added NTRIP client Two new satellite views in satellites dialogue Added gimbal configuration dialogue Heave ofsets changed to reference point ofsets 4.0 10/10/2014 Improvements to the 3D map Support for more graphics cards Status display now shows when heading not initialised Communications dialogue added, section 11.7.9 GNSS receiver dialogue added, section 11.7.10 Heave dialogue added, section 11.7.11 North seeking status dialogue added, section 11.7.12 GPIO output configuration dialogue added, section 11.8.10 Dual antenna configuration dialogue added, section 11.8.12 Configuration dialogues now auto update 3.1 15/10/2013 Added 3D model dialogue, section 11.7.8 Added configuration export dialogue, section 11.8.1 3.0 13/09/2013 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 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

Page 54 of 144 Version 2.3 03/05/2018 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 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 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. When operating Spatial FOG 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 30.

Page 55 of 144 Version 2.3 03/05/2018 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. Compiz causes issues with the 3D mapping. If you are experiencing problems it is recommended to turn of 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 Illustration 30: Screenshot of latency timer setting

Page 56 of 144 Version 2.3 03/05/2018 system resources than when it is running on the Oracle JRE.

Page 57 of 144 Version 2.3 03/05/2018 11.5 Main View 11.5.1 Serial Port The serial port dialogue is used to connect to Spatial FOG. You should select a serial port and baud rate and click connect. The default baud rate of Spatial FOG is 115200. The connection indicator displays whether there is communication with a Spatial FOG 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 31: Screenshot of Spatial FOG Manager main view

Page 58 of 144 Version 2.3 03/05/2018 11.5.3 Status Indicator The status indicator section contains a Spatial FOG status indicator, a fix indicator and a satellites table. 11.5.3.1 Spatial Status Indicator This indicator shows any problems with Spatial FOG. 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 fags. 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'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'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'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 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, libreofce and most other data analysis programs. It also creates a GPX file of position that is designed to be opened with

Page 59 of 144 Version 2.3 03/05/2018 Google Earth. 11.7 Views The views menu contains a number of diferent options for viewing data from Spatial FOG. Illustration 32: Screenshot showing log file and log conversion folder Illustration 33: Screenshot of Spatial FOG Manager views menu

Page 60 of 144 Version 2.3 03/05/2018 11.7.1 Device Information 11.7.2 Status Status shows Spatial FOG's complete status as contained in the system state packet detailed in section 13.9.1.1. Illustration 34: Screenshot of Spatial FOG Manager device information dialogue Illustration 35: Screenshot of Spatial FOG Manager status dialogue

Page 61 of 144 Version 2.3 03/05/2018 11.7.3 Satellites Satellites shows detailed information on the satellites that Spatial FOG's GNSS receiver is tracking. Elevation and azimuth are in units of degrees. Illustration 36: Screenshot of Spatial FOG Manager satellites dialogue

Page 62 of 144 Version 2.3 03/05/2018 11.7.4 Raw Sensors Raw sensors shows the temperature calibrated raw sensor values. Illustration 37: Screenshot of Spatial FOG Manager raw sensors dialogue

Page 63 of 144 Version 2.3 03/05/2018 11.7.5 Orientation Orientation shows Spatial FOG's orientation, angular velocity and orientation error. Illustration 38: Screenshot of Spatial FOG Manager orientation dialogue

Page 64 of 144 Version 2.3 03/05/2018 11.7.6 Position Position shows Spatial FOG's position and position error. Latitude and longitude are converted to North and East metres from a reference point that can be reset. Illustration 39: Screenshot of Spatial FOG Manager position dialogue

Page 65 of 144 Version 2.3 03/05/2018 11.7.7 Velocity and Acceleration Velocity and Acceleration shows Spatial FOG's velocity, acceleration and g-force. Illustration 40: Screenshot of Spatial FOG Manager velocity and acceleration dialogue

