GNSS Compass Reference Manual

Transcription

1 GNSS Compass Reference Manual

2 Page of Version. // Table of Contents Revision History... Firmware Changelog... 6 Hardware Changelog... 7 Introduction... Quick Start Guide NMEA Connection.... NMEA Connection.... Power over Ethernet Connection... Part Numbers and Ordering Options Plug and Play Kits Evaluation Kits Standalone Unit Accessories... Specifcations Mechanical Drawings Axes Navigation Specifcations Low Cost Variant High Accuracy Variant GNSS Specifcations Low Cost Variant High Accuracy Variant Communication Specifcations Ethernet Variant Serial Variant Hardware Ethernet Variant Serial Variant Electrical Isolation NMEA Drop Cable Ethernet Cable Serial Breakout Cable Unterminated Serial Cable Certifcation... 9 Installation.... Mounting Location.... Alignment.... Connection..... NMEA..... NMEA..... Ethernet..... ANPP.... Confguration..... Serial Variants..... Ethernet Variants... Operation Initialisation Hot Start... 6

3 Page of Version. // 9. Dual Antenna GNSS Heading GNSS Outages... 6 NMEA... 7 NMEA... Advanced Navigation Packet Protocol...9. s Packet Structure Header LRC Packet..... CRC.... Packet Requests.... Packet Acknowledgement.... Packet Rates....6 Baud Rate....7 Packet Timing.... Packet Summary....9 System Packets Acknowledge Packet Acknowledge Result Request Packet Boot Mode Packet Boot Mode s Device Information Packet Restore Factory Settings Packet Reset Packet Verifcation Sequence Values Serial Port Pass-through Packet Pass-through Routes...6. State Packets System State Packet System Status Filter Status GNSS Fix Status Unix Time Seconds Microseconds..... Unix Time Packet..... Formatted Time Packet..... Status Packet..... Position Standard Deviation Packet Velocity Standard Deviation Packet Euler Orientation Standard Deviation Packet..... Quaternion Orientation Standard Deviation Packet Raw Sensors Packet..... Raw GNSS Packet Raw GNSS Status..... Satellites Packet Detailed Satellites Packet Satellite Systems Satellite Frequencies...7

4 Page of Version. //.. Geodetic Position Packet..... ECEF Position Packet..... UTM Position Packet NED Velocity Packet Body Velocity Packet Acceleration Packet Body Acceleration Packet Euler Orientation Packet Quaternion Orientation Packet DCM Orientation Packet Angular Velocity Packet Angular Acceleration Packet External Position & Velocity Packet External Position Packet External Velocity Packet External Body Velocity Packet External Heading Packet Running Time Packet Local Magnetic Packet External Time Packet Geoid Height Packet RTCM Corrections Packet Heave Packet Raw Satellite Packet Satellite Frequencies Tracking Status Raw Satellite Ephemeris Packet GNSS Receiver Information Packet GNSS Manufacturer IDs GNSS Receiver Models (Trimble) GNSS Receiver Models (u-blox) Omnistar Engine Modes RTK Software License Accuracy Automotive Packet...7. Confguration Packets Packets Period Packet Flags Clear Existing Packets Packet Period Baud Rates Packet Sensor Ranges Packet Accelerometers Range Gyroscopes Range Magnetometers Range Installation Alignment Packet Alignment DCM Filter Options Packet Vehicle s Advanced Filter Parameters Packet Port Function Confguration Packet...76

5 Page of Version. //..7. Ports Transmit Functions Receive Functions Set Zero Orientation Alignment Packet Reference Point s Packet Port Output Confguration Packet NMEA Fix Behaviour Port Output Rates GPIO Output Rates Index..... User Packet...

6 Page of Version. // Revision History Version Date. // Table : Revision history Changes Initial Release

7 Page 6 of Version. // Firmware Changelog Version Date.96 //7 Table : Firmware Changelog Changes Initial release frmware

8 Page 7 of Version. // Hardware Changelog Version Date. //7 Table : Hardware Changelog Changes Initial Release

9 Page of Version. // Introduction The GNSS Compass is a low cost all in one GNSS/INS navigation and heading solution. It provides accurate dual antenna GPS based heading that is not subject to magnetic interference and can maintain accurate heading during GNSS outages of up to minutes. It features high accuracy RTK positioning and is plug and play with NMEA, NMEA and Ethernet interfaces. The GNSS Compass 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. If you have any questions, please contact support@advancednavigation.com.au.

10 Page 9 of Version. // Quick Start Guide. Install the GNSS Compass in an area where it has a full clear view of the sky and away from strong radio transmission sources as shown in Illustration. Illustration : GNSS Compass ideal mounting location diagram

11 Page of Version. //. Ensure that the GNSS Compass is aligned with the vessel such that the indicator on top is aligned pointing forwards on the vessel. The sight can be used to assist alignment by eye. See Illustration. Illustration : GNSS Compass alignment

12 Page of Version. //. Plug the cable into the GNSS Compass and rotate the nut clockwise to lock it in place. See Illustration. Illustration : GNSS Compass connector locking. NMEA Connection Plug the NMEA drop cable into a T connector on the NMEA backbone. The unit will power on and output the required NMEA messages without any confguration required. See section 7. for more information on the NMEA drop cable.. NMEA Connection Plug a 9 to 6 volt power source into the DC jack and connect the secondary RS port to the receiving NMEA device. Please see section 7. for further details on the pin-out of the serial breakout cable recommended for NMEA installations.. Power over Ethernet Connection. Plug the Ethernet cable from the GNSS Compass into the +Power port on the PoE injector. Plug an Ethernet cable into the port and connect the other end to a DHCP router.. Install zeroconf (Apple Bonjour) from one of the links below: (-bit installer) (6-bit installer)

13 Page of Version. //. Open a web browser and type in the address to access the web interface.. The default username is admin and the default password is password.

