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SPAN® Technology for OEMV® User Manual

1. Figure 49 Attach Flex Cable 2 Tighten the screws to 4 in lbs 3 Connect the opposite end of the flex cable to the corresponding connector on the IMU card ensuring that the contacts on the flex cable mate with the contacts on the connector as shown in Figure 49 4 Check that the flex cable is locked in place SPAN Technology for OEMV User Manual Rev 11 201 Appendix E HG1700 IMU in SPAN HG Enclosure Figure E 4 shows an incorrect installation of the flex cable where it is bowed in AA the middle It will not operate properly in this position Figure 50 shows the proper installation of the flex cable Notice how the flex cable sits flush against the IMU surface E 4 Re Assemble the SPAN IMU Enclosure Use a hex key to align the long bolts with the threaded holes in the base as shown in Figure 46 on page 198 Apply threadlock to threads Finger tighten all bolts and torque them in a cross pattern to 12 in lbs The fully assembled IMU enclosure is shown in Figure 52 Figure 52 HG1700 SPAN IMU 202 SPAN Technology for OEMV User Manual Rev 11 ANo ae LN 200 IMU in SPAN IMU Enclosure The following procedure detailed in this appendix provides the necessary information to install the LN 200 sensor NovAtel part number 80023515 into the SPAN IMU enclosure NovAtel part number 01017656 using the LN 20
2. 2 Switch DISABLE 0 Disable INS zero velocity Enum 4 H updates ENABLE 1 Enable INS zero velocity updates default Abbreviated ASCII Example INSZUPTCONTROL DISABLE 114 SPAN Technology for OEMV User Manual Rev 11 INS Commands Appendix B B 2 8 INTERFACEMODE Set Interface Type for a Port This command allows the user to specify what type of data a particular port on the receiver can transmit and receive The receive type tells the receiver what type of data to accept on the specified port The transmit type tells the receiver what kind of data it can generate For INS operation please see Section 2 3 2 SPAN IMU Configuration starting on page 38 As another example you could set the receive type on a port to RTCA in order to accept RTCA differential corrections It is also possible to disable or enable the generation or transmission of command responses for a particular port Disabling of responses is important for applications where data is required in a specific form and the introduction of extra bytes may cause problems for example RTCA RTCM RTCMV3 or CMR Disabling a port prompt is also useful when the port is connected to a modem or other device that will respond with data the receiver does not recognize When INTERFACEMODE port NONE NONE OFF is set the specified port is disabled from interpreting any input or output data Therefore no commands or differential corrections are decoded b
3. ASCII Binary ar Binary Binary Binary 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 Azimuth 360 to 360 Input azimuth angle in degrees Double 8 H 7 o Input azimuth standard deviation 3 azSTD 0 000278 to 180 angle in degrees Double 8 H 8 a 0 000278 is equal to 1 arc second Abbreviated ASCII Example SETINITAZIMUTH 90 5 In this example the initial azimuth has been set to 90 degrees This means that the SPAN system y axis is pointing due East within a standard deviation of 5 degrees Note that if you have mounted your 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 134 SPAN Technology for OEMV User Manual Rev 11 INS Commands Appendix B B 2 20 SETINSOFFSET Set INS Offset The SETINSOFFSET command is used to specify an offset from the IMU 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 IMU enclosure frame axis Abbreviated ASCII Syntax Message ID 676 SETINSOFFSET xoffset
4. 71 23 LN 200 Enclosure Side Dimensions cccccccceeceeeceeeeeeaeeeeseeeeaeeeeeeeeaeaeeeeeeneeaeeeeees 72 24 LN 200 IMU Enclosure Top Bottom Dimensions and Centre of Navigation 74 25 LN 200 Enclosure Side Dimensions ccccceceeceeeeeeeeeeaeeeeeeeeeaeeeeseseaeaeeeeenseeaeeeeees 75 26 LN 200 Interface Cable oo ccccecccceccecenecceeeeeeeeeceeeecenaeceeecaaaeaeceeseaaeaeeeesesaeaeeeeesenaeeeees 76 27 IMU Interface Cable Pin Out ProPak V3 cececceeeeeeeecneeeeeeeeeaeeeeeeeeaeeeeeeseneaeeeeees 76 28 I tN 200 Power Cable sesser p nese seed ble eine 77 29 IMU Power Cable Pin Out 0 cccccccccceccceeeceeeeaeceeeesenaeceeeeeedanaeeeeceaaeaeeeeseaeaeeeeeeenaeaeess 77 30 IIMU FSAS Top Bottom Dimensions ccccceeeeececeeeceeeeeeeeeeeeesenaeeeeeeseeaeeeeeeeeneaeees 79 31 iIMU FSAS Enclosure Side Dimensions ccccccecceeeeeeeceeceeseceeaeeeeeeseeaeeeeeeenneaeees 80 32 IMU FSAS Centre of Navigation cccccccecceceeeeeceeeeeceeneeeeeeseeeeeeeeeesesaeeeeeeseneeeeeeee 81 33 Gorrsys Datron WPT cece tec ecetescesccekte ice dae cca ET 84 34 IMAR IMWS Pre INstalled niiin e052 chose cus laced snob a casa lose sacey eat ae aa it 84 35 IIMU FSAS Interface Cable c cccccecccccececeeenneceeeeeeeaeeeeeeeeceeaeeeeeeeeaeeeeseseceeeeeeeeeneeees 85 36 MIC Top Bottom Dimensions ceccccceeeeeeeeceeeeeeeeeeeeeeeeeeeaeeeeeesnaeceeeeseeaeeeeseeen
5. Scale 0 600 Note The centre of Navigation shown on the HG1700 label for the internal IMU is the same as the enclosure s centre The enclosure centre measurements are labelled as IMU Enclosure centre in this figure SPAN Technology for OEMV User Manual Rev 11 68 Technical Specifications A 3 1 HG1700 IMU Interface Cable Appendix A The IMU interface cable supplied provides power to the IMU from an external power source and enables input and output between the receiver and IMU It is the same as the cable supplied with the LN 200 see Figure 26 on page 76 A 3 2 IMU Performance PERFORMANCE IMU Gyro Rate Bias Gyro Rate Scale Factor Angular Random Walk Accelerometer Range Accelerometer Linearity Accelerometer Scale Factor Accelerometer Bias IMU H58 Gyro Input Range 1000 degrees s Gyro Rate Bias 1 0 degree hr Gyro Rate Scale Factor 150 ppm Angular Random Walk 0 125 degrees rt hr Accelerometer Range 50g Accelerometer Linearity 500 ppm Accelerometer Scale Factor 300 ppm Accelerometer Bias 1 0 mg IMU H62 Gyro Input Range 1000 degrees s 5 0 degrees hr 150 ppm 0 5 degrees rt hr 50g 500 ppm 300 ppm 3 0 mg SPAN Technology for OEMV User Manual Rev 11 69 Appendix A A 3 3 Electrical and Environmental Technical Specifications ELECTRICAL IMU Power Consumption IMU H58 9 W max IMU H62 8 W max IMU Input Voltage 12 to 28 V DC Receiver
6. Ensure that all windows other than the Console are closed in Connect and then use the SAVECONFIG command to save settings in NVM Otherwise unnecessary data logging occurs and may overload your system SPAN Technology for OEMV User Manual Rev 11 49 Chapter 3 SPAN Operation QO 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 ike Only one high rate INS log can be configured for output at a time Once a log is selected for output at a rate faster than or 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 or 200 Hz depending on the IMU LOG INSPVASB ONTIME 0 02 acceptable 50 Hz logging The following is rejected because RAWIMU has already been requested at 100 200 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 LOG INSATTSB ONTIME 0 005 200 Hz request RAWIMU and RAWIMUS logs are only available with the ONNEW or ONCHANGED trigger These logs are not valid with the ONTIME trig
7. 8 H 8 4 Azimuth 360 to 360 Input azimuth angle about the z axis in degrees Double 8 H 16 0 000278 to 5 PitchSTD 480 6 RollSTD 7 azSTD Input pitch standard deviation STD angle in degrees Double 8 H 24 Input roll STD angle in degrees Double 8 H 32 Input azimuth STD angle in degrees Double 8 H 40 a 0 000278 is equal to 1 arc second Abbreviated ASCII Example SETINITATTITUDE 0 0 905 55 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 system is very close to level with respect to the local gravity field The azimuth is 90 degrees see the SETINITAZIMUTH example on page 133 also with a 5 degrees standard deviation 132 SPAN Technology for OEMV User Manual Rev 11 INS Commands Appendix B B 2 19 SETINITAZIMUTH Set Initial Azimuth and Standard Deviation This command allows you to start SPAN operation with a previously known azimuth Azimuth is the weakest component of a coarse alignment and is also the easiest to know from an external source i e like the azimuth of roadway When using this command SPAN operation through alignment will appear the same as with a usual coarse alignment Roll and pitch will be determined using averaged gyro and accelerometer measurements The input azimuth will be used rather than what is
8. Once the receiver is connected to the PC antenna and power supply install NovAtel s OEMV PC Utilities Connect and Convert4 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 Connect Help file for more details on Connect The Help file is accessed by choosing Help from the main menu in Connect Start Connect on your PC to enable communication 1 Launch Connect from the Start menu folder specified during the installation process The default location is Start Programs NovAtel OEMV NovAtel Connect 2 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 Connec tion to use it and skip to step 8 SPAN Technology for OEMV User Manual Rev 11 43 Chapter 3 SPAN Operation 3 Use the New connection dialog to add a new configuration Name SPAN_OEMV Device Type Type Serial v Serial Settings COM21 x Passive 115200 Read Only _ Hardware Handshaking 4 Select Serial or USB from the Type list and select the PC laptop port that the SPAN receiver is connected to from the Port list Select 775200 from the Baud Rate list Uncheck the Use hardware handshaking check box Select OK to save the new device sett
9. Q Figure 59 LN 200 SPAN IMU 208 SPAN Technology for OEMV User Manual Rev 11 Nella HG1700 IMU in Universal Enclosure Important Assemble in accordance with applicable industry standards Ensure all ESD measures are in place in particular use a ground strap before exposing or handling any electronic items including the IMU Take care to prevent damaging or marring painted surfaces O rings sealing surfaces and the IMU The following procedure provides the necessary information to install the HG1700 sensor into the Universal Enclosure NovAtel part number 01018589 both illustrated below The steps required for this procedure are e Disassemble the Universal Enclosure Install the HG1700 Sensor Unit e Reassemble the Universal Enclosure HG1700 Sensor Unit HG1700 Flex Cable Universal Enclosure 1 Use thread locking fluid on all fasteners except for the flex cable connectors 2 Torque values for all fasteners including those for the flex cable are as follows Size 2 56 0 20 0 25 N m 1 8 2 2 Ib in 28 35 oz in Size M4 1 36 1 58 N m 12 0 14 0 Ib in Size 8 32 1 55 1 70 N m 13 7 15 0 lb in SPAN Technology for OEMV User Manual Rev 11 209 Appendix G HG1700 IMU in Universal Enclosure G 1 Disassemble the Universal Enclosure Disassemble the Universal Enclosure as follows 1 Using a 3 mm hex bit remove the M4 screws they will be reused and the base as shown in Figure 6
10. Voltage Supply For advanced users You may also have a user point device such as video equipment Connect the device to the receiver s I O port using a cable that is compatible to both the receiver and the device Refer to your device s documentation for information on its connectors and cables The arrow along the cable in the figure indicates a MARKIN pulse refer to the OEMV Family Firmware Reference Manual from the user device on the right to the ProPak V3 I O port 2 3 Software Configuration 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 and CMR ProPak V3 receivers can also be set up for Omnistar HP Omnistar VBS or CDGPS Refer to the OEMV User Manuals for details on DGPS RTK L band or SBAS setup and operation With no additional configuration the system operates in single point mode SPAN Technology for OEMV User Manual Rev 11 37 Chapter 2 SPAN Installation 2 3 2 SPAN IMU Configuration 2 3 2 1 SPAN Configuration Manually Follow these steps to enable INS as part of the SPAN system using software commands or see Section 2 3 2 2 SPAN Configuration with Connect on page 39 to see the alternate method using NovAtel s Connect software utility 1 Issue the INTERFACEMODE command to specify the receiver port connected to the IMU see Table 4 below and the INTERFACEMODE command on page 1 5 2
11. NorvAtei SPAN Technology for OEMV User Manual OM 20000104 Rev 11 September 2012 Proprietary Notice SPAN Technology for OEMV User Manual Publication Number OM 20000104 Revision Level Rev 11 Revision Date September 2012 This manual reflects SPAN for OEMV firmware version SPAN3 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 ProPak SPAN and RT 20 are registered trademarks of NovAtel Inc RT 2 and ProPak V3 are trademarks of NovAtel Inc All other product or brand names are trademarks of their respective holders Manufactured and protected under U S Patents 5 101 416 5 390 207 5 414 729 5 495 499 5 736 961 5
12. 1397 SETALIGNMENTVEL velocity 3 Field Binary ee 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 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 0 122 SPAN Technology for OEMV User Manual Rev 11 INS Commands Appendix B B 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 Binary Value Binary Binary Binary Field Type ASCII Value Format Bytes Offset Description 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 1 Header 2 Filter 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 SPAN Technology for OEMV User Manual
13. 22 pin all IMU s IMU Interface RS 232 or RS 422 ENVIRONMENTAL LN 200 IMU Temperature Operating 30 C to 60 C 22 F to 140 F Storage 45 C to 80 C 49 F to 176 F Humidity 95 non condensing a For replacement connectors on the interface and power cables see Section J 3 Manufacturer s Part Numbers on page 231 SPAN Technology for OEMV User Manual Rev 11 73 Appendix A Technical Specifications A 5 LN 200 IMU dual connector enclosure IMU Enclosure Size Table 13 LN 200 IMU Specifications PHYSICAL 135mm x 153mm x 130 mm 5 315 x 6 024 x 5 118 IMU Size 89 mm D x 85 mm H 3 504 D x 3 346 H IMU Weight 3 kg 6 6 lb MECHANICAL DRAWINGS 143 7 76 2 134 6 y AIWIT CENTER OF NAVIGATION 76 8 Enclosure Center 82 4 Navigation Center OFFSETS 0 22 5 6mm SCALE 0 800 70 7 76 3 Enclosure Center Navigation Center To Figure 24 LN 200 IMU Enclosure Top Bottom Dimensions and Centre of Navigation 74 SPAN Technology for OEMV User Manual Rev 11 Appendix A Technical Specifications 36 8 IMU Enclosure Center Scale 0 800 ote The centre of Navigation offsets shown on the LN 200 label are for the internal IMU and are different than for the Figure 25 LN 200 Enclosure Side Dimensions encl
14. 7 087 Ave SS 0 31 5 2 BOTIOM 0 30 a 4 I 4X 6 60 p 0 260 AS oa 0 6 33 MARKERS aa pe a TYP Se OT q g3 83 eo Figure 13 Universal IMU Enclosure Top Bottom Dimensions 56 SPAN Technology for OEMV User Manual Rev 11 Technical Specifications Appendix A Dimensions in mm inches 146 2 5 76 38 0 1 50 LEFT FRONT i 4 16 0 0 63 Figure 14 Universal IMU Enclosure Side Dimensions SPAN Technology for OEMV User Manual Rev 11 57 Appendix A Enclosure ean IMU Type mo A HG1700 a8 I Sa a 9 a bid j LEFT 25 09 0 988 tes Dimensions are shown in mm and quare brackets in inches O 58 Technical Specifications Figure 15 IMU Centre of Navigation SPAN Technology for OEMV User Manual Rev 11 Technical Specifications Appendix A A 1 1 Universal IMU Enclosure Interface Cable NovAtel s part number for the Universal IMU Enclosure interface cable is 01018299 see Figure 16 and Figure 17 This cable provides power to the IMU from an external power source and enables input and output between the rece
15. 9 IMU_LN200_400HZ Litton LN 200 400 Hz model 10 Reserved Reserved 11 IMU_HG1700_AG58 Honeywell HG1700 AG58 12 IMU_HG1700_AG62 Honeywell HG1700 AG62 13 IMU_IMAR_FSAS iMAR_iIMU_FSAS 14 16 Reserved 17 IMU_GLADIATOR_LANDMARK20 Gladiator Landmark20 18 19 Reserved 20 IMU HG1930_AA99 Honeywell HG1930 AA99 CA50 21 25 Reserved 26 Reserved 27 IMU_HG1900_CA50 Honeywell HG1900 CA50 28 IMU_HG1930_CA50 Honeywell HG1930 CA50 Abbreviated ASCII Example SETIMUTYPE IMU_IMAR_FSAS 130 SPAN Technology for OEMV User Manual Rev 11 INS Commands Appendix B B 2 18 SETINITATTITUDE Set Initial Attitude of SPAN in Degrees This command allows you to input a known attitude to start SPAN operation rather than the usual coarse alignment process The caveats and special conditions of this command are listed below e This alignment is instantaneous based on the user input This allows for faster system startup however the input values must be accurate or SPAN will not perform well e If you are uncertain about the standard deviation of the angles you are entering err on the side of a larger standard deviation e Sending SETINITATTITUDE resets the SPAN filter The alignment is instantaneous but some time and vehicle dynamics are required for the SPAN filter to converge Bridging performance is poor before filter convergence e The roll about the y axis pitch about the x axis and azimuth about the z axis are with respect to the SPAN frame
16. GPRMB GPRMC GPVTG GPZDA Talker IDs CP GP GP IN GP GP GP IN GP GP IN GP IN GP IN GP Field ASCII Binary eee 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 120 SPAN Technology for OEMV User Manual Rev 11 INS Commands Appendix B B 2 11 RVBCALIBRATE Vehicle to Body Rotation Control The RVBCALIBRATE command is used to enable or disable the calculation of the vehicle to SPAN body angular offset This command should be entered when the IMU is 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 amp body rotation parameters present and a kinematic alignment is NOT possible Therefore this command should only be entered after the system has performed either a static or kinematic alignment and has a valid INS solution A good INS solution and vehicle movement are required for the SPAN system to solve the vehicle SPAN body offset The solved vehicle body rotation parameters are output in the VEHICLEBODYROTATION log when the calibration is complete see page 192 When the
17. 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 country of installation may install lightning protection devices Actions to Mitigate Lightning Hazards 1 Do not install antennas or antenna coaxial cables outside the building during a lightning storm 2 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 comthrough Products WEEE and RoHS for more information SPAN Technology for OEMV User Manual Rev 11 4 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 a
18. If it increases above 2 the status changes to INS SOLUTION NOT _GOOD 3 3 1 1 Coarse Alignment The coarse alignment is the default alignment routine for SPAN The alignment starts as soon as a GPS solution is available the receiver has computed fine time and the IMU is connected and configured The vehicle must remain stationary for the alignment to happen During the coarse alignment accelerometer and gyro measurements are averaged over a period of time to measure Earth rotation and gravity From these averaged measurements initial estimates of roll pitch and heading are computed Because the coarse alignment uses averaged sensor output the vehicle must remain stationary for the duration of the alignment which is approximately minute The attitude estimates solved by the alignment are larger than the system specified attitude accuracy and vary upon the characteristics of the sensor and the geographic latitude of the system Attitude accuracy converges with motion after the coarse alignment is complete see Section 3 3 2 Navigation Mode on page 48 If the system is stationary for less than 1 minute the coarse alignment finishes early provided at least 5 stationary seconds were detected The quality of the coarse alignment is poorer with stationary durations of less than 1 minute The HG1930 and Landmark IMUs cannot perform coarse alignments as these IMUs cannot accurately measure Earth rotation For these IMUs the default align
19. If the IMU enclosure is mounted with the z axis pointing upwards the SPAN frame is the same as the markings on the enclosure If the IMU is mounted in another way SPAN transforms the SPAN frame axes such that z points up for SPAN computations You must enter the angles in SETINITATTITUDE with respect to the transformed axis See SETIMUORIENTATION for a 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 124 unless you have your IMU mounted with the z axis not pointing up Then use the tables in the SETIMURIENTATION command on pages 125 126 to determine the azimuth axis that SPAN is using Abbreviated ASCII Syntax Message ID 862 SETINITATTITUDE pitch roll azimuth pitchSTD rollSTD azSTD SPAN Technology for OEMV User Manual Rev 11 131 Appendix B Field Type ASCII Value Binary Field Value 1 Header 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 INS Commands Binary Bytes Binary Offset H 0 2 Pitch 360 to 360 Input pitch angle about the x axis in degrees Double 3 Roll 360 to 360 Input roll angle about the y axis in degrees Double
20. Issue the SETIMUTYPE command to specify the type of IMU being used see Table 4 below and the SETIMUTYPE command on page 129 Table 4 Enable INS Commands IMU Type INTERFACEMODE Command SETIMUTYPE Command LN 200 interfacemode comX imu imu off setimutype imu_In200 iIMU FSAS interfacemode comX imarimu setimutype imu_imar_fsas imarimu off HG1700 interfacemode comX imu imu off setimutype imu_hg1700_ag11 or setimutype imu_hg1700_ag17 or setimutype imu_hg1700_ag58 or setimutype imu_hg1700_ag62 setimutype imu_hg1900_ca50 setimutype imu_hg1930_ca50 Landmark interfacemode comX imu imu off setimutype imu_gladiator_landmark20 IMU a Use the COM port number that the IMU is connected to for example OEMV 1DF requires COM1 but an OEMV 3 ProPak can use COM1 or COM 3 for IMU communica tion b The iIMU FSAS IMU uses RS 422 as its communication protocol The OEMV 3 COM3 can be labelled AUX on a ProPak V3 supports either RS 232 or RS 422 as a factory configurable option Basic configuration of the SPAN system is now complete The inertial filter starts once the GNSS solution is solved and the IMU is connected 1 A GNSS antenna must be connected and tracking satellites for operation 2 Enter the INTERFACEMODE command with COM3 as the port value even if the ProPak V3 port is labelled AUX 3 Issue the SETIMUTOANTOFFSET command to enter the distance from the IMU to the GPS antenna see page 128
21. SETIMUTOANTOFFSET 0 54 0 32 1 20 0 03 0 03 0 05 SPAN Technology for OEMV User Manual Rev 11 INS Commands B 2 17 SETIMUTYPE Set IMU Type The SETIMUTYPE command is used to specify the type of IMU connected to the receiver The IMU type can be saved using the SAVECONFIG command so that on startup the receiver does not have to detect the type of IMU connected Appendix B Ensure that all windows other than the Console are closed in Connect and then use the SAVECONFIG command to save settings in NVM Otherwise unnecessary data logging occurs and may overload your system Abbreviated ASCII Syntax Message ID 569 SETIMUTYPE switch x Field ASCII Binary ze Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 Log This field contains the H 0 Header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 Switch See Table 33 IMU IMU Type Enum 4 H Type on page 130 SPAN Technology for OEMV User Manual Rev 11 129 Appendix B INS Commands Table 33 IMU Type Binary ASCII Description 0 IMU_UNKNOWN Unknown IMU type default 1 IMU_HG1700_AG11 Honeywell HG1700 AG11 AG58 2 3 Reserved 4 IMU_HG1700_AG17 Honeywell HG1700 AG17 AG62 5 IMU_HG1900_CA29 Honeywell HG1900 CA29 CA50 6 7 Reserved 8 IMU_LN200 Litton LN 200 200 Hz model
22. ilIMU FSAS Status Nibble Bit UERS Description Range Value 0 0x00000001 NO 1 0x00000002 Racened 2 0x00000004 3 0x00000008 4 0x00000010 Gyro warm up Passed 0 Failed 1 N1 5 0x00000020 Gyro self test active Passed 0 Failed 1 6 0x00000040 Gyro status bit set Passed 0 Failed 1 7 0x00000080 Gyro time out command Passed 0 Failed 1 8 0x00000100 Power up built in test PBIT Passed 0 Failed 1 N2 9 0x00000200 Reserved 10 0x00000400 Interrupt Passed 0 Failed 1 11 0x00000800 Reserved 12 0x00001000 Warm up Passed 0 Failed 1 N3 13 0x00002000 Reserved 14 0x00004000 15 0x00008000 Initiated built in test IBIT Passed 0 Failed 1 16 0x00010000 Reserved N4 17 0x00020000 18 0x00040000 Accelerometer Passed 0 Failed 1 19 0x00080000 Accelerometer time out Passed 0 Failed 1 20 0x00100000 Reserved N5 21 0x00200000 Gyro initiated BIT Passed 0 Failed 1 22 0x00400000 Gyro self test Passed 0 Failed 1 23 0x00800000 Gyro time out Passed 0 Failed 1 Continued on next page 180 SPAN Technology for OEMV User Manual Rev 11 INS Logs Appendix C Nibble Bit Mask Description Range Value 24 0x01000000 Analog to Digital AD Passed 0 Failed 1 N6 25 0x02000000 Testmode Passed 0 Failed 1 26 0x04000000 Software Passed 0 Failed 1 27 0x08000000 RAM ROM Passed 0 Failed 1 28 0x100
23. receiver 23 DGND Power 24 USER_TXD2 Output In board stackup with OEMV 1DF this is the access to the OEMV 1DF COM2 port In standalone no connect 25 USER_RXD2 Input In board stackup with OEMV 1DF this is the access to the OEMV 1DF COM2 port In standalone no connect 26 DGND Power Digital ground 27 PV Output Access to OEMV 1DF position Only available in board stackup valid with OEMV 1DF In standalone no connect 28 DGND Power Digital ground 29 1PPS Output Access to OEMV 1DF 1PPS Only available in board stackup with OEMV 1DF In standalone no connect 30 Reserved N A Leave as no connect Board State a All signal I O with the exception of USB port are at LVTTL levels Table 24 MIC LED Indicator Drivers Status LED 1 Status LED 2 Status LED 3 Bootup Toggles at 2 Hz Self test Off On Normal Operation On Toggles at 2 Hz GPS Toggles at 2 Hz Time IMU Data No IMU Connected Toggles t 1 Hz Error Toggles at 2 Hz GPS Time Toggles at 1 Hz Error When the MIC boots up it requires approximately 10 seconds to perform a self test If a software update has been performed the board can take up to 70 seconds at startup to complete the reprogramming SPAN Technology for OEMV User Manual Rev 11 95 Appendix A Technical Specifications A 8 OEMV Family Receiver Performance Position Accuracy Standalone L1 only 1 8m RMS L1 L2 1 5m RMS
24. 0 01 0 01 0 01 40 SPAN Technology for OEMV User Manual Rev 11 Chapter 3 SPAN Operation Before operating your SPAN system ensure that you have followed the installation and setup instructions in Chapter 2 SPAN Installation starting on page 28 You can use NovAtel s Connect software to configure receiver settings and to monitor data in real time between a rover SPAN system and base station SPAN system output is compatible with post processing software from NovAtel s Waypoint Products Group Visit our Web site at www novatel com for details Ensure the Control Panel s Power Settings on your PC are not set to go into Hibernate or Standby modes Data will be lost if one of these modes occurs during a logging session 3 1 Definition of Reference Frames Within SPAN The reference frames that are most frequently used throughout this manual are the following The Local Level Frame The SPAN Body Frame The Enclosure Frame e The Vehicle Frame 3 1 1 The Local Level Frame ENU The definition of the local level coordinate frame is as follows e z axis pointing up aligned with gravity y axis pointing north e x axis pointing east Figure 10 Local Level Frame ENU SPAN Technology for OEMV User Manual Rev 11 41 Chapter 3 SPAN Operation 3 1 2 The SPAN Body Frame The definition of the SPAN body frame is as follows e z axis pointing up aligned with gravity e y axis defined by how user
25. 0 6 m RMS OmiSTAR 0 7 m RMS OEMV 1 and OEMV 3 only Post 5mm 1 ppm RMS Processed Time to First Fix Reacquisition Data Rates Computed position 20 Hz 50 Hz optional OmniSTAR HP position 20 Hz OEMV 3 only Time Accuracy 20 ns RMS Velocity Accuracy 0 03 m s RMS Continued on next page 96 SPAN Technology for OEMV User Manual Rev 11 Technical Specifications Appendix A Measurement Precision C A code 6 cm RMS phase L1 carrier Differential 0 75 mm RMS a L2P code o code 25 cm RMS 25 om RMS OEMV 2 and OEMV 3 only 2 and OEMV 25 om RMS OEMV 2 and OEMV 3 only only C 2 mm RMS OEMV 2 and OEMV 3 only phase Dynamics a Typical GPS only values Performance specifications are subject to GPS system characteristics U S DOD operation degradation ionospheric and tropospheric conditions satellite geometry baseline length and multipath effects b GPS only Time accuracy does not include biases due to RF or antenna delay d In accordance with export licensing 9 SPAN Technology for OEMV User Manual Rev 11 97 Appendix A Technical Specifications A 9 OEMV 1DF Card Size 46 mm x 71 mm x 13 mm with connectors 21 5 grams NOVATEL PART NUMBER 01018506 MECHANICAL DRAWINGS Generic OEMV 1DF 0 175 4 45 N AP ie 1575 ae x2 LU 0 6 Z C 1 205 gt E
26. 1 Enable INS delta phase updates default Abbreviated ASCII Example INSPHASEUPDATE ENABLE 112 SPAN Technology for OEMV User Manual Rev 11 INS Commands Appendix B B 2 6 INSZUPT Request Zero Velocity Update This command allows you to manually perform a Zero Velocity Update ZUPT that is to update the receiver when the system has stopped NovAtel s SPAN Technology System does ZUPTs automatically It is not necessary to use this command under normal circumstances O This command should only be used by advanced users of GPS INS Abbreviated ASCII Syntax Message ID 382 INSZUPT SPAN Technology for OEMV User Manual Rev 11 113 Appendix B INS Commands B 2 7 INSZUPTCONTROL _INS Zero Velocity Update Control This command allows you to control whether ZUPTs are performed by the system When enabled ZUPTs allow the INS to reduce its accumulated errors Typically the system will automatically detect when it is stationary and apply a ZUPT For certain applications where it is known that the system will never be stationary such as marine or airborne applications ZUPTs can be disabled altogether Abbreviated ASCII Syntax Message ID 1293 INSZUPTCONTROL switch A Field ASCII Binary ee 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
27. 38 SPAN Technology for OEMV User Manual Rev 11 SPAN Installation Chapter 2 The offset between the antenna phase centre and the IMU axis must remain constant and be known accurately m The X pitch Y roll and Z azimuth directions are clearly marked on the IMU enclosure The SETIMUTOANTOFFSET parameters are where the standard deviation fields are optional and the distances are measured from the IMU to the Antenna x_ offset y_offset z_offset x_stdev y_stdev z_stdev A typical RTK GPS solution is accurate to a few centimeters For the integrated INS GPS system to have this level of accuracy the offset must be measured to within a centimeter Any offset error between the two systems shows up directly in the output position For example a 10 cm error in recording this offset will result in at least a 10 cm error in the output If it is impossible to measure the IMU to GPS antenna offset precisely the offset can be estimated by carrying out the Lever Arm Calibration Routine See Section 3 3 4 Lever Arm Calibration Routine on page 50 2 3 2 2 SPAN Configuration with Connect Follow these steps to enable INS as part of the SPAN system using the NovAtel Connect software utility The NovAtel Connect screen shots in this manual may differ from your version of NovAtel Connect 1 SPAN basic configuration Select Wizards SPAN Alignment from the Connect toolbar This wizard takes you through the steps to complete a coarse
