Home

SPAN-CPT Receiver User Manual

1. 134 SPAN CPT User Manual Rev 6 C 2 28 TIMEDWHEELDATA Timed Wheel Data This log contains wheel sensor data The time stamp in the header is the time of validity for the wheel data not the time the TIMEDWHEELDATA log was output See also SPAN CPT Wheel Sensor on page 43 Structure Message ID 622 Log Type Asynch Field Field Type Data Description Format Bytes cna 1 Log Header Log header H 0 2 Ticks Per Rev Number of ticks per revolution Ushort 2 H 3 Wheel Vel Wheel velocity in counts s Ushort 2 H 2 4 fWheel Vel Float wheel velocity in counts s Float 4 H 4 5 Reserved Ulong 4 H 8 6 Ulong 4 H 12 7 Ticks Per Second Cumulative number of ticks per long 4 H 16 second 8 XXXX 32 bit CRC ASCII Binary and Hex 4 H 20 Short Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log timedwheeldataa innew ASCII Example TIMEDWHEELDATAA 1393 411345 001 0 215 814910889 0 0 1942255 3b5fa236 SPAN CPT User Manual Rev 6 135 2 29 VEHICLEBODYROTATION Vehicle to SPAN frame Rotation 136 The VEHICLEBODYROTATION log reports the angular offset from the vehicle frame to the SPAN frame The SPAN frame is defined by the transformed IMU axis with Z pointing up see the SETIMUORIENTATION on page 77 The VEHICLEBODYROTATION command see page 90 sets the initial estimates for the angular offset The uncertainty values are opti
2. I 94 13 Short Binary Message Header Structure 94 14 Position or Velocity Type iiec eco s iha Sisa ete Dee 97 15 Solution Status nro nein men hee 99 16 Wheel III P 126 17 Heading Update 1 1 anie eicere ine redeo deed ei e edid edic ie gere ge deg 126 18 SPAN CPT Stats s Sen ec Sequi od tes ce M Ete Seo se D d cde aede 132 19 SPAN CPT Status Example U ete eee tede erede donee eee 133 20 Raw SPAN CPT Scale Factors esee enne nennen 133 SPAN CPT User Manual Rev 6 Software License BY INSTALLING COPYING OR OTHERWISE USING THE SOFTWARE PRODUCT YOU AGREE TO BE BOUND BY THE TERMS OF THIS AGREEMENT IF YOU DO NOT AGREE WITH THESE TERMS OF USE DO NOT INSTALL COPY OR USE THIS ELECTRONIC PRODUCT SOFTWARE FIRMWARE SCRIPT FILES OR OTHER ELECTRONIC PRODUCT WHETHER EMBEDDED IN THE HARDWARE ON A CD OR AVAILABLE ON THE COMPANY WEB SITE hereinafter referred to as Software 1 License NovAtel Inc NovAtel grants you a non exclusive non transferable license not a sale to where the Software will be used on NovAtel supplied hardware or in conjunction with other NovAtel supplied software use the Software with the product s as supplied by NovAtel You agree not to use the Software for any purpose other than the due exercise of the rights and licences hereby agreed to be granted to
3. i pea postu es n Table 20 Raw SPAN CPT Scale Factors 0 1 Gyroscope M 5600 01256 0 0558 Acceleration 0 05 215 m s LSB Scale Factor SPAN CPT User Manual Rev 6 133 2 27 TAGGEDMARK1PVA D TAGGEDMARK1PVA is identical to MARK1PVA but with a tag The user specifies a TAG for the upcoming TAGGEDMARKPVA via the TAGNEXTMARK command That tag shows up at the end of this message which is otherwise identical to the MARK1PVA message Structure Message ID 1258 Log Type Synch Field Field Type Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week at Mark 1 request Ulong 4 H 3 Seconds GPS Seconds at Mark1 request Double 8 H 4 Latitude Latitude at Mark 1 request Double 8 H 5 Longitude Longitude at Mark 1 request Double 8 H 6 Height Height at Mark 1 request Double 8 H 7 North Velocity North Velocity at Mark 1 request Double 8 8 East Velocity East Velocity at Mark1 request Double 8 H 9 Up Velocity Up Velocity at Mark 1 request Double 8 H 10 Roll Roll at Mark1 request Double 8 H 11 Pitch Pitch at Mark1 request Double 8 H 12 Azimuth Azimuth at Mark1 request Double 8 H 13 Status INS Status at Mark 1 request Enum 4 H 14 Tag Tag ID from TAGNEXTMARK Ulong 4 H Cmd If Any 15 XXXX 32 bit CRC Hex 4 H 92 16 CR LF Sentence Terminator ASCII only
4. se Positioning Technology Company SPAN CPT User Manual OM 20000122 Rev 6 Proprietary Notice SPAN CPT Receiver User Manual Publication Number OM 20000122 Revision Level Rev 6 Revision Date 2012 02 07 This manual reflects SPAN CPT Firmware Version CPT3 910 Proprietary Notice Information in this document is subject to change without notice and does not represent a commitment on the part of NovAtel Inc The software described in this document is furnished under a licence agreement or non disclosure agreement The software may be used or copied only in accordance with the terms of the agreement It is against the law to copy the software on any medium except as specifically allowed in the license or non disclosure agreement No part of this manual may be reproduced or transmitted in any form or by any means electronic or mechanical including photocopying and recording for any purpose without the express written permission of a duly authorized representative of NovAtel Inc The information contained within this manual is believed to be true and correct at the time of publication NovAtel OEMV and ProPak and are registered trademarks of NovAtel Inc NovAtel Connect OEMV 3 ProPak V3 SPAN and SPAN CPT are trademarks of NovAtel Inc All other product or brand names are trademarks of their respective holders Manufactured and protected under U S patents NovAtel Patents KVH Technology Patents 5
5. 2 20 SETMARK1OFFSET Set Mark1 Offset Set the offset to the Mark1 trigger event Abbreviated ASCII Syntax Message ID 1069 SETMARKIOFFSET xoffset yoffset zoffset aoffset Doffset yoffset Field ASCII Binary Binary Binary Binary Field Value Value Description Format Bytes Offset 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 x offset 360 Offset along the IMU enclosure Double 8 H frame X axis m for Mark1 3 y offset 360 Offset along the IMU enclosure Double 8 H 8 frame Y axis m for Mark1 4 z offset 360 Offset along the IMU enclosure Double 8 H 16 frame Z axis m for Mark1 5 aoffset 360 Roll offset for Mark1 degrees Double 8 H 24 6 Boffset 360 Pitch offset for Mark1 degrees Double 8 H 32 7 yoffset 360 Azimuth offset for Mark1 degrees Double 8 H 40 Abbreviated ASCII Example SETMARKIOFFSET 0 324 0 106 1 325 00 0 SPAN CPT User Manual Rev 6 87 2 21 SETWHEELPARAMETERS Set Wheel Parameters The SETWHEELPARAMETERS command can be used when wheel sensor data is available It allows you to give the filter a good starting point for the wheel size scale factor It also gives the SPAN filter an indication of the expected accuracy of the wheel data Usage of the SETWHEELPARAMETERS command depends on what wheel sensor you are
6. Sentence Terminator ASCII only Recommended Input log inspvasa ontime 1 ASCII Example INSPVASA 1264 144059 000 1264 144059 002135700 51 116680071 114 037929194 515 286704183 211 896368884 84 915188605 8 488207941 0 759619515 2 892414901 6 179554750 INS ALIGNMENT COMPLETE 855d6f76 SPAN CPT User Manual Rev 6 C 2 19 INSSPD INS Speed This log contains the most recent speed measurements in the horizontal and vertical directions and includes an INS status indicator Structure Message ID 266 Log Type Synch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Trk gnd Actual direction of motion over Double 8 H 12 ground track over ground with respect to True North in degrees 5 Horizontal Speed Magnitude of horizontal speed in m Double 8 H 20 s where a positive value indicates you are moving forward and a negative value indicates you are reversing 6 Vertical Speed Magnitude of vertical speed in m s Double 8 H 28 where a positive value indicates speed upward and a negative value indicates speed downward 7 Status INS status see Table 1 on page 39 Enum 4 H 36 8 XXXX 32 bit CRC ASCII Binary and Hex 4 H 40 Short Binary only 9 CR LF Sentence terminator ASCII only Reco
7. ee Reh 33 12 Vehicle Framn _ sees cies lei eee aera dees aan 33 13 Gorrsys Datron WPT Cu dep Eee He Re e BR Re RES Or Den EAEE 44 14 SPAN CPT Dual Antenna Installation I a 50 15 SPAN CPT Side and Perspective View nennen 53 16 SPAN CPT Top Front and Bottom View T nee 54 17 SPAN CPT Development Terminated Cable 55 6 SPAN CPT User Manual Rev 6 Tables 1 Inertial Solution Status er nusqas 39 2 Cable Modification for Corrsys Datron WPT 45 3 Cable Modification for CPT Odometer Input a a 45 4 Solution Parameters UN sassa sassa 46 5 Technical HW Specs for SPAN CPT eene nnne nnnn nnn n nennen nennen 53 6 SPAN CPT 60723107 KVH Standard Un terminated Cable Pin Out 55 7 SPAN CPT 60723108 KVH Development Terminated Cable Pin Out 57 8 CAN Bit Rate per second etse dresses 66 9 ERESET Targelt en ee de tene oe cete e ect akati ka ka Do 68 10 iE 73 11 Full Mapping Definitions I n na 79 12 Short ASCII Message Header Structure
8. Black 12 OEMV 3 USB SIGNAL GND Violet 13 Odometer Power White Red White Red 14 Odometer Power Return White Black white Black 15 ODO SIGA White Brown White Brown 16 ODO SIGA Inverted White Black white Black 17 ODO SIGB White Orange White Orange 18 ODO SIGB Inverted White Black white Black 19 COM2 RS232 TX from Red OEMV 3 Module 20 2 RS232 RX to OEMV 3 White Module Continued on next page SPAN CPT User Manual Rev 6 57 21 COM2 RS232 RTS from Orange 7 OEMV 3 Module 22 COM2 RS232 CTS to OEMV Brown 8 3 Module 23 COM2 RS232 DTR from Yellow 4 OEMV 3 Module 24 COM2 RS232 DCD to Blue 6 OEMV 3 Module 25 COM2 Signal GND Black 5 26 IMU RS232 TX Diagnostics White Orange 27 IMU RS232 RX Diagnostics White Yellow 28 IMU RS232 Diagnostics White Blue signal ground 29 PPS from OEMV 3 White Red 30 EVENT1 to OEMV 3 White Brown 31 OEMV 3 Signal GND White Black 32 CAN2L OEMV 3 Black Black Green 33 CAN2H OEMV 3 Green 34 CAN2 SIGNAL GND White Green 35 N C 36 N C 37 Chassis GND Green 58 SPAN CPT User Manual Rev 6 1 1 1 USB Serial Cable NovAtel part number 01017664 The USB cable provides a means of interfacing between the 1 port on the ProPak V3 and another serial communications device such as a PC At the ProPak V3 end the cable is equipped with a DB9 connector which plugs directly into a COM port
9. SPAN CPT User Manual Rev 6 15 Firmware Updates and Model Upgrades Firmware updates are firmware releases which include fixes and enhancements to the receiver functionality Firmware updates are released on the Web site as they become available Model upgrades enable features on the receiver and may be purchased through NovAtel authorized dealers Contact your local NovAtel dealer first for more information To locate a dealer in your area visit Where to Buy Dealers on the NovAtel Web site at www novatel com or contact NovAtel Customer Support directly Firmware updates can only be done through serial COM port connections SPAN CPT User Manual Rev 6 16 17 The following notices apply to the SPAN CPT FCC Notices This device complies with part 15 of the FCC Rules Operation is subject to the following two conditions 1 this device may not cause harmful interference and 2 this device must accept any interference received including interference that may cause undesired operation SPAN CPT complies with the radiated and conducted emission limits for a Class B digital device The Class B limits are designed to provide reasonable protection against harmful interference in a residential installation The equipment listed generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instructions may cause harmful interference to radio communications However ther
10. SPAN CPT User Manual Rev 6 93 C 1 94 Description of ASCII and Binary Logs with Short Headers These logs are set up in the same way normal ASCII or binary logs are except that a normal ASCII or binary header is replaced with a short header see Tables 12 and 13 For the message header structure of OEMV 3 regular Binary and ASCII logs please refer to the OEMV Family Firmware Reference Manual Table 12 Short ASCII Message Header Structure Field Field Type Type Description 1 Char symbol 2 Message Char This is the name of the log 3 Week Number Ushort GPS week number 4 Milliseconds Ulong Milliseconds from the beginning of the GPS week Table 13 Short Binary Message Header Structure Field Field Type Type Description Byes Binary 1 Sync Char Hex 0xAA 1 0 2 Sync Char Hex 0x44 1 1 3 Sync Char Hex 0x13 1 2 4 Message Length Uchar Message length not including header 1 3 or CRG 5 Message ID Ushort Message ID number 2 4 6 Week Number Ushort GPS week number 2 6 7 Milliseconds Ulong Milliseconds from the beginning of 4 8 the GPS week SPAN CPT User Manual Rev 6 2 INS Specific Logs The receivers are capable of generating many NovAtel format output logs in either Abbreviated ASCII ASCII or binary format Please refer to the OEMV Family Firmware Reference Manual for complete list of logs categorized by function and then detailed in alphabetical order
11. nnne nnne 62 2 1 ALIGNMENTMODE _ Set the Alignment 63 B 2 2 APPLYVEHICLEBODYROTATION Enable Vehicle to Body 64 2 3 CANCONFIG Configure the CAN Interface for SPAN 65 B 2 4 EXTHDGOFFSET Set the Angular 67 B 2 5FRESET Factory Reset oes eee tei dep d ned eine tn 68 B 2 6 INSCOMMAND INS Control Command see 69 2 7 INSPHASEUPDATE INS Phase Update 70 B 2 8 INSZUPT Request Zero Velocity Update 71 B 2 9 INSZUPTCONTROL INS Zero Velocity Update Control 72 2 10 NMEATALKER Set the NMEA Talker ID enm 73 B 2 11 RVBCALIBRATE Vehicle to Body Rotation Control 74 B 2 12 SETALIGNMENTVEL Set the Minimum Kinematic Alignment Velocity 75 B 2 13 SETHEAVEWINDOW Set Heave Filter Length 76 B 2 14 SETIMUORIENTATION Set IMU Orientation TT B 2 15 SETIMUTOANTOFFSET Set IMU to Antenna Offset 80 B 2 16 SETIMUTOANTOFFSET2 Set IMU to Antenna Offset 2 81 B 2 17 SETINI
12. This log outputs position velocity and attitude information of the system with respect to the SPAN frame when an event was received on the Mark 1 input Structure Message ID 1067 Log Type Synch Binary Binary Field Field Type Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week at Mark1 request Ulong 4 H 3 Seconds Seconds from week at Mark1 Double 8 H 4 4 Latitude Latitude WGS84 at Mark1 Double 8 H 12 5 Longitude Longitude WGS84 at Mark1 Double 8 H 20 6 Height Height WGS84 at Mark1 m Double 8 H 28 7 North Velocity Velocity in a northerly direction a ve Double 8 H 36 value implies a southerly direction at Mark1 m s 8 East Velocity Velocity in an easterly direction a ve Double 8 H 44 value implies a westerly direction at Mark1 m s 9 Up Velocity Velocity in an up direction at Mark1 m s Double 8 H 52 10 Roll Right handed rotation from local level Double 8 H 60 around y axis in degrees at Mark1 11 Pitch Right handed rotation from local level Double 8 H 68 around x axis in degrees at Mark1 12 Azimuth Left handed rotation around z axis Double 8 H 76 Degrees clockwise from North at Mark1 13 Status INS Status see Table 1 on page 39 at Enum 4 H 84 Mark1 14 XXXX 32 bit CRC Hex 4 88 15 CR LF Sentence Terminator ASCII only Recommended Input log marklpva onnew Abbreviated ASCII Exam
13. amp NovZtel Recyclable Printed in Canada on recycled paper OM 20000122 Rev 6 2012 2 7
14. Abbreviated ASCII Syntax EXTHDGOFFSET heading headingSTD pitch pitchS TD Field Field 1 Type Header ASCII Value Binary Value Description This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively Binary Format Message ID 1204 Binary Binary Bytes H Offset 0 Heading 0 to 360 0 azimuth or heading between the external aiding source and the IMU forward axis Input in degrees Double Angular offset for the HeadingSTD 0 to 10 0 Input heading offset standard deviation Input in degrees Double H 8 Pitch 90 0 to 90 0 Angular offset for the pitch between the external aiding source and the IMU forward axis Input in degrees Default 0 0 Double H 16 PitchSTD Abbreviated 0 to 10 0 ASCII Example Input pitch offset standard deviation Input in degrees EXTHDGOFFSET 0 5 1 0 0 23 1 0 SPAN CPT User Manual Rev 6 Double 24 Default 0 0 67 B 2 5 FRESET Factory Reset This command clears data which is stored in non volatile memory Such data includes the almanac ephemeris and any user specific configurations The receiver 1s forced to hardware reset Abbreviated ASCII Syntax Message ID 20 FRESET target Field ASCII Binary Binary Binary Binary Type Value Value Format Bytes Offset 1 Header
15. Waypoint Software The highest rate that you should request GPS logs RANGE BESTPOS RTKPOS PSRPOS and so on while in INS operation is 5 Hz If the receiver is not running INS GPS logs can be requested at rates up to 20 Hz 48 SPAN CPT User Manual Rev 6 Chapter 4 SPAN CPT Dual Antenna 4 1 4 2 Overview NovAtel s ALIGN heading technology generates distance and bearing information between a master and one or more rover receivers This feature is ideal for customers wanting relative directional heading separation heading between two objects or heading information with moving base and pointing applications Heading applications can be applied over various markets including machine control unmanned vehicles marine and agricultural markets SPAN CPT Dual Antenna provides the hardware necessary to run an ALIGN baseline with an IMU and a second receiver From any of the SPAN CPT COM ports the ALIGN baseline solution can be logged along with the standard OEMV logs SPAN CPT dual antenna operation will require the dedicated use of the COM2 port for communication between receivers With the SPAN CPT the ALIGN GPS baseline can be used to assist the initial alignment of the SPAN solution In addition the ALIGN baseline solution will aid the heading solution from the SPAN CPT if the heading drifts due to slow or constant dynamics ALIGN is capable of a 1 Hz heading output rate when integrated with SPAN
16. axis pointing UP and a mapping of 1 is specified then this transformation of the raw SPAN CPT data is done X gt Z Y X Z Y where the default is Y Y Z 2Z Notice that the X axis observations are transformed into the Z axis resulting in Z being aligned with gravity and a 5 mapping The SPAN frame is defined so that Z is always pointing up along the gravity vector If the IMU mapping is set to 1 the X axis of the IMU enclosure is mapped to the SPAN frame Z axis pointing up its Y axis to SPAN frame X and its Z axis to SPAN frame Y The X pitch Y roll and Z azimuth directions of the inertial enclosure frame are clearly marked on the SPAN CPT see the technical specifications starting on page 53 D 1 Azimuth is positive in a clockwise direction while yaw is positive in a counter clockwise direction when looking down the axis centre Yaw follows the right handed system convention where as azimuth follows the surveying convention 2 The data in the RAWIMUS log is never mapped The axes referenced in the RAWIMUS log description form the SPAN CPT enclosure frame as marked on the enclosure SPAN CPT User Manual Rev 6 77 Abbreviated Syntax Message ID 567 SETIMUORIENTATION switch ASCII Binary Binary Binary Binary Description Format Bytes Offset Value Value 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviat
17. APPLY VEHICLEBODYROTATION switch Field ASCII Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 Header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 Switch DISABLE 0 Enable disable vehicle Enum 4 H ENABLE 1 body rotation using values entered in the vehiclebodyrotation command default disable Input Example APPLYVEHICLEBODYROTATION ENABLE 64 SPAN CPT User Manual Rev 6 B 2 3 CANCONFIG Configure the CAN Interface for SPAN Use the CANCONFIG command to configure the CAN interface for SPAN All of its fields are mandatory there are no optional fields For further information refer to our application note APN 046 Configure CAN for SPAN on the NovAtel Web site at www novatel com through Support Knowledge and Learning Abbreviated ASCII Syntax CANCONFIG port switch bit rate base tx mask source Description Binary Message ID 884 Binary 1 Header This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively Format Offset 2 Port CAN1 CAN2 Specify the CAN port Enum 3 Switch DISABLE ENABLE O N Enable disable CAN configuration on the chosen port Enum H 4 4 Bit rate CAN bit rat
18. INS specific commands and logs provide attitude data such as roll pitch and azimuth ea Logging Restriction Important Notice High rate data logging is regulated in SPAN to prevent logging of unusable data or overloading the system Please note these 3 rules when configuring your SPAN system 1 Only one high rate INS log can be configured for output at a time Once a log is selected for output at a rate of 100 Hz all other log requests are limited to a maximum rate of 50 Hz Below are examples of acceptable logging requests LOG RAWIMUSB ONNEW 100 Hz LOG INSPVASB ONTIME 0 02 acceptable 50 Hz logging The following is rejected because RAWIMU has already been requested at 100 Hz LOG INSPOSSB ONTIME 0 01 100 Hz request Below is another example set of acceptable logging requests LOG INSPOSSB ONTIME 0 01 100 Hz request INSVELSB ONTIME 0 02 50 Hz request The following are rejected in this case because INSPOSSB has already been requested at a high rate LOG RAWIMUSB ONNEW 100 Hz request LOG INSATTSB ONTIME 0 01 100 Hz request 2 RAWIMUS logs are only available with the ONNEW or ONCHANGED trigger These logs are not valid with the ONTIME trigger The raw IMU observations contained in these logs are sequential changes in velocity and rotation As such you can only use them for navigation if they are logged at their full rate See details of these log starting on page 130 3 Inorder to collect wheel sensor inf
19. Output attitude in INSPVA INSATT and so on is with respect to the SPAN computational frame Refer to the SETIMUORIENTATION command description to see what mapping definition applies depending on which IMU axis most closely aligns to gravity Essentially this means that if you do not mount the IMU with the z axis approximately up as marked on the enclosure you have a new IMU frame that defines what mapping applies This new computational frame will not match what is marked on the IMU enclosure and will need to be determined by checking the Full Mapping Definition table documented with the SETIMUORIENTATION command Also in this case begin with the SPAN computational frame aligned with the vehicle frame and record the rotations required to move from the vehicle frame to the SPAN computational frame orientation The first rotation is around the z axis of the vehicle frame the second is about the x axis of the SPAN computational frame and the third and final rotation is about the y axis of the SPAN computational frame With the default mapping and with no angular offset between the vehicle frame and SPAN computational frame the output roll is the angle of rotation about the y axis the output pitch is about the x axis and the output azimuth is about the z axis and is measured to the y axis Note that azimuth is positive in the clockwise direction when looking towards the origin However the input vehicle to body rotation about the z axis foll
20. The following example shows how Windows 98 accessory programs Notepad and HyperTerminal can be used to create a hypothetical waypoint navigation file on a laptop computer and send it to the receiver It is assumed that the laptop computer s COMI serial port is connected to the receiver s COM serial port and that a rover terminal is connected to the receiver s COM2 serial port Example Open Notepad and type the following command text setnav 51 111 114 039 51 555 114 666 0 start stop magvar 21 log coml bestposa ontime 15 log coml psrvela ontime 15 log coml navigatea ontime 15 log com2 gpvtg ontime 15 5 1 1 log com2 gprmb ontime 15 5 2 2 log com2 rxconfiga ontime 60 2 Save this with a convenient file name e g C GPS BOOTNAV1 TXT and exit Notepad 3 Ensure that the HyperTerminal settings are correctly set up to agree with the receiver communications protocol these settings can be saved e g C GPS OEMSETUP HT for use in future sessions You may wish to use XON XOFF handshaking to prevent loss of data 4 Select Transfer Send Text File to locate the file that is to be sent to the receiver Once you double click on the file or select Open HyperTerminal sends the file to the receiver The above example initializes the SPAN system with origin and destination waypoint coordinates and sets the magnetic variation correction to 21 degrees The BESTPOSA PSRVELA and NAVIGATEA logs have been set to outp
