Advanced Navigation Spatial FOG Dual ETH User manual

Spatial FOG Dual ETH
Supplementary Reference
Manual

Spatial FOG Dual ETH
Supplementary Reference Manual
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Table of Contents
1 Revision History........................................................................................................................... 2
2 Firmware Changelog....................................................................................................................3
3 Hardware Changelog....................................................................................................................
Introduction...................................................................................................................................5
5 Foundation Knowledge.................................................................................................................6
6 Evaluation Kit...............................................................................................................................7
7 Part Numbers and Ordering Options............................................................................................8
8 Specifications............................................................................................................................... 9
9 Installation.................................................................................................................................. 13
10 Operation..................................................................................................................................1
11 Spatial FOG Manager...............................................................................................................15
12 Interfacing................................................................................................................................. 19
13 Advanced Navigation Packet Protocol......................................................................................23
1 The Ethernet Interface.............................................................................................................. 2

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1 Revision History
Version Date C anges
1.2 10/09/2019 Section Introduction updated
Section 8.6 Communication Specifications updated
Section 8.8 Electrical Specifications updated
Section 11.8.6 GPIO Configuration updated
Section 12.1 Communication updated
Section 12.2 External Data updated
Section 12.3 The GPIO and Auxiliary Ports updated
1.1 22/08/2019 Section 8.6 Communications Specifications updated
Section 8.8 Electrical Specifications updated
Section 8.10 Connector Pin-out updated for 13 pin connector
Sections 11, 12 and 1 updated for Auxiliary and GPIO port
changes.
1.0 22/03/2019 Initial release
Table 1: Revision history

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2 Firmware C angelog
Refer to the Spatial FOG Dual Reference Manual.

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3 Hardware C angelog
Refer to the Spatial FOG Dual Reference Manual.

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4 Introduction
Spatial FOG Dual ETH is a variant of the Spatial FOG Dual that has an Ethernet interface instead
of the primary RS 22 port. It also has two modified GPIO ports that operate at RS 22 voltage
levels for input only.
This document details the differences between the standard Spatial FOG Dual and the Ethernet
variant. Any information in this document supersedes the equivalent information in the same
section of the Spatial FOG Dual Reference Manual. The structure has remained the same (with the
addition of Section 1 ) to align the section numbers.
The Spatial FOG Dual Reference Manual can be downloaded from our website
www.advancednavigation.com/product/spatial-fog-dual#documentation.
If you have any questions please contact [email protected].

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5 Foundation Knowledge
Refer to the Spatial FOG Dual Reference Manual.

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6 Evaluation Kit
An Evaluation Kit is not available for the Spatial FOG Dual ETH variant.

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7 Part Numbers and Ordering Options
7.1 Evaluation Kit
An Evaluation Kit is not available for the Spatial FOG Dual ETH variant.
7.2 Standalone Unit
Part Number Description Notes
SPATIAL-FOG-DUAL-ETH Spatial FOG Dual
Ethernet Unit
Spatial FOG Dual Ethernet unit
L1 GPS, GLONASS and SBAS
DGNSS supported
Raw satellite data output supported
License required for RTK, L2, BeiDou and
Galileo
No cables included
Table 2: Standalone unit part numbers

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8 Specifications
8.1 Mec anical Drawings
Refer to the Spatial FOG Dual Reference Manual.
8.2 Navigation Specifications
Refer to the Spatial FOG Dual Reference Manual.
8.3 Heading Accuracy
Refer to the Spatial FOG Dual Reference Manual.
8.4 Sensor Specifications
Refer to the Spatial FOG Dual Reference Manual.
8.5 GNSS Specifications
Refer to the Spatial FOG Dual Reference Manual.
8.6 Communication Specifications
Parameter Value
Primary Interface Ethernet TCP
Primary Protocol AN Packet Protocol (ANPP)
Auxiliary Interface RS232
Auxiliary Protocol External data ANPP input & output
Serial input & output
GPIO Interface RS 22
GPIO Protocol Digital and frequency input only
Ethernet Speed 10Base-T or 100Base-Tx (auto sensing)
Auxiliary Speed 800 to 2 M baud
GPIO Speed 800 to 2 M baud
Table 3: Communication specifications
Note the GNSS Receiver port is not directly accessible.
8.7 Hardware Specifications
Refer to the Spatial FOG Dual Reference Manual.

