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Spatial Dual
Spatial Dual is a ruggedized miniature GPS aided inertial navigation system and AHRS that provides accurate position, velocity, acceleration and orientation under the most demanding conditions. It combines temperature calibrated accelerometers, gyroscopes, magnetometers and a pressure sensor with a dual antenna RTK GNSS receiver. These are coupled in a sophisticated fusion algorithm to deliver accurate and reliable navigation and orientation.
Dual Antenna Heading

Spatial Dual features dual antenna moving baseline RTK. This allows it to provide highly accurate heading while both stationary and moving. It is an excellent choice for applications where magnetic heading is not usable due to interference or where additional accuracy is required. An added benefit is the ability to accurately measure vehicle slip angle.

Calibrated Dynamic Ranging Sensors

Spatial Dual contains very high performance MEMs inertial sensors. These are put through Advanced Navigation's intensive calibration process to increase their performance further still and provide consistently accurate data over an extended temperature range of -40°C to 85°C. Advanced Navigation's custom calibration process is the only full sensor calibration that can provide dynamic ranging, allowing the user to select a sensor range for high accuracy or high accelerations on the fly. As part of this calibration, every Spatial Dual unit spends 8 hours in our specially built rotating temperature chamber.

RTK GNSS Receiver

Spatial Dual contains a triple frequency Trimble RTK GNSS receiver that provides up to 8mm accuracy positioning and supports all of the current and future satellite navigation systems, including GPS, GLONASS, GALILEO and BeiDou. It also supports the Omnistar service for hassle free high accuracy positioning.

Advanced Filter

Spatial Dual contains Advanced Navigation's revolutionary sensor fusion filter. The filter is more intelligent than the typical extended kalman filter and is able to extract significantly more information from the data by making use of human inspired artificial intelligence. It was designed for control applications and has a high level of health monitoring and instability prevention to ensure stable and reliable data.

Miniature Rugged Enclosure

Spatial Dual's precision marine grade aluminium enclosure is waterproof and dirtproof to the IP67 standard and shockproof to 2000g, allowing it to be used in the most extreme conditions. A sophisticated venting system allows the unit to measure air pressure whilst keeping water out. Its minimal size, weight and power requirements allow for easy integration into almost any system.

Hot Start

Spatial Dual contains a next generation battery backup system that allows it to hot start inertial navigation from its last position in 500 milliseconds and obtain a GNSS fix in approximately 3 seconds. The battery backup system lasts for the lifetime of the product and will provide backup for 48 hours without power. Advanced Navigation's Spatial series are the only GNSS/INS in the world to provide hot start inertial navigation.

Reliability

Spatial Dual has been designed from the ground up for mission critical control applications where reliability is very important. It is built on top of a safety oriented real time operating system and all software is designed and tested to safety standards with fault tolerance in mind. The hardware is protected from reverse polarity, overvoltage, surges, static and short circuits on all external interfaces. The GNSS contains RAIM, which excludes both malfunctioning, and tampered satellite signals.

Peripherals

Spatial Dual features four general purpose input output pins that support an extensive number of peripherals. Including odometer and wheel encoder inputs for ground vehicles, external RTK GPS systems, NMEA input/output, event triggers and more. For an integration fee, custom peripheral devices can be added.

MARINE SURVEYING

Spatial Dual is very popular in marine surveying applications, providing all the reference data required in a single unit. Its heading is more accurate than high end gyrocompasses costing ten times the price and is continuously reliable unlike GPS compass systems. It features a revolutionary tightly coupled heave filter that provides heave accuracy surpassing most FOG systems. It also supports Omnistar for enhanced accuracy positioning offshore.

LAND SURVEYING

Spatial Dual's high accuracy roll, pitch and heading make it well suited for surveying applications. It supports RTK which allows it to provide dramatically enhanced positioning accuracy over standard GPS with positioning accuracy of 8mm. The system supports connection of a high resolution wheel speed sensor or odometer which allows it to maintain accurate data through GPS outages and continue surveys through tunnels and other areas where GPS signals are not available. It also supports output of RINEX raw satellite data for post processing.

HELICOPTERS

Spatial Dual is ideal for use in helicopters where high levels of magnetic interference make magnetic heading unusable. In this application, single antenna GNSS/INS systems can have issues resolving the heading due to the 3D movement and stationary hovering of the platform. Spatial Dual is able to provide very high accuracy heading under all conditions whether stationary or moving and through all levels of magnetic interference.

Antenna Targetting

In both stationary and moving antenna applications, Spatial Dual provides a high accuracy source of roll, pitch and heading that is ideal for antenna targetting control. Its ability to provide continuously reliable data through extended GPS outages and interference means that systems can maintain very high uptimes.

MOTORSPORT

Spatial Dual is an excellent tool for performance measurement in motorsport. From the velocity and orientation data, slip, oversteer and understeer can be calculated. The velocity and acceleration data can be used to calculate improvements to braking and accelerating. Position can be used to determine the deviation from the optimum track position. Spatial Dual’s high vibration tolerance and dynamic range means there are no concerns about engine or road vibration. Spatial Dual also supports data output to data acquisition systems such as Dewesoft products.