21. and Z azimuth directions of the inertial frame are clearly marked on the SPAN CPT This command must be entered before the INS alignment mode not after Abbreviated ASCII Syntax Message ID 383 SETIMUTOANTOFFSET x y z a b c Field ASCII Binary Binary Binary Binary Type Value Value Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 20 x offset m Double t 20 y offset m Double 20 z offset m Double 0 to 1 Uncertainty in x m Double Defaults to 1096 of the x offset to a minimum of 0 01 m 6 b 0 to 1 Uncertainty in y m Double 8 H 32 Defaults to 10 of the y offset to a minimum of 0 01 m 7 c 0 to 1 Uncertainty in z m Double 8 H 40 Defaults to 1096 of the 2 offset to a minimum of 0 01 m Field Description Q O N IN lt OO Abbreviated ASCII Example SETIMUTOANTOFFSET 0 54 0 32 1 20 0 03 0 03 0 05 SPAN CPT User Manual Rev 6 B 2 16 SETIMUTOANTOFFSET2 Set IMU to Antenna Offset 2 Set the lever arm for the secondary antenna Preferably the primary antenna will be set up behind the IMU forward axis and the secondary antenna will be set up ahead of the IMU forward axis Entering both lever arms will automatically compute the angular offset between the heading vector of the
22. 0 0x00000001 Gyro X Status 1 Valid 0 Invalid NO 1 0x00000002 Gyro Y Status 1 Valid 0 Invalid 2 0x00000004 Gyro Z Status 1 Valid 0 Invalid 3 0x00000008 Unused Set to 0 4 0x00000010 Accelerometer X Status 1 Valid 0 Invalid N1 5 0x00000020 Accelerometer Y Status 1 Valid 0 Invalid 6 0x00000040 Accelerometer Z Status 1 Valid 0 Invalid 7 0x00000080 Unused Set to 0 8 0x00000100 Unused N2 9 0x00000200 10 0x00000400 11 0x00000800 12 0x00001000 N3 13 0x00002000 14 0x00004000 15 0x00008000 16 0x00010000 N4 17 0x00020000 18 0x00040000 19 0x00080000 20 0x00100000 N5 21 0x00200000 22 0x00400000 23 0x00800000 24 0x01000000 N6 25 0x02000000 26 0x04000000 27 0x08000000 28 0x10000000 N7 29 0x20000000 30 0x40000000 31 0x80000000 132 SPAN CPT User Manual Rev 6 Recommended Input log rawimusa onnew ASCII Example RAWIMUSA 1105 425384 180 1105 425384 156166800 00000077 43088060 430312 3033352 132863 186983 823 5aa97065 Table 18 shows how to change the bolded field IMU Status in the SPAN CPT example above into it s binary equivalent and then how to read Table 19 SPAN CPT Status Example Table 19 SPAN CPT Status Example Nibble Ox Bit Binary _a N cn N Hee S E m m E 7 1310139202 SBIS X 9131019903 SBIS Jopulonoooy SIEIS 7 OJAD SIEIS SIEIS 00
23. 101 416 6 664 923 5 444 534 6 441 779 5 390 207 6 721 657 2 5 481 358 6 466 596 5 414 729 6 750 816 5 512 904 6 542 651 5 495 499 7 193 559 2 5 552 887 6 594 020 5 734 674 7 346 452 5 739 944 6 718 097 5 736 961 5 768 462 6 763 153 5 809 064 6 041 149 6 836 334 6 243 409 6 134 356 6 856 300 6 351 310 B1 6 864 347 6 370 289 B1 6 89 1 622 6 429 939 7 120 323 Copyright 2008 2012 NovAtel rights reserved Unpublished rights ED reserved under International copyright laws Printed in Canada on recycled paper Recyclable 2 SPAN CPT User Manual Rev 6 Table of Contents Proprietary Notice 2 Software License 8 Terms and Conditions 10 Warranty 13 Customer Support 15 Firmware Updates and Model Upgrades 16 Notices 17 Foreword 21 1 Introduction 23 1 1 System et cene Eden n ede 24 2 SPAN CPT Installation 25 2 1 Hardware Description l L unkun ahusta s t a 25 2 1 1 SPAN CPT Hald Wa E uu I a S 25 2 1 2 Typical Installation Example nee 26 2 1 3 Real Time Differential Operation a 27 2 2 Hardware Sete p srt 28 22 T Mount Antenna iei e ee u Sh SINO Sus pec eee Seg res edocet
24. 1257 Field Field ASCII Binary Type Value Value Description Format Bytes Offset 1 Header This field contains the H 0 command name or the message header depend ing on whether the com mand is abbreviated ASCII ASCII or binary respectively 2 Mark MARK1 0 Event line Enum 4 H 3 Tag Tag for next mark event Ulong 4 H 4 Abbreviated ASCII Example TAGNEXTMARK MARK1 1234 D Only Mark 1 is available for the SPAN CPT SPAN CPT User Manual Rev 6 89 2 23 VEHICLEBODYROTATION Vehicle to SPAN frame Rotation Use the VEHICLEBODYROTATION command to set angular offsets between the vehicle frame direction of travel and the SPAN body frame direction that the SPAN CPT computational frame is pointing If you estimate the angular offsets using the RVBCALIBRATE command the VEHICLEBODYROTATION command values are used as the initial values The uncertainty values are optional defaults 0 0 Please see Section 3 3 3 Vehicle to SPAN CPT Frame Angular Offsets Calibration Routine starting on page 42 for more details RVBCALIBRATE command information is on page 74 The body frame is nominally the frame as marked on the IMU enclosure If you do not mount the IMU with the z axis approximately up you must check the new computational axis orientation that SPAN automatically uses which is called the SPAN computational frame SPAN forces z to be up in the SPAN computational frame
25. 3 FElectrical and Environmental Power and I O CONNECTORS MIL DTL 38999 Series 3 RF Antenna Connector TNC Female Temperature operational Input Power 9 18 VDC Power consumption 15 W Max Start Up Time Valid Data lt 5 secs ENVIRONMENTAL 40 C to 65 C Temperature non operational 50 C to 80 C Vibration operational 6 g rms 20 Hz 2 KHz Vibration non operational 8 g rms 20 Hz 2 KHz Shock operational 79 6 10 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 A 1 4 Power Vin Ripple 0 5 V pk pk Max in rush 5 A Max for duration no longer than 2 ms 12 V steady state 1 3 A typical 12 V Chassis GND pin 37 connect to system chassis Voltage should rise monotonically to nominal level with 10 ms Odometer Power 9 to 18 Vdc 0 100 mA output from Pin 13 and Pin 14 SPAN CPT User Manual Rev 6 61 J i aoa INS Commands The INS specific commands are described further in this chapter For information on other available commands refer to the OEMV Family Firmware Reference Manual B 1 Using a Command as a Log All NovAtel commands may be used for data input as normal or used to request data output a unique OEMV Family feature INS specific commands may be in Abbreviated ASCII A
26. 36 8 XXXX 32 bit CRC ASCII Binary and Hex 4 H 40 Short Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log insatta ontime 1 ASCII Example INSATTA 1 0 40 5 FINESTEERING 1660 504255 000 00000000 5535 7033 1660 504 255 003257800 0 641863008 0 927187599 27 366445668 INS SOLUTION GOOD aaff276f SPAN CPT User Manual Rev 6 113 C 2 11 INSATTS Short INS Attitude This is a short header version of the INSATT log on page 113 Structure Message ID 319 Log Type Synch 1 Field Field Data Description Format Bytes Offen 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Seconds from week start Double 8 H 4 Week 4 Roll Right handed rotation from local Double 8 H 12 level around y axis in degrees 5 Pitch Right handed rotation from local Double 8 H 20 level around x axis in degrees 6 Azimuth Left handed rotation around z Double 8 H 28 axis Degrees clockwise from North 7 Status INS status see Table 1 on page Enum 4 H 36 39 8 XXXX 32 bit CRC ASCII Binary and Hex 4 H 40 Short Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log insattsa ontime 1 ASCII Example 114 INSATTSA 1660 504312 000 1660 504312 003257800 0 645462004 0 929949944 27 412387110 INS SOLUTION GOOD 1b1471b9 SPAN CPT User Manual Rev 6 C 2 12 INSC
27. Alignment Velocity This command allows the user to adjust the minimum required velocity for a kinematic alignment Useful in such cases as helicopters where the alignment velocity should be increased to prevent a poor alignment at low speed Abbreviated ASCII Syntax Message ID 1397 SETALIGNMENTVEL velocity Field ASCII Value Binary Type Value Binary Binary Binary Description Format Bytes Offset This field contains the com H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respec tively 1 Header 2 Velocity Minimum 1 15 m s This field permits setting of the Double 8 H default minimum velocity required to kinematically align Abbreviated ASCII Example SETALIGNMENTVEL 5 0 SPAN CPT User Manual Rev 6 75 2 13 SETHEAVEWINDOW Set Heave Filter Length This command allows user control over the length of the heave filter This filter determines the heave vertical displacement of the IMU relative to a long term level surface Abbreviated ASCII Syntax Message ID 1383 SETHEAVEWINDOW filterlength x Binary Binary Binary Binary Field Type ASCII Value Value Description Format Bytes Offset 1 Header This field contains the com H 0 mand name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respec tively 2 Filte
28. Antenna Installation 4 3 Configuring ALIGN with SPAN CPT Before configuring the ALIGN solution the SPAN CPT and OEMV 2 receiver FlexPak G2 for example MUST both be powered on and connected directly between COM2 of the SPAN CPT and COM2 of the OEMV2 through either a null modem cable or an appropriate radio connection Check the model of your external OEMV 2 It must be an ALIGN capable Z model such as Z12Z running the latest released OEMV firmware version for example 3 900 The ALIGN solution will automatically be configured between the SPAN CPT and the OEMV 2 when either 50 1 The lever arms to both antennas are entered via SETIMUTOANTOFFSET and SETIMUTOANTOFFSET2 commands or The angular offset between the dual antenna baseline from Primary GPS antenna to Secondary GPS antenna and the IMU frame forward axis is entered directly via the EXTHDGOFFSET command We recommend entering the lever arms rather than entering the angular offset as this is easier to measure and will lead to better overall accuracy Refer to Appendix B on page 62 for syntax of the above commands SPAN CPT User Manual Rev 6 SPAN CPT Dual Antenna Chapter 4 The OEMV 2 needs to be started in default COM mode NOVATEL mode for the startup commands to be sent Issues might arise if the COM2 on the OEMV 2 is not set to the default The easiest way to ensure the OEMV 2 is in the default mode is to issue a FRESET command through another port COM o
29. At the other end a USB connector is provided This cable is RoHS compliant L 1000 10 _ 2000 25 0 WIRING DB9 CONNECTION SIGNAL SERIES A WIR ON RECEIVER USB PLUG COLOR PIN 5 GND PIN 4 BLACK PIN 6 USB D PIN 3 GREEN PIN 9 USB D PIN 2 WHITE INSULATE TO PREVENT SHORT RED Reference Description 10 Female DB9 connector 11 USB connector SPAN CPT User Manual Rev 6 59 A 1 2 KVH IMU Sensor Specifications PERFORMANCE FIBER OPTIC GYROS I Bias Offset 20 hr Turn On To Turn On Bias Repeatability Compensated hr In Run Bias Variation At Constant Temperature 10 Scale Factor Error Total 1500 ppm 1c Scale Factor Linearity 1000 ppm 10 Temperature Dependent SF Variation 500 ppm 1c Angular Random Walk 0 0667 hlhr 1 Max Input 375 sec Bias Offset 50 mg Turn On To Turn On Bias Repeatability 0 75 mg In Run Bias Variation At Constant Temperature 0 25 mg 1c Temperature Dependent Bias Variation 0 5 mg C 10 Scale Factor Error Total 4000 ppm 10 Temperature Dependent SF Variation 1000 ppm 10 Accel Noise 55 ug VHz 1c Bandwidth 50 Hz Max Input 10 0 60 SPAN CPT User Manual Rev 6 A 1
30. CPT Installation The hardware for SPAN CPT is installed in a manner similar to other SPAN systems Some points to consider during your installation are 1 Install the IMU and the two antennas in the vehicle such that the relative distance between them is fixed 2 Theantennas should be mounted where the view of the satellites will not be obstructed by any part of the vehicle As heading accuracy is dependent on baseline length mount 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 mea sured using the coordinate axes defined on the outside of the IMU The baseline between the two antennas does NOT need to be aligned with the vehicle axes or with the axes of the IMU 4 Both receivers need to be powered and connected to each other via COM2 before sending any configuration commands It does not matter which receiver is powered on first or how long they are both powered before sending any commands The SPAN CPT and the FlexPak need to be set up as shown in the example in Figure 14 SPAN CPT User Manual Rev 6 49 Chapter 4 SPAN CPT Dual Antenna Primary GPS Secondary GPS Antenna Antenna Connect COM2 to COM2 RISA 5 NS amp a 5E PEN xum A COM1 USB Power j Power gt 96 Power Supply S ee Computer Laptop Figure 14 SPAN CPT Dual
31. Ensure that an accurate lever arm has been entered into the system 4 Allow the system to complete a coarse alignment using the SETINITAZIMUTH command See Coarse Alignment on page 41 for procedures 5 Enable the vehicle to body calibration using the RVBCALIBRATE ENABLE command see page 74 6 Start to move the system under good GPS conditions Movement of the system under good GPS conditions is required for the observation of the angular offsets Vehicle speed must be greater than 5 m s 18 km hour for the calibration to complete Drive straight on a level surface if possible 7 When the solved angles are verified after approximately 30 seconds the calibration stops and the VEHICLEBODYROTATION log will provide the solved values see Page 90 Log VEHICLEBODYROTATION using the ONNEW trigger to monitor the progress of the calibration The rotation parameters are saved in NVM for use on start up in case a fast alignment is required Each time the SPAN CPT is re mounted this calibration should be performed again See Section 3 3 1 1 on page 40 3 3 1 2and Section 3 3 1 2 on page 41 for details on fast and coarse alignment After the RVBCALIBRATE ENABLE command is entered there are no vehicle body rotation parameters present and a kinematic alignment is NOT possible Therefore this command should only be entered after the system has performed either a static or kinematic alignment and has a valid INS solution 42 SPAN CPT U
32. HEADING UPDATE HIGH STD DEV means the standard deviation of the update failed a 3 sigma check against the inertial standard deviation azimuth checked only It is normal to see this status after the INS solution has converged It simply means that the inertial attitude solution is significantly better than the ALIGN solution so no updates need to be applied HEADING UPDATE BAD MISC means that the difference between the ALIGN heading and the INS heading failed a 3 sigma check with the inertial standard deviation HEADING UPDATE USED means we took the update for that epoch Table 16 Wheel Status Binary ASCII EE WHEEL_SENSOR_INACTIVE WHEEL SENSOR ACTIVE Table 17 Heading Update Binary ASCII ger HEADING UPDATE INACTIVE HEADING UPDATE ACTIVE HEADING UPDATE USED HEADING UPDATE HIGH STD DEV HEADING UPDATE HIGH ROTATION HEADING UPDATE BAD MISC SPAN CPT User Manual Rev 6 C 2 22 INSVEL INS Velocity This log contains the most recent North East and Up velocity vector values with respect to the local level frame and also includes an INS status indicator Structure Message ID 267 Log Type Synch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 North Velocity Velocity North in m s Double 8 H 12 5 East Velocity Velocity East in m s Double 8
33. MIL DTL 38999 Series 3 lt VO SPAN CPT Part D38999 24FD35PA ing Connector Part D38999 26FD35SA INDUCT ARTIALLY STRIP 25 INCHE AVE INSULATI RE Figure 17 SPAN CPT Development Terminated Cable The SPAN CPT cable also has a green ground line that is not shown in this drawing The green ground line is grounded to the SPAN CPT connector and enclosure Table 6 SPAN CPT 60723107 KVH Standard Un terminated Cable Pin Out Female Male Function Wire Pair Wire Colour DB9 to DB9to USB Comments COM1 COM2 1 Power Return White 2 9 18 VDC Power Input While Black T Sjack 3 COM1 RS422 TX RS232 Black TX From OEMV 3 Module White Black 4 1 RS422 TX RS232 te Black nite RTS From OEMV 3 Module 5 COM1 RS422 RX Black RS232 RX To OEMV 3 Module White Black 6 COM1 RS422 RX RS232 White CTS To OEMV 3 Module 7 RS422 Select In White 8 RS422 Select Out White 9 COM1 Signal Ground White 10 OEMV 3 USB D White Black 11 OEMV 3 USB D e Back White 12 OEMV 3 USB SIGNAL GND White SPAN CPT User Manual Rev 6 55 13 Odometer Power White 14 Odometer Power Return White Black Black 15 ODO SIGA Black 16 ODO SIGA Inverted 17 ODO SIGB Black 18 ODO SIGB Inverted aaa 19 COM2 RS232 TX
34. a Kalman filter without new observations 20 OMNISTAR OmniSTAR VBS position L1 sub meter 21 31 Reserved 32 L1 FLOAT Floating L1 ambiguity solution 33 IONOFREE FLOAT Floating ionospheric free ambiguity solution 34 NARROW FLOAT Floating narrow lane ambiguity solution 48 L1 INT Integer L1 ambiguity solution 49 WIDE INT Integer wide lane ambiguity solution 50 NARROW INT Integer narrow lane ambiguity solution 51 RTK DIRECT INS RTK status where the RTK filter is directly initialized from the INS filter 52 INS INS calculated position corrected for the antenna b 53 INS_PSRSP INS pseudorange single point solution no DGPS corrections P 54 INS_PSRDIFF INS pseudorange differential solution E 55 INS_RTKFLOAT INS floating point ambiguities solution 56 INS_RTKFIXED INS RTK fixed ambiguities solution 57 INS_OMNISTAR INS OmniSTAR VBS position L1 sub meter 2 58 INS_OMNISTAR_HP INS OmniSTAR high precision solution 2 59 INS_OMNISTAR_XP INS OmniSTAR extra precision solution ab 64 OMNISTAR_HP OmniSTAR high precision 65 OMNISTAR_XP OmniSTAR extra precision 66 CDGPS Position solution using CDGPS corrections a In addition to a NovAtel receiver with L band capability a subscription to the OmniSTAR or use of the free CDGPS service is required Contact NovAtel for details b These types appear in position logs such as BESTPOS Please refer to your OEMV Family Firmware Reference Manual SPAN CPT User Manual Rev 6 T
35. a latency of 0 0 indicates that the instantaneous Doppler measurement was used to calculate velocity Structure Message ID 506 Log Type Synch SPAN CPT User Manual Rev 6 Binary Binary Field Field type Data Description Format Bytes Offset 1 Log Log header H 0 Header 2 Sol Status Solution status see Table 15 Solution Status Enum 4 H on page 99 3 Vel Type Velocity type see Table 14 Position or Velocity Enum 4 H 4 Type on page 97 4 Latency A measure of the latency in the velocity time Float 4 H 8 tag in seconds It should be subtracted from the time to give improved results 5 Age Differential age Float 4 H 12 6 Hor Spd Horizontal speed over ground in metres per Double H 16 second 7 Trk Gnd Actual direction of motion over ground track Double 8 H 24 over ground with respect to True North in degrees 8 Vert Spd Vertical speed in metres per second where Double 8 H 32 positive values indicate increasing altitude up and negative values indicate decreasing altitude down 9 Reserved Float 4 H 40 10 XXXX 32 bit CRC ASCII and Binary only Hex H 44 11 CR LF Sentence terminator ASCII only Recommended Input log bestgpsvela ontime 1 ASCII Example BESTGPSVELA COM1 0 62 5 FINESTEERING 1049 247755 000 00000128 7e3 0 SOL COMPUTED SINGLE 0 250 0 000 0 1744 333 002126 0 3070 6 0082 dfdc635c SPAN CPT User Manual Rev 6 101 C 2 3 BE
36. after which the 60 second coarse alignment INS ALIGNING will begin After the 60 seconds the INS status will change to INS ALIGNMENT COMPLETE Once the attitude accuracy has converged the INS status will change to INS SOLUTION GOOD This alignment mode is useful if the initial vehicle roll is more than 20 degrees To use this alignment mode the configuration command ALIGNMENTMODE must be sent to the receiver ALIGNMENTMODE AIDED STATIC 4 4 3 Unaided Alignment The unaided alignment is the default setting for any SPAN CPT receiver that has not been configured for dual antenna operation This returns the SPAN system to its single antenna alignment options In the case of a SPAN CPT the default alignment mode is a kinematic alignment To use this alignment mode the configuration command ALIGNMENTMODE must be sent to the receiver ALIGNMENTMODE UNAIDED 44 4 Automatic Alignment Mode Automatic Alignment default 4 5 52 Automatic Alignment Mode Selection is the default setting for a SPAN CPT configured for dual antenna operation 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 51 a kinematic alignment Default Kinematic Alignment on page 40 or a manual alignment Manual Alignment on page 41 The first available technique will be used regardless of its relativ
37. agreed in writing Interest shall be charged on overdue accounts at the rate of 18 per annum 1 5 per month from due date To expedite payment by wire transfer to NovAtel Inc Bank HSBC Bank of Canada Bank HSBC Bank of Canada US Account 788889 002 407 8 Avenue S W CDN Account 788889 001 Calgary AB Canada T2P 1E5 EURO Account 788889 270 Transit 10029 016 Swift HKBCCATTCAL 3 DELIVERY Purchaser shall supply shipping instructions with each order Ship to and bill to address NovAtel Quotation Preferred carrier and account Custom broker freight forwarder including name and contact In the absence of specific instructions NovAtel may select a carrier and insure Products in transit and charge Purchaser accordingly NovAtel shall not be responsible for any failure to perform due to unforeseen circumstances or causes beyond its ability to reasonably control Risk of loss damage or destruction shall pass to Purchaser upon delivery to carrier Goods are provided solely for incorporation into the Purchaser s end product and shall not be onward delivered except as incorporated in the Purchaser s end product 4 COPYRIGHT AND CONFIDENTIALITY Copyright in any specification drawing computer software technical description and other document supplied by NovAtel under or in connection with the Order and all intellectual property rights in the design of any part of the Equipment or provision of services whether such design
38. 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 NovAtel Connect s SPAN wizard The INS 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 Pitch Azimuth 0 02199 46 0628 0 87 1 00 3 2 8 Configuration using Command Line 3 2 3 1 GPS Configuration The GPS configuration can be set up for different accuracy levels such as single point SBAS DGPS and RTK RTCA RTCM RTCM V3 CMR and CMR Plus The SPAN CPT can also be set up for OmniStar HP OmniStar OmniStar VBS or CDGPS Refer to the User Manuals for details on DGPS RTK L band or SBAS setup and operation With no additional configuration the system operates in single point mode 3 2 3 2 INS Configuration Once communication has been established to the receiver issue the SETIMUTOANTOFFSET command to enter the distance from the SPAN CPT to the GPS antenna see page 80 The offset between the antenna phase centre and the IMU navigation centre must remain constant and be known accurately The X Y and Z posit
39. as marine or airborne applications ZUPTs can be disabled altogether Abbreviated ASCII Syntax Message ID 1293 INSZUPTCONTROL switch Field ASCII Binary Ape Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 Header This field contains the command H 0 name or message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 Switch DISABLE 0 Disable INS zero velocity Enum 4 H updates ENABLE 1 Enable INS zero velocity updates default 72 Abbreviated ASCII Example INSZUPTCONTROL DISABLE SPAN CPT User Manual Rev 6 B 2 10 NMEATALKER Set the NMEA Talker ID This command allows you to alter the behavior of the NMEA talker ID The talker is the first 2 characters after the sign in the log header of the GPGLL GPGST GPRMB GPRMC and GPVTG log outputs Other NMEA logs are not affected by the NMEATALKER command The GPGGA position is always based on the position solution from the BESTPOS log which incorporate GPS INS solutions as well The default GPS NMEA message nmeatalker GP outputs GP as the talker ID regardless of the position type given in position logs such as BESTPOS The nmeatalker auto command switches the talker ID between GP and IN according to the position type given in position logs Abbreviated ASCII Syntax Message ID 861 NMEATALKER ID Factory Default nmeatalker gp ASCII Ex
