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--- navigation_sensors [2019/10/08 14:28] – nikolal
+++ navigation_sensors [2022/09/19 11:34] (current) – external edit 127.0.0.1
@@ Line 1: / Line 1: @@
 ====== Navigation sensors ======
-The Otter uses the [[https://www.hemispheregnss.com/product/vector-v104-gps-smart-antenna/|V104s]] made by Hemisphere GNSS. This provides both GPS position, as well as GPS based heading through the NMEA 0183 standard.
+For positioning, the Otter relies upon a [[https://www.hemispheregnss.com/product/vector-v104-gps-smart-antenna/| Hemisphere V104s]]. Using dual integrated GPS antennas, both GPS
+positioning and compass functions are achieved. It also comes with support for Space Based Augmentation
+Systems (SBAS) in addition to a single axis gyro and tilt sensors for x- and y-axis. This results in making
+a position accuracy of better than 1.0 m available 95% of the time.
+Communication with the v104s is done through two full-duplex RS-232. For the Otter, only one of these
+connections is used, RS-232-A, while RS-232-B is unused.  This connection goes through a RS-232-USB
+adapter, to the controlling computer. There is also a PPS output for time synchronization present.
+The format of the messages sent over RS-232 is NMEA 0183, with the addition of some of Hemispheres
+custom messages.
 ===== Useful links =====
   * [[https://www.hemispheregnss.com/wp-content/uploads/2019/06/hemispheregnss_v104s_userguide_875-0346-000_a3.pdf|V104s User Guide]]
-  *
+  * [[https://www.hemispheregnss.com/technical-documentation/|Hemisphere GNSS Technical Documentation]]