14 Page of Version. // 6 6. Part Numbers and Ordering Options Plug and Play Kits Part Number GC-EK-SER-LC-CAN GNSS Compass Low Cost NMEA Plug and Play Kit 6. Notes NMEA plug and play kit Low cost serial variant GNSS Compass Comes with 6m NMEA cable, see section 7. Evaluation Kits Part Number Notes GC-EK-SER-LC-RS GNSS Compass Low Cost RS Evaluation Kit NMEA plug and play Low cost serial variant GNSS Compass RS/RS and CAN interfaces Comes with to V AC Power supply, USB to RS adaptor and m serial breakout cable, see section 7. GC-EK-POE-LC GNSS Compass Low Cost Ethernet Evaluation Kit Low cost Ethernet variant GNSS Compass Power over Ethernet interface Comes with to V AC Power over Ethernet injector and m Ethernet cable, see section 7.9 GC-EK-POE-HA GNSS Compass High Accuracy Ethernet Evaluation Kit High accuracy Ethernet variant GNSS Compass Power over Ethernet interface Comes with to V AC power over Ethernet injector and m Ethernet cable, see section 7.9 GC-EK-SER-HA-RS GNSS Compass High Accuracy RS Evaluation Kit NMEA plug and play High accuracy serial variant GNSS Compass RS/RS and CAN interfaces Comes with USB to RS cable, to V AC power supply and m serial breakout cable, see section 7. Table : Evaluation kit part numbers 6. Standalone Unit Part Number GC-SER-LC GNSS Compass Low Cost Serial Notes GNSS Compass Low Cost Serial Variant RS/RS and CAN interfaces

15 Page of Version. // Part Number Notes Variant L only GNSS receiver Supports DGPS Supports post-processing (PPK) Does not support RTK Does not support L band No cables included GC-POE-LC GNSS Compass Low Cost Ethernet Variant GNSS Compass Low Cost Ethernet Variant Power over Ethernet interface L only GNSS receiver Supports DGPS Supports post-processing (PPK) Does not support RTK Does not support L band No cables included GC-POE-HA GNSS Compass High Accuracy Ethernet Variant GNSS Compass High Accuracy Ethernet Variant Power over Ethernet interface L/L RTK GNSS receiver Supports DGPS Supports post-processing PPK Supports RTK Supports L band (Trimble RTX) No cables included GC-SER-HA GNSS Compass High Accuracy Serial Variant GNSS Compass High Accuracy Serial Variant RS/RS and CAN interfaces L/L RTK GNSS receiver Supports DGPS Supports post-processing PPK Supports RTK Supports L band (Trimble RTX) No cables included Table : Standalone unit part numbers 6. Accessories Part Number GC-NMEA-CABLE-6M 6m NMEA drop cable for GNSS Compass Notes 6m NMEA drop cable Compatible with serial units only (GCSER-LC and GC-SER-HA) See section 7. for full details IP67 environmentally sealed connector

16 Page of Version. // Part Number GC-POE-CABLE-M m Ethernet cable for GNSS Compass m CATe Ethernet cable with RJ Compatible with Ethernet units only (GCPOE-LC and GC-POE-HA) See section 7.9 for full details IP67 environmentally sealed connector GC-SER-BREAK-M m serial breakout cable for GNSS Compass m cable to DB9 connectors Compatible with serial units only (GCSER-LC and GC-SER-HA) See section 7. for full details IP67 environmentally sealed connector GC-SER-CABLE-M m serial cable m unterminated cable for GNSS Compatible with serial units only (GCCompass SER-LC and GC-SER-HA) See section 7. for full details IP67 environmentally sealed connector POE-INJECTOR AC POE Injector to V AC PoE Injector CABLE-FTDI-DSUB- FTDI USB to RS Adapter metre FTDI USB to RS Adapter CABLE-FTDI-DSUB- FTDI USB to RS Adapter metre FTDI USB to RS Adapter SUPPLY-V V DC Power Supply -V AC Mains (IEC socket) to V DC Power Supply (DC jack) CARVPWR Car cigarette lighter power supply Car cigarette lighter to. x.mm DC jack power supply MOUNT-SUCT Suction Cup Antenna Mount Suction cup GNSS Compass mount for easy temporary installation of GNSS Compass on vehicles ILU Interface and Logging Unit Interface and logging unit provides a convenient option for logging and applications that require multiple NMEA outputs Table 6: Accessories part numbers Notes

17 Page 6 of Version. // 7 7. Specifications Mechanical Drawings Illustration : Mechanical drawings of GNSS Compass

18 Page 7 of Version. // 7. Axes Illustration : GNSS Compass axes with arrows showing positive direction

19 Page of Version. // Navigation Specifications Low Cost Variant Parameter Value Horizontal Position Accuracy. m Vertical Position Accuracy. m Horizontal Position Accuracy (DGNSS).6 m Vertical Position Accuracy (DGNSS). m Horizontal Position Accuracy (Kinematica Post Processing). m Vertical Position Accuracy (Kinematica Post Processing). m Velocity Accuracy. m/s Roll & Pitch Accuracy. Heading Accuracy. Roll & Pitch Accuracy (Kinematica Post Processing). Heading Accuracy (Kinematica Post Processing).9 Heave Accuracy Orientation Range % or. m Unlimited Hot Start Time ms Internal Filter Rate Hz Output Rate Up to Hz Table 7: Low cost variant navigation specifcations

20 Page 9 of Version. // 7.. High Accuracy Variant Parameter Value Horizontal Position Accuracy. m Vertical Position Accuracy. m Horizontal Position Accuracy (with RTK or Kinematica Post Processing). m Vertical Position Accuracy (with RTK or Kinematica Post Processing). m Velocity Accuracy. m/s Roll & Pitch Accuracy. Heading Accuracy. Roll & Pitch Accuracy (Kinematica Post Processing). Heading Accuracy (Kinematica Post Processing).9 Heave Accuracy Orientation Range % or. m Unlimited Hot Start Time ms Internal Filter Rate Hz Output Rate Up to Hz Table : High accuracy variant navigation specifcations

21 Page of Version. // GNSS Specifications Low Cost Variant Parameter Model Value x u-blox MT Supported Navigation Systems Supported SBAS Systems Update Rate GPS L GLONASS G (disabled by default) GALILEO E BeiDou B WAAS EGNOS MSAS GAGAN QZSS Hz Hot Start First Fix s Cold Start First Fix s Table 9: GNSS specifcations low cost variant 7.. High Accuracy Variant Parameter Model Supported Navigation Systems Supported SBAS Systems Update Rate Value Trimble MB-Two GPS L, L GLONASS G, G GALILEO E, Eb BeiDou B, B (disabled by default) WAAS EGNOS MSAS GAGAN QZSS Hz Hot Start First Fix s Cold Start First Fix s Table : GNSS specifcations high accuracy variant

