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Spatial  GNSS-INS-AHRS

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

FEATURES

CALIBRATED DYNAMIC RANGING SENSORS 

Spatial 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
Spatial CALIBRATED DYNAMIC RANGING SENSORSSpatial CALIBRATED DYNAMIC RANGING SENSORScalibration 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 unit spends 8 hours in our specially built rotating temperature chamber.

MULTI CONSTELLATION GNSS 

Spatial's next generation GNSS receiver supports all of the current and future satellite navigation systems including GPS, GLONASS, GALILEO and BeiDou. These additional satellite constellations allow
Spatial MULTI CONSTELLATION GNSSSpatial MULTI CONSTELLATION GNSSSpatial to provide accurate position and velocity data in environments where GPS only units can't, such as urban canyons and indoors.
When Spatial can't get a satellite fix, it continues to navigate using inertial navigation.

ADVANCED FILTER 

Spatial contains Advanced Navigation's revolutionary sensor fusion filter. The filter is more intelligent than a typical extended kalman filter and is able to extract significantly more information from the data by Spatial Advanced FilterSpatial Advanced Filtermaking 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'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 Spatial MINIATURE RUGGED ENCLOSURESpatial MINIATURE RUGGED ENCLOSUREpower requirements allow for easy integration into almost any system.

HOT START 

Spatial 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. Spatial is the first GNSS/INS in the world to provide hot start navigation. Advanced Navigation's Spatial Spatial Hot StartSpatial Hot Startseries are the only GNSS/INS in the world to provide hot start inertial navigation.

RELIABILITY 

Spatial 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 Spatial ReliabilitySpatial Reliabilitycontains RAIM, which excludes both malfunctioning, and tampered satellite signals.

HIGH UPDATE RATE 

Spatial's internal filter runs at 1000Hz and data can also be output at this rate over high speed RS232. This allows for control of dynamically unstable platforms. Spatial is also highly tolerant of dynamic movement and vibration with a very advanced custom navigation filter.Spatial High Update RateSpatial High Update Rate

PERIPHERALS 

Spatial features two general purpose input output pins that support an extensive number of peripherals. Including odometer based input for ground vehicles, RTK GPS systems, DVLs and USBLs for
Spatial PeripheralsSpatial Peripheralsunderwater navigation, NMEA input/output and more. For an integration fee, custom peripheral devices can be added.

Application:  ROBOTICS,   MOTORSPORT,   HUMAN MOVEMENT,   EXTREME SPORTS,   TRACKING AND SECURITY.


Spatial GNSS/INS/AHRS ApplicationsSpatial GNSS/INS/AHRS Applications

 

SURVEYING

Spatial's high accuracy roll, pitch and heading make it well suited for surveying applications. It supports DGNSS which gives it significantly enhanced positioning accuracy over standard GPS. 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.

UNMANNED AERIAL VEHICLES 

Spatial is very popular on unmanned aerial vehicles. Its high accuracy orientation allows it to be used both for control and georeferencing. It supports a range of pitot tubes and air data units which allows it to maintain high accuracy positioning for hours without GPS. It supports both SBAS and ground transmitted differential corrections for increased GPS positional accuracy. It's low size, weight and power consumption allows for easy integration into even the smallest UAVs.

ROBOTICS 

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

MARINE 

Spatial is ideal for use in marine applications providing accurate positioning, heading, heel, trim and heave. Its rugged design stands up to tough conditions at sea. Its magnetic heading is calibrated for hard and soft iron using an advanced ellipsoid algorithm and can provide both true heading and magnetic heading using its built in world magnetic model.

MOTORSPORT 

Spatial 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’s high vibration tolerance and dynamic range means there are no concerns about engine or road vibration. Spatial also supports data output to data acquisition systems such as Dewesoft products.

TRACKING AND SECURITY 

Spatial’s GNSS RAIM satellite verification, high sensitivity and multiple constellations make it difficult for thieves to spoof. Even if GNSS is lost, Spatial can continue to accurately navigate on its other sensors indefinitely when a vehicle odometer input is attached. Its backup memory means that cutting the power will not lose its position either. This makes it an excellent choice for tracking and security where it is nearly impossible for thieves to circumvent.