28. 56 11 CR LF Sentence Terminator ASCII only SPAN Technology for OEMV User Manual Rev 11 INS Logs C 2 5 HEAVE Heave Filter Log Appendix C 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 Recommended Input log heavea onnew Example Message ID 1382 Log Type Asynch HEAVEA USB1 0 38 5 FINESTEERING 1630 232064 599 00000000 a759 6696 1630 2320 64 589885392 0 086825199 93392cb4 Field Field Type Description Format Byles ony 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 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 SPAN Technology for OEMV User Manual Rev 11 157 Appendix C INS Logs C 2 6 IMUTOANTOFFSETS IMU to Antenna s Lever Arm This log contains the distance between the IMU and the GNSS antenna s in the IMU enclosure frame and its associated uncertainties This log contains the same information as the BESTLEVERARM logs for each lever arm but is intended as a single source for all lever arm information available on t
29. 734 674 5 809 064 6 243 409 B1 6 664 923 B1 6 721 657 B2 6 750 816 B1 7 193 559 B2 7 346 452 Copyright 2006 2012 NovAtel Inc All rights reserved Unpublished rights OD reserved under International copyright laws Printed in Canada on recycled paper amp 9 Recyclable 2 SPAN Technology for OEMV User Manual Rev 11 Table of Contents Proprietary Notice Software License Terms and Conditions Warranty Policy Customer Support Firmware Updates and Model Upgrades Foreword 1 Introduction 1 1 Fundamentals of GNSS INS 1 2 Models and Features 2 SPAN Installation 2 1 Hardware Description 2 1 1 SPAN System Receivet 0008 2 1 2 Typical Installation Examples 2 1 3 Real Time Differential Operation 2 1 4 Cables and Ports 2 2 Hardware Set Up 2 2 1 Mount Antenna 2 2 2 Mount IMU 2 2 3 Connect COM Cables 2 2 4 Connect Power 2 3 Software Configuration 2 3 1 GPS Configuration 2 3 2 SPAN IMU Configuration 2 3 3 Configuration Command Summary 3 SPAN Operation 3 1 Definition of Reference Frames Within SPAN 3 1 1 The Local Level Frame ENU 3 1 2 The SPAN Body Frame 3 1 3 The Enclosure Frame 3 1 4 The Vehicle Frame 3 2 Communicating with the SPAN System 3 2 1 INS Window in Connect ee 3 3 Real Time Operation 3 3 1 System Start Up and Alignment Techniques 3 3 2 Navigation Mode 3 3 3 Data Collection 3 3 4 Lever Arm Calibration Routine 3 3 5 Vehicle to SPAN Frame Ang
30. 8 H 28 7 Status INS status see Table 5 on Enum 4 H 36 page 46 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 USB2 0 18 0 FINESTEERING 1541 487977 000 00040000 17cd 37343 1541 48 7977 000549050 51 121315135 114 042311349 1038 660737046 INS SOLUTION GOOD 2 d557 166 SPAN Technology for OEMV User Manual Rev 11 INS Logs Appendix C C 2 12 INSPOSS Short INS Position This is a short header version of the INSPOS log on page 166 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 5 on Enum 4 H 36 page 46 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 inspossa ontime 1 ASCII Example SINSPOSSA 1541 487916 000 1541 487916 000549050 51 115797277 114 037811065 1039 030700122 INS_ SOLUTION GOOD 5ca30894 SPAN Technology for OEMV User Manual Rev 11 167
31. ASCII Binary and Hex 4 H 40 Short Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log insspda ontime 1 ASCII Example INSSPDA USB2 0 20 0 FINESTEERING 1541 487969 000 00040000 7832 37343 1541 48 7969 000549050 329 621116190 14 182070674 0 126606551 INS SOLUTION GOOD C2 74 2 SPAN Technology for OEMV User Manual Rev 11 171 Appendix C INS Logs C 2 17 INSSPDS Short INS Speed This is a short header version of the JVSSPD log on page 171 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 5 on Enum 4 H 36 page 46 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 SINSSPDSA 1541 487975 000 1541 487975 000549050 323 101450813 9 787233999 0 038980077 INS SOLUTION GOOD 105ba028 172 SPAN Technology for OEMV User Manual Rev 11 INS Logs Appendix C C 2 18 INSUPDATE INS Update This log contains the most recent
32. ASSEMDIY ee eeeeeeeeeeeereeeenneeeeeeeeenneeeeenaeeeeeeeens 89 A 7 2 HG1930 IMU to MIC Cable Assembly 0 0 ee cece ceeeeeeeeeeeeeneeeeeeeeeeneeeeenaeeeeenees 90 A 7 3 HG1700 and HG1900 IMU to MIC Cable Assembly n e 91 A 7 4 MIC Electrical and Environmental cccccceccececeeeecneceeeeseaeceeeeseceeeeeeeeeseeaeees 92 A 7 5 MIC Communication Ports 0 cccceeceecceeeeceneeceeeeeeaeeeeeeseeaeeeeeesnaeeeeensennaeees 92 ASE G MIG COnMOCtOMrs iraan n kay eat oce Sea aaa a denen tbe i a a EAN 92 A 8 OEMV Family Receiver Performance cccceeeeceeceeeeeeeeeceeeeeseeeaeeeeseeneaeeeeeesenaeeeees 96 A 9 OEMV 1 DF Card ireren hanea caches E Aaa aa Tae AA AE a Eada ak 98 B INS Commands 106 B 1 Using a Command as a LOG eee ceeneeeeeeeee eee eee sees ceeeeeeeeeeeeeaaeeeeeaaeeenneeeeeaeeseeeeeenneeeees 106 B 2 INS Specific Commands iai keit aaee a aa eaaa eea aeae 106 B 2 1 APPLYVEHICLEBODYROTATION Enable Vehicle to Body Rotation 107 B 2 2 CANCONFIG Configure the CAN Interface for SPAN ceeeeeseeeeeeeeeneeeenees 108 B 2 3 FRESET Factory R S tic 222 cccsescnecciteieseccevececsetbeceeed in a en iaiia 110 B 2 4 INSCOMMAND INS Control Command eeeeisieereerirerirsrriesrrirerrineresren 111 B 2 5 INSPHASEUPDATE INS Phase Update Control eeeeeeeesseeeseeeeenneeeeaes 112 B 2 6 INSZUPT Request Zero Velocity Update 0 0 eee eeeceeesteeeeeneeenneeeeeneeeeeeaes 113 B 2 7 INSZUPTCONTROL INS Z
33. Appendix C INS Logs C 2 13 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 Double 8 H 8 4 ECEF Y coordinate Double 8 H 16 5 Z ECEF Z coordinate Double 8 H 24 6 Cov ECEF covariance matrix a3x3 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 9fcd6cel 168 SPAN Technology for OEMV User Manual Rev 11 INS Logs Appendix C C 2 14 INSPVA INS Position Velocity and Attitude This log allows INS position velocity and attitude with respect to the SPAN frame to be collected in one log instead of using three separat
34. For example you could connect the SPAN system to an aerial camera in such a way that the SPAN system recorded its position whenever the shutter button was pressed The receivers have transistor transistor logic TTL compatible I O strobe lines Typically the I O strobe lines can be accessed by inserting the connector of an I O strobe port cable into the I O port The other end of the cable is provided without a connector so that you can provide an application specific one The jacket insulation is cut away slightly from the end but the insulation on each wire is intact Refer to the hardware manual for your receiver for more information on signals wiring and pin out information of the I O port and its cable the OEMV Family Installation and Operation User Manual 4 Connect COM1 of the receiver to a computer COM port using a null modem cable 5 Connect the antenna to the antenna port on the receiver using an appropriate coaxial cable 2 2 4 Connect Power The OEM SPAN receiver products require an input supply voltage as described in Table 3 An automotive adapter is supplied but power can come from a wall outlet adapter or batteries The receiver has an internal power module that does the following e filters and regulates the supply voltage e protects against over voltage over current and high temperature conditions provides automatic reset circuit protection There is always a drop in voltage between the power source and the powe
35. 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 technologies information about NovAtel hardware and software and installation and operation issues Before Contacting Customer Support Before contacting NovAtel Customer Support about a software problem perform the following steps 1 Log the following data to a file on your PC for 15 minutes RXSTATUSB once RAWEPHEMB onchanged RANGEB ontime 1 BESTPOSB ontime 1 RXCONFIGA once VERSIONB once RAWIMUSB onnew INSPVASB ontime 1 INSUPDATEB onchanged 2 Send the file containing the log to NovAtel Customer Support using either the NovAtel FTP site at Support Firmware Software and Manuals Access FTP Site on the NovAtel Web site at www novatel com or through the support novatel com e mail address 3 You can also issue a FRESET command to the receiver to clear any unknown settings 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 16 SPAN Technology for OEMV User Manual Rev 11 Customer Support Contact Information Use one of the following
36. LN 200 IMU Temperature Operating 30 C to 60 C 22 F to 140 F Storage 45 C to 80 C 49 F to 176 F Humidity 95 non condensing a For replacement connectors on the interface or power cables see Section J 3 Manufacturer s Part Numbers on page 231 78 SPAN Technology for OEMV User Manual Rev 11 Technical Specifications Appendix A A 6 ilIMU FSAS Table 14 iIMU FSAS Specifications IMU Size 128mm x 128mm x 104 mm 5 04 x 5 04 x 4 09 IMU Weight 2 1 kg 4 63 Ib MECHANICAL DRAWINGS 2 Tni atata Te M6x1 6H 12deep 4x Dimensions in mm Figure 30 iIMU FSAS Top Bottom Dimensions a See Figure 32 on page 87 for the centre of navigation dimensions b Dimensions are in mm SPAN Technology for OEMV User Manual Rev 11 79 Technical Specifications Appendix A POO TTT Dimensions in mm Figure 31 iIMU FSAS Enclosure Side Dimensions SPAN Technology for OEMV User Manual Rev 11 80 Technical Specifications Appendix A T So H g F amp pi g uonesneN JO 813U8D SYS4 NINI ZE enBi4 1 985287U 16 6LU0 16 6098 WOR965 FUE JE EW 18 8 SPAN Technology for OEMV User Manual Rev 11 81 Appendix A Technical Specifications A 6 1 iIMU FSAS Interface Cable The NovAtel part number for the 1 m iIMU FSAS interface cable is 60723086 for the ProPak V3 see Table 15 below and Figure 35 iiIMU FSAS Interface Cable on page 85 See also Section A 6 2 iIMU F
37. NE Calgary Alberta Canada T2E 8S5 SPAN Technology for OEMV User Manual Rev 11 11 Terms and Conditions 12 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 agreed in writing Interest shall be charged on overdue accounts at the rate of 18 per annum 1 5 per month from due date 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 CONFIDENT
38. Number of GPS and GLONASS L1 ranges above Uchar 1 H 66 the RTK mask angle 18 L2 Number of GPS and GLONASS L2 ranges above Uchar 1 H 67 the RTK mask angle 19 Reserved Uchar 1 H 68 20 Uchar 1 H 69 21 Uchar 1 H 70 22 Uchar 1 H 71 23 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 72 24 CR LF Sentence terminator ASCII only SPAN Technology for OEMV User Manual Rev 11 149 Appendix C INS Logs 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 38 Signal Used Mask Bit Mask Description 0 0x01 GPS L1 used in Solution 1 0x02 GPS L2 used in Solution 2 0x04 GPS L5 used in Solution 3 0x08 Reserved 4 0x10 GLONASS L1 used in Solution 5 0x20 GLONASS L2 used in Solution 6 7 0x40 0x80 Reserved Table 39 Extended Solution Status Bit Mask Description 0 0x01 AdVance RTK Verified 0 Not Verified 1 Verified 1 3 Ox0E Pseudorange lono Correction 0 Unknown Klobuchar Broadcast SBAS Broadcast 1 2 3 Multi frequency Computed 4 PSRDiff Correction 5 NovAtel Blended lono value 4 7 OxFO Reserved a Unknown can indicate that the lono Correction type is None or that the default Kl
39. OEMV User Manual Rev 11 Technical Specifications Appendix A LNA Power External Optional Input Output to antenna 5 to 12 V DC 100 mA max user supplied 4 5 to 5 25 V DC 100 mA Apply power to the OEMV 1DF on pin 1 within the 5 5 to 12 V DC range The card regulates a constant 5 V output on the RF connector INPUT OUTPUT DATA INTERFACE COM1 Electrical format LVTTL Bit rates 300 1200 4800 9600 default 19200 38400 57600 115200 230400 460800 921600 bps Signals supported Electrical format COM1_Tx and COM1_Rx COM2 LVTTL Bit rates Signals supported Electrical format 300 1200 4800 9600 default 19200 38400 57600 115200 230400 bps COM2_Tx and COM2_Rx COM3 LVTTL od Bit rates 2 300 1200 4800 9600 default 19200 38400 57600 115200 230400 bps Signals supported Electrical format COM3_Tx and COM3_Rx CAN BUS 9 LVTTL requires external CAN transceiver Bit rates 1 Mbps maximum CAN Bus throughput is determined by slowest device on the bus Signals supported Electrical format CAN1 is on Pins 6 and 7 9 USB Conforms to USB 1 1 Bit rate Full speed Signals supported USB D and USB D a Baud rates higher than 115 200 bps are not supported by standard PC hardware Special PC hardware may be required for higher rates b Upon power up USB is en
40. Range Description Format Bytes Offset 1 Header Log header H 0 2 Data Rate 100 Hz Data rate of the IMU Ushort 2 H to 400 Hz 3 Accel Bias Total accelerometer bias in milli g Double 8 H 2 4 Accel VRW Accelerometer velocity random Double 8 H 10 walk in m s rt hr 5 Gyro Bias Total gyroscope bias in deg hr Double 8 H 18 6 Gyro ARW Gyroscope angular random walk Double 8 H 26 in deg rt hr 7 Accel Scale gt 0 Accelerometer scale factor errorin Ulong 4 H 34 Factor Error parts per million Optional Default 1000 ppm 8 Gyro Scale gt 0 Gyroscopic scale factor error in Ulong 4 H 38 Factor Error parts per million Optional Default 1000 ppm 9 Data gt 0 Time delay in milliseconds from Double 8 H 42 Latency the time of validity of the IMU data to the time the input pulse is received by the SPAN MPPC This will include filtering delays processing delays and transmission times Optional Default 0 0 10 CRC 32 bit CRC Hex 4 H 50 Abbreviated ASCII Example MAR FSAS Specs SETIMUSPECS 200 1 0198 0 75 0 0028 300 300 2 5 SPAN Technology for OEMV User Manual Rev 11 127 Appendix B B 2 16 SETIMUTOANTOFFSET Set IMU to Antenna Offset It is recommended that you mount the IMU as close as possible to the GPS antenna particularly in the horizontal plane This command is used to enter the offset between the IMU and the GPS antenna The measurement should be done as accurately as possible preferably to within millimeters es
41. 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 you 2 Copyright NovAtel owns or has the right to sublicense all copyright trade secret patent and other proprietary rights in the Software and the Software is protected by national copyright laws international treaty provisions and all other applicable national laws You must treat the Software like any other copy righted material except that you may make one copy of the Software solely for backup or archival pur poses one copy may be made for each piece of NovAtel hardware on which it is installed or where used in conjunction with other NovAtel supplied software the media of said copy shall bear labels showing all trademark and copyright notices that appear on the original copy You may not copy the product manual or written materials accompanying the Software No right is conveyed by this Agree ment for the use directly indirectly by implication or otherwise by Licensee of the name of NovAtel or of any trade names or nomenc
42. XX 2B 13 CRLF Sentence terminator CRLF Recommended Input log pashr ontime 1 Example PASHR rrrrrrr 0 68 empty SPASHR 195124 00 305 30 T 0 05 0 13 0 180 0 185 4 986 1 2B 178 SPAN Technology for OEMV User Manual Rev 11 INS Logs Appendix C C 2 24 RAWIMU 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 If logging this data consider the RAWIMUS log to reduce the amount of data see page 187 Structure Message ID 268 Log Type Asynch Field rare Bi Bi F Field Type Data Description Format Bytes otea 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 IMU Status The status of the IMU This field is given ina fixed Long 4 H 12 length n array of bytes in binary but in ASCII or Abbreviated ASCII is converted into 2 character hexadecimal pairs For the raw IMU status of the iI MU FSAS see Table 43 For the raw IMU status of the HG1700 and the LN 200 IMUs see Table 44 Also refer to Table 45 HG1900 and HG1930 Status on page 183 or Table 46 Landmark Status on page 185 Also refer to the Interface Control Documentation as provided by Honeywell and Northrop Grumman respectively 5 ZAccel Output Change in velocity count along z axis Long 4 H 16 6 Y Accel Output Change in veloci
43. a vehicle traveling at a constant velocity with these wheel sensor characteristics Wheel Circumference 2m Vehicle Velocity assumed constant for this example 10 m s Ticks Per Revolution 8 Cumulative Ticks Per Second 10 m s 8 ticks rev 2 m rev 40 Latency between 1PPS and measurement from wheel sensor hardware 123 ms 1 The ticks per second do not need to be computed as shown in the example above If your hardware provides the tick count directly it is not necessary to compute wheel velocity 2 2 The wheel velocities in Fields 4 and 6 are not currently used in the SPAN filter In Iner tial Explorer post processing wheel velocities may be used If you wish to use wheel veloc ities in post processing fill Fields 4 and 6 with meaningful values otherwise leave as Zeroes 142 SPAN Technology for OEMV User Manual Rev 11 hN Dao 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 t
44. available from a number of specific logs dedicated to the inertial filter The INSPOS INSPVA INSVEL INSSPD and INSATT logs are the most commonly used logs for extracting the INS solution These logs can be logged at any rate up to the rate of the IMU data 100 or 200 Hz depending on your IMU model These logs can also be triggered by the mark input signal by requesting the logs ONMARK Further details on these logs are available in Appendix C INS Logs starting on page 143 SPAN Technology for OEMV User Manual Rev 11 Frequently Asked Questions Appendix 7 Can I still access the GPS only solution while running SPAN The GPS only solution used when running the OEMV receiver without the IMU is still available when running SPAN Logs such as PSRPOS RTKPOS and OMNIPOS are still available Any non INS logs should be logged at a maximum rate of 5 Hz when running SPAN Only INS specific logs documented in Appendix C INS Logs starting on page 143 should be logged at rates higher than 5 Hz when running SPAN 8 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 appr
45. calibration is done the rotation values are fixed until the calibration is re run by entering the RVBCALIBRATE command again The solved rotation values are used only for a rough estimate of the angular offsets between the IMU and vehicle frames The offsets are used when aligning the system while in motion see Section 3 3 1 System Start Up and Alignment Techniques starting on page 47 The angular offset values are not applied to the attitude output unless the APPLY VEHICLEBODYROTATION command is disabled Abbreviated ASCII Syntax Message ID 641 RVBCALIBRATE reset A Field ASCII Binary nti Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 Log This field contains H 0 Header the command name or the message header depending on whether the command is abbreviated ASCIl 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 SPAN Technology for OEMV User Manual Rev 11 121 Appendix B INS Commands B 2 12 SETALIGNMENTVEL Set the Minimum Kinematic 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
46. command is abbreviated ASCII ASCII or binary respectively 2 Action RESET 0 Resets the GPS INS Enum 4 H alignment and restarts the alignment initialization DISABLE 1 Disables INS positioning ENABLE 2 Enables INS positioning where alignment initialization starts again default Abbreviated ASCII Example INSCOMMAND ENABLE SPAN Technology for OEMV User Manual Rev 11 111 Appendix B INS Commands B 2 5 INSPHASEUPDATE _INS Phase Update Control This command allows you to control the INS phase updates When enabled raw GPS phase measurements are used to control errors in the inertial filter In a typical INS GPS integration GPS positions are used to control inertial drifts Some features of phase updates include e updates can be performed even when too few satellites are available to compute a GPS solution e as few as 2 satellites must be in view to perform a precise update e system performance is significantly improved in conditions challenging to GPS such as urban canyons and foliage Abbreviated ASCII Syntax Message ID 639 INSPHASEUPDATE switch Field ASCII Binary wee 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 Disable INS delta phase Enum 4 H updates ENABLE
47. 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 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 SPAN Technology for OEMV User Manual Rev 11 Terms and Conditions 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 NovA
48. frequently asked questions 228 G GPSAntenna 14 graphical user interface 45 H hardware setup 28 headers 143 144 SPAN Technology for OEMV User Manual Rev 11 height 148 149 position 151 help 43 HG1700 IMU I SPAN HG enclosure 197 universal enclosure 209 T O see input output identifier serial port 115 iIMU FSAS cables 82 commands 38 dimensions 79 87 FAQ 228 models 27 performance 86 replacement parts 231 scale factor 188 specifications 79 impedance 100 IMU see inertial measurement unit IMUTOANTOFFSETS 158 inertial measurement unit IMU 116 connection 65 69 73 76 82 type 129 inertial navigation system INS 111 information most recent 173 input event 103 input output I O 36 I I I INSATT 161 INSATTS 162 INSCOMMAND 111 INSCOV 163 INSCOVS 165 INSPHASEUPDATE 112 INSPOS 166 INSPOSS 167 INSPOSSYNC 168 INSPVA 169 INSPVAS 170 INSSPD 171 INSSPDS 172 NSUPDATE 173 NSVEL 174 NSVELS 175 INSZUPT 113 SPAN Technology for OEMV User Manual Rev 11 Index INSZUPTCONTROL 114 118 interface 115 INTERFACEMODE 115 introduction 25 K keep out zones OEMV 1DF 99 L latency 146 latitude longitude 149 position 151 lever arm 118 154 LEVERARMCALIBRATE 118 link loss of 146 Litef LCI 1 connector 231 LN 200 cable 73 76 77 commands 38 130 dimensions 72 75 81 FAQ 228 models 27 performance 73 78 scale factors 188 sensor installation 200 203 206 208 2
49. methods to contact NovAtel Customer Support or 1 403 295 4500 international Call the NovAtel Hotline at 1 800 NOVATEL U S amp Canada Fax 1 403 295 4501 E mail support novatel com Web site http www novatel com SPAN Technology for OEMV User Manual Rev 11 Write NovAtel Inc Customer Support Department 1120 68 Avenue NE Calgary AB Canada T2E 8S5 17 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 18 SPAN Technology for OEMV User Manual Rev 11 The following notices apply to the SPAN devices FCC Notices This SPAN 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 This SPAN device complies with the radiated a
50. page 50 Allow the system to complete a coarse alignment see page 47 Enable the vehicle to body calibration using the RVBCALIBRATE ENABLE command see page 121 Start to move the system As with the lever arm calibration movement of the system is required for the observation of the angular offsets Drive a series of manoeuvres such as figure eights if the driving surface is not level or a straight course if on level ground remember that most roads have a crown resulting in a constant roll of a few degrees Avoid driving on a surface with a constant non zero slope to prevent biases in the computed angles Vehicle speed must be greater than 5 m s 18 km hr for the calibration to complete When the uncertainties of the offsets are low enough to be used for a fast alignment the calibration stops and the VEHICLEBODYROTATION log see page 192 is overwritten with the solved values To monitor the progress of the calibration log VEHICLEBODYROTATION using the ONCHANGED trigger The rotation parameters are saved in NVM for use on start up in case a fast alignment is required Each time the IMU is re mounted this calibration should be performed again See also Sections 3 3 1 1 and 3 3 1 2 on page 48 for details on coarse and fast 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 aft
51. 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 delay in furnishing the Software or any other performance under this Agreement c NovAtel s entire liability and your exclusive remedies for our liability of any kind including lia bility for negligence for the Software covered by this Agreement and all other performance or non performance by NovAtel under or related to this Agreement are to the remedies specified by this Agreement 9 Governing Law This Agreement is governed by the laws of the Province of Alberta Canada Each of the parties hereto irrevocably attorns to the jurisdiction of the courts of the Province of Alberta 10 Customer Support For Software UPDATES and UPGRADES and regular customer support contact the NovAtel GPS Hotline at 1 800 NOVATEL U S or Canada only or 403 295 4500 Fax 403 295 4501 e mail to support novatel com Web site http Awww novatel com or write to NovAtel Inc Customer Support Dept 1120 68 Avenue
52. port you must type in COM3 for the ProPak V3 This is true even if the port is labelled AUX Table 2 Receiver Enclosure Back Panel Labels SPAN Enclosure Port Label Description ProPak V3 9 18 VDC Supply Voltage COM1 COM1 com com2 AUX COM3 vo Vvo GPS Antenna EXT OSC External Oscillator 28 SPAN Technology for OEMV User Manual Rev 11 SPAN Installation Chapter 2 2 1 2 Typical Installation Examples 2 1 2 1 LN 200 or HG1700 Set Up Example Radio COM2 optional for Real Time Differential operation i marked AUX functions COM3 Receiver OSC Universal Enclosure j elp gt te ES Figure 5 Basic Set Up LN 200 or HG1700 a Connect the antenna to the receiver Connect the interface cable to the LN 200 or HG1700 universal enclosure Connect the DB9 connector of the interface cable to the AUX port of the receiver Connect power and ground Connect user supplied power supply refer to Table 3 on page 36 Connect user supplied PC for set up and monitoring to COM1 Sy Oe me Connect user supplied radio device to COM2 optional for real time differential operation SPAN Technology for OEMV User Manual Rev 1
53. rotate about the vehicle Y axis This angle is the beta angle in the command Your imag ined frame should now be coincident with the assumed IMU enclosure frame Enter rotation angles in degrees We recommend entering SETIMUORIENTATION first then VEHICLEBODYROTATION To apply the vehicle to body rotation angles the APPLY VEHICLEBODYROTATION command needs to be enabled please refer to Section B 2 1 APPLYVEHICLEBODYROTATION Enable Vehicle to Body Rotation starting on page 107 Abbreviated ASCII Syntax Message ID 642 VEHICLEBODYROTATION alpha beta gamma dalpha Sbeta gamma Structure Message ID 642 Log Type Asynch Binary Binary Field Field Type Description Format Bytes Offset 1 Log Header Log header H 0 2 X Angle Right hand rotation about vehicle frame X axis Double 8 H degrees 3 Y Angle Right hand rotation about vehicle frame Y axis Double 8 H 8 degrees 4 Z Angle Right hand rotation about vehicle frame Z axis Double 8 H 16 degrees 5 X Uncertainty Uncertainty of X rotation degrees default 0 Double 8 H 24 6 Y Uncertainty Uncertainty of Y rotation degrees default 0 Double 8 H 32 7 Z Uncertainty Uncertainty of Z rotation degrees default 0 Double 8 H 40 8 XXXX 32 bit CRC Hex 4 H 48 9 CR LF Sentence Terminator ASCII only Refer also to our application note APN 037 Vehicle to Body Rotations available on our Web site at www n
54. 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 OEMV SPAN is in compliance with the essential requirements and other relevant provisions of Directive 1999 5 EC SPAN Technology for OEMV User Manual Rev 11 19 20 WEEE Notice If you purchased your SPAN product in Europe please return it to your dealer or supplier at the end of its life The objectives of the European Community s environment policy are in particular to preserve protect and 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 amp 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
55. the FIX POSITION entered into the receiver is valid The receiver needs to be tracking two or more GPS satellites to perform this check Under normal conditions you should only see PENDING for a few seconds on power up before the GPS receiver has locked onto its first few satellites If your antenna is obstructed or not plugged in and you have entered a FIX POSITION command then you may see PENDING indefinitely SPAN Technology for OEMV User Manual Rev 11 INS Logs Appendix C Field Field type Data Description Format Binary Binary Bytes Offset 1 header Log header H 0 2 Sol Status Solution status see Table 37 on page 148 Enum 4 H 3 Pos Type Position type see Table 36 on page 146 Enum 4 H 4 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 H 36 OEMV Family Firmware Reference Manual 9 Lat s Latitude standard deviation Float 4 H 40 10 Lons 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 solnSVs Number of satellite solutions used in solution Uchar 1 H 65 17 L1
56. the benefits of faster satellite reacquisition and faster RTK initialization after outages NovAtel s OEMV receivers are the processing engines of the SPAN Technology system Separate GNSS and IMU enclosures provide a simple modular system This allows the IMU mounting at the most suitable location while the GNSS receiver is mounted where it is most convenient System modularity also allows GNSS only users to upgrade to GNSS INS In conditions where GNSS alone is desired the SPAN receiver can be operated independently As a result SPAN Technology provides a robust GNSS and Inertial solution as well as a portable high performance GNSS receiver in one system Scope This manual contains sufficient information on the installation and operation of the SPAN system It is beyond the scope of this manual to provide details on service or repair Contact your local NovAtel dealer for any customer service related inquiries see Customer Support on page 17 After the addition of accessories an antenna and a power supply the SPAN system is ready to go The OEMV 3 in the receiver utilizes a comprehensive user interface command structure which requires communications through its communications COM ports This manual also describes the INS specific commands and logs Other supplementary manuals are included 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 ea
57. yoffset zoffset Field ASCII Binary Binary Binary Binary Type Value Value Description Format Bytes Offset 1 Heade This field contains the H 0 r command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 X 100 Offset along the IMU Double 8 H offset enclosure frame X axis m 3 Y 100 Offset along the IMU Double 8 H 8 offset enclosure frame Y axis m 4 Z 100 Offset along the IMU Double 8 H 16 offset enclosure frame Z axis m Abbreviated ASCII Example SETINSOFFSET 0 15 0 15 0 25 SPAN Technology for OEMV User Manual Rev 11 135 Appendix B INS Commands B 2 21 SETMARK1OFFSET Set Mark Offset Set the offset to the Mark1 trigger event Abbreviated ASCII Syntax Message ID 1069 SETMARK1OFFSET xoffset yoffset zoffset aoffset Boffset yoffset Field ASCII Binary Binary Binary Binary Field Format Bytes Offset Type Value Value Description 1 Header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCIl 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 Ma
