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SPAN on OEM6 User Manual

1. Primary GNSS Antenna Secondary GNSS Antenna A My t t Bl Connect COM 2 to COM2 Connect IMU to COM 1 mi e n ff HOSP S fi fce o i AUS iv l C 1 Fl SPAN s Secondary Receiver il Receiver R Master Rover USB Power Supply SPAN on OEM6 User Manual Rev 7 65 Chapter 4 SPAN on OEM6 Dual Antenna Figure 27 SPAN on OEM6 ProPak6 Dual Antenna Installation Ru Power Supply Primary GNSS Antenna m EER Secondary GNSS Antenna SPAN Receiver C m 128 The ALN LED on the front panel of the ProPak6 indicates the ALIGN heading status Table 13 ALN ALIGN LED States O gt z N d E Connect IMU to COM3 IMU HA LED State Description ALIGN is not operational Dual card is disabled or unavailable Tracking lt 4 satellites Heading log not received updated in 30 seconds Off ALIGN has FLOAT solution SOLTYPE_L1_FLOAT SOLTYPE_NARROW_FLOAT or SOLTYPE_WIDE_FLOAT Amber solid ALIGN has fixed solution Green solid SOLTYPE_L1_INT SOLTYPE NARROW INT 66 SPAN on OEM6 User Manual Rev 7 SPAN on OEM6 Dual A
2. m CO Note The center of Navigation shown on the HG1700 label for the internal IMU is the same as the enclosure center The enclosure center measurements are labelled as IMU Center in this figure SPAN on OEM6 User Manual Rev 7 77 Appendix A A 2 2 HG1700 IMU Performance Technical Specifications Table 22 HG1700 IMU Performance PERFORMANCE IMU H58 Gyro Input Range x 1000 degrees s Gyro Rate Bias 1 0 degree hr Gyro Rate Scale Factor 150 ppm Angular Random Walk 0 125 degrees rt hr Accelerometer Range 50g Accelerometer Linearity 500 ppm Accelerometer Scale Factor 300 ppm Accelerometer Bias 1 0 mg IMU H62 Gyro Input Range 1000 degrees s Gyro Rate Bias 5 0 degrees hr Gyro Rate Scale Factor 150 ppm Angular Random Walk 0 5 degrees rt hr Accelerometer Range 50g Accelerometer Linearity 500 ppm Accelerometer Scale Factor 300 ppm Accelerometer Bias 3 0 mg A 23 HG1700 Electrical and Environmental Table 23 IMU Power Consumption HG17000 Electrical Specifications ELECTRICAL IMU H58 9 W max IMU H62 8 W max IMU Input Voltage 12 to 28 V DC Receiver Power Consumption System Power Consumption 1 8 W typical 13 8 W typical Input Output Connectors MIL C 38999 III 22 pin all IMUs IMU Interface RS 232 or RS 422 Table 24 HG17000 Environmental Specifications ENVIRONMENTAL IMU Temperature Ope
3. 600 0 20 0 P2 to MIC iB 20 Jen b E E E egets E i E a n fel Jen E jai Jen E E B1 V Notch indicates Pin 1 end of connector Table 73 HG1930 IMU to MIC Cable Assembly P1 IMU Cable End FCI MINITEK P2 MIC Cable End Pin Pin 1 15 2 16 3 13 4 14 5 8 7 7 6 9 8 10 11 3 4 12 6 19 5 10 1 2 For more information refer to the IMU documentation provided by Honeywell SPAN on OEM6 User Manual Rev 7 P1 to IMU PCB 1 mngmmgmnuuumumn 115 Appendix A Technical Specifications A 9 5 HG1700 and HG1900 IMU to MIC Cable Assembly The NovAtel part number for the HG1700 and HG1900 IMU to MIC interface cable is 01018828 Figure 59 HG1700 and HG1900 IMU to MIC Cable Assembly This cable provides power to the IMU and enables communication between the MIC and the IMU Figure 59 HG1700 and HG1900 IMU to MIC Cable Assembly Dimensions in millimetres 600 0 20 0 P2 to MIC P1 to IMU PCB 1 N o B BsHHOBdHHHHH B ESEEEHIHEHIHEHEHESE 0 uc V Notch indicates Pin 1 end of connector Table 74 HG1700 and HG1900 IMU to MIC Cable Assembly P1 IMU Cable End FCI MINITEK P2 MIC Cable End Pin Pin 15 16 13 14 CO ODO NJ oo AJ Ww N eo
4. J2 Pinout Function Connector Pin Label 1 Vin P2 Vin 22 Vin 2 Not used 3 Vin P1 Vin 21 Vin 4 Not used 5 Not used 6 Not used 7 DAS J1 1 8 Not used 9 DAS GND J1 5 10 Not used 11 OEM_CTS Rx J1 8 12 OEM_Rx Rx J1 2 13 Not used 14 DGND J1 5 15 DGND J1 5 16 Not used 17 Not used 18 Not used 19 OEM_Tx Tx J1 3 20 OEM_RTS Tx J1 7 Shield P3 Shield 74 SPAN on OEM6 User Manual Rev 7 Technical Specifications A 1 5 Universal IMU Cable The NovAtel part number for the Universal IMU cable is 01018299 see Figure 32 Universal IMU Enclosure Interface Cable This cable provides power to the IMU from an external power source and enables communication between the receiver and the IMU Appendix A Figure 32 Universal IMU Enclosure Interface Cable Dimensions in millimetres TL 3x100 10 a B G 150 30 4x 1250 30 J2 SIDE VIEW P3 GRN P2 BLK P1 RED J1 END VIEW Table 19 Universal IMU Enclosure Interface Cable Pinouts J2 P
5. aE 110 68 Pinouts for Power Connector P101 eececceeenneeee eee e eter eeeeeeeaaaaeeeeeeeeeeeeeegeeaaaaaeeeeeeeeeeeeens 111 69 Pinouts for User Interface Connector P301 sse 111 70 Pinouts for IMU Connector P601 ssssssssssssssssssssssseeeeeeen rennen nennen n nnn nnne 113 71 Pinouts for IMU Connector P701 cceeeeeeeeeeeee cece cette eee et eee aaaaaneeeeeeeeeeeeeegecaaaaaaeeseeeeeeeeeeas 114 72 MIC LED Indicator Drivers i A haaie aana eani aoa nadana padanda ri aenda e ieai aatia aA Riian 114 73 HG1930 IMU to MIC Cable Assembly eeeeeeseseeeeeeeeeeeeneenn nnne nnns 115 74 HG1700 and HG1900 IMU to MIC Cable Assembly eene 116 75 ProPak6 Expansion Cable Pin Out Descriptions ceeeeececeeeeee cette eee eeeeeeeeeaaeeeeeeeeeeeeess 117 76 P2 Connector Pin Out Descriptions ssesesssssessssssseseeeeeeee ener nnne nennen nnns 118 SPAN on OEM6 User Manual Rev 7 Customer Support NovAtel Knowledge Base If you have a technical issue browse to the NovAtel Web site at www novatel com then select Support Helpdesk amp 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 contact
6. sssssssssssseeeeneeeeeenn enne SPAN on OEM6 User Manual Rev 7 Table of Contents 3 6 Azimuth Sources on a SPAN System sessssssseeesseeeee eene nme nnne nennen 61 3 6 1 Course Over Ground cecidere nein rte Moo a eo de Eder races Tore t cea 61 3 62 Inertial Azitmiuthi dez eee aeter Reese 61 SGS ALIGN AZIMU isi ci irn crore an E rae eet ee niet cip eyed ga ea eh 61 3 7 Data Collection for Post Processing sssseeseeeeeeneeeeennn eene 62 3 8 Firmware Updates and Model Upgrades sessssssssesssseeeeneeeeeeeennnnn nnne 63 3 9 Variable ever i ERR r a a aA r aE aa Taa e aa Aara Aa ar A aAa tenaaa Seii oa Ka daa Enada e daian E naai Eini 63 4 SPAN on OEM6 Dual Antenna 64 2 1 Installations es hi et etui oO DO EE 64 4 2 Configuring ALIGN with SPAN on OEM6 sessesseeeeeeeenenneeeenn nennen nnne nnns 67 4 3 Configuring SPAN with ALIGN neviss eiar naierara e Naa SAEC nnne nnne nennen 67 4 3 1 Alignment on a Moving Vessel Aided Transfer Alignment 67 4 3 2 Alignment on a Stationary Vehicle Aided Static Alignment ssusss 68 4 3 3 Unaided Alignmerit iic eee etie etn othe c IERI HERRERA 68 4 3 4 Automatic Alignment Mode Automatic Alignment default 68 4 4 SPAN ALIGN Attitude Updates 200 e cece eeece eee cece eee ee ete aaaaaaeeeeeeeeeeeeeeeaaaaaaaeeaeeeeeeeeess 68 A Technical Speci
7. M 124 Install Enclosure Body on the Base sse eene nennen nnne nnns 125 Screw Enclosure Base to Body aninion NAASE EANA nennen nnn nnns 125 Finial Assembly setis eaa TE etA niin titt deitatis ideae 126 Required Parts iis L 127 Remove Base i e iki ino edd eS eI cs 128 Disconnect Wiring Harness from SDLC Card essen 128 IMU Bracket 4 cenae toi e e OR Hier Uu Fai e espere 129 Remove IMU Bracket SDLG eeesesssesessseeeeeeeeeeenn nennen nennen nineteenth teneret nnns 129 Install LN 200 IMU to Base eeesssseseeeesesseeeeeeeenn nennen nnnm nn entren nnn n tentent nnns 130 Install Bracket to Base ioci deii ta cerva ee i Y ae bt ra e EE 131 Making Conriectionts 2 iiid sie ctii een eR tg cb EU Perf Ee EE Rea tend 131 Connect Internal Cable Harness ccccceeeeeceeeeeeeneeeeeeeeaeeeeeeeeaaeeeeeeeaaeeeeeeesaaeeseeesaeeeeeeenaaes 132 Installing the Enclosure Body to the Base ssssseeeeeneem eee 133 Screw Enclosure Base to Body sssssssssssseseeeeeeeee eene nennen nennen nennen 134 Firial Assembly 5 5 3 uice RES a iaa aaa A aea Aaa a Aaaa RAPERE 134 Required cic M 135 Bolts and Hex Key 1e eet ea me eR dy 136 Lift Top Cover Tube Body and 3 Ring Spacer Screws seeeee 136 SPAN IMU R Assembly 2 nre ER EIE e ERR Penne CE CHR AEE
8. 1382 e li i z cal amp amp ONY n 080 k 5 310 2 1349 J ALIGNMENT HOLES FOR 0 125 DOWEL PINS B 6 104 x 155 SPAN on OEM6 User Manual Rev 7 91 Appendix A A 5 2 A 5 3 IMU CPT Sensor Specifications Table 37 IMU CPT Performance PERFORMANCE FIBER OPTIC GYROS Technical Specifications PERFORMANCE ACCELEROMETERS Bias Offset 20 hr Turn On To Turn On Bias Repeatability Compensated 3 hr In Run Bias Variation At Constant Temperature 1 hr 10 Scale Factor Error Total 1500 ppm 10 Scale Factor Linearity 1000 ppm 10 Temperature Dependent SF Variation 500 ppm 10 Angular Random Walk 0 0667 4hr 1c Max Input 375 sec IMU CPT Electrical and Environmental Bias Offset 50 mg Turn On To Turn On Bias Repeatability 0 75 mg In Run Bias Variation At Constant Temperature 0 25 mg 10 Temperature Dependent Bias Variation 0 5 mg C 10 Scale Factor Error Total 4000 ppm 10 Temperature Dependent SF Variation 1000 ppm 10 Accel Noise 55 ug Hz 10 Bandwidth 50 Hz Max Input 10g Table 38 IMU CPT Electrical and Environmental Specifications CONNECTORS Power and I O RF Antenna Connector TNC Female MIL DTL 38999 Series 3 92 Temperature operational Input Power 9 18 VDC Power consumption 15 W Max Start Up Time Valid Data lt 5 seconds ENVI
9. N O A i co 4 eo N 0 For more information refer to the IMU documentation provided by Honeywell 116 SPAN on OEM6 User Manual Rev 7 Technical Specifications Appendix A A 10 Receivers For technical specifications for the OEM615 OEM628 OEM638 and FlexPak6 see the OEM6 Family Installation and Operation User Manual For technical specifications for the ProPak6 see the ProPak6 User Manual A 10 1 ProPak6 Expansion Cable The NovAtel part number for the ProPak6 expansion cable is 01019154 This cable provides access to the COM7 COM8 COMS9 COM10 CAN1 and CAN2 ports COM4 COM5 and COM6 are used internally on the ProPak6 Figure 60 ProPak6 Expansion Cable 4 1500 100 x2 lt 900 50 x4 Pin pio COM7 10 2 x4 Pin2 coms 7 Pilo Pint P2 P2 Loe 0 2 ees Dimensions are in 25 x amp millimetres era 5 Table 75 ProPak6 Expansion Cable Pin Out Descriptions P1 EXP Function P2 P3 Pin DB9 Connectors Wire Bundle Label 1 CAN Bus 1 CAN1 2 CAN Bus 1 CAN1 3 CAN Bus 2 CAN2 4 CAN Bus 2 CAN2 5 Digital Ground DGND 6 VBUS The ProPak6 Expansion Cable multiplexes 7 USB D four serial COM ports COM7 COM8 COM9 and COM10 onto a single USB port 8 USB D See Table 76 P2 Connector Pin Out 9 Digital Ground Descriptions on page 118 for the pin out
10. We recommend entering the lever arms rather than entering the angular offset as this is easier to measure and will lead to better overall accuracy Refer to the SPAN on OEM6 Firmware Reference Manual for the syntax of the above commands As with all ALIGN capable products the GNSS baseline solution is available from the GPHDT and HEADING logs For INS heading use INSATT or INSPVA The SPAN system 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 either a coarse or kinematic alignment cannot be guaranteed so a different alignment routine is required The different alignment routines are described in the following sections 4 3 Configuring SPAN with ALIGN The SPAN receiver 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 either a coarse or kinematic alignment cannot be guaranteed so a different alignment routine will be required The different alignment routines are described in the following sections 4 3 1 Alignment on a Moving Vessel Aided Transfer Alignment This alignment routine is the preferred dual antenna alignment method It is used if the alignment mode is set to AIDED TRANSFER using the ALIGNMENTMODE command and can be used if the alignme
11. 2 3 1 Install a MIC in a Stack Up Configuration In a stack up configuration the MIC is connected to an OEM615 receiver using the 20 pin header on the OEM615 Power and communications connections to the receiver are made through the MIC Important Assemble in accordance with applicable industry standards Ensure all Electrostatic Discharge ESD measures are in place in particular use a ground strap before exposing or handling any electronic items including the MIC receiver and IMU Take care to prevent damaging or marring painted surfaces O rings sealing surfaces and the IMU For more information about ESD practices see the OEM6 Family Installation and Operation User Manual Figure 14 Basic Set Up MIC in Stack Up Configuration IMU Ref Connector Part Number Mating Connector Description 1 P101 43650 0313 43645 0300 Connects to the MIC power supply Molex Molex This connection provides power to the MIC and the OEM615 receiver user supplied cable 2 P601 53780 2070 51146 2000 Connects to HG1700 HG1900 HG1930 and STIM300 Molex Molex IMUs NovAtel supplied cable kit 3 P701 53780 1070 51146 1000 Connects to ADIS 16488 IMUs Molex Molex NovAtel supplied cable kit 4 P301 501571 3007 501189 3010 Connects the MIC and OEM615 communication signals Molex Molex to the user system user supplied cable 5 J301 ASP 163577 01 N A Connects to the m
12. The accumulated wheel sensor counts are available by logging the timed wheel data log with the onchanged trigger log timedwheeldatab onnew Set parameters for your installation using the SETWHEELPARAMETERS command Refer to the SPAN on OEMG Firmware Reference Manual for information about this command 3 5 2 3 Wheel Sensor Interface for IMU IGM users IMU IGM accepts TTL level input pulses from a wheel sensor through the AUX connector For information about the connections available on the AUX connector see MU IGM Ports on page 97 To enable wheel sensor data on an IMU IGM see the ENCLOSUREWHEELSENSOR command in the SPAN on OEM6 Firmware Reference Manual The SPAN IGM Auxiliary Port interface cable 01019015 can be used to connect the wheel sensor inputs to the IMU IGM However when this cable is used with an IMU IGM only the wheel sensor inputs are available The other connectors on this cable do not have connections to the IMU or receiver 3 5 2 4 Wheel Sensor Interface using Event In This section applies only to systems with OEM638 and ProPak6 receivers The OEM638 and ProPak6 accept wheel sensor pulses from a wheel sensor through an Event In pin For information about the Event In connections see the OEM6 Family Installation and Operation User Manual or ProPak6 User Manual To enable wheel sensor data via an event in see the SETWHEELSOURCE command in the SPAN on OEM6 Firmware R
13. 6 or heavier bonding wire These installation instructions are the minimum requirements for receiver and antenna installations Where applicable follow the electrical codes for the country of installation Examples of country codes include e USA National Electrical Code NFPA 70 e Canada Canadian Electrical Code CSA C22 UK British Standards Institute BSI 7671 SPAN on OEM6 User Manual Rev 7 Chapter 1 Introduction NovAtel s SPAN technology brings together two very different but complementary positioning and navigation systems namely Global Navigation Satellite System GNSS and an Inertial Navigation System INS By combining the best aspects of GNSS and INS into one system SPAN technology is able to offer a solution that is more accurate and reliable than either GNSS or INS could provide alone The combined GNSS INS solution has the advantage of the absolute accuracy available from GNSS and the continuity of INS through traditionally difficult GNSS conditions The SPAN system consists of the following components NovAtel OEM6 receiver These receivers are capable of receiving and tracking different combinations of GPS L1 C A L2C L2 P Y and L5 code and carrier GLONASS L1 and L2 code and carrier Galileo E1 E5a E5b AIt BOC BeiDou signals and L band on a maximum of 120 or 240 channels SBAS support is standard on all OEM6 family receivers OEM6 adaptability offers multi system frequency and size configurations fo
14. Chapter 3 SPAN Operation Rules Governing Period Widths The minimum period is 10 ns The maximum period is 999 999 990 ns The sum of the active and not active periods must be a factor of 1 s That is K active not active 1 000 000 000 where K 1 2 3 500 000 Figure 25 Event Out l GPS Time PPS 3 3V ov J L 1Hz negative polarity 3 3V ov 1Hz positive polarity 4 gt Active Non Active Period Active Period Width Period Width Width 3 4 2 Configuring an Input Strobe SPAN systems with OEM615 OEM628 and FlexPak6 receivers have two available input strobes SPAN systems with OEM638 and ProPak6 receivers have four available input strobes The input strobes apply an accurate GNSS time to the rising or falling edge of an input pulse called an event For each event an accurate position velocity or attitude solution is also available Each input strobe is usually associated with a separate device therefore different solution output lever arm offsets can be applied to each strobe Each input strobe can be configured using the EVENTINCONTROL command see the OEM6 Family Firmware Reference Manual for the following parameters Polarity When polarity is set to positive events trigger on the rising edge When polarity is set to negative events trigger on the falling edge Time Bias t_bias A constant time bias in ns can be applied to each event pulse Typically this is used to accoun
15. ENU 3 1 2 The SPAN Body Frame The definition of the SPAN body frame is as follows e z axis pointing up aligned with gravity y axis defined by how the IMU is mounted e x axis defined by how the IMU is mounted To determine your SPAN x axis and y axis see Table 8 Full Mapping Definitions on page 46 This frame is also Known as the computation frame and is the frame where all the mechanization equations are computed SPAN on OEM6 User Manual Rev 7 45 Chapter 3 SPAN Operation Table 8 Full Mapping Definitions i SPAN Frame IMU Enclosure IMU Enclosure Mapping Axis SPAM FTANE Frame Axis Frame X Y 1 Y X Y 5 default wo N lt x x x x x x x N N N N N N lt lt lt lt lt lt lt x N lt x x N N lt N N lt lt x x x lt N x lt N Z 46 SPAN on OEM6 User Manual Rev 7 SPAN 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 The origin of this frame is not the enclosure center but the center of Navigation sensor center Figure 23 The Enclosure Frame Vivir a center or NAVIGATION 3 1 4 The Vehicle F
16. Only available in board stackup with OEM615 In standalone no connect 30 CAN2TX Output CAN2 transmit data Only available in board stackup with OEM615 In standalone no connect a All signal I O with the exception of USB port are at LVTTL levels b The USB port is enabled by default and the COMSG port is disabled by default If you enable the COMG port the 112 USB port is disabled To switch to COMG send the following commands MARKCONTROL markl disable INTERFACEMODE com3 novatel novatel The VARF output is enabled by default and the CAN1RX input is disabled by default If you disable VARF the CAN1RX input is enabled The Event2 input is enabled by default and the CAN1TX output is disabled by default If you disable EVENT2 the CAN1TX output is enabled The Event1 input is enabled by default and the COMS port is disabled by default If you enable the COMS port the Event1 input is disabled SPAN on OEM6 User Manual Rev 7 Technical Specifications Appendix A Table 70 Pinouts for IMU Connector P601 Description Comments 1 GND Chassis ground GND Chassis ground 15V Output Power Positive 15 VDC supply Enabled disabled depending on the IMU type detected 4 15V Output Power Positive 15 VDC supply Enabled disabled depending on the IMU type detected 5 15V Output Power Negative 15 VDC supply Enabled disabled depending
17. Table 5 MEMS Interface Card MIC Interface Cables lists the cables required to connect an IMU to the MIC For information about these cables see Appendix A Technical Specifications on page 69 D information about the modifications needed Receiver cards such as the OEM615 OEM628 and OEM638 require modification to the standard cable Refer to OEM6 Family Installation and Operation User Manual for IMU LCI UIMU LN200 IMU LN200 includes B IMU FSAS UIMU HG1700 AG58 UIMU HG1700 AG62 IMU HG1700 AG58 IMU HG1700 AG62 IMU CPT IMU IGM Table 4 Receiver to IMU Interface Cables FlexPak6 01018977 Universal IMU Enclosure Interface Cable ProPak6 01018977 Universal IMU Enclosure Interface Cable 01018977 Universal IMU Enclosure Interface Cable 01018977 Universal IMU Enclosure Interface Cable 01018299 Universal IMU Cable or 01018977 Universal IMU Enclosure Interface Cable 01018299 Universal IMU Cable or 01018977 Universal IMU Enclosure Interface Cable 01018977 Universal IMU Enclosure Interface Cable 01018977 Universal IMU Enclosure Interface Cable 01018966 IMU CPT Cable 01018966 IMU CPT Cable 01019016 IMU IGM Interface Cable or 01019013 IMU IGM Stack Up Cable 01019016 IMU IGM Interface Cable a A FlexPak Y Adapter Cable 01018948 is required to connect a FlexPak6 receiver to this IMU SPAN on OEM6 User Manual Rev 7 27 Chapter 2 SPAN Install
18. 2 or 3 axis then the calibration routine provides a more accurate estimation of the values The steps for the calibration routine are 1 Apply power to the receiver and IMU 2 Configure the IMU see SPAN IMU Configuration on page 41 3 Ensure that an accurate lever arm has been entered into the system either manually or through a lever arm calibration see Lever Arm Calibration Routine on page 55 4 Allow the system to complete a coarse alignment see System Start Up and Alignment Techniques on page 52 5 Enable the vehicle to body calibration using the RVBCALIBRATE ENABLE command 6 Start to move the system As with the lever arm calibration movement of the system is required for the observation of the angular offsets Drive a series of manoeuvres such as figure eights if the driving surface is not level or a straight course if on level ground remember that most roads have a crown resulting in a constant roll of a few degrees Avoid driving on a surface with a constant non zero slope to prevent biases in the computed angles Vehicle speed must be greater than 5 m s 18 km hr for the calibration to complete 7 When the uncertainties of the offsets are low enough to be used for a kinematic alignment the calibration stops and the VEHICLEBODYROTATION log is overwritten with the solved values To monitor the progress of the calibration log VEHICLEBODYROTATION using the ONCHANGED trigger SPAN on OEM6 User Manual Rev 7 SPAN
19. 56 0 20 0 25 N m 1 8 2 2 Ib in 28 35 oz in Size M4 1 36 1 58 N m 12 0 14 0 Ib in Size 8 32 1 55 1 70 N m 13 7 15 0 Ib in 119 SPAN on OEM6 User Manual Rev 7 Appendix B HG1700 IMU in Universal Enclosure B 1 Disassemble the Universal Enclosure Disassemble the Universal Enclosure as follows 1 Using a 3 mm hex bit remove the M4 screws they will be reused and the base as shown in Figure 62 Remove Base Ensure the O rings come with the base when it is removed and that they are not damaged Figure 62 Remove Base 2 Using a 30 mm socket remove the jam nut and free the wiring harness connector from the body as shown in Figure 63 Disconnect Wiring Harness from Enclosure Body Retain the O ring and the jam nut for reassembly Figure 63 Disconnect Wiring Harness from Enclosure Body 120 SPAN on OEM6 User Manual Rev 7 HG1700 IMU in Universal Enclosure Appendix B 3 Using a 2 5 mm hex bit unscrew the M4 screws and remove the IMU mounting plate bracket and cable harness as shown in Figure 64 Remove IMU Mounting Plate and Bracket Figure 64 Remove IMU Mounting Plate and Bracket wiring harness not shown B 2 Install the HG1700 Sensor Unit To install the HG1700 sensor unit in the Universal Enclosure 1 Using a Phillips screwdriver remove the 8 32 IMU mounting screws from the IMU mounting plate as shown in Figure 65 Remove IMU Mounting Screws Figure 65 Remove IMU Mounting Screws wir
20. Bus port CAN1 which is available on the I O port See the OEMG Family Installation and Operation User Manual for pin out descriptions of the I O port The ProPak6 receiver has two CAN Bus ports CAN1 and CAN2 which are available on the EXP port To access these signals use the ProPak6 Expansion Cable see Figure 13 CAN Bus ports on the ProPak6 For information about the ProPak6 Expansion Cable see Section A 10 1 ProPak6 Expansion Cable on page 117 For information about the EXP port see the ProPak6 User Manual Figure 13 CAN Bus ports on the ProPak6 USES Sm CAN1 CAN1 ss CAN2 j CAN2 T DGND COM2 COM1 SPAN on OEM6 User Manual Rev 7 33 Chapter 2 SPAN Installation 2 3 MIC Set Up OEM6 family receiver cards connect to Micro Electromechanical Systems MEMS IMUs using the MEMS Interface Card MIC There are two MIC configurations stack up and standalone In a stack up configuration the MIC card is mounted on an OEM615 receiver In a standalone configuration the MIC is mounted separately from the receiver The MIC supports OEM6 family receiver cards for communications The OEM615 is the only OEM6 family receiver card that can be directly integrated and powered by the MIC