Page 66 of 144 Version 2.3 03/05/2018 11.7.8 3D Model This dialogue shows a real-time 3D model of Spatial FOG's orientation. 11.7.9 Communications Statistics This dialogue shows statistics on the data packets received from Spatial FOG and can be useful in diagnosing signal integrity problems. Illustration 41: Screenshot of Spatial FOG Manager 3D model dialogue

Page 67 of 144 Version 2.3 03/05/2018 11.7.10 GNSS Receiver Information This dialogue shows information on the internal GNSS receiver contained inside of Spatial FOG. 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 42: Screenshot of Spatial FOG Manager communications statistics dialogue Illustration 43: Screenshot of Spatial FOG Manager GNSS receive information dialogue

Page 68 of 144 Version 2.3 03/05/2018 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 46. Illustration 44: Screenshot of Spatial FOG Manager heave dialogue

Page 69 of 144 Version 2.3 03/05/2018 Illustration 45: Screenshot of Spatial FOG Manager north seeking status dialogue Illustration 46: North seeking quadrants around Z axis

Page 70 of 144 Version 2.3 03/05/2018 11.8 Configuration The configuration menu contains a number of dialogues for the configuration of Spatial FOG. 11.8.1 Configuration Export The configuration export dialogue can be used to export all Spatial FOG 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 47: Screenshot of Spatial FOG Manager configuration menu Illustration 48: Screenshot of Spatial Manager configuration export dialogue

Page 71 of 144 Version 2.3 03/05/2018 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 49: Screenshot of Spatial FOG Manager filter options dialogue

Page 72 of 144 Version 2.3 03/05/2018 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 50: Screenshot of Spatial FOG Manager packet rates dialogue

Page 73 of 144 Version 2.3 03/05/2018 11.8.4 Alignment Configuration The alignment configuration dialogue is used to set the alignment ofsets 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 ofset 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 Ofset If Spatial FOG is installed into the vehicle with the X axis pointing forwards and the Z axis pointing down, then no alignment ofset is required and the roll, pitch and heading ofset values can remain at the factory defaults of zero. If the unit is installed in a diferent orientation then the roll, pitch and heading ofset 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 ofset 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 ofsets, the heading ofset must be entered manually and saved before using this function. All the other ofsets will be measured in the realigned body co-ordinate frame (X positive forward, Z positive down) after being corrected for any alignment ofset entered. Illustration 51: Screenshot of Spatial FOG Manager alignment configuration dialogue

Page 74 of 144 Version 2.3 03/05/2018 11.8.4.2 GNSS Antenna Ofset The GNSS antenna ofset is measured from the centre of the Spatial FOG unit to the centre of the antenna in the body co-ordinate frame (X positive forward, Z positive down). 11.8.4.3 Odometer Ofset The odometer ofset is measured from the centre of the Spatial FOG 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 Ofset 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 52: Screenshot of Spatial FOG Manager baud rates dialogue

Page 75 of 144 Version 2.3 03/05/2018 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 efective 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 53: Screenshot of Spatial FOG Manager GPIO configuration dialogue Illustration 54: Screenshot of Spatial FOG Manager odometer configuration dialogue

Page 76 of 144 Version 2.3 03/05/2018 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 Ofset The heave ofset dialogue allows the user to move the heave measurement points to diferent positions on the vessel. When the values are zero the measurement point is the centre of the Spatial FOG unit. This can be ofset to a diferent position on the ship by entering the ofset value from the centre of the Spatial FOG 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 afected by the values in this dialogue which are always measured at the centre of the Spatial FOG unit. Illustration 55: Screenshot of Spatial FOG Manager reset dialogue

Page 77 of 144 Version 2.3 03/05/2018 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 56: Screenshot of Spatial FOG Manager heave ofset dialogue

Page 78 of 144 Version 2.3 03/05/2018 Illustration 57: Screenshot of Spatial FOG Manager GPIO output configuration dialogue

Page 79 of 144 Version 2.3 03/05/2018 11.8.11 Position Configuration The position configuration dialogue can be used to manually set the position of Spatial FOG when the unit is supplied without a GNSS receiver or when a GNSS fix is not available. Setting this value will initialise navigation. Illustration 58: Screenshot of Spatial FOG Manager position configuration dialogue