58. 0 C to 60 C Storage 45 C to 71 C LN200 Operating 30 C to 60 C Storage 45 C to 80 C Humidity Operates at 95 RH non condensing all IMU s 62 SPAN Technology for OEMV User Manual Rev 11 Technical Specifications A 2 HG1700 IMU single connector enclosure Table 10 HG1700 IMU Specifications Appendix A PHYSICAL IMU Enclosure Size 193 mm x 167mm x 100 mm 7 6 x 6 6 x 3 9 IMU Size 160 mm x 160mm x 100 mm 6 3 x 6 3 x 3 9 IMU Enclosure Weight 3 4 kg 7 49 Ib MECHANICAL DRAWINGS y o a D8 1 SS 4 PLCS eee 90 7 aX CENTER OF oN IMU Enci NAVIGATION LON nclosure ma PN Center Center Figure 18 HG1700 Top Bottom Dimensions SCALE 0 600 NS Pa Note The Centre of Navigation shown IMU Enclosure on the HG1700 label 33 for the internal IMU is the same as the enclosure s centre The enclosure centre measurements are labelled as IMU Enclosure Centre in this figure SPAN Technology for OEMV User Manual Rev 11 63 Technical Specifications Appendix A 161 3 96 37 5 IMU Enclosure Center 1 186 7 Note The Center of Navigation shown on the HG1700 label for the internal IMU is the same as the enclosure s c
59. 0 Ensure the O rings come with the base when it is removed and that they are not damaged Figure 60 Remove Base 2 Using a 30 mm socket remove the jam nut and free the wiring harness connector from the body as shown in Figure 2 Retain the O ring and the jam nut for reassembly wiring harness not shown Figure 61 Disconnect Wiring Harness from Enclosure Body 210 SPAN Technology for OEMV User Manual Rev 11 HG1700 IMU in Universal Enclosure Appendix G 3 Using a 2 5 mm hex bit unscrew the M4 screws and remove the IMU mounting plate bracket and cable harness as shown in Figure 62 wiring harness not shown Figure 62 Remove IMU Mounting Plate and Bracket SPAN Technology for OEMV User Manual Rev 11 211 Appendix G HG1700 IMU in Universal Enclosure G 2 Install the HG1700 Sensor Unit To install the HG1700 sensor unit in the Universal Enclosure 1 Using a Phillips screwdriver remove the 8 32 IMU mounting screws from the IMU mounting plate as shown in Figure 63 wiring harness not shown Figure 63 Remove IMU Mounting Screws 2 Check the connection of the internal cable harness to the board assembly and route as shown in Figure 64 Before you connect the IMU cable harness make sure the connector on the board assembly is clicked open Connect the IMU cable harness to the IMU fasten the 2 56 screws but do not use thread locking fluid then connect to the board assembly Ensure the cable housi
60. 0 g a Sample system power consumption 5 7 W when powering an HG1900 IMU and OEMV 1DF receiver in board stack configuration from VIN 15 VDC at 25 C A 7 5 MIC Communication Ports INPUT OUTPUT DATA INTERFACE COM1 Electrical format LVTTL Baud rates 115200 Signals supported COM1_TX and COM1_RX A 7 6 MIC Connectors J301 20 pin OEMV 1DF mating connectors P101 3 pin locking power connector P301 30 pin locking communication connector P601 20 pin locking IMU connector 92 SPAN Technology for OEMV User Manual Rev 11 Technical Specifications Table 21 MIC Pinouts Power P101 Appendix A Pin Signal Type Description Comments VIN Power Power input 10 VDC to 30 VDC 2 VIN Power Power return Connect to negative terminal of battery 3 GND Power Chassis ground Table 22 MIC Pinouts IMU P601 Pin Signal Type Description Comments 1 GND Chassis ground 2 GND Chassis ground 3 15V Output Power Positive 15 VDC supply Enabled disabled depending on the IMU type detected 4 15V Output Power Positive 15 VDC supply Enabled disabled depending on the IMU type detected 5 15V Output Power Negative 15 VDC supply Enabled disabled depending on the IMU type detected 6 DGND Digital ground Enabled disabled depending on the IMU type detected 7 DGND Digital ground Enabled disabled depending on the IMU type de
61. 0 wiring harness NovAtel part number 01017655 The steps required for this procedure are e Disassemble the SPAN IMU Enclosure e Install the LN 200 Sensor Unit e Make Electrical Connections e Reassemble the SPAN IMU Enclosure Important Ensure you use a ground strap before installing the internal circuit boards Do NOT scratch any surfaces of the unit Figure 53 Required Parts Reference Description 1 SPAN IMU Enclosure 2 LN 200 Wiring Harness 3 LN 200 Sensor Unit SPAN Technology for OEMV User Manual Rev 11 203 Appendix F LN 200 IMU in SPAN IMU Enclosure F 1 Disassemble the SPAN IMU Enclosure The SPAN IMU disassembly steps are as follows 1 Remove the top cover s six bolts using a hex key as shown in Figure 54 Figure 54 Bolts and Hex Key 2 Set aside the bolts with their sealing washers 3 Lift the top cover off the tube body and set it aside 4 Lift the tube body away from its base plate and set it aside as shown in Figure 55 on page 205 204 SPAN Technology for OEMV User Manual Rev 11 LN 200 IMU in SPAN IMU Enclosure Appendix F Figure 55 Lift Top Cover and Tube Body SPAN Technology for OEMV User Manual Rev 11 205 Appendix F LN 200 IMU in SPAN IMU Enclosure F 2 Install the LN 200 Sensor Unit To re assemble the SPAN IMU with the LN 200 sensor follow these steps 1 Mount the LN 200 sensor with the attached M4
62. 00 Sensor Unit e Reassemble the Universal Enclosure LN 200 Universal Sensor Unit Enclosure 1 Use thread locking fluid on all fasteners except for the cable harness connectors 2 Torque values for all fasteners including those for the cable harness screws are as follows Size 6 32 0 79 0 90 N m 7 0 8 0 Ib in Size M4 1 36 1 58 N m 12 0 14 0 Ib in 218 SPAN Technology for OEMV User Manual Rev 11 LN 200 IMU in Universal Enclosure Appendix H H 1 Disassemble the Universal Enclosure Disassemble the Universal Enclosure as follows 1 Using a 3 mm hex bit remove the M4 screws they will be reused and the base as shown in Figure 72 Figure 72 Remove Base 2 While squeezing and holding the assembly tightly together carefully turn the assembly over and set it down as shown in Figure 73 Raise the enclosure body and disconnect the internal cable harness at the SDLC board as shown Ensure the O rings remain with the base when it is removed and that they are not damaged Figure 73 Disconnect Wiring Harness from SDLC Card SPAN Technology for OEMV User Manual Rev 11 219 Appendix H LN 200 IMU in Universal Enclosure 3 Lift the enclosure lid off the assembly to expose the IMU bracket shown in Figure 74 Disconnect the harness at the SDLC card and remove Disconnect harness at SDLC card and remove Figure 74 IMU Bracket 4 Using a3 mm hex bit unscrew 4
63. 00000 Reserved N7 29 0x20000000 Operational Passed 0 Failed 1 30 0x40000000 Interface Passed 0 Failed 1 31 0x80000000 Interface time out Passed 0 Failed 1 Table 44 HG1700 and LN200 Status Nibble Number _ Bit ET HG1700 Description LN200 Description NO 0 0x00000001 Reserved IMU Passed 0 Status Failed 1 1 0x00000002 Reserved IMU Passed 0 Status Failed 1 2 0x00000004 Reserved IMU Passed 0 Status Failed 1 3 0x00000008 Reserved IMU Passed 0 Status Failed 1 N1 4 0x00000010 IMU Passed 0 IMU Passed 0 Status Failed 1 Status Failed 1 5 0x00000020 IMU Passed 0 IMU Passed 0 Status Failed 2 Status Failed 1 6 0x00000040 IMU Passed 0 IMU Passed 0 Status Failed 3 Status Failed 1 7 0x00000080 IMU Passed 0 IMU Passed 0 Status Failed 4 Status Failed 1 Continued on next page SPAN Technology for OEMV User Manual Rev 11 181 Appendix C INS Logs Nibble Number Bit Mask HG1700 Description LN200 Description N2 8 0x00000100 Reserved IMU Passed 0 Status Failed 1 9 0x00000200 Reserved IMU Passed 0 Status Failed 1 10 0x00000400 Reserved IMU Passed 0 Status Failed 1 11 0x00000800 Reserved IMU Passed 0 Status Failed 1 N3 12 0x00001000 Reserved IMU Passed 0 Status Failed 1 13 0x00002000 Reserved IMU Passed 0 Status Failed 1 14 0x00004000 Reserved I
64. 0312 3033352 132863 186983 823 5aa97065 Table 47 Raw IMU Scale Factors HG1700 AG11 HG1700 AG58 HG1900 CA29 _HG1700 AG17 iIMU FSAS CA50 HG1700 AG62 HG1930 AA99 CA50 2 033 rad LSB 2719 rad LSB 0 1x 2 8 arcsec LSB Gyroscope 2 033 rad LSB Scale Factor Acceleration 2 07 ft s LSB 2 026 ft s LSB 214 m s LSB 0 05 x 27 5 m s LSB Scale Factor Landmark 20 Scale Gyroscope 1 0 x 107 deg LSB Scale Factor i deg S Acceleration 9 80665 x 5 0 x10 m s LSB Scale Factor Landmark IMUs have variable scale factors according to their data range If the scale factors for your IMU differ from the values here please contact NovAtel Customer support as outlined in see Contact Information on page 17 section of this manual 188 SPAN Technology for OEMV User Manual Rev 11 INS Logs C 2 26 TAGGEDMARK1PVA Appendix C 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 z ae Binary Binary 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 Mar
65. 068023663887 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 1f c92787 164 SPAN Technology for OEMV User Manual Rev 11 INS Logs C 2 10 INSCOVS Short INS Covariance Log This is a short header version of the JVCOV log on page 163 These values are also computed once per Appendix C second Structure Message ID 320 Log Type Asynch Field Field Type Data Description Format Binary Binary 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 of the List of 9 72 H 84 SPAN frame to the local level Doubles frame See page 163 for an example Degrees squared 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 Binar
66. 08 429407241 10 837482850 1 116219952 3 476059035 7 372686190 INS ALIGNMENT COMPLETE af719fd9 SPAN Technology for OEMV User Manual Rev 11 169 Appendix C INS Logs C 2 15 INSPVAS Short INS Position Velocity and Attitude This log allows INS position velocity and attitude with respect to the SPAN frame to be collected in one log instead of using three separate logs See the INSATT log on page 161 for an explanation of how the SPAN frame may differ from the IMU enclosure frame Structure Message ID 508 Log Type Synch ed Bi Bi Field Field Type Description Format Bytes Ofek 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 Stat
67. 1 29 Chapter 2 SPAN Installation 2 1 2 2 IMU FSAS Set Up Example Radio COM2 optional for Real Time Differential operation marked AUX t functions COM3 Figure 6 Basic Set Up IMU FSAS 1 Connect antenna to the receiver Connect interface cable to the IMU Connect the DB9 connector marked I O of the interface cable to the I O port of the receiver Connect the female DB9 connector of the interface cable to the AUX port of the receiver Connect power Connect user supplied power refer to Table 3 on page 36 Connect user supplied PC for set up and monitoring to COM1 oN a ee eS Connect user supplied radio device to COM2 optional for real time differential operation 30 SPAN Technology for OEMV User Manual Rev 11 SPAN Installation Chapter 2 Important Assemble in accordance with applicable industry standards Ensure all ESD oe measures are in place in particular use a ground strap before exposing or handling any electronic items including the IMU Take care to prevent damaging or marring painted surfaces O rings sealing surfaces and the IMU 2 1 2 3 MIC in Stack Up Configuration a Ze SS Power to MIC MIC provides power to IMU OEMV 1DF user supplied cable Insert provided standoffs 4 to connect OEMV 1DF board in stack up configuration Figure 7 MI
68. 12 218 221 specifications 74 LN 200 IMU SPAN IMU enclosure 203 universal enclosure 218 LNA see low noise amplifier logging 106 143 low noise amplifier LNA 100 LVTTL 101 M mark input MKI 103 Mark trigger 136 MARKIPVA 176 Mark2 trigger 137 MARK2PVA 177 mean sea level 149 position 151 memory non volatile 110 MKI see mark input 233 mode interface 115 RTK 146 model upgrades 18 models 27 modem 115 N NMEA satellite type 120 NMEATALKER 120 non volatile memory NVM 110 north 173 174 O OEMV 1DF keep out zone 99 offset 128 135 orientation 124 P PASHR log 178 pass through log 115 pitch 124 128 154 161 port 34 36 AUX 117 COM 117 disable 115 serial 115 116 position 135 169 best 146 INS 111 mark 176 177 measurements 163 166 synchronised 168 power 36 connector 100 requirements 100 prerequisites 24 pseudorange solutions 146 R RAWIMU 179 RAWIMUS 187 real time kinematic RTK 146 receiver interface 115 SPAN Technology for OEMV User Manual Rev 11 Index replacement parts 230 231 reset hardware 110 response 115 revision manual 2 236 roll 124 128 154 161 rotation 107 121 RTCA 115 116 RTCM 116 RTCMV3 116 RVB see vehicle to body rotation RVBCALIBRATE 121 S scope 23 serial port 115 116 set up hardware 28 SETIMUORIENTATION 124 SETIMUSPECS 127 SETIMUTOANTOFFSET 128 SETIMUTYPE 129 SETINITATTITUDE 131 SETINITAZIMUTH 133 SETI
69. 2 input 15 GND Ground Digital Ground 16 PV See strobes Output indicates good solution or valid GPS position 17 when high GND Ground Digital Ground 18 PPS See strobes Pulse output synchronized to GPS Time 19 RESERVED 20 a A bi directional Transient Voltage Suppressor TVS device is included between 3 3V and ground Input Output I O lines are protected by TVS devices Series resistance is included for the following I O lines COM1 COM2 COM3 Tx and Rx RESETIN Event and Event2 Lines that do not have series resistance include CAN1_Tx CAN1 Rx CAN2_ Tx CAN2_Rx USB D and USB D SPAN Technology for OEMV User Manual Rev 11 105 huD d INS Commands The INS specific commands are described further in this chapter For information on other available commands refer to the OEMV Family Firmware Reference Manual B 1 Using a Command as a Log All NovAtel commands may be used for data input as normal or used to request data output a unique OEMV Family feature INS specific commands may be in Abbreviated ASCH ASCH 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 a log to see if there is a satellite PRN that has already been locked out In ASCII this might be log com1 lockouta once N
70. 3 14 8 W typical Input Output Connectors MIL C 38999 III 22 pin all IMU s IMU Interface RS 232 or RS 422 ENVIRONMENTAL IMU Temperature Operating 30 C to 60 C 22 F to 140 F Storage 45 C to 80 C 49 F to 176 F Humidity 95 non condensing a For replacement connectors on the interface and power cables see Section J 3 Manufacturer s Part Numbers on page 231 66 SPAN Technology for OEMV User Manual Rev 11 Technical Specifications Appendix A A 3 HG1700 IMU dual connector enclosure Table 11 HG1700 IMU Specifications PHYSICAL IMU Enclosure Size 193 mm x 167mm x 100 mm 7 6 x 6 6 x 3 9 IMU Size 160 mm x 160mm x 100 mm 6 3 x 6 3 x 3 9 IMU Weight 3 4 kg 7 49 Ib MECHANICAL DRAWINGS E gs pnn 4 PLCS PATA TTR 90 7 oN CENTER OF 7 IMU Enclosure NAVIGATION ON 74 8 A Center Pa SCALE 0 600 i Note The centre of Navigation shown on the HG1700 label F93 3 for the internal IMU is the same as the enclosure s centre The enclosure centre measurements are labelled as IMU Enclosure centre in this figure IMU Enclosure Center Figure 20 HG1700 Top Bottom Dimensions SPAN Technology for OEMV User Manual Rev 11 67 Technical Specifications Appendix A 37 IMU Enclosure Center 186 7 1 Figure 21 HG1700 Enclosure Side Dimensions
71. 3 Twisted pair serial data in RS 422 20 DIN 7 Twisted pair serial data in RS 422 21 SW_ON_SIG Connected to Pin 3 switch IMU signal ON OFF voltage applied ON 4 to 34 V 22 SWON_GND Connected to Pin 1 ground for IMU signal ON A 6 2 iIMU FSAS Odometer Cabling The iIMU FSAS with the O wheel sensor option provides wheel sensor input from the Distance Measurement Instrument DMI through the DB 9 connector labelled ODO on the IMU interface cable The IMU data goes through the IMU and then into the SPAN receiver through the serial communication line There are two DMI products that are compatible with the iIMU FSAS system e iIMWS V2 Magnetic Wheel Sensor from iMAR A magnetic strip and detector are installed inside the wheel The signal then goes through a box that translates the magnetic readings into pulses that are then passed through the cable into the ODO connector on the IMU cable See also Figure 34 below e WPT Wheel Pulse Transducer from Corrsys Datron A transducer traditionally fits to the outside of a non drive wheel A pulse is then generated from the transducer which is fed directly to the ODO connector on the IMU cable See also Figure 33 on page 84 SPAN Technology for OEMV User Manual Rev 11 83 Appendix A Technical Specifications The iMAR iMWS V2 sensor is on the inside of the wheel so that all you can see in the vehicle is the grey signal conv
72. 6 0x00000040 Status Settings Byte Select 0 Bits 2 5 7 are Status 1 Bits 2 5 7 are Settings 7 0x00000080 Self Test Passed 0 Failed 1 Reserved N2 8 0x00000100 Reserved 9 0x00000200 10 0x00000400 11 0x00000800 N3 12 0x00001000 Reserved 13 0x00002000 14 0x00004000 15 0x00008000 N4 16 0x00010000 Reserved 17 0x00020000 18 0x00040000 19 0x00080000 N5 20 0x00100000 Reserved 21 0x00200000 22 0x00400000 23 0x00800000 N6 24 0x01000000 Reserved 25 0x02000000 26 0x04000000 27 0x08000000 N7 28 0x10000000 Reserved 29 0x20000000 30 0x40000000 31 0x80000000 SPAN Technology for OEMV User Manual Rev 11 185 Appendix C INS Logs a LandMark IMUs support multiple gyroscope scale factors depending on measurement range Currently all LandMark IMUs have common gyroscope scale factors and these bits can be ignored b LandMark IMUs support multiple accelerometer scale factors depending on measure ment range The exact range definitions can be found in the Gladiator LandMark IMU user s guide If your accelerometer range bits are not 010 Accel Range Bit 0 0 Accel Range Bit 1 1 Accel Range Select Bit 2 0 contact NovAtel Customer Support as outlined in Contact Information on page 18 of this manual c LandMark IMUs provide two different diagnostic bytes The type of b
73. 65 OMNISTAR_XP OmniSTAR extra precision 66 CDGPS Position solution using CDGPS corrections 1 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 SPAN Technology for OEMV User Manual Rev 11 147 Appendix C 148 INS Logs Table 37 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 17 Reserved 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
74. 78 Making Connections SPAN Technology for OEMV User Manual Rev 11 223 Appendix H LN 200 IMU in Universal Enclosure 4 While carefully holding the body over the bracket connect the internal cable harness to the board assembly as shown in Figure 79 ZA 7 2 gt CONNECT Figure 79 Connect Internal Cable Harness 224 SPAN Technology for OEMV User Manual Rev 11 LN 200 IMU in Universal Enclosure Appendix H 5 Clean the surface of the enclosure body where it will mate with the O rings using isopropyl alcohol While ensuring all wires will fit inside the bracket without being pinched align the reference markers and pilot holes screws of the enclosure body and base and carefully lower the body onto the base observing the O rings and the alignment of corners Start with the round pilot hole indicated in Figure 80 then press the assembly into place PILOT HOLE ABOVE THIS PILOT PIN REFERENCE MARKERS Figure 80 Installing the Enclosure Body to the Base SPAN Technology for OEMV User Manual Rev 11 225 Appendix H LN 200 IMU in Universal Enclosure 6 While squeezing and holding the enclosure body and base together to maintain tight contact carefully turn the assembly over and place it on its top as shown in Figure 81 Using a 3 mm hex bit lightly fasten four equally spaced M4 screws to hold the parts together Use thread locking fluid on all screws Install
75. ATEL 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 AND REMEDIES ARE EXCLUSIVE AND ALL OTHER WARRANTIES EXPRESS OR IMPLIED WRITTEN OR ORAL INCLUDING THE IMPLIED WARRANTIES OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE ARE EXCLUDED NOVATEL SHALL NOT BE LIABLE FOR ANY LOSS DAMAGE EXPENSE OR INJURY ARISING DIRECTLY OR INDIRECTLY OUT OF THE PURCHASE INSTALLATION OPERATION USE OR LICENSING OR PRODUCTS OR SERVICES IN NO EVENT SHALL NOVATEL BE LIABLE FOR SPECIAL INDIRECT INCIDENTAL OR CONSEQUENTIAL DAMAGES OF ANY KIND OR NATURE DUE TO ANY CAUSE There are no user serviceable parts in the GPS receiver and no maintenance is required When the status code indicates that a unit is faulty replace with another unit and return the faulty unit to NovAtel Inc Before shipping any material to NovAtel or Dealer please obtain a Return Material Authorization RMA number from the point of purchase Once you have obtained an RMA number you will be advised of proper shipping procedures to return any defective product When returning any product to NovAtel please return the defective product in the original packaging to avoid ESD and shipping damage SPAN Technology for OEMV User Manual Rev 11 15 Customer Support NovAtel
76. Appendix A 152 4 Note The Center of Navigation offsets show on the LN 200 label are for the internal IMU and are different than for the enclosure center The enclosure center is labelled as IMU Enclosure Center in this figure and in Figure 8 Figure 23 LN 200 Enclosure Side Dimensions SPAN Technology for OEMV User Manual Rev 11 72 Technical Specifications Appendix A A 4 1 LN 200 IMU Interface Cable The IMU interface cable provides power to the IMU from an external power source and enables input and output between the receiver and IMU It is the same as the cable supplied with the Universal Enclosure shown in Figure 16 on page 59 A 4 2 IMU Performance PERFORMANCE IMU IMU LN200 Gyro Input Range 1000 degrees s Gyro Rate Bias 1 hr Gyro Rate Scale Factor 100 ppm Angular Random Walk 0 07 degrees rt hr Accelerometer Range 40g Accelerometer Linearity Accelerometer Scale Factor 300 ppm Accelerometer Bias 0 3 mg A 4 3 Electrical and Environmental ELECTRICAL IMU Power Consumption 16 W max IMU Input Voltage 12 to 28 V DC Receiver Power Consumption ProPak V3 2 8 W typical System Power Consumption ProPak V3 14 8 W typical Input Output Connectors MIL C 38999 III
77. Attitude This is a short header version of the INSATT log on page 161 Structure Message ID 319 Log Type Synch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Seconds from week start Double 8 H 4 Week 4 Roll Right handed rotation from local Double 8 H 12 level around y axis in degrees 5 Pitch Right handed rotation from local Double 8 H 20 level around x axis in degrees 6 Azimuth Left handed rotation around z Double 8 H 28 axis Degrees clockwise from North 7 Status INS status see Table 5 on page Enum 4 H 36 46 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 SINSATTSA 1541 487975 000 1541 487975 000549050 2 755452422 4 127365126 323 289778434 INS SOLUTION GOOD ba08754 162 SPAN Technology for OEMV User Manual Rev 11 INS Logs Appendix C C 2 9 INSCOV INS Covariance Matrices The position attitude and velocity matrices in this log each contain 9 covariance values with respect to the local level frame For the attitude angles they are given in the SPAN computation frame as follows variance about variance about X rotation pr Y rotation angle pitch eX xy Ae angle roll YXYY YZ Zx zy variance about Z r
78. C in Stack Up Configuration SPAN Technology for OEMV User Manual Rev 11 31 Chapter 2 SPAN Installation 2 1 2 4 MIC in Standalone Configuration to COM user supplied cable Power to MIC MIC provides power to IMU OEMV 1DF user supplied cable Figure 8 MIC in Standalone Configuration 32 SPAN Technology for OEMV User Manual Rev 11 SPAN Installation Chapter 2 2 1 3 Real Time Differential Operation An optional static base as shown in Figure 9 can be added Connect a radio device using COM2 on both the base and rover radios Rover set up refer to Figure 5 or Figure 6 for examples Radio COM2 om a Figure 9 Typical Static Base Set Up i Connect antenna to the receiver Connect user supplied power refer to Table 3 on page 36 Connect user supplied PC for set up and monitoring to COM1 e amp N 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 1 LN 200 or HG1700 Set Up Example SPAN Technology for OEMV User Manual Rev 11 33 Chapter 2 SPAN Installation 2 1 4 Cables and Ports The sections that follows outline how to set up the system s parts and cables See Appendix A Technical Specifications starting on page 55 and refer to the ORMV Family Installation and Operation
79. D SPAN Compatible Receiver and IMU Models c c cscscesssececeseeeeeeeeeeeeeeeeeesseseeeeees 27 Receiver Enclosure Back Panel Labels c c cccssscsseceseeceeeeeeceeeeeeceseeeseesenesteeeeaeaes 28 IMU Power Supply i si pna nineties a E a nici ee EAEE ieee 36 Enable INS Commands ccccccsssccceseeeeceececeseeeeeeseeceseceseaeaeseeeeeeeeseseeseeseseeeeeeeeeeeeaes 38 Inertial Solution Status fov lt iss sessed Sage Aves es sss haere a aes 46 Solution Parameters E E E EA 49 Universal IMU Enclosure Specifications 0 ccccececccceeeeceeeeeeeeeneeeeeeeeceeeaeeeeeeseeaeeeeees 55 Universal IMU Enclosure Interface Cable PinOuts ccccccccccccccceeceeeeeeeseeseseeesteneeeaes 59 Universal IMU Enclosure Electrical and Environmental ccccccccccccecesseeesesesesseseneaes 62 HG1700 IMU Specifications 02 cccececcs cecenecucs iii i ii a eiai ie 63 HG1700 IMU Specifications ccccccccccccceecececeseeeeseseeeeeeeeeaeaeeeeeeeeeseeseseeessesseeseteeaeaes 67 LN 200 IMU Specifications 2 0 0 0 ccccccccccececeececeseseeseseeceseeeaeseeeeeeeeseeeeseeseseeseeesesseeeaaaes 71 LN 200 IMU Specifications ccccccccccccccccececeeeeceeeeeeseeeeeeeeaeaeaeeeeeeseeeeeeseeseseeseeeseseeeaeaes 74 IIMU FSAS Specifications c 2 isch evvcccesegeceeecevees caeeaseceden iiair etei iaai ia aiaia 79 IMU Interface Cable Pin Oult cc ecccecccceeesesceseecneaeeaeseeeeeeeeeeeeeseesesseeensasaaaae
80. E AAEE E A neencn dese EE E E EEE 201 Incorrect Bowed Flex Cable Installation eeeeeeeeeieesieeiiesreerinsrirsriirerinnernnnes 202 Correct Flat Flex Cable Installation 0 0 ee eeceeeesneeeeeeeeeeneeeeeeeeeseeeeenaeeseenaeeenneeeenaa 202 HG1700 SPAN IMU 2 vache ie a ME ERN 202 Required Parts sinian issoro trosed hooks iaee arianen a oSeevnedechavhseonteads aran Ae aaaea E 203 B lts a d Hex Key eintisncienrine nino ii e eT 204 Lift Top Coverand T be Body serienn a a a E a a idk eee 205 SPAN IMU Re Assembly s is aranana aatia aeaiia e enat iadan Eai anniina 206 Attach Wiring Harness cccccccecececeeeeeeeceeeeseeeeeeeeececaeceeceseaaeceeeesecaeeeeeesecaeaeeeeeeneeaaees 207 Attach Samtec Connector isosti ideid eaid ei ieii eaaa 208 LN 200 SPAN IMU eera e a aa a a eee a a Ae 208 ReMOVe Base E E E E E 210 Disconnect Wiring Harness from Enclosure Body cecceceeeeeeceeeeeeeeeeaeeeeeeesenaees 210 Remove IMU Mounting Plate and Bracket 00 ce eecseeeeeceeesneeceeeeeeeeneeeeeaeeeseeeeeeenneeeneaes 211 Remove IMU Mounting SCrewS ceecceeecceeeseeeeeeeeesneeeeeaeeeseneeeeeeeeeeaeeseneeeesseeeeeaas 212 Connect IMU to IMU Mounting Plate oo eee ee eenee ener eeeneeeeeeaeeeseeeeenaaeeeeeaeeeneeeeenaa 212 Installing IMU to Mounting Plate eee ee eeceeeeneeeeeeeeceeeeeeeeeeeseeeseaaeessneeeeenaeeeeeas 213 Assemble Into Enclosure Body 2 0 0cccccccssneccetcedeciescestedecec cheb dacetshcendecetteeste
81. G RAWIMUSB ONNEW 100 or 200 Hz depending on the IMU LOG INSPVASB ONTIME 0 02 acceptable 50 Hz logging The following is rejected because RAWIMU has already been requested at 100 200 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 LOG INSATTSB ONTIME 0 005 200 Hz request 2 RAWIMU and RAWIMUS logs are only available with the ONNEW or ONCHANGED trigger These logs are not valid with the ONTIME trigger The raw IMU observations contained in these logs are sequential changes in velocity and rotation As such you can only use them for navigation if they are logged at their full rate See details of these log starting on page 179 3 In order to collect wheel sensor information useful in post processing the TIMED WHEELDATA log should only be used with the ONNEW trigger See also page 191 for details on this log 4 Only log 200 Hz logs in binary SPAN Technology for OEMV User Manual Rev 11 145 Appendix C C 2 1 146 INS Logs BESTPOS Best Position and 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
82. IALITY 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 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 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
83. II Power Connector MIL C 38999 III Same as data connector IMU Interface RS 422 ENVIRONMENTAL ilMU FSAS Temperature Operating 40 C to 71 C 40 F to 160 F Storage 40 C to 85 C 40 F to 185 F Humidity 95 non condensing 86 SPAN Technology for OEMV User Manual Rev 11 Technical Specifications Appendix A A 7 MIC MEMs Interface Card Table 17 MIC Specifications MIC Size 74 9 mm x 45 7 mm x 19 5 mm 2 94 x 1 80 x 0 76 MIC Weight 31 g 0 0683 Ib MECHANICAL DRAWINGS Bb 35 0 250 CLEARANCE FOR FASTENERS 4X BOTH SIDES PIN I F at 80 os Ol Dimensions in mm inches Figure 36 MIC Top Bottom Dimensions SPAN Technology for OEMV User Manual Rev 11 87 Appendix A Technical Specifications Notes 1 Dimensions are shown in mil
84. INS update information It gives you information about what updates were performed in the INS filter at the last update epoch and a wheel sensor status indicator Structure Message ID 757 Log Type Asynch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Solution Type Type of GPS solution used for the last Enum 4 H update see Table 36 on page 146 3 Reserved Integer 4 H 4 4 Phase Number of raw phase observations Integer 4 H 8 used in the last INS filter update 5 Reserved Integer 4 H 12 6 Zupt Flag A zero velocity update was performed Boolean 4 H 16 during the last INS filter update 0 False 1 True 7 Wheel Status Wheel status see Table 42 below Ulong 4 H 18 8 Reserved Ulong 4 H 22 9 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 26 Binary only 10 CR LF Sentence terminator ASCII only Recommended Input log insupdate onchanged ASCII Example INSUPDATEA UNKNOWN 0 32 5 FINESTEERING 1379 339642 042 00040040 3670 2431 SINGLE 0 6 0 FALSE WHEEL SENSOR_UNSYNCED 0 fb5d 08b Table 42 Wheel Status Binary ASCII 0 WHEEL_SENSOR_INACTIVE 1 WHEEL_SENSOR_ACTIVE 2 WHEEL_SENSOR_USED 3 WHEEL_SENSOR_UNSYNCED 4 WHEEL_SENSOR_BAD_MISC 5 WHEEL_SENSOR_HIGH_ROTATION SPAN Technology for OEMV User Manual Rev 11 173 Appendix C INS Logs C 2 19 INSVEL INS Velocity This log co
85. K1 or Mark1 0 Event line Enum 4 H MARK2 Mark2 1 3 Tag S Tag for next mark event Ulong 4 H 4 Abbreviated ASCII Example TAGNEXTMARK MARK1 1234 SPAN Technology for OEMV User Manual Rev 11 139 Appendix B INS Commands B 2 25 VEHICLEBODYROTATION Vehicle to SPAN frame Rotation Only Mark 1 is available for the SPAN CPT Use the VEHICLEBODYROTATION command to set angular offsets between the vehicle frame direction of travel and the SPAN body frame direction that the IMU 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 5 Vehicle to SPAN Frame Angular Offsets Calibration Routine starting on page 52 for more details For more information on reference frames see Section 3 1 Definition of Reference Frames Within SPAN starting on page 41 RVBCALIBRATE command information is on page 121 The body frame is nominally the frame as marked on the IMU enclosure If you do not mount the IMU with the z axis approximately up you must check the new computational axis orientation that SPAN automatically uses which is called the SPAN computational frame SPAN forces z to be up in the SPAN computational frame Output attitude in INSPVA INSATT and so on is with respect to the SPAN computationa