22 Page of Version. // Communication Specifications Ethernet Variant Parameter Interface Value Ethernet Speed / Mbit Protocols AN Packet Protocol NMEA TSS Simrad Timing PTP Server NTP Server Timing Accuracy (PTP) ns Timing Accuracy (NTP) ms Table : Ethernet variant communication specifcations 7.. Serial Variant Parameter Interface Speed Protocols Timing Timing Accuracy Additional Interfaces Table : Serial variant communication specifcations Value RS (default) RS (software selectable) CAN to M baud AN Packet Protocol NMEA NMEA TSS Simrad PPS Output ns Secondary RS/RS PPS Output Alarm Output

23 Page of Version. // 7.6 Hardware 7.6. Ethernet Variant Parameter Operating Voltage Value Power over Ethernet (PoE).af or.at Power Consumption (Low Cost Variant). Watts Power Consumption (High Accuracy Variant). Watts Hot Start Battery Capacity > hrs Hot Start Battery Charge Time mins Hot Start Battery Endurance > years Operating Temperature - C to C Environmental Sealing IP6 MIL-STD-G Shock Limit 7 g Dimensions 67 x 9 x 7.9 mm Weight (Low Cost Variant) 6 grams Weight (High Accuracy Variant) grams Table : Ethernet variant hardware specifcations

24 Page of Version. // 7.6. Serial Variant Parameter Operating Voltage Input Protection Power Consumption (Low Cost Variant) Power Consumption (High Accuracy Variant) Value 9 to 6 V - to 6 V. Watts.6 Watts Hot Start Battery Capacity > hrs Hot Start Battery Charge Time mins Hot Start Battery Endurance > years Operating Temperature - C to C Environmental Sealing IP6 MIL-STD-G Shock Limit 7 g Dimensions 67 x 9 x 7.9 mm Weight (Low Cost Variant) grams Weight (High Accuracy Variant) grams Table : Serial variant hardware specifcations 7.7 Electrical Isolation The GNSS Compass's power supply circuit is galvanically isolated from the communication lines. Additionally the plastic enclosure isolates the electronics mechanically from the vessel, addressing the issue of vessel hull electrolysis. 7. NMEA Drop Cable The NMEA cable is only compatible with GNSS Compass part numbers GC-SER-LC and GC-SER-HA. It has part number GC-NMEA-CABLE-6M. The NMEA cable is used to connect serial variant GNSS Compasses to an NMEA network. Connection to the GNSS Compass is made through a Holin C- pin connector. The Holin part number is CCN-LSM. The connector has a bayonet lock and provides a reliable and rugged connection to the GNSS Compass under demanding conditions. It is rated to IP67 in the mated condition. The opposite end of the cable is a pin male Micro-C connector as per the NMEA standard. The cable is 6 metres long, dual shielded and UV stable.

25 Page of Version. // Illustration 6: NMEA Drop Cable Pin Colour Function Bare Drain/Shield Red Power Supply Black Power Ground White CAN Hi Blue CAN Lo Table : NMEA drop cable pin allocation table The NMEA drop cable should be used to connect to a T piece along the NMEA backbone in the vessel, see Illustration 7. Illustration 7: GNSS Compass NMEA Connection 7.9 Ethernet Cable The Ethernet cable is only compatible with GNSS Compass part numbers GC-POE-LC and GC-POE-HA. It has part number GC-POE-CABLE-M. Connection to the GNSS Compass is made through a Holin RJC-LSAS environmentally sealed RJ connector. The connector has a bayonet lock and provides a reliable and rugged connection to the GNSS Compass under demanding

26 Page of Version. // conditions. It is rated to IP67 in the mated state. The opposite end of the cable is a shielded RJ plug that can connect to standard Ethernet equipment. The cable is metres long shielded CATe with a UV stable jacket. A standard CAT, CATe or CAT6 Ethernet cable can be plugged into the connector on the GNSS Compass models GC-POE-LC and GC-POE-HA, however it will not be environmentally sealed so is not recommended for outdoor use. Additionally most standard Ethernet cable is not UV stable and will break down in sunlight. Illustration : Ethernet cable

27 Page 6 of Version. // 7. Serial Breakout Cable The serial breakout cable is only compatible with GNSS Compass part numbers GCSER-LC and GC-SER-HA. It has part number GC-SER-BREAK-M. Connection to the GNSS Compass is made through a Holin C- pin connector. The Holin part number is CCN-LSM. The connector has a bayonet lock and provides a reliable and rugged connection to GNSS Compass under demanding conditions. It is rated to IP67 in the mated state. The opposite end of the cable contains female DB9 connectors and a. x.mm DC connector, these connectors are not environmentally sealed. The cable assembly is supplied with metres of UV stable shielded cable. Each individual wire is colour coded 6AWG wire. Illustration 9: Serial breakout cable

28 Page 7 of Version. // Colour Function Primary Secondary CAN PPS Power Red Power Supply Tip Black Power Ground Ring Green Primary RS Tx(+) / RS Tx Green/White Primary RS Tx(-) Purple Primary RS Rx(+) / RS Rx Purple/White Primary RS Rx(-) 7 Brown Secondary RS Tx(+) / RS Tx Brown/White Secondary RS Tx(-) Pink Secondary RS Rx(+) / RS Rx Pink/White Secondary RS Rx(-) 7 Grey Signal Ground White CAN Hi 7 Blue CAN Lo Orange Alarm Hi 9 Orange/White Alarm Lo Yellow PPS Out Grey/White Signal Ground Bare Drain Wire 6 Ring Table 6: Serial breakout cable pin allocation table See Table 7 to match wire colour to pin number of the Holin connector. 7. Unterminated Serial Cable The unterminated serial cable is only compatible with GNSS Compass part numbers GC-SER-LC and GC-SER-HA. It has part number GC-SER-CABLE-M. Connection to the GNSS Compass is made through a Holin C- pin connector. The Holin part number is CCN-LSM. The connector has a bayonet lock and provides a reliable and rugged connection to GNSS Compass under demanding conditions. It is rated to IP67 in the mated state. The cable assembly is supplied with metres of unterminated UV stable shielded cable. Each individual wire is colour coded 6AWG wire. This cable is intended only for customers with experience in terminating shielded cable.

