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SPAN™ Technology for OEMV®

1. 5 Reserved Integer 4 H 12 6 Zupt Flag A zero velocity update was performed Boolean 4 H 16 during the last INS filter update 0 False 1 True 7 Wheel Status Wheel status see Table 30 below Ulong 4 H 18 8 Reserved Ulong 4 H 22 9 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 26 Binary only 10 CR LF Sentence terminator ASCII only Recommended Input log insupdate onchanged ASCII Example INSUPDATEA UNKNOWN 0 32 5 F INESTEERING 1379 339642 042 00040040 3670 2431 SINGLE 0 6 0 FALSE WHEEL_SENSOR_UNSYNCED 0 fb5d 08b Table 30 Wheel Status Binary ASCII WHEEL_SENSOR_INACTIVE WHEEL_SENSOR_ACTIVE WHEEL_SENSOR_USED WHEEL_SENSOR_BAD_MISC WHEEL_SENSOR_HIGH_ROTATION SPAN Technology for OEMV User Manual Rev 8 145 WE Appendix C INS Logs C 2 18 INSVEL_ INS Velocity This log contains the most recent North East and Up velocity vector values with respect to the local level frame and also includes an INS status indicator Structure Message ID 267 Log Type Synch Field Field Type Data Description Format Bytes Ont 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 5 on page 42 Enum 4 H 36
2. J 1 END VIEW J 2 SIDE VIEW Figure 12 Universal IMU Enclosure Interface Cable Table 8 Universal IMU Enclosure Interface Cable Pinouts J2 REMOTE CONNECTION PINOUT FUNCTION CONNECTOR PIN COLOR 1 Vin PIN 1 P2 BLK 22 Vin PIN 22 2 Not used 3 Vin PIN 3 P1 RED 21 Vin PIN 21 4 Not used 5 Not used 6 Not used 7 DAS Ji 1 SPAN Technology for OEMV User Manual Rev 8 55 Appendix A 56 Technical Specifications Table 8 Universal IMU Enclosure Interface Cable Pinouts continued J2 REMOTE CONNECTION PINOUT FUNCTION CONNECTOR PIN COLOR 8 Not used 9 DAS GND J1 5 10 Not used 11 OEM_CTS Rx Ji 8 12 OEM_Rx Rx J1 2 13 Not used 14 DGND Ji 5 15 DGND J1 5 16 Not used 17 Not used 18 Not used 19 OEM_Tx Tx Ji 3 20 OEM_RTS Tx Ji 7 Shield P3 GRN SPAN Technology for OEMV User Manual Rev 8 Technical Specifications A 1 2 IMU Performance PERFORMANCE IMU HG1700 AG58 Gyro Input Range Gyro Rate Bias Gyro Rate Scale Factor Angular Random Walk Accelerometer Range 1000 deg sec 1 0 deg hr 150 ppm 0 125 deg rt hr 50 g Appendix A Angular Random Walk Accelerometer Range Accelerometer Linearity Accelerometer Scale Factor Accelerometer Bias Accelerometer Linearity 500 ppm Accelerometer Scal
3. Once you have obtained an RMA number you will be advised of proper shipping procedures to return any defective product When returning any product to NovAtel please return the defective product in the original packaging to avoid ESD and shipping damage SPAN Technology for OEMV User Manual Rev 8 Customer Support NovAtel Knowledge Base If you have a technical issue browse to the NovAtel Web site at www novatel com then select Support Helpdesk and Solutions Search Known Solutions Through this page you can search for general information about GNSS and other technologies information about NovAtel hardware and software and installation and operation issues Before Contacting Customer Support Before contacting NovAtel Customer Support about a software problem perform the following steps 1 Log the following data to a file on your PC for 15 minutes RXSTATUSB once RAWEPHEMB onchanged RANGEB ontime 1 BESTPOSB ontime 1 RXCONFIGA once VERSIONB once D I I AWIMUSB onnew NSPVASB ontime 1 NSUPDATEB onchanged 2 Send the file containing the log to NovAtel Customer Support using either the NovAtel FTP site at Support Firmware Software and Manuals Access FTP Site on the NovAtel Web site at www novatel com or through the support novatel com e mail address 3 You can also issue a FRESET command to the receiver to clear any unknown settings lt The FRESET command will erase a
4. 1 Please visit the NovAtel Web site at www novatel comthrough Products WEEE and RoHS for more information on WEEE and RoHS SPAN Technology for OEMV User Manual Rev 8 21 Foreword Congratulations Congratulations on purchasing your Synchronized Position Attitude Navigation SPAN Technology system SPAN features a tight integration of a NovAtel GNSS receiver and an Inertial Measurement Unit IMU SPAN provides continuous navigation information using an Inertial Navigation System INS to bridge short GNSS outages Designed for dynamic applications SPAN provides precise position velocity and attitude information By complementing GNSS with inertial measurements SPAN Technology provides robust positioning in challenging conditions where GNSS alone is less reliable During short periods of GNSS outage or when less than four satellites are received SPAN Technology offers uninterrupted position and attitude output The tight coupling of inertial technology with GNSS also provides the benefits of faster satellite reacquisition and faster RTK initialization after outages NovAtel s OEMV receivers are the processing engines of the SPAN Technology system Separate GNSS and IMU enclosures provide a simple modular system This allows the IMU mounting at the most suitable location while the GNSS receiver is mounted where it is most convenient System modularity also allows GNSS only users to upgrade to GNSS INS In conditions where GN
5. 114 SPAN Technology for OEMV User Manual Rev 8 INS Commands Appendix B Abbreviated ASCII Syntax VEHICLEBODYROTATION alpha beta gamma dalpha dbeta gamma Message ID 642 Structure Message ID 642 Log Type Asynch P SE Binary Binary Field Field Type Description Format Bytes Offset Log Header Log header H 0 X Angle Right hand rotation about vehicle Double 8 H frame X axis degrees Y Angle Right hand rotation about vehicle Double 8 H 8 frame Y axis degrees Z Angle Right hand rotation about vehicle Double 8 H 16 frame Z axis degrees X Uncertainty Uncertainty of X rotation degrees Double 8 H 24 default 0 Y Uncertainty Uncertainty of Y rotation degrees Double 8 H 32 default 0 Z Uncertainty Uncertainty of Z rotation degrees Double 8 H 40 default 0 XXXX 32 bit CRC Hex 4 H 48 CR LF Sentence Terminator ASCII only Refer also to our application note APN 037 Vehicle to Body Rotations available on our Web site at www novatel com through Support Knowledge and Learning Abbreviated ASCII Example VEHICLEBODYROTATION 0 090005 SPAN Technology for OEMV User Manual Rev 8 115 Appendix B INS Commands B 2 22 WHEELVELOCITY Wheel Velocity for INS Augmentation The WHEELVELOCITY command is used to input wheel sensor data into the OEMV receiver Abbreviated ASCII Syntax Message ID 504 WHEELVELOCITY latency ticks rev wheel vel Rsrvd fwheel vel Rsrvd R
6. 5 Enter the initial estimate for the lever arm using the SETIMUTOANTOFFSET command see page 102 6 Specify the limits of the calibration through the LEVERARMCALIBRATE command see page 95 The calibration can be limited by time or accuracy of the lever arm It is recommended that the calibration is limited by a minimum of 300 seconds 7 To monitor the calibration log BESTLEVERARM see page 127 using the ONCHANGED trigger 8 Remain stationary long enough for the coarse alignment to finish The alignment is complete when the INS status changes to INS_ALIGNMENT_COMPLETE See also Table 5 on page 42 9 Start to move the system The lever arm is not observable while the system is stationary Immediately drive a series of manoeuvres such as figure eights The turns should alternate between directions and you should make an equal number of turns in each direction Some height variation in the route is also useful for providing observability in the Z axis When the calibration is complete either because the specified time has passed or the accuracy requirement has been met the BESTLEVERARM log outputs the solved lever arm The lever arm is saved automatically in non volatile memory If the IMU or GPS antenna are re mounted the calibration routine should be re run to compute an accurate lever arm 3 3 5 Vehicle to SPAN Frame Angular Offsets Calibration Routine Kinematic fast alignment requires that the angular offset between the vehic
7. Each model has the following standard features Rugged shock water and dust resistant enclosure NovAtel s advanced OEMV L1 L2 GPS and PAC technology Three bi directional COM ports which support data transfer rates of up to 921 600 bits s i A serial port capable of communication with an IMU See also Table I above A Controller Area Network Bus CAN Bus which is a rugged differential serial bus with a protocol that provides services for processes data and network management Refer to application note APN 046 Configure CAN for SPAN available on our Web site at www novatel com through Support Knowledge and Training Field upgradeable firmware program software What makes one model different from another is software not hardware This unique feature means that the firmware can be updated any time anywhere without any mechanical procedures whatsoever For example a model with L1 L2 only capabilities can be upgraded to a model with L1 L2 RT 2 in only a few minutes in your office instead of the days or weeks that would be required if the receiver had to be sent to a service depot All that is required to unlock the additional Rates higher than 115 200 are not standard on most PCs and may require extra PC hardware SPAN Technology for OEMV User Manual Rev 8 Introduction Chapter 1 features is a special authorization code Refer to the OEMV Family Installation and Operation User Manual for further details on this topic SP
8. NovAtel SPAN Technology for OEMV User Manual OM 20000104 Rev 8 Proprietary Notice SPAN Technology for OEMV User Manual Publication Number OM 20000104 Revision Level 8 Revision Date 2010 08 31 This manual reflects SPAN for OEMV firmware version SPAN3 630 Proprietary Notice Information in this document is subject to change without notice and does not represent a commitment on the part of NovAtel Inc The software described in this document is furnished under a licence agreement or non disclosure agreement The software may be used or copied only in accordance with the terms of the agreement It is against the law to copy the software on any medium except as specifically allowed in the license or non disclosure agreement No part of this manual may be reproduced or transmitted in any form or by any means electronic or mechanical including photocopying and recording for any purpose without the express written permission of a duly authorized representative of NovAtel Inc The information contained within this manual is believed to be true and correct at the time of publication NovAtel OEMV ProPak and RT 20 are registered trademarks of NovAtel Inc RT 2 SPAN and ProPak V3 are trademarks of NovAtel Inc All other product or brand names are trademarks of their respective holders Manufactured and protected under U S Patents 5 101 416 5 390 207 5 414 729 5 495 499 5 736 961 5 734 674 5 809 06
9. 48 The SPAN system supports wheel sensor inputs Wheel sensor information is input to the receiver through the WHEELVELOCITY message in either ASCII or binary format The message is sent with the port interface mode set to NovAtel See the INTERFACEMODE command examples in Section 2 3 2 SPAN IMU Configuration on page 33 For HG1700 and LN 200 users the wheel velocity commands must be created and sent to the SPAN receiver at 1 Hz For iIMU FSAS users the wheel sensor is integrated via the FSAS IMU and wheel velocity commands are not required See also iIMU FSAS Odometer Cabling on page 79 of the Technical Specifications appendix 3 3 6 1 Measurement Timing and Frequency Typical wheel sensor hardware accumulates wheel ticks constantly as the wheel rotates The SPAN interface is configured to expect wheel sensor tick counts at a rate of 1Hz aligned with the GPS even second boundaries The GPS second boundary is available from the OEMV 1PPS pulse This pulse should be used to trigger the wheel sensor hardware to send the accumulated tick count back to the receiver through the WHEELVELOCITY message see page 116 SPAN Technology for OEMV User Manual Rev 8 SPAN Operation Chapter 3 lt SPAN does not accumulate raw measurement ticks from a wheel sensor device Additional hardware is required to accumulate the tick counts and pass the accumulated count to the SPAN system at 1Hz triggered by the 1PPS Refer also to our application note APN 036
10. Do not over tighten z S iat 2 U Product identification label not shown Figure 68 Screw Enclosure Base to Body SPAN Technology for OEMV User Manual Rev 8 LN 200 IMU in Universal Enclosure Appendix H 7 Ensure the product identification label the logo plate and the centre of navigation labels are properly affixed and contain the correct information The final assembled unit is shown in Figure 69 Centre of Navigation Labels should Product be here circle icon for LN 200 Identification Label on rear Figure 69 Final Assembly SPAN Technology for OEMV User Manual Rev 8 197 deier a Frequently Asked Questions 198 How do I know if my hardware is connected properly When powered the HG1700 IMU will make a noticeable humming sound I don t hear any sound from my IMU Why a The LN 200 and iI MU FSAS do not make noise Check that the IMU interface cable is connected to the AUX port on the Propak V3 b When powered the HG 1700 IMUs makes a noticeable humming sound If no sound is heard check that the cable between the receiver and IMU is connected properly The cable should be connected to the AUX port on the Propak V3 c Ifthe cable is connected properly and you still hear no sound from the IMU check the flex cable mounted on top of the IMU Refer to the instructions in this manual on proper IMU installation to ensure that the cable is seated properly on the IMU pins See Append
11. Mount the HG1700 sensor with the attached 8 screws Apply threadlock to the screw threads Use a hex key to torque each screw to 10 in lbs 2 Fit the tube body over the HG1700 sensor and onto the base plate Figure 35 SPAN IMU Re Assembly 166 SPAN Technology for OEMV User Manual Rev 8 HG1700 IMU in SPAN HG Enclosure Appendix E E 3 Make the Electrical Connections To make the electrical connections you will need a 3 32 hex key the flex cable and the partially assembled SPAN IMU from Section E 2 Install the HG1700 Sensor Unit on page 166 Now follow these steps 1 Attach the flex cable to the HG1700 sensor ensuring that all the pins are fully connected Check also that the pins are fully seated and that the flex cable stiffener around the pins is not bent upward see Figure 36 Figure 36 Attach Flex Cable 2 Tighten the screws to 4 in lbs 3 Connect the opposite end of the flex cable to the corresponding connector on the IMU card ensuring that the contacts on the flex cable mate with the contacts on the connector as shown in Figure 36 SPAN Technology for OEMV User Manual Rev 8 167 Appendix E HG1700 IMU in SPAN HG Enclosure 4 Check that the flex cable is locked in place Important Figure 37 shows an incorrect installation of
12. urban canyons and foliage Abbreviated ASCII Syntax Message ID 639 INSPHASEUPDATE switch Field ASCII Binary er Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCH or binary respectively 2 switch DISABLE 0 Disable INS delta phase Enum 4 H updates ENABLE 1 Enable INS delta phase updates default Abbreviated ASCII Example INSPHASEUPDATE ENABLE SPAN Technology for OEMV User Manual Rev 8 89 Appendix B INS Commands B 2 6 INSZUPT Request Zero Velocity Update This command allows you to manually perform a Zero Velocity Update ZUPT that is to update the receiver when the system has stopped NovAtel s SPAN Technology System does ZUPTs automatically It is not necessary to use this command under normal circumstances WARNING This command should only be used by advanced users of GPS INS Abbreviated ASCII Syntax Message ID 382 INSZUPT 90 SPAN Technology for OEMV User Manual Rev 8 INS Commands Appendix B B 2 7 INSZUPTCONTROL _INS Zero Velocity Update Control This command allows you to control whether ZUPTs are performed by the system When enabled ZUPTs allow the INS to reduce its accumulated errors Typically the system will automatically detect when it is stationary and apply a ZUPT For certai
13. 001 00040000 46f4 3388 1481 251850 001000000 51 116573435 114 037237211 1040 805671970 0 000257666 0 003030102 0 000089758 3 082229474 1 019023628 89 253955744 INS_SOLUTION_GOOD SPAN Technology for OEMV User Manual Rev 8 INS Logs C 2 21 MARK2PVA_ Position Velocity and Attitude at Mark Appendix C This log outputs position velocity and attitude information with respect to the SPAN frame when an event was received on the Mark input lt This log and the SETMARK2OFFSET command are not immediately available to iIMU FSAS users If you are an iIMU FSAS user and wish to use the Mark event trigger contact NovAtel Customer Support Contact information is on page 18 Structure Message ID 1068 Log Type Synch Field Field Type Description Format Byte pee 1 Log Header Log header H 0 2 Week GPS Week at Mark request Ulong 4 H 3 Seconds Seconds from week at Mark2 Double 8 H 4 4 Latitude Latitude WGS84 at Mark2 Double 8 H 12 5 Longitude Longitude WGS84 at Mark2 Double 8 H 20 6 Height Height WGS84 at Mark2 Double 8 H 28 7 North Velocity Velocity in a northerly direction a ve value Double 8 H 36 implies a southerly direction at Mark2 8 East Velocity Velocity in an easterly direction a ve value Double 8 H 44 implies a westerly direction at Mark2 9 Up Velocity Velocity in an up direction at Mark2 Double 8 H 52 10 Roll Right handed rotation from local level
14. 10 XXXX 32 bit CRC HEX 4 H 56 11 CR LF Sentence Terminator ASCII only SPAN Technology for OEMV User Manual Rev 8 129 Appendix C INS Logs C 2 5 IMUTOANTOFFSETS IMU to Antenna s Lever Arm This log contains the distance between the IMU and the GNSS antenna s in the IMU enclosure frame and its associated uncertainties This log contains the same information as the BESTLEVERARM logs for each lever arm but is intended as a single source for all lever arm information available on the system Abbreviated ASCII Syntax Message ID 1270 COM 1 log imutoantoffsets Log Type Asynch Example log lt OK COM1 lt IMUTOANTOFFSETS COM1 0 98 5 FINESTEERING 1581 339209 733 60000041 0000 265 lt 0O 1 lt LEVER_ARM_PRIMARY 0 326000000 0 126000000 1 285000000 0 032600000 0 012600000 0 128500000 LEVER_ARM_FROM_COMMAND COM1 Recommended Input log imutoantoffsetsa onchanged ASCII Example IMUTOANTOFFSETSA COM1 0 98 5 FINESTEERING 1581 339209 733 60000041 0000 265 0 1 LEVER_ARM_PRIMARY 0 326000000 0 126000000 1 285000000 0 032600000 0 012600000 0 128500000 LEVER_ARM_FROM_COMMAND 8 0 90b5 130 SPAN Technology for OEMV User Manual Rev 8 INS Logs Appendix C i es Binary Binary Field Field Type Description Format Bytes Binary Offset 1 Header Log Header H 0 2 IMU Orientation See Table 33 Full Mapping ULong 4 H Definitions on page 157
15. 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 insvela ontime 1 ASCII Example INSVELA USB1 0 19 0 FINESTEERING 1543 236173 000 00000000 9c95 37343 1543 23 6173 002500000 14 139471871 0 070354464 0 044204369 INS_SOLUTION_GOOD 3c37c0fc 146 SPAN Technology for OEMV User Manual Rev 8 INS Logs Appendix C C 2 19 INSVELS Short INS Velocity This is a short header version of the INSVEL log on page 146 Structure Message ID 324 Log Type Synch Field Field Type Data Description Format Bytes Pinay 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 5 on page 42 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 SINSVELSA USB2 0 18 5 FINESTEERING 1541 487942 000 00040000 9c95 37343 1541 4 87942 000549050 12 656120921 3 796947104 0 100024422 INS_SOLUTION_GOOD 407d82ba SPAN Technology for OEMV User Manual Rev 8 147 Appendix C INS Logs C 2 20 MARK1PVA_ Posi
16. A 1 UNIVERSAL IMU ENCLOSURE A 1 1 Universal IMU Enclosure Interface Cable SPAN Technology for OEMV User Manual Rev 8 Ace IMU PertorimanGe ge Ee AE dE ee 57 A 1 3 Electrical and Environmental AA 58 A 2 HG1700 IMU single connector enclosure ssesssesssessssresreeirsresinsirstrninstnstrnerneenneen 59 A 2 1 HG1700 IMU Interface Cable AA 61 Ac2 2 IMU PerlonmanGe ssc Seege Egeter dada dns one ees 61 A 2 3 Electrical and Environment 62 A 3 HG1700 IMU dual connector encdosurel 63 A 3 1 HG1700 IMU Interface Cable AA 65 A322 IMU Better aE e fe sacse sc tages Sege Eed ices E 65 A 3 3 Electrical and Environmental AA 66 A 4 LN 200 IMU single connector enclosurel AA 67 A 4 1 LN 200 IMU Interface Cable A 69 AM PerOrmances EE EE EE A Een deet 69 A 4 3 Electrical and Environmental AA 69 A 5 LN 200 IMU dual connector enclosure AA 70 A 5 1 LN 200 IMU Interface Cable A 72 A 5 2 LN 200 IMU Power Adapter Cable s esseeseeseeeieeieeereereeineeretrneinntnntnnernstnnenneennnn 73 A 5 3 IMU ten Le 74 A 5 4 Electrical and Environment 74 ALB IIMURF SAS eege 75 A 6 1 iIMU FSAS Interface Cable AAA 78 A 6 2 iIMU FSAS Odometer Cabling AAA 79 A6 3 IMU eu ne 82 A 6 4 Electrical and Environment 82 B INS Commands 83 Bal Using a Command as a 0g EE 83 B 2 INS Specific Commands eeceessececceeececeeceeseeeeeeneaeesaeseanecsaeseaaeeneeeesaesneaneeesseeseaneesares 83 B 2 1 APPLYVEHICLEBODYROTATION Enable Vehicle to Body Ro
17. H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively Field Description Type Value Value 2 target See Table 18 What data is to be reset by the Enum 4 H receiver Input Example FRESET COMMAND Table 18 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 for OEMV User Manual Rev 8 87 Appendix B INS Commands B 2 4 INSCOMMAND INS Control Command 88 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
18. Hex 4 H 40 Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log insattsa ontime 1 ASCII Example SINSATTSA 1541 487975 000 1541 487975 000549050 2 755452422 4 127365126 323 289778434 INS_SOLUTION_GOOD ba08754f 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 for OEMV User Manual Rev 8 INS Logs Appendix C C 2 8 INSCOV_ INS Covariance Matrices The position attitude and velocity matrices in this log each contain 9 covariance values with respect to the local level frame For the attitude angles they are given in the SPAN computation frame as follows variance about variance about X rotation Wee Y rotation angle pitch xX XY XZ angle roll variance about Z rotation angle azimuth or yaw and are displayed within the log output as say XX XY XL YX YY YZ ZX ZY ZZ These values are computed once per second and are only available after alignment See also Section 3 3 1 System Start Up and Alignment Techniques starting on page 43 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 Posi
19. In general an INS uses forces and rotations measured by an IMU to calculate position velocity and attitude This capability is embedded in the firmware of OEMV 3 series receivers Forces are measured by accelerometers in three perpendicular axes within the IMU and the gyros measure angular rotation rates around those axes Over short periods of time inertial navigation gives very accurate acceleration velocity and attitude output The INS must have prior knowledge of its initial position initial velocity initial attitude Earth rotation rate and gravity field Since the IMU measures changes in orientation and acceleration the INS determines changes in position and attitude but initial values for these parameters must be provided from an external source Once these parameters are known an INS is capable of providing an autonomous solution with no external inputs However because of errors in the IMU measurements that accumulate over time an inertial only solution degrades with time unless external updates such as position velocity or attitude are supplied The SPAN system s combined GNSS INS solution integrates the raw inertial measurements with all available GNSS information to provide the optimum solution possible in any situation By using the high accuracy GNSS solution the IMU errors can be modeled and mitigated Conversely the continuity and relative accuracy of the INS solution enables faster GNSS signal reacquisition and RTK solution c
20. OEMV User Manual Rev 8 INS Commands Appendix B B 2 16 SETINITAZIMUTH Set Initial Azimuth and Standard Deviation This command allows you to start SPAN operation with a previously known azimuth Azimuth is the weakest component of a coarse alignment and is also the easiest to know from an external source i e like the azimuth of roadway When using this command SPAN operation through alignment will appear the same as with a usual coarse alignment Roll and pitch will be determined using averaged gyro and accelerometer measurements The input azimuth will be used rather than what is computed by the normal coarse alignment routine e This alignment takes the same amount of time as the usual coarse alignment e Input azimuth values must be accurate for good system performance e Sending SETINITAZIMUTH resets the SPAN filter The alignment will take approximately 1 minute but some time and vehicle dynamics are required for the SPAN filter to converge Bridging performance will be poor before filter convergence e The azimuth angle is with respect to the SPAN frame If the IMU enclosure is mounted with the z axis pointing upwards the SPAN frame is the same as what is marked on the enclosure If the IMU is mounted in another way SPAN transforms the SPAN frame axes such that z points up for SPAN computations You must enter the azimuth with respect to the transformed axis See SETIMUORIENTATION on page 99 for a description of the axes mapping t
21. Port Label Description ProPak V3 9 18 VDC Supply Voltage COM1 COM1 COM2 COM2 AUX COM3 UO UO GPS Antenna EXT OSC External Oscillator 2 1 2 Cables and Ports Refer to your receiver s hardware manual for more information on its ports and cables the OEMV Family Installation and Operation User Manual SPAN Technology for OEMV User Manual Rev 8 29 Chapter 2 SPAN Installation 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 e Insert the connector until it is straight on and secure e To remove a cable grasp it by the connector A WARNING DONOT PULL DIRECTLY ON THE CABLE 2 2 Hardware Set Up Review this section s hardware set up subsections and follow the numbered steps in bold to install your SPAN system The example graphics show the connections on the back of a ProPak V3 receiver 2 2 1 Mount Antenna For maximum positioning precision and accuracy as well as to minimize the risk of damage ensure that the antenna is securely mounted on a stable structure that will not sway or topple Where possible select a location with a clear v
22. Technology for OEMV User Manual Rev 8 G22 INS Specific D e wii ety pee aa eee eel eine i ee 119 C 2 1 BESTGPSPOS Best GPS Position cccccccecccccccccceceeceeceseeseeseesesssseeeeeeeeeeeenes 120 C 2 2 BESTGPSVEL Best Available GPS Velocity Data 125 C 2 3 BESTLEVERARM IMU to Antenna Lever Am 127 C 2 4 CORRIMUDATA CORRIMUDATAS Corrected IMU measurements 128 C 2 5 IMUTOANTOFFSETS IMU to Antenna s Lever Am 130 G 2 6 INSATT INS Attitude ee ee deed SE SE 133 C 2 7 INSATTS Short INS Attitude 00 0 0 ccc eccecsssssssseeeeeeeeeeeeeeeeeeeeeeesesssessrenennaaes 134 C 2 8 INSCOV INS Covariance Matrices cccccccccssssssscceeeeeeeeeeeeeeeeeseessesssssssaees 135 C 2 9 INSCOVS Short INS Covariance Log 137 C 2 10 INSPOS INS Position anoir eainiie r Ghasia aaeain 138 C 2 11 INSPOSS Short INS Position 0 0 0 ccccceeceeesesssssceeeeeeceeeeeeeeeeseesesesesesssenanenes 139 C 2 12 INSPOSSYNC_ Time Synchronised INS Position ceeeeceeeseeeeeeeeeeeeneeees 140 C 2 13 INSPVA INS Position Velocity and Atude 141 C 2 14 INSPVAS Short INS Position Velocity and Attude AA 142 C 2 15 INSSPD INS Speed sv eege ENEE a dE 143 C 2 16 INSSPDS Short INS Gpeed enne 144 C 2 17 INSUPDATE INS Update 145 C 2 18 INSVEL INS Velocity a a a a ea a E r a E aes 146 C 2 19 INSVELS Short INS Velocity e r a a a aeaea ar rerai 147 C 2 20 MARK1PVA Position Velocity and Attitude at Mark seseeseeeeeeeeeereeneene