86. MU Passed 0 Status Failed 1 15 0x00008000 Reserved Reserved N4 16 0x00010000 Reserved Reserved 17 0x00020000 Reserved Reserved 18 0x00040000 Reserved Reserved 19 0x00080000 Reserved Reserved N5 20 0x00100000 Reserved Reserved 21 0x00200000 Reserved Reserved 22 0x00400000 Reserved Reserved 23 0x00800000 Reserved Reserved Continued on next page 182 SPAN Technology for OEMV User Manual Rev 11 INS Logs Appendix C Nibble Number Bit Mask HG1700 Description LN200 Description NG 24 0x01000000 Reserved IMU Passed 0 Status Failed 1 25 0x02000000 Reserved IMU Passed 0 Status Failed 1 26 0x04000000 Reserved IMU Passed 0 Status Failed 1 27 0x08000000 IMU Passed 0 IMU Passed 0 Status Failed 1 Status Failed 1 N7 28 0x10000000 IMU Passed 0 IMU Passed 0 Status Failed 1 Status Failed 1 29 0x20000000 IMU Passed 0 Reserved Status Failed 1 30 0x40000000 IMU Passed 0 IMU Passed 0 Status Failed 1 Status Failed 1 31 0x80000000 IMU Passed 0 Reserved Status Failed 1 Table 45 HG1900 and HG1930 Status SPAN Technology for OEMV User Manual Rev 11 Nibble Number Bit Mask Description Range Value NO 0 0x00000001 Reserved 1 0x00000002 2 0x00000004 3 0x00000008 N1 4 0x00000010 IMU Status Passed 0 Failed 1 5 0x00000020 IMU Status Passed 0 Failed 1 6 0x00000040 IMU Status
87. MU interface cable see Table 15 on page 82 60723086 OEMV Connect and Convert4 disk see page 41 of this manual and refer to the OEMV 01017827 Family Installation and Operation User Manual SPAN Technology For OEMV User Manual OM 20000104 OEMV Family Installation and Operation User Manual OM 20000093 OEMV Family Firmware Reference Manual OM 20000094 J 2 Accessories and Options Part Description NovAtel Part Optional NovAtel GPSAntennas Model 532 for aerodynamic applications Model 702 for high accuracy applications Model 702L for L band applications Model 533 for high performance base station applications Optional Alignment RF Antenna Cable 5 meters 15 meters GPS 532 GPS 702 GPS 702L GPS 533 C006 C016 230 SPAN Technology for OEMV User Manual Rev 11 Replacement Parts J 3 Manufacturer s Part Numbers The following original manufacturer s part numbers and equivalents for the IMU interface cables are provided for information only and are not available from NovAtel as separate parts Appendix J Part Description LEMO Part Deutsch Part MIL Part 10 pin LEMO plug connector on the FGG 1K 310 CLAC60Z HG1700 interface cables Deutsch or MIL equivalent 13 pin 59064 11 35SF D38999 26B35SF connector on the LN 200 interface cable Deutsch or MIL equivalent 3 pin 59064 09 98SN D38999 26A98SN connector on the LN 200 power cable MIL 22 pin c
88. N A 13 USB D Bidirectional USB interface data Access Only available in board stackup to OEMV 1DF with OEMV 1DF In standalone no connect 14 USB D Bidirectional USB interface data Access Only available in board stackup to OEMV 1DF with OEMV 1DF In standalone no connect 15 RESETIN Input Access to OEMV 1DF reset in Only available in board stackup with OEMV 1DF In standalone no connect 16 VARF Output Access to OEMV 1DF varf Only available in board stackup with OEMV 1DF In standalone no connect 17 EVENT2 Input Access to OEMV 1DF event 2 Only available in board stackup with OEMV 1DF In standalone no connect 18 Reserved N A Leave as no connect 19 EVENT1 Input Access to OEMV 1DF event 1 Only available in board stackup with OEMV 1DF In standalone no connect 20 DGND Power Digital ground 21 MIC TX Output In board stackup with OEMV 1DF this pin is for firmware download In standalone use this pin can be used for either firmware download and or for IMU data communication to a SPAN receiver 94 SPAN Technology for OEMV User Manual Rev 11 Technical Specifications Appendix A Table 23 MIC Pinouts User Interface P301 Pin Signal Type Description Comments 22 MIC RX Input In board stackup with OEMV 1DF this pin is for firmware download In standalone use this pin can be used for either firmware download and or for IMU data communication to a SPAN
89. NSOFFSET 135 SETMARK1OFFSET 136 SETMARK20FFSET 137 SETWHEELPARAMETERS 138 short binary header 143 144 SPAN frame 124 SPAN HG enclosure HG1700 IMU 197 SPAN IMU enclosure LN 200 IMU 203 speed 153 171 status 146 152 Status HG1900 and HG1930 183 Status Landmark 185 support 17 synchronise INS with GPS 168 T technical specifications 55 61 62 65 66 69 70 73 78 86 92 time synchonised 168 TIMEDWHEELDATA 191 track over ground 153 transmit 115 troubleshooting 228 true north 153 234 Index U undulation 149 best position 151 universal enclosure HG1700 IMU 209 LN 200 IMU 218 specifications 55 up 173 174 updating firmware 18 upgrading models 18 USB signals 105 USB port 117 using a command as a log 106 V vector values 174 vehicle to body rotation RVB 107 121 VEHICLEBODYROTATION command 139 VEHICLEBODYROTATION log 192 velocity 135 169 best 152 computation 174 INS 111 163 limit 148 mark 176 177 voltage 100 W warranty 14 Web site 17 wheel sensor data 142 191 messages 53 odometer 83 set 138 wheel size 193 WHEELSIZE 193 WHEELVELOCITY 142 Z Zero Velocity Update ZUPT 113 SPAN Technology for OEMV User Manual Rev 11 235 amp QRR Nolte Recyclable Printed in Canada on recycled paper OM 20000104 Rev 11 September 2012
90. OLUTION_NOTGOOD When the accuracy converges again the INS status continues as INS_SOLUTION GOOD 3 3 3 Data Collection The INS solution is available in the INS specific logs with either a standard or short header Other parameters are available in the logs shown in Table 6 on page 49 Table 6 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 the IMU data Data can be requested at a specific rate up to the maximum IMU output rate or can be triggered by the mark input trigger at rates up to 20 Hz The GPS only solution is still available through the GPS only logs such as RTKPOS PSRPOS and OMNIHPPOS When running SPAN 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 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
91. OM port 3 6 THISPORT The current COM port 8 ALL All COM ports 9 XCOM1 2 Virtual COM1 port 10 XCOM2 2 Virtual COM2 port 13 USB1 USB port 1 14 USB2 USB port 2 15 USB3 USB port 3 16 AUX AUX port a The XCOM1 and XCOM2 identifiers are not available with the COM command but may be used with other commands For example INTERFACEMODE and LOG b The only other field that applies when a USB port is selected is the echo field Place holders must be inserted for all other fields to use the echo field in this case SPAN Technology for OEMV User Manual Rev 11 117 Appendix B INS Commands B 2 9 LEVERARMCALIBRATE INS Calibration Command Use the LEVERARMCALIBRATE command to control the IMU to antenna lever arm calibration The IMU to antenna lever arm is the distance from the centre of each marked IMU side to the phase centre of the antenna See also Section B 2 16 SETIMUTOANTOFFSET Set IMU to Antenna Offset starting on page 128 and Section 3 3 4 Lever Arm Calibration Routine starting on page 50 The calibration runs for the time specified or until the specified uncertainty is met The BESTLEVERARM log outputs the lever arm calculations once the calibration is complete see also BESTLEVERARM IMU to Antenna Lever Arm on Page 154 If a SETIMUANTENNAOFFSET command is already entered or there is a previously saved lever arm in NVM before the LEVERARMCALIBRATE is sent the calibration starts using initial val
92. Passed 0 Failed 1 7 0x00000080 IMU Status Passed 0 Failed 1 N2 8 0x00000100 Reserved 9 0x00000200 10 0x00000400 11 0x00000800 Continued on next page Appendix C 184 INS Logs Range Value N3 12 0x00001000 Reserved 13 0x00002000 14 0x00004000 15 0x00008000 N4 16 0x00010000 Reserved 17 0x00020000 18 0x00040000 19 0x00080000 N5 20 0x00100000 Reserved 21 0x00200000 22 0x00400000 23 0x00800000 N6 24 0x01000000 IMU Status Passed 0 Failed 25 0x02000000 Reserved 26 0x04000000 IMU Status Passed 0 Failed 27 0x08000000 IMU Status Passed 0 Failed N7 28 0x10000000 IMU Status Passed 0 Failed 29 0x20000000 IMU Status Passed 0 Failed 30 0x40000000 IMU Status Passed 0 Failed 31 0x80000000 Reserved SPAN Technology for OEMV User Manual Rev 11 INS Logs Appendix C Table 46 Landmark Status ee Bit ET Status Description Settings Description NO O 0x00000001 Cal Test mode Passed 0 Failed 1 Gyro Range Select Bit 2 1 0x00000002 Sync Passed 1 Failed 0 Accel Range Select Bit 2 2 0x00000004 Reserved Accel Range Bit 0 gt 3 0x00000008 Flash checksum error Passed 0 Failed 1 Accel Range Bit 1 N1 4 0x00000010 Software error Passed 0 Failed 1 Gyro Range Bit 0 5 0x00000020 Software timing error Passed 0 Failed 1 Gyro Range Bit 1
93. Power Consumption ProPak V3 2 8 W typical System Power Consumption ProPak V3 14 8 W typical Data Connector on Enclosure 13 pin Deutsch P N 59065 11 35PF Power Connector on Enclosure 6 to 18 VDC 3 pin Deutsch P N 59065 09 98PN ENVIRONMENTAL IMU IMU Interface RS 232 or RS 422 Temperature Operating Storage Humidity 95 non condensing 30 C to 60 C 22 F to 140 F 45 C to 80 C 49 F to 176 F a For replacement connectors on the interface and power cables see Section J 3 Manufacturer s Part Numbers on page 231 70 SPAN Technology for OEMV User Manual Rev 11 Technical Specifications Appendix A A 4 LN 200 IMU single connector enclosure Table 12 LN 200 IMU Specifications PHYSICAL IMU Enclosure Size 135mm x 153mm x 130 mm 5 315 x 6 024 x 5 118 IMU Size 89 mm D x 85 mm H 3 504 D x 3 346 H IMU Weight 3 kg 6 6 Ib MECHANICAL DRAWINGS 143 7 I 1 I I o IC F aa 4 PLCS LAQ IVI IP 76 8 uae P lt q ee y 1o Ki Enclosure Center 82 4 134 6 eee gt Navigation Center 1 k 7 G SCALE 0 800 i 70 7 _______ Navigation Center R92 9 76 3 Enclosure Center Figure 22 LN 200 IMU Enclosure Top Bottom Dimensions and Centre of Navigation SPAN Technology for OEMV User Manual Rev 11 71 Technical Specifications
94. R NMEA Inertial Attitude Data The PASHR log uses a UTC time calculated with default parameters to output NMEA messages without waiting for a valid almanac 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 INS Logs Structure Message ID 1177 Log TypeSynch Field Structure Field Description Symbol Example 1 PASHR Log Header E PASHR 2 Time UTC Time hhmmss ss 195124 00 3 Heading Heading value in decimal degrees HHH HH 305 30 4 True Heading T displayed if heading is relative to true T T north 5 Roll Roll in decimal degrees The sign will RRR RR 0 05 always be displayed 6 Pitch Pitch in decimal degrees The sign will PPP PP 0 13 always be displayed 7 Reseved n aa 8 Roll Accuracy Roll standard deviation in decimal degrees rr rrr 0 180 9 Pitch Accuracy Pitch standard deviation in decimal pp ppp 0 185 degrees 10 Heading Heading standard deviation in decimal hh hhh 4 986 Accuracy degrees 11 GPS Update o Ne poniai niin r 1 1 i All non ixed integer positions Quality Flag 2 RTK fixed integer posi ion 12 Checksum Checksum
95. Rev 11 123 Appendix B INS Commands B 2 14 SETIMUORIENTATION Set IMU Orientation 124 The SETIMUORIENTATION command is used to specify which of the IMU axis is aligned with gravity The IMU orientation can be saved using the SAVECONFIG command so that on start up the SPAN system does not have to detect the orientation of the IMU with respect to gravity This is particularly useful for situations where the receiver is powered while in motion 1 The default IMU axis definitions are Y forward Z up X out the right hand side It is strongly recommended that you mount your IMU in this way with respect to the vehicle 2 You only need to use this command if the system is to be aligned while in motion using the fast alignment routine see Section 3 3 1 2 Kinematic Alignment on page 48 Ensure that all windows other than the Console are closed in 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 IMU signals in such a way that a 5 mapping is achieved see Table 32 on page 126 For example if the IMU is mounted with the X axis pointing UP and a mapping of 1 is specified then this transformation of the raw IMU data is done X gt Z Y gt X Z gt Y where the default is X gt X Y gt Y Z gt Z Notice that the X axis observations are transformed into the Z axis resultin
96. SAS Odometer Cabling on page 83 if applicable The IMU interface cable supplied provides power to the IMU from an external power source and enables input and output between the receiver and IMU Table 15 IMU Interface Cable Pin Out MIL C Power Female Male Male 38999 III Function 4mm DB9 to DB9 DB9to Comments Connector Pin plugs com3 toll0 ODO 1 PGND Color black Power ground Label PGND 2 ODO_AN 7 Odometer input A opto coupler 2 to 6 V RS 422 compatible 3 VIN Color red 10 to 34 VDC Label 10 34 VDC 4 ODO_A 6 Odometer input A opto coupler 2 to 6 V RS 422 compatible 5 6 Reserved 7 DAS 1and 6 Shielded data acquisition signal LVTTL to VARF Reserved DAS_GND 9 Shielded ground reference for data acquisition and control signals 10 Reserved 11 DON 8 Twisted pair serial data output signal RS 422 12 DO 2 Twisted pair serial data output signal RS 422 13 Reserved 14 DGND 5 Digital ground 15 DGND 5 Digital ground 16 ODO_B 3 Odometer input B opto coupler 2 to 6 V RS 422 compatible 17 ODO_BN 1 Odometer input B opto coupler 2 to 6 V RS 422 compatible Continued on the following page 82 SPAN Technology for OEMV User Manual Rev 11 Technical Specifications Appendix A MIL C Female Male Male 38999 Ill Function DB9 to DB9 DB9to Comments Connector Pin COM3 tol O ODO 18 Reserved 19 DI
97. TNESS 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 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 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 II 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 NOV
98. TS in 20 Oo Ele malls 45 7 BL ra 1 80 3 60 0 142 NOTES DIMENSIONS ARE SHOWN IN mm inches 2 CONNECTORS a JIOO MCX JACK PLUG RECEPTACLE JOHNSON P N 133 371 1 202 OR SAMTEC P N MCX J P H ST OR EQUIVALENT b J700 2x12 HEADER 2 mm PITCH SAMTEC P N TMM 110 03 G D Figure 41 OEMV 1DF Board Dimensions 98 SPAN Technology for OEMV User Manual Rev 11 Technical Specifications Appendix A 3 6 0 14 3 6 0 14 I rN zE 42 4 a 1 671 15 me 0 6 zs i i Oo O KEEPOUT SHIELD KEEPOUT ZONE ZONE EEPOUT REGN ZONE NOTES RECOMMENDED KEEPOUT AREAS ARE INTENDED FOR NOVATEL CIRCUITRY NOVATEL RESERVES THE RIGHT TO MODIFY COMPONENTS AND COMPONENT PLACEMENTS INSIDE SHADED KEEPOUT ZONES WHILE MAINTAINING DESIGN FORM FIT AND FUNCTION Figure 42 OEMV 1DF Board Keep Out Zone SPAN Technology for OEMV User Manual Rev 11 99 Appendix A Technical Specifications ENVIRONMENTAL Operating Temperature 40 C to 85 C Storage Temperature 45 C to 95 C Humidity Not to exceed 95 non condensing Random Vibe MIL STD 810G 7 7 g RMS Bump Shock MIL STD 810G 40 g V
99. U 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 SPAN Technology for OEMV User Manual Rev 11 125 Appendix B INS Commands Table 32 Full Mapping Definitions SPAN Frame y IMU Enclosure IMU Enclosure Mapping Axes SEA rame Frame Axes Frame X Z Y X Y X Z Y X Z Z X y Y Z 5 default x x y 126 SPAN Technology for OEMV User Manual Rev 11 INS Commands Appendix B B 2 15 SETIMUSPECS Specify Error Specifications and Data Rate The SETIMUSPECS command is used to specify the error specifications and data rate for the desired IMU If the default specs for the supported models are different than the unit used then this command can be used to override the default values This command is only available for the following IMUs Honeywell HG1930 AA99 CA50 Gladiator Landmark 20 Abbreviated ASCII Syntax SETIMUSPECS DataRate AccelBias AccelVRW GyroBias GyroARW AccelSFError GyroSFEr ror DataLatency Honeywell HG1900 CA29 CA50 Message ID 1295 A Field Value D Binary Binary Binary Field Type
100. User Manual for the NovAtel part numbers of ProPak V3 cables and their pinouts Use a USB cable to log raw data Serial communication is fine for configuring and monitoring the SPAN through Hyperterminal or NovAtel Connect USB is required if you have a post processing application requiring 200 Hz IMU data We also recommend you use NovAtel Connect to collect the data Refer to your receiver s hardware manual for more information on its ports and cables the OEMV Family Installation and Operation User Manual Each connector can be inserted in only one way to prevent damage to both the receiver and the cables Furthermore the connectors used to mate the cables to the receiver require careful insertion and removal Observe the following when handling the cables e To insert a cable make certain to use the appropriate cable for the port the serial cable has a different connector number of pins than the power cable Insert the connector until it is straight on and secure e To remove a cable grasp it by the connector OQ Do not pull directly on the cable 2 2 Hardware Set Up Review this section s hardware set up subsections and follow the numbered steps in bold to install your SPAN system The example graphics show the connections on the back of a ProPak V3 receiver 2 2 1 Mount Antenna For maximum positioning precision and accuracy as well as to minimize the risk of damage ensure that the antenna is secur
101. VELOCITY Velocity computed using instantaneous Doppler 9 15 Reserved 16 SINGLE Single point position 17 PSRDIFF Pseudorange differential solution 18 WAAS Solution calculated using corrections from an SBAS 19 PROPOGATED Propagated by a Kalman filter without new observations 20 OMNISTAR OmniSTAR VBS position L1 sub meter Continued on the following page SPAN Technology for OEMV User Manual Rev 11 INS Logs Appendix C se Type Ree Description 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 2 53 INS_PSRSP INS pseudorange single point solution no DGPS corrections 2 54 INS_PSRDIFF INS pseudorange differential solution 2 55 INS_RTKFLOAT INS RTK floating point ambiguities solution 2 56 INS_RTKFIXED INS RTK fixed ambiguities solution 2 57 INS_OMNISTAR INS OmniSTAR VBS position L1 sub meter 1 58 INS_OMNISTAR_HP_ INS OmniSTAR high precision solution 1 59 INS_OMNISTAR_XP INS OmniSTAR extra precision solution 1 64 OMNISTAR_HP OmniSTAR high precision 1
102. WEPHEMB ONNEW From a rover e RANGECMPB ONTIME 1 e RAWEPHEMB ONNEW e RAWIMUSB ONNEW Post processing is performed through the Waypoint Inertial Explorer software package available from from NovAtel s Waypoint Products Group Visit our Web site at www novatel com for details 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 54 SPAN Technology for OEMV User Manual Rev 11 Nouga Technical Specifications This appendix details the technical specifications of the IMUs Refer to your SPAN system enclosure s hardware manual for more information on its technical specifications performance and cables the OEMV Family Installation and Operation User Manual A 1 Universal IMU Enclosure The Universal IMU enclosure is available with the HG1700 and LN200 IMU s Table 7 Universal IMU Enclosure Specifications PHYSICAL IMU Enclosure Size 168 mm x 195 mm x 146 mm IMU Enclosure Weight 4 25 kg SPAN Technology for OEMV User Manual Rev 11 55 Appendix A Technical Specifications MECHANICAL DRAWINGS Dimensions in mm inches NOTES 1 THIS MOUNTING HOLE TOP SUR FACE IS MASKED FROM PAINT FOR GROUNDING ENSURE SUF FICIENT CONNECTION TO GROUND TOP SEE NOTE 1 195 0 7 68 wa 180 00 vg AX R79
103. WHEELSIZEA COM3 0 44 0 EXACT 0 0 000 00000000 85 8 33738 1 025108123 2 009211922 0 000453791 157 d50b SPAN Technology for OEMV User Manual Rev 11 193 huD EEE 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 COM2 if connected to COM2 port The COM port can be COM1 COM2 COM3 USB1 USB2 USB3 or AUX Commands are typed at the interfacing terminal s keyboard and sent after pressing the terminal s lt gt or lt Enter gt key that they have been accepted is 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 gt setimutoantoffset 0 1 0 1 0 1 Return COM2 gt The above example illustrates command input to the receiver COM2 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 gt 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 194 SPAN Technology for OEMV User Manual Rev 11 Command Prompt Interface D 1 DOS A
104. a ae aea arera S aae r ae eo Res er EAEE Aeee 126 IMT oT T EE E EEE SONE E E E N ACET 130 Short ASCII Message Header Structure cccccccceeececceeeeeeeeeaeeeeeeseeaeeeeeeseaeeeeeeensaees 144 Short Binary Message Header Structure 0 0 00 ccccccceeceecececeeeeneeeeeeeeeeeeeeseesenaeeeeeeteeaeees 144 Position or Velocity Type sirrcna ie ahpa EA AE EE etre 146 Sol tiom Stat S eiieeii apie aaeeei a e eai ae aaa ad doa vhahstecaclestecdonce 148 Signal Used M SK sithi aiae iee aae Eadie edea a aiaia aiaei aaant 150 Extended Solution Status ninii a eaaa a aa aede 150 EEA ANa A TYPO E EE E A A EEA E E E E E T 160 EEIEIIE A A E E E E E A E 160 Wheel SiE T e a A eine 173 IMU FSA D SIA U S a r a ee 8 oh 180 HG1700 and LN200 Status ccc cecccccceceeceeeececeeeeececaeeeceseeeesaeeesesaeeseeseeescueeeeeseesseeees 181 HG1900 and HG1930 Status ccecccccseeceeeeeceseeeeeeceeeeceeeeeesaeececsaeeseeeeeeseeeeensaeeeeeeaees 183 landmark Status s 22 5 ds eietseit oc hs heen e a Sieats tude delet Yet ee 185 Raw IMU Scale Factors iioii iiie aiiai iiie iin i iia iei irat 188 SPAN Technology for OEMV User Manual Rev 11 Software License 10 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
105. abled and COM3 is disabled by default Multiplexed I O allows you to switch between USB and COM3 c The receiver cannot prevent the host system from enumerating USB while using COM3 on the OEMV 1G This is due to the plug and play nature of USB Do not connect a USB cable while using COM3 SPAN Technology for OEMV User Manual Rev 11 101 Appendix A Technical Specifications d Enable COM3 using the following commands MARKCONTROL MARK1 DISABLE INTERFACEMODE COM3 NOVATEL NOVATEL SAVECONFIG FRESET clears this command disabling COM3 and enabling USB the factory default setting e CAN RX and CANI TX are multiplexed with VARF and EVENT2 respectively The default behavior is that EVENT2 is active For VARF refer to the FREQUENCYOUT command f CAN Bus behavior must be asserted through the NovAtel API software Refer to Section 3 3 3 CAN Bus in the OEMV Family Installation and Operation manual available at www nova tel com for further details g See also Figure 43 on page 105 and its table 102 SPAN Technology for OEMV User Manual Rev 11 Technical Specifications Appendix A Table 25 OEMV 1DF Strobes Default Input Strobes Behavior Output Factory Default Comment Event1 Multiplexed Input Active low An input mark for which a pulse Mark 1 pin greater than 150 ns triggers certain Leading logs to be generated Refer to the edge MARKPOS and MARKTIME logs and triggered ONMARK trigger Pola
106. aeeseeseeeeeeeeeseeeceaueeaeeeeseeeeeeseeeaeeaa 212 H LN 200 IMU in Universal Enclosure 218 H 1 Disassemble the Universal EncloSure c ccsesssececeececeeceaeeauesseeeeceececeseeaueaaeesseeeseess 219 H 2 Install the LN 200 Sensor Unit c cccccceccccceeceeasesseeeeceeeeeeceeaeeaseseeceeeeseeeeeeaeeaaeneseees 221 Frequently Asked Questions 228 J Replacement Parts 230 JETASPAN SYSTEM ooet oeaan aon aet pte raea eria aeaa aera aea feae Taat ea MaE TE NRS 230 J 2 Accessories and Options isiin ie ae edi eider 230 J 3 Manufacturers Part Numbers ccccccssesseseeeeeeeeeeceseeseeseceeeeeeeeeseaueeaseeceeeeeeeeeeaaeaneenes 231 SPAN Technology for OEMV User Manual Rev 11 Figures 1 Primary and Secondary Lightning Protection 00 0 eee eeeeeeeeeeeeeeneeeseneeeeeneeeensaeeeeeaaes 21 2 SPAN System Receiver isni die cesses eae a veces eri deren qeveejoandeaeeeyecn dees 25 3 SPAN System IMUS issi cases seessuececsaaecesdecteasedets Seaeeeb ans exevies ddsdecd aeee lechada naaa ao eaii 25 4 Receiver Enclosure Back Panel cccceceeeeceeceeeeeeceeeeseeeeeeeeecesecaeceesesecaeeeeeeeeeneeeees 28 5 Basic Set Up LN 200 or HG1700 00 eee ceececcecceceeeeeeeeeeeeeaeeeeeeseaaeeeeeeeeeeeeeeeeeeeaeeeeees 29 6 Basic Set Up IMU FSAS nrnna eir ia a ie e E Eis 30 7 MIC in Stack Up Configuration eee ceeceeceeeeeeeeceneeeeeeeeeeaeeeeeaeeeeeeeeesneeesenaeeseeeaees 31 8 MIC in Standalone Configuration ccccccc
107. age which is useful in predicting anomalous behavior brought about by outages in differential corrections A differential age of 0 indicates that no differential correction was used With the system operating in an RTK mode this log reflects the latest low latency solution for up to 60 seconds after reception of the last base station observations After this 60 second period the position reverts to the best solution available the degradation in accuracy is reflected in the standard deviation fields If the system is not operating in an RTK mode pseudo range differential solutions continue for 300 seconds after loss of the data link though a different value can be set using the DGPSTIMEOUT command refer to the OEMV Family Firmware Reference Manual When in INS mode the position is calculated at the antenna phase centre BESTGPSPOS Message ID 423 BESTPOS Message ID 42 Structure Log Type Synch Table 36 Position or Velocity Type Position Type Position Type binary ASCII 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_
108. al Rev 11 Technical Specifications A 1 2 IMU Performance PERFORMANCE IMU HG1700 AG58 Gyro Input Range Gyro Rate Bias Gyro Rate Scale Factor Angular Random Walk Accelerometer Range 1000 deg sec 1 0 deg hr 150 ppm 0 125 deg rt hr 50 g Appendix A Angular Random Walk Accelerometer Range Accelerometer Linearity Accelerometer Scale Factor Accelerometer Bias Accelerometer Linearity 500 ppm Accelerometer Scale Factor 300 ppm Accelerometer Bias 1 0 mg HG1700 AG62 Gyro Input Range 1000 deg sec Gyro Rate Bias 5 0 deg hr Gyro Rate Scale Factor 150 ppm Angular Random Walk 0 5 deg rt hr Accelerometer Range 50 g Accelerometer Linearity 500 ppm Accelerometer Scale Factor 300 ppm Accelerometer Bias 3 0 mg LN 200 Gyro Input Range 1000 deg sec Gyro Rate Bias 1 0 deg hr Gyro Rate Scale Factor 100 ppm 0 07 deg rt hr 40 g 300 ppm 0 3 mg SPAN Technology for OEMV User Manual Rev 11 61 Appendix A Technical Specifications A 1 3 Electrical and Environmental Table 9 Universal IMU Enclosure Electrical and Environmental ELECTRICAL IMU Power Consumption HG1700 AG58 9 W max HG1700 AG62 8 W max LN 200 16 W max IMU Input Voltage 12 to 28 V DC all IMU s Receiver Power Consumption 2 8 W typical for all IMU s Input Output Connectors MIL C 38999 III 22 pin all IMU s IMU Interface RS 232 or RS 422 Temperature HG1700 AG58 HG1700 AG62 Operating 3
109. am nut supplied with the connector Apply thread locking fluid then with a 30 mm socket tighten the jam nut to 6 9 N m 61 Ib in 5 1 lb ft Figure 67 Fasten Internal Cable Harness 6 Ensure the O rings are in place If they are not as necessary make sure the grooves of the enclosure base are clean and free of debris using isopropyl alcohol As shown in Figure 68 install the outer environmental and inner EMI O rings in the enclosure base being careful not to stretch or twist them O rings must remain flat within the grooves during the remainder of the assembly procedure Figure 68 Install O rings SPAN Technology for OEMV User Manual Rev 11 215 Appendix G HG1700 IMU in Universal Enclosure 7 Clean the surface of the enclosure body where it mates with the O rings using isopropyl alcohol As shown in Figure 69 align the reference markers and pilot holes pins of the enclosure body and base Carefully lower the body onto the base observing the O rings and alignment of comers Press the enclosure body into place starting with the round pilot hole indicated in Figure 69 ROUND PILOT HOLE ABOVE THIS PILOT PIN REFERENCE MARKERS Figure 69 Install Enclosure Body on the Base 216 SPAN Technology for OEMV User Manual Rev 11 HG1700 IMU in Universal Enclosure Appendix G 8 While squeezing and holding the enclosure body and base together to maintain tight contact carefully turn the assembly over and place it on i
110. and rotations measured by an IMU to calculate position velocity and attitude This capability is embedded in the firmware of OEMV 3 series receivers Forces are measured by accelerometers in three perpendicular axes within the IMU and the gyros measure angular rotation rates around those axes Over short periods of time inertial navigation gives very accurate acceleration velocity and attitude output The INS must have prior knowledge of its initial position initial velocity initial attitude Earth rotation rate and gravity field Since the IMU measures changes in orientation and acceleration the INS determines changes in position and attitude but initial values for these parameters must be provided from an external source Once these parameters are known an INS is capable of providing an autonomous solution with no external inputs However because of errors in the IMU measurements that accumulate over time an inertial only solution degrades with time unless external updates such as position velocity or attitude are supplied The SPAN system s combined GNSS INS solution integrates the raw inertial measurements with all available GNSS information to provide the optimum solution possible in any situation By using the high accuracy GNSS solution the IMU errors can be modeled and mitigated Conversely the continuity and relative accuracy of the INS solution enables faster GNSS signal reacquisition and RTK solution convergence The advantages of u
111. ards 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 140 The rotation values are used during kinematic alignment The rotation is used to transform the vehicle frame attitude estimates from GPS into the SPAN frame of the IMU during the kinematic alignment If you use the APPLY VEHICLEBODYROTATION command on page 107 the reported attitude in INSPVA or INSATT will be in the vehicle frame otherwise the reported attitude will be in the SPAN frame The uncertainty values report the accuracy of the angular offsets SPAN Technology for OEMV User Manual Rev 11 INS Commands Appendix B The VEHICLEBODYROTATION command sets the initial estimates for the angular offset The uncertainty values are optional Follow these steps 1 Imagine a frame coincident with the vehicle frame 2 Rotate your imagined frame about the vehicle Z axis so that the Y axis of your frame is approxi mately aligned coplanar with the assumed Y axis of the IMU enclosure as defined by your IMU orientation in Table 32 on page 126 This angle is the gamma angle in the command and follows the right hand rule for sign correction 3 Rotate about the vehicle X axis This angle is the alpha angle in the command 4 Finally
112. cecececeeaeeseeeeseseentnrsrsneanens B 2 25 VEHICLEBODYROTATION Vehicle to SPAN frame Rotation c00 B 2 26 WHEELVELOCITY Wheel Velocity for INS Augmentation cceee C INS Logs C 1 Description of ASCII and Binary Logs with Short Headers eseese Ci2 INS Sp Cific LOGS vi sesc niinen i a ae ea e iai aai C 2 1 BESTPOS Best Position and BESTGPSPOS Best GPS Position C 2 2 BESTGPSVEL Best Available GPS Velocity Data cceeeeeseeeeeeesetteeeeees C 2 3 BESTLEVERARM IMU to Antenna Lever Arm ccccccceeeceseeseeceeeeeeeeeeeaneeas C 2 4 CORRIMUDATA CORRIMUDATAS Corrected IMU measurements C 2 5 HEAVE Heave Filter LOG c cscscccNcaeedsecdeceesicceecaved Sa cdi caves soedeteaed oteceeeeats C 2 6 IMUTOANTOFFSETS IMU to Antenna s Lever Arm 0 cc eeeeeeeetteeenneeeeeeees CZT INSATT AINS Attitude snieni even eee evade evaded oida diten C 2 8 INSATTS Short INS Attitude ccc cc ccccceceseecsesseeeseeeeeseeeeesssseeeeeesesaeess C 2 9 INSCOV INS Covariance Matrices cccccccccccecececeeeeseeseeeeeeeceeeeeeeseaaeeaeeess C 2 10 INSCOVS Short INS Covariance Log 0 0 eeeceeeseeeeeeeeeeeeeeeenaeeenneeeeenteeenaaes C 2 11 INSPOS INS POSION cinneti ite i eaii C 2 12 INSPOSS Short INS Position ccccccccccscescecsessseececesseeeseececssaeeeecesssaseeess C 2 13 INSPOSSYNC Time Synchronised INS Position ieee C 2 14 INSPVA INS Position Velocity and Attitud
