Advanced Navigation GNSS Compass User manual
GNSS Compass
Reference Manual
v2.0 04 Nov 2021
Contents
1 Revision History 1
2 Introduction 2
2.1 Firmware Changelog 3
2.2 Hardware Changelog 3
3 Getting Started 4
3.1 NMEA 2000 Connection 6
3.2 NMEA 0183 Connection 6
3.3 Power over Ethernet Connection 6
3 Evaluation Kit 7
3.4 Evaluation Kit Contents 7
4 Part Numbers and Ordering 10
4.1 Evaluation Kits 10
4.2 Standalone Units 10
4.3 Accessories 11
5 Specifications 12
5.1 Navigation Specifications 12
5.1.1 GNSS Specifications 12
5.2 Hardware Specifications 13
5.2.1 Ethernet Variant 13
5.2.2 Serial Variant 13
5.2.3 Mechanical Drawings 14
5.2.4 Axes 15
5.2.5 Serial Number 15
5.3 Communication Specifications 17
5.3.1 Ethernet Variant 17
5.3.2 Serial Variant 17
5.4 Electrical Specifications 17
5.5 Certification 18
6 Installing GNSS Compass 20
6.1 Installation Checklist 20
6.1.1 Connection Options 20
6.1.1.1 NMEA 2000 21
6.1.1.2 NMEA 0183 21
6.1.1.3 Ethernet 21
Page i
6.1.1.4 ANPP 21
6.1.2 Configuration 22
6.1.2.1 Serial Variants 22
6.1.2.2 Ethernet Variants 22
6.2 Mounting GNSS Compass 22
6.2.1 Mounting Location 22
6.2.2 Mounting Options 23
6.2.2.1 Pole mounting 23
6.2.2.2 Surface mounting 24
6.3 Mounting Alignment 25
6.4 Networking 27
6.5 Vibration 27
7 Using GNSS Compass 29
7.1 Filter Initialisation 29
7.1.1 Orientation Initialisation 29
7.1.2 Navigation Initialisation 30
7.1.3 Heading Initialisation 30
7.1.4 Time Initialisation 30
7.2 Hot Start 30
7.3 Time 31
7.4 Heading Sources 31
7.4.1 Dual Antenna Heading 31
7.4.2 External Heading 31
7.5 NMEA 2000 31
7.6 NMEA 0183 32
7.7 Sensor Ranges 34
7.8 Vehicle Profiles 34
7.9 RTK 34
7.9.1 Network RTK Corrections (NTRIP) 34
7.9.2 Radio Modem RTK Corrections 35
7.9.3 Supported RTCM Messages 35
7.10 Heave 36
7.11 Environmental Exposure 36
7.11.1 Temperature 36
7.11.2 Water 36
7.11.3 Salt 36
7.11.4 Dirt and Dust 36
7.11.5 pH Level 36
7.11.6 Shocks 36
7.11.7 Atmospheres 37
7.12 Upgrading the GNSS Compass Firmware 37
8 Configuring and Monitoring GNSS Compass 38
Page ii
8.1 Using the Web User Interface 38
8.1.1 Main View 39
8.1.1.1 Status Indicator 39
8.1.1.2 Current Time, Position and Heading 40
8.1.1.3 Altitude Indicator 40
8.1.1.4 Satellites Table 40
8.1.1.5 Map 40
8.1.1.6 Map Controls 40
8.1.2 View Menu 40
8.1.2.1 Map 40
8.1.2.2 Device Information 40
8.1.2.3 Status 41
8.1.2.4 Satellites 41
8.1.2.5 Raw Sensors 42
8.1.2.6 Orientation 43
8.1.2.7 Position 44
8.1.2.8 Velocity and Acceleration 45
8.1.2.9 GNSS Receiver Information 46
8.1.3 Configuration Menu 47
8.1.3.1 Sensor Ranges 47
8.1.3.2 Filter Options 47
8.1.3.3 Data Ports 47
8.1.3.4 Alignment 48
8.1.3.5 Reset 48
8.1.3.6 Manual Initialisation 49
8.1.3.7 Ethernet Settings 49
8.1.3.8 NTRIP Client 50
8.1.4 Tools Menu 51
8.1.4.1 Firmware Update 51