40. be limited to the repair or replacement at NovAtel s option and at NovAtel s facility of defective or nonconforming materials parts or components or in the case of software provision of a software revision for implementation by the Buyer All material returned under warranty shall be returned to NovAtel prepaid by the Buyer and returned to the Buyer prepaid by NovAtel THE FOREGOING WARRANTIES DO NOT EXTEND TO 1 NONCONFORMITIES DEFECTS OR ERRORS IN THE PRODUCTS DUE TO ACCIDENT ABUSE MISUSE OR NEGLIGENT USE OF THE PRODUCTS OR USE IN OTHER THAN A NORMAL AND CUSTOMARY MANNER ENVIRONMENTAL CONDITIONS NOT CONFORMING TO NOVATEL S SPECIFICATIONS OR FAILURE TO FOLLOW PRESCRIBED INSTALLATION OPERATING AND MAINTENANCE PROCEDURES ID DEFECTS ERRORS OR NONCONFORMITIES IN THE PRODUCTS DUE TO MODIFICATIONS ALTERATIONS ADDITIONS OR CHANGES NOT MADE IN ACCORDANCE WITH NOVATEL S SPECIFICATIONS OR AUTHORIZED BY NOVATEL NORMAL WEAR AND TEAR IV DAMAGE CAUSED BY FORCE OF NATURE OR ACT OF ANY THIRD PERSON V SHIPPING DAMAGE OR VI SERVICE OR REPAIR OF PRODUCT BY THE DEALER WITHOUT PRIOR WRITTEN CONSENT FROM NOVATEL IN ADDITION THE FOREGOING WARRANTIES SHALL NOT APPLY TO PRODUCTS DESIGNATED BY NOVATEL AS BETA SITE TEST SAMPLES EXPERIMENTAL DEVELOPMENTAL PREPRODUCTION SAMPLE INCOMPLETE OR OUT OF SPECIFICATION PRODUCTS OR TO RETURNED PRODUCTS IF THE ORIGINAL IDENTIFICATION MARKS HAVE BEEN REMOVED OR ALTERED THE WARRANTIES AN
41. be registered or not shall vest in NovAtel absolutely The Buyer shall keep confidential any information expressed or confirmed by NovAtel in writing to be confidential and shall not disclose it without NovAtel s prior consent in SPAN CPT User Manual Rev 6 Terms and Conditions writing to any third party or use it other than for the operation and maintenance of any Equipment provided 5 GENERAL PROVISIONS All Purchase Orders are subject to approval and acceptance by NovAtel Any Purchase Order or other form from the Purchaser which purports to expand alter or amend these terms and conditions is expressly rejected and is and shall not become a part of any agreement between NovAtel and the Purchaser This agreement shall be interpreted under the laws of the Province of Alberta 6 LIMITED WARRANTY AND LIABILITY Warranty Period Products 1 year Accessories 90 days in each case from the date of invoice NovAtel warrants that during the Warranty Period that a the Product will be free from defects in material and workmanship and conform to NovAtel specifications b the software will be free from error which materially affect performance and c if applicable as defined in the User s Manual be eligible for access to post contract support and software updates when available THESE WARRANTIES ARE EXPRESSLY IN LIEU OF ALL OTHER WARRANTIES EXPRESS OR IMPLIED INCLUDING WITHOUT LIMITATION ALL IMPLIED WARRANTIES OF MERCHANTABILI
42. from White OEMV 3 Module 20 COM2 RS232 RX to OEMV 3 White Module 21 COM2 RS232 RTS from White OEMV 3 Module 22 COM2 RS232 CTS to OEMV White 3 Module 23 COM2 RS232 DTR from White OEMV 3 Module 24 COM2 RS232 DCD to White OEMV 3 Module 25 COM2 Signal GND White 26 IMU RS232 TX Diagnostics White 27 IMU RS232 RX Diagnostics White 28 IMU RS232 Diagnostics White signal ground 29 PPS from OEMV 3 White 30 EVENT1 to OEMV 3 Vie Blacki Black 31 OEMV 3 Signal GND White 32 CAN2L OEMV 3 White 33 CAN2H OEMV 3 VD Bae lack 34 CAN2 SIGNAL GND White 35 36 37 Chassis GND White 56 SPAN CPT User Manual Rev 6 Table 7 SPAN CPT 60723108 KVH Development Terminated Cable Pin Out Female Male Function Wire Pair Wire Colour DB9 to DB9 to USB Comments COM1 COM2 1 Power Return Green Red Green 2 9 18 VDC Power Input Red 3 COM1 RS422 TX RS232 Red TX From OEMV 3 Module Red Black 4 COM1 RS422 TX RS232 Black RTS From OEMV 3 Module 5 COM1 RS422 RX White RS232 RX To OEMV 3 Module White Black 6 COM1 RS422 RX RS232 Black CTS To OEMV 3 Module 7 RS422 Select In White Tie together with pin number 8 to select RS422 White Violet 8 RS422 Select Out Violet Tie together with pin number 7 to select RS422 9 COM1 Signal Ground Grey 10 OEMV 3 USB D Blue Blue Black 11 OEMV 3 USB D
43. initiate multiple commands and logging from the receiver is to create DOS command files relating to specific functions This minimizes the time required to set up duplicate test situations Any convenient text editor can be used to create command text files Example For this example consider a situation where a laptop computer s appropriately configured COM1 serial port is connected to the receiver s COMI serial port and where a rover terminal is connected to the receiver s serial port If you wish to monitor the SPAN system activity the following command file could be used to do this 1 Open text editor on PC and type in the following command sequences log log log log log com2 com2 com2 com2 com2 satvisa ontime 15 trackstata ontime 15 rxstatusa ontime 60 5 bestposa ontime 15 psrdopa ontime 15 2 Save this with a convenient file name e g C GPS BOOT1 TXT and exit the text editor 3 Use the DOS copy command to direct the contents of the BOOT1 TXT file to the PC s COMI serial port C GPS gt copy bootl txt 1 1 files s copied C NGPS 4 The SPAN system is now initialized with the contents ofthe BOOT1 TXT command file and logging is directed from the receiver s COM2 serial port to the rover terminal SPAN CPT User Manual Rev 6 139 D 2 WINDOWS As any text editor or communications program can be used for these purposes the use of Windows 98 is described only as an illustration
44. manual are the following The Local Level Frame The SPAN Body Frame The Enclosure Frame The Vehicle Frame 3 1 1 Local Level Frame The definition of the local level coordinate frame is as follows z axis pointing up aligned with gravity y axis pointing north x axis pointing east SPAN CPT User Manual Rev 6 31 Chapter 3 SPAN CPT Operation ZECEF North N East E Figure 10 Local Level Frame ENU 3 1 2 The SPAN Body Frame The definition of the SPAN body frame is as follows z axis pointing up aligned with gravity y axis defined by how user has mounted the IMU x axis defined by how user has mounted the IMU To determine your SPAN x axis and y axis see Table 11 page 79 This frame is also known as the computation frame and is the frame where all the mechanization equations are computed 32 SPAN CPT User Manual Rev 6 SPAN CPT Operation Chapter 3 3 1 3 The Enclosure Frame The definition of the enclosure frame is defined on the IMU and represents how the sensors are mounted in the enclosure If the IMU is mounted with the z axis as marked on the IMU enclosure pointing up the IMU enclosure frame is the same as the SPAN frame This origin of this frame is not the enclosure center but the Center of Navigation sensor center Figure 11 The Enclosure Frame 3 1 4 The Vehicle Frame The definition of the vehicle frame is as follows z axis points up th
45. subject to the limits of the output baud rate The covariance log is available once per second 1 Each log ends with a hexadecimal number preceded by an asterisk and followed by a line termination using the carriage return and line feed characters for example 1234ABCD CR LF This value is a 32 bit CRC of all bytes in the log excluding the or identifier and the asterisk preceding the four checksum digits See also Section C 1 Description of ASCII and Binary Logs with Short Headers on page 94 2 The highest rate that you should request GPS logs RANGE BESTPOS RTKPOS PSRPOS and so on while in INS operation is 5 Hz If the receiver is not running INS no IMU is attached GPS logs can be requested at rates up to 20 Hz Please also refer to the OEMV Family Firmware Reference Manual for information on the supplied Convert4 program that lets you change binary to ASCII data or short binary to short ASCII data and vice versa Convert4 is also capable of RINEX conversions to and from ASCII or binary Table 1 Inertial Solution Status on page 39 shows the status values included in the INS position velocity and attitude output logs If you think you have an IMU unit hooked up properly and you are not getting a good status value something is wrong and the hardware setup must be checked out This situation can be recognized in the RAWIMU data by observing accelerometer and gyro values which are not changing with time
46. system Specific logs need to be collected for post processing See Section 3 on page 45 To store data from a SPAN CPT connect a laptop computer The laptop computer should be equipped with a data storage device such as a Compact Flash Card CD or USB stick 46 SPAN CPT User Manual Rev 6 SPAN CPT Operation Chapter 3 v Logging Restriction Important Notice High rate data logging is regulated in SPAN to prevent logging of unusable data or overloading the system Please note these 3 rules when configuring your SPAN CPT system Il Only one high rate INS log can be configured for output at a time Once a log is selected for output at a rate equal to 100 Hz all other log requests are limited to a maximum rate of 50 Hz Below are examples of acceptable logging requests LOG RAWIMUSB ONNEW 100 Hz LOG INSPVASB ONTIME 0 02 acceptable 50 Hz logging The following is rejected because RAWIMU has already been requested at 100 Hz LOG INSPOSSB ONTIME 0 01 100 Hz request Below is another example set of acceptable logging requests LOG INSPOSSB ONTIME 0 01 100 Hz request LOG INSVELSB ONTIME 0 02 50 Hz request The following are rejected in this case because INSPOSSB has already been requested at a high rate LOG RAWIMUSB ONNEW 100 Hz request LOGINSATTSB ONTIME 0 01 100 Hz request RAWIMU and RAWIMUS logs are only available with the ONNEW or ONCHANGED trigger These logs are not valid with the ONTIME trigger Th
47. using The SETWHEELPARAMETERS command allows you to set the number of ticks per revolution that is correct for your wheel installation the default is 58 Abbreviated ASCII Syntax Message ID 847 SETWHEELPARAMETERS ticks cire spacing ASCII Binary Binary Binary Binary Description Format Bytes Offset Value Value 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 ticks 1 10 000 Number of ticks per revolution Ushort 4a H default 58 3 circ 0 1 100 Wheel circumference m Double 8 H 4 default 1 96 m 4 spacing 0 001 1000 Spacing of ticks or resolution of Double 8 H 12 the wheel sensor m a In the binary log case an additional 2 bytes of padding are added to maintain 4 byte alignment Abbreviated ASCII Example SETWHEELPARAMETERS 58 1 96 0 025 Fields 2 3 and 4 do not have to add up Field 4 is used to weight the wheel sensor measurement Fields 2 and 3 are used with the estimated scale factor to determine the distance travelled 88 SPAN CPT User Manual Rev 6 2 22 TAGNEXTMARK TAGNEXTMARK tags the next incoming mark event on the selected mark with a 32 bit num ber This will be available in the TAGGEDMARKxPVA log to easily associate the PVA log with a supplied event Abbreviated ASCII Syntax Message ID
48. you 2 Copyright NovAtel owns or has the right to sublicense all copyright trade secret patent and other proprietary rights in the Software and the Software is protected by national copyright laws international treaty provisions and all other applicable national laws You must treat the Software like any other copyrighted material except that you may make one copy of the Software solely for backup or archival purposes one copy may be made for each piece of NovAtel hardware on which it is installed or where used in conjunction with other NovAtel supplied software the media of said copy shall bear labels showing all trademark and copyright notices that appear on the original copy You may not copy the product manual or written materials accompanying the Software No right is conveyed by this Agree ment for the use directly indirectly by implication or otherwise by Licensee of the name of NovAtel or of any trade names or nomenclature used by NovAtel or any other words or combinations of words proprietary to NovAtel in connection with this Agreement without the prior written consent of NovAtel 3 Patent Infringement NovAtel shall not be liable to indemnify the Licensee against any loss sus tained by it as the result of any claim made or action brought by any third party for infringement of any letters patent registered design or like instrument of privilege by reason of the use or application of the Software by the Licensee or any other info
49. 18 VDC The receiver has an internal power module that does the following filters and regulates the supply voltage protects against over voltage over current and high temperature conditions provides automatic reset circuit protection Power input pins are located on the multi purpose I O connector Be sure to connect the power with the correct polarity and ensure the power source is within specifications See Appendix Technical Specifications for power input requirements There is always a drop in voltage between the power source and the power port due to cable loss Improper selection of wire gauge can lead to an unacceptable voltage drop at the SPAN CPT system A paired wire run represents a feed and return line Therefore a 2 m wire pair represents a total wire path of 4 m For a SPAN CPT system operating from a 12 V system a power cable longer than 2 1 m 7 ft should not use a wire diameter smaller than 24 AWG SPAN CPT User Manual Rev 6 29 Chapter 2 SPAN CPT Installation The power supply used to power the SPAN CPT must be monotonic during power on to ensure internal logic blocks are initialized appropriately and proceed to valid operating states If the power supply is not monotonic during power on the accelerometer status in the IMU status may show a failure and the accelerometer measurements in the RAWIMUS log see the RAWIMUS log description starting on page 131 will be zero Power cycling with a monotonic power
50. 73 non volatile memory NVM 68 north 127 offset 80 86 ortentation 77 P PASHR 130 pitch 77 80 102 113 port 29 position 86 121 best 96 INS 69 mark 129 measurements 115 118 synchronised 120 power 29 pseudorange solutions 96 R RAWIMUS 130 real time kinematic 96 replacement parts 141 reset hardware 68 revision manual 2 146 roll 77 80 102 113 rotation 64 74 RVB see vehicle to body rotation RVBCALIBRATE 74 S serial cable 59 set up hardware 25 SETIMUORIENTATION 77 SETIMUTOANTOFFSET 80 SETIMUTOANTOFFSET2 81 SETINITATTITUDE 82 SETINSOFFSET 86 92 SETMARKIOFFSET 87 SETMARK2OFFSET 87 SETWHEELPARAMETERS 88 short binary header 93 94 SPAN frame 77 speed 101 123 status 96 100 support 15 synchronise INS with GPS 120 T technical specifications 53 61 time synchonised 120 TIMEDWHEELDATA 135 track over ground 101 troubleshooting 142 true north 101 U undulation 96 up 127 updating firmware 16 upgrading models 16 USB SPAN CPT User Manual Rev 6 Index cable 59 using a command as a log 62 vector values 127 vehicle to body rotation R VB 64 74 VEHICLEBODYROTATION command 90 VEHICLEBODYROTATION log 136 velocity 86 121 best 100 computation 127 INS 69 115 mark 129 w warranty 13 Web site 15 wheel sensor set 88 wheel size 137 WHEELSIZE 137 WHEELVELOCITY 92 7 Zero Velocity Update ZUPT 71 SPAN CPT User Manual Rev 6 145
51. 77 80 86 102 local level frame 115 117 127 SPAN frame 77 78 80 82 85 91 113 114 116 117 121 azimuth 77 80 102 113 B baseline heading 108 BESTGPSPOS 96 BESTGPSVEL 100 BESTLEVERARM 102 BESTLEVERARM2 102 C cables 59 141 power 29 warranty 13 calibration 74 CANCONFIG 65 command prompt interface 138 140 communication cable 59 configuration non volatile memory 68 copyright 2 CORRIMUDATA 103 D datum 96 differential 96 SPAN CPT User Manual Rev 6 distance exceeded 99 E east 127 e mail 15 EXTHDGOFFSET log 105 F firmware updates 16 frame see axes vehicle 74 91 frequently asked questions 142 FRESET 68 G GPHDT NMEA heading log 106 GPSAntenna 13 graphical user interface 36 H hardware setup 25 headers 93 94 HEADING 107 Heave 76 109 height 96 velocity limit 99 help 34 I inertial navigation system INS 69 INSATT 113 120 INSATTS 114 INSCOMMAND 69 INSCOV 115 INSCOVS 117 INSPHASEUPDATE 70 INSPOS 118 INSPOSS 119 INSPOSSYNC 120 INSPVA 121 143 Index 144 INSPVAS 122 INSSPD 123 INSSPDS 124 NSUPDATE 125 NSVEL 127 NSVELS 128 INSZUPT 71 INSZUPTCONTROL 72 Introduction 23 L latency 96 latitude longitude 96 lever arm 102 link loss of 96 logging 62 93 M Markl trigger 87 MARKIPVA 129 mean sea level 96 memory non volatile 68 mode RTK 96 model upgrades 16 N NMEA satellite type 73 NMEATALKER
52. ALIGN antennas and the SPAN computational frame axes However the SETIMUTOANTOFFSET2 parameter should be input with respect to the IMU enclosure frame as it is for the SETIMUTOANTOFFSET command The format of this command is identical to the SETIMUTOANTOFFSET command as outlined on page 80 SPAN CPT User Manual Rev 6 81 B 2 17 SETINITATTITUDE Setlnitial Attitude of SPAN in Degrees This command allows you to input a known attitude to start SPAN operation rather than the usual coarse alignment process The caveats and special conditions of this command are listed below 82 This alignment is instantaneous based on the user input This allows for faster system startup however the input values must be accurate or SPAN will not perform well If you are uncertain about the standard deviation of the angles you are entering lean on the side of a larger standard deviation Sending SETINITATTITUDE resets the SPAN filter The alignment is instantaneous but some time and vehicle dynamics are required for the SPAN filter to converge Bridging performance is poor before filter convergence The roll about the y axis pitch about the x axis and azimuth about the z axis are with respect to the SPAN frame If the SPAN CPT enclosure is mounted with the z axis pointing upwards the SPAN frame is the same as the markings on the enclosure If the SPAN CPT is mounted in another way SPAN transforms the SPAN frame axes such that z points up for
53. Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Latitude Latitude WGS84 Double 8 H 12 5 Longitude Longitude WGS84 Double 8 H 20 6 Height Ellipsoidal Height WGS84 m Double 8 H 28 7 Status INS status see Table 7 on Enum 4 H 36 page 39 8 XXXX 32 bit CRC ASCII Binary and Hex 4 H 40 Short Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log insposa ontime 1 ASCII Example INSPOSA COM1 0 48 0 FINESTEERING 1660 504399 000 00000000 17cd 7033 1660 504 399 003257800 51 116345818 114 038198958 1042 375106399 INS SOLUTION GOOD fab67120 118 SPAN CPT User Manual Rev 6 C 2 15 INSPOSS Short INS Position This is a short header version of the INSPOS log on Page 118 Structure Message ID 321 Log Type Synch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Latitude Latitude WGS84 Double 8 H 12 5 Longitude Longitude WGS84 Double 8 H 20 6 Height Ellipsoidal Height WGS84 m Double 8 H 28 7 Status INS status see Table 1 on Enum 4 H 36 page 39 8 XXXX 32 bit CRC ASCII Binary and Hex 4 H 40 Short Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log in
54. Connec tion to use it and skip to step 8 Use the New connection dialog to add a new configuration Name SPAN_CPT Device Serial v Serial Settings Port COM23 Passive Baud Rate 115200 Read Only Hardware Handshaking Select Serial from the Type list and select the PC laptop port that the SPAN CPT 1s connected to from the Port hist Select 115200 from the Baud Rate list Uncheck the Hardware handshaking checkbox SPAN CPT User Manual Rev 6 SPAN CPT Operation Chapter 3 7 Select OK to save the new device settings 8 Select the new configuration from the Available Device Connections area of the Open Connection dialog 9 Select the Open button to open SPAN CPT communications Available Device Connections Name Device Type Settings SPAN_CPT SERIAL COM23 115200 bps 10 As NovAtel Connect establishes the communication session with the receiver a progress box is displayed 11 Select Tools Logging Control from the NovAtel Connect main menu to control the receiver s logging to files and serial ports Refer to NovAtel Connect s on line Help for more information 12 Use the Console window to enter commands If you have to power down your receiver ensure that all windows other than the Console window are closed in NovAtel Connect and then use the SAVECONFIG command 3 2 1 SPAN CPT Configuration with N
55. D REMEDIES ARE EXCLUSIVE AND ALL OTHER WARRANTIES EXPRESS OR IMPLIED WRITTEN OR ORAL INCLUDING THE IMPLIED WARRANTIES OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE ARE EXCLUDED NOVATEL SHALL NOT BE LIABLE FOR ANY LOSS DAMAGE EXPENSE OR INJURY ARISING DIRECTLY OR INDIRECTLY OUT OF THE PURCHASE INSTALLATION OPERATION USE OR LICENSING OR PRODUCTS OR SERVICES IN NO EVENT SHALL NOVATEL BE LIABLE FOR SPECIAL INDIRECT INCIDENTAL OR CONSEQUENTIAL DAMAGES OF ANY KIND OR NATURE DUE TO ANY CAUSE There are no user serviceable parts in the GPS receiver and no maintenance is required When the status code indicates that a unit is faulty replace with another unit and return the faulty unit to NovAtel Inc Before shipping any material to NovAtel or Dealer please obtain a Return Material Authorization RMA number from the point of purchase Once you have obtained an RMA number you will be advised of proper shipping procedures to return any defective product When returning any product to NovAtel please return the defective product in the original packaging to avoid ESD and shipping damage SPAN CPT User Manual Rev 6 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 and Solutions Search Known Solutions Through this page you can search for general information about GNSS and other techn
56. H 20 6 Up Velocity Velocity Up in m s Double 8 H 28 7 Status INS status see Table 1 on Enum 4 H 36 page 39 8 XXXX 32 bit CRC ASCII Binary and Hex 4 H 40 Short Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log insvela ontime 1 ASCII Example INSVELA COM3 0 0 0 EXACT 1105 425385 000 00040000 7d4a 0 1105 425384 996167250 0 014277009 0 013675287 0 024795257 INS SOLUTION GOOD 2f3fe011 SPAN CPT User Manual Rev 6 127 2 23 INSVELS ShortINS Velocity This is a short header version of the INSVEL log on Page 127 Structure Message ID 324 Log Type Synch Field Field Type Data Description Format Bye 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 North Velocity Velocity North m s Double 8 H 12 5 East Velocity Velocity East m s Double 8 H 20 6 Up Velocity Velocity Up m s Double 8 H 28 7 Status INS status see Table 1 on Enum 4 H 36 page 39 8 32 bit CRC ASCII Binary and Hex 4 H 40 Short Binary only 9 CR LF Sentence terminator ASCII only 128 Recommended Input log insvelsa ontime 1 ASCII Example INSVELSA 1105 4 25385 000 1105 425384 996167250 0 014277009 0 013675287 0 024795257 INS SOLUTION GOOD 2f3fe011 SPAN CPT User Manual Rev 6 C 2 24 MARK1PVA Position Velocity and Attitude at Mark1
