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SPAN-CPT Receiver User Manual

1. seen 64 B 2 7 INSPHASEUPDATE INS Phase Update Control 65 B 2 8 INSZUPT Request Zero Velocity Update sse 66 B 2 9 INSZUPTCONTROL INS Zero Velocity Update Control 67 B 2 10 NMEATALKER Set the NMEA talker ID V123 l enn 68 B 2 11 RVBCALIBRATE Vehicle to Body Rotation Control eessssss 69 B 2 12 SETIMUORIENTATION Set IMU Orientation seen 70 B 2 13 SETIMUTOANTOFFSET Set IMU to Antenna Offset 73 B 2 14 SETIMUTOANTOFFSET2 Set IMU to Antenna Offset 2 sss 74 B 2 15 SETINITATTITUDE Set Initial Attitude of SPAN in Degrees 75 B 2 16 SETINITAZIMUTH Set Initial Azimuth and Standard Deviation 77 B 2 17 SETINSOFFSET Set INS Offset 79 B 2 18 SETMARK1OFFSET Set Mark1 Offset ccc eeceeeeeeeeeeeeeeeeeeeeeteeeeeeteneees 80 B 2 19 SETWHEELPARAMETERS Set Wheel Parameters sssssssss 81 B 2 20 VEHICLEBODYROTATION Vehicle to SPAN frame Rotation 82 C INS Logs 85 C 1 Description of ASCII and Binary Logs with Short Headers sees 86 C 2 INS S pecific l OGgS 2 1 rtt I eet Reate E DESEE C SUAE e aia ae doe bien ten dot s weed 87 C 2 1 BESTGPSPOS Best GPS Position sss 88 C 2 2 BESTGPSVEL Best Available GPS Velocity Data ssssssss 92 C 2 3 BESTLEVERARM BESTLEVERARM 2 IMU
2. SPAN CPT User Manual Rev 4 117 Appendix C INS Logs C 2 21 INSVEL INS Velocity This log contains the most recent North East and Up velocity vector values with respect to the local level frame and also includes an INS status indicator Structure Message ID 267 Log Type Synch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 North Velocity Velocity North in m s Double 8 H 12 5 East Velocity Velocity East in m s Double 8 H 20 6 Up Velocity Velocity Up in m s Double 8 H 28 7 Status INS status see Table 1 on page 37 Enum 4 H 36 8 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 40 Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log insvela ontime 1 ASCII Example INSVELA COM3 0 0 0 EXACT 1105 425385 000 00040000 7d4a 0 1105 425384 996167250 0 014277009 0 013675287 0 024795257 INS SOLUTION GOOD 2f3fe011 118 SPAN CPT User Manual Rev 4 INS Logs Appendix C C 2 22 INSVELS Short INS Velocity This is a short header version of the VSVEL log on Page 118 Structure Message ID 324 Log Type Synch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds fr
3. sssessssseseeeeeeneeenen nennen enne enne nnn 48 4 4 Configuring SPAN with ALIGN on SPAN CPT sss nennen 49 4 4 1 Alignment on a Moving Vessel Aided Transfer Alignment Default 49 4 4 2 Alignment on a Stationary Vehicle Aided Static Alignment 50 4 4 3 Unaided Alignment sess enne nnne nnne nnns 50 SPAN CPT User Manual Rev 4 4 5 SPAN ALIGN Attitude Updates ssssssssssssssseeeeeennereneennen nennen 50 A Technical Specifications 51 A 1 SPAN CPT Technical Specifications eeseeeeene emnes 51 AAA SPAN CPT Cables Aut een e eec tree rie rie Re dh tee entes 53 A 1 2 KVH IMU Sensor Specs 4 eene cente e aE E gain dne dd ente a 55 A 1 3 Electrical and Environmental sseeeeee een 56 B INS Commands 57 B 1 Using a Command asa Log nibii dti iiber eid iie reed cect 57 B2 INS Specific Commands eiecerunt tpe enne deiode vero ee eei unen 57 B 2 1 ALIGNMENTMODE Setthe Alignment Mode seem 58 B 2 2 APPLYVEHICLEBODYROTATION Enable Vehicle to Body Rotation 59 B 2 3 CANCONFIG Configure the CAN Interface for SPAN eene 60 B 2 4 EXTHDGOFFSET Set the Angular Offset 62 B 2 5 FRESET Factory Reset 0 c cccceecccecceceeeeeeaeeeeeeceaaeaeeeeseaaeeeeeeeaeanaeeeeenenaeeeeess 63 B 2 6 INSCOMMAND INS Control Command
4. Abbreviated ASCII Syntax Message ID 383 SETIMUTOANTOFFSET x y z a b c ASCII Binary Binary Binary Binary Description Format Bytes Offset Value Value 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 X 20 x offset m Double 8 H 3 y 20 y offset m Double 8 H 8 4 Z 20 z offset m Double 8 H 16 5 a 0 to 1 Uncertainty in x m Double 8 H 24 Defaults to 10 of the x offset to a minimum of 0 01 m 6 b 0 to 1 Uncertainty in y m Double 8 H 32 Defaults to 10 of the y offset to a minimum of 0 01 m 7 c 0 to 1 Uncertainty in z m Double 8 H 40 Defaults to 10 of the z offset to a minimum of 0 01 m Abbreviated ASCII Example SETIMUTOANTOFFSET 0 54 0 32 1 20 0 03 0 03 0 05 SPAN CPT User Manual Rev 4 73 Appendix B INS Commands B 2 14 SETIMUTOANTOFFSET2 Set IMU to Antenna Offset 2 Set the lever arm for the secondary antenna Preferably the primary antenna will be set up behind the IMU forward axis and the secondary antenna will be set up ahead of the IMU forward axis Entering both lever arms will automatically compute the angular offset between the heading vector of the ALIGN antennas and the SPAN computational frame axes However the SETIMUTOANTOFFSET2 parameter should be input with respect to the IMU enclosure frame as i
5. A positive value implies that the change is in the direction opposite to that of the Y axis marked on the IMU The change in angle gyro scale factor can be found in Zable 20 on page 124 Multiply the appropriate scale factor in Table 20 by the count in this field for the angle increments in radians SPAN CPT User Manual Rev 4 INS Logs Table 18 SPAN CPT Status Appendix C Nibble Bit Mask Description Range Value 0 0x00000001 Gyro X Status 1 Valid 0 Invalid NO 1 0x00000002 Gyro Y Status 1 Valid 0 Invalid 2 0x00000004 Gyro Z Status 1 Valid 0 Invalid 3 0x00000008 Unused Set to 0 4 0x00000010 Accelerometer X Status 1 Valid 0 Invalid Nl 5 0x00000020 Accelerometer Y Status 1 Valid 0 Invalid 6 0x00000040 Accelerometer Z Status 1 Valid 0 Invalid 7 0x00000080 Unused Set to 0 8 0x00000100 Unused N2 9 0x00000200 10 0x00000400 11 0x00000800 12 0x00001000 N3 13 0x00002000 14 0x00004000 15 0x00008000 16 0x00010000 N4 17 0x00020000 18 0x00040000 19 0x00080000 20 0x00100000 N5 21 0x00200000 22 0x00400000 23 0x00800000 24 0x01000000 N6 25 0x02000000 26 0x04000000 27 0x08000000 28 0x10000000 N7 29 0x20000000 30 0x40000000 31 0x80000000 SPAN CPT User Manual Rev 4 123 Appendix C INS Logs Recommended Input log rawimusa onnew ASCII Example RAWIMUSA 1105 425384 180 1105 425384 156166800
6. i se Positioning Technology Company SPAN CPT User Manual OM 20000122 Rev 4 Proprietary Notice SPAN CPT Receiver User Manual Publication Number OM 20000122 Revision Level Rev 4 Revision Date 2010 08 31 This manual reflects SPAN CPT Firmware Version CPT3 630 Proprietary Notice Information in this document is subject to change without notice and does not represent a commitment on the part of NovAtel Inc The software described in this document is furnished under a licence agreement or non disclosure agreement The software may be used or copied only in accordance with the terms of the agreement It is against the law to copy the software on any medium except as specifically allowed in the license or non disclosure agreement No part of this manual may be reproduced or transmitted in any form or by any means electronic or mechanical including photocopying and recording for any purpose without the express written permission of a duly authorized representative of NovAtel Inc The information contained within this manual is believed to be true and correct at the time of publication NovAtel OEMV and ProPak and are registered trademarks of NovAtel Inc CDU OEMV 3 ProPak V3 SPAN and SPAN CPT are trademarks of NovAtel Inc All other product or brand names are trademarks of their respective holders Manufactured and protected under U S patents NovAtel Patents KVH Technology Patents 55 101 416 6 66
7. 00000077 43088060 430312 3033352 132863 186983 823 5aa97065 Table 18 shows how to change the bolded field IMU Status in the SPAN CPT example above into it s binary equivalent and then how to read Table 19 SPAN CPT Status Example Table 19 SPAN CPT Status Example Z Z So Nibble N7 N6 N5 N4 N3 N2 N E NICE E ep E coy QO DGG OCG EIS epe ES ES ca SITES A ON mene ES Ce NUM Table 20 Raw SPAN CPT Scale Factors 0 1 Gyroscope a Uk Seale Factor 3600 0x256 0 amp d LSB Acceleration 0 05 2 5 m s LSB Scale Factor 124 SPAN CPT User Manual Rev 4 INS Logs Appendix C C 2 26 TIMEDWHEELDATA Timed Wheel Data This log contains wheel sensor data The time stamp in the header is the time of validity for the wheel data not the time the TIMEDWHEELDATA log was output See also SPAN CPT Wheel Sensor on page 41 Structure Message ID 622 Log Type Asynch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Ticks Per Rev Number of ticks per revolution Ushort 2 H 3 Wheel Vel Wheel velocity in counts s Ushort 2 H 2 4 fWheel Vel Float wheel velocity in counts s Float 4 H 4 5 Reserved Ulong 4 H 8 6 Ulong 4 H 12 T Ticks Per Second Cumulative number of ticks per second long 4 H 16 8 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 20 Binary only 9 CR LF Sentance terminat
8. MIL DTL 38999 Seri x ios n SPAN CPT Part D36999 24F D35PA 4 lector Part D38999 26FD35SA INDUCT ARTIALLY STRIP 25 INCHE LEAVE INSULATI RE Figure 14 SPAN CPT Development Terminated Cable lt The SPAN CPT cable also has a green ground line that is not shown in this drawing The green ground line is grounded to the SPAN CPT connector and enclosure Table 6 SPAN CPT Connector Pin Out Descriptions B Female Male Function are DB9to DB9to USB Comments coM1 CON2 Connectors Power Return Black 2 9 18 VDC Power Input White 3 COMI RS422 RX RS232 TX 2 From OEMV 3 Module 4 COMI RS422 TX RS232 RTS 8 From OEMV 3 Module 5 COMI RS422 TX RS232 RX 3 To OEMV 3 Module 6 COMI RS422 RX RS232 CTS 7 To OEMV 3 Module 7 COMI RS42 Select In Tie together with pin number 8 to select RS422 Continued on the following page SPAN CPT User Manual Rev 4 53 Appendix A Function Bare Connectors Female Technical Specifications Male DB9to DB9to USB Comments COM1 COM2 8 COMI RS422 Select Out Tie together with pin number 7 to select RS422 9 COMI SIGNAL GND 5 10 OEMV 3 USB D Black 3 11 OEMV 3 USB D White 2 12 OEMV 3 USB SIGNAL GND 4 13 Odometer Power White 14 Odometer Power Return Black 15 ODOSIGA Black 16 OD
9. See Appendix A Technical Specifications D4 1 The closer the antenna is to the SPAN CPT the more accurate the position solution Also your measurements when using the SETIMUTOANTOFFSET command must be as accurate as possible or at least more accurate than the GPS positions being used For example a 10 cm error in recording the antenna offset will result in at least a 10 cm error in the output Millimeter accuracy is preferred 2 The offset from the SPAN CPT to the antenna and or a user point device must remain constant especially for RTK or DGPS data Ensure the SPAN CPT antenna and user point device are bolted in one position perhaps by using a custom bracket 2 2 3 Connect COM Cables SPAN CPT has one multi purpose I O connector that contains pins for the RS232 com ports USB ports pps signals and event input triggers Refer to Appendix A for port pin definitions 3 Connect the USB port of the SPAN CPT to a computer USB port Alternatively connect the COM 1 port of the SPAN CPT to the computer COM port via a null modem cable 4 Connect the antenna to the antenna port on the enclosure using an appropriate coaxial cable 26 SPAN CPT User Manual Rev 4 SPAN CPT Installation Chapter 2 Figure 5 Connect the antenna to the antenna port 2 2 4 Connect Power The SPAN CPT system receiver requires an input supply voltage between 9 VD C and 18 VD C The receiver has an internal power module that does the following fi
10. Velocity and Attitude at Mark1 suueussssss 120 C 2 24 PASHR NMEA fix and position data sss 121 C 2 25 RAWIMUS Short Raw IMU Data sse enne 122 C 2 26 TIMEDWHEELDATA Timed Wheel Data seeem 125 C 2 27 VEHICLEBODYROTATION Vehicle to SPAN frame Rotation 126 C 2 28 WHEELSIZE Wheel Size seen eene 127 D Command Prompt Interface 128 Dit DOS tik iets tein tnd es c tona a Sas rcs Pc s ree dde 129 D 2 WindOWS uite te eee e m ee n Rede ee coe e ire ele ake 130 E Replacement Parts 131 E T SPAN CPT System 5 eem reete e ep ep eir eR e E ERE TER 131 E 2 Accessories and Opltions 3 ier eee oe terti dee c ios Ee ede Eee eon rede equat 131 F Frequently Asked Questions 132 Index 133 SPAN CPT User Manual Rev 4 1 SPANZSCPISSySIem oA IEEE UERBO ie EE 2 Basic Seb Up iui eerte er eig iterat e 3 SPAN CPT Enclosure 4 SPAN CPT Enclosure Mounting cccceeeeeeceeceeeneeceeeeseeeeaeeeeseseeaeceesesecaeeeeeseeeeeeeees 26 5 Connect the antenna to the antenna port ssssssssssssseseeeneneneen nennen 27 6 Apply Power to the SPAN CPT ou ccccccceceececceeeeeeeeeceeeecesaeeeeeeseaaeaeeeeseseeaeeeesesenaeeeeeeees 28 7 Local Level Frame ENU sssssssssssssssssesseeeen eren nenne tente ten nnen esten ern nn nnne 30 8 The Enclosure Frame 5 2 nien preme ed eese ene dede seed asec 31 9 Vehicl
11. for further information Ulong H 12 6 tx mask 0 to 65535 0x0000 to OxFFFF Transmit activation mask Refer to application note APN 046 for further information Ulong H 16 7 source INSGPS GPS CAN source from either the INS GPS solution of the GPS only solutions Enum H 20 Abbreviated ASCII Example CANCONFIG CAN1 ENABLE 1M 1000 3 INSGPS SPAN CPT User Manual Rev 4 INS Commands SPAN CPT User Manual Rev 4 Table 7 CAN Bit Rate per second Binary ASCII 0 10K 1 20K 50K 100K 125K 250K 500K 800K oou A mT AJ WwW d 1M Appendix B 61 Appendix B INS Commands B 2 4 EXTHDGOFFSET Set the Angular Offset The EXTHDGOFFSET command can be used to specify the angular offset from the dual antenna baseline to the SPAN computation frame It is highly recommended that these offsets be entered by entering a lever arm to both antennas as the measurement errors will be lower see Section 4 4 Configuring SPAN with ALIGN on SPAN CPT on page 49 However this command can be used to enter the offsets directly 1f necessary lt EXTHDGOFFSET is also available as a log when both lever arms are entered Refer to Section C 4 6 EXTHDGOFFSET Log the Angular Offset on page 211 Abbreviated ASCII Syntax Message ID 1204 EXTHDGOFFSET heading headingSTD pitch pitchS TD ASCII Binary
12. 64 INSATT 104 111 INSATTS 105 SCOMMAND 64 SCOV 106 SCOVS 108 SPHASEUPDATE 65 SPOS 109 SPOSS 110 SPOSSYNC 111 SPVA 112 SPVAS 113 SSPD 114 2222222222 133 Index INSSPDS 115 INSUPDATE 116 INSVEL 118 INSVELS 119 INSZUPT 66 INSZUPTCONTROL 67 introduction 22 L latency 88 latitude longitude 88 lever arm 94 link loss of 88 logging 57 85 M Mark trigger 80 MARKIPVA 120 mean sea level 88 memory non volatile 63 mode RTK 88 model upgrades 17 N NMEA satellite type 68 NMEATALKER 68 non volatile memory NVM 63 north 118 O offset 73 79 orientation 70 P PASHR 121 pitch 70 73 94 104 port 27 position 79 112 best 88 INS 64 mark 120 measurements 106 109 synchronised 111 power 27 pseudorange solutions 88 134 R RAWIMUS 121 real time kinematic RTK 88 replacement parts 131 reset hardware 63 revision manual 2 136 roll 70 73 94 104 rotation 59 69 RVB see vehicle to body rotation RVBCALIBRATE 69 S set up hardware 24 SETIMUORIENTATION 70 SETIMUTOANTOFFSET 73 SETIMUTOANTOFFSET2 74 SETINITATTITUDE 75 SETINSOFFSET 79 84 SETMARKIOFFSET 80 SETMARK2OFFSET 80 SETWHEELPARAMETERS 81 short binary header 85 86 SPAN frame 70 speed 93 114 status 88 92 support 16 synchronise INS with GPS 111 T technical specifications 51 56 time synchonised 111 TIMEDWHEELDATA 125 track over ground 93 troubleshooting 132 true north 93 U undulatio
13. 9 Lato Latitude standard deviation Float 4 H 40 10 Lono Longitude standard deviation Float 4 H 44 11 Hgt o Height standard deviation Float 4 H 48 12 Stn ID Base station ID Char 4 4 H 52 13 Diff_age Differential age Float 4 H 56 14 Sol age Solution age in seconds Float 4 H 60 15 obs Number of observations tracked Uchar 1 H 64 16 GPSL1 Number of GPS L1 ranges used in computation Uchar 1 H 65 17 L1 Number of GPS L1 ranges above the RTK mask angle Uchar 1 H 66 18 L2 Number of GPS L2 ranges above the RTK mask angle Uchar 1 H 67 Continued on page 89 88 SPAN CPT User Manual Rev 4 INS Logs Appendix C Binary Binary Field Field type Data Description Format Bytes Offset 19 Reserved Uchar 1 H 68 20 Uchar 1 H 69 21 Uchar 1 H 70 22 Uchar 1 H 71 23 XXXX 32 bit CRC ASCH and Binary only Hex 4 H 72 24 CR LF Sentence terminator ASCII only Recommended Input log bestgpsposa ontime 1 ASCII Example BESTGPSPOSA COM1 0 62 5 FINESTEERING 1036 484878 000 00000028 63e2 0 SOL COMPUTED SINGLE 51 11629893124 114 03820302746 1052 3434 16 271287293 61 19 6934 13 1515 23 8561 0 0 60 000 10 10 0 0 0 0 0 0 1051ada9 Table 13 Position or Velocity Type ba c ad PASCI Description 0 NONE No solution 1 FIXEDPOS Position has been fixed by the FIX POSITION command or by position averaging 2 FIXEDHEIGHT Position has been fixed by the
14. Binary Binary Binary Value Value Format Bytes Offset 1 Header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 Heading 0 to 360 0 Angular offset for the DOUBLE 8 H azimuth or heading between the external aiding source and the IMU forward axis Input in degrees 3 HeadingSTD 0 to 10 0 Input heading offset DOUBLE 8 H 8 standard deviation Input in degrees 4 Pitch 90 0 to 90 0 Angular offset for the pitch DOUBLE 8 H 16 between the external aiding source and the IMU forward axis Input in degrees Default 0 0 5 PitchSTD 0 to 10 0 Input pitch offset standard DOUBLE 8 H 24 deviation Input in degrees Default 0 0 Description Abbreviated ASCII Example EXTHDGOFFSET 0 5 1 0 0 23 1 0 62 SPAN CPT User Manual Rev 4 INS Commands B 2 5 FRESET Factory Reset Appendix B This command clears data which is stored in non volatile memory Such data includes the almanac ephemeris and any user specific configurations The receiver 1s forced to hardware reset Abbreviated ASCII Syntax FRESET target Message ID 20 Field ASCII Binary Binary Binary acis Type Value Value Description Bytes Offset 1 header This field contains the H 0 command name or the message header depending
15. CE Notices The enclosures carry the CE mark Hereby NovAtel Inc declares that this SPAN CPT is in compliance with the essential requirements and other relevant provisions of Directive 1999 5 EC Notices WEEE Notice If you purchased your SPAN CPT product in Europe please return it to your dealer or supplier at the end of its life The objectives of the European Community s environment policy are in particular to preserve protect and improve the quality of the environment protect human health and utilise natural resources prudently and rationally Sustainable development advocates the reduction of wasteful consumption of natural resources and the prevention of pollution Waste electrical and electronic equipment WEEE is a regulated area Where the generation of waste cannot be avoided it should be reused or recovered for its material or energy WEEE products may be recognized by their wheeled bin label C amp D 1 Please visit the NovAtel Web site at www novatel comthrough Products WEEE and RoHS for more information on WEEE and RoHS SPAN CPT User Manual Rev 4 19 Foreword Congratulations Congratulations on purchasing your SPAN CPT GPS INS receiver SPAN Synchronized Position Attitude Navigation Technology features tight integration of a NovAtel GPS receiver and an Inertial Measurement Unit IMU SPAN provides continuous navigation information using an Inertial Navigation System INS to bridge short Glob
16. CPT system to solve the vehicle to body SPAN offset The solved vehicle body rotation parameters are output in the VEHICLEBODYROTATION log when the calibration is complete When the calibration is done the rotation values are fixed until the calibration is re run by entering the RVBCALIBRATE command again or by entering the VEHICLEBODYROTATION command with known values lt The solved rotation values are used only for a rough estimate of the angular offsets between the SPAN CPT and vehicle frames The offsets are used when aligning the system while in motion see Section 3 3 1 System Start Up and Alignment Techniques star ng on page 38 The angular offset values are not applied to the attitude output unless the APPLYVEHICLEBODYROTATION command is enabled Abbreviated ASCII Syntax RVBCALIBRATE reset 1 header Binary Value Description This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively Message ID 641 Binary Offset Binary Format Binary Bytes 2 switch RESET 0 DISABLE 1 ENABLE 2 Control the vehicle body rotation computation ENUM 4 H Abbreviated ASCII Example RVBCA IBRATE reset SPAN CPT User Manual Rev 4 69 Appendix B INS Commands B 2 12 SETIMUORIENTATION Set IMU Orientation 70 The SETIMUORIENTATION command is used to specify
17. FIX HEIGHT or FIX AUTO command or by position averaging 3 Reserved 4 FLOATCONV Solution from floating point carrier phase ambiguities 5 WIDELANE Solution from wide lane ambiguities 6 NARROWLANE Solution from narrow lane ambiguities 7 Reserved 8 DOPPLER VELOCITY Velocity computed using instantaneous Doppler 9 15 Reserved 16 SINGLE Single point position 17 PSRDIFF Pseudorange differential solution 18 WAAS Solution calculated using corrections from an SBAS 19 PROPOGATED Propagated by a Kalman filter without new observations Continued on the following page SPAN CPT User Manual Rev 4 89 Appendix C 90 Position Type Position Type INS Logs binary ASCII Description 20 OMNISTAR OmniSTAR VBS position L1 sub meter 21 31 Reserved 32 L1 FLOAT Floating L1 ambiguity solution 33 IONOFREE FLOAT Floating ionospheric free ambiguity solution 34 NARROW FLOAT Floating narrow lane ambiguity solution 48 L1 INT Integer L1 ambiguity solution 49 WIDE INT Integer wide lane ambiguity solution 50 NARROW INT Integer narrow lane ambiguity solution 51 RTK DIRECT INS RTK status where the RTK filter is directly initialized from the INS filter 32 INS INS calculated position corrected for the antenna 5 53 INS_PSRSP INS pseudorange single point solution no DGPS corrections P 54 INS_PSRDIFF INS pseudorange differential solution 55 INS RTKFLOAT INS RTK floating point a
18. Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Latitude Latitude WGS84 Double 8 H 12 5 Longitude Longitude WGS84 Double 8 H 20 6 Height Ellipsoidal Height WGS84 m Double 8 H 28 7 Status INS status see Table 1 on page 37 Enum 4 H 36 8 XXXX 32 bit CRC ASCH Binary and Hex 4 H 40 Short Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log inspossa ontime 1 ASCII Example SINSPOSSA 1105 425385 000 1105 425384 996167250 51 058410364 114 065465722 1067 791685696 INSSolutionGood 9bfd5al2 110 SPAN CPT User Manual Rev 4 INS Logs Appendix C C 2 15 INSPOSSYNC Time Synchronised INS Position This log contains the time synchonised INS position It is synchronised with GPS each second Structure Message ID 322 Log Type Asynch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Sec Age of synchronised INS solution s Double 8 H 3 X ECEF X coordinate m Double 8 H 8 4 ECEF Y coordinate m Double 8 H 16 5 Z ECEF Z coordinate m Double 8 H 24 6 Cov ECEF covariance matrix a 3 x 3 Double 9 72 H 32 array of length 9 Refer also to the CLOCK MODEL log in the OEMV Family Firmware Reference Manual 7 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 104 Binary only 8 CR LF Sentence terminat