SPECIFICATION

NAVIGATION

Horizontal Position Accuracy

2.0 m

Vertical Position Accuracy

3.0 m

Horizontal Position Accuracy(with DGNSS)

0.6 m

Vertical Position Accuracy(with DGNSS)

1.0 m

Velocity Accuracy

0.05 m/s

Roll & Pitch Accuracy(Static)

0.1 °

Heading Accuracy(Static)

0.5 °

Roll & Pitch Accuracy(Dynamic)

0.2 °

Heading Accuracy(Dynamic with GNSS)

0.2 °

Heading Accuracy(Dynamic, Magnetic Only)

0.8 °

Heave Accuracy

5 % or 0.05 m(whichever is greater)

Orientation Range

Unlimited

Hot Start Time

500 ms

Internal Filter Rate

1000 Hz

Output Data Rate

Up to 1000 Hz

Latency

0.4 ms

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

Noise Density

150 ug/√Hz

0.005°/s/√Hz

210 uG/√Hz

0.56 Pa/√Hz

Non-linearity

< 0.05 %

< 0.05 %

< 0.05 %

-

Bias Instability

20 ug

3 °/hr

-

100 Pa/yr

Scale Factor Stability

< 0.05 %

< 0.05 %

< 0.05 %

-

Cross-axis Alignment Error

< 0.05 °

< 0.05 °

< 0.05 °

-

Bandwidth

400 Hz

400 Hz

110 Hz

50 Hz

GNSS

Model

u-blox M8

Supported Navigation Systems

GPS L1
GLONASS L1
GALILEO E1
BeiDou L1

Supported SBAS Systems

WAAS
EGNOS
MSAS
GAGAN
QZSS

Update Rate

10 Hz

Cold Start Sensitivity

-148 dBm

Tracking Sensitivity

-167 dBm

Hot Start First Fix

1 s

Cold Start First Fix

26 s

Horizontal Position Accuracy

2.5 m

Horizontal Position Accuracy(with SBAS)

1 m

Velocity Accuracy

0.05 m/s

Timing Accuracy

30 ns

Acceleration Limit

4 g

     

COMMUNICATION

Interface

RS232

Speed

4800 to 1M baud

Protocol

AN Packet Protocol or NMEA

Peripheral Interface

2x GPIO and Auxiliary RS232

GPIO Level

5 - 20 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

5 to 36 V

Input Protection

±40 V

Power Consumption

100 mA @ 5 V (typical)

Hot Start Battery Capacity

> 48 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(excluding tabs)

30x30x24 mm

Dimensions(including tabs)

30x40.6x24 mm

Weight

37 grams

 Download

1. Spatial 3D Model v3.0                                  http://aitcl.com/data/documents/Spatial=203D=20Model=20v3.0.pdf     

2. Spatial Reference Manual v4.0                      http://aitcl.com/data/documents/Spatial=20Reference=20Manual=20v4.0.pdf 

3. Spatial Performance Evaluation v1.1              http://aitcl.com/data/documents/Spatial-Performance-Evaluation-v1.1.pdf

4. Spatial Manager v4.0 (Windows & Linux)   Spatial Manager is the software provided for testing,

 configuration and logging with Spatial. Java is required to run this program.          http://aitcl.com/data/documents/Spatial=20Reference=20Manual=20v4.0.pdf

 5. SPATIAL SDK V4.0  The Spatial SDK provides example source code for interfacing with Spatial

through the AN Packet Protocol. The languages provided are C/C++, Java, and .Net C#.                              http://aitcl.com/data/documents/SpatialSDK=20v4.0.zip

 6. Spatial Firmware V4.0        The firmware for all hardware versions of Spatial. This can be loaded

 onto Spatial using the Spatial Manager software.

 7.Spatial Performance Evaluation v1.1  http://aitcl.com/data/documents/Spatial-Performance-Evaluation-v1.1.pdf