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1. This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively See Table 10 COM Serial port identifier Enum 4 H Serial Port Identifiers default THISPORT on Page 49 rxtype See Table 9 Serial Receive interface mode Enum 4 H 4 Port Interface Modes txtype on Page 48 Transmit interface mode Enum 4 H 8 5 responses OFF 0 Turn response generation off Enum 4 H 12 ON 1 Turn response generation on default ASCII Example INTERFACEMODE COMI RTCA NOVATEL ON SPAN Technology User Manual Hev 7 47 Appendix B 48 INS Commands Table 9 Serial Port Interface Modes Binary Value ASCII Mode Name Description 0 NONE The port accepts generates nothing NOVATEL The port accepts generates NovAtel commands and logs 2 RTCM The port accepts generates RTCM corrections 3 RTCA The 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 b 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
2. Field Field Type Type Description 1 Char symbol 2 Message Char This is the name of the log 3 Week Number Ushort GPS week number 4 Milliseconds Ulong Milliseconds from the beginning of the GPS week Table 15 Short Binary Message Header Structure Field Field Type Type Description pu AY 1 Sync Char Hex OxAA 1 0 2 Sync Char Hex 0x44 1 1 3 Sync Char Hex 0x13 1 2 4 Message Length Uchar Message length not including header or 1 3 CRC 5 Message ID Ushort Message ID number 2 4 6 Week Number Ushort GPS week number 2 6 7 Milliseconds Ulong Milliseconds from the beginning of the 4 8 GPS week 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 Volume 2 of the OEM4 User Manual set 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 SPAN Technology User Manual Hev 7 61 Appendix C INS Logs C 2 1 BESTGPSPOS Best GPS Position This log contains the best available GPS position without INS computed by the receiver In addition it reports several status indicators including differential age which is useful in predicting anomalous behavior brought about by outages in differential corrections A differential age of 0 indicates that no
3. seeeeeneeeenennnenneenn 102 Secure the Connector oui decedere tede peste ayaa deni ete paite Deseo teda 102 Replace the Enclosure Lid eese nne nnne nnne 103 Tightening the Lid 5 ido ie epo Et ete ae S P ee ae ita 103 Completed IMU Assembly sssssssssseseeeeeeenne ennemi 104 SPAN Technology User Manual Hev 7 Tables 1 SPAN Compatible Receiver Models essent eene 16 2 MU Enclos fre Models ooi ctor e o c onu ras c boe ree dee Ee aacra Pepe re Dad 17 3 Receiver Enclosure Back Panel Labels c ccccssscscccsscsecceeceeeeceesessessesesesnesseeeeeeeeeees 21 4 Enclosure Port Used for IMU Connection ccccccccccccccscssssseeceeesssseeeeeesssseeeeeessssseenees 21 5 Solution Status Subset cccccccccssseccecessseeeeceeessseeeceesssaeeeceeessaseeceeseseaseeeeseeseeeeesessnaaees 30 6 Solution Paraimelets x niet eee dette ic ce De Ee Eiaa 32 7 IMU SpecifiCations coin eene ete eco c ced ego cd ecd 36 8 FRESET Eie UP 43 9 Serial Port Interface Modes ier einn EE EE 48 10 COM Serial Port Identifiers missis ainsin nnne nennen 49 11 Full Mapping Definitions 2e necne eiecti dee dete e oce eee 55 12 IMU TV PO 57 13 INS Status Definitions 2 iue dette cte een eot et ides e ge e aee eg e E 60 14 Short ASCII Message Header Structure sseeeene 61 15 Short Binary Mes
4. sesssss 80 C 2 18 INSSPD INS Speed nennen nennen 82 C 2 14 INSSPDS Short INS Speed ceccceccesceeceeseeeeeeeeceeeeeeceeeeeesaeeeaesaeseeesaeeseeeeeaees 83 C 2 15 INSUPDATE INS Update sse 84 C216 INSVEL INS Velocity ie e ale ein Sapna tetete eats 85 C 2 17 INSVELS Short INS Velocity eccecceeceeeeeecceeeeeeeeeeceeeeeesaeeeaeseeeaesreeneseeees 86 C 2 18 RAWIMU Raw IMU Datta sssssssssseeeeeneneneeeeennen nnne 87 C 2 19 RAWIMUS Short Raw IMU Datta ssssssseeeeeneene 90 C 2 20 VEHIGLEBODYROTAT ION 3 hh ente et 92 D Command Prompt Interface 94 DADOS iuto nete taie PUE 95 D 2ANIDdOWS ji nien eredi eoa Im I Hr REO RH Parte deu ade 96 E IMU Gyro Installation 97 E Introductions x u 5 55 oie tte eden aestus Hd iesu 97 E 2 Safety Precautions nonen 2 etc ecd gc deve T n eu dee in EY eee De 97 E 3 General Steps of the Procedure nnne nre nnne 97 E 4 IMU Gyro Installationi 5 2 ate eorr e e E gs 97 F Frequently Asked Questions 105 G Replacement Parts 107 G 1 SPAN System adi ee de e Ha ete eet T re EE TRE ens 107 3 2 Accessories and Options xs cia tete dte ERROR a ei OH er oe 107 G 3 Manufacturer s Part Numbers esssssesseeeeeene nennen nnne nennen nnne nnne 107 SPAN Technology User Manual Hev 7 Figures OANDAARWND gt SPAN System Receiver and IMU ou eeeeececeeeeeeeeeeteneeeeeeeeaeeeeeeseaeeceeeseaeeeeeseaeeeaeeeneees 14
5. TXD_TXD o RXD_RXD o CTS RXD V_IN V_IN V IN V IN NIC NIC QOOQD Figure 12 IMU Interface Cable Pin Out ProPak LBplus lt In Figure 12 above V IN pin outs are also Ground GND Reference 11 12 13 14 Description 10 pin LEMO connector connect to IMU L1 8 pin Switchcraft socket connector connect to ProPak LBplus COM3 port B 2 pin Switchcraft plug connector connect to power source a 2 pin Switchcraft socket connector connect to ProPak LBplus power port E SPAN Technology User Manual Hev 7 39 Appendix A A 2 SPAN System Performance Technical Specifications PERFORMANCE SPAN SYSTEM WITH IMU Single Point L1 Single Point L1 L2 WAAS L1 WAAS L1 L2 DGPS L1 C A OmniSTAR VBS OmniSTAR HP 56 CDGPS RT 20 d RT 2 Position Accuracy 1 8 m 5 91 ft CEP 1 5 m 4 92 ft CEP 1 2 m 8 94 ft CEP 0 8 m 2 62 ft CEP 0 45 m 1 48 ft CEP 1 0 m 3 28 ft CEP 0 10 m 0 33 ft CEP 0 7 m 2 30 ft CEP lt 20 cm lt 7 87 CEP 1 cm 0 39 1 ppm Velocity Accuracy 0 02 m s 0 045 m p h RMS nominal Attitude Accuracy Pitch 0 015 Roll 0 015 Azimuth 0 05 Acceleration Accuracy 0 03 m s 0 098 ft s L2 P Y Code L1 Carrier Phase L2 Carrier Phase Time Accuracy f 20 ns RMS Time to First Fix TTFF 9 Cold Start 50 s Warm Start 40s Hot
6. 5 59 142 00mm mm 110 00mm Appendix A 0 23 5 90mm 0 26 6 50mm E 0 75 19 05mm 37 Appendix A Technical Specifications A 1 IMU Interface Cable The NovAtel part number for the IMU interface cable is either 01017384 for the DL 4plus and ProPak G2plus see Figure 9 and Figure 10 below or 01017393 for the ProPak LBplus see Figure 11 and Figure 12 on Page 39 The IMU interface cable supplied provides power to the IMU from the receiver and enables input and output between them Figure 9 IMU Interface Cable ProPak G2p us and DL 4plus RED MARKER AT 56 TOP OF CONNECTOR fo fo j E im L RENE 1 ES 01017364 ul IL f m EL 5 EN P wl LEMO MALE PLUG Jl fm a I 5 7 H0 MAX WIRING TABLE LEMO PIN OUT SIGNAL D SUB PIN OUT RTS_TXD 7 2 TXD_TXD4 3 3 RXD_RXD 2 4 CTS_RXD 8 5 V OIN 6 V IN 4 7 V IN 8 v IN 9 wc N C 10 N C N C Figure 10 IMU Interface Cable Pin Out ProPak G2p us and DL 4plus lt In Figure 10 above V IN pin outs are also Ground GND 38 SPAN Technology User Manual Rev 7 Technical Specifications 1 Semi 9 C amp c n oo 13 Appendix A H s 8 KEY RTS TXD
7. ASCII Binary Binary Binary Binary Description Format Bytes Offset Value Value 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 X offset 100 Offset along the IMU X axis m Double 8 H 3 Y offset 100 Offset along the IMU Y axis m Double 8 H 8 4 Z offset 100 Offset along the IMU Z axis m Double 8 H 16 Abbreviated ASCII Example SETINSOFFSET 0 15 0 15 0 25 58 SPAN Technology User Manual Rev 7 INS Commands Appendix B B 2 13 VEHICLEBODYROTATION The VEHICLEBODYROTATION command can be used to set initial estimates for the angular offset The uncertainty values are optional defaults 0 0 Please see Section 3 2 5 Vehicle to Body Frame Angular Offsets Calibration Routine starting on Page 34 for more details See also the VEHICLEBODYROTATION log starting on Page 92 for more details a syntax table and an ASCII example Abbreviated ASCII Syntax VEHICLEBODYROTATION X Y Z ox oy oz SPAN Technology User Manual Hev 7 59 D Ye D S492INS Logs The INS specific logs follow the same general logging scheme as normal OEM4 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 lo
8. Reference Description 1 A plus receiver the DL 4p us has a Compact Flash Card while the ProPaks may be connected to a laptop for data storage 2 User supplied NovAtel GPS antenna 3 IMU and IMU interface cable to COM3 E on the ProPak LBplus or AUX on the Propak G2plus and DL 4plus 4 User supplied power supply 5 User supplied radio device to COM2 6 User supplied base station OEM4 Family receiver 7 User supplied PC for setting up and monitoring to COM1 Figure 4 Basic Set Up Unlike the ProPak G2plus and the DL 4plus the ProPak LBplus does not power the IMU directly through a straight IMU interface cable The ProPak LBplus connections with its IMU interface cable are shown in the Figure 5 on Page 20 Note the use of a W shaped cable for communication and power between the receiver and IMU SPAN Technology User Manual Hev 7 19 Chapter 2 SPAN Installation 4 Pun Figure 5 IMU Interface Cable Connections ProPak LBplus Reference Description 8 pin Switchcraft connector to COM3 10 pin LEMO connector to IMU 2 pin Switchcraft connector to power port 2 pin Switchcraft connector to power source AOUN The setup that follows outlines how to set up the system s parts and cables See Appendix A Technical Specifications starting on Page 36 and refer to your DL 4plus or Volume 1 of the OEM4 User Manual set for the NovAtel part numbers of cables and their pinouts 2 1 1 SPAN System Receivers T
9. SPAN Technology System USER MANUAL OM 20000062 Rev 7 Proprietary Notice SPAN Technology System User Manual Publication Number OM 20000062 Revision Level 7 Revision Date 2005 12 22 This manual reflects OEM4 G2 firmware Version 2 300 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 OEM4 GPSolution ProPak RT 20 and RT 2 are registered trademarks of NovAtel Inc SPAN Technology DL 4plus ProPak G2plus ProPak LBplus PAC are trademarks of NovAtel Inc All other product or brand names are trademarks of their respective holders Manufactured and protected under U S Patent Narrow Correlator 5 101 416 5 390 207 5 414 729 5 4
10. 1 degree hour gyro bias IMU G2 H62 IMU G2 enclosure with an HG1700 AG17 IMU and 10 degrees hour gyro bias IMU LB 000 IMU LB enclosure without an IMU for customers ProPak LBplus who will be supplying their own IMU IMU LB H11 IMU LB enclosure with an HG1700 AG11 IMU IMU LB H17 IMU LB enclosure with an HG1700 AG17 IMU IMU LB H58 IMU LB enclosure with an HG1700 AG17 IMU and 1 degree hour gyro bias IMU LB H62 IMU LB enclosure with an HG1700 AG17 IMU and 10 degrees hour gyro bias a See also Appendix E IMU Gyro Installation starting on Page 97 SPAN Technology User Manual Rev 7 17 Chapter 2 SPAN Installation 2 1 Hardware Description The hardware setup consists of an OEM4 G2 receiver see Figure 2 an IMU see Figure 3 a GPS antenna power and a radio link if your application requires real time differential operation If your IMU enclosure and IMU have come separately additional installation instructions for installing the IMU can be found in Appendix E IMU Gyro Installation starting on Page 97 dA WE DL 455 YA 3 Figure 2 DL 4plus Figure 3 IMU Your SPAN system receiver is factory configured and ready to install into the system for data collection Figure 4 Basic Set Up on Page 19 shows a typical set up For single point operation you only need to use the connections in the figure with black cables 18 SPAN Technology User Manual Rev 7 SPAN Installation Chapter 2
11. B 2 7 LEVERARMGALIBRAT E 1 cte e tete eee dece dnb de eid oda 51 B 2 8 RVBCALIBRAT E etae tete de ee bd dede dee ce usen ade 52 B 2 9 SETIMUORIENTATION tt i dde edd e 53 B 2 10 SETIMUTOANTOFFSET aenieei eteen eotia dekaad eiieeii ini 56 R S TMU RE a a n MOD 57 B 2 12 SETINSOEESET iie A E T 58 B 2 13 VEHICLEBODYROTATION ere ee ten het diet ee UT E 59 C INS Logs 60 C 1 Description of ASCII and Binary Logs with Short Headers sssesssss 61 CZ INS SpecifiC EOgS i esar cct code terere eec Pe deat p d o in 61 C 2 4 BESTGPSPOS Best GPS Position sssessssseeneee 62 C 2 2 BESTGPSVEL Best Available GPS Velocity Data ssessssss 67 C 2 8 BESTLEVERARM IMU to Antenna Lever Arm esee 69 C 2 4 INSATT INS Attitude 70 C 2 5 INSATTS Short INS Attitude sss 71 C 2 6 INSCOV INS Covariance Matrices sssssseeeeeeeneeneen nens 72 C 2 7 INSCOVS Short INS Covariance Log esee 74 C 2 8 INSPOS INS Position ssssssssssssssssseeneneeneneeennen nennen 75 C 2 9 INSPOSS Short INS Position esssssssssssssseseeeeeees 76 C 2 10 INSPOSSYNC Time Synchronised INS Position seeesssss 77 C 2 11 INSPVA INS Position Velocity and Attitude sess 78 C 2 12 INSPVAS Short INS Position Velocity and Attitude
12. SPAN Technology User Manual Rev 7 97 Appendix E IMU Gyro Installation Figure 15 Gyro 2 The Installation Kit includes 2 small screws for the IMU connector 3 larger screws for the Gyro installation and a flex interconnect cable see Figure 16 m Figure 16 Contents of Installation Kit 3 Carefully unscrew and remove the IMU Enclosure lid see Figure 17 Figure 17 Remove the Lid 98 SPAN Technology User Manual Rev 7 IMU Gyro Installation Appendix E 4 The IMU flex cable must be connected to its mating connector on the power board First pull the friction lock of the connector see Figure 18 and Figure 19 outward so the flex cable can be pushed into the socket Push the flex cable in all the way ensure it is straight and then push the friction lock back to its original position to secure the cable Tug slightly on the cable to test for a tight connection Reference Description 1 Pull friction lock away from connector Insert flex into open socket i Push friction lock all the way in to secure the flex cable Figure 18 Flex Cable Mating Connector SPAN Technology User Manual Hev 7 99 Appendix E IMU Gyro Installation n wp Figure 19 Installing the IMU Flex Cable 5 Figure 20 on Page 100 shows the IMU Gyro being installed CAUTION Careful handling of this Gyro is CRITICAL Do NOT drop or bump this assembly Orientate the IMU Enclosure and
13. double 8589934592 0 for the AG11 AG58 AGI7 and AG62 See Table 2 IMU Enclosure Models on Page 17 for a list of IMU enclosures SPAN Technology User Manual Hev 7 INS Logs Appendix C Recommended Input log rawimusa onnew ASCII Example RAWIMUSA 1105 425384 180 1105 425384 156166800 111607 43088060 430312 3033352 132863 186983 823 5aa97065 SPAN Technology User Manual Hev 7 91 Appendix C INS Logs C 2 20 VEHICLEBODYROTATION 92 The VEHICLEBODYROTATION log reports the angular offset from the vehicle frame to the body frame The body frame is defined by the transformed IMU axis with Z pointing up see the SETIMUORIENTATION command on Page 53 The vehicle frame is defined as follows e Vehicle Z Axis points up through the roof of the vehicle perpendicular to the ground e Vehicle Y Axis points out the front of the vehicle in the direction of travel e Vehicle X Axis completes the right handed system out the right hand side of the vehicle when facing forward The rotation values are used to perform a kinematic alignment using the GPS velocity and track model roll and pitch estimates measured in the vehicle frame as an initial estimate of the system attitude The rotation is used to transform the vehicle frame attitude estimates into the body frame The uncertainty values report the accuracy of the angular offsets The VEHICLEBODYROTATION log can also be used as a command to set initial estimates for the angular offs