23. The rotation values are used during kinematic alignment The rotation is used to transform the vehicle frame attitude estimates from GPS into the SPAN frame of the IMU during the kinematic alignment If you use the APPLY VEHICLEBODYROTATION command on page 84 the reported attitude in INSPVA or INSATT will be in the vehicle frame otherwise the reported attitude will be in the SPAN frame The uncertainty values report the accuracy of the angular offsets SPAN Technology for OEMV User Manual Rev 8 113 Appendix B INS Commands The VEHICLEBODYROTATION command sets the initial estimates for the angular offset The uncertainty values are optional Follow these steps 1 Start with IMU enclosure in the vehicle frame as described above 2 Rotate about the vehicle Z axis This angle is the gamma angle in the command and follows the right hand rule for sign correction 3 Rotate about the new X axis to complete the transformation into the SPAN frame This angle is the alpha angle in the command 4 Finally rotate about the new Y axis to align the X Y plane with the SPAN frame This angle is the beta angle in the command lt Enter rotation angles in degrees We recommend entering SETIMUORIENTATION first then VEHICLEBODYROTATION To apply the vehicle to body rotation angles the APPLY VEHICLEBODYROTATION command needs to be enabled please refer to Section B 2 1 APPLYVEHICLEBODYROTATION Enable Vehicle to Body Rotation starting on page 84
24. 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 Indemnification NovAtel shall be under no obligation or liability of any kind in contract tort or oth erwise and whether directly or indirectly or by way of indemnity contribution or otherwise howsoever to the Licensee and the Licensee will indemnify and hold NovAtel harmless against all or any loss dam age actions costs claims demands and other liabilities or any kind whatsoever direct consequential special or otherwise arising directly or indirectly out of or by reason of the use by the Licensee of the Software whether the same shall arise in consequence of any
25. 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 100 Abbreviated ASCII Example SETIMUORIENTATION 1 SPAN Technology for OEMV User Manual Rev 8 INS Commands Appendix B Table 22 Full Mapping Definitions fanning SPAN Frame e K IMU Enclosure IMU Enclosure Mapping Axes Span kranie Frame Axes Frame i x H Y X Y Z Y z Z X X X 2 X Z Z Y Y Y Z x Y Z X X 3 X z Z Y Y X Y x Z K Y 2 j X 2 X z Y Z a Y Y Z Y 2 x zZ X Z default Y Y X X z X Y z Y X Z SPAN Technology for OEMV User Manual Rev 8 101 Appendix B INS Commands B 2 13 SETIMUTOANTOFFSET Set IMU to Antenna Offset It is recommended that you mount the IMU as close as possible to the GPS antenna particularly in the horizontal plane This command is used to enter the offset between the IMU and the GPS antenna The measurement should be done as accurately as possible preferably to within millimeters 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 frame The a b and c fields allow you to enter any possible errors in your measurements If you think that your x offset measurement is out by a centimeter for example en
26. around Double 8 H 60 y axis in degrees at Mark2 11 Pitch Right handed rotation from local level around Double 8 H 68 X axis in degrees at Mark2 12 Azimuth Left handed rotation around z axis Degrees Double 8 H 76 clockwise from North at Mark2 13 Status INS Status see Table 5 on page 42 at Mark2 Enum 4 H 84 14 XXXX 32 bit CRC Hex 4 H 88 15 CR LF Sentence Terminator ASCII only Recommended Input log mark2pva onnew Abbreviated ASCII Example MARK2PVA USB1 0 51 5 EXACT 1481 251850 001 00040000 5b8a 3388 1481 251850 001000000 51 116573435 114 037237211 1040 805671970 0 000257666 0 003030102 0 000089758 3 082229474 1 019023628 89 253955744 INS_SOLUTION_GOOD SPAN Technology for OEMV User Manual Rev 8 149 Appendix C C 2 22 PASHR NMEA Inertial Attitude Data The PASHR log uses a UTC time calculated with default parameters to output NMEA messages without waiting for a valid almanac The UTC time status is set to WARNING since it may not be 100 accurate When a valid almanac is available the receiver uses the real parameters and sets the UTC time to VALID For more information about NMEA refer to the OEMV Firmware Reference Manual found on our Web site The PASHR log contains only INS derived attitude information and is 150 only filled when an inertial solution is available INS Logs Structure Message ID 1177 Log TypeSynch Field Structur
27. e Instructions for installing the HG1700 IMU in the Universal Enclosure outlined in Appendix G starting on page 176 e Instructions for installing the LN 200 IMU in the Universal Enclosure outlined in Appendix H starting on page 187 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 e Microsoft Windows user interface Windows 98 or higher e Pentium Microprocessor recommended e VGA Display e Windows compatible mouse or pointing device Although previous experience with Windows is not necessary to use the SPAN system software familiarity with certain actions that are customary in Windows will assist in the usage of the program This manual has been written with the expectation that you already have a basic familiarity with Windows SPAN Technology for OEMV User Manual Rev 8 23 Chapter 1 Introduction 24 Figure 2 SPAN System IMUs NovAtel s SPAN technology brings together two very different but complementary positioning and navigation systems namely GNSS and an Inertial Navigation System INS By combining the best aspects of GNSS and INS into one system SPAN technology is able to offer a solution that is more accurate and reliable than either GNSS or INS could provide alone The combined GNS
28. equations are computed 3 1 3 The Enclosure Frame The definition of the enclosure frame is defined on the IMU and represents how the sensors are mounted in the enclosure If the IMU is mounted with the z axis as marked on the IMU enclosure pointing up the IMU enclosure frame is the same as the SPAN frame This origin of this frame is not the enclosure center but the Center of Navigation sensor center Figure 6 The Enclosure Frame 3 1 4 The Vehicle Frame The definition of the vehicle frame is as follows e z axis points up through the roof of the vehicle perpendicular to the ground e y axis points out the front of the vehicle in the direction of travel e x axis completes the right handed system out the right hand side of the vehicle when facing forward See the VEHICLEBODYROTATION Vehicle to SPAN frame Rotation on page 113 for information on entering the rotation into the system and see the RVBCALIBRATE Vehicle to Body Rotation Control on page 98 for information on calculating this rotation 38 SPAN Technology for OEMV User Manual Rev 8 SPAN Operation Chapter 3 Figure 7 Vehicle Frame 3 2 Communicating with the SPAN System Once the receiver is connected to the PC antenna and power supply install NovAtel s OEMV PC Utilities CDU and Convert4 You can find installation instructions in your receiver s Quick Start Guide Alternatively you can use a terminal emulator program such as HyperTerminal to c
29. lo O joo PE LEFT FRONT s3 eer Figure 9 Universal IMU Enclosure Side Dimensions SPAN Technology for OEMV User Manual Rev 8 Technical Specifications Appendix A g2 i Icon mxw A HG1700 eg as TOP Z d Sc d i 2 g e g E K i f FRONT 5 30 la 0 209 Notes 1 Dimensions are shown in mm and in square brackets in inches Figure 10 IMU Center of Navigation A 1 1 Universal IMU Enclosure Interface Cable NovAtel s part number for the Universal IMU Enclosure interface cable is 01018299 see Figure 11 and Figure 12 This cable provides power to the IMU from an external power source and enables input and output between the receiver and the IMU 54 SPAN Technology for OEMV User Manual Rev 8 Technical Specifications Appendix A Figure 11 Universal IMU Enclosure Interface Cable Dees P3 GRN 3x100 10 4 a Ra P2 BLK T W I 150330 4x 1250 80 K 1 Sy P1 RED CkKT1 DB9 CKT6
30. 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 5 on page 42 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 USB2 0 20 0 FINESTEERING 1541 487969 000 00040000 7832 37343 1541 48 7969 000549050 329 621116190 14 182070674 0 126606551 INS_SOLUTION_GOOD c274fff2 SPAN Technology for OEMV User Manual Rev 8 143 Appendix C INS Logs C 2 16 INSSPDS Short INS Speed This is a short header version of the IVSSPD log on page 143 Structure Mes
31. only 12 CR LF Sentence terminator ASCII only a The change in velocity acceleration scale factor for each IMU type can be found in Table 33 on page 156 Multiply the scale factor in Table 33 by the count in this field for the velocity increments in m s See also Table 1 on page 26 for a list of IMU enclosures b A negative value implies that the output is along the positive Y axis marked on the IMU A positive value implies that the change is in the direction opposite to that of the Y axis marked on the IMU c The change in angle gyro scale factor can be found in Table 33 on page 156 Multiply the appropriate scale factor in Table 33 by the count in this field for the angle increments in radians SPAN Technology for OEMV User Manual Rev 8 155 Appendix C Recommended Input log rawimusa onnew ASCII Example SRAWIMUSA 1105 425384 180 1105 425384 156166800 111607 43088060 430312 3033352 132863 186983 823 5aa97065 IMU Scale Gyroscope Scale Factor Acceleration Scale Factor 156 Table 33 Raw IMU Scale Factors HG1700 AG11 HG1700 AG58 2 0 rad LSB HG1700 AG17 HG1700 AG62 2 073 rad LSB 219 rad LSB INS Logs ilMU FSAS 0 1x 2 8 arcsec LSB 2 02 ft s LSB 2 06 ft s LSB 214 m s LSB 0 05 x 2 m s LSB SPAN Technology for OEMV User Manual Rev 8 INS Logs Appendix C C 2 25 TIMEDWHEELDATA Timed Wheel Data This log con
32. refer to the OEMV Family SPAN Technology for OEMV User Manual Rev 8 SPAN Installation Chapter 2 Firmware Reference Manual from the user device on the right to the ProPak V3 I O port 2 3 Software Configuration 2 3 1 GPS Configuration The GPS configuration can be set up for different accuracy levels such as single point SBAS DGPS and RTK RTCA RTCM RTCM V3 and CMR ProPak V3 receivers can also be set up for Omnistar HP Omnistar VBS or CDGPS Refer to the OEMV User Manuals for details on DGPS RTK L band or SBAS setup and operation With no additional configuration the system operates in single point mode 2 3 2 SPAN IMU Configuration 2 3 2 1 SPAN Configuration Manually Follow these steps to enable INS as part of the SPAN system using software commands or see Section 2 3 2 2 SPAN Configuration with CDU on page 34 to see the alternate method using NovAtel s Control and Display Unit CDU software utility 1 Issue the INTERFACEMODE command to specify the receiver port connected to the IMU see Table 4 below and the INTERFACEMODE command on page 92 2 Issue the SETIMUTYPE command to specify the type of IMU being used see Table 4 below and the SETIMUTYPE command on page 103 Table 4 Enable INS Commands IMU Type INTERFACEMODE Command SETIMUTYPE Command LN 200 interfacemode com3 imu imu off setimutype imu_In200 iIMU FSAS interfacemode com3 imarimu imarimu off setimutype imu_imar_fsas HG1700 i
33. supply for IMU 3 see Table 3 on page 32 User supplied radio device to COM2 User supplied base station OEMV Family receiver User supplied PC for setting up and monitoring to COM1 Figure 3 Basic Set Up SPAN Technology for OEMV User Manual Rev 8 SPAN Installation Chapter 2 The sections that follows outline how to set up the system s parts and cables See Appendix A Technical Specifications starting on page 51 and refer to the OEMV Family Installation and Operation User Manual for the NovAtel part numbers of ProPak V3 cables and their pinouts lt Use a USB cable to log raw data Serial communication is fine for configuring and monitoring the SPAN through Hyperterminal or CDU USB is required if you have a post processing application requiring 200 Hz IMU data We also recommend you use CDU to collect the data 2 1 1 SPAN System Receivers Data storage when using a ProPak V3 is done using a laptop computer connected to the receiver through either the serial or USB ports The back panel of the ProPak V3 is shown in Figure 4 The ProPak V3 uses DB9 COM connectors Figure 4 Receiver Enclosure Back Panel Table 2 shows a summary of the receiver s back panel port names lt When you input a command that requires a port name referencing the third port you must type in COM3 for the ProPak V3 This is true even if the port is labelled AUX Table 2 Receiver Enclosure Back Panel Labels SPAN Enclosure
34. the O ring and the jam nut for reassembly Figure 48 Disconnect Wiring Harness from Enclosure Body 178 SPAN Technology for OEMV User Manual Rev 8 HG1700 IMU in Universal Enclosure Appendix G 3 Using a 2 5 mm hex bit unscrew the M4 screws and remove the IMU mounting plate bracket and cable harness as shown in Figure 49 wiring harness not shown Figure 49 Remove IMU Mounting Plate and Bracket SPAN Technology for OEMV User Manual Rev 8 179 Appendix G HG1700 IMU in Universal Enclosure G 2 Install the HG1700 Sensor Unit To install the HG1700 sensor unit in the Universal Enclosure 1 Using a Phillips screwdriver remove the 8 32 IMU mounting screws from the IMU mounting plate as shown in Figure 50 wiring harness not shown Figure 50 Remove IMU Mounting Screws 2 Check the connection of the internal cable harness to the board assembly and route as shown in Figure 51 Before you connect the IMU cable harness make sure the connector on the board assembly is clicked open Connect the IMU cable harness to the IMU fasten the 2 56 screws but do not use thread locking fluid then connect to the board assembly Ensure the cable housing latches Figure 51 Connect IMU to IMU Mounting Plate 180 SPAN Technology for OEMV User Manual Rev 8 HG1700 IMU in Universal Enclosure Appendix G 3 Being careful of the connectors and the orientation align the pilot holes of the IMU with the pilot pins of th
35. the Products or use in other than a normal and customary manner environmental conditions not conforming to NovAtel s specifications or failure to follow prescribed installation operating and maintenance procedures ii defects errors or nonconformities in the Products due to modifications alterations additions or changes not made in accordance with NovAtel s specifications or authorized by NovAtel iii normal wear and tear iv damage caused by force of nature or act of any third person v shipping damage vi service or repair of Product by the Purchaser without prior written consent from NovAtel vii Products designated by NovAtel as beta site test samples SPAN Technology for OEMV User Manual Rev 8 13 14 Terms and Conditions experimental developmental preproduction sample incomplete or out of specification Products viii returned Products if the original identification marks have been removed or altered or ix Services or research activities 7 EXCLUSION OF LIABILITY If a Party would but for this paragraph 7 have concurrent claims in contract and tort including negligence such claims in tort including negligence shall to the extent permitted by law be wholly barred unenforceable and excluded NovAtel shall not be liable to the Buyer by way of indemnity or by reason of any breach of the Order or of statutory duty or by reason of tort including but not limited to negligence for any loss of profit l
36. the VEHICLOBODYROTATION command see page 113 This rotates the SPAN body frame output in the INSPVA INSPVAS and INSATT logs to the vehicle frame APPLY VEHICLEBODYROTATION is disabled by default Abbreviated ASCII Syntax Message ID 1071 APPLY VEHICLEBODYROTATION switch Field ASCII Binary Binary Binary Binary Type Value Value Format Bytes Offset 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively Field Description 2 switch Disable 0 Enable disable vehicle body Enum 4 H Enable 1 rotation using values entered in the vehiclebodyrotation command default disable Input Example applyvehiclebodyrotation enable SPAN Technology for OEMV User Manual Rev 8 INS Commands B 2 2 CANCONFIG Configure the CAN Interface for SPAN Appendix B Use the CANCONFIG command to configure the CAN interface for SPAN All of its fields are mandatory there are no optional fields For further information contact NovAtel Customer Support as outlined on page 8 Abbreviated ASCII Syntax CANCONKFIG port switch bit rate base tx mask source Message ID 884 e Field ASCII Binary Bet Binary Binary Binary Se Type Value Value Description Format Bytes Offset 1 header This field contains the H 0 command name or the message heade
37. the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 x offset 360 Offset along the IMU enclosure Double 8 H frame X axis m for Mark2 3 y offset 360 Offset along the IMU enclosure Double 8 H 8 frame Y axis m for Mark2 4 z offset 360 Offset along the IMU enclosure Double 8 H 16 frame Z axis m for Mark2 5 aoffset 360 Roll offset for Mark2 degrees Double 8 H 24 6 Boffset 360 Pitch offset for Mark2 degrees Double 8 H 32 7 yoffset 360 Azimuth offset for Mark2 degrees Double 8 H 40 Abbreviated ASCII Example SETMARK20FFSET 0 324 0 106 1 325 000 SPAN Technology for OEMV User Manual Rev 8 111 Appendix B INS Commands B 2 20 SETWHEELPARAMETERS Set Wheel Parameters The SETWHEELPARAMETERS command can be used when wheel sensor data is available It allows you to give the filter a good starting point for the wheel size scale factor It also gives the SPAN filter an indication of the expected accuracy of the wheel data Usage of the SETWHEELPARAMETERS command depends on whether you use an external wheel sensor or the iMAR iMWS wheel parameters 1 If you have integrated an external wheel sensor the SETWHEELPARAMETERS command can be used to override the number of ticks per revolution given in the WHEELVELOCITY command In addition this command supplies the resolution of the wheel sensor which allows the filter to
38. the flex cable where it is bowed in the middle It will not operate properly in this position Figure 38 shows the proper installation of the flex cable Notice how the flex cable sits flush against the IMU surface Figure 37 Incorrect Bowed Flex Cable Installation Figure 38 Correct Flat Flex Cable Installation E 4 Re Assemble the SPAN IMU Enclosure Use a hex key to align the long bolts with the threaded holes in the base as shown in Figure 33 on page 164 Apply threadlock to threads Finger tighten all bolts and torque them in a cross pattern to 12 in lbs The fully assembled IMU enclosure is shown in Figure 39 Figure 39 HG1700 SPAN IMU 168 SPAN Technology for OEMV User Manual Rev 8 Didde T4a LN 200 IMU in SPAN IMU Enclosure The following procedure detailed in this appendix provides the necessary information to install the LN 200 sensor NovAtel part number 80023515 into the SPAN IMU enclosure NovAtel part number 01017656 using the LN 200 wiring harness NovAtel part number 01017655 The steps required for this procedure are e Disassemble the SPAN IMU Enclosure e Install the LN 200 Sensor Unit e Make Electrical Connections e Reassemble the SPAN IMU Enclosure Important Ensure you use a ground strap before installing the internal circuit boards Do NOT scratch any surfaces of the unit Figure 40 Required Parts Reference Description 1 SPAN IMU Enclosure 2 LN 200 Wiring Harne
39. the terminal s lt gt or lt Enter gt 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 gt The above example illustrates command input to the receiver COM2 serial port which sets the antenna to IMU offset However your only confirmation that the command was actually accepted is the return of the COM2 gt prompt If a command is incorrectly entered the receiver responds with Invalid Command Name or a more detailed error message followed by the port prompt 160 SPAN Technology for OEMV User Manual Rev 8 Command Prompt Interface 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 COM1 serial port is connected to the receiver s COM1 serial port and where a rover terminal is connected to the receiver s COM2 serial port If you wish to monitor the SPAN system activity the followin
40. through its alignment procedure equivalent to issuing a RESET command See also Section 3 3 1 System Start Up and Alignment Techniques starting on page 43 Abbreviated ASCII Syntax Message ID 379 INSCOMMAND action 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 action RESET 0 Resets the GPS INS Enum 4 H alignment and restarts the alignment initialization DISABLE 1 Disables INS positioning ENABLE 2 Enables INS positioning where alignment initialization starts again default Abbreviated ASCII Example INSCOMMAND ENABLE SPAN Technology for OEMV User Manual Rev 8 INS Commands B 2 5 This command allows you to control the INS phase updates INSPHASEUPDATE_ INS Phase Update Control Appendix B When enabled raw GPS phase measurements are used to control errors in the inertial filter In a typical INS GPS integration GPS positions are used to control inertial drifts Some features of phase updates include updates can be performed even when too few satellites are available to compute a GPS solution as few as 2 satellites must be in view to perform a precise update system performance is significantly improved in conditions challenging to GPS such as
41. to the CLOCKMODEL log in the OEMV Family Firmware Reference Manual 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 140 INSPOSSYNCA COM1 0 47 5 FINESTEERING 1332 484154 042 00000000 c98c 34492 484154 000000000 1634523 2463 3664620 7609 4942494 6795 1 8091616236414247 0 0452272887760925 0 7438098675219428 0 0452272887760925 2 9022554471257266 1 5254793710104819 0 7438098675219428 1 5254793710104819 4 3572293495804546 9fcd6cel SPAN Technology for OEMV User Manual Rev 8 INS Logs C 2 13 INSPVA_ INS Position Velocity and Attitude This log allows INS position velocity and attitude with respect to the SPAN frame to be collected in one log instead of using three separate logs See the INSATT log on page 133 for an explanation of how the SPAN frame may differ from the IMU enclosure frame Structure Appendix C Message ID 507 Log Type Synch al Binary Binary Field Field Type Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds Seconds from week start Double 8 H 4 4 Latitude Latitude WGS84 Double 8 H 12 5 Longitude Longitude WGS84 Double 8 H 20 6 Height Ellipsoidal Height WGS84 m Double 8 H 28 7 North Velocity Velocity ina northerly
42. 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 instrument of privilege which may now or at any future time be owned by it However should NovAtel elect to take such legal proceedings at NovAtel s request Licensee shall co operate reasonably with NovAtel in all legal actions concerning this license of the Software under this Agreement taken against any third party by NovAtel to protect its rights in the Software NovAtel shall bear all reasonable costs and expenses incurred by Licensee in the course of co operating with NovAtel in such legal action 4 Restrictions You may not a copy other than as provided for in pa
43. weight the wheel sensor data appropriately 2 Ifyou are using the iMAR iMWS Magnetic Wheel Speed Sensor and Convertor the SETWHEELPARAMETERS command allows you to set the number of ticks per revolution that is correct for your wheel installation the default is 58 The tick spacing of the MAR iMWS was 0 025 m as of September 2006 testing however refer to the iMAR iMWS documentation for its specifications Abbreviated ASCII Syntax Message ID 847 SETWHEELPARAMETERS ticks circ spacing Field Field ASCII Binary Binary Binary Description Format Offset Type Value Value 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 ticks 1 10 000 Number of ticks per revolution Ushort 4a H 3 circ 0 1 100 Wheel circumference m Double 8 H 4 default 1 96 m 4 spacing 0 001 1000 Spacing of ticks or resolution of Double 8 H 12 the wheel sensor m a In the binary log case an additional 2 bytes of padding are added to maintain 4 byte alignment Abbreviated ASCII Example SETWHEELPARAMETERS 58 1 96 0 025 lt Fields 2 3 and 4 do not have to add up Field 4 is used to weight the wheel sensor measurement Fields 2 and 3 are used with the estimated scale factor to determine the distance travelled 112 SPAN Technology for OEMV User Manual Rev 8 INS Commands Appendix B B
44. with SDLC as shown in Figure 62 Figure 62 Remove IMU Bracket SDLC 190 SPAN Technology for OEMV User Manual Rev 8 LN 200 IMU in Universal Enclosure Appendix H H 2 Install the LN 200 Sensor Unit To install the LN 200 sensor unit in the Universal Enclosure 1 Using a3 mm hex bit remove original captive 6 32 screws and washers 4 each from the LN 200 IMU Add three washers under each of the original washers and fasten the IMU to the enclosure base as shown in Figure 63 Use thread locking fluid on each screw Washers not shown Figure 63 Install LN 200 IMU to Base SPAN Technology for OEMV User Manual Rev 8 191 Appendix H LN 200 IMU in Universal Enclosure 2 Using a long 3 mm hex bit install the IMU bracket SDLC to the base as shown in Figure 64 Use thread locking fluid on each M4 screw cN Figure 64 Install Bracket to Base 192 SPAN Technology for OEMV User Manual Rev 8 LN 200 IMU in Universal Enclosure Appendix H 3 Connect the cable harness to the board assembly and IMU routing it as shown in Figure 65 Ensure latching of the cable connector housings and fasten the 6 32 screw at the IMU end using a 5 32 hex bit Do not use thread locking fluid and do not overtighten CONNECT _ CONNECT Figure 65 Making Connections SPAN Technology for OEMV User Manual Rev 8 193 Appendix H LN 200 IMU in Universal Enclos
45. 11 on page 55 A 2 2 IMU Performance PERFORMANCE IMU Gyro Rate Bias Gyro Rate Scale Factor Angular Random Walk Accelerometer Range Accelerometer Linearity Accelerometer Scale Factor Accelerometer Bias IMU H58 Gyro Input Range 1000 degrees s Gyro Rate Bias 1 0 degree hr Gyro Rate Scale Factor 150 ppm Angular Random Walk 0 125 degrees rt hr Accelerometer Range 50g Accelerometer Linearity 500 ppm Accelerometer Scale Factor 300 ppm Accelerometer Bias 1 0 mg IMU H62 Gyro Input Range 1000 degrees s 5 0 degrees hr 150 ppm 0 5 degrees rt hr 50g 500 ppm 300 ppm 3 0 mg SPAN Technology for OEMV User Manual Rev 8 61 Appendix A A 2 3 Electrical and Environmental IMU Power Consumption ELECTRICAL IMU H58 9 W max IMU H62 8 W max Technical Specifications IMU Input Voltage 12 to 28 V DC Receiver Power Consumption ProPak V3 2 8 W typical System Power Consumption ProPak V3 14 8 W typical Input Output Connectors MIL C 38999 III 22 pin all IMU s IMU Interface RS 232 or RS 422 ENVIRONMENTAL IMU Temperature Operating 30 C to 60 C 22 F to 140 F Storage 45 C to 80 C 49 F to 176 F Humidity 95 non condensing a For replacement connectors on the interface and power cables see Section J 3 Manufacturer s Part Numbers on page 200 62 SPAN Technology for OEMV User Manual Rev 8 Technical Specificat
46. 1700 IMU Specifications cccecseeseeceeecesceeeeeeeseeeneeseseeceeeseeeeseeseeessnecneeseeeenerees 63 LN 200 IMU Specifications AAA 67 LN 200 IMU Specifications AAA 70 iIMU FSAS Specifications sincsen eni tient cee eee teens EER 75 IMU Interface Cable Pim Out nennen nnne 78 Cable Modification for Corrsys Datron WT 81 CAN Bit Rate per SeCond 2 ea set ee EENEG 86 PRESET Target ett ule Se he SU a ee echoes ei a a te 87 Serial Port Interface Modes s ssssnneseneeetnetnesttretttttttrtttnnstnnertnntttnntnnnnttnnen annn ennenen 93 COM Serial Port Identifiers n m a we ee een ea 94 EE KEE 97 Full Mapping Definitions i essen cat EE 101 IMU wer egen cited oie Ms a ae Ag A AE 104 Short ASCII Message Header Structure ssssseessesrsereeresitsresinetrttrnrntinetnntenernstnneen 118 Short Binary Message Header Structure cecceeeeeseeeeeeeeeeeeeeeeeneeeeeeeeeeeeaeeseaeeeeenaees 118 Position or Eeer 122 elle E TEE 124 LeverArm Typ ssircieciestcesierd a Padivs EES REESEN EES EE 132 Lever ATHEN Soh ek LEE NS Ss Uae 132 Wheel Status EE 145 IIMU FSAS EE 152 HG1700 and LN200 Status prarain as aeai ait aaa aneshallsyenaestiesie E aA 153 Raw MUtSeale e ee A E E AA E E E 156 SPAN Technology for OEMV User Manual Rev 8 Software License 10 BY INSTALLING COPYING OR OTHERWISE USING THE SOFTWARE PRODUCT YOU AGREE TO BE BOUND BY THE TERMS OF THIS AGREEMENT IF YOU DO NOT AGREE WITH THESE TERMS OF USE DO NOT INST
47. 2 iIMU FSAS Odometer Cabling on page 79 The accumulated wheel sensor counts are available by logging the timed wheel data log with the onchanged trigger log timedwheeldatab onnew Set parameters for your installation using the SETWHEELPARAMETERS command see page 1 2 3 4 Data Collection for Post Processing Some operations such as aerial measurement systems do not require real time information from SPAN These operations are able to generate the position velocity or attitude solution post mission in order to generate a more robust and accurate solution than is possible in real time In order to generate a solution in post processing data must be simultaneously collected at a base station and each rover The following logs must be collected in order to successfully post process data SPAN Technology for OEMV User Manual Rev 8 49 Chapter 3 From a base e RANGECMPB ONTIME 1 e RAWEPHEMB ONNEW From a rover e RANGECMPB ONTIME 1 e RAWEPHEMB ONNEW e RAWIMUSB ONNEW SPAN Operation Post processing is performed through the Waypoint Inertial Explorer software package available from from NovAtel s Waypoint Products Group Visit our Web site at www novatel com for details 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 50 SPAN Tech