57. II only SPAN CPT User Manual Rev 6 115 Recommended Input log inscova onchanged ASCII Example INSCOVA COM3 0 0 0 EXACT 1105 425385 020 00040000 c45c 0 1105 425385 000000000 0 0997319969301073 0 0240959791179416 0 0133921499963209 0 0240959791179416 0 1538605784734939 0 0440068023663888 0 0133921499963210 0 0440068023663887 0 4392033415009359 0 0034190251365443 0 0000759398593357 0 1362852812808768 0 0000759398593363 0 0032413999569636 0 0468473344270137 0 1362852812808786 0 0468473344270131 117 5206493841025100 0 0004024901765302 0 0000194916086028 0 0000036582459112 0 0000194916086028 0 0004518869575566 0 0000204616202028 0 0000036582459112 0 0000204616202028 0 0005095575483948 1 c92787 116 SPAN CPT User Manual Rev 6 C 2 13 INSCOVS Short INS Covariance Log This is a short header version of the VSCOY log on page 115 These values are also computed once per second Structure Message ID 320 Log Type Asynch 3 Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Position Covariance Position covariance matrix in local List of 9 72 H 12 level frame Meters squared Doubles XX XY XZ YX VY YZ ZX ZY ZZ 5 Attitude Covariance Attitude covariance matrix in local List of 9 72 H 84 sse page 115 for level frame Degr
58. Mapping Integer 4 H 48 Definitions on page 157 9 XXXX 32 bit CRC Hex 4 H 52 10 CR LF Sentence Terminator ASCII only 102 Recommended Input log bestleverarma onchanged ASCII Example BESTLEVERARMA COM1 0 83 5 UNKNOWN 0 2 983 00000008 39e4 35484 0 3934000000000000 1 2995000000000001 0 0105500000000000 0 0300000000000000 0 0300000000000000 0 0300000000000000 4 876c47ad SPAN CPT User Manual Rev 6 C 2 4 CORRIMUDATA CORRIMUDATAS Corrected IMU measurements The CORRIMUDATA S log contains the RAWIMU data corrected for gravity earth s rotation and accelerometer and gyroscope biases The values in this log are instantaneous incremental values in units of radians for the attitude rate and m s for the accelerations To get the full attitude rate and acceleration values you must multiply the values in the CORRIMUDATA S log by the data rate of your IMU in Hz The short header format CORRIMUDATAS is recommended as it is for all high data rate logs CORRIMUDATA S can be logged with the ONTIME trigger up to the full data rate of the IMU Since the CORRIMUDATA values are instantaneous if you log at a rate less than full data rate of the IMU you will receive the corrected IMU data at the epoch clos est to the requested time interval If your IMU is mounted with the z axis as marked on the enclosure pointed up the SPAN computation frame is the same as the IM
59. OM1 0 31 0 FINESTEERING 1264 144088 000 00040000 5615 1541 1264 144088 002284950 51 116827527 114 037738908 401 191547167 354 846489850 108 429407241 10 837482850 1 116219952 3 476059035 7 372686190 I1NS ALIGNMENT COMPLETE af719fd9 SPAN CPT User Manual Rev 6 121 2 18 INSPVAS Short INS Position Velocity and Attitude This is a short header version of the INSP VA log on page 121 122 Structure Message ID 508 Log Type Synch A Me Binary Binary Field Field Type Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds Seconds from week start Double 8 H 4 4 Latitude Latitude WGS84 Double 8 H 12 5 Longitude Longitude WGS84 Double 8 H 20 6 Height Ellipsoidal Height WGS84 m Double 8 H 28 7 North Velocity Velocity in a northerly direction a Double 8 H 36 ve value implies a southerly direction m s 8 East Velocity Velocity in an easterly direction a Double 8 H 44 ve value implies a westerly direction m s 9 Up Velocity Velocity in an up direction m s Double 8 H 52 10 Roll Right handed rotation from local Double 8 H 60 level around y axis in degrees 11 Pitch Right handed rotation from local Double 8 H 68 level around x axis in degrees 12 Azimuth Left handed rotation around z axis Double 8 H 76 Degrees clockwise from North 13 Status INS Status see Table 1 on page 39 Enum 4 H 84 14 xxxx 32 bit CRC Hex 88 15
60. ON_GOOD The INS filter is in navigation mode and the INS solution is good 6 INS_BAD_GPS_AGREEMENT The INS filter is in navigation mode and the GPS solution is suspected to be in error This may be due to multipath or limited satellite visibility The inertial filter has rejected the GPS position and is waiting for the solution quality to improve 7 INS_ALIGNMENT_COMPLETE The INS filter is in navigation mode but not enough vehicle dynamics have been experienced for the system to be within specifications SPAN CPT User Manual Rev 6 39 3 3 3 1 System Start Up and Alignment Techniques 40 The system requires an initial attitude estimate to start the navigation filter This is called system alignment On start up the system has no position velocity or attitude information When the system is first powered up the following sequence of events happens 1 The first satellites are tracked and coarse time is solved 2 Enough satellites are tracked to compute a position 3 Receiver fine time is solved meaning the time on board the receiver is accurate enough to begin timing IMU measurements The time status in the log headers will indicate FINESTEERING when this happens 4 Raw IMU measurements begin to be timed by the receiver and are available to the INS filter They are also available to you in the RAWIMUS log see RAWIMUS Short Raw IMU Data on pag
61. OV INS Covariance Matrices The position attitude and velocity matrices in this log each contain 9 covariance values with respect to the local level frame The attitude variables are given in the SPAN computational frame with respect to the local level variance about variance about PAN Frame X rotation Mum SPAN Frame Y rotation angie pien ex xy T angle roll yx YZ ZX zy variance about Z rotation angle azimuth or yaw and are displayed within the log output as XX XY XZ YX yy yZ Zx Zy ZZ These values are computed once per second and are only available after alignment See also Section 3 3 1 System Start Up and Alignment Techniques starting on page 40 Structure Message ID 264 Log Type Asynch Binary Binary Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Position Covariance Position covariance matrix in local List of 9 72 H 12 level frame Meters squared Doubles 5 Attitude Covariance Attitude covariance matrix in local List of 9 72 H 84 level frame Degrees squared Doubles rotation around the given axis 6 Velocity Covariance Velocity covariance matrix in local List of 9 72 H 156 level frame Meters second Doubles squared 7 XXxx 32 bit CRC ASCII Binary and Hex 4 H 228 Short Binary only 8 CR LF Sentence terminator ASC
62. SATT INS Attitude id eit eic dte spe needs 113 C 2 11 INSATTS Short INS Attitude a 114 SPAN CPT User Manual Rev 6 C 2 12 INSCOV INS Covariance Matrices 115 C 2 13 INSCOVS Short INS Covariance Log 117 2 14 INSPOS INS Positll l 118 C 2 15 INSPOSS Short INS Position u 119 C 2 16 INSPOSSYNC Time Synchronised INS Position 120 C 2 17 INSPVA INS Position Velocity and Attitude 121 2 18 INSPVAS Short INS Position Velocity and Attitude 122 2 19 INSSPD INS Speed u N enne ua h u tenente nennt 123 2 20 INSSPDS Short INS Speed a 124 2 21 INSUPDATE INS Update sse nennen 125 C 2 22 INSVE gt INS Velocity eicere rre enden Eee cese eode 127 C 2 23 INSVELS Short INS Velocity u 128 C 2 24 MARK1PVA Position Velocity and Attitude at Mark1 129 2 25 PASHR NMEA fix and position 2 26 RAWIMUS Short Raw IMU Data sese 2 27 TAGGEDMARNK 1 PVA 1 ane kien recte cen
63. SCII or Binary format Consider the lockout command refer to the OEMV Family Firmware Reference Manual with the syntax lockout prn You can put this command into the receiver to de weight an undesirable satellite in the solution or you can use the lockout command as log to see if there is a satellite PRN that has already been locked out In ASCII this might be log com1 lockouta once Notice the a after lockout to signify you are looking for ASCII output The highest rate that you should request GPS logs RANGE BESTPOS RTKPOS PSRPOS and so on while in INS operation is 5 Hz If the receiver is not running INS GPS logs can be requested at rates up to 20 Hz depending on the software model Ensure that all windows other than the Console are closed in NovAtel Connect and then use the SAVECONFIG command to save settings in NVM Otherwise unnecessary data logging occurs and may overload your system 2 INS Specific Commands Please refer to the OEMV Family Firmware Reference Manual for a complete list of commands categorized by function and then detailed in alphabetical order SPAN CPT User Manual Rev 6 62 B 2 1 ALIGNMENTMODE Set the Alignment Mode Abbreviated ASCII Syntax Message ID 1214 ALIGNMENTMODE mode Field ASCII Binary a Binary Binary Binary Eel Type Value Value Description Format Bytes Offset 1 header This field contains H 0 the command name or the message header depe
64. SPAN computations You must enter the angles in SETINITATTITUDE with respect to the transformed axis See SETIMUORIENTATION for a description of the axes mapping that occurs when the IMU is mounted differently from z up 1 Azimuth is positive in a clockwise direction when looking towards the z axis origin 2 You do not have to use the SETIMUORIENTATION command see page 77 unless you have your SPAN CPT mounted with the z axis not pointing up Then use the tables in the SETIMURIENTATION command on Pages 78 79 to determine the azimuth axis that SPAN is using Abbreviated ASCII Syntax Message ID 862 SETINITATTITUDE pitch roll azimuth pitchSTD rollSTD azSTD SPAN CPT User Manual Rev 6 ASCII Binary Binary Binary Binary Value Value Format Bytes Offset Field Field Type Description 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 pitch 360 to 4360 Put pitch angle about the Double 8 H axis in degrees 3 roll 360 to 360 Hputrolangle about the Double 8 Hs 8 axis in degrees 4 azimuth 360 360 Hputazimuth angle about the Double 8 H 16 z axis in degrees Input pitch standard deviation 5 pitchSTD STD angle in degrees Double 8 H 24 0 000278 to 180 6 rollSTD default 1 Input roll STD an
65. STLEVERARM BESTLEVERARM2 IMU to Antenna Lever Arm The BESTLEVERARM log contains the distance between the IMU s centre of navigation and the primary GPS antenna phase centre in the IMU enclosure frame and its associated uncertainties If the you enter the lever arm through the SETIMUTOANTOFFSET command shown on page 60 these values are reflected in this log The BESTLEVERARM2 log contains the distance between the IMU s centre of navigation and the secondary GPS antenna phase centre in the IMU enclosure frame Currently the secondary lever arm cannot be calibrated so must be entered using the SETIMUTOANTOFFSET2 command The values in the BESTLEVERARM and BESTLEVERARM2 logs are also available MUTOANTOFFSETS IMU to Antenna s Lever Arm on page 110 The default X pitch Y roll and Z azimuth directions of the IMU enclosure frame are clearly marked on the IMU see Figure 39 on page 155 Structure BESTLEVERARM Message ID 674 BESTLEVERARM2 Message ID 1256 Log Type Asynch Field Field Type Description Format Bytes Offset 1 Log Header Log Header H 0 2 X Offset IMU Enclosure Frame m Double 8 H 3 Y Offset IMU Enclosure Frame m Double 8 H 8 4 Z Offset IMU Enclosure Frame m Double 8 H 16 5 X Uncertainty IMU Enclosure Frame m Double 8 H 24 6 Y Uncertainty IMU Enclosure Frame m Double 8 H 32 7 Z Uncertainty IMU Enclosure Frame m Double 8 H 40 8 iMapping See Table 33 Full
66. T system To run the SPAN CPT system software your personal computer must meet or exceed this minimum configuration Microsoft Windows user interface Windows 2000 or higher Pentium Microprocessor or faster recommended Display Windows compatible mouse or pointing device Although previous experience with Windows is not necessary to use the SPAN CPT system software familiarity with certain actions that are customary in Windows will assist in the usage of the program This manual has been written with the expectation that you already have a basic familiarity with Windows SPAN CPT User Manual Rev 6 Chapter 1 Introduction 23 Figure 2 SPAN CPT System NovAtel s SPAN CPT technology brings together two very different but complementary positioning and navigation systems namely GPS and an Inertial Navigation System INS By combining the best aspects of GPS and INS into one system SPAN technology is able to offer a solution that is more accurate and reliable than either GPS or INS could provide alone The combined GPS INS solution has the advantage of the absolute accuracy available from GPS and the continuity of INS through traditionally difficult GPS conditions GPS positioning observes range measurements from orbiting Global Positioning System Satellites From these observations the receiver can compute position and velocity with high accuracy NovAtel GPS positioning systems have been established as highly ac
67. TATTITUDE Set Initial Attitude of SPAN in Degrees 82 B 2 18 SETINITAZIMUTH Set Initial Azimuth and Standard Deviation 84 2 19 SETINSOFFSET Set INS Offset a 86 B 2 20 SETMARK1OFFSET Set Mark1 Offset 87 2 21 SETWHEELPARAMETERS Set Wheel Parameters 88 B 2 22 TAGNEXTMARK erie e E ve gae 89 B 2 23 VEHICLEBODYROTATION Vehicle to SPAN frame Rotation 90 C INS Logs 93 C 1 Description of ASCII and Binary Logs with Short Headers 94 C 2 INS Specific L0gs i intere eae ee ih ge ete E Ep e ete e ens 95 C 2 1 BESTGPSPOS Best GPS Position seen 96 C 2 2 BESTGPSVEL Best Available GPS Velocity Data 100 C 2 3 BESTLEVERARM BESTLEVERARM2_ IMU to Antenna Lever Arm 102 C 2 4 CORRIMUDATA CORRIMUDATAS Corrected IMU measurements 103 C 2 5 EXTHDGOFFSET Log the Angular 105 2 6 GPHDT NMEA Heading Log seen 106 C 2 7 HEADING Heading Information 107 C 2 8 HEAVE eat E 109 C 2 9 IMUTOANTOFFSETS IMU to Antenna s Lever Arm 110 C 2 10 IN
68. TY AND FITNESS FOR A PARTICULAR PURPOSE NOVATEL SHALL IN NO EVENT BE LIABLE FOR SPECIAL INDIRECT INCIDENTAL OR CONSEQUENTIAL DAMAGES OF ANY KIND OR NATURE DUE TO ANY CAUSE Purchaser s exclusive remedy for a claim under this warranty shall be limited to the repair or replacement at NovAtel s option and at NovAtel s facility of defective or nonconforming materials parts or components or in the case of software provision of a software revision for implementation by the Buyer All material returned under warranty shall be returned to NovAtel prepaid by the Buyer and returned to the Buyer prepaid by NovAtel The foregoing warranties do not extend to i nonconformities defects or errors in the Products due to accident abuse misuse or negligent use of the Products or use in other than a normal and customary manner environmental conditions not conforming to NovAtel s specifications or failure to follow prescribed installation operating and maintenance procedures ii defects errors or nonconformities in the Products due to modifications alterations additions or changes not made in accordance with NovAtel s specifications or authorized by NovAtel iii normal wear and tear iv damage caused by force of nature or act of any third person v shipping damage vi service or repair of Product by the Purchaser without prior written consent from NovAtel vii Products designated by NovAtel as beta site test samples SPAN CPT User Ma
69. This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 Target See Table 9 What data is to be reset Enum 4 H by the receiver Field Description Input Example FRESET COMMAND Table 9 FRESET Target Binary ASCII Description 0 STANDARD Resets commands ephemeris and almanac default Also resets all OmniSTAR related data except for the subscription information 1 COMMAND Resets the stored commands saved configuration 2 GPSALMANAC Resets the stored almanac 3 GPSEPHEM Resets stored ephemeris 5 MODEL Resets the currently selected model 11 CLKCALIBRATION Resets the parameters entered using the CLOCKCALIBRATE command 20 SBASALMANAC Resets the stored SBAS almanac 21 LAST_POSITION Resets the position using the last stored position 22 VEHICLE_BODY_R Resets stored vehicle to body rotations 24 INS_LEVER_ARM Resets the GPS antenna to IMU lever arm 68 SPAN CPT User Manual Rev 6 2 6 INSCOMMAND INS Control Command This command allows you to enable or disable INS positioning When INS positioning is disabled no INS position velocity or attitude is output Also INS aiding of initialization and tracking reacquisition is disabled If the command is used to disable INS and then re enable it the INS system has to go through its
70. U enclosure frame The x y and z axes referenced in this log are of the SPAN computational frame by default For more information on how the SPAN computational frame relates to the IMU enclosure frame see Section 3 1 page 31 and the SETIMUORIENTATION command on page 77 If the APPLY VEHICLEBODYROTATION command has been enabled see page 63 the values in CORRIMUDATA S logs will be in the vehicle frame not the SPAN computation frame Message ID 812 and 813 Log Type Synch Recommended Input log corrimudatab ontime 0 01 Example log CORRIMUDATASA 1581 341553 000 1581 341552 997500000 0 000000690 0 000001549 0 000001654 0 000061579 0 000012645 0 000029988 770c6232 SPAN CPT User Manual Rev 6 103 104 Field Field Type Description Format Offset 1 Log Header Log header 0 2 Week GPS week ULONG H 3 Seconds GPS seconds from week DOUBLE H 4 start 4 PitchRate About x axis rotation DOUBLE H 12 5 RollRate About y axis rotation DOUBLE H 20 6 YawRate About z axis rotation Right DOUBLE H 28 Handed 7 LateralAcc INS Lateral Acceleration DOUBLE H 36 along x axis 8 LongitudinalAcc INS Longitudinal DOUBLE H 44 Acceleration along y axis 9 VerticalAcc INS Vertical Acceleration DOUBLE H 52 along z axis 10 XXXX 32 bit CRC HEX H 56 11 CR LF Sentence Terminator ASCII only SPAN CPT User Manual Rev 6 C 2 5 EXTHDGOFFSET Log the Angular O
71. Uchar 1 H 67 angle 19 Reserved Uchar 1 H 68 20 Uchar 1 H 69 21 Uchar 1 H 70 22 Uchar 1 H 71 23 32 bit CRC ASCII and Binary only Hex 4 H 72 24 CR LF Sentence terminator ASCII only Recommended Input log bestgpsposa ontime 1 ASCII Example BESTGPSPOSA COM1 0 62 5 FINESTEERING 1036 484878 000 00000028 63e2 0 SOL COMPUTED SINGLE 51 11629893124 114 03820302746 1052 3434 16 271287293 61 19 6934 13 1515 23 8561 0 0 60 000 10 10 0 0 0 0 0 0 1051ada9 Table 14 Position or Velocity Type pe ASH A Description 0 NONE No solution 1 FIXEDPOS Position has been fixed by the FIX POSITION command or by position averaging 2 FIXEDHEIGHT Position has been fixed by the FIX HEIGHT or FIX AUTO command or by position averaging 3 Reserved 4 FLOATCONV Solution from floating point carrier phase ambiguities 5 WIDELANE Solution from wide lane ambiguities 6 NARROWLANE Solution from narrow lane ambiguities 7 Reserved 8 DOPPLER VELOCITY Velocity computed using instantaneous Doppler 9 15 Reserved Continued on next page SPAN CPT User Manual Rev 6 97 98 Position Type Position Type binary ASCII Description 16 SINGLE Single point position 17 PSRDIFF Pseudorange differential solution 18 WAAS Solution calculated using corrections from an SBAS 19 PROPOGATED Propagated by
72. Uncertainty of Z rotation degrees Double 8 H 40 default 0 8 XXXX 32 bit CRC Hex 4 H 48 9 CR LF Sentence terminator ASCII only 92 Abbreviated ASCII Example VEHICLEBODYROTATION 0 0 90 O O 5 SPAN CPT User Manual Rev 6 PY ge INS Logs The INS specific logs follow the same general logging scheme as normal OEMV Family logs They are available in ASCII or binary formats and are defined as being either synchronous or asynchronous All the logs in this chapter can be used only with the SPAN system For information on other available logs and output logging please refer to the OEMV Family Firmware Reference Manual One difference from the standard OEMV Family logs is that there are two possible headers for the ASCII and binary versions of the logs Which header is used for a given log is described in the log definitions in this chapter The reason for having the alternate short headers is that the normal OEMV binary header is quite long at 28 bytes This is nearly as long as the data portion of many of the INS logs and creates excess storage and baud rate requirements Note that the INS related logs contain a time tag within the data block in addition to the time tag in the header The time tag in the data block should be considered the exact time of applicability of the data All the described INS logs except the INSCOV INSPOSSYNC and INSUPDATE logs can be obtained at rates up to 100 Hz
73. able 15 Solution Status Binary ASCII Description 0 SOL_COMPUTED Solution computed 1 INSUFFICIENT_OBS Insufficient observations 2 NO_CONVERGENCE No convergence 3 SINGULARITY Singularity at parameters matrix 4 COV_TRACE Covariance trace exceeds maximum trace gt 1000 m 5 TEST_DIST Test distance exceeded maximum of 3 rejections if distance gt 10 km 6 COLD_START Not yet converged from cold start 7 V_H_LIMIT Height or velocity limits exceeded in accordance with COCOM export licensing restrictions 8 VARIANCE Variance exceeds limits 9 RESIDUALS Residuals are too large 10 DELTA_POS Delta position is too large 11 NEGATIVE_VAR Negative variance 12 Reserved 13 INTEGRITY_WARNING Large residuals make position unreliable 17 IMU_UNPLUGGED No IMU detected 18 PENDING When a FIX POSITION command is entered the receiver computes its own position and determines if the fixed position is valid 19 INVALID_ FIX The fixed position entered using the FIX POSITION command is not valid a PENDING implies there are not enough satellites being tracked to verify if the FIX POSITION entered into the receiver is valid The receiver needs to be tracking two or more GPS satellites to perform this check Under normal conditions you should only see PENDING for a few seconds on power up before the GPS receiver has locked onto its first few satellites If your antenna is obstructed or no
74. ach installation according to the axis defined on the SPAN CPT enclosure See Appendix A Technical Specifications 28 SPAN CPT User Manual Rev 6 SPAN CPT Installation Chapter 2 1 The closer the antenna is to the SPAN CPT the more accurate the position solution Also your measurements when using the SETIMUTOANTOFFSET command must be as accurate as possible or at least more accurate than the GPS positions being used For example a 10 cm error in recording the antenna offset will result in at least a 10 cm error in the output Millimeter accuracy is preferred 2 The offset from the SPAN CPT to the antenna and or a user point device must remain con stant especially for RTK or DGPS data Ensure the SPAN CPT antenna and user point device are bolted in one position perhaps by using a custom bracket 2 2 3 Connect COM Cables SPAN CPT has one multi purpose I O connector that contains pins for the RS232 com ports USB ports PPS signals and event input triggers Refer to Appendix A for port pin definitions 3 Connect the USB port of the SPAN CPT to a computer USB port Alternatively connect the COM 1 port of the SPAN CPT to the computer COM port via a null modem cable 4 Connect the antenna to the antenna port on the enclosure using an appropriate coaxial cable Figure 7 Connect the antenna to the antenna port 2 2 4 Connect Power The SPAN CPT system receiver requires an input supply voltage between 9 VDC and
75. alignment procedure equivalent to issuing a RESET command See also Section 3 3 1 System Start Up and Alignment Techniques starting on page 40 Abbreviated ASCII Syntax INSCOMMAND action Field Field Type 1 Header ASCII Value Binary Value Description This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively Message ID 379 Binary Binary Binary Offset Format Bytes H 0 2 Action RESET Resets the GPS INS alignment and restarts the alignment initialization DISABLE ENABLE Disables INS positioning Enables INS positioning where alignment initialization starts again default Enum Abbreviated ASCII Example INSCOMMAND ENABLE SPAN CPT User Manual Rev 6 69 B 2 7 INSPHASEUPDATE INS Phase Update Control 70 This command allows you to control the INS phase updates When enabled raw GPS phase measurements are used to control errors in the inertial filter In a typical INS GPS integration GPS positions are used to control inertial drifts Some features of phase updates include updates can be performed even when too few satellites are available to compute a GPS solution as few as 2 satellites must be in view to perform a precise update System performance is significantly improved in conditions challenging to GPS such as urban c