14. 0 1105 425384 996167250 223 766800423 0 019769837 0 024795257 1NSSolutionGood 15b864f4 82 SPAN Technology User Manual Rev 7 INS Logs Appendix C C 2 14 INSSPDS Short INS Speed This is a short header version of the INSSPD log on Page 82 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 13 on Page 60 Enum 4 H 36 8 XXXX 32 bit CRC ASCII Binary and Hex 4 H 40 Short Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log insspdsa ontime 1 ASCII Example INSSPDSA 1105 425385 000 1105 425384 996167250 223 766800423 0 019769837 0 024795257 1NSSolutionGood 15b864f4 SPAN Technology User Manual Hev 7 83 Appendix C INS Logs C 2 15 INSUPDATE INS Update This log contains the most recent INS update information It gives you information about what updates were performed in the INS filter at the last update epoch Structure Message ID 757 Log Type Synch Field Field Type Data Description Format Bytes One 1 Log Header Log header H 0 2 Solution Type Type of GPS solution
15. Asynch TEN 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 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 See Table 18 IMU Status on Page 88 the ASCII Example and Table 19 IMU Status Example on Page 89 5 Z Accel Output Change in velocity along z axis in m s Long 4 H 16 6 Y Accel Output Change in velocity along y axis in m s Long 4 H 20 7 X Accel Output Change in velocity along x axis in m s Long 4 H 24 8 Z Gyro Output Change in angle around z axis in radians Long 4 H 28 Right handed 9 Y Gyro Output Change in angle around y axis in radians Long 4 H 32 Right handed 10 X Gyro Output Change in angle around x axis in radians Long 4 H 36 Right handed 11 XXXX 32 bit CRC Hex 4 H 40 ASCII Binary and Short Binary only 12 CR LF Sentence terminator ASCII only a Scale Factor for change in velocity acceleration 0 3048 double 134217728 0 for the AG11 and AG58 0 3048 double 67 108864 0 for the AG17 and AG62 See Table 2 IMU Enclosure Models on Page 17 for a list of IMU enclosures b A negative value implies that the output is along the positive Y axis marked on the
16. C 2 10 INSPOSSYNC Time Synchronised INS Position This log contains the time synchonised INS position It is synchronised with GPS each second Structure Message ID 322 Appendix C Log Type Asynch n trux Binary Binary Field Type Data Description Bytes Offset 1 Log Header Log header H 0 2 Sec Age of synchronised INS solution s Double 8 H 3 x ECEF X coordinate 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 a 3 x 3 Double 9 72 H 32 array of length 9 Refer also to the CLOCKMODEL log in Volume 2 of the OEM4 Family manual set 7 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 104 Binary only 8 CR LF Sentence terminator ASCII only Recommended Input log inspossynca onchanged ASCII Example HKINSPOSSYNCA 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 9f cd6ce1 SPAN Technology User Manual Hev 7 77 Appendix C INS Logs C 2 11 INSPVA INS Position Velocity and Attitude This log allows INS position velocity and attitude to be collected in one log instead of using three separate logs Structure M
17. IMU A positive value implies that the change is in the direction opposite to that of the Y axis marked on the IMU c Scale Factor for change in angle 1 0 double 8589934592 0 for the AG11 AG58 AGI7 and AG62 See Table 2 IMU Enclosure Models on Page 17 for a list of IMU enclosures SPAN Technology User Manual Hev 7 87 Appendix C INS Logs Table 18 IMU Status Nibble Bit Mask Description a lale Meee 0 0x00000001 4 bit counter Read binary and convert to decimal to xs 1 0x00000002 give a simple counter incremented by 6 2 0x00000004 3 0x00000008 lt msb 4 0x00000010 IMU test Passed 0 Failed 1 Nl 5 0x00000020 Z axis gyro path length control Good 0 Reset 1 6 0x00000040 Y axis gyro path length control Good 0 Reset 1 7 0x00000080 X axis gyro path length control Good 0 Reset 1 8 0x00000100 Accelerometer temperature Read binary and convert to decimal to s2 9 tous did ere EE 10 0x00000400 11 0x00000800 12 0x00001000 N3 13 0x00002000 14 0x00004000 15 0x00008000 msb 16 0x00010000 Software version number Read binary and convert to decimal to toy 17 0x00020000 ee eee s software 18 0x00040000 19 0x00080000 20 0x00100000 N5 21 0x00200000 22 0x00400000 23 0x00800000 msb 24 0x01000000 ue 25 ox02000000 Reserved 26 0x04000000 27 0x08000000 Gyro tests Passed 0 Failed 1 28 Ox 10000000 Accelerometer tests Passed 0 Faile
18. IMU Gyro as in Figure 20 Gently pull the flex cable out of the way and place the Gyro into its base Figure 20 Install the IMU Gyro into the Enclosure Base Reference Description 1 Flex cable holes 2 Matching pins 6 Secure the Gyro with 3 screws using threadlock for example Threadlocker 222 Torque the 100 SPAN Technology User Manual Rev 7 IMU Gyro Installation Appendix E screws to 10 pound force inch 1 130 newton meter see Figure 21 Figure 21 Threadlock and Torque 3 Screws 7 Figure 22 displays the flex cable being connected to the IMU Gyro assembly CAUTION 1 DO NOT bend any of the connector pins on the Gyro 2 Ensure that the flex cable is pressed firmly onto the IMU pins before inserting the screws Orientate the IMU Gyro as in Figure 22 and tilt the flex connector up slightly to see its rear row of sockets Align the rear row of sockets to the rear row of pins and while holding it in place gradually tilt the connector forward over all the pins and then check to see if all pins will enter their respective sockets When assured of proper alignment press down on the connector until it is seated all the way down on the Gyro Figure 22 Connect the IMU Flex Cable Figure 20 on Page 100 shows the flex cable holes 1 and matching pins 2 as the gyro is lowered into its base The flex cable s connector 1 must sit flat on top of the IMU Do not screw the flex cable down until all the pins 2 are inserte
19. INSATT 70 77 INSATTS 71 INSCOMMAND 44 INSCOV 72 INSCOVS 74 INSINITRTK 45 INSPHASEUPDATE 46 INSPOS 75 INSPOSS 76 INSPOSSYNC 77 INSPVA 78 INSSPD 82 INSSPDS 83 installation gyro 97 101 103 INSUPDATE 84 INSVEL 84 85 INSVELS 86 INSZUPT 50 interface 47 INTERFACEMODE 47 introduction 14 L latency 62 latitude longitude 62 lever arm 51 69 LEVERARMCALIBRATE 51 link loss of 62 logging 42 60 107 M mean sea level 62 memory non volatile 43 mode interface 47 mode RTK 62 models 16 modem 47 N non volatile memory NVM 43 north 84 85 SPAN Technology User Manual Hev 7 Index O offset 56 58 orientation 53 P pass through log 47 pitch 53 56 69 70 port AUX 49 COM 49 disable 47 serial 47 48 ports 22 23 position 58 78 best 62 INS 44 measurements 72 75 synchronised 77 power 23 prerequisites 13 pseudorange solutions 62 R RAWIMU 87 RAWIMUS 90 real time kinematic RTK 45 62 receiver interface 47 replacement parts 107 reset hardware 43 response 47 revision manual 2 111 roll 53 56 69 70 rotation 52 RTCA 47 48 RTCM 48 RTCMV3 48 RTK see real time kinematic RVB see vehicle to body rotation RVBCALIBRATE 52 S scope 12 serial port 47 48 SETIMUORIENTATION 53 SETIMUTOANTOFFSET 56 109 Index 110 SETIMUTYPE 57 SETINSOFFSET 58 setup hardware 18 short binary header 60 61 speed 68 82 status 60 62 67 support 10 synchronise INS with GPS
20. Manual Hev 7 71 Appendix C C 2 6 INSCOV INS Covariance Matrices The position attitude and velocity matrices in this log each contain 9 covariance values with respect to the IMU s local axis as follows XX XY XZ yx yy yz ZX ZY z2 and are displayed within the log output as t XX XY XZ YX YY YZ ZX ZY ZZ INS Logs These values are computed once per second and are only available after alignment See also Section 3 2 1 System Start Up and Alignment Techniques starting on Page 30 Structure Message ID 264 Log Type Asynch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Position Covariance Position covariance matrix in local List of 9 72 H 12 level frame Meters squared Doubles 5 Attitude Covariance Attitude covariance matrix in local List of 9 72 H 84 level frame Degrees squared Doubles rotation around the given axis 6 Velocity Covariance Velocity covariance matrix in local List of 9 72 H 156 level frame Meters second squared Doubles 7 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 228 Binary only 8 CR LF Sentence terminator ASCII only 72 SPAN Technology User Manual Hev 7 INS Logs Appendix C Recommended Input log inscova onchanged ASCII Example INSCOVA COM3 0 0 0 EXACT
21. by this Agreement and all other performance or non performance by NovAtel under or related to this Agreement are to the remedies specified by this Agreement 9 Governing Law This Agreement is governed by the laws of the Province of Alberta Canada Each of the parties hereto irrevocably attorns to the jurisdiction of the courts of the Province of Alberta 10 Customer Support For Software UPDATES and UPGRADES and regular customer support contact the NovAtel GPS Hotline at 1 800 NOVATEL U S or Canada only or 403 295 4900 Fax 403 295 4901 e mail to support novatel ca website http Awww novatel com or write to NovAtel Inc Customer Service Dept 1120 68 Avenue NE Calgary Alberta Canada T2E 8S5 SPAN Technology User Manual Rev 7 Warranty Policy 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 periods of time OEMA G2 Receivers One 1 Year IMU Units 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 No
22. 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 nstead 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 Volume I of the OEM4 User s Guide for further details on this topic SPAN Technology User Manual Hev 7 Introduction Chapter 1 SPAN currently supports the Honeywell HG1700 IMU family The most common HG1700 models are the AG58 also known as the AGI11 and the AG62 also known as the AG17 The AG11 AG58 IMUS have a degree hour gyro bias and the AG17 AG62 have a 10 degrees hour gyro bias When using a Honeywell IMU with SPAN it is housed in an enclosure with a PCB board to handle power communication and data timing The enclosure comes in the following models Table 2 IMU Enclosure Models Model Name Description Compatible Receiver Enclosures IMU G2 000 IMU G2 enclosure without an IMU for customers ProPak G2plus and DL 4plus who will be supplying their own IMU IMU G2 H11 IMU G2 enclosure with an HG1700 AG11 IMU IMU G2 H17 IMU G2 enclosure with an HG1700 AG17 IMU IMU G2 H58 IMU G2 enclosure with an HG1700 AG17 IMU and
23. hardware Rev 3 and higher and DL 4p us products d You must type in COMS for the ProPak G2plus and Pro Pak LBplus and you must type in AUX for the DL 4plus This is true even if the port is labelled differently SPAN Technology User Manual Hev 7 49 Appendix B INS Commands B 2 6 INSZUPT 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 WARNING This command should only be used by advanced users of GPS INS Abbreviated ASCII Syntax Message ID 382 INSZUPT 50 SPAN Technology User Manual Rev 7 INS Commands B 2 7 LEVERARMCALIBRATE Appendix B The LEVERARMCALIBRATE command is used 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 10 SETIMUTOANTOFFSET starting on Page 56 and Section 3 2 4 Lever Arm Calibration Routine starting on Page 33 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 Page 69 Abbreviated ASCII Syntax LEVERARMCALIBRATE switch maxtime maxstd Message ID 675 Field ASCII Binary anti Bi
24. it by the connector WARNING DO NOT PULL DIRECTLY ON THE CABLE SPAN Technology User Manual Hev 7 SPAN Installation Chapter 2 2 1 4 1 O Port amp Cables ProPak G2plus and DL 4plus only The ProPak G2plus and DL 4plus receivers 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 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 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 Volume 1 of the OEM4 User Manual set or the DL 4plus User Manual 2 1 4 2 Power Port and Cable The SPAN system requires an input supply voltage between 12 VDC and 18 VDC 12 to 15 VDC for a ProPak LBplus model 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 reg
25. or not plugged in and you have entered a FIX POSITION command then you may see PENDING indefinitely 66 SPAN Technology User Manual Rev 7 INS Logs Appendix C C 2 2 BESTGPSVEL Best Available GPS Velocity Data 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 BESTGPS VEL time tag The velocity latency to be subtracted from the time tag is normally 1 2 the time between filter updates Under default operation the positioning filters are updated at a rate of 2 Hz This translates into a velocity latency of 0 25 second The latency can be reduced by increasing the update rate of the positioning filter being used by requesting the BESTGPSVEL or BESTGPSPOS messages at a rate higher than 2 Hz For example a logging rate of 10 Hz would reduce the velocity latency to 0 005 seconds For integration purposes the velocity latency should be applied to the record
26. the IMU and runs the real time INS Kalman filter IMU Enclosure The Inertial Measurement Unit IMU is housed in the IMU enclosure that provides a steady power supply to the IMU which 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 supported and are listed in Table 2 IMU Enclosure Models on Page 17 and Table 12 IMU Type on Page 57 PC Software Real time data collection status monitoring and receiver configuration is possible through the GPSolution4 utility see Section 3 1 on Page 28 SPAN Technology User Manual Hev 7 Introduction Chapter 1 The GPS receiver is connected to the IMU enclosure with an RS 232 or RS 422 serial link A GPS antenna must also be connected to the receiver to track GPS signals Once the IMU enclosure GPS antenna and an appropriate power supply are attached to the receiver and a few simple configuration commands are entered the SPAN system will be up and running and ready to navigate GPS positioning observes range measurements from orbiting Global Positioning System Satellites From these observations the receiver can compute position and velocity with high accuracy NovAtel GPS positioning systems have been established as highly accurate positioning tools however GPS in general has some significant restrictions which limit its usefulness in s
27. the observation of the angular offsets Drive a series of manoeuvres such as circles and figure eights with some height variation to provide the system with dynamics Approximately 2 5 minutes of motion should be sufficient to solve the offsets 7 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 92 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 2 1 1 and 3 2 1 2 on Page 31 for details on coarse and fast alignment 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 RAWEPHEMB ONNEW SPAN Technology User Manual Hev 7 SPAN Operation Chapter 3 From a rover