48. 2 12 SETIMUORIENTATION Set IMU Orientation 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 GA 1 The default IMU axis definitions are Y forward Z up X out the right hand side It is strongly recommended that you mount your IMU in this way with respect to the vehicle 2 You only need to use this command if the system is to be aligned while in motion using the fast alignment routine see Section 3 3 1 2 Kinematic Alignment on page 43 WARNING Ensure that all windows other than the Console are closed in CDU 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 22 on page 101 For example if the IMU is mounted with the X axis pointing UP and a mapping of 1 is specified then this transformation of the raw IMU data is done X gt Z Y gt X Z gt Y where the default is X gt X Y gt Y Z gt 2 Notice that the X axis observations are transformed into the Z axis resulting in Z being aligned with gravity and a 5 mapping The SP
49. 2 21 VEHICLEBODYROTATION Vehicle to SPAN frame Rotation Use the VEHICLEBODYROTATION command to set angular offsets between the vehicle frame direction of travel and the SPAN body frame direction that the IMU computational frame is pointing If you estimate the angular offsets using the RVBCALIBRATE command the VEHICLEBODYROTATION command values are used as the initial values The uncertainty values are optional defaults 0 0 Please see Section 3 3 5 Vehicle to SPAN Frame Angular Offsets Calibration Routine starting on page 47 for more details For more information on reference frames see Section 3 1 Definition of Reference Frames Within SPAN starting on page 37 RVYBCALIBRATE command information is on page 98 lt The body frame is nominally the frame as marked on the IMU enclosure If you do not mount the IMU with the z axis approximately up you must check the new computational axis orientation that SPAN automatically uses which is called the SPAN computational frame SPAN forces z to be up in the SPAN computational frame Output attitude in INSPVA INSATT and so on is with respect to the SPAN computational frame Refer to the SETIMUORIENTATION command description to see what mapping definition applies depending on which IMU axis most closely aligns to gravity Essentially this means that if you do not mount the IMU with the z axis approximately up as marked on the enclosure you have a new IMU frame that defines what mapping appl
50. 200 IMU Specifications PHYSICAL 135mm x 153mm x 130 mm 5 315 x 6 024 x 5 118 IMU Size 89 mm D x 85 mm H 3 504 D x 3 346 H IMU Weight 3 kg 6 6 Ib MECHANICAL DRAWINGS 143 7 E D f 1 a Au 4 PLCS WIVI 76 8 Z lt lt V ENTER or P Enclosure Center 134 6 0 22 5 6mm D NAVIGATION gt l N OFFSETS pi fi op ae 82 4 Navigation Center wm X 3 ke NW E SEH 70 7 Navigation Center 76 3 Enclosure Center SCALE 0 800 Figure 19 LN 200 IMU Enclosure Top Bottom Dimensions and Centre of Navigation 70 SPAN Technology for OEMV User Manual Rev 8 Appendix A Technical Specifications 36 8 IMU Enclosure Center Scale 0 800 ote The Center of Navigation offsets shown on the LN 200 label are for the internal IMU and are different than for the Figure 20 LN 200 Enclosure Side Dimensions enclosure center The measurements for the enclosure center are labelled as IMU Enclosure Center in this figure and Figure 5 71 SPAN Technology for OEMV User Manual Rev 8 Appendix A Technical Specifications A 5 1 LN 200 IMU Interface Cable The NovAtel part number for the LN 200 IMU interface cable is 01017375 Figures 21 and 22 below The IMU interface cable sup
51. 3 Number of Number of stored lever arms ULong 4 H 4 Entries 4 Lever Arm Type Type of lever arm See Table 28 Enum 4 H 8 Lever Arm Type on page 132 5 X Offset IMU Enclosure Frame m Double 8 H 12 6 Y Offset IMU Enclosure Frame m Double 8 H 20 7 Z Offset IMU Enclosure Frame m Double 8 H 28 8 X Uncertainty IMU Enclosure Frame m Double 8 H 36 9 Y Uncertainty IMU Enclosure Frame m Double 8 H 44 10 Z Uncertainty IMU Enclosure Frame m Double 8 H 52 11 Lever Arm Source of the lever arm See Table Enum 4 H 60 Source 29 Lever Arm Source on page 132 for the different values 1252 Next component offset H 8 comp 56 variable XXXX 32 bit CRC ASCII and Binary Hex 4 H 8 only comp 56 variable CR LF Sentence terminator ASCII only SPAN Technology for OEMV User Manual Rev 8 131 Appendix C INS Logs Table 28 Lever Arm Type Value GE binary Lever Arm Source ASCII Description 0 LEVER_ARM_INVALID An invalid lever arm 1 LEVER_ARM_PRIMARY Primary lever arm entered for all SPAN systems Table 29 Lever Arm Source Value Saat binary Lever Arm Source ASCII Description 0 LEVER_ARM_NONE No lever arm exists 1 LEVER_ARM_FROM_NVM Lever arm restored from NVM 2 LEVER_ARM_CALIBRATING Lever arm currently calibrating 3 LEVER_ARM_CALIBRATED Lever arm computed from calibration routine 4 LEVER_ARM_FROM_COMMAND Lever arm entered via command 5 LEVER_ARM_RESE
52. 352 132863 186983 823 5aa97065 154 SPAN Technology for OEMV User Manual Rev 8 INS Logs Appendix C C 2 24 RAWIMUS Short Raw IMU Data This is a short header version of the RAWIMU log on page 151 Structure Message ID 325 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 IMU Status The status of the IMU This field is given ina Long 4 H 12 fixed length n array of bytes in binary but in ASCII or Abbreviated ASCII is converted into 2 character hexadecimal pairs For the raw IMU status of the iIMU FSAS see Table 31 For the raw IMU status of the HGI1700 and the LN 200 IMUs see Table 32 Also refer to the Interface Control Documentation as provided by Honeywell and Northrop Grumman respectively 5 Z Accel Output Change in velocity count along z axis Long 4 H 16 6 Y Accel Output Change in velocity count along y axis gt Long 4 H 20 7 X Accel Output Change in velocity count along x axis Long 4 H 24 8 Z Gyro Output Change in angle count around z axis Long 4 H 28 Right handed 9 Y Gyro Output Change in angle count around y axis Long 4 H 32 Right handed 10 X Gyro Output Change in angle count around x axis Long 4 H 36 Right handed 11 XXXX 32 bit CRC ASCII Binary and Short Binary Hex 4 H 40
53. 4 6 243 409 B1 6 664 923 B1 0 721 657 B2 6 750 816 B1 7 193 559 B2 7 346 452 Copyright 2006 2010 Novatel Inc All rights reserved Unpublished rights Oy reserved under International copyright laws Printed in Canada on recycled paper L 9 Recyclable 2 SPAN Technology for OEMV User Manual Rev 8 Table of Contents Proprietary Notice Software License Terms and Conditions Warranty Policy Customer Support Firmware Updates and Model Upgrades Notices Foreword 1 Introduction 1 1 Fundamentals of GNSS INS 1 2 Models and Features 2 SPAN installation 2 1 Hardware Description 2 1 1 SPAN System Receivers 2 1 2 Cables and Ports 2 2 Hardware Set Up 2 2 1 Mount Antenna 2 2 2 Mount IMU 2 2 3 Connect COM Cables 2 2 4 Connect Power 2 3 Software Configuration 2 3 1 GPS Configuration 2 3 2 SPAN IMU Configuration 2 3 3 Configuration Command Summary 3 SPAN Operation 3 1 Definition of Reference Frames Within SPAN 3 1 1 The Local Level Frame ENU 3 1 2 The SPAN Body Frame 3 1 3 The Enclosure Frame 3 1 4 The Vehicle Frame 3 2 Communicating with the SPAN System 3 2 1 INS Window in CDU 3 3 Real Time Operation 3 3 1 System Start Up and Alignment Techniques 3 3 2 Navigation Mode 3 3 3 Data Collection 3 3 4 Lever Arm Calibration Routine 3 3 5 Vehicle to SPAN Frame Angular Offsets Calibration Routine 3 3 6 SPAN Wheel Sensor Messages 3 4 Data Collection for Post Processing A Technical Specifications
54. 6 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 127 Db If a SETIMUANTENNAOFFSET command is already entered or there is a previously saved lever arm in NVM before the LEVERARMCALIBRATE is sent the calibration starts using initial values from SETIMUTOANTOFFSET or NVM Ensure the initial standard deviations are representative of the initial lever arm values Abbreviated ASCII Syntax Message ID 675 LEVERARMCALIBRATE switch maxtime maxstd Binary inti Binary Binary Binary Field Field Type ASCII 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 default 1 3 maxtime 0 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 1 LEVERARMCALIBRATE 600 Given this command the lever arm calibration runs for 600 seconds The final standard deviation of the estimated lever arm is output in the BESTLEVERARM log lt The calibration starts when the SPAN solution reaches alignment_complete The example s 600 s duration is from when calibration be
55. 6493841025100 0 0004024901765302 0 0000194916086028 0 0000036582459112 0 0000194916086028 0 0004518869575566 0 0000204616202028 0 0000036582459112 0 0000204616202028 0 0005095575483948 1 cC92787 SPAN Technology for OEMV User Manual Rev 8 137 Appendix C C 2 10 INSPOS INS Position This log contains the most recent position measurements in WGS84 coordinates and includes an INS status indicator The log reports the position at the IMU centre unless you issue the SETINSOFFSET command see page 109 INS Logs Structure Message ID 265 Log Type Synch Field Field Type Data Description Format Git Binary 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Latitude Latitude WGS84 Double 8 H 12 5 Longitude Longitude WGS84 Double 8 H 20 6 Height Ellipsoidal Height WGS84 m Double 8 H 28 7 Status INS status see Table 5 on page 42 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 138 Recommended Input log insposa ontime 1 ASCII Example INSPOSA USB2 0 18 0 FINESTEERING 1541 487977 000 00040000 17cd 37343 1541 48 7977 000549050 51 121315135 114 042311349 1038 660737046 INS_SOLUTION_GOOD 2fffqd557 SPAN Technology for OEMV User Manual Rev 8 INS Logs Appendix C C 2 11 INSPOSS_ Short INS Positio
56. A opto coupler 2 to 6 V RS 422 compatible 5 6 Reserved 7 DAS 1 and6 Shielded data acquisition signal LVTTL to VARF 8 Reserved 9 DAS_GND 9 Shielded ground reference for data acquisition and control signals 10 Reserved 11 DON 8 Twisted pair serial data output signal RS 422 12 DO 2 Twisted pair serial data output signal RS 422 13 Reserved 14 DGND 5 Digital ground 15 DGND 5 Digital ground 16 ODO_B 3 Odometer input B opto coupler 2 to 6 V RS 422 compatible 17 ODO_BN 1 Odometer input B opto coupler 2 to 6 V RS 422 compatible Continued on the following page 78 SPAN Technology for OEMV User Manual Rev 8 Technical Specifications Appendix A MIL C Female Male Male 38999 III Function DB9 to DB9 DB9to Comments Connector Pin exe ER os OD 18 Reserved 19 DI 3 Twisted pair serial data in RS 422 20 DIN 7 Twisted pair serial data in RS 422 21 SW_ON_SIG Connected to Pin 3 switch IMU signal ON OFF voltage applied ON 4 to 34 V 22 SWON_GND Connected to Pin 1 ground for IMU signal ON A 6 2 iIMU FSAS Odometer Cabling The i MU FSAS with the O wheel sensor option provides wheel sensor input from the Distance Measurement Instrument DMI through the DB 9 connector labelled ODO on the IMU interface cable The IMU data goes through the IMU and then int
57. A INSVEL INSSPD and INSATT logs are the most commonly used logs for extracting the INS solution These logs can be logged at any rate up to the rate of the IMU data 100 or 200 Hz depending on your IMU model These logs can also be triggered by the mark input signal by requesting the logs ONMARK Further details on these logs are available in Appendix C INS Logs starting on page 117 SPAN Technology for OEMV User Manual Rev 8 Frequently Asked Questions Appendix 7 Canl still access the GPS only solution while running SPAN The GPS only solution used when running the OEMV receiver without the IMU is still available when running SPAN Logs such as PSRPOS RTKPOS and OMNIPOS are still available Any non INS logs should be logged at a maximum rate of 5 Hz when running SPAN Only INS specific logs documented in Appendix C INS Logs starting on page 117 should be logged at rates higher than 5 Hz when running SPAN 8 What will happen to the INS solution when I lose GPS satellite visibility When GPS tracking is interrupted the INS GPS solution bridges through the gaps with what is referred to as free inertial navigation The IMU measurements are used to propagate the solution Errors in the IMU measurements accumulate over time to degrade the solution accuracy For example after one minute of GPS outage the horizontal position accuracy is approximately 2 5 m when using an HG1700 AGS8 The SPAN solution continues to be computed for as lon
58. ALL 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 applicable national laws You must treat the Software like any other copy righted material except that you may make one copy of the Software solely for backup or archival pur poses one copy may be made for each piece of NovAtel hardware on which it is installed or where used in conjunction with other NovAtel supplied software the media of said copy shall bear labels showing all trademark and copyright notices that appear on the original copy You may not copy the product manual or written materials accompanying the Software No right is conveyed by this Agree ment for the
59. AN currently supports the Honeywell iMAR and Litton IMUs When using an IMU with SPAN it is housed in an enclosure with a PCB board to handle power communication and data timing See Appendix A Technical Specifications starting on page 51 for details SPAN Technology for OEMV User Manual Rev 8 27 Chapter 2 SPAN Installation 2 1 28 Hardware Description The hardware setup consists of an OEMV receiver see Figure 1 on page 24 an IMU see Figure 2 on page 24 a GNSS 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 HG1700 IMU in SPAN HG Enclosure starting on page 163 or Appendix F LN 200 IMU in SPAN IMU Enclosure starting on page 169 Your SPAN system receiver is ready for data collection Figure 3 shows a typical set up Reference 1 2 3 O 7 Rover ilMU cable option Base I 8 Description A ProPak V3 receiver connected to a laptop for data storage User supplied NovAtel GNSS antenna LN 200 HG1700 or ilMU FSAS IMU and IMU interface cable to the port labelled AUX on the Propak V3 With the iIMU you must also plug in the interface cable to the ProPak s I O port and to power User supplied power supply ProPak V3 SPAN 1 9 to 18 V DC ProPak V3 base 6 9 to 18 VDC Separate
60. AN frame is defined so that Z is always pointing up along the gravity vector If the IMU mapping is set to 1 the X axis of the IMU enclosure is mapped to the SPAN frame Z axis pointing up its Y axis to SPAN frame X and its Z axis to SPAN frame Y The X pitch Y roll and Z azimuth directions of the inertial enclosure frame are clearly marked on the IMU see the IMU choices and their technical specifications starting on page 51 The example from the LN 200 is shown in Figure 31 Wav CENTER OF NAVIGATION d Ge Figure 31 Frame of Reference SPAN Technology for OEMV User Manual Rev 8 99 Appendix B INS Commands ES 1 Azimuth is positive in a clockwise direction while yaw is positive in a counter clockwise direction when looking down the axis centre Yaw follows the right handed system convention where as azimuth follows the surveying convention 2 The data in the RAWIMUS log is never mapped The axes referenced in the RAWIMUS log description form the IMU enclosure frame as marked on the enclosure Abbreviated ASCII Syntax Message ID 567 SETIMUORIENTATION switch Field ASCII Binary Binary Binary Binary Type Value Value Description Format Bytes Offset 1 Log This field contains the H 0 Header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 Switch 0 0 IMU determines axis ENUM 4 H orientation automatically during coarse
61. CDGPS as the argument The CDGPS argument is for use with obsolete external non NovAtel CDGPS receivers These receivers use GPS C NavCanada s proprietary format differential corrections from the CDGPS service SPAN Technology for OEMV User Manual Rev 8 93 Appendix B INS Commands Table 20 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 XCOM Virtual COM1 port 10 XCOM2 Virtual COM2 port 13 USB1 USB port 1 14 USB2 USB port 2 15 USB3 gt USB port 3 16 AUX AUX port a The XCOM1 and XCOM2 identifiers are not available with the COM command but may be used with other commands For example INTERFACEMODE and LOG b The only other field that applies when a USB port is selected is the echo field Place holders must be inserted for all other fields to use the echo field in this case 94 SPAN Technology for OEMV User Manual Rev 8 INS Commands Appendix B B 2 9 LEVERARMCALIBRATE _ INS Calibration Command Use the LEVERARMCALIBRATE command to control the IMU to antenna lever arm calibration The IMU to antenna lever arm is the distance from the centre of each marked IMU side to the phase centre of the antenna See also Section B 2 13 SETIMUTOANTOFFSET Set IMU to Antenna Offset starting on page 102 and Section 3 3 4 Lever Arm Calibration Routine starting on page 4
62. Ensure that all windows other than the Console are closed in CDU and then use the A logging occurs and may overload your system Abbreviated ASCII Syntax SAVECONFIG command to save settings in NVM Otherwise unnecessary data Message ID 569 SETIMUTYPE switch Field ASCII Binary inti Binary Binary Binary Eeg Type KEUTO WELDS 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 23 IMU IMU Type ENUM 4 H Type on page 104 SPAN Technology for OEMV User Manual Rev 8 103 Appendix B 104 INS Commands Table 23 IMU Type Binary ASCII Description 0 IMU_UNKNOWN Unknown IMU type default 1 IMU_HG1700_AG11 Honeywell HG1700 AG11 AG58 2 3 Reserved 4 IMU_HG1700_AG17 Honeywell HG1700 AG17 AG62 5 7 Reserved 8 IMU_LN200 Litton LN 200 200 Hz model 9 IMU_LN200_400HZ Litton LN 200 400 Hz model 10 IMU_IMAR_FSAS iMAR iIMU FSAS 11 IMU_HG1700_AG58 Honeywell HG1700 AG58 12 IMU_HG1700_AG62 Honeywell HG1700 AG62 Abbreviated ASCII Example SETIMUTYPE IMU_IMAR_FSAS SPAN Technology for OEMV User Manual Rev 8 INS Commands Appendix B B 2 15 SETINITATTITUDE Set Initial Attitude of SPAN in Degrees This command allows you to input a known attitude to start SPAN operation rather th
63. HEELSIZE Wheel Size This log contains wheel sensor information The inertial Kalman filter models the size of the wheel to compensate for changes in wheel circumference due to hardware or environmental changes The default wheel size is 1 96 m A scale factor to this default size is modeled in the filter and this log contains the current estimate of the wheel size Structure Message ID 646 Log Type Asynch Field Field Type Data Description Format Git Binary 1 Log Header Log header H 0 2 Scale Wheel sensor scale factor Double 8 H 3 Circum Wheel circumference m Double 8 H 8 4 Var Variance of circumference m Double 8 H 16 5 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 24 Binary only 6 CR LF Sentence terminator ASCII only Recommended Input log wheelsizea onnew ASCII Example WHEELSIZEA COM3 0 44 0 EXACT 0 0 000 00000000 85 8 33738 1 025108123 2 009211922 0 000453791 157 d50b SPAN Technology for OEMV User Manual Rev 8 159 pV o eD A CCOMmand Prompt Interface When the SPAN system turns on no activity information is transmitted from the serial ports except for the port prompt A terminal connected to the receiver display a messages on its monitor For example COM2 if connected to COM2 port The COM port can be COM1 COM2 COM3 USB1 USB2 USB3 or AUX Commands are typed at the interfacing terminal s keyboard and sent after pressing
64. I Example nmeatalker auto lt This command only affects NMEA logs that are capable of a GPS position output For example GPGSV is for information on GPS satellites and its output always uses the GP ID Table 21 shows the NMEA logs and whether they use GP or GP IN IDs with nmeatalker auto Table 21 NMEA Talkers i GPGGA GPGLL GPGRS GPGSA GPGST GPGSV GPRMB GPRMC GPVTG GPZDAI GP GP GP IN GP GP GP IN GP GP IN GP IN GP IN GP Field ASCII Binary Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 NMEA This field contains the command H 0 TALKER name or the message header header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 ID GP 0 GPS GP only Enum 4 H AUTO 1 GPS and or Inertial IN SPAN Technology for OEMV User Manual Rev 8 97 Appendix B INS Commands B 2 11 RVBCALIBRATE Vehicle to Body Rotation Control The RVBCALIBRATE command is used to enable or disable the calculation of the vehicle to SPAN body angular offset This command should be entered when the IMU is re mounted in the vehicle or if the rotation angles available are known to be incorrect WARNING After the RVBCALIBRATE ENABLE command is entered there are no vehicle body rotation parameters present and a kinematic alignment is NOT possible A Therefore this command should only be entered after the sys
65. IMU Weight 2 1 kg 4 63 Ib MECHANICAL DRAWINGS J ger M6x1 6H 12deep 4x Figure 25 ilMU FSAS Top Bottom Dimensions a See Figure 27 on page 77 for the centre of navigation dimensions b Dimensions are in mm SPAN Technology for OEMV User Manual Rev 8 75 Technical Specifications Appendix A Figure 26 iI MU FSAS Enclosure Side Dimensions SPAN Technology for OEMV User Manual Rev 8 76 Technical Specifications Appendix A T So H g S S pi bi S uonebiAeNn JO au SYSA NINI A6 aun L 1 985 28 U 16 6LU016 609e WOR965 FUE JE EW tele SPAN Technology for OEMV User Manual Rev 8 77 Appendix A Technical Specifications A 6 1 iIMU FSAS Interface Cable The NovAtel part number for the 1 m i MU FSAS interface cable is 60723086 for the ProPak V3 see Table 15 below and Figure 30 iIMU FSAS Interface Cable on page 81 See also Section A 6 2 iIMU FSAS Odometer Cabling on page 79 if applicable The IMU interface cable supplied provides power to the IMU from an external power source and enables input and output between the receiver and IMU Table 15 IMU Interface Cable Pin Out MIL C Female Male Male 38999 III Function DB9to DB9 DB9to Comments Connector Pin coM3 tolO ODO 1 PGND Color black Power ground Label PAND 2 ODO_AN 7 Odometer input A opto coupler 2 to 6 V RS 422 compatible 3 Vin Color red 10 to 34 VDC Label 10 34 VDC 4 ODO_A 6 Odometer input
66. L 91 interface 92 INTERFACEMODE 92 introduction 24 L latency 120 latitude longitude 120 lever arm 95 127 LEVERARMCALIBRATE 95 link loss of 120 Litef LCI 1 connector 200 LN 200 basic set up 28 cable 69 72 73 commands 33 104 dimensions 68 71 77 FAQ 198 models 26 performance 69 74 scale factors 156 sensor installation 166 169 172 173 175 180 187 191 specifications 70 LN 200 IMU SPAN IMU enclosure 169 universal enclosure 187 logging 83 117 M Mark trigger 110 MARKIPVA 148 Mark2 trigger 111 MARK2PVA 149 mean sea level 120 memory non volatile 87 mode interface 92 RTK 120 model upgrades 19 models 26 modem 92 N NMEA satellite type 97 NMEATALKER 97 non volatile memory NVM 87 north 145 146 O offset 102 109 orientation 99 P PASHR log 150 pass through log 92 pitch 99 102 127 133 port 29 31 32 AUX 94 SPAN Technology for OEMV User Manual Rev 8 COM 94 disable 92 serial 92 93 position 109 141 best 120 INS 88 mark 148 149 measurements 135 138 synchronised 140 power 32 prerequisites 23 pseudorange solutions 120 R RAWIMU 151 RAWIMUS 155 real time kinematic RTK 120 receiver interface 92 replacement parts 200 reset hardware 87 response 92 revision manual 2 206 roll 99 102 127 133 rotation 84 98 RTCA 92 93 RTCM 93 RTCMV3 93 RVB see vehicle to body rotation RVBCALIBRATE 98 S scope 22 serial port 92 93 set up har
67. MU is mounted with the z axis as marked on the enclosure pointed up the SPAN computation frame is the same as the IMU enclosure frame The x y and z axes referenced in this log are of the SPAN computational frame by default For more information on how the SPAN computational frame relates to the IMU enclosure frame see Section 3 1 page 29 and the SETIMUORIENTATION command on page 70 If the APPLY VEHICLEBODY ROTATION command has been enabled see page 58 the values in CORRIMUDATA S logs will be in the vehicle frame not the SPAN computation frame Message ID 812 amp 813 Log Type Asynch Recommended Input log corrimudatab onnew Example log SCORRIMUDATASA 1581 341553 000 1581 341552 997500000 0 000000690 0 000001549 0 000001654 0 000061579 0 000012645 0 000029988 770c6232 128 SPAN Technology for OEMV User Manual Rev 8 INS Logs Appendix C t 2 Binary Binary Field Field Type Description Bytes Offset 1 Log Header Log header H 0 2 Week GPS week ULONG 4 H 3 Seconds GPS seconds from week start DOUBLE 8 H 4 4 PitchRate About x axis rotation DOUBLE 8 H 12 5 RollRate About y axis rotation DOUBLE 8 H 20 6 YawRate About z axis rotation Right DOUBLE 8 H 28 Handed H LateralAcc INS Lateral Acceleration DOUBLE 8 H 36 along x axis 8 LongitudinalAcc INS Longitudinal DOUBLE 8 H 44 Acceleration along y axis 9 VerticalAcc INS Vertical Acceleration DOUBLE 8 H 52 along z axis
68. S INS solution has the advantage of the absolute accuracy available from GNSS and the continuity of INS through traditionally difficult GNSS conditions The SPAN system consists of the following components e NovAtel ProPak V3 receivers These receivers are capable of receiving and tracking different combinations of GPS L1 C A L2C L2 P Y and L5 code and carrier GLONASS L1 and L2 code and carrier and L band CDGPS and OmniSTAR on a maximum of 72 channels SBAS support is standard on all OEMV family receivers OEMV adaptability offers multi system frequency and size configurations for any application requirement Patented Pulsed Aperture Correlator PAC technology combined with a powerful microprocessor make possible multipath resistant processing Excellent acquisition and re acquisition times allow this receiver to operate in environments where very high dynamics and frequent interruption of signals can be expected The OEMV family also supports the timing requirements of the IMU and runs the real time INS Kalman filter SPAN Technology for OEMV User Manual Rev 8 Introduction Chapter 1 1 1 e IMU Enclosure The Inertial Measurement Unit IMU is housed in the IMU enclosure that provides a steady power supply to the IMU and decodes and times the IMU output data The IMU itself consists of three accelerometers and 3 gyroscopes gyros so that accelerations along specific axis and angular rotations can be measured Several IMU typ
69. SATTS INSPVA or INSPVAS Solution Uncertainty INSCOV or INSCOVS Note that the position velocity and attitude are available together in the INSPVA and INSPVAS logs The inertial solution is available up to the rate of the IMU data Data can be requested at a specific rate up to the maximum IMU output rate or can be triggered by the mark input trigger at rates up to 20 Hz The GPS only solution is still available through the GPS only logs such as RTKPOS PSRPOS and OMNIHPPOS When running SPAN rates of non INS logs should be limited to a maximum rate of 5 Hz Refer to the OEMV Family Firmware Reference Manual for more details on these logs INS only data logging and output can be at rates of up to the rate of the IMU data 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 WARNING Ensure that all windows other than the Console are closed in CDU and then use d the SAVECONFIG command to save settings in NVM Otherwise unnecessary data logging occurs and may overload your system Specific logs need to be collected for post processing See Section 3 4 Data Collection for Post Processing on page 49 To store data with a ProPak V3 connect a laptop computer to it The laptop computer should be equipped with a data storage device such as a Co
70. SS alone is desired the SPAN receiver can be operated independently As a result SPAN Technology provides a robust GNSS and Inertial solution as well as a portable high performance GNSS receiver in one system Scope 22 This manual contains sufficient information on the installation and operation of the SPAN system It is beyond the scope of this manual to provide details on service or repair Contact your local NovAtel dealer for any customer service related inquiries see Customer Support on page 18 After the addition of accessories an antenna and a power supply the SPAN system is ready to go The OEMV 3 in the receiver utilizes a comprehensive user interface command structure which requires communications through its communications COM ports This manual also describes the INS specific commands and logs Other supplementary manuals are included to aid you in using the other commands and logs available with OEMV family products It is recommended that these documents be kept together for easy reference SPAN system output is compatible with post processing software from NovAtel s Waypoint Products Group Visit our Web site at www novatel com for details SPAN Technology for OEMV User Manual Rev 8 Foreword What s new in Revision 8 of this manual Revision 8 of this manuals includes e IMUTOANTOFFSETS log described on page 128 e INSZUPTCONTROL command described on page 9 e CANCONFIG command described on page 85