113. chnical Specifications Appendix A Table 16 Cable Modification for Corrsys Datron WPT 8 pin M12 connector on Female DB9 the Corrsys Datron cable P connector Pin 1 GND White No change Pin 2 Up Input Power Brown 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 Figure 35 ilIMU FSAS Interface Cable SPAN Technology for OEMV User Manual Rev 11 85 Appendix A A 6 3 IMU Performance Technical Specifications PERFORMANCE IMU iIMU FSAS Gyro Rate Bias Gyro Input Range Gyro Rate Scale Factor Angular Random Walk Accelerometer Range Accelerometer Linearity Accelerometer Scale Factor Accelerometer Bias 500 degrees s 0 75 hr 300 ppm 0 1 degrees sq rt hr 5 g 20 g optional 400 ppm 1 0 mg A 6 4 Electrical and Environmental ELECTRICAL IMU Power Consumption 16 W max IMU Input Voltage 10 to 34 V DC Receiver Power Consumption ProPak V3 2 8 W typical System Power Consumption ProPak V3 14 8 W typical Data Connector MIL C 38999 I
114. computed by the normal coarse alignment routine e This alignment takes the same amount of time as the usual coarse alignment Input azimuth values must be accurate for good system performance e 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 IMU enclosure is mounted with the z axis pointing upwards the SPAN frame is the same as what is marked on the enclosure If the IMU 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 124 for a description of the axes mapping that occurs when the IMU 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 124 unless you have your IMU mounted with the z axis not pointing up Then use the tables in the SETIMURIENTATION command on pages 125 126 to deter mine the azimuth axis that SPAN is using Abbreviated ASCII Syntax Message ID 863 SETINITAZIMUTH azimuth azSTD SPAN Technology for OEMV User Manual Rev 11 133 Appendix B INS Commands
115. depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 Switch Disable 0 Enable disable vehicle Enum 4 H body rotation using values Enable 1 entered in the vehiclebodyrotation command default disable Input Example APPLY VEHICLEBODYROTATION ENABLE SPAN Technology for OEMV User Manual Rev 11 107 Appendix B B 2 2 CANCONFIG Configure the CAN Interface for SPAN INS Commands Use the CANCONFIG command to configure the CAN interface for SPAN For further information contact NovAtel Customer Support as outlined on page 7 Abbreviated ASCII Syntax CANCONFIG port switch bit rate base tx mask source Message ID 884 Field ASCII Binary REE 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 Port CAN1 1 Specify the CAN port Enum 4 H CAN2 2 3 Switch Disable 0 Enable disable CAN Enum 4 H 4 configuration on the chosen Enable 1 port 4 Bit rate CAN bit rate kbps See Enum 4 H 8 Table 27 on page 109 5 Base 0 0x0000 Base address Refer to Ulong 4 H 12 default to application note APN 046 to 65535 OxFFFF for further information 6 Tx mask 0 0x0000 Transmit activation mask Ulong 4 H 16 default to Refer to application n
116. directly into the 3 pin port on the front of the LN 200 enclosure Figure 28 LN 200 Power Cable 4 y ll 072306 L l E _ fin ia ml Cille 100010 2000 100 Dimensions in millimetres 2 3 6 A 4 SQ a T at A a Reference Description Reference Description 1 3 pin Deutsch connector A Black 12V adapter B Red Outer contact C White Natural 3 amp slow blow fuse centre contact Foil shield Figure 29 IMU Power Cable Pin Out on WN SPAN Technology for OEMV User Manual Rev 11 77 Appendix A A 5 3 IMU Performance Technical Specifications PERFORMANCE IMU IMU LN200 Gyro Rate Bias Gyro Input Range Gyro Rate Scale Factor Angular Random Walk Accelerometer Range Accelerometer Linearity Accelerometer Scale Factor Accelerometer Bias 1000 degrees s 1 hr 100 ppm 0 07 degrees rt hr 40g 300 ppm 0 3 mg A 5 4 Electrical and Environmental ELECTRICAL IMU Power Consumption 16 W max IMU Input Voltage 12 to 28 VDC ProPak V3 ProPak V3 Receiver Power Consumption System Power Consumption 2 8 W typical 14 8 W typical Data Connector on Enclosure 43 pin Deutsch P N 59065 11 35PF Power Connector on Enclosure 6 to 18 VDC 3 pin Deutsch P N 59065 09 98PN IMU Interface RS 232 or RS 422 ENVIRONMENTAL
117. e ccccccsccceeeseseeceeeeseneeeeeeeeee C 2 15 INSPVAS Short INS Position Velocity and Attitude 0 ceeeeeeeeeeeees C 2 16 INSSPD INS Speed cee a r a a aa aa aai C 2 17 INSSPDS Short INS Speed eceeceeeccecececenneceeeeceeseaeecesaaeeceneeeesueeeeeneeesenees C 2 18 INSUPDATE INS Update 0 22 0 ecccccecccceecceceseceeeeeeeseeeeceseeeeseseeeeseeesssaeeeeenaes C 2 19 INSVEL INS Velocity ce eeccceeccccecececeeeeeecesaeeeeeeeeesaeececaeeeseseeeseeeeseaeeseneas C 2 20 INSVELS Short INS Velocity cceccccccecceeceececeneeeeseeeeceaeeeecsaeeseneeeesnreeensaes C 2 21 MARK1PVA_ Position Velocity and Attitude at Mark1 c ceeeeeeeeeeeeeees C 2 22 MARK2PVA_ Position Velocity and Attitude at Mark2 0 c ccceceeeeeeeeeeeees C 2 23 PASHR NMEA Inertial Attitude Data c ccc ccccccccsssseececssssseeceessesaeeeeees C 2 24 RAWIMU Raw IMU Datta cc icccececesescscsseeeeeeeceeeeeeeeeseeeeeeeseseaeasauaueeneneas C 2 25 RAWIMUS Short Raw IMU Data cccccccccccccccesessseseeceesseeseeeecssaeeeeeeesesaeees C 2 26 TAGGEDMARKAPVA rirni a a a a a C 2 27 TAGGEDMARK2PVA uo ccccccsccccccececceeeeceecececescecueausuecueuaeacececeeseeseesesererenenenneeaes C 2 28 TIMEDWHEELDATA Timed Wheel Data c ccccccccccccccececeeeesesesesssaeaeeenes C 2 29 VEHICLEBODYROTATION Vehicle to SPAN frame Rotation ccccccce C 2 30 WHEELSIZE Wheel Size c ieee ccececes
118. e logs See the INSATT log on page 161 for an explanation of how the SPAN frame may differ from the IMU enclosure frame Structure Message ID 507 Log Type Synch 3 A oad 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 ve Double 8 H 36 value implies a southerly direction m s 8 East Velocity Velocity in an easterly direction a ve Double 8 H 44 value implies a westerly direction m s 9 Up Velocity Velocity in an up direction m s Double 8 H 52 10 Roll Right handed rotation from local level Double 8 H 60 around y axis in degrees 11 Pitch Right handed rotation from local level Double 8 H 68 around x axis in degrees 12 Azimuth Left handed rotation around z axis Double 8 H 76 Degrees clockwise from North 13 Status INS Status see Table 5 on page 46 Enum 4 H 84 14 XXXX 32 bit CRC Hex 4 H 88 15 CR LF Sentence Terminator ASCII only Recommended Input log inspvaa ontime 1 ASCII Example INSPVAA COM1 0 31 0 FINESTEERING 1264 144088 000 00040000 5615 1541 1264 144088 002284950 51 116827527 114 037738908 401 191547167 354 846489850 1
119. e page 128 The calibration routine uses these values as the starting point for the lever arm computation The steps involved in the calibration are 1 Power the receiver and the IMU see the IMU choices and their technical specifications starting on page 55 2 Configure the RTK corrections and make sure that the BESTGPSPOS log see page 146 reports a good RTK solution 3 Configure the IMU see Section 2 3 2 SPAN IMU Configuration on page 38 4 Set the orientation of your installed IMU using the SETIMUORIENTATION command see page 124 5 Enter the initial estimate for the lever arm using the SETIMUTOANTOFFSET command see page 128 6 Specify the limits of the calibration through the LEVERARMCALIBRATE command see page 118 The calibration can be limited by time or accuracy of the lever arm It is recommended that the calibration is limited by a minimum of 300 seconds 7 To monitor the calibration log BESTLEVERARM see page 154 using the ONCHANGED trigger 8 Remain stationary long enough for the coarse alignment to finish The alignment is complete when the INS status changes to INS ALIGNMENT COMPLETE See also Table 5 on page 46 9 Start to move the system The lever arm is not observable while the system is stationary Immediately drive a series of manoeuvres such as figure eights The turns should alternate between directions and you should make an equal number of turns in each direction Some height variation in the
120. e used for these purposes the use of Windows 98 is described only as an illustration The following example shows how Windows 98 accessory programs Notepad and HyperTerminal can be used to create a hypothetical waypoint navigation file on a laptop computer and send it to the receiver It is assumed that the laptop computer s COM1 serial port is connected to the receiver s COMI serial port and that a rover terminal is connected to the receiver s COM2 serial port Example 1 Open Notepad and type in the following command text setnav 51 111 114 039 51 555 114 666 0 start stop magvar 21 log coml bestposa ontime 15 log coml psrvela ontime 15 log coml navigatea ontime 15 log com2 gpvtg ontime 15 5 1 1 log com2 gprmb ontime 15 5 2 2 log com2 rxconfiga ontime 60 2 Save this with a convenient file name e g C GPS BOOTNAV1 TXT and exit Notepad 3 Ensure that the HyperTerminal 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 correc
121. eaeess 87 37 MIC KeeGp Out ZONee a5 2222 00 cok even den cated cee E cadeends ospuededacha E 88 38 Landmark IMU to MIC Cable Assembly c ccccceceeeeeceeeeeceeeaeeeeceseaeaeeeeeeneeaeeeeens 89 39 HG1930 IMU to MIC Cable Assembly 0000 02 2 cecccceeceeeceeceeeeecce eee ceeeaeeeesesneaeeeestsnneeeess 90 40 HG1700 and HG1900 IMU to MIC Cable Assembly cccccecseeeceeteeeseeeeeeeneeeeneeees 91 41 OEMV 1DF Board Dimensions 2 cccceeeeeceeceeeeeecaeceeeesecaeceeceseaaeceeeeseaeeeeeeeenaeeeees 98 42 OEMV 1DF Board Keep Out Zone oo ccccccccccececeececeeeeeeceeeeeeceeaeaeeeeeeeeeeeeeeeeseeseeeeene 99 43 Top view of 20 Pin Connector on the OEMV 1DF cccscsssssesseeeeeeeeeeeeeeeeseeeseeeeeees 105 44 Frame of Reference ccccccccsececeeeeeeeceeeeeeeaeceeeeceeaeceseeeaaaeeseeseeeaeeceeeeeaeaeeeeeeseaeeeeess 124 45 R quired Parts 2 oc ssocccchi a shes Fennec dies elect ba Wana bbs Aba baba dae nabad 197 46 Bolts and Hex Key tiic 22iisacceevsti estes Wet a aa aaa a aian es 198 47 Lift Top Cover Tube Body and 3 Ring Spacer Screws 0 eceeceeeeeeeceneeeeeeeeeeenteeeenaes 199 48 SPAN IMU Re ASSEMDIy 0 cccecccceeeececeseeeceeeeeeceeeeeecaaeeceesaeeceseeeesaeeesesaeeseeseeesseeeneaaes 200 SPAN Technology for OEMV User Manual Rev 11 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 AttaChRl6X Gable EA
122. ed by requesting the BESTGPSVEL or BESTGPSPOS messages at a rate higher than 2 Hz For example a logging rate of 10 Hz would reduce the velocity latency to 0 005 seconds For integration purposes the velocity latency should be applied to the record time tag A valid solution with a latency of 0 0 indicates that the instantaneous Doppler measurement was used to calculate velocity Structure Message ID 506 Log Type Synch SPAN Technology for OEMV User Manual Rev 11 INS Logs Appendix C Binary Binary Field Field type Data Description Format Bytes Offset 1 header Log header H 0 2 Sol Status Solution status see Table 37 Solution Status Enum 4 H on page 148 3 Vel Type Velocity type see Table 36 Position or Enum 4 H 4 Velocity Type on page 146 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 8 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 4 H 44 11 CR LF Sentence ter
123. eeceseceeceeeceeeeeeeeeeaeeeecesaeaeceeeeseeaeeeeseensieeeees 32 9 Typical Static Base Set Up oe cece ccecccceecenecceeeeeecee eects eeceeaeeeeeececaeeeeeeeenaeeeeeseeesueeeeeseeaes 33 10 Local Level Frame ENU 0 c c cccceeeeecceceeeeeaceeeeesenaeee cee ecanaeeeeseaaeaeceeseeenaeeeeenseaeeeeees 41 11 The Enclosure Frame E T A T E 42 12 Vehicle Fraime nnana a a ea art s a e Monae eee 43 13 Universal IMU Enclosure Top Bottom Dimensions sseeneeeieresrrierirenrene 56 14 Universal IMU Enclosure Side Dimensions 2 ccceeeeeeeceeeeeecaeceeeesesaeeeeeeensaeeeess 57 15 IMU Centre of Navigation ccccecececeeceeeenecceeeeeeeneaeeeeeeseaaeceeeeseaaeaeeessecaeaeeeeeesenneeeees 58 16 Universal IMU Enclosure Interface Cable cccccceeceeceeeeeceeeaeeeeeeeeeeeeeeeeeseeaeeeeens 59 17 Universal IMU Enclosure Interface Cable ccccceceeceeceeeeeeeeeneeeeseseeeeeeeeeeseaeeeeees 59 18 HG1700 Top Bottom Dimensions cccccccecceceeeeeee cee eeeeeeeeeeeeeececaeeeeseceeaeeeeeeeeneeeess 63 19 HG1700 Enclosure Side Dimensions cecceceeeeceece cee eeeeceeeeeeeseeaeeeeseeeeaeeeeseeeneeeees 64 20 HG1700 Top Bottom Dimensions cccccccecceceeceneeceeeeeeeeceeeeeeesecaeceeeecneaeeeeeeeenaeaeees 67 21 HG1700 Enclosure Side Dimensions cecceceeceeeceeeeeeeeceeeeeeesecaeeeeseeaeeeesteeneeeees 68 22 LN 200 IMU Enclosure Top Bottom Dimensions and Centre of Navigation
124. eeescesecceececeeceeecececeeeeeseeseeaeaeauauaueanens D Command Prompt Interface Ba A DLD J teen AAE RANEE EAE EA eri am EA a EE TE ETE EE D2 WINDOWS EEEE E E A A EEE EE T E HG1700 IMU in SPAN HG Enclosure E 1 Disassemble the SPAN IMU Enclosure c ccccccccececeeceeeueseeceeeceeeeeseeaeeaaeeeseeeeeeneees SPAN Technology for OEMV User Manual Rev 11 E 2 Install the HG1700 Sensor Unit cc cceeesseesceceeceeeceeceseeeaeeeseeceeeeeseeseeaueeaeeeeseeeeeeneaes 200 E 3 Make the Electrical Connections cc ccececeesseseeeeeceeceececeseeaaeesseeeeeeeeeeeseeaeaaueaseseeseeeeees 201 E 4 Re Assemble the SPAN IMU Enclosure ccccccccceccececeeaeeaueeeeececeeceeeeeeaueaaeeaeeeeseess 202 F LN 200 IMU in SPAN IMU Enclosure 203 F 1 Disassemble the SPAN IMU EncloSure ccccccccccceceeecesseeseeceeeeceeeeseaueeaeeeeeeeeeeeeees 204 F 2 Install the LN 200 Sensor Uniit cccccceccccceececseesseeceeeeeeceseeaeenseseeceeeceseeeaeaaseaaeeeseess 206 F 3 Make the Electrical Connections ccccecccceceeceeeeesseeeeeceeececeeaeeaseseeeeeeeeeseeaeeaueaaeeeeeess 207 F 4 Re Assemble the SPAN IMU EncloSure ccccccssseseceecccececeeaeesseeeseeeeseeeeeseeaueaaeeseeees 208 G HG1700 IMU in Universal Enclosure 209 G 1 Disassemble the Universal EnCloSure ssccsceccececeeeeeuseseeceeeeeeseeseaueaaeeseseeeeeeeeeaa 210 G 2 Install the HG1700 Sensor Unit eecccccececceececee
125. ely 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 For a discussion on multipath please refer to the GNSS Reference Book available from www novatel com 1 Mount the IMU and antenna securely to a vehicle Ensure they cannot move due to dynamics and that the distance and relative direction between them is fixed See also Section 2 3 2 SPAN IMU Configuration starting on page 38 34 SPAN Technology for OEMV User Manual Rev 11 SPAN Installation Chapter 2 2 2 2 Mount IMU Mount the IMU in a fixed location where the distance from the IMU to the GNSS antenna phase centre is constant Ensure that the orientation with respect to the vehicle and antenna is also constant For attitude output to be meaningful the IMU should be mounted such that the positive Z axis marked on the IMU enclosure points up and the Y axis points forward through the front of the vehicle in the direction of track Also it is important to measure the distance from the IMU to the antenna the Antenna Lever Arm on the first usage on the axis defined on the IMU enclosure See Section 3 3 4 Lever Arm Calibration Routine starting on page 50 See also Appendix A Technical Specifications starting on page 55 gives dimensional drawi
126. enter The enclosure center measurements are labelled as IMU Enclosure Center in this figure Figure 19 HG1700 Enclosure Side Dimensions SPAN Technology for OEMV User Manual Rev 11 64 Technical Specifications A 2 1 HG1700 IMU Interface Cable Appendix A The IMU interface cable provides power to the IMU from an external power source and enables input and output between the receiver and IMU It is the same as the cable supplied with the Universal Enclosure shown in Figure 16 on page 59 A 2 2 IMU Performance PERFORMANCE IMU Gyro Rate Bias Gyro Rate Scale Factor Angular Random Walk Accelerometer Range Accelerometer Linearity Accelerometer Scale Factor Accelerometer Bias IMU H58 Gyro Input Range 1000 degrees s Gyro Rate Bias 1 0 degree hr Gyro Rate Scale Factor 150 ppm Angular Random Walk 0 125 degrees rt hr Accelerometer Range 50g Accelerometer Linearity 500 ppm Accelerometer Scale Factor 300 ppm Accelerometer Bias 1 0 mg IMU H62 Gyro Input Range 1000 degrees s 5 0 degrees hr 150 ppm 0 5 degrees rt hr 50g 500 ppm 300 ppm 3 0 mg SPAN Technology for OEMV User Manual Rev 11 65 Appendix A A 2 3 Electrical and Environmental ELECTRICAL IMU Power Consumption IMU H58 9 W max IMU H62 8 W max Technical Specifications IMU Input Voltage 12 to 28 V DC Receiver Power Consumption ProPak V3 2 8 W typical System Power Consumption ProPak V
127. 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 of installation Examples of country codes include e USA National Electrical Code NFPA 70 e Canada Canadian Electrical Code CSA C22 e UK British Standards Institute BSI 7671 SPAN Technology for OEMV User Manual Rev 11 Foreword Congratulations Congratulations on purchasing your Synchronized Position Attitude Navigation SPAN Technology system SPAN features a tight integration of a NovAtel GNSS receiver and an Inertial Measurement Unit IMU SPAN provides continuous navigation information using an Inertial Navigation System INS to bridge short GNSS outages Designed for dynamic applications SPAN provides precise position velocity and attitude information By complementing GNSS with inertial measurements SPAN Technology provides robust positioning in challenging conditions where GNSS alone is less reliable During short periods of GNSS outage or when less than four satellites are received SPAN Technology offers uninterrupted position and attitude output The tight coupling of inertial technology with GNSS also provides
128. ept for the subscription information 1 COMMAND Resets the stored commands saved configuration GPSALMANAC Resets the stored almanac GPSEPHEM Resets stored ephemeris MODEL Resets the currently selected model 11 CLKCALIBRATION Resets the parameters entered using the CLOCKCALIBRATE command 20 SBASALMANAC Resets the stored SBAS almanac 21 LAST_POSITION Resets the position using the last stored position 22 VEHICLE_BODY_R Resets stored vehicle to body rotations 24 INS_LEVER_ARM Resets the GPS antenna to IMU lever arm SPAN Technology for OEMV User Manual Rev 11 INS Commands B 2 4 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 RTK initialization and tracking Appendix B reacquisition is disabled If the command is used to disable INS and then re enable it the INS system has to go through its alignment procedure equivalent to issuing a RESET command See also Section 3 3 1 System Start Up and Alignment Techniques starting on page 47 Abbreviated ASCII Syntax INSCOMMAND action Message ID 379 Field ASCII Binary oar Binary Binary Binary Field Type Value Value Des ription Format Bytes Offset 1 Header This field contains the H 0 command name or the message header depending on whether the
129. er the system has performed either a static or kinematic alignment and has a valid INS solution SPAN Technology for OEMV User Manual Rev 11 SPAN Operation Chapter 3 The solved rotation values are used only for a rough estimate of the angular offsets between the IMU and vehicle frames The offsets are used when aligning the system while in motion see Section 3 3 1 System Start Up and Alignment Techniques starting on page 47 The angular offset values are not applied to the attitude output unless the APPLY VEHICLEBODYROTATION command is enabled see page 107 3 3 6 SPAN Wheel Sensor Messages The SPAN system supports wheel sensor inputs Wheel sensor information is input to the receiver through the WHEELVELOCITY message in either ASCII or binary format The message is sent with the port interface mode set to NovAtel See the INTERFACEMODE command examples in Section 2 3 2 SPAN IMU Configuration on page 38 For HG1700 and LN 200 users the wheel velocity commands must be created and sent to the SPAN receiver at 1 Hz For iIMU FSAS users the wheel sensor is integrated via the FSAS IMU and wheel velocity commands are not required See also iIMU FSAS Odometer Cabling on page 83 of the Technical Specifications appendix 3 3 6 1 Measurement Timing and Frequency Typical wheel sensor hardware accumulates wheel ticks constantly as the wheel rotates The SPAN interface is configured to expect wheel sensor tick counts at a rate of 1H
130. ero Velocity Update Control 114 B 2 8 INTERFACEMODE Set Interface Type for a Port cecesceeeeeeceeeeeeeesteeeees 115 B 2 9 LEVERARMCALIBRATE INS Calibration Command l 118 B 2 10 NMEATALKER Set the NMEA Talker ID 0 0 eecceccceeseeeeeeeeeeeeeeceteeeeeeeeeeeeees 120 B 2 11 RVBCALIBRATE Vehicle to Body Rotation Control ec eeeseeeeeeeeenteeeeees 121 B 2 12 SETALIGNMENTVEL Set the Minimum Kinematic Alignment Velocity 122 B 2 13 SETHEAVEWINDOW Set Heave Filter Length 123 B 2 14 SETIMUORIENTATION Set IMU Orientation ee eee eeeeeeeeneeeeenneeeeenes 124 SPAN Technology for OEMV User Manual Rev 11 B 2 15 SETIMUSPECS Specify Error Specifications and Data Rate ee B 2 16 SETIMUTOANTOFFSET Set IMU to Antenna Offset cccccssessseeeeeeeees B 2 17 SETIMUTYPE Set IMU Type enrii iiaii B 2 18 SETINITATTITUDE Set Initial Attitude of SPAN in Degrees eeee B 2 19 SETINITAZIMUTH Set Initial Azimuth and Standard Deviation B 2 20 SETINSOFFSET Set INS Offset 0 0 0 0 ccccccscccccssssseeecesesseeeeeecesssaeeeeeessaseeees B 2 21 SETMARK1OFFSET Set Mark1 Offset ccccceceeesesesesseaeeeeseeueeeeeeees B 2 22 SETMARK2OFFSET Set Mark2 Offset cccccscccccsssssceececssssseeeeesessaeeeeees B 2 23 SETWHEELPARAMETERS Set Wheel Parameters cccccccceeseeeeenseees B 2 24 TAGNEXTMARK Qu occ ccccccccccccccesececeeeecececeseacaeauauacacecuece
131. erter box Figure 33 Corrsys Datron WPT Figure 34 iMAR iMWS Pre Installed The WPT mounts to the wheel lug nuts via iMAR provides a sensor that operates with a adjustable mounting collets The torsion magnetic strip glued inside the rim of a non drive protection rod which maintains rotation wheel and a special detector IRS mounted on around the wheel axis affixes to the vehicle the inside of the wheel the disk of the wheel body with suction cups Refer to the Corrsys suspension brake cover or brake caliper holder Datron WPT user manual for mounting Details are shown in the installation hints instructions delivered with the system The NovAtel IMU interface cable with ODO is the same as that in Section A 6 1 but with some of the reserved pins having odometer uses It still provides power to the IMU from an external source and enables input and output between the receiver and IMU Once installed see also SPAN Wheel Sensor Messages on page 53 1 The DMI runs only one output line A 2 SPAN specifies that the maximum pulse frequency for a wheel sensor input to SPAN is 1 MHz You can use our interface cable with the ODO connector to plug directly into the iMWS With the WPT first modify the cable at the WPT end The cable modification is shown in Table 16 on page 85 interface cable Connect the female DB9 connector to the male ODO end of the iIIMU FSAS 84 SPAN Technology for OEMV User Manual Rev 11 Te
132. et for Mark2 Double 8 H 40 degrees Abbreviated ASCII Example SETMARK20FFSET 0 324 0 106 1 325 000 SPAN Technology for OEMV User Manual Rev 11 137 Appendix B INS Commands B 2 23 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 whether you use an external wheel sensor or the iMAR iMWS wheel parameters 1 Ifyou have integrated an external wheel sensor the SETWHEELPARAMETERS command can be used to override the number of ticks per revolution given in the WHEELVELOCITY command In addition this command supplies the resolution of the wheel sensor which allows the filter to weight the wheel sensor data appropriately 2 Ifyou are using the iMAR iMWS Magnetic Wheel Speed Sensor and Convertor the SETWHEELPARAMETERS command allows you to set the number of ticks per revolution that is correct for your wheel installation the default is 58 The tick spacing of the iMAR iMWS was 0 025 m as of September 2006 testing however refer to the iMAR iMWS documentation for its specifications Abbreviated ASCII Syntax Message ID 847 SETWHEELPARAMETERS ticks cire spacing Field ASCII Binary Binary Binary Binary Field F
133. f 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 Technology for OEMV User Manual Rev 11 13 Warranty Policy 14 NovAtel Inc warrants that its Global Positioning System GPS products are free from defects in materials and workmanship subject to the conditions set forth below for the following time periods OEMV 3 Receivers One 1 Year IMU Units return to manufacturer l One 1 Year GPSAntenna Series One 1 Year Cables and Accessories Ninety 90 Days Computer Discs Ninety 90 Days Software Warranty 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 continued on page 15 All IMU s should only be returned to the point of purchase NovAtel Dealer or Manufacturer If the IMU was purchased through NovAtel contact Customer Service to begin the Return Material Authorization RMA process When returning a Litton or Honeywell IMU from outside the U S follow these steps a Include a copy of the original U S export permit with it b Se
134. g 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 IMU see the IMU choices and their technical specifications starting on page 55 The example from the LN 200 is shown in Figure 44 VIT lt 4 center oF A NAVIGATION Figure 44 Frame of Reference SPAN Technology for OEMV User Manual Rev 11 INS Commands Appendix B 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 IMU enclosure frame as marked on the enclosure Abbreviated ASCII Syntax Message ID 567 SETIMUORIENTATION switch Field ASCII Binary Binary Binary Binary Type Value Value Description Format Bytes Offset 1 Log This field contains the H 0 Header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 Switch 0 0 IM
135. ger 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 179 In order to collect wheel sensor information useful in post processing the TIMEDWHEELDATA log should only be used with the ONNEW trigger See also page 19 for details on this log Only log 200 Hz logs in binary Specific logs need to be collected for post processing See Section 3 4 Data Collection for Post Processing on page 54 To store data with a ProPak V3 connect a laptop computer to it The laptop computer should be equipped with a data storage device such as a Compact Flash Card CD or MP3 disc 3 3 4 Lever Arm Calibration Routine Each time the system is re mounted on a vehicle or the IMU or antenna is moved on the vehicle the lever arm must be redefined either through manual measurement or through calibration 50 SPAN Technology for OEMV User Manual Rev 11 SPAN Operation Chapter 3 We recommend that you measure the lever arm using survey methodology and equipment for example a total station Only use calibrations when precise measurement of the lever arm is not possible The lever arm calibration routine should only be used when the receiver is operating in RTK mode Initial estimates and uncertainties for the lever arm are entered using the SETIMUTOANTOFFSET command se
136. has mounted the IMU e x axis defined by how user has mounted the IMU To determine your SPAN x axis and y axis see Table 32 on page 126 This frame is also known as the computation frame and is the frame where all the mechanization equations are computed 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 centre but the centre of Navigation sensor centre 11 VIVI lt 4 center oF NAVIGATION Figure 11 The Enclosure Frame 3 1 4 The Vehicle Frame The definition of the vehicle frame is as follows z axis points up through the roof of the vehicle perpendicular to the ground y axis points out the front of the vehicle in the direction of travel e x axis completes the right handed system out the right hand side of the vehicle when facing forward See the VEHICLEBODYROTATION Vehicle to SPAN frame Rotation on page 140 for information on entering the rotation into the system and see the RVBCALIBRATE Vehicle to Body Rotation Control on page 121 for information on calibrating this rotation 42 SPAN Technology for OEMV User Manual Rev 11 SPAN Operation Chapter 3 Figure 12 Vehicle Frame 3 2 Communicating with the SPAN System
137. he log definitions in this chapter The reason for having the alternate short headers is that the normal OEMV 3 binary header is quite long at 28 bytes This is nearly as long as the data portion of many of the INS logs and creates excess storage and baud rate requirements Note that the INS related logs contain a time tag within the data block in addition to the time tag in the header The time tag in the data block should be considered the exact time of applicability of the data All the described INS logs except the INSCOV INSPOSSYNC and INSUPDATE can be obtained at rates up to 100 or 200 Hz depending on your IMU 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 144 2 The highest rate that you should request GPS logs RANGE BESTPOS RTK POS 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 informati
138. he system Abbreviated ASCII Syntax Message ID 1270 COM log imutoantoffsets Log Type Asynch Example log lt OK COM1 lt IMUTOANTOFFSETS COM1 0 98 5 FINESTEERING 1581 339209 733 60000041 0000 265 lt 01 lt LEVER ARM PRIMARY 0 326000000 0 126000000 1 285000000 0 032600000 0 012600000 0 128500000 LEVER ARM FROM COMMAND COM1 Recommended Input log imutoantoffsetsa onchanged ASCII Example IMUTOANTOFFSETSA COM1 0 98 5 FINESTEERING 1581 339209 733 60000041 0000 265 0 1 LEVER ARM PRIMARY 0 326000000 0 126000000 1 285000000 0 032600000 0 012600000 0 128500000 LEVER ARM FROM COMMAND 8f0f 90b5 158 SPAN Technology for OEMV User Manual Rev 11 INS Logs Appendix C ati Binary Binary Field Field Type Description Format Bytes Binary Offset 1 Header Log Header H 2 IMU Orientation See Table 33 IMU Type on ULong H page 130 3 Number of Number of stored lever arms ULong 4 H 4 Entries 4 Lever Arm Type of lever arm See Table 40 Enum 4 H 8 Type Lever Arm Type on page 160 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 See Enum 4 H 60 Source Table 41 Lever Arm Sou
139. ings oN Dw Select the new configuration from the Available Device Connections area of the Open Connection window see below 9 Select the Open button to open SPAN receiver communications F Available Device Connections Name Device Type Settings SPAN_OEMV SERIAL COM21 115200 bps 10 As Connect establishes the communication session with the receiver a progress box is displayed 11 Select Tools Logging Control Window from the Connect main menu to control the receiver s logging to files and serial ports Refer to Connect s on line Help for more information 12 Use the Console window to enter commands Section 3 4 Data Collection for Post Processing on page 54 44 SPAN Technology for OEMV User Manual Rev 11 SPAN Operation Chapter 3 If you have to power down your receiver ensure that all windows other than the Console window are closed in Connect and then use the SAVECONFIG command 3 2 1 INS Window in Connect Connect is a 32 bit Windows application The application provides a graphical user interface to allow you to set up and monitor the operation of the SPAN system by providing a series of windows The INS Window in Connect is described below Please refer to the OEMV Family Installation and Operation User Manual for more details on Connect and other OEMV Family PC software programs kd INS Window The Position Velocity and Attitude roll pitch and azimuth sections display data fro
