- NovAtel Inc.
Contents
1. 115200 v Read Only si Open Connection Hardware Handshaking Windows Option Ok Cancel 3 Enter a name for the Connection 4 Select Serial or USB from the Type list Select the computer port that the SPAN system is connected to from the Port drop down list If this is a serial connection select 115200 from the Baud Rate drop down list If this is a serial connection clear the Use hardware handshaking check box Click the OK button to save the new connection Select the SPAN receiver from the Available Device Connections area of the Open Connection window oe a A 10 Click the Open button to open SPAN receiver communications As NovAtel Connect establishes the communication session with the receiver a progress box is displayed Detailed instructions for using NovAtel Connect are available from within the utility Help the chm file bundled with the software or from our web site www novatel com support firmware software and manuals CONFIGURE THE SPAN SYSTEM There are two methods to configure the SPAN system e Configure SPAN Manually e Configure SPAN Using NovAtel Connect Configure SPAN Manually Follow these steps to enable INS as part of the SPAN system using software commands 1 Establish a connection to the receiver For SPAN solutions connect to the FlexPak6 For ALIGN solutions connect to the SPAN IGM A GNSS antenna must be connected and tracking sate2. GM fora SPAN solution or a SPAN IGM for an ALIGN solution e 10mm wrench or socket STACK UP INSTALLATION Vv Ensure the IMU IGM or SPAN IGM is securely mounted prior to starting this procedure For the simplest operation align the Y axis of the IMU IGM or SPAN IGM with the forward axis direction of travel of the vehicle Ensure the Z axis is pointing up Figure 1 Stack Up Installation 1 Flip the FlexPak6 over Remove the paper liner from the one side of the foam spacers 4 Secure the spacers into the four recesses on the bottom of the FlexPak6 Return to upright position Place a washer 2 over a bolt 2 and insert into and through the holes 2 of the FlexPak6 Slip a standoff 2 over each bolt 4 Line up and insert the bolts into the center of the metal base holes 2 of the IMU IGM and tighten gt These steps can also be used to stack a FlexPak6 on top of a SPAN IGM enclosure IMU IGM WITH SPAN SOLUTION HARDWARE SETUP 01019013 NovAtel interface cables have more connections than are shown in the diagram Additional connections were removed for clarity 1 Mount the GNSS antenna securely to the vehicle Ensure the antenna and IMU IGM cannot move rel ative to each other The distance and relative direction between them must be fixed Connect the Stack Up Cable 01019013 to COM2 of the FlexPak6 and MAIN on the IMU IGM Connect a USB cable from th
3. Integrated GNSS MEMS Stackable Solutions QUICK START GUIDE GM 14915122 Rev 2 March 2013 This guide provides instructions on how to use the NovAtel Stackable Solutions This guide provides general instructions for using the Bracket Kit to attach stack a NovAtel FlexPak6 to the top of either an IMU IGM or SPAN IGM It also provides instructions for setting up the IMU IGM application and configuring the SPAN IGM with an ALIGN solution When the SPAN IGM and FlexPak6 are combined both the SPAN IGM and FlexPak6 act as GNSS receivers to deliver a NovAtel ALIGN solution When the IMU IGM and FlexPak6 are combined the FlexPak6 acts as the GNSS receiver while the IMU IGM acts as a sensor transmitting data to the FlexPak6 to deliver a SPAN solution For detailed information on the installation and operation of the receivers and enclosures refer to the user manuals located on our web site e SPAN IGM SPAN IGM User Manual OM 20000141 e IMU IGM SPAN on OEM6 User Manual OM 20000139 e FlexPak6 OEM6 Family User Manual OM 20000128 BRACKET KIT CONTENTS In addition to this Quick Start Guide the following is provided with the bracket kit e 1 cable for power and data SPAN IGM ALIGN Cable 01019089 for an ALIGN application or IMU IGM Stack Up Cable 01019013 for a SPAN application e 4 foam spacers e 2 standoffs e 2 bolts e 2 washers ADDITIONAL EQUIPMENT REQUIRED e A NovAtel FlexPak6 receiver e A NovAtel IMU I