21. COUNT mode the totals are available by logging the MARKxCOUNT logs see the SPAN on OEM6 Firmware Reference Manual For example the following gives the total pulses on event strobe 1 every second LOG MARK1COUNTA ONNEW 3 5 SPAN Wheel Sensor Configuration A wheel sensor is used to measure the distance travelled by counting the number of revolutions of a ground vehicle wheel Typical wheel sensor hardware outputs a variable frequency pulse that varies linearly with speed If the pulses are accumulated and the size of the wheel known a displacement of the wheel over time can be calculated The SPAN system takes in a wheel sensor input and applies a displacement update to the GNSS INS Kalman filter in order to constrain the position error growth during GNSS outages SPAN also automatically estimates the size of the wheel to mitigate small changes in the size of the wheel due to hardware changes or environmental conditions Wheel sensor information can be input into the system using one of two separate methods The wheel sensor is connected directly to one of the event input lines available on the SPAN receiver The wheel sensor ticks are accumulated by the IMU and then passed on to the SPAN receiver For IMU FSAS and IMU CPT users the wheel sensor is integrated via the IMU and wheel velocity commands are not required See also iIMU FSAS Odometer Cabling on page 87 For IMU IGM A1 and IMU IGM S1 users the wheel sensor can be connected
22. Center in this figure Dimensions are shown in millimeters SPAN on OEM6 User Manual Rev 7 79 Appendix A Technical Specifications Figure 35 LN 200 Enclosure Side Dimensions N 127 0 i T T 134 9 g 67 5 Enclosure Center A Navigation Center x Il MENS t LL 9 5 I TI mie D Note The Center of Navigation offsets shown on the LN 200 label are for the internal IMU and are different than for the enclosure center The enclosure center is labelled as MU Center in this figure Dimensions are shown in millimeters 80 SPAN on OEM6 User Manual Rev 7 Technical Specifications Appendix A A 3 2 LN 200 IMU Performance Table 26 LN 200 IMU Performance PERFORMANCE IMU LN200 Gyro Input Range 1000 degrees s Gyro Rate Bias 1 hr Gyro Rate Scale Factor 100 ppm Angular Random Walk 0 07 degrees rt hr Accelerometer Range 40g Accelerometer Linearity Accelerometer Scale Factor 300 ppm Accelerometer Bias 0 3 mg A 3 83 LN 200 Electrical and Environmental Table 27 LN 200 Electrical Specifications ELECTRICAL IMU Power Consumption 16 W max IMU Input Voltage 12 to 28 V DC Receiver Power Consumption 1 8 W typical System Power Consumption 13 8 W typical Input Output Connectors MIL C 38999 III 22 pin all IMUs IMU Interface RS 232 or RS 422 Table 28 LN 200 Env
23. Enclosure Side Dimensions eessssssseeeseeeeeeennnn enne 83 ilMU FSAS Center of Navigation ssssesseeseeeeeeeneeenenneeenenn nennen nnne nennen nnn 83 IMU FSAS Interface Cable with Odometer 2 cc ecceceeeeeeeeeeeeeeeaaeeeeeeeeeeeeeeeeeeeeeneaeeees 85 Kistler Edm 87 iMAR iMWS Pre Installed e eeeesesessesseeeeeeeeen enne nnn nnn nnn nnne nn nnne nennen nnn 87 FlexPak Y Adapter Gable nune Eg reat Ete ERR RE Kedanan iaai 89 IMU CPT Side and Perspective View sssssssssseseeseeeeeeeeeenennen nennen nennen nis 90 IMU CPT Top Front and Bottom View ccccccccececeeceeeeeeeeeeeeeseseeeaeaaaaaeaeassseseseeeeeeseeeees 91 IMU CPT Development Terminated Cable esessssssesseseeneennnnen eene 93 IMU IGM A1 Dimensions tici eee cdtedecesececesas ccuetuuecuctesuyeseessdcasaesccdedace 95 IMUZIGMSsS T DimensiOrls 2 i Reano dU IPIS 96 IMU IGM Interface Cable rre decere e e E RR eet d ruta Sian 100 IMUSIGM Stack Up Gable 3 1 mte tete er tee ete epi 101 ADIS 16488 Dimensions iecit tede nn dei D De de ED eee a SR daas d dnas 102 ADIS 16488 Center of Navigation esson aese euteur OVE ANEAN 103 ADIS 16488 IMU to MIC Cable Assembly seeeeeeennnmennm eene 104 SPAN on OEM6 User Manual Rev 7 Figures S
24. MIC OEM Cable Kit 01018869 P301 1 HG1930 IMU MIC 3 qam IMU Mounting PCB 7 MIC to IMU 01018716 Interface Cable 01018827 TPF SPAN on OEM6 User Manual Rev 7 37 Chapter 2 SPAN Installation Figure 20 Connect the STIM300 IMU to the MIC OEM Cable Kit 01019174 of j STIM300 IMU Interface Cable i e MIC to IMU 01019161 O P30 5 MIC 109d roza YO 4101p 2 3 1 3 Connect Power to the MIC Connect a 10 to 30 V DC power supply to the power connector P101 on the MIC See MIC Connectors on page 110 for pin out information for the power connector This connection provides power to the MIC and the OEM615 2 3 1 4 Connect the Input and Output Signals All of the communication connections to the MIC and the OEM615 receiver are available on the communications connector P601 on the MIC These connections include MIC serial port e OEMG615 serial port COM2 USB port Event1 trigger input Event2 trigger input 1 PPS Pulse Per Second output VARF Variable Frequency output Reset input Position Valid output See MIC Connectors on page 110 for the pinouts of the communications connector C All signal I O with the exception of the USB port are at LVTTL levels To connect the MIC to devices that use other signals levels such as a computer wi
25. Operation Chapter 3 To save a calibrated rotation for subsequent start ups issue the SAVECONFIG command after calibration is complete Each time the IMU is re mounted this calibration should be performed again See also Coarse Alignment on page 52 and Kinematic Alignment on page 52 for details on coarse and kinematic alignment After the RVBCALIBRATE ENABLE command is entered there are no vehicle body C 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 The solved rotation values are used only for a rough estimate of the angular offsets between the IMU and vehicle frames The offsets are used when aligning the system while in motion see System Start Up and Alignment Techniques on page 52 The angular offset values are not applied to the attitude output unless the APPLYVEHICLEBODYROTATION command is enabled 3 4 Synchronizing External Equipment A SPAN system allows you to synchronize with external equipment in two ways 1 SPAN systems with an OEM638 and ProPak6 receiver have configurable output strobes Each strobe is synchronous with GNSS time and can be configured for pulse length and polarity 2 All SPAN receivers accept input pulses events Each event signal can be configured for positive or negative polarity Time or a solution position velocit
26. SPAN on OEM6 User Manual Rev 7 Technical Specifications Appendix A A 6 7 IMU IGM Stack Up Cable The NovAtel part number for the IMU IGM stack up cable is 01019013 This cable provides power to the IMU IGM and communication signals between the IMU IGM and the FlexPak6 receiver Use the stack up cable when the IMU IGM is connected to a FlexPak6 receiver in a stack up configuration You must connect this cable to COM 2 on FlexPak6 Figure 49 IMU IGM Stack Up Cable 200 25 0 4 PIN 11 PIN6 PIN 1 SPINS PIN 10 PIN 15 Dimensions are in millimetres Table 53 IMU IGM Stack Up Cable Pin Out Descriptions Function MIC Port Transmit Transmit RS 422 2 Digital Ground Battery Digital Ground MIC Port Receive Receive RS 422 0 aj A Oj w aj A oO SPAN on OEM6 User Manual Rev 7 101 Appendix A Technical Specifications A 7 OEM IMU ADIS 16488 receiver See MIC MEMS Interface Card on page 108 The OEM IMU ADIS 16488 requires a MEMS Interface Card to connect to a NovAtel Table 54 OEM IMU ADIS 16488 Physical Specifications PHYSICAL IMU Size 47 mm x 44 mm x 14 mm IMU Weight 48g IMU with mounting PCB size 71 1 mm x 45 7 mm x 17 6 mm A 7 1 Mechanical Drawings Figure 50 ADIS 16488 Dimensions 40 01 39 14 36 94 34 29 Ze ag z A P
27. W max HG1700 AG62 8 W max LN 200 16 W max LCI 1 16W typical IMU Input Voltage 12 to 28 V DC all IMUs Receiver Power Consumption 1 8 W typical for all IMUs Input Output Connectors MIL C 38999 Ill 22 pin all IMUs IMU Interface RS 232 or RS 422 Table 17 Universal IMU Enclosure Environmental Specifications ENVIRONMENTAL Temperature HG1700 AG58 HG1700 AG62 Operating 30 C to 60 C Storage 45 C to 71 C LN 200 Operating 30 C to 60 C Storage 45 C to 80 C LCI 1 Operating 40 C to 60 C Storage 40 C to 71 C Humidity Operates at 95 RH non condensing all IMUs SPAN on OEM6 User Manual Rev 7 73 Appendix A Technical Specifications A 1 4 Universal IMU Enclosure Interface Cable The NovAtel part number for the Universal IMU Enclosure interface cable is 01018977 see Figure 31 Universal IMU Enclosure Interface Cable This cable provides power to the IMU from an external power source and enables communication between the receiver and the IMU Figure 31 Universal IMU Enclosure Interface Cable Dimensions in millimetres PINS _ PIN 9 L Tdi 1400 mm PIN 6 Table 18 Universal IMU Enclosure Interface Cable Pinouts
28. define a new connection select New Connection from the Device menu The New Connection window appears If a connection is already defined for the SPAN system choose Open Connection and skip to step 9 amp New Connection LU Name sPAN OEM6 Device Type Type usB USB Settings Port Enter a name for the connection Select Serial or USB from the Type drop down list Select the computer port that the SPAN system is connected to from the Port drop down list If you selected Serial select 115200 from the Baud Rate drop down list If you selected Serial clear the Use hardware handshaking check box Oo NOOR w Click the OK button to save the new device settings 48 SPAN on OEM6 User Manual Rev 7 SPAN Operation Chapter 3 9 Select the SPAN receiver from the Available Device Connections area of the Open Connection window Available Device Connections Name Device Type Settings SPAN_OEM6 USB COM21 10 Click the Open button to open SPAN receiver communications 11 As NovAtel Connect establishes the communication session with the receiver a progress box is displayed 12 Select Tools Logging Control Window from the NovAtel Connect main menu to control the receiver s logging to files and serial ports Refer to the NovAtel Connect on line Help for more information 13 Use the Console window to enter commands See Data Collecti
29. install the HG1700 sensor into the SPAN HG Enclosure NovAtel part number 01017898 The steps required for this procedure are Disassemble the SPAN HG Enclosure Install the HG1700 Sensor Unit Make Electrical Connections Reassemble the SPAN HG Enclosure O Ensure you use a ground strap before installing the internal circuit boards Do NOT scratch any surfaces of the unit Figure 86 Required Parts Reference Description 1 SPAN IMU Enclosure 2 HG1700 Flex Cable 3 HG1700 Sensor Unit 135 SPAN on OEM6 User Manual Rev 7 Appendix D HG1700 IMU in SPAN HG Enclosure D 1 Disassemble the SPAN IMU Enclosure The SPAN IMU disassembly steps are as follows 1 Remove the six bolts from the top cover using a hex key as shown in Figure 87 Bolts and Hex Key Figure 87 Bolts and Hex Key Set aside the bolts with their sealing washers Lift the top cover off the tube body and set it aside as shown in Figure 88 Lift Top Cover Tube Body and 3 Ring Spacer Screws on page 136 Lift the tube body away from its base plate and set it aside Remove the 3 ring spacer screws and set them aside Figure 88 Lift Top Cover Tube Body and 3 Ring Spacer Screws 136 SPAN on OEM6 User Manual Rev 7 HG1700 IMU in SPAN HG Enclosure Appendix D D 2 Install the HG1700 Sensor Unit To re assemble the SPAN IMU with the HG1700 sensor see Figure 89 SPAN IMU Re Assembly on page 137 and follow these steps 1 Mount the HG1700 sens
30. lower the body onto the base observing the O rings and alignment of corners Press the enclosure body into place starting with the round pilot hole indicated in Figure 71 Install Enclosure Body on the Base Figure 71 Install Enclosure Body on the Base ROUND PILOT HOLE ABOVE THIS PILOT PIN REFERENCE MARKERS 8 While squeezing and holding the enclosure body and base together to maintain tight contact carefully turn the assembly over and place it on its top as shown in Figure 72 Screw Enclosure Base to Body Using a 3 mm hex bit lightly fasten four equally spaced M4 screws to hold the parts together Apply thread locking fluid to each screw before inserting Install the remaining screws in similar fashion Tighten all screws then check all of them again for tightness Tighten these screws to 1 36 1 58 N m 12 14 Ib in Do not over tighten Figure 72 Screw Enclosure Base to Body SPAN on OEM6 User Manual Rev 7 125 Appendix B HG1700 IMU in Universal Enclosure 9 Ensure the product identification label the logo plate and the center of navigation labels are properly affixed and contain the correct information The final assembled unit will be similar to that shown in Figure 73 Final Assembly Figure 73 Final Assembly Centre of Navigation Labels triangular Product icon for HG1700 should be here Identification Label on J is 126 SPAN on OEM6 User Manual Rev 7 Appendix C LN 200 IMU in Universal
31. negative 6 MIC_RX MODE2 high or open MIC port receiver RS 232 MIC_RX MODE2 low MIC port receive positive RS 422 7 MIC_RX MODE2 high or open No connection MODE2 low MIC port receive negative RS 422 8 DGND Digital ground 9 Reserved Reserved 10 Reserved Reserved 11 DGND Digital ground 12 Reserved Reserved 13 MODE2 Mode 2 input controls MIC port standard 14 Reserved Reserved 15 Reserved Reserved Table 43 IMU IGM AUX Port Pinout Pin Label Description 1 ODM_A Odometer input A positive 2 ODM_B Odometer input B positive No connection on IMU IGM S1 3 Reserved Reserved 4 WS_VOUT Wheel sensor output voltage 12 VDC 5 DGND Digital ground 6 ODM_A Odometer input A negative 7 ODM_B Odometer input B negative No connection on IMU IGM S1 8 Reserved Reserved 9 DGND Digital ground 10 Reserved Reserved 11 Reserved Reserved 12 Reserved Reserved 13 Reserved Reserved 14 Reserved Reserved 15 DGND Digital ground SPAN on OEM6 User Manual Rev 7 97 Appendix A Technical Specifications A 6 4 IMU IGM Sensor Specifications Table 44 IMU IGM A1 Data Rates DATA RATES IMU Measurement 200 Hz Table 45 IMU IGM A1 IMU Performance PERFORMANCE FIBER OPTIC GYROS Gyro Input Range 450 second In Run Gyro Rate Bias Stability 6 hour Angular Random Walk 0 3 Jhour PERFORMANCE ACCELEROMETERS Accelerometer Range 18g In Run Accelerometer Bias Stability 0 1 mg Velocity Ran
32. on a ProPak6 In addition to the three COM ports COM1 COM2 and COM3 IMU on the back of the ProPak6 there are four additional COM ports available from the EXP port To access these ports connect the ProPak6 Expansion cable 01019154 to the EXP port For more information about this cable see Section A 10 1 ProPak6 Expansion Cable on page 117 Figure 12 Additional COM ports on the ProPak6 COM7 Z COM8 Yr WU Y COM9 COM10 ATA mor mor mor mo 9 36 VDC amp amp DEVICE 32 SPAN on OEM6 User Manual Rev 7 SPAN Installation Chapter 2 2 2 9 Connect the CAN Bus OEM6 family receivers incorporate a CAN Bus controller that supports physical layer signals and low level messages specified in the appropriate sections of the J1939 and 18011783 standards Manufacturers can also create messages specific to their application without violating these standards To facilitate manufacturer messages NovAtel provides an Application Program Interface API To obtain information about this API contact NovAtel Customer Support The OEM6 family receiver cards have two CAN Bus ports CAN1 and CAN2 which are available on the multi pin connectors See the OEM6 Family Installation and Operation User Manual for pin out descriptions of the multi pin connectors The FlexPak6 receiver has one CAN
33. on the IMU type detected 6 DGND Digital ground Enabled disabled depending on the IMU type detected 7 DGND Digital ground Enabled disabled depending on the IMU type detected 8 IMU VDD Output Power Positive voltage supply for IMU VDD can be 3 3 VDC or 5 VDC IMU logic circuits depending on the IMU type detected 9 IMU VDD Output Power Positive voltage supply for IMU logic circuits 10 DGND Power Digital ground 11 Tx Data Output Serial data out Non inverting 12 Tx Data Output Serial data out Inverting 13 RX Data Input Serial data in Non inverting RS 422 data input 14 RX Data Input Serial data in Inverting RS 422 data input 15 CLK Bidirectional Serial data clock Non inverting portion of RS 422 link 16 CLK Bidirectional Serial data clock Inverting portion of RS 422 link 17 IMU DAS Bidirectional Data acquisition signal Provides synchronization for IMU data LVTTL level 18 IMUTYPEO Input detect IMU type LVTTL level not 5V tolerant 19 IMUTYPE1 Input detect IMU type LVTTL level not 5V tolerant 20 IMUTYPE2 Input detect IMU type LVTTL level not 5V tolerant a All signal I O are at LVTTL levels SPAN on OEM6 User Manual Rev 7 113 Appendix A Technical Specifications Table 71 Pinouts for IMU Connector P701 Description Comments 1 IMU_VDD Output Power Positive voltage supply for IMU_VDD must be 3 3 VDC IMU logic circuits 2 IMU_VDD Output Power
34. rover receivers This information can be used by SPAN to update the inertial error estimates and improve attitude accuracy This is particularly useful in applications with reduced motion SPAN on OEM6 Dual Antenna provides the hardware necessary to run an ALIGN baseline with an IMU and a second receiver With SPAN on OEM6 the ALIGN GNSS 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 receiver if the heading drifts due to slow or constant dynamics ALIGN is capable of a 10 Hz heading output rate when integrated with the OEM6 receiver Installation The hardware for SPAN on OEM6 Dual Antenna 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 vehicle As heading accuracy is dependent on baseline length mount the antennas as far apart as possible A minimum separation distance of 1 metre is recommended 3 The lever arms or distance from the IMU to the antennas needs to be fixed and accurately measured 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
35. tete Ii E eto e te Re RED 2 2 1 Mount the Antenna dede Reset re cercle dix e Paci ego Sieg Tee aad 2 2 2 Mou nt the IMU 5 tete Hen poe ape ree e CER xp eve dus 2 2 3 Mount the OEM6 Receiver sisse nennen nnn nennen nnne nnne nnne sss sss nsns nnn 2 2 4 Connect the Antenna to the OEMO Receiver esses 2 2 5 Connect the IMU to the OEMG Receiver eeeeeesssssssssseeeeeeeee nennen nennen 2 2 6 Connect VO Strobe Signals 3 rtr rrr rp rater b abet 2 2 7 Connect POowWer i ic ee tee chai deii eroe tocca o nS Ti ven Ree ea ERR kiaii airi 2 2 8 Connect the Additional Communication Ports on a ProPake ueuesssss 2 2 9 Connect the CAN Bus seeded eret aaae da Eara ERE eva ice nnde ERROR 2 3 MIG Set Uptime ata syctts otto a dtt niit 2 3 1 Install a MIC in a Stack Up Configuration eeeseseecneeeeenn 2 3 2 Install a MIC in a Standalone MIC Set Up sssssssseeeseseeeeeennenn nennen 2 4 Software Configuration cececcceecesseceeeceeeeeeeeeesseneeeeeeseeseneeesseeseesessenseeseesseseeeneesensesseeseenes 24 1 ONSS Gohnfigufation riii rie ri RE E REED HELLE EUR a Er Reden 2 4 2 SPAN IMU Configuration ep atest eae e REP EE RR re esaet ERE ees VM LNSCN 3 SPAN Operation 3 1 Definition of Reference Frames Within SPAN ssssessssssseeseeeeeeeeneenenenn nennen nnn 3 1 1
36. the FlexPak6 COM3 IMU on a ProPak6 or COMG on an OEMG638 b Most IMUs LN 200 ADIS 16488 IMU IGM IMU CPT iMAR FSAS Litef LCI 1 HG1900 HG930 and STIM300 do not make noise Check that the IMU interface cable is properly connected to the receiver For the iIMU FSAS and IMU CPT check that the IMU interface cable is connected to the FlexPak Y Adapter cable and the FlexPak Y Adapter cable is connected to the COM 2 and I O ports on the FlexPak6 On the ProPak6 for all IMUs check that the IMU interface cable is connected to the COM3 IMU port c If the cable is connected properly check the flex cable mounted on top of the IMU Refer to the instructions in this manual on proper IMU installation to ensure that the cable is seated properly on the IMU pins See Appendix B HG1700 IMU in Universal Enclosure on page 119 or Appendix C LN 200 IMU in Universal Enclosure on page 127 for more details d Check the input power supply A minimum of 12V should be supplied to the system for stable IMU performance The supply should also be able to output at least 12W over the entire operating temperature range What system configuration do need to do to get the system running a Set the IMU type using the CONNECTIMU command What types of IMUs are supported a SPAN currently supports the following IMUs HG1700 HG1900 and HG1930 from Honeywell LN 200 from Litton ilMU FSAS from iMAR LCI 1 from Northrop Grumman LITEF MU CPT from K
37. the MIC OEM Cable Kit 01019174 usus 38 Basic Set Up MIC in Standalone Configuration eeeeeeeeeeeeeen 39 Local Level Frame ENU ettet nei ra a a ege vase aeai a 45 The Enclosure Frame inei ie eee aec nie ie esee tiem 47 Vehicle Frame einer eae tacdede Tdi ses Arraia iaaii eaen ea 47 EVent Out i tette tie tede Wels maet ates et ete edu tee ara ra 58 SPAN on OEM6 Dual Antenna Installation sesssesssessseeeeeeeeeennennnn 65 SPAN on OEM6 ProPak6 Dual Antenna Installation esses 66 Universal IMU Enclosure Side Dimensions eeessssssesseeeeeeeeenenen nens 69 Universal IMU Enclosure Top Bottom Dimensions sese 70 IMU Center of Navigation 1 coena erect eto cen Rh x RO ERE E ERR RR cha RRRR EO 71 Universal IMU Enclosure Interface Cable cccc eccceceeeeeeeeeeeeeeeeaeeeeeeeeeeeeeeeeeeeeneaeeneeees 74 Universal IMU Enclosure Interface Cable cccc ccececeeeeeeeeeeeeeeaneeeeeeeeeeeeeeesenecenaeeneeees 75 HG1700 Top Bottom Dimensions aa a a aa aaa aa a aa e nnne 76 LN 200 IMU Enclosure Top Bottom Dimensions and Center of Navigation 79 LN 200 Enclosure Side Dimensions eesessssesssssssseseeeeeneee nennen nennen 80 IIMU FSAS Top Bottom Dimensions ssssssesssseeeeeeeeneeeeeneenennn nennen nnn nnns 82 ilIMU FSAS
38. then into the SPAN receiver through the serial communication line There are two DMI products that are compatible with the iIMU FSAS system iMWS V2 Magnetic Wheel Sensor from iMAR A magnetic strip and detector are installed inside the wheel The signal then goes through a box that translates the magnetic readings into pulses that are then passed through the cable into the ODO connector on the IMU cable See also Figure 41 iMAR iMWS Pre Installed on page 87 e Wheel Pulse Transducer CWPTA411 WPT from Kistler A transducer traditionally fits to the outside of a non drive wheel A pulse is then generated from the transducer which is fed directly to the ODO connector on the IMU cable See also Figure 40 Kistler WPT on page 87 Figure 41 iMAR iMWS Pre Installed The iMAR iMWS V2 sensor is on the inside of the wheel so that all you can see in the vehicle is the grey signal converter box The WPT mounts to the wheel lug nuts via iMAR provides a sensor that operates with a adjustable mounting collets The torsion magnetic strip glued inside the rim of a non drive protection rod which maintains rotation around wheel and a special detector iRS mounted on the the wheel axis affixes to the vehicle body with inside of the wheel the disk of the wheel suction cups Refer to the Kistler WPT part suspension brake cover or brake caliper holder number CWPTA411 user manual for mounting Details are shown in the installation hints
39. tll j Connect the antenna to the receiver Connect the FlexPak Y Adapter cable to the COM 2 and I O ports on the receiver Connect the IMU interface cable to the IMU and the FlexPak Y Adapter cable PF ON Connect power and ground to the IMU interface cable refer to Table 6 IMU Power Supply on page 32 e Connect a user supplied power supply to the receiver Connect a user supplied computer for set up and monitoring to the USB port 7 Connect a user supplied radio device to COM 1 optional for real time differential operation 22 SPAN on OEM6 User Manual Rev 7 SPAN Installation Chapter 2 2 1 2 3 FlexPak6 to IMU IGM Set Up Example Figure 8 Basic Set Up FlexPak6 to IMU IGM Radio optional for Real Time Differential operation ef ol w S Connect the antenna to the receiver Connect the DB 15HD connector of the interface cable to the MAIN connector on the IMU IGM Connect the DB9 connector of the interface cable to the COM 2 port of the receiver Connect a user supplied power supply to the receiver ao m ON gt Conne
40. 0 Sensor Uhnit eeeeissssseseeesessseeeee nennen enne nn nnns nna nennen 137 D 3 Make the Electrical CONNECTIONS ccccccccessseeeeeeceessseceecetensseceeseeeaeceeseseauaeeeeeeeeeasaeeeeees 137 D 4 Re Assemble the SPAN IMU Enclosure eeeesesseseeeeeneneennnne nennen nennen nennen 139 E LN 200 IMU in SPAN IMU Enclosure 140 E 1 Disassemble the SPAN IMU Enclosure cccccecsesseeceeceeesseeeeseteeeuseceesessaeueceeetensasseeeeees 141 E 2 Install the LN 200 Sensor Unit ccscecccccesssseeeeeeceeeseceeceseeseceesereeeaseceeeeseaaaeeesetseeaseeeeeets 143 E 3 Make the Electrical Connections ccccccceesssseeeeeteesssseeeceseneseeteeeeeeasseessessagueeteeeeeeasseeneees 144 E 4 Re Assemble the SPAN IMU EncloSure ccccccccssseeceeeceeeeseeeeceeeenseeceesessauseeeeeteesaseeeeees 145 F Frequently Asked Questions 146 G Replacement Parts 148 Gil SPAN UE 148 3 2 Accessories and Optioris enira e Aa a aeaa daa aaa iaa 149 Index 150 SPAN on OEM6 User Manual Rev 7 OMONDABRWND Primary and Secondary Lightning Protection eeeeseeeeeeeennn enn 13 SPAN System IMUS ete tin ec eti uc nee tte eee 15 SPAN SystemRECCIVEMS reacer iue reet ea ee i etc be eap tt da pen eene a 16 FlexPak6 Receiver Connectors sssssssssssssssseseseeeen enne nnne rennnn nnns nen n nnn nnn nnne 19 ProPak6 R