19. first rotation is around the z axis of the vehicle frame the second is about the x axis of the SPAN computational frame and the third and final rotation 1s about the y axis of the SPAN computational frame With the default mapping and with no angular offset between the vehicle frame and SPAN computational frame the output roll is the angle of rotation about the y axis the output pitch is about the x axis and the output azimuth is about the z axis and is measured to the y axis Note that azimuth is positive in the clockwise direction when looking towards the origin However the input vehicle to body rotation about the z axis follows the right hand rule convention and a positive rotation is in the counterclockwise direction when looking towards the origin For further information about extracting the vehicle s attitude with respect to the local level frame refer to NovAtel application note APN 037 Application Note on Vehicle Body Rotations available from the NovAtel Web site at www novatel com through Support Knowledge and Learning If you use the APPLY VEHICLEBODYROTATION command the reported attitude in the INSPVA or INSATT logs are in the vehicle frame Otherwise the reported attitude is in the SPAN computational frame 82 SPAN CPT User Manual Rev 4 INS Commands Appendix B The vehicle frame is as follows Vehicle Z Axis points up through the roof of the vehicle perpendicular to the ground e Vehicle Y Axis points out
20. frame Meters squared Doubles 5 Attitude Covariance Attitude covariance matrix in local List of 9 72 H 84 level frame Degrees squared Doubles rotation around the given axis 6 Velocity Covariance Velocity covariance matrix in local List of 9 72 H 156 level frame Meters second squared Doubles 7 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 228 Binary only 8 CR LF Sentence terminator ASCII only 106 SPAN CPT User Manual Rev 4 INS Logs Appendix C Recommended Input log inscova onchanged ASCII Example INSCOVA COM3 0 0 0 EXACT 1105 425385 020 00040000 c45c 0 1105 425385 000000000 0 0997319969301073 0 0240959791179416 0 0133921499963209 0 0240959791179416 0 1538605784734939 0 0440068023663888 0 0133921499963210 0 0440068023663887 0 4392033415009359 0 0034190251365443 0 0000759398593357 0 1362852812808768 0 0000759398593363 0 0032413999569636 0 0468473344270137 0 1362852812808786 0 0468473344270131 117 5206493841025100 0 0004024901765302 0 0000194916086028 0 0000036582459112 0 0000194916086028 0 0004518869575566 0 0000204616202028 0 0000036582459112 0 0000204616202028 0 0005095575483948 1 c92787 SPAN CPT User Manual Rev 4 107 Appendix C INS Logs C 2 12 INSCOVS Short INS Covariance Log This is a short header version of the NSCOV log on page 106 These values are also computed once per second Structure M
21. frame axes such that z points up for SPAN computations You must enter the azimuth with respect to the transformed axis See SETIMUORIENTATION on page 70 for a description of the axes mapping that occurs when the SPAN CPT is mounted differently from z pointing up D4 1 Azimuth is positive in a clockwise direction when looking towards the z axis origin 2 You do not have to use the SETIMUORIENTATION command see page 70 unless you have your SPAN CPT mounted differently from the z axis pointing up Then use the tables in the SETIMURIENTATION command on pages 71 72 to determine the azimuth axis that SPAN is using Abbreviated ASCII Syntax Message ID 863 SETINITAZIMUTH azimuth azSTD SPAN CPT User Manual Rev 4 77 Appendix B INS Commands ASCII Binary Binary Binary Binary Value Value Description Tarma Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 azimuth 360 to 360 Input azimuth angle in degrees Double 8 H 3 azSTD 0 000278 to 180 Input azimuth standard Double 8 H 8 deviation angle in degrees Abbreviated ASCII Example SETINITAZIMUTH 90 5 In this example the initial azimuth has been set to 90 degrees This means that the SPAN system y axis is pointing due East within a standard deviation of 5 degrees Note that if you have mounted your
22. is still valid but you should monitor the solution uncertainty in the INSCOV log You may encounter this state during times when the GPS used to aid the INS is absent 3 INS SOLUTION GOOD The INS filter is in navigation mode and the INS solution is good 6 INS BAD GPS AGREEMENT The INS filter is in navigation mode and the GPS solution is suspected to be in error This may be due to multipath or limited satellite visibility The inertial filter has rejected the GPS position and is waiting for the solution quality to improve 7 INS ALIGNMENT COMPLETE The INS filter is in navigation mode but not enough vehicle dynamics have been experienced for the system to be within specifications SPAN CPT User Manual Rev 4 37 Chapter 3 SPAN CPT Operation 3 3 1 System Start Up and Alignment Techniques 38 The system requires an initial attitude estimate to start the navigation filter This is called system alignment On start up the system has no position velocity or attitude information When the system is first powered up the following sequence of events happens 1 The first satellites are tracked and coarse time is solved 2 Enough satellites are tracked to compute a position 3 Receiver fine time is solved meaning the time on board the receiver is accurate enough to begin timing IMU measurements The time status in the log headers will indicate FINESTEERING when this happens 4 Raw IMU measurements begin
23. is the SETIMUTOANTOFFSET command It can be entered as follows COM2 setimutoantoffset 33 0 1 1 2 0 01 0 01 0 01 Return COM2 The above example illustrates command input to the receiver COM serial port which sets the antenna to IMU offset However your only confirmation that the command was actually accepted 1s the return of the COM2 prompt If a command is incorrectly entered the receiver responds with Invalid Command Name or a more detailed error message followed by the port prompt 128 SPAN CPT User Manual Rev 4 Command Prompt Interface D 1 DOS Appendix D One way to initiate multiple commands and logging from the receiver is to create DOS command files relating to specific functions This minimizes the time required to set up duplicate test situations Any convenient text editor can be used to create command text files Example For this example consider a situation where a laptop computer s appropriately configured COMI serial port is connected to the receiver s COMI serial port and where a rover terminal is connected to the receiver s COM2 serial port If you wish to monitor the SPAN system activity the following command file could be used to do this 1 Open a text editor on the PC and type in the following command sequences log log log log log com2 com2 com2 com2 com2 satvisa ontime 15 trackstata ontime 15 rxstatusa ontime 60 5 bestposa ontime 15 psrdopa ontime 15 2 Save this
24. its default alignment options In the case of a SPAN CPT the default alignment mode is a kinematic alignment To use this alignment mode the configuration command ALIGNMENTMODE must be sent to the receiver ALIGNMENTMODE UNAIDED SPAN ALIGN Attitude Updates The INS heading updates are used to help constrain the azimuth drift of the INS solution whenever possible This will be of the greatest value with lower quality IMUs and in environments with low dynamics where the attitude error is less observable Slow moving marine or train applications are good examples of the intended use By providing an external heading source the solution drift can be constrained in these environments You can monitor the heading update status as outlined in INSUPDATE on page 116 SPAN CPT User Manual Rev 4 P Yd D uw Technical Specifications This appendix details the technical specifications of the SPAN CPT A 1 SPAN CPT Technical Specifications Table 5 Technical HW Specs for SPAN CPT SPAN CPT Enclosure Size 127 0 mm L X 105 41 mm W X 88 9 mm H SPAN CPT Weight 1 81 kg MECHANICAL DRAWINGS Y X dow ners LM 1 22 um ae EE az N 51 13 0 l 30 9 3 39 ra 4x 86 1 03 8 Note All dimensions are in inches mm 6 00 C 1524 gt Figure 12 SPAN CPT Side and Perspec
25. on whether the command is abbreviated ASCH ASCII or binary respectively 2 target See Table 8 What data is to be reset by Enum 4 H the receiver Input Example FRESET COMMAND Table 8 FRESET Target Binary ASCII Description 0 STANDARD Resets commands ephemeris and almanac default Also resets all OmniSTAR related data except for the subscription information 1 COMMAND Resets the stored commands saved configuration 2 GPSALMANAC Resets the stored almanac 3 GPSEPHEM Resets stored ephemeris 5 MODEL Resets the currently selected model 11 CLKCALIBRATION Resets the parameters entered using the CLOCKCALIBRATE command 20 SBASALMANAC Resets the stored SBAS almanac 21 LAST_POSITION Resets the position using the last stored position 22 VEHICLE BODY R Resets stored vehicle to body rotations 24 INS LEVER ARM Resets the GPS antenna to IMU lever arm SPAN CPT User Manual Rev 4 63 Appendix B INS Commands B 2 6 INSCOMMAND INS Control Command 64 This command allows you to enable or disable INS positioning When INS positioning is disabled no INS position velocity or attitude 1s output Also INS aiding of RTK initialization and tracking reacquisition is disabled If the command is used to disable INS and then re enable it the INS system has to go through its alignment procedure equivalent to issuing a RESET command See also Section 3 3 1 System Start Up and Alignment Techniques starting on page 38 Abbreviated ASCII Synt
26. or like instrument of privilege by reason of the use or application of the Software by the Licensee or any other information supplied or to be supplied to the Licensee pursuant to the terms of this Agreement NovAtel shall not be bound to take legal proceedings against any third party in respect of any infringement of letters patent registered design or like instrument of privilege which may now or at any future time be owned by it However should NovAtel elect to take such legal proceedings at NovAtel s request Licensee shall co operate reasonably with NovAtel in all legal actions concerning this license of the Software under this Agreement taken against any third party by NovAtel to protect its rights in the Software NovAtel shall bear all reasonable costs and expenses incurred by Licensee in the course of co operating with NovAtel in such legal action 4 Restrictions You may not a copy other than as provided for in paragraph 2 distribute transfer rent lease lend sell or sublicense all or any portion of the Software except in the case of sale of the hardware to a third party b modify or prepare derivative works of the Software c use the Software in connection with computer based services business or publicly display visual output of the Software d transmit the Software over a network by telephone or electronically using any means except when downloading a purchased up grade from the NovAtel web site or e reverse en
27. position output For example GPGSV is for information on GPS satellites and its output always uses the GP ID Table 9 shows the NMEA logs and whether they use GP or GP IN IDs with nmeatalker auto Table 9 NMEA Talkers GPGLL GPGST GPRMB GPRMC GPVTG Log Talker IDs GP IN GP IN GP IN GP IN GP IN Field ASCII Binary Binary Binary Binary ius Type Value Value Description Format Bytes Offset 1 NMEA This field contains the command H 0 TALKER name or the message header header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 ID GP 0 GPS GP only Enum 4 H AUTO 1 GPS and or Inertial IN 68 SPAN CPT User Manual Rev 4 INS Commands Appendix B B 2 11 RVBCALIBRATE Vehicle to Body Rotation Control The RVBCALIBRATE command is used to enable or disable the calculation of the vehicle to SPAN body angular offset This command should be entered when the SPAN CPT is re mounted in the vehicle or if the rotation angles available are known to be incorrect A WARNING After the RVBCALIBRATE ENABLE command is entered there are no vehicle body rotation parameters present and a kinematic alignment is NOT possible Therefore this command should only be entered after the system has performed either a static or kinematic alignment and has a valid INS solution A good INS solution and vehicle movement are required for the SPAN
28. routine The alignment will happen instantaneously once the receiver establishes communication with the IMU computes a fixed integer and receives a verified ALIGN solution The INS status will change to INS ALIGNMENT COMPLETE or INS SOLUTION GOOD depending on the variances of the ALIGN solution and the measured lever arm external heading offset SPAN CPT User Manual Rev 4 49 Chapter 4 SPAN CPT Dual Antenna 4 4 2 Alignment on a Stationary Vehicle Aided Static Alignment An alternative to the aided transfer alignment the ALIGN heading can be used as a seed for a coarse static alignment In this mode the standard coarse alignment routine will run given the initial azimuth value As with the transfer alignment the first verified fixed RTK solution will be used to provide the alignment seed after which the 60 second coarse alignment INS ALIGNING will begin After the 60 seconds the INS status will change to INS ALIGNMENT COMPLETE Once the attitude accuracy has converged the INS status will change to INS SOLUTION GOOD This alignment mode is useful if the initial vehicle roll is more than 20 degrees To use this alignment mode the configuration command ALIGNMENTMODE must be sent to the receiver ALIGNMENTMODE AIDED STATIC 4 4 3 Unaided Alignment 4 5 50 The unaided alignment is the default setting for any SPAN CPT receiver that has not been configured for dual antenna operation This returns the SPAN system to
29. sensor information useful in post processing the TIMEDWHEELDATA log should only be used with the ONNEW trigger SPAN CPT User Manual Rev 4 45 Chapter 3 SPAN CPT Operation 3 5 Data Collection for Post Processing Some operations such as aerial measurement systems do not require real time information from SPAN CPT These operations are able to generate the position velocity or attitude solution post mission in order to generate a more robust and accurate solution than is possible in real time In order to generate a solution in post processing data must be simultaneously collected at a base station and each rover The following logs must be collected in order to successfully post process data From a base RANGECMPB ONTIME 1 RAWEPHEMB ONCHANGED From a rover e RANGECMPB ONTIME 1 e RAWEPHEMB ONCHANGED e RAWIMUSB ONNEW BESTLEVERARMB ONNEW Post processing is performed through the Waypoint Inertial Explorer software package available from from NovAtel s Waypoint Products Group For information visit our Web site at www novatel com through Products Waypoint Software lt The highest rate that you should request GPS logs RANGE BESTPOS RTKPOS PSRPOS and so on while in INS operation is 5 Hz If the receiver is not running INS GPS logs can be requested at rates up to 20 Hz 46 SPAN CPT User Manual Rev 4 Chapter 4 SPAN CPT Dual Antenna 4 1 4 2 Overview NovAtel s ALIGN heading technology g
30. the aggregate in excess of ten 1096 percent of the total Order price SPAN CPT User Manual Rev 4 Warranty NovAtel Inc warrants that its GNSS products are free from defects in materials and workmanship subject to the conditions set forth below for the following time periods SPAN CPT Unit GPSAntenna Series Cables and Accessories Computer Discs Software Warranty One 1 Year One 1 Year Ninety 90 Days Ninety 90 Days One 1 Year Date of sale shall mean the date of the invoice to the original customer for the product NovAtel s responsibility respecting this warranty is solely to product replacement or product repair at an authorized NovAtel location only Determination of replacement or repair will be made by NovAtel personnel or by technical personnel expressly authorized by NovAtel for this purpose warranty continued on page14 A WARNING Return IMUs to their manufacturer not to NovAtel SPAN CPT User Manual Rev 4 13 14 Warranty NovAtel warrants that during the Warranty Period that a the Product will be free from defects in material and workmanship and conform to NovAtel specifications and b the software will be free from error which materially affect performance THESE WARRANTIES ARE EXPRESSLY IN LIEU OF ALL OTHER WARRANTIES EXPRESS OR IMPLIED INCLUDING WITHOUT LIMITATION ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE NOVATEL SHALL IN NO EVENT BE LIABLE
31. to be timed by the receiver and are available to the INS filter They are also available to you in the RAWIMUS log see page 121 The INS Status field reports INS INACTIVE 5 The inertial alignment routine starts and the INS Status field reports INS ALIGNING At this point there are three options for completing the alignment See the following sections for the options 6 Alignment is complete and the INS Status field changes to INS ALIGNMENT COMPLETE The system transitions to navigation mode The GPS INS solution is available at this point 7 The solution is refined using updates from GPS Once the system is operating within specifications after some vehicle movement the INS Status field changes to INS SOLUTION GOOD This indicates that the estimated azimuth standard deviation is below 2 If it increases above 2 the status changes to INS SOLUTON NOT GOOD 3 3 1 1 Default Kinematic Alignment The Fast or Kinematic alignment is the default alignment routine for SPAN CPT If the system is mounted as recommended with the Z axis pointing up and the Y axis aligned with the forward direction of the vehicle then no additional configuration is required to complete a moving alignment Once the INS status reaches INS ALIGNING the moving alignment will happen once the vehicle velocity reaches 1 15m s 4km h and the INS status will change to INS ALIGNMENT COMPLETE The moving alignment transfers the GPS course over ground pitch and a
32. ve Double 8 H 36 value implies a southerly direction m s 8 East Velocity Velocity in an easterly direction a ve Double 8 H 44 value implies a westerly direction m s 9 Up Velocity Velocity in an up direction m s Double 8 H 52 10 Roll Right handed rotation from local level Double 8 H 60 around y axis in degrees 11 Pitch Right handed rotation from local level Double 8 H 68 around x axis in degrees 12 Azimuth Left handed rotation around z axis Double 8 H 76 Degrees clockwise from North 13 Status INS Status see Table 1 on page 37 Enum 4 H 84 14 XXXX 32 bit CRC Hex 4 H 88 15 CR LF Sentence Terminator ASCH only Recommended Input log inspvasa ontime 1 ASCII Example INSPVASA 1264 144059 000 1264 144059 002135700 51 116680071 114 037929194 515 286704183 211 896368884 84 915188605 8 488207941 0 759619515 2 892414901 6 179554750 INS ALIGNMENT COMPLETE 855d6f76 SPAN CPT User Manual Rev 4 113 Appendix C INS Logs C 2 18 INSSPD INS Speed This log contains the most recent speed measurements in the horizontal and vertical directions and includes an INS status indicator Structure Message ID 266 Log Type Synch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Trk gnd Actual direction of motion over ground Double 8 H 12 track over ground wit
33. 12 Reserved 13 INTEGRITY WARNING Large residuals make position unreliable 17 IMU UNPLUGGED No IMU detected 18 PENDING When a FIX POSITION command is entered the receiver computes its own position and determines if the fixed position is valid 19 INVALID FIX The fixed position entered using the FIX POSITION command is not valid a PENDING implies there are not enough satellites being tracked to verify if the FIX POSITION entered into the receiver is valid The receiver needs to be tracking two or more GPS satellites to perform this check Under normal conditions you should only see PENDING for a few seconds on power up before the GPS receiver has locked onto its first few satellites If your antenna is obstructed or not plugged in and you have entered a FIX POSITION command then you may see PENDING indefinitely SPAN CPT User Manual Rev 4 91 Appendix C INS Logs C 2 2 BESTGPSVEL Best Available GPS Velocity Data 92 This log contains the best available GPS velocity information without INS computed by the receiver In addition it reports a velocity status indicator which is useful in indicating whether or not the corresponding data is valid The velocity measurements sometimes have a latency associated with them The time of validity is the time tag in the log minus the latency value The velocity is typically computed from the average change in pseudorange over the time interval or the RTK Low Latency fi
34. 4 923 B1 5 444 534 6 441 779 5 390 207 6 721 657 B2 5 481 358 6 466 596 5 414 729 6 750 816 B1 5 512 904 6 542 651 5 495 499 7 193 559 B2 5 552 887 6 594 020 5 734 674 7 346 452 5 739 944 6 718 097 5 736 961 5 768 462 6 763 153 5 809 064 6 041 149 6 836 334 6 243 409 B1 6 134 356 6 856 300 6 351 310 B1 6 864 347 6 370 289 B1 6 89 1 622 6 429 939 7 120 323 Copyright 2008 2010 Novatel Inc All rights reserved Unpublished rights ED amp reserved under International copyright laws Printed in Canada on recycled paper Recyclable 2 SPAN CPT User Manual Rev 4 Table of Contents Proprietary Notice 2 Software License 8 Terms and Conditions 10 Warranty 13 Customer Support 15 Firmware Updates and Model Upgrades 17 Notices 18 Foreword 20 1 Introduction 22 1 1 System Component ioiii essei esee sedet dede et ene tieid a eade daire iie 23 2 SPAN CPT Installation 24 2 1 Hardware D scriptioni iri ree Reiter renis 24 2 1 1 SPAN CPT Hardware s hr e aeaa aee a pa E eaa aa ara asa EE aaeei 25 2 2 ae TONE ASTU o E E E ede esed eed 25 22 1 Mount Antea 1 i I roten i ER ced bases cei chess s qe ed e a Deras adaon 25 PAPLER ES mI AAN E C ma 7 hec e ENTENTE 25 2 2 3 Connect COM Gabl s e a e RR EE DR UR e TRE ends 26 2 2 4 Gonniect POWO F fece de epe eg e e Ee Ut E ERR Pe rr EAR ERE 27 3 SPAN CPT Operation 29 3 1 Definition of Reference Frames Within SPAN ss
35. 6 SPAN CPT User Manual Rev 4 41 Chapter 3 SPAN CPT Operation 42 Active input voltage is greater than or equal to 2 5 VDC with a max input voltage of 50 VDC nactive voltage is less than or equal to 1 VDC Input current is approximately 3 5 mA at 5 VDC with a maximum of 5 mA at 50 VDC Ensure input current does not exceed 5 mA There is a current limiting diode that can dissipate 800 mW on the input opto isolator Quadrature pulse and direction type odometers are compatible An example of a SPAN CPT compatible odometer is the WPT Wheel Pulse Transducer from Corrsys Datron www corrsys datron com A transducer traditionally fits to the outside of a non drive wheel A pulse 1s then generated from the transducer which is fed directly to the ODO connector on the IMU cable Figure 10 Corrsys Datron WPT The WPT mounts to the wheel lug nuts via adjustable mounting collets The torsion protection rod which maintains rotation around the wheel axis affixes to the vehicle body with suction cups Refer to the Corrsys Datron WPT user manual for mounting instructions SPAN CPT will power the odometer See Appendix A on page 51 for the pin outs of the SPAN CPT cable Connect the appropriate pins to your chosen odometer If you chose the Corrsys Datron WPT first modify the cable at the WPT end The cable modification is shown in Zable 2 and Table 3 on page 43 SPAN CPT User Manual Rev 4 SPAN CPT Operation Chapter 3 T