4. NB onchanged SPAN system output is compatible with Inertial Explorer post processing software from the Waypoint Products Group NovAtel Inc Visit our website at www novatel com products software waypoint products for details 11 QUESTIONS OR COMMENTS If you have any questions or comments regarding your SPAN system please contact NovAtel Customer Service by Email support novatel com Web www novatel com Phone 1 800 NOVATEL U S amp Canada 1 800 668 2835 1 403 295 4500 Fax 1 403 295 4501 China 0086 21 54452990 8011 Europe 44 1993 848 736 SE Asia amp Australia 61 400 883 601 NovAtel SPAN OEM6 Inertial Explorer and Waypoint are registered trademarks of NovAtel Inc NovAtel Connect FlexPak6 SPAN IGM and IMU IGM are trademarks of NovAtel Inc Windows is a registered trademark of Microsoft Corporation Copyright 2013 NovAtel Inc All rights reserved Printed in Canada on recycled paper Recyclable Unpublished rights reserved under international copyright laws AS amp amp et NovAtel 12
5. e FlexPak6 Line up the red mark on the power cable connector with the red mark on the receiver s power port and insert the power cable Connect the FlexPak6 power cable to the power supply The power LED lights red when the FlexPak 6 is properly powered In a stack up configuration power is provided to the SPAN IGM through the SPAN IGM ALIGN Cable Refer to the OEM6 Family User Manual for details on powering the FlexPak6 INSTALL THE PC UTILITIES Install the NovAtel Connect PC Utilities and USB drivers 1 To access and download the most current version of the NovAtel Connect PC Utilities and USB drivers go to the Support page of the NovAtel web site at www novatel com support firmware software and manuals Establishing a New Receiver Connection The first time you establish a connection with the receiver complete the following 1 Launch NovAtel Connect from the Start menu folder specified during the installation process The default location is Start All Programs NovAtel Connect NovAtel Connect 2 Select New Connection from the Welcome window Welcome x ts Open Help Open A Recent Connection MF ConnectionB si ConnectionA w1 2 0 32 wari novatel com W Show on startup New Connection Name AIATA aT AJ N 2 Ate I v Ww ww Device Type Type Serial Serial Settings fF Open Playback Port COM1 v Passive Baud Rate
6. e computer to the USB port on the receiver Make sure you have installed the USB drivers The USB drivers are available from the NovAtel web site Alternately you can connect the FlexPak6 to a computer using a serial cable or an Ethernet connection For information about using these other connection methods refer to the SPAN on OEM6 User Manual OM 20000139 found on the NovAtel web site at www novatel com support firmware software and manuals Connect the GNSS antenna to the antenna port on the FlexPak6 using an appropriate antenna cable 5 Connect the power cable to the power port on the FlexPak6 Line up the red mark on the power cable connector with the red mark on the receiver s power port and insert the power cable 6 Connect the FlexPak6 power cable to the power supply The power LED lights red when the FlexPak6 is properly powered In a stack up configuration power is provided to the IMU IGM through the Stack Up Cable Refer to the OEM6 Family User Manual for details on powering the FlexPak SPAN IGM WITH ALIGN SOLUTION HARDWARE SETUP s L Bal sA E P gt gt eocee eoeoe P C gt KW N NS ee of lg 01019089 01019015 Additional connections were removed for clarity NovAtel interface cables have more connections than are shown in the d