28. these purposes the use of Windows 98 is described only as an illustration The following example shows how Windows 98 accessory programs Notepad and HyperTerminal can be used to create a hypothetical waypoint navigation file on a laptop computer and send it to the receiver It is assumed that the laptop computer s COMI serial port is connected to the receiver s COMI serial port and that a rover terminal is connected to the receiver s COM2 serial port Example l 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 comli psrvela ontime 15 log comli navigatea ontime 15 log com2 gprmb ontime 15 5 log com2 gpvtg ontime 15 5 log com2 rxconfiga ontime 60 2 Save this with a convenient file name e g C GPS BOOTNAV1 TXT and exit Notepad 3 Ensure that the HyperTerminal settings are correctly set up to agree with the receiver communications protocol these settings can be saved e g C GPS OEMSETUP HT for use in future sessions You may wish to use XON XOFF handshaking to prevent loss of data 4 Select Transfer Send Text File to locate the file that is to be sent to the receiver Once you double click on the file or select Open HyperTerminal sends the file to the receiver The above example initializes the SPAN system with origin and destination waypoint coordinates and sets the magnetic variation correction to 21 degrees The BESTPOS
29. used for the last Enum 4 H update see Table 16 on Page 64 3 Reserved Integer 4 H 4 4 Phase Number of raw phase observations used Integer 4 H 8 in the last INS filter update 5 Reserved Integer 4 H 12 6 Zupt Flag A zero velocity update was performed Boolean 2 H 16 during the last INS filter update 0 False 1 True T Reserved Ulong 4 H 18 8 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 COM1 0 24 0 FINESTEERING 1322 250565 000 00000008 0776 34631 OMNISTAR_HP 6 0 6 FALSE 0 0 d2618c20 84 SPAN Technology User Manual Rev 7 INS Logs Appendix C C 2 16 INSVEL INS Velocity This log contains the most recent North East and Up velocity vector values and also includes an INS status indicator Structure Message ID 267 Log Type Synch Field Field Type Data Description Format Bytes parte 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 North Velocity Velocity North in m s Double 8 H 12 5 East Velocity Velocity East in m s Double 8 H 20 6 Up Velocity Velocity Up in m s Double 8 H 28 7 Status INS status see Table 13 on Page 60 Enum 4 H 36 8 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 40 Binary only 9 CR LF Sente
30. 0300000000000000 5 a362ddb7 SPAN Technology User Manual Rev 7 69 Appendix C INS Logs C 2 4 INSATT INS Attitude This log and the INSATTS log contains the most recent attitude measurements corresponding to the X Y and Z axis of the IMU mounted according to the installation instructions provided in Section 2 2 Hardware Set Up starting on Page 23and Section 2 3 2 SPAN IMU Configuration starting on Page 25of this manual The attitude measurements may or may not correspond to other definitions of the terms pitch roll and azimuth Structure Message ID 263 Log Type Synch Field Field Type Data Description rate 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Roll Right handed rotation from local level Double 8 H 12 around y axis in degrees 5 Pitch Right handed rotation from local level Double 8 H 20 around x axis in degrees 6 Azimuth Left handed rotation around z axis Double 8 H 28 Degrees clockwise from North 7 Status INS status see Table 13 on Page 60 Enum 4 H 36 8 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 40 Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log insatta ontime 1 ASCII Example INSATTA COM3 0 0 0 EXACT 1105 425385 000 00040000 0638 0 1105 425384 996167250 4 822147742 0 035766158 123 262113519 INSSolutionGood 3563a760 lt Th
31. 1 0 36 5 FINESTEERING 1264 144170 094 00000000 bcf2 1541 1 5869999997474209 2 6639999995760122 77 6649999876392343 2 000000000000 0000 2 0000000000000000 5 0000000000000000 25 886cc SPAN Technology User Manual Hev 7 93 P Yer 4 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 Com1 gt if connected to COMI port The COM port can be COMI COM2 CONG or AUX Commands are typed at the interfacing terminal s keyboard and sent after pressing the terminal s lt I gt or Enter key lt Most valid commands do produce a visible response on the screen The indication that they have been accepted is a return of the port prompt from the receiver Example An example of no echo response to an input command is the SETIMUTOANTOFFSET command It can be entered as follows COM2 gt setimutoantoffset 0 1 0 1 0 1 Return COM2 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 94 SPAN Technology User Manual Rev 7 Command Prompt Inter
32. 1105 425385 020 00040000 c45c 0 1105 425385 000000000 0 0997319969301073 0 0240959791179416 0 0133921499963209 0 0240959791179416 0 1538605784734939 0 0440068023663888 0 0133921499963210 0 0440068023663887 0 4392033415009359 0 0034190251365443 0 0000759398593357 0 1362852812808768 0 0000759398593363 0 0032413999569636 0 0468473344270137 0 1362852812808786 0 0468473344270131 117 5206493841025100 0 0004024901765302 0 0000194916086028 0 0000036582459112 0 0000194916086028 0 0004518869575566 0 0000204616202028 0 0000036582459112 0 0000204616202028 0 0005095575483948 1 c92787 SPAN Technology User Manual Hev 7 73 Appendix C INS Logs C 2 7 INSCOVS Short INS Covariance Log This is a short header version of the IVCOV log on Page 72 These values are also computed once per second Structure Message ID 320 Log Type Asynch A inti Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Position Covariance Position covariance matrix in local List of 9 72 H 12 level frame Meters squared Doubles XX XY XZ YX VV VZ ZX ZY ZZ 5 Attitude Covariance Attitude covariance matrix in local List of 9 72 H 84 level frame Degrees squared Doubles rotation around the given axis XX XY XZ YX VV VZ ZX ZY ZZ 6 Velocity Covariance Velocity covariance matrix in local List of 9 72
33. 56 14 Sol_age Solution age in seconds Float 4 H 60 15 obs Number of observations tracked Uchar 1 H 64 16 GPSL1 Number of GPS L1 ranges used in computation Uchar 1 H 65 17 L1 Number of GPS L1 ranges above the RTK mask angle Uchar 1 H 66 18 L2 Number of GPS L2 ranges above the RTK mask angle Uchar 1 H 67 Continued on Page 63 62 SPAN Technology User Manual Rev 7 INS Logs Appendix C Binary Binary Field Field type Data Description Format Bytes Offset 19 Reserved Uchar 1 H 68 20 Uchar 1 H 69 21 Uchar 1 H 70 22 Uchar 1 H 71 23 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 72 24 CR LF Sentence terminator ASCII only SPAN Technology User Manual Hev 7 63 Appendix C Recommended Input log bestgpsposa ontime 1 ASCII Example INS Logs HBESTGPSPOSA COM1 0 62 5 FINESTEERING 1036 484878 000 00000028 63e62 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 16 Position or Velocity Type diac cad erret 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 carrie
34. 6 0 3070 6 0082 dfdc635c SPAN Technology User Manual Hev 7 INS Logs Appendix C C 2 3 BESTLEVERARM IMU to Antenna Lever Arm This log contains the distance between the IMU and the GPS antenna in the IMU enclosure frame and its associated uncertainties If the you enter the lever arm through the SETIMUTOANTOFFSET command see Page 56 these values are reflected in this log When the lever arm calibration is complete see the LEVERARMCALIBRATE command on Page 51 the solved values are also output in this log The X pitch Y roll and Z azimuth directions of the inertial frame are clearly marked on the IMU see Figure 13 on Page 53 Structure Message ID 674 Log Type Synch Binary Binary Field Field Type Description 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 XXXX 32 bit CRC Hex 4 H 48 9 CR LF Sentence Terminator ASCII only Recommended Input log bestleverarma onchanged ASCII Example BESTLEVERARMA COM1 0 39 0 FINESTEERING 1264 144254 891 00000000 39e4 1541 0 1500000000000000 0 6700000000000000 1 5300000000000001 0 0200000000000000 0 0200000000000000 0
35. 77 T technical specifications 36 40 41 time synchonised 77 track over ground 68 transmit 47 troubleshooting 105 true north 68 U undulation 62 up 84 85 update or upgrade firmware 10 USB port 49 using a command as a log 42 V vector values 85 vehicle to body rotation RVB 52 VEHICLEBODYROTATION 59 92 velocity 58 78 best 67 computation 85 INS 44 72 limit 66 Volume 2 107 W warranty 9 website 10 Z Zero Velocity Update ZUPT 50 SPAN Technology User Manual Rev 7 amp amp NovZtel Recyclable Printed in Canada on recycled paper OM 20000062 Rev 7 2005 12 22
36. 95 499 5 809 064 PAC Correlator 6 243 409 B1 Dual Frequency GPS 5 736 961 Anti Jamming Technology 5 734 674 Position for Velocity Kalman Filter 6 664 923 B1 SPAN Technology 6 721 657 B2 6 750 816 B1 10 758 363 pending 10 932 497 pending XY Copyright 2002 2005 Novatel Inc All rights reserved Unpublished rights ws e amp reserved under International copyright laws Printed in Canada on recycled paper Recyclable 2 SPAN Technology User Manual Rev 7 Table of Contents Proprietary Notice Software License Warranty Policy Customer Service Notices Foreword 1 Introduction 1 1 Y ro EIEE Le M ETE O EE AEE E P E E A E E 2 SPAN Installation 2 1 Hardware Description iyne aaa He uie ed A GAL eerie 2 1 1 SPAN System Receivers sesssessseeeeeeeneenee enne 231 2 Antenna cse O eee ce BEER RR de Evo vO DE vend 21 3 IMU MOUNTING ester eoa cert rrt tte ttc xri erbe te exe dicte Decet 2 1 4 Gables and Ports tue enenatis 2 2 Hardware SeblJp sitate mre neeeteatauene etudes 2 3 Software Config ration n c ere ee Ll gu EY dee ede eae 2 9 1 GPS Configutaltiori 3 eee eniceaie t RO ERR HOHER 2 3 2 SPAN IMU Configuration seesseeseeeeeeeneneeennenenneen a nnne 3 SPAN Operation 3 1 Communicating with the SPAN System sse 3 1 1 INS Window in GPSolution4 sess 3 2 Real Time Qperati N incisi iaae enne enne enne enne tenent
37. A PSRVELA and NAVIGATEA logs have been set to output from the receiver s COMI serial port at intervals of once every 15 seconds whereas the GPRMB and GPVTG NMEA logs have been set to be logged out of the receiver s COM2 serial port at intervals of 15 seconds and offset by five seconds The RXCONFIGA log has been set to output every 60 seconds from its COM2 serial port 96 SPAN Technology User Manual Rev 7 D Yer EMU Gyro Installation E 1 Introduction The following procedure provides the necessary information to install the Gyro unit HG1700AGI11 NovAtel number 80023510 or HG1700AG17 NovAtel number 80023511 into the IMU Enclosure NovAtel part number 01017394 The IMU consists of the IMU Enclosure and the IMU Gyro Installation Kit NovAtel part number 01017022 To assemble these parts into a working IMU you will need the parts mentioned above E 2 Safety Precautions e Ensure you use a ground strap before installing the internal circuit boards Do NOT scratch any surfaces of the unit E 3 General Steps of the Procedure Disassemble the IMU Enclosure Install the IMU Gyro unit e Reassemble the IMU Enclosure E 4 IMU Gyro Installation 1 As mentioned in Section E 1 above the assembly parts required for the product include the IMU Installation Kit the IMU Enclosure and the Gyro Figure 14 below and Figure 15 on Page 98 display these parts respectively Figure 14 Installation Kit and Enclosure
38. CM V3 and CMR ProPak LBplus receivers can also be set up for Omnistar HP Omnistar VBS or CDGPS Refer to the OEM4 User Manual set for details on DGPS RTK L Band or SBAS setup and operation With no additional configuration the system operates in single point mode 2 3 2 SPAN IMU Configuration Follow these steps to enable INS as part of the SPAN system using software commands or turn the page to see the alternate method using GPSolution 1 Issue the INTERFACEMODE command to specify the receiver port connected to the IMU Receiver Type INTERFACEMODE Command ProPak G2plus INTERFACEMODE COM8 IMU IMU OFF 8 ProPak LBplus INTERFACEMODE COM3 IMU IMU OFF DL 4plus INTERFACEMODE AUX IMU IMU OFF a Enter this command even if the port is labelled AUX on the ProPak G2plus See also the port tables on Page 21 and the INTERFACEMODE command on Page 47 2 Issue the SETIMUTYPE command to specify the type of IMU being used IMU Type SETIMUTYPE Command AG11 or AG58 setimutype imu_hg1700_ag11 AG17 or AG62 setimutype imu_hg1700_ag17 See also the SETIMUTYPE command on Page 57 Basic configuration of the SPAN system is now complete The inertial filter starts once the GPS solution is solved and the IMU is connected SPAN Technology User Manual Rev 7 25 Chapter 2 SPAN Installation 26 Alternatively select View INS Window in GPSolution to select the type of IMU and to configure the rec
39. H 156 level frame Meters second squared Doubles XX XY XZ YX VV VZ ZX ZY ZZ 7 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 228 Binary only 8 CR LF Sentence terminator ASCII only Recommended Input log inscovsa onchanged ASCII Example INSCOVSA 1105 425385 020 1105 425385 000000000 0 0997319969301073 0 0240959791179416 0 0133921499963209 0 0240959791179416 0 1538605784734939 0 0440068023663888 0 0133921499963210 0 0440068023663887 0 4392033415009359 0 0034190251365443 0 0000759398593357 0 1362852812808768 0 0000759398593363 0 0032413999569636 0 0468473344270137 0 1362852812808786 0 0468473344270131 117 5206493841025100 0 0004024901765302 0 0000194916086028 0 0000036582459112 0 0000194916086028 0 0004518869575566 0 0000204616202028 0 0000036582459112 0 0000204616202028 0 0005095575483948 1 c92787 74 SPAN Technology User Manual Rev 7 INS Logs Appendix C C 2 8 INSPOS INS Position This log contains the most recent position measurements in WGS84 coordinates and includes an INS status indicator The position is measured from the center of the IMU and not from the antenna phase center Structure Message ID 265 Log Type Synch Field Field Type Data Description Format Bytes pala 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 Lon
40. IESU 18 IMU i s PE E oet scr dtes eed alunt ete n ede 18 Basic Set Up sits niente uera edad e tie d eet ide 19 IMU Interface Cable Connections ProPak LBplus een 20 Receiver Enclosure Back Panels sseeeeee een 20 IMU DimenslOris 5 5 epe ete PORRO ARRIERE 36 Mounting Bracket Dimensions sseseeeeneenmemeee ener 37 IMU Interface Cable ProPak G2plus and DL 4plus enn 38 IMU Interface Cable Pin Out ProPak G2plus and DL 4plus esee 38 IMU Interface Cable ProPak LBplus eeeeeeeeeeeeneneenneeneneenns 39 IMU Interface Cable Pin Out ProPak LBplus eeeneen 39 Frame of Reference onere gc dedere Ce d ddr Ce d Ud eas 53 Installation Kit and Enclosure anuria nrin eanet enne nennen nnnm 97 CLE 98 Gontents of Installation Kit 5 5 5 bo tees ete re elt atienden 98 Remove the Lid x eee ae See ee i det eis 98 Flex Cable Mating Connector ssssssseeeeeenenen nennen nennen neret 99 Installing the IMU Flex Cable esses 100 Install the IMU Gyro into the Enclosure Base sse 100 Threadlock and Torque 3 Screws seen 101 Connect the IMU Flex Cable essen enne nnne nennen nnne nennen 101 Incorrect Bowed Flex Cable Installation eenenn 102 Correct Flat Flex Cable Installation