36. 79 0 000012645 0 000029988 770c6232 SPAN CPT User Manual Rev 4 95 Appendix C INS Logs 96 T Binary Field Field Type Description Format Offset 1 Log Header Log header 0 2 Week GPS week ULONG H 3 Seconds GPS seconds from week start DOUBLE H 4 4 PitchRate About x axis rotation DOUBLE H 12 5 RollRate About y axis rotation DOUBLE H 20 6 YawRate About z axis rotation Right DOUBLE H 28 Handed T LateralAcc INS Lateral Acceleration DOUBLE H 36 along x axis 8 LongitudinalAcc INS Longitudinal DOUBLE H 44 Acceleration along y axis 9 VerticalAcc INS Vertical Acceleration DOUBLE H 52 along z axis 10 XXXX 32 bit CRC HEX H 56 11 CR LF Sentence Terminator ASCII only SPAN CPT User Manual Rev 4 INS Logs Appendix C C 2 5 EXTHDGOFFSET Log the Angular Offset The EXTHDGOFFSET message will be available on the system after you enter both lever arms refer to Section 4 4 on page 49 The angular offsets between the dual antenna baseline and the SPAN computation frame will be computed internally and be available for output via the EXTHDGOFFSET log For message structure refer to Section B 2 4 on page 62 SPAN CPT User Manual Rev 4 97 Appendix C INS Logs C 2 6 GPHDT NMEA Heading Log This log provides actual vessel heading in degrees True from True North Refer also to information in the HEADING log on page 99 You can also set a standard deviation threshold
37. 82459112 0 0000204616202028 0 0005095575483948 1 c92787 108 SPAN CPT User Manual Rev 4 INS Logs Appendix C C 2 13 INSPOS INS Position This log contains the most recent position measurements in WGS84 coordinates and includes an INS status indicator The log reports the position at the IMU centre unless you issue the SETINSOFFSET command see page 79 Structure Message ID 265 Log Type Synch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Latitude Latitude WGS84 Double 8 H 12 5 Longitude Longitude WGS84 Double 8 H 20 6 Height Ellipsoidal Height WGS84 m Double 8 H 28 7 Status INS status see Table 1 on page 37 Enum 4 H 36 8 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 40 Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log insposa ontime 1 ASCII Example INSPOSA COM3 0 0 0 EXACT 1105 425385 000 00040000 323a 0 1105 425384 996167250 51 058410364 114 065465722 1067 791685696 INSSolutionGood 9bfd5al2 SPAN CPT User Manual Rev 4 109 Appendix C INS Logs C 2 14 INSPOSS Short INS Position This is a short header version of the VSPOS log on Page 109 Structure Message ID 321 Log Type Synch Binary Binary Field Field Type Data Description
38. FOR SPECIAL INDIRECT INCIDENTAL OR CONSEQUENTIAL DAMAGES OF ANY KIND OR NATURE DUE TO ANY CAUSE Purchaser s exclusive remedy for a claim under this warranty shall be limited to the repair or replacement at NovAtel s option and at NovAtel s facility of defective or nonconforming materials parts or components or in the case of software provision of a software revision for implementation by the Buyer All material returned under warranty shall be returned to NovAtel prepaid by the Buyer and returned to the Buyer prepaid by NovAtel THE FOREGOING WARRANTIES DO NOT EXTEND TO I NONCONFORMITIES DEFECTS OR ERRORS IN THE PRODUCTS DUE TO ACCIDENT ABUSE MISUSE OR NEGLIGENT USE OF THE PRODUCTS OR USE IN OTHER THAN A NORMAL AND CUSTOMARY MANNER ENVIRONMENTAL CONDITIONS NOT CONFORMING TO NOVATEL S SPECIFICATIONS OR FAILURE TO FOLLOW PRESCRIBED INSTALLATION OPERATING AND MAINTENANCE PROCEDURES II DEFECTS ERRORS OR NONCONFORMITIES IN THE PRODUCTS DUE TO MODIFICATIONS ALTERATIONS ADDITIONS OR CHANGES NOT MADE IN ACCORDANCE WITH NOVATEL S SPECIFICATIONS OR AUTHORIZED BY NOVATEL III NORMAL WEAR AND TEAR IV DAMAGE CAUSED BY FORCE OF NATURE OR ACT OF ANY THIRD PERSON V SHIPPING DAMAGE OR VI SERVICE OR REPAIR OF PRODUCT BY THE DEALER WITHOUT PRIOR WRITTEN CONSENT FROM NOVATEL IN ADDITION THE FOREGOING WARRANTIES SHALL NOT APPLY TO PRODUCTS DESIGNATED BY NOVATEL AS BETA SITE TEST SAMPLES EXPERIMENTAL DEVELOPMENTAL PREPR
39. For maximum positioning precision and accuracy as well as to minimize the risk of damage ensure that the antenna is securely mounted on a stable structure that will not sway or topple Where possible select a location with a clear view of the sky to the horizon so that each satellite above the horizon can be tracked without obstruction The location should also be one that minimizes the effect of multipath interference 2 2 2 Mount SPAN CPT Mount the SPAN CPT in a fixed location where the distance from the SPAN CPT to the GPS antenna phase center is constant Ensure that the SPAN CPT orientation with respect to the vehicle and antenna is also constant For greatest ease of use the SPAN CPT should be mounted such that the positive Z axis marked on the SPAN CPT enclosure points up and the Y axis points forward through the front of the vehicle in the direction of track SPAN CPT User Manual Rev 4 25 Chapter 2 SPAN CPT Installation Figure 4 SPAN CPT Enclosure Mounting 1 Mount the SPAN CPT enclosure and antenna securely to a vehicle Ensure they cannot move due to dynamics and that the distance and relative direction between them is fixed 2 Measure the lever arm offsets from the SPAN CPT navigation centre to the antenna phase centre in the SPAN CPT enclosure frame Also it is important to measure the distance from the SPAN CPT to the antenna the Antenna Lever Arm each installation on the axis defined on the SPAN CPT enclosure
40. Hor Spd Horizontal speed over ground in metres per second Double 8 H 16 7 Trk Gnd Actual direction of motion over ground track over Double 8 H 24 ground with respect to True North in degrees 8 Vert Spd Vertical speed in metres per second where Double 8 H 32 positive values indicate increasing altitude up and negative values indicate decreasing altitude down 9 Reserved Float 4 H 40 10 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 44 11 CR LF Sentence terminator ASCII only Recommended Input log bestgpsvela ontime 1 ASCII Example BESTGPSVELA COM1 0 62 5 FINESTEERING 1049 247755 000 00000128 7e3 0 SOL COMPUTED SINGLE 0 250 0 000 0 1744 333 002126 0 3070 6 0082 d dc635c SPAN CPT User Manual Rev 4 93 Appendix C INS Logs C 2 38 BESTLEVERARM BESTLEVERARM2 IMU to Antenna Lever Arm The BESTLEVERARM log contains the distance between the IMU s centre of navigation and the primary GPS antenna phase centre in the IMU enclosure frame and its associated uncertainties If the you enter the lever arm through the SETIMUTOANTOFFSET command shown on page 73 these values are reflected in this log The BESTLEVERARM2 log contains the distance between the IMU s centre of navigation and the secondary GPS antenna phase centre in the IMU enclosure frame Currently the secondary lever arm cannot be calibrated so must be entered using the SETIMUTOANTOFFSET2 command The va
41. INS as part of the SPAN system using the NovAtel CDU software utility P4 The CDU screen shots in this manual are from CDU Version 3 8 0 6 and may differ from your CDU version SPAN CPT User Manual Rev 4 33 Chapter 3 SPAN CPT Operation SPAN SE SPAN Alignment Wizard Welcome to the NovAtel SPAN wizard This wizard will guide you through the different setup procedures of your NovAtel SPAN system NovAtel SPAN is a powerful Synchronized Position Attitude Navigation system INS SPAN wizard 3 2 1 1 SPAN CPT basic configuration Select Tools SPAN Alignment Wizard from the main menu of CDU This wizard takes you through the steps to complete a coarse or fast alignment select the type of IMU and configure the receiver port connected to the IMU to accept IMU data 34 SPAN CPT User Manual Rev 4 SPAN CPT Operation 3 2 2 INS Window in CDU Chapter 3 CDU is a 32 bit Windows application The application provides a graphical user interface to set up and monitor the operation of the SPAN system by providing a series of windows The INS Window in CDU is described below Please refer to the OEMV Family Installation and Operation User Manual for more details on CDU and other OEMV Family PC software programs a INS Window The Position Velocity and Attitude roll pitch and azimuth sections display data from the INSPVA log along with standard deviations calculated from the INSCOV log Information in t
42. ITUDE 00905 5 5 In this example the initial roll and pitch has been set to zero degrees with a standard deviation of 5 degrees for both This means that the SPAN CPT system is very close to level with respect to the local gravity field The azimuth is 90 degrees see the SETINITAZIMUTH example on page 77 also with a 5 degrees standard deviation 76 SPAN CPT User Manual Rev 4 INS Commands Appendix B B 2 16 SETINITAZIMUTH Set Initial Azimuth and Standard Deviation This command allows you to start SPAN operation with a previously known azimuth Azimuth is the weakest component of a coarse alignment and is also the easiest to know from an external source 1 e like the azimuth of roadway This command is needed to perform a coarse alignment Roll and pitch will be determined using averaged gyro and accelerometer measurements e This command is needed to perform a coarse alignment Input azimuth values must be accurate for good system performance Sending SETINITAZIMUTH resets the SPAN filter The alignment will take approximately 1 minute but some time and vehicle dynamics are required for the SPAN filter to converge Bridging performance will be poor before filter convergence The azimuth angle is with respect to the SPAN frame If the SPAN CPT enclosure is mounted with the z axis pointing upwards the SPAN frame is the same as what is marked on the enclosure If the SPAN CPT is mounted in another way SPAN transforms the SPAN
43. NG the inertial filter starts and INS messages are available How can I access the inertial solution The INS GPS solution is available from a number of specific logs dedicated to the inertial filter The INSPOS INSPVA INSVEL INSSPD and INSATT logs are the most commonly used logs for extracting the INS solution These logs can be logged at any rate up to the rate of the IMU data 100 Hz Further details on these logs are available in Appendix C INS Logs starting on Page 65 Can I still access the GPS only solution while running SPAN The GPS only solution used when running the OEMV receiver without the IMU is still available when running SPAN Logs such as PSRPOS RTKPOS and OMNIPOS are still available Any non INS logs should be logged at a maximum rate of 5 Hz when running SPAN Only INS specific logs documented in Appendix C INS Logs starting on Page 65 should be logged at rates higher than 5 Hz when running SPAN What will happen to the INS solution when I lose GPS satellite visibility When GPS tracking is interrupted the INS GPS solution bridges through the gaps with what is referred to as free inertial navigation The IMU measurements are used to propagate the solution Errors in the IMU measurements accumulate over time to degrade the solution accuracy For example after one minute of GPS outage the horizontal position accuracy is approximately 8 4 m The SPAN solution continues to be computed for as long as the GPS outage lasts b
44. NovAtel Hotline at 1 800 NOVATEL U S amp Canada Fax 1 403 295 4901 E mail support novatel ca Web site http www novatel com Write NovAtel Inc Customer Support Department 1120 68 Avenue NE Calgary AB Canada T2E 8S5 SPAN CPT User Manual Rev 4 Firmware Updates and Model Upgrades Firmware updates are firmware releases which include fixes and enhancements to the receiver functionality Firmware updates are released on the Web site as they become available Model upgrades enable features on the receiver and may be purchased through NovAtel authorized dealers Contact your local NovAtel dealer first for more information To locate a dealer in your area visit Where to Buy Dealers on the NovAtel Web site at www novatel com or contact NovAtel Customer Support directly lt Firmware updates can only be done through serial COM port connections SPAN CPT User Manual Rev 4 17 18 SPAN CPT User Manual Rev 4 The following notices apply to the SPAN CPT For more information on emissions testing please refer to the regulatory body in your geographic area For example in the US that is the Federal Communications Commission FCC and in Europe the Conformit Europ enne CE FCC Notices This device complies with part 15 of the FCC Rules Operation is subject to the following two conditions 1 this device may not cause harmful interference and 2 this device must accept any interference
45. O SIGA Inverted White 17 ODO SIGB Black 18 ODO SIGB Inverted White 19 COM2 RS232 TX FROM OEMV 3 Module 20 COM2 RS232 RX TO OEMV 3 Module 21 COM2 RS232 RTS to OEMV 3 Module 22 COM2 RS232 CTS to OEMV 3 Module 23 COM2 RS232 DTR to OEMV 3 Module 24 COM2 RS232 DCD to OEMV 3 Module 25 COM Signal GND 26 Reserved White 2f Reserved White 28 Reserved White 29 PPS from OEMV 3 White 30 EVENTI to OEMV 3 Black 31 OEMV 3 Signal GND White Continued on the following page 54 SPAN CPT User Manual Rev 4 Technical Specifications Appendix A B Female Male Function are DB9to DB9to USB Comments Connectors COM41 CON2 32 CAN2L OEMV 3 White 33 CAN2H OEMV 3 Black 34 CAN2 SIGNAL GND Black 35 NIC 36 NIC 37 Chassis GND White D Chassis GND Green A 1 2 KVH IMU Sensor Specs PERFORMANCE FIBER OPTIC GYROS Bias Offset t 20 Ihr Turn On To Turn On Bias Repeatability Compensated x3 hr In Run Bias Variation At Constant Temperature 1 Ihr 10 Scale Factor Error Total 1500 ppm 1c Scale Factor Linearity 1000 ppm 10 Temperature Dependent SF Variation 500 ppm 10 Angular Random Walk 0 0667 hlhr 10 Max Input 375 sec Bias Offset 50 mg Turn On To Turn On Bias Repeatability 0 75 mg In Run Bias Variation At Constant Temperature 0 25 mg 1c Temperature Dependent Bias Variat
46. OANTOFFSET command to enter the distance from the SPAN CPT to the GPS antenna see page 73 The offset SPAN CPT User Manual Rev 4 35 Chapter 3 SPAN CPT Operation 3 3 36 between the antenna phase centre and the IMU navigation centre must remain constant and be known accurately The X Y and Z positive directions are clearly marked on the SPAN CPT enclosure The SETIMUTOANTOFFSET parameters are where the standard deviation fields are optional and the distances are measured from the IMU navigation centre to the Antenna Phase Centre in metres SETIMUTOANTOFFSET x offset y offsetz offset x stdev y stdev z stdev A typical RTK GPS solution is accurate to a few centimeters For the SPAN CPT system to have this level of accuracy the offset must be measured to within a centimeter Any offset error between the two systems shows up directly in the output position For example a 10 cm error recording this offset will result in at least a 10 cm error in the output CDU can also be used to configure the SPAN CPT See Section 3 2 1 SPAN CPT Configuration with CDU on page 33 Real Time Operation SPAN CPT operates through the OEMV command and log interface Commands and logs specifically related to SPAN CPT operation are documented in Appendices B and C of this manual respectively Real time operation notes nertial data does not start until FINESTEERING time status is reached and therefore the SPAN CPT system does not functio
47. ODUCTION SAMPLE INCOMPLETE OR OUT OF SPECIFICATION PRODUCTS OR TO RETURNED PRODUCTS IF THE ORIGINAL IDENTIFICATION MARKS HAVE BEEN REMOVED OR ALTERED THE WARRANTIES AND REMEDIES ARE EXCLUSIVE AND ALL OTHER WARRANTIES EXPRESS OR IMPLIED WRITTEN OR ORAL INCLUDING THE IMPLIED WARRANTIES OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE ARE EXCLUDED NOVATEL SHALL NOT BE LIABLE FOR ANY LOSS DAMAGE EXPENSE OR INJURY ARISING DIRECTLY OR INDIRECTLY OUT OF THE PURCHASE INSTALLATION OPERATION USE OR LICENSING OR PRODUCTS OR SERVICES IN NO EVENT SHALL NOVATEL BE LIABLE FOR SPECIAL INDIRECT INCIDENTAL OR CONSEQUENTIAL DAMAGES OF ANY KIND OR NATURE DUE TO ANY CAUSE There are no user serviceable parts in the GPS receiver and no maintenance is required When the status code indicates that a unit is faulty replace with another unit and return the faulty unit to NovAtel Inc Before shipping any material to NovAtel or Dealer please obtain a Return Material Authorization RMA number from the point of purchase Once you have obtained an RMA number you will be advised of proper shipping procedures to return any defective product When returning any product to NovAtel please return the defective product in the original packaging to avoid ESD and shipping damage SPAN CPT User Manual Rev 4 Customer Support NovAtel Knowledge Base If you have a technical issue browse to the NovAtel Web site at
48. ROL switch Field ASCII Binary an Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 header This field contains the command H 0 name or message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 switch DISABLE 0 Disable INS zero velocity updates Enum 4 H ENABLE 1 Enable INS zero velocity updates default Abbreviated ASCII Example INSZUPTCONTROL DISABLE SPAN CPT User Manual Rev 4 67 Appendix B INS Commands B 2 10 NMEATALKER Set the NMEA talker ID V123 This command allows you to alter the behavior of the NMEA talker ID The talker is the first 2 characters after the sign in the log header of the GPGLL GPGST GPRMB GPRMC and GPVTG log outputs Other NMEA logs are not affected by the NMEATALKER command lt The GPGGA position is always based on the position solution from the BESTPOS log which incorporate GPS INS solutions as well The default GPS NMEA message nmeatalker GP outputs GP as the talker ID regardless of the position type given in position logs such as BESTPOS The nmeatalker auto command switches the talker ID between GP and IN according to the position type given in position logs Abbreviated ASCII Syntax Message ID 861 NMEATALKER ID Factory Default nmeatalker gp ASCII Example NMEATALKER AUTO lt This command only affects NMEA logs that are capable of a GPS
49. RVBCALIBRATE command the VEHICLEBODYROTATION command values are used as the initial values The uncertainty values are optional defaults 0 0 Please see Section 3 3 3 Vehicle to SPAN CPT Frame Angular Offsets Calibration Routine starting on page 40 for more details RVBCALIBRATE command information is on page 69 lt The body frame is nominally the frame as marked on the IMU enclosure If you do not mount the IMU with the z axis approximately up you must check the new computational axis orientation that SPAN automatically uses which is called the SPAN computational frame SPAN forces z to be up in the SPAN computational frame Output attitude in INSPVA INSATT and so on is with respect to the SPAN computational frame Refer to the SETIMUORIENTATION command description to see what mapping definition applies depending on which IMU axis most closely aligns to gravity Essentially this means that if you do not mount the IMU with the z axis approximately up as marked on the enclosure you have a new IMU frame that defines what mapping applies This new computational frame will not match what is marked on the IMU enclosure and will need to be determined by checking the Full Mapping Definition table documented with the SETIMUORIENTATION command Also in this case begin with the SPAN computational frame aligned with the vehicle frame and record the rotations required to move from the vehicle frame to the SPAN computational frame orientation The
50. Recommended Input log insattsa ontime 1 ASCII Example SINSATTSA 1105 425385 000 1105 425384 996167250 4 822147742 0 035766158 123 262113519 INSSolutionGood 3563a760 lt The structure of the INSATTS log is different in this firmware version 1 3 than in any earlier beta versions This is because the order of the roll and pitch fields have been reversed SPAN CPT User Manual Rev 4 105 Appendix C INS Logs C 2 11 INSCOV INS Covariance Matrices The position attitude and velocity matrices in this log each contain 9 covariance values with respect to the local level frame The attitude variables are given in the SPAN computational frame with respect to the local level variance about variance about SPAN Eram X rotation l SPAN Frame Y rotation angle pitch ED xy XE angle roll variance about Z rotation angle azimuth or yaw and are displayed within the log output as XX XY XZ VX VV yz zx ZV ZZ These values are computed once per second and are only available after alignment See also Section 3 3 1 System Start Up and Alignment Techniques starting on page 38 Structure Message ID 264 Log Type Asynch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Position Covariance Position covariance matrix in local List of 9 72 H 12 level
51. SPAN system with the positive z axis as marked on the enclosure not pointing up please refer to the SETIMUORIENTATION command to determine the SPAN frame axes mapping that SPAN automatically applies 78 SPAN CPT User Manual Rev 4 INS Commands Appendix B B 2 17 SETINSOFFSET Set INS Offset The SETINSOFFSET command is used to specify an offset from the SPAN CPT for the output position and velocity of the INS solution This command shifts the position and velocity in the INSPOS INSPOSS INSVEL INSVELS INSSPD INSSPDS INSPVA and INSPVAS logs by the amount specified in metres with respect to the SPAN CPT enclosure frame axis Abbreviated ASCII Syntax Message ID 676 SETINSOFFSET xoffset yoffset zoffset Field ASCII Binary Binary Binary Binary Description Format Bytes Offset Type Value Value 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 X offset 100 Offset along the IMU enclosure Double 8 H frame X axis m 3 Y offset 100 Offset along the IMU enclosure Double 8 H 8 frame Y axis m 4 Z offset 100 Offset along the IMU enclosure Double 8 H 16 frame Z axis m Abbreviated ASCII Example SETINSOFFSET 0 15 0 15 0 25 SPAN CPT User Manual Rev 4 79 Appendix B INS Commands B 2 18 SETMARK1OFFSET Set Mark1 Offset Set the offset to the Mark
52. SPVAS Attitude INSATT or INSATTS INSPVA or INSPVAS Solution Uncertainty INSCOV or INSCOVS Note that the position velocity and attitude are available together in the INSPVA and INSPVAS logs The inertial solution is available up to the rate of 100 Hz Data can be requested at a specific rate up to the maximum IMU output rate or can be triggered by the mark input trigger at rates up to 20 Hz The GPS only solution is still available through the GPS only logs such as RTKPOS PSRPOS and OMNIHPPOS When running SPAN CPT rates of non INS logs should be limited to a maximum rate of 5 Hz Refer to the OEMV Family Firmware Reference Manual for more details on these logs INS only data logging and output can be at rates of up to the rate of the IMU data lt The highest rate that you should request GPS logs RANGE BESTPOS RTKPOS PSRPOS and so on while in INS operation is 5 Hz If the receiver is not running INS GPS logs can be requested at rates up to 20 Hz A WARNING Ensure that all windows other than the Console are closed in CDU and then use the SAVECONFIG command to save settings in NVM Otherwise unnecessary data logging occurs and may overload your system Specific logs need to be collected for post processing See Section 3 on page 43 To store data from a SPAN CPT connect a laptop computer The laptop computer should be equipped with a data storage device such as a Compact Flash Card CD or USB stick L
