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Spatial FOG
Spatial FOG is a ruggedized GPS aided inertial navigation system and AHRS that provides accurate position, velocity, acceleration and orientation under the most demanding conditions. It combines ultra high accuracy fibre optic gyroscopes, accelerometers, magnetometers and a pressure sensor with an RTK GNSS receiver. These are coupled in a sophisticated fusion algorithm to deliver accurate and reliable navigation and orientation.
Extreme Inertial Performance

Spatial FOG contains the KVH Industries 1750 fibre optic gyroscope (FOG) IMU, which provides extremely accurate inertial data far beyond the best MEMS technology available. This allows Spatial FOG to acheive very high accuracies and dead reckon without GNSS for extended periods of time. Despite the high accuracy FOG IMU, Spatial FOG has a very competitive price tag that is lower than many MEMS systems on the market.

RTK GNSS Receiver

Spatial FOG 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. Spatial FOG supports both real time RTK positioning and logging of raw satellite data for kinematic post-processing.

Advanced Filter

Spatial FOG 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.

Rapid North Seeking Gyrocompass

Spatial FOG features a revolutionary north seeking algorithm that is able to provide accurate heading in as little as 10 seconds after power on from a hot start and 10 minutes from a cold start. Spatial FOG's north seeking algorithm runs continuously while in operation and is not effected by velocities or angular movements. This allows Spatial FOG to provide high accuracy heading in environments where magnetometers and GPS aided heading cannot be used.

Hot Start

Spatial FOG contains a next generation battery backup system that allows it to hot start inertial navigation from its last position in 2 seconds 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 FOG 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 place. 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. Spatial FOG contains a backup MEMS IMU, which it can seamlessly fall back to should the primary IMU fail.

High Update Rate

Spatial FOG's internal filter runs at 1000Hz and data can also be output at this rate over high speed RS232 or RS422. This allows for control of dynamically unstable platforms.

Peripherals

Spatial FOG features two general purpose input output pins and two auxiliary RS232/RS422 ports that support an extensive number of peripherals. Including odometer based input for ground vehicles, DVLs and USBLs for underwater navigation, NMEA input/output and more. For an integration fee, custom peripheral devices can be added.

UNDERGROUND NAVIGATION

Spatial FOG's extremely low drift rates in dead reckoning make it an excellent choice for navigation in underground environments where GNSS is not available. With the use of a high resolution wheel encoder the system is able to maintain high accuracy positioning indefinitely.

GEOREFERENCING

Spatial FOG's extremely accurate orientation and navigation data makes it a perfect choice for aerial photography georeferencing systems and camera gimbal pointing and stabilisation applications.

DEFENCE

Spatial FOG is ideal for ground based defence vehicles that require the ability to maintain situational awareness through sustained GPS denied environments. With a drift rate as low as 0.1% of distance travelled during GPS denied conditions, the system is able to provide accurate positioning data for extended periods. Its hot start capability allows the vehicle to power down for up to 48 hours and continue navigating from where it left off with no GPS or initialisation required on power up.

SURVEYING

Spatial FOGl'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.

ROBOTICS

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

MOTORSPORT

Spatial FOG 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 FOG also supports data output to data acquisition systems such as Dewesoft products.

Navigation
Horizontal Position Accuracy0.8 m
Vertical Position Accuracy1.5 m
Horizontal Position Accuracy
(with SBAS)
0.5 m
Vertical Position Accuracy
(with SBAS)
0.8 m
Horizontal Position Accuracy
(with RTK or Kinematica PPK)
0.008 m
Vertical Position Accuracy
(with RTK or Kinematica PPK)
0.015 m
Velocity Accuracy0.007 m/s
Roll & Pitch Accuracy0.01 °
Heading Accuracy0.05 °
Roll & Pitch Accuracy
(Kinematica Post Processing)
0.005 °
Heading Accuracy
(Kinematica Post Processing)
0.01 °
Heave Accuracy2 % or 0.02 m
(whichever is greater)
Orientation RangeUnlimited
Hot Start Time2 s
Internal Filter Rate1000 Hz
Output Data RateUp to 1000 Hz
Sensors
SensorAccelerometersGyroscopesMagnetometersPressure
Range±10 g±490 °/s±8 G10 to 120 KPa
Bias Instability15 ug0.05 °/hr-10 Pa
Initial Bias< 1 mg< 1 °/hr-< 100 Pa
Initial Scaling Error< 0.03 %< 0.01 %< 0.07 %-
Scale Factor Stability< 0.04 %< 0.02 %< 0.09 %-
Non-linearity< 0.03 %< 0.005 %< 0.08 %-
Cross-axis Alignment Error< 0.04 °< 0.02 °< 0.05 °-
Noise Density120 ug/√Hz0.7 °/hr/√Hz210 uG/√Hz0.56 Pa/√Hz
Bandwidth200 Hz440 Hz110 Hz50 Hz
GNSS
ModelTrimble BD930
Supported Navigation SystemsGPS L1, L2, L5
GLONASS L1, L2
GALILEO E1, E5
BeiDou B1, B2
Supported SBAS SystemsWAAS
EGNOS
MSAS
GAGAN
QZSS
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
InterfaceRS422 (RS232 optional)
Speed4800 to 10M baud
ProtocolAN Packet Protocol or NMEA
Peripheral Interface2x GPIO and 2x Auxiliary RS232
GPIO Level5 V or RS232
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)6.6 W
Hot Start Battery Capacity> 48 hrs
Hot Start Battery Charge Time30 mins
Hot Start Battery Endurance> 10 years
Operating Temperature-40 °C to 75 °C
Environmental ProtectionIP67
MIL-STD-810G
MTBF> 36,000 hrs
Shock Limit40 g
Vibration Limit12 g
Dimensions90x90x88 mm
Weight655 grams
Document
Version
Date
Direct Link
Spatial FOG Datasheet
2.4
29/08/2017
Spatial FOG Reference Manual
2.2
27/04/2016
Spatial FOG 3D Model PDF
1.3
21/05/2014
Spatial FOG 3D Model
2.0
25/02/2015
Spatial FOG Manager v4.4 (Windows & Linux)

Spatial FOG Manager is the software provided for testing, configuration and logging with Spatial FOG. Please see the Spatial FOG reference manual for more information. Java is required to run this program. Released 26th April 2016.

Spatial FOG Manager v4.2 (Mac)

Spatial FOG Manager is the software provided for testing, configuration and logging with Spatial FOG. Please see the Spatial FOG reference manual for more information. Released 2nd April 2015.

Spatial FOG SDK v4.0

The Spatial FOG SDK provides example source code for interfacing with Spatial FOG through the AN Packet Protocol. The languages provided are C/C++, Java, and .Net C#.

Spatial FOG Firmware v2.31

The firmware for all hardware versions of Spatial FOG. This can be loaded onto Spatial FOG using the Spatial FOG Manager software. The changelog can be found in the Spatial FOG reference manual. Released 1st July 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.