41. Manual Hev 7 79 Appendix C INS Logs C 2 12 INSPVAS Short INS Position Velocity and Attitude This log allows INS position velocity and attitude to be collected in one log instead of using three separate logs Structure Message ID 508 Log Type Synch s eT 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 2 Longitude Longitude WGS84 Double 8 H 20 6 Height Ellipsoidal Height WGS84 Double 8 H 28 T North Velocity Velocity in a northerly direction Double 8 H 36 a ve value implies a southerly direction LSB 0 0005 revolutions 8 East Velocity Velocity in an easterly direction Double 8 H 44 a ve value implies a westerly direction 9 Up Velocity Velocity in an up direction Double 8 H 52 10 Roll Right handed rotation from Double 8 H 60 local level around y axis in degrees 11 Pitch Right handed rotation from Double 8 H 68 local level around x axis in degrees 12 Azimuth Left handed rotation around z Double 8 H 76 axis Degrees clockwise from North 13 Status INS Status see Table 13 on Enum 4 H 84 Page 60 14 XXXX 32 bit CRC Hex 4 H 88 15 CR LF Sentence Terminator ASCII only 80 SPAN Technology User Manual Hev 7 INS Logs Appendix C Recommended Input log inspvasa ontime 1 ASCII Exam
42. N system is ready to go The OEM4 G2 G2L 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 OEM4 family products It is recommended that these documents be kept together for easy reference SPAN system output is compatible with post processing software from Waypoint a NovAtel Precise Positioning Company Visit their website at www waypnt com for more details SPAN Technology User Manual Rev 7 Foreword Prerequisites 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 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 User Manual Hev 7 13 Cha
43. SPHASEUPDATE This command allows you to control the INS delta phase updates INS Commands 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 Also by using e Raw phase observations updates can be performed even when too few satellites are available to compute a GPS solution e Inertial observations multipath signals are more easily removed than with traditional position updates e Phase updates 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 M Binary Binary Binary Field Type 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 ASCIL ASCII or binary respectively 2 switch DISABLE Disable INS delta phase Enum 4 H updates ENABLE Enable INS delta phase updates default Abbreviated ASCII Example INSPHASEUPDATE ENABLE 46 SPAN Technology User Manual Rev 7 INS Commands Appendix B B 2 5 INTERFACEMODE 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 por
44. Start 30s Signal Reacquisition L1 0 5 s typical L2 1 0 s typical Data Rates INS Measurements 100 Hz INS Position 100 Hz INS Attitude 100 Hz INS Velocity 100 Hz GPS Measurement Precision L1 C A Code 6 cm 2 36 RMS 25 cm 9 84 RMS anti spoofing on 0 75 mm 0 03 RMS differential channel 2 mm 0 08 RMS differential channel Velocity 514 m s 1 150 m p h Altitude 18 288 m 60 000 ft Channels L1 12 L2 12 a The specifications given assume GPS measurements at a 1 Hz rate Accuracy over time degrades with inertial data alone Requires a subscription to the OmniSTAR service b C d e Where available and only with the ProPak LBplus receiver Expected accuracy after three minute static convergence Typical values Performance specifications are subject to GPS system characteristics U S DOD operational degradation ionospheric and tropospheric conditions satellite geometry baseline length and multipath effects Time accuracy does not include biases due to RF or 40 antenna delay Refer to the appendix on TTFF and Satellite Reacquisition in Volume tof the OEM4 User Manual Export licensing restricts operation to a max of 18 288 m 60 000 ft and 514 m s 1 150 m p h SPAN Technology User Manual Rev 7 Technical Specifications A 3 IMU Performance Appendix A PERFORMANCE IMU Gyro Rate Bias Gyro Rate Scale Factor Angular Random Walk Acc
45. T 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 9 SPAN Technology User Manual Hev 7 Customer Service Firmware Upgrades Firmware upgrades are firmware releases which increase basic functionality of the receiver from one model to a higher level model type When available upgrades may be purchased at a price which is the difference between the two model types on the current NovAtel GPS Price List plus a nominal service charge Please refer to the PC Software and Firmware chapter in Volume 1 of the OEM4 User Manual set Contact Information Firmware upgrades are accomplished through NovAtel authorized dealers Contact your local N
46. a calibration process See Section 3 2 5 Vehicle to Body Frame Angular Offsets Calibration Routine starting on Page 34 for more details SPAN Technology User Manual Hev 7 27 Chapter 3 SPAN Operation 3 1 28 Before operating your SPAN system ensure that you have followed the installation and setup instructions in Chapter 2 SPAN Installation starting on Page 16 You can use NovAtel s GPSolution4 software to monitor data in real time between a rover SPAN system and base station or for example to analyze data after logging to the DL 4plus Compact Flash Card SPAN system output is compatible with post processing software from Waypoint a NovAtel Precise Positioning Company Visit their website at www waypnt com for more details WARNING Ensure the Control Panel s Power Settings on your PC are not set to go into Hibernate or Standby modes Data will be lost if one of these modes occurs during a logging session Communicating with the SPAN System Once the receiver is connected to the PC antenna and power supply install NovAtel s GPS PC Utilities GPSolution DL4Tool and Convert You can find installation instructions in your receiver s Quick Start Guide Alternatively you can use a terminal emulator program such as HyperTerminal to communicate with the receiver Refer also to Volume 1 of the OEM4 User Manual set for details Start GPSolution4 on your PC to enable communication 1 Inthe GPSolution menu select Devic
47. abelled AUX See also Steps 1 and 2 in the SPAN IMU Configuration section on Page 25 SPAN Technology User Manual Hev 7 23 Chapter 2 SPAN Installation 3 Connect COMI of the receiver to a computer COM port using a null modem cable 4 Connect the GPS antenna to the antenna port on the receiver using an appropriate antenna cable 5 Apply power to the receiver and in the case of the DL 4plus push its power button to turn it on It is recommended that a back up battery is placed between the receiver and its voltage supply to act as a power buffer if installed in a vehicle When a vehicle engine is started power can dip to 9 6 VDC or cut out to ancillary equipment causing the receiver and IMU to lose lock and calibration settings lt 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 Volume 2 of the OEM4 User Manual set from the user device on the right to the DL4plus I O port 24 SPAN Technology User Manual Rev 7 SPAN Installation Chapter 2 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 RT
48. ace cables FGG 1K 310 CLAC60Z EN3C2F16 EN3C2M16 EN3C8F SPAN Technology User Manual Rev 7 107 108 A accelerometers 60 87 accuracy 56 62 AG11 AG58 AG17 AG62 17 25 57 97 105 age solution 62 alignment 44 56 almanac 43 antenna 22 56 107 attitude 44 70 72 78 AUX 49 AUX port 49 axes 53 58 azimuth 53 56 69 70 B BESTLEVERARM 69 BESTPOS 62 BESTVEL 67 binary only port 48 body frame 53 C cables 22 antenna 107 I O 23 IMU interface 38 power 23 warranty 9 calibration 52 69 CMR 48 command prompt interface 94 96 configuration non volatile memory 43 copyright 2 correction RTCA 48 D datum 62 dealer 10 differential 62 differential correction accept 47 distance exceeded 66 E east 84 85 e mail 10 enclosure 16 F features 16 firmware updates or upgrades 10 16 frame 69 frame of reference 53 FRESET 43 G GPSAntenna 9 GPSolution4 29 graphical user interface 29 gyros 60 87 97 101 103 H hardware setup 18 headers 60 61 height 62 66 help 29 I I O see input output identifier serial port 47 IMU see inertial measurement unit IMU see inertial measurement unit inertial measurement unit IMU 48 inertial measurement unit IMU connection 38 installation 97 101 103 position 75 status 88 89 type 57 SPAN Technology User Manual Hev 7 inertial navigation system INS 44 60 information most recent 84 input output I O 23
49. age header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 Switch 0 0 IMU determines axis ENUM 4 H orientation automatically during coarse alignment default 1 1 IMU X axis is pointing UP 2 2 IMU X axis is pointing DOWN 3 3 IMU Y axis is pointing UP 4 4 IMU Y axis is pointing DOWN 5 5 IMU Z axis is pointing UP 6 6 IMU Z axis is pointing DOWN Abbreviated ASCII Example SETIMUORIENTATION 1 54 SPAN Technology User Manual Rev 7 INS Commands Table 11 Full Mapping Definitions Mapping Body Frame Axes Frame Axes Marked on the IMU Enclosure 1 X Y Y Z Z X 2 X Z Y Y Z X 3 X Z Y X Z Y 4 X X Y Z Z Y 5 X X default Y Y Z Z 6 X Y Y X Z Z SPAN Technology User Manual Rev 7 Appendix B 55 Appendix B INS Commands B 2 10 SETIMUTOANTOFFSET 56 Although it is recommended that you mount the IMU as close as possible to the GPS antenna particularly in the horizontal plane this command can be used to enter an offset between the IMU and the GPS antenna The measurement should be done as accurately as possible preferably to within millimeters especially for RTK operation The x y and z fields represent the vector from the IMU to the antenna phase center in the IMU enclosure co ordinate frame The a b and c fields allow you to enter any possible errors in your m
50. binary messages are responded to and the response is a binary message 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 LBplus 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 User Manual Hev 7 INS Commands Appendix B Table 10 COM Serial Port Identifiers Binary ASCII Description 1 COMI COM port 1 2 COM2 COM port 2 3 COM3 COM port 3 6 THISPORT The current COM port 8 ALL All COM ports 9 XCOMI Virtual COMI port 10 XCOM2 4 Virtual COM2 port 13 USB1 USB port 1 14 USB2 USB port 2 15 USB3 gt USB port 3 16 Aux 4 AUX port a The XCOM 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 c The AUX port is only available on OEM4 G2 based
51. bracket 2 1 3 IMU Mounting Mount the antenna in a fixed location where the distance from the antenna to the receiver is fixed 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 axes marked on the IMU enclosure points up and the Y axes points forward through the front of the vehicle in the direction of track Also it is important that the measurement of the IMU to Antenna Lever Arm is on the axis defined on the IMU enclosure See also Section 3 2 4 Lever Arm Calibration Routine starting on Page 33 Appendix A Technical Specifications starting on Page 36 gives dimensional drawings of the IMU enclosure and its mounting feet 2 1 4 Cables and Ports 22 Refer to your receiver s hardware manual for more information on its ports and cables Volume I of the OEM4 User Manual set or the DL 4plus User Manual Each connector can be inserted in only one way to prevent damage to both the receiver and the cables Furthermore the connectors that are 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 you are using 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
52. bration is re run by entering the RVBCALIBRATE command again Abbreviated ASCII Syntax Message ID 641 RVBCALIBRATE reset Field ASCII Binary Binary Binary Binary Field NE 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 RESET 0 Control the vehicle ENUM 4 H body rotation DISABLE 1 computation ENABLE 2 52 Abbreviated ASCII Example RVBCALIBRATE reset SPAN Technology User Manual Rev 7 INS Commands Appendix B B 2 9 SETIMUORIENTATION 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 lt 1 The default IMU axis definitions are Y forward Z up X out the right hand side Itis 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 2 1 2 Fast Alignment on Page 31 WARNING Ensure that all windows other than the Console are closed in GPSolu
53. cle then the command would be SETIMUORIENTATION 5 Specify the angular offsets between the IMU frame and the vehicle frame known as vehicle body rotation or RVB using the VEHICLEBODYROTATION command If the IMU is mounted coincidentally with the vehicle 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 2 5 Vehicle to Body Frame Angular Offsets Calibration Routine starting on Page 34 The fast 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 5 m s is observed The accuracy of the initial attitude of the system following the fast alignment varies and depends on the dynamics of the vehicle and the accuracy of the RVB estimates The attitude accuracy will converges 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 2 2 Navigation Mode Once the alignment routine has successfully completed SPAN enters navigation mode The solution is computed by accumulating velocity and rotation increments from the IMU to generate position velocity and attitude System errors are modeled using a Kalman filter States in the filter include position error velocity error attitude error gyroscope biases and accelerometer biases If the SPAN Tec
54. d 1 N7 29 0x20000000 Other tests Passed 0 Failed 1 30 0x40000000 Memory tests Passed 0 Failed 1 31 0x80000000 Processor tests Passed 0 Failed 1 88 SPAN Technology User Manual Rev 7 INS Logs Appendix C 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 Table 19 shows how to change the bolded field IMU Status in the example above into its binary equivalent and then how to read Table 18 IMU Status on Page 88 as a result Table 19 IMU Status Example Nibble N7 4 83 J J0582001q JqUInN VOSA MYO omye1odta p 19300130Y paasa LI puq L puq Og PUIG a For a complete list of hexadecimal and binary equivalents please refer to the section on Unit Con version in the GPS Reference Manual available on our website at http www novatel ca support docupdates htm SPAN Technology User Manual Rev 7 89 Appendix C INS Logs C 2 19 RAWIMUS Short Raw IMU Data This is a short header version of the RAWIMU log on Page 87 Structure Message ID 325 Log Type Asynch m 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 W
55. d all the way into the cable Figure 23 shows an incorrect installation of the flex cable where it is bowed in the middle It SPAN Technology User Manual Hev 7 101 Appendix E IMU Gyro Installation will not operate properly in this position Figure 24 shows the proper installation of the flex cable Notice how the flex cable sits flush against the IMU surface Figure 24 Correct Flat Flex Cable Installation 8 Figure 25 displays the flex cable connector being secured to the Gyro Once the connector is pushed all the way down onto the Gyro use 2 screws to secure the connector Use threadlock on each screw for example Threadlocker 222 and torque to 2 5 pound force inch 0 282 newton meter Figure 25 Secure the Connector 9 The enclosure lid must be gently set into place over the base see Figure 26 Notice that one side of the lid has a label that reads IMU CONNECTOR This side MUST BE located on the same side as the I O connector for proper orientation Once all screws are threaded all the 102 SPAN Technology User Manual Rev 7 IMU Gyro Installation Appendix E way down tighten them to 12 pound force inch 1 356 newton meter see Figure 27 Figure 26 Replace the Enclosure Lid Figure 27 Tightening the Lid 10 This concludes the installation procedure see Figure 28 SPAN Technology User Manual Hev 7 103 Appendix E IMU Gyro Installation Figure 28 Completed IMU Assembly 104 SPAN Technology U