53. TD DEV HEADING UPDATE HIGH ROTATION JAIN HEADING UPDATE BAD MISC 116 SPAN CPT User Manual Rev 4 INS Logs Appendix C Recommended Input log insupdate onchanged ASCII Example INSUPDATEA FILE 0 0 0 FINESTEERING 1549 165116 006 00000000 4289 0 SINGLE 0 0 0 FALSE WHEEL SENSOR INACTIVE HEADING UPDATE USED 5al6ecba The Heading Update enums are shown when When the heading updates are running but the epoch is not used as an update then it will be marked HEADING UPDATE ACTIVE When all other rejection criteria pass a heading update will still only be applied once every 5 seconds 20 seconds when stationary HEADING UPDATE HIGH ROTATION means the last 1 second recorded a turn of over 5 degrees second HEADING UPDATE HIGH STD DEV means the standard deviation of the update failed a 3 sigma check against the inertial standard deviation azimuth checked only It is normal to see this status after the INS solution has converged It simply means that the inertial attitude solution is significantly better than the ALIGN solution so no updates need to be applied HEADING UPDATE BAD MISC means that the difference between the ALIGN heading and the INS heading failed a 3 sigma check with the inertial standard deviation HEADING UPDATE USED means we took the update for that epoch Table 17 Wheel Status ASCII e WHEEL SENSOR _ INACTIVE WHEEL SENSOR ACTIVE WHEEL SENSOR BAD MISC
54. Type table in 3 pos type the VERSION log section of the OEMV Firmware Enum 4 H 4 Manual 4 length Baseline length m Float 4 H 8 5 heading Heading in degrees 0 to 360 0 degrees Float 4 H 12 6 pitch Pitch 90 degrees Float 4 H 16 7 Reserved Float 4 H 20 8 hdg std dev Heading standard deviation in degrees Float 4 H 24 9 ptch std dev Pitch standard deviation in degrees Float 4 H 28 10 stn ID Station ID string Char 4 4 H 32 11 SVs Number of observations tracked Uchar 1 H 36 12 solnSVs Number of satellites in solution Uchar 1 H 37 13 obs Number of satellites above the elevation mask angle Uchar 1 H 38 14 multi Number of satellites above the mask angle with L2 Uchar 1 H 39 15 Reserved Uchar 1 H 40 Extended solution status see the Extended Solution 16 ext sol stat Status table in the VERSION log section of the OEMV Uchar 1 H 41 Firmware Manual 17 Reserved Uchar 1 H 42 Signals used mask if 0 signals used in solution are 18 sig mask unknown see the Signal Used Mask table in the Uchar 1 H 43 VERSION log section of the OEMV Firmware Manual 19 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 44 20 CR LF Sentence terminator ASCII only 100 SPAN CPT User Manual Rev 4 INS Logs Appendix C C 2 8 IMUTOANTOFFSETS IMU to Antenna s Lever Arm This log contains the distance between the IMU and the GNSS antenna s in the IMU enclosure frame and its associated uncertainties The number of lever arms supported will eq
55. U OF ALL OTHER WARRANTIES EXPRESS OR IMPLIED INCLUDING WITHOUT LIMITATION ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE NOVATEL SHALL IN NO EVENT BE LIABLE FOR SPECIAL INDIRECT INCIDENTAL OR CONSEQUENTIAL DAMAGES OF ANY KIND OR NATURE DUE TO ANY CAUSE Purchaser s exclusive remedy for a claim under this warranty shall be limited to the repair or replacement at NovAtel s option and at NovAtel s facility of defective or nonconforming materials parts or components or in the case of software provision of a software revision for implementation by the Buyer All material returned under warranty shall be returned to NovAtel prepaid by the Buyer and returned to the Buyer prepaid by NovAtel The foregoing warranties do not extend to i nonconformities defects or errors in the Products due to accident abuse misuse or negligent use of the Products or use in other than a normal and customary manner environmental conditions not conforming to NovAtel s specifications or failure to follow prescribed installation operating and maintenance procedures ii defects errors or nonconformities in the Products due to modifications alterations additions or changes not made in accordance with NovAtel s specifications or authorized by NovAtel iii normal wear and tear iv damage caused by force of nature or act of any third person v shipping damage vi service or repair of Product by the Purchaser without prior wri
56. V Family Firmware Reference Manual for information on the supplied Convert4 program that lets you change binary to ASCII data or short binary to short ASCII data and vice versa Convert4 is also capable of RINEX conversions to and from ASCII or binary Table 1 Inertial Solution Status on page 37 shows the status values included in the INS position velocity and attitude output logs If you think you have an IMU unit hooked up properly and you are not getting a good status value something is wrong and the hardware setup must be checked out This situation can be recognized in the RAWIMU data by observing accelerometer and gyro values which are not changing with time SPAN CPT User Manual Rev 4 85 Appendix C INS Logs C 1 Description of ASCII and Binary Logs with Short Headers These logs are set up in the same way normal ASCII or binary logs are except that a normal ASCII or binary header is replaced with a short header see Tables 11 and 12 For the message header structure of OEMV 3 regular Binary and ASCII logs please refer to the OEMV Family Firmware Reference Manual Table 11 Short ASCII Message Header Structure Field Field Field Type Type Description 1 Char symbol Message Char This is the name of the log Week Number Ushort GPS week number AJo N Milliseconds Ulong Milliseconds from the beginning of the GPS week Table 12 Short Binary Message Header Structure Field Fie
57. VEHICLEBODYROTATION command on page 126 for information on entering the rotation into the system and see the RVBCALIBRATE command on page 69 for information on calculating this rotation Z Figure 9 Vehicle Frame SPAN CPT User Manual Rev 4 31 Chapter 3 SPAN CPT Operation 3 2 Communicating with the SPAN CPT System Once the receiver is connected to the PC antenna and power supply install NovAtel s OEMV PC Utilities CDU and Convert You can find installation instructions in your receiver s Quick Start Guide Alternatively you can use a terminal emulator program such as HyperTerminal to communicate with the receiver Refer also to the CDU Help file for more details on CDU The Help file is accessed by choosing Help from the main menu in CDU Start CDU on your PC to enable communication 1 Launch CDU from the Start menu folder specified during the installation process The default location is Start Programs NovAtel OEMV NovAtel CDU 2 Select Open from the Device menu View Tools Help Ctrl O A lose Config 3 Select the New button in the Open dialog box The Options Configuration dialog opens n Open Edit di New 4 Usethe button at the top of the configurations selection box to add a new configuration To delete a configuration select it from the list and click on the button To duplicate an existing configuration click on the button You can select any name in the lis
58. able 2 Cable Modification for Corrsys Datron WPT 8 pin M12 connector on Female DB9 the Corrsys Datron cable connector Pin 1 GND White 5 Pin 2 Ug Input Power Brown 9 Pin 3 Signal A Green 6 Pin 4 Signal A inverted Yellow 7 Pin 5 Signal B Grey 3 Pin 6 Signal B inverted Pink 1 Pin 7 Reserved No change Pin 8 a Pin 2 is wired to a red banana plug Power in and Pin 1 is wired to a black banana plug Power return so the WPT needs power to operate 10 to 30 V Solder the shield on the WPT cable to the female DB9 housing b This modification is for the Corrsys Datron WPT 8 pin M12 plug cable number 14865 Table 3 Cable Modification for CPT Odometer Input Male DB9 Pin Wires on SPAN CPT KVH Terminated Connector or Unterminated Cable Pin 1 18 ODO SIGNAL B INV White Pin 2 NONE Pin 3 17 ODO SIGNAL B Black Pin 4 NONE Pin 5 14 GND Black Pin 6 15 ODO SIGNAL A Black Pin 7 16 ODO SIGNAL A INV White Pin 8 NONE Pin 9 13 INPUT POWER White SPAN CPT User Manual Rev 4 43 Chapter 3 SPAN CPT Operation 3 4 Data Collection The INS solution is available in the INS specific logs with either a standard or short header Other parameters are available in the logs shown in Table 4 on page 44 Table 4 Solution Parameters Parameter Log Position INSPOS or INSPOSS INSPVA or INSPVAS Velocity INSVEL or INSVELS INSSPD or INSSPDS INSPVA or IN
59. al Position System GPS outages Designed for dynamic applications SPAN provides precise position velocity and attitude information SPAN CPT Compact Portable and Tightly Coupled combines the GPS and IMU hardware inside one enclosure for simple installation and operation Commercial components have been chosen for integration into SPAN CPT in order to offer the same benefits of other SPAN products but with fewer export restrictions By complementing GPS with inertial measurements SPAN CPT technology provides robust positioning in challenging conditions where GPS alone is less reliable During short periods of GPS outage or when less than four satellites are received SPAN CPT technology offers uninterrupted position and attitude output The tight coupling of inertial technology with GPS also provides the benefits of faster satellite reacquisition and faster RTK initialization after outages NovAtel s OEMV 3 receiver is the processing engine of SPAN CPT and the IMU components are manufactured by KVH Industries Scope 20 This manual contains sufficient information on the installation and operation of the SPAN CPT system It is beyond the scope of this manual to provide details on service or repair Contact your local NovAtel dealer for any customer service related inquiries as outlined in Customer Support on page 15 After accessories an antenna and a power supply the SPAN CPT system is ready to go The OEMV 3 in the receiver util
60. ales and other similar taxes are the responsibility of the Purchaser 2 PAYMENT Terms are prepayment unless otherwise agreed in writing Interest shall be charged on overdue accounts at the rate of 18 per annum 1 5 per month from due date To expedite payment by wire transfer to NovAtel Inc Bank HSBC Bank of Canada Bank HSBC Bank of Canada US Account 788889 002 407 8 Avenue S W CDN Account 788889 001 Calgary AB Canada T2P 1E5 EURO Account 788889 270 Transit 10029 016 Swift HKBCCATTCAL 3 DELIVERY Purchaser shall supply shipping instructions with each order Ship to and bill to address NovAtel Quotation Preferred carrier and account Custom broker freight forwarder including name and contact In the absence of specific instructions NovAtel may select a carrier and insure Products in transit and charge Purchaser accordingly NovAtel shall not be responsible for any failure to perform due to unforeseen circumstances or causes beyond its ability to reasonably control Risk of loss damage or destruction shall pass to Purchaser upon delivery to carrier Goods are provided solely for incorporation into the Purchaser s end product and shall not be onward delivered except as incorporated in the Purchaser s end product 4 COPYRIGHT AND CONFIDENTIALITY Copyright in any specification drawing computer software technical description and other document supplied by NovAtel under or in connection with the Order and a
61. ary and Hex 4 H 40 Short Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log insspdsa ontime 1 ASCII Example SINSSPDSA 1105 425385 000 1105 425384 996167250 223 766800423 0 019769837 0 024795257 INS SOLUTION GOOD 15b864f4 SPAN CPT User Manual Rev 4 115 Appendix C INS Logs C 2 20 INSUPDATE INS Update The INSUPDATE message has been modified for this mode of operation The reserved field at the end of the message has been filled with an enumeration regarding the status of the heading updates Structure Message ID 757 Log Type Asynch 1 Hz maximum ASCII Value Binary Data Binary Binary Binary ETT Description Format Bytes Offset 1 Log Log header H 0 Header 2 Solution See Table 13 on page 89 Type of GPS Enum 4 H Type solution used for the last update 3 Reserved Long 4 H 4 4 Phase 0 to maximum GPS L1 channels 1 Number ofraw Long 4 H 8 phase observations used in the last INS filter update 5 Reserved Long 4 H 12 6 ZUPT True False Azerovelocity Boolean 4 H 16 update was performed during the last INS filter update 7 Wheel See Table 17 on page 117 Status of a Enum 4 H 20 Status wheel sensor during the last INS filter update 8 Heading HEADING_UPDATE_INACTIVE 0 Status of the Enum 4 H 24 Update heading update HEADING UPDATE ACTIVE 1 during the last INS update HEADING UPDATE USED HEADING UPDATE HIGH S
62. at Mark1 m s 9 Up Velocity Velocity in an up direction at Markl m s Double 8 H 52 10 Roll Right handed rotation from local level around Double 8 H 60 y axis in degrees at Mark 11 Pitch Right handed rotation from local level around Double 8 H 68 x axis in degrees at Mark 12 Azimuth Left handed rotation around z axis Degrees Double 8 H 76 clockwise from North at Mark1 13 Status INS Status see Table 1 on page 37 at Markl Enum 4 H 84 14 XXXX 32 bit CRC Hex 4 H 88 15 CR LF Sentence Terminator ASCII only Recommended Input 120 log marklpva onnew Abbreviated ASCII Example MARK1PVA USB1 0 51 5 EXACT 1481 251850 001 00040000 46f4 3388 1481 251850 001000000 51 116573435 114 037237211 1040 805671970 0 000257666 0 003030102 0 000089758 3 082229474 1 019023628 89 253955744 INS SOLUTION GOOD SPAN CPT User Manual Rev 4 INS Logs C 2 24 PASHR NMEA fix and position data The PASHR log outputs these messages with contents without waiting for a valid almanac Instead it uses a UTC time calculated with default parameters In this case the UTC time status is set to WARNING since it may not be 10096 accurate When a valid almanac is available the receiver uses the real parameters and sets the UTC time to VALID For more information about NMEA refer to the OEMV Firmware Reference Manual found on our Web site The PASHR log contains only INS derived attitude information and is only filled w
63. ax Message ID 379 INSCOMMAND action Field ASCII Binary Binary Binary Field Description Type Value Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 action RESET 0 Resets the GPS INS Enum 4 H alignment and restarts the alignment initialization DISABLE 1 Disables INS positioning ENABLE 2 Enables INS positioning where alignment initialization starts again default Abbreviated ASCII Example INSCOMMAND ENABLE SPAN CPT User Manual Rev 4 INS Commands Appendix B B 2 7 INSPHASEUPDATE INS Phase Update Control This command allows you to control the INS phase updates When enabled raw GPS phase measurements are used to control errors in the inertial filter In a typical INS GPS integration GPS positions are used to control inertial drifts Some features of phase updates include updates can be performed even when too few satellites are available to compute a GPS solution e asfew as 2 satellites must be in view to perform a precise update e system performance is significantly improved in conditions challenging to GPS such as urban canyons and foliage Abbreviated ASCII Syntax Message ID 639 INSPHASEUPDATE switch Field ASCII Binary Binary Binary Binary Field Format Bytes Offset Type Value Value Descripti
64. battery between the SPAN CPT and its voltage supply as a power buffer if installed in a vehicle When a vehicle engine is started power can dip to 9 6 V DC or cut out to ancillary equipment SPAN CPT User Manual Rev 4 27 Chapter 2 SPAN CPT Installation Voltage Supply Figure 6 Apply Power to the SPAN CPT 28 SPAN CPT User Manual Rev 4 Chapter 3 SPAN CPT Operation Before operating your SPAN CPT system ensure that you have followed the installation and setup instructions in Chapter 2 SPAN CPT Installation starting on page 24 You can use NovAtel s CDU software to configure receiver settings and to monitor data in real time between a rover SPAN CPT system and base station SPAN CPT system output is compatible with post processing software from NovAtel s Waypoint Products Group For information about Waypoint visit our Web site at www novatel comthrough Products Waypoint Software A WARNING Ensure the Control Panel s Power Settings on your PC are not set to go into Hibernate or Standby modes Data will be lost if one of these modes occurs during a logging session 3 1 Definition of Reference Frames Within SPAN The reference frames that are most frequently used throughout this manual are the following The Local Level Frame The SPAN Body Frame The Enclosure Frame The Vehicle Frame 3 1 1 The Local Level Frame ENU The definition of the local level coordinate frame is as follows z axis po
65. binary versions of the logs Which header is used for a given log is described in the log definitions in this chapter The reason for having the alternate short headers is that the normal OEMV 3 binary header is quite long at 28 bytes This is nearly as long as the data portion of many of the INS logs and creates excess storage and baud rate requirements Note that the INS related logs contain a time tag within the data block in addition to the time tag in the header The time tag in the data block should be considered the exact time of applicability of the data All the described INS logs except the INSCOV INSPOSSYNC and INSUPDATE logs can be obtained at rates up to 100 Hz subject to the limits of the output baud rate The covariance log is available once per second lt 1 Each log ends with a hexadecimal number preceded by an asterisk and followed by a line termination using the carriage return and line feed characters for example 1234ABCD CR LF This value is a 32 bit CRC of all bytes in the log excluding the or identifier and the asterisk preceding the four checksum digits See also Section C 1 Description of ASCII and Binary Logs with Short Headers on page 86 2 The highest rate that you should request GPS logs RANGE BESTPOS RTKPOS PSRPOS and so on while in INS operation is 5 Hz If the receiver is not running INS no IMU is attached GPS logs can be requested at rates up to 20 Hz Please also refer to the OEM
66. bration using the RVBCALIBRATE ENABLE command see page 69 6 Start to move the system under good GPS conditions Movement of the system under good GPS conditions is required for the observation of the angular offsets Vehicle speed must be greater than 5 m s 18 km hour for the calibration to complete Drive straight on a level surface if possible SPAN CPT User Manual Rev 4 SPAN CPT Operation Chapter 3 7 When the solved angles are verified after approximately 30 seconds the calibration stops and the VEHICLEBODYROTATION log will provide the solved values see Page 82 Log VEHICLEBODYROTATION using the ONNEW trigger to monitor the progress of the calibration The rotation parameters are saved in NVM for use on start up in case a fast alignment is required Each time the SPAN CPT is re mounted this calibration should be performed again See Section 3 3 1 1 on page 38 and Section 3 3 1 2 on page 39 for details on fast and coarse alignment A WARNING After the RVBCALIBRATE ENABLE command is entered there are no vehicle body rotation parameters present and a kinematic alignment is NOT possible Therefore this command should only be entered after the system has performed either a static or kinematic alignment and has a valid INS solution lt The solved rotation values are used only for a rough estimate of the angular offsets between the SPAN CPT and vehicle frames The offsets are used when aligning the system while in motion se
67. cope biases The values in this log are instantaneous incremental values in units of radians for the attitude rate and m s for the accelerations To get the full attitude rate and acceleration values you must multiply the values in the CORRIMUDATA S log by the data rate of your IMU in Hz lt The short header format CORRIMUDATAS is recommended as it is for all high data rate logs CORRIMUDATA S can be logged with the ONTIME trigger up to the full data rate of the IMU lt Since the CORRIMUDATA values are instantaneous if you log at a rate less than full data rate of the IMU you will receive the corrected IMU data at the epoch closest to the requested time interval If your IMU is mounted with the z axis as marked on the enclosure pointed up the SPAN computation frame is the same as the IMU enclosure frame The x y and z axes referenced in this log are of the SPAN computational frame by default For more information on how the SPAN computational frame relates to the IMU enclosure frame see Section 3 1 page 29 and the SETIMUORIENTATION command on page 70 If the APPLYVEHICLEBODYROTATION command has been enabled see page 56 the values in CORRIMUDATA S logs will be in the vehicle frame not the SPAN computation frame Message ID 812 amp 813 Log Type Asynch Recommended Input log corrimudatab onnew Example log SCORRIMUDATASA 1581 341553 000 1581 341552 997500000 0 000000690 0 000001549 0 000001654 0 0000615
68. cription of the axes mapping that occurs when the IMU is mounted differently from z up D4 1 Azimuth is positive in a clockwise direction when looking towards the z axis origin 2 You do not have to use the SETIMUORIENTATION command see page 70 unless you have your SPAN CPT mounted with the z axis not pointing up Then use the tables in the SETIMURIENTATION command on Pages 71 72 to determine the azimuth axis that SPAN is using Abbreviated ASCII Syntax Message ID 862 SETINITATTITUDE pitch roll azimuth pitchSTD rollSTD azSTD SPAN CPT User Manual Rev 4 75 Appendix B INS Commands ASCII Binary Binary Binary Binary Description Format Bytes Offset Value Value 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 pitch 360 to 360 Input pitch angle about the x Double 8 H axis in degrees 3 roll 360 to 360 laput rollangle about the y Double 8 H48 axis in degrees 4 azimuth 360 to 360 Input azimuth angle about the Double 8 H 16 z axis in degrees Input pitch standard deviation ui 5 pitchSTD STD angle in degrees Double 8 H 24 0 000278 to 180 T 6 rollSTD default 1 Input roll STD angle in degrees Double 8 H 32 7 azSTD Input azimuth STD angle in Double 8 H440 degrees Abbreviated ASCII Example SETINITATT
69. d pitch and the standard deviation entered in the SETINITAZIMUTH command for the azimuth The input azimuth standard deviation must match the actual quality of the input azimuth for your SPAN CPT to perform optimally If you are unsure of the input azimuth quality it is best to use a larger standard deviation rather than a smaller one The alignment is only an estimate of the attitude of the vehicle and as the vehicle experiences dynamics the accuracy of the attitude solution will improve Once the attitude accuracy has converged the INS status will change to INS SOLUTION GOOD SPAN CPT User Manual Rev 4 39 Chapter 3 SPAN CPT Operation 3 3 1 3 Manual Alignment If you know the attitude of your vehicle roll pitch azimuth you can manually enter the attitude information using the SETINITATTITUDE command Details of this command start on page 74 3 3 2 Navigation Mode Once the alignment routine has successfully completed SPAN CPT enters navigation mode SPAN CPT computes the solution by accumulating velocity and rotation increments from the IMU to generate position velocity and attitude SPAN CPT models system errors by using a Kalman filter The GPS solution phase observations and automatic zero velocity updates ZUPTs provide updates to the Kalman filter When a wheel sensor is connected to the system wheel displacement updates are also used in the filter Following the alignment the attitude is coarsely defined especially