41. 1 3007 501189 3010 Connects the MIC serial port to the OEM6 receiver Molex Molex user Supplied cable 5 J301 ASP 163577 01 N A This connector is not used in a standalone Samtec configuration For information about the OEM6 receiver card connectors and pin outs refer to the OEM6 Famil Installation and Operation User Manual SPAN on OEM6 User Manual Rev 7 39 Chapter 2 SPAN Installation D OEM628 Recommendations e Use COM1 for connection to a computer COM1 uses RS 232 levels and can be connected to a computer without additional interface circuitry e Use COM for connection to the MIC serial port Both the MIC serial port and COM2 use LVTTL levels and can be connected without additional interface circuitry OEM638 Recommendations e Use COMI or COM2 for connection to a computer COM1 and COM2 use RS 232 levels and can be connected to a computer without additional interface circuitry e Use COM3 for connection to the MIC serial port This COM port and the MIC serial port use LVTTL levels and can be connected without additional interface circuitry 2 3 2 1 Mount the OEMG receiver and MIC 1 Mount the antenna See Mount the Antenna on page 28 2 Mount OEM6 receiver See the OEM6 Family Installation and Operation User Manual for information about installing an OEM6 receiver 3 Use the screws supplied with the MIC card to secure the MIC to its mounting location See MIC ME
42. 112 MEMS Interface Card Quick Start Guide GM 14915118 OEMG Family Installation and Operation User Manual OM 20000128 OEM6G Family Firmware Reference Manual OM 20000129 ProPak6 User Manual OM 20000148 a The FlexPak Y Adapter cable is required for SPAN systems with a FlexPak6 receiver and either the IMU CPT and IMU FSAS Q 2 Accessories and Options Part Description NovAtel Part Optional NovAtel GNSS Antennas High Performance L1 L2 Antenna GPS 702 High Performance L1 L2 L band Antenna GPS 702L High Performance L1 L2 GLONASS Antenna GPS 702 GG High Performance L1 L2 GLONASS L band Antenna GPS 702 GGL High Performance L1 L2 L5 GLONASS Galileo Antenna GPS 703 GGG Compact L1 L2 Antenna 42G1215A XT 1 Compact L1 L2 L band Antenna 42G1215A XT 1 3 Compact L1 L2 Antenna Optional RF Antenna Cable ANT C2GA TW N 5 metres GPS C006 15 metres GPS C016 30 metres GPS C032 22 cm interconnect adapter cable GPS C002 SPAN on OEM6 User Manual Rev 7 149 A antenna 149 C cables 27 antenna 149 I O 30 IMU interface 78 81 power 31 warranty 2 Controller Area Network Bus CAN Bus 18 D driving 56 E enclosure 17 event 57 F features 17 firmware updates 63 firmware updates or upgrades 18 frame vehicle 53 frame vehicle 53 frequently asked questions 146 G GPSAntenna 2 graphical user interface 50 H hardware
43. 3 2 3 Connect Power to the MIC and OEM6 receiver In a standalone configuration a separate power supply is required for the OEMG family receiver For information about the power supply requirements refer to the Technical Specification appendix for the receiver card in the OEM6 Family Installation and Operation User Manual 1 Connect a 10 to 30 V DC power supply to the power connector P101 on the MIC See MIC Connectors on page 110 for pin out information for the power connector 2 Connect power to the OEM6 receiver See the OEM6 Family Installation and Operation User Manual for information about connecting power to the receiver 2 3 2 4 Connect the MIC to a receiver Use the MIC serial port to connect the MIC to the OEM6 receiver The MIC serial port is available on the communications connector P301 of the MIC See MIC Connectors on page 110 for the pinouts of the communications connector See the OEM6 Family Installation and Operation User Manual for information about connecting a serial port to the receiver All signal I O on the MIC with the exception of the USB port are at LVTTL levels To connect the MIC to devices that use other signals levels such as a computer with an RS 232 serial port an interface circuit that converts LVTTL to the other signal level must be used 2 4 Software Configuration 2 4 1 GNSS Configuration The GNSS configuration can be set up for different accuracy levels such as single po
44. 6 User Manual Rev 7 89 Appendix A Technical Specifications A 5 IMU CPT Table 36 IMU CPT Physical Specifications PHYSICAL IMU CPT Enclosure Size 168 mm W X 152 mm L X 89 mm H IMU CPT Weight 2 29 kg A 5 1 IMU CPT Mechanical Drawings Figure 43 IMU CPT Side and Perspective View TY X i 30 9 51 13 0 LL qn 2 pe Dimensions are in inches and in millimetres in square brackets 90 SPAN on OEM6 User Manual Rev 7 Technical Specifications Appendix A Figure 44 IMU CPT Top Front and Bottom View 5 68 Dimensions are in inches and in 144 2 millimetres in square brackets OLT AO i a um AT 5 01 1273 3 39 86 1 ML E arcu ee 8 T r io 4 55 115 5 181 40 9 3 50 z i 88 9 Dex 1 22 I 1 65 30 9 4A 41 8 I 4 55 i 115 5 A 6 66 7 002 169 3 PB 4x 4X MOUNTING SURFACE 4X rop 88 UNPAINTED 75 224 191 4 s a 7 at Y se i T d i i 4X G 277 7 6 015 WJA JBIC i 5 440 Gi
45. 9 connector of the interface cable to the COM3 IMU port of the receiver Connect the IMU power to the IMU interface cable refer to Table 6 IMU Power Supply on page 32 Connect a user supplied power supply to the receiver Connect a user supplied computer for set up and monitoring to the USB port NO mi R t WM c Connect a user supplied radio device to COM1 optional for real time differential operation 26 SPAN on OEM6 User Manual Rev 7 SPAN Installation 2 1 3 SPAN Cables Chapter 2 This section outlines the cables used to connect the receiver to the IMU For information about the other cables for OEMG receivers refer to the OEM6 Family Installation and Operation User Manual Each connector can be inserted in only one way to prevent damage to both the receiver and the cables Furthermore the connectors used to mate the cables to the receiver require careful insertion and removal Observe the following when handling the cables To insert a cable make certain to use the appropriate cable for the port the serial cable has a different connector than the power cable Insert the connector until it is straight on and secure e To remove a cable grasp it by the connector C Do not pull directly on the cable The cables you need to connect the receiver to the IMU depends on the type of IMU you are using Table 4 Receiver to IMU Interface Cables lists the cables required to connect the IMU to the receiver
46. 92 38 IMU CPT Electrical and Environmental Specifications eeeeessseseeessss 92 39 IMU CPT Connector Pin Out Descriptions ssessesssssseeeeeeeeeeneennn nennen 93 40 IMU IGM A1 Physical Specifications ssseseeeseeeeseeeeneneneenn mener 94 41 IMU IGM S1 Physical Specifications irrisistu auvaa mener 94 42 IMU IGM Mairi Port PINOUT tiiir e i reete eo eee ent 97 43 IMU IGM AUX Port PinoUt etc temepheder et ente ee E RRR Dae Lea Re einen DECOR ER RER 97 44 IMB IGM AT Data Rates ni tati oerte etel 98 45 IMU IGM A1 IMU Performance essssssssssssssssssseneneeee nennen nnnnnnnehnnn sns n nnns nnn n nnne nen nis 98 46 IMUSIGM S1 Data Rates eiat Een EPI erat 98 47 IMU IGM S1 IMU Performance ssssssssssssssseseeseeee eee eaaeaaaaaaeeeeeeeeeeeeeeeseneseeeaeeees 98 48 IMU IGM A1 Electrical Specifications ceccecececcceeeeee eee ee eeeeeeeeeeaaaeeeeeeeeeeeeeteesenennaneeeeeeees 99 49 IMU IGM A1 Environmental Specifications ccccccccceeeeeeeeeeeceeeeeeeeeeeeeeeeeeeeeeeeneaeeeeeees 99 50 IMU IGM S1 Electrical Specifications eesessesscssssesesseeeeeeennnnnn nennen 99 51 IMU IGM S1 Environmental Specifications eseesesesssesseeeeeeneeeeenennnnns 99 8 SPAN on OEM6 User Manual Rev 7 Tables 52 IMU IGM Interface Cable Pin Out DeSCriptionsS cecceeceeeeeeeceeee eee eeeee
47. A E Eee ELI eo Ranai iaaa 137 Attach Flex Cable m A 138 Incorrect Bowed Flex Cable Installation cesses 138 Correct Flat Flex Cable Installation sssesssssseseeseseeeeeeeeneener enne nnne nnns 138 HOTZ00 SPAN IM cci ito cec hdc t PERLE sio Mea eH Aa RORCER 139 Required Parts La sidered Gil eee LG iret edi Eq en ie 140 Bohs and Hex Key 2 eiecti Ri aves 141 Lift Top Cover and Tube Body cccecsseeceeeeeeeeneeeeeeeenseesessaeeeeseessaeseeseneseeseeseeseeeeeeseneenees 142 SPAN IMU R Assembly 4 2 nni e tede DR E e i e DO aa 143 Attach Wiring Harness eese esee tee eec Do Yo pee aL peces ci ea deed yarn tu armen 144 Attach Samtec Connector oi cia da e Ea ede as 145 EN 200 SPAN IMU in ria eevee e e ee rte E ene erect in eee ee ener 145 SPAN on OEM6 User Manual Rev 7 ELGI 1 SPAN Compatible IMU MOdelSi kresne de aaeeea edia aa faehau radl TT Nai 17 2 FlexPak6 Receiver Port Labels cccccecceeeeeeeeeeeeeeeeeeeeeeee eee eaaaaaaaeaeeeeeeeeeeeteeeseneeeaeaaeeees 19 3 ProPak6 Receiver Port Eabels 3 2 rint e ect ven tee de eo reden 20 4 Receiver to IMU Interface Cables ssessssssesssseseeeeeneneeenennnn nnne nnne nnne nis 27 5 MEMS Interface Card MIC Interface Cables esses 28 6 IMU P ower Supply ated tise Er rn Eee oer tUe eere Let er nen roe Reap 32 7
48. ADIS IMU to the MIC OEM Cable Kit 01019007 on page 37 e Use the 20 pin locking connector P601 for the HG1700 HG1900 HG1930 or STIM300 IMU See Figure 17 Connect the HG1700 IMU to the MIC OEM Cable Kit 01018868 on page 37 Figure 18 Connect the HG1900 IMU to the MIC OEM Cable Kit 01018871 on page 37 Figure 19 Connect the HG1930 IMU to the MIC OEM Cable Kit 01018869 on page 37 or Figure 20 Connect the STIM300 IMU to the MIC OEM Cable Kit 01019174 on page 38 36 SPAN on OEM6 User Manual Rev 7 SPAN Installation Chapter 2 Figure 16 Connect the ADIS IMU to the MIC OEM Cable Kit 01019007 P301 ie 4 7 MIC to IMU ADIS IMU Interface Cable MIC 8 01019008 W IMU Mounting PCB 01019053 9 e101 p Figure 17 Connect the HG1700 IMU to the MIC OEM Cable Kit 01018868 P304 i HG1700 IMU IMU Mounting PCB MIC 2 01018785 3i MIC to IMU Interface Cable Plo 5 01018828 Figure 18 Connect the HG1900 IMU to the MIC OEM Cable Kit 01018871 P301 E HG1900 IMU IMU Mounting PCB MIC s 01018715 3 MIC to IMU Interface Cable dP101b 9 01018828 Figure 19 Connect the HG1930 IMU to the
49. AN devices FCC Notices The SPAN devices covered by this manual comply 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 received including interference that may cause undesired operation The SPAN devices covered by this manual comply with the radiated and conducted emission limits for a Class B or Class A digital device The Class B or Class A 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 Recorient or relocate the receiving antenna Increase the separation between the equipment and the receiver 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 In order to maintain compliance with th
50. Alternator to Vehicle Electrical System Auxiliary Vehicle Main Battery Battery For pin out information about the power connector on the FlexPak6 refer to the OEM6 Family Installation and Operation User Manual For pin out information about the power connect on the ProPak 6 refer to the ProPak6 User Manual In addition to the receiver power supply a power supply is needed for the IMU See Table 6 IMU Power Supply for the voltage requirements for each IMU The same power supply can be used for the receiver and the IMU if the power supply meets the power requirements of both devices If the SPAN system has an IMU IGM connected to the COM2 port on a FlexPak6 using the Stack Up Cable 01019013 power for the IMU IGM is provided by the FlexPak6 through the Stack Up Cable SPAN on OEM6 User Manual Rev 7 31 Chapter 2 SPAN Installation Table 6 IMU Power Supply IMU Power Requirement UIMU LN200 12 to 28 V DC UM Geo 2t 428V DC UIMU LCI 12 to 28 V DC iIMU FSAS 10 to 34 V DC IMU CPT 9 to 18 V DC IMU IGM 10 to 30 V DC If you are using an OEM IMU ADIS 16488 HG1900 HG1930 STIM300 etc and a MIC see MIC MEMS Interface Card on page 108 for information about connecting and powering the MIC and the IMU Details about the IMU ports and cables can be found in Appendix A Technical Specifications on page 69 2 2 8 Connect the Additional Communication Ports
51. Enable INS Gommiands erdt te ed eod o m ieee ata rete s 42 1 IMUSIGM LEDS n etiem e rere e Pa uei e ees re rt edes 44 8 Eull Mapping Definitlonis 5 eroi tecta ede EE DRE e P REIR EE 46 9 Inertial Solution Status tide ex Iii eredi c a E leiden ss 51 10 INS LED States ettet ir pete ee ito tot pd 51 11 Solution Parameters 5 2 da Rea ed ede intense D erede aada 54 12 Logs with Azimuth data etie tpe p oer ce pel ed bue aetna teas 62 13 AEN ALIQON LED States iiir rte rer R ERR ER ERE A EORR SEE RR e e ARR RR E 66 14 Universal IMU Enclosure Physical Specifications eeeeeeeeeseneeeeeen 69 15 Universal IMU Enclosure IMU Performance cceceeeeeeeeeeeeeeeeeeaeeeeeeeeeeeeeeesseneeeeeaeeees 72 16 Universal IMU Enclosure Electrical Specifications 2 0 2 2 ccecceeeeecceeeeeeeeeeeeeeeeeeeeeeeesenaeeeeeees 73 17 Universal IMU Enclosure Environmental Specifications c cccccceeeeeeeeeeeeeeseeeeeneeeeees 73 18 Universal IMU Enclosure Interface Cable Pinouts 0 cccceeeeeeceeeeeeeeeeeeeeeeeeeteseeeeenaeeneeees 74 19 Universal IMU Enclosure Interface Cable Pinouts cceeeeeeeeeeeeeeeeeeeeeeeeeeeeeseeecenaeeeeeees 75 20 HG1700 IMU Physical Specifications sseesesseeeeeeeeenneeneenn a 76 21 HG1700 Enclosure Side Dimensions eeeeesssssssssssseeeeeneeee nnne nnns 77 22 HG1700 IMU Performance niet e Pene eee e a oto er e
52. Enclosure Important Assemble in accordance with applicable industry standards Ensure all ESD C3 measures are in place in particular use a ground strap before exposing or handling any electronic items including the IMU Take care to prevent damaging or marring painted surfaces O rings sealing surfaces and the IMU The following procedure provides the necessary information to install the LN 200 sensor into the Universal Enclosure NovAtel part number 01018590 both illustrated below The steps required for this procedure are Disassemble the Universal Enclosure Install the LN 200 Sensor Unit Reassemble the Universal Enclosure Figure 74 Required Parts LN 200 Universal Sensor Unit Enclosure D 1 Use thread locking fluid on all fasteners except for the cable harness connectors 2 Torque values for all fasteners including those for the cable harness screws are as follows Size 6 32 0 79 0 90 N m 7 0 8 0 Ib in Size M4 1 36 1 58 N m 12 0 14 0 Ib in 127 SPAN on OEM6 User Manual Rev 7 Appendix C LN 200 IMU in Universal Enclosure C 1 Disassemble the Universal Enclosure Disassemble the Universal Enclosure as follows 1 Using a 3 mm hex bit remove the M4 screws they will be reused and the base as shown in Figure 75 Remove Base Figure 75 Remove Base 2 While squeezing and holding the assembly tightly together carefully turn the assembly over and set it down as shown
53. GNSS solution 1 2 Models and Features All SPAN system receivers are factory configurable for L1 L2 RTK capability and are compatible with an IMU See Table 1 SPAN Compatible IMU Models for firmware model details Table 1 SPAN Compatible IMU Models Model Name Data hte Compatible IMUs cds vane 100 Hz HG1700 AG58 s2 cis 100 Hz HG1700 AG62 S2 IMU LN200 200 Hz LN 200 S3 IMU FSAS El 200 Hz iIMU FSAS S3 UIMU LCI 200 Hz Litef LCI 1 S3 IMU CPT 100 Hz IMU CPT S1 IMU IGM A1 200 Hz IMU IGM A1 S1 IMU IGM S1 125 Hz IMU IGM S1 1 IMU H1900 CA50 100 Hz HG1900 CA50 S2 IMU H1930 CA50 100 Hz HG1930 CA50 1 OEM IMU ADIS 16488 200 Hz OEM IMU ADIS 16488 1 OEM IMU STIM300 125 Hz OEM IMU STIM300 S1 Each model is capable of multiple positioning modes of operation For a discussion on GNSS positioning and receiver details refer to the OEM6 Family Installation and Operation User Manual Each model has the following standard features Rugged shock water and dust resistant enclosure FlexPake and ProPak6 e NovAtel s advanced OEM6 L1 L2 L5 GPS L1 L2 GLONASS and PAC technology Bidirectional COM ports which support data transfer rates of up to 921 600 bits s One of these serial ports is capable of communication with an IMU USB 2 0 port Ethernet port not available on the OEM615 1 Rates higher than 115 200 are not standard on most computers and may require extra computer hardware
54. IM300 Electrical and Environmental Table 61 OEM IMU STIM300 Electrical Specifications Input Power 4 5 to 5 5 V DC 5 0 V DC typical Power consumption 1 5 W nominal Connector 15 pin Micro D female Table 62 OEM IMU STIM300 Environmental Specifications ENVIRONMENTAL Temperature operational 40 C to 85 C Temperature non operational 55 C to 90 C 106 SPAN on OEM6 User Manual Rev 7 Technical Specifications A 8 4 STIM300 IMU to MIC Cable Assembly The NovAtel part number for the STIM300 IMU to MIC interface cable is 01019161 Figure 55 STIM300 IMU to MIC Cable Assembly This cable provides power to the IMU and enables communication between the MIC and the IMU Appendix A Figure 55 STIM300 IMU to MIC Cable Assembly P1 E Dimensions are in millimetres 230 0 25 0 Table 63 STIM300 IMU to MIC Cable Assembly P2 Pin Signal P1 Pin MIC STIM300 1 No connection 2 No connection 3 No connection 4 No connection 5 No connection 6 Ground 12 7 Ground 13 8 VSUP 5V input 9 VSUP 5V input i 10 Ground 15 11 Transmit Data 10 12 Transmit Data 2 13 Receive Data 9 14 Receive Data 1 15 No connection 16 No connection 17 IMU DAS 4 18 No connection 19 IMUTYPE1 15 20 No connection SPAN on OEM6 User Manual Rev 7 107 Appendix A Technical S
55. INS GNSS positioning observes range measurements from orbiting GNSS satellites From these observations the receiver can compute position and velocity with high accuracy NovAtel GNSS positioning systems are highly accurate positioning tools However GNSS in general has some restrictions which limit its usefulness in some situations GNSS positioning requires line of sight view to at least four satellites simultaneously If these criteria are met differential GNSS 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 GNSS degrades substantially or may not be available at all In general an INS uses forces and rotations measured by an IMU to calculate position velocity and attitude This capability is embedded in the firmware of OEMG series receivers 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 paramet
56. INS Status field changes to INS ALIGNMENT COMPLETE The system transitions to navigation mode 7T The solution is refined using updates from GNSS Once the system is operating within specifications and after some vehicle movement the INS Status field changes to INS SOLUTION GOOD This indicates that the estimated azimuth standard deviation is below 5 degrees If it increases above 5 degrees the status changes to INS HIGH VARIANCE The azimuth standard deviation threshold can be changed using the INSTHRESHOLDS command See the SPAN on OEM6 Firmware Reference Manual for information about this command 3 3 1 1 Coarse Alignment The coarse alignment is the default alignment routine for SPAN The alignment starts as soon as a GNSS solution is available the receiver has computed fine time and the IMU is connected and configured The vehicle must remain stationary for the alignment to happen During the coarse alignment accelerometer and gyro measurements are averaged over a period of time to measure Earth rotation and gravity From these averaged measurements initial estimates of roll pitch and heading are computed Because the coarse alignment uses averaged sensor output the vehicle must remain stationary for the duration of the alignment which is approximately 30 seconds The attitude estimates solved by the alignment are larger than the system specified attitude accuracy and vary upon the characteristics of the sensor and the geograp
57. LOT Sn SPAN on OEM6 User Manual Rev 7 123 Appendix B HG1700 IMU in Universal Enclosure 5 Connect the internal cable harness to the enclosure body as shown in Figure 69 Fasten Internal Cable Harness During this step ensure the connector O ring supplied with the connector of the internal cable harness remains flat within the connector s groove and make sure the groove is clean and free of debris Fasten the connector to the enclosure body wall using the jam nut supplied with the connector Apply thread locking fluid then with a 30 mm socket tighten the jam nut to 6 9 N m 61 Ib in 5 1 Ib ft Figure 69 Fasten Internal Cable Harness 6 Ensure the O rings are in place If they are not as necessary make sure the grooves of the enclosure base are clean and free of debris using isopropyl alcohol As shown in Figure 70 Install O rings install the outer environmental and inner EMI O rings in the enclosure base being careful not to stretch or twist them O rings must remain flat within the grooves during the remainder of the assembly procedure Figure 70 Install O rings 124 SPAN on OEM6 User Manual Rev 7 HG1700 IMU in Universal Enclosure Appendix B 7 Clean the surface of the enclosure body where it mates with the O rings using isopropyl alcohol As shown in Figure 71 Install Enclosure Body on the Base align the reference markers and pilot holes pins of the enclosure body and base Carefully
58. MEMS Interface Card eeeeessssssseseseseeeene enne nenne snnn nnne nns s nana sensn nans 108 A 9 1 MIC Mechanical Drawings ceeeeesseseeeeeeeeeeeeeennnneen ennemi 108 A 9 2 MIC Electrical and Environmental cc cc ssscccccccesssseceeteessseeeececeeusseeeeetsaegeeseeeeeeeegs 110 A9 3 MIG GOFFector Sc i eet enteros de ive nti aa DUE ea Eee Eo v daro 110 A 9 4 HG1930 IMU to MIC Cable Assembly seseeeeeeeenen nennen 115 A 9 5 HG1700 and HG1900 IMU to MIC Cable Assembly eene 116 PON LE INLE A AET n conten taadia zea eaateha inst E ds tance ae Moser run N AT 117 A 10 1 ProPak6 Expansion Cable rhe des oder ee cies in a ees 117 B HG1700 IMU in Universal Enclosure 119 B 1 Disassemble the Universal Enclosure cccssssececcecesssceeceeceeseeeeeceeenseeeeeeteeeaseceesersaseeeees 120 B 2 Install the HG1700 Sensor Unit cc cccccecccssssseceeeceessseceeeeseaseeeesetseeassceeeeseaeaeeeeeeeeeaaseeteees 121 C LN 200 IMU in Universal Enclosure 127 C 1 Disassemble the Universal Enclosure ccccccecesseceecereeeseceseceeeassceeceteuaseceeseeaagseeeeeseaes 128 C 2 Install the LN 200 Sensor Unit cccccccecsssseeeeeeceessseeeeceeeeseeeeeeeeeesseeeeceeaugaeceeetsneaseeeesessaes 130 D HG1700 IMU in SPAN HG Enclosure 135 D 1 Disassemble the SPAN IMU Enclosure eeessssseeeee nennen nnne nnne 136 D 2 Install the HG170
59. MS Interface Card on page 108 for the MIC dimensions e Ensure all standoffs are properly installed and the mounting location is level The amount of board deflection bow and twist must not exceed 0 7596 For example on the MIC which is 75 mm long and 46 mm wide the deflection along the length must not exceed 0 56 mm and the deflection along the width must not exceed 0 34 mm 2 3 2 2 Connect the IMU to the MIC 1 Attach the IMU mounting Printed Circuit Board PCB to the IMU Ensure all the pins on the header are aligned with the holes on the mating connector An IMU mounting PCB is not used with the STIM300 IMU 2 Mount the IMU See Mount the IMU on page 28 Connect the IMU to MIC interface cable supplied with the MIC to the IMU 4 Connect the IMU to MIC interface cable to the IMU connector on the MIC e Use the 10 pin locking connector P701 for ADIS IMUs See Figure 16 Connect the ADIS IMU to the MIC OEM Cable Kit 01019007 on page 37 Use the 20 pin locking connector P601 for the HG1700 HG1900 or HG1930 IMU See Figure 17 Connect the HG1700 IMU to the MIC OEM Cable Kit 01018868 on page 37 Figure 18 Connect the HG1900 IMU to the MIC OEM Cable Kit 01018871 on page 37 Figure 19 Connect the HG1930 IMU to the MIC OEM Cable Kit 01018869 on page 37 or Figure 20 Connect the STIM300 IMU to the MIC OEM Cable Kit 01019174 on page 38 40 SPAN on OEM6 User Manual Rev 7 SPAN Installation Chapter 2 2
60. MU ADIS16488 IMU IGM S1 CONNECTIMU COMx IMU STIM300 LCI 1 CONNECTIMU COMx IMU LITEF LCI1 LN 200 CONNECTIMU COMx IMU LN200 STIM300 CONNECTIMU COMx IMU_STIM300 a Use the COM port number the IMU is connected to For SPAN systems with a ProPak6 receiver the IMU must use COM3 IMU For SPAN systems with an OEM638 receiver the IMU must use COM6 COM2 is the recommended serial port for the IMU however you can use any available COM port for these IMUs If you are using the OEM615 MIC board stack you must use COM1 b If you are using a FlexPak6 you must use COM2 for the IMU FSAS and IMU CPT This is to accommodate the RS 422 protocol used for these IMUs For SPAN systems with a ProPak6 receiver the IMU FSAS and IMU CPT must use COM3 IMU For SPAN systems with an OEM638 receiver the IMU FSAS and IMU CPT must use COM6 SPAN Installation Basic configuration of the SPAN system is now complete The inertial filter starts after the GNSS solution is solved and the IMU is connected SPAN on OEM6 User Manual Rev 7 SPAN Installation Chapter 2 2 Issue the SETIMUTOANTOFFSET command to enter the distance from the IMU to the GNSS antenna See the SPAN on OEM6 Firmware Reference Manual for information about the SETIMUTOANTOFFSET command The offset between the antenna phase center and the IMU axis must remain constant and be known accurately m The X pitch Y roll and Z azimuth directions are clearly marked on the IMU en