71. T If the current IMU orientation does not match the value restored from NVM then the lever arm will be reset to zero with this status 132 SPAN Technology for OEMV User Manual Rev 8 INS Logs Appendix C C 2 6 INSATT INS Attitude This log and the INSATTS log contains the most recent attitude measurements corresponding to the SPAN frame axis according to the installation instructions provided in Section 2 2 Hardware Set Up starting on page 30 and Section 2 3 2 SPAN IMU Configuration starting on page 33 of this manual The attitude measurements may not correspond to other definitions of the terms pitch roll and azimuth If your IMU s z axis as marked on the enclosure is not pointing up the output attitude will be with respect to the SPAN computational frame and not the frame marked on the enclosure See the SETIMUORIENTATION command to determine what the SPAN computation frame will be given how your IMU is mounted Structure Message ID 263 Log Type Synch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Roll Right handed rotation from local 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 clockw
72. TION command on pages 100 101 to determine the azimuth axis that SPAN is using Abbreviated ASCII Syntax Message ID 862 SETINITATTITUDE pitch roll azimuth pitchSTD rollSTD azSTD SPAN Technology for OEMV User Manual Rev 8 105 Appendix B INS Commands ASCII Binary Binary Binary Binary Description Format Bytes Offset Value Value 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 pitch 360 to 360 Input pitch angle about the x Double 8 H axis in degrees 3 roll 360 to 360 GER Double 8 Hp axis in degrees 4 azimuth 360 to 360 EE ur ege 8 H 16 z axis in degrees 5 pitchSTD 0 000278 to 180 put pitch standard deviation Double 8 H 24 STD angle in degrees 6 rollSTD Input roll STD angle in degrees Double 8 H 32 H azSTD Input azimuth STD angle in Double 8 H 40 degrees a 0 000278 is equal to 1 arc second Abbreviated ASCII Example SETINITATTITUDE 0 0 90555 In this example the initial roll and pitch has been set to zero degrees with a standard deviation of 5 degrees for both This means that the SPAN system is very close to level with respect to the local gravity field The azimuth is 90 degrees see the SETINITAZIMUTH example on page 107 also with a 5 degrees standard deviation 106 SPAN Technology for
73. The latency can be reduced by increasing the update rate of the positioning filter being used by requesting the BESTGPSVEL or BESTGPSPOS messages at a rate higher than 2 Hz For example a logging rate of 10 Hz would reduce the velocity latency to 0 005 seconds For integration purposes the velocity latency should be applied to the record time tag A valid solution with a latency of 0 0 indicates that the instantaneous Doppler measurement was used to calculate velocity Structure Message ID 506 Log Type Synch SPAN Technology for OEMV User Manual Rev 8 125 Appendix C 126 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 27 Solution Status on Enum 4 H page 124 3 Vel Type Velocity type see Table 26 Position or Velocity Enum 4 H 4 Type on page 122 4 Latency A measure of the latency in the velocity time tagin 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 decr
74. U enclosures A negative value implies that the output is along the positive Y axis marked on the IMU A positive value implies that the change is in the direction opposite to that of the Y axis marked on the IMU The change in angle gyro scale factor can be found in Table 33 on page 156 Multiply the appropriate scale factor in Table 33 by the count in this field for the angle increments in radians SPAN Technology for OEMV User Manual Rev 8 151 Appendix C Table 31 iIMU FSAS Status INS Logs Nibble Bit Mask Description Range Value 0 0x00000001 NO 1 0x00000002 Reserved 2 0x00000004 3 0x00000008 4 0x00000010 Gyro warm up Passed 0 Failed 1 NI 5 0x00000020 Gyro self test active Passed 0 Failed 1 6 0x00000040 Gyro status bit set Passed 0 Failed 1 7 0x00000080 Gyro time out command interface Passed 0 Failed 1 8 0x00000100 Power up built in test PBIT Passed 0 Failed 1 N2 9 0x00000200 Reserved 10 0x00000400 Interrupt Passed 0 Failed 1 11 0x00000800 Reserved 12 0x00001000 Warm up Passed 0 Failed 1 N3 13 0x00002000 Reserved 14 0x00004000 15 0x00008000 Initiated built in test IBIT Passed 0 Failed 1 16 0x00010000 Reserved N4 17 0x00020000 18 0x00040000 Accelerometer Passed 0 Failed 1 19 0x00080000 Accelerometer time out Passed 0 Failed 1 20 0x00100000 Reserved N5 21 0x00200000 Gyro i
75. U in Universal Enclosure 187 H 1 Disassemble the Universal Encdosure 188 H 2 Install the LN 200 Sensor Un 191 Frequently Asked Questions 198 SPAN Technology for OEMV User Manual Rev 8 J Replacement Parts 200 J SPAN SySt mmiiz is iz castes cadiaee a eer ee 200 J 2 Accessories ANd Options E 200 J 3 Manufacturer s Part Numbers eesceeeecceeeeececeseeeneseneeseseeeseseeenesensneneeeesnseeenseenenenenes 200 SPAN Technology for OEMV User Manual Rev 8 2 3 4 5 6 7 8 9 SPAN System Beeler vcs diastase wa tiene ie al 24 SPAN System IMUS eet cir tans etna iver aie rata 24 Ee le E E 28 Receiver Enclosure Back Panel ecsccesseceesecceceeeceeeeenenesenseeneneeeeeeseneseneeseeneneseeeess 29 Eocal Level Frame ENU nir gereent dele eee ote 37 The Enclosure Frame srren ee eee een vetoed ene eeecn een NEE 38 Nehicle eu 39 Universal IMU Enclosure Top Bottom Dimensions AA 52 Universal IMU Enclosure Side Dimensions ecceeeceeeeeeeneeeeeeeeeeteeeeeeeeeeeeeaeeeaeetaas 53 IMU Center of Navigation 00 eeceecececeeeceeeeeeeeeeeeeeeeeeeseeseaeeeaeeseeeeeaeeseeeeeaeesieeseneeseaeeeaes 54 Universal IMU Enclosure Interface Cable eecceecceesceeeeeceneeeeeeeeaeeseeseeeeeeeeeaeeeeeraas 55 Universal IMU Enclosure Interface Cable ceecceeceeeceeeeeeeeeeeeeeeeeeseeeeeeeeeeeeaeeeeenaas 55 HG1700 Top Bottom Dimensions ceecceeceeeeeeeeeeeeeeeeeeeeaeesaeeeeaeetaeeseeeeeaeesieeseaeee
76. Using a Wheel Sensor with SPAN available on our Web site at www novatel com through Support Knowledge and Learning 3 3 6 2 Wheel Sensor Update Logic The SPAN system uses the WHEELVELOCITY command to apply a time to the message based on the time of the last 1PPS pulse and the latency reported in the log This timed data is passed to the INS GPS Kalman filter to perform the update The timed data is also available through the TIMEDWHEELDATA log see page 157 The TIMEDWHEELDATA log can be used for applying wheel sensor updates in post processing The SPAN Kalman filter uses sequential TIMEDWHEELDATA logs to compute a distance traveled between update intervals 1Hz This information can be used to constrain free inertial drift during times of poor GPS visibility The filter also contains a state for modeling the circumference of the wheel as it may change due to hardware changes or environmental conditions The modeled wheel circumference is available in the WHEELSIZE log see page 159 Information on how the wheel sensor updates are being used is available in the INSUPDATE log see page 145 3 3 6 3 iMAR Wheel Sensor Interface for iIMU FSAS users If you have the iMAR iMWS Magnetic Wheel Speed Sensor and Convertor the wheel sensor information is sent to the OEMV along with the raw IMU data You can integrate other wheel sensor hardware with the iIMU FSAS The Corrsys Datron wheel pulse transducer is used as an example see Section A 6
77. V Family feature INS specific commands may be in Abbreviated ASCII ASCII or Binary format Consider the lockout command refer to the OEMV Family Firmware Reference Manual with the syntax lockout prn You can put this command into the receiver to de weight an undesirable satellite in the solution or you can use the lockout command as a log to see if there is a satellite PRN that has already been locked out In ASCII this might be log com1 lockouta once 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 depending on the software model WARNING Ensure that all windows other than the Console are closed in CDU and then use the SAVECOMNFIG command to save settings in NVM Otherwise unnecessary data logging occurs and may overload your system B 2 INS Specific Commands Please refer to the OEMV Family Firmware Reference Manual for a complete list of commands categorized by function and then detailed in alphabetical order SPAN Technology for OEMV User Manual Rev 8 83 Appendix B INS Commands B 2 1 APPLYVEHICLEBODYROTATION Enable Vehicle to Body Rotation 84 This command allows you to apply the vehicle to body rotation to the output attitude that was entered from
78. V log on page 135 These values are also computed once per second Structure Message ID 320 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 XX XY XZ YX VV VZ ZX ZY ZZ 5 Attitude Covariance Attitude covariance matrix of the List of 9 72 H 84 SPAN frame to the local level frame Doubles See page 35 for an example Degrees squared 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 H 156 level frame Meters second squared Doubles XX XY XZ YX VY YZ ZX ZY ZZ T XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 228 Binary only 8 CR LF Sentence terminator ASCH 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 117 520
79. VATEL S SPECIFICATIONS OR AUTHORIZED BY NOVATEL IIT NORMAL WEAR AND TEAR IV DAMAGE CAUSED BY FORCE OF NATURE OR ACT OF ANY THIRD PERSON V SHIPPING DAMAGE OR VI SERVICE OR REPAIR OF PRODUCT BY THE DEALER WITHOUT PRIOR WRITTEN CONSENT FROM NOVATEL IN ADDITION THE FOREGOING WARRANTIES SHALL NOT APPLY TO PRODUCTS DESIGNATED BY NOVATEL AS BETA SITE TEST SAMPLES EXPERIMENTAL DEVELOPMENTAL PREPRODUCTION SAMPLE INCOMPLETE OR OUT OF SPECIFICATION PRODUCTS OR TO RETURNED PRODUCTS IF THE ORIGINAL IDENTIFICATION MARKS HAVE BEEN REMOVED OR ALTERED THE WARRANTIES AND REMEDIES ARE EXCLUSIVE AND ALL OTHER WARRANTIES EXPRESS OR IMPLIED WRITTEN OR ORAL INCLUDING THE IMPLIED WARRANTIES OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE ARE EXCLUDED NOVATEL SHALL NOT BE LIABLE FOR ANY LOSS DAMAGE EXPENSE OR INJURY ARISING DIRECTLY OR INDIRECTLY OUT OF THE PURCHASE INSTALLATION OPERATION USE OR LICENSING OR PRODUCTS OR SERVICES IN NO EVENT SHALL NOVATEL BE LIABLE FOR SPECIAL INDIRECT INCIDENTAL OR CONSEQUENTIAL DAMAGES OF ANY KIND OR NATURE DUE TO ANY CAUSE There are no user serviceable parts in the GPS receiver and no maintenance is required When the status code indicates that a unit is faulty replace with another unit and return the faulty unit to NovAtel Inc Before shipping any material to NovAtel or Dealer please obtain a Return Material Authorization RMA number from the point of purchase
80. age 28 You can use NovAtel s CDU software to configure receiver settings and to monitor data in real time between a rover SPAN system and base station SPAN system output is compatible with post processing software from NovAtel s Waypoint Products Group Visit our Web site at www novatel com for details WARNING Ensure the Control Panel s Power Settings on your PC are not set to go into A Hibernate or Standby modes Data will be lost if one of these modes occurs during a logging session 3 1 Definition of Reference Frames Within SPAN The reference frames that are most frequently used throughout this manual are the following The Local Level Frame e The SPAN Body Frame The Enclosure Frame e The Vehicle Frame 3 1 1 The Local Level Frame ENU The definition of the local level coordinate frame is as follows e z axis pointing up aligned with gravity e y axis pointing north e X axis pointing east North N Figure 5 Local Level Frame ENU SPAN Technology for OEMV User Manual Rev 8 37 Chapter 3 SPAN Operation 3 1 2 The SPAN Body Frame The definition of the SPAN body frame is as follows e z axis pointing up aligned with gravity e y axis defined by how user has mounted the IMU e x axis defined by how user has mounted the IMU To determine your SPAN x axis and y axis see Table 22 on page 101 This frame is also known as the computation frame and is the frame where all the mechanization
81. age ID 508 Log Type Synch inti Binary Binary Field Field Type Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds Seconds from week start Double 8 H 4 4 Latitude Latitude WGS84 Double 8 H 12 5 Longitude Longitude WGS84 Double 8 H 20 6 Height Ellipsoidal Height WGS84 m Double 8 H 28 7 North Velocity Velocity in a northerly direction a ve Double 8 H 36 value implies a southerly direction m s 8 East Velocity Velocity in an easterly direction a ve Double 8 H 44 value implies a westerly direction m s 9 Up Velocity Velocity in an up direction m s Double 8 H 52 10 Roll Right handed rotation from local level Double 8 H 60 around y axis in degrees 11 Pitch Right handed rotation from local level Double 8 H 68 around x axis in degrees 12 Azimuth Left handed rotation around z axis Double 8 H 76 Degrees clockwise from North 13 Status INS Status see Table 5 on page 42 Enum 4 H 84 14 XXXX 32 bit CRC Hex 4 H 88 15 CR LF Sentence Terminator ASCII only Recommended Input log inspvasa ontime 1 ASCII Example 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 855d6 76 142 SPAN Technology for OEMV User Manual Rev 8 INS Logs Appendix C C 2 15 INSSPD INS Speed This
82. ails b These types appear in position logs such as BESTPOS Please refer to your OEMV Family Firmware Reference Manual SPAN Technology for OEMV User Manual Rev 8 123 Appendix C INS Logs Table 27 Solution Status Binary ASCII Description 0 SOL_COMPUTED Solution computed 1 INSUFFICIENT_OBS Insufficient observations 2 NO_CONVERGENCE No convergence 3 SINGULARITY Singularity at parameters matrix 4 COV_TRACE Covariance trace exceeds maximum trace gt 1000 m 5 TEST_DIST Test distance exceeded maximum of 3 rejections if distance gt 10 km 6 COLD_START Not yet converged from cold start 7 V_H_LIMIT Height or velocity limits exceeded in accordance with COCOM export licensing restrictions 8 VARIANCE Variance exceeds limits 9 RESIDUALS Residuals are too large 10 DELTA_POS Delta position is too large 11 NEGATIVE_VAR Negative variance 12 Reserved 13 INTEGRITY_WARNING Large residuals make position unreliable 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 124 a PENDING implies there are not enough satellites being trac
83. all the HG1700 sensor into the SPAN HG Enclosure NovAtel part number 01017898 The steps required for this procedure are e Disassemble the SPAN HG Enclosure e Install the HG1700 Sensor Unit e Make Electrical Connections e Reassemble the SPAN HG Enclosure Important Ensure you use a ground strap before installing the internal circuit boards Do NOT scratch any surfaces of the unit Figure 32 Required Parts Reference Description 1 SPAN IMU Enclosure HG1700 Flex Cable HG1700 Sensor Unit SPAN Technology for OEMV User Manual Rev 8 163 Appendix E HG1700 IMU in SPAN HG Enclosure E 1 Disassemble the SPAN IMU Enclosure The SPAN IMU disassembly steps are as follows 1 Remove the top cover s six bolts using a hex key as shown in Figure 33 C amp D Figure 33 Bolts and Hex Key Set aside the bolts with their sealing washers Lift the top cover off the tube body and set it aside as shown in Figure 34 on page 165 Lift the tube body away from its base plate and set it aside o e on Remove the 3 ring spacer screws and set them aside 164 SPAN Technology for OEMV User Manual Rev 8 HG1700 IMU in SPAN HG Enclosure Appendix E Figure 34 Lift Top Cover Tube Body and 3 Ring Spacer Screws SPAN Technology for OEMV User Manual Rev 8 165 Appendix E HG1700 IMU in SPAN HG Enclosure E 2 Install the HG1700 Sensor Unit To re assemble the SPAN IMU with the HG1700 sensor see Figure 35 and follow these steps 1
84. an the usual coarse alignment process The caveats and special conditions of this command are listed below e This alignment is instantaneous based on the user input This allows for faster system startup however the input values must be accurate or SPAN will not perform well e Ifyou are uncertain about the standard deviation of the angles you are entering err on the side of a larger standard deviation e Sending SETINITATTITUDE resets the SPAN filter The alignment is instantaneous but some time and vehicle dynamics are required for the SPAN filter to converge Bridging performance is poor before filter convergence e The roll about the y axis pitch about the x axis and azimuth about the z axis are with respect to the SPAN frame If the IMU enclosure is mounted with the z axis pointing upwards the SPAN frame is the same as the markings on the enclosure If the IMU is mounted in another way SPAN transforms the SPAN frame axes such that z points up for SPAN computations You must enter the angles in SETINITATTITUDE with respect to the transformed axis See SETIMUORIENTATION for a description of the axes mapping that occurs when the IMU is mounted differently from z up lt 1 Azimuth is positive in a clockwise direction when looking towards the z axis origin 2 You do not have to use the SETIMUORIENTATION command see page 99 unless you have your IMU mounted with the z axis not pointing up Then use the tables in the SETIMURIENTA
85. ardware setup must be checked out This situation can be recognized in the RAWIMU data by observing accelerometer and gyro values which are not changing with time SPAN Technology for OEMV User Manual Rev 8 117 Appendix C INS Logs C 1 Description of ASCII and Binary Logs with Short Headers These logs are set up in the same way normal ASCII or binary logs are except that a normal ASCII or binary header is replaced with a short header see Tables 24 and 25 For the message header structure of OEMV 3 regular Binary and ASCII logs please refer to the OEMV Family Firmware Reference Manual Table 24 Short ASCII Message Header Structure Field Field Field Type Type Description 1 Char symbol 2 Message Char This is the name of the log 3 Week Number Ushort GPS week number 4 Milliseconds Ulong Milliseconds from the beginning of the GPS week Table 25 Short Binary Message Header Structure Field Field Type Type Description Bytes raat 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 T Milliseconds Ulong Milliseconds from the beginning of the 4 8 GPS week 118 SPAN Technology for OEMV User Manual Rev 8 INS Logs Appendix C C 2 INS Specific Logs The receivers are capable of generatin
86. artially assembled SPAN IMU from Section EZ Install the LN 200 Sensor Unit on page 172 Now follow these steps 1 Attach the LN 200 wire harness to the mating connector on the LN 200 Check that the connector is fully seated as shown in Figure 44 on page 173 Figure 44 Attach Wiring Harness SPAN Technology for OEMV User Manual Rev 8 173 Appendix F LN 200 IMU in SPAN IMU Enclosure 2 Connect the Samtec connector at the other end of the wiring harness to the corresponding connector on the internal IMU card as shown in Figure 45 Ensure that the connector is locked in place Figure 45 Attach Samtec Connector 174 SPAN Technology for OEMV User Manual Rev 8 LN 200 IMU in SPAN IMU Enclosure Appendix F EA Re Assemble the SPAN IMU Enclosure Use a hex key to align the long bolts with the threaded holes in the base as shown in Figure 41 on page 170 Apply threadlock to threads Finger tighten the 6 bolts then torque them in a cross pattern to 12 in lbs The fully assembled IMU enclosure is shown in Figure 46 Figure 46 LN 200 SPAN IMU SPAN Technology for OEMV User Manual Rev 8 175 PN e ey ale p ae HG1700 IMU in Universal Enclosure Important Assemble in accordance with applicable industry standards Ensure all ESD measures are in place in particular use a ground strap before exposing or handling any electronic items including the IMU Take care to
87. ata 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 the OEMV Family Firmware Reference Manual for information on pass through logging and the COMCONFIG log Abbreviated ASCII Syntax Message ID 3 INTERFACEMODE port rxtype txtype responses ASCII Binary Description Binary Binary Binary Value Value p Format Bytes Offset 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCH ASCII or binary respectively 2 port See Table 20 COM Serial port identifier Enum 4 H Serial Port Identifiers default THISPORT on page 94 3 rxtype See Table 19 Serial Receive interface mode Enum 4 H 4 Port Interface Modes 4 txtype on page 93 Transmit interface mode Enum 4 H 8 5 responses OFF 0 Turn response generation off Enum 4 H 12 ON 1 Turn res
88. ationary durations of less than minute 3 3 1 2 Kinematic Alignment If the preferred coarse alignment routine cannot be performed because the vehicle cannot remain stationary for the length of time required an alternate alignment routine is available The kinematic or moving alignment is performed by estimating the attitude from the GPS velocity vector and injecting it into the SPAN filter as the initial system attitude Currently this alignment routine is meant only for ground based vehicles The assumptions used for the alignment may not hold for marine or airborne applications For the kinematic alignment routine to work optimally the course over ground s azimuth and pitch must match the IMU enclosure s SPAN Technology for OEMV User Manual Rev 8 43 Chapter 3 SPAN Operation azimuth and pitch For example a plane being blown in the wind has a a large crab angle and the course over ground trajectory will not match the direction the IMU is pointing Additional configuration parameters are necessary to enable the kinematic alignment In order to simplify this configuration it is strongly suggested that you mount the IMU in parallel to the vehicle frame The Y axis marked on the IMU enclosure should point in the direction of travel Specify which IMU axes are most closely aligned with gravity using the SETIMUORIENTATION command If the IMU is mounted with the Z axis up and the Y axis pointing in the direction of travel then
89. ble for any failure to perform due to unforeseen circumstances or causes beyond its ability to reasonably control Risk of loss damage or destruction shall pass to Purchaser upon delivery to carrier Goods are provided solely for incorporation into the Purchaser s end product and shall not be onward delivered except as incorporated in the Purchaser s end product 4 COPYRIGHT AND CONFIDENTIALITY Copyright in any specification drawing computer software technical description and other document supplied by NovAtel under or in connection with the Order and all intellectual property rights in the design of any part of the Equipment or provision of services whether such design be registered or not shall vest in NovAtel absolutely The Buyer shall keep confidential any information expressed or confirmed by NovAtel in writing to be confidential and shall not disclose it without NovAtel s prior consent in SPAN Technology for OEMV User Manual Rev 8 Terms and Conditions writing to any third party or use it other than for the operation and maintenance of any Equipment provided 5 GENERAL PROVISIONS All Purchase Orders are subject to approval and acceptance by NovAtel Any Purchase Order or other form from the Purchaser which purports to expand alter or amend these terms and conditions is expressly rejected and is and shall not become a part of any agreement between NovAtel and the Purchaser This agreement shall be interpreted under the
90. cations GPS 533 Optional RF Antenna Cable 5 meters C006 15 meters C016 J 3 Manufacturer s Part Numbers The following original manufacturer s part numbers and equivalents for the IMU interface cables are provided for information only and are not available from NovAtel as separate parts Part Description LEMO Part Deutsch Part MIL Part 10 pin LEMO plug connector on the FGG 1K 310 CLAC60Z HG1700 interface cables Deutsch or MIL equivalent 13 pin 59064 11 35SF D38999 26B35SF connector on the LN 200 interface cable Deutsch or MIL equivalent 3 pin 59064 09 98SN D38999 26A98SN connector on the LN 200 power cable MIL 22 pin connector on the iIMU FSAS D38999 26WC35SA interface cable Amphenol or MIL equivalent 22 pin TV 06 RW 13 35 S A MIL DTL 38999 connector on the Universal Enclosure interface cable 200 SPAN Technology for OEMV User Manual Rev 8 A accelerometers 117 151 accuracy 102 120 AG11 AGS58 AG17 AG62 104 age solution 120 alignment 88 102 almanac 87 antenna 102 200 APPLY VEHICLEBODYROTATION 84 attitude 88 133 135 141 148 149 axes enclosure frame 100 102 109 127 151 local level frame 135 137 146 SPAN frame 99 100 102 105 108 114 133 137 141 158 azimuth 99 102 127 133 B BESTGPSPOS 120 BESTGPSVEL 125 BESTLEVERARM 127 binary 93 C cables 29 antenna 200 T O 31 IMU interface 61 65 69 72 78 power 32 warranty 15 cal
91. city in counts s Float 4 H 4 5 Reserved Ulong 4 H 8 6 Ulong 4 H 12 H Ticks Per Second Cumulative number of ticks Ulong 4 H 16 8 XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 20 Binary only 9 CR LF Sentence terminator ASCII only Recommended Input log timedwheeldataa onnew ASCII Example This example is from the iMAR iMWS wheel sensor TIMEDWHEELDATAA 1393 411345 001 58 0 215 814910889 0 0 1942255 3b5fa236 SPAN Technology for OEMV User Manual Rev 8 157 Appendix C INS Logs C 2 26 VEHICLEBODYROTATION Vehicle to SPAN frame Rotation 158 The VEHICLEBODYROTATION log reports the angular offset from the vehicle frame to the SPAN frame The SPAN frame is defined by the transformed IMU enclosure axis with Z pointing up see the SETIMUORIENTATION command on page 99 If your IMU is mounted with the Z axis as marked on the IMU enclosure pointing up the IMU enclosure frame is the same as the SPAN frame See the syntax table in Section B 2 21 VEHICLEBODYROTATION Vehicle to SPAN frame Rotation starting on page 113 for more information Recommended Input log vehiclebodyrotationa onchanged ASCII Example VEHICLEBODYROTATIONA COM1 0 36 5 F INESTEERING 1264 144170 094 00000000 bcf2 1541 1 5869999997474209 2 6639999995760122 77 6649999876392343 2 000000000000 0000 2 0000000000000000 5 0000000000000000 25 f886cc SPAN Technology for OEMV User Manual Rev 8 INS Logs Appendix C C 2 27 W
92. ck 12V adapter B Red Outer contact C White Natural 3 amp slow blow fuse Center contact Foil shield Figure 24 IMU Power Cable Pin Out ook OD SPAN Technology for OEMV User Manual Rev 8 73 Appendix A Technical Specifications A 5 3 IMU Performance PERFORMANCE IMU IMU LN200 Gyro Input Range 1000 degrees s Gyro Rate Bias 1 hr Gyro Rate Scale Factor 100 ppm Angular Random Walk 0 07 degrees rt hr Accelerometer Range 40g Accelerometer Linearity Accelerometer Scale Factor 300 ppm Accelerometer Bias 0 3 mg A 5 4 Electrical and Environmental ELECTRICAL IMU Power Consumption 16 W max IMU Input Voltage 12 to 28 V DC Receiver Power Consumption ProPak V3 2 8 W typical System Power Consumption ProPak V3 14 8 W typical Data Connector on Enclosure 43 pin Deutsch P N 59065 11 35PF 2 Power Connector on Enclosure 3 pin Deutsch P N 59065 09 98PN 2 6 to 18 VDC IMU Interface RS 232 or RS 422 ENVIRONMENTAL LN 200 IMU Temperature Operating 30 C to 60 C 22 F to 140 F Storage 45 C to 80 C 49 F to 176 F Humidity 95 non condensing a For replacement connectors on the interface or power cables see Section H 3 Manufacturer s Part Numbers on page 147 74 SPAN Technology for OEMV User Manual Rev 8 Technical Specifications Appendix A Ap ilIMU FSAS Table 14 ilIMU FSAS Specifications IMU Size 128mm x 128mm x 104 mm 5 04 x 5 04 x 4 09
93. der the shield on the WPT cable to the female DB9 housing b This modification is for the Corrsys Datron WPT 8 pin M12 plug cable number 14865 Figure 30 il MU FSAS Interface Cable SPAN Technology for OEMV User Manual Rev 8 81 Appendix A Technical Specifications A 6 3 IMU Performance PERFORMANCE IMU iIMU FSAS Gyro Input Range 500 degrees s Gyro Rate Bias 0 75 hr Gyro Rate Scale Factor 300 ppm Angular Random Walk 0 1 degrees sq rt hr Accelerometer Range 5 g 20 g optional Accelerometer Linearity S Accelerometer Scale Factor 400 ppm Accelerometer Bias 1 0 mg A 6 4 Electrical and Environmental ELECTRICAL IMU Power Consumption 16 W max IMU Input Voltage 10 to 34 V DC Receiver Power Consumption ProPak V3 2 8 W typical System Power Consumption ProPak V3 14 8 W typical Data Connector MIL C 38999 III Power Connector MIL C 38999 III same as data connector IMU Interface RS 422 Temperature Operating 40 C to 71 C 40 F to 160 F Storage 40 C to 85 C 40 F to 185 F Humidity 95 non condensing 82 SPAN Technology for OEMV User Manual Rev 8 hie DAWNS Commands The INS specific commands are described further in this chapter For information on other available commands refer to the OEMV Family Firmware Reference Manual B 1 Using a Command as a Log All NovAtel commands may be used for data input as normal or used to request data output a unique OEM