Page 80 of 144 Version 2.3 03/05/2018 11.8.12 Dual Antenna The dual antenna configuration dialogue is only used when Spatial FOG 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 ofsets where possible where the antennas must be installed in one of four diferent automatic ofset orientations aligned on an axis. If it is not possible to use one of the automatic ofsets, the antennas can be installed in any configuration and a manual ofset should be entered. The manual ofset 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 ofset, please be careful to measure the ofset accurately, as even small ofset 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 ofset, the manual ofset values are ignored and when using a manual ofset, the automatic ofset selection is ignored. Illustration 59: Screenshot of Spatial FOG Manager dual antenna configuration dialogue

Page 81 of 144 Version 2.3 03/05/2018 11.9 Tools The tools menu contains tools for performing procedures with Spatial FOG. 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'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 60: Screenshot of Spatial FOG Manager tools menu Illustration 61: Screenshot of Spatial FOG Manager firmware update dialogue

Page 82 of 144 Version 2.3 03/05/2018 11.9.3 Log Converter This tool allows the user to convert Spatial FOG log files into various standard formats that are readable by many programs. The position ofset values can used to project the exported position to a point other than the centre of the Spatial FOG unit. For most users these values should be left at zero. 11.9.4 NTRIP Client The NTRIP client can be used to connect to a network DGPS or RTK service to stream correction data to Spatial FOG for DGPS or RTK. The NTRIP client requires an internet connection to function. Please contact [email protected] for guidance on getting set up with network DGPS or RTK. 11.9.5 Network Connect The network connect dialogue allows Spatial FOG Manager to make a connection to Spatial FOG over a TCP/IP network rather than the default serial port connection. This allows Spatial FOG to be used with ethernet to serial converters. Advanced Navigation recommends Lantronix ethernet to serial converters. Illustration 62: Screenshot of Spatial FOG Manager log converter dialogue Illustration 63: Screenshot of Spatial FOG Manager NTRIP client dialogue

Page 83 of 144 Version 2.3 03/05/2018 Illustration 64: Screenshot of Spatial FOG Manager network connect dialogue

Page 84 of 144 Version 2.3 03/05/2018 12 Interfacing 12.1 Communication Communication with Spatial FOG 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 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 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's filter solution. The data can be sent to Spatial FOG in the ANPP format over the primary port or through one of the GPIO pins in a number of diferent formats. If using the ANPP, please use Table 17 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 17: ANPP external data reference 12.3 GPIO Pins and Auxiliary RS232 Spatial FOG contains two general purpose input output pins and one auxiliary RS232 port on the main connector. These pins are multi function and can be used to extend Spatial FOG with additional peripherals, sensors and data formats. The GPIO pins have

Page 85 of 144 Version 2.3 03/05/2018 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 diferent 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 diferential or RTK corrections. 12.4 Dynamic Pin Functions Function Type GPIOs Auxiliary RS232 Inactive Tristate All All 1PPS Output Digital Output All Transmit 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 Disable GNSS Digital Input All

Page 86 of 144 Version 2.3 03/05/2018 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 Diferential 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 Nortek DVL Binary Format Input Serial Receive 2 Receive Table 18: 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 has accurate time or not. It is important to note that when Spatial FOG 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 fag can be used to determine whether the time and 1PPS line is accurate or not.

Page 87 of 144 Version 2.3 03/05/2018 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, Diferential 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 19: Odometer Specifications 12.4.4 Zero Velocity Input When using this function, a high state indicates to Spatial FOG 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 diferential 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 inefciency, 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 88 of 144 Version 2.3 03/05/2018 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 20: Supported NMEA messages 12.4.7 NMEA Output This function outputs a configurable combination of the NMEA messages GPZDA, GPGGA, GPVTG, GPRMC, GPHDT, PASHR, GPROT, GPHEV, GPGSV, PFECGPAtt, and PFECGPHve at up to 50 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 inefciency, 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 with a Novatel GNSS receiver. It accepts data in the Novatel binary format and requires messages BESTPOSB and BESTVELB at rates higher than 1 Hz (20Hz recommended). The message BESTSATSB is optional to display detailed satellite information. The message HEADINGB is also supported for ALIGN capable receivers.

