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SPATIAL DUAL双天线组合导航

空间双天线是一个坚固耐用的微型GPS辅助惯性导航系统和AHRS(航姿参考系统),即使在最苛刻的条件下提供精确的位置、速度、加速度和Spatial Dual双天线AHRS/IMUSpatial Dual双天线AHRS/IMU方向。它结合了温度校准、加速度计、陀螺仪、磁强计和压力传感器与双天线RTK(实时差分) GNSS全球卫星导航接收器。这些传感器技术集合在一起,结合一个复杂的融合算法,提供准确和可靠的导航和定位。

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.

 

特点Features

双天线航向Dual Antenna Heading 

Spatial Dual Antenna HeadingSpatial Dual Antenna Heading

Spatial Dual特点是移动基线RTK 。这使得它可以提供高准确度航向,无任是静态还是动态目标。由于干扰磁力航向不能使用,或需要额外的准确度的场合,Spatial Dual是极佳选择。另一个好处是可以准确地测量车辆的滑移角。

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.

标定传感器动态范围Calibrated Dynamic Ranging Sensors

Spatial Dual包含目前市场上最高性能的MEMs惯性传感器。这些都是通过先进的导航精细标定处理,以进一步提高性能表现,并能在-40°C至Spatial Dual传感器动态范围Spatial Dual传感器动态范围85 °C宽温度范围仍然提供始终如一的准确数据。先进的导航自定标定,唯一所有传感器标定处理,可以提供动态范围,在飞行中允许用户自行选择准确度或加速度传感器准确度范围。作为该标定的一部分,每一个Spatial Dual在我们专门建造的转动温度试验箱中处理8个小时。 

Spatial Dual contains some of the highest performance MEMs inertial sensors currently on the market. 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.

Spatial Dual GNSSSpatial Dual GNSS

RTK GNSS接收器 RTK GNSS Receiver 

Spatial Dual包含三频Trimble RTK GNSS 接收器提供1cm准确度定位,支持所有已运行和未来运行的卫星系统GPS、GLONASS、北斗和GALILEO,同时支持Omnistar服务销售无忧无虑的高准确度定位。 

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.

Spatial Dual先进滤波技术Spatial Dual先进滤波技术

先进的滤波技术Advanced Filter

Spatial Dual包含AN革命性的新的传感器融合滤波器。该过滤器是比典型的扩展卡尔曼滤波更智能化,能够从利用人类灵感的人工智能数据中,明显提取更多信息。它为控制应用设计,拥有高水准的健康监测和预防不稳定,以确保数据稳定、可靠。

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.

微型坚固外壳Miniature Rugged Enclosure Spatial Dual微型坚固外壳Spatial Dual微型坚固外壳

Spatial Dual船级铝合金外壳防水和防尘达IP67标准、防震2000g,可在最极端的条件下使用。一个先进的通风系统,允许单元测定空气压力,同时保持水不至渗入。它的细小尺寸、重量和功耗要求使得它很容易集成到几乎任何系统中。

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.     

热启动Hot Start Spatial热启动Spatial热启动

Spatial Dual包含一个新一代电池备份系统,允许它从最后位置于500 毫秒内热启动惯性导航,和在约3秒重新获得GNSS定位。电池备份系统在产品寿命周期持续工作,并提供24小时断电数据备份。空间是世界第一个可以热启动惯性导航的GNSS / INS系统。

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.

Spatial Dual可靠性Spatial Dual可靠性

可靠性Reliability 

Spatial Dual是为可靠性至关重要的关键任务控制应用打造的。它除了以安全为导向的实时操作系统之外,所有软件基于容错安全标准设计和测试。硬件受反极、电压过载、浪涌保护,所有外部接口静电和短路保护。GNSS包含RAIM ,排除了人为故障和卫星信号篡改。

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.

外设Peripherals Spatial Dual支持丰富的外设Spatial Dual支持丰富的外设

Spatial Dual具有4个GPIO通用输入输出接口,可支持相当数量的外设。包括地面车辆里程表和轮胎编码器输入口,外接RTK GPS系统,DVLS和水下导航USBLs, NMEA输入/输出等等。定制外设设备,需额外费  用。

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.