70. d a radio link if your application requires real time differential operation Figure 2 shows a typical hardware set up Reference 1 2 3 Cc 4 4 Rover Base Optional for RTK operation Description A SPAN CPT receiver connected to a laptop for data storage User supplied NovAtel GPS antenna User supplied power supply 9 to 18 V DC User supplied radio device to COM2 User supplied base station OEMV Family receiver User supplied PC for setting up and monitoring to COM1 or USB Figure 2 Basic Set Up The sections that follows outline how to set up the system s parts and cables See Appendix A Technical Specifications starting on page 51 24 SPAN CPT User Manual Rev 4 SPAN CPT Installation Chapter 2 lt Use a USB cable to log raw data Serial communication is fine for configuring and monitoring the SPAN through Hyperterminal or CDU USB is required if you have a post processing application requiring 100 Hz IMU data We also recommend you use CDU to collect the data 2 1 1 SPAN CPT Hardware The SPAN CPT receiver contains the OEMV 3 GPS receiver and an IMU containing 3 accelerometers and 3 gyroscopes Communication is done using either the com ports or USB through the multi I O connector Figure 3 SPAN CPT Enclosure 2 2 Hardware Set Up Review this section s hardware set up subsections and follow the numbered steps in bold to install your SPAN system 2 2 31 Mount Antenna
71. disk refer to page 32 of this manual and to the OEMV Family 01017827 Installation and Operation User Manual SPAN CPT User Manual OM 20000122 OEMV Family Installation and Operation User Manual OM 20000093 OEMV Family Firmware Reference Manual OM 20000094 E 2 Accessories and Options Part Description NovAtel Part Optional NovAtel GPSAntennas Model 532 for aerodynamic applications ANT A72GA TW N Model 702 for high accuracy applications GPS 702 Model 702L for L band applications GPS 702L Model 533 for high performance base station applications ANT C2GA TW N Optional RF Antenna Cable 5 meters GPS C006 15 meters GPS C016 SPAN CPT User Manual Rev 4 131 PY 4248 Frequently Asked Questions 132 Why don t I hear any sound from my SPAN CPT a The SPAN CPT does not make noise Check that the multi purpose I O cable is connected properly b Check the input power supply A minimum of 12V should be supplied to the system for stable SPAN CPT performance The supply should also be able to output at least 12W over the entire operating temperature range Why don t I have any INS logs On start up the INS logs are not available until the system has solved for time This requires that an antenna is attached and satellites are visible to the system You can verify that time is solved by checking the time status in the header of any standard header SPAN log such as BESTPOS When the time status reaches FINESTEERI
72. e Frame 2 tete ree Leone Entrer dude creto outa cutie eed 31 10 Corrsys Datron WPT mesec ieaie ed eee cente dede dee eee ed dee Pee adn eene 42 11 SPAN CPT Dual Antenna Installation sssssssssseeeeeenneee 48 12 SPAN CPT Side and Perspective View sse 51 13 SPAN CPT Top Front and Bottom View sess 52 14 SPAN CPT Development Terminated Cable seeseeneeeennennnnnnns 53 6 SPAN CPT User Manual Rev 4 Tables 1 Inertial Solution Status er cete eet eire cera Sees r E aA e a aeiy 37 2 Cable Modification for Corrsys Datron WPT ssssssssssseeeeeennenen 43 3 Cable Modification for CPT Odometer Input eesssee eene 43 4 Solution Parameters onines eee eee eeeceee eves dece dee eade ee o deze e doe o Ep oae E dean 44 5 Technical HW Specs for SPAN CPT essssssesseeeeeee enne rennen nnn nennen nennen 51 6 SPAN CPT Connector Pin Out Descriptions essssesesseee nennen 53 7 CAN Bit Rate per second ssssssssssssssesesesenenene nennen nest nne nennen 61 8 FRESE Target Ue PH eret We ies 63 9 NMEA Talkers sa eat oi iei itera cedente de aeree Pe tres Sey ede cues ave de ka de Re Ra E Dus 68 10 Full Mapping Definitions sais arii eae Rc Ioco ec eene tt eere opener kae Tee uoo 72 11 Short ASCII Message Header Structure sssssssssseeee 86 12 Short Binary Message Heade
73. e Section 3 3 1 System Start Up and Alignment Techniques starting on page 38 The angular offset values are not applied to the attitude output unless the APPLY VEHICLEBODYROTATION command is enabled see page 58 3 3 4 SPAN CPT Wheel Sensor The SPAN CPT system supports wheel sensor inputs integrated via the SPAN CPT The SPAN CPT accepts TTL level input pulses from a wheel sensor through the multi pin connector See Appendix A on page 51 for specifications on the wheel sensor interface 3 3 4 1 Wheel Sensor Update Logic The wheel sensor information is sent to the SPAN CPT along with the raw IMU data The Corrsys Datron wheel pulse transducer is used as an example see Section A 1 1 on page 53 The SPAN CPT Kalman filter uses sequential TIMEDWHEELDATA logs to compute a distance traveled between update intervals 1Hz This information can be used to constrain free inertial drift during times of poor GPS visibility The filter also contains a state for modeling the circumference of the wheel as it may change due to hardware changes or environmental conditions The modeled wheel circumference is available in the WHEELSIZE log see page 127 Information on how the wheel sensor updates are being used is available in the INSUPDATE log see page 116 3 3 4 2 Odometer Requirements SPAN CPT is compatible with any wheel sensor meeting the following requirements nput range less than or equal to 45 KHz Input duty cycle is symmetric 4096 609
74. e of lever arm See Table 15 Enum 4 H 8 Lever Arm Type on page 103 5 X Offset IMU Enclosure Frame m Double 8 H 12 6 Y Offset IMU Enclosure Frame m Double 8 H 20 T Z Offset IMU Enclosure Frame m Double 8 H 28 8 X Uncertainty IMU Enclosure Frame m Double 8 H 36 9 Y Uncertainty IMU Enclosure Frame m Double 8 H 44 10 Z Uncertainty IMU Enclosure Frame m Double 8 H 52 11 Lever Arm Source of the lever arm See Table Enum 4 H 60 Source 16 Lever Arm Source on page 103 for the different values I2 Next component offset H 8 comp 56 variable XXXX 32 bit CRC ASCII and Binary Hex 4 H 8 only comp 56 variable CR LF Sentence terminator ASCII only SPAN CPT User Manual Rev 4 INS Logs Appendix C Table 15 Lever Arm Type Value OF binary Lever Arm Source ASCII Description 0 LEVER_ARM_INVALID An invalid lever arm 1 LEVER ARM PRIMARY Primary lever arm entered for all SPAN systems 2 LEVER ARM SECONDARY Secondary lever arm entered for dual antenna SPAN systems Table 16 Lever Arm Source Value ne binary Lever Arm Source ASCII Description 0 LEVER ARM NONE No lever arm exists 1 LEVER ARM FROM NVM Lever arm restored from NVM 2 LEVER ARM CALIBRATING Lever arm currently calibrating 3 LEVER ARM CALIBRATED Lever arm computed from calibration routine 4 LEVER ARM FROM COMMAND Lever arm entered via command 5 LEVER ARM RESET Ifthe curr
75. e page 58 for more information Abbreviated ASCII Syntax VEHICLEBODYROTATION alpha beta gamma O alpha O beta O gamma Message ID 642 A e Binary Binary Field Field Type Data Description Format Bytes Offset 1 header Log header H 0 2 X Angle Right hand rotation about vehicle Double 8 H frame X axis degrees 3 Y Angle Right hand rotation about vehicle Double 8 H 8 frame Y axis degrees 4 Z Angle Right hand rotation about vehicle Double 8 H 16 frame Z axis degrees 5 X Uncertainty Uncertainty of X rotation degrees Double 8 H 24 default 0 6 Y Uncertainty Uncertainty of Yrotation degrees Double 8 H 32 default 0 7 Z Uncertainty Uncertainty of Z rotation degrees Double 8 H 40 default 0 8 XXXX 32 bit CRC Hex 4 H 48 9 CR LF Sentence terminator ASCII only Abbreviated ASCII Example VEHICLEBODYROTATION 00 900 0 5 84 SPAN CPT User Manual Rev 4 PY D ao INS Logs The INS specific logs follow the same general logging scheme as normal OEMV Family logs They are available in ASCII or binary formats and are defined as being either synchronous or asynchronous All the logs in this chapter can be used only with the SPAN system For information on other available logs and output logging please refer to the OEMV Family Firmware Reference Manual One difference from the standard OEMV Family logs is that there are two possible headers for the ASCII and
76. ehicle 3 The lever arms or distance from the IMU to the antennas needs to be fixed and accurately mea sured using the coordinate axes defined on the outside of the IMU The baseline between the two antennas does NOT need to be aligned with the vehicle axes or with the axes of the IMU 4 Both receivers need to be powered and connected to each other via COM2 before sending any configuration commands It does not matter which receiver is powered on first or how long they are both powered before sending any commands The SPAN CPT and the FlexPak need to be set up as shown in the example in Figure 11 SPAN CPT User Manual Rev 4 47 Chapter 4 SPAN CPT Dual Antenna Primary GPS Y GPS Antenna Antenna Connect COM2 to COME to COM2 a OOST COM1 USB Power BEA Power EF pr J28 Computer Laptop a Power Supply Figure 11 SPAN CPT Dual Antenna Installation 4 3 Configuring ALIGN with SPAN CPT 48 Before configuring the ALIGN solution the SPAN CPT and OEMV 2 receiver FlexPak G2 for example MUST both be powered on and connected directly between COM2 of the SPAN CPT and COM2 of the OEMV 2 through either a null modem cable or an appropriate radio connection Check the model of your external OEMV 2 It must be an ALIGN capable Z model such as Z12Z running the latest released OEMV firmware version for example 3 800 The ALIGN solution will automatically be configured between the SPAN CPT and the OEMV 2 wh
77. el HAS KNOWLEDGE OF THE POTENTIAL LOSS OR DAMAGE b NovAtel will not be liable for any loss or damage caused by delay in furnishing the Software or any other performance under this Agreement c NovAtel s entire liability and your exclusive remedies for our liability of any kind including lia bility for negligence for the Software covered by this Agreement and all other performance or non performance by NovAtel under or related to this Agreement are to the remedies specified by this Agreement 9 Governing Law This Agreement is governed by the laws of the Province of Alberta Canada Each of the parties hereto irrevocably attorns to the jurisdiction of the courts of the Province of Alberta 10 Customer Support For Software UPDATES and UPGRADES and regular customer support con tact the NovAtel GPS Hotline at 1 800 NOVATEL U S or Canada only or 403 295 4900 Fax 403 295 4901 e mail to support novatel ca website http www novatel com or write to NovAtel Inc Customer Service Dept 1120 68 Avenue NE Calgary Alberta Canada T2E 8S5 SPAN CPT User Manual Rev 4 9 Terms and Conditions 10 Standard Terms and Conditions of Sales 1 PRICES All prices are Firm Fixed Price FCA 1120 68th Avenue N E Calgary Alberta All prices include standard commercial packing for domestic shipment All transportation insurance special packing costs and expenses and all Federal provincial and local excise duties s
78. en either 1 The lever arms to both antennas are entered via the SETIMUTOANTOFFSET and SETIMUTOANTOFFSET2 commands or 2 The angular offset between the dual antenna baseline from Primary GPS antenna to Secondary GPS antenna and the IMU frame forward axis is entered directly via the EXTHDGOFFSET command We recommend entering the lever arms rather than entering the angular offset as this 1s easier to SPAN CPT User Manual Rev 4 SPAN CPT Dual Antenna Chapter 4 measure and will lead to better overall accuracy Refer to Appendix B on page 57 for syntax of the above commands The OEMV 2 needs to be started in default COM mode NOVATEL mode for the startup commands to be sent Issues might arise if the COM2 on the OEMV 2 is not set to the default The easiest way to ensure the OEMV 2 is in the default mode is to issue a FRESET command through another port COM or USB of the OEMV 2 As with all ALIGN capable products the baseline solution is available from the GPHDT and HEADING logs however for the SPAN CPT the maximum available rate is limited to 1 Hz 4 4 Configuring SPAN with ALIGN on SPAN CPT To enable the dual antenna ALIGN solution to aid the INS alignment and provide heading updates the offset between the antennas and the IMU must be known This is achieved by entering lever arms to both antennas using the SETIMUTOANTOFFSET and SETIMUTOANTOFFSET2 commands To configure SPAN with ALIGN Aiding 1 Enter the lever arm fro
79. enerates distance and bearing information between a master and one or more rover receivers This feature is ideal for customers wanting relative directional heading separation heading between two objects or heading information with moving base and pointing applications Heading applications can be applied over various markets including machine control unmanned vehicles marine and agricultural markets SPAN CPT Dual Antenna provides the hardware necessary to run an ALIGN baseline with an IMU and a second receiver From any of the SPAN CPT COM ports the ALIGN baseline solution can be logged along with the standard OEMV logs lt SPAN CPT dual antenna operation will require the dedicated use of the COM2 port for communication between receivers With the SPAN CPT the ALIGN GPS baseline can be used to assist the initial alignment of the SPAN solution In addition the ALIGN baseline solution will aid the heading solution from the SPAN CPT if the heading drifts due to slow or constant dynamics ALIGN is capable of a 1 Hz heading output rate when integrated with SPAN CPT Installation The hardware for SPAN CPT is installed in a manner similar to other SPAN systems Some points to consider during your installation are 1 Install the IMU and the two antennas in the vehicle such that the relative distance between them is fixed 2 Theantennas should be mounted where the view of the satellites will not be obstructed by any part of the v
80. ent IMU orientation does not match the value restored from NVM then the lever arm will be reset to zero with this status SPAN CPT User Manual Rev 4 103 Appendix C INS Logs C 2 9 INSATT INS Attitude This log and the INSATTS log contains the most recent attitude measurements corresponding to the SPAN frame axis according to the installation instructions provided in Section 2 2 Hardware Set Up starting on page 25 and INS Window in CDU on page 35 of this manual The attitude measurements may not correspond to other definitions of the terms pitch roll and azimuth If your SPAN CPT s z axis as marked on the enclosure is not pointing up the output attitude will be with respect to the SPAN computational frame and not the frame marked on the enclosure See the SETIMUORIENTATION command to determine what the SPAN computation frame will be given how the IMU is mounted Structure Message ID 263 Log Type Synch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Roll Right handed rotation from local level Double 8 H 12 around y axis in degrees 5 Pitch Right handed rotation from local level Double 8 H 20 around x axis in degrees 6 Azimuth Left handed rotation around z axis Double 8 H 28 Degrees clockwise from North 7 Status INS status see Tab
81. essage ID 320 Log Type Asynch e ine Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Position Covariance Position covariance matrix in local List of 9 72 H 12 level frame Meters squared Doubles XX XY XZ YX VY YZ ZX ZY ZZ 5 Attitude Covariance sse Attitude covariance matrix in local List of 9 72 H 84 page 106 for example level frame Degrees squared Doubles rotation around the given axis XX XY XZ YX VY YZ ZX ZY ZZ 6 Velocity Covariance Velocity covariance matrix in local List of 9 72 H 156 level frame Meters second squared Doubles XX XY XZ YX VY YZ ZX ZY ZZ y XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 228 Binary only 8 CR LF Sentence terminator ASCII only Recommended Input log inscovsa onchanged ASCII Example INSCOVSA 1105 425385 020 1105 425385 000000000 0 0997319969301073 0 0240959791179416 0 0133921499963209 0 0240959791179416 0 1538605784734939 0 0440068023663888 0 0133921499963210 0 0440068023663887 0 4392033415009359 0 0034190251365443 0 0000759398593357 0 1362852812808768 0 0000759398593363 0 0032413999569636 0 0468473344270137 0 1362852812808786 0 0468473344270131 117 5206493841025100 0 0004024901765302 0 0000194916086028 0 0000036582459112 0 0000194916086028 0 0004518869575566 0 0000204616202028 0 00000365
82. f data Structure Message ID 325 Log Type Asynch 3 Rc Binary Binary Field Field Type Data Description Format Bytes Offset Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 IMU Status The status of the IMU This field is given ina Long 4 H 12 fixed length n array of bytes in binary but in ASCII or Abbreviated ASCII is converted into 2 character hexadecimal pairs For more information Table 18 SPAN CPT Status on page 123 Z Accel Output Change in velocity count along z axis Long 4 H 16 Y Accel Output Change in velocity count along y axis gt Long 4 20 X Accel Output Change in velocity count along x axis Long 4 H 24 Z Gyro Output Change in angle count around z axis Long 4 H 28 Right handed Y Gyro Output Change in angle count around y axis ye Long 4 H 32 Right handed 10 X Gyro Output Change in angle count around x axis Long 4 H 36 Right handed 11 XXXX 32 bit CRC ASCII Binary and Short Binary Hex 4 H 40 only 12 CR LF Sentence terminator ASCII only 122 The change in velocity acceleration scale factor for each IMU type can be found in Table 20 on page 124 Multiply the scale factor in Table 20 by the count in this field for the velocity increments in m s A negative value implies that the output is along the positive Y axis marked on the IMU
83. for this log as outlined in HDTOUTTHRESHOLD command section of the Firmware Reference Manual You must have an ALIGN capable receiver to use this log For further information refer to the Model Designators table in the Version section of the Data Logs chapter in the OEMV Family Firmware Reference Manual Message ID 1045 Log Type Asynch Recommended Input log gphdt onchanged Example GPS only SGPHDT 75 5664 T 36 Field Structure Field Description Symbol Example 1 GPHDT Log header GPHDT 2 heading Heading in degrees X X 75 5554 3 True Degrees True T T 4 Xx Checksum hh 36 5 CR LF Sentence terminator CR LF 98 SPAN CPT User Manual Rev 4 INS Logs Appendix C C 2 7 HEADING Heading Information The heading is the angle from True North of the base to rover vector in a clockwise direction Message ID 971 Log Type Asynch Recommended Input log headinga onchanged ASCII Example HEADINGA COMI1 0 77 0 FINESTEERING 1481 418557 000 00000000 3663 36137 SOL COMPUTED L1_INT 5 913998127 75 566444397 0 152066842 0 0 0 104981117 0 222061798 AAAA 13 10 10 0 0 00 0 11 481a5bab SPAN CPT User Manual Rev 4 99 Appendix C INS Logs Field Field type Data Description Format Binary Binary Bytes Offset 1 Log Header Log header H 0 i wat D em a Tnt Position type see the Position or Velocity
84. gineer decompiler or disassemble the Software You agree to keep confidential and use your best efforts to prevent and protect the contents of the Soft ware from unauthorized disclosure or use 8 SPAN CPT User Manual Rev 4 Software License 5 Term and Termination This Agreement and the rights and licences hereby granted shall continue in force in perpetuity unless terminated by NovAtel or Licensee in accordance herewith In the event that the Licensee shall at any time during the term of this Agreement i be in breach of its obligations hereunder where such breach is irremediable or if capable of remedy is not remedied within 30 days of notice from NovAtel requiring its remedy then and in any event NovAtel may forthwith by notice in writ ing terminate this Agreement together with the rights and licences hereby granted by NovAtel Licensee may terminate this Agreement by providing written notice to NovAtel Upon termination for any reasons the Licensee shall promptly on NovAtel s request return to NovAtel or at the election of NovAtel destroy all copies of any documents and extracts comprising or containing the Software The Licensee shall also erase any copies of the Software residing on Licensee s computer equipment Ter mination shall be without prejudice to the accrued rights of either party including payments due to NovAtel This provision shall survive termination of this Agreement howsoever arising 6 Warranty NovAtel does not war
85. h respect to True North in degrees 5 Horizontal Speed Magnitude of horizontal speed in m s Double 8 H 20 where a positive value indicates you are moving forward and a negative value indicates you are reversing 6 Vertical Speed Magnitude of vertical speed in m s Double 8 H 28 where a positive value indicates speed upward and a negative value indicates speed downward 7 Status INS status see Table 1 on page 37 Enum 4 H 36 8 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 40 Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log insspda ontime 1 ASCII Example INSSPDA COM3 0 0 0 EXACT 1105 425385 000 00040000 e ce 0 1105 425384 996167250 223 766800423 0 019769837 0 024795257 1NS SOLUTION GOOD 15b864f4 114 SPAN CPT User Manual Rev 4 INS Logs C 2 19 INSSPDS Short INS Speed This is a short header version of the INSSPD log on Page 114 Appendix C Structure Message ID 323 Log Type Synch is Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Trk gnd Track over ground Double 8 H 12 5 Horizontal Speed Horizontal speed in m s Double 8 H 20 6 Vertical Speed Vertical speed in m s Double 8 H 28 7 Status INS status see Table 1 on page 37 Enum 4 H 36 8 XXXX 32 bit CRC ASCII Bin
86. he ZUPT Zero Velocity Update section reflects the current INSZUPT command setting The receiver uses the X Y and Z Offset fields to specify an offset from the IMU for the output position and velocity of the INS solution as specified by the SETINSOFFSET command or CDU s SPAN CPT wizard The NS Configuration Status section displays the IMU type IMU Status and local date time information The dial is a graphical display of the Roll Pitch and Azimuth values indicated by an arrow on each axis Latitude 51 11635259 Longitude 114 03819366 1062 958m Velocity 0 0041ms 0 0000m s 0 0023m s 0 0033nys X Offset Y Offset Z Offset Roll Pitch Azimuth 0 0627 0 0830 28 938 0 75 0 75 1 05 Mon 23 08 2010 10 06 13 Local 3 2 8 SPAN CPT Configuration using Command Line 3 2 3 1 GPS Configuration 0 023m s 0 012m s 0 016my s 0 012m s On 2 WHEEL_SENSOR_INACTIVE 0 00 INS_SOLUTION_GOOD Ready to use The GPS configuration can be set up for different accuracy levels such as single point SBAS DGPS and RTK RTCA RTCM RTCM V3 CMR and CMR Plus The SPAN CPT can also be set up for Omnistar HP Omnistar XP Omnistar VBS or CDGPS Refer to the OEMV User Manuals for details on DGPS RTK L band or SBAS setup and operation With no additional configuration the system operates in single point mode 3 2 3 2 INS Configuration Once communication has been established to the receiver issue the SETIMUT
87. hen an inertial solution is available Appendix C Structure Message ID 1177 Log TypeSynch Field Structure Field Description Symbol Example 1 PASHR Log Header PASHR 2 Time UTC Time hhmmss ss 195124 00 3 Heading Heading value in decimal degrees HHH HH 305 30 4 True Heading T displayed if heading is relative to true T T north 5 Roll Roll in decimal degrees The sign will RRR RR 0 05 always be displayed 6 Pitch Pitch in decimal degrees The sign PPP PP 0 13 will always be displayed 7 Reserved 8 Roll Accuracy Roll standard deviation in decimal IT IIT 0 180 degrees 9 Pitch Accuracy Pitch standard deviation in decimal Pp ppp 0 185 degrees 10 Heading Accuracy Heading standard deviation in decimal hh hhh 4 986 degrees 11 GPS Update Quality 0 No position 1 1 Flag 1 All non RTK fixed integer positions 2 RTK fixed integer position 12 Checksum Checksum XX 2B 13 CR LF Sentence terminator CR LF Recommended Input log pashr Example SPASHR 0 68 SPASHR 195124 00 305 SPAN CPT User Manual Rev 4 empty 30 T 0 05 0 13 0 180 0 185 4 986 1 2B 121 Appendix C INS Logs C 2 25 RAWIMUS Short Raw IMU Data This log contains an IMU status indicator and the measurements from the accelerometers and gyros with respect to the IMU enclosure frame This log contains the short header version to reduce the amount o