140. ion are Hex 1 H 71 unknown see Table 38 on page 150 23 XXXX 32 bit CRC ASCII and Binary only Hex 1 H 72 24 CR LF Sentence terminator ASCII only a When using a datum other than WGS84 the undulation value also includes the vertical shift due to differences between the datum in use and WGS84 SPAN Technology for OEMV User Manual Rev 11 151 Appendix C INS Logs C 2 2 BESTGPSVEL Best Available GPS Velocity Data 152 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 us
141. ion frame is the same as the IMU enclosure frame The x y and z axes referenced in this log are of the SPAN computational frame by default For more information on how the SPAN computational frame relates to the IMU enclosure frame see Definition of Reference Frames Within SPAN on page 41 and the SETIMUORIENTATION command on page 124 If the APPLY VEHICLEBODYROTATION command has been enabled see page 107 the values in CORRIMUDATA S logs will be in the vehicle frame not the SPAN computation frame Message ID 812 amp 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 Technology for OEMV User Manual Rev 11 155 Appendix C 156 INS Logs s z t 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 GPS seconds from week Double 8 H 4 start 4 PitchRate About x axis rotation Double 8 H 12 5 RollRate About y axis rotation Double 8 H 20 6 YawRate About z axis rotation Right Double 8 H 28 Handed 7 LateralAcc INS Lateral Acceleration Double 8 H 36 along x axis 8 LongitudinalAcc INS Longitudinal Double 8 H 44 Acceleration along y axis 9 VerticalAcc INS Vertical Acceleration Double 8 H 52 along z axis 10 XXXX 32 bit CRC Hex 4 H
142. ith SPAN it is housed in an enclosure with a PCB board to handle power communication and data timing See Appendix A Technical Specifications starting on page 55 for details l Rates higher than 115 200 are not standard on most PCs and may require extra PC hardware SPAN Technology for OEMV User Manual Rev 11 27 Chapter 2 SPAN Installation 2 1 Hardware Description One hardware setup consists of an OEMV receiver see Figure 2 on page 25 an IMU see Figure 3 on page 25 a GNSS antenna power and a radio link if your application requires real time differential operation If your IMU enclosure and IMU were supplied separately additional installation instructions for installing the IMU can be found in the Appendix specific to your IMU starting on page 197 Another hardware set up consists of an MIC MEMs Interface Card an IMU and a COM and power link refer to Table 2 1 2 3 on page 31 and Table 2 1 2 4 on page 32 2 1 1 SPAN System Receiver Data storage when using a ProPak V3 is done using a laptop computer connected to the receiver through either the serial or USB port if using NovAtel s DB9 to USB cable connect to COM1 on the receiver The back panel of the ProPak V3 is shown in Figure 4 The ProPak V3 uses DB9 COM connectors Figure 4 Receiver Enclosure Back Panel Table 2 shows a summary of the receiver s back panel port names When you input a command that requires a port name referencing the third
143. iver and the IMU Figure 16 Universal IMU Enclosure Interface Cable Dimensions in millimetres oH P3 GRN 3x100 10 a jail P2 BLK 150 30 4x 1250 30 lt 4 SS P1 RED KT 5 J1 END VIEW J2 SIDE VIEW Figure 17 Universal IMU Enclosure Interface Cable Table 8 Universal IMU Enclosure Interface Cable Pinouts J2 REMOTE CONNECTION PINOUT FUNCTION CONNECTOR PIN COLOR 1 Vin PIN 1 P2 BLK 22 Vin PIN 22 2 Not used 3 Vin PIN 3 P1 RED 21 Vin PIN 21 Not used Not used 6 Not used SPAN Technology for OEMV User Manual Rev 11 59 Appendix A 60 Technical Specifications Table 8 Universal IMU Enclosure Interface Cable Pinouts continued J2 REMOTE CONNECTION PINOUT FUNCTION CONNECTOR PIN COLOR 7 DAS J1 1 8 Not used 9 DAS GND J1 5 10 Not used 11 OEM_CTS Rx J1 8 12 OEM_Rx Rx J1 2 13 Not used 14 DGND J1 5 15 DGND J1 5 16 Not used 17 Not used 18 Not used 19 OEM_Tx Tx J1 3 20 OEM_RTS Tx J1 7 Shield P3 GRN SPAN Technology for OEMV User Manu
144. k 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 H 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 Tag ID from TAGNEXTMARK 14 Tag Cmd If Any Ulong 4 H 15 Sey 32 bit CRC ASCII Binary and Hex 4 H 92 Short Binary only 16 CR ILF FA i Terminator ASCII i i 7 SPAN Technology for OEMV User Manual Rev 11 189 Appendix C C 2 27 TAGGEDMARK2PVA INS Logs TAGGEDMARK2PVA is identical to MARK2PVA 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 MARK2PVA message Structure Message ID 1259 Log Type Synch gi Field Type Description Format Bytes Offset 1 Log Header Log Header H 2 GpsWeek GPS Week at Mark2 request Ulong 4 H 3 GpsSeconds GPS Seconds at Mark2 request Double 8 H 4 Latitude Latitude at Mark2 request Double 8 H 5 Longitude Longitude at Mark2 request Double 8 H 6 Height Height at Mark2 request Double 8 H 7 North Velocity Nor
145. l 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 vehicle frame and the third and final rotation is about the y axis of the vehicle frame With the default mapping and with no angular offset between the vehicle frame and SPAN computational frame the output roll is the angle of rotation about the y axis the output pitch is about the x axis and the output azimuth is about the z axis and is measured to the y axis Note that azimuth is positive in the clockwise direction when looking towards the origin However the input vehicle to body rotation about the z axis follows the right hand rule convention and a positive rotation is in the counterclockwise direction when looking tow
146. lature 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 information supplied or to be supplied to the Licensee pursuant to the terms of this Agreement NovAtel shall not be bound to take legal proceedings against any third party in respect of any infringement of letters patent registered design or like instrument of privilege which may now or at any future time be owned by it However should NovAtel elect to take such legal proceedings at NovAtel s request Licensee shall co operate reasonably with NovAtel in all legal actions concerning this license of the Software under this Agreement taken against any third party by NovAtel to protect its rights in the Software NovAtel shall bear all reasonable costs and expenses incurred by Licensee in the course of co operating with NovAtel in such legal action 4 Restrictions You may not a copy other than as provided for in paragraph 2 distribute transfer rent lease lend sell or sublicense all or any portion of the Software except in the ca
147. le ceeecececceeeceeeeeeeeeeeeeeceeeesaeeeeeseeeeeaeseneesnteseeeenes 73 AAD IMU Performanta 2 22002 dict da diene athe en ee oi ee a a a 73 A 4 3 Electrical and Environmental cccccccceceeeceeeeeeeeeaeceeeeseaaeeeeeeseseeaeeeesesenaeeeeees 73 A 5 LN 200 IMU dual connector enclosure 00 eeeccceeseceeeeeeeeeneeeeeeeeeeeeeeeeaeeseeeeeeenteeenaaes 74 A 5 1 LN 200 IMU Interface Cable eccceeeeeeeeeneeeeeeeeeeeeeeseaeeesseeesneeeesneeeeneeeees 76 A 5 2 LN 200 IMU Power Adapter Cable oo eeceeecseeeeeeeeeeneeeeenaeeeeeeeeenneeesenaeeeeneeees 77 A 5 3 IMU Performance s 2202 veseesen esl Weed a a E E ea T E TE eee 78 A 5 4 Electrical and Environmental 0 cc cccceceeeceeeeeceeeneeeeeeseaaeeeeeeseseeaeeeeeeseaeeeeees 78 ALO IIMU F SAS coeccsteniibevorcnestboetessgtcebebexe aea don teed sete Soba ends Des ddnece tease age ae 79 A 6 1 iIMU FSAS Interface Cable o oo ec ceeceeeeneeecenneeeeeeeeeseeeeeeaeeeeeeeeesseeeeneneeeeenaees 82 A 6 2 iIMU FSAS Odometer Cabling cc ceeceeeeeeeeeneeeceneeeeeneeeeeaeeeeneeesseeeeenaeeeeeneees 83 A 6 3 IMU Performance 2cccccccceeceeeeeeceeeeeeaeceseeeeeaaeeeeeseeaaceeeeeseaaeaeeseseeeaeeeeeeenaeaeees 86 A 6 4 Electrical and Environmental ccccccccccceeecceeeeeeseaeceeeesesaeaeeeesecaeaeeeeseseeaeeeeees 86 A 7 MIC MEMS Interface Card ccccccccececscceeceeecaeceeeeceeaeeeeeecesaeaeceeseaaeaeeeesesaeaeceeeeennaeeeess 87 A 7 1 Landmark IMU to MIC Cable
148. limetres inches 2 Connectors a P101 43650 0313 RoHS Molex Electronics b P301 501571 3007 RoHS Molex Electronics c P601 53780 2070 RoHS Molex Electronics 3 Ensure adequate clearance to allow for proper mating between connectors on this printed circuit board and mating connectors 4 This layout matches latest revision PCB design 43 18 2 om 1 700 moen oN X2 xf 09 ou 8 17 i 1 503 iS Z 36 83 O m O 1 4501 1 s 31 21 N GF x 1 2291 13 7 a 14 56 j 54 J 0 573 0 I O 2 54 Lo 0 1001 0 00 0 0001 i F io 3541 2 61971 a Dimensions in mm inches Figure 37 MIC Keep Out Zone 5 Cross hatched areas indicate keepout areas intended for NovAtel circuitry NovAtel reserves 88 the right to modify components and component placements inside cross hatched keepout zones while maintaining design form fit and function SPAN Technology for OEMV User Manual Rev 11 Technical Specifications Appendix A A 7 1 Landmark IMU to MIC Cable Assembly NovAtel s part number for the Landmark IMU to MIC interface cable is 01018826 Figure 38 on page 89 This cable provides power to the IMU and enables input and output between the MIC and the IMU Dimensions in millimetres 230 0 5 0 P1 to Landmark IMU P2 to MIC V Notch indicates J 1 ir Pin 1 end of connector g Figure 38 Landmark IMU to MIC Cable Assembl
149. ll Mapping Integer 4 H 48 Definitions on page 126 9 XXXX 32 bit CRC Hex 4 H 52 10 CR LF Sentence Terminator ASCII only Recommended Input log bestleverarma onchanged ASCII Example BESTLEVERARMA COM1 0 83 5 UNKNOWN 0 2 983 00000008 39e4 35484 0 3934000000000000 1 2995000000000001 0 0105500000000000 0 0300000000000000 0 0300000000000000 0 0300000000000000 4 876c47ad 154 SPAN Technology for OEMV User Manual Rev 11 INS Logs Appendix C C 2 4 CORRIMUDATA CORRIMUDATAS Corrected IMU measurements The CORRIMUDATA S log contains the RAWIMU data corrected for gravity earth s rotation and accelerometer and 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 closest to the requested time interval If your IMU is mounted with the z axis as marked on the enclosure pointed up the SPAN computat
150. m the INSPVA log along with standard deviations calculated from the INSCOV log Information in the ZUPT Zero Velocity Update section reflects the current INSZUPT command setting The receiver uses the X Y and Z Offset fields to specify an offset from the IMU for the output position and velocity of the INS solution as specified by the SETINSOFFSET command or 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 4629 272 1986 0 17 0 99 SPAN Technology for OEMV User Manual Rev 11 45 Chapter 3 3 3 Real Time Operation SPAN Operation SPAN operates through the OEMV command and log interface Commands and logs specifically related to SPAN operation are documented in Appendices B and C of this manual respectively Real time operation notes e Inertial data does not start until time is set and therefore the SPAN system does not function unless a GPS antenna is connected with a clear view of the sky e The Inertial solution is computed separately from the GPS solution The GPS solution is available from the SPAN system through the GPS specific logs even without SPAN running The integrated INS GPS solution is available through special INS logs documented in Appendix C of this manual e The IMU solution is available a
151. mat Binary Binary yp Pp Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week at Mark2 request Ulong 4 H 3 Seconds Seconds from week at Mark2 Double 8 H 4 4 Latitude Latitude WGS84 at Mark2 Double 8 H 12 5 Longitude Longitude WGS84 at Mark2 Double 8 H 20 6 Height Height WGS84 at Mark2 Double 8 H 28 7 North Velocity Velocity in a northerly direction a ve value Double 8 H 36 implies a southerly direction at Mark2 8 East Velocity Velocity in an easterly direction a ve value Double 8 H 44 implies a westerly direction at Mark2 9 Up Velocity Velocity in an up direction at Mark2 Double 8 H 52 10 Roll Right handed rotation from local level Double 8 H 60 around y axis in degrees at Mark2 11 Pitch Right handed rotation from local level Double 8 H 68 around x axis in degrees at Mark2 12 Azimuth Left handed rotation around z axis Degrees Double 8 H 76 clockwise from North at Mark2 13 Status INS Status see Table 5 on page 46 at Enum 4 H 84 Mark2 14 XXXX 32 bit CRC Hex 4 H 88 15 CR LF Sentence Terminator ASCII only Recommended Input log mark2pva onnew Abbreviated ASCII Example MARK2PVA USB1 0 51 5 EXACT 1481 251850 001 00040000 5b8a 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 Technology for OEMV User Manual Rev 11 177 Appendix C C 2 23 PASH
152. measurements may not correspond to other definitions of the terms pitch roll and azimuth If your IMU 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 your IMU is mounted Structure Message ID 263 Log Type Synch z z Sore 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 5 on page 46 Enum H 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 USB2 0 14 5 FINESTEERING 1541 487970 000 00040000 5b35 37343 1541 48 7970 000549050 1 876133508 4 053672765 328 401460897 INS SOLUTION GOOD ce4ac533 SPAN Technology for OEMV User Manual Rev 11 161 Appendix C INS Logs C 2 8 INSATTS Short INS
153. ment routine is the kinematic alignment Refer to Chapter 3 3 1 2 Kinematic Alignment starting on page 48 If a stationary alignment is required refer to Chapter 3 3 1 3 Manual Alignment starting on page 48 SPAN Technology for OEMV User Manual Rev 11 47 Chapter 3 SPAN Operation 3 3 1 2 Kinematic Alignment If the preferred coarse alignment routine cannot be performed because the vehicle cannot remain stationary for the length of time required an alternate alignment routine is available The kinematic or moving alignment is performed by estimating the attitude from the GPS velocity vector and injecting it into the SPAN filter as the initial system attitude Currently this alignment routine is meant only for ground based vehicles The assumptions used for the alignment may not hold for marine or airborne applications For the kinematic alignment routine to work optimally the course over ground s azimuth and pitch must match the IMU enclosure s azimuth and pitch For example a plane being blown in the wind has a a large crab angle and the course over ground trajectory will not match the direction the IMU is pointing Additional configuration parameters are necessary to enable the kinematic alignment In order to simplify this configuration it is strongly suggested that you mount the IMU in parallel to the vehicle frame The Y axis marked on the IMU enclosure should point in the direction of travel Specify which IMU a
154. minator ASCII only Recommended Input log bestgpsvela ontime 1 ASCII Example BESTGPSVELA COM1 0 62 5 FINESTEERING 1049 247755 000 00000128 7e3 0 SOL COMPUTED SINGLE 0 250 0 000 0 1744 333 002126 0 3070 6 0082 d dc635c SPAN Technology for OEMV User Manual Rev 11 153 Appendix C INS Logs C 2 3 BESTLEVERARM_ IMU to Antenna Lever Arm This log contains the distance between the IMU s centre of navigation and the GPS phase centre in the IMU enclosure frame and its associated uncertainties If the you enter the lever arm through the SETIMUTOANTOFFSET command see page 128 these values are reflected in this log When the lever arm calibration is complete see the LEVERARMCALIBRATE command on page 118 the solved values are also output in this log The default X pitch Y roll and Z azimuth directions of the IMU enclosure frame are clearly marked on the IMU see Figure 44 on page 124 Structure Message ID 674 Log Type Asynch Field Field Type Description Format Binary Binary 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 32 Fu
155. mm screws and remove the IMU bracket with SDLC as shown in Figure 75 Figure 75 Remove IMU Bracket SDLC 220 SPAN Technology for OEMV User Manual Rev 11 LN 200 IMU in Universal Enclosure Appendix H H 2 Install the LN 200 Sensor Unit To install the LN 200 sensor unit in the Universal Enclosure 1 Using a 3 mm hex bit remove original captive 6 32 screws and washers 4 each from the LN 200 IMU Add three washers under each of the original washers and fasten the IMU to the enclosure base as shown in Figure 76 Use thread locking fluid on each screw Figure 76 Install LN 200 IMU to Base SPAN Technology for OEMV User Manual Rev 11 221 Appendix H LN 200 IMU in Universal Enclosure 2 Using a long 3 mm hex bit install the IMU bracket SDLC to the base as shown in Figure 77 Use thread locking fluid on each M4 screw Access for long hex bit Figure 77 Install Bracket to Base 222 SPAN Technology for OEMV User Manual Rev 11 LN 200 IMU in Universal Enclosure Appendix H 3 Connect the cable harness to the board assembly and IMU routing it as shown in Figure 78 Ensure latching of the cable connector housings and fasten the 6 32 screw at the IMU end using a 5 32 hex bit Do not use thread locking fluid and do not overtighten CONNECT Make sure the tape of the harness is positioned for maximum protection Figure
156. mounted with the Z axis as marked on the IMU enclosure pointing up the IMU enclosure frame is the same as the SPAN frame See the syntax table in Section B 2 24 TAGNEXTMARK starting on page 139 for more information Recommended Input log vehiclebodyrotationa onchanged ASCII Example VEHICLEBODYROTATIONA COM1 0 36 5 FINESTEERING 1264 144170 094 00000000 bc 2 1541 1 5869999997474209 2 6639999995760122 77 6649999876392343 2 000000000000 0000 2 0000000000000000 5 0000000000000000 25 f886cc 192 SPAN Technology for OEMV User Manual Rev 11 INS Logs Appendix C C 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 A 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 Say 1 Log Header Log header H 0 2 Scale Wheel sensor scale factor Double 8 H 3 Circum Wheel circumference m Double 8 H 8 4 Var Variance of circumference m2 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 Recommended Input log wheelsizea onnew ASCII Example
157. nced for the system to be within specifications a See also the Frequently Asked Question appendix question 8 on page 229 46 SPAN Technology for OEMV User Manual Rev 11 SPAN Operation Chapter 3 3 3 1 System Start Up and Alignment Techniques The system requires an initial attitude estimate to start the navigation filter This is called system alignment On start up the system has no position velocity or attitude information When the system is first powered up the following sequence of events happens 1 The first satellites are tracked and coarse time is solved 2 Enough satellites are tracked to compute a position 3 Receiver fine time is solved meaning the time on board the receiver is accurate enough to begin timing IMU measurements 4 Raw IMU measurements begin to be timed by the receiver and are available to the INS filter They are also available to you in the RAWIMU or RAWIMUS log see page 179 The INS Status field reports INS INACTIVE 5 The inertial alignment routine starts and the INS Status field reports INS_ALIGNING 6 Alignment is complete and the INS Status field changes to INS ALIGNMENT COMPLETE The system transitions to navigation mode 7 The solution is refined using updates from GPS Once the system is operating within specifications and after some vehicle movement the INS Status field changes to INS_SOLUTION_ GOOD This indicates that the estimated azimuth standard deviation is below 2
158. nclosure details please refer to the OEMV Family Installation and Operation User Manual Each model has the following standard features Rugged shock water and dust resistant enclosure NovAtel s advanced OEMV L1 L2 GPS and PAC technology Three bi directional COM ports which support data transfer rates of up to 921 600 bits s A serial port capable of communication with an IMU See also Zable 1 above A Controller Area Network Bus CAN Bus which is a rugged differential serial bus with a protocol that provides services for processes data and network management Refer to application note APN 046 Configure CAN for SPAN available on our Web site at www novatel com through Support Knowledge and Training Field upgradeable firmware program software What makes one model different from another is software not hardware This unique feature means that the firmware can be updated any time anywhere without any mechanical procedures whatsoever For example a model with L1 L2 only capabilities can be upgraded to a model with L1 L2 RT 2 in only a few minutes in your office instead of the days or weeks that would be required if the receiver had to be sent to a service depot All that is required to unlock the additional features is a special authorization code Refer to the OEMV Family Installation and Operation User Manual for further details on this topic SPAN currently supports the Honeywell iMAR and Litton IMUs When using an IMU w
159. nd conducted emission limits for a Class B digital device The Class B limits are designed to provide reasonable protection against harmful interference in a residential installation The equipment listed generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instructions may cause harmful interference to radio communications However there is no guarantee that interference will not occur in a particular installation If this equipment does cause harmful interference to radio or television reception which can be determined by turning the equipment off and on the user is encouraged to try to correct the interference by one or more of the following measures e Re orient or relocate the receiving antenna e Increase the separation between the equipment and the receiver e Connect the equipment to an outlet on a circuit different from that to which the receiver is connected e 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
160. nd the unit to Litton or Honeywell with the following wording on the documentation Shipped in accordance with 22 CFR 123 4 a 1 using air transport and not a carrier service The repaired or replaced device will be returned to you under this same CFR exemption c Identify the paperwork with the value of the hardware the country of origin as U S and the Incoterms if applicable for example FOB FAS CIF Ex Works d Lastly please clearly note on the paperwork to notify upon receipt Honeywell s customs broker EXPIDITORS or for Litton FOR CUSTOMS CLEARANCE BY FedEx Trade Networks 19601 Hamilton Ave Torrance CA 90502 1309 U S A 1 Litton Northrop Grumman Litton Systems Inc Navigation Systems Division NSD 21240 Burbank Blvd Woodland Hills CA 91367 iMar iMAR GmbH Im Reihersbruch 3 D 66386 St Ingbert Germany Honeywell Honeywell International Inc 2600 Ridgway Parkway Ridgway is really not spelled with an e Minneapolis MN 55413 SPAN Technology for OEMV User Manual Rev 11 Warranty Policy 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 FI
161. netedonteanede 214 Fasten Internal Cable Harness amp ccc ccsceeeceeeteteceuiiec ceeded hegiue leaves a eects 215 MEKO EAA E x cz2 ecco se hee cee cae wna Rete den accep tty cans E E E E 215 Install Enclosure Body on the Base 0 cccccceeceeeeceeeeseeeeeeeeesceaeeeeesenaeeeeeesenaeeeeeeeenaees 216 Screw Enclosure Base to Body cccceeceeceeeeeeneceeeeeeeeeeeeeeeeceaeeeeeeeeaeeeeeeesenaeeeeeeeeea 217 Final ASSOmDIy e EE E E Rect eh inscied egal baad edt cached 217 REMOVE BASE oii cecil E codecs ca acaecn sacgsusceg E eee vesen a ceuseceas tee deedaagsspeeegeasiey 219 Disconnect Wiring Harness from SDLC Card ou eecceeesneceeeeeeeneeeeeeeeeeeeeeeeneeeneaes 219 IMU Brack t sneng eke i el ee eed ee 220 Remove IMU Bracket SDLC 0 cecseeceeeeeeeneeeeeneeeeeneeeeeaeeeseeaeeeaeeeseaeeseneeeesseeeeeaas 220 Install LN 200 IMU to BaSe ivice iieo idii edidi 221 Install Bracket to Base i 8 inn in a a e a A 222 Making Connections oriin nokii a O EE E EE ens Mel ra cs 223 Connect Internal Cable Harness seeeeeeesesiesriiesiirssissriitsiiirerinnirnsiiresiinternnnennnt 224 Installing the Enclosure Body to the Base ccccccecesceeeeeeeeeceeeeseeeceeeeseceeeeeeeenenaeees 225 Screw Enclosure Base to Body ccccceceeceececeneeeeeeeecaeeeeeesecaaeeeeeeeeeeeeeeeeeeeeaeeeeeeeeea 226 Final Assembly s s 65 E E AE EA E tii lecdoat A Wea he RS 227 SPAN Technology for OEMV User Manual Rev 11 Tables OONDARWDN
162. ng latches Figure 64 Connect IMU to IMU Mounting Plate 212 SPAN Technology for OEMV User Manual Rev 11 HG1700 IMU in Universal Enclosure Appendix G 3 Being careful of the connectors and the orientation align the pilot holes of the IMU with the pilot pins of the mounting plate Gently place the IMU and mounting plate together being careful not to pinch the cable harness Screw the IMU and mounting plate together using thread locking fluid on the 8 32 screws as shown in Figure 65 gt ALIGN BOTH PILOT PINS TO HOLES ON IMU Figure 65 Installing IMU to Mounting Plate SPAN Technology for OEMV User Manual Rev 11 213 Appendix G HG1700 IMU in Universal Enclosure 4 Starting with the round pilot hole shown in Figure 66 align the pilot holes of the assembled plate noting the orientation with the pilot pins of the enclosure body Lower the assembly into place then fasten using thread locking fluid on the M4 screws ROUND PILOT HOLE Figure 66 Assemble Into Enclosure Body 214 SPAN Technology for OEMV User Manual Rev 11 HG1700 IMU in Universal Enclosure Appendix G 5 Connect the internal cable harness to the enclosure body as shown in Figure 67 During this step ensure the connector O ring supplied with the connector of the internal cable harness remains flat within the connector s groove and make sure the groove is clean and free of debris Fasten the connector to the enclosure body wall using the j
163. ngs of the IMU enclosures 2 Connect the IMU to the receiver using the IMU cable provided For the ProPak V3 receiver the IMU plugs into the port labelled AUX See also Steps 1 and 2 in the SPAN IMU Configuration section on page 37 The HG1700 and LN 200 plug directly from the ProPak V3 to the IMU The iIMU FSAS has a single connector whose cable connects to the COM3 labelled AUX and I O port of the ProPak V3 and to power See also Step 3 s graphic on page 36 1 The closer the antenna is to the IMU 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 IMU to the antenna and or a user point device must remain constant especially for RTK or DGPS data Ensure the IMU antenna and user point device are bolted in one position perhaps by using a custom bracket 3 The iIMU FSAS IMU requires that COM3 labelled as AUX on the ProPak V3 be in RS 422 mode SPAN Technology for OEMV User Manual Rev 11 35 Chapter 2 SPAN Installation 2 2 3 Connect COM Cables The ProPak V3 receiver incorporates an I O port This port may be part of an interconnected system composed of devices that need to be synchronized with each other
164. ntains 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 Week GPS Week Ulong 4 H 3 Seconds into Seconds from week start Double 8 H 4 Week 4 North Velocity Velocity North in m s Double 8 H 12 5 East Velocity Velocity East in m s Double 8 H 20 6 Up Velocity Velocity Up in m s Double 8 H 28 7 Status INS status see Table 5 on Enum 4 H 36 page 46 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 USB1 0 19 0 FINESTEERING 1543 236173 000 00000000 9c95 37343 1543 23 6173 002500000 14 139471871 0 070354464 0 044204369 INS SOLUTION GOOD 3c37c0fc 174 SPAN Technology for OEMV User Manual Rev 11 INS Logs Appendix C C 2 20 INSVELS Short INS Velocity This is a short header version of the INSVEL log on page 174 Structure Message ID 324 Log Type Synch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 Week GPS Week Ulong 4 H 3 Seconds into Seconds from week start Double 8 H 4 Week 4 North Velocity Velocity North m s Double 8 H 12 5 East Vel
165. obuchar parameters are being used 150 SPAN Technology for OEMV User Manual Rev 11 INS Logs Appendix C Field Field type Data Description Format Bye pea 1 BESTPOS Log header H 0 header 2 sol stat Solution status see Table 37 on page 148 Enum 4 H 3 pos type Position type see Table 36 on page 146 Enum 4 H 4 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 the relationship between the geoid and Float 4 H 32 the ellipsoid m of the chosen datum 8 datum id Datum ID number Enum 4 H 36 9 lat s Latitude standard deviation Float 4 H 40 10 lons Longitude standard deviation Float 4 H 44 11 hot s Height standard deviation Float 4 H 48 12 stn id Base station ID Char 4 4 H 52 13 diff_age Differential age in seconds Float 4 H 56 14 sol_age Solution age in seconds Float 4 H 60 15 SVs Number of satellite vehicles tracked Uchar 1 H 64 16 solnSVs Number of satellite vehicles used in solution Uchar 1 H 65 17 ggL1 Number of GPS andGLONASS L1 used in RTK Uchar 1 H 66 solution 18 ggL1L2 Number of GPS and GLONASS L1 and L2 usedin Uchar 1 H 67 RTK solution 19 Reserved Uchar 1 H 68 20 ext sol stat Extended solution status see Table 39 Extended Hex 1 H 69 Solution Status on page 150 21 Reserved Hex 1 H 70 22 sig mask Signals used mask if 0 signals used in solut
166. ocity 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 5 on Enum 4 H 36 page 46 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 insvelsa ontime 1 ASCII Example SINSVELSA USB2 0 18 5 FINESTEERING 1541 487942 000 00040000 9c95 37343 1541 4 87942 000549050 12 656120921 3 796947104 0 100024422 INS SOLUTION GOOD 407d82ba SPAN Technology for OEMV User Manual Rev 11 175 Appendix C C 2 21 MARK1PVA_ Position Velocity and Attitude at Mark1 INS Logs This log outputs position velocity and attitude information with respect to the SPAN frame when an event was received on the Mark1 input Structure Field Field Type Description Format Message ID 1067 Log Type Synch Binary Binary 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 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 8 East Velocity Velocity in an easterly direction a ve Double 8 H 44 value implies a we
167. oltage 3 3 VDC 5 3 Allowable Input Voltage Ripple 150 mV p p max 1 2W Variable values that can change due to the number of satellites in the sky and the firmware version They are a guide for what you might expect but absolute values are not possible Power Consumption In Rush Power Consumption 7 5 A for less than 60 us RF INPUT LNA POWER OUTPUT Antenna Connector MCX female 50 Q nominal impedance See Figure 41 on page 98 Acceptable RF Input Level aa levels at the receiver board input are acceptable for racking 1 L1 signal power at board input 122 to 87 dBm noise power at board input 161 to 141 dBm Hz OEM design guidance C No range at board input 35 to 58 dBm Hz 2 L2 signal power at board input 126 to 93 dBm noise power at board input 161 to 141 dBm Hz OEM design guidance C No range at board input 30 to 52 dBm Hz The OEMV receiver series is designed to work with the following antenna cables limits Antenna LNA Antenna Gain NF Cable Gain Nom dB 26 00 2 5 6 00 Gain Max dB 30 00 1 5 0 05 Gain Min dB 22 00 3 5 10 00 Reference Input Impedance ohm 50 50 Notes a Antenna gain includes antenna element and LNA b For most cases the signals are buried under the receiver noise floor c Receiver potential performance could be degraded if the input conditions are not met RF Input Frequencies GPS L1 1575 42 MHz GPS L2 1227 60 MHz 100 SPAN Technology for