 

应用APPLICATIONS

Spatial Dual applicationsSpatial Dual applications

海洋测绘MARINE SURVEYING

SpatialDual双天线在海洋测量应用中非常流行,仅仅一个单元提供所需的基准数据。它的航向精度比花费十倍价格的高端罗盘更加准确,与GPS罗盘系统不同的是SpatialDual双天线是连续可靠工作。SpatialDual特色开创性紧耦合滤波器提供准确升沉,超越多数光纤陀螺系统。SpatialDual双天线还支持OMNISTAR增强海上高精度定位。

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.

陆地测量LAND SURVEYING

Spatial Dual双天线具有很高的横滚、俯仰和航向精度,非常适合测绘应用。支持RTK,比标准GPS明显增强定位精度、高达8mm。系统支持连接高解析度轮速传感器或里程表,即使在GPS信号失去时继续测绘工作,如隧道和其它无GPS的区域。它也支持RINEX格式原始卫星数据做后处理。

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.

直升机HELICOPTERS
Spatial Dual双天线是强磁力干扰影响磁罗盘使用场合诸如直升机的理想选择应用中,单天线GNSS/INS系统可能存在航向事宜,诸如三维运动和盘旋平台稳定。Spatial Dual双天线在无任是静止还是运动的强磁干扰环境下,提供非常高精度的航向。

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.
寻向天线系统Antenna Targetting

Spatial Dual双天线在无任是静止还是运动应用中,都提供非常高精度的翻滚、仰俯和航向,很适合天线寻向控制。它提供连续、可靠的数据即使GPS中断,意味着保持高水平运行时间。

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.

赛车运动MOTORSPORT

Spatial Dual是赛车性能测量的极佳工具。无任速度和方位数据,还是打滑、转向过度和转向不足,都可以计算出来。可计算速度和加速度数据来改善制动和加速性能。位置信息可以用来确定与最佳轨道位置的偏差。Spatial的高振动指标和动态范围意味着不必有担心发动机振动或路面颠簸。 Spatial还支持数据输出到数据采集系统,如Dewesoft产品。

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.

机器人ROBOTICS

Spatial Dual精确的方位数据保障了机器人系统的稳定,它的位置、速度和加速度的数据,可用于机器人导航。Spatial Dual的高数据更新率使得它能用来控制非稳定的动态平台,它侧重于安全性和可靠性体现了一片心意。

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.

规格书

导航

水平位置准确度

1.2 m

垂直位置准确度

2.0 m

水平位置准确度(使用SBAS)

0.5 m

垂直位置准确度(使用SBAS)

0.8 m

水平位置准确度(使用Omnistar)

0.1 m

垂直位置准确度(使用Omnistar)

0.2 m

水平位置准确度(使用RTK)

0.008 m

垂直水平位置准确度(使用RTK)

0.015 m

速度准确度

0.007 m/s

横滚角与俯仰角准确度

0.1 °

航向角准确度(1m天线基准线)

0.1 °

横滚角与俯仰角准确度(后处理)

0.03 °

航向角准确度(后处理)

0.06 °

滑移角准确度

0.1 °

浪涌准确度

5 %或0.05 m(二者较大值)

范围

不限

热启时间

500 ms

内部滤波率

1000 Hz

数据更新率

高达1000 Hz

传感器

 

传感器 加速度计 陀螺仪 磁力计 压力表
范围(动态) ±2 g
±4 g
±16 g
±250 °/s
±500 °/s
±2000 °/s
±2 G
±4 G
±8 G
10 to 120 KPa
偏差不稳定性 20 ug 3 °/hr - 10 Pa
初始偏差 < 5 mg < 0.2 °/s - < 100 Pa
初始刻度误差 < 0.06 % < 0.04 % < 0.07 % -
刻度因子稳定性 < 0.06 % < 0.05 % < 0.09 % -
非线性度 < 0.05 % < 0.05 % < 0.08 % -
横纵坐标对齐误差 < 0.05 ° < 0.05 ° < 0.05 ° -
噪声密度 100 ug/√Hz 0.004 °/s/√Hz 210 uG/√Hz 0.56 Pa/√Hz
带宽 400 Hz 400 Hz 110 Hz 50 Hz