29 Page of Version. // Illustration : Unterminated serial cable Illustration : Connector pin assignment viewed from the front

30 Page 9 of Version. // Pin Colour Function Red Power Supply Black Power Ground Green Primary RS Tx(+) / RS Tx Green/White Primary RS Tx(-) Purple Primary RS Rx(+) / RS Rx 6 Purple/White Primary RS Rx(-) 7 Brown Secondary RS Tx(+) / RS Tx Brown/White Secondary RS Tx(-) 9 Pink Secondary RS Rx(+) / RS Rx Pink/White Secondary RS Rx(-) Grey Signal Ground White CAN Hi Blue CAN Lo Orange Alarm Hi Orange/White Alarm Lo 6 Yellow PPS Out 7 Grey/White Signal Ground Bare Drain Wire (attach to power ground) Table 7: Unterminated serial cable pin allocation table 7. Certification The GNSS Compass is IMO wheelmarked for MED/.7 Speed and Distance Measuring Equipment (SDME) and MED/. Transmitting Heading Device (THD, GNSS method) based on the Directive /9/EU. Models GC-SER-LC and GC-SER-HA are certifed to the following standards. IMO Standards ISO/IEC Standards IMO Res.MSC 6(7) ISO 9-: IMO Res.MSC 9(79) IEC 69 () incl. IEC 69 Corr. () IMO Res.A.69(7) IEC 66- ed. (-) IEC 66- ed. (99-9) IEC 6 Ed.. (-7) Table : Standards for GC-SER-LC and GC-SER-HA

31 Page of Version. // Models GC-POE-LC and GC-POE-HA are certifed to the following standards. IMO Standards ISO/IEC Standards IMO Res.MSC 6(7) ISO 9-: IMO Res.MSC 9(79) IEC 69 () incl. IEC 69 Corr. () IMO Res.A.69(7) IEC 66- ed. (-) IEC 6 Ed.. (-7) Table 9: Standards for GC-POE-LC and GC-POE-HA

32 Page of Version. //. Installation Mounting Location Illustration : GNSS Compass ideal mounting location diagram The GNSS Compass needs to be mounted in an area with a clear and unobstructed view of the sky for best results. It should be mounted away from transmitting devices where possible. Please see Illustration above for ideal mounting location.

33 Page of Version. //. Alignment Illustration : GNSS Compass alignment with front of the vehicle The GNSS Compass should be aligned such that it is level with the vehicle and the indicator on the lid is directly forward of the sight, see Illustration. The sight can be used to visually align the indicator for best results. See Illustration for example mounting on a boat and Illustration for example mounting on a car. In the event that it is not feasible to mount the GNSS Compass in the standard orientation, it is possible to mount it with a known ofset and confgure the unit with this ofset. The ofset should be entered into the heading ofset feld in the alignment confguration dialogue.

34 Page of Version. // Illustration : GNSS Compass alignment on a boat Illustration : GNSS Compass alignment on a car

35 Page of Version. //. Connection The cables available from Advanced Navigation feature a connector with a locking nut and o-ring that are waterproof and dirtproof to the IP67 standard as well as resistant to shock and vibration. The environmental protection only applies when the connector is locked by pushing in and rotating the nut clockwise until it clicks, see Illustration 6. Illustration 6: GNSS Compass connector locking.. NMEA For connection to an NMEA network the NMEA Drop Cable is required (part number GC-NMEA-CABLE-6M). One end of the cable should be connected to the GNSS Compass and the other end to a T-connector on the NMEA backbone of the vessel... NMEA For connection to an NMEA network the Advanced Navigation Serial Breakout Cable is required (part number GC-SER-BREAK-M). The secondary serial port connector should be connected to the receiving device. Power supply of between 9 to 6 volts should be applied to the DC jack with a amp fuse... Ethernet For connection to an Ethernet network the Advanced Navigation Ethernet Cable is required (part number GC-POE-CABLE-M). One end of the cable should be connected to the GNSS Compass and the other to either a PoE injector (part number POE-

36 Page of Version. // INJECTOR) or.af or.at compliant PoE switch. The PoE injector or switch is then connected to a router... ANPP For connection to an ANPP receiving device the Advanced Navigation Serial Breakout Cable is required (part number GC-SER-BREAK-M). The primary serial port connector should be connected to the receiving device. Power supply of between 9 to 6 volts should be applied to the DC jack with a amp fuse.. Configuration The GNSS Compass is designed to be plug and play such that it does not normally require any customer confguration. Typical installations utilising NMEA or NMEA will work out of the box. For advanced applications requiring confguration changes please follow the steps below... Serial Variants. Connect a USB to serial adaptor to the primary port of the GNSS Compass Serial Breakout Cable.. Install Java from the link below. Download GNSS Compass Manager from the link below. Run GNSS Compass Manager by double clicking on the fle.. Select the port, set the baud rate to, and click Connect. 6. Using the Confguration menu, options can be changed as required. Changes to confguration are saved between power cycles and only need to be applied once... Ethernet Variants. Plug the Ethernet cable from the GNSS Compass into the +Power port on the PoE injector. Plug an Ethernet cable into the port and connect the other end to a DHCP router.. Install zeroconf (Apple Bonjour) from one of the links below: (-bit installer) (6-bit installer). Open a web browser and type in the address to access the web interface.. Using the Confguration menu, options can be changed as required. Changes to confguration are saved between power cycles and only need to be applied once. The default username is admin and default password is password.