61. NIPOS are still available The BESTGNSSPOS log is also available to provide the best available GNSS only solution Any non INS logs should be logged at a maximum rate of 5 Hz when running SPAN Only INS specific logs documented in the SPAN on OEM6 Firmware Reference Manual should be logged at rates higher than 5 Hz when running SPAN 7 What will happen to the INS solution when lose GNSS satellite visibility When GNSS tracking is interrupted the INS GNSS 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 GNSS outage the horizontal position accuracy is approximately 2 5 m when using an HG1700 AG58 The SPAN solution continues to be computed for as long as the GNSS outage lasts but the solution uncertainty increases with time This uncertainty can be monitored using the INSCOV log 8 What does it mean if my IMUCARD version string looks like this GPSCARD G2LRORTTOS1 BFN11490091 OEM628 1 00 OEMO60210RN0000 DEMO60100RB000 2012 Aug 03 11 31 07 lt IMUCARD Test mode 20Hz r2 1 0 0 Sep 13 2010 09 34 20 The SPAN enabled receiver has detected the SDLC card and is communicating with it however the SDLC card is not communicating with the IMU Check the SDLC to IMU connections to ensure that both power and co
62. Positive voltage supply for IMU logic circuits 3 SPI NSS Slave Select LVTTL level not 5V tolerant 4 SPI SCK Output Serial Clock LVTTL level not 5V tolerant 5 DGND Digital Ground 6 SPI MOSI Output Master Output Slave Input LVTTL level not 5V tolerant 7 SPI MISO Input Master Input Slave Output LVTTL level not 5V tolerant 8 DGND Digital Ground 9 IMU DIO1 Bidirectional LVTTL level not 5V tolerant 10 IMU DIO2 Bidirectional LVTTL level not 5V tolerant Table 72 MIC LED Indicator Drivers Board State Status LED 1 Status LED 2 Status LED 3 Bootup Toggles at 2 Hz Off On Self test Normal Operation On Toggles at 2 Hz Toggles at 2 Hz GPS Time IMU Data No IMU Connected Toggles t 1 Hz Toggles at 2 Hz Toggles at 1 Hz Error GPS Time Error D When the MIC boots up it requires approximately 10 seconds to perform a self test If a software update has been performed the board can take up to 70 seconds at startup to complete the reprogramming 114 SPAN on OEM6 User Manual Rev 7 Technical Specifications A 9 4 HG1930 IMU to MIC Cable Assembly Appendix A The NovAtel part number for the HG1930 IMU to MIC interface cable is 01018827 Figure 58 HG1930 IMU to MIC Cable Assembly This cable provides power to the IMU and enables communication between the MIC and the IMU Figure 58 HG1930 IMU to MIC Cable Assembly Dimensions in millimetres
63. RONMENTAL 40 C to 65 C Temperature non operational 50 C to 80 C Vibration operational 6 grms 20 Hz 2 KHz Vibration non operational Shock operational 8 g rms 20 Hz 2 KHz 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 gt 10 500 hours SPAN on OEM6 User Manual Rev 7 Technical Specifications Appendix A A 5 4 IMU CPT Cable The NovAtel part number for the IMU CPT cable is 01018966 This cable provides power to the IMU from an external power source and enables communication between the receiver and the IMU A FlexPak Y Adapter cable is required between the FlexPak6 receiver and the IMU CPT cable see Figure 7 Basic Set Up FlexPak6 to IMU FSAS or IMU CPT on page 22 Also see FlexPak Y Adapter Cable for IMU FSAS or IMU CPT on page 89 Figure 45 IMU CPT Development Terminated Cable 1500 mm DB9 Female 01018966 REV The IMU CPT cable has a green ground line terminated in a ring lug as shown in Figure 45 IMU CPT Development Terminated Cable that is grounded to the IMU CPT connector body and enclosure Table 39 IMU CPT Connector Pin Out Descriptions J2 Function Female DB9 ae Pin 1 Power Return Labelled Pin 1 2 9 16 VDC Power Input Labelled Pin 2 3 20 Reserved 21 IMU RS422 TX 2 22 IMU RS422 TX 8 23 24 Reserv
64. SET command must be as accurate as possible or at least more accurate than the GNSS 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 The offset from the IMU to the antenna and or a user point device must remain constant especially for RTK or DGPS data Ensure the IMU antenna and user point device are bolted in one position perhaps by using a custom bracket The closer the antenna is to the IMU the more accurate the position solution Also your 2 2 3 Mount the OEM6 Receiver The steps required to mount the OEM6 receiver vary depending on the type of OEM6 receiver card or enclosure you are using See the OEM6 Family Installation and Operation User Manual or ProPak6 User Manual for information about mounting an OEM6 receiver 2 2 4 Connect the Antenna to the OEM6 Receiver Connect the GNSS antenna to the receiver using a high quality coaxial cable Fora ProPak6 receiver connect the antenna cable from the connector on the antenna to the ANT or ANT1 port on the ProPak6 See Figure 9 Basic Set Up ProPak6 to LN 200 HG1700 LCI 1 or IMU FSAS on page 24 Figure 10 Basic Set Up ProPak6 to IMU CPT on page 25 or Figure 11 Basic Set Up ProPak6 to IMU IGM on page 26 For a FlexPak6 receiver connect the antenna cable from the connector on the antenna to the Antenna port on the FlexPak6 See Figure 6 B
65. SPAN on OEM6 User Manual Rev 7 17 Chapter 1 Introduction e Controller Area Network Bus CAN Bus which is a rugged differential serial bus with a protocol that provides services for processes data and network management e ield upgradeable firmware program software What makes one model different from another is software not hardware This unique feature means that the firmware can be updated any time anywhere without any mechanical procedures whatsoever For example a model with L1 L2 only capabilities can be upgraded to a model with L1 L2 RT 2 in only a few minutes in your office instead of the days or weeks that would be required if the receiver had to be sent to a service depot All that is required to unlock the additional features is a special authorization code Refer to the OEM6 Family Installation and Operation User Manual for further details on this topic Some of the IMUs used with SPAN are housed in an enclosure with a PCB board to handle power communication and data timing See Appendix A Technical Specifications on page 69 for details 1 3 Related Documents and Information This manual contains sufficient information about the installation and operation of the SPAN 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 see Customer Support on page 10 The OEM6 receiver utilizes a comprehensive user interface co
66. TIMSOO DIMENSIONS a certe pete Pte er Vere eta HER torba tei PL aea enne 105 STIM300 Center of Navigation sseseseseeseeeeneneenemeneeenn nennen nennen nnne nennen 106 STIM300 IMU to MIC Cable Assembly ssseesesseeeeeenen eene nnne 107 MIC Top Bottom Dimensions ecessssssesesseseeee ana aaua iaaa enhn daUa Eea anaia 108 MIG Keep Out ZOne iiie ette ette Rb inte gn ei ER eataa Meant iasa 109 HG1930 IMU to MIC Cable Assembly essesseeeeeeneneeneennn mener nnns 115 HG1700 and HG1900 IMU to MIC Cable Assembly eese 116 ProPak6 Expansion Cable 2 4 niga e teret eere aree efe rage 117 Required Parts ais n eite EE ra PR ine SEAT EREMO Pee de eed enitn 119 REMOVE Base c 120 Disconnect Wiring Harness from Enclosure BOY ssseeeene 120 Remove IMU Mounting Plate and Bracket sssssessseeeeneeeeeenn emen 121 Remove IMU Mounting Screws eseessssseseseeeeeeeneennenneeneen nnne nennen nnne nennen 121 Connect IMU to IMU Mounting Plate sssesesseeeeeeeeeennnmeeennn mener 122 Installing IMU to Mounting Plate ssessseeeeeeennnnenenennn nennen nnne nnns 122 Assemble Into Enclosure Body essere nne 123 Fasten Internal Cable Harness essen nennen nennen nnne nnns 124 lazio gas Ae
67. The Local Level Frame ENU asierea eaa a aaia eo aE RaR aka he SPAN Body Erame uer EE E RE Pe Minin tine et 3 13 The Enclosure Framesi a aa ats terete tl thine ueni ee gA Ne VehiclesFrame ee rein re a ree a e A A EESE alent Aaa DAEK 3 2 Communicating with the SPAN System cccccceeesseeeeeseeneeeeeeeeeeeeeeeesaeeeeeeesaaeeeeeeeaaeeeeeeenaaes 3 2 1 INS Window in NovAtel Connect ssssssssseseeeseeeeereeennne nnne nennen 9 3 Real Time Operation iege eter eec ch te diet oca eto 3 3 1 System Start Up and Alignment Techniques eeeeeeeeeeennn 3 3 2 Navigation MOQGG itenim eee b pi tetra be e ere reete edd 3 3 3 Data Collection is 2 cc EL rg et Eo Eee ER Eos Pn eet Ege bue ee conce aa 3 3 4 Lever Arm Calibration Routine 00 0 0 cccccceceeececeeeeee eee eee e teeta eaaaaaaeeeeeeeeeeeeeeegeeeneeeeeees 3 3 5 Vehicle to SPAN Frame Angular Offsets Calibration Routine ssssss 3 4 Synchronizing External EQuipment eeeecceeeeeenceeeeeeeneeeeeeeeeaeeeeeeeeaeeeeeeeenaeeeeeeeenaaeeteseeaaees 3 4 1 Configuring a Synchronous Output Pulse eese nen 3 4 2 Configuring an Input Strobe i ciere t a e rr d E ne dg 3 5 SPAN Wheel Sensor Configuration eeessesseseseeeeeeneeneeenen nennen nennen 3 5 1 Wheel Sensor Updates Using the Event Input Lines seesessseseesesss 3 5 2 Wheel Sensor Data Collected on IMU
68. U and configure the receiver port connected to the IMU to accept IMU data 2 4 2 3 a SPAN OEM6 SPAN Alignment Wizard IMU type and port selection IMU_UNKNOWN Please select the IMU model and the serial port it is connected to lt Back Next gt Cancel Configuration for Alignment A coarse alignment routine requires the vehicle to remain stationary for at least 1 minute If that is not possible an alternate kinematic alignment routine is available The kinematic or moving alignment is performed by estimating the attitude from the GNSS velocity vector and injecting it into the SPAN filter as the initial system attitude See also System Start Up and Alignment Techniques on page 52 for more details on coarse and kinematic alignments The ADIS 16488 IMU CPT IMU IGM HG1930 and STIM300 IMUs cannot perform coarse alignments as these IMUs cannot accurately measure Earth rotation For these IMUs the default alignment routine is the kinematic alignment Refer to Kinematic Alignment on page 52 If a stationary alignment is required refer to Manual Alignment on page 53 2 5 IMU IGM LEDs The LEDs on the IMU IGM provide basic receiver status information Table 1 IMU IGM LEDs LED Off On Flashing Slow 1Hz Flashing Fast gt 1Hz Powar No power to unit Unit is powered on NEO YNOT Programming error Red P p UNSUPPORTED IMU 9 9 GNSS Time Status FINE Time status COARSE Waiting f
69. VH ADIS 16488 from Analog Devices STIMS00 from Sensonor Use the CONNECTIMU command to specify the type of IMU used Why don t have any INS data a On start up the RAWIMU 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 FINETIME the inertial filter starts and IMU data is available b Check that the system has been configured properly See question 3 above How can access the inertial solution The INS GNSS 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 or 200 Hz depending on your IMU model The solution can also be triggered by the mark input signal by requesting the MARKxPVA logs Further details on these logs are available in the SPAN on OEM6 Firmware Reference Manual SPAN on OEM6 User Manual Rev 7 146 Frequently Asked Questions Appendix F 6 Can still access the GNSS only solution while running SPAN The GNSS only solution used when running the OEMG receiver without the IMU is still available when running SPAN Logs such as PSRPOS RTKPOS and OM
70. able FlexPak6 compatible connectors Universal IMU cable 01018299 For standard pinout See Universal IMU Cable on enclosures page 75 IMU FSAS cable with 01018388 For standard pinout See IMU FSAS cable with ODO enclosures Odometer on page 85 Includes an additional connector for odometer cabling A 45 IMU FSAS cable with Odometer The NovAtel part number for the IMU FSAS cable with Odometer is 01018388 see Figure 39 IMU FSAS Interface Cable with Odometer This cable provides power to the IMU from an external power source enables input and output between the receiver and the IMU enables input from an optional odometer See also IMU FSAS Odometer Cabling on page 87 Dimensions in millimetres Figure 39 IMU FSAS Interface Cable with Odometer 3x 100 210 mm P3 nv P2 ew J2 SIDE VIEW P1 Reo J1 END VIEW DB9 FEMALE PIN 1 p m PRETAN WN m rns S SPAN on OEM6 User Manual Rev 7 P4 ONO PINI A JN on 6 P4 END VIEW DB9 MALE 85 Appendix A Technical Specifications Table 33 IMU FSAS Cable with Odometer P
71. ain connector P1101 on an OEM615 Samtec receiver J301 is on the bottom of the MIC card 34 SPAN on OEM6 User Manual Rev 7 SPAN Installation Chapter 2 2 3 1 1 Mount the OEM615 Receiver and MIC 1 2 3 Mount the GNSS antenna See Mount the Antenna on page 28 Use the standoffs supplied with the MIC card to secure the OEM615 to its mounting location See Figure 15 Mount the MIC on the OEM615 on page 36 See the OEM6 Family Installation and Operation User Manual for information about mounting printed circuit boards C The part number for the standoffs included with the MIC is RAF M21073005AL7 Irwin Industrial If alternate standoffs are selected use equivalent parts with a minimum height of 12 mm e Ensure all standoffs are properly installed and the mounting location is level The amount of board deflection bow and twist must not exceed 0 7596 For example on the OEM615 which is 71 mm long and 46 mm wide the deflection along the length must not exceed 0 53 mm and the deflection along the width must not exceed 0 34 mm Connect the antenna cable to the antenna jack on the OEM615 The antenna cable must have a right angle MCX connector on the end that connects to the OEM615 C Warning Do not apply power to the cards until the antenna cable is attached M1051 110 ShinA Telecom If an alternate part is used it should meet the dimensions shown in the diagram i The spa
72. asic Set Up FlexPak6 to LN 200 HG1700 or LCI 1 on page 21 Figure 7 Basic Set Up FlexPak6 to IMU FSAS or IMU CPT on page 22 or Figure 8 Basic Set Up FlexPak6 to IMU IGM on page 23 For OEM6 receiver cards an RF adapter is required to connect the antenna cable to the receiver card See the OEM6 Family Installation and Operation User Manual for more information For best performance use a high quality coaxial cable An appropriate coaxial cable is one that matches the impedances of the antenna and receiver 50 ohms and has a line loss that does not exceed 10 0 dB If the limit is exceeded excessive signal degradation may occur and the receiver may not meet performance specifications NovAtel offers several coaxial cables to meet your GNSS antenna interconnection requirements including 5 15 and 30 m antenna cable with TNC connectors on both ends NovAtel part numbers GPS C006 GPS C016 and GPS C032 If your application requires the use of a cable longer than 30 m refer to application note APN 003 RF Equipment Selection and Installation available at www novatel com support search items Application 20Note SPAN on OEM6 User Manual Rev 7 29 Chapter 2 SPAN Installation 2 2 5 Connect the IMU to the OEM6 Receiver Connect the IMU to the receiver using the IMU interface cable For a system with a ProPak6 receiver connect the IMU interface cable from the IMU to the COM3 IMU port on the ProPak6 receiver See Fig
73. ation 2 2 Table 5 MEMS Interface Card MIC Interface Cables IMU Cable OEM HG1900 01018828 see HG7 700 and HG1900 IMU to MIC Cable Assembly on page 116 OEM HG1930 01018827 see HG1930 IMU to MIC Cable Assembly on page 115 OEM ADIS 16488 01019008 see ADIS 16488 IMU to MIC Cable Assembly on page 104 OEM STIM300 01019161 see STIM300 IMU to MIC Cable Assembly on page 107 Hardware Set Up Complete the following steps to set up your NovAtel SPAN system 1 Mount the GNSS antenna as described in Mount the Antenna on page 28 2 Mount the IMU as described in Mount the IMU on page 28 3 Mount the receiver as described in Mount the OEM6 Receiver on page 29 4 Connect the GNSS antenna to the OEM6 receiver as described in Connect the Antenna to the OEM6 Receiver on page 29 5 Connect the IMU to the OEM6 receiver as described in Connect the IMU to the OEM6 Receiver on page 30 6 Connect the I O strobe signals optional as described in Connect I O Strobe Signals on page 30 7 Connect power to the IMU and receiver as described in Connect Power on page 31 NovAtel recommends biasing unused inputs to their default states See Appendix A Technical Specifications on page 69 for information about the devices in the system 2 2 1 Mount the Antenna 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
74. b Supply voltage e USB communications port Y Antenna port For information about the FlexPak6 ports and cables see the OEM6 Family Installation and Operation User Manual SPAN on OEM6 User Manual Rev 7 Chapter 2 SPAN Installation The connectors available on the ProPak6 are shown in Figure 5 ProPak6 Receiver Connectors The ProPak6 provides DB9 DB 15HD USB power and antenna connectors Figure 5 ProPak6 Receiver Connectors Table 3 ProPak6 Receiver Port Labels shows a summary of the receiver port names available on the ProPak6 Table 3 ProPak6 Receiver Port Labels Port Label Description COM1 Serial communications port 1 COM2 Serial communications port 2 COMMS SOME a IS this port VO Input and output port for additional signals PPS Event Inputs and Event Outputs EXP Expansion port for CAN Bus ports 1 and 2 and additional COM ports COM4 COM5 COM6 COM7 ae Ethernet port PWR Supply voltage ec Device USB communications port ANT or ANT 1 Antenna port External oscillator input or OSC DrANT 2 Secondary antenna port Dual antenna model For information about the ProPak6 ports and cables see the ProPak6 User Manual 2 1 2 Typical Installation Examples The following examples show the connections for a FlexPak6 receiver If you are using an OEM6 receiver card such as an OEM615 OEM628 or OEM638 you need a wiring harness to connect the receiver to the o
75. bration log BESTLEVERARM using the ONCHANGED trigger 7 Perform an initial system alignment using one of the methods described in System Start Up and Alignment Techniques on page 52 8 Start to move the system The lever arm is not observable while the system is stationary Immediately drive a series of manoeuvres such as figure eights The turns should alternate between directions and you should make an equal number of turns in each direction Some height variation in the route is also useful for providing observability in the Z axis When the calibration is complete either because the specified time has passed or the accuracy requirement has been met the BESTLEVERARM log outputs the solved lever arm To save a calibrated lever arm for subsequent start ups issue the SAVECONFIG command after calibration is complete If the IMU or GNSS antenna are re mounted re run the calibration routine to compute an accurate lever arm For information about the logs and commands used in this procedure refer to the SPAN on OEMG Firmware Reference Manual 3 3 5 Vehicle to SPAN Frame Angular Offsets Calibration Routine 56 Kinematic alignment requires that the angular offset between the vehicle and SPAN 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 VEHICLEBODYROTATION command If the angular offset is more complex that is rotation is about
76. ce between the OEM615 and the MIC is limited hiag mm 8 65 mm max The height of the MCX connector must not exceed 8 65 i mm e The part number for the recommended MCX connector is 70 Align the OEM615 mating connector J301 on the MIC with the 20 pin header P1101 on the OEM615 Make sure all of the pins on the header are aligned with the holes in the mating connector Press down on the MIC to seat the connector on the header Use the four screws supplied with MIC to secure the MIC card to the OEM615 SPAN on OEM6 User Manual Rev 7 35 Chapter 2 SPAN Installation Figure 15 Mount the MIC on the OEM615 U lam P301 Communication Connector MIC 9 a J301 on bottom of MIC C to P1101 on OEM615 P701 IMU Connector P601 IMU Connector P101 Power Connector MG a P1101 LUN OEM615 Main Connector For connection to MIC only Antenna Connector Co 2 3 1 2 Connect the IMU to the MIC 1 Attach the IMU mounting Printed Circuit Board PCB to the IMU Ensure all the pins on the header are aligned with the holes on the mating connector An IMU mounting PCB is not used with the STIM300 IMU 2 Mount the IMU See Mount the IMU on page 28 Connect the IMU to MIC interface cable to the IMU Connect the IMU to MIC interface cable to the IMU connector on the MIC Use the 10 pin locking connector P701 for the ADIS IMUs See Figure 16 Connect the
77. ce chosen must meet the following requirements e UL listed or equivalent in country of installation for example TUV VDE and so on for lightning surge protection e The primary device must be capable of limiting an incoming surge to 10kV The shield of the coaxial cable entering the building should be connected at a grounding plate at the building s entrance The lightning protection devices should have their chassis grounded to the same ground near to the building s entrance The primary and secondary lightning protections should be as close to the building s entrance as possible Where feasible they should be mounted onto the grounding plate itself See Figure 1 Primary and Secondary Lightning Protection on page 13 Figure 1 Primary and Secondary Lightning Protection f I Eu 2 Ref Description Primary lightning protection device Secondary lightning protection device External antenna GNSS Receiver To ground Grounding plate or grounding point at the building s entrance Oar wWhNDN SPAN on OEM6 User Manual Rev 7 13 14 Notices D Acceptable choices for Earth Grounds for central buildings are Grounded interior metal cold water pipe within five feet 1 5 m of the point where it enters the building Grounded metallic service raceway Grounded electrical service equipment enclosure Eight foot grounding rod driven into the ground only if bonded to the central building ground by
78. closure The SETIMUTOANTOFFSET parameters are where the standard deviation fields are optional and the distances are measured from the IMU to the antenna x offset y offset z offset x stdev y stdev z stdev Y Offset S gt C Y Offset This example assumes a default mounting configuration with a X offset Y offset and Z offset A typical RTK GNSS solution is accurate to a few centimetres For the integrated GNSS INS system to have this level of accuracy the offset must be measured to within a centimetre Any offset error between the two systems shows up directly in the output position For example a 10 cm error in recording this offset will result in at least a 10 cm error in the output If itis impossible to measure the IMU to GNSS antenna offset precisely the offset can be estimated by carrying out the Lever Arm Calibration Routine See Lever Arm Calibration Routine on page 55 2 4 2 2 SPAN Configuration with NovAtel Connect Follow these steps to enable INS as part of the SPAN system using the NovAtel Connect software utility The NovAtel Connect screen shots in this manual may differ from your version of NovAtel Connect SPAN on OEM6 User Manual Rev 7 43 Chapter 2 SPAN Installation 1 SPAN basic configuration Select Wizards SPAN Alignment from the NovAtel Connect toolbar This wizard takes you through the steps to complete a coarse or kinematic alignment select the type of IM
79. cs Molex Electronics P701 10 pin locking IMU connector for ADIS IMUs 53780 1070 51146 1000 Molex Electronics Molex Electronics 110 SPAN on OEM6 User Manual Rev 7 Technical Specifications Appendix A Table 68 Pinouts for Power Connector P101 Pin Signal Type Description Comments 1 VIN Power Power input 10 VDC to 30 VDC VIN Power Power return Connect to negative terminal of battery GND Power Chassis ground Table 69 Pinouts for User Interface Connector P301 Signal Type Description Comments 1 N C 2 N C 3 LED3 Output Status LED 3 Self test 4 LED2 Output Status LED 2 GPS Time Status 5 DGND Power Digital ground 6 LED1 Output Status LED 1 IMU Data Status 7 Reserved N A Leave as no connect 8 DGND Power Digital ground 9 Reserved N A Leave as no connect 10 Reserved N A Leave as no connect 11 N C N A 12 N C N A 13 USBD Bidirectional USB interface data Only available in board stackup with OEM615 In standalone no connect 14 USB D Bidirectional USB interface data Only available in board stackup with OEM615 COMB RX COMS receive data In standalone no connect 15 RESETIN Input OEM615 reset in Only available in board stackup with OEM615 In standalone no connect 16 VARF Output Variable frequency output Only available in board stackup with OEM615 CAN1RX Input CANT receive data In standalone no co