ROBOTICS

Spatial Dual’s accurate orientation data allows for stabilization of robotic systems and its position, velocity and acceleration data can be used for robot navigation. Spatial Dual’s high update rate allows it to control dynamically unstable platforms and its focus on safety and reliability provides for piece of mind.

Navigation
Horizontal Position Accuracy1.2 m
Vertical Position Accuracy2.0 m
Horizontal Position Accuracy
(with SBAS)
0.5 m
Vertical Position Accuracy
(with SBAS)
0.8 m
Horizontal Position Accuracy
(with Omnistar)
0.1 m
Vertical Position Accuracy
(with Omnistar)
0.2 m
Horizontal Position Accuracy
(with RTK)
0.008 m
Vertical Position Accuracy
(with RTK)
0.015 m
Velocity Accuracy0.007 m/s
Roll & Pitch Accuracy
(Static)
0.1 °
Heading Accuracy
(Static)
0.1 °
Roll & Pitch Accuracy
(Dynamic)
0.15 °
Heading Accuracy
(Dynamic)
0.1 °
Slip Accuracy
0.1 °
Heave Accuracy5 % or 0.05 m
(whichever is greater)
RangeUnlimited
Hot Start Time500 ms
Internal Filter Rate1000 Hz
Output Data RateUp to 1000 Hz
Sensors
SensorAccelerometersGyroscopesMagnetometersPressure
Range
(Dynamic)
2 g
4 g
16 g
250 °/s
500 °/s
2000 °/s
2 G
4 G
8 G
10 to 120 KPa
Bias Instability20 ug3 °/hr-10 Pa
Initial Bias< 5 mg< 0.2 °/s-< 100 Pa
Initial Scaling Error< 0.06 %< 0.04 %< 0.07 %-
Scale Factor Stability< 0.06 %< 0.05 %< 0.09 %-
Non-linearity< 0.05 %< 0.05 %< 0.08 %-
Cross-axis Alignment Error< 0.05 °< 0.05 °< 0.05 °-
Noise Density150 ug/√Hz0.005 °/s/√Hz210 uG/√Hz0.56 Pa/√Hz
Bandwidth400 Hz400 Hz110 Hz50 Hz
GNSS
ModelTrimble BD982
Supported Navigation SystemsGPS L1, L2, L5
GLONASS L1, L2
GALILEO E1, E5
BeiDou B1, B2
Supported SBAS SystemsWAAS
EGNOS
MSAS
GAGAN
QZSS
Omnistar HP/XP/G2
Trimble RTX
Update Rate20 Hz
Hot Start First Fix3 s
Cold Start First Fix30 s
Horizontal Position Accuracy1.2 m
Horizontal Position Accuracy
(with SBAS)
0.5 m
Horizontal Position Accuracy
(with RTK)
0.008 m
Velocity Accuracy0.007 m/s
Timing Accuracy20 ns
Acceleration Limit11 g
Communication
InterfaceRS232 or RS422
Speed4800 to 2M baud
ProtocolAN Packet Protocol or NMEA
Peripheral Interface2x GPIO and 1x Auxiliary RS232
GPIO Level5 V
GPIO Functions1PPS
Odometer
Stationary
Pitot Tube
NMEA input/output
Novatel GNSS input
Trimble GNSS input
AN Packet Protocol input/output
Packet Trigger Input
Event Input
Hardware
Operating Voltage9 to 36 V
Input Protection-40 to 100 V
Power Consumption
(Typical)
2.64 W
Hot Start Battery Capacity> 48 hrs
Hot Start Battery Charge Time30 mins
Hot Start Battery Endurance> 10 years
Operating Temperature-40 °C to 85 °C
Environmental ProtectionIP67
MIL-STD-810G
MTBF> 50,000 hrs
Shock Limit75 g
Dimensions90x127x31 mm
Weight285 grams
Document
Version
Date
Direct Link
Spatial Dual Datasheet
1.3
26/06/2015
Spatial Dual Reference Manual
2.3
12/04/2016
Spatial Dual 3D Model
1.0
27/04/2013
Spatial Dual 3D Model
1.0
25/02/2015
Spatial Dual Manager v4.4 (Windows & Linux)
Spatial Dual Manager is the software provided for testing, configuration and logging with Spatial Dual. Please see the Spatial Dual reference manual for more information. Java is required to run this program. Released 12th April 2016.
Spatial Dual Manager v4.2 (Mac)
Spatial Dual Manager is the software provided for testing, configuration and logging with Spatial Dual. Please see the Spatial Dual reference manual for more information. Released 15th April 2015.
Spatial Dual SDK v4.0
The Spatial Dual SDK provides example source code for interfacing with Spatial Dual through the AN Packet Protocol. The languages provided are C/C++, Java, and .Net C#.
Spatial Dual Firmware v2.2
The firmware for all hardware versions of Spatial Dual. This can be loaded onto Spatial Dual using the Spatial Dual Manager software. The changelog can be found in the Spatial Dual reference manual. Released 5th April 2016.
Spatial Manager for Android
Spatial Manager for Android is available in the Android play store. A bluetooth dongle is required which can be purchased by contacting sales@advancednavigation.com.au.