94. devices For more information on emissions testing please refer to the regulatory body in your geographic area For example in the US that is the Federal Communications Commission FCC and in Europe the Conformit Europ enne CE FCC NOTICES This SPAN device complies with part 15 of the FCC Rules Operation is subject to the following two conditions 1 this device may not cause harmful interference and 2 this device must accept any interference received including interference that may cause undesired operation This SPAN device complies with the radiated and conducted emission limits for a Class B digital device The Class B limits are designed to provide reasonable protection against harmful interference in a residential installation The equipment listed generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instructions may cause harmful interference to radio communications However there is no guarantee that interference will not occur in a particular installation If this equipment does cause harmful interference to radio or television reception which can be determined by turning the equipment off and on the user is encouraged to try to correct the interference by one or more of the following measures e Re orient or relocate the receiving antenna e Increase the separation between the equipment and the receiver e Connect the equipment to an outlet on a circuit different f
95. direction a ve Double 8 H 36 value implies a southerly direction m s 8 East Velocity Velocity in an easterly direction a ve Double 8 H 44 value implies a westerly direction m s 9 Up Velocity Velocity in an up direction m s Double 8 H 52 10 Roll Right handed rotation from local level Double 8 H 60 around y axis in degrees 11 Pitch Right handed rotation from local level Double 8 H 68 around x axis in degrees 12 Azimuth Left handed rotation around z axis Double 8 H 76 Degrees clockwise from North 13 Status INS Status see Table 5 on page 42 Enum 4 H 84 14 XXXX 32 bit CRC Hex 4 H 88 15 CR LF Sentence Terminator ASCII only Recommended Input log inspvaa ontime 1 ASCII Example INSPVAA COM1 0 31 0 FINESTEERING 1264 144088 000 00040000 5615 1541 1264 144088 002284950 51 116827527 114 037738908 401 191547167 354 846489850 108 429407241 10 837482850 1 116219952 3 476059035 7 372686190 INS_ALIGNMENT_COMPLETE af719f d9 SPAN Technology for OEMV User Manual Rev 8 141 Appendix C C 2 14 INSPVAS Short INS Position Velocity and Attitude INS Logs This log allows INS position velocity and attitude with respect to the SPAN frame to be collected in one log instead of using three separate logs See the INSATT log on page 133 for an explanation of how the SPAN frame may differ from the IMU enclosure frame Structure Mess
96. dware 28 SETIMUORIENTATION 99 SETIMUTOANTOFFSET 102 SETIMUTYPE 103 SETINITATTITUDE 105 SETINITAZIMUTH 107 SETINSOFFSET 109 112 116 SETMARKIOFFSET 110 SETMARK2OFFSET 111 SETWHEELPARAMETERS 112 short binary header 117 118 SPAN frame 99 SPAN HG enclosure HG1700 IMU 163 SPAN IMU enclosure SPAN Technology for OEMV User Manual Rev 8 Index LN 200 IMU 169 speed 126 143 status 120 125 support 18 synchronise INS with GPS 140 T technical specifications 51 57 58 61 62 65 66 69 74 82 time synchonised 140 TIMEDWHEELDATA 157 track over ground 126 transmit 92 troubleshooting 198 true north 126 U undulation 120 universal enclosure HG1700 IMU 176 LN 200 IMU 187 specifications 52 up 145 146 updating firmware 19 upgrading models 19 USB port 94 using acommand as a log 83 NV vector values 146 vehicle to body rotation RVB 84 98 VEHICLEBODYROTATION 113 158 velocity 109 141 best 125 computation 146 INS 88 135 limit 124 mark 148 149 W warranty 15 Web site 18 wheel sensor data 116 157 messages 48 odometer 79 set 112 203 Index 204 wheel size 159 WHEELSIZE 159 WHEELVELOCITY 116 Z Zero Velocity Update ZUPT 90 SPAN Technology for OEMV User Manual Rev 8 Index SPAN Technology for OEMV User Manual Rev 8 205 amp amp Nolte Recyclable Printed in Canada on recycled paper OM 20000104 Rev 8 2010 08 31
97. e 148 C 2 21 MARK2PVA Position Velocity and Attitude at Mark AA 149 C 2 22 PASHR NMEA Inertial Attitude Data 150 C 2 23 RAWIMU Raw IMU Data 151 C 2 24 RAWIMUS Short Raw IMU Data 155 C 2 25 TIMEDWHEELDATA Timed Wheel Data 157 C 2 26 VEHICLEBODYROTATION Vehicle to SPAN frame Rotation nnnnneeeeeenan 158 C 2 27 WHEELSIZE Wheel Gize eeta eana EEEo iaa deiae da a VE arada 159 D Command Prompt Interface 160 RBE 161 DED WINDOWS EE 162 E HG1700 IMU in SPAN HG Enclosure 163 E 1 Disassemble the SPAN IMU Enclosure ccccccssccseccceeceececeeececessesesesssesssseaeeeseeeeeees 164 E 2 Install the HG1700 Sensor Un 166 E 3 Make the Electrical CONNECTIONS ccccccccccececeeeeeecescsccaeeeeeeesccecececececsecesesessssnaeaneneeas 167 E 4 Re Assemble the SPAN IMU Enclosure ssssssssnnnnnnennnesrsrsesserernnnrrrrrrrrrrrrnnnssereerrrrrrrrrnrne 168 F LN 200 IMU in SPAN IMU Enclosure 169 F 1 Disassemble the SPAN IMU Encosure 170 F 2 Install the LN 200 Sensor Un 172 F 3 Make the Electrical CONNECTIONS 00 0 0 cccccccceseeeesseccceeeeceeececeecececesscsesenseeesasaeaueeaneneess 173 F 4 Re Assemble the SPAN IMU Encdosure 175 G HG1700 IMU in Universal Enclosure 176 G 1 Disassemble the Universal Enclosure ccccccccccccecececccceeececeessesensnsaeeeeeeseaeeeeeeeeesesens 177 G 2 Install the HG1700 Sensor Unit cece ccecccccecccceeeceeceesecseessessncueaeeeeeeeeeeeeeeeseeseseseeeren 180 H LN 200 IM
98. e 8 H 32 7 Z Uncertainty IMU Enclosure Frame m Double 8 H 40 8 iMapping See Table 22 Full Mapping Integer 4 H 48 Definitions on page 101 9 XXXX 32 bit CRC Hex 4 H 52 10 CR LF Sentence Terminator ASCII only Recommended Input log bestleverarma onchanged ASCII Example BESTLEVERARMA COM1 0 83 5 UNKNOWN 0 2 983 00000008 39e4 35484 0 3934000000000000 1 2995000000000001 0 0105500000000000 0 0300000000000000 0 0300000000000000 0 0300000000000000 4 876c47ad SPAN Technology for OEMV User Manual Rev 8 127 Appendix C INS Logs C 2 4 CORRIMUDATA CORRIMUDATAS Corrected IMU measurements The CORRIMUDATA S log contains the RAWIMU data corrected for gravity earth s rotation and accelerometer and gyroscope biases The values in this log are instantaneous incremental values in units of radians for the attitude rate and m s for the accelerations To get the full attitude rate and acceleration values you must multiply the values in the CORRIMUDATA S log by the data rate of your IMU in Hz lt The short header format CORRIMUDATAS is recommended as it is for all high data rate logs CORRIMUDATA S can be logged with the ONTIME trigger up to the full data rate of the IMU lt Since the CORRIMUDATA values are instantaneous if you log at a rate less than full data rate of the IMU you will receive the corrected IMU data at the epoch closest to the requested time interval If your I
99. e Factor 300 ppm Accelerometer Bias 1 0 mg HG1700 AG62 Gyro Input Range 1000 deg sec Gyro Rate Bias 5 0 deg hr Gyro Rate Scale Factor 150 ppm Angular Random Walk 0 5 deg rt hr Accelerometer Range 50 g Accelerometer Linearity 500 ppm Accelerometer Scale Factor 300 ppm Accelerometer Bias 3 0 mg LN 200 Gyro Input Range 1000 deg sec Gyro Rate Bias 1 0 deg hr Gyro Rate Scale Factor 100 ppm 0 07 deg rt hr 40g 300 ppm 0 3 mg SPAN Technology for OEMV User Manual Rev 8 57 Appendix A Technical Specifications A 1 3 Electrical and Environmental Table 9 Universal IMU Enclosure Electrical and Environmental ELECTRICAL IMU Power Consumption HG1700 AG58 9 W max HG1700 AG62 8 W max LN 200 16 W max IMU Input Voltage 12 to 28 V DC all IMU s Receiver Power Consumption 2 8 W typical for all IMU s Input Output Connectors MIL C 38999 III 22 pin all IMU s IMU Interface RS 232 or RS 422 ENVIRONMENTAL Temperature HG1700 AG58 HG1700 AG62 Operating 30 C to 60 C Storage 45 C to 71 C LN200 Operating 30 C to 60 C Storage 45 C to 80 C Humidity Operates at 95 RH non condensing all IMU s 58 SPAN Technology for OEMV User Manual Rev 8 Technical Specifications A3 HG1700 IMU single connector enclosure Table 10 HG1700 IMU Specifications Appendix A PHYSICAL IMU Enclosure Size 193mm x 167mm x 100 mm 7 6 x 6 6 x 3 9 IMU Size 160 m
100. e Field Description Symbol Example 1 PASHR Log Header SC PASHR 2 Time UTC Time hhmmss ss 195124 00 3 Heading Heading value in decimal degrees HHH HH 305 30 4 True Heading T displayed if heading is relative to true T T north 5 Roll Roll in decimal degrees The sign will RRR RR 0 05 always be displayed 6 Pitch Pitch in decimal degrees The sign PPP PP 0 13 will always be displayed 7 Reserved lr 8 Roll Accuracy Roll standard deviation in decimal rrr 0 180 degrees 9 Pitch Accuracy Pitch standard deviation in decimal Pp ppp 0 185 degrees 10 Heading Accuracy Heading standard deviation in decimal hh hhh 4 986 degrees 11 GPS Update A No ponis are A 1 1 P All non ixed integer positions Quality Flag 2 RTK fixed integer positon 12 Checksum Checksum XX 2B 13 CR LF Sentence terminator CR LF Recommended Input log pashr ontime 1 Example SPASHR yp rire rr OF 68 SPASHR 195124 00 305 empty 30 T 0 05 0 13 0 180 0 185 4 986 1 2B SPAN Technology for OEMV User Manual Rev 8 INS Logs C 2 23 RAWIMU Raw IMU Data This log contains an IMU status indicator and the measurements from the accelerometers and gyros with respect to the IMU enclosure frame If logging this data consider the RAWIMUS log to reduce the amount of data see page 155 Structure Appendix C Message ID 268 Log Type Asynch Binar Binar Field Field T
101. e mounting plate Gently place the IMU and mounting plate together being careful not to pinch the cable harness Screw the IMU and mounting plate together using thread locking fluid on the 8 32 screws as shown in Figure 52 ALIGN BOTH PILOT PINS TO HOLES ON IMU Figure 52 Installing IMU to Mounting Plate SPAN Technology for OEMV User Manual Rev 8 181 Appendix G HG1700 IMU in Universal Enclosure 4 Starting with the round pilot hole shown in Figure 53 align the pilot holes of the assembled plate noting the orientation with the pilot pins of the enclosure body Lower the assembly into place then fasten using thread locking fluid on the M4 screws ROUND PILOT HOLE Figure 53 Assemble Into Enclosure Body 182 SPAN Technology for OEMV User Manual Rev 8 HG1700 IMU in Universal Enclosure Appendix G 5 Connect the internal cable harness to the enclosure body as shown in Figure 54 During this step ensure the connector O ring supplied with the connector of the internal cable harness remains flat within the connector s groove and make sure the groove is clean and free of debris Fasten the connector to the enclosure body wall using the jam nut supplied with the connector Apply thread locking fluid then with a 30 mm socket tighten the jam nut to 6 9 N m 61 Ib in 5 1 lb ft Figure 54 Fasten Internal Cable Harness 6 Ensure the O rings are in place If they are not as necessary make sure the
102. easing 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 f7e3 0 SOL_COMPUTED SINGLE 0 250 0 000 0 1744 333 002126 0 3070 6 0082 dfdc635c SPAN Technology for OEMV User Manual Rev 8 INS Logs Appendix C C 2 3 BESTLEVERARM_ IMU to Antenna Lever Arm This log contains the distance between the IMU s centre of navigation and the GPS phase centre in the IMU enclosure frame and its associated uncertainties If the you enter the lever arm through the SETIMUTOANTOFFSET command see page 102 these values are reflected in this log When the lever arm calibration is complete see the LEVERARMCALIBRATE command on page 95 the solved values are also output in this log The default X pitch Y roll and Z azimuth directions of the IMU enclosure frame are clearly marked on the IMU see Figure 31 on page 99 Structure Message ID 674 Log Type Asynch 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 Doubl
103. eceeceeseceeeeeeeneeeeeeeeeeeeaeesaeeeaeesaeeeaeeeieeesieeeeeeenaes 183 Install Gei EES 183 Install Enclosure Body on the Base AAA 184 Screw Enclosure Base to Body AAA 185 Final le EE 186 Rule VR TEE 188 Disconnect Wiring Harness from SDLC Card ceeceeeceeeeeeeeeeeeeeeeeeeeeeeeeseeesseeeeeenaes 189 IMU Bracket E A A EE 189 Remove IMU Bracket SDLC ssssosesseeeeseesereresreserettstntettsttstratenstnttrnttnstnnttacensrtneeneennenn 190 Install CES OORT 191 Install Bracketto Bases EE 192 Making Connections 2 1c sean diietellindanviadielliodd sath a a e Na 193 Connect Internal Cable Harness eccceeceseceeeeeeeeeeeeeeeeaeeeeeseaeeeaeessaeeeaeeseeeseneeeeaeeeaes 194 Installing the Enclosure Body to the Base AAA 195 Screw Enclosure Base to Body AAA 196 Final le EE 197 SPAN Technology for OEMV User Manual Rev 8 Tables OANDARWND SPAN Compatible Receiver and IMU Models AAA 26 Receiver Enclosure Back Panel Labele AAA 29 IMU Power Supply wiv cese Ane det pandas A E steerer ennai erence 32 Enable INS Commande ssessesssnneseneeettettnsttnnettnttttntttnntnnettnntttnnttnnntn nn ennneE nnen nennen 33 Inertial Sol tion RENE 42 Solution mts L 1021 EE OE T 45 Universal IMU Enclosure Specifications ccceecceeceeseeeeeeeeeeeeeeeeaeeseeseeeeeeeeeaeeeeetaas 52 Universal IMU Enclosure Interface Cable Pinouts 55 Universal IMU Enclosure Electrical and Environmental AAA 58 HG1700 IMU Gpechticatlons 59 HG
104. es are supported and are listed in Table 1 SPAN Compatible Receiver and IMU Models on page 26 and Table 23 IMU Type on page 104 e PC Software Real time data collection status monitoring and receiver configuration is possible through NovAtel s Control and Display Unit CDU software utility see Section 3 1 on page 37 The GPS receiver is connected to the IMU enclosure with an RS 232 or RS 422 serial link A NovAtel GPS antenna must also be connected to the receiver to track GPS signals Once the IMU enclosure GPS antenna and appropriate power supplies are attached and a few simple configuration commands are entered the SPAN system will be up and running and ready to navigate Fundamentals of GNSS INS GNSS positioning observes range measurements from orbiting Global Navigation Satellite System satellites From these observations the receiver can compute position and velocity with high accuracy NovAtel GNSS positioning systems have been established as highly accurate positioning tools however GNSS in general has some significant restrictions which limit its usefulness in some situations GNSS positioning requires line of site view to at least four satellites simultaneously If these criteria are met differential GNSS positioning can be accurate to within a few centimetres If however some or all of the satellite signals are blocked the accuracy of the position reported by GNSS degrades substantially or may not be available at all
105. g 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 BOOT1 TXT file to the PC s COM1 serial port C GPS gt copy boot1 txt com1 1 file 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 for OEMV User Manual Rev 8 161 Appendix D Command Prompt Interface D 2 WINDOWS As any text editor or communications program can be used for these purposes the use of Windows 98 is described only as an illustration 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 COM1 serial port is connected to the receiver s COM1 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 magva
106. g as the GPS outage lasts but the solution uncertainty increases with time This uncertainty can be monitored using the INSCOV log see page 135 SPAN Technology for OEMV User Manual Rev 8 199 Livief ideft Replacement Parts The following are a list of the replacement parts available Should you require assistance or need to order additional components please contact your local NovAtel dealer or Customer Support J 1 SPAN System Part Description NovAtel Part IMUs see Table 1 SPAN Compatible Receiver and IMU Models on page 26 for details IMU H58 IMU H62 IMU LN200 IMU FSAS EI Receivers see Table 1 SPAN Compatible Receiver and IMU Models on page 26 for details ProPak V3 Universal Enclosure external cable harness see Figure 11 on page 55 01018299 ProPak V3 to IMU FAS IMU interface cable see Table 15 on page 78 60723086 OEMV CDU and Convert4 disk see page 37 of this manual and refer to the OEMV Family 01017827 Installation and Operation User Manual SPAN Technology For OEMV User Manual OM 20000104 OEMV Family Installation and Operation User Manual OM 20000093 OEMV Family Firmware Reference Manual OM 20000094 J 2 Accessories and Options Part Description NovAtel Part Optional NovAtel GPS Antennas Model 532 for aerodynamic applications GPS 532 Model 702 for high accuracy applications GPS 702 Model 702L for L band applications GPS 702L Model 533 for high performance base station appli
107. g many NovAtel format output logs in either Abbreviated ASCII ASCII or binary format Please refer to the OEMV Family Firmware Reference Manual for a complete list of logs categorized by function and then detailed in alphabetical order INS specific commands and logs provide attitude data such as roll pitch and azimuth A Logging Restriction Important Notice High rate data logging is regulated in SPAN to prevent logging of unusable data or overloading the system Please note these 3 rules when configuring your SPAN system 1 Only one high rate INS log can be configured for output at a time Once a log is selected for output at a rate faster than or equal to 100 Hz all other log requests are limited to a maximum rate of 50 Hz Below are examples of acceptable logging requests LOG RAWIMUSB ONNEW 100 or 200 Hz depending on the IMU LOG INSPVASB ONTIME 0 02 acceptable 50 Hz logging The following is rejected because RAWIMU has already been requested at 100 200 Hz LOG INSPOSSB ONTIME 0 01 100 Hz request Below is another example set of acceptable logging requests LOG INSPOSSB ONTIME 0 01 100 Hz request LOG INSVELSB ONTIME 0 02 50 Hz request The following are rejected in this case because INSPOSSB has already been requested at a high rate LOG RAWIMUSB ONNEW 100 Hz request LOG INSATTSB ONTIME 0 005 200 Hz request 2 RAWIMU and RAWIMUS logs are only available with the ONNEW or ONCHANGED trigger These logs are not valid wi
108. g tie a ie el E ec 163 Bolts andHOX EE 164 Lift Top Cover Tube Body and 3 Ring Spacer Screws eecceecceeeeeeeeeeeteeeteeteeeeeeeees 165 SPAN IMU Re ASSEMDIY cirine taero iaa a cn eEE AE EE 166 Attach Flex Gable 2 int ee Ree he hath eA ee cet de Ls 167 Incorrect Bowed Flex Cable Installation ceceeecseeeeeeeseeeeeeeeeeeeeeneeeeeeeeeeeeseeeeeeeees 168 Correct Flat Flex Cable Installation cccccesceeeeceeeeeseeeeeneeseeeeeeeseeeseaeeeneeteaeeeeeeenaeess 168 HG1 700 SPAN IMU tege od te lee a eed a heal ele 168 Ri UI WS LCE 169 Bolts and Hex Key eigene Ae ee ee tee 170 Lift Top Cover and Tube Body cceecceesceeeeeeeeeeereeeeeeeeeeeeeseeeseaeeseeseaeeeeeseaeeeaeeeneeee 171 SPAN IMU Re ASSEMDIy AAA 172 Attach Wiring Harness TEE 173 Attach Samtec Connector aiaee ea a a Ta aeoea a 174 EN 200 SPRANGIMU AE A ATT 175 Remove m FE Ke E EE A E E E E el e 177 Disconnect Wiring Harness from Enclosure Body AA 178 SPAN Technology for OEMV User Manual Rev 8 Remove IMU Mounting Plate and Bracket AAA 179 Remove IMU Mounting Screws ccccesceeesceeeeeeeeeeeeeeceaeeeeeeseaeeseaeeeaeesaeseaeeeieeseieeeeeeeeaes 180 Connect IMU to IMU Mounting Plate eceeeeeeeceeeeeeeeeeeeeeaeeeeeeseaeeseeeenaeeseeeeaeeenatenas 180 Installing IMU to Mounting Plate AAA 181 Assemble Into Enclosure Body cseccceseceeesseceeeseneceseeeneneeeeseneesesceesesseeeeseeneneseees 182 Fasten Internal Cable Harness c e
109. ge drop at the SPAN system A paired wire run represents a feed and return line Therefore a 2 m wire pair represents a total wire path of 4 m For a SPAN system operating from a 12 V system a power cable longer than 2 1 m 7 ft should not use a wire diameter smaller than 24 AWG Each IMU requires its own power supply see Table 3 below Table 3 IMU Power Supply IMU Power Requirement LN 200 12 to 28 V DC iIMU FSAS 10 to 34 V DC HG1700 12 to 28 V DC For pin out information on the power connector on the ProPak V3 refer to the OEMV Family Installation and Operation User Manual Details on the LN 200 power port and cables can be found in Section A 1 UNIVERSAL IMU ENCLOSURE starting on page 52 5 Apply power to the IMU and to the receiver It is recommended that a back up battery is placed between the receiver and its voltage supply to act as a power buffer if installed in a vehi cle When a vehicle engine is started power can dip to 9 6 VDC or cut out to ancillary equipment causing the receiver and IMU to lose lock and calibration settings gt 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
110. gins and not from when you issue the command Abbreviated ASCII Example 2 LEVERARMCALIBRATE 600 0 05 SPAN Technology for OEMV User Manual Rev 8 95 Appendix B INS Commands 96 Given this command the lever arm calibration runs for 600 s or until the estimated lever arm standard deviation is lt 0 05 m in each direction x y z whichever happens first Abbreviated ASCII Example 3 LEVERARMCALIBRATE OFF 0 This command stops the calibration The current estimate when the command was received is output in the BESTLEVERARM log and used in the SPAN computations SPAN Technology for OEMV User Manual Rev 8 INS Commands Appendix B B 2 10 NMEATALKER_ Set the NMEA talker ID V123 This command allows you to alter the behavior of the NMEA talker ID The talker is the first 2 characters after the sign in the log header of the GPGLL GPGST GPRMB GPRMC and GPVTG log outputs The other NMEA logs are not affected by the NMEATALKER command lt The GPGGA position is always based on the position solution from the BESTPOS log which incorporate GPS INS solutions as well The default GPS NMEA message nmeatalker GP outputs GP as the talker ID regardless of the position type given in position logs such as BESTPOS The nmeatalker auto command switches the talker ID between GP and IN according to the position type given in position logs Abbreviated ASCII Syntax Message ID 861 NMEATALKER ID Factory Default nmeatalker gp ASCI
111. grooves of the enclosure base are clean and free of debris using isopropyl alcohol As shown in Figure 55 install the outer environmental and inner EMI O rings in the enclosure base being careful not to stretch or twist them O rings must remain flat within the grooves during the remainder of the assembly procedure Figure 55 Install O rings SPAN Technology for OEMV User Manual Rev 8 183 Appendix G HG1700 IMU in Universal Enclosure 7 Clean the surface of the enclosure body where it mates with the O rings using isopropyl alcohol As shown in Figure 56 align the reference markers and pilot holes pins of the enclosure body and base Carefully lower the body onto the base observing the O rings and alignment of corners Press the enclosure body into place starting with the round pilot hole indicated in Figure 56 ROUND PILOT HOLE ABOVE THIS PILOT PIN REFERENCE MARKERS Figure 56 Install Enclosure Body on the Base 184 SPAN Technology for OEMV User Manual Rev 8 HG1700 IMU in Universal Enclosure Appendix G 8 While squeezing and holding the enclosure body and base together to maintain tight contact carefully turn the assembly over and place it on its top as shown in Figure 57 Using a 3 mm hex bit lightly fasten four equally spaced M4 screws to hold the parts together Apply thread locking fluid to each screw before inserting Install the remaining screws in similar fashion Tighten all screws then check all of
112. h a constant non zero slope to prevent biases in the computed angles Vehicle speed must be greater than 5 m s 18 km hr for the calibration to complete 7 When the uncertainties of the offsets are low enough to be used for a fast alignment the calibration stops and the VEHICLEBODYROTATION log see page 158 is overwritten with the solved values To monitor the progress of the calibration log VEHICLEBODYROTATION using the ONCHANGED trigger The rotation parameters are saved in NVM for use on start up in case a fast alignment is required Each time the IMU is re mounted this calibration should be performed again See also Sections 3 3 1 1 and 3 3 1 2 on page 43 for details on coarse and fast alignment WARNING After the RVBCALIBRATE ENABLE command is entered there are no vehicle body rotation parameters present and a kinematic alignment is NOT possible Ay Therefore this command should only be entered after the system has performed either a static or kinematic alignment and has a valid INS solution lt The solved rotation values are used only for a rough estimate of the angular offsets between the IMU and vehicle frames The offsets are used when aligning the system while in motion see Section 3 3 1 System Start Up and Alignment Techniques starting on page 43 The angular offset values are not applied to the attitude output unless the APPLY VEHICLEBODYROTATION command is enabled see page 84 3 3 6 SPAN Wheel Sensor Messages
113. hat occurs when the IMU is mounted differently from z pointing up lt 1 Azimuth is positive in a clockwise direction when looking towards the z axis origin 2 You do not have to use the SETIMUORIENTATION command see page 99 unless you have your IMU mounted with the z axis not pointing up Then use the tables in the SETIMURIENTATION command on pages 100 101 to determine the azimuth axis that SPAN is using Abbreviated ASCII Syntax Message ID 863 SETINITAZIMUTH azimuth azSTD SPAN Technology for OEMV User Manual Rev 8 107 Appendix B INS Commands ASCII Binary Binary Binary Binary Value Value Format Bytes Offset Description 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 azimuth 360 to 360 Input azimuth angle in degrees Double 8 H oa o i lati 3 azSTD 0 000278 to 180 Input azimuth standard deviation i Double 8 H 8 angle in degrees a 0 000278 is equal to 1 arc second Abbreviated ASCII Example SETINITAZIMUTH 90 5 In this example the initial azimuth has been set to 90 degrees This means that the SPAN system y axis is pointing due East within a standard deviation of 5 degrees Note that if you have mounted your SPAN system with the positive z axis as marked on the enclosure not pointing up please refer to the SETIMUORIENTATION command
114. he current INSZUPT command setting The receiver uses the X Y and Z Offset fields to specify an offset from the IMU for the output position and velocity of the INS solution as specified by the SETINSOFFSET command or CDU s SPAN wizard The INS Configuration Status section displays the IMU type IMU Status and local date time information The dial is a graphical display of the Roll Pitch and Azimuth values indicated by an arrow on each axis Latitude 51 11638749 Longitude 114 03833392 Hgt MSL 1060 278m Velocity 0 0279m s 0 017mys North 0 0168m s 0 011im s East 0 0222m s 0 01imy s Up 0 0014m s 0 007m s X Offset Y Offset rae iit ia On 1 WHEEL_SENSOR_INACTIVE 109 55 Roll Pitch Azimuth IMU_IMAR_FSAS on IMU 0 0553 0 3973 28 464 INS_SOLUTION_GOOD Ready to use 0 06 0 06 1 94 Wed 28 04 2010 15 25 33 Local 3 3 Real Time Operation SPAN operates through the OEMV command and log interface Commands and logs specifically related to SPAN operation are documented in Appendices B and C of this manual respectively Real time operation notes e Inertial data does not start until time is set and therefore the SPAN system does not function unless a GPS antenna is connected with a clear view of the sky SPAN Technology for OEMV User Manual Rev 8 41 Chapter 3 e The Inertial solution is computed separately from the GPS solution The GPS solution is available from the SPAN system through the GPS spec