88. his default size is modeled in the filter and this log contains the current estimate of the wheel size Structure Message ID 646 Log Type Asynch Field Field Type Data Description Format Bye onary 1 Log Header Log header H 0 2 Scale Wheel sensor scale factor Double 8 H 3 Circumference Wheel circumference m Double 8 H 8 4 Variance Variance of circumference m7 Double 8 H 16 gt XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 24 Binary only 6 CR LF Sentence terminator ASCII only Recommended Input log wheelsizea onnew ASCII Example WHEELSIZEA COM3 0 44 0 EXACT 0 0 000 00000000 85 8 33738 1 025108123 2 009211922 0 000453791 157 d50b SPAN CPT User Manual Rev 4 127 P Yes nD45 Command Prompt Interface When the SPAN system turns on no activity information 1s transmitted from the serial ports except for the port prompt A terminal connected to the receiver display a messages on its monitor For example COMI if connected to COMI port The COM port can be COMI COM2 COMG USBI USB2 USB3 or AUX Commands are typed at the interfacing terminal s keyboard and sent after pressing the terminal s lt gt or Enter key lt Most valid commands do produce a visible response on the screen The indication that they have been accepted is a return of the port prompt from the receiver Example An example of no echo response to an input command
89. in heading Vehicle dynamics specifically turns stops and starts allow the system to observe the heading error and allows the heading accuracy to converge Three to five changes in heading should be sufficient to resolve the heading accuracy The INS Status field changes to INS SOLUTION GOOD once convergence is complete If the attitude accuracy decreases the INS Status field changes to INS SOLUTION NOT GOOD When the accuracy converges again the INS status continues as INS SOLUTION GOOD 3 3 3 Vehicle to SPAN CPT Frame Angular Offsets Calibration Routine 40 Kinematic fast alignment requires that the angular offset between the vehicle and the SPAN CPT frame is known approximately If the angles are simple that is a simple rotation about one axis the values can easily be entered manually through the VEHICLEBODY ROTATION command see page 82 If the angular offset is more complex rotation is about 2 or 3 axis then the calibration routine may provide a more accurate estimation of the values The steps for the calibration routine are 1 Apply power to the SPAN CPT see the SPAN CPT Technical Specifications starting on page 51 2 Configure the SPAN CPT see SPAN CPT Configuration with CDU on page 33 3 Ensure that an accurate lever arm has been entered into the system 4 Allow the system to complete a coarse alignment using the SETINITAZIMUTH command See Coarse Alignment on page 39 for procedures 5 Enable the vehicle to body cali
90. ing SPAN CPT technology are its ability to e Provide a full attitude solution roll pitch and azimuth Provide continuous solution output in situations when a GPS only solution is impossible Provide faster signal reacquisition and RTK solution resolution over stand alone GPS because of the tightly integrated GPS and INS filters e Output high rate up to 100 Hz position velocity and attitude solutions for high dynamic applications see also Logging Restriction Important Notice on page 87 e Useraw phase observation data to constrain INS solution drift even when too few satellites are available for a full GPS solution 1 4 System Components The SPAN CPT system consists of the following components e SPAN CPT Integrated INS GPS unit This unit has 3 accelerometers 3 gyroscopes gyros and a NovAtel OEMV3 Receiver Excellent acquisition and re acquisition times allow this receiver to operate in environments where very high dynamics and frequent interruption of signals can be expected e PC software Real time data collection status monitoring and receiver configuration is possible through NovAtel s Control and Display Unit CDU software utility see SPAN CPT Configuration with CDU on page 33 SPAN CPT User Manual Rev 4 23 Chapter 2 SPAN CPT Installation 2 4 Hardware Description The hardware setup consists of a SPAN CPT enclosure containing the GPS and IMU components see Figure 1 on page 22 a GPS antenna power an
91. inting up aligned with gravity y axis pointing north x axis pointing east SPAN CPT User Manual Rev 4 29 Chapter 3 SPAN CPT Operation ZECEF North N East E Figure 7 Local Level Frame ENU 3 1 2 The SPAN Body Frame The definition of the SPAN body frame is as follows z axis pointing up aligned with gravity y axis defined by how user has mounted the IMU x axis defined by how user has mounted the IMU To determine your SPAN x axis and y axis see Table 10 on page 72 This frame is also known as the computation frame and is the frame where all the mechanization equations are computed 30 SPAN CPT User Manual Rev 4 SPAN CPT Operation Chapter 3 3 1 3 The Enclosure Frame The definition of the enclosure frame is defined on the IMU and represents how the sensors are mounted in the enclosure If the IMU is mounted with the z axis as marked on the IMU enclosure pointing up the IMU enclosure frame is the same as the SPAN frame This origin of this frame is not the enclosure center but the Center of Navigation sensor center Figure 8 The Enclosure Frame 3 1 4 The Vehicle Frame The definition of the vehicle frame is as follows z axis points up through the roof of the vehicle perpendicular to the ground y axis points out the front of the vehicle in the direction of travel x axis completes the right handed system out the right hand side of the vehicle when facing forward See the
92. ion 0 5 mg C 10 Scale Factor Error Total 4000 ppm 10 Temperature Dependent SF Variation 1000 ppm 10 Accel Noise 55 ug VHz 1c Bandwidth 50 Hz Max Input 10 g SPAN CPT User Manual Rev 4 55 Appendix A A 1 3 Electrical and Environmental CONNECTORS Power and I O MIL DTL 38999 Series 3 Technical Specifications RF Antenna Connector TNC Female ELECTRICAL Temperature operational Input Power 9 18 VDC Power consumption 15 W Max Start Up Time Valid Data 5 secs ENVIRONMENTAL 40 C to 65 C Temperature non operational 50 C to 80 C Vibration operational Vibration non operational 6 g rms 20 Hz 2 KHz 8 g rms 20 Hz 2 KHz Shock operational 7g 6 10 msec 1 2 sine Shock non operational 60 g 6 10 msec 1 2 sine Altitude 1000 to 50 000 ft Humidity 95 at 35 C 48 hrs MTBF 2 10 500 hours 56 SPAN CPT User Manual Rev 4 PY D INS Commands The INS specific commands are described further in this chapter For information on other available commands refer to the OEMV Family Firmware Reference Manual B 1 Using a Command as a Log All NovAtel commands may be used for data input as normal or used to request data output a unique OEMV Family feature INS specific commands may be in Abbreviated ASCII ASCII or Binary format Consider the lockout command refer to the OEMV Family Firmware Refe
93. it reports several status indicators including differential age which is useful in predicting anomalous behavior brought about by outages in differential corrections A differential age of 0 indicates that no differential correction was used With the system operating in an RTK mode this log reflects the latest low latency solution for up to 60 seconds after reception of the last base station observations After this 60 second period the position reverts to the best solution available the degradation in accuracy is reflected in the standard deviation fields If the system is not operating in an RTK mode pseudorange differential solutions continue for 300 seconds after loss of the data link though a different value can be set using the DGPSTIMEOUT command refer to the OEMV Family Firmware Reference Manual Structure Message ID 423 Log Type Synch Binary Binary Field Field type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Sol Status Solution status see Table 14 Solution Status on page 91 Enum 4 H 3 Pos Type Position type see Table 13 Position or Velocity Type on Enum 4 H 4 page 89 4 Lat Latitude Double 8 H 8 5 Lon Longitude Double 8 H 16 6 Hgt Height above mean sea level Double 8 H 24 7 Undulation Undulation Float 4 H 32 8 Datum ID Datum ID refer to the DATUM command in the OEMV Enum 4 H 36 Family Firmware Reference Manual
94. izes a comprehensive user interface command structure which requires communications through its communications COM ports This manual describes the INS specific commands and logs Other supplementary manuals are available to aid you in using the other commands and logs available with OEMV family products It is recommended that these documents be kept together for easy reference SPAN CPT system output is compatible with post processing software from NovAtel s Waypoint Products Group Visit our Web site at www novatel com for details SPAN CPT User Manual Rev 4 Foreword What s New in Rev 4 of the User Manual Dual antenna support Refer to Chapter SPAN CPT Dual Antenna on page 47 for further information Additional edits and corrections Prerequisites The installation chapters of this document provide information concerning the installation requirements and considerations for the different parts of the SPAN CPT system To run the SPAN CPT system software your personal computer must meet or exceed this minimum configuration e Microsoft Windows user interface Windows 2000 or higher e Pentium Microprocessor recommended e VGA Display e Windows compatible mouse or pointing device Although previous experience with Windows is not necessary to use the SPAN CPT system software familiarity with certain actions that are customary in Windows will assist in the usage of the program This manual has been written with the expectati
95. l trigger event Abbreviated ASCII Syntax Message ID 1069 SETMARKIOFFSET xoffset yoffset zoffset aoffset Doffset yoffset Field ASCII Type Value Binary Binary Binary Field Format Bytes Offset Description 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 x offset 360 Offset along the IMU enclosure Double 8 H frame X axis m for Markl 3 y offset 360 Offset along the IMU enclosure Double 8 H 8 frame Y axis m for Markl 4 z offset 360 Offset along the IMU enclosure Double 8 H 16 frame Z axis m for Mark1 5 aoffset 360 Roll offset for Mark1 degrees Double 8 H 24 6 Boffset 360 Pitch offset for Markl degrees Double 8 H 32 7 yoffset 360 Azimuth offset for Mark1 degrees Double 8 H 40 Abbreviated ASCII Example SETMARKIOFFSET 0 324 0 106 1 325 00 0 80 SPAN CPT User Manual Rev 4 INS Commands Appendix B B 2 19 SETWHEELPARAMETERS Set Wheel Parameters The SETWHEELPARAMETERS command can be used when wheel sensor data is available It allows you to give the filter a good starting point for the wheel size scale factor It also gives the SPAN filter an indication of the expected accuracy of the wheel data Usage of the SETWHEELPARAMETERS command depends on what wheel sensor you are using The SETWHEELPARAMETERS command allow
96. ld Type Tyne Description ied paca 1 Sync Char Hex 0xAA 1 0 2 Sync Char Hex 0x44 1 1 3 Sync Char Hex 0x13 1 2 4 Message Length Uchar Message length not including header or 1 3 CRC 5 Message ID Ushort Message ID number 2 4 6 Week Number Ushort GPS week number 2 6 7 Milliseconds Ulong Milliseconds from the beginning of the 4 8 GPS week 86 SPAN CPT User Manual Rev 4 INS Logs Appendix C C 2 INS Specific Logs The receivers are capable of generating many NovAtel format output logs in either Abbreviated ASCII ASCII or binary format Please refer to the OEMV Family Firmware Reference Manual for a complete list of logs categorized by function and then detailed in alphabetical order INS specific commands and logs provide attitude data such as roll pitch and azimuth 4 Logging Restriction Important Notice High rate data logging is regulated in SPAN to prevent logging of unusable data or overloading the system Please note these 3 rules when configuring your SPAN system 1 Only one high rate INS log can be configured for output at a time Once a log is selected for output at a rate of 100 Hz all other log requests are limited to a maximum rate of 50 Hz Below are examples of acceptable logging requests LOG RAWIMUSB ONNEW 100 Hz LOG INSPVASB ONTIME 0 02 acceptable 50 Hz logging The following is rejected because RAWIMU has already been requested at 100 Hz LOG INSPOSSB ONTIME 0 01 100 Hz request Be
97. le 1 on page 37 Enum 4 H 36 8 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 40 Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log insatta ontime 1 ASCII Example INSATTA COM3 0 0 0 EXACT 1105 425385 000 00040000 0638 0 1105 425384 996167250 4 822147742 0 035766158 123 262113519 INSSolutionGood 3563a760 lt The structure of the INSATT log is different in this firmware version 1 3 than in any earlier beta versions This is because the order of the roll and pitch fields have been reversed 104 SPAN CPT User Manual Rev 4 INS Logs Appendix C C 2 10 INSATTS Short INS Attitude This is a short header version of the NSATT log on page 104 Structure Message ID 319 Log Type Synch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Seconds from week start Double 8 H 4 Week 4 Roll Right handed rotation from local Double 8 H 12 level around y axis in degrees 5 Pitch Right handed rotation from local Double 8 H 20 level around x axis in degrees 6 Azimuth Left handed rotation around z axis Double 8 H 28 Degrees clockwise from North 7 Status INS status see Table 1 on page 37 Enum 4 H 36 8 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 40 Binary only 9 CR LF Sentence terminator ASCII only
98. ll intellectual property rights in the design of any part of the Equipment or provision of services whether such design be registered or not shall vest in NovAtel absolutely The Buyer shall keep confidential any information expressed or confirmed by NovAtel in writing to be confidential and shall not disclose it without NovAtel s prior consent in SPAN CPT User Manual Rev 4 Terms and Conditions writing to any third party or use it other than for the operation and maintenance of any Equipment provided 5 GENERAL PROVISIONS All Purchase Orders are subject to approval and acceptance by NovAtel Any Purchase Order or other form from the Purchaser which purports to expand alter or amend these terms and conditions is expressly rejected and is and shall not become a part of any agreement between NovAtel and the Purchaser This agreement shall be interpreted under the laws of the Province of Alberta 6 LIMITED WARRANTY AND LIABILITY Warranty Period Products 1 year Accessories 90 days in each case from the date of invoice NovAtel warrants that during the Warranty Period that a the Product will be free from defects in material and workmanship and conform to NovAtel specifications b the software will be free from error which materially affect performance and c if applicable as defined in the User s Manual be eligible for access to post contract support and software updates when available THESE WARRANTIES ARE EXPRESSLY IN LIE
99. low is another example set of acceptable logging requests LOGINSPOSSB ONTIME 0 01 100 Hz request LOGINSVELSB ONTIME 0 02 50 Hz request The following are rejected in this case because INSPOSSB has already been requested at a high rate LOG RAWIMUSB ONNEW 100 Hz request LOGINSATTSB ONTIME 0 01 100 Hz request 2 RAWIMUS logs are only available with the ONNEW or ONCHANGED trigger These logs are not valid with the ONTIME trigger The raw IMU observations contained in these logs are sequential changes in velocity and rotation As such you can only use them for navigation if they are logged at their full rate See details of these log starting on page 121 3 In order to collect wheel sensor information useful in post processing the TIMEDWHEELDATA log should only be used with the ONNEW trigger See also page 125 for details on this log lt The periods available when you use the ONTIME trigger are 0 01 100 Hz 0 02 50 Hz 0 05 0 1 0 2 0 25 0 5 1 2 3 5 10 15 20 30 or 60 seconds The highest rate that you should request GPS logs RANGE BESTPOS RTKPOS PSRPOS and so on while in INS operation is 5 Hz If the receiver is not running INS GPS logs can be requested at rates up to 20 Hz depending on the software model SPAN CPT User Manual Rev 4 87 Appendix C INS Logs C 2 1 BESTGPSPOS Best GPS Position This log contains the best available GPS position without INS computed by the receiver In addition
100. lter As such it is an average velocity based on the time difference between successive position computations and not an instantaneous velocity at the BESTGPSVEL time tag The velocity latency to be subtracted from the time tag is normally 1 2 the time between filter updates Under default operation the positioning filters are updated at a rate of 2 Hz This translates into a velocity latency of 0 25 second The latency can be reduced by increasing the update rate of the positioning filter being used by requesting the BESTGPSVEL or BESTGPSPOS messages at a rate higher than 2 Hz For example a logging rate of 10 Hz would reduce the velocity latency to 0 005 seconds For integration purposes the velocity latency should be applied to the record time tag A valid solution with a latency of 0 0 indicates that the instantaneous Doppler measurement was used to calculate velocity Structure Message ID 506 Log Type Synch SPAN CPT User Manual Rev 4 INS Logs Appendix C Binary Binary Field Field type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Sol Status Solution status see Table 14 Solution Status on Enum 4 H page 91 3 Vel Type Velocity type see Table 13 Position or Velocity Enum 4 H 4 Type on page 89 4 Latency A measure of the latency in the velocity time tag in Float 4 H 8 seconds It should be subtracted from the time to give improved results 5 Age Differential age Float 4 H 12 6
101. lters and regulates the supply voltage e protects against over voltage over current and high temperature conditions provides automatic reset circuit protection lt The power supply used to power the SPAN CPT must be monotonic during power on to ensure internal logic blocks are initialized appropriately and proceed to valid operating states If the power supply is not monotonic during power on the accelerometer status in the IMU status may show a failure and the accelerometer measurements in the RAWIMUS log see the RAWIMUS log description starting on page 122 will be zero Power cycling with a monotonic power up clears this error state Power input pins are located on the multi purpose I O connector Be sure to connect the power with the correct polarity and ensure the power source is within specifications See Appendix A Technical Specifications for power input requirements There is always a drop in voltage between the power source and the power port due to cable loss Improper selection of wire gauge can lead to an unacceptable voltage drop at the SPAN CPT system A paired wire run represents a feed and return line Therefore a 2 m wire pair represents a total wire path of 4 m For a SPAN CPT system operating from a 12 V system a power cable longer than 2 1 m 7 ft should not use a wire diameter smaller than 24 AWG 5 Apply power to the SPAN CPT See Figure 6 on the following page lt It is recommended that you place a back up
102. lues in the BESTLEVERARM and BESTLEVERARM2 logs are also available in the IMUTOANTOFFSETS log see page 101 The default X pitch Y roll and Z azimuth directions of the IMU enclosure frame are clearly marked on the IMU see Figure 39 on page 155 Structure BESTLEVERARM Message ID 674 BESTLEVERARM2 Message ID 1256 Log Type s Asynch Binary Binary Field Field Type Description Format Bytes Offset 1 Log Header Log Header H 0 2 X Offset IMU Enclosure Frame m Double 8 H 3 Y Offset IMU Enclosure Frame m Double 8 H 8 4 Z Offset IMU Enclosure Frame m Double 8 H 16 5 X Uncertainty IMU Enclosure Frame m Double 8 H 24 6 Y Uncertainty IMU Enclosure Frame m Double 8 H 32 7 Z Uncertainty IMU Enclosure Frame m Double 8 H 40 8 iMapping See Table 33 Full Mapping Integer 4 H 48 Definitions on page 157 9 XXXX 32 bit CRC Hex 4 H 52 10 CR LF Sentence Terminator ASCII only Recommended Input log bestleverarma onchanged ASCII Example BESTLEVERARMA COM1 0 83 5 UNKNOWN 0 2 983 00000008 39e4 35484 0 3934000000000000 1 2995000000000001 0 0105500000000000 0 0300000000000000 0 0300000000000000 0 0300000000000000 4 876c47ad 94 SPAN CPT User Manual Rev 4 INS Logs Appendix C C 2 4 CORRIMUDATA CORRIMUDATAS Corrected IMU measurements The CORRIMUDATA S log contains the RAWIMU data corrected for gravity earth s rotation and accelerometer and gyros
103. m the IMU to the primary antenna primary antenna is connected to the SPAN CPT using the SETIMUTOANTOFFSET command Abbreviated ASCII example SETIMUTOANTOFFSET 0 54 0 32 1 20 0 03 0 03 0 05 2 Enter the lever arm from the IMU to the secondary antenna secondary antenna is connected to the OEMV2 using the SETIMUTOANTOFFSET2 command Abbreviated ASCII example SETIMUTOANTOFFSET2 0 54 2 32 1 20 0 03 0 03 0 05 The SPAN CPT can be configured for different alignment routines depending on the motion conditions experienced during the alignment period For example in marine applications the dynamics required for the default kinematic alignment cannot be guaranteed so a different alignment routine will be required The different alignment routines are described in the following sections 4 4 1 Alignment on a Moving Vessel Aided Transfer Alignment Default This alignment routine will become the default upon enabling the dual antenna operation as described above Use the ALIGNMENTMODE command to override this 1f desired If your vehicle is not stationary during the alignment such as may be the case on a ship use the Aided Transfer Alignment routine This is the default alignment for SPAN CPT with Dual Antenna so the configuration is relatively simple This alignment method uses the ALIGN baseline solution to perform an instantaneous alignment of the vehicle attitude No additional configuration 1s required for this alignment
104. mbiguities solution b 56 INS_RTKFIXED INS RTK fixed ambiguities solution b 57 INS_OMNISTAR INS OmniSTAR VBS position L1 sub meter ab 58 INS_OMNISTAR_HP INS OmniSTAR high precision solution a 59 INS_OMNISTAR_XP INS OmniSTAR extra precision solution 64 OMNISTAR HP OmniSTAR high precision 65 OMNISTAR XP OmniSTAR extra precision 66 CDGPS Position solution using CDGPS corrections a In addition to a NovAtel receiver with L band capability a subscription to the OmniSTAR or use of the free CDGPS service is required Contact NovAtel for details b These types appear in position logs such as BESTPOS Please refer to your OEMV Family Firmware Reference Manual SPAN CPT User Manual Rev 4 INS Logs Appendix C Table 14 Solution Status Binary ASCII Description 0 SOL_COMPUTED Solution computed 1 INSUFFICIENT_OBS Insufficient observations 2 NO_CONVERGENCE No convergence 3 SINGULARITY Singularity at parameters matrix 4 COV_TRACE Covariance trace exceeds maximum trace gt 1000 m 5 TEST_DIST Test distance exceeded maximum of 3 rejections if distance gt 10 km 6 COLD_START Not yet converged from cold start 7 V H LIMIT Height or velocity limits exceeded in accordance with COCOM export licensing restrictions 8 VARIANCE Variance exceeds limits 9 RESIDUALS Residuals are too large 10 DELTA POS Delta position is too large 11 NEGATIVE VAR Negative variance