56. differential correction was used With the system operating in an RTK mode this log reflects the latest low latency solution for up to 30 seconds after reception of the last base station observations After this 30 second period the position reverts to the best solution available the degradation in accuracy is reflected in the standard deviation fields If the system is not operating in an RTK mode pseudorange differential solutions continue for 60 seconds after loss of the data link though a different value can be set using the DGPSTIMEOUT command refer to Volume 2 of the OEM4 User Manual set Structure Message ID 423 Log Type Synch Binary Binary Field Field type Data Description Format Bytes Offset 1 header Log header H 0 2 Sol Status Solution status see Table 17 Solution Status on Page 66 Enum 4 H 3 Pos Type Position type see Table 16 Position or Velocity Type on Enum 4 H 4 Page 64 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 Volume 2 of Enum 4 H 36 the OEM4 User Manual set 9 Lato Latitude standard deviation Float 4 H 40 10 Lono Longitude standard deviation Float 4 H 44 11 Hgt o Height standard deviation Float 4 H 48 12 Stn ID Base station ID Char 4 4 H 52 13 Diff_age Differential age Float 4 H
57. e Open 2 Select the New button in the Open dialog box Available device configs 7 den Cancel New Edt 3 Enter a name for the new device configuration in the Name field of the New Config dialog box 4 Select the Settings button Select the PC serial port the receiver is connected to from the PC Port drop down list 57600 from the Baud Rate list and uncheck the Use hardware handshaking checkbox 6 Select OK to save the settings and OK again to close the New Config dialog box and return to the Open dialog 7 Select your configuration Name in the Open dialog and click on the Open button 8 Select View Logging Control from the menu to control the GPSCard s logging to files and serial ports Refer to GPSolution4 s on line Help for more information SPAN Technology User Manual Hev 7 SPAN Operation Chapter 3 9 Use the Console window to enter commands See also Section 3 3 Data Collection for Post Processing on Page 34 lt If you have to power down your receiver ensure that all windows other than the Console window are closed in GPSolution and then use the SAVECONFIG command 3 1 1 INS Window in GPSolution4 GPSolution4 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 GPSolution4 is described below Please refer to Volume 1 of the OEM4 User Manual
58. e RANGECMPB ONTIME 1 e RAWEPHEMB ONNEW e RAWIMUSB ONNEW Post processing is performed through the Waypoint Inertial Explorer software package available from Waypoint a NovAtel Precise Positioning Company Visit their website at www waypnt com for more details lt The highest rate that you should request GPS logs RANGE BESTPOS RTKPOS PSRPOS and so on while in INS operation is 5 Hz If the receiver is not running INS no IMU is attached GPS logs can be requested at rates up to 20 Hz SPAN Technology User Manual Hev 7 35 Yee WiTechnical Specifications Refer to your SPAN system enclosure s hardware manual for more information on its technical specifications and cables Volume 1 of the OEM4 User Manual set or the DL 4plus User Manual Table 7 IMU Specifications IMU Size 160 mm x 160 mm x 100 mm 6 3 x 6 3 x 3 9 IMU Weight 3 4 kg 7 49 Ib MECHANICAL DRAWINGS Figure 7 IMU Dimensions 36 SPAN Technology User Manual Rev 7 Technical Specifications Figure 8 Mounting Bracket Dimensions SPAN Technology User Manual Hev 7 To screw hole i ter dd e C 6 57 167 00mm 6 26 159 00mm
59. e Receiver Models on Page 16 for details DL 4plus ProPak G2plus ProPak LBplus IMU interface cable ProPak LBplus 01017393 IMU interface cable ProPak G2plus or DL 4plus see Page 38 01017384 OEMA GPSolution4 and Convert4 disk refer to Page 28 and Volume 1 of the OEM4 User Manual 01017464 SPAN Technology System User Manual OM 20000062 OEM4 Family User Manual Volume 2 Commands and Logs OM 20000047 OEM4 Family User Manual Volume 1 Installation and Operation OM 20000046 DL 4plus User Manual OM 20000063 G2 Accessories and Options Part Description NovAtel Part Optional NovAtel GPS Antennas 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 RF Antenna Cable 5 meters 15 meters GPS 532 GPS 702 GPS 702L GPS 533 C006 C016 G 3 Manufacturer s Part Numbers The following original manufacturer s part numbers for the IMU interface cables see Page 36 are provided for information only and are not available from NovAtel as separate parts LEMO Part Switchcraft Part Part Description 2 pin socket connector ProPak LBplus to IMU interface cable 2 pin plug connector ProPak LBplus to IMU interface cable 8 pin socket connector ProPak LBplus to IMU interface cable 10 pin LEMO plug connector on both IMU interf
60. e structure of the INSATT log is different in this firmware version 1 3 than in any earlier beta versions This is because the order of the roll and pitch fields have been reversed 70 SPAN Technology User Manual Rev 7 INS Logs Appendix C C 25 INSATTS Short INS Attitude This is a short header version of the INSATT log on Page 70 Structure Message ID 319 Log Type Synch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Seconds from week start Double 8 H 4 Week 4 Roll Right handed rotation from local Double 8 H 12 level around y axis in degrees 5 Pitch Right handed rotation from local Double 8 H 20 level around x axis in degrees 6 Azimuth Left handed rotation around z axis Double 8 H 28 Degrees clockwise from North T Status INS status see Table 13 on Page 60 Enum 4 H 36 8 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 40 Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log insattsa ontime 1 ASCII Example INSATTSA 1105 425385 000 1105 425384 996167250 4 822147742 0 035766158 123 262113519 INSSolutionGood 3563a760 lt The structure of the INSATTS log is different in this firmware version 1 3 than in any earlier beta versions This is because the order of the roll and pitch fields have been reversed SPAN Technology User
61. easurements 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 as shown in Figure 13 on Page 53 This command must be entered before or during the INS alignment mode not after Abbreviated ASCII Syntax Message ID 383 SETIMUTOANTOFFSET x y z a b c Field ASCII Binary Binary Binary Binary Description Format Bytes Offset Type Value Value 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 x 1 x offset m Double 8 H 3 y 1 y offset m Double 8 H 8 4 Z 1 z offset m Double 8 H 16 5 a 0 1 Uncertainty in x m Double 8 H 24 Defaults to 10 of the x offset default 0 1 6 b 0 1 Uncertainty in y m Double 8 H 32 Defaults to 10 of the y offset default 0 1 ap c 0 1 Uncertainty in z m Double 8 H 40 Defaults to 10 of the z offset default 0 1 Abbreviated ASCII Example SETIMUTOANTOFFSET 0 1 0 1 0 1 0 01 0 01 0 01 SPAN Technology User Manual Rev 7 INS Commands B 2 11 SETIMUTYPE 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 t
62. eek Seconds from week start Double 8 H 4 4 IMU Status The status of the IMU This field is given ina Long 4 H 12 fixed length n array of bytes in binary but in ASCII or Abbreviated ASCII is converted into 2 character hexadecimal pairs See Table 18 IMU Status on Page 88 the ASCH Example and Table 19 IMU Status Example on Page 89 5 Z Accel Output Change in velocity along z axis in m s Long 4 H 16 6 Y Accel Output Change in velocity along y axis in m s Long 4 H 20 7 X Accel Output Change in velocity along x axis in m s Long 4 H 24 8 Z Gyro Output Change in angle around z axis in radians Long 4 H428 Right handed 9 Y Gyro Output Change in angle around y axis in radians gt Long 4 H 32 Right handed 10 X Gyro Output Change in angle around x axis in radians 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 90 Scale Factor for change in velocity acceleration 0 3048 double 134217728 0 for the AG11 and AG58 0 3048 double 67108864 0 for the AG17 and AG62 See Table 2 IMU Enclosure Models on Page 17 for a list of IMU enclosures A negative value implies that the output is along the positive Y axis marked on the IMU A posi tive value implies that the change is in the direction opposite to that of the Y axis marked on the IMU Scale Factor for change in angle 1 0
63. eiver port connected to the IMU to accept IMU data INS Position elocity Attitude MYSPAN 1 lal xj INS Configuration and Status Position Std Dev _ T 1 INS Stetus INS COARISE ALIGN COMPL SURREY MM 0 407 rn IMU Type IMU HG1700 AGT1 Longitude 114 03825009 0 437 m IMU Part COM3 1045 768 m MSL 0 527 m Velocity Std Dev Attitude Std Dev F pum North Velocit EH NES 0 012 m s 0 053 East Velocity 0 001 m s 0 012 m s 0 053 0 001 m s 0 007 m s 184 946 5 1497 Right click on the NS window and select Configure INS to see the Configure INS dialog IMU Type IMU HG1700 611 IMU Port com3 Enable INS Disable INS Cancel When you have made your selections in the MU Type and IMU Port fields click on the Enable INS button Enter the distance from the IMU to the GPS antenna using the SETIMUTOANTOFFSET command see Page 56 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 The SETIMUTOANTOFFSET parameters are where the standard deviation fields are optional 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 off
64. elerometer Range Accelerometer Linearity Accelerometer Scale Factor Accelerometer Bias IMU G2 ss 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 t50g Accelerometer Linearity 500 ppm Accelerometer Scale Factor 300 ppm Accelerometer Bias 1 0 mg IMU G2yg5 Gyro Input Range 1000 degrees s 10 0 degrees hr 150 ppm 0 5 degrees rt hr 50g 500 ppm 300 ppm 3 0 mg IMU Power Consumption A 4 Electrical and Environmental ELECTRICAL 12 W typical Receiver Power Consumption DL 4plus ProPak G2plus ProPak LBplus 3 5 W typical 2 8 W typical 3 7 W typical System Power Consumption DL 4plus ProPak G2plus ProPak LBplus 15 5 W typical 14 8 W typical 15 7 W typical IMU Connector 10 pin LEMO IMU Interface RS 232 or RS 422 ENVIRONMENTAL IMU Temperature Operating 30 C to 60 C 22 F to 140F Storage 45 C to 80 C 49 F to 176 F Humidity 95 non condensing SPAN Technology User Manual Rev 7 41 Yee Da aMINS Commands The INS specific commands are described further in this chapter For information on other available commands refer to Volume 2 of the OEM4 User Manual set 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 OEM4 Family feature INS specific c
65. es nent testen tenens 3 2 1 System Start Up and Alignment Techniques sese 3 2 2 Navigation Mode 5 on eite e rei D Dpto iere lets iaaa 3 2 3 Data Collection a a a e aa an r aa aaa nennen nennen nns 3 2 4 Lever Arm Calibration Routine eessssesssseeeeneeeeeennee eene 3 2 5 Vehicle to Body Frame Angular Offsets Calibration Routine 3 3 Data Collection for Post Processing ssssseeneneneeneennnen een Appendices A Technical Specifications ATMU Interface Cable nse e e eot tete ce D Eee E EIER eee A 2 SPAN System Performance esses nnne nnne enne A 3 IMU Performance iios itr cetus redet ke recie coe Ec Cere edere red G vl erede da wie A 4 Electrical and Environmental ccccccecececceseesssseccceceeccetseeeeanssececeeseesensnaeessesseeees B INS Commands B 1 Using a Command as a LOQ eeceeececeeeeeneeeneeeeeeeereceaeesaeeeeeeseaeeeeeenaeeseesneeeeaeeseaeeneeeeaes B 2 INS Specific Commands entree iva ded wae Geese deci eee Be2 A PRESET E RADI Uie d e IURE B 2 2INSCOMMAND ii c5 8 ciel ied e prae Feci Pe Se eere ie xb lege aie ee eee B 2 3 INSINITRTI inen IRR RURSUS ERROR RI RR ERREUR SPAN Technology User Manual Hev 7 B 2 4 INSPHASEUPDATE tete te dete ete kn ER detente 46 B 2 5 INTERFAGEMODE nines de ege Oen e ih corti eed 47 B 26 INSZUP T uiri ep e e o pe Dt HQ ERO E Ea e Eee p ER 50
66. essage ID 507 Log Type Synch 3 p c Binary Binary Field Field Type Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong H 3 Seconds Seconds from week start Double 8 H 4 4 Latitude Latitude WGS84 Double 8 H 12 5 Longitude Longitude WGS84 Double 8 H 20 6 Height Ellipsoidal Height WGS84 Double 8 H 28 i North Velocity Velocity in a northerly Double 8 H 36 direction a ve value implies a southerly direction LSB 0 0005 revolutions 8 East Velocity Velocity in an easterly Double 8 H 44 direction a ve value implies a westerly direction 9 Up Velocity Velocity in an up direction Double 8 H 52 10 Roll Right handed rotation from Double 8 H 60 local level around y axis in degrees 11 Pitch Right handed rotation from Double 8 H 68 local level around x axis in degrees 12 Azimuth Left handed rotation around z Double 8 H 76 axis Degrees clockwise from North 13 Status INS Status see Table 13 on Enum 4 H 84 Page 60 14 XXXX 32 bit CRC Hex 4 H 88 15 CR LF Sentence Terminator ASCII only 78 SPAN Technology User Manual Rev 7 INS Logs Appendix C Recommended Input log inspvaa ontime 1 ASCII Example INSPVAA COM1 0 31 0 FINESTEERING 1264 144088 000 00040000 5615 1541 1264 144088 002284950 51 116827527 114 037738908 401 191547167 354 846489850 108 429407241 10 837482850 1 116219952 3 476059035 7 372686190 INS ALIGNMENT COMPLETE af719fd9 SPAN Technology User
67. et The uncertainty values are optional Follow these steps l Start with the vehicle frame as described above 2 Rotate about the vehicle X axis to align the Y Z plane with the body frame This angle is the X angle in the command 3 Rotate about the new Y axis to align the X Z plane with the body frame This angle is the Y angle in the command 4 Finally rotate about the new Z axis to align the X Y plane with the body frame This angle is the Z angle in the command Abbreviated ASCII Syntax VEHICLEBODYROTATION X Y Z ox oy oz Structure Message ID 642 Log Type Asynch SPAN Technology User Manual Hev 7 INS Logs Appendix C 3 Ter Binary Binary Field Field Type Description Format Bytes Offset 1 Log Header Log header H 0 2 X Angle Right hand rotation about vehicle Double 8 H frame X axis degrees 3 Y Angle Right hand rotation about vehicle Double 8 H 8 frame Y axis degrees 4 Z Angle Right hand rotation about vehicle Double 8 H 16 frame Z axis degrees 5 X Uncertainty Uncertainty of X rotation degrees Double 8 H 24 default 0 6 Y Uncertainty Uncertainty of Y rotation degrees Double 8 H 32 default 0 7 Z Uncertainty Uncertainty of Z rotation degrees Double 8 H 40 default 0 8 XXXX 32 bit CRC Hex 4 H 48 9 CR LF Sentence Terminator ASCII only Recommended Input log vehiclebodyrotationa onchanged ASCII Example VEHICLEBODYROTATIONA COM