37 Page 6 of Version. // 9 Operation 9. Initialisation After power is applied to the GNSS Compass, it will take some time to initialise position, velocity, time, roll, pitch and heading. This time will depend upon the status of the GNSS satellite constellations but can be approximated using Table below. Model Power Up Position Initialisation Heading Initialisation Low Cost Hot Start second seconds High Accuracy Hot Start seconds seconds Low Cost Cold Start seconds 6 seconds High Accuracy Cold Start seconds seconds Table : GNSS Compass typical initialisation time 9.. Hot Start If the GNSS Compass has been powered of for more than hours, when it is powered on it will initialise with a cold start. If the GNSS Compass has been powered of for less than hours it will initialise with a hot start which is much faster. 9. Dual Antenna GNSS Heading In the past most AHRS have relied upon magnetic heading. Magnetic heading has some downsides in that it requires calibration and is prone to interference from ferrous metals. GNSS Compass uses a new technique to determine heading by measuring phase diferences between two GNSS antennas mounted at a known separation inside the enclosure of the GNSS Compass. The beneft of this technique is that it is not subject to magnetic interference and provides more accurate heading than magnetic systems. Dual antenna GNSS heading does require a clear view of the sky and sufcient spacing from RF transmitters operating close to GNSS bands. 9. GNSS Outages When the GNSS Compass has an obstructed view of the sky there may be loss of a heading fx, loss of a position fx or both. This can occur when travelling under bridges, through tunnels or between buildings. During a loss of heading fx the GNSS Compass will continue to provide accurate heading for up to minutes using its gyroscopes. A heading error will slowly accumulate during this period at a rate of approximately degrees/hour. During a loss of position fx the GNSS Compass will continue to provide accurate position and velocity for up to minutes using its inertial sensors.

38 Page 7 of Version. // NMEA The GNSS Compass outputs the NMEA messages listed in Table below. PGN Output Period (milliseconds) Rate (Hz) 699 System Time UTC time and date 699 Heartbeat Transmitted by all NMEA devices to indicate the device is still present on the network. Reception of this PGN may also be used to maintain an address to NAME association table within the receiving device. 6 7 Vessel Heading True and magnetic heading 7 Rate of Turn Rate of change of the heading 7 Heave Vertical distance relative to the average sea level 77 Attitude Orientation of the vessel 9 Position, Rapid Update Rapid update of latitude and longitude 96 COG & SOG, Rapid Update Rapid update of Course Over Ground (COG) and Speed Over Ground (SOG) 99 GNSS Position Position and GNSS fx status 9 GNSS Satellites in View 7 Vessel Speed Components Longitudinal and transverse speed Table : NMEA transmitted messages

39 Page of Version. // NMEA The GNSS Compass supports outputting the NMEA messages listed in Table below. It is compliant with NMEA version.. The maximum output rate for any of the messages below is Hz. Sentence Default $GPGGA No Time, latitude, longitude, height and HDOP $GPGLL No Latitude and longitude $GPGNS No Time, latitude, longitude, height and HDOP $GPGSA No GNSS DOP and satellites used in solution $GPGSV No GNSS satellites in view $GPHBT No Heartbeat supervision sentence $GPHDG Yes (Hz) Magnetic deviation and variation $GPHDM No Magnetic Heading $GPHDT No True heading $GPHEV No Heave $GPRMC Yes (Hz) Time, date, latitude, longitude and D velocity $GPROT No Rate of turn $GPVBW No Dual ground/water speed $GPVLW No Dual ground/water distance $GPVTG No Course over ground and ground speed $GPZDA No Time and date $PASHR No Time, orientation and orientation error $TSS No Heave, pitch and roll $PFEC,GPatt No Attitude and heading $PFEC,GPhve No Heave Table : NMEA output messages supported

40 Page 9 of Version. // 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 defned specifcation and is very fexible. It is used across all existing and future Advanced Navigation products.. s The following data types are used in the packet protocol. All data types in the protocol are little endian byte ordering. Abbreviation Also known as u unsigned char, unsigned byte, uint_t s char, byte, int_t u6 unsigned short, uint6_t s6 short, int6_t u unsigned int, unsigned long, uint_t s int, long, int_t u6 unsigned long long, uint6_t s6 long long, int6_t foat fp6 double Table : type abbreviations used in the ANPP. Packet Structure The ANPP packet structure is shown in Table and the header format is shown in Table. Example code can be downloaded from the software section. Header Header LRC Table : ANPP Packet Structure Packet CRC6 Packet

41 Page of Version. // ANPP Header Format u Header LRC, see section.. u, see section.. u Packet, see section.. u6 CRC6, see section.. Table : ANPP header format.. Header LRC The header LRC (Longitudinal Redundancy Check) provides error checking on the packet header. It also allows the decoder to fnd 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[] + crc[])^xff) +.. The packet ID is used to distinguish the contents of the packet. s range from to. Within this range there are three diferent sub-ranges, these are system packets, state packets and confguration packets. System packets have packet IDs in the range to 9. 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 to 79. Confguration packets are used for reading and writing device confguration. Confguration packets are packet IDs in the range to... Packet The packet length denotes the length of the packet data, i.e. from byte index onwards inclusive. Packet length has a range of... CRC The CRC is a CRC6-CCITT. The starting value is xffff. The CRC covers only the packet data.. Packet Requests Any of the state and confguration packets can be requested at any time using the

42 Page of Version. // request packet. See section.9... Packet Acknowledgement When confguration packets are sent to GNSS Compass, it will reply with an acknowledgement packet that indicates whether the confguration change was successful or not. For details on the acknowledgement packet, see section.9... Packet Rates The packet rates can be confgured either the web interface for Ethernet variants, GNSS Compass Manager for serial variants or through the Packets Period Packet. By default GNSS Compass is confgured to output the System State Packet at Hz..6 Baud Rate This section applies to the serial variant only and can be ignored for the Ethernet variant. When confguring 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 fve to account for the packet overhead. For example to output the system state packet at Hz the calculation would be: throughput = ( (packet length) + (fxed packet overhead)) * (rate) throughput = bytes per second Minimum baud rate = data throughput x =, Baud Closest standard baud rate =, Baud When multiple packets are set to output at the same rate, the order the packets output is from lowest ID to highest ID..7 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 Hz, at each. 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.. Packet Summary R/W Name System Packets R Acknowledge Packet