7. el Connect session and establish a connection to the receiver For SPAN solutions connect to the FlexPak6 For ALIGN solutions connect to the SPAN IGM 2 Select Wizards SPAN Alignment from the NovAtel Connect toolbar This wizard takes you through the steps to complete an alignment and configure the receiver port to accept IMU data ENET Zw SPAN Alignment Welcome to the NovAtel SPAN Wizard The wizard will guide you through the different setup procedures of your NovAtel SPAN system NovAtel SPAN is a powerful Synchronized Position Attitude Navigation system lt Back Next gt Cancel 3 Perform a kinematic alignment See the SPAN IGM User Manual OM 20000141 for more information The IMU IGM FlexPak6 product is now ready for use see Log SPAN Data on page 9 for information about logging data T CONFIGURE THE ALIGN SOLUTION SPAN IGM WITH ALIGN SOLUTION ONLY Before configuring the ALIGN solution the SPAN IGM and the FlexPak6 MUST both be powered on and connected directly between COM 2 of the SPAN IGM and COM 2 of the FlexPak6 through the SPAN IGM ALIGN Cable 01019089 The rover receiver FlexPak6 must be an ALIGN capable model such as D2S Z00 000 running the latest OEM6 firmware version To enable the dual antenna ALIGN solution to aid the INS alignment and provide heading updates the offset between the antennas and the SPAN IGM must be known This is achieved by entering lever arms to both ant
8. ennas using the SETIMUTOANTOFFSET and SETIMUTOANTOFFSET2 commands To configure SPAN with ALIGN Aiding 1 Enter the lever arm from the SPAN IGM to the primary antenna using the SETIMUTOANTOFFSET com mand the primary antenna is connected to the SPAN IGM Abbreviated ASCII example SETIMUTOANTOFFSET 0 54 0 32 1 20 0 03 0 03 0 05 2 Enter the lever arm from the SPAN IGM to the secondary antenna using the SETIMUTOANTOFFSET2 command the secondary antenna is connected to the FlexPak6 Abbreviated ASCII example SE TIMUTOANTOFPESETZ 0 54 2432 1620 02 03 0203 0 05 Refer to the SPAN on OEM6 Firmware Reference Manual OM 20000144 for the syntax of the above commands 3 As with all ALIGN capable products the GNSS baseline solution is available from the GPHDT and HEADING logs For INS heading use the INSATT or INSPVA logs Abbreviated ASCII example LOG INSPVASA ONTIME 1 Automatic Alignment Automatic Alignment Mode Selection is the default setting for a SPAN IGM This mode is designed to allow alignment of the system as quickly as possible using either an aided transfer alignment a kinematic alignment or a manual alignment The first available technique is used regardless of its relative quality If you wish to guarantee a specific technique is used see the SPAN IGM User Manual OM 20000 141 LOG SPAN DATA Raw GNSS IMU and navigation data position velocity attitude are available from the system as ASCII or binary l
9. iagram 1 Mount the two GNSS antennas securely to the vehicle Ensure the antennas and SPAN IGM cannot move relative to each other The distance and relative direction between them must be fixed Also ensure the satellites will not be obstructed by any part of the vehicle As heading accuracy is dependent on baseline length mount the antennas as far apart as possible A minimum separation distance of 1 metre is recommended 2 Connect the SPAN IGM ALIGN Cable 01019089 to COM2 of the FlexPak6 and MAIN on the SPAN IGM 3 Connect the interface cable 01019015 to the AUX connector on the SPAN IGM Connect the USB connector on the interface cable to the USB port on the computer Connect a second USB cable from the computer to the USB port on the FlexPak6 Make sure you have installed the USB drivers The USB drivers are available from the NovAtel web site Alternately you can connect the SPAN IGM and FlexPak6 to a computer using a serial cable or an Ethernet connection For information about using these other connection methods refer to the SPAN IGM User Manual OM 20000141 found on the NovAtel web site at www novatel com support firmware software and manuals Connect the primary GNSS antenna to the antenna port on the SPAN IGM using an appropriate antenna cable Connect the secondary GNSS antenna to the antenna port on the FlexPak6 using an appropriate antenna cable Connect the power cable to the power port on th