105. n 88 up 118 updating firmware 17 upgrading models 17 using a command as a log 57 V vector values 118 vehicle to body rotation RVB 59 69 VEHICLEBODYROTATION command SPAN CPT User Manual Rev 4 Index 82 VEHICLEBODYROTATION log 126 velocity 79 112 best 92 computation 118 INS 64 106 mark 120 W warranty 13 Web site 16 wheel sensor set 81 wheel size 127 WHEELSIZE 127 WHEELVELOCITY 84 Z Zero Velocity Update ZUPT 66 SPAN CPT User Manual Rev 4 135 amp NovZtel Recyclable Printed in Canada on recycled paper OM 200001 22 Rev 4 2010 08 31
106. n unless a GPS antenna 1s connected with a clear view of the sky The Inertial solution is computed separately from the GPS solution The GPS solution is available from the SPAN CPT system through the GPS specific logs even without SPAN running The integrated INS GPS solution is available through special INS logs documented in Appendix C of this manual The IMU solution is available at the maximum rate of output of the SPAN CPT 100 Hz Because of this high data rate a shorter header format was created These shorter header logs are defined with an S RAWIMUSB rather than RAWIMUB We recommend you use these logs instead of the standard header logs to save throughput on the COM port SPAN CPT User Manual Rev 4 SPAN CPT Operation Chapter 3 Status of the inertial solution can be monitored using the inertial status field in the INS logs Table 1 below Table 1 Inertial Solution Status Binary ASCII Description 0 INS_INACTIVE IMU logs are present but the alignment routine has not started INS is inactive 1 INS_ALIGNING INS is in alignment mode When in this status the user can move to initiate the kinematic alignment or send a SETINITAZIMUTH command This status also shows if the IMU status is not valid The IMU status is given in the RAWIMU and RAWIMUS logs See Section B 2 16 on page 77 2 INS SOLUTION NOT GOOD The INS solution is still being computed but the azimuth solution uncertainty has exceed 2 degrees The solution
107. nd VEHICLEBODYROTATION 0 0 90 lt Note these angular rotations are difficult to visualize so if you have complex rotations or some other axis that Z pointing up use the CDU SPAN wizard for assistance with these settings The accuracy of the initial attitude will depend on the dynamics of the vehicle and the accuracy of the angles input in the VEHICLEBODYROTATION command The alignment is only an estimate of the attitude of the vehicle and as the vehicle experiences dynamics the accuracy of the attitude solution will improve Once the attitude accuracy has converged the INS status will change to INS SOLUTION GOOD 3 3 1 2 Coarse Alignment A coarse alignment uses an average reading of the accelerometers and gyroscopes to estimate the attitude of the IMU Coarse alignment begins once the INS status changes to INS ALIGNING and requires the vehicle to remain stationary for approximately 60 seconds The minimum amount of time the vehicle must remain stationary is 5 seconds but the quality of a coarse alignment computed over a period this short will be very poor In order for SPAN CPT to execute a coarse alignment an initial estimate of the heading of the vehicle must be entered using the SETINITAZIMUTH command If the IMU Y axis is facing east to within 10 degrees standard deviation then the command would be SETINITAZIMUTH 90 10 The accuracy of the initial attitude will depend on the duration of the stationary period for roll an
108. ogging Restriction Important Notice High rate data logging is regulated in SPAN to prevent logging of unusable data or overloading the system Please note these 3 rules when configuring your SPAN CPT system 1 Only one high rate INS log can be configured for output at a time Once a log is selected for output at a rate equal to 100 Hz all other log requests are limited to a maximum rate of 50 Hz Below are examples of acceptable logging requests 44 0000000000000 000 SPAN CPT User Manual Rev 4 SPAN CPT Operation Chapter 3 LOG RAWIMUSB ONNEW 100 Hz LOGINSPVASB ONTIME 0 02 acceptable 50 Hz logging The following is rejected because RAWIMU has already been requested at 100 Hz LOGINSPOSSB ONTIME 0 01 100 Hz request Below is another example set of acceptable logging requests LOGINSPOSSB ONTIME 0 01 100 Hz request LOG INSVELSB ONTIME 0 02 50 Hz request The following are rejected in this case because INSPOSSB has already been requested at a high rate LOG RAWIMUSB ONNEW 100 Hz request LOGINSATTSB ONTIME 0 01 100 Hz request 2 RAWIMU and RAWIMUS logs are only available with the ONNEW or ONCHANGED trigger These logs are not valid with the ONTIME trigger The raw IMU observations contained in these logs are sequential changes in velocity and rotation As such you can only use them for navigation if they are logged at their full rate See details of these log starting on page 121 3 In order to collect wheel
109. om week start Double 8 H 4 4 North Velocity Velocity North m s Double 8 H 12 5 East Velocity Velocity East m s Double 8 H 20 6 Up Velocity Velocity Up m s Double 8 H 28 7 Status INS status see Table 1 on page 37 Enum 4 H 36 8 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 40 Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log insvelsa ontime 1 ASCII Example SINSVELSA 1105 425385 000 1105 425384 996167250 0 014277009 0 013675287 0 024795257 INS SOLUTION GOOD 2f3fe011 SPAN CPT User Manual Rev 4 119 Appendix C C 2 23 MARK1PVA_ Position Velocity and Attitude at Mark1 INS Logs This log outputs position velocity and attitude information of the system with respect to the SPAN frame when an event was received on the Mark 1 input Structure Message ID 1067 Log Type Synch Field Field Type Description Format Bye Pinay 1 Log Header Log header H 0 2 Week GPS Week at Markl request Ulong 4 H 3 Seconds Seconds from week at Mark1 Double 8 H 4 4 Latitude Latitude WGS84 at Mark1 Double 8 H 12 5 Longitude Longitude WGS84 at Markl Double 8 H 20 6 Height Height WGS84 at Mark1 m Double 8 H 28 7 North Velocity Velocity in a northerly direction a ve value Double 8 H 36 implies a southerly direction at Markl m s 8 East Velocity Velocity in an easterly direction a ve value Double 8 H 44 implies a westerly direction
110. on 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 switch DISABLE 0 Disable INS delta phase Enum 4 H updates ENABLE 1 Enable INS delta phase updates default Abbreviated ASCII Example INSPHASEUPDATE ENABLE SPAN CPT User Manual Rev 4 65 Appendix B INS Commands B 2 8 INSZUPT Request Zero Velocity Update This command allows you to manually perform a Zero Velocity Update ZUPT that is to update the receiver when the system has stopped NovAtel s SPAN Technology System does ZUPTS automatically It is not necessary to use this command under normal circumstances A WARNING This command should only be used by advanced users of GPS INS Abbreviated ASCII Syntax Message ID 382 INSZUPT 66 SPAN CPT User Manual Rev 4 INS Commands Appendix B B 2 9 INSZUPTCONTROL INS Zero Velocity Update Control This command allows you to control whether ZUPTs are performed by the system When enabled ZUPTs allow the INS to reduce its accumulated errors Typically the system will automatically detect when it is stationary and apply a ZUPT For certain applications where it is known that the system will never be stationary such as marine or airborne applications ZUPTS can be disabled altogether Abbreviated ASCII Syntax Message ID 1293 INSZUPTCONT
111. on that you already have a basic familiarity with Windows SPAN CPT User Manual Rev 4 21 Chapter 1 Introduction 22 Figure 1 SPAN CPT System NovAtel s SPAN CPT technology brings together two very different but complementary positioning and navigation systems namely GPS and an Inertial Navigation System INS By combining the best aspects of GPS and INS into one system SPAN technology is able to offer a solution that is more accurate and reliable than either GPS or INS could provide alone The combined GPS INS solution has the advantage of the absolute accuracy available from GPS and the continuity of INS through traditionally difficult GPS conditions GPS positioning observes range measurements from orbiting Global Positioning System Satellites From these observations the receiver can compute position and velocity with high accuracy NovAtel GPS positioning systems have been established as highly accurate positioning tools however GPS in general has some significant restrictions which limit its usefulness in some situations GPS positioning requires line of site view to at least four satellites simultaneously If these criteria are met differential GPS positioning can be accurate to within a few centimetres If however some or all of the satellite signals are blocked the accuracy of the position reported by GPS degrades substantially or may not be available at all An INS uses forces and rotations measured by an IMU to calculate
112. or ASCII only Recommended Input log inspossynca onchanged ASCII Example INSPOSSYNCA COM1 0 47 5 FINESTEERING 1332 484154 042 00000000 c98c 34492 484154 000000000 1634523 2463 3664620 7609 4942494 6795 1 8091616236414247 0 0452272887760925 0 7438098675219428 0 0452272887760925 2 9022554471257266 1 5254793710104819 0 7438098675219428 1 5254793710104819 4 3572293495804546 9 cd6ce1 SPAN CPT User Manual Rev 4 111 Appendix C C 2 16 INSPVA INS Position Velocity and Attitude This log allows INS position velocity and attitude with respect to the SPAN frame to be collected in one log instead of using three separate logs See the INSATT log on page 104 for an explanation of how the SPAN frame may differ from the IMU enclosure frame INS Logs Structure Message ID 507 Log Type Synch NS Binary Binary Field Field Type Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong H 3 Seconds Seconds from week start Double 8 H 4 4 Latitude Latitude WGS84 Double 8 H 12 2 Longitude Longitude WGS84 Double 8 H 20 6 Height Ellipsoidal Height WGS84 m Double 8 H 28 7 North Velocity Velocity ina northerly direction a ve Double 8 H 36 value implies a southerly direction m s 8 East Velocity Velocity in an easterly direction a ve Double 8 H 44 value implies a westerly direction m s 9 Up Velocit
113. or ASCII only Recommended Input log timedwheeldataa innew ASCII Example STIMEDWHEELDATAA 1393 411345 001 0 215 814910889 0 0 1942255 3b5fa236 SPAN CPT User Manual Rev 4 125 Appendix C INS Logs C 2 27 VEHICLEBODYROTATION Vehicle to SPAN frame Rotation 126 The VEHICLEBOD YROTATION log reports the angular offset from the vehicle frame to the SPAN frame The SPAN frame is defined by the transformed IMU axis with Z pointing up see the SETIMUORIENTATION on page 70 The VEHICLEBODYROTATION command see page 82 sets the initial estimates for the angular offset The uncertainty values are optional lt If your SPAN CPT is mounted with the Z axis as marked on the IMU enclosure pointing up the IMU enclosure frame is the same as the SPAN frame Structure Message ID 642 Log Type Asynch Recommended Input log vehiclebodyrotationa onchanged ASCII Example VEHICLEBODYROTATIONA COM1 0 36 5 FINESTEERING 1264 144170 094 00000000 5cf 2 1541 1 5869999997474209 2 6639999995760122 777 649999876392343 2 0000000000000000 2 0000000000000000 5 0000000000000000 25 886cc SPAN CPT User Manual Rev 4 INS Logs Appendix C C 2 28 WHEELSIZE Wheel Size This log contains wheel sensor information The inertial Kalman filter models the size of the wheel to compensate for changes in wheel circumference due to hardware or environmental changes The default wheel size is 1 96 m A scale factor to t
114. p along the gravity vector If the IMU mapping is set to 1 the X axis of the IMU enclosure is mapped to the SPAN frame Z axis pointing up its Y axis to SPAN frame X and its Z axis to SPAN frame Y The X pitch Y roll and Z azimuth directions of the inertial enclosure frame are clearly marked on the SPAN CPT see the technical specifications starting on page 51 MX 1 Azimuth is positive in a clockwise direction while yaw is positive in a counter clockwise direction when looking down the axis centre Yaw follows the right handed system convention where as azimuth follows the surveying convention 2 The data in the RAWIMUS log is never mapped The axes referenced in the RAWIMUS log description form the SPAN CPT enclosure frame as marked on the enclosure SPAN CPT User Manual Rev 4 INS Commands Appendix B Abbreviated ASCII Syntax Message ID 567 SETIMUORIENTATION switch Field ASCII Binary Binary Binary Binary Description Format Bytes Offset Type Value Value 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCH or binary respectively 2 switch 0 0 IMU determines axis ENUM 4 H orientation automatically during coarse alignment default 1 1 IMU X axis is pointing UP 2 2 IMU X axis is pointing DOWN 3 3 IMU Y axis is pointing UP 4 4 IMU Y axis is pointing DOWN 5 5 IMU Z axis is pointing UP 6 6 IMU Z axis i
115. pectively 2 mode UNAIDED 0 Regular SPAN static coarse or kinematic alignment mode Default for single antenna operation AIDED 1 STATIC Seed the static coarse alignment with an initial azimuth AIDED_ 2 TRANSFER Seed the full attitude from an ALIGN solution Pitch and Heading taken from ALIGN Roll will be assumed 0 Default for dual antenna operation The default ALIGNMENTMODE for the SPAN CPT is UNAIDED when ALIGN solution is setup the ALIGMENTMODE will automatically change to AIDED TRANSFER Sending this command will override any Abbreviated AS ALIGNM automatic setup CII Example ENTMODE AIDED TRANSFI 58 ER SPAN CPT User Manual Rev 4 INS Commands Appendix B B 2 2 APPLYVEHICLEBODYROTATION Enable Vehicle to Body Rotation This command allows you to apply the vehicle to body rotation to the output attitude that was entered from the VEHICLEBODYROTATION command see page 82 This rotates the SPAN body frame output in the INSPVA INSPVAS and INSATT logs to the vehicle frame APPLYVEHICLEBODYROTATION is disabled by default Abbreviated ASCII Syntax APPLYVEHICLEBODYROTATION switch Message ID 1071 Field ASCII Binary be Binary Binary Binary Field Type Value Description Format Bytes Offset 1 header This field contains the H 0 command name or
116. position velocity and attitude This capability is embedded in the firmware of the SPAN CPT Forces are measured by accelerometers in three perpendicular axes within the IMU and the gyros measure angular rotation rates around those axes Over short periods of time inertial navigation gives very accurate acceleration velocity and attitude output The INS must have prior knowledge of its initial position initial velocity initial attitude Earth rotation rate and gravity field Since the IMU measures changes in orientation and acceleration the INS determines changes in position and attitude but initial values for these parameters must be provided from an external source Once these parameters are known an INS is capable of providing an autonomous solution with no external inputs However because of errors in the IMU measurements that accumulate over time an inertial only solution degrades with time unless external updates such as position velocity or attitude are supplied The SPAN CPT system s combined GPS INS solution integrates the raw inertial measurements with all available GPS information to provide the optimum solution possible in any situation By using the high accuracy GPS solution the IMU errors can be modeled and mitigated Conversely the continuity SPAN CPT User Manual Rev 4 Introduction Chapter 1 and relative accuracy of the INS solution enables faster GPS signal reacquisition and RTK solution convergence The advantages of us
117. r Structure sssssssssssssseeeene 86 13 Position or Velocity Type cccccceeccsececeeeeeeeceeeeeceaaeeeeeeeaaeaeceeeesaaaeeeeeesaeaeeeeeeeneanaeeeeess 89 14 Solution Status aie eet Nee EE ei qox adea dae eden rcd 91 15 l everArm Type eit ele mutuis seus 103 16 Lever Armi SOUCO eese eed E eee e tas see o EI Po cia bna EL Qastetaes Pea den ea Ee o elt Po dopo d 103 17 Wheel Statusi 117 18 SPAN GPT Staltus 5 os telo titii Rian eaea a ele aa he 123 19 SPAN CPT Status Example erc ete dee ee ede erede deno eo sce Ee cites 124 20 Raw SPAN CPT Scale Factors ccccceececceceeeeeeeeeeeeeeceneaeeseeseneaeeeeseeceeeeeeeseseeeeeeeees 124 SPAN CPT User Manual Rev 4 Software License BY INSTALLING COPYING OR OTHERWISE USING THE SOFTWARE PRODUCT YOU AGREE TO BE BOUND BY THE TERMS OF THIS AGREEMENT IF YOU DO NOT AGREE WITH THESE TERMS OF USE DO NOT INSTALL COPY OR USE THIS ELECTRONIC PRODUCT SOFTWARE FIRMWARE SCRIPT FILES OR OTHER ELECTRONIC PRODUCT WHETHER EMBEDDED IN THE HARDWARE ON A CD OR AVAILABLE ON THE COMPANY WEB SITE hereinafter referred to as Software 1 License NovAtel Inc NovAtel grants you a non exclusive non transferable license not a sale to where the Software will be used on NovAtel supplied hardware or in conjunction with other NovAtel supplied software use the Software with the product s as supplied by NovAtel You agree not to use
118. rant the contents of the Software or that it will be error free The Software is furnished AS IS and without warranty as to the performance or results you may obtain by using the Software The entire risk as to the results and performance of the Software is assumed by you See product enclosure if any for any additional warranty 7 Indemnification NovAtel shall be under no obligation or liability of any kind in contract tort or oth erwise and whether directly or indirectly or by way of indemnity contribution or otherwise howsoever to the Licensee and the Licensee will indemnify and hold NovAtel harmless against all or any loss dam age actions costs claims demands and other liabilities or any kind whatsoever direct consequential special or otherwise arising directly or indirectly out of or by reason of the use by the Licensee of the Software whether the same shall arise in consequence of any such infringement deficiency inaccu racy error or other defect therein and whether or not involving negligence on the part of any person 8 Disclaimer and Limitation of Liability a THE WARRANTIES IN THIS AGREEMENT REPLACE ALL OTHER WARRANTIES EXPRESS OR IMPLIED INCLUDING ANY WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE NovAtel DISCLAIMS AND EXCLUDES ALL OTHER WARRANTIES IN NO EVENT WILL NovAtel s LIABILITY OF ANY KIND INCLUDE ANY SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES INCLUDING LOST PROFITS EVEN IF NovAt
119. received including interference that may cause undesired operation SPAN CPT complies with the radiated and conducted emission limits for a Class B digital device The Class B limits are designed to provide reasonable protection against harmful interference in a residential installation The equipment listed generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instructions may cause harmful interference to radio communications However there is no guarantee that interference will not occur in a particular installation If this equipment does cause harmful interference to radio or television reception which can be determined by turning the equipment off and on the user is encouraged to try to correct the interference by one or more of the following measures e Re orient or relocate the receiving antenna Increase the separation between the equipment and the receiver e Connect the equipment to an outlet on a circuit different from that to which the receiver is connected Consult the dealer or an experienced radio TV technician for help IMPORTANT In order to maintain compliance with the limits of a Class B digital device it is required to use properly shielded interface cables A WARNING Changes or modifications to this equipment not expressly approved by NovAtel Inc could result in violation of Part 15 of the FCC rules and void the user s authority to operate this equipment
120. rence Manual with the syntax lockout prn You can put this command into the receiver to de weight an undesirable satellite in the solution or you can use the lockout command as a log to see if there is a satellite PRN that has already been locked out In ASCII this might be log com1 lockouta once Notice the a after lockout to signify you are looking for ASCII output lt The highest rate that you should request GPS logs RANGE BESTPOS RTKPOS PSRPOS and so on while in INS operation is 5 Hz If the receiver is not running INS GPS logs can be requested at rates up to 20 Hz depending on the software model WARNING Ensure that all windows other than the Console are closed in CDU and then A use the SAVECONFIG command to save settings in NVM Otherwise unnecessary data logging occurs and may overload your system B 2 INS Specific Commands Please refer to the OEMV Family Firmware Reference Manual for a complete list of commands categorized by function and then detailed in alphabetical order SPAN CPT User Manual Rev 4 57 Appendix B B 2 1 ALIGNMENTMODE Abbreviated ASCII Syntax ALIGNMENTMODE mode Fiela Field Type ASCII Value Set the Alignment Mode Description INS Commands Message ID 1214 Binary Format Binary Binary Bytes Offset 1 header This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary res
121. s pointing DOWN Abbreviated ASCII Example SETIMUORIENTATION 1 SPAN CPT User Manual Rev 4 71 Appendix B 72 Table 10 Full Mapping Definitions INS Commands In SPAN Frame x z IMU Enclosure IMU Enclosure Mapping Axes SEAN Frame Frame Axes Frame 1 X Z Y x Y Z Y Z Z X X Y 4 X Z Z Y Y Y Z X Y Z x X 3 X Z Z Y Y X Y X Z X Y Z X z X Z Y Z X Y Y Z x Y 3 X Z X Z default Y Y Y Y Z X Z x 2 X Y X Y X Y Z Z Z SPAN CPT User Manual Rev 4 INS Commands Appendix B B 2 13 SETIMUTOANTOFFSET Set IMU to Antenna Offset It is recommended that you mount the SPAN CPT as close as possible to the GPS antenna particularly in the horizontal plane This command is used to enter the offset between the SPAN CPT and the GPS antenna The measurement should be done as accurately as possible preferably to within millimeters especially for RTK operation The x y and z fields represent the vector from the SPAN CPT to the antenna phase center in the IMU enclosure frame The a b and c fields allow you to enter any possible errors in your measurements If you think that your x offset measurement is out by a centimeter for example enter 0 01 in the a field The X pitch Y roll and Z azimuth directions of the inertial frame are clearly marked on the SPAN CPT This command must be entered before the INS alignment mode not after