115. he new configuration from the Available device configs area of the Open dialog Select the Open button to open SPAN receiver communications Available device configs ege Ce Open COM1 at 115200 Baud As CDU establishes the communication session with the receiver a progress box is displayed Select Tools Logging Control Window from the CDU main menu to control the receiver s log ging to files and serial ports Refer to CDU s on line Help for more information Use the Console window to enter commands Section 3 4 Data Collection for Post Processing on page 49 SPAN Technology for OEMV User Manual Rev 8 SPAN Operation Chapter 3 lt If you have to power down your receiver ensure that all windows other than the Console window are closed in CDU and then use the SAVECONFIG command 3 2 1 INS Window in CDU CDU 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 CDU is described below Please refer to the OEMV Family Installation and Operation User Manual for more details on CDU and other OEMV Family PC software programs INS Window The Position Velocity and Attitude roll pitch and azimuth sections display data from the INSPVA log along with standard deviations calculated from the INSCOV log Information in the ZUPT Zero Velocity Update section reflects t
116. ible I O strobe lines Typically the I O strobe lines can be accessed by inserting the connector of an I O strobe port cable into the I O port The other end of the cable is provided without a connector so that you can provide an application specific one The jacket insulation is cut away slightly from the end but the insulation on each wire is intact Refer to the hardware manual for your receiver for more information on signals wiring and pin out information of the I O port and its cable the OEMV Family Installation and Operation User Manual 3 Connect COM1 of the receiver to a computer COM port using a null modem cable LN 200 or HG 1700 iIMU Lu LD it 4 Connect the antenna to the antenna port on the receiver using an appropriate coaxial cable SPAN Technology for OEMV User Manual Rev 8 31 Chapter 2 SPAN Installation 2 2 4 Connect Power 32 The SPAN system receiver requires an input supply voltage between 12 VDC and 18 VDC An automotive adapter is supplied but power can come from a wall outlet adapter or batteries The receiver has an internal power module that does the following e filters and regulates the supply voltage e protects against over voltage over current and high temperature conditions 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 volta
117. ibration 98 127 CANCONFIG 85 CMR 93 command prompt interface 160 162 configuration non volatile memory 87 connector power 73 Controller Area Network Bus CAN Bus 26 copyright 2 correction RTCA 93 CORRIMUDATA 128 SPAN Technology for OEMV User Manual Rev 8 CORRIMUDATAS 128 D datum 120 differential 92 120 distance exceeded 124 driving 48 E east 145 146 e mail 18 enclosure 26 F features 26 firmware updates 19 firmware updates or upgrades 26 Frame 99 frame see axes vehicle 44 98 114 115 frequently asked questions 198 G GPSAntenna 15 graphical user interface 41 H hardware setup 28 headers 117 118 height 120 124 help 39 HG1700 IMU SPAN HG enclosure 163 universal enclosure 176 I T O see input output identifier serial port 92 iIMU FSAS basic set up 28 cables 78 201 Index 202 commands 33 104 dimensions 75 FAQ 198 models 26 performance 82 replacement parts 200 scale factor 156 specifications 75 IMU see inertial measurement unit IMUTOANTOFFSETS 88 130 inertial measurement unit IMU 93 connection 61 65 69 72 78 type 103 inertial navigation system INS 88 information most recent 145 input output I O 31 INSATT 133 140 INSATTS 134 INSCOMMAND 88 INSCOV 135 INSCOVS 137 INSPHASEUPDATE 89 INSPOS 138 INSPOSS 139 INSPOSSYNC 140 INSPVA 141 INSPVAS 142 INSSPD 143 INSSPDS 144 INSUPDATE 145 INSVEL 146 INSVELS 147 INSZUPT 90 INSZUPTCONTRO
118. ies This new computational frame will not match what is marked on the IMU enclosure and will need to be determined by checking the Full Mapping Definition table documented with the SETIMUORIENTATION command Also in this case begin with the SPAN computational frame aligned with the vehicle frame and record the rotations required to move from the vehicle frame to the SPAN computational frame orientation The first rotation is around the z axis of the vehicle frame the second is about the x axis of the SPAN computational frame and the third and final rotation is about the y axis of the SPAN computational frame With the default mapping and with no angular offset between the vehicle frame and SPAN computational frame the output roll is the angle of rotation about the y axis the output pitch is about the x axis and the output azimuth is about the z axis and is measured to the y axis Note that azimuth is positive in the clockwise direction when looking towards the origin However the input vehicle to body rotation about the z axis follows the right hand rule convention and a positive rotation is in the counterclockwise direction when looking towards the origin For further information about extracting the vehicle s attitude with respect to the local level frame refer to NovAtel application note APN 037 Application Note on Vehicle Body Rotations available from the NovAtel Web site at www novatel com through Support Knowledge and Learning
119. iew of the sky to the horizon so that each satellite above the horizon can be tracked without obstruction The location should also be one that minimizes the effect of multipath interference For a discussion on multipath please refer to the GNSS Reference Book 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 33 2 2 2 Mount IMU 30 Mount the IMU in a fixed location where the distance from the IMU to the GNSS antenna phase center is constant Ensure that the orientation with respect to the vehicle and antenna is also constant For attitude output to be meaningful the IMU should be mounted such that the positive Z axis marked on the IMU enclosure points up and the Y axis points forward through the front of the vehicle in the direction of track Also it is important to measure the distance from the IMU to the antenna the Antenna Lever Arm on the first usage on the axis defined on the IMU enclosure See Section 3 3 4 Lever Arm Calibration Routine starting on page 46 See also Appendix A Technical Specifications starting on page 51 gives dimensional drawings of the IMU enclosures 2 Connect the IMU to the receiver using the IMU cable provided For the ProPak V3 receiver the IMU plugs into the port labelled AUX See also Steps 1 and 2 in the SPAN IMU Configuration
120. ific logs even without SPAN running The integrated INS GPS solution is available through special INS logs documented in Appendix C of this manual e The IMU solution is available at the maximum rate of output of the IMU 100 or 200 Hz Because of this high data rate a shorter header format was created These shorter header logs are defined with an S RAWIMUSB rather than RAWIMUB We recommend you use these SPAN Operation logs instead of the standard header logs to save throughput on the COM port Status of the inertial solution can be monitored using the inertial status field in the INS logs Table 5 below Binary 0 Table 5 Inertial Solution Status ASCII INS_INACTIVE Description IMU logs are present but the alignment routine has not started INS is inactive INS_ALIGNING INS is in alignment mode INS_SOLUTION_NOT_GOOD The INS solution is still being computed but the azimuth solution uncertainty has exceed 2 degrees The solution is still valid but you should monitor the solution uncertainty in the INSCOV log You may encounter this state during times when the GPS used to aid the INS is absent 3 INS_SOLUTION_GOOD The INS filter is in navigation mode and the INS solution is good 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 re
121. ions A3 gt HG1700 IMU dual connector enclosure Table 11 HG1700 IMU Specifications Appendix A PHYSICAL IMU Enclosure Size 193mm x 167mm x 100 mm 7 6 x 6 6 x 3 9 IMU Size 160 mm x 160mm x 100 mm 6 3 x 6 3 x 3 9 IMU Weight 3 4 kg 7 49 Ib MECHANICAL DRAWINGS Center Figure 15 HG1700 Top Bottom Dimensions Eet UI GEN AECH pics 74 8 NAVIGATION d eo NG TIAI A e e ee ee h a gt Note The Center of 93 Navigation shown IMU Enclosure on the HG1700 label R33 for the internal IMU is the same as the enclosure s center The enclosure center measurements are labelled as IMU Enclosure Center in this figure SPAN Technology for OEMV User Manual Rev 8 63 Technical Specifications Appendix A 37 IMU Enclosure Center 186 7 1 Figure 16 HG1700 Enclosure Side Dimensions Scale 0 600 Note The Center of Navigation shown on the HG1700 label for the internal IMU is the same as the enclosure s center The enclosure center measurements are labelled as IMU Enclosure Center in this figure SPAN Technology for OEMV User Manual Rev 8 64 Technical Specifications A 3 1 HG1700 IMU Interface Cable Appendix A The IMU interface cable supplied provides power to the IMU from an external power source and enables input and output between the receiver and IMU It is
122. ise from North 7 Status INS status see Table 5 on page 42 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 USB2 0 14 5 FINESTEERING 1541 487970 000 00040000 5535 37343 1541 48 7970 000549050 1 876133508 4 053672765 328 401460897 INS_SOLUTION_GOOD ce4ac533 lt The 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 SPAN Technology for OEMV User Manual Rev 8 133 Appendix C INS Logs C 2 7 INSATTS Short INS Attitude 134 This is a short header version of the INSATT log on page 133 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 7 Status INS status see Table 5 on page 42 Enum 4 H 36 8 XXXX 32 bit CRC ASCII Binary and Short
123. ix E starting on page 163 or Appendix F starting on page 169 for more details d Check the input power supply A minimum of 12V should be supplied to the system for stable IMU performance The supply should also be able to output at least 12W over the entire operating temperature range What system configuration do I need to do to get the system running a Set the interface of the receiver port being used for IMU communication using the INTERFACEMODE command see page 92 INTERFACEMODE COM3 IMU IMU OFF b Set the IMU type using the SETIMUTYPE command see page 103 What types of IMUs are supported a SPAN currently supports the HG1700 IMU family from Honeywell the LN 200 from Litton and the iIMU FSAS from MAR Use the SETIMUTYUPE command to specify the type of IMU used see page 103 Why don t I have any INS logs a On start up the INS logs are not available until the system has solved for time This requires that an antenna is attached and satellites are visible to the system You can verify that time is solved by checking the time status in the header of any standard header SPAN log such as BESTPOS When the time status reaches FINETIME the inertial filter starts and INS messages are available b Check that the system has been configured properly See question 3 above How can I access the inertial solution The INS GPS solution is available from a number of specific logs dedicated to the inertial filter The INSPOS INSPV
124. jected 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 a See also the Frequently Asked Question appendix question 8 on page 199 42 SPAN Technology for OEMV User Manual Rev 8 SPAN Operation Chapter 3 3 3 1 System Start Up and Alignment Techniques The system requires an initial attitude estimate to start the navigation filter This is called system alignment On start up the system has no position velocity or attitude information When the system is first powered up the following sequence of events happens 1 The first satellites are tracked and coarse time is solved 2 Enough satellites are tracked to compute a position 3 Receiver fine time is solved meaning the time on board the receiver is accurate enough to begin timing IMU measurements 4 Raw IMU measurements begin to be timed by the receiver and are available to the INS filter They are also available to you in the RAWIMU or RAWIMUS log see page 151 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
125. ked to verify if the FIX POSITION entered into the receiver is valid The receiver needs to be tracking two or more GPS satellites to perform this check Under normal conditions you should only see PENDING for a few seconds on power up before the GPS receiver has locked onto its first few satellites If your antenna is obstructed or not plugged in and you have entered a FIX POSITION command then you may see PENDING indefinitely SPAN Technology for OEMV User Manual Rev 8 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 BESTGPSVEL time tag The velocity latency to be subtracted from the time tag is normally 1 2 the time between filter updates Under default operation the positioning filters are updated at a rate of 2 Hz This translates into a velocity latency of 0 25 second
126. laws of the Province of Alberta 6 LIMI TED WARRANTY AND LIABILITY Warranty Period Products 1 year Accessories 90 days in each case from the date of invoice NovAtel warrants that during the Warranty Period that a the Product will be free from defects in material and workmanship and conform to NovAtel specifications b the software will be free from error which materially affect performance and c if applicable as defined in the User s Manual be eligible for access to post contract support and software updates when available THESE WARRANTIES ARE EXPRESSLY IN LIEU OF ALL OTHER WARRANTIES EXPRESS OR IMPLIED INCLUDING WITHOUT LIMITATION ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE NOVATEL SHALL IN NO EVENT BE LIABLE FOR SPECIAL INDIRECT INCIDENTAL OR CONSEQUENTIAL DAMAGES OF ANY KIND OR NATURE DUE TO ANY CAUSE Purchaser s exclusive remedy for a claim under this warranty shall be limited to the repair or replacement at NovAtel s option and at NovAtel s facility of defective or nonconforming materials parts or components or in the case of software provision of a software revision for implementation by the Buyer All material returned under warranty shall be returned to NovAtel prepaid by the Buyer and returned to the Buyer prepaid by NovAtel The foregoing warranties do not extend to i nonconformities defects or errors in the Products due to accident abuse misuse or negligent use of
127. le and SPAN frame is known approximately If the angles are simple that is a simple rotation about one axis the values can easily be entered manually through the VEHICLEBODYROTATION command see page 113 If the angular offset is more complex that is rotation is about 2 or 3 axis then the calibration routine provides a more accurate estimation of the values As with the lever arm calibration the vehicle to SPAN frame angular offset calibration requires RTK GPS The steps for the calibration routine are 1 Apply power to the receiver and IMU see the IMU choices and their technical specifications starting on page 51 2 Configure the IMU see Section 2 3 2 SPAN IMU Configuration on page 33 3 Ensure that an accurate lever arm has been entered into the system either manually or through a lever arm calibration see page 46 4 Allow the system to complete a coarse alignment see page 43 5 Enable the vehicle to body calibration using the RVBCALIBRATE ENABLE command see page 98 6 Start to move the system As with the lever arm calibration movement of the system is required for the observation of the angular offsets SPAN Technology for OEMV User Manual Rev 8 47 Chapter 3 SPAN Operation Drive a series of manoeuvres such as figure eights if the driving surface is not level or a straight course if on level ground remember that most roads have a crown resulting in a constant roll of a few degrees Avoid driving on a surface wit
128. ll user settings You should know your configuration and be able to reconfigure the receiver before you send the FRESET command If you are having a hardware problem send a list of the troubleshooting steps taken and results SPAN Technology for OEMV User Manual Rev 8 17 18 Contact Information Customer Support Use one of the following methods to contact NovAtel Customer Support or 1 403 295 4900 international Call the NovAtel Hotline at 1 800 NOVATEL U S amp Canada Fax 1 403 295 4901 E mail support novatel ca Web site http www novatel com Write NovAtel Inc Customer Support Department 1120 68 Avenue NE Calgary AB Canada T2E 8S5 SPAN Technology for OEMV User Manual Rev 8 Firmware Updates and Model Upgrades Firmware updates are firmware releases which include fixes and enhancements to the receiver functionality Firmware updates are released on the Web site as they become available Model upgrades enable features on the receiver and may be purchased through NovAtel authorized dealers Contact your local NovAtel dealer first for more information To locate a dealer in your area visit Where to Buy Dealers on the NovAtel Web site at www novatel com or contact NovAtel Customer Support directly lt Firmware updates can only be done through serial COM port connections SPAN Technology for OEMV User Manual Rev 8 19 20 The following notices apply to the SPAN
129. log starting on page 151 3 In order to collect wheel sensor information useful in post processing the TIMEDWHEELDATA log should only be used with the ONNEW trigger See also page 157 for details on this log 3 3 4 Lever Arm Calibration Routine Each time the system is re mounted on a vehicle or the IMU or antenna is moved on the vehicle the lever arm must be redefined either through manual measurement or through calibration DX We recommend that you measure the lever arm using survey methodology and equipment for example a total station Only use calibrations when precise measurement of the lever arm is not possible The lever arm calibration routine should only be used when the receiver is operating in RTK mode Initial estimates and uncertainties for the lever arm are entered using the SETIMUTOANTOFFSET command see page 102 The calibration routine uses these values as the starting point for the lever arm computation The steps involved in the calibration are 1 Power the receiver and the IMU see the IMU choices and their technical specifications starting on page 51 2 Configure the RTK corrections and make sure that the BESTGPSPOS log see page 120 reports a good RTK solution 3 Configure the IMU see Section 2 3 2 SPAN IMU Configuration on page 33 46 SPAN Technology for OEMV User Manual Rev 8 SPAN Operation Chapter 3 4 Set the orientation of your installed IMU using the SETIMUORIENTATION command see page 99
130. m x 160mm x 100 mm 6 3 x 6 3 x 3 9 IMU Weight 3 4 kg 7 49 Ib MECHANICAL DRAWINGS Center Figure 13 HG1700 Top Bottom Dimensions Eet UI GEN AECH pics 74 8 NAVIGATION d eo NG TIAI A e e ee ee h a gt Note The Center of 93 Navigation shown IMU Enclosure on the HG1700 label R33 for the internal IMU is the same as the enclosure s center The enclosure center measurements are labelled as IMU Enclosure Center in this figure SPAN Technology for OEMV User Manual Rev 8 59 Technical Specifications Appendix A 161 3 96 37 5 IMU Enclosure Center i 186 7 Note The Center of Navigation shown on the HG1700 label for the internal IMU is the same as the enclosure s center The enclosure center measurements are labelled as IMU Enclosure Center in this figure Figure 14 HG1700 Enclosure Side Dimensions SPAN Technology for OEMV User Manual Rev 8 60 Technical Specifications A 2 1 HG1700 IMU Interface Cable Appendix A The IMU interface cable provides power to the IMU from an external power source and enables input and output between the receiver and IMU It is the same as the cable supplied with the Universal Enclosure shown in Figure
131. mounting Details are shown in the installation hints instructions delivered with the system The NovAtel IMU interface cable with ODO is the same as that in Section A 6 1 but with some of the reserved pins having odometer uses It still provides power to the IMU from an external source and enables input and output between the receiver and IMU Once installed see also SPAN Wheel Sensor Messages on page 48 CG 1 The DMI runs only one output line A 2 SPAN specifies that the maximum pulse frequency for a wheel sensor input to SPAN is 1 MHz You can use our interface cable with the ODO connector to plug directly into the iMWS With the WPT first modify the cable at the WPT end The cable modification is shown in Table 16 on page 81 GJ Connect the female DB9 connector to the male ODO end of the iIMU FSAS interface cable 80 SPAN Technology for OEMV User Manual Rev 8 Technical Specifications Appendix A Table 16 Cable Modification for Corrsys Datron WPT 8 pin M12 connector on Female DB9 the Corrsys Datron cable gt connector Pin 1 GND White No change Pin 2 Up Input Power Brown Pin 3 Signal A Green 6 Pin 4 Signal A inverted Yellow 7 Pin 5 Signal B Grey 3 Pin 6 Signal B inverted Pink 1 Pin 7 Reserved No change Pin 8 a Pin 2 is wired to a red banana plug Power in and Pin 1 is wired to a black banana plug Power return so the WPT needs power to operate 10 to 30 V Sol
132. mpact Flash Card CD or MP3 disc Logging Restriction Important Notice High rate data logging is regulated in SPAN to prevent logging of unusable data or overloading the system Please note these 3 rules when configuring your SPAN system 1 Only one high rate INS log can be configured for output at a time Once a log is selected for output at a rate faster than or equal to 100 Hz all other log requests are limited to a SPAN Technology for OEMV User Manual Rev 8 45 Chapter 3 SPAN Operation maximum rate of 50 Hz Below are examples of acceptable logging requests LOG RAWIMUSB ONNEW 100 or 200 Hz depending on the IMU LOG INSPVASB ONTIME 0 02 acceptable 50 Hz logging The following is rejected because RAWIMU has already been requested at 100 200 Hz LOG INSPOSSB ONTIME 0 01 100 Hz request Below is another example set of acceptable logging requests LOG INSPOSSB ONTIME 0 01 100 Hz request LOG INSVELSB ONTIME 0 02 50 Hz request The following are rejected in this case because INSPOSSB has already been requested at a high rate LOG RAWIMUSB ONNEW 100 Hz request LOG INSATTSB ONTIME 0 005 200 Hz request 2 RAWIMU and RAWIMUS logs are only available with the ONNEW or ONCHANGED trigger These logs are not valid with the ONTIME trigger The raw IMU observations contained in these logs are sequential changes in velocity and rotation As such you can only use them for navigation if they are logged at their full rate See details of these
133. n This is a short header version of the IVSPOS log on page 138 Structure Message ID 321 Log Type Synch Field Field Type Data Description Format Bytes rar 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Latitude Latitude WGS84 Double 8 H 12 5 Longitude Longitude WGS84 Double 8 H 20 6 Height Ellipsoidal Height WGS84 m Double 8 H 28 7 Status INS status see Table 5 on page 42 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 INSPOSSA 1541 487916 000 1541 487916 000549050 51 115797277 114 037811065 1039 030700122 INS_SOLUTION_GOOD 5ca30894 SPAN Technology for OEMV User Manual Rev 8 139 Appendix C INS Logs C 2 12 INSPOSSYNC_ Time Synchronised INS Position This log contains the time synchonised INS position It is synchronised with GPS each second Structure Message ID 322 Log Type Asynch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Sec Age of synchronised INS solution 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
134. n applications where it is known that the system will never be stationary such as marine or airborne applications ZUPTs can be disabled altogether Abbreviated ASCII Syntax Message ID 1293 INSZUPTCONTROL switch d Field ASCIl Binary vik Binary Binary Binary BEN Type Value Value Description Format Bytes Offset 1 Header This field contains the command H 0 name or message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 Switch Disable 0 Disable INS zero velocity updates Enum 4 H Enable 1 Enable INS zero velocity updates default Abbreviated ASCII Example inszuptcontrol disable SPAN Technology for OEMV User Manual Rev 8 91 Appendix B INS Commands B 2 8 INTERFACEMODE Set Interface Type for a Port This command allows the user to specify what type of data a particular port on the receiver can transmit and receive The receive type tells the receiver what type of data to accept on the specified port The transmit type tells the receiver what kind of data it can generate For INS operation please see Section 2 3 2 SPAN IMU Configuration starting on page 33 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 d
135. nd power cables see Section H 3 Manufacturer s Part Numbers on page 147 66 SPAN Technology for OEMV User Manual Rev 8 Technical Specifications Appendix A AA LN 200 IMU single connector enclosure Table 12 LN 200 IMU Specifications PHYSICAL IMU Enclosure Size 135mm x 153mm x 130 mm 5 315 x 6 024 x 5 118 IMU Size 89 mm D x 85 mm H 3 504 D x 3 346 H IMU Weight 3 kg 6 6 lb C P 143 7 I i i ND A AN OQ C f 8 1 4 PLCS oe i d center or ZF Enclosure Center so 4 134 6 MN NAVIGATION f SE OFFSETS Navigation Center SCALE 0 800 70 7 ___ eg Navigation Center P92 9 76 3 Enclosure Center Figure 17 LN 200 IMU Enclosure Top Bottom Dimensions and Centre of Navigation MECHANICAL DRAWINGS SPAN Technology for OEMV User Manual Rev 8 67 Technical Specifications Appendix A 152 4 Note The Center of Navigation offsets show on the LN 200 label are for the internal IMU and are different than for the enclosure center The enclosure center is labelled as IMU Enclosure Center in this figure and in Figure 8 Figure 18 LN 200 Enclosure Side Dimensions SPAN Technol
136. neee 59 HG1700 Enclosure Side Dimensions ecceeeeeeeeeeeeeeeneeteeeeeeeeeeeeseeeeeaeeteeeeaeeeaeenee 60 HG1700 Top Bottom Dimensions eecceeeeeeeeeneeeeeeeeeeeeaeecaeeseaeesaeeseeeeeaeetieeseaeeeeeee 63 HG1700 Enclosure Side Dimensions e ceeeeeeceeeeeeeeeeeneeeeeeeeeeeeeeseeeeeaeesieeseeeeeaeeee 64 LN 200 IMU Enclosure Top Bottom Dimensions and Centre of Navigation 67 LN 200 Enclosure Side Dimensions cceeceeseeeeeeeeeeeeeeeeeeeseeeeeaeesaeeseeeeeeeeeaeeeeetaas 68 LN 200 IMU Enclosure Top Bottom Dimensions and Centre of Navigation 70 LN 200 Enclosure Side Dimensions ecccesceeeeseeeeeeeeeeeeeeaeeseeeeeaeesseeseeeeeeeseaeeeeetaas 71 LN 200 Interface Cable AANEREN 72 IMU Interface Cable Pin Out Probak VI 72 LIN 200 Power Cable sien detects asst a aa eee 73 IMU Power Gable Pin Out enaties ae i a a R a e A Eae 73 IIMU FSAS Top Bottom Dimensions 75 iIMU FSAS Enclosure Side Dimensions ceecceeeceeeceeeeeeceeeeeaeeeeeseaeeeaeetsaeeeneeenneees 76 IMU FSAS Centre of Navigation cecceeeeseeeeeneeeeeeteaeeeeeeeeeeeeaeeeeeeseaeeseeeseaeesieeeneeeeaees 77 Corrsys Datron WPT wicceccthens een chat EENS 80 IMAR iIMWS Pre Installed cceccccceeeccceeseeeeeeeeeeeeeeceaeeescaeeessaeeeeceeessaeeeseneeessneeeesaaes 80 IIMU FSAS Interface Cable AAA 81 Frame of RelerenCe ns deene deng s niet ea ee elena 99 Required Parts ie eieiei acl ed egal e
137. nitiated BIT Passed 0 Failed 1 22 0x00400000 Gyro self test Passed 0 Failed 1 23 0x00800000 Gyro time out Passed 0 Failed 1 24 0x01000000 Analog to Digital AD Passed 0 Failed 1 N6 25 0x02000000 Testmode Passed 0 Failed 1 26 0x04000000 Software Passed 0 Failed 1 27 0x08000000 RAM ROM Passed 0 Failed 1 28 0x 10000000 Reserved N7 29 0x20000000 Operational Passed 0 Failed 1 30 0x40000000 Interface Passed 0 Failed 1 31 0x80000000 Interface time out Passed 0 Failed 1 152 SPAN Technology for OEMV User Manual Rev 8 INS Logs Appendix C Table 32 HG1700 and LN200 Status Nibble Number HG1700 Description LN200 Description NO 0 0x00000001 Reserved IMU Passed 0 Status Failed 1 1 0x00000002 Reserved IMU Passed 0 Status Failed 1 2 0x00000004 Reserved IMU Passed 0 Status Failed 1 3 0x00000008 Reserved IMU Passed 0 Status Failed 1 NI 4 0x00000010 IMU Passed 0 IMU Passed 0 Status Failed 1 Status Failed 1 5 0x00000020 IMU Passed 0 IMU Passed 0 Status Failed 2 Status Failed 1 6 0x00000040 IMU Passed 0 IMU Passed 0 Status Failed 3 Status Failed 1 7 0x00000080 IMU Passed 0 IMU Passed 0 Status Failed 4 Status Failed 1 N2 8 0x00000100 Reserved IMU Passed 0 Status Failed 1 9 0x00000200 Reserved IMU Passed 0 Status Failed 1 10 0x00000400 Reserved IMU Passed 0 Stat
138. nnel or by technical personnel expressly authorized by NovAtel for this purpose continued on page 16 WARNING Only return an IMU to its manufacturer and not to NovAtel 1 Litton Northrop Grumman Litton Systems Inc Navigation Systems Division NSD 21240 Burbank Blvd Woodland Hills CA 91367 iMar iMAR GmbH Im Reihersbruch 3 D 66386 St Ingbert Germany Honeywell Honeywell International Inc 2600 Ridgway Parkway Ridgway is really not spelled with an e Minneapolis MN 55413 When returning a Litton or Honeywell IMU from outside the U S follow these steps a Include a copy of the original U S export permit with it b Send the unit to Litton or Honeywell with the following wording on the documentation Shipped in accordance with 22 CFR 123 4 a 1 using air transport and not a carrier service The repaired or replaced device will be returned to you under this same CFR exemption c Identify the paperwork with the value of the hardware the country of origin as U S and the Incoterms if applicable for example FOB FAS CIF Ex Works d Lastly please clearly note on the paperwork to notify upon receipt Honeywell s customs broker EXPIDITORS or for Litton FOR CUSTOMS CLEARANCE BY FedEx Trade Networks 19601 Hamilton Ave Torrance CA 90502 1309 U S A SPAN Technology for OEMV User Manual Rev 8 15 16 Warranty Policy NovAtel warrants that during the Warranty Period that a the Produc