Page 89 of 144 Version 2.3 03/05/2018 12.4.9 Topcon GNSS Input This function is designed for interfacing Spatial FOG 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. All External Data packets are accepted as input as well as the RTCM diferential corrections packet. 12.4.11 ANPP Output This function outputs data in the ANPP format as specified in section 13. Packets can not be requested using this function, it is for ANPP peripheral devices only. 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 to set it's alignment so that the current orientation is zero. Due to the risk of exhausting the fash 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 with the permanent fag 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 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 to send the raw sensors packet. This function requires de-bouncing if attached to a switch. 12.4.17 RTCM Diferential GNSS Corrections Input This function accepts RTCM diferential GPS corrections. This allows for Diferential GNSS or RTK with Spatial FOG's internal GNSS receiver.

Page 90 of 144 Version 2.3 03/05/2018 12.4.18 Trimble GNSS Input This function is designed for interfacing Spatial FOG 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 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 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. 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 91 of 144 Version 2.3 03/05/2018 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'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'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 is installed in. It should be used in combination with Gimbal Encoder Phase B. 12.4.34 Gimbal Encoder Phase B This function is designed for interfacing with a rotary incremental quadrature encoder

Page 92 of 144 Version 2.3 03/05/2018 to measure the azimuth angle of a gimbal that Spatial FOG 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. 12.4.37 Nortek DVL Binary Format Input This function accepts DVL data in the Nortek DVL binary format. It accepts the packets 0x1B (DVL Bottom Track) and 0x1D (DVL Water Track). The recommended update rate is 8Hz.

Page 93 of 144 Version 2.3 03/05/2018 13 Advanced Navigation Packet Protocol The Advanced Navigation Packet Protocol (ANPP) is a binary protocol designed with high error checking, high efciency and safe design practices. It has a well defined specification and is very fexible. 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 foat fp64 8 double Table 21: Data type abbreviations used in the ANPP 13.2 Packet Structure The ANPP packet structure is shown in Table 22 and the header format is shown in Table 23. Example code can be downloaded from the software section. Header Header LRC Packet ID Packet Length CRC16 Packet Data Table 22: ANPP Packet Structure

Page 94 of 144 Version 2.3 03/05/2018 ANPP Header Format Field # Bytes Ofset 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 23: 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 diferent 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 95 of 144 Version 2.3 03/05/2018 13.4 Packet Acknowledgement When configuration packets are sent to Spatial FOG, 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 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 96 of 144 Version 2.3 03/05/2018 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/W 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 24 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 97 of 144 Version 2.3 03/05/2018 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 R/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 Ofsets 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 24: Packet summary

Page 98 of 144 Version 2.3 03/05/2018 13.8 System Packets 13.8.1 Acknowledge Packet Acknowledgement Packet Packet ID 0 Length 4 Field # Bytes Ofset 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 25: 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 fash memory failure 5 Acknowledge failure, system not ready 6 Acknowledge failure, unknown packet Table 26: Acknowledge result 13.8.2 Request Packet Request Packet Packet ID 1 Length 1 x number of packets requested Field # Bytes Ofset Data Type Size Description 1 0 u8 1 Packet ID requested + Field 1 repeats for additional packet requests Table 27: Request packet

Page 99 of 144 Version 2.3 03/05/2018 13.8.3 Boot Mode Packet Boot Mode Packet Packet ID 2 Length 1 Field # Bytes Ofset Data Type Size Description 1 0 u8 1 Boot mode, see section 13.8.3.1 Table 28: Boot mode packet 13.8.3.1 Boot Mode Types Value Description 0 Bootloader 1 Main Program Table 29: Boot mode types 13.8.4 Device Information Packet Device Information Packet Packet ID 3 Length 24 Field # Bytes Ofset 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 30: Device information packet