80. ct a user supplied power supply refer to Table 6 IMU Power Supply on page 32 to the IMU This step is not required if you are using the IMU IGM Stack Up Cable 01019013 Power from the FlexPak6 is supplied to the IMU IGM through the Stack Up Cable 6 Connect a user supplied computer for set up and monitoring to the USB port Connect a user supplied radio device to COM 1 optional for real time differential operation In Figure 8 Basic Set Up FlexPak6 to IMU IGM the FlexPak6 is mounted on IMU IGM using the optional Bracket Kit 01019040 SPAN on OEM6 User Manual Rev 7 23 Chapter 2 SPAN Installation 2 1 2 4 ProPak6 to LN 200 HG1700 LCI 1 or IMU FSAS Set Up Example Figure 9 Basic Set Up ProPak6 to LN 200 HG1700 LCI 1 or IMU FSAS Radio optional for Real Time Differential operation OM NON Om B OR ll I Connect the antenna to the receiver Connect the interface cable to the LN 200 HG1700 or LCI 1 universal enclosure or the IMU FSAS Connect the DB9 connector of the interface cable to the COM3 IMU port of the receiver Aa V N gt Connect the IMU power and ground to the IMU interface cable refer to Table 6 IMU Power Supply on page 32 e Connect a user supplied power supply to the receiver Connect a user supplied computer for set up and monitorin
81. delivered instructions with the system The NovAtel IMU interface cable with ODO is the same as that in nterface Cable for the IMU FSAS on page 85 but with some of the reserved pins having odometer uses It still provides power to the IMU from an external source and enables input and output between the receiver and IMU See also SPAN Wheel Sensor Configuration on page 59 The DMI runs only one output line A SPAN specifies that the maximum pulse frequency for a wheel sensor input to SPAN is 1 MHZ SPAN on OEM6 User Manual Rev 7 87 Appendix A Technical Specifications You can use our interface cable with the ODO connector to plug directly into the iMWS With the WPT first modify the cable provided with the WPT The cable modification is shown in Table 34 Cable Modification for Kistler WPT Connect the female DB9 connector to the male ODO end of the ilMU FSAS interface cable 8 pin M12 connector on the Kistler cable Table 34 Cable Modification for Kistler WPT Female DB9 connector Pin 1 GND External Pin 2 Up Input Power Pin 3 Signal A Pin 6 Pin 4 Signal A inverted Pin 7 Pin 5 Signal B Pin 3 Pin 6 Signal B inverted Pin 1 Pin 7 Reserved No change Pin 8 a This modification is for the Kistler WPT 8 pin M12 plug cable number 14865 b The WPT requires power to operate which is not supplied through the P4 connector on the IMU FSAS interface cable Pins 1 and 2
82. dom Walk 0 029 m s 4hr Table 46 IMU IGM S1 Data Rates DATA RATES IMU Measurement 125 Hz Table 47 IMU IGM S1 IMU Performance PERFORMANCE FIBER OPTIC GYROS Gyro Input Range 400 second In Run Gyro Rate Bias Stability 0 5 hour Angular Random Walk 0 15 hour PERFORMANCE ACCELEROMETERS Accelerometer Range 10g In Run Accelerometer Bias Stability 0 05 mg Velocity Random Walk 0 06 m s Vhr 98 SPAN on OEM6 User Manual Rev 7 Technical Specifications Appendix A A 6 5 IMU IGM Electrical and Environmental Table 48 IMU IGM A1 Electrical Specifications ELECTRICAL Input Voltage 10 30 VDC Power consumption 2 5 W typical a Asystem with a FlexPak6 requires 11 VDC if using the FlexPak6 to power the IMU IGM b A system with a FlexPak6 requires 5 W typical Table 49 IMU IGM A1 Environmental Specifications ENVIRONMENTAL Temperature operational 40 C to 65 C Temperature storage 50 C to 80 C Humidity 95 Non condensing Table 50 IMU IGM S1 Electrical Specifications ELECTRICAL Input Voltage 10 30 VDC Power consumption 4 6 W typical a Asystem with a FlexPak6 requires 11 VDC if using the FlexPak6 to power the IMU IGM b A system with a FlexPak6 requires 7 W typical Table 51 IMU IGM S1 Environmental Specifications ENVIRONMENTAL Temperature operational 40 C to 65 C Temp
83. e INSPVA INSPVAS and INSPVAX logs The inertial solution is available up to the rate of the IMU data 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 GNSS only solution is still available through the GNSS only logs such as RTKPOS and PSRPOS When running SPAN rates of non INS logs should be limited to a maximum rate of 5 Hz Refer to the OEM6 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 The highest rate that you should request GNSS 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 GNSS logs can be requested at rates up to 20 Hz Ensure that all windows other than the Console are closed in NovAtel Connect and then C3 use the SAVECONFIG command to save settings in NVM Otherwise unnecessary data logging occurs and may overload your system SPAN on OEM6 User Manual Rev 7 SPAN Operation Chapter 3 e Logging Restriction Important Notice Logging excessive amounts of high rate data can overload the system When configuring the output for SPAN NovAtel recommends that only one high rate 250 Hz message be configured for output at a time It is possible to log more than one message at high rates but doing so could have negative impac
84. e limits of a Class B or Class A digital device it is v required to use properly shielded interface cables such as Belden 9539 or equivalent when using the serial data ports and double shielded cables such as Belden 9945 or equivalent when using the I O strobe port Changes or modifications to this equipment not expressly approved by NovAtel Inc could C result in violation of FCC Industry Canada and CE Marking rules and void the user s authority to operate this equipment Industry Canada SPAN Class B and Class A digital apparatuses comply with Canadian ICES 003 SPAN appareils num rique de la classe B et classe A sont conforme la norme NMB 003 du Canada Class B Class Y ProPak6 IMU H58 IMU FSAS IMU CPT IMU IGM A1 FlexPak6 IMU H62 IMU LCI IMU H1900 CA50 IMU IGM S1 OEM638 UIMU H58 IMU LN200 IMU H1930 CA50 OEM IMU ADIS 16488 OEM628 UIMU H62 UIMU LN200 OEM IMU STIM300 OEM615 SPAN on OEM6 User Manual Rev 7 11 12 Notices CE Notice The enclosures carry the CE mark Hereby NovAtel Inc declares that this OEM6 SPAN is in compliance with the essential requirements and other relevant provisions of the RTTE Directive 1999 5 EC and of the RoHS Directive 2011 65 EU WEEE Notice If you purchased your SPAN 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 im
85. eceiver Connectors cccccccccceeeeeeeeeeeeeeeeaaeeeeeceeeeeeeeaaaaaaaaaeaeeeeeeeeeeeeseesssnneaeeeees 20 Basic Set Up FlexPak6 to LN 200 HG1700 or LCI 1 eeeeeeeeeernennnnn 21 Basic Set Up FlexPak6 to IMU FSAS or IMU CPT essere 22 Basic Set Up FlexPak6 to IMU IGM oui cece eeeeeeeecenee cece cece ee eeeeeeeeaaaaaeeeeeeeeeeeeeeeeeeneeeaneaeeees 23 Basic Set Up ProPak6 to LN 200 HG1700 LCI 1 or IMU FSAS sess 24 Basic Set Up ProPak6 to IMU CPT ssssssssesesessseeeeseeene nennen nennen nn nnne nennnn nis 25 Basic Set Up ProPak6 to IMU IGM ssssssssssessseeneneeeneneneeenennnn nennen nnn nentn snis 26 Additional COM ports on the ProPak6 c cccceeeeeeeeeeeeeeeeeeeeaeeeeeeeeeeeeeeeeeceaaaeeeeeeeeeeeess 32 GAN Bus ports on the ProPako6 eee reete emite ent alere uen 33 Basic Set Up MIC in Stack Up Configuration eesssesssseeneeeeeeenene 34 Mount the MIC on the OEM615 srren atna rane a nenne a da aat aa 36 Connect the ADIS IMU to the MIC OEM Cable Kit 01019007 esee 37 Connect the HG1700 IMU to the MIC OEM Cable Kit 01018868 suus 37 Connect the HG1900 IMU to the MIC OEM Cable Kit 01018871 suusse 37 Connect the HG1930 IMU to the MIC OEM Cable Kit 01018869 ssss 37 Connect the STIM300 IMU to
86. ed 25 IMU RS422 Signal Ground 5 26 34 Reserved 35 TOV Output 9 36 External Clock Input 1 37 Chassis GND Labelled Pin 37 Chassis GND Ring lug SPAN on OEM6 User Manual Rev 7 93 Appendix A Technical Specifications A 6 IMU IGM This section contains the specifications for both the IMU IGM A1 and IMU IGM S1 A 6 1 IMU IGM Physical Specifications Table 40 IMU IGM A1 Physical Specifications Enclosure Size 152 0 mm x 137 0 mm x 50 5 mm Weight 475g MAIN DB 15HD Female AUX DB 15HD Male Table 41 IMU IGM S1 Physical Specifications Enclosure Size 152 0 mm x 137 0 mm x 50 5 mm Weight 500 g MAIN DB 15HD Female AUX DB 15HD Male 94 SPAN on OEM6 User Manual Rev 7 Technical Specifications A 6 2 4 1 70 Dimensions are in millimetres IMU IGM Mechanical Drawings Figure 46 IMU IGM A1 Dimensions mi 133 4 gt 137 0 Qe se E Y j y 125 0 LY o e r Qu Appendix A Q 7 00 0 25 x4 66 5 O 69 4 gt M x1 i Tapped Hole 4 140 0 ES m 152 0 A 50 5 E Y The center of navigation is at the location marked by the axis labels on the enclosure and indicated on the drawing above It is n
87. ed 9 58 O Z X X SPAN on OEM6 User Manual Rev 7 71 Technical Specifications Appendix A A 1 2 IMU Performance Table 15 Universal IMU Enclosure IMU Performance PERFORMANCE HG1700 AG58 Gyro Input Range 1000 deg sec Gyro Rate Bias 1 0 deg hr Gyro Rate Scale Factor 150 ppm Angular Random Walk 0 125 deg rt hr Accelerometer Range 50 g Accelerometer Linearity 500 ppm Accelerometer Scale Factor 300 ppm Accelerometer Bias 1 0 mg HG1700 AG62 Gyro Input Range 1000 deg sec Gyro Rate Bias 5 0 deg hr Gyro Rate Scale Factor 150 ppm Angular Random Walk 0 5 deg rt hr Accelerometer Range 509 Accelerometer Linearity 500 ppm Accelerometer Scale Factor 300 ppm Accelerometer Bias 3 0 mg LN 200 Gyro Input Range 1000 deg sec Gyro Rate Bias 1 0 deg hr Gyro Rate Scale Factor 100 ppm Angular Random Walk 0 07 deg rt hr Accelerometer Range 40 g Accelerometer Linearity Accelerometer Scale Factor 300 ppm Accelerometer Bias 0 3 mg LCI 1 Gyro Input Range 800 deg sec Gyro Rate Bias 1 0 deg hr Gyro Rate Scale Factor 500 ppm 72 Angular Random Walk Accelerometer Range Accelerometer Linearity Accelerometer Scale Factor Accelerometer Bias 0 15 deg rt hr 40 g lt 1000 ppm lt 1 0 mg SPAN on OEM6 User Manual Rev 7 Technical Specifications Appendix A A 1 3 Electrical and Environmental Table 16 Universal IMU Enclosure Electrical Specifications ELECTRICAL IMU Power Consumption HG1700 AG58 9
88. eeaaeeeeeeeeeeees 81 AcAAIMUEFSAS L 82 A 4 1 iIMU FSAS Mechanical Drawings ccceesscceeeeeneeeeeeeeneeeeeeeesaeeeeesesaaeeeeeesaeeeeeeeeaaes 82 A4 2 IIMU ESAS PertormanGe iss n entero ie tae tee deg 84 A 4 3 iIMU FSAS Electrical and Environmental cccccccceeeeecceceeeceeeeeeeeeeeeeeseecneeeeeeeeeeeeees 84 A 4 4 Interface Cable for the IMU FSAS ccccccccceeeeeeeeeeeeeeeaeeeeeeeeeeeeeeeaaaaaaaaeeeeeeeeeeeteees 85 A 4 5 IMU FSAS cable with Odometer sssssssssssssesseeeeeeeenee nennen 85 A 4 6 iIMU FSAS Odometer Cabling seeeessseeeenneneennm eene 87 A 4 7 FlexPak Y Adapter Cable for IMU FSAS or IMU CPT esses 89 ASS IMU FCP Tix E 90 A 5 1 IMU CPT Mechanical Drawings rodii iniaa EARN a Nas 90 A 5 2 IMU CPT Sensor Specifications ccccccccccceeeeeeeeeeeeeceeeaeeeeeeeeeeeeeeeeeeeceeaeeeeeeeeeeeeenss 92 A 5 3 IMU CPT Electrical and Environmental esee 92 A 5 4IMU CPT Cables troie tee rte ente docere ath acetate dete cede con eoa 93 WOMIBBICIUE 94 A 6 1 IMU IGM Physical Specifications eesseeseeeneennn menm 94 A 6 2 IMU IGM Mechanical Drawings eeeeeeeeeeneneeneennnmennn menn nnne 95 Ai6 3 IMUSIGM POFtS essi iere nre nein Re eren ee de vor ka d o noa DR rea Fork ER ERR RENDER 97 A 6 4 IMU IGM Sens
89. eeeeneaeaeeeeeeeeeeeeess 100 53 IMU IGM Stack Up Cable Pin Out DeSCriptions ccccccceecceeeee cette eeeeeeceeeaaeaeeeeeeeeeeeeeees 101 54 OEM IMU ADIS 16488 Physical Specifications eeeeeeeeeeennn 102 55 OEM IMU ADIS 16488 Performance sess nnne nnne nnne nns 103 56 OEM IMU ADIS 16488 Electrical Specifications sseessssseeeeereee 103 57 OEM IMU ADIS 16488 Environmental Specifications ccccceccceeceeeeeeeeeeteeeeeeennaeeeeeees 103 58 ADIS 16488 IMU to MIC Cable Assembly eene een 104 59 OEM IMU STIM300 Physical Specifications eeeseeeennenennnns 105 60 OEM IMU STIMS300 Performance cssssssssseessssseseeeeeeenneneneeennnn ener nennen nennt annann nnt 106 61 OEM IMU STIM300 Electrical Specifications essssceeeeeenennnrne 106 62 OEM IMU STIM300 Environmental Specifications cccccceeeceeeeeeeeeeeeeeeeeeeeeenaeeeeeeeeeees 106 63 STIM300 IMU to MIC Cable Assembly esses nennen nns 107 64 MEMS Interface Card Physical Specifications sseeseeeeeennne 108 65 MIC Electrical Specifications leseesssssssssssssssssseene nente nnne rrntnn nnn nennen 110 66 MIC Electrical and Environmental Specifications eeesssssseeeeenenen 110 67 MIC CONNECTO S painiin ierni
90. ees sq rt hr Accelerometer Range 5 g 20 g optional Accelerometer Linearity Accelerometer Scale Factor 400 ppm Accelerometer Bias 1 0 mg A 43 ilMU FSAS Electrical and Environmental Table 31 ilIMU FSAS Electrical Specifications ELECTRICAL IMU Power Consumption 16 W max IMU Input Voltage 10 to 34 V DC Receiver Power Consumption 1 8 W typical System Power Consumption 13 8 W typical Data Connector MIL C 38999 III Power Connector MIL C 38999 III same as data connector IMU Interface RS 422 Table 32 ilMU FSAS Environmental Specifications Temperature Operating 40 C to 71 C 40 F to 160 F Storage 40 C to 85 C 40 F to 185 F Humidity 95 non condensing 84 SPAN on OEM6 User Manual Rev 7 Technical Specifications A 4 4 Interface Cable for the IMU FSAS Appendix A The iIMU FSAS connects to the FlexPak6 receiver using a FlexPak Y Adapter cable and an IMU interface cable see Figure 7 Basic Set Up FlexPak6 to IMU FSAS or IMU CPT on page 22 For a drawing and pinout of the FlexPak Y Adapter cable see FlexPak Y Adapter Cable for IMU FSAS or IMU CPT on page 89 The IMU interface cable can be one of the following cables Cable NovAtel Comment For more information Part Number Universal IMU 01018977 For standard pinout See Universal IMU Enclosure Enclosure Interface enclosures Interface Cable on page 74 c
91. eference Manual SPAN on OEM6 User Manual Rev 7 SPAN Operation Chapter 3 3 6 Azimuth Sources on a SPAN System The SPAN system use three different methods to calculate the azimuth e Course Over Ground Inertial Azimuth ALIGN Azimuth 3 6 1 Course Over Ground The course over ground azimuth is determined using the position delta between two position solutions computed by the OEM receiver This is the simplest way to compute an azimuth and is done using either the GNSS solution or the INS solution This method does not work when the vehicle is stationary as any position difference is due to position error and the computed azimuth is meaningless Course over ground azimuth is of greatest advantage in aerial or marine environments where the actual direction of travel may not match the forward axis of the aircraft boat due to winds or currents This effect is known as the crab angle Course over ground azimuth is a great way to compute the offset if another means of computing the vehicle azimuth is available Course over ground azimuths are available in several different velocity logs See Table 12 Logs with Azimuth data on page 62 3 6 2 Inertial Azimuth The inertial azimuth computed by the SPAN inertial navigation filter It uses the sensors in the IMU to compute the azimuth of the IMU this can be rotated to another reference if desired For more information see the APPLYVEHICLEBODYROATION and VEHICLEBODYROTATION co
92. ent of corners Start with the round pilot hole indicated in Figure 83 Installing the Enclosure Body to the Base then press the assembly into place Figure 83 Installing the Enclosure Body to the Base OUND PILOT HOLE ABOVE THIS PILOT PIN REFERENCE MARKERS SPAN on OEM6 User Manual Rev 7 133 Appendix C LN 200 IMU in Universal Enclosure 6 While squeezing and holding the enclosure body and base together to maintain tight contact carefully turn the assembly over and place it on its top as shown in Figure 84 Screw Enclosure Base to Body Using a 3 mm hex bit lightly fasten four equally spaced M4 screws to hold the parts together Use thread locking fluid on all screws Install the remaining screws in similar fashion Tighten all screws to 1 36 1 58 N m 12 14 Ib in Do not over tighten Figure 84 Screw Enclosure Base to Body oO 8 o U U amp e Product identification label not shown 7 Ensure the product identification label the logo plate and the center of navigation labels are properly affixed and contain the correct information The final assembled unit is shown in Figure 85 Final Assembly Figure 85 Final Assembly Centre of Navigation Labels should Product be here circle icon for LN 200 Identification Label Logo uU 134 SPAN on OEM6 User Manual Rev 7 Appendix D HG1700 IMU in SPAN HG Enclosure The following procedure provides the necessary information to
93. er source can be used The FlexPak6 and ProPak6 have an internal power module that e filters and regulates the supply voltage protects against over voltage over current and high temperature conditions provides automatic reset circuit protection The 12 V automotive adaptor contains a 6 A fuse If an alternate power connection is used a user supplied 6 A slow blow fuse in a suitable holder must be used to protect both the power supply and your warranty See the OEM6 Family Installation and Operation User Manual or ProPak6 User Manual for details The car adapter is not recommended for use if your power source is greater than 12 V 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 system A paired wire run represents a feed and return line Therefore a 2 metre wire pair represents a total wire path of 4 metres For a SPAN 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 It is recommended that a back up battery is placed between the receiver and its voltage supply to act as a power buffer if installed in a vehicle When a vehicle engine is started power can dip to 9 6 VDC or cut out to ancillary equipment causing the receiver and IMU to lose lock and calibration settings seers Sl ee from Vehicle
94. erature storage 50 C to 80 C Humidity 95 Non condensing SPAN on OEM6 User Manual Rev 7 99 Appendix A Technical Specifications A 6 6 IMU IGM Interface Cable The NovAtel part number for the IMU IGM interface cable is 01019016 This cable provides power to the IMU IGM and communication signals between the IMU IGM and the OEM6 family receiver Figure 48 IMU IGM Interface Cable 1000 50 0 4 PIN 11 PIN 6 Ein re f Hk PIN 10 J2 Wire Bundle Dimensions are in m 1000 50 0 millimetres Table 52 IMU IGM Interface Cable Pin Out Descriptions J2 J3 Function Wire Bundle MIC Port Label Pin 1 MIC Port Transmit Transmit RS 422 2 2 MIC Port Transmit RS 422 T 8 3 Digital Ground 4 Battery BATT 5 Digital Ground BATT 6 MIC Port Receive Receive RS 422 D 3 7 MIC Port Receive RS 422 8 Digital Ground 9 Reserved 10 Reserved 11 Digital Ground 12 Reserved 13 MODE 2 MODE 2 14 Reserved 15 Reserved The MIC port can operate as either an RS 232 or RS 422 serial port e When the MODE 2 pin is left open or tied high the MIC port operates as an RS 232 serial port When the MODE 2 pin is tied low the MIC port operates as an RS 422 serial port 100
95. ers 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 system s combined GNSS INS solution integrates the raw inertial measurements with all available GNSS information to provide the optimum solution possible in any situation By using the high accuracy GNSS solution the IMU errors can be modeled and mitigated Conversely the continuity and relative accuracy of the INS solution enables faster GNSS signal reacquisition and RTK solution convergence SPAN on OEM6 User Manual Rev 7 Introduction Chapter 1 The advantages of using SPAN technology are its ability to Provide a full attitude solution roll pitch and azimuth Provide continuous solution output in situations when a GNSS only solution is impossible Provide faster signal reacquisition and RTK solution resolution over stand alone GNSS because of the tightly integrated GNSS and INS filters e Output high rate up to 100 125 or 200 Hz depending on your IMU model and logging selections position velocity and attitude solutions for high dynamic applications see also Logging Restriction Important Notice on page 55 Use raw phase observation data to constrain INS solution drift even when too few satellites are available for a full
96. fications 69 Al Universal IMW Enclosures 3 iot eee EHE deze a aaa a E aS 69 A 1 1 Universal IMU Enclosure Mechanical Drawings eeeeeeeennn 69 AM2 IMU Perfortriallee ette ret nece icr ed re OD beet Rd 72 A 1 3 Electrical and Environmental ssesssssssssssssseseeeeeneee nennen nnn nnrrrennr nnne 73 A 1 4 Universal IMU Enclosure Interface Cable cccceeeeeeceeceeeeeeeeeeeeeeeeeeeeceneaeeeeeeeeeeeeeees 74 A 1 5 Universal IMU Cable eniti cientes 75 A 2 HG1700 IMU single connector enclosure seeeesesseeeeeeeeeeee nnns 76 A 2 1 HG1700 IMU Mechanical Drawings eeeeeeeeeeennenennm nmn 76 A 2 2 HG 1200 IMU Performance tpe DER pee tiet babe rep 78 A 2 3 HG1700 Electrical and Environmental essssssssseeseeeeeeeenennnrennnn 78 A 2 4 Interface Cable for the HG1700 IMU sssssssssssssesseeeeeeennn nennen nnne 78 A 3 LN 200 IMU single connector enclosure 2 2 eccceee cee e eee eeeeeeeeeaaaeeeeeeeeeeeeseeeeeeeaaaeaeees 79 A 3 1 LN 200 IMU Mechanical DrawingS eeccceeeeeeneeeeeeeeneeeeeeeeeaneeeeeeeaaaeeeeeeeeeeeeeeenaaes 79 A 3 2 LN 200 IMU Perfor mae eia anai aanas aeaa paaa aai aa a aeaaee Ainaa Earias 81 A 3 3 LN 200 Electrical and Environmental essen 81 A 3 4 Interface Cable for the LN 200 IMU cccceeeeeeeeeeeeeeceeaeeeeeeeeeeeeeetseee
97. from Section E 2 Install the LN 200 Sensor Unit on page 143 Now follow these steps 1 Attach the LN 200 wire harness to the mating connector on the LN 200 Check that the connector is fully seated as shown in Figure 98 Attach Wiring Harness on page 144 Figure 98 Attach Wiring Harness srar 144 SPAN on OEM6 User Manual Rev 7 LN 200 IMU in SPAN IMU Enclosure Appendix E 2 Connect the Samtec connector at the other end of the wiring harness to the corresponding connector on the internal IMU card as shown in Figure 99 Attach Samtec Connector on page 145 Ensure that the connector is locked in place Figure 99 Attach Samtec Connector E 4 Re Assemble the SPAN IMU Enclosure Use a hex key to align the long bolts with the threaded holes in the base as shown in Figure 95 Bolts and Hex Key on page 141 Apply threadlock to threads Finger tighten the 6 bolts then torque them ina cross pattern to 12 in Ibs The fully assembled IMU enclosure is shown in Figure 100 LN 200 SPAN IMU Figure 100 LN 200 SPAN IMU SPAN on OEM6 User Manual Rev 7 145 Appendix F Frequently Asked Questions How do know if my hardware is connected properly a When powered the HG 1700 IMU makes a noticeable humming sound If no sound is heard check that the cable between the receiver and IMU is connected properly The cable should be connected to the COM 2 port on
98. g to the USB port 7 Connect a user supplied radio device to COM1 optional for real time differential operation 24 SPAN on OEM6 User Manual Rev 7 SPAN Installation Chapter 2 2 1 2 5 ProPak6 to IMU CPT Set Up Example Figure 10 Basic Set Up ProPak6 to IMU CPT Radio optional for Real Time Differential operation CIE NS NS 1 Connect the antenna to the receiver 2 Connectthe interface cable to the IMU CPT 3 Connect the DB9 connector of the interface cable to the COM3 IMU port of the receiver 4 Connect the IMU power and ground to the IMU interface cable refer to Table 6 IMU Power Supply on page 32 5 Connect a user supplied power supply to the receiver Connect a user supplied computer for set up and monitoring to the USB port Connect a user supplied radio device to COM17 optional for real time differential operation SPAN on OEM6 User Manual Rev 7 25 Chapter 2 SPAN Installation 2 1 2 6 ProPak6 to IMU IGM Set Up Example Figure 11 Basic Set Up ProPak6 to IMU IGM o0 Gu auo 9 amp BU 4 Connect the antenna to the receiver Connect the DB 15HD connector of the interface cable to the MAIN connector on the IMU IGM Connect the DB
99. hic latitude of the system Attitude accuracy converges with motion after the coarse alignment is complete see Navigation Mode on page 53 The ADIS 16488 IMU CPT IMU IGM HG1930 and STIM300 IMUs cannot perform coarse alignments as these IMUs cannot accurately measure Earth rotation For these IMUs the default alignment routine is the kinematic alignment Refer to Kinematic Alignment on page 52 If a stationary alignment is required refer to Manual Alignment on page 53 3 3 1 2 Kinematic Alignment An alternate form of aligning the SPAN system is a kinematic alignment A kinematic alignment can be used for any SPAN system but must be used for lower performance sensors ADIS 16488 IMU CPT IMU IGM HG1930 and STIM300 The kinematic or moving alignment is performed by estimating the attitude from the GNSS velocity vector and injecting it into the SPAN filter as the initial system attitude SPAN on OEM6 User Manual Rev 7 SPAN Operation Chapter 3 This method for alignment assumes that the roll and pitch of the vehicle are near to zero This should be kept in mind when attempting to do this in airborne or marine environments as these assumptions may not hold causing a poor initial solution For the kinematic alignment routine to work optimally the course over ground azimuth and pitch must match the IMU enclosure azimuth and pitch For example a plane being blown in the wind has a a large crab angle and the course over gr