139. nology for OEMV User Manual Rev 8 Lider wm Technical Specifications This appendix details the technical specifications of the IMUs Refer to your SPAN system enclosure s hardware manual for more information on its technical specifications performance and cables the OEMV Family Installation and Operation User Manual SPAN Technology for OEMV User Manual Rev 8 51 Appendix A Technical Specifications A 1 UNIVERSAL IMU ENCLOSURE The Universal IMU enclosure is available with the HG1700 and LN200 IMU s Table 7 Universal IMU Enclosure Specifications IMU Size 168 mm x 195 mm x 146 mm IMU Weight 4 25 kg MECHANICAL DRAWINGS NOTES 1 THIS MOUNTING HOLE TOP SUR FACE IS MASKED FROM PAINT FOR GROUNDING ENSURE SUF FICIENT CONNECTION TO GROUND TOP SEE NOTE 1 195 0 7 68 180 00 2g AX R79 7 087 miae NS 0 31 BOTTOM 030 9 Ten 4 ai I AN 06 60 E 0 260 oa 0 6 ER 0 02 Sie SA MARKERS IC TYP Sa o GE q Dr eo ez Figure 8 Universal IMU Enclosure Top Bottom Dimensions SPAN Technology for OEMV User Manual Rev 8 Technical Specifications Appendix A o EEN 2 32 le E I TE onlo
140. nterfacemode com3 imu imu off setimutype imu_hg1700_ag11 or setimutype imu_hg1700_ag17 or setimutype imu_hg1700_ag58 or setimutype imu_hg1700_ag62 a The iIMU FSAS IMU requires that COM3 labelled as AUX on the ProPak V3 be in RS 422 mode COM3 is factory configurable for RS 232 or RS 422 mode SPAN Technology for OEMV User Manual Rev 8 33 Chapter 2 SPAN Installation 34 Basic configuration of the SPAN system is now complete The inertial filter starts once the GNSS solution is solved and the IMU is connected 1 A GNSS antenna must be connected and tracking satellites for operation 2 Enter the INTERFACEMODE command with COM3 as the port value even if the ProPak V3 port is labelled AUX Issue the SETIMUTOANTOFFSET command to enter the distance from the IMU to the GPS antenna see page 102 The offset between the antenna phase centre and the IMU axis must remain constant and be known accurately m The X pitch Y roll and Z azimuth directions are clearly marked on the IMU enclosure The SETIMUTOANTOFFSET parameters are where the standard deviation fields are optional and the distances are measured from the IMU to the Antenna x_offset y_offset z_offset x_stdev y_stdev z_stdev A typical RTK GPS solution is accurate to a few centimeters For the integrated INS GPS system to have this level of accuracy the offset must be measured to within a centimeter Any offset error between the two systems
141. o the SPAN receiver through the serial communication line There are two DMI products that are compatible with the iIMU FSAS system e iMWS V2 Magnetic Wheel Sensor from MAR A magnetic strip and detector are installed inside the wheel The signal then goes through a box that translates the magnetic readings into pulses that are then passed through the cable into the ODO connector on the IMU cable See also Figure 29 below e WPT Wheel Pulse Transducer from Corrsys Datron A transducer traditionally fits to the outside of a non drive wheel A pulse is then generated from the transducer which is fed directly to the ODO connector on the IMU cable See also Figure 28 on page 80 SPAN Technology for OEMV User Manual Rev 8 79 Appendix A Technical Specifications The MAR iMWS V2 sensor is on the inside of the wheel so that all you can see in the vehicle is the grey signal converter box Figure 28 Corrsys Datron WPT Figure 29 iMAR iMWS Pre Installed The WPT mounts to the wheel lug nuts via iMAR provides a sensor that operates with a adjustable mounting collets The torsion magnetic strip glued inside the rim of a non drive protection rod which maintains rotation wheel and a special detector PG mounted on around the wheel axis affixes to the vehicle the inside of the wheel the disk of the wheel body with suction cups Refer to the Corrsys suspension brake cover or brake caliper holder Datron WPT user manual for
142. of applicability of the data All the described INS logs except the INSCOV INSPOSSYNC and INSUPDATE can be obtained at rates up to 100 or 200 Hz depending on your IMU subject to the limits of the output baud rate The covariance log is available once per second lt 1 Each log ends with a hexadecimal number preceded by an asterisk and followed by a line termination using the carriage return and line feed characters for example 1234ABCD CR LF This value is a 32 bit CRC of all bytes in the log excluding the or identifier and the asterisk preceding the four checksum digits See also Section C 1 Description of ASCII and Binary Logs with Short Headers on page 118 2 The highest rate that you should request GPS logs RANGE BESTPOS RTKPOS PSRPOS and so on while in INS operation is 5 Hz If the receiver is not running INS no IMU is attached GPS logs can be requested at rates up to 20 Hz Please also refer to the OEMV Family Firmware Reference Manual for information on the supplied Convert4 program that lets you change binary to ASCII data or short binary to short ASCII data and vice versa Convert4 is also capable of RINEX conversions to and from ASCII or binary Table 5 Inertial Solution Status on page 42 shows the status values included in the INS position velocity and attitude output logs If you think you have an IMU unit hooked up properly and you are not getting a good status value something is wrong and the h
143. ogy for OEMV User Manual Rev 8 68 Technical Specifications Appendix A AAT LN 200 IMU Interface Cable The IMU interface cable provides power to the IMU from an external power source and enables input and output between the receiver and IMU It is the same as the cable supplied with the Universal Enclosure shown in Figure 11 on page 55 A 4 2 IMU Performance PERFORMANCE IMU IMU LN200 Gyro Input Range 1000 degrees s Gyro Rate Bias 1 hr Gyro Rate Scale Factor 100 ppm Angular Random Walk 0 07 degrees rt hr Accelerometer Range 40g Accelerometer Linearity Accelerometer Scale Factor 300 ppm Accelerometer Bias 0 3 mg A 4 3 Electrical and Environmental ELECTRICAL IMU Power Consumption 16 W max IMU Input Voltage 12 to 28 V DC Receiver Power Consumption ProPak V3 2 8 W typical System Power Consumption ProPak V3 14 8 W typical Input Output Connectors MIL C 38999 III 22 pin all IMU s IMU Interface RS 232 or RS 422 ENVIRONMENTAL LN 200 IMU Temperature Operating 30 C to 60 C 22 F to 140 F Storage 45 C to 80 C 49 F to 176 F Humidity 95 non condensing a For replacement connectors on the interface and power cables see Section J 3 Manufacturer s Part Numbers on page 200 SPAN Technology for OEMV User Manual Rev 8 69 Appendix A Technical Specifications Ah LN 200 IMU dual connector enclosure IMU Enclosure Size Table 13 LN
144. ommunicate with the receiver Refer also to the CDU Help file for more details on CDU The Help file is accessed by choosing Help from the main menu in CDU Start CDU on your PC to enable communication 1 Launch CDU from the Start menu folder specified during the installation process The default location is Start Programs NovAtel OEMV NovAtel CDU Select Open from the Device menu view Tools Help Ctrl O Close Config Select the New button in the Open dialog box The Options Configuration dialog opens Open Ed New SPAN Technology for OEMV User Manual Rev 8 39 Chapter 3 SPAN Operation 40 4 WD enn 11 12 13 Use the button at the top of the configurations selection box to add a new configuration To delete a configuration select it from the list and click on the button To duplicate an existing configuration click on the button You can select any name in the list and edit it to change it Preferences Configurations amp 6 Startup Options CONFIG T Update Log Definitions Device Type Type Serial Serial Settings Port com DI Baud Rate 115200 DI T Hardware Handshaking Select Serial or USB from the Type list and select the PC laptop port that the SPAN receiver is connected to from the Port list Select 115200 from the Baud Rate list Cancel the Use hardware handshaking check box Select OK to save the new device settings Select t
145. onvergence 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 GNSS only solution is impossible e Provide faster signal reacquisition and RTK solution resolution over stand alone GNSS SPAN Technology for OEMV User Manual Rev 8 25 Chapter 1 Introduction because of the tightly integrated GNSS and INS filters Output high rate up to 100 or 200 Hz depending on your IMU model and other logging selections position velocity and attitude solutions for high dynamic applications see also Logging Restriction Important Notice on page 119 Use raw phase observation data to constrain INS solution drift even when too few satellites are available for a full GNSS solution 1 2 Models and Features 26 All SPAN system receivers are factory configurable for L1 L2 RTK capability and are compatible with an IMU See Table 1 for firmware model details Table 1 SPAN Compatible Receiver and IMU Models Model Name Max Output Rate Compatible IMUs SW Model IMU H58 100 Hz HG1700 AG58 V3RT2i IMU H62 HG1700 AG62 IMU LN200 200 Hz LN 200 V3RT2j 200 and 400 Hz models IMU FSAS EI 200 Hz iIMU FSAS V3RT2j Each model is capable of multiple positioning modes of operation For a discussion on GNSS positioning and enclosure details please refer to the OEMV Family Installation and Operation User Manual
146. or the cable harness connectors 2 Torque values for all fasteners including those for the cable harness screws are as follows Size 6 32 0 79 0 90 N m 7 0 8 0 Ib in Size M4 1 36 1 58 N m 12 0 14 0 Ib in SPAN Technology for OEMV User Manual Rev 8 187 Appendix H LN 200 IMU in Universal Enclosure H 1 Disassemble the Universal Enclosure Disassemble the Universal Enclosure as follows 1 Using a3 mm hex bit remove the M4 screws they will be reused and the base as shown in Figure 59 Figure 59 Remove Base 188 SPAN Technology for OEMV User Manual Rev 8 LN 200 IMU in Universal Enclosure Appendix H 2 While squeezing and holding the assembly tightly together carefully turn the assembly over and set it down as shown in Figure 60 Raise the enclosure body and disconnect the internal cable harness at the SDLC board as shown Ensure the O rings remain with the base when it is removed and that they are not damaged Wires not shown Figure 60 Disconnect Wiring Harness from SDLC Card 3 Lift the enclosure lid off the assembly to expose the IMU bracket shown in Figure 61 Disconnect the harness at the SDLC card and remove Disconnect harness at SDLC card and remove Figure 61 IMU Bracket SPAN Technology for OEMV User Manual Rev 8 189 Appendix H LN 200 IMU in Universal Enclosure 4 Using a3 mm hex bit unscrew 4 mm screws and remove the IMU bracket
147. ort novatel ca Web site http Awww novatel com or write to NovAtel Inc Customer Support Dept 1120 68 Avenue NE Calgary Alberta Canada T2E 8S5 SPAN Technology for OEMV User Manual Rev 8 11 Terms and Conditions 12 Standard Terms and Conditions of Sales 1 PRICES All prices are Firm Fixed Price FCA 1120 68th Avenue N E Calgary Alberta All prices include standard commercial packing for domestic shipment All transportation insurance special packing costs and expenses and all Federal provincial and local excise duties sales and other similar taxes are the responsibility of the Purchaser 2 PAYMENT Terms are prepayment unless otherwise agreed in writing Interest shall be charged on overdue accounts at the rate of 18 per annum 1 5 per month from due date To expedite payment by wire transfer to NovAtel Inc Bank HSBC Bank of Canada Bank HSBC Bank of Canada US Account 788889 002 407 8 Avenue S W CDN Account 788889 001 Calgary AB Canada T2P 1E5 EURO Account 788889 270 Transit 10029 016 Swift HKBCCATTCAL 3 DELI VERY Purchaser shall supply shipping instructions with each order Ship to and bill to address NovAtel Quotation Preferred carrier and account Custom broker freight forwarder including name and contact In the absence of specific instructions NovAtel may select a carrier and insure Products in transit and charge Purchaser accordingly NovAtel shall not be responsi
148. oss of use loss of production loss of contracts or for any financing costs or for any indirect or consequential damage whatsoever that may be suffered by the Buyer In the event and to the extent that NovAtel shall have any liability to Buyer pursuant to the terms of the Order NovAtel shall be liable to Buyer only for those damages which have been foreseen or might have reasonably been foreseen on the date of effectivity of the Order and which are solely an immediate and direct result of any act or omission of NovAtel in performing the work or any portion thereof under the Order and which are not in the aggregate in excess of ten 10 percent of the total Order price SPAN Technology for OEMV User Manual Rev 8 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 time periods OEMV 3 Receivers One 1 Year IMU Units return to manufacturer One 1 Year GPSAntenna Series One 1 Year Cables and Accessories Ninety 90 Days Computer Discs Ninety 90 Days Software Warranty One 1 Year Date of sale shall mean the date of the invoice to the original customer for the product NovAtel s responsibility respecting this warranty is solely to product replacement or product repair at an authorized NovAtel location only Determination of replacement or repair will be made by NovAtel perso
149. ot required for the SPAN filter to run SPAN Technology for OEMV User Manual Rev 8 35 Chapter 2 SPAN Installation 2 3 2 3 Configuration for Alignment A coarse alignment routine requires the vehicle to remain stationary for at least 1 minute If that is not possible an alternate fast alignment routine is available The fast or moving alignment is performed by estimating the attitude from the GPS velocity vector and injecting it into the SPAN filter as the initial system attitude See also Section 3 3 1 System Start Up and Alignment Techniques starting on page 43 for more details on coarse and fast alignments 2 3 3 Configuration Command Summary This section gives a brief recap of the commands necessary to get the SPAN system running 1 Issue the INTERFACEMODE command to specify the receiver port connected to the IMU see Table 4 on page 33 and the INTERFACEMODE command on page 92 interfacemode com3 imu imu off 2 Issue the SETIMUTYPE command to specify the type of IMU being used see Table 4 on page 33 and the SETIMUTYPE command on page 103 setimutype imu_1n200 3 Issue the SETIMUTOANTOFFSET command to enter the distance from the IMU to the GPS antenna see page 102 setimutoantoffset 0 1 0 1 0 1 0 01 0 01 0 01 36 SPAN Technology for OEMV User Manual Rev 8 Chapter 3 SPAN Operation Before operating your SPAN system ensure that you have followed the installation and setup instructions in Chapter 2 SPAN Installation starting on p
150. plied enables input and output between the IMU and the receiver Figure 21 LN 200 Interface Cable ol wi UUL finn f mi ll r A Deutsch 13 Pin to IMU DB 9 Female to Receiver S1 N C se PAIRED Se 3 S7 S4 N C S5 S5 S6 N C af PAIRED 2g S8 S2 sd 2 WIRES 2l GO S6 10 N C S11 PAIRED N C S12 N C S13 N C Figure 22 IMU Interface Cable Pin Out ProPak V3 72 SPAN Technology for OEMV User Manual Rev 8 Technical Specifications Appendix A A 5 2 LN 200 IMU Power Adapter Cable The power adapter cable NovAtel part number 01017821 supplied with the LN 200 provides a convenient means for supplying 12 VDC while operating from a 12V source Figure 23 shows the cable and Figure 24 the wiring diagram of the 12V adapter The output of the power adapter uses a 3 pin Deutsch socket Deutsch part number 59064 09 98SN This cable plugs directly into the 3 pin port on the front of the LN 200 enclosure Figure 23 LN 200 Power Cable Wir SE kel ie 1000410 6 3 a A Sg A 4 SA R t A A VJ L EE EE 5 Reference Description Reference Description 1 3 pin Deutsch connector A Bla
151. ponse generation on default ASCII Example INTERFACEMODE COM1 RTCA NOVATEL ON 92 SPAN Technology for OEMV User Manual Rev 8 INS Commands Appendix B Table 19 Serial Port Interface Modes Binary Value ASCII Mode Name Description 0 NONE The port accepts generates nothing 1 NOVATEL The port accepts generates NovAtel commands and logs 2 RTCM The port accepts generates RTCM corrections 3 RTCA The 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 binary messages are responded to and the response is a binary message 19 IMARIMU This port supports communication with an iMAR IMU a An output interfacemode of RTCMNOCR is identical to RTCM but with the CR LF appended An input interfacemode of RTCMNOCR is identical to RTCM and functions with or without the CR LF b CDGPS has three options for output of differential corrections NMEA RTCM and GPS C If you have a ProPak V3 receiver you do not need to use the INTERFACEMODE command with
152. prevent damaging or marring painted surfaces O rings sealing surfaces and the IMU The following procedure provides the necessary information to install the HG1700 sensor into the Universal Enclosure NovAtel part number 01018589 both illustrated below The steps required for this procedure are es Disassemble the Universal Enclosure e Install the HG1700 Sensor Unit e Reassemble the Universal Enclosure HG1700 Sensor Unit HG1700 Flex Cable Universal Enclosure lt 1 Use thread locking fluid on all fasteners except for the flex cable connectors 2 Torque values for all fasteners including those for the flex cable are as follows Size 2 56 0 20 0 25 N m 1 8 2 2 lb in 28 35 oz in Size M4 1 36 1 58 N m 12 0 14 0 Ib in Size 8 32 1 55 1 70 N m 13 7 15 0 Ib in 176 SPAN Technology for OEMV User Manual Rev 8 HG1700 IMU in Universal Enclosure Appendix G G 1 Disassemble the Universal Enclosure Disassemble the Universal Enclosure as follows 1 Using a3 mm hex bit remove the M4 screws they will be reused and the base as shown in Figure 47 Ensure the O rings come with the base when it is removed and that they are not damaged Figure 47 Remove Base SPAN Technology for OEMV User Manual Rev 8 177 Appendix G HG1700 IMU in Universal Enclosure 2 Using a 30 mm socket remove the jam nut and free the wiring harness connector from the body as shown in Figure 2 Retain
153. r 21 log coml bestposa ontime 15 log coml psrvela ontime 15 log coml navigatea ontime 15 log com2 gpvtg ontime 15 5 1 1 log com2 gprmb ontime 15 5 2 2 log com2 rxconfiga ontime 60 2 Save this with a convenient file name e g C GPS BOOTNAV1 TXT and exit Notepad 3 Ensure that the HyperTerminal settings are correctly set up to agree with the receiver communications protocol these settings can be saved e g C GPS OEMSETUP HT for use in future sessions You may wish to use XON XOFF handshaking to prevent loss of data 4 Select Transfer Send Text File to locate the file that is to be sent to the receiver Once you double click on the file or select Open HyperTerminal sends the file to the receiver The above example initializes the SPAN system with origin and destination waypoint coordinates and sets the magnetic variation correction to 21 degrees The BESTPOSA PSRVELA and NAVIGATEA logs have been set to output from the receiver s COM 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 162 SPAN Technology for OEMV User Manual Rev 8 iNeed a HG1700 IMU in SPAN HG Enclosure The following procedure detailed in this appendix provides the necessary information to inst
154. r depending on whether the command is abbreviated ASCII ASCH or binary respectively 2 port CANT 1 Specify the CAN port Enum 4 H CAN2 2 3 switch Disable 0 Enable disable CAN Enum 4 H 4 Enable 1 configuration on the chosen port 4 bit rate CAN bit rate kbps See Enum 4 H 8 Table 17 on page 86 5 base 0 to 65535 0x0000to Base address Refer to Ulong 4 H 12 OxFFFF application note APN 046 for further information 6 tx mask 0 to 65535 Ox0000to Transmit activation mask Ulong 4 H 16 OxFFFF Refer to application note APN 046 for further information 7 source 0 INSGPS CAN source from either the Enum 4 H 20 1 GPS INS GPS solution of the GPS only solutions Abbreviated ASCII Example CANCONFIG CAN1 ENABLE 1M 1000 3 INSGPS SPAN Technology for OEMV User Manual Rev 8 85 Appendix B 86 INS Commands Table 17 CAN Bit Rate per second Binary ASCII 0 10K 1 20K 50K 100K 125K 250K 500K o u Cl MY BR WY bY 800K 1M SPAN Technology for OEMV User Manual Rev 8 INS Commands Appendix B B 2 3 FRESET Factory Reset This command clears data which is stored in non volatile memory Such data includes the almanac ephemeris and any user specific configurations The receiver 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
155. ragraph 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 for OEMV User Manual Rev 8 Software License 5 Term and Termination This Agreement and the rights and licences hereby granted shall continue in force in perpetuity unless terminated by NovAtel or Licensee in accordance herewith In the event that the Licensee shall at any time during the term of this Agreement i be in breach of its obligations hereunder where such breach is irremediable or if capable of remedy is not remedied within 30 days of notice from NovAtel requiring its remedy then and in any event NovAtel may forthwith by notice in writ ing terminate this Agreement together with the rights and licences hereby granted by NovAtel Licensee may terminate this Agreement by providing written notice to NovAtel
156. rdware provides the tick count directly it is not necessary to compute wheel velocity 2 The wheel velocities in Fields 4 and 6 are not currently used in the SPAN filter In Inertial Explorer post processing wheel velocities may be used If you wish to use wheel velocities in post processing fill Fields 4 and 6 with meaningful values otherwise leave as zeroes 116 SPAN Technology for OEMV User Manual Rev 8 Noo e EINS Logs The INS specific logs follow the same general logging scheme as normal OEMV Family logs They are available in ASCII or binary formats and are defined as being either synchronous or asynchronous All the logs in this chapter can be used only with the SPAN system For information on other available logs and output logging please refer to the OEMV Family Firmware Reference Manual One difference from the standard OEMV Family logs is that there are two possible headers for the ASCII and binary versions of the logs Which header is used for a given log is described in the log definitions in this chapter The reason for having the alternate short headers is that the normal OEMV 3 binary header is quite long at 28 bytes This is nearly as long as the data portion of many of the INS logs and creates excess storage and baud rate requirements Note that the INS related logs contain a time tag within the data block in addition to the time tag in the header The time tag in the data block should be considered the exact time
157. rom that to which the receiver is connected e Consult the dealer or an experienced radio TV technician for help IMPORTANT In order to maintain compliance with the limits of a Class B digital device it is required to use properly shielded interface cables A WARNING Changes or modifications to this equipment not expressly approved by NovAtel Inc could result in violation of Part 15 of the FCC rules and void the user s authority to operate this equipment CE NOTICE The enclosures where applicable carry the CE mark Hereby NovAtel Inc declares that this SPAN device is in compliance with the essential requirements and other relevant provisions of Directive 1999 5 EC SPAN Technology for OEMV User Manual Rev 8 Notices WEEE NOTICE If you purchased your SPAN product in Europe please return it to your dealer or supplier at the end of its life The objectives of the European Community s environment policy are in particular to preserve protect and improve the quality of the environment protect human health and utilise natural resources prudently and rationally Sustainable development advocates the reduction of wasteful consumption of natural resources and the prevention of pollution Waste electrical and electronic equipment WEEE is a regulated area Where the generation of waste cannot be avoided it should be reused or recovered for its material or energy WEEE products may be recognized by their wheeled bin label D
158. ry 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 for OEMV User Manual Rev 8 121 Appendix C INS Logs Recommended Input log bestgpsposa ontime 1 ASCII Example BESTGPSPOSA COM1 0 62 5 FINESTEERING 1036 484878 000 00000028 63e2 0 SOL_COMPUTED SINGLE 51 11629893124 114 03820302746 1052 3434 16 271287293 61 19 6934 13 1515 23 8561 0 0 60 000 10 10 0 0 0 0 0 0 105lada9 Table 26 Position or Velocity Type SET Zeg Description 0 NONE No solution 1 FIXEDPOS Position has been fixed by the FIX POSITION command or by position averaging 2 FLXEDHEIGHT Position has been fixed by the FIX HEIGHT or FIX AUTO command or by position averaging 3 Reserved 4 FLOATCONV Solution from floating point carrier phase ambiguities 5 WIDELANE Solution from wide lane ambiguities 6 NARROWLANE Solution from narrow lane ambiguities 7 Reserved 8 DOPPLER_VELOCITY Velocity computed using instantaneous Doppler 9 15 Reserved 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 observation
159. s 20 OMNISTAR OmniSTAR VBS position L1 sub meter 21 31 Reserved 32 L1_FLOAT Floating L1 ambiguity solution 33 IONOFREE_ FLOAT Floating ionospheric free ambiguity solution 34 NARROW_FLOAT Floating narrow lane ambiguity solution 48 L1_INT Integer L1 ambiguity solution 49 WIDE_INT Integer wide lane ambiguity solution 50 NARROW_INT Integer narrow lane ambiguity solution Continued on the following page 122 SPAN Technology for OEMV User Manual Rev 8 INS Logs Appendix C Be Wi ge e Description 51 RTK_DIRECT_INS RTK status where the RTK filter is directly initialized from the INS filter H 52 INS INS calculated position corrected for the antenna p 53 INS_PSRSP INS pseudorange single point solution no DGPS corrections H 54 INS_PSRDIFF INS pseudorange differential solution b 55 INS_RTKFLOAT INS RTK floating point ambiguities solution 7 56 INS_RTKFIXED INS RTK fixed ambiguities solution b 57 INS_OMNISTAR INS OmniSTAR VBS position L1 sub meter 58 INS_OMNISTAR_HP INS OmniSTAR high precision solution 59 INS_OMNISTAR_XP INS OmniSTAR extra precision solution 64 OMNISTAR_HP OmniSTAR high precision 65 OMNISTAR_XP OmniSTAR extra precision 66 CDGPS Position solution using CDGPS corrections a In addition to a NovAtel receiver with L band capability a subscription to the OmniSTAR or use of the free CDGPS service is required Contact NovAtel for det
160. sage ID 323 Log Type Synch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Week GPS Week Ulong 4 H 3 Seconds into Week Seconds from week start Double 8 H 4 4 Trk gnd Track over ground Double 8 H 12 5 Horizontal Speed Horizontal speed in m s Double 8 H 20 6 Vertical Speed Vertical speed in m s Double 8 H 28 7 Status INS status see Table 5 on page 42 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 SINSSPDSA 1541 487975 000 1541 487975 000549050 323 101450813 9 787233999 0 038980077 INS_SOLUTION_GOOD 105ba028 144 SPAN Technology for OEMV User Manual Rev 8 INS Logs Appendix C C 2 17 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 and a wheel sensor status indicator Structure Message ID 757 Log Type Asynch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header H 0 2 Solution Type Type of GPS solution used for the last Enum 4 H update see Table 26 on page 122 3 Reserved Integer 4 H 4 4 Phase Number of raw phase observations used Integer 4 H 8 in the last INS filter update