76. ample NMEATALKER AUTO This command only affects NMEA logs that are capable of a GPS position output For example GPGS V is for information on GPS satellites and its output always uses the GP ID Table 10 shows the NMEA logs and whether they use GP or GP IN IDs with nmeatalker auto Table 10 NMEA Talkers GPGLL GPGST GPRMB GPRMC GPVTG Log Talker IDs GP IN GP IN GP IN GP IN GP IN Field ASCII Binary Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 NMEA This field contains the command H 0 TALKER name or the message header header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 ID GP 0 GPS GP only Enum 4 H AUTO 1 GPS and or Inertial IN SPAN CPT User Manual Rev 6 73 B 2 11 RVBCALIBRATE Vehicle to Body Rotation Control The RVBCALIBRATE command is used to enable or disable the calculation of the vehicle to SPAN body angular offset This command should be entered when the SPAN CPT 15 re mounted in the vehicle or if the rotation angles available are known to be incorrect After the RVBCALIBRATE ENABLE command is entered there are no vehicle body rotation parameters present kinematic alignment is possible Therefore this command should only be entered after the system has performed either a static or kinematic alignment and has a
77. anyons and foliage Abbreviated ASCII Syntax Message ID 639 INSPHASEUPDATE switch Field ASCII Binary PENE Binary Binary Binary Value Value Description Format Bytes Offset 1 Header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 Switch DISABLE 0 Disable INS delta phase Enum 4 H updates ENABLE 1 Enable INS delta phase updates default Abbreviated ASCII Example INSPHASEUPDATE ENABLE SPAN CPT User Manual Rev 6 B 2 8 INSZUPT Request Zero Velocity Update This command allows you to manually perform a Zero Velocity Update ZUPT that is to update the receiver when the system has stopped NovAtel s SPAN Technology System does ZUP Ts automatically It is not necessary to use this command under normal circumstances This command should only be used by advanced users of GPS INS Abbreviated ASCII Syntax Message ID 382 INSZUPT SPAN CPT User Manual Rev 6 71 29 INSZUPTCONTROL INS Zero Velocity Update Control This command allows you to control whether ZUPTs are performed by the system When enabled ZUPTs allow the INS to reduce its accumulated errors Typically the system will automatically detect when it is stationary and apply a ZUPT For certain applications where it is known that the system will never be stationary such
78. ble 5 meters GPS C006 15 meters GPS C016 SPAN CPT User Manual Rev 6 141 Frequently Asked Questions 142 Why dont I hear any sound from my SPAN CPT a The SPAN CPT does not make noise Check that the multi purpose I O cable is connected properly b Check the input power supply A minimum of 12V should be supplied to the system for stable SPAN CPT performance The supply should also be able to output at least 12W over the entire operating temperature range Why dont I have any INS logs On start up the INS logs are not available until the system has solved for time This requires that an antenna is attached and satellites are visible to the system You can verify that time is solved by checking the time status in the header of any standard header SPAN log such as BESTPOS When the time status reaches FINESTEERING the inertial filter starts and INS messages are available How can I access the inertial solution The INS GPS solution is available from a number of specific logs dedicated to the inertial filter The INSPOS INSPVA INSVEL INSSPD and INSATT logs are the most commonly used logs for extracting the INS solution These logs can be logged at any rate up to the rate of the IMU data 100 Hz Further details on these logs are available in Appendix C INS Logs starting on Page 65 Can I still access the GPS only solution while running SPAN The GPS only solution used when running the OEMV receiver without
79. ch 1 Hz maximum Data Binary Binary Binary Elle Field Type ASCIhValue Value Description Format Bytes Offset 1 Log Log header H 0 Header 2 Solution See Table 14 on page 97 Type of GPS Enum 4 H Type solution used for the last update 3 Reserved Long 4 H 4 4 Phase 0 to maximum GPS L1 channels 1 Number of Long 4 H 8 raw phase observations used in the last INS filter update 5 Reserved Long 4 H 12 6 ZUPT True False A zero Boolean 4 H 16 velocity update was performed during the last INS filter update 7 Wheel See Table 16 on page 126 Status of a Enum 4 H 20 Status wheel sensor during the last INS filter update 8 HEADING See Table 17 on page 126 Status of the Enum H 24 8 NAQA heading E update during the last INS update Recommended Input log insupdate onchanged ASCII Example INSUPDATEA FILE 0 0 0 FINESTEERING 1549 165116 006 00000000 4289 0 SINGLE 0 0 0 FALSE WHEEL SENSOR INACTIVE HEADING UPDATE USED 5al6ecba SPAN CPT User Manual Rev 6 125 126 The Heading Update enums shown when When the heading updates are running but the epoch is not used as an update then it will be marked HEADING UPDATE ACTIVE When all other rejection criteria pass a heading update will still only be applied once every 5 seconds 20 seconds when stationary HEADING UPDATE HIGH ROTATION means the last 1 second recorded a turn of over 5 degrees second
80. commended Input log headinga onchanged ASCII Example HEADINGA COM1 0 77 0 FINESTEERING 1481 418557 000 00000000 3663 36137 SOL COMPUTED L1_INT 5 913998127 75 566444397 0 152066842 0 0 0 104981117 0 222061798 AAAA 13 10 10 0 0 00 0 11 481a5bab SPAN CPT User Manual Rev 6 107 Field Field Binary Binary Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 VERSION log section of the OEMV Firmware Manua Enum 4 Position type see the Position or Velocity Type table in 3 pos type the VERSION log section of the OEMV Firmware Enum 4 H 4 Manual 4 length Baseline length m Float 4 H 8 5 heading Heading in degrees 0 to 360 0 degrees Float 4 H 12 6 pitch Pitch 90 degrees Float 4 H 16 7 Reserved Float 4 H 20 8 hdg std dev Heading standard deviation in degrees Float 4 H 24 9 ptch std dev Pitch standard deviation in degrees Float 4 H 28 10 stn ID Station ID string Char 4 4 H 32 11 SVs Number of observations tracked Uchar 1 H 36 12 solnSVs Number of satellites in solution Uchar 1 H 37 13 obs Number of satellites above the elevation mask angle Uchar 1 H 38 14 multi Number of satellites above the mask angle with L2 Uchar 1 H 39 15 Reserved Uchar 1 H 40 Extended solution status see the Extended Solution 16 ext sol stat Status table in the VERSION log section of the OEMV Uchar 1 H 41 Fi
81. curate positioning tools however GPS in general has some significant restrictions which limit its usefulness in some situations GPS positioning requires line of site view to at least four satellites simultaneously If these criteria are met differential GPS positioning can be accurate to within a few centimetres If however some or all of the satellite signals are blocked the accuracy of the position reported by GPS degrades substantially or may not be available at all An INS uses forces and rotations measured by an IMU to calculate position velocity and attitude This capability is embedded in the firmware of the SPAN CPT Forces are measured by accelerometers in three perpendicular axes within the IMU and the gyros measure angular rotation rates around those axes Over short periods of time inertial navigation gives very accurate acceleration velocity and attitude output The INS must have prior knowledge of its initial position initial velocity initial attitude Earth rotation rate and gravity field Since the IMU measures changes in orientation and acceleration the INS determines changes in position and attitude but initial values for these parameters must be provided from an external source Once these parameters are known an INS is capable of providing an autonomous solution with no external inputs However because of errors in the IMU measurements that accumulate over time an inertial only solution degrades with time unless external
82. d Input log wheelsizea onnew ASCII Example WHEELSIZEA COM3 0 44 0 EXACT 0 0 000 00000000 85 8 33738 1 025108123 2 009211922 0 000453791 157 d50b SPAN CPT User Manual Rev 6 137 Command Prompt Interface When the SPAN system turns on no activity information is transmitted from the serial ports except for the port prompt A terminal connected to the receiver display a messages on its monitor For example COMI if connected to COMI port The COM port can be COMI COM2 USBI USB2 or USB3 Commands are typed at the interfacing terminal s keyboard and sent after pressing the terminal s lt gt or Enter key that they have been accepted 15 a return of the port prompt from the receiver Most valid commands do produce a visible response on the screen The indication Example An example of no echo response to an input command is the SETIMUTOANTOFFSET command It can be entered as follows COM2 setimutoantoffset 33 0 1 1 2 0 01 0 01 0 01 Return COM2 The above example illustrates command input to the receiver serial port which sets the antenna to IMU offset However your only confirmation that the command was actually accepted is the return of the COM2 prompt If a command is incorrectly entered the receiver responds with Invalid Command Name or a more detailed error message followed by the port prompt 138 SPAN CPT User Manual Rev 6 D 1 DOS One way to
83. e kbps See Table 8 on page 66 Enum H 8 5 Base 0 to 65535 0x0000 to OxFFFF Base address Refer to application note APN 046 for further information Ulong H 12 mask 0 to 65535 0x0000 to OxFFFF Transmit activation mask Refer to application note APN 046 for further information Ulong H 16 7 Source INSGPS GPS CAN source from either the INS GPS solution of the GPS only solutions Enum H 20 Abbreviated ASCII Example CANCONFIG CAN1 SPAN CPT User Manual Rev 6 ENABLE 1M 1000 3 INSGPS 65 66 Table 8 CAN Bit Rate per second Binary ASCII 0 10 20K 50K 100K 125K 250K 500K O 0 BI O NI gt 800K 1M SPAN CPT User Manual Rev 6 B 2 4 EXTHDGOFFSET Set the Angular Offset The EXTHDGOFFSET command can be used to specify the angular offset from the dual antenna baseline to the SPAN computation frame It is highly recommended that these offsets be entered by entering a lever arm to both antennas as the measurement errors will be lower see Section 4 4 Configuring SPAN with ALIGN on SPAN CPT on page 51 However this command can be used to enter the offsets directly if necessary D EXTHDGOFFSET is also available as a log when both lever arms are entered Refer to Section C 2 5 EXTHDGOFFSET Log the Angular Offset on page 105
84. e 131 The INS Status field reports INS INACTIVE 5 inertial alignment routine starts and the INS Status field reports INS ALIGNING At this point there are three options for completing the alignment See the following sections for the options 6 Alignment is complete and the INS Status field changes to INS ALIGNMENT COMPLETE The system transitions to navigation mode The GPS INS solution is available at this point 7 The solution is refined using updates from GPS Once the system is operating within specifications after some vehicle movement the INS Status field changes to INS SOLUTION GOOD This indicates that the estimated azimuth standard deviation is below 2 If it increases above 2 the status changes to INS SOLUTON NOT GOOD 3 3 1 1 Default Kinematic Alignment The Fast or Kinematic alignment is the default alignment routine for SPAN CPT If the system is mounted as recommended with the Z axis pointing up and the Y axis aligned with the forward direction of the vehicle then no additional configuration is required to complete a moving alignment Once the INS status reaches INS ALIGNING the moving alignment will happen once the vehicle velocity reaches 1 15m s 4km h and the INS status will change to INS ALIGNMENT COMPLETE The moving alignment transfers the GPS course over ground pitch and azimuth to the attitude of the IMU This alignment routine is best suited for ground vehicles where the direction of trave
85. e 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 Re orient 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 the limits of a Class B digital device it is required v 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 result in violation of FCC Industry Canada and CE Marking rules and void the user s authority to operate this equipment CE Notice The enclosures carry the CE mark Hereby NovAtel Inc declares that this SPAN CPT is in compliance with the essential requirements and other relevant provisions of Directive 1999 5 EC SPAN CPT User Manual Rev 6 Notices WEEE Notice If you purchased your SPAN CPT product in Europe please return
86. e is the same as what is marked on the enclosure If the SPAN CPT is mounted in another way SPAN transforms the SPAN frame axes such that z points up for SPAN computations You must enter the azimuth with respect to the transformed axis See SETIMUORIENTATION on page 77 for a description of the axes mapping that occurs when the SPAN CPT is mounted differently from z pointing up 1 Azimuth is positive in a clockwise direction when looking towards the z axis origin 2 You do not have to use the SETIMUORIENTATION command see page 77 unless you have your SPAN CPT mounted differently from the z axis pointing up Then use the tables in the SETIMURIENTATION command on pages 78 79 to determine the azimuth axis that SPAN is using Abbreviated ASCII Syntax Message ID 863 SETINITAZIMUTH azimuth azSTD SPAN CPT User Manual Rev 6 ASCII Binary Binary Binary Binary Description Format Bytes Offset Value Value 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 azimuth 360 to 360 Input azimuth angle in Double 8 H degrees 3 azSTD 0 000278 to 180 Input azimuth standard Double 8 H 8 deviation angle in degrees Abbreviated ASCII Example SETINITAZIMUTH 90 5 In this example the initial azimuth has been set to 90 degrees This means that the SPAN sy
87. e quality If you wish to guarantee a specific technique is used or use an aided static alignment the alignment mode must be selected manually No additional configuration 1s 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 will be of the greatest value with lower quality IMUs and in environments with low dynamics where the attitude error is less observable Slow moving marine or train applications are good examples of the intended use By providing an external heading source the solution drift can be constrained in these environments You can monitor the heading update status as outlined in INSUPDATE on page 125 SPAN CPT User Manual Rev 6 10 D uw Technical Specifications This appendix details the technical specifications of the SPAN CPT 1 SPAN CPT Technical Specifications Table 5 Technical HW Specs for SPAN CPT SPAN CPT Enclosure Size 152 0 mm L X 168 0 mm W X 89 0 mm H SPAN CPT Weight 2 36 kg MECHANICAL DRAWINGS Y X C dow 1 22 EE az N 51 13 0 l 30 9 3 39 ra 4x 86 1 03 8 Note All dimensions are in inches mm 6 00 152 4 gt Figure 15 SPAN CPT Side and Perspective View SPAN CPT Us
88. e raw IMU observations contained in these logs are sequential changes in velocity and rotation As such you can only use them for navigation if they are logged at their full rate See details of these log starting on see RAWIMUS Short Raw IMU Data on page 131 In order to collect wheel sensor information useful in post processing the TIMEDWHEELDATA log should only be used with the ONNEW trigger SPAN CPT User Manual Rev 6 47 Chapter 3 SPAN CPT Operation 3 5 Data Collection for Post Processing Some operations such as aerial measurement systems do not require real time information from SPAN CPT These operations are able to generate the position velocity or attitude solution post mission in order to generate a more robust and accurate solution than is possible in real time In order to generate a solution in post processing data must be simultaneously collected at a base station and each rover The following logs must be collected in order to successfully post process data From a base RANGECMPB 1 RAWEPHEMB ONCHANGED BESTPOSB ONTIMEI optional From a rover e RANGECMPB ONTIME 1 e RAWEPHEMB ONCHANGED RAWIMUSB ONNEW BESTLEVERARMB ONNEW optional BESTPOSB ONTIME 1 optional Post processing is performed through the Waypoint Inertial Explorer software package available from from NovAtel s Waypoint Products Group For information visit our Web site at www novatel com through Products
89. e 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 also Figure 1 Primary and Secondary Lightning Protection on the following page Ref Figure 1 Primary and Secondary Lightning Protection Description Ref Description Primary lightning protection device 4 GNSS Receiver Secondary lightning protection 5 To ground device External antenna 6 Grounding plate or grounding point at the building s entrance SPAN CPT User Manual Rev 6 19 20 Notices Acceptable choices for Earth Grounds for central buildings are e Grounded interior metal cold water pipe within five feet 1 5 m of the point where it enters the building e Grounded metallic service raceway e Grounded electrical service equipment enclosure Eight foot grounding rod driven into the ground only if bonded to the central building ground by 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 o
90. ed ASCII ASCII or binary respectively 2 switch 0 0 IMU determines axis ENUM 4 H orientation automatically during coarse alignment default 1 1 IMU X axis is pointing UP 2 2 IMU X axis is pointing DOWN 3 3 IMU Y axis is pointing UP 4 4 IMU Y axis is pointing DOWN 5 5 IMU Z axis is pointing UP 6 6 IMU Z axis is pointing DOWN Abbreviated ASCII Example SETIMUORIENTATION 1 78 SPAN CPT User Manual Rev 6 Table 11 Full Mapping Definitions SPAN Frame Mapping Axes SPAN Frame IMU Enclosure Frame Axes IMU Enclosure Frame 5 default Z SPAN CPT User Manual Rev 6 79 B 2 15 SETIMUTOANTOFFSET Set IMU to Antenna Offset 80 It is recommended that you mount the SPAN CPT as close as possible to the GPS antenna particularly in the horizontal plane This command 15 used to enter the offset between the SPAN CPT and the GPS antenna The measurement should be done as accurately as possible preferably to within millimeters especially for RTK operation The x y and z fields represent the vector from the SPAN CPT to the antenna phase center in the IMU enclosure frame The a b and c fields allow you to enter any possible errors in your measurements If you think that your x offset measurement is out by a centimeter for example enter 0 01 in the a field The X pitch Y roll
91. ed Re reges 28 2 2 2 Mount SPANECP T a creed E T 28 2 2 3 Connect COM Cables uu p u n n a 29 2 2 4 Connect POWer u u u h eee Waid Ae heel eles 29 3 SPAN CPT Operation 31 3 1 Definition of Reference Frames Within SPAN ene 31 3 1 1 The Local Level Frame ENU 31 3 1 2 The SPAN Body Frame ener enn terr nnne nn 32 3 1 3 The Enclosure Fraime sich cis eni ere iet icta re tet dee 33 3 1 4 The Vehicle Frame sssssssssssesssseese eene nemen ener teres 33 3 2 Communicating with the SPAN CPT System 34 3 2 1 SPAN CPT Configuration with NovAtel Connect 35 3 2 2 INS Window in NovAtel Connect eene enne 36 3 2 3 SPAN CPT Configuration using Command Line 37 3 3 Real Time Operation 2 2 cip eger Ue Doe e ade je dp wae 38 3 3 1 System Start Up and Alignment Techniques sss 40 3 3 2 Navigation u a u N S TE 41 3 3 3 Vehicle to SPAN CPT Frame Angular Offsets Calibration Routine 42 3 3 4 SPAN CPT Wheel Sensor 43 3 4 Da
92. ees squared Doubles example rotation around the given axis XX XY XZ YX VY YZ ZX ZY ZZ 6 Velocity Covariance Velocity covariance matrix in local List of 9 72 H 156 level frame Meters second Doubles squared XX XY XZ YX VY YZ ZX ZY ZZ 7 XXXX 32 bit CRC ASCII Binary and Hex 4 H 228 Short Binary only 8 CR LF Sentence terminator ASCII only Recommended Input SPAN CPT User Manual Rev 6 log inscovsa onchanged ASCII Example INSCOVSA 1105 425385 020 1105 425385 000000000 0 0997319969301073 0 0240959791179416 0 0133921499963209 0 0240959791179416 0 1538605784734939 0 0440068023663888 0 0133921499963210 0 0440068023663887 0 4392033415009359 0 0034190251365443 0 0000759398593357 0 1362852812808768 0 0000759398593363 0 0032413999569636 0 0468473344270137 0 1362852812808786 0 0468473344270131 117 5206493841025100 0 0004024901765302 0 0000194916086028 0 0000036582459112 0 0000194916086028 0 0004518869575566 0 0000204616202028 0 0000036582459112 0 0000204616202028 0 0005095575483948 1 c92787 117 C 2 14 INSPOS INS Position This log contains the most recent position measurements in WGS84 coordinates and includes an INS status indicator The log reports the position at the IMU centre unless you issue the SETINSOFFSET command see page 86 Structure Message ID 265 Log Type Synch Binary Binary Field Field Type Data Description Format
93. el sensor is connected to the system wheel displacement updates are also used in the filter 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 Three to five changes in heading should be sufficient to resolve the heading accuracy The INS Status field changes to INS SOLUTION GOOD once convergence is complete If the attitude accuracy decreases the INS Status field changes to INS SOLUTION NOT GOOD When the accuracy converges again the INS status continues as INS SOLUTION GOOD SPAN CPT User Manual Rev 6 41 3 SPAN CPT Operation 3 33 Vehicle to SPAN CPT Frame Angular Offsets Calibration Routine Kinematic fast alignment requires that the angular offset between the vehicle and the SPAN CPT frame is known approximately If the angles are simple that is a simple rotation about one axis the values can easily be entered manually through the VEHICLEBODYROTATION command see page 90 If the angular offset is more complex rotation is about 2 or 3 axis then the calibration routine may provide a more accurate estimation of the values The steps for the calibration routine are 1 Apply power to the SPAN CPT see the SPAN CPT Technical Specifications starting on page 53 2 Configure the SPAN CPT see SPAN CPT Configuration with NovAtel Connect on page 35 3
94. elay in furnishing the Software or any other performance under this Agreement c NovAtel s entire liability and your exclusive remedies for our liability of any kind including lia bility for negligence for the Software covered by this Agreement and all other performance or non performance by NovAtel under or related to this Agreement are to the remedies specified by this Agreement 9 Governing Law This Agreement is governed by the laws of the Province of Alberta Canada Each of the parties hereto irrevocably attorns to the jurisdiction of the courts of the Province of Alberta 10 Customer Support For Software UPDATES and UPGRADES and regular customer support contact the NovAtel GPS Hotline at 1 800 NOVATEL U S or Canada only or 403 295 4900 Fax 403 295 4901 e mail to support novatel ca website http www novatel com or write to NovAtel Inc Customer Service Dept 1120 68 Avenue NE Calgary Alberta Canada T2E 8S5 SPAN CPT User Manual Rev 6 9 Terms and Conditions 10 Standard Terms and Conditions of Sales 1 PRICES All prices are Firm Fixed Price FCA 1120 68th Avenue N E Calgary Alberta All prices include standard commercial packing for domestic shipment All transportation insurance special packing costs and expenses and all Federal provincial and local excise duties sales and other similar taxes are the responsibility of the Purchaser 2 PAYMENT Terms are prepayment unless otherwise