68. face D 1 DOS Appendix D One way to initiate multiple commands and logging from the receiver is to create DOS command files relating to specific functions This minimizes the time required to set up duplicate test situations Any convenient text editor can be used to create command text files Example _ For this example consider a situation where a laptop computer s appropriately configured COMI serial port is connected to the receiver s COMI serial port and where a rover terminal is connected to the receiver s COM serial port If you wish to monitor the SPAN system activity the following command file could be used to do this l 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 BOOTI TXT file to the PC s COMI serial port C GPS gt copy bootl txt coml 1 files s copied C GPS gt 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 User Manual Hev 7 95 Appendix D Command Prompt Interface D 2 WINDOWS As any text editor or communications program can be used for
69. gging please refer to Volume 2 of the OEM4 User Manual set One difference from the standard OEMA family logs is that there are two possible headers for the ASCII and binary versions of the logs Which header is used for a given log is described in the log definitions in this chapter The reason for having the alternate short headers is that the normal OEM4 G2 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 logs except the covariance log see Page 72 can be obtained at rates up to 100 Hz subject to the limits of the output baud rate The covariance log is available once per second lt The highest rate that you should request GPS logs RANGE BESTPOS RTKPOS PSRPOS and so on while in INS operation is 5 Hz If the receiver is not running INS no IMU is attached GPS logs can be requested at rates up to 20 Hz Please also refer to Volume 1 of the OEM4 User Manual set for information on the supplied Convert4 program that lets you change binary to ASCII data or short binary to short ASCII data and vice versa Convert4 is also capable of RINEX conversions to and from ASCII or binary Table 13 shows the s
70. gitude Longitude WGS84 Double 8 H 20 6 Height Ellipsoidal Height WGS84 Double 8 H 28 7 Status INS status see Table 13 on Page 60 Enum 4 H 36 8 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 40 Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log insposa ontime 1 ASCII Example HINSPOSA COM3 0 0 0 EXACT 1105 425385 000 00040000 3232a 0 1105 425384 996167250 51 058410364 114 065465722 1067 791685696 INSSolutionGood 9bfd5a12 SPAN Technology User Manual Hev 7 75 Appendix C INS Logs C 2 9 INSPOSS Short INS Position This is a short header version of the IVSPOS log on Page 75 Structure Message ID 321 Log Type Synch Field Field Type Data Description Format Bytes anay 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 Double 8 H 28 7 Status INS status see Table 13 on Page 60 Enum 4 H 36 8 XXXX 32 bit CRC ASCII Binary and Hex 4 H 40 Short Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log inspossa ontime 1 ASCII Example SINSPOSSA 1105 425385 000 1105 425384 996167250 51 058410364 114 065465722 1067 791685696 INSSolutionGood 9bfd5a12 76 SPAN Technology User Manual Rev 7 INS Logs
71. grated INS GPS solution is available through special INS logs documented in Appendix C of this manual e The IMU solution is available at the maximum rate of output of the IMU 100 Hz Because of this high data rate a shorter header format was created These shorter header logs are SPAN Technology User Manual Hev 7 29 Chapter 3 SPAN Operation defined with an S RAWIBUSB 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 is a subset of the INS Status Definitions table on Page 60 Table 5 Solution Status Subset Binary ASCII Description 0 INS INACTIVE IMU logs are present but the alignment routine has not started 1 INS ALIGNING INS is in alignment mode 3 INS SOLUTION GOOD The INS filter is in navigation mode 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 INS ALIGNMENT COMPLETE The INS filter is in navigation mode but not enough vehicle dynamics have been experienced for the system to be within specifications 3 2 1 System Start Up and Alignment Techniques 30 The system requires an initial att
72. he DL 4plus is the only receiver with a data storage device To store data on a ProPak G2plus or ProPak LBplus 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 The back panels of the ProPak G2plus and DL 4plus are the same see Figure 6 on the left The ProPak LBplus back panel uses mostly Switchcraft rather than DB9 connectors and is shown on the right Figure 6 Receiver Enclosure Back Panels 20 SPAN Technology User Manual Rev 7 SPAN Installation The communication port names and pinouts also differ For example the ProPak LBplus does not Chapter 2 have an I O port but COMI has PPS and MARK input signal lines Please refer to Volume 1 of the OEMA4 User Manual set for details Table 3 shows a summary of the receivers back panel port names lt When you input a command that requires a port name you must type in COMG for the ProPak G2plus and ProPak LBplus and you must type in AUX for the DL 4plus This is true even if the port is labelled differently Table 3 Receiver Enclosure Back Panel Labels SPAN Enclosure Port Label Description DL 4plus and 9 18 VDC Power ProPak G2plus COMi COMI come come AUX COMS ProPak G2plus or AUX DL 4plus I O 1O GPS Antenna EXT OSC External Oscillator ProPak LBplus gt Antenna T Power COM or I O Z q SMS COM3 E Tab
73. hnology User Manual Rev 7 31 Chapter 3 SPAN Operation lever arm is being calibrated lever arm errors are also included as states Updates to the Kalman filter are provided by the GPS solution GPS phase observations and automatic zero velocity updates ZUPTs Following the alignment the attitude is coarsely defined especially in heading Vehicle dynamics specifically turns allow you to observe the heading error Dynamics allow 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 this convergence is complete 3 2 3 Data Collection 32 The INS solution is available in the INS specific logs with either a standard or short header Other parameters are available in the log shown in Table 6 Table 6 Solution Parameters Parameter Log Position INSPOS INSPOSS INSPVA INSPVAS Velocity INSVEL INSVELS INSSPD INSSPDS INSPVA INSPVAS Attitude INSATT INSATTS INSPVA INSPVAS Solution Uncertainty INSCOV 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 100 Hz for the HG1700 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 thro
74. itude 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 satellite 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 log see Page 87 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 movement the INS Status field changes to INS SOLUTION GOOD SPAN Technology User Manual Hev 7 SPAN Operation Chapter 3 3 2 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 acceler
75. le 4 Enclosure Port Used for IMU Connection SPAN Enclosure Port Label Port Name for Software ProPak G2plus AUX COM3 ProPak LBplus COM3 DL 4plus AUX AUX a This is the name given to the port when described in a command or output in a log SPAN Technology User Manual Rev 7 21 Chapter 2 SPAN Installation 2 1 2 Antenna For maximum positioning precision and accuracy as well as to minimize the risk of damage ensure that the antenna is securely mounted on a stable structure that will not sway or topple Where possible select a location with a clear view of the sky to the horizon so that each satellite above the horizon can be tracked without obstruction The location should also be one that minimizes the effect of multipath interference For a discussion on multipath please refer to the GPS Reference Manual lt 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
76. n 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 Lic ensee may terminate this Agreement by providing written notice to NovAtel Upon termination for any reasons the Licensee shall promptly on NovAtel s request return to NovAtel or at the election of NovAtel destroy all copies of any documents and extracts comprising or containing the Software The Licensee shall also erase any copies of the Software residing on Licensee s computer equipment Ter mination shall be without prejudice to the accrued rights of either party including payments due to NovAtel This provision shall survive termination of this Agreement howsoever arising 6 Warranty NovAtel does not warrant the contents of the Software or that it will be error free The Software is furnished AS IS and without 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 Indemnifica
77. nary respectively Field Description Type Value Value 2 target See Table 8 What data is to be reset by the Enum 4 H receiver Input Example FRESET COMMAND Table 8 FRESET Target Binary ASCII Description 0 STANDARD Resets commands ephemeris and almanac default Also resets all OmniSTAR related data except for the subscription information 1 COMMAND Resets the stored commands saved configuration 2 GPSALMANAC Resets the stored almanac 3 GPSEPHEM Resets stored ephemeris 5 MODEL Resets the currently selected model 11 CLKCALIBRATION Resets the parameters entered using the CLOCKCALIBRATE command 20 SBASALMANAC Resets the stored SBAS almanac 21 LAST POSITION Resets the position using the last stored position 22 VEHICLE BODY R Resets stored vehicle to body rotations 24 INS LEVER ARM Resets the GPS antenna to IMU lever arm SPAN Technology User Manual Hev 7 43 Appendix B INS Commands B 2 2 INSCOMMAND 44 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 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 2 1 System Start Up and Alignment Techniques s
78. nary Binary Binary Field Type 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 switch OFF 0 Offset along the IMU X axis Enum 4 H ON 1 default 3 maxtime 30 1000 Maximum calibration time s Double 8 H 4 4 maxstd 0 02 0 5 Maximum offset uncertainty m Double 8 H 12 Abbreviated ASCII Example LEVERARMCALIBRATE 600 SPAN Technology User Manual Rev 7 51 Appendix B INS Commands B 2 8 RVBCALIBRATE The RVBCALIBRATE command is used to enable or disable the calculation of the vehicle to 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 WARNING After the RVBCALIBRATE ENABLE command is entered there are no vehicle body rotation parameters present and a kinematic alignment is NOT possible Therefore this command should only be entered after the system has performed either a static or kinematic alignment and has a valid INS solution A good INS solution and vehicle movement are required for the SPAN system to solve the vehicle body offset The solved vehicle body rotation parameters are output in the VEHICLEBODYROTATION log when the calibration is complete see Page 92 When the calibration is done the rotation values are fixed until the cali
79. nce terminator ASCII only Recommended Input log insvela ontime 1 ASCII Example INSVELA COM3 0 0 0 EXACT 1105 425385 000 00040000 7d4a 0 1105 425384 996167250 0 014277009 0 013675287 0 024795257 INSSolutionGood 2f3fe011 SPAN Technology User Manual Rev 7 85 Appendix C INS Logs C 2 17 INSVELS Short INS Velocity This is a short header version of the IVSVEL log on Page 85 Structure Message ID 324 Log Type Synch Field Field Type Data Description Format Byles onay 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 North Velocity Velocity North m s Double 8 H 12 5 East Velocity Velocity East m s Double 8 H 20 6 Up Velocity Velocity Up m s Double 8 H 28 7 Status INS status see Table 13 on Page 60 Enum 4 H 36 8 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 40 Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log insvelsa ontime 1 ASCII Example INSVELSA 1105 425385 000 1105 425384 996167250 0 014277009 0 013675287 0 024795257 1NSSolutionGood 2f 3fe011 86 SPAN Technology User Manual Rev 7 INS Logs Appendix C C 2 18 RAWIMU Raw IMU Data This log contains an IMU status indicator and any output changes from the accelerometers and gyros Structure Message ID 268 Log Type
80. nly solution used when running the OEM4 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 60 should be logged at rates higher than 5 Hz when running SPAN 6 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 so that after one minute of GPS outage the position accuracy is approximately 2 m The SPAN solution continues to be computed for as long as the GPS outage lasts but the solution uncertainty increases with time This uncertainty can be monitored using the INSCOV log see Page 72 106 SPAN Technology User Manual Rev 7 h Yeer2 Dae Replacement Parts The following are a list of the replacement parts available Should you require assistance or need to order additional components please contact your local NovAtel dealer or Customer Service G 1 SPAN System Part Description NovAtel Part IMUS see Table 2 IMU Enclosure Models on Page 17 for details IMU G2 xxx IMU LB xxx Receivers see Table 1 SPAN Compatibl
81. o detect the type of IMU connected Appendix B WARNING Ensure that all windows other than the Console are closed in GPSolution 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 Field ASCII Binary ae 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 12 below IMU Type ENUM 4 H Table 12 IMU Type Binary ASCII Description 0 IMU UNKNOWN Unknown IMU type default 1 IMU_HG1700_AG11 Honeywell HG1700 AG11 or AG58 2 3 Reserved 4 IMU HG1700 AGI7 Honeywell HG1700 AG17 or AG62 5 6 Reserved Abbreviated ASCII Example SETIMUTYPE IMU HG1700 AGII SPAN Technology User Manual Hev 7 57 Appendix B INS Commands B 2 12 SETINSOFFSET 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 axis Abbreviated ASCII Syntax Message ID 676 SETINSOFFSET xoffset yoffset zoffset
82. ombined GPS INS solution integrates the raw inertial measurements with all available GPS solution and raw measurement information to provide the optimum solution possible in any situation By using the high accuracy of the GPS solution the INS measurement errors can be modeled and mitigated Conversely the continuity and relative accuracy of the INS solution enables faster GPS signal reacquisition and RTK solution convergence The advantages of using 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 GPS only solution is impossible e Provide faster signal reacquisition and RTK solution resolution over stand alone GPS because of the tightly integrated GPS and INS filters e Output high rate up to 100 Hz position velocity and attitude solutions for high dynamic applications e Use raw phase observation data to constrain INS solution drift even when too few satellites are available for a full GPS solution SPAN Technology User Manual Hev 7 15 Chapter 1 Introduction 1 1 16 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 Models Model Name Firmware Feature ProPak G2 DB9 RT2Wi RS 232 IMU support L1 L2 plus pseudorange differential corrections RT 2 INS real time or pos