122. s you to set the number of ticks per revolution that is correct for your wheel installation the default is 58 Abbreviated ASCII Syntax Message ID 847 SETWHEELPARAMETERS ticks cire spacing ASCII Binary Binary Binary Value Value Description Format Offset 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 ticks 1 10 000 Number of ticks per revolution Ushort 48 H default 58 3 circ 0 1 100 Wheel circumference m Double 8 H 4 default 1 96 m 4 spacing 0 001 1000 Spacing of ticks or resolution of Double 8 H 12 the wheel sensor m a In the binary log case an additional 2 bytes of padding are added to maintain 4 byte alignment Abbreviated ASCII Example SETWHEELPARAMETERS 58 1 96 0 025 lt Fields 2 3 and 4 do not have to add up Field 4 is used to weight the wheel sensor measurement Fields 2 and 3 are used with the estimated scale factor to determine the distance travelled SPAN CPT User Manual Rev 4 61 Appendix B INS Commands B 2 20 VEHICLEBODYROTATION Vehicle to SPAN frame Rotation Use the VEHICLEBODYROTATION command to set angular offsets between the vehicle frame direction of travel and the SPAN body frame direction that the SPAN CPT computational frame is pointing If you estimate the angular offsets using the
123. ssssssssssesseeen nennen 29 3 1 1 The Local Level Frame ENU sssssssssssssseeeeeeeere nennen 29 3 1 2 The SPAN Body Frame ssssssssssssseses eene ener nennen nr tnr ennt nnns nennt 30 3 1 3 The Enclosure Frame n coi ER cei etin eee esee ede oa ce desinee cendo 31 3 1 4 The Vehicle Frame EEEE TEE E E 31 3 2 Communicating with the SPAN CPT System sssssssssssssseseeeee eene 32 3 2 1 SPAN CPT Configuration with CDU seems 33 3 2 2 INS Window in CDU Vici n i ai eene enne enne nnne tnmen nennen tentent entere 35 3 2 3 SPAN CPT Configuration using Command Line ssssssssses 35 3 3 Real Time OperaltlOn ser oien or cedi teer eii teer aaee e t Fue Roa Lez da dear Ra Exe pte d 36 3 3 1 System Start Up and Alignment Techniques sssssssssseene 38 3 3 2 Navigation Mode 1i dpt Herne Ie de interesse dent ane e R E Eas 40 3 3 3 Vehicle to SPAN CPT Frame Angular Offsets Calibration Routine 40 3 3 4 SPAN CPT Wheel Sensor sss eene nnne 41 3 4 Data Collection i co Is i dece eee beet Eee Etre edebat oe oe eB tato 44 3 5 Data Collection for Post Processing ssssssssssssssseseeeeneeren nennen nnne 46 4 SPAN CPT Dual Antenna 47 AT OVOIVIQW c s eor e eet pee e Eo telsbauketexete teste ese tee sue cu bd es eE ATIS te ues eed eat 47 ALD ccu 47 4 3 Configuring ALIGN with SPAN CPT
124. t and edit it to change it Preferences Configurations l8 SPANCPT Startup Options Update Log Definitions Device Type Type Serial Serial Settings Port COM1 84 I Passive Baud Rate 115200 x r Hardware Handshaking 32 SPAN CPT User Manual Rev 4 SPAN CPT Operation Chapter 3 5 Sp poo b GEN 3 2 1 Select Serial from the Type list and select the PC laptop port that the SPAN CPT is connected to from the Port hist Select 775200 from the Baud Rate list Uncheck the Hardware handshaking checkbox Select OK to save the new device settings Select the new configuration from the Available device configs area of the Open dialog Select the Open button to open SPAN CPT communications Available device configs ERARI ree pain Open SPANCPT COM1 at 115200 Baud As CDU establishes the communication session with the receiver a progress box is displayed Select Tools Logging Control Window from the CDU main menu to control the receiver s log ging to files and serial ports Refer to CDU s on line Help for more information Use the Console window to enter commands See also Section 3 Cable Modification for CPT Odometer Input on page 43 If you have to power down your receiver ensure that all windows other than the Console window are closed in CDU and then use the SAVECONFIG command SPAN CPT Configuration with CDU Follow these steps to enable
125. t is for the SETIMUTOANTOFFSET command The format of this command is identical to the SETIMUTOANTOFFSET command as outlined on page 73 74 SPAN CPT User Manual Rev 4 INS Commands Appendix B B 2 15 SETINITATTITUDE Set Initial Attitude of SPAN in Degrees This command allows you to input a known attitude to start SPAN operation rather than the usual coarse alignment process The caveats and special conditions of this command are listed below e This alignment is instantaneous based on the user input This allows for faster system startup however the input values must be accurate or SPAN will not perform well e Ifyou are uncertain about the standard deviation of the angles you are entering lean on the side of a larger standard deviation e Sending SETINITATTITUDE resets the SPAN filter The alignment is instantaneous but some time and vehicle dynamics are required for the SPAN filter to converge Bridging performance is poor before filter convergence e Theroll about the y axis pitch about the x axis and azimuth about the z axis are with respect to the SPAN frame If the SPAN CPT enclosure is mounted with the z axis pointing upwards the SPAN frame is the same as the markings on the enclosure If the SPAN CPT is mounted in another way SPAN transforms the SPAN frame axes such that z points up for SPAN computations You must enter the angles in SETINITATTITUDE with respect to the transformed axis See SETIMUORIENTATION for a des
126. the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 switch DISABLE 0 Enable disable vehicle body Enum 4 H ENABLE 1 rotation using values entered in the vehiclebodyrotation command default disable Input Example APPLYVEHICLEBODYROTATION ENABLE SPAN CPT User Manual Rev 4 59 Appendix B B 2 3 CANCONFIG Configure the CAN Interface for SPAN 60 INS Commands Use the CANCONFIG command to configure the CAN interface for SPAN All of its fields are mandatory there are no optional fields For further information refer to our application note APN 046 Configure CAN for SPAN on the NovAtel Web site at www novatel com through Support Knowledge and Learning Abbreviated ASCII Syntax CANCONFIG port switch bit rate base tx mask source Field Type ASCII Value Binary Value Description Binary Format Binary Bytes Message ID 884 Binary Offset 1 header This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 port CANI CAN2 Specify the CAN port Enum 3 switch DISABLE ENABLE ojmj Enable disable CAN configuration on the chosen port Enum 4 bit rate CAN bit rate kbps See Table 7 on page 61 Enum 5 base 0 to 65535 0x0000 to OxFFFF Base address Refer to application note APN 046
127. the Software for any purpose other than the due exercise of the rights and licences hereby agreed to be granted to you 2 Copyright NovAtel owns or has the right to sublicense all copyright trade secret patent and other proprietary rights in the Software and the Software is protected by national copyright laws international treaty provisions and all other applicable national laws You must treat the Software like any other copy righted material except that you may make one copy of the Software solely for backup or archival pur poses one copy may be made for each piece of NovAtel hardware on which it is installed or where used in conjunction with other NovAtel supplied software the media of said copy shall bear labels showing all trademark and copyright notices that appear on the original copy You may not copy the product manual or written materials accompanying the Software No right is conveyed by this Agree ment for the use directly indirectly by implication or otherwise by Licensee of the name of NovAtel or of any trade names or nomenclature used by NovAtel or any other words or combinations of words proprietary to NovAtel in connection with this Agreement without the prior written consent of NovAtel 3 Patent Infringement NovAtel shall not be liable to indemnify the Licensee against any loss sus tained by it as the result of any claim made or action brought by any third party for infringement of any letters patent registered design
128. the front of the vehicle in the direction of travel e Vehicle X Axis completes the right handed system out the right hand side of the vehicle when facing forward The rotation values are used during kinematic alignment The rotation 1s used to transform the vehicle frame attitude estimates from GPS into the SPAN computational frame during kinematic alignment The uncertainty values report the accuracy of the angular offsets lt If your SPAN CPT is mounted with the Z axis as marked on the IMU enclosure pointing up the IMU enclosure frame is the same as the SPAN frame Follow these steps to measure the rotation angles in the order and direction required for input in the VEHICLEBODYROTATION command 1 Start with SPAN CPT enclosure in the vehicle frame as described above 2 Rotate about the vehicle Z axis This angle is the gamma angle in the command and follows the right hand rule for sign correction 3 Rotate about the new X axis to complete the transformation into the SPAN frame This angle is the alpha angle in the command 4 Finally rotate about the new Y axis to align the X Y plane with the SPAN frame This angle is the beta angle in the command lt Enter rotation angles in degrees We recommend entering SETIMUORIENTATION first then VEHICLEBODYROTATION SPAN CPT User Manual Rev 4 83 Appendix B INS Commands To apply the vehicle to body rotation angles the APPLY VEHICLEBODYROTATION needs to be enabled Please se
129. tings are correctly set up to agree with the receiver communications protocol these settings can be saved e g C GPS OEMSETUP HT for use in future sessions You may wish to use XON XOFF handshaking to prevent loss of data 4 Select Transfer Send Text File to locate the file that is to be sent to the receiver Once you double click on the file or select Open HyperTerminal sends the file to the receiver The above example initializes the SPAN system with origin and destination waypoint coordinates and sets the magnetic variation correction to 21 degrees The BESTPOSA PSRVELA and NAVIGATEA logs have been set to output from the receiver s COMI serial port at intervals of once every 15 seconds whereas the GPRMB and GPVTG NMEA logs have been set to be logged out of the receiver s COM2 serial port at intervals of 15 seconds and offset by five seconds The RXCONFIGA log has been set to output every 60 seconds from its COM2 serial port 130 SPAN CPT User Manual Rev 4 P Yerr3ie 4288 Replacement Parts The following are a list of the replacement parts available Should you require assistance or need to order additional components please contact your local NovAtel dealer or Customer Service E 1 SPAN CPT System Part Description NovAtel Part KVH Enclosure 80023524 KVH Standard Unterminated Cable 60723107 KVH Development Terminated Cable 60723108 SPAN CPT Quickstart Guide GM 14915081 OEMV CDU and Convert
130. tive View SPAN CPT User Manual Rev 4 51 Appendix A Technical Specifications 5 68 1442 OL AO i 7 I AT 5 01 I 127 3 E I Dai M sil 86 1 2 p C S E A 4 55 115 5 1 61 40 9 i i ni 889 i i 71 6 1 22 E o 1 65 309 1 LE 4 55 15 5 s 6 66 002 4693 PB ax 4X MOUNTING SURFACE AX mm 88 UNPAINTED J5 224 19 1 19 6 8 ETA ee AE p 4X 277 7 Ex 19 015 amp A B c pais 5 440 1 EO 138 2 o G amp 080 5 310 I l2 134 9 J 6 104 L155 ALIGNMENT HOLES FOR 5 125 DOWEL PINS x90 O i se m Figure 13 SPAN CPT Top Front and Bottom View 52 SPAN CPT User Manual Rev 4 Technical Specifications Appendix A A 1 1 SPAN CPT Cable The NovAtel part numbers for the SPAN CPT cable are KVH Development Terminated Cable 60723108 KVH Standard Unterminated Cable 60723107 140 CM 5 El DB9 FEMALE DB9 MALE N a E ectortype
131. to Antenna Lever Arm 94 C 2 4 CORRIMUDATA CORRIMUDATAS Corrected IMU measurements 95 C 2 5 EXTHDGOFFSET Log the Angular Offset sse 97 C 2 6 GPHDT NMEA Heading Log esee nennen nens 98 C 2 7 HEADING Heading Information mmn 99 C 2 8 IMUTOANTOFFSETS IMU to Antenna s Lever Arm eccere 101 C 2 9 INSATT INS Attitude eiiis intet re hn re eee Eun dedere da 104 C 2 10 INSATTS Short INS Attitude 105 C 2 11 INSCOV INS Covariance Matrices ssee 106 C 2 12 INSCOVS Short INS Covariance Log ssssessseeeeeeenene 108 2 13 INSPOS INS POSITOFL iani iei peret POR Tete aN 109 C 2 14 INSPOSS Short INS Position sssssssseeeeneeennnenenens 110 C 2 15 INSPOSSYNC Time Synchronised INS Position eessssssssss 111 C 2 16 INSPVA INS Position Velocity and Attitude ssssne 112 C 2 17 INSPVAS Short INS Position Velocity and Attitude ssssssssss 113 C 2 18 INSSPD INS Speed sse enne enne nnne tenens nennen 114 SPAN CPT User Manual Rev 4 C 2 19 INSSPDS Short INS Speed iposi nennen 115 C 2 20 INSUPDATE INS Update ssssseeneeeeneen nennen nennen 116 C 2 21 INSVEL INS Velocily ccrte tenete deret tinet cde ea ne doe 118 C 2 22 INSVELS Short INS Velocity sssssssseseeeenenen nennen 119 C 2 23 MARK1PVA Position
132. tten consent from NovAtel vii Products designated by NovAtel as beta site test samples SPAN CPT User Manual Rev 4 11 12 Terms and Conditions experimental developmental preproduction sample incomplete or out of specification Products viii returned Products if the original identification marks have been removed or altered or ix Services or research activities 7 EXCLUSION OF LIABILITY If a Party would but for this paragraph 7 have concurrent claims in contract and tort including negligence such claims in tort including negligence shall to the extent permitted by law be wholly barred unenforceable and excluded NovAtel shall not be liable to the Buyer by way of indemnity or by reason of any breach of the Order or of statutory duty or by reason of tort including but not limited to negligence for any loss of profit loss of use loss of production loss of contracts or for any financing costs or for any indirect or consequential damage whatsoever that may be suffered by the Buyer In the event and to the extent that NovAtel shall have any liability to Buyer pursuant to the terms of the Order NovAtel shall be liable to Buyer only for those damages which have been foreseen or might have reasonably been foreseen on the date of effectivity of the Order and which are solely an immediate and direct result of any act or omission of NovAtel in performing the work or any portion thereof under the Order and which are not in
133. ual the number of antennas supported in the model For example one for single antenna This log contains the same information as the BESTLEVERARM or BESTLEVERARM2 logs for each lever arm but is intended as a single source for all lever arm information available on the system Abbreviated ASCII Syntax Message ID 1270 log imutoantoffsets Log Type Asynch Example log OK COM1 IMUTOANTOFFSETS COMI 0 98 5 FINESTEERING 1581 339209 733 60000041 0000 265 lt Or 2 lt LEVER_ARM PRIMARY 0 326000000 0 126000000 1 285000000 0 032600000 0 012600000 0 128500000 LEVER_ARM FROM COMMAND lt LEVER ARM SECONDARY 0 325000000 1 155000000 1 287000000 0 032500000 0 115500000 0 128700000 LEVER ARM FROM COMMAND COMI ASCII Example SIMUTOANTOFFSETSA COM1 0 98 5 FINESTEERING 1581 339209 733 60000041 0000 265 0 2 LEVER ARM PRIMARY 0 326000000 0 126000000 1 285000000 0 032600000 0 012600000 0 128500000 LEVER ARM FROM COMMAND LEVER ARM SECONDARY 0 325000000 1 155000000 1 287000000 0 032500000 0 115500000 0 128700000 LEVER ARM FROM COMMAND 8f0f 90b5 SPAN CPT User Manual Rev 4 101 Appendix C 102 INS Logs rer Binary Binary A Field Field Type Description Format Bytes Binary Offset 1 Log Header Log header H 0 2 IMU Orientation See Table 33 Full Mapping ULong 4 H Definitions on page 157 3 Number of Number of stored lever arms ULong 4 H 4 Entries 4 Lever Arm Type Typ
134. ut the solution uncertainty increases with time This uncertainty can be monitored using the INSCOV log see page 106 All the accels measurements in my RAWIMUS logs are zero and the IMU status shows one or all accels are failing What is wrong Ensure a monotonic power supply on power up of your SPAN CPT unit See Connect Power on page 27 for more information SPAN CPT User Manual Rev 4 A accelerometers 85 accuracy 73 88 age solution 88 alignment 64 73 ALIGNMENTMODE 58 almanac 63 antenna 73 131 APPLYVEHICLEBODYROTATION 59 attitude 64 104 106 112 120 axes enclosure frame 70 73 79 94 local level frame 106 108 118 SPAN frame 70 71 73 75 78 83 104 105 107 108 112 azimuth 70 73 94 104 B baseline heading 100 BESTGPSPOS 88 BESTGPSVEL 92 BESTLEVERARM 94 BESTLEVERARMQ 94 C cables 131 power 27 warranty 13 calibration 69 CANCONFIG 60 command prompt interface 128 130 configuration non volatile memory 63 copyright 2 CORRIMUDATA 95 D datum 88 differential 88 distance exceeded 91 SPAN CPT User Manual Rev 4 E east 118 e mail 16 EXTHDGOFFSET log 97 F firmware updates 17 frame see axes vehicle 69 83 frequently asked questions 132 FRESET 63 G GPHDT NMEA heading log 98 GPSAntenna 13 graphical user interface 35 H hardware setup 24 headers 85 86 HEADING 99 height 88 velocity limit 91 help 32 I IMUTOANTOFFSETS 101 inertial navigation system INS
135. which of the SPAN CPT axis is aligned with gravity The SPAN CPT orientation can be saved using the SAVECONFIG command so that on start up the SPAN CPT system does not have to detect the orientation of the SPAN CPT with respect to gravity This is particularly useful for situations where the receiver is powered while in motion 1 The default SPAN CPT axis definitions are Y forward Z up X out the right hand side It is strongly recommended that you mount your SPAN CPT in this way with respect to the vehicle 2 You only need to use this command if the system is to be aligned while in motion using the fast alignment routine see Section 3 3 1 1 Default Kinematic Alignment on page 38 WARNING Ensure that all windows other than the Console are closed in CDU and then use the SAVECONFIG command to save settings in NVM Otherwise unnecessary data logging occurs and may overload your system This orientation command serves to transform the incoming SPAN CPT signals in such a way that a 5 mapping is achieved see Table 10 on page 72 For example if the SPAN CPT is mounted with the X axis pointing UP and a mapping of 1 is specified then this transformation of the raw SPAN CPT data is done X gt Z Y gt X Z Y where the default is XX Y Y Z gt Z Notice that the X axis observations are transformed into the Z axis resulting in Z being aligned with gravity and a 5 mapping The SPAN frame is defined so that Z is always pointing u
136. with a convenient file name e g C GPS BOOT1 TXT and exit the text editor 3 Use the DOS copy command to direct the contents of the BOOT1 TXT file to the PC s COMI serial port C GPS gt copy bootl txt coml 1 files s copied C NGPS 4 The SPAN system is now initialized with the contents ofthe BOOT1 TXT command file and logging is directed from the receiver s COM2 serial port to the rover terminal SPAN CPT User Manual Rev 4 129 Appendix D Command Prompt Interface D 2 WINDOWS As any text editor or communications program can be used for these purposes the use of Windows 98 is described only as an illustration The following example shows how Windows 98 accessory programs Notepad and HyperTerminal can be used to create a hypothetical waypoint navigation file on a laptop computer and send it to the receiver It is assumed that the laptop computer s COMI serial port is connected to the receiver s COMI serial port and that a rover terminal is connected to the receiver s COM2 serial port Example 1 Open Notepad and type in the following command text setnav 51 111 114 039 51 555 114 666 0 start stop magvar 21 log coml bestposa ontime 15 log coml psrvela ontime 15 log coml navigatea ontime 15 log com2 gpvtg ontime 15 5 1 1 log com2 gprmb ontime 15 5 2 2 log com2 rxconfiga ontime 60 2 Save this with a convenient file name e g C GPS BOOTNAV1 TXT and exit Notepad 3 Ensure that the HyperTerminal set
137. www novatel com then select Support Helpdesk and Solutions Search Known Solutions Through this page you can search for general information about GNSS and other technologies information about NovAtel hardware and software and installation and operation issues Before Contacting Customer Support Before contacting NovAtel Customer Support about a software problem perform the following steps 1 Log the following data to a file on your PC for 15 minutes RXSTATUSB once RAWEPHEMB onchanged RANGEB ontime 1 BESTPOSB ontime 1 RXCONFIGA once VERSIONB once RAWIMUSB onnew INSPVASB ontime 1 INSUPDATEB onchanged 2 Sendthe file containing the log to NovAtel Customer Support using either the NovAtel FTP site at Support Firmware Software and Manuals Access FTP Site on the NovAtel Web site at www novatel com or through the support novatel com e mail address 3 You can also issue a FRESET command to the receiver to clear any unknown settings DX The FRESET command will erase all user settings You should know your configuration and be able to reconfigure the receiver before you send the FRESET command If you are having a hardware problem send a list of the troubleshooting steps taken and results SPAN CPT User Manual Rev 4 15 16 Contact Information Customer Support Use one of the following methods to contact NovAtel Customer Support or 1 403 295 4900 international Call the
138. y Velocity in an up direction m s Double 8 H 52 10 Roll Right handed rotation from local level Double 8 H 60 around y axis in degrees 11 Pitch Right handed rotation from local level Double 8 H 68 around x axis in degrees 12 Azimuth Left handed rotation around z axis Double 8 H 76 Degrees clockwise from North 13 Status INS Status see Table 1 on page 37 Enum 4 H 84 14 XXXX 32 bit CRC Hex 4 H 88 15 CR LF Sentence Terminator ASCII only Recommended Input log inspvaa ontime 1 ASCII Example INSPVAA COM1 0 31 0 FINESTEERING 1264 144088 000 00040000 5615 1541 1264 144088 002284950 51 116827527 114 037738908 401 191547167 354 846489850 108 429407241 10 837482850 1 116219952 3 476059035 7 372686190 INS ALIGNMENT COMPLETE af719fd9 112 SPAN CPT User Manual Rev 4 INS Logs C 2 17 INSPVAS Short INS Position Velocity and Attitude This is a short header version of the INSPVA log on page 112 Appendix C Structure Message ID 508 Log Type Synch Field Field Type Description Format Binary Binary Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds Seconds from week start Double 8 H 4 4 Latitude Latitude WGS84 Double 8 H 12 5 Longitude Longitude WGS84 Double 8 H 20 6 Height Ellipsoidal Height WGS84 m Double 8 H 28 7 North Velocity Velocity in a northerly direction a
139. zimuth to the attitude of the IMU This alignment routine is best suited for ground vehicles where the direction of travel is coincident with the forward axis of the vehicle and the roll of the vehicle 1s close to zero The fast alignment routine may not be suitable for some marine or airborne where the direction of travel may be different from the forward axis of the vehicle because of factors like a crab angle If SPAN CPT is installed with the IMU axes NOT aligned with the vehicle then additional configuration is needed to complete the moving alignment These settings can be set graphically using the INS configuration wizard in the CDU interface program or through the command interface by issuing the following commands l Specify which IMU axis is most closely aligned with gravity using the SETIMUORIENTATION command See page 70 for a description of this command and table with the number SPAN CPT User Manual Rev 4 SPAN CPT Operation Chapter 3 corresponding to each orientation For example if the Z axis of your SPAN CPT is pointing up you would send this command SETIMUORIENTATION 5 2 Specify the angular offset from the vehicle frame to the SPAN frame known as the vehicle body rotation or RVB using the VEHICLEBODYROTATION command see page 62 Following the example started above if the IMU is installed rotated so that the Y axis points out the right hand side of the vehicle instead of forward then you would then enter this comma

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