95. er Manual Rev 6 53 Figure 16 SPAN CPT Top Front Bottom View 5 68 144 2 eas Pe ee e i WS EG EE circ Ju d uU 5 01 127 3 j i ib i TR 86 1 y ped 4 FS ERE 2 p S venio 4 55 115 5 044861 40 9 un ni 88 9 71 6 1 22 1 65 30 9 41 8 4 55 115 5 6 66 27 002 1693 ax 4X MOUNTING SURFACE 4X m 88 UNPAINTED et 22 4 19 1 I i eee e HA do e KI __4 277 7 ia 6 015 amp A B C Ed 5 440 x 138 2 e O 919 9 ut mE 080 5 310 2 1349 ALIGNMENT HOLES FOR 0 125 DOWEL PINS 6 104 155 54 SPAN CPT User Manual Rev 6 A 1 1 Cable The NovAtel part numbers for the SPAN CPT cable are Development Terminated Cable 60723108 Standard Unterminated Cable 60723107 140 CM 5 El DB9 FEMALE DB9 MALE N 95 Connector type
96. ex rotations or some other axis that Z pointing up use the NovAtel Connect SPAN wizard for assistance with these settings The accuracy of the initial attitude will depend on the dynamics of the vehicle and the accuracy of the angles input in the VEHICLEBODYROTATION command The alignment is only an estimate of the attitude of the vehicle and as the vehicle experiences dynamics the accuracy of the attitude solution will improve Once the attitude accuracy has converged the INS status will change to INS_SOLUTION_GOOD 3 3 1 2 Manual Alignment If you know the attitude of your vehicle roll pitch azimuth you can manually enter the attitude information using the SETINITATTITUDE command Details of this command start on see SETINITATTITUDE Set Initial Attitude of SPAN in Degrees on page 82 3 3 1 3 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 CPT Dual Antenna starting on page 49 for details 3 3 2 Navigation Mode Once the alignment routine has successfully completed SPAN CPT enters navigation mode SPAN CPT computes the solution by accumulating velocity and rotation increments from the IMU to generate position velocity and attitude SPAN CPT models system errors by using a Kalman filter The GPS solution phase observations and automatic zero velocity updates ZUPTs provide updates to the Kalman filter When a whe
97. f installation Examples of country codes include USA National Electrical Code NFPA 70 Canada Canadian Electrical Code CSA C22 UK British Standards Institute BSI 7671 SPAN CPT User Manual Rev 6 Foreword Congratulations Congratulations on purchasing your SPAN CPT GPS INS receiver SPAN Synchronized Position Attitude Navigation Technology features tight integration of a NovAtel GPS receiver and an Inertial Measurement Unit IMU SPAN provides continuous navigation information using an Inertial Navigation System INS to bridge short Global Position System GPS outages Designed for dynamic applications SPAN provides precise position velocity and attitude information SPAN CPT Compact Portable and Tightly Coupled combines the GPS and IMU hardware inside one enclosure for simple installation and operation Commercial components have been chosen for integration into SPAN CPT in order to offer the same benefits of other SPAN products but with fewer export restrictions By complementing GPS with inertial measurements SPAN CPT technology provides robust positioning in challenging conditions where GPS alone is less reliable During short periods of GPS outage or when less than four satellites are received SPAN CPT technology offers uninterrupted position and attitude output The tight coupling of inertial technology with GPS also provides the benefits of faster satellite reacquisition and faster RTK initialization after
98. ffset The EXTHDGOFFSET message will be available on the system after you enter both lever arms refer to Section 4 4 on page 51 The angular offsets between the dual antenna baseline and the SPAN computation frame will be computed internally and be available for output via the EXTHDGOFFSET log For message structure refer to Section B 2 4 on page 67 SPAN CPT User Manual Rev 6 105 C 2 6 GPHDT NMEA Heading Log This log provides actual vessel heading in degrees True from True North Refer also to information in the HEADING log on page 107 You can also set a standard deviation threshold for this log as outlined in HDTOUTTHRESHOLD command section of the Firmware Reference Manual You must have an ALIGN capable receiver to use this log For further information refer to the Model Designators table in the Version section of the Data Logs chapter in the OEMV Family Firmware Reference Manual Message ID 1045 Log Type Asynch Recommended Input log gphdt onchanged Example GPS only SGPHDT 75 5664 T 36 Field Structure Field Description Symbol Example 1 GPHDT Log header GPHDT 2 heading Heading in degrees X X 75 5554 3 True Degrees True T T 4 XX Checksum hh 36 5 CR LF Sentence terminator CR LF 106 SPAN CPT User Manual Rev 6 C 2 7 HEADING Heading Information The heading is the angle from True North of the base to rover vector in a clockwise direction Message ID 971 Log Type Asynch Re
99. g used is available in the INSUPDATE log see page 1235 SPAN CPT User Manual Rev 6 43 3 SPAN CPT Operation 3 3 4 2 Odometer Requirements SPAN CPT is compatible with any wheel sensor meeting the following requirements Input range less than or equal to 45 KHz Input duty cycle is symmetric 40 60 Active input voltage is greater than or equal to 2 5 VDC with a max input voltage of 50 VDC nactive voltage is less than or equal to 1 VDC nput current is approximately 3 5 mA at 5 VDC with a maximum of 5 mA at 50 VDC Ensure input current does not exceed 5 mA There is a current limiting diode that can dissipate 800 mW on the input opto isolator Quadrature pulse and direction type odometers are compatible An example of a SPAN CPT compatible odometer is the WPT Wheel Pulse Transducer from Corrsys Datron www corrsys datron com A transducer traditionally fits to the outside of a non drive wheel A pulse 1s then generated from the transducer which 15 fed directly to the ODO connector on the IMU cable Figure 13 Corrsys Datron WPT The WPT mounts to the wheel lug nuts via adjustable mounting collets The torsion protection rod which maintains rotation around the wheel axis affixes to the vehicle body with suction cups Refer to the Corrsys Datron WPT user manual for mounting instructions SPAN CPT User Manual Rev 6 SPAN CPT Operation Chapter 3 SPAN CPT will power the odometer See Appe
100. gle degrees Double 8 H 32 7 azSTD e azimuth STD angle in Double 8 H 40 egrees Abbreviated ASCII Example SETINITATTITUDE 0 0 90 5 5 5 In this example the initial roll and pitch has been set to zero degrees with a standard deviation of 5 degrees for both This means that the SPAN CPT system is very close to level with respect to the local gravity field The azimuth is 90 degrees see the SETINITAZIMUTH example on page 84 also with a 5 degrees standard deviation SPAN CPT User Manual Rev 6 83 B 2 18 SETINITAZIMUTH Setlnitial Azimuth and Standard Deviation 84 This command allows you to start SPAN operation with a previously known azimuth Azimuth is the weakest component of a coarse alignment and is also the easiest to know from an external source i e like the azimuth of roadway This command is needed to perform a coarse alignment Roll and pitch will be determined using averaged gyro and accelerometer measurements This command is needed to perform a coarse alignment nput azimuth values must be accurate for good system performance Sending SETINITAZIMUTH resets the SPAN filter The alignment will take approximately 1 minute but some time and vehicle dynamics are required for the SPAN filter to converge Bridging performance will be poor before filter convergence The azimuth angle is with respect to the SPAN frame If the SPAN CPT enclosure is mounted with the z axis pointing upwards the SPAN fram
101. her a standard or short header Other parameters are available in the logs shown in Table 4 on page 46 Table 4 Solution Parameters Parameter Log Position INSPOS or INSPOSS INSPVA or INSPVAS Velocity INSVEL or INSVELS INSSPD or INSSPDS INSPVA or INSPVAS Attitude INSATT or INSATTS INSPVA or INSPVAS Solution Uncertainty INSCOV or INSCOVS Note that the position velocity and attitude are available together in the INSPVA and INSPVAS logs The inertial solution is available up to the rate of 100 Hz Data can be requested at a specific rate up to the maximum IMU output rate or can be triggered by the mark input trigger at rates up to 20 Hz The GPS only solution is still available through the GPS only logs such as RTKPOS PSRPOS and OMNIHPPOS When running SPAN CPT rates of non INS logs should be limited to a maximum rate of 5 Hz Refer to the OEMV Family Firmware Reference Manual for more details on these logs INS only data logging and output can be at rates of up to the rate of the IMU data PSRPOS and so on while in INS operation is 5 Hz If the receiver is not running INS GPS logs can be requested at rates up to 20 Hz The highest rate that you should request GPS logs RANGE BESTPOS RTKPOS Ensure that all windows other than the Console are closed in NovAtel Connect and 3 then use the SAVECONFIG command to save settings in NVM Otherwise unnecessary data logging occurs and may overload your
102. irection required for input in the VEHICLEBODYROTATION command 1 Start with SPAN CPT enclosure in the vehicle frame as described above 2 Rotate about the vehicle Z axis This angle is the gamma angle in the command and follows the right hand rule for sign correction 3 Rotate about the new X axis to complete the transformation into the SPAN frame This angle is the alpha angle in the command 4 Finally rotate about the new Y axis to align the X Y plane with the SPAN frame This angle is the beta angle in the command Enter rotation angles in degrees We recommend entering SETIMUORIENTATION first then VEHICLEBODYROTATION SPAN CPT User Manual Rev 6 91 To apply vehicle to body rotation angles APPLYVEHICLEBODYROTATION needs to be enabled Please see page 63 for more information Abbreviated ASCII Syntax VEHICLEBODYROTATION alpha beta gamma alpha O beta O gamma Message ID 642 Field Field Type Data Description Format pinaly 1 header Log header H 0 2 X Angle Right hand rotation about vehicle Double 8 H frame X axis degrees 3 Y Angle Right hand rotation about vehicle Double 8 H 8 frame Y axis degrees 4 Z Angle Right hand rotation about vehicle Double 8 H 16 frame Z axis degrees 5 X Uncertainty Uncertainty of X rotation degrees Double 8 H 24 default 0 6 Y Uncertainty Uncertainty of Yrotation degrees Double 8 H 32 default 0 7 Z Uncertainty
103. is alignment routine 1s the preferred dual antenna alignment method It will be used if the alignment mode has been set to AIDED TRANSFER using the ALIGNMENTMODE command and can be used if the alignment mode is set to AUTOMATIC the default for 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 will happen instantaneously once the receiver establishes communication with the IMU and computes a verified fixed integer ALIGN solution The INS status will change to INS ALIGNMENT COMPLETE or INS SOLUTION GOOD depending on the variances of the ALIGN solution and the measured lever arm external heading offset SPAN CPT User Manual Rev 6 51 4 SPAN CPT Dual Antenna To guarantee the use of this alignment mode the configuration command ALIGNMENTMODE must be sent to the receiver ALIGNMENTMODE AIDED TRANSFER 4 4 2 Alignment on a Stationary Vehicle Aided Static Alignment An alternative to the aided transfer alignment the ALIGN heading can be used as a seed for a coarse static alignment In this mode the standard coarse alignment routine will run given the initial azimuth value As with the transfer alignment the first verified fixed RTK solution will be used to provide the alignment seed
104. it to your dealer or supplier at the end of its life The objectives of the European Community s environment policy are in particular to preserve protect and improve the quality of the environment protect human health and utilise natural resources prudently and rationally Sustainable development advocates the reduction of wasteful consumption of natural resources and the prevention of pollution Waste electrical and electronic equipment WEEE is a regulated area Where the generation of waste cannot be avoided it should be reused or recovered for its material or energy WEEE products may be recognized by their wheeled bin label 9 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 centre conductor and shield of the coaxial cable This high voltage develops because the voltage surge induced onto the centre 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 in 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 coun
105. ive directions are clearly marked on the SPAN CPT enclosure The SETIMUTOANTOFFSET parameters are in metres SETIMUTOANTOFFSET x offset y_offset z_offset x_stdev y_stdev z_stdev SPAN CPT User Manual Rev 6 37 Chapter 3 SPAN CPT Operation 3 3 38 The standard deviation fields are optional and the distances are measured from the IMU navigation centre to the Antenna Phase Centre A typical RTK GPS solution is accurate to a few centimeters For the SPAN CPT system to have this level of accuracy the offset must be measured to within a centimeter Any offset error between the two systems will directly affect in the output position For example a 10 cm error recording this offset will result in at least a 10 cm error in the output NovAtel Connect can also be used to configure the SPAN CPT See Section 3 2 1 SPAN CPT Configuration with NovAtel Connect on page 35 Real Time Operation SPAN CPT operates through the OEMV command and log interface Commands and logs specifically related to SPAN CPT operation are documented in Appendices B and C of this manual respectively Real time operation notes Inertial data does not start until FINESTEERING time status is reached and therefore the SPAN CPT system does not function unless a GPS antenna is connected with a clear view of the sky The Inertial solution is computed separately from the GPS solution The GPS solution is available from the SPAN CPT system through the GPS
106. l is coincident with the forward axis of the vehicle and the roll of the vehicle is close to zero The fast alignment routine may not be suitable for some marine or airborne where the direction of travel may be different from the forward axis of the vehicle because of factors like a crab angle If SPAN CPT is installed with the IMU axes NOT aligned with the vehicle then additional configuration is needed to complete the moving alignment These settings can be set graphically using the INS configuration wizard in the NovAtel Connect interface program or through the command interface by issuing the following commands 1 Specify which IMU axis is most closely aligned with gravity using the SETIMUORIENTATION command See page 77 for a description of this command and table with the number SPAN CPT User Manual Rev 6 SPAN CPT Operation Chapter 3 corresponding to each orientation For example if the Z axis of your SPAN CPT is pointing up you would send this command SETIMUORIENTATION 5 2 Specify the angular offset from the vehicle frame to the SPAN frame known as the vehicle body rotation or RVB using the VEHICLEBODYROTATION command see page 90 Following the example started above if the IMU is installed rotated so that the Y axis points out the right hand side of the vehicle instead of forward then you would then enter this command VEHICLEBODYROTATION 0 0 90 Angular rotations are difficult to visualize so if you have compl
107. lation Example Radio COM2 optional for Real Time Differential operation Figure 4 Typical SPAN CPT Set Up 1 Connect the antenna to the receiver Connect the interface cable to the SPAN CP T Connect power and ground Bop m Connect user supplied PC for set up and monitoring Recommend using USB cable to accommodate high data rates 5 Connect user supplied radio device optional for real time differential operation 26 SPAN CPT User Manual Rev 6 SPAN CPT Installation Chapter 2 2 1 3 Real Time Differential Operation An optional static base as shown in Figure 5 can be added Connect a radio device using COM2 on both the base and rover radios marked AUX functions COM3 Rover set up refer to Figure 4 on Page 26 for an example Figure 5 Typical Static Base Set Up Connect antenna to the receiver Connect user supplied power 9 to 18 V Connect user supplied PC for set up and monitoring to COMI Bop Connect user supplied radio device to COM2 v Ensure a radio device is connected to COM2 on the rover receiver refer to 2 1 2 Typical Installation Example on Page 26 SPAN CPT User Manual Rev 6 27 Chapter 2 SPAN CPT Installation 2 2 Hardware Set Up Review this secti
108. mal rr rrr 0 180 degrees 9 Pitch Accuracy Pitch standard deviation in decimal pp ppp 0 185 degrees 10 Heading Accuracy Heading standard deviation in hh hhh 4 986 decimal degrees 11 GPS Update 0 No position 1 1 Quality Flag 1 All non RTK fixed integer positions 2 RTK fixed integer position 12 Checksum Checksum XX 2B 13 CR LF Sentence terminator CR LF Recommended Input log pashr ontime 1 Example SPASHR 0 68 empty SPASHR 195124 00 305 30 T 0 05 0 13 0 180 0 185 4 986 1 2B 130 SPAN CPT User Manual Rev 6 C 2 26 RAWIMUS Short Raw IMU Data This log contains an IMU status indicator and the measurements from the accelerometers and gyros with respect to the IMU enclosure frame This log contains the short header version to reduce the amount of data Structure Message ID 325 Log Type Asynch Binary Field Field Type Data Description Bytes Offset og Header og header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Seconds from week start Double 8 H 4 Week 4 IMU Status The status of the IMU This field is given in Long 4 H 12 a fixed length n array of bytes in binary but in ASCII or Abbreviated ASCII is converted into 2 character hexadecimal pairs For more information Table 18 SPAN CPT Status on page 132 5 Z Accel Output Change in velocity count along z axis Long 4 H 16 6 Y Accel Output Change in velocity co
109. mmended Input log insspda ontime 1 ASCII Example INSSPDA COM3 0 0 0 EXACT 1105 425385 000 00040000 efce 0 1105 425384 996167250 223 766800423 0 019769837 0 024795257 INS SOLUTION GOOD 15b864f4 SPAN CPT User Manual Rev 6 123 C 2 20 INSSPDS Short INS Speed This is a short header version of the INSSPD log on Page 123 Structure Message ID 323 Log Type Synch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Trk gnd Track over ground Double 8 H 12 5 Horizontal Speed Horizontal speed in m s Double 8 H 20 6 Vertical Speed Vertical speed in m s Double 8 H 28 7 Status INS status see Table 7 on Enum 4 H 36 page 39 8 XXXX 32 bit CRC ASCII Binary and Hex 4 H 40 Short Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log insspdsa ontime 1 ASCII Example INSSPDSA 1105 425385 000 1105 425384 996167250 223 766800423 0 019769837 0 024795257 1NS SOLUTION GOOD 15b864f4 124 SPAN CPT User Manual Rev 6 C 2 21 INSUPDATE INS Update The INSUPDATE message has been modified for this mode of operation The reserved field at the end of the message has been filled with an enumeration regarding the status of the heading updates Message ID 757 Structure Log Type Asyn
110. n be set using the DGPSTIMEOUT command refer to the OEMV Family Firmware Reference Manual When in INS mode the position is calculated at the antenna phase centre Structure Message ID 423 Log Type Synch Binary Binary Field Field type Data Description Format Bytes Offset 1 Log Log header H 0 Header 2 Sol Status Solution status see Table 15 Solution Status on Enum 4 H page 99 3 Pos Type Position type see Table 14 Position or Velocity Type Enum 4 H 4 on page 97 4 Lat Latitude Double 8 H 8 5 Lon Longitude Double 8 H 16 6 Hgt Height above mean sea level Double 8 H 24 7 Undulation Undulation Float 4 H 32 8 Datum ID Datum ID refer to the DATUM command in the Enum 4 36 OEMV Family Firmware Reference Manual 9 Lat s Latitude standard deviation Float 4 H 40 10 Lon s Longitude standard deviation Float 4 H 44 11 Hgts Height standard deviation Float 4 H 48 12 Stn ID Base station ID Char 4 4 H 52 13 Diff_age Differential age Float 4 H 56 14 Sol_age Solution age in seconds Float 4 H 60 15 obs Number of observations tracked Uchar 1 H 64 16 GPSL1 Number of GPS L1 ranges used in computation Uchar 1 H 65 Continued on next page 96 SPAN CPT User Manual Rev 6 Binary Field type Data Description Offset Number of GPS L1 ranges above the RTK mask angle 18 L2 Number of GPS L2 ranges above the RTK mask
111. n environments where very high dynamics and frequent interruption of signals can be expected PC software Real time data collection status monitoring and receiver configuration is possible through NovAtel s Connect software utility see SPAN CPT Configuration with NovAtel Connect on page 35 SPAN CPT User Manual Rev 6 Chapter 2 SPAN CPT Installation 2 4 Hardware Description The hardware setup consists of a SPAN CPT enclosure containing the GPS and IMU components see Figure 2 on page 23 a GPS antenna power and a radio link if your application requires real time differential operation 2 1 1 SPAN CPT Hardware The SPAN CPT receiver contains the OEMV 3 GPS receiver and an IMU containing 3 accelerometers and 3 gyroscopes Communication is done using either the com ports or USB through the multi I O connector Figure 3 SPAN CPT Enclosure The sections that follows outline how to set up the system s parts and cables See Appendix A Technical Specifications starting on page 53 Use a USB cable to log raw data Serial communication is sufficient for configuring D and monitoring the unit through Hyperterminal or NovAtel Connect USB is required if you have a post processing application requiring 100 Hz IMU data We also recommend you use NovAtel Connect to collect the data Refer to 3 4 on Page 46 and 3 5 on Page 48 for instructions 25 SPAN CPT User Manual Rev 6 Chapter 2 SPAN CPT Installation 2 1 2 Typical Instal
112. nd protect the contents of the Soft ware from unauthorized disclosure or use 8 SPAN CPT User Manual Rev 6 Software License 5 Term and Termination This Agreement and the rights and licences hereby granted shall continue in force in perpetuity unless terminated by NovAtel or Licensee in accordance herewith In the event that the Licensee shall at any time during the term of this Agreement i be in breach of its obligations hereunder where such breach is irremediable or if capable of remedy is not remedied within 30 days of notice from NovAtel requiring its remedy then and in any event NovAtel may forthwith by notice in writ ing terminate this Agreement together with the rights and licences hereby granted by NovAtel Licensee may terminate this Agreement by providing written notice to NovAtel Upon termination for any reasons the Licensee shall promptly on NovAtel s request return to NovAtel or at the election of NovAtel destroy all copies of any documents and extracts comprising or containing the Software The Licensee shall also erase any copies of the Software residing on Licensee s computer equipment Ter mination shall be without prejudice to the accrued rights of either party including payments due to NovAtel This provision shall survive termination of this Agreement howsoever arising 6 Warranty NovAtel does not warrant the contents of the Software or that it will be error free The Software is furnished AS IS and without warrant