100. in 1 0 00 2 66 pp Vs o lt 6 30 48 EE 51 10 SRE 67 95 1 90 1 60 14 00 3 60 0 00 Dimensions are in millimetres 102 SPAN on OEM6 User Manual Rev 7 Technical Specifications Appendix A Figure 51 ADIS 16488 Center of Navigation Center of Navigation x o ANALOG DEVICES Dimensions are in millimetres Y Y A 72 OEM IMU ADIS 16488 Sensor Specifications Table 55 OEM IMU ADIS 16488 Performance PERFORMANCE Gyro Input Range 450 second In run Gyro Rate Bias Stability 6 hour Angular Random Walk 0 30 Vhour Accelerometer Range 18g In run Accelerometer Bias Stability 0 1 mg Velocity Random Walk 0 029 m syhour A 7Z3 OEM IMU ADIS 16488 Electrical and Environmental Table 56 OEM IMU ADIS 16488 Electrical Specifications ELECTRICAL Input Power 3 0 to 3 6 V DC 3 3 V DC typical Power consumption 254 mA typical IMU Interface SPI Table 57 OEM IMU ADIS 16488 Environmental Specifications ENVIRONMENTAL Temperature operational 40 C to 85 C Temperature non operational 40 C to 105 C SPAN on OEM6 User Manual Rev 7 103 Appendix A Technical Specifications A 7 4 ADIS 16488 IMU to MIC Cable Assembly The NovAtel part number for the ADIS 16488 IMU to MIC interface cable is 01019008 Figure 52 ADIS 16488 IMU to MIC Cable Assembly This cable provides power to the IMU and enables communication between the MIC a
101. in Figure 76 Disconnect Wiring Harness from SDLC Card Raise the enclosure body and disconnect the internal cable harness at the SDLC board Ensure the O rings remain with the base when it is removed and that they are not damaged Figure 76 Disconnect Wiring Harness from SDLC Card gt Wires not shown Z 128 SPAN on OEM6 User Manual Rev 7 LN 200 IMU in Universal Enclosure Appendix C 3 Lift the enclosure lid off the assembly to expose the IMU bracket shown in Figure 77 IMU Bracket Disconnect the harness at the SDLC card and remove Figure 77 IMU Bracket Disconnect harness at SDLC card and remove 4 Using a3 mm hex bit unscrew 4 mm screws and remove the IMU bracket with SDLC as shown in Figure 78 Remove IMU Bracket SDLC Figure 78 Remove IMU Bracket SDLC SPAN on OEM6 User Manual Rev 7 129 Appendix C LN 200 IMU in Universal Enclosure C 2 Install the LN 200 Sensor Unit To install the LN 200 sensor unit in the Universal Enclosure 1 Using a 3 mm hex bit remove original captive 6 32 screws and washers 4 each from the LN 200 IMU Add three washers under each of the original washers and fasten the IMU to the enclosure base as shown in Figure 79 Install LN 200 IMU to Base Use thread locking fluid on each screw Figure 79 Install LN 200 IMU to Base 130 SPAN on OEM6 User Manual Rev 7 LN 200 IMU in Universal Enclosure Appendix C 2 Using alo
102. ing NovAtel Customer Support about a software problem perform the following steps 1 Logthe following data to a file on your computer for 15 minutes RXSTATUSB once RAWEPHEMB onchanged RANGECMPB ontime 1 BESTPOSB ontime 1 RXCONFIGA once lt ERSIONB once RAWIMUSXB onnew NSPVASB ontime 1 NSCOVSB ontime 1 NSUPDATEB onchanged I I I IMUTOANTOFFSETSB onchanged VEHICLEBODYROTATION once 2 Send the file containing the log to NovAtel Customer Support using either the NovAtel FTP site at ftp ftp novatel ca 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 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 Contact Information Use one of the following methods to contact NovAtel Customer Support Call the NovAtel Hotline at 1 800 NOVATEL U S amp Canada or 1 403 295 4500 international Fax 1 403 295 4501 Write NovAtel Inc E mail support novatel com Customer Support Department Web site www novatel com 1120 68 Avenue NE Calgary AB Canada T2E 8S5 10 SPAN on OEM6 User Manual Rev 7 The following notices apply to the SP
103. ing harness not shown SPAN on OEM6 User Manual Rev 7 121 Appendix B HG1700 IMU in Universal Enclosure 2 Check the connection of the internal cable harness to the board assembly and route as shown in Figure 66 Connect IMU to IMU Mounting Plate Before you connect the IMU cable harness make sure the connector on the board assembly is clicked open Connect the IMU cable harness to the IMU fasten the 2 56 screws but do not use thread locking fluid then connect to the board assembly Ensure the cable housing latches Figure 66 Connect IMU to IMU Mounting Plate 3 Being careful of the connectors and the orientation align the pilot holes of the IMU with the pilot pins of the mounting plate Gently place the IMU and mounting plate together being careful not to pinch the cable harness Screw the IMU and mounting plate together using thread locking fluid on the 8 32 screws as shown in Figure 67 Installing IMU to Mounting Plate Figure 67 Installing IMU to Mounting Plate ALIGN BOTH PILOT PINS TO HOLES ON IMU 122 SPAN on OEM6 User Manual Rev 7 HG1700 IMU in Universal Enclosure Appendix B 4 Starting with the round pilot hole shown in Figure 68 Assemble Into Enclosure Body align the pilot holes of the assembled plate noting the orientation with the pilot pins of the enclosure body Lower the assembly into place then fasten using thread locking fluid on the M4 screws Figure 68 Assemble Into Enclosure Body ROUND PI
104. inout MIL C 38999 III Power J1 Female P4 Male Function Comments Connector Pin 4mm plugs 1 Vin Color black Power ground 25 Vin Label Vin 2 ODO AN Odometer input A opto coupler 2 to 6 V RS 422 compatible 4 ODO A Odometer input A opto coupler 2 to 6 V RS 422 compatible 3 Vin Color red 11 to 34 VDC 21 Vin 4 Label Vin 5 6 Not used 7 DAS Shielded data acquisition signal LVTTL to VARF 9 DAS GND Shielded ground reference for data acquisition and control signals 8 Reserved 10 Reserved 11 OEM_CTS Twisted pair serial data output signal Rx RS 422 12 OEM_Rx Rx Twisted pair serial data output signal RS 422 13 Reserved 14 DGND Digital ground 15 DGND Digital ground 16 ODO_B Odometer input B opto coupler 2 to 6 V RS 422 compatible 17 ODO_BN Odometer input B opto coupler 2 to 6 V RS 422 compatible 18 Reserved 19 OEM_Tx Tx Twisted pair serial data in RS 422 20 OEM_RTS Twisted pair serial data in RS 422 Tx 86 SPAN on OEM6 User Manual Rev 7 Technical Specifications Appendix A A 4 6 ilMU FSAS Odometer Cabling The ilMU FSAS with the O wheel sensor option provides wheel sensor input from the Distance Measurement Instrument DMI through the DB 9 connector labelled ODO on the IMU interface cable The DMI data goes through the IMU and
105. inout Function Connector Pin Color 1 Vin P2 BLK 22 Vin C Not used 3 Vin P1 RED 21 Vin 4 Not used 5 Not used 6 Not used 7 DAS J1 1 8 Not used 9 DAS GND J1 5 10 Not used 11 OEM CTS Rx J1 12 OEM_Rx Rx J1 13 Not used 14 DGND J1 5 15 DGND J1 5 16 Not used 17 Not used 18 Not used 19 OEM_Tx Tx J1 3 20 OEM RTS Tx J1 7 Shield P3 GRN SPAN on OEM6 User Manual Rev 7 75 Appendix A Technical Specifications A 2 HG1700 IMU single connector enclosure Table 20 HG1700 IMU Physical Specifications PHYSICAL IMU Enclosure Size 193 mm x 167 mm x 100 mm 7 6 x 6 6 x 3 9 IMU Size 160 mm x 160 mm x 100 mm 6 3 x 6 3 x 3 9 IMU Enclosure Weight 3 4 kg 7 49 Ib A 2 1 HG1700 IMU Mechanical Drawings Figure 33 HG1700 Top Bottom Dimensions 174 6 E ge pe 4 PLCS A E gt gt 90 7 748 e NAVIGATION LN IMU Enclosure IN OFFSETS N Center 5 6 IATT we P d 93 3 IMU Enclosure Center Note The center of Navigation shown on the HG1700 label for the internal IMU is the same as the enclosure center The enclosure center measurements are labelled as MU Enclosure Center in this figure 76 SPAN on OEM6 User Manual Rev 7 Technical Specifications Appendix A Table 21 HG1700 Enclosure Side Dimensions 61 3 i 96 8 31 9 IMU CENTER to 186 1
106. int SBAS DGPS and RTK RTCA RTCM RTCM V3 and CMR ProPak6 FlexPak6 OEM638 and OEMG28 receivers can also be set up for L Band corrections Refer to the OEM6 Family Installation and Operation User Manual for details on DGPS RTK L band or SBAS setup and operation With no additional configuration the system operates in single point mode 2 4 2 SPAN IMU Configuration 2 4 2 1 Configure SPAN Manually Follow these steps to enable INS as part of the SPAN system using software commands or see SPAN Configuration with NovAtel Connect on page 43 for the alternate method using the NovAtel Connect software utility A GNSS antenna must be connected and tracking satellites for operation 1 Issue the CONNECTIMU command to specify the type of IMU being used and the receiver port connected to the IMU see Table 7 Enable INS Commands on page 42 and the CONNECTIMU command SPAN on OEM6 User Manual Rev 7 41 Chapter 2 Table 7 Enable INS Commands IMU Type CONNECTIMU command ADIS 16488 CONNECTIMU COMx IMU_ADIS16488 HG1700 AG11 CONNECTIMU COMx IMU HG1700 AG11 HG1700 AG17 CONNECTIMU COMx IMU HG1700 AG17 HG1700 AG58 CONNECTIMU COMx IMU_HG1700_AG58 HG1700 AG62 CONNECTIMU COMx IMU_HG1700_AG62 HG1900 CASO CONNECTIMU COMx IMU_HG1900_CA50 HG1930 CASO CONNECTIMU COMx IMU_HG1930_CA50 iIMU FSAS CONNECTIMU COM x IMU IMAR FSAS IMU CPT CONNECTIMU COMXx IMU KVH COTS IMU IGM A1 CONNECTIMU COMx I
107. iring Harness 3 LN 200 Sensor Unit SPAN on OEM6 User Manual Rev 7 140 LN 200 IMU in SPAN IMU Enclosure Appendix E E 1 Disassemble the SPAN IMU Enclosure The SPAN IMU disassembly steps are as follows 1 Remove the six bolts from the top cover using a hex key as shown in Figure 95 Bolts and Hex Key on page 141 Figure 95 Bolts and Hex Key 2 Set aside the bolts with their sealing washers 3 Lift the top cover off the tube body and set it aside SPAN on OEM6 User Manual Rev 7 141 Appendix E LN 200 IMU in SPAN IMU Enclosure 4 Lift the tube body away from its base plate and set it aside as shown in Figure 96 Lift Top Cover and Tube Body on page 142 Figure 96 Lift Top Cover and Tube Body 142 SPAN on OEM6 User Manual Rev 7 LN 200 IMU in SPAN IMU Enclosure Appendix E E 2 Install the LN 200 Sensor Unit To install the LN 200 sensor follow these steps 1 Mount the LN 200 sensor with the attached M4 screws Apply threadlock to the screw threads Use a hex key to torque each screw to 10 in Ibs 2 Fitthe tube body over the LN 200 sensor and onto the base plate Figure 97 SPAN IMU Re Assembly Hu 4 SCREWS SPAN on OEM6 User Manual Rev 7 143 Appendix E LN 200 IMU in SPAN IMU Enclosure E 3 Make the Electrical Connections To make the electrical connections you will need a 3 32 a hex key the wiring harness and the partially assembled SPAN IMU
108. ironmental Specifications ENVIRONMENTAL LN 200 IMU Temperature Operating 30 C to 60 C 22 F to 140 F Storage 45 C to 80 C 49 F to 176 F Humidity 95 non condensing A 3 4 Interface Cable for the LN 200 IMU The IMU interface cable provides power to the IMU from an external power source and enables communication between the receiver and IMU The LN 200 IMU uses the Universal IMU Enclosure Interface cable see Universal IMU Enclosure Interface Cable on page 74 or the Universal IMU cable see Universal IMU Cable on page 75 SPAN on OEM6 User Manual Rev 7 81 Technical Specifications Appendix A A 4 ilMU FSAS Table 29 ilMU FSAS Physical Specifications PHYSICAL 128 mm x 128 mm x 104 mm 5 04 x 5 04 x 4 09 IMU Size IMU Weight 2 1 kg 4 63 Ib A 41 ilMU FSAS Mechanical Drawings Figure 36 iIMU FSAS Top Bottom Dimensions Wl aram M6x1 6H 12deep 4x x I Hee L Dimensions are in mm 82 SPAN on OEM6 User Manual Rev 7 Technical Specifications Appendix A Figure 37 ilMU FSAS Enclosure Side Dimensions Dimensions are in mm accelerometsr intersection point SPAN on OEM6 User Manual Rev 7 83 Appendix A Technical Specifications A 42 ilMU FSAS Performance Table 30 ilMU FSAS Performance PERFORMANCE IMU ilIMU FSAS Gyro Input Range x 500 degrees s Gyro Rate Bias 0 75 hr Gyro Rate Scale Factor 300 ppm Angular Random Walk 0 1 degr
109. ive of NovAtel Inc The information contained within this manual is believed to be true and correct at the time of publication NovAtel SPAN OEMG ALIGN Inertial Explorer and Waypoint are registered trademarks of NovAtel Inc RT 2 FlexPak6 and IMU IGM are trademarks of NovAtel Inc All other product or brand names are trademarks of their respective holders Manufactured and protected under U S Patents 5 101 416 6 184 822 B1 6 750 816 B1 5 390 207 6 243 409 B1 6 922 167 B2 5 414 729 6 664 923 B1 7 193 559 B2 5 495 499 6 721 657 B2 7 346 452 5 736 961 6 728 637 B2 7 738 606 B2 5 809 064 Copyright 2013 NovAtel Inc All rights reserved Unpublished rights reserved under International copyright laws SPAN on OEM6 User Manual Rev 7 Table of Contents Customer Support Notices 1 Introduction 11 Fundamentals of GNSS INS ciin a a N a a Eva Ein sk ANAA 1 2 Models ANG A Et EE AEE E A TE A E E A T 1 3 Related Documents and Information cccccceeesseeeeeteeeessceeeceeeeseeceeeceeesaeeeeceseeeeseeeeceeeagaees TeAMWCONVENUONS EEEE EEA ET AT E EA TEE ET 2 SPAN Installation 2 1 Hardware Description ioina aeania adaa e etes etc see Oct loa enu e vete se Pec aaa a Eaa 21 1 SPAN System RBecelvar iue en c e i ek a e cert Re niea ERES 2 1 2 Typical Installation Examples esses 2 1 3 SPAN Cables 4 iu obe dier ero a e RE Rena CERE en A RR E Eee dC iE 2 2 Hardware Set Up 4
110. l IMU Enclosure Top Bottom Dimensions Q Dimensions in mm inches j NOTES 8 1 THIS MOUNTING HOLE TOP SUR UT FACE IS MASKED FROM PAINT s FOR GROUNDING ENSURE SUF FICIENT CONNECTION TO GROUND a TOP SEE NOTE 1 195 0 a 7 68 EN 180 00 og 4X R79 7 087 z NS lt i 0 31 BOTTOM 0 30 4X 06 60 pO 9 9 0 260 Za O 0 6 3 0 02 AV MARKERS TYP 8x eF CMS ies 38 33 S 70 SPAN on OEM6 User Manual Rev 7 Technical Specifications Appendix A Figure 30 IMU Center of Navigation Enclosure icon IMU Type e LCI 1 HG1700 Q LN200 3 00 0 118 25 09 0 988 LITEF Z HG 7 LN T 5 30 0 209 zi xu th As as ae ar i FRONT 530 800 Le 0 209 0 118 j i 25 09 0 988 Notes 1 Dimensions are shown in mm and in square brackets in inches TOP FRONT MEN e
111. l sensor for displacement updates or an external receiver for heading updates SPAN on OEM6 User Manual Rev 7 53 Chapter 3 SPAN Operation Following the alignment the attitude is coarsely defined especially in heading Vehicle dynamics specifically turns stops and starts allow the system to observe the heading error and allows the heading accuracy to converge The amount of dynamics required for filter convergence vary by the alignment quality IMU quality and maneuvers performed 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 HIGH VARIANCE When the accuracy converges again the INS status continues as INS SOLUTION GOOD 3 3 3 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 11 Solution Parameters Table 11 Solution Parameters Parameter Logs INSPOS or INSPOSS INSPOSX or INSPVA or INSPVAS INSPVAX INSVEL or INSVELS Velocity INSSPD or INSSPDS INSVELX or INSPVAX INSPVA or INSPVAS INSATT or INSATTS INSPVA or INSPVAS Solution Uncertainty INSCOV or INSCOVS Position Attitude INSATTX or INSPVAX a These logs contain variance information and are therefore large logs Use a low logging rate 20 Hz only Note that the position velocity and attitude are available together in th
112. me 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 Dealer Network on the NovAtel web site at www novatel com where to buy dealers or contact NovAtel Customer Support directly For information about how to install firmware updates or model upgrades refer to the OEM6 Family Installation and Operation User Manual 3 9 Variable Lever Arm The variable lever arm concept arose to support applications in which the IMU is no longer rigidly fixed to the vehicle but rather on a gimballed mount This creates an issue where the input lever arm offsets to the GNSS antenna are no longer correct because the IMU can rotate on its mount while the antenna remains fixed The use of the variable lever arm functionality requires that the device to which the IMU is attached be able to send its gimbal rotation angles back to SPAN These angles are used to re calculate the lever arm at the rate that they are received SPAN will also be able to output a gimballed solution at the rate the gimbal angles are received See the SPAN on OEM6 Firmware Reference Manual for more information SPAN on OEM6 User Manual Rev 7 63 Chapter 4 SPAN on OEM6 Dual Antenna 4 1 NovAtel s ALIGN heading technology generates distance and bearing information between a master and one or more
113. ment 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 43 3 Unaided Alignment The unaided alignment sets the SPAN system to use only single antenna alignment options static kinematic or manual alignment To use this alignment mode the configuration command ALIGNMENTMODE must be sent to the receiver ALIGNMENTMODE UNAIDED 43 4 Automatic Alignment Mode Automatic Alignment default 4 4 68 Automatic Alignment Mode Selection is the default setting for a SPAN receiver This mode is designed to allow alignment of the system as quickly as possible using either an aided transfer alignment Alignment on a Moving Vessel Aided Transfer Alignment on page 67 a kinematic alignment Kinematic Alignment on page 52 or a manual alignment Manual Alignment on page 53 The first available technique will be used regardless of its relative quality If you wish to guarantee a specific technique is used or use an aided static alignment you must select the desired alignment mode manually No additional configuration is required to use this alignment routine SPAN ALIGN Attitude Updates The INS heading updates are used to help constrain the azimuth drift of the INS solution whenever possible This is of the greatest value with lower quality IMUs and in environments
114. mmand structure which requires communications through its communications ports The SPAN specific commands and logs are described in the SPAN on OEMG Firmware Reference Manual OM 20000 144 For descriptions of the other commands and logs available with OEM6 family products refer to the OEMG Family Firmware Reference Manual OM 20000129 available on the NovAtel website www novatel com support manuals It is recommended that these documents be kept together for easy reference For more information about the OEM6 family receiver cards or the FlexPak6 receiver refer to the OEM6 Family Installation and Operation User Manual OM 20000128 For more information about the ProPak6 receiver refer to the ProPak6 User Manual OM 20000148 SPAN system output is compatible with post processing software from NovAtel s Waypoint Products Group Visit our web site at www novatel com for details 1 4 Conventions The following conventions are used in this manual Information that supplements or clarifies text v A caution that actions operation or configuration may lead to incorrect or improper use of the hardware C A warning that actions operation or configuration may result in regulatory noncompliance safety issues or equipment damage 18 SPAN on OEM6 User Manual Rev 7 Chapter 2 SPAN Installation 2 1 Hardware Description One hardware setup consists of an OEM6 receiver see Figure 3 SPAN System Receivers
115. mmands in the SPAN on OEM6 Firmware Reference Manual This azimuth is the one provided in the majority of the INS logs available to a SPAN user See Table 12 Logs with Azimuth data on page 62 3 6 3 ALIGN Azimuth On SPAN systems with dual antennas an azimuth is available from the dual antenna baseline This is the same azimuth that is used as an update to the SPAN solution It is noisier than the inertial azimuth and is available at a much lower rate but will have a stable mean This azimuth is computed from the master antenna to the rover antenna based on how the antennas are oriented on the vehicle There is a specific subset of logs that output this azimuth See Table 12 Logs with Azimuth data on page 62 SPAN on OEM6 User Manual Rev 7 61 Chapter 3 SPAN Operation Table 12 Logs with Azimuth data Log Azimuth Source Format Log INSPVA INSPVAS INSPVAX NovAtel Inertial INSATT INSATTS INSATTX NovAtel Inertial PASHR NMEA Inertial INSSPD NovAtel Course Over Ground Computed using the INS solution only BESTVEL NovAtel Course Over Ground From the best system solution which could be either GNSS or INS GPVTG NMEA Course Over Ground From the best system solution which could be either GNSS or INS HEADING NovAtel ALIGN GPHDT NMEA ALIGN 3 7 Data Collection for Post Processing Some operations such as aerial measurement systems do not require real time i
116. mmunication lines are connected to the IMU SPAN on OEM6 User Manual Rev 7 147 Appendix G Replacement Parts The following are a list of the replacement parts available Should you require assistance or need to order additional components contact your local NovAtel dealer or Customer Support G 1 SPAN System Part Description NovAtel Part IMUs IMU H58 see Table 1 SPAN Compatible IMU Models on page 17 for details IMU H62 IMU LN200 IMU FSAS EI UIMU H58 UIMU H62 UIMU LN200 IMU LCI IMU CPT IMU H1900 CA50 IMU H1930 CA50 IMU IGM A1 IMU IGM S1 OEM IMU ADIS 16488 OEM IMU STIM300 Receivers OEM615 OEM628 OEM638 FlexPak6 ProPak6 MEMS Interface Card MIC for ADIS series IMUs OEM IMU ADIS MIC OEM IMU STIM MIC Universal IMU Enclosure Interface cable 01018977 FlexPak Y Adapter cable 01018948 IMU CPTS6 IMU interface cable 01018966 Universal IMU Cable 01018299 ADIS IMU Cable Kit 01019007 IMU IGM Interface Cable 01019016 IMU IGM Stack Up Cable 01019013 SPAN IGM IMU IGM Bracket Kit 01019040 SPAN IGM Auxiliary Port Interface Cable 01019015 iIMU FSAS IMU with Odometer interface cable 01018388 SPAN on OEM6 User Manual Rev 7 148 Replacement Parts Appendix G OEM IMU STIM300 Cable 01019174 ProPak6 Expansion Cable SPAN on OEM6 User Manual 01019154 OM 20000139 SPAN on OEM Firmware Reference Manual OM 20000144 SPAN on OEM6 Quick Start Guide GM 14915
117. n harm to personnel or destruction of electronic equipment in an unprotected environment It also conducts a portion of the strike energy down the inner conductor of the coax cable to the connected equipment Only qualified personnel electricians as mandated by the governing body in the country of installation may install lightning protection devices Actions to Mitigate Lightning Hazards 1 Do not install antennas or antenna coaxial cables outside the building during a lightning storm 2 ltis not possible to avoid over voltages caused by lightning but a lightning protection device may be used to shunt a large portion of the transient energy to the building ground reducing the over voltage condition as quickly as possible 1 Visit the NovAtel Web site at www novatel com products weee and rohs for more information SPAN on OEM6 User Manual Rev 7 Notices Primary lightning protection must be provided by the operator customer according to local building codes as part of the extra building installation To ensure compliance with clause 7 Connection to Cable Distribution Systems of EN 60950 1 Safety for Information Technology Equipment a secondary lightning protection device must be used for in building equipment installations with external antennas The following device has been approved by NovAtel Inc Polyphaser Surge Arrestor DGXZ 24NFNF B If this device is not chosen as the primary lightning protection device the devi
118. na 78 23 HG17000 Electrical Specifications 20 cecececeeee cece eeeeeneee eee ee ee eee eeeeaaaaaeeeeeeeeeeeeseeesecenaeeeeees 78 24 HG17000 Environmental Specifications cceeeecceeccceee cee e eee eeeeeeeeeaaaeeeeeeeeeeeeeeeeseenueaeeees 78 25 LN 200 IMU Physical Specifications sirenek raie ee araia a 79 26 LN 200 IMU Performan Ce ssia nA aaa a eea neni eG dees 81 27 LN 200 Electrical Specifications ccccccccccceeeeeeeeeeeeeeaeeeeeeeee eee eeeeeaaaaeeeeeeeeeeeeeeseeeseeseeeaeeees 81 28 LN 200 Environmental Specifications eeesssssssssssssesseseeeeeeen nennen 81 29 ilMU FSAS Physical Specifications esns enii e nennen 82 30 IIMUsESAS BerfOrmangce ioo eerte ELO eedem egt Ee Rp ro uite rens 84 31 IIMU FSAS Electrical Specifications sesessssssssseeesesee eene 84 32 iIIMU FSAS Environmental Specifications esssssesssssssseseseeeeeee nennen enne 84 33 IMU FSAS Cable with Odometer Pinout ecececceneeeee eee e eee eeeeeeeeeaaaeeeeeeeeeeeeeeseeesneeaeeees 86 34 Cable Modification for Kistler WPT cccccceeeeeeeeeeeeeeeeeaeeeeeeeeeeeeeeeeeeaaaaaeeeeeeeeeeeteeeeeeeeees 88 35 FlexPak Y Adapter Cable PiInOUts ccccccceeeeeeeeeeceeeeeeeee cette ee eeteescaaaaeeeeeeeeeeeeeeeegeeeeeaeeees 89 36 IMU CPT Physical Specifications nennen nnne 90 37 IMU GCPT Performance urinaire e rutina Eun cra a a Lee ERR vere e ER Rn c ERR Ro ns