83. ome situations GPS positioning requires line of site view to at least four satellites simultaneously If these criteria are met differential GPS positioning can be accurate to within a few centimetres If however some or all of the satellite signals are blocked the accuracy of the position reported by GPS degrades substantially or may not be available at all In general an INS uses forces and rotations measured by an IMU to calculate acceleration velocity and attitude This capability is embedded in the firmware of our plus series of receivers Forces are measured by accelerometers in three perpendicular axis within the IMU and the gyros measure rotations around those axis Over short periods of time inertial navigation gives very accurate acceleration velocity and attitude output The IMU must have prior knowledge of its initial position initial velocity initial attitude Earth rotation rate and gravity field Since the IMU sensor 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 sensor 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 c
84. ometer 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 1 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 converges with motion after the coarse alignment is complete see Section 3 2 2 Navigation Mode on Page 31 3 2 1 2 Fast 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 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 Additional configuration parameters are necessary to enable the fast alignment In order to simplify this configuration it is strongly suggested that you mount the IMU coincidentally with the vehicle frame so that the graphics on the IMU enclosure align with the axis of the vehicle Specify which IMU axes is most closely aligned with gravity using the SETIMUORIENTATION command If the IMU is mounted coincidentally with the vehi
85. ommands may be in Abbreviated ASCII ASCII or Binary format Consider the lockout command refer to Volume 2 of the OEM4 User s Guide with the syntax lockout prn You can put this command into the receiver to de weight an undesirable satellite in the solution or you can use the lockout command as a log to see if there is a satellite PRN that has already been locked out In ASCII this might be log com1 lockouta once Notice the a after lockout to signify you are looking for ASCII output lt The highest rate that you should request GPS logs RANGE BESTPOS RTKPOS PSRPOS and so on while in INS operation is 5 Hz If the receiver is not running INS no IMU is attached GPS logs can be requested at rates up to 20 Hz B 2 INS Specific Commands Please refer to Volume 2 of the OEM4 User Manual set for a complete list of commands categorized by function and then detailed in alphabetical order 42 SPAN Technology User Manual Hev 7 INS Commands Appendix B B 2 1 FRESET 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 Abbreviated ASCII Syntax Message ID 20 FRESET target Field ASCII Binary Binary Binary Binary 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 bi
86. orts the HG1700 IMU family The SETIMUTYUPE command specifies the type of IMU used b For the AG11 and AG58 IMUS the configuration command is SETIMUTYPE IMU HG1700 AG11 c For the AG17 and AG62 IMUs the configuration command is SETIMUTYPE IMU HG1700 AG17 5 Why don t I have any INS logs a Onstart 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 6 How can I access the inertial solution The INS GPS solution is available from a number of specific logs dedicated to the inertial filter The INSPOS INSPVA INSVEL INSSPD INSATT and INSCOV logs are the most commonly used logs for extracting the INS solution These logs can be logged at any rate up to the rate of the IMU data 100 Hz for the HG1700 IMU 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 60 SPAN Technology User Manual Rev 7 105 Appendix F Frequently Asked Questions 7 Canl still access the GPS only solution while running SPAN The GPS o
87. osure and an IMU The SPAN capable receivers are the ProPak G2plus the ProPak LBplus and the DL 4plus These receiver names are not used in this manual unless a specific detail refers to it alone The term receiver infers that the text is applicable to all three unless otherwise stated The SPAN Technology system SPAN system is capable of continuous operation with fast data rates and attitude determination The SPAN system computes position velocity and rotation about three axis at a 100 Hz rate This system also provides real time 2 cm positional accuracy with the aid of RT 2 global positioning system GPS software and high data output rates The SPAN system provides high positional accuracy coupled with triple axis attitude measurements The system can be applied in avionics sea vessels land vehicles navigation mining and machine control robotics agriculture military and other OEM applications This manual will help you get the hardware operational and provide further technical information with examples Scope This manual contains sufficient information on the installation and operation of the SPAN system to allow you to effectively integrate and fully operate its units 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 Service on Page 10 After the addition of accessories an antenna and a power supply the SPA
88. ovAtel dealer first for more information To locate a dealer in your area or if the problem is not resolved contact NovAtel Inc directly using one of the following methods Call the NovAtel GPS Hotline at 1 800 NOVATEL North America or 403 295 4900 international Fax 403 295 4901 E mail support novatel ca Website http www novatel com Write NovAtel Inc Customer Service Dept 1120 68 Avenue NE Calgary AB Canada T2E 8S5 lt Before contacting NovAtel Customer Service regarding software concerns please do the following 1 Issue a FRESET command 2 Log the following data to a file on your PC for 30 minutes RXSTATUSB once RAWEPHEMB onchanged RANGEB ontime 1 BESTPOSB ontime 20 RXCONFIGA once VERSIONB once RAWIMUSB onnew 3 Send the file containing the logs to NovAtel Customer Service using the support novatel ca e mail address 10 SPAN Technology User Manual Rev 7 CAUTION 1 This device incorporates circuitry to absorb most static discharges However severe static shock may cause inaccurate operation of the unit Use anti static precautions where possible 2 This device is a precision instrument It performs best when handled with care SPAN Technology User Manual Hev 7 11 Foreword Congratulations Congratulations on purchasing your Synchronized Position Attitude Navigation SPAN Technology system an inertial navigation system INS including a SPAN capable OEM4 G2 encl
89. ple INSPVASA 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 855d6f76 SPAN Technology User Manual Hev 7 81 Appendix C INS Logs C 2 13 INSSPD INS Speed This log contains the most recent speed measurements in the horizontal and vertical directions and includes an INS status indicator Structure Message ID 266 Log Type Synch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Trk gnd Actual direction of motion over ground Double 8 H 12 track over ground with respect to True North in degrees 5 Horizontal Speed Magnitude of horizontal speed in m s Double 8 H 20 where a positive value indicates you are moving forward and a negative value indicates you are reversing 6 Vertical Speed Magnitude of vertical speed in m s Double 8 H 28 where a positive value indicates speed upward and a negative value indicates speed downward 7 Status INS status see Table 13 on Page 60 Enum 4 H 36 8 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 40 Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log insspda ontime 1 ASCII Example INSSPDA COM3 0 0 0 EXACT 1105 425385 000 00040000 efce
90. pplicable national laws You must treat the Software like any other copy righted material except that you may make one copy of the Software solely for backup or archival pur poses one copy may be made for each piece of NovAtel hardware on which it is installed or where used in conjunction with other NovAtel supplied software the media of said copy shall bear labels showing all trademark and copyright notices that appear on the original copy You may not copy the product manual or written materials accompanying the Software No right is conveyed by this Agree ment for the use directly indirectly by implication or otherwise by Licensee of the name of NovAtel or of any trade names or nomenclature used by NovAtel or any other words or combinations of words proprietary to NovAtel in connection with this Agreement without the prior written consent of NovAtel 3 Patent Infringement NovAtel shall not be liable to indemnify the Licensee against any loss sus tained by it as the result of any claim made or action brought by any third party for infringement of any letters patent registered design 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 instr
91. pter 1 Introduction 14 Figure 1 SPAN System Receiver and IMU NovAtel s SPAN technology brings together two very different but complementary positioning and navigation systems namely GPS and an Inertial Navigation System INS By combining the best aspects of GPS and INS into one system SPAN technology is able to offer a solution that is more accurate and reliable than either GPS or INS could provide alone The combined GPS INS solution has the advantage of the absolute accuracy available from GPS and the continuity of INS through traditionally difficult GPS conditions The SPAN system consists of the following components NovAtel plus series GPS receiver These include the ProPak G2plus the ProPak LBplus and the DL 4plus All of these variations are capable of receiving and tracking the L1 C A code L1 and L2 carrier phase code and L2 P Code or encrypted Y Code of up to 12 satellites Satellite Based Augmentation Systems SBAS such as WAAS and EGNOS signal tracking is available as an option 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 Built in Compact Flash Card data logging capability is available on the DL 4plus The OEM 4 family also supports the timing requirements of
92. r GPS antenna are re mounted the calibration routine should be re run to compute an accurate lever arm SPAN Technology User Manual Rev 7 33 Chapter 3 SPAN Operation 3 2 5 Vehicle to Body Frame Angular Offsets Calibration Routine 3 3 34 Kinematic fast alignment requires that the angular offset between the vehicle and IMU body frame is known approximately If the angles are simple that is a simple rotation about one axes the values can easily be entered manually through the VEHICLEBODYROTATION command see Page 59 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 body frame angular offset calibration requires RTK GPS The steps for the calibration routine are 1 Apply power to the receiver and IMU see Section A 1 IMU Interface Cable starting on Page 38 2 Configure the RTK corrections and make sure that the BESTGPSPOS log see Page 62 reports a good RTK solution 3 Configure the IMU see Section 2 3 2 SPAN IMU Configuration starting on Page 25 4 Ensure that an accurate lever arm has been entered into the system either manually or through a lever arm calibration see Page 31 5 Enable the lever arm calibration using the RVBCALIBRATE ENABLE command see Page 52 6 Start to move the system As with the lever arm calibration movement of the system is required for
93. r phase ambiguities 5 WIDELANE Solution from wide lane ambiguities 6 NARROWLANE Solution from narrow lane ambiguities vi Reserved 8 DOPPLER_VELOCITY Velocity computed using instantaneous Doppler 9 15 Reserved 16 SINGLE Single point position 17 PSRDIFF Pseudorange differential solution 18 WAAS Solution calculated using corrections from an SBAS 19 PROPOGATED Propagated by a Kalman filter without new observations 20 OMNISTAR OmniSTAR VBS position L1 sub meter b 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 Continued on Page 65 64 SPAN Technology User Manual Hev 7 INS Logs Position Type binary Position Type Appendix C Description 51 65 Reserved Please refer to Volume 2 of the OEM4 Manual set for a complete table including GPS only receiver log details 66 CDGPS Position solution using CDGPS corrections a In addition to a NovAtel receiver with L Band capability a subscription to the OmniSTAR or use of the free CDGPS service is required Contact NovAtel for details SPAN Technology User Manual Hev 7 65 INS Logs Appendix C Table 17 Solution Status Bina
94. ry 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 10 km 6 COLD START Not yet converged from cold start 7 V H LIMIT Height or velocity limits exceeded in accordance with COCOM export licensing restrictions 8 VARIANCE Variance exceeds limits 9 RESIDUALS Residuals are too large 10 DELTA POS Delta position is too large 11 NEGATIVE_VAR Negative variance 12 Reserved 13 INTEGRITY_WARNING Large residuals make position unreliable 14 INS_INACTIVE INS has not started yet 15 INS_ALIGNING INS doing its coarse alignment 16 INS_BAD INS position is bad 17 IMU_UNPLUGGED No IMU detected 18 PENDING When a FIX POSITION command is entered the receiver computes its own position and determines if the fixed position is valid 19 INVALID FIX The fixed position entered using the FIX POSITION command is not valid a PENDING implies there are not enough satellites being tracked to verify if the FIX POSITION entered into the receiver is valid The receiver needs to be tracking two or more GPS satellites to perform this check Under normal conditions you should only see PENDING for a few seconds on power up before the GPS receiver has locked onto its first few satellites If your antenna is obstructed
95. sage Header Structure sssssssseeeeenenen 61 16 Position or Velocity Type tette emt e d Mere npe XR ERE ER eec t 64 17 Solution Status eren eerie en epe Ret Di ur Re E Rer E eee 66 18 IMDJESIATUSz iet oc a eh aes he ca Ye Ob ta Se a ee EEUU Ado oo MAG Pe cit 25 88 19 IMUStatus ExXatrple 5 2 etc eret etd d se 89 6 SPAN Technology User Manual Hev 7 Software License BY INSTALLING COPYING OR OTHERWISE USING THE SOFTWARE PRODUCT YOU AGREE TO BE BOUND BY THE TERMS OF THIS AGREEMENT IF YOU DO NOT AGREE WITH THESE TERMS OF USE DO NOT INSTALL COPY OR USE THIS ELECTRONIC PRODUCT SOFTWARE FIRMWARE SCRIPT FILES OR OTHER ELECTRONIC PRODUCT WHETHER EMBEDDED IN THE HARDWARE ON A CD OR AVAILABLE ON THE COMPANY WEB SITE hereinafter referred to as Software 1 License NovAtel Inc NovAtel grants you a non exclusive non transferable license not a sale to where the Software will be used on NovAtel supplied hardware or in conjunction with other NovAtel supplied software use the Software with the product s as supplied by NovAtel You agree not to use the Software for any purpose other than the due exercise of the rights and licences hereby agreed to be granted to 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 a
