Advanced Navigation GNSS Compass User manual

GNSS Compass
Reference Manual
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GNSS Compass Reference Manual
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Version 1.1
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Table of Contents
1 Revision History......................................................................................................................... 5
2 Firmware Changelog..................................................................................................................
3 Hardware Changelog..................................................................................................................7
4 Introduction.................................................................................................................................8
5 Quick Start Guide.......................................................................................................................9
5.1 NMEA 2000 Connection....................................................................................................11
5.2 NMEA 0183 Connection....................................................................................................11
5.3 Power over Ethernet Connection.......................................................................................11
Part Numbers and Ordering Options........................................................................................13
.1 Plug and Play Kits.............................................................................................................13
.2 Evaluation Kits.................................................................................................................. 13
.3 Standalone Unit................................................................................................................14
.4 Internal GNSS Receiver License Upgrades......................................................................14
.5 Accessories....................................................................................................................... 1
7 Specifications........................................................................................................................... 17
7.1 Mechanical Drawings........................................................................................................17
7.2 Axes..................................................................................................................................18
7.3 Navigation Specifications..................................................................................................19
7.3.1 Low Cost Variant.......................................................................................................19
7.3.2 High Accuracy Variant...............................................................................................20
7.4 GNSS Specifications.........................................................................................................21
7.4.1 Low Cost Variant.......................................................................................................21
7.4.2 High Accuracy Variant...............................................................................................21
7.5 Communication Specifications..........................................................................................22
7.5.1 Ethernet Variant.........................................................................................................22
7.5.2 Serial Variant.............................................................................................................22
7. Hardware.......................................................................................................................... 23
7. .1 Ethernet Variant.........................................................................................................23
7. .2 Serial Variant.............................................................................................................24
7.7 Electrical Isolation............................................................................................................. 24
7.8 NMEA 2000 Drop Cable....................................................................................................24
7.9 Ethernet Cable.................................................................................................................. 25
7.10 Serial Breakout Cable.....................................................................................................27
7.11 Unterminated Serial Cable..............................................................................................28
7.12 Certification.....................................................................................................................30
8 Installation................................................................................................................................32
8.1 Mounting Location.............................................................................................................32
8.2 Mounting options...............................................................................................................32
8.2.1 Pole mounting...........................................................................................................32
8.2.2 Surface mounting......................................................................................................32
8.3 Alignment.......................................................................................................................... 33
8.4 Connection........................................................................................................................35
8.4.1 NMEA 2000............................................................................................................... 3
8.4.2 NMEA 0183............................................................................................................... 3
8.4.3 Ethernet..................................................................................................................... 3
8.4.4 ANPP.........................................................................................................................3
8.5 Configuration.................................................................................................................... 37
8.5.1 Serial Variants...........................................................................................................37
8.5.2 Ethernet Variants.......................................................................................................37
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9 Operation..................................................................................................................................38
9.1 Initialisation.......................................................................................................................38
9.1.1 Hot Start....................................................................................................................38
9.2 Dual Antenna GNSS Heading...........................................................................................38
9.3 GNSS Outages.................................................................................................................38
9.4 NMEA 2000....................................................................................................................... 39
9.5 NMEA 0183....................................................................................................................... 39
9. Precise Time Protocol (PTP).............................................................................................40
10 Advanced Navigation Packet Protocol....................................................................................42
10.1 Data Types......................................................................................................................42
10.2 Packet Structure.............................................................................................................42
10.2.1 Header LRC............................................................................................................ 43
10.2.2 Packet ID.................................................................................................................43
10.2.3 Packet Length......................................................................................................... 43
10.2.4 CRC........................................................................................................................43
10.3 Packet Requests.............................................................................................................43
10.4 Packet Acknowledgement...............................................................................................44
10.5 Packet Rates..................................................................................................................44
10. Baud Rate....................................................................................................................... 44
10.7 Packet Timing.................................................................................................................44
10.8 Packet Summary.............................................................................................................44
10.9 System Packets..............................................................................................................47
10.9.1 Acknowledge Packet...............................................................................................47
10.9.1.1 Acknowledge Result.........................................................................................47
10.9.2 Request Packet.......................................................................................................47
10.9.3 Boot Mode Packet...................................................................................................47
10.9.3.1 Boot Mode Types.............................................................................................48
10.9.4 Device Information Packet.......................................................................................48
10.9.5 Restore Factory Settings Packet.............................................................................48