119. nd the IMU Figure 52 ADIS 16488 IMU to MIC Cable Assembly T 155 25 0 mm gt Exe n L Table 58 ADIS 16488 IMU to MIC Cable Assembly is Signal Name E 1 IMU_VDD 1 2 IMU_VDD 2 3 SPI NSS 3 4 SPI CLK 4 5 Ground 5 6 SPI MOSI 6 7 SPI MISO 7 8 Ground 8 9 ADIS IMU DIO1 9 10 ADIS IMU DIO2 10 104 SPAN on OEM6 User Manual Rev 7 Technical Specifications Appendix A A 8 OEM IMU STIM300 The OEM IMU STIM300 requires a MEMS Interface Card to connect to a NovAtel receiver See MIC MEMS Interface Card on page 108 Table 59 OEM IMU STIM300 Physical Specifications PHYSICAL IMU Size 45 mm x 39 mm x 22 mm IMU Weight 55g A 8 1 Mechanical Drawings Figure 53 STIM300 Dimensions Mu i wo 14 8 A 7 4 2 3x d I Dimensions are in millimetres Graphics courtesy of Sensonor AS SPAN on OEM6 User Manual Rev 7 105 Appendix A Technical Specifications Figure 54 STIM300 Center of Navigation 23 0 3x Z ref pl A 8 2 OEM IMU STIMSOO Sensor Specifications Table 60 OEM IMU STIM300 Performance Gyro Input Range 400 second In run Gyro Rate Bias Stability 0 5 hour Angular Random Walk 0 15 Vhour Accelerometer Range 10g In run Accelerometer Bias Stability 0 05 mg Velocity Random Walk 0 06 m syhour A 8 3 OEM IMU ST
120. nformation from SPAN 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 e RANGECMPB ONTIME 1 e RAWEPHEMB ONCHANGED e GLOEPHEMERISB ONCHANGED if using GLONASS From a rover RANGECMPB ONTIME 1 RAWEPHEMB ONCHANGED GLOEPHEMERISB ONCHANGED if using GLONASS RAWIMUSXB ONNEW MUTOANTOFFSETSB ONCHANGED VEHICLEBODYROTATIONB ONCHANGED HEADINGB ONNEW if using ALIGN dual antenna solution Post processing is performed through the Waypoint Inertial Explorer software package available from the NovAtel Waypoint Products Group Visit our Web site at www novatel com for details The highest rate that you should request GNSS 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 GNSS logs can be requested at rates up to 20 Hz 62 SPAN on OEM6 User Manual Rev 7 SPAN Operation Chapter 3 3 8 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 beco
121. ng 3 mm hex bit install the IMU bracket SDLC to the base as shown in Figure 80 Install Bracket to Base Use thread locking fluid on each M4 screw Figure 80 Install Bracket to Base Access for long hex bit 3 Connect the cable harness to the board assembly and IMU routing it as shown in Figure 81 Making Connections Ensure latching of the cable connector housings and fasten the 6 32 screw at the IMU end using a 5 32 hex bit Do not use thread locking fluid and do not overtighten Figure 81 Making Connections CONNECI CONNECT Make sure the tape of the harness is positioned for maximum protection SPAN on OEM6 User Manual Rev 7 131 Appendix C LN 200 IMU in Universal Enclosure 4 While carefully holding the body over the bracket connect the internal cable harness to the board assembly as shown in Figure 82 Connect Internal Cable Harness Figure 82 Connect Internal Cable Harness CONNECT 132 SPAN on OEM6 User Manual Rev 7 LN 200 IMU in Universal Enclosure Appendix C 5 Clean the surface of the enclosure body where it will mate with the O rings using isopropyl alcohol While ensuring all wires will fit inside the bracket without being pinched align the reference markers and pilot holes screws of the enclosure body and base and carefully lower the body onto the base observing the O rings and the alignm
122. nnect 17 EVENT2 Input Event2 input Only available in board stackup with OEM615 CAN1TX Output CAN1 transmit data In standalone no connect 18 CAN2RX Input CAN receive data Only available in board stackup with OEM615 In standalone no connect 19 EVENT1 Input Event1 input Only available in board stackup with OEM615 COMS3 TX COMS transmit data In standalone no connect 20 DGND Power Digital ground SPAN on OEM6 User Manual Rev 7 111 Appendix A Technical Specifications Pin Signal Type Description Comments 21 MIC TX Output In board stackup with OEM615 this pin is for firmware download In standalone use this pin can be used for either firmware download and or for IMU data communication to a SPAN receiver 22 MIC RX Input In board stackup with OEM615 this pin is for firmware download In standalone use this pin can be used for either firmware download and or for IMU data communication to a SPAN receiver 23 DGND Power 24 USER TXD2 Output In board stackup with OEM615 this is the access to the OEM615 COM port In standalone no connect 25 USER_RXD2 Input In board stackup with OEM615 this is the access to the OEM615 COM port In standalone no connect 26 DGND Power Digital ground 27 PV Output Access to OEM615 Only available in board stackup with OEM615 position valid In standalone no connect 28 DGND Power Digital ground 29 1PPS Output Access to OEM615 1PPS
123. nnect to the IMU See Table 4 Receiver to IMU Interface Cables on page 27 for information about which interface cable is appropriate for your SPAN system 2 2 6 Connect I O Strobe Signals The OEMG receivers have several I O strobe signals that enable it to be part of an interconnected system composed of devices that need to be synchronized with each other For example you could connect the SPAN system to an aerial camera in such a way that the SPAN system records its position whenever the shutter button is pressed 30 The I O strobe lines are accessed from the multi pin connectors on receiver cards or the I O port on the FlexPak6 and ProPak6 Refer to the OEM6 Family Installation and Operation User Manual for more information on signals wiring and pin out information of the receiver card connectors and the FlexPak6 I O port Refer to the ProPak6 User Manual for more information on signals wiring and pin out information of the ProPak6 SPAN on OEM6 User Manual Rev 7 SPAN Installation Chapter 2 2 2 7 Connect Power OEM6 receiver cards require 3 3 VDC 5 with less than 100 mV ripple For information about connecting power to an OEMG receiver card see the OEM6 Family Installation and Operation User Manual The FlexPak6 receiver requires an input voltage of 6 to 36 VDC The ProPak6 receiver requires an input voltage of 9 to 36 VDC An 12 V automotive adaptor is supplied with the FlexPak6 and ProPak6 but any appropriate DC pow
124. nt mode is set to AUTOMATIC SPAN on OEM6 User Manual Rev 7 67 Chapter 4 SPAN on OEM6 Dual Antenna 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 alignment method uses the ALIGN baseline solution to perform an instantaneous alignment of the vehicle attitude The alignment happens instantaneously after the receiver establishes communication with the IMU and computes a verified fixed integer ALIGN solution The INS status changes to INS ALIGNMENT COMPLETE or INS SOLUTION GOOD depending on the variances of the ALIGN solution and the measured lever arm external heading offset To guarantee the use of this alignment mode the configuration command ALIGNMENTMODE must be sent to the receiver ALIGNMENTMODE AIDED TRANSFER 4 3 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 runs given the initial azimuth value As with the transfer alignment the first verified fixed RTK solution is used to provide the alignment seed after which the coarse alignment INS ALIGNING begins After the coarse alignment is complete the INS status changes to INS ALIGNMENT COMPLETE After the attitude accuracy has converged the INS status changes to INS SOLUTION GOOD This align
125. ntenna Chapter 4 4 2 Configuring ALIGN with SPAN on OEM6 Before configuring the ALIGN solution the two receivers MUST both be powered on and connected directly between COM 2 of the SPAN receiver and COM 2 of the second receiver through either a null modem cable or an appropriate radio connection The rover receiver must be an ALIGN capable model such as D2S Z00 000 running the latest OEM6 firmware version 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 Enterthe lever arm from the IMU to the primary antenna primary antenna is connected to the SPAN receiver or the ANT1 port on a ProPak6 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 second receiver or the ANT2 port on a ProPak6 using the SETIMUTOANTOFFSET2 command Abbreviated ASCII example SETIMUTOANTOFFSET2 0 54 2 32 1 20 0 03 0 03 0 05 Alternately the angular offset between the dual antenna baseline from primary GNSS antenna to secondary GNSS antenna and the IMU frame forward axis is entered directly via the EXTHDGOFFSET command
126. of Shell Braid Shield the four P2 connectors SPAN on OEM6 User Manual Rev 7 117 Appendix A Technical Specifications Table 76 P2 Connector Pin Out Descriptions Pin Description No connect Transmit Data TXD Receive Data RXD No connect Ground GND No connect Clear To Send CTS Request To Send RTS Oo al NI oO a AJ OJIN No connect Shell Ground GND 118 SPAN on OEM6 User Manual Rev 7 Appendix B HG1700 IMU in Universal Enclosure Important Assemble in accordance with applicable industry standards Ensure all ESD measures are in place in particular use a ground strap before exposing or handling any electronic items including the IMU Take care to prevent damaging or marring painted surfaces O rings sealing surfaces and the IMU The following procedure provides the necessary information to install the HG1700 sensor into the Universal Enclosure NovAtel part number 01018589 both illustrated below The steps required for this procedure are D Disassemble the Universal Enclosure Install the HG1700 Sensor Unit Reassemble the Universal Enclosure Figure 61 Required Parts HG1700 Sensor Unit HG1700 Flex Cable Universal Enclosure 1 Use thread locking fluid on all fasteners except for the flex cable connectors 2 Torque values for all fasteners including those for the flex cable are as follows Size 2
127. of the IMU 4 Both receivers need to be powered and connected to each other via COM 2 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 SPAN on OEM6 Dual Antenna operation requires the dedicated use of the COM 2 port for communication between receivers If an IMU iMAR FSAS or IMU CPT that requires COM 2 is connected COM 1 can be used on the master station However the rover must always use COM 2 Use the USB port to connect the receiver to the computer used to send commands and receive logs The two receivers need to be set up as shown in the example in Figure 26 SPAN on OEM6 Dual Antenna Installation on page 65 The ProPak6 Dual Antenna receiver contains the hardware necessary to provide an ALIGN solution without an additional receiver Set up a SPAN system with a ProPak6 Dual Antenna receiver as shown in Figure 27 SPAN on OEM6 ProPak6 Dual Antenna Installation on page 66 In a SPAN system with a ProPak6 Dual Antenna receiver the antenna connected to the ANT port is the Primary GNSS Antenna and the antenna connected to the ANT2 port is the Secondary GNSS Antenna SPAN on OEM6 User Manual Rev 7 64 SPAN on OEM6 Dual Antenna Chapter 4 Figure 26 SPAN on OEMG Dual Antenna Installation
128. on for Post Processing on page 62 If you want to save your receiver s configuration to NVM ensure that all windows other than the Console window are closed in NovAtel Connect and then use the SAVECONFIG command SPAN on OEM6 User Manual Rev 7 49 Chapter 3 SPAN Operation 3 2 1 INS Window in NovAtel Connect NovAtel Connect provides a graphical user interface to allow you to monitor the operation of the SPAN system The INS Window in NovAtel Connect is described below Refer to the NovAtel Connect help file for more details on NovAtel Connect 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 the 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 the NovAtel Connect SPAN 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 LCIiserflex IN Pitch Azimuth 0 6059 173 4615 0 02 4 91 3 3 Real Time Operation SPAN operates through the OEM6 command and log interface Commands and logs specifically rela
129. on page 16 an IMU see Figure 2 SPAN System IMUs on page 15 a GNSS antenna power and a communication link if your application requires real time differential operation If your IMU enclosure and IMU were supplied separately additional installation instructions for installing the IMU can be found in the Appendix specific to your IMU starting on page 135 Another hardware set up consists of a receiver a MIC MEMS Interface Card an IMU and a COM and power link refer to MIC Set Up on page 34 2 1 1 SPAN System Receiver 19 Data storage is done using a computer connected to the receiver through either the USB serial or Ethernet port The OEM638 and ProPak6 receivers also have on board data storage For information about accessing the ports on an OEM6 receiver card see the OEMG Family Installation and Operation User Manual The connectors available on the FlexPak6 are shown in Figure 4 FlexPak6 Receiver Connectors The FlexPak6 provides DB9 DB 15HD USB power and antenna connectors Figure 4 FlexPak6 Receiver Connectors COM 2 0 Table 2 FlexPak6 Receiver Port Labels shows a summary of the receiver port names available on the FlexPak6 Table 2 FlexPak6 Receiver Port Labels Port Label Description COM 1 Serial communications port 1 COM 2 Serial communications port 2 VO Input and output port for additional signals such as Ethernet and CAN Bus signals
130. or GPS time or COARSESTEERING N A Green FINESTEERING or FREEWHEELING INS Waiting for GPS time Connected to IMU N A Boot per Todd Green firmware a The IMU IGM must be connected to a GNSS receiver before the state of these LEDs can change to On 44 SPAN on OEM6 User Manual Rev 7 Chapter 3 SPAN Operation Before operating your SPAN system ensure that you have followed the installation and setup instructions in Chapter 2 SPAN Installation on page 19 You can use the NovAtel Connect software to configure receiver settings and to monitor data in real time between a rover SPAN system and base station SPAN system output is compatible with post processing software from the NovAtel Waypoint Products Group Visit our web site at www novatel com for details Ensure the Control Panel Power Settings on your computer 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 e the Local Level Frame e the SPAN Body Frame the Enclosure Frame e the Vehicle Frame 3 1 1 The Local Level Frame ENU The definition of the local level coordinate frame is as follows e z axis pointing up aligned with gravity e y axis pointing north e x axis pointing east Figure 22 Local Level Frame
131. or Specifications sssssssssssssseesssseseeeeeeen nennen 98 A 6 5 IMU IGM Electrical and Environmental sesssseesssseeeeeseeeeeeeneeennennnnnnnn 99 A 6 6 IMU IGM Interface Cable sessssssssseeesseeeeeeeeeenennnn enne nennen nrenrtn nsn nennen 100 A 6 7 IMU IGM Stack Up Cable eessssssssssssssssseeeeeeeee enne nnne nn aedini 101 SPAN on OEM6 User Manual Rev 7 Table of Contents A 7 OEM IMU ADIS 16488 1 0 0 ccccccccccceceeeceeeeeeeeseeeesessesesececececeeeneueuseesesaesesauaueeeeeeeeaseseaseseeeeeeeess 102 A 7 1 Mechanical Drawings eeeessseesesseseeeeee enne nennen nnn nnns nnne 102 A 7 2 OEM IMU ADIS 16488 Sensor Specifications eeeesssssssss 103 A 7 3 OEM IMU ADIS 16488 Electrical and Environmental eeeeseeeeeeess 103 A 7 4 ADIS 16488 IMU to MIC Cable Assembly eene 104 A 8 OEM IMU STIMS3OJO seeseeeeeeeneennnn nennen nennen nn a aa d nain rn nnn n nn nennen nnns 105 A 8 1 Mechanical Drawings eeeesssseeseseeeeeeeee ennemis 105 A 8 2 OEM IMU STIM300 Sensor Specifications eeessseseseeees 106 A 8 3 OEM IMU STIM300 Electrical and Environmental ccccccssseeeeeeteeeseseeeseeeansees 106 A 8 4 STIM300 IMU to MIC Cable Assembly eeseeseeeeeeeeennnn enn 107 A 9 MIC
132. or with the attached 8 screws Apply threadlock to the screw threads Use a hex key to torque each screw to 10 in Ibs 2 Fitthe tube body over the HG1700 sensor and onto the base plate Figure 89 SPAN IMU Re Assembly i D 3 Make the Electrical Connections To make the electrical connections you need a 3 32 hex key the flex cable and the partially assembled SPAN IMU from Section D 2 Install the HG1700 Sensor Unit on page 137 Now follow these steps 1 Attach the flex cable to the HG1700 sensor ensuring that all the pins are fully connected Check also that the pins are fully seated and that the flex cable stiffener around the pins is not bent upward see Figure 90 Attach Flex Cable SPAN on OEM6 User Manual Rev 7 137 Appendix D HG1700 IMU in SPAN HG Enclosure Figure 90 Attach Flex Cable 1 2 Tighten the screws to 4 in Ibs Connect the opposite end of the flex cable to the corresponding connector on the IMU card ensuring that the contacts on the flex cable mate with the contacts on the connector as shown in Figure 90 Attach Flex Cable on page 138 4 Check that the flex cable is locked in place Figure 91 Incorrect Bowed Flex Cable Installation shows an incorrect installation of the v flex cable where it is bowed in the middle It will not operate
133. ot at the depression in the enclosure cover SPAN on OEM6 User Manual Rev 7 95 Technical Specifications Appendix A Figure 47 IMU IGM S1 Dimensions 133 35 7 00 0 25 a 132 0 gt x4 Po A d e NN G ff S D PN x 125 0 137 0 Oj y A x D N o 66 5 x2 S J k r e PRESS XL TF w 9 Y ml Y o g gt 7 1x2 M 612 oe 70 K S 140 0 x2 a 152 0 ry A 43 5 50 5 REF ii Y Dimensions are in millimetres The center of navigation is at the location marked by the axis labels on the enclosure and indicated on the drawing above It is not at the depression in the enclosure cover 96 SPAN on OEM6 User Manual Rev 7 Technical Specifications Appendix A A 6 3 IMU IGM Ports Table 42 IMU IGM Main Port Pinout Pin Label Description 1 MIC_TX MIC_TX MODE2 high or open MIC port transmit RS 232 MODE2 low MIC port transmit positive RS 422 2 MIC_TX MODE2 high or open No connection MODE2 low MIC port transmit negative RS 422 3 DGND Digital ground 4 V IMU IGM power supply input positive 5 V IMU IGM power supply input
134. ound trajectory will not match the direction the IMU is pointing Additional configuration parameters are necessary to enable the kinematic alignment In order to simplify this configuration it is strongly suggested that you mount the IMU in parallel to the vehicle frame The Y axis marked on the IMU enclosure should point in the direction of travel Specify which IMU axes are most closely aligned with gravity using the SETIMUORIENTATION command If the IMU is mounted with the Z axis up and the Y axis pointing in the direction of travel then the command would be SETIMUORIENTATION 5 Specify the angular offsets between the SPAN frame and the vehicle frame known as vehicle body rotation or RVB using the VEHICLEBODYROTATION command If the IMU is mounted coincidentally with the vehicle frame defined as z up and y pointing in the direction of travel then the command would be VEHICLEBODYROTATION 0 0 0 Alternatively solve the vehicle to IMU frame angular offsets using the RVBCALIBRATE routine See also Vehicle to SPAN Frame Angular Offsets Calibration Routine on page 56 The kinematic alignment begins when the receiver has a good GNSS position fine time is solved the configuration parameters have been set and a GNSS velocity of at least 5 m s 18 km h is observed During kinematic alignment keep the vehicle roll at less then 10 Straight line driving is best 5 m s is the default alignment velocity If a diffe
135. pecifications A 9 MIC MEMS Interface Card Table 64 MEMS Interface Card Physical Specifications PHYSICAL MIC Size 74 9 mm x 45 7 mm x 19 5 mm 2 94 x 1 80 x 0 76 MIC Weight 31 g 0 0683 Ib A 9 1 MIC Mechanical Drawings Figure 56 MIC Top Bottom Dimensions 0 250 un CLEARANCE FOR ui PIN FASTENERS 4X S OTH SIDES Y 1 SN N o r o S A d sei Co c ac QU co A PIN I 7 E c pN Dimensions in mm inches 001 ogmugbBas 108 SPAN on OEM6 User Manual Rev 7 Technical Specifications Appendix A Figure 57 MIC Keep Out Zone 43 18 e uS 1 100 no ON X2 TN 38 17 dms 1 503 t 36 83 ij 1 450 x2 3 I 13 0 8 89 0 350 p 29M 0 00 0 0001 zo m 0 00 iw 0 197 0 0001 mag 2 54 0 100 8 amp 89 X a 0 350 a X2 l 0 429 Fa 4 P d 34 83 IFN il S o JJ LIO 1 450 43 18 S 1 700 X2 Dimensions in mm inches 0 335 8 50 Cross hatched areas indicate keepout areas intended for NovAtel circuitry NovAtel reserves the right to modify components and component placements inside cross hatched keepout zones while maintaining design form fi
136. properly in this position Figure 92 Correct Flat Flex Cable Installation shows the proper installation of the flex cable Notice how the flex cable sits flush against the IMU surface Figure 91 Incorrect Bowed Flex Cable Installation 138 SPAN on OEM6 User Manual Rev 7 HG1700 IMU in SPAN HG Enclosure Appendix D D 4 Re Assemble the SPAN IMU Enclosure Use a hex key to align the long bolts with the threaded holes in the base as shown in Figure 87 Bolts and Hex Key on page 136 Apply threadlock to threads Finger tighten all bolts and torque them ina cross pattern to 12 in lbs The fully assembled IMU enclosure is shown in Figure 93 HG1700 SPAN IMU Figure 93 HG1700 SPAN IMU SPAN on OEM6 User Manual Rev 7 139 Appendix E LN 200 IMU in SPAN IMU Enclosure The following procedure provides the necessary information to install the LN 200 sensor NovAtel part number 80023515 into the SPAN IMU enclosure NovAtel part number 01017656 using the LN 200 wiring harness NovAtel part number 01017655 The steps required for this procedure are Disassemble the SPAN IMU Enclosure Install the LN 200 Sensor Unit Make Electrical Connections Reassemble the SPAN IMU Enclosure C3 Important Ensure you use a ground strap before installing the internal circuit boards Do NOT scratch any surfaces of the unit Figure 94 Required Parts Reference Description 1 SPAN IMU Enclosure 2 LN 200 W
137. prove 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 CR REACH NovAtel strives to comply with the EU Directive EC 1907 2006 on chemicals and their safe use as per the Registration Evaluation Authorization and Restriction of Chemical substances REACH for its products including the SPAN products Since REACH SVHC lists are updated occasionally please contact NovAtel Customer Support if you require further information e Cables may contain DEHP CAS Number 117 81 7 in concentrations above 0 196 w w Lightning Protection Installation and Grounding Procedure What is the hazard A lightning strike into the ground causes an increase in the earth s potential which results in a high voltage potential between the center conductor and shield of the coaxial cable This high voltage develops because the voltage surge induced onto the center conductor lags in time behind the voltage surge induced onto the shield Hazard Impact A lightning strike causes the ground potential in the area to rise to dangerous levels resulting i
138. r any application requirement Patented Pulsed Aperture Correlator PAC technology combined with a powerful microprocessor enable multipath resistant processing 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 The OEM6 family also supports the timing requirements of the IMU and runs the real time INS filter MU The Inertial Measurement Unit IMU consists of three accelerometers and three gyroscopes gyros so that accelerations along specific axis and angular rotations can be measured Several IMU types are supported and are listed in Table 1 SPAN Compatible IMU Models on page 17 AGNSS antenna Computer Software Real time data collection status monitoring and receiver configuration is possible through the NovAtel Connect software utility see SPAN Configuration with NovAtel Connect on page 43 Figure 2 SPAN System IMUs SPAN on OEM6 User Manual Rev 7 Chapter 1 Introduction 1 1 16 Figure 3 SPAN System Receivers The GNSS receiver is connected to the IMU with an RS 232 or RS 422 serial link A NovAtel GNSS antenna must also be connected to the receiver to track GNSS signals After the IMU enclosure GNSS antenna and appropriate power supplies are attached and a few simple configuration commands are entered the SPAN system will be ready to navigate Fundamentals of GNSS
139. r to the OEMG Family Installation and Operation User Manual or the ProPak6 User Manual 3 3 4 Lever Arm Calibration Routine Each time the system is re mounted on a vehicle or the IMU or antenna is moved on the vehicle the lever arm must be redefined either through manual measurement or through calibration We recommend that you measure the lever arm using survey methodology and equipment for example a total station Only use calibrations when precise measurement of the lever arm is not possible Initial estimates and uncertainties for the lever arm may be entered using the SETIMUTOANTOFFSET command The calibration routine uses these values as the starting point for the lever arm computation The Lever Arm Calibration routine is not available for the IMU CPT HG 1930 ADIS 16488 IMU IGM or STIM300 The steps involved in the calibration are 1 Apply power to the receiver and the IMU 2 Configure the IMU see SPAN IMU Configuration on page 41 SPAN on OEM6 User Manual Rev 7 55 Chapter 3 SPAN Operation 3 Set the orientation of your installed IMU using the SETIMUORIENTATION command 4 Enter the initial estimate for the lever arm using the SETIMUTOANTOFFSET command 5 Specify the limits of the calibration through the LEVERARMCALIBRATE command The calibration can be limited by time or accuracy of the lever arm It is recommended that the calibration is limited by a minimum of 300 seconds 6 To monitor the cali