GNSS

型号

Trimble BD982

支持导航系统

GPS L1, L2, L5
GLONASS L1, L2
GALILEO E1, E5
BeiDou B1, B2

支持SBAS系统

WAAS
EGNOS
MSAS
GAGAN
QZSS
Omnistar HP/XP/G2

数据更新率

20 Hz

热启首次定位

3 s

冷启首次定位

30 s

水平位置准确度

1.2 m

水平位置准确度(使用SBAS)

0.5 m

水平位置准确度(使用RTK)

0.008 m

速度准确度

0.007 m/s

授时准确度

20 ns

加速度限制

11 g

通讯

接口

RS232 or RS422

速度

4800至 1M 波特率

协议

AN 数据协议或NMEA

辅助接口

4x GPIO

GPIO电压

5 V 或RS232

GPIO 功能

1PPS
里程表
Stationary
Pitot Tube
NMEA输入/输出
Novatel GNSS 输入

Trimble GNSS 输入
AN 数据协议输入/输出
事件触发输入
Teledyne DVL 输入
Tritech USBL 输入
定制 (联系我们)

硬件

工作电压

5 ~ 36 V

输入保护

±100 V

功耗

220 mA @ 12 V (典型)

热启电池容量

> 24 小时

热启充电时间

30 分钟

热启电池使用寿命

> 10 年

工作温度

-40 °C~ 85 °C

使用环境

IP67、 军标MIL-STD-810G

平均无故障时间

> 50,000 小时

冲击限制

2000 g

尺寸

90x127x31 mm

重量

304 克

 

SPECIFICATIONS

Navigation

 

Horizontal Position Accuracy 1.2 m
Vertical Position Accuracy 2.0 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 Accuracy 0.007 m/s
Roll & Pitch Accuracy 0.1 °
Heading Accuracy(1m Antenna Separation) 0.1 °
Roll & Pitch Accuracy(Kinematica Post Processing) 0.03 °
Heading Accuracy(Kinematica Post Processing) 0.06 °
Slip Accuracy 0.1 °
Heave Accuracy 5 % or 0.05 m(whichever is greater)
Range Unlimited
Hot Start Time 500 ms
Internal Filter Rate 1000 Hz
Output Data Rate Up to 1000 Hz

 

Sensors

 

Sensor Accelerometers Gyroscopes Magnetometers Pressure
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 Instability 20 ug 3 °/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 Density 100 ug/√Hz 0.004 °/s/√Hz 210 uG/√Hz 0.56 Pa/√Hz
Bandwidth 400 Hz 400 Hz 110 Hz 50 Hz

GNSS

Model

Trimble BD982

Supported Navigation Systems

GPS L1, L2, L5
GLONASS L1, L2
GALILEO E1, E5
BeiDou B1, B2

Supported SBAS Systems

WAAS
EGNOS
MSAS
GAGAN
QZSS
Omnistar HP/XP/G2

Update Rate

20 Hz

Hot Start First Fix

3 s

Cold Start First Fix

30 s

Horizontal Position Accuracy

1.2 m

Horizontal Position Accuracy(with SBAS)

0.5 m

Horizontal Position Accuracy(with RTK)

0.008 m

Velocity Accuracy

0.007 m/s

Timing Accuracy

20 ns

Acceleration Limit

11 g

Communication

Interface

RS232 or RS422

Speed

4800 to 1M baud

Protocol

AN Packet Protocol or NMEA

Peripheral Interface

2x GPIO and 1x Auxiliary RS232

GPIO Level

5 V

GPIO Functions

1PPS
Odometer
Stationary
Pitot Tube
NMEA input/output
Novatel GNSS input
Trimble GNSS input
AN Packet Protocol input/output
Packet Trigger Input
Teledyne DVL input
Tritech USBL input
Custom (contact us)

Hardware

Operating Voltage

9 to 36 V

Input Protection

-40 to 100 V

Power Consumption

220 mA @ 12 V (typical)