10.9. Reset Packet...........................................................................................................49
10.9. .1 Verification Sequence Values...........................................................................49
10.9.7 Serial Port Pass-through Packet..............................................................................49
10.9.7.1 Pass-through Routes.......................................................................................50
10.10 State Packets................................................................................................................50
10.10.1 System State Packet.............................................................................................51
10.10.1.1 System Status................................................................................................52
10.10.1.2 Filter Status....................................................................................................53
10.10.1.3 GNSS Fix Status............................................................................................53
10.10.1.4 Unix Time Seconds........................................................................................53
10.10.1.5 Microseconds.................................................................................................54
10.10.2 Unix Time Packet..................................................................................................54
10.10.3 Formatted Time Packet.........................................................................................54
10.10.4 Status Packet........................................................................................................55
10.10.5 Position Standard Deviation Packet......................................................................55
10.10. Velocity Standard Deviation Packet.......................................................................55
10.10.7 Euler Orientation Standard Deviation Packet........................................................5
10.10.8 Quaternion Orientation Standard Deviation Packet...............................................5
10.10.9 Raw Sensors Packet.............................................................................................57
10.10.10 Raw GNSS Packet..............................................................................................58
10.10.10.1 Raw GNSS Status.......................................................................................59
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10.10.11 Satellites Packet..................................................................................................59
10.10.12 Detailed Satellites Packet.................................................................................... 0
10.10.12.1 Satellite Systems......................................................................................... 0
10.10.12.2 Satellite Frequencies................................................................................... 1
10.10.13 Geodetic Position Packet.................................................................................... 1
10.10.14 ECEF Position Packet......................................................................................... 1
10.10.15 UTM Position Packet........................................................................................... 1
10.10.1 NED Velocity Packet............................................................................................ 2
10.10.17 Body Velocity Packet........................................................................................... 2
10.10.18 Acceleration Packet............................................................................................. 2
10.10.19 Body Acceleration Packet.................................................................................... 3
10.10.20 Euler Orientation Packet...................................................................................... 3
10.10.21 Quaternion Orientation Packet............................................................................ 4
10.10.22 DCM Orientation Packet...................................................................................... 4
10.10.23 Angular Velocity Packet....................................................................................... 5
10.10.24 Angular Acceleration Packet................................................................................ 5
10.10.25 External Position & Velocity Packet.....................................................................
10.10.2 External Position Packet......................................................................................
10.10.27 External Velocity Packet...................................................................................... 7
10.10.28 External Body Velocity Packet............................................................................. 7
10.10.29 External Heading Packet..................................................................................... 7
10.10.30 Running Time Packet.......................................................................................... 8
10.10.31 Local Magnetic Field Packet................................................................................ 8
10.10.32 External Time Packet........................................................................................... 8
10.10.33 Geoid Height Packet............................................................................................ 8
10.10.34 RTCM Corrections Packet................................................................................... 9
10.10.35 Heave Packet...................................................................................................... 9
10.10.3 Raw Satellite Data Packet...................................................................................70
10.10.3 .1 Satellite Frequencies...................................................................................71
10.10.3 .2 Tracking Status............................................................................................71
10.10.37 Raw Satellite Ephemeris Packet..........................................................................71
10.10.38 GNSS Receiver Information Packet.....................................................................72
10.10.38.1 GNSS Manufacturer IDs..............................................................................72
10.10.38.2 GNSS Receiver Models (Trimble)................................................................72
10.10.38.3 GNSS Receiver Models (u-blox)..................................................................73
10.10.38.4 Omnistar Engine Modes...............................................................................73
10.10.38.5 RTK Software License Accuracy..................................................................73
10.10.39 Automotive Packet...............................................................................................74
10.11 Configuration Packets...................................................................................................74
10.11.1 Packets Period Packet...........................................................................................74
10.11.1.1 Flags..............................................................................................................75
10.11.1.2 Clear Existing Packets...................................................................................75
10.11.1.3 Packet Period.................................................................................................75
10.11.2 Baud Rates Packet................................................................................................75
10.11.3 Sensor Ranges Packet..........................................................................................7
10.11.3.1 Accelerometers Range...................................................................................7
10.11.3.2 Gyroscopes Range........................................................................................7
10.11.3.3 Magnetometers Range...................................................................................7
10.11.4 Installation Alignment Packet.................................................................................77
10.11.4.1 Alignment DCM..............................................................................................77
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10.11.5 Filter Options Packet.............................................................................................78
10.11.5.1 Vehicle Types.................................................................................................79
10.11. Advanced Filter Parameters Packet.......................................................................79
10.11.7 Port Function Configuration Packet.......................................................................80
10.11.7.1 Ports...............................................................................................................80
10.11.7.2 Transmit Functions.........................................................................................81
10.11.7.3 Receive Functions..........................................................................................81
10.11.8 Set Zero Orientation Alignment Packet..................................................................81
10.11.9 Reference Point Offsets Packet.............................................................................81
10.11.10 Port Output Configuration Packet........................................................................83
10.11.10.1 NMEA Fix Behaviour....................................................................................83
10.11.10.2 Port Output Rates........................................................................................84
10.11.10.3 GPIO Output Rates Index............................................................................84
10.11.11 User Data Packet.................................................................................................84
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GNSS Compass Reference Manual
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Version 1.1
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1 Revision History
Version Date Changes
1.1 13/01/2021 Updated Firmware section 2
Updated part numbers and ordering section
Revised wording on certification section 7.12
Updated NMEA 0183 section 9.5
Added precise time protocol (PTP) section 9.