43 Page of Version. // R/W Name - W Request Packet R/W Boot Mode Packet R Device Information Packet W Restore Factory Settings Packet W Reset Packet - R/W Serial Port Pass-through Packet State Packets R System State Packet R Unix Time Packet R Formatted Time Packet R Status Packet R Position Standard Deviation Packet R Velocity Standard Deviation Packet 6 R Euler Orientation Standard Deviation Packet 7 6 R Quaternion Orientation Standard Deviation Packet R Raw Sensors Packet 9 7 R Raw GNSS Packet R Satellites Packet - R Detailed Satellites Packet R Geodetic Position Packet R ECEF Position Packet R UTM Position Packet R NED Velocity Packet 6 R Body Velocity Packet 7 R Acceleration Packet 6 R Body Acceleration Packet 9 R Euler Orientation Packet 6 R Quaternion Orientation Packet 6 R DCM Orientation Packet R Angular Velocity Packet R Angular Acceleration Packet 6 R/W External Position & Velocity Packet 6 R/W External Position Packet 6 R/W External Velocity Packet

44 Page of Version. // R/W Name 7 6 R/W External Body Velocity Packet R/W External Heading Packet 9 R Running Time Packet R Local Magnetic Packet R/W External Time Packet R Geoid Height Packet - W RTCM Corrections Packet 6 R Heave Packet 6 - R Raw Satellite Packet 6 - R Raw Satellite Ephemeris Packet 69 R GNSS Receiver Information Packet 7 R Automotive Packet Configuration Packets - R/W Packets Period Packet 7 R/W Baud Rates Packet R/W Sensor Ranges Packet 7 R/W Installation Alignment Packet 6 7 R/W Filter Options Packet 7 - R/W Advanced Filter Parameters Packet R/W Port Function Confguration Packet 9 W Set Zero Orientation Alignment Packet 9 9 R/W Reference Point s Packet 9 R/W Port Output Confguration Packet 9 6 R/W User Packet Table 6: Packet summary.9.9. System Packets Acknowledge Packet

45 Page of Version. // Acknowledgement Packet u being acknowledged u6 CRC of packet being acknowledged u Acknowledge Result, see section.9.. Table 7: Acknowledge packet.9.. Acknowledge Result Value Acknowledge success Acknowledge failure, CRC error Acknowledge failure, packet size incorrect Acknowledge failure, values outside of valid ranges Acknowledge failure, system fash memory failure Acknowledge failure, system not ready 6 Acknowledge failure, unknown packet Table : Acknowledge result.9. Request Packet Request Packet x number of packets requested u requested + Table 9: Request packet repeats for additional packet requests

46 Page of Version. //.9. Boot Mode Packet Boot Mode Packet u Boot mode, see section.9.. Table : Boot mode packet.9.. Boot Mode s Value Bootloader Main Program Table : Boot mode types.9. Device Information Packet Device Information Packet u Software version u Device ID u Hardware revision u Serial number part 6 u Serial number part 6 u Serial number part Table : Device information packet

47 Page 6 of Version. //.9. Restore Factory Settings Packet Restore Factory Settings Packet u Verifcation sequence (set to x9ec) Table : Restore factory settings packet.9.6 Reset Packet Reset Packet u Verifcation sequence, see section.9.6. Table : Reset packet.9.6. Verifcation Sequence Values Value x7a7e Standard hot start reset x9adb7 Cold start reset Table : Verifcation sequence values.9.7 Serial Port Pass-through Packet Serial Port Pass-through Packet Variable, up to bytes u Pass-through Route, see section.9.7. Pass-through data Table 6: Serial port pass-through packet.9.7. Pass-through Routes

48 Page 7 of Version. // Value Reserved Secondary RS Table 7: Pass-through routes. State Packets GNSS Compass supports a large number of packets providing extensive functionality. However for the majority of users the easiest approach is to confgure GNSS Compass using the GNSS Compass Manager software and then support only the single system state packet shown below in section... Advanced functionality can be added as required through the other packets.

49 Page of Version. //.. System State Packet System State Packet u6 System status, see section... u6 Filter status, see section... u Unix time stamp (seconds), see section... u Microseconds, see section... fp6 Latitude (rad) 6 fp6 Longitude (rad) 7 fp6 Height (m) 6 Velocity north (m/s) 9 Velocity east (m/s) Velocity down (m/s) Body acceleration X (m/s/s) Body acceleration Y (m/s/s) 6 Body acceleration Z (m/s/s) 6 G force (g) 6 Roll (radians) 6 6 Pitch (radians) 7 7 Heading (radians) 76 Angular velocity X (rad/s) 9 Angular velocity Y (rad/s) Angular velocity Z (rad/s) Latitude standard deviation (m) 9 Longitude standard deviation (m) 96 Height standard deviation (m) Table : System state packet

50 Page 9 of Version. //... System Status This feld contains 6 bits that indicate problems with the system. These are boolean felds with a zero indicating false and one indicating true. Bit System Failure Accelerometer Sensor Failure Gyroscope Sensor Failure Magnetometer Sensor Failure Secondary GNSS Failure Primary GNSS Failure 6 Accelerometer Over Range 7 Gyroscope Over Range Magnetometer Over Range 9 Reserved Minimum Temperature Alarm Maximum Temperature Alarm Low Voltage Alarm High Voltage Alarm GNSS Antenna Fault Output Overfow Alarm Table 9: System status

51 Page of Version. //... Filter Status This feld contains 6 bits that indicate the status of the flters. These are boolean felds with a zero indicating false and one indicating true. Bit Orientation Filter Initialised Navigation Filter Initialised Heading Initialised UTC Time Initialised GNSS Fix Status, see section Event Occurred Event Occurred 9 Internal GNSS Enabled Dual Antenna Heading Active Velocity Heading Enabled Dual Antenna Heading Outage for over 6 Seconds External Position Active External Velocity Active External Heading Active Table : Filter Status... GNSS Fix Status Value Bit 6 Bit Bit No GNSS fx D GNSS fx D GNSS fx SBAS GNSS fx Diferential GNSS fx Omnistar GNSS fx 6 RTK Float GNSS fx 7 RTK Fixed GNSS fx Table : GNSS fx status... Unix Time Seconds This feld provides UTC time in seconds since January, 97, including leap seconds.