Hot Start Battery Capacity

> 24 hrs

Hot Start Battery Charge Time

30 mins

Hot Start Battery Endurance

> 10 years

Operating Temperature

-40 °C to 85 °C

Environmental Protection

IP67
MIL-STD-810G

MTBF

> 50,000 hrs

Shock Limit

2000 g

Dimensions

90x127x31 mm

Weight

285 grams

 

测试与应用

南非Tellumat采用Spatial Dual 助飞机特技表演世界冠军http://user.qzone.qq.com/1627062762/blog/1424960574。

特技飞机飞行比赛对GPS / INS来说是一个极其严酷的环境,高动态机动G-forces(G力)可达10g,8字翻滚和循环长达15秒一个接一个GPS中断。
测试中,其它厂商系统无法达到满意的效果,唯Spatial Dual双天线胜出保持高精度的位置、速度和方向。从特技飞机机队现有的空速管和静态大气数据系统完全整合的数据来看,Spatial Dual双天线在GPS中断期间位置漂移率低于0.5%;

卡内基波浪能发电厂监测 http://user.qzone.qq.com/1627062762/blog/1428413275。

Spatial Dual双天线用于CETO电厂监控运行性能,并对可能出现的任何问题提供早期预警。Spatial Dual输出位置、速度、起伏、翻滚、俯仰和航向,监测呵护电厂。由于大风浪越过CETO单元,GPS天线被淹没,仅仅依靠惯性导航直到波浪通过。在海上,这个循环不断重复。

 

订货

Spatial Dual Evaluation Kit 

Contents: 1. Spatial Dual GNSS/INS   2. 2x Antcom G5Ant-53A4T1 L1/L2/L5 GNSS antennas with 5/8”-11 survey mounts

3. 2x 4 metre LMR240 antenna cables    4. Interface cable harness    5. 2 metre USB to RS232 cable    6. 120/240 volt AC to 24 volt DC power supply

Spatial Dual EKSpatial Dual EK

Standalone Unit

Part Number:SPATIAL-DUAL-EK       Description:Spatial Dual Evaluation Kit     Notes: Spatial Dual evaluation kit Includes items listed in section 6.1 L1/L2/L5 GPS, GLONASS, Omnistar, Trimble RTX and SBAS Raw satellite data output supported 0.3m float RTK supported License required for fixed RTK, BeiDou and Galile

Part Number:SPATIAL-DUAL            Description:Spatial Dual Unit      Notes:Spatial Dual Unit L1/L2/L5 GPS, GLONASS, Omnistar, Trimble RTX and SBAS Raw satellite data output supported 0.3m float RTK supported License required for fixed RTK, BeiDou and Galileo No cables included

Part Number:SPATIAL-DUAL-422      Description:Spatial Dual Unit (RS422 option)        Notes:Spatial Dual Unit (RS422) RS422 instead of RS232 No auxiliary serial port L1/L2/L5 GPS, GLONASS, Omnistar, Trimble RTX and SBAS Raw satellite data output supported 0.3m float RTK supported License required for fixed RTK, BeiDou and Galileo No cables included

Internal GNSS Receiver License Upgrades

Part Number:SD-BEI-UPG   Description:Spatial Dual BeiDou Upgrade            Notes: BeiDou B1/B2 support for Spatial Dual

Part Number:SD-LIC-10CM   Description:Spatial Dual 0.1m RTK Upgrade      Notes:Upgrade from 0.3m to 0.1m RTK position accuracy

Part Number:SD-LIC-8MM    Description:Spatial Dual 0.008m RTK Upgrade   Notes:Upgrade from 0.3m to 0.008m RTK position accuracy

 

下载Download

1.Spatial Dual Datasheet v1.3 

2.Spatial Dual Reference Manual v2.2

3.Spatial Dual 3D Model v1.0:Spatial Dual 3D Model.PDF,Spatial Dual.STEP

4.SPATIAL DUAL MANAGER V4.3 (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 17th August 2015.

5.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.

6.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#.

7.SPATIAL DUAL FIRMWARE V2.11: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 22nd April 2015.

8.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@aitcl.com.