1.0 23/01/2018 Initial Release
Table 1: Revision history
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Firmware Changelog
Version Date Changes
1.24 12/01/2020 Improved heading reliability
Fix intermittent issue with heading status indicator in Web UI
1.23 18/12/2020 Fixed NMEA2000 time/date stamps that was outputting random
times – Serial variants
Fix ANPP GNSS Receiver Info packet length
1.2 01/11/2018 Stability and accuracy improvements
Bug fix for false magnetometer failure
Bug fix for Raw Satellite Data packet always on/always off
Default vehicle profile changed to small boat
Bug fix for cold start reset not working
Heave fix
0.9 05/12/2017 Initial release firmware
Table 2: Firmware Changelog
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3 Hardware Changelog
Version Date Changes
1.0 10/05/2017 Initial Release
Table 3: Hardware Changelog
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GNSS Compass Reference Manual
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4 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 20 minutes. It features high
accuracy RTK positioning and is plug and play with NMEA0183, NMEA2000 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 [e-mail].
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5 Quick Start Guide
1. 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 1.
Illustration 1: GN Compass ideal mounting location diagram
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GNSS Compass Reference Manual
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2. 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 2.
Illustration 2: GN Compass alignment
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3. Plug the cable into the GNSS Compass and rotate the nut clockwise to lock it in place. See
Illustration 3.
5.1 NMEA 000 Connection
Plug the NMEA 2000 drop cable into a T connector on the NMEA 2000 backbone. The unit will
power on and output the required NMEA 2000 messages without any configuration required. See
section 7.8 for more information on the NMEA 2000 drop cable.
5. NMEA 0183 Connection
Plug a 9 to 3 volt power source into the DC jack and connect the secondary RS422 port to the
receiving NMEA0183 device. Please see section 7.10 for further details on the pin-out of the serial
breakout cable recommended for NMEA 0183 installations.
5.3 Power over Ethernet Connection
1. Plug the Ethernet cable from the GNSS Compass into the “Data+Power” port on the PoE
injector. Plug an Ethernet cable into the Data port and connect the other end to a DHCP
router.
2. Install zeroconf (Apple Bonjour) from one of the links below:
https://www.advancednavigation.com.au/Bonjour.msi (32-bit installer)
https://www.advancednavigation.com.au/Bonjour 4.msi ( 4-bit installer)
3. Open a web browser and type in the address http://gnss-compass.local/ to access the web
Illustration 3: GN Compass connector locking
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GNSS Compass Reference Manual
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interface.
4. The default username is admin and the default password is password.
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6 Part Numbers and Ordering Options
6.1 Plug and Play Kits
Part Number Description Notes
GC-EK-SER-LC-CAN GNSS Compass
Low Cost NMEA
2000 Plug and Play
Kit
NMEA 2000 plug and play kit
Low cost serial variant GNSS Compass
Comes with m NMEA 2000 cable, see section
7.8
6. Evaluation Kits
Part Number Description Notes
GC-EK-SER-LC-RS422 GNSS Compass
Low Cost RS422
Evaluation Kit
NMEA 0183 plug and play
Low cost serial variant GNSS Compass
RS422/RS232 and CAN interfaces
Comes with 100 to 240 V AC Power supply,
USB to RS232/RS422 adaptor and 20 m serial
breakout cable, see section 7.10
GC-EK-POE-LC GNSS Compass
Low Cost Ethernet
Evaluation Kit
Low cost Ethernet variant GNSS Compass
Power over Ethernet interface
Comes with 100 to 240 V AC Power over
Ethernet injector and 20 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 100 to 240 V AC power over
Ethernet injector and 20 m Ethernet cable, see
section 7.9
GC-EK-SER-HA-RS422 GNSS Compass
High Accuracy
RS422 Evaluation
Kit
NMEA 0183 plug and play
High accuracy serial variant GNSS Compass
RS422/RS232 and CAN interfaces
Comes with USB to RS232/RS422 cable, 100 to
240 V AC power supply and 20 m serial
breakout cable, see section 7.10
Table 4: Evaluation kit part numbers
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6.3 Standalone Unit
Part Number Description Notes
GC-SER-LC GNSS Compass
Low Cost Serial
Variant
GNSS Compass Low Cost Serial Variant
RS422/RS232 and CAN interfaces
L1 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
L1 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
L1/L2 RTK GNSS receiver
Supports DGPS
Supports post-processing PPK
Supports 8mm RTK
L band (Trimble RTX) disabled, requires
additional license
BeiDou and Galileo disabled, requires additional
license
No cables included
GC-SER-HA GNSS Compass
High Accuracy
Serial Variant
GNSS Compass High Accuracy Serial Variant
RS422/RS232 and CAN interfaces
L1/L2 RTK GNSS receiver
Supports DGPS
Supports post-processing PPK
Supports 8mm RTK
L band (Trimble RTX) disabled, requires
additional license
BeiDou and Galileo disabled, requires additional
license
No cables included
Table 5: tandalone unit part numbers
6.4 Internal GNSS Receiver License Upgrades
The license upgrades below are compatible only to the High Accuracy variants (GC-POE-HA and
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GC-SER-HA), and can either be ordered with the unit or purchased later and installed in the field
using the GNSS Compass Manager.