113. nding on whether the command is abbreviated ASCIl ASCII or binary respectively 2 mode UNAIDED 0 Regular SPAN static Enum 4 H coarse or kinematic alignment mode Default for single antenna operation AIDED 1 Seed the static STATIC coarse alignment with an initial azimuth AIDED 2 Seed the full attitude TRANSFER from an ALIGN solution Pitch and Heading taken from ALIGN Roll will be assumed AUTOMATIC 3 Seed the full attitude from ALIGN or perform a regular coarse or kinematic alignment whichever is possible first Default for dual antenna operation The default ALIGNMENTMODE for the SPAN CPT is UNAIDED when ALIGN solution is configured by entering the primary and secondary lever arms the ALIGMENTMODE will automatically change to AUTOMATIC Sending this command manually will override these default selections Abbreviated ASCII Example ALIGNMENTMODE AIDED TRANSFER SPAN CPT User Manual Rev 6 63 B 2 2 APPLYVEHICLEBODYROTATION Enable Vehicle to Body Rotation This command allows you to apply the vehicle to body rotation to the output attitude that was entered from the VEHICLEBODYROTATION command see page 90 This rotates the SPAN body frame output in the INSPVA INSPVAS and INSATT logs to the vehicle frame APPLY VEHICLEBODYROTATION is disabled by default Abbreviated ASCII Syntax Message ID 1071
114. ndix A on page 53 for the pin outs of the SPAN CPT cable Connect the appropriate pins to your chosen odometer If you chose the Corrsys Datron WPT first modify the cable at the WPT end The cable modification is shown in Table 2 and Table 3 on page 45 Table 2 Cable Modification for Corrsys Datron WPT 8 pin M12 connector on Female DB9 the Corrsys Datron cable b connector Pin 1 GND White 5 Pin 2 Up Input Power Brown 9 Pin 3 Signal A Green 6 Pin 4 Signal A inverted Yellow 7 Pin 5 Signal B Grey 3 Pin 6 Signal B inverted Pink 1 Pin 7 Reserved No change Pin 8 a Pin 2 is wired to a red banana plug Power in and Pin 1 is wired to a black banana plug Power return so the WPT needs power to operate 10 to 30 V Solder the shield on the WPT cable to the female DB9 housing b This modification is for the Corrsys Datron WPT 8 pin M12 plug cable number 14865 Table 3 Cable Modification for CPT Odometer Input Male DB9 Connector Pin Wires on SPAN CPT KVH Terminated or Unterminated Cable Pin 1 18 ODO SIGNAL B INV White Pin 2 NONE Pin 3 17 ODO SIGNAL B Black Pin 4 NONE Pin 5 14 GND Black Pin 6 15 ODO SIGNAL A Black Pin 7 16 ODO SIGNAL A INV White Pin 8 NONE Pin 9 13 INPUT POWER White SPAN CPT User Manual Rev 6 45 3 SPAN CPT Operation 3 4 Data Collection The INS solution is available in the INS specific logs with eit
115. nty NovAtel Inc warrants that its GNSS products are free from defects in materials and workmanship subject to the conditions set forth below for the following time periods SPAN CPT Unit GPSAntenna Series Cables and Accessories Computer Discs Software Warranty One 1 Year One 1 Year Ninety 90 Days Ninety 90 Days One 1 Year Date of sale shall mean the date of the invoice to the original customer for the product NovAtel s responsibility respecting this warranty is solely to product replacement or product repair at an authorized NovAtel location only Determination of replacement or repair will be made by NovAtel personnel or by technical personnel expressly authorized by NovAtel for this purpose warranty continued on 14 SPAN CPT User Manual Rev 6 13 14 Warranty NovAtel warrants that during the Warranty Period that a the Product will be free from defects in material and workmanship and conform to NovAtel specifications and b the software will be free from error which materially affect performance THESE WARRANTIES ARE EXPRESSLY IN LIEU OF ALL OTHER WARRANTIES EXPRESS OR IMPLIED INCLUDING WITHOUT LIMITATION ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE NOVATEL SHALL IN NO EVENT BE LIABLE FOR SPECIAL INDIRECT INCIDENTAL OR CONSEQUENTIAL DAMAGES OF ANY KIND OR NATURE DUE TO ANY CAUSE Purchaser s exclusive remedy for a claim under this warranty shall
116. nual Rev 6 11 12 Terms and Conditions experimental developmental preproduction sample incomplete or out of specification Products viii returned Products if the original identification marks have been removed or altered or ix Services or research activities 7 EXCLUSION OF LIABILITY If a Party would but for this paragraph 7 have concurrent claims in contract and tort including negligence such claims in tort including negligence shall to the extent permitted by law be wholly barred unenforceable and excluded NovAtel shall not be liable to the Buyer by way of indemnity or by reason of any breach of the Order or of statutory duty or by reason of tort including but not limited to negligence for any loss of profit loss of use loss of production loss of contracts or for any financing costs or for any indirect or consequential damage whatsoever that may be suffered by the Buyer In the event and to the extent that NovAtel shall have any liability to Buyer pursuant to the terms of the Order NovAtel shall be liable to Buyer only for those damages which have been foreseen or might have reasonably been foreseen on the date of effectivity of the Order and which are solely an immediate and direct result of any act or omission of NovAtel in performing the work or any portion thereof under the Order and which are not in the aggregate in excess of ten 10 percent of the total Order price SPAN CPT User Manual Rev 6 Warra
117. og allows INS position velocity and attitude with respect to the SPAN frame to be collected in one log instead of using three separate logs See the INSATT log on page 113 for an explanation of how the SPAN frame may differ from the IMU enclosure frame Structure Message ID 507 Log Type Synch Binary Binary Field Field Type Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds Seconds from week start Double 8 H 4 4 Latitude Latitude WGS84 Double 8 H 12 5 Longitude Longitude WGS84 Double 8 H 20 6 Height Ellipsoidal Height WGS84 m Double 8 H 28 7 North Velocity Velocity in a northerly direction a Double 8 H 36 ve value implies a southerly direction m s 8 East Velocity Velocity in an easterly direction a Double 8 H 44 ve value implies a westerly direction m s 9 Up Velocity Velocity in an up direction m s Double 8 H 52 10 Roll Right handed rotation from local Double 8 H 60 level around y axis in degrees 11 Pitch Right handed rotation from local Double 8 H 68 level around x axis in degrees 12 Azimuth Left handed rotation around z axis Double 8 H 76 Degrees clockwise from North 13 Status INS Status see Table 1 on Enum 4 H 84 page 39 14 XXXX 32 bit CRC Hex 4 H 88 15 CR LF Sentence Terminator ASCII only Recommended Input log inspvaa ontime 1 ASCII Example INSPVAA C
118. ologies information about NovAtel hardware and software and installation and operation issues Before Contacting Customer Support Before contacting NovAtel Customer Support about a software problem perform the following steps 1 Log the following data to a file on your PC for 15 minutes RXSTATUSB once RAWEPHEMB onchanged RANGECMPB ontime 1 BESTPOSB ontime 1 RXCONFIGA once VERSIONA once RAWIMUSB onnew INSPVASB ontime 1 INSUPDATEB onchanged 2 Send the file containing the log to NovAtel Customer Support using either the NovAtel FTP site at ftp novatel com incoming on the NovAtel Web site at www novatel com or through the support novatel com e mail address 3 You also issue a FRESET command to the receiver to clear any unknown settings D 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 4900 international Fax 1 403 295 4901 Write NovAtel Inc E mail support novatel ca Customer Support Department 1120 68 Avenue NE Web site http www novatel com Calgary AB Canada T2E 855
119. on s hardware set up subsections and follow the numbered steps to install your SPAN system 2 2 31 Mount 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 that will not sway or topple Where possible select a location with a clear view of the sky to the horizon so that each satellite above the horizon can be tracked without obstruction The location should also be one that minimizes the effect of multipath interference 2 2 2 Mount SPAN CPT Mount the SPAN CPT in a fixed location where the distance from the SPAN CPT to the GPS antenna phase center is constant Ensure that the SPAN CPT orientation with respect to the vehicle and antenna is also constant For greatest ease of use the SPAN CPT should be mounted such that the positive Z axis marked on the SPAN CPT enclosure points up and the Y axis points forward through the front of the vehicle in the direction of track Figure 6 SPAN CPT Enclosure Mounting 1 Mount the SPAN CPT enclosure and antenna securely to a vehicle Ensure they cannot move due to dynamics and that the distance and relative direction between them is fixed 2 Measure the lever arm offsets from the SPAN CPT navigation centre to the antenna phase centre in the SPAN CPT enclosure frame Also it is important to measure the distance from the SPAN CPT to the antenna the Antenna Lever Arm after e
120. onal Also refer to the Syntax table under VEHICLEBODYROTATION Vehicle to SPAN frame Rotation on page 90 If your SPAN CPT is mounted with the Z axis as marked on the IMU enclosure pointing up the IMU enclosure frame is the same as the SPAN frame Message ID 642 Log Type Asynch Recommended Input log vehiclebodyrotationa onchanged ASCII Example VEHICLEBODYROTATIONA COM1 0 36 5 FINESTEERING 1264 144170 094 00000000 5cf 2 1541 1 5869999997474209 2 6639999995760122 777 649999876392343 2 0000000000000000 2 0000000000000000 5 0000000000000000 25 886cc SPAN CPT User Manual Rev 6 2 30 WHEELSIZE Wheel Size This log contains wheel sensor information The inertial Kalman filter models the size of the wheel to compensate for changes in wheel circumference due to hardware or environmental changes The default wheel size is 1 96 m scale factor to this default size is modeled in the filter and this log contains the current estimate of the wheel size Structure Message ID 646 Log Type Asynch Field Field Type Data Description Format Bytes 1 Log Header Log header H 0 2 Scale Wheel sensor scale factor Double 8 H 3 Circumference Wheel circumference m Double 8 H 8 4 Variance Variance of circumference m Double 8 H 16 5 XXXX 32 bit CRC ASCII Binary and Hex 4 H 24 Short Binary only 6 CR LF Sentence terminator ASCII only Recommende
121. orientation does not match the value restored from NVM then the lever arm will be reset to zero with this status 112 SPAN CPT User Manual Rev 6 C 2 10 INSATT INS Attitude This log and the INSATTS log contains the most recent attitude measurements corresponding to the SPAN frame axis according to the installation instructions provided in Section 2 2 Hardware Set Up starting on page 28 and INS Window in NovAtel Connect on page 36 of this manual The attitude measurements may not correspond to other definitions of the terms pitch roll and azimuth If your SPAN CPT s z axis as marked on the enclosure is not pointing up the output attitude will be with respect to the SPAN computational frame and not the frame marked on the enclosure See the SETIMUORIENTATION command to determine what the SPAN computation frame will be given how the IMU is mounted Structure Message ID 263 Log Type Synch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Roll Right handed rotation from local Double 8 H 12 level around y axis in degrees 5 Pitch Right handed rotation from local Double 8 H 20 level around x axis in degrees 6 Azimuth Left handed rotation around z axis Double 8 H 28 Degrees clockwise from North 7 Status INS status see Table 1on page 39 Enum 4 H
122. ormation useful in post processing the TIMEDWHEELDATA log should only be used with the ONNEW trigger See also page 135 for details on this log D The periods available when you use the ONTIME trigger are 0 01 100 Hz 0 02 50 Hz 0 05 0 1 0 2 0 25 0 5 1 2 3 5 10 15 20 30 or 60 seconds The highest rate that you should request GPS logs RANGE BESTPOS RTKPOS PSR POS and so on while in INS operation 15 5 Hz If the receiver is not running INS GPS logs can be requested at rates up to 20 Hz depending on the software model SPAN CPT User Manual Rev 6 95 C 2 1 BESTGPSPOS Best GPS Position This log contains the best available GPS position without INS computed by the receiver In addition it reports several status indicators including differential age which is useful in predicting anomalous behavior brought about by outages in differential corrections A differential age of 0 indicates that no differential correction was used With the system operating in an RTK mode this log reflects the latest low latency solution for up to 60 seconds after reception of the last base station observations After this 60 second period the position reverts to the best solution available the degradation in accuracy is reflected in the standard deviation fields If the system is not operating in an mode pseudo range differential solutions continue for 300 seconds after loss of the data link though a different value ca
123. outages NovAtel s OEMV 3 receiver is the processing engine of SPAN CPT and the IMU components are manufactured by KVH Industries Scope 21 This manual contains sufficient information on the installation and operation of the SPAN CPT system It is beyond the scope of this manual to provide details on service or repair Contact your local NovAtel dealer for any customer service related inquiries as outlined in Customer Support on page 15 After accessories an antenna and a power supply the SPAN CPT system is ready to go The OEMV 3 in the receiver utilizes a comprehensive user interface command structure which requires communications through its communication COM ports This manual describes the INS specific commands and logs Other supplementary manuals are available to aid you in using the other commands and logs available with OEMV family products It is recommended that these documents be kept together for easy reference SPAN CPT system output is compatible with post processing software from NovAtel s Waypoint Products Group Visit our Web site at www novatel com for details Download manuals at http www novatel com support firmware software and manuals product manuals and doc updates oemv family SPAN CPT User Manual Rev 6 Foreword Prerequisites 22 The installation chapters of this document provide information concerning the installation requirements and considerations for the different parts of the SPAN CP
124. ovAtel 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 Connect version SPAN CPT User Manual Rev 6 35 Chapter 3 SPAN CPT Operation SPAN_CPT SPAN Alignment Wizarc Dg Welcome to the NovAtel SPAN Wizard The wizard will guide you through the different setup procedures of your NovAtel SPAN system NovAtel SPAN is a powerful Synchronized Position Attitude Navigation system lt Back Next gt Cancel 3 2 1 1 SPAN CPT basic configuration Select Wizards SPAN Alignment from the NovAtel Connect toolbar This wizard takes you through the steps to complete a coarse or fast alignment select the type of IMU and configure the receiver port connected to the IMU to accept IMU data 3 2 2 INS Window in NovAtel Connect NovAtel Connect is a Windows application The application provides a graphical user interface to set up and monitor the operation of the SPAN system by providing a series of windows The INS Window in NovAtel Connect is described below Please refer to the OEMV Family Installation and Operation User Manual for more details on NovAtel Connect and other OEMV Family PC software programs 36 SPAN CPT User Manual Rev 6 SPAN CPT Operation Chapter 3 INS Window The Position Velocity and Attitude roll pitch and azimuth sections display data from the INSPVA log
125. ows the right hand rule convention and a positive rotation is in the counterclockwise direction when looking towards the origin For further information about extracting the vehicle s attitude with respect to the local level frame refer to NovAtel application note APN 037 Application Note on Vehicle Body Rotations available from the NovAtel Web site at www novatel com through Support Knowledge and Learning If you use the APPLY VEHICLEBODYROTATION command the reported attitude in the INSPVA or INSATT logs are in the vehicle frame Otherwise the reported attitude is in the SPAN computational frame The vehicle frame is as follows Vehicle Z Axis points up through the roof of the vehicle perpendicular to the ground Vehicle Y Axis points out the front of the vehicle in the direction of travel Vehicle X Axis completes the right handed system out the right hand side of the vehicle when facing forward 90 SPAN CPT User Manual Rev 6 The rotation values are used during kinematic alignment The rotation is used to transform the vehicle frame attitude estimates from GPS into the SPAN computational frame during kinematic alignment The uncertainty values report the accuracy of the angular offsets If your SPAN CPT is mounted with the Z axis as marked on the IMU enclosure pointing up the IMU enclosure frame is the same as the SPAN frame Follow these steps to measure the rotation angles in the order and d
126. ple MARK1PVA USB1 0 51 5 EXACT 1481 251850 001 00040000 46f4 3388 1481 251850 001000000 51 116573435 114 037237211 1040 805671970 0 000257666 0 003030102 0 000089758 3 082229474 1 019023628 89 253955744 INS SOLUTION GOOD SPAN CPT User Manual Rev 6 129 C 2 25 PASHR NMEA fix and position data The PASHR log outputs these messages with contents without waiting for a valid almanac Instead it uses a UTC time calculated with default parameters In this case the UTC time status is set to WARNING since it may not be 100 accurate When a valid almanac is available the receiver uses the real parameters and sets the UTC time to VALID For more information about NMEA refer to the OEMV Firmware Reference Manual found on our Web site The PASHR log contains only INS derived attitude information and is only filled when an inertial solution is available Structure Message ID 1177 Log TypeSynch Field Structure Field Description Symbol Example 1 PASHR Log Header PASHR 2 Time UTC Time hhmmss ss 195124 00 3 Heading Heading value in decimal degrees HHH HH 305 30 4 True Heading T displayed if heading is relative to T T true north 5 Roll Roll in decimal degrees The sign RRR RR 0 05 will always be displayed 6 Pitch Pitch in decimal degrees The sign PPP PP 0 13 will always be displayed 7 Reserved 8 Roll Accuracy Roll standard deviation in deci
127. r Integer This filter length will be used in Int 4 H Length 1 300s the heave filter Typically set default 20 s the filter length to 5 x Wave Period Abbreviated ASCII Example SETHEAVEWINDOW 35 76 SPAN CPT User Manual Rev 6 2 14 SETIMUORIENTATION Set IMU Orientation The SETIMUORIENTATION command is used to specify which of the SPAN CPT axis is aligned with gravity The SPAN CPT orientation can be saved using the SAVECONFIG command so that on start up the SPAN CPT system does not have to detect the orientation of the SPAN CPT with respect to gravity This is particularly useful for situations where the receiver is powered while in motion 1 The default SPAN CPT axis definitions are Y forward Z up X out the right hand side It is strongly recommended that you mount your SPAN CPT in this way with respect to the vehicle 2 Youonly need to use this command if the system 15 to be aligned while in motion using the fast alignment routine see Section 3 3 1 1 Default Kinematic Alignment on page 40 Ensure that all windows other than the Console are closed in NovAtel Connect and then use the SAVECONFIG command to save settings in NVM Otherwise unnecessary data logging occurs and may overload your system This orientation command serves to transform the incoming SPAN CPT signals in such a way that a 5 mapping is achieved see Table 11 on page 79 For example if the SPAN CPT is mounted with the X
128. r USB of the OEMV 2 As with all ALIGN capable products the baseline solution 1s available from the GPHDT and HEADING logs however for the SPAN CPT the maximum available rate is limited to 1 Hz 4 4 Configuring SPAN with ALIGN on SPAN CPT To enable the dual antenna ALIGN solution to aid the INS alignment and provide heading updates the offset between the antennas and the IMU must be known This is achieved by entering lever arms to both antennas using the SETIMUTOANTOFFSET and SETIMUTOANTOFFSET2 commands To configure SPAN with ALIGN Aiding 1 Enter the lever arm from the IMU to the primary antenna primary antenna is connected to the SPAN CPT using the SETIMUTOANTOFFSET command Abbreviated ASCII example SETIMUTOANTOFFSET 0 54 0 32 1 20 0 03 0 03 0 05 2 Enter the lever arm from the IMU to the secondary antenna secondary antenna is connected to the OEMV2 using the SETIMUTOANTOFFSET2 command Abbreviated ASCII example SETIMUTOANTOFFSET2 0 54 2 32 1 20 0 03 0 03 0 05 The SPAN CPT can be configured for different alignment routines depending on the motion conditions experienced during the alignment period For example in marine applications the dynamics required for the default kinematic alignment cannot be guaranteed so a different alignment routine will be required The different alignment routines are described in the following sections 4 4 1 Alignment on a Moving Vessel Aided Transfer Alignment Th
129. rmation supplied or to be supplied to the Licensee pursuant to the terms of this Agreement NovAtel shall not be bound to take legal proceedings against any third party in respect of any infringement of letters patent registered design or like instrument of privilege which may now or at any future time be owned by it However should NovAtel elect to take such legal proceedings at NovAtel s request Licensee shall co operate reasonably with NovAtel in all legal actions concerning this license of the Software under this Agreement taken against any third party by NovAtel to protect its rights in the Software NovAtel shall bear all reasonable costs and expenses incurred by Licensee in the course of co operating with NovAtel in such legal action 4 Restrictions You may not a copy other than as provided for in paragraph 2 distribute transfer rent lease lend sell or sublicense all or any portion of the Software except in the case of sale of the hardware to a third party b modify or prepare derivative works of the Software c use the Software in connection with computer based services business or publicly display visual output of the Software d transmit the Software over a network by telephone or electronically using any means except when downloading a purchased up grade from the NovAtel web site or e reverse engineer decompile or disassemble the Software You agree to keep confidential and use your best efforts to prevent a
130. rmware Manual 17 Reserved Uchar 1 H 42 Signals used mask if 0 signals used in solution are 18 sig mask unknown see the Signal Used Mask table in the Uchar 1 H 43 VERSION log section of the OEMV Firmware Manual 19 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 44 20 CR LF Sentence terminator ASCII only 108 SPAN CPT User Manual Rev 6 C 2 8 HEAVE Heave Filter Log The log provides vessel heave computed by the integrated heave filter Refer also to information in the SETHEAVEWINDOW command section This log is asynchronous but is available at approximately 10Hz You must have an inertial solution to use this log Structure Message ID 1382 Log Type Asynch Binary Binary Field Field Type Description Format Bytes Offset 1 Log Header Log Header H 0 2 Week GPS Week Ulong 4 H 3 Seconds Seconds from week start Double 8 H 4 4 Heave Instantaneous heave in metres Double 8 H 12 5 XXXX 32 bit CRC ASCII Binary and Hex 4 H 20 Short Binary only 6 CR LF Sentence Terminator ASCII Only Recommended Input log heavea onnew Example HEAVEA USB1 0 38 5 FINESTEERING 1630 232064 599 00000000 a759 6696 1630 2320 64 589885392 0 086825199 93392cb4 SPAN CPT User Manual Rev 6 109 C 2 9 IMUTOANTOFFSETS IMU to Antenna s Lever Arm 110 This log contains the distance between the IMU and the GNSS antenna s in the IMU enclosure frame and its associa