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8.8 Electrical Specifications
Parameter Minimum Typical Maximum
Power Supply
Input Supply Voltage 9 V 36 V
Input Protection Range - 0 V 100 V
RS422
Rx Differential Threshold -0.2 V -0.05 V
RS232
Tx Voltage Low -5. V -5 V
Tx Voltage High 5 V 5. V
Tx Short Circuit Current ±60 mA
Rx Threshold Low 0.6 V 1.2 V
Rx Threshold High 1.5 V 2.0 V
GNSS Antenna
Active Antenna Supply Voltage .8 V 5 V
Antenna Supply Current 150 mA
Table 4: Electrical specifications
8.9 Power Consumption
Refer to the Spatial FOG Dual Reference Manual.

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8.10 Connector Pin-out
Power supply and signal connections are made through a 13 pin Glenair Mighty Mouse connector.
The part number for the connector on the unit is 801-011-07M8-13PA. The part number for the
recommended cable connector is 801-007-16M8-13SA. The connector provides a reliable and
rugged connection to Spatial FOG Dual ETH under demanding conditions and is rated to IP68 in
the mated condition.
Illustration 1: iew into the connector on the unit
1
7
8
2
9
11
3
10
5
6
12
13

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Pin Function
1 GPIO 2 -
2 Auxiliary RS232 Rx
3 Signal Ground
Power Ground
5 Power Supply
6 Ethernet Tx-
7 GPIO 2 +
8 GPIO 1 +
9 GPIO 1 -
10 Auxiliary RS232 Tx
11 Ethernet Rx+
12 Ethernet Rx-
13 Ethernet Tx+
Table 5: Pin allocation table
8.11 Spatial FOG Dual Evaluation Cable Harness
Advanced Navigation does not offer any pre-terminated evaluation cable harness for the Spatial
FOG Dual ETH variant.

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9 Installation
9.1 Installation C ecklist
1. Securely mount the unit to the vehicle following the guidelines in section 9.2.
2. Mount the two GNSS antennas following the guidelines in section 9.5 and then connect the
antenna cables between the antennas and the Spatial FOG Dual unit. If the two antennas
are not installed in the standard configuration of primary front and secondary rear, the offset
will need to be entered into the Dual Antenna dialogue in Spatial FOG Manager.
3. Connect your Ethernet cable to your router. Connect your Ethernet, power and optional
GPIO cabling to Spatial FOG Dual.
. The Spatial FOG Dual ETH is configured by default as a DHCP Client so it will
automatically obtain an IP address from your router. Use the router interface to determine
this IP address.
5. Open the Spatial FOG Manager software and select Network Connect under the Tools
menu. Enter the IP address and set the port number to 16718. Click the Connect button.
6. If the unit is mounted in an alignment other than the standard alignment of X pointing
forward and Z pointing down, this alignment offset will need to be entered into the
Alignment Configuration dialogue in Spatial FOG Manager. Please see section 9.2.1 for
more details.
7. Accurately measure the GNSS antenna offset from the centre of the Spatial FOG Dual unit
to the central base of the antenna in the body co-ordinate frame (X positive forward and Z
positive down) and enter these values into the Alignment Configuration dialogue in Spatial
FOG Manager. Please see section 9.5 for more details. Please note that the body axes are
always X positive forward and Z positive down irrespective of any alignment offset entered
in the previous step.
8. Enter the vehicle type in the Filter Options dialogue in Spatial FOG Manager.
9. The system is now ready for use.

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10 Operation
Refer to the Spatial FOG Dual Reference Manual.

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11 Spatial FOG Manager
Refer to the Spatial FOG Dual Reference Manual.
11.1 Software C angelog
Refer to the Spatial FOG Dual Reference Manual.
11.2 System Requirements
Refer to the Spatial FOG Dual Reference Manual.
11.3 Installation
Refer to the Spatial FOG Dual Reference Manual.
11.4 Troubles ooting
Please contact [email protected] if you are having issues.
11.5 Main View
Refer to the Spatial FOG Dual Reference Manual.
11.5.1 Serial Port
You cannot connect to the Spatial FOG Dual ETH variant using a serial port connection. Please
see section 11.9.5 for information on connecting via the Ethernet interface.
11.6 Logging
Refer to the Spatial FOG Dual Reference Manual.
11.7 Views
Refer to the Spatial FOG Dual Reference Manual.