52 Page of Version. //... Microseconds This feld provides the sub-second component of time. It is represented as microseconds since the last second. Minimum value is and maximum value is Unix Time Packet Unix Time Packet u Unix time stamp (seconds), see section... u Microseconds, see section... Table : Unix time packet.. Formatted Time Packet Formatted Time Packet u Microseconds u6 Year 6 u6 Year day, - 6 u Month, - 9 u Month Day, - 6 u Week Day, 6 ( = Sunday) 7 u Hour, - u Minute, u Second, - 9 Table : Formatted time packet.. Status Packet

53 Page of Version. // Status Packet u6 System status, see section... u6 Filter status, see section... Table : Status packet.. Position Standard Deviation Packet Position Standard Deviation Packet Latitude standard deviation (m) Longitude standard deviation (m) Height standard deviation (m) Table : Position standard deviation packet..6 Velocity Standard Deviation Packet Velocity Standard Deviation Packet Velocity north standard deviation (m/s) Velocity east standard deviation (m/s) Velocity down standard deviation (m/s) Table 6: Velocity standard deviation packet..7 Euler Orientation Standard Deviation Packet

54 Page of Version. // Euler Orientation Standard Deviation Packet 6 Roll standard deviation (rad) Pitch standard deviation(rad) Heading standard deviation(rad) Table 7: Euler orientation standard deviation packet.. Quaternion Orientation Standard Deviation Packet Quaternion Orientation Standard Deviation Packet 7 6 Q standard deviation Q standard deviation Q standard deviation Q standard deviation Table : Quaternion orientation standard deviation packet

55 Page of Version. //..9 Raw Sensors Packet Raw Sensors Packet Accelerometer X (m/s/s) Accelerometer Y (m/s/s) Accelerometer Z (m/s/s) Gyroscope X (rad/s) 6 Gyroscope Y (rad/s) 6 Gyroscope Z (rad/s) 7 Magnetometer X (mg) Magnetometer Y (mg) 9 Magnetometer Z (mg) 6 IMU Temperature (deg C) Reserved Table 9: Raw sensors packet

56 Page of Version. //.. Raw GNSS Packet This packet represents the raw data as it is received from the GNSS receiver. The position is not corrected for antenna position ofset and the velocity is not compensated for the antenna lever arm ofset. The INS position and velocity that are in the other packets are corrected for antenna position ofset and lever arm. Raw GNSS Packet 9 7 u Unix time stamp (seconds) u Microseconds fp6 Latitude (rad) 6 fp6 Longitude (rad) fp6 Height (m) 6 Velocity north (m) 7 6 Velocity east (m) Velocity down (m) 9 Latitude standard deviation (m) Longitude standard deviation (m) Height standard deviation (m) 6 Tilt (rad) 6 Heading (rad) 6 Tilt standard deviation (rad) 6 Heading standard deviation (rad) 6 7 u6 Status, see section... Table : Raw GNSS packet... Raw GNSS Status

57 Page 6 of Version. // Bit GNSS Fix Status, see section... Doppler velocity valid Time valid External GNSS 6 Tilt valid 7 Heading valid Floating ambiguity heading 9- Reserved (set to zero) Table : Raw GNSS status.. Satellites Packet Satellites Packet HDOP VDOP u GPS satellites 9 u GLONASS satellites u BeiDou satellites 6 u GALILEO satellites 7 u SBAS satellites Table : Satellites packet.. Detailed Satellites Packet

58 Page 7 of Version. // Detailed Satellites Packet 7 x number of satellites u Satellite system, see section... u Satellite number (PRN) s Satellite frequencies, see section... u Elevation (deg) u6 Azimuth (deg) 6 6 u SNR + s -6 repeat for additional satellites Table : Detailed satellites packet... Satellite Systems Value System Unknown GPS GLONASS BeiDou GALILEO SBAS 6 QZSS 7 Starfre Omnistar 9 IMES Table : Satellite systems... Satellite Frequencies

59 Page of Version. // Bit L C/A L C L P L M L C L P 6 L M 7 L Table : Satellite frequencies.. Geodetic Position Packet Geodetic Position Packet fp6 Latitude (rad) fp6 Longitude (rad) 6 fp6 Height (m) Table 6: Geodetic position packet.. ECEF Position Packet ECEF Position Packet fp6 ECEF X (m) fp6 ECEF Y (m) 6 fp6 ECEF Z (m) Table 7: ECEF position packet

60 Page 9 of Version. //.. UTM Position Packet UTM Position Packet 6 fp6 Northing (m) fp6 Easting (m) 6 fp6 Height (m) u Zone number s Zone character Table : UTM position packet..6 NED Velocity Packet NED Velocity Packet Velocity north (m/s) Velocity east (m/s) Velocity down (m/s) Table 9: NED velocity packet..7 Body Velocity Packet Body Velocity Packet 6 Velocity X (m/s) Velocity Y (m/s) Velocity Z (m/s) Table 6: Body velocity packet

61 Page 6 of Version. //.. Acceleration Packet This packet includes the acceleration due to gravity. Acceleration Packet 7 Acceleration X (m/s/s) Acceleration Y (m/s/s) Acceleration Z (m/s/s) Table 6: Acceleration packet..9 Body Acceleration Packet This packet does not include the acceleration due to gravity. Body Acceleration Packet 6 Body acceleration X (m/s/s) Body acceleration Y (m/s/s) Body acceleration Z (m/s/s) G force (g) Table 6: Body acceleration packet.. Euler Orientation Packet Euler Orientation Packet 9 Roll (rad) Pitch (rad) Heading (rad) Table 6: Euler orientation packet

62 Page 6 of Version. //.. Quaternion Orientation Packet Quaternion Orientation Packet 6 QS QX QY QZ Table 6: Quaternion orientation packet.. DCM Orientation Packet DCM Orientation Packet 6 DCM[][] DCM[][] DCM[][] DCM[][] 6 DCM[][] 6 DCM[][] 7 DCM[][] DCM[][] 9 DCM[][] Table 6: DCM orientation packet.. Angular Velocity Packet