131. rough the roof of the vehicle perpendicular to the ground y axis points out the front of the vehicle in the direction of travel x axis completes the right handed system out the right hand side of the vehicle when facing forward See the VEHICLEBODYROTATION command on page 136 for information on entering the rotation into the system and see the RVBCALIBRATE command on page 74 for information on calculating this rotation Z Figure 12 Vehicle Frame SPAN CPT User Manual Rev 6 33 3 SPAN CPT Operation 3 2 Communicating with the SPAN CPT System 34 Once the receiver is connected to the PC antenna and power supply install NovAtel s OEMV PC Utilities NovAtel Connect and Convert You can find installation instructions in your receiver s Quick Start Guide Alternatively you can use a terminal emulator program such as HyperTerminal to communicate with the receiver Refer also to the NovAtel Connect Help file for more details The Help file is accessed by choosing Help from the main menu in NovAtel Connect Start NovAtel Connect on your PC to enable communication 1 Launch NovAtel Connect from the Start menu folder specified during the installation process The default location is Start Programs NovAtel OEMV NovAtel Connect To define a new connection select New Connection from the Device menu If a connection is already defined or if connections were imported from NovAtel Connect choose Open
132. s on page 157 3 Number of Number of stored lever arms ULong 4 H 4 Entries 4 Lever Arm Type of lever arm refer to the Enum 4 H 8 Type two following tables 5 X Offset IMU Enclosure Frame m Double 8 H 12 6 Y Offset IMU Enclosure Frame m Double 8 H 20 7 Z Offset IMU Enclosure Frame m Double 8 H 28 8 X Uncertainty IMU Enclosure Frame m Double 8 H 36 9 Y Uncertainty IMU Enclosure Frame m Double 8 H 44 10 Z Uncertainty IMU Enclosure Frame m Double 8 H 52 11 Lever Arm Source of the lever arm refer Enum 4 H 60 Source to the two following tables 12 Next component offset H 8 comp 56 variable XXXX 32 bit CRC ASCII and Binary Hex 4 H 8 only comp 56 variable CR LF Sentence terminator ASCII only SPAN CPT User Manual Rev 6 111 Value Lever Arm Source ASCII Description binary 0 LEVER_ARM_INVALID An invalid lever arm 1 LEVER_ARM_PRIMARY Primary lever arm entered for all SPAN systems 2 LEVER_ARM_SECONDARY Secondary lever arm entered for dual antenna SPAN systems Value AT binary Lever Arm Source ASCII Description 0 LEVER ARM NONE No lever arm exists 1 LEVER ARM FROM NVM Lever arm restored from NVM LEVER ARM CALIBRATING Lever arm currently calibrating LEVER ARM CALIBRATED Lever arm computed from calibration routine LEVER ARM FROM COMMAND Lever arm entered via command Q O N LEVER_ARM_RESET If the current IMU
133. s tpe vie dede eee go de C 2 28 TIMEDWHEELDATA Timed Wheel Data C 2 29 VEHICLEBODYROTATION Vehicle to SPAN frame Rotation 136 C 2 30 WHEELSIZE Wheel Size u a 137 D Command Prompt Interface 138 Dist DOS M tte 139 IPAE 140 E Replacement Parts 141 E T SPAN GCPT SySIGI L yau E nte Hd 141 E 2 Accessories and Options 141 F Frequently Asked Questions 142 Index 143 SPAN CPT User Manual Rev 6 Figures 1 Primary and Secondary Lightning Protection 19 2 SySIem rere et oe ete ERR 23 3 SPAN CPT EnclOSUFIe a uuu maana eoe qut deae e ra 25 4 Typical SPAN CPT Setpa L L E 26 5 Typical Static Base Set Up ass ss 27 6 SPAN CPT Enclosure Mounting ennt nnne 28 7 Connect the antenna to the antenna port I 29 8 Apply Power to the SPAN CPT 30 9 Battery Isolator Installation sse ener 30 10 Local Level Frame 32 11 The Enclosure Frame
134. ser Manual Rev 6 SPAN CPT Operation Chapter 3 The solved rotation values are used only for a rough estimate of the angular offsets between the SPAN CPT and vehicle frames The offsets are used when aligning the system while in motion see Section 3 3 1 System Start Up and Alignment Techniques starting on page 40 The angular offset values are not applied to the attitude output unless the APPLY VEHICLEBODYROTATION command is enabled see page 63 3 3 4 SPAN CPT Wheel Sensor The SPAN CPT system supports wheel sensor inputs integrated via the SPAN CPT The SPAN CPT accepts TTL level input pulses from a wheel sensor through the multi pin connector See Appendix A on page 53 for specifications on the wheel sensor interface 3 3 4 1 Wheel Sensor Update Logic The wheel sensor information is sent to the SPAN CPT along with the raw IMU data The Corrsys Datron wheel pulse transducer is used as an example see Section A 1 1 on page 55 The SPAN CPT Kalman filter uses sequential TIMEDWHEELDATA logs to compute a distance traveled between update intervals 1Hz This information can be used to constrain free inertial drift during times of poor GPS visibility The filter also contains a state for modeling the circumference of the wheel as it may change due to hardware changes or environmental conditions The modeled wheel circumference is available in the WHEELSIZE log see page 137 Information on how the wheel sensor updates are bein
135. specific logs even without SPAN running The integrated INS GPS solution is available through special INS logs documented in Appendix C of this manual The IMU solution is available at the maximum rate of output of the SPAN CPT 100 Hz Because of this high data rate a shorter header format was created These shorter header logs are defined with an S RAWIMUSB rather than RAWIMUB We recommend you use these logs instead of the standard header logs to save throughput on the COM port SPAN CPT User Manual Rev 6 SPAN CPT Operation Chapter 3 Status of the inertial solution can be monitored using the inertial status field in the INS logs Table 1 below Table 1 Inertial Solution Status Binary ASCII 0 INS_INACTIVE Description IMU logs are present but the alignment routine has not started INS is inactive 1 INS_ALIGNING INS is in alignment mode When in this status the user can move to initiate the kinematic alignment or send a SETINITAZIMUTH command This status also shows if the IMU status is not valid The IMU status is given in the RAWIMU and RAWIMUS logs See Section B 2 18 on page 84 2 INS_SOLUTION_NOT_GOOD The INS solution is still being computed but the azimuth solution uncertainty has exceed 2 degrees 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 GPS used to aid the INS is absent 3 INS_SOLUTI
136. spossa ontime 1 ASCII Example INSPOSSA 1660 504446 000 1660 504446 003257800 51 116345837 114 038199274 1042 377363896 INS SOLUTION GOOD 72243ba2 SPAN CPT User Manual Rev 6 119 2 16 INSPOSSYNC Time Synchronised INS Position This log contains the time synchonised INS position It is synchronised with GPS each second Structure Message ID 322 Log Type Asynch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Sec Age of synchronised INS solution Double 8 H s 3 X ECEF X coordinate m Double 8 H 8 4 ECEF Y coordinate m Double 8 H 16 5 Z ECEF Z coordinate m Double 8 H 24 6 Cov ECEF covariance matrix a 3 x 3 Double 9 72 H 32 array of length 9 Refer also to the CLOCKMODEL log in the OEMV Family Firmware Reference Manual 7 XXXX 32 bit CRC ASCII Binary and Hex 4 H 104 Short Binary only 8 CR LF Sentence terminator ASCII only Recommended Input log inspossynca onchanged ASCII Example INSPOSSYNCA COM1 0 47 5 FINESTEERING 1332 484154 042 00000000 c98c 34492 484154 000000000 1634523 2463 3664620 7609 4942494 6795 1 8091616236414247 0 0452272887760925 0 7438098675219428 0 0452272887760925 2 9022554471257266 1 5254793710104819 0 7438098675219428 1 5254793710104819 4 3572293495804546 9 cd6ce1 120 SPAN CPT User Manual Rev 6 2 17 INSPVA INS Position Velocity and Attitude This l
137. stem y axis 1s pointing due East within a standard deviation of 5 degrees Note that if you have mounted your SPAN system with the positive z axis as marked on the enclosure not pointing up please refer to the SETIMUORIENTATION command to determine the SPAN frame axes mapping that SPAN automatically applies SPAN CPT User Manual Rev 6 85 B 2 19 SETINSOFFSET Set INS Offset The SETINSOFFSET command is used to specify an offset from the SPAN CPT for the output position and velocity of the INS solution This command shifts the position and velocity in the INSPOS INSPOSS INSVEL INSVELS INSSPD INSSPDS INSPVA and INSPVAS logs by the amount specified in metres with respect to the SPAN CPT enclosure frame axis Abbreviated ASCII Syntax Message ID 676 SETINSOFFSET xoffset yoffset zoffset Field ASCII Binary zi Binary Binary Binary Field Description Format Bytes Offset Type Value Value 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 X offset 100 Offset along the IMU enclosure Double 8 H frame X axis m 3 Y offset 100 Offset along the IMU enclosure Double 8 H 8 frame Y axis m 4 Z offset 100 Offset along the IMU enclosure Double 8 H 16 frame Z axis m Abbreviated ASCII Example SETINSOFFSET 0 15 0 15 0 25 86 SPAN CPT User Manual Rev 6
138. t plugged in and you have entered a FIX POSITION command then you may see PENDING indefinitely SPAN CPT User Manual Rev 6 99 C 2 2 BESTGPSVEL Best Available GPS Velocity Data 100 This log contains the best available GPS velocity information without INS computed by the receiver In addition it reports a velocity status Indicator which is useful in indicating whether or not the corresponding data is valid The velocity measurements sometimes have a latency associated with them The time of validity is the time tag in the log minus the latency value The velocity is typically computed from the average change in pseudorange over the time interval or the RTK Low Latency filter As such it is an average velocity based on the time difference between successive position computations and not an instantaneous velocity at the BESTGPSVEL time tag The velocity latency to be subtracted from the time tag is normally 1 2 the time between filter updates Under default operation the positioning filters are updated at a rate of 2 Hz This translates into a velocity latency of 0 25 second The latency can be reduced by increasing the update rate of the positioning filter being used by requesting the BESTGPSVEL or BESTGPSPOS messages at a rate higher than 2 Hz For example a logging rate of 10 Hz would reduce the velocity latency to 0 005 seconds For integration purposes the velocity latency should be applied to the record time tag A valid solution with
139. ta Collection eie ee bbe gedaan Lob hide DD ee donde MEE 46 3 5 Data Collection for Post Processing r 48 4 SPAN CPT Dual Antenna 49 4 1 OMETVIOQW dose tc edt con soe tc Ce p Meer fo tei os oda teen Sasha LT aaa sus 49 4 2 Installation u vel vests ve done lenis 49 4 3 Configuring ALIGN with SPAN CPT sse nennen nnne nnn 50 4 4 Configuring SPAN with ALIGN on SPAN CPT a 51 4 4 1 Alignment on a Moving Vessel Aided Transfer Alignment 51 SPAN CPT User Manual Rev 6 4 4 2 Alignment on a Stationary Vehicle Aided Static Alignment 52 4 4 3 Unaided Alignment L iiie uuu ne Pene 52 4 4 4 Automatic Alignment Mode Automatic Alignment default 52 4 5 SPAN ALIGN Attitude Updates u u 52 A Technical Specifications 53 A 1 SPAN CPT Technical 53 A344 SPAN GPIf Cables ibo ned 55 1 2 KVH IMU Sensor Specifications 60 A 1 3 Electrical and Environmental U a 61 ua ua Causa cee ey ces aaa a au aaa 61 B INS Commands 62 B 1 Using a Command as a Log u u ai aaia 62 B 2 INS Specific Commands uu aus
140. ted uncertainties The number of lever arms supported will equal the number of antennas supported in the model For example one for single antenna This log contains the same information as the BESTLEVERARM or BESTLEVERARM2 logs for each lever arm but is intended as a single source for all lever arm information available on the system Abbreviated ASCII Syntax Message ID 1270 log imutoantoffsets Log Type Asynch Example log lt OK COM1 lt IMUTOANTOFFSETS COM1 0 98 5 FINESTEERING 1581 339209 733 60000041 0000 265 lt 02 lt LEVER ARM PRIMARY 0 326000000 0 126000000 1 285000000 0 032600000 0 012600000 0 128500000 LEVER ARM FROM COMMAND lt LEVER ARM SECONDARY 0 325000000 1 155000000 1 287000000 0 032500000 0 115500000 0 128700000 LEVER_ARM FROM COMMAND COM1 Recommended Input log imutoantoffsetsa onchanged ASCII Example IMUTOANTOFFSETSA 1 0 98 5 FINESTEERING 1581 339209 733 60000041 0000 265 0 2 LEVER ARM PRIMARY 0 326000000 0 126000000 1 285000000 0 032600000 0 012600000 0 128500000 LEVER_ARM FROM COMMAND LEVER_ARM SECONDARY 0 325000000 1 155000000 1 287000000 0 032500000 0 115500000 0 128700000 LEVER ARM FROM COMMAND 8 0 90b5 SPAN CPT User Manual Rev 6 T Field Field Type Description Format Bytes Binary Offset 1 Log Header Log header H 2 IMU See Table 33 Full Mapping ULong H Orientation Definition
141. the IMU is still available when running SPAN Logs such as PSRPOS RTKPOS and OMNIPOS are still available Any non INS logs should be logged at a maximum rate of 5 Hz when running SPAN Only INS specific logs documented in Appendix C INS Logs starting on Page 65 should be logged at rates higher than 5 Hz when running SPAN What will happen to the INS solution when I lose GPS satellite visibility When GPS tracking is interrupted the INS GPS solution bridges through the gaps with what is referred to as free inertial navigation The IMU measurements are used to propagate the solution Errors in the IMU measurements accumulate over time to degrade the solution accuracy For example after one minute of GPS outage the horizontal position accuracy is approximately 8 4 m The SPAN solution continues to be computed for as long as the GPS outage lasts but the solution uncertainty increases with time This uncertainty can be monitored using the INSCOV log see page 115 All the accels measurements in my RAWIMUS logs are zero and the IMU status shows one or all accels are failing What is wrong Ensure a monotonic power supply on power up of your SPAN CPT unit See Connect Power on page 29 for more information SPAN CPT User Manual Rev 6 accelerometers 93 80 96 age solution 96 alignment 69 80 ALIGNMENTMODE 63 almanac 68 antenna 80 141 APPLYVEHICLEBODYROTATION 64 attitude 69 113 115 121 129 axes enclosure frame
142. try of installation may install lightning protection devices 18 Actions to Mitigate Lightning Hazards 1 Do not install antennas or antenna coaxial cables outside the building during a lightning storm 2 It is 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 3 Primary lightning protection must be provided by the operator customer according to local building codes as part of the extra building installation 1 Please visit the NovAtel Web site at www novatel com through Products WEEE and RoHS for more information on WEEE and RoHS SPAN CPT User Manual Rev 6 Notices 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 A If this device is not chosen as the primary lightning protection device the device chosen must meet the following requirements UL listed or equivalent in country of installation for example TUV VDE and so on for lightning surge protection The primary device must be capable of limiting an incoming surge to 10kV Th
143. unt along y axis 2 Long 4 H 20 b 7 X Accel Output Change in velocity count along x axis Long 4 H 24 8 Z Gyro Output Change in angle count around z axis Long 4 H 28 Right handed 9 Y Gyro Output Change in angle count around y axis Long 4 H 32 Right handed 10 X Gyro Output Change in angle count around x axis Long 4 H 36 Right handed 11 XXXX 32 bit CRC ASCII Binary and Short Hex 4 40 Binary only 12 CR LF Sentence terminator ASCII only a The change in velocity acceleration scale factor for each IMU type can be found in Table 20 on page 133 Multiply the scale factor in Table 20 by the count in this field for the velocity increments in m s b A negative value implies that the output is along the positive Y axis marked on the IMU A positive value implies that the change is in the direction opposite to that of the Y axis marked on the IMU c The change in angle gyro scale factor can be found in Table 20 on page 133 Multiply the appropriate scale factor in Table 20 by the count in this field for the angle increments in radians To obtain acceleration in m s 2 multiply the velocity increments by the output rate of the IMU eg 100Hz for HG1700 IMU CPT 200Hz iMAR FSAS LN200 and LCI SPAN CPT User Manual Rev 6 131 Table 18 SPAN CPT Status Nibble Bit Mask Description Range Value
144. up clears this error state 5 Apply power to the SPAN CPT See 8 a an oS Figure 8 Apply Power to the SPAN CPT It is recommended that you place a back up battery between the SPAN CPT and its voltage supply as a power buffer if installed in a vehicle When a vehicle engine is started power can dip to 9 6 VDC or cut out ancillary equipment see Figure 9 from Vehicle Alternator to Vehicle Electrical System Vehicle Main Auxiliary Battery Battery Figure 9 Battery Isolator Installation 30 SPAN CPT User Manual Rev 6 Chapter 3 SPAN CPT Operation Before operating your SPAN CPT system ensure that you have followed the installation and setup instructions in Chapter 2 SPAN CPT Installation starting on page 25 You can use NovAtel s Connect software to configure receiver settings and to monitor data in real time between a rover SPAN CPT system and base station SPAN CPT system output is compatible with post processing software from NovAtel s Waypoint Products Group For information about Waypoint visit our Web site at www novatel com through Products Waypoint Software Ensure the Control Panel s Power Settings on your PC are not set to go into Hibernate or Standby modes Data will be lost if one of these modes occurs during a logging session 3 1 Definition of Reference Frames Within SPAN The reference frames that are most frequently used throughout this
145. updates such as position velocity or attitude are supplied The SPAN CPT system s combined GPS INS solution integrates the raw inertial measurements with all available GPS information to provide the optimum solution possible in any situation By using the high accuracy GPS solution the IMU errors can be modeled and mitigated Conversely the continuity SPAN CPT User Manual Rev 6 Chapter 1 1 1 24 Introduction and relative accuracy of the INS solution enables faster GPS signal reacquisition and RTK solution convergence The advantages of using SPAN CPT technology are its ability to Provide a full attitude solution roll pitch and azimuth Provide continuous solution output in situations when a GPS only solution is impossible Provide faster signal reacquisition and RTK solution resolution over stand alone GPS because of the tightly integrated GPS and INS filters Output high rate up to 100 Hz position velocity and attitude solutions for high dynamic applications see also Logging Restriction Important Notice on page 95 Use raw phase observation data to constrain INS solution drift even when too few satellites are available for a full GPS solution System Components The SPAN CPT system consists of the following components SPAN CPT Integrated INS GPS unit This unit has 3 accelerometers 3 gyroscopes gyros and a NovAtel OEMV3 Receiver Excellent acquisition and re acquisition times allow this receiver to operate i
146. ut from the receiver s COMI serial port at intervals of once every 15 seconds whereas the GPRMB and GPVTG NMEA logs have been set to be logged out of the receiver s serial port at intervals of 15 seconds and offset by five seconds The RXCOMFIGA log has been set to output every 60 seconds from its COM2 serial port 140 SPAN CPT User Manual Rev 6 17 Replacement Parts The following are a list of the replacement parts available Should you require assistance or need to order additional components please contact your local NovAtel dealer or Customer Service E 1 SPAN CPT System Part Description NovAtel Part KVH Enclosure 80023524 KVH Standard Unterminated Cable 60723107 KVH Development Terminated Cable 60723108 SPAN CPT Quickstart Guide GM 14915081 NovAtel Connect and Convert disk refer to page 34 of this manual and to the OEMV 01017827 Family Installation and Operation User Manual SPAN CPT User Manual OM 20000122 OEMV Family Installation and Operation User Manual OM 20000093 OEMV Family Firmware Reference Manual OM 20000094 E 2 Accessories and Options Part Description NovAtel Part Optional NovAtel GPSAntennas Model 532 for aerodynamic applications ANT A72GA TW N Model 702 for high accuracy applications GPS 702 Model 702L for L band applications GPS 702L Model 533 for high performance base station applications ANT C2GA TW N Optional RF Antenna Ca
147. valid INS solution A good INS solution and vehicle movement are required for the SPAN CPT system to solve the vehicle to body SPAN offset The solved vehicle body rotation parameters are output in the VEHICLEBODYROTATION log when the calibration is complete When the calibration is done the rotation values are fixed until the calibration is re run by entering the RVBCALIBRATE command again or by entering the VEHICLEBODYROTATION command with known values The solved rotation values are used only for a rough estimate of the angular offsets between the SPAN CPT and vehicle frames The offsets are used when aligning the system while in motion see Section 3 3 1 System Start Up and Alignment Techniques starting on page 40 The angular offset values are not applied to the attitude output unless the APPLY VEHICLEBODYROTATION command is enabled Abbreviated ASCII Syntax Message ID 641 RVBCALIBRATE reset Field ASCII Binary T Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 Header This field contains H 0 the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 Switch RESET 0 Control the vehicle ENUM 4 H body rotation DISABLE 1 computation ENABLE 2 Abbreviated ASCII Example RVBCALIBRATE reset 74 SPAN CPT User Manual Rev 6 2 12 SETALIGNMENTVEL Set the Minimum Kinematic
148. y as to the performance or results you may obtain by using the Software The entire risk as to the results and performance of the Software is assumed by you See product enclosure if any for any additional warranty 7 Indemnification NovAtel shall be under no obligation or liability of any kind in contract tort or oth erwise and whether directly or indirectly or by way of indemnity contribution or otherwise howsoever to the Licensee and the Licensee will indemnify and hold NovAtel harmless against all or any loss dam age actions costs claims demands and other liabilities or any kind whatsoever direct consequential special or otherwise arising directly or indirectly out of or by reason of the use by the Licensee of the Software whether the same shall arise in consequence of any such infringement deficiency inaccu racy error or other defect therein and whether or not involving negligence on the part of any person 8 Disclaimer and Limitation of Liability a THE WARRANTIES IN THIS AGREEMENT REPLACE ALL OTHER WARRANTIES EXPRESS OR IMPLIED INCLUDING ANY WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE NovAtel DISCLAIMS AND EXCLUDES ALL OTHER WARRANTIES IN NO EVENT WILL NovAtel s LIABILITY OF ANY KIND INCLUDE ANY SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES INCLUDING LOST PROFITS EVEN IF NovAtel HAS KNOWLEDGE OF THE POTENTIAL LOSS OR DAMAGE b NovAtel will not be liable for any loss or damage caused by d

SPAN-CPT Receiver User Manual

Contents

Download Pdf Manuals

Related Search

Related Contents