10. llites for operation 2 Issue the CONNECTIMU command to specify the type of IMU and the receiver port connected to the IMU see Table 1 Table 1 CONNECTIMU Commands IMU Type CONNECTIMU command IMU IGM CONNECTIMU COM2 IMU_ADIS16488 SPAN IGM No command required Basic configuration of the SPAN system is now complete The inertial filter starts once the GNSS solution is solved and the IMU is connected 3 Enter the distance from the IMU IGM or SPAN IGM to the GNSS antenna using the SETIMUTOANTOFFSET command The offset between the antenna phase center and the IMU IGM or SPAN IGM axes must remain constant and be known accurately The X pitch Y roll and Z azimuth directions are clearly marked on the enclosure The SETIMUTOANTOFFSET parameters are where the standard deviation fields are optional x Offset Y offset Z ofrset x stdev ly stdev L2 stdev Y Offset 3 X Offset This example assumes a default mounting configuration resulting in a X offset Y offset and Z offset A typical RTK GNSS solution is accurate to a few centimetres For the integrated INS GNSS system to have this level of accuracy the offset must be measured to within a centimetre 4 Perform a kinematic alignment See the SPAN IGM User Manual OM 20000141 for more information Configure SPAN Using NovAtel Connect Follow these steps to enable INS as part of the SPAN system using the NovAtel Connect software utility 1 Start a NovAt
11. ogs Data can be collected through NovAtel Connect using the Logging Control Window or sent out the receiver COM port to user supplied data collection software amp COM11 Logging Control Window COM Current Port Log File eee Elapsed ang Name Fort Trigger COM2 ina OnChanged RANGEB CoM2 i OnTime RAWEPHEMB CoM2 i OnChanged RAWIMUSB CoM2 i OnNew IMUTOANTOFFSET COM2 i nals coms TRH PA FA mnm Cami am T a p a ga a OPERATE THE SPAN SYSTEM The system is ready to go once it is powered and the INS and GNSS are configured using the previously shown commands Observe the status of the system in the NovAtel Connect INS Window or in the status field of any of the INS solution logs for example INSPOS INSVEL INSATT and INSPVA INS data is available after the receiver s time status has reached FINESTEERING Therefore an antenna must be connected for the system to function Move the vehicle forward at a speed faster than 1 15 m s The following status stages may be observed Table 2 Inertial Solution Status Binary ASCII Description INS INACTIVE IMU logs are present but the alignment routine has not started INS is inactive INS_ALIGNING INS is in alignment mode The INS solution is in navigation mode but the azimuth solution uncertainty has exceeded the threshold The default threshold on the SPAN IGM is 5 degrees The solution is still valid but you should monitor the solution uncertaint
12. y in the INSCOV log You may encounter this state during times when the GNSS used to aid the INS is absent INS_SOLUTION_GOOD The INS filter is in navigation mode and the INS solution is good The INS filter is in navigation mode and the GNSS solution is suspected to be in error INS_SOLUTION_FREE This may be due to multipath or limited satellite visibility The inertial filter has rejected the GNSS position and is waiting for the solution quality to improve 2 INS_HIGH_VARIANCE The INS filter is in navigation mode but not enough vehicle T INS_ALIGNMENT COMPLETE dynamics have been experienced for the system to be within specifications a DETERMINING ORIENTATION INS is determining the IMU axis aligned with gravity 9 WAITING INITIALPOS The INS filter has determined the IMU orientation and is awaiting an initial position estimate to begin the alignment process 10 POST PROCESS DATA Post processing requires collection of simultaneous data from the base and rover stations This includes accurate coordinates of the base station and accurate measurement of the IMU to antenna separation Collect the following data for post processing e From the base station RANGECMPE ontime 1 RAWEPHEMB onchanged GLOEPHEMERISB onchanged if using GLONASS e From the rover station s RANGECMPEB ontime 1 RAWEPHEMB onchanged GLOEPHEMERISB onchanged if using GLONASS RAWIMUSXB onnew IMUTOANTOFFSETSB onchanged VEHICLEBODYROTATIO
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