Spatial FOG Dual

Spatial FOG Dual is a rugged GNSS/INS that provides accurate position, velocity, acceleration, and orientation under the most demanding conditions.

Roll & Pitch
0.01 °
Heading (GNSS)
0.01 °
Bias Instability
0.1 °/hr
Position Accuracy
8 mm

Spatial FOG Dual is an industry-proven GNSS/INS and AHRS. It combines high accuracy fibre optic gyroscopes, accelerometers, magnetometers, and a pressure sensor with a dual antenna RTK GNSS receiver. These are coupled in an AI-based fusion algorithm to deliver accurate and reliable navigation data.

High-Accuracy FOG

Spatial FOG contains the KVH Industries 1750 fiber optic gyro IMU, which provides very accurate inertial data, beyond the best MEMS technology available. This allows Spatial FOG to achieve 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.

AI Navigation Algorithm

Spatial FOG features Advanced Navigation's revolutionary AI neural network sensor fusion algorithm. This provides accuracy of up to 10 times that of a traditional kalman filter. It was designed for control applications and has a high level of health monitoring and instability prevention to ensure stable and reliable data.

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 mind. The hardware is designed and manufactured to mil standards.

Dual Antenna RTK GNSS

Spatial FOG Dual contains a dual frequency 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, BeiDou and QZSS. Dual antenna heading provides high accuracy heading that is not impacted by magnetic interference and has no motion requirements.

Peripherals

Spatial FOG Dual 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.

Applications

Specifications

Navigation

Horizontal Position Accuracy
0.8 m
Vertical Position Accuracy
1.5 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 Accuracy
0.005 m/s
Roll & Pitch Accuracy
0.01 °
Heading Accuracy
0.01 °
Roll & Pitch Accuracy (Kinematica Post Processing)
0.005 °
Heading Accuracy (Kinematica Post Processing)
0.007 °
Slip Accuracy
0.01 °
Heave Accuracy
2 % or 0.02 m (whichever is greater)
Range
Unlimited
Hot Start Time
2 s
Internal Filter Rate
1000 Hz
Output Data Rate
Up to 1000 Hz

Sensors

Accelerometers

Range
±10 g
Bias Instability
15 ug
Initial Bias
< 1 mg
Initial Scaling Error
< 0.03 %
Scale Factor Stability
< 0.04 %
Non-linearity
< 0.03 %
Cross-axis Alignment Error
< 0.04 °
Noise Density
120 ug/√Hz
Bandwidth
200 Hz

Gyroscopes

Range
±490 °/s
Bias Instability
0.1 °/hr
Initial Bias
< 2 °/hr
Initial Scaling Error
< 0.01 %
Scale Factor Stability
< 0.02 %
Non-linearity
< 0.005 %
Cross-axis Alignment Error
< 0.02 °
Noise Density
0.7 °/hr/√Hz
Bandwidth
400 Hz

Magnetometers

Range
±8 G
Initial Scaling Error
< 0.07 %
Scale Factor Stability
< 0.09 %
Non-linearity
< 0.08 %
Cross-axis Alignment Error
< 0.05 °
Noise Density
210 uG/√Hz
Bandwidth
110 Hz

Pressure

Range
10 to 120 KPa
Bias Instability
10 Pa
Initial Bias
< 100 Pa
Noise Density
0.56 Pa/√Hz
bandwidth
50 Hz

GNSS

Model
Trimble MB-Two
Supported Navigation Systems
GPS L1, L2 • GLONASS L1, L2 • GALILEO E1 • BeiDou B1
Supported SBAS Systems
WAAS • EGNOS • MSAS • GAGAN • QZSS • Trimble RTX
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
0.05 m/s
Timing Accuracy
20 ns
Acceleration Limit
11 g

Communication

Interface
RS422 (RS232 optional)
Speed
4800 to 10M baud
Protocol
AN Packet Protocol or NMEA
Peripheral Interface
2x GPIO and 2x Auxiliary RS232
GPIO Level
5 V or RS232
GPIO Functions
1PPS • Odometer • Stationary • Air Data Input • NMEA input/output • Novatel GNSS input • Trimble GNSS input • AN Packet Protocol input/output • Packet Trigger Input • Event Input

Hardware

Operating Voltage
9 to 36 V
Input Protection
-40 to 100 V
Power Consumption (Typical)
6.12 W
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
36,000 hrs
Shock Limit
40 g
Vibration
12 g
Dimensions
94 x 94 x 95 mm
Weight
740 grams

Documentation

Datasheet
28 Sep 2021 - V 1.1
Reference Manual (PDF)
04 Jun 2019 - V 1.3
3D Model
07 Aug 2015 - V 1.0

Software

Spatial FOG Manager

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

07 May 2019 – V 5.0

Spatial FOG Dual Firmware

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

23 Dec 2019 – V 1.6

Spatial FOG SDK

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#.

23 May 2018 – V 4.0

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 [email protected].

23 May 2018

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