168. olution has the advantage of the absolute accuracy available from GNSS and the continuity of INS through traditionally difficult GNSS conditions The SPAN system consists of the following components e NovAtel OEMV receivers These receivers are capable of receiving and tracking different combinations of GPS L1 C A L2C L2 P Y and LS code and carrier GLONASS L1 and L2 code and carrier and L band CDGPS and OmniSTAR on a maximum of 72 channels SBAS support is standard on all OEMV family receivers OEMV adaptability offers multi system frequency and size configurations for any application requirement Patented Pulsed Aperture Correlator PAC technology combined with a powerful microprocessor make possible multipath resistant processing Excellent acquisition and re acquisition times allow this receiver to operate in environments where very high dynamics and frequent interruption of signals can be expected The OEMV family also supports the timing requirements of the IMU and runs the real time INS Kalman filter SPAN Technology for OEMV User Manual Rev 11 25 Chapter 1 Introduction 1 1 26 e IMU Enclosure The Inertial Measurement Unit IMU is housed in the IMU enclosure that provides a steady power supply to the IMU and decodes and times the IMU output data The IMU itself consists of three accelerometers and 3 gyroscopes gyros so that accelerations along specific axis and angular rotations can be measured Several IMU types are s
169. on Bytes Offset 1 Sync Char Hex OxAA 1 0 2 Sync Char Hex 0x44 1 1 3 Sync Char Hex 0x13 1 2 4 Message Uchar Message length not including 1 3 Length header or CRC 5 Message ID Ushort Message ID number 2 4 Week Number Ushort GPS week number 2 6 7 Milliseconds Ulong Milliseconds from the beginning of 4 8 the GPS week The periods available when you use the ONTIME trigger are 0 005 200Hz 0 01 100Hz 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 144 SPAN Technology for OEMV User Manual Rev 11 INS Logs Appendix C C 2 INS Specific Logs The receivers are capable of generating many NovAtel format output logs in either Abbreviated ASCII ASCII or binary format Please refer to the OEMV Family Firmware Reference Manual for a complete list of logs categorized by function and then detailed in alphabetical order INS specific commands and logs provide attitude data such as roll pitch and azimuth amp 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 4 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 faster than or equal to 100 Hz all other log requests are limited to a maximum rate of 50 Hz Below are examples of acceptable logging requests LO
170. on 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 warranty as to the performance or results you may obtain by using the Software The entire risk as to the results and performance of the Software is assumed by you See product enclosure if any for any additional warranty 7 Indemnification NovAtel shall be under no obligation or liability of any kind in contract tort or oth erwise and whether directly or indirectly or by way of indemnity contribution or otherwise howsoever to the Licensee and the Licensee will indemnify and hold NovAtel harmless against all or any loss dam age actions costs claims demands and other liabilities or any kind whatsoever direct consequential special or otherwise arising directly or indirectly out of or by reason of the use by the Licensee of the Software whether the same shall arise in consequence of any such infringement deficiency inaccu racy error or other defect therein and whether or not involving negligence on the
171. on 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 5 Inertial Solution Status on page 46 shows the status values included in the INS position velocity and attitude output logs If you think you have an IMU unit hooked up properly and you are not getting a good status value something is wrong and the hardware setup must be checked out This situation can be recognized in the RAWIMU data by observing accelerometer and gyro values which are not changing with time SPAN Technology for OEMV User Manual Rev 11 143 Appendix C INS Logs C 1 Description of ASCII and Binary Logs with Short Headers These logs are set up in the same way normal ASCII or binary logs are except that a normal ASCII or binary header is replaced with a short header see Tables 34 and 35 For the message header structure of OEMV 3 regular Binary and ASCII logs please refer to the OEMV Family Firmware Reference Manual Table 34 Short ASCII Message Header Structure Field 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 sf a from the beginning of the GPS wee Table 35 Short Binary Message Header Structure Field Binary Binary Field Field Type Type Descripti
172. onnector on the ilIMU FSAS D38999 interface cable 26WC35SA Amphenol or MIL equivalent 22 pin connector on the Universal Enclosure interface cable TV 06 RW 13 35 S A MIL DTL 38999 SPAN Technology for OEMV User Manual Rev 11 231 232 A accelerometers 143 179 accuracy 128 146 AG11 AG58 AG17 AG62 130 age solution position 151 age solution 146 149 alignment 111 128 almanac 110 antenna 128 230 APPLYVEHICLEBODYROTATION 107 attitude 111 161 163 169 176 177 axes enclosure frame 125 128 135 154 179 local level frame 163 165 174 SPAN frame 124 125 128 131 134 161 165 169 192 azimuth 124 128 154 161 B BESTGPSVEL 152 BESTLEVERARM 154 binary 116 C cables 34 antenna 230 T O 36 IMU interface 65 69 73 76 82 power 36 warranty 14 calibration 121 154 CANCONFIG 108 CMR 116 command prompt interface 194 196 commands positioning 103 configuration non volatile memory 110 connector antenna 100 power 100 connector power 77 Controller Area Network Bus CAN Bus 27 copyright 2 correction RTCA 116 CORRIMUDATA 155 CORRIMUDATAS 155 D datum 149 best position 151 default bit rates 101 differential 115 146 149 differential correction age 151 distance exceeded 148 driving 52 E east 173 174 e mail 17 enclosure 27 F features 27 firmware updates 18 firmware updates or upgrades 27 Frame 124 frame see axes vehicle 48 121 141
173. or fast alignment select the type of IMU and configure the receiver port connected to the IMU to accept IMU data aA SPAN_OEMV SPAN Alignment Wizard IMU type and port selection Please select the IMU model and the serial port it is connected to SPAN Technology for OEMV User Manual Rev 11 39 Chapter 2 SPAN Installation 2 3 2 3 Configuration for Alignment A coarse alignment routine requires the vehicle to remain stationary for at least 1 minute If that is not possible an alternate fast alignment routine is available The fast or moving alignment is performed by estimating the attitude from the GPS velocity vector and injecting it into the SPAN filter as the initial system attitude See also Section 3 3 1 System Start Up and Alignment Techniques starting on page 47 for more details on coarse and fast alignments 2 3 3 Configuration Command Summary This section gives a brief recap of the commands necessary to get the SPAN system running 1 Issue the INTERFACEMODE command to specify the receiver port connected to the IMU see Table 4 on page 38 and the INTERFACEMODE command on page 1 5 interfacemode com3 imu imu off 2 Issue the SETIMUTYPE command to specify the type of IMU being used see Table 4 on page 38 and the SETIMUTYPE command on page 129 setimutype imu_1n200 3 Issue the SETIMUTOANTOFFSET command to enter the distance from the IMU to the GPS antenna see page 128 setimutoantoffset 0 1 0 1 0 1
174. ormat Bytes Offset Type Value Value Description 1 Header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 Ticks 1 10 000 Number of ticks per revolution Ushort 4a H 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 138 SPAN Technology for OEMV User Manual Rev 11 INS Commands Appendix B B 2 24 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 1257 Field Type Description Format Bytes Offset Field ASCII Binary Value Value 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 MAR
175. osure centre The measurements for the enclosure centre are labelled as IMU Enclosure centre in this figure and Figure 5 75 SPAN Technology for OEMV User Manual Rev 11 Appendix A Technical Specifications A 5 1 LN 200 IMU Interface Cable The NovAtel part number for the LN 200 IMU interface cable is 01017375 Figures 26 and 27 below The IMU interface cable supplied enables input and output between the IMU and the receiver Figure 26 LN 200 Interface Cable UUL n al ol an A Dimensions in millimetres Deutsch 13 Pin to IMU DB 9 Female to Receiver S1 N C S2 3 33 PAIRED 57 S4 N C S5 S5 S6 N C S7 S8 58 PAIRED 57 9 S1 39 2 WIRES SG 10 N C S11 N C 512 PAIRED NG 13 N C Figure 27 IMU Interface Cable Pin Out ProPak V3 76 SPAN Technology for OEMV User Manual Rev 11 Technical Specifications Appendix A A 5 2 LN 200 IMU Power Adapter Cable The power adapter cable NovAtel part number 01017821 supplied with the LN 200 provides a convenient means for supplying 12 VDC while operating from a 12V source Figure 28 shows the cable and Figure 29 the wiring diagram of the 12V adapter The output of the power adapter uses a 3 pin Deutsch socket Deutsch part number 59064 09 98SN This cable plugs
176. otation angle azimuth or yaw and are displayed within the log output as XX XY XZ YX VV YZ ZX ZV ZZ These values are computed once per second and are only available after alignment See also Section 3 3 1 System Start Up and Alignment Techniques starting on page 47 Structure Message ID 264 Log Type Asynch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Position Covariance Position covariance matrixinlocal 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 ASCII only SPAN Technology for OEMV User Manual Rev 11 163 Appendix C INS Logs 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 0440
177. ote to 65535 OxFFFF APN 046 for further information 7 Source INSGPS 0 CAN source from either the Enum 4 H 20 default INS GPS solution of the GPS only solutions GPS 1 Abbreviated ASCII Example CANCONFIG CAN1 ENABLE 1M 1000 3 INSGPS 108 SPAN Technology for OEMV User Manual Rev 11 INS Commands Appendix B Table 27 CAN Bit Rate per second Binary ASCII 0 10K 20K 50K 100K default 125K 250K 500K 800K 1M ool NI OD om BR w MH SPAN Technology for OEMV User Manual Rev 11 109 Appendix B INS Commands B 2 3 FRESET Factory Reset 110 This command clears data which is stored in non volatile memory Such data includes the almanac ephemeris and any user specific configurations The receiver is forced to hardware reset Message ID 20 Abbreviated ASCII Syntax FRESET target Field ASCII Binary ae Binary Binary Binary Type Value Value Description Format Bytes Offset 1 Heade This field contains the H 0 r command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 Target See Table 28 What data is to be reset by Enum 4 H the receiver Input Example FRESET COMMAND Table 28 FRESET Target Binary ASCII Description 0 STANDARD Resets commands ephemeris and almanac default Also resets all OmniSTAR related data exc
178. otice 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 no IMU is attached 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 Connect and then use the SAVECONFIG command to save settings in NVM Otherwise unnecessary data logging occurs and may overload your system B 2 INS Specific Commands Please refer to the OEMV Family Firmware Reference Manual for a complete list of commands categorized by function and then detailed in alphabetical order 106 SPAN Technology for OEMV User Manual Rev 11 INS Commands Appendix B B 2 1 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 VEHICLOBODYROTATION command see page 139 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 APPLY VEHICLEBODYROTATION switch Field ASCII Binary Type Value Value Binary Binary Binary Field Format Bytes Offset Description 1 Header This field contains the H 0 command name or the message header
179. ovatel com through Support Knowledge and Learning Abbreviated ASCII Example VEHICLEBODYROTATION 0 0 90 005 SPAN Technology for OEMV User Manual Rev 11 141 Appendix B INS Commands B 2 26 WHEELVELOCITY Wheel Velocity for INS Augmentation The WHEELVELOCITY command is used to input wheel sensor data into the OEMV receiver Abbreviated ASCII Syntax Message ID 504 WHEELVELOCITY latency ticks rev wheel vel Rsrvd fwheel vel Rsrvd Rsrvd ticks s F i ASCII Binary are Binary Binary Binary Eloi ele Type Value Value Description Format Bytes Offset 4 Header This field contains the command H lo name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 Latency A measure of the latency in the Ushort 2 H velocity time tag in ms 3 Ticks rev Number of ticks per revolution short 2 H 2 4 Wheel vel Short wheel velocity in ticks s Ushort 2 H 4 5 Reserved Ushort 2 H 6 6 Fwheel vel Float wheel velocity in ticks s Float 4 H 8 7 Reserved Ulong 4 H 12 8 Ulong 4 H 16 9 Ticks s Cumulative number of ticks s Ulong 4 H 20 Refer also to our application note APN 036 Using a Wheel Sensor with SPAN available on our Web site at www novatel com through Support Knowledge and Learning Abbreviated ASCII Example WHEELVELOCITY 123 8 100000 40 WHEELVELOCITY 123 8 100000 80 WHEELVELOCITY 123 8 100000 120 The above are for
180. oximately 2 5 m when using an HG1700 AGS58 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 JNSCOV INS Covariance Matrices on Page 163 9 What does it mean if my IMUCARD version string looks like this lt GPSCARD L12LRVI DAB10340175 OEMV3G 5 01 X2T SPAN3 630S3 3 000 2010 Dec 2 09 38 01 lt IMUCARD Test mode 20Hz 2 1 0 0 Sep 13 2010 09 34 20 The SPAN enabled receiver has detected the SDLC card and is communicating with it however the SDLC card is not communicating with the IMU Check the SDLC to IMU connections to ensure that both power and communication lines are connected to the IMU SPAN Technology for OEMV User Manual Rev 11 229 byona 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 Support J 1 SPAN System Part Description NovAtel Part IMUs see Table 1 SPAN Compatible Receiver and IMU Models on page 27 for details IMU H58 IMU H62 IMU LN200 IMU FSAS EI UIMU H58 UIMU H62 UIMU LN200 Receivers see Table 1 SPAN Compatible Receiver and IMU Models on page 27 for ProPak V3 details Universal Enclosure external cable harness see Figure 16 on page 59 01018299 ProPak V3 to iIMU FAS I
181. pecially for RTK operation The x y and z fields represent the vector from the IMU to the antenna phase centre in 128 INS Commands the IMU enclosure frame The a b and c fields allow you to enter any possible errors in your measurements If you think that your x offset measurement is out by a centimeter for example enter 0 01 in the a field The X pitch Y roll and Z azimuth directions of the inertial frame are clearly marked on the IMU This command must be entered before or during the INS alignment mode not after Abbreviated ASCII Syntax SETIMUTOANTOFFSET x y z a b c Field ASCII Value Binary Value Description Binary Format Message ID 383 Binary Binary Offset Type 1 Header This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively Bytes x 20 x offset m Double y 20 y offset m Double H 8 20 z offset m Double H 16 a 0 to 1 Uncertainty in x m Defaults to 10 of the x offset to a minimum of 0 01 m Double o H 24 0 to 1 Uncertainty in y m Defaults to 10 of the y offset to a minimum of 0 01 m Double H 32 0 to 1 Uncertainty in z m Defaults to 10 of the z offset to a minimum of 0 01 m Double H 40 Abbreviated ASCII Example
182. port accepts generates RTCA corrections 4 CMR The port accepts generates CMR corrections 5 6 Reserved 7 IMU This port supports communication with a NovAtel supported IMU 8 RTCMNOCR RTCM with no CR LF appended 9 CDGPS The port accepts GPS C data 10 13 Reserved 14 RTCMV3 The port accepts generates RTCM Version 3 0 corrections 15 NOVATELBINARY The port only accepts generates binary messages If an ASCII command is entered when the mode is set to binary only the command is ignored Only properly formatted binary messages are responded to and the response is a binary message 19 IMARIMU This port supports communication with an iMAR IMU a An output interfacemode of RTCMNOCR is identical to RTCM but with the CR LF appended An input interfacemode of RTCMNOCR is identical to RTCM and functions with or without the CR LF b CDGPS has three options for output of differential corrections NMEA RTCM and GPS C If you have a ProPak V3 receiver you do not need to use the INTERFACEMODE command with CDGPS as the argument The CDGPS argument is for use with obsolete external non NovAtel CDGPS receivers These receivers use GPS C NavCanada s proprietary format differential corrections from the CDGPS service SPAN Technology for OEMV User Manual Rev 11 INS Commands Appendix B Table 30 COM Serial Port Identifiers Binary ASCII Description 1 COM1 COM port 1 2 COM2 COM port 2 3 COM3 C
183. ppendix D One way to initiate multiple commands and logging from the receiver is to create DOS command files relating to specific functions This minimizes the time required to set up duplicate test situations Any convenient text editor can be used to create command text files Example For this example consider a situation where a laptop computer s appropriately configured COM1 serial port is connected to the receiver s COMI serial port and where a rover terminal is connected to the receiver s COM2 serial port If you wish to monitor the SPAN system activity the following command file could be used to do this 1 Open a text editor on the PC and type in the following command sequences log log log log log com2 com2 com2 com2 com2 satvisa ontime 15 trackstata ontime 15 rxstatusa ontime 60 5 bestposa ontime 15 psrdopa ontime 15 2 Save this 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 COM1 serial port C GPS gt copy boot1 txt coml 1 file s C GPS gt copied 4 The SPAN system is now initialized with the contents of the BOOT1 TXT command file and logging is directed from the receiver s COM2 serial port to the rover terminal SPAN Technology for OEMV User Manual Rev 11 195 Appendix D Command Prompt Interface D 2 WINDOWS As any text editor or communications program can b
184. pproved 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 e 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 5 The shield of the coaxial cable entering the building should be connected at a grounding plate at the building s entrance The lightning protection devices should have their chassis grounded to the same ground near to the building s entrance 6 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 Figure 1 Primary and Secondary Lightning Protection Ref Description Ref Description 1 Primary lightning protection device 4 GNSS Receiver 2 Secondary lightning protection 5 To ground device 3 External antenna 6 Grounding plate or grounding point at the building s entrance SPAN Technology for OEMV User Manual Rev 11 21 22 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
185. r IMU installation to ensure that the cable is seated properly on the IMU pins See Appendix E starting on page 197 or Appendix F starting on page 203 for more details d Check the input power supply A minimum of 12V should be supplied to the system for stable IMU performance The supply should also be able to output at least 12W over the entire operating temperature range What system configuration do I need to do to get the system running a Set the interface of the receiver port being used for IMU communication using the INTERFACEMODE command see page 1 5 INTERFACEMODE COM3 IMU IMU OFF b Set the IMU type using the SETIMUTYPE command see page 129 What types of IMUs are supported a SPAN currently supports the HG1700 IMU family from Honeywell the LN 200 from Litton and the iIMU FSAS from iMAR Use the SETIMUTYUPE command to specify the type of IMU used see page 129 Why dont I have any INS logs a 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 FINETIME the inertial filter starts and INS messages are available b Check that the system has been configured properly See question 3 above How can I access the inertial solution The INS GPS solution is
186. r off the tube body and set it aside as shown in Figure 47 on page 199 Lift the tube body away from its base plate and set it aside PBN Remove the 3 ring spacer screws and set them aside 198 SPAN Technology for OEMV User Manual Rev 11 HG1700 IMU in SPAN HG Enclosure Appendix E Figure 47 Lift Top Cover Tube Body and 3 Ring Spacer Screws SPAN Technology for OEMV User Manual Rev 11 199 Appendix E HG1700 IMU in SPAN HG Enclosure E 2 Install the HG1700 Sensor Unit To re assemble the SPAN IMU with the HG1700 sensor see Figure 48 and follow these steps 1 Mount the HG1700 sensor with the attached 8 screws Apply threadlock to the screw threads Use a hex key to torque each screw to 10 in lbs 2 Fit the tube body over the HG1700 sensor and onto the base plate Figure 48 SPAN IMU Re Assembly 200 SPAN Technology for OEMV User Manual Rev 11 HG1700 IMU in SPAN HG Enclosure Appendix E E 3 Make the Electrical Connections To make the electrical connections you will need a 3 32 hex key the flex cable and the partially assembled SPAN IMU from Section E 2 Install the HG1700 Sensor Unit on page 200 Now follow these steps 1 Attach the flex cable to the HG1700 sensor ensuring that all the pins are fully connected Check also that the pins are fully seated and that the flex cable stiffener around the pins is not bent upward see Figure 49
187. r port due to cable loss Improper selection of wire gauge can lead to an unacceptable voltage drop at the SPAN system A paired wire run represents a feed and return line Therefore a 2 m wire pair represents a total wire path of 4 m For a SPAN system operating from a 12 V system a power cable longer than 2 1 m 7 ft should not use a wire diameter smaller than 24 AWG Each IMU requires its own power supply see Zable 3 below Table 3 IMU Power Supply IMU Power Requirement LN 200 12 to 28 V DC FSAS 10 to 34 V DC HG1700 12 to 28 V DC HG1900 HG1930 Landmark 20 power must be supplied by an IMU interface card For specifications on the MIC refer to http www novatel com products span gnss inertial systems span mems 36 SPAN Technology for OEMV User Manual Rev 11 SPAN Installation Chapter 2 For pin out information on the power connector on the ProPak V3 refer to the OEMV Family Installation and Operation User Manual Details on the LN 200 power port and cables can be found in Section A 1 Universal IMU Enclosure starting on page 55 6 Apply power to the IMU and to the receiver It is recommended that a back up battery is placed between the receiver and its voltage supply to act as a power buffer if installed in a vehi cle When a vehicle engine is started power can dip to 9 6 VDC or cut out to ancillary equipment causing the receiver and IMU to lose lock and calibration settings
188. rce on page 160 for the different values 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 Technology for OEMV User Manual Rev 11 159 Appendix C INS Logs Table 40 Lever Arm Type binary Lever Arm Source ASCII Description 0 LEVER_ARM_INVALID An invalid lever arm 1 LEVER_ARM_PRIMARY Primary lever arm entered for all SPAN systems Table 41 Lever Arm Source 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 o R w n LEVER_ARM_RESET If the current IMU orientation does not match the value restored from NVM then the lever arm will be reset to zero with this status 160 SPAN Technology for OEMV User Manual Rev 11 INS Logs C 2 7 INSATT INS Attitude Appendix C 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 34 and Section 2 3 2 SPAN IMU Configuration starting on page 38 of this manual The attitude
189. rity is configurable using the MARKCONTROL command The mark inputs have 10K pull up resistors to 3 3 V Event2 Multiplexed Input Active low An input mark for which a pulse Mark 2 pin greater than 150 ns triggers certain Leading logs to be generated Refer to the edge MARK2POS and MARK2TIME logs triggered Polarity is configurable using the MARKCONTROL command The mark inputs have 10K pull up resistors to 3 3 V PV Dedicated Output Active high Indicates a valid GPS position solution Position pin is available A high level indicates a Valid valid solution or that the FIX POSITION command has been set refer to the FIX POSITION command 3 3 V VARF Multiplexed Output Active low A programmable variable frequency Variable pin output ranging from 0 20 MHz refer Frequency to the FREQUENCYOUT command RESETIN Dedicated Input Active low Reset LVTTL signal input from pin external system active low gt 20 us duration PPS Dedicated Output Active low A time synchronization output This is pin a pulse where the leading edge is synchronized to receiver calculated GPS Time The polarity period and pulse width can be configured using PPSCONTROL command a The commands and logs shown in capital letters for example MARKCONTROL are discussed in further detail in the OEMV Family Firmware Reference Manual SPAN Technology for OEMV User Manual Rev 11 103 Appendix A Technical Specification
190. rk1 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 Mark Double 8 H 40 degrees Abbreviated ASCII Example SETMARKI1OFFSET 0 324 0 106 1 325 000 136 SPAN Technology for OEMV User Manual Rev 11 INS Commands Appendix B B 2 22 SETMARK2OFFSET Set Mark2 Offset Set the offset to the Mark2 trigger event This command is not immediately available to iIMU FSAS users If you are an iIMU FSAS user and wish to use the Mark2 event trigger contact NovAtel Customer Support Contact information is on page 17 Abbreviated ASCII Syntax Message ID 1070 SETMARK2OFFSET xoffset yoffset zoffset aoffset Boffset yoffset Field ASCII Binary Binary Binary Binary Field Format Bytes Offset Type Value Value Description 1 Header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCIl ASCII or binary respectively 2 x offset 360 Offset along the IMU enclosure Double 8 H frame X axis m for Mark2 3 y offset 360 Offset along the IMU enclosure Double 8 H 8 frame Y axis m for Mark2 4 z offset 360 Offset along the IMU enclosure Double 8 H 16 frame Z axis m for Mark2 5 aoffset 360 Roll offset for Mark2 degrees Double 8 H 24 6 Boffset 360 Pitch offset for Mark2 degrees Double 8 H 32 7 yoffset 360 Azimuth offs
191. route is also useful for providing observability in the Z axis When the calibration is complete either because the specified time has passed or the accuracy requirement has been met the BESTLEVERARM log outputs the solved lever arm The lever arm is saved automatically in non volatile memory If the IMU or GPS antenna are re mounted the calibration routine should be re run to compute an accurate lever arm SPAN Technology for OEMV User Manual Rev 11 51 Chapter 3 SPAN Operation 3 3 5 Kinematic fast alignment requires that the angular offset between the vehicle and SPAN frame is known approximately If the angles are simple that is a simple rotation about one axis the values can easily be entered manually through the VEHICLEBODYROTATION command see page 139 If the angular offset is more complex that is rotation is about 2 or 3 axis then the calibration routine provides a more accurate estimation of the values As with the lever arm calibration the vehicle to SPAN frame angular offset calibration requires RTK GPS The steps for the calibration routine are 52 1 Vehicle to SPAN Frame Angular Offsets Calibration Routine Apply power to the receiver and IMU see the IMU choices and their technical specifications starting on page 55 Configure the IMU see Section 2 3 2 SPAN IMU Configuration on page 38 Ensure that an accurate lever arm has been entered into the system either manually or through a lever arm calibration see
192. rt number for the HG1700 and HG1900 IMU to MIC interface cable is 01018828 Figure 40 on page 91 This cable provides power to the IMU and enables input and output between the MIC and the IMU Dimensions in millimetres rr 600 0 20 0 a P2 to MIC P1 to IMU PCB i V Notch indicates Pin 1 end of connector Figure 40 HG1700 and HG1900 IMU to MIC Cable Assembly Table 20 HG1700 and HG1900 IMU to MIC Cable Assembly FROM P1 IMU CABLE END FCI MINITEK TO P2 MIC CABLE END PIN 1 15 2 16 3 13 4 14 5 8 7 7 6 9 8 10 3 11 4 6 12 18 9 5 1 10 2 For more information refer to the IMU documentation provided by Honeywell SPAN Technology for OEMV User Manual Rev 11 91 Appendix A A 7 4 MIC Electrical and Environmental ELECTRICAL Technical Specifications MIC Input Voltage 10 VDC 30 VDC 5 VDC 1 Amp for IMU 3 3 VDC 1 Amp for IMU 15 VDC 0 5 Amp for IMU 15 VDC 0 08 Amp for IMU Power Consumption 3 3 VDC 0 6 Amp for OEMV 1DF IMU Data Interfaces UART and SDLC over RS 422 ENVIRONMENTAL Operating Storage Temperature VIBRATION Random Vibe MIL STD 810G Cat 24 7 7 g RMS 40 C to 75 C 40 F to 167 F 55 C to 90 C 67 F to 194 F Sine Vibe IEC 60068 2 6 BUMP IEC 68 2 29 25 g SHOCK MIL STD 810G 4
193. s The modeled wheel circumference is available in the WHEELSIZE log see page 193 Information on how the wheel sensor updates are being used is available in the INSUPDATE log see page 173 SPAN Technology for OEMV User Manual Rev 11 53 Chapter 3 SPAN Operation 3 3 6 3 iMAR Wheel Sensor Interface for iIMU FSAS users If you have the iMAR iMWS Magnetic Wheel Speed Sensor and Convertor the wheel sensor information is sent to the OEMV along with the raw IMU data You can integrate other wheel sensor hardware with the iIMU FSAS The Corrsys Datron wheel pulse transducer is used as an example see Section A 6 2 iIMU FSAS Odometer Cabling on page 83 The accumulated wheel sensor counts are available by logging the timed wheel data log with the onchanged trigger log timedwheeldatab onnew Set parameters for your installation using the SETWHEELPARAMETERS command see page 138 3 4 Data Collection for Post Processing Some operations such as aerial measurement systems do not require real time information from SPAN These operations are able to generate the position velocity or attitude solution post mission in order to generate a more robust and accurate solution than is possible in real time In order to generate a solution in post processing data must be simultaneously collected at a base station and each rover The following logs must be collected in order to successfully post process data From a base e RANGECMPB ONTIME 1 e RA
194. s Table 26 OEMV 1DF Strobe Electrical Specifications Min Typ Max Current Strobe Sym V V V mA Conditions Event1 Mark 1 Vit 0 8 4 VDD 3 3 V 85 C Event2 Mark2 PPS Vin 2 0 12 VDD 3 3 V 85 C PV VoL 0 4 4 VDD 3 3 V 85 C yen Vou 3 0 12 VDD 3 3 V 85 C VIL 0 8 4 VDD 3 3 V 85 C RESETIN Vin 2 3 13 8 VDD 3 3 V 85 C 104 SPAN Technology for OEMV User Manual Rev 11 Technical Specifications Appendix A Pin 19 Pin 1 N PTTL a PLE Pin 20 Pin 2 Figure 43 Top view of 20 Pin Connector on the OEMV 1DF Signal Behavior 2 Descriptions Pin LNA_PWR Input DC Power supply for external antenna LNA 1 ViN Input DC DC power supply for card 2 USB D Bi directional USB interface data 3 USB D Multiplexed Multiplexed pin behavior 4 COM3_Rx default USB D RESETIN See strobes Card reset 5 VARF CAN1_Rx Multiplexed Multiplexed pin behavior see strobes 6 default VARF Event2 CAN1_Tx Multiplexed Multiplexed pin behavior see strobes 7 default Event2 RESERVED Event1 COM3_Tx Multiplexed Multiplexed pin behavior see strobes default Event1 GND Ground Digital Ground 10 COM1_Tx Output Transmitted Data for COM 1 output 11 COM1_Rx Input Received Data for COM 1 input 12 GND Ground Digital Ground 13 COM2_Tx Output Transmitted Data for COM 2 output 14 COM2_Rx Input Received Data for COM