140. rN NovZtel SPAN on OEM6 User Manual OM 20000139 Rev 7 December 2013 SPAN on OEMO User Manual Publication Number OM 20000139 Revision Level 7 Revision Date December 2013 Warranty NovAtel Inc warrants that its GNSS products are free from defects in materials and workmanship subject to the conditions set forth on our web site www novatel com products warranty and for the following time periods OEME Receivers One 1 Year IMU Units return to manufacturer One 1 Year GPSAntenna Series One 1 Year Cables and Accessories Ninety 90 Days Software Warranty One 1 Year Return instructions To return products refer to the instructions at the bottom of the warranty page www novatel com products warranty 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 representat
141. rame The definition of the vehicle frame is as follows e z axis points up through the roof of the vehicle perpendicular to the ground e y axis points out the front of the vehicle in the direction of travel e x axis completes the right handed system out the right hand side of the vehicle when facing forward Figure 24 Vehicle Frame Z SPAN on OEM6 User Manual Rev 7 47 Chapter 3 SPAN Operation 3 2 Communicating with the SPAN System Install the NovAtel OEM6 PC Utilities NovAtel Connect and Convert4 on the computer you intend to use to configure and monitor the SPAN system You can find installation instructions in the Quick Start Guide for your receiver Alternatively you can use a terminal emulator program such as HyperTerminal to communicate with the receiver Refer to the NovAtel Connect Help file for more details on NovAtel Connect The Help file is accessed by choosing Help from the main menu in NovAtel Connect This procedure describes communicating with the SPAN system using a serial or USB connection For information about communicating with the SPAN system using an Ethernet connection see the OEM6 Family Installation and Operation User Manual To enable communication from your computer to the SPAN system using NovAtel Connect 1 Launch NovAtel Connect from the Start menu folder specified during the installation process The default location is Start Programs NovAtel Connect NovAtel Connect 2 To
142. rating 30 C to 60 C 22 F to 140 F Storage 45 C to 80 C 49 F to 176 F Humidity 95 non condensing A 2 4 Interface Cable for the HG1700 IMU The IMU interface cable provides power to the IMU from an external power source and enables communication between the receiver and IMU The HG1700 IMU uses the Universal IMU Enclosure Interface cable see Universal IMU Enclosure Interface Cable on page 74 or the Universal IMU cable see Universal IMU Cable on page 75 78 SPAN on OEM6 User Manual Rev 7 Technical Specifications Appendix A A 3 LN 200 IMU single connector enclosure Table 25 LN 200 IMU Physical Specifications PHYSICAL IMU Enclosure Size 135 mm x 153 mm x 130 mm 5 315 x 6 024 x 5 118 IMU Size 89 mm D x 85 mm H 8 504 D x 3 346 H IMU Weight 3 kg 6 6 Ib A 3 1 LN 200 IMU Mechanical Drawings Figure 34 LN 200 IMU Enclosure Top Bottom Dimensions and Center of Navigation 143 7 i i i 33 f a A D1 r P Sy 8 1 i 1 4 PLCS Enclosure P V center or A Label Center 82 4 NAV N r r nz OL A9 E 134 6 P Y Y f i Y Navigation Center R92 9 76 2 Enclosure Center Note The Center of Navigation offsets shown on the LN 200 label are for the internal IMU and are different than for the enclosure center The enclosure center is labelled as MU
143. rent alignment velocity is required it can be changed using the SETALIGNMENTVEL command See the SPAN on OEM6 Firmware Reference Manual for more information The accuracy of the initial attitude of the system following the kinematic alignment varies and depends on the dynamics of the vehicle and the accuracy of the RVB estimates The attitude accuracy will converge to within specifications once some motion is observed by the system This transition can be observed by monitoring the INS Status field in the INS logs 3 3 1 3 Manual Alignment If the initial attitude roll pitch azimuth of the IMU is known it can be entered manually using the SETINITATTITUDE command Refer the SPAN on OEMG6 Firmware Reference Manual for more information about the SETINITATTITUDE command 3 3 1 4 Dual Antenna Alignment SPAN can also use information available from a NovAtel Dual Antenna ALIGN solution to perform an alignment Refer to Chapter 4 SPAN on OEM6 Dual Antenna on page 64 for details 3 3 2 Navigation Mode Once the alignment routine has successfully completed SPAN enters navigation mode SPAN computes the solution by accumulating velocity and rotation increments from the IMU to generate position velocity and attitude SPAN models system errors by using a filter The GNSS solution phase observations and automatic zero velocity updates ZUPTs provide updates to the filter Peripheral updates can also be supplied whee
144. reshold is IMU dependant The solution is still valid but you should monitor the solution uncertainty in the INSCOV log You may encounter this state during times when the GNSS used to aid the INS is absent P 3 INS SOLUTION GOOD The INS filter is in navigation mode and the INS solution is good 2 INS HIGH VARIANCE The INS filter is in navigation mode and the GNSS solution is suspected to be in error 6 INS SOLUTION FREE This may be due to multipath or limited satellite visibility The inertial filter has rejected the GNSS position and is waiting for the solution quality to improve The INS filter is in navigation mode but not enough vehicle 7 INS ALIGNMENT COMPLETE dynamics have been experienced for the system to be within specifications 8 DETERMINING ORIENTATION INS is determining the IMU axis aligned with gravity The INS filter has determined the IMU orientation and is awaiting MOAUTISNGI INTIMIS an initial position estimate to begin the alignment process a This value is configured using the INSTHRESHOLDS command See the SPAN on OEMG Firmware Reference Manual for more information b See also question 7 in Appendix F Frequently Asked Questions on page 146 The INS LED on the front of the ProPak6 also indicates the status of the inertial solution Table 10 INS LED States LED State Description Off INS Disabled GNSS only or INS enabled no IMU detec
145. ser Manual Rev 7 59 Chapter 3 SPAN Operation 3 5 2 Wheel Sensor Data Collected on IMU 60 3 5 2 1 Wheel Sensor Update Logic The SPAN system uses the wheel sensor data passed in and timed through the IMU CPT iMAR FSAS or IMU IGM This timed data is passed to the GNSS INS filter to perform the update The timed data is also available through the TIMEDWHEELDATA log The TIMEDWHEELDATA log can be used for applying wheel sensor updates in post processing The SPAN 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 GNSS 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 Information on how the wheel sensor updates are being used is available in the INSUPDATE log Refer to the SPAN on OEM6 Firmware Reference Manual for information about these logs 3 5 2 2 iMAR Wheel Sensor Interface for iIMU FSAS and IMU CPT users If you have the iMAR iMWS Magnetic Wheel Speed Sensor and Convertor the wheel sensor information is sent to the OEM6 along with the raw IMU data You can integrate other wheel sensor hardware with the iIMU FSAS The Kistler Wheel Pulse Transducer CWPTA411 WPT is used as an example see iIMU FSAS Odometer Cabling on page 87
146. setup 19 help 48 HG1700 IMU SPAN HG enclosure 135 universal enclosure 119 I O see input output iIMU FSAS cables 85 dimensions 82 108 FAQ 146 models 17 performance 84 specifications 82 IMU CPT cable 93 dimensions 90 95 96 SPAN on OEM6 User Manual Rev 7 electrical 92 environmental 92 sensor specifications 92 103 106 specifications 90 inertial measurement unit IMU connection 78 81 input strobe 58 input output I O 30 introduction 15 L LN 200 cable 81 dimensions 80 83 FAQ 146 models 17 performance 81 sensor installation 121 127 130 137 139 140 143 145 SPAN IMU enclosure 140 universal enclosure 127 M model upgrades 63 models 17 O output 57 P polarity 57 58 port 30 31 power 31 R replacement parts 148 149 revision manual 2 S set up hardware 19 SPAN HG enclosure HG1700 IMU 135 SPAN IMU enclosure LN 200 IMU 140 strobe 57 synchronize 57 T technical specifications 69 72 73 78 81 84 92 99 103 106 110 troubleshooting 146 150 Index U universal enclosure HG1700 IMU 119 LN 200 IMU 127 specifications 69 technical specifications 90 updating firmware 63 upgrading models 63 WwW wheel sensor odometer 87 SPAN on OEM6 User Manual Rev 7 151 NovAtel OM 20000139 Rev 7 December 2013
147. should therefore be connected to an external power supply 10 to 30 VDC Kistler provides an M12 to DB9 cable for use with the WPT However certain revisions of this cable to do not bring through all four signal inputs The IMU FSAS odometer interface requires all four signal inputs to operate correctly See your WPT documentation for cable details 88 SPAN on OEM6 User Manual Rev 7 Technical Specifications A 47 FlexPak Y Adapter Cable for IMU FSAS or IMU CPT Appendix A The NovAtel part number for the FlexPak Y Adapter cable is 01018948 This cable connects from the FlexPak6 to the IMU interface cable see Figure 7 Basic Set Up FlexPak6 to IMU FSAS or IMU CPT on page 22 The FlexPak Y Adapter cable allows the IMU to access receiver signals from both the COM 2 port and the I O port Figure 42 FlexPak Y Adapter Cable je 200 mm PINS PIN 9 EHE PIN 1 PIN 10 PIN 15 or o PIN 5 o i PIN 1 PING PINTI lt Table 35 FlexPak Y Adapter Cable Pinouts FIN e _ PIN9 PIN 1 ris Dimensions are in millimetres P1 Connector J1 Connector J2 Connector DBO9 to IMU Function DB9 to COM 2 DB15 to I O Pin Pin Pin 1 VARF 12 2 RXD_IMU Rx 3 TXD_IMU Tx 3 4 Not Used 5 GROUND 5 5 9 6 Not Used 7 RTS_IMU Tx 7 8 CTS_IMU Rx 8 9 Not Used SPAN on OEM
148. t and function SPAN on OEM6 User Manual Rev 7 109 Appendix A Technical Specifications A 9 2 MIC Electrical and Environmental Table 65 MIC Electrical Specifications ELECTRICAL 10 VDC 30 VDC 5 VDC Q 1 Amp for IMU 3 3 VDC 1 Amp for IMU 15 VDC 0 5 Amp for IMU 15 VDC 0 08 Amp for IMU 3 3 VDC 0 6 Amp for OEM615 UART and SDLC over RS 422 MIC Input Voltage Power Consumption IMU Data Interfaces a Sample system power consumption 5 7 W when powering an HG1900 IMU and OEM615 receiver in board stack configuration from VIN 15 VDC at 25 C Table 66 MIC Electrical and Environmental Specifications ENVIRONMENTAL Temperature Operating 40 C to 75 C 40 F to 167 F Storage 55 C to 90 C 67 F to 194 F Random Vibe MIL STD 810G Cat 24 7 7 g RMS Sine Vibe IEC 60068 2 6 BUMP IEC 68 2 29 25 g SHOCK MIL STD 810G 40 g A 9 3 MIC Connectors Table 67 MIC Connectors Mating Connector Connector Description Part Number Part n mbar J301 20 pin OEM615 mating connector 501189 3010 Connects only to Molex Electronics OEMO615 receiver P101 3 pin locking power connector 43650 0313 43645 0300 Molex Electronics Molex Electronics P301 30 pin locking communication connector 501571 3007 501189 3010 Molex Electronics Molex Electronics P601 20 pin locking IMU connector for Honeywell and 53780 2070 51146 2000 Sensonor IMUs Molex Electroni
149. t for a transmission delay Time Guard t_guard The time guard specifies the minimum number of milliseconds between pulses This is used to coarsely filter the input pulses The time of the input pulses is available from the MARKXTIME logs see the OEM6 Family Firmware Reference Manual The solution synchronous with the event pulses is available from the MARKxPVA logs see the SPAN on OEM6 Firmware Reference Manual The logs required for input strobes are LOG MARKITIMEB ONNEW Output time for every pulse received LOG MARK1PVAB ONNEW Output time position velocity and attitude for every pulse received at the location specified by the SETMARK1OFFSET command The above example is for the MARK1 event input The input signal levels are 3 3 V to 0 V Signal voltages outside these bounds damage the receiver The minimum detectable pulse duration must be greater than or equal to 1 microsecond SPAN on OEM6 User Manual Rev 7 SPAN Operation Chapter 3 3 4 2 1 Using the Input Strobe to Accumulate Counts An input strobe line can also count the number of pulses over one second and report the total at the top of each second by setting the input event line to COUNT mode EVENTINCONTROL MARK1 COUNT When in COUNT mode the polarity time bias and time guard entries in the EVENTINCONTROL log are ignored The maximum signal frequency for the count mode is 50 kHz When an input strobe is configured for
150. ted Red solid INS inactive IMU detected no error Red blinking IMU error INS state not applicable Red Amber alternating INS determining orientation IMU good Red Amber alternating INS waiting initial position Green Amber alternating INS solution free Amber solid INS is aligning Amber blinking INS high variance Green solid INS solution good Green blinking INS alignment complete SPAN on OEM6 User Manual Rev 7 51 Chapter 3 SPAN Operation 3 3 1 System Start Up and Alignment Techniques 52 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 4 Raw IMU measurements begin to be timed by the receiver and are available to the INS filter They are also available in the RAWIMU RAWIMUS RAWIMUX and RAWIMUSX logs The INS Status field changes from INS INACTIVE through DETERMINING ORIENTATION and WAITING INITIALPOS during this period 5 The inertial alignment routine starts and the INS Status field reports INS ALIGNING 6 Alignment is complete and the
151. ted to SPAN operation are documented in the SPAN on OEM6 Firmware Reference Manual Real time operation notes Inertial data does not start until time is set and therefore the SPAN system does not function unless a GNSS antenna is connected with a clear view of the sky The inertial solution is computed separately from the GNSS solution The GNSS solution is available from the SPAN system through the GNSS specific logs even without SPAN running The integrated GNSS INS solution is available through special INS logs documented in the SPAN on OEMG Firmware Reference Manual The IMU raw data is available at the maximum rate of output of the IMU 100 125 or 200 Hz Because of this high data rate a shorter header format was created These shorter header logs are defined with an S RAWIMUSXB rather than RAWIMUXB We recommend you use these logs instead of the standard header logs to save throughput on the COM port Status of the inertial solution can be monitored using the inertial status field in the INS logs see Table 9 Inertial Solution Status on page 51 50 SPAN on OEMG User Manual Rev 7 SPAN Operation Chapter 3 Table 9 Inertial Solution Status Binary ASCII Description IMU logs are present but the alignment routine has not started pene INS is inactive 1 INS_ALIGNING INS is in alignment mode The INS solution is still being computed but the azimuth solution uncertainty has exceed the threshold The default th
152. th an RS 232 serial port an interface circuit that converts LVTTL to the other signal level must be used Use a twisted pair for the USB port connection and keep the wires as short as possible 38 SPAN on OEM6 User Manual Rev 7 SPAN Installation 2 3 2 Chapter 2 Install a MIC in a Standalone MIC Set Up In a standalone configuration the MIC is mounted separately from the OEM6 receiver Important Assemble in accordance with applicable industry standards Ensure all Electrostatic Discharge ESD measures are in place in particular use a ground strap before exposing or handling any electronic items including the IMU Take care to prevent damaging or marring painted surfaces O rings sealing surfaces and the IMU For more information about ESD practices see the OEM6 Family Installation and Operation User Manual Figure 21 Basic Set Up MIC in Standalone Configuration IMU at O O o T ut o J O puo O o o Mating giis Ref Connector Part Number Description Connector 1 P101 43650 0313 43645 0300 Connects to the MIC power supply Molex Molex user supplied cable 2 P601 53780 2070 51146 2000 Connects to HG1700 HG1900 HG1930 and Molex Molex STIM300 IMUs NovAtel supplied cable 3 P701 53780 1070 51146 1000 Connects to ADIS 16488 IMUs Molex Molex NovAtel supplied cable 4 P301 50157
153. 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 For a discussion on multipath refer to the GNSS Book available from www novatel com an introduction to gnss Ensure the antenna cannot move due to dynamics 2 2 2 Mount the IMU 28 Mount the IMU in a fixed location where the distance from the IMU to the GNSS antenna phase center is constant Ensure that the orientation with respect to the vehicle and antenna is also constant For attitude output to be meaningful the IMU should be mounted such that the positive Z axis marked on the IMU enclosure points up and the Y axis points forward through the front of the vehicle in the direction of track Also it is important to measure the distance from the IMU to the antenna the Antenna Lever Arm on the first usage on the axis defined on the IMU enclosure See Lever Arm Calibration Routine on page 55 See also Appendix A Technical Specifications on page 69 for dimensional drawings of the IMU enclosures SPAN on OEM6 User Manual Rev 7 SPAN Installation Chapter 2 Ensure the IMU cannot move due to dynamics and that the distance and relative direction between the antenna and the IMU is fixed See SPAN IMU Configuration on page 41 measurements when using the SETIMUTOANTOFF
154. ther components of the SPAN system See the OEM6 Family Installation and Operation User Manual for information about preparing the data signal and power wiring harness 20 SPAN on OEM6 User Manual Rev 7 SPAN Installation Chapter 2 2 1 2 1 FlexPak6 to LN 200 HG1700 or LCI 1 Set Up Example Figure 6 Basic Set Up FlexPak6 to LN 200 HG1700 or LCI 1 Radio optional for Real Time Differential operation Connect the antenna to the receiver Connect the interface cable to the LN 200 HG1700 or LCI 1 universal enclosure Connect the DB9 connector of the interface cable to the COM 2 port of the receiver FON Connect the IMU power and ground to the IMU interface cable refer to Table 6 IMU Power Supply on page 32 e Connect a user supplied power supply to the receiver Connect a user supplied computer for set up and monitoring to the USB port Connect a user supplied radio device to COM 1 optional for real time differential operation SPAN on OEM6 User Manual Rev 7 21 Chapter 2 SPAN Installation 2 1 2 2 FlexPak6 to IMU FSAS or IMU CPT Set Up Example Figure 7 Basic Set Up FlexPak6 to IMU FSAS or IMU CPT Radio optional for Real Time Differential operation ps dl l i m Ou o P I il T
155. to the AUX port on the enclosure using the Auxiliary Interface Cable 01019015 3 5 1 Wheel Sensor Updates Using the Event Input Lines The event input lines on the SPAN receiver can be configured to accept a wheel sensor signal directly Any of available event input lines can be used but only one can be used at a time the system does not support multiple wheel sensors This method only supports A mode directionless and not A B directional mode of operation for the wheel sensor The receiver automatically accumulates the wheel sensor ticks calculates a distance travelled and applies the constraint information in the SPAN GNSS INS filter To connect the wheel sensor to the SPAN system connect Signal A from the wheel sensor to one of the event input lines on the SPAN receiver For information about the event input lines refer to the OEM6 Family Installation and Operation User Manual or the ProPak6 User Manual The event input line must be configured for wheel sensor input using the SETWHEELSOURCE command and the size of the wheel and the number of ticks per revolution must be set using the SETWHEELPARAMETERS command For example if you have your wheel sensor connected to event input 2 with a 2 m circumference wheel and 2000 pulses per revolution the configuration commands would be SETWHEELSOURCE MARK2 POSITIVE SETWHEELPARAMETERS 2000 2 0 0 001 SPAN on OEM6 U
156. ts on the system Also if logging 100 200 Hz data always use the binary format and if possible the short header binary format available on most INS logs For optimal performance log only one high rate output at a time These logs could be Raw data for post processing RAWIMUXSB ONNEW output rate depends on IMU see Table 1 SPAN Compatible IMU Models on page 17 RAWIMU 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 logs in the SPAN on OEM6 Firmware Reference Manual Realtime INS solution INSPVASB ONTIME 0 01 or 0 005 maximum rate equals the IMU rate Other possible INS solution logs available at high rates are INSPOSSB INSVELSB INSATTSB Specific logs need to be collected for post processing See Data Collection for Post Processing on page 62 To store data from an OEM6 receiver connect the receiver to a computer running NovAtel Connect or other terminal program capable of recording data 3 3 3 1 Onboard Data Logging SPAN systems with an OEM6368 or ProPak6 receiver contain 4 GB of memory for onboard data storage Data can be logged to internal memory and downloaded for post processing at a later time For information about logging information to the onboard memory and retrieving data from the onboard memory refe
157. ure 9 Basic Set Up ProPak6 to LN 200 HG1700 LCI 1 or IMU FSAS on page 24 Figure 10 Basic Set Up ProPak6 to IMU CPT on page 25 or Figure 11 Basic Set Up ProPak6 to IMU IGM on page 26 The COM3 IMU port should be used to connect to the IMU For a system with a FlexPak6 receiver and an IMU in the Universal IMU Enclosure connect the IMU interface cable from the IMU to the COM 1 or COM 2 port on the FlexPak6 See Figure 6 Basic Set Up FlexPak6 to LN 200 HG1700 or LCI 1 on page 21 For a system with a FlexPak6 receiver and the IMU FSAS or IMU CPT connect a FlexPak Y Adapter cable to the COM 2 and I O ports on the FlexPak6 receiver Then connect the IMU interface cable from the IMU to the FlexPak Y Adapter cable See Figure 7 Basic Set Up FlexPak6 to IMU FSAS or IMU CPT on page 22 For a system with a FlexPak6 receiver and an IMU IGM connect the IMU interface cable 01019016 from the MAIN connector on the IMU IGM to the COM 2 port on the FlexPak6 See Figure 8 Basic Set Up FlexPak6 to IMU IGM on page 23 If the IMU IGM is connected to the FlexPak6 using a Stack Up Cable 01019013 you must connect the cable to the COM 2 port For a system with a OEMG receiver card a wiring harness is required between the receiver card and the IMU interface cable For more information see the OEMG Family Installation and Operation User Manual For systems with an OEM638 receiver the COM6 port should be used to co
158. 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 the INSUPDATE command in the SPAN on OEM6 Firmware Reference Manual SPAN on OEM6 User Manual Rev 7 Appendix A Technical Specifications This appendix details the technical specifications of the IMUs For information about the technical specifications performance and cables of the SPAN receiver refer to the OEM6 Family Installation and Operation User Manual A 1 Universal IMU Enclosure The Universal IMU Enclosure is available with the HG1700 LN 200 and LCI 1 IMUs Table 14 Universal IMU Enclosure Physical Specifications PHYSICAL IMU Enclosure Size 168 mm x 195 mm x 146 mm IMU Enclosure Weight 4 25 kg A 1 1 Universal IMU Enclosure Mechanical Drawings Figure 28 Universal IMU Enclosure Side Dimensions O Dimensions in mm inches 146 2 5 76 ej L 38 0 1 50 LEFT FRONT l 16 0 0 63 SPAN on OEM6 User Manual Rev 7 69 Appendix A Technical Specifications Figure 29 Universa
159. y attitude can be generated and output with each input pulse 3 41 Configuring a Synchronous Output Pulse The EVENTOUTCONTROL command see the OEM6 Family Firmware Reference Manual is used to configure an output strobe The ProPak6 has three output strobe lines MARK1 through MARK3 and the OEM638 has seven output strobe lines MARK1 through MARKT Each of these output strobe lines can be configured independently The event strobes toggle between 3 3 V and 0 V Each strobe can supply 24 mA The pulse consists of two states an active state and a not active state The start of the active state is synchronized with the top of the GNSS time second and the polarity of the signal indicates whether the active period is 3 3 V or 0 V The not active period immediately follows the active period and has the alternate voltage Each output strobe can be configured in the following ways Polarity The polarity defines the signal state of the active portion of the signal A positive polarity dictates that the active portion of the signal is in a high state 3 3 V Active Period Width The active period starts at the GNSS time synchronized edge rising for negative polarity and falling for positive polarity The time length of this period is specified in nanoseconds ns Not Active Period Width The not active period immediately follows the active period The width of this period is specified in ns SPAN on OEM6 User Manual Rev 7 57

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