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Main Page

Table of Contents2
Revision History9
Firmware Changelog10
Version10
Hardware Changelog11
Introduction12
Foundation Knowledge13
Gnss13
Gnss/Ins13
- Ahrs13
- The Sensor Co-Ordinate Frame14
Ins13
Roll, Pitch and Heading14
- Second Right Hand Rule14
- Rotation Order15
  - Geodetic Co-Ordinate System15
- NED Co-Ordinate Frame17
- ECEF Co-Ordinate Frame18
Quick Start19
- OEM Evaluation Kit20
- Kit Contents20
- Quick Start20
- Part Numbers and Ordering Options22
- Evaluation Kit22
- Standalone Unit22
- Software License Upgrades22
- Accessories23
- Specifications24
- Mechanical Drawings24
- Navigation Specifications25
- Sensor Specifications26
- Rugged Communication Specifications27
- OEM Communication Specifications27
- Rugged Hardware Specifications27
- OEM Hardware Specifications28
- Rugged Electrical Specifications29
- OEM Electrical Specifications29
Rugged Evaluation Kit19
- Kit Contents19
Power Consumption30
- Rugged Connector Pin-Out30
- Rugged Evaluation Kit USB Cable31
- Position and Alignment35
- Alignment35
- Mounting Plate36
- Power Supply36
- Odometer37
- Factory VSS Signal37
  - OBDII Odometer Interface37
Aftermarket Wheel Speed Sensor39
- Radar Speed Sensor39
- Magnetics40
- Vibration40
- INS and AHRS Operation41
  - Initialisation41
  - Orientation Initialisation41
- Navigation Initialisation41
- Heading Initialisation42
- Magnetics43
- Automatic Magnetic Calibration46
- Disabling Magnetometers46
- Data Anti Aliasing46
- Vehicle Profiles47
- Odometer Pulse Length47
Heave48
- Environmental Exposure48
- Temperature48
- Water49
- Salt49
- Dirt and Dust49
- System Requirements51
- Installation51
- Troubleshooting51
- All Platforms51
- Windows51
  - Linux52
  - Main View54
- Serial Port54
- Attitude Indicator54
- View56
- Packet Rates67
Reset71
- Reference Position Offsets71
- GPIO Output72
- Manual Initialisation73
Basic Connection81
- Recommended Footprint81
- OEM Power Supply83
- OEM Pin Protection83
- OEM Development Board84
- Serial UART to USB Converter85
- Dual RS232 Transceiver85
  - GPIO Header and Status Leds85
Configuration Switches86
- Primary Serial Port to USB87
- Primary Serial Port and GPIO 3 & 4 to GPIO Header at TTL Levels88
- GPIO Pins and Auxiliary RS23293
- Novatel GNSS Input97
Serial Port Passthrough100
- Gimbal Encoder Phase a100
- Gimbal Encoder Phase B100
  - Odometer Direction, Forward Low100
  - Odometer Direction, Forward High100
- Reverse Alignment, Forward Low100
- Packet Structure102
  - Header LRC103
- Packet ID103
- Packet Length103
- Crc103
  - Packet Requests103
- Packet Acknowledgement103
  - Packet Rates104
    - Packet Timing104
  - Packet Summary104
    - System Packets106
- Acknowledge Packet106
- Device Information Packet108
- Odometer Flags130
  - External Air Data Packet130
    - External Air Data Flags130
    - Notes130
  - Gimbal State Packet130
Baud Rates Packet133
- Installation Alignment Packet134
- Alignment DCM134
Packet Period133
Filter Options Packet135
Vehicle Types135
Advanced Filter Parameters Packet136
- GPIO Configuration Packet136
- GPIO1 Functions136
GPIO2 Functions137
- Auxiliary RS232 Transmit Functions138
- Auxiliary RS232 Receive Functions139
- Magnetic Calibration Values Packet140
Magnetic Calibration Actions141
Magnetic Calibration Configuration Packet141
Magnetic Calibration Status141
- Odometer Configuration Packet142
- Set Zero Orientation Alignment Packet142
Magnetic Calibration Status Packet141
Reference Point Offsets Packet142
- GPIO Output Configuration Packet144
NMEA Fix Behaviour144
GPIO Output Rates145
GPIO Output Rates Index145
User Data Packet145
GPIO Input Configuration Packet146

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