Part Number Description Notes
GC-LIC-GAL Enable Galileo
Tracking
Enable Galileo Tracking on GNSS Compass High
Accuracy
GC-BEI-UPG Enable BeiDou
Tracking
Enable BeiDou Tracking on GNSS Compass High
Accuracy
GC-LIC-LBAND Enable L-Ban
tracking
Enable L-Ban (for Trimble RTX) tracking on
GNSS Compass High Accuracy
Table 6: Internal GN receiver license upgrade part numbers
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6.5 Accessories
Part Number Description Notes
GC-NMEA2000-CABLE- M m NMEA 2000
drop cable for
GNSS Compass
m NMEA 2000 drop cable
Compatible with serial units only (GC-SER-LC
and GC-SER-HA)
See section 7.8 for full details
IP 8 environmentally sealed connector
GC-POE-CABLE-20M 20m Ethernet
cable for GNSS
Compass
20m CAT5e Ethernet cable with RJ45
Compatible with Ethernet units only (GC-POE-
LC and GC-POE-HA)
See section 7.9 for full details
IP 8 environmentally sealed connector
GC-SER-BREAK-20M 20m serial
breakout cable for
GNSS Compass
20m cable to DB9 connectors
Compatible with serial units only (GC-SER-LC
and GC-SER-HA)
See section 7.10 for full details
IP 8 environmentally sealed connector
GC-SER-CABLE-20M 20m serial cable
for GNSS
Compass
20m unterminated cable
Compatible with serial units only (GC-SER-LC
and GC-SER-HA)
See section 7.11 for full details
IP 8 environmentally sealed connector
POE-INJECTOR AC POE Injector 100 to 240 V AC PoE Injector
CABLE-FTDI USB to RS232 /
RS422 cable 1 m
FTDI USB to RS232 / RS422 (selectable) 1
metre cable
SUPPLY-24V 24V DC Power
Supply
100-240V AC Mains to 24V DC Power Supply
(DC jack)
Includes 2-pin plug types A/C/G/I
CAR12VPWR Car cigarette
lighter power
supply
Car cigarette lighter to 2.1 x 5.5mm DC jack
power supply
ILU Interface and
Logging Unit
Interface and logging unit provides a
convenient option for logging and applications
that require multiple NMEA outputs
Table 7: Accessories part numbers
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7 Specifications
7.1 Mechanical Drawings
Illustration 4: Mechanical drawings of GN Compass
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7. Axes
Illustration 5: GN Compass axes with arrows showing positive direction
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7.3 Navigation Specifications
7.3.1 Low Cost Variant
Parameter Value
Horizontal Position Accuracy 2.0 m
Vertical Position Accuracy 3.0 m
Horizontal Position Accuracy (DGNSS) 0. m
Vertical Position Accuracy (DGNSS) 1.0 m
Horizontal Position Accuracy
(Kinematica Post Processing)
0.01 m
Vertical Position Accuracy
(Kinematica Post Processing)
0.02 m
Velocity Accuracy 0.05 m/s
Roll & Pitch Accuracy 0.4 °
Heading Accuracy 0.2 °
Roll & Pitch Accuracy
(Kinematica Post Processing)
0.13 °
Heading Accuracy
(Kinematica Post Processing)
0.09 °
Heave Accuracy 5 % or 0.05 m
Orientation Range Unlimited
Hot Start Time 500 ms
Internal Filter Rate 200 Hz
Output Data Rate Up to 200 Hz
Table 8: Low cost variant navigation specifications
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