96. ser Manual Rev 7 D Yer a a Frequently Asked Questions 1 How do I know if my hardware is connected properly When powered the HG1700 IMU will make a noticeable humming sound 2 Idon thear any sound from my IMU Why a When powered the IMU makes a noticeable humming sound If no sound is heard check that the cable between the receiver and IMU is connected properly The cable should be connected to the AUX port on the DL 4plus or Propak G2plus and to the COMG port on Propak LBplus b 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 proper IMU installation to ensure that the cable is seated properly on the IMU pins See Appendix E IMU Gyro Installation starting on Page 97 for more details c 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 3 What system configuration do I need to do to get the system running a Setthe interface of the receiver port being used for IMU communication using the INTERFACEMODE command see Page 47 INTERFACEMODE COM3 IMU IMU OFF for ProPak G2plus and Propak LBplus INTERFACEMODE AUX IMU IMU OFF for DL 4 b Set the IMU type using the SETIMUTYPE command see Page 57 4 What types of IMUs are supported a SPAN currently supp
97. set for more details on GPSolution4 and other OEM4 family PC software programs INS INS Window This window displays INS position velocity and attitude information as well as status and configuration indicators INS Position Velocity Attitude MYSPAN 1 INS Configuration and Status Position Std Dev SSS M O E J LJ LI INS Status INS_COARSE_ALIGN COMPLETE Latitude EARBEEEPEIMIIIS 0 407 rn IMU Type IMU_HG1700_AG11 ILongitude 114 03825009 0 437 m IMU Port COM3 Height 1045 768 m MSL 0 627 m Velocity Std Dev lC North Velocit EMEN 0 012 m s FEM 0 053 East Velocity 0 001 m s 0 012 m s 0 0537 Up Velocity 0 001 m s 0 007 m s i 184 946 5 149 Please also see GPSolution4 s on line help for more details The Help is accessed by choosing Help from the menu in GPSolution4 3 2 Real Time Operation SPAN operates through the OEM4 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 nertial 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 inte
98. set must be measured to within a millimeter Any bias 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 SPAN Technology User Manual Hev 7 SPAN Installation Chapter 2 2 3 2 1 Configuration for Fast Alignment If a course alignment routine cannot be performed because the vehicle cannot remain stationary for at least 1 minute 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 For fast alignment follow the configuration steps above plus the following 1 Specify which IMU axes is mostly aligned with gravity using the SETIMUORIENATATION command see Page 53 If the IMU is installed as recommended with the markings on the IMU enclosure aligned with the axis of the vehicle this command is SETIMUORIENATION 5 2 Specify the angular offsets between the IMU body frame as marked on the IMU enclosure and the vehicle frame using the VEHICLEBODYROTATION command see Page 59 If installed as recommended with the IMU Z axes up and the Y axes aligned with the direction of track of the vehicle the parameters for this command are zeros VEHICLEBODYROTATION O 0 O Alternatively the angular offsets between the IMU and vehicle frame can be solved by the system through
99. t The transmit type tells the receiver what kind of data it can generate For INS operation please see the port tables on Page 21 and Section 2 3 2 SPAN IMU Configuration starting on Page 25 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 by 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 Volume 2 of the OEM4 User Manual set for information on pass through logging and the COMCONFIG log Abbreviated ASCII Syntax Message ID 3 INTERFACEMODE port rxtype txtype responses Field ASCII Binary Type METTI Value Binary Binary Binary Field Format Bytes Offset Description
100. t processed and SBAS corrections ProPak G2 DB9 424 RT2Wi RS 422 IMU support L1 L2 plus pseudorange differential corrections RT 2 INS real time or post processed and SBAS corrections DL 4 RT2Wi Integrated data logging RS 232 IMU support L1 L2 plus pseudorange differential corrections RT 2 INS real time or post processed and SBAS corrections DL 4 424 RT2Wi Integrated data logging RS 422 IMU support L1 L2 plus pseudorange differential corrections RT 2 INS real time or post processed and SBAS corrections ProPak LB HP RT2i OmniSTAR enabled RS 232 IMU support L1 L2 plus pseudorange differential corrections RT 2 INS real time or post processed and SBAS corrections a The RS 422 version provides COMI and COM3 at RS 422 levels COM2 remains at RS 232 levels Each model is capable of multiple positioning modes of operation For a discussion on GPS positioning and details on the enclosures please refer to Volume 1 of the OEM4 User Manual set and or the DL 4plus User Manual Each model has the following standard features Rugged shock water and dust resistant enclosure NovAtel s advanced OEM4 L1 L2 GPS and PAC technology Three bi directional COM ports which support data transfer rates of up to 115 200 bits second A serial port capable of communication with an IMU See also Table 2 IMU Enclosure Models on Page 17 Field upgradeable firmware program software What makes one model different
101. tarting on Page 30 Abbreviated ASCII Syntax Message ID 379 INSCOMMAND action Field ASCII Binary Binary Binary Field Description Type Value Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 action RESET 0 Resets the GPS INS Enum 4 H alignment and restarts the alignment initialization DISABLE 1 Disables INS positioning ENABLE 2 Enables INS positioning where alignment initialization starts again default Abbreviated ASCII Example INSCOMMAND ENABLE SPAN Technology User Manual Rev 7 INS Commands B 2 3 INSINITRTK This command allows you to enable or disable the initialization of the RTK GPS solution with the INS solution Abbreviated ASCII Syntax INSINITRTK action Field ASCII Pr Field Type Value Description 1 header This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCH or binary respectively 2 action DISABLE Disable RTK initialization with the INS ENABLE Enable RTK initialization with the INS default Appendix B Message ID 380 Binary Binary Binary Format Bytes Offset Enum 4 H Abbreviated ASCII Example INSINITRTK ENABLE SPAN Technology User Manual Rev 7 45 Appendix B B 2 4 IN
102. tatus 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 Table 13 INS Status Definitions ASCII Binary Definition INS_INACTIVE 0 INS is inactive INS_ALIGNING 1 INS is aligning INS_SOLUTION_NOT_GOOD 2 INS solution is not good INS_SOLUTION_GOOD 3 INS solution is good INS_TEST_ALIGNING 4 INS test is aligning INS_TEST_SOLUTION_GOOD 5 INS test solution is good INS_BAD_GPS_AGREEMENT 6 GPS agreement is good but the INS solution is bad INS_ALIGNMENT_COMPLETE 7 The state immediately after the alignment is finished but before enough vehicle velocity has been observed for the attitude specifically azimuth to become converged 60 SPAN Technology User Manual Hev 7 INS Logs Appendix C 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 14 and 15 For the message header structure of OEM4 G2 regular Binary and ASCII logs please refer to Volume 2 of the OEM4 User Manual set Table 14 Short ASCII Message Header Structure Field
103. 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 User Manual Hev 7 67 Appendix C 68 INS Logs Binary Binary Field Field type Data Description Format Bytes Offset 1 header Log header H 0 2 Sol Status Solution status see Table 17 Solution Status on Enum 4 H Page 66 3 Vel Type Velocity type see Table 16 Position or Velocity Enum 4 H 4 Type on Page 64 4 Latency A measure of the latency in the velocity time tag in Float 4 H 8 seconds It should be subtracted from the time to give improved results 5 Age Differential age Float 4 H 12 6 Hor Spd Horizontal speed over ground in metres per second Double 8 H 16 7 Trk Gnd Actual direction of motion over ground track over Double 8 H 24 ground with respect to True North in degrees 8 Vert Spd Vertical speed in metres per second where Double 8 H 32 positive values indicate increasing altitude up and negative values indicate decreasing altitude down 9 Reserved Float 4 H 40 10 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 44 11 CR LF Sentence terminator ASCII only Recommended Input log bestgpsvela ontime 1 ASCII Example BESTGPSVELA COM1 0 62 5 FINESTEERING 1049 247755 000 00000128 7e3 0 SOL COMPUTED SINGLE 0 250 0 000 0 1744 333 00212
104. tion NovAtel shall be under no obligation or liability of any kind in contract tort or oth erwise and whether directly or indirectly or by way of indemnity contribution or otherwise howsoever to the Licensee and the Licensee will indemnify and hold NovAtel harmless against all or any loss dam age actions costs claims demands and other liabilities or any kind whatsoever direct consequential special or otherwise arising directly or indirectly out of or by reason of the use by the Licensee of the Software whether the same shall arise in consequence of any such infringement deficiency inaccu racy error or other defect therein and whether or not involving negligence on the part of any person 8 Disclaimer and Limitation of Liability a THE WARRANTIES IN THIS AGREEMENT REPLACE ALL OTHER WARRANTIES EXPRESS OR IMPLIED INCLUDING ANY WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE NovAtel DISCLAIMS AND EXCLUDES ALL OTHER WARRANTIES IN NO EVENT WILL NovAtel s LIABILITY OF ANY KIND INCLUDE ANY SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES INCLUDING LOST PROFITS EVEN IF NovAtel HAS KNOWLEDGE OF THE POTENTIAL LOSS OR DAMAGE b NovAtel will not be liable for any loss or damage caused by 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
105. tion 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 11 on Page 55 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 Y gt X Z5 Y X gt Z where the default is XX Y Y ZZ Notice that the X axis observations are transformed into the Z axis resulting in Z being aligned with gravity and a 5 mapping The body 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 body frame Z axis pointing up its Y axis to body frame X and its Z axis to body frame Y The X pitch Y roll and Z azimuth directions of the inertial frame are clearly marked on the IMU see Figure 13 below Also Figure 7 IMU Dimensions on Page 36 includes the measurement defaults ae o XM Backview cn E oe J X ae 4 7 j Y I Z Figure 13 Frame of Reference SPAN Technology User Manual Rev 7 53 Appendix B INS Commands Abbreviated ASCII Syntax Message ID 567 SETIMUORIENTATION switch Binary Binary Binary Binary Value Description Format Bytes Offset 1 Log This field contains the H 0 Header command name or the mess
106. ugh 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 Volume 2 of the OEM4 User Manual set for more details on these logs INS only data logging and INS only data output can be at rates of up to 100 Hz lt The highest rate that you should request GPS logs RANGE BESTPOS RTKPOS PSRPOS and so on while in INS operation is 5 Hz If the receiver is not running INS no IMU is attached GPS logs can be requested at rates up to 20 Hz SPAN Technology User Manual Hev 7 SPAN Operation Chapter 3 Specific logs need to be collected for post processing See Section 3 5 Data Collection for Post Processing on Page 34 To store data on a ProPak G2plus or ProPak LBplus 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 For data logging to a compact flash card on the DL 4plus refer to the DL 4plus User Manual 3 2 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 The lever arm calibration routine should only be done when the receiver is operating in RTK mode Initial estimates and uncertainties for the lever arm are entered using the SETIMUTOANTOFFSET command see Page 56 The calibration ro
107. ulates the supply voltage protects against over voltage over current and high temperature conditions e provides automatic reset circuit protection There is always a drop in voltage between the power source and the power port due to cable loss Improper selection of wire gauge can lead to an unacceptable voltage drop at the SPAN system A paired wire run represents a feed and return line Therefore a 2 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 For pin out information on the power connector on your receiver refer to its hardware manual Volume 1 of the OEM4 User Manual set or the DL 4plus User Manual 2 2 Hardware Set Up Complete the following steps to set up and power your SPAN system where the example graphics show the connections on the back of a DL 4plus or ProPak G2plus receiver Refer to your ProPak LBplus Quick Start Guide for graphics of its connectors 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 25 2 Connect the IMU to the receiver using the IMU cable provided For the ProPak LBplus the IMU C cable plugs into the COM3 port For the DL 4plus and ProPak G2plus receivers the IMU plugs into the port l
108. ument of privilege which may now or at any future time be owned by it However should NovAtel elect to take such legal proceedings at NovAtel s request Licensee shall co operate reasonably with NovAtel in all legal actions concerning this license of the Software under this Agreement taken against any third party by NovAtel to protect its rights in the Software NovAtel shall bear all reasonable costs and expenses incurred by Licensee in the course of co operating with NovAtel in such legal action 4 Restrictions You may not a copy other than as provided for in paragraph 2 distribute transfer rent lease lend sell or sublicense all or any portion of the Software except in the case of sale of the hardware to a third party b modify or prepare derivative works of the Software c use the Software in connection with computer based services business or publicly display visual output of the Software d transmit the Software over a network by telephone or electronically using any means except when downloading a purchased up grade from the NovAtel web site or e reverse engineer decompile or disassemble the Software You agree to keep confidential and use your best efforts to prevent and protect the contents of the Soft ware from unauthorized disclosure or use SPAN Technology User Manual Rev 7 7 Software License 5 Term and Termination This Agreement and the rights and licences hereby granted shall continue in force i
109. utine 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 Section A 1 IMU Interface Cable starting on Page 38 2 Configure the RTK corrections and make sure that the BESTGPSPOS log see Page 62 reports a good RTK solution 3 Configure the IMU see Section 2 3 2 SPAN IMU Configuration starting on Page 25 4 Enter the initial estimate for the lever arm using the SETIMUTOANTOFFSET command see Page 56 5 Specify the limits of the calibration through the LEVERARMCALIBRATE command see Page 51 The calibration can be limited by time or accuracy of the lever arm A recommended accuracy threshold is 0 02 m 6 Monitor the calibration log BESTLEVERARM see Page 69 using the ONCHANGED trigger 7 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 13 on Page 60 8 Start to move the system The lever arm is not observable while the system is stationary Drive a series of manoeuvres such as circles and figure eights Some height variation in the route is also useful for providing observability in the Z axes 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 NVM If the IMU o
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