161. section on page 33 The HG1700 and LN 200 plug directly from the ProPak V3 to the IMU The iIMU FSAS has a single connector whose cable connects to the COM3 labelled AUX and I O port of the ProPak V3 and to power See also Step 3 s graphic on page 31 SPAN Technology for OEMV User Manual Rev 8 SPAN Installation Chapter 2 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 bracket 3 The iIMU FSAS IMU requires that COM3 labelled as AUX on the ProPak V3 be in RS 422 mode 2 2 3 Connect COM Cables The ProPak V3 receiver incorporates an I O port This port may be part of an interconnected system composed of devices that need to be synchronized with each other For example you could connect the SPAN system to an aerial camera in such a way that the SPAN system recorded its position whenever the shutter button was pressed The receivers have transistor transistor logic TTL compat
162. shows up directly in the output position For example a 10 cm error in recording this offset will result in at least a 10 cm error in the output If it is impossible to measure the IMU to GPS antenna offset precisely the offset can be estimated by carrying out the Lever Arm Calibration Routine See Section 3 3 4 Lever Arm Calibration Routine on page 46 2 3 2 2 SPAN Configuration with CDU Follow these steps to enable INS as part of the SPAN system using the NovAtel CDU software utility lt The CDU screen shots in this manual are from CDU Version 3 8 0 6 and may differ from your CDU version SPAN Technology for OEMV User Manual Rev 8 SPAN Installation Chapter 2 1 SPAN basic configuration Select Tools SPAN Alignment Wizard from the main menu of CDU This wizard takes you through the steps to complete a coarse or fast alignment select the type of IMU and configure the receiver port connected to the IMU to accept IMU data SPAN_SE SPAN Alignment Wizard Welcome to the NovAtel SPAN wizard This wizard will quide you through the different setup procedures of your NovAtel SPAN system NovAtel SPAN is a powerful Synchronized Position Attitude Navigation system Your receiver DABO6210087 supports NovAtel SPAN Precise CUTIT INS SPAN wizard IMU_UNKNOWN e COM3 x lt You need only run the Calibration Wizard if you need to calibrate the lever arm or vehicle to frame angular offsets It is n
163. srvd ticks s Field ASCII Binary Binary Binary Binary Fiel ipti leid 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 latency A measure of the latency in the Ushort 2 H velocity time tag in ms 3 ticks rev Number of ticks per revolution Ushort 2 H 2 4 wheel vel Short wheel velocity in ticks s Ushort 2 H 4 5 Reserved Ushort 2 H 6 6 fwheel vel Float wheel velocity in ticks s Float 4 H 8 7 Reserved Ulong 4 H 12 8 Ulong 4 H 16 9 ticks s Cumulative number of ticks s Ulong 4 H 20 Refer also to our application note APN 036 Using a Wheel Sensor with SPAN available on our Web site at www novatel com through Support Knowledge and Learning Abbreviated ASCII Example WHEELVELOCITY 123 8 100000 40 WHEELVELOCITY 123 8 100000 80 WHEELVELOCITY 123 8 100000 120 The above are for a vehicle traveling at a constant velocity with these wheel sensor characteristics Wheel Circumference 2m Vehicle Velocity assumed constant for this example 10 m s Ticks Per Revolution 8 Cumulative Ticks Per Second 10 m s 8 ticks rev 2 m rev 40 Latency between 1PPS and measurement from wheel sensor hardware 123 ms 1 The ticks per second do not need to be computed as shown in the example above If your ha
164. ss LN 200 Sensor Unit SPAN Technology for OEMV User Manual Rev 8 169 Appendix F LN 200 IMU in SPAN IMU Enclosure F 1 Disassemble the SPAN IMU Enclosure The SPAN IMU disassembly steps are as follows 1 Remove the top cover s six bolts using a hex key as shown in Figure 41 Figure 41 Bolts and Hex Key 2 Set aside the bolts with their sealing washers 3 Lift the top cover off the tube body and set it aside 4 Lift the tube body away from its base plate and set it aside as shown in Figure 42 on page 171 170 SPAN Technology for OEMV User Manual Rev 8 LN 200 IMU in SPAN IMU Enclosure Appendix F Figure 42 Lift Top Cover and Tube Body SPAN Technology for OEMV User Manual Rev 8 171 Appendix F LN 200 IMU in SPAN IMU Enclosure F 2 Install the LN 200 Sensor Unit To re assemble the SPAN IMU with the LN 200 sensor follow these steps 1 Mount the LN 200 sensor with the attached M4 screws Apply threadlock to the screw threads Use a hex key to torque each screw to 10 in lbs 2 Fit the tube body over the LN 200 sensor and onto the base plate H 4 SCREWS Figure 43 SPAN IMU Re Assembly 172 SPAN Technology for OEMV User Manual Rev 8 LN 200 IMU in SPAN IMU Enclosure Appendix F F 3 Make the Electrical Connections To make the electrical connections you will need a 3 32 a hex key the wiring harness and the p
165. successfully completed SPAN enters navigation mode SPAN computes the solution by accumulating velocity and rotation increments from the IMU to generate position velocity and attitude SPAN models system errors by using a Kalman filter The GPS solution phase observations and automatic zero velocity updates ZUPTs provide updates to the Kalman filter When a sensor is connected to the system wheel displacement updates are also used in the filter Following the alignment the attitude is coarsely defined especially in heading Vehicle dynamics specifically turns stops and starts allow the system to observe the heading error and allows the heading accuracy to converge Three to five changes in heading should be sufficient to resolve the heading accuracy The INS Status field changes to INS_SOLUTION_GOOD once convergence is complete If the attitude accuracy decreases the INS Status field changes to INS_SOLUTION_NOTGOOD When the accuracy converges again the INS status continues as INS_SOLUTION_GOOD SPAN Technology for OEMV User Manual Rev 8 SPAN Operation Chapter 3 3 3 3 Data Collection The INS solution is available in the INS specific logs with either a standard or short header Other parameters are available in the logs shown in Table 6 on page 45 Table 6 Solution Parameters Parameter Log Position INSPOS or INSPOSS INSPVA or INSPVAS Velocity INSVEL or INSVELS INSSPD or INSSPDS INSPVA or INSPVAS Attitude INSATT or IN
166. 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 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 supp
167. t Field ASCII Binary Type Value Value Binary Binary Binary Field Format Bytes Offset Description This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 x offset 360 Offset along the IMU enclosure Double 8 H frame X axis m for Mark 3 y offset 360 Offset along the IMU enclosure Double 8 H 8 frame Y axis m for Mark 4 z offset 360 Offset along the IMU enclosure Double 8 H 16 frame Z axis m for Mark1 5 aoffset 360 Roll offset for Mark1 degrees Double 8 H 24 6 Boffset 360 Pitch offset for Mark1 degrees Double 8 H 32 7 yoffset 360 Azimuth offset for Mark1 degrees Double 8 H 40 Abbreviated ASCII Example SETMARKIOFFSET 0 324 0 106 1 325 000 110 SPAN Technology for OEMV User Manual Rev 8 INS Commands B 2 19 SETMARK2OFFSET Set Mark2 Offset Set the offset to the Mark2 trigger event Appendix B lt This command is not immediately available to 1IMU FSAS users If you are an iIMU FSAS user and wish to use the Mark2 event trigger contact NovAtel Customer Support Contact information is on page 18 Abbreviated ASCII Syntax SETMARK20FFSET xoffset yoffset zoffset aoffset Boffset yoffset Message ID 1070 Field ASCII Seat Binary Binary Binary Field Type Value Description Format Bytes Offset 1 header This field contains
168. t will be free from defects in material and workmanship and conform to NovAtel specifications and b the software will be free from error which materially affect performance THESE WARRANTIES ARE EXPRESSLY IN LIEU OF ALL OTHER WARRANTIES EXPRESS OR IMPLIED INCLUDING WITHOUT LIMITATION ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE NOVATEL SHALL IN NO EVENT BE LIABLE FOR SPECIAL INDIRECT INCIDENTAL OR CONSEQUENTIAL DAMAGES OF ANY KIND OR NATURE DUE TO ANY CAUSE Purchaser s exclusive remedy for a claim under this warranty shall be limited to the repair or replacement at NovAtel s option and at NovAtel s facility of defective or nonconforming materials parts or components or in the case of software provision of a software revision for implementation by the Buyer All material returned under warranty shall be returned to NovAtel prepaid by the Buyer and returned to the Buyer prepaid by NovAtel THE FOREGOING WARRANTIES DO NOT EXTEND TO I NONCONFORMITIES DEFECTS OR ERRORS IN THE PRODUCTS DUE TO ACCIDENT ABUSE MISUSE OR NEGLIGENT USE OF THE PRODUCTS OR USE IN OTHER THAN A NORMAL AND CUSTOMARY MANNER ENVIRONMENTAL CONDITIONS NOT CONFORMING TO NOVATEL S SPECIFICATIONS OR FAILURE TO FOLLOW PRESCRIBED INSTALLATION OPERATING AND MAINTENANCE PROCEDURES II DEFECTS ERRORS OR NONCONFORMITIES IN THE PRODUCTS DUE TO MODIFICATIONS ALTERATIONS ADDITIONS OR CHANGES NOT MADE IN ACCORDANCE WITH NO
169. tains time stamped wheel sensor data The time stamp in the header is the time of validity for the wheel data not the time the TIMEDWHEELDATA log was output This log contains information from the WHEELVELOCITY command but has the time of the wheel sensor measurement in the message header It is primarily used to support wheel sensor information to a post processing utility Time in the log header is the time of the last PPS pulse plus the latency from the WHEELVELOCITY log See also Section 3 3 6 SPAN Wheel Sensor Messages on page 48 Es If you are using an MAR iMWS Magnetic Wheel Speed Sensor and Convertor Field 4 the float wheel velocity is filled instead of Field 3 the unsigned short wheel velocity When you send a WHEELVELOCITY command see page 6 from an external wheel sensor the TMEDWHEELDATA log contains the same wheel velocity values float or ushort as those you entered Note that neither velocity value is used by the SPAN filter Rather the SPAN filter uses cumulative ticks per second If post processing the velocities may be used with the NovAtel Waypoint Group s Inertial Explorer software Structure Message ID 622 Log Type Asynch Binary Binary Field Field Type Data Description Format Bytes Offset 1 Log Header Log header short header H 0 2 Ticks Per Rev Number of ticks per revolution Ushort 2 H 3 Wheel Vel Wheel velocity in counts s Ushort 2 H 2 4 fWheel Vel Float wheel velo
170. tation 84 B 2 2 CANCONFIG Configure the CAN Interface for SPAN 85 B 2 3 FRESET Factory Reset 20 setehastecceissictenases d fetes a a a e See 87 B 2 4 INSCOMMAND _ INS Control Commande 88 B 2 5 INSPHASEUPDATE INS Phase Update Control 89 B 2 6 INSZUPT Request Zero Velocity Update eeeeceeseeeeteeeeeeeeeeeeeneeeeeeteneens 90 B 2 7 INSZUPTCONTROL INS Zero Velocity Update Control 91 B 2 8 INTERFACEMODE Set Interface Type for a Pont 92 B 2 9 LEVERARMCALIBRATE INS Calibration Commamnd AA 95 B 2 10 NMEATALKER Set the NMEA talker ID VI 97 B 2 11 RVBCALIBRATE Vehicle to Body Rotation Control AA 98 B 2 12 SETIMUORIENTATION Set IMU Orientation 00 0 ee eeeeeeeeeeeteneeteeeeeeteeees 99 B 2 13 SETIMUTOANTOFFSET Set IMU to Antenna Offset 102 B 2 14 SETIMUTYPE Set IMU Twpe eeeceesceeseeseneeeeeeteaeeeeeeseaeesseeeeaeeeeeseaeeeeeenates 103 B 2 15 SETINITATTITUDE Set Initial Attitude of SPAN in Degrees eeseeseeeeeeeea 105 B 2 16 SETINITAZIMUTH Ger Initial Azimuth and Standard Devlation 107 B 2 17 SETINSOFFSET Ger INS Oiteet AAA 109 B 2 18 SETMARK1OFFSET Set Mark Offset 110 B 2 19 SETMARK2OFFSET Set Mark Offset 111 B 2 20 SETWHEELPARAMETERS Set Wheel Parameters A 112 B 2 21 VEHICLEBODYROTATION Vehicle to SPAN frame Rotation eee 113 B 2 22 WHEELVELOCITY Wheel Velocity for INS Augmentation ssseeeseeeeeeeeee 116 C INS Logs 117 C 1 Description of ASCII and Binary Logs with Short Headers AA 118 SPAN
171. tem has performed either a static or kinematic alignment and has a valid INS solution A good INS solution and vehicle movement are required for the SPAN system to solve the vehicle SPAN body offset The solved vehicle body rotation parameters are output in the VEHICLEBODYROTATION log when the calibration is complete see page 158 When the calibration is done the rotation values are fixed until the calibration is re run by entering the RVBCALIBRATE command again lt The solved rotation values are used only for a rough estimate of the angular offsets between the IMU and vehicle frames The offsets are used when aligning the system while in motion see Section 3 3 1 System Start Up and Alignment Techniques starting on page 43 The angular offset values are not applied to the attitude output unless the APPLY VEHICLEBODYROTATION command is disabled Abbreviated ASCII Syntax Message ID 641 RVBCALIBRATE reset Field ASCII Binary inti 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 RESET 0 Control the vehicle ENUM 4 H body rotation DISABLE 1 computation ENABLE 2 98 Abbreviated ASCII Example RVBCALIBRATE reset SPAN Technology for OEMV User Manual Rev 8 INS Commands Appendix B B
172. ter 0 01 in the a field The X pitch Y roll and Z azimuth directions of the inertial frame are clearly marked on the IMU This command must be entered before or during the INS alignment mode not after Abbreviated ASCII Syntax Message ID 383 SETIMUTOANTOFFSET x y z a b c Field ASCII Binary Type Value Value Binary Binary Binary Field Format Bytes Offset Description 1 header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 D 20 x offset m Double 8 H 3 y 20 y offset m Double 8 H 8 4 Z 20 z offset m Double 8 H 16 5 a Oto 1 Uncertainty in x m Double 8 H 24 Defaults to 10 of the x offset to a minimum of 0 01 m 6 b 0 to 1 Uncertainty in y m Double 8 H 32 Defaults to 10 of the y offset to a minimum of 0 01 m 7 c Oto 1 Uncertainty in z m Double 8 H 40 Defaults to 10 of the z offset to a minimum of 0 01 m Abbreviated ASCII Example SETIMUTOANTOFFSET 0 54 0 32 1 20 0 03 0 03 0 05 102 SPAN Technology for OEMV User Manual Rev 8 INS Commands B 2 14 SETIMUTYPE Set IMU Type The SETIMUTYPE command is used to specify the type of IMU connected to the receiver The IMU type can be saved using the SAVECONFIG command so that on startup the receiver does not have to detect the type of IMU connected Appendix B WARNING
173. th the ONTIME trigger The raw IMU observations contained in these logs are sequential changes in velocity and rotation As such you can only use them for navigation if they are logged at their full rate See details of these log starting on page 151 3 In order to collect wheel sensor information useful in post processing the TIMEDWHEELDATA log should only be used with the ONNEW trigger See also page 157 for details on this log lt The periods available when you use the ONTIME trigger are 0 005 200Hz 0 01 100Hz 0 02 50 Hz 0 05 0 1 0 2 0 25 0 5 1 2 3 5 10 15 20 30 or 60 seconds SPAN Technology for OEMV User Manual Rev 8 119 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 differential correction was used With the system operating in an RTK mode this log reflects the latest low latency solution for up to 60 seconds after reception of the last base station observations After this 60 second period the position reverts to the best solution available the degradation in accuracy is reflected in the standard deviation fields If the system is not operating in an RTK mode pseudorange differential solu
174. the command would be SETIMUORIENTATION 5 Specify the angular offsets between the SPAN frame and the vehicle frame known as vehicle body rotation or RVB using the VEHICLEBODYROTATION command see page 1 3 If the IMU is mounted coincidentally with the vehicle frame defined as z up and y pointing in the direction of travel then the command would be VEHICLEBODYROTATION 0 0 0 Alternatively solve the vehicle to IMU frame angular offsets using the RVBCALIBRATE routine See also Section 3 3 5 Vehicle to SPAN Frame Angular Offsets Calibration Routine on page 47 The kinematic alignment begins when the receiver has a good GPS position fine time is solved the configuration parameters have been set and a GPS velocity of at least 1 15 4 km h m s is observed During kinematic alignment keep the vehicle roll at less then 10 Straight line driving is best The accuracy of the initial attitude of the system following the kinematic alignment varies and depends on the dynamics of the vehicle and the accuracy of the RVB estimates The attitude accuracy will converge to within specifications once some motion is observed by the system This transition can be observed by monitoring the INS Status field in the INS logs 3 3 1 3 Manual Alignment Manually enter the attitude information using the SETINITATTITUDE or SETINITAZIMUTH commands Details of these commands start on page 105 3 3 2 Navigation Mode 44 Once the alignment routine has
175. the same as the cable supplied with the LN 200 see Figure 21 on page 72 A 3 2 IMU Performance PERFORMANCE IMU Gyro Rate Bias Gyro Rate Scale Factor Angular Random Walk Accelerometer Range Accelerometer Linearity Accelerometer Scale Factor Accelerometer Bias IMU H58 Gyro Input Range 1000 degrees s Gyro Rate Bias 1 0 degree hr Gyro Rate Scale Factor 150 ppm Angular Random Walk 0 125 degrees rt hr Accelerometer Range 50g Accelerometer Linearity 500 ppm Accelerometer Scale Factor 300 ppm Accelerometer Bias 1 0 mg IMU H62 Gyro Input Range 1000 degrees s 5 0 degrees hr 150 ppm 0 5 degrees rt hr 50g 500 ppm 300 ppm 3 0 mg SPAN Technology for OEMV User Manual Rev 8 65 Appendix A A 3 3 Electrical and Environmental Technical Specifications ELECTRICAL IMU Power Consumption IMU H58 9 W max IMU H62 8 W max IMU Input Voltage 12 to 28 V DC Receiver Power Consumption ProPak V3 2 8 W typical System Power Consumption ProPak V3 14 8 W typical Data Connector on Enclosure 13 pin Deutsch P N 59065 11 35PF Power Connector on Enclosure 6 to 18 VDC 3 pin Deutsch P N 59065 09 98PN 7 IMU Interface RS 232 or RS 422 ENVIRONMENTAL IMU Temperature Operating Storage Humidity 95 non condensing 30 C to 60 C 22 F to 140 F 45 C to 80 C 49 F to 176 F a For replacement connectors on the interface a
176. the system is operating within specifications and after some vehicle movement the INS Status field changes to INS_SOLUTION_GOOD This indicates that the estimated azimuth standard deviation is below 2 If it increases above 2 the status changes to INS_SOLUTION_NOT_GOOD 3 3 1 1 Coarse Alignment The coarse alignment is the default alignment routine for SPAN The alignment starts as soon as a GPS solution is available the receiver has computed fine time and the IMU is connected and configured The vehicle must remain stationary for the alignment to happen During the coarse alignment accelerometer and gyro measurements are averaged over a period of time to measure Earth rotation and gravity From these averaged measurements initial estimates of roll pitch and heading are computed Because the coarse alignment uses averaged sensor output the vehicle must remain stationary for the duration of the alignment which is approximately 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 accuracy converges with motion after the coarse alignment is complete see Section 3 3 2 Navigation Mode on page 44 If the system is stationary for less than minute the coarse alignment finishes early provided at least 5 stationary seconds were detected The quality of the coarse alignment is poorer with st
177. them again for tightness Tighten these screws to 1 36 1 58 N m 12 14 Ib in Do not over tighten Figure 57 Screw Enclosure Base to Body SPAN Technology for OEMV User Manual Rev 8 185 Appendix G HG1700 IMU in Universal Enclosure 9 Ensure the product identification label the logo plate and the centre of navigation labels are properly affixed and contain the correct information The final assembled unit will be similar to that shown in Figure 58 Centre of Navigation Labels triangular Product icon for HG1700 should be here Identification Label on Y Figure 58 Final Assembly 186 SPAN Technology for OEMV User Manual Rev 8 iNo T LN 200 IMU in Universal Enclosure Important Assemble in accordance with applicable industry standards Ensure all ESD measures are in place in particular use a ground strap before exposing or handling any electronic items including the IMU Take care to prevent damaging or marring painted surfaces O rings sealing surfaces and the IMU The following procedure provides the necessary information to install the LN 200 sensor into the Universal Enclosure NovAtel part number 01018590 both illustrated below The steps required for this procedure are Disassemble the Universal Enclosure e Install the LN 200 Sensor Unit e Reassemble the Universal Enclosure LN 200 Sensor Unit Universal Enclosure lt 1 Use thread locking fluid on all fasteners except f
178. tion Velocity and Attitude at Mark1 This log outputs position velocity and attitude information with respect to the SPAN frame when an event was received on the Mark input 148 Structure Message ID 1067 Log Type Synch Field Field Type Description Format Bytes parte 1 Log Header Log header H 0 2 Week GPS Week at Mark1 request Ulong 4 H 3 Seconds Seconds from week at Mark Double 8 H 4 4 Latitude Latitude WGS84 at Mark Double 8 H 12 5 Longitude Longitude WGS84 at Mark1 Double 8 H 20 6 Height Height WGS84 at Mark1 Double 8 H 28 7 North Velocity Velocity in a northerly direction a ve value Double 8 H 36 implies a southerly direction at Mark1 8 East Velocity Velocity in an easterly direction a ve value Double 8 H 44 implies a westerly direction at Mark1 9 Up Velocity Velocity in an up direction at Mark Double 8 H 52 10 Roll Right handed rotation from local level around Double 8 H 60 y axis in degrees at Mark1 11 Pitch Right handed rotation from local level around Double 8 H 68 x axis in degrees at Mark1 12 Azimuth Left handed rotation around z axis Degrees Double 8 H 76 clockwise from North at Mark1 13 Status INS Status see Table 5 on page 42 at Markl Enum 4 H 84 14 XXXX 32 bit CRC Hex 4 H 88 15 CR LF Sentence Terminator ASCII only Recommended Input log marklpva onnew Abbreviated ASCII Example MARK1PVA USB1 0 51 5 EXACT 1481 251850
179. tion 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 T XXXX 32 bit CRC ASCII Binary and Short Hex 4 H 228 Binary only 8 CR LF Sentence terminator ASCII only SPAN Technology for OEMV User Manual Rev 8 135 Appendix C INS Logs Recommended Input log inscova onchanged ASCII Example INSCOVA COM3 0 0 0 EXACT 1105 425385 020 00040000 c45c 0 1105 425385 000000000 0 0997319969301073 0 0240959791179416 0 0133921499963209 0 0240959791179416 0 1538605784734939 0 0440068023663888 0 0133921499963210 0 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 136 SPAN Technology for OEMV User Manual Rev 8 INS Logs Appendix C C 2 9 INSCOVS Short INS Covariance Log This is a short header version of the IVCO
180. tions continue for 300 seconds after loss of the data link though a different value can be set using the DGPSTIMEOUT command refer to the OEMV Family Firmware Reference Manual 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 27 Solution Status on page 124 Enum 4 H 3 Pos Type Position type see Table 26 Position or Velocity Type on Enum 4 H 4 page 122 4 Lat Latitude Double 8 H 8 5 Lon Longitude Double 8 H 16 6 Hgt Height above mean sea level Double 8 H 24 7 Undulation Undulation Float 4 H 32 8 Datum ID Datum ID refer to the DATUM command in the OEMV Enum 4 H 36 Family Firmware Reference Manual 9 Lat o 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 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 the following page 120 SPAN Technology for OEMV User Manual Rev 8 INS Logs Appendix C Bina
181. to determine the SPAN frame axes mapping that SPAN automatically applies 108 SPAN Technology for OEMV User Manual Rev 8 INS Commands Appendix B B 2 17 SETINSOFFSET Set INS Offset The SETINSOFFSET command is used to specify an offset from the IMU for the output position and velocity of the INS solution This command shifts the position and velocity in the INSPOS INSPOSS INSVEL INSVELS INSSPD INSSPDS INSPVA and INSPVAS logs by the amount specified in metres with respect to the IMU enclosure frame axis Abbreviated ASCII Syntax Message ID 676 SETINSOFFSET xoffset yoffset zoffset Field ASCII Binary Binary Binary Binary Description Format Bytes Offset Type Value Value 1 header This field contains the command H 0 name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 X offset 100 Offset along the IMU enclosure Double 8 H frame X axis m 3 Y offset 100 Offset along the IMU enclosure Double 8 H 8 frame Y axis m 4 Z offset 100 Offset along the IMU enclosure Double 8 H 16 frame Z axis m Abbreviated ASCII Example SETINSOFFSET 0 15 0 15 0 25 SPAN Technology for OEMV User Manual Rev 8 109 Appendix B INS Commands B 2 18 SETMARK1OFFSET Set Mark Offset Set the offset to the Mark trigger event Abbreviated ASCII Syntax Message ID 1069 SETMARKIOFFSET xoffset yoffset zoffset aoffset Boffset yoffse
182. ure 4 While carefully holding the body over the bracket connect the internal cable harness to the board assembly as shown in Figure 66 SS SS fa SS xe 7 lt gt ye CONNECT Figure 66 Connect Internal Cable Harness 194 SPAN Technology for OEMV User Manual Rev 8 LN 200 IMU in Universal Enclosure Appendix H 5 Clean the surface of the enclosure body where it will mate with the O rings using isopropyl alcohol While ensuring all wires will fit inside the bracket without being pinched align the reference markers and pilot holes screws of the enclosure body and base and carefully lower the body onto the base observing the O rings and the alignment of corners Start with the round pilot hole indicated in Figure 67 then press the assembly into place PILOT HOLE ABOVE THIS PILOT PIN REFERENCE MARKERS Figure 67 Installing the Enclosure Body to the Base SPAN Technology for OEMV User Manual Rev 8 195 Appendix H LN 200 IMU in Universal Enclosure 196 While squeezing and holding the enclosure body and base together to maintain tight contact carefully turn the assembly over and place it on its top as shown in Figure 68 Using a 3 mm hex bit lightly fasten four equally spaced M4 screws to hold the parts together Use thread locking fluid on all screws Install the remaining screws in similar fashion Tighten all screws to 1 36 1 58 N m 12 14 Ib in
183. us Failed 1 11 0x00000800 Reserved IMU Passed 0 Status Failed 1 N3 12 0x00001000 Reserved IMU Passed 0 Status Failed 1 13 0x00002000 Reserved IMU Passed 0 Status Failed 1 14 0x00004000 Reserved IMU Passed 0 Status Failed 1 15 0x00008000 Reserved Reserved SPAN Technology for OEMV User Manual Rev 8 Appendix C INS Logs Nibble Number Bit HG1700 Description LN200 Description N4 16 0x00010000 Reserved Reserved 17 0x00020000 Reserved Reserved 18 0x00040000 Reserved Reserved 19 0x00080000 Reserved Reserved N5 20 0x00100000 Reserved Reserved 21 0x00200000 Reserved Reserved 22 0x00400000 Reserved Reserved 23 0x00800000 Reserved Reserved N6 24 0x01000000 Reserved IMU Passed 0 Status Failed 1 25 0x02000000 Reserved IMU Passed 0 Status Failed 1 26 0x04000000 Reserved IMU Passed 0 Status Failed 1 27 0x08000000 IMU Passed 0 IMU Passed 0 Status Failed 1 Status Failed 1 N7 28 0x 10000000 IMU Passed 0 IMU Passed 0 Status Failed 1 Status Failed 1 29 0x20000000 IMU Passed 0 Reserved Status Failed 1 30 0x40000000 IMU Passed 0 IMU Passed 0 Status Failed 1 Status Failed 1 31 0x80000000 IMU Passed 0 Reserved Status Failed 1 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 3033
184. ype Data Description Format y y Offset Bytes 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 in a fixed Long 4 H 12 length n array of bytes in binary but in ASCII or Abbreviated ASCII is converted into 2 character hexadecimal pairs For the raw IMU status of the iIMU FSAS see Table 31 For the raw IMU status of the HG1700 and the LN 200 IMUs see Table 32 Also refer to the Interface Control Documentation as provided by Honeywell and Northrop Grumman respectively 5 Z Accel Output Change in velocity count along z axis Long 4 H 16 6 Y Accel Output Change in velocity count along y axis gt Long 4 H 20 7 X Accel Output Change in velocity count along x axis Long 4 H 24 8 Z Gyro Output Change in angle count around z axis Right handed Long 4 H 28 9 Y Gyro Output Change in angle count around y axis br Long 4 H 32 Right handed 10 X Gyro Output Change in angle count around x axis Right handed Long 4 H 36 11 XXXX 32 bit CRC Hex 4 H 40 ASCII Binary and Short Binary only 12 CR LF Sentence terminator ASCII only a The change in velocity acceleration scale factor for each IMU type can be found in Table 33 on page 156 Multiply the scale factor in Table 33 by the count in this field for the velocity increments See also Table J on page 26 for a list of IM

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