8.2 Using GNSS Compass Manager 52
8.2.1 Software Changelog 53
8.2.2 System Requirements 53
8.2.3 Installation and Starting 54
8.2.4 Troubleshooting 54
8.2.4.1 Windows 54
8.2.4.2 Linux 56
8.2.5 Main View 57
8.2.5.1 Serial Port 57
8.2.5.2 Baud Rate 57
8.2.5.3 Connect / Disconnect 57
8.2.5.4 3D Map 58
8.2.6 View Menu 58
8.2.6.1 Communications 58
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8.2.7 Configuration Menu 58
8.2.7.1 Configuration Export 58
8.2.7.2 Alignment 58
8.2.7.3 Port Mode and Baud Rates 59
8.2.7.4 GPIO 60
8.2.7.5 GPIO Output 60
8.2.8 Tools 61
8.2.8.1 Log Converter 62
8.2.8.2 NTRIP Client 62
8.2.8.3 Network Connect 63
8.2.8.4 Serial Pass-through 63
8.2.9 Logging 64
8.3 Using the Android App 64
8.4 Using ANPP 64
9 Interfacing 65
9.1 Ethernet 65
9.1.1 Ethernet Modes 65
9.1.2 Ethernet Functions 66
9.1.2.1 NMEA Input 67
9.1.2.2 ANPP Input 67
9.1.2.3 NMEA Output 68
9.1.2.4 ANPP Output 68
9.1.2.5 TSS1 Output 68
9.1.2.6 Simrad 1000 Output 68
9.1.2.7 Simrad 3000 Output 68
9.1.2.8 GNSS Receiver Passthrough 69
9.2 Serial Interface 69
9.2.1 Baud Rate 69
9.2.2 Format 69
9.3 1PPS Signal 69
9.4 CAN Interface 69
10 Advanced Navigation Packet Protocol 70
10.1 AboutPackets 73
10.1.1 Packet Structure 73
10.1.1.1 Header LRC 74
10.1.1.2 Packet ID 74
10.1.1.3 Packet Length 74
10.1.1.4 CRC 74
10.1.2 Packet Requests 74
10.1.3 Packet Acknowledgement 74
10.1.4 Packet Rates 74
10.1.5 Packet Timing 75
Page iv
10.2 Data Types 75
10.3 System Packets 76
10.3.1 Acknowledge Packet 76
10.3.1.1 Acknowledge Result 77
10.3.2 Request Packet 77
10.3.3 Boot Mode Packet 77
10.3.3.1 Boot Mode Types 77
10.3.4 Device Information Packet 78
10.3.4.1 Device ID 78
10.3.5 Restore Factory Settings Packet 78
10.3.6 Reset Packet 79
10.3.6.1 Verification Sequence Values 79
10.3.7 Serial Port Passthrough Packet 79
10.3.7.1 Passthrough Routes 79
10.3.8 IP Configuration Packet 80
10.3.8.1 DHCP Mode 80
10.4 State Packets 81
10.4.1 System State Packet 84
10.4.1.1 System Status 85
10.4.1.2 Filter Status 86
10.4.1.3 GNSS Fix Status 86
10.4.1.4 Unix Time Seconds 87
10.4.1.5 Microseconds 87
10.4.2 Unix Time Packet 87
10.4.3 Formatted Time Packet 87
10.4.4 Status Packet 88
10.4.5 Position Standard Deviation Packet 88
10.4.6 Velocity Standard Deviation Packet 88
10.4.7 Euler Orientation Standard Deviation Packet 89
10.4.8 Quaternion Orientation Standard Deviation Packet 89
10.4.9 Raw Sensors Packet 90
10.4.10 Raw GNSS Packet 91
10.4.10.1 Raw GNSS Status 91
10.4.11 Satellites Packet 92
10.4.12 Detailed Satellites Packet 93
10.4.12.1 Satellite Systems 93
10.4.12.2 Satellite Frequencies 93
10.4.13 Geodetic Position Packet 94
10.4.14 ECEF Position Packet 94
10.4.15 UTM Position Packet 94
10.4.16 NED Velocity Packet 95
10.4.17 Body Velocity Packet 95
10.4.18 Acceleration Packet 95
Page v
10.4.19 Body Acceleration Packet 97
10.4.20 Euler Orientation Packet 97
10.4.21 Quaternion Orientation Packet 97
10.4.22 DCM Orientation Packet 98
10.4.23 Angular Velocity Packet 98
10.4.24 Angular Acceleration Packet 99
10.4.25 External Position and Velocity Packet 99
10.4.26 External Position Packet 100
10.4.27 External Velocity Packet 100
10.4.28 External Body Velocity Packet 101
10.4.29 External Heading Packet 101
10.4.30 Running Time Packet 101
10.4.31 Local Magnetic Field Packet 102
10.4.32 External Time Packet 102
10.4.33 Geoid Height Packet 103
10.4.34 RTCM Corrections Packet 103
10.4.35 Heave Packet 104
10.4.36 Raw Satellite Data Packet 104
10.4.36.1 Satellite Systems 105
10.4.36.2 Satellite Frequencies 105
10.4.36.3 Tracking Status 106
10.4.37 GNSS Receiver Information Packet 106
10.4.37.1 GNSS Manufacturer IDs and Receiver Models 106
10.4.37.2 RTK Software License Accuracy 107
10.4.38 Automotive Packet 107
10.4.39 External Magnetometers Packet 108
10.4.39.1 External Magnetometers Flags 108
10.5 Configuration Packets 108
10.5.1 Packets Period Packet 110
10.5.1.1 Flags 110
10.5.1.2 Clear Existing Packets 110
10.5.1.3 Packet Period 110
10.5.2 Baud Rates Packet 111
10.5.2.1 Supported Baud Rate 111
10.5.3 Sensor Ranges Packet 112
10.5.3.1 Accelerometers Range 112
10.5.3.2 Gyroscopes Range 112
10.5.3.3 Magnetometers Range 112
10.5.4 Installation Alignment Packet 112
10.5.4.1 Alignment DCM 114
10.5.5 Filter Options Packet 114
10.5.5.1 Vehicle Types 114
10.5.6 Port Function Configuration Packet 115
Page vi
10.5.6.1 Ports 116
10.5.6.2 Transmit and Receive Functions 116
10.5.7 Set Zero Orientation Alignment Packet 116
10.5.8 Reference Point Offsets Packet 118
10.5.9 Port Output Configuration Packet 119
10.5.9.1 NMEA Fix Behaviour 119
10.5.9.2 Port Output Rates 119
10.5.9.3 Output Rates Index 120
10.5.10 User Data Packet 120
11 Reference Information 121
11.1 Technology Overview 121
11.1.1 GNSS 121
11.1.2 AHRS 121
11.1.3 INS 121
11.1.4 GNSS/INS 121
11.2 The Sensor Co-ordinate Frame 122
11.3 The Body Co-ordinate Frame 123
11.4 Roll, Pitch and Heading 123
11.4.1 Second Right Hand Rule 124
11.4.2 Rotation Order 124
11.5 Geodetic Co-ordinate System 124
11.6 NED Co-ordinate Frame 126
11.7 ECEF Co-ordinate Frame 127
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Page viii
D I S C L A I M E R
Information in this document is provided solely in connection with Advanced Navigation products.
Advanced Navigation reserves the right to make changes, corrections, modifications or improvements, to
this document, and the products and services described herein at any time, without notice.
All Advanced Navigation products are sold pursuant to Advanced Navigation’s terms and conditions of
sale.
Purchasers are solely responsible for the choice, selection and use of the Advanced Navigation products
and services described herein, and Advanced Navigation assumes no liability whatsoever relating to the
choice, selection or use of the Advanced Navigation products and services described herein.
No license, express or implied, by estoppel or otherwise, to any intellectual property rights is granted under
this document. If any part of this document refers to any third party products or services it shall not be
deemed a license grant by Advanced Navigation for the use of such third party products or services, or any
intellectual property contained therein or considered as a warranty covering the use in any manner
whatsoever of such third party products or services or any intellectual property contained therein.
UNLESS OTHERWISE SET FORTH IN ADVANCED NAVIGATION’S TERMS AND CONDITIONS OF
SALE ADVANCED NAVIGATION DISCLAIMS ANY EXPRESS OR IMPLIED WARRANTY WITH
RESPECT TO THE USE AND/OR SALE OF ADVANCED NAVIGATION PRODUCTS INCLUDING
WITHOUT LIMITATION IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
PARTICULAR PURPOSE (AND THEIR EQUIVALENTS UNDER THE LAWS OF ANY JURISDICTION),
OR INFRINGEMENT OF ANY PATENT, COPYRIGHT OR OTHER INTELLECTUAL PROPERTY RIGHT.
UNLESS EXPRESSLY APPROVED IN WRITING BY TWO AUTHORIZED ADVANCED NAVIGATION
REPRESENTATIVES, ADVANCED NAVIGATION PRODUCTS ARE NOT RECOMMENDED,
AUTHORIZED OR WARRANTED FOR USE IN MILITARY, AIR CRAFT, SPACE, LIFE SAVING, OR LIFE
SUSTAINING APPLICATIONS, NOR IN PRODUCTS OR SYSTEMS WHERE FAILURE OR
MALFUNCTION MAY RESULT IN PERSONAL INJURY, DEATH, OR SEVERE PROPERTY OR
ENVIRONMENTAL DAMAGE.
ADVANCED NAVIGATION PRODUCTS WHICH ARE NOT SPECIFIED AS "AUTOMOTIVE GRADE"
MAY ONLY BE USED IN AUTOMOTIVE APPLICATIONS AT USER’S OWN RISK.
Resale of Advanced Navigation products with provisions different from the statements and/or technical
features set forth in this document shall immediately void any warranty granted by Advanced Navigation
for the Advanced Navigation product or service described herein and shall not create or extend in any
manner whatsoever, any liability of Advanced Navigation.
Information in this document supersedes and replaces all information previously supplied.
Document Version: 2.0 Publication Date:04 Nov 2021
For more information, contact technical support via email at support@advancednavigation.com.
© 2021 Advanced Navigation - All rights reserved
1 Revision History
Version Date Changes
2.0 4 November 2021 Major update for v2 hardware
Updated 2.1 Firmware Changelog
Updated POE injector from AC to DC
1.1 13 Jan 2021 Updated 2.1 Firmware Changelog
Updated 4 Part Numbers and Ordering
Revised wording on 5.5 Certification
Updated NMEA 0183
Added precise time protocol (PTP)
1.0 23 Jan 2018 Initial Release
Table 1: Revision History
v2.0 Page 1 04 Nov 2021
GNSS Compass Reference Manual • Revision History
2 Introduction
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
NMEA 0183, NMEA 2000 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.
Figure 1: GNSS Compass
Note: For information about Global Navigation Satellite Systems (GNSS) and related concepts
explained in simple terms, see 11 Reference Information.
Use the links below for detailed information about GNSS Compass.
l4 Part Numbers and Ordering
l5 Specifications
l6 Installing GNSS Compass
l7 Using GNSS Compass
l8 Configuring and Monitoring GNSS Compass
l9 Interfacing
l10 Advanced Navigation Packet Protocol
v2.0 Page 2 04 Nov 2021
GNSS Compass Reference Manual • Introduction to GNSS Compass
2.1 Firmware Changelog
Version Date Changes
2.1 6 October
2021
Updated to support v2 hardware
1.24 12 January
2020
Improved heading reliability
Fix intermittent issue with heading status indicator in Web UI
1.23 18 December
2020
Fixed NMEA 2000 time/date stamps that was outputting random
times – Serial variants
Fix ANPP GNSS Receiver Info packet length
1.2 1 November
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
0.96 5 December
2017
Initial release firmware
Table 2: Firmware Changelog
Note: To upgrade the firmware to the latest version, see 7.12 Upgrading the GNSS Compass
Firmware.
2.2 Hardware Changelog
Version Date Changes
2.0 23 September 2021 Combined LC and HA variants
Updated GNSS receiver to Aries GC2
Updated sensors
1.0 10 May 2017 Initial release
Table 3: Hardware Changelog
v2.0 Page 3 04 Nov 2021
GNSS Compass Reference Manual • Introduction to GNSS Compass
3 Getting Started
To get started with GNSS Compass for the first time, it is recommended that you begin by establishing
communications to the device, either before or after the unit is installed in its final location. These instructions
assume the use of components provided in the 3 Evaluation Kit , or purchased as Advanced Navigation
supplied optional 4.3 Accessories.
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 Figure 2: GNSS Compass ideal mounting location
Figure 2: GNSS Compass ideal mounting location
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 Figure 3: GNSS Compass
alignment.
v2.0 Page 4 04 Nov 2021
GNSS Compass Reference Manual • Getting Started with GNSS Compass
3.1 NMEA 2000 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 NMEA 2000 Drop Cable
for more information.
3.2 NMEA 0183 Connection
Plug a 9 to 36 volt power source into the DC jack and connect the auxiliary RS422 port to the receiving
NMEA0183 device. See Serial Connection for further details on the pin-out of the serial breakout cable
recommended for NMEA 0183 installations. See 7.6 NMEA 0183 for further details on message configuration.
3.3 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/Bonjour64.msi (64-bit installer)
3. Open a web browser and type in the address http://gnss-compass.local/ to access the web interface.
4. The default username is admin and the default password is password.
v2.0 Page 6 04 Nov 2021
GNSS Compass Reference Manual • Getting Started with GNSS Compass
3 Evaluation Kit
The Evaluation Kits provides the necessary parts and accessories to set up and connect a GNSS Compass
unit. They are available in both an Ethernet (POE) and Serial version.
3.4 Evaluation Kit Contents
The GNSS Compass Evaluation Kit Contents are detailed below for both the Ethernet and Serial variants.
v2.0 Page 7 04 Nov 2021
GNSS Compass Reference Manual • Getting Started with GNSS Compass
Part Number Quantity Description Notes
Ethernet Serial
GC2-EK-POE 1 GNSS Compass Ethernet
Variant
GNSS Compass Ethernet variant
Power over Ethernet interface
Supports GPS, GLONASS,
Galileo & BeiDou constellation
L1/L2 10mm RTK
Supports DGPS and SBAS
Does not support L band
GC2-EK-SER 1 GNSS Compass Serial
Variant
GNSS Compass Serial variant
RS422/RS232 and CAN interfaces
Supports GPS, GLONASS,
Galileo & BeiDou constellation
L1/L2 10mm RTK
Supports DGPS and SBAS
Does not support L band
CABLE-FTDI 1 RS232/422 Adaptor to
USB
FTDI USB to RS232 / RS422
(selectable) 1 metre cable
SUPPLY-24V 1 1 24 VDCpower supply 100-240 V AC Mains to 24 V DC
Power Supply (DC jack)
Includes 2-pin plug types A/C/G/I
GC-POE-
CABLE-20M
1 20m Ethernet cable for
GNSS Compass
20m CAT5e Ethernet cable with
RJ45
Compatible with Ethernet units
only (GC2-POE)
IP67 environmentally sealed
connector
See Ethernet Connection for full
details
GC-SER-
BREAK-20M
1 20m serial breakout cable
for GNSS Compass
20m cable to DB9 connectors
Compatible with serial units only
(GC2-SER)
IP67 environmentally sealed
connector
See Serial Connection for full
details
POE-
INJECTOR-
1 DCPOEInjector 24V DC PoE Injector
25W 802.3at Type 2 "PoE+"
v2.0 Page 8 04 Nov 2021
GNSS Compass Reference Manual • Getting Started with GNSS Compass
Part Number Quantity Description Notes
Ethernet Serial
DC
Table 4: Evaluation Kit Contents
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GNSS Compass Reference Manual • Getting Started with GNSS Compass
4 Part Numbers and Ordering
This topic covers information about:
l4.1 Evaluation Kits
l4.2 Standalone Units
l4.3 Accessories
4.1 Evaluation Kits
Part Number Description Notes
GC2-EK-POE GNSS Compass Ethernet Evaluation Kit See 3 Evaluation Kit for kit contents
GC2-EK-SER GNSS Compass Serial Evaluation Kit See 3 Evaluation Kit for kit contents
Table 5: Evaluation Kit Part Numbers
4.2 Standalone Units
Part Num-
ber
Description Notes
GC2-POE GNSS Compass Ethernet Vari-
ant
GNSS Compass Ethernet variant
Power over Ethernet interface
Supports GPS, GLONASS, Galileo & BeiDou
constellation
L1/L2 10mm RTK
Supports DGPS and SBAS
Does not support L band
No cables included
GC2-SER GNSS Compass Serial Variant GNSS Compass Serial variant
RS422/RS232 and CAN interfaces
Supports GPS, GLONASS, Galileo & BeiDou
constellation
L1/L2 10mm RTK
Supports DGPS and SBAS
Does not support L band
No cables included
Table 6: Standalone Unit Part Numbers
v2.0 Page 10 04 Nov 2021
GNSS Compass Reference Manual • Guide to ordering GNSS Compass
4.3 Accessories
Part Number Description Notes
GC-POE-
CABLE-20M
20m Ethernet cable for
GNSS Compass
20m CAT5e Ethernet cable with RJ45
Compatible with Ethernet units only (GC2-POE)
IP67 environmentally sealed connector
See Ethernet Connection for full details
GC-NMEA2000-
CABLE
6m NMEA 2000 drop cable
for GNSS Compass
6m NMEA 2000 drop cable
Compatible with serial units only (GC2-SER)
IP67 environmentally sealed connector
See NMEA 2000 Drop Cable for full details
GC-SER-
BREAK-20M
20m serial breakout cable for
GNSS Compass
20m cable to DB9 connectors
Compatible with serial units only (GC2-SER)
IP67 environmentally sealed connector
See Serial Connection for full details
GC-SER-
CABLE-20M
20m unterminated serial
cable for GNSS Compass
20m unterminated cable
Compatible with serial units only (GC2-SER)
IP67 environmentally sealed connector
See Serial Connection for full details
POE-
INJECTOR-DC
DCPOEInjector 24V DC PoE Injector
25W 802.3at Type 2 "PoE+"
Requires 12/24V DC power supply (SUPPLY-24V,
CAR12VPWR or similar)
SUPPLY-24V 24 V DC Power Supply 100-240 V AC Mains to 24 V DC Power Supply (DC jack)
Includes 2-pin plug types A/C/G/I
CAR12VPWR Car auxiliary power outlet
supply
Car auxiliary power supply to 2.1 x 5.5mm DC jack
power supply
CABLE-FTDI USB to RS232 / RS422
cable 1 m
1 m FTDI USB to RS232 / RS422 (selectable) cable
MOUNT-SUCT Suction Cup Antenna Mount Suction cup 5/8” GNSS antenna survey mount for easy
installation of GNSS antenna on vehicles.
Requires 5/8" to 1-14 UNS-2A thread adapter, not
supplied
GC-CASE Rugged Transport Case Rugged Transport Case
Table 7: Ordering Part Numbers for Accessories
v2.0 Page 11 04 Nov 2021
GNSS Compass Reference Manual • Guide to ordering GNSS Compass
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