63 Page 6 of Version. // Angular Velocity Packet Angular velocity X (rad/s) Angular velocity Y (rad/s) Angular velocity Z (rad/s) Table 66: Angular velocity packet.. Angular Acceleration Packet Angular Acceleration Packet Angular acceleration X (rad/s/s) Angular acceleration Y (rad/s/s) Angular acceleration Z (rad/s/s) Table 67: Angular acceleration packet.. External Position & Velocity Packet

64 Page 6 of Version. // External Position & Velocity Packet 6 fp6 Latitude (rad) fp6 Longitude (rad) 6 fp6 Height (m) Velocity north (m/s) Velocity east (m/s) 6 Velocity down (m/s) 7 6 Latitude standard deviation (m) Longitude standard deviation (m) 9 Height standard deviation (m) Velocity north standard deviation (m/s) Velocity east standard deviation (m/s) 6 Velocity down standard deviation (m/s) Table 6: External position & velocity packet..6 External Position Packet External Position Packet 6 fp6 Latitude (rad) fp6 Longitude (rad) 6 fp6 Height (m) Latitude standard deviation (m) Longitude standard deviation (m) 6 Height standard deviation (m) Table 69: External position packet

65 Page 6 of Version. //..7 External Velocity Packet External Velocity Packet 6 Velocity north (m/s) Velocity east (m/s) Velocity down (m/s) Velocity north standard deviation (m/s) 6 Velocity east standard deviation (m/s) 6 Velocity down standard deviation (m/s) Table 7: External velocity packet.. External Body Velocity Packet External Body Velocity Packet 7 6 Velocity X (m/s) Velocity Y (m/s) Velocity Z (m/s) Velocity standard deviation (m/s) Table 7: External body velocity packet..9 External Heading Packet External Heading Packet Heading (rad) Heading standard deviation (rad) Table 7: External heading packet

66 Page 6 of Version. //.. Running Time Packet Running Time Packet 9 u Running time seconds u Microseconds Table 7: Running time packet.. Local Magnetic Packet Local Magnetic Packet Local magnetic feld X (mg) Local magnetic feld Y (mg) Local magnetic feld Z (mg) Table 7: Local magnetic feld packet.. External Time Packet External Time Packet u Unix time seconds, see section... u Microseconds, see section... Table 7: External time packet.. Geoid Height Packet This packet provides the ofset between the WGS ellipsoid and the EGM96 geoid model at the current location. This can be used to determine mean sea level height and also depth through the following equations: Mean Sea Level Height = Height Geoid Height

67 Page 66 of Version. // Depth = Geoid Height Height Geoid Height Packet Geoid height (m) Table 76: Geoid height packet.. RTCM Corrections Packet This packet is used to encapsulate RTCM v, RTCM v or CMR correction data to be sent to GNSS Compass's internal GNSS receiver for diferential or RTK GNSS functionality. RTCM Corrections Packet Variable, up to bytes RTCM corrections data Table 77: RTCM corrections packet.. Heave Packet Heave Packet 6 Heave point (m) Heave point (m) Heave point (m) Heave point (m) Table 7: Heave packet

68 Page 67 of Version. //..6 Raw Satellite Packet GNSS Compass Manager will automatically convert this packet to RINEX. format. Raw Satellite Packet Satellites * (6 + Frequencies * 6) u Unix time (seconds) u Nanoseconds s Receiver clock ofset (nanoseconds) u Receiver number u Packet number 6 u Total packets 7 u Number of satellites For each satellite 6 u Satellite system, see section u PRN or satellite number u Elevation (degrees) 9 u6 Azimuth (degrees) u Number of frequencies For each frequency of each satellite u Satellite frequency, see section..6. u Tracking status, see..6. fp6 Carrier phase (cycles) 6 fp6 Pseudo range (m) 7 Doppler frequency (Hz) Signal to noise ratio (db-hz) Table 79: Raw satellite data packet..6. Satellite Frequencies

69 Page 6 of Version. // Value GPS GLONASS Galileo BeiDou SBAS QZSS Unknown Unknown Unknown Unknown Unknown Unknown L C/A G C/A E OS B L C/A L C/A L C L P L M L C G C/A E6 CS 6 L P G P E6 PRS 7 L M L G E a E PRS L C G P L SAIF 9 E b E a+b B L C LEX B L L Table : Satellite frequencies..6. Tracking Status Bit Carrier phase valid Carrier phase cycle slip detected Carrier phase half-cycle ambiguity Pseudo range valid Doppler valid SNR valid 6-7 Reserved (set to zero) Table : Tracking status..7 Raw Satellite Ephemeris Packet GNSS Compass Manager will automatically convert this packet to RINEX. format. This packet has been left out of the reference manual due to it's length. If you need the format of this packet, please contact Advanced Navigation support... GNSS Receiver Information Packet

70 Page 69 of Version. // GNSS Receiver Information Packet 69 u GNSS manufacturer ID, see section... u GNSS receiver model, see section... s[] GNSS serial number in ASCII character string u Firmware version 6 u[] Software license code 6 u Omnistar serial number 7 u Omnistar subscription start unix time 6 u Omnistar subscription expiry unix time 9 u Omnistar engine mode, see section... u RTK software license accuracy, see section... 6 Reserved (set to zero) Table : GNSS receiver information packet... GNSS Manufacturer IDs Value GNSS Manufacturer Unknown Trimble u-blox Table : GNSS manufacturer IDs... GNSS Receiver Models (Trimble) Value GNSS Receiver Model Unknown Trimble BD9 Trimble BD9 Trimble BD9 Trimble MB-One Trimble MB-Two Table : Trimble GNSS receiver models

71 Page 7 of Version. //... GNSS Receiver Models (u-blox) Value GNSS Receiver Model Unknown u-blox M u-blox MT u-blox MP Table : u-blox GNSS receiver models... Omnistar Engine Modes Value Omnistar engine not active HP XP G HP+G HP+XP Table 6: Omnistar engine modes... RTK Software License Accuracy Value RTK accuracy unknown.m horizontal,.m vertical.7m horizontal,.7m vertical.7m horizontal,.m vertical.m horizontal,.7m vertical.m horizontal,.m vertical Table 7: RTK software license accuracies..9 Automotive Packet