195. screws Apply threadlock to the screw threads Use a hex key to torque each screw to 10 in lbs 2 Fit the tube body over the LN 200 sensor and onto the base plate Figure 56 SPAN IMU Re Assembly 206 SPAN Technology for OEMV User Manual Rev 11 LN 200 IMU in SPAN IMU Enclosure Appendix F F 3 Make the Electrical Connections To make the electrical connections you will need a 3 32 a hex key the wiring harness and the partially assembled SPAN IMU from Section F2 Install the LN 200 Sensor Unit on page 206 Now follow these steps 1 Attach the LN 200 wire harness to the mating connector on the LN 200 Check that the connector is fully seated as shown in Figure 57 on page 207 Figure 57 Attach Wiring Harness SPAN Technology for OEMV User Manual Rev 11 207 Appendix F LN 200 IMU in SPAN IMU Enclosure 2 Connect the Samtec connector at the other end of the wiring harness to the corresponding connector on the internal IMU card as shown in Figure 58 Ensure that the connector is locked in place Figure 58 Attach Samtec Connector F 4 Re Assemble the SPAN IMU Enclosure Use a hex key to align the long bolts with the threaded holes in the base as shown in Figure 54 on page 204 Apply threadlock to threads Finger tighten the 6 bolts then torque them in a cross pattern to 12 in lbs The fully assembled IMU enclosure is shown in Figure 59
196. se 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 and protect the contents of the Soft ware from unauthorized disclosure or use SPAN Technology for OEMV User Manual Rev 11 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 electi
197. seaeeeees 82 Cable Modification for Corrsys Datron WPT cc eccceeeeeneeeeceeseceeaeceeseseeaeeeeeeeeaeeeess 85 LORS olio ilere rola reae EE eeccbceSeate cb indeed A AE dees 87 Landmark Cable Pinouts cccccceeeeeseseneaeaeaeeeeeeeeeeeeeecesesseseeeseseeeeaeaeaeaeeaeeaeeseeeeeees 89 HG1930 IMU to MIC Cable ASSEMDIy ccecccceeecceeesseeceeeeceseeecesaeesenseeeseseeenseeeennaees 90 HG1700 and HG1900 IMU to MIC Cable Assembly cc cccseceeeeteeeseeeeeeeeteeeenaeens 91 MIC Pinouts Power P101 c ccccecesecneeeeceeeeaeeeecesesaeeeeeeeeaaeeeeeesesaaaeeeesecceeeeeeeneeneeeees MIC Pinouts IMU P601 cccesccceseececeseeeceeeeeesaeececaeeeeeeeecaeesecaaeeseneeesseesensaeeesenaees MIC Pinouts User Interface P301 MIC LED Indicator Drivers iiie aana eaat he eaa aaee e eaa e aea teaa aaa OEMV 1DF Strobes i iiia ai ia aa L i A a i ea OEMV 1DF Strobe Electrical Specifications ccccececceeesessscsseceseeeeeeeeeeeeeeeeseeseeeenes 104 CAN Bit Rate per Second is sirena ee edie iodide dadeau ie iaria ii 109 aace EE E EE A E E E A E T EEA heeeds 110 Serial Port Interface Modes cccccccsscccceccececececesceceseeeeeseeeeeeaeaeaeeeeeeeeeseeeeseseseeeeeeeaes 116 COM Serial Port Identifiers ccccccccsccecccceeeeeeceeeeeeseseeeeeeeeseseaeaeaeeeeeeeeeeeeeeeeeseeeeeeeeaes 117 NMEA T AlK iss taccer coe 58s300 sce a Sal seed a aa shaves asda eae 120 Full Mapping Definitions
198. sing SPAN technology are its ability to e Provide a full attitude solution roll pitch and azimuth e Provide continuous solution output in situations when a GNSS only solution is impossible e Provide faster signal reacquisition and RTK solution resolution over stand alone GNSS because of the tightly integrated GNSS and INS filters e Output high rate up to 100 or 200 Hz depending on your IMU model and other logging SPAN Technology for OEMV User Manual Rev 11 Introduction Chapter 1 selections position velocity and attitude solutions for high dynamic applications see also Logging Restriction Important Notice on page 50 Use raw phase observation data to constrain INS solution drift even when too few satellites are available for a full GNSS solution 1 2 Models and Features All SPAN system receivers are factory configurable for L1 L2 RTK capability and are compatible with an IMU See Table 1 for firmware model details Table 1 SPAN Compatible Receiver and IMU Models Model Name Mee Compatible IMUs occ IMU H58 100 Hz HG1700 AG58 HG1700 AG62 RT2i IMU H62 IMU LN200 200 Hz LN 200 RT2j 200 and 400 Hz models IMU FSAS EI 200 Hz iIMU FSAS RT2j IMU H1900 CA50 100 Hz HG1900 CA29 HG1900 CA50 RT2i IMU H1930 CA50 100 Hz HG1930 AA99 HG1930 CA50 RT2c IMU LNDMK LM20 100 Hz Landmark 20 RT2c Each model is capable of multiple positioning modes of operation For a discussion on GNSS positioning and e
199. sterly direction at Mark1 9 Up Velocity Velocity in an up direction at Mark1 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 5 on page 46 at Enum 4 H 84 Mark1 14 XXXX 32 bit CRC Hex 4 H 88 15 CR LF Sentence Terminator ASCII only Recommended Input log marklpva onnew Abbreviated ASCII Example MARK1PVA USB1 0 51 5 EXACT 1481 251850 001 00040000 46f4 3388 1481 251850 001000000 51 116573435 114 037237211 1040 805671970 0 000257666 0 003030102 0 000089758 3 082229474 1 019023628 89 253955744 INS SOLUTION GOOD 176 SPAN Technology for OEMV User Manual Rev 11 INS Logs Appendix C C 2 22 MARK2PVA_ Position Velocity and Attitude at Mark2 This log outputs position velocity and attitude information with respect to the SPAN frame when an event was received on the Mark2 input This log and the SETMARK2OFFSET command are not immediately available to iIMU FSAS users If you are an i MU FSAS user and wish to use the Mark2 event trigger contact NovAtel Customer Support Contact information is on page 17 Structure Message ID 1068 Log Type Synch Field Field Type Description For
200. sy reference SPAN system output is compatible with post processing software from NovAtel s Waypoint Products Group Visit our Web site at www novatel com for details SPAN Technology for OEMV User Manual Rev 11 23 Foreword Prerequisites 24 The installation chapters of this document provide information concerning the installation requirements and considerations for the different parts of the SPAN system To run the SPAN system software your personal computer must meet or exceed this minimum configuration e Microsoft Windows user interface Windows 98 or higher e Pentium Microprocessor recommended e VGA Display e Windows compatible mouse or pointing device Although previous experience with Windows is not necessary to use the SPAN 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 Technology for OEMV User Manual Rev 11 Chapter 1 Introduction Figure 3 SPAN System IMUs NovAtel s SPAN technology brings together two very different but complementary positioning and navigation systems namely GNSS and an Inertial Navigation System INS By combining the best aspects of GNSS and INS into one system SPAN technology is able to offer a solution that is more accurate and reliable than either GNSS or INS could provide alone The combined GNSS INS s
201. t along y axis 2 Long 4 H 20 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 Binary Hex 4 H 40 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 47 on page 188 To obtain acceleration in m s 2 multiply the velocity incre ments by the output rate of the IMU e g 100 Hz for HG1700 HG1900 and a Landmark20 200 Hz iMAR FSAS and LN200 See also Table 1 on page 27 for a list of IMU enclosures SPAN Technology for OEMV User Manual Rev 11 187 Appendix C INS Logs 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 47 on page 188 Multiply the appropriate scale factor in Table 47 by the count in this field for the angle increments in radians Recommended Input log rawimusa onnew ASCII Example SRAWIMUSA 1105 425384 180 1105 425384 156166800 111607 43088060 43
202. t the maximum rate of output of the IMU 100 or 200 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 Status of the inertial solution can be monitored using the inertial status field in the INS logs Table 5 below Table 5 Inertial Solution Status Binary ASCII 0 INS_INACTIVE Description IMU logs are present but the alignment routine has not started INS is inactive INS_ALIGNING INS is in alignment mode 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_SOLUTION_GOOD The INS filter is in navigation mode and the INS solution is good 6 INS_BAD_GPS_AGREEMENT The INS filter is in navigation mode and the GPS solution is suspected to be in error This may be due to multipath or limited satellite visibility The inertial filter has rejected the GPS position and is waiting for the solution quality to improve 7 INS_ALIGNMENT_COMPLETE The INS filter is in navigation mode but not enough vehicle dynamics have been experie
203. tected 8 IMU VDD Output Power Positive voltage supply for or 5 VDC depending on the 9 IMU VDD Output Power Positive voltage supply for IMU type detected IMU logic circuits 10 DGND Power Digital ground 11 Tx Data Output Serial data out Non inverting 12 Tx Data Output Serial data out Inverting 13 RX Data Input Serial data in Non inverting RS 422 data input 14 RX Data Input Serial data in Inverting RS 422 data input 15 CLK Bidirectional Serial data clock Non inverting portion of RS 422 link 16 CLK Bidirectional Serial data clock Inverting portion of RS 422 link 17 IMU DAS Bidirectional Data acquisition signal Provides synchronization for IMU data LVTTL level 18 IMUTYPEO Input detect IMU type LVTTL level not 5V tolerant 19 IMUTYPE1 Input detect IMU type LVTTL level not 5V tolerant 20 IMUTYPE2 Input detect IMU type LVTTL level not 5V tolerant SPAN Technology for OEMV User Manual Rev 11 93 Appendix A Technical Specifications Table 23 MIC Pinouts User Interface P301 Pin Signal Type Description Comments 1 N C 2 N C 3 LED3 Output Status LED 3 IMU Data Status 4 LED2 Output Status LED 2 GPS Time Status 5 DGND Power Digital ground 6 LED1 Output Status LED 1 Power Status Self test 7 Reserved N A Leave as no connect 8 DGND Power Digital ground 9 Reserved N A Leave as no connect 10 Reserved N A Leave as no connect 11 N C N A 12 N C
204. tel 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 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 o
205. th Velocity at Mark2 request Double 8 H 8 East Velocity East Velocity at Mark2 request Double 8 H 9 UpVelocity Up Velocity at Mark2 request Double 8 H 10 Roll Roll at Mark2 request Double 8 H 11 Pitch Pitch at Mark2 request Double 8 H 12 Azimuth Azimuth at Mark2 request Double 8 H 13 Status INS Status at Mark2 request Insstatus 4 H 14 Tag E eam Ulong 4 H 15 xxxx a a Binary and Hex 4 H 92 16 CR LF Sentence Terminator ASCII only 190 SPAN Technology for OEMV User Manual Rev 11 INS Logs Appendix C C 2 28 TIMEDWHEELDATA Timed Wheel Data This log contains time stamped wheel sensor data The time stamp in the header is the time of validity for the wheel data not the time the TMEDWHEELDATA log was output This log contains information from the WHEELVELOCITY command but has the time of the wheel sensor measurement in the message header It is primarily used to support wheel sensor information to a post processing utility Time in the log header is the time of the last PPS pulse plus the latency from the WHEELVELOCITY log See also Section 3 3 6 SPAN Wheel Sensor Messages on page 53 If you are using an 1MAR iMWS Magnetic Wheel Speed Sensor and Convertor Field 4 the float wheel velocity is filled instead of Field 3 the unsigned short wheel velocity When you send a WHEELVELOCITY command see page 42 from an external wheel sensor the TIMEDWHEELDATA log contains the same wheel
206. the remaining screws in similar fashion Tighten all screws to 1 36 1 58 N m 12 14 Ib in Do not over tighten bo c E C cep Product identification label not shown Figure 81 Screw Enclosure Base to Body 226 SPAN Technology for OEMV User Manual Rev 11 LN 200 IMU in Universal Enclosure Appendix H 7 Ensure the product identification label the logo plate and the centre of navigation labels are properly affixed and contain the correct information The final assembled unit is shown in Figure 82 Centre of Navigation Labels should Product be here circle icon for LN 200 Identification Label on rear Figure 82 Final Assembly SPAN Technology for OEMV User Manual Rev 11 227 Appendix Frequently Asked Questions 228 How do I know if my hardware is connected properly When powered the HG1700 IMU will make a noticeable humming sound I dont hear any sound from my IMU Why a The LN 200 and iIMU FSAS do not make noise Check that the IMU interface cable is connected to the AUX port on the Propak V3 b When powered the HG 1700 IMUs makes a noticeable humming sound If no sound is heard check that the cable between the receiver and IMU is connected properly The cable should be connected to the AUX port on the Propak V3 c Ifthe cable is connected properly and you still hear no sound from the IMU check the flex cable mounted on top of the IMU Refer to the instructions in this manual on prope
207. tion to 21 degrees The BESTPOSA PSRVELA and NAVIGATEA logs have been set to output from the receiver s COM1 serial port at intervals of once every 15 seconds whereas the GPRMB and GPVTG NMEA logs have been set to be logged out of the receiver s COM2 serial port at intervals of 15 seconds and offset by five seconds The RXCOMFIGA log has been set to output every 60 seconds from its COM2 serial port 196 SPAN Technology for OEMV User Manual Rev 11 Neud HG1700 IMU in SPAN HG Enclosure The following procedure detailed in this appendix provides the necessary information to install the HG1700 sensor into the SPAN HG Enclosure NovAtel part number 01017898 The steps required for this procedure are e Disassemble the SPAN HG Enclosure e Install the HG1700 Sensor Unit e Make Electrical Connections e Reassemble the SPAN HG Enclosure Ensure you use a ground strap before installing the internal circuit boards Do NOT scratch any surfaces of the unit Figure 45 Required Parts Reference Description 1 SPAN IMU Enclosure 2 HG1700 Flex Cable 3 HG1700 Sensor Unit SPAN Technology for OEMV User Manual Rev 11 197 Appendix E HG1700 IMU in SPAN HG Enclosure E 1 Disassemble the SPAN IMU Enclosure The SPAN IMU disassembly steps are as follows 1 Remove the top cover s six bolts using a hex key as shown in Figure 46 Figure 46 Bolts and Hex Key Set aside the bolts with their sealing washers Lift the top cove
208. ts top as shown in Figure 70 Using a 3 mm hex bit lightly fasten four equally spaced M4 screws to hold the parts together Apply thread locking fluid to each screw before inserting Install the remaining screws in similar fashion Tighten all screws then check all of them again for tightness Tighten these screws to 1 36 1 58 N m 12 14 Ib in Do not over tighten Figure 70 Screw Enclosure Base to Body 9 Ensure the product identification label the logo plate and the centre of navigation labels are properly affixed and contain the correct information The final assembled unit will be similar to that shown in Figure 71 Centre of Navigation Labels triangular Product icon for HG1700 should be here Identification Label on rear Figure 71 Final Assembly SPAN Technology for OEMV User Manual Rev 11 217 Neladi LN 200 IMU in Universal Enclosure Important Assemble in accordance with applicable industry standards Ensure all ESD measures are in place in particular use a ground strap before exposing or handling any electronic items including the IMU Take care to prevent damaging or marring painted surfaces O rings sealing surfaces and the IMU The following procedure provides the necessary information to install the LN 200 sensor into the Universal Enclosure NovAtel part number 01018590 both illustrated below The steps required for this procedure are e Disassemble the Universal Enclosure e Install the LN 2
209. ty count along y axis gt Long 4 H 20 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 Right Long 4 H 28 handed 9 Y Gyro Output Change in angle count around y axis gt Long 4 H 32 Right handed 10 X Gyro Output Change in angle count around x axis Right Long 4 H 36 handed 11 xxxx 32 bit CRC Hex 4 H 40 ASCII Binary and Short 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 47 on page 188 Multiply the scale factor in Table 47 by the count in this field for the velocity increments See also Table 1 on page 27 for a list of IMU enclosures SPAN Technology for OEMV User Manual Rev 11 179 Appendix C 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 47 on page 188 Multiply INS Logs the appropriate scale factor in Table 47 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 e g 100 Hz for HG1700 HG1900 and the Landmark20 200 Hz iMAR FSAS and LN200 Table 43
210. ues from SETIMUTOANTOFFSET or NVM Ensure the initial standard deviations are representative of the initial lever arm values Abbreviated ASCII Syntax Message ID 675 LEVERARMCALIBRATE switch maxtime maxstd Field Field Type ASCII Value Binary Description Binary Binary Binary Value Format Bytes Offset 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 Switch OFF 0 Offset along the IMU X axis Enum 4 H ON default Maxtime 0 1000 Maximum calibration time s Double 8 H 4 118 Maxstd 0 02 0 5 Maximum offset uncertainty Double 8 H 12 m Abbreviated ASCII Example 1 LEVERARMCALIBRATE 600 Given this command the lever arm calibration runs for 600 seconds The final standard deviation of the estimated lever arm is output in the BESTLEVERARM log The calibration starts when the SPAN solution reaches alignment complete The example s 600 s duration is from when calibration begins and not from when you issue the command Abbreviated ASCII Example 2 LEVERARMCALIBRATE 600 0 05 SPAN Technology for OEMV User Manual Rev 11 INS Commands Appendix B Given this command the lever arm calibration runs for 600 s or until the estimated lever arm standard deviation is lt 0 05 m in each direction x y z whichever happens first Abbreviated ASCII E
211. ular Offsets Calibration Routine 3 3 6 SPAN Wheel Sensor Messages 3 4 Data Collection for Post Processing A Technical Specifications A 1 Universal IMU Enclosure SPAN Technology for OEMV User Manual Rev 11 A 1 1 Universal IMU Enclosure Interface Cable ccccccccccsssssseeececeeeeeeseeaeeaseeeseees 59 A 1 2 IMU Performance isnie eieiei i d ea E iaeiei sacheeeseerecieeevs 61 A 1 3 Electrical and Environmental 0 cc ccccceeeeceeeeeeeeeneceeeeseaaeceeeeseceeaeeeeeesanaeeeeees 62 A 2 HG1700 IMU single connector enclosure eee eeeeeeeeeeeeneeeeeeeeeeeeeeseaaeeeeeeeeeenaeeeeenas 63 A 2 1 HG1700 IMU Interface Cable oo eee ceeceeseeesneeeeeneeeeeeeeeeseeeseaeeesneeeesseeeeeaaes 65 A 2 2 IMU Performante asini rera a aeaee e aatia eiiiai iiaa 65 A 2 3 Electrical and Environmental cc cccccceeeceeeeeeeeeaeceeeeseaaeeeeeeseceeaeeeeseseeaeeeeees 66 A 3 HG1700 IMU dual connector ENclOSUre ee eeeeeceeeeeeeeeeeeeneeeeeeeeeseeeeeeeaeeteeeeeeenaeeeeaas 67 A 3 1 HG1700 IMU Interface Cable oo eee ccecesreeenneeeeeneeeeeeeeeesneeeseaeeesneeeessaeeeeenaes 69 AGS 2 IMU Performance a sae cttne Uiceesebeuecnnes does teuoep cee a araa Ee a E ASE 69 A 3 3 Electrical and Environmental cc cccceceeeceeeeeeeeeaeeeeeeseeaeeeeeeseceeaeeeeseseaeeeeees 70 A 4 LN 200 IMU single connector ENCIOSULE cee ceeeesceeeeeeeeeeeeeeeeeeeeaeeeeeaeeeeeeeeeenteeenaaes 71 A 4 1 LN 200 IMU Interface Cab
212. upported and are listed in Table 1 SPAN Compatible Receiver and IMU Models on page 27 and Table 33 IMU Type on page 130 e PC Software Real time data collection status monitoring and receiver configuration is possible through NovAtel s Connect software utility see Section 3 1 on page 41 The GPS receiver is connected to the IMU enclosure with an RS 232 or RS 422 serial link A NovAtel GPS antenna must also be connected to the receiver to track GPS signals Once the IMU enclosure GPS antenna and appropriate power supplies are attached and a few simple configuration commands are entered the SPAN system will be up and running and ready to navigate Fundamentals of GNSS INS GNSS positioning observes range measurements from orbiting Global Navigation Satellite System satellites From these observations the receiver can compute position and velocity with high accuracy NovAtel GNSS positioning systems have been established as highly accurate positioning tools however GNSS in general has some significant restrictions which limit its usefulness in some situations GNSS positioning requires line of site view to at least four satellites simultaneously If these criteria are met differential GNSS positioning can be accurate to within a few centimetres If however some or all of the satellite signals are blocked the accuracy of the position reported by GNSS degrades substantially or may not be available at all In general an INS uses forces
213. ur vehicle roll pitch azimuth you can manually enter the attitude information using the SETINITATTITUDE command Refer to SETINITATTITUDE Set Initial Attitude of SPAN in Degrees on page 131 Alternatively if you know only the azimuth of your vehicle you can manually enter the azimuth information using the SETINITAZIMUTH command Refer to SETINITAZIMUTH Set Initial Azimuth and Standard Deviation on page 133 3 3 2 Navigation Mode Once the alignment routine has successfully completed SPAN enters navigation mode 48 SPAN Technology for OEMV User Manual Rev 11 SPAN Operation Chapter 3 SPAN computes the solution by accumulating velocity and rotation increments from the IMU to generate position velocity and attitude SPAN models system errors by using a Kalman filter The GPS solution phase observations and automatic zero velocity updates ZUPTs provide updates to the Kalman filter When a 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_S
214. us see Table 5 on page 46 Enum 4 H 84 14 xxxx 32 bit CRC Hex 4 H 88 15 CR LF Sentence Terminator ASCII only Recommended Input log inspvasa ontime 1 ASCII Example SINSPVASA 1264 144059 000 1264 144059 002135700 51 116680071 114 037929194 515 286704183 277 896368884 84 915188605 8 488207941 0 759619515 2 892414901 6 179554750 INS ALIGNMENT _COMPLETE 855d6 76 170 SPAN Technology for OEMV User Manual Rev 11 INS Logs Appendix C C 2 16 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 Seconds from week start Double 8 H 4 Week 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 Double 8 H 20 m 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 5 on page 46 Enum 4 H 36 8 XXXX 32 bit CRC
215. velocity values float or ushort as those you entered Note that neither velocity value is used by the SPAN filter Rather the SPAN filter uses cumulative ticks per second If post processing the velocities may be used with the NovAtel Waypoint Group s Inertial Explorer software Structure Message ID 622 Log Type Asynch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header short 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 Ulong 4 H 16 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 onnew ASCII Example This example is from the iMAR iMWS wheel sensor T IMEDWHEELDATAA 1393 411345 001 58 0 215 814910889 0 0 1942255 3b5fa236 SPAN Technology for OEMV User Manual Rev 11 191 Appendix C INS Logs C 2 29 VEHICLEBODYROTATION Vehicle to SPAN frame Rotation The VEHICLEBODYROTATION log reports the angular offset from the vehicle frame to the SPAN frame The SPAN frame is defined by the transformed IMU enclosure axis with Z pointing up see the SETIMUORIENTATION command on page 124 If your IMU is
216. xample 3 LEVERARMCALIBRATE OFF 0 This command stops the calibration The current estimate when the command was received is output in the BESTLEVERARM log and used in the SPAN computations SPAN Technology for OEMV User Manual Rev 11 119 Appendix B INS Commands 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 The 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 Example nmeatalker auto This command only affects NMEA logs that are capable of a GPS position output For example GPGSV is for information on GPS satellites and its output always uses the GP ID Table 31 shows the NMEA logs and whether they use GP or GP IN IDs with nmeatalker auto Table 31 NMEA Talkers Log GPALM GPGGA GPGLL GPGRS GPGSA GPGST GPGSV
217. xes are most closely aligned with gravity using the SETIMUORIENTATION command If the IMU is mounted with the Z axis up and the Y axis pointing in the direction of travel then the command would be SETIMUORIENTATION 5 Specify the angular offsets between the SPAN frame and the vehicle frame known as vehicle body rotation or RVB using the VEHICLEBODYROTATION command see page 139 If the IMU is mounted coincidentally with the vehicle frame defined as z up and y pointing in the direction of travel then the command would be VEHICLEBODYROTATION 0 0 0 Alternatively solve the vehicle to IMU frame angular offsets using the RVBCALIBRATE routine See also Section 3 3 5 Vehicle to SPAN Frame Angular Offsets Calibration Routine on page 52 The kinematic alignment begins when the receiver has a good GPS position fine time is solved the configuration parameters have been set and a GPS velocity of at least 1 15 m s 4 km h is observed During kinematic alignment keep the vehicle roll at less then 10 Straight line driving is best The accuracy of the initial attitude of the system following the kinematic alignment varies and depends on the dynamics of the vehicle and the accuracy of the RVB estimates The attitude accuracy will converge to within specifications once some motion is observed by the system This transition can be observed by monitoring the INS Status field in the INS logs 3 3 1 3 Manual Alignment If you know the attitude of yo
218. y Table 18 Landmark Cable Pinouts FROM P1 MICRO D CONNECTOR MALE TO P2 MIC CABLE END PIN SIGNAL NAME PIN SIGNAL NAME 1 Serial Data 13 Serial Data In 2 Serial Data 14 Serial Data In 3 Power Ground 6 Power Ground 4 Reserved 7 Power Ground 8 IMU_VDD 5 IMU Input Power 5 IMU VDD 6 External Synch 17 Data Acquisition Signal DAS 7 Reserved 10 Power Ground 20 IMU Type indicator 9 Reserved 8 Signal Ground SPAN Technology for OEMV User Manual Rev 11 89 Appendix A Technical Specifications A 7 2 HG1930 IMU to MIC Cable Assembly NovAtel s part number for the HG1930 IMU to MIC interface cable is 01018827 Figure 39 on page 90 This cable provides power to the IMU and enables input and output between the MIC and the IMU Dimensions in millimetres 600 0 20 0 P2 to MIC l P1 to IMU PCB 5 E m V Notch indicates Pin 1 end of connector Figure 39 HG1930 IMU to MIC Cable Assembly Table 19 HG1930 IMU to MIC Cable Assembly FROM P1 IMU CABLE END FCI MINITEK TO P2 MIC CABLE END PIN 1 2 3 13 4 14 5 8 7 7 6 9 8 10 3 11 4 6 12 19 9 5 1 10 2 For more information refer to the IMU documentation provided by Honeywell 90 SPAN Technology for OEMV User Manual Rev 11 Technical Specifications Appendix A A 7 3 HG1700 and HG1900 IMU to MIC Cable Assembly NovAtel s pa
219. y and Hex 4 H 228 Short Binary only 8 CR LF Sentence terminator ASCII only Recommended Input log inscovsa onchanged ASCII Example SINSCOVSA 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 SPAN Technology for OEMV User Manual Rev 11 165 Appendix C INS Logs C 2 11 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 135 Structure Message ID 265 Log Type Synch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Latitude Latitude WGS84 Double 8 H 12 5 Longitude Longitude WGS84 Double 8 H 20 6 Height Ellipsoidal Height WGS84 m Double
220. y the specified port Data can be passed through the disabled port and be output from an alternative port using the pass through logs PASSCOM PASSXCOM PASSAUX and PASSUSB Refer to the OEMV Family Firmware Reference Manual for information on pass through logging and the COMCOMFIG log Abbreviated ASCII Syntax Message ID 3 INTERFACEMODE port rxtype txtype responses ASCII Binary Bc Me Binary Binary Value Value Description Format Offset 1 Header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 Port See Table 30 COM Serial port identifier Enum 4 H Serial Port default THISPORT Identifiers on page 117 3 Rxtype See Table 29 Serial Receive interface mode Enum 4 H 4 4 Txtype Port Interface Transmit interface mode Enum 4 H 8 Modes on page 116 5 Responses OFF 0 Turn response generation off Enum 4 H 12 ON 1 Turn response generation on default ASCII Example INTERFACEMODE COM1 RTCA NOVATEL ON SPAN Technology for OEMV User Manual Rev 11 115 Appendix B 116 Binary Value INS Commands Table 29 Serial Port Interface Modes ASCII Mode Name Description 0 NONE The port accepts generates nothing 1 NOVATEL The port accepts generates NovAtel commands and logs 2 RTCM The port accepts generates RTCM corrections 3 RTCA The
221. yte Status or Set tings is defined by bit 6 of the message Under normal operation with NovAtel SPAN these bytes will alternate between each RAWIMU log Recommended Input log rawimua onnew ASCII Example RAWIMUA COM3 0 0 0 EXACT 1105 425384 180 00040000 b8ed 0 1105 425384 156166800 111607 43088060 430312 3033352 132863 186983 823 5aa97065 186 SPAN Technology for OEMV User Manual Rev 11 INS Logs Appendix C C 2 25 RAWIMUS Short Raw IMU Data This is a short header version of the RAWIMU log on page 179 Structure Message ID 325 Log Type Asynch maa Field Type Data Description Format Binay Binary 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 IMU Status The status of the IMU This field is given ina Long 4 H 12 fixed length n array of bytes in binary but in ASCII or Abbreviated ASCII is converted into 2 character hexadecimal pairs For the raw IMU status of the iI MU FSAS see Table 43 iIMU FSAS Status on page 180 For the raw IMU status of the HG1700 and the LN 200 IMUs see Table 44 Also refer to Table 45 HG1900 and HG1930 Status on page 183 or Landmark Status on Page 185 Also refer to the Interface Control Documentation as provided by Honeywell and Northrop Grumman respectively 5 Z Accel Output Change in velocity count along z axis Long 4 H 16 6 Y Accel Output Change in velocity coun
222. z aligned with the GPS even second boundaries The GPS second boundary is available from the OEMV 1PPS pulse This pulse should be used to trigger the wheel sensor hardware to send the accumulated tick count back to the receiver through the WHEELVELOCITY message see page 142 SPAN does not accumulate raw measurement ticks from a wheel sensor device Additional hardware is required to accumulate the tick counts and pass the accumulated count to the SPAN system at 1Hz triggered by the 1PPS Refer also to our application note APN 036 Using a Wheel Sensor with SPAN available on our Web site at www novatel com through Support Knowledge and Learning 3 3 6 2 Wheel Sensor Update Logic The SPAN system uses the WHEELVELOCITY command to apply a time to the message based on the time of the last 1PPS pulse and the latency reported in the log This timed data is passed to the INS GPS Kalman filter to perform the update The timed data is also available through the TIMEDWHEELDATA log see page 191 The TIMEDWHEELDATA log can be used for applying wheel sensor updates in post processing The SPAN Kalman filter uses sequential TMEDWHEELDATA 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 condition

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