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11.8 Configuration
Refer to the Spatial FOG Dual Reference Manual.
11.8.1 Configuration Export
Refer to the Spatial FOG Dual Reference Manual.
11.8.2 Filter Options
Refer to the Spatial FOG Dual Reference Manual.
11.8.3 Packet Rates
Refer to the Spatial FOG Dual Reference Manual.
11.8.4 Alignment Configuration
Refer to the Spatial FOG Dual Reference Manual.
11.8.5 Baud Rates
It is strongly recommended you do not modify the baud rates for the Primary port. The baud rate is
pre-configured to communicate at 115200 bps directly with the Ethernet interface. If it is necessary
to change this rate, it must also be changed on the Ethernet interface to match. Please contact
[email protected] before you make any changes.
Using Spatial FOG Manager you can modify the Auxiliary and GPIO port baud rates to suit your
requirements.
When changing baud rates, some Microsoft Windows machines are unable to function at the
higher baud rates. It is recommended to test the baud rate first with the permanent box unticked.
This way, if it is not possible to communicate at the higher baud rate, a power cycle can be used to
revert to the previous baud rate.
Illustration 2: Screenshot of
Spatial FOG Manager baud
rates dialogue

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11.8.6 GPIO Configuration
This dialogue allows the user to select the input and output function of the GPIO and Auxiliary
ports. These functions change dynamically and are effective immediately upon pressing save.
Please note that the Auxiliary port operates at RS232 voltage levels whilst the GPIO ports 1 and 2
function at RS 22 voltage levels. The internal hardware automatically reconfigures based upon the
selected function. See section 12. for the list of available functions.
Please contact [email protected] before you make any changes, as this variant is
only designed for GPIO ports 1 and 2 to function as inputs.
11.8.7 Odometer
Refer to the Spatial FOG Dual Reference Manual.
11.8.8 Reset
Refer to the Spatial FOG Dual Reference Manual.
11.8.9 Heave Offset
Refer to the Spatial FOG Dual Reference Manual.
11.8.10 GPIO Output
Refer to the Spatial FOG Dual Reference Manual.
Illustration 3: Screenshot of Spatial FOG Manager GPIO
configuration dialogue

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11.9 Tools
Refer to the Spatial FOG Dual Reference Manual.
11.9.1 Terminal
Refer to the Spatial FOG Dual Reference Manual.
11.9.2 Firmware Update
Refer to the Spatial FOG Dual Reference Manual.
11.9.3 Log Converter
Refer to the Spatial FOG Dual Reference Manual.
11.9.4 NTRIP Client
Refer to the Spatial FOG Dual Reference Manual.
11.9.5 Network Connect
The Network Connect dialogue allows Spatial FOG Manager to make a connection to Spatial FOG
Dual over a TCP/IP network. The Spatial FOG Dual ETH is configured by default as a DHCP Client
so it will automatically obtain an IP address from your router. Use the router interface to determine
this IP address.
Enter the IP address and set the port number to 16718. Click the Connect button.
See section 1 .1 for information on changing the network settings.
Illustration 4: Screenshot of
Spatial FOG Manager network
connect dialogue

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12 Interfacing
12.1 Communication
Communication with the Spatial FOG Dual ETH Primary port is over an Ethernet connection
interface using the Advanced Navigation Packet Protocol (ANPP). See section 13 for details on the
Advanced Navigation Packet Protocol.
Communication with the Spatial FOG Dual ETH Auxiliary port is over a RS232 connection (1 start
bit, 8 data bits, 1 stop bit and no parity).
Communication with the Spatial FOG Dual ETH GPIO ports 1 and 2 are over a RS 22 connection
(1 start bit, 8 data bits, 1 stop bit and no parity). Only inputs are supported with this variant.
12.1.1 Baud Rate
The default baud rate of the Spatial FOG Dual ETH GPIO ports and Auxiliary port is 115,200 baud.
The baud rate can be set anywhere from 800 to 2 M baud for the GPIO ports and the Auxiliary
port, and can be modified using the Spatial FOG Manager software or the baud rate packet, see
section 13.10.3. It is important to select a baud rate that is capable of carrying the amount of data
that Spatial FOG Dual is set to send or receive. See packet rates in section 13.5 for more details
on data output calculation. The data rate in bytes per second can be calculated by dividing the
baud rate by 10. For example if the baud rate is 115200, then the data rate is 11520 bytes per
second.
12.2 External Data
External sources of position, velocity and/or heading can be integrated into Spatial FOG Dual's
filter solution. The data can be sent to Spatial FOG Dual in the ANPP format over the Primary or
Auxiliary port, or through the Auxiliary port in a number of different formats. If using the ANPP,
please use Table 6 below to find the relevant section. If using the Auxiliary ports, please see
section 12.3.
Packet Section
External Position and Velocity 13.9.25
External Position 13.9.26
External Velocity 13.9.27
External Body Velocity 13.9.28
External Heading 13.9.29
External Time 13.9.33
External Depth 13.9.3
External Odometer 13.9. 3
External Air Data 13.9